--- Step 0 ---
qpos:
[ 1.92173337e-04, 6.82528994e-05,-1.55337606e-04, 6.55637137e-04,
  6.80959465e-05, 2.02156096e-05,-1.57240974e-04, 7.70783879e-04,
  2.51810803e-04, 7.27328918e-05,-2.54514005e-04, 6.72730653e-04,
  1.98725642e-03, 8.81403299e-05, 1.20262505e-03, 6.63754906e-04,
  6.00000000e-02,-7.00000000e-02, 1.69960760e-01, 1.00000000e+00,
  7.42440656e-21, 0.00000000e+00, 0.00000000e+00]

qacc:
[ 1.68572305e+03, 1.87170285e+03,-9.31529807e+03, 2.08645051e+04,
  5.94491727e+02, 2.05283049e+03,-1.05355044e+04, 2.41116331e+04,
  2.20742478e+03, 2.18909267e+03,-1.05121853e+04, 2.25141697e+04,
  6.68129861e+02, 9.89747970e+02,-2.31754854e+02, 3.39115742e+03,
  1.73871336e-18, 4.10949906e-18,-9.81000000e+00, 6.60405127e-16,
 -3.03085708e-16,-2.57765095e-17]

qfrc_actuator:
[ 0.00988019, 0.00834279,-0.00562272, 0.03356584, 0.003504  , 0.00288188,
 -0.006797  , 0.03915753, 0.01297104, 0.00600927,-0.01180619, 0.03411718,
  0.12300155, 0.0041687 , 0.09      , 0.04408893, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 9.89139496e-03, 8.41582040e-03,-5.54967976e-03, 3.36040752e-02,
  3.50399919e-03, 2.95519351e-03,-6.72368400e-03, 3.91959106e-02,
  1.29598398e-02, 6.08230003e-03,-1.17331520e-02, 3.41554169e-02,
  1.23490487e-01, 4.16507215e-03, 1.11111312e-01, 4.89187598e-02,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 0.00000000e+00]


--- Step 1 ---
qpos:
[ 3.85166803e-04, 1.70061390e-04,-2.89677333e-04, 1.30889412e-03,
  1.36800644e-04, 5.20991695e-05,-3.00159090e-04, 1.53738954e-03,
  5.06145275e-04, 1.61817531e-04,-4.97350542e-04, 1.33994388e-03,
  5.62878850e-03, 1.71823087e-04, 2.97434465e-03, 1.49103531e-03,
  6.00000000e-02,-7.00000000e-02, 1.69882280e-01, 1.00000000e+00,
  2.22732197e-20, 0.00000000e+00, 0.00000000e+00]

qacc:
[ 7.30258658e+00,-1.92634379e+01, 1.43037225e+02,-2.42430262e+02,
  5.60675127e+00,-3.32365289e+01, 1.58484760e+02,-2.62229177e+02,
  2.22961025e+01,-2.24398121e+01, 1.34568663e+02,-2.60648278e+02,
  5.55213161e+02,-3.88185050e+01, 3.46587743e+02, 8.64077670e+00,
 -3.11691997e-18, 4.05696521e-18,-9.81000000e+00, 6.64355448e-16,
  4.15656472e-16,-7.95499546e-17]

qfrc_actuator:
[ 0.00964152, 0.00827492,-0.00547288, 0.03292261, 0.00343676, 0.00284508,
 -0.00667262, 0.03841706, 0.01273233, 0.00598269,-0.01156915, 0.0334671 ,
  0.12282705, 0.00404632, 0.09      , 0.0433292 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 4.38713657e-05, 4.93254195e-03, 2.36638770e-03, 1.77681790e-04,
  3.19636865e-05, 1.90696132e-03, 1.26261654e-03,-8.51713734e-05,
  1.30695991e-04, 2.41868765e-03, 1.23045870e-03,-1.32237523e-04,
  2.39412651e-02,-3.62270002e-04, 5.09824957e-02, 1.49718701e-02,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 2.09498830e-22]


--- Step 2 ---
qpos:
[ 5.74241489e-04, 2.93758307e-04,-4.11012262e-04, 1.95088363e-03,
  2.04200931e-04, 9.31117388e-05,-4.35971870e-04, 2.29047606e-03,
  7.55771181e-04, 2.60729865e-04,-7.30235233e-04, 1.99524031e-03,
  1.06297244e-02, 2.49771785e-04, 4.99916166e-03, 2.37586510e-03,
  6.00000000e-02,-7.00000000e-02, 1.69764560e-01, 1.00000000e+00,
  4.45464393e-20, 0.00000000e+00, 0.00000000e+00]

qacc:
[-3.44642861e+01,-3.05647567e+01, 1.98616598e+02,-4.30604546e+02,
 -1.14214548e+01,-3.56216390e+01, 2.01609032e+02,-4.53665358e+02,
 -4.13045469e+01,-3.92973362e+01, 2.09390073e+02,-4.38887058e+02,
  4.56285674e+02,-6.78473742e+01, 2.00100335e+02,-1.57071576e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00943838, 0.00815558,-0.00532408, 0.03224129, 0.00336857, 0.002821  ,
 -0.00653166, 0.0376864 , 0.01248586, 0.00586804,-0.01131905, 0.03281348,
  0.12249127, 0.00395985, 0.09      , 0.04237333, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-2.00586717e-04, 3.13124060e-03, 1.46401196e-03,-3.86051918e-04,
 -6.66633745e-05, 1.29828273e-03, 6.87015792e-04,-6.08393248e-04,
 -2.41792943e-04, 1.48538114e-03, 8.97257586e-04,-5.11083579e-04,
 -5.91003988e-02,-2.22540046e-04, 2.25295810e-02, 5.83980648e-03,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 6.28496490e-22]


--- Step 3 ---
qpos:
[ 7.59757918e-04, 4.30706347e-04,-5.23330566e-04, 2.58112328e-03,
  2.70608648e-04, 1.39799600e-04,-5.66153053e-04, 3.02914117e-03,
  1.00085747e-03, 3.64996518e-04,-9.55347379e-04, 2.63833499e-03,
  1.67326974e-02, 3.24143431e-04, 7.13535315e-03, 3.28030168e-03,
  6.00000000e-02,-7.00000000e-02, 1.69607600e-01, 1.00000000e+00,
  7.42440656e-20, 0.00000000e+00, 0.00000000e+00]

qacc:
[-3.12691235e+01,-3.18328495e+01, 1.88604123e+02,-4.16205169e+02,
 -8.66445882e+00,-3.79311724e+01, 2.07022614e+02,-4.69792248e+02,
 -3.98097816e+01,-3.97081417e+01, 2.03477290e+02,-4.31131501e+02,
  3.69958021e+02,-5.55066132e+01, 1.05337651e+02,-1.29747782e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00926097, 0.00802137,-0.00519408, 0.03158246, 0.00331923, 0.00278467,
 -0.00637927, 0.03693712, 0.01225871, 0.00571829,-0.01109956, 0.03216634,
  0.12203636, 0.00393348, 0.09      , 0.04167763, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.82450794e-04, 1.89751509e-03, 9.42126231e-04,-4.82978952e-04,
 -5.07813702e-05, 8.03918653e-04, 4.83563821e-04,-6.83185373e-04,
 -2.33315641e-04, 8.42711250e-04, 6.19517532e-04,-5.63499685e-04,
 -1.27501218e-01, 4.09125821e-05, 9.87338959e-03, 2.26554318e-03,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 1.25699298e-21]


--- Step 4 ---
qpos:
[ 9.41701128e-04, 5.75079490e-04,-6.28833702e-04, 3.20015866e-03,
  3.35565393e-04, 1.90031677e-04,-6.91883419e-04, 3.75307323e-03,
  1.24166644e-03, 4.71702924e-04,-1.17423888e-03, 3.26914721e-03,
  2.37137030e-02, 3.95455103e-04, 9.32067498e-03, 4.18621617e-03,
  6.00000000e-02,-7.00000000e-02, 1.69411400e-01, 1.00000000e+00,
  1.11366098e-19, 0.00000000e+00, 0.00000000e+00]

qacc:
[-3.13702243e+01,-3.22559346e+01, 1.76640788e+02,-3.87000444e+02,
 -1.26998783e+01,-3.80813974e+01, 2.04803380e+02,-4.69531534e+02,
 -3.75002327e+01,-3.93931658e+01, 1.97100590e+02,-4.21523435e+02,
  2.94839326e+02,-5.67419636e+01, 6.81517478e+01,-1.33258461e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00908245, 0.00787811,-0.0050588 , 0.03097763, 0.00324591, 0.00275854,
 -0.00623915, 0.03618299, 0.01204486, 0.00556576,-0.01090023, 0.03152814,
  0.12148952, 0.00387231, 0.09      , 0.04101094, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.83498288e-04, 1.08606309e-03, 6.24685928e-04,-5.01820359e-04,
 -7.44762501e-05, 4.92205823e-04, 3.41436733e-04,-7.17713235e-04,
 -2.19959522e-04, 4.20669341e-04, 4.30443676e-04,-5.92731106e-04,
 -1.83115595e-01, 1.61296913e-04, 4.29940649e-03, 6.16069802e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 2.09498830e-21]


--- Step 5 ---
qpos:
[ 1.11939328e-03, 7.23165549e-04,-7.28903662e-04, 3.80700195e-03,
  3.98794397e-04, 2.42500852e-04,-8.14258182e-04, 4.46255770e-03,
  1.47804483e-03, 5.79241731e-04,-1.38755917e-03, 3.88798773e-03,
  3.13784514e-02, 4.64366089e-04, 1.15281614e-02, 5.08115515e-03,
  6.00000000e-02,-7.00000000e-02, 1.69175960e-01, 1.00000000e+00,
  1.55912538e-19, 0.00000000e+00, 0.00000000e+00]

qacc:
[-3.73173200e+01,-3.53227936e+01, 1.84648825e+02,-4.07188773e+02,
 -1.51477590e+01,-3.61547043e+01, 1.94232931e+02,-4.51322844e+02,
 -3.88421308e+01,-3.90596691e+01, 1.91523797e+02,-4.08356891e+02,
  2.29677907e+02,-5.24119691e+01, 6.59885555e+01,-1.83549736e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00886921, 0.00772995,-0.00492177, 0.03033833, 0.00315905, 0.0027384 ,
 -0.0061252 , 0.03544978, 0.01182279, 0.0054656 ,-0.01067906, 0.03091802,
  0.12086269, 0.00379116, 0.09      , 0.04012341, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-2.18557862e-04, 5.60698957e-04, 4.18935744e-04,-5.82409128e-04,
 -8.87863757e-05, 2.92882843e-04, 2.32106396e-04,-7.15724261e-04,
 -2.27923754e-04, 1.96577839e-04, 3.40734217e-04,-5.89841729e-04,
 -2.27602937e-01, 2.35516413e-04, 1.83400998e-03,-3.48988352e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 3.14248245e-21]


--- Step 6 ---
qpos:
[ 1.29279456e-03, 8.72701065e-04,-8.25120439e-04, 4.40115583e-03,
  4.60491333e-04, 2.96083913e-04,-9.33626920e-04, 5.15857044e-03,
  1.70992817e-03, 6.86742396e-04,-1.59588541e-03, 4.49483632e-03,
  3.95591855e-02, 5.32566413e-04, 1.37459841e-02, 5.95631158e-03,
  6.00000000e-02,-7.00000000e-02, 1.68901280e-01, 1.00000000e+00,
  2.07883384e-19, 0.00000000e+00, 0.00000000e+00]

qacc:
[-3.76792495e+01,-3.49214655e+01, 1.80980063e+02,-4.07941363e+02,
 -1.34167109e+01,-3.46555619e+01, 1.82610571e+02,-4.21425089e+02,
 -3.94129894e+01,-3.86374594e+01, 1.88438075e+02,-4.04064334e+02,
  1.73344687e+02,-3.35244668e+01, 7.51893527e+01,-2.41086320e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00865498, 0.0075796 ,-0.00482054, 0.02968382, 0.00308268, 0.00270398,
 -0.0060099 , 0.03477023, 0.01159765, 0.00537975,-0.01046437, 0.03031159,
  0.12017374, 0.00375186, 0.09      , 0.03897321, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-2.20719644e-04, 2.18588595e-04, 2.46413505e-04,-6.28807126e-04,
 -7.87695746e-05, 1.44554662e-04, 1.78862005e-04,-6.74324359e-04,
 -2.31284570e-04, 6.70716774e-05, 2.76959977e-04,-5.98783520e-04,
 -2.62433527e-01, 3.18351474e-04, 7.14138139e-04,-9.54899042e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 4.39947543e-21]


--- Step 7 ---
qpos:
[ 1.46261557e-03, 1.02191380e-03,-9.18546252e-04, 4.98450564e-03,
  5.21138404e-04, 3.49833243e-04,-1.04980384e-03, 5.84076209e-03,
  1.93696933e-03, 7.93578851e-04,-1.79896217e-03, 5.08904863e-03,
  4.81113136e-02, 6.00209554e-04, 1.59682230e-02, 6.81043142e-03,
  6.00000000e-02,-7.00000000e-02, 1.68587360e-01, 1.00000000e+00,
  2.67278636e-19, 0.00000000e+00, 0.00000000e+00]

qacc:
[-3.14268862e+01,-3.04232555e+01, 1.53565459e+02,-3.44877623e+02,
 -9.15068502e+00,-3.71557663e+01, 1.91169500e+02,-4.35617667e+02,
 -4.24502370e+01,-4.15005948e+01, 2.00177403e+02,-4.26916931e+02,
  1.24825901e+02,-2.90016735e+01, 7.02377389e+01,-2.36429664e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00847741, 0.00741095,-0.00474138, 0.02913208, 0.00303085, 0.00264348,
 -0.00587702, 0.03407443, 0.01135477, 0.00530301,-0.01021972, 0.02967668,
  0.119438  , 0.00368367, 0.09      , 0.03785613, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.84239641e-04,-2.86978610e-05, 1.30790588e-04,-5.47556335e-04,
 -5.39952209e-05, 2.62533954e-05, 1.60653418e-04,-6.97952209e-04,
 -2.49175082e-04,-9.83406412e-06, 2.71972627e-04,-6.35177090e-04,
 -2.88920624e-01, 2.87592018e-04, 1.83975182e-04,-1.08782293e-03,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 5.86596724e-21]


--- Step 8 ---
qpos:
[ 1.62966771e-03, 1.16958634e-03,-1.00894819e-03, 5.55682075e-03,
  5.80347688e-04, 4.03304442e-04,-1.16313275e-03, 6.50901708e-03,
  2.15933799e-03, 8.99237821e-04,-1.99660268e-03, 5.67106150e-03,
  5.69109251e-02, 6.67474883e-04, 1.81915163e-02, 7.64933175e-03,
  6.00000000e-02,-7.00000000e-02, 1.68234200e-01, 1.00000000e+00,
  3.34098295e-19, 0.00000000e+00, 0.00000000e+00]

qacc:
[-2.42566621e+01,-3.31729347e+01, 1.61985101e+02,-3.56741354e+02,
 -1.25682297e+01,-3.70134572e+01, 1.90310849e+02,-4.35898642e+02,
 -4.09417335e+01,-4.18043298e+01, 1.98428100e+02,-4.17525682e+02,
  8.32228470e+01,-2.23481252e+01, 4.76420415e+01,-1.64555457e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00834059, 0.00725026,-0.00462268, 0.02857418, 0.00295837, 0.00258558,
 -0.00575274, 0.03337461, 0.01112112, 0.00521463,-0.00995934, 0.02906564,
  0.11866329, 0.00359828, 0.09      , 0.03708765, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.42535023e-04,-1.79388897e-04, 1.07813552e-04,-5.66715176e-04,
 -7.39810077e-05,-4.20777084e-05, 1.24550782e-04,-7.08104479e-04,
 -2.40463028e-04,-6.71016296e-05, 2.69908683e-04,-6.15476336e-04,
 -3.08215340e-01, 2.31794575e-04,-5.08441273e-05,-8.09585314e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 7.54195788e-21]


--- Step 9 ---
qpos:
[ 1.79411587e-03, 1.31512619e-03,-1.09648973e-03, 6.11771311e-03,
  6.38572749e-04, 4.56442098e-04,-1.27425350e-03, 7.16336582e-03,
  2.37752602e-03, 1.00351067e-03,-2.18992162e-03, 6.24165245e-03,
  6.58526264e-02, 7.35570358e-04, 2.04148991e-02, 8.47527664e-03,
  6.00000000e-02,-7.00000000e-02, 1.67841800e-01, 1.00000000e+00,
  4.08342361e-19, 0.00000000e+00, 0.00000000e+00]

qacc:
[-2.28005514e+01,-3.43014173e+01, 1.66506753e+02,-3.67278838e+02,
 -8.59544784e+00,-3.52429883e+01, 1.83751798e+02,-4.27738932e+02,
 -3.66439083e+01,-3.73705467e+01, 1.78924398e+02,-3.82618517e+02,
  4.77191604e+01,-3.00907082e+00, 3.93736981e+01,-1.37641052e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00821109, 0.00709571,-0.00449936, 0.02799938, 0.00290982, 0.00254737,
 -0.0056523 , 0.03267803, 0.01091254, 0.00510229,-0.00976283, 0.02849128,
  0.117863  , 0.00355587, 0.09      , 0.03644215, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.34077388e-04,-2.63027903e-04, 7.78209811e-05,-5.91217156e-04,
 -5.06475088e-05,-6.84893681e-05, 8.17966922e-05,-7.09218300e-04,
 -2.15170307e-04,-1.22672070e-04, 1.94616960e-04,-5.80915946e-04,
 -3.21339247e-01, 2.09879574e-04,-1.17311948e-04,-6.99042455e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 9.42744735e-21]


--- Step 10 ---
qpos:
[ 1.95537824e-03, 1.45852388e-03,-1.18235722e-03, 6.66810051e-03,
  6.96108087e-04, 5.08671595e-04,-1.38306279e-03, 7.80466128e-03,
  2.59152127e-03, 1.10621726e-03,-2.37946227e-03, 6.80061675e-03,
  7.48469387e-02, 8.04913691e-04, 2.26390721e-02, 9.28171672e-03,
  6.00000000e-02,-7.00000000e-02, 1.67410160e-01, 1.00000000e+00,
  4.90010833e-19, 0.00000000e+00, 0.00000000e+00]

qacc:
[-2.79585088e+01,-2.90964916e+01, 1.44074900e+02,-3.27081208e+02,
 -5.98977471e+00,-3.45395292e+01, 1.76533136e+02,-4.05493315e+02,
 -3.67650367e+01,-3.65112157e+01, 1.76380946e+02,-3.82620506e+02,
  1.75816579e+01, 8.74629175e+00, 6.02867153e+01,-2.09220379e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00805142, 0.00696379,-0.00442757, 0.0274725 , 0.00287574, 0.00246788,
 -0.00554891, 0.03202444, 0.01070263, 0.00499401,-0.00958794, 0.02790752,
  0.11705324, 0.00352044, 0.09      , 0.0354482 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.64028633e-04,-2.94326795e-04, 4.48914489e-06,-5.48370150e-04,
 -3.55167037e-05,-1.33389315e-04, 7.39920902e-05,-6.68834742e-04,
 -2.15807441e-04,-1.63741393e-04, 1.53421898e-04,-5.94604133e-04,
 -3.29203101e-01, 1.34414768e-04,-1.34545890e-04,-1.04974847e-03,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 1.15224357e-20]


--- Step 11 ---
qpos:
[ 2.11380811e-03, 1.59970018e-03,-1.26716788e-03, 7.20722692e-03,
  7.52097475e-04, 5.59869637e-04,-1.48946603e-03, 8.43380795e-03,
  2.80134030e-03, 1.20736454e-03,-2.56568248e-03, 7.34824738e-03,
  8.38181703e-02, 8.74703051e-04, 2.48633358e-02, 1.00703395e-02,
  6.00000000e-02,-7.00000000e-02, 1.66939280e-01, 1.00000000e+00,
  5.79103711e-19, 0.00000000e+00, 0.00000000e+00]

qacc:
[-2.48671509e+01,-2.90390742e+01, 1.46900515e+02,-3.41937771e+02,
 -1.35200906e+01,-3.30890686e+01, 1.67333235e+02,-3.80730060e+02,
 -3.66336393e+01,-3.46186720e+01, 1.68410230e+02,-3.68854207e+02,
 -7.82530571e+00, 7.65584593e+00, 5.41538460e+01,-1.89202495e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00791078, 0.00682857,-0.00438667, 0.02690702, 0.00279718, 0.0024176 ,
 -0.00542699, 0.0314191 , 0.0104936 , 0.00490665,-0.00942721, 0.02734066,
  0.11624076, 0.00343519, 0.09      , 0.03455871, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.45855602e-04,-3.28367795e-04,-4.03694380e-05,-5.89994718e-04,
 -7.95843644e-05,-1.40323364e-04, 7.95684925e-05,-6.22818071e-04,
 -2.14957934e-04,-1.74857307e-04, 1.25226690e-04,-5.81144333e-04,
 -3.32596248e-01,-1.19047508e-05,-1.85261864e-04,-9.67942697e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 1.38269228e-20]


--- Step 12 ---
qpos:
[ 2.26931063e-03, 1.73821648e-03,-1.35066517e-03, 7.73504878e-03,
  8.07054738e-04, 6.10232813e-04,-1.59364042e-03, 9.05041979e-03,
  3.00702604e-03, 1.30692922e-03,-2.74856006e-03, 7.88515027e-03,
  9.27031395e-02, 9.44413029e-04, 2.70869675e-02, 1.08464839e-02,
  6.00000000e-02,-7.00000000e-02, 1.66429160e-01, 1.00000000e+00,
  6.75620997e-19, 0.00000000e+00, 0.00000000e+00]

qacc:
[-2.56864754e+01,-3.04242446e+01, 1.51185432e+02,-3.47068191e+02,
 -9.00691342e+00,-3.31377955e+01, 1.69499296e+02,-3.89424236e+02,
 -3.62545387e+01,-3.34639936e+01, 1.61690213e+02,-3.51666477e+02,
 -2.90678751e+01, 9.81264193e+00, 3.69209645e+01,-1.30405897e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00776473, 0.00667455,-0.00432883, 0.02634108, 0.00274633, 0.00238532,
 -0.00531272, 0.03079377, 0.01028676, 0.00483247,-0.00925827, 0.02680605,
  0.11542622, 0.00332036, 0.09      , 0.03395104, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.50755403e-04,-3.77146406e-04,-3.73990989e-05,-5.94241275e-04,
 -5.31347338e-05,-1.23049680e-04, 7.27768755e-05,-6.41987938e-04,
 -2.12750472e-04,-1.73118486e-04, 1.28127040e-04,-5.50068735e-04,
 -3.32207393e-01,-1.47844195e-04,-1.99044319e-04,-6.87985560e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 1.63409087e-20]


--- Step 13 ---
qpos:
[ 2.42184356e-03, 1.87412981e-03,-1.43262595e-03, 8.25193182e-03,
  8.60974787e-04, 6.59777133e-04,-1.69619159e-03, 9.65440899e-03,
  3.20794701e-03, 1.40462926e-03,-2.92757026e-03, 8.41075765e-03,
  1.01450004e-01, 1.01472505e-03, 2.93104567e-02, 1.16092480e-02,
  6.00000000e-02,-7.00000000e-02, 1.65879800e-01, 1.00000000e+00,
  7.79562689e-19, 0.00000000e+00, 0.00000000e+00]

qacc:
[-2.60516207e+01,-3.02186140e+01, 1.49019596e+02,-3.38974537e+02,
 -9.07111116e+00,-3.16041694e+01, 1.64433888e+02,-3.84924868e+02,
 -4.17917036e+01,-3.64624986e+01, 1.74256804e+02,-3.74712831e+02,
 -4.66724811e+01, 2.52075442e+01, 4.04057956e+01,-1.41472707e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00761665, 0.00656383,-0.00424377, 0.02579717, 0.00269446, 0.00232855,
 -0.00523933, 0.0301617 , 0.01004735, 0.00473133,-0.00906801, 0.02624145,
  0.11462762, 0.00324137, 0.09      , 0.03328347, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.52923845e-04,-3.60574261e-04,-1.99829244e-05,-5.74253701e-04,
 -5.34008224e-05,-1.40058452e-04, 3.39746737e-05,-6.48578748e-04,
 -2.45255718e-04,-1.97140459e-04, 1.51241868e-04,-5.79253273e-04,
 -3.28644486e-01,-2.21765242e-04,-1.74527671e-04,-7.34116060e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 1.90643935e-20]


--- Step 14 ---
qpos:
[ 2.57140597e-03, 2.00738022e-03,-1.51270155e-03, 8.75823095e-03,
  9.13853564e-04, 7.08508939e-04,-1.79710654e-03, 1.02460973e-02,
  3.40444014e-03, 1.49987910e-03,-3.10234053e-03, 8.92553967e-03,
  1.10016166e-01, 1.08568143e-03, 3.15339070e-02, 1.23587486e-02,
  6.00000000e-02,-7.00000000e-02, 1.65291200e-01, 1.00000000e+00,
  8.90928787e-19, 0.00000000e+00, 0.00000000e+00]

qacc:
[-2.60473924e+01,-3.05416172e+01, 1.48558510e+02,-3.32885611e+02,
 -9.10630016e+00,-3.09691277e+01, 1.60824161e+02,-3.75773071e+02,
 -3.88039039e+01,-3.73153147e+01, 1.74180425e+02,-3.66654980e+02,
 -6.11132648e+01, 3.34718227e+01, 4.02280657e+01,-1.40559354e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00746857, 0.00644459,-0.00414311, 0.02527064, 0.00264239, 0.00229292,
 -0.00515525, 0.02954844, 0.0098262 , 0.00457943,-0.00886682, 0.02569922,
  0.11384636, 0.00316549, 0.09      , 0.03262136, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.52972165e-04,-3.55259371e-04, 1.90600675e-06,-5.55151168e-04,
 -5.36092429e-05,-1.36696890e-04, 3.61634398e-05,-6.31945701e-04,
 -2.27939263e-04,-2.57791705e-04, 1.59047748e-04,-5.57655544e-04,
 -3.22473790e-01,-3.26763691e-04,-1.72251681e-04,-7.28923716e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 2.19973772e-20]


--- Step 15 ---
qpos:
[ 2.71802122e-03, 2.13784143e-03,-1.59094552e-03, 9.25461951e-03,
  9.65696979e-04, 7.56197383e-04,-1.89620061e-03, 1.08261697e-02,
  3.59710264e-03, 1.59284194e-03,-3.27335727e-03, 9.43015758e-03,
  1.18366966e-01, 1.15655330e-03, 3.37577893e-02, 1.30918244e-02,
  6.00000000e-02,-7.00000000e-02, 1.64663360e-01, 1.00000000e+00,
  1.00971929e-18, 0.00000000e+00, 0.00000000e+00]

qacc:
[-2.58405346e+01,-2.91721972e+01, 1.40590988e+02,-3.13086523e+02,
 -9.04404702e+00,-3.03798650e+01, 1.55389424e+02,-3.58611223e+02,
 -3.35650862e+01,-3.43877226e+01, 1.61246507e+02,-3.41601284e+02,
 -7.27839945e+01, 3.31210081e+01, 5.05260636e+01,-1.75506974e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00732168, 0.00630359,-0.00405182, 0.0247763 , 0.00259063, 0.00223478,
 -0.00506541, 0.02896894, 0.00963532, 0.00446941,-0.00867874, 0.02519222,
  0.11307365, 0.00305569, 0.09      , 0.03179023, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.51775891e-04,-3.68600830e-04,-2.96597114e-06,-5.21571096e-04,
 -5.33138883e-05,-1.56119436e-04, 4.34728639e-05,-5.97612800e-04,
 -1.97202549e-04,-2.47231225e-04, 1.35113386e-04,-5.24320377e-04,
 -3.14166292e-01,-4.67903538e-04,-1.72948729e-04,-8.97842115e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 2.51398596e-20]


--- Step 16 ---
qpos:
[ 2.86138141e-03, 2.26583836e-03,-1.66820175e-03, 9.74121290e-03,
  1.01651662e-03, 8.02696084e-04,-1.99334346e-03, 1.13937334e-02,
  3.78563704e-03, 1.68394451e-03,-3.44151795e-03, 9.92476161e-03,
  1.26475679e-01, 1.22817883e-03, 3.59819124e-02, 1.38086128e-02,
  6.00000000e-02,-7.00000000e-02, 1.63996280e-01, 1.00000000e+00,
  1.13593420e-18, 0.00000000e+00, 0.00000000e+00]

qacc:
[-2.85823281e+01,-2.61402815e+01, 1.29926634e+02,-2.99326476e+02,
 -8.93589408e+00,-3.27767604e+01, 1.67423883e+02,-3.86197776e+02,
 -3.62189385e+01,-3.09998783e+01, 1.49361155e+02,-3.26006661e+02,
 -8.20459467e+01, 4.92480628e+01, 4.98514415e+01,-1.73491532e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00715891, 0.00618624,-0.00400235, 0.02428709, 0.00253945, 0.0021637 ,
 -0.00497297, 0.02834292, 0.00942828, 0.00438533,-0.00853524, 0.02469227,
  0.11232636, 0.00299702, 0.09      , 0.03097267, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.67613326e-04,-3.51877499e-04,-4.69471202e-05,-5.16507158e-04,
 -5.27228775e-05,-1.76904157e-04, 4.41779565e-05,-6.44016595e-04,
 -2.12499295e-04,-2.18833896e-04, 9.09183339e-05,-5.16978507e-04,
 -3.04102022e-01,-5.21568472e-04,-1.95055678e-04,-8.94397178e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 2.84918409e-20]


--- Step 17 ---
qpos:
[ 3.00166679e-03, 2.39135027e-03,-1.74373770e-03, 1.02173933e-02,
  1.06667246e-03, 8.47902307e-04,-2.08832122e-03, 1.19493538e-02,
  3.97022715e-03, 1.77303457e-03,-3.60662212e-03, 1.04095130e-02,
  1.34321087e-01, 1.30002020e-03, 3.82057421e-02, 1.45130640e-02,
  6.00000000e-02,-7.00000000e-02, 1.63289960e-01, 1.00000000e+00,
  1.26957352e-18, 0.00000000e+00, 0.00000000e+00]

qacc:
[-2.69722716e+01,-2.94914577e+01, 1.44438535e+02,-3.25681969e+02,
 -5.75895309e+00,-3.23522554e+01, 1.63316687e+02,-3.72563372e+02,
 -3.45920212e+01,-3.14322319e+01, 1.49924804e+02,-3.23982234e+02,
 -8.92392142e+01, 4.99594499e+01, 3.71056391e+01,-1.29997679e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00700586, 0.00608386,-0.00390686, 0.0237693 , 0.00250678, 0.00210316,
 -0.00486206, 0.02774779, 0.00923111, 0.00428181,-0.0083836 , 0.02420047,
  0.11159914, 0.00291496, 0.09      , 0.03036496, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.58332343e-04,-3.36314685e-04,-2.66360441e-06,-5.45768233e-04,
 -3.42015793e-05,-1.79773503e-04, 5.68458945e-05,-6.14872835e-04,
 -2.03045557e-04,-2.31179491e-04, 9.97538732e-05,-5.08981770e-04,
 -2.92683651e-01,-6.40614082e-04,-2.05679105e-04,-6.87333762e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 3.20533210e-20]


--- Step 18 ---
qpos:
[ 3.13970771e-03, 2.51436676e-03,-1.81731916e-03, 1.06836231e-02,
  1.11570146e-03, 8.91870095e-04,-2.18131271e-03, 1.24941912e-02,
  4.15102157e-03, 1.86028677e-03,-3.76870480e-03, 1.08842152e-02,
  1.41887045e-01, 1.37097202e-03, 4.04296077e-02, 1.52047552e-02,
  6.00000000e-02,-7.00000000e-02, 1.62544400e-01, 1.00000000e+00,
  1.41063725e-18, 0.00000000e+00, 0.00000000e+00]

qacc:
[-1.96557553e+01,-2.92217087e+01, 1.41480332e+02,-3.15061750e+02,
 -9.83980184e+00,-2.93823171e+01, 1.47945615e+02,-3.36875688e+02,
 -3.32881965e+01,-3.15109836e+01, 1.51367021e+02,-3.28897440e+02,
 -9.46152376e+01, 4.40871585e+01, 3.88870557e+01,-1.35473378e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00689527, 0.00597371,-0.00380262, 0.0232744 , 0.00244976, 0.00204953,
 -0.00475883, 0.02721113, 0.00904134, 0.00420303,-0.0082284 , 0.02369965,
  0.11088926, 0.0027836 , 0.09      , 0.02972596, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.15599871e-04,-3.27373518e-04, 1.37642394e-05,-5.21220769e-04,
 -5.80279900e-05,-1.70550287e-04, 5.11673122e-05,-5.55490642e-04,
 -1.95390725e-04,-2.11133318e-04, 1.02122238e-04,-5.18051592e-04,
 -2.80188771e-01,-7.82126378e-04,-1.87841096e-04,-7.08494459e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 3.58242999e-20]


--- Step 19 ---
qpos:
[ 3.27534097e-03, 2.63477812e-03,-1.88962415e-03, 1.11406769e-02,
  1.16332070e-03, 9.34702454e-04,-2.27240255e-03, 1.30283272e-02,
  4.32779370e-03, 1.94551562e-03,-3.92734194e-03, 1.13491982e-02,
  1.49163016e-01, 1.44162953e-03, 4.26541299e-02, 1.58794326e-02,
  6.00000000e-02,-7.00000000e-02, 1.61759600e-01, 1.00000000e+00,
  1.55912538e-18, 0.00000000e+00, 0.00000000e+00]

qacc:
[-2.11107817e+01,-2.58728929e+01, 1.26065277e+02,-2.85083089e+02,
 -1.23343825e+01,-2.88366410e+01, 1.45862233e+02,-3.33331845e+02,
 -3.52657622e+01,-3.22575825e+01, 1.52286559e+02,-3.24652435e+02,
 -9.84300887e+01, 5.59573752e+01, 5.27179725e+01,-1.82468999e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00677504, 0.00582441,-0.00374733, 0.02281469, 0.00237887, 0.00200051,
 -0.00466088, 0.02667768, 0.00883969, 0.0041042 ,-0.00805451, 0.0232153 ,
  0.11021138, 0.00269469, 0.09      , 0.02886051, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.24008981e-04,-3.56974207e-04,-3.04253870e-05,-4.84578393e-04,
 -7.25851779e-05,-1.59376073e-04, 4.91547289e-05,-5.50915806e-04,
 -2.07056340e-04,-2.19814094e-04, 1.24939353e-04,-5.00790442e-04,
 -2.66856379e-01,-8.25971607e-04,-1.84924579e-04,-9.34469488e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 3.98047777e-20]


--- Step 20 ---
qpos:
[ 3.40847016e-03, 2.75260030e-03,-1.96043440e-03, 1.15882796e-02,
  1.20971954e-03, 9.76466513e-04,-2.36167467e-03, 1.35522341e-02,
  4.50146701e-03, 2.02894108e-03,-4.08277408e-03, 1.18050748e-02,
  1.56142213e-01, 1.51234572e-03, 4.48787888e-02, 1.65392310e-02,
  6.00000000e-02,-7.00000000e-02, 1.60935560e-01, 1.00000000e+00,
  1.71503791e-18, 0.00000000e+00, 0.00000000e+00]

qacc:
[-2.19523057e+01,-2.70267634e+01, 1.31374199e+02,-2.95516229e+02,
 -1.06711614e+01,-2.75437424e+01, 1.39382215e+02,-3.18588673e+02,
 -2.71485811e+01,-3.00480749e+01, 1.42216961e+02,-3.03727971e+02,
 -1.00943418e+02, 6.45144861e+01, 4.54959026e+01,-1.58275836e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.0066501 , 0.00570599,-0.00366824, 0.02234379, 0.00231812, 0.00195465,
 -0.00456682, 0.02616812, 0.00868591, 0.00402978,-0.00788879, 0.02276229,
  0.1095637 , 0.00263101, 0.09      , 0.02811708, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.28967508e-04,-3.50109481e-04,-1.68849388e-05,-4.97823491e-04,
 -6.28374047e-05,-1.50152485e-04, 4.75053873e-05,-5.26492276e-04,
 -1.59525770e-04,-1.94773189e-04, 1.18386310e-04,-4.68689797e-04,
 -2.52969115e-01,-8.74407411e-04,-2.11792221e-04,-8.25329421e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 4.39947543e-20]


--- Step 21 ---
qpos:
[ 3.53836826e-03, 2.86803817e-03,-2.02990630e-03, 1.20270627e-02,
  1.25502884e-03, 1.01738631e-03,-2.44870789e-03, 1.40662225e-02,
  4.67263916e-03, 2.11073556e-03,-4.23537419e-03, 1.22519615e-02,
  1.62820843e-01, 1.58293167e-03, 4.71034868e-02, 1.71853476e-02,
  6.00000000e-02,-7.00000000e-02, 1.60072280e-01, 1.00000000e+00,
  1.87837486e-18, 0.00000000e+00, 0.00000000e+00]

qacc:
[-2.83583744e+01,-2.50055581e+01, 1.21916669e+02,-2.75055047e+02,
 -9.50969773e+00,-2.77874712e+01, 1.39365821e+02,-3.14031031e+02,
 -2.19025997e+01,-2.85473437e+01, 1.36686948e+02,-2.95691295e+02,
 -1.02338335e+02, 6.66761299e+01, 4.17355620e+01,-1.45293752e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00648788, 0.00560711,-0.00359337, 0.02190564, 0.00226385, 0.00194657,
 -0.00444026, 0.02567671, 0.00856153, 0.00395284,-0.00774686, 0.02231359,
  0.10894519, 0.00256448, 0.09      , 0.02743378, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.66374258e-04,-3.24388971e-04,-1.84277041e-05,-4.64554649e-04,
 -5.60892060e-05,-1.06458549e-04, 8.25647430e-05,-5.07508142e-04,
 -1.28763980e-04,-1.83213862e-04, 1.00069746e-04,-4.62884355e-04,
 -2.38715579e-01,-9.43378754e-04,-2.11647553e-04,-7.62471468e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 4.83942297e-20]


--- Step 22 ---
qpos:
[ 3.66495891e-03, 2.98100720e-03,-2.09795541e-03, 1.24571627e-02,
  1.29933481e-03, 1.05766503e-03,-2.53362757e-03, 1.45699369e-02,
  4.84064781e-03, 2.19060203e-03,-4.38494496e-03, 1.26896566e-02,
  1.69198379e-01, 1.65385801e-03, 4.93282707e-02, 1.78182751e-02,
  6.00000000e-02,-7.00000000e-02, 1.59169760e-01, 1.00000000e+00,
  2.04913621e-18, 0.00000000e+00, 0.00000000e+00]

qacc:
[-2.90253469e+01,-2.50706414e+01, 1.21412504e+02,-2.72262763e+02,
 -8.75876080e+00,-2.79016581e+01, 1.41660540e+02,-3.22422546e+02,
 -2.77210352e+01,-2.98954369e+01, 1.41795591e+02,-3.04409663e+02,
 -1.02781914e+02, 7.52724094e+01, 4.03264826e+01,-1.40226348e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00632277, 0.00548528,-0.00352145, 0.02147253, 0.00221382, 0.00192586,
 -0.00433085, 0.02516447, 0.00840219, 0.00383944,-0.00760236, 0.02185326,
  0.10834456, 0.00253191, 0.09      , 0.02677356, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.70306122e-04,-3.31756615e-04,-1.50824894e-05,-4.57793979e-04,
 -5.16457611e-05,-8.65700717e-05, 7.94166553e-05,-5.24868632e-04,
 -1.62860783e-04,-2.16704488e-04, 1.02973194e-04,-4.74529012e-04,
 -2.24256340e-01,-9.68968259e-04,-2.05797093e-04,-7.36138324e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 5.30032040e-20]


--- Step 23 ---
qpos:
[ 3.78857795e-03, 3.09156312e-03,-2.16462658e-03, 1.28780088e-02,
  1.34304140e-03, 1.09719598e-03,-2.61705302e-03, 1.50632840e-02,
  5.00544353e-03, 2.26830713e-03,-4.53120015e-03, 1.31180786e-02,
  1.75276484e-01, 1.72537991e-03, 5.15528429e-02, 1.84410812e-02,
  6.00000000e-02,-7.00000000e-02, 1.58228000e-01, 1.00000000e+00,
  2.22732197e-18, 0.00000000e+00, 0.00000000e+00]

qacc:
[-2.60720057e+01,-2.60531015e+01, 1.27422651e+02,-2.88111802e+02,
 -5.22116452e+00,-2.65106970e+01, 1.36879687e+02,-3.18179088e+02,
 -2.81429901e+01,-3.11711799e+01, 1.46243185e+02,-3.10558156e+02,
 -1.02440403e+02, 8.09428363e+01, 3.06010495e+01,-1.06814076e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00617506, 0.00536848,-0.00345194, 0.02101032, 0.00218443, 0.00186221,
 -0.00426801, 0.02464405, 0.00824127, 0.00372285,-0.00743989, 0.02138974,
  0.1077602 , 0.0025193 , 0.09      , 0.0262742 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.53022267e-04,-3.29771031e-04,-1.83224990e-05,-4.86929745e-04,
 -3.08662683e-05,-1.19768348e-04, 3.59739121e-05,-5.32621447e-04,
 -1.65412620e-04,-2.38478203e-04, 1.13979251e-04,-4.79254745e-04,
 -2.09756587e-01,-9.98152479e-04,-2.01719998e-04,-5.73420874e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 5.78216771e-20]


--- Step 24 ---
qpos:
[ 3.90945703e-03, 3.19978624e-03,-2.23032303e-03, 1.32903829e-02,
  1.38571088e-03, 1.13574902e-03,-2.69924852e-03, 1.55465843e-02,
  5.16737689e-03, 2.34381155e-03,-4.67375249e-03, 1.35372291e-02,
  1.81058201e-01, 1.79692854e-03, 5.37777058e-02, 1.90517495e-02,
  6.00000000e-02,-7.00000000e-02, 1.57247000e-01, 1.00000000e+00,
  2.41293213e-18, 0.00000000e+00, 0.00000000e+00]

qacc:
[-2.40462133e+01,-2.32132079e+01, 1.14143773e+02,-2.60709322e+02,
 -9.07783152e+00,-2.54079224e+01, 1.31165948e+02,-3.06338193e+02,
 -2.50445123e+01,-3.23080449e+01, 1.50203798e+02,-3.15068219e+02,
 -1.01426946e+02, 7.73892061e+01, 3.74609943e+01,-1.29709408e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00603876, 0.00525562,-0.00340214, 0.02058797, 0.00213192, 0.00179089,
 -0.00421559, 0.02414068, 0.00809849, 0.00362311,-0.0072504 , 0.02092808,
  0.10721227, 0.00248277, 0.09      , 0.02566052, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.41099783e-04,-3.26525162e-04,-3.90008735e-05,-4.47652971e-04,
 -5.34061132e-05,-1.55252781e-04, 1.30964158e-05,-5.18628515e-04,
 -1.47371099e-04,-2.31684524e-04, 1.37710471e-04,-4.78033063e-04,
 -1.95305521e-01,-1.06402635e-03,-1.82360333e-04,-6.78295296e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 6.28496490e-20]


--- Step 25 ---
qpos:
[ 4.02775473e-03, 3.30555046e-03,-2.29469452e-03, 1.36954932e-02,
  1.42707439e-03, 1.17298747e-03,-2.77976866e-03, 1.60200846e-02,
  5.32599697e-03, 2.41763635e-03,-4.81315094e-03, 1.39478856e-02,
  1.86548587e-01, 1.86839485e-03, 5.60033844e-02, 1.96456948e-02,
  6.00000000e-02,-7.00000000e-02, 1.56226760e-01, 1.00000000e+00,
  2.60596670e-18, 0.00000000e+00, 0.00000000e+00]

qacc:
[-2.26363261e+01,-2.18726388e+01, 1.04015703e+02,-2.30128760e+02,
 -1.14238798e+01,-2.65853614e+01, 1.33684762e+02,-3.05059607e+02,
 -2.90388787e+01,-2.84753957e+01, 1.34269259e+02,-2.85198990e+02,
 -9.98403083e+01, 7.82057356e+01, 5.21394834e+01,-1.79907140e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00591028, 0.00514602,-0.00332882, 0.02022794, 0.00206622, 0.00171552,
 -0.00413424, 0.02365137, 0.00793201, 0.00356989,-0.0070819 , 0.02050673,
  0.1066967 , 0.00244997, 0.09      , 0.02480679, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.32942913e-04,-3.23941097e-04,-1.59537058e-05,-3.85109188e-04,
 -6.72533305e-05,-1.83249352e-04, 3.23765365e-05,-5.06589840e-04,
 -1.70556657e-04,-1.76357816e-04, 1.21079466e-04,-4.36559199e-04,
 -1.80975911e-01,-1.09773583e-03,-1.87877435e-04,-9.22336151e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 6.80871198e-20]


--- Step 26 ---
qpos:
[ 4.14392990e-03, 3.40875172e-03,-2.35736479e-03, 1.40927573e-02,
  1.46801831e-03, 1.20894144e-03,-2.85819286e-03, 1.64846741e-02,
  5.48104574e-03, 2.49019179e-03,-4.94993958e-03, 1.43506113e-02,
  1.91753510e-01, 1.93903424e-03, 5.82291659e-02, 2.02258702e-02,
  6.00000000e-02,-7.00000000e-02, 1.55167280e-01, 1.00000000e+00,
  2.80642568e-18, 0.00000000e+00, 0.00000000e+00]

qacc:
[-1.85844612e+01,-2.42698596e+01, 1.14809040e+02,-2.51514024e+02,
 -3.60973627e+00,-2.59048234e+01, 1.27535235e+02,-2.84185045e+02,
 -3.13336788e+01,-2.52471838e+01, 1.21175467e+02,-2.61796142e+02,
 -9.77885119e+01, 7.17259438e+01, 4.21368973e+01,-1.46436639e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00580517, 0.00502168,-0.00324212, 0.01983649, 0.00204654, 0.00167394,
 -0.00401873, 0.02320977, 0.00775291, 0.00352719,-0.00694469, 0.02011251,
  0.10620011, 0.00238399, 0.09      , 0.02412027, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.09330072e-04,-3.29696247e-04, 2.99098078e-06,-4.14394642e-04,
 -2.16330820e-05,-1.60566200e-04, 6.35720110e-05,-4.59155797e-04,
 -1.83821521e-04,-1.36534604e-04, 1.00609802e-04,-4.06816368e-04,
 -1.66881896e-01,-1.15917178e-03,-2.19573877e-04,-7.69899339e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 7.35340894e-20]


--- Step 27 ---
qpos:
[ 4.25827930e-03, 3.50960391e-03,-2.41885747e-03, 1.44818825e-02,
  1.50840708e-03, 1.24425141e-03,-2.93517017e-03, 1.69399531e-02,
  5.63274485e-03, 2.56124390e-03,-5.08389523e-03, 1.47447878e-02,
  1.96679847e-01, 2.00799171e-03, 6.04541527e-02, 2.08000143e-02,
  6.00000000e-02,-7.00000000e-02, 1.54068560e-01, 1.00000000e+00,
  3.01430906e-18, 0.00000000e+00, 0.00000000e+00]

qacc:
[-1.59931022e+01,-2.31312911e+01, 1.12387567e+02,-2.53472176e+02,
 -4.83458534e+00,-2.40646110e+01, 1.23894516e+02,-2.86902330e+02,
 -2.93720595e+01,-2.74578341e+01, 1.31213847e+02,-2.82717165e+02,
 -9.53372449e+01, 6.35753211e+01, 1.73589430e+01,-6.16835629e+01,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00571466, 0.00490733,-0.0031838 , 0.01942967, 0.00201861, 0.00167089,
 -0.00393706, 0.02274656, 0.00758557, 0.0034378 ,-0.00680921, 0.01968414,
  0.10571954, 0.00228115, 0.09      , 0.0238396 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-9.40536751e-05,-3.20155717e-04,-2.52347295e-05,-4.29906739e-04,
 -2.85869046e-05,-1.00821370e-04, 3.99026984e-05,-4.77765657e-04,
 -1.72424236e-04,-1.63887297e-04, 1.05607404e-04,-4.39373738e-04,
 -1.53066730e-01,-1.22024044e-03,-2.15652020e-04,-3.59289801e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 7.91905578e-20]


--- Step 28 ---
qpos:
[ 4.37030249e-03, 3.60829564e-03,-2.47931499e-03, 1.48634155e-02,
  1.54814695e-03, 1.27889193e-03,-3.01056654e-03, 1.73854223e-02,
  5.78160626e-03, 2.63046231e-03,-5.21534925e-03, 1.51318516e-02,
  2.01336980e-01, 2.07631790e-03, 6.26793405e-02, 2.13646387e-02,
  6.00000000e-02,-7.00000000e-02, 1.52930600e-01, 1.00000000e+00,
  3.22961685e-18, 0.00000000e+00, 0.00000000e+00]

qacc:
[-2.04034771e+01,-2.13485645e+01, 1.04098884e+02,-2.35644884e+02,
 -5.65515473e+00,-2.54994174e+01, 1.31071946e+02,-3.02918151e+02,
 -2.48697368e+01,-2.40182246e+01, 1.12236410e+02,-2.38088047e+02,
 -9.25880524e+01, 7.51035156e+01, 2.94113998e+01,-1.01689611e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00559796, 0.00481754,-0.00312492, 0.01905256, 0.00198603, 0.00163757,
 -0.00385813, 0.02225661, 0.00744425, 0.00332115,-0.0066938 , 0.01932784,
  0.10526889, 0.00224612, 0.09      , 0.02335639, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.19800216e-04,-2.96654320e-04,-2.66797410e-05,-4.01041324e-04,
 -3.34111338e-05,-1.03342749e-04, 4.59515844e-05,-5.03116162e-04,
 -1.46094832e-04,-2.06781919e-04, 7.93849061e-05,-3.68927086e-04,
 -1.39566709e-01,-1.17070631e-03,-1.66992067e-04,-5.38201832e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 8.50565250e-20]


--- Step 29 ---
qpos:
[ 4.48039405e-03, 3.70467446e-03,-2.53830454e-03, 1.52374300e-02,
  1.58753228e-03, 1.31270216e-03,-3.08435954e-03, 1.78212091e-02,
  5.92727351e-03, 2.69800379e-03,-5.34477386e-03, 1.55126684e-02,
  2.05733984e-01, 2.14410078e-03, 6.49049517e-02, 2.19178132e-02,
  6.00000000e-02,-7.00000000e-02, 1.51753400e-01, 1.00000000e+00,
  3.45234905e-18, 0.00000000e+00, 0.00000000e+00]

qacc:
[-1.69146643e+01,-2.26152796e+01, 1.08000511e+02,-2.38839720e+02,
 -3.06101733e+00,-2.55173097e+01, 1.30280737e+02,-2.99829982e+02,
 -2.80239221e+01,-2.07013067e+01, 9.70657334e+01,-2.07303429e+02,
 -8.96580168e+01, 7.61530196e+01, 3.55916968e+01,-1.22824627e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00550228, 0.00470773,-0.00304828, 0.01867824, 0.00196872, 0.00158637,
 -0.00378157, 0.02177258, 0.00728387, 0.00324232,-0.00659122, 0.01901676,
  0.10485071, 0.00221591, 0.09      , 0.02277532, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-9.94975068e-05,-3.02509894e-04,-3.20814469e-06,-3.96716624e-04,
 -1.82693777e-05,-1.22442057e-04, 4.29502916e-05,-4.97561476e-04,
 -1.64435257e-04,-1.95285809e-04, 5.68977669e-05,-3.25066927e-04,
 -1.26505259e-01,-1.16889406e-03,-1.68430310e-04,-6.40689381e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 9.11319911e-20]


--- Step 30 ---
qpos:
[ 4.58882055e-03, 3.79908188e-03,-2.59634440e-03, 1.56036756e-02,
  1.62640380e-03, 1.34575916e-03,-3.15694641e-03, 1.82471136e-02,
  6.06954317e-03, 2.76374170e-03,-5.47158253e-03, 1.58857193e-02,
  2.09879126e-01, 2.21003342e-03, 6.71306830e-02, 2.24607973e-02,
  6.00000000e-02,-7.00000000e-02, 1.50536960e-01, 1.00000000e+00,
  3.68250565e-18, 0.00000000e+00, 0.00000000e+00]

qacc:
[-1.45911433e+01,-2.12349502e+01, 1.04783162e+02,-2.39369823e+02,
 -4.47669099e+00,-2.47138025e+01, 1.28412653e+02,-3.00849096e+02,
 -2.97946270e+01,-2.56329666e+01, 1.20825938e+02,-2.58204212e+02,
 -8.65456504e+01, 6.23108268e+01, 3.13187148e+01,-1.08539014e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00541974, 0.00462244,-0.00299733, 0.0182908 , 0.0019428 , 0.00154262,
 -0.00372483, 0.02127816, 0.00711353, 0.00315126,-0.00646137, 0.01862827,
  0.10445023, 0.00211773, 0.09      , 0.02226554, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-8.57687407e-05,-2.76142747e-04,-2.70438958e-05,-4.09171523e-04,
 -2.64661200e-05,-1.26012065e-04, 1.90162059e-05,-5.08756499e-04,
 -1.74906159e-04,-2.03820138e-04, 8.53014726e-05,-4.01888839e-04,
 -1.13881280e-01,-1.23943273e-03,-1.81339951e-04,-5.75502838e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 9.74169560e-20]


--- Step 31 ---
qpos:
[ 4.69540805e-03, 3.89146092e-03,-2.65309651e-03, 1.59627386e-02,
  1.66431742e-03, 1.37800562e-03,-3.22831108e-03, 1.86637677e-02,
  6.20901179e-03, 2.82792868e-03,-5.59540856e-03, 1.62511398e-02,
  2.13781169e-01, 2.27287526e-03, 6.93563177e-02, 2.29954985e-02,
  6.00000000e-02,-7.00000000e-02, 1.49281280e-01, 1.00000000e+00,
  3.92008666e-18, 0.00000000e+00, 0.00000000e+00]

qacc:
[-1.61089241e+01,-2.10449877e+01, 1.01526827e+02,-2.26471876e+02,
 -8.38288483e+00,-2.35251611e+01, 1.21410007e+02,-2.82907335e+02,
 -2.45366313e+01,-2.60553923e+01, 1.22227408e+02,-2.58015738e+02,
 -8.32490097e+01, 4.88545448e+01, 2.52092352e+01,-8.76468779e+01,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00532785, 0.00453468,-0.00292636, 0.01793425, 0.00189425, 0.0015036 ,
 -0.00366247, 0.02081707, 0.00697421, 0.00310692,-0.0062988 , 0.01825062,
  0.10407965, 0.00196256, 0.09      , 0.0218551 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-9.47190686e-05,-2.69229963e-04,-4.91397709e-06,-3.78197463e-04,
 -4.93224007e-05,-1.28672214e-04, 2.05751481e-05,-4.76595999e-04,
 -1.44191849e-04,-1.59263610e-04, 1.17102237e-04,-3.91917970e-04,
 -1.01641752e-01,-1.30160052e-03,-1.79418293e-04,-4.74057953e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 1.03911420e-19]


--- Step 32 ---
qpos:
[ 4.79971423e-03, 3.98141874e-03,-2.70786648e-03, 1.63150636e-02,
  1.70100933e-03, 1.40942118e-03,-3.29843272e-03, 1.90719830e-02,
  6.34572762e-03, 2.89101402e-03,-5.71627850e-03, 1.66094653e-02,
  2.17451418e-01, 2.33374595e-03, 7.15822013e-02, 2.35201468e-02,
  6.00000000e-02,-7.00000000e-02, 1.47986360e-01, 1.00000000e+00,
  4.16509208e-18, 0.00000000e+00, 0.00000000e+00]

qacc:
[-1.99710885e+01,-2.25818819e+01, 1.04388579e+02,-2.22471212e+02,
 -1.07027566e+01,-2.19340792e+01, 1.12279167e+02,-2.59756158e+02,
 -2.41200042e+01,-2.42849570e+01, 1.14514170e+02,-2.41320528e+02,
 -7.98573358e+01, 5.95232640e+01, 3.10885034e+01,-1.07466371e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00521343, 0.00441079,-0.00282635, 0.01759876, 0.00183278, 0.00146778,
 -0.00359724, 0.02039706, 0.00683652, 0.00309107,-0.00613576, 0.01790019,
  0.10372995, 0.00188167, 0.09      , 0.02134667, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.17494083e-04,-2.95525568e-04, 2.93848108e-05,-3.55457765e-04,
 -6.28986073e-05,-1.25236630e-04, 2.42174882e-05,-4.34932904e-04,
 -1.41688733e-04,-9.88123483e-05, 1.31029677e-04,-3.61478401e-04,
 -8.98203989e-02,-1.22741199e-03,-1.67069603e-04,-5.66130359e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 1.10615382e-19]


--- Step 33 ---
qpos:
[ 4.90217636e-03, 4.06937323e-03,-2.76139304e-03, 1.66599153e-02,
  1.73702369e-03, 1.44019652e-03,-3.36735297e-03, 1.94719493e-02,
  6.47973195e-03, 2.95327043e-03,-5.83463584e-03, 1.69604390e-02,
  2.20901472e-01, 2.39413721e-03, 7.38082593e-02, 2.40346698e-02,
  6.00000000e-02,-7.00000000e-02, 1.46652200e-01, 1.00000000e+00,
  4.41752190e-18, 0.00000000e+00, 0.00000000e+00]

qacc:
[-1.61544491e+01,-2.14863732e+01, 1.04376163e+02,-2.34299985e+02,
 -5.91861030e+00,-2.11838669e+01, 1.09152274e+02,-2.53399742e+02,
 -2.37753827e+01,-2.32141452e+01, 1.12302511e+02,-2.43044500e+02,
 -7.65062325e+01, 7.37111637e+01, 3.12049029e+01,-1.08024782e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00512218, 0.00431967,-0.00276337, 0.01722507, 0.00179971, 0.00145197,
 -0.00353081, 0.01998683, 0.00670086, 0.00305699,-0.00600912, 0.01753311,
  0.10338986, 0.00188099, 0.09      , 0.02083779, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-9.49790951e-05,-2.69312200e-04,-8.05177650e-06,-3.93133519e-04,
 -3.48874975e-05,-1.00733571e-04, 2.80444356e-05,-4.24048403e-04,
 -1.39555971e-04,-7.90479214e-05, 1.09884361e-04,-3.74456804e-04,
 -7.85561889e-02,-1.12900083e-03,-1.72521352e-04,-5.70336527e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 1.17528844e-19]


--- Step 34 ---
qpos:
[ 5.00274114e-03, 4.15603283e-03,-2.81463719e-03, 1.69972179e-02,
  1.77236124e-03, 1.47026631e-03,-3.43527183e-03, 1.98645832e-02,
  6.61107055e-03, 3.01472165e-03,-5.95085908e-03, 1.73046383e-02,
  2.24140033e-01, 2.45281289e-03, 7.60347364e-02, 2.45367830e-02,
  6.00000000e-02,-7.00000000e-02, 1.45278800e-01, 1.00000000e+00,
  4.67737613e-18, 0.00000000e+00, 0.00000000e+00]

qacc:
[-1.66652801e+01,-1.80181817e+01, 9.36907731e+01,-2.23913122e+02,
 -5.91658747e+00,-1.88228646e+01, 9.67384466e+01,-2.24751692e+02,
 -2.33843295e+01,-2.09360169e+01, 1.01786002e+02,-2.21944185e+02,
 -7.31831202e+01, 5.97741705e+01, 3.84758667e+01,-1.32956314e+02,
  6.19271257e-19, 4.09738765e-18,-9.81000000e+00, 6.61315853e-16,
 -1.37383275e-16,-3.81737097e-17]

qfrc_actuator:
[ 0.00502755, 0.00428428,-0.00274043, 0.01684965, 0.00176586, 0.00141281,
 -0.00348185, 0.01962116, 0.0065675 , 0.00301214,-0.00590505, 0.01719463,
  0.10308415, 0.00180345, 0.09      , 0.02020845, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-9.76979357e-05,-2.08189028e-04,-4.85554756e-05,-3.95755172e-04,
 -3.48533883e-05,-1.09091869e-04, 1.64839681e-05,-3.78077955e-04,
 -1.37202214e-04,-8.36835167e-05, 8.83329125e-05,-3.45974570e-04,
 -6.78390852e-02,-1.18202435e-03,-1.74802317e-04,-6.91562837e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 1.24651804e-19]


--- Step 35 ---
qpos:
[ 5.10103863e-03, 4.24142561e-03,-2.86760727e-03, 1.73273761e-02,
  1.80632832e-03, 1.49950108e-03,-3.50179878e-03, 2.02504436e-02,
  6.73979159e-03, 3.07524181e-03,-6.06489533e-03, 1.76424485e-02,
  2.27177082e-01, 2.50972056e-03, 7.82613178e-02, 2.50274816e-02,
  6.00527831e-02,-6.99344655e-02, 1.44154442e-01, 9.99999871e-01,
 -3.89313830e-04, 3.24578634e-04, 1.88504299e-05]

qacc:
[ -19.9196878 , -17.11782095,  88.83666851,-212.07360817, -12.00585763,
  -18.92274985,  94.50738566,-213.39948089, -22.95613138, -20.45769162,
   98.21165126,-211.69407299, -69.8218366 ,  57.67329792,  34.99019054,
 -121.45155562,  13.19576615,  16.38363396,  62.26043407,-194.65692356,
  162.28932402,   9.42521538]

qfrc_actuator:
[ 0.00491393, 0.00422916,-0.00272329, 0.01649401, 0.00169632, 0.0013777 ,
 -0.00340815, 0.01928461, 0.00643654, 0.00296113,-0.0057974 , 0.01687568,
  0.10280089, 0.00173449, 0.09      , 0.01963745, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012716956135288143
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.18256439e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.18256439e-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([ 0.03240417, -0.09646541,  0.0619726 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16735015e-04,-2.02152764e-04,-4.67800997e-05,-3.74791524e-04,
 -7.05535471e-05,-1.10092577e-04, 3.96733988e-05,-3.48806753e-04,
 -1.34728345e-04,-9.56514003e-05, 8.92845911e-05,-3.26825348e-04,
 -5.75354127e-02,-1.16464163e-03,-1.89778865e-04,-6.40381710e-04,
  0.00000000e+00, 0.00000000e+00,-9.81000000e+00,-6.25329573e-02,
 -1.41087930e-02, 1.31984263e-19]


--- Step 36 ---
qpos:
[ 5.19720440e-03, 4.32488449e-03,-2.91945531e-03, 1.76503681e-02,
  1.83885223e-03, 1.52835535e-03,-3.56651948e-03, 2.06281280e-02,
  6.86594411e-03, 3.13492924e-03,-6.17677418e-03, 1.79734393e-02,
  2.30023218e-01, 2.56553653e-03, 8.04874343e-02, 2.55112004e-02,
  6.01504797e-02,-6.98131851e-02, 1.43237853e-01, 9.99998945e-01,
 -1.11487534e-03, 9.29533435e-04, 5.38500839e-05]

qacc:
[ -18.68823799, -20.41743755,  99.40990979,-223.88373847, -12.64109596,
  -22.36766645, 113.58553755,-257.75151799, -22.52725438, -21.13144096,
  102.61706237,-223.56699484, -66.51053172,  62.75226583,  20.71279398,
  -72.73420136,  11.22838954,  13.936447  ,  51.94229874,-168.12399812,
  140.18825874,   8.07462843]

qfrc_actuator:
[ 0.0048078 , 0.00410943,-0.00267423, 0.01613509, 0.00162408, 0.00139871,
 -0.00330266, 0.01887914, 0.00630805, 0.00292463,-0.00568851, 0.01653527,
  0.10253247, 0.00170691, 0.09      , 0.0193007 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023568986111029977
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.53289388e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.53289388e-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([ 0.03271491, -0.0960753 ,  0.0619492 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09781148e-04,-2.62059457e-04,-1.26390926e-05,-3.77315387e-04,
 -7.42713326e-05,-4.84846861e-05, 7.51491207e-05,-4.16379815e-04,
 -1.32200561e-04,-8.68048510e-05, 8.88313780e-05,-3.48385774e-04,
 -4.77168980e-02,-1.10322824e-03,-1.89511671e-04,-4.04874095e-04,
  7.00526527e-04, 7.49495063e-04,-9.80843746e+00,-6.25563699e-02,
 -1.40372249e-02,-8.89677380e-05]


--- Step 37 ---
qpos:
[ 5.29168947e-03, 4.40610159e-03,-2.96990049e-03, 1.79665498e-02,
  1.87025677e-03, 1.55706636e-03,-3.62988354e-03, 2.09979985e-02,
  6.98957795e-03, 3.19350636e-03,-6.28661723e-03, 1.82974622e-02,
  2.32687251e-01, 2.61951328e-03, 8.27137870e-02, 2.59847511e-02,
  6.02865144e-02,-6.96443416e-02, 1.42493740e-01, 9.99996143e-01,
 -2.13177434e-03, 1.77745572e-03, 1.02628702e-04]

qacc:
[ -14.70585283, -20.88405376,  98.96691872,-217.48783661,  -9.80970256,
  -20.05649353, 104.26124453,-241.60358173, -22.0877397 , -21.46519632,
  103.90106615,-227.0235737 , -63.2688364 ,  53.4082822 ,  31.39746883,
 -108.63011375,   9.58450999,  11.89079648,  43.11921507,-145.66959323,
  121.48472788,   6.88956532]

qfrc_actuator:
[ 0.00472469, 0.00398762,-0.00260697, 0.01579484, 0.00156859, 0.0014    ,
 -0.00323231, 0.01848969, 0.00618203, 0.00284384,-0.00559747, 0.01618497,
  0.10227928, 0.00163319, 0.09      , 0.01878508, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003200279845974624
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73457178e-14, -3.46914357e-14,  1.00000000e+00,  6.01747855e-28,
        1.00000000e+00,  3.46914357e-14, -1.00000000e+00,  0.00000000e+00,
        1.73457178e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03295839, -0.09576966,  0.06193096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.65822434e-05,-2.90618326e-04,-2.67473054e-06,-3.60063101e-04,
 -5.76011826e-05,-2.93056224e-05, 5.47613951e-05,-3.97792727e-04,
 -1.29649851e-04,-1.27142111e-04, 7.20014761e-05,-3.58322926e-04,
 -3.84141354e-02,-1.12176182e-03,-1.61315359e-04,-5.70159180e-04,
  2.43908718e-03, 2.61169680e-03,-9.80457853e+00,-6.25851150e-02,
 -1.38848589e-02,-2.77593316e-04]


--- Step 38 ---
qpos:
[ 5.38478259e-03, 4.48529448e-03,-3.01925986e-03, 1.82765170e-02,
  1.90075196e-03, 1.58507351e-03,-3.69172433e-03, 2.13614054e-02,
  7.11074229e-03, 3.25076425e-03,-6.39466684e-03, 1.86144533e-02,
  2.35200305e-01, 2.66923749e-03, 8.49400850e-02, 2.64487726e-02,
  6.04553789e-02,-6.94347912e-02, 1.41891961e-01, 9.99990178e-01,
 -3.40178466e-03, 2.83650418e-03, 1.63102564e-04]

qacc:
[ -12.17876839, -18.48799851,  88.31741806,-196.17190698,  -7.94561851,
  -18.48591009,  91.87890332,-205.6976212 , -21.65873344, -21.19588597,
  102.80824719,-226.49214801, -51.45390079,  17.19485842,  28.96991797,
 -100.91229373,   8.20747511,  10.17673784,  35.58324238,-126.55824468,
  105.56613006,   5.84785771]

qfrc_actuator:
[ 0.00465579, 0.00390114,-0.00254728, 0.01548606, 0.00152341, 0.00133611,
 -0.00316556, 0.01816602, 0.00605848, 0.00275486,-0.00551788, 0.0158316 ,
  0.10204661, 0.00156847, 0.09      , 0.01831015, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003841277224696571
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44512223e-14, -7.22561117e-15,  1.00000000e+00,  1.04418914e-28,
        1.00000000e+00,  7.22561117e-15, -1.00000000e+00,  0.00000000e+00,
        1.44512223e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03314609, -0.09553409,  0.06191703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.17151354e-05,-2.68361871e-04,-1.42898612e-05,-3.29125192e-04,
 -4.68156366e-05,-8.71546004e-05, 5.32493276e-05,-3.31522796e-04,
 -1.27129606e-04,-1.61781017e-04, 4.98015939e-05,-3.63873593e-04,
 -2.95320574e-02,-1.09389657e-03,-1.68643125e-04,-5.35496680e-04,
  4.80717878e-03, 5.15346984e-03,-9.79936670e+00,-6.26284703e-02,
 -1.36756872e-02,-5.37622106e-04]


--- Step 39 ---
qpos:
[ 5.47597536e-03, 4.56259911e-03,-3.06761001e-03, 1.85803434e-02,
  1.93046829e-03, 1.61210876e-03,-3.75178432e-03, 2.17174172e-02,
  7.22948528e-03, 3.30713660e-03,-6.50141752e-03, 1.89247103e-02,
  2.37599982e-01, 2.71421823e-03, 8.71662930e-02, 2.69027740e-02,
  6.06524497e-02,-6.91902900e-02, 1.41406800e-01, 9.99979685e-01,
 -4.89222836e-03, 4.07945788e-03, 2.33438388e-04]

qacc:
[ -16.65501921, -17.93346435,  86.30468856,-192.87664693,  -6.78530101,
  -21.48070232, 105.97147267,-236.12121803, -21.25766554, -18.62797514,
   93.22583636,-211.28467005, -38.05975175,  -2.0844355 ,  30.34728003,
 -105.95937299,   7.05154643,   8.73768335,  29.15461116,-110.22247263,
   91.95949455,   4.93148301]

qfrc_actuator:
[ 0.00456029, 0.00381879,-0.00249238, 0.01518053, 0.00148465, 0.00126925,
 -0.00308394, 0.01779483, 0.00593737, 0.00273261,-0.00544574, 0.01549701,
  0.10183535, 0.00153005, 0.09      , 0.01780979, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004313439136817837
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.43467422e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.43467422e-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([ 0.03328731, -0.09535692,  0.06190668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.78737639e-05,-2.52777296e-04,-1.48104069e-05,-3.24700954e-04,
 -4.01112790e-05,-1.19930657e-04, 5.82890911e-05,-3.80273523e-04,
 -1.24636280e-04,-1.19198590e-04, 3.22838082e-05,-3.47452055e-04,
 -2.21841109e-02,-9.18908358e-04,-1.62562585e-04,-5.58567675e-04,
  7.52916682e-03, 8.08372997e-03,-9.79344603e+00,-6.26917999e-02,
 -1.34269692e-02,-8.48827170e-04]


--- Step 40 ---
qpos:
[ 5.56496436e-03, 4.63773031e-03,-3.11454426e-03, 1.88781370e-02,
  1.96017835e-03, 1.63859849e-03,-3.81082285e-03, 2.20661942e-02,
  7.34585545e-03, 3.36225182e-03,-6.60643437e-03, 1.92292399e-02,
  2.39914206e-01, 2.75502456e-03, 8.93922239e-02, 2.73478614e-02,
  6.08738387e-02,-6.89156785e-02, 1.41016352e-01, 9.99963303e-01,
 -6.57508742e-03, 5.48297545e-03, 3.12023383e-04]

qacc:
[-1.93053555e+01,-1.92194347e+01, 8.98953498e+01,-1.95045622e+02,
 -1.80346301e-02,-1.84776660e+01, 9.53830513e+01,-2.21836997e+02,
 -2.08096995e+01,-1.82624956e+01, 8.69584882e+01,-1.88014812e+02,
 -2.84699767e+01,-6.88435814e+00, 2.66848006e+01,-9.36498488e+01,
  6.07956332e+00, 7.52757157e+00, 2.36780354e+01,-9.62184278e+01,
  8.02947606e+01, 4.12548083e+00]

qfrc_actuator:
[ 0.00444991, 0.00370409,-0.00242295, 0.01487937, 0.00148548, 0.00125441,
 -0.00302977, 0.01743414, 0.00581865, 0.00266174,-0.00536053, 0.01521169,
  0.10161767, 0.0014741 , 0.09      , 0.01736949, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004645302120975345
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19499550e-14, -1.79249325e-14,  1.00000000e+00,  2.14202136e-28,
        1.00000000e+00,  1.79249325e-14, -1.00000000e+00,  0.00000000e+00,
        1.19499550e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03338969, -0.09522858,  0.06189932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13497418e-04,-2.76267769e-04, 3.04956844e-06,-3.19583010e-04,
 -3.39392788e-07,-8.72545781e-05, 2.30141569e-05,-3.71928634e-04,
 -1.22151881e-04,-1.46900544e-04, 5.25616420e-05,-2.96619118e-04,
 -1.67221023e-02,-7.36742596e-04,-1.55980882e-04,-4.97440410e-04,
  1.04196159e-02, 1.12071215e-02,-9.78725189e+00,-6.27778153e-02,
 -1.31511165e-02,-1.19665166e-03]


--- Step 41 ---
qpos:
[ 5.65227770e-03, 4.71101968e-03,-3.16071141e-03, 1.91703370e-02,
  1.99035703e-03, 1.66449673e-03,-3.86904280e-03, 2.24079403e-02,
  7.45989988e-03, 3.41598959e-03,-6.70984928e-03, 1.95279942e-02,
  2.42163797e-01, 2.79253677e-03, 9.16181890e-02, 2.77821356e-02,
  6.11162724e-02,-6.86150321e-02, 1.40701981e-01, 9.99939729e-01,
 -8.42629871e-03, 7.02700688e-03, 3.97439868e-04]

qacc:
[ -14.68568335, -16.07201127,  77.44020942,-174.18266115,   4.15537723,
  -17.55878337,  91.14238866,-213.68854951, -20.39747544, -18.15184792,
   86.53346544,-188.11508242, -21.50660859,  -5.85079002,  32.87514348,
 -114.70479289,   5.26117182,   6.50871588,  19.01944882, -84.19369651,
   70.27806982,   3.41716159]

qfrc_actuator:
[ 0.00436715, 0.00362427,-0.00238112, 0.01460093, 0.0015096 , 0.00121748,
 -0.00299201, 0.01708256, 0.0057023 , 0.00258018,-0.00528619, 0.01492213,
  0.10140837, 0.00142672, 0.09      , 0.01682611, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004861129559266583
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14193935e-14, -5.70969674e-15,  1.00000000e+00,  6.52012738e-29,
        1.00000000e+00,  5.70969674e-15, -1.00000000e+00,  0.00000000e+00,
        1.14193935e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03345956, -0.0951411 ,  0.06189442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.63101912e-05,-2.50532612e-04,-2.70015469e-05,-2.97136090e-04,
  2.40966257e-05,-9.79567278e-05, 9.29695131e-06,-3.62469464e-04,
 -1.19736358e-04,-1.66689588e-04, 4.02316373e-05,-3.00353691e-04,
 -1.26478968e-02,-5.74355387e-04,-1.40959084e-04,-5.94992554e-04,
  1.33551889e-02, 1.43937748e-02,-9.78107296e+00,-6.28874379e-02,
 -1.28570151e-02,-1.57060081e-03]


--- Step 42 ---
qpos:
[ 5.73791447e-03, 4.78292344e-03,-3.20658168e-03, 1.94575756e-02,
  2.02059027e-03, 1.68974838e-03,-3.92636189e-03, 2.27428014e-02,
  7.57166462e-03, 3.46848684e-03,-6.81162825e-03, 1.98205777e-02,
  2.44364287e-01, 2.82742977e-03, 9.38442398e-02, 2.82044644e-02,
  6.13769919e-02,-6.82917852e-02, 1.40447863e-01, 9.99907739e-01,
 -1.04251852e-02, 8.69431939e-03, 4.88443323e-04]

qacc:
[ -14.71555232, -12.85162743,  64.16253268,-149.54213511,   0.51540988,
  -17.55436685,  90.41811634,-210.54684951, -19.99341963, -18.88117806,
   91.06547142,-199.64744713, -16.31167455,  -5.05621719,  36.36252735,
 -126.84608277,   4.5714602 ,   5.65014254,  15.06314476, -73.86398651,
   61.6723909 ,   2.79554341]

qfrc_actuator:
[ 0.00428358, 0.00358368,-0.00235576, 0.01435585, 0.00151172, 0.00118532,
 -0.00294657, 0.01673914, 0.00558827, 0.00252832,-0.00520118, 0.0146146 ,
  0.10120529, 0.00138525, 0.09      , 0.01622634, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004981535982223992
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.11433806e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.11433806e-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([ 0.03350224, -0.09508784,  0.06189156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.63410268e-05,-2.02080195e-04,-4.10624421e-05,-2.63263530e-04,
  2.78580217e-06,-1.01566948e-04, 1.34309996e-05,-3.55052490e-04,
 -1.17359261e-04,-1.50714651e-04, 4.51733919e-05,-3.19652828e-04,
 -9.60849070e-03,-4.49976884e-04,-1.42206669e-04,-6.54192247e-04,
  1.62557877e-02, 1.75591875e-02,-9.77509430e+00,-6.30203976e-02,
 -1.25509679e-02,-1.96312464e-03]


--- Step 43 ---
qpos:
[ 5.82153349e-03, 4.85350290e-03,-3.25189798e-03, 1.97396010e-02,
  2.05026895e-03, 1.71464782e-03,-3.98287970e-03, 2.30712412e-02,
  7.68119546e-03, 3.51933834e-03,-6.91087916e-03, 2.01068331e-02,
  2.46527247e-01, 2.85987296e-03, 9.60699705e-02, 2.86172706e-02,
  6.16536710e-02,-6.79488332e-02, 1.40240582e-01, 9.99866208e-01,
 -1.25539902e-02, 1.04701090e-02, 5.83943092e-04]

qacc:
[ -17.70865374, -14.00257333,  69.45809864,-159.66728375,  -4.85228445,
  -15.92087915,  83.2179422 ,-195.39456731, -19.55528598, -22.23497065,
  102.90893281,-215.33889024, -12.2779626 ,  -8.10323934,  28.40712802,
  -99.93527664,   3.98989414,   4.92629   ,  11.70928701, -64.99626689,
   54.28348447,   2.2509593 ]

qfrc_actuator:
[ 0.00418244, 0.00353139,-0.00232238, 0.01409688, 0.00148311, 0.00119181,
 -0.00289691, 0.01642102, 0.00547651, 0.00244145,-0.00507494, 0.014299  ,
  0.10100155, 0.00133024, 0.09      , 0.01575797, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005024016575689488
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.20983153e-14, -1.65737365e-14,  1.00000000e+00,  3.66251655e-28,
        1.00000000e+00,  1.65737365e-14, -1.00000000e+00,  0.00000000e+00,
        2.20983153e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03352219, -0.09506317,  0.06189035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03893656e-04,-1.88066744e-04,-2.35587979e-05,-2.74885730e-04,
 -2.85483254e-05,-6.37362092e-05, 1.76716067e-05,-3.29593647e-04,
 -1.15013644e-04,-1.76571896e-04, 8.96531397e-05,-3.27232978e-04,
 -7.34643573e-03,-3.72834946e-04,-1.46567283e-04,-5.25554804e-04,
  1.90716584e-02, 2.06505876e-02,-9.76942771e+00,-6.31756530e-02,
 -1.22373781e-02,-2.36882777e-03]


--- Step 44 ---
qpos:
[ 5.90363001e-03, 4.92271140e-03,-3.29672886e-03, 2.00156341e-02,
  2.07902898e-03, 1.73939755e-03,-4.03851398e-03, 2.33932667e-02,
  7.78888159e-03, 3.56867832e-03,-7.00732239e-03, 2.03870312e-02,
  2.48661373e-01, 2.89003763e-03, 9.82952754e-02, 2.90225127e-02,
  6.19443480e-02,-6.75886172e-02, 1.40068787e-01, 9.99814108e-01,
 -1.47974894e-02, 1.23416773e-02, 6.82985174e-04]

qacc:
[ -13.3545005 , -15.48534569,  77.9295513 ,-181.46069397,  -8.05680953,
  -15.86266384,  83.38056011,-195.73068307, -16.12350358, -22.28798027,
  102.20012339,-210.47524879,  -9.25726201, -10.00913912,  22.30525818,
  -78.85267742,   3.49947737,   4.31598034,   8.87175109, -57.39657719,
   47.94973925,   1.77478749]

qfrc_actuator:
[ 0.00410727, 0.00345483,-0.00230231, 0.01379631, 0.00143666, 0.00120372,
 -0.00284499, 0.01610262, 0.00538474, 0.00238772,-0.00492551, 0.01399894,
  0.10081412, 0.00126797, 0.09      , 0.01538856, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005003397654160621
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.21893821e-14, -1.66420366e-14,  1.00000000e+00,  3.69276509e-28,
        1.00000000e+00,  1.66420366e-14, -1.00000000e+00,  0.00000000e+00,
        2.21893821e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03352324, -0.09506229,  0.0618905 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.84099761e-05,-2.01334016e-04,-3.21978705e-05,-3.15491004e-04,
 -4.72754780e-05,-3.52013270e-05, 2.91633970e-05,-3.27591798e-04,
 -9.49774534e-05,-1.48981570e-04, 1.12722517e-04,-3.11403147e-04,
 -5.64657823e-03,-3.11356246e-04,-1.31053229e-04,-4.19228507e-04,
  2.17744194e-02, 2.36375213e-02,-9.76413344e+00,-6.33516889e-02,
 -1.19192518e-02,-2.78390132e-03]


--- Step 45 ---
qpos:
[ 5.98383717e-03, 4.99047324e-03,-3.34096319e-03, 2.02855606e-02,
  2.10735354e-03, 1.76382166e-03,-4.09307612e-03, 2.37093119e-02,
  7.89463175e-03, 3.61687054e-03,-7.10141705e-03, 2.06624628e-02,
  2.50773108e-01, 2.91879790e-03, 1.00520203e-01, 2.94214461e-02,
  6.22473694e-02,-6.72131948e-02, 1.39922898e-01, 9.99750507e-01,
 -1.71426638e-02, 1.42981593e-02, 7.84736756e-04]

qacc:
[ -16.57563713, -16.12534721,  80.56009266,-186.20448018,  -3.79595924,
  -15.73670604,  80.74675122,-185.73954552, -16.94643368, -17.86406529,
   81.67697231,-167.14822737,  -7.36848321,  -3.72761804,  18.57424343,
  -65.70579975,   3.08608481,   3.80159994,   6.47625712, -50.90119874,
   42.5348011 ,   1.35926784]

qfrc_actuator:
[ 0.00401249, 0.00338203,-0.00227263, 0.0134914 , 0.00141559, 0.00118329,
 -0.00279211, 0.01580438, 0.0052877 , 0.00235441,-0.00479896, 0.01376371,
  0.10062639, 0.00123766, 0.09      , 0.01508036, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004932220895089975
  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([ 0.03350863, -0.09508112,  0.06189174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.72925898e-05,-2.08442613e-04,-2.77702334e-05,-3.21477099e-04,
 -2.24162931e-05,-4.91052583e-05, 3.75043808e-05,-3.05770328e-04,
 -9.96612350e-05,-1.07659169e-04, 9.89262423e-05,-2.44265910e-04,
 -4.38172768e-03,-2.26429490e-04,-1.10596783e-04,-3.49723840e-04,
  2.43507202e-02, 2.65052485e-02,-9.75923577e+00,-6.35467270e-02,
 -1.15985702e-02,-3.20570879e-03]


--- Step 46 ---
qpos:
[ 6.06193484e-03, 5.05682022e-03,-3.38430935e-03, 2.05500398e-02,
  2.13589505e-03, 1.78771336e-03,-4.14648201e-03, 2.40193316e-02,
  7.99805309e-03, 3.66442199e-03,-7.19400527e-03, 2.09325692e-02,
  2.52867164e-01, 2.94709507e-03, 1.02744919e-01, 2.98142056e-02,
  6.25613424e-02,-6.68242986e-02, 1.39794844e-01, 9.99674556e-01,
 -1.95784201e-02, 1.63302906e-02, 8.88472204e-04]

qacc:
[ -18.50168547, -15.53684162,  75.74544912,-170.4748873 ,   1.95086899,
  -16.34932403,  82.70581998,-188.44175164, -20.43916008, -15.98348839,
   78.31475899,-172.49526586,  -6.14252277,   3.94561564,  18.41130754,
  -64.78311958,   2.73792985,   3.3684431 ,   4.45875692, -45.37023701,
   37.92220849,   0.99737658]

qfrc_actuator:
[ 0.00390692, 0.00332987,-0.00221973, 0.01322189, 0.00142738, 0.00114371,
 -0.0027392 , 0.0155026 , 0.00517059, 0.00233359,-0.0047223 , 0.01349751,
  0.10042296, 0.00124432, 0.09      , 0.01477515, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004821071797672952
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15142760e-14, -1.15142760e-14,  1.00000000e+00,  1.32578552e-28,
        1.00000000e+00,  1.15142760e-14, -1.00000000e+00,  0.00000000e+00,
        1.15142760e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03348117, -0.09511615,  0.06189385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08616439e-04,-1.91066106e-04,-5.65901910e-06,-2.86317582e-04,
  1.11499386e-05,-7.33592883e-05, 3.64495084e-05,-3.09174038e-04,
 -1.19862524e-04,-7.20182814e-05, 5.81831927e-05,-2.72632976e-04,
 -3.45500596e-03,-1.48213223e-04,-9.28724618e-05,-3.40073796e-04,
  2.67977034e-02, 2.92500413e-02,-9.75473445e+00,-6.37588741e-02,
 -1.12765682e-02,-3.63248073e-03]


--- Step 47 ---
qpos:
[ 6.13850020e-03, 5.12145854e-03,-3.42629168e-03, 2.08088768e-02,
  2.16401074e-03, 1.81130847e-03,-4.19914956e-03, 2.43222728e-02,
  8.09926810e-03, 3.71150547e-03,-7.28500454e-03, 2.11963098e-02,
  2.54947130e-01, 2.97447638e-03, 1.04969455e-01, 3.02012322e-02,
  6.28850961e-02,-6.64233857e-02, 1.39677846e-01, 9.99585482e-01,
 -2.20953495e-02, 1.84302065e-02, 9.93560359e-04]

qacc:
[ -13.40572122, -17.6661445 ,  83.57937777,-182.20635843,  -3.72267373,
  -17.02704442,  90.0398604 ,-213.52847111, -19.36191688, -18.13058556,
   90.69208047,-203.13940446,  -4.63536103,  -2.33255672,  17.11346324,
  -60.19862714,   2.44513709,   3.00418425,   2.76404142, -40.68292613,
   34.01146347,   0.68273943]

qfrc_actuator:
[ 0.00383136, 0.00323737,-0.00215343, 0.01293992, 0.00140515, 0.00112848,
 -0.00270454, 0.01514789, 0.00506036, 0.00232021,-0.00464018, 0.01317968,
  0.10022647, 0.00121952, 0.09      , 0.01449189, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004678860981989441
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18642446e-14, -1.18642446e-14,  1.00000000e+00,  1.40760300e-28,
        1.00000000e+00,  1.18642446e-14, -1.00000000e+00,  0.00000000e+00,
        1.18642446e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03344325, -0.09516435,  0.06189665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.89228384e-05,-2.15548974e-04, 1.52901670e-05,-2.96584830e-04,
 -2.19211418e-05,-6.29078019e-05, 1.29496804e-05,-3.63245147e-04,
 -1.13549760e-04,-5.42709238e-05, 6.50151825e-05,-3.24682055e-04,
 -2.75714214e-03,-1.48502077e-04,-8.35972035e-05,-3.15294416e-04,
  2.91197244e-02, 3.18757996e-02,-9.75061291e+00,-6.39862251e-02,
 -1.09539427e-02,-4.06308757e-03]


--- Step 48 ---
qpos:
[ 0.0062139 , 0.00518424,-0.00346677, 0.02106197, 0.00219095, 0.00183439,
 -0.00425092, 0.02461827, 0.00819803, 0.00375758,-0.00737355, 0.02145419,
  0.25701575, 0.00300067, 0.10719467, 0.03057614, 0.06323081,-0.06603898,
  0.13961904, 0.99948559,-0.02450728, 0.0206571 , 0.00110834]

qacc:
[ -10.13181925, -18.47825146,  86.60202896,-187.07189465, -10.30164189,
  -17.48432522,  90.72567994,-212.08524725, -21.48249032, -20.20803876,
   94.94080417,-199.63929409,  -3.52386748,  -6.20280632,  37.69887809,
 -130.38926642,   5.48898128,  -4.12694547,  14.54769208,  52.33259179,
   63.40231664,   7.21773399]

qfrc_actuator:
[ 0.00377406, 0.00313929,-0.00207993, 0.01265283, 0.00134532, 0.00109233,
 -0.00266312, 0.01480037, 0.0049373 , 0.00225813,-0.00451995, 0.01288731,
  0.10004511, 0.00117649, 0.09      , 0.01386877, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004530258764572137
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22534173e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.22534173e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03267152, -0.0364476 ,  0.0618996 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.98116149e-05,-2.30864395e-04, 1.96831860e-05,-3.02208034e-04,
 -6.04604885e-05,-8.51479694e-05, 1.71151856e-05,-3.57441718e-04,
 -1.26183308e-04,-9.38650708e-05, 1.05822153e-04,-2.99233382e-04,
 -2.22346533e-03,-1.44349026e-04,-7.62325146e-05,-6.52496433e-04,
  3.13259682e-02, 3.43915955e-02,-9.74684429e+00,-6.42269332e-02,
 -1.06310088e-02,-4.49686981e-03]


--- Step 49 ---
qpos:
[ 0.00628769, 0.0052455 ,-0.00350647, 0.02131   , 0.00221697, 0.0018567 ,
 -0.00430174, 0.0249085 , 0.00829421, 0.00380239,-0.00745957, 0.02170727,
  0.25907502, 0.00302592, 0.10942026, 0.03093801, 0.06359587,-0.06566859,
  0.13960566, 0.99937474,-0.02682884, 0.02299607, 0.00123531]

qacc:
[ -14.2208562 , -14.58354086,  70.53202804,-158.43983832,  -8.11173775,
  -15.52314627,  78.21078377,-178.8718886 , -22.65982056, -18.59640868,
   84.23342953,-170.54641657,  -2.9227038 ,  -4.72587269,  40.06099169,
 -139.32054689,   4.83765508,  -3.5035146 ,  11.3566655 ,  44.96477927,
   55.92618276,   8.40960984]

qfrc_actuator:
[ 0.00369247, 0.0030742 ,-0.00203829, 0.01240054, 0.00129935, 0.00104396,
 -0.0026181 , 0.01451314, 0.00480768, 0.0021853 ,-0.00439612, 0.01264776,
  0.09985711, 0.0011409 , 0.09      , 0.01321018, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004596433116799775
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20770062e-14, -1.20770062e-14,  1.00000000e+00,  1.45854079e-28,
        1.00000000e+00,  1.20770062e-14, -1.00000000e+00,  0.00000000e+00,
        1.20770062e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03268709, -0.03646326,  0.06189812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.35693780e-05,-2.05703782e-04,-1.49866407e-05,-2.68013364e-04,
 -4.77033140e-05,-1.08680650e-04, 1.68473000e-05,-2.97839194e-04,
 -1.33124821e-04,-1.17222900e-04, 1.07155695e-04,-2.46193940e-04,
 -1.83364561e-03,-1.19342735e-04,-1.12003016e-04,-7.06168953e-04,
  3.15105409e-02, 3.10226480e-02,-9.74708528e+00,-6.43621464e-02,
 -1.03021484e-02,-4.87596872e-03]


--- Step 50 ---
qpos:
[ 0.00635922, 0.00530546,-0.00354607, 0.02155342, 0.00224223, 0.00187824,
 -0.00435162, 0.02519302, 0.00838843, 0.0038461 ,-0.00754426, 0.02195556,
  0.26112637, 0.00305106, 0.11164499, 0.03129482, 0.06397808,-0.06531015,
  0.13962694, 0.99925273,-0.0290721 , 0.02543438, 0.00137586]

qacc:
[ -19.72482859, -11.45436233,  57.8432125 ,-136.78518519,  -6.59249203,
  -15.36134956,  77.43583785,-177.23332415, -17.14720627, -14.99072504,
   71.59405728,-155.7912362 ,  -2.83821957,   3.24618932,  14.05163536,
  -50.95985265,   4.2877548 ,  -2.98742671,   8.66470547,  38.8799381 ,
   49.53322313,   9.02035761]

qfrc_actuator:
[ 0.00357947, 0.00301155,-0.0020334 , 0.01217075, 0.00126192, 0.00100648,
 -0.00257134, 0.01422817, 0.00471074, 0.00210668,-0.00434219, 0.01240567,
  0.09966536, 0.00114553, 0.09      , 0.0129799 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004600759491584797
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.41312989e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.41312989e-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([ 0.03268354, -0.03646279,  0.06189798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15638320e-04,-1.94829989e-04,-4.95958142e-05,-2.44953814e-04,
 -3.88135994e-05,-1.08420338e-04, 1.57747144e-05,-2.95430690e-04,
 -1.00652826e-04,-1.33507402e-04, 3.44166895e-05,-2.48637522e-04,
 -1.54715821e-03,-6.55833231e-05,-1.32486994e-04,-2.84993325e-04,
  3.16321712e-02, 2.82301905e-02,-9.74704748e+00,-6.44629377e-02,
 -9.93889321e-03,-5.25690730e-03]


--- Step 51 ---
qpos:
[ 0.00642919, 0.00536408,-0.00358534, 0.02179217, 0.00226684, 0.00189922,
 -0.00440068, 0.02547188, 0.00848145, 0.00388867,-0.00762793, 0.02219973,
  0.26317088, 0.00307664, 0.11386931, 0.03164666, 0.06437559,-0.06496195,
  0.13967381, 0.99911934,-0.03124703, 0.02796113, 0.00153057]

qacc:
[ -13.77416497, -12.25502188,  60.90143355,-141.32410316,  -5.64755237,
  -14.72423279,  75.35570097,-174.29584871, -10.54052477, -12.82235843,
   60.98031409,-133.18719702,  -2.73014993,   8.1272289 ,  14.47982928,
  -51.46699587,   3.82421401,  -2.56047867,   6.39880274,  33.85189998,
   44.08149056,   9.2392902 ]

qfrc_actuator:
[ 0.00350216, 0.00295076,-0.00201469, 0.01193826, 0.00122981, 0.00099359,
 -0.00252388, 0.0139468 , 0.00465156, 0.00204269,-0.0042945 , 0.01219948,
  0.09947689, 0.00117381, 0.09      , 0.01273754, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0045555047442345925
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21855106e-14, -1.21855106e-14,  1.00000000e+00, -1.48486668e-28,
        1.00000000e+00,  1.21855106e-14, -1.00000000e+00,  0.00000000e+00,
       -1.21855106e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03266406, -0.03645002,  0.06189893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.08551627e-05,-1.93001428e-04,-3.69678222e-05,-2.47912877e-04,
 -3.32403911e-05,-8.37712197e-05, 1.64809269e-05,-2.91789129e-04,
 -6.19708112e-05,-1.43076473e-04, 1.57679232e-05,-2.15998959e-04,
 -1.32923501e-03,-3.09894602e-05,-9.15455015e-05,-2.75436662e-04,
  3.17176436e-02, 2.58933884e-02,-9.74683286e+00,-6.45376150e-02,
 -9.55349371e-03,-5.64105255e-03]


--- Step 52 ---
qpos:
[ 0.00649871, 0.00542147,-0.0036239 , 0.02202588, 0.00229054, 0.00191995,
 -0.00444923, 0.02574517, 0.00857304, 0.00393045,-0.00771031, 0.0224398 ,
  0.26520949, 0.00310158, 0.11609381, 0.03199048, 0.06478683,-0.06462258,
  0.13973867, 0.99897435,-0.03336188, 0.03056707, 0.00169954]

qacc:
[  -3.8326374 , -14.02709759,  68.95342366,-156.49460098,  -8.09296519,
  -13.1813352 ,  70.04913335,-167.07171154, -12.54612364, -13.0417812 ,
   62.36100742,-134.85376663,  -1.82969141,  -3.15696049,  24.57446527,
  -85.57254261,   3.43438617,  -2.20757128,   4.49621485,  29.69652651,
   39.44946039,   9.20928409]

qfrc_actuator:
[ 0.00348198, 0.0029094 ,-0.00197019, 0.01168832, 0.00118333, 0.00099555,
 -0.00249403, 0.01366983, 0.00457957, 0.00204121,-0.00421528, 0.01199833,
  0.09929589, 0.00114478, 0.09      , 0.01233011, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00447097187248785
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48318052e-14, -2.48318052e-14,  1.00000000e+00,  6.16618548e-28,
        1.00000000e+00,  2.48318052e-14, -1.00000000e+00,  0.00000000e+00,
        2.48318052e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03263141, -0.03642802,  0.06190074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27219412e-05,-1.70003778e-04,-9.32849989e-06,-2.64901522e-04,
 -4.74405470e-05,-5.48110649e-05, 4.17693068e-06,-2.86225694e-04,
 -7.36950244e-05,-8.83208748e-05, 4.41684901e-05,-2.11375688e-04,
 -1.15869130e-03,-8.00850014e-05,-7.36066592e-05,-4.35171092e-04,
  3.17855721e-02, 2.39205833e-02,-9.74650957e+00,-6.45929513e-02,
 -9.15373440e-03,-6.02920574e-03]


--- Step 53 ---
qpos:
[ 0.00656745, 0.0054777 ,-0.0036617 , 0.02225475, 0.00231383, 0.00194034,
 -0.00449679, 0.02601298, 0.00866271, 0.0039716 ,-0.00779121, 0.0226752 ,
  0.26724283, 0.00312626, 0.11831876, 0.03232304, 0.06521051,-0.06429087,
  0.13981514, 0.99881753,-0.03542345, 0.03324434, 0.00188257]

qacc:
[  -6.87641951, -13.56640022,  66.60810526,-150.71677121,  -3.45518178,
  -14.50243949,  74.21192033,-170.42325137, -16.82730862, -14.57616398,
   70.51778148,-153.2660925 ,  -1.81141346,   0.52166779,  34.71569656,
 -120.47366678,   3.10761319,  -1.91614977,   2.9030521 ,  26.26320909,
   35.53214762,   9.03702777]

qfrc_actuator:
[ 0.00344233, 0.00286236,-0.0019285 , 0.0114479 , 0.00116427, 0.00098858,
 -0.00243925, 0.01339768, 0.00448285, 0.00202408,-0.00413556, 0.01176632,
  0.09911955, 0.00113553, 0.09      , 0.01175766, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004355794785428135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54884144e-14, -1.27442072e-14,  1.00000000e+00, -3.24829634e-28,
        1.00000000e+00,  1.27442072e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54884144e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.032588  , -0.03639926,  0.06190322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.05330744e-05,-1.57761068e-04,-4.55679570e-06,-2.53762018e-04,
 -2.04141977e-05,-4.98306115e-05, 3.37854270e-05,-2.80477631e-04,
 -9.87449038e-05,-6.72786284e-05, 5.96335545e-05,-2.38806438e-04,
 -1.02906353e-03,-5.58303727e-05,-8.47981516e-05,-6.07160192e-04,
  3.18486456e-02, 2.22408508e-02,-9.74612264e+00,-6.46340737e-02,
 -8.74444310e-03,-6.42179184e-03]


--- Step 54 ---
qpos:
[ 0.00663449, 0.00553298,-0.00369884, 0.02247893, 0.00233741, 0.00196018,
 -0.00454299, 0.02627578, 0.00875052, 0.00401208,-0.00787023, 0.02290561,
  0.26927145, 0.00315026, 0.12054359, 0.03264648, 0.06564552,-0.06396587,
  0.1398979 , 0.99864864,-0.03743734, 0.03598633, 0.00207931]

qacc:
[ -14.94086581, -12.79173227,  63.62798274,-145.28292472,   2.51437725,
  -14.88542817,  73.14021903,-161.59902398, -16.25595188, -16.37868439,
   78.2232482 ,-167.12533683,  -1.37256797,  -4.13433615,  27.47876734,
  -96.3508182 ,   2.83487584,  -1.67575567,   1.5730528 ,  23.42826768,
   32.23823076,   8.80107093]

qfrc_actuator:
[ 0.00335601, 0.00283009,-0.00188881, 0.011215  , 0.00117926, 0.0009587 ,
 -0.0023702 , 0.0131483 , 0.0043901 , 0.00199772,-0.00403852, 0.011518  ,
  0.09894616, 0.0011025 , 0.09      , 0.01130567, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004217188950762993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94892085e-14, -1.31630695e-14,  1.00000000e+00,  5.19799196e-28,
        1.00000000e+00,  1.31630695e-14, -1.00000000e+00,  0.00000000e+00,
        3.94892085e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03253591, -0.0363657 ,  0.06190621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.77004484e-05,-1.34645643e-04,-3.03821101e-06,-2.45319506e-04,
  1.44018720e-05,-6.35810782e-05, 5.29330716e-05,-2.56338724e-04,
 -9.54775110e-05,-6.27185660e-05, 8.22669162e-05,-2.54202382e-04,
 -9.29153515e-04,-7.45833018e-05,-1.09358716e-04,-4.97787629e-04,
  3.19153213e-02, 2.07982872e-02,-9.74570130e+00,-6.46645565e-02,
 -8.32848183e-03,-6.81899090e-03]


--- Step 55 ---
qpos:
[ 0.00669996, 0.00558725,-0.00373493, 0.02269819, 0.00236064, 0.00197936,
 -0.0045879 , 0.02653321, 0.0088362 , 0.00405217,-0.00794783, 0.02313055,
  0.27129567, 0.00317331, 0.1227678 , 0.03296527, 0.06608859,-0.06365979,
  0.14001325, 0.99847131,-0.03933532, 0.0387624 , 0.00229331]

qacc:
[ -13.66358984, -14.31586143,  69.91604253,-155.92717563,  -3.01967138,
  -15.48723323,  76.67555396,-171.23786524, -18.76890756, -15.69995466,
   78.40089256,-175.16051671,  -1.09302405,  -6.89321323,  13.14056496,
  -47.32451563,   2.01407817,  -4.72960624,   8.14520481,  57.44187235,
   16.72087203,  11.34578545]

qfrc_actuator:
[ 0.00327843, 0.00278919,-0.0018328 , 0.01097065, 0.0011609 , 0.00091542,
 -0.00231112, 0.01287881, 0.00428268, 0.00198387,-0.00396756, 0.01124433,
  0.09876402, 0.00105575, 0.09      , 0.0110881 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004232103918333258
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.62333592e-14, -2.62333592e-14,  1.00000000e+00,  6.88189137e-28,
        1.00000000e+00,  2.62333592e-14, -1.00000000e+00,  0.00000000e+00,
        2.62333592e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05198862, -0.0217067 ,  0.06190596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.02951742e-05,-1.29639342e-04, 1.85614115e-05,-2.55546678e-04,
 -1.79626629e-05,-7.96487413e-05, 4.33228711e-05,-2.75904827e-04,
 -1.10049717e-04,-4.36340445e-05, 5.93683547e-05,-2.78864769e-04,
 -8.64378107e-04,-8.54580356e-05,-1.06609376e-04,-2.59997286e-04,
  3.19910812e-02, 1.95480936e-02,-9.74526403e+00,-6.46866107e-02,
 -7.90740363e-03,-7.22082882e-03]


--- Step 56 ---
qpos:
[ 0.00676469, 0.00564022,-0.00376997, 0.02291319, 0.00238278, 0.00199803,
 -0.00463148, 0.02678503, 0.00892026, 0.00409169,-0.00802423, 0.02335083,
  0.27331568, 0.00319564, 0.12499169, 0.03327956, 0.06653907,-0.06337016,
  0.14015269, 0.99828545,-0.04113104, 0.04156957, 0.00252445]

qacc:
[  -6.5656205 , -13.45523406,  63.5030228 ,-138.05315025,  -9.54683502,
  -15.93179195,  79.51709981,-178.35002203, -14.09777102, -13.67812322,
   67.39442243,-149.54153237,  -1.14535499,  -4.81162431,  13.14469105,
  -46.66115368,   1.85035017,  -4.11248132,   6.02444913,  50.59309526,
   15.24026494,  11.16396591]

qfrc_actuator:
[ 0.00324213, 0.00270804,-0.00178537, 0.01075704, 0.0011053 , 0.00089991,
 -0.00224072, 0.01259962, 0.004203  , 0.00194201,-0.00391255, 0.01101119,
  0.09857145, 0.00101904, 0.09      , 0.01086834, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004202605589441161
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32087463e-14, -1.32087463e-14,  1.00000000e+00,  1.74470980e-28,
        1.00000000e+00,  1.32087463e-14, -1.00000000e+00,  0.00000000e+00,
        1.32087463e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05197739, -0.0216888 ,  0.06190668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.87961756e-05,-1.63030293e-04, 1.33238210e-05,-2.24039284e-04,
 -5.61309242e-05,-6.36717394e-05, 4.94647241e-05,-2.86998047e-04,
 -8.27244717e-05,-6.67644008e-05, 4.36933519e-05,-2.38781251e-04,
 -8.27015175e-04,-7.36885537e-05,-7.78180249e-05,-2.48349965e-04,
  3.04304212e-02, 1.67569431e-02,-9.74728678e+00,-6.46789371e-02,
 -7.52246907e-03,-7.54659676e-03]


--- Step 57 ---
qpos:
[ 0.00682881, 0.00569194,-0.00380445, 0.02312433, 0.00240408, 0.0020162 ,
 -0.00467361, 0.02703152, 0.00900342, 0.00413013,-0.00809887, 0.02356663,
  0.27533168, 0.00321737, 0.12721569, 0.03358707, 0.06699418,-0.06309514,
  0.14031484, 0.99809143,-0.04283825, 0.04439257, 0.00277287]

qacc:
[  -5.2141948 , -11.15440911,  53.73007918,-120.67953995,  -7.32744488,
  -15.68367857,  77.48783583,-171.68712522,  -8.0010201 , -15.56980837,
   72.41064673,-152.11395165,  -1.15230941,  -3.56823083,  20.72412724,
  -72.24523024,   1.15995397,  -3.65428243,   5.67891696,  43.66570922,
    7.60093478,  10.79648025]

qfrc_actuator:
[ 0.00321266, 0.00263895,-0.00176129, 0.01056318, 0.00106374, 0.00088346,
 -0.00216409, 0.01233473, 0.00415803, 0.00186591,-0.00383195, 0.01078598,
  0.09838874, 0.00098852, 0.09      , 0.0105247 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -11.40804646,  12.96933242, -11.40804646,
       106.35722397,  78.36024585,  12.96933242,  78.36024585,
        86.19973879,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004152196419586834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.00536580e-14, -6.68455266e-15,  1.00000000e+00, -1.34049733e-28,
        1.00000000e+00,  6.68455266e-15, -1.00000000e+00,  0.00000000e+00,
       -2.00536580e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05780077, -0.02483517,  0.06190787])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.07899713e-05,-1.69322143e-04,-1.64633121e-05,-2.05274459e-04,
 -4.31697066e-05,-5.48954783e-05, 5.93704723e-05,-2.71989282e-04,
 -4.72430192e-05,-1.15429090e-04, 6.39531705e-05,-2.31590947e-04,
 -7.88954730e-04,-6.62413930e-05,-6.48065031e-05,-3.68231824e-04,
  2.90505316e-02, 1.44217831e-02,-9.74893127e+00,-6.46556093e-02,
 -7.13625565e-03,-7.88021841e-03]


--- Step 58 ---
qpos:
[ 0.00689208, 0.00574241,-0.00383838, 0.02333148, 0.00242506, 0.00203388,
 -0.00471477, 0.02727329, 0.00908504, 0.00416772,-0.00817228, 0.0237777 ,
  0.2773438 , 0.00323857, 0.12943972, 0.03388772, 0.0674537 ,-0.06283296,
  0.14049299, 0.99788918,-0.04446629, 0.04723044, 0.00303773]

qacc:
[  -7.48172584, -11.37440012,  54.96732663,-123.77215463,  -2.77157683,
  -13.09627404,  65.69884854,-148.65471479, -13.40695599, -14.25076899,
   69.14877529,-152.25391681,  -1.14883749,  -2.74406455,  20.78496585,
  -72.65696635,   1.10232867,  -3.20874399,   3.9978425 ,  38.99303262,
    7.14142958,  10.29435751]

qfrc_actuator:
[ 0.00316969, 0.00257755,-0.00173339, 0.01036474, 0.00104854, 0.00084886,
 -0.00211988, 0.01209816, 0.00408059, 0.00182328,-0.00377255, 0.01054948,
  0.09820676, 0.00096188, 0.09      , 0.01018183, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00407350872755774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02205166e-14, -1.36273554e-14,  1.00000000e+00, -1.39278612e-28,
        1.00000000e+00,  1.36273554e-14, -1.00000000e+00,  0.00000000e+00,
       -1.02205166e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.057789  , -0.0248016 ,  0.06190968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.40660091e-05,-1.70438107e-04,-1.69360503e-05,-2.10787797e-04,
 -1.64383816e-05,-6.54217768e-05, 3.04958356e-05,-2.42664172e-04,
 -7.87310055e-05,-1.04647507e-04, 3.54539830e-05,-2.44125886e-04,
 -7.59754693e-04,-6.11227144e-05,-7.35455432e-05,-3.72782564e-04,
  2.78002568e-02, 1.25159717e-02,-9.75066108e+00,-6.46334565e-02,
 -6.74955221e-03,-8.21430158e-03]


--- Step 59 ---
qpos:
[ 0.006954  , 0.00579199,-0.00387188, 0.02353426, 0.00244569, 0.00205092,
 -0.00475496, 0.02751   , 0.00916441, 0.00420443,-0.00824444, 0.02398429,
  0.27935211, 0.00325933, 0.13166317, 0.03418591, 0.06791665,-0.06258271,
  0.14068415, 0.99767896,-0.04602102, 0.05007748, 0.00331814]

qacc:
[ -11.8897176 , -11.38750009,  57.44176852,-133.39315645,  -3.00180404,
  -13.9229699 ,  69.75205127,-158.2495375 , -19.75781326, -13.86405496,
   66.78612869,-145.88516555,  -1.15800287,  -2.16042903,   6.59099709,
  -24.26952452,   0.85731501,  -2.98282174,   3.25112625,  36.04526766,
    4.30906064,   9.70292332]

qfrc_actuator:
[ 0.00310136, 0.00255677,-0.0017034 , 0.01014744, 0.00103122, 0.00080357,
 -0.00207748, 0.01184459, 0.00396689, 0.00178319,-0.00370827, 0.01032598,
  0.09801469, 0.00093772, 0.09      , 0.010073  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003970869388118248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39795964e-14,  1.39795964e-14,  1.00000000e+00, -1.95429114e-28,
        1.00000000e+00, -1.39795964e-14, -1.00000000e+00,  0.00000000e+00,
        1.39795964e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06020471, -0.02509519,  0.06191201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.97989477e-05,-1.30722936e-04,-1.53207250e-05,-2.29799185e-04,
 -1.78026085e-05,-8.66769085e-05, 2.39807020e-05,-2.60530450e-04,
 -1.15881554e-04,-1.02495780e-04, 3.86135059e-05,-2.31878719e-04,
 -7.48004728e-04,-5.77931234e-05,-7.77217777e-05,-1.40050998e-04,
  2.66908142e-02, 1.08903795e-02,-9.75212265e+00,-6.46052529e-02,
 -6.36631789e-03,-8.55437415e-03]


--- Step 60 ---
qpos:
[ 0.00701426, 0.00584073,-0.00390484, 0.02373282, 0.00246596, 0.00206733,
 -0.00479431, 0.02774149, 0.00924214, 0.00424014,-0.00831468, 0.02418691,
  0.28135661, 0.00328036, 0.13388679, 0.03447809, 0.06838295,-0.06234308,
  0.14088326, 0.99746072,-0.04750917, 0.05293336, 0.00361325]

qacc:
[ -14.46425776, -11.24417371,  56.28522038,-129.3769098 ,  -3.2045443 ,
  -13.95502075,  70.6544446 ,-162.0750881 , -14.30035377, -14.83393308,
   67.78101725,-138.93359038,  -1.61162093,   5.19502678,  18.47517463,
  -64.24465814,   0.83514297,  -2.65532181,   1.98935909,  32.67910223,
    4.16164534,   9.22143594]

qfrc_actuator:
[ 0.00301866, 0.00252501,-0.00167227, 0.00993858, 0.00101278, 0.00076997,
 -0.00203654, 0.01158304, 0.00388602, 0.00174496,-0.00360609, 0.01012969,
  0.09782203, 0.0009507 , 0.09      , 0.00976562, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003856669681667549
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43935457e-14, -1.43935457e-14,  1.00000000e+00, -2.07174157e-28,
        1.00000000e+00,  1.43935457e-14, -1.00000000e+00,  0.00000000e+00,
       -1.43935457e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06019181, -0.02505167,  0.0619146 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.48862317e-05,-1.19950673e-04,-6.41085550e-06,-2.19958815e-04,
 -1.89657966e-05,-8.89683372e-05, 1.67202335e-05,-2.69983720e-04,
 -8.41031373e-05,-9.82394644e-05, 7.77757994e-05,-2.04220453e-04,
 -7.39638493e-04,-2.06067737e-05,-5.24187387e-05,-3.25862946e-04,
  2.56309261e-02, 9.46524050e-03,-9.75355749e+00,-6.45790238e-02,
 -5.99003052e-03,-8.89487681e-03]


--- Step 61 ---
qpos:
[ 0.00707341, 0.00588838,-0.00393684, 0.02392768, 0.00248585, 0.00208375,
 -0.00483376, 0.02796871, 0.009319  , 0.00427489,-0.0083829 , 0.02438591,
  0.28335743, 0.00330141, 0.13611052, 0.03476365, 0.06884494,-0.06211958,
  0.14110648, 0.99723847,-0.04890739, 0.05575108, 0.00391503]

qacc:
[  -9.78270196, -11.76693151,  55.55892683,-120.55528   ,  -3.34065494,
   -8.51671977,  48.39931815,-122.14103662,  -7.69156192, -14.33761225,
   64.54618873,-129.54022065,  -1.4070485 ,   2.54767564,  20.21495897,
  -70.46662666,  -1.07441535,  -4.03058742,   6.02708152,  44.50818778,
  -19.25035336,   4.80193718]

qfrc_actuator:
[ 0.00296367, 0.00246922,-0.00162297, 0.00975412, 0.00099383, 0.00079687,
 -0.00203225, 0.01137216, 0.00384289, 0.00170835,-0.00350008, 0.00995101,
  0.09764513, 0.00094991, 0.09      , 0.00943243, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00381170726326209
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91266603e-14, -2.91266603e-14,  1.00000000e+00,  8.48362338e-28,
        1.00000000e+00,  2.91266603e-14, -1.00000000e+00,  0.00000000e+00,
        2.91266603e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07835141, -0.02211183,  0.06191573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.75926765e-05,-1.35669631e-04, 1.54314385e-05,-1.94593483e-04,
 -1.95089601e-05,-3.16247873e-05,-2.16169420e-05,-2.19836912e-04,
 -4.54662925e-05,-8.49402815e-05, 8.82641944e-05,-1.84531757e-04,
 -7.16237129e-04,-3.35307049e-05,-6.38822713e-05,-3.59335698e-04,
  2.46784264e-02, 8.22813951e-03,-9.75479774e+00,-6.45487294e-02,
 -5.61681031e-03,-9.23964614e-03]


--- Step 62 ---
qpos:
[ 0.00713075, 0.00593498,-0.00396799, 0.02411845, 0.00250535, 0.00210039,
 -0.0048733 , 0.02819125, 0.00939439, 0.00430892,-0.00844965, 0.02458123,
  0.28535476, 0.0033216 , 0.13833399, 0.03504464, 0.0693034 ,-0.06191028,
  0.1413471 , 0.99701217,-0.05022465, 0.05853528, 0.00422416]

qacc:
[ -15.88926659, -12.12392417,  58.51755627,-129.79896502,  -3.37133276,
   -9.0438212 ,  52.45689812,-133.4746134 , -12.77760185, -12.62391722,
   59.23497015,-124.92093091,  -0.79831256,  -6.07238794,  13.4156107 ,
  -47.47876398,  -0.88487706,  -3.55182216,   4.35070486,  39.99695586,
  -16.93645328,   5.11251343]

qfrc_actuator:
[ 0.00287219, 0.00241733,-0.00158118, 0.00954997, 0.00097473, 0.0008242 ,
 -0.00203159, 0.01113955, 0.00376905, 0.00167305,-0.00342816, 0.00976636,
  0.09747781, 0.0009055 , 0.09      , 0.00921103, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037626364921417438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47532591e-14, -1.47532591e-14,  1.00000000e+00,  2.17658655e-28,
        1.00000000e+00,  1.47532591e-14, -1.00000000e+00,  0.00000000e+00,
        1.47532591e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07835293, -0.02208362,  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:
[-9.33194957e-05,-1.34894332e-04, 8.26333874e-06,-2.13692821e-04,
 -1.96527286e-05,-4.89140035e-06,-1.63811739e-05,-2.39445658e-04,
 -7.50795977e-05,-7.31463787e-05, 5.88923271e-05,-1.89177501e-04,
 -6.89834839e-04,-7.69537742e-05,-7.25378820e-05,-2.50805683e-04,
  2.29032744e-02, 6.84733573e-03,-9.75766556e+00,-6.46363783e-02,
 -5.32785385e-03,-9.53697649e-03]


--- Step 63 ---
qpos:
[ 0.0071855 , 0.00598042,-0.00399833, 0.0243053 , 0.00252413, 0.00211694,
 -0.00491218, 0.0284089 , 0.00946763, 0.00434265,-0.00851546, 0.02477245,
  0.28734865, 0.0033408 , 0.14055719, 0.03532211, 0.06975893,-0.06171361,
  0.14159953, 0.9967818 ,-0.05146842, 0.06128975, 0.00454102]

qacc:
[ -22.63661373, -11.83091093,  56.57117933,-124.93886012,  -6.36257257,
  -12.05579085,  63.43643686,-149.00047213, -18.97496902, -11.43086313,
   57.59072466,-129.98675576,  -0.66426623,  -7.64768164,  10.30144624,
  -36.63698009,  -0.72945039,  -3.15735887,   2.95399018,  36.24628679,
  -15.04739971,   5.26853805]

qfrc_actuator:
[ 0.00274219, 0.00235043,-0.00154415, 0.00935362, 0.00093795, 0.00081605,
 -0.00199756, 0.01089602, 0.00365996, 0.00167421,-0.00337694, 0.00956191,
  0.0973057 , 0.00085354, 0.09      , 0.00903953, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036854502915451837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01244878e-14, -1.50622439e-14,  1.00000000e+00,  4.53742384e-28,
        1.00000000e+00,  1.50622439e-14, -1.00000000e+00,  0.00000000e+00,
        3.01244878e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07835737, -0.02204726,  0.0619188 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32841486e-04,-1.51748397e-04, 2.12448445e-06,-2.06470486e-04,
 -3.73335738e-05,-2.51774569e-05, 2.24852105e-05,-2.49406801e-04,
 -1.11168558e-04,-3.63670897e-05, 3.68482263e-05,-2.09579527e-04,
 -6.76776849e-04,-8.50020645e-05,-6.34879022e-05,-1.95751899e-04,
  2.13540895e-02, 5.66804401e-03,-9.76014067e+00,-6.47027953e-02,
 -5.03287372e-03,-9.83892473e-03]


--- Step 64 ---
qpos:
[ 0.00723896, 0.00602461,-0.00402768, 0.02448868, 0.00254267, 0.0021329 ,
 -0.00494989, 0.0286223 , 0.00953933, 0.00437607,-0.00858016, 0.02495936,
  0.28933912, 0.00336029, 0.14278028, 0.03559566, 0.07021206,-0.06152827,
  0.14185915, 0.99654733,-0.05264489, 0.06401761, 0.00486581]

qacc:
[ -11.35305247, -11.51791403,  53.38858699,-114.20299069,  -2.08206555,
  -12.77905338,  62.3842228 ,-137.34197786, -13.43295243, -12.33504295,
   61.5837359 ,-137.59189068,  -1.50382168,   5.19602631,  11.6805335 ,
  -41.06253699,  -0.60168965,  -2.83329845,   1.79450969,  33.12917412,
  -13.49976363,   5.33541592]

qfrc_actuator:
[ 0.00267935, 0.00229282,-0.00149253, 0.00918118, 0.00092655, 0.0007691 ,
 -0.00194424, 0.01068353, 0.00358426, 0.00166158,-0.00332045, 0.00934746,
  0.09713617, 0.00086854, 0.09      , 0.00884553, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0035866039897736596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.54773572e-14, -1.54773572e-14,  1.00000000e+00, -2.39548587e-28,
        1.00000000e+00,  1.54773572e-14, -1.00000000e+00,  0.00000000e+00,
       -1.54773572e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07836363, -0.02200489,  0.0619211 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.68181965e-05,-1.52809457e-04, 1.27477390e-05,-1.83349729e-04,
 -1.24547706e-05,-6.77213044e-05, 4.20317125e-05,-2.18082465e-04,
 -7.87881959e-05,-3.50177659e-05, 4.62953185e-05,-2.19147737e-04,
 -6.64824841e-04,-1.81471294e-05,-5.34866652e-05,-2.14101272e-04,
  1.99857298e-02, 4.65151900e-03,-9.76229832e+00,-6.47525195e-02,
 -4.73456529e-03,-1.01440618e-02]


--- Step 65 ---
qpos:
[ 0.00729124, 0.00606789,-0.00405663, 0.02466891, 0.00256127, 0.00214803,
 -0.00498625, 0.02883186, 0.00960992, 0.00440902,-0.00864338, 0.02514259,
  0.29132621, 0.00337985, 0.14500318, 0.03586608, 0.07066321,-0.06135321,
  0.14212211, 0.99630878,-0.05375922, 0.06672139, 0.00519861]

qacc:
[ -10.28232006,  -8.86521542,  43.22655029, -97.94976091,   0.61880789,
  -12.79484488,  60.28475811,-128.4713505 ,  -9.79384598, -12.36859494,
   58.79934306,-124.73806577,  -1.33714714,   2.89431999,   9.20067213,
  -32.55862792,  -0.49628843,  -2.56803607,   0.83604774,  30.54041186,
  -12.22644773,   5.36049564]

qfrc_actuator:
[ 0.00262103, 0.00225907,-0.00146816, 0.00902419, 0.0009302 , 0.00071714,
 -0.00188012, 0.01049098, 0.00352882, 0.00164082,-0.00324358, 0.00916436,
  0.09696298, 0.00086956, 0.09      , 0.00869306, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003471457532805866
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.59907332e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.59907332e-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([ 0.07837086, -0.02195826,  0.06192374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.04046464e-05,-1.26283605e-04,-1.26000199e-05,-1.67108711e-04,
  3.27536131e-06,-9.11118123e-05, 4.75450643e-05,-1.98676308e-04,
 -5.75984226e-05,-4.08389148e-05, 6.77753895e-05,-1.87596728e-04,
 -6.56771642e-04,-3.01661502e-05,-5.16806120e-05,-1.72476254e-04,
  1.87628618e-02, 3.76690456e-03,-9.76419793e+00,-6.47885716e-02,
 -4.43462945e-03,-1.04512619e-02]


--- Step 66 ---
qpos:
[ 0.00734207, 0.00611037,-0.00408541, 0.02484583, 0.00257978, 0.00216298,
 -0.00502208, 0.02903744, 0.00967895, 0.00444131,-0.00870456, 0.02532251,
  0.29330997, 0.00339896, 0.14722643, 0.03612955, 0.07111272,-0.06118755,
  0.14238526, 0.99606614,-0.05481569, 0.06940321, 0.0055395 ]

qacc:
[-1.27592905e+01,-8.24888840e+00, 4.18245408e+01,-9.84965010e+01,
 -8.74965484e-01,-9.91050711e+00, 5.17651077e+01,-1.21254416e+02,
 -1.36277141e+01,-1.33095694e+01, 6.01912789e+01,-1.20110100e+02,
 -9.99344057e-01,-1.98826342e+00, 2.15870843e+01,-7.47608205e+01,
 -4.08879103e-01,-2.35186907e+00, 4.77026481e-02, 2.83925884e+01,
 -1.11734277e+01, 5.37738698e+00]

qfrc_actuator:
[ 0.00254809, 0.00222206,-0.00145996, 0.00885981, 0.00092491, 0.00073367,
 -0.00184566, 0.01029393, 0.00345025, 0.00161548,-0.00313756, 0.00900117,
  0.09678771, 0.00084457, 0.09      , 0.00833551, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0033444465327627515
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.65980083e-14, -1.65980083e-14,  1.00000000e+00, -2.75493879e-28,
        1.00000000e+00,  1.65980083e-14, -1.00000000e+00,  0.00000000e+00,
       -1.65980083e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07837847, -0.02190877,  0.06192663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.48473651e-05,-1.19209812e-04,-2.58420941e-05,-1.73923503e-04,
 -5.22456969e-06,-3.37065250e-05, 1.43986336e-05,-2.03592022e-04,
 -8.01440619e-05,-4.28799814e-05, 9.94581278e-05,-1.66565211e-04,
 -6.53340553e-04,-5.66178753e-05,-4.62015112e-05,-3.75004614e-04,
  1.76575299e-02, 2.98949586e-03,-9.76588670e+00,-6.48128832e-02,
 -4.13413415e-03,-1.07596316e-02]


--- Step 67 ---
qpos:
[ 0.00739198, 0.00615197,-0.00411357, 0.02501904, 0.00259841, 0.00217768,
 -0.0050572 , 0.0292387 , 0.00974615, 0.00447329,-0.00876436, 0.02549908,
  0.29529035, 0.00341733, 0.14945   , 0.03638435, 0.07156089,-0.0610306 ,
  0.14264602, 0.99581944,-0.05581781, 0.07206482, 0.00588855]

qacc:
[  -8.1205652 , -10.56814257,  51.71420117,-116.48981866,   1.23593607,
  -11.18711741,  57.64615011,-133.32952845, -15.98859307, -11.14767408,
   53.37753817,-113.53889265,  -0.82165793,  -4.75517163,  26.70682441,
  -92.76226675,  -0.33586971,  -2.17667578,  -0.59688335,  26.61290167,
  -10.2971699 ,   5.40930738]

qfrc_actuator:
[ 0.00250261, 0.00218334,-0.00142587, 0.00867463, 0.00093214, 0.00071996,
 -0.00181097, 0.01007811, 0.00335868, 0.0016055 ,-0.00306846, 0.00883327,
  0.09660066, 0.00080444, 0.09      , 0.0078955 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003209227042715118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.45947174e-14, -1.72973587e-14,  1.00000000e+00,  5.98397234e-28,
        1.00000000e+00,  1.72973587e-14, -1.00000000e+00,  0.00000000e+00,
        3.45947174e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.078386  , -0.02185757,  0.06192969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.77794783e-05,-1.19960296e-04,-3.40520452e-07,-1.94998726e-04,
  7.08538564e-06,-3.88904369e-05, 2.22374196e-05,-2.21148850e-04,
 -9.37881200e-05,-2.12227037e-05, 6.67468400e-05,-1.69859466e-04,
 -6.63821891e-04,-7.28028635e-05,-6.76705680e-05,-4.68376466e-04,
  1.66473983e-02, 2.29943002e-03,-9.76740230e+00,-6.48266082e-02,
 -3.83374909e-03,-1.10684570e-02]


--- Step 68 ---
qpos:
[ 0.00744129, 0.0061928 ,-0.00414141, 0.02518799, 0.00261665, 0.00219187,
 -0.00509126, 0.02943615, 0.00981139, 0.00450498,-0.00882282, 0.02567156,
  0.29726727, 0.0034348 , 0.15167286, 0.03663689, 0.07200795,-0.06088179,
  0.14290231, 0.99556872,-0.0567685 , 0.0747077 , 0.0062459 ]

qacc:
[  -5.1771882 , -10.63711984,  54.47778205,-128.18256048,  -3.50506753,
  -11.47970154,  56.02503096,-123.22138446, -17.23700078, -12.5144027 ,
   61.3491967 ,-134.00572689,  -0.72858959,  -6.37773734,   5.77337321,
  -21.72392952,  -0.27431035,  -2.03565143,  -1.12018358,  25.14060492,
   -9.56257766,   5.47167248]

qfrc_actuator:
[ 0.00247367, 0.002144  ,-0.00141228, 0.00846097, 0.00091119, 0.00068825,
 -0.00175878, 0.00988845, 0.00326019, 0.0015869 ,-0.0030039 , 0.00862841,
  0.09640134, 0.0007557 , 0.09      , 0.00780107, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003068798159868255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.61777793e-14, -3.61777793e-14,  1.00000000e+00,  1.30883171e-27,
        1.00000000e+00,  3.61777793e-14, -1.00000000e+00,  0.00000000e+00,
        3.61777793e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07839313, -0.02180557,  0.06193284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.04680493e-05,-1.16585368e-04,-1.85723757e-05,-2.23035060e-04,
 -2.07521495e-05,-5.89123462e-05, 3.90339178e-05,-1.95262960e-04,
 -1.01078886e-04,-2.46257923e-05, 6.25239645e-05,-2.07077603e-04,
 -6.84674800e-04,-8.28769907e-05,-8.74297446e-05,-1.30643832e-04,
  1.57144613e-02, 1.68068977e-03,-9.76877489e+00,-6.48303505e-02,
 -3.53389840e-03,-1.13771659e-02]


--- Step 69 ---
qpos:
[ 0.00749021, 0.00623291,-0.0041692 , 0.02535272, 0.00263415, 0.00220604,
 -0.0051252 , 0.02963014, 0.00987564, 0.00453551,-0.00887964, 0.02584033,
  0.29924067, 0.00345194, 0.1538959 , 0.0368829 , 0.07245414,-0.06074068,
  0.14315242, 0.99531403,-0.05767016, 0.07733311, 0.00661173]

qacc:
[  -3.39967292,  -9.81606333,  51.41165189,-123.94875265,  -6.49007931,
   -7.4996545 ,  41.36270021,-101.60581428,  -8.69627661, -13.72171154,
   62.42228069,-128.47873098,  -1.14995005,  -0.62849474,  20.02141002,
  -69.63769719,  -0.22178307,  -1.92309045,  -1.54135152,  23.92494085,
   -8.94135205,   5.57409684]

qfrc_actuator:
[ 0.00245469, 0.00210452,-0.00141092, 0.00825   , 0.00087382, 0.00069936,
 -0.00174999, 0.00971571, 0.00321169, 0.00147449,-0.00294258, 0.00843896,
  0.0962161 , 0.00073777, 0.09      , 0.00746722, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029256058910870353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.79484820e-14, -1.89742410e-14,  1.00000000e+00,  7.20043643e-28,
        1.00000000e+00,  1.89742410e-14, -1.00000000e+00,  0.00000000e+00,
        3.79484820e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07839965, -0.0217535 ,  0.06193605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00114339e-05,-1.19767210e-04,-3.33116690e-05,-2.21366477e-04,
 -3.79779182e-05,-2.27037226e-05,-5.52968564e-06,-1.78110902e-04,
 -5.13044604e-05,-1.22821458e-04, 5.67639096e-05,-1.92687589e-04,
 -6.86359910e-04,-5.39438034e-05,-5.62884113e-05,-3.53181914e-04,
  1.48440860e-02, 1.12033796e-03,-9.77002873e+00,-6.48243299e-02,
 -3.23486027e-03,-1.16852978e-02]


--- Step 70 ---
qpos:
[ 0.00753783, 0.00627242,-0.00419716, 0.02551363, 0.00265106, 0.00222039,
 -0.00515918, 0.02982017, 0.00993915, 0.00456443,-0.00893558, 0.02600631,
  0.30121062, 0.00346911, 0.15611927, 0.03711998, 0.07289961,-0.0606069 ,
  0.14339503, 0.99505543,-0.05852474, 0.07994214, 0.00698633]

qacc:
[ -11.42672866,  -8.13749411,  44.04976597,-109.48915411,  -5.14681118,
   -7.77719816,  44.78334429,-113.24065861,  -6.41053911, -10.32902176,
   45.52997144, -94.00856308,  -1.3851546 ,   2.85178717,  27.55618536,
  -95.67295493,  -0.17631093,  -1.83420638,  -1.87670383,  22.92345928,
   -8.4106798 ,   5.72193414]

qfrc_actuator:
[ 0.00238846, 0.00208298,-0.00141679, 0.00806005, 0.00084484, 0.00071813,
 -0.00174896, 0.0095188 , 0.00317524, 0.00134226,-0.00291955, 0.00829551,
  0.09604475, 0.0007381 , 0.09      , 0.00701265, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  -0.91283436, -17.24858953,  -0.91283436,
        45.39263173,  -1.48816893, -17.24858953,  -1.48816893,
        17.35148454,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0027816311634723256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99563306e-14,  1.99563306e-14,  1.00000000e+00, -3.98255133e-28,
        1.00000000e+00, -1.99563306e-14, -1.00000000e+00,  0.00000000e+00,
        1.99563306e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07840543, -0.02170194,  0.06193926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.69611189e-05,-1.06540309e-04,-4.29283448e-05,-2.00944075e-04,
 -3.00604710e-05,-3.26804758e-06,-1.07050003e-05,-2.01928204e-04,
 -3.78735879e-05,-1.98074955e-04,-2.01496010e-06,-1.50802088e-04,
 -6.72428951e-04,-3.54353901e-05,-6.96628445e-05,-4.82977337e-04,
  1.40242903e-02, 6.07924153e-04,-9.77118336e+00,-6.48085042e-02,
 -2.93683183e-03,-1.19924823e-02]


--- Step 71 ---
qpos:
[ 0.00758394, 0.00631096,-0.00422487, 0.02567103, 0.0026675 , 0.00223477,
 -0.00519257, 0.030006  , 0.01000138, 0.00459251,-0.00899163, 0.02616856,
  0.30317712, 0.00348585, 0.1583419 , 0.03735476, 0.07334454,-0.06048018,
  0.14362908, 0.99479296,-0.05933383, 0.08253573, 0.00737005]

qacc:
[ -13.25788339,  -9.19646853,  45.7839729 ,-106.32389575,  -4.19933426,
  -10.26281874,  54.43052425,-128.29638667, -11.21038218,  -8.48977552,
   44.45334575,-108.34424513,  -1.04504997,  -1.65587291,   5.87129599,
  -22.10458606,  -0.13628249,  -1.76498246,  -2.1401335 ,  22.10063772,
   -7.95218009,   5.91745777]

qfrc_actuator:
[ 0.0023127 , 0.0020191 ,-0.00140902, 0.00788401, 0.00082104, 0.00072353,
 -0.00171698, 0.00930926, 0.00311065, 0.00132333,-0.00291939, 0.00810921,
  0.09586056, 0.00071366, 0.09      , 0.00691672, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002638464405629773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.1039189e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.1039189e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07841037, -0.02165134,  0.06194244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.78193553e-05,-1.42577471e-04,-2.70200310e-05,-1.86394254e-04,
 -2.46500415e-05,-7.84598281e-06, 2.28066639e-05,-2.14363233e-04,
 -6.56582464e-05,-1.37149945e-04,-4.62123486e-05,-1.98085793e-04,
 -6.74174324e-04,-5.94157647e-05,-9.03401745e-05,-1.33290560e-04,
  1.32451926e-02, 1.35020324e-04,-9.77225454e+00,-6.47826590e-02,
 -2.63997143e-03,-1.22984214e-02]


--- Step 72 ---
qpos:
[ 0.00762879, 0.00634827,-0.00425166, 0.02582541, 0.00268386, 0.00224911,
 -0.00522533, 0.03018786, 0.01006271, 0.00462034,-0.00904736, 0.0263272 ,
  0.30514014, 0.00350256, 0.1605641 , 0.03758781, 0.07378907,-0.06036031,
  0.14385376, 0.9945267 ,-0.06009871, 0.08511473, 0.00776333]

qacc:
[-1.11059739e+01,-1.03671323e+01, 4.73984372e+01,-1.00187056e+02,
 -5.82302767e-01,-9.99896179e+00, 5.23021425e+01,-1.21856131e+02,
 -8.01704756e+00,-8.60874210e+00, 4.54853357e+01,-1.08284521e+02,
 -1.34824602e+00, 2.24607216e+00, 4.59436931e+00,-1.69686558e+01,
 -1.00389040e-01,-1.71204746e+00,-2.34346322e+00, 2.14267444e+01,
 -7.55105709e+00, 6.16076106e+00]

qfrc_actuator:
[ 0.00224971, 0.00196595,-0.00135792, 0.00773529, 0.00081822, 0.00072101,
 -0.00168478, 0.00911173, 0.00306552, 0.00137226,-0.00287906, 0.00793477,
  0.09567411, 0.00071031, 0.09      , 0.00683765, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002497368744730083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.22278554e-14,  2.22278554e-14,  1.00000000e+00,  4.94077554e-28,
        1.00000000e+00, -2.22278554e-14, -1.00000000e+00,  0.00000000e+00,
       -2.22278554e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07841446, -0.02160203,  0.06194557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.53726992e-05,-1.48046944e-04, 1.13540800e-05,-1.59775888e-04,
 -3.51109169e-06,-1.19372234e-05, 2.57774532e-05,-2.01618462e-04,
 -4.69682277e-05,-4.63482345e-05,-5.16244940e-07,-1.86052696e-04,
 -6.78685605e-04,-3.96254618e-05,-5.81412153e-05,-9.89817758e-05,
  1.24985860e-02,-3.05145437e-04,-9.77325501e+00,-6.47464720e-02,
 -2.34442580e-03,-1.26028763e-02]


--- Step 73 ---
qpos:
[ 0.00767252, 0.00638464,-0.00427779, 0.02597748, 0.00270041, 0.00226323,
 -0.00525769, 0.03036666, 0.01012267, 0.0046481 ,-0.00910216, 0.02648313,
  0.30709971, 0.00351948, 0.16278632, 0.03781706, 0.07423333,-0.06024713,
  0.14406845, 0.99425672,-0.06082042, 0.08767988, 0.00816669]

qacc:
[-9.68950366e+00,-7.87638674e+00, 3.60789507e+01,-7.65950008e+01,
  1.63249983e+00,-7.67944332e+00, 3.98872788e+01,-9.33005514e+01,
 -1.19558025e+01,-8.23965342e+00, 4.07270967e+01,-8.90846509e+01,
 -1.50859158e+00, 4.53070952e+00, 1.15623978e+01,-4.03620874e+01,
 -6.75724429e-02,-1.67257214e+00,-2.49674744e+00, 2.08768963e+01,
 -7.19541675e+00, 6.45043914e+00]

qfrc_actuator:
[ 0.00219474, 0.00193761,-0.00131709, 0.00762161, 0.00082778, 0.00069604,
 -0.00167049, 0.00895835, 0.00299671, 0.00140839,-0.00281501, 0.00780433,
  0.09550241, 0.00071939, 0.09      , 0.00664476, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023593335465077747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.35283185e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.35283185e-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([ 0.07841768, -0.02155427,  0.06194862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.69976154e-05,-1.17174466e-04, 5.60478591e-06,-1.23107755e-04,
  9.46098022e-06,-3.55112274e-05, 7.82527386e-06,-1.57287937e-04,
 -7.00920343e-05, 1.59737340e-06, 4.80183914e-05,-1.36350226e-04,
 -6.66196998e-04,-2.73736882e-05,-4.11637439e-05,-2.07127997e-04,
  1.17776066e-02,-7.17980495e-04,-9.77419505e+00,-6.46995596e-02,
 -2.05034734e-03,-1.29056567e-02]


--- Step 74 ---
qpos:
[ 0.00771526, 0.00642044,-0.00430366, 0.02612662, 0.00271695, 0.00227675,
 -0.00528888, 0.03054222, 0.010181  , 0.00467556,-0.0091557 , 0.02663594,
  0.30905592, 0.00353641, 0.16500805, 0.03804165, 0.07467745,-0.06014053,
  0.1442727 , 0.99398308,-0.06149975, 0.09023188, 0.00858074]

qacc:
[-8.78814887e+00,-7.45029375e+00, 3.78379270e+01,-8.83937033e+01,
 -7.72136626e-02,-1.07226239e+01, 5.07463463e+01,-1.08217757e+02,
 -1.43403369e+01,-1.03432879e+01, 4.95415341e+01,-1.05449546e+02,
 -1.33896746e+00, 2.60054783e+00, 1.33913413e+01,-4.78697356e+01,
 -3.69815692e-02,-1.64418281e+00,-2.60853060e+00, 2.04302764e+01,
 -6.87571497e+00, 6.78410118e+00]

qfrc_actuator:
[ 0.00214492, 0.00192439,-0.00130029, 0.00747622, 0.00082678, 0.00065778,
 -0.00161371, 0.00879664, 0.0029145 , 0.00138349,-0.00275521, 0.00764756,
  0.09533436, 0.00071794, 0.08995239, 0.00640411, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002225119758893973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.49474892e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.49474892e-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([ 0.07842006, -0.02150826,  0.06195159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.15886753e-05,-8.43777755e-05,-1.14822087e-05,-1.52983417e-04,
 -7.33241288e-07,-6.37745491e-05, 4.47833213e-05,-1.66384255e-04,
 -8.41314024e-05,-2.04712930e-05, 6.13565151e-05,-1.57965188e-04,
 -6.52697188e-04,-3.73346985e-05,-9.45645177e-05,-2.59097196e-04,
  1.10764708e-02,-1.10776162e-03,-9.77508294e+00,-6.46415103e-02,
 -1.75790478e-03,-1.32066120e-02]


--- Step 75 ---
qpos:
[ 0.00775706, 0.00645579,-0.00432892, 0.02627247, 0.00273369, 0.00228979,
 -0.00531856, 0.03071339, 0.01023823, 0.00470281,-0.00920811, 0.02678568,
  0.31100882, 0.00355357, 0.16722771, 0.03826385, 0.07512153,-0.06004043,
  0.14446621, 0.99370585,-0.06213734, 0.09277137, 0.00900615]

qacc:
[-8.16521355e+00,-9.06859484e+00, 4.54031072e+01,-1.03097716e+02,
  1.85195623e+00,-1.39391198e+01, 6.73013274e+01,-1.45329262e+02,
 -9.58027027e+00,-9.72292187e+00, 4.72627582e+01,-1.02117817e+02,
 -1.47213601e+00, 4.59392659e+00, 4.17354619e+00,-1.90140380e+01,
 -7.93607444e-03,-1.62488895e+00,-2.68606795e+00, 2.00694803e+01,
 -6.58431118e+00, 7.15875147e+00]

qfrc_actuator:
[ 0.00209854, 0.00192022,-0.00126227, 0.00731333, 0.00083733, 0.00064753,
 -0.00153235, 0.00857808, 0.00286058, 0.0013755 ,-0.00269868, 0.00749425,
  0.09516861, 0.00072805, 0.08981981, 0.00627919, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002095298296124065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.64931973e-14, -2.64931973e-14,  1.00000000e+00,  7.01889505e-28,
        1.00000000e+00,  2.64931973e-14, -1.00000000e+00,  0.00000000e+00,
        2.64931973e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07842165, -0.02146413,  0.06195444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.79863832e-05,-6.17572379e-05, 1.33974244e-05,-1.70245597e-04,
  1.05108732e-05,-4.43114482e-05, 6.77555943e-05,-2.23341791e-04,
 -5.62522989e-05,-1.40873248e-05, 5.44200410e-05,-1.55407380e-04,
 -6.41024241e-04,-2.57768288e-05,-2.07438819e-04,-1.52557030e-04,
  1.03902670e-02,-1.47782419e-03,-9.77592537e+00,-6.45719072e-02,
 -1.46728929e-03,-1.35056244e-02]


--- Step 76 ---
qpos:
[ 0.00779832, 0.00649062,-0.00435328, 0.02641556, 0.00275008, 0.00230275,
 -0.00534745, 0.03088061, 0.01029437, 0.00472982,-0.0092594 , 0.02693206,
  0.31295847, 0.00357007, 0.16944461, 0.03848395, 0.07556569,-0.05994677,
  0.14464878, 0.99342509,-0.06273366, 0.09529895, 0.00944365]

qacc:
[-4.69605228e+00,-8.90220566e+00, 4.24320334e+01,-9.13346708e+01,
 -3.04536623e+00,-1.04457365e+01, 5.37862279e+01,-1.23458055e+02,
 -9.55824284e+00,-1.03304015e+01, 5.05436362e+01,-1.10164195e+02,
 -8.01761543e-01,-3.80959307e+00, 2.27534837e+00,-1.38647589e+01,
  2.01038102e-02,-1.61302255e+00,-2.73551427e+00, 1.97799698e+01,
 -6.31510686e+00, 7.57106921e+00]

qfrc_actuator:
[ 0.00207231, 0.00190385,-0.00121196, 0.00717698, 0.00081909, 0.0006542 ,
 -0.00149034, 0.0083811 , 0.00280599, 0.00135994,-0.00264447, 0.00732646,
  0.09499371, 0.00069161, 0.08966579, 0.00617005, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019702825116717643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.8174209e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.8174209e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07842249, -0.02142195,  0.06195719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77315131e-05,-5.68885474e-05, 3.28268342e-05,-1.42197225e-04,
 -1.79524833e-05,-1.41863033e-05, 3.32897045e-05,-2.01223977e-04,
 -5.61269239e-05,-1.94068201e-05, 5.26483495e-05,-1.69799009e-04,
 -6.41128751e-04,-7.17464457e-05,-2.62564111e-04,-1.43888064e-04,
  9.71478804e-03,-1.83071633e-03,-9.77672770e+00,-6.44903428e-02,
 -1.17871769e-03,-1.38026032e-02]


--- Step 77 ---
qpos:
[ 0.00783894, 0.00652498,-0.00437684, 0.0265559 , 0.00276578, 0.0023156 ,
 -0.00537565, 0.03104486, 0.01034942, 0.00475607,-0.00930937, 0.02707465,
  0.31490481, 0.00358606, 0.17165856, 0.03869848, 0.07601004,-0.05985955,
  0.1448203 , 0.99314087,-0.06328907, 0.09781519, 0.00989405]

qacc:
[-5.57277218e+00,-8.49875232e+00, 4.10143473e+01,-8.95569626e+01,
 -6.05627972e+00,-8.13956543e+00, 4.13992537e+01,-9.38497049e+01,
 -9.53356154e+00,-1.24969231e+01, 5.91744999e+01,-1.26450200e+02,
 -9.37912520e-01,-2.29167328e+00, 1.24800437e+01,-5.00143549e+01,
  4.75624275e-02,-1.60718723e+00,-2.76208516e+00, 1.95496155e+01,
 -6.06325245e+00, 8.01761071e+00]

qfrc_actuator:
[ 0.00204038, 0.00188041,-0.00117258, 0.0070396 , 0.00078404, 0.00065308,
 -0.00145405, 0.00823391, 0.00275143, 0.00128669,-0.0025921 , 0.00713373,
  0.09481343, 0.00066354, 0.08947774, 0.00587576, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018503556493760648
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.00002604e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.00002604e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07842264, -0.02138177,  0.06195982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.28415941e-05,-5.60053822e-05, 2.62704150e-05,-1.41804724e-04,
 -3.55535633e-05,-1.13147945e-05, 3.03159114e-05,-1.50903316e-04,
 -5.60914937e-05,-8.10534097e-05, 4.89894171e-05,-1.95297000e-04,
 -6.49052571e-04,-6.52151763e-05,-3.18140900e-04,-3.34987549e-04,
  9.04639638e-03,-2.16832535e-03,-9.77749421e+00,-6.43964293e-02,
 -8.92433650e-04,-1.40974801e-02]


--- Step 78 ---
qpos:
[ 0.00787852, 0.00655858,-0.0043999 , 0.02669389, 0.00278129, 0.0023284 ,
 -0.00540353, 0.03120676, 0.01040374, 0.00478161,-0.00935832, 0.02721453,
  0.31684788, 0.00360095, 0.17386893, 0.03890822, 0.07645469,-0.05977875,
  0.14498074, 0.99285324,-0.06380378, 0.10032065, 0.01035821]

qacc:
[-9.15844675e+00,-7.20769843e+00, 3.41962122e+01,-7.50707989e+01,
 -1.72516996e+00,-5.79797883e+00, 3.04447540e+01,-7.14037207e+01,
 -6.43370465e+00,-9.35654517e+00, 4.34512662e+01,-9.15223119e+01,
 -4.83414421e-01,-7.83749261e+00, 9.22888392e+00,-3.99702359e+01,
  7.47696185e-02,-1.60621531e+00,-2.77019503e+00, 1.93683120e+01,
 -5.82490952e+00, 8.49495238e+00]

qfrc_actuator:
[ 0.00198761, 0.00181739,-0.00115775, 0.00692043, 0.0007749 , 0.00064732,
 -0.00143915, 0.00811718, 0.00271509, 0.00125043,-0.00254148, 0.00699885,
  0.09463538, 0.0006051 , 0.0892907 , 0.00563447, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001735694027803436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.19821065e-14, -3.19821065e-14,  1.00000000e+00, -1.02285514e-27,
        1.00000000e+00,  3.19821065e-14, -1.00000000e+00,  0.00000000e+00,
       -3.19821065e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07842218, -0.02134361,  0.06196233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.38355265e-05,-9.64150257e-05, 1.10870509e-06,-1.23757422e-04,
 -1.01498335e-05,-1.28072010e-05, 1.08866908e-05,-1.19431355e-04,
 -3.79047701e-05,-8.03577186e-05, 3.31625747e-05,-1.40719966e-04,
 -6.52600930e-04,-9.62793778e-05,-3.62179782e-04,-2.99367798e-04,
  8.38191445e-03,-2.49198202e-03,-9.77822832e+00,-6.42898035e-02,
 -6.08707551e-04,-1.43902052e-02]


--- Step 79 ---
qpos:
[ 0.0079175 , 0.00659149,-0.00442262, 0.02682972, 0.00279622, 0.00234117,
 -0.0054313 , 0.03136602, 0.01045755, 0.00480621,-0.00940593, 0.02735205,
  0.31761954, 0.00388159, 0.17608491, 0.03911182, 0.07686735,-0.05970604,
  0.14512781, 0.99260007,-0.06433289, 0.1023661 , 0.01129471]

qacc:
[-5.22926649e+00,-6.32815376e+00, 3.03542525e+01,-6.77674259e+01,
 -5.05844644e+00,-5.81387192e+00, 3.18737378e+01,-7.79489805e+01,
 -4.44869899e+00,-9.83847409e+00, 4.32872612e+01,-8.56453054e+01,
 -6.70986143e+02, 3.38489651e+03, 3.75129404e+01,-9.20272174e+01,
 -7.99667040e+00,-2.01975022e+00,-3.34161309e+00,-3.21208399e+01,
 -2.45085835e+02, 2.18911912e+02]

qfrc_actuator:
[ 0.00195849, 0.00178433,-0.00113993, 0.0068129 , 0.00074558, 0.00063878,
 -0.00143701, 0.00798378, 0.00268974, 0.00120115,-0.00247439, 0.00688134,
  0.09445877, 0.00054699, 0.08904583, 0.00519565, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  7.44417081,   6.10391074,   4.26121495,   6.10391074,
        15.58574531, -11.66227111,   4.26121495, -11.66227111,
        24.14960876,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00013959008012167938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99633689e-01, -2.69615282e-02, -2.35886185e-03, -2.69614532e-02,
        9.99636472e-01, -6.36216487e-05,  2.35971968e-03,  0.00000000e+00,
       -9.99997216e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12193475, -0.03382591,  0.30198999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  15.91839085,   6.7046208 ,  15.91839085,
        21.97580271, -11.16623821,   6.7046208 , -11.16623821,
        43.78407658,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0016263865992541537
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.82631685e-14, -3.41315842e-14,  1.00000000e+00,  2.32993009e-27,
        1.00000000e+00,  3.41315842e-14, -1.00000000e+00,  0.00000000e+00,
        6.82631685e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07842116, -0.02130746,  0.06196472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.07865737e-05,-9.34448437e-05,-6.71199860e-06,-1.14373409e-04,
 -2.96085240e-05,-1.90777637e-05,-3.48005232e-06,-1.36220584e-04,
 -2.63841443e-05,-9.39043544e-05, 4.97293816e-05,-1.22785800e-04,
 -6.55509074e-04,-9.75709506e-05,-4.33897956e-04,-5.00024817e-04,
  7.71853557e-03,-2.80254713e-03,-9.77893270e+00,-6.41701293e-02,
 -3.27835566e-04,-1.46807438e-02]


--- Step 80 ---
qpos:
[ 0.00795583, 0.00662369,-0.00444496, 0.02696355, 0.00281033, 0.00235364,
 -0.00545873, 0.03152245, 0.01051028, 0.00482961,-0.00945245, 0.02748679,
  0.317209  , 0.00417412, 0.17830097, 0.03931109, 0.07724605,-0.05964704,
  0.14525845, 0.99238377,-0.06483235, 0.10397848, 0.01263733]

qacc:
[  -5.72820933,  -6.08329048,  28.83770093, -63.67946704,  -7.13146313,
   -7.15111971,  36.90039581, -86.18882942,  -9.32427089, -10.32570624,
   46.25221747, -95.15507073,-484.00821063,1018.37387449,  18.46400704,
  -50.54507189,  -8.49062635,  -3.43197812,  -4.10801758,  -7.32914242,
 -230.05154558, 188.93199216]

qfrc_actuator:
[ 0.00192579, 0.00175175,-0.00112036, 0.00671309, 0.00070461, 0.00061081,
 -0.00142468, 0.00784164, 0.00263557, 0.00110904,-0.00243365, 0.0067395 ,
  0.09439893, 0.00025817, 0.08879753, 0.00490785, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([1.53759600e+01, 3.05371824e-02, 1.53759297e+01, 3.05371824e-02,
       8.05047222e+00, 1.45486980e-02, 1.53759297e+01, 1.45486980e-02,
       1.53759311e+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: -0.0012012321778799096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99566993e-01, -2.93129511e-02, -2.56458764e-03, -2.93128546e-02,
        9.99570283e-01, -7.52079502e-05,  2.56569016e-03,  0.00000000e+00,
       -9.99996709e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12226471, -0.03389578,  0.29964418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015234539387882218
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.64376958e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.64376958e-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([ 0.07841979, -0.02127381,  0.06196697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.37150589e-05,-9.24833168e-05,-4.97911895e-06,-1.06601257e-04,
 -4.18132330e-05,-4.56914425e-05, 3.06334620e-06,-1.46058590e-04,
 -5.48955511e-05,-1.40093497e-04, 2.32376462e-05,-1.46780767e-04,
  5.77148906e-02,-1.36909625e-02,-9.29131199e-04,-4.71266967e-04,
  7.37991422e-03,-3.67918729e-03,-9.79687264e+00,-6.23689728e-02,
  9.13399576e-04,-1.48526804e-02]


--- Step 81 ---
qpos:
[ 0.00799278, 0.00665514,-0.00446714, 0.02709481, 0.00282385, 0.00236593,
 -0.00548582, 0.03167559, 0.01056162, 0.00485206,-0.00949791, 0.02761875,
  0.31489481, 0.00463357, 0.18052159, 0.03950907, 0.07761749,-0.05957681,
  0.14537068, 0.99217559,-0.06543888, 0.1053588 , 0.01431336]

qacc:
[-1.21249213e+01,-6.73900041e+00, 3.34764282e+01,-7.77092518e+01,
 -5.27608546e+00,-7.92346873e+00, 4.17831589e+01,-9.90441096e+01,
 -1.23005331e+01,-9.92252753e+00, 4.53435769e+01,-9.45413199e+01,
 -8.96552072e+02, 3.02937593e+03, 2.29890633e+01,-3.85045337e+01,
 -1.81627353e+00, 2.80977303e+00,-4.60241965e+00,-7.16664234e+01,
 -1.25694976e+02, 1.52295975e+02]

qfrc_actuator:
[ 1.85572380e-03, 1.70199591e-03,-1.11765736e-03, 6.58312974e-03,
  6.74869603e-04, 6.06973543e-04,-1.40652073e-03, 7.67772106e-03,
  2.56485925e-03, 1.08064002e-03,-2.37349818e-03, 6.60216057e-03,
  9.44469740e-02,-2.15204015e-05, 8.86273502e-02, 4.74682756e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([15.37596   ,  1.86061592, 15.26297003,  1.86061592, 21.83201559,
       -0.7870185 , 15.26297003, -0.7870185 , 15.47190064,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004314642513867943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.46731525, -0.14153128, -0.87268858, -0.06681227,  0.98993378,
       -0.12476868,  0.88156258,  0.        , -0.47206718])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12245579, -0.03393149,  0.29877245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014279482504492708
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -7.7749528e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  7.7749528e-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([ 0.07841825, -0.02124323,  0.06196905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.11580588e-05,-1.08409320e-04,-2.11520349e-05,-1.36498862e-04,
 -3.09399754e-05,-3.55137360e-05, 3.87125537e-06,-1.68925527e-04,
 -7.22627828e-05,-1.08686193e-04, 2.90230721e-05,-1.45630576e-04,
  1.16802807e-01,-1.45747224e-02,-1.10188380e-03,-4.15075276e-04,
  5.86845089e-03, 3.61819615e-04,-9.80869395e+00,-6.20011569e-02,
  1.91029709e-03,-1.49693569e-02]


--- Step 82 ---
qpos:
[ 0.00802894, 0.00668578,-0.0044891 , 0.02722383, 0.0028369 , 0.00237812,
 -0.00551226, 0.03182519, 0.01061171, 0.00487406,-0.00954199, 0.02774794,
  0.31069977, 0.005093  , 0.18274211, 0.03970223, 0.07798222,-0.05949846,
  0.14546409, 0.99197355,-0.06612472, 0.10654291, 0.01626644]

qacc:
[  -6.87016825,  -6.25121675,  30.16213909, -68.55562776,  -4.04394615,
   -9.24222759,  47.73198573,-110.01047589, -10.91725313, -10.12034437,
   46.94715451, -96.7423381 ,-760.82135996,1468.27935473,  23.06563983,
  -57.78660278,  -1.67664849,   2.03024947,  -4.70688048, -55.14011291,
 -106.16199726, 126.7979837 ]

qfrc_actuator:
[ 0.00181749, 0.00166001,-0.00110727, 0.00647194, 0.00065198, 0.00061762,
 -0.00136723, 0.00750233, 0.00250274, 0.00110845,-0.00228435, 0.00646864,
  0.09465658,-0.00040225, 0.08842908, 0.00444753, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([15.37596   ,  2.58812752, 15.15657421,  2.58812752, 20.22989339,
       -0.82885475, 15.15657421, -0.82885475, 15.51749474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004864530844186028
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4784202 , -0.02116441, -0.87787595, -0.01012775,  0.99977601,
       -0.01858389,  0.87807263,  0.        , -0.47852739])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1225879 , -0.03390289,  0.298829  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001354360366821683
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09869874e-14, -4.09869874e-14,  1.00000000e+00, -1.67993313e-27,
        1.00000000e+00,  4.09869874e-14, -1.00000000e+00,  0.00000000e+00,
       -4.09869874e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07841617, -0.02122073,  0.06197065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.03944337e-05,-1.14142326e-04,-1.97683031e-05,-1.19537342e-04,
 -2.37752022e-05,-1.61382672e-05, 2.64145777e-05,-1.80372146e-04,
 -6.41553034e-05,-3.36504211e-05, 6.52611663e-05,-1.40233996e-04,
  2.12027239e-01,-2.33195280e-02,-1.59322498e-03,-6.69220306e-04,
  7.23899774e-03, 6.75483500e-03,-9.81412427e+00,-6.18541788e-02,
  3.48152407e-03,-1.51580974e-02]


--- Step 83 ---
qpos:
[ 0.00806436, 0.00671537,-0.00451041, 0.02735051, 0.00285027, 0.00239009,
 -0.005538  , 0.03197188, 0.01066066, 0.00489571,-0.00958473, 0.02787451,
  0.30483063, 0.00550048, 0.18495663, 0.03988945, 0.07834098,-0.05941429,
  0.14553981, 0.9917757 ,-0.06686945, 0.10755818, 0.01845718]

qacc:
[  -6.47980444,  -8.0249274 ,  36.54816709, -77.45854412,   2.7858822 ,
   -8.256244  ,  41.27893548, -92.6146866 ,  -9.92646179,  -9.60329429,
   44.67273157, -91.97432639,-638.68498576, 837.25335362,  15.88198205,
  -50.17034057,  -1.49030896,   1.45662064,  -4.4189793 , -43.11055578,
  -91.34628336, 109.12506022]

qfrc_actuator:
[ 0.00178055, 0.00160531,-0.00107462, 0.00635496, 0.00066881, 0.00060143,
 -0.00133348, 0.00735714, 0.00244618, 0.00109885,-0.00221406, 0.00633852,
  0.09503493,-0.00079669, 0.08816627, 0.00415807, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([15.37596   ,  5.2851006 , 14.43910861,  5.2851006 , 21.23448922,
       -2.14437866, 14.43910861, -2.14437866, 16.16086004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005234698710781193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.53873155,  0.0605859 , -0.84029618,  0.0326996 ,  0.99816299,
        0.05100379,  0.84184266,  0.        , -0.53972302])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12275536, -0.03379641,  0.29888044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013017689840766344
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -4.2642859e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  4.2642859e-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([ 0.07841381, -0.02120606,  0.0619718 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.82185404e-05,-1.29007654e-04, 2.07509048e-06,-1.25195346e-04,
  1.61521284e-05,-2.79601516e-05, 2.72665373e-05,-1.48785660e-04,
 -5.83409520e-05,-2.13784474e-05, 6.65504691e-05,-1.32266295e-04,
  3.06321114e-01,-2.37234385e-02,-2.00764674e-03,-7.65238347e-04,
  8.06438308e-03, 1.41104283e-02,-9.81747698e+00,-6.21091619e-02,
  4.95239108e-03,-1.53142648e-02]


--- Step 84 ---
qpos:
[ 0.00809905, 0.00674421,-0.00453123, 0.02747373, 0.00286408, 0.00240168,
 -0.00556302, 0.032115  , 0.01070891, 0.00491676,-0.00962614, 0.02799856,
  0.29742755, 0.0058681 , 0.18716294, 0.04006959, 0.07869723,-0.05932538,
  0.14559863, 0.99157712,-0.06765687, 0.10846086, 0.02082311]

qacc:
[-6.30259462e+00,-9.48933979e+00, 4.70018261e+01,-1.07073829e+02,
  3.92044826e+00,-9.84506624e+00, 4.94220432e+01,-1.11934623e+02,
 -6.22057340e+00,-9.66132295e+00, 4.39265440e+01,-8.91351946e+01,
 -5.93223159e+02, 8.49940338e+02, 1.59711953e+01,-5.54513777e+01,
 -6.29544087e-01, 1.18214709e+00,-4.22846662e+00,-3.16486458e+01,
 -6.12502925e+01, 8.08206458e+01]

qfrc_actuator:
[ 0.00174467, 0.00157902,-0.0010469 , 0.00618225, 0.00069112, 0.00056932,
 -0.00130335, 0.00717759, 0.0024111 , 0.00104914,-0.0021556 , 0.00621139,
  0.09556363,-0.00121845, 0.08795049, 0.00385981, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([15.37596   , -1.96599503, 15.2497544 , -1.96599503, 25.37584825,
        1.28918343, 15.2497544 ,  1.28918343, 15.54216124,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0057867799027053225
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.38321618, -0.13509771, -0.91372533, -0.05225065,  0.99083228,
       -0.12458435,  0.92217961,  0.        , -0.3867619 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1229871 , -0.0337219 ,  0.29891887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001268043542587749
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.37770072e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.37770072e-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([ 0.07841143, -0.02119846,  0.06197255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.71078559e-05,-1.04592655e-04,-3.41948987e-06,-1.80909333e-04,
  2.27680553e-05,-4.89445705e-05, 2.23988208e-05,-1.82998873e-04,
 -3.66977529e-05,-5.40234536e-05, 5.76815914e-05,-1.28541985e-04,
  3.90446722e-01,-2.15538432e-02,-2.14429176e-03,-8.32336765e-04,
  8.46661812e-03, 2.18396582e-02,-9.81951544e+00,-6.25952957e-02,
  6.30191817e-03,-1.54468829e-02]


--- Step 85 ---
qpos:
[ 0.00813305, 0.00677253,-0.00455222, 0.02759359, 0.0028777 , 0.00241281,
 -0.00558714, 0.03225486, 0.0107567 , 0.00493702,-0.0096664 , 0.02812051,
  0.28871102, 0.0061766 , 0.18935849, 0.0402458 , 0.07905061,-0.05923357,
  0.14564152, 0.99137722,-0.06847261, 0.10925947, 0.02334675]

qacc:
[  -6.16603344,  -7.10429384,  38.54615326, -96.09499042,  -1.59010749,
   -9.85275871,  48.03958783,-105.71624903,  -3.90969847,  -8.58652432,
   38.03999218, -75.85911889,-489.59288152, 507.42097524,   1.22125956,
  -13.0296877 ,  -0.71794275,   0.72501631,  -3.98035814, -23.72516436,
  -56.56842913,  73.14964816]

qfrc_actuator:
[ 0.00170969, 0.00155217,-0.00105775, 0.00601366, 0.00068097, 0.00054564,
 -0.00125794, 0.00701474, 0.00238893, 0.0009935 ,-0.00210475, 0.00610475,
  0.09622487,-0.00161238, 0.08777932, 0.00377283, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([15.37596   ,  7.64257164, 13.34208546,  7.64257164, 31.68130611,
       -9.33997733, 13.34208546, -9.33997733, 20.72605658,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00600423771243858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.89437656e-01, -3.93169903e-02, -9.20213283e-01, -1.53233648e-02,
        9.99226788e-01, -3.62080132e-02,  9.20925353e-01, -1.73472348e-18,
       -3.89739007e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12348359, -0.03437043,  0.29887843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012519639417629541
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.43392572e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.43392572e-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([ 0.07840918, -0.02119746,  0.0619729 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.61563635e-05,-9.50013329e-05,-3.95355925e-05,-1.77012975e-04,
 -9.51714662e-06,-5.47089995e-05, 3.15595769e-05,-1.68018352e-04,
 -2.31777486e-05,-7.98567518e-05, 4.23562137e-05,-1.09680929e-04,
  4.67693295e-01,-1.99581637e-02,-2.17510574e-03,-6.46370853e-04,
  8.67261676e-03, 2.82333088e-02,-9.82057508e+00,-6.30291912e-02,
  7.40008659e-03,-1.55734900e-02]


--- Step 86 ---
qpos:
[ 0.00816602, 0.00680041,-0.00457273, 0.02771043, 0.0028911 , 0.0024236 ,
 -0.00561033, 0.03239199, 0.01080351, 0.0049569 ,-0.00970617, 0.02824056,
  0.27890896, 0.00642269, 0.19154203, 0.04041726, 0.07940094,-0.05914126,
  0.14567029, 0.99117554,-0.06929881, 0.10996518, 0.02600748]

qacc:
[-9.03355931e+00,-8.10253647e+00, 4.08163247e+01,-9.34862999e+01,
 -1.96739021e+00,-8.67895435e+00, 4.17970100e+01,-9.01557733e+01,
 -8.61680260e+00,-5.74874908e+00, 2.77868206e+01,-6.10664025e+01,
 -3.94941687e+02, 3.03657224e+02, 7.49227449e-01,-1.71026815e+01,
 -7.61889059e-01, 1.26553850e-01,-3.52966304e+00,-1.38170137e+01,
 -5.05232793e+01, 6.42235462e+01]

qfrc_actuator:
[ 0.00165778, 0.00156055,-0.00102024, 0.00586658, 0.00066953, 0.00054501,
 -0.00120383, 0.00688081, 0.00233903, 0.00098799,-0.00207658, 0.00601101,
  0.09701166,-0.00197217, 0.08759283, 0.00365251, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([15.37596   ,  4.64030463, 14.65904904,  4.64030463, 36.41393661,
       -6.65954661, 14.65904904, -6.65954661, 17.48403159,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006039997873308679
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4280414 , -0.04866292, -0.90244805, -0.02085445,  0.99881526,
       -0.04396785,  0.90351849,  0.        , -0.42854912])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12379845, -0.03433425,  0.29888598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012517039735948365
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.43484661e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.43484661e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07840721, -0.02120234,  0.06197292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.30612356e-05,-6.16668661e-05, 6.49602402e-06,-1.56255156e-04,
 -1.17153816e-05,-3.23388394e-05, 4.07214469e-05,-1.38739674e-04,
 -5.05371805e-05,-4.65108002e-05, 1.31088933e-05,-9.80499270e-05,
  5.34053146e-01,-1.73628857e-02,-2.11185877e-03,-6.57049092e-04,
  8.53946536e-03, 3.45331520e-02,-9.82124646e+00,-6.35464166e-02,
  8.37035030e-03,-1.56868775e-02]


--- Step 87 ---
qpos:
[ 0.00819879, 0.00682778,-0.00459212, 0.0278249 , 0.00290426, 0.00243449,
 -0.00563342, 0.03252645, 0.01084902, 0.00497675,-0.00974603, 0.02835854,
  0.26822645, 0.00661226, 0.19371296, 0.0405832 , 0.07974873,-0.05904993,
  0.14568683, 0.99097099,-0.07012345, 0.1105914 , 0.02878773]

qacc:
[-1.63254482e+00,-8.68638352e+00, 4.00044865e+01,-8.24350544e+01,
 -2.12448927e+00,-5.62425975e+00, 3.15354892e+01,-7.80391498e+01,
 -1.14968801e+01,-4.02446759e+00, 2.30444357e+01,-5.86747797e+01,
 -3.16462019e+02, 1.99413241e+02, 1.34887108e+00,-2.27719669e+01,
 -6.36436538e-01,-2.45796948e-01,-3.05927614e+00,-6.93030189e+00,
 -4.34011406e+01, 5.66007789e+01]

qfrc_actuator:
[ 0.00164956, 0.00155468,-0.00095432, 0.00575115, 0.00065745, 0.00055827,
 -0.00119817, 0.00674723, 0.0022732 , 0.00099471,-0.00207957, 0.00590788,
  0.09788991,-0.00224904, 0.087387  , 0.00349683, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([15.37596   ,  5.40183718, 14.39584318,  5.40183718, 36.36808347,
       -7.87699836, 14.39584318, -7.87699836, 18.33169257,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006043102773077757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43789843, -0.04733503, -0.89777745, -0.0207512 ,  0.99887907,
       -0.04254402,  0.89878493,  0.        , -0.43838984])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12412113, -0.03421002,  0.29889783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012643828632497578
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.07840563, -0.02121206,  0.06197266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.82804827e-06,-4.68559296e-05, 4.82023316e-05,-1.21164508e-04,
 -1.24215254e-05,-2.78840763e-06,-9.59914467e-07,-1.36537060e-04,
 -6.72311621e-05,-2.11747944e-05,-1.43586429e-05,-1.06790434e-04,
  5.89116569e-01,-1.45192494e-02,-1.99830875e-03,-6.59207946e-04,
  8.00700990e-03, 4.03548454e-02,-9.82163113e+00,-6.41004575e-02,
  9.14185787e-03,-1.57895280e-02]


--- Step 88 ---
qpos:
[ 0.00823156, 0.00685428,-0.00461095, 0.02793753, 0.00291682, 0.00244549,
 -0.00565659, 0.03265827, 0.01089338, 0.00499648,-0.00978563, 0.02847401,
  0.25683894, 0.00675393, 0.19587098, 0.04074793, 0.08009462,-0.05896061,
  0.14569298, 0.99076245,-0.0709379 , 0.11115009, 0.03167397]

qacc:
[-5.68004560e-02,-6.53807805e+00, 2.94324473e+01,-6.16704918e+01,
 -5.21453474e+00,-5.06118896e+00, 2.94575242e+01,-7.52021018e+01,
 -1.00400704e+01,-6.05421174e+00, 3.20302216e+01,-7.59809920e+01,
 -2.51944263e+02, 1.41247181e+02,-1.28494122e+01, 2.44321248e+01,
 -4.72231182e-01,-5.00688162e-01,-2.59719577e+00,-1.92888081e+00,
 -3.71001326e+01, 5.07709379e+01]

qfrc_actuator:
[ 0.00164939, 0.00146951,-0.00094319, 0.00565528, 0.00062733, 0.00056182,
 -0.00120334, 0.0066149 , 0.00221628, 0.00099082,-0.00206536, 0.00578229,
  0.09883831,-0.00242157, 0.08719136, 0.00357115, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 15.37596   ,   5.91569503,  14.19241692,   5.91569503,
        39.62376525, -10.10699036,  14.19241692, -10.10699036,
        19.58876413,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006014820321370321
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44853505, -0.04565729, -0.8925983 , -0.02050027,  0.99895716,
       -0.04079616,  0.8935301 ,  0.        , -0.44900329])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12445077, -0.03401315,  0.29891308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012874569676953884
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.31168984e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.31168984e-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([ 0.0784045 , -0.02122567,  0.06197217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.52704739e-07,-1.07737765e-04, 2.81698868e-06,-9.88471643e-05,
 -3.04672925e-05,-4.49527150e-06,-1.07454606e-05,-1.35411246e-04,
 -5.87825826e-05,-2.36639815e-05, 4.38910238e-06,-1.29274814e-04,
  6.34001591e-01,-1.18652519e-02,-1.82305499e-03,-3.86284361e-04,
  7.21069972e-03, 4.56288635e-02,-9.82184033e+00,-6.46382008e-02,
  9.75008982e-03,-1.58851994e-02]


--- Step 89 ---
qpos:
[ 0.00826441, 0.00688005,-0.00462977, 0.0280478 , 0.00292823, 0.00245626,
 -0.00567925, 0.03278782, 0.01093637, 0.005016  ,-0.00982476, 0.02858707,
  0.24607773, 0.00655304, 0.19800403, 0.04090722, 0.0804085 ,-0.05890677,
  0.14566785, 0.99058222,-0.07154056, 0.11149578, 0.03460504]

qacc:
[ 7.70467941e-01,-5.85858862e+00, 2.94421366e+01,-6.97099231e+01,
 -1.00831949e+01,-6.37621031e+00, 3.18614925e+01,-7.17172272e+01,
 -1.20499529e+01,-6.53436846e+00, 3.31181071e+01,-7.54802542e+01,
  5.42299236e+02,-3.62254735e+03,-3.50951723e+01, 3.13775615e+01,
 -8.00424327e+00,-8.87140047e+00,-7.81887314e+00, 1.00061577e+02,
 -1.12032230e+02, 2.59741525e+01]

qfrc_actuator:
[ 0.00165394, 0.00142609,-0.00094706, 0.00553607, 0.00056909, 0.00054171,
 -0.00117937, 0.00650212, 0.00214732, 0.00098067,-0.00204116, 0.00566226,
  0.09986603,-0.00260627, 0.08700763, 0.00356832, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 15.37596   ,   6.26509384,  14.04167885,   6.26509384,
        57.02943019, -18.58487878,  14.04167885, -18.58487878,
        23.66813152,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005959430485628368
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.59902498e-01, -4.36555934e-02, -8.86895643e-01, -2.00964756e-02,
        9.99046640e-01, -3.87549030e-02,  8.87741981e-01, -3.46944695e-18,
       -4.60341369e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1247867 , -0.03375628,  0.29893107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013186257827162706
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.20977293e-14, -4.20977293e-14,  1.00000000e+00, -1.77221881e-27,
        1.00000000e+00,  4.20977293e-14, -1.00000000e+00,  0.00000000e+00,
       -4.20977293e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07840384, -0.02124235,  0.0619715 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.41435302e-06,-1.08420329e-04,-2.95815808e-05,-1.25933806e-04,
 -5.91083875e-05,-3.10729288e-05, 1.68751739e-05,-1.16250401e-04,
 -7.05901021e-05,-2.84100408e-05, 1.54067515e-05,-1.23607771e-04,
  6.70197935e-01,-9.65509735e-03,-1.59197123e-03,-3.98039466e-04,
  6.21940294e-03, 5.04144158e-02,-9.82195387e+00,-6.51415015e-02,
  1.02268201e-02,-1.59756795e-02]


--- Step 90 ---
qpos:
[ 0.00829706, 0.00690529,-0.00464834, 0.02815608, 0.00293886, 0.00246644,
 -0.00570128, 0.03291504, 0.0109782 , 0.00503507,-0.00986324, 0.02869851,
  0.23637886, 0.00622431, 0.20012129, 0.041056  , 0.08069454,-0.05888254,
  0.14561708, 0.99042507,-0.07196425, 0.1116604 , 0.03756692]

qacc:
[-1.76480868e+00,-5.45630709e+00, 2.68424872e+01,-6.12471730e+01,
 -6.89230968e+00,-7.32590194e+00, 3.48624456e+01,-7.57921026e+01,
 -1.01793166e+01,-5.70094568e+00, 2.62865911e+01,-5.48997301e+01,
  5.48092314e+02,-2.03744783e+03,-1.95848271e+00,-5.43987447e+01,
 -6.95904099e+00,-7.40276920e+00,-6.41161547e+00, 8.46175846e+01,
 -9.51674194e+01, 1.83587582e+01]

qfrc_actuator:
[ 0.00164348, 0.00142567,-0.00092412, 0.0054396 , 0.00053026, 0.00048999,
 -0.00115623, 0.00638399, 0.00208957, 0.00094914,-0.00201127, 0.00558198,
  0.10083092,-0.00244895, 0.08677402, 0.00318662, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 15.37596   ,  12.02264603,   9.58520361,  12.02264603,
        24.57689187, -11.54065699,   9.58520361, -11.54065699,
        29.85131592,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005911547565644728
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.80807590e-01, -1.51249715e-02, -9.24530592e-01, -5.76036286e-03,
        9.99885611e-01, -1.39850986e-02,  9.24636360e-01,  8.67361738e-19,
       -3.80851155e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12601317, -0.03712726,  0.29862928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013641941485544873
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.06915330e-14, -8.13830660e-14,  1.00000000e+00,  3.31160172e-27,
        1.00000000e+00,  8.13830660e-14, -1.00000000e+00,  0.00000000e+00,
        4.06915330e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07840357, -0.02126398,  0.06197052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04518991e-05,-7.36205715e-05,-7.81749956e-06,-1.04859582e-04,
 -4.05119604e-05,-7.10349217e-05, 1.46301956e-05,-1.21402929e-04,
 -5.97175157e-05,-4.99222618e-05, 2.16652786e-05,-8.35750108e-05,
  6.39931080e-01, 7.63672962e-03,-4.25182417e-04,-4.62491515e-04,
  7.31907224e-04, 5.39006494e-02,-9.81999372e+00,-6.70168153e-02,
  8.56908967e-03,-1.60062220e-02]


--- Step 91 ---
qpos:
[ 0.00832864, 0.00693002,-0.00466628, 0.02826267, 0.00294929, 0.00247611,
 -0.00572312, 0.03303987, 0.0110197 , 0.00505375,-0.00990079, 0.02880775,
  0.22785396, 0.00586409, 0.20223131, 0.04119845, 0.08095946,-0.05888324,
  0.14554565, 0.99028485,-0.07223787, 0.11167345, 0.04057884]

qacc:
[-9.37686284e+00,-5.89835847e+00, 2.72004282e+01,-5.70776304e+01,
 -1.77664033e+00,-6.11016167e+00, 3.08708028e+01,-7.20911108e+01,
 -2.84432677e+00,-7.65133147e+00, 3.58734555e+01,-7.53007509e+01,
  5.16285110e+02,-1.26540465e+03, 4.19284128e-01,-3.81943757e+01,
 -5.28186953e+00,-6.23377405e+00,-5.16325719e+00, 6.92835441e+01,
 -8.06245272e+01, 2.73868206e+01]

qfrc_actuator:
[ 0.00158876, 0.00141563,-0.00088532, 0.00535735, 0.00052094, 0.00045523,
 -0.00115167, 0.00626362, 0.00207439, 0.00094062,-0.00196058, 0.00547244,
  0.10170164,-0.00209311, 0.08658512, 0.00292216, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.35422999, -0.73025823, -8.3222522 , -0.73025823,  0.31518219,
        0.70540771, -8.3222522 ,  0.70540771,  8.29233211,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013642694361981622
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00000000e+00,  1.27154023e-14,  0.00000000e+00,  1.27154023e-14,
        1.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
       -1.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12894012, -0.03070985,  0.30140481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 15.37596   ,  10.8771371 ,  10.86775203,  10.8771371 ,
        31.73183941, -16.37000387,  10.86775203, -16.37000387,
        31.76010051,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005816448686098586
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3943517 , -0.01496609, -0.91883772, -0.00590256,  0.999888  ,
       -0.01375295,  0.91894064,  0.        , -0.39439587])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12624736, -0.03686236,  0.2986442 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014214314778640685
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90529914e-14, -3.90529914e-14,  1.00000000e+00,  1.52513613e-27,
        1.00000000e+00,  3.90529914e-14, -1.00000000e+00,  0.00000000e+00,
        3.90529914e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07840353, -0.02128944,  0.06196929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.51211238e-05,-5.83580418e-05, 1.86512236e-05,-8.79782389e-05,
 -1.04936946e-05,-7.70740855e-05,-1.26530871e-05,-1.25526563e-04,
 -1.68499997e-05,-3.59181628e-05, 4.01805911e-05,-1.12747879e-04,
  5.87737352e-01, 1.43836400e-02, 4.49111127e-04,-1.19213643e-04,
 -3.54046413e-03, 5.71571022e-02,-9.81738591e+00,-6.86491311e-02,
  7.08858708e-03,-1.60390107e-02]


--- Step 92 ---
qpos:
[ 0.00835931, 0.00695443,-0.00468395, 0.02836675, 0.00295952, 0.00248547,
 -0.00574515, 0.03316263, 0.01106105, 0.00507231,-0.0099375 , 0.02891376,
  0.22047502, 0.0055133 , 0.20434014, 0.0413384 , 0.08120775,-0.05890434,
  0.14545799, 0.99015631,-0.07238761, 0.11156261, 0.0436382 ]

qacc:
[-7.91925996e+00,-6.35949454e+00, 3.26988240e+01,-7.64244302e+01,
 -1.70171417e+00,-4.16309274e+00, 2.30347991e+01,-5.84555939e+01,
 -1.37683238e+00,-9.14509763e+00, 4.60207290e+01,-1.03184441e+02,
  4.71909645e+02,-8.80262520e+02,-6.17677713e-01,-1.76398085e+01,
 -4.15545171e+00,-5.09859682e+00,-4.05891475e+00, 5.65935572e+01,
 -6.62238755e+01, 2.56977149e+01]

qfrc_actuator:
[ 0.00154394, 0.00140003,-0.00087299, 0.00523087, 0.0005113 , 0.00044857,
 -0.00115805, 0.00616065, 0.00206663, 0.00094602,-0.0019157 , 0.00531109,
  0.10247291,-0.00173437, 0.08646012, 0.0027813 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030358744384606506
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00000000e+00,  2.85704088e-15,  0.00000000e+00,  2.85704088e-15,
        1.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
       -1.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12898936, -0.0304882 ,  0.30095049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 15.37596   ,  10.41422697,  11.31211839,  10.41422697,
        41.82050314, -24.34552618,  11.31211839, -24.34552618,
        37.7890772 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0057075398776896755
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40065403, -0.01310623, -0.91613567, -0.00525152,  0.99991411,
       -0.01200812,  0.91621437,  0.        , -0.40068845])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12645138, -0.03662756,  0.29865466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001487539387084777
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.73174329e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.73174329e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07840361, -0.02131772,  0.06196786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.64882802e-05,-4.91972639e-05,-8.19931987e-07,-1.30303919e-04,
 -9.96055766e-06,-5.81281862e-05,-2.83450733e-05,-1.09405830e-04,
 -8.20719725e-06,-1.15716325e-05, 3.85255660e-05,-1.63886379e-04,
  5.29846898e-01, 1.63143154e-02, 9.65532108e-04, 1.39484712e-04,
 -7.06062975e-03, 6.12282089e-02,-9.81464075e+00,-7.00615860e-02,
  5.87850803e-03,-1.60672506e-02]


--- Step 93 ---
qpos:
[ 0.00838886, 0.00697875,-0.00470204, 0.02846921, 0.00296921, 0.00249427,
 -0.00576642, 0.03328247, 0.01110129, 0.00509043,-0.00997327, 0.02901704,
  0.21416526, 0.00518625, 0.20644996, 0.04147596, 0.08144354,-0.05894245,
  0.14535763, 0.99003494,-0.07243356, 0.11134892, 0.04675061]

qacc:
[  -9.87407594,  -2.22831332,  14.64659596, -41.96236455,  -4.71850197,
   -8.86531359,  42.85619287, -94.14575029,  -9.67138469,  -8.82481192,
   42.18197589, -90.63921296, 429.07675375,-693.86866257,   3.14777261,
  -23.65903198,  -3.12548669,  -4.25157987,  -3.17228225,  46.44202231,
  -55.50482148,  28.17721499]

qfrc_actuator:
[ 0.00148757, 0.00139885,-0.0008942 , 0.00515036, 0.00048378, 0.00042326,
 -0.00111746, 0.0060155 , 0.00201003, 0.00090641,-0.00187459, 0.00517381,
  0.1031341 ,-0.00141998, 0.086256  , 0.00258905, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004141362184311159
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00000000e+00, -1.04719377e-14,  3.35102007e-14, -1.04719377e-14,
        1.00000000e+00,  3.50916735e-28, -3.35102007e-14,  0.00000000e+00,
       -1.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12902207, -0.03030902,  0.30062076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 15.37596   ,   9.97542157,  11.70090211,   9.97542157,
        56.07606211, -34.69823718,  11.70090211, -34.69823718,
        44.95740086,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00559031974279276
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.01760042e-01, -1.02722988e-02, -9.15687364e-01, -4.12721696e-03,
        9.99947239e-01, -9.40671053e-03,  9.15735680e-01, -4.33680869e-19,
       -4.01781240e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12662614, -0.03642209,  0.29866143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015601959410505434
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.11592048e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.11592048e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07840369, -0.02134805,  0.06196628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.77879800e-05,-3.54698927e-05,-3.63219440e-05,-8.54308650e-05,
 -2.78118225e-05,-6.87198750e-05, 2.11832636e-05,-1.50991998e-04,
 -5.67937943e-05,-4.55033488e-05, 3.78122818e-05,-1.39814633e-04,
  4.73238660e-01, 1.61550294e-02, 1.06227879e-03, 1.45238557e-04,
 -9.94569486e-03, 6.51178077e-02,-9.81193071e+00,-7.12531529e-02,
  4.85188330e-03,-1.60874613e-02]


--- Step 94 ---
qpos:
[ 0.00841682, 0.00700295,-0.00472002, 0.02856987, 0.0029785 , 0.00250254,
 -0.00578675, 0.03339927, 0.01114054, 0.00510803,-0.01000824, 0.02911858,
  0.20883462, 0.00488849, 0.20856124, 0.04161236, 0.08167022,-0.05899475,
  0.14524754, 0.9899168 ,-0.07239226, 0.11104969, 0.04992049]

qacc:
[ -14.02388815,  -4.18714015,  22.33762879, -53.65838358,  -3.52774829,
   -9.56113079,  45.92504174, -99.64427411,  -8.6794793 ,  -6.47601599,
   29.45899751, -60.47822245, 387.74887113,-574.20561497,   0.9111007 ,
  -12.87290464,  -2.27725596,  -3.54908862,  -2.43649881,  38.11474073,
  -46.64601557,  30.12560497]

qfrc_actuator:
[ 0.00140709, 0.00140621,-0.00088168, 0.00506205, 0.00046372, 0.00040489,
 -0.0010673 , 0.00586448, 0.00196063, 0.00087565,-0.00183619, 0.00508728,
  0.10370555,-0.00106151, 0.08606285, 0.00245561, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047864039193049046
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00000000e+00, -7.24854611e-15,  1.44970922e-14, -7.24854611e-15,
        1.00000000e+00,  1.05082841e-28, -1.44970922e-14,  0.00000000e+00,
       -1.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12904134, -0.03016487,  0.30039312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 15.37596   ,   9.51496077,  12.07831393,   9.51496077,
        75.80997246, -47.60823913,  12.07831393, -47.60823913,
        52.88041057,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005469108547841733
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39901265, -0.00689589, -0.91691949, -0.00275161,  0.99997622,
       -0.00632313,  0.91694129,  0.        , -0.39902214])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12677376, -0.03624416,  0.29866513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016373690402936847
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.78053021e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.78053021e-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([ 0.0784037 , -0.0213798 ,  0.06196461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.22074089e-05,-2.46420625e-05,-2.56137214e-06,-9.30017393e-05,
 -2.08702259e-05,-5.92389438e-05, 3.32281301e-05,-1.56415667e-04,
 -5.09809733e-05,-5.47439684e-05, 2.88430637e-05,-9.00768360e-05,
  4.20376208e-01, 1.53256150e-02, 1.01560943e-03, 1.89545065e-04,
 -1.24728610e-02, 6.91366951e-02,-9.80934849e+00,-7.22861303e-02,
  3.98439190e-03,-1.60977081e-02]


--- Step 95 ---
qpos:
[ 0.00844359, 0.00702655,-0.00473693, 0.02866799, 0.00298782, 0.00251065,
 -0.00580675, 0.03351335, 0.01117889, 0.00512528,-0.01004255, 0.02921827,
  0.20438982, 0.00462086, 0.2106745 , 0.04174611, 0.08189059,-0.05905891,
  0.14513012, 0.98979849,-0.07227734, 0.11067915, 0.05315127]

qacc:
[-1.03536357e+01,-8.95809276e+00, 4.15887008e+01,-8.69107850e+01,
  2.91950496e-01,-6.75515695e+00, 3.52807768e+01,-8.28878164e+01,
 -7.86524691e+00,-6.09969261e+00, 2.89052340e+01,-6.16781886e+01,
  3.48807338e+02,-4.92889788e+02, 6.73297315e+00,-3.05370932e+01,
 -1.57811364e+00,-2.96370950e+00,-1.82873321e+00, 3.12620177e+01,
 -3.93246682e+01, 3.16613112e+01]

qfrc_actuator:
[ 0.00134858, 0.00136553,-0.00083154, 0.00493437, 0.00046597, 0.00040863,
 -0.00104739, 0.00572896, 0.00191589, 0.00086822,-0.00179963, 0.00499579,
  0.10419278,-0.0007449 , 0.08591348, 0.00225068, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005057828732809022
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00000000e+00,  1.20042265e-14, -3.42977900e-15,  1.20042265e-14,
        1.00000000e+00,  4.11718439e-29,  3.42977900e-15,  0.00000000e+00,
       -1.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12904969, -0.03004971,  0.30024936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 15.37596   ,   8.96215395,  12.49399625,   8.96215395,
       105.4769951 , -64.6309901 ,  12.49399625, -64.6309901 ,
        61.73685781,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005347282843084865
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39339583, -0.00325362, -0.91936344, -0.00127997,  0.99999471,
       -0.00299128,  0.91936831,  0.        , -0.39339791])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12689662, -0.03609175,  0.29866632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017173430921875177
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.23238562e-14, -3.23238562e-14,  1.00000000e+00, -1.04483168e-27,
        1.00000000e+00,  3.23238562e-14, -1.00000000e+00,  0.00000000e+00,
       -3.23238562e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07840356, -0.02141243,  0.06196287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.09321699e-05,-5.99886317e-05, 4.11910816e-05,-1.30873483e-04,
  1.63570982e-06,-2.95585056e-05, 6.23897545e-06,-1.40178965e-04,
 -4.61692571e-05,-3.62898291e-05, 2.57006897e-05,-9.47706854e-05,
  3.71932340e-01, 1.41780644e-02, 9.46583603e-04, 8.89821469e-05,
 -1.47726758e-02, 7.32237627e-02,-9.80693939e+00,-7.31894862e-02,
  3.24600252e-03,-1.60975055e-02]


--- Step 96 ---
qpos:
[ 0.00847014, 0.00704958,-0.00475309, 0.02876417, 0.00299744, 0.00251873,
 -0.00582669, 0.03362421, 0.01121607, 0.00514211,-0.01007607, 0.0293154 ,
  0.20074084, 0.00438231, 0.21278839, 0.04187943, 0.08210696,-0.05913296,
  0.14500739, 0.98967702,-0.07210015, 0.11024901, 0.05644571]

qacc:
[  -1.9138439 ,  -6.87579298,  31.55094246, -65.77193623,   2.63167088,
   -6.80909448,  37.76312703, -93.33100459, -10.34176781,  -7.98816298,
   38.52267211, -83.85113476, 312.61185889,-430.1173576 ,  -1.44135957,
   -3.51606366,  -1.00145593,  -2.47348082,  -1.32945815,  25.60436752,
  -33.27408972,  32.8746053 ]

qfrc_actuator:
[ 0.00133898, 0.00133202,-0.00079533, 0.00483779, 0.00048132, 0.00040773,
 -0.00104539, 0.00556816, 0.00185648, 0.00083932,-0.00176438, 0.00486662,
  0.10458665,-0.00046596, 0.0857104 , 0.00216457, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005027004752417019
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00000000e+00,  2.41556651e-14,  1.72540465e-15,  2.41556651e-14,
        1.00000000e+00, -4.16782969e-29, -1.72540465e-15,  0.00000000e+00,
       -1.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12904916, -0.02995864,  0.30017465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005227378912475173
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.85655694e-01,  4.76173532e-04, -9.22642650e-01,  1.83639054e-04,
        9.99999887e-01,  4.39338059e-04,  9.22642754e-01,  0.00000000e+00,
       -3.85655737e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12699721, -0.03596273,  0.29866545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017986885120411522
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17240293e-14, -3.08620147e-14,  1.00000000e+00,  1.90492790e-27,
        1.00000000e+00,  3.08620147e-14, -1.00000000e+00,  0.00000000e+00,
        6.17240293e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07840323, -0.02144553,  0.0619611 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14271500e-05,-6.51310962e-05, 2.40430872e-05,-1.00503604e-04,
  1.53944985e-05,-2.24622575e-05,-8.30337919e-06,-1.64812982e-04,
 -6.06848091e-05,-4.82898243e-05, 2.76632389e-05,-1.31855665e-04,
  3.28056720e-01, 1.29520656e-02, 7.60890663e-04, 1.69892610e-04,
 -1.69348480e-02, 7.73421145e-02,-9.80472036e+00,-7.39860769e-02,
  2.61366283e-03,-1.60870858e-02]


--- Step 97 ---
qpos:
[ 0.00849671, 0.00707265,-0.00476952, 0.02885878, 0.00300751, 0.00252657,
 -0.0058464 , 0.0337323 , 0.01125259, 0.00515864,-0.01010953, 0.02941025,
  0.19780459, 0.00417174, 0.21490185, 0.0420125 , 0.08232122,-0.05921525,
  0.14488097, 0.98954976,-0.07187008, 0.10976891, 0.05980593]

qacc:
[ 1.74757397e-01,-2.39580501e+00, 1.52919955e+01,-4.21485258e+01,
  4.00673816e+00,-6.71495458e+00, 3.51758795e+01,-8.34135923e+01,
 -5.76140094e+00,-5.26867050e+00, 2.78398777e+01,-6.71255679e+01,
  2.79187789e+02,-3.72866820e+02,-3.16205798e+00, 1.47485887e+00,
 -5.25538217e-01,-2.06074940e+00,-9.21933472e-01, 2.09177455e+01,
 -2.82737381e+01, 3.38347460e+01]

qfrc_actuator:
[ 0.00134049, 0.00135632,-0.0008031 , 0.00476029, 0.00050426, 0.00038622,
 -0.00103625, 0.00542925, 0.00182443, 0.0008155 ,-0.00176579, 0.0047518 ,
  0.10490603,-0.00016737, 0.08548578, 0.00209535, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004752597896393873
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00000000e+00,  3.65005312e-15,  0.00000000e+00,  3.65005312e-15,
        1.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
       -1.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12904142, -0.02988763,  0.3001569 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005111241846907845
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.76379464e-01,  4.17678418e-03, -9.26456180e-01,  1.57206950e-03,
        9.99991277e-01,  3.86964127e-03,  9.26464261e-01, -2.16840434e-19,
       -3.76382747e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12707788, -0.03585507,  0.29866291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018802303267099058
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.84522444e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.84522444e-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([ 0.07840267, -0.02147875,  0.06195932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08636311e-06,-1.24096926e-05,-2.20643159e-05,-8.16564646e-05,
  2.33746329e-05,-4.31541510e-05,-2.33483828e-06,-1.43585138e-04,
 -3.37500077e-05,-5.10946133e-05,-1.25168030e-05,-1.18663980e-04,
  2.88607941e-01, 1.17985996e-02, 5.91435513e-04, 1.48516997e-04,
 -1.90216014e-02, 8.14706334e-02,-9.80269120e+00,-7.46942273e-02,
  2.06939730e-03,-1.60670694e-02]


--- Step 98 ---
qpos:
[ 0.00852275, 0.00709557,-0.00478589, 0.02895172, 0.00301709, 0.00253407,
 -0.00586586, 0.03383858, 0.01128878, 0.00517459,-0.01014269, 0.0295037 ,
  0.19550325, 0.00398675, 0.21701456, 0.04214459, 0.08253474,-0.05930456,
  0.14475264, 0.98941457,-0.0715943 , 0.10924396, 0.0632362 ]

qacc:
[-4.69391148e+00,-3.80713659e+00, 2.03452050e+01,-4.92241272e+01,
 -4.32503969e+00,-4.82395387e+00, 2.42214698e+01,-5.56880722e+01,
 -2.81984925e+00,-4.48645702e+00, 2.08228686e+01,-4.51965501e+01,
  2.48897407e+02,-3.30408255e+02,-1.00154288e+00,-5.81387261e+00,
 -1.84995805e-01,-1.75434437e+00,-4.78502649e-01, 1.71443495e+01,
 -2.56314691e+01, 3.57858213e+01]

qfrc_actuator:
[ 1.31299820e-03, 1.34389207e-03,-8.01023042e-04, 4.67688367e-03,
  4.78214173e-04, 3.70323272e-04,-1.02302414e-03, 5.33984768e-03,
  1.80873979e-03, 7.77026668e-04,-1.75329052e-03, 4.68184129e-03,
  1.05180854e-01, 6.14791922e-05, 8.52909309e-02, 2.00072219e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004282829251793241
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00000000e+00,  4.05041475e-15,  0.00000000e+00,  4.05041475e-15,
        1.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
       -1.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12902784, -0.02983335,  0.3001862 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00485903181345945
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43818352e-01, -7.71506582e-03, -8.96083561e-01, -3.42418971e-03,
        9.99970238e-01, -6.91354941e-03,  8.96110230e-01,  4.33680869e-19,
       -4.43831561e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12710654, -0.0355999 ,  0.2986729 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001961017390681663
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.53841528e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.53841528e-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([ 0.07840187, -0.02151183,  0.06195756])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75337318e-05,-2.83675311e-05,-6.34506066e-06,-8.65177740e-05,
 -2.53886942e-05,-4.69480641e-05,-1.04940490e-06,-9.43481524e-05,
 -1.66269569e-05,-7.50351957e-05,-3.68224883e-06,-7.50589098e-05,
  2.53268060e-01, 1.06315577e-02, 4.79489771e-04, 8.40472596e-05,
 -2.10766039e-02, 8.55983261e-02,-9.80084185e+00,-7.53288247e-02,
  1.59899639e-03,-1.60382595e-02]


--- Step 99 ---
qpos:
[ 0.00854825, 0.00711809,-0.004802  , 0.02904296, 0.00302628, 0.00254142,
 -0.00588512, 0.03394328, 0.01132451, 0.0051897 ,-0.01017452, 0.02959589,
  0.19376305, 0.00382553, 0.21912592, 0.04227723, 0.08274902,-0.0593996 ,
  0.14462347, 0.98926918,-0.07127986, 0.10868247, 0.0667368 ]

qacc:
[-4.66765553e+00,-4.75956598e+00, 2.34077170e+01,-5.30698561e+01,
 -3.39134971e+00,-4.02327028e+00, 2.06965043e+01,-4.81917126e+01,
 -4.07031109e+00,-7.40412219e+00, 3.01405875e+01,-5.35104842e+01,
  2.19673930e+02,-2.85612457e+02,-6.16447402e+00, 1.19882816e+01,
  1.90161611e-01,-1.43126344e+00,-2.09108346e-01, 1.37694241e+01,
 -2.12646359e+01, 3.59288786e+01]

qfrc_actuator:
[ 0.00128641, 0.0013096 ,-0.00079327, 0.00459067, 0.00045905, 0.00037573,
 -0.00100745, 0.00526253, 0.00178504, 0.00074791,-0.00167945, 0.00462108,
  0.10539431, 0.00023968, 0.08510865, 0.00199822, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003712374630914783
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00000000e+00,  1.86912545e-14, -4.67281363e-15,  1.86912545e-14,
        1.00000000e+00,  8.73407487e-29,  4.67281363e-15,  0.00000000e+00,
       -1.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12901117, -0.03227243,  0.30038774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00473073873471649
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4362245 , -0.00799309, -0.89980236, -0.00348689,  0.99996805,
       -0.00719243,  0.89983111,  0.        , -0.43623844])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1270914 , -0.03522055,  0.29869345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020397734887599855
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.72143704e-14, -1.53080833e-14,  1.00000000e+00,  4.16599850e-28,
        1.00000000e+00,  1.53080833e-14, -1.00000000e+00,  0.00000000e+00,
        2.72143704e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07840079, -0.02154439,  0.06195583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74512455e-05,-5.61115510e-05,-2.19043918e-06,-8.95617139e-05,
 -1.98962230e-05,-2.53940556e-05, 2.38747006e-06,-8.14124850e-05,
 -2.41607380e-05,-7.53432906e-05, 5.53199568e-05,-6.57271978e-05,
  2.21757684e-01, 9.53385865e-03, 3.77925766e-04, 1.43844809e-04,
 -2.31680924e-02, 8.99076151e-02,-9.79907050e+00,-7.59375011e-02,
  1.18815828e-03,-1.60018126e-02]


--- Step 100 ---
qpos:
[ 0.00857323, 0.0071402 ,-0.00481815, 0.02913212, 0.00303551, 0.00254842,
 -0.00590371, 0.03404623, 0.01135968, 0.00520468,-0.01020548, 0.02968622,
  0.19251579, 0.00368607, 0.22123603, 0.04240608, 0.08296533,-0.05949922,
  0.1444943 , 0.98911151,-0.07093283, 0.10809158, 0.07030767]

qacc:
[-4.54939048e+00,-4.67557706e+00, 2.46807546e+01,-6.02297526e+01,
  4.10479349e-01,-5.95749233e+00, 2.79990358e+01,-5.92141183e+01,
 -4.91331442e+00,-6.42660707e+00, 3.04919381e+01,-6.38809000e+01,
  1.92758954e+02,-2.46170185e+02, 7.43577946e+00,-3.45624444e+01,
  5.06812737e-01,-1.14496832e+00,-1.44347911e-03, 1.08757865e+01,
 -1.74691014e+01, 3.58826478e+01]

qfrc_actuator:
[ 0.00126058, 0.00128026,-0.00080008, 0.00448571, 0.00046186, 0.00035839,
 -0.00097277, 0.0051752 , 0.00175681, 0.00077815,-0.00162321, 0.00453075,
  0.10553875, 0.00037908, 0.0849127 , 0.00176581, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031210430871753125
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00000000e+00,  0.00000000e+00,  2.22326117e-14,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -2.22326117e-14,  0.00000000e+00,
       -1.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12899376, -0.03225159,  0.3004512 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004620748303106014
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21952935e-01, -3.79474818e-03, -9.06609795e-01, -1.60121666e-03,
        9.99992800e-01, -3.44038064e-03,  9.06616323e-01, -2.16840434e-19,
       -4.21955973e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12705585, -0.0348197 ,  0.29871608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002115931901086207
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62348477e-14,  6.55871193e-15,  1.00000000e+00,  1.72066809e-28,
        1.00000000e+00, -6.55871193e-15, -1.00000000e+00,  0.00000000e+00,
       -2.62348477e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07839944, -0.02157628,  0.06195416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67036332e-05,-6.59249950e-05,-2.20713962e-05,-1.09397255e-04,
  2.23915549e-06,-3.48237581e-05, 2.68184788e-05,-9.01231930e-05,
 -2.89086867e-05,-3.55327575e-06, 4.52441559e-05,-9.30807917e-05,
  1.93864469e-01, 8.48855116e-03, 2.76214301e-04,-1.08089070e-04,
 -2.52688409e-02, 9.41258405e-02,-9.79749678e+00,-7.64750217e-02,
  8.32847431e-04,-1.59578198e-02]


--- Step 101 ---
qpos:
[ 0.00859771, 0.00716169,-0.00483362, 0.0292193 , 0.00304437, 0.00255506,
 -0.00592197, 0.03414735, 0.01139457, 0.00521986,-0.01023566, 0.02977404,
  0.19169852, 0.0035662 , 0.22334447, 0.04252897, 0.08318471,-0.05960243,
  0.14436576, 0.98893973,-0.07055838, 0.1074772 , 0.07394847]

qacc:
[-4.40715781e+00,-6.79398281e+00, 3.13727638e+01,-6.62039374e+01,
 -3.35516709e+00,-5.11989036e+00, 2.52732981e+01,-5.70945100e+01,
 -2.32540072e+00,-7.08380901e+00, 3.62870029e+01,-8.12628535e+01,
  1.68132346e+02,-2.12231209e+02, 1.36244549e+01,-5.63323190e+01,
  7.66311572e-01,-8.98036453e-01, 1.59679270e-01, 8.46177558e+00,
 -1.42940863e+01, 3.57319069e+01]

qfrc_actuator:
[ 0.00123539, 0.00125405,-0.00076217, 0.00438832, 0.00044208, 0.00032763,
 -0.00096268, 0.00508268, 0.0017439 , 0.00080815,-0.00157761, 0.00440603,
  0.10564903, 0.00046993, 0.08471923, 0.00143508, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024410041907979574
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.,  0.,  0.,  0.,  1.,  0.,  0.,  0., -1.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12897358, -0.03224082,  0.30053941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004519082770499941
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.07395379e-01,  1.83414852e-04, -9.13251866e-01,  7.47223645e-05,
        9.99999983e-01,  1.67503959e-04,  9.13251882e-01,  0.00000000e+00,
       -4.07395386e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12700286, -0.03440326,  0.29874036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002189107253968786
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.07157894e-14, -3.16973684e-14,  1.00000000e+00,  1.60755706e-27,
        1.00000000e+00,  3.16973684e-14, -1.00000000e+00,  0.00000000e+00,
        5.07157894e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07839781, -0.02160741,  0.06195255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60316090e-05,-7.32236331e-05, 1.74893219e-05,-1.03325116e-04,
 -1.97330088e-05,-4.88189085e-05, 2.98046899e-06,-9.50439677e-05,
 -1.37015755e-05, 3.30821026e-05, 4.72450208e-05,-1.25278527e-04,
  1.69347617e-01, 7.49482786e-03, 1.61521171e-04,-2.44232159e-04,
 -2.73897642e-02, 9.82411860e-02,-9.79611172e+00,-7.69474554e-02,
  5.27453458e-04,-1.59071656e-02]


--- Step 102 ---
qpos:
[ 0.00862204, 0.00718262,-0.00484856, 0.02930498, 0.00305257, 0.00256149,
 -0.00594003, 0.03424657, 0.01142905, 0.00523459,-0.0102648 , 0.02986008,
  0.19125517, 0.00346449, 0.22545019, 0.04265098, 0.083408  ,-0.05970837,
  0.14423835, 0.98875219,-0.07016083, 0.10684427, 0.07765869]

qacc:
[-1.28088446e+00,-5.33693096e+00, 2.42888429e+01,-5.07366358e+01,
 -5.71680311e+00,-4.79714087e+00, 2.47722262e+01,-5.80277195e+01,
 -3.70047804e+00,-7.13530019e+00, 3.20857126e+01,-6.40891318e+01,
  1.45669878e+02,-1.77291260e+02,-2.95422237e+00, 1.54878807e-01,
  9.78650509e-01,-6.83591490e-01, 2.82218020e-01, 6.44302326e+00,
 -1.16307831e+01, 3.54983610e+01]

qfrc_actuator:
[ 0.00122855, 0.00123011,-0.00073365, 0.00431395, 0.00040914, 0.00032449,
 -0.00094952, 0.00498782, 0.00172235, 0.00074894,-0.00153864, 0.00431534,
  0.10572672, 0.0005784 , 0.08454331, 0.00138633, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00017009209430257632
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.,  0.,  0.,  0.,  1.,  0.,  0.,  0., -1.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12895146, -0.03223835,  0.30064607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004425762664755067
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.92888739e-01,  3.90995730e-03, -9.19577703e-01,  1.53618994e-03,
        9.99992356e-01,  3.59553704e-03,  9.19584732e-01, -2.16840434e-19,
       -3.92891742e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12693496, -0.03397583,  0.29876597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022590319619122112
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.91459636e-14, -1.38223022e-14,  1.00000000e+00, -6.79310363e-28,
        1.00000000e+00,  1.38223022e-14, -1.00000000e+00,  0.00000000e+00,
       -4.91459636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07839591, -0.02163771,  0.06195101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.67780505e-06,-6.65857729e-05, 1.16868401e-05,-7.91258494e-05,
 -3.35103021e-05,-3.41590738e-05, 6.94392995e-08,-9.89054966e-05,
 -2.18883591e-05,-3.66053485e-05, 4.73015618e-05,-9.02371545e-05,
  1.47943467e-01, 6.62768336e-03, 7.63121561e-05, 6.66371044e-06,
 -2.95414361e-02, 1.02256381e-01,-9.79489508e+00,-7.73630931e-02,
  2.65453244e-04,-1.58507659e-02]


--- Step 103 ---
qpos:
[ 0.00864575, 0.0072028 ,-0.00486322, 0.02938914, 0.00306031, 0.00256796,
 -0.00595767, 0.03434416, 0.01146265, 0.00524854,-0.0102933 , 0.02994479,
  0.19114645, 0.00337672, 0.22755362, 0.04276863, 0.08363373,-0.05981764,
  0.14411267, 0.98854893,-0.069738  , 0.10617491, 0.08145249]

qacc:
[  -5.40201864,  -4.87556569,  22.40366293, -48.65210641,  -4.02525095,
   -4.4167362 ,  22.6688824 , -51.34066124,  -7.623017  ,  -5.56416267,
   23.99634075, -47.62651229, 132.84687015,-180.72562374,   8.24043036,
  -37.8409261 ,   0.61026653,  -0.83117661,   0.43142478,   6.07380596,
  -21.08359281,  42.00163946]

qfrc_actuator:
[ 0.00119705, 0.00117221,-0.00072864, 0.00423596, 0.00038649, 0.00035567,
 -0.00091677, 0.00491011, 0.00167813, 0.00067228,-0.00152198, 0.00424531,
  0.10576378, 0.00070877, 0.08437276, 0.00114904, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -9.244783766498843e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.,  0.,  0.,  0.,  1.,  0.,  0.,  0., -1.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12892807, -0.03224269,  0.30076585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 15.37596   ,  -4.32951572, -14.75382796,  -4.32951572,
       110.34363754, -27.86829652, -14.75382796, -27.86829652,
        23.55392087,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0038258071472396567
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76317781, -0.09237799, -0.63955136, -0.07080359,  0.99572401,
       -0.05933418,  0.64229782,  0.        , -0.76645516])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12716886, -0.03515733,  0.2986517 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002325536702100589
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38702538e-14, -1.34270177e-14,  1.00000000e+00, -3.20506321e-28,
        1.00000000e+00,  1.34270177e-14, -1.00000000e+00,  0.00000000e+00,
       -2.38702538e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07839373, -0.02166716,  0.06194954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.18095017e-05,-9.69664659e-05,-1.03242945e-05,-8.21913794e-05,
 -2.36122158e-05, 7.59840088e-06, 2.21925105e-05,-8.12875589e-05,
 -4.48152821e-05,-9.15105938e-05, 1.18123069e-05,-7.18608352e-05,
  1.29302189e-01, 5.85347584e-03, 4.22136845e-05,-1.85889792e-04,
 -3.17311693e-02, 1.06174512e-01,-9.79382766e+00,-7.77289053e-02,
  4.13697246e-05,-1.57894455e-02]


--- Step 104 ---
qpos:
[ 0.00866925, 0.00722213,-0.00487736, 0.02947171, 0.00306772, 0.00257449,
 -0.00597455, 0.03444038, 0.01149512, 0.00526221,-0.01032181, 0.03002728,
  0.19133074, 0.00330271, 0.22965448, 0.04287682, 0.08386282,-0.05992941,
  0.14398889, 0.98832815,-0.06929364, 0.10547579, 0.08532709]

qacc:
[  -1.88649842,  -5.8560461 ,  26.00988476, -53.86413955,  -2.89836766,
   -4.87421168,  23.30388436, -48.37498675,  -9.99049514,  -4.87973246,
   26.25847691, -64.39777224, 115.23513313,-146.39989057,  23.48140094,
  -91.18252748,   0.83965878,  -0.62600097,   0.47452664,   4.52554045,
  -17.47281808,  40.7575448 ]

qfrc_actuator:
[ 0.00118678, 0.00112984,-0.00070218, 0.00415641, 0.00037007, 0.00037176,
 -0.00087257, 0.00484317, 0.00162093, 0.00067444,-0.00151872, 0.00413472,
  0.10577718, 0.00079599, 0.08414689, 0.00064267, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.7193754763575892e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.,  0.,  0.,  0.,  1.,  0.,  0.,  0., -1.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12890113, -0.03225253,  0.3009181 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 15.37596   ,   1.43054079,  15.3092684 ,   1.43054079,
       131.73710792, -10.87311064,  15.3092684 , -10.87311064,
        16.39197382,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0037123413901987857
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.68744317e-01, -9.39798517e-02, -6.32613597e-01, -7.25676542e-02,
        9.95574099e-01, -5.97172346e-02,  6.35425929e-01, -1.38777878e-17,
       -7.72161828e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12714526, -0.03506851,  0.29864913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023877932808048924
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.47008812e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.47008812e-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([ 0.07839128, -0.02169548,  0.06194816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12646036e-05,-1.03080205e-04, 2.03830095e-06,-8.58627292e-05,
 -1.70790300e-05, 2.11875033e-05, 4.56120028e-05,-6.76214819e-05,
 -5.84729584e-05,-4.99226847e-05,-1.66549677e-05,-1.15655830e-04,
  1.12600689e-01, 5.24763862e-03,-7.30425634e-05,-4.75727328e-04,
 -3.42599989e-02, 1.11352728e-01,-9.79209319e+00,-7.83490905e-02,
 -1.88914283e-04,-1.57275930e-02]


--- Step 105 ---
qpos:
[ 0.00869278, 0.00724096,-0.00489094, 0.02955262, 0.00307419, 0.00258099,
 -0.00599069, 0.03453471, 0.0115263 , 0.00527578,-0.0103502 , 0.03010777,
  0.19176831, 0.00324152, 0.23175152, 0.04298293, 0.08409601,-0.06004298,
  0.14386712, 0.98808821,-0.06883089, 0.10475233, 0.08928013]

qacc:
[   0.3545282 ,  -5.62573349,  26.03823304, -55.05407179,  -8.28374012,
   -5.97815909,  29.2789277 , -63.17575397, -11.2815227 ,  -4.54566203,
   24.50206901, -59.27922171,  99.12837441,-120.51420466,  -0.43262264,
   -9.66712306,   1.02624941,  -0.44979694,   0.50496643,   3.24612006,
  -14.52267665,  39.70305816]

qfrc_actuator:
[ 0.00118911, 0.0011327 ,-0.00066321, 0.00407662, 0.00032196, 0.00036102,
 -0.00083974, 0.00474759, 0.00155655, 0.00068818,-0.00150536, 0.00403669,
  0.10575744, 0.00085191, 0.08396251, 0.00054978, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 15.37596   ,   1.05297924,  15.33986247,   1.05297924,
       143.31449883,  -8.78212735,  15.33986247,  -8.78212735,
        15.97879446,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003602343430224984
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77417285, -0.09578916, -0.6256843 , -0.07449995,  0.99540165,
       -0.06021064,  0.62857471,  0.        , -0.77774921])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12711234, -0.03497813,  0.29864701])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002445926511514221
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.53906943e-14, -2.83691839e-14,  1.00000000e+00,  1.28769695e-27,
        1.00000000e+00,  2.83691839e-14, -1.00000000e+00,  0.00000000e+00,
        4.53906943e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07838854, -0.02172271,  0.06194687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91145947e-06,-5.88431750e-05, 1.46895405e-05,-8.60132632e-05,
 -4.85953440e-05, 7.36988631e-06, 4.03832442e-05,-9.46012169e-05,
 -6.60223742e-05,-2.28342038e-05,-2.97634682e-06,-1.03134889e-04,
  9.79472387e-02, 4.61866311e-03,-1.35706542e-04,-9.78459980e-05,
 -3.68331558e-02, 1.16294965e-01,-9.79055050e+00,-7.88986180e-02,
 -3.90663357e-04,-1.56592978e-02]


--- Step 106 ---
qpos:
[ 0.00871581, 0.00725951,-0.00490435, 0.02963229, 0.00308037, 0.00258773,
 -0.0060066 , 0.03462613, 0.01155613, 0.00528878,-0.01037753, 0.0301868 ,
  0.1924238 , 0.00319256, 0.23384481, 0.04309173, 0.08433392,-0.06015774,
  0.14374746, 0.98782763,-0.06835238, 0.10400891, 0.09330957]

qacc:
[ -4.39383029, -3.37827659, 16.77774811,-38.40681466, -2.48134231,
  -6.3271783 , 35.31208766,-86.2939019 ,-11.9092957 , -6.74307304,
  29.16951109,-55.85455489, 84.49549599,-95.01061606,-14.65543766,
  40.73189003,  1.17782432, -0.29711239,  0.52441725,  2.18446512,
 -12.11210601, 38.80711513]

qfrc_actuator:
[ 0.00116332, 0.00112718,-0.00065248, 0.00401511, 0.00030882, 0.00036974,
 -0.00083179, 0.00460039, 0.00148847, 0.00065555,-0.00145054, 0.00396463,
  0.10571085, 0.00093775, 0.08380854, 0.0007014 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 15.37596   ,   0.82013539,  15.35407189,   0.82013539,
       152.88718617,  -7.34514097,  15.35407189,  -7.34514097,
        15.76829957,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0034963047065544738
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.79508314e-01, -9.77919313e-02, -6.18711182e-01, -7.65967608e-02,
        9.95206882e-01, -6.07963656e-02,  6.21691021e-01,  6.93889390e-18,
       -7.83262584e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12707173, -0.03488819,  0.29864522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002500063476590861
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.55097418e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.55097418e-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([ 0.07838552, -0.02174891,  0.06194566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.58161176e-05,-3.98501134e-05,-2.86293873e-06,-6.53877657e-05,
 -1.45147471e-05, 1.68509641e-05, 1.10764465e-05,-1.47520252e-04,
 -6.99343623e-05,-5.06951293e-05, 4.61900643e-05,-7.52851914e-05,
  8.52523802e-02, 4.06701579e-03,-1.08098426e-04, 1.55756435e-04,
 -3.94593539e-02, 1.21035506e-01,-9.78917237e+00,-7.93882074e-02,
 -5.67517663e-04,-1.55854880e-02]


--- Step 107 ---
qpos:
[ 0.00873835, 0.00727758,-0.00491716, 0.02971025, 0.00308739, 0.00259451,
 -0.00602251, 0.03471511, 0.01158525, 0.00530144,-0.01040405, 0.03026433,
  0.1932643 , 0.00315449, 0.23593501, 0.04319991, 0.08457708,-0.06027314,
  0.14363   , 0.987545  ,-0.06786035, 0.1032496 , 0.09741335]

qacc:
[ -4.26925239, -5.85868328, 27.20642591,-57.46985925,  7.29015826,
  -4.98709935, 28.14166343,-70.36569508, -6.15460256, -5.74425722,
  26.1583333 ,-53.05048233, 71.447171  ,-77.27371817, -3.47145116,
   3.39734919,  1.31484597, -0.15977355,  0.55113313,  1.32158375,
  -9.86938974, 37.90663352]

qfrc_actuator:
[ 0.00113893, 0.00109887,-0.00062302, 0.00392934, 0.00035189, 0.00035438,
 -0.00083855, 0.00447725, 0.00145425, 0.00064887,-0.00140737, 0.00389067,
  0.10564752, 0.00098375, 0.08362503, 0.00065847, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 15.37596   ,   0.7895671 ,  15.35567418,   0.7895671 ,
       155.93689846,  -7.22744509,  15.35567418,  -7.22744509,
        15.74758502,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0033948219709185844
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77721806, -0.09672609, -0.62175248, -0.07553143,  0.99531104,
       -0.06042301,  0.62468159,  0.        , -0.78087957])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12702485, -0.03480023,  0.2986437 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002550335994368977
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.35324219e-14, -1.22434937e-14,  1.00000000e+00, -5.32988931e-28,
        1.00000000e+00,  1.22434937e-14, -1.00000000e+00,  0.00000000e+00,
       -4.35324219e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07838223, -0.02177413,  0.06194453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51929185e-05,-5.47635249e-05, 1.83522556e-05,-8.90472331e-05,
  4.26695133e-05,-1.02326097e-05,-7.10990362e-06,-1.25089436e-04,
 -3.61883902e-05,-2.89720000e-05, 3.58117944e-05,-7.61417357e-05,
  7.43066248e-02, 3.50495164e-03,-1.15140622e-04,-2.55053983e-05,
 -4.21458847e-02, 1.25604136e-01,-9.78793384e+00,-7.98271113e-02,
 -7.22606039e-04,-1.55069580e-02]


--- Step 108 ---
qpos:
[ 0.00876043, 0.00729513,-0.00492918, 0.02978622, 0.00309521, 0.00260077,
 -0.00603789, 0.03480264, 0.01161374, 0.0053141 ,-0.01043025, 0.03034001,
  0.19426019, 0.0031259 , 0.23802227, 0.04330517, 0.08482599,-0.06038869,
  0.14351486, 0.98723903,-0.06735666, 0.10247806, 0.10158949]

qacc:
[-4.08486557e+00,-6.97410969e+00, 3.23025766e+01,-6.76679725e+01,
  7.12167250e+00,-5.13431284e+00, 2.33807666e+01,-4.87887041e+01,
 -5.59190167e+00,-4.71370620e+00, 2.46118902e+01,-5.71229831e+01,
  5.98968883e+01,-6.31850112e+01, 3.80496467e+00,-2.14046884e+01,
  1.43488489e+00,-3.72131278e-02, 5.81002636e-01, 6.27732760e-01,
 -7.86239521e+00, 3.70545549e+01]

qfrc_actuator:
[ 0.00111558, 0.00107495,-0.00058284, 0.00382996, 0.00039218, 0.00030693,
 -0.00081849, 0.00440474, 0.0014225 , 0.00065775,-0.00138909, 0.00379842,
  0.10556928, 0.00100229, 0.08344517, 0.00050104, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 15.37596   ,   0.7967244 ,  15.35530449,   0.7967244 ,
       163.86732423,  -7.70461398,  15.35530449,  -7.70461398,
        15.77572113,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003299655363561502
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76822343, -0.09299574, -0.63339131, -0.07175244,  0.99566651,
       -0.05915906,  0.63614805,  0.        , -0.77156701])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12697303, -0.03471582,  0.29864236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025968181604967278
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06883016e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.06883016e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07837868, -0.02179842,  0.06194349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.41475827e-05,-5.53314666e-05, 2.77954969e-05,-1.03007827e-04,
  4.15068715e-05,-6.02536899e-05, 1.26489937e-05,-7.58054893e-05,
 -3.27640323e-05,-3.42607180e-06, 1.40934368e-05,-9.38689401e-05,
  6.49919761e-02, 2.98136812e-03,-1.51920804e-04,-1.55001484e-04,
 -4.48931545e-02, 1.29994307e-01,-9.78683229e+00,-8.02157877e-02,
 -8.59005484e-04,-1.54243129e-02]


--- Step 109 ---
qpos:
[ 0.0087817 , 0.00731214,-0.00494089, 0.02986078, 0.00310311, 0.00260677,
 -0.00605269, 0.03488824, 0.01164163, 0.00532664,-0.01045628, 0.03041403,
  0.19538548, 0.00310572, 0.24010643, 0.04340877, 0.085081  ,-0.06050396,
  0.14340212, 0.98690851,-0.06684287, 0.10169708, 0.10583637]

qacc:
[-6.98604526e+00,-4.48050880e+00, 2.08892050e+01,-4.53238888e+01,
  7.01695084e-01,-5.95442702e+00, 2.88818214e+01,-6.30889579e+01,
 -5.28664859e+00,-4.05207615e+00, 2.13069910e+01,-5.04503689e+01,
  4.95536071e+01,-4.90877231e+01,-7.81211254e-02,-7.80616105e+00,
  1.52823893e+00, 6.92552649e-02, 5.98811581e-01, 6.07257534e-02,
 -6.29399519e+00, 3.63654148e+01]

qfrc_actuator:
[ 0.00107526, 0.00103613,-0.00057214, 0.0037589 , 0.00039499, 0.00031176,
 -0.00078286, 0.00430934, 0.00139243, 0.00064027,-0.00138559, 0.0037139 ,
  0.10547809, 0.00101916, 0.0832889 , 0.0004195 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0032113739480129117
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.58512989e-01, -8.91577201e-02, -6.45529973e-01, -6.78976900e-02,
        9.96017520e-01, -5.77841047e-02,  6.48111062e-01, -6.93889390e-18,
       -7.61545830e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12691753, -0.0346365 ,  0.29864111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002639544569396246
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05152896e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.05152896e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07837487, -0.02182178,  0.06194252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.10750200e-05,-6.91762495e-05,-1.13083002e-06,-7.46625549e-05,
  3.97175846e-06,-2.97223854e-05, 2.20265346e-05,-9.92001564e-05,
 -3.09666484e-05,-2.07492268e-05, 1.29936455e-06,-8.61329772e-05,
  5.71439048e-02, 2.52753723e-03,-1.72773709e-04,-9.41368379e-05,
 -4.77030816e-02, 1.34211252e-01,-9.78585812e+00,-8.05571227e-02,
 -9.79545525e-04,-1.53381496e-02]


--- Step 110 ---
qpos:
[ 0.00880233, 0.00732866,-0.00495268, 0.02993427, 0.00311098, 0.00261301,
 -0.00606748, 0.034972  , 0.01166962, 0.00533895,-0.01048149, 0.03048676,
  0.19661754, 0.00309324, 0.24218758, 0.04350897, 0.08534242,-0.06061858,
  0.1432918 , 0.9865523 ,-0.06632021, 0.10090879, 0.11015266]

qacc:
[ -5.70084217, -2.60696554, 12.88490077,-30.90375414, -0.24803652,
  -3.53154405, 20.82922024,-52.89934215,  1.02370972, -5.20445184,
  23.50467297,-46.71998561, 40.28660576,-34.67337612,  5.38382298,
 -26.46190002,  1.59954062,  0.16246532,  0.60580025, -0.40291649,
  -5.08825935, 35.81307522]

qfrc_actuator:
[ 0.00104305, 0.00100636,-0.00057899, 0.00370503, 0.00039347, 0.00034793,
 -0.00077366, 0.00421902, 0.0013991 , 0.00064259,-0.00133767, 0.00365234,
  0.1053812 , 0.00105007, 0.08311495, 0.00024136, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003130158250283364
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.74819486, -0.08523668, -0.65798112, -0.06400658,  0.99636073,
       -0.05628898,  0.66038444,  0.        , -0.75092769])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12685941, -0.03456339,  0.2986399 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002678571691984641
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.21724833e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.21724833e-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([ 0.07837083, -0.02184424,  0.06194163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.34661992e-05,-7.26154210e-05,-2.41051197e-05,-5.85051156e-05,
 -1.41350209e-06, 1.96131988e-05, 2.25277845e-06,-9.29343305e-05,
  5.81671597e-06,-1.29456640e-05, 4.08315816e-05,-6.42070243e-05,
  5.05891945e-02, 2.14073259e-03,-2.04210675e-04,-1.92545337e-04,
 -5.05828473e-02, 1.38288181e-01,-9.78498459e+00,-8.08603752e-02,
 -1.08648088e-03,-1.52490720e-02]


--- Step 111 ---
qpos:
[ 0.00882275, 0.00734468,-0.00496446, 0.03000654, 0.00311911, 0.0026194 ,
 -0.00608234, 0.03505438, 0.01169748, 0.0053508 ,-0.01050582, 0.03055822,
  0.19793659, 0.00308843, 0.24426499, 0.04360345, 0.08561037,-0.06073224,
  0.14318378, 0.98616938,-0.06578962, 0.10011416, 0.11453752]

qacc:
[ -1.77416201, -3.19837672, 15.61131406,-36.44970938,  2.33090777,
  -2.40339162, 14.66312436,-38.42340041, -1.17181622, -5.72888889,
  24.95769624,-48.22425331, 31.61770849,-17.14651192, 11.46113164,
 -48.95944033,  1.63477109,  0.23810574,  0.57525444, -0.77947648,
  -4.49353048, 35.49168222]

qfrc_actuator:
[ 1.03360643e-03, 9.82179230e-04,-5.78328664e-04, 3.64395589e-03,
  4.07180607e-04, 3.49238633e-04,-7.79992421e-04, 4.15017888e-03,
  1.39184085e-03, 6.03689552e-04,-1.29932485e-03, 3.58708049e-03,
  1.05283603e-01, 1.12223843e-03, 8.28719128e-02,-6.33331267e-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: -0.003048540118376403
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75075012, -0.09289355, -0.6540222 , -0.07004271,  0.99567605,
       -0.06101829,  0.65686244,  0.        , -0.75401043])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12679955, -0.03449726,  0.29863868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027139775160413965
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02268996e-14, -2.04537992e-14,  1.00000000e+00,  2.09178951e-28,
        1.00000000e+00,  2.04537992e-14, -1.00000000e+00,  0.00000000e+00,
        1.02268996e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07836655, -0.02186584,  0.06194082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04684598e-05,-7.29717593e-05,-1.95750546e-05,-6.63389008e-05,
  1.36801232e-05, 8.51721866e-06,-5.30677673e-06,-6.98963591e-05,
 -7.07402174e-06,-4.06817973e-05, 3.84973787e-05,-6.57835301e-05,
  4.51643987e-02, 1.83003557e-03,-3.08141115e-04,-3.30797805e-04,
 -5.35393423e-02, 1.42253568e-01,-9.78418818e+00,-8.11335854e-02,
 -1.18175672e-03,-1.51575670e-02]


--- Step 112 ---
qpos:
[ 0.00884255, 0.00736032,-0.0049759 , 0.03007678, 0.00312735, 0.00262585,
 -0.00609713, 0.03513529, 0.0117247 , 0.00536226,-0.01053031, 0.0306284 ,
  0.1993087 , 0.00309515, 0.24633802, 0.04369696, 0.08587734,-0.06085145,
  0.14308167, 0.98574732,-0.06526467, 0.09934898, 0.11904842]

qacc:
[ -5.41348968, -5.59493897, 27.81740874,-63.20857969,  0.8899992 ,
  -3.15582896, 17.52801094,-43.03669598, -5.69866359, -2.67093588,
  14.1855534 ,-35.74158195, 12.92264505, 46.20208107, -3.48135003,
   2.8197077 , -0.24704479, -1.38305246,  1.47661497, -8.6919182 ,
  12.65509062, 65.07502434]

qfrc_actuator:
[ 1.00214336e-03, 9.79323086e-04,-5.55471294e-04, 3.54363153e-03,
  4.11992705e-04, 3.47371023e-04,-7.77799010e-04, 4.07674789e-03,
  1.35866824e-03, 5.58131932e-04,-1.32037742e-03, 3.52010964e-03,
  1.05162207e-01, 1.16286503e-03, 8.26621565e-02,-1.02986514e-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: -0.0029792230142036812
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.73965705, -0.09057065, -0.66686161, -0.06726769,  0.99589003,
       -0.06064735,  0.6696137 ,  0.        , -0.74270956])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12673855, -0.034438  ,  0.29863744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, -8.14045564, 15.23417505, -8.14045564, 42.78734171,
       13.63385851, 15.23417505, 13.63385851, 24.55804598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002746491296818437
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02116611e-14, -1.17167624e-06,  1.00000000e+00,  2.36815230e-20,
        1.00000000e+00,  1.17167624e-06, -1.00000000e+00,  0.00000000e+00,
        2.02116611e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08284487, -0.03067474,  0.06194007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.18358844e-05,-5.12206558e-05, 2.84630191e-06,-1.05594060e-04,
  5.20705111e-06,-1.43382543e-06, 7.95111440e-07,-7.47761518e-05,
 -3.33599591e-05,-6.33923865e-05,-2.69750385e-05,-6.87883896e-05,
  4.07033314e-02, 1.48949131e-03,-3.42430201e-04,-8.78036434e-05,
 -5.65867356e-02, 1.46165241e-01,-9.78342394e+00,-8.13925629e-02,
 -1.26731717e-03,-1.50641206e-02]


--- Step 113 ---
qpos:
[ 0.00886217, 0.00737574,-0.00498681, 0.03014524, 0.00313558, 0.00263209,
 -0.00611116, 0.03521537, 0.0117513 , 0.00537329,-0.01055457, 0.0306972 ,
  0.20069994, 0.00311264, 0.24840677, 0.04379326, 0.08613577,-0.06097973,
  0.14298839, 0.98528119,-0.0647581 , 0.09864196, 0.12368158]

qacc:
[-1.62539320e+00,-5.47399177e+00, 2.66537545e+01,-5.82965043e+01,
 -2.69909582e-02,-4.11037886e+00, 1.78152123e+01,-3.33906241e+01,
 -5.34077707e+00,-4.01296218e+00, 1.92831246e+01,-4.30724229e+01,
 -1.54255761e+00, 7.12623024e+01,-1.45577769e+01, 4.23024376e+01,
 -2.13287287e+00,-2.27062624e+00, 2.20734039e+00,-1.31118928e+01,
  2.79645110e+01, 6.38645245e+01]

qfrc_actuator:
[ 9.93467656e-04, 9.89328613e-04,-5.19625935e-04, 3.45655812e-03,
  4.11524549e-04, 3.43644166e-04,-7.35104076e-04, 4.03670724e-03,
  1.32826825e-03, 5.44198100e-04,-1.30536228e-03, 3.45262137e-03,
  1.05042435e-01, 1.14212895e-03, 8.24725616e-02, 4.94391653e-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: -0.0029164542714317366
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72827832, -0.08821075, -0.67958043, -0.06449338,  0.99610183,
       -0.0601809 ,  0.68223991,  0.        , -0.73112838])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12667773, -0.03438637,  0.29863617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, -8.338624  , 15.1266142 , -8.338624  , 53.17081662,
       19.78900668, 15.1266142 , 19.78900668, 28.18151914,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028000761327417745
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.97373082e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.97373082e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08661922, -0.03779994,  0.06193887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.64735438e-06,-2.32376870e-05, 2.17371194e-05,-9.13936014e-05,
 -3.17562458e-07,-7.80870339e-06, 3.98260365e-05,-4.16927130e-05,
 -3.13411698e-05,-5.81137846e-05,-3.75701884e-06,-7.25978202e-05,
  3.79380905e-02, 8.93814898e-04,-3.23345683e-04, 1.10648126e-04,
 -6.09619005e-02, 1.52585356e-01,-9.78397415e+00,-8.13844804e-02,
 -1.13786471e-03,-1.49633448e-02]


--- Step 114 ---
qpos:
[ 0.00888187, 0.00739068,-0.00499715, 0.03021318, 0.0031434 , 0.00263794,
 -0.0061244 , 0.03529368, 0.01177733, 0.00538394,-0.01057851, 0.0307643 ,
  0.20209215, 0.00313568, 0.25047186, 0.04389194, 0.08638857,-0.06111483,
  0.14290265, 0.98477298,-0.06426589, 0.09798174, 0.12841986]

qacc:
[  0.79361809, -3.29567748, 12.97023115,-22.36664047, -3.6135047 ,
  -6.37867915, 29.48754737,-61.1712924 , -5.00769485, -4.91228779,
  24.02989933,-53.85151504, -4.77298709, 44.69967804,-12.4382109 ,
  36.10403887, -1.40862547, -1.70526076,  1.88513503,-10.72415187,
  22.61262717, 55.19678267]

qfrc_actuator:
[ 0.00099828, 0.00095379,-0.00049408, 0.00343126, 0.0003902 , 0.00030352,
 -0.00070433, 0.00394565, 0.00129975, 0.00053169,-0.00128678, 0.00336768,
  0.10493011, 0.00109847, 0.08230054, 0.00017171, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028599906209453804
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71676865, -0.08583185, -0.69200838, -0.06174946,  0.99630964,
       -0.05961636,  0.6945716 ,  0.        , -0.71942358])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12661814, -0.03434197,  0.2986349 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   7.48502581, -15.56667903,   7.48502581,
        83.14043248,  31.67158983, -15.56667903,  31.67158983,
        32.50158031,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002844993628339343
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.75593595e-15,  1.95118719e-14,  1.00000000e+00, -1.90356573e-28,
        1.00000000e+00, -1.95118719e-14, -1.00000000e+00,  0.00000000e+00,
        9.75593595e-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([ 0.08670939, -0.03776627,  0.06193787])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.48206944e-06,-4.86129866e-05, 2.00354726e-05,-2.74835119e-05,
 -2.13337651e-05,-3.82896142e-05, 3.25357177e-05,-9.09879846e-05,
 -2.94006362e-05,-4.90912361e-05, 3.63155833e-06,-8.90964646e-05,
  3.68744807e-02, 3.12462891e-04,-2.90215829e-04, 9.05786494e-05,
 -6.52214772e-02, 1.57966100e-01,-9.78584030e+00,-8.09260766e-02,
 -8.51670180e-04,-1.48588701e-02]


--- Step 115 ---
qpos:
[ 0.00890113, 0.0074054 ,-0.00500743, 0.03027994, 0.00315055, 0.00264336,
 -0.00613733, 0.03536963, 0.01180317, 0.00539441,-0.01060217, 0.03083019,
  0.20347934, 0.00316025, 0.25253449, 0.04398658, 0.08663776,-0.06125513,
  0.14282355, 0.98422434,-0.06378393, 0.09735733, 0.13325017]

qacc:
[ -3.87288199, -2.85944729, 14.77108431,-35.12226594, -5.79875846,
  -6.3017802 , 31.57881541,-72.5139539 , -1.74036743, -3.54373773,
  17.40715739,-38.78107149, -3.74623434, 17.56263013,  8.6590694 ,
 -35.36376691, -0.90336733, -1.29743536,  1.66234165, -8.55549226,
  17.31477339, 48.56023369]

qfrc_actuator:
[ 9.75481972e-04, 9.44530344e-04,-4.92713586e-04, 3.37146376e-03,
  3.56778529e-04, 2.59593166e-04,-6.98797180e-04, 3.82525201e-03,
  1.29032389e-03, 5.37893642e-04,-1.26625536e-03, 3.30864582e-03,
  1.04796559e-01, 1.05973915e-03, 8.21551330e-02,-4.43705670e-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: -0.0029645159773662795
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.83922753e-01, -3.09008325e-02, -8.11220905e-01, -1.80523199e-02,
        9.99522455e-01, -2.50793778e-02,  8.11608485e-01,  1.73472348e-18,
       -5.84201735e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12671568, -0.03505804,  0.29856811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   7.48615275, -15.56613711,   7.48615275,
        98.79981405,  39.20845745, -15.56613711,  39.20845745,
        36.12907547,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0028827659291606605
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.62810589e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.62810589e-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([ 0.08677868, -0.03774188,  0.06193702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27378409e-05,-3.41120197e-05,-7.38427389e-06,-6.18902808e-05,
 -3.40411763e-05,-6.27600575e-05,-1.60501198e-06,-1.22841226e-04,
 -1.02545557e-05,-2.44972534e-05, 7.78391639e-06,-6.28557937e-05,
  3.66979509e-02,-1.87667153e-06,-2.60686215e-04,-2.46893428e-04,
 -6.92901829e-02, 1.62649922e-01,-9.78731340e+00,-8.05263156e-02,
 -6.10109105e-04,-1.47637070e-02]


--- Step 116 ---
qpos:
[ 0.00891963, 0.00742002,-0.00501734, 0.03034439, 0.00315725, 0.00264824,
 -0.00615009, 0.0354446 , 0.01182903, 0.00540456,-0.01062484, 0.03089516,
  0.20485561, 0.00318619, 0.25459405, 0.0440783 , 0.08688508,-0.06139914,
  0.14275005, 0.98363632,-0.06330985, 0.09676113, 0.13816198]

qacc:
[ -6.7397038 , -5.91857565, 30.68753723,-71.23769096, -3.99963094,
  -3.1528202 , 14.3754095 ,-31.18904783,  0.3112857 , -5.04062035,
  21.23660254,-38.37649258, -6.24707979, 21.64846777,  4.44417539,
 -21.82697618, -0.46680464, -0.92967398,  1.39725081, -7.22073016,
  13.72311277, 43.25285935]

qfrc_actuator:
[ 0.00093661, 0.00095097,-0.00047006, 0.00325633, 0.00033426, 0.00023134,
 -0.0006905 , 0.0037773 , 0.00129221, 0.00053755,-0.00120914, 0.00326536,
  0.10466676, 0.00102574, 0.08199377,-0.0001917 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029364449725137565
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.74824646e-01, -2.85147011e-02, -8.17779639e-01, -1.63976207e-02,
        9.99593373e-01, -2.33282279e-02,  8.18112305e-01,  1.73472348e-18,
       -5.75058480e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12666957, -0.03506717,  0.29856383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   7.42780516, -15.59406355,   7.42780516,
       117.170276  ,  47.58346183, -15.59406355,  47.58346183,
        39.93780633,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0029140645483004546
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.52469486e-15,  3.80987794e-14,  1.00000000e+00, -3.62879248e-28,
        1.00000000e+00, -3.80987794e-14, -1.00000000e+00,  0.00000000e+00,
        9.52469486e-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([ 0.08683151, -0.03772479,  0.06193631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.95774382e-05,-1.74430658e-05, 1.23357025e-05,-1.18218402e-04,
 -2.35040940e-05,-6.91758681e-05,-9.19264171e-06,-5.32356846e-05,
  1.60598414e-06,-1.53003640e-05, 5.08726104e-05,-4.54039185e-05,
  3.68252316e-02,-1.11868019e-04,-3.06714645e-04,-1.94531478e-04,
 -7.32525818e-02, 1.66858573e-01,-9.78837506e+00,-8.02124641e-02,
 -4.16772779e-04,-1.46762818e-02]


--- Step 117 ---
qpos:
[ 0.00893785, 0.00743455,-0.00502693, 0.03040696, 0.00316363, 0.00265282,
 -0.00616276, 0.03551839, 0.01185472, 0.00541473,-0.01064672, 0.03095838,
  0.20621694, 0.00321396, 0.25664945, 0.04417293, 0.0871319 ,-0.06154568,
  0.14268124, 0.98300963,-0.06284176, 0.09618705, 0.14314688]

qacc:
[ -2.32365173, -4.88880226, 25.20659274,-58.23407653, -2.82856923,
  -3.1036891 , 15.49931041,-35.95560464, -1.54597982, -5.75676118,
  27.91701802,-59.36959835, -8.49861449, 29.0540587 ,-14.80352976,
  43.29178916, -0.12504494, -0.63297337,  1.17410291, -6.17722539,
  10.8500902 , 39.02407845]

qfrc_actuator:
[ 9.24103880e-04, 9.49050456e-04,-4.52726756e-04, 3.16285498e-03,
  3.18341120e-04, 2.30495359e-04,-6.80509367e-04, 3.71913334e-03,
  1.28296979e-03, 5.51216085e-04,-1.16639609e-03, 3.17843927e-03,
  1.04545255e-01, 1.04740894e-03, 8.18123197e-02,-3.09829014e-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: -0.0029126983359758973
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.65985242e-01, -2.62016463e-02, -8.23998895e-01, -1.48348382e-02,
        9.99656678e-01, -2.15975425e-02,  8.24281889e-01, -1.73472348e-18,
       -5.66179624e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12662478, -0.03507885,  0.29855981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   7.38503153, -15.61436572,   7.38503153,
       140.23104129,  58.15484551, -15.61436572,  58.15484551,
        44.77787065,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0029398232671697666
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.77649581e-14,  3.77649581e-14,  1.00000000e+00, -1.42619206e-27,
        1.00000000e+00, -3.77649581e-14, -1.00000000e+00,  0.00000000e+00,
        3.77649581e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08687136, -0.0377135 ,  0.06193572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36837132e-05,-1.48226322e-05, 1.09437673e-05,-9.62516300e-05,
 -1.66073268e-05,-4.39078018e-05,-7.34974177e-06,-6.26383189e-05,
 -9.17397382e-06, 1.35084887e-05, 4.43067977e-05,-8.68097637e-05,
  3.72547394e-02,-1.57412306e-04,-3.42271324e-04, 1.10511349e-04,
 -7.71214276e-02, 1.70634110e-01,-9.78915816e+00,-7.99551026e-02,
 -2.52067260e-04,-1.45942310e-02]


--- Step 118 ---
qpos:
[ 0.00895682, 0.00744879,-0.00503617, 0.03046794, 0.00316942, 0.00265722,
 -0.00617525, 0.03559019, 0.0118801 , 0.00542535,-0.01066839, 0.03101971,
  0.2075583 , 0.00324321, 0.25870157, 0.04426342, 0.08737929,-0.0616938 ,
  0.14261638, 0.98234472,-0.06237814, 0.0956302 , 0.1481981 ]

qacc:
[  6.53061008, -4.65167018, 22.73728208,-50.57742248, -5.14318688,
  -4.81769448, 25.23360843,-59.78154819, -2.73062758, -3.93143776,
  22.91965347,-56.50200619,-10.53409385, 31.31370645,  7.87484375,
 -34.0800406 ,  0.14189114, -0.39327828,  0.98533002, -5.35662049,
   8.54253288, 35.65793959]

qfrc_actuator:
[ 0.00096273, 0.00092439,-0.00043868, 0.00308287, 0.00028868, 0.00022834,
 -0.00066951, 0.00361992, 0.00126726, 0.00059085,-0.00115022, 0.00308429,
  0.10441882, 0.00103045, 0.08160838,-0.0002582 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028928133560729764
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55739245, -0.02395574, -0.82990348, -0.01335658,  0.99971302,
       -0.01988666,  0.83014171,  0.        , -0.55755246])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12658128, -0.03509266,  0.29855605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029608327802987944
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.7496985e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.7496985e-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([ 0.08690096, -0.03770682,  0.06193524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.81829682e-05,-3.54280061e-05, 8.78567875e-06,-8.22654400e-05,
 -3.01448471e-05,-3.10999382e-05,-1.20977785e-06,-1.02712052e-04,
 -1.59411962e-05, 5.24433918e-05, 2.14471697e-05,-9.38341861e-05,
  3.78804557e-02,-2.64689482e-04,-3.45722907e-04,-2.64645122e-04,
 -8.09275885e-02, 1.74052732e-01,-9.78971284e+00,-7.97467167e-02,
 -1.10984038e-04,-1.45162622e-02]


--- Step 119 ---
qpos:
[ 0.00897576, 0.00746255,-0.00504507, 0.03052786, 0.0031755 , 0.00266135,
 -0.00618745, 0.03565955, 0.01190509, 0.00543626,-0.0106894 , 0.03107976,
  0.20887512, 0.00327334, 0.26075047, 0.04434814, 0.08762804,-0.06184275,
  0.14255487, 0.98164187,-0.06191759, 0.09508638, 0.15331023]

qacc:
[ -0.24824783, -3.76834082, 16.97063849,-35.50311752,  2.55716956,
  -6.18874708, 31.81211758,-74.21744716, -3.37265355, -4.04515198,
  20.36174462,-43.63189081,-12.10286592, 31.05131779, 12.88461976,
 -51.481999  ,  0.34178239, -0.20766349,  0.83880708, -4.63982869,
   6.54759884, 32.9915461 ]

qfrc_actuator:
[ 0.00096011, 0.00088631,-0.00042677, 0.0030292 , 0.00030442, 0.00020764,
 -0.00065802, 0.00349736, 0.00124787, 0.00061011,-0.00111422, 0.00302217,
  0.10430108, 0.00098994, 0.08143362,-0.00055251, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002805478551151381
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.58825076, -0.0537589 , -0.80688972, -0.03166951,  0.99855394,
       -0.04344032,  0.80805822,  0.        , -0.58910263])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12653912, -0.03510813,  0.29855254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029777657219487302
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86418800e-14,  3.72837600e-14,  1.00000000e+00, -6.95039379e-28,
        1.00000000e+00, -3.72837600e-14, -1.00000000e+00,  0.00000000e+00,
        1.86418800e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08692247, -0.03770383,  0.06193484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58175112e-06,-6.01924864e-05, 2.60840037e-06,-5.66425771e-05,
  1.48806649e-05,-4.29247951e-05, 1.29821815e-06,-1.26074385e-04,
 -1.97983049e-05, 4.88008977e-05, 4.62384749e-05,-6.10690517e-05,
  3.87659680e-02,-3.78082068e-04,-3.64149411e-04,-3.54044396e-04,
 -8.46970752e-02, 1.77177223e-01,-9.79007947e+00,-7.95803632e-02,
  1.06713660e-05,-1.44413553e-02]


--- Step 120 ---
qpos:
[ 0.00899349, 0.0074761 ,-0.00505443, 0.03058668, 0.00318206, 0.00266517,
 -0.00619944, 0.03572725, 0.01192965, 0.00544715,-0.01070996, 0.031139  ,
  0.21016419, 0.00330463, 0.2627948 , 0.04443536, 0.08787886,-0.06199185,
  0.1424961 , 0.9809011 ,-0.06145936, 0.09455274, 0.15847891]

qacc:
[-1.06703661e+01,-1.21890990e+00, 8.63137514e+00,-2.67560620e+01,
  4.28650042e+00,-4.40870198e+00, 2.21231694e+01,-5.08999645e+01,
 -3.73320937e+00,-2.96317277e+00, 1.39739034e+01,-2.87875322e+01,
 -1.37963949e+01, 3.59878648e+01,-1.40608787e+01, 4.00408149e+01,
  5.14687367e-01,-3.85666096e-02, 6.86137746e-01,-4.21620492e+00,
  5.22000609e+00, 3.08657752e+01]

qfrc_actuator:
[ 0.00089773, 0.00087601,-0.00045178, 0.00297366, 0.00032902, 0.00019374,
 -0.00064642, 0.0034153 , 0.00122647, 0.00058162,-0.00110237, 0.00297939,
  0.10418968, 0.00098855, 0.08124985,-0.00040447, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002862848767192961
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.40809330e-01, -1.96109428e-02, -8.40916571e-01, -1.06078209e-02,
        9.99807687e-01, -1.64943389e-02,  8.41078321e-01, -1.73472348e-18,
       -5.40913355e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12649825, -0.03512461,  0.29854926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029911308328523095
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.78378752e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.78378752e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0869376 , -0.03770376,  0.06193453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.24925539e-05,-4.64377113e-05,-3.92832382e-05,-5.92751082e-05,
  2.50065828e-05,-4.31980797e-05,-1.52806664e-06,-8.64523298e-05,
 -2.19197997e-05, 5.52238586e-06, 2.55294768e-05,-4.03846146e-05,
  3.98862053e-02,-4.23020892e-04,-3.93402707e-04, 8.05640128e-05,
 -8.84572913e-02, 1.80068438e-01,-9.79027825e+00,-7.94540145e-02,
  1.14030973e-04,-1.43687721e-02]


--- Step 121 ---
qpos:
[ 0.00901033, 0.00748932,-0.00506426, 0.0306444 , 0.00318853, 0.00266884,
 -0.00621134, 0.03579447, 0.01195377, 0.00545777,-0.01073037, 0.03119801,
  0.21142198, 0.00333663, 0.26483531, 0.04452195, 0.08813223,-0.06214059,
  0.14243962, 0.98012232,-0.06100261, 0.09402668, 0.16370064]

qacc:
[ -7.79024712, -1.3752904 ,  8.93070242,-27.05618061, -0.88501466,
  -1.46473927,  6.989577  ,-15.47119267, -3.92129464, -1.24706169,
   4.89598659, -8.91836489,-15.08163133, 36.22803186, -3.47772363,
   4.63034521,  0.64084603,  0.09069058,  0.57035244, -3.80804049,
   4.00255022, 29.19440036]

qfrc_actuator:
[ 0.00085394, 0.00084677,-0.00048051, 0.00291747, 0.0003231 , 0.0002018 ,
 -0.00063479, 0.00339323, 0.00120406, 0.00054243,-0.00110505, 0.00296601,
  0.10407793, 0.00095676, 0.08105558,-0.0004408 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002851980618157931
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.32788237e-01, -1.74987064e-02, -8.46067663e-01, -9.32453263e-03,
        9.99846886e-01, -1.48073568e-02,  8.46197228e-01, -1.73472348e-18,
       -5.32869826e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12645874, -0.03514202,  0.2985462 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030014975682263884
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.84944848e-14, -9.24724241e-15,  1.00000000e+00, -1.71022984e-28,
        1.00000000e+00,  9.24724241e-15, -1.00000000e+00,  0.00000000e+00,
       -1.84944848e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0869477 , -0.03770605,  0.06193427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.56276957e-05,-6.64525468e-05,-4.54147011e-05,-6.08371981e-05,
 -5.21542941e-06,-2.02567619e-05,-5.29166409e-07,-2.57906470e-05,
 -2.30057885e-05,-3.27748199e-05, 2.08006832e-07,-1.31416569e-05,
  4.11655443e-02,-5.11412930e-04,-3.66907594e-04,-8.28578181e-05,
 -9.22148673e-02, 1.82747003e-01,-9.79036400e+00,-7.93527394e-02,
  2.07383427e-04,-1.42976544e-02]


--- Step 122 ---
qpos:
[ 0.00902685, 0.00750223,-0.00507445, 0.03070132, 0.00319487, 0.00267246,
 -0.00622304, 0.03586053, 0.01197744, 0.00546801,-0.01075003, 0.03125637,
  0.21264496, 0.00336868, 0.26687278, 0.04460435, 0.08838856,-0.06228854,
  0.14238502, 0.97930535,-0.06054669, 0.09350609, 0.16897262]

qacc:
[ -2.74790905, -1.04577895,  6.51722268,-19.49733221, -1.05791516,
  -2.99193971, 15.43917711,-35.70635287, -3.97976827, -3.92336538,
  16.04275353,-28.25668492,-16.11766965, 34.41863293,  8.46479828,
 -35.45024552,  0.7388083 ,  0.19707656,  0.47112685, -3.48105139,
   3.01256957, 27.88070348]

qfrc_actuator:
[ 0.00083921, 0.0008419 ,-0.00049353, 0.00287908, 0.00031703, 0.00020526,
 -0.0006231 , 0.00333564, 0.00118123, 0.00053259,-0.00106309, 0.00293453,
  0.10396196, 0.00088895, 0.08089773,-0.00065662, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002843380516387995
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.24935666e-01, -1.54209515e-02, -8.51002198e-01, -8.09597015e-03,
        9.99881090e-01, -1.31248243e-02,  8.51103402e-01,  1.73472348e-18,
       -5.24998094e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12642058, -0.03515999,  0.29854335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030092843826383386
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08695384, -0.03771024,  0.06193408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60870886e-05,-5.45784141e-05,-3.46286138e-05,-4.41280978e-05,
 -6.22845895e-06,-9.22709138e-06, 6.48614959e-06,-5.91088236e-05,
 -2.34661595e-05,-2.88960518e-05, 3.47782025e-05,-3.32456704e-05,
  4.26171443e-02,-6.14765978e-04,-3.40649947e-04,-2.68993061e-04,
 -9.59922874e-02, 1.85258607e-01,-9.79034219e+00,-7.92772185e-02,
  2.90096850e-04,-1.42276220e-02]


--- Step 123 ---
qpos:
[ 0.00904307, 0.00751516,-0.00508492, 0.03075729, 0.0032011 , 0.00267604,
 -0.00623453, 0.03592538, 0.01200064, 0.00547819,-0.01076909, 0.03131283,
  0.21383056, 0.00340036, 0.26890641, 0.04468817, 0.08864815,-0.06243535,
  0.14233196, 0.97844988,-0.06009102, 0.09298925, 0.1742926 ]

qacc:
[ -2.70031101, -1.15467381,  8.18323117,-24.24874263, -1.06804094,
  -3.13258734, 16.22266222,-37.5052295 , -4.0054246 , -5.65844243,
  28.08317296,-61.86689508,-16.90694837, 33.51867588, -9.7386971 ,
  26.529468  ,  0.81482671,  0.28539441,  0.38595533, -3.21775061,
   2.20587409, 26.85435409]

qfrc_actuator:
[ 0.00082396, 0.0008695 ,-0.00049706, 0.00283376, 0.00031092, 0.00020593,
 -0.00061153, 0.00327535, 0.00115835, 0.00054056,-0.00103049, 0.00283942,
  0.10383959, 0.00081766, 0.08074048,-0.00056802, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028367271388854503
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51722391, -0.01336749, -0.85574572, -0.0069146 ,  0.99991065,
       -0.01144019,  0.85582219,  0.        , -0.51727012])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12638378, -0.03517815,  0.29854068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030148513122857656
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.22219919e-14,  9.20628341e-15,  1.00000000e+00, -2.96644790e-28,
        1.00000000e+00, -9.20628341e-15, -1.00000000e+00,  0.00000000e+00,
        3.22219919e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08695685, -0.03771597,  0.06193393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57743594e-05,-1.24983686e-05,-2.07668934e-05,-4.98562795e-05,
 -6.28766057e-06,-5.83093950e-06, 8.37033425e-06,-6.17354198e-05,
 -2.35404406e-05,-2.63009274e-06, 2.97630740e-05,-9.58891516e-05,
  4.42385545e-02,-6.87353555e-04,-3.52967062e-04, 2.74728104e-05,
 -9.98030838e-02, 1.87630265e-01,-9.79023001e+00,-7.92235415e-02,
  3.64053866e-04,-1.41582510e-02]


--- Step 124 ---
qpos:
[ 0.00905864, 0.00752797,-0.00509535, 0.03081227, 0.0032072 , 0.00267973,
 -0.00624588, 0.03598934, 0.01202305, 0.00548822,-0.01078789, 0.03136843,
  0.21497857, 0.00343213, 0.27093594, 0.04477379, 0.08891124,-0.06258072,
  0.14228016, 0.97755552,-0.05963514, 0.09247476, 0.17965875]

qacc:
[ -5.74611265, -2.2713361 , 12.06244112,-29.13009864, -1.0689059 ,
  -2.08712214, 11.44683139,-27.28840673, -7.02081774, -2.65163188,
  12.8125932 ,-27.94770473,-17.51597292, 37.62813122,-11.17202883,
  31.03971015,  0.87391105,  0.35960369,  0.31282032, -3.00567109,
   1.54892935, 26.05952357]

qfrc_actuator:
[ 0.00079074, 0.00086313,-0.00049482, 0.00278475, 0.00030484, 0.00022267,
 -0.00060011, 0.00323172, 0.00111785, 0.00052356,-0.00102142, 0.00279642,
  0.10372017, 0.0008157 , 0.08053585,-0.00047824, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028317416230361978
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.09630338e-01, -1.13304720e-02, -8.60318859e-01, -5.77472297e-03,
        9.99935808e-01, -9.74844454e-03,  8.60374088e-01, -8.67361738e-19,
       -5.09663054e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12634831, -0.03519618,  0.29853821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003018508483372262
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37926939e-14, -9.19512924e-15,  1.00000000e+00,  1.26825603e-28,
        1.00000000e+00,  9.19512924e-15, -1.00000000e+00,  0.00000000e+00,
        1.37926939e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0869574 , -0.03772296,  0.06193382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.37039596e-05,-2.03189424e-05,-4.79646157e-06,-5.13687924e-05,
 -6.25976316e-06, 1.24203509e-05, 9.05183187e-06,-4.49203385e-05,
 -4.11360473e-05,-1.66398661e-05, 8.87536538e-06,-4.40511360e-05,
  4.59913546e-02,-6.69916309e-04,-3.72349227e-04, 4.37578429e-05,
 -1.03658788e-01, 1.89883394e-01,-9.79004141e+00,-7.91883999e-02,
  4.30775158e-04,-1.40891964e-02]


--- Step 125 ---
qpos:
[ 0.00907368, 0.0075404 ,-0.00510528, 0.03086624, 0.00321318, 0.00268333,
 -0.00625663, 0.03605191, 0.0120448 , 0.00549765,-0.01080596, 0.03142346,
  0.21608814, 0.00346405, 0.27296125, 0.04485791, 0.089178  ,-0.0627244 ,
  0.14222935, 0.97662184,-0.05917864, 0.09196144, 0.1850696 ]

qacc:
[ -4.54177194, -3.99005368, 17.77591883,-35.85891074, -1.03786276,
  -4.63818529, 22.16885963,-46.86179668, -5.76277622, -4.03089222,
  15.67273819,-26.42952084,-18.0244616 , 38.97676344, -1.42428276,
  -3.26150985,  0.91934729,  0.42223501,  0.24957994, -2.82947968,
   1.00628268, 25.44821486]

qfrc_actuator:
[ 0.00076498, 0.00083649,-0.00047157, 0.00273394, 0.00029882, 0.00021342,
 -0.00057106, 0.00316275, 0.00108508, 0.00047393,-0.00099086, 0.00276664,
  0.10361987, 0.00080175, 0.0802923 ,-0.00056621, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028282093981010044
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50215116, -0.00930947, -0.86472975, -0.00467496,  0.99995667,
       -0.00805052,  0.86476723,  0.        , -0.50217292])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12631415, -0.03521395,  0.29853591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030205231274954003
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83779924e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.83779924e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08695601, -0.03773099,  0.06193375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67657536e-05,-4.17157062e-05, 1.65158791e-05,-5.29744201e-05,
 -6.18786778e-06,-2.50698114e-06, 3.11318759e-05,-6.91283677e-05,
 -3.39286014e-05,-5.92026808e-05, 2.66973863e-05,-3.11379438e-05,
  4.77729435e-02,-6.88333389e-04,-4.17629998e-04,-1.35396448e-04,
 -1.07569213e-01, 1.92034790e-01,-9.78978788e+00,-7.91689585e-02,
  4.91525438e-04,-1.40201746e-02]


--- Step 126 ---
qpos:
[ 0.00908865, 0.00755239,-0.00511451, 0.03091883, 0.00321938, 0.00268702,
 -0.00626699, 0.03611282, 0.01206564, 0.0055066 ,-0.01082323, 0.03147733,
  0.21715757, 0.00349559, 0.2749828 , 0.04493859, 0.08944858,-0.06286618,
  0.14217932, 0.97564832,-0.05872115, 0.09144834, 0.19052397]

qacc:
[ -0.68984078, -5.37553295, 24.18789383,-48.96150274,  1.99928551,
  -4.42630975, 23.00241393,-52.5985395 , -7.94493378, -5.22852523,
  22.62349948,-43.53987702,-18.38792501, 36.87566277,  5.16946391,
 -25.35098144,  0.95405439,  0.4756532 ,  0.1947144 , -2.68043438,
   0.55445485, 24.98380999]

qfrc_actuator:
[ 0.00076157, 0.00081578,-0.0004362 , 0.00266472, 0.00031065, 0.00022423,
 -0.00054968, 0.00307941, 0.00103935, 0.00045849,-0.00094798, 0.00270936,
  0.10353248, 0.00074503, 0.08010544,-0.0007405 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002825924555318164
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.94774680e-01, -7.30116834e-03, -8.68990627e-01, -3.61252952e-03,
        9.99973346e-01, -6.34481597e-03,  8.69013789e-01, -4.33680869e-19,
       -4.94787868e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12628125, -0.03523128,  0.29853377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003021126570708632
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.83743216e-14, -9.18716080e-15,  1.00000000e+00, -1.68807847e-28,
        1.00000000e+00,  9.18716080e-15, -1.00000000e+00,  0.00000000e+00,
       -1.83743216e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08695311, -0.03773989,  0.06193371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.22500610e-06,-4.34143103e-05, 2.67944580e-05,-7.15915332e-05,
  1.16481939e-05, 1.27368027e-05, 2.22408667e-05,-8.38423988e-05,
 -4.66860056e-05,-4.45567455e-05, 3.28616465e-05,-5.95986385e-05,
  4.96101021e-02,-7.51216176e-04,-4.00947065e-04,-2.37353206e-04,
 -1.11542895e-01, 1.94097552e-01,-9.78947806e+00,-7.91630549e-02,
  5.47157309e-04,-1.39509571e-02]


--- Step 127 ---
qpos:
[ 0.00910311, 0.00756412,-0.00512355, 0.03096984, 0.00322568, 0.00269142,
 -0.00627785, 0.03617223, 0.01208508, 0.00551513,-0.01083958, 0.03153008,
  0.21818617, 0.00352658, 0.2770009 , 0.0450161 , 0.08972309,-0.06300587,
  0.14212989, 0.9746344 ,-0.05826236, 0.09093462, 0.19602086]

qacc:
[ -4.40783654, -4.11991022, 20.82455091,-48.15480926,  0.78873422,
  -0.70639209, 10.18693573,-35.72640309,-12.2783052 , -5.43400273,
  23.35238347,-44.01187167,-18.5844208 , 36.2686928 ,  4.79938567,
 -23.40243129,  0.98062637,  0.52206268,  0.14718495, -2.55438534,
   0.17928828, 24.63816675]

qfrc_actuator:
[ 0.00073584, 0.00079881,-0.00042945, 0.00258524, 0.00031512, 0.00028245,
 -0.00056846, 0.00300604, 0.00096862, 0.00044594,-0.00089808, 0.00265414,
  0.10344371, 0.00069861, 0.07995271,-0.00089304, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028246866826320146
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.87479533e-01, -5.29879941e-03, -8.73118335e-01, -2.58309253e-03,
        9.99985961e-01, -4.62654387e-03,  8.73130593e-01, -4.33680869e-19,
       -4.87486377e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12624958, -0.03524789,  0.2985318 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003020519473862421
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29725183e-14, -2.75670220e-14,  1.00000000e+00, -6.33283919e-28,
        1.00000000e+00,  2.75670220e-14, -1.00000000e+00,  0.00000000e+00,
       -2.29725183e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08694903, -0.03774952,  0.0619337 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.59074391e-05,-3.92712296e-05,-1.56366946e-06,-8.19378024e-05,
  4.81397688e-06, 6.61953605e-05,-1.63673213e-05,-7.38046298e-05,
 -7.20514234e-05,-3.34300225e-05, 4.26880484e-05,-5.72536116e-05,
  5.15304350e-02,-7.78578457e-04,-3.73021426e-04,-2.19698155e-04,
 -1.15587209e-01, 1.96081708e-01,-9.78911878e+00,-7.91689439e-02,
  5.98304364e-04,-1.38813543e-02]


--- Step 128 ---
qpos:
[ 0.00911646, 0.00757563,-0.00513275, 0.03101951, 0.00323198, 0.00269643,
 -0.00628888, 0.03623029, 0.01210421, 0.0055233 ,-0.01085544, 0.03158143,
  0.21917415, 0.00355715, 0.27901527, 0.04509181, 0.09000159,-0.06314331,
  0.14208087, 0.97357948,-0.05780199, 0.09041963, 0.20155948]

qacc:
[-9.75993935e+00,-2.56465004e+00, 1.44057142e+01,-3.71287318e+01,
  2.58339757e-02,-1.50899951e+00, 1.22483032e+01,-3.58358724e+01,
 -2.69687670e+00,-4.66834066e+00, 2.18605441e+01,-4.65259979e+01,
 -1.86664244e+01, 3.72046693e+01, 2.54647547e-01,-8.07194916e+00,
  1.00085251e+00, 5.62987366e-01, 1.05938031e-01,-2.44605000e+00,
 -1.33797310e-01, 2.43874664e+01]

qfrc_actuator:
[ 0.00067941, 0.0007841 ,-0.00043966, 0.00251808, 0.00031523, 0.00031519,
 -0.00057508, 0.00293915, 0.00095475, 0.00041749,-0.00087991, 0.00258282,
  0.1033503 , 0.00067644, 0.07977795,-0.00097816, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002824330898345961
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.80251961e-01, -3.29864064e-03, -8.77124377e-01, -1.58418726e-03,
        9.99994559e-01, -2.89333386e-03,  8.77129149e-01,  2.16840434e-19,
       -4.80254574e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1262191 , -0.03526361,  0.29852997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003018875699646581
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.83880215e-14, -9.19401074e-15,  1.00000000e+00, -1.69059667e-28,
        1.00000000e+00,  9.19401074e-15, -1.00000000e+00,  0.00000000e+00,
       -1.83880215e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08694402, -0.03775978,  0.0619337 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.72144609e-05,-4.09910943e-05,-2.15019617e-05,-7.06055532e-05,
  2.73708238e-07, 6.30483436e-05, 2.43045235e-06,-6.61746977e-05,
 -1.59080907e-05,-4.09735313e-05, 1.45403917e-05,-7.24764268e-05,
  5.34802507e-02,-7.72605813e-04,-3.82231792e-04,-1.48155555e-04,
 -1.19708433e-01, 1.97994655e-01,-9.78871584e+00,-7.91850827e-02,
  6.45522200e-04,-1.38112053e-02]


--- Step 129 ---
qpos:
[ 0.0091304 , 0.0075868 ,-0.0051417 , 0.03106799, 0.00323824, 0.00270133,
 -0.00629936, 0.03628749, 0.01212337, 0.00553133,-0.01087189, 0.03163157,
  0.22012118, 0.0035871 , 0.28102576, 0.0451672 , 0.09028416,-0.06327835,
  0.14203214, 0.97248291,-0.05733978, 0.08990276, 0.20713916]

qacc:
[  5.2699238 , -3.6614681 , 17.47012962,-38.47255146, -0.39556635,
  -3.4924578 , 15.90497534,-31.74524826,  0.24503599, -1.07242292,
   8.67117108,-28.60909789,-18.65978507, 36.0449373 , -4.45889639,
   8.08896977,  1.01591975,  0.59942953,  0.06993458, -2.3496321 ,
  -0.39951693, 24.21177441]

qfrc_actuator:
[ 0.00071189, 0.0007708 ,-0.00042425, 0.00245872, 0.00031277, 0.00027921,
 -0.00055678, 0.00289436, 0.00095671, 0.00039738,-0.0009162 , 0.00252033,
  0.10326088, 0.00063341, 0.07960078,-0.00098743, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002824723346554535
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.73085409e-01, -1.29974452e-03, -8.81015611e-01, -6.14890687e-04,
        9.99999155e-01, -1.14509618e-03,  8.81016355e-01,  0.00000000e+00,
       -4.73085808e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12618976, -0.0352783 ,  0.29852829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030163460279401394
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.76051640e-14, -1.84034427e-14,  1.00000000e+00, -5.08030054e-28,
        1.00000000e+00,  1.84034427e-14, -1.00000000e+00,  0.00000000e+00,
       -2.76051640e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0869383 , -0.03777059,  0.06193373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.08040501e-05,-4.41750417e-05, 1.69842903e-06,-6.33523155e-05,
 -2.42602901e-06,-3.23826850e-06, 2.92739137e-05,-4.34121256e-05,
  1.51896346e-06,-4.33042080e-05,-4.54763798e-05,-6.52471897e-05,
  5.54237363e-02,-7.94227407e-04,-3.80233843e-04,-6.93361975e-05,
 -1.23911978e-01, 1.99841670e-01,-9.78827390e+00,-7.92101981e-02,
  6.89229454e-04,-1.37403746e-02]


--- Step 130 ---
qpos:
[ 0.00914498, 0.00759764,-0.00515043, 0.03111571, 0.00324373, 0.0027057 ,
 -0.00630929, 0.03634375, 0.01214206, 0.00553909,-0.01088863, 0.03168057,
  0.22102706, 0.00361616, 0.28303231, 0.04524254, 0.09057084,-0.06341087,
  0.14198355, 0.97134404,-0.05687547, 0.08938353, 0.21275932]

qacc:
[  5.49486168, -2.57753202, 11.70100861,-24.69372494, -6.72546414,
  -4.14048775, 17.70230439,-34.30943971, -4.14053313, -1.8677793 ,
  10.97269702,-30.07337783,-18.54353765, 34.28050034, -5.3559896 ,
  11.0988    ,  1.02701423,  0.63246616,  0.03849479, -2.26290263,
  -0.62570703, 24.09617982]

qfrc_actuator:
[ 0.00074319, 0.00075855,-0.00041158, 0.00242219, 0.00027332, 0.00022023,
 -0.00054194, 0.00284513, 0.00093246, 0.00038217,-0.00093105, 0.00246351,
  0.10317534, 0.00057823, 0.07941166,-0.00098744, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028257365965068506
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.65967577e-01,  7.00886076e-04, -8.84801518e-01,  3.26590266e-04,
        9.99999754e-01,  6.20145216e-04,  8.84801735e-01,  5.42101086e-20,
       -4.65967691e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12616152, -0.03529179,  0.29852675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003013061674048509
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08693202, -0.0377819 ,  0.06193377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.21312907e-05,-3.97525655e-05, 1.41036861e-06,-3.97136906e-05,
 -3.95242766e-05,-5.67919080e-05, 1.62091372e-05,-4.93178161e-05,
 -2.42060902e-05,-5.17567195e-05,-3.16520909e-05,-6.16128349e-05,
  5.73868048e-02,-8.18073834e-04,-3.82629473e-04,-5.54689964e-05,
 -1.28202601e-01, 2.01626366e-01,-9.78779638e+00,-7.92433381e-02,
  7.29671725e-04,-1.36687489e-02]


--- Step 131 ---
qpos:
[ 0.00915843, 0.00760802,-0.00515891, 0.03116333, 0.0032487 , 0.00270944,
 -0.00631856, 0.03639899, 0.01216032, 0.0055466 ,-0.01090522, 0.03172881,
  0.22189221, 0.00364429, 0.28503466, 0.04531832, 0.09086166,-0.06354073,
  0.14193502, 0.97016215,-0.05640886, 0.0888615 , 0.21841949]

qacc:
[-9.79998849e+00,-1.51456364e+00, 4.97436124e+00,-6.86974129e+00,
 -4.50291643e+00,-4.73003339e+00, 1.99947895e+01,-3.82744098e+01,
 -3.82460111e+00,-2.27534881e+00, 1.08276557e+01,-2.39196597e+01,
 -1.83329430e+01, 3.35799890e+01,-7.21300086e+00, 1.70268973e+01,
  1.03508905e+00, 6.62994502e-01, 1.10613942e-02,-2.18437463e+00,
 -8.18066166e-01, 2.40286843e+01]

qfrc_actuator:
[ 0.00068476, 0.00072931,-0.00040062, 0.00241714, 0.00024791, 0.0001834 ,
 -0.00051165, 0.00279364, 0.00091071, 0.00038786,-0.00091534, 0.00242825,
  0.10307765, 0.00053403, 0.07920486,-0.0009643 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002827258707595342
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.58886384e-01,  2.70607451e-03, -8.88490835e-01,  1.24178530e-03,
        9.99996339e-01,  2.40433120e-03,  8.88494088e-01,  2.16840434e-19,
       -4.58888065e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12613431, -0.0353039 ,  0.29852535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030091368299472593
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.61188327e-15, -1.84475331e-14,  1.00000000e+00,  8.50778692e-29,
        1.00000000e+00,  1.84475331e-14, -1.00000000e+00,  0.00000000e+00,
        4.61188327e-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([ 0.08692533, -0.03779365,  0.06193383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.75646676e-05,-5.33170245e-05, 1.40271840e-06,-7.59819971e-06,
 -2.65499361e-05,-6.75292219e-05, 1.87926906e-05,-5.44304401e-05,
 -2.24339592e-05,-3.25737052e-05,-9.90067024e-07,-3.98532072e-05,
  5.93486108e-02,-8.17359106e-04,-4.00059454e-04,-3.18865203e-05,
 -1.32584394e-01, 2.03350898e-01,-9.78728614e+00,-7.92836871e-02,
  7.67041725e-04,-1.35962300e-02]


--- Step 132 ---
qpos:
[ 0.00917108, 0.00761766,-0.00516703, 0.03121055, 0.00325402, 0.00271259,
 -0.00632712, 0.03645351, 0.01217852, 0.00555394,-0.01092157, 0.03177624,
  0.22271781, 0.00367168, 0.28703305, 0.04539014, 0.09115664,-0.06366782,
  0.14188643, 0.96893653,-0.05593971, 0.08833631, 0.22411924]

qacc:
[-7.04352091e+00,-2.78535982e+00, 1.02422557e+01,-1.72936617e+01,
  3.07874670e+00,-4.28485261e+00, 1.71254885e+01,-3.01556155e+01,
 -4.96275397e-01,-2.59602637e+00, 1.23854508e+01,-2.68088288e+01,
 -1.80657143e+01, 3.42457947e+01, 6.41868950e+00,-3.01515754e+01,
  1.04080114e+00, 6.91651529e-01,-1.29081800e-02,-2.11230001e+00,
 -9.82359559e-01, 2.39993405e+01]

qfrc_actuator:
[ 0.00064499, 0.00067239,-0.0003908 , 0.00239512, 0.00026649, 0.00016019,
 -0.0004724 , 0.00275902, 0.00090837, 0.00038842,-0.00089936, 0.00238825,
  0.1029901 , 0.00051457, 0.07897696,-0.00117627, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002829200683613301
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51835827e-01,  4.71638397e-03, -8.92088640e-01,  2.13105495e-03,
        9.99988878e-01,  4.20747936e-03,  8.92098562e-01,  2.16840434e-19,
       -4.51840852e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12610808, -0.03531449,  0.29852408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030046708003016176
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08691832, -0.03780582,  0.0619339 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.14616420e-05,-8.72186107e-05,-1.42511650e-06,-2.45138738e-05,
  1.78034734e-05,-5.95897746e-05, 2.56767758e-05,-3.80342419e-05,
 -2.96852836e-06,-1.97037873e-05, 7.76956224e-06,-4.22890938e-05,
  6.12982269e-02,-7.89498902e-04,-4.25544188e-04,-2.67689129e-04,
 -1.37060855e-01, 2.05016183e-01,-9.78674560e+00,-7.93305208e-02,
  8.01500428e-04,-1.35227313e-02]


--- Step 133 ---
qpos:
[ 0.0091835 , 0.0076267 ,-0.00517523, 0.03125645, 0.00325918, 0.00271582,
 -0.00633591, 0.03650614, 0.01219655, 0.00556084,-0.01093749, 0.03182284,
  0.22350553, 0.00369876, 0.28902758, 0.04545679, 0.0914558 ,-0.06379204,
  0.1418377 , 0.96766644,-0.05546785, 0.08780764, 0.2298582 ]

qacc:
[-2.02284071e+00,-3.27326494e+00, 1.60662477e+01,-3.82113055e+01,
 -1.45519585e+00,-3.13476966e+00, 1.93595445e+01,-5.19109361e+01,
 -1.46711714e+00,-3.50246106e+00, 1.51350656e+01,-2.98306282e+01,
 -1.77812739e+01, 3.61342057e+01, 1.02571204e+01,-4.33284956e+01,
  1.04462912e+00, 7.18926781e-01,-3.39042095e-02,-2.04527385e+00,
 -1.12363818e+00, 2.40001983e+01]

qfrc_actuator:
[ 0.0006343 , 0.00063482,-0.00039963, 0.00232776, 0.00025755, 0.00018086,
 -0.00048136, 0.00266361, 0.00089972, 0.00035042,-0.00088338, 0.00234577,
  0.10292595, 0.00052789, 0.07878448,-0.00143632, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002831495351073632
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44481697,  0.00672984, -0.89559621,  0.00299362,  0.99997735,
        0.00602736,  0.89561649,  0.        , -0.44482705])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12608277, -0.03532349,  0.29852294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00299975001308328
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.62631478e-15, -9.25262955e-15,  1.00000000e+00, -4.28055768e-29,
        1.00000000e+00,  9.25262955e-15, -1.00000000e+00,  0.00000000e+00,
       -4.62631478e-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([ 0.08691109, -0.03781838,  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:
[-1.19278773e-05,-8.80946347e-05,-2.79970140e-05,-7.17335740e-05,
 -8.45448700e-06,-9.10216002e-06,-1.94871942e-05,-9.79299431e-05,
 -8.72122247e-06,-4.93541219e-05, 1.14218118e-05,-4.39614850e-05,
  6.32126247e-02,-7.38707327e-04,-4.27623350e-04,-3.32077112e-04,
 -1.41634996e-01, 2.06622150e-01,-9.78617674e+00,-7.93832278e-02,
  8.33161750e-04,-1.34481772e-02]


--- Step 134 ---
qpos:
[ 0.00919638, 0.00763547,-0.00518365, 0.03130116, 0.00326384, 0.00271931,
 -0.00634487, 0.03655684, 0.01221433, 0.00556726,-0.01095308, 0.03186927,
  0.22425535, 0.00372521, 0.29101788, 0.04552008, 0.09175915,-0.06391328,
  0.14178877, 0.96635111,-0.05499306, 0.08727521, 0.23563601]

qacc:
[ 4.07086849e+00,-2.23358385e+00, 1.25030736e+01,-3.27125452e+01,
 -4.33937142e+00,-3.16836781e+00, 1.99461748e+01,-5.32593713e+01,
 -2.12342593e+00,-1.86735352e+00, 6.47059044e+00,-9.58211116e+00,
 -1.74773840e+01, 3.36110673e+01, 4.21888632e+00,-2.30221619e+01,
  1.04666464e+00, 7.44899643e-01,-5.25378647e-02,-1.98000557e+00,
 -1.25040297e+00, 2.40240304e+01]

qfrc_actuator:
[ 0.00065857, 0.00064454,-0.00040159, 0.00226977, 0.00023247, 0.00020968,
 -0.00048308, 0.00256869, 0.00088742, 0.00032512,-0.00086768, 0.00233765,
  0.10286648, 0.00048973, 0.07858674,-0.00159815, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028340919191568313
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.37836108e-01,  8.74271254e-03, -8.99012295e-01,  3.82802153e-03,
        9.99961782e-01,  7.86010646e-03,  8.99046655e-01, -4.33680869e-19,
       -4.37852842e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1260583 , -0.03533088,  0.29852192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002994449838855634
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.85380134e-14, -1.85380134e-14,  1.00000000e+00, -3.43657941e-28,
        1.00000000e+00,  1.85380134e-14, -1.00000000e+00,  0.00000000e+00,
       -1.85380134e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0869037 , -0.03783131,  0.06193406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38694944e-05,-4.87850834e-05,-2.62178858e-05,-6.42368039e-05,
 -2.53191943e-05, 1.53693419e-05,-9.44128423e-06,-9.79878666e-05,
 -1.25474945e-05,-5.25319498e-05, 5.40420053e-06,-1.07821651e-05,
  6.50483654e-02,-7.61402557e-04,-4.40570060e-04,-2.37620875e-04,
 -1.46309430e-01, 2.08167948e-01,-9.78558113e+00,-7.94413032e-02,
  8.62100719e-04,-1.33725007e-02]


--- Step 135 ---
qpos:
[ 0.00920945, 0.00764427,-0.00519251, 0.03134479, 0.00326852, 0.00272274,
 -0.00635347, 0.03660705, 0.01223218, 0.00557352,-0.01096875, 0.03191488,
  0.22496893, 0.00375018, 0.29300341, 0.04558357, 0.0920667 ,-0.0640315 ,
  0.14173992, 0.96498981,-0.0545147 , 0.08673871, 0.24145231]

qacc:
[ 1.65092174e+00,-9.18100075e-01, 7.85794159e+00,-2.56814300e+01,
  8.40657283e-02,-2.06275784e+00, 9.33227894e+00,-1.83880908e+01,
  5.21511477e-01,-1.68400559e+00, 9.15019456e+00,-2.30757903e+01,
 -1.58377632e+01, 2.54157921e+01,-7.36757312e+00, 1.62183685e+01,
  1.05032342e+00, 7.52376869e-01, 2.19793154e-02,-1.70117877e+00,
 -1.43574001e+00, 2.40578940e+01]

qfrc_actuator:
[ 0.0006677 , 0.00066477,-0.00041703, 0.00221781, 0.0002336 , 0.00020767,
 -0.00046268, 0.00254588, 0.00089083, 0.00032542,-0.00086997, 0.00229655,
  0.10281117, 0.00043887, 0.07837537,-0.00157654, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027311259303178033
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55676638e-01, -2.64888990e-02, -8.89751167e-01, -1.20746093e-02,
        9.99649108e-01, -2.35768018e-02,  8.90063484e-01,  1.73472348e-18,
       -4.55836588e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1260346 , -0.03533645,  0.29852102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029888365748331897
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.64320730e-15, -9.28641460e-15,  1.00000000e+00, -4.31187481e-29,
        1.00000000e+00,  9.28641460e-15, -1.00000000e+00,  0.00000000e+00,
       -4.64320730e-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([ 0.0868962 , -0.03784461,  0.06193416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.76633158e-06,-1.55685320e-05,-3.10842494e-05,-5.63083757e-05,
  4.24260516e-07, 2.87845964e-07, 1.89717625e-05,-2.44879296e-05,
  3.04415690e-06,-2.85305280e-05,-1.28266100e-05,-4.34519012e-05,
  6.68883162e-02,-7.80122885e-04,-4.48719903e-04,-5.03515868e-05,
 -1.51086565e-01, 2.09652234e-01,-9.78495961e+00,-7.95044813e-02,
  8.88274762e-04,-1.32956450e-02]


--- Step 136 ---
qpos:
[ 0.00922219, 0.00765312,-0.00520154, 0.0313871 , 0.00327351, 0.00272606,
 -0.00636144, 0.03665657, 0.01224992, 0.0055798 ,-0.01098498, 0.03195931,
  0.22564881, 0.00377446, 0.29498478, 0.0456496 , 0.09237844,-0.06414661,
  0.14169105, 0.96358172,-0.05403269, 0.08619794, 0.24730681]

qacc:
[-2.96951688e+00,-2.20776515e+00, 1.35625118e+01,-3.63253929e+01,
  2.85340876e+00,-3.31373204e+00, 1.44559560e+01,-2.71169895e+01,
 -8.79125574e-01,-8.60957400e-01, 8.10194094e+00,-2.77161622e+01,
 -1.54485083e+01, 2.88938897e+01,-1.35953208e+01, 3.93485473e+01,
  1.05020390e+00, 7.80677522e-01,-7.65287585e-03,-1.68258093e+00,
 -1.51630559e+00, 2.41191078e+01]

qfrc_actuator:
[ 0.00065008, 0.00067336,-0.00042248, 0.00215207, 0.00025016, 0.00020512,
 -0.00042946, 0.00251241, 0.0008857 , 0.00032319,-0.00090054, 0.00223638,
  0.10275959, 0.00045252, 0.07822526,-0.0014293 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002732685807635519
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47463832e-01, -2.45771176e-02, -8.93964252e-01, -1.10006941e-02,
        9.99697937e-01, -2.19777032e-02,  8.94234368e-01, -1.73472348e-18,
       -4.47599035e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12601157, -0.03533989,  0.29852029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029825800007075437
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.65294738e-15, -1.86117895e-14,  1.00000000e+00,  8.65996774e-29,
        1.00000000e+00,  1.86117895e-14, -1.00000000e+00,  0.00000000e+00,
        4.65294738e-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([ 0.08688864, -0.03785817,  0.06193426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73696813e-05,-9.29873873e-06,-1.45569950e-05,-6.86777301e-05,
  1.65718771e-05, 3.45648064e-07, 3.47217327e-05,-3.33824438e-05,
 -5.03867916e-06,-2.27847071e-05,-3.95147201e-05,-6.27546926e-05,
  6.86496327e-02,-6.91933247e-04,-3.68288140e-04, 8.51268697e-05,
 -1.55980435e-01, 2.11069906e-01,-9.78430108e+00,-7.95749671e-02,
  9.03208701e-04,-1.32176957e-02]


--- Step 137 ---
qpos:
[ 0.00923461, 0.00766181,-0.00520996, 0.03142826, 0.00327832, 0.00272905,
 -0.00636824, 0.03670496, 0.01226747, 0.0055862 ,-0.01100185, 0.03200266,
  0.22629634, 0.00379827, 0.29696263, 0.04571548, 0.09269439,-0.06425848,
  0.14164204, 0.96212604,-0.05354692, 0.08565269, 0.2531992 ]

qacc:
[-2.70491579e+00,-4.25482423e+00, 1.97161066e+01,-4.04302991e+01,
 -1.58666422e+00,-6.08194085e+00, 2.58725924e+01,-4.72903275e+01,
 -1.77576426e+00,-2.53622584e-01, 5.71085281e+00,-2.34342199e+01,
 -1.51106007e+01, 2.94692705e+01,-4.41707034e+00, 8.62637595e+00,
  1.04903605e+00, 8.07974451e-01,-3.34482586e-02,-1.65756093e+00,
 -1.59086098e+00, 2.41871554e+01]

qfrc_actuator:
[ 0.00063462, 0.00067495,-0.00038654, 0.0020965 , 0.00024016, 0.00018457,
 -0.00037121, 0.00245517, 0.00087558, 0.00033708,-0.0009298 , 0.00218322,
  0.10270065, 0.00045141, 0.07805344,-0.00143992, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027347699999671574
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39229650e-01, -2.26401863e-02, -8.98089492e-01, -9.94679070e-03,
        9.99743678e-01, -2.03381266e-02,  8.98319751e-01,  1.73472348e-18,
       -4.39342263e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12598912, -0.03534127,  0.2985197 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029757959295505093
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.66355494e-15, -1.86542198e-14,  1.00000000e+00, -8.69949787e-29,
        1.00000000e+00,  1.86542198e-14, -1.00000000e+00,  0.00000000e+00,
       -4.66355494e-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([ 0.08688106, -0.03787201,  0.06193438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59839519e-05,-9.91122948e-06, 2.97512894e-05,-5.79032157e-05,
 -9.53650453e-06,-1.47406989e-05, 6.13873698e-05,-5.67750310e-05,
 -1.02532618e-05,-9.78105257e-06,-4.09763393e-05,-5.67980915e-05,
  7.02758852e-02,-6.58020961e-04,-3.40248918e-04,-5.53846213e-05,
 -1.60978606e-01, 2.12421796e-01,-9.78362067e+00,-7.96493281e-02,
  9.16861105e-04,-1.31384058e-02]


--- Step 138 ---
qpos:
[ 0.0092471 , 0.00767031,-0.00521761, 0.03146877, 0.00328262, 0.00273219,
 -0.00637527, 0.03675231, 0.01228442, 0.00559268,-0.0110184 , 0.03204429,
  0.22691116, 0.00382108, 0.29893675, 0.04578237, 0.09301452,-0.06436702,
  0.1415928 , 0.96062193,-0.05305725, 0.0851028 , 0.2591292 ]

qacc:
[  0.57462223, -3.75670624, 15.78739832,-28.17047151, -4.4284266 ,
  -1.25507879,  9.13942841,-26.72073686, -5.29257663, -4.32340969,
  22.85200291,-53.28106148,-14.75048529, 25.8168837 , -8.3512871 ,
  21.8826258 ,  1.04691225,  0.83448197, -0.0560239 , -1.62674954,
  -1.66122965, 24.26019912]

qfrc_actuator:
[ 0.00063831, 0.00067253,-0.00034421, 0.00206514, 0.00021459, 0.00018901,
 -0.0003875 , 0.00240215, 0.00084486, 0.00036053,-0.00090473, 0.00209913,
  0.10264373, 0.00038825, 0.07787933,-0.00138378, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027373028950348852
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43099234, -0.02068447, -0.90211848, -0.00891676,  0.99978605,
       -0.01866384,  0.90231153,  0.        , -0.43108456])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12596717, -0.03534048,  0.29851925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029685845134060224
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.67488385e-15, -1.86995354e-14,  1.00000000e+00, -8.74181562e-29,
        1.00000000e+00,  1.86995354e-14, -1.00000000e+00,  0.00000000e+00,
       -4.67488385e-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([ 0.08687348, -0.03788613,  0.06193451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.20755409e-06,-4.65245939e-06, 4.18352741e-05,-3.19799719e-05,
 -2.58459377e-05, 6.29659695e-06,-1.38056907e-05,-5.27238586e-05,
 -3.10024475e-05, 6.99961157e-06, 1.60860936e-05,-8.71070200e-05,
  7.18379225e-02,-6.97277169e-04,-3.46947487e-04, 6.76084322e-06,
 -1.66082580e-01, 2.13704624e-01,-9.78291845e+00,-7.97274738e-02,
  9.28923288e-04,-1.30577412e-02]


--- Step 139 ---
qpos:
[ 0.00925953, 0.00767893,-0.00522508, 0.03150858, 0.00328694, 0.00273547,
 -0.00638275, 0.03679902, 0.01230086, 0.00559948,-0.01103443, 0.03208488,
  0.22749443, 0.00384294, 0.30090765, 0.04584866, 0.09333883,-0.06447211,
  0.14154326, 0.95906858,-0.05256359, 0.08454811, 0.26509649]

qacc:
[-4.67845442e-01,-1.77029779e+00, 9.48209444e+00,-2.18582795e+01,
  2.72281351e-02, 1.04517808e-01, 2.59857249e+00,-1.30969053e+01,
 -4.38824306e+00,-3.15596235e+00, 1.62591852e+01,-3.52729932e+01,
 -1.43255608e+01, 2.53203137e+01,-2.63960406e+00, 3.02753571e+00,
  1.04439158e+00, 8.60937892e-01,-7.55223213e-02,-1.59390292e+00,
 -1.72011819e+00, 2.43369717e+01]

qfrc_actuator:
[ 0.00063549, 0.00068554,-0.00033397, 0.00203051, 0.00021558, 0.00019031,
 -0.00041208, 0.00236978, 0.00082001, 0.00040747,-0.0008655 , 0.00205081,
  0.10259453, 0.00035958, 0.07773063,-0.00141297, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027401950785045453
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42275244, -0.01871071, -0.90605203, -0.00791138,  0.99982494,
       -0.01695584,  0.90621067,  0.        , -0.42282646])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12594564, -0.03533721,  0.29851895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002961032738003494
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.37361322e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.37361322e-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([ 0.08686593, -0.03790055,  0.06193464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75436753e-06, 1.73342316e-05, 1.32116087e-05,-3.40986680e-05,
  2.59975144e-07,-4.29893524e-07,-2.68615929e-05,-3.37083149e-05,
 -2.57144600e-05, 5.03533417e-05, 3.96874329e-05,-4.92238517e-05,
  7.34238791e-02,-6.75378755e-04,-3.17433227e-04,-7.59060220e-05,
 -1.71293658e-01, 2.14914914e-01,-9.78219438e+00,-7.98093641e-02,
  9.39104336e-04,-1.29756691e-02]


--- Step 140 ---
qpos:
[ 0.00927114, 0.00768759,-0.00523259, 0.0315477 , 0.00329123, 0.00273845,
 -0.00638977, 0.03684567, 0.01231654, 0.0056064 ,-0.01104956, 0.03212526,
  0.22804763, 0.00386412, 0.30287509, 0.04591312, 0.09366731,-0.06457365,
  0.14149336, 0.95746513,-0.05206581, 0.08398847, 0.27110075]

qacc:
[ -7.20621681, -1.25365274,  7.48661503,-19.52042483, -0.17105435,
  -1.79695934,  6.11302508, -7.78749233, -6.75166024, -2.77519404,
  11.02441752,-16.16481529,-13.90503412, 25.80869861,  0.6534101 ,
  -9.07719951,  1.04142537,  0.88737758, -0.09244376, -1.55851884,
  -1.76996684, 24.41549259]

qfrc_actuator:
[ 0.00059336, 0.00067207,-0.0003427 , 0.00199422, 0.00021444, 0.00017195,
 -0.00038806, 0.00236756, 0.00078107, 0.00041497,-0.00081811, 0.00204171,
  0.10254572, 0.00035195, 0.077544  ,-0.00150989, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027433907004537454
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.14524623e-01, -1.67241303e-02, -9.09884410e-01, -6.93353352e-03,
        9.99860142e-01, -1.52191539e-02,  9.10011683e-01,  8.67361738e-19,
       -4.14582606e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12592442, -0.03533126,  0.2985188 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029532156446223784
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.39842496e-15, -1.87968499e-14,  1.00000000e+00, -1.76660783e-28,
        1.00000000e+00,  1.87968499e-14, -1.00000000e+00,  0.00000000e+00,
       -9.39842496e-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([ 0.08685843, -0.03791527,  0.06193478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.22351043e-05,-2.86586148e-06,-4.81931951e-06,-3.58451594e-05,
 -1.12395621e-06,-2.57320043e-05, 1.93971509e-05,-3.92009966e-06,
 -3.96407275e-05, 4.16381833e-05, 6.10116038e-05,-6.59312441e-06,
  7.49535198e-02,-6.35548249e-04,-3.52526691e-04,-1.44808897e-04,
 -1.76612525e-01, 2.16048491e-01,-9.78144921e+00,-7.98946809e-02,
  9.47260908e-04,-1.28921534e-02]


--- Step 141 ---
qpos:
[ 0.00928216, 0.00769585,-0.0052394 , 0.03158607, 0.00331386, 0.00226985,
 -0.00636054, 0.03695001, 0.01233162, 0.00561316,-0.01106326, 0.03216522,
  0.22854529, 0.00389409, 0.30483949, 0.0459746 , 0.09395135,-0.06469104,
  0.14145697, 0.95587536,-0.05163708, 0.08357651, 0.27685894]

qacc:
[  -5.19953862,  -4.00233793,  16.65512317, -30.3018009 , 170.60517587,
 -606.23096055,1013.01054415, 275.46125569,  -5.1274319 ,  -5.07698893,
   19.59246333, -29.11671994, -36.20181478, 123.09670216,   5.44705275,
  -23.20632023, -11.10701958,  -3.96015193,   3.37966911,  -2.3502925 ,
   85.89012986,-118.71593983]

qfrc_actuator:
[ 0.00056392, 0.00064276,-0.0003094 , 0.00195722, 0.00021206, 0.00017768,
 -0.00037111, 0.0023121 , 0.00075189, 0.00039887,-0.00074866, 0.00202022,
  0.10248749, 0.00032157, 0.07737736,-0.00166374, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.43179382, -0.23836884,  1.41181226, -0.23836884,  0.2743959 ,
       -0.19541381,  1.41181226, -0.19541381,  1.39880037,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002690218230886974
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99701891e-01,  3.29025650e-03, -2.41930266e-02,  3.28929345e-03,
        9.99994587e-01,  7.96016940e-05,  2.41931576e-02,  0.00000000e+00,
       -9.99707303e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13009139, -0.08366684,  0.17906731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.87486675, -0.64996375, -0.5856099 , -0.64996375,  0.52463057,
        0.38872434, -0.5856099 ,  0.38872434,  0.44342471,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041285952143866515
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99987918e-01,  3.29119788e-03, -3.65131400e-03,  3.29117594e-03,
        9.99994584e-01,  1.20172620e-05,  3.65133377e-03,  0.00000000e+00,
       -9.99993334e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13013783, -0.0862002 ,  0.17174154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027468480995376746
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.06327545e-01, -1.47311637e-02, -9.13608734e-01, -5.98632717e-03,
        9.99891491e-01, -1.34599804e-02,  9.13707880e-01, -8.67361738e-19,
       -4.06371640e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12590342, -0.03532248,  0.2985188 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -10.12017925,  13.99746689, -10.12017925,
        23.17128534,   4.26466198,  13.99746689,   4.26466198,
        20.35608114,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0029513574754964356
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.76173687e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.76173687e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10400924, -0.06175578,  0.0619348 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06635885e-05,-3.38112813e-05, 3.07638309e-05,-3.80785542e-05,
 -2.42464363e-06,-4.95501775e-06, 1.38317766e-05,-5.60575021e-05,
 -3.02721122e-05, 1.93816544e-05, 8.53602617e-05,-1.77887878e-05,
  7.63987255e-02,-6.31089052e-04,-3.54197776e-04,-2.09595321e-04,
 -1.82039653e-01, 2.17100995e-01,-9.78068347e+00,-7.99831738e-02,
  9.53228182e-04,-1.28071617e-02]


--- Step 142 ---
qpos:
[ 0.00929273, 0.00770391,-0.0052458 , 0.0316237 , 0.0033529 , 0.00156609,
 -0.00640961, 0.03703145, 0.01234659, 0.00561999,-0.01107601, 0.03220426,
  0.22904071, 0.00390463, 0.30679996, 0.04603195, 0.09418188,-0.06479782,
  0.1414294 , 0.95450035,-0.05127766, 0.083246  , 0.28172643]

qacc:
[  -3.84163365,  -2.93134108,  13.254187  , -26.73622696, 145.85350235,
 -139.38270087, 142.25751699,-239.93246368,  -1.04624135,  -4.42375684,
   19.7852768 , -37.16827118,  19.04983579,-142.09468009,   5.83023647,
  -30.94110967, -13.38009529,   2.64937723,   2.20511691,  20.91433055,
   62.54593514,-456.22743148]

qfrc_actuator:
[ 0.00054221, 0.00063985,-0.00028712, 0.00192011, 0.00020832, 0.00063375,
 -0.0004299 , 0.00222022, 0.00074646, 0.00040437,-0.00070237, 0.00197384,
  0.10243231, 0.00028607, 0.0772015 ,-0.00186762, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.18349504, -7.14977284, -3.98124846, -7.14977284, 11.95092915,
       -6.76579179, -3.98124846, -6.76579179, 20.33392346,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3580126842301247e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99637099e-01,  1.02191886e-12, -2.69382673e-02,  1.02154801e-12,
        1.00000000e+00,  2.75287235e-14,  2.69382673e-02,  0.00000000e+00,
       -9.99637099e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12890438, -0.05816226,  0.25001021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.48653366, -0.84936296,  2.33697073, -0.84936296,  0.34464328,
       -0.77846176,  2.33697073, -0.77846176,  2.20360475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007633058603037054
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99598966e-01,  3.31254218e-03, -2.81235371e-02,  3.31123190e-03,
        9.99994514e-01,  9.31609140e-05,  2.81236914e-02, -1.35525272e-20,
       -9.99604451e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13021165, -0.08296541,  0.17931654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.48988522, -1.20778327, -0.87236319, -1.20778327,  1.35657659,
        0.18456525, -0.87236319,  0.18456525,  1.23435539,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009337785536226227
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99986142e-01,  3.31382523e-03, -4.09067616e-03,  3.31379750e-03,
        9.99994509e-01,  1.35558603e-05,  4.09069862e-03,  0.00000000e+00,
       -9.99991633e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13026911, -0.08566428,  0.17140664])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027504176733519434
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39920329, -0.01300501, -0.9167702 , -0.00519208,  0.99991543,
       -0.01192362,  0.91684774,  0.        , -0.39923705])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1258848 , -0.03531537,  0.29851884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   9.9035227 , -14.15158456,   9.9035227 ,
        37.50495052,  14.15885843, -14.15158456,  14.15885843,
        27.18134035,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0029858034024354274
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.71833934e-14, -1.85916967e-14,  1.00000000e+00,  6.91302372e-28,
        1.00000000e+00,  1.85916967e-14, -1.00000000e+00,  0.00000000e+00,
        3.71833934e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1042281 , -0.06160304,  0.06193404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26210725e-05,-1.74391253e-05, 1.76552305e-05,-3.83235712e-05,
 -9.23339116e-04, 2.40465235e-02,-1.85313707e-03,-3.03228439e-03,
 -6.27334523e-06, 3.30655336e-05, 6.02023145e-05,-4.30057661e-05,
  7.91158913e-02,-1.10659941e-03,-3.86886003e-04,-2.66853919e-04,
 -1.67952994e-01, 1.93907245e-01,-9.78892868e+00,-7.62682171e-02,
  9.66930736e-04,-1.26815105e-02]


--- Step 143 ---
qpos:
[ 9.30262298e-03, 7.71206094e-03,-5.25229806e-03, 3.16609374e-02,
  3.40438948e-03, 6.74474604e-04,-6.50408651e-03, 3.71023933e-02,
  1.23603349e-02, 5.62709084e-03,-1.10881354e-02, 3.22424418e-02,
  2.29553678e-01, 3.90565710e-03, 3.08756128e-01, 4.60846399e-02,
  9.43695816e-02,-6.48956033e-02, 1.41409147e-01, 9.53305005e-01,
 -5.09740434e-02, 8.29779603e-02, 2.85877372e-01]

qacc:
[  -6.04641924,  -0.43592948,   3.39458601, -10.15711869, 111.30538385,
 -143.23121717, 194.38992724,-164.80389988, -10.6851016 ,  -3.14373657,
   15.39269728, -31.53890279,  18.51160229, -88.75550881,   7.17794377,
  -35.84816228, -10.70685697,   2.25127743,   1.828524  ,  16.59956444,
   48.56926467,-368.00776145]

qfrc_actuator:
[ 0.00050747, 0.00065275,-0.00028919, 0.001901  , 0.00016287, 0.00131223,
 -0.00045182, 0.00214626, 0.00068403, 0.00042263,-0.00067006, 0.00193095,
  0.10239213, 0.00025446, 0.07699899,-0.00209918, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.59847602,  3.18255431, -7.98781183,  3.18255431, 23.45171309,
        5.91792029, -7.98781183,  5.91792029, 10.9563311 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002093413790301881
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99543746e-01, -1.32585233e-13, -3.02043071e-02, -1.32524741e-13,
        1.00000000e+00, -4.00464511e-15,  3.02043071e-02,  0.00000000e+00,
       -9.99543746e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12896706, -0.05791543,  0.25015614])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.78154892, -1.08079838,  2.56298445, -1.08079838,  0.50291671,
       -0.96088839,  2.56298445, -0.96088839,  2.37634685,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011529140682260007
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99501394e-01,  3.35123944e-03, -3.13963853e-02,  3.34958730e-03,
        9.99994385e-01,  1.05217396e-04,  3.13965616e-02,  1.35525272e-20,
       -9.99507006e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13032276, -0.08241758,  0.17950618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50364644, -1.24854461, -0.8379075 , -1.24854461,  1.29768693,
        0.30689502, -0.8379075 ,  0.30689502,  1.04634999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013432106294315876
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99982649e-01,  3.35285305e-03, -4.84349901e-03,  3.35281372e-03,
        9.99994379e-01,  1.62396317e-05,  4.84352623e-03,  0.00000000e+00,
       -9.99988270e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13039259, -0.0852412 ,  0.17114455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021213159367817515
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.57722815, -0.01720861, -0.81640157, -0.00993477,  0.99985192,
       -0.01405122,  0.81652248,  0.        , -0.57731364])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12642819, -0.03770094,  0.29831166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  10.09302592, -14.01705872,  10.09302592,
        43.85590418,  19.14129769, -14.01705872,  19.14129769,
        31.05547711,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003011772586161421
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.84313887e-14,  4.60784718e-15,  1.00000000e+00,  8.49290224e-29,
        1.00000000e+00, -4.60784718e-15, -1.00000000e+00,  0.00000000e+00,
       -1.84313887e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10439852, -0.06148368,  0.06193347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.54213102e-05, 4.80983053e-06,-4.93597300e-06,-2.00856817e-05,
 -1.78911206e-03, 3.65087469e-02, 2.04909860e-03,-1.95943922e-03,
 -6.25808172e-05, 4.72099492e-05, 4.50606900e-05,-4.03018209e-05,
  7.91950033e-02,-1.65411407e-04,-4.02112510e-04,-2.94694560e-04,
 -1.21538614e-01, 1.37154066e-01,-9.79543172e+00,-7.25558746e-02,
  1.13816182e-05,-1.25753846e-02]


--- Step 144 ---
qpos:
[ 9.31270737e-03, 7.72022678e-03,-5.25844008e-03, 3.16969371e-02,
  3.46217348e-03,-3.57612256e-04,-6.62810525e-03, 3.71638274e-02,
  1.23732285e-02, 5.63402365e-03,-1.10998506e-02, 3.22802273e-02,
  2.30083738e-01, 3.90610529e-03, 3.10708096e-01, 4.61336669e-02,
  9.45218836e-02,-6.49830274e-02, 1.41394361e-01, 9.52278098e-01,
 -5.07195341e-02, 8.27597556e-02, 2.89386897e-01]

qacc:
[   1.72907885,  -3.50264047,  17.72993021, -39.66133273,  56.82809058,
 -122.77812997, 208.34445423,-222.05141078,  -7.4996774 ,  -2.17285674,
    9.12700151, -16.54995672,   9.02276716, -22.10655132,   4.65447708,
  -25.8166085 ,  -8.84944991,   2.58914219,   1.36689815,  14.62104756,
   40.13224543,-330.57799911]

qfrc_actuator:
[ 5.18581536e-04, 6.57187687e-04,-2.70024003e-04, 1.83936865e-03,
  8.97758914e-05, 2.18869028e-03,-3.99932044e-04, 2.04430450e-03,
  6.41805181e-04, 3.77336177e-04,-6.63954156e-04, 1.90821053e-03,
  1.02343292e-01, 2.58544146e-04, 7.68126151e-02,-2.27413633e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.61345562, -7.22004779,  6.34739623, -7.22004779, 43.73490701,
       38.81253051,  6.34739623, 38.81253051, 53.76200332,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003688553574003628
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99457094e-01, -7.52478582e-14, -3.29471770e-02, -7.52070057e-14,
        1.00000000e+00, -2.47920450e-15,  3.29471770e-02,  3.94430453e-31,
       -9.99457094e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12901737, -0.05772132,  0.25027329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.78154892, -1.14773215,  2.53371769, -1.14773215,  0.61296795,
       -0.98233126,  2.53371769, -0.98233126,  2.33656913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001459202861635345
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99410882e-01,  3.40239703e-03, -3.41513180e-02,  3.40041230e-03,
        9.99994212e-01,  1.16197016e-04,  3.41515157e-02,  0.00000000e+00,
       -9.99416667e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13042704, -0.08198795,  0.17964971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50364644, -1.23266964, -0.86109127, -1.23266964,  1.26165355,
        0.34641775, -0.86109127,  0.34641775,  1.0077424 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016638257697983232
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99977213e-01,  3.40432505e-03, -5.82957888e-03,  3.40426721e-03,
        9.99994205e-01,  1.98458964e-05,  5.82961267e-03,  0.00000000e+00,
       -9.99983008e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13051023, -0.08490574,  0.17093985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 15.37596   ,  -1.48574678,  15.30400935,  -1.48574678,
       120.89702978,  10.24421677,  15.30400935,  10.24421677,
        16.37049102,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021323286759647115
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.57759837, -0.01763219, -0.81613064, -0.01018591,  0.99984454,
       -0.01439241,  0.81625754,  0.        , -0.57768818])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12642142, -0.03772991,  0.29831132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  10.02500762, -14.06578578,  10.02500762,
        51.30565245,  24.2560451 , -14.06578578,  24.2560451 ,
        34.56056606,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003030721057171004
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.74742298e-14,  9.15807661e-15,  1.00000000e+00,  2.51611101e-28,
        1.00000000e+00, -9.15807661e-15, -1.00000000e+00,  0.00000000e+00,
       -2.74742298e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1045314 , -0.06139039,  0.06193306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00829644e-05, 4.89648271e-06, 1.87437725e-05,-6.20737485e-05,
 -2.48476917e-03, 4.68115803e-02, 4.38257590e-03,-1.53454054e-03,
 -4.39718941e-05,-1.14942814e-05, 2.00056524e-05,-2.00102216e-05,
  7.82746696e-02, 3.16303561e-04,-3.83718740e-04,-2.38864038e-04,
 -8.93121740e-02, 9.88461236e-02,-9.79974340e+00,-7.00908536e-02,
 -6.39408773e-04,-1.24958896e-02]


--- Step 145 ---
qpos:
[ 0.00932285, 0.00772826,-0.00526421, 0.03173159, 0.0035214 ,-0.00148595,
 -0.00676693, 0.0372174 , 0.01238655, 0.00564065,-0.01111183, 0.03231751,
  0.2306208 , 0.00391031, 0.31265574, 0.04618377, 0.09464466,-0.06505916,
  0.14138356, 0.95140947,-0.05050865, 0.08258141, 0.29231698]

qacc:
[   0.48803884,  -3.97911807,  19.61973353, -43.42453019,  13.84285368,
 -102.06127621, 212.46804813,-253.97183634,   3.76677806,  -0.71765558,
    4.07068308, -12.08824713,  -0.41588294,  20.06931623,  -9.55087532,
   24.36680952,  -7.38187304,   2.8222245 ,   0.99739578,  12.9873656 ,
   33.43390905,-299.59358706]

qfrc_actuator:
[ 5.21099606e-04, 6.38817180e-04,-2.56279508e-04, 1.77097823e-03,
  1.90310226e-05, 3.22943226e-03,-2.65963815e-04, 1.99976517e-03,
  6.65081967e-04, 3.29732586e-04,-6.91355802e-04, 1.87969057e-03,
  1.02293981e-01, 2.61162843e-04, 7.66413998e-02,-2.20124875e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([11.18081478,  7.91069643, -7.90136071,  7.91069643, 48.7464355 ,
       37.61000576, -7.90136071, 37.61000576, 48.83525803,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004980541120634696
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99378921e-01,  2.78640161e-14, -3.52388025e-02,  2.78467104e-14,
        1.00000000e+00,  9.81894561e-16,  3.52388025e-02,  0.00000000e+00,
       -9.99378921e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12905761, -0.05756896,  0.25036699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.78154892, -1.11290023,  2.54920919, -1.11290023,  0.66418097,
       -0.92437266,  2.54920919, -0.92437266,  2.37799846,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016957141889350567
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99329198e-01,  3.45986487e-03, -3.64579763e-02,  3.45756468e-03,
        9.99994015e-01,  1.26140426e-04,  3.64581945e-02,  0.00000000e+00,
       -9.99335179e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13052507, -0.08165398,  0.17975578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50364644, -1.19567176, -0.91176842, -1.19567176,  1.21792644,
        0.37468653, -0.91176842,  0.37468653,  1.0122913 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001909987362096359
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99969607e-01,  3.46208209e-03, -6.98566069e-03,  3.46199761e-03,
        9.99994007e-01,  2.41850757e-05,  6.98570255e-03, -3.38813179e-21,
       -9.99975600e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13062217, -0.08464199,  0.17078229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 15.37596   ,  -4.00531159,  14.84512125,  -4.00531159,
       124.18618319,  29.3577156 ,  14.84512125,  29.3577156 ,
        23.29686522,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021419090804386596
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.76806390e-01, -1.76568618e-02, -8.16690042e-01, -1.01861787e-02,
        9.99844105e-01, -1.44224316e-02,  8.16817379e-01, -1.73472348e-18,
       -5.76896325e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12641318, -0.03775783,  0.2983103 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  10.04976389, -14.04810852,  10.04976389,
        61.27975164,  31.48183286, -14.04810852,  31.48183286,
        39.79426365,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00304441440638685
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.82337697e-14,  4.55844243e-15,  1.00000000e+00,  8.31175896e-29,
        1.00000000e+00, -4.55844243e-15, -1.00000000e+00,  0.00000000e+00,
       -1.82337697e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10463503, -0.06131751,  0.06193276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.78213765e-06,-1.47531634e-05, 1.48020709e-05,-6.88274011e-05,
 -2.87018471e-03, 5.49145993e-02, 6.00713439e-03,-1.10127016e-03,
  2.20404457e-05,-5.09292435e-05,-2.80175965e-05,-2.87790994e-05,
  7.73744825e-02, 3.49100001e-04,-3.54902766e-04, 1.42363359e-05,
 -6.44043108e-02, 7.01457091e-02,-9.80283880e+00,-6.83111665e-02,
 -1.13116196e-03,-1.24336971e-02]


--- Step 146 ---
qpos:
[ 0.00933259, 0.00773616,-0.00527008, 0.03176587, 0.00357733,-0.00266862,
 -0.00690839, 0.03726365, 0.01240039, 0.00564729,-0.01112419, 0.03235413,
  0.23114881, 0.00392018, 0.31460003, 0.04623488, 0.09474242,-0.06512309,
  0.1413756 , 0.95069214,-0.05033734, 0.08243523, 0.29471178]

qacc:
[-3.45829213e+00,-6.84301827e-01, 3.74235557e+00,-9.87564759e+00,
 -2.81301402e+01,-7.94496427e+01, 2.10051067e+02,-2.92478547e+02,
  4.56141757e+00,-2.78453992e-01, 3.83250678e+00,-1.47517521e+01,
 -1.03624793e+01, 5.07582956e+01,-7.65027426e+00, 2.04515676e+01,
 -6.25260023e+00, 3.05281919e+00, 7.08447932e-01, 1.17981815e+01,
  2.83578614e+01,-2.77574545e+02]

qfrc_actuator:
[ 5.00769944e-04, 6.24660785e-04,-2.63696795e-04, 1.75239669e-03,
 -3.02164905e-05, 4.38071804e-03,-1.03418465e-04, 1.95633201e-03,
  6.91214655e-04, 3.51963928e-04,-7.02849702e-04, 1.84796570e-03,
  1.02244682e-01, 2.23291957e-04, 7.65007439e-02,-2.14269750e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([12.90245792, 11.53496404, -5.78083254, 11.53496404, 34.63085603,
       43.35643508, -5.78083254, 43.35643508, 99.41506935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006022429253597349
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99310486e-01,  1.15217525e-14, -3.71288618e-02,  1.15138080e-14,
        1.00000000e+00,  4.27789555e-16,  3.71288618e-02,  4.93038066e-32,
       -9.99310486e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12908972, -0.05840784,  0.25044176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.78154892, -1.04768795,  2.57669641, -1.04768795,  0.71202149,
       -0.84147241,  2.57669641, -0.84147241,  2.4394052 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018739298765820588
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99259260e-01,  3.51880321e-03, -3.83216642e-02,  3.51621846e-03,
        9.99993809e-01,  1.34847230e-04,  3.83219014e-02,  0.00000000e+00,
       -9.99265446e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13061666, -0.08150744,  0.17983151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50364644, -1.14229622, -0.97780978, -1.14229622,  1.15829449,
        0.4034468 , -0.97780978,  0.4034468 ,  1.03233211,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002093576022385517
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99959745e-01,  3.52126991e-03, -8.25278693e-03,  3.52114999e-03,
        9.99993800e-01,  2.90604704e-05,  8.25283810e-03,  0.00000000e+00,
       -9.99965945e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13072808, -0.08443743,  0.17066363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 15.37596   ,  -5.92914675,  14.18680248,  -5.92914675,
       118.76275002,  43.20885211,  14.18680248,  43.20885211,
        33.43440731,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021502841540798415
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.75458813e-01, -1.74903039e-02, -8.17643714e-01, -1.00664894e-02,
        9.99847033e-01, -1.43030250e-02,  8.17768806e-01,  1.73472348e-18,
       -5.75546853e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12640377, -0.03778357,  0.29830899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  10.04703269, -14.05006198,  10.04703269,
        73.96350984,  40.53890626, -14.05006198,  40.53890626,
        46.26161835,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0030542611609535864
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.27187314e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.27187314e-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([ 0.10471586, -0.06126059,  0.06193255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02796410e-05,-2.26301455e-05,-1.11373192e-05,-2.01256085e-05,
 -2.99142798e-03, 6.09210646e-02, 6.92467123e-03,-7.48800568e-04,
  2.67597282e-05,-1.34022847e-05,-2.64684596e-05,-3.55064495e-05,
  7.69771481e-02, 1.24284971e-04,-2.89227685e-04, 1.63189821e-05,
 -4.52251575e-02, 4.86335685e-02,-9.80506833e+00,-6.70223182e-02,
 -1.50328841e-03,-1.23848397e-02]


--- Step 147 ---
qpos:
[ 0.00934202, 0.0077437 ,-0.0052759 , 0.03180003, 0.00362628,-0.00387176,
 -0.00704177, 0.03730383, 0.0124141 , 0.00565368,-0.01113596, 0.0323897 ,
  0.23165527, 0.00393572, 0.31654155, 0.04628296, 0.09481905,-0.06517478,
  0.14136974, 0.95011565,-0.05020113, 0.08231496, 0.29662155]

qacc:
[  -2.79901238,  -0.83036137,   2.81769804,  -4.80361647, -60.71618176,
  -62.01497602, 207.73133617,-310.98307751,  -1.19825223,  -4.13779591,
   18.67864555, -37.51761237, -16.63541254,  63.94295786,   5.52682365,
  -24.06302713,  -5.28355316,   3.05722148,   0.52466842,  10.67223729,
   23.89283324,-252.10426475]

qfrc_actuator:
[ 4.84910652e-04, 5.95336981e-04,-2.65749715e-04, 1.74550702e-03,
 -8.01588023e-05, 5.55940369e-03, 5.22722729e-05, 1.91615790e-03,
  6.83292749e-04, 3.44879028e-04,-6.69066084e-04, 1.79693094e-03,
  1.02191258e-01, 2.46480209e-04, 7.63358853e-02,-2.30614067e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.31639593,   8.4203185 ,  11.57831719,   8.4203185 ,
        77.41401405, -45.88767369,  11.57831719, -45.88767369,
        47.68815638,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006884154165825238
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99254124e-01,  1.00795156e-14, -3.86160105e-02,  1.00719975e-14,
        1.00000000e+00,  3.89230679e-16,  3.86160105e-02, -4.93038066e-32,
       -9.99254124e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12911609, -0.05831338,  0.25050315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.78154892, -0.93097969,  2.62112404, -0.93097969,  0.73854789,
       -0.72564001,  2.62112404, -0.72564001,  2.52381365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00200233869499202
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99200319e-01,  3.57447962e-03, -3.98239323e-02,  3.57164399e-03,
        9.99993612e-01,  1.42350744e-04,  3.98241867e-02,  0.00000000e+00,
       -9.99206702e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13070219, -0.08131785,  0.17988203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50364644, -1.07396715, -1.05240068, -1.07396715,  1.07900676,
        0.43334167, -1.05240068,  0.43334167,  1.06142446,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022240463888619218
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99947742e-01,  3.57715340e-03, -9.57686242e-03,  3.57698936e-03,
        9.99993602e-01,  3.42581252e-05,  9.57692369e-03,  6.77626358e-21,
       -9.99954140e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13082722, -0.08428254,  0.17057748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021575358109954847
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.57397939, -0.01727291, -0.81868755, -0.00991578,  0.99985081,
       -0.01414323,  0.81880971,  0.        , -0.57406503])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12639365, -0.03780618,  0.29830768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  10.01353659, -14.0739544 ,  10.01353659,
        90.06919981,  51.79426628, -14.0739544 ,  51.79426628,
        54.12404611,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003061355747522976
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.06643262e-15, -3.17325142e-14,  1.00000000e+00, -2.87700702e-28,
        1.00000000e+00,  3.17325142e-14, -1.00000000e+00,  0.00000000e+00,
       -9.06643262e-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([ 0.10477889, -0.06121614,  0.0619324 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64692448e-05,-4.54736518e-05,-8.90507213e-06,-8.71857025e-06,
 -2.87660092e-03, 6.48608337e-02, 7.22753337e-03,-4.20433129e-04,
 -7.14787382e-06,-2.16930855e-05, 2.65247911e-05,-5.32832954e-05,
  7.73763537e-02,-1.35218848e-04,-2.96162329e-04,-2.00046416e-04,
 -3.04008557e-02, 3.23893692e-02,-9.80669091e+00,-6.60799961e-02,
 -1.78775604e-03,-1.23463480e-02]


--- Step 148 ---
qpos:
[ 0.00935221, 0.0077508 ,-0.00528137, 0.03183383, 0.00366425,-0.00506463,
 -0.00715777, 0.03733853, 0.0124276 , 0.00565928,-0.0111464 , 0.03242406,
  0.23213111, 0.003955  , 0.31847992, 0.04632778, 0.09487767,-0.0652145 ,
  0.14136559, 0.94967031,-0.05009553, 0.08221545, 0.29808952]

qacc:
[   6.78465328,  -2.32666761,   8.94772986, -15.40338948, -96.03915799,
  -46.10003073, 207.46633917,-337.78824018,  -1.70945125,  -7.26070308,
   29.51966769, -52.13640721, -19.17081984,  59.41038582,   5.74761293,
  -25.59156693,  -4.50244233,   2.99355238,   0.42869115,  10.01045079,
   20.09183222,-230.06949926]

qfrc_actuator:
[ 0.00052507, 0.00057494,-0.00024692, 0.00172779,-0.00014327, 0.00676015,
  0.00017644, 0.00187963, 0.00067314, 0.00028497,-0.00060894, 0.00173496,
  0.10214213, 0.00023303, 0.0761619 ,-0.00247488, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 15.32033491,  10.16108111,  11.4658228 ,  10.16108111,
        44.57175549, -25.9227848 ,  11.4658228 , -25.9227848 ,
        38.29326266,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007547455055688828
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99920745,  0.        , -0.03980546,  0.        ,  1.        ,
        0.        ,  0.03980546,  0.        , -0.99920745])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12913623, -0.05824174,  0.25055005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.78154892, -0.79571906,  2.66530403, -0.79571906,  0.76671929,
       -0.60152175,  2.66530403, -0.60152175,  2.60196629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020886907366062172
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99151477e-01,  3.62321477e-03, -4.10267886e-02,  3.62016415e-03,
        9.99993436e-01,  1.48649842e-04,  4.10270579e-02, -2.71050543e-20,
       -9.99158036e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13078109, -0.08118181,  0.17991182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50364644, -0.98329533, -1.13757765, -0.98329533,  0.95226826,
        0.47659832, -1.13757765,  0.47659832,  1.09168608,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023099352798548107
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99933873e-01,  3.62605197e-03, -1.09133141e-02,  3.62583603e-03,
        9.99993426e-01,  3.95725043e-05,  1.09133859e-02, -6.77626358e-21,
       -9.99940447e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13091908, -0.08416921,  0.17051842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 15.37596   ,  -7.24821952,  13.56036355,  -7.24821952,
       120.82541148,  56.36432755,  13.56036355,  56.36432755,
        45.50354601,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021638149661340326
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.57257327, -0.01707001, -0.81967583, -0.00977525,  0.9998543 ,
       -0.01399391,  0.81979527,  0.        , -0.57265671])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12661811, -0.03881692,  0.29821983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   9.97496227, -14.10132033,   9.97496227,
       109.37983352,  65.15453077, -14.10132033,  65.15453077,
        63.36160199,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003066391278705255
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.62061760e-14,  2.71546320e-14,  1.00000000e+00,  9.83165388e-28,
        1.00000000e+00, -2.71546320e-14, -1.00000000e+00,  0.00000000e+00,
       -3.62061760e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482805, -0.06118145,  0.06193229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.96553318e-05,-4.83558681e-05, 7.93084193e-06,-2.02295307e-05,
 -2.59086009e-03, 6.71301142e-02, 6.96367659e-03,-1.49970385e-04,
 -1.03456306e-05,-6.89794574e-05, 5.70683275e-05,-6.30891938e-05,
  7.84039094e-02,-4.31670289e-04,-3.40996687e-04,-2.20150047e-04,
 -1.94408971e-02, 2.05890748e-02,-9.80784233e+00,-6.54087696e-02,
 -2.00028265e-03,-1.23163331e-02]


--- Step 149 ---
qpos:
[ 0.00936281, 0.00775756,-0.00528658, 0.0318668 , 0.00368799,-0.00621932,
 -0.00724766, 0.03736758, 0.01244122, 0.00566396,-0.01115617, 0.03245781,
  0.23257473, 0.00397398, 0.32041452, 0.0463732 , 0.09492044,-0.06524351,
  0.14136322, 0.94934194,-0.05001625, 0.08212739, 0.29917109]

qacc:
[   3.5372531 ,  -2.89749356,  13.16386774, -27.66473909,-124.77344701,
  -33.90238008, 218.37092543,-386.48565608,   1.08137505,  -4.32171014,
   16.16462469, -26.94139504, -15.70508849,  31.57336717,  -7.10443133,
   17.58770931,  -3.96303713,   2.67854131,   0.44406909,   8.0233816 ,
   14.23158761,-201.7046402 ]

qfrc_actuator:
[ 0.00054463, 0.00056013,-0.00023365, 0.0016861 ,-0.00017199, 0.00795158,
  0.00026916, 0.00181161, 0.00067952, 0.00021175,-0.00058724, 0.00170251,
  0.10209718, 0.00016174, 0.07599855,-0.00243232, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([15.9741763 , 10.03542013, 12.42838089, 10.03542013, 25.1288954 ,
       -7.39206926, 12.42838089, -7.39206926, 21.94297636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008038960887644186
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99170175e-01,  2.58947419e-14, -4.07303545e-02,  2.58732538e-14,
        1.00000000e+00,  1.05470202e-15,  4.07303545e-02,  0.00000000e+00,
       -9.99170175e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12915107, -0.05818942,  0.25058459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.78154892, -0.61230506,  2.71331843, -0.61230506,  0.74041166,
       -0.46061629,  2.71331843, -0.46061629,  2.67760326,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021396278881043755
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99112499e-01,  3.66101460e-03, -4.19620120e-02,  3.65778996e-03,
        9.99993298e-01,  1.53624568e-04,  4.19622932e-02,  0.00000000e+00,
       -9.99119195e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13085307, -0.08109084,  0.1799246 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50364644, -0.91371523, -1.1941847 , -0.91371523,  0.79892537,
        0.53920836, -1.1941847 ,  0.53920836,  1.09107803,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002358429053431115
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99918595e-01,  3.66396835e-03, -1.22220907e-02,  3.66369468e-03,
        9.99993288e-01,  4.47816540e-05,  1.22221727e-02,  0.00000000e+00,
       -9.99925306e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13100308, -0.08409104,  0.17048213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([15.37596   , -2.15986374, 15.22350598, -2.15986374, 88.04892316,
       10.31061427, 15.22350598, 10.31061427, 16.83879792,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018656556933894378
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.83262364e-01, -9.88402638e-02, -7.23452240e-01, -6.78661516e-02,
        9.95103312e-01, -7.18580768e-02,  7.27012192e-01,  6.93889390e-18,
       -6.86624550e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12671354, -0.03927308,  0.29818117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   9.87752773, -14.16974077,   9.87752773,
       132.75143553,  80.49858928, -14.16974077,  80.49858928,
        73.38716581,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0030697111423604456
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.52087743e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.52087743e-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([ 0.1048664 , -0.06115439,  0.06193221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06472991e-05,-4.13690237e-05, 3.45520141e-06,-4.39627761e-05,
 -2.07075581e-03, 6.78527140e-02, 6.20227710e-03, 5.84478424e-05,
  6.07709870e-06,-1.02826220e-04, 1.22942020e-05,-3.47166640e-05,
  7.98889814e-02,-6.90067594e-04,-3.56655576e-04,-1.64485267e-05,
 -1.15535867e-02, 1.22043473e-02,-9.80864566e+00,-6.49380252e-02,
 -2.15960696e-03,-1.22930678e-02]


--- Step 150 ---
qpos:
[ 0.00937287, 0.00776414,-0.00529135, 0.03189829, 0.00369361,-0.00731188,
 -0.0073057 , 0.03739205, 0.01245447, 0.00566846,-0.01116674, 0.03249126,
  0.23298022, 0.00399502, 0.32234571, 0.04641807, 0.09494987,-0.06526108,
  0.14136197, 0.94912914,-0.04996056, 0.08205393, 0.29987493]

qacc:
[-4.70726388e+00,-4.50314900e+00, 2.20079697e+01,-4.82729918e+01,
 -1.58951170e+02,-1.59972753e+01, 1.95994981e+02,-3.72271530e+02,
 -3.31786055e+00, 1.38336911e+00,-3.97539383e+00, 1.29959711e-01,
 -2.12007977e+01, 5.48713417e+01,-2.84449718e+00, 3.91492003e+00,
 -3.33512760e+00, 2.85839180e+00, 2.80518422e-01, 9.38379140e+00,
  1.51605200e+01,-1.97190656e+02]

qfrc_actuator:
[ 0.00051638, 0.00056649,-0.00020601, 0.00161289,-0.00019017, 0.00908766,
  0.00036284, 0.00176258, 0.00066008, 0.00021976,-0.00062396, 0.00168766,
  0.10205066, 0.00014705, 0.07583109,-0.00246082, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([16.35205061, 12.00247722, 11.10540858, 12.00247722, 24.7432546 ,
       -9.0690256 , 11.10540858, -9.0690256 , 26.15365065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008366933711825821
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99914109,  0.        , -0.04143775,  0.        ,  1.        ,
        0.        ,  0.04143775,  0.        , -0.99914109])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12916089, -0.05815527,  0.25060746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.78154892, -0.4370579 ,  2.74699741, -0.4370579 ,  0.86331   ,
       -0.30519922,  2.74699741, -0.30519922,  2.73299055,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002160799160536702
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99082191e-01,  3.68462119e-03, -4.26755049e-02,  3.68126440e-03,
        9.99993212e-01,  1.57244137e-04,  4.26757946e-02,  0.00000000e+00,
       -9.99088973e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13091775, -0.08103808,  0.17992346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50364644, -0.50502581, -1.41629854, -0.50502581,  0.30614216,
        0.42700783, -1.41629854,  0.42700783,  1.35138336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023757956500021988
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99902522e-01,  3.68764658e-03, -1.34665716e-02,  3.68731218e-03,
        9.99993201e-01,  4.96602945e-05,  1.34666632e-02,  6.77626358e-21,
       -9.99909320e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13107858, -0.08404252,  0.1704655 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([15.37596   , -2.39513423, 15.18826777, -2.39513423, 93.13300479,
       12.26200136, 15.18826777, 12.26200136, 17.30963273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022029911815435567
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.61622475e-01, -9.48459861e-03, -8.27339252e-01, -5.32700336e-03,
        9.99955020e-01, -7.84733369e-03,  8.27376467e-01, -8.67361738e-19,
       -5.61647738e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12670366, -0.03928376,  0.29818068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030711210753130713
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.71128115e-14,  9.03760384e-15,  1.00000000e+00,  2.45034849e-28,
        1.00000000e+00, -9.03760384e-15, -1.00000000e+00,  0.00000000e+00,
       -2.71128115e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048964 , -0.06113332,  0.06193218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76975854e-05,-1.82207512e-05, 1.78989387e-05,-7.57974477e-05,
 -1.37716465e-03, 6.71229367e-02, 5.00529309e-03, 2.95057956e-04,
 -1.92946893e-05,-4.85201858e-05,-5.76539835e-05,-1.95733628e-05,
  8.14521639e-02,-6.89645635e-04,-3.44559755e-04,-7.80011902e-05,
 -6.31919733e-03, 6.71380830e-03,-9.80914742e+00,-6.46396149e-02,
 -2.26412942e-03,-1.22747974e-02]


--- Step 151 ---
qpos:
[ 0.00938285, 0.00777094,-0.00529595, 0.03192896, 0.00368455,-0.00835012,
 -0.00733511, 0.03741766, 0.01246703, 0.00567294,-0.01117785, 0.03252458,
  0.23334552, 0.00401676, 0.32427346, 0.04645993, 0.09496764,-0.06526776,
  0.14136172, 0.94902389,-0.04992552, 0.08199212, 0.30023057]

qacc:
[  -0.63419945,  -1.83505643,  10.36678477, -24.78200999,-128.61806235,
   -5.63171343, 119.8488909 ,-186.22481784,  -6.00577125,   1.20034017,
   -3.72586969,   2.25483973, -20.89415986,  47.58632219,   4.48229295,
  -21.83420406,  -2.9150698 ,   2.72492621,   0.2502628 ,   8.92114319,
   12.90547604,-181.92425811]

qfrc_actuator:
[ 0.00051348, 0.00060329,-0.00018778, 0.00157501,-0.00022797, 0.01018681,
  0.00044091, 0.00176162, 0.00062559, 0.00024063,-0.00064129, 0.0016833 ,
  0.10201553, 0.0001286 , 0.07563998,-0.0026198 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([16.55408562, 12.4320306 , 10.93079896, 12.4320306 , 20.63256678,
       -4.63861816, 10.93079896, -4.63861816, 21.82976978,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000856556929584183
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99120733e-01,  1.62018277e-14, -4.19256641e-02,  1.61875820e-14,
        1.00000000e+00,  6.79272386e-16,  4.19256641e-02,  0.00000000e+00,
       -9.99120733e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12916679, -0.05813536,  0.25062121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.90992544, -2.5747543 ,  7.47914171, -2.5747543 ,  1.21905058,
       -2.30338714,  7.47914171, -2.30338714,  7.11696601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1457162809011075e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98135748,  0.16650216, -0.09599229,  0.16571129,  0.98604109,
        0.01620919,  0.09735121,  0.        , -0.99525009])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([14, 43], dtype=int32)
  geom1: 14
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1302527 , -0.06621651,  0.23290155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([2.78154892, 0.67439096, 2.69855725, 0.67439096, 0.95040674,
       0.45761702, 2.69855725, 0.45761702, 2.66718678, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.002156744902383285
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99061185e-01,  3.69015862e-03, -4.31639972e-02,  3.68671934e-03,
        9.99993191e-01,  1.59283081e-04,  4.31642911e-02, -2.71050543e-20,
       -9.99067988e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13097476, -0.08101821,  0.17991092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.50364644, 1.38604079, 0.58296102, 1.38604079, 1.31577012,
       0.44669237, 0.58296102, 0.44669237, 0.44159628, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0023668153634728434
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99886344e-01,  3.69320644e-03, -1.46170673e-02,  3.69281187e-03,
        9.99993180e-01,  5.39842151e-05,  1.46171669e-02,  0.00000000e+00,
       -9.99893164e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13114499, -0.08402002,  0.17046514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002207649316544692
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.56027117, -0.00921663, -0.82825797, -0.00516403,  0.99995753,
       -0.00763407,  0.82829315,  0.        , -0.56029497])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1266941 , -0.03929147,  0.29818038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003071366586889057
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.80737628e-14,  2.71106442e-14,  1.00000000e+00,  4.89991354e-28,
        1.00000000e+00, -2.71106442e-14, -1.00000000e+00,  0.00000000e+00,
       -1.80737628e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491982, -0.06111693,  0.06193218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.71336094e-06, 2.67573046e-05, 1.39455015e-05,-3.95888395e-05,
 -5.08981764e-04, 6.51560581e-02, 3.50444720e-03, 5.25317129e-04,
 -3.50451555e-05,-1.90949463e-05,-3.51182521e-05,-8.87242428e-06,
  8.33221119e-02,-8.10379631e-04,-3.74361690e-04,-2.11423968e-04,
 -2.71168967e-03, 2.90874810e-03,-9.80954582e+00,-6.44117375e-02,
 -2.34921259e-03,-1.22605266e-02]


--- Step 152 ---
qpos:
[ 0.00939204, 0.00777812,-0.00530101, 0.03195966, 0.00365793,-0.00935313,
 -0.00734833, 0.03744614, 0.01247943, 0.0056772 ,-0.01118877, 0.03255756,
  0.23367355, 0.00403749, 0.32619737, 0.04649987, 0.09497471,-0.06526362,
  0.14136285, 0.949024  ,-0.04990832, 0.08193894, 0.3002476 ]

qacc:
[  -7.06873776,   1.79271532,  -5.71182737,   6.40462659,-153.80637238,
    7.51452668,  29.16385634, -31.9031939 ,  -1.45110541,  -1.48631982,
    6.29560742, -12.24032362, -17.63650112,  32.10153535,   0.47921731,
   -9.01330744,  -2.67202583,   2.70234259,   0.34612045,   9.34548139,
   10.91221628,-177.00674255]

qfrc_actuator:
[ 0.00047229, 0.00062251,-0.0002106 , 0.001576  ,-0.00023821, 0.01124675,
  0.00048233, 0.00173236, 0.00061802, 0.00023361,-0.00062917, 0.00166743,
  0.10199412, 0.00012616, 0.0754561 ,-0.00271238, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([16.63222929, 12.50400566, 10.96726463, 12.50400566, 16.96055318,
       -0.37432888, 10.96726463, -0.37432888, 17.05900939,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008648821428993751
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99108564e-01, -8.02293580e-15, -4.22146502e-02, -8.01578387e-15,
        1.00000000e+00, -3.38685429e-16,  4.22146502e-02, -4.93038066e-32,
       -9.99108564e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12916923, -0.0581282 ,  0.25062689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.91425469, -0.49711098,  7.89862696, -0.49711098,  0.51128163,
       -0.46591632,  7.89862696, -0.46591632,  7.8849316 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4971038412736623e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98147603,  0.16579178, -0.09600984,  0.16500418,  0.98616078,
        0.01614102,  0.09735719,  0.        , -0.99524951])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([14, 43], dtype=int32)
  geom1: 14
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13025475, -0.06621967,  0.23290338])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([2.78154892, 1.05568499, 2.57343032, 1.05568499, 1.02541841,
       0.72040832, 2.57343032, 0.72040832, 2.48601955, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0021299054263354427
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99048857e-01,  3.68106382e-03, -4.34491685e-02,  3.67758752e-03,
        9.99993225e-01,  1.59940246e-04,  4.34494629e-02,  2.71050543e-20,
       -9.99055626e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13102498, -0.08102803,  0.17988805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.50364644, 1.23762541, 0.85395314, 1.23762541, 1.06182923,
       0.64032109, 0.85395314, 0.64032109, 0.57563574, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.002334028126439088
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99870202e-01,  3.68409012e-03, -1.56845847e-02,  3.68363693e-03,
        9.99993214e-01,  5.77838157e-05,  1.56846912e-02,  1.35525272e-20,
       -9.99876988e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13120324, -0.08402101,  0.17047954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 15.37596   ,  -2.53259655,  15.16595201,  -2.53259655,
       164.58793168,  24.91724384,  15.16595201,  24.91724384,
        19.53694677,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018774801573629017
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.77366818e-01, -9.78181595e-02, -7.29113024e-01, -6.65780635e-02,
        9.95204304e-01, -7.16641736e-02,  7.32626478e-01, -6.93889390e-18,
       -6.80630916e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12668505, -0.03929655,  0.29818026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030705380648845537
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.80786397e-14, -1.35589797e-14,  1.00000000e+00, -2.45127909e-28,
        1.00000000e+00,  1.35589797e-14, -1.00000000e+00,  0.00000000e+00,
       -1.80786397e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493811, -0.06110422,  0.0619322 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.13137559e-05, 3.50809680e-05,-1.70520052e-05, 1.77710701e-06,
  2.14687479e-04, 6.35375808e-02, 2.12632449e-03, 4.41193494e-04,
 -8.55260866e-06,-2.54103856e-05, 3.55599056e-06,-1.81249220e-05,
  8.53078919e-02,-8.48473428e-04,-3.96331126e-04,-1.56417859e-04,
 -7.18053287e-04, 7.94523818e-04,-9.80980598e+00,-6.42696235e-02,
 -2.40049190e-03,-1.22498130e-02]


--- Step 153 ---
qpos:
[ 0.00940066, 0.00778549,-0.00530594, 0.03198976, 0.00361139,-0.01032679,
 -0.00735425, 0.03747519, 0.01249199, 0.005682  ,-0.01120008, 0.03258969,
  0.23396652, 0.00405717, 0.32811758, 0.04654023, 0.0949724 ,-0.06524934,
  0.14136525, 0.94912106,-0.04990676, 0.0818927 , 0.29995353]

qacc:
[-4.96381144e+00,-1.28598362e+00, 7.45575672e+00,-1.80001732e+01,
 -1.74390038e+02, 1.99041877e+01,-1.64838158e+01,-7.61780537e+00,
  1.36136045e+00, 2.54853559e-02, 4.52343423e+00,-1.90403834e+01,
 -1.65194355e+01, 2.95879333e+01,-6.40212358e+00, 1.53397021e+01,
 -2.34941654e+00, 2.53569960e+00, 3.15916210e-01, 8.78583071e+00,
  9.42530503e+00,-1.62645855e+02]

qfrc_actuator:
[ 0.00044438, 0.00063095,-0.00020425, 0.00154656,-0.00018767, 0.01228053,
  0.00052051, 0.00168394, 0.00062638, 0.00029884,-0.0006354 , 0.00162717,
  0.10196616, 0.00011701, 0.075314  ,-0.00267623, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([16.60816313, 12.58794956, 10.83395626, 12.58794956, 15.44721434,
        1.3489038 , 10.83395626,  1.3489038 , 15.04087482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008622725706398642
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99104354e-01, -8.04721632e-15, -4.23141737e-02, -8.04000887e-15,
        1.00000000e+00, -3.40511309e-16,  4.23141737e-02,  4.93038066e-32,
       -9.99104354e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1291684 , -0.05813382,  0.25062495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.91418771, -0.36180093,  7.90591343, -0.36180093,  0.428732  ,
       -0.34255939,  7.90591343, -0.34255939,  7.89851105,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4818140389266623e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98147325,  0.16576414, -0.09608594,  0.16497544,  0.98616543,
        0.01615105,  0.09743389,  0.        , -0.995242  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([14, 43], dtype=int32)
  geom1: 14
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13025436, -0.0662199 ,  0.23290336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([2.78154892, 1.23649768, 2.49160348, 1.23649768, 1.11026224,
       0.82940248, 2.49160348, 0.82940248, 2.36994481, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0020805194868506282
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99045023e-01,  3.65445357e-03, -4.35394847e-02,  3.65098804e-03,
        9.99993322e-01,  1.59114088e-04,  4.35397754e-02, -2.71050543e-20,
       -9.99051694e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13106947, -0.08106735,  0.17985477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002277505770708895
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99853845e-01,  3.65741220e-03, -1.67006828e-02,  3.65690211e-03,
        9.99993312e-01,  6.10816896e-05,  1.67007945e-02, -1.35525272e-20,
       -9.99860532e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1312546 , -0.08404516,  0.170509  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 15.37596   ,  -3.12353578,  15.05535353,  -3.12353578,
       155.03218901,  28.97449256,  15.05535353,  28.97449256,
        21.38730102,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018827165278585613
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.75942510e-01, -9.75953601e-02, -7.30463462e-01, -6.62852868e-02,
        9.95226178e-01, -7.16318021e-02,  7.33967291e-01,  6.93889390e-18,
       -6.79184817e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12667648, -0.03929927,  0.29818032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030681946970830404
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.04622371e-15,  9.04622371e-15,  1.00000000e+00,  8.18341634e-29,
        1.00000000e+00, -9.04622371e-15, -1.00000000e+00,  0.00000000e+00,
       -9.04622371e-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([ 0.10495247, -0.06109441,  0.06193225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.90965011e-05, 2.42964379e-05, 1.14533326e-05,-2.85692320e-05,
  1.14343360e-03, 6.28468044e-02, 1.36704322e-03, 2.51696389e-04,
  8.11303771e-06, 5.09126686e-05,-1.16426604e-05,-4.16364363e-05,
  8.71423088e-02,-8.06543314e-04,-3.55508274e-04,-2.67737832e-05,
 -4.91245878e-06, 6.26750668e-06,-9.80997444e+00,-6.41883649e-02,
 -2.42347778e-03,-1.22418250e-02]


--- Step 154 ---
qpos:
[ 0.00940922, 0.00779269,-0.00531056, 0.03201897, 0.00354296,-0.01127186,
 -0.00735765, 0.03750428, 0.01250421, 0.00568707,-0.01121164, 0.03262146,
  0.23422431, 0.00407664, 0.33003404, 0.046582  , 0.09496226,-0.06522617,
  0.14136837, 0.94930083,-0.04991896, 0.08185242, 0.29939309]

qacc:
[-4.89245903e-01,-2.93239817e+00, 1.39187886e+01,-2.98400221e+01,
 -1.91637405e+02, 3.11800903e+01,-5.58765683e+01, 3.07761126e+01,
 -3.02233173e+00, 3.27959751e-01, 9.17851926e-01,-7.05376152e+00,
 -1.74891086e+01, 3.56421355e+01,-9.41295115e+00, 2.58545934e+01,
 -1.95542452e+00, 2.22307261e+00, 1.80198432e-01, 7.33044726e+00,
  8.15662952e+00,-1.39223198e+02]

qfrc_actuator:
[ 0.00044228, 0.00059745,-0.00019854, 0.00149945,-0.00012678, 0.01327266,
  0.0005414 , 0.00166068, 0.00060852, 0.00030023,-0.00065213, 0.00160843,
  0.10194605, 0.00010428, 0.07514383,-0.00259994, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([16.48849848, 12.7293643 , 10.4801654 , 12.7293643 , 14.63556197,
        2.25060416, 10.4801654 ,  2.25060416, 13.75488129,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008498719462557664
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99107444e-01, -4.89878076e-14, -4.22411516e-02, -4.89440833e-14,
        1.00000000e+00, -2.06930141e-15,  4.22411516e-02,  0.00000000e+00,
       -9.99107444e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12916463, -0.05815101,  0.25061618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.91012982, -1.63330848,  7.73966776, -1.63330848,  0.61448692,
       -1.53960555,  7.73966776, -1.53960555,  7.58522559,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.243049392843401e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9813589 ,  0.16636412, -0.09621687,  0.16557023,  0.98606439,
        0.01623325,  0.09757666,  0.        , -0.99522801])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([14, 43], dtype=int32)
  geom1: 14
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13025172, -0.06621753,  0.23290168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([2.78154892, 1.28145097, 2.46878468, 1.28145097, 1.18091995,
       0.83082481, 2.46878468, 0.83082481, 2.35029979, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0020106037609065766
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99049043e-01,  3.60797465e-03, -4.34510217e-02,  3.60456708e-03,
        9.99993491e-01,  1.56771205e-04,  4.34513045e-02,  0.00000000e+00,
       -9.99055546e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13110893, -0.08113365,  0.17981194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021993063248035446
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99837174e-01,  3.61082091e-03, -1.76801173e-02,  3.61025651e-03,
        9.99993481e-01,  6.38401534e-05,  1.76802325e-02, -1.35525272e-20,
       -9.99843692e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13129987, -0.08409048,  0.17055226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022239944994228607
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.57379144e-01, -8.80982010e-03, -8.30211345e-01, -4.91060056e-03,
        9.99961193e-01, -7.31429644e-03,  8.30243564e-01, -8.67361738e-19,
       -5.57400775e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12666849, -0.03930014,  0.29818055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030644444362378787
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.81145889e-14,  2.26432362e-14,  1.00000000e+00,  4.10172915e-28,
        1.00000000e+00, -2.26432362e-14, -1.00000000e+00,  0.00000000e+00,
       -1.81145889e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496379, -0.06108691,  0.06193233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.94449585e-06,-1.90910668e-05, 1.10459821e-05,-4.62989783e-05,
  2.20016742e-03, 6.24066573e-02, 1.03442542e-03, 2.02253447e-04,
 -1.75960757e-05, 2.56053447e-05,-9.07202790e-06,-1.78317407e-05,
  8.88737992e-02,-7.67058242e-04,-3.50664757e-04, 2.57683386e-05,
 -4.06012602e-04, 3.72672198e-04,-9.81007528e+00,-6.41563541e-02,
 -2.41849866e-03,-1.22360477e-02]


--- Step 155 ---
qpos:
[ 0.00941769, 0.00779938,-0.00531517, 0.03204744, 0.00344409,-0.01218336,
 -0.00736301, 0.03753292, 0.01251577, 0.00569174,-0.01122271, 0.03265244,
  0.23444947, 0.00409554, 0.3319467 , 0.04662435, 0.0949453 ,-0.06519489,
  0.14137222, 0.94955482,-0.04994294, 0.08181682, 0.2985923 ]

qacc:
[-7.99867574e-01,-2.21211119e+00, 1.00034205e+01,-2.22859302e+01,
 -2.66034311e+02, 4.94830613e+01,-1.09239298e+02, 7.89299786e+01,
 -5.72325677e+00,-3.49985073e+00, 1.50058564e+01,-2.90067295e+01,
 -1.58758132e+01, 3.05035652e+01,-7.00206491e+00, 1.72429822e+01,
 -1.70292993e+00, 2.02601699e+00, 1.84292661e-01, 6.80227772e+00,
  6.94694330e+00,-1.25559358e+02]

qfrc_actuator:
[ 4.37627857e-04, 5.39064189e-04,-2.11204638e-04, 1.46004642e-03,
 -6.74841084e-05, 1.42110588e-02, 5.18279341e-04, 1.65281788e-03,
  5.75376200e-04, 2.45612839e-04,-6.39636632e-04, 1.56693886e-03,
  1.01937254e-01, 1.24477077e-04, 7.49569655e-02,-2.57170717e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([16.27093878, 12.58438428, 10.3139091 , 12.58438428, 13.52306809,
        3.35277928, 10.3139091 ,  3.35277928, 12.18008802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008292498607726293
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99116750e-01,  8.36767569e-15, -4.20204779e-02,  8.36028494e-15,
        1.00000000e+00,  3.51613732e-16,  4.20204779e-02,  0.00000000e+00,
       -9.99116750e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1291584 , -0.05817761,  0.25060167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([2.78154892, 0.74681718, 2.67941757, 0.74681718, 0.99796115,
       0.49712819, 2.67941757, 0.49712819, 2.64298751, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0019234401728215518
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99059831e-01,  3.53964171e-03, -4.32079317e-02,  3.53633600e-03,
        9.99993735e-01,  1.52941555e-04,  4.32082023e-02,  0.00000000e+00,
       -9.99066090e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13114398, -0.08122267,  0.17976104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.50364644, 0.22283428, 1.48704321, 0.22283428, 0.11015699,
       0.2088152 , 1.48704321, 0.2088152 , 1.47235536, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0021028984845850108
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99820201e-01,  3.54233568e-03, -1.86284316e-02,  3.54172099e-03,
        9.99993726e-01,  6.59885719e-05,  1.86285485e-02,  0.00000000e+00,
       -9.99826474e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1313398 , -0.08415364,  0.17060689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002230605469815123
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55672687, -0.00877817, -0.83064923, -0.00488723,  0.99996147,
       -0.00729186,  0.83068123,  0.        , -0.55674832])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12666118, -0.03929956,  0.29818093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003059849982530699
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.26772356e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.26772356e-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([ 0.10497265, -0.06108124,  0.06193243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.76344931e-06,-6.90604843e-05,-1.69485956e-05,-4.08163838e-05,
  3.35441171e-03, 6.19501791e-02, 8.96135691e-04, 1.94487121e-04,
 -3.36269754e-05,-4.30239665e-05, 1.60629664e-05,-4.11034962e-05,
  9.06217201e-02,-7.36188680e-04,-3.59568781e-04,-1.88114013e-05,
 -1.55084859e-03, 1.51624831e-03,-9.81012312e+00,-6.41620230e-02,
 -2.39518595e-03,-1.22321271e-02]


--- Step 156 ---
qpos:
[ 0.00942638, 0.00780563,-0.00531992, 0.03207557, 0.00331591,-0.01305714,
 -0.00737106, 0.03756148, 0.01252684, 0.00569619,-0.01123328, 0.03268197,
  0.23464353, 0.00411329, 0.33385604, 0.04666724, 0.09492255,-0.06515644,
  0.14137681, 0.94987333,-0.04997683, 0.08178496, 0.29758056]

qacc:
[ 1.95956992e+00,-9.26189549e-01, 3.89868543e+00,-9.32901252e+00,
 -2.56149004e+02, 5.76972138e+01,-1.32203700e+02, 1.06427026e+02,
 -4.26730088e+00,-4.69363807e+00, 2.24913057e+01,-4.83674247e+01,
 -1.45207338e+01, 2.48862366e+01,-6.26607060e+00, 1.55546069e+01,
 -1.44940731e+00, 1.79409093e+00, 1.82641810e-01, 6.08903733e+00,
  5.88156868e+00,-1.10105052e+02]

qfrc_actuator:
[ 4.49257812e-04, 5.19412639e-04,-2.16966167e-04, 1.44320231e-03,
  4.36474732e-05, 1.51007934e-02, 4.89976959e-04, 1.67241872e-03,
  5.51254827e-04, 2.46728453e-04,-6.10253297e-04, 1.49461605e-03,
  1.01920309e-01, 9.38761163e-05, 7.48188004e-02,-2.53654911e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([15.94224293, 12.29382388, 10.14972926, 12.29382388, 12.54372561,
        4.11644215, 10.14972926,  4.11644215, 10.95621684,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008013114933564605
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99131545e-01,  1.73188428e-14, -4.16671994e-02,  1.73038022e-14,
        1.00000000e+00,  7.21627678e-16,  4.16671994e-02,  0.00000000e+00,
       -9.99131545e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12914997, -0.05821282,  0.25058203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([2.78154892, 1.13477007, 2.53954943, 1.13477007, 1.12099733,
       0.74199944, 2.53954943, 0.74199944, 2.44999453, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0018212401996594405
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99076778e-01,  3.44092864e-03, -4.28223282e-02,  3.43777225e-03,
        9.99994080e-01,  1.47349448e-04,  4.28225817e-02,  2.71050543e-20,
       -9.99082693e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13117474, -0.08133203,  0.17970311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.50364644, 0.59625203, 1.38037536, 0.59625203, 0.23678993,
       0.54721765, 1.38037536, 0.54721765, 1.26727622, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0019906167126833275
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99803046e-01,  3.44342999e-03, -1.95451178e-02,  3.44277221e-03,
        9.99994071e-01,  6.73026438e-05,  1.95452337e-02,  0.00000000e+00,
       -9.99808974e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13137456, -0.08423277,  0.17067167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002237733293102892
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55621897, -0.00879302, -0.83098926, -0.00489103,  0.99996134,
       -0.00730718,  0.83102138,  0.        , -0.55624047])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12665455, -0.03929776,  0.29818143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030543859645281585
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.08712125e-15, -4.54356063e-15,  1.00000000e+00, -4.12878863e-29,
        1.00000000e+00,  4.54356063e-15, -1.00000000e+00,  0.00000000e+00,
       -9.08712125e-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([ 0.1049796 , -0.06107705,  0.06193255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14504926e-05,-6.38012241e-05,-2.36231114e-05,-2.12539360e-05,
  4.98699728e-03, 6.11938582e-02, 9.76829161e-04, 2.38438406e-04,
 -2.50815447e-05,-2.14706432e-05, 2.10715894e-05,-7.44619308e-05,
  9.22350541e-02,-7.38068710e-04,-3.18274074e-04,-1.51470867e-05,
 -3.20934515e-03, 3.20560089e-03,-9.81014127e+00,-6.41920228e-02,
 -2.35796533e-03,-1.22296364e-02]


--- Step 157 ---
qpos:
[ 0.00943514, 0.00781177,-0.00532545, 0.03210363, 0.00316222,-0.01388827,
 -0.00738127, 0.03758906, 0.01253789, 0.00570059,-0.01124321, 0.03271037,
  0.23480628, 0.00413032, 0.33576224, 0.04670918, 0.09489475,-0.06511188,
  0.14138232, 0.95024601,-0.05001935, 0.08175443, 0.2963896 ]

qacc:
[   0.60198577,   1.8913751 ,  -6.62813585,   6.6455076 ,-222.68926874,
   60.83357578,-130.2019127 ,  84.41812748,  -0.24850867,  -4.13036091,
   19.40323337, -39.88705678, -15.13354986,  28.22354598,  -1.43405909,
   -0.88964593,  -1.26374624,   1.52662644,   0.23041881,   4.78588443,
    4.18019369, -93.49138675]

qfrc_actuator:
[ 4.52625306e-04, 5.23144129e-04,-2.53948263e-04, 1.43980395e-03,
  1.96944395e-04, 1.59437683e-02, 5.13334570e-04, 1.65504884e-03,
  5.50397077e-04, 2.63497626e-04,-5.70951030e-04, 1.44028499e-03,
  1.01904834e-01, 5.13516200e-05, 7.46620188e-02,-2.58619634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([15.49228683, 11.50548613, 10.37471639, 11.50548613, 10.79197389,
        5.21261337, 10.37471639,  5.21261337,  9.71153596,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007670254065493726
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99151019e-01,  2.71394944e-14, -4.11975955e-02,  2.71164535e-14,
        1.00000000e+00,  1.11808191e-15,  4.11975955e-02,  0.00000000e+00,
       -9.99151019e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1291396 , -0.05825568,  0.2505579 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([2.78154892, 1.53933861, 2.31677601, 1.53933861, 1.28607157,
       0.99364203, 2.31677601, 0.99364203, 2.12134201, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0017063451490712273
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99099006e-01,  3.31293598e-03, -4.23107714e-02,  3.30996921e-03,
        9.99994512e-01,  1.40173646e-04,  4.23110036e-02,  0.00000000e+00,
       -9.99104489e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13120141, -0.08145914,  0.17963922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.50364644, 0.65010371, 1.35584578, 0.65010371, 0.28736045,
       0.58318729, 1.35584578, 0.58318729, 1.22401861, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0018649789885958363
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99785855e-01,  3.31521352e-03, -2.04267742e-02,  3.31452180e-03,
        9.99994505e-01,  6.77194902e-05,  2.04268864e-02,  0.00000000e+00,
       -9.99791349e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13140436, -0.08432577,  0.17074526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022174741786878116
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.56395027, -0.01582314, -0.82565714, -0.00892458,  0.99987481,
       -0.01306613,  0.82576052,  0.        , -0.56402088])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12631082, -0.0378865 ,  0.29830548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003048060248740575
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.64239199e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.64239199e-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([ 0.10498506, -0.06107404,  0.06193268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65277124e-06,-3.79941001e-05,-5.38958102e-05,-7.43166753e-06,
  6.60635974e-03, 6.01831272e-02, 1.14491538e-03, 2.26895512e-04,
 -1.56677056e-06, 5.84710143e-06, 3.49042649e-05,-5.60203306e-05,
  9.37725802e-02,-7.23007816e-04,-3.18836993e-04,-9.47607759e-05,
 -5.14509507e-03, 5.20531223e-03,-9.81014090e+00,-6.42383158e-02,
 -2.31241381e-03,-1.22282565e-02]


--- Step 158 ---
qpos:
[ 0.00944353, 0.00781779,-0.00533142, 0.03213105, 0.0029891 ,-0.01467456,
 -0.00739221, 0.03761517, 0.01254884, 0.00570492,-0.01125201, 0.03273752,
  0.23493956, 0.00414635, 0.33766445, 0.04675193, 0.09486286,-0.06506219,
  0.1413887 , 0.950663  ,-0.05006887, 0.08172506, 0.29504913]

qacc:
[  -3.2861275 ,  -0.21141432,   3.18504193, -13.26834925,-169.68341902,
   58.59481712,-116.1506139 ,  58.19465814,  -0.8100337 ,  -5.85047395,
   25.99292362, -49.39271412, -13.93461503,  24.41881644,  -8.08832589,
   20.48034879,  -1.02234802,   1.28385062,   0.21740015,   4.06359708,
    3.51853665, -77.85949456]

qfrc_actuator:
[ 4.33345239e-04, 5.22990719e-04,-2.73455977e-04, 1.40883619e-03,
  3.47946860e-04, 1.67919176e-02, 5.68237438e-04, 1.59867959e-03,
  5.45483011e-04, 2.71823523e-04,-5.08265644e-04, 1.37925025e-03,
  1.01886055e-01, 3.72184970e-05, 7.44622158e-02,-2.54342473e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([14.91068226, 10.96703139, 10.10211206, 10.96703139,  9.80747935,
        5.54012727, 10.10211206,  5.54012727,  8.89622219,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007267696359207386
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99174164e-01,  9.54758366e-15, -4.06323694e-02,  9.53969893e-15,
        1.00000000e+00,  3.87940946e-16,  4.06323694e-02,  0.00000000e+00,
       -9.99174164e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1291274 , -0.05830579,  0.25052949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([2.78154892, 1.91824875, 2.01428304, 1.91824875, 1.57245657,
       1.15144686, 2.01428304, 1.15144686, 1.6849992 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0015808736393294876
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99125384e-01,  3.15946936e-03, -4.16951468e-02,  3.15672180e-03,
        9.99995009e-01,  1.31735196e-04,  4.16953549e-02,  0.00000000e+00,
       -9.99130371e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13122407, -0.08160164,  0.17957034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.50364644, 0.84400211, 1.24443283, 0.84400211, 0.48666367,
       0.68974041, 1.24443283, 0.68974041, 1.0358491 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0017283250298491671
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99768813e-01,  3.16150404e-03, -2.12679330e-02,  3.16078894e-03,
        9.99995002e-01,  6.72389922e-05,  2.12680393e-02, -1.35525272e-20,
       -9.99773810e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13142931, -0.08443059,  0.17082669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022260271591515277
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.56357861, -0.01580107, -0.8259113 , -0.00890626,  0.99987516,
       -0.01305191,  0.82601443,  0.        , -0.56364897])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1263068 , -0.03788641,  0.2983065 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003040653249818101
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.82563241e-14, -4.56408103e-15,  1.00000000e+00, -8.33233425e-29,
        1.00000000e+00,  4.56408103e-15, -1.00000000e+00,  0.00000000e+00,
       -1.82563241e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498939, -0.06107201,  0.06193284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92060932e-05,-3.30982118e-05,-3.43300887e-05,-3.46711241e-05,
  8.03259695e-03, 5.89288559e-02, 1.31775471e-03, 2.21485646e-04,
 -4.94625699e-06, 1.63325247e-05, 6.62667350e-05,-6.07156036e-05,
  9.53172345e-02,-7.00564764e-04,-3.71701109e-04,-7.01138268e-06,
 -7.13432155e-03, 7.27476543e-03,-9.81013934e+00,-6.42886642e-02,
 -2.26827191e-03,-1.22275058e-02]


--- Step 159 ---
qpos:
[ 0.00945162, 0.00782359,-0.00533731, 0.03215787, 0.00280479,-0.01541993,
 -0.00740242, 0.03764083, 0.01255964, 0.0057092 ,-0.01126024, 0.03276376,
  0.2350451 , 0.00416108, 0.33956242, 0.04679783, 0.09482773,-0.06500827,
  0.14139589, 0.95111522,-0.05012397, 0.08169674, 0.29358656]

qacc:
[  -2.59739804,  -1.76859519,   8.46770612, -18.99676827, -97.72470986,
   51.31406317,-102.26980735,  62.90225632,  -1.24622599,  -3.52193961,
   16.31486774, -32.92797049, -12.71338368,  20.29816282, -15.4823591 ,
   45.76732576,  -0.80750598,   1.05613901,   0.20419923,   3.37496615,
    2.93478175, -63.43580812]

qfrc_actuator:
[ 4.18644987e-04, 5.20562914e-04,-2.64754933e-04, 1.37966172e-03,
  5.19460182e-04, 1.75884236e-02, 5.88239589e-04, 1.55529856e-03,
  5.38213079e-04, 2.57381753e-04,-4.85568885e-04, 1.33251981e-03,
  1.01860930e-01, 5.16325585e-06, 7.42793963e-02,-2.37558322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([14.20784604, 10.34217245,  9.74178414, 10.34217245,  8.79353333,
        5.747998  ,  9.74178414,  5.747998  ,  8.10559765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006816096281553642
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99200215e-01,  2.03603166e-14, -3.99866383e-02,  2.03440327e-14,
        1.00000000e+00,  8.14140614e-16,  3.99866383e-02,  0.00000000e+00,
       -9.99200215e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12911367, -0.05836202,  0.25049752])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([2.78154892, 2.18700964, 1.71872139, 2.18700964, 1.85197757,
       1.1828453 , 1.71872139, 1.1828453 , 1.27642186, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0014470928265206602
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99154990e-01,  2.98658366e-03, -4.09925185e-02,  2.98407328e-03,
        9.99995540e-01,  1.22428132e-04,  4.09927013e-02,  0.00000000e+00,
       -9.99159446e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13124297, -0.08175692,  0.17949752])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.50364644, 1.02017546, 1.10462422, 1.02017546, 0.70842362,
       0.73442787, 1.10462422, 0.73442787, 0.82536575, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0015830989158927336
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99752072e-01,  2.98836841e-03, -2.20649803e-02,  2.98764085e-03,
        9.99995535e-01,  6.59385845e-05,  2.20650788e-02, -1.35525272e-20,
       -9.99756537e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1314497 , -0.08454513,  0.17091457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022350121718193953
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.62995931e-01, -1.56878814e-02, -8.26310760e-01, -8.83330041e-03,
        9.99876938e-01, -1.29646606e-02,  8.26412460e-01,  8.67361738e-19,
       -5.63065223e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12630344, -0.03788555,  0.29830755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030322365307401122
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.37302493e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.37302493e-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([ 0.10499285, -0.06107079,  0.06193303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52743761e-05,-2.97563469e-05,-3.63338823e-06,-3.25175372e-05,
  9.17600152e-03, 5.75122544e-02, 1.38342646e-03, 2.53445304e-04,
 -7.39491559e-06, 5.69623148e-06, 3.21349005e-05,-4.49676809e-05,
  9.67641782e-02,-6.83194017e-04,-3.65025726e-04, 1.17118215e-04,
 -9.02627447e-03, 9.27433543e-03,-9.81013350e+00,-6.43434265e-02,
 -2.22586809e-03,-1.22272700e-02]


--- Step 160 ---
qpos:
[ 0.00945879, 0.00782923,-0.00534308, 0.03218377, 0.00261651,-0.01613015,
 -0.00741193, 0.03766656, 0.01257027, 0.00571331,-0.01126888, 0.03278967,
  0.23512516, 0.0041744 , 0.34145673, 0.04684529, 0.09479014,-0.06495097,
  0.14140384, 0.95159444,-0.05018339, 0.08166937, 0.29202698]

qacc:
[ -8.15273701, -2.41972506, 12.22020245,-28.18221692,-35.00434789,
  44.7231782 ,-92.24783201, 66.38074842, -1.51126787,  0.22322111,
   0.26633596, -5.24368976,-11.48092867, 17.24960056, -9.90673218,
  27.3797361 , -0.61775489,  0.84519427,  0.18925639,  2.72615074,
   2.41667657,-50.25598086]

qfrc_actuator:
[ 3.71260165e-04, 5.16917745e-04,-2.57227765e-04, 1.33404359e-03,
  7.20553610e-04, 1.83221664e-02, 5.86129701e-04, 1.51927175e-03,
  5.29615637e-04, 2.11524073e-04,-5.22259705e-04, 1.31228323e-03,
  1.01843554e-01,-1.91805865e-05, 7.41122572e-02,-2.29512242e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([13.40610094,  9.6562826 ,  9.29944885,  9.6562826 ,  7.76892055,
        5.85348743,  9.29944885,  5.85348743,  7.32800645,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006325040834733012
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99228465e-01,  1.09705124e-14, -3.92743445e-02,  1.09620483e-14,
        1.00000000e+00,  4.30859684e-16,  3.92743445e-02, -4.93038066e-32,
       -9.99228465e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12909869, -0.05842333,  0.25046263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([2.78154892, 2.32428055, 1.52798375, 2.32428055, 2.02237059,
       1.15481819, 1.52798375, 1.15481819, 1.02490625, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0013067611530718872
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99186937e-01,  2.80252027e-03, -4.02195271e-02,  2.80025265e-03,
        9.99996073e-01,  1.12716483e-04,  4.02196850e-02,  1.35525272e-20,
       -9.99190861e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13125862, -0.08192282,  0.17942149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.50364644, 1.12536685, 0.99724725, 1.12536685, 0.86102037,
       0.72518634, 0.99724725, 0.72518634, 0.68529305, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0014311830367330454
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99735649e-01,  2.80405930e-03, -2.28203639e-02,  2.80332907e-03,
        9.99996069e-01,  6.39899053e-05,  2.28204536e-02,  1.35525272e-20,
       -9.99739580e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13146608, -0.08466765,  0.17100777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00224443772051458
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.62217007e-01, -1.54896183e-02, -8.26844670e-01, -8.70957175e-03,
        9.99880029e-01, -1.28090451e-02,  8.26943880e-01,  8.67361738e-19,
       -5.62284465e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12630075, -0.03788406,  0.29830861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030228822371291264
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.10499562, -0.06107022,  0.06193323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.78463898e-05,-2.26610992e-05,-2.58530304e-07,-4.77124218e-05,
  9.93627467e-03, 5.62268707e-02, 1.35336657e-03, 2.41287607e-04,
 -8.79474483e-06,-3.80473578e-05,-3.31130638e-05,-1.98031408e-05,
  9.81322286e-02,-6.42201010e-04,-3.31198652e-04, 3.77886928e-05,
 -1.07184435e-02, 1.10973553e-02,-9.81012628e+00,-6.43993976e-02,
 -2.18769746e-03,-1.22274104e-02]


--- Step 161 ---
qpos:
[ 0.00946498, 0.00783489,-0.0053488 , 0.0322089 , 0.00242833,-0.0168071 ,
 -0.00742206, 0.0376917 , 0.01258038, 0.00571712,-0.01127812, 0.03281516,
  0.23518251, 0.0041865 , 0.34334776, 0.04689031, 0.09475058,-0.06489085,
  0.14141242, 0.95209504,-0.05024628, 0.08164273, 0.29038734]

qacc:
[ -8.5057773 , -1.64742899,  9.17401527,-22.54732847,  0.2213156 ,
  44.48637418,-92.28437616, 58.42183845, -4.67961741,  0.4352698 ,
  -0.33000005, -5.73660052,-10.36424269, 15.99239069,  2.7310253 ,
 -16.05200369, -0.48977537,  0.70536278,  0.1563957 ,  2.25954032,
   1.98863217,-41.33490568]

qfrc_actuator:
[ 3.22768820e-04, 5.30320669e-04,-2.50477962e-04, 1.29686219e-03,
  9.01152306e-04, 1.90254120e-02, 5.88248250e-04, 1.46956504e-03,
  5.02553484e-04, 1.82477336e-04,-5.58325327e-04, 1.28997779e-03,
  1.01826295e-01,-2.05098509e-05, 7.39333253e-02,-2.42653863e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([12.53620647,  9.05777141,  8.66679004,  9.05777141,  7.06724974,
        5.71567555,  8.66679004,  5.71567555,  6.56268197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005803091308061661
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99258281e-01,  5.47407100e-09, -3.85082717e-02,  5.47001078e-09,
        1.00000000e+00,  2.10797014e-10,  3.85082717e-02,  0.00000000e+00,
       -9.99258281e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12908269, -0.05802106,  0.25042539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([2.78154892, 2.39888192, 1.40797014, 2.39888192, 2.12563745,
       1.11753376, 1.40797014, 1.11753376, 0.87750887, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0011613509599931635
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99220440e-01,  2.61448005e-03, -3.93913233e-02,  2.61245084e-03,
        9.99996582e-01,  1.02988181e-04,  3.93914580e-02,  1.35525272e-20,
       -9.99223855e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13127154, -0.08209747,  0.17934288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.50364644, 1.17217303, 0.94178714, 1.17217303, 0.93412954,
       0.70883571, 0.94178714, 0.70883571, 0.62141088, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0012741343760651442
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99719476e-01,  2.61578579e-03, -2.35398993e-02,  2.61506094e-03,
        9.99996579e-01,  6.15755447e-05,  2.35399798e-02,  0.00000000e+00,
       -9.99722896e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13147908, -0.0847966 ,  0.17110532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002254298213401189
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.61259162e-01, -1.52136429e-02, -8.27500271e-01, -8.53978482e-03,
        9.99884266e-01, -1.25907508e-02,  8.27596052e-01,  8.67361738e-19,
       -5.61324126e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1262987 , -0.03788208,  0.29830969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030126689951945756
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.21295226e-15, -9.21295226e-15,  1.00000000e+00, -8.48784893e-29,
        1.00000000e+00,  9.21295226e-15, -1.00000000e+00,  0.00000000e+00,
       -9.21295226e-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([ 0.10499786, -0.06107019,  0.06193345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.98771711e-05,-1.60140064e-06, 3.24385290e-07,-3.91469387e-05,
  1.03154982e-02, 5.51986189e-02, 1.32896830e-03, 1.89487043e-04,
 -2.73139847e-05,-5.80862281e-05,-4.86819725e-05,-2.55122546e-05,
  9.93867333e-02,-5.72478919e-04,-3.37100981e-04,-1.74370942e-04,
 -1.21473513e-02, 1.26741452e-02,-9.81011940e+00,-6.44542909e-02,
 -2.15547005e-03,-1.22278152e-02]


--- Step 162 ---
qpos:
[ 0.00947158, 0.00784048,-0.00535415, 0.03223407, 0.00224377,-0.01745064,
 -0.0074333 , 0.03771575, 0.01259008, 0.00572104,-0.01128792, 0.03283979,
  0.23521918, 0.0041973 , 0.34523576, 0.04692902, 0.09470948,-0.06482837,
  0.1414215 , 0.95261242,-0.05031194, 0.08161659, 0.28868153]

qacc:
[ 3.56540060e+00,-1.08020425e+00, 3.55879513e+00,-3.48531534e+00,
  3.07495895e+01, 4.49518224e+01,-9.17529656e+01, 5.02768591e+01,
 -3.56637808e+00,-3.81289850e-02, 4.00839200e+00,-1.81603343e+01,
 -9.29651321e+00, 1.34789844e+01, 1.48086868e+01,-5.78125671e+01,
 -3.86951856e-01, 5.90081659e-01, 1.24444265e-01, 1.87217529e+00,
  1.61971819e+00,-3.40330650e+01]

qfrc_actuator:
[ 3.45035508e-04, 5.36086886e-04,-2.26408063e-04, 1.30046502e-03,
  1.08473056e-03, 1.96804226e-02, 6.11698091e-04, 1.41229229e-03,
  4.82593140e-04, 2.16955014e-04,-5.75912967e-04, 1.24889557e-03,
  1.01820428e-01,-4.31727722e-05, 7.37633922e-02,-2.75271953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([11.68118733,  8.48797738,  8.02523379,  8.48797738,  6.4424969 ,
        5.54075893,  8.02523379,  5.54075893,  5.8209423 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005287698665711261
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99290747e-01,  1.31227105e-14, -3.76563749e-02,  1.31134032e-14,
        1.00000000e+00,  4.94153707e-16,  3.76563749e-02,  0.00000000e+00,
       -9.99290747e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12906687, -0.0575994 ,  0.25038853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([2.78154892, 2.45572512, 1.3063034 , 2.45572512, 2.21028917,
       1.07391356, 1.3063034 , 1.07391356, 0.76269441, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0010120226644503626
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99255401e-01,  2.42652367e-03, -3.85065721e-02,  2.42472402e-03,
        9.99997056e-01,  9.34373836e-05,  3.85066854e-02,  0.00000000e+00,
       -9.99258343e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13128225, -0.08218245,  0.17926218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.50364644, 1.20921298, 0.89373184, 1.20921298, 0.99215029,
       0.69205074, 0.89373184, 0.69205074, 0.5673066 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.001113096372946639
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99703541e-01,  2.42761190e-03, -2.42267826e-02,  2.42689936e-03,
        9.99997053e-01,  5.88133990e-05,  2.42268539e-02,  6.77626358e-21,
       -9.99706487e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13148903, -0.08493092,  0.17120645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002264513348458752
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.56014407, -0.01486927, -0.82826175, -0.00832985,  0.99988945,
       -0.01231701,  0.82835333,  0.        , -0.560206  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12629721, -0.0378797 ,  0.29831078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003001736593030921
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.24650607e-15,  4.62325303e-15,  1.00000000e+00,  4.27489372e-29,
        1.00000000e+00, -4.62325303e-15, -1.00000000e+00,  0.00000000e+00,
       -9.24650607e-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([ 0.10499966, -0.0610706 ,  0.06193369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08300320e-05, 3.02904221e-06, 2.23649480e-05, 2.72847049e-06,
  1.04944327e-02, 5.42146782e-02, 1.39156042e-03, 1.63604769e-04,
 -2.07462733e-05,-9.21799929e-06,-3.64469107e-05,-4.57939870e-05,
  1.00515078e-01,-5.34266422e-04,-3.53524986e-04,-3.81523987e-04,
 -1.33747153e-02, 1.40632886e-02,-9.81011506e+00,-6.45074361e-02,
 -2.12805124e-03,-1.22283949e-02]


--- Step 163 ---
qpos:
[ 0.0094784 , 0.00784591,-0.00535911, 0.0322591 , 0.00206445,-0.01805862,
 -0.00744554, 0.03773936, 0.01259946, 0.00572488,-0.01129757, 0.03286336,
  0.23523764, 0.00420704, 0.34712017, 0.04696608, 0.09466723,-0.06476401,
  0.14143098, 0.953142  ,-0.05037971, 0.08159081, 0.28692359]

qacc:
[ 1.90092639e+00,-1.61828486e+00, 6.04702288e+00,-9.01629298e+00,
  4.46246874e+01, 4.88207252e+01,-1.04111978e+02, 7.19611955e+01,
 -2.76222313e+00,-2.71339736e+00, 1.39781967e+01,-3.24486979e+01,
 -8.23246178e+00, 1.21977876e+01,-1.33698524e-01,-6.82237678e+00,
 -2.86829730e-01, 4.70570252e-01, 1.01400246e-01, 1.48632051e+00,
  1.28949719e+00,-2.66744091e+01]

qfrc_actuator:
[ 3.55512896e-04, 5.19597687e-04,-2.10052947e-04, 1.29253772e-03,
  1.28427914e-03, 2.03108093e-02, 6.48681576e-04, 1.40446292e-03,
  4.66978771e-04, 2.18254771e-04,-5.64449457e-04, 1.19716211e-03,
  1.01816704e-01,-4.25592429e-05, 7.36255819e-02,-2.81810465e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047522066185037935
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99323925e-01, -1.46014146e-14, -3.67653806e-02, -1.45915429e-14,
        1.00000000e+00, -5.36826564e-16,  3.67653806e-02,  0.00000000e+00,
       -9.99323925e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12905034, -0.0576696 ,  0.25035006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([2.67093703, 2.39189297, 1.18859271, 2.39189297, 2.17569541,
       0.99661132, 1.18859271, 0.99661132, 0.6653824 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0008598907818339493
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99292152e-01,  2.24218148e-03, -3.75522030e-02,  2.24059998e-03,
        9.99997486e-01,  8.41990656e-05,  3.75522974e-02, -1.35525272e-20,
       -9.99294664e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13129043, -0.08237253,  0.17917992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.49548807, 1.20421751, 0.88676081, 1.20421751, 0.99115248,
       0.68488564, 0.88676081, 0.68488564, 0.56541619, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0009491023237547774
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99687894e-01,  2.24306943e-03, -2.48813739e-02,  2.24237500e-03,
        9.99997484e-01,  5.58107896e-05,  2.48814365e-02,  1.35525272e-20,
       -9.99690409e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1314961 , -0.08506966,  0.17131047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002274988923336538
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.58884791e-01, -1.44623958e-02, -8.29119189e-01, -8.08365849e-03,
        9.99895414e-01, -1.19923041e-02,  8.29205912e-01, -8.67361738e-19,
       -5.58943249e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12629624, -0.03787699,  0.29831187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002990218849327181
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.85642436e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.85642436e-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([ 0.10500113, -0.06107137,  0.06193394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10535788e-05,-1.02683620e-05, 1.97632138e-05,-7.02944133e-06,
  1.05126832e-02, 5.31985801e-02, 1.49159774e-03, 2.11389206e-04,
 -1.61966299e-05,-1.34047899e-05, 3.51041230e-06,-5.43198432e-05,
  1.01543889e-01,-4.68443309e-04,-3.50983784e-04,-1.34152169e-04,
 -1.44140963e-02, 1.52748763e-02,-9.81011393e+00,-6.45583067e-02,
 -2.10522658e-03,-1.22290742e-02]


--- Step 164 ---
qpos:
[ 0.00948528, 0.00785119,-0.00536378, 0.0322835 , 0.00189157,-0.01862714,
 -0.00745973, 0.03776228, 0.01260893, 0.0057281 ,-0.01130651, 0.03288615,
  0.23524069, 0.00421615, 0.349001  , 0.04700228, 0.09462388,-0.06469777,
  0.14144066, 0.95368328,-0.05044946, 0.08156494, 0.28511438]

qacc:
[ 6.47065090e-01,-2.28427548e+00, 1.05283832e+01,-2.17913817e+01,
  5.48814178e+01, 5.60672473e+01,-1.21521112e+02, 8.38015801e+01,
  7.82096646e-01,-4.41006119e+00, 1.77988910e+01,-3.18747571e+01,
 -7.27085344e+00, 1.22386873e+01,-2.55115878e+00, 1.64800661e+00,
 -2.76134096e-01, 4.69598738e-01, 5.05730882e-02, 1.43230517e+00,
  1.05382777e+00,-2.61900618e+01]

qfrc_actuator:
[ 3.58944689e-04, 5.07633190e-04,-1.98493884e-04, 1.26010370e-03,
  1.47259211e-03, 2.09108834e-02, 6.58616811e-04, 1.39058925e-03,
  4.71797414e-04, 1.64293738e-04,-5.36051410e-04, 1.15732778e-03,
  1.01804138e-01,-9.93639014e-06, 7.34699255e-02,-2.85340904e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042007007801632033
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99935743,  0.        , -0.035843  ,  0.        ,  1.        ,
        0.        ,  0.035843  ,  0.        , -0.99935743])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12903324, -0.05774226,  0.25031024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([2.34952115, 2.14303007, 0.96315718, 2.14303007, 1.97975707,
       0.82272713, 0.96315718, 0.82272713, 0.51894871, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0007058115356689719
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99329033e-01,  2.06306326e-03, -3.65681148e-02,  2.06168340e-03,
        9.99997872e-01,  7.54424945e-05,  3.65681926e-02,  0.00000000e+00,
       -9.99331160e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13129634, -0.08256753,  0.17909649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.36777529, 1.10577162, 0.80503315, 1.10577162, 0.91593318,
       0.62063803, 0.80503315, 0.62063803, 0.51528379, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0007833158309697784
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99672656e-01,  2.06377265e-03, -2.55013903e-02,  2.06310148e-03,
        9.99997870e-01,  5.26291838e-05,  2.55014446e-02,  6.77626358e-21,
       -9.99674785e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13150039, -0.0852118 ,  0.17141664])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002285668836798914
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55749705, -0.01400011, -0.83006086, -0.00780579,  0.99990199,
       -0.01162208,  0.83014222,  0.        , -0.5575517 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12629574, -0.03787403,  0.29831293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029782169226178073
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.79585836e-14,  2.79585836e-14,  1.00000000e+00,  7.81682398e-28,
        1.00000000e+00, -2.79585836e-14, -1.00000000e+00,  0.00000000e+00,
       -2.79585836e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500231, -0.06107245,  0.0619342 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.72553054e-06,-1.41376078e-05, 1.15601460e-05,-3.23857391e-05,
  1.04389475e-02, 5.20419632e-02, 1.55885262e-03, 2.21121441e-04,
  4.36265184e-06,-6.31143348e-05, 2.42077351e-05,-4.13816255e-05,
  1.02440624e-01,-3.82031610e-04,-3.37430020e-04,-8.93533863e-05,
 -1.52384210e-02, 1.62760560e-02,-9.81011557e+00,-6.46062617e-02,
 -2.08771635e-03,-1.22297915e-02]


--- Step 165 ---
qpos:
[ 0.00949216, 0.00785634,-0.00536771, 0.03230728, 0.00172655,-0.0191513 ,
 -0.00747648, 0.03778392, 0.01261804, 0.00573063,-0.01131471, 0.03290899,
  0.23522999, 0.00422453, 0.35087898, 0.04703167, 0.09457946,-0.06462966,
  0.14145038, 0.95423569,-0.05052105, 0.08153861, 0.28325489]

qacc:
[-8.62727587e-02,-3.51106747e+00, 1.48508784e+01,-2.65452537e+01,
  6.68125028e+01, 6.30133262e+01,-1.34439671e+02, 8.40652593e+01,
 -3.13871486e+00,-2.86469602e+00, 8.72987570e+00,-8.67333377e+00,
 -6.40157067e+00, 1.01297105e+01, 1.64991683e+01,-6.34830460e+01,
 -2.65226660e-01, 4.66166590e-01, 9.60845452e-03, 1.38398224e+00,
  8.55971513e-01,-2.56492088e+01]

qfrc_actuator:
[ 3.58205568e-04, 5.16181074e-04,-1.54354411e-04, 1.23126364e-03,
  1.63310856e-03, 2.14746703e-02, 6.71428885e-04, 1.35576160e-03,
  4.53096596e-04, 1.31003503e-04,-4.98113833e-04, 1.16027863e-03,
  1.01791994e-01,-1.13859240e-05, 7.33036894e-02,-3.20810680e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036324317291243867
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99391146e-01, -1.91026134e-14, -3.48903701e-02, -1.90909827e-14,
        1.00000000e+00, -6.66497251e-16,  3.48903701e-02,  0.00000000e+00,
       -9.99391146e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12901552, -0.05781743,  0.25026899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.93756147, 1.79599531, 0.72701122, 1.79599531, 1.68319077,
       0.62839275, 0.72701122, 0.62839275, 0.38519146, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0005500042276239349
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99365903e-01,  1.89037473e-03, -3.55558603e-02,  1.88917942e-03,
        9.99998213e-01,  6.72140200e-05,  3.55559239e-02,  0.00000000e+00,
       -9.99367688e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13129979, -0.08276725,  0.17901199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.14316078, 0.9331164 , 0.66038651, 0.9331164 , 0.78274949,
       0.50925584, 0.66038651, 0.50925584, 0.42358979, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0006159921650836827
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99657968e-01,  1.89092719e-03, -2.60839176e-02,  1.89028382e-03,
        9.99998212e-01,  4.93228773e-05,  2.60839642e-02,  0.00000000e+00,
       -9.99659756e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13150171, -0.08535722,  0.17152469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022963907562815605
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55599759, -0.01349021, -0.83107442, -0.00750121,  0.999909  ,
       -0.01121239,  0.83115005,  0.        , -0.55604819])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1262956 , -0.03787085,  0.29831397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002965921997819587
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.8716322e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.8716322e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500324, -0.06107377,  0.06193447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.53789099e-07, 1.43056867e-06, 4.14536520e-05,-2.97335170e-05,
  1.02770967e-02, 5.06542156e-02, 1.67616451e-03, 2.22172723e-04,
 -1.85925735e-05,-6.53883040e-05, 2.64760626e-05, 2.41931445e-07,
  1.03197159e-01,-3.52084916e-04,-3.35459800e-04,-4.04220587e-04,
 -1.60613488e-02, 1.72904136e-02,-9.81012310e+00,-6.46530458e-02,
 -2.07043444e-03,-1.22304928e-02]


--- Step 166 ---
qpos:
[ 0.00949828, 0.00786168,-0.00537152, 0.03233122, 0.00157128,-0.01962641,
 -0.00749483, 0.03780536, 0.01262651, 0.00573316,-0.01132298, 0.03293234,
  0.23520632, 0.00423185, 0.35275307, 0.04705891, 0.09453403,-0.06455971,
  0.14146001, 0.95479863,-0.05059436, 0.0815115 , 0.28134616]

qacc:
[-6.60505878e+00, 2.47017964e-01,-1.17521213e+00, 3.58604709e+00,
  8.30286792e+01, 6.87441196e+01,-1.50462551e+02, 1.13615311e+02,
 -5.63335900e+00, 1.25516831e+00,-6.62369511e+00, 1.56023587e+01,
 -5.56922342e+00, 6.70348494e+00, 8.77687033e-01,-1.11718086e+01,
 -2.54187390e-01, 4.61056277e-01,-2.31810613e-02, 1.34095374e+00,
  6.89937629e-01,-2.50758939e+01]

qfrc_actuator:
[ 3.19514822e-04, 5.37082748e-04,-1.44496083e-04, 1.24031962e-03,
  1.79071708e-03, 2.19959812e-02, 7.05092115e-04, 1.38022776e-03,
  4.20696025e-04, 1.63686968e-04,-4.90263713e-04, 1.18839365e-03,
  1.01785835e-01,-5.06796791e-05, 7.31311680e-02,-3.30433521e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030468425650225064
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99424941e-01,  2.27740481e-14, -3.39085237e-02,  2.27609516e-14,
        1.00000000e+00,  7.72234350e-16,  3.39085237e-02,  9.86076132e-32,
       -9.99424941e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12899717, -0.05789516,  0.25022626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.58459932, 1.4893871 , 0.54100007, 1.4893871 , 1.41360691,
       0.47074651, 0.54100007, 0.47074651, 0.28862209, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003927594501206402
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99402622e-01,  1.72551943e-03, -3.45169778e-02,  1.72449121e-03,
        9.99998511e-01,  5.95598046e-05,  3.45170292e-02, -1.35525272e-20,
       -9.99404110e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13130054, -0.0829714 ,  0.1789266 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.91038005, 0.74842753, 0.51831271, 0.74842753, 0.63395853,
       0.39914413, 0.51831271, 0.39914413, 0.33402826, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0004474650400491064
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99644012e-01,  1.72593621e-03, -2.66246247e-02,  1.72532436e-03,
        9.99998511e-01,  4.59524721e-05,  2.66246643e-02, -6.77626358e-21,
       -9.99645501e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13149983, -0.08550575,  0.17163433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002307013112900903
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55439232, -0.01293597, -0.83215492, -0.0071722 ,  0.99991633,
       -0.01076563,  0.83222456,  0.        , -0.55443871])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12629577, -0.03786747,  0.29831495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029534877490309808
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.81926772e-14,  4.69877954e-15,  1.00000000e+00,  1.32471175e-28,
        1.00000000e+00, -4.69877954e-15, -1.00000000e+00,  0.00000000e+00,
       -2.81926772e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500396, -0.06107529,  0.06193474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.87262599e-05, 2.87748371e-05, 1.41564180e-05, 9.91578047e-06,
  1.00421365e-02, 4.89761599e-02, 1.84337413e-03, 3.11362206e-04,
 -3.29488064e-05, 1.57305071e-06,-2.36167869e-06, 2.61978914e-05,
  1.03877406e-01,-3.54807698e-04,-3.76584694e-04,-1.63208930e-04,
 -1.68792820e-02, 1.83151521e-02,-9.81013611e+00,-6.46988421e-02,
 -2.05344142e-03,-1.22311257e-02]


--- Step 167 ---
qpos:
[ 0.00950423, 0.00786714,-0.0053754 , 0.03235476, 0.00142809,-0.02004543,
 -0.00751658, 0.03782579, 0.01263522, 0.00573597,-0.0113318 , 0.03295585,
  0.23515676, 0.00424424, 0.35462272, 0.04708551, 0.09448718,-0.06448769,
  0.14146737, 0.95537035,-0.05067288, 0.08148103, 0.27939326]

qacc:
[-1.46738749e+00,-4.38252460e-01, 3.52071625e+00,-1.04765127e+01,
  1.02911313e+02, 8.13390544e+01,-1.78542180e+02, 1.25631389e+02,
  2.04951359e+00, 2.22224032e+00,-8.03419695e+00, 1.13430210e+01,
 -1.89607465e+01, 6.21795057e+01,-4.03773023e+00, 6.12384333e+00,
 -3.55087448e-01, 5.17899279e-01,-5.68337960e-01,-9.32152323e-01,
 -1.14634542e-01,-2.26175342e+01]

qfrc_actuator:
[ 3.12056018e-04, 5.29624574e-04,-1.54883953e-04, 1.21832757e-03,
  1.95929472e-03, 2.24516380e-02, 7.15850679e-04, 1.36870542e-03,
  4.33757253e-04, 1.82283807e-04,-5.17712078e-04, 1.19561334e-03,
  1.01783692e-01,-5.87887956e-05, 7.29018154e-02,-3.33616401e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002443533492903007
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99458701e-01,  2.83969666e-14, -3.28984177e-02,  2.83815954e-14,
        1.00000000e+00,  9.34215270e-16,  3.28984177e-02,  1.97215226e-31,
       -9.99458701e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12897815, -0.05797548,  0.25018198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.40266166, 1.37089002, 0.29685064, 1.37089002, 1.34509813,
       0.26583495, 0.29685064, 0.26583495, 0.17500563, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00023436606037911798
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99439055e-01,  1.57039544e-03, -3.34530979e-02,  1.56951646e-03,
        9.99998767e-01,  5.25346570e-05,  3.34531391e-02,  6.77626358e-21,
       -9.99440287e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13129837, -0.08317973,  0.17884047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.77857608, 0.66356388, 0.40726366, 0.66356388, 0.5787806 ,
       0.32553128, 0.40726366, 0.32553128, 0.24818062, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0002780730158714044
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99631008e-01,  1.57069705e-03, -2.71179195e-02,  1.57011941e-03,
        9.99998766e-01,  4.25940886e-05,  2.71179530e-02,  6.77626358e-21,
       -9.99632241e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13149452, -0.0856572 ,  0.1717453 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029751603462040022
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.38712394, -0.01246473, -0.92194343, -0.00482577,  0.99992231,
       -0.01149267,  0.92201506,  0.        , -0.38715402])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12572183, -0.03547346,  0.2985257 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00294103674275277
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.43734405e-15,  4.71867203e-15,  1.00000000e+00,  4.45317314e-29,
        1.00000000e+00, -4.71867203e-15, -1.00000000e+00,  0.00000000e+00,
       -9.43734405e-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([ 0.10500447, -0.06107698,  0.06193501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.57056305e-06, 1.17470447e-05,-2.43332109e-06,-2.01326190e-05,
  9.72321836e-03, 4.69973155e-02, 1.94071798e-03, 3.11322776e-04,
  1.21284377e-05, 2.00795897e-05,-2.64829305e-05, 7.67897660e-06,
  1.04522517e-01,-3.09160720e-04,-4.21651073e-04,-8.97789169e-05,
 -1.76893441e-02, 1.93480970e-02,-9.81015425e+00,-6.47438148e-02,
 -2.03678067e-03,-1.22316452e-02]


--- Step 168 ---
qpos:
[ 0.0095104 , 0.0078724 ,-0.00537894, 0.03237787, 0.00129857,-0.02040342,
 -0.0075407 , 0.03784522, 0.01264401, 0.00573876,-0.01134048, 0.0329789 ,
  0.23507814, 0.0042586 , 0.35648812, 0.04711146, 0.09443902,-0.06441368,
  0.14147276, 0.9559506 ,-0.0507557 , 0.08144737, 0.27739617]

qacc:
[ 1.84677819e+00,-2.15360446e+00, 9.09011718e+00,-1.69703885e+01,
  1.16180596e+02, 8.50323858e+01,-1.82303737e+02, 1.24227165e+02,
  7.85493245e-01,-1.33449554e+00, 6.61649393e+00,-1.46166102e+01,
 -1.72851830e+01, 4.45881737e+01,-3.80960186e+00, 5.41695084e+00,
 -3.25941029e-01, 4.98026068e-01,-4.89705694e-01,-4.90551993e-01,
 -1.49567314e-01,-2.25611730e+01]

qfrc_actuator:
[ 3.23051421e-04, 5.05131742e-04,-1.41763509e-04, 1.19595852e-03,
  2.09270633e-03, 2.28767328e-02, 7.33033254e-04, 1.35422099e-03,
  4.37970634e-04, 1.74397120e-04,-5.12568603e-04, 1.17269991e-03,
  1.01785589e-01,-5.39063953e-05, 7.27024612e-02,-3.36552262e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00018101983754031237
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99492020e-01, -7.66644584e-14, -3.18700818e-02, -7.66255144e-14,
        1.00000000e+00, -2.44330256e-15,  3.18700818e-02,  0.00000000e+00,
       -9.99492020e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12895807, -0.05805764,  0.25013521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.32579061, 1.3025651 , 0.24707264, 1.3025651 , 1.28335005,
       0.2237463 , 0.24707264, 0.2237463 , 0.14620176, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -7.469937151694192e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99474770e-01,  1.42734463e-03, -3.23750973e-02,  1.42659640e-03,
        9.99998981e-01,  4.62104685e-05,  3.23751303e-02,  0.00000000e+00,
       -9.99475788e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13129283, -0.08339093,  0.17875357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.7215598 , 0.62354515, 0.36309776, 0.62354515, 0.54974248,
       0.29506063, 0.36309776, 0.29506063, 0.21485432, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00010780824067865098
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99619173e-01,  1.42755085e-03, -2.75585141e-02,  1.42700866e-03,
        9.99998981e-01,  3.93412205e-05,  2.75585422e-02,  6.77626358e-21,
       -9.99620191e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1314854 , -0.08581084,  0.17185579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002986913991569759
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.89759333e-01, -1.31762602e-02, -9.20822485e-01, -5.13601626e-03,
        9.99913189e-01, -1.21340501e-02,  9.20902429e-01, -8.67361738e-19,
       -3.89793171e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12573043, -0.03549419,  0.29852596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029306944317093464
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89412962e-14,  1.89412962e-14,  1.00000000e+00, -3.58772701e-28,
        1.00000000e+00, -1.89412962e-14, -1.00000000e+00,  0.00000000e+00,
        1.89412962e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500445, -0.06107882,  0.06193523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07383487e-05,-1.95160614e-05, 1.44739194e-05,-2.23985523e-05,
  9.25200029e-03, 4.46329517e-02, 2.13224040e-03, 3.47955637e-04,
  4.57035851e-06,-1.81863648e-06, 6.32115476e-06,-2.28576331e-05,
  1.05814932e-01,-5.58428084e-04,-4.10548273e-04,-9.03501191e-05,
 -1.84542673e-02, 2.02651138e-02,-9.81017590e+00,-6.47801908e-02,
 -2.05089592e-03,-1.22320011e-02]


--- Step 169 ---
qpos:
[ 0.00951664, 0.0078775 ,-0.00538201, 0.03240051, 0.0013372 ,-0.02040116,
 -0.00769855, 0.03783462, 0.01265279, 0.00574175,-0.01134883, 0.03300077,
  0.23496965, 0.00427283, 0.35834968, 0.04713998, 0.09439014,-0.06433843,
  0.14147654, 0.95653361,-0.0508415 , 0.08141123, 0.27537395]

qacc:
[ 7.48705833e-01,-2.45656384e+00, 1.04342563e+01,-1.91143948e+01,
  1.43308874e+03, 7.85293688e+02,-1.98708967e+03, 1.42068967e+03,
 -1.50900627e-01,-3.12246753e+00, 1.65519945e+01,-3.78294266e+01,
 -1.54312653e+01, 3.12722601e+01,-1.31087742e+01, 3.85715951e+01,
 -1.81340807e-01, 3.08927935e-01,-4.06456529e-01,-6.69056931e-01,
 -2.44476844e-01,-1.25769413e+01]

qfrc_actuator:
[ 3.27057962e-04, 5.06214660e-04,-1.14934404e-04, 1.17355388e-03,
  2.19861980e-03, 2.32561200e-02, 7.54422009e-04, 1.33835971e-03,
  4.36927812e-04, 2.04068656e-04,-4.88335816e-04, 1.11449607e-03,
  1.01796452e-01,-9.34045183e-05, 7.25691814e-02,-3.21559303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00011488467680100441
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99952488,  0.        , -0.03082242,  0.        ,  1.        ,
        0.        ,  0.03082242,  0.        , -0.99952488])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12893697, -0.05814189,  0.25008607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029961539542542486
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39207599, -0.01378758, -0.9198295 , -0.00540629,  0.99990495,
       -0.01268343,  0.91991695,  0.        , -0.39211327])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12573759, -0.03550695,  0.29852641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002922145770270959
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89967084e-14,  1.89967084e-14,  1.00000000e+00, -3.60874932e-28,
        1.00000000e+00, -1.89967084e-14, -1.00000000e+00,  0.00000000e+00,
        1.89967084e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500398, -0.06108077,  0.06193542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.28840382e-06,-8.01688054e-06, 2.37270824e-05,-2.32331310e-05,
  8.67519165e-03, 4.19741343e-02, 2.27718545e-03, 3.83034706e-04,
 -9.08381888e-07, 2.89593425e-05, 2.38711915e-05,-5.85446880e-05,
  1.07275684e-01,-6.96348745e-04,-3.42395405e-04, 8.96769581e-05,
 -1.92188691e-02, 2.12121315e-02,-9.81020382e+00,-6.48171366e-02,
 -2.06024423e-03,-1.22321087e-02]


--- Step 170 ---
qpos:
[ 0.0095222 , 0.00788271,-0.00538481, 0.03242234, 0.00137983,-0.02022676,
 -0.00779709, 0.0378337 , 0.01266114, 0.00574522,-0.01135725, 0.03302175,
  0.23483227, 0.00428555, 0.36020754, 0.04717004, 0.09434058,-0.06426195,
  0.1414789 , 0.95711953,-0.05092974, 0.08137269, 0.27332553]

qacc:
[ -6.05703291, -2.27392415, 11.74008706,-26.28229753, 33.29000704,
  81.5800686 , -1.72393654,-52.24198946, -3.75530878, -0.97385988,
   8.08683557,-23.47837981,-13.460066  , 21.0175774 , -9.81688834,
  27.16105857, -0.16939056,  0.30590779, -0.3509084 , -0.35644179,
  -0.27006935,-13.09125709]

qfrc_actuator:
[ 2.91407807e-04, 5.22664210e-04,-9.78880515e-05, 1.13358089e-03,
  2.14581995e-03, 2.32667048e-02, 8.92881179e-04, 1.31559465e-03,
  4.15049803e-04, 2.38302073e-04,-4.88413688e-04, 1.07154205e-03,
  1.01819140e-01,-1.58226193e-04, 7.23904505e-02,-3.13859267e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.6814784248582195e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99955695,  0.        , -0.02976418,  0.        ,  1.        ,
        0.        ,  0.02976418,  0.        , -0.99955695])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12891511, -0.05822757,  0.25003518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030032180507137875
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39406618, -0.01429581, -0.91897088, -0.00563407,  0.99989781,
       -0.01313878,  0.9190648 ,  0.        , -0.39410646])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12574354, -0.03551242,  0.29852703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002915093628490975
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.10500313, -0.06108282,  0.06193557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.55482586e-05, 1.56542683e-05, 1.74279668e-05,-4.00042156e-05,
  2.14262585e-04, 2.39743988e-02, 9.10392921e-03, 1.86210778e-03,
 -2.18869980e-05, 5.28174530e-05, 6.84142490e-06,-4.20615918e-05,
  1.08788110e-01,-7.55014439e-04,-3.39843283e-04, 3.47645484e-05,
 -1.96151908e-02, 2.17774887e-02,-9.81022885e+00,-6.48515273e-02,
 -2.07490724e-03,-1.22319646e-02]


--- Step 171 ---
qpos:
[ 0.00952729, 0.00788803,-0.00538795, 0.03244356, 0.00142165,-0.01994513,
 -0.00785027, 0.03784243, 0.01266882, 0.00574908,-0.0113656 , 0.03304206,
  0.23466944, 0.00429658, 0.36206162, 0.04719979, 0.09429039,-0.06418426,
  0.14148006, 0.95770849,-0.05101998, 0.08133178, 0.27124999]

qacc:
[ -4.1439975 , -0.15193794,  3.34998713,-13.46068679, -7.41334676,
  34.88060592, 40.47291923,-24.67370762, -5.91524929, -1.04145332,
   7.35137951,-19.49818561,-11.52127331, 16.34871976, -4.39935574,
   7.93168805, -0.15943425,  0.30432451, -0.30270775, -0.10442386,
  -0.28891366,-13.53299046]

qfrc_actuator:
[ 0.00026821, 0.00051264,-0.00012221, 0.00110135, 0.00209469, 0.02311776,
  0.00097978, 0.00131426, 0.00038109, 0.00025717,-0.00048505, 0.0010379 ,
  0.10183926,-0.00016579, 0.07219523,-0.0031586 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030083893600093975
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.95742304e-01, -1.47045001e-02, -9.18243871e-01, -5.81982196e-03,
        9.99891883e-01, -1.35037770e-02,  9.18343159e-01, -8.67361738e-19,
       -3.95785096e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12574848, -0.03551134,  0.29852782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00290931338038182
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.90804991e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.90804991e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500195, -0.06108494,  0.06193569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.42221255e-05, 3.79699245e-07,-2.04030594e-05,-3.17888916e-05,
 -3.69498578e-05, 1.52128878e-02, 6.22390146e-03, 1.37701677e-03,
 -3.45598273e-05, 4.79596699e-05, 1.36790200e-05,-3.19946578e-05,
  1.10250149e-01,-6.86674557e-04,-3.61195383e-04,-6.49616057e-05,
 -2.00252057e-02, 2.23781278e-02,-9.81025871e+00,-6.48862600e-02,
 -2.08578737e-03,-1.22315529e-02]


--- Step 172 ---
qpos:
[ 0.00953274, 0.00789332,-0.00539131, 0.03246424, 0.00146256,-0.01959637,
 -0.00787348, 0.03785751, 0.01267672, 0.00575309,-0.01137319, 0.0330618 ,
  0.23448595, 0.00430661, 0.36391206, 0.04723061, 0.09423959,-0.06410536,
  0.14148017, 0.95830052,-0.05111189, 0.08128854, 0.26914653]

qacc:
[  3.25596272, -0.55325014,  4.19512454,-13.19219005, -7.90732268,
  18.03621888, 37.64454808,-25.0859535 ,  1.98489284, -3.13479691,
  13.88575146,-25.20748093, -9.74559126, 15.61978072, -8.40294548,
  22.12599514, -0.15107554,  0.30387499, -0.26097888,  0.09941433,
  -0.30305294,-13.91664023]

qfrc_actuator:
[ 0.00028804, 0.00050443,-0.00013534, 0.00107389, 0.00204777, 0.02285141,
  0.00102598, 0.00130416, 0.00039354, 0.00026671,-0.00044423, 0.00101   ,
  0.10184792,-0.00010272, 0.07204883,-0.00309355, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030119452282802257
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.97135868e-01, -1.50236609e-02, -9.17636852e-01, -5.96710807e-03,
        9.99887138e-01, -1.37878210e-02,  9.17740429e-01,  8.67361738e-19,
       -3.97180695e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12575258, -0.03550468,  0.29852874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002904609768847752
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.58338699e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.58338699e-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([ 0.1050005 , -0.06108713,  0.06193579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91291739e-05,-1.38050592e-05,-1.67442975e-05,-2.88218602e-05,
 -4.29794568e-05, 9.57576356e-03, 4.00011729e-03, 8.83388140e-04,
  1.15014558e-05, 3.77381190e-05, 5.13254293e-05,-2.60296699e-05,
  1.11528323e-01,-5.39580547e-04,-3.30393221e-04, 1.24230312e-05,
 -2.04473450e-02, 2.30114477e-02,-9.81029291e+00,-6.49213518e-02,
 -2.09362861e-03,-1.22308512e-02]


--- Step 173 ---
qpos:
[ 0.0095384 , 0.00789829,-0.0053944 , 0.03248444, 0.00150263,-0.01920739,
 -0.0078769 , 0.037877  , 0.01268505, 0.00575682,-0.01138032, 0.03308181,
  0.23429951, 0.00430943, 0.36575922, 0.04726144, 0.09418209,-0.06403914,
  0.14148316, 0.95884588,-0.05120905, 0.08128093, 0.26718088]

qacc:
[  1.72449431, -2.18408767,  9.19935341,-17.77938937, -7.41210828,
   6.9277659 , 33.81056162,-18.71192327,  3.82909244, -1.08935265,
   2.18604319,  2.07043141,  6.35572945,-44.56014776, -5.202622  ,
  10.30021839, -1.67360171, -3.17099128,  0.71915244, -4.51149477,
  16.14886769, 73.01382914]

qfrc_actuator:
[ 2.97539335e-04, 4.79645253e-04,-1.23993646e-04, 1.04946535e-03,
  2.00379026e-03, 2.24407986e-02, 1.04500149e-03, 1.30601849e-03,
  4.15477318e-04, 2.17488195e-04,-4.34907128e-04, 1.02121348e-03,
  1.01860830e-01,-8.60371753e-05, 7.19211999e-02,-3.08524776e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030141477712377655
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.98287768e-01, -1.52665925e-02, -9.17133461e-01, -6.08120574e-03,
        9.99883459e-01, -1.40031347e-02,  9.17240357e-01, -8.67361738e-19,
       -3.98334190e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.125756  , -0.03549346,  0.29852977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, -9.75568171, 14.25390409, -9.75568171, 31.71261938,
        9.88297596, 14.25390409,  9.88297596, 24.03685079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029474419911293833
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.11554953, -0.11554953,  0.98655796,  0.01344173,  0.99330172,
        0.11476504, -0.99321077,  0.        ,  0.11632874])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08792876, -0.03718406,  0.06193572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00194655e-05,-3.74035980e-05, 5.35883460e-06,-2.62079955e-05,
 -4.20795759e-05, 5.79588487e-03, 2.51639390e-03, 5.67004420e-04,
  2.22810219e-05,-1.87036141e-05, 2.25426799e-05, 1.40689370e-05,
  1.12571644e-01,-4.72638608e-04,-2.86774956e-04,-3.56078231e-05,
 -2.08803037e-02, 2.36754458e-02,-9.81033107e+00,-6.49568084e-02,
 -2.09902336e-03,-1.22298397e-02]


--- Step 174 ---
qpos:
[ 0.00954412, 0.00790301,-0.00539763, 0.0325042 , 0.00154256,-0.01879549,
 -0.00786764, 0.03789882, 0.01269359, 0.00576013,-0.0113874 , 0.03310184,
  0.23411739, 0.00430741, 0.3676031 , 0.04729138, 0.09411985,-0.06398304,
  0.14148834, 0.95935159,-0.05130926, 0.08130029, 0.26533403]

qacc:
[  0.61117408, -0.8153008 ,  4.28047303,-11.38918419, -1.13611763,
  -0.32804367, 35.31190292,-32.19044011,  1.75543475, -0.63937948,
   1.32191766, -0.56268223,  7.60321331,-36.66695285, -2.50068798,
   0.89416112, -1.18756128, -2.53124203,  0.54783314, -3.70505456,
  11.91233314, 62.81631667]

qfrc_actuator:
[ 0.00030086, 0.00046299,-0.00013386, 0.00102702, 0.0019974 , 0.02201471,
  0.0010459 , 0.00127893, 0.00042504, 0.00016887,-0.00044449, 0.00101977,
  0.10187545,-0.00014384, 0.07176765,-0.0031281 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003015427323682266
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.98863581e-01, -1.53477822e-02, -9.16881830e-01, -6.12239249e-03,
        9.99882216e-01, -1.40737603e-02,  9.16989837e-01, -8.67361738e-19,
       -3.98910566e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1257577 , -0.03547614,  0.29853095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  10.56451221, -13.66521823,  10.56451221,
        73.63255541,  43.57150266, -13.66521823,  43.57150266,
        50.95763914,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0029556532072720614
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.11040057, -0.11040057,  0.98773652,  0.01226325,  0.99388717,
        0.10971736, -0.99381151,  0.        ,  0.11107959])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08800879, -0.0371308 ,  0.06193547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.57584732e-06,-3.77916564e-05,-1.79161337e-05,-2.44190123e-05,
 -5.71782215e-06, 3.34493846e-03, 1.52309473e-03, 3.18461506e-04,
  1.01998309e-05,-5.38799743e-05,-1.01844388e-05,-1.22288786e-06,
  1.12733530e-01,-1.69464442e-04,-2.87861636e-04,-8.16729512e-05,
 -1.83176132e-02, 2.11158658e-02,-9.80984160e+00,-6.51730273e-02,
 -2.17818893e-03,-1.22359967e-02]


--- Step 175 ---
qpos:
[ 0.00954949, 0.00790784,-0.00540144, 0.03252421, 0.00158211,-0.01837146,
 -0.00785063, 0.03792192, 0.01270217, 0.00576303,-0.01139425, 0.03312169,
  0.23394466, 0.00430218, 0.36944299, 0.04732357, 0.0940543 ,-0.06393487,
  0.14149503, 0.95982245,-0.05140971, 0.08133992, 0.26359387]

qacc:
[ -3.09234978,  2.29312787, -9.02846831, 14.24605628, -3.2084584 ,
  -2.99745248, 28.5591415 ,-27.73908297,  0.44164696, -1.57284816,
   5.65543149, -9.04379356,  8.59623576,-31.7077589 ,-12.98013412,
  36.07349327, -0.82617451, -1.9817962 ,  0.37642575, -2.65777905,
   8.43413898, 56.30948572]

qfrc_actuator:
[ 0.00028277, 0.00048675,-0.00015616, 0.00104142, 0.00197767, 0.02163381,
  0.00103514, 0.00125256, 0.00042725, 0.00015639,-0.00042969, 0.00101088,
  0.10189054,-0.00017482, 0.07159334,-0.00300549, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030160747266468075
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.99007938e-01, -1.53107115e-02, -9.16819637e-01, -6.10981159e-03,
        9.99882784e-01, -1.40388065e-02,  9.16927116e-01,  8.67361738e-19,
       -3.99054714e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12575807, -0.03545491,  0.29853222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  10.77522377, -13.49969111,  10.77522377,
        85.54458908,  54.49343854, -13.49969111,  54.49343854,
        60.76846278,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002928459406692979
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42168142e-14, -9.47787617e-15,  1.00000000e+00, -1.34745205e-28,
        1.00000000e+00,  9.47787617e-15, -1.00000000e+00,  0.00000000e+00,
       -1.42168142e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08807184, -0.03708949,  0.06193528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80168280e-05,-2.31045221e-06,-3.32234039e-05, 1.16337472e-05,
 -1.88010879e-05, 1.80273107e-03, 8.73793408e-04, 1.74859828e-04,
  2.48589479e-06,-4.48171192e-05, 2.38802816e-06,-1.16161023e-05,
  1.12533620e-01, 4.21790931e-05,-3.09235087e-04, 8.21840904e-05,
 -1.62231830e-02, 1.89805199e-02,-9.80951187e+00,-6.53159283e-02,
 -2.23584473e-03,-1.22443236e-02]


--- Step 176 ---
qpos:
[ 0.00955495, 0.00791265,-0.00540491, 0.03254385, 0.00162044,-0.01794251,
 -0.00782854, 0.037946  , 0.01271071, 0.00576572,-0.01140122, 0.03314128,
  0.23378489, 0.00429514, 0.37128015, 0.04734951, 0.0939867 ,-0.06389308,
  0.14150283, 0.96026297,-0.0515094 , 0.08139447, 0.26194798]

qacc:
[  0.76621603, -1.76768758,  7.83982279,-14.88806689,-10.49475188,
  -5.66538942, 25.50708431,-20.25588602, -0.35337628, -0.47243228,
   2.36433601, -6.49982121,  8.83994221,-25.82309974, 14.55570614,
 -57.48822428, -0.51316349, -1.59423302,  0.28010553, -2.28178452,
   5.86971674, 49.6547865 ]

qfrc_actuator:
[ 0.00028773, 0.00049902,-0.00013216, 0.00102415, 0.00191473, 0.02124612,
  0.00103498, 0.00124449, 0.00042511, 0.00014798,-0.00043596, 0.00099772,
  0.10191596,-0.00017163, 0.07142806,-0.0033367 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030161793455389606
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.98820132e-01, -1.51853378e-02, -9.16903434e-01, -6.05691683e-03,
        9.99884696e-01, -1.39250940e-02,  9.17009169e-01, -8.67361738e-19,
       -3.98866123e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12575738, -0.03543124,  0.29853351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   8.64746986, -14.95220293,   8.64746986,
       119.56543258,  59.16005089, -14.95220293,  59.16005089,
        51.48740183,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0029355581062137787
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41824355e-14, -1.89099140e-14,  1.00000000e+00, -2.68188635e-28,
        1.00000000e+00,  1.89099140e-14, -1.00000000e+00,  0.00000000e+00,
       -1.41824355e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08812111, -0.03705721,  0.06193513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.43044526e-06, 4.40690520e-06, 1.97716500e-05,-1.83410723e-05,
 -6.28975439e-05, 7.92729018e-04, 4.80657422e-04, 1.01764864e-04,
 -2.07613942e-06,-3.35223045e-05,-1.56256765e-05,-1.52596088e-05,
  1.12089765e-01, 2.07077562e-04,-2.86170759e-04,-3.64004278e-04,
 -1.44231756e-02, 1.71148831e-02,-9.80930382e+00,-6.54055280e-02,
 -2.27318514e-03,-1.22541325e-02]


--- Step 177 ---
qpos:
[ 0.00956077, 0.00791735,-0.00540801, 0.03256279, 0.00165772,-0.01751316,
 -0.00780335, 0.03796949, 0.01271847, 0.00576872,-0.01140844, 0.0331598 ,
  0.23363987, 0.00428724, 0.3731141 , 0.04737055, 0.09391803,-0.06385644,
  0.14151145, 0.96067673,-0.05160757, 0.08145974, 0.2603866 ]

qacc:
[  3.18607615, -2.62244893, 12.08787878,-24.68243971, -8.95233769,
  -9.32830763, 36.56803892,-52.13803449, -6.89420547, -1.0825503 ,
   8.94814899,-27.16767801,  8.78035655,-21.62623147,  9.84768777,
 -41.95935866, -0.26499096, -1.28860658,  0.20312752, -1.99365176,
   3.85844317, 44.4181814 ]

qfrc_actuator:
[ 0.00030622, 0.00048671,-0.00011658, 0.00098841, 0.00186237, 0.02085674,
  0.00102299, 0.00117616, 0.00038493, 0.00019524,-0.00043686, 0.00094664,
  0.10193627,-0.00016581, 0.07127888,-0.00357757, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00301594597027072
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3983897 , -0.01499821, -0.91709362, -0.00597581,  0.99988752,
       -0.01375631,  0.91719678,  0.        , -0.39843451])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12575585, -0.03540631,  0.2985348 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   8.36695821, -15.11096019,   8.36695821,
       146.61893709,  71.61916376, -15.11096019,  71.61916376,
        56.92835093,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002941082555872082
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.24673867e-14, -1.88743941e-14,  1.00000000e+00, -8.01546193e-28,
        1.00000000e+00,  1.88743941e-14, -1.00000000e+00,  0.00000000e+00,
       -4.24673867e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0881595 , -0.03703201,  0.06193501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86054420e-05,-6.73186796e-06, 1.82288483e-05,-3.52760697e-05,
 -5.39316101e-05, 1.41632648e-04, 2.09139044e-04,-1.68102847e-05,
 -4.02447113e-05, 2.46031889e-05,-1.02604532e-05,-5.33878343e-05,
  1.11462366e-01, 3.04157746e-04,-3.10069704e-04,-2.95802425e-04,
 -1.29093423e-02, 1.55136617e-02,-9.80917615e+00,-6.54605557e-02,
 -2.30096076e-03,-1.22650851e-02]


--- Step 178 ---
qpos:
[ 0.00956642, 0.00792191,-0.00541143, 0.03258155, 0.00169408,-0.01708663,
 -0.00777661, 0.03799249, 0.01272569, 0.00577203,-0.01141571, 0.0331779 ,
  0.23351014, 0.00427912, 0.37494403, 0.04739476, 0.0938491 ,-0.06382399,
  0.14152064, 0.96106656,-0.05170364, 0.08153242, 0.25890204]

qacc:
[ -1.4880028 ,  0.35557232, -0.77342989, -1.70034821, -7.80254631,
  -9.04273266, 28.90538439,-37.70546641, -4.77336522, -0.28823196,
   3.45838606,-11.01106553,  8.52639674,-18.61353484,-15.75633888,
  45.88064882, -0.06828506, -1.04767934,  0.14156356, -1.77345829,
   2.28333511, 40.29373177]

qfrc_actuator:
[ 0.00029702, 0.00045976,-0.00014172, 0.00097756, 0.00181667, 0.02043337,
  0.00098612, 0.00112613, 0.00035819, 0.00022222,-0.00043436, 0.00092697,
  0.10194755,-0.00015865, 0.07114482,-0.00339026, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003015517573054722
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.97780578e-01, -1.47679558e-02, -9.17361717e-01, -5.87504667e-03,
        9.99890948e-01, -1.35490348e-02,  9.17461768e-01, -8.67361738e-19,
       -3.97823961e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12575368, -0.03538093,  0.29853605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029453367497991184
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.71178306e-15, -9.42356612e-15,  1.00000000e+00, -4.44017992e-29,
        1.00000000e+00,  9.42356612e-15, -1.00000000e+00,  0.00000000e+00,
       -4.71178306e-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([ 0.08818931, -0.03701235,  0.06193492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.68839069e-06,-2.86498822e-05,-2.55729167e-05,-1.12418182e-05,
 -4.72212140e-05,-3.17653540e-04, 1.21728512e-05,-3.81241709e-05,
 -2.78696962e-05, 3.62728794e-05, 4.48304290e-06,-2.00384069e-05,
  1.10737492e-01, 3.54929283e-04,-2.95466426e-04, 1.33749425e-04,
 -1.16147615e-02, 1.41174389e-02,-9.80910616e+00,-6.54915335e-02,
 -2.32172928e-03,-1.22768214e-02]


--- Step 179 ---
qpos:
[ 0.00957191, 0.00792633,-0.00541482, 0.03259966, 0.00172996,-0.01666517,
 -0.00774885, 0.03801606, 0.01273287, 0.00577512,-0.01142271, 0.03319636,
  0.23339537, 0.00427094, 0.37677002, 0.04742002, 0.09378051,-0.06379497,
  0.14153019, 0.96143469,-0.05179718, 0.08160994, 0.25748825]

qacc:
[ -1.35192465, -1.57778127,  8.07590727,-19.16922447, -4.0648367 ,
  -8.36179714, 17.68404928, -5.65545402, -0.26417819, -0.31026697,
  -0.84832506,  6.8242447 ,  8.15871191,-17.12438569, -9.22437693,
  23.27373104,  0.08753542, -0.85790332,  0.09226718, -1.6054003 ,
   1.05107924, 37.04207659]

qfrc_actuator:
[ 0.00028934, 0.0004596 ,-0.00013749, 0.0009459 , 0.00179301, 0.02001043,
  0.00097012, 0.00114045, 0.00035733, 0.00018363,-0.00042992, 0.00094369,
  0.10196349,-0.00016873, 0.07094015,-0.00334271, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030149922671320463
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39703862, -0.0145076 , -0.91768724, -0.00576068,  0.99989476,
       -0.01331484,  0.91778382,  0.        , -0.39708041])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12575098, -0.0353556 ,  0.29853727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029485645431851226
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.88265003e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.88265003e-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([ 0.08821233, -0.03699704,  0.06193486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.95052624e-06,-2.21344202e-05,-5.28674661e-06,-3.40358810e-05,
 -2.51421871e-05,-6.15576364e-04,-8.68039342e-05,-6.69495869e-07,
 -1.62727948e-06,-1.82996547e-05, 1.18066098e-05, 1.80105911e-05,
  1.09988802e-01, 3.56740015e-04,-3.09712382e-04, 2.02185421e-05,
 -1.04905757e-02, 1.28822560e-02,-9.80907747e+00,-6.55057403e-02,
 -2.33734621e-03,-1.22890480e-02]


--- Step 180 ---
qpos:
[ 0.00957727, 0.00793072,-0.00541794, 0.03261722, 0.00176528,-0.0162501 ,
 -0.00772035, 0.0380398 , 0.01273965, 0.00577756,-0.01142904, 0.03321421,
  0.23329512, 0.00426287, 0.37859186, 0.04744536, 0.09371277,-0.06376879,
  0.14153996, 0.96178293,-0.05188788, 0.08169028, 0.25614046]

qacc:
[ -1.17803009, -1.96795743,  9.30042221,-19.32370142, -4.72583842,
 -10.17684203, 23.34375224,-16.98814622, -3.58216647, -3.98244828,
  15.53056623,-26.64835167,  7.72836497,-15.42277412, -6.56322659,
  13.53931402,  0.21098694, -0.70844423,  0.05282506, -1.47809491,
   0.08994049, 34.47602346]

qfrc_actuator:
[ 0.00028262, 0.00047558,-0.00011585, 0.00092004, 0.00176475, 0.01959112,
  0.00096655, 0.00113927, 0.00033621, 0.00012387,-0.00040687, 0.00091061,
  0.10197638,-0.00017146, 0.07072519,-0.00334268, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030144337635292485
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.96195430e-01, -1.42257895e-02, -9.18055994e-01, -5.63676320e-03,
        9.99898808e-01, -1.30613931e-02,  9.18148903e-01, -8.67361738e-19,
       -3.96235526e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12574786, -0.03533063,  0.29853845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029509620188636065
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41084037e-14, -9.40560246e-15,  1.00000000e+00, -1.32698036e-28,
        1.00000000e+00,  9.40560246e-15, -1.00000000e+00,  0.00000000e+00,
       -1.41084037e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08823   , -0.03698513,  0.06193481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.96050444e-06, 8.65612499e-07, 1.51782885e-05,-2.76919610e-05,
 -2.91998166e-05,-7.97206532e-04,-1.46757584e-04,-3.16301724e-05,
 -2.11689367e-05,-6.68302631e-05, 2.13660128e-05,-3.31296869e-05,
  1.09254511e-01, 3.58166767e-04,-3.39302078e-04,-3.54752570e-05,
 -9.50078877e-03, 1.17753824e-02,-9.80907818e+00,-6.55082590e-02,
 -2.34916453e-03,-1.23015283e-02]


--- Step 181 ---
qpos:
[ 0.00958251, 0.007935  ,-0.00542074, 0.03263434, 0.00179998,-0.01584204,
 -0.00769191, 0.03806277, 0.01274646, 0.00577923,-0.01143492, 0.03323156,
  0.23320916, 0.00425525, 0.38041049, 0.04747027, 0.09364626,-0.06374497,
  0.14154981, 0.96211272,-0.0519755 , 0.08177186, 0.25485489]

qacc:
[-1.06300309e+00,-1.92070932e+00, 8.49551346e+00,-1.65245560e+01,
 -5.18682784e+00,-1.06498111e+01, 2.78041790e+01,-3.58859946e+01,
  3.73616716e-01,-3.31479471e+00, 1.24645353e+01,-2.13271246e+01,
  7.24571474e+00,-1.30338637e+01,-3.64603452e+00, 5.41561010e+00,
  3.08791168e-01,-5.90794901e-01, 2.12815682e-02,-1.38242613e+00,
 -6.57418578e-01, 3.24487896e+01]

qfrc_actuator:
[ 2.76532319e-04, 4.65672482e-04,-1.01790592e-04, 8.97837605e-04,
  1.73400689e-03, 1.91773457e-02, 9.34816800e-04, 1.09346772e-03,
  3.38829427e-04, 6.96746733e-05,-3.90903554e-04, 8.83991698e-04,
  1.01976281e-01,-1.52190272e-04, 7.06054140e-02,-3.35283361e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003013888296710322
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39527721, -0.01392963, -0.91845625, -0.0055066 ,  0.99990298,
       -0.01279499,  0.91854537,  0.        , -0.39531557])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12574441, -0.03530624,  0.29853957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002952687032377055
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.88002151e-14, -1.88002151e-14,  1.00000000e+00, -3.53448087e-28,
        1.00000000e+00,  1.88002151e-14, -1.00000000e+00,  0.00000000e+00,
       -1.88002151e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08824344, -0.03697587,  0.06193478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.30317839e-06,-7.65249646e-06, 1.50905299e-05,-2.22239045e-05,
 -3.18630421e-05,-9.06731430e-04,-2.20837774e-04,-8.67061286e-05,
  1.99647625e-06,-8.86126531e-05, 3.65626433e-06,-2.94191354e-05,
  1.08528988e-01, 3.72292826e-04,-2.63004660e-04,-5.23613826e-05,
 -8.61868717e-03, 1.07723439e-02,-9.80909954e+00,-6.55026903e-02,
 -2.35818402e-03,-1.23140735e-02]


--- Step 182 ---
qpos:
[ 0.00958764, 0.00793918,-0.00542333, 0.03265072, 0.00183405,-0.01544143,
 -0.00766413, 0.03808544, 0.01275326, 0.00578075,-0.01144111, 0.03324878,
  0.23313711, 0.0042484 , 0.38222583, 0.04749613, 0.0935813 ,-0.06372315,
  0.14155964, 0.96242523,-0.05205988, 0.08185346, 0.2536286 ]

qacc:
[-9.93000589e-01,-2.26519964e+00, 1.10361014e+01,-2.41612378e+01,
 -5.42016685e+00,-8.61976460e+00, 1.77291408e+01,-1.64121715e+01,
 -2.02294631e-01, 3.86105657e-01,-1.08636183e+00,-6.72065731e-01,
  6.71497228e+00,-1.06172780e+01,-7.89663791e+00, 2.01448149e+01,
  3.86190439e-01,-4.98348191e-01,-3.99706806e-03,-1.31061168e+00,
 -1.23785947e+00, 3.08450652e+01]

qfrc_actuator:
[ 2.70855367e-04, 4.58085521e-04,-9.24198488e-05, 8.60177827e-04,
  1.70204498e-03, 1.87700590e-02, 8.86687447e-04, 1.07501045e-03,
  3.37649588e-04, 9.02110421e-05,-3.96997415e-04, 8.79134446e-04,
  1.01978547e-01,-1.20094576e-04, 7.04629248e-02,-3.29763147e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003013392609169056
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.94308358e-01, -1.36257543e-02, -9.18877172e-01, -5.37324764e-03,
        9.99907165e-01, -1.25215570e-02,  9.18962484e-01, -8.67361738e-19,
       -3.94344967e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12574069, -0.03528261,  0.29854066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002953866837792557
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40945295e-14, -2.81890591e-14,  1.00000000e+00, -3.97311526e-28,
        1.00000000e+00,  2.81890591e-14, -1.00000000e+00,  0.00000000e+00,
       -1.40945295e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08825355, -0.0369687 ,  0.06193476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.87290239e-06,-9.88053985e-06, 8.81917680e-06,-3.79403579e-05,
 -3.31885636e-05,-9.78894678e-04,-2.70798160e-04,-6.76666762e-05,
 -1.15025969e-06,-2.95297644e-05,-2.49478631e-05,-9.12875030e-06,
  1.07817242e-01, 3.83049707e-04,-2.56789021e-04, 2.08776688e-05,
 -7.82429607e-03, 9.85475888e-03,-9.80913514e+00,-6.54916041e-02,
 -2.36514421e-03,-1.23265348e-02]


--- Step 183 ---
qpos:
[ 0.009593  , 0.00794319,-0.00542547, 0.03266686, 0.00186713,-0.01504876,
 -0.00763698, 0.0381081 , 0.01275964, 0.00578262,-0.01144789, 0.03326575,
  0.23307801, 0.00424243, 0.38403724, 0.04752648, 0.09351813,-0.06370302,
  0.14156938, 0.96272139,-0.0521409 , 0.08193412, 0.25245922]

qacc:
[ 2.09492852e+00,-1.96938805e+00, 7.66506783e+00,-1.23368371e+01,
 -8.48688843e+00,-8.75941427e+00, 1.60637870e+01,-9.40731360e+00,
 -3.65078114e+00, 1.62927357e+00,-4.11940681e+00, 6.64969645e-01,
  6.15940924e+00,-9.17620423e+00,-1.95079399e+01, 5.94396729e+01,
  4.47332182e-01,-4.25898722e-01,-2.43213545e-02,-1.25651296e+00,
 -1.68855371e+00, 2.95743453e+01]

qfrc_actuator:
[ 2.83220438e-04, 4.51913431e-04,-6.81445809e-05, 8.49227950e-04,
  1.65187107e-03, 1.83521624e-02, 8.47093521e-04, 1.07280149e-03,
  3.16485300e-04, 1.37520047e-04,-4.15745227e-04, 8.69416992e-04,
  1.01987075e-01,-9.85613517e-05, 7.02909539e-02,-3.06239268e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030129717065295342
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.93308595e-01, -1.33194511e-02, -9.19310036e-01, -5.23911933e-03,
        9.99911292e-01, -1.22457913e-02,  9.19391593e-01, -8.67361738e-19,
       -3.93343488e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12573676, -0.0352599 ,  0.29854169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029546043054811816
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.87880154e-14, -1.87880154e-14,  1.00000000e+00, -3.52989523e-28,
        1.00000000e+00,  1.87880154e-14, -1.00000000e+00,  0.00000000e+00,
       -1.87880154e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08826102, -0.03696314,  0.06193475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21817135e-05,-1.16776605e-05, 2.19474921e-05,-1.18474318e-05,
 -5.14620705e-05,-1.03908404e-03,-2.82567643e-04,-5.58495671e-05,
 -2.12040361e-05, 2.52514551e-05,-2.82129858e-05,-1.20503645e-05,
  1.07130694e-01, 3.66756681e-04,-2.75514170e-04, 2.05737120e-04,
 -7.10256514e-03, 9.00876202e-03,-9.80918026e+00,-6.54768368e-02,
 -2.37058779e-03,-1.23387954e-02]


--- Step 184 ---
qpos:
[ 0.00959847, 0.00794714,-0.00542762, 0.03268276, 0.00189969,-0.01466409,
 -0.0076108 , 0.03813023, 0.01276606, 0.00578469,-0.01145431, 0.03328243,
  0.23303114, 0.00423744, 0.38584532, 0.04755803, 0.09345694,-0.06368438,
  0.14157896, 0.96300199,-0.05221848, 0.08201311, 0.25134489]

qacc:
[  0.93207014, -0.54630299,  2.88589594, -7.06315151, -4.35185454,
  -8.94491596, 18.84019958,-20.69138348,  0.37489339, -1.36880329,
   6.52440615,-12.40801373,  5.60635684, -7.50545909, -8.67930509,
  22.90879038,  0.49566104, -0.36914552, -0.04061527, -1.21658418,
  -2.03611741, 28.56592311]

qfrc_actuator:
[ 2.88352866e-04, 4.46719226e-04,-7.07401633e-05, 8.36343881e-04,
  1.62688497e-03, 1.79491256e-02, 7.95097381e-04, 1.04466508e-03,
  3.19234538e-04, 1.64948065e-04,-3.88422271e-04, 8.56940002e-04,
  1.02004272e-01,-6.60240439e-05, 7.01227732e-02,-3.00708644e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003012635057662105
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.92289381e-01, -1.30134514e-02, -9.19749799e-01, -5.10547110e-03,
        9.99915321e-01, -1.19701329e-02,  9.19827688e-01, -8.67361738e-19,
       -3.92322602e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12573266, -0.03523813,  0.29854267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029549828787740623
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40892063e-14, -9.39280421e-15,  1.00000000e+00,  1.32337156e-28,
        1.00000000e+00,  9.39280421e-15, -1.00000000e+00,  0.00000000e+00,
        1.40892063e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08826642, -0.03695885,  0.06193475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.46132359e-06,-7.86719209e-06,-2.77827063e-06,-1.28974107e-05,
 -2.68220510e-05,-1.05951759e-03,-3.08342126e-04,-8.45133159e-05,
  2.15932954e-06, 3.51911753e-05, 2.86739151e-05,-1.26303377e-05,
  1.06500646e-01, 3.56348910e-04,-2.58558072e-04, 3.39790901e-05,
 -6.44208026e-03, 8.22386463e-03,-9.80923143e+00,-6.54597062e-02,
 -2.37491244e-03,-1.23507635e-02]


--- Step 185 ---
qpos:
[ 0.0096043 , 0.00795137,-0.00543044, 0.03269769, 0.00193204,-0.01428739,
 -0.00758528, 0.0381518 , 0.01277281, 0.00578687,-0.01146028, 0.03329848,
  0.23299646, 0.00423388, 0.38765036, 0.04758699, 0.09339789,-0.06366703,
  0.14158832, 0.96326766,-0.05229257, 0.08208987, 0.25028416]

qacc:
[  3.16493624,  0.24801179,  3.68601104,-19.46832669, -1.6934652 ,
  -9.80996334, 22.02842009,-24.65792318,  2.89604525, -2.35891842,
  11.21393506,-22.6770224 ,  5.03937786, -4.40732706,  3.2252704 ,
 -18.08163273,  0.53391262, -0.32468531, -0.05362083, -1.18813491,
  -2.3014715 , 27.7642843 ]

qfrc_actuator:
[ 3.06934254e-04, 4.59801114e-04,-1.06938794e-04, 7.86895788e-04,
  1.61692992e-03, 1.75759845e-02, 7.71762510e-04, 1.01925529e-03,
  3.36042824e-04, 1.62702051e-04,-3.69682775e-04, 8.25209278e-04,
  1.02015617e-01, 8.16253903e-06, 6.99516276e-02,-3.14701841e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030123898183314133
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39126196, -0.01271052, -0.92019157, -0.00497355,  0.99991922,
       -0.01169706,  0.92026591,  0.        , -0.39129357])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12572843, -0.03521734,  0.2985436 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029550702537110285
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87850530e-14,  9.39252648e-15,  1.00000000e+00, -1.76439107e-28,
        1.00000000e+00, -9.39252648e-15, -1.00000000e+00,  0.00000000e+00,
        1.87850530e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08827019, -0.03695553,  0.06193475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87214148e-05, 7.38692213e-06,-3.86745675e-05,-5.01731597e-05,
 -1.10839552e-05,-1.04728912e-03,-2.87962468e-04,-8.40916117e-05,
  1.68845903e-05, 2.27985512e-05, 2.91234227e-05,-2.95027458e-05,
  1.05901002e-01, 3.82145545e-04,-2.75185137e-04,-1.69186495e-04,
 -5.83415292e-03, 7.49213793e-03,-9.80928608e+00,-6.54411793e-02,
 -2.37841787e-03,-1.23623689e-02]


--- Step 186 ---
qpos:
[ 0.00961065, 0.00795581,-0.00543398, 0.03271158, 0.00196368,-0.01391869,
 -0.00755977, 0.03817249, 0.01277971, 0.00578917,-0.01146627, 0.03331441,
  0.23297217, 0.00423144, 0.38945234, 0.0476156 , 0.09334109,-0.06365085,
  0.14159742, 0.96351893,-0.05236314, 0.08216395, 0.24927586]

qacc:
[  4.55545045,  0.13043758,  4.36182561,-21.4653909 , -6.08187916,
 -12.33378624, 32.377854  ,-41.71240921,  1.30919987, -0.08453114,
   1.09705316, -3.45444845,  4.46270539, -4.61809988, -3.5581546 ,
   5.6551561 ,  0.56386015, -0.29030938, -0.06422858, -1.16594093,
  -2.50798629, 27.1249451 ]

qfrc_actuator:
[ 3.33285075e-04, 4.65800142e-04,-1.44876990e-04, 7.34078844e-04,
  1.58038817e-03, 1.72062028e-02, 7.83459131e-04, 9.77959553e-04,
  3.43231009e-04, 1.60419963e-04,-3.74063234e-04, 8.17871211e-04,
  1.02017688e-01, 1.77295023e-05, 6.98320557e-02,-3.15224486e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003012248533590591
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.90242086e-01, -1.24149528e-02, -9.20628580e-01, -4.84521048e-03,
        9.99922932e-01, -1.14304413e-02,  9.20699537e-01, -8.67361738e-19,
       -3.90272164e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12572409, -0.03519763,  0.29854449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029549213357617093
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.69649992e-15, -9.39299983e-15,  1.00000000e+00,  4.41142229e-29,
        1.00000000e+00,  9.39299983e-15, -1.00000000e+00,  0.00000000e+00,
        4.69649992e-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([ 0.08827266, -0.03695298,  0.06193476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68769441e-05,-1.74157070e-07,-4.29680951e-05,-5.48533849e-05,
 -3.72129185e-05,-1.03255977e-03,-2.47778468e-04,-9.87203423e-05,
  7.68004848e-06, 1.52008948e-05, 2.91000930e-06,-5.95435878e-06,
  1.05294164e-01, 3.20663529e-04,-2.54105956e-04,-4.79910277e-05,
 -5.27212973e-03, 6.80758058e-03,-9.80934228e+00,-6.54219687e-02,
 -2.38132980e-03,-1.23735585e-02]


--- Step 187 ---
qpos:
[ 0.00961693, 0.00796031,-0.00543796, 0.03272508, 0.00199394,-0.01355768,
 -0.0075348 , 0.03819216, 0.01278629, 0.00579214,-0.01147252, 0.03333042,
  0.23295548, 0.00422921, 0.39125081, 0.0476443 , 0.09328664,-0.06363572,
  0.14160623, 0.96375626,-0.05243017, 0.08223502, 0.24831904]

qacc:
[-7.03600005e-01, 4.83784699e-01, 2.96628121e-02,-6.16745946e+00,
 -1.18236406e+01,-1.07606337e+01, 2.79640701e+01,-3.91759066e+01,
 -2.76967422e+00, 1.80932822e+00,-5.51438234e+00, 6.86468983e+00,
  3.97205468e+00,-7.32557432e+00,-5.54022384e+00, 1.15923233e+01,
  5.87232965e-01,-2.63882938e-01,-7.28812190e-02,-1.14843988e+00,
 -2.66848978e+00, 2.66136686e+01]

qfrc_actuator:
[ 3.28488327e-04, 4.67487312e-04,-1.65795878e-04, 7.15213571e-04,
  1.51073271e-03, 1.68416484e-02, 7.62528862e-04, 9.27680502e-04,
  3.26942136e-04, 2.29063226e-04,-3.74293213e-04, 8.24929594e-04,
  1.02024570e-01,-4.72331613e-05, 6.96529998e-02,-3.14886539e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003012195884069816
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.89227031e-01, -1.21252037e-02, -9.21062049e-01, -4.71980399e-03,
        9.99926487e-01, -1.11688860e-02,  9.21129764e-01,  8.67361738e-19,
       -3.89255646e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12571967, -0.03517887,  0.29854533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029545812306690095
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.87881621e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.87881621e-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([ 0.08827412, -0.03695102,  0.06193477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.04033543e-06,-9.79785715e-06,-2.81941649e-05,-2.14623716e-05,
 -7.10749762e-05,-1.01113857e-03,-2.72822755e-04,-1.05945959e-04,
 -1.60608365e-05, 7.74651205e-05, 3.07657653e-06, 7.66828978e-06,
  1.04781878e-01, 2.00718941e-04,-2.92245840e-04,-3.03275524e-05,
 -4.75083436e-03, 6.16559496e-03,-9.80939871e+00,-6.54025591e-02,
 -2.38379744e-03,-1.23842903e-02]


--- Step 188 ---
qpos:
[ 0.00962275, 0.00796454,-0.00544178, 0.03273824, 0.00202313,-0.0132043 ,
 -0.00751045, 0.03821174, 0.01279229, 0.00579608,-0.01147894, 0.03334634,
  0.2329448 , 0.00422671, 0.39304573, 0.04767083, 0.09323461,-0.06362156,
  0.14161473, 0.96398002,-0.05249364, 0.08230283, 0.24741299]

qacc:
[ -3.94908654, -1.45363907,  6.10458559,-11.94326771, -9.19736727,
  -8.49742491, 16.07234808,-10.98886974, -5.22425945,  1.55066971,
  -3.26978937,  1.23810894,  3.59599623, -8.36675338,  1.1998356 ,
 -12.08680872,  0.60564216, -0.24343169, -0.07974213, -1.13632462,
  -2.7889573 , 26.204089  ]

qfrc_actuator:
[ 0.00030539, 0.00044892,-0.00015874, 0.00069873, 0.00145766, 0.01648313,
  0.0007403 , 0.00092576, 0.00029697, 0.00030417,-0.00037177, 0.00082271,
  0.10203422,-0.00010319, 0.06945971,-0.00326488, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003012200313911537
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.88202764e-01, -1.18362267e-02, -9.21497975e-01, -4.59517781e-03,
        9.99929949e-01, -1.09078230e-02,  9.21562531e-01,  8.67361738e-19,
       -3.88229959e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12571519, -0.0351608 ,  0.29854614])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002954087015787865
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87913054e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.87913054e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08827478, -0.03694951,  0.06193479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32228349e-05,-3.09577414e-05, 7.74075897e-07,-1.83267963e-05,
 -5.54590127e-05,-9.98330605e-04,-2.72928547e-04,-5.76504850e-05,
 -3.03967694e-05, 1.19333804e-04, 1.91827214e-05, 1.33160071e-06,
  1.04411822e-01, 1.35286830e-04,-3.22072909e-04,-1.53616534e-04,
 -4.26625126e-03, 5.56269409e-03,-9.80945441e+00,-6.53833064e-02,
 -2.38593260e-03,-1.23945324e-02]


--- Step 189 ---
qpos:
[ 0.00962791, 0.00796837,-0.00544541, 0.03275112, 0.00205181,-0.01285819,
 -0.00748712, 0.03823146, 0.01279788, 0.00580014,-0.01148488, 0.03336148,
  0.23294016, 0.00422422, 0.39483779, 0.04769228, 0.09318507,-0.06360831,
  0.14162288, 0.96419052,-0.05255356, 0.08236717, 0.2465571 ]

qacc:
[ -5.84196937, -1.64102438,  6.28658241,-11.22165297, -4.42368207,
  -6.50394131,  8.67962992,  0.60735962, -3.55141983, -2.74502938,
  13.30809025,-27.58741053,  3.26377704, -6.48919019, 11.03957758,
 -45.01184689,  0.62021781, -0.22757113, -0.08507547, -1.12902374,
  -2.87661573, 25.87513116]

qfrc_actuator:
[ 2.71727152e-04, 4.18489081e-04,-1.53070363e-04, 6.83778730e-04,
  1.43253220e-03, 1.61489911e-02, 6.99847038e-04, 9.34585076e-04,
  2.76942156e-04, 2.58309999e-04,-3.67590019e-04, 7.79562872e-04,
  1.02040063e-01,-1.00103027e-04, 6.93219126e-02,-3.52133228e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030122454400193996
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.38716507, -0.01154619, -0.92193812, -0.00447058,  0.99993334,
       -0.01064558,  0.92199958,  0.        , -0.38719088])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12571067, -0.0351433 ,  0.29854693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002953468729797168
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.39761960e-15, -9.39761960e-15,  1.00000000e+00, -8.83152541e-29,
        1.00000000e+00,  9.39761960e-15, -1.00000000e+00,  0.00000000e+00,
       -9.39761960e-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([ 0.08827481, -0.03694835,  0.06193481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.43513749e-05,-4.85326176e-05,-1.30277680e-06,-1.66403979e-05,
 -2.70581866e-05,-9.64450351e-04,-2.86757345e-04,-4.54096816e-05,
 -2.08410678e-05, 2.47976769e-05, 3.12353054e-05,-3.73734915e-05,
  1.04117448e-01, 1.52221484e-04,-2.94304083e-04,-3.04798624e-04,
 -3.81527063e-03, 4.99626034e-03,-9.80950859e+00,-6.53644947e-02,
 -2.38782967e-03,-1.24042618e-02]


--- Step 190 ---
qpos:
[ 0.00963296, 0.00797172,-0.00544864, 0.03276405, 0.0020803 ,-0.01251926,
 -0.00746462, 0.03825109, 0.01280284, 0.00580386,-0.01149016, 0.03337604,
  0.23294184, 0.00422229, 0.39662598, 0.04771379, 0.09313805,-0.06359593,
  0.14163068, 0.96438805,-0.05260994, 0.08242793, 0.24575091]

qacc:
[ -0.84861776, -1.62291949,  4.63763255, -3.91759325, -1.46917208,
  -7.32104515, 12.72109485, -7.65695988, -5.49840799, -3.51275227,
  14.35260647,-25.32822634,  2.9064779 , -3.76048947, -5.99402209,
  12.48595714,  0.63163587, -0.21546717, -0.08928493, -1.12438516,
  -2.94090651, 25.6097005 ]

qfrc_actuator:
[ 2.67616805e-04, 3.98944691e-04,-1.30575764e-04, 6.87578502e-04,
  1.42405122e-03, 1.58144325e-02, 6.66846975e-04, 9.31909987e-04,
  2.45180457e-04, 2.11344237e-04,-3.45237617e-04, 7.48081586e-04,
  1.02038087e-01,-6.17568464e-05, 6.91588992e-02,-3.50320483e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030123362506999864
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.86123899e-01, -1.12578195e-02, -9.22378228e-01, -4.34718864e-03,
        9.99936629e-01, -1.03846257e-02,  9.22436684e-01,  8.67361738e-19,
       -3.86148370e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12570612, -0.03512644,  0.29854769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029527504910029784
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.81997165e-14, -1.87998110e-14,  1.00000000e+00, -5.30149342e-28,
        1.00000000e+00,  1.87998110e-14, -1.00000000e+00,  0.00000000e+00,
       -2.81997165e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08827435, -0.03694745,  0.06193483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.11606070e-06,-4.78195168e-05, 1.16983732e-05, 1.32237994e-06,
 -9.58317100e-06,-9.47970343e-04,-2.73487626e-04,-5.56771986e-05,
 -3.23353517e-05,-2.83493620e-05, 3.00235469e-05,-3.00929184e-05,
  1.03813615e-01, 1.90688446e-04,-3.25819015e-04,-3.55877982e-05,
 -3.39545075e-03, 4.46431452e-03,-9.80956068e+00,-6.53463373e-02,
 -2.38956024e-03,-1.24134630e-02]


--- Step 191 ---
qpos:
[ 0.00963793, 0.00797486,-0.00545171, 0.03277761, 0.00210847,-0.01218757,
 -0.00744223, 0.03827047, 0.01280773, 0.00580735,-0.01149456, 0.03339007,
  0.23294907, 0.00422087, 0.39840965, 0.04773347, 0.09309359,-0.06358437,
  0.1416381 , 0.96457285,-0.05266279, 0.08248498, 0.24499404]

qacc:
[ -0.77394377,  0.51628315, -4.87861976, 15.48461355, -2.69659743,
  -9.76211472, 21.98269143,-20.75347878, -0.6236573 , -3.79081986,
  15.30183109,-25.55874566,  2.532883  , -3.17748364, -1.14983583,
  -5.7994471 ,  0.64038483, -0.20651573, -0.09273192, -1.12034434,
  -2.99006887, 25.39423439]

qfrc_actuator:
[ 2.63186991e-04, 4.03910998e-04,-1.16027323e-04, 7.20153699e-04,
  1.40767319e-03, 1.54824344e-02, 6.74058750e-04, 9.22508060e-04,
  2.42268219e-04, 2.17393250e-04,-2.94608517e-04, 7.23722343e-04,
  1.02031173e-01,-5.60646060e-05, 6.89010615e-02,-3.60749050e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003012480038556701
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.85090410e-01, -1.09742845e-02, -9.22813601e-01, -4.22634622e-03,
        9.99939781e-01, -1.01278289e-02,  9.22869175e-01,  4.33680869e-19,
       -3.85113601e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12570157, -0.03511027,  0.29854842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029519518575928244
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.40244860e-15, -1.88048972e-14,  1.00000000e+00, -1.76812079e-28,
        1.00000000e+00,  1.88048972e-14, -1.00000000e+00,  0.00000000e+00,
       -9.40244860e-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([ 0.08827349, -0.03694675,  0.06193485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.60263857e-06,-1.94319841e-05, 6.12191943e-06, 3.09266221e-05,
 -1.69718512e-05,-9.33616248e-04,-2.28498909e-04,-6.14211587e-05,
 -3.83193777e-06,-4.99279294e-06, 4.74222377e-05,-2.51476844e-05,
  1.03491165e-01, 1.69165534e-04,-4.01950527e-04,-1.46309639e-04,
 -3.00483759e-03, 3.96533859e-03,-9.80961031e+00,-6.53289749e-02,
 -2.39116887e-03,-1.24221251e-02]


--- Step 192 ---
qpos:
[ 0.00964212, 0.00797795,-0.00545495, 0.03279179, 0.00213588,-0.01186284,
 -0.00742042, 0.03828991, 0.01281254, 0.00581024,-0.01149839, 0.03340377,
  0.23296114, 0.00421989, 0.40018897, 0.04774967, 0.09305172,-0.06357361,
  0.14164514, 0.96474511,-0.05271213, 0.08253825, 0.24428618]

qacc:
[ -6.86638513,  1.7347498 , -8.90036436, 20.07343585, -6.52338499,
  -7.4478252 , 12.9486094 , -5.82354609, -0.61007151, -3.12132523,
  11.35772357,-17.57438111,  2.18670258, -2.67375416,  3.98801689,
 -23.434327  ,  0.64713843, -0.19989703, -0.09548066, -1.1175619 ,
  -3.02569132, 25.21873331]

qfrc_actuator:
[ 2.23090061e-04, 4.05771569e-04,-1.23924369e-04, 7.51657902e-04,
  1.36901982e-03, 1.51548986e-02, 6.51742617e-04, 9.27014835e-04,
  2.38610556e-04, 1.48744918e-04,-2.80742289e-04, 7.03806039e-04,
  1.02026465e-01,-5.23841574e-05, 6.86823898e-02,-3.78334227e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030126689379695285
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.84064877e-01, -1.06953235e-02, -9.23244161e-01, -4.10793307e-03,
        9.99942803e-01, -9.87495979e-03,  9.23296970e-01, -4.33680869e-19,
       -3.84086846e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12569701, -0.03509477,  0.29854912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029510890075359897
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.88103954e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.88103954e-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([ 0.08827234, -0.03694621,  0.06193487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.02458156e-05,-6.54128652e-06,-1.01228823e-05, 3.14540553e-05,
 -3.94558142e-05,-9.11818131e-04,-2.49632536e-04,-4.54353753e-05,
 -3.75986652e-06,-6.28146308e-05, 1.77903338e-05,-1.90071018e-05,
  1.03208971e-01, 1.48172037e-04,-4.07297563e-04,-2.33168638e-04,
 -2.64185102e-03, 3.49816372e-03,-9.80965724e+00,-6.53124928e-02,
 -2.39268005e-03,-1.24302400e-02]


--- Step 193 ---
qpos:
[ 0.00964614, 0.00798095,-0.00545794, 0.03280588, 0.00216261,-0.01154514,
 -0.00739913, 0.03830959, 0.01281693, 0.00581232,-0.01150186, 0.03341752,
  0.2329776 , 0.00421952, 0.4019643 , 0.04776901, 0.09301246,-0.06356363,
  0.1416518 , 0.96490503,-0.05275796, 0.0825877 , 0.24362709]

qacc:
[ -1.46875079, -1.01965797,  3.89913213, -6.00041227, -5.79238085,
  -7.34446253, 11.75485178, -1.73148145, -3.72132627, -1.93663879,
   5.20293068, -4.45446903,  1.86329599, -1.56720186,-15.39933448,
  45.21069959,  0.65235385, -0.19505623, -0.097639  , -1.11594941,
  -3.05034356, 25.07515485]

qfrc_actuator:
[ 2.15579120e-04, 4.05677375e-04,-1.09511407e-04, 7.46756173e-04,
  1.33532018e-03, 1.48149152e-02, 6.29977178e-04, 9.39655936e-04,
  2.16780985e-04, 8.90160148e-05,-2.71243995e-04, 7.04326330e-04,
  1.02022945e-01,-3.23001942e-05, 6.85779050e-02,-3.59146303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003012895208690794
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.38304715, -0.01042058, -0.92367001, -0.00399179,  0.9999457 ,
       -0.0096257 ,  0.92372017,  0.        , -0.38306795])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12569247, -0.03507987,  0.2985498 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029501751867481024
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.8816222e-14, -1.8816222e-14,  1.0000000e+00,  3.5405021e-28,
        1.0000000e+00,  1.8816222e-14, -1.0000000e+00,  0.0000000e+00,
        1.8816222e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08827094, -0.03694577,  0.0619349 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.66990036e-06,-4.62829329e-06, 1.28706791e-05,-4.95057119e-06,
 -3.51395520e-05,-9.15504395e-04,-2.46539643e-04,-3.67693189e-05,
 -2.19503693e-05,-9.20712234e-05,-1.95764756e-06,-1.95332119e-06,
  1.02963590e-01, 1.46602840e-04,-3.05964489e-04, 1.28880496e-04,
 -2.30522831e-03, 3.06191547e-03,-9.80970132e+00,-6.52969600e-02,
 -2.39411570e-03,-1.24378026e-02]


--- Step 194 ---
qpos:
[ 0.00965072, 0.00798384,-0.00546042, 0.03281943, 0.00218908,-0.01123438,
 -0.00737805, 0.03832853, 0.01282103, 0.00581378,-0.01150494, 0.03343079,
  0.23299755, 0.00421954, 0.40373658, 0.04778965, 0.09297582,-0.06355442,
  0.14165805, 0.96505275,-0.0528003 , 0.08263328, 0.24301656]

qacc:
[  5.00268948, -2.67624294, 11.56237824,-21.46968972, -2.21969552,
 -10.10186759, 25.82419374,-33.16213702, -2.57891929, -2.91388774,
  11.20870198,-19.59896263,  1.56207775, -1.75201922, -8.4676809 ,
  23.00001028,  0.65625169, -0.19172446, -0.09939967, -1.11429866,
  -3.06846839, 24.95683039]

qfrc_actuator:
[ 2.45071671e-04, 4.04474480e-04,-8.20640677e-05, 7.20490567e-04,
  1.32256567e-03, 1.44880558e-02, 6.26463070e-04, 9.03723523e-04,
  2.02183217e-04, 7.05792411e-05,-2.46610418e-04, 6.81362639e-04,
  1.02020002e-01,-3.82194017e-05, 6.84515179e-02,-3.52145339e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030131544713665227
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.82038917e-01, -1.01503312e-02, -9.24090491e-01, -3.87802133e-03,
        9.99948484e-01, -9.38030780e-03,  9.24138099e-01, -4.33680869e-19,
       -3.82058599e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12568794, -0.03506556,  0.29855046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029492211831210757
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.88223086e-14, -9.41115430e-15,  1.00000000e+00, -1.77139650e-28,
        1.00000000e+00,  9.41115430e-15, -1.00000000e+00,  0.00000000e+00,
       -1.88223086e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08826937, -0.03694542,  0.06193492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.92344266e-05,-1.46544866e-06, 2.78699249e-05,-2.61468406e-05,
 -1.40717317e-05,-9.03169398e-04,-2.28281241e-04,-8.52089201e-05,
 -1.52479015e-05,-7.04706575e-05, 5.29757836e-06,-2.70408111e-05,
  1.02740810e-01, 1.10933494e-04,-2.44771621e-04, 3.93349421e-05,
 -1.99394400e-03, 2.65593362e-03,-9.80974241e+00,-6.52824258e-02,
 -2.39549175e-03,-1.24448102e-02]


--- Step 195 ---
qpos:
[ 0.00965597, 0.00798661,-0.00546278, 0.03283259, 0.00221518,-0.01093037,
 -0.00735732, 0.03834652, 0.01282491, 0.00581495,-0.01150785, 0.033444  ,
  0.23302033, 0.00421983, 0.40550628, 0.04781053, 0.09294182,-0.06354597,
  0.1416639 , 0.96518844,-0.05283917, 0.08267497, 0.24245444]

qacc:
[  5.82011097, -1.28449202,  5.95697378,-12.75316413, -3.02851341,
  -9.89968678, 26.39175622,-37.38827584, -1.81204831, -0.93844573,
   3.04436791, -4.11214655,  1.30092658, -1.60576246, -4.58395632,
  10.4040813 ,  0.65919468, -0.18946539, -0.10077476, -1.11316359,
  -3.08036141, 24.85894948]

qfrc_actuator:
[ 2.78344591e-04, 3.84905784e-04,-8.26653326e-05, 6.99628812e-04,
  1.30448704e-03, 1.41718045e-02, 6.16050727e-04, 8.57279125e-04,
  1.91964813e-04, 7.70565453e-05,-2.30842612e-04, 6.80312559e-04,
  1.02027982e-01,-4.20099570e-05, 6.83386768e-02,-3.50623605e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003013435460961673
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.81036531e-01, -9.88317519e-03, -9.24507158e-01, -3.76603472e-03,
        9.99951160e-01, -9.13751248e-03,  9.24552313e-01, -4.33680869e-19,
       -3.81055142e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12568344, -0.03505174,  0.2985511 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002948235932613119
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41214490e-14, -2.82428980e-14,  1.00000000e+00, -3.98830645e-28,
        1.00000000e+00,  2.82428980e-14, -1.00000000e+00,  0.00000000e+00,
       -1.41214490e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08826764, -0.03694513,  0.06193494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.40959055e-05,-1.58620945e-05, 1.58298068e-06,-2.05024354e-05,
 -1.87854323e-05,-8.83703932e-04,-2.31973860e-04,-9.54866296e-05,
 -1.06713858e-05,-3.30337042e-05, 9.22281143e-07,-4.43757029e-06,
  1.02574936e-01, 8.84322972e-05,-2.17456981e-04,-1.35888136e-05,
 -1.70714726e-03, 2.27970909e-03,-9.80978048e+00,-6.52689155e-02,
 -2.39681508e-03,-1.24512613e-02]


--- Step 196 ---
qpos:
[ 0.00966158, 0.00798922,-0.00546509, 0.03284506, 0.00224053,-0.0106329 ,
 -0.00733737, 0.03836414, 0.01282899, 0.00581621,-0.01151157, 0.03345712,
  0.23304634, 0.00422087, 0.407273  , 0.04783342, 0.09291047,-0.06353827,
  0.14166935, 0.9653122 ,-0.05287458, 0.08271276, 0.24194057]

qacc:
[  3.14678151, -1.79648586,  9.02275938,-20.96163578, -6.58648914,
  -7.21632355, 14.76439351,-15.06392411,  1.66245303,  2.14512113,
  -7.08931577,  6.63082373,  1.05181303,  0.61173879,-10.47632142,
  30.23792636,  0.66152781, -0.18786459, -0.10174018, -1.113468  ,
  -3.08526697, 24.77786574]

qfrc_actuator:
[ 2.95811339e-04, 3.72135771e-04,-8.21428845e-05, 6.64327817e-04,
  1.26565996e-03, 1.38645006e-02, 5.83970137e-04, 8.40544102e-04,
  2.02156304e-04, 8.06488993e-05,-2.73566231e-04, 6.74433230e-04,
  1.02031797e-01, 8.68741230e-06, 6.82074030e-02,-3.39908617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003013730404846959
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.38003824, -0.00961836, -0.92492077, -0.00365551,  0.99995374,
       -0.00889663,  0.92496355,  0.        , -0.38005582])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12567896, -0.03503837,  0.29855171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029472267000466706
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82525694e-14, -9.41752313e-15,  1.00000000e+00,  2.66069226e-28,
        1.00000000e+00,  9.41752313e-15, -1.00000000e+00,  0.00000000e+00,
        2.82525694e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0882658 , -0.03694488,  0.06193497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.84244048e-05,-2.22983265e-05,-3.30925752e-06,-3.63576720e-05,
 -3.96614528e-05,-8.64824452e-04,-2.50345985e-04,-6.52527017e-05,
  9.88011315e-06,-1.49090992e-05,-4.95916825e-05,-7.37378175e-06,
  1.02437450e-01, 1.25784957e-04,-2.31460142e-04, 7.83962420e-05,
 -1.44414066e-03, 1.93286272e-03,-9.80981547e+00,-6.52564498e-02,
 -2.39809260e-03,-1.24571557e-02]


--- Step 197 ---
qpos:
[ 0.00966701, 0.00799153,-0.00546729, 0.03285668, 0.00226555,-0.01034201,
 -0.00731804, 0.0383814 , 0.01283316, 0.00581761,-0.01151641, 0.03346973,
  0.23307424, 0.00422221, 0.40903645, 0.04785779, 0.09288177,-0.06353131,
  0.14167438, 0.96542415,-0.05290653, 0.08274663, 0.24147486]

qacc:
[ -1.56176886, -2.46022449, 11.78318982,-26.4503607 , -2.68039103,
  -7.68382862, 16.28975282,-16.62918366,  0.75695373,  2.26886088,
  -5.6561612 , -1.44111155,  0.79977184, -0.60631165, -9.33338004,
  25.60939963,  0.66303044, -0.18718233, -0.10264704, -1.11195898,
  -3.09098632, 24.70952178]

qfrc_actuator:
[ 2.86081191e-04, 3.45766786e-04,-8.09409664e-05, 6.20821140e-04,
  1.25043837e-03, 1.35472962e-02, 5.57202837e-04, 8.23674539e-04,
  2.06524775e-04, 8.22559031e-05,-3.32735685e-04, 6.47965607e-04,
  1.02022323e-01,-1.50135032e-05, 6.80385685e-02,-3.32740254e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003014045963749726
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.37905203, -0.00935823, -0.92532804, -0.00354741,  0.99995621,
       -0.00865981,  0.92536856,  0.        , -0.37906863])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12567453, -0.0350255 ,  0.29855231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002946199169897315
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.71040381e-15, -9.42080763e-15,  1.00000000e+00, -4.43758082e-29,
        1.00000000e+00,  9.42080763e-15, -1.00000000e+00,  0.00000000e+00,
       -4.71040381e-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([ 0.08826388, -0.03694465,  0.06193499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.21977356e-06,-4.11867336e-05,-5.10753454e-06,-4.53146772e-05,
 -1.66479329e-05,-8.66426840e-04,-2.42262231e-04,-6.46073681e-05,
  4.64913403e-06,-1.73046131e-05,-6.86090432e-05,-2.89892355e-05,
  1.02266009e-01, 6.55435627e-05,-2.63737120e-04, 4.65911753e-05,
 -1.20435039e-03, 1.61511493e-03,-9.80984737e+00,-6.52450477e-02,
 -2.39933154e-03,-1.24624948e-02]


--- Step 198 ---
qpos:
[ 0.00967193, 0.00799375,-0.00546985, 0.03286804, 0.0022902 ,-0.01005763,
 -0.00729953, 0.03839762, 0.01283735, 0.00581917,-0.011522  , 0.03348189,
  0.23310132, 0.00422393, 0.41079675, 0.04788086, 0.09285573,-0.063525  ,
  0.14167857, 0.96552432,-0.05293569, 0.08277679, 0.24105725]

qacc:
[ -4.43122672,  0.3495023 , -0.31253274, -3.5737705 , -3.21073877,
  -8.41775143, 21.90308665,-33.71598094,  0.14948725,  1.41394366,
  -2.90302718, -3.59287549, -0.85824379,  3.14209643, -0.67638032,
  -4.32246493,  0.66557658, -0.16011481, -0.21241589, -1.39899542,
  -2.91231725, 24.65522879]

qfrc_actuator:
[ 2.60426670e-04, 3.46955649e-04,-9.71603765e-05, 6.08331195e-04,
  1.23148624e-03, 1.32268133e-02, 5.16031860e-04, 7.71356654e-04,
  2.07424280e-04, 1.00316445e-04,-3.65637538e-04, 6.27345327e-04,
  1.02010207e-01,-6.54485321e-05, 6.78633081e-02,-3.40154964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0031265560324035303
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35870435,  0.02836198, -0.93302025,  0.01017766,  0.99959772,
        0.02647295,  0.93339574,  0.        , -0.35884871])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12567013, -0.03501299,  0.2985529 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029451583080981614
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35603427e-14, -2.82724112e-14,  1.00000000e+00, -6.66107698e-28,
        1.00000000e+00,  2.82724112e-14, -1.00000000e+00,  0.00000000e+00,
       -2.35603427e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08826189, -0.03694444,  0.06193502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.59368107e-05,-2.49442301e-05,-2.69565076e-05,-1.53403824e-05,
 -1.97195930e-05,-8.68648742e-04,-2.55894504e-04,-9.98161187e-05,
  1.03157547e-06,-7.03823851e-06,-4.59138915e-05,-2.43197151e-05,
  1.02159475e-01, 1.02359473e-06,-2.88093808e-04,-1.05040712e-04,
 -9.87271688e-04, 1.32623017e-03,-9.80987620e+00,-6.52347007e-02,
 -2.40052694e-03,-1.24672791e-02]


--- Step 199 ---
qpos:
[ 0.00967616, 0.00799602,-0.00547269, 0.03287914, 0.00231442,-0.00977922,
 -0.00728204, 0.03841303, 0.01284186, 0.00582049,-0.01152731, 0.03349404,
  0.2331287 , 0.00422528, 0.41255407, 0.04790144, 0.09283235,-0.06351946,
  0.14168243, 0.96561288,-0.05296128, 0.08280299, 0.24068761]

qacc:
[-6.07470103e+00, 3.50246922e-01, 5.35707867e-03,-4.18788466e+00,
 -3.59327997e+00,-6.77903586e+00, 1.62238045e+01,-2.45324644e+01,
  2.85762826e+00,-1.13374055e+00, 3.66168210e+00,-4.26148913e+00,
  5.82273145e-01,-2.56931428e+00, 3.07251804e+00,-1.72263426e+01,
  6.64500441e-01,-1.92792327e-01,-8.04444210e-02,-1.04749274e+00,
 -3.13442542e+00, 2.46030794e+01]

qfrc_actuator:
[ 2.25614006e-04, 3.64592576e-04,-1.05653709e-04, 5.96449586e-04,
  1.21048254e-03, 1.29779395e-02, 4.84426585e-04, 7.34096916e-04,
  2.24029228e-04, 9.26887961e-05,-3.47181270e-04, 6.28121495e-04,
  1.02002006e-01,-6.11265876e-05, 6.77215804e-02,-3.52549027e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030142170643110027
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.37714657, -0.00885769, -0.92611123, -0.00334078,  0.99996077,
       -0.00820353,  0.92614756,  0.        , -0.37716136])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12566588, -0.03500105,  0.29855343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029445806185145473
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.71299299e-15, -2.82779579e-14,  1.00000000e+00,  1.33273817e-28,
        1.00000000e+00,  2.82779579e-14, -1.00000000e+00,  0.00000000e+00,
        4.71299299e-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([ 0.08825985, -0.03694436,  0.06193503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.55651712e-05,-2.63802251e-06,-1.75221664e-05,-1.42062249e-05,
 -2.18576825e-05,-8.02358878e-04,-2.49596266e-04,-8.59911875e-05,
  1.66362768e-05,-2.20941195e-05, 1.05300712e-05,-1.60471152e-06,
  1.02191916e-01,-1.35960817e-05,-2.84268403e-04,-1.66751961e-04,
 -7.93934315e-04, 1.06625551e-03,-9.80990034e+00,-6.52259314e-02,
 -2.40244561e-03,-1.24715879e-02]


--- Step 200 ---
qpos:
[ 0.00968029, 0.00799813,-0.00547529, 0.03289034, 0.00233821,-0.0095064 ,
 -0.00726516, 0.03842846, 0.01284688, 0.00582155,-0.01153209, 0.03350644,
  0.23315659, 0.00422653, 0.41430785, 0.04792234, 0.09281164,-0.06351468,
  0.14168595, 0.9656899 ,-0.05298334, 0.08282524, 0.24036588]

qacc:
[-9.14779066e-01,-6.78308740e-01, 1.63248154e+00,-1.15650293e-02,
 -3.77496752e+00,-5.55596196e+00, 8.97293192e+00,-3.30157337e+00,
  4.49777630e+00,-1.34674352e+00, 3.26086271e+00, 3.10300591e-01,
  4.70100229e-01,-1.42765445e+00,-6.18322494e+00, 1.40211044e+01,
  6.65273892e-01,-1.91821187e-01,-8.46444291e-02,-1.05924449e+00,
 -3.12327771e+00, 2.45631400e+01]

qfrc_actuator:
[ 2.21200476e-04, 3.56474395e-04,-9.16876318e-05, 6.02793353e-04,
  1.18844081e-03, 1.27563381e-02, 4.76818304e-04, 7.41581776e-04,
  2.49746035e-04, 8.77269677e-05,-3.16395383e-04, 6.41491864e-04,
  1.01996085e-01,-5.88526042e-05, 6.75681159e-02,-3.50008116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00301414534038122
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.76199568e-01, -8.60902229e-03, -9.26498662e-01, -3.23883049e-03,
        9.99962942e-01, -7.97654322e-03,  9.26532997e-01,  4.33680869e-19,
       -3.76213510e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12566166, -0.03498921,  0.29855396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029438952974511906
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.42818029e-15, -1.88563606e-14,  1.00000000e+00, -1.77781167e-28,
        1.00000000e+00,  1.88563606e-14, -1.00000000e+00,  0.00000000e+00,
       -9.42818029e-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([ 0.08825776, -0.03694426,  0.06193505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.43282682e-06,-1.39213867e-05, 1.07504662e-05, 5.32513604e-06,
 -2.29343596e-05,-7.35893650e-04,-2.10568499e-04,-3.79015411e-05,
  2.61827242e-05,-1.52032353e-05, 2.74871402e-05, 1.27386467e-05,
  1.02171460e-01, 7.73787281e-06,-3.00815150e-04,-2.02921948e-05,
 -6.20672990e-04, 8.34571910e-04,-9.80992358e+00,-6.52176034e-02,
 -2.40327538e-03,-1.24753083e-02]


--- Step 201 ---
qpos:
[ 0.00968433, 0.00800011,-0.00547771, 0.03290154, 0.00236155,-0.0092391 ,
 -0.00724866, 0.03844348, 0.01285182, 0.00582254,-0.0115368 , 0.0335189 ,
  0.23318394, 0.00422859, 0.41605823, 0.04794364, 0.09279359,-0.06351057,
  0.14168869, 0.96575538,-0.05300254, 0.08284377, 0.24009205]

qacc:
[ -0.74193626, -0.71226853,  2.35105382, -2.78493395, -3.84567424,
  -7.12967984, 16.59743128,-19.16882136, -0.66240299, -0.14336083,
   0.0942751 ,  1.04866165, -1.14221894,  5.19311807, -6.20980516,
  14.53004697,  0.66749162, -0.16421058, -0.19750927, -1.35812212,
  -2.92859799, 24.53175461]

qfrc_actuator:
[ 2.16964617e-04, 3.50864383e-04,-8.24128402e-05, 6.02052254e-04,
  1.16596530e-03, 1.24998462e-02, 4.65880181e-04, 7.22126809e-04,
  2.45109843e-04, 8.44811043e-05,-3.14086796e-04, 6.44410391e-04,
  1.01991499e-01,-4.01733425e-05, 6.74130912e-02,-3.47563197e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0031264483590935067
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35576577,  0.0291674 , -0.9341199 ,  0.01038118,  0.99957454,
        0.02725744,  0.93451749,  0.        , -0.3559172 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12565747, -0.03497751,  0.2985545 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002943121832445661
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.30073032e-14,  9.43065805e-15,  1.00000000e+00, -3.11280590e-28,
        1.00000000e+00, -9.43065805e-15, -1.00000000e+00,  0.00000000e+00,
        3.30073032e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08825565, -0.03694413,  0.06193507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.40235416e-06,-1.10318846e-05, 7.88425455e-06,-8.86529765e-07,
 -2.33790650e-05,-7.23284311e-04,-1.93625647e-04,-5.96932172e-05,
 -3.89803235e-06,-5.50903684e-06, 3.01444103e-06, 3.44649317e-06,
  1.02140693e-01, 3.21483383e-05,-2.91915793e-04,-1.48123090e-05,
 -4.69193445e-04, 6.31383067e-04,-9.80994364e+00,-6.52103657e-02,
 -2.40414112e-03,-1.24784700e-02]


--- Step 202 ---
qpos:
[ 0.00968829, 0.00800223,-0.00548037, 0.03291228, 0.00238444,-0.00897724,
 -0.00723251, 0.03845777, 0.01285668, 0.00582318,-0.01154129, 0.03353133,
  0.23320992, 0.004231  , 0.41780568, 0.04796068, 0.09277821,-0.06350713,
  0.14169071, 0.96580937,-0.05301877, 0.08285854, 0.23986606]

qacc:
[ -0.73478064, -0.03898893,  2.32414672, -9.80446195, -3.86293033,
  -7.67041304, 19.96340208,-27.8576081 , -0.80955256, -1.14147947,
   3.51998701, -4.17375238, -1.18673823,  3.71662483,  8.59888161,
 -36.24379182,  0.66731152, -0.16988039, -0.17718669, -1.30206827,
  -2.96240928, 24.50161477]

qfrc_actuator:
[ 2.12857546e-04, 3.64537940e-04,-9.37444905e-05, 5.79386344e-04,
  1.14341452e-03, 1.22423467e-02, 4.52934576e-04, 6.86944600e-04,
  2.40395528e-04, 4.66682917e-05,-3.10863564e-04, 6.41133901e-04,
  1.01993119e-01,-4.80274020e-05, 6.72465958e-02,-3.70050820e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003126080337651422
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3548416 ,  0.0294229 , -0.93446334,  0.01044499,  0.99956705,
        0.02750653,  0.93486809,  0.        , -0.35499529])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12565343, -0.03496636,  0.29855498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029427503422762152
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82955457e-14, -1.88636971e-14,  1.00000000e+00, -5.33758605e-28,
        1.00000000e+00,  1.88636971e-14, -1.00000000e+00,  0.00000000e+00,
       -2.82955457e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08825351, -0.0369441 ,  0.06193508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.24260394e-06, 9.01245259e-06,-1.26938298e-05,-2.29077045e-05,
 -2.34621929e-05,-7.14468852e-04,-1.91625625e-04,-7.47039562e-05,
 -4.82650571e-06,-4.01176842e-05, 2.59659175e-06,-3.35960936e-06,
  1.02169125e-01,-1.56763001e-05,-2.99989293e-04,-2.62973770e-04,
 -3.40177231e-04, 4.56758190e-04,-9.80995951e+00,-6.52045692e-02,
 -2.40551034e-03,-1.24811497e-02]


--- Step 203 ---
qpos:
[ 0.00969252, 0.00800449,-0.00548315, 0.03292232, 0.00240687,-0.0087209 ,
 -0.007217  , 0.03847224, 0.01286143, 0.00582338,-0.01154589, 0.03354331,
  0.23323516, 0.00423277, 0.41954961, 0.04797455, 0.09276549,-0.0635045 ,
  0.14169254, 0.96585201,-0.05303129, 0.08286931, 0.23968782]

qacc:
[  2.31716579, -0.95717723,  6.6432218 ,-18.7820751 , -3.84704777,
  -5.12140546,  6.97590235,  1.09393223, -0.82426221, -1.18230285,
   5.27438252,-12.53568291,  0.3087202 , -3.00875989,  4.355775  ,
 -22.87253897,  0.66538696, -0.20170347, -0.0506618 , -0.96642869,
  -3.17467195, 24.47447511]

qfrc_actuator:
[ 2.26611633e-04, 3.71800027e-04,-9.93327120e-05, 5.44005694e-04,
  1.12100002e-03, 1.19686178e-02, 4.21169293e-04, 6.96053977e-04,
  2.35682427e-04, 6.19106130e-06,-3.25013828e-04, 6.16463202e-04,
  1.02003881e-01,-7.16714217e-05, 6.70732965e-02,-3.85744988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030130025236705946
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.73465103e-01, -7.89213506e-03, -9.27610657e-01, -2.94752883e-03,
        9.99968857e-01, -7.32105659e-03,  9.27639547e-01,  4.33680869e-19,
       -3.73476735e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12564951, -0.03495558,  0.29855542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002942693342949651
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.88640625e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.88640625e-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([ 0.08825136, -0.03694414,  0.06193508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36317049e-05, 8.61425710e-06,-6.10422486e-06,-3.59028720e-05,
 -2.33244397e-05,-7.25795136e-04,-2.08827683e-04,-3.02429767e-05,
 -4.86439436e-06,-6.25033251e-05,-2.22108877e-05,-2.63834139e-05,
  1.02248137e-01,-5.66070119e-05,-3.39669036e-04,-2.10243890e-04,
 -2.31933661e-04, 3.10391223e-04,-9.80997290e+00,-6.51997139e-02,
 -2.40656172e-03,-1.24833189e-02]


--- Step 204 ---
qpos:
[ 0.00969653, 0.00800677,-0.00548565, 0.03293149, 0.00242922,-0.00847036,
 -0.00720192, 0.03848672, 0.01286575, 0.00582328,-0.01155069, 0.0335549 ,
  0.23326019, 0.00423428, 0.42128982, 0.04798994, 0.09275544,-0.06350266,
  0.14169412, 0.96588332,-0.05304016, 0.08287611, 0.23955732]

qacc:
[ -1.86186506, -2.51654069, 12.65289259,-28.01765283, -0.77276971,
  -6.4621229 , 11.86932722, -6.77131714, -3.85917326, -0.66666744,
   3.5092492 , -9.92644398,  0.25882388, -1.61473041,-10.08644634,
  27.2792865 ,  0.665832  , -0.19960936, -0.05988235, -0.99275857,
  -3.15179926, 24.45485382]

qfrc_actuator:
[ 2.15262863e-04, 3.75174332e-04,-8.37508594e-05, 5.01434521e-04,
  1.11659755e-03, 1.16696427e-02, 3.96293347e-04, 6.95627570e-04,
  2.13255445e-04,-1.59828855e-07,-3.31594367e-04, 5.97137093e-04,
  1.02009469e-01,-6.84255208e-05, 6.69440063e-02,-3.75998143e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003012458585536939
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.72548460e-01, -7.65112379e-03, -9.27981199e-01, -2.85049782e-03,
        9.99970730e-01, -7.10030686e-03,  9.28008362e-01,  4.33680869e-19,
       -3.72559365e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1256456 , -0.03494465,  0.29855589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029424032597666627
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.43296114e-15, -1.88659223e-14,  1.00000000e+00, -1.77961512e-28,
        1.00000000e+00,  1.88659223e-14, -1.00000000e+00,  0.00000000e+00,
       -9.43296114e-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([ 0.08824919, -0.03694412,  0.06193509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09619636e-05, 5.31169738e-06, 1.53460063e-05,-4.31346291e-05,
 -5.31334626e-06,-7.58815751e-04,-2.04786510e-04,-3.99804771e-05,
 -2.25867922e-05,-4.69881982e-05,-2.31099549e-05,-2.33023240e-05,
  1.02290731e-01,-2.05399527e-05,-3.05225730e-04, 4.26486289e-05,
 -1.43778758e-04, 1.92134723e-04,-9.80998441e+00,-6.51955665e-02,
 -2.40706801e-03,-1.24849021e-02]


--- Step 205 ---
qpos:
[ 0.00970003, 0.00800913,-0.00548774, 0.03294076, 0.00245098,-0.00822571,
 -0.00718725, 0.03850073, 0.01286977, 0.00582324,-0.01155576, 0.03356646,
  0.23328385, 0.00423633, 0.42302682, 0.04800559, 0.09274805,-0.06350151,
  0.14169499, 0.96590325,-0.05304609, 0.08287918, 0.23947456]

qacc:
[ -4.48308835, -0.86470111,  2.85819135, -2.01262711, -4.91333656,
  -7.61374633, 17.83666343,-20.94543449, -2.67246775,  0.79231735,
  -2.61345619,  2.6504151 , -1.31074695,  4.45946882, -5.50491154,
  12.48526014,  0.66792966, -0.17086337, -0.1775385 , -1.30373167,
  -2.94667411, 24.43936528]

qfrc_actuator:
[ 1.89224296e-04, 3.94027228e-04,-5.58146443e-05, 5.08243675e-04,
  1.08732622e-03, 1.13757759e-02, 3.75594092e-04, 6.71823143e-04,
  1.98334895e-04, 3.17543876e-05,-3.33505846e-04, 5.98902022e-04,
  1.02001281e-01,-6.69251894e-05, 6.67986592e-02,-3.74407031e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003124548872950555
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.52096653e-01,  3.01936386e-02, -9.35476505e-01,  1.06359283e-02,
        9.99544068e-01,  2.82583234e-02,  9.35903213e-01,  1.73472348e-18,
       -3.52257258e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12564169, -0.03493369,  0.29855638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002941921052888069
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88690146e-14,  9.43450729e-15,  1.00000000e+00, -1.78019856e-28,
        1.00000000e+00, -9.43450729e-15, -1.00000000e+00,  0.00000000e+00,
        1.88690146e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08824701, -0.03694406,  0.0619351 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63542942e-05, 2.30544708e-05, 2.94095468e-05, 6.70791956e-06,
 -2.96785037e-05,-7.71532822e-04,-2.07197329e-04,-6.48099141e-05,
 -1.55799921e-05,-9.42329217e-08,-1.52332853e-05,-1.51490106e-06,
  1.02292993e-01,-5.47405585e-06,-2.77413584e-04,-2.04247422e-05,
 -7.67287655e-05, 1.02145641e-04,-9.80999274e+00,-6.51925023e-02,
 -2.40766526e-03,-1.24859210e-02]


--- Step 206 ---
qpos:
[ 0.00970319, 0.00801155,-0.00548973, 0.03295006, 0.00247189,-0.00798667,
 -0.00717313, 0.03851431, 0.01287357, 0.00582369,-0.01156102, 0.0335772 ,
  0.23330712, 0.004238  , 0.42476048, 0.04801769, 0.09274333,-0.06350118,
  0.14169566, 0.96591191,-0.05304832, 0.08287828, 0.23943947]

qacc:
[-2.97716478e+00,-9.97950703e-02, 3.59874419e-01,-1.39701859e-02,
 -7.49590558e+00,-6.72490038e+00, 1.50873842e+01,-1.75881511e+01,
 -1.86842410e+00,-4.76845077e-01, 6.11277119e+00,-2.03632707e+01,
  1.92441373e-01,-1.73770220e+00, 5.82137348e+00,-2.75567649e+01,
  6.65726569e-01,-2.02790990e-01,-5.06623168e-02,-9.66536126e-01,
 -3.16252151e+00, 2.44229265e+01]

qfrc_actuator:
[ 1.72508851e-04, 3.86598118e-04,-5.62207051e-05, 5.08567696e-04,
  1.04364612e-03, 1.11228838e-02, 3.57544943e-04, 6.52215731e-04,
  1.87957798e-04, 8.63849742e-05,-3.32467203e-04, 5.59842339e-04,
  1.01995591e-01,-6.71648501e-05, 6.66011608e-02,-3.93622313e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003011362646805829
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3706851 , -0.00716031, -0.92873101, -0.00265429,  0.99997436,
       -0.00665018,  0.92875482,  0.        , -0.3706946 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12563792, -0.0349231 ,  0.29855683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002941757147765664
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.35875824e-14,  9.43503295e-15,  1.00000000e+00, -2.22549617e-28,
        1.00000000e+00, -9.43503295e-15, -1.00000000e+00,  0.00000000e+00,
        2.35875824e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08824482, -0.03694406,  0.0619351 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74668134e-05, 1.17236545e-05, 8.18416179e-06, 2.43918592e-06,
 -4.47867209e-05,-7.39020195e-04,-2.08254183e-04,-6.17083315e-05,
 -1.08223174e-05, 5.14084413e-05,-8.70916094e-07,-3.96332428e-05,
  1.02355280e-01,-3.20587534e-05,-3.26529101e-04,-2.29041460e-04,
 -3.09273564e-05, 4.04242800e-05,-9.80999766e+00,-6.51906528e-02,
 -2.40843395e-03,-1.24864461e-02]


--- Step 207 ---
qpos:
[ 0.00970612, 0.00801382,-0.0054916 , 0.03295966, 0.00249279,-0.00775293,
 -0.00715928, 0.03852713, 0.01287722, 0.00582458,-0.01156598, 0.03358701,
  0.23332988, 0.00423936, 0.42649023, 0.04803098, 0.09274128,-0.06350164,
  0.14169609, 0.96590929,-0.05304691, 0.08287341, 0.23945203]

qacc:
[ -1.96856729,  0.07886222, -1.8696082 ,  7.05865866,  0.11015358,
  -7.81561323, 20.89208003,-29.65627342, -1.35437917, -2.18710368,
  12.55060081,-29.39944446,  0.13973046, -1.52166477, -9.41731441,
  24.50589654,  0.66597728, -0.20071498, -0.06011675, -0.99112735,
  -3.14305598, 24.41152263]

qfrc_actuator:
[ 1.61419417e-04, 3.63377938e-04,-5.57233842e-05, 5.22776009e-04,
  1.04510102e-03, 1.08966440e-02, 3.59154041e-04, 6.17526786e-04,
  1.80335805e-04, 1.18687369e-04,-3.11865048e-04, 5.14849767e-04,
  1.01996686e-01,-8.55044725e-05, 6.64470584e-02,-3.85893890e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030108464793454663
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.69731218e-01, -6.90849280e-03, -9.29113071e-01, -2.55434641e-03,
        9.99976136e-01, -6.41892414e-03,  9.29135244e-01, -4.33680869e-19,
       -3.69740041e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12563414, -0.03491241,  0.2985573 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029413619746041786
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.35907514e-14, -9.43630055e-15,  1.00000000e+00,  2.22609420e-28,
        1.00000000e+00,  9.43630055e-15, -1.00000000e+00,  0.00000000e+00,
        2.35907514e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08824263, -0.036944  ,  0.06193511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15908466e-05,-1.49704653e-05, 3.98309504e-06, 1.50197314e-05,
 -7.18117997e-08,-6.94066138e-04,-1.81829052e-04,-7.53575077e-05,
 -7.91181080e-06, 5.92013341e-05, 2.97791975e-05,-4.36030650e-05,
  1.02375949e-01,-3.11136209e-05,-3.26708048e-04, 2.29628418e-05,
 -5.45750419e-06, 6.77966553e-06,-9.81000009e+00,-6.51896806e-02,
 -2.40897604e-03,-1.24863969e-02]


--- Step 208 ---
qpos:
[ 0.0097089 , 0.00801594,-0.00549319, 0.03297003, 0.00251356,-0.0075242 ,
 -0.00714605, 0.03853976, 0.01288076, 0.00582594,-0.01157042, 0.03359654,
  0.23335043, 0.00424098, 0.42821658, 0.04804822, 0.09274189,-0.06350279,
  0.14169581, 0.96589533,-0.05304257, 0.08286483, 0.23951227]

qacc:
[ -1.35789274,  0.62609748, -5.75049817, 18.75648006, -1.20957832,
  -5.29439447, 10.09641939, -8.80972498, -1.04662035, -1.41059439,
   7.1548017 ,-13.33678946, -1.40549486,  3.47159914,-16.94581234,
  52.10091562,  0.66803647, -0.17175851, -0.17847876, -1.30132154,
  -2.93902754, 24.4023041 ]

qfrc_actuator:
[ 1.53727007e-04, 3.66390149e-04,-3.69966647e-05, 5.62782183e-04,
  1.03760928e-03, 1.06705852e-02, 3.36988197e-04, 6.09791725e-04,
  1.74394627e-04, 1.55203678e-04,-2.79952745e-04, 5.02236743e-04,
  1.01991225e-01,-1.14624366e-04, 6.63351439e-02,-3.64107579e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003123136267601384
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.49315966e-01,  3.09921633e-02, -9.36492307e-01,  1.08312605e-02,
        9.99519628e-01,  2.90378715e-02,  9.36942389e-01,  1.73472348e-18,
       -3.49483848e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12563038, -0.03490164,  0.29855779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029407768440393584
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.71908905e-15, -9.43817810e-15,  1.00000000e+00, -4.45396030e-29,
        1.00000000e+00,  9.43817810e-15, -1.00000000e+00,  0.00000000e+00,
       -4.71908905e-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([ 0.08824044, -0.0369439 ,  0.06193513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.03576683e-06,-3.98781763e-06, 1.66160628e-05, 3.97724053e-05,
 -7.72587291e-06,-6.63659980e-04,-1.93470520e-04,-4.58164561e-05,
 -6.14510545e-06, 7.39172409e-05, 4.63299629e-05,-9.90610900e-06,
  1.02395733e-01,-4.44641544e-05,-2.55365401e-04, 1.77836846e-04,
 -8.06535566e-07, 1.27265555e-06,-9.80999944e+00,-6.51897603e-02,
 -2.40958121e-03,-1.24857856e-02]


--- Step 209 ---
qpos:
[ 0.00971156, 0.00801814,-0.00549484, 0.03297977, 0.00253372,-0.00730038,
 -0.00713335, 0.03855251, 0.01288384, 0.00582791,-0.01157452, 0.03360618,
  0.23336873, 0.00424266, 0.42994003, 0.04806296, 0.09274518,-0.06350465,
  0.14169488, 0.96587003,-0.05303518, 0.08285251, 0.23962015]

qacc:
[ -1.00532655, -1.06784944,  6.66928411,-17.75961523, -5.15502182,
  -4.73681323,  6.97292679, -0.39604299, -3.90256285,  0.07288088,
   0.44189418,  0.49472686, -1.34898601,  2.86736268,  3.35732392,
 -17.84682973,  0.6677482 , -0.17619249, -0.16166284, -1.25419837,
  -2.96822037, 24.39445773]

qfrc_actuator:
[ 1.48093818e-04, 3.67430259e-04,-4.30451300e-05, 5.28914802e-04,
  1.00714453e-03, 1.04464653e-02, 3.18767911e-04, 6.17970556e-04,
  1.51736704e-04, 1.94041342e-04,-2.59336247e-04, 5.08785266e-04,
  1.01982002e-01,-1.15143120e-04, 6.61527727e-02,-3.78592021e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0031225017410086505
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.34840395,  0.03125809, -0.93682315,  0.01089577,  0.99951135,
        0.02929762,  0.93728116,  0.        , -0.34857428])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12562675, -0.03489116,  0.29855824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029405146371224433
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.71950985e-15, -1.88780394e-14,  1.00000000e+00,  8.90950931e-29,
        1.00000000e+00,  1.88780394e-14, -1.00000000e+00,  0.00000000e+00,
        4.71950985e-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([ 0.08823824, -0.03694387,  0.06193513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.87297506e-06, 3.85360867e-06,-3.48148833e-06,-3.27138393e-05,
 -3.09075532e-05,-6.45669412e-04,-1.83589092e-04,-2.84140878e-05,
 -2.28066173e-05, 8.93084521e-05, 4.12672795e-05, 1.11128789e-05,
  1.02496147e-01,-5.71748669e-05,-2.80102873e-04,-1.68047816e-04,
 -1.67090802e-05, 2.38151873e-05,-9.80999603e+00,-6.51908674e-02,
 -2.41005814e-03,-1.24846757e-02]


--- Step 210 ---
qpos:
[ 0.00971414, 0.00802024,-0.00549645, 0.03298869, 0.00255336,-0.00708148,
 -0.00712047, 0.03856485, 0.01288664, 0.00583017,-0.01157847, 0.03361622,
  0.23338535, 0.00424469, 0.43165998, 0.04807686, 0.09275114,-0.06350722,
  0.14169336, 0.9658334 ,-0.05302466, 0.08283641, 0.23977566]

qacc:
[ -0.77227929, -1.91557108, 10.0418909 ,-24.0327755 , -4.48404355,
  -7.85050186, 20.27131234,-23.97353293, -2.59707606,  0.82058865,
  -4.04209805, 10.5423344 , -1.29353472,  3.69464925, -2.57393478,
   1.61193082,  0.66773674, -0.17953855, -0.14763822, -1.21662448,
  -2.98960654, 24.38980817]

qfrc_actuator:
[ 1.43716695e-04, 3.49375346e-04,-4.59835307e-05, 4.87334121e-04,
  9.81157386e-04, 1.02254105e-02, 3.38581083e-04, 5.99951810e-04,
  1.37173175e-04, 1.80687705e-04,-2.63288520e-04, 5.26544094e-04,
  1.01975931e-01,-8.06603152e-05, 6.59867877e-02,-3.82395825e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003121593946677117
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3475221 ,  0.03151748, -0.93714195,  0.01095847,  0.9995032 ,
        0.02955104,  0.93760776,  0.        , -0.34769483])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12562323, -0.03488087,  0.29855867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029405023067897024
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88781186e-14, -9.43905929e-15,  1.00000000e+00,  1.78191681e-28,
        1.00000000e+00,  9.43905929e-15, -1.00000000e+00,  0.00000000e+00,
        1.88781186e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08823604, -0.03694391,  0.06193513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.54878799e-06,-1.81136216e-05,-3.73377241e-06,-4.21959330e-05,
 -2.70864789e-05,-6.29580686e-04,-1.39955808e-04,-5.31473096e-05,
 -1.51787982e-05, 4.55454346e-05, 1.99701907e-05, 2.32148895e-05,
  1.02602692e-01,-2.54045809e-05,-3.14170532e-04,-8.38241808e-05,
 -5.30732493e-05, 7.43528886e-05,-9.80998993e+00,-6.51929675e-02,
 -2.41037532e-03,-1.24830567e-02]


--- Step 211 ---
qpos:
[ 0.00971699, 0.00802192,-0.00549768, 0.03299741, 0.00257185,-0.00686724,
 -0.0071079 , 0.03857687, 0.01288992, 0.00583266,-0.01158261, 0.03362608,
  0.23340035, 0.00424709, 0.43337628, 0.04809177, 0.09275977,-0.06351053,
  0.14169129, 0.9657854 ,-0.05301096, 0.08281652, 0.23997878]

qacc:
[  2.40973168, -2.01419288,  7.26862019,-11.14446834,-10.04705354,
  -5.92757161, 13.62204441,-15.35671766,  4.3326391 ,  0.44309033,
  -0.42611211, -2.4768581 , -1.25717529,  3.64950488, -8.45689148,
  21.85413606,  0.66779982, -0.18215233, -0.13609029, -1.18557185,
  -3.00748555, 24.38754514]

qfrc_actuator:
[ 1.57865636e-04, 3.20017344e-04,-2.93744159e-05, 4.77054648e-04,
  9.22515871e-04, 1.00081757e-02, 3.27453599e-04, 5.84446914e-04,
  1.63000529e-04, 1.71589812e-04,-2.81919814e-04, 5.15189135e-04,
  1.01977107e-01,-6.09883793e-05, 6.58307932e-02,-3.76306935e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0031204775013502334
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.46666083e-01,  3.17713698e-02, -9.37450376e-01,  1.10196194e-02,
        9.99495163e-01,  2.97991263e-02,  9.37923875e-01, -1.73472348e-18,
       -3.46841181e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1256198 , -0.03487076,  0.29855908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029406791354393974
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41577376e-14, -2.83154751e-14,  1.00000000e+00,  4.00883065e-28,
        1.00000000e+00,  2.83154751e-14, -1.00000000e+00,  0.00000000e+00,
        1.41577376e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08823383, -0.03694398,  0.06193513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40082015e-05,-4.21533770e-05, 1.09195961e-05,-1.20274089e-05,
 -5.96266998e-05,-6.08631547e-04,-1.62998401e-04,-4.89044782e-05,
  2.54151478e-05, 2.14364895e-05,-5.95969995e-06,-8.27788652e-06,
  1.02687343e-01,-2.25044052e-05,-3.07822646e-04, 1.60224861e-05,
 -1.09983434e-04, 1.52852572e-04,-9.80998106e+00,-6.51960712e-02,
 -2.41057429e-03,-1.24809217e-02]


--- Step 212 ---
qpos:
[ 0.00972033, 0.00802333,-0.00549901, 0.03300595, 0.00258984,-0.00665742,
 -0.00709629, 0.03858896, 0.01289349, 0.00583528,-0.01158663, 0.03363607,
  0.23341364, 0.00424977, 0.43508887, 0.04810695, 0.09277107,-0.06351457,
  0.14168872, 0.96572603,-0.052994  , 0.08279281, 0.24022951]

qacc:
[ 4.32088183,-0.47004012, 1.86444289,-4.51891478,-4.35439299,-2.98105763,
  1.85062828, 4.19480085, 2.49921186, 0.11378642,-0.67589377, 2.53784122,
 -1.21662961, 3.26333534,-6.18803381,13.82658586, 0.66796564,-0.18409794,
 -0.12660704,-1.16010688,-3.02209561,24.38747016]

qfrc_actuator:
[ 1.82804764e-04, 3.01971800e-04,-3.68929010e-05, 4.67524918e-04,
  8.98380844e-04, 9.79492704e-03, 2.80429357e-04, 5.88284145e-04,
  1.76886316e-04, 1.82757015e-04,-2.73578349e-04, 5.22289167e-04,
  1.01982686e-01,-5.03671371e-05, 6.56489787e-02,-3.75087094e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00311920107766537
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.45828356e-01,  3.20219511e-02, -9.37751216e-01,  1.10797808e-02,
        9.99487166e-01,  3.00440312e-02,  9.38232374e-01,  1.73472348e-18,
       -3.46005799e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12561646, -0.0348608 ,  0.29855947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002940995024504567
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41562169e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.41562169e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08823163, -0.0369441 ,  0.06193512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53177634e-05,-3.99480636e-05,-1.53253453e-05,-1.12139473e-05,
 -2.60404803e-05,-5.97346444e-04,-1.97198810e-04,-2.93661218e-05,
  1.46218176e-05, 2.15244365e-05, 1.17485762e-05, 7.63261153e-06,
  1.02773602e-01,-2.99748054e-05,-3.19418906e-04,-2.62452526e-05,
 -1.87534096e-04, 2.59278435e-04,-9.80996936e+00,-6.52001873e-02,
 -2.41068772e-03,-1.24782644e-02]


--- Step 213 ---
qpos:
[ 0.00972394, 0.00802478,-0.00550059, 0.03301462, 0.00260809,-0.00645208,
 -0.0070851 , 0.03860027, 0.0128972 , 0.00583794,-0.01159022, 0.0336464 ,
  0.23342712, 0.00425231, 0.43679773, 0.04812308, 0.09278503,-0.06351946,
  0.14168612, 0.96565531,-0.05297308, 0.08276505, 0.24052781]

qacc:
[ 2.38479210e+00, 1.02370636e+00,-4.14885833e+00, 6.84736986e+00,
  2.34440496e+00,-6.39385554e+00, 1.74907420e+01,-2.70415998e+01,
  1.23648481e+00,-4.70815853e-01, 3.00468036e-01, 4.89855650e+00,
  3.43353292e-01,-1.28619044e+00,-8.42645839e+00, 2.14241503e+01,
  6.66412062e-01,-2.12823491e-01,-7.46794955e-03,-8.48295519e-01,
 -3.22457280e+00, 2.43918083e+01]

qfrc_actuator:
[ 1.96136670e-04, 3.26254513e-04,-4.08149905e-05, 4.76248348e-04,
  9.12511648e-04, 9.58570616e-03, 2.65908940e-04, 5.50201463e-04,
  1.83619389e-04, 1.88328379e-04,-2.49277460e-04, 5.40233141e-04,
  1.01990972e-01,-9.72984774e-06, 6.54837619e-02,-3.69651624e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030048440960670146
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36414951, -0.00542466, -0.93132471, -0.00197542,  0.99998529,
       -0.0050522 ,  0.93133841,  0.        , -0.36415487])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1256132 , -0.0348509 ,  0.29855986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029414087442492104
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43615051e-15, -1.88723010e-14,  1.00000000e+00,  1.78081873e-28,
        1.00000000e+00,  1.88723010e-14, -1.00000000e+00,  0.00000000e+00,
        9.43615051e-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([ 0.08822941, -0.03694424,  0.06193511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40355511e-05,-1.75898150e-06,-1.44739206e-05, 6.24214524e-06,
  1.31883814e-05,-5.93051373e-04,-1.65838350e-04,-7.15949040e-05,
  7.16154013e-06, 2.03081033e-05, 3.04553505e-05, 1.94023427e-05,
  1.02866552e-01,-2.95222361e-06,-3.12568993e-04, 1.21336493e-05,
 -2.85830940e-04, 3.93589821e-04,-9.80995479e+00,-6.52053218e-02,
 -2.41074084e-03,-1.24750793e-02]


--- Step 214 ---
qpos:
[ 0.00972734, 0.00802654,-0.00550267, 0.03302366, 0.0026267 ,-0.00625151,
 -0.0070738 , 0.03861033, 0.01290096, 0.00584034,-0.01159297, 0.03365549,
  0.23343998, 0.00425563, 0.4385038 , 0.04813494, 0.09280168,-0.06352507,
  0.14168297, 0.96557311,-0.05294898, 0.0827335 , 0.24087372]

qacc:
[ -1.8928211 ,  2.57327276,-10.08873474, 16.92314162,  3.34939626,
  -9.16061955, 28.76016231,-46.93017905,  0.49030653, -5.23617031,
  23.41296779,-45.99666954, -1.247552  ,  5.19160778,  8.82332372,
 -36.72520701,  0.66925615, -0.18014737, -0.13632017, -1.18655849,
  -2.99823368, 24.3924239 ]

qfrc_actuator:
[ 1.84774203e-04, 3.57975048e-04,-6.01385716e-05, 4.95684693e-04,
  9.31287947e-04, 9.34522293e-03, 2.70717407e-04, 4.87791333e-04,
  1.86092170e-04, 1.55081184e-04,-2.15770581e-04, 4.75652168e-04,
  1.02000774e-01, 1.37185889e-05, 6.53339661e-02,-3.91946589e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00311679969234658
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.34411867,  0.03253884, -0.93836217,  0.01120316,  0.99947047,
        0.0305494 ,  0.93885932,  0.        , -0.34430099])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12560987, -0.03484074,  0.29856028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029414040656580015
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35904138e-14, -2.83084966e-14,  1.00000000e+00, -6.67809147e-28,
        1.00000000e+00,  2.83084966e-14, -1.00000000e+00,  0.00000000e+00,
       -2.35904138e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0882272 , -0.0369443 ,  0.06193511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09675677e-05, 2.79547884e-05,-2.12757007e-05, 1.89613184e-05,
  1.89549599e-05,-6.17060467e-04,-1.43163263e-04,-9.54641588e-05,
  2.68816088e-06,-1.48315380e-05, 4.21155740e-05,-6.22999096e-05,
  1.02866982e-01, 2.79144168e-05,-2.88398317e-04,-2.61875543e-04,
 -4.06048412e-04, 5.55954767e-04,-9.80993608e+00,-6.52117697e-02,
 -2.41138602e-03,-1.24713126e-02]


--- Step 215 ---
qpos:
[ 0.00972989, 0.00802868,-0.00550529, 0.03303251, 0.0026454 ,-0.00605555,
 -0.00706294, 0.03861993, 0.01290438, 0.00584228,-0.01159483, 0.03366341,
  0.23345283, 0.00425867, 0.44020668, 0.04814234, 0.09282099,-0.06353152,
  0.14167976, 0.96547945,-0.05292095, 0.0826979 , 0.24126719]

qacc:
[-7.50484123e+00, 1.65069430e+00,-4.34964063e+00, 1.67178715e+00,
  7.69984618e-01,-5.84256616e+00, 1.39947714e+01,-1.80955198e+01,
 -2.99220158e+00,-5.47648222e+00, 2.35559609e+01,-4.47814817e+01,
  2.80324588e-01,-1.45623393e+00, 8.77260048e+00,-3.75724943e+01,
  6.67579435e-01,-2.09333258e-01,-1.55607445e-02,-8.67958827e-01,
 -3.20987709e+00, 2.44002573e+01]

qfrc_actuator:
[ 1.41219411e-04, 3.76110783e-04,-8.83518426e-05, 4.85761293e-04,
  9.34882625e-04, 9.12356524e-03, 2.51268057e-04, 4.64818241e-04,
  1.68287257e-04, 1.16568774e-04,-1.77320995e-04, 4.16257514e-04,
  1.02000901e-01, 8.24309941e-06, 6.51721698e-02,-4.14418517e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030025324850221163
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3622396 , -0.00491359, -0.93207206, -0.00177992,  0.99998793,
       -0.00457987,  0.93208331,  0.        , -0.36224398])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12560663, -0.03483081,  0.29856069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029415391159280657
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43573229e-15, -1.88714646e-14,  1.00000000e+00,  1.78066088e-28,
        1.00000000e+00,  1.88714646e-14, -1.00000000e+00,  0.00000000e+00,
        9.43573229e-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([ 0.08822499, -0.03694439,  0.0619351 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.38626584e-05, 3.01116675e-05,-2.44226800e-05,-9.11224896e-06,
  3.92942516e-06,-6.07823162e-04,-1.70356249e-04,-5.67229802e-05,
 -1.77261872e-05,-4.08390531e-05, 3.84052816e-05,-5.98044870e-05,
  1.02897751e-01,-1.58735070e-05,-3.23147747e-04,-2.76563800e-04,
 -5.46101970e-04, 7.45854843e-04,-9.80991577e+00,-6.52188690e-02,
 -2.41135349e-03,-1.24670079e-02]


--- Step 216 ---
qpos:
[ 0.0097319 , 0.00803083,-0.00550784, 0.03304117, 0.00266366,-0.00586384,
 -0.00705235, 0.0386291 , 0.01290721, 0.005844  ,-0.01159661, 0.03367163,
  0.23346406, 0.00426208, 0.44190634, 0.04814914, 0.09284299,-0.06353867,
  0.14167598, 0.96537421,-0.05288976, 0.08265853, 0.24170824]

qacc:
[ -4.75256768, -0.57866293,  2.89413015, -6.26372194, -3.859286  ,
  -5.71880155, 13.99242007,-17.63809727, -5.13777337,  0.08116433,
  -1.89399596,  6.84937783, -1.29347812,  3.69449757, -2.89508637,
   3.34765924,  0.67034332, -0.17678414, -0.1439143 , -1.20147892,
  -2.98823616, 24.40168612]

qfrc_actuator:
[ 1.14579008e-04, 3.68159434e-04,-8.61482757e-05, 4.76379878e-04,
  9.11758732e-04, 8.95045417e-03, 2.53269266e-04, 4.47481802e-04,
  1.38691302e-04, 1.10718993e-04,-1.71788863e-04, 4.31406671e-04,
  1.01995188e-01,-1.38492216e-05, 6.50618925e-02,-4.15503019e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003114854773855181
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.42359595e-01,  3.30763332e-02, -9.38986615e-01,  1.13301996e-02,
        9.99452828e-01,  3.10752376e-02,  9.39500684e-01,  1.73472348e-18,
       -3.42547027e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12560334, -0.0348206 ,  0.29856114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002941289983139972
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41547973e-14, -2.83095945e-14,  1.00000000e+00, -4.00716572e-28,
        1.00000000e+00,  2.83095945e-14, -1.00000000e+00,  0.00000000e+00,
       -1.41547973e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08822277, -0.03694441,  0.06193511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.78839610e-05, 3.36213766e-06, 5.08539079e-06,-9.13076418e-06,
 -2.32149553e-05,-5.57899535e-04,-1.48945562e-04,-5.08642964e-05,
 -3.01073129e-05,-2.33784180e-05,-2.56749895e-07, 1.35474587e-05,
  1.02892040e-01,-2.38316475e-05,-2.87022510e-04,-6.74657225e-05,
 -7.08696549e-04, 9.63782587e-04,-9.80989086e+00,-6.52274142e-02,
 -2.41211328e-03,-1.24621281e-02]


--- Step 217 ---
qpos:
[ 0.00973426, 0.0080328 ,-0.00551024, 0.03304968, 0.00268114,-0.00567635,
 -0.00704194, 0.03863797, 0.01291001, 0.00584579,-0.01159873, 0.03368029,
  0.23347417, 0.00426474, 0.44360229, 0.04815871, 0.09286766,-0.06354665,
  0.1416721 , 0.96525738,-0.05285467, 0.0826151 , 0.24219687]

qacc:
[ 3.12006238e+00,-1.00335182e+00, 3.86820645e+00,-6.69086695e+00,
 -6.63502227e+00,-5.69407282e+00, 1.35291731e+01,-1.54180916e+01,
 -2.92901338e-01, 1.97037288e+00,-8.82138491e+00, 1.71914144e+01,
  3.06356222e-01,-3.34968431e+00,-1.38647737e+01, 4.04691914e+01,
  6.68758761e-01,-2.06103106e-01,-2.17123227e-02,-8.78733938e-01,
 -3.20526414e+00, 2.44137661e+01]

qfrc_actuator:
[ 1.33622820e-04, 3.44763866e-04,-8.38566785e-05, 4.67396555e-04,
  8.73099274e-04, 8.75470880e-03, 2.50397899e-04, 4.33659521e-04,
  1.37904334e-04, 1.24402844e-04,-1.85559733e-04, 4.54792346e-04,
  1.01996770e-01,-4.64368379e-05, 6.49080832e-02,-4.00412528e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030005755600484383
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36024035, -0.0043776 , -0.93284925, -0.001577  ,  0.99999042,
       -0.00408368,  0.93285819,  0.        , -0.3602438 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12560013, -0.03481055,  0.29856157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002941212068147611
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.35919537e-14, -9.43678149e-15,  1.00000000e+00,  2.22632112e-28,
        1.00000000e+00,  9.43678149e-15, -1.00000000e+00,  0.00000000e+00,
        2.35919537e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08822055, -0.03694448,  0.0619351 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82448494e-05,-2.09399344e-05, 3.28082958e-06,-8.85869788e-06,
 -3.95080645e-05,-5.47793120e-04,-1.40610876e-04,-4.43439305e-05,
 -1.64619093e-06, 1.07667045e-06,-1.81763564e-05, 2.26222181e-05,
  1.02974605e-01,-7.40693067e-05,-2.92836623e-04, 1.10107795e-04,
 -8.91005428e-04, 1.20900968e-03,-9.80986476e+00,-6.52364885e-02,
 -2.41198100e-03,-1.24567052e-02]


--- Step 218 ---
qpos:
[ 0.00973717, 0.00803447,-0.00551224, 0.03305801, 0.00269803,-0.00549303,
 -0.00703198, 0.03864662, 0.01291347, 0.00584803,-0.01160149, 0.03368914,
  0.23348378, 0.00426697, 0.4452936 , 0.04817083, 0.09289501,-0.06355544,
  0.14166808, 0.96512887,-0.05281576, 0.08256765, 0.24273306]

qacc:
[ 4.88327831e+00,-1.84997817e+00, 6.77933332e+00,-1.02564513e+01,
 -5.20231719e+00,-4.69533722e+00, 9.71027477e+00,-9.86541538e+00,
  5.76206236e+00, 2.74287301e+00,-9.68796300e+00, 1.35325356e+01,
  3.20801380e-01,-2.29493285e+00,-1.46143279e+01, 4.11125540e+01,
  6.69867864e-01,-2.00947651e-01,-3.72207121e-02,-9.18025047e-01,
 -3.17837934e+00, 2.44222869e+01]

qfrc_actuator:
[ 1.61644796e-04, 3.30055083e-04,-6.38608679e-05, 4.58698831e-04,
  8.43366677e-04, 8.54703738e-03, 2.26859278e-04, 4.21998838e-04,
  1.71836466e-04, 1.67364436e-04,-2.10523942e-04, 4.65083526e-04,
  1.01986764e-01,-4.88546902e-05, 6.46537535e-02,-3.88356061e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002999811389329153
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35917801, -0.00409192, -0.9332601 , -0.00146974,  0.99999163,
       -0.00381886,  0.93326791,  0.        , -0.35918101])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12559687, -0.03480009,  0.29856204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029407748746684698
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35954611e-14, -9.43818442e-15,  1.00000000e+00, -2.22698313e-28,
        1.00000000e+00,  9.43818442e-15, -1.00000000e+00,  0.00000000e+00,
       -2.35954611e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08821832, -0.03694448,  0.06193511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85292452e-05,-2.61836732e-05, 1.57508493e-05,-9.67317352e-06,
 -3.10425967e-05,-5.51916544e-04,-1.57885629e-04,-4.13228321e-05,
  3.38907038e-05, 4.07276142e-05,-2.62104211e-05, 1.01307294e-05,
  1.03020252e-01,-3.87480883e-05,-3.74661339e-04, 8.92732111e-05,
 -1.09658258e-03, 1.48222623e-03,-9.80983354e+00,-6.52471484e-02,
 -2.41285222e-03,-1.24507101e-02]


--- Step 219 ---
qpos:
[ 0.0097404 , 0.00803585,-0.0055137 , 0.0330665 , 0.00271443,-0.00531372,
 -0.00702256, 0.03865572, 0.01291696, 0.00585084,-0.01160463, 0.03369802,
  0.23349297, 0.00426877, 0.44698095, 0.04818255, 0.09292504,-0.06356501,
  0.14166386, 0.9649886 ,-0.0527731 , 0.08251619, 0.24331681]

qacc:
[ 2.77145386,-1.5898025 , 4.37152301,-2.11993093,-4.23091384,-2.84749804,
  0.55443741,11.15364589, 0.28414126, 1.87882407,-5.72537537, 6.34333821,
  0.3098732 ,-2.17894146,-4.6376545 , 7.66504732, 0.67086644,-0.1964586 ,
 -0.05030039,-0.94887012,-3.15888516,24.43130924]

qfrc_actuator:
[ 1.76959308e-04, 3.20731766e-04,-3.35435229e-05, 4.68008411e-04,
  8.19131286e-04, 8.36936726e-03, 2.09029785e-04, 4.47186797e-04,
  1.72664717e-04, 2.09720750e-04,-2.24019956e-04, 4.67609256e-04,
  1.01969790e-01,-6.86949354e-05, 6.44618222e-02,-3.90636910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002999302890393695
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.358062  , -0.00379153, -0.93369011, -0.00135761,  0.99999281,
       -0.00354014,  0.93369682,  0.        , -0.35806457])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12559358, -0.03478936,  0.29856254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029400448573042443
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.44052794e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.44052794e-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([ 0.08821609, -0.03694443,  0.06193513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61130214e-05,-2.11815016e-05, 2.64951185e-05, 8.52466159e-06,
 -2.53048142e-05,-5.27499207e-04,-1.54996731e-04,-5.17918671e-06,
  1.81243105e-06, 6.01053833e-05,-7.97276231e-06, 3.54201301e-06,
  1.03028178e-01,-3.66894766e-05,-3.47557001e-04,-6.47167043e-05,
 -1.32378863e-03, 1.78292196e-03,-9.80979930e+00,-6.52587933e-02,
 -2.41372603e-03,-1.24441252e-02]


--- Step 220 ---
qpos:
[ 0.00974379, 0.0080369 ,-0.00551472, 0.03307471, 0.00273007,-0.00513846,
 -0.00701295, 0.03866534, 0.0129201 , 0.00585352,-0.01160707, 0.03370652,
  0.23350137, 0.00426989, 0.44866545, 0.04819133, 0.09295776,-0.06357535,
  0.14165939, 0.96483648,-0.05272673, 0.08246074, 0.24394814]

qacc:
[  1.41162743, -2.26414911,  8.67787335,-14.17465754, -6.62222428,
  -4.79723413,  7.17308978,  4.48874028, -3.1536421 , -2.91316519,
  11.72505526,-19.22213108,  0.30411831, -2.92736326,  4.60011865,
 -22.3021712 ,  0.67179038, -0.19248679, -0.06134382, -0.97278271,
  -3.14554908, 24.4411619 ]

qfrc_actuator:
[ 1.84668795e-04, 2.97018020e-04,-1.50974827e-05, 4.52343222e-04,
  7.80570027e-04, 8.19344408e-03, 2.30390302e-04, 4.76136688e-04,
  1.53990796e-04, 1.80418644e-04,-1.95120145e-04, 4.47808775e-04,
  1.01964623e-01,-1.16565104e-04, 6.43447163e-02,-4.04876210e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002999000046039312
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.56902415e-01, -3.47924516e-03, -9.34135194e-01, -1.24175852e-03,
        9.99993947e-01, -3.25010502e-03,  9.34140848e-01, -2.16840434e-19,
       -3.56904576e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12559025, -0.03477843,  0.29856308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002939077570698681
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.44363493e-15, -1.88872699e-14,  1.00000000e+00,  1.78364481e-28,
        1.00000000e+00,  1.88872699e-14, -1.00000000e+00,  0.00000000e+00,
        9.44363493e-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([ 0.08821386, -0.03694434,  0.06193514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.15519207e-06,-2.97765757e-05, 1.76070163e-05,-1.55102925e-05,
 -3.94601385e-05,-5.09799603e-04,-1.09104680e-04, 4.41355446e-07,
 -1.85938401e-05, 2.74107481e-06, 4.04434119e-05,-1.74501079e-05,
  1.03043564e-01,-6.24050577e-05,-2.79578401e-04,-1.89899663e-04,
 -1.57282579e-03, 2.11100024e-03,-9.80976200e+00,-6.52714342e-02,
 -2.41459549e-03,-1.24369546e-02]


--- Step 221 ---
qpos:
[ 0.00974689, 0.00803777,-0.00551579, 0.03308233, 0.00274512,-0.00496697,
 -0.00700324, 0.03867417, 0.01292333, 0.00585622,-0.0116091 , 0.03371403,
  0.23350932, 0.00427055, 0.45034679, 0.04819991, 0.09299317,-0.06358644,
  0.14165464, 0.96467238,-0.05267668, 0.0824013 , 0.24462703]

qacc:
[ -2.44601509, -1.26627622,  6.6383894 ,-16.48115514, -5.05967608,
  -6.89298175, 20.73162633,-31.9759647 ,  0.86404063, -3.13325596,
  15.39480393,-33.20549936,  0.31014934, -2.21435859, -4.03870005,
   7.31405163,  0.6728565 , -0.18868698, -0.07054056, -0.99246756,
  -3.13412494, 24.452445  ]

qfrc_actuator:
[ 1.70091922e-04, 2.82562493e-04,-2.16416265e-05, 4.22084202e-04,
  7.51636255e-04, 8.02020951e-03, 2.39245927e-04, 4.36086833e-04,
  1.59503019e-04, 1.79595708e-04,-1.77232422e-04, 3.97246576e-04,
  1.01961264e-01,-1.27566597e-04, 6.42192911e-02,-4.04719220e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029988550959961172
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.55702720e-01, -3.15587126e-03, -9.34593824e-01, -1.12255758e-03,
        9.99995020e-01, -2.94947248e-03,  9.34598478e-01, -2.16840434e-19,
       -3.55704491e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1255869 , -0.03476727,  0.29856363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029379194340354853
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88947153e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.88947153e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08821162, -0.03694423,  0.06193517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43588954e-05,-2.81868410e-05,-1.10855139e-05,-3.12470604e-05,
 -3.02317757e-05,-4.87354309e-04,-1.12062207e-04,-6.60947754e-05,
  4.99143273e-06, 8.23206718e-06, 2.28137250e-05,-4.94031830e-05,
  1.03080097e-01,-3.84648526e-05,-2.75126997e-04,-4.52155293e-05,
 -1.84392671e-03, 2.46636241e-03,-9.80972160e+00,-6.52850848e-02,
 -2.41545984e-03,-1.24292001e-02]


--- Step 222 ---
qpos:
[ 0.0097498 , 0.00803854,-0.00551671, 0.03308986, 0.00275971,-0.00479883,
 -0.00699429, 0.03868244, 0.0129266 , 0.0058593 ,-0.01161136, 0.03372121,
  0.23351707, 0.00427093, 0.4520249 , 0.04821132, 0.09303128,-0.06359828,
  0.14164958, 0.96449622,-0.052623  , 0.08233787, 0.24535349]

qacc:
[ -1.73906657, -0.77852736,  2.98317312, -4.86967042, -4.04275808,
  -3.44637403,  8.20070435,-14.09230206,  0.34427395,  0.47343305,
   0.42374888, -5.95012078,  0.29953102, -1.67585461,-13.38628067,
  39.82852172,  0.67396291, -0.18510503, -0.07826227, -1.00796265,
  -3.12591812, 24.46508008]

qfrc_actuator:
[ 1.60269900e-04, 2.91397137e-04,-7.35275861e-06, 4.18980614e-04,
  7.28605181e-04, 7.86769117e-03, 2.05114928e-04, 4.09008626e-04,
  1.61460601e-04, 2.13515576e-04,-1.83678854e-04, 3.82253378e-04,
  1.01964311e-01,-1.34159839e-04, 6.40996548e-02,-3.88978025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029988370815466395
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35447239, -0.00282414, -0.93506222, -0.00100109,  0.99999601,
       -0.00264076,  0.93506595,  0.        , -0.3544738 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12558353, -0.03475596,  0.2985642 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002936608910126523
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41773606e-14, -9.45157373e-15,  1.00000000e+00, -1.33998369e-28,
        1.00000000e+00,  9.45157373e-15, -1.00000000e+00,  0.00000000e+00,
       -1.41773606e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08820937, -0.0369441 ,  0.06193519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02423591e-05,-1.06075440e-05, 6.00266625e-06,-5.31972179e-06,
 -2.40552910e-05,-4.57407380e-04,-1.53034108e-04,-5.35490386e-05,
  2.11141073e-06, 4.10398838e-05,-3.66676009e-06,-1.48304109e-05,
  1.03104583e-01,-2.19005738e-05,-2.50400097e-04, 1.19438203e-04,
 -2.13733680e-03, 2.84888984e-03,-9.80967807e+00,-6.52997483e-02,
 -2.41631552e-03,-1.24208625e-02]


--- Step 223 ---
qpos:
[ 0.00975257, 0.00803919,-0.0055172 , 0.03309761, 0.00277391,-0.00463426,
 -0.00698587, 0.03869136, 0.01292952, 0.0058625 ,-0.01161386, 0.0337282 ,
  0.23352509, 0.00427129, 0.45370009, 0.04822445, 0.09307209,-0.06361084,
  0.14164418, 0.96430787,-0.05256569, 0.08227044, 0.24612752]

qacc:
[-1.21797914,-0.87244822, 1.93040661, 1.43093497,-3.37482451,-1.88549396,
 -2.86379022,17.60027115,-3.05684742, 0.41574051,-0.43276808,-2.69700957,
  0.27346423,-0.74018038,-9.52315155,27.03292001, 0.67518667,-0.18158525,
 -0.084704  ,-1.02058503,-3.11922194,24.4793147 ]

qfrc_actuator:
[ 1.53332425e-04, 2.96461445e-04, 1.92493471e-05, 4.31921102e-04,
  7.09229610e-04, 7.69318548e-03, 1.81510572e-04, 4.43042975e-04,
  1.43550188e-04, 1.96893328e-04,-2.04262043e-04, 3.70577415e-04,
  1.01971197e-01,-1.20352435e-04, 6.39676364e-02,-3.80159980e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002998919116857465
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.53218274e-01, -2.48602519e-03, -9.35537637e-01, -8.78112240e-04,
        9.99996910e-01, -2.32577732e-03,  9.35540528e-01,  0.00000000e+00,
       -3.53219366e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12558015, -0.03474455,  0.29856479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029351779510353726
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.45618156e-15, -1.89123631e-14,  1.00000000e+00, -1.78838739e-28,
        1.00000000e+00,  1.89123631e-14, -1.00000000e+00,  0.00000000e+00,
       -9.45618156e-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([ 0.08820712, -0.03694398,  0.06193522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.23594692e-06, 9.80604677e-08, 2.49487176e-05, 1.25735122e-05,
 -2.02121502e-05,-4.70439648e-04,-1.40884508e-04, 7.68358342e-06,
 -1.78264244e-05, 4.84412343e-06,-1.30932069e-05,-1.03500980e-05,
  1.03121763e-01, 6.16103937e-06,-2.33380811e-04, 6.24849785e-05,
 -2.45333499e-03, 3.25846727e-03,-9.80963136e+00,-6.53154351e-02,
 -2.41716527e-03,-1.24119416e-02]


--- Step 224 ---
qpos:
[ 0.00975489, 0.0080399 ,-0.0055177 , 0.03310546, 0.00278777,-0.00447325,
 -0.00697787, 0.0387006 , 0.0129322 , 0.00586596,-0.0116172 , 0.03373467,
  0.23353413, 0.00427204, 0.45537245, 0.04823784, 0.09311561,-0.06362411,
  0.14163842, 0.96410721,-0.05250476, 0.08219902, 0.24694912]

qacc:
[-3.9489044 , 0.33008605,-1.47045269, 3.18543743,-2.96168726,-2.88976929,
  2.15641098, 6.61859103,-2.11808063, 1.64836952,-3.15441952,-4.69484385,
  0.21426021, 0.81313667,-4.95208548,11.26877307, 0.67656295,-0.17803016,
 -0.09005397,-1.03121888,-3.11310087,24.49529381]

qfrc_actuator:
[ 1.30394250e-04, 2.99308274e-04, 1.73973834e-05, 4.36446546e-04,
  6.92158269e-04, 7.52479927e-03, 1.64300477e-04, 4.59504289e-04,
  1.31842493e-04, 2.03331706e-04,-2.50971593e-04, 3.43143159e-04,
  1.01964374e-01,-7.66919363e-05, 6.38282760e-02,-3.79048267e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029990826039009546
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.51948892e-01, -2.14401619e-03, -9.36016763e-01, -7.54585857e-04,
        9.99997702e-01, -2.00683971e-03,  9.36018914e-01,  1.08420217e-19,
       -3.51949701e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12557675, -0.03473309,  0.29856538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029336529714378418
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.73054855e-15,  9.46109710e-15,  1.00000000e+00, -4.47561792e-29,
        1.00000000e+00, -9.46109710e-15, -1.00000000e+00,  0.00000000e+00,
        4.73054855e-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([ 0.08820486, -0.03694386,  0.06193525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31488952e-05, 8.54763900e-06, 1.65446910e-06, 5.61967771e-06,
 -1.78059643e-05,-4.66338459e-04,-1.33520747e-04,-8.82815888e-06,
 -1.22028046e-05, 5.90019524e-06,-4.76997290e-05,-2.78969426e-05,
  1.03101195e-01, 5.15850093e-05,-2.40058540e-04,-1.57643493e-05,
 -2.79221871e-03, 3.69496743e-03,-9.80958143e+00,-6.53321512e-02,
 -2.41801088e-03,-1.24024363e-02]


--- Step 225 ---
qpos:
[ 0.00975726, 0.00804057,-0.00551846, 0.03311369, 0.00280097,-0.00431577,
 -0.00696987, 0.03870923, 0.01293507, 0.00586899,-0.01162053, 0.03374079,
  0.23354365, 0.00427295, 0.45704248, 0.04825014, 0.09316183,-0.06363808,
  0.14163228, 0.9638941 ,-0.05244024, 0.0821236 , 0.24781829]

qacc:
[  0.44923158,  1.41746501, -6.70080344, 13.53986211, -5.71318775,
  -5.87423579, 16.73373106,-24.5762452 ,  1.62844694, -1.32857589,
   5.34209511,-11.00771818,  0.13227606,  0.22783058, -0.15257592,
  -4.48335099,  0.67786189, -0.17466885, -0.09465735, -1.03856611,
  -3.11127079, 24.51264936]

qfrc_actuator:
[ 1.33726420e-04, 2.82940360e-04,-1.25977197e-06, 4.53711412e-04,
  6.58825940e-04, 7.36149358e-03, 1.68768945e-04, 4.29988409e-04,
  1.41638413e-04, 1.52386337e-04,-2.59402977e-04, 3.24406851e-04,
  1.01965226e-01,-8.65370236e-05, 6.37272135e-02,-3.84258166e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002999316531592441
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.50674808e-01, -1.80127023e-03, -9.36495560e-01, -6.31661116e-04,
        9.99998378e-01, -1.68688431e-03,  9.36497080e-01,  0.00000000e+00,
       -3.50675377e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12557334, -0.03472169,  0.29856597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029320557245679224
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.78650042e-14, -1.89325021e-14,  1.00000000e+00, -7.16879273e-28,
        1.00000000e+00,  1.89325021e-14, -1.00000000e+00,  0.00000000e+00,
       -3.78650042e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08820259, -0.03694376,  0.06193528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67206727e-06,-1.10583388e-05,-1.65147418e-05, 1.77802753e-05,
 -3.39965347e-05,-4.58016972e-04,-1.10613677e-04,-5.46881664e-05,
  9.46305275e-06,-5.87909463e-05,-1.40656702e-05,-2.06904388e-05,
  1.03050965e-01, 2.26545000e-05,-2.13006722e-04,-8.40881293e-05,
 -3.15430496e-03, 4.15825287e-03,-9.80952823e+00,-6.53498995e-02,
 -2.41885332e-03,-1.23923450e-02]


--- Step 226 ---
qpos:
[ 0.00975965, 0.00804112,-0.00551939, 0.03312206, 0.00281367,-0.00416189,
 -0.00696191, 0.0387178 , 0.01293804, 0.00587111,-0.01162343, 0.03374667,
  0.23355311, 0.00427374, 0.45870934, 0.04825854, 0.09321078,-0.06365274,
  0.14162574, 0.96366841,-0.05237211, 0.08204418, 0.24873504]

qacc:
[  0.18316817,  0.65454694, -3.16806372,  6.07226387, -4.34928552,
  -4.78900218, 10.49497697, -9.05779335,  0.8684698 , -2.88855564,
   9.59672512,-13.80937783,  0.08082013, -0.52027847,  7.12324297,
 -31.72512682,  0.67925347, -0.17126549, -0.09852656, -1.04429168,
  -3.11056069, 24.53166388]

qfrc_actuator:
[ 1.34746263e-04, 2.72879069e-04,-1.19973041e-05, 4.60558737e-04,
  6.33941455e-04, 7.18488618e-03, 1.68256410e-04, 4.26938892e-04,
  1.46257274e-04, 8.53697153e-05,-2.45382942e-04, 3.10923454e-04,
  1.01970694e-01,-1.10652352e-04, 6.35213686e-02,-4.05563219e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029995971869282694
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.49393242e-01, -1.45683106e-03, -9.36975048e-01, -5.09007466e-04,
        9.99998939e-01, -1.36501580e-03,  9.36976042e-01,  1.62630326e-19,
       -3.49393612e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12556992, -0.0347103 ,  0.29856657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029304044217959985
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42073780e-14, -9.47158536e-15,  1.00000000e+00, -1.34566394e-28,
        1.00000000e+00,  9.47158536e-15, -1.00000000e+00,  0.00000000e+00,
       -1.42073780e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08820031, -0.03694367,  0.06193531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08908072e-06,-1.89349087e-05,-1.44604965e-05, 6.12937766e-06,
 -2.60057893e-05,-4.63774396e-04,-1.12597518e-04,-2.79553307e-05,
  4.87612376e-06,-1.03756632e-04,-5.79695329e-07,-1.69049435e-05,
  1.03032151e-01,-8.68712441e-06,-3.15204763e-04,-2.45878444e-04,
 -3.53995779e-03, 4.64820580e-03,-9.80947168e+00,-6.53687028e-02,
 -2.41970506e-03,-1.23816652e-02]


--- Step 227 ---
qpos:
[ 0.009761  , 0.00804173,-0.00552051, 0.03313008, 0.00282665,-0.00401155,
 -0.00695411, 0.03872694, 0.01294104, 0.00587272,-0.01162685, 0.03375271,
  0.23356233, 0.00427435, 0.46037249, 0.04826299, 0.09326244,-0.06366807,
  0.1416188 , 0.96342998,-0.05230038, 0.08196072, 0.24969937]

qacc:
[ -9.14489198, -0.13263   ,  2.06967113, -7.89361302,  2.6256736 ,
  -3.03959663,  1.60078982, 11.30120839,  0.27724153,  1.05615333,
  -5.42518413,  9.3154554 ,  0.05339523, -0.67010033,  6.40325513,
 -30.41140193,  0.68080568, -0.16771133, -0.10172464, -1.049182  ,
  -3.1095828 , 24.55239272]

qfrc_actuator:
[ 8.11307266e-05, 2.84440120e-04,-1.79571964e-05, 4.43478224e-04,
  6.49738619e-04, 7.01952943e-03, 1.64788695e-04, 4.57232640e-04,
  1.47784998e-04, 6.26005849e-05,-2.71573805e-04, 3.18379247e-04,
  1.01962986e-01,-1.25366448e-04, 6.33273737e-02,-4.25548955e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029999038439577344
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.48100823e-01, -1.10958411e-03, -9.37456445e-01, -3.86247380e-04,
        9.99999384e-01, -1.04018742e-03,  9.37457022e-01,  0.00000000e+00,
       -3.48101038e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12556648, -0.03469886,  0.29856717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002928714063931845
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.89541041e-14, -9.47705205e-15,  1.00000000e+00, -1.79629031e-28,
        1.00000000e+00,  9.47705205e-15, -1.00000000e+00,  0.00000000e+00,
       -1.89541041e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08819802, -0.03694362,  0.06193535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.35932324e-05,-1.78690408e-06,-1.14568488e-05,-1.82912781e-05,
  1.49004445e-05,-4.54873382e-04,-1.16018848e-04, 5.60089221e-06,
  1.63576212e-06,-8.16795115e-05,-4.82803862e-05, 2.64937823e-06,
  1.03027386e-01,-1.69976892e-05,-3.64321077e-04,-2.53889191e-04,
 -3.94954796e-03, 5.16468308e-03,-9.80941170e+00,-6.53885713e-02,
 -2.42057296e-03,-1.23703933e-02]


--- Step 228 ---
qpos:
[ 0.0097617 , 0.00804221,-0.00552167, 0.03313819, 0.00284008,-0.00386467,
 -0.00694617, 0.03873599, 0.01294438, 0.00587369,-0.01163055, 0.03375913,
  0.23357063, 0.00427452, 0.46203197, 0.04826781, 0.09331684,-0.06368405,
  0.14161144, 0.96317868,-0.05222504, 0.08187324, 0.25071129]

qacc:
[ -5.7294774 ,  0.13899686, -1.07122691,  2.72470695,  3.8661471 ,
  -5.14626838, 12.08219855,-11.31085955,  2.99343386,  0.77781951,
  -5.62352576, 13.25441758,  0.04434631, -1.66699462, -6.52113183,
  14.91557356,  0.68238348, -0.16414436, -0.10444717, -1.05241874,
  -3.11052038, 24.57455486]

qfrc_actuator:
[ 4.90459693e-05, 2.73354216e-04,-2.09773482e-05, 4.47983424e-04,
  6.71598220e-04, 6.86229920e-03, 1.77436184e-04, 4.53650768e-04,
  1.65235629e-04, 3.08588752e-05,-2.85616767e-04, 3.38097870e-04,
  1.01952717e-01,-1.69840425e-04, 6.32045624e-02,-4.21504938e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003000223107004894
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.46797546e-01, -7.59468102e-04, -9.37939703e-01, -2.63381750e-04,
        9.99999712e-01, -7.12335491e-04,  9.37939973e-01,  0.00000000e+00,
       -3.46797646e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12556304, -0.03468734,  0.29856777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029269968243768735
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.37065303e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.37065303e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08819573, -0.03694359,  0.06193538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.36133406e-05,-1.52852022e-05,-5.44432212e-06, 3.66145099e-06,
  2.21294408e-05,-4.40894819e-04,-9.72850194e-05,-2.73532962e-05,
  1.74732323e-05,-8.72980437e-05,-3.67590554e-05, 1.45905733e-05,
  1.03028731e-01,-5.21964524e-05,-3.14247787e-04,-1.97947917e-05,
 -4.38345908e-03, 5.70752241e-03,-9.80934825e+00,-6.54095087e-02,
 -2.42146097e-03,-1.23585256e-02]


--- Step 229 ---
qpos:
[ 0.0097627 , 0.00804236,-0.00552244, 0.03314595, 0.00285366,-0.00372082,
 -0.00693861, 0.03874421, 0.01294755, 0.00587422,-0.01163421, 0.03376534,
  0.2335783 , 0.00427435, 0.46368838, 0.04827256, 0.09337397,-0.06370068,
  0.14160366, 0.96291433,-0.05214608, 0.08178171, 0.2517708 ]

qacc:
[  2.64565968, -2.23447803,  8.80989905,-15.29395729,  1.42352079,
  -4.70061075, 14.44269268,-26.00287185, -1.41534136, -1.15676482,
   4.14957524, -7.49683388,  0.06103635, -1.30329244, -4.33006055,
   8.53532628,  0.68417458, -0.16031851, -0.10663769, -1.05562817,
  -3.10992389, 24.59838653]

qfrc_actuator:
[ 6.54131484e-05, 2.48823879e-04,-4.55468691e-06, 4.29636571e-04,
  6.79085251e-04, 6.72903778e-03, 1.64017649e-04, 4.12430105e-04,
  1.56414008e-04, 2.95555187e-05,-2.74630934e-04, 3.29375747e-04,
  1.01946305e-01,-1.78570174e-04, 6.30819836e-02,-4.21068245e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030005375675775515
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.45478066e-01, -4.04792886e-04, -9.38426738e-01, -1.39847075e-04,
        9.99999918e-01, -3.79868499e-04,  9.38426815e-01, -2.71050543e-20,
       -3.45478094e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12555957, -0.03467566,  0.29856838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029252626734828785
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48823361e-15, -1.89764672e-14,  1.00000000e+00, -1.80053154e-28,
        1.00000000e+00,  1.89764672e-14, -1.00000000e+00,  0.00000000e+00,
       -9.48823361e-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([ 0.08819342, -0.0369436 ,  0.06193541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54023301e-05,-3.40818740e-05, 1.27117281e-05,-1.91343087e-05,
  7.96812905e-06,-4.06524561e-04,-1.19257454e-04,-6.43790133e-05,
 -8.35400368e-06,-5.70780145e-05,-1.10489338e-05,-1.34593115e-05,
  1.03067614e-01,-3.80480670e-05,-2.66939110e-04,-3.68379021e-05,
 -4.84211178e-03, 6.27656842e-03,-9.80928123e+00,-6.54315312e-02,
 -2.42238044e-03,-1.23460577e-02]


--- Step 230 ---
qpos:
[ 0.00976423, 0.00804223,-0.00552301, 0.03315343, 0.00286757,-0.00357981,
 -0.00693145, 0.03875219, 0.0129506 , 0.00587425,-0.01163741, 0.03377104,
  0.23358612, 0.00427427, 0.46534165, 0.04827792, 0.09343385,-0.06371793,
  0.14159544, 0.96263676,-0.05206351, 0.08168612, 0.25287791]

qacc:
[  4.68849631, -1.53417529,  6.07348622,-10.94801459,  2.92707531,
  -3.11641122,  6.69148154, -8.15107118, -1.12353348, -2.99008636,
  11.91296067,-21.28414977,  0.05592088,  0.09657113, -6.49256838,
  15.96456834,  0.68612977, -0.15626922, -0.10841003, -1.05865157,
  -3.10849893, 24.62379582]

qfrc_actuator:
[ 9.24075493e-05, 2.34247102e-04, 5.38312049e-06, 4.15739117e-04,
  6.95803637e-04, 6.61111671e-03, 1.53160109e-04, 4.02660921e-04,
  1.49947694e-04, 1.10776382e-05,-2.48855609e-04, 3.04028406e-04,
  1.01947542e-01,-1.48031708e-04, 6.29436453e-02,-4.17441366e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030008434744394708
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.44146220e-01, -4.67076992e-05, -9.38916065e-01, -1.60742781e-05,
        9.99999999e-01, -4.38546092e-05,  9.38916066e-01,  0.00000000e+00,
       -3.44146220e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12555609, -0.03466385,  0.29856899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002923519442539657
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42408369e-14, -2.84816737e-14,  1.00000000e+00, -4.05602869e-28,
        1.00000000e+00,  2.84816737e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42408369e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0881911 , -0.03694366,  0.06193544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.74203939e-05,-3.18412592e-05, 3.78966530e-06,-1.53072520e-05,
  1.68107428e-05,-3.77977786e-04,-1.13541696e-04,-3.29255429e-05,
 -6.72352599e-06,-5.32382412e-05, 1.21849931e-05,-2.84434807e-05,
  1.03100517e-01, 9.87388734e-06,-2.65207462e-04,-3.55117344e-07,
 -5.32592233e-03, 6.87162705e-03,-9.80921062e+00,-6.54546357e-02,
 -2.42333301e-03,-1.23329852e-02]


--- Step 231 ---
qpos:
[ 0.00976641, 0.00804204,-0.00552354, 0.03316067, 0.00288122,-0.00344152,
 -0.0069249 , 0.03876033, 0.01295389, 0.00587367,-0.01163997, 0.03377707,
  0.233594  , 0.00427427, 0.4669913 , 0.04828339, 0.09349648,-0.06373579,
  0.14158678, 0.96234579,-0.0519773 , 0.08158647, 0.25403264]

qacc:
[ 5.76340117e+00,-6.83420238e-01, 3.31944192e+00,-7.48791898e+00,
 -2.19219724e+00,-1.55444161e+00,-3.34454717e-01, 6.04296807e+00,
  2.17488274e+00,-1.89957953e+00, 4.13275158e+00, 1.26535308e+00,
  2.06939561e-02, 1.05848453e-01,-5.67207854e+00, 1.20813892e+01,
  6.88058868e-01,-1.52203302e-01,-1.09973308e-01,-1.06026861e+00,
 -3.10947249e+00, 2.46505338e+01]

qfrc_actuator:
[ 1.25424989e-04, 2.43476517e-04, 1.14475834e-05, 4.04573912e-04,
  6.82320917e-04, 6.48566061e-03, 1.26272942e-04, 4.11506854e-04,
  1.62680316e-04,-1.74772725e-05,-2.14629080e-04, 3.22360005e-04,
  1.01953321e-01,-1.47487912e-04, 6.27533623e-02,-4.17291463e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003001144908627996
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.42810847e-01,  3.12100504e-04, -9.39404400e-01,  1.06991443e-04,
        9.99999951e-01,  2.93188601e-04,  9.39404445e-01,  0.00000000e+00,
       -3.42810864e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1255526 , -0.03465201,  0.29856961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002921773239868211
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.49956528e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.49956528e-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([ 0.08818878, -0.03694375,  0.06193548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.37875416e-05,-8.45014005e-06,-5.86865403e-07,-1.27130259e-05,
 -1.31302624e-05,-3.66909392e-04,-1.21844206e-04,-1.22698277e-05,
  1.25215732e-05,-5.69970193e-05, 2.37740847e-05, 1.59134093e-05,
  1.03098581e-01, 6.16266776e-06,-3.11561288e-04,-3.27136638e-05,
 -5.83533109e-03, 7.49249770e-03,-9.80913637e+00,-6.54788221e-02,
 -2.42432153e-03,-1.23193035e-02]


--- Step 232 ---
qpos:
[ 0.00976829, 0.00804194,-0.00552434, 0.03316737, 0.00289427,-0.0033059 ,
 -0.00691909, 0.0387685 , 0.01295731, 0.00587321,-0.01164265, 0.0337829 ,
  0.23360192, 0.00427431, 0.46863798, 0.04828571, 0.09356187,-0.06375424,
  0.14157768, 0.96204125,-0.05188746, 0.08148273, 0.25523497]

qacc:
[-2.73932083e+00,-2.30552367e-01, 3.26914751e+00,-1.21842169e+01,
 -5.35899704e+00,-1.36093690e+00,-4.06053559e-01, 4.19557101e+00,
  1.10560919e+00, 5.35688694e-02, 9.47742391e-01,-4.56635753e+00,
 -1.03094045e-02, 1.24463032e-01, 5.11172550e+00,-2.42684125e+01,
  6.90090439e-01,-1.47949841e-01,-1.11284027e-01,-1.06159971e+00,
 -3.11046288e+00, 2.46787637e+01]

qfrc_actuator:
[ 1.08461606e-04, 2.49128366e-04,-2.47286413e-06, 3.77371761e-04,
  6.51167711e-04, 6.35670313e-03, 9.01363781e-05, 4.13465193e-04,
  1.68857749e-04, 1.92493945e-05,-2.11206494e-04, 3.12984224e-04,
  1.01961827e-01,-1.47208604e-04, 6.26066292e-02,-4.33404065e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003001436243715427
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.41471838e-01,  6.71694305e-04, -9.39891766e-01,  2.29364741e-04,
        9.99999774e-01,  6.31320089e-04,  9.39891978e-01, -2.71050543e-20,
       -3.41471915e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12554908, -0.03464011,  0.29857022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029200290488290426
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50523955e-15, -1.90104791e-14,  1.00000000e+00, -1.80699158e-28,
        1.00000000e+00,  1.90104791e-14, -1.00000000e+00,  0.00000000e+00,
       -9.50523955e-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([ 0.08818644, -0.0369439 ,  0.06193551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60034448e-05, 2.62426981e-07,-1.61893389e-05,-2.78483496e-05,
 -3.16496142e-05,-3.64955859e-04,-1.29075236e-04,-1.85599995e-05,
  6.50855316e-06, 1.04987982e-05,-4.84575733e-06,-1.06923756e-05,
  1.03104039e-01, 3.07080365e-06,-2.90772388e-04,-2.02599872e-04,
 -6.37082658e-03, 8.13900002e-03,-9.80905836e+00,-6.55041118e-02,
 -2.42535949e-03,-1.23050077e-02]


--- Step 233 ---
qpos:
[ 0.00976926, 0.00804212,-0.0055257 , 0.03317369, 0.00290718,-0.00317315,
 -0.00691319, 0.0387766 , 0.01296077, 0.00587324,-0.01164517, 0.0337878 ,
  0.23361069, 0.00427486, 0.47028191, 0.04828689, 0.09363003,-0.06377327,
  0.14156812, 0.96172293,-0.05179396, 0.0813749 , 0.25648493]

qacc:
[ -7.98681664,  1.15506081, -1.93394795, -4.03708741, -1.088707  ,
  -4.23466594,  9.92139901, -9.32691395,  0.41090855, -1.68953057,
  10.83937072,-27.32760312, -0.05487752,  1.74785378, -0.60307022,
  -3.76725242,  0.69233639, -0.1433578 , -0.1123029 , -1.06361107,
  -3.10936337, 24.70859958]

qfrc_actuator:
[ 6.22146477e-05, 2.70256284e-04,-2.80984585e-05, 3.58690256e-04,
  6.45378420e-04, 6.22668047e-03, 1.02083604e-04, 4.11347769e-04,
  1.71121930e-04, 7.69020283e-05,-1.90255236e-04, 2.69653398e-04,
  1.01966643e-01,-9.38136910e-05, 6.25127274e-02,-4.37650078e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030017139216519484
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.40129822e-01,  1.03190665e-03, -9.40377924e-01,  3.50982413e-04,
        9.99999468e-01,  9.70382751e-04,  9.40378424e-01,  5.42101086e-20,
       -3.40130003e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12554555, -0.03462816,  0.29857083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002918290754608144
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.75545070e-15, -2.85327042e-14,  1.00000000e+00, -1.35685868e-28,
        1.00000000e+00,  2.85327042e-14, -1.00000000e+00,  0.00000000e+00,
       -4.75545070e-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([ 0.08818409, -0.0369441 ,  0.06193554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.67011652e-05, 1.67236705e-05,-2.85346015e-05,-1.97850502e-05,
 -6.81148413e-06,-3.66592646e-04,-8.16554401e-05,-2.29163282e-05,
  2.45042902e-06, 6.21126010e-05, 2.21800809e-05,-4.32622586e-05,
  1.03106355e-01, 5.54632900e-05,-2.49289569e-04,-9.11846287e-05,
 -6.93289920e-03, 8.81092155e-03,-9.80897652e+00,-6.55305122e-02,
 -2.42645330e-03,-1.22900922e-02]


--- Step 234 ---
qpos:
[ 0.00977001, 0.00804268,-0.00552743, 0.03317937, 0.00291958,-0.00304317,
 -0.00690725, 0.03878424, 0.0129632 , 0.00587382,-0.01164693, 0.0337921 ,
  0.23362027, 0.00427606, 0.47192261, 0.0482895 , 0.09370096,-0.06379285,
  0.14155812, 0.96139063,-0.0516968 , 0.08126296, 0.25778252]

qacc:
[ -1.92430602,  0.24394387,  2.58129059,-13.39770094, -4.4771962 ,
  -4.68992217, 13.32968702,-19.16492688, -9.08776727, -2.60964478,
  12.9545292 ,-25.10443135, -0.13403773,  2.15211546, -9.06264287,
  24.85814969,  0.69456728, -0.13868868, -0.1132391 , -1.06473067,
  -3.11016008, 24.73976764]

qfrc_actuator:
[ 5.23764152e-05, 3.00443149e-04,-4.25981099e-05, 3.27430034e-04,
  6.19064564e-04, 6.09729269e-03, 1.06831665e-04, 3.89133845e-04,
  1.17808931e-04, 1.28937616e-04,-1.41269011e-04, 2.42242601e-04,
  1.01963846e-01,-6.23157111e-05, 6.23760509e-02,-4.29524776e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030019851852456083
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.38793617e-01,  1.39006519e-03, -9.40859688e-01,  4.70945668e-04,
        9.99999034e-01,  1.30785756e-03,  9.40860597e-01, -5.42101086e-20,
       -3.38793944e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12554199, -0.03461625,  0.29857144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002916561163540332
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.37913540e-14, -9.51654159e-15,  1.00000000e+00, -2.26411410e-28,
        1.00000000e+00,  9.51654159e-15, -1.00000000e+00,  0.00000000e+00,
       -2.37913540e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08818173, -0.03694435,  0.06193557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11613486e-05, 3.27725806e-05,-1.52436586e-05,-3.19256619e-05,
 -2.66314530e-05,-3.57152466e-04,-8.34712703e-05,-4.15217857e-05,
 -5.32222684e-05, 8.95259540e-05, 6.30728979e-05,-2.48284584e-05,
  1.03060975e-01, 6.11315631e-05,-2.61527839e-04, 4.38404171e-05,
 -7.52203868e-03, 9.50801453e-03,-9.80889083e+00,-6.55580147e-02,
 -2.42760118e-03,-1.22745516e-02]


--- Step 235 ---
qpos:
[ 0.00977098, 0.00804338,-0.0055293 , 0.03318498, 0.00293157,-0.00291606,
 -0.00690127, 0.03879157, 0.01296428, 0.00587498,-0.01164867, 0.03379643,
  0.23363036, 0.00427781, 0.47355973, 0.04829376, 0.09377469,-0.06381296,
  0.14154765, 0.96104414,-0.05159595, 0.0811469 , 0.25912776]

qacc:
[ 1.93209244e+00, 4.03932183e-01,-9.22708200e-01,-2.57051995e-02,
 -3.56772919e+00,-4.52318726e+00, 1.19854247e+01,-1.54457994e+01,
 -1.18621088e+01, 7.62213120e-01,-1.69955281e+00, 1.69942584e+00,
 -2.09177602e-01, 2.01331039e+00,-1.02589836e+01, 2.82346067e+01,
  6.96845438e-01,-1.33856338e-01,-1.14073637e-01,-1.06550674e+00,
 -3.11165791e+00, 2.47723164e+01]

qfrc_actuator:
[ 6.40560117e-05, 3.00350345e-04,-5.03750659e-05, 3.24541906e-04,
  5.98625755e-04, 5.95157631e-03, 1.07278868e-04, 3.73017866e-04,
  4.99653397e-05, 1.41843180e-04,-1.47128324e-04, 2.42193585e-04,
  1.01956453e-01,-4.42766076e-05, 6.21978726e-02,-4.21289585e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003002247743145002
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.37463693e-01,  1.74606027e-03, -9.41336926e-01,  5.89232845e-04,
        9.99998476e-01,  1.64363351e-03,  9.41338361e-01,  1.08420217e-19,
       -3.37464207e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12553841, -0.03460437,  0.29857204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029148425371462866
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.33275343e-14, -1.90443053e-14,  1.00000000e+00, -6.34699739e-28,
        1.00000000e+00,  1.90443053e-14, -1.00000000e+00,  0.00000000e+00,
       -3.33275343e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08817935, -0.03694466,  0.06193561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13738816e-05, 1.36980198e-05,-3.98865559e-06,-2.64227395e-06,
 -2.13162378e-05,-3.69280142e-04,-8.66556701e-05,-3.54363357e-05,
 -6.93257466e-05, 7.49122753e-05, 1.95517241e-05, 5.48225028e-06,
  1.03012555e-01, 4.78209954e-05,-2.92343977e-04, 5.11862653e-05,
 -8.13879255e-03, 1.02300612e-02,-9.80880117e+00,-6.55866400e-02,
 -2.42881507e-03,-1.22583803e-02]


--- Step 236 ---
qpos:
[ 0.00977243, 0.00804392,-0.00553082, 0.03319053, 0.00294321,-0.00279177,
 -0.00689537, 0.03879864, 0.01296488, 0.00587653,-0.01165091, 0.03380079,
  0.23364039, 0.00427981, 0.47519365, 0.04829757, 0.09385121,-0.06383359,
  0.14153673, 0.96068325,-0.05149142, 0.08102669, 0.26052064]

qacc:
[  4.20285956, -1.30361881,  4.61733162, -6.24204573, -2.92740558,
  -4.05496385, 10.11263605,-12.31594421, -4.2156833 ,  1.98862837,
  -6.43637869,  7.40239804, -0.26348374,  1.20111235, -3.33806319,
   4.86043943,  0.69915193, -0.12887751, -0.11483711, -1.06581698,
  -3.1141182 , 24.80614672]

qfrc_actuator:
[ 8.82951287e-05, 2.82177916e-04,-3.64694522e-05, 3.20599008e-04,
  5.81814642e-04, 5.81502164e-03, 1.05139353e-04, 3.60608897e-04,
  2.73880246e-05, 1.31025500e-04,-1.85472481e-04, 2.40414892e-04,
  1.01951626e-01,-5.22403224e-05, 6.20428750e-02,-4.23718504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030024966386166035
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.36137805e-01,  2.10061131e-03, -9.41810471e-01,  7.06096432e-04,
        9.99997794e-01,  1.97838209e-03,  9.41812549e-01, -1.08420217e-19,
       -3.36138547e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12553481, -0.03459248,  0.29857264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029131366169375394
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76386440e-15, -9.52772879e-15,  1.00000000e+00,  4.53888080e-29,
        1.00000000e+00,  9.52772879e-15, -1.00000000e+00,  0.00000000e+00,
        4.76386440e-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([ 0.08817697, -0.03694503,  0.06193564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45667895e-05,-1.14648033e-05, 1.61520306e-05,-3.55595381e-06,
 -1.75416107e-05,-3.67190904e-04,-9.18953644e-05,-3.22338699e-05,
 -2.45199438e-05, 3.52950377e-05,-2.02713837e-05, 2.20945063e-06,
  1.02981657e-01, 1.24856562e-05,-2.81146252e-04,-5.86865021e-05,
 -8.78371854e-03, 1.09768190e-02,-9.80870744e+00,-6.56164016e-02,
 -2.43010344e-03,-1.22415721e-02]


--- Step 237 ---
qpos:
[ 0.00977416, 0.00804424,-0.00553182, 0.03319563, 0.00295423,-0.00267014,
 -0.00688971, 0.03880653, 0.01296556, 0.00587822,-0.01165348, 0.03380511,
  0.23364985, 0.0042817 , 0.47682474, 0.04829503, 0.09393054,-0.06385472,
  0.14152535, 0.96030772,-0.05138317, 0.08090232, 0.26196118]

qacc:
[  2.47140693, -2.68277141, 11.01706112,-19.36665077, -5.56195579,
  -1.14928811, -4.41023697, 20.82417224,  0.59665813,  1.04083173,
  -3.2919092 ,  3.12298112, -0.28501213,  0.29678881, 14.99082754,
 -58.50381603,  0.70152631, -0.12369948, -0.11551137, -1.06594064,
  -3.11674777, 24.84119425]

qfrc_actuator:
[ 1.01972436e-04, 2.71158924e-04,-9.96221501e-06, 2.98305209e-04,
  5.49518873e-04, 5.70282613e-03, 1.01538367e-04, 4.03744797e-04,
  3.16386317e-05, 1.23678584e-04,-2.07281703e-04, 2.37589139e-04,
  1.01953698e-01,-7.57191839e-05, 6.18645989e-02,-4.57255721e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030027239439425544
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.34810722e-01,  2.45534359e-03, -9.42282204e-01,  8.22077836e-04,
        9.99996986e-01,  2.31363354e-03,  9.42285044e-01, -1.08420217e-19,
       -3.34811731e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12553118, -0.0345805 ,  0.29857324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002911444727321952
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76663276e-15, -1.90665310e-14,  1.00000000e+00,  9.08831514e-29,
        1.00000000e+00,  1.90665310e-14, -1.00000000e+00,  0.00000000e+00,
        4.76663276e-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([ 0.08817457, -0.03694546,  0.06193567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43714795e-05,-1.42560780e-05, 2.60021039e-05,-2.23069087e-05,
 -3.29180231e-05,-3.42502928e-04,-9.34253354e-05, 2.32884861e-05,
  3.57017800e-06, 8.25127729e-06,-1.69391195e-05,-1.97865018e-06,
  1.02987078e-01,-2.29061892e-05,-3.13189603e-04,-3.74829658e-04,
 -9.45739749e-03, 1.17480334e-02,-9.80860954e+00,-6.56473159e-02,
 -2.43147684e-03,-1.22241204e-02]


--- Step 238 ---
qpos:
[ 0.00977535, 0.00804448,-0.00553282, 0.03320079, 0.00296476,-0.00255121,
 -0.00688415, 0.03881486, 0.01296662, 0.00587968,-0.01165588, 0.03381007,
  0.23365876, 0.00428363, 0.47845175, 0.04829281, 0.09401268,-0.06387632,
  0.1415135 , 0.95991733,-0.05127118, 0.08077378, 0.26344939]

qacc:
[-4.73027080e+00, 1.98472087e-02,-4.58248485e-01, 1.50891596e+00,
 -4.11167630e+00,-2.35729751e+00, 1.36667244e+00, 8.46937065e+00,
  3.44686727e+00, 5.28408294e-01,-5.06050342e+00, 1.60498899e+01,
 -2.86638613e-01, 5.37304053e-01,-6.96857671e+00, 1.56371625e+01,
  7.04036728e-01,-1.18232230e-01,-1.16057361e-01,-1.06638116e+00,
 -3.11822054e+00, 2.48774291e+01]

qfrc_actuator:
[ 7.38145073e-05, 2.64547122e-04,-1.17297431e-05, 3.00906714e-04,
  5.26119205e-04, 5.57069624e-03, 9.72566729e-05, 4.25982549e-04,
  5.16306585e-05, 1.00753010e-04,-2.01389273e-04, 2.69690815e-04,
  1.01954631e-01,-7.27438504e-05, 6.16990666e-02,-4.53818026e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003002923400911293
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.33478104e-01,  2.81160025e-03, -9.42753652e-01,  9.37610828e-04,
        9.99996047e-01,  2.65065688e-03,  9.42757379e-01,  1.08420217e-19,
       -3.33479422e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12552752, -0.03456835,  0.29857385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002909767763543958
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.86162792e-14, -9.53875975e-15,  1.00000000e+00, -2.72963813e-28,
        1.00000000e+00,  9.53875975e-15, -1.00000000e+00,  0.00000000e+00,
       -2.86162792e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08817216, -0.03694596,  0.0619357 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77545861e-05,-1.01805255e-05,-2.28740516e-06, 2.44530202e-06,
 -2.44529944e-05,-3.46476467e-04,-8.72411794e-05, 4.48122641e-06,
  2.01007393e-05,-2.19327878e-05, 5.44307854e-06, 3.18229761e-05,
  1.03015860e-01,-1.39893271e-05,-3.50763915e-04,-2.68879112e-05,
 -1.01604209e-02, 1.25434227e-02,-9.80850738e+00,-6.56793939e-02,
 -2.43294394e-03,-1.22060182e-02]


--- Step 239 ---
qpos:
[ 0.00977619, 0.00804465,-0.00553382, 0.03320594, 0.00297563,-0.00243497,
 -0.00687894, 0.03882271, 0.01296861, 0.00588097,-0.01165848, 0.03381539,
  0.23366673, 0.00428547, 0.48007505, 0.04829545, 0.09409765,-0.06389837,
  0.14150118, 0.95951183,-0.05115545, 0.08064103, 0.26498526]

qacc:
[-3.04060606e+00,-8.63712383e-02, 2.11827393e-01,-3.11241825e-01,
  2.91127005e+00,-3.57307266e+00, 9.59341914e+00,-1.53276098e+01,
  8.10057866e+00, 1.05931793e+00,-5.63140738e+00, 1.23237114e+01,
 -2.80929871e-01, 1.03529084e-02,-2.01513632e+01, 6.25688236e+01,
  7.06547749e-01,-1.12633460e-01,-1.16587687e-01,-1.06618837e+00,
 -3.12091445e+00, 2.49146842e+01]

qfrc_actuator:
[ 5.67675129e-05, 2.60533386e-04,-1.23915286e-05, 3.00368598e-04,
  5.43652879e-04, 5.42771155e-03, 7.47718591e-05, 4.00219904e-04,
  9.84709777e-05, 8.65627691e-05,-2.14743035e-04, 2.86584074e-04,
  1.01960227e-01,-8.95071654e-05, 6.15893276e-02,-4.26831610e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00300309512114235
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3321406 ,  0.0031692 , -0.94322456,  0.00105263,  0.99999498,
        0.00298928,  0.9432293 ,  0.        , -0.33214227])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12552383, -0.03455603,  0.29857445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029081061387605245
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90884199e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.90884199e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08816974, -0.03694653,  0.06193573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78420280e-05,-1.00964700e-05,-2.96460239e-06,-1.01482046e-06,
  1.67203715e-05,-3.58980579e-04,-1.06122586e-04,-4.38366108e-05,
  4.74055698e-05,-2.39922386e-05,-1.61123973e-05, 1.67514597e-05,
  1.03049081e-01,-3.23058000e-05,-2.69771101e-04, 2.24025495e-04,
 -1.08933821e-02, 1.33626682e-02,-9.80840088e+00,-6.57126347e-02,
 -2.43450852e-03,-1.21872584e-02]


--- Step 240 ---
qpos:
[ 0.00977682, 0.00804489,-0.00553492, 0.03321138, 0.002993  ,-0.0025298 ,
 -0.00685608, 0.03885569, 0.01297148, 0.00588199,-0.01166147, 0.03382125,
  0.23367458, 0.00428703, 0.4816955 , 0.04830147, 0.09418304,-0.0639203 ,
  0.14148878, 0.95910221,-0.05103902, 0.08050751, 0.26652675]

qacc:
[-1.85779267e+00, 9.45147026e-01,-4.41652398e+00, 9.42014020e+00,
  6.13187265e+01,-2.76710028e+02, 4.75566588e+02, 8.66461995e+01,
  7.83209741e+00, 1.79810608e+00,-9.20983154e+00, 1.92910743e+01,
  3.70525458e-01,-1.75702510e+00,-1.44975872e+01, 4.45214374e+01,
  1.04132275e-01, 2.82221089e-02,-2.33870015e-02,-9.45106928e-02,
 -4.46296135e-01, 3.24676643e+00]

qfrc_actuator:
[ 4.64101622e-05, 2.75857568e-04,-1.23801401e-05, 3.15743496e-04,
  5.85135603e-04, 5.29703682e-03, 7.71570990e-05, 3.64155323e-04,
  1.42980773e-04, 5.98747780e-05,-2.39351084e-04, 3.12128127e-04,
  1.01958021e-01,-8.24994159e-05, 6.14758967e-02,-4.09261392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7131829 , -0.52590552, -0.48171905, -0.52590552,  0.42357997,
        0.31616723, -0.48171905,  0.31616723,  0.36801472,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.424784198881361e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99952199e-01,  2.97549746e-03, -9.31376937e-03,  2.97536840e-03,
        9.99995573e-01,  2.77132198e-05,  9.31381060e-03,  0.00000000e+00,
       -9.99956626e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13038217, -0.0862753 ,  0.17212313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030032350451934665
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.33079503,  0.00352913, -0.94369603,  0.00116743,  0.99999377,
        0.00333045,  0.94370191,  0.        , -0.33079709])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12552009, -0.03454347,  0.29857507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029064600520994355
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.86488461e-14, -2.86488461e-14,  1.00000000e+00, -8.20756385e-28,
        1.00000000e+00,  2.86488461e-14, -1.00000000e+00,  0.00000000e+00,
       -2.86488461e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0881673 , -0.03694717,  0.06193575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08695250e-05, 9.00772904e-06,-2.47621737e-06, 1.48108887e-05,
  4.18391592e-05,-3.59516329e-04,-8.77975391e-05,-5.62618598e-05,
  4.58512996e-05,-4.27203075e-05,-3.09653467e-05, 2.42739082e-05,
  1.03092985e-01,-2.06027726e-05,-2.11587239e-04, 1.53495354e-04,
 -1.16569213e-02, 1.42054643e-02,-9.80828993e+00,-6.57470587e-02,
 -2.43618440e-03,-1.21678338e-02]


--- Step 241 ---
qpos:
[ 0.00977767, 0.0080453 ,-0.00553636, 0.03321731, 0.00302184,-0.00285502,
 -0.00685892, 0.03889393, 0.01297384, 0.00588237,-0.01166404, 0.03382804,
  0.23368345, 0.00428894, 0.48331328, 0.04830984, 0.09426754,-0.06394199,
  0.14147669, 0.95869593,-0.050925  , 0.08037517, 0.26804588]

qacc:
[ 1.87930189e+00, 2.18773730e+00,-9.56776533e+00, 1.85258544e+01,
  1.04060622e+02,-2.22074484e+02, 3.27429240e+02,-2.52267844e+01,
 -4.57687121e+00,-4.42727589e-02,-5.03764292e+00, 2.11667077e+01,
  3.25349221e-01, 3.37133234e-01,-1.10116525e+01, 3.28220647e+01,
 -2.22300462e-01, 6.12099536e-02, 8.11415508e-02,-1.70304076e-02,
  1.32910822e+00,-1.12330323e+01]

qfrc_actuator:
[ 5.78225151e-05, 2.84909384e-04,-2.96323370e-05, 3.40376240e-04,
  5.63674213e-04, 5.40096681e-03, 7.66156051e-05, 3.14253405e-04,
  1.14743270e-04, 2.58621734e-05,-2.17187506e-04, 3.60297334e-04,
  1.01945771e-01,-2.54908368e-05, 6.13549826e-02,-3.97388307e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -6.253936546389731e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99616923e-01,  2.99185863e-03, -2.75146422e-02,  2.99072591e-03,
        9.99995524e-01,  8.23202884e-05,  2.75147654e-02, -1.35525272e-20,
       -9.99621397e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13033724, -0.08374584,  0.17890831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.74042664, -0.59103295, -0.44599513, -0.59103295,  0.53394566,
        0.27362869, -0.44599513,  0.27362869,  0.37781378,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001854065525520712
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99951474e-01,  2.99285995e-03, -9.38574964e-03,  2.99272812e-03,
        9.99995521e-01,  2.80903600e-05,  9.38579168e-03,  0.00000000e+00,
       -9.99955952e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13041855, -0.08611352,  0.17202462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030033590760088075
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.32943496,  0.00389283, -0.94417025,  0.00128244,  0.99999242,
        0.00367552,  0.9441774 ,  0.        , -0.32943746])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12551624, -0.03453051,  0.29857569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002943481388944228
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14213705e-01, -1.14213705e-01,  9.86869018e-01,  1.31306951e-02,
        9.93456204e-01,  1.13456403e-01, -9.93369425e-01,  1.73472348e-18,
        1.14966019e-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([ 0.08816485, -0.03694788,  0.06193578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11046053e-05, 1.41983580e-05,-1.51863762e-05, 2.52114332e-05,
 -3.04593023e-04, 1.03014901e-02,-9.69576990e-04,-1.36215871e-03,
 -2.69475654e-05,-6.32480534e-05, 1.03760558e-05, 4.57295140e-05,
  1.03086984e-01, 5.10829530e-05,-2.02917750e-04, 9.94163453e-05,
 -1.17988632e-02, 1.42840790e-02,-9.80826741e+00,-6.57319649e-02,
 -2.44981328e-03,-1.21475416e-02]


--- Step 242 ---
qpos:
[ 0.00977865, 0.00804582,-0.00553799, 0.03322348, 0.00306309,-0.00339588,
 -0.00689848, 0.03893059, 0.01297514, 0.00588222,-0.01166601, 0.03383465,
  0.2336939 , 0.0042912 , 0.4849289 , 0.04831554, 0.09435007,-0.06396316,
  0.14146505, 0.95829784,-0.05081449, 0.08024559, 0.26952512]

qacc:
[ 1.13379615e+00, 1.18331716e+00,-5.02817361e+00, 9.47509934e+00,
  1.11543021e+02,-1.85839350e+02, 2.55414336e+02,-6.49770346e+01,
 -9.17524398e+00,-2.76091029e+00, 9.67082943e+00,-1.36208392e+01,
  5.58295816e-01, 3.11008903e-02, 4.84357265e+00,-2.16481935e+01,
 -4.89839218e-01, 1.31462084e-01, 1.10852249e-01, 4.95412583e-01,
  2.47579223e+00,-2.02951688e+01]

qfrc_actuator:
[ 6.42016341e-05, 2.90077770e-04,-3.92021777e-05, 3.52488956e-04,
  5.14616800e-04, 5.71388926e-03, 9.28364702e-05, 2.83606211e-04,
  6.16679182e-05, 5.68500173e-06,-1.85355149e-04, 3.50407777e-04,
  1.01948697e-01, 7.73820081e-06, 6.12243371e-02,-4.12043022e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00019175875461735958
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99586235e-01,  3.02060225e-03, -2.86048133e-02,  3.01936621e-03,
        9.99995438e-01,  8.64041577e-05,  2.86049438e-02,  0.00000000e+00,
       -9.99590795e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13037967, -0.08355007,  0.17897296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.80268162, -0.67864663, -0.428645  , -0.67864663,  0.64863801,
        0.24388755, -0.428645  ,  0.24388755,  0.41654982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032022952337872355
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99948255e-01,  3.02169622e-03, -9.71378759e-03,  3.02155366e-03,
        9.99995435e-01,  2.93522493e-05,  9.71383193e-03, -3.38813179e-21,
       -9.99952820e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13046568, -0.08596264,  0.17193507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030036604664685543
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.32808438,  0.00425344, -0.94463884,  0.0013955 ,  0.99999095,
        0.004018  ,  0.94464739,  0.        , -0.32808735])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12551232, -0.03451739,  0.29857633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029422433429902957
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.11494278, -0.11494278,  0.98669971,  0.01329999,  0.99337211,
        0.11417072, -0.99328307,  0.        ,  0.11570969])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08816279, -0.03694902,  0.06193581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.69902630e-06, 1.10416487e-05,-7.63756810e-06, 1.26748261e-05,
 -9.27746317e-04, 2.21453071e-02, 3.34763530e-04,-1.65559107e-03,
 -5.38657842e-05,-5.14437054e-05, 2.16419379e-05,-1.13596638e-05,
  1.03038525e-01, 6.72019554e-05,-2.14445276e-04,-1.67731302e-04,
 -1.15056891e-02, 1.38540193e-02,-9.80830907e+00,-6.56838516e-02,
 -2.46545657e-03,-1.21269026e-02]


--- Step 243 ---
qpos:
[ 0.00977969, 0.00804643,-0.00553971, 0.03322975, 0.00311957,-0.00411041,
 -0.00696907, 0.03896041, 0.01297615, 0.00588198,-0.01166799, 0.03384038,
  0.23371536, 0.00428821, 0.48654176, 0.04831546, 0.09443023,-0.06398432,
  0.14145733, 0.95791205,-0.05070608, 0.0801194 , 0.27095069]

qacc:
[ 6.00926524e-01, 5.57904744e-01,-2.24235687e+00, 3.98391572e+00,
  1.35748952e+02,-1.57192781e+02, 2.55878255e+02,-1.96432707e+02,
 -2.65398765e+00,-1.90832393e+00, 1.03156487e+01,-2.53769786e+01,
  1.23817080e+01,-3.89850054e+01, 1.28336118e+01,-5.22591245e+01,
 -5.95443900e-01,-9.81889250e-05, 9.79676717e-01, 1.91911639e+00,
  2.77910571e+00,-2.73650388e+01]

qfrc_actuator:
[ 6.75601266e-05, 2.92897848e-04,-4.41797332e-05, 3.57140924e-04,
  4.78992425e-04, 6.22961340e-03, 1.40431048e-04, 2.33750663e-04,
  4.76801922e-05, 1.17108643e-05,-1.83579705e-04, 3.06442940e-04,
  1.01949992e-01,-2.66888202e-05, 6.10612765e-02,-4.42206773e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.46827002, -0.96757592,  1.10436122, -0.96757592,  0.63970751,
       -0.72593742,  1.10436122, -0.72593742,  0.83224663,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030549686859271185
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99555042e-01,  3.06174086e-03, -2.96705997e-02,  3.06039286e-03,
        9.99995313e-01,  9.08441133e-05,  2.96707388e-02, -1.35525272e-20,
       -9.99559727e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13043055, -0.08337212,  0.17902713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.89976465, -0.81583054, -0.37946932, -0.81583054,  0.81966556,
        0.17220704, -0.37946932,  0.17220704,  0.52953245,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004376666184397325
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99942323e-01,  3.06292714e-03, -1.02941756e-02,  3.06276485e-03,
        9.99995309e-01,  3.15304579e-05,  1.02942239e-02,  0.00000000e+00,
       -9.99947013e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13052258, -0.08582395,  0.17185518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00208384893637935
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51372826, -0.02666339, -0.85753853, -0.01370261,  0.99964447,
       -0.02287302,  0.85784352,  0.        , -0.51391098])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1255107 , -0.03451433,  0.29857604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029408597032224344
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.11554847, -0.11554847,  0.98655821,  0.01344148,  0.99330184,
        0.114764  , -0.99321089,  0.        ,  0.11632765])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08816104, -0.03695049,  0.06193584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55177291e-06, 7.94562259e-06,-3.20103089e-06, 5.09576753e-06,
 -1.58356619e-03, 3.34628541e-02, 2.22552846e-03,-1.62509934e-03,
 -1.55383483e-05,-1.87590181e-05,-6.56460147e-06,-4.56491852e-05,
  1.02960415e-01, 1.61923714e-05,-2.82208158e-04,-3.39268770e-04,
 -1.09538181e-02, 1.31184806e-02,-9.80838795e+00,-6.56160847e-02,
 -2.48694107e-03,-1.21064326e-02]


--- Step 244 ---
qpos:
[ 0.00978077, 0.00804721,-0.00554119, 0.03323495, 0.0031776 ,-0.00488891,
 -0.00705479, 0.03897395, 0.01297732, 0.00588191,-0.01167036, 0.03384553,
  0.23373719, 0.00428977, 0.48815111, 0.04831181, 0.09449777,-0.06400694,
  0.1414551 , 0.95755883,-0.05061662, 0.08002788, 0.27223993]

qacc:
[ 2.84720781e-01,-2.62177496e+00, 1.41872802e+01,-3.31322903e+01,
  1.42445086e+01,-7.57945336e+01, 2.16182844e+02,-4.26370364e+02,
  1.46844978e+00, 1.62745962e-01, 2.22363208e+00,-1.17721333e+01,
 -4.84934455e+00, 2.28862433e+01, 5.89866670e+00,-2.74198375e+01,
 -3.15419517e+00,-3.62378397e-01, 1.37163994e+00, 1.91178106e+00,
  2.13245764e+01,-6.95943508e+01]

qfrc_actuator:
[ 6.91153398e-05, 3.12053485e-04,-2.86697929e-05, 3.04109841e-04,
  4.43646130e-04, 6.94681497e-03, 2.15839600e-04, 1.96020126e-04,
  5.68190918e-05, 3.32378812e-05,-1.99472440e-04, 2.78296585e-04,
  1.01954727e-01,-2.52563685e-05, 6.08788965e-02,-4.59954792e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.60510359, -0.9458387 ,  1.29682176, -0.9458387 ,  0.62923184,
       -0.71175337,  1.29682176, -0.71175337,  1.08598531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040516761505231773
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99523690e-01,  3.11809328e-03, -3.07029460e-02,  3.11662325e-03,
        9.99995139e-01,  9.57351149e-05,  3.07030953e-02,  0.00000000e+00,
       -9.99528549e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13048791, -0.0832131 ,  0.17907209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.03200614, -0.95765597, -0.38461891, -0.95765597,  0.9551998 ,
        0.19123876, -0.38461891,  0.19123876,  0.55584405,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005393140082855724
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99933758e-01,  3.11937252e-03, -1.10792473e-02,  3.11918106e-03,
        9.99995135e-01,  3.45604677e-05,  1.10793012e-02,  0.00000000e+00,
       -9.99938623e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13058697, -0.085698  ,  0.17178758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020900134647595966
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51462929, -0.0270334 , -0.85698652, -0.01391726,  0.99963453,
       -0.02317573,  0.85729983,  0.        , -0.51481744])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12551644, -0.03454326,  0.29857304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, -9.08844105, 14.6883405 , -9.08844105, 40.78014951,
       14.5452661 , 14.6883405 , 14.5452661 , 26.27264073,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002898570625548741
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.78018137e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.78018137e-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([ 0.10531932, -0.06079602,  0.0619359 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65771136e-06, 2.31382120e-05, 1.69311363e-05,-5.27140235e-05,
 -2.38012900e-03, 4.28904134e-02, 3.86144756e-03,-1.31880234e-03,
  8.69117133e-06, 7.74179245e-06,-2.21406741e-05,-3.00727850e-05,
  1.02416554e-01, 2.80593206e-04,-3.40875259e-04,-2.31047362e-04,
 -1.02332926e-02, 1.21712869e-02,-9.80847465e+00,-6.55397861e-02,
 -2.52257507e-03,-1.20864138e-02]


--- Step 245 ---
qpos:
[ 0.00978152, 0.00804801,-0.00554244, 0.03323984, 0.00323689,-0.00570031,
 -0.00713692, 0.03898137, 0.0129786 , 0.00588206,-0.01167274, 0.03385096,
  0.23375551, 0.00429366, 0.48975633, 0.0483113 , 0.09455483,-0.06402996,
  0.14145711, 0.95723728,-0.05054274, 0.07996292, 0.27340109]

qacc:
[-2.92874425e+00,-1.27724360e+00, 5.90695933e+00,-1.16792819e+01,
  1.18081977e+01,-6.61181986e+01, 1.98444028e+02,-2.85769684e+02,
  8.77146688e-01, 8.69283186e-01,-3.88291877e+00, 8.60651668e+00,
 -4.54413297e+00, 1.52732979e+01,-1.53893708e+01, 4.55092503e+01,
 -2.62014292e+00,-1.01766321e-01, 1.06197757e+00, 2.07686625e+00,
  1.68131003e+01,-6.55812244e+01]

qfrc_actuator:
[ 5.18453104e-05, 3.05373318e-04,-1.89132818e-05, 2.88601967e-04,
  3.98296066e-04, 7.74467734e-03, 3.04449766e-04, 1.77726707e-04,
  6.17314414e-05, 6.38207431e-05,-1.90065009e-04, 2.95202876e-04,
  1.01962088e-01,-4.54999354e-05, 6.07276984e-02,-4.41839539e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.76698432, -0.96366977,  1.48107196, -0.96366977,  0.65270728,
       -0.7250121 ,  1.48107196, -0.7250121 ,  1.29525016,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004846406598378093
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99495586e-01,  3.17600408e-03, -3.15988259e-02,  3.17441807e-03,
        9.99994956e-01,  1.00358506e-04,  3.15989852e-02,  0.00000000e+00,
       -9.99500627e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13054473, -0.08308348,  0.1791058 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14776227, -1.09719697, -0.33692291, -1.09719697,  1.09058281,
        0.18620621, -0.33692291,  0.18620621,  0.54137759,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000619167084206983
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99923627e-01,  3.17736423e-03, -1.19434138e-02,  3.17713760e-03,
        9.99994952e-01,  3.79487672e-05,  1.19434740e-02,  0.00000000e+00,
       -9.99928674e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13065094, -0.08559361,  0.17173652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002098573660554214
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15413378e-01, -2.73606155e-02, -8.56504785e-01, -1.41073086e-02,
        9.99625628e-01, -2.34432746e-02,  8.56825556e-01, -1.73472348e-18,
       -5.15606406e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12552089, -0.03456497,  0.29857114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  10.42761956, -13.76996215,  10.42761956,
        87.04669527,  52.83793707, -13.76996215,  52.83793707,
        57.28546661,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0029002626555158784
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.25606531e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.25606531e-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([ 0.10537323, -0.06075853,  0.06193586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72151977e-05, 7.47191234e-06, 1.47929103e-05,-1.49668340e-05,
 -2.50310747e-03, 4.69164432e-02, 4.71664882e-03,-5.21679708e-04,
  5.16261152e-06, 2.90753412e-05, 7.25692131e-06, 1.58805483e-05,
  1.02404824e-01, 3.34284053e-05,-3.30342780e-04, 1.24986122e-04,
 -8.30939730e-03, 9.76468653e-03,-9.80899687e+00,-6.52749301e-02,
 -2.55582534e-03,-1.20682126e-02]


--- Step 246 ---
qpos:
[ 0.00978239, 0.00804863,-0.00554346, 0.03324488, 0.00329626,-0.00652882,
 -0.00720868, 0.03898594, 0.01297992, 0.00588218,-0.01167433, 0.03385618,
  0.23376839, 0.00429834, 0.49135825, 0.04831149, 0.09460306,-0.06405254,
  0.14146236, 0.95694695,-0.05048185, 0.07991807, 0.27443982]

qacc:
[ 1.17119697e+00,-5.44433650e-01, 9.64348121e-01, 1.39329882e+00,
  1.24261824e+00,-5.74892299e+01, 1.84218877e+02,-2.37609310e+02,
  4.57513499e-01,-2.70215779e+00, 1.04602130e+01,-1.53463172e+01,
 -4.07661430e+00, 9.83075853e+00,-6.78745126e+00, 1.71140861e+01,
 -2.20568757e+00, 1.11656027e-01, 8.10263717e-01, 2.22014775e+00,
  1.32472600e+01,-6.28731439e+01]

qfrc_actuator:
[ 5.91391573e-05, 2.83281487e-04,-1.27050386e-05, 2.95278998e-04,
  3.28853999e-04, 8.58544450e-03, 3.70565869e-04, 1.67453411e-04,
  6.41089990e-05, 6.42304085e-05,-1.47960671e-04, 2.85252732e-04,
  1.01955384e-01,-7.83468383e-05, 6.05794157e-02,-4.38239477e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.93118232, -1.01448257,  1.64325599, -1.01448257,  0.7137912 ,
       -0.7515701 ,  1.64325599, -0.7515701 ,  1.46719206,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005476138900000611
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99470484e-01,  3.23518923e-03, -3.23772246e-02,  3.23349307e-03,
        9.99994767e-01,  1.04746996e-04,  3.23773940e-02,  1.35525272e-20,
       -9.99475715e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13060009, -0.08297802,  0.17913057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.23656515, -1.20682375, -0.26957337, -1.20682375,  1.19997827,
        0.16379186, -0.26957337,  0.16379186,  0.50330316,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006814133568493253
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99912366e-01,  3.23661956e-03, -1.28368791e-02,  3.23635287e-03,
        9.99994762e-01,  4.15483117e-05,  1.28369464e-02,  0.00000000e+00,
       -9.99917603e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1307133 , -0.08550702,  0.17169883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021088654115513747
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51600755, -0.02762046, -0.85613861, -0.01425781,  0.99961848,
       -0.02365597,  0.85646536,  0.        , -0.51620449])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12552469, -0.03458215,  0.29856997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  10.53439479, -13.68844892,  10.53439479,
       103.60719076,  66.44151783, -13.68844892,  66.44151783,
        68.40497635,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002898156587068268
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91539517e-14, -1.07740978e-14,  1.00000000e+00,  2.06366549e-28,
        1.00000000e+00,  1.07740978e-14, -1.00000000e+00,  0.00000000e+00,
        1.91539517e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10541606, -0.06072934,  0.06193591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.80380121e-06,-1.55328869e-05, 9.05000768e-06, 7.20839139e-06,
 -2.63598528e-03, 4.94324043e-02, 4.61400285e-03,-2.23967479e-04,
  2.53259477e-06, 1.88643819e-05, 4.95685007e-05,-8.15111963e-06,
  1.02572521e-01,-1.15376017e-04,-2.85086555e-04, 6.07709036e-07,
 -6.69852710e-03, 7.78871821e-03,-9.80935213e+00,-6.50814688e-02,
 -2.58553778e-03,-1.20548901e-02]


--- Step 247 ---
qpos:
[ 0.00978369, 0.00804918,-0.00554411, 0.03324925, 0.00335433,-0.0073642 ,
 -0.00726764, 0.0389885 , 0.01298126, 0.00588206,-0.0116752 , 0.03386058,
  0.23377542, 0.00430299, 0.4929574 , 0.04830673, 0.09464378,-0.06407399,
  0.14147004, 0.95668755,-0.05043189, 0.07988825, 0.27536054]

qacc:
[ 3.74437454e+00,-2.55984251e+00, 1.18255172e+01,-2.40526114e+01,
 -1.08565563e+01,-4.89655770e+01, 1.69903605e+02,-2.20028251e+02,
  1.88132847e-01,-3.97296705e+00, 1.71530740e+01,-3.22428614e+01,
 -3.55041396e+00, 6.54639024e+00, 1.09620768e+01,-4.40042199e+01,
 -1.88022835e+00, 2.80515449e-01, 6.06372602e-01, 2.32605718e+00,
  1.04289560e+01,-6.07687498e+01]

qfrc_actuator:
[ 8.08382806e-05, 2.87639092e-04, 9.05231593e-06, 2.61674561e-04,
  2.45646604e-04, 9.41381949e-03, 4.14963369e-04, 1.43426013e-04,
  6.49766478e-05, 2.89426459e-05,-1.22542728e-04, 2.41815307e-04,
  1.01956517e-01,-1.00403924e-04, 6.04116509e-02,-4.64532848e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.06222911, -1.05609416,  1.77128598, -1.05609416,  0.77815427,
       -0.76560417,  1.77128598, -0.76560417,  1.6057528 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005964615874213539
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99448192e-01,  3.29445189e-03, -3.30523549e-02,  3.29265185e-03,
        9.99994573e-01,  1.08889984e-04,  3.30525343e-02, -1.35525272e-20,
       -9.99453616e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13065365, -0.08289316,  0.17914785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.30054381, -1.28816283, -0.17902721, -1.28816283,  1.28419439,
        0.11763977, -0.17902721,  0.11763977,  0.45408489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007286979336885647
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99900210e-01,  3.29594186e-03, -1.37370678e-02,  3.29563086e-03,
        9.99994568e-01,  4.52768228e-05,  1.37371424e-02,  0.00000000e+00,
       -9.99905641e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13077359, -0.08543568,  0.17167231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021203520871186333
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5163699 , -0.02779884, -0.85591434, -0.01436003,  0.99961354,
       -0.02380262,  0.85624525,  0.        , -0.51656953])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12552823, -0.03459662,  0.29856926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  10.65990489, -13.59093578,  10.65990489,
       123.09098888,  82.99741995, -13.59093578,  82.99741995,
        82.37086453,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0028931205754749306
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91872927e-14,  1.91872927e-14,  1.00000000e+00, -3.68152200e-28,
        1.00000000e+00, -1.91872927e-14, -1.00000000e+00,  0.00000000e+00,
        1.91872927e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10545017, -0.06070669,  0.06193603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18849730e-05,-2.17231940e-06, 1.99051904e-05,-3.38274257e-05,
 -2.72276256e-03, 5.11470907e-02, 4.15030886e-03,-1.03064125e-04,
  9.44335596e-07,-1.48414741e-05, 3.51446512e-05,-4.10808756e-05,
  1.02844577e-01,-1.76945124e-04,-3.02345343e-04,-3.00498326e-04,
 -5.33182588e-03, 6.14298151e-03,-9.80959193e+00,-6.49397546e-02,
 -2.61202402e-03,-1.20452472e-02]


--- Step 248 ---
qpos:
[ 0.00978559, 0.00804978,-0.00554484, 0.03325354, 0.0034024 ,-0.00815439,
 -0.00731181, 0.03898419, 0.0129826 , 0.00588187,-0.01167612, 0.0338655 ,
  0.23378233, 0.00430481, 0.4945532 , 0.04830074, 0.09467539,-0.06409079,
  0.1414786 , 0.95648531,-0.05039312, 0.0798641 , 0.27607627]

qacc:
[ 5.21674224e+00, 1.30027183e-01,-6.02092229e-02,-1.13955125e+00,
 -8.79132574e+01, 4.43529777e+00, 1.00070370e+02,-2.75928534e+02,
 -3.11222434e-04, 1.08104917e+00,-6.13412739e+00, 1.50884239e+01,
  3.12837255e+00,-1.43447473e+01,-1.40013653e+00,-2.77772979e+00,
 -2.27532116e+00, 1.16483832e+00, 2.18665474e-01, 5.05978674e+00,
  7.14274156e+00,-1.06234085e+02]

qfrc_actuator:
[ 1.10834730e-04, 2.90077944e-04, 4.38313949e-06, 2.57923465e-04,
  1.73272853e-04, 1.02491203e-02, 4.57507928e-04, 1.46944213e-04,
  6.49493720e-05, 2.57162493e-05,-1.25117130e-04, 2.67739708e-04,
  1.01962585e-01,-9.77324746e-05, 6.02855274e-02,-4.69170549e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.18255821, 1.12783291, 8.10445876, 1.12783291, 6.49017521,
       0.23551545, 8.10445876, 0.23551545, 8.1497834 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -9.021975331704288e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99473315e-01,  1.53822054e-12, -3.24513787e-02,  1.53741039e-12,
        1.00000000e+00,  4.99173775e-14,  3.24513787e-02,  0.00000000e+00,
       -9.99473315e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12890291, -0.05820726,  0.25000677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.1600103 , -1.07697768,  1.87236844, -1.07697768,  0.95647401,
       -0.69226852,  1.87236844, -0.69226852,  1.76182064,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006329281916959388
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99428552e-01,  3.35242409e-03, -3.36352676e-02,  3.35052718e-03,
        9.99994381e-01,  1.12760315e-04,  3.36354566e-02,  0.00000000e+00,
       -9.99434168e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13070521, -0.08282622,  0.17915867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.34373027, -1.31331656,  0.28427218, -1.31331656,  1.30096288,
       -0.1975822 ,  0.28427218, -0.1975822 ,  0.43091506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007629452584475263
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99887331e-01,  3.35396299e-03, -1.46313206e-02,  3.35360397e-03,
        9.99994375e-01,  4.90731839e-05,  1.46314029e-02,  0.00000000e+00,
       -9.99892955e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13083156, -0.08537768,  0.17165528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002132606835984345
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16483518e-01, -2.78902238e-02, -8.55842807e-01, -1.44104467e-02,
        9.99610992e-01, -2.38789366e-02,  8.56175867e-01,  1.73472348e-18,
       -5.16684512e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12553173, -0.03460952,  0.29856881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002885859952432124
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92355666e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.92355666e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10547739, -0.06068921,  0.06193619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06178629e-05, 3.86769034e-06,-3.84749803e-06,-3.82453587e-06,
 -2.73026863e-03, 5.23570878e-02, 3.56343546e-03, 2.84743337e-06,
 -5.74368282e-09,-6.01730819e-06,-2.72943407e-06, 2.56974572e-05,
  1.03142294e-01,-1.72759769e-04,-3.03200784e-04,-1.03163755e-04,
 -4.16967835e-03, 4.76673994e-03,-9.80975151e+00,-6.48360540e-02,
 -2.63539000e-03,-1.20383743e-02]


--- Step 249 ---
qpos:
[ 0.00978749, 0.00805003,-0.00554515, 0.03325777, 0.00343913,-0.00889558,
 -0.00733686, 0.0389791 , 0.01298394, 0.0058818 ,-0.01167714, 0.03387067,
  0.23379122, 0.00430605, 0.49614584, 0.04829408, 0.09469933,-0.06410308,
  0.1414878 , 0.95633451,-0.05036414, 0.07984408, 0.27660925]

qacc:
[ 2.13451982e-02,-1.73875184e+00, 5.77737986e+00,-7.21623961e+00,
 -9.94691502e+01, 9.87146448e+00, 6.24708593e+01,-1.43236878e+02,
 -1.00678069e-01, 9.36334209e-01,-4.19307715e+00, 8.64533270e+00,
  1.89924049e+00,-5.29113789e+00,-2.72796875e+00, 2.55358249e+00,
 -1.91971119e+00, 1.12380419e+00, 1.61519890e-01, 4.47998219e+00,
  5.87630805e+00,-9.47827224e+01]

qfrc_actuator:
[ 1.09964572e-04, 2.55763697e-04, 1.96729707e-05, 2.54002204e-04,
  1.34372476e-04, 1.10392658e-02, 4.91826403e-04, 1.54890886e-04,
  6.43962602e-05, 4.16459719e-05,-1.26269882e-04, 2.81021981e-04,
  1.01960658e-01,-4.18970698e-05, 6.01579114e-02,-4.71639044e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.19698591, 1.64933999, 8.02933718, 1.64933999, 5.52371394,
       0.54912806, 8.02933718, 0.54912806, 8.0841872 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -4.081262924271938e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99458948e-01,  6.80073206e-13, -3.28909090e-02,  6.79705251e-13,
        1.00000000e+00,  2.23682259e-14,  3.28909090e-02,  0.00000000e+00,
       -9.99458948e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12891313, -0.05816922,  0.25003058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.2149614 , -1.07194034,  1.93829769, -1.07194034,  1.02463262,
       -0.65828972,  1.93829769, -0.65828972,  1.85090623,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006536321913584093
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99412953e-01,  3.40041454e-03, -3.40908446e-02,  3.39843799e-03,
        9.99994219e-01,  1.15923674e-04,  3.40910417e-02,  0.00000000e+00,
       -9.99418731e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1307514 , -0.08278239,  0.17916184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36501694, -1.05576896,  0.86523011, -1.05576896,  0.89596251,
       -0.57234843,  0.86523011, -0.57234843,  0.66662734,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007809184758276164
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99874613e-01,  3.40198530e-03, -1.54655885e-02,  3.40157842e-03,
        9.99994213e-01,  5.26140091e-05,  1.54656780e-02,  0.00000000e+00,
       -9.99880399e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13088341, -0.08533739,  0.17164892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021442382901139035
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5159346 , -0.02776295, -0.85617796, -0.01432939,  0.99961453,
       -0.02377919,  0.85650812,  0.        , -0.51613355])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12553609, -0.03462659,  0.29856787])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002877602478469646
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92907643e-14,  1.92907643e-14,  1.00000000e+00, -3.72133588e-28,
        1.00000000e+00, -1.92907643e-14, -1.00000000e+00,  0.00000000e+00,
        1.92907643e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10549904, -0.06067578,  0.06193637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79899067e-09,-3.31282265e-05, 1.54712608e-05,-3.97402070e-06,
 -2.26920735e-03, 5.09171297e-02, 2.86788808e-03, 3.55605813e-04,
 -5.56902435e-07, 1.31130343e-05,-1.83944212e-06, 1.34218675e-05,
  1.03146913e-01, 2.54933095e-05,-2.77009627e-04,-6.92914831e-05,
 -2.52530969e-03, 2.88226308e-03,-9.80984523e+00,-6.47534020e-02,
 -2.67427227e-03,-1.20329730e-02]


--- Step 250 ---
qpos:
[ 0.00978901, 0.00804995,-0.00554524, 0.03326193, 0.00346356,-0.00959757,
 -0.00734741, 0.03897541, 0.0129849 , 0.00588196,-0.01167847, 0.03387526,
  0.23380122, 0.00430732, 0.49773526, 0.04828841, 0.09471674,-0.06411108,
  0.14149747, 0.95623014,-0.05034375, 0.07982698, 0.27697848]

qacc:
[-3.23280841e+00,-1.19201169e+00, 3.92298878e+00,-5.25008511e+00,
 -1.07923141e+02, 1.44226864e+01, 1.81373438e+01,-4.61132318e+01,
 -3.19852110e+00, 1.84518676e-02, 2.81971220e+00,-1.24209180e+01,
  7.36769926e-01,-1.40151289e+00,-7.80247244e+00, 2.03042296e+01,
 -1.63066956e+00, 1.07592491e+00, 1.19531632e-01, 3.99952498e+00,
  4.85274672e+00,-8.49885010e+01]

qfrc_actuator:
[ 9.09311023e-05, 2.35287252e-04, 2.87261797e-05, 2.49993715e-04,
  1.20891822e-04, 1.17626701e-02, 5.10958836e-04, 1.44424580e-04,
  4.57858882e-05, 5.11667531e-05,-1.44251031e-04, 2.51267063e-04,
  1.01948423e-01,-6.18038785e-05, 6.00241771e-02,-4.65712403e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.2198402 , 2.11021041, 7.94435554, 2.11021041, 4.64662687,
       0.94913073, 7.94435554, 0.94913073, 7.96772843, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -6.45368286847396e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99448002e-01,  6.45110153e-13, -3.32218354e-02,  6.44754054e-13,
        1.00000000e+00,  2.14317433e-14,  3.32218354e-02,  3.15544362e-30,
       -9.99448002e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12892075, -0.05814191,  0.25004831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.23476179, -1.01157502,  1.99270576, -1.01157502,  1.00064305,
       -0.62648671,  1.99270576, -0.62648671,  1.91673275,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006611558926598118
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99401063e-01,  3.43708784e-03, -3.44340273e-02,  3.43504953e-03,
        9.99994093e-01,  1.18353475e-04,  3.44342307e-02,  0.00000000e+00,
       -9.99406966e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13079253, -0.08275795,  0.17915873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.37012325, -0.68453994,  1.18686258, -0.68453994,  0.4556554 ,
       -0.52743239,  1.18686258, -0.52743239,  1.06591909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007853702974506684
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99862344e-01,  3.43867425e-03, -1.62317207e-02,  3.43822123e-03,
        9.99994088e-01,  5.58159302e-05,  1.62318167e-02,  6.77626358e-21,
       -9.99868255e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13092944, -0.08531199,  0.17165144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021553999718173645
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51491374, -0.02747889, -0.85680146, -0.0141546 ,  0.99962238,
       -0.02355285,  0.85712513,  0.        , -0.51510826])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12554075, -0.03464542,  0.2985667 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028685714338216456
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.93514969e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.93514969e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10551631, -0.06066553,  0.06193657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90467360e-05,-3.59972425e-05, 3.96751296e-06,-4.97979726e-06,
 -1.71591878e-03, 4.92174087e-02, 1.93970141e-03, 3.86759339e-04,
 -1.86223711e-05, 1.70559210e-05,-1.50321125e-05,-2.90042207e-05,
  1.03035383e-01, 3.49904928e-05,-2.66654394e-04, 2.00270755e-05,
 -1.40400166e-03, 1.60409335e-03,-9.80990684e+00,-6.46976482e-02,
 -2.70123778e-03,-1.20287859e-02]


--- Step 251 ---
qpos:
[ 0.00978995, 0.00805026,-0.00554641, 0.03326669, 0.00347499,-0.01026672,
 -0.00734831, 0.03897284, 0.01298599, 0.00588267,-0.01168044, 0.0338791 ,
  0.23381072, 0.00430861, 0.49932168, 0.04828504, 0.0947286 ,-0.06411502,
  0.1415075 , 0.95616751,-0.0503309 , 0.07981186, 0.2772013 ]

qacc:
[-5.17682254e+00, 4.78626493e+00,-1.88567356e+01, 3.07725680e+01,
 -1.13834401e+02, 1.89772071e+01,-9.03865676e+00,-1.15147912e+01,
  9.74000667e-01, 9.63691192e-01, 8.07713417e-01,-1.32594003e+01,
 -2.08378111e-01, 2.91377716e-01,-1.13740070e+01, 3.33851355e+01,
 -1.38880796e+00, 1.01481876e+00, 8.72148243e-02, 3.56979937e+00,
  4.01401990e+00,-7.60354283e+01]

qfrc_actuator:
[ 6.13696416e-05, 2.76489181e-04,-1.91956465e-05, 2.81471572e-04,
  1.10422205e-04, 1.24717472e-02, 5.35720136e-04, 1.38774572e-04,
  5.22018982e-05, 9.21770018e-05,-1.72072632e-04, 2.14167437e-04,
  1.01935336e-01,-1.09774739e-04, 5.99081950e-02,-4.53113032e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.24223605, 2.48964223, 7.85723467, 2.48964223, 3.91414462,
       1.37139842, 7.85723467, 1.37139842, 7.80769495, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -8.125323852988637e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99440157e-01,  4.26991836e-13, -3.34570325e-02,  4.26752788e-13,
        1.00000000e+00,  1.42858797e-14,  3.34570325e-02,  0.00000000e+00,
       -9.99440157e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12892611, -0.05812377,  0.25006079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.22367955, -0.91868498,  2.02503546, -0.91868498,  0.93220692,
       -0.58589418,  2.02503546, -0.58589418,  1.95788065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006569400274589016
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99392566e-01,  3.46146649e-03, -3.46773338e-02,  3.45938461e-03,
        9.99994009e-01,  1.20035148e-04,  3.46775416e-02,  1.35525272e-20,
       -9.99398553e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13082941, -0.08275054,  0.17914999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36132681, -0.48812504,  1.27080472, -0.48812504,  0.31830836,
       -0.40063073,  1.27080472, -0.40063073,  1.20744173,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007777376582638029
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99850440e-01,  3.46305237e-03, -1.69441708e-02,  3.46255520e-03,
        9.99994004e-01,  5.86789027e-05,  1.69442724e-02,  0.00000000e+00,
       -9.99856436e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13097056, -0.08529966,  0.17166184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021661834689346024
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5135371 , -0.02707515, -0.85764012, -0.01390919,  0.9996334 ,
       -0.02322925,  0.85795465,  0.        , -0.51372543])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12554548, -0.03466479,  0.29856546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028589319178497635
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.88334894e-14,  1.94167447e-14,  1.00000000e+00, -7.54019951e-28,
        1.00000000e+00, -1.94167447e-14, -1.00000000e+00,  0.00000000e+00,
        3.88334894e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10553013, -0.0606578 ,  0.06193679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.01170809e-05, 2.16614016e-05,-5.50492648e-05, 2.99672705e-05,
 -1.11072847e-03, 4.79925119e-02, 1.24843179e-03, 3.12222922e-04,
  5.89451496e-06, 4.61959800e-05,-2.71484211e-05,-3.74599902e-05,
  1.02966747e-01,-1.37403653e-05,-2.35082448e-04, 9.28767219e-05,
 -6.76466049e-04, 7.76957836e-04,-9.80994707e+00,-6.46611817e-02,
 -2.71942987e-03,-1.20255312e-02]


--- Step 252 ---
qpos:
[ 0.00979053, 0.00805068,-0.00554782, 0.03327178, 0.003473  ,-0.01090522,
 -0.00734294, 0.03897045, 0.01298783, 0.00588375,-0.0116819 , 0.03388276,
  0.23381988, 0.00431053, 0.50090581, 0.04827814, 0.09473572,-0.06411518,
  0.14151778, 0.95614215,-0.05032463, 0.07979806, 0.27729387]

qacc:
[-3.18329371e+00, 1.48242636e+00,-6.41068567e+00, 1.22144808e+01,
 -1.17446894e+02, 2.35597248e+01,-2.55958879e+01,-4.32319408e+00,
  6.67862439e+00,-1.32066982e+00, 6.15710539e+00,-1.03977136e+01,
 -9.49241509e-01, 3.65556070e+00, 7.33515712e+00,-3.04511806e+01,
 -1.18286950e+00, 9.42578372e-01, 6.19086791e-02, 3.17123100e+00,
  3.32673816e+00,-6.76652304e+01]

qfrc_actuator:
[ 4.36074710e-05, 2.83097090e-04,-2.90833003e-05, 2.98087048e-04,
  8.96125447e-05, 1.31628953e-02, 5.62899788e-04, 1.17983373e-04,
  9.10549954e-05, 1.33919291e-04,-1.34335377e-04, 2.08577854e-04,
  1.01932495e-01,-6.80751489e-05, 5.97710046e-02,-4.72185725e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.25919892, 2.78665259, 7.77489126, 2.78665259, 3.30414551,
       1.77597499, 7.77489126, 1.77597499, 7.62265943, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -9.186969531912202e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9994351 ,  0.        , -0.03360784,  0.        ,  1.        ,
        0.        ,  0.03360784,  0.        , -0.9994351 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12892951, -0.05811351,  0.25006871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.18509977, -0.80493792,  2.03143692, -0.80493792,  0.85221018,
       -0.52814506,  2.03143692, -0.52814506,  1.97582722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000642353255707907
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99387153e-01,  3.47286959e-03, -3.48318531e-02,  3.47076218e-03,
        9.99993970e-01,  1.20967213e-04,  3.48320631e-02,  0.00000000e+00,
       -9.99393180e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13086265, -0.08275805,  0.17913627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.33940896, -0.36109428,  1.28981676, -0.36109428,  0.26921759,
       -0.29960844,  1.28981676, -0.29960844,  1.25553123,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007593980794105487
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99838823e-01,  3.47443914e-03, -1.76141191e-02,  3.47390011e-03,
        9.99993964e-01,  6.11995542e-05,  1.76142254e-02,  0.00000000e+00,
       -9.99844857e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13100747, -0.08529874,  0.17167915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021766470073888303
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11882225e-01, -2.65763867e-02, -8.58644445e-01, -1.36087868e-02,
        9.99646785e-01, -2.28277299e-02,  8.58947838e-01, -1.73472348e-18,
       -5.12063094e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12555019, -0.03468409,  0.29856422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028488139149446534
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.94857063e-14, -1.94857063e-14,  1.00000000e+00, -3.79692750e-28,
        1.00000000e+00,  1.94857063e-14, -1.00000000e+00,  0.00000000e+00,
       -1.94857063e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10554124, -0.06065204,  0.06193701])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86123977e-05, 8.61227384e-06,-1.11568742e-05, 1.62146152e-05,
 -4.81837060e-04, 4.70656007e-02, 8.00890576e-04, 2.36728092e-04,
  3.90404216e-05, 6.03562761e-05, 4.26465479e-05,-5.28408625e-06,
  1.02988458e-01, 2.73088647e-05,-2.36400004e-04,-2.16327321e-04,
 -2.48376511e-04, 2.89478767e-04,-9.80997312e+00,-6.46387298e-02,
 -2.73105379e-03,-1.20229930e-02]


--- Step 253 ---
qpos:
[ 0.00979124, 0.00805088,-0.00554863, 0.03327666, 0.00345739,-0.0115133 ,
 -0.00733257, 0.03896869, 0.01298943, 0.00588507,-0.01168287, 0.03388667,
  0.23382791, 0.00431336, 0.50248639, 0.04827241, 0.09473883,-0.0641119 ,
  0.14152822, 0.95614976,-0.05032407, 0.07978506, 0.27727147]

qacc:
[ 1.14042907e+00,-2.38166312e+00, 8.92929092e+00,-1.32342514e+01,
 -1.19330941e+02, 2.77467045e+01,-4.28096591e+01, 2.26826764e+01,
 -2.08532250e+00,-5.08006444e-01, 1.18581481e+00, 2.38919549e+00,
 -1.58162228e+00, 5.40805306e+00,-8.66228663e+00, 2.28967442e+01,
 -1.00508259e+00, 8.61439737e-01, 4.18741760e-02, 2.79531973e+00,
  2.75864523e+00,-5.97403463e+01]

qfrc_actuator:
[ 5.06879935e-05, 2.69076086e-04, 1.19927134e-06, 2.88078470e-04,
  8.59648300e-05, 1.37968441e-02, 6.08797274e-04, 1.41861051e-04,
  7.76700924e-05, 1.40566257e-04,-1.11407529e-04, 2.21625877e-04,
  1.01935805e-01,-4.42062436e-05, 5.96104822e-02,-4.65389165e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.26849741, 3.01409789, 7.69956254, 3.01409789, 2.78597111,
       2.14620907, 7.69956254, 2.14620907, 7.42833484, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -9.718365694754135e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99432517e-01,  2.14199407e-13, -3.36844732e-02,  2.14077853e-13,
        1.00000000e+00,  7.21519420e-15,  3.36844732e-02,  0.00000000e+00,
       -9.99432517e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12893121, -0.05811002,  0.25007267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.12221732, -0.68211358,  2.00960878, -0.68211358,  0.75976502,
       -0.46245181,  2.00960878, -0.46245181,  1.96524913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006187967612991274
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99384516e-01,  3.47088077e-03, -3.49076298e-02,  3.46876539e-03,
        9.99993976e-01,  1.21160951e-04,  3.49078401e-02, -1.35525272e-20,
       -9.99390536e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13089263, -0.08277846,  0.17911825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.30457142, -0.25374563,  1.2796561 , -0.25374563,  0.2467998 ,
       -0.2097477 ,  1.2796561 , -0.2097477 ,  1.26298012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007317926094487115
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99827477e-01,  3.47241918e-03, -1.82471433e-02,  3.47184104e-03,
        9.99993971e-01,  6.33621123e-05,  1.82472533e-02,  0.00000000e+00,
       -9.99833505e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13104062, -0.08530771,  0.17170245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002186856782166045
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51002265, -0.02600683, -0.85976772, -0.01326856,  0.99966177,
       -0.0223674 ,  0.86005863,  0.        , -0.51019522])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12555478, -0.03470271,  0.29856305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002838322784856212
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.95577302e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.95577302e-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([ 0.10555022, -0.06064785,  0.06193724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.55215461e-06,-1.08331510e-05, 3.12488294e-05,-9.71844722e-06,
  1.85009763e-04, 4.61904247e-02, 5.40378149e-04, 2.53089249e-04,
 -1.22530382e-05, 4.89706289e-05, 4.04617562e-05, 1.69986318e-05,
  1.03008957e-01, 1.98112232e-05,-2.96175752e-04, 2.46412804e-05,
 -4.42300630e-05, 5.42352416e-05,-9.80998993e+00,-6.46264696e-02,
 -2.73781849e-03,-1.20210052e-02]


--- Step 254 ---
qpos:
[ 0.00979203, 0.00805111,-0.00554913, 0.03328103, 0.00342818,-0.01209088,
 -0.00731844, 0.03896766, 0.01299052, 0.00588638,-0.0116842 , 0.03389047,
  0.23383333, 0.00431671, 0.50406392, 0.04826805, 0.09473853,-0.06410552,
  0.14153876, 0.95618623,-0.05032846, 0.07977253, 0.27714848]

qacc:
[ 7.02704633e-01,-1.92207851e+00, 9.07059731e+00,-1.85079419e+01,
 -1.18979268e+02, 3.15504035e+01,-5.67501280e+01, 4.07660957e+01,
 -4.55864770e+00, 7.23529270e-01,-2.06162109e+00, 4.49683940e-01,
 -2.07411980e+00, 5.20241877e+00,-8.58885600e+00, 2.37138036e+01,
 -8.50760614e-01, 7.75478447e-01, 2.58893284e-02, 2.44166503e+00,
  2.28746755e+00,-5.22803720e+01]

qfrc_actuator:
[ 5.45770787e-05, 2.78464266e-04, 1.93337466e-05, 2.62489361e-04,
  8.04477255e-05, 1.43844462e-02, 6.11440157e-04, 1.74277616e-04,
  5.13883456e-05, 9.06167867e-05,-1.50817370e-04, 2.09976925e-04,
  1.01942889e-01,-6.70622654e-05, 5.94894140e-02,-4.57600740e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.26980465, 3.18536844, 7.63171651, 3.18536844, 2.32666451,
       2.48058101, 7.63171651, 2.48058101, 7.2344459 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -9.7906772889889e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99432120e-01,  1.41744921e-13, -3.36962593e-02,  1.41664427e-13,
        1.00000000e+00,  4.77627362e-15,  3.36962593e-02,  7.88860905e-31,
       -9.99432120e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12893144, -0.05811234,  0.25007321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.038479  , -0.54398724,  1.96455454, -0.54398724,  0.6648808 ,
       -0.3803508 ,  1.96455454, -0.3803508 ,  1.93315946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000587630616464253
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99384351e-01,  3.45527695e-03, -3.49139023e-02,  3.45317032e-03,
        9.99994031e-01,  1.20637922e-04,  3.49141107e-02, -1.35525272e-20,
       -9.99390317e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13091964, -0.0828099 ,  0.17909662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.25720379, -0.16628594,  1.24615824, -0.16628594,  0.24259997,
       -0.13538758,  1.24615824, -0.13538758,  1.23913783,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000696342542185854
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99816446e-01,  3.45677088e-03, -1.88447586e-02,  3.45615702e-03,
        9.99994025e-01,  6.51424018e-05,  1.88448712e-02,  1.35525272e-20,
       -9.99822420e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13107031, -0.08532514,  0.17173084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021968483745326184
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08006375e-01, -2.53822003e-02, -8.60979249e-01, -1.28984752e-02,
        9.99677820e-01, -2.18605908e-02,  8.61256728e-01, -1.73472348e-18,
       -5.08170097e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1255592 , -0.03472045,  0.29856198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002827545607410137
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.96322744e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.96322744e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10555751, -0.06064488,  0.06193748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.07034715e-06, 9.35990432e-06, 1.94044802e-05,-2.51712330e-05,
  8.61099855e-04, 4.52792917e-02, 3.00360724e-04, 2.55995631e-04,
 -2.66113029e-05,-1.35232012e-05,-2.37333823e-05,-7.82833857e-06,
  1.03071675e-01,-4.78084932e-05,-2.53725011e-04, 4.11663041e-05,
 -2.18323228e-06, 8.21937859e-07,-9.81000076e+00,-6.46216005e-02,
 -2.74109980e-03,-1.20194397e-02]


--- Step 255 ---
qpos:
[ 0.0097932 , 0.0080515 ,-0.00554971, 0.03328472, 0.00338568,-0.01263815,
 -0.00730172, 0.03896752, 0.01299197, 0.00588745,-0.01168584, 0.03389377,
  0.23383524, 0.00432037, 0.50563854, 0.04826393, 0.09473537,-0.06409639,
  0.14154936, 0.95624768,-0.05033709, 0.07976024, 0.27693837]

qacc:
[ 3.37603545e+00,-9.21168497e-01, 6.43850928e+00,-1.80879681e+01,
 -1.16249493e+02, 3.48815924e+01,-6.95527598e+01, 5.78536696e+01,
  3.21903018e+00,-4.61936352e-01, 3.23368419e+00,-1.09793690e+01,
 -2.42039563e+00, 5.21625535e+00,-4.95516636e+00, 1.13295678e+01,
 -7.15741471e-01, 6.87504573e-01, 1.31092204e-02, 2.10752993e+00,
  1.89776456e+00,-4.52695901e+01]

qfrc_actuator:
[ 7.43013578e-05, 2.83991640e-04, 1.24673805e-05, 2.27945256e-04,
  9.69801087e-05, 1.49674899e-02, 5.51850151e-04, 2.11440126e-04,
  7.10003831e-05, 6.01316762e-05,-1.73719701e-04, 1.83793341e-04,
  1.01941758e-01,-8.24348773e-05, 5.93494955e-02,-4.56386436e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.26404275, 3.30589438, 7.57399927, 3.30589438, 1.90354634,
       2.77622542, 7.57399927, 2.77622542, 7.05227764, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -9.467644221694886e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99433620e-01, -2.19871821e-13, -3.36517401e-02, -2.19747289e-13,
        1.00000000e+00, -7.39906935e-15,  3.36517401e-02,  0.00000000e+00,
       -9.99433620e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12893041, -0.05811961,  0.25007081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.93782337, -0.38924001,  1.89832864, -0.38924001,  0.57082528,
       -0.28029412,  1.89832864, -0.28029412,  1.88035087,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005501023204643642
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99386361e-01,  3.42609123e-03, -3.48592017e-02,  3.42400894e-03,
        9.99994131e-01,  1.19431506e-04,  3.48594063e-02,  0.00000000e+00,
       -9.99392226e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13094388, -0.08285066,  0.179072  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.19838953, -0.0901458 ,  1.19499422, -0.0901458 ,  0.24722392,
       -0.0717523 ,  1.19499422, -0.0717523 ,  1.19297681,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006543533084536714
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99805770e-01,  3.42752904e-03, -1.94080983e-02,  3.42688345e-03,
        9.99994126e-01,  6.65222114e-05,  1.94082123e-02,  0.00000000e+00,
       -9.99811643e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13109681, -0.08534974,  0.17176349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022066335059670104
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05862029e-01, -2.47117384e-02, -8.62260365e-01, -1.25045488e-02,
        9.99694618e-01, -2.13144616e-02,  8.62523764e-01, -1.73472348e-18,
       -5.06016557e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12556353, -0.03473737,  0.29856099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002816555218711353
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97088809e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.97088809e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10556348, -0.06064288,  0.06193772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98427015e-05, 1.36778411e-05,-3.42150612e-06,-3.39710107e-05,
  1.55752722e-03, 4.43579489e-02, 5.88335454e-05, 2.57042629e-04,
  1.88557427e-05,-4.33314156e-05,-2.88958645e-05,-2.77437094e-05,
  1.03200138e-01,-8.92708680e-05,-2.54711197e-04,-1.89748071e-05,
 -7.14664658e-05, 7.21822383e-05,-9.81000779e+00,-6.46220446e-02,
 -2.74201469e-03,-1.20181977e-02]


--- Step 256 ---
qpos:
[ 0.00979494, 0.00805213,-0.005551  , 0.03328835, 0.00333059,-0.01315461,
 -0.00728322, 0.03896818, 0.0129933 , 0.00588829,-0.01168747, 0.03389671,
  0.23383298, 0.00432424, 0.50720977, 0.04826069, 0.09472982,-0.06408486,
  0.14155997, 0.95633037,-0.05034932, 0.07974806, 0.27665396]

qacc:
[ 4.99574571e+00, 2.12879796e+00,-6.88274420e+00, 6.73449748e+00,
 -1.10088090e+02, 3.76444539e+01,-7.81652409e+01, 6.62094665e+01,
 -1.06469251e+00,-1.03575232e+00, 4.77916152e+00,-1.08606796e+01,
 -2.66554737e+00, 5.30972778e+00,-7.52882911e+00, 1.93297780e+01,
 -5.95936641e-01, 5.98168413e-01, 2.78280242e-03, 1.78739145e+00,
  1.57431161e+00,-3.86153999e+01]

qfrc_actuator:
[ 1.03188742e-04, 2.87053174e-04,-2.68677106e-05, 2.23899907e-04,
  1.67379847e-04, 1.55357910e-02, 5.07860505e-04, 2.51022051e-04,
  6.42139263e-05, 5.93082324e-05,-1.68869347e-04, 1.67053219e-04,
  1.01935876e-01,-9.33085316e-05, 5.91823864e-02,-4.51957775e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.25287855, 3.37855587, 7.52963243, 3.37855587, 1.50299448,
       3.02868177, 7.52963243, 3.02868177, 6.8939051 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -8.806823796716252e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99436747e-01, -7.87899709e-14, -3.35587429e-02, -7.87455922e-14,
        1.00000000e+00, -2.64409238e-15,  3.35587429e-02,  0.00000000e+00,
       -9.99436747e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1289283 , -0.05813109,  0.25006589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.8246969 , -0.20277813,  1.81339455, -0.20277813,  0.48706404,
       -0.14957732,  1.81339455, -0.14957732,  1.8079708 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005073327414898035
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99390258e-01,  3.38362882e-03, -3.47514426e-02,  3.38158504e-03,
        9.99994276e-01,  1.17586656e-04,  3.47516416e-02,  0.00000000e+00,
       -9.99395979e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13096559, -0.08289924,  0.17904495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13010643, -0.01887186,  1.12994885, -0.01887186,  0.25743545,
       -0.01457493,  1.12994885, -0.01457493,  1.12986301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006069966171194965
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99795477e-01,  3.38500076e-03, -1.99385480e-02,  3.38432784e-03,
        9.99994271e-01,  6.74923868e-05,  1.99386622e-02, -1.35525272e-20,
       -9.99801205e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13112038, -0.08538035,  0.17179968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002216223116262826
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50361536, -0.024004  , -0.86359445, -0.01209227,  0.99971186,
       -0.02073569,  0.86384336,  0.        , -0.50376051])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12556782, -0.03475355,  0.29856008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028054131338189486
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.97871574e-14, -1.97871574e-14,  1.00000000e+00,  3.91531598e-28,
        1.00000000e+00,  1.97871574e-14, -1.00000000e+00,  0.00000000e+00,
        1.97871574e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10556839, -0.06064164,  0.06193797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94576617e-05, 8.53544888e-06,-3.81144920e-05,-4.24763685e-06,
  2.29248933e-03, 4.34304406e-02,-1.07951834e-04, 2.53978990e-04,
 -6.26093545e-06,-3.22280422e-05,-8.61925245e-06,-2.01433600e-05,
  1.03369730e-01,-1.15243297e-04,-2.90165676e-04, 9.45310190e-06,
 -2.11198357e-04, 2.22781848e-04,-9.81001241e+00,-6.46262643e-02,
 -2.74145657e-03,-1.20172042e-02]


--- Step 257 ---
qpos:
[ 0.00979667, 0.00805291,-0.00555305, 0.03329226, 0.00326332,-0.01363762,
 -0.00726433, 0.0389684 , 0.0129942 , 0.00588879,-0.01168905, 0.03390013,
  0.23382689, 0.00432844, 0.50877775, 0.04826054, 0.09472216,-0.0640711 ,
  0.14157051, 0.95643248,-0.05036475, 0.07973563, 0.27630151]

qacc:
[-1.32023130e-01, 2.92242986e+00,-1.13257782e+01, 1.73483112e+01,
 -1.06505504e+02, 4.23721495e+01,-8.46943823e+01, 5.13148309e+01,
 -3.82985245e+00, 3.62670380e-01,-3.95208813e+00, 1.23415718e+01,
 -2.58083464e+00, 5.47728066e+00,-1.40529060e+01, 4.24491730e+01,
 -5.29774915e-01, 5.59177032e-01,-1.92368658e-02, 1.64245732e+00,
  1.26202860e+00,-3.53470637e+01]

qfrc_actuator:
[ 1.01727705e-04, 2.88497275e-04,-6.72864949e-05, 2.37812707e-04,
  2.39209741e-04, 1.60471126e-02, 4.90756363e-04, 2.38515856e-04,
  4.19298223e-05, 4.08643379e-05,-1.65301043e-04, 1.91553729e-04,
  1.01932652e-01,-6.59945449e-05, 5.90630200e-02,-4.35020979e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -7.861005462903656e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99441244e-01,  1.76539603e-13, -3.34245340e-02,  1.76440960e-13,
        1.00000000e+00,  5.90075394e-15,  3.34245340e-02,  0.00000000e+00,
       -9.99441244e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12892527, -0.05814609,  0.25005883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.71134901, 0.00573765, 1.71133939, 0.00573765, 0.43440778,
       0.00428124, 1.71133939, 0.00428124, 1.71133466, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00046039423424492276
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99395763e-01,  3.32858936e-03, -3.45981166e-02,  3.32659653e-03,
        9.99994460e-01,  1.15163560e-04,  3.45983082e-02, -1.35525272e-20,
       -9.99401299e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13098493, -0.0829542 ,  0.17901601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.0551976 , 0.05017038, 1.05400423, 0.05017038, 0.27175937,
       0.03729149, 1.05400423, 0.03729149, 1.05342253, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.000555399007707437
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99785610e-01,  3.32988778e-03, -2.04364084e-02,  3.32919234e-03,
        9.99994456e-01,  6.80513239e-05,  2.04365217e-02,  0.00000000e+00,
       -9.99791152e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13114121, -0.0854159 ,  0.17183871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022256250043387093
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50128902, -0.02326663, -0.86496704, -0.01166647,  0.9997293 ,
       -0.02013032,  0.86520125,  0.        , -0.50142476])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12557209, -0.03476909,  0.29855922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027941723847258876
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.10557247, -0.06064101,  0.06193821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.18484192e-07,-1.84896559e-06,-4.35003915e-05, 1.28689563e-05,
  2.99381115e-03, 4.24195706e-02,-2.07995582e-04, 2.02193569e-04,
 -2.24705625e-05,-3.91253256e-05,-4.84290531e-06, 2.24249098e-05,
  1.03573510e-01,-9.77355524e-05,-2.54157674e-04, 1.31899202e-04,
 -3.88665357e-04, 4.16383752e-04,-9.81001546e+00,-6.46331210e-02,
 -2.74013772e-03,-1.20164030e-02]


--- Step 258 ---
qpos:
[ 0.00979837, 0.00805374,-0.00555555, 0.03329596, 0.00318436,-0.01408453,
 -0.00724573, 0.03896784, 0.01299482, 0.00588939,-0.01169105, 0.0339038 ,
  0.23381676, 0.00433276, 0.51034225, 0.04826541, 0.09471256,-0.0640552 ,
  0.14158087, 0.95655282,-0.05038305, 0.0797226 , 0.27588506]

qacc:
[-2.84278203e-01, 8.73241331e-01,-2.10248746e+00,-9.78856945e-01,
 -1.02271600e+02, 4.71420841e+01,-9.52495059e+01, 5.53550048e+01,
 -2.42829718e+00, 1.81801553e+00,-7.28965609e+00, 1.20574133e+01,
 -2.39773292e+00, 4.41068271e+00,-2.02132307e+01, 6.34527714e+01,
 -4.84757316e-01, 5.35930108e-01,-4.10731892e-02, 1.55625492e+00,
  9.94170352e-01,-3.32561407e+01]

qfrc_actuator:
[ 1.00165639e-04, 2.88960216e-04,-9.02591644e-05, 2.26672547e-04,
  3.16521030e-04, 1.65092880e-02, 4.90445505e-04, 2.13439697e-04,
  2.84632362e-05, 6.53113277e-05,-1.80318217e-04, 2.04599851e-04,
  1.01931145e-01,-6.92433281e-05, 5.89138250e-02,-4.09061279e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -6.653131774627081e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99446961e-01, -1.04295152e-13, -3.32531522e-02, -1.04237473e-13,
        1.00000000e+00, -3.46814256e-15,  3.32531522e-02,  3.94430453e-31,
       -9.99446961e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1289214 , -0.05816431,  0.25004982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.61330209, 0.24694307, 1.59429067, 0.24694307, 0.41728832,
       0.18525312, 1.59429067, 0.18525312, 1.58460784, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0004099451191101758
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99402707e-01,  3.26138412e-03, -3.44033915e-02,  3.25945345e-03,
        9.99994682e-01,  1.12203271e-04,  3.44035744e-02,  0.00000000e+00,
       -9.99408022e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13100187, -0.08301472,  0.17898552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.9764168 , 0.11385671, 0.96975586, 0.11385671, 0.2804838 ,
       0.08170783, 0.96975586, 0.08170783, 0.96682368, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0005002598385059104
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99776239e-01,  3.26260308e-03, -2.09004205e-02,  3.26189039e-03,
        9.99994678e-01,  6.81901393e-05,  2.09005318e-02,  0.00000000e+00,
       -9.99781560e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1311593 , -0.08545577,  0.17188011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002234790510472171
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.98887796e-01, -2.25018369e-02, -8.66374419e-01, -1.12287349e-02,
        9.99746802e-01, -1.94999532e-02,  8.66593839e-01,  1.73472348e-18,
       -4.99014146e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12557638, -0.03478421,  0.2985584 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002782919550411267
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.98941832e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.98941832e-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([ 0.10557588, -0.06064086,  0.06193846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58025580e-06,-9.02390569e-06,-2.82627178e-05,-1.24802221e-05,
  3.67998601e-03, 4.12267136e-02,-2.23031890e-04, 2.00435631e-04,
 -1.41190536e-05, 2.51644935e-06,-2.29126936e-05, 1.16342400e-05,
  1.03763387e-01,-1.17632409e-04,-2.54802966e-04, 2.33337605e-04,
 -5.97558531e-04, 6.45637577e-04,-9.81001832e+00,-6.46417703e-02,
 -2.73823102e-03,-1.20157221e-02]


--- Step 259 ---
qpos:
[ 0.00980004, 0.00805451,-0.00555798, 0.03329878, 0.00309458,-0.01449422,
 -0.00722819, 0.03896657, 0.01299493, 0.0058899 ,-0.01169289, 0.03390757,
  0.23380225, 0.00433662, 0.511904  , 0.04826768, 0.09470118,-0.06403725,
  0.14159101, 0.95669021,-0.05040393, 0.07970871, 0.27540842]

qacc:
[-2.77680785e-01,-2.07591932e+00, 1.09805026e+01,-2.61921481e+01,
 -9.46910931e+01, 5.08840370e+01,-1.06684803e+02, 6.81664741e+01,
 -4.49049203e+00,-3.29260257e-01, 5.36312226e-01, 1.20964679e+00,
 -2.18680480e+00, 2.67159077e+00, 3.83774337e+00,-1.91437062e+01,
 -4.44717490e-01, 5.11709347e-01,-5.75181933e-02, 1.47247440e+00,
  7.80430445e-01,-3.12645750e+01]

qfrc_actuator:
[ 9.85664139e-05, 2.88877977e-04,-8.50202857e-05, 1.83135869e-04,
  4.01506074e-04, 1.69614554e-02, 4.65244460e-04, 1.81329093e-04,
  2.54710043e-06, 6.19215946e-05,-1.70524444e-04, 2.10817479e-04,
  1.01936149e-01,-1.08489653e-04, 5.87362200e-02,-4.24160004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -5.196189377850542e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99453786e-01,  5.34152503e-13, -3.30473783e-02,  5.33860741e-13,
        1.00000000e+00,  1.76523399e-14,  3.30473783e-02,  3.15544362e-30,
       -9.99453786e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12891672, -0.05818558,  0.25003894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.53066469, 0.52054697, 1.43943226, 0.52054697, 0.47532751,
       0.38164531, 1.43943226, 0.38164531, 1.39264895, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.000356455924468463
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99410961e-01,  3.18249779e-03, -3.41702045e-02,  3.18063928e-03,
        9.99994936e-01,  1.08747151e-04,  3.41703776e-02,  0.00000000e+00,
       -9.99416022e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13101636, -0.08308022,  0.17895375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.90449478, 0.17321234, 0.88775464, 0.17321234, 0.28457054,
       0.12095519, 0.88775464, 0.12095519, 0.88089487, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0004420856917293924
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99767450e-01,  3.18363298e-03, -2.13286394e-02,  3.18290875e-03,
        9.99994932e-01,  6.79029039e-05,  2.13287475e-02,  1.35525272e-20,
       -9.99772516e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13117459, -0.08549955,  0.17192354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002243653375507059
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.49640396, -0.02170755, -0.8678202 , -0.01077826,  0.99976436,
       -0.01884269,  0.86802474,  0.        , -0.49652095])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12558077, -0.03479929,  0.29855754])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027717376155884793
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.00551271e-14, -2.00275635e-14,  1.00000000e+00,  8.02206603e-28,
        1.00000000e+00,  2.00275635e-14, -1.00000000e+00,  0.00000000e+00,
        4.00551271e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10557874, -0.06064108,  0.06193871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64652767e-06,-1.15162831e-05,-5.28312049e-07,-4.51489153e-05,
  4.34953703e-03, 3.98902033e-02,-2.28354394e-04, 2.08031059e-04,
 -2.63155535e-05,-6.22640518e-06, 7.90329515e-06, 5.75479330e-06,
  1.03969420e-01,-1.62118793e-04,-2.71871765e-04,-1.71599985e-04,
 -8.34088410e-04, 9.06363841e-04,-9.81002177e+00,-6.46517570e-02,
 -2.73584342e-03,-1.20150984e-02]


--- Step 260 ---
qpos:
[ 0.00980133, 0.00805505,-0.00556029, 0.03330141, 0.00299541,-0.01486748,
 -0.0072123 , 0.03896542, 0.01299472, 0.00589021,-0.01169451, 0.03391106,
  0.23378328, 0.00433975, 0.51346258, 0.04826616, 0.09468816,-0.06401734,
  0.14160087, 0.95684363,-0.05042716, 0.07969376, 0.27487503]

qacc:
[-3.30050349e+00,-9.94138147e-01, 3.88540701e+00,-7.04496303e+00,
 -8.21867224e+01, 5.31697717e+01,-1.19963818e+02, 9.76643721e+01,
 -2.72965873e+00,-1.45183045e+00, 6.01905661e+00,-1.12301563e+01,
 -1.93743377e+00, 1.42545088e+00, 6.85851935e+00,-3.06747023e+01,
 -4.10079328e-01, 4.88843643e-01,-6.96667870e-02, 1.39745731e+00,
  6.10097460e-01,-2.94753607e+01]

qfrc_actuator:
[ 7.92058068e-05, 2.70805387e-04,-8.09464950e-05, 1.74163872e-04,
  4.94902424e-04, 1.73920521e-02, 4.25998256e-04, 1.80758032e-04,
 -1.27394653e-05, 4.19862993e-05,-1.64009212e-04, 1.95217782e-04,
  1.01945236e-01,-1.51067834e-04, 5.85629305e-02,-4.43806611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.502832899049201e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99946162,  0.        , -0.03280972,  0.        ,  1.        ,
        0.        ,  0.03280972,  0.        , -0.99946162])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12891128, -0.05820975,  0.25002627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.46267646, 0.79407129, 1.228362  , 0.79407129, 0.62852569,
       0.53923451, 1.228362  , 0.53923451, 1.11408977, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00030029403948994945
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99420398e-01,  3.09279829e-03, -3.39013529e-02,  3.09102048e-03,
        9.99995217e-01,  1.04850548e-04,  3.39015151e-02,  1.35525272e-20,
       -9.99425178e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1310284 , -0.08315024,  0.17892087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.84686145, 0.231464  , 0.8146157 , 0.231464  , 0.28475197,
       0.15971716, 0.8146157 , 0.15971716, 0.8014796 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.000381267307885324
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99759291e-01,  3.09384702e-03, -2.17207079e-02,  3.09311711e-03,
        9.99995214e-01,  6.72008691e-05,  2.17208118e-02, -1.35525272e-20,
       -9.99764075e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1311871 , -0.08554691,  0.17196871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022521625324600316
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.49382991, -0.02088172, -0.86930775, -0.01031426,  0.99978195,
       -0.0181566 ,  0.86949734,  0.        , -0.49393762])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12558534, -0.03481467,  0.29855662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027606899368424476
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.01077095e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.01077095e-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([ 0.10558116, -0.0606416 ,  0.06193895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94101340e-05,-2.65679383e-05, 7.92562029e-08,-1.03653178e-05,
  4.98402621e-03, 3.84743750e-02,-2.09638805e-04, 2.44336853e-04,
 -1.60368133e-05,-2.15522619e-05, 6.40993409e-06,-1.54854184e-05,
  1.04196839e-01,-1.82011121e-04,-3.22017174e-04,-2.42181285e-04,
 -1.09140131e-03, 1.19121400e-03,-9.81002607e+00,-6.46628035e-02,
 -2.73314169e-03,-1.20144840e-02]


--- Step 261 ---
qpos:
[ 0.00980273, 0.00805519,-0.00556249, 0.03330464, 0.00288885,-0.01520642,
 -0.0071987 , 0.0389653 , 0.01299469, 0.00589026,-0.01169571, 0.03391398,
  0.23376043, 0.00434233, 0.51501755, 0.04826582, 0.09467361,-0.06399556,
  0.14161042, 0.95701214,-0.05045253, 0.0796776 , 0.27428777]

qacc:
[ 9.14763952e-01, 3.42929696e-01,-4.46582067e+00, 1.47045575e+01,
 -6.48497718e+01, 5.40111533e+01,-1.30911165e+02, 1.26919632e+02,
  1.45219910e+00,-2.71651570e+00, 1.15884739e+01,-2.19104200e+01,
 -1.66159164e+00, 1.28303571e+00,-8.88778457e+00, 2.34666219e+01,
 -3.81075151e-01, 4.69008151e-01,-7.85251243e-02, 1.33555247e+00,
  4.74456858e-01,-2.79600050e+01]

qfrc_actuator:
[ 8.50514298e-05, 2.42127729e-04,-7.76483318e-05, 2.03338787e-04,
  5.78488063e-04, 1.77600980e-02, 3.97077660e-04, 2.16302745e-04,
 -3.89095816e-06, 3.00240243e-05,-1.41824430e-04, 1.66884970e-04,
  1.01951611e-01,-1.59674222e-04, 5.84349738e-02,-4.35777579e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -1.5845898297965908e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99470358e-01,  4.37898425e-13, -3.25423411e-02,  4.37666495e-13,
        1.00000000e+00,  1.42502399e-14,  3.25423411e-02,  0.00000000e+00,
       -9.99470358e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 2, 43], dtype=int32)
  geom1: 2
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12890511, -0.05823666,  0.25001189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.40839829, 0.99770396, 0.99406868, 0.99770396, 0.82328023,
       0.58725782, 0.99406868, 0.58725782, 0.81899288, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00024169075004490045
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99430894e-01,  2.99371741e-03, -3.35994970e-02,  2.99202707e-03,
        9.99995519e-01,  1.00587850e-04,  3.35996476e-02, -1.35525272e-20,
       -9.99435372e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13103807, -0.08322446,  0.17888699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.80131434, 0.28911163, 0.74734138, 0.28911163, 0.28698363,
       0.19897063, 0.74734138, 0.19897063, 0.72434186, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00031804602266487925
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99751766e-01,  2.99467856e-03, -2.20779853e-02,  2.99394860e-03,
        9.99995516e-01,  6.61167657e-05,  2.20780843e-02,  1.35525272e-20,
       -9.99756249e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13119692, -0.08559759,  0.17201546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022602849467742653
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.49116152, -0.02002344, -0.87083834, -0.00983672,  0.99979951,
       -0.01744068,  0.87101297,  0.        , -0.49126001])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12559014, -0.03483061,  0.29855559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027498237564490824
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.03743339e-14,  2.01871669e-14,  1.00000000e+00, -8.15043418e-28,
        1.00000000e+00, -2.01871669e-14, -1.00000000e+00,  0.00000000e+00,
        4.03743339e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1055832 , -0.06064236,  0.06193919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.28391504e-06,-4.39717866e-05,-2.52442917e-06, 2.78360606e-05,
  5.53702357e-03, 3.70339703e-02,-1.52346534e-04, 2.74253545e-04,
  8.38553323e-06,-2.33600832e-05, 1.79947548e-05,-2.93402141e-05,
  1.04425337e-01,-1.53592203e-04,-3.05427322e-04, 2.47071006e-05,
 -1.36461169e-03, 1.49504307e-03,-9.81003136e+00,-6.46747206e-02,
 -2.73024423e-03,-1.20138417e-02]


--- Step 262 ---
qpos:
[ 0.00980418, 0.00805487,-0.00556397, 0.03330746, 0.00277719,-0.01551297,
 -0.00718823, 0.03896629, 0.0129951 , 0.00589011,-0.01169612, 0.03391719,
  0.23373423, 0.00434446, 0.51656897, 0.04826932, 0.09465764,-0.06397196,
  0.14161962, 0.95719498,-0.05047988, 0.07966013, 0.27364909]

qacc:
[ 5.47975514e-01,-3.41643753e+00, 1.29686245e+01,-2.06551198e+01,
 -4.47628573e+01, 5.39146727e+01,-1.34594404e+02, 1.34582774e+02,
  3.99566063e+00,-1.85540952e+00, 4.96422108e+00,-9.22580106e-01,
 -1.38451050e+00, 9.83121211e-01,-1.68012916e+01, 5.12498330e+01,
 -3.56832995e-01, 4.51854237e-01,-8.48660229e-02, 1.28575129e+00,
  3.64973624e-01,-2.66826319e+01]

qfrc_actuator:
[ 8.79389839e-05, 2.25105460e-04,-3.93574296e-05, 1.83697655e-04,
  6.57952247e-04, 1.80959159e-02, 3.93413452e-04, 2.54808871e-04,
  1.90886097e-05, 4.07315261e-05,-9.27903803e-05, 1.84564197e-04,
  1.01956469e-01,-1.65538247e-04, 5.83024154e-02,-4.15040964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([1.36702768, 1.11174259, 0.79548293, 1.11174259, 0.97319044,
       0.55041487, 0.79548293, 0.55041487, 0.59778471, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0001807635812369813
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99442326e-01,  2.88724340e-03, -3.32671197e-02,  2.88564529e-03,
        9.99995832e-01,  9.60506723e-05,  3.32672584e-02,  0.00000000e+00,
       -9.99446492e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13104549, -0.08330269,  0.17885213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.76616322, 0.34646843, 0.68334889, 0.34646843, 0.30016487,
       0.23626835, 0.68334889, 0.23626835, 0.64637152, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0002525382343383785
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99744844e-01,  2.88811733e-03, -2.24032487e-02,  2.88739245e-03,
        9.99995829e-01,  6.47034807e-05,  2.24033421e-02,  1.35525272e-20,
       -9.99749014e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1312042 , -0.08565146,  0.17206367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002268007794275325
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4884012 , -0.01913417, -0.8724094 , -0.00934686,  0.99981693,
       -0.01669588,  0.87256914,  0.        , -0.48849063])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12559518, -0.03484723,  0.29855444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002739173562418762
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.02656568e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.02656568e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10558494, -0.0606433 ,  0.06193942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02285422e-06,-4.09294686e-05, 2.98752522e-05,-2.10740821e-05,
  5.98638148e-03, 3.56663491e-02,-3.75639591e-05, 2.61859713e-04,
  2.32097742e-05, 1.12482880e-07, 4.54165190e-05, 1.67254146e-05,
  1.04623586e-01,-1.31513883e-04,-2.71682975e-04, 1.69008095e-04,
 -1.65086846e-03, 1.81497306e-03,-9.81003774e+00,-6.46873855e-02,
 -2.72722011e-03,-1.20131416e-02]


--- Step 263 ---
qpos:
[ 0.00980532, 0.00805434,-0.00556478, 0.03330965, 0.00266323,-0.01578904,
 -0.00718159, 0.03896804, 0.01299578, 0.0058902 ,-0.01169636, 0.03392023,
  0.23370503, 0.00434598, 0.51811741, 0.04827321, 0.09464032,-0.06394662,
  0.14162847, 0.95739146,-0.05050905, 0.07964124, 0.272961  ]

qacc:
[-2.79900355e+00,-3.48027380e+00, 1.47075198e+01,-2.66484627e+01,
 -2.06504012e+01, 5.26361881e+01,-1.32391511e+02, 1.29300201e+02,
  2.39350192e+00,-5.22146481e-01, 3.04113895e+00,-6.47881758e+00,
 -1.10349093e+00, 1.72229666e-01,-5.57513605e+00, 1.31455085e+01,
 -3.36687842e-01, 4.37338420e-01,-8.92575489e-02, 1.24712368e+00,
  2.76313371e-01,-2.56224514e+01]

qfrc_actuator:
[ 7.13018354e-05, 2.33054599e-04, 1.53977359e-06, 1.53269592e-04,
  7.88849487e-04, 1.84360952e-02, 3.88904509e-04, 2.76859167e-04,
  3.24409891e-05, 6.50889085e-05,-8.14296675e-05, 1.75955573e-04,
  1.01955182e-01,-1.87386169e-04, 5.81512436e-02,-4.13620548e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([1.33810772, 1.17300227, 0.64389282, 1.17300227, 1.06981848,
       0.48875198, 0.64389282, 0.48875198, 0.44773099, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0001176044978516333
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99454580e-01,  2.77568528e-03, -3.29065053e-02,  2.77418205e-03,
        9.99996148e-01,  9.13384543e-05,  3.29066321e-02,  1.35525272e-20,
       -9.99458430e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13105077, -0.0833848 ,  0.17881631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.74024657, 0.40593271, 0.61901827, 0.40593271, 0.32892561,
       0.26973134, 0.61901827, 0.26973134, 0.56336524, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0001848333947614358
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99738483e-01,  2.77647374e-03, -2.26992526e-02,  2.77575834e-03,
        9.99996146e-01,  6.30241215e-05,  2.26993401e-02,  1.35525272e-20,
       -9.99742337e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13120907, -0.08570838,  0.17211328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022753253518186895
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.85550627e-01, -1.82150461e-02, -8.74018764e-01, -8.84579466e-03,
        9.99834092e-01, -1.59229339e-02,  8.74163795e-01,  1.73472348e-18,
       -4.85631197e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12560045, -0.03486464,  0.29855316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027287639542207115
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.90004745e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.90004745e-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([ 0.10558641, -0.06064439,  0.06193965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65636434e-05,-9.65150419e-06, 3.54063533e-05,-3.15611188e-05,
  6.37161380e-03, 3.43978262e-02, 1.17879198e-04, 2.29591840e-04,
  1.40093402e-05, 3.45306794e-05, 1.75554154e-05,-6.71374631e-06,
  1.04789177e-01,-1.30293687e-04,-2.59282271e-04,-1.19227087e-05,
 -1.94828225e-03, 2.14920806e-03,-9.81004527e+00,-6.47007146e-02,
 -2.72411137e-03,-1.20123594e-02]


--- Step 264 ---
qpos:
[ 0.00980589, 0.00805366,-0.00556485, 0.03331214, 0.00254982,-0.01603557,
 -0.00717915, 0.03896987, 0.01299662, 0.00589011,-0.01169622, 0.03392249,
  0.23367391, 0.00434719, 0.51966328, 0.04827579, 0.09462172,-0.06391958,
  0.14163695, 0.95760102,-0.05053991, 0.07962087, 0.27222513]

qacc:
[-4.82835943e+00,-1.60175320e+00, 4.19557702e+00,-1.22153433e-01,
  4.14336755e+00, 5.08984038e+01,-1.25143416e+02, 1.11310420e+02,
  1.37982822e+00,-2.87528763e+00, 1.31989703e+01,-2.71274663e+01,
 -8.14341943e-01, 5.85424319e-01, 2.02170438e-01,-6.14130011e+00,
 -3.20044453e-01, 4.25441214e-01,-9.22019215e-02, 1.21842295e+00,
  2.05097767e-01,-2.47613122e+01]

qfrc_actuator:
[ 4.33070468e-05, 2.38158421e-04, 4.37427014e-05, 1.70023123e-04,
  9.14358239e-04, 1.87323397e-02, 3.85846601e-04, 2.71173041e-04,
  4.00156959e-05, 2.62674626e-05,-7.46195322e-05, 1.34172896e-04,
  1.01960949e-01,-1.65232922e-04, 5.80369131e-02,-4.20048375e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([1.32158711, 1.2060499 , 0.54040367, 1.2060499 , 1.1267831 ,
       0.43475528, 0.54040367, 0.43475528, 0.35131879, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -5.2273551135402214e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99467546e-01,  2.66181860e-03, -3.25198289e-02,  2.66041073e-03,
        9.99996457e-01,  8.65621922e-05,  3.25199441e-02, -1.35525272e-20,
       -9.99471087e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13105402, -0.08347069,  0.17877953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.72285797, 0.46121598, 0.55659991, 0.46121598, 0.37069136,
       0.2918162 , 0.55659991, 0.2918162 , 0.48105   , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00011498903534232662
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99732641e-01,  2.66252462e-03, -2.29686142e-02,  2.66182220e-03,
        9.99996455e-01,  6.11547175e-05,  2.29686956e-02,  1.35525272e-20,
       -9.99736185e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13121165, -0.08576828,  0.17216422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002282235149504719
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.48260929, -0.01726645, -0.87566554, -0.00833419,  0.99985092,
       -0.01512189,  0.8757961 ,  0.        , -0.48268124])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12560597, -0.03488297,  0.29855172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027186117609766663
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  7.0190082e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -7.0190082e-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([ 0.10558767, -0.0606456 ,  0.06193988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.84680995e-05, 5.68220348e-06, 4.34883360e-05, 1.69492831e-05,
  6.61256701e-03, 3.31798746e-02, 3.09760425e-04, 1.86003708e-04,
  7.98516206e-06,-1.61733595e-05, 1.58679210e-05,-3.98330870e-05,
  1.04944812e-01,-7.74690442e-05,-2.38174631e-04,-9.92007391e-05,
 -2.25581063e-03, 2.49690379e-03,-9.81005399e+00,-6.47146534e-02,
 -2.72093828e-03,-1.20114748e-02]


--- Step 265 ---
qpos:
[ 0.00980613, 0.00805299,-0.00556444, 0.03331481, 0.00244169,-0.01625169,
 -0.00718113, 0.03897118, 0.01299754, 0.00588992,-0.01169601, 0.03392459,
  0.23364198, 0.00434832, 0.52120699, 0.04827381, 0.09460188,-0.06389088,
  0.14164505, 0.95782325,-0.05057234, 0.07959891, 0.27144258]

qacc:
[-2.97026238e+00,-9.84246537e-01, 2.76915552e+00,-4.67327984e-01,
  4.51245690e+01, 5.13870592e+01,-1.22884311e+02, 9.88155162e+01,
  7.46510172e-01,-6.92638837e-01, 2.93044223e+00,-5.73678066e+00,
 -4.60606796e-01, 6.35950171e-01, 1.05938353e+01,-4.16894105e+01,
 -3.08476691e-01, 4.16488872e-01,-9.60352725e-02, 1.20966532e+00,
  1.31027794e-01,-2.41753650e+01]

qfrc_actuator:
[ 2.66103780e-05, 2.41576431e-04, 6.86585833e-05, 1.78901837e-04,
  1.01694498e-03, 1.89554722e-02, 4.03304842e-04, 2.49236527e-04,
  4.41317368e-05, 2.08658306e-05,-7.08104786e-05, 1.26417916e-04,
  1.01981610e-01,-1.34496202e-04, 5.79234528e-02,-4.43457652e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.71372584, 0.52323603, 0.48541594, 0.52323603, 0.47209008,
       0.26046227, 0.48541594, 0.26046227, 0.43297024, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -4.3091678074289695e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99727300e-01,  2.54912892e-03, -2.32126396e-02,  2.54844205e-03,
        9.99996751e-01,  5.91722033e-05,  2.32127150e-02,  0.00000000e+00,
       -9.99730549e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.131212  , -0.08583106,  0.17221644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022887503772088457
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.79584200e-01, -1.62913810e-02, -8.77344622e-01, -7.81412594e-03,
        9.99867287e-01, -1.42950526e-02,  8.77461073e-01,  8.67361738e-19,
       -4.79647856e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12561171, -0.03490219,  0.29855014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027087279654392227
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.04934390e-14,  1.02467195e-14,  1.00000000e+00, -2.09990520e-28,
        1.00000000e+00, -1.02467195e-14, -1.00000000e+00,  0.00000000e+00,
        2.04934390e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10558874, -0.0606469 ,  0.06194009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75064770e-05, 1.63129542e-05, 3.20361010e-05, 1.09539466e-05,
  6.68760134e-03, 3.19351493e-02, 5.39792422e-04, 1.61082659e-04,
  4.33869522e-06,-1.28732123e-05, 1.03947953e-06,-8.67962112e-06,
  1.05060079e-01,-3.14036018e-05,-2.37873527e-04,-2.71316695e-04,
 -2.57309938e-03, 2.85799288e-03,-9.81006393e+00,-6.47291720e-02,
 -2.71770534e-03,-1.20104706e-02]


--- Step 266 ---
qpos:
[ 0.00980686, 0.0080528 ,-0.00556416, 0.03331685, 0.00246008,-0.01620131,
 -0.00729579, 0.03894911, 0.01299851, 0.00588977,-0.01169586, 0.03392727,
  0.23360901, 0.00434926, 0.522748  , 0.04826932, 0.09458129,-0.06386114,
  0.14165283, 0.95805295,-0.05060576, 0.07957594, 0.27063123]

qacc:
[ 4.26397044e+00,-3.05962029e-01, 4.63967517e+00,-1.55891570e+01,
  1.08730821e+03, 6.16980028e+02,-1.59363553e+03, 1.17648651e+03,
  3.68102187e-01, 1.40441137e+00,-7.33930398e+00, 1.72920290e+01,
 -4.40635881e-01, 2.77998853e-01, 3.64026041e+00,-1.84913095e+01,
 -1.89122802e-01, 2.56928482e-01,-7.77083254e-02, 7.28671417e-01,
  8.32385168e-02,-1.48750821e+01]

qfrc_actuator:
[ 5.22061992e-05, 2.79399683e-04, 6.53992353e-05, 1.47550188e-04,
  1.11857623e-03, 1.91575532e-02, 4.34969563e-04, 2.35857391e-04,
  4.61813412e-05, 3.55220301e-05,-6.86559015e-05, 1.56525121e-04,
  1.01989874e-01,-1.51951957e-04, 5.78052463e-02,-4.55375157e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022948772767760073
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.76477773e-01, -1.52913769e-02, -8.79053529e-01, -7.28685316e-03,
        9.99883080e-01, -1.34435106e-02,  8.79156319e-01,  8.67361738e-19,
       -4.76533489e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12561763, -0.03492234,  0.29854841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002699125880636394
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05663440e-14,  1.47820597e-14,  1.00000000e+00, -3.04012924e-28,
        1.00000000e+00, -1.47820597e-14, -1.00000000e+00,  0.00000000e+00,
        2.05663440e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10558964, -0.06064828,  0.0619403 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51021924e-05, 5.40391877e-05, 4.43263969e-06,-2.93356773e-05,
  6.52494961e-03, 3.06245627e-02, 7.94681231e-04, 1.73822167e-04,
  2.16876282e-06, 7.30458413e-06,-6.80888708e-07, 2.94178564e-05,
  1.05108881e-01,-4.37289733e-05,-2.61561397e-04,-1.65949335e-04,
 -2.90152739e-03, 3.23436744e-03,-9.81007535e+00,-6.47441782e-02,
 -2.71434564e-03,-1.20093257e-02]


--- Step 267 ---
qpos:
[ 0.00980789, 0.00805302,-0.00556395, 0.0333192 , 0.0024811 ,-0.01602715,
 -0.00736786, 0.03893471, 0.01299949, 0.00588993,-0.0116961 , 0.03393027,
  0.23358636, 0.0043435 , 0.52428498, 0.0482674 , 0.09455964,-0.06383734,
  0.14166161, 0.95825831,-0.05063731, 0.07956259, 0.2699012 ]

qacc:
[  2.63220341,  1.37842917, -5.42451769, 10.53122782, 21.9931484 ,
  60.2671073 ,-10.02914275,-16.23844662,  0.13109836,  2.18629927,
  -8.55122295, 14.57349221, 13.96942272,-43.76341666,-14.4999512 ,
  40.24935543, -0.26386514, -1.48492509,  0.24698254, -1.65510124,
   3.26377689, 42.56695453]

qfrc_actuator:
[ 6.69807683e-05, 3.01879080e-04, 6.34046705e-05, 1.63802692e-04,
  1.06078256e-03, 1.90987447e-02, 5.49700881e-04, 2.68438434e-04,
  4.69996028e-05, 6.21047222e-05,-8.51377180e-05, 1.73177317e-04,
  1.01985425e-01,-1.98197766e-04, 5.76417110e-02,-4.40891633e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002300696402342135
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.73323520e-01, -1.42776431e-02, -8.80772953e-01, -6.75863318e-03,
        9.99898069e-01, -1.25766438e-02,  8.80862740e-01,  8.67361738e-19,
       -4.73371771e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12562374, -0.03494339,  0.29854654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -10.06328295,  14.0384274 , -10.06328295,
        44.8346386 ,  19.75743467,  14.0384274 ,  19.75743467,
        31.43561388,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002726771178905825
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08348110e-01, -1.08348110e-01,  9.88190960e-01,  1.18088314e-02,
        9.94113015e-01,  1.07702667e-01, -9.94042876e-01, -1.73472348e-18,
        1.08989731e-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([ 0.08840585, -0.03673925,  0.06194041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55095345e-05, 5.23624419e-05, 8.69152497e-06, 1.81446308e-05,
  1.41210836e-04, 1.72400732e-02, 6.54501765e-03, 1.37563680e-03,
  8.81447657e-07, 3.17891373e-05,-1.40440272e-05, 1.75083460e-05,
  1.05156093e-01,-8.04743618e-05,-3.04493262e-04, 1.01258732e-04,
 -3.11085137e-03, 3.47983618e-03,-9.81008325e+00,-6.47591765e-02,
 -2.71393311e-03,-1.20080880e-02]


--- Step 268 ---
qpos:
[ 0.00980908, 0.00805333,-0.00556391, 0.03332211, 0.00250103,-0.01577637,
 -0.00740724, 0.03892775, 0.01300013, 0.00589095,-0.01169707, 0.03393305,
  0.23357883, 0.00433376, 0.52581832, 0.04826579, 0.09453772,-0.06381838,
  0.14167102, 0.95844173,-0.05066648, 0.07955582, 0.26924567]

qacc:
[  1.48169037,  1.76834299, -8.55423313, 18.64424508, -9.7494684 ,
  25.25633787, 25.53537296, -5.51614584, -3.05579322,  2.71382354,
  -7.1492769 ,  3.98911139, 13.87449288,-35.90200256, -6.9432378 ,
  14.87841077, -0.06853385, -1.20756398,  0.16046304, -1.49467706,
   1.8168904 , 38.91496596]

qfrc_actuator:
[ 7.52539816e-05, 2.79526679e-04, 4.44176725e-05, 1.90185312e-04,
  9.98368338e-04, 1.89372904e-02, 6.04050815e-04, 2.89140634e-04,
  2.93347870e-05, 1.31050505e-04,-1.12449127e-04, 1.64020721e-04,
  1.01977687e-01,-2.19623824e-04, 5.74724992e-02,-4.39380692e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002306563638743564
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.46986325, -0.01318285, -0.88264077, -0.00619467,  0.9999131 ,
       -0.01163673,  0.88271748,  0.        , -0.46990409])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12563166, -0.03497461,  0.2985435 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027218634218629917
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06430059e-01, -1.06430059e-01,  9.88607751e-01,  1.13920621e-02,
        9.94320191e-01,  1.05818610e-01, -9.94254929e-01, -1.73472348e-18,
        1.07038014e-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([ 0.08843677, -0.03671712,  0.06194049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.73086811e-06, 9.48840266e-06,-6.48443053e-06, 2.92732541e-05,
 -5.26362155e-05, 1.08847838e-02, 4.46801677e-03, 1.01244610e-03,
 -1.76279504e-05, 8.45651552e-05,-2.18739583e-05,-7.94585464e-06,
  1.04633343e-01, 2.34110907e-04,-2.85978816e-04,-1.60927150e-05,
 -2.52424719e-03, 2.85285580e-03,-9.81003362e+00,-6.47849978e-02,
 -2.72816986e-03,-1.20080842e-02]


--- Step 269 ---
qpos:
[ 0.00981072, 0.00805369,-0.0055643 , 0.03332465, 0.00252112,-0.01547765,
 -0.00742513, 0.03892503, 0.0130009 , 0.00589231,-0.0116974 , 0.03393602,
  0.23358922, 0.00432204, 0.52734797, 0.04826659, 0.09451615,-0.06380337,
  0.1416808 , 0.95860509,-0.0506929 , 0.07955323, 0.26865925]

qacc:
[ 3.80256889e+00, 4.74397337e-01,-1.63148429e-02,-5.82483886e+00,
  1.24577796e+00, 1.20113522e+01, 3.12056853e+01,-2.75540402e+01,
  1.14494062e+00,-9.48446215e-01, 3.27225438e+00,-1.38548149e+00,
  1.34546977e+01,-2.95742724e+01,-1.33425445e+01, 3.73092707e+01,
  8.64085850e-02,-9.88426168e-01, 9.12196397e-02,-1.37539589e+00,
  6.82608717e-01, 3.60356104e+01]

qfrc_actuator:
[ 9.73900238e-05, 2.65941208e-04, 1.53625106e-05, 1.69000644e-04,
  1.00686342e-03, 1.87296287e-02, 6.32800541e-04, 2.64379685e-04,
  3.64386863e-05, 1.53754750e-04,-7.47541341e-05, 1.75292790e-04,
  1.01967173e-01,-2.08434308e-04, 5.73266195e-02,-4.26001102e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002312543713721644
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.46623572, -0.01205114, -0.88457844, -0.00561908,  0.99992738,
       -0.01066095,  0.88464268,  0.        , -0.46626958])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12564063, -0.03501311,  0.29853963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002716058565968362
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04837189e-01, -1.04837189e-01,  9.88948092e-01,  1.10517378e-02,
        9.94489399e-01,  1.04253034e-01, -9.94427988e-01, -1.73472348e-18,
        1.05418106e-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([ 0.08846124, -0.03669971,  0.0619406 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23855547e-05,-8.38332471e-06,-2.68931101e-05,-2.04405699e-05,
  1.05540451e-05, 6.83681716e-03, 2.85999134e-03, 6.15478114e-04,
  6.63633463e-06, 6.50989299e-05, 5.21882955e-05, 1.39790636e-05,
  1.03869243e-01, 4.45976089e-04,-2.64333718e-04, 9.89858905e-05,
 -2.03777643e-03, 2.32349812e-03,-9.81000565e+00,-6.48004869e-02,
 -2.73947336e-03,-1.20085896e-02]


--- Step 270 ---
qpos:
[ 0.00981191, 0.00805392,-0.00556468, 0.03332692, 0.00254151,-0.01515009,
 -0.00742922, 0.03892441, 0.01300209, 0.00589362,-0.01169734, 0.03393917,
  0.23361893, 0.00430974, 0.52887452, 0.0482708 , 0.09449541,-0.06379162,
  0.14169072, 0.95874989,-0.0507163 , 0.07955296, 0.2681377 ]

qacc:
[-3.83336862e+00,-7.53948913e-01, 3.61029071e+00,-8.33580730e+00,
  2.61398067e+00, 3.89426448e+00, 3.24906215e+01,-3.91439617e+01,
  3.74674490e+00,-8.19784665e-01, 2.06399303e+00, 4.42260658e-01,
  1.28113542e+01,-2.45528985e+01,-1.53689482e+01, 4.58646483e+01,
  2.09389295e-01,-8.15184604e-01, 3.58116349e-02,-1.28854998e+00,
 -2.04866216e-01, 3.37657864e+01]

qfrc_actuator:
[ 7.42526495e-05, 2.57612507e-04, 1.60906349e-05, 1.55498169e-04,
  1.02158241e-03, 1.84390348e-02, 6.26564700e-04, 2.12569902e-04,
  5.80693698e-05, 1.13368222e-04,-7.01389072e-05, 1.80759280e-04,
  1.01959523e-01,-1.78097219e-04, 5.72215046e-02,-4.07498705e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002318667676992955
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.46254409, -0.01091464, -0.88652909, -0.0050488 ,  0.99994043,
       -0.00967673,  0.8865819 ,  0.        , -0.46257165])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12565008, -0.03505663,  0.2985352 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027095903821248934
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03509260e-01, -1.03509260e-01,  9.89227813e-01,  1.07720289e-02,
        9.94628490e-01,  1.02947221e-01, -9.94570157e-01, -1.73472348e-18,
        1.04068263e-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([ 0.08848061, -0.03668603,  0.06194073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25018512e-05,-1.94593908e-05,-5.03105628e-06,-1.51968900e-05,
  1.72702051e-05, 4.13909137e-03, 1.77624036e-03, 3.51447756e-04,
  2.18438929e-05, 7.34892857e-06, 2.49556565e-05, 1.03248768e-05,
  1.02967299e-01, 5.76129965e-04,-1.98735871e-04, 1.59817709e-04,
 -1.63087965e-03, 1.87357102e-03,-9.80999212e+00,-6.48091225e-02,
 -2.74864654e-03,-1.20093643e-02]


--- Step 271 ---
qpos:
[ 0.00981247, 0.00805378,-0.00556468, 0.033329  , 0.00256159,-0.01480645,
 -0.0074238 , 0.03892519, 0.01300319, 0.00589438,-0.01169716, 0.0339421 ,
  0.23366801, 0.00429742, 0.53039876, 0.04827083, 0.0944759 ,-0.06378258,
  0.14170061, 0.95887732,-0.05073646, 0.07955352, 0.26767768]

qacc:
[-5.52089228e+00,-1.90098216e+00, 6.86224168e+00,-1.03102206e+01,
 -2.70461101e+00,-2.49621712e+00, 3.38751247e+01,-3.69602441e+01,
 -8.17093721e-01,-1.48103061e+00, 5.15460326e+00,-8.70555668e+00,
  1.20255682e+01,-2.13429933e+01, 8.72160062e+00,-3.66662147e+01,
  3.07018705e-01,-6.78200934e-01,-8.53394272e-03,-1.22667699e+00,
 -8.98646958e-01, 3.19767304e+01]

qfrc_actuator:
[ 4.24019390e-05, 2.34855558e-04, 3.44323769e-05, 1.46657867e-04,
  1.00431826e-03, 1.81163417e-02, 6.51679412e-04, 1.80459310e-04,
  5.25635547e-05, 3.53823070e-05,-8.53897304e-05, 1.64920203e-04,
  1.01952820e-01,-1.72382538e-04, 5.70663658e-02,-4.30499675e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002324943102369718
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.58864625e-01, -9.79648665e-03, -8.88452185e-01, -4.49547689e-03,
        9.99952013e-01, -8.70412765e-03,  8.88494821e-01,  8.67361738e-19,
       -4.58886645e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12565961, -0.03510346,  0.29853041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002702648026795382
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02398190e-01, -1.02398190e-01,  9.89459055e-01,  1.05407971e-02,
        9.94743490e-01,  1.01854214e-01, -9.94687641e-01,  1.73472348e-18,
        1.02939291e-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([ 0.08849593, -0.03667527,  0.06194086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.24985047e-05,-3.53495426e-05, 1.31731753e-05,-1.01479997e-05,
 -1.54067698e-05, 2.36202115e-03, 1.10722480e-03, 2.12816256e-04,
 -4.87895639e-06,-6.83229642e-05,-1.03246264e-05,-1.44705484e-05,
  1.01995926e-01, 6.11937698e-04,-2.13655926e-04,-2.43857430e-04,
 -1.28864954e-03, 1.48975193e-03,-9.80998788e+00,-6.48133062e-02,
 -2.75627731e-03,-1.20102167e-02]


--- Step 272 ---
qpos:
[ 0.00981334, 0.00805338,-0.00556446, 0.03333062, 0.00258132,-0.01445516,
 -0.00741193, 0.03892724, 0.01300387, 0.00589527,-0.01169741, 0.03394477,
  0.23373557, 0.0042854 , 0.53191942, 0.04826658, 0.09445793,-0.06377582,
  0.14171033, 0.95898829,-0.05075325, 0.07955378, 0.26727656]

qacc:
[  2.67481862, -1.96371612,  8.44895661,-16.70144089, -3.00793808,
  -5.23679792, 27.950858  ,-21.71303391, -3.70761365,  0.85561191,
  -1.69892724, -2.21573027, 11.17115614,-18.95672869,  7.23005   ,
 -34.00804115,  0.38459313, -0.56980521, -0.04396604, -1.1842576 ,
  -1.43959614, 30.56689085]

qfrc_actuator:
[ 5.89500678e-05, 2.21468876e-04, 4.52072059e-05, 1.22873364e-04,
  9.86116495e-04, 1.77578798e-02, 6.76624090e-04, 1.77807325e-04,
  3.11248520e-05, 7.73766695e-05,-9.46786681e-05, 1.54375857e-04,
  1.01951312e-01,-1.81764471e-04, 5.68546262e-02,-4.52927164e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023313563234508704
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55249080e-01, -8.71166244e-03, -8.90321505e-01, -3.96612681e-03,
        9.99962053e-01, -7.75647475e-03,  8.90355291e-01, -4.33680869e-19,
       -4.55266356e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12566895, -0.03515233,  0.2985254 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026953845086267205
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01465530e-01, -1.01465530e-01,  9.89651197e-01,  1.03486626e-02,
        9.94839055e-01,  1.00936410e-01, -9.94785229e-01,  1.73472348e-18,
        1.01991904e-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([ 0.08850805, -0.03666683,  0.06194101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56098149e-05,-3.08811163e-05, 4.74187484e-06,-2.50441233e-05,
 -1.78750992e-05, 1.18766183e-03, 6.52483186e-04, 1.40225000e-04,
 -2.15970293e-05, 1.00060880e-06,-2.51903409e-05,-1.41192950e-05,
  1.01028284e-01, 6.04933020e-04,-3.23340095e-04,-2.62829260e-04,
 -1.00021179e-03, 1.16225204e-03,-9.80998928e+00,-6.48147061e-02,
 -2.76279468e-03,-1.20109939e-02]


--- Step 273 ---
qpos:
[ 0.00981474, 0.008053  ,-0.00556451, 0.03333194, 0.00260033,-0.01410137,
 -0.00739671, 0.03893048, 0.01300428, 0.00589684,-0.01169812, 0.03394722,
  0.23382067, 0.0042742 , 0.53343552, 0.04826823, 0.09444175,-0.063771  ,
  0.14171975, 0.95908355,-0.05076658, 0.07955283, 0.26693227]

qacc:
[ 4.69479103e+00, 1.79570857e-01, 6.59611233e-01,-5.41857387e+00,
 -6.11359053e+00,-3.63753379e+00, 1.27715812e+01, 5.55590276e-01,
 -2.33640035e+00, 1.70079362e+00,-3.81515838e+00, 2.05121694e-01,
  1.02917012e+01,-1.62849338e+01,-2.49719633e+01, 7.65998791e+01,
  4.46358148e-01,-4.83888520e-01,-7.21542657e-02,-1.15728459e+00,
 -1.85908723e+00, 2.94562399e+01]

qfrc_actuator:
[ 8.61026460e-05, 2.31513183e-04, 3.36916062e-05, 1.08236194e-04,
  9.49765578e-04, 1.73976947e-02, 6.47477044e-04, 1.92379761e-04,
  1.82421413e-05, 1.55400451e-04,-9.98876166e-05, 1.47137835e-04,
  1.01957628e-01,-1.65009234e-04, 5.67103116e-02,-4.19800446e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023378808671102166
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51731484e-01, -7.66937746e-03, -8.92120982e-01, -3.46460116e-03,
        9.99970590e-01, -6.84221379e-03,  8.92147220e-01, -4.33680869e-19,
       -4.51744770e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12567794, -0.03520235,  0.29852027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002687923385514023
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00680480e-01, -1.00680480e-01,  9.89811539e-01,  1.01883279e-02,
        9.94918811e-01,  1.00163652e-01, -9.94866644e-01,  1.73472348e-18,
        1.01194670e-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([ 0.08851763, -0.0366602 ,  0.06194117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.75881032e-05,-7.30728055e-06,-1.81800888e-05,-1.62878692e-05,
 -3.64839617e-05, 4.31830444e-04, 2.97126263e-04, 8.99488342e-05,
 -1.34915523e-05, 7.27344037e-05,-8.60525290e-06,-8.34782712e-06,
  1.00112013e-01, 6.08064298e-04,-3.03632789e-04, 2.78698935e-04,
 -7.57601912e-04, 8.83869406e-04,-9.80999367e+00,-6.48144927e-02,
 -2.76851243e-03,-1.20115754e-02]


--- Step 274 ---
qpos:
[ 0.00981681, 0.00805288,-0.00556567, 0.0333331 , 0.00261877,-0.01374844,
 -0.00737957, 0.0389344 , 0.01300489, 0.00589894,-0.01169891, 0.0339499 ,
  0.23392251, 0.00426408, 0.53494845, 0.04827229, 0.09442754,-0.06376783,
  0.1417288 , 0.95916368,-0.05077637, 0.07954998, 0.26664318]

qacc:
[  5.7484114 ,  3.10427432, -9.9371374 ,  8.82328295, -4.96841491,
  -5.04536239, 13.45463542, -3.99611854,  1.63564234,  1.42847832,
  -5.07387112,  8.87969064,  9.39366142,-13.81510407,-12.27776965,
  35.34261198,  0.49562078, -0.41569638, -0.09448143, -1.14219916,
  -2.18287981, 28.58166329]

qfrc_actuator:
[ 1.19263929e-04, 2.37676710e-04,-2.62893303e-05, 9.91072149e-05,
  9.20776261e-04, 1.70563185e-02, 6.21879191e-04, 1.99114316e-04,
  2.82565194e-05, 1.83422419e-04,-1.02464630e-04, 1.59700141e-04,
  1.01952081e-01,-1.33217103e-04, 5.65800422e-02,-4.07445260e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002344490197566729
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44833828, -0.00667653, -0.89383903, -0.00299341,  0.99997771,
       -0.00596787,  0.89385895,  0.        , -0.44834827])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12568645, -0.0352528 ,  0.29851512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026803640725509307
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00018332e-01, -1.00018332e-01,  9.89945790e-01,  1.00540821e-02,
        9.94985594e-01,  9.95117192e-02, -9.94934796e-01,  1.73472348e-18,
        1.00522392e-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([ 0.0885252 , -0.03665501,  0.06194133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39471193e-05,-2.35953058e-06,-6.42935466e-05,-1.03915374e-05,
 -2.99057481e-05,-4.77225263e-05, 9.89722028e-05, 3.64361463e-05,
  9.66171998e-06, 6.65024775e-05, 1.10836095e-05, 1.52122607e-05,
  9.92311413e-02, 5.99843626e-04,-2.19379795e-04, 1.03905229e-04,
 -5.54967212e-04, 6.49300900e-04,-9.80999916e+00,-6.48134937e-02,
 -2.77365949e-03,-1.20118668e-02]


--- Step 275 ---
qpos:
[ 0.00981856, 0.00805284,-0.00556754, 0.03333414, 0.00263705,-0.01339886,
 -0.00736152, 0.03893877, 0.01300526, 0.00590143,-0.01170026, 0.03395345,
  0.23404016, 0.00425502, 0.53645933, 0.04827397, 0.09441537,-0.0637659 ,
  0.14173728, 0.95922824,-0.05078125, 0.07954485, 0.26641146]

qacc:
[ -2.72759508,  1.85384594, -5.90916796,  4.8206633 , -1.16545459,
  -6.06742128, 13.38358231, -4.84021752, -2.04157255,  3.86149547,
 -16.70540475, 32.38399995,  8.7157898 ,-12.51974692,  3.81896439,
 -18.53914898,  0.50816886, -0.30641572, -0.14171059, -0.62103887,
  -2.58399484, 29.72606416]

qfrc_actuator:
[ 1.02434623e-04, 2.41272959e-04,-6.11474459e-05, 9.32600635e-05,
  9.14110175e-04, 1.66753319e-02, 5.80769274e-04, 2.01172168e-04,
  1.61589779e-05, 1.81326326e-04,-1.39144234e-04, 2.01529549e-04,
  1.01944183e-01,-1.10748594e-04, 5.64795400e-02,-4.19866678e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002351161258079509
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44509183, -0.00573887, -0.89546654, -0.00255436,  0.99998353,
       -0.00513905,  0.89548129,  0.        , -0.44509916])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12569439, -0.03530301,  0.29851   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026462145981084734
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62219622e-14, -1.04887849e-14,  1.00000000e+00, -2.75036520e-28,
        1.00000000e+00,  1.04887849e-14, -1.00000000e+00,  0.00000000e+00,
       -2.62219622e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08853118, -0.03665096,  0.06194149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58585978e-05,-1.14284402e-05,-4.36148359e-05,-8.37655900e-06,
 -7.54973072e-06,-3.98715904e-04,-4.18681714e-05, 3.30965421e-06,
 -1.17944190e-05, 3.79661836e-05,-2.10723900e-05, 4.53496236e-05,
  9.83877925e-02, 5.69075474e-04,-1.76402127e-04,-1.44162083e-04,
 -3.87990745e-04, 4.54634788e-04,-9.81000440e+00,-6.48122944e-02,
 -2.77840022e-03,-1.20117946e-02]


--- Step 276 ---
qpos:
[ 0.00981976, 0.00805279,-0.0055693 , 0.03333539, 0.00265478,-0.01305406,
 -0.00734343, 0.03894336, 0.01300514, 0.00590382,-0.01170176, 0.03395648,
  0.23417257, 0.00424726, 0.53796828, 0.04827305, 0.09440539,-0.06376507,
  0.14174516, 0.95927779,-0.0507815 , 0.07953699, 0.2662353 ]

qacc:
[ -4.91019708,  0.14794389, -1.45620131,  5.09639374, -4.8375371 ,
  -5.97690772, 11.19552492, -3.82426341, -4.3334932 , -0.76856169,
   4.82448243,-13.69211382,  7.79004833,-10.19803905,  4.74902703,
 -21.44234649,  0.54580393, -0.27603266, -0.14860202, -0.73914902,
  -2.74013279, 28.76479922]

qfrc_actuator:
[ 7.40674268e-05, 2.61146839e-04,-4.53810612e-05, 1.07164602e-04,
  8.85128390e-04, 1.63089128e-02, 5.30585998e-04, 2.00400590e-04,
 -8.86390797e-06, 1.43340219e-04,-1.60276885e-04, 1.71424886e-04,
  1.01934355e-01,-7.65210174e-05, 5.63969125e-02,-4.32570649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002357770450982776
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4420048 , -0.0048592 , -0.89699952, -0.00214782,  0.99998819,
       -0.00435875,  0.89701011,  0.        , -0.44201002])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1257017 , -0.03535274,  0.29850494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026390355762376805
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.05173177e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.05173177e-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([ 0.08853548, -0.03664739,  0.06194165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88190562e-05, 4.12467759e-06, 7.76288375e-06, 1.17450074e-05,
 -2.93370811e-05,-6.10819786e-04,-1.41909261e-04,-2.00734852e-05,
 -2.53387379e-05,-1.92495985e-05,-1.43371079e-05,-2.83340483e-05,
  9.75890613e-02, 5.51815117e-04,-1.70792048e-04,-1.56282284e-04,
 -2.44323836e-04, 2.88861919e-04,-9.81000907e+00,-6.48108760e-02,
 -2.78212960e-03,-1.20112364e-02]


--- Step 277 ---
qpos:
[ 0.00982095, 0.00805285,-0.00557091, 0.03333644, 0.00267167,-0.01271496,
 -0.00732497, 0.03894799, 0.01300472, 0.00590583,-0.01170334, 0.03395881,
  0.23431799, 0.00424074, 0.53947406, 0.04827271, 0.0943977 ,-0.06376525,
  0.14175243, 0.95931276,-0.05077738, 0.07952604, 0.2661133 ]

qacc:
[ -0.03689181, -0.72428817,  3.64766938, -7.53997168, -7.10781316,
  -8.47228213, 19.10558335,-14.79209661, -2.62312535, -1.74650112,
   8.42901564,-20.07711238,  6.87863407, -8.88003359, -6.6375814 ,
  15.85383551,  0.5758243 , -0.25178147, -0.15385644, -0.83591322,
  -2.85974263, 28.00982053]

qfrc_actuator:
[ 7.46578741e-05, 2.73092274e-04,-3.52833015e-05, 9.71189083e-05,
  8.43236589e-04, 1.59717613e-02, 5.28714319e-04, 1.97964709e-04,
 -2.35347543e-05, 1.01888535e-04,-1.72263716e-04, 1.34717121e-04,
  1.01912242e-01,-7.14125475e-05, 5.62398607e-02,-4.29348239e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002364318260571234
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39088650e-01, -4.04000024e-03, -8.98434659e-01, -1.77393273e-03,
        9.99991839e-01, -3.62970586e-03,  8.98441991e-01, -2.16840434e-19,
       -4.39092233e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12570834, -0.03540153,  0.29849999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026319294061281917
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58185715e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.58185715e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08853845, -0.03664422,  0.0619418 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28276506e-07, 1.63643699e-05, 1.23305126e-05,-9.36957536e-06,
 -4.29426476e-05,-7.21663461e-04,-1.50484783e-04,-3.47315406e-05,
 -1.53893872e-05,-5.64770257e-05,-1.87255620e-05,-3.85878813e-05,
  9.68302710e-02, 4.92961547e-04,-2.45333387e-04, 2.74451578e-06,
 -1.36716280e-04, 1.63378639e-04,-9.81001117e+00,-6.48100594e-02,
 -2.78616604e-03,-1.20101768e-02]


--- Step 278 ---
qpos:
[ 0.00982213, 0.00805288,-0.00557177, 0.03333734, 0.00268793,-0.01238216,
 -0.00730583, 0.03895329, 0.01300448, 0.00590705,-0.0117049 , 0.03396176,
  0.23447508, 0.00423553, 0.54097621, 0.0482741 , 0.09439242,-0.06376635,
  0.14175907, 0.95933351,-0.05076909, 0.07951173, 0.26604435]

qacc:
[ 2.76792823e-03,-2.43811557e+00, 9.29046100e+00,-1.31201416e+01,
 -5.38482197e+00,-8.82710874e+00, 1.66085619e+01,-1.55281444e+00,
  1.53230901e+00, 2.21419961e-01,-4.97023859e+00, 1.64007395e+01,
  6.01128280e+00,-7.22367853e+00,-1.08547931e+01, 2.96619006e+01,
  5.99917428e-01,-2.32242990e-01,-1.57697739e-01,-9.16263034e-01,
 -2.94918139e+00, 2.74178814e+01]

qfrc_actuator:
[ 7.45388395e-05, 2.80175940e-04, 6.82999968e-06, 9.07948475e-05,
  8.11841255e-04, 1.56372592e-02, 5.55492463e-04, 2.30130858e-04,
 -1.42384155e-05, 4.09406225e-05,-1.78786067e-04, 1.65435858e-04,
  1.01893037e-01,-4.87311051e-05, 5.60649630e-02,-4.20334233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023707927891322787
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43634388, -0.00328023, -0.899774  , -0.00143132,  0.99999462,
       -0.00295148,  0.89977884,  0.        , -0.43634623])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12571431, -0.03544914,  0.29849518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026249362843073776
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.64345232e-14, -1.05738093e-14,  1.00000000e+00,  2.79513606e-28,
        1.00000000e+00,  1.05738093e-14, -1.00000000e+00,  0.00000000e+00,
        2.64345232e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08854037, -0.03664137,  0.06194196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18680769e-07, 1.83908149e-05, 4.67026773e-05,-5.37766055e-06,
 -3.28745369e-05,-7.83199549e-04,-1.46231224e-04,-5.44862175e-06,
  8.84677500e-06,-9.81179587e-05,-2.18399097e-05, 2.68939955e-05,
  9.61619827e-02, 4.54593206e-04,-2.76677932e-04, 6.06925334e-05,
 -6.15736997e-05, 7.49626480e-05,-9.81001041e+00,-6.48100156e-02,
 -2.79039928e-03,-1.20085899e-02]


--- Step 279 ---
qpos:
[ 0.00982366, 0.00805285,-0.00557239, 0.03333923, 0.00270335,-0.01205568,
 -0.00728672, 0.03895862, 0.013004  , 0.00590762,-0.01170628, 0.03396469,
  0.23464321, 0.00423199, 0.54247576, 0.04827569, 0.09438961,-0.06376832,
  0.14176507, 0.9593403 ,-0.05075679, 0.07949384, 0.26602757]

qacc:
[  2.94338971,  1.30935504, -8.98288589, 25.84726019, -7.27833454,
  -8.19490091, 16.99173922,-11.73071942, -2.02257651, -1.44399841,
   4.0608259 , -4.46906604,  5.16426507, -4.67576943, -4.55390609,
   9.96977082,  0.61937127, -0.2163524 , -0.16035236, -0.98376811,
  -3.01428544, 26.95478533]

qfrc_actuator:
[ 9.17464202e-05, 2.66676929e-04, 1.42410449e-05, 1.39991420e-04,
  7.69126863e-04, 1.53072161e-02, 5.45747507e-04, 2.29159692e-04,
 -2.64188405e-05, 2.21183411e-05,-1.64321868e-04, 1.64556111e-04,
  1.01880555e-01, 1.94361710e-05, 5.59700532e-02,-4.18636875e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023771859188058395
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4337724 , -0.0025795 , -0.90101878, -0.00111892,  0.99999667,
       -0.00232419,  0.90102178,  0.        , -0.43377385])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1257196 , -0.03549534,  0.29849052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026180872201219396
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06014710e-14, -2.12029419e-14,  1.00000000e+00, -2.24782373e-28,
        1.00000000e+00,  2.12029419e-14, -1.00000000e+00,  0.00000000e+00,
       -1.06014710e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08854147, -0.03663879,  0.06194211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72095600e-05, 6.20507698e-06, 1.67825134e-05, 5.14954876e-05,
 -4.39265287e-05,-8.10795569e-04,-1.93864277e-04,-4.04949229e-05,
 -1.19606365e-05,-7.70788150e-05,-7.56563323e-06,-5.32287396e-06,
  9.55677554e-02, 4.58322420e-04,-2.03979472e-04,-1.30887690e-05,
 -1.63049117e-05, 2.12725604e-05,-9.81000662e+00,-6.48108669e-02,
 -2.79474999e-03,-1.20064564e-02]


--- Step 280 ---
qpos:
[ 0.00982503, 0.00805267,-0.00557312, 0.03334208, 0.00271813,-0.01173543,
 -0.00726841, 0.03896289, 0.01300269, 0.00590807,-0.01170769, 0.03396683,
  0.23482051, 0.00422985, 0.54397292, 0.048279  , 0.09438935,-0.06377111,
  0.14177042, 0.95933331,-0.05074063, 0.07947223, 0.2660623 ]

qacc:
[ -1.31977794,  2.06319682,-11.68554242, 28.51518464, -5.4275814 ,
  -8.16141347, 21.62813448,-34.08633936, -7.32188866, -1.66416323,
   9.02676182,-22.39424648,  4.33038354, -4.00174958, -8.89611562,
  25.6643329 ,  0.63490894, -0.203635  , -0.162235  , -1.03901112,
  -3.06491683, 26.59295628]

qfrc_actuator:
[ 8.35088674e-05, 2.40871475e-04, 1.04573439e-06, 1.85910037e-04,
  7.37841554e-04, 1.49823831e-02, 4.96763180e-04, 1.73165355e-04,
 -6.89025123e-05, 4.64889582e-05,-1.55205551e-04, 1.27373715e-04,
  1.01877068e-01, 2.52388289e-05, 5.58858927e-02,-4.08816559e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002383498237489018
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.31381554e-01, -1.93941686e-03, -9.02167497e-01, -8.36630232e-04,
        9.99998119e-01, -1.74968214e-03,  9.02169194e-01,  0.00000000e+00,
       -4.31382366e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12572418, -0.03553982,  0.29848606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002611405714905382
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.65714893e-14, -3.18857872e-14,  1.00000000e+00, -8.47252853e-28,
        1.00000000e+00,  3.18857872e-14, -1.00000000e+00,  0.00000000e+00,
       -2.65714893e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08854191, -0.03663643,  0.06194226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.74755476e-06,-1.66568819e-05,-8.06363837e-06, 4.77636407e-05,
 -3.28205651e-05,-8.32132549e-04,-2.45808424e-04,-9.90160770e-05,
 -4.28490568e-05,-2.05396857e-05,-7.91817904e-06,-4.08551552e-05,
  9.50129831e-02, 3.81153958e-04,-1.72784094e-04, 7.22860323e-05,
  9.52388572e-07, 6.06494926e-07,-9.80999969e+00,-6.48126990e-02,
 -2.79915864e-03,-1.20037623e-02]


--- Step 281 ---
qpos:
[ 0.0098256 , 0.00805215,-0.00557333, 0.03334543, 0.00273242,-0.01142192,
 -0.00725015, 0.0389668 , 0.01300157, 0.00590855,-0.01170908, 0.03396849,
  0.23500409, 0.0042281 , 0.54546753, 0.04828184, 0.09439167,-0.06377467,
  0.14177511, 0.95931271,-0.05072071, 0.07944675, 0.26614799]

qacc:
[ -6.98907165, -0.85147792,  0.26069576,  7.93096275, -4.1589071 ,
  -9.49362308, 22.45904251,-23.65727569,  1.67707218, -0.99379532,
   5.61389261,-13.98842829,  3.58296259, -5.29683226, -2.48194329,
   2.88869347,  0.64732766, -0.19344244, -0.16348861, -1.08408689,
  -3.10488471, 26.31108834]

qfrc_actuator:
[ 4.26026287e-05, 2.25553869e-04, 2.89899917e-05, 2.11748488e-04,
  7.13537040e-04, 1.46453717e-02, 4.96036909e-04, 1.56247120e-04,
 -5.78642169e-05, 6.09969284e-05,-1.49158539e-04, 1.04673287e-04,
  1.01862772e-01,-6.00262105e-05, 5.57390214e-02,-4.12037004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023897122244102022
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.29162876e-01, -1.35640293e-03, -9.03226099e-01, -5.82118318e-04,
        9.99999080e-01, -1.22513965e-03,  9.03226930e-01,  0.00000000e+00,
       -4.29163271e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1257281 , -0.03558258,  0.2984818 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002604909606184827
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.13102025e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.13102025e-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([ 0.08854185, -0.03663426,  0.0619424 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.11336764e-05,-2.42494034e-05, 2.51662152e-05, 2.57710257e-05,
 -2.55232818e-05,-8.69237718e-04,-2.10295579e-04,-6.37727095e-05,
  9.81562508e-06,-3.88226599e-07,-5.77791686e-07,-2.46508571e-05,
  9.45415794e-02, 2.26871174e-04,-2.14620331e-04,-4.99975798e-05,
 -8.47331763e-06, 1.17295240e-05,-9.80998953e+00,-6.48155709e-02,
 -2.80358042e-03,-1.20004964e-02]


--- Step 282 ---
qpos:
[ 0.00982568, 0.00805164,-0.0055736 , 0.03334907, 0.00274631,-0.01111533,
 -0.00723174, 0.03897048, 0.01300094, 0.00590896,-0.01171017, 0.0339709 ,
  0.23519234, 0.00422646, 0.54695891, 0.04828632, 0.09439662,-0.06377896,
  0.14177915, 0.95927858,-0.05069713, 0.0794173 , 0.26628424]

qacc:
[ -4.34539   ,  0.75439291, -3.82576675,  8.70474827, -3.388403  ,
 -10.09116156, 23.72906343,-23.04942538,  4.28216246,  0.56803192,
  -5.27059143, 17.62393977,  2.95069577, -5.01358469, -9.83075444,
  27.16722987,  0.65751793, -0.18494266, -0.1640217 , -1.12260648,
  -3.13260803, 26.09296356]

qfrc_actuator:
[ 1.83092345e-05, 2.34528504e-04, 2.77730552e-05, 2.25604035e-04,
  6.93531756e-04, 1.43040516e-02, 5.06082934e-04, 1.44746970e-04,
 -3.31555989e-05, 6.94994571e-05,-1.27224476e-04, 1.43935725e-04,
  1.01841921e-01,-1.10717025e-04, 5.55865785e-02,-4.03403435e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002395796789616226
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.27095342e-01, -8.22813448e-04, -9.04206222e-01, -3.51419910e-04,
        9.99999661e-01, -7.43993291e-04,  9.04206528e-01,  0.00000000e+00,
       -4.27095486e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1257315 , -0.0356239 ,  0.29847769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002598612098092881
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06809230e-14,  1.06809230e-14,  1.00000000e+00,  1.14082115e-28,
        1.00000000e+00, -1.06809230e-14, -1.00000000e+00,  0.00000000e+00,
       -1.06809230e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08854138, -0.03663225,  0.06194254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.54746310e-05, 1.71464983e-06,-2.23260359e-06, 1.41844693e-05,
 -2.10300904e-05,-8.85201301e-04,-2.01514347e-04,-5.80142320e-05,
  2.49889317e-05, 7.10498307e-06, 2.09353266e-05, 3.87437659e-05,
  9.42075123e-02, 1.57656870e-04,-2.54188902e-04, 5.61581968e-05,
 -4.36536140e-05, 5.37516763e-05,-9.80997610e+00,-6.48195278e-02,
 -2.80798330e-03,-1.19966497e-02]


--- Step 283 ---
qpos:
[ 0.00982615, 0.00805129,-0.00557418, 0.03335215, 0.0027602 ,-0.01081523,
 -0.00721416, 0.03897468, 0.01300026, 0.00591009,-0.01171217, 0.03397408,
  0.23538478, 0.00422518, 0.54844739, 0.04829301, 0.09440424,-0.06378397,
  0.14178253, 0.959231  ,-0.05066997, 0.07938383, 0.26647072]

qacc:
[  3.47654186, -0.04549138,  2.78641558,-11.95210369,  0.05584231,
  -5.1517115 ,  3.69831968, 11.50788261, -0.42996164,  5.1032569 ,
 -20.14170681, 34.62509898,  2.36943197, -3.30644875,-11.06011614,
  32.25755233,  0.66595361, -0.17775832, -0.1639588 , -1.15574184,
  -3.15089984, 25.92532515]

qfrc_actuator:
[ 3.95043751e-05, 2.40109761e-04, 9.42966300e-06, 1.96791587e-04,
  6.93967229e-04, 1.39985292e-02, 4.69139587e-04, 1.72026479e-04,
 -3.61211950e-05, 1.27725862e-04,-1.67074581e-04, 1.83841772e-04,
  1.01817055e-01,-1.05030873e-04, 5.54735522e-02,-3.91399349e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00240173775692306
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.25169745e-01, -3.35092586e-04, -9.05113571e-01, -1.42471237e-04,
        9.99999944e-01, -3.03296864e-04,  9.05113621e-01,  0.00000000e+00,
       -4.25169769e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12573446, -0.03566383,  0.29847373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025925221253207675
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14120260e-14, -2.14120260e-14,  1.00000000e+00,  4.58474859e-28,
        1.00000000e+00,  2.14120260e-14, -1.00000000e+00,  0.00000000e+00,
        2.14120260e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08854059, -0.03663039,  0.06194267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04706436e-05, 6.69105757e-06,-1.77715204e-05,-2.85454886e-05,
 -4.66304422e-07,-8.56018145e-04,-2.50440765e-04,-1.94872218e-05,
 -2.25460621e-06, 6.81831418e-05,-3.44626272e-05, 4.16838620e-05,
  9.39501758e-02, 1.58881904e-04,-2.20057717e-04, 9.09835984e-05,
 -1.03954266e-04, 1.26028571e-04,-9.80995935e+00,-6.48246020e-02,
 -2.81234212e-03,-1.19922158e-02]


--- Step 284 ---
qpos:
[ 0.00982757, 0.0080511 ,-0.00557474, 0.03335484, 0.00277432,-0.01052141,
 -0.00719794, 0.03897951, 0.01299956, 0.00591185,-0.01171465, 0.03397735,
  0.23558034, 0.00422433, 0.54993332, 0.0482997 , 0.09441464,-0.06378987,
  0.14178538, 0.95917082,-0.05064052, 0.07934612, 0.2667041 ]

qacc:
[  8.24573108, -0.67388975,  4.36846618,-11.33788646,  2.17607311,
  -3.19507402, -3.30082974, 21.02176444, -0.28982895,  2.35033511,
  -7.54054449,  9.3529343 ,  1.57226212, -1.71459599, -3.82585718,
   7.76181234,  0.69733266, -0.22101025, -0.1347421 , -1.64397589,
  -3.02350205, 24.15839714]

qfrc_actuator:
[ 8.72979851e-05, 2.61258313e-04, 1.66015443e-05, 1.78603758e-04,
  7.06428914e-04, 1.36990752e-02, 4.04942553e-04, 2.04152615e-04,
 -3.76030647e-05, 1.61786599e-04,-1.89635813e-04, 1.88289403e-04,
  1.01784329e-01,-1.19084885e-04, 5.53469820e-02,-3.91698302e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024075359869178735
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.23387602e-01,  1.06629360e-04, -9.05948634e-01,  4.51455493e-05,
        9.99999994e-01,  9.66007236e-05,  9.05948639e-01,  0.00000000e+00,
       -4.23387604e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12573695, -0.03570222,  0.29846993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026135856418521
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.10126578, -0.10126578,  0.98969212,  0.01030775,  0.99485941,
        0.1007398 , -0.99480601,  0.        ,  0.10178903])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08853954, -0.03662865,  0.0619428 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.83821709e-05, 2.00144295e-05, 5.38029146e-06,-1.90772879e-05,
  1.21601759e-05,-8.41833819e-04,-2.76275208e-04,-1.43185544e-05,
 -1.52036232e-06, 6.68292648e-05,-1.12773504e-05, 6.98321643e-06,
  9.37086303e-02, 1.27018184e-04,-2.16099201e-04,-2.61882763e-05,
 -1.88958619e-04, 2.28091525e-04,-9.80993926e+00,-6.48308150e-02,
 -2.81663592e-03,-1.19871903e-02]


--- Step 285 ---
qpos:
[ 0.0098292 , 0.00805111,-0.00557524, 0.03335728, 0.00278814,-0.01023387,
 -0.0071824 , 0.03898359, 0.01299884, 0.00591348,-0.01171649, 0.03398032,
  0.2357787 , 0.00422417, 0.55141662, 0.04830495, 0.09442784,-0.06379658,
  0.14178766, 0.95909786,-0.05060856, 0.07930416, 0.26698487]

qacc:
[ 1.90328435e+00,-4.25685116e-01, 2.89959348e+00,-7.34831728e+00,
 -2.58143047e+00,-7.92586639e+00, 1.93693000e+01,-2.65840751e+01,
 -8.12982656e-02,-2.54599958e+00, 1.00955965e+01,-1.61627433e+01,
  1.03469381e+00,-1.96188988e-02, 4.62335194e-01,-7.29703230e+00,
  6.97827517e-01,-2.05064580e-01,-1.39842581e-01,-1.56662310e+00,
 -3.06187075e+00, 2.44214801e+01]

qfrc_actuator:
[ 9.70914555e-05, 2.73918417e-04, 2.11133346e-05, 1.66853724e-04,
  6.90357201e-04, 1.34056331e-02, 3.78503227e-04, 1.67859215e-04,
 -3.81912536e-05, 1.27884919e-04,-1.66388702e-04, 1.71844230e-04,
  1.01778789e-01,-9.19216173e-05, 5.52123590e-02,-3.99246059e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024132835795832963
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21747367e-01,  5.03319962e-04, -9.06713243e-01,  2.12273896e-04,
        9.99999873e-01,  4.56366933e-04,  9.06713358e-01,  0.00000000e+00,
       -4.21747420e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12573898, -0.03573885,  0.29846633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002608062041496174
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.10169093, -0.10169093,  0.98960493,  0.01039493,  0.99481604,
        0.10115824, -0.99476173,  0.        ,  0.10222084])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08853868, -0.03662738,  0.06194293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11800587e-05, 2.41657726e-05, 8.64794952e-06,-1.10841513e-05,
 -1.60056504e-05,-8.32758212e-04,-2.38503026e-04,-8.29083585e-05,
 -6.04251422e-07, 1.39462708e-06, 3.59044434e-05,-1.38413466e-05,
  9.35481048e-02, 1.33935092e-04,-2.37215950e-04,-1.05094466e-04,
 -2.89842540e-04, 3.51227000e-04,-9.80991772e+00,-6.48376666e-02,
 -2.82004414e-03,-1.19815947e-02]


--- Step 286 ---
qpos:
[ 0.00983025, 0.00805121,-0.0055759 , 0.03335924, 0.00280132,-0.00995222,
 -0.00716763, 0.03898749, 0.01299812, 0.0059151 ,-0.01171801, 0.03398274,
  0.23597909, 0.00422481, 0.55289706, 0.04831117, 0.09444383,-0.06380406,
  0.14178937, 0.95901199,-0.05057393, 0.07925796, 0.26731342]

qacc:
[-5.13736835e+00,-3.86824351e-01, 3.60669559e+00,-1.17160852e+01,
 -5.55901601e+00,-6.01795916e+00, 1.09394598e+01,-8.53113900e+00,
 -2.47315126e-03,-2.07753897e+00, 9.73560559e+00,-1.98997027e+01,
  5.05985430e-01, 1.08660449e+00,-7.17649169e+00, 1.89724317e+01,
  6.98377268e-01,-1.92113004e-01,-1.43744498e-01,-1.50629109e+00,
 -3.09258609e+00, 2.46342678e+01]

qfrc_actuator:
[ 6.66791050e-05, 2.63648223e-04, 6.23188311e-06, 1.41220816e-04,
  6.57615975e-04, 1.31538276e-02, 3.56836444e-04, 1.62650923e-04,
 -3.82495077e-05, 1.24718348e-04,-1.52082517e-04, 1.43213336e-04,
  1.01778824e-01,-7.59781137e-05, 5.50996310e-02,-3.93246565e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024189632665229366
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.20249223e-01,  8.55128379e-04, -9.07408320e-01,  3.59367168e-04,
        9.99999634e-01,  7.75950889e-04,  9.07408652e-01,  0.00000000e+00,
       -4.20249377e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12574053, -0.03577366,  0.29846294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002602687649930707
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02038796e-01, -1.02038796e-01,  9.89533308e-01,  1.04665468e-02,
        9.94780420e-01,  1.01500578e-01, -9.94725357e-01,  1.73472348e-18,
        1.02574190e-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([ 0.08853794, -0.03662651,  0.06194305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.00852690e-05, 4.55385207e-06,-9.20980792e-06,-2.45190050e-05,
 -3.34775011e-05,-7.80955056e-04,-2.29492114e-04,-5.14440892e-05,
 -7.19549306e-08, 4.38995187e-06, 1.85328605e-05,-2.76045396e-05,
  9.34088941e-02, 1.15745710e-04,-2.33425083e-04, 2.33677835e-05,
 -4.13855551e-04, 5.02500423e-04,-9.80989287e+00,-6.48457900e-02,
 -2.82327008e-03,-1.19754437e-02]


--- Step 287 ---
qpos:
[ 0.00983127, 0.00805146,-0.00557677, 0.03336088, 0.002814  ,-0.00967642,
 -0.00715315, 0.03899194, 0.0129974 , 0.00591656,-0.01171871, 0.03398478,
  0.23618091, 0.00422637, 0.5543745 , 0.04831837, 0.09446262,-0.06381227,
  0.14179049, 0.95891307,-0.05053649, 0.0792075 , 0.26769006]

qacc:
[-2.51690863e-01, 9.61189314e-02, 1.32487149e+00,-6.75551465e+00,
 -4.23528077e+00,-5.78621936e+00, 7.11394093e+00, 7.09423821e+00,
  7.24676616e-02,-3.27874338e+00, 1.29873615e+01,-2.07259730e+01,
  3.43577802e-03, 2.23204938e+00,-7.37243866e+00, 1.94041501e+01,
  6.99058735e-01,-1.81426939e-01,-1.46601324e-01,-1.45987725e+00,
 -3.11609396e+00, 2.48071147e+01]

qfrc_actuator:
[ 6.61160158e-05, 2.75137736e-04,-2.33380151e-06, 1.25342774e-04,
  6.33087599e-04, 1.28936202e-02, 3.56137550e-04, 1.93578818e-04,
 -3.79954044e-05, 1.22179913e-04,-1.07581519e-04, 1.25403088e-04,
  1.01766196e-01,-4.93994519e-05, 5.49575495e-02,-3.88179124e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002424555105621617
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.18887761e-01,  1.16401936e-03, -9.08037273e-01,  4.87593795e-04,
        9.99999323e-01,  1.05697368e-03,  9.08037888e-01,  0.00000000e+00,
       -4.18888045e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12574164, -0.03580671,  0.29845975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025974771062387664
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.1023286 , -0.1023286 ,  0.98947345,  0.0105264 ,  0.99475065,
        0.10178574, -0.99469495,  0.        ,  0.1028686 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08853732, -0.03662595,  0.06194316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41726958e-06, 1.10687710e-05,-9.60538969e-06,-1.64808416e-05,
 -2.57482900e-05,-7.56961367e-04,-1.95546032e-04,-1.21479734e-05,
  2.58031723e-07, 2.51313552e-06, 4.67281174e-05,-1.75239070e-05,
  9.32951860e-02, 1.02806146e-04,-2.47007912e-04, 2.16491485e-05,
 -5.61535707e-04, 6.82261143e-04,-9.80986463e+00,-6.48551919e-02,
 -2.82634881e-03,-1.19687266e-02]


--- Step 288 ---
qpos:
[ 0.00983262, 0.00805214,-0.00557844, 0.03336232, 0.00282741,-0.00948054,
 -0.00713221, 0.03900518, 0.01299669, 0.00591772,-0.0117185 , 0.03398694,
  0.2363836 , 0.00422864, 0.55584951, 0.04832172, 0.09448336,-0.06382098,
  0.14179115, 0.95880495,-0.0504972 , 0.07915408, 0.26810024]

qacc:
[ 2.86185452e+00, 2.39077031e+00,-6.90353105e+00, 4.49863214e+00,
  7.87416562e+00,-1.05587211e+02, 1.86103605e+02, 1.45563359e+01,
  1.11211266e-01,-2.66906753e+00, 8.40784270e+00,-7.42973629e+00,
 -2.58939976e-01, 2.31640914e+00, 8.08085923e+00,-3.34061054e+01,
  4.89405468e-01,-1.24977637e-01,-1.15329327e-01,-1.07184744e+00,
 -2.14823333e+00, 1.73111519e+01]

qfrc_actuator:
[ 8.31393464e-05, 2.99591327e-04,-4.25105462e-05, 1.15356660e-04,
  6.31347582e-04, 1.26129384e-02, 3.67855462e-04, 1.74523643e-04,
 -3.75597684e-05, 1.02413077e-04,-6.33418799e-05, 1.31881244e-04,
  1.01751276e-01,-3.46251714e-05, 5.48192752e-02,-4.08563817e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71267697, -0.49981702, -0.50802698, -0.49981702,  0.39218233,
        0.31531529, -0.50802698,  0.31531529,  0.40245733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3123848855861685e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99854427e-01,  2.81360084e-03, -1.68287789e-02,  2.81320239e-03,
        9.99996042e-01,  4.73496539e-05,  1.68288455e-02,  0.00000000e+00,
       -9.99858385e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13081729, -0.08606489,  0.17244057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002430044020367681
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.17658604e-01,  1.43156590e-03, -9.08602906e-01,  5.97906427e-04,
        9.99998975e-01,  1.30072627e-03,  9.08603837e-01,  1.08420217e-19,
       -4.17659032e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12574234, -0.03583802,  0.29845674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025924411786821112
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02575572e-01, -1.02575572e-01,  9.89422308e-01,  1.05775422e-02,
        9.94725214e-01,  1.02028739e-01, -9.94668974e-01, -1.73472348e-18,
        1.03119505e-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([ 0.08853676, -0.03662565,  0.06194327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69876453e-05, 2.79464848e-05,-3.96411047e-05,-1.01673297e-05,
 -2.73298415e-06,-7.55104853e-04,-1.72561942e-04,-5.91514210e-05,
  4.47004084e-07,-9.51176523e-06, 4.98937254e-05, 7.85512923e-06,
  9.32096177e-02, 7.24556205e-05,-2.49526193e-04,-2.34673325e-04,
 -7.33316975e-04, 8.90729096e-04,-9.80983296e+00,-6.48658731e-02,
 -2.82930324e-03,-1.19614344e-02]


--- Step 289 ---
qpos:
[ 0.00983347, 0.00805294,-0.00558051, 0.03336364, 0.00284399,-0.0093769 ,
 -0.00712104, 0.03902027, 0.012996  , 0.00591906,-0.01171875, 0.03398955,
  0.23658599, 0.00423123, 0.55732174, 0.04832255, 0.09450551,-0.06383003,
  0.14179144, 0.95869018,-0.0504567 , 0.07909858, 0.2685343 ]

qacc:
[-4.36905431e+00, 1.05346159e+00,-2.98270836e+00, 1.41609141e+00,
  2.90882932e+01,-9.08762070e+01, 1.39191429e+02,-2.34634234e+01,
  7.61266149e-02, 2.42529843e+00,-1.01807952e+01, 1.84249382e+01,
 -5.46541295e-01, 1.76367748e+00, 3.56515303e+00,-1.83639121e+01,
  3.50033154e-01,-8.58109952e-02,-9.49984541e-02,-8.10253403e-01,
 -1.50147118e+00, 1.23371166e+01]

qfrc_actuator:
[ 5.71102137e-05, 2.95990204e-04,-6.54667468e-05, 1.08905972e-04,
  6.60015102e-04, 1.24141183e-02, 3.27132436e-04, 1.17016768e-04,
 -3.70210001e-05, 1.08017654e-04,-9.06856916e-05, 1.52577882e-04,
  1.01724328e-01,-6.25992026e-05, 5.46939928e-02,-4.20697824e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7165967 , -0.53638746, -0.47518347, -0.53638746,  0.48003836,
        0.26702723, -0.47518347,  0.26702723,  0.41517616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.387822808113658e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99858015e-01,  2.82701191e-03, -1.66119859e-02,  2.82662181e-03,
        9.99996004e-01,  4.69624697e-05,  1.66120523e-02,  0.00000000e+00,
       -9.99862010e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13081569, -0.08601977,  0.17241382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024354078421890044
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.16533367e-01,  1.66698692e-03, -9.09118901e-01,  6.94356638e-04,
        9.99998611e-01,  1.51549142e-03,  9.09120164e-01,  1.08420217e-19,
       -4.16533946e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12574268, -0.03586785,  0.2984539 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025875821926992205
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.10278548, -0.10278548,  0.98937874,  0.01062111,  0.99470355,
        0.10223526, -0.99464684,  0.        ,  0.10333278])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08853627, -0.03662556,  0.06194338])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55340920e-05, 3.39619362e-06,-2.24112888e-05,-6.82454116e-06,
 -1.01190084e-05, 3.03400917e-03,-5.38709186e-04,-5.56636107e-04,
  5.50140540e-07, 1.08766699e-05,-2.29130416e-05, 2.21601069e-05,
  9.31392117e-02, 9.61557789e-06,-2.67937397e-04,-1.67148240e-04,
 -8.66916133e-04, 1.05229335e-03,-9.80980919e+00,-6.48722230e-02,
 -2.83299086e-03,-1.19536705e-02]


--- Step 290 ---
qpos:
[ 0.00983332, 0.00805314,-0.00558197, 0.0333649 , 0.0028642 ,-0.00936343,
 -0.00712399, 0.03903498, 0.01299566, 0.00592036,-0.01171976, 0.03399174,
  0.23678752, 0.00423418, 0.55879035, 0.0483249 , 0.09452862,-0.0638393 ,
  0.1417914 , 0.95857077,-0.05041549, 0.07904168, 0.26898471]

qacc:
[-8.81491745e+00,-2.60058103e+00, 8.42153213e+00,-1.00809104e+01,
  3.28242896e+01,-8.05964024e+01, 1.15957596e+02,-3.35518906e+01,
  3.11778648e+00, 1.20977709e+00,-2.64219933e+00,-3.28802322e+00,
 -7.98993167e-01, 2.12950568e+00,-9.91334277e+00, 2.70180417e+01,
  2.41357343e-01,-5.47544989e-02,-7.91934142e-02,-6.06957568e-01,
 -9.91971093e-01, 8.45334369e+00]

qfrc_actuator:
[ 5.94368573e-06, 2.40173675e-04,-4.26651565e-05, 1.04580260e-04,
  6.33167423e-04, 1.22909672e-02, 3.04088908e-04, 9.31152764e-05,
 -1.86730552e-05, 7.52376057e-05,-1.42219562e-04, 1.28183209e-04,
  1.01700891e-01,-6.28611577e-05, 5.45393443e-02,-4.11882228e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -2.8775626689599898e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99514809e-01,  2.84261820e-03, -3.10171908e-02,  2.84125047e-03,
        9.99995960e-01,  8.81703872e-05,  3.10173161e-02, -1.35525272e-20,
       -9.99518847e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13070139, -0.08375982,  0.17882565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.72411055, -0.58057779, -0.43274187, -0.58057779,  0.56068853,
        0.21925126, -0.43274187,  0.21925126,  0.42995734,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012149589002478243
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99859868e-01,  2.84359955e-03, -1.64971916e-02,  2.84321257e-03,
        9.99995957e-01,  4.69115961e-05,  1.64972583e-02, -6.77626358e-21,
       -9.99863911e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13081907, -0.0859752 ,  0.1723881 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002440620618938493
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.15486526e-01,  1.87870684e-03, -9.09597393e-01,  7.80578757e-04,
        9.99998235e-01,  1.70886986e-03,  9.09598998e-01,  1.08420217e-19,
       -4.15487259e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12574278, -0.03589649,  0.29845118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025829041070859005
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02963951e-01, -1.02963951e-01,  9.89341624e-01,  1.06582227e-02,
        9.94685088e-01,  1.02410827e-01, -9.94627984e-01,  1.73472348e-18,
        1.03514119e-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([ 0.08853582, -0.03662566,  0.06194348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.18923003e-05,-5.88585520e-05, 2.05187563e-05,-5.08763460e-06,
 -1.96059144e-04, 7.51935598e-03,-7.49047875e-05,-6.73579893e-04,
  1.83718631e-05,-3.05343500e-05,-5.13619152e-05,-2.42984468e-05,
  9.31318325e-02,-6.19039520e-06,-2.98079370e-04, 4.38210429e-05,
 -9.69133194e-04, 1.17525046e-03,-9.80979156e+00,-6.48751883e-02,
 -2.83734264e-03,-1.19455745e-02]


--- Step 291 ---
qpos:
[ 0.0098329 , 0.00805294,-0.00558318, 0.03336609, 0.002888  ,-0.00943237,
 -0.0071405 , 0.03904927, 0.01299589, 0.00592096,-0.01172054, 0.03399364,
  0.23698745, 0.00423729, 0.56025566, 0.04832982, 0.09455233,-0.06384869,
  0.1417911 , 0.95844837,-0.05037397, 0.07898398, 0.26944519]

qacc:
[-2.33181699e+00,-1.38070565e+00, 4.41927869e+00,-5.62135128e+00,
  3.23009828e+01,-7.18867663e+01, 9.99353679e+01,-2.46206050e+01,
  5.01447412e+00,-2.14499625e+00, 7.52764945e+00,-1.23904094e+01,
 -1.02884800e+00, 1.98883247e+00,-1.26212758e+01, 3.71707515e+01,
  1.50908668e-01,-2.89911459e-02,-6.59449717e-02,-4.38782336e-01,
 -5.65286196e-01, 5.21576802e+00]

qfrc_actuator:
[-6.33723725e-06, 2.24714497e-04,-2.87620358e-05, 1.01520350e-04,
  5.71291231e-04, 1.22657963e-02, 3.17660916e-04, 1.26379675e-04,
  1.00096194e-05, 1.95660172e-05,-1.36776450e-04, 1.12918462e-04,
  1.01690271e-01,-8.21643628e-05, 5.44098578e-02,-3.97901985e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -7.018188513895974e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99503658e-01,  2.86278969e-03, -3.13726448e-02,  2.86138050e-03,
        9.99995902e-01,  8.98136524e-05,  3.13727734e-02,  0.00000000e+00,
       -9.99507753e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13070843, -0.08370376,  0.17884758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73448379, -0.62417334, -0.38713573, -0.62417334,  0.6268762 ,
        0.17349415, -0.38713573,  0.17349415,  0.45476167,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016529517034944956
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99859984e-01,  2.86381029e-03, -1.64866722e-02,  2.86342105e-03,
        9.99995899e-01,  4.72148950e-05,  1.64867398e-02, -6.77626358e-21,
       -9.99864084e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13082717, -0.08593192,  0.17236385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024456671906013324
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.14503450e-01,  2.07156857e-03, -9.10045383e-01,  8.58674160e-04,
        9.99997854e-01,  1.88522545e-03,  9.10047335e-01, -1.08420217e-19,
       -4.14504340e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12574267, -0.03592405,  0.29844856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002578410762572919
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.10311566, -0.10311566,  0.98931002,  0.01068982,  0.99466937,
        0.10256007, -0.99461193,  0.        ,  0.10366828])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0885354 , -0.03662591,  0.06194358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37798767e-05,-4.43635300e-05, 4.11041170e-06,-4.96897223e-06,
 -4.39362135e-04, 1.20024613e-02, 6.44209219e-04,-6.21153564e-04,
  2.92008192e-05,-8.44319484e-05,-8.04039974e-06,-1.88295851e-05,
  9.31644494e-02,-4.27729251e-05,-2.61156358e-04, 1.03856162e-04,
 -1.04263584e-03, 1.26296634e-03,-9.80977935e+00,-6.48752049e-02,
 -2.84229974e-03,-1.19372515e-02]


--- Step 292 ---
qpos:
[ 0.00983268, 0.00805236,-0.0055845 , 0.03336761, 0.00291528,-0.0095754 ,
 -0.00716943, 0.03906302, 0.01299646, 0.00592113,-0.01172165, 0.0339957 ,
  0.2371854 , 0.00424044, 0.56171866, 0.04833519, 0.09457633,-0.0638581 ,
  0.14179059, 0.95832448,-0.05033253, 0.07892598, 0.2699102 ]

qacc:
[ 1.76371123e+00, 4.67667663e-01,-3.77790851e+00, 9.84077351e+00,
  3.13275067e+01,-6.44283012e+01, 8.98429704e+01,-2.47854098e+01,
  3.00607755e+00, 6.17316105e-01,-3.69768181e+00, 7.17730291e+00,
 -1.23819147e+00, 2.14707889e+00,-4.70069405e+00, 1.16239078e+01,
  7.15679325e-02,-6.52069695e-03,-5.37127164e-02,-2.93597832e-01,
 -1.84764432e-01, 2.36227126e+00]

qfrc_actuator:
[ 4.37592690e-06, 1.98008835e-04,-3.78455350e-05, 1.16996691e-04,
  5.40251079e-04, 1.23277100e-02, 3.58308877e-04, 1.58621159e-04,
  2.67868033e-05, 4.09081196e-06,-1.51080546e-04, 1.20926742e-04,
  1.01671462e-01,-9.50829322e-05, 5.43221997e-02,-3.95190955e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00010815375467726405
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99492105e-01,  2.88653963e-03, -3.17364015e-02,  2.88508559e-03,
        9.99995834e-01,  9.16087624e-05,  3.17365338e-02,  0.00000000e+00,
       -9.99496269e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13071925, -0.0836505 ,  0.1788669 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.74700531, -0.65585951, -0.3575825 , -0.65585951,  0.67318592,
        0.13539575, -0.3575825 ,  0.13539575,  0.49866936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020509742148625346
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99858503e-01,  2.88759779e-03, -1.65721163e-02,  2.88720124e-03,
        9.99995831e-01,  4.78538060e-05,  1.65721854e-02,  0.00000000e+00,
       -9.99862672e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13083949, -0.08589033,  0.17234128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024505320337999525
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.13569716e-01,  2.25037729e-03, -9.10469673e-01,  9.30690254e-04,
        9.99997468e-01,  2.04890546e-03,  9.10471978e-01,  0.00000000e+00,
       -4.13570763e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12574241, -0.0359507 ,  0.29844603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002574105227310213
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.10324437, -0.10324437,  0.98928317,  0.01071667,  0.99465602,
        0.10268667, -0.99459829,  0.        ,  0.10379907])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08853501, -0.03662628,  0.06194367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03067730e-05,-5.08627076e-05,-1.78983179e-05, 1.36219318e-05,
 -6.49497517e-04, 1.61871218e-02, 1.36457973e-03,-5.68082096e-04,
  1.75803141e-05,-6.51636246e-05,-3.33892379e-05, 3.74042172e-06,
  9.32256368e-02,-6.30145069e-05,-1.98008275e-04,-1.26955143e-06,
 -1.08949960e-03, 1.31812060e-03,-9.80977204e+00,-6.48726044e-02,
 -2.84779805e-03,-1.19287893e-02]


--- Step 293 ---
qpos:
[ 0.00983224, 0.00805131,-0.00558619, 0.03337002, 0.00294528,-0.00978494,
 -0.00720998, 0.03907531, 0.01299723, 0.00592134,-0.01172343, 0.03399745,
  0.23738154, 0.00424393, 0.56317876, 0.0483409 , 0.09460033,-0.06386746,
  0.14178991, 0.95820045,-0.05029153, 0.07886817, 0.27037468]

qacc:
[-1.88799901e+00, 2.26827272e+00,-1.27369562e+01, 2.91110806e+01,
  2.45883683e+01,-5.84691443e+01, 8.70076453e+01,-4.46656897e+01,
  1.70636239e+00, 1.31843182e+00,-3.33681337e+00,-8.67864927e-01,
 -1.44721530e+00, 3.26409078e+00,-5.24689326e+00, 1.22993899e+01,
 -5.10638417e-04, 1.36814393e-02,-4.19170540e-02,-1.64198603e-01,
  1.67379029e-01,-2.44417006e-01]

qfrc_actuator:
[-6.98079709e-06, 1.64699246e-04,-6.04525661e-05, 1.60986924e-04,
  5.08626163e-04, 1.24842727e-02, 4.01711968e-04, 1.37287355e-04,
  3.64194398e-05, 3.05088200e-05,-1.76781548e-04, 1.07066468e-04,
  1.01642506e-01,-6.86126952e-05, 5.41691292e-02,-3.93805766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.34796154, -1.1642356 ,  0.67937898, -1.1642356 ,  1.00598861,
       -0.58603089,  0.67937898, -0.58603089,  0.34369434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014259603111749488
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99480273e-01,  2.91376929e-03, -3.21044063e-02,  2.91226729e-03,
        9.99995755e-01,  9.35452301e-05,  3.21045426e-02,  0.00000000e+00,
       -9.99484516e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13073339, -0.08360035,  0.17888365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7609842 , -0.67859893, -0.34438416, -0.67859893,  0.70176723,
        0.11668531, -0.34438416,  0.11668531,  0.5310592 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024084043897481505
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99855560e-01,  2.91486335e-03, -1.67440422e-02,  2.91445471e-03,
        9.99995752e-01,  4.88068024e-05,  1.67441134e-02,  0.00000000e+00,
       -9.99859808e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13085553, -0.08585073,  0.17232048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002455207254645885
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.12676260e-01,  2.41817964e-03, -9.10874556e-01,  9.97928248e-04,
        9.99997076e-01,  2.20266475e-03,  9.10877219e-01,  0.00000000e+00,
       -4.12677466e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12574202, -0.0359765 ,  0.29844358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025699882633499187
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03352962e-01, -1.03352962e-01,  9.89260497e-01,  1.07393466e-02,
        9.94644743e-01,  1.02793488e-01, -9.94586764e-01, -1.73472348e-18,
        1.03909423e-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([ 0.08853462, -0.03662677,  0.06194376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10777676e-05,-6.48282388e-05,-3.48278931e-05, 4.14570140e-05,
 -8.55269542e-04, 2.00535281e-02, 2.03033196e-03,-5.61842754e-04,
  1.01105830e-05,-1.67480052e-05,-4.31380451e-05,-1.77382897e-05,
  9.32963613e-02,-3.80927425e-05,-2.50332093e-04,-1.32399091e-05,
 -1.11124186e-03, 1.34272963e-03,-9.80976931e+00,-6.48676304e-02,
 -2.85377014e-03,-1.19202658e-02]


--- Step 294 ---
qpos:
[ 0.00983202, 0.0080503 ,-0.00558836, 0.03337253, 0.00297793,-0.0100524 ,
 -0.00726007, 0.03908598, 0.0129981 , 0.00592166,-0.01172505, 0.0339986 ,
  0.23757542, 0.0042477 , 0.56463536, 0.04834614, 0.09462408,-0.0638767 ,
  0.1417891 , 0.95807743,-0.05025125, 0.07881095, 0.27083443]

qacc:
[ 1.84435126e+00, 1.61038244e+00,-6.09537750e+00, 8.63466478e+00,
  2.38110352e+01,-5.33048370e+01, 8.57504798e+01,-5.58581847e+01,
  9.65687404e-01,-1.55220062e+00, 8.22947655e+00,-1.88156258e+01,
 -1.66210838e+00, 3.42886320e+00,-3.70637259e+00, 5.62816217e+00,
 -6.05868495e-02, 3.02850966e-02,-3.20330046e-02,-5.62309683e-02,
  4.60883021e-01,-2.41675665e+00]

qfrc_actuator:
[ 4.26096279e-06, 1.98669193e-04,-7.31173463e-05, 1.68128816e-04,
  4.93768119e-04, 1.27374423e-02, 4.33201625e-04, 1.20449033e-04,
  4.17740424e-05, 6.40005080e-05,-1.55579119e-04, 8.04801023e-05,
  1.01623494e-01,-7.20920177e-05, 5.39769477e-02,-3.96773950e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.36296978, -1.16507348,  0.7073121 , -1.16507348,  1.00504505,
       -0.58956805,  0.7073121 , -0.58956805,  0.39184247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017342098691745637
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99468287e-01,  2.94372104e-03, -3.24727206e-02,  2.94216857e-03,
        9.99995667e-01,  9.55910448e-05,  3.24728613e-02,  0.00000000e+00,
       -9.99472618e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13075042, -0.08355362,  0.17889785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.77571473, -0.68848488, -0.35738204, -0.68848488,  0.71999083,
        0.10735028, -0.35738204,  0.10735028,  0.5689079 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027246329567124456
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99851253e-01,  2.94484898e-03, -1.69941035e-02,  2.94442371e-03,
        9.99995664e-01,  5.00452855e-05,  1.69941772e-02,  6.77626358e-21,
       -9.99855589e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1308748 , -0.08581338,  0.17230158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002459695153176349
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.11821289e-01,  2.57561252e-03, -9.11260990e-01,  1.06069559e-03,
        9.99996683e-01,  2.34706300e-03,  9.11264013e-01,  2.16840434e-19,
       -4.11822655e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12574148, -0.03600141,  0.29844122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025660583384330806
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03443584e-01, -1.03443584e-01,  9.89241553e-01,  1.07582898e-02,
        9.94635323e-01,  1.02882624e-01, -9.94577138e-01,  1.73472348e-18,
        1.04001518e-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([ 0.08853425, -0.03662735,  0.06194385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09077958e-05,-7.65026443e-06,-2.88836390e-05, 3.96702060e-06,
 -1.00636294e-03, 2.36405965e-02, 2.64625398e-03,-5.05049052e-04,
  5.63781032e-06, 1.44706513e-05, 1.18307683e-05,-2.91424959e-05,
  9.33679123e-02,-5.85540334e-05,-3.12001553e-04,-6.35161295e-05,
 -1.10926686e-03, 1.33867041e-03,-9.80977087e+00,-6.48604970e-02,
 -2.86014602e-03,-1.19117538e-02]


--- Step 295 ---
qpos:
[ 0.00983227, 0.00804938,-0.00559045, 0.03337472, 0.00301326,-0.01036945,
 -0.00731753, 0.03909512, 0.01299869, 0.00592187,-0.01172578, 0.03399941,
  0.23776671, 0.00425163, 0.56608904, 0.04834755, 0.09464739,-0.06388576,
  0.1417882 , 0.9579564 ,-0.05021195, 0.07875467, 0.27128584]

qacc:
[ 4.22423649e+00,-7.82618795e-01, 4.29698800e+00,-1.00573032e+01,
  2.40815671e+01,-4.81205499e+01, 8.28513485e+01,-6.09000745e+01,
 -2.49913422e+00,-3.30980219e+00, 1.31002898e+01,-2.05258334e+01,
 -1.85632333e+00, 3.61882016e+00, 7.40117036e+00,-3.19474516e+01,
 -1.12084000e-01, 4.43069238e-02,-2.32620435e-02, 3.59420321e-02,
  7.14437075e-01,-4.28292763e+00]

qfrc_actuator:
[ 2.87209683e-05, 2.19422706e-04,-6.18094727e-05, 1.53592948e-04,
  4.87959316e-04, 1.30133312e-02, 4.77849180e-04, 1.07052897e-04,
  2.68176761e-05, 6.61549227e-05,-1.06807505e-04, 6.44206148e-05,
  1.01621208e-01,-7.58476671e-05, 5.38306938e-02,-4.16489603e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.37900853, -1.16152038,  0.74332694, -1.16152038,  0.99943175,
       -0.59312552,  0.74332694, -0.59312552,  0.45219243,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020068143710593887
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99456247e-01,  2.97631615e-03, -3.28382658e-02,  2.97471095e-03,
        9.99995571e-01,  9.77374938e-05,  3.28384113e-02,  0.00000000e+00,
       -9.99460674e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13076989, -0.08351043,  0.17890964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.79056143, -0.69968362, -0.36800844, -0.69968362,  0.74104029,
        0.09415309, -0.36800844,  0.09415309,  0.61155094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030006665845179486
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99845710e-01,  2.97747595e-03, -1.73116086e-02,  2.97702975e-03,
        9.99995567e-01,  5.15451266e-05,  1.73116853e-02,  6.77626358e-21,
       -9.99850142e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13089681, -0.08577843,  0.17228458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002463990372976062
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41099718,  0.00272527, -0.91163254,  0.00112008,  0.99999629,
        0.00248445,  0.91163593,  0.        , -0.41099871])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12574083, -0.03602549,  0.29843893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002562313966247195
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03518005e-01, -1.03518005e-01,  9.89225983e-01,  1.07738590e-02,
        9.94627580e-01,  1.02955822e-01, -9.94569227e-01,  1.73472348e-18,
        1.04077151e-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([ 0.08853389, -0.03662801,  0.06194393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47739988e-05, 1.07396185e-05, 6.33863878e-06,-1.57847889e-05,
 -1.14445928e-03, 2.68229328e-02, 3.17118721e-03,-4.36654861e-04,
 -1.47907553e-05, 1.14510183e-05, 5.22228601e-05,-1.55969661e-05,
  9.34793550e-02,-7.52759309e-05,-2.97512774e-04,-2.41124115e-04,
 -1.08751720e-03, 1.31084654e-03,-9.80977599e+00,-6.48516436e-02,
 -2.86682287e-03,-1.19033176e-02]


--- Step 296 ---
qpos:
[ 0.00983282, 0.00804844,-0.00559183, 0.03337704, 0.00304779,-0.01068757,
 -0.00737815, 0.03909707, 0.01299875, 0.00592208,-0.01172594, 0.03400037,
  0.23794207, 0.00426301, 0.56753993, 0.04834749, 0.09466615,-0.06389345,
  0.14178793, 0.95785419,-0.05018346, 0.07871183, 0.27166418]

qacc:
[ 2.57948453e+00,-1.77580145e+00, 5.75759979e+00,-4.74230729e+00,
 -7.10259436e+00,-7.37001274e+00, 5.45822758e+01,-1.73121537e+02,
 -4.63258976e+00,-1.28207998e+00, 3.92135826e+00,-2.16660337e+00,
 -1.82712539e+01, 4.96673414e+01, 1.25296861e+00,-7.97377907e+00,
 -1.13587538e+00, 3.41298793e-01, 1.59090229e-01,-9.01015943e-04,
  8.99344381e+00,-3.76403336e+01]

qfrc_actuator:
[ 4.30051930e-05, 2.32193558e-04,-1.87297008e-05, 1.61941417e-04,
  4.50976130e-04, 1.32821788e-02, 5.49799291e-04, 7.85234999e-05,
  2.78474184e-08, 6.74231071e-05,-7.77782131e-05, 7.24264636e-05,
  1.01613088e-01,-6.20209748e-05, 5.37120693e-02,-4.22818575e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.39525911, -1.01710734,  0.95511289, -1.01710734,  0.88214496,
       -0.54641935,  0.95511289, -0.54641935,  0.81337279,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022447606514391745
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99444243e-01,  3.01159518e-03, -3.31984401e-02,  3.00993511e-03,
        9.99995465e-01,  9.99807155e-05,  3.31985906e-02,  0.00000000e+00,
       -9.99448775e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13079137, -0.08347083,  0.17891914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.80494637, -0.71527349, -0.36921877, -0.71527349,  0.82415322,
       -0.0372087 , -0.36921877, -0.0372087 ,  0.87702937,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032379923159205765
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99839050e-01,  3.01278484e-03, -1.76860633e-02,  3.01231361e-03,
        9.99995462e-01,  5.32845452e-05,  1.76861435e-02,  0.00000000e+00,
       -9.99843588e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13092106, -0.08574596,  0.17226947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002468090740584651
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10198616e-01,  2.86897025e-03, -9.11991702e-01,  1.17685247e-03,
        9.99995884e-01,  2.61648783e-03,  9.11995455e-01,  2.16840434e-19,
       -4.10200304e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12574008, -0.03604879,  0.2984367 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, -9.42061654, 14.47753748, -9.42061654, 81.81446698,
       41.9976796 , 14.47753748, 41.9976796 , 44.60085787,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025355409165869203
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.84163077e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.84163077e-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([ 0.10578022, -0.06056044,  0.06194391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49988061e-05, 1.94701557e-05, 4.55618115e-05, 8.72152527e-06,
 -1.31575053e-03, 2.95832635e-02, 3.61622262e-03,-3.88002338e-04,
 -2.72076210e-05, 1.77861988e-05, 3.72927718e-05, 9.99995623e-06,
  9.36003281e-02,-6.92695510e-05,-2.84967928e-04,-1.15732678e-04,
 -1.04925633e-03, 1.26330920e-03,-9.80978406e+00,-6.48414269e-02,
 -2.87370903e-03,-1.18950131e-02]


--- Step 297 ---
qpos:
[ 0.00983354, 0.00804775,-0.00559277, 0.03337942, 0.00308156,-0.01099273,
 -0.00743399, 0.03909619, 0.01299884, 0.00592247,-0.01172691, 0.03400149,
  0.23809653, 0.00427848, 0.56898799, 0.04835021, 0.09468104,-0.0638996 ,
  0.14178812, 0.95777036,-0.05016393, 0.07867931, 0.27197258]

qacc:
[   1.47513879,  -0.74275057,   2.86180624,  -2.62060283,  -6.75903592,
   -2.01583218,  43.98405593,-110.05589261,   0.17686961,   2.82064402,
  -10.36561469,  14.26402968, -17.68159028,  40.08555098, -11.70382109,
   36.99768755,  -0.96937511,   0.38510492,   0.11528006,   0.32082555,
    7.1961293 , -36.08330319]

qfrc_actuator:
[ 5.11813796e-05, 2.58000715e-04, 7.24204315e-06, 1.65951150e-04,
  4.15456147e-04, 1.35713774e-02, 6.01357505e-04, 6.49369499e-05,
  1.99950146e-06, 5.03517719e-05,-1.31650839e-04, 7.67527489e-05,
  1.01597439e-01,-6.27412356e-05, 5.36207684e-02,-4.06998540e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.40791035, -0.91135486,  1.07314671, -0.91135486,  0.85036754,
       -0.47348545,  1.07314671, -0.47348545,  1.00580944,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024107847374783237
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99434201e-01,  3.04607623e-03, -3.34962657e-02,  3.04436689e-03,
        9.99995361e-01,  1.02032652e-04,  3.34964211e-02,  0.00000000e+00,
       -9.99438837e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13081154, -0.08344065,  0.17892486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.81562389, -0.75704695, -0.30351647, -0.75704695,  0.86121445,
       -0.1137144 , -0.30351647, -0.1137144 ,  1.09925641,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033989428204959335
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99832176e-01,  3.04728918e-03, -1.80647409e-02,  3.04679192e-03,
        9.99995357e-01,  5.50487450e-05,  1.80648247e-02,  0.00000000e+00,
       -9.99836818e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13094383, -0.08572058,  0.17225917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00247177671721999
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09881844e-01,  2.87836343e-03, -9.12134085e-01,  1.17979380e-03,
        9.99995858e-01,  2.62546427e-03,  9.12137864e-01, -2.16840434e-19,
       -4.09883542e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1257373 , -0.03606048,  0.29843577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025352461807787857
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.37915273e-14, -2.25800063e-14,  1.00000000e+00,  9.88812963e-28,
        1.00000000e+00,  2.25800063e-14, -1.00000000e+00,  0.00000000e+00,
        4.37915273e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10579744, -0.06054931,  0.06194392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.61203994e-06, 4.65288278e-05, 3.59278230e-05, 6.58949934e-06,
 -1.31109236e-03, 2.99382200e-02, 3.83003819e-03,-4.14164092e-05,
  1.20326777e-06, 9.89431845e-07,-4.52608939e-05, 6.57228941e-06,
  9.43793275e-02,-4.42559251e-04,-2.50887553e-04, 1.11738241e-04,
 -7.27087539e-04, 8.78110469e-04,-9.80986737e+00,-6.47986234e-02,
 -2.87966281e-03,-1.18882273e-02]


--- Step 298 ---
qpos:
[ 0.009834  , 0.00804753,-0.00559347, 0.03338181, 0.00311413,-0.01127668,
 -0.00748124, 0.03909449, 0.01299895, 0.00592305,-0.01172884, 0.03400336,
  0.23822779, 0.00429584, 0.57043364, 0.04835473, 0.09469258,-0.06390409,
  0.14178864, 0.9577045 ,-0.05015192, 0.07865467, 0.27221375]

qacc:
[-2.21573004e+00,-3.60359902e-02, 9.60074055e-01,-1.43382221e+00,
 -1.04966388e+01, 2.31926478e+00, 3.59430989e+01,-7.96949622e+01,
  1.66933704e-01, 4.49737824e+00,-1.88434230e+01, 3.32026233e+01,
 -1.68272165e+01, 3.31642913e+01,-8.23882447e+00, 2.54962811e+01,
 -8.36684255e-01, 4.17450606e-01, 8.07603606e-02, 5.68316186e-01,
  5.77461673e+00,-3.47354138e+01]

qfrc_actuator:
[ 3.79478711e-05, 2.91359101e-04, 2.29432182e-05, 1.67366848e-04,
  3.81097815e-04, 1.38591851e-02, 6.51765547e-04, 9.43351435e-05,
  3.13480729e-06, 5.75885393e-05,-1.80860221e-04, 1.14310220e-04,
  1.01578291e-01,-7.18154529e-05, 5.35140100e-02,-3.97781873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.41673889, -0.83026673,  1.14795742, -0.83026673,  0.86900137,
       -0.39615427,  1.14795742, -0.39615427,  1.13021806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000251870096831199
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99425947e-01,  3.07979667e-03, -3.37385623e-02,  3.07804330e-03,
        9.99995257e-01,  1.03908405e-04,  3.37387224e-02,  1.35525272e-20,
       -9.99430687e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13082993, -0.08341836,  0.17892767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.82267616, -0.79894236, -0.19618147, -0.79894236,  0.85651167,
       -0.13779396, -0.19618147, -0.13779396,  1.38383737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034992108847362296
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99825485e-01,  3.08102787e-03, -1.84256853e-02,  3.08050481e-03,
        9.99995254e-01,  5.67703195e-05,  1.84257728e-02,  0.00000000e+00,
       -9.99830231e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13096453, -0.0857012 ,  0.1722528 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024750074162053523
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09860181e-01,  2.81069190e-03, -9.12144030e-01,  1.15199524e-03,
        9.99996050e-01,  2.56376597e-03,  9.12147633e-01, -2.16840434e-19,
       -4.09861800e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12573345, -0.03606439,  0.29843568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025346510414775147
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19009048e-14,  2.05320983e-15,  1.00000000e+00, -4.49671530e-29,
        1.00000000e+00, -2.05320983e-15, -1.00000000e+00,  0.00000000e+00,
        2.19009048e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10581089, -0.06054079,  0.06194393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29709604e-05, 6.71128258e-05, 2.99781550e-05, 4.77869851e-06,
 -1.30715636e-03, 2.95897931e-02, 3.64599108e-03, 1.30079225e-04,
  1.17189796e-06,-1.28233277e-06,-5.43482393e-05, 3.61605427e-05,
  9.54027033e-02,-6.56693740e-04,-2.30819079e-04, 6.16294257e-05,
 -4.76594225e-04, 5.79675102e-04,-9.80992186e+00,-6.47687526e-02,
 -2.88553789e-03,-1.18832905e-02]


--- Step 299 ---
qpos:
[ 0.0098343 , 0.00804754,-0.00559357, 0.03338386, 0.00314489,-0.01153513,
 -0.00751902, 0.03909218, 0.01299872, 0.00592402,-0.01173096, 0.03400558,
  0.23833552, 0.00431383, 0.57187721, 0.04835433, 0.0947012 ,-0.06390681,
  0.14178938, 0.95765617,-0.05014625, 0.07863599, 0.27239016]

qacc:
[-1.40633148e+00,-2.09951206e+00, 9.37995671e+00,-1.64554613e+01,
 -1.59283133e+01, 6.04324163e+00, 2.99670436e+01,-7.43978075e+01,
 -2.93640372e+00, 1.74581248e+00,-6.95845506e+00, 1.30540684e+01,
 -1.58429025e+01, 2.84889087e+01, 1.24687229e+01,-4.63657936e+01,
 -7.30013344e-01, 4.39809417e-01, 5.40817610e-02, 7.55118743e-01,
  4.64932335e+00,-3.35000684e+01]

qfrc_actuator:
[ 2.99738719e-05, 2.93432793e-04, 5.02495129e-05, 1.49496749e-04,
  3.65921830e-04, 1.41149701e-02, 6.95751269e-04, 9.54019962e-05,
 -1.39930886e-05, 1.14847252e-04,-1.73522370e-04, 1.35648913e-04,
  1.01563330e-01,-6.75940800e-05, 5.33660878e-02,-4.24494735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.42180279, -0.76529966,  1.19826525, -0.76529966,  0.9050045 ,
       -0.33006512,  1.19826525, -0.33006512,  1.21099912,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002578038247794051
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99419343e-01,  3.11233013e-03, -3.39306632e-02,  3.11053800e-03,
        9.99995157e-01,  1.05603937e-04,  3.39308275e-02,  0.00000000e+00,
       -9.99424184e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13084627, -0.08340287,  0.17892815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.82633136, -0.82306201, -0.07343328, -0.82306201,  0.83349322,
       -0.08027228, -0.07343328, -0.08027228,  1.72604695,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035494686414957034
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99819227e-01,  3.11357543e-03, -1.87568247e-02,  3.11302767e-03,
        9.99995153e-01,  5.84010716e-05,  1.87569156e-02,  0.00000000e+00,
       -9.99824074e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13098287, -0.08568702,  0.1722497 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00247777086827605
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41000273,  0.00270568, -0.91208028,  0.00110934,  0.99999634,
        0.00246781,  0.91208362,  0.        , -0.41000423])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12572919, -0.03606322,  0.2984361 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025338388397568024
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.10773594e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.10773594e-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([ 0.10582138, -0.06053434,  0.06194395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.32056893e-06, 4.60058395e-05, 4.50325554e-05,-1.38668071e-05,
 -1.26271823e-03, 2.87958900e-02, 3.26403975e-03, 1.73450307e-04,
 -1.70941262e-05, 4.68632773e-05, 1.64176869e-06, 2.01059558e-05,
  9.65460386e-02,-7.47950154e-04,-2.71976942e-04,-2.98660064e-04,
 -2.87228378e-04, 3.54047232e-04,-9.80995662e+00,-6.47484583e-02,
 -2.89104231e-03,-1.18797753e-02]


--- Step 300 ---
qpos:
[ 0.00983416, 0.0080476 ,-0.00559317, 0.03338537, 0.00317315,-0.0117648 ,
 -0.00754709, 0.03908911, 0.01299864, 0.00592518,-0.01173234, 0.03400731,
  0.23842024, 0.00433187, 0.57331804, 0.04835171, 0.09470725,-0.06390773,
  0.14179025, 0.95762487,-0.050146  , 0.07862175, 0.27250432]

qacc:
[-3.87181000e+00,-2.38679454e+00, 1.09159636e+01,-2.11347598e+01,
 -2.19949672e+01, 9.36590385e+00, 2.50407073e+01,-7.48722651e+01,
  1.26431450e+00,-2.82675112e+00, 1.25093979e+01,-2.23237810e+01,
 -1.48196902e+01, 2.52263122e+01, 3.31767239e+00,-1.59792491e+01,
 -6.42526720e-01, 4.51968745e-01, 3.35484589e-02, 8.88375956e-01,
  3.75444234e+00,-3.22292739e+01]

qfrc_actuator:
[ 7.41343206e-06, 2.76782468e-04, 6.63040829e-05, 1.20406972e-04,
  3.63350045e-04, 1.43742698e-02, 7.31578225e-04, 7.95779249e-05,
 -6.22750781e-06, 1.30828687e-04,-1.32661125e-04, 1.11846803e-04,
  1.01551746e-01,-5.48726541e-05, 5.32467803e-02,-4.34886672e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.42330843, -0.71241597,  1.23218114, -0.71241597,  0.94778797,
       -0.27493391,  1.23218114, -0.27493391,  1.2643486 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002595346697983626
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99414274e-01,  3.14305890e-03, -3.40768409e-02,  3.14123345e-03,
        9.99995061e-01,  1.07106047e-04,  3.40770092e-02, -1.35525272e-20,
       -9.99419210e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13086045, -0.08339343,  0.17892666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.82687824, -0.82334328,  0.07637715, -0.82334328,  0.83766226,
        0.1162514 ,  0.07637715,  0.1162514 ,  2.08006461,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003556892471572765
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99813531e-01,  3.14431453e-03, -1.90530013e-02,  3.14374375e-03,
        9.99995057e-01,  5.99089248e-05,  1.90530955e-02, -6.77626358e-21,
       -9.99818473e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13099873, -0.08567749,  0.17224945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024800780686320455
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10221470e-01,  2.58958195e-03, -9.11982259e-01,  1.06230567e-03,
        9.99996647e-01,  2.36166071e-03,  9.11985316e-01,  2.16840434e-19,
       -4.10222845e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12572493, -0.03605882,  0.29843683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025328734369660516
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.09581376e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.09581376e-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([ 0.10582952, -0.06052951,  0.06194397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27830068e-05, 1.77767493e-05, 3.06208481e-05,-2.58342442e-05,
 -1.17478053e-03, 2.77898408e-02, 2.83018251e-03, 1.88624893e-04,
  7.29648628e-06, 4.33662968e-05, 5.14480950e-05,-2.13474773e-05,
  9.77084250e-02,-7.66564066e-04,-3.02489528e-04,-1.60822743e-04,
 -1.50994239e-04, 1.90832184e-04,-9.80997797e+00,-6.47353240e-02,
 -2.89599946e-03,-1.18773522e-02]


--- Step 301 ---
qpos:
[ 0.00983375, 0.00804788,-0.0055929 , 0.03338654, 0.00319801,-0.01196175,
 -0.00756408, 0.03908597, 0.01299899, 0.00592656,-0.0117332 , 0.03400875,
  0.23848215, 0.00434927, 0.57475541, 0.04835244, 0.09471102,-0.06390683,
  0.14179119, 0.95760997,-0.05015039, 0.07861076, 0.27255904]

qacc:
[-2.37218485e+00,-6.83490473e-02, 2.11699841e+00,-7.98709925e+00,
 -2.99122465e+01, 1.21978117e+01, 1.96874884e+01,-6.29306882e+01,
  3.86977382e+00,-1.74839087e+00, 7.87334505e+00,-1.38461178e+01,
 -1.37817862e+01, 2.15265008e+01,-1.47006049e+01, 4.54125262e+01,
 -5.68713701e-01, 4.53474973e-01, 1.78327091e-02, 9.73396451e-01,
  3.03715914e+00,-3.07937359e+01]

qfrc_actuator:
[-5.80062101e-06, 2.84489373e-04, 5.77391286e-05, 1.02675571e-04,
  3.34250484e-04, 1.46222046e-02, 7.58470928e-04, 1.07267999e-04,
  1.61331719e-05, 1.39841919e-04,-1.08036197e-04, 9.71686634e-05,
  1.01542988e-01,-8.99959405e-05, 5.31234749e-02,-4.16028845e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.42163707, -0.73754912,  1.21534903, -0.73754912,  0.99063445,
       -0.2615591 ,  1.21534903, -0.2615591 ,  1.2629068 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025761239980760277
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99410638e-01,  3.17129232e-03, -3.41806869e-02,  3.16943922e-03,
        9.99994971e-01,  1.08397495e-04,  3.41808588e-02,  0.00000000e+00,
       -9.99415664e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13087241, -0.08338938,  0.17892354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.82472023, -0.76994699,  0.29554203, -0.76994699,  0.97800784,
        0.39934535,  0.29554203,  0.39934535,  1.86509594,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035274544534400203
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99808498e-01,  3.17255479e-03, -1.93106905e-02,  3.17196320e-03,
        9.99994967e-01,  6.12645319e-05,  1.93107877e-02,  0.00000000e+00,
       -9.99813529e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13101202, -0.08567215,  0.17225167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002481948225595117
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41045434,  0.00248065, -0.91187778,  0.0010182 ,  0.99999692,
        0.00226205,  0.91188059,  0.        , -0.4104556 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12572093, -0.0360525 ,  0.29843771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002531803895847881
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.64441502e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.64441502e-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([ 0.10583581, -0.06052598,  0.06194399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38579742e-05, 2.28483258e-05,-2.02289299e-06,-1.64163734e-05,
 -1.07882461e-03, 2.66076660e-02, 2.37425725e-03, 2.54638015e-04,
  2.25846190e-05, 4.29487718e-05, 3.91792776e-05,-1.14588626e-05,
  9.88475798e-02,-8.05004384e-04,-3.02445063e-04, 1.36056075e-04,
 -6.16246625e-05, 8.20719905e-05,-9.80999028e+00,-6.47276022e-02,
 -2.90030405e-03,-1.18757662e-02]


--- Step 302 ---
qpos:
[ 0.00983353, 0.00804822,-0.00559296, 0.03338787, 0.00321832,-0.01212476,
 -0.0075701 , 0.03908303, 0.01299961, 0.00592816,-0.01173371, 0.03401002,
  0.23852301, 0.00436602, 0.57618981, 0.04835401, 0.09471277,-0.06390413,
  0.14179215, 0.95761083,-0.05015877, 0.07860211, 0.27255699]

qacc:
[ 1.65332040e+00, 1.32974581e+00,-5.31510637e+00, 8.58649816e+00,
 -3.98284017e+01, 1.46610511e+01, 1.20703664e+01,-5.11931876e+01,
  2.34170391e+00,-1.05386523e+00, 4.88093424e+00,-8.57326294e+00,
 -1.27313532e+01, 1.97840624e+01,-6.39531562e+00, 1.72564785e+01,
 -5.07752502e-01, 4.50332775e-01, 6.34933605e-03, 1.03009400e+00,
  2.46611376e+00,-2.94278073e+01]

qfrc_actuator:
[ 4.34954825e-06, 2.71112909e-04, 3.48098226e-05, 1.09526114e-04,
  2.91140956e-04, 1.48656157e-02, 7.57007216e-04, 1.25187615e-04,
  2.91446050e-05, 1.44560602e-04,-9.32279404e-05, 8.79586847e-05,
  1.01558039e-01,-6.43891376e-05, 5.29819550e-02,-4.12046340e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.4173543 , -0.84695087,  1.13647148, -0.84695087,  1.03399553,
       -0.28569661,  1.13647148, -0.28569661,  1.20444004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025260072274074823
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99408346e-01,  3.19612448e-03, -3.42453406e-02,  3.19424980e-03,
        9.99994892e-01,  1.09452931e-04,  3.42455156e-02,  0.00000000e+00,
       -9.99413450e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13088203, -0.08339007,  0.17891912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.82040084, -0.64044651,  0.5127239 , -0.64044651,  1.06147101,
        0.3011222 ,  0.5127239 ,  0.3011222 ,  1.1965344 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034673484403720554
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99804264e-01,  3.19739064e-03, -1.95245904e-02,  3.19678114e-03,
        9.99994888e-01,  6.24280617e-05,  1.95246902e-02,  0.00000000e+00,
       -9.99809375e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13102265, -0.08567051,  0.17225601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024833942145078606
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10649179e-01,  2.39431244e-03, -9.11790282e-01,  9.83225258e-04,
        9.99997134e-01,  2.18311708e-03,  9.11792896e-01,  1.08420217e-19,
       -4.10650356e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12571744, -0.03604537,  0.29843861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00253066812792109
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19353738e-14,  1.09676869e-14,  1.00000000e+00, -2.40580311e-28,
        1.00000000e+00, -1.09676869e-14, -1.00000000e+00,  0.00000000e+00,
        2.19353738e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10584064, -0.06052346,  0.06194402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.76269367e-06,-1.74044453e-06,-1.90349291e-05, 7.43694494e-06,
 -9.51564250e-04, 2.52222951e-02, 1.82163948e-03, 2.77003767e-04,
  1.36710538e-05, 3.63033683e-05, 2.80991216e-05,-6.24219328e-06,
  1.00001403e-01,-7.47861942e-04,-2.85978135e-04, 4.21560495e-06,
 -1.34880786e-05, 2.08689921e-05,-9.80999661e+00,-6.47240014e-02,
 -2.90390589e-03,-1.18748187e-02]


--- Step 303 ---
qpos:
[ 0.00983309, 0.00804843,-0.00559295, 0.03338961, 0.00323303,-0.01225547,
 -0.00756695, 0.03907998, 0.01300073, 0.00592963,-0.01173328, 0.03401082,
  0.23854398, 0.00438188, 0.57762146, 0.04835659, 0.09471268,-0.06389966,
  0.14179311, 0.95762681,-0.05017063, 0.07859506, 0.27250066]

qacc:
[-1.93993758e+00, 4.81013551e-01,-3.72246103e+00, 1.08793429e+01,
 -4.90398690e+01, 1.69603595e+01, 2.06052328e+00,-4.24697248e+01,
  4.39905904e+00,-3.74804618e+00, 1.50767031e+01,-2.45020086e+01,
 -1.17356430e+01, 1.75047764e+01,-6.65227726e+00, 1.85541236e+01,
 -4.57372399e-01, 4.43923678e-01,-1.77600974e-03, 1.06722037e+00,
  2.00873406e+00,-2.81478548e+01]

qfrc_actuator:
[-7.33836970e-06, 2.62916572e-04, 3.90278153e-05, 1.30761230e-04,
  2.77629826e-04, 1.50565040e-02, 7.69696993e-04, 1.01487836e-04,
  5.42968542e-05, 1.28876566e-04,-4.88409859e-05, 6.42767599e-05,
  1.01556085e-01,-7.30861376e-05, 5.28721948e-02,-4.06218753e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.41095853, -0.93776769,  1.05422756, -0.93776769,  1.06374486,
       -0.30885719,  1.05422756, -0.30885719,  1.1362206 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024487212331445113
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99407320e-01,  3.21641976e-03, -3.42733562e-02,  3.21453008e-03,
        9.99994827e-01,  1.10238070e-04,  3.42735335e-02,  0.00000000e+00,
       -9.99412490e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13088933, -0.08339506,  0.17891359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.81436393, -0.47976542,  0.6580378 , -0.47976542,  0.92281268,
        0.07906834,  0.6580378 ,  0.07906834,  0.87201146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033805457923241736
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99800885e-01,  3.21768638e-03, -1.96935790e-02,  3.21706234e-03,
        9.99994823e-01,  6.33680890e-05,  1.96936810e-02,  0.00000000e+00,
       -9.99806061e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13103062, -0.08567226,  0.17226222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00248444896378931
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10780390e-01,  2.33747811e-03, -9.11731324e-01,  9.60192792e-04,
        9.99997268e-01,  2.13115783e-03,  9.11733815e-01,  0.00000000e+00,
       -4.10781512e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12571453, -0.03603802,  0.29843948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00252949298085392
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19455644e-14,  1.09727822e-14,  1.00000000e+00, -2.40803899e-28,
        1.00000000e+00, -1.09727822e-14, -1.00000000e+00,  0.00000000e+00,
        2.19455644e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1058443 , -0.06052174,  0.06194404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14112079e-05,-1.27933652e-05, 1.76492289e-06, 2.06427251e-05,
 -7.37896279e-04, 2.37223267e-02, 1.28721978e-03, 2.43472732e-04,
  2.55574047e-05, 1.01058293e-05, 5.51154022e-05,-2.12811816e-05,
  1.01050073e-01,-7.24338222e-04,-2.61212307e-04, 1.74126500e-05,
 -8.26584227e-07, 3.56449032e-07,-9.80999914e+00,-6.47235381e-02,
 -2.90682613e-03,-1.18743547e-02]


--- Step 304 ---
qpos:
[ 0.00983216, 0.00804868,-0.00559297, 0.03339158, 0.00324104,-0.01235739,
 -0.00755648, 0.03907761, 0.01300179, 0.00593071,-0.01173213, 0.03401138,
  0.23854456, 0.00439568, 0.57905051, 0.04836272, 0.09471093,-0.06389345,
  0.14179404, 0.95765733,-0.05018552, 0.07858904, 0.27239237]

qacc:
[-4.22806194e+00, 5.95828285e-01,-2.95981043e+00, 6.80633841e+00,
 -5.86133819e+01, 1.91124620e+01,-1.55997130e+01,-5.73989949e+00,
 -4.25300543e-01,-3.03656064e+00, 1.10968272e+01,-1.61279937e+01,
 -1.07379923e+01, 1.28857347e+01,-1.41922927e+01, 4.50218948e+01,
 -4.15695857e-01, 4.34931344e-01,-7.53898235e-03, 1.09131981e+00,
  1.63731972e+00,-2.69504912e+01]

qfrc_actuator:
[-3.17937093e-05, 2.75752743e-04, 4.15129906e-05, 1.42556215e-04,
  2.66997507e-04, 1.51684435e-02, 7.70556307e-04, 1.06303038e-04,
  5.08910019e-05, 8.34443388e-05,-2.29433406e-05, 5.00246413e-05,
  1.01539253e-01,-2.08384571e-04, 5.27869017e-02,-3.86909166e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.40284641, -1.0320434 ,  0.9501918 , -1.0320434 ,  1.07536953,
       -0.35568645,  0.9501918 , -0.35568645,  1.01652035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023460636661250657
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99407494e-01,  3.23112362e-03, -3.42668923e-02,  3.22922602e-03,
        9.99994780e-01,  1.10721143e-04,  3.42670712e-02, -1.35525272e-20,
       -9.99412711e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13089443, -0.08340409,  0.17890703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.80692852, -0.31412153,  0.74327741, -0.31412153,  0.62491788,
       -0.07692076,  0.74327741, -0.07692076,  0.77442052,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032687676561499835
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99798317e-01,  3.23238717e-03, -1.98211241e-02,  3.23175213e-03,
        9.99994776e-01,  6.40698819e-05,  1.98212276e-02,  0.00000000e+00,
       -9.99803540e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13103609, -0.08567718,  0.17227017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024851387922967326
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10824274e-01,  2.31670298e-03, -9.11711604e-01,  9.51760373e-04,
        9.99997316e-01,  2.11217066e-03,  9.11714051e-01, -1.08420217e-19,
       -4.10825376e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12571228, -0.036031  ,  0.29844025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025282963092894406
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.23502227e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.23502227e-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([ 0.10584705, -0.06052065,  0.06194407])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47868308e-05, 6.91722890e-06, 7.68654755e-07, 1.17057902e-05,
 -4.68600068e-04, 2.22243855e-02, 8.31626791e-04, 2.53886980e-04,
 -2.67195374e-06,-2.93559740e-05, 3.40134760e-05,-1.23331832e-05,
  1.02025361e-01,-8.15594480e-04,-2.24040186e-04, 1.56083370e-04,
 -1.86868826e-05, 1.47350105e-05,-9.80999935e+00,-6.47254943e-02,
 -2.90911060e-03,-1.18742525e-02]


--- Step 305 ---
qpos:
[ 0.0098313 , 0.00804887,-0.00559289, 0.03339333, 0.00324153,-0.01243447,
 -0.00754108, 0.03907636, 0.01300177, 0.00593152,-0.01173126, 0.03401286,
  0.23852624, 0.0044072 , 0.58047733, 0.04836776, 0.09470766,-0.06388553,
  0.14179492, 0.95770185,-0.05020309, 0.07858359, 0.27223416]

qacc:
[ 5.21065621e-01,-7.69538168e-01, 3.54114052e+00,-7.35110856e+00,
 -6.58226114e+01, 2.14984249e+01,-3.34907148e+01, 2.63953863e+01,
 -9.53442158e+00, 2.33592301e+00,-1.26880901e+01, 2.91689122e+01,
 -9.68043314e+00, 1.06984947e+01, 3.63027013e-01,-5.18262543e+00,
 -3.81622752e-01, 4.25711161e-01,-1.16814224e-02, 1.10753072e+00,
  1.33915766e+00,-2.59015471e+01]

qfrc_actuator:
[-2.80555557e-05, 2.65572596e-04, 4.30233992e-05, 1.30960142e-04,
  2.43679580e-04, 1.52590980e-02, 7.26986130e-04, 1.27483653e-04,
 -4.80533158e-06, 5.59848644e-05,-4.38071122e-05, 9.46500723e-05,
  1.01535560e-01,-2.76096877e-04, 5.26577925e-02,-3.93534195e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.39335807, -1.07050536,  0.89188843, -1.07050536,  1.0624192 ,
       -0.39721541,  0.89188843, -0.39721541,  0.91659303,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002218492242465611
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99408810e-01,  3.23913625e-03, -3.42277518e-02,  3.23723828e-03,
        9.99994754e-01,  1.10868933e-04,  3.42279314e-02,  0.00000000e+00,
       -9.99414053e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13089754, -0.08341704,  0.17889944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.79834331, -0.20969644,  0.77031126, -0.20969644,  0.47282079,
       -0.08861472,  0.77031126, -0.08861472,  0.77422034,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000313224999335397
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99796474e-01,  3.24039269e-03, -1.99125582e-02,  3.23975019e-03,
        9.99994750e-01,  6.45248468e-05,  1.99126627e-02,  1.35525272e-20,
       -9.99801723e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13103929, -0.08568518,  0.17227983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024854686507914114
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10745575e-01,  2.34264928e-03, -9.11746996e-01,  9.62235466e-04,
        9.99997256e-01,  2.13590930e-03,  9.11749498e-01,  0.00000000e+00,
       -4.10746703e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12571088, -0.03602506,  0.29844084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002527089809532243
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19664339e-14,  2.67715913e-14,  1.00000000e+00, -5.88076390e-28,
        1.00000000e+00, -2.67715913e-14, -1.00000000e+00,  0.00000000e+00,
        2.19664339e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10584906, -0.06052005,  0.0619441 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.03271510e-06,-5.67063859e-06, 3.43372541e-06,-1.10489446e-05,
 -1.56973384e-04, 2.08788085e-02, 4.23063898e-04, 2.41282882e-04,
 -5.57786604e-05,-3.74296718e-05,-2.31910376e-05, 4.42982893e-05,
  1.03039322e-01,-7.80690479e-04,-2.37155840e-04,-9.11714498e-05,
 -6.28377300e-05, 5.91349981e-05,-9.80999830e+00,-6.47293420e-02,
 -2.91081556e-03,-1.18744152e-02]


--- Step 306 ---
qpos:
[ 0.00983152, 0.008049  ,-0.00559277, 0.03339494, 0.00323412,-0.012488  ,
 -0.00752297, 0.03907537, 0.01300178, 0.00593226,-0.01173101, 0.03401521,
  0.23849137, 0.00441687, 0.5819012 , 0.04837071, 0.09470298,-0.06387596,
  0.14179574, 0.95775974,-0.05022304, 0.07857835, 0.27202826]

qacc:
[ 9.53332680e+00,-5.20692963e-01, 2.30293284e+00,-4.80703634e+00,
 -6.91012492e+01, 2.41973959e+01,-4.19758215e+01, 2.44927255e+01,
  1.79887118e-01, 3.44209304e+00,-1.60754038e+01, 3.21401400e+01,
 -8.67611047e+00, 1.00949846e+01, 2.28516091e+00,-1.35425496e+01,
 -3.50876913e-01, 4.12473342e-01,-1.43920416e-02, 1.10500515e+00,
  1.09778160e+00,-2.47457627e+01]

qfrc_actuator:
[ 2.77560074e-05, 2.59418787e-04, 4.38437259e-05, 1.23430105e-04,
  2.34010278e-04, 1.53471629e-02, 6.91729307e-04, 1.22270212e-04,
 -2.06022905e-06, 5.71001844e-05,-7.42565685e-05, 1.38035821e-04,
  1.01535024e-01,-2.84450806e-04, 5.24918006e-02,-4.04746454e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.38284005, -1.03895901,  0.91258467, -1.03895901,  1.00732793,
       -0.42751288,  0.91258467, -0.42751288,  0.89612536,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002065856738725911
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99411213e-01,  3.23963012e-03, -3.41574728e-02,  3.23773965e-03,
        9.99994752e-01,  1.10658158e-04,  3.41576521e-02,  0.00000000e+00,
       -9.99416457e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13089886, -0.08343386,  0.17889076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.78884544, -0.13572518,  0.77708159, -0.13572518,  0.44383135,
       -0.06026021,  0.77708159, -0.06026021,  0.77832038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029705391192697906
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99795243e-01,  3.24087496e-03, -1.99742221e-02,  3.24022839e-03,
        9.99994748e-01,  6.47342964e-05,  1.99743270e-02, -1.35525272e-20,
       -9.99800493e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13104047, -0.08569621,  0.17229118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024854671080395438
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10534087e-01,  2.41768730e-03, -9.11842047e-01,  9.92545947e-04,
        9.99997077e-01,  2.20455538e-03,  9.11844712e-01, -1.08420217e-19,
       -4.10535287e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12571034, -0.03602048,  0.29844122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025258811743693738
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.86779526e-16,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.86779526e-16, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10585051, -0.06051985,  0.06194412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.58952662e-05,-9.09718339e-06,-3.16749973e-07,-7.87374858e-06,
  2.09692147e-04, 1.97270521e-02, 1.42180144e-04, 1.80411497e-04,
  1.14941731e-06,-2.27699066e-05,-3.95254540e-05, 4.18367856e-05,
  1.03981723e-01,-6.74835657e-04,-3.06767598e-04,-1.52356356e-04,
 -1.29871004e-04, 1.29680787e-04,-9.80999669e+00,-6.47346983e-02,
 -2.91200228e-03,-1.18747660e-02]


--- Step 307 ---
qpos:
[ 0.00983241, 0.00804902,-0.00559267, 0.03339714, 0.00321851,-0.01251815,
 -0.00750303, 0.03907475, 0.0130025 , 0.00593263,-0.01173046, 0.03401769,
  0.23844204, 0.00442521, 0.58332168, 0.0483752 , 0.09469701,-0.06386482,
  0.1417965 , 0.9578303 ,-0.05024507, 0.07857307, 0.27177717]

qacc:
[ 5.85686408e+00, 1.12081564e+00,-6.71803329e+00, 1.71297918e+01,
 -7.16882629e+01, 2.66855006e+01,-5.16927803e+01, 3.78857458e+01,
  6.37042174e+00,-1.10093257e+00, 2.66153971e+00,-6.44338237e-01,
 -7.76601263e+00, 9.65908279e+00,-9.39752970e+00, 2.62997648e+01,
 -3.22089725e-01, 3.95033065e-01,-1.57825135e-02, 1.08495419e+00,
  9.00444003e-01,-2.34489787e+01]

qfrc_actuator:
[ 6.05029833e-05, 2.55720477e-04, 4.42672562e-05, 1.53862786e-04,
  2.35912616e-04, 1.53895336e-02, 6.79455299e-04, 1.37138439e-04,
  3.50770876e-05, 3.97653840e-05,-5.67411725e-05, 1.44855260e-04,
  1.01542178e-01,-2.74474049e-04, 5.23624084e-02,-3.95488882e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.37177567, -0.9875663 ,  0.95209311, -0.9875663 ,  0.89367576,
       -0.495913  ,  0.95209311, -0.495913  ,  0.85738589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018894633622169207
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99414642e-01,  3.23223339e-03, -3.40576860e-02,  3.23035825e-03,
        9.99994776e-01,  1.10082965e-04,  3.40578639e-02,  0.00000000e+00,
       -9.99419863e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1308985 , -0.08345438,  0.17888105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.77878813, -0.07362405,  0.77530023, -0.07362405,  0.41538911,
       -0.03450909,  0.77530023, -0.03450909,  0.77551107,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002784827701450197
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99794559e-01,  3.23346209e-03, -2.00096327e-02,  3.23281470e-03,
        9.99994772e-01,  6.47007269e-05,  2.00097373e-02,  0.00000000e+00,
       -9.99799785e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13103975, -0.08571013,  0.17230415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002485172658919675
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10192838e-01,  2.53986156e-03, -9.11995277e-01,  1.04183638e-03,
        9.99996775e-01,  2.31634921e-03,  9.11998218e-01, -1.08420217e-19,
       -4.10194161e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12571059, -0.0360173 ,  0.29844138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002524675193196782
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.74843034e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.74843034e-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([ 0.10585149, -0.06051997,  0.06194415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.43357621e-05,-9.17896554e-06,-1.77592678e-06, 2.98721606e-05,
  6.06518468e-04, 1.85939307e-02,-5.37965893e-06, 1.82523846e-04,
  3.71649380e-05,-3.64737511e-05, 9.37443944e-06, 5.28290330e-06,
  1.04814940e-01,-5.72964021e-04,-3.03375341e-04, 4.12218854e-05,
 -2.16172484e-04, 2.22371408e-04,-9.80999499e+00,-6.47412723e-02,
 -2.91272959e-03,-1.18752449e-02]


--- Step 308 ---
qpos:
[ 0.00983299, 0.00804893,-0.00559278, 0.03339901, 0.00319472,-0.01252374,
 -0.00748225, 0.03907355, 0.01300332, 0.00593275,-0.01172971, 0.03401987,
  0.23837993, 0.00443244, 0.58473912, 0.04838096, 0.09468986,-0.06385217,
  0.1417972 , 0.95791274,-0.05026896, 0.07856755, 0.27148363]

qacc:
[-2.67027630e+00,-2.27259419e-01, 1.96769786e+00,-7.19805150e+00,
 -7.16362625e+01, 2.90852149e+01,-5.38535793e+01, 2.39572642e+01,
  8.41176019e-01,-1.48446843e+00, 6.02422878e+00,-1.11575542e+01,
 -6.93826271e+00, 8.80467823e+00,-8.05086066e+00, 2.23150397e+01,
 -2.94622717e-01, 3.73958142e-01,-1.61119106e-02, 1.04999093e+00,
  7.37856707e-01,-2.20222993e+01]

qfrc_actuator:
[ 4.38903727e-05, 2.35798739e-04, 2.67364564e-05, 1.35379822e-04,
  2.48212130e-04, 1.54129938e-02, 6.80762803e-04, 1.10570210e-04,
  3.88828977e-05, 2.94342189e-05,-4.66403938e-05, 1.30126899e-04,
  1.01543701e-01,-2.71024963e-04, 5.22391454e-02,-3.88431331e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.36068713, -0.78296083,  1.112853  , -0.78296083,  0.56941438,
       -0.55670926,  1.112853  , -0.55670926,  0.96900778,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016913242700026583
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99419034e-01,  3.21665113e-03, -3.39300513e-02,  3.21479899e-03,
        9.99994827e-01,  1.09141702e-04,  3.39302269e-02,  0.00000000e+00,
       -9.99424204e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13089649, -0.08347833,  0.17887041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.76855602, -0.00691756,  0.76852489, -0.00691756,  0.43319998,
       -0.00301857,  0.76852489, -0.00301857,  0.76852885,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002577173909756008
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99794405e-01,  3.21785926e-03, -2.00198383e-02,  3.21721434e-03,
        9.99994823e-01,  6.44213556e-05,  2.00199419e-02,  0.00000000e+00,
       -9.99799581e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13103719, -0.08572674,  0.17231861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024846211747015525
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09726315e-01,  2.70684215e-03, -9.12204483e-01,  1.10906852e-03,
        9.99996336e-01,  2.46920259e-03,  9.12207825e-01, -2.16840434e-19,
       -4.09727816e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12571159, -0.03601552,  0.29844135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025234738100978343
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.19979106e-14, -2.06230412e-15,  1.00000000e+00, -4.53663816e-29,
        1.00000000e+00,  2.06230412e-15, -1.00000000e+00,  0.00000000e+00,
       -2.19979106e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10585212, -0.06052032,  0.06194417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56393812e-05,-2.41392706e-05,-1.86207021e-05,-1.83631499e-05,
  1.02848156e-03, 1.74495868e-02,-9.57821528e-05, 1.36899332e-04,
  4.85110044e-06,-2.85748968e-05, 3.88706003e-06,-1.58732267e-05,
  1.05537741e-01,-5.03088207e-04,-2.71261455e-04, 3.10504591e-05,
 -3.17809811e-04, 3.32884376e-04,-9.80999351e+00,-6.47488307e-02,
 -2.91306749e-03,-1.18758048e-02]


--- Step 309 ---
qpos:
[ 0.00983337, 0.00804899,-0.00559376, 0.03339997, 0.00316665,-0.01251996,
 -0.00745793, 0.03907382, 0.01300384, 0.00593309,-0.01172931, 0.0340215 ,
  0.23831871, 0.00443173, 0.58615338, 0.04838511, 0.09468277,-0.06384239,
  0.14179825, 0.9579829 ,-0.05028874, 0.07856253, 0.27123374]

qacc:
[-1.81567609e+00, 7.21874229e-01, 1.60356894e+00,-1.62222083e+01,
 -3.73617374e+01, 5.55521844e+00,-7.97004251e+00, 2.08242864e+01,
 -2.70384673e+00, 1.26165131e-01, 2.35115351e+00,-1.16805089e+01,
  9.18535039e+00,-3.42850383e+01,-4.84922895e-01,-6.70334859e+00,
  1.26444465e-02,-7.15448719e-01, 8.93946945e-02, 5.73478875e-03,
 -9.33424729e-01, 2.27476436e+01]

qfrc_actuator:
[ 3.38713551e-05, 2.41708586e-04,-1.91137685e-05, 8.82309896e-05,
  2.70015537e-04, 1.54500686e-02, 6.72741264e-04, 9.54648417e-05,
  2.30288128e-05, 5.88458616e-05,-5.87513492e-05, 1.02836382e-04,
  1.01542215e-01,-2.88929637e-04, 5.20823685e-02,-3.96930280e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([1.35010308, 0.03100836, 1.34974694, 0.03100836, 0.76789976,
       0.01337523, 1.34974694, 0.01337523, 1.34979581, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00014742985320961928
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99424316e-01,  3.19289465e-03, -3.37763569e-02,  3.19107282e-03,
        9.99994903e-01,  1.07844899e-04,  3.37765290e-02,  0.00000000e+00,
       -9.99429410e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13089282, -0.08350538,  0.178859  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.75853673,  0.05810252,  0.75630818,  0.05810252,  0.91195465,
       -0.01178616,  0.75630818, -0.01178616,  0.75944218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023505711494852392
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99794785e-01,  3.19407820e-03, -2.00046532e-02,  3.19343902e-03,
        9.99994899e-01,  6.38967527e-05,  2.00047553e-02,  0.00000000e+00,
       -9.99799885e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1310328 , -0.08574581,  0.1723344 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002483843820087455
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09138063e-01,  2.91671319e-03, -9.12467829e-01,  1.19334346e-03,
        9.99995746e-01,  2.66141827e-03,  9.12471710e-01, -2.16840434e-19,
       -4.09139803e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12571327, -0.03601518,  0.29844111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, -9.72656483, 14.27378871, -9.72656483, 71.54215338,
       36.98072756, 14.27378871, 36.98072756, 42.47244484,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025487187632111576
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09852532, -0.09852532,  0.99024518,  0.0097547 ,  0.99513454,
        0.09804124, -0.99508673,  0.        ,  0.09900703])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08859304, -0.03659445,  0.06194417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04714385e-05,-1.22289917e-05,-5.37670392e-05,-4.91880767e-05,
  1.45936155e-03, 1.62582005e-02,-1.45343950e-04, 1.51287755e-04,
 -1.57240902e-05, 1.35414661e-05,-1.80982266e-05,-2.86963544e-05,
  1.06173354e-01,-4.65384162e-04,-2.91222209e-04,-1.21020249e-04,
 -4.30678224e-04, 4.56711281e-04,-9.80999243e+00,-6.47571822e-02,
 -2.91309532e-03,-1.18764094e-02]


--- Step 310 ---
qpos:
[ 0.00983328, 0.00804928,-0.00559516, 0.03340135, 0.0031355 ,-0.01251146,
 -0.00743177, 0.03907466, 0.01300382, 0.00593388,-0.0117295 , 0.03402277,
  0.23826427, 0.00442644, 0.58756442, 0.04838743, 0.09467611,-0.06383498,
  0.14179953, 0.95804146,-0.0503047 , 0.07855719, 0.2710254 ]

qacc:
[ -4.12644017,  2.4115952 , -9.93779168, 17.8052681 ,-26.80477335,
   2.35318203, -1.62470621,  4.92610705, -4.76790273,  1.52562124,
  -3.06131484, -2.47388582,  9.40892917,-26.65094014,  0.25775587,
  -9.15688962,  0.10820058, -0.59111452,  0.05627522, -0.13410153,
  -1.26031879, 21.62080822]

qfrc_actuator:
[ 1.00770797e-05, 2.80641449e-04,-2.79678824e-05, 1.13366800e-04,
  3.14650093e-04, 1.54651900e-02, 6.20562022e-04, 8.54062307e-05,
 -4.25886100e-06, 9.39790635e-05,-8.37175443e-05, 8.61493670e-05,
  1.01543480e-01,-2.76883707e-04, 5.19428870e-02,-4.05649852e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([1.34210378, 0.12261302, 1.33649115, 0.12261302, 0.85350404,
       0.04482535, 1.33649115, 0.04482535, 1.33799139, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00012836784738822532
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99428903e-01,  3.16485302e-03, -3.36429872e-02,  3.16306143e-03,
        9.99994992e-01,  1.06475643e-04,  3.36431557e-02,  0.00000000e+00,
       -9.99433909e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13088915, -0.08353011,  0.17884904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.75070428,  0.1035622 ,  0.74352658,  0.1035622 ,  1.28247964,
       -0.07406841,  0.74352658, -0.07406841,  0.7610209 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021525537372591794
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99795436e-01,  3.16601371e-03, -1.99765614e-02,  3.16538192e-03,
        9.99994988e-01,  6.32463842e-05,  1.99766615e-02,  0.00000000e+00,
       -9.99800447e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13102842, -0.08576335,  0.17234855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024831105606603968
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.08040214e-01,  3.27612128e-03, -9.12958077e-01,  1.33679640e-03,
        9.99994634e-01,  2.99097744e-03,  9.12962977e-01, -2.16840434e-19,
       -4.08042403e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12571749, -0.03602661,  0.2984395 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025494414942172647
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.76197206e-02, -9.76197206e-02,  9.90424545e-01,  9.57534370e-03,
        9.95223789e-01,  9.71489713e-02, -9.95177724e-01,  1.73472348e-18,
        9.80882105e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08860447, -0.0365872 ,  0.06194414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40920422e-05, 1.88823200e-05,-1.96957756e-05, 2.17944044e-05,
  1.71825100e-03, 1.58050012e-02,-3.75422960e-04, 6.73326468e-05,
 -2.77261710e-05, 3.77131665e-05,-2.54021494e-05,-1.72959008e-05,
  1.06131144e-01,-5.62747062e-05,-2.85980434e-04,-1.31410730e-04,
 -3.11007392e-04, 3.30668226e-04,-9.80999557e+00,-6.47598641e-02,
 -2.91282191e-03,-1.18767749e-02]


--- Step 311 ---
qpos:
[ 0.00983326, 0.00804974,-0.00559645, 0.03340333, 0.00310234,-0.01250159,
 -0.00740497, 0.03907522, 0.01300381, 0.00593474,-0.01172986, 0.0340235 ,
  0.23821965, 0.00441849, 0.58897236, 0.04839048, 0.09467017,-0.06382953,
  0.14180093, 0.95808898,-0.05031705, 0.0785509 , 0.27085688]

qacc:
[  0.53036482,  1.12790206, -6.22490057, 16.3168455 ,-17.54137543,
  -0.56356196,  5.91192325,-13.00255439,  0.15409703, -0.55107741,
   4.35366032,-13.40168752,  9.32524409,-21.90027079, -7.2895032 ,
  17.67036951,  0.18235437, -0.49275185,  0.029616  , -0.2425598 ,
  -1.51321522, 20.68358673]

qfrc_actuator:
[ 1.38690794e-05, 3.03747465e-04,-1.47008290e-05, 1.45393138e-04,
  3.55735163e-04, 1.54147680e-02, 5.77694321e-04, 4.31899348e-05,
 -2.54577031e-06, 7.89661817e-05,-9.82670169e-05, 5.80886642e-05,
  1.01545831e-01,-2.82531076e-04, 5.18405294e-02,-4.00212135e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([1.33614853, 0.12717016, 1.33008295, 0.12717016, 0.96276167,
       0.03569978, 1.33008295, 0.03569978, 1.33273525, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00011192671332695284
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99432768e-01,  3.13373506e-03, -3.35309214e-02,  3.13197289e-03,
        9.99995090e-01,  1.05077540e-04,  3.35310860e-02,  1.35525272e-20,
       -9.99437675e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13088573, -0.08355218,  0.1788405 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.74463298,  0.15967053,  0.72731259,  0.15967053,  2.56368443,
       -0.39934537,  0.72731259, -0.39934537,  0.83230325,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019825805715423193
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99796226e-01,  3.13487469e-03, -1.99419128e-02,  3.13425128e-03,
        9.99995086e-01,  6.25157048e-05,  1.99420108e-02, -1.35525272e-20,
       -9.99801138e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13102435, -0.08577904,  0.17236102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002482498601454191
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.06595519e-01,  3.73404039e-03, -9.13600646e-01,  1.51825468e-03,
        9.99993028e-01,  3.41144549e-03,  9.13607015e-01,  2.16840434e-19,
       -4.06598354e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12572332, -0.03604649,  0.29843693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002549613767388862
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.68775862e-02, -9.68775862e-02,  9.90570273e-01,  9.42962077e-03,
        9.95296304e-01,  9.64175760e-02, -9.95251634e-01,  1.73472348e-18,
        9.73354224e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0886134 , -0.03658167,  0.06194413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11235101e-06, 3.05253816e-05, 1.55067668e-05, 3.25786241e-05,
  1.91311176e-03, 1.55175529e-02,-5.10196045e-04,-3.28671338e-06,
  9.42459068e-07, 4.92391028e-08,-1.04953751e-05,-2.76630863e-05,
  1.05794596e-01, 1.68792850e-04,-2.41932701e-04, 1.14074230e-05,
 -2.15207943e-04, 2.28447521e-04,-9.80999876e+00,-6.47617672e-02,
 -2.91305018e-03,-1.18769131e-02]


--- Step 312 ---
qpos:
[ 0.00983328, 0.00805023,-0.00559718, 0.03340499, 0.00306815,-0.01249273,
 -0.00737731, 0.03907591, 0.01300417, 0.00593515,-0.01172934, 0.03402424,
  0.23818661, 0.00440908, 0.59037786, 0.04838938, 0.09466519,-0.06382574,
  0.14180236, 0.95812598,-0.05032599, 0.07854318, 0.27072655]

qacc:
[ 4.16275322e-01,-2.22712683e+00, 9.38390939e+00,-1.60562570e+01,
 -8.88920232e+00,-3.40166818e+00, 9.65059593e+00,-7.92128010e+00,
  3.25087433e+00,-3.03475314e+00, 9.96670598e+00,-1.10607248e+01,
  9.06792793e+00,-1.84992342e+01, 8.49790777e+00,-3.60646485e+01,
  2.37642377e-01,-4.14209659e-01, 8.50685721e-03,-3.24268200e-01,
 -1.69520243e+00, 1.98207746e+01]

qfrc_actuator:
[ 1.61189664e-05, 2.99565231e-04, 1.14525333e-05, 1.27948795e-04,
  3.77106563e-04, 1.53797437e-02, 5.76366458e-04, 3.55646267e-05,
  1.62260617e-05, 5.18222475e-05,-5.34970402e-05, 5.90319128e-05,
  1.01542994e-01,-2.81156549e-04, 5.17072927e-02,-4.21969574e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([1.33180091, 0.10967765, 1.3272771 , 0.10967765, 1.02692173,
       0.02519326, 1.3272771 , 0.02519326, 1.32971911, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -9.809829646890732e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99435887e-01,  3.10060170e-03, -3.34409094e-02,  3.09886751e-03,
        9.99995193e-01,  1.03687439e-04,  3.34410701e-02,  1.35525272e-20,
       -9.99440691e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13088272, -0.0835713 ,  0.17883333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73999611,  0.19060135,  0.71502823,  0.19060135,  5.95704859,
       -1.3906825 ,  0.71502823, -1.3906825 ,  1.1107031 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018403278960253891
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99797060e-01,  3.10172219e-03, -1.99052432e-02,  3.10110764e-03,
        9.99995190e-01,  6.17408315e-05,  1.99053390e-02,  0.00000000e+00,
       -9.99801869e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13102078, -0.08579262,  0.17237179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002482045959996725
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40491632,  0.00425573, -0.91434384,  0.00172323,  0.99999094,
        0.00389123,  0.91435212,  0.        , -0.40491998])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12573016, -0.03607244,  0.29843368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002549344829924201
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09626819, -0.09626819,  0.99068909,  0.00931081,  0.99535543,
        0.09581688, -0.99531188,  0.        ,  0.0967174 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08862035, -0.03657748,  0.06194413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.34667578e-06, 1.74818420e-05, 3.55009728e-05,-1.49684194e-05,
  2.03518137e-03, 1.54133035e-02,-5.44471147e-04, 3.39560893e-06,
  1.88027093e-05,-3.04980008e-05, 4.25227805e-05, 4.10452771e-08,
  1.05302421e-01, 3.03244092e-04,-2.35173681e-04,-2.46665120e-04,
 -1.39973989e-04, 1.47462343e-04,-9.81000143e+00,-6.47632509e-02,
 -2.91366887e-03,-1.18767697e-02]


--- Step 313 ---
qpos:
[ 0.00983332, 0.00805092,-0.00559761, 0.03340606, 0.00303387,-0.0124882 ,
 -0.00734905, 0.0390773 , 0.01300475, 0.00593498,-0.01172793, 0.03402568,
  0.2381662 , 0.00439917, 0.59178033, 0.048384  , 0.09466129,-0.06382335,
  0.14180376, 0.95815304,-0.05033173, 0.07853371, 0.27063244]

qacc:
[ 2.39787159e-01,-1.72907526e+00, 8.97388877e+00,-1.94984485e+01,
 -7.18055008e-01,-5.98539454e+00, 1.00527887e+01, 4.32811987e+00,
  1.99440917e+00,-1.82237194e+00, 2.37505747e+00, 8.93268556e+00,
  8.69722861e+00,-1.55382745e+01, 8.05924108e+00,-3.56589505e+01,
  2.71496558e-01,-3.49724886e-01,-7.07248461e-03,-3.74553125e-01,
 -1.78861570e+00, 1.87773306e+01]

qfrc_actuator:
[ 1.74342755e-05, 3.14601308e-04, 2.70983145e-05, 9.92689647e-05,
  3.86467131e-04, 1.53735387e-02, 5.63998411e-04, 4.83839365e-05,
  2.71258632e-05, 1.78848838e-05,-9.61141085e-06, 9.48114655e-05,
  1.01541855e-01,-2.57924874e-04, 5.15502559e-02,-4.43607198e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([1.32870723, 0.13369768, 1.32196363, 0.13369768, 1.05732487,
       0.02744644, 1.32196363, 0.02744644, 1.32593142, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -8.68688313347597e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99438248e-01,  3.06644063e-03, -3.33734253e-02,  3.06473246e-03,
        9.99995298e-01,  1.02338109e-04,  3.33735822e-02, -1.35525272e-20,
       -9.99442947e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13088026, -0.08358726,  0.17882751])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73654056,  0.7277729 ,  0.1133076 ,  0.7277729 ,  0.80685882,
       -0.45165306,  0.1133076 , -0.45165306,  3.63750104,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017255476116753598
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99797891e-01,  3.06754408e-03, -1.98687299e-02,  3.06693853e-03,
        9.99995295e-01,  6.09484914e-05,  1.98688233e-02, -6.77626358e-21,
       -9.99802595e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13101784, -0.08580388,  0.17238082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024817726654823564
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40308622,  0.00481559, -0.91514934,  0.00194112,  0.9999884 ,
        0.00440703,  0.91515995,  0.        , -0.4030909 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12573758, -0.03610267,  0.29842996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025487236716224
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.57670791e-02, -9.57670791e-02,  9.90786220e-01,  9.21368164e-03,
        9.95403771e-01,  9.53228279e-02, -9.95361128e-01,  1.73472348e-18,
        9.62092790e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08862573, -0.03657435,  0.06194414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38633275e-06, 3.14917768e-05, 2.31104942e-05,-2.69969744e-05,
  2.09582945e-03, 1.54567145e-02,-5.99719906e-04, 9.26744858e-06,
  1.14238717e-05,-4.22215983e-05, 4.28120297e-05, 3.59402239e-05,
  1.04722691e-01, 4.01282432e-04,-2.84458802e-04,-2.58991361e-04,
 -8.29818668e-05, 8.58893771e-05,-9.81000317e+00,-6.47645776e-02,
 -2.91460398e-03,-1.18763051e-02]


--- Step 314 ---
qpos:
[ 0.00983373, 0.00805189,-0.00559815, 0.03340681, 0.00300033,-0.01249199,
 -0.00732127, 0.03907943, 0.01300511, 0.00593426,-0.01172645, 0.03402725,
  0.23815851, 0.0043894 , 0.59317928, 0.04837961, 0.09465855,-0.06382215,
  0.14180509, 0.95817082,-0.05033449, 0.07852233, 0.27057229]

qacc:
[ 3.15360755e+00,-1.48501726e-02, 1.97734225e+00,-7.75295819e+00,
  6.51918269e+00,-8.12379318e+00, 9.87549409e+00, 9.86434116e+00,
 -1.91059431e+00,-6.42909054e-01, 6.91970889e-01, 1.82335327e+00,
  8.25292543e+00,-1.34714206e+01,-8.53124754e+00, 2.14049602e+01,
  2.88540350e-01,-2.96341738e-01,-1.83094865e-02,-4.00230414e-01,
 -1.81298078e+00, 1.75965485e+01]

qfrc_actuator:
[ 3.59420508e-05, 3.23222620e-04, 1.87294767e-05, 8.19730316e-05,
  4.05851532e-04, 1.53528581e-02, 5.09404164e-04, 5.50973622e-05,
  1.55468397e-05,-3.75680217e-05,-1.98916173e-05, 9.75220398e-05,
  1.01551876e-01,-2.39728042e-04, 5.14270112e-02,-4.36590425e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([1.3265561 , 0.16050943, 1.31680971, 0.16050943, 1.0988569 ,
       0.02775486, 1.31680971, 0.02775486, 1.32317298, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -7.808196293011218e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99439855e-01,  3.03218402e-03, -3.33283921e-02,  3.03049949e-03,
        9.99995403e-01,  1.01058283e-04,  3.33285453e-02,  0.00000000e+00,
       -9.99444450e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13087849, -0.08360007,  0.17882293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73402971,  0.69370123,  0.23995464,  0.69370123,  1.03777151,
       -0.87810787,  0.23995464, -0.87810787,  3.27261166,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016364396501965313
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99798647e-01,  3.03327256e-03, -1.98359509e-02,  3.03267575e-03,
        9.99995400e-01,  6.01681222e-05,  1.98360421e-02,  6.77626358e-21,
       -9.99803246e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13101569, -0.08581281,  0.1723882 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00248168721083389
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40116799,  0.00539465, -0.91598862,  0.00216419,  0.99998545,
        0.00494151,  0.91600194,  0.        , -0.40117382])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12574524, -0.03613579,  0.29842593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025478227608672615
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.53545202e-02, -9.53545202e-02,  9.90865799e-01,  9.13410520e-03,
        9.95443376e-01,  9.49160294e-02, -9.95401469e-01, -1.73472348e-18,
        9.57910037e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08862987, -0.03657205,  0.06194415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.85564900e-05, 2.98265826e-05, 4.30216105e-08,-1.56753396e-05,
  2.11987169e-03, 1.56526027e-02,-6.85013647e-04,-1.92152951e-05,
 -1.12710666e-05,-6.86878554e-05,-1.25025492e-05, 3.07558507e-06,
  1.04102137e-01, 4.44916409e-04,-2.71118241e-04, 2.13369945e-05,
 -4.26583877e-05, 4.24956674e-05,-9.81000373e+00,-6.47659341e-02,
 -2.91579972e-03,-1.18754978e-02]


--- Step 315 ---
qpos:
[ 0.00983401, 0.00805279,-0.00559893, 0.03340774, 0.00296829,-0.01250674,
 -0.00729428, 0.03908269, 0.01300603, 0.00593323,-0.01172543, 0.0340285 ,
  0.23816322, 0.00438008, 0.5945754 , 0.04837818, 0.094657  ,-0.06382196,
  0.14180631, 0.9581799 ,-0.05033448, 0.07850891, 0.27054401]

qacc:
[-1.11186180e+00, 9.65874876e-01,-4.35738436e+00, 8.00878616e+00,
  1.33018158e+01,-9.98088360e+00, 9.75636339e+00, 1.91616004e+01,
  4.81311605e+00, 2.11745382e-01,-1.33163060e-02,-4.53757384e+00,
  7.77126840e+00,-1.19996074e+01,-1.34826067e+01, 4.02707964e+01,
  2.97681242e-01,-2.52786127e-01,-2.69335561e-02,-4.15965054e-01,
 -1.80687887e+00, 1.65009564e+01]

qfrc_actuator:
[ 2.89157348e-05, 2.92336903e-04,-3.76020935e-06, 8.92496039e-05,
  4.65965596e-04, 1.53647047e-02, 4.65826168e-04, 9.33328079e-05,
  4.40903640e-05,-5.24638855e-05,-4.44408616e-05, 8.06902320e-05,
  1.01546827e-01,-2.24989914e-04, 5.13454986e-02,-4.19836687e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([1.32509336, 0.18405366, 1.3122487 , 0.18405366, 1.14662412,
       0.02503178, 1.3122487 , 0.02503178, 1.32158245, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -7.147587975031672e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99440727e-01,  2.99865871e-03, -3.33052827e-02,  2.99699512e-03,
        9.99995504e-01,  9.98716252e-05,  3.33054325e-02, -1.35525272e-20,
       -9.99445220e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13087757, -0.08360991,  0.17881943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73225429,  0.6941336 ,  0.23318422,  0.6941336 ,  1.0579915 ,
       -0.9696417 ,  0.23318422, -0.9696417 ,  3.61864544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015700261803295446
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99799224e-01,  2.99973432e-03, -1.98119652e-02,  2.99914554e-03,
        9.99995501e-01,  5.94308994e-05,  1.98120543e-02,  6.77626358e-21,
       -9.99803722e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13101452, -0.0858195 ,  0.17239407])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002481784681131885
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39920418,  0.00598037, -0.91684255,  0.00238743,  0.99998212,
        0.00548315,  0.91685894,  0.        , -0.39921132])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12575293, -0.03617082,  0.29842171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002546701470656146
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09501455, -0.09501455,  0.99093111,  0.00906879,  0.99547588,
        0.09458076, -0.99543458,  0.        ,  0.09544636])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08863303, -0.03657041,  0.06194417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.48924513e-06,-1.48945053e-05,-1.68734362e-05, 8.24762877e-06,
  2.14328584e-03, 1.60798596e-02,-7.04729535e-04,-1.80957803e-05,
  2.81990836e-05,-5.57544726e-05,-4.01824483e-05,-2.01526837e-05,
  1.03461794e-01, 4.53385665e-04,-1.91202895e-04, 1.36233447e-04,
 -1.69661482e-05, 1.53251121e-05,-9.81000306e+00,-6.47673977e-02,
 -2.91722120e-03,-1.18743395e-02]


--- Step 316 ---
qpos:
[ 0.0098342 , 0.00805365,-0.00560053, 0.03340879, 0.00293841,-0.012536  ,
 -0.00726961, 0.03908662, 0.01300762, 0.00593207,-0.01172484, 0.03402952,
  0.23818006, 0.00437148, 0.59596866, 0.04837908, 0.09465663,-0.06382262,
  0.14180741, 0.95818097,-0.05033192, 0.07849347, 0.27054521]

qacc:
[-7.80875738e-01, 2.45334906e+00,-9.33758681e+00, 1.27150237e+01,
  1.90082153e+01,-1.13815205e+01, 9.90236811e+00, 1.59874676e+01,
  5.96659493e+00, 5.15566962e-01,-1.10136427e+00,-2.21311446e+00,
  7.26719804e+00,-1.04644358e+01,-1.15746521e+01, 3.36216274e+01,
  2.94754624e-01,-2.15528553e-01,-3.19756799e-02,-4.14545570e-01,
 -1.74547744e+00, 1.52536221e+01]

qfrc_actuator:
[ 2.46637872e-05, 2.73486497e-04,-5.23019164e-05, 9.31310805e-05,
  5.49449150e-04, 1.53842892e-02, 4.64863928e-04, 9.65392021e-05,
  7.82753691e-05,-4.30509465e-05,-5.93011098e-05, 7.02819180e-05,
  1.01548283e-01,-1.94930303e-04, 5.12092034e-02,-4.08129840e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([1.32414565, 0.19932021, 1.30905812, 0.19932021, 1.20184779,
       0.01862136, 1.30905812, 0.01862136, 1.32131032, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -6.684036297110214e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99440882e-01,  2.96663910e-03, -3.33034899e-02,  2.96499345e-03,
        9.99995600e-01,  9.87998703e-05,  3.33036365e-02,  1.35525272e-20,
       -9.99445280e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13087761, -0.08361691,  0.17881685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7310707 ,  0.69912855,  0.21373729,  0.69912855,  1.05951669,
       -1.07433745,  0.21373729, -1.07433745,  4.2451978 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015239747335852224
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99799562e-01,  2.96770377e-03, -1.97997292e-02,  2.96712200e-03,
        9.99995596e-01,  5.87599898e-05,  1.97998164e-02, -6.77626358e-21,
       -9.99803964e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13101444, -0.08582403,  0.17239853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002482054058937013
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39722554,  0.00656392, -0.91769754,  0.00260741,  0.99997846,
        0.00602383,  0.91771731,  0.        , -0.3972341 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1257605 , -0.03620704,  0.29841739])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025454089306019907
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.47343291e-02, -9.47343291e-02,  9.90984770e-01,  9.01513789e-03,
        9.95502590e-01,  9.43044029e-02, -9.95461769e-01, -1.73472348e-18,
        9.51623131e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08863542, -0.03656929,  0.0619442 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.44391976e-06,-3.03402245e-05,-5.34147205e-05, 2.81780872e-06,
  2.15133453e-03, 1.66477300e-02,-6.66316531e-04,-7.13769511e-05,
  3.49675640e-05,-3.08934702e-05,-3.20262599e-05,-1.45838237e-05,
  1.02843892e-01, 4.62240066e-04,-2.00374520e-04, 1.01535223e-04,
 -3.52802848e-06, 1.90789560e-06,-9.81000122e+00,-6.47689742e-02,
 -2.91885073e-03,-1.18728280e-02]


--- Step 317 ---
qpos:
[ 0.00983468, 0.00805431,-0.00560214, 0.03341019, 0.00291123,-0.01258297,
 -0.00724904, 0.03909041, 0.01300892, 0.00593068,-0.01172444, 0.0340304 ,
  0.23820891, 0.00436399, 0.59735887, 0.0483801 , 0.09465738,-0.06382403,
  0.14180837, 0.95817473,-0.05032706, 0.07847606, 0.27057325]

qacc:
[  2.56868938,  0.50025789, -3.60579281,  9.7560595 , 23.6132276 ,
 -12.27008852, 10.26753566,  7.11584077, -2.57349408, -0.04432541,
   0.30526899, -2.2029984 ,  6.74338805, -8.64568388, -5.12148615,
  10.70677515,  0.28233431, -0.18329595, -0.03431069, -0.39933871,
  -1.64146791, 13.88947171]

qfrc_actuator:
[ 3.98396736e-05, 2.79617925e-04,-4.47950321e-05, 1.12721618e-04,
  6.10191835e-04, 1.53809442e-02, 4.73560248e-04, 6.09918399e-05,
  6.22366913e-05,-5.46152672e-05,-6.82002932e-05, 6.37732746e-05,
  1.01574526e-01,-1.38388123e-04, 5.10401427e-02,-4.08382798e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([1.32357066, 0.20368319, 1.30780444, 0.20368319, 1.25990422,
       0.00991569, 1.30780444, 0.00991569, 1.32202635, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -6.386097190457684e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99440353e-01,  2.93677882e-03, -3.33220046e-02,  2.93514792e-03,
        9.99995688e-01,  9.78597795e-05,  3.33221483e-02,  0.00000000e+00,
       -9.99444663e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13087875, -0.08362138,  0.17881502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73033958,  0.71009537,  0.17076438,  0.71009537,  0.99679528,
       -1.10801183,  0.17076438, -1.10801183,  5.33782313,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014947499876169178
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99799559e-01,  2.93783432e-03, -1.98043158e-02,  2.93725813e-03,
        9.99995685e-01,  5.81820498e-05,  1.98044013e-02,  0.00000000e+00,
       -9.99803874e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13101558, -0.0858266 ,  0.17240177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024824860785252704
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.395257  ,  0.00713824, -0.91854284,  0.00282151,  0.99997452,
        0.00655695,  0.91856624,  0.        , -0.39526707])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12576784, -0.03624383,  0.29841303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002543983922255591
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.45033380e-02, -9.45033380e-02,  9.91028879e-01,  8.97103034e-03,
        9.95524545e-01,  9.40765726e-02, -9.95484123e-01, -1.73472348e-18,
        9.49281849e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08863719, -0.03656857,  0.06194423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.50394603e-05,-2.17645462e-05,-5.23533540e-06, 1.64966059e-05,
  2.10395181e-03, 1.73706450e-02,-5.41772462e-04,-1.39979234e-04,
 -1.50564962e-05,-3.60303462e-05,-1.97252255e-05,-9.22658554e-06,
  1.02265018e-01, 4.83255680e-04,-2.41217644e-04,-2.11721421e-05,
 -2.92841068e-07, 2.60835806e-08,-9.80999836e+00,-6.47706302e-02,
 -2.92067422e-03,-1.18709727e-02]


--- Step 318 ---
qpos:
[ 0.00983535, 0.00805476,-0.00560308, 0.03341142, 0.00288717,-0.01264819,
 -0.00723258, 0.03909417, 0.01301001, 0.00592958,-0.01172438, 0.03403079,
  0.23824892, 0.0043575 , 0.59874625, 0.0483787 , 0.0946592 ,-0.06382605,
  0.14180918, 0.9581619 ,-0.05032013, 0.07845679, 0.27062555]

qacc:
[  1.58677915, -2.52601156,  9.2728225 ,-13.045047  , 27.40703795,
 -12.74878274, 10.48347328,  9.12240178, -1.79712503,  0.35300936,
   1.34058904, -9.40259202,  6.21315642, -7.91967727,  2.91193523,
 -16.83603147,  0.26542333, -0.15601344, -0.03569834, -0.3769741 ,
  -1.52416345, 12.55369466]

qfrc_actuator:
[ 4.85755423e-05, 2.83140796e-04,-4.13369090e-06, 1.05957461e-04,
  6.20390685e-04, 1.54438559e-02, 4.55255620e-04, 5.59788878e-05,
  5.22692004e-05,-7.60395269e-06,-7.35864763e-05, 4.18458260e-05,
  1.01588583e-01,-1.19883172e-04, 5.08941497e-02,-4.21008805e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.32326132e+00,  1.98374540e-01,  1.30830733e+00,  1.98374540e-01,
        1.32936320e+00, -9.25207939e-04,  1.30830733e+00, -9.25207939e-04,
        1.32340161e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -6.219806016697347e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99439182e-01,  2.90960678e-03, -3.33594958e-02,  2.90798733e-03,
        9.99995767e-01,  9.70634262e-05,  3.33596370e-02, -2.71050543e-20,
       -9.99443412e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13088107, -0.08362367,  0.17881372])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.72994096,  0.70869702,  0.17482089,  0.70869702,  1.12937025,
       -1.61922492,  0.17482089, -1.61922492,  7.29402982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014785498860050094
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99799115e-01,  2.91065464e-03, -1.98307069e-02,  2.91008226e-03,
        9.99995764e-01,  5.77205835e-05,  1.98307909e-02,  0.00000000e+00,
       -9.99803351e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13101809, -0.08582746,  0.172404  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002483074296768522
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39332033,  0.00769713, -0.91936928,  0.00302753,  0.99997038,
        0.00707672,  0.91939651,  0.        , -0.39333198])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12577481, -0.03628066,  0.29840869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025424574183625856
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09431286, -0.09431286,  0.99106517,  0.00893474,  0.99554261,
        0.09388869, -0.99550251,  0.        ,  0.09473513])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08863848, -0.03656818,  0.06194426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.15553035e-06,-9.02727197e-06, 3.60983286e-05,-7.55860633e-06,
  1.97957331e-03, 1.83205093e-02,-3.54835026e-04,-1.38337048e-04,
 -1.04106641e-05, 2.24356180e-05,-1.55659057e-05,-2.43323930e-05,
  1.01678889e-01, 4.47334453e-04,-2.49186361e-04,-1.56664645e-04,
 -5.03464312e-06, 7.18629591e-06,-9.80999472e+00,-6.47722899e-02,
 -2.92268257e-03,-1.18687914e-02]


--- Step 319 ---
qpos:
[ 0.00983611, 0.00805516,-0.00560353, 0.03341186, 0.00286657,-0.0127319 ,
 -0.0072203 , 0.03909788, 0.01301098, 0.00592922,-0.01172439, 0.03403049,
  0.23829907, 0.00435198, 0.60013049, 0.04837771, 0.094662  ,-0.06382861,
  0.14180985, 0.9581432 ,-0.05031136, 0.0784358 , 0.27069947]

qacc:
[  0.88875209, -3.02078467, 14.03190498,-28.46060498, 30.29555451,
 -12.88970378, 10.62585278,  8.90187551, -1.14674999, -0.26350163,
   5.31164992,-17.76874659,  5.70298174, -7.25673561, -6.15093647,
  14.19550817,  0.24346581, -0.13209451, -0.03567099, -0.3471241 ,
  -1.38536423, 11.17892372]

qfrc_actuator:
[ 5.34448493e-05, 2.85210143e-04, 2.02315047e-05, 6.60008011e-05,
  6.16504452e-04, 1.55363962e-02, 4.22402011e-04, 5.14833631e-05,
  4.59715003e-05, 7.41328356e-05,-5.88778125e-05, 1.10708832e-05,
  1.01578998e-01,-1.06784979e-04, 5.07674115e-02,-4.17731385e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.32315958,  0.18588858,  1.31003692,  0.18588858,  1.41337284,
       -0.01280087,  1.31003692, -0.01280087,  1.32497597,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.164117029808355e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99437412e-01,  2.88555771e-03, -3.34145577e-02,  2.88394634e-03,
        9.99995837e-01,  9.64200359e-05,  3.34146968e-02,  0.00000000e+00,
       -9.99441573e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13088458, -0.08362403,  0.17881283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.72980894, -0.72852042,  0.04334841, -0.72852042,  0.74596725,
        0.27155925,  0.04334841,  0.27155925,  5.29367828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014731416665510173
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99798217e-01,  2.88659942e-03, -1.98794575e-02,  2.88602898e-03,
        9.99995834e-01,  5.73842695e-05,  1.98795403e-02, -6.77626358e-21,
       -9.99802382e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13102193, -0.0858268 ,  0.17240535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002483801014007458
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.91424813e-01,  8.23840201e-03, -9.20173214e-01,  3.22482440e-03,
        9.99966064e-01,  7.58101413e-03,  9.20204443e-01, -4.33680869e-19,
       -3.91438097e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12578141, -0.03631725,  0.2984044 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025408566195701783
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.41557371e-02, -9.41557371e-02,  9.91095048e-01,  8.90486286e-03,
        9.95557481e-01,  9.37336986e-02, -9.95517655e-01, -1.73472348e-18,
        9.45758924e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08863938, -0.03656804,  0.06194429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.12516078e-06, 4.14714730e-06, 2.66869666e-05,-3.92437881e-05,
  1.81937018e-03, 1.93278699e-02,-1.81580840e-04,-1.41298516e-04,
 -6.58750733e-06, 9.00631867e-05, 1.65968004e-05,-3.08235089e-05,
  1.01112579e-01, 4.11245827e-04,-2.49841160e-04,-6.44479362e-06,
 -1.56344380e-05, 2.09846356e-05,-9.80999054e+00,-6.47738732e-02,
 -2.92487017e-03,-1.18663050e-02]


--- Step 320 ---
qpos:
[ 0.00983693, 0.00805536,-0.00560367, 0.03341323, 0.00284971,-0.01283403,
 -0.00721222, 0.03910151, 0.01301187, 0.00592981,-0.01172438, 0.03402979,
  0.23835822, 0.00434716, 0.60151215, 0.04837728, 0.09466567,-0.06383161,
  0.14181038, 0.95811929,-0.05030097, 0.07841325, 0.27079255]

qacc:
[  0.47607131,  0.76967869, -7.07297397, 22.85097891, 32.73489153,
 -12.8884292 , 10.8716707 ,  8.00947554, -0.74864656,  0.38119455,
   2.13294649, -9.7456615 ,  5.21226915, -7.01926211, -5.69803051,
  13.88210059,  0.2211745 , -0.11159051, -0.03477593, -0.31761336,
  -1.24558175,  9.90323995]

qfrc_actuator:
[ 5.60014643e-05, 2.68561455e-04, 3.47463311e-05, 1.13336768e-04,
  6.38090072e-04, 1.56187409e-02, 4.35798534e-04, 4.73318611e-05,
  4.18828304e-05, 1.40617569e-04,-5.00144765e-05,-6.85815728e-06,
  1.01560242e-01,-1.15047572e-04, 5.06736611e-02,-4.13975300e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.3232205 ,  0.17267301,  1.31190569,  0.17267301,  1.49029208,
       -0.02198996,  1.31190569, -0.02198996,  1.32611482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.197522534463363e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99435093e-01,  2.86496340e-03, -3.34856229e-02,  2.86335672e-03,
        9.99995896e-01,  9.59354778e-05,  3.34857603e-02,  0.00000000e+00,
       -9.99439195e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13088925, -0.08362273,  0.17881224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.72988479, -0.728441  ,  0.04588594, -0.728441  ,  0.74822503,
        0.29115191,  0.04588594,  0.29115191,  5.35193202,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014762516717124603
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99796854e-01,  2.86600042e-03, -1.99508760e-02,  2.86542997e-03,
        9.99995893e-01,  5.71794537e-05,  1.99509579e-02,  6.77626358e-21,
       -9.99800960e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13102707, -0.0858248 ,  0.17240595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024846471939931436
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.89575162e-01,  8.76124507e-03, -9.20953003e-01,  3.41329448e-03,
        9.99961620e-01,  8.06900465e-03,  9.20988351e-01, -4.33680869e-19,
       -3.89590115e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12578761, -0.03635342,  0.29840019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025392043175578023
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09402603, -0.09402603,  0.99111968,  0.00888024,  0.99556974,
        0.09360574, -0.99553013,  0.        ,  0.09444444])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08863998, -0.0365681 ,  0.06194433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70373357e-06,-1.05095622e-05, 1.72992286e-05, 4.76720193e-05,
  1.66804760e-03, 2.03373231e-02, 4.20536143e-05,-1.42760185e-04,
 -4.24504569e-06, 1.18970034e-04, 2.84506959e-05,-1.40932582e-05,
  1.00586938e-01, 3.55570579e-04,-2.00638937e-04, 6.60929524e-06,
 -3.01279939e-05, 3.91555505e-05,-9.80998607e+00,-6.47752901e-02,
 -2.92723245e-03,-1.18635390e-02]


--- Step 321 ---
qpos:
[ 0.00983777, 0.0080554 ,-0.00560362, 0.03341516, 0.00283681,-0.01295419,
 -0.00720825, 0.039105  , 0.0130127 , 0.00593091,-0.01172412, 0.03402962,
  0.23842486, 0.00434242, 0.60289206, 0.04837316, 0.09467014,-0.06383498,
  0.14181078, 0.95809082,-0.05028916, 0.0783893 , 0.27090239]

qacc:
[ 2.22702891e-01, 3.79386466e-01,-4.00901981e+00, 1.34597962e+01,
  3.45775213e+01,-1.26733239e+01, 1.10557556e+01, 6.63301208e+00,
 -4.89320827e-01, 1.05682846e+00,-5.00798911e+00, 1.32806821e+01,
  4.76480703e+00,-7.57294744e+00, 8.35006008e+00,-3.34678949e+01,
  1.97478925e-01,-9.37014799e-02,-3.32813450e-02,-2.85651033e-01,
 -1.10249264e+00, 8.66937555e+00]

qfrc_actuator:
[ 5.71775288e-05, 2.58615516e-04, 4.33239499e-05, 1.40630890e-04,
  6.73294848e-04, 1.57378109e-02, 4.43116870e-04, 4.34427250e-05,
  3.91256978e-05, 1.44200905e-04,-4.47113415e-05, 1.84077513e-05,
  1.01535722e-01,-1.71762060e-04, 5.05837877e-02,-4.33040810e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.32341111,  0.15725904,  1.31403446,  0.15725904,  1.57762288,
       -0.03042317,  1.31403446, -0.03042317,  1.32705205,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.300882163016996e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99432271e-01,  2.84810453e-03, -3.35711841e-02,  2.84649912e-03,
        9.99995944e-01,  9.56146293e-05,  3.35713203e-02,  0.00000000e+00,
       -9.99436324e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13089503, -0.08362002,  0.17881185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7301205 , -0.72908017,  0.03896215, -0.72908017,  0.74360083,
        0.25225099,  0.03896215,  0.25225099,  5.45037288,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014858700656355985
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99795021e-01,  2.84913826e-03, -2.00449077e-02,  2.84856581e-03,
        9.99995941e-01,  5.71109453e-05,  2.00449890e-02,  6.77626358e-21,
       -9.99799079e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13103347, -0.08582167,  0.17240594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002485593533594681
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.87772361e-01,  9.26599673e-03, -9.21708597e-01,  3.59325169e-03,
        9.99957070e-01,  8.54091550e-03,  9.21748168e-01, -4.33680869e-19,
       -3.87789009e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12579343, -0.03638907,  0.29839606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025375186992706656
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09391884, -0.09391884,  0.99114   ,  0.00885991,  0.99557986,
        0.0935    , -0.99554043,  0.        ,  0.09433582])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08864034, -0.03656833,  0.06194436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24598607e-06,-1.02169844e-05, 1.01821394e-05, 2.83666754e-05,
  1.51630948e-03, 2.13814004e-02, 2.59962443e-04,-1.42126437e-04,
 -2.83508373e-06, 7.53660237e-05, 3.28898635e-05, 3.10748179e-05,
  1.00113538e-01, 2.64199198e-04,-1.76380212e-04,-2.15376123e-04,
 -4.69510274e-05, 5.98968805e-05,-9.80998152e+00,-6.47764785e-02,
 -2.92976114e-03,-1.18605198e-02]


--- Step 322 ---
qpos:
[ 0.00983861, 0.00805556,-0.00560347, 0.03341599, 0.00282796,-0.01309201,
 -0.00720864, 0.03910805, 0.01301383, 0.00593195,-0.01172322, 0.03402979,
  0.2384984 , 0.0043378 , 0.60426934, 0.04836585, 0.09467529,-0.06383867,
  0.14181106, 0.95805846,-0.05027617, 0.07836416, 0.27102646]

qacc:
[ 6.49075083e-02,-2.35991894e+00, 1.32492795e+01,-3.24321592e+01,
  3.54984251e+01,-1.21368481e+01, 1.11800976e+01, 1.19388412e+00,
  2.71208131e+00,-1.15294700e+00, 2.54631030e+00, 2.48225223e+00,
  4.37012573e+00,-6.85264568e+00, 5.55504871e+00,-2.55791644e+01,
  1.69928243e-01,-7.71328790e-02,-3.07129709e-02,-2.47564952e-01,
 -9.41129491e-01, 7.36426888e+00]

qfrc_actuator:
[ 5.75325466e-05, 2.70477319e-04, 4.83263840e-05, 8.48905296e-05,
  6.79457598e-04, 1.58858873e-02, 4.30633983e-04, 2.20380667e-05,
  5.49256988e-05, 1.10107511e-04,-2.40253012e-05, 3.33244988e-05,
  1.01523532e-01,-1.86186140e-04, 5.04376745e-02,-4.49420365e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.32370466,  0.13364681,  1.3169406 ,  0.13364681,  1.68209183,
       -0.03637013,  1.3169406 , -0.03637013,  1.3273956 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.456777881885814e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99428993e-01,  2.83519380e-03, -3.36697269e-02,  2.83358627e-03,
        9.99995981e-01,  9.54605848e-05,  3.36698623e-02,  0.00000000e+00,
       -9.99433009e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13090188, -0.08361615,  0.17881157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7304744 , -0.72973213,  0.03292217, -0.72973213,  0.74036379,
        0.2192021 ,  0.03292217,  0.2192021 ,  5.58917039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015001858409983284
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99792722e-01,  2.83622564e-03, -2.01610750e-02,  2.83564915e-03,
        9.99995978e-01,  5.71815878e-05,  2.01611561e-02,  0.00000000e+00,
       -9.99796743e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13104106, -0.08581757,  0.17240543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002486617139697503
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.38601167,  0.00975478, -0.92244232,  0.00376564,  0.99995242,
        0.00899865,  0.92248621,  0.        , -0.38603003])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12579891, -0.03642422,  0.298392  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025358150866969104
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09383012, -0.09383012,  0.99115681,  0.00884311,  0.99558822,
        0.09341248, -0.99554895,  0.        ,  0.09424591])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08864051, -0.03656868,  0.0619444 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.84782717e-07, 9.45844812e-06, 5.12112448e-06,-5.52785375e-05,
  1.32489342e-03, 2.24351929e-02, 4.54448555e-04,-1.56702124e-04,
  1.57467889e-05, 1.61364526e-05, 4.13654476e-05, 1.98868404e-05,
  9.97273079e-02, 2.46830828e-04,-2.50119213e-04,-1.98629215e-04,
 -6.47556976e-05, 8.16407274e-05,-9.80997707e+00,-6.47773801e-02,
 -2.93244842e-03,-1.18572749e-02]


--- Step 323 ---
qpos:
[ 0.00983911, 0.00805593,-0.00560393, 0.03341687, 0.00282325,-0.0132458 ,
 -0.00721262, 0.03911089, 0.01301515, 0.0059333 ,-0.01172239, 0.03402945,
  0.23857863, 0.00433378, 0.6056427 , 0.04836231, 0.09468101,-0.06384261,
  0.14181122, 0.95802282,-0.05026218, 0.078338  , 0.27116257]

qacc:
[-3.07033512e+00, 2.10502597e+00,-7.26919228e+00, 8.92048903e+00,
  3.61742211e+01,-1.15421372e+01, 1.12525444e+01, 2.89548110e+00,
  1.57926523e+00,-4.64198037e-01, 4.36684367e+00,-1.32562837e+01,
  3.97883699e+00,-5.37579652e+00,-1.73250053e+01, 5.18172597e+01,
  1.45258881e-01,-6.29761731e-02,-2.82811013e-02,-2.14445374e-01,
 -7.94499042e-01, 6.22026685e+00]

qfrc_actuator:
[ 3.96495239e-05, 2.77467661e-04, 1.57101444e-05, 8.72757748e-05,
  6.84259013e-04, 1.60582070e-02, 4.43668877e-04, 2.59964253e-05,
  6.37680887e-05, 1.24765551e-04,-3.01134280e-05, 6.49215817e-06,
  1.01523849e-01,-1.57559230e-04, 5.02845901e-02,-4.28584786e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.32407004,  0.10892549,  1.31958202,  0.10892549,  1.78134472,
       -0.03774594,  1.31958202, -0.03774594,  1.3271858 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.645633196768606e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99425311e-01,  2.82633942e-03, -3.37795640e-02,  2.82472644e-03,
        9.99996006e-01,  9.54728946e-05,  3.37796989e-02,  0.00000000e+00,
       -9.99429303e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13090972, -0.08361138,  0.17881131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73089829, -0.73014134,  0.03325548, -0.73014134,  0.74129552,
        0.22827669,  0.03325548,  0.22827669,  5.74283224,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015171384850300935
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99789951e-01,  2.82737061e-03, -2.02992545e-02,  2.82678802e-03,
        9.99996003e-01,  5.73937449e-05,  2.02993356e-02, -6.77626358e-21,
       -9.99793947e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13104978, -0.08581271,  0.17240455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002487706387874439
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.84295913e-01,  1.02271585e-02, -9.23153322e-01,  3.93046075e-03,
        9.99947701e-01,  9.44172910e-03,  9.23201605e-01,  4.33680869e-19,
       -3.84316012e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12580406, -0.03645873,  0.29838803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025341060246748186
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09375637, -0.09375637,  0.99117077,  0.00882915,  0.99559517,
        0.09333971, -0.99555602,  0.        ,  0.09417117])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08864052, -0.03656913,  0.06194443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78674626e-05, 1.09569895e-05,-3.19505646e-05, 1.88917013e-06,
  1.12670938e-03, 2.34953343e-02, 6.87129384e-04,-1.30141977e-04,
  9.29738877e-06, 3.30385585e-05, 3.00543760e-06,-2.43277639e-05,
  9.93833573e-02, 2.70186397e-04,-2.85789646e-04, 1.65773569e-04,
 -8.21411637e-05, 1.02736032e-04,-9.80997295e+00,-6.47779187e-02,
 -2.93528700e-03,-1.18538354e-02]


--- Step 324 ---
qpos:
[ 0.0098394 , 0.00805641,-0.00560478, 0.03341812, 0.0028227 ,-0.01341421,
 -0.0072198 , 0.03911356, 0.01301621, 0.00593485,-0.01172217, 0.03402919,
  0.23866515, 0.0043304 , 0.60701302, 0.0483608 , 0.09468722,-0.06384674,
  0.14181128, 0.95798447,-0.05024739, 0.07831101, 0.27130857]

qacc:
[-1.92812303e+00, 1.98154952e+00,-8.41984669e+00, 1.53308060e+01,
  3.63311573e+01,-1.08333141e+01, 1.12234730e+01, 1.69996564e+00,
 -2.21134577e+00, 2.16285832e+00,-7.63183701e+00, 9.79242946e+00,
  3.58142653e+00,-4.52649220e+00,-1.07665517e+01, 3.07820225e+01,
  1.20431444e-01,-5.02925592e-02,-2.55698306e-02,-1.80612055e-01,
 -6.49263559e-01, 5.11681473e+00]

qfrc_actuator:
[ 2.89279989e-05, 2.81373789e-04,-3.31174976e-06, 1.06076578e-04,
  6.86540728e-04, 1.62149472e-02, 4.37490974e-04, 2.73540360e-05,
  5.06864191e-05, 1.15089451e-04,-6.95647461e-05, 8.58426726e-06,
  1.01520790e-01,-1.39132498e-04, 5.01594869e-02,-4.17942876e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.32449257,  0.08105646,  1.32200999,  0.08105646,  1.89103603,
       -0.03473651,  1.32200999, -0.03473651,  1.32662237,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.857429361855259e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99421274e-01,  2.82162045e-03, -3.38991931e-02,  2.81999873e-03,
        9.99996019e-01,  9.56510374e-05,  3.38993281e-02,  0.00000000e+00,
       -9.99425253e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13091846, -0.08360588,  0.17881102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7313705 , -0.7310013 ,  0.02323581, -0.7310013 ,  0.7366241 ,
        0.1652788 ,  0.02323581,  0.1652788 ,  5.93106023,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015357830213746785
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99786749e-01,  2.82265228e-03, -2.04570012e-02,  2.82206159e-03,
        9.99996016e-01,  5.77432311e-05,  2.04570827e-02,  0.00000000e+00,
       -9.99790732e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1310595 , -0.08580724,  0.17240339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024888546748189117
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.38263106,  0.01068159, -0.92383948,  0.00408734,  0.99994295,
        0.00986864,  0.92389218,  0.        , -0.38265289])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12580885, -0.03649247,  0.29838417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025324021126727995
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09369473, -0.09369473,  0.99118242,  0.00881749,  0.99560097,
        0.0932789 , -0.99556193,  0.        ,  0.09410871])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08864042, -0.03656967,  0.06194447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12264396e-05, 3.49629501e-06,-2.06292435e-05, 1.82004820e-05,
  9.22054308e-04, 2.44563837e-02, 8.62705433e-04,-1.18354379e-04,
 -1.27999189e-05, 8.32712700e-06,-3.31221675e-05, 3.13418980e-06,
  9.90462776e-02, 2.59447613e-04,-2.30109939e-04, 8.03753259e-05,
 -9.84454141e-05, 1.22424905e-04,-9.80996924e+00,-6.47780889e-02,
 -2.93826007e-03,-1.18502307e-02]


--- Step 325 ---
qpos:
[ 0.00983989, 0.00805696,-0.00560583, 0.03341924, 0.00282626,-0.0135963 ,
 -0.00723024, 0.03911577, 0.01301712, 0.00593602,-0.01172194, 0.03402969,
  0.23875769, 0.00432778, 0.60838101, 0.04835779, 0.09469381,-0.06385103,
  0.14181125, 0.95794397,-0.05023196, 0.07828338, 0.27146235]

qacc:
[ 1.87084900e+00, 3.75529390e-01,-6.48747240e-01,-1.43381731e+00,
  3.59425610e+01,-9.98510605e+00, 1.12122633e+01,-3.81970545e+00,
 -1.43885670e+00, 9.83053110e-01,-7.41410647e+00, 2.06596358e+01,
  3.18031003e+00,-3.50216554e+00, 9.52071340e-01,-8.62633608e+00,
  9.51332683e-02,-3.85919140e-02,-2.23390233e-02,-1.46014404e-01,
 -5.01321760e-01, 4.02892216e+00]

qfrc_actuator:
[ 4.02658007e-05, 2.83465118e-04,-1.41523575e-05, 9.88831088e-05,
  6.85634955e-04, 1.63673724e-02, 4.38571421e-04, 9.45486670e-06,
  4.25599979e-05, 7.30323666e-05,-7.51988184e-05, 4.54019576e-05,
  1.01510175e-01,-1.09362507e-04, 5.00459095e-02,-4.25820719e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.32495262,  0.04961689,  1.32402326,  0.04961689,  2.00503178,
       -0.02548552,  1.32402326, -0.02548552,  1.32590767,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.080703020696475e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99416928e-01,  2.82105716e-03, -3.40271286e-02,  2.81942350e-03,
        9.99996021e-01,  9.59928566e-05,  3.40272640e-02, -1.35525272e-20,
       -9.99420905e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13092799, -0.08359986,  0.17881066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73186352, -0.73152471,  0.02226672, -0.73152471,  0.73684569,
        0.16367822,  0.02226672,  0.16367822,  6.10915519,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000155498780325006
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99783143e-01,  2.82209088e-03, -2.06325527e-02,  2.82149012e-03,
        9.99996018e-01,  5.82271705e-05,  2.06326348e-02,  0.00000000e+00,
       -9.99787125e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13107012, -0.08580131,  0.17240201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00249005344676776
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.38101976,  0.01111758, -0.92450005,  0.00423628,  0.9999382 ,
        0.01027884,  0.92455719,  0.        , -0.38104331])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12581325, -0.03652532,  0.29838042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025307122101886482
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09364278, -0.09364278,  0.99119224,  0.00880767,  0.99560586,
        0.09322765, -0.9955669 ,  0.        ,  0.09405608])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08864022, -0.03657028,  0.06194451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10183576e-05, 5.50064418e-07,-1.20278090e-05,-7.40473501e-06,
  7.13202192e-04, 2.53458470e-02, 1.02545586e-03,-1.27001592e-04,
 -8.48104061e-06,-4.41672393e-05,-7.90374885e-06, 3.60869179e-05,
  9.87221425e-02, 2.57527708e-04,-2.06264690e-04,-1.03288629e-04,
 -1.12971190e-04, 1.39892783e-04,-9.80996603e+00,-6.47778707e-02,
 -2.94135426e-03,-1.18464899e-02]


--- Step 326 ---
qpos:
[ 0.00984087, 0.00805743,-0.00560671, 0.03342059, 0.0028339 ,-0.01379052,
 -0.00724351, 0.03911752, 0.01301791, 0.00593687,-0.01172094, 0.03403055,
  0.23885584, 0.00432612, 0.60974564, 0.04835527, 0.0947007 ,-0.06385544,
  0.14181115, 0.9579018 ,-0.05021608, 0.07825528, 0.27162215]

qacc:
[ 4.19170081e+00,-9.31991202e-02,-8.22298022e-01, 4.75992654e+00,
  3.55158717e+01,-9.15371059e+00, 1.11681896e+01,-5.47752960e+00,
 -8.90387954e-01,-1.77932507e+00, 4.15212341e+00, 1.36575094e+00,
  2.76847060e+00,-2.43549709e+00,-6.56786438e+00, 1.55216518e+01,
  7.38698226e-02,-2.87189277e-02,-1.95665055e-02,-1.18016041e-01,
 -3.73836211e-01, 3.11682041e+00]

qfrc_actuator:
[ 6.44942348e-05, 2.84467077e-04,-2.35678391e-06, 1.11956608e-04,
  7.16699902e-04, 1.65398665e-02, 4.45352292e-04,-1.88898560e-06,
  3.74219108e-05, 8.30694010e-05,-2.54266186e-05, 6.68450665e-05,
  1.01500149e-01,-7.31485306e-05, 4.98753832e-02,-4.23236415e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.3254229 ,  0.02164025,  1.32524623,  0.02164025,  2.1157835 ,
       -0.01290598,  1.32524623, -0.01290598,  1.32563364,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.301751350913496e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99412322e-01,  2.82460814e-03, -3.41618655e-02,  2.82295944e-03,
        9.99996011e-01,  9.64942682e-05,  3.41620018e-02,  0.00000000e+00,
       -9.99416308e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13093825, -0.08359351,  0.17881017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73234094, -0.73197607,  0.02311448, -0.73197607,  0.73788152,
        0.17545587,  0.02311448,  0.17545587,  6.28857777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015733395475404018
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99779142e-01,  2.82564487e-03, -2.08250360e-02,  2.82503208e-03,
        9.99996008e-01,  5.88443911e-05,  2.08251191e-02,  6.77626358e-21,
       -9.99783134e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13108154, -0.08579506,  0.17240052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002491297258498176
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3794657 ,  0.01153427, -0.9251339 ,  0.00437715,  0.99993348,
        0.01067145,  0.92519545,  0.        , -0.37949095])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12581727, -0.03655718,  0.2983768 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025290429985009365
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09359845, -0.09359845,  0.99120062,  0.0087993 ,  0.99561003,
        0.09318391, -0.99557114,  0.        ,  0.09401115])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08863994, -0.03657094,  0.06194454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45424799e-05,-1.49971030e-06, 1.01741753e-05, 1.25349102e-05,
  5.38395946e-04, 2.62088445e-02, 1.19753136e-03,-1.14762891e-04,
 -5.39172007e-06,-1.47937839e-05, 4.09078464e-05, 1.99755695e-05,
  9.84111663e-02, 2.56895124e-04,-2.75147492e-04,-6.39367261e-06,
 -1.25115555e-04, 1.54433833e-04,-9.80996343e+00,-6.47772469e-02,
 -2.94455449e-03,-1.18426429e-02]


--- Step 327 ---
qpos:
[ 0.00984212, 0.00805756,-0.00560677, 0.03342243, 0.00284547,-0.01399547,
 -0.00725948, 0.03911859, 0.01301864, 0.00593797,-0.01171956, 0.03403128,
  0.23895845, 0.00432509, 0.61110667, 0.04835309, 0.09470778,-0.06385993,
  0.14181098, 0.95785848,-0.05019989, 0.0782269 , 0.27178605]

qacc:
[ 2.51575845e+00,-1.76121472e+00, 3.58329673e+00, 3.69920800e+00,
  3.42750218e+01,-8.08801806e+00, 1.10094418e+01,-1.04272368e+01,
 -5.92191371e-01,-1.03668814e+00, 4.77215627e+00,-8.03210070e+00,
  2.38029833e+00,-2.57153047e+00,-6.40460599e+00, 1.44546366e+01,
  4.95864649e-02,-1.91687695e-02,-1.62856750e-02,-8.35652271e-02,
 -2.36100887e-01, 2.12211213e+00]

qfrc_actuator:
[ 7.83559634e-05, 2.67165434e-04, 4.04723270e-05, 1.36867794e-04,
  6.94336269e-04, 1.67460861e-02, 4.38669233e-04,-2.68744295e-05,
  3.40827600e-05, 1.24446853e-04, 3.57810375e-06, 6.13852960e-05,
  1.01490297e-01,-8.68429117e-05, 4.96974933e-02,-4.21615138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.32588642, -0.01708397,  1.32577635, -0.01708397,  2.24971527,
        0.01190447,  1.32577635,  0.01190447,  1.32603982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.513127511514888e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99407496e-01,  2.83222700e-03, -3.43021288e-02,  2.83056025e-03,
        9.99995989e-01,  9.71518051e-05,  3.43022664e-02, -1.35525272e-20,
       -9.99411504e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13094913, -0.08358698,  0.17880952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7327833 , -0.73257404,  0.01751096, -0.73257404,  0.73607577,
        0.137741  ,  0.01751096,  0.137741  ,  6.49520106,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015901357022546746
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99774778e-01,  2.83326785e-03, -2.10324770e-02,  2.83264110e-03,
        9.99995986e-01,  5.95908800e-05,  2.10325614e-02,  0.00000000e+00,
       -9.99778791e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13109366, -0.08578863,  0.17239898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002492579194370773
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.37797048,  0.01193146, -0.92574076,  0.00451006,  0.99992882,
        0.01104622,  0.92580666,  0.        , -0.37799738])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1258209 , -0.036588  ,  0.29837331])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025274001013564193
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09356005, -0.09356005,  0.99120787,  0.00879205,  0.99561364,
        0.09314603, -0.99557482,  0.        ,  0.09397224])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0886396 , -0.03657164,  0.06194458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45586151e-05,-1.55059610e-05, 4.42058676e-05, 2.54395734e-05,
  3.12484332e-04, 2.70291165e-02, 1.33452615e-03,-1.16501392e-04,
 -3.49616570e-06, 4.23669111e-05, 3.16561329e-05,-4.29528849e-06,
  9.81213629e-02, 1.95494542e-04,-2.99720755e-04,-1.86165008e-05,
 -1.34934125e-04, 1.66136432e-04,-9.80996140e+00,-6.47762621e-02,
 -2.94783804e-03,-1.18387163e-02]


--- Step 328 ---
qpos:
[ 0.00984353, 0.00805771,-0.0056067 , 0.03342489, 0.00286081,-0.01420867,
 -0.00727711, 0.0391193 , 0.01301967, 0.00593951,-0.01171819, 0.03403159,
  0.23906445, 0.00432438, 0.61246483, 0.04835288, 0.09471498,-0.06386445,
  0.14181075, 0.95781444,-0.05018354, 0.07819839, 0.27195243]

qacc:
[ 1.37663033e+00, 9.59692183e-01,-6.08213945e+00, 1.68292360e+01,
  3.28774116e+01,-7.06537684e+00, 1.07681103e+01,-8.05965197e+00,
  2.62332338e+00,-2.34491217e-01, 3.43802093e+00,-1.09259854e+01,
  2.03863937e+00,-2.73846289e+00,-1.03009603e+01, 2.96727753e+01,
  2.91964848e-02,-1.11531544e-02,-1.35354178e-02,-5.51779583e-02,
 -1.18765635e-01, 1.28875210e+00]

qfrc_actuator:
[ 8.60007635e-05, 2.74688424e-04, 4.79475504e-05, 1.68544041e-04,
  6.56178917e-04, 1.69759934e-02, 4.60425521e-04,-2.41328145e-05,
  4.95810427e-05, 1.48686960e-04, 2.44542796e-06, 4.01519134e-05,
  1.01485777e-01,-1.12776786e-04, 4.96111921e-02,-4.09923118e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.3263184 , -0.06540896,  1.32470456, -0.06540896,  2.37074157,
        0.05156971,  1.32470456,  0.05156971,  1.32886472,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.704789709940578e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99402498e-01,  2.84377474e-03, -3.44464937e-02,  2.84208707e-03,
        9.99995956e-01,  9.79584646e-05,  3.44466330e-02,  1.35525272e-20,
       -9.99406539e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13096054, -0.08358044,  0.17880867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.33162398e-01, -7.33161738e-01,  9.83569523e-04, -7.33161738e-01,
        7.33175270e-01,  9.59507121e-03,  9.83569523e-04,  9.59507121e-03,
        7.88541643e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0001604375739521984
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99770074e-01,  2.84482067e-03, -2.12533558e-02,  2.84417808e-03,
        9.99995953e-01,  6.04622306e-05,  2.12534418e-02,  6.77626358e-21,
       -9.99774120e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13110638, -0.08578214,  0.17239747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002493884021406239
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.37652666,  0.01231184, -0.92632397,  0.00463609,  0.99992421,
        0.01140562,  0.92639418,  0.        , -0.3765552 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12582419, -0.03661788,  0.29836994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002525788282320381
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09352603, -0.09352603,  0.99121429,  0.00878563,  0.99561683,
        0.09311247, -0.99557807,  0.        ,  0.09393778])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08863921, -0.03657238,  0.06194461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.05059383e-06, 9.06628873e-06, 1.05902316e-05, 3.30312906e-05,
  7.77370959e-05, 2.78033748e-02, 1.49424309e-03,-7.92582640e-05,
  1.54176266e-05, 5.42302751e-05, 1.13393928e-05,-1.84130129e-05,
  9.78943869e-02, 1.38816723e-04,-2.20741374e-04, 7.82973753e-05,
 -1.41831454e-04, 1.74294024e-04,-9.80996004e+00,-6.47748922e-02,
 -2.95119515e-03,-1.18347381e-02]


--- Step 329 ---
qpos:
[ 0.00984503, 0.00805808,-0.00560661, 0.03342735, 0.00287974,-0.01442794,
 -0.00729537, 0.03912004, 0.01302053, 0.00594151,-0.01171711, 0.03403132,
  0.23917327, 0.00432382, 0.61382047, 0.04835103, 0.09472224,-0.063869  ,
  0.14181048, 0.95777   ,-0.05016713, 0.07816987, 0.27212012]

qacc:
[ 7.03829311e-01, 2.26822248e-01,-3.29063550e-01,-8.11276542e-03,
  3.12819129e+01,-6.28045841e+00, 1.05466453e+01,-4.56680960e+00,
 -1.48697145e+00, 2.18323422e-01, 2.56108805e+00,-1.25326975e+01,
  1.72549822e+00,-2.48986881e+00, 1.17587977e+00,-9.69598240e+00,
  1.47533144e-02,-4.85060625e-03,-1.13150896e-02,-3.69899764e-02,
 -2.88539553e-02, 6.83010026e-01]

qfrc_actuator:
[ 8.99288342e-05, 2.96893644e-04, 5.23306770e-05, 1.68430345e-04,
  6.60389011e-04, 1.71686571e-02, 5.17027071e-04,-4.80932792e-06,
  4.05363929e-05, 1.62345600e-04,-1.65274082e-05, 9.78429733e-06,
  1.01495043e-01,-1.28244494e-04, 4.94733919e-02,-4.18995581e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.32671232, -0.15973593,  1.31706113, -0.15973593,  2.42125457,
        0.13274837,  1.31706113,  0.13274837,  1.34281232,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.875402670202241e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99397368e-01,  2.85909301e-03, -3.45937466e-02,  2.85738171e-03,
        9.99995913e-01,  9.89071434e-05,  3.45938880e-02, -1.35525272e-20,
       -9.99401452e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13097234, -0.08357397,  0.17880763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.33476582e-01, -7.33458808e-01,  5.10622817e-03, -7.33458808e-01,
        7.33768270e-01,  4.18980959e-02,  5.10622817e-03,  4.18980959e-02,
        6.75172066e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.00016160722669555957
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99765098e-01,  2.86014502e-03, -2.14841272e-02,  2.85948486e-03,
        9.99995910e-01,  6.14479707e-05,  2.14842151e-02,  0.00000000e+00,
       -9.99769188e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13111952, -0.08577566,  0.172396  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002495197799865799
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.37512733,  0.01267794, -0.92688659,  0.00475623,  0.99991963,
        0.01175196,  0.92696109,  0.        , -0.37515748])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12582721, -0.03664693,  0.29836667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025242116771354464
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09349516, -0.09349516,  0.99122011,  0.0087798 ,  0.99561973,
        0.093082  , -0.99558102,  0.        ,  0.09390649])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08863878, -0.03657315,  0.06194464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.15778967e-06, 3.08650948e-05, 8.69340128e-06, 1.27751470e-06,
 -1.06718672e-04, 2.84161134e-02, 1.63622538e-03,-4.17321668e-05,
 -8.58082321e-06, 4.54736621e-05,-7.04574786e-06,-2.80173299e-05,
  9.77345936e-02, 1.07996438e-04,-2.29871853e-04,-1.14859997e-04,
 -1.46099950e-04, 1.79273456e-04,-9.80995928e+00,-6.47731987e-02,
 -2.95460247e-03,-1.18307329e-02]


--- Step 330 ---
qpos:
[ 0.00984621, 0.00805856,-0.00560639, 0.03342946, 0.00290203,-0.01465187,
 -0.00731389, 0.0391208 , 0.01302059, 0.00594355,-0.01171584, 0.03403105,
  0.23928469, 0.00432354, 0.61517324, 0.04834711, 0.0947295 ,-0.06387354,
  0.14181017, 0.9577255 ,-0.05015079, 0.07814147, 0.27228787]

qacc:
[-2.71228360e+00,-9.55409967e-01, 5.10904951e+00,-1.15550036e+01,
  2.92165094e+01,-5.43583789e+00, 1.02572562e+01,-5.93368712e+00,
 -7.07049111e+00,-4.42168793e-01, 1.68371067e+00,-2.00061405e+00,
  1.42755783e+00,-1.67635970e+00, 1.96309817e+00,-1.31846982e+01,
 -9.94517171e-04, 1.33318742e-03,-8.70351870e-03,-1.62428840e-02,
  6.70053601e-02, 4.02049344e-02]

qfrc_actuator:
[ 7.38874945e-05, 2.92172562e-04, 5.49097322e-05, 1.49629701e-04,
  6.35434188e-04, 1.73578551e-02, 5.58668836e-04, 6.47606747e-06,
 -6.40041566e-07, 1.51716807e-04,-1.04144946e-05, 9.77570803e-06,
  1.01485882e-01,-1.19634205e-04, 4.93260671e-02,-4.29592262e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.3270676 , -0.26423253,  1.3004959 , -0.26423253,  2.4488033 ,
        0.22791234,  1.3004959 ,  0.22791234,  1.37337444,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.026093969522122e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99392137e-01,  2.87800014e-03, -3.47429724e-02,  2.87626262e-03,
        9.99995859e-01,  9.99906933e-05,  3.47431163e-02, -1.35525272e-20,
       -9.99396276e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13098442, -0.08356761,  0.17880644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73373115, -0.73368356,  0.00835662, -0.73368356,  0.73439912,
        0.05864553,  0.00835662,  0.05864553,  5.88261278,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016254810628451641
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99759913e-01,  2.87905924e-03, -2.17215995e-02,  2.87837994e-03,
        9.99995856e-01,  6.25380308e-05,  2.17216895e-02,  1.35525272e-20,
       -9.99764056e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13113297, -0.08576924,  0.17239459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024965138112298764
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.73770980e-01,  1.30304579e-02, -9.27429492e-01,  4.87082055e-03,
        9.99915100e-01,  1.20858570e-02,  9.27508237e-01, -8.67361738e-19,
       -3.73802716e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12582996, -0.03667514,  0.2983635 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025226728331844243
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09346649, -0.09346649,  0.99122552,  0.0087744 ,  0.99562243,
        0.09305372, -0.99558376,  0.        ,  0.09387745])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08863832, -0.03657395,  0.06194468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59142877e-05, 1.43659381e-05, 1.00569668e-05,-1.71593744e-05,
 -3.11248433e-04, 2.89171554e-02, 1.71217335e-03,-3.10331857e-05,
 -4.13956362e-05, 1.20596519e-05, 1.36346444e-05, 1.14532872e-06,
  9.75848977e-02, 1.09909543e-04,-2.66200766e-04,-1.42274061e-04,
 -1.48374014e-04, 1.81850239e-04,-9.80995897e+00,-6.47712676e-02,
 -2.95803368e-03,-1.18267209e-02]


--- Step 331 ---
qpos:
[ 0.00984719, 0.00805925,-0.00560616, 0.03343097, 0.00292742,-0.01487872,
 -0.00733201, 0.03912177, 0.01302015, 0.00594503,-0.01171394, 0.03403117,
  0.23939867, 0.00432372, 0.61652395, 0.04833873, 0.09473669,-0.06387806,
  0.14180984, 0.95768124,-0.0501346 , 0.07811331, 0.27245454]

qacc:
[-1.77238598e+00,-9.55902792e-01, 6.33376126e+00,-1.67823161e+01,
  2.69373749e+01,-4.56731999e+00, 9.72985116e+00,-4.50407568e+00,
 -4.30957581e+00,-1.70335143e+00, 3.32444346e+00, 2.92124044e+00,
  1.13082921e+00,-7.39128670e-01, 1.03797340e+01,-4.08239924e+01,
 -1.55914281e-02, 6.85333391e-03,-6.40727439e-03, 3.13912396e-03,
  1.55207110e-01,-5.48569615e-01]

qfrc_actuator:
[ 6.39748124e-05, 3.06842083e-04, 5.62919035e-05, 1.19968233e-04,
  5.91778938e-04, 1.75814953e-02, 5.55715159e-04, 3.06836616e-05,
 -2.48860819e-05, 9.12334359e-05, 1.03861867e-05, 2.76297513e-05,
  1.01460256e-01,-9.67815343e-05, 4.92423858e-02,-4.51646182e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.32737246, -0.37386287,  1.27363425, -0.37386287,  2.45634876,
        0.33139995,  1.27363425,  0.33139995,  1.42465167,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.153126128973681e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99386839e-01,  2.90026119e-03, -3.48931811e-02,  2.89849505e-03,
        9.99995794e-01,  1.01199764e-04,  3.48933279e-02,  0.00000000e+00,
       -9.99391042e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1309967 , -0.08356144,  0.17880508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73391604, -0.7331762 ,  0.0329455 , -0.7331762 ,  0.74291976,
        0.20037085,  0.0329455 ,  0.20037085,  5.19301127,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016322768236385723
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99754553e-01,  2.90132831e-03, -2.19639935e-02,  2.90062839e-03,
        9.99995791e-01,  6.37250243e-05,  2.19640859e-02,  0.00000000e+00,
       -9.99758760e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13114664, -0.08576294,  0.17239327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002497829931038982
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.37245937,  0.01336901, -0.9279522 ,  0.00497986,  0.99991063,
        0.01240691,  0.92803514,  0.        , -0.37249266])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12583245, -0.03670247,  0.29836044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025211733448610428
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09343918, -0.09343918,  0.99123067,  0.00876925,  0.99562499,
        0.09302678, -0.99558637,  0.        ,  0.09384977])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08863783, -0.03657477,  0.06194471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03629054e-05, 2.40113481e-05, 4.98122694e-06,-2.90376835e-05,
 -5.22723318e-04, 2.93821623e-02, 1.72526018e-03,-7.33322555e-06,
 -2.54113461e-05,-5.09766964e-05, 2.49743180e-05, 1.88598181e-05,
  9.74294023e-02, 1.18745027e-04,-2.20768347e-04,-2.62675484e-04,
 -1.48480178e-04, 1.81820358e-04,-9.80995916e+00,-6.47691014e-02,
 -2.96147722e-03,-1.18227220e-02]


--- Step 332 ---
qpos:
[ 0.00984805, 0.00805983,-0.00560576, 0.0334318 , 0.00295156,-0.0150756 ,
 -0.00734595, 0.03911848, 0.01302012, 0.00594563,-0.01171159, 0.03403191,
  0.2395019 , 0.00433159, 0.6178727 , 0.04832639, 0.09474165,-0.06388037,
  0.14180971, 0.95765308,-0.05012607, 0.07809182, 0.27256124]

qacc:
[-1.10199739e+00,-2.04019448e+00, 9.93446212e+00,-2.19235737e+01,
 -1.11689955e+01, 1.91356448e+01, 7.20738842e+00,-1.09589678e+02,
  3.57234270e+00,-1.16739267e+00,-1.13905175e-01, 1.06391807e+01,
 -1.53656859e+01, 4.18689801e+01, 1.00209614e+01,-3.69840680e+01,
 -5.57571001e-01, 5.50751407e-01, 5.01185287e-02,-6.61113941e-03,
  5.11425574e+00,-3.10462796e+01]

qfrc_actuator:
[ 5.77552712e-05, 2.79731961e-04, 5.70250290e-05, 8.41702812e-05,
  5.53573779e-04, 1.77904108e-02, 5.43206428e-04, 4.46959966e-05,
 -3.45790425e-06, 1.91880965e-05, 2.17244834e-05, 5.58067244e-05,
  1.01440638e-01,-8.34130310e-05, 4.91436626e-02,-4.71377490e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.32762161, -0.75237747,  1.09384975, -0.75237747,  2.31175139,
        0.67690931,  1.09384975,  0.67690931,  1.79321692,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.255452076573656e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99381507e-01,  2.92561611e-03, -3.50434490e-02,  2.92381915e-03,
        9.99995720e-01,  1.02524118e-04,  3.50435990e-02,  1.35525272e-20,
       -9.99385784e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13100908, -0.08355552,  0.17880357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73402992, -0.73308868,  0.03716077, -0.73308868,  0.74560642,
        0.22837521,  0.03716077,  0.22837521,  5.23929909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000163644735387383
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99749068e-01,  2.92669212e-03, -2.22089050e-02,  2.92597025e-03,
        9.99995717e-01,  6.49989056e-05,  2.22090001e-02,  0.00000000e+00,
       -9.99753350e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1311604 , -0.08575682,  0.17239206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002499145329086881
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.37119556,  0.01369277, -0.92845375,  0.00508317,  0.99990625,
        0.0127143 ,  0.9285408 ,  0.        , -0.37123037])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12583467, -0.03672887,  0.2983575 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002499835377442708
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.44118455e-14, -3.46967543e-15,  1.00000000e+00,  1.54094689e-28,
        1.00000000e+00,  3.46967543e-15, -1.00000000e+00,  0.00000000e+00,
        4.44118455e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10594927, -0.06047423,  0.06194469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.50811653e-06,-1.39360026e-05, 5.28712613e-06,-3.51670149e-05,
 -7.15735356e-04, 2.97451048e-02, 1.69602134e-03,-3.20102490e-06,
  2.06929423e-05,-9.46710875e-05, 4.49792371e-06, 2.72167322e-05,
  9.72820048e-02, 1.10074984e-04,-2.31360874e-04,-2.41010448e-04,
 -1.46596326e-04, 1.79403073e-04,-9.80995980e+00,-6.47667379e-02,
 -2.96491704e-03,-1.18187552e-02]


--- Step 333 ---
qpos:
[ 0.00984917, 0.00805989,-0.00560516, 0.03343259, 0.00297349,-0.01523429,
 -0.00735059, 0.03911356, 0.01302069, 0.0059452 ,-0.0117087 , 0.03403334,
  0.23958914, 0.00434371, 0.61921797, 0.04831361, 0.09474464,-0.06388058,
  0.14180972, 0.95764036,-0.05012391, 0.07807544, 0.27261101]

qacc:
[ 2.33106480e+00,-1.30667181e+00, 3.83329373e+00,-4.43789107e+00,
 -1.95795856e+01, 2.11900844e+01, 4.68656708e+00,-7.61165333e+01,
  5.32991636e+00,-1.43533760e+00, 1.97434202e-01, 1.17153679e+01,
 -1.50069310e+01, 3.34656621e+01,-2.98417659e+00, 4.94176867e+00,
 -4.95105232e-01, 5.25810957e-01, 3.48380848e-02, 2.51391871e-01,
  4.13502788e+00,-2.94811954e+01]

qfrc_actuator:
[ 7.15097037e-05, 2.27798205e-04, 5.71990498e-05, 8.05209830e-05,
  5.39492378e-04, 1.79765383e-02, 5.38755312e-04, 3.92165264e-05,
  2.69233566e-05,-4.15062668e-05, 4.50681070e-05, 8.98034161e-05,
  1.01436385e-01,-1.00904318e-04, 4.89560923e-02,-4.73608731e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.32713771, -0.87731496,  0.99579766, -0.87731496,  2.12963162,
        0.70701101,  0.99579766,  0.70701101,  1.95002665,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.05549229428491e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99377686e-01,  2.94973258e-03, -3.51502446e-02,  2.94790974e-03,
        9.99995650e-01,  1.03684273e-04,  3.51503975e-02,  0.00000000e+00,
       -9.99382034e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13101929, -0.08355372,  0.17880075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73330575, -0.48181345,  0.55280477, -0.48181345,  4.20578194,
        3.02653996,  0.55280477,  3.02653996,  3.3711767 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016097239783473713
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99744293e-01,  2.95081464e-03, -2.24196676e-02,  2.95007294e-03,
        9.99995646e-01,  6.61565713e-05,  2.24197652e-02,  1.35525272e-20,
       -9.99748645e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13117169, -0.08575385,  0.1723931 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025002496770365496
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.70461144e-01,  1.38669860e-02, -9.28744447e-01,  5.13767348e-03,
        9.99903849e-01,  1.28801246e-02,  9.28833755e-01,  8.67361738e-19,
       -3.70496768e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12583465, -0.0367435 ,  0.29835589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002499577285537305
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.73501684e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.73501684e-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([ 0.10595523, -0.06047073,  0.0619447 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35629972e-05,-6.01741693e-05,-3.28415796e-06,-4.75192333e-06,
 -6.67643459e-04, 2.84406091e-02, 1.48418965e-03, 2.04443604e-04,
  3.09395432e-05,-1.11583192e-04, 5.24695408e-06, 3.06159260e-05,
  9.78139492e-02,-2.92145954e-04,-3.35816253e-04,-6.87675931e-05,
 -5.96581030e-05, 7.59285924e-05,-9.80998130e+00,-6.47558874e-02,
 -2.96796451e-03,-1.18157766e-02]


--- Step 334 ---
qpos:
[ 0.00985079, 0.00805967,-0.00560491, 0.03343334, 0.0029915 ,-0.01535737,
 -0.00734614, 0.03910894, 0.01302127, 0.00594418,-0.01170597, 0.03403516,
  0.23965802, 0.00435807, 0.62055962, 0.04830127, 0.09474584,-0.06387876,
  0.14180983, 0.95764256,-0.05012713, 0.07806293, 0.27260626]

qacc:
[ 4.38963050e+00, 4.86114189e-01,-2.12650335e+00, 2.19240095e+00,
 -3.42558376e+01, 2.23560642e+01,-1.26071755e+01,-2.29482637e+01,
  1.34677481e-01, 4.50472616e-01,-4.37209387e+00, 1.17531227e+01,
 -1.44010435e+01, 2.79353645e+01,-5.98984328e+00, 1.49577945e+01,
 -4.45491669e-01, 5.06517799e-01, 2.48787536e-02, 4.54042040e-01,
  3.36738055e+00,-2.82532203e+01]

qfrc_actuator:
[ 9.69087460e-05, 2.14672395e-04, 3.91954465e-05, 7.80387558e-05,
  5.59107615e-04, 1.81465239e-02, 5.32370625e-04, 3.88850610e-05,
  2.68108623e-05,-5.93789392e-05, 3.98485374e-05, 1.09213947e-04,
  1.01436880e-01,-1.01050752e-04, 4.87899829e-02,-4.70858656e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.32614246, -1.18869635,  0.58792417, -1.18869635,  1.37423687,
        0.09723983,  0.58792417,  0.09723983,  1.52274711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.627324052100924e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99375261e-01,  2.97163858e-03, -3.52172851e-02,  2.96979519e-03,
        9.99995585e-01,  1.04653505e-04,  3.52174406e-02,  1.35525272e-20,
       -9.99379674e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13102701, -0.08355535,  0.17879707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73200904, -0.28030429,  0.676215  , -0.28030429,  1.1023166 ,
        0.1534997 ,  0.676215  ,  0.1534997 ,  0.79563765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000156060648755955
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99740553e-01,  2.97272477e-03, -2.25829577e-02,  2.97196664e-03,
        9.99995581e-01,  6.71332144e-05,  2.25830575e-02,  0.00000000e+00,
       -9.99744970e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13118015, -0.08575355,  0.17239592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002501100247355362
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.37007308,  0.0139471 , -0.92889795,  0.00516195,  0.99990273,
        0.01295669,  0.9289883 ,  0.        , -0.37010908])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12583333, -0.03675002,  0.29835519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024992332256550953
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.44225458e-14, -1.66584547e-14,  1.00000000e+00,  7.40010966e-28,
        1.00000000e+00,  1.66584547e-14, -1.00000000e+00,  0.00000000e+00,
        4.44225458e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10595978, -0.06046823,  0.0619447 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57638085e-05,-4.76675777e-05,-3.10135577e-05,-5.27092460e-06,
 -5.37234786e-04, 2.67065734e-02, 1.01540793e-03, 2.86599249e-04,
  7.28379977e-07,-7.78833437e-05,-2.65952360e-05, 1.53963570e-05,
  9.86114114e-02,-5.05585178e-04,-3.42276356e-04,-2.24017123e-05,
 -1.32063260e-05, 1.85702090e-05,-9.80999334e+00,-6.47502380e-02,
 -2.97083511e-03,-1.18137812e-02]


--- Step 335 ---
qpos:
[ 0.00985201, 0.00805944,-0.00560529, 0.03343369, 0.00300431,-0.01545037,
 -0.00733533, 0.03910527, 0.01302185, 0.00594291,-0.01170347, 0.03403681,
  0.23970784, 0.00437347, 0.62189872, 0.04829008, 0.09474541,-0.06387497,
  0.14181   , 0.95765931,-0.05013494, 0.07805328, 0.27254873]

qacc:
[-3.51353690e+00, 9.39630514e-01,-1.68133369e+00,-4.18473406e+00,
 -4.54469448e+01, 2.39925558e+01,-3.17368059e+01, 1.57278294e+01,
 -5.46402518e-02,-3.92687627e-02, 3.53543059e-01,-2.66982706e+00,
 -1.36226781e+01, 2.40350011e+01,-6.54831020e+00, 1.90399999e+01,
 -4.07685385e-01, 4.92159487e-01, 1.59928348e-02, 6.20586110e-01,
  2.75338057e+00,-2.73627715e+01]

qfrc_actuator:
[ 7.56941267e-05, 2.24811355e-04, 1.07451286e-05, 5.85215709e-05,
  5.83771973e-04, 1.82763811e-02, 5.39059972e-04, 4.03509028e-05,
  2.65012647e-05,-5.15877576e-05, 3.57180708e-05, 1.02148520e-04,
  1.01435689e-01,-9.04684841e-05, 4.87221001e-02,-4.63416591e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.32474373, -1.25374264,  0.42787305, -1.25374264,  1.30879854,
       -0.04672218,  0.42787305, -0.04672218,  1.18783959,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.980228891216416e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99374155e-01,  2.98963759e-03, -3.52471467e-02,  2.98777989e-03,
        9.99995531e-01,  1.05376666e-04,  3.52473042e-02,  1.35525272e-20,
       -9.99378621e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13103242, -0.08356034,  0.17879257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73022257, -0.19455388,  0.70382796, -0.19455388,  0.64618153,
       -0.02323083,  0.70382796, -0.02323083,  0.72380105,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014900144763834507
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99737813e-01,  2.99072548e-03, -2.27015596e-02,  2.98995472e-03,
        9.99995528e-01,  6.78944363e-05,  2.27016611e-02,  0.00000000e+00,
       -9.99742284e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13118596, -0.08575587,  0.17240041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025016923586349436
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36990524,  0.01397086, -0.92896444,  0.0051684 ,  0.9999024 ,
        0.0129797 ,  0.92905511,  0.        , -0.36994135])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12583135, -0.03675098,  0.29835509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002498815967377027
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.94218181e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.94218181e-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([ 0.1059632 , -0.0604665 ,  0.06194471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04954771e-05,-2.31419812e-05,-4.23036520e-05,-2.27385810e-05,
 -3.16904499e-04, 2.50604215e-02, 5.68982087e-04, 2.73032715e-04,
 -3.15728363e-07,-4.05921302e-05,-2.29845805e-05,-1.10312954e-05,
  9.95261604e-02,-6.07098039e-04,-2.43791689e-04, 2.58996152e-05,
 -7.35716841e-07,-2.47533053e-07,-9.80999924e+00,-6.47484548e-02,
 -2.97337284e-03,-1.18125451e-02]


--- Step 336 ---
qpos:
[ 0.00985297, 0.00805935,-0.00560559, 0.03343374, 0.00301101,-0.01551668,
 -0.00732043, 0.03910261, 0.01302276, 0.00594237,-0.0117018 , 0.03403793,
  0.23973841, 0.00438892, 0.62323607, 0.04827833, 0.09474348,-0.06386928,
  0.1418102 , 0.95769019,-0.05014668, 0.07804571, 0.27244023]

qacc:
[-2.31482446e+00,-6.42814637e-01, 3.87461799e+00,-9.41533044e+00,
 -5.32548512e+01, 2.60796923e+01,-4.58914618e+01, 3.70341045e+01,
  2.91590134e+00, 2.19919380e+00,-4.19188877e+00,-4.19734294e+00,
 -1.27644496e+01, 2.05098120e+01,-3.52182362e-01,-1.08722721e+00,
 -3.75581619e-01, 4.76372081e-01, 8.72257247e-03, 7.42252644e-01,
  2.25821390e+00,-2.64340181e+01]

qfrc_actuator:
[ 6.27152363e-05, 2.66498766e-04, 2.97092521e-05, 4.69082550e-05,
  5.78818522e-04, 1.83556970e-02, 5.34922952e-04, 5.98791904e-05,
  4.38407295e-05, 4.25117436e-05, 1.46230031e-05, 7.95954077e-05,
  1.01439537e-01,-1.08657668e-04, 4.86599294e-02,-4.65672734e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.32304594, -1.28111856,  0.33043273, -1.28111856,  1.30275416,
       -0.07867311,  0.33043273, -0.07867311,  1.01802293,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.101301895859498e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99374304e-01,  3.00243762e-03, -3.52418182e-02,  3.00057254e-03,
        9.99995493e-01,  1.05811838e-04,  3.52419771e-02, -1.35525272e-20,
       -9.99378809e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13103578, -0.08356882,  0.17878712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.72798899, -0.14157418,  0.71409014, -0.14157418,  0.51064009,
       -0.04309119,  0.71409014, -0.04309119,  0.71944582,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013962649294978126
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99735906e-01,  3.00352399e-03, -2.27837213e-02,  3.00274432e-03,
        9.99995489e-01,  6.84317620e-05,  2.27838240e-02,  0.00000000e+00,
       -9.99740415e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13118946, -0.0857609 ,  0.17240662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002502031444304844
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.69867669e-01,  1.39648600e-02, -9.28979488e-01,  5.16565393e-03,
        9.99902487e-01,  1.29743336e-02,  9.29070085e-01, -8.67361738e-19,
       -3.69903740e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12582912, -0.03674819,  0.29835538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002498338849681647
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.22192243e-14,  6.94350759e-15,  1.00000000e+00, -1.54279352e-28,
        1.00000000e+00, -6.94350759e-15, -1.00000000e+00,  0.00000000e+00,
        2.22192243e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10596573, -0.0604654 ,  0.06194472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35671799e-05, 1.90344384e-05, 8.19263200e-06,-1.45100282e-05,
 -6.15586555e-05, 2.36391487e-02, 2.47199271e-04, 2.45139732e-04,
  1.73165584e-05, 6.61947055e-05,-3.27099085e-05,-2.53088565e-05,
  1.00481261e-01,-6.77904382e-04,-1.93121083e-04,-5.70284880e-05,
 -1.77761257e-05, 1.43137611e-05,-9.81000122e+00,-6.47496157e-02,
 -2.97549833e-03,-1.18118923e-02]


--- Step 337 ---
qpos:
[ 0.00985377, 0.00805942,-0.00560547, 0.03343431, 0.00301568,-0.01557045,
 -0.00729977, 0.03910263, 0.01302388, 0.00594318,-0.01170106, 0.03403836,
  0.2397626 , 0.00439669, 0.62457107, 0.04826797, 0.09474155,-0.06386519,
  0.14181057, 0.95771463,-0.05015546, 0.0780376 , 0.27235502]

qacc:
[-1.42185914e+00, 1.23402787e-01,-2.34317091e+00, 1.06242215e+01,
 -1.76292264e+01, 5.98652800e+00,-8.55818874e+00, 3.64118667e+01,
  1.70794544e+00, 2.94502423e+00,-5.00018868e+00,-6.53400030e+00,
  4.01537489e+00,-2.32711430e+01,-8.05459771e+00, 2.21242375e+01,
  2.68766671e-03,-4.00740761e-01, 3.87801777e-02, 2.73596905e-01,
 -9.94636692e-01, 1.21373090e+01]

qfrc_actuator:
[ 5.47026611e-05, 2.91457725e-04, 5.89160189e-05, 7.56109716e-05,
  5.59076617e-04, 1.83960430e-02, 5.24040207e-04, 1.07557715e-04,
  5.36774949e-05, 1.51998636e-04,-1.59579141e-05, 4.81807128e-05,
  1.01447109e-01,-1.43527085e-04, 4.85799028e-02,-4.57647773e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.32122795, -0.82107057,  1.03512628, -0.82107057,  2.165664  ,
        0.66981353,  1.03512628,  0.66981353,  1.85252948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.988460889501474e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99375647e-01,  3.00913923e-03, -3.52031479e-02,  3.00727408e-03,
        9.99995473e-01,  1.05931653e-04,  3.52033072e-02,  1.35525272e-20,
       -9.99380171e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13103729, -0.08358082,  0.17878068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.72541297, -0.22960816,  0.68811632, -0.22960816,  1.6962507 ,
        0.32394562,  0.68811632,  0.32394562,  0.83350597,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001278912257004391
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99734713e-01,  3.01022038e-03, -2.28351262e-02,  3.00943544e-03,
        9.99995469e-01,  6.87390737e-05,  2.28352297e-02,  0.00000000e+00,
       -9.99739242e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13119086, -0.08576866,  0.17241453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002502124183562015
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36989145,  0.01394933, -0.92897025,  0.00516024,  0.9999027 ,
        0.01295978,  0.92906065,  0.        , -0.36992745])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12582696, -0.03674307,  0.2983559 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, -9.63006845, 14.33906863, -9.63006845, 97.53938318,
       53.90680596, 14.33906863, 53.90680596, 53.47635001,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002519034104602933
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09166392, -0.09166392,  0.99156213,  0.0084378 ,  0.99579   ,
        0.09127473, -0.99575425,  0.        ,  0.09205145])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08865584, -0.03656574,  0.06194473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.39161896e-06, 3.66724550e-05, 3.36496175e-05, 2.95205698e-05,
  2.23990907e-04, 2.23471704e-02, 3.32595767e-05, 2.42378124e-04,
  1.03546983e-05, 1.38668285e-04,-2.18278434e-05,-3.02079028e-05,
  1.01448879e-01,-7.15383750e-04,-2.00242740e-04, 4.69114853e-05,
 -6.08296063e-05, 5.83302045e-05,-9.81000079e+00,-6.47530721e-02,
 -2.97716461e-03,-1.18116847e-02]


--- Step 338 ---
qpos:
[ 0.00985411, 0.0080595 ,-0.00560519, 0.03343526, 0.00301902,-0.01561697,
 -0.007276  , 0.03910413, 0.01302441, 0.00594423,-0.01170032, 0.03403848,
  0.23978554, 0.00439966, 0.62590366, 0.04825824, 0.09473984,-0.06386242,
  0.14181102, 0.957733  ,-0.05016163, 0.07802872, 0.2722918 ]

qacc:
[ -3.91811672,  0.32100579, -2.71413182,  8.94733203,-11.5728537 ,
   3.94749464, -6.35139032, 21.50516845, -5.10273211, -0.30883132,
   2.87830839, -8.36458362,  4.36525399,-17.52504743, -5.83177773,
  14.37692947,  0.05206123, -0.32845138,  0.0230997 ,  0.1362618 ,
  -1.03843882, 11.43147823]

qfrc_actuator:
[ 3.19222472e-05, 2.70803200e-04, 5.83899833e-05, 9.22899177e-05,
  5.64333657e-04, 1.84519911e-02, 4.88029408e-04, 1.34548404e-04,
  2.35087667e-05, 1.10049955e-04,-3.40407020e-05, 2.95795889e-05,
  1.01445801e-01,-1.62959600e-04, 4.84733020e-02,-4.54276242e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31998275, -0.7197053 ,  1.10651649, -0.7197053 ,  2.54310922,
        0.79555128,  1.10651649,  0.79555128,  1.8374287 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.051442018893373e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99376572e-01,  3.01381061e-03, -3.51764866e-02,  3.01194539e-03,
        9.99995458e-01,  1.06015750e-04,  3.51766464e-02, -1.35525272e-20,
       -9.99381110e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13103845, -0.08359137,  0.17877527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7234495 , -0.24883001,  0.67931053, -0.24883001,  2.11090127,
        0.50822064,  0.67931053,  0.50822064,  0.90960964,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011810909502005417
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99733942e-01,  3.01488832e-03, -2.28682279e-02,  3.01409989e-03,
        9.99995455e-01,  6.89454667e-05,  2.28683318e-02, -1.35525272e-20,
       -9.99738486e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13119189, -0.0857755 ,  0.17242132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025021805520061284
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36946574,  0.01406726, -0.92913787,  0.00519788,  0.99990105,
        0.01307171,  0.92922982,  0.        , -0.3695023 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12582703, -0.03674735,  0.29835531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025193000320594267
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.11802764e-02, -9.11802764e-02,  9.91651307e-01,  8.34861980e-03,
        9.95834402e-01,  9.07972652e-02, -9.95799406e-01, -1.73472348e-18,
        9.15616856e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0886613 , -0.03656256,  0.06194472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.30097449e-05, 8.05807701e-06, 1.22110954e-05, 1.99877178e-05,
  3.30759885e-04, 2.17780314e-02,-2.90961845e-04, 1.35470361e-04,
 -2.98204738e-05, 2.97602920e-05, 6.80860280e-06,-1.40064507e-05,
  1.01767138e-01,-3.51059177e-04,-2.04161434e-04, 8.15357380e-06,
 -3.72203900e-05, 3.48043328e-05,-9.81000156e+00,-6.47549813e-02,
 -2.97743005e-03,-1.18112274e-02]


--- Step 339 ---
qpos:
[ 0.00985384, 0.0080597 ,-0.00560489, 0.0334357 , 0.00302163,-0.01565995,
 -0.00725066, 0.03910654, 0.01302458, 0.00594491,-0.01169948, 0.03403879,
  0.23981009, 0.00439958, 0.62723349, 0.04825094, 0.09473848,-0.06386073,
  0.14181152, 0.95774569,-0.05016548, 0.07801891, 0.27224927]

qacc:
[-5.44982005e+00,-9.19383545e-01, 5.65735270e+00,-1.45043129e+01,
 -6.30679122e+00, 2.20355802e+00,-4.91980090e+00, 1.56750196e+01,
 -3.20085127e+00,-3.44716138e-01,-3.08769883e-01, 3.83089381e+00,
  4.46652099e+00,-1.39067448e+01,-1.17256188e+01, 3.43550009e+01,
  8.76711099e-02,-2.70822100e-01, 1.09655470e-02, 3.47814391e-02,
 -1.05918206e+00, 1.07520901e+01]

qfrc_actuator:
[ 6.30290890e-07, 2.76130285e-04, 5.78607941e-05, 6.61872580e-05,
  5.49199007e-04, 1.84998176e-02, 4.55047084e-04, 1.49260251e-04,
  5.54179478e-06, 4.88070981e-05,-4.51915792e-05, 3.63064783e-05,
  1.01438932e-01,-1.90675979e-04, 4.83614985e-02,-4.41250691e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31914622, -0.64329915,  1.15165661, -0.64329915,  2.84681788,
        0.85333585,  1.15165661,  0.85333585,  1.7958076 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.273465229998005e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99377072e-01,  3.01714919e-03, -3.51619794e-02,  3.01528344e-03,
        9.99995448e-01,  1.06089420e-04,  3.51621394e-02, -1.35525272e-20,
       -9.99381621e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13103952, -0.08360042,  0.17877077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.72195792, -0.27561943,  0.66727593, -0.27561943,  2.47318618,
        0.72334773,  0.66727593,  0.72334773,  1.0207379 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011006277460120104
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99733411e-01,  3.01822499e-03, -2.28909699e-02,  3.01743410e-03,
        9.99995445e-01,  6.90904121e-05,  2.28910742e-02,  0.00000000e+00,
       -9.99737965e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13119282, -0.08578133,  0.17242708])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002502253171180206
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36872474,  0.01427741, -0.92942898,  0.00526497,  0.99989807,
        0.01327119,  0.92952372,  0.        , -0.36876233])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12582861, -0.0367584 ,  0.29835392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002519263729463378
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09078541, -0.09078541,  0.99172376,  0.00827617,  0.99587048,
        0.09040739, -0.99583609,  0.        ,  0.09116186])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08866549, -0.03656024,  0.06194472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.19467362e-05, 1.31947681e-05, 3.32511968e-06,-2.49478764e-05,
  3.82242629e-04, 2.14646734e-02,-4.79206210e-04, 7.65392622e-05,
 -1.87997892e-05,-4.38503801e-05,-4.66908779e-06, 7.96226337e-06,
  1.01822846e-01,-1.37913141e-04,-2.10083723e-04, 1.03116054e-04,
 -2.03331629e-05, 1.80124765e-05,-9.81000176e+00,-6.47566457e-02,
 -2.97804123e-03,-1.18105513e-02]


--- Step 340 ---
qpos:
[ 0.00985354, 0.00806029,-0.00560474, 0.03343615, 0.00302405,-0.01570219,
 -0.00722478, 0.03910956, 0.01302488, 0.00594544,-0.01169826, 0.03403879,
  0.23983805, 0.00439761, 0.62855969, 0.04824506, 0.09473756,-0.06385993,
  0.14181202, 0.95775306,-0.05016725, 0.07800807, 0.27222613]

qacc:
[-2.61108652e-01, 9.74086025e-01,-2.75030412e+00, 2.83370722e+00,
 -1.65062012e+00, 7.32571418e-01,-3.74631625e+00, 1.28168364e+01,
  1.13890361e+00,-1.90592002e+00, 7.85557395e+00,-1.38321761e+01,
  4.42212139e+00,-1.12790751e+01,-9.91887135e+00, 2.62724779e+01,
  1.11722460e-01,-2.24393490e-01, 1.79929611e-03,-3.83612653e-02,
 -1.05552467e+00, 1.00650274e+01]

qfrc_actuator:
[ 8.92461812e-08, 3.14676949e-04, 5.74088760e-05, 6.84023723e-05,
  5.21756404e-04, 1.85435804e-02, 4.24180955e-04, 1.56570834e-04,
  1.26657054e-05, 6.52727499e-05,-1.67681234e-05, 2.23450161e-05,
  1.01428514e-01,-2.05442023e-04, 4.81561535e-02,-4.35064239e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31859798, -0.57935906,  1.18450145, -0.57935906,  3.11501815,
        0.87865853,  1.18450145,  0.87865853,  1.74836426,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6414568040934045e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99377148e-01,  3.01976047e-03, -3.51595950e-02,  3.01789336e-03,
        9.99995441e-01,  1.06174039e-04,  3.51597553e-02,  0.00000000e+00,
       -9.99381705e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13104066, -0.08360791,  0.17876706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7208377 , -0.31034213,  0.65061106, -0.31034213,  2.8144327 ,
        0.99864692,  0.65061106,  0.99864692,  1.19719329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010358795046953874
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99733000e-01,  3.02083572e-03, -2.29086042e-02,  3.02004294e-03,
        9.99995437e-01,  6.92034458e-05,  2.29087088e-02, -1.35525272e-20,
       -9.99737561e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13119387, -0.08578608,  0.17243186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00250236990773838
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36776135,  0.01455151, -0.92980635,  0.00535205,  0.99989412,
        0.01353152,  0.9299048 ,  0.        , -0.36780029])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12583122, -0.03677436,  0.29835197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025189876605376214
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09046233, -0.09046233,  0.99178281,  0.00821712,  0.99589988,
        0.09008835, -0.99586598,  0.        ,  0.09083476])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08866866, -0.03655857,  0.06194472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44673144e-06, 4.55209621e-05, 1.81468067e-06, 2.40929348e-06,
  3.91123462e-04, 2.13326015e-02,-5.88230592e-04, 3.79716376e-05,
  6.57715424e-06,-8.71993834e-06, 1.90486143e-05,-1.58504535e-05,
  1.01732416e-01, 5.11433566e-07,-2.91980743e-04, 4.00394984e-05,
 -9.13851305e-06, 7.09687458e-06,-9.81000144e+00,-6.47581196e-02,
 -2.97892425e-03,-1.18096544e-02]


--- Step 341 ---
qpos:
[ 0.00985393, 0.00806102,-0.00560481, 0.03343701, 0.00302676,-0.01574641,
 -0.00719984, 0.03911242, 0.01302526, 0.00594622,-0.01169717, 0.03403861,
  0.23987067, 0.00439471, 0.62988202, 0.04824096, 0.09473714,-0.06385988,
  0.14181251, 0.95775554,-0.05016719, 0.07799616, 0.27222082]

qacc:
[ 6.00776264e+00, 1.59405279e+00,-7.16392040e+00, 1.44475867e+01,
  2.41936745e+00,-3.26741089e-01,-1.93400014e+00, 2.06599058e+00,
  7.19156574e-01, 2.94933088e-01, 1.77342013e-01,-3.30417060e+00,
  4.28024147e+00,-9.00456810e+00,-1.13172602e+01, 3.07258108e+01,
  1.23263509e-01,-1.85922570e-01,-4.47904079e-03,-8.40231024e-02,
 -1.01452909e+00, 9.24653974e+00]

qfrc_actuator:
[ 3.54072998e-05, 3.01827594e-04, 3.94212168e-05, 8.72994432e-05,
  4.86684157e-04, 1.86217976e-02, 3.77238603e-04, 1.23881114e-04,
  1.67446470e-05, 9.27758808e-05,-1.81827583e-05, 1.41578827e-05,
  1.01410421e-01,-1.94629511e-04, 4.79747475e-02,-4.25876626e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31824842, -0.47589019,  1.22935244, -0.47589019,  3.57152804,
        0.87225895,  1.22935244,  0.87225895,  1.65590544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1429783247176658e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99376806e-01,  3.02217959e-03, -3.51691193e-02,  3.02030998e-03,
        9.99995433e-01,  1.06287880e-04,  3.51692800e-02,  0.00000000e+00,
       -9.99381370e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13104202, -0.08361386,  0.17876406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.72001258, -0.3723144 ,  0.61627924, -0.3723144 ,  3.45933711,
        1.65491536,  0.61627924,  1.65491536,  1.71980096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.853446578909648e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99732617e-01,  3.02325559e-03, -2.29249675e-02,  3.02246103e-03,
        9.99995430e-01,  6.93083528e-05,  2.29250723e-02,  0.00000000e+00,
       -9.99737186e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13119516, -0.08578972,  0.17243573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025025470256953425
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.66644220e-01,  1.48687720e-02, -9.30242407e-01,  5.45215203e-03,
        9.99889454e-01,  1.38330915e-02,  9.30345253e-01,  8.67361738e-19,
       -3.66684756e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12583449, -0.03679382,  0.29834963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025185220671153663
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09019744, -0.09019744,  0.99183106,  0.00816888,  0.9959239 ,
        0.08982677, -0.9958904 ,  0.        ,  0.0905666 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08867103, -0.03655744,  0.06194473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52904349e-05, 1.30606642e-05,-8.28706185e-06, 2.09548570e-05,
  3.65601703e-04, 2.13751582e-02,-6.61668937e-04,-2.49496193e-05,
  4.26568524e-06, 2.58519482e-05,-1.43849001e-06,-8.21437167e-06,
  1.01544369e-01, 1.06296781e-04,-3.06854421e-04, 5.73055143e-05,
 -2.74896737e-06, 1.25786113e-06,-9.81000065e+00,-6.47594362e-02,
 -2.98002880e-03,-1.18085388e-02]


--- Step 342 ---
qpos:
[ 0.00985508, 0.00806171,-0.00560468, 0.03343739, 0.00303015,-0.01579437,
 -0.00717658, 0.0391148 , 0.01302568, 0.00594722,-0.01169669, 0.03403871,
  0.2399087 , 0.0043916 , 0.63120152, 0.04824166, 0.09473724,-0.06386045,
  0.14181296, 0.95775353,-0.0501655 , 0.0779832 , 0.27223192]

qacc:
[ 6.72161174e+00,-1.57077400e+00, 7.52926267e+00,-1.60437409e+01,
  6.06079972e+00,-1.24723656e+00,-7.91142048e-01,-1.84188152e+00,
  3.82751067e-01, 2.61077485e+00,-1.00779764e+01, 1.58242991e+01,
  4.05727549e+00,-7.11438740e+00,-1.89290079e+01, 5.96629965e+01,
  1.30002090e-01,-1.54784276e-01,-9.05731012e-03,-1.17055991e-01,
 -9.67387027e-01, 8.50763541e+00]

qfrc_actuator:
[ 7.37855061e-05, 2.93749772e-04, 4.65363904e-05, 6.25464686e-05,
  4.64393443e-04, 1.86875961e-02, 3.57413197e-04, 8.54701883e-05,
  1.89906272e-05, 9.10701562e-05,-5.48979140e-05, 2.71803014e-05,
  1.01408791e-01,-1.68663375e-04, 4.79196989e-02,-3.99003272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31802965, -0.38823586,  1.25955352, -0.38823586,  3.89861593,
        0.79542164,  1.25955352,  0.79542164,  1.56320478,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.760435408447464e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99376062e-01,  3.02487603e-03, -3.51900130e-02,  3.02300253e-03,
        9.99995425e-01,  1.06445914e-04,  3.51901740e-02,  1.35525272e-20,
       -9.99380634e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13104369, -0.08361838,  0.17876165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71941453, -0.43047231,  0.57641206, -0.43047231,  3.84264636,
        2.33247167,  0.57641206,  2.33247167,  2.46133585,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.469638911944187e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99732167e-01,  3.02595388e-03, -2.29442386e-02,  3.02515728e-03,
        9.99995422e-01,  6.94285257e-05,  2.29443436e-02,  1.35525272e-20,
       -9.99736744e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13119684, -0.08579231,  0.17243881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002502794617335442
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36542607,  0.01521332, -0.93071604,  0.00555999,  0.99988427,
        0.01416092,  0.93082376,  0.        , -0.36546837])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12583815, -0.03681571,  0.29834701])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025179075809104714
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08997976, -0.08997976,  0.9918706 ,  0.00812933,  0.99594359,
        0.08961178, -0.99591042,  0.        ,  0.09034624])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08867277, -0.03655672,  0.06194474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.93852589e-05,-1.60430277e-06, 9.50597967e-06,-2.40771176e-05,
  3.29375503e-04, 2.15408315e-02,-6.34412482e-04,-5.51634660e-05,
  2.38019495e-06, 1.20638512e-05,-3.18577864e-05, 1.39167547e-05,
  1.01309560e-01, 1.79839086e-04,-1.83200623e-04, 2.33681634e-04,
 -3.45741066e-07,-3.10645569e-07,-9.80999949e+00,-6.47606063e-02,
 -2.98131921e-03,-1.18072138e-02]


--- Step 343 ---
qpos:
[ 0.00985668, 0.00806246,-0.00560419, 0.03343675, 0.00303465,-0.01584617,
 -0.00715394, 0.03911769, 0.01302613, 0.00594839,-0.01169638, 0.03403895,
  0.23995236, 0.00438859, 0.63251927, 0.04824473, 0.09473789,-0.06386154,
  0.14181336, 0.95774726,-0.05016233, 0.07796914, 0.27225859]

qacc:
[ 3.96918732e+00,-3.03487860e+00, 1.52153708e+01,-3.33966709e+01,
  9.51749156e+00,-2.33510826e+00,-1.17150334e+00, 1.36605767e+01,
  2.00612075e-01, 9.44742456e-01,-3.61162964e+00, 6.03432661e+00,
  3.77894119e+00,-5.90523474e+00,-9.89582154e+00, 3.04351775e+01,
  1.39278703e-01,-1.30894890e-01,-1.35378670e-02,-1.50837909e-01,
 -9.47706376e-01, 8.06649669e+00]

qfrc_actuator:
[ 9.58932818e-05, 3.06399259e-04, 6.83949855e-05, 1.23241138e-05,
  4.84745978e-04, 1.87307588e-02, 3.37219143e-04, 1.15006808e-04,
  2.01402982e-05, 1.07262878e-04,-5.89931461e-05, 3.47818455e-05,
  1.01411477e-01,-1.51720233e-04, 4.78606237e-02,-3.86746745e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31789664, -0.41590385,  1.2505501 , -0.41590385,  3.79712999,
        0.82453529,  1.2505501 ,  0.82453529,  1.59211788,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4802283698628603e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99374934e-01,  3.02826904e-03, -3.52217325e-02,  3.02639005e-03,
        9.99995415e-01,  1.06661371e-04,  3.52218940e-02,  1.35525272e-20,
       -9.99379517e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13104576, -0.08362153,  0.17875975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.718997  , -0.43049769,  0.57587188, -0.43049769,  3.48498696,
        2.06773818,  0.57587188,  2.06773818,  2.2647514 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.191821428934327e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99731590e-01,  3.02934976e-03, -2.29689352e-02,  3.02855055e-03,
        9.99995412e-01,  6.95812576e-05,  2.29690406e-02,  0.00000000e+00,
       -9.99736177e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13119897, -0.0857939 ,  0.17244117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025031175042930136
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36414646,  0.01557333, -0.93121148,  0.00567166,  0.99987873,
        0.01450382,  0.93132443,  0.        , -0.36419063])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.125842  , -0.03683919,  0.29834421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002517176563046978
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08980047, -0.08980047,  0.9919031 ,  0.00809684,  0.99595978,
        0.0894347 , -0.99592686,  0.        ,  0.09016475])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.088674  , -0.03655633,  0.06194476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32275317e-05, 1.26670137e-05, 2.18518350e-05,-5.04353305e-05,
  3.14820045e-04, 2.17729972e-02,-5.70513952e-04,-2.19354916e-06,
  1.22592417e-06, 1.69148185e-05,-5.06289431e-06, 7.28359311e-06,
  1.01042438e-01, 2.07461393e-04,-1.15531986e-04, 1.12095653e-04,
 -1.05748173e-06, 1.49613389e-06,-9.80999803e+00,-6.47616319e-02,
 -2.98276859e-03,-1.18056893e-02]


--- Step 344 ---
qpos:
[ 0.00985853, 0.00806298,-0.00560335, 0.03343625, 0.00304056,-0.01590314,
 -0.00713225, 0.03912111, 0.01302659, 0.00594963,-0.01169583, 0.03403926,
  0.24000135, 0.00438568, 0.633835  , 0.04824699, 0.0947391 ,-0.06386308,
  0.14181369, 0.95773707,-0.05015783, 0.07795403, 0.2722996 ]

qacc:
[ 2.23640621,-1.04714729, 2.7045212 ,-0.784453  ,12.3452011 ,-3.10891736,
 -1.07844602,15.55541436, 0.09790874,-0.43603226, 1.3997699 ,-0.60917286,
  3.48631133,-5.34633615,-0.72137143,-2.21462086, 0.13873859,-0.11013533,
 -0.01601943,-0.16481523,-0.89240903, 7.42836506]

qfrc_actuator:
[ 1.08246754e-04, 2.78142947e-04, 8.10952190e-05, 1.85592863e-05,
  4.94504972e-04, 1.87796787e-02, 2.98663144e-04, 1.31273875e-04,
  2.06361697e-05, 1.16413865e-04,-4.37236066e-05, 3.91697959e-05,
  1.01400562e-01,-1.58164336e-04, 4.77299019e-02,-3.92083890e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.3178238 , -0.41365966,  1.25121751, -0.41365966,  3.88456219,
        0.84857838,  1.25121751,  0.84857838,  1.59836866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3014252765559181e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99373428e-01,  3.03275334e-03, -3.52640654e-02,  3.03086703e-03,
        9.99995401e-01,  1.06947704e-04,  3.52642275e-02,  1.35525272e-20,
       -9.99378024e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13104821, -0.0836233 ,  0.17875834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71874451, -0.45219988,  0.55866711, -0.45219988,  3.37649714,
        2.151255  ,  0.55866711,  2.151255  ,  2.460027  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.019528771421065e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99730906e-01,  3.03383816e-03, -2.29980846e-02,  3.03303573e-03,
        9.99995398e-01,  6.97727878e-05,  2.29981905e-02,  0.00000000e+00,
       -9.99735507e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13120155, -0.08579443,  0.17244281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002503514487099411
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36283386,  0.01594043, -0.9317175 ,  0.00578446,  0.99987294,
        0.01485387,  0.93183589,  0.        , -0.36287997])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1258459 , -0.03686365,  0.29834132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025163558208917917
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.96527123e-02, -8.96527123e-02,  9.91929827e-01,  8.07010644e-03,
        9.95973088e-01,  8.92887575e-02, -9.95940392e-01, -1.73472348e-18,
        9.00151957e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08867485, -0.0365562 ,  0.06194477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30180925e-05,-1.88488508e-05, 1.62474526e-05, 6.54979492e-06,
  2.69922745e-04, 2.20153522e-02,-5.77855592e-04,-1.08469688e-05,
  5.40580668e-07, 1.78316275e-05, 1.83744957e-05, 5.07561173e-06,
  1.00750382e-01, 1.96642890e-04,-1.73540294e-04,-6.28418041e-05,
 -4.31243833e-06, 6.11654786e-06,-9.80999628e+00,-6.47625314e-02,
 -2.98435701e-03,-1.18039704e-02]


--- Step 345 ---
qpos:
[ 0.00986017, 0.00806316,-0.00560256, 0.03343621, 0.00304815,-0.01596681,
 -0.00711239, 0.03912461, 0.01302705, 0.00595066,-0.01169495, 0.03403964,
  0.24005547, 0.00438286, 0.63514889, 0.04824327, 0.09474084,-0.06386498,
  0.14181396, 0.95772334,-0.05015216, 0.07793794, 0.27235352]

qacc:
[-1.84714107e+00, 6.86340926e-01,-5.04925684e+00, 1.34444174e+01,
  1.46644424e+01,-3.58107574e+00,-5.33431223e-01, 1.00350005e+01,
  3.78137776e-02,-1.02561738e+00, 2.90641985e+00,-1.85993958e+00,
  3.19545894e+00,-4.72402230e+00, 1.52579610e+01,-5.76743760e+01,
  1.31807731e-01,-9.20157954e-02,-1.69340091e-02,-1.66004866e-01,
 -8.13328530e-01, 6.68072158e+00]

qfrc_actuator:
[ 9.70126391e-05, 2.43373457e-04, 7.04090072e-05, 4.01739557e-05,
  4.97145531e-04, 1.88349127e-02, 2.67421386e-04, 1.21599443e-04,
  2.07435859e-05, 8.58558768e-05,-3.49311065e-05, 4.16371572e-05,
  1.01391961e-01,-1.60925262e-04, 4.76042119e-02,-4.23732660e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31779058, -0.38277523,  1.26097388, -0.38277523,  4.08936167,
        0.84132493,  1.26097388,  0.84132493,  1.57317917,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2111251091588302e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99371560e-01,  3.03865383e-03, -3.53164431e-02,  3.03675824e-03,
        9.99995383e-01,  1.07314940e-04,  3.53166061e-02,  1.35525272e-20,
       -9.99376174e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13105111, -0.08362377,  0.17875736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71862739, -0.49231761,  0.5234966 , -0.49231761,  3.34866879,
        2.47339846,  0.5234966 ,  2.47339846,  3.04471242,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.938436879253957e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99730076e-01,  3.03974392e-03, -2.30333435e-02,  3.03893746e-03,
        9.99995380e-01,  7.00157893e-05,  2.30334499e-02,  0.00000000e+00,
       -9.99734695e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13120463, -0.08579399,  0.17244381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025039783775982895
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36150572,  0.01630968, -0.93222723,  0.00589683,  0.99986699,
        0.01520635,  0.93235124,  0.        , -0.36155382])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12584977, -0.03688872,  0.29833837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00251546729638751
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08953081, -0.08953081,  0.99195185,  0.00804809,  0.99598405,
        0.08916835, -0.99595154,  0.        ,  0.08989181])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08867538, -0.03655627,  0.06194479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08731441e-05,-4.17018953e-05,-1.23692116e-05, 2.14937683e-05,
  2.01653826e-04, 2.23304825e-02,-5.61225033e-04,-4.67943598e-05,
  1.32619608e-07,-1.66240691e-05, 1.48933342e-05, 3.96139548e-06,
  1.00475858e-01, 1.89653454e-04,-2.12846359e-04,-3.42733970e-04,
 -9.52457097e-06, 1.28936126e-05,-9.80999435e+00,-6.47632849e-02,
 -2.98607407e-03,-1.18020683e-02]


--- Step 346 ---
qpos:
[ 0.00986098, 0.0080633 ,-0.00560257, 0.03343645, 0.00305765,-0.01603822,
 -0.00709504, 0.03912782, 0.01302751, 0.00595159,-0.01169454, 0.03404045,
  0.2401141 , 0.00438014, 0.63646007, 0.04823708, 0.09474306,-0.06386718,
  0.14181415, 0.95770648,-0.05014548, 0.07792097, 0.27241887]

qacc:
[-7.37192080e+00, 2.74936110e+00,-1.10130646e+01, 1.70222818e+01,
  1.65182928e+01,-3.83926853e+00, 7.15227557e-02, 4.49263589e+00,
 -3.22294982e-02, 2.05130869e+00,-9.25578758e+00, 1.72584657e+01,
  2.90398268e+00,-4.37688521e+00, 3.27381076e+00,-1.76276921e+01,
  1.21885274e-01,-7.65124430e-02,-1.69156256e-02,-1.60273603e-01,
 -7.26504663e-01, 5.92324522e+00]

qfrc_actuator:
[ 5.42361655e-05, 2.40392808e-04, 2.82127759e-05, 5.28779133e-05,
  4.94679742e-04, 1.88975486e-02, 2.59586485e-04, 9.65850336e-05,
  2.06214600e-05, 6.72354121e-05,-6.57101795e-05, 6.06660923e-05,
  1.01384575e-01,-1.79259268e-04, 4.74869224e-02,-4.35112298e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31778383, -0.35458409,  1.26918255, -0.35458409,  4.27338745,
        0.82573624,  1.26918255,  0.82573624,  1.54847794,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1919609686209573e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99369357e-01,  3.04623842e-03, -3.53780753e-02,  3.04433146e-03,
        9.99995360e-01,  1.07770552e-04,  3.53782394e-02,  0.00000000e+00,
       -9.99373994e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1310545 , -0.08362315,  0.17875669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.718614  , -0.53555583,  0.47915138, -0.53555583,  3.19595431,
        2.76896634,  0.47915138,  2.76896634,  3.81353583,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.929123021171331e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99729043e-01,  3.04733480e-03, -2.30771459e-02,  3.04652325e-03,
        9.99995357e-01,  7.03241164e-05,  2.30772531e-02,  0.00000000e+00,
       -9.99733685e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13120827, -0.0857927 ,  0.17244427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002504503885315271
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36017684,  0.01667689, -0.93273497,  0.00600746,  0.99986093,
        0.01555728,  0.9328647 ,  0.        , -0.36022694])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12585356, -0.03691404,  0.2983354 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002514528499198057
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.94300397e-02, -8.94300397e-02,  9.91970028e-01,  8.02990698e-03,
        9.95993106e-01,  8.90688082e-02, -9.95960736e-01, -1.73472348e-18,
        8.97898179e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08867566, -0.0365565 ,  0.06194481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.31025782e-05,-2.79593476e-05,-5.16026437e-05, 1.09053752e-05,
  1.14877862e-04, 2.27307183e-02,-4.76789963e-04,-7.62790686e-05,
 -1.20676909e-07,-2.47176021e-05,-3.22642546e-05, 1.89038733e-05,
  1.00211887e-01, 1.67516321e-04,-2.53250277e-04,-1.60575895e-04,
 -1.60220696e-05, 2.10627335e-05,-9.80999236e+00,-6.47638679e-02,
 -2.98790930e-03,-1.17999992e-02]


--- Step 347 ---
qpos:
[ 0.00986127, 0.00806342,-0.00560342, 0.03343684, 0.00306921,-0.01611831,
 -0.00708104, 0.03913019, 0.01302797, 0.00595235,-0.01169448, 0.03404147,
  0.24017717, 0.00437787, 0.63776766, 0.04823125, 0.09474572,-0.06386964,
  0.14181429, 0.9576869 ,-0.05013794, 0.07790323, 0.27249419]

qacc:
[-4.58094109e+00, 2.64326391e+00,-1.00918811e+01, 1.40554739e+01,
  1.79026863e+01,-3.90237950e+00, 6.99166887e-01,-3.26401462e+00,
 -5.11807308e-02, 1.20022907e+00,-5.54844391e+00, 1.00785262e+01,
  2.62336632e+00,-3.29626058e+00,-6.47760858e+00, 1.47056359e+01,
  1.09567099e-01,-6.29091736e-02,-1.60336229e-02,-1.49660590e-01,
 -6.30897869e-01, 5.15299692e+00]

qfrc_actuator:
[ 2.87502881e-05, 2.38574248e-04,-1.43755317e-05, 6.02414261e-05,
  4.88261017e-04, 1.89328298e-02, 2.49459776e-04, 4.49698583e-05,
  2.03654164e-05, 5.57513925e-05,-8.40538908e-05, 7.15140869e-05,
  1.01377790e-01,-1.53724592e-04, 4.73215616e-02,-4.32668827e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31779668, -0.33301272,  1.27502573, -0.33301272,  4.42264978,
        0.81092919,  1.27502573,  0.81092919,  1.52959612,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2282156654858106e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99366847e-01,  3.05572171e-03, -3.54481014e-02,  3.05380123e-03,
        9.99995331e-01,  1.08320039e-04,  3.54482669e-02, -1.35525272e-20,
       -9.99371513e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1310584 , -0.08362159,  0.17875624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71867895, -0.5789905 ,  0.42575748, -0.5789905 ,  2.89226436,
        2.95587364,  0.42575748,  2.95587364,  4.7383917 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.974229046347952e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99727765e-01,  3.05682527e-03, -2.31311990e-02,  3.05600737e-03,
        9.99995328e-01,  7.07083639e-05,  2.31313070e-02,  0.00000000e+00,
       -9.99732436e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1312125 , -0.08579068,  0.1724443 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002505081494489047
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35885412,  0.01704032, -0.9332381 ,  0.00611588,  0.9998548 ,
        0.01590498,  0.93337362,  0.        , -0.35890623])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12585723, -0.03693945,  0.29833243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002513553294033152
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08934651, -0.08934651,  0.99198508,  0.00801485,  0.9960006 ,
        0.08898629, -0.99596835,  0.        ,  0.08970527])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08867574, -0.03655686,  0.06194483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67224838e-05,-2.76686405e-05,-5.43431947e-05, 4.59306130e-06,
  1.34163288e-05, 2.31551635e-02,-3.60395517e-04,-1.12724059e-04,
 -2.64065233e-07,-3.11994285e-05,-2.67862624e-05, 9.03569296e-06,
  9.99805763e-02, 1.88735222e-04,-2.97241123e-04,-1.68104176e-05,
 -2.32141090e-05, 2.99518691e-05,-9.80999038e+00,-6.47642647e-02,
 -2.98985178e-03,-1.17977807e-02]


--- Step 348 ---
qpos:
[ 0.0098609 , 0.00806331,-0.00560417, 0.03343693, 0.00308297,-0.01620627,
 -0.00706965, 0.03913213, 0.01302842, 0.00595334,-0.01169455, 0.0340422 ,
  0.24024459, 0.00437629, 0.63907218, 0.0482269 , 0.09474879,-0.06387231,
  0.14181436, 0.95766488,-0.05012966, 0.07788479, 0.27257834]

qacc:
[-5.72332445e+00,-1.18181178e+00, 5.07138897e+00,-1.02795011e+01,
  1.91355639e+01,-4.00671309e+00, 1.01998304e+00, 1.35740469e+00,
 -6.92897250e-02, 7.39477759e-02, 1.40434702e+00,-6.39266296e+00,
  2.32916771e+00,-2.35087773e+00,-9.11255198e+00, 2.50542733e+01,
  1.00671265e-01,-5.21474397e-02,-1.55208529e-02,-1.43683745e-01,
 -5.57007693e-01, 4.57175738e+00]

qfrc_actuator:
[-4.09719068e-06, 2.37450700e-04,-3.57750461e-06, 4.66607698e-05,
  4.78549079e-04, 1.89734951e-02, 2.75287014e-04, 3.13006397e-05,
  2.00326401e-05, 1.01918779e-04,-7.71227155e-05, 5.97269513e-05,
  1.01381860e-01,-1.20014126e-04, 4.72127455e-02,-4.23889858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31782464, -0.36451989,  1.26640713, -0.36451989,  4.34066642,
        0.87008824,  1.26640713,  0.87008824,  1.56826896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3036185465009163e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99364060e-01,  3.06726476e-03, -3.55255902e-02,  3.06532859e-03,
        9.99995296e-01,  1.08966904e-04,  3.55257573e-02,  1.35525272e-20,
       -9.99368761e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13106284, -0.0836193 ,  0.17875592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7187972 , -0.6010827 ,  0.39416875, -0.6010827 ,  2.54380708,
        2.783026  ,  0.39416875,  2.783026  ,  4.96273791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.055760976386755e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99726198e-01,  3.06837625e-03, -2.31972690e-02,  3.06755056e-03,
        9.99995293e-01,  7.11782841e-05,  2.31973782e-02, -2.71050543e-20,
       -9.99730905e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13121734, -0.08578806,  0.17244401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025057090034921853
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35754866,  0.01739682, -0.93373246,  0.00622115,  0.99984866,
        0.01624644,  0.93387379,  0.        , -0.35760277])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12586074, -0.03696469,  0.2983295 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025125524063664474
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08927698, -0.08927698,  0.9919976 ,  0.00800233,  0.99600684,
        0.08891761, -0.99597469,  0.        ,  0.0896349 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08867567, -0.03655732,  0.06194485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.36160330e-05,-2.76299488e-05,-1.44310431e-06,-1.65553141e-05,
 -9.93942467e-05, 2.36328563e-02,-1.67073290e-04,-8.47908403e-05,
 -3.47802874e-07, 2.35456953e-05,-2.51138971e-06,-1.38790640e-05,
  9.97624521e-02, 2.00443943e-04,-2.41915844e-04, 4.95973317e-05,
 -3.05619784e-05, 3.89414173e-05,-9.80998852e+00,-6.47644593e-02,
 -2.99189025e-03,-1.17954324e-02]


--- Step 349 ---
qpos:
[ 0.00986049, 0.00806296,-0.00560456, 0.03343753, 0.00309902,-0.01630111,
 -0.00706012, 0.03913404, 0.01302886, 0.00595508,-0.01169488, 0.03404342,
  0.24031574, 0.00437524, 0.6403746 , 0.04822373, 0.09475221,-0.06387515,
  0.14181437, 0.95764075,-0.05012075, 0.07786576, 0.27267017]

qacc:
[-3.88871559e-01,-3.01842385e-01,-1.55143398e+00, 9.98472830e+00,
  1.98767266e+01,-4.00609129e+00, 1.07556898e+00, 6.76658001e+00,
 -8.98308452e-02, 2.70760773e+00,-1.02433385e+01, 1.84519390e+01,
  2.03938012e+00,-2.16650007e+00,-6.74145534e+00, 1.88813110e+01,
  8.99230624e-02,-4.27406248e-02,-1.47688699e-02,-1.32997006e-01,
 -4.80150463e-01, 3.97679020e+00]

qfrc_actuator:
[-5.51482043e-06, 2.36953456e-04, 2.08942870e-05, 7.41623405e-05,
  4.65894713e-04, 1.90910502e-02, 2.87803930e-04, 4.03445716e-05,
  1.96578039e-05, 1.82343877e-04,-7.28557914e-05, 8.80407379e-05,
  1.01381640e-01,-1.17320988e-04, 4.71539171e-02,-4.16762040e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31786872, -0.42598977,  1.24712095, -0.42598977,  4.23792012,
        0.99742694,  1.24712095,  0.99742694,  1.65856837,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4143555245393742e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99361019e-01,  3.08100926e-03, -3.56098440e-02,  3.07905517e-03,
        9.99995254e-01,  1.09714780e-04,  3.56100130e-02,  0.00000000e+00,
       -9.99365762e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13106776, -0.08361633,  0.17875572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71896536, -0.61136564,  0.37834277, -0.61136564,  2.29565398,
        2.54777759,  0.37834277,  2.54777759,  4.83592962,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.170417529281522e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99724377e-01,  3.08212949e-03, -2.32738195e-02,  3.08129462e-03,
        9.99995250e-01,  7.17332660e-05,  2.32739300e-02, -1.35525272e-20,
       -9.99729125e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13122274, -0.08578491,  0.17244341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00250638355363163
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35626918,  0.01774395, -0.93421487,  0.00632262,  0.99984256,
        0.01657927,  0.93436197,  0.        , -0.35632528])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12586404, -0.03698957,  0.29832661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002511534786765626
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.92189134e-02, -8.92189134e-02,  9.92008050e-01,  7.99188583e-03,
        9.96012041e-01,  8.88602514e-02, -9.95979977e-01, -1.73472348e-18,
        8.95761394e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08867548, -0.03655787,  0.06194487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38315690e-06,-1.69537251e-05, 1.80254568e-05, 2.59486352e-05,
 -2.22233180e-04, 2.41464796e-02,-2.24985454e-05,-5.34251044e-05,
 -3.72623903e-07, 9.24431487e-05, 8.32913217e-06, 2.89622119e-05,
  9.95452137e-02, 1.69280460e-04,-1.61756553e-04, 4.32840855e-05,
 -3.79275808e-05, 4.78950975e-05,-9.80998675e+00,-6.47644740e-02,
 -2.99401033e-03,-1.17929699e-02]


--- Step 350 ---
qpos:
[ 0.00986041, 0.00806255,-0.005605  , 0.0334388 , 0.00311738,-0.01640251,
 -0.00705229, 0.039136  , 0.01302963, 0.00595697,-0.01169495, 0.03404536,
  0.24039024, 0.00437458, 0.64167548, 0.04821703, 0.09475594,-0.06387812,
  0.14181433, 0.95761485,-0.05011133, 0.07784625, 0.27276841]

qacc:
[ 2.90185829e+00, 1.49574169e+00,-8.30039715e+00, 2.01437991e+01,
  2.00050841e+01,-3.86107857e+00, 9.28650152e-01, 7.44092160e+00,
  2.97575524e+00, 9.08783530e-01,-6.01437743e+00, 1.79136718e+01,
  1.77375749e+00,-1.92723558e+00, 8.32296147e+00,-3.25978771e+01,
  7.64398620e-02,-3.40225558e-02,-1.34771258e-02,-1.16781986e-01,
 -3.92905892e-01, 3.32132742e+00]

qfrc_actuator:
[ 1.15798170e-05, 2.36944229e-04, 1.77570456e-05, 1.07869682e-04,
  4.32755772e-04, 1.91858971e-02, 2.39349711e-04, 4.50121987e-05,
  3.70140571e-05, 1.58437348e-04,-7.00105656e-05, 1.22005096e-04,
  1.01373419e-01,-1.15613330e-04, 4.70611947e-02,-4.35507490e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31793061, -0.51410235,  1.21352374, -0.51410235,  4.07885866,
        1.16965128,  1.21352374,  1.16965128,  1.81344664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.556593289080473e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99357749e-01,  3.09704021e-03, -3.57001128e-02,  3.09506598e-03,
        9.99995204e-01,  1.10565215e-04,  3.57002840e-02,  0.00000000e+00,
       -9.99362542e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13107311, -0.08361274,  0.17875562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71918051, -0.61512932,  0.37260774, -0.61512932,  2.11555093,
        2.30523493,  0.37260774,  2.30523493,  4.52483839,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.314980350400804e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99722338e-01,  3.09817008e-03, -2.33590991e-02,  3.09732471e-03,
        9.99995201e-01,  7.23708094e-05,  2.33592112e-02,  0.00000000e+00,
       -9.99727136e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1312286 , -0.08578126,  0.17244255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002507096226932552
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35501712,  0.01808156, -0.93468492,  0.00642031,  0.99983652,
        0.01690332,  0.93483775,  0.        , -0.35507517])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12586715, -0.03701404,  0.29832378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025105084620505856
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0891702 , -0.0891702 ,  0.99201681,  0.00798313,  0.9960164 ,
        0.08881213, -0.99598441,  0.        ,  0.08952684])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08867519, -0.03655847,  0.06194489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70204125e-05,-4.63809594e-06,-3.51356267e-06, 3.41100297e-05,
 -3.69807547e-04, 2.45888931e-02, 2.23899057e-05,-4.78561315e-05,
  1.73818109e-05, 3.06888661e-05, 2.39494565e-05, 3.87719385e-05,
  9.93503585e-02, 1.44503994e-04,-1.64376479e-04,-2.06607108e-04,
 -4.49803488e-05, 5.64278898e-05,-9.80998513e+00,-6.47643025e-02,
 -2.99620440e-03,-1.17904093e-02]


--- Step 351 ---
qpos:
[ 0.00986019, 0.00806246,-0.00560562, 0.03343974, 0.00313802,-0.01651024,
 -0.00704614, 0.03913798, 0.01303096, 0.0059588 ,-0.01169506, 0.03404704,
  0.24046712, 0.004374  , 0.64297352, 0.04820826, 0.09475993,-0.0638812 ,
  0.14181424, 0.9575875 ,-0.05010151, 0.07782636, 0.2728719 ]

qacc:
[-1.23689380e+00, 1.79924126e-01, 1.40564912e+00,-7.24759553e+00,
  1.98970719e+01,-3.65917141e+00, 8.09895369e-01, 6.79847187e+00,
  4.81247886e+00,-4.48932229e-01, 2.55741955e+00,-6.78219950e+00,
  1.52333401e+00,-2.21459027e+00, 1.97437318e+00,-1.31786549e+01,
  6.33630630e-02,-2.64802192e-02,-1.20498274e-02,-1.00328251e-01,
 -3.10664389e-01, 2.71263510e+00]

qfrc_actuator:
[ 3.91809272e-06, 2.72641109e-04, 1.60939747e-05, 9.16738023e-05,
  4.04147944e-04, 1.92518018e-02, 1.90416089e-04, 4.70027571e-05,
  6.46666585e-05, 1.25504925e-04,-8.61909123e-05, 1.05674201e-04,
  1.01354972e-01,-1.50052926e-04, 4.69002289e-02,-4.46275007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31800975, -0.5961082 ,  1.1755019 , -0.5961082 ,  3.87835043,
        1.29837313,  1.1755019 ,  1.29837313,  1.97642713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7214272379099515e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99354279e-01,  3.11537296e-03, -3.57955243e-02,  3.11337640e-03,
        9.99995147e-01,  1.11516950e-04,  3.57956980e-02,  0.00000000e+00,
       -9.99359129e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13107884, -0.08360867,  0.17875558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71943076, -0.61933904,  0.36605979, -0.61933904,  1.96275213,
        2.10358386,  0.36605979,  2.10358386,  4.27849857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.480265527937272e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99720091e-01,  3.11651333e-03, -2.34526484e-02,  3.11565613e-03,
        9.99995144e-01,  7.30908465e-05,  2.34527623e-02,  0.00000000e+00,
       -9.99724946e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13123491, -0.08577722,  0.17244148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025078403759727706
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35379471,  0.01840919, -0.93514192,  0.00651418,  0.99983054,
        0.01721812,  0.93530042,  0.        , -0.35385467])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12587005, -0.03703802,  0.29832102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002509480263763847
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.91289974e-02, -8.91289974e-02,  9.92024215e-01,  7.97572082e-03,
        9.96020091e-01,  8.87714259e-02, -9.95988157e-01,  1.73472348e-18,
        8.94851401e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08867482, -0.03655913,  0.06194492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.17820098e-06, 3.38625414e-05,-1.86711136e-06,-1.58539490e-05,
 -5.13615738e-04, 2.49866869e-02, 5.98583267e-05,-4.77959501e-05,
  2.81610798e-05,-9.22579569e-06,-5.57543866e-06,-1.34415106e-05,
  9.91651172e-02, 9.18543279e-05,-2.63215772e-04,-1.41433544e-04,
 -5.13285452e-05, 6.40769991e-05,-9.80998373e+00,-6.47639302e-02,
 -2.99846508e-03,-1.17877681e-02]


--- Step 352 ---
qpos:
[ 0.00986022, 0.00806264,-0.00560596, 0.0334401 , 0.00316094,-0.0166235 ,
 -0.00704124, 0.03914017, 0.01303226, 0.00596108,-0.01169557, 0.03404847,
  0.24054571, 0.00437352, 0.64426806, 0.04820385, 0.09476412,-0.06388436,
  0.1418141 , 0.95755897,-0.05009139, 0.07780619, 0.27297961]

qacc:
[ 2.24078902e+00,-1.56296808e+00, 8.49401951e+00,-1.89835559e+01,
  1.96852055e+01,-3.43802475e+00, 6.31179812e-01, 9.36462517e+00,
 -2.30873794e-01, 1.18539366e+00,-2.32315070e+00,-1.66371486e+00,
  1.31095244e+00,-2.11183643e+00,-1.84007971e+01, 5.67182811e+01,
  5.18927984e-02,-2.00832184e-02,-1.07453060e-02,-8.61812435e-02,
 -2.37766019e-01, 2.18691449e+00]

qfrc_actuator:
[ 1.72460008e-05, 2.93903077e-04, 3.31900851e-05, 6.40324714e-05,
  3.95101471e-04, 1.93737348e-02, 1.59610503e-04, 6.51544499e-05,
  6.26470995e-05, 1.76050056e-04,-9.58237972e-05, 9.53537200e-05,
  1.01346333e-01,-1.70541658e-04, 4.67837023e-02,-4.22081512e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31810455, -0.67238276,  1.13371117, -0.67238276,  3.65330911,
        1.38496588,  1.13371117,  1.38496588,  2.13950175,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9001009872887457e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99350637e-01,  3.13599591e-03, -3.58952519e-02,  3.13397492e-03,
        9.99995083e-01,  1.12567917e-04,  3.58954284e-02,  0.00000000e+00,
       -9.99355551e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13108494, -0.08360424,  0.17875556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71970362, -0.61932524,  0.36661909, -0.61932524,  1.86732606,
        1.93866487,  0.36661909,  1.93866487,  3.99466699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.657143616380491e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99717639e-01,  3.13714758e-03, -2.35542048e-02,  3.13627720e-03,
        9.99995079e-01,  7.38933803e-05,  2.35543208e-02, -1.35525272e-20,
       -9.99722559e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13124163, -0.08577288,  0.17244026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025086040331543107
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.52597218e-01,  1.87285989e-02, -9.35587752e-01,  6.60481033e-03,
        9.99824604e-01,  1.75253216e-02,  9.35751879e-01, -8.67361738e-19,
       -3.52659073e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1258728 , -0.03706157,  0.29831831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002508455597728203
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0890938 , -0.0890938 ,  0.99203054,  0.0079694 ,  0.99602324,
        0.08873665, -0.99599136,  0.        ,  0.08944951])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08867439, -0.03655983,  0.06194494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31366800e-05, 3.91395943e-05, 2.33190262e-05,-2.65636106e-05,
 -6.37280216e-04, 2.54285957e-02, 1.14577838e-04,-2.99653355e-05,
 -1.21549668e-06, 4.36034849e-05,-1.27140322e-05,-1.11788577e-05,
  9.90374901e-02, 6.73361117e-05,-2.52472124e-04, 2.00179355e-04,
 -5.68195074e-05, 7.06690184e-05,-9.80998256e+00,-6.47633671e-02,
 -3.00078156e-03,-1.17850635e-02]


--- Step 353 ---
qpos:
[ 0.00986076, 0.00806293,-0.00560602, 0.03344015, 0.00318175,-0.01671483,
 -0.00703493, 0.03913881, 0.01303284, 0.00596331,-0.01169605, 0.0340505 ,
  0.24061322, 0.00438058, 0.64556059, 0.0482022 , 0.09476662,-0.06388526,
  0.1418141 , 0.95754519,-0.05008819, 0.07779141, 0.27303276]

qacc:
[ 4.43372570e+00,-1.30032967e+00, 6.15426098e+00,-1.21050698e+01,
 -1.85597613e+01, 1.78003698e+01,-6.32844563e+00,-7.36452036e+01,
 -6.36128060e+00, 1.09416341e+00,-6.48814885e+00, 1.67083527e+01,
 -1.51962860e+01, 3.93216236e+01,-1.03669561e+01, 3.42489334e+01,
 -4.23392060e-01, 5.64785399e-01, 3.31480225e-02,-8.92356945e-02,
  4.32098725e+00,-2.82676840e+01]

qfrc_actuator:
[ 4.28288815e-05, 2.88672008e-04, 4.34264343e-05, 4.76439173e-05,
  3.96899011e-04, 1.95132746e-02, 1.75411864e-04, 7.50328471e-05,
  2.54239120e-05, 1.51938591e-04,-1.01163046e-04, 1.24241465e-04,
  1.01354206e-01,-1.47188717e-04, 4.67099778e-02,-4.07650417e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.3182144 , -1.2274681 ,  0.48063631, -1.2274681 ,  1.43312907,
        0.29347364,  0.48063631,  0.29347364,  2.06769905,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0881013145942002e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99346849e-01,  3.15888500e-03, -3.59985707e-02,  3.15683752e-03,
        9.99995011e-01,  1.13715912e-04,  3.59987503e-02,  0.00000000e+00,
       -9.99351835e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13109134, -0.08359953,  0.17875554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71999344, -0.36146591,  0.62268207, -0.36146591,  1.74394242,
        0.59440068,  0.62268207,  0.59440068,  1.06504205,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.841408778573675e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99715009e-01,  3.16004873e-03, -2.36625322e-02,  3.15916392e-03,
        9.99995007e-01,  7.47751283e-05,  2.36626504e-02,  0.00000000e+00,
       -9.99720000e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13124869, -0.0857683 ,  0.17243892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002509378510671604
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.51422205e-01,  1.90407801e-02, -9.36023441e-01,  6.69256624e-03,
        9.99818708e-01,  1.78258482e-02,  9.36193165e-01,  8.67361738e-19,
       -3.51485927e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12587541, -0.03708472,  0.29831565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002488749642986024
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46096709e-14, -4.18215664e-15,  1.00000000e+00,  1.86564631e-28,
        1.00000000e+00,  4.18215664e-15, -1.00000000e+00,  0.00000000e+00,
        4.46096709e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10601418, -0.06044294,  0.06194493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.59706764e-05, 2.03357817e-05, 2.02747477e-05,-1.44225389e-05,
 -7.48893845e-04, 2.58489993e-02, 1.93491462e-04,-3.10429081e-05,
 -3.72345472e-05,-2.90968580e-06, 1.69217123e-06, 3.00919911e-05,
  9.89602174e-02, 8.67571808e-05,-1.66229031e-04, 1.23097076e-04,
 -6.14422548e-05, 7.61995796e-05,-9.80998163e+00,-6.47626336e-02,
 -3.00314175e-03,-1.17823108e-02]


--- Step 354 ---
qpos:
[ 0.0098616 , 0.00806343,-0.00560599, 0.03344001, 0.00319838,-0.01678517,
 -0.00702563, 0.03913754, 0.01303262, 0.0059649 ,-0.01169632, 0.03405326,
  0.2406654 , 0.00439184, 0.64685134, 0.04819671, 0.09476754,-0.063884  ,
  0.1418142 , 0.95754594,-0.05009081, 0.07778071, 0.27303269]

qacc:
[ 2.65356039e+00,-4.02165745e-01, 2.67348678e+00,-6.40276187e+00,
 -3.64355600e+01, 1.96147349e+01,-2.99352959e+01, 1.10545872e+01,
 -6.97405943e+00, 9.34389263e-02,-4.61352574e+00, 1.74315260e+01,
 -1.47698213e+01, 3.18225593e+01, 9.80370775e+00,-3.60852875e+01,
 -3.92206080e-01, 5.41826113e-01, 2.31614319e-02, 2.08128084e-01,
  3.51446219e+00,-2.75867184e+01]

qfrc_actuator:
[ 5.76606192e-05, 3.03105515e-04, 4.94247670e-05, 3.79789418e-05,
  3.90918175e-04, 1.96026128e-02, 2.17034246e-04, 8.36369127e-05,
 -1.44597099e-05, 8.33592549e-05,-1.04184172e-04, 1.58161415e-04,
  1.01357098e-01,-1.40531177e-04, 4.65660631e-02,-4.29270509e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31816237, -1.29080366,  0.26716652, -1.29080366,  1.31051723,
       -0.03693717,  0.26716652, -0.03693717,  1.139702  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0012713966098788e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99344447e-01,  3.17967276e-03, -3.60633728e-02,  3.17760438e-03,
        9.99994945e-01,  1.14670304e-04,  3.60635551e-02, -1.35525272e-20,
       -9.99349498e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13109605, -0.08359836,  0.17875427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71983418, -0.26913852,  0.66762692, -0.26913852,  0.66041399,
       -0.02395389,  0.66762692, -0.02395389,  0.71017772,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.740598156005583e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99712927e-01,  3.18084518e-03, -2.37475260e-02,  3.17994813e-03,
        9.99994941e-01,  7.55375858e-05,  2.37476462e-02,  0.00000000e+00,
       -9.99717985e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13125382, -0.08576637,  0.17243965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00250996408775819
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35077572,  0.01920406, -0.93626257,  0.00673756,  0.99981558,
        0.01798336,  0.93643526,  0.        , -0.35084042])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12587585, -0.03709643,  0.2983143 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024884558110219446
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.23074691e-14,  9.75951775e-15,  1.00000000e+00, -2.17710141e-28,
        1.00000000e+00, -9.75951775e-15, -1.00000000e+00,  0.00000000e+00,
        2.23074691e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10601787, -0.06044092,  0.06194494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55776603e-05, 2.93729412e-05, 1.21927688e-05,-8.37456737e-06,
 -6.49526496e-04, 2.48446415e-02, 1.66064174e-04, 1.55521181e-04,
 -4.09373922e-05,-6.86578743e-05,-2.39531505e-06, 3.44327331e-05,
  9.95147172e-02,-2.84394970e-04,-2.23985167e-04,-2.34499811e-04,
 -1.49646651e-05, 2.02211898e-05,-9.80999364e+00,-6.47569216e-02,
 -3.00534132e-03,-1.17804285e-02]


--- Step 355 ---
qpos:
[ 0.00986227, 0.00806412,-0.00560589, 0.0334401 , 0.00320981,-0.01683496,
 -0.00701487, 0.03913585, 0.01303227, 0.00596627,-0.01169644, 0.03405602,
  0.24069944, 0.00440502, 0.64813936, 0.04819268, 0.094767  ,-0.06388064,
  0.14181435, 0.95756102,-0.05009834, 0.07777304, 0.2729806 ]

qacc:
[-1.52300256e+00, 5.37949461e-01,-2.56686750e+00, 6.42104373e+00,
 -4.51769674e+01, 2.23250313e+01,-3.83051836e+01, 1.35555743e+01,
 -1.15128661e+00,-7.47029688e-01, 2.23866009e+00,-2.40812584e+00,
 -1.40784223e+01, 2.57973423e+01,-7.72157055e+00, 2.29182693e+01,
 -3.67228037e-01, 5.21976320e-01, 1.44368001e-02, 4.40794869e-01,
  2.86845219e+00,-2.69791577e+01]

qfrc_actuator:
[ 4.82892511e-05, 3.11434109e-04, 5.29509335e-05, 5.01100104e-05,
  3.29929624e-04, 1.96717611e-02, 2.00984735e-04, 5.37520264e-05,
 -2.00734455e-05, 9.52046945e-05,-8.82670610e-05, 1.59214556e-04,
  1.01352456e-01,-1.79057582e-04, 4.64599722e-02,-4.20489760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31797206, -1.30476277,  0.18613025, -1.30476277,  1.31230406,
       -0.03973241,  0.18613025, -0.03973241,  1.03945009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.644992688209851e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99343376e-01,  3.19628604e-03, -3.60915600e-02,  3.19420359e-03,
        9.99994892e-01,  1.15359539e-04,  3.60917444e-02, -1.35525272e-20,
       -9.99348481e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13109915, -0.08360077,  0.17875177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71925082, -0.22219315,  0.68407013, -0.22219315,  0.56333858,
       -0.05064193,  0.68407013, -0.05064193,  0.70280179,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.361726173596795e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99711423e-01,  3.19746319e-03, -2.38085472e-02,  3.19655682e-03,
        9.99994888e-01,  7.61273425e-05,  2.38086689e-02,  0.00000000e+00,
       -9.99716533e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13125711, -0.08576715,  0.17244236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025103359883763827
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.50483073e-01,  1.92708286e-02, -9.36370787e-01,  6.75535371e-03,
        9.99814300e-01,  1.80479925e-02,  9.36544703e-01, -8.67361738e-19,
       -3.50548170e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12587499, -0.03710015,  0.29831385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002488103125810409
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.23106312e-14, -8.36648670e-15,  1.00000000e+00,  1.86661599e-28,
        1.00000000e+00,  8.36648670e-15, -1.00000000e+00,  0.00000000e+00,
        2.23106312e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10602062, -0.06043958,  0.06194495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.91906168e-06, 2.68982883e-05, 1.07980733e-05, 1.36469263e-05,
 -5.01444893e-04, 2.38670069e-02, 1.00467436e-06, 1.21481421e-04,
 -6.79733686e-06,-2.56434103e-05, 2.61114359e-06,-1.30928598e-06,
  1.00274635e-01,-5.32911299e-04,-2.55935300e-04, 4.15189820e-05,
 -4.39654022e-07, 1.50771775e-08,-9.80999923e+00,-6.47550889e-02,
 -3.00742327e-03,-1.17793611e-02]


--- Step 356 ---
qpos:
[ 0.00986247, 0.00806463,-0.00560558, 0.03344071, 0.00322048,-0.01687645,
 -0.00700055, 0.03913562, 0.0130322 , 0.00596754,-0.01169609, 0.03405734,
  0.2407267 , 0.00441126, 0.64942461, 0.0481909 , 0.09476653,-0.06387842,
  0.14181458, 0.9575714 ,-0.05010354, 0.07776464, 0.2729456 ]

qacc:
[-4.04496467e+00, 3.00677445e-01,-3.62247547e+00, 1.25407945e+01,
 -6.74713482e+00, 4.03463003e+00,-4.55446094e+00, 1.78214719e+01,
  2.47761859e+00,-4.38531512e+00, 2.14913107e+01,-4.69310107e+01,
  2.86362608e+00,-1.89435489e+01,-1.12249900e+01, 3.25009676e+01,
  1.70681471e-02,-2.82794693e-01, 2.11441994e-02, 2.38884738e-01,
 -9.10551447e-01, 8.89592174e+00]

qfrc_actuator:
[ 2.47509713e-05, 2.80542991e-04, 5.49839813e-05, 7.49629138e-05,
  2.56367994e-04, 1.97385911e-02, 1.86176083e-04, 5.44949070e-05,
 -5.47032836e-06, 1.01908025e-04,-6.10089731e-05, 8.77366579e-05,
  1.01344099e-01,-2.44106652e-04, 4.63660743e-02,-4.08046490e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31772994, -1.0174686 ,  0.83735886, -1.0174686 ,  2.67070249,
        1.64398701,  0.83735886,  1.64398701,  3.31532648,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0260393072148223e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99343578e-01,  3.20771898e-03, -3.60849411e-02,  3.20562986e-03,
        9.99994855e-01,  1.15750946e-04,  3.60851267e-02, -1.35525272e-20,
       -9.99348720e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13110067, -0.08360678,  0.17874807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71830545, -0.35401113,  0.62501107, -0.35401113,  2.76833519,
        1.16115279,  0.62501107,  1.16115279,  1.37599142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.711531980907723e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99710456e-01,  3.20889660e-03, -2.38475686e-02,  3.20798400e-03,
        9.99994851e-01,  7.65247756e-05,  2.38476913e-02,  0.00000000e+00,
       -9.99715603e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1312586 , -0.08577066,  0.17244698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002510477984466375
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.50409888e-01,  1.92811786e-02, -9.36397964e-01,  6.75757185e-03,
        9.99814101e-01,  1.80582133e-02,  9.36572072e-01,  8.67361738e-19,
       -3.50475041e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1258735 , -0.03709853,  0.29831398])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  -9.56472971,  14.38273455,  -9.56472971,
       113.71497667,  64.13551228,  14.38273455,  64.13551228,
        59.92378489,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0025070975532241395
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08824014, -0.08824014,  0.99218313,  0.00781681,  0.99609923,
        0.08789323, -0.99606856,  0.        ,  0.08858569])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08868205, -0.03655648,  0.06194496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37863013e-05,-1.30655907e-05, 9.38164620e-06, 2.66430256e-05,
 -3.15618111e-04, 2.29081241e-02,-8.62431063e-05, 1.42900993e-04,
  1.44056407e-05,-7.21094207e-06, 2.22166840e-05,-7.25206630e-05,
  1.01171197e-01,-6.94799236e-04,-2.27676873e-04, 8.95177741e-05,
 -1.47483998e-05, 1.20852176e-05,-9.81000066e+00,-6.47562584e-02,
 -3.00922491e-03,-1.17789190e-02]


--- Step 357 ---
qpos:
[ 0.00986239, 0.00806492,-0.00560519, 0.03344164, 0.0032308 ,-0.01691313,
 -0.00698389, 0.03913665, 0.01303266, 0.00596855,-0.01169562, 0.03405785,
  0.24075215, 0.00441339, 0.65070677, 0.04818963, 0.09476626,-0.06387712,
  0.14181486, 0.95757738,-0.0501067 , 0.07775544, 0.27292668]

qacc:
[-2.48343692e+00, 9.73075122e-02,-2.04498352e+00, 7.34986351e+00,
 -2.94327973e+00, 2.42419199e+00,-4.76767754e+00, 1.93957693e+01,
  4.58764470e+00,-2.36650448e+00, 1.14028913e+01,-2.56048560e+01,
  3.20505379e+00,-1.35608720e+01,-6.42073879e+00, 1.51414921e+01,
  4.97071419e-02,-2.31751110e-01, 1.13253839e-02, 1.28748490e-01,
 -9.00034457e-01, 8.36096523e+00]

qfrc_actuator:
[ 1.08231478e-05, 2.61910452e-04, 5.59623852e-05, 8.93113672e-05,
  2.43937089e-04, 1.97902994e-02, 1.87182170e-04, 8.96702253e-05,
  2.09038277e-05, 6.99727110e-05,-6.28295740e-05, 4.51787240e-05,
  1.01338470e-01,-2.28212308e-04, 4.62050318e-02,-4.05969919e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31761778, -0.99771105,  0.86063307, -0.99771105,  2.76827159,
        1.6817078 ,  0.86063307,  1.6817078 ,  3.26718088,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.354707319509463e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99343437e-01,  3.21837465e-03, -3.60878970e-02,  3.21627824e-03,
        9.99994821e-01,  1.16144974e-04,  3.60880839e-02,  0.00000000e+00,
       -9.99348613e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13110197, -0.08361171,  0.17874512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71761548, -0.36217166,  0.6195189 , -0.36217166,  2.7388061 ,
        1.18159099,  0.6195189 ,  1.18159099,  1.4083753 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.203462568450744e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99709774e-01,  3.21955443e-03, -2.38747292e-02,  3.21863671e-03,
        9.99994817e-01,  7.68663886e-05,  2.38748530e-02,  1.35525272e-20,
       -9.99714955e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13125987, -0.08577347,  0.17245076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002510584500524793
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.34997146,  0.01939985, -0.93655946,  0.00679067,  0.99981181,
        0.01817253,  0.93673575,  0.        , -0.35003734])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12587383, -0.03710431,  0.29831323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025071383174145806
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.79123270e-02, -8.79123270e-02,  9.92241324e-01,  7.75861693e-03,
        9.96128216e-01,  8.75692931e-02, -9.96098001e-01, -8.67361738e-19,
        8.82540275e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08868544, -0.03655465,  0.06194495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46135921e-05,-2.28916340e-05, 3.46706308e-07, 1.46294712e-05,
 -2.89214305e-04, 2.25458329e-02,-2.62778631e-04, 1.05646213e-04,
  2.67878815e-05,-3.45346386e-05,-3.10537795e-06,-4.35168886e-05,
  1.01504894e-01,-3.31638331e-04,-2.65487830e-04,-5.69840279e-06,
 -6.75993664e-06, 4.72730191e-06,-9.81000067e+00,-6.47576660e-02,
 -3.00976642e-03,-1.17782676e-02]


--- Step 358 ---
qpos:
[ 0.00986215, 0.00806528,-0.00560459, 0.03344234, 0.00324125,-0.01694821,
 -0.00696645, 0.03913828, 0.01303377, 0.00596917,-0.01169485, 0.03405853,
  0.2407792 , 0.0044134 , 0.65198646, 0.04818647, 0.09476627,-0.06387659,
  0.14181515, 0.95757923,-0.05010808, 0.07774536, 0.2729228 ]

qacc:
[-1.45872643e+00,-9.42092245e-01, 4.42155360e+00,-8.66343389e+00,
  1.06033100e+00, 1.17326685e+00,-3.64842546e+00, 1.16459952e+01,
  5.80231703e+00,-9.85415731e-01, 1.94895173e+00, 1.07720977e+00,
  3.30136427e+00,-9.47929464e+00, 1.88156667e+00,-1.24296762e+01,
  7.17574667e-02,-1.90728992e-01, 3.59963035e-03, 4.90006983e-02,
 -8.75839327e-01, 7.80533725e+00]

qfrc_actuator:
[ 2.66813974e-06, 2.86248036e-04, 7.40901447e-05, 7.96145624e-05,
  2.68058002e-04, 1.98331152e-02, 1.61967352e-04, 9.18507795e-05,
  5.39878347e-05, 5.05580116e-05,-4.64287173e-05, 5.54408417e-05,
  1.01328948e-01,-1.81554935e-04, 4.60996961e-02,-4.15356138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31757964, -0.90547579,  0.95714664, -0.90547579,  3.52386192,
        2.08717779,  0.95714664,  2.08717779,  3.29208269,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6179481322234548e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99342954e-01,  3.22869003e-03, -3.61003679e-02,  3.22658545e-03,
        9.99994788e-01,  1.16557505e-04,  3.61005561e-02,  0.00000000e+00,
       -9.99348162e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13110323, -0.0836155 ,  0.17874283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71712667, -0.39322284,  0.59970531, -0.39322284,  3.20655509,
        1.63230189,  0.59970531,  1.63230189,  1.78741631,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.822996580486588e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99709262e-01,  3.22987350e-03, -2.38947496e-02,  3.22895129e-03,
        9.99994784e-01,  7.71774211e-05,  2.38948743e-02, -1.35525272e-20,
       -9.99714477e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1312611 , -0.08577551,  0.17245377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002510702333057079
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3492826 ,  0.01959168, -0.93681259,  0.00684435,  0.99980806,
        0.01835726,  0.93699243,  0.        , -0.34934965])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12587536, -0.03711529,  0.29831187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025069695052391686
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.76461334e-02, -8.76461334e-02,  9.92288421e-01,  7.71152115e-03,
        9.96151673e-01,  8.73062262e-02, -9.96121824e-01, -8.67361738e-19,
        8.79847274e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08868798, -0.03655338,  0.06194496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.58147777e-06, 1.22127628e-05, 1.39385962e-05,-1.03839967e-05,
 -2.48123453e-04, 2.23496091e-02,-4.04701562e-04, 4.45578491e-05,
  3.38391263e-05,-4.12655198e-05, 7.36012912e-06, 7.82234123e-06,
  1.01585744e-01,-7.88913811e-05,-2.30897943e-04,-1.29071893e-04,
 -2.15497627e-06, 8.03633258e-07,-9.81000028e+00,-6.47588857e-02,
 -3.01054619e-03,-1.17774199e-02]


--- Step 359 ---
qpos:
[ 0.00986181, 0.00806594,-0.00560391, 0.03344289, 0.00325022,-0.01698478,
 -0.00695078, 0.03914052, 0.01303492, 0.00596964,-0.01169399, 0.03405932,
  0.24080931, 0.0044123 , 0.65326433, 0.04818031, 0.09476662,-0.06387668,
  0.14181545, 0.95757735,-0.05010791, 0.07773444, 0.27293253]

qacc:
[-8.46989204e-01,-1.27302576e-01, 1.67082797e+00,-4.57643485e+00,
 -1.27702061e+01, 4.22968730e+00,-2.04711504e+01, 3.48335090e+01,
  3.84042343e-01,-2.55340899e-01, 2.16423413e-01, 1.43691171e+00,
  3.19167794e+00,-7.19801148e+00, 6.14472865e+00,-2.58617128e+01,
  8.18171405e-02,-1.56327916e-01, 6.70884715e-04,-2.51399608e-03,
 -8.09432557e-01, 7.07131088e+00]

qfrc_actuator:
[-2.02662014e-06, 3.18426614e-04, 8.46080349e-05, 7.36507487e-05,
  2.60525582e-04, 1.98718703e-02, 1.39392399e-04, 9.21441447e-05,
  5.52470815e-05, 5.66567435e-05,-3.70707724e-05, 6.12130446e-05,
  1.01322175e-01,-1.70049933e-04, 4.60384914e-02,-4.29623282e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71679434, -0.50496861,  0.50872472, -0.50496861,  1.20912761,
        0.48869818,  0.50872472,  0.48869818,  1.20188427,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.55311564833565e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99708807e-01,  3.24031560e-03, -2.39123797e-02,  3.23938905e-03,
        9.99994750e-01,  7.74840637e-05,  2.39125052e-02, -1.35525272e-20,
       -9.99714055e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13126247, -0.08577678,  0.17245607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025108611012464796
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.48427938e-01,  1.98308589e-02, -9.37125770e-01,  6.91098434e-03,
        9.99803349e-01,  1.85876642e-02,  9.37310093e-01,  8.67361738e-19,
       -3.48496470e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12587761, -0.03712982,  0.2983101 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025066358341880542
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08742976, -0.08742976,  0.9923266 ,  0.00767335,  0.99617069,
        0.08709238, -0.99614113,  0.        ,  0.08776584])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08868984, -0.03655255,  0.06194496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.93697785e-06, 4.14187736e-05, 1.43860370e-05,-5.16358293e-06,
 -2.61800368e-04, 2.23090569e-02,-4.66248859e-04, 1.47520538e-05,
  2.20895378e-06,-1.51389833e-05, 1.99342400e-06, 4.40492145e-06,
  1.01499358e-01, 3.89015959e-05,-1.83354653e-04,-1.80132457e-04,
 -3.63704398e-07,-1.96071355e-07,-9.80999956e+00,-6.47599385e-02,
 -3.01151976e-03,-1.17763838e-02]


--- Step 360 ---
qpos:
[ 0.00986107, 0.00806679,-0.00560305, 0.03344303, 0.00325972,-0.01702121,
 -0.0069366 , 0.03914218, 0.01303573, 0.0059697 ,-0.01169296, 0.03406123,
  0.24084304, 0.00441075, 0.65453969, 0.04817511, 0.09476736,-0.0638773 ,
  0.14181573, 0.95757183,-0.05010635, 0.07772262, 0.27295556]

qacc:
[-3.49546527e+00,-1.11036301e+00, 6.07319411e+00,-1.36605634e+01,
  4.49863062e+00, 3.16045439e+00,-8.53337800e+00, 7.32251640e-01,
 -2.96199694e+00, 1.31252606e+00,-1.02152652e+01, 2.97490378e+01,
  3.02500261e+00,-5.69068863e+00,-6.73437874e+00, 1.77675890e+01,
  1.00170480e-01,-1.31770054e-01,-5.20126478e-03,-6.01049107e-02,
 -8.17771717e-01, 6.89362315e+00]

qfrc_actuator:
[-2.24017482e-05, 3.19529780e-04, 9.05959605e-05, 5.21865616e-05,
  2.71053474e-04, 1.99284065e-02, 1.38391866e-04, 7.33081722e-05,
  3.77631454e-05, 2.47104445e-05,-3.18565310e-05, 1.17561435e-04,
  1.01322188e-01,-1.62032172e-04, 4.59452119e-02,-4.23556392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71657504, -0.50883897,  0.50454206, -0.50883897,  2.83168562,
        2.13312384,  0.50454206,  2.13312384,  2.86786555,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.369479270628842e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99708278e-01,  3.24928455e-03, -2.39332772e-02,  3.24835381e-03,
        9.99994721e-01,  7.77664382e-05,  2.39334035e-02,  0.00000000e+00,
       -9.99713555e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13126412, -0.08577734,  0.1724578 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025110794964524276
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.47462946e-01,  2.01007255e-02, -9.37478246e-01,  6.98566870e-03,
        9.99797960e-01,  1.88478009e-02,  9.37667692e-01, -8.67361738e-19,
       -3.47533162e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12588031, -0.03714681,  0.29830805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025061653255091447
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.72534626e-02, -8.72534626e-02,  9.92357630e-01,  7.64231343e-03,
        9.96186144e-01,  8.69181327e-02, -9.96156829e-01, -8.67361738e-19,
        8.75875088e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08869117, -0.03655206,  0.06194497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.05045969e-05, 2.69813898e-05, 1.61203905e-05,-1.92960358e-05,
 -1.77606795e-04, 2.24417622e-02,-3.78621036e-04,-3.43427433e-05,
 -1.74241730e-05,-3.98359106e-05, 2.46886600e-06, 5.58497496e-05,
  1.01346470e-01, 1.03507817e-04,-2.00411029e-04, 2.61635492e-05,
 -8.11601563e-07, 1.14816615e-06,-9.80999862e+00,-6.47608279e-02,
 -3.01265414e-03,-1.17751752e-02]


--- Step 361 ---
qpos:
[ 0.00986043, 0.00806747,-0.00560192, 0.03344261, 0.00327034,-0.01705785,
 -0.0069234 , 0.03914361, 0.01303633, 0.00596925,-0.01169178, 0.03406382,
  0.240881  , 0.0044094 , 0.655812  , 0.04817234, 0.09476854,-0.06387837,
  0.14181597, 0.95756283,-0.05010351, 0.07770987, 0.27299128]

qacc:
[ 9.47164355e-01,-2.14041679e+00, 9.67087389e+00,-1.97025951e+01,
  9.66041170e+00, 1.96535786e+00,-6.50289548e+00, 4.32228210e+00,
 -1.88350437e+00, 3.00922610e-01,-4.88810628e+00, 1.66881006e+01,
  2.82140736e+00,-4.11052741e+00,-1.19958685e+01, 3.51220805e+01,
  1.09890881e-01,-1.11151487e-01,-9.15837673e-03,-9.80981221e-02,
 -7.98664839e-01, 6.57450373e+00]

qfrc_actuator:
[-1.63389587e-05, 2.84233223e-04, 9.37321847e-05, 2.17468253e-05,
  2.73255041e-04, 1.99590554e-02, 1.50767405e-04, 6.16938136e-05,
  2.71500033e-05,-1.19884000e-05,-2.92410446e-05, 1.49928758e-04,
  1.01320785e-01,-1.20830961e-04, 4.58061867e-02,-4.10888352e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71648004, -0.51968024,  0.49323026, -0.51968024,  3.6801375 ,
        3.1225866 ,  0.49323026,  3.1225866 ,  4.00651851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.288457513580132e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99707714e-01,  3.25877912e-03, -2.39555158e-02,  3.25784393e-03,
        9.99994690e-01,  7.80661493e-05,  2.39556430e-02,  0.00000000e+00,
       -9.99713022e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13126599, -0.08577702,  0.17245888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025113585335668413
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.34642453,  0.02039034, -0.93785621,  0.00706518,  0.9997921 ,
        0.01912718,  0.93805124,  0.        , -0.34649657])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12588328, -0.03716549,  0.29830582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002505587247989401
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.71099846e-02, -8.71099846e-02,  9.92382840e-01,  7.61710431e-03,
        9.96198700e-01,  8.67763167e-02, -9.96169579e-01,  1.73472348e-18,
        8.74423793e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08869207, -0.03655185,  0.06194498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.48457443e-06,-1.77513812e-05, 1.00086777e-05,-2.91044800e-05,
 -2.01699885e-04, 2.24660406e-02,-2.91384295e-04,-1.67621329e-05,
 -1.11231301e-05,-5.60938812e-05,-3.39206859e-06, 3.18267881e-05,
  1.01163917e-01, 1.67411430e-04,-2.28466134e-04, 1.02052228e-04,
 -3.13241249e-06, 4.54239803e-06,-9.80999743e+00,-6.47615891e-02,
 -3.01392050e-03,-1.17737947e-02]


--- Step 362 ---
qpos:
[ 0.00986022, 0.00806795,-0.00560155, 0.03344225, 0.00328167,-0.01709691,
 -0.00691137, 0.03914553, 0.0130368 , 0.00596843,-0.01169052, 0.03406538,
  0.24092293, 0.00440837, 0.65708134, 0.04817337, 0.09477016,-0.0638798 ,
  0.14181616, 0.95755066,-0.05009955, 0.07769624, 0.27303857]

qacc:
[ 3.68624356e+00, 2.01784602e+00,-7.83611872e+00, 1.02706961e+01,
  6.15916529e+00, 1.05779941e+00,-1.04901518e+01, 2.26596458e+01,
 -1.15365003e+00,-2.82429357e+00, 1.36900355e+01,-3.12971339e+01,
  2.59581877e+00,-3.59411427e+00,-1.60197374e+01, 4.93463830e+01,
  1.08759242e-01,-9.28934792e-02,-1.11030582e-02,-1.12982862e-01,
 -7.40446648e-01, 5.99978684e+00]

qfrc_actuator:
[ 5.24074740e-06, 2.45135169e-04, 4.17412329e-05, 2.17418682e-05,
  2.16398146e-04, 1.99744846e-02, 1.35751281e-04, 7.20434470e-05,
  2.06721106e-05,-3.35239150e-05,-2.82335057e-05, 9.68989544e-05,
  1.01318349e-01,-1.13448667e-04, 4.56877837e-02,-3.90896287e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71650406, -0.53727568,  0.47403894, -0.53727568,  1.88306717,
        1.32218251,  0.47403894,  1.32218251,  2.21506559,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.30903620244113e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99707117e-01,  3.26939357e-03, -2.39789599e-02,  3.26845349e-03,
        9.99994656e-01,  7.83970761e-05,  2.39790880e-02,  0.00000000e+00,
       -9.99712460e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13126809, -0.0857758 ,  0.1724593 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025117000579163466
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.45343723e-01,  2.06904765e-02, -9.38248164e-01,  7.14685610e-03,
        9.99785929e-01,  1.94169582e-02,  9.38449059e-01,  8.67361738e-19,
       -3.45417666e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12588636, -0.03718523,  0.29830347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025049251560934098
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08699341, -0.08699341,  0.99240329,  0.00759665,  0.99620889,
        0.08666109, -0.99617992,  0.        ,  0.08732447])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08869264, -0.03655186,  0.06194499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17273526e-05,-4.82374425e-05,-5.54518459e-05,-9.88992062e-07,
 -3.14572241e-04, 2.24937700e-02,-2.56968207e-04, 5.04574007e-06,
 -6.81453651e-06,-5.22455331e-05,-9.90912068e-06,-5.49383817e-05,
  1.00950581e-01, 1.65077613e-04,-2.09788076e-04, 1.76470083e-04,
 -7.06634546e-06, 9.71515313e-06,-9.80999603e+00,-6.47622232e-02,
 -3.01530847e-03,-1.17722474e-02]


--- Step 363 ---
qpos:
[ 0.00985993, 0.00806817,-0.00560153, 0.03344187, 0.00329396,-0.01713951,
 -0.00690096, 0.03914774, 0.01303718, 0.00596731,-0.01168928, 0.03406595,
  0.24096814, 0.00440733, 0.65834816, 0.04817671, 0.09477219,-0.06388155,
  0.14181631, 0.95753561,-0.05009461, 0.07768179, 0.27309636]

qacc:
[-7.49028097e-01, 5.66896438e-01,-2.44773017e+00, 2.87246497e+00,
  8.25313471e+00, 4.78839018e-01,-9.77704363e+00, 2.01403229e+01,
 -7.12169858e-01,-2.39947149e+00, 1.21784604e+01,-2.91490621e+01,
  2.37979153e+00,-3.82376708e+00,-1.08209768e+01, 3.21664937e+01,
  1.04848621e-01,-7.76973885e-02,-1.23107818e-02,-1.20020215e-01,
 -6.78664725e-01, 5.43404077e+00]

qfrc_actuator:
[ 2.66886422e-07, 2.39353188e-04, 2.86183595e-05, 2.18473295e-05,
  1.77324503e-04, 2.00363154e-02, 1.22622006e-04, 7.71892451e-05,
  1.66780390e-05,-4.58935333e-05,-2.81806798e-05, 4.73192626e-05,
  1.01315164e-01,-1.44293895e-04, 4.55765328e-02,-3.79170315e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71662513, -0.55359694,  0.45506263, -0.55359694,  1.85726282,
        1.38761898,  0.45506263,  1.38761898,  2.40470404,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.411830441857441e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99706432e-01,  3.28071926e-03, -2.40059709e-02,  3.27977380e-03,
        9.99994618e-01,  7.87572750e-05,  2.40061001e-02, -1.35525272e-20,
       -9.99711812e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13127051, -0.08577375,  0.17245917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002512097224148144
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.44237141e-01,  2.09964226e-02, -9.38647932e-01,  7.22934221e-03,
        9.99779551e-01,  1.97125943e-02,  9.38854902e-01,  1.73472348e-18,
       -3.44313045e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12588948, -0.03720566,  0.29830105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002504198342428429
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.68987796e-02, -8.68987796e-02,  9.92419873e-01,  7.58007220e-03,
        9.96217146e-01,  8.65675482e-02, -9.96188308e-01, -8.67361738e-19,
        8.72287532e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08869295, -0.03655204,  0.06194501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.37122740e-06,-4.42661209e-05,-2.99607148e-05,-3.90137365e-06,
 -3.89233577e-04, 2.26773212e-02,-2.11827850e-04,-1.43868421e-05,
 -4.20432330e-06,-4.59760450e-05,-1.38681895e-05,-5.32347502e-05,
  1.00748934e-01, 1.19433460e-04,-1.86629988e-04, 1.00157557e-04,
 -1.21165123e-05, 1.60936218e-05,-9.80999454e+00,-6.47627082e-02,
 -3.01681109e-03,-1.17705458e-02]


--- Step 364 ---
qpos:
[ 0.00985957, 0.00806812,-0.00560141, 0.03344112, 0.00330753,-0.01718627,
 -0.00689242, 0.0391501 , 0.01303683, 0.00596645,-0.01168865, 0.03406657,
  0.24101633, 0.00440617, 0.65961286, 0.04817905, 0.09477463,-0.06388356,
  0.1418164 , 0.95751794,-0.0500888 , 0.07766657, 0.27316371]

qacc:
[-4.93994466e-01,-1.42263692e+00, 6.11380755e+00,-1.25048429e+01,
  1.11897012e+01,-3.88891226e-02,-8.47984887e+00, 1.70336126e+01,
 -6.54380362e+00, 2.20364249e+00,-7.57980845e+00, 9.37915569e+00,
  2.18301774e+00,-3.62558076e+00,-2.11984546e-01,-4.06964417e+00,
  1.00864661e-01,-6.52444030e-02,-1.31313882e-02,-1.25158314e-01,
 -6.22197340e-01, 4.94961338e+00]

qfrc_actuator:
[-2.54835602e-06, 2.35954030e-04, 3.86926983e-05, 4.32045441e-06,
  1.66147001e-04, 2.00748275e-02, 1.11564529e-04, 7.92126988e-05,
 -2.13288360e-05, 5.73142141e-07,-4.63888377e-05, 5.34470566e-05,
  1.01306122e-01,-1.62382717e-04, 4.54643127e-02,-3.84833805e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7168306 , -0.56773657,  0.43763146, -0.56773657,  1.95726463,
        1.60920735,  0.43763146,  1.60920735,  2.8044453 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.58303676923426e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99705618e-01,  3.29299774e-03, -2.40381593e-02,  3.29204619e-03,
        9.99994578e-01,  7.91580334e-05,  2.40382896e-02,  0.00000000e+00,
       -9.99711039e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13127329, -0.08577097,  0.17245856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025125388147248053
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.43112786e-01,  2.13061199e-02, -9.39052536e-01,  7.31206200e-03,
        9.99772999e-01,  2.00121087e-02,  9.39265750e-01, -8.67361738e-19,
       -3.43190691e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12589261, -0.0372266 ,  0.29829859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002503422699809306
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.68220548e-02, -8.68220548e-02,  9.92433303e-01,  7.56664208e-03,
        9.96223836e-01,  8.64917055e-02, -9.96195100e-01,  8.67361738e-19,
        8.71511519e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08869304, -0.03655235,  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:
[-2.95449933e-06,-3.45170416e-05,-2.89607459e-06,-2.05357503e-05,
 -4.48085918e-04, 2.28944367e-02,-1.40753841e-04,-2.70791709e-05,
 -3.81418246e-05, 1.56354058e-05,-3.12570811e-05, 2.64038982e-06,
  1.00576488e-01, 1.02055477e-04,-1.87817362e-04,-7.55420374e-05,
 -1.78899902e-05, 2.32418521e-05,-9.80999301e+00,-6.47630404e-02,
 -3.01841749e-03,-1.17687031e-02]


--- Step 365 ---
qpos:
[ 0.00985919, 0.00806813,-0.00560159, 0.0334398 , 0.00332318,-0.01724038,
 -0.00688548, 0.03915287, 0.01303567, 0.00596613,-0.01168874, 0.03406724,
  0.24106738, 0.00440491, 0.66087535, 0.04817966, 0.09477744,-0.06388578,
  0.14181643, 0.95749796,-0.05008223, 0.07765066, 0.27323947]

qacc:
[-2.85578533e-01,-2.08804416e-01, 3.25500251e+00,-1.25831500e+01,
  1.79671870e+01,-4.40814067e+00,-1.52823257e-01, 1.52423842e+01,
 -7.05049139e+00, 2.79781824e+00,-9.07147287e+00, 1.04417533e+01,
  2.04086318e+00,-3.33951326e+00, 1.88216328e+00,-1.15835462e+01,
  9.11252137e-02,-5.42196189e-02,-1.53413650e-02,-1.16783872e-01,
 -5.56257446e-01, 4.35127636e+00]

qfrc_actuator:
[-4.06203367e-06, 2.51854054e-04, 2.68701767e-05,-2.34253905e-05,
  1.70986451e-04, 2.01013805e-02, 8.48706825e-05, 7.93960597e-05,
 -6.12983347e-05, 4.63899327e-05,-7.49488506e-05, 5.68371162e-05,
  1.01298801e-01,-1.72702736e-04, 4.53568914e-02,-3.93591301e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31757652, -0.65029581,  1.1459159 , -0.65029581,  4.56110464,
        1.84066976,  1.1459159 ,  1.84066976,  2.3621382 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.984142949228235e-07
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99330893e-01,  3.30533193e-03, -3.64258186e-02,  3.30313835e-03,
        9.99994537e-01,  1.20400079e-04,  3.64260176e-02,  1.35525272e-20,
       -9.99336352e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13111759, -0.08361128,  0.17873992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71711409, -0.60278344,  0.3884646 , -0.60278344,  2.34868203,
        2.53171626,  0.3884646 ,  2.53171626,  4.6455973 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.81295958871704e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99704654e-01,  3.30656816e-03, -2.40763585e-02,  3.30560965e-03,
        9.99994533e-01,  7.96105555e-05,  2.40764901e-02,  0.00000000e+00,
       -9.99710119e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13127645, -0.08576752,  0.17245753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025130186235841814
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.41980604e-01,  2.16168019e-02, -9.39458344e-01,  7.39425481e-03,
        9.99766330e-01,  2.03128315e-02,  9.39677919e-01,  8.67361738e-19,
       -3.42060534e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12589572, -0.0372478 ,  0.2982961 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025026111240815324
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08676002, -0.08676002,  0.99244415,  0.00755579,  0.99622924,
        0.08643038, -0.99620059,  0.        ,  0.08708841])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08869297, -0.03655277,  0.06194504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60873379e-06,-4.87810578e-06,-2.00184250e-05,-2.97231293e-05,
 -5.07888226e-04, 2.31304983e-02,-7.42902614e-05,-3.40195867e-05,
 -4.10490135e-05, 4.82247285e-05,-2.90864756e-05, 3.03065575e-06,
  1.00419593e-01, 9.81207284e-05,-2.04266227e-04,-1.16678436e-04,
 -2.41376250e-05, 3.08901187e-05,-9.80999147e+00,-6.47632251e-02,
 -3.02011643e-03,-1.17667315e-02]


--- Step 366 ---
qpos:
[ 0.00985913, 0.00806834,-0.00560206, 0.03343884, 0.00334095,-0.01730228,
 -0.00688063, 0.03915572, 0.01303508, 0.00596623,-0.01168888, 0.03406756,
  0.24112111, 0.00440365, 0.66213501, 0.04817825, 0.09478056,-0.06388818,
  0.14181641, 0.95747603,-0.05007504, 0.07763417, 0.27332231]

qacc:
[ 2.88029502e+00, 1.78878386e+00,-7.47908033e+00, 1.38502547e+01,
  1.84355917e+01,-4.34280635e+00, 1.41665032e-01, 1.03756815e+01,
  4.95572810e+00,-8.65394779e-03, 2.22564736e+00,-8.27663066e+00,
  1.85734314e+00,-2.89368340e+00, 1.81889091e+00,-1.26597014e+01,
  7.86312253e-02,-4.38653023e-02,-1.38174364e-02,-1.04142007e-01,
 -4.65547993e-01, 3.67098518e+00]

qfrc_actuator:
[ 1.29548132e-05, 2.79103577e-04, 2.00361202e-05,-3.70254336e-06,
  1.66389307e-04, 2.01611172e-02, 8.47987120e-05, 7.81548189e-05,
 -3.10816495e-05, 7.36801476e-05,-7.38720346e-05, 4.08296947e-05,
  1.01292416e-01,-1.78335076e-04, 4.52045021e-02,-4.04091485e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31759013, -0.67693793,  1.13039762, -0.67693793,  4.43813501,
        1.86873641,  1.13039762,  1.86873641,  2.4366818 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.1282710152286207e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99328063e-01,  3.32095952e-03, -3.65019589e-02,  3.31874634e-03,
        9.99994486e-01,  1.21222196e-04,  3.65021602e-02,  0.00000000e+00,
       -9.99333574e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13112092, -0.08360699,  0.17874072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71744599, -0.62278004,  0.35619344, -0.62278004,  2.08726943,
        2.39504322,  0.35619344,  2.39504322,  4.90501633,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.073618813858927e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99703466e-01,  3.32220705e-03, -2.41235149e-02,  3.32124023e-03,
        9.99994481e-01,  8.01437537e-05,  2.41236481e-02,  0.00000000e+00,
       -9.99708982e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13128012, -0.08576358,  0.17245622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025135222386933804
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.34084747,  0.02192656, -0.93986288,  0.00747541,  0.99975958,
        0.02061292,  0.94008889,  0.        , -0.34092943])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12589877, -0.03726913,  0.2982936 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025017832798166586
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.67101177e-02, -8.67101177e-02,  9.92452876e-01,  7.54706991e-03,
        9.96233585e-01,  8.63810526e-02, -9.96204998e-01, -8.67361738e-19,
        8.70379387e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08869277, -0.03655327,  0.06194506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69717706e-05, 1.91182407e-05,-1.13302635e-05, 1.82461636e-05,
 -6.15977473e-04, 2.35595599e-02, 6.73549172e-06,-5.55111605e-05,
  2.90668021e-05, 4.83723393e-05, 7.56405153e-06,-1.48873101e-05,
  1.00270972e-01, 9.78481180e-05,-2.60883441e-04,-1.38388972e-04,
 -3.04133227e-05, 3.85145238e-05,-9.80998999e+00,-6.47632461e-02,
 -3.02190594e-03,-1.17646440e-02]


--- Step 367 ---
qpos:
[ 0.00985928, 0.00806859,-0.0056026 , 0.03343846, 0.00336087,-0.01737183,
 -0.00687794, 0.03915852, 0.01303486, 0.00596651,-0.01168839, 0.03406802,
  0.24117728, 0.00440248, 0.66339165, 0.04817748, 0.09478394,-0.06389072,
  0.14181634, 0.95745247,-0.05006734, 0.07761721, 0.27341106]

qacc:
[ 1.79183780e+00, 1.44634010e+00,-7.58470342e+00, 1.79200784e+01,
  1.86213885e+01,-4.20612370e+00, 4.50873123e-01, 7.91042167e+00,
  3.23957932e+00,-1.24652794e+00, 4.23763008e+00,-3.09586373e+00,
  1.67083117e+00,-2.46828859e+00,-6.50125071e+00, 1.60627061e+01,
  6.67391567e-02,-3.50548374e-02,-1.21846202e-02,-9.14156768e-02,
 -3.81273694e-01, 3.05522780e+00]

qfrc_actuator:
[ 2.29889467e-05, 2.77497050e-04, 1.62992312e-05, 2.60606800e-05,
  1.55247031e-04, 2.02086426e-02, 1.01818785e-04, 7.62230369e-05,
 -1.30544185e-05, 8.97724603e-05,-3.76304870e-05, 4.90505848e-05,
  1.01275855e-01,-1.81200174e-04, 4.50891765e-02,-3.99562722e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31762424, -0.71593886,  1.10614881, -0.71593886,  4.18608407,
        1.85656923,  1.10614881,  1.85656923,  2.51926189,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.751923267150747e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99325016e-01,  3.33870995e-03, -3.65836831e-02,  3.33647497e-03,
        9.99994426e-01,  1.22142988e-04,  3.65838870e-02, -1.35525272e-20,
       -9.99330586e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1311247 , -0.08360224,  0.17874155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71781153, -0.63999245,  0.32505854, -0.63999245,  1.82832293,
        2.18643362,  0.32505854,  2.18643362,  5.02257776,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.351058362759266e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99702028e-01,  3.33996954e-03, -2.41805469e-02,  3.33899295e-03,
        9.99994422e-01,  8.07627407e-05,  2.41806818e-02,  0.00000000e+00,
       -9.99707605e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1312843 , -0.08575927,  0.17245471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002514047525352564
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.39720450e-01,  2.22334488e-02, -9.40263628e-01,  7.55502480e-03,
        9.99752806e-01,  2.09104722e-02,  9.40496112e-01,  8.67361738e-19,
       -3.39804448e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12590174, -0.03729041,  0.29829111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025009457672418647
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.66699812e-02, -8.66699812e-02,  9.92459888e-01,  7.54005829e-03,
        9.96237077e-01,  8.63413757e-02, -9.96208543e-01, -8.67361738e-19,
        8.69973454e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08869246, -0.03655384,  0.06194508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05240417e-05, 7.53217824e-06,-5.47320391e-07, 3.05476161e-05,
 -7.33374200e-04, 2.39989190e-02, 1.28694793e-04,-6.13204643e-05,
  1.88708563e-05, 4.40725910e-05, 4.66479774e-05, 1.02638264e-05,
  1.00120138e-01, 9.61329064e-05,-2.49580380e-04, 4.04481758e-06,
 -3.62733160e-05, 4.55934450e-05,-9.80998866e+00,-6.47630823e-02,
 -3.02377634e-03,-1.17624593e-02]


--- Step 368 ---
qpos:
[ 0.00985921, 0.00806849,-0.00560268, 0.03343812, 0.00337878,-0.01742115,
 -0.0068744 , 0.03915744, 0.0130352 , 0.00596678,-0.01168761, 0.03406862,
  0.241223  , 0.00440887, 0.6646463 , 0.04817646, 0.09478579,-0.06389101,
  0.14181638, 0.9574432 ,-0.05006629, 0.07760522, 0.2734471 ]

qacc:
[-1.95797460e+00,-1.65536788e+00, 5.10970743e+00,-5.06172164e+00,
 -1.76944006e+01, 1.64136002e+01,-3.29110117e+00,-8.01598123e+01,
  4.96340458e+00,-5.20647263e-01, 1.21645824e+00, 8.42644217e-01,
 -1.48713840e+01, 3.77952868e+01,-1.20848355e+00, 2.27073555e+00,
 -3.83726437e-01, 5.62606376e-01, 2.80740381e-02,-1.00529227e-01,
  4.05854244e+00,-2.73151956e+01]

qfrc_actuator:
[ 1.10741461e-05, 2.40901608e-04, 3.20609459e-05, 2.59594460e-05,
  1.39305358e-04, 2.02163140e-02, 1.12251590e-04, 7.39706821e-05,
  1.53840249e-05, 6.36985212e-05,-3.42110009e-05, 5.37214134e-05,
  1.01269090e-01,-1.64760985e-04, 4.50068599e-02,-4.00404250e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.3176811 , -1.24464553,  0.43259795, -1.24464553,  1.4188984 ,
        0.29121649,  0.43259795,  0.29121649,  2.15555216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.480526418492871e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99321779e-01,  3.35860558e-03, -3.66701738e-02,  3.35634663e-03,
        9.99994360e-01,  1.23161345e-04,  3.66703806e-02,  2.71050543e-20,
       -9.99327415e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1311289 , -0.08359716,  0.17874237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71820004, -0.42003779,  0.58256291, -0.42003779,  2.10933814,
        1.00303429,  0.58256291,  1.00303429,  1.44140486,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.635900158065568e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99700343e-01,  3.35987789e-03, -2.42473914e-02,  3.35889004e-03,
        9.99994356e-01,  8.14687342e-05,  2.42475283e-02, -1.35525272e-20,
       -9.99705985e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13128896, -0.08575467,  0.17245306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025145918536060245
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.33860431,  0.0225362 , -0.94065894,  0.00763279,  0.99974603,
        0.02120427,  0.9408979 ,  0.        , -0.33869033])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1259046 , -0.03731154,  0.29828864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024824402437557264
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.23615257e-14, -6.28917909e-15,  1.00000000e+00,  1.40635640e-28,
        1.00000000e+00,  6.28917909e-15, -1.00000000e+00,  0.00000000e+00,
        2.23615257e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10605504, -0.06042288,  0.06194507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16137683e-05,-3.11862716e-05, 1.83106784e-05, 7.98126921e-07,
 -8.56684841e-04, 2.43917810e-02, 2.47978676e-04,-6.11411255e-05,
  2.89893890e-05, 8.63608559e-06, 1.86128741e-05, 8.36964274e-06,
  9.99916420e-02, 1.08022172e-04,-1.95643406e-04,-4.02886379e-05,
 -4.15428922e-05, 5.19311650e-05,-9.80998751e+00,-6.47627424e-02,
 -3.02571491e-03,-1.17601951e-02]


--- Step 369 ---
qpos:
[ 0.00985899, 0.0080682 ,-0.00560262, 0.03343812, 0.00339229,-0.01745128,
 -0.00686826, 0.0391563 , 0.01303622, 0.00596706,-0.01168646, 0.03406892,
  0.24125424, 0.00441961, 0.6658991 , 0.04817136, 0.0947862 ,-0.06388915,
  0.14181649, 0.95744804,-0.05007081, 0.077597  , 0.27343165]

qacc:
[-1.23960344e+00, 4.77169242e-02,-1.99778687e+00, 7.90625506e+00,
 -3.82271187e+01, 1.80545823e+01,-2.71584852e+01, 7.61100071e+00,
  6.02171615e+00,-1.67926355e+00, 7.26522192e+00,-1.30897966e+01,
 -1.44307869e+01, 3.07948777e+01, 1.04563184e+01,-3.85022822e+01,
 -3.59515578e-01, 5.37434992e-01, 1.91810062e-02, 1.96271811e-01,
  3.30290441e+00,-2.67074183e+01]

qfrc_actuator:
[ 4.09071558e-06, 2.36947343e-04, 4.12826970e-05, 4.37708984e-05,
  1.06030683e-04, 2.02462601e-02, 9.88326810e-05, 7.53785420e-05,
  4.97257831e-05, 6.57030006e-05,-1.48871167e-05, 3.84444423e-05,
  1.01274601e-01,-1.44232237e-04, 4.48857813e-02,-4.22155918e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31768385, -1.30007748,  0.21468418, -1.30007748,  1.30947606,
       -0.04970452,  0.21468418, -0.04970452,  1.01668484,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.590697794922358e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99319892e-01,  3.37649614e-03, -3.67199286e-02,  3.37421899e-03,
        9.99994300e-01,  1.23985404e-04,  3.67201380e-02,  0.00000000e+00,
       -9.99325588e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13113153, -0.08359541,  0.17874199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71821738, -0.31346359,  0.64620182, -0.31346359,  0.65294156,
       -0.0316644 ,  0.64620182, -0.0316644 ,  0.70285742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.64839313015636e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99699171e-01,  3.37777764e-03, -2.42931610e-02,  3.37678077e-03,
        9.99994295e-01,  8.20573643e-05,  2.42932996e-02,  0.00000000e+00,
       -9.99704874e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13129183, -0.08575256,  0.17245339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025149503705796674
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.33801653,  0.0226902 , -0.94086661,  0.00767164,  0.99974254,
        0.02135394,  0.9411089 ,  0.        , -0.33810358])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12590531, -0.03732146,  0.29828746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024821522410792413
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.23641203e-14, -1.67730902e-14,  1.00000000e+00,  3.75115406e-28,
        1.00000000e+00,  1.67730902e-14, -1.00000000e+00,  0.00000000e+00,
        2.23641203e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10605806, -0.06042128,  0.06194507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.32549610e-06,-1.75757754e-05, 5.06610986e-06, 1.71258200e-05,
 -7.89415563e-04, 2.34119220e-02, 1.92606724e-04, 1.34372850e-04,
  3.51694575e-05, 1.10281252e-05, 2.36754927e-05,-1.41048269e-05,
  1.00517684e-01,-2.49532398e-04,-2.31741018e-04,-2.48440566e-04,
 -6.89115675e-06, 9.78557777e-06,-9.80999653e+00,-6.47586336e-02,
 -3.02761189e-03,-1.17587633e-02]


--- Step 370 ---
qpos:
[ 0.00985869, 0.00806808,-0.00560264, 0.033439  , 0.00340599,-0.01747777,
 -0.00685901, 0.03915717, 0.01303696, 0.0059677 ,-0.01168522, 0.03406901,
  0.24128125, 0.00442538, 0.66714753, 0.04816754, 0.09478678,-0.06388814,
  0.14181664, 0.95744896,-0.05007335, 0.07758788, 0.27343055]

qacc:
[-7.27897581e-01, 2.25958940e+00,-1.14106590e+01, 2.65246726e+01,
  1.61942697e+00, 2.45299037e-01,-2.39577888e+00, 2.95705076e+01,
 -2.52121651e+00,-1.91450963e-01, 2.26195737e+00,-6.30003820e+00,
  2.46485185e+00,-1.38057107e+01,-1.06442657e+01, 2.71815000e+01,
  4.14159960e-02,-2.12874290e-01, 7.21899628e-03, 1.73336068e-01,
 -9.08372331e-01, 7.46674326e+00]

qfrc_actuator:
[ 7.30470335e-08, 2.70310206e-04, 4.67005051e-05, 8.97530126e-05,
  8.32981295e-05, 2.02647606e-02, 6.90153862e-05, 7.67195538e-05,
  3.40062704e-05, 1.02291024e-04,-3.98166572e-06, 2.93401616e-05,
  1.01282891e-01,-1.56574499e-04, 4.46669432e-02,-4.15229858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31763031, -1.0016686 ,  0.85604302, -1.0016686 ,  2.80716292,
        1.74292414,  0.85604302,  1.74292414,  3.35705162,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.101667452118545e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99319311e-01,  3.38999820e-03, -3.67345000e-02,  3.38771013e-03,
        9.99994254e-01,  1.24530605e-04,  3.67347111e-02, -2.71050543e-20,
       -9.99325053e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13113266, -0.08359708,  0.17874042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71786642, -0.47439504,  0.53877782, -0.47439504,  2.81114634,
        1.84313752,  0.53877782,  1.84313752,  2.34075302,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.391906127384889e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99698542e-01,  3.39128467e-03, -2.43171433e-02,  3.39028184e-03,
        9.99994250e-01,  8.24668295e-05,  2.43172831e-02,  0.00000000e+00,
       -9.99704291e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13129298, -0.08575302,  0.17245563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025151040954594452
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.37785263e-01,  2.27466763e-02, -9.40948301e-01,  7.68548059e-03,
        9.99741261e-01,  2.14089858e-02,  9.41191824e-01, -8.67361738e-19,
       -3.37872684e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12590473, -0.03732353,  0.29828716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  -9.48928041,  14.43262501,  -9.48928041,
       131.73159834,  75.25535526,  14.43262501,  75.25535526,
        66.75223412,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002499785969344257
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.61982530e-02, -8.61982530e-02,  9.92542051e-01,  7.45789708e-03,
        9.96278004e-01,  8.58750172e-02, -9.96250090e-01,  8.67361738e-19,
        8.65202811e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08869614, -0.03655257,  0.0619451 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.23257297e-06, 2.53225738e-05, 3.00694042e-06, 4.57384039e-05,
 -5.92356625e-04, 2.24716246e-02, 3.32100741e-05, 1.39022013e-04,
 -1.47142129e-05, 4.70320869e-05, 1.55936894e-05,-8.09219500e-06,
  1.01248227e-01,-4.79939748e-04,-3.72895075e-04, 2.14087588e-05,
 -1.76400222e-06, 5.12812885e-07,-9.80999999e+00,-6.47580247e-02,
 -3.02938477e-03,-1.17580906e-02]


--- Step 371 ---
qpos:
[ 0.00985903, 0.00806816,-0.00560232, 0.03344004, 0.00342018,-0.01750432,
 -0.00684879, 0.03915906, 0.01303716, 0.00596888,-0.0116845 , 0.03406866,
  0.24130657, 0.00442765, 0.66839221, 0.04816603, 0.09478758,-0.06388783,
  0.14181679, 0.95744633,-0.0500742 , 0.07757788, 0.27344245]

qacc:
[ 5.65761557e+00,-3.48980045e-01, 9.04437480e-01, 1.29879633e+00,
  4.25597919e+00,-6.96472263e-01,-1.96276067e+00, 1.81253220e+01,
 -4.76433078e+00, 1.25679747e+00,-1.58413166e+00,-5.57965227e+00,
  2.70042677e+00,-1.12628580e+01,-1.27349309e+01, 3.59340942e+01,
  5.55872803e-02,-1.73735630e-01, 1.93538120e-03, 1.00268225e-01,
 -8.36805728e-01, 6.74855766e+00]

qfrc_actuator:
[ 3.33371584e-05, 2.90272134e-04, 6.77618742e-05, 9.87148914e-05,
  6.40701355e-05, 2.02842718e-02, 6.33082994e-05, 9.37216641e-05,
  6.69886425e-06, 1.23773417e-04,-3.34896372e-05, 6.21522280e-06,
  1.01281795e-01,-2.16568796e-04, 4.45335396e-02,-4.02122805e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.3176068 , -0.95387994,  0.90895586, -0.95387994,  3.18924979,
        1.96414674,  0.90895586,  1.96414674,  3.3788292 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.601446806856322e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99318402e-01,  3.40368225e-03, -3.67579498e-02,  3.40138201e-03,
        9.99994207e-01,  1.25113106e-04,  3.67581627e-02, -2.71050543e-20,
       -9.99324190e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13113377, -0.08359782,  0.17873939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71766939, -0.50444167,  0.51047817, -0.50444167,  2.88475034,
        2.14145478,  0.51047817,  2.14145478,  2.83380104,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.244321561050224e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99698077e-01,  3.40497542e-03, -2.43343734e-02,  3.40396711e-03,
        9.99994203e-01,  8.28584235e-05,  2.43345144e-02,  0.00000000e+00,
       -9.99703872e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13129412, -0.08575285,  0.17245718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002515241863873821
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.37276798e-01,  2.28846637e-02, -9.41127331e-01,  7.72048802e-03,
        9.99738112e-01,  2.15430244e-02,  9.41373866e-01,  8.67361738e-19,
       -3.37365150e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12590549, -0.03733116,  0.2982862 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024996561622542485
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.59693992e-02, -8.59693992e-02,  9.92581747e-01,  7.41820144e-03,
        9.96297778e-01,  8.56487472e-02, -9.96270160e-01,  1.73472348e-18,
        8.62888598e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08869828, -0.03655154,  0.0619451 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.31505590e-05, 3.67056098e-05, 2.82451162e-05, 1.10398013e-05,
 -6.20746074e-04, 2.23099998e-02,-1.28015966e-04, 5.54405986e-05,
 -2.77062158e-05, 5.06165128e-05,-1.81731342e-05,-2.07310577e-05,
  1.01458537e-01,-2.91335437e-04,-3.02246270e-04, 8.43794824e-05,
 -3.50027579e-07,-3.60929454e-08,-9.80999948e+00,-6.47590614e-02,
 -3.03013755e-03,-1.17572324e-02]


--- Step 372 ---
qpos:
[ 0.00986012, 0.00806868,-0.00560179, 0.03344013, 0.00343511,-0.01753311,
 -0.00683872, 0.03916151, 0.01303737, 0.00596996,-0.01168387, 0.03406809,
  0.24133218, 0.00442745, 0.66963488, 0.04816441, 0.09478864,-0.06388809,
  0.14181694, 0.95744048,-0.05007358, 0.07756705, 0.27346611]

qacc:
[ 6.49841070e+00,-2.01029718e+00, 1.20368317e+01,-2.92860026e+01,
  6.52607254e+00,-1.40776176e+00,-1.65072315e+00, 1.32418466e+01,
  1.44420952e-01,-3.13957914e-01, 1.85140182e+00,-5.42381727e+00,
  2.80507322e+00,-9.18986553e+00,-2.84803347e+00, 5.12418758e+00,
  6.47108702e-02,-1.42337269e-01,-2.03635859e-03, 4.63656546e-02,
 -7.69685775e-01, 6.10392133e+00]

qfrc_actuator:
[ 7.05243827e-05, 3.19851912e-04, 8.00705542e-05, 5.03177487e-05,
  6.43185209e-05, 2.03598982e-02, 5.52180810e-05, 1.02555824e-04,
  8.31099938e-06, 8.26096148e-05,-5.11760699e-05,-7.25798178e-06,
  1.01280317e-01,-2.51364788e-04, 4.44887778e-02,-4.01437361e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31759787, -0.9170057 ,  0.94613144, -0.9170057 ,  3.4892886 ,
        2.10483734,  0.94613144,  2.10483734,  3.35763984,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.882073987634662e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99317184e-01,  3.41785381e-03, -3.67897244e-02,  3.41554000e-03,
        9.99994159e-01,  1.25742634e-04,  3.67899393e-02, -2.71050543e-20,
       -9.99323021e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13113503, -0.08359775,  0.17873878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71758569, -0.52776319,  0.48620494, -0.52776319,  2.86126948,
        2.32691465,  0.48620494,  2.32691465,  3.24339281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.180794489939923e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99697631e-01,  3.41915501e-03, -2.43507055e-02,  3.41814114e-03,
        9.99994155e-01,  8.32593234e-05,  2.43508478e-02,  0.00000000e+00,
       -9.99703474e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13129542, -0.08575212,  0.17245818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025153840891868587
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.33656638,  0.02308149, -0.94137682,  0.00777052,  0.99973359,
        0.02173417,  0.94162768,  0.        , -0.33665607])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1259072 , -0.03734288,  0.29828477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024993796817637894
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.57852058e-02, -8.57852058e-02,  9.92613619e-01,  7.38633009e-03,
        9.96313655e-01,  8.54666230e-02, -9.96286274e-01,  8.67361738e-19,
        8.61026097e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08869982, -0.0365509 ,  0.0619451 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.81421227e-05, 5.64149253e-05, 2.37429120e-05,-4.56367815e-05,
 -6.44944088e-04, 2.23898189e-02,-1.84181474e-04, 1.33361180e-05,
  8.48267523e-07,-1.75605446e-05,-1.02068936e-05,-1.23386351e-05,
  1.01541157e-01,-1.50176238e-04,-1.74670414e-04,-2.74684612e-05,
 -1.00089585e-06, 1.52741468e-06,-9.80999870e+00,-6.47599305e-02,
 -3.03108530e-03,-1.17561886e-02]


--- Step 373 ---
qpos:
[ 0.00986061, 0.00806929,-0.00560095, 0.03343932, 0.003451  ,-0.01756629,
 -0.00683025, 0.03916374, 0.0130383 , 0.00597029,-0.01168262, 0.03406809,
  0.24136026, 0.00442625, 0.67087533, 0.04816282, 0.09478997,-0.06388881,
  0.14181707, 0.9574318 ,-0.05007173, 0.07755545, 0.27350012]

qacc:
[-5.23116445e+00,-2.56845618e+00, 1.31155587e+01,-2.90884299e+01,
  8.25597058e+00,-1.78571856e+00,-1.16815166e+00, 3.26600649e+00,
  6.25862509e+00,-1.57345729e+00, 1.75963156e+00, 7.64094128e+00,
  2.79762047e+00,-6.31042152e+00,-3.56404045e+00, 7.28522066e+00,
  6.61031777e-02,-1.16030636e-01,-4.26547682e-03, 1.31987118e-02,
 -6.84676979e-01, 5.37580073e+00]

qfrc_actuator:
[ 3.87005898e-05, 3.01624727e-04, 8.71143474e-05, 4.06948952e-06,
  5.80419813e-05, 2.04358824e-02, 1.09167810e-05, 7.10354881e-05,
  4.46876487e-05, 2.20363664e-05,-2.64744940e-05, 2.05225449e-05,
  1.01278492e-01,-1.99677296e-04, 4.43906642e-02,-4.00954402e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31759701, -0.87288306,  0.98698381, -0.87288306,  3.92488412,
        2.30587039,  0.98698381,  2.30587039,  3.35689611,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.8059838707185976e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99315676e-01,  3.43277532e-03, -3.68292849e-02,  3.43044640e-03,
        9.99994108e-01,  1.26427405e-04,  3.68295019e-02,  0.00000000e+00,
       -9.99321564e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13113652, -0.08359694,  0.17873848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71759141, -0.55812146,  0.45104088, -0.55812146,  2.81178952,
        2.59137691,  0.45104088,  2.59137691,  3.92418121,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.18515387458837e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99697123e-01,  3.43408564e-03, -2.43694159e-02,  3.43306578e-03,
        9.99994104e-01,  8.36871547e-05,  2.43695596e-02,  0.00000000e+00,
       -9.99703018e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13129701, -0.08575086,  0.17245871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002515546212205993
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.35713033e-01,  2.33193748e-02, -9.41675616e-01,  7.83074750e-03,
        9.99728066e-01,  2.19652598e-02,  9.41931759e-01,  8.67361738e-19,
       -3.35804349e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12590955, -0.03735755,  0.29828298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002498988076127949
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.56370116e-02, -8.56370116e-02,  9.92639212e-01,  7.36073814e-03,
        9.96326403e-01,  8.53200873e-02, -9.96299213e-01, -8.67361738e-19,
        8.59527674e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08870089, -0.03655056,  0.06194511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.07186859e-05, 1.62540411e-05, 2.00273278e-05,-4.39018360e-05,
 -6.88794649e-04, 2.25784303e-02,-2.21023223e-04,-4.61534791e-05,
  3.63995015e-05,-7.30743558e-05, 1.93717115e-05, 2.64321859e-05,
  1.01525035e-01, 2.50123702e-05,-1.86895153e-04,-2.05702680e-05,
 -3.15343605e-06, 4.64155198e-06,-9.80999774e+00,-6.47606371e-02,
 -3.03219179e-03,-1.17549757e-02]


--- Step 374 ---
qpos:
[ 0.00986071, 0.00806979,-0.00560021, 0.03343872, 0.003468  ,-0.01760486,
 -0.00682401, 0.03916542, 0.01303965, 0.00596995,-0.01168106, 0.03406878,
  0.24139192, 0.00442494, 0.67211305, 0.04816198, 0.09479155,-0.0638899 ,
  0.14181717, 0.95742062,-0.05006884, 0.07754316, 0.27354327]

qacc:
[-3.37631548e+00, 5.49950674e-01,-3.03548858e+00, 6.76361706e+00,
  9.62463882e+00,-2.03995716e+00,-7.62366182e-01,-1.28255238e+00,
  3.79353028e+00,-3.42791913e-01,-2.98760720e+00, 1.49389531e+01,
  2.67121480e+00,-4.36495741e+00,-6.41475745e+00, 1.62583396e+01,
  6.55404888e-02,-9.47859986e-02,-5.73569502e-03,-1.04172683e-02,
 -6.07825572e-01, 4.73671519e+00]

qfrc_actuator:
[ 1.97695037e-05, 2.72630464e-04, 7.30611090e-05, 1.26813870e-05,
  4.73485618e-05, 2.04973764e-02,-1.80925621e-05, 3.36059859e-05,
  6.57198503e-05,-1.39913775e-05,-1.25274601e-05, 5.46031546e-05,
  1.01270928e-01,-1.49823443e-04, 4.42606309e-02,-3.97052804e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31760164, -0.85209366,  1.00499278, -0.85209366,  4.10456216,
        2.36295368,  1.00499278,  2.36295368,  3.32105668,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.200705190293793e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99313902e-01,  3.44864804e-03, -3.68758919e-02,  3.44630242e-03,
        9.99994053e-01,  1.27172728e-04,  3.68761112e-02,  0.00000000e+00,
       -9.99319845e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13113834, -0.08359553,  0.1787384 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71766024, -0.58398895,  0.41712484, -0.58398895,  2.61774002,
        2.66017622,  0.41712484,  2.66017622,  4.44199729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.237401794053813e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99696466e-01,  3.44996827e-03, -2.43941131e-02,  3.44894161e-03,
        9.99994049e-01,  8.41594169e-05,  2.43942582e-02,  1.35525272e-20,
       -9.99702416e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13129896, -0.08574916,  0.17245888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025157464743121387
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.34770454e-01,  2.35820506e-02, -9.42004581e-01,  7.89676986e-03,
        9.99721905e-01,  2.22205792e-02,  9.42266620e-01,  1.73472348e-18,
       -3.34863578e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12591224, -0.03737414,  0.29828098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024985065063568485
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08551777, -0.08551777,  0.99265977,  0.00734018,  0.99633665,
        0.08520218, -0.99630961,  0.        ,  0.08583221])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08870158, -0.03655047,  0.06194512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98022355e-05,-1.76918620e-05,-9.76257769e-06, 9.14662007e-06,
 -7.47128940e-04, 2.28604362e-02,-1.69733295e-04,-7.27911247e-05,
  2.20417875e-05,-7.17680101e-05, 2.13431264e-06, 3.21289321e-05,
  1.01394445e-01, 1.25900833e-04,-2.20588395e-04, 1.30652424e-05,
 -6.27093653e-06, 8.72921362e-06,-9.80999670e+00,-6.47611752e-02,
 -3.03343211e-03,-1.17536130e-02]


--- Step 375 ---
qpos:
[ 0.00986058, 0.00807029,-0.00559998, 0.03343858, 0.00348625,-0.01764931,
 -0.0068203 , 0.03916637, 0.0130409 , 0.00596947,-0.01167984, 0.0340702 ,
  0.24142684, 0.00442345, 0.67334792, 0.04816093, 0.09479339,-0.06389131,
  0.14181725, 0.95740724,-0.05006505, 0.07753024, 0.27359447]

qacc:
[-2.01730506e+00, 2.40383553e+00,-1.05085128e+01, 1.93568745e+01,
  1.07446965e+01,-2.22105607e+00,-3.24008618e-01,-3.78354015e+00,
 -9.17291733e-01, 2.25786818e+00,-1.13852346e+01, 2.45890732e+01,
  2.48894379e+00,-4.19651049e+00,-3.74392588e+00, 6.64583451e+00,
  6.35214155e-02,-7.76616280e-02,-6.67349485e-03,-2.62685529e-02,
 -5.39476509e-01, 4.17380139e+00]

qfrc_actuator:
[ 8.60047742e-06, 2.72863592e-04, 4.66427605e-05, 3.57222156e-05,
  3.34650613e-05, 2.05174374e-02,-1.88941373e-05,-6.94131321e-06,
  5.97886237e-05, 4.34361410e-07,-2.27234827e-05, 9.21142563e-05,
  1.01259730e-01,-1.72581181e-04, 4.41168968e-02,-3.98273324e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31761176, -0.84098988,  1.01431591, -0.84098988,  4.14260275,
        2.34225729,  1.01431591,  2.34225729,  3.25962474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.95561428876693e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99311887e-01,  3.46563075e-03, -3.69288689e-02,  3.46326680e-03,
        9.99993995e-01,  1.27982592e-04,  3.69290907e-02, -2.71050543e-20,
       -9.99317888e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13114051, -0.08359361,  0.17873845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71777665, -0.60993468,  0.37839531, -0.60993468,  2.33489841,
        2.60663546,  0.37839531,  2.60663546,  4.91940735,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.324998090676223e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99695618e-01,  3.46696153e-03, -2.44264474e-02,  3.46592708e-03,
        9.99993990e-01,  8.46860623e-05,  2.44265942e-02,  1.35525272e-20,
       -9.99701626e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13130133, -0.08574707,  0.17245875])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025159933387029466
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.33775123e-01,  2.38585933e-02, -9.42350749e-01,  7.96567242e-03,
        9.99715343e-01,  2.24895651e-02,  9.42619072e-01, -1.73472348e-18,
       -3.33870162e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1259151 , -0.03739195,  0.29827885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024979548461503357
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08542186, -0.08542186,  0.99267629,  0.00732366,  0.99634487,
        0.08510733, -0.99631796,  0.        ,  0.08573523])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08870198, -0.03655056,  0.06194513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17415589e-05,-1.13173314e-05,-3.09711887e-05, 2.21223439e-05,
 -8.16594842e-04, 2.31517883e-02,-5.81523229e-05,-8.54396910e-05,
 -5.33050498e-06,-2.38850541e-05,-2.36612746e-05, 3.51298243e-05,
  1.01204048e-01, 1.08932953e-04,-2.42852245e-04,-3.99169622e-05,
 -9.96120034e-06, 1.33801612e-05,-9.80999564e+00,-6.47615506e-02,
 -3.03478353e-03,-1.17521181e-02]


--- Step 376 ---
qpos:
[ 0.00985998, 0.00807086,-0.00559983, 0.03343833, 0.00350581,-0.01769939,
 -0.00681882, 0.03916679, 0.01304103, 0.00596945,-0.01167903, 0.03407129,
  0.24146485, 0.00442181, 0.67458037, 0.04815894, 0.09479548,-0.06389298,
  0.1418173 , 0.95739191,-0.0500605 , 0.07751675, 0.27365275]

qacc:
[-4.19973395e+00, 1.00467680e-01, 2.39185559e-01,-2.02086563e+00,
  1.14188894e+01,-2.36377200e+00,-1.30631386e-01,-1.49313212e+00,
 -9.83658972e+00, 1.09890851e+00,-1.60529120e+00,-3.79169933e+00,
  2.31231304e+00,-3.82618784e+00,-8.42622320e-01,-2.54220702e+00,
  6.04524727e-02,-6.36274923e-02,-7.15803762e-03,-3.69872049e-02,
 -4.75599552e-01, 3.67090236e+00]

qfrc_actuator:
[-1.56666593e-05, 2.90549851e-04, 4.87596294e-05, 3.15709465e-05,
 -6.59611918e-07, 2.05330209e-02,-3.71002957e-05,-3.12187441e-05,
  2.53478027e-06, 6.26261870e-05,-2.91251084e-05, 7.81140701e-05,
  1.01246253e-01,-1.85534189e-04, 4.40183101e-02,-4.02502289e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31762834, -0.88121255,  0.97959628, -0.88121255,  3.73097434,
        2.17096659,  0.97959628,  2.17096659,  3.27055838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.990179610873092e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99309652e-01,  3.48385326e-03, -3.69876027e-02,  3.48146932e-03,
        9.99993931e-01,  1.28860162e-04,  3.69878272e-02,  0.00000000e+00,
       -9.99315716e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13114305, -0.08359124,  0.1787386 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71793007, -0.62296402,  0.35684649, -0.62296402,  2.05566188,
        2.33534251,  0.35684649,  2.33534251,  4.79484935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.439019347248904e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99694559e-01,  3.48519515e-03, -2.44671685e-02,  3.48415179e-03,
        9.99993927e-01,  8.52733749e-05,  2.44673171e-02,  0.00000000e+00,
       -9.99700630e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13130411, -0.08574463,  0.17245839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002516281256693694
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.32742945e-01,  2.41445237e-02, -9.42708425e-01,  8.03626264e-03,
        9.99708478e-01,  2.27678832e-02,  9.42983325e-01, -8.67361738e-19,
       -3.32839975e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12591806, -0.03741062,  0.29827663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024973488590503998
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.53447543e-02, -8.53447543e-02,  9.92689552e-01,  7.31039922e-03,
        9.96351481e-01,  8.50310835e-02, -9.96324661e-01,  8.67361738e-19,
        8.56572766e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08870214, -0.03655081,  0.06194514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46070750e-05, 5.88371309e-06,-3.27769304e-06,-5.27806557e-06,
 -9.12793824e-04, 2.34624073e-02, 5.01224496e-05,-7.35342901e-05,
 -5.74142037e-05, 4.54552749e-05,-1.30445452e-05,-1.51630275e-05,
  1.01028104e-01, 1.05348512e-04,-2.13308360e-04,-7.56804180e-05,
 -1.39424761e-05, 1.82967107e-05,-9.80999458e+00,-6.47617713e-02,
 -3.03622925e-03,-1.17505063e-02]


--- Step 377 ---
qpos:
[ 0.00985944, 0.00807138,-0.00559962, 0.03343804, 0.00352673,-0.01775403,
 -0.00681844, 0.03916738, 0.01304047, 0.00596965,-0.01167878, 0.0340719 ,
  0.24150601, 0.00442029, 0.67581039, 0.04815735, 0.09479779,-0.06389485,
  0.14181732, 0.95737484,-0.0500553 , 0.07750275, 0.27371738]

qacc:
[ 5.17808679e-01,-3.08825543e-01, 1.17971042e+00,-1.95469390e+00,
  1.18033346e+01,-2.58559010e+00,-3.30151868e-01, 8.61473387e+00,
 -6.06412549e+00, 8.98710469e-01,-7.75442299e-01,-6.73777077e+00,
  2.12985166e+00,-3.08948213e+00,-4.90388137e+00, 1.16830248e+01,
  5.86528546e-02,-5.25017714e-02,-7.72030227e-03,-4.73349401e-02,
 -4.26031636e-01, 3.29358939e+00]

qfrc_actuator:
[-1.19460713e-05, 2.83138199e-04, 5.00161346e-05, 2.92423265e-05,
 -2.97504684e-05, 2.05835369e-02,-6.50353897e-05,-1.01207478e-05,
 -3.12007947e-05, 4.64081226e-05,-6.85536103e-05, 5.17225383e-05,
  1.01236631e-01,-1.74811425e-04, 4.39255722e-02,-3.99577669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31765304, -0.96044518,  0.90208346, -0.96044518,  3.03113051,
        1.82433362,  0.90208346,  1.82433362,  3.26001482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.263015967671959e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99307216e-01,  3.50339309e-03, -3.70515138e-02,  3.50098748e-03,
        9.99993863e-01,  1.29806814e-04,  3.70517412e-02,  0.00000000e+00,
       -9.99313348e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13114593, -0.08358847,  0.17873883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71811623, -0.61945286,  0.36327549, -0.61945286,  1.86958691,
        1.96347352,  0.36327549,  1.96347352,  4.06620691,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.57528174127028e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99693300e-01,  3.50474663e-03, -2.45157485e-02,  3.50369325e-03,
        9.99993858e-01,  8.59220146e-05,  2.45158990e-02,  1.35525272e-20,
       -9.99699440e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13130729, -0.08574189,  0.17245782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025166069094354816
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.31688200e-01,  2.44357777e-02, -9.43072548e-01,  8.10747998e-03,
        9.99701402e-01,  2.30515943e-02,  9.43354232e-01, -8.67361738e-19,
       -3.31787271e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12592105, -0.03742985,  0.29827434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024967011257531653
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08528282, -0.08528282,  0.9927002 ,  0.00729975,  0.99635678,
        0.08496984, -0.99633004,  0.        ,  0.08559466])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08870212, -0.03655118,  0.06194515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02001466e-06,-5.05326599e-06, 1.87925815e-06,-2.29254618e-06,
 -1.00783508e-03, 2.37964892e-02, 1.34050468e-04,-2.52600250e-05,
 -3.53495331e-05, 5.82535055e-06,-3.21799115e-05,-2.51918491e-05,
  1.00863690e-01, 1.23913273e-04,-1.99749222e-04,-2.76964869e-06,
 -1.80062253e-05, 2.32556812e-05,-9.80999356e+00,-6.47618453e-02,
 -3.03775556e-03,-1.17487920e-02]


--- Step 378 ---
qpos:
[ 0.00985894, 0.00807184,-0.00559939, 0.03343773, 0.00354137,-0.01779239,
 -0.00681744, 0.03916573, 0.01304055, 0.00596928,-0.01167842, 0.03407258,
  0.24153922, 0.00442518, 0.67703804, 0.0481568 , 0.09479867,-0.06389449,
  0.14181811, 0.95737267,-0.05005563, 0.07749286, 0.27372772]

qacc:
[  0.42810529, -0.20002778,  0.68840911, -1.06737774,-54.54116332,
  15.28779482,-13.63860718,-38.30852569,  5.59776428, -0.91732091,
   1.85748541, -0.28994519,-11.92191139, 30.38256736, -5.82417537,
  17.22275329, -0.36093376,  0.56036669,  0.19288592,  0.39034141,
   3.50355335,-28.1385833 ]

qfrc_actuator:
[-9.53109569e-06, 2.78512864e-04, 5.06541076e-05, 2.79854406e-05,
 -3.86387014e-05, 2.06384419e-02,-6.35294116e-05, 1.99451784e-05,
  2.44987819e-06,-1.67812012e-05,-7.42130116e-05, 5.36818455e-05,
  1.01229206e-01,-1.67833149e-04, 4.38098028e-02,-3.94232729e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31768901, -1.07211767,  0.76607312, -1.07211767,  1.08405351,
       -0.32697237,  0.76607312, -0.32697237,  0.86009189,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.793232771063574e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99304595e-01,  3.52429294e-03, -3.71201614e-02,  3.52186400e-03,
        9.99993790e-01,  1.30823135e-04,  3.71203920e-02, -2.71050543e-20,
       -9.99310801e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1311491 , -0.08358528,  0.17873915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71834085, -0.43063685,  0.57494825, -0.43063685,  0.55477093,
       -0.12251405,  0.57494825, -0.12251405,  0.6265777 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.736783822234773e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99691895e-01,  3.52565885e-03, -2.45699986e-02,  3.52459448e-03,
        9.99993785e-01,  8.66259715e-05,  2.45701513e-02,  0.00000000e+00,
       -9.99698108e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1313108 , -0.08573881,  0.17245704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002355865177529757
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35345715, -0.00555277, -0.93543424, -0.0019627 ,  0.99998458,
       -0.00519433,  0.93544866,  0.        , -0.3534626 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12592401, -0.03744936,  0.29827203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024790398951942128
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.09926853e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.09926853e-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([ 0.10608081, -0.06040987,  0.06194514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49746762e-06,-7.17908558e-06,-2.61150396e-07,-1.45402609e-06,
 -1.08480866e-03, 2.40815387e-02, 1.91626722e-04,-4.06759712e-06,
  3.26512286e-05,-6.76836842e-05,-9.29692387e-06, 6.04294471e-07,
  1.00699214e-01, 1.25930394e-04,-2.08710231e-04, 2.71727753e-05,
 -2.20967351e-05, 2.82118518e-05,-9.80999258e+00,-6.47617905e-02,
 -3.03934978e-03,-1.17469865e-02]


--- Step 379 ---
qpos:
[ 0.00985848, 0.00807233,-0.00559891, 0.03343738, 0.00354896,-0.01781236,
 -0.00681443, 0.0391637 , 0.01304138, 0.00596802,-0.01167736, 0.03407295,
  0.24156045, 0.00443333, 0.67826378, 0.04815255, 0.09479818,-0.06389199,
  0.14181949, 0.95738497,-0.05006064, 0.07748604, 0.27368571]

qacc:
[  0.29403207, -0.73109988,  2.82377386, -3.91594095,-61.04784406,
  18.00438739,-27.09267757,  3.42550755,  6.61165615, -3.81297926,
  13.23811232,-19.2940469 ,-11.6037574 , 23.85568007,  9.01518443,
 -34.01962588, -0.33921459,  0.53191769,  0.14797507,  0.5726485 ,
   2.86111229,-27.14641341]

qfrc_actuator:
[-7.91283380e-06, 2.93342714e-04, 6.86807585e-05, 2.73686187e-05,
 -4.60549879e-05, 2.06947098e-02,-6.33963065e-05, 2.22350712e-05,
  3.99799189e-05,-7.19653032e-05,-4.23171005e-05, 3.67840005e-05,
  1.01229310e-01,-2.04962125e-04, 4.36856213e-02,-4.14143979e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.3176577 , -1.07414344,  0.76317605, -1.07414344,  1.07167403,
       -0.34621337,  0.76317605, -0.34621337,  0.83037457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.4792538659290346e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99303409e-01,  3.53891610e-03, -3.71506646e-02,  3.53647307e-03,
        9.99993738e-01,  1.31473908e-04,  3.71508972e-02,  0.00000000e+00,
       -9.99309667e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13115088, -0.08358608,  0.17873812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71814896, -0.33236795,  0.63660779, -0.33236795,  0.46342453,
       -0.13298964,  0.63660779, -0.13298964,  0.64871611,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.599006703714699e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99690925e-01,  3.54028843e-03, -2.46073490e-02,  3.53921640e-03,
        9.99993733e-01,  8.71176589e-05,  2.46075032e-02,  0.00000000e+00,
       -9.99697190e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13131271, -0.08573857,  0.17245901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002356760400468913
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.52748109e-01, -5.36642353e-03, -9.35702930e-01, -1.89302301e-03,
        9.99985601e-01, -5.02145053e-03,  9.35716404e-01, -2.16840434e-19,
       -3.52753189e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12592539, -0.0374603 ,  0.29827077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024780201455278095
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.24014124e-14, -5.60035310e-15,  1.00000000e+00,  1.25455819e-28,
        1.00000000e+00,  5.60035310e-15, -1.00000000e+00,  0.00000000e+00,
        2.24014124e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1060832 , -0.06040879,  0.06194516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68534655e-06, 1.06827397e-05, 1.64542251e-05,-9.62654021e-07,
 -7.77923931e-04, 2.33249346e-02, 1.61218592e-04, 1.10337250e-04,
  3.84342112e-05,-9.49083657e-05, 1.67882716e-05,-2.01110856e-05,
  1.01095050e-01,-2.32508477e-04,-2.29634338e-04,-2.27176327e-04,
 -8.23861757e-07, 1.21183863e-06,-9.80999879e+00,-6.47592634e-02,
 -3.04115078e-03,-1.17458728e-02]


--- Step 380 ---
qpos:
[ 0.00985769, 0.0080728 ,-0.00559851, 0.03343775, 0.00355403,-0.01782841,
 -0.00680773, 0.03916382, 0.01304265, 0.00596627,-0.01167635, 0.03407345,
  0.24158015, 0.0044359 , 0.67948714, 0.04814482, 0.09479789,-0.06389055,
  0.14182132, 0.95739289,-0.05006337, 0.07747834, 0.27365969]

qacc:
[ -2.82626657,  1.67838574, -9.0189476 , 21.50193583,-21.84255517,
  -0.69192628,  0.97901498, 27.3187303 ,  3.90702595, -0.25091314,
  -0.67875516,  3.59095944,  4.64749844,-17.74830539,  6.58611189,
 -29.10832843,  0.04924804, -0.26385542,  0.11032101,  0.24153949,
  -0.96640903,  8.31694258]

qfrc_actuator:
[-2.45287715e-05, 2.84276807e-04, 6.14059182e-05, 6.26672100e-05,
 -6.70713647e-05, 2.07076719e-02,-8.34804242e-05, 4.24068715e-05,
  6.17184113e-05,-8.62873356e-05,-4.17766279e-05, 4.44475559e-05,
  1.01234582e-01,-2.32448172e-04, 4.35883931e-02,-4.31024592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31759418, -0.77396977,  1.06631385, -0.77396977,  1.02775928,
       -0.21037283,  1.06631385, -0.21037283,  1.16489786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.5429881937666966e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99303581e-01,  3.54650789e-03, -3.71453390e-02,  3.54406032e-03,
        9.99993711e-01,  1.31737066e-04,  3.71455726e-02,  0.00000000e+00,
       -9.99309865e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13115121, -0.08359066,  0.17873588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7175952 , -0.44826001,  0.56036224, -0.44826001,  0.84277196,
        0.10013475,  0.56036224,  0.10013475,  0.79769768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.188038296304357e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99690480e-01,  3.54788099e-03, -2.46243035e-02,  3.54680517e-03,
        9.99993706e-01,  8.73646479e-05,  2.46244584e-02,  1.35525272e-20,
       -9.99696772e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13131294, -0.08574107,  0.17246342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002358072472938045
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.52299518e-01, -5.24861002e-03, -9.35872589e-01, -1.84910825e-03,
        9.99986226e-01, -4.91209791e-03,  9.35885480e-01,  2.16840434e-19,
       -3.52304370e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12592589, -0.03746539,  0.29827023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -10.0275885 ,  14.06394597, -10.0275885 ,
       108.47604646,  65.0279343 ,  14.06394597,  65.0279343 ,
        63.63762142,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0024940249533100495
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.47826087e-02, -8.47826087e-02,  9.92785888e-01,  7.21406518e-03,
        9.96399473e-01,  8.44751325e-02, -9.96373357e-01, -8.67361738e-19,
        8.50889739e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0887072 , -0.03654834,  0.06194521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65667805e-05, 2.45164392e-07,-3.08498142e-06, 3.63055789e-05,
 -4.46890825e-04, 2.24191239e-02, 4.07046598e-05, 1.49881355e-04,
  2.27951908e-05,-6.47408867e-05,-1.76910553e-05, 3.78404141e-06,
  1.01697848e-01,-4.22853903e-04,-2.45331076e-04,-2.14670885e-04,
 -9.29402646e-06, 7.67436131e-06,-9.81000075e+00,-6.47597987e-02,
 -3.04257980e-03,-1.17453746e-02]


--- Step 381 ---
qpos:
[ 0.00985637, 0.00807332,-0.00559847, 0.0334382 , 0.00355737,-0.01784353,
 -0.00679902, 0.03916505, 0.01304417, 0.00596436,-0.01167527, 0.03407468,
  0.24160176, 0.00443526, 0.68070778, 0.04813797, 0.09479791,-0.06388998,
  0.14182345, 0.95739661,-0.05006409, 0.07746966, 0.27364898]

qacc:
[ -4.73305872,  1.24505216, -4.70228966,  6.71946749,-14.76006428,
  -2.04220806,  4.41617878, 10.98176206,  2.20895995,  1.11887943,
  -7.33119284, 19.87826505,  4.72420669,-13.40803126, -6.98216885,
  17.76938376,  0.07587513, -0.21709822,  0.0777218 ,  0.12757574,
  -0.96052121,  7.96260788]

qfrc_actuator:
[-5.17437487e-05, 2.78658379e-04, 3.91774848e-05, 6.55196122e-05,
 -6.24317854e-05, 2.07017710e-02,-6.49241521e-05, 7.09284606e-05,
  7.39870854e-05,-5.83718821e-05,-2.40785059e-05, 8.42638460e-05,
  1.01231792e-01,-2.28871634e-04, 4.35074465e-02,-4.24658403e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31757658, -0.68204165,  1.12730973, -0.68204165,  1.05026191,
       -0.16172994,  1.12730973, -0.16172994,  1.2197272 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.261458877988175e-07
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99303439e-01,  3.55156498e-03, -3.71486644e-02,  3.54911348e-03,
        9.99993693e-01,  1.31936727e-04,  3.71488986e-02,  0.00000000e+00,
       -9.99309741e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13115154, -0.08359446,  0.17873425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71722234, -0.4650096 ,  0.54605308, -0.4650096 ,  0.97629896,
        0.22062528,  0.54605308,  0.22062528,  0.90510312,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.898945473320115e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99690232e-01,  3.55293966e-03, -2.46336524e-02,  3.55186149e-03,
        9.99993688e-01,  8.75224329e-05,  2.46338079e-02,  0.00000000e+00,
       -9.99696542e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13131317, -0.08574299,  0.17246747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023597597430824184
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.51524002e-01, -5.03858110e-03, -9.36165311e-01, -1.77120467e-03,
        9.99987306e-01, -4.71700471e-03,  9.36177194e-01, -2.16840434e-19,
       -3.51528464e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12592789, -0.03747691,  0.29826897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024923335797506236
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08455314, -0.08455314,  0.99282503,  0.00717493,  0.99641897,
        0.08424817, -0.99639314,  0.        ,  0.08485702])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08870992, -0.03654652,  0.06194524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76902411e-05,-4.58865151e-06,-2.13111096e-05, 3.46086062e-06,
 -3.15484734e-04, 2.22180737e-02,-1.25368209e-04, 7.10536509e-05,
  1.28901577e-05,-1.17173976e-05, 2.28507887e-06, 3.65033084e-05,
  1.01771287e-01,-1.40082688e-04,-2.22299942e-04, 1.90021142e-05,
 -3.53747623e-06, 2.35686247e-06,-9.81000061e+00,-6.47608409e-02,
 -3.04324473e-03,-1.17446603e-02]


--- Step 382 ---
qpos:
[ 0.00985507, 0.00807375,-0.00559835, 0.03343832, 0.00355961,-0.01785621,
 -0.0067899 , 0.03916585, 0.01304548, 0.00596285,-0.01167423, 0.03407597,
  0.24162701, 0.00443267, 0.68192652, 0.04813168, 0.09479832,-0.06389013,
  0.1418258 , 0.95739626,-0.05006304, 0.07745995, 0.27365315]

qacc:
[  0.257159  , -0.99496317,  4.77343005,-10.50778331, -9.5867731 ,
   1.21798789,  2.16950815,-12.08821484, -1.85564469,  0.75379111,
  -2.19326511,  3.00187555,  4.58046078,-10.7066378 , -4.81930322,
  12.08285383,  0.09862819, -0.18016399,  0.05352466,  0.03270407,
  -0.95312825,  7.72032478]

qfrc_actuator:
[-4.94679985e-05, 2.75053966e-04, 4.37911959e-05, 4.92461086e-05,
 -5.99576162e-05, 2.07392157e-02,-5.84824700e-05, 5.13719110e-05,
  6.28366789e-05,-5.27046205e-06,-1.39288866e-05, 8.94747254e-05,
  1.01229237e-01,-2.42298322e-04, 4.34576888e-02,-4.20616524e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71699782, -0.503448  ,  0.51051541, -0.503448  ,  1.56662169,
        0.83786194,  0.51051541,  0.83786194,  1.54326066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.719506431941715e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99690062e-01,  3.55628427e-03, -2.46400494e-02,  3.55520452e-03,
        9.99993676e-01,  8.76275741e-05,  2.46402052e-02,  0.00000000e+00,
       -9.99696384e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13131357, -0.08574424,  0.17247111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023617655686864747
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.50525409e-01, -4.76678333e-03, -9.36541091e-01, -1.67089766e-03,
        9.99988639e-01, -4.46433918e-03,  9.36551732e-01,  4.33680869e-19,
       -3.50529391e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12593085, -0.03749294,  0.29826723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024901622493538676
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.43698391e-02, -8.43698391e-02,  9.92856213e-01,  7.14374070e-03,
        9.96434509e-01,  8.40668586e-02, -9.96408901e-01, -8.67361738e-19,
        8.46717354e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08871197, -0.03654513,  0.06194529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48419932e-06,-1.04498778e-05, 1.15576244e-06,-1.71409639e-05,
 -2.27268297e-04, 2.22088402e-02,-2.19375380e-04,-4.41914335e-06,
 -1.07943835e-05, 4.86481095e-05, 9.28160802e-06, 5.49710133e-06,
  1.01673962e-01, 7.49944098e-06,-1.50684566e-04, 1.25020820e-05,
 -6.57796272e-07,-2.67355010e-09,-9.81000006e+00,-6.47617220e-02,
 -3.04414534e-03,-1.17437336e-02]


--- Step 383 ---
qpos:
[ 0.00985416, 0.008074  ,-0.00559846, 0.03343897, 0.00356117,-0.01786783,
 -0.00677971, 0.03916723, 0.01304631, 0.00596198,-0.01167375, 0.03407662,
  0.24165705, 0.00442915, 0.68314301, 0.04812723, 0.0947992 ,-0.06389088,
  0.14182827, 0.95739193,-0.05006036, 0.07744913, 0.27367186]

qacc:
[ 3.34968159e+00, 1.45197032e+00,-7.76458049e+00, 1.73960504e+01,
 -5.86691668e+00,-3.60727300e-01, 8.94488440e-01, 6.65388113e+00,
 -4.32900825e+00, 1.10705691e+00,-6.45138521e-03,-1.06130682e+01,
  4.38977294e+00,-8.50276681e+00,-9.11999577e+00, 2.64635806e+01,
  1.15861228e-01,-1.51251930e-01, 3.08720071e-02,-3.96536847e-02,
 -9.58893190e-01, 7.53625963e+00]

qfrc_actuator:
[-2.98495154e-05, 2.55014439e-04, 2.87153159e-05, 7.51348628e-05,
 -5.87046323e-05, 2.07830488e-02,-7.62597527e-05, 7.50806616e-05,
  3.79952562e-05, 2.69649070e-05,-4.37336744e-05, 5.65446484e-05,
  1.01231925e-01,-2.30396600e-04, 4.33627587e-02,-4.10873173e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71692948, -0.49625177,  0.51741866, -0.49625177,  1.52932824,
        0.77916464,  0.51741866,  0.77916464,  1.46421957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.664037005765452e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99689967e-01,  3.55852251e-03, -2.46436117e-02,  3.55744177e-03,
        9.99993668e-01,  8.76954020e-05,  2.46437677e-02,  0.00000000e+00,
       -9.99696296e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13131408, -0.0857446 ,  0.17247419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002364041931232876
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.49377399e-01, -4.45455139e-03, -9.36971499e-01, -1.55633502e-03,
        9.99990078e-01, -4.17382911e-03,  9.36980796e-01,  2.16840434e-19,
       -3.49380865e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12593442, -0.03751211,  0.29826514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024876192680632564
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.42240686e-02, -8.42240686e-02,  9.92880966e-01,  7.11898864e-03,
        9.96446841e-01,  8.39226652e-02, -9.96421410e-01, -8.67361738e-19,
        8.45243973e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08871347, -0.03654409,  0.06194534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96562760e-05,-2.63916766e-05,-1.76906081e-05, 2.51460316e-05,
 -1.70666914e-04, 2.21314400e-02,-2.57304308e-04, 4.08219050e-05,
 -2.51353580e-05, 6.16326132e-05,-1.84181162e-05,-3.04183239e-05,
  1.01495031e-01, 1.17527546e-04,-1.65491156e-04, 7.78717562e-05,
 -2.89040425e-07, 3.04420075e-07,-9.80999915e+00,-6.47624671e-02,
 -3.04524049e-03,-1.17426005e-02]


--- Step 384 ---
qpos:
[ 0.00985349, 0.00807414,-0.00559902, 0.03343959, 0.00356262,-0.0178797 ,
 -0.0067682 , 0.03916974, 0.01304717, 0.00596166,-0.01167392, 0.03407689,
  0.24169238, 0.00442527, 0.68435691, 0.04812401, 0.09480058,-0.06389215,
  0.1418308 , 0.95738374,-0.05005622, 0.07743718, 0.27370465]

qacc:
[ 2.11285738e+00, 1.06632070e+00,-3.90226942e+00, 4.19313315e+00,
 -8.34969246e-01,-1.75183155e+00, 1.04620806e+00, 1.63572507e+01,
  3.28765217e-01, 1.74993491e+00,-3.57200823e+00,-2.39728208e+00,
  4.13525723e+00,-7.00055223e+00,-7.77457733e+00, 2.10997715e+01,
  1.27008096e-01,-1.27781963e-01, 1.26946492e-02,-9.31963400e-02,
 -9.51399397e-01, 7.30186363e+00]

qfrc_actuator:
[-1.79428016e-05, 2.42998413e-04, 2.08945045e-06, 7.23382732e-05,
 -4.04146404e-05, 2.08311095e-02,-7.38852506e-05, 1.23909311e-04,
  4.08073285e-05, 4.62665008e-05,-7.92271068e-05, 3.69076925e-05,
  1.01232197e-01,-2.21285094e-04, 4.32301737e-02,-4.04959043e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71700998, -0.49154243,  0.52200513, -0.49154243,  1.63110748,
        0.86075343,  0.52200513,  0.86075343,  1.52753235,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.729335870459082e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99689926e-01,  3.56007988e-03, -2.46450457e-02,  3.55899854e-03,
        9.99993663e-01,  8.77388874e-05,  2.46452019e-02,  0.00000000e+00,
       -9.99696261e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13131477, -0.085744  ,  0.17247666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002366533857264621
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.48133904e-01, -4.11744813e-03, -9.37435775e-01, -1.43343544e-03,
        9.99991523e-01, -3.85987589e-03,  9.37443721e-01,  2.16840434e-19,
       -3.48136855e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12593833, -0.03753342,  0.29826284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024848036810111197
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08410922, -0.08410922,  0.99290044,  0.00709952,  0.99645654,
        0.08380906, -0.99643125,  0.        ,  0.08440832])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08871455, -0.03654332,  0.0619454 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24563647e-05,-2.93508021e-05,-3.33893523e-05,-4.05261915e-06,
 -1.18313521e-04, 2.21265775e-02,-3.08136064e-04, 6.06022491e-05,
  2.11899469e-06, 4.86770571e-05,-2.60786229e-05,-1.82244214e-05,
  1.01255929e-01, 1.74043190e-04,-2.00273945e-04, 4.18293764e-05,
 -2.20203142e-06, 3.10219629e-06,-9.80999790e+00,-6.47630965e-02,
 -3.04650441e-03,-1.17412626e-02]


--- Step 385 ---
qpos:
[ 0.00985331, 0.0080742 ,-0.00559967, 0.03344014, 0.00356453,-0.01789844,
 -0.00675682, 0.03917308, 0.01304806, 0.00596183,-0.01167457, 0.03407762,
  0.241733  , 0.00442115, 0.68556861, 0.0481201 , 0.09480244,-0.06389384,
  0.14183331, 0.95737209,-0.05005078, 0.07742414, 0.27375008]

qacc:
[ 4.32421988e+00,-1.77551750e-02, 1.94811144e-01,-1.19243204e+00,
  3.97006108e+00,-6.97848866e+00, 8.12794927e+00, 1.17385238e+01,
  2.12319641e-01, 2.90788073e+00,-1.13484676e+01, 1.95648355e+01,
  3.91131597e+00,-6.33358647e+00,-1.38573997e+00,-3.81806308e-01,
  1.19495325e-01,-1.05958631e-01,-2.29019299e-03,-1.05745396e-01,
 -8.77318295e-01, 6.54679732e+00]

qfrc_actuator:
[ 7.07654797e-06, 2.53557783e-04, 4.36917225e-06, 7.04311196e-05,
 -4.77144176e-05, 2.08470920e-02,-6.01128254e-05, 1.16029810e-04,
  4.21247338e-05, 7.53953970e-05,-1.00069229e-04, 6.07509641e-05,
  1.01225477e-01,-2.31798873e-04, 4.31283652e-02,-4.08456709e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31757604, -0.52511278,  1.20841351, -0.52511278,  1.17203364,
       -0.06324505,  1.20841351, -0.06324505,  1.29009308,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.044004191292816e-07
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99299527e-01,  3.56014452e-03, -3.72529204e-02,  3.55767329e-03,
        9.99993663e-01,  1.32626621e-04,  3.72531565e-02,  0.00000000e+00,
       -9.99305860e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13115421, -0.08359856,  0.17873363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71723593, -0.51687566,  0.49725942, -0.51687566,  1.26126058,
        0.56548572,  0.49725942,  0.56548572,  1.30502933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.909667495912828e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99689912e-01,  3.56153532e-03, -2.46454000e-02,  3.56045351e-03,
        9.99993658e-01,  8.77760194e-05,  2.46455564e-02,  0.00000000e+00,
       -9.99696252e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13131571, -0.08574239,  0.17247849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00236919047709454
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.46833153e-01, -3.76636960e-03, -9.37919282e-01, -1.30631111e-03,
        9.99992907e-01, -3.53257573e-03,  9.37925934e-01, -2.16840434e-19,
       -3.46835613e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12594241, -0.03755612,  0.29826039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024817964278808537
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.40199756e-02, -8.40199756e-02,  9.92915549e-01,  7.08440627e-03,
        9.96464070e-01,  8.37207710e-02, -9.96438887e-01, -8.67361738e-19,
        8.43181186e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08871528, -0.03654278,  0.06194547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53655387e-05,-1.29177443e-05,-8.03193172e-06,-4.39981912e-06,
 -1.20510785e-04, 2.21554350e-02,-3.60954475e-04,-3.18916821e-06,
  1.39531963e-06, 5.01977970e-05,-1.46241809e-05, 2.46728253e-05,
  1.00984910e-01, 1.82299586e-04,-1.87305672e-04,-5.82808457e-05,
 -6.17929992e-06, 8.19434623e-06,-9.80999635e+00,-6.47636211e-02,
 -3.04791962e-03,-1.17397235e-02]


--- Step 386 ---
qpos:
[ 0.00985309, 0.00807424,-0.00560034, 0.03344065, 0.00356727,-0.01792598,
 -0.00674736, 0.039176  , 0.01304861, 0.00596213,-0.01167561, 0.03407866,
  0.24177852, 0.00441685, 0.686778  , 0.04811607, 0.09480474,-0.06389588,
  0.14183578, 0.95735737,-0.05004423, 0.07741011, 0.27380669]

qacc:
[-3.83543310e-01,-3.04392126e-02, 2.54282008e-01,-9.01664838e-01,
  7.35628577e+00,-7.16108078e+00, 1.04199587e+01,-8.15048056e+00,
 -2.96812143e+00, 1.95826260e+00,-8.05178601e+00, 1.40889074e+01,
  3.62904732e+00,-5.81982549e+00,-3.24331205e+00, 5.92646594e+00,
  1.10119105e-01,-8.72579297e-02,-1.09457784e-02,-1.12562291e-01,
 -7.84724235e-01, 5.78870092e+00]

qfrc_actuator:
[ 4.11060048e-06, 2.59916409e-04, 6.04715547e-06, 6.91085383e-05,
 -5.31234829e-05, 2.08683055e-02,-3.85647350e-05, 7.39543436e-05,
  2.47904151e-05, 5.70124644e-05,-1.29779778e-04, 7.44975180e-05,
  1.01209046e-01,-2.54072267e-04, 4.30291036e-02,-4.08582568e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31758591, -0.4537225 ,  1.23699981, -0.4537225 ,  1.25351094,
       -0.02350223,  1.23699981, -0.02350223,  1.30896547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.627846898061226e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99297700e-01,  3.56203945e-03, -3.73017365e-02,  3.55956041e-03,
        9.99993656e-01,  1.32871100e-04,  3.73019731e-02, -2.71050543e-20,
       -9.99304039e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13115563, -0.08359672,  0.17873463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71755108, -0.56981258,  0.43611142, -0.56981258,  1.34618876,
        0.82136271,  0.43611142,  0.82136271,  1.79072363,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.154373517310138e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99689723e-01,  3.56343684e-03, -2.46527665e-02,  3.56235380e-03,
        9.99993651e-01,  8.78491341e-05,  2.46529230e-02,  0.00000000e+00,
       -9.99696071e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13131721, -0.08574006,  0.17247989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023719541944959327
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.34549824, -0.00340777, -0.93841321, -0.00117738,  0.99999419,
       -0.00319791,  0.93841866,  0.        , -0.34550024])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12594655, -0.03757975,  0.29825786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002478673019632203
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08395183, -0.08395183,  0.99292708,  0.00707288,  0.99646981,
        0.08365336, -0.99644471,  0.        ,  0.08424925])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08871575, -0.03654241,  0.06194554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24690158e-06,-2.69905722e-06,-2.12701585e-06,-2.24059019e-06,
 -1.48261312e-04, 2.25210121e-02,-3.32435443e-04,-8.73537204e-05,
 -1.72775707e-05, 7.72769936e-06,-2.02844092e-05, 1.58714919e-05,
  1.00704803e-01, 1.72320201e-04,-1.91142394e-04,-2.87505893e-05,
 -1.15190033e-05, 1.47698612e-05,-9.80999466e+00,-6.47639983e-02,
 -3.04947604e-03,-1.17379983e-02]


--- Step 387 ---
qpos:
[ 0.00985215, 0.00807432,-0.005601  , 0.03344079, 0.00357114,-0.01796254,
 -0.00673989, 0.03917844, 0.0130493 , 0.00596235,-0.0116766 , 0.03407951,
  0.24182852, 0.00441233, 0.68798508, 0.04811134, 0.09480746,-0.06389821,
  0.14183818, 0.95733989,-0.05003672, 0.07739518, 0.2738734 ]

qacc:
[ -6.3492085 , -0.75244814,  4.33969682,-10.87084536,  9.79862318,
  -7.35103812, 10.94252229, -9.48258273,  1.17323354, -0.65780604,
   2.98512032, -6.30591902,  3.35139614, -5.47021814, -1.46244864,
  -0.28334321,  0.10379991, -0.07254226, -0.0181329 , -0.1207283 ,
  -0.71498981,  5.227298  ]

qfrc_actuator:
[-3.30597522e-05, 2.63721396e-04, 7.33804426e-06, 5.03824448e-05,
 -4.02191374e-05, 2.08795745e-02,-2.82740577e-05, 4.77928838e-05,
  3.21221749e-05, 4.57783343e-05,-1.29196022e-04, 6.43853292e-05,
  1.01202609e-01,-2.83363310e-04, 4.29208075e-02,-4.12040423e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31761662, -0.43213033,  1.2447397 , -0.43213033,  1.31198951,
       -0.00195353,  1.2447397 , -0.00195353,  1.31693842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.279713907732473e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99295568e-01,  3.56477446e-03, -3.73585303e-02,  3.56228595e-03,
        9.99993646e-01,  1.33175581e-04,  3.73587677e-02,  0.00000000e+00,
       -9.99301918e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1311576 , -0.08359415,  0.17873578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71793184, -0.59455458,  0.40240648, -0.59455458,  1.34325489,
        0.92391327,  0.40240648,  0.92391327,  2.08301142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.440323705539963e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99689268e-01,  3.56617889e-03, -2.46708376e-02,  3.56509344e-03,
        9.99993641e-01,  8.79811798e-05,  2.46709945e-02,  1.35525272e-20,
       -9.99695625e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13131932, -0.08573714,  0.17248093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023747858863363133
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.34414604, -0.00304622, -0.93891119, -0.00104835,  0.99999536,
       -0.00286014,  0.93891555,  0.        , -0.34414764])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12595067, -0.03760396,  0.29825527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024754838850962737
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08390087, -0.08390087,  0.99293569,  0.00706426,  0.99647411,
        0.08360295, -0.99644907,  0.        ,  0.08419775])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.088716  , -0.03654218,  0.06194561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.72346833e-05, 1.76529513e-06, 4.00387052e-07,-1.89585528e-05,
 -1.77444340e-04, 2.29729306e-02,-2.26312996e-04,-9.24239752e-05,
  6.84360012e-06,-1.04279257e-05, 2.38320026e-07,-1.01737879e-05,
  1.00453087e-01, 1.52555975e-04,-1.98708948e-04,-6.09169278e-05,
 -1.76326991e-05, 2.21726465e-05,-9.80999294e+00,-6.47642116e-02,
 -3.05115568e-03,-1.17361067e-02]


--- Step 388 ---
qpos:
[ 0.00985111, 0.00807435,-0.00560134, 0.03344069, 0.0035763 ,-0.01800775,
 -0.0067339 , 0.03918081, 0.01305042, 0.00596224,-0.01167718, 0.03408024,
  0.24188293, 0.00440781, 0.68918956, 0.04810555, 0.09481056,-0.06390078,
  0.14184048, 0.95731991,-0.05002835, 0.0773794 , 0.27394924]

qacc:
[ -0.80719432, -1.44921239,  6.08560379,-10.67914318, 11.25318069,
  -7.48591891, 10.34842681, -2.77536587,  3.77849776, -1.84558676,
   6.44129962, -8.92826594,  3.08327452, -4.61719717, -0.80414441,
  -3.15303031,  0.09724768, -0.06035884, -0.02374999, -0.12539363,
  -0.64965954,  4.7233022 ]

qfrc_actuator:
[-3.67975332e-05, 2.65955942e-04, 2.61217297e-05, 3.93163943e-05,
 -3.46988899e-05, 2.08886129e-02,-5.93938299e-05, 4.91652748e-05,
  5.39190639e-05, 2.12481644e-05,-1.10729172e-04, 5.80924544e-05,
  1.01191380e-01,-2.81240479e-04, 4.27911968e-02,-4.17434004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31767609, -0.45812947,  1.23547062, -0.45812947,  1.35445621,
        0.01363857,  1.23547062,  0.01363857,  1.32273346,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.276231019614292e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99293153e-01,  3.56863221e-03, -3.74227201e-02,  3.56613244e-03,
        9.99993632e-01,  1.33548775e-04,  3.74229584e-02,  0.00000000e+00,
       -9.99299516e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13116012, -0.08359092,  0.17873703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71837154, -0.59867521,  0.39704618, -0.59867521,  1.31640402,
        0.90172689,  0.39704618,  0.90172689,  2.07801572,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.758609192125462e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99688536e-01,  3.57004419e-03, -2.46999154e-02,  3.56895499e-03,
        9.99993627e-01,  8.81803515e-05,  2.47000728e-02,  0.00000000e+00,
       -9.99694907e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13132206, -0.08573369,  0.17248167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002377652133057642
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.42788814e-01, -2.68497213e-03, -9.39408654e-01, -9.20381730e-04,
        9.99996395e-01, -2.52229515e-03,  9.39412040e-01,  1.08420217e-19,
       -3.42790050e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12595473, -0.03762848,  0.29825265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002472269806627933
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08386403, -0.08386403,  0.99294192,  0.00705804,  0.99647721,
        0.0835665 , -0.99645221,  0.        ,  0.08416051])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08871607, -0.03654207,  0.06194568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.79680873e-06, 2.48669699e-06, 1.85506993e-05,-1.13427973e-05,
 -2.28152267e-04, 2.34338731e-02,-1.57258036e-04,-6.67168141e-05,
  2.19880390e-05,-3.07419275e-05, 1.59977710e-05,-6.92983078e-06,
  1.00218913e-01, 1.66597256e-04,-2.27348002e-04,-8.30824023e-05,
 -2.42724085e-05, 3.01447740e-05,-9.80999120e+00,-6.47642749e-02,
 -3.05294289e-03,-1.17340641e-02]


--- Step 389 ---
qpos:
[ 0.00985073, 0.00807431,-0.00560115, 0.03344044, 0.00357813,-0.01803729,
 -0.00672782, 0.0391799 , 0.01305144, 0.00596169,-0.01167745, 0.0340809 ,
  0.24192932, 0.00441097, 0.69039125, 0.04810249, 0.09481219,-0.06390115,
  0.14184287, 0.95731376,-0.05002614, 0.07736828, 0.27397427]

qacc:
[ 5.74607937e+00,-1.87897976e+00, 7.14779960e+00,-1.03964576e+01,
 -2.90199626e+01, 1.37773939e+01,-5.18068593e+00,-6.32284566e+01,
 -7.94237526e-01,-1.55451673e+00, 4.97417016e+00,-6.20127638e+00,
 -1.31474254e+01, 3.38898550e+01,-1.14497512e+01, 3.62564418e+01,
 -3.68122501e-01, 5.49760861e-01, 2.26220506e-02, 2.22979495e-03,
  3.80778441e+00,-2.63376093e+01]

qfrc_actuator:
[-3.06402740e-06, 2.67311433e-04, 5.50858940e-05, 3.28596150e-05,
 -3.42262861e-05, 2.09350646e-02,-9.73323780e-05, 4.90829385e-05,
  4.85421121e-05,-1.09788533e-05,-9.96648762e-05, 5.40973285e-05,
  1.01182445e-01,-2.42659766e-04, 4.26755355e-02,-4.02622497e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31777176, -0.88365987,  0.97758256, -0.88365987,  1.13805065,
       -0.16245414,  0.97758256, -0.16245414,  1.17092565,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1568779210904007e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99290472e-01,  3.57378003e-03, -3.74937374e-02,  3.57126713e-03,
        9.99993614e-01,  1.33995226e-04,  3.74939769e-02,  0.00000000e+00,
       -9.99296854e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13116315, -0.08358707,  0.17873836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71886853, -0.33590406,  0.63556308, -0.33590406,  0.93545434,
        0.11446865,  0.63556308,  0.11446865,  0.77936683,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.104579747863825e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99687548e-01,  3.57520009e-03, -2.47391174e-02,  3.57410586e-03,
        9.99993609e-01,  8.84478602e-05,  2.47392755e-02,  0.00000000e+00,
       -9.99693937e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13132538, -0.08572974,  0.1724821 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023805289864336134
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.41440113e-01, -2.32777748e-03, -9.39900649e-01, -7.94798758e-04,
        9.99997291e-01, -2.18788549e-03,  9.39903196e-01,  1.08420217e-19,
       -3.41441038e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12595868, -0.03765305,  0.29825003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024531420769355744
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.26285920e-14,  5.65714801e-15,  1.00000000e+00, -1.28013294e-28,
        1.00000000e+00, -5.65714801e-15, -1.00000000e+00,  0.00000000e+00,
        2.26285920e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1061115 , -0.06039899,  0.06194571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.35977067e-05, 6.09661111e-06, 3.13752539e-05,-5.92782565e-06,
 -2.92275976e-04, 2.39146079e-02,-1.21095254e-04,-6.32718983e-05,
 -4.76383640e-06,-4.63900673e-05, 6.45162766e-06,-4.89467279e-06,
  9.99890626e-02, 2.05414226e-04,-2.27684619e-04, 1.14368144e-04,
 -3.11822476e-05, 3.84016296e-05,-9.80998948e+00,-6.47641903e-02,
 -3.05482645e-03,-1.17318847e-02]


--- Step 390 ---
qpos:
[ 0.00985041, 0.00807441,-0.0056007 , 0.03344046, 0.00357534,-0.01805004,
 -0.00671978, 0.03917867, 0.01305204, 0.00596099,-0.01167798, 0.03408187,
  0.24196401, 0.00441888, 0.69159069, 0.04809917, 0.09481245,-0.06389943,
  0.1418453 , 0.95732123,-0.05002911, 0.07736067, 0.27394978]

qacc:
[ 5.51238098e-01, 1.03286867e-02,-8.59199060e-01, 4.85219582e+00,
 -4.01373621e+01, 1.61412089e+01,-2.38289720e+01, 2.57027703e+00,
 -3.67577288e+00, 1.12355964e+00,-5.54415855e+00, 1.11797728e+01,
 -1.28422297e+01, 2.79935329e+01,-1.77309053e+00, 3.29896881e+00,
 -3.44514260e-01, 5.22943293e-01, 8.96996231e-03, 2.59834277e-01,
  3.10135189e+00,-2.56773625e+01]

qfrc_actuator:
[-8.14361684e-07, 2.85936174e-04, 7.20702872e-05, 4.69217399e-05,
 -3.26757353e-05, 2.09653596e-02,-8.70737974e-05, 5.13597355e-05,
  2.72095888e-05,-1.20861136e-05,-1.10855498e-04, 6.92218191e-05,
  1.01181172e-01,-1.89868381e-04, 4.25577022e-02,-4.04427917e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31779116, -0.99612245,  0.86273611, -0.99612245,  1.10116436,
       -0.25011915,  0.86273611, -0.25011915,  1.02900147,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.212769167585041e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99289141e-01,  3.57560359e-03, -3.75290163e-02,  3.57308468e-03,
        9.99993608e-01,  1.34189743e-04,  3.75292562e-02,  0.00000000e+00,
       -9.99295529e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13116485, -0.08358661,  0.1787384 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71895593, -0.23641668,  0.67897333, -0.23641668,  0.61410007,
       -0.03651053,  0.67897333, -0.03651053,  0.70624306,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.164024130572514e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99686961e-01,  3.57702704e-03, -2.47625790e-02,  3.57593017e-03,
        9.99993602e-01,  8.85769816e-05,  2.47627375e-02,  1.35525272e-20,
       -9.99693356e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13132717, -0.08572831,  0.17248452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023832926308551975
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.40618128e-01, -2.11490384e-03, -9.40199350e-01, -7.20376200e-04,
        9.99997764e-01, -1.98843566e-03,  9.40201453e-01, -1.08420217e-19,
       -3.40618890e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12596051, -0.03766692,  0.29824864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002450507185420364
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.27422693e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.27422693e-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([ 0.10611473, -0.06039775,  0.06194577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.20796726e-06, 2.82737239e-05, 2.19008058e-05, 1.52924495e-05,
 -1.24155878e-04, 2.31629377e-02,-1.14846541e-04, 1.02724956e-04,
 -2.14860469e-05,-2.59029249e-05,-2.01383945e-05, 1.32651989e-05,
  1.00387149e-01,-1.25508395e-04,-2.21025796e-04,-4.33783413e-05,
 -3.63113816e-06, 5.08643486e-06,-9.80999743e+00,-6.47606654e-02,
 -3.05640545e-03,-1.17304756e-02]


--- Step 391 ---
qpos:
[ 0.00984942, 0.00807471,-0.00560006, 0.03344064, 0.00356716,-0.01804548,
 -0.00671023, 0.03917744, 0.01305239, 0.00596059,-0.01167966, 0.03408232,
  0.24198499, 0.00442948, 0.6927884 , 0.04809028, 0.09481141,-0.06389571,
  0.14184772, 0.95734204,-0.05003646, 0.07735567, 0.2738771 ]

qacc:
[-5.79005138e+00, 7.46311424e-02,-5.73168292e-01, 2.97619150e+00,
 -4.67056718e+01, 1.87533301e+01,-3.34929445e+01, 1.81042825e+01,
 -2.33481407e+00, 2.55991934e+00,-6.38613599e+00,-8.76922020e-01,
 -1.23274088e+01, 2.34665774e+01, 1.49934764e+01,-5.44432373e+01,
 -3.24318486e-01, 4.98800505e-01,-2.15523700e-03, 4.54942652e-01,
  2.53720807e+00,-2.49998249e+01]

qfrc_actuator:
[-3.48781237e-05, 2.96981568e-04, 8.19276330e-05, 5.51961685e-05,
 -4.56056545e-05, 2.09608027e-02,-8.53101357e-05, 5.34123692e-05,
  1.44183388e-05, 5.37602439e-06,-1.70464086e-04, 4.22275074e-05,
  1.01185118e-01,-1.64215413e-04, 4.24439440e-02,-4.33767634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31772511, -1.01775318,  0.83700534, -1.01775318,  1.09009947,
       -0.27678045,  0.83700534, -0.27678045,  0.98117506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0098259012383451e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99289097e-01,  3.57281076e-03, -3.75304530e-02,  3.57029363e-03,
        9.99993617e-01,  1.34090062e-04,  3.75306925e-02,  2.71050543e-20,
       -9.99295475e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13116517, -0.0835895 ,  0.17873722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71865067, -0.17915199,  0.69596218, -0.17915199,  0.5392608 ,
       -0.04617787,  0.69596218, -0.04617787,  0.70676373,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.954616663568821e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99686854e-01,  3.57423288e-03, -2.47672861e-02,  3.57313645e-03,
        9.99993612e-01,  8.85246137e-05,  2.47674443e-02,  1.35525272e-20,
       -9.99693240e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1313274 , -0.08572939,  0.17248878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002385887873393973
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.40158025e-01, -1.99890501e-03, -9.40366164e-01, -6.79944938e-04,
        9.99998002e-01, -1.87970639e-03,  9.40368043e-01,  1.08420217e-19,
       -3.40158705e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.125961  , -0.03767319,  0.29824811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024478616693595495
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.13387027e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.13387027e-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([ 0.10611719, -0.06039702,  0.06194583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.39648128e-05, 3.20285595e-05, 1.89179206e-05, 1.05400439e-05,
  9.41255356e-05, 2.23187042e-02,-2.10993900e-04, 1.21008005e-04,
 -1.34133309e-05,-5.90438252e-07,-6.69669133e-05,-2.85413355e-05,
  1.00974689e-01,-3.38268568e-04,-2.36768805e-04,-3.27748728e-04,
 -3.22169487e-06, 2.02671931e-06,-9.81000051e+00,-6.47603059e-02,
 -3.05779587e-03,-1.17297699e-02]


--- Step 392 ---
qpos:
[ 0.00984838, 0.0080752 ,-0.00559928, 0.03344093, 0.00355781,-0.01803783,
 -0.00669806, 0.03917766, 0.01305258, 0.00596021,-0.01168143, 0.03408206,
  0.24200324, 0.00443437, 0.69398298, 0.04808187, 0.09481059,-0.06389324,
  0.1418501 , 0.95735698,-0.05004122, 0.07734955, 0.27382574]

qacc:
[-4.87317063e-01, 7.40670305e-02,-3.42006495e-01, 1.76587293e+00,
 -1.01189594e+01,-2.37239178e-01, 6.37838989e-01, 1.81117113e+01,
 -1.37750190e+00,-1.15303662e+00, 7.15681682e+00,-1.93090187e+01,
  4.07358914e+00,-1.68846548e+01,-6.43866937e+00, 1.48885760e+01,
  5.64057644e-02,-3.12121500e-01,-1.04408486e-02, 1.20765362e-01,
 -1.19662795e+00, 1.10817215e+01]

qfrc_actuator:
[-3.67746057e-05, 3.03371334e-04, 8.74706415e-05, 5.99881575e-05,
 -8.23683277e-05, 2.09458554e-02,-1.24480520e-04, 3.73868177e-05,
  6.76216945e-06, 1.58373365e-05,-1.69361309e-04, 8.40518409e-06,
  1.01198122e-01,-1.72430158e-04, 4.23379909e-02,-4.29378727e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31762162, -0.52077625,  1.21033831, -0.52077625,  1.46676211,
        0.06417117,  1.21033831,  0.06417117,  1.34523276,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.594197835022693e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99290277e-01,  3.56464336e-03, -3.74997978e-02,  3.56213609e-03,
        9.99993647e-01,  1.33674255e-04,  3.75000361e-02,  0.00000000e+00,
       -9.99296626e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13116412, -0.08359569,  0.17873489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71799793, -0.33436332,  0.63539137, -0.33436332,  1.67155204,
        0.50179076,  0.63539137,  0.50179076,  0.98205632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.488946979265394e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99687233e-01,  3.56605937e-03, -2.47531791e-02,  3.56496669e-03,
        9.99993642e-01,  8.82718675e-05,  2.47533365e-02,  0.00000000e+00,
       -9.99693589e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13132605, -0.08573298,  0.17249477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023882802034182575
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.39938487e-01, -1.94515553e-03, -9.40445661e-01, -6.61234478e-04,
        9.99998108e-01, -1.82931654e-03,  9.40447440e-01, -1.08420217e-19,
       -3.39939130e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12596071, -0.03767414,  0.29824816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  -9.88634541,  14.16359001,  -9.88634541,
       105.47135946,  61.56363899,  14.16359001,  61.56363899,
        60.24484091,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0024621514185290076
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.30784428e-02, -8.30784428e-02,  9.93073988e-01,  6.92597067e-03,
        9.96543011e-01,  8.27892420e-02, -9.96518943e-01,  8.67361738e-19,
        8.33666404e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08872553, -0.0365354 ,  0.06194589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.85581630e-06, 2.86322839e-05, 1.48446529e-05, 7.02324705e-06,
  3.26497246e-04, 2.14378654e-02,-3.25700091e-04, 1.05131047e-04,
 -8.03666216e-06,-4.89499475e-06,-8.23074800e-06,-3.67158122e-05,
  1.01671420e-01,-4.81324373e-04,-2.70771024e-04,-8.91959835e-06,
 -2.71678865e-05, 2.61463065e-05,-9.81000049e+00,-6.47624096e-02,
 -3.05888446e-03,-1.17296046e-02]


--- Step 393 ---
qpos:
[ 0.00984733, 0.00807589,-0.00559874, 0.03344164, 0.00354795,-0.0180306 ,
 -0.00668517, 0.03917831, 0.01305267, 0.0059593 ,-0.01168271, 0.03408178,
  0.24202244, 0.00443598, 0.69517421, 0.04807693, 0.09481011,-0.0638918 ,
  0.1418524 , 0.95736646,-0.05004368, 0.07734223, 0.27379422]

qacc:
[-1.42108628e-01, 1.79300085e+00,-7.77323549e+00, 1.53037000e+01,
 -4.35129160e+00,-1.68488309e+00, 3.40944601e+00, 3.09066564e+00,
 -7.93377234e-01,-2.15205696e+00, 6.78349025e+00,-7.69222066e+00,
  4.24489585e+00,-1.26302101e+01,-1.57694733e+01, 4.71840403e+01,
  8.51147068e-02,-2.56540164e-01,-2.02033562e-02, 2.63545791e-02,
 -1.17234585e+00, 1.03023970e+01]

qfrc_actuator:
[-3.74637660e-05, 3.06899879e-04, 7.26505108e-05, 8.04400745e-05,
 -1.17731841e-04, 2.09319748e-02,-1.36675286e-04, 2.68054944e-05,
  2.18678700e-06,-3.10045130e-05,-1.50176943e-04, 6.39372834e-06,
  1.01216067e-01,-1.58132062e-04, 4.22156054e-02,-4.10460051e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31758433, -0.42390335,  1.24753133, -0.42390335,  1.61883065,
        0.10236162,  1.24753133,  0.10236162,  1.35236617,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.412893876681411e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99290993e-01,  3.55529932e-03, -3.74815986e-02,  3.55280104e-03,
        9.99993680e-01,  1.33259144e-04,  3.74818355e-02,  0.00000000e+00,
       -9.99297309e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13116315, -0.08360058,  0.17873329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71756799, -0.385114  ,  0.60546761, -0.385114  ,  2.15891979,
        0.91678686,  0.60546761,  0.91678686,  1.30069985,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.167297290033599e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99687757e-01,  3.55671093e-03, -2.47333610e-02,  3.55562286e-03,
        9.99993675e-01,  8.79699718e-05,  2.47335174e-02,  0.00000000e+00,
       -9.99694080e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13132482, -0.08573571,  0.17249976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002390549775530348
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.39371864e-01, -1.79343321e-03, -9.40650584e-01, -6.08641749e-04,
        9.99998392e-01, -1.68699671e-03,  9.40652097e-01,  1.08420217e-19,
       -3.39372410e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.125962  , -0.03768193,  0.2982474 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002460111103402434
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08278026, -0.08278026,  0.99312379,  0.00687617,  0.99656782,
        0.08249418, -0.9965441 ,  0.        ,  0.08306535])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08872929, -0.03653279,  0.06194593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.63808599e-07, 2.28822426e-05,-6.84859821e-06, 2.23260272e-05,
  3.49923387e-04, 2.12692369e-02,-4.69444318e-04, 2.15366394e-05,
 -4.80674598e-06,-5.28197190e-05, 1.59154923e-05,-3.21480516e-06,
  1.01825977e-01,-1.80855254e-04,-2.51488893e-04, 1.53019509e-04,
 -1.33880458e-05, 1.22173796e-05,-9.81000098e+00,-6.47635051e-02,
 -3.05930135e-03,-1.17291590e-02]


--- Step 394 ---
qpos:
[ 0.00984662, 0.00807687,-0.00559895, 0.03344261, 0.00353814,-0.01802615,
 -0.00667234, 0.0391792 , 0.01305271, 0.00595836,-0.01168449, 0.03408147,
  0.24204451, 0.00443559, 0.69636235, 0.04807487, 0.09481006,-0.06389121,
  0.14185459, 0.95737083,-0.05004412, 0.07733366, 0.27378126]

qacc:
[ 2.99707948e+00, 3.05313975e+00,-1.14986299e+01, 1.71772518e+01,
  5.45375719e-01,-2.99602682e+00, 4.38835050e+00, 1.82035514e+00,
 -5.07929427e-01, 1.32668454e+00,-4.69878352e+00, 5.20704222e+00,
  4.23065103e+00,-1.01758053e+01,-1.35560091e+01, 4.01199061e+01,
  1.06323673e-01,-2.12383050e-01,-2.76324039e-02,-4.50565733e-02,
 -1.14614308e+00, 9.63113253e+00]

qfrc_actuator:
[-1.96943165e-05, 3.08611853e-04, 2.81722549e-05, 9.21741093e-05,
 -1.34701172e-04, 2.09032617e-02,-1.49577483e-04, 1.99419317e-05,
 -5.40800367e-07,-2.29230606e-05,-1.73960283e-04, 5.31886874e-06,
  1.01226090e-01,-1.65986322e-04, 4.20834941e-02,-3.95568636e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31757604, -0.3668846 ,  1.26546526, -0.3668846 ,  1.73186174,
        0.12011001,  1.26546526,  0.12011001,  1.35239842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.0315482947650204e-07
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99291254e-01,  3.54544646e-03, -3.74755957e-02,  3.54295591e-03,
        9.99993715e-01,  1.32868553e-04,  3.74758312e-02,  0.00000000e+00,
       -9.99297534e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13116242, -0.08360415,  0.1787323 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71731396, -0.42068204,  0.58100426, -0.42068204,  2.45346749,
        1.25707961,  0.58100426,  1.25707961,  1.62751524,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.970979124892792e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99688289e-01,  3.54685513e-03, -2.47132551e-02,  3.54577184e-03,
        9.99993710e-01,  8.76548869e-05,  2.47134105e-02,  0.00000000e+00,
       -9.99694577e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13132388, -0.08573753,  0.17250384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023927349898806745
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.38564314e-01, -1.57476977e-03, -9.40941935e-01, -5.33161507e-04,
        9.99998760e-01, -1.48176875e-03,  9.40943102e-01,  0.00000000e+00,
       -3.38564733e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12596432, -0.03769461,  0.29824606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00245795461417319
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.25446789e-02, -8.25446789e-02,  9.93163004e-01,  6.83695604e-03,
        9.96587365e-01,  8.22610481e-02, -9.96563913e-01,  8.67361738e-19,
        8.28273383e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08873212, -0.03653082,  0.06194598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77521190e-05, 1.40197873e-05,-3.98376622e-05, 1.29080210e-05,
  3.58330672e-04, 2.12615127e-02,-5.18382214e-04,-6.59314806e-06,
 -2.88740754e-06,-1.82586224e-05,-3.28181925e-05,-2.84453359e-06,
  1.01788348e-01,-2.45041309e-05,-2.30313344e-04, 1.25033236e-04,
 -4.94985099e-06, 3.88005050e-06,-9.81000085e+00,-6.47644866e-02,
 -3.06000202e-03,-1.17284651e-02]


--- Step 395 ---
qpos:
[ 0.00984648, 0.00807811,-0.00559974, 0.03344371, 0.00352915,-0.01802213,
 -0.00665985, 0.03917972, 0.01305272, 0.00595748,-0.01168636, 0.03408147,
  0.24207012, 0.00443375, 0.69754784, 0.04807418, 0.09481053,-0.06389133,
  0.14185665, 0.9573703 ,-0.05004272, 0.07732377, 0.27378619]

qacc:
[ 4.92083295, 2.17845884,-7.77151929,10.57509246, 6.99671867,-0.38938713,
  2.06604814,-7.50570627,-0.2963292 , 0.94555006,-4.5212346 , 9.76721341,
  4.05990158,-8.81868993,-8.32398928,22.81812758, 0.12865644,-0.17823965,
 -0.03123094,-0.11322107,-1.13794884, 9.27109132]

qfrc_actuator:
[ 8.79649860e-06, 3.26836061e-04, 2.03179488e-06, 9.86624869e-05,
 -1.40996506e-04, 2.08859077e-02,-1.62412867e-04, 1.53282373e-05,
 -2.15951667e-06, 6.55015558e-08,-1.69468508e-04, 2.25587512e-05,
  1.01220504e-01,-2.04848308e-04, 4.19669467e-02,-3.88499495e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71720759,  0.64510987, -0.31340067,  0.64510987,  1.48945897,
        1.58961685, -0.31340067,  1.58961685,  3.98930497,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.887281807361932e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99688751e-01,  3.53705704e-03, -2.46959730e-02,  3.53597826e-03,
        9.99993745e-01,  8.73516116e-05,  2.46961274e-02,  0.00000000e+00,
       -9.99695004e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13132334, -0.08573842,  0.17250706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023948560059306365
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.37588557e-01, -1.31020542e-03, -9.41292861e-01, -4.42310738e-04,
        9.99999142e-01, -1.23328807e-03,  9.41293669e-01, -5.42101086e-20,
       -3.37588846e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12596733, -0.0377108 ,  0.2982443 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024557269300637436
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.23599677e-02, -8.23599677e-02,  9.93193673e-01,  6.80628764e-03,
        9.96602647e-01,  8.20782476e-02, -9.96579405e-01, -8.67361738e-19,
        8.26407274e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08873422, -0.03652935,  0.06194603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89994931e-05, 1.83618150e-05,-2.77154960e-05, 5.95754735e-06,
  3.49135809e-04, 2.13819921e-02,-5.28337842e-04,-2.30187758e-05,
 -1.71055225e-06, 5.93179718e-06,-3.38784507e-06, 1.52734616e-05,
  1.01639773e-01, 3.72156699e-05,-2.07208839e-04, 4.81085871e-05,
 -8.45324687e-07, 1.73306056e-07,-9.81000020e+00,-6.47653637e-02,
 -3.06093485e-03,-1.17275301e-02]


--- Step 396 ---
qpos:
[ 0.00984633, 0.00807933,-0.00560044, 0.03344453, 0.00352148,-0.01801986,
 -0.0066472 , 0.03918065, 0.01305236, 0.00595666,-0.01168791, 0.03408163,
  0.2421    , 0.00443108, 0.69873107, 0.04807357, 0.09481156,-0.06389205,
  0.14185857, 0.95736506,-0.05003963, 0.07731254, 0.27380822]

qacc:
[-0.01557737,-0.83665921, 4.12938302,-9.1337388 ,11.39279424,-1.97508449,
  1.88380965, 6.3612389 ,-3.19752773,-0.44744384, 0.95534062, 1.55933515,
  3.88851005,-7.35270002,-3.8049737 , 7.90978335, 0.14222986,-0.15061963,
 -0.03620685,-0.15890699,-1.12182851, 8.86192747]

qfrc_actuator:
[ 7.85843390e-06, 3.19357472e-04, 4.75336443e-06, 8.42917617e-05,
 -1.06158317e-04, 2.08741520e-02,-1.21643555e-04, 3.03246845e-05,
 -2.08658770e-05, 1.41787280e-05,-1.48216051e-04, 3.27276074e-05,
  1.01210714e-01,-2.08806075e-04, 4.18704609e-02,-3.87863481e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -7.935404443000819e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99689190e-01,  3.52806957e-03, -2.46794749e-02,  3.52699496e-03,
        9.99993776e-01,  8.70714463e-05,  2.46796285e-02,  0.00000000e+00,
       -9.99695412e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13132312, -0.08573817,  0.17250934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023969322887278425
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.36495498e-01, -1.01422343e-03, -9.41684529e-01, -3.41281792e-04,
        9.99999486e-01, -9.55079001e-04,  9.41685013e-01,  0.00000000e+00,
       -3.36495671e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12597078, -0.03772951,  0.29824225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024534522976794367
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08221672, -0.08221672,  0.99321741,  0.00678255,  0.99661447,
        0.08193648, -0.99659139,  0.        ,  0.08249602])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08873574, -0.03652829,  0.06194607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07932891e-07,-2.70804100e-06, 3.29814490e-06,-1.44315369e-05,
  3.43427237e-04, 2.13919738e-02,-4.70576952e-04, 1.02562446e-05,
 -1.87581140e-05, 1.74382127e-05, 2.26211463e-05, 1.06093223e-05,
  1.01453591e-01, 1.06394421e-04,-1.85926248e-04,-1.77612351e-05,
 -3.29693380e-07, 3.90801535e-07,-9.80999907e+00,-6.47661509e-02,
 -3.06206443e-03,-1.17263577e-02]


--- Step 397 ---
qpos:
[ 0.00984686, 0.00808028,-0.0056007 , 0.03344482, 0.00351533,-0.0180258 ,
 -0.00663542, 0.03918233, 0.01305144, 0.0059562 ,-0.01168904, 0.03408153,
  0.24213467, 0.0044279 , 0.69991192, 0.04806875, 0.09481314,-0.06389328,
  0.14186032, 0.95735561,-0.05003506, 0.07730002, 0.27384565]

qacc:
[  5.98674164, -2.6950293 , 11.26040625,-20.72842699, 13.32337829,
  -6.8749501 ,  5.60380685, 14.72567082, -4.9781658 , -1.24424955,
   6.33123474,-12.05361888,  3.73305982, -6.3476789 ,  9.0127657 ,
 -37.14476203,  0.13686457, -0.12552835, -0.04067725, -0.16529903,
  -1.04061283,  7.97438356]

qfrc_actuator:
[ 4.28610165e-05, 2.96644976e-04, 2.43735420e-05, 5.77607285e-05,
 -4.74691583e-05, 2.08672462e-02,-1.20102841e-04, 2.09466244e-05,
 -4.94801927e-05, 5.84526243e-05,-1.17281177e-04, 2.09018438e-05,
  1.01198207e-01,-2.09608274e-04, 4.17168373e-02,-4.10540662e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31757809, -0.24433954,  1.29472399, -0.24433954,  1.98600338,
        0.12614482,  1.29472399,  0.12614482,  1.34138406,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2481330175605929e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99289330e-01,  3.51898774e-03, -3.75293515e-02,  3.51650867e-03,
        9.99993808e-01,  1.32066146e-04,  3.75295839e-02,  2.71050543e-20,
       -9.99295517e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13116208, -0.08360616,  0.17873284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71749213, -0.51307211,  0.50154957, -0.51307211,  2.78701033,
        2.11706308,  0.50154957,  2.11706308,  2.88319238,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.109182125337584e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99689585e-01,  3.52039724e-03, -2.46645570e-02,  3.51932626e-03,
        9.99993803e-01,  8.68295764e-05,  2.46647099e-02,  0.00000000e+00,
       -9.99695780e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13132325, -0.08573675,  0.1725107 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002398970476219581
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.35326157e-01, -6.98558041e-04, -9.42101842e-01, -2.34244841e-04,
        9.99999756e-01, -6.58112978e-04,  9.42102072e-01,  0.00000000e+00,
       -3.35326239e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12597447, -0.03774994,  0.29824   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002451160128076801
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08210757, -0.08210757,  0.99323547,  0.00676449,  0.99662347,
        0.08182845, -0.99660052,  0.        ,  0.08238575])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08873681, -0.03652754,  0.06194612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.49957302e-05,-2.42012884e-05, 1.89600104e-05,-2.68167702e-05,
  3.36331275e-04, 2.14725967e-02,-4.77945995e-04,-1.99337504e-05,
 -2.91469589e-05, 5.91927919e-05, 3.77180898e-05,-1.00836846e-05,
  1.01227307e-01, 1.47999908e-04,-2.41207396e-04,-2.51993949e-04,
 -2.96757336e-06, 4.11153702e-06,-9.80999752e+00,-6.47668544e-02,
 -3.06336787e-03,-1.17249526e-02]


--- Step 398 ---
qpos:
[ 0.00984781, 0.00808092,-0.00560039, 0.03344479, 0.00351099,-0.01804205,
 -0.00662603, 0.03918393, 0.01305052, 0.00595595,-0.01168945, 0.03408163,
  0.24217382, 0.00442426, 0.70109028, 0.04805982, 0.09481523,-0.06389492,
  0.14186192, 0.95734242,-0.0500292 , 0.07728632, 0.27389668]

qacc:
[  3.6674642 , -2.66006453, 10.24112362,-16.48876613, 15.66768073,
  -7.16100863,  6.04904139,  4.0394302 ,  0.09918669, -1.3124442 ,
   4.19880834, -1.93187025,  3.50298829, -5.94525755,  8.54103958,
 -35.69729497,  0.12741971, -0.10396446, -0.04018663, -0.16336949,
  -0.93401115,  7.04545965]

qfrc_actuator:
[ 6.32413357e-05, 2.82798636e-04, 5.37292286e-05, 4.20346041e-05,
 -4.62210243e-05, 2.08704026e-02,-1.41110562e-04,-3.54822333e-06,
 -4.81860133e-05, 6.72209548e-05,-8.07703375e-05, 3.17656423e-05,
  1.01194522e-01,-2.44025936e-04, 4.16035842e-02,-4.30802388e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31759354, -0.20999165,  1.30075218, -0.20999165,  2.1392039 ,
        0.13263965,  1.30075218,  0.13263965,  1.3390067 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4801722416897653e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99287815e-01,  3.51284120e-03, -3.75702394e-02,  3.51036106e-03,
        9.99993830e-01,  1.31979099e-04,  3.75704712e-02,  0.00000000e+00,
       -9.99293981e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13116284, -0.08360406,  0.17873396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71782192, -0.5607973 ,  0.44807889, -0.5607973 ,  2.72501623,
        2.51212272,  0.44807889,  2.51212272,  3.86189248,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.358805205187494e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99689751e-01,  3.51425414e-03, -2.46587257e-02,  3.51318554e-03,
        9.99993825e-01,  8.66575639e-05,  2.46588779e-02,  1.35525272e-20,
       -9.99695924e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13132404, -0.08573443,  0.1725114 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024009625902446834
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.34109557e-01, -3.71490281e-04, -9.42534172e-01, -1.24118462e-04,
        9.99999931e-01, -3.50142309e-04,  9.42534237e-01,  0.00000000e+00,
       -3.34109580e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12597828, -0.03777152,  0.29823762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024488848059574524
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08202641, -0.08202641,  0.99324888,  0.00675108,  0.99663016,
        0.08174811, -0.99660729,  0.        ,  0.08230376])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08873752, -0.03652705,  0.06194617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.13664595e-05,-2.46341409e-05, 2.57531737e-05,-1.66328844e-05,
  2.61054469e-04, 2.18860973e-02,-4.54829278e-04,-8.15154162e-05,
  4.82629162e-07, 4.92448665e-05, 5.30535386e-05, 1.45139575e-05,
  1.00984739e-01, 1.39095902e-04,-2.50051945e-04,-2.47481148e-04,
 -7.95184636e-06, 1.04221756e-05,-9.80999571e+00,-6.47674342e-02,
 -3.06483146e-03,-1.17233308e-02]


--- Step 399 ---
qpos:
[ 0.00984796, 0.00808119,-0.00559968, 0.03344495, 0.00350862,-0.01806911,
 -0.00661932, 0.03918531, 0.01304997, 0.00595585,-0.0116896 , 0.03408155,
  0.24221707, 0.00442045, 0.70226566, 0.04805534, 0.09481778,-0.06389691,
  0.14186335, 0.95732595,-0.05002223, 0.07727157, 0.27395967]

qacc:
[-6.97952076e+00,-1.23121452e+00, 2.93781646e+00,-2.45776203e-01,
  1.71335113e+01,-7.23942100e+00, 5.91400247e+00, 2.74409438e+00,
  3.23716621e+00,-9.10462909e-01, 4.28095413e+00,-7.88502370e+00,
  3.28052834e+00,-5.35828695e+00,-1.80302099e+01, 5.62328714e+01,
  1.16701527e-01,-8.60390144e-02,-3.91997631e-02,-1.56683671e-01,
 -8.31037918e-01, 6.18749796e+00]

qfrc_actuator:
[ 2.15831495e-05, 2.56667448e-04, 7.08793036e-05, 5.05559829e-05,
 -6.25699698e-05, 2.09027314e-02,-1.73797511e-04,-1.88373002e-05,
 -2.92958824e-05, 5.47083429e-05,-7.68817584e-05, 2.03674393e-05,
  1.01206637e-01,-2.62941660e-04, 4.15412779e-02,-4.05075451e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.3176326 , -0.23564838,  1.29638942, -0.23564838,  2.25271536,
        0.16997264,  1.29638942,  0.16997264,  1.34852901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.2285765425870106e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99285917e-01,  3.50849546e-03, -3.76211012e-02,  3.50601168e-03,
        9.99993845e-01,  1.31994275e-04,  3.76213327e-02,  0.00000000e+00,
       -9.99292067e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13116424, -0.08360102,  0.17873526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71823166, -0.58648738,  0.41459531, -0.58648738,  2.43524853,
        2.42889557,  0.41459531,  2.42889557,  4.15415228,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.658661352068532e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99689597e-01,  3.50991278e-03, -2.46655764e-02,  3.50884491e-03,
        9.99993840e-01,  8.65745550e-05,  2.46657283e-02,  0.00000000e+00,
       -9.99695755e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13132557, -0.08573139,  0.17251157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002402907473047868
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.32863259e-01, -3.78069530e-05, -9.42975105e-01, -1.25845456e-05,
        9.99999999e-01, -3.56510155e-05,  9.42975106e-01,  1.69406589e-21,
       -3.32863259e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12598211, -0.03779387,  0.29823515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024466419070022965
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08196795, -0.08196795,  0.99325853,  0.00674143,  0.99663497,
        0.08169026, -0.99661217,  0.        ,  0.08224471])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08873794, -0.03652677,  0.06194622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.10607352e-05,-3.53221726e-05, 1.46450476e-05, 8.02995097e-06,
  1.54535767e-04, 2.24341881e-02,-3.68429738e-04,-9.28741557e-05,
  1.89170908e-05, 2.66169859e-05, 2.11039484e-05,-7.16877615e-06,
  1.00772823e-01, 1.44021409e-04,-2.02500671e-04, 2.11579976e-04,
 -1.44107363e-05, 1.83447895e-05,-9.80999378e+00,-6.47678589e-02,
 -3.06643776e-03,-1.17215140e-02]


--- Step 400 ---
qpos:
[ 0.00984796, 0.0080813 ,-0.00559883, 0.03344519, 0.00350838,-0.01810668,
 -0.00661491, 0.03918679, 0.01305   , 0.00595592,-0.0116899 , 0.03408068,
  0.24226431, 0.00441652, 0.70343828, 0.04805262, 0.09482077,-0.06389918,
  0.14186464, 0.95730656,-0.05001429, 0.07725585, 0.27403332]

qacc:
[ -1.35771465, -0.38750282,  0.7260311 ,  0.70707651, 18.50043633,
  -7.34425784,  5.60860844,  7.34436057,  5.055071  , -1.00317978,
   7.24894586,-20.91993062,  3.05947843, -4.85304728, -9.56741554,
  27.15822641,  0.10850381, -0.07168371, -0.03830506, -0.15288121,
  -0.74740462,  5.51385496]

qfrc_actuator:
[ 1.47591402e-05, 2.58863433e-04, 8.06478036e-05, 5.55019301e-05,
 -5.48632459e-05, 2.08861823e-02,-2.12229107e-04,-1.06857155e-05,
 -2.10140018e-07, 4.71478294e-05,-9.24015059e-05,-2.18391840e-05,
  1.01212128e-01,-2.72666050e-04, 4.13978324e-02,-3.96827632e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31770389, -0.27783446,  1.28808057, -0.27783446,  2.33124382,
        0.218617  ,  1.28808057,  0.218617  ,  1.36485881,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.35336923090568e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99283671e-01,  3.50612052e-03, -3.76809241e-02,  3.50363052e-03,
        9.99993854e-01,  1.32114673e-04,  3.76811557e-02,  0.00000000e+00,
       -9.99289813e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13116629, -0.0835972 ,  0.17873666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71870693, -0.59765689,  0.39918153, -0.59765689,  2.21084364,
        2.23403569,  0.39918153,  2.23403569,  4.06351805,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.99358751376742e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99689103e-01,  3.50754303e-03, -2.46859266e-02,  3.50647411e-03,
        9.99993849e-01,  8.65874823e-05,  2.46860784e-02, -1.35525272e-20,
       -9.99695252e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13132783, -0.08572773,  0.17251132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002404802792781803
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.31599784e-01,  2.99150185e-04, -9.43420105e-01,  9.91981411e-05,
        9.99999955e-01,  2.82224312e-04,  9.43420147e-01,  1.35525272e-20,
       -3.31599798e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12598594, -0.03781672,  0.29823262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002444443566596965
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.19279273e-02, -8.19279273e-02,  9.93265136e-01,  6.73482603e-03,
        9.96638257e-01,  8.16506423e-02, -9.96615501e-01, -8.67361738e-19,
        8.22042770e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08873812, -0.03652665,  0.06194627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.00868944e-06,-1.42201252e-05, 4.54360275e-06, 4.09450712e-06,
  6.35732418e-05, 2.29591732e-02,-2.72075206e-04,-7.41006010e-05,
  2.96317135e-05, 1.13861329e-05,-7.66868659e-06,-4.04755227e-05,
  1.00573862e-01, 1.43329560e-04,-2.11241818e-04, 6.83574265e-05,
 -2.16726626e-05, 2.71262662e-05,-9.80999183e+00,-6.47681118e-02,
 -3.06817139e-03,-1.17195232e-02]


--- Step 401 ---
qpos:
[ 0.00984856, 0.0080816 ,-0.00559829, 0.03344513, 0.00351039,-0.01815475,
 -0.0066128 , 0.03918834, 0.01305072, 0.00595609,-0.01169066, 0.03407968,
  0.24231542, 0.00441257, 0.70460855, 0.04805146, 0.09482415,-0.06390169,
  0.14186578, 0.9572846 ,-0.05000552, 0.07723929, 0.27411627]

qacc:
[ 5.31827626, 0.43550182, 0.04575991,-4.89055483,19.52826564,-7.32031521,
  5.53139002, 7.43090555, 6.08428538, 1.15280521,-3.41305157, 1.95828725,
  2.82815996,-4.27677647,-8.35511581,23.81497761, 0.0977605 ,-0.05912049,
 -0.03654803,-0.14337877,-0.65545695, 4.8167342 ]

qfrc_actuator:
[ 4.62652410e-05, 2.77976214e-04, 6.83374364e-05, 4.05672003e-05,
 -5.14227016e-05, 2.08620807e-02,-2.17925161e-04,-6.43541949e-06,
  3.46377476e-05, 4.24841197e-05,-1.19253696e-04,-2.85815720e-05,
  1.01197528e-01,-2.76851171e-04, 4.13069799e-02,-3.88325395e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31781508, -0.31003746,  1.28082527, -0.31003746,  2.41156103,
        0.2647529 ,  1.28082527,  0.2647529 ,  1.38190136,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2783519842363728e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99281106e-01,  3.50587394e-03, -3.77489146e-02,  3.50337512e-03,
        9.99993854e-01,  1.32343749e-04,  3.77491466e-02, -2.71050543e-20,
       -9.99287247e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13116895, -0.08359269,  0.17873813])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7192428 , -0.6161344 ,  0.37106416, -0.6161344 ,  1.9865686 ,
        2.10433427,  0.37106416,  2.10433427,  4.21338984,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.356403743934032e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99688285e-01,  3.50730248e-03, -2.47190737e-02,  3.50623077e-03,
        9.99993849e-01,  8.66978017e-05,  2.47192257e-02,  0.00000000e+00,
       -9.99694433e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1313308 , -0.08572353,  0.17251069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024066493974100713
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.30332101e-01,  6.35812955e-04, -9.43864555e-01,  2.10029472e-04,
        9.99999798e-01,  6.00121434e-04,  9.43864746e-01,  0.00000000e+00,
       -3.30332168e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12598969, -0.0378398 ,  0.29823006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024422990877719193
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.19029458e-02, -8.19029458e-02,  9.93269256e-01,  6.73070562e-03,
        9.96640310e-01,  8.16259158e-02, -9.96617582e-01, -8.67361738e-19,
        8.21790419e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08873813, -0.03652667,  0.06194632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.12713382e-05, 1.22574379e-05,-1.45578772e-05,-1.53095300e-05,
 -3.95353889e-05, 2.34618369e-02,-1.62801865e-04,-7.40843735e-05,
  3.56958669e-05,-1.60169295e-06,-2.68417259e-05,-7.30628598e-06,
  1.00359680e-01, 1.46016868e-04,-1.78995560e-04, 6.17075233e-05,
 -2.93945289e-05, 3.63934347e-05,-9.80998989e+00,-6.47682000e-02,
 -3.07001755e-03,-1.17173762e-02]


--- Step 402 ---
qpos:
[ 0.00984919, 0.00808197,-0.00559816, 0.03344491, 0.00351473,-0.01821312,
 -0.00661301, 0.03918992, 0.01305151, 0.00595609,-0.01169165, 0.03407898,
  0.24237036, 0.0044089 , 0.70577685, 0.04805383, 0.09482787,-0.06390439,
  0.14186678, 0.95726047,-0.04999606, 0.07722199, 0.27420712]

qacc:
[ 2.30911531e-01, 9.52791130e-01,-2.57823640e+00, 4.68690177e-01,
  2.01390445e+01,-7.10516653e+00, 5.46621601e+00, 6.16571778e+00,
  5.89845942e-01, 1.03293787e+00,-5.25180791e+00, 1.08232675e+01,
  2.59189441e+00,-3.46401638e+00,-1.37026277e+01, 4.34036497e+01,
  8.46502262e-02,-4.79220174e-02,-3.42645546e-02,-1.28605152e-01,
 -5.56031563e-01, 4.09004935e+00]

qfrc_actuator:
[ 4.68107122e-05, 2.71464150e-04, 4.31564183e-05, 3.18109320e-05,
 -3.37609009e-05, 2.09441610e-02,-2.20809412e-04,-4.56032681e-06,
  3.70894524e-05, 2.18030057e-05,-1.34785801e-04,-1.44010233e-05,
  1.01186720e-01,-2.60025444e-04, 4.12583980e-02,-3.69069467e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31797066, -0.33913966,  1.27358979, -0.33913966,  2.51822384,
        0.31961111,  1.27358979,  0.31961111,  1.40307876,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6420853472248284e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99278252e-01,  3.50787501e-03, -3.78242044e-02,  3.50536477e-03,
        9.99993847e-01,  1.32683398e-04,  3.78244372e-02,  2.71050543e-20,
       -9.99284400e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13117222, -0.08358761,  0.17873961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7198281 , -0.63212731,  0.3443364 , -0.63212731,  1.81143547,
        2.00395551,  0.3443364 ,  2.00395551,  4.39865786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.736728936118004e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99687140e-01,  3.50931037e-03, -2.47650180e-02,  3.50823406e-03,
        9.99993842e-01,  8.69086698e-05,  2.47651705e-02, -1.35525272e-20,
       -9.99693296e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13133443, -0.08571887,  0.17250975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024084486733246123
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.29070479e-01,  9.69383660e-04, -9.44304866e-01,  3.18995695e-04,
        9.99999530e-01,  9.15394138e-04,  9.44305310e-01,  0.00000000e+00,
       -3.29070634e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12599332, -0.0378629 ,  0.29822749])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024402146466311575
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08189018, -0.08189018,  0.99327136,  0.0067286 ,  0.99664136,
        0.08161328, -0.99661865,  0.        ,  0.08216614])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08873799, -0.03652679,  0.06194636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44042206e-06,-3.32878775e-06,-2.49834142e-05,-9.03584301e-06,
 -1.34386703e-04, 2.40707924e-02,-5.02446136e-05,-7.64143970e-05,
  3.46674843e-06,-2.74146754e-05,-1.94134310e-05, 1.30432178e-05,
  1.00156054e-01, 1.63923491e-04,-1.24511424e-04, 1.72587725e-04,
 -3.71033641e-05, 4.56004961e-05,-9.80998803e+00,-6.47681066e-02,
 -3.07196542e-03,-1.17150918e-02]


--- Step 403 ---
qpos:
[ 0.00985017, 0.00808239,-0.00559863, 0.03344495, 0.00351713,-0.01825263,
 -0.00661263, 0.03918717, 0.01305197, 0.00595581,-0.01169195, 0.03407839,
  0.24241712, 0.00441313, 0.70694409, 0.04805384, 0.09483005,-0.06390493,
  0.14186788, 0.95725033,-0.04999306, 0.07720976, 0.27424652]

qacc:
[ 3.02458390e+00, 2.27436225e+00,-9.14282530e+00, 1.46021999e+01,
 -1.69478711e+01, 1.43792904e+01, 3.18758780e+00,-9.29372086e+01,
 -2.80051754e+00,-2.05216380e+00, 6.27541620e+00,-5.05494750e+00,
 -1.37111941e+01, 3.45207799e+01, 6.51895923e+00,-2.27719437e+01,
 -3.86281754e-01, 5.40333563e-01, 2.50025821e-02,-6.19521446e-02,
  4.05532691e+00,-2.66692735e+01]

qfrc_actuator:
[ 6.46215847e-05, 2.67356873e-04, 1.04939398e-05, 4.44910481e-05,
 -2.62905771e-05, 2.10584350e-02,-2.21057801e-04,-2.18266760e-05,
  2.04520616e-05, 2.72510693e-05,-9.03071552e-05,-5.78604771e-06,
  1.01183376e-01,-1.95364351e-04, 4.11659930e-02,-3.82676102e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31817146, -0.81351115,  1.03719603, -0.81351115,  1.69759955,
        0.29759946,  1.03719603,  0.29759946,  1.5515897 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0167054941715154e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99275143e-01,  3.51219527e-03, -3.79058467e-02,  3.50967108e-03,
        9.99993832e-01,  1.33133557e-04,  3.79060805e-02,  2.71050543e-20,
       -9.99281306e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13117606, -0.08358211,  0.17874106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.72044937, -0.38525008,  0.60879362, -0.38525008,  2.67235481,
        1.23518332,  0.60879362,  1.23518332,  1.50208448,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010124231935166461
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99685673e-01,  3.51363818e-03, -2.48235778e-02,  3.51255543e-03,
        9.99993827e-01,  8.72216090e-05,  2.48237310e-02,  0.00000000e+00,
       -9.99691844e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13133871, -0.08571385,  0.17250858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024102030665057485
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.27824445e-01,  1.29723470e-03, -9.44737768e-01,  4.25265602e-04,
        9.99999159e-01,  1.22554764e-03,  9.44738563e-01,  5.42101086e-20,
       -3.27824721e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1259968 , -0.03788582,  0.29822495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002423299376880031
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.58145219e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.58145219e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10615192, -0.06038266,  0.06194637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.78508443e-05,-1.15328564e-05,-3.67459769e-05, 1.14963710e-05,
 -2.43004473e-04, 2.47017716e-02, 6.65733883e-05,-9.43202569e-05,
 -1.65493358e-05,-1.33164519e-05, 3.68898941e-05, 7.02614347e-06,
  9.99610781e-02, 2.15630619e-04,-1.33254208e-04,-1.43397261e-04,
 -4.43538282e-05, 5.42296070e-05,-9.80998635e+00,-6.47678159e-02,
 -3.07400407e-03,-1.17126905e-02]


--- Step 404 ---
qpos:
[ 0.0098517 , 0.00808269,-0.00559918, 0.03344513, 0.00351607,-0.01827182,
 -0.00660942, 0.03918312, 0.01305258, 0.00595515,-0.01169108, 0.0340779 ,
  0.24245201, 0.00442245, 0.70810952, 0.04805133, 0.09483079,-0.06390341,
  0.14186904, 0.95725391,-0.04999547, 0.07720139, 0.27423595]

qacc:
[ 4.83354255e+00, 3.21685450e-01,-1.95476239e+00, 4.50934398e+00,
 -3.01603979e+01, 1.63607359e+01,-1.38140663e+01,-2.80642364e+01,
  1.29242902e+00,-3.61579320e+00, 1.17645107e+01,-1.18119354e+01,
 -1.34087119e+01, 2.88745916e+01, 5.80678279e+00,-2.21525836e+01,
 -3.57794209e-01, 5.15220163e-01, 1.45071041e-02, 2.10283377e-01,
  3.30659434e+00,-2.59106424e+01]

qfrc_actuator:
[ 9.24615823e-05, 2.64701270e-04, 9.20167468e-06, 5.19253495e-05,
 -3.93657150e-05, 2.11315001e-02,-2.21713632e-04,-6.39942931e-05,
  2.82284575e-05, 1.30434659e-05,-2.84134784e-05,-4.58444329e-07,
  1.01180128e-01,-1.27496054e-04, 4.10526089e-02,-3.96024975e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31823889, -1.07547225,  0.76230782, -1.07547225,  1.32144844,
        0.00452806,  0.76230782,  0.00452806,  1.32462713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.127751477080399e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99273410e-01,  3.51459272e-03, -3.79512921e-02,  3.51206074e-03,
        9.99993824e-01,  1.33384159e-04,  3.79515265e-02,  0.00000000e+00,
       -9.99279581e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1311784 , -0.08357994,  0.1787413 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.72063503, -0.23924545,  0.67976206, -0.23924545,  1.00903952,
        0.10150532,  0.67976206,  0.10150532,  0.7563603 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010237074280494938
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99684692e-01,  3.51603926e-03, -2.48627063e-02,  3.51495235e-03,
        9.99993819e-01,  8.74187917e-05,  2.48628600e-02,  0.00000000e+00,
       -9.99690871e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13134128, -0.08571134,  0.17250935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024118079046965306
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.27123422e-01,  1.47615150e-03, -9.44980470e-01,  4.82884256e-04,
        9.99998910e-01,  1.39493586e-03,  9.44981499e-01,  0.00000000e+00,
       -3.27123778e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1259981 , -0.03789776,  0.29822367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002421946742687253
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.29200545e-14,  5.73001361e-15,  1.00000000e+00, -1.31332224e-28,
        1.00000000e+00, -5.73001361e-15, -1.00000000e+00,  0.00000000e+00,
        2.29200545e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10615534, -0.06038091,  0.0619464 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83447071e-05,-1.62091846e-05,-7.80377176e-06, 5.89155848e-06,
 -1.59628906e-04, 2.38340317e-02, 3.67644251e-05, 7.99573607e-05,
  7.29826366e-06,-1.37226144e-05, 6.39390238e-05, 6.17340110e-06,
  1.00365201e-01,-1.12003820e-04,-2.08372957e-04,-1.62529375e-04,
 -8.46517064e-06, 1.13722564e-05,-9.80999592e+00,-6.47633377e-02,
 -3.07571749e-03,-1.17111098e-02]


--- Step 405 ---
qpos:
[ 0.0098532 , 0.00808299,-0.00559952, 0.03344536, 0.00351039,-0.01827194,
 -0.00660375, 0.03917914, 0.01305224, 0.00595465,-0.01169049, 0.03407785,
  0.24247228, 0.00443461, 0.70927228, 0.04804961, 0.09483019,-0.06389991,
  0.14187022, 0.95727097,-0.05000246, 0.0771959 , 0.27417665]

qacc:
[-1.96365893e-01,-4.69713952e-01, 1.43441698e+00,-8.24718615e-01,
 -4.01093430e+01, 1.85119652e+01,-2.95370208e+01, 1.23737301e+01,
 -8.33963132e+00, 1.95601206e+00,-8.49468524e+00, 1.64639296e+01,
 -1.28786052e+01, 2.37904769e+01,-5.57149117e+00, 1.55855643e+01,
 -3.35328971e-01, 4.94462732e-01, 5.47014050e-03, 4.24885384e-01,
  2.70806441e+00,-2.52811860e+01]

qfrc_actuator:
[ 9.04710800e-05, 2.80809304e-04, 2.64426602e-05, 5.62337760e-05,
 -4.47071905e-05, 2.11708167e-02,-2.25092025e-04,-6.91535483e-05,
 -2.06922407e-05, 2.27727689e-05,-4.55894039e-05, 2.06349756e-05,
  1.01172238e-01,-1.29068792e-04, 4.09320696e-02,-3.91355359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31815817, -1.15779981,  0.63011156, -1.15779981,  1.25962679,
       -0.1075486 ,  0.63011156, -0.1075486 ,  1.12054277,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9940927750501313e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99272986e-01,  3.51353153e-03, -3.79625428e-02,  3.51099882e-03,
        9.99993828e-01,  1.33383414e-04,  3.79627771e-02,  0.00000000e+00,
       -9.99279154e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1311792 , -0.08358103,  0.17874043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7204061 , -0.17279449,  0.69937616, -0.17279449,  0.67155165,
       -0.01207044,  0.69937616, -0.01207044,  0.71742386,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010097743621073875
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99684298e-01,  3.51497774e-03, -2.48786783e-02,  3.51388977e-03,
        9.99993822e-01,  8.74485408e-05,  2.48788320e-02,  0.00000000e+00,
       -9.99690474e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13134209, -0.08571129,  0.17251191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002413232927008323
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.26800670e-01,  1.55387826e-03, -9.45092010e-01,  5.07809069e-04,
        9.99998793e-01,  1.46855970e-03,  9.45093151e-01, -5.42101086e-20,
       -3.26801065e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.125998  , -0.03790185,  0.29822328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024205695875517685
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.29330946e-14,  1.43331841e-15,  1.00000000e+00, -3.28704266e-29,
        1.00000000e+00, -1.43331841e-15, -1.00000000e+00,  0.00000000e+00,
        2.29330946e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10615791, -0.06037976,  0.06194643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18896799e-06, 5.68435095e-06, 1.31352085e-05, 3.45717051e-06,
  8.31549229e-06, 2.28575148e-02,-1.08093542e-04, 1.39215144e-04,
 -4.87221876e-05, 1.55468839e-05,-1.19225143e-05, 2.28381705e-05,
  1.00948932e-01,-3.68856782e-04,-2.52589325e-04, 6.99023940e-06,
 -8.44679871e-07, 2.68682405e-08,-9.80999997e+00,-6.47622871e-02,
 -3.07726495e-03,-1.17102902e-02]


--- Step 406 ---
qpos:
[ 0.00985467, 0.00808358,-0.0056001 , 0.03344598, 0.00350425,-0.01826793,
 -0.00659412, 0.03917765, 0.01305098, 0.0059549 ,-0.01169095, 0.03407803,
  0.24248854, 0.00444049, 0.71043235, 0.04804863, 0.0948298 ,-0.0638976 ,
  0.14187136, 0.95728246,-0.05000685, 0.07718926, 0.2741376 ]

qacc:
[-3.23572271e-01, 1.82957442e+00,-7.58651507e+00, 1.44150234e+01,
 -3.89640582e+00,-4.29921689e-01,-1.08867782e+00, 3.49914912e+01,
 -8.21644284e+00, 4.40085506e+00,-1.51897675e+01, 2.02520430e+01,
  3.68317107e+00,-1.68699940e+01,-6.60355950e+00, 1.64318203e+01,
  5.18779266e-02,-2.96945464e-01,-9.64336447e-03, 1.63272230e-01,
 -1.20082380e+00, 1.05345468e+01]

qfrc_actuator:
[ 8.86885504e-05, 3.08113085e-04, 1.90494964e-05, 7.64463859e-05,
 -6.06204203e-05, 2.11297563e-02,-1.95361404e-04,-3.51829103e-05,
 -6.70939057e-05, 8.19681199e-05,-9.14610895e-05, 3.30456481e-05,
  1.01167565e-01,-1.89831218e-04, 4.08340085e-02,-3.86756482e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31795899, -0.5960564 ,  1.17547126, -0.5960564 ,  2.57749003,
        0.63868132,  1.17547126,  0.63868132,  1.64182067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.617644338374978e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99273815e-01,  3.50785794e-03, -3.79412432e-02,  3.50533216e-03,
        9.99993847e-01,  1.33093310e-04,  3.79414766e-02, -2.71050543e-20,
       -9.99279963e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13117853, -0.08358542,  0.17873845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71978338, -0.35552326,  0.62585248, -0.35552326,  2.76266199,
        1.16048251,  0.62585248,  1.16048251,  1.37900985,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.708213819846532e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99684456e-01,  3.50929946e-03, -2.48731262e-02,  3.50821373e-03,
        9.99993842e-01,  8.72877859e-05,  2.48732794e-02,  0.00000000e+00,
       -9.99690612e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13134123, -0.08571376,  0.17251619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024144539027564278
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.26724249e-01,  1.56810835e-03, -9.45118408e-01,  5.12339654e-04,
        9.99998771e-01,  1.48204989e-03,  9.45119570e-01,  5.42101086e-20,
       -3.26724651e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12599714, -0.03790058,  0.29822347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  -9.75215542,  14.25631692,  -9.75215542,
       110.57068855,  63.82126767,  14.25631692,  63.82126767,
        60.93021079,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002434844408847526
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08116291, -0.08116291,  0.99339074,  0.00660922,  0.99670085,
        0.08089336, -0.99667894,  0.        ,  0.08143157])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08874628, -0.03652153,  0.06194647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81572663e-06, 3.33315693e-05,-4.48299318e-06, 2.09772957e-05,
  2.23407487e-04, 2.18630011e-02,-2.01560439e-04, 1.70417745e-04,
 -4.77826148e-05, 6.63985051e-05,-4.33379094e-05, 1.31107743e-05,
  1.01674002e-01,-5.71647948e-04,-2.31571793e-04, 1.01506648e-05,
 -1.84891113e-05, 1.68553055e-05,-9.81000047e+00,-6.47638892e-02,
 -3.07851776e-03,-1.17100571e-02]


--- Step 407 ---
qpos:
[ 0.00985611, 0.00808437,-0.00560101, 0.03344685, 0.00349816,-0.01826408,
 -0.0065828 , 0.03917768, 0.0130502 , 0.00595572,-0.01169167, 0.03407798,
  0.24250417, 0.0044421 , 0.71158987, 0.04804712, 0.09482972,-0.06389626,
  0.14187244, 0.95728882,-0.05000898, 0.07718142, 0.27411721]

qacc:
[-3.01040351e-01, 1.73515212e+00,-6.89184744e+00, 1.17346193e+01,
  4.27982806e-01,-1.84595084e+00,-8.43688285e-02, 2.35826342e+01,
  4.27589814e+00, 9.96425937e-01,-1.50732642e+00,-2.45017591e+00,
  3.93347188e+00,-1.35238528e+01,-2.52292619e+00, 2.50819391e+00,
  7.69569500e-02,-2.43705778e-01,-1.59430597e-02, 6.94050741e-02,
 -1.14983004e+00, 9.68758308e+00]

qfrc_actuator:
[ 8.70524264e-05, 3.06330384e-04,-2.77063752e-06, 8.80952605e-05,
 -1.02943564e-04, 2.10832850e-02,-1.83744481e-04, 2.04567571e-06,
 -4.06127545e-05, 1.16931954e-04,-1.00422410e-04, 2.25295423e-05,
  1.01180368e-01,-2.42628262e-04, 4.07175761e-02,-3.89328813e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.31785161, -0.52119762,  1.21040733, -0.52119762,  2.87376333,
        0.66997073,  1.21040733,  0.66997073,  1.60633892,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3724457627385772e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99274183e-01,  3.50172522e-03, -3.79321113e-02,  3.49920507e-03,
        9.99993869e-01,  1.32828645e-04,  3.79323439e-02,  2.71050543e-20,
       -9.99280310e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13117789, -0.08358853,  0.1787372 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71940426, -0.40293924,  0.59597186, -0.40293924,  3.17183201,
        1.65809738,  0.59597186,  1.65809738,  1.84045132,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.462904039422618e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99684817e-01,  3.50316420e-03, -2.48594942e-02,  3.50208155e-03,
        9.99993864e-01,  8.70874245e-05,  2.48596468e-02,  0.00000000e+00,
       -9.99690951e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13134041, -0.08571538,  0.17251949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024155598755120616
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.26288906e-01,  1.68368233e-03, -9.45268594e-01,  5.49367643e-04,
        9.99998583e-01,  1.59153428e-03,  9.45269934e-01,  0.00000000e+00,
       -3.26289368e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12599792, -0.03790626,  0.29822284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024339795861761594
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.08745507e-02, -8.08745507e-02,  9.93437776e-01,  6.56218879e-03,
        9.96724288e-01,  8.06078819e-02, -9.96702686e-01,  8.67361738e-19,
        8.11403431e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08874972, -0.03651932,  0.06194649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67832017e-06, 1.68081583e-05,-1.47643434e-05, 1.33287260e-05,
  2.03975931e-04, 2.16097332e-02,-3.87677042e-04, 8.25925705e-05,
  2.51476910e-05, 6.36791729e-05,-1.27722038e-07,-8.91317689e-06,
  1.01886561e-01,-3.10312526e-04,-2.28774421e-04,-5.65290459e-05,
 -7.96711765e-06, 6.54708508e-06,-9.81000075e+00,-6.47649752e-02,
 -3.07894338e-03,-1.17095447e-02]


--- Step 408 ---
qpos:
[ 0.00985751, 0.00808508,-0.00560206, 0.03344788, 0.00349254,-0.01826375,
 -0.00657161, 0.03917838, 0.01305009, 0.00595692,-0.01169271, 0.03407783,
  0.24252176, 0.00444123, 0.71274469, 0.04804688, 0.09483001,-0.06389573,
  0.14187344, 0.9572905 ,-0.05000914, 0.07717239, 0.27411384]

qacc:
[-2.71703446e-01, 6.03927057e-01,-2.94076490e+00, 5.87744565e+00,
  4.18023728e+00,-2.88523238e+00, 6.54838853e-01, 1.39114662e+01,
  5.85991858e+00, 1.19983938e+00,-3.17017952e+00, 1.77139172e+00,
  4.00765951e+00,-1.04114985e+01,-8.09227367e+00, 2.18228181e+01,
  9.20238707e-02,-2.00489729e-01,-2.01819434e-02, 3.62782250e-03,
 -1.08369447e+00, 8.83925393e+00]

qfrc_actuator:
[ 8.55155747e-05, 2.87074673e-04,-1.52952420e-05, 9.45802462e-05,
 -1.08172577e-04, 2.11072124e-02,-2.17826874e-04, 5.71621805e-06,
 -6.95276831e-06, 1.19486963e-04,-1.23109701e-04, 1.63773554e-05,
  1.01182197e-01,-2.36878849e-04, 4.06168362e-02,-3.81903778e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.3178    , -0.4429275 ,  1.24113338, -0.4429275 ,  3.22231144,
        0.67966949,  1.24113338,  0.67966949,  1.56035597,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2374177921729945e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99274107e-01,  3.49563403e-03, -3.79346807e-02,  3.49311791e-03,
        9.99993890e-01,  1.32606571e-04,  3.79349125e-02,  0.00000000e+00,
       -9.99280212e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13117745, -0.08359043,  0.17873653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71921259, -0.4470758 ,  0.56337376, -0.4470758 ,  3.53511715,
        2.2346138 ,  0.56337376,  2.2346138 ,  2.49253223,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.336341993203028e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99685216e-01,  3.49707216e-03, -2.48443222e-02,  3.49599271e-03,
        9.99993885e-01,  8.68829186e-05,  2.48444741e-02,  0.00000000e+00,
       -9.99691328e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13133984, -0.08571617,  0.17252192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024165912810085854
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.25595341e-01,  1.87136551e-03, -9.45507362e-01,  6.09308959e-04,
        9.99998249e-01,  1.76939296e-03,  9.45509018e-01,  0.00000000e+00,
       -3.25595912e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12599983, -0.03791704,  0.2982216 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002432987840501022
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.06498366e-02, -8.06498366e-02,  9.93474312e-01,  6.52565348e-03,
        9.96742496e-01,  8.03853966e-02, -9.96721134e-01, -8.67361738e-19,
        8.09134123e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08875228, -0.03651769,  0.06194651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58049717e-06,-1.23600171e-05,-1.04118190e-05, 6.95193317e-06,
  1.96591183e-04, 2.16411969e-02,-5.06775410e-04, 1.08356970e-05,
  3.43992617e-05, 3.77413148e-05,-9.86076451e-06,-3.60253278e-06,
  1.01920688e-01,-9.03767259e-05,-2.15841372e-04, 4.07424566e-05,
 -2.20794794e-06, 1.20255299e-06,-9.81000043e+00,-6.47659448e-02,
 -3.07965631e-03,-1.17087849e-02]


--- Step 409 ---
qpos:
[ 0.00985855, 0.0080855 ,-0.00560314, 0.033449  , 0.00344983,-0.01827985,
 -0.00656084, 0.03918014, 0.01305038, 0.00595817,-0.01169441, 0.03407733,
  0.24266239, 0.00437061, 0.7138944 , 0.04804587, 0.09481841,-0.06390862,
  0.14189296, 0.95727829,-0.0499727 , 0.07702504, 0.27420457]

qacc:
[-3.27898560e+00,-1.13789537e-01,-5.38638123e-01, 2.37980531e+00,
 -3.19798925e+02,-1.77520046e+01, 2.83979346e+01, 1.48626984e+00,
  3.53932203e+00, 1.17653873e+00,-2.62152594e+00,-2.44407589e+00,
  1.55865649e+02,-3.51684685e+02,-1.55401067e+01, 1.84876375e+01,
 -2.97041686e+00,-3.35766854e+00, 4.63116775e+00,-5.41516318e+00,
 -7.30441778e+01, 4.48907197e+01]

qfrc_actuator:
[ 6.62966433e-05, 2.57525709e-04,-2.23087400e-05, 9.79670876e-05,
 -7.38446312e-05, 2.11235498e-02,-2.42668779e-04,-2.82744520e-05,
  1.28866553e-05, 8.48093658e-05,-1.71614359e-04,-4.95052619e-06,
  1.01171903e-01,-2.31596280e-04, 4.05149646e-02,-3.82840477e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([1.31778411, 0.04686778, 1.31695041, 0.04686778, 0.08811471,
       0.04376162, 1.31695041, 0.04376162, 1.31622672, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.1927612239885897e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99273608e-01,  3.49001904e-03, -3.79483408e-02,  3.48750515e-03,
        9.99993910e-01,  1.32441239e-04,  3.79485720e-02,  0.00000000e+00,
       -9.99279694e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13117737, -0.08359123,  0.17873629])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71916567, -0.1382158 ,  0.70575892, -0.1382158 ,  0.06852576,
       -0.12742129,  0.70575892, -0.12742129,  0.69421149,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.305086469101281e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99685521e-01,  3.49145767e-03, -2.48328082e-02,  3.49038095e-03,
        9.99993905e-01,  8.67032272e-05,  2.48329596e-02,  0.00000000e+00,
       -9.99691615e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13133968, -0.08571616,  0.17252364])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([14.27223962,  1.07569059, 14.23164479,  1.07569059,  0.41655939,
        1.04727352, 14.23164479,  1.04727352, 14.19308206,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008087100057175831
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97073546, -0.23923747, -0.02093087, -0.23918188,  0.97096109,
       -0.00515721,  0.02155685,  0.        , -0.99976762])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12600179, -0.03792886,  0.29822132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -10.02333327,  14.06697898, -10.02333327,
        30.70582284,   9.57166382,  14.06697898,   9.57166382,
        24.09295332,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002431905223026557
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0804765 , -0.0804765 ,  0.99350242,  0.00649754,  0.99675651,
        0.08021377, -0.99673533,  0.        ,  0.08073837])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08875415, -0.03651652,  0.06194653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92695417e-05,-3.83345224e-05,-1.06082554e-05, 2.63049474e-06,
  2.07018092e-04, 2.18335149e-02,-5.24916004e-04,-5.71060741e-05,
  2.08336316e-05,-1.57829697e-05,-4.20509970e-05,-2.01232985e-05,
  1.01812223e-01, 3.91846376e-05,-1.97354996e-04,-3.52369234e-05,
 -2.02222398e-07,-1.67491005e-07,-9.80999967e+00,-6.47667964e-02,
 -3.08060082e-03,-1.17077934e-02]


--- Step 410 ---
qpos:
[ 0.00985865, 0.00808547,-0.00560418, 0.03344983, 0.00338573,-0.0182841 ,
 -0.00654192, 0.03917688, 0.01305057, 0.00595892,-0.01169591, 0.03407694,
  0.24297715, 0.00425459, 0.71503913, 0.04804219, 0.09479759,-0.0639331 ,
  0.14192688, 0.95725213,-0.04990257, 0.07676265, 0.27438218]

qacc:
[  -8.13595335,  -1.27665112,   4.96875066,  -9.85643842,-184.57291431,
  -17.09063786, 105.48051766,-214.74606591,  -0.94145858,  -1.02055922,
    2.23031044,  -0.35573212, 166.85378072,-323.07195719,  -9.44525964,
   -2.1721576 ,  -2.3055755 ,  -2.8960574 ,   3.59874588,  -3.33961499,
  -61.31128816,  41.92617653]

qfrc_actuator:
[ 1.90716064e-05, 2.22053902e-04,-2.60678784e-05, 8.17431233e-05,
 -1.39085154e-05, 2.11674083e-02,-2.79381146e-04,-6.77584325e-05,
  6.67711433e-06, 4.57189405e-05,-1.64136416e-04, 4.15743608e-07,
  1.01148694e-01,-1.40583493e-04, 4.03701215e-02,-3.93967671e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.7170239 , 0.17452559, 0.69545962, 0.17452559, 0.11620033,
       0.15077667, 0.69545962, 0.15077667, 0.67918649, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -7.740564411456642e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99685537e-01,  3.44876094e-03, -2.48381448e-02,  3.44769693e-03,
        9.99994053e-01,  8.56613330e-05,  2.48382925e-02,  0.00000000e+00,
       -9.99691482e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13133693, -0.08573556,  0.17255633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([13.59129376,  1.06302791, 13.54965822,  1.06302791,  0.35289087,
        1.03860861, 13.54965822,  1.03860861, 13.50981053,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007510719178977426
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97070168, -0.23937346, -0.02094276, -0.23931777,  0.97092757,
       -0.00516325,  0.02156985,  0.        , -0.99976734])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12597997, -0.03794154,  0.29839888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024091449274915295
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08032626, -0.08032626,  0.99352674,  0.00647322,  0.99676863,
        0.080065  , -0.99674761,  0.        ,  0.08058666])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08875688, -0.03651192,  0.06194703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.77875434e-05,-5.90023800e-05,-1.28883191e-05,-1.81829303e-05,
  2.12157813e-03, 2.26996156e-02,-5.40574008e-04,-1.49397197e-04,
 -5.61820195e-06,-5.74808102e-05,-1.65200651e-06, 2.84466510e-06,
  9.56552885e-02, 3.62624253e-03,-1.01767319e-04,-1.11781778e-04,
 -8.58100183e-05, 1.19099672e-04,-9.80976817e+00,-6.48095362e-02,
 -3.09630014e-03,-1.16896255e-02]


--- Step 411 ---
qpos:
[ 0.00985853, 0.00808511,-0.00560502, 0.03345008, 0.00330827,-0.01829434,
 -0.00651453, 0.03917574, 0.01305102, 0.00595921,-0.01169674, 0.03407658,
  0.24350183, 0.0041086 , 0.71617935, 0.04803762, 0.09476941,-0.06396766,
  0.1419717 , 0.95721443,-0.04980067, 0.07640626, 0.27463158]

qacc:
[  -1.93755219,  -2.2061166 ,   9.66446979, -19.70422422,-114.80529621,
  -27.00693561,  76.17969581, -48.84135928,   2.3962614 ,  -2.37828194,
    7.47543463,  -7.66728278, 176.33588557,-308.55698324, -14.16045163,
   15.26077417,  -1.84238006,  -2.51895203,   2.72578523,  -0.73865302,
  -50.70180227,  34.8154935 ]

qfrc_actuator:
[ 9.00444671e-06, 2.18806898e-04,-1.01697496e-05, 5.41048697e-05,
  7.82862197e-05, 2.11883053e-02,-3.13870364e-04,-6.93793837e-05,
  2.06951590e-05, 4.00194114e-05,-1.23670406e-04, 3.72848870e-06,
  1.01114034e-01,-1.23217127e-05, 4.02689027e-02,-3.95011245e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.71437804, 0.26630418, 0.66288617, 0.26630418, 0.16570022,
       0.22042276, 0.66288617, 0.22042276, 0.62582664, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -5.1742402728263905e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99686120e-01,  3.38467607e-03, -2.48234725e-02,  3.38363307e-03,
        9.99994272e-01,  8.40198944e-05,  2.48236146e-02,  0.00000000e+00,
       -9.99691847e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.131331  , -0.08576962,  0.17261219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.18480926,  1.11927327, 12.13329321,  1.11927327,  0.31376083,
        1.09508168, 12.13329321,  1.09508168, 12.08379006,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000649582283561975
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70625995e-01, -2.39677828e-01, -2.09693932e-02, -2.39621915e-01,
        9.70852480e-01, -5.17678919e-03,  2.15989490e-02,  8.67361738e-19,
       -9.99766715e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12594017, -0.03796695,  0.29871198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023691388879267675
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08020153, -0.08020153,  0.99354689,  0.00645307,  0.99677867,
        0.0799415 , -0.99675778,  0.        ,  0.08046072])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08876028, -0.03650457,  0.0619479 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14469570e-05,-3.96884358e-05, 1.50642958e-06,-3.09638704e-05,
  3.28359850e-03, 2.21274550e-02,-9.82991662e-04, 9.99546763e-05,
  1.38390008e-05,-3.80724644e-05, 2.84977279e-05, 8.50513679e-07,
  8.69346136e-02, 6.03566748e-03, 2.91232246e-05, 7.03786640e-06,
 -3.06021970e-04, 4.34114168e-04,-9.80923037e+00,-6.49149472e-02,
 -3.12424610e-03,-1.16576632e-02]


--- Step 412 ---
qpos:
[ 0.00985898, 0.00808445,-0.00560543, 0.03345032, 0.00322093,-0.01831885,
 -0.0064822 , 0.0391763 , 0.01305129, 0.00595919,-0.01169685, 0.03407624,
  0.24425823, 0.00394464, 0.71731654, 0.04803234, 0.09473559,-0.06401093,
  0.14202451, 0.95716757,-0.04966869, 0.07597559, 0.27493811]

qacc:
[   5.01725993,  -1.60625024,   5.17866978,  -5.7596711 , -84.92847204,
  -28.99672621,  69.17353799, -37.57706045,  -1.56036826,  -2.4391771 ,
    8.00585794,  -8.61995907, 179.45103742,-291.0102953 , -12.26974928,
   12.3805798 ,  -1.4073989 ,  -2.17986379,   1.99915798,   1.79153891,
  -40.74732358,  27.89843338]

qfrc_actuator:
[ 3.86499284e-05, 2.17201043e-04, 1.73291088e-05, 5.55192874e-05,
  1.90345553e-04, 2.12085394e-02,-3.15102383e-04,-5.34247159e-05,
  1.10100287e-05, 3.67545954e-05,-8.16967355e-05, 5.84323092e-06,
  1.01073665e-01, 1.23265061e-04, 4.02366028e-02,-3.95401411e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.71248802, 0.32461973, 0.63424065, 0.32461973, 0.21180705,
       0.25626064, 0.63424065, 0.25626064, 0.58132761, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.7208935367220712e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99686805e-01,  3.30724816e-03, -2.48063237e-02,  3.30623043e-03,
        9.99994531e-01,  8.20411172e-05,  2.48064594e-02,  0.00000000e+00,
       -9.99692272e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13132326, -0.08581685,  0.1726862 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.18770313,  1.21336042, 10.11518915,  1.21336042,  0.3019523 ,
        1.18583831, 10.11518915,  1.18583831, 10.04545673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005143098101145833
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97049963, -0.24018513, -0.02101378, -0.24012885,  0.9707271 ,
       -0.0051994 ,  0.02164746,  0.        , -0.99976567])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12588485, -0.03800542,  0.29913072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023156401560515114
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.01053939e-02, -8.01053939e-02,  9.93562405e-01,  6.43756188e-03,
        9.96786399e-01,  7.98463019e-02, -9.96765611e-01,  8.67361738e-19,
        8.03636505e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08876423, -0.03649504,  0.06194907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93086817e-05,-2.47969033e-05, 1.84288796e-05,-8.34193886e-07,
  4.06302632e-03, 2.24476367e-02,-1.40817860e-03, 9.36250073e-06,
 -9.30623068e-06,-1.86259046e-05, 3.76559840e-05, 1.48728122e-06,
  7.64210161e-02, 7.68216114e-03, 2.02714100e-04, 4.27394030e-05,
 -5.88027354e-04, 8.42600188e-04,-9.80854857e+00,-6.50503764e-02,
 -3.16664723e-03,-1.16143352e-02]


--- Step 413 ---
qpos:
[ 0.00985979, 0.00808364,-0.00560556, 0.03345057, 0.00322369,-0.01813197,
 -0.00657494, 0.03915684, 0.0130511 , 0.00595883,-0.01169643, 0.03407663,
  0.24524949, 0.00377676, 0.71845114, 0.04802614, 0.09469918,-0.0640618 ,
  0.14208287, 0.95710829,-0.0495072 , 0.07548924, 0.27530736]

qacc:
[ 3.09702589e+00,-9.76840978e-01, 3.16036979e+00,-3.38494057e+00,
  7.69976385e+02, 5.86267641e+02,-1.60289975e+03, 1.30298292e+03,
 -4.04986926e+00,-3.56813740e-01,-2.45612183e+00, 1.45884978e+01,
  1.67610075e+02,-2.48415881e+02,-9.93019576e+00, 7.71319497e+00,
 -6.48721255e-01,-1.89817965e+00, 1.38548352e+00, 3.77619151e+00,
 -3.17972785e+01, 3.14651207e+01]

qfrc_actuator:
[ 5.59147723e-05, 2.16676411e-04, 3.37366272e-05, 5.62759541e-05,
  2.80698236e-04, 2.12390421e-02,-3.31733769e-04,-4.50907693e-05,
 -1.25548130e-05, 1.72464345e-05,-5.69134927e-05, 4.27431305e-05,
  1.01004375e-01, 2.80974938e-04, 4.01498185e-02,-3.98931910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.44535692, 1.5325842 , 8.30513331, 1.5325842 , 0.39040954,
       1.48641625, 8.30513331, 1.48641625, 8.17106174, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003543441020411823
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97031698, -0.24091635, -0.02107775, -0.24085953,  0.97054588,
       -0.00523208,  0.02171742,  0.        , -0.99976415])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12581657, -0.03805729,  0.29962827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 14.80543917,  8.89640817, 14.80543917, 22.33875733,
       -8.43090812,  8.89640817, -8.43090812, 31.30347933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002251789779423536
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.08004274, -0.08004274,  0.9935725 ,  0.00642746,  0.99679143,
        0.07978426, -0.99677071,  0.        ,  0.08030039])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0887686 , -0.03648381,  0.06195047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80929516e-05,-1.05834372e-05, 1.35365784e-05, 3.16001155e-07,
  4.64779570e-03, 2.31919079e-02,-1.67157804e-03,-6.69019958e-05,
 -2.38377055e-05,-2.20813216e-05, 2.56283441e-05, 3.74350065e-05,
  6.47906510e-02, 8.75115932e-03, 2.42910483e-04, 3.71416731e-05,
 -8.75364121e-04, 1.26530164e-03,-9.80784515e+00,-6.51906166e-02,
 -3.22432213e-03,-1.15618513e-02]


--- Step 414 ---
qpos:
[ 0.00986045, 0.00808311,-0.00560619, 0.03345013, 0.00322877,-0.0178555 ,
 -0.00663821, 0.03914231, 0.01305063, 0.00595855,-0.01169641, 0.03407747,
  0.24647101, 0.00361306, 0.71958301, 0.04801588, 0.09466156,-0.06411941,
  0.14214469, 0.95703905,-0.04931614, 0.07496332, 0.27572572]

qacc:
[-1.28580842e+00, 3.41639891e-01, 2.18730947e+00,-1.34225149e+01,
  1.95007773e+01, 4.61500006e+01,-1.36670980e+01,-1.38564905e+01,
 -2.48714729e+00, 2.12492657e+00,-9.31762627e+00, 1.76532927e+01,
  1.56231666e+02,-2.17160974e+02, 2.11406591e-01,-2.59683340e+01,
 -3.00478873e-01,-1.68622479e+00, 8.64172271e-01, 6.60074448e+00,
 -2.38446224e+01, 2.50075005e+01]

qfrc_actuator:
[ 4.79887635e-05, 2.34526229e-04, 7.95890743e-06, 2.11220899e-05,
  2.61994611e-04, 2.10557591e-02,-2.65074775e-04,-2.02877297e-05,
 -2.63402565e-05, 2.36374041e-05,-7.80227422e-05, 6.42850003e-05,
  1.00909108e-01, 4.45106949e-04, 3.99931328e-02,-4.20274522e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([7.55017104, 2.03744425, 7.27006903, 2.03744425, 0.6176229 ,
       1.94285367, 7.27006903, 1.94285367, 7.00568432, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00017865784044617948
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97007678, -0.24187441, -0.02116157, -0.24181688,  0.97030756,
       -0.00527507,  0.02180914,  0.        , -0.99976215])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12573838, -0.03812262,  0.30017844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  14.68398419,   9.09547776,  14.68398419,
        23.73238185, -10.42864028,   9.09547776, -10.42864028,
        34.10900493,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002180122891886579
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.00268568e-02, -8.00268568e-02,  9.93575062e-01,  6.42490436e-03,
        9.96792708e-01,  7.97685303e-02, -9.96772001e-01, -8.67361738e-19,
        8.02843522e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08877329, -0.03647125,  0.06195204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.41215012e-06, 1.47750918e-05,-2.62768849e-05,-3.51322524e-05,
  1.24122133e-04, 1.24335915e-02, 4.64778545e-03, 9.59060998e-04,
 -1.44739618e-05, 9.39417535e-07,-2.12192568e-05, 2.22108516e-05,
  5.29765776e-02, 9.12490314e-03, 1.86667693e-04,-1.37398819e-04,
 -1.22185582e-03, 1.77887223e-03,-9.80714005e+00,-6.53492014e-02,
 -3.29595769e-03,-1.15026555e-02]


--- Step 415 ---
qpos:
[ 0.00986066, 0.00808262,-0.00560651, 0.03344925, 0.00323367,-0.0175255 ,
 -0.00667716, 0.03913364, 0.01305   , 0.00595808,-0.01169628, 0.03407891,
  0.24794717, 0.00343869, 0.72071109, 0.04800584, 0.09461673,-0.06417711,
  0.14221045, 0.95697386,-0.04913556, 0.07443245, 0.27612774]

qacc:
[-3.89452295e+00,-1.68978353e+00, 8.00292608e+00,-1.62261019e+01,
 -1.74470320e+00, 1.48612093e+01, 2.48779428e+01,-1.56185175e+00,
 -1.41458450e+00, 6.65680276e-01,-5.24778334e+00, 1.55212978e+01,
  1.88416952e+02,-2.89751860e+02,-1.64336695e+01, 2.49314632e+01,
 -1.80536154e+00,-2.07633510e-02, 9.86760978e-01,-4.98157337e+00,
 -6.69267692e-01,-8.89182811e+00]

qfrc_actuator:
[ 2.53033969e-05, 2.45289338e-04, 2.85466602e-05, 6.14175471e-07,
  2.47341091e-04, 2.07636956e-02,-2.17458796e-04, 1.51969030e-05,
 -3.42546030e-05, 9.78610408e-06,-7.27093761e-05, 9.43564265e-05,
  1.00800865e-01, 5.88806211e-04, 3.98904758e-02,-4.16448673e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([17.27272727, -6.15238207, 16.13986686, -6.15238207, 20.52616452,
        1.24018303, 16.13986686,  1.24018303, 17.74547466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020907061645732555
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65513883e-14,  1.90838104e-14,  1.00000000e+00, -5.06701659e-28,
        1.00000000e+00, -1.90838104e-14, -1.00000000e+00,  0.00000000e+00,
        2.65513883e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10633333, -0.06034804,  0.0619537 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28864395e-05, 1.21151569e-05, 1.92020005e-05,-2.14639572e-05,
 -6.94660723e-06, 7.65279325e-03, 3.21906529e-03, 7.47269238e-04,
 -8.32621451e-06,-1.67556616e-05, 3.66358289e-06, 2.98090132e-05,
  4.13798377e-02, 9.07291871e-03, 1.86929610e-04, 9.53866079e-05,
 -1.52826832e-03, 2.23878210e-03,-9.80653237e+00,-6.54879122e-02,
 -3.38388267e-03,-1.14381822e-02]


--- Step 416 ---
qpos:
[ 0.00986095, 0.00808207,-0.00560599, 0.03344811, 0.00323873,-0.01716384,
 -0.00669927, 0.03912926, 0.01304963, 0.00595715,-0.01169538, 0.03408069,
  0.2495848 , 0.00331774, 0.72183843, 0.04799996, 0.0945653 ,-0.06423479,
  0.14227844, 0.95691283,-0.04896484, 0.07389273, 0.27651429]

qacc:
[ 6.53813556e-01,-3.00179616e+00, 1.16996424e+01,-1.75808168e+01,
  1.31012677e+00, 3.60902510e+00, 2.98063641e+01,-6.02048873e+00,
  2.27506847e+00,-2.05518961e+00, 5.01385197e+00,-3.72755333e-02,
  5.93887390e+01, 9.62163993e+00,-1.51841433e+01, 4.78499918e+01,
 -1.64719826e+00, 3.64895972e-03, 5.57180462e-01,-5.26097298e+00,
 -2.65353414e+00,-8.55807032e+00]

qfrc_actuator:
[ 2.96259502e-05, 2.51915774e-04, 7.63536473e-05,-1.10716284e-05,
  2.54452353e-04, 2.04065901e-02,-1.52396270e-04, 5.41837009e-05,
 -2.09007670e-05,-1.59760113e-05,-3.41374681e-05, 1.11466221e-04,
  1.00669026e-01, 7.68929140e-04, 3.98577114e-02,-3.94237525e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.27272727,   5.63238709, -16.32860444,   5.63238709,
        24.20023869,   2.38957505, -16.32860444,   2.38957505,
        18.09698704,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020118676064440483
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.44898138e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.44898138e-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([ 0.10636878, -0.06034196,  0.06195544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.67691089e-06, 1.64628684e-05, 5.19441404e-05,-1.09153221e-05,
  9.41896747e-06, 4.60781670e-03, 2.06476698e-03, 4.92183888e-04,
  1.31088536e-05,-3.30904174e-05, 3.65938688e-05, 1.70964301e-05,
  2.85437628e-02, 9.80211545e-03, 3.04785643e-04, 2.96125386e-04,
 -1.45784421e-03, 2.11069529e-03,-9.80658208e+00,-6.54644705e-02,
 -3.43967858e-03,-1.13663151e-02]


--- Step 417 ---
qpos:
[ 0.00986163, 0.00808188,-0.0056056 , 0.03344684, 0.00324384,-0.01678391,
 -0.00671063, 0.03912689, 0.01304907, 0.00595601,-0.0116943 , 0.03408197,
  0.25133634, 0.00324012, 0.7229652 , 0.04799578, 0.09450779,-0.06429239,
  0.14234726, 0.956856  ,-0.04880346, 0.07334105, 0.27688609]

qacc:
[ 3.44800344e+00, 6.07904630e-01,-9.91339178e-01,-1.07521089e+00,
  5.34716840e-01,-1.77196859e+00, 3.28097983e+01,-2.84695524e+01,
 -1.59398738e+00,-1.75964679e+00, 7.94557815e+00,-1.65477076e+01,
  3.62549610e+01, 2.48743181e+01,-6.58427840e+00, 2.03098202e+01,
 -1.52220636e+00, 2.20865118e-02, 2.06628831e-01,-5.47506423e+00,
 -4.21839361e+00,-8.28219510e+00]

qfrc_actuator:
[ 4.98150296e-05, 2.73900591e-04, 6.88120895e-05,-1.74668260e-05,
  2.56605947e-04, 2.00819161e-02,-1.14612221e-04, 4.12605934e-05,
 -3.06432723e-05,-3.07873454e-05,-2.95672458e-05, 8.53132876e-05,
  1.00527574e-01, 9.28843054e-04, 3.97495762e-02,-3.88026286e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.27272727,   5.67025325, -16.31549373,   5.67025325,
        29.64378157,   4.29941085, -16.31549373,   4.29941085,
        18.76693571,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019304573041167283
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.79721507e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.79721507e-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([ 0.10640026, -0.06033736,  0.06195724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02993701e-05, 4.14697760e-05, 1.88156074e-06,-4.10254462e-06,
  3.93007035e-06, 2.68676309e-03, 1.25694039e-03, 2.64780295e-04,
 -9.38530305e-06,-2.50016437e-05, 2.82928198e-06,-2.59766555e-05,
  2.03438624e-02, 7.30024621e-03, 1.96858632e-04, 1.40935322e-04,
 -1.40319638e-03, 1.99975930e-03,-9.80658980e+00,-6.54481263e-02,
 -3.49674482e-03,-1.12940630e-02]


--- Step 418 ---
qpos:
[ 0.00986254, 0.00808214,-0.00560591, 0.03344554, 0.0032486 ,-0.01639475,
 -0.00671496, 0.03912516, 0.01304874, 0.00595516,-0.01169396, 0.03408293,
  0.25316913, 0.00319359, 0.72409081, 0.04799302, 0.09444458,-0.06434983,
  0.14241577, 0.95680344,-0.04865101, 0.07277499, 0.27724369]

qacc:
[ 2.04755598e+00, 2.47401748e+00,-7.79561757e+00, 7.91662118e+00,
 -2.96567769e+00,-6.13306065e+00, 3.68863684e+01,-4.39603111e+01,
  2.01547691e+00, 1.73266989e+00,-4.25993418e+00,-4.12463222e-01,
  2.57761504e+01, 1.80774779e+01,-6.42912433e+00, 1.89463784e+01,
 -1.42392743e+00, 3.58401004e-02,-7.75133870e-02,-5.64036709e+00,
 -5.45821721e+00,-8.05486132e+00]

qfrc_actuator:
[ 6.14200801e-05, 2.86950531e-04, 2.87071598e-05,-2.07288447e-05,
  2.38065204e-04, 1.97241787e-02,-9.38553847e-05,-2.26401060e-06,
 -1.84031037e-05,-3.58776179e-06,-6.28615677e-05, 6.94009339e-05,
  1.00378823e-01, 1.01208241e-03, 3.96335104e-02,-3.82458721e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.27272727,   5.7200431 , -16.29810462,   5.7200431 ,
        36.9071712 ,   6.89097709, -16.29810462,   6.89097709,
        19.69121009,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018477961320807201
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.38806747e-16,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.38806747e-16, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10642849, -0.06033389,  0.06195907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21984026e-05, 3.64630532e-05,-3.14499923e-05,-1.49832906e-06,
 -1.75514402e-05, 1.40202865e-03, 7.35389304e-04, 1.19419695e-04,
  1.19633771e-05, 1.27105624e-05,-3.90112304e-05,-1.73938758e-05,
  1.45122067e-02, 5.22336713e-03, 7.71379785e-05, 1.03627672e-04,
 -1.36247843e-03, 1.90154390e-03,-9.80656403e+00,-6.54373093e-02,
 -3.55564262e-03,-1.12210054e-02]


--- Step 419 ---
qpos:
[ 0.0098629 , 0.00808259,-0.00560689, 0.03344425, 0.00325346,-0.01600242,
 -0.00671479, 0.03912423, 0.01304891, 0.0059547 ,-0.01169413, 0.03408367,
  0.25505964, 0.00316879, 0.7252153 , 0.0479917 , 0.09437598,-0.0644071 ,
  0.14248305, 0.95675515,-0.04850715, 0.07219259, 0.27758758]

qacc:
[ -4.91654064,  2.15121531, -7.31025241,  8.30100358,  0.87706973,
  -6.72711323, 26.67592189,-22.25315537,  4.32120573,  1.49662532,
  -3.65138318,  0.30508248, 18.73554103, 11.51978655, -6.39021245,
  19.12952638, -1.34717522,  0.04592182, -0.30595947, -5.76950662,
  -6.44658472, -7.86827212]

qfrc_actuator:
[ 3.23691911e-05, 2.76651048e-04,-1.25633229e-05,-2.21424640e-05,
  2.42998388e-04, 1.93483433e-02,-8.38805843e-05,-1.03109703e-05,
  6.68500837e-06, 3.06518348e-05,-8.25422418e-05, 5.96639487e-05,
  1.00208553e-01, 1.02647516e-03, 3.95606923e-02,-3.75541953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.27272727,   5.78520063, -16.2750902 ,   5.78520063,
        46.53863255,  10.40296131, -16.2750902 ,  10.40296131,
        20.97060038,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0017649533828639208
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.57259539e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.57259539e-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([ 0.10645403, -0.0603313 ,  0.06196089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.86895585e-05, 3.52863332e-06,-3.76618744e-05,-9.66107515e-07,
  4.88009201e-06, 5.51112292e-04, 3.89773589e-04, 7.89375470e-05,
  2.54327499e-05, 3.25715556e-05,-2.24590746e-05,-1.08821440e-05,
  1.02900199e-02, 3.68871482e-03, 3.43267266e-05, 9.48847258e-05,
 -1.33429398e-03, 1.81268500e-03,-9.80651100e+00,-6.54308402e-02,
 -3.61679897e-03,-1.11468097e-02]


--- Step 420 ---
qpos:
[ 0.00986291, 0.00808312,-0.00560809, 0.03344327, 0.00325834,-0.01561079,
 -0.00671208, 0.03912419, 0.01304903, 0.00595418,-0.01169412, 0.03408429,
  0.25699078, 0.00315976, 0.72633808, 0.04799142, 0.09430896,-0.06447004,
  0.14254731, 0.95670951,-0.04832915, 0.07158982, 0.27793182]

qacc:
[ -3.0863537 ,  1.35882427, -6.04435854, 11.87194906,  0.30812462,
  -6.18817405, 16.93047012, -4.95321995, -0.39118584, -0.82381694,
   3.32297332, -5.57127247, 12.77294728,  9.4778251 , -5.84439455,
  16.26664908,  0.39415356, -1.41940399, -0.75670532, 13.55158352,
 -14.58887887,  0.53968972]

qfrc_actuator:
[ 1.51295430e-05, 2.87930996e-04,-1.87741497e-05,-4.72179531e-06,
  2.43961995e-04, 1.89640004e-02,-9.84186588e-05, 2.50154160e-06,
  3.62207970e-06, 1.56412889e-05,-7.62159834e-05, 5.36629477e-05,
  1.00051192e-01, 1.04974770e-03, 3.94392994e-02,-3.71426724e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.27272727,   3.54834439, -16.90432961,   3.54834439,
        27.34954563,   2.11519904, -16.90432961,   2.11519904,
        17.71672327,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0016982204401934748
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0926469 , -0.0926469 ,  0.99137939,  0.00862052,  0.99569903,
        0.09224497, -0.99566171,  0.        ,  0.09304709])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08874853, -0.03639796,  0.06196269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80544051e-05, 5.41912015e-06,-1.01440745e-05, 1.62552090e-05,
  1.27779296e-06,-6.52049864e-06, 1.45432975e-04, 5.05710175e-05,
 -2.32877906e-06,-1.87540690e-06, 9.91638043e-06,-5.59529835e-06,
  7.25674123e-03, 2.63043521e-03,-5.59390298e-05, 5.70776405e-05,
 -1.31757989e-03, 1.73061341e-03,-9.80643531e+00,-6.54278278e-02,
 -3.68054152e-03,-1.10712111e-02]


--- Step 421 ---
qpos:
[ 0.0098634 , 0.00808387,-0.00560945, 0.03344249, 0.00326319,-0.01522265,
 -0.00670775, 0.03912543, 0.01304877, 0.00595361,-0.01169343, 0.03408446,
  0.2589502 , 0.00316256, 0.72745906, 0.04798907, 0.09424332,-0.06453862,
  0.14260794, 0.95666538,-0.04811742, 0.0709688 , 0.27827953]

qacc:
[  4.22752439,  1.14296474, -4.46130864,  7.89629424, -0.09516315,
  -6.54110169, 11.28813785, 10.58018746, -3.34208961, -2.88972786,
  12.12097468,-21.03936932,  7.96928353,  9.45529701,  3.49345148,
 -16.27189041,  0.34628854, -1.4067468 , -0.90722286, 13.51667877,
 -13.5513494 ,  2.21766673]

qfrc_actuator:
[ 4.04982366e-05, 3.12195361e-04,-2.18949086e-05, 5.92811784e-06,
  2.42573622e-04, 1.85594104e-02,-1.09751812e-04, 4.51692933e-05,
 -1.59898729e-05, 2.46246894e-05,-3.70309701e-05, 3.21304335e-05,
  9.98957126e-02, 1.09336712e-03, 3.93101586e-02,-3.83209976e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([17.27272727, -4.84118976, 16.5804098 , -4.84118976, 45.60058443,
        8.27123898, 16.5804098 ,  8.27123898, 19.68778443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016195194706912584
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.09600216, -0.09600216,  0.99074072,  0.00925918,  0.99538113,
        0.09555461, -0.99533806,  0.        ,  0.09644764])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08874166, -0.03638677,  0.06196444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.48556841e-05, 2.58867069e-05,-2.67760748e-06, 1.08519438e-05,
 -1.36183149e-06,-3.90293525e-04, 2.35339543e-06, 4.75207524e-05,
 -1.96804625e-05, 9.75987040e-06, 3.98301420e-05,-2.13788290e-05,
  5.07904580e-03, 1.88962370e-03,-1.21545472e-04,-1.17646411e-04,
 -1.31392356e-03, 1.78926726e-03,-9.80614671e+00,-6.54668135e-02,
 -3.78804144e-03,-1.09994933e-02]


--- Step 422 ---
qpos:
[ 0.00986419, 0.0080847 ,-0.00561078, 0.03344185, 0.00326834,-0.0148398 ,
 -0.00670239, 0.03912743, 0.01304827, 0.00595296,-0.01169167, 0.03408399,
  0.26092897, 0.00317384, 0.72857834, 0.04798494, 0.09417892,-0.06461277,
  0.14266446, 0.95662182,-0.0478722 , 0.07033121, 0.2786332 ]

qacc:
[  2.63348613,  0.31405808, -1.58912221,  3.9532089 ,  2.65675966,
  -8.29367743, 16.16293174, -0.60506578, -2.01544065, -4.40345738,
  18.21853636,-30.7993393 ,  5.08319479,  7.6460852 ,  2.8878909 ,
 -13.78140588,  0.30698007, -1.39705853, -1.02574459, 13.51473671,
 -12.75291719,  3.56026976]

qfrc_actuator:
[ 5.52333948e-05, 3.08560839e-04,-2.31271621e-05, 1.25157572e-05,
  2.57565394e-04, 1.81457423e-02,-1.19257375e-04, 6.95181765e-05,
 -2.74232742e-05, 3.02802568e-05, 2.13076636e-05, 1.66521828e-06,
  9.97090554e-02, 1.11132192e-03, 3.92350229e-02,-3.91837741e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([17.27272727, -4.60649921, 16.64714007, -4.60649921, 56.34314129,
       10.81133638, 16.64714007, 10.81133638, 20.26437702,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015421103837560332
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.89729760e-02, -9.89729760e-02,  9.90155897e-01,  9.84398274e-03,
        9.95090122e-01,  9.84822115e-02, -9.95041429e-01,  1.73472348e-18,
        9.94613190e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08873748, -0.03637539,  0.06196615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54511435e-05, 1.07507962e-05, 4.16798282e-06, 7.81744789e-06,
  1.48141128e-05,-6.43560997e-04,-9.28004626e-05, 7.74960835e-06,
 -1.19912063e-05, 1.84291949e-05, 6.45196895e-05,-2.90848278e-05,
  3.48704286e-03, 1.31957755e-03,-1.26574169e-04,-1.05864853e-04,
 -1.32001106e-03, 1.87941238e-03,-9.80584809e+00,-6.55078219e-02,
 -3.89918116e-03,-1.09242158e-02]


--- Step 423 ---
qpos:
[ 0.00986515, 0.00808532,-0.00561171, 0.0334413 , 0.00327363,-0.01446316,
 -0.00669679, 0.03912917, 0.01304799, 0.00595232,-0.01168981, 0.03408391,
  0.26292066, 0.00319104, 0.72969529, 0.04798313, 0.09410869,-0.06468693,
  0.14271864, 0.95658167,-0.04763464, 0.06968221, 0.27897461]

qacc:
[ 1.51565788e+00,-1.23146328e+00, 3.60117388e+00,-2.49539424e+00,
  1.33342586e+00,-9.38884130e+00, 2.26445012e+01,-2.28377992e+01,
  1.86484382e+00, 5.11501069e-01,-3.41313337e+00, 9.87480767e+00,
  3.32867654e+00, 5.50038829e+00,-1.04753862e+01, 3.16211242e+01,
 -1.45366612e+00, 9.20685713e-04,-5.87090961e-01,-4.74316282e+00,
 -4.21752429e+00,-6.87869007e+00]

qfrc_actuator:
[ 6.35779445e-05, 2.88254114e-04,-5.59379623e-06, 1.66403130e-05,
  2.64326244e-04, 1.77475823e-02,-1.45472478e-04, 4.73616088e-05,
 -1.61932899e-05, 1.62295285e-05, 1.94562704e-05, 1.94559858e-05,
  9.95194549e-02, 1.11249826e-03, 3.91444127e-02,-3.78989215e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([17.27272727, -4.56200718, 16.65938768, -4.56200718, 26.8100571 ,
        2.61170266, 16.65938768,  2.61170266, 17.987916  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014527448165708168
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.82112196e-14, -5.97050306e-15,  1.00000000e+00,  2.28140204e-28,
        1.00000000e+00,  5.97050306e-15, -1.00000000e+00,  0.00000000e+00,
        3.82112196e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10656202, -0.06031941,  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:
[ 8.78688627e-06,-1.31088788e-05, 2.05438674e-05, 4.88336855e-06,
  6.96679092e-06,-7.90856625e-04,-1.74873209e-04,-5.36670270e-05,
  1.08938200e-05, 8.33410647e-06, 8.88399839e-06, 2.02457342e-05,
  2.33839877e-03, 9.00006619e-04,-1.51282813e-04, 1.07426028e-04,
 -1.33634512e-03, 1.99779152e-03,-9.80553687e+00,-6.55505991e-02,
 -4.01461757e-03,-1.08455441e-02]


--- Step 424 ---
qpos:
[ 0.00986586, 0.00808585,-0.00561215, 0.03344078, 0.0032793 ,-0.01409345,
 -0.00669088, 0.03913071, 0.0130475 , 0.00595212,-0.01168924, 0.03408409,
  0.26492087, 0.00321167, 0.73080943, 0.04798329, 0.09403295,-0.06476104,
  0.14277006, 0.9565451 ,-0.0474046 , 0.06901897, 0.27930387]

qacc:
[-2.19770248e+00,-1.40922751e+00, 4.69886698e+00,-4.80939205e+00,
  3.47616549e+00,-1.04572634e+01, 2.48654187e+01,-2.38036790e+01,
 -1.88115193e+00, 4.72127887e+00,-1.71057022e+01, 2.33453979e+01,
  2.73531919e+00, 1.96322618e+00,-1.01672122e+01, 2.94197747e+01,
 -1.37918150e+00, 1.24002958e-02,-6.90055815e-01,-5.07556134e+00,
 -5.59350202e+00,-6.91098104e+00]

qfrc_actuator:
[ 5.03447462e-05, 2.93696466e-04, 2.28018540e-05, 1.92789587e-05,
  2.83935817e-04, 1.73617526e-02,-1.45830131e-04, 3.35213554e-05,
 -2.72220519e-05, 2.57935058e-05,-5.34765046e-05, 2.99328307e-05,
  9.93386215e-02, 1.06726217e-03, 3.89913789e-02,-3.69571669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.27272727,   4.77822343, -16.59866526,   4.77822343,
        51.80754523,   9.9414666 , -16.59866526,   9.9414666 ,
        20.1345567 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013812614001829926
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.27949017e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.27949017e-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([ 0.10658836, -0.06031623,  0.06196937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29893856e-05, 2.55416920e-06, 2.83904913e-05, 2.88410021e-06,
  1.95435539e-05,-8.80259162e-04,-1.91603811e-04,-5.56827713e-05,
 -1.07175156e-05, 1.69313100e-05,-6.94315393e-05, 1.15323125e-05,
  1.51932935e-03, 5.61354127e-04,-2.05055014e-04, 8.12603932e-05,
 -1.30806447e-03, 1.90463266e-03,-9.80550589e+00,-6.55362150e-02,
 -4.08881227e-03,-1.07570329e-02]


--- Step 425 ---
qpos:
[ 0.00986641, 0.00808648,-0.00561201, 0.03343993, 0.00328482,-0.01373133,
 -0.00668443, 0.03913248, 0.01304688, 0.00595244,-0.01168965, 0.03408401,
  0.2669262 , 0.00323463, 0.73192132, 0.04798316, 0.09395193,-0.06483506,
  0.1428184 , 0.95651224,-0.04718197, 0.06833923, 0.27962108]

qacc:
[-1.42517091e+00,-2.17117478e+00, 9.38435086e+00,-1.62987553e+01,
 -1.18577433e+00,-1.10786403e+01, 2.39683371e+01,-1.53196365e+01,
 -1.16964406e+00, 2.92279478e+00,-8.31436411e+00, 5.05241135e+00,
  1.34608421e+00, 2.08447309e+00,-2.43355942e+00, 3.69998349e+00,
 -1.32225321e+00, 2.04807762e-02,-7.67869573e-01,-5.34111939e+00,
 -6.70450893e+00,-6.93162860e+00]

qfrc_actuator:
[ 4.22724156e-05, 3.14562608e-04, 5.74761914e-05, 3.29438829e-06,
  2.75448191e-04, 1.69510147e-02,-1.30845720e-04, 4.24763235e-05,
 -3.35180181e-05, 6.68642525e-05,-9.66876339e-05, 1.82392598e-05,
  9.91576539e-02, 1.02980932e-03, 3.88862305e-02,-3.71147001e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.27272727,   4.84126901, -16.58038666,   4.84126901,
        63.27466765,  13.43200089, -16.58038666,  13.43200089,
        21.19470636,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001311989217078341
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.23106764e-14, -1.32220864e-14,  1.00000000e+00,  5.59435418e-28,
        1.00000000e+00,  1.32220864e-14, -1.00000000e+00,  0.00000000e+00,
        4.23106764e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10661162, -0.06031371,  0.0619709 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.44389667e-06, 2.82629769e-05, 3.87983887e-05,-1.48353398e-05,
 -8.22201756e-06,-9.58451395e-04,-1.96781801e-04,-3.73216785e-05,
 -6.59241511e-06, 3.66863277e-05,-4.78714002e-05,-1.31466662e-05,
  9.20439221e-04, 3.55111656e-04,-1.86271162e-04,-3.71702311e-05,
 -1.28955958e-03, 1.81634671e-03,-9.80544400e+00,-6.55251953e-02,
 -4.16467605e-03,-1.06672676e-02]


--- Step 426 ---
qpos:
[ 0.0098672 , 0.00808753,-0.00561187, 0.03343888, 0.00328985,-0.01337689,
 -0.0066778 , 0.03913436, 0.01304654, 0.00595301,-0.01169   , 0.0340841 ,
  0.2689341 , 0.00325945, 0.73303091, 0.04797922, 0.09386578,-0.06490898,
  0.14286345, 0.95648318,-0.04696663, 0.06764112, 0.27992631]

qacc:
[ 2.13055577e+00, 1.42478563e-01, 1.08316345e+00,-4.64001509e+00,
 -4.11795858e+00,-1.04123957e+01, 2.19630078e+01,-1.46984451e+01,
  2.41028871e+00, 5.18508542e-01,-2.10558789e+00, 4.79268108e+00,
 -1.21478430e-01, 3.48162130e+00, 8.18524329e+00,-3.34669861e+01,
 -1.27934684e+00, 2.58685970e-02,-8.25035032e-01,-5.55471597e+00,
 -7.60847217e+00,-6.94384564e+00]

qfrc_actuator:
[ 5.50620550e-05, 3.44523082e-04, 6.01297758e-05,-5.74864236e-06,
  2.50486796e-04, 1.65642891e-02,-1.24754198e-04, 4.70071540e-05,
 -1.92183222e-05, 9.10570682e-05,-8.63558608e-05, 2.91606507e-05,
  9.89712796e-02, 1.01451442e-03, 3.87406276e-02,-3.91597553e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.27272727,   4.92198816, -16.55660412,   4.92198816,
        78.16843189,  18.10322545, -16.55660412,  18.10322545,
        22.65449884,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012451702870179965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.78632327e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.78632327e-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([ 0.10663233, -0.0603117 ,  0.06197238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25560250e-05, 5.31169396e-05, 1.27498249e-05,-6.77779805e-06,
 -2.55231192e-05,-9.78187583e-04,-2.21745149e-04,-4.49015496e-05,
  1.41281864e-05, 3.42451704e-05, 1.15593311e-05, 1.05818871e-05,
  4.86060741e-04, 2.26263108e-04,-2.36114590e-04,-2.31065474e-04,
 -1.28056471e-03, 1.73134113e-03,-9.80535608e+00,-6.55168718e-02,
 -4.24270886e-03,-1.05759670e-02]


--- Step 427 ---
qpos:
[ 0.00986744, 0.00808917,-0.00561208, 0.03343809, 0.00329454,-0.0130297 ,
 -0.00667134, 0.03913554, 0.01304637, 0.0059533 ,-0.0116897 , 0.034084  ,
  0.27094301, 0.00328487, 0.73413704, 0.0479749 , 0.09377464,-0.06498278,
  0.14290503, 0.956458  ,-0.04675848, 0.06692314, 0.28021962]

qacc:
[-4.78576356e+00, 2.30274726e+00,-8.10098607e+00, 1.25070303e+01,
 -2.82900590e+00,-1.05723801e+01, 2.67206430e+01,-3.31632024e+01,
  1.55909619e+00,-2.59154412e+00, 9.50051555e+00,-1.36179829e+01,
  2.29938393e-01, 6.18652484e-01,-3.99601379e+00, 6.57834776e+00,
 -1.24764592e+00, 2.91210632e-02,-8.65334639e-01,-5.72797968e+00,
 -8.35084138e+00,-6.95005995e+00]

qfrc_actuator:
[ 2.67688342e-05, 3.79579827e-04, 4.39063951e-05, 7.10792990e-06,
  2.33791021e-04, 1.62305823e-02,-1.23861198e-04, 1.34024602e-05,
 -1.06652156e-05, 5.19397513e-05,-6.22940859e-05, 1.78218907e-05,
  9.87870317e-02, 9.58779658e-04, 3.85761656e-02,-3.92829182e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.27272727,   5.02591603, -16.52535251,   5.02591603,
        97.54550012,  24.41365263, -16.52535251,  24.41365263,
        24.69774093,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001180973423124107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.70045728e-14, -1.90956077e-14,  1.00000000e+00,  8.97580882e-28,
        1.00000000e+00,  1.90956077e-14, -1.00000000e+00,  0.00000000e+00,
        4.70045728e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10665092, -0.06031007,  0.06197379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.79204559e-05, 6.70679141e-05,-3.92840365e-06, 1.54409298e-05,
 -1.77605821e-05,-9.41416470e-04,-2.34268944e-04,-8.48767040e-05,
  8.96719899e-06,-1.71389751e-05, 3.29217120e-05,-9.26669152e-06,
  1.80515321e-04, 7.94000176e-05,-3.00308776e-04,-5.61525854e-05,
 -1.28090625e-03, 1.64836741e-03,-9.80524580e+00,-6.55107276e-02,
 -4.32330495e-03,-1.04829016e-02]


--- Step 428 ---
qpos:
[ 0.00986735, 0.00809121,-0.0056127 , 0.03343748, 0.003299  ,-0.01268943,
 -0.00666545, 0.03913628, 0.0130463 , 0.00595308,-0.01168866, 0.0340838 ,
  0.27295188, 0.00330965, 0.7352405 , 0.04797384, 0.09368484,-0.06506214,
  0.142942  , 0.95643565,-0.04651668, 0.06618408, 0.28051153]

qacc:
[ -3.00999184,  2.04711672, -7.33191835, 10.95427753, -1.96487488,
  -8.40900269, 18.60410385,-20.25345884,  0.94867158, -2.99784715,
  10.15806052,-12.86931832,  0.84679017, -2.50035605,-13.84763031,
  42.55502474,  0.33219232, -1.38777561, -1.15489579, 13.24991678,
 -14.85733539, -0.43532128]

qfrc_actuator:
[ 1.00202790e-05, 3.81847409e-04, 1.67188200e-05, 1.49912564e-05,
  2.22099807e-04, 1.59135915e-02,-1.43569466e-04,-6.81596503e-06,
 -5.56986061e-06, 1.07678298e-05,-3.06165130e-05, 1.11715918e-05,
  9.86147593e-02, 8.61555726e-04, 3.85230667e-02,-3.73845912e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.27272727,   4.05028619, -16.79113722,   4.05028619,
        31.5129062 ,   3.43495496, -16.79113722,   3.43495496,
        18.10129239,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0011372919038744186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.12650811, -0.12650811,  0.98386554,  0.01613393,  0.99196557,
        0.12547509, -0.99183436,  0.        ,  0.12753276])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08869528, -0.03632303,  0.06197516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75259348e-05, 3.95569036e-05,-1.32973983e-05, 1.09215914e-05,
 -1.25174315e-05,-9.08167793e-04,-2.50111920e-04,-7.11083315e-05,
  5.34452770e-06,-4.43641180e-05, 3.18644788e-05,-6.42756806e-06,
 -3.48405291e-05,-4.52057321e-05,-1.96160864e-04, 1.48225204e-04,
 -1.29047612e-03, 1.56644168e-03,-9.80511595e+00,-6.55063607e-02,
 -4.40677727e-03,-1.03878824e-02]


--- Step 429 ---
qpos:
[ 0.0098674 , 0.00809289,-0.00561304, 0.03343737, 0.00330328,-0.01235613,
 -0.00665972, 0.03913742, 0.01304664, 0.00595257,-0.0116873 , 0.03408386,
  0.27495963, 0.00333391, 0.73634193, 0.04797395, 0.09359618,-0.06514708,
  0.14297424, 0.95641497,-0.04624124, 0.06542589, 0.28080527]

qacc:
[  1.28826962, -0.21657644, -1.98857495, 10.36189692, -1.40962513,
  -7.96055626, 13.30807873, -0.93962727,  3.59038043, -0.71777061,
   0.87251969,  3.47176473, -0.16076066, -0.75167063, -6.52726755,
  18.46283245,  0.28681998, -1.3980438 , -1.18066984, 13.38730989,
 -13.96377204,  1.30669816]

qfrc_actuator:
[ 1.79661900e-05, 3.28898476e-04, 1.86481716e-05, 3.76026155e-05,
  2.13445196e-04, 1.55914345e-02,-1.39644362e-04, 1.65284036e-05,
  1.52039238e-05, 4.21815329e-06,-1.24758815e-05, 2.50831861e-05,
  9.84337526e-02, 7.93700315e-04, 3.84356495e-02,-3.67934521e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([17.27272727, -4.03175278, 16.79559695, -4.03175278, 54.80296312,
        9.00906548, 16.79559695,  9.00906548, 19.43533721,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010807935766686738
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.13200466, -0.13200466,  0.98242024,  0.01757906,  0.9912491 ,
        0.13082893, -0.99109321,  0.        ,  0.13317002])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0886884 , -0.03631657,  0.06197643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.45476985e-06,-3.31782059e-05, 8.82604702e-06, 2.40578475e-05,
 -9.31822536e-06,-8.97162886e-04,-2.20996779e-04,-2.63834444e-05,
  2.09095103e-05,-2.50536791e-05, 1.26697350e-05, 1.29862175e-05,
 -2.06382368e-04,-7.81996959e-05,-1.65181915e-04, 4.10947616e-05,
 -1.25329252e-03, 1.62292634e-03,-9.80478257e+00,-6.55369214e-02,
 -4.52759123e-03,-1.02982176e-02]


--- Step 430 ---
qpos:
[ 0.0098672 , 0.00809386,-0.00561256, 0.03343754, 0.00330708,-0.01202985,
 -0.00665406, 0.03913917, 0.01304723, 0.00595237,-0.01168652, 0.03408372,
  0.27696518, 0.00335874, 0.73744121, 0.04797541, 0.09350253,-0.0652325 ,
  0.14300346, 0.95639683,-0.04596928, 0.06465084, 0.28109107]

qacc:
[-2.15647149,-2.65475409, 6.89563911,-2.7861298 ,-4.08194899,-7.82701   ,
 11.89619886, 3.81654597, 2.13980577, 1.6323627 ,-4.40888131, 1.75645667,
 -1.96876609, 3.64452481,-7.15432851,20.69568306,-1.24647774,-0.11740156,
 -0.75484926,-3.71652437,-7.4711214 ,-4.65289239]

qfrc_actuator:
[ 4.87392477e-06, 2.78911180e-04, 5.52825933e-05, 5.09177162e-05,
  1.88892620e-04, 1.52512515e-02,-1.39492002e-04, 4.75875616e-05,
  2.72881441e-05, 3.61685776e-05,-3.78314810e-05, 1.54932173e-05,
  9.82369529e-02, 7.96845826e-04, 3.83383312e-02,-3.60911259e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([17.27272727, -3.65241548, 16.88214941, -3.65241548, 28.78621417,
        2.49091729, 16.88214941,  2.49091729, 17.81163169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010079880642071576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23126430e-06,  1.23126436e-06,  1.00000000e+00, -1.51601186e-12,
        1.00000000e+00, -1.23126436e-06, -1.00000000e+00,  0.00000000e+00,
        1.23126430e-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([ 0.10529849, -0.0584273 ,  0.06197762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28977869e-05,-6.57411546e-05, 3.16845885e-05, 1.26638906e-05,
 -2.51233196e-05,-9.00848929e-04,-2.17280453e-04,-1.63043824e-05,
  1.26685566e-05, 2.11246903e-05,-2.85314360e-05,-9.97534247e-06,
 -3.39471179e-04,-4.70872882e-05,-1.76022567e-04, 4.95199861e-05,
 -1.22565542e-03, 1.71305910e-03,-9.80443557e+00,-6.55715283e-02,
 -4.65242985e-03,-1.02049845e-02]


--- Step 431 ---
qpos:
[ 0.00986684, 0.00809463,-0.00561209, 0.03343786, 0.0033109 ,-0.01171021,
 -0.00664925, 0.03914126, 0.01304761, 0.00595237,-0.01168633, 0.03408349,
  0.27896804, 0.00338444, 0.73853944, 0.04797549, 0.09340356,-0.06531793,
  0.14302952, 0.95638222,-0.04570413, 0.06385675, 0.28136542]

qacc:
[-1.36284933e+00, 6.23362606e-02,-1.21447562e+00, 3.91585766e+00,
  2.67432746e-01,-5.70138007e+00, 6.16656555e+00, 6.01898000e+00,
 -1.81997032e+00, 1.72075432e+00,-5.33200616e+00, 4.42284027e+00,
 -2.76723170e+00, 5.40307177e+00, 2.77007702e+00,-1.15548918e+01,
 -1.33037585e+00,-3.71863486e-03,-7.91413017e-01,-5.47822523e+00,
 -8.00210192e+00,-6.63246056e+00]

qfrc_actuator:
[-2.75143909e-06, 2.84470211e-04, 5.88288208e-05, 5.86687827e-05,
  1.90683507e-04, 1.49386040e-02,-1.77121596e-04, 6.51629820e-05,
  1.64039033e-05, 3.74779098e-05,-7.07614553e-05, 9.90935379e-06,
  9.80521176e-02, 8.23967426e-04, 3.83097175e-02,-3.67488472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.20456651,  -6.36497547, -15.983873  ,  -6.36497547,
       144.52518114, -50.70063991, -15.983873  , -50.70063991,
        37.39418698,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0009566240351804173
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.10672696, -0.06030152,  0.06197875])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.02116075e-06,-2.41611518e-05,-5.70948420e-06, 6.27366578e-06,
  7.64741568e-07,-8.73925635e-04,-2.54934677e-04,-2.96060880e-05,
 -1.05150551e-05, 6.80602217e-06,-3.24322308e-05,-5.86130803e-06,
 -4.07141855e-04,-4.58988167e-05,-1.11892809e-04,-8.74878572e-05,
 -1.23737067e-03, 1.65439277e-03,-9.80430187e+00,-6.55692246e-02,
 -4.74763918e-03,-1.01007446e-02]


--- Step 432 ---
qpos:
[ 0.0098664 , 0.00809522,-0.00561188, 0.03343863, 0.00331505,-0.01139707,
 -0.0066448 , 0.03914314, 0.01304786, 0.00595184,-0.01168566, 0.03408286,
  0.28096815, 0.00341051, 0.7396364 , 0.04797113, 0.09329986,-0.06540381,
  0.14305238, 0.95637047,-0.04544238, 0.06304229, 0.28163129]

qacc:
[ -0.78399995,  1.43715906, -7.39036475, 15.78993399,  3.03162783,
  -8.01618433, 16.99458233,-15.29949036, -1.14445001, -2.83285217,
  10.74281272,-17.88222187, -2.4421426 ,  4.18956868, 11.70211942,
 -43.30895046, -1.18320514, -0.11257589, -0.79953362, -4.16090586,
  -9.1580794 , -5.0266162 ]

qfrc_actuator:
[-7.09104563e-06, 2.69861142e-04, 4.30178670e-05, 8.08560310e-05,
  2.07970577e-04, 1.46448857e-02,-1.83369127e-04, 5.69123406e-05,
  9.84321386e-06,-1.51142210e-05,-5.47337592e-05,-1.10415195e-05,
  9.78799104e-02, 8.29441143e-04, 3.82211158e-02,-3.90883304e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.96696483,   6.87909777, -15.5098649 ,   6.87909777,
        63.23540021,  20.5214612 , -15.5098649 ,  20.5214612 ,
        26.06885829,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0009075214046732595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.41229774e-07,  9.41229712e-07,  1.00000000e+00, -8.85913429e-13,
        1.00000000e+00, -9.41229712e-07, -1.00000000e+00, -1.00974196e-28,
        9.41229774e-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([ 0.10533072, -0.05842343,  0.06197984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.57958646e-06,-2.90665549e-05,-2.13025077e-05, 2.10733792e-05,
  1.70155061e-05,-8.48029776e-04,-2.23003307e-04,-5.58252761e-05,
 -6.85549615e-06,-5.57407387e-05, 1.32352029e-05,-2.18947913e-05,
 -4.37493204e-04,-8.14886941e-05,-1.62228251e-04,-2.56089364e-04,
 -1.24851126e-03, 1.56260701e-03,-9.80417285e+00,-6.55588239e-02,
 -4.84216746e-03,-9.99364751e-03]


--- Step 433 ---
qpos:
[ 0.00986625, 0.00809552,-0.00561157, 0.03343999, 0.00331904,-0.0110905 ,
 -0.00664055, 0.03914488, 0.01304803, 0.00595082,-0.01168475, 0.03408166,
  0.2829654 , 0.00343641, 0.74073087, 0.04796409, 0.09319702,-0.06549489,
  0.1430704 , 0.95635869,-0.04514169, 0.06220907, 0.28190479]

qacc:
[  2.60837876,  0.54630535, -4.98806567, 15.26434888, -1.3771047 ,
  -8.38193739, 17.86667172,-15.01460101, -0.69358376, -2.52952356,
  10.50811259,-20.54365467, -1.86206717,  2.33531179,  4.53375738,
 -20.96093325,  0.21459942, -1.29880587, -1.20924236, 15.74182494,
 -14.62807655,  4.45100156]

qfrc_actuator:
[ 8.28880299e-06, 2.60973272e-04, 5.13631536e-05, 1.11340685e-04,
  1.98726282e-04, 1.43295512e-02,-1.88675261e-04, 5.13392461e-05,
  5.88684514e-06,-4.61426145e-05,-4.56699391e-05,-4.08808414e-05,
  9.76940791e-02, 8.04316466e-04, 3.80859261e-02,-4.04479458e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.6001136 ,   9.51666625, -13.60135416,   9.51666625,
        26.84330045,   7.16700628, -13.60135416,   7.16700628,
        21.61476184,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008614091238677344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.95142474e-07,  5.95142368e-07,  1.00000000e+00,  3.54194501e-13,
        1.00000000e+00, -5.95142368e-07, -1.00000000e+00,  0.00000000e+00,
       -5.95142474e-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([ 0.08866418, -0.03629705,  0.06198086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52369980e-05,-2.86649158e-05, 4.36241424e-07, 2.89089899e-05,
 -9.04098057e-06,-8.49445615e-04,-2.13606662e-04,-5.14285021e-05,
 -4.17141723e-06,-6.03921635e-05,-1.57705842e-06,-3.21947890e-05,
 -4.78646708e-04,-1.23242188e-04,-2.48989553e-04,-1.73550413e-04,
 -1.27332668e-03, 1.49939516e-03,-9.80399617e+00,-6.55582884e-02,
 -4.94217967e-03,-9.88526728e-03]


--- Step 434 ---
qpos:
[ 0.00986663, 0.00809562,-0.00561121, 0.03344205, 0.00332288,-0.01079026,
 -0.00663714, 0.03914655, 0.0130478 , 0.00594982,-0.01168454, 0.03408046,
  0.28495973, 0.00346143, 0.74182273, 0.04795898, 0.09309492,-0.06559132,
  0.14308357, 0.95634638,-0.0448031 , 0.06135828, 0.28218689]

qacc:
[  4.65907137,  0.9853079 , -6.85112256, 18.92870667, -1.15479237,
  -6.21490681, 10.3274286 , -5.6835068 , -3.48895672,  1.99667248,
  -7.03269427,  8.03674117, -1.00204775, -0.23864544, -9.66679362,
  28.25261954,  0.1862145 , -1.33846985, -1.21126085, 15.36825167,
 -13.92096052,  4.96924791]

qfrc_actuator:
[ 3.51507751e-05, 2.55685751e-04, 5.61826240e-05, 1.46484325e-04,
  1.91687473e-04, 1.40216574e-02,-2.28941912e-04, 4.73772475e-05,
 -1.42585982e-05,-2.85455885e-05,-7.62473058e-05,-4.02039110e-05,
  9.75108341e-02, 7.43478439e-04, 3.80134771e-02,-3.92666850e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.14469125, -12.75271446,   9.90047116, -12.75271446,
        38.06237033,  28.23197992,   9.90047116,  28.23197992,
        52.51006948,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008181404418170326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.46324461e-08, -7.46324329e-08,  1.00000000e+00,  5.57000103e-15,
        1.00000000e+00,  7.46324329e-08, -1.00000000e+00,  7.88860905e-31,
        7.46324461e-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([ 0.08865814, -0.03629217,  0.06198181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.72833064e-05,-2.00002108e-05,-5.84327984e-08, 3.44880187e-05,
 -7.58371606e-06,-8.40435265e-04,-2.47469479e-04,-4.94508688e-05,
 -2.02862366e-05,-1.78516908e-05,-4.43557635e-05,-2.58908260e-06,
 -5.11657432e-04,-1.73269686e-04,-2.12053883e-04, 7.51316540e-05,
 -1.24722544e-03, 1.64612617e-03,-9.80357684e+00,-6.56091690e-02,
 -5.07904771e-03,-9.78433938e-03]


--- Step 435 ---
qpos:
[ 0.00986734, 0.00809561,-0.00561079, 0.03344415, 0.00332696,-0.01049629,
 -0.0066341 , 0.03914775, 0.01304699, 0.00594908,-0.01168464, 0.0340799 ,
  0.28695106, 0.00348564, 0.74291246, 0.0479555 , 0.09298725,-0.06568808,
  0.1430941 , 0.95633813,-0.04447281, 0.06048799, 0.28245487]

qacc:
[  2.80284453, -0.18821794,  0.23916975,  0.61732259,  2.10639227,
  -8.17358751, 19.095491  ,-21.88983053, -5.15880645,  2.52487492,
 -11.25355755, 22.79763369, -1.16919425,  0.13197417, -8.07785803,
  23.77333492, -1.39409604, -0.08282047, -0.66187263, -6.19681805,
  -7.95960827, -8.01884996]

qfrc_actuator:
[ 5.07968708e-05, 2.52596631e-04, 5.88924946e-05, 1.48579277e-04,
  2.03764337e-04, 1.37383879e-02,-2.36214093e-04, 2.66278970e-05,
 -4.37717788e-05, 1.78994996e-05,-7.65026974e-05,-3.80690951e-06,
  9.73452255e-02, 6.97494868e-04, 3.79361681e-02,-3.83714869e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([15.66119972, -9.76161967, 12.24679378, -9.76161967, 24.77221329,
        7.26216599, 12.24679378,  7.26216599, 21.44969454,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007794846594012944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.12151940e-14,  7.12151940e-14,  1.00000000e+00,  5.07160385e-27,
        1.00000000e+00, -7.12151940e-14, -1.00000000e+00,  0.00000000e+00,
       -7.12151940e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10679106, -0.06028815,  0.06198267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64139053e-05,-1.28118007e-05,-2.46952658e-07, 1.90027056e-06,
  1.15782521e-05,-8.17441360e-04,-2.16631676e-04,-6.69690133e-05,
 -3.00973225e-05, 2.72178204e-05,-9.48320821e-06, 3.40522074e-05,
 -5.24492620e-04,-1.72896190e-04,-1.72899486e-04, 6.49820698e-05,
 -1.22962565e-03, 1.81367323e-03,-9.80314492e+00,-6.56599286e-02,
 -5.22077627e-03,-9.67947530e-03]


--- Step 436 ---
qpos:
[ 0.00986822, 0.00809568,-0.00561043, 0.03344625, 0.0033308 ,-0.01020848,
 -0.00663138, 0.03914936, 0.01304652, 0.00594827,-0.01168492, 0.03407982,
  0.28893922, 0.00350947, 0.74400004, 0.04795146, 0.09287414,-0.06578513,
  0.14310184, 0.95633386,-0.04415034, 0.05959631, 0.28270935]

qacc:
[ 1.59518395, 0.24689072,-0.68666187, 0.55847143,-1.92998409,-6.46522353,
  9.51604112, 2.49739764, 3.00824364, 1.39548177,-7.0981988 ,15.61333199,
 -1.7996852 , 1.83692432,-1.38262109, 0.42554055,-1.35769022,-0.06987584,
 -0.69913374,-6.26579562,-8.94294121,-7.72549868]

qfrc_actuator:
[ 5.97125975e-05, 2.68569357e-04, 6.03239637e-05, 1.48965340e-04,
  1.91489910e-04, 1.34545878e-02,-2.41566737e-04, 4.94799208e-05,
 -2.52991640e-05,-7.34295201e-06,-9.41892296e-05, 1.78629934e-05,
  9.71796611e-02, 6.78463299e-04, 3.78187127e-02,-3.87179594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.1447523 ,   8.06816885, -12.81671462,   8.06816885,
        66.47127654,  32.31023521, -12.81671462,  32.31023521,
        35.48416383,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007425583847144313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.47566149e-14,  7.47566149e-14,  1.00000000e+00, -5.58855148e-27,
        1.00000000e+00, -7.47566149e-14, -1.00000000e+00,  0.00000000e+00,
        7.47566149e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10680563, -0.06028359,  0.06198348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.37803466e-06, 8.83313107e-06,-1.19043678e-06,-1.40916079e-07,
 -1.22165730e-05,-7.99254938e-04,-2.06692416e-04,-2.16413517e-05,
  1.76230020e-05,-1.05054465e-05,-1.20428355e-05, 2.31751190e-05,
 -5.32192555e-04,-1.48811117e-04,-1.98386637e-04,-5.52282576e-05,
 -1.23036457e-03, 1.68286385e-03,-9.80302885e+00,-6.56344724e-02,
 -5.32347286e-03,-9.55913383e-03]


--- Step 437 ---
qpos:
[ 0.00986851, 0.00809588,-0.00561008, 0.03344798, 0.00333412,-0.00992683,
 -0.00662913, 0.03915157, 0.01304697, 0.00594699,-0.0116852 , 0.03408003,
  0.29092415, 0.00353325, 0.74508537, 0.04794765, 0.09275572,-0.06588241,
  0.14310666, 0.95633349,-0.0438353 , 0.05868169, 0.28295086]

qacc:
[-5.17812272e+00,-5.62642698e-01, 3.82485743e+00,-1.02903248e+01,
 -4.46859215e+00,-5.53296361e+00, 5.40193873e+00, 1.03094845e+01,
  8.05536661e+00,-3.96289680e-03,-2.17218297e+00, 7.74812074e+00,
 -2.12855144e+00, 2.79730370e+00,-3.87847669e+00, 9.00108934e+00,
 -1.33100991e+00,-6.10798636e-02,-7.27344580e-01,-6.32213925e+00,
 -9.75239625e+00,-7.48413164e+00]

qfrc_actuator:
[ 2.90940944e-05, 2.78075512e-04, 6.10740335e-05, 1.30612000e-04,
  1.64974898e-04, 1.31551378e-02,-2.63437828e-04, 8.00588586e-05,
  2.12714002e-05,-5.76323547e-05,-1.04579401e-04, 3.06154032e-05,
  9.70142450e-02, 6.75488047e-04, 3.77251801e-02,-3.85512448e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.61620578,   7.94659501, -12.26723682,   7.94659501,
        80.34808054,  42.5804601 , -12.26723682,  42.5804601 ,
        42.19940783,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007075027987480664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56921362e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.56921362e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10681835, -0.06027987,  0.06198426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.03491776e-05, 1.41828665e-05, 2.41222972e-06,-1.80249497e-05,
 -2.71345476e-05,-8.00520707e-04,-2.16585716e-04,-1.18944573e-05,
  4.70644788e-05,-5.76211150e-05,-1.32299465e-05, 1.23383790e-05,
 -5.32519775e-04,-1.30778758e-04,-1.99029322e-04,-1.37538003e-05,
 -1.24492755e-03, 1.55778287e-03,-9.80288000e+00,-6.56123890e-02,
 -5.42979155e-03,-9.43679847e-03]


--- Step 438 ---
qpos:
[ 0.00986878, 0.00809598,-0.00560932, 0.03344913, 0.00333709,-0.00965133,
 -0.00662694, 0.03915374, 0.01304728, 0.00594506,-0.0116855 , 0.03408077,
  0.29290578, 0.00355717, 0.74616886, 0.04794097, 0.09263204,-0.06597992,
  0.14310849, 0.95633694,-0.04352736, 0.05774282, 0.28317981]

qacc:
[ -0.19763276, -2.44253285, 10.95172889,-21.5048342 , -2.90186154,
  -8.03101976, 17.00932854,-13.05174475, -1.17629166,  0.25318591,
  -4.37097078, 13.93396553, -2.51835064,  3.80379402,  6.06863489,
 -24.83668512, -1.31215358, -0.05556983, -0.74783588, -6.36927714,
 -10.42654903, -7.28454702]

qfrc_actuator:
[ 2.87120438e-05, 2.65868072e-04, 7.91373799e-05, 1.01376648e-04,
  1.48050760e-04, 1.28664986e-02,-2.59416564e-04, 7.94081964e-05,
  1.29807858e-05,-1.04770775e-04,-1.10699581e-04, 5.57525048e-05,
  9.68437129e-02, 6.81983842e-04, 3.76301103e-02,-4.00349877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.09150286,   7.86768079, -11.69059673,   7.86768079,
        98.0494623 ,  56.50305451, -11.69059673,  56.50305451,
        52.11761963,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006743673597898459
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.64631785e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.64631785e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10682953, -0.06027682,  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:
[-1.24245225e-06,-4.57715914e-06, 2.06570625e-05,-2.88988294e-05,
 -1.79709888e-05,-7.91821054e-04,-1.91758963e-04,-4.33167346e-05,
 -6.97719446e-06,-8.14976500e-05,-1.92087945e-05, 2.24513468e-05,
 -5.34015694e-04,-1.18901226e-04,-1.96100927e-04,-1.76534904e-04,
 -1.27246261e-03, 1.43641848e-03,-9.80270268e+00,-6.55929992e-02,
 -5.53987753e-03,-9.31223476e-03]


--- Step 439 ---
qpos:
[ 0.00986939, 0.00809559,-0.00560789, 0.0334503 , 0.0033395 ,-0.00938206,
 -0.00662449, 0.03915586, 0.01304715, 0.00594278,-0.01168626, 0.0340818 ,
  0.29488413, 0.0035808 , 0.74725042, 0.04793246, 0.09250316,-0.06607764,
  0.14310727, 0.95634412,-0.04322622, 0.05677861, 0.28339654]

qacc:
[  2.99789501, -2.51273262,  7.93160404, -8.33718064, -4.87840212,
  -9.09394741, 20.70723787,-17.44802291, -3.93658662,  1.42860476,
  -6.97726895, 12.94885991, -2.02963035,  2.34850743,  2.77798121,
 -13.62796345, -1.29960655, -0.05266472, -0.76177908, -6.40984481,
 -10.99571171, -7.11861133]

qfrc_actuator:
[ 4.61420998e-05, 2.23059196e-04, 1.07185224e-04, 1.01474053e-04,
  1.19159263e-04, 1.25690530e-02,-2.40087934e-04, 7.81721986e-05,
 -9.78993720e-06,-1.14133565e-04,-1.31996161e-04, 7.02246932e-05,
  9.66595816e-02, 6.58473091e-04, 3.75554651e-02,-4.08813749e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006431761001135239
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.31539288e-14,  2.15769644e-14,  1.00000000e+00, -9.31130784e-28,
        1.00000000e+00, -2.15769644e-14, -1.00000000e+00,  0.00000000e+00,
        4.31539288e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10683942, -0.0602743 ,  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:
[ 1.73921181e-05,-4.23560831e-05, 2.86339384e-05, 4.90668040e-08,
 -2.96725327e-05,-7.91753179e-04,-1.72611356e-04,-4.32683340e-05,
 -2.30039287e-05,-5.78719208e-05,-3.96948973e-05, 1.07557648e-05,
 -5.46369369e-04,-1.47510410e-04,-1.93511268e-04,-1.21729958e-04,
 -1.31235487e-03, 1.31720392e-03,-9.80250019e+00,-6.55757758e-02,
 -5.65385208e-03,-9.18524856e-03]


--- Step 440 ---
qpos:
[ 0.00986951, 0.00809516,-0.00560655, 0.03345145, 0.00334154,-0.00911912,
 -0.00662179, 0.03915761, 0.01304708, 0.00594085,-0.01168762, 0.03408257,
  0.29685907, 0.00360413, 0.74832946, 0.04792823, 0.09237235,-0.0661787 ,
  0.14310301, 0.95635181,-0.04290679, 0.05579141, 0.28361512]

qacc:
[ -4.26686533,  0.19560773, -0.69530835,  0.62752352, -3.0772185 ,
  -9.80305852, 24.39560947,-26.58467418,  0.61040544,  1.61977795,
  -3.96779101,  0.10288289, -1.83764276,  1.83477698,-16.58348456,
  52.81937554, -0.48512863, -0.83625805, -0.76337301,  5.44666739,
 -13.63763919,  0.83426901]

qfrc_actuator:
[ 2.06488035e-05, 2.33331300e-04, 1.05282091e-04, 1.01054759e-04,
  1.01204831e-04, 1.22511099e-02,-2.29638310e-04, 5.88600240e-05,
 -5.37784483e-06,-4.76128061e-05,-1.44190883e-04, 6.05713780e-05,
  9.64674070e-02, 6.35085278e-04, 3.74878236e-02,-3.85037715e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 13.10448896,   7.92753706, -10.4346436 ,   7.92753706,
        33.06627053,  15.16561268, -10.4346436 ,  15.16561268,
        24.62629661,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006143558689609926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.40454190e-07, -5.08256275e-14,  1.00000000e+00, -4.77991744e-20,
        1.00000000e+00,  5.08256275e-14, -1.00000000e+00,  0.00000000e+00,
       -9.40454190e-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([ 0.09677286, -0.04700981,  0.06198632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50141724e-05,-7.49786955e-06,-7.14007258e-06,-1.24841966e-06,
 -1.90707583e-05,-8.08036301e-04,-1.79045903e-04,-6.06642665e-05,
  3.73134743e-06, 2.65010610e-05,-2.86316952e-05,-1.32919450e-05,
 -5.67956401e-04,-1.54313089e-04,-1.79013722e-04, 2.04108640e-04,
 -1.36417532e-03, 1.19890504e-03,-9.80227501e+00,-6.55603051e-02,
 -5.77181852e-03,-9.05567672e-03]


--- Step 441 ---
qpos:
[ 0.00986933, 0.00809469,-0.00560551, 0.03345226, 0.00334369,-0.00886216,
 -0.00661914, 0.03915838, 0.01304707, 0.00593956,-0.01168933, 0.03408281,
  0.2988306 , 0.00362681, 0.74940593, 0.04792723, 0.09224208,-0.06628546,
  0.14309449, 0.95635961,-0.04254858, 0.05478422, 0.28383903]

qacc:
[ -2.69661172,  0.07554441,  1.10661355, -6.55657748,  1.0911577 ,
  -9.76299936, 27.44811581,-39.7897608 ,  0.44177536,  0.72080805,
   0.83029506, -9.74789579, -1.54429298,  0.8806565 ,-13.48870162,
  41.81857295,  0.1371687 , -1.4234542 , -1.06158952, 15.56288013,
 -15.17984486,  3.18678559]

qfrc_actuator:
[ 5.59569452e-06, 2.21934335e-04, 8.59080315e-05, 8.25964263e-05,
  1.07587657e-04, 1.19767201e-02,-2.24592081e-04, 1.12924783e-05,
 -2.74895365e-06, 1.06037469e-05,-1.50600804e-04, 3.68791100e-05,
  9.62758629e-02, 5.94149853e-04, 3.73605970e-02,-3.69084743e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 12.69002749,   7.35375944, -10.34209939,   7.35375944,
        31.45314626,  13.34153315, -10.34209939,  13.34153315,
        22.17653711,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005895215815248239
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.70815259e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.70815259e-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([ 0.08860734, -0.03627019,  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:
[-1.57682985e-05,-1.71300654e-05,-2.18578056e-05,-1.90545590e-05,
  5.56523506e-06,-7.75431268e-04,-1.89135231e-04,-9.01645189e-05,
  2.73857181e-06, 6.66372739e-05,-4.88578276e-06,-2.38004573e-05,
 -5.81688861e-04,-1.77739566e-04,-1.94893663e-04, 1.46074052e-04,
 -1.37919178e-03, 1.24845362e-03,-9.80187902e+00,-6.55926498e-02,
 -5.90866795e-03,-8.93078141e-03]


--- Step 442 ---
qpos:
[ 0.00986896, 0.00809411,-0.0056047 , 0.03345285, 0.0033466 ,-0.00861077,
 -0.0066165 , 0.0391592 , 0.01304744, 0.00593878,-0.01169084, 0.03408274,
  0.30079884, 0.00364828, 0.75048031, 0.04792545, 0.09211224,-0.06639804,
  0.14308172, 0.95636703,-0.04215225, 0.05375801, 0.2840693 ]

qacc:
[ -1.57788124,  0.05255645,  0.57236619, -4.02191658,  6.64925089,
  -7.26253648, 15.00556941,-10.08129101,  3.30822974, -0.50130918,
   4.07824547,-10.12045275, -1.08109943, -0.58044244, -0.70041871,
  -1.9815279 ,  0.1078568 , -1.45424326, -1.06499704, 15.35019647,
 -14.62394925,  3.73579693]

qfrc_actuator:
[-3.17859789e-06, 2.15311622e-04, 7.40473829e-05, 7.14033021e-05,
  1.45993123e-04, 1.17483935e-02,-2.04840163e-04, 1.85310271e-05,
  1.65532949e-05, 4.56750803e-05,-1.35804142e-04, 2.28784390e-05,
  9.60954716e-02, 5.25396528e-04, 3.72456469e-02,-3.73868509e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([12.29300479, -8.77835901,  8.60571785, -8.77835901, 46.6003677 ,
       34.99561033,  8.60571785, 34.99561033, 47.99066961,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005657236947588101
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.81241404e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.81241404e-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([ 0.08860139, -0.03626816,  0.06198739])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.22757143e-06,-2.15353232e-05,-1.87581363e-05,-1.30566735e-05,
  3.83053194e-05,-7.14254757e-04,-1.69885919e-04,-3.48699218e-05,
  1.93987337e-05, 7.03732799e-05, 2.71704843e-05,-1.17712477e-05,
 -5.84322001e-04,-2.11882946e-04,-1.95830596e-04,-6.64477991e-05,
 -1.31483304e-03, 1.38492632e-03,-9.80139513e+00,-6.56373752e-02,
 -6.06254322e-03,-8.80842665e-03]


--- Step 443 ---
qpos:
[ 0.00986884, 0.00809373,-0.00560422, 0.03345361, 0.00335028,-0.00836483,
 -0.0066138 , 0.03916042, 0.01304804, 0.00593885,-0.01169207, 0.03408281,
  0.30276364, 0.00366909, 0.75155272, 0.04792432, 0.09198274,-0.06651653,
  0.14306467, 0.95637366,-0.04171826, 0.05271352, 0.28430668]

qacc:
[  2.11233534,  1.5114304 , -5.77750371,  9.2024973 ,  6.94523003,
  -6.56773162, 11.24532757, -0.43142069,  2.0008092 ,  0.59570542,
  -1.03823136,  2.18303458, -1.68479314,  1.15298383, -4.82077007,
  12.79920869,  0.08250982, -1.48068684, -1.0662539 , 15.19650615,
 -14.22259745,  4.13697394]

qfrc_actuator:
[ 9.56242364e-06, 2.47133260e-04, 6.67461173e-05, 8.23402282e-05,
  1.85178489e-04, 1.14964257e-02,-1.94043692e-04, 4.02710658e-05,
  2.77620939e-05, 1.19975885e-04,-1.08684144e-04, 3.24430161e-05,
  9.59218834e-02, 4.94039855e-04, 3.71807182e-02,-3.69519461e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([11.92134381, -8.74449048,  8.10261219, -8.74449048, 52.63492663,
       43.93885936,  8.10261219, 43.93885936, 59.34098187,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005433353939977292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02167376e-13, -5.10836878e-14,  1.00000000e+00, -5.21908631e-27,
        1.00000000e+00,  5.10836878e-14, -1.00000000e+00,  0.00000000e+00,
       -1.02167376e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08859669, -0.03626546,  0.06198789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24727815e-05, 1.53525901e-05,-1.45151237e-05, 9.10958986e-06,
  4.00391161e-05,-6.97126514e-04,-1.61856793e-04,-1.59938715e-05,
  1.17801310e-05, 1.18815651e-04, 4.46221722e-05, 1.32958058e-05,
 -5.86536218e-04,-1.80063974e-04,-1.70776214e-04, 1.27123958e-05,
 -1.25792760e-03, 1.54302741e-03,-9.80089527e+00,-6.56826856e-02,
 -6.22131183e-03,-8.68204183e-03]


--- Step 444 ---
qpos:
[ 0.00986887, 0.00809363,-0.00560421, 0.03345484, 0.00335337,-0.00812402,
 -0.00661172, 0.03916119, 0.01304842, 0.00593993,-0.01169361, 0.034083  ,
  0.30472492, 0.00368967, 0.75262278, 0.04792504, 0.09184732,-0.06663569,
  0.14304562, 0.95638415,-0.04129234, 0.05164561, 0.2845295 ]

qacc:
[  1.32737844,  2.67636558,-10.9750314 , 19.63097693, -5.1282679 ,
  -5.95609116, 13.32835679,-16.35353645, -1.91885317,  2.44901297,
  -7.37265156,  9.43983048, -2.09887406,  2.39910573, -8.9666343 ,
  26.57742645, -1.47685407, -0.1649909 , -0.50400347, -6.71776348,
  -9.84994145, -8.21368195]

qfrc_actuator:
[ 1.71102631e-05, 2.66268167e-04, 4.46135410e-05, 1.06244868e-04,
  1.53488060e-04, 1.12501503e-02,-2.24181003e-04, 1.70858165e-05,
  1.63599484e-05, 1.64015695e-04,-1.27594170e-04, 3.80801045e-05,
  9.57471837e-02, 4.85049921e-04, 3.70766318e-02,-3.59802984e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([11.59659222, -7.17747964,  9.10849807, -7.17747964, 21.443166  ,
        7.75908193,  9.10849807,  7.75908193, 17.71073443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005236154675440224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.0601511e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.0601511e-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([ 0.1068903 , -0.06025309,  0.06198832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.90934146e-06, 2.51235869e-05,-2.04370845e-05, 2.42351893e-05,
 -3.07825810e-05,-6.79190880e-04,-1.97548015e-04,-5.95288912e-05,
 -1.10291972e-05, 1.20286480e-04, 1.16022162e-05, 1.25334514e-05,
 -5.82061507e-04,-1.53755768e-04,-1.90707916e-04, 7.37672029e-05,
 -1.20814836e-03, 1.72047570e-03,-9.80037745e+00,-6.57279776e-02,
 -6.38514045e-03,-8.55173541e-03]


--- Step 445 ---
qpos:
[ 0.00986865, 0.00809384,-0.00560478, 0.033456  , 0.00335606,-0.00788835,
 -0.00661015, 0.03916235, 0.01304866, 0.00594116,-0.01169495, 0.034083  ,
  0.30668273, 0.00371   , 0.75369065, 0.04792654, 0.09170613,-0.06675545,
  0.14302441, 0.95639829,-0.04087384, 0.05055246, 0.28473862]

qacc:
[ -2.25747018,  1.86586844, -5.76992058,  5.29932768, -3.46095364,
  -4.56688168,  4.7826429 ,  6.57296659, -1.217749  , -0.73378606,
   3.78066525, -7.72083598, -2.0874427 ,  2.37625047, -5.47542589,
  14.69833516, -1.4462063 , -0.15075052, -0.53777676, -6.70927769,
 -10.82412133, -7.78087471]

qfrc_actuator:
[ 3.78139545e-06, 2.77618393e-04, 1.38665738e-05, 1.02062312e-04,
  1.33593165e-04, 1.10091324e-02,-2.42724443e-04, 3.86420859e-05,
  9.49587591e-06, 1.18397531e-04,-1.38145313e-04, 2.35502328e-05,
  9.55719481e-02, 4.71559488e-04, 3.69757847e-02,-3.55888336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([11.31913104,  7.40750776, -8.55871231,  7.40750776, 56.90864441,
       39.45741624, -8.55871231, 39.45741624, 45.4692586 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005066069421009733
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09574399e-13, -2.73935998e-14,  1.00000000e+00,  3.00163723e-27,
        1.00000000e+00,  2.73935998e-14, -1.00000000e+00,  0.00000000e+00,
        1.09574399e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10690011, -0.06024784,  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:
[-1.30948678e-05, 2.22199641e-05,-2.72379301e-05,-3.34426894e-06,
 -2.10007899e-05,-6.72971881e-04,-1.88080175e-04,-1.60842096e-05,
 -7.13470042e-06, 2.45560326e-05, 1.61636893e-05,-8.72871880e-06,
 -5.74326065e-04,-1.53537343e-04,-1.88592806e-04, 1.68748277e-05,
 -1.23608489e-03, 1.55176409e-03,-9.80019330e+00,-6.56890213e-02,
 -6.51440664e-03,-8.40233191e-03]


--- Step 446 ---
qpos:
[ 0.00986793, 0.00809399,-0.00560494, 0.03345571, 0.00335918,-0.007658  ,
 -0.00660857, 0.03916408, 0.01304916, 0.00594205,-0.01169586, 0.03408321,
  0.30863718, 0.00372974, 0.75475645, 0.04792842, 0.09155923,-0.06687578,
  0.14300095, 0.95641592,-0.04046223, 0.04943256, 0.28493476]

qacc:
[ -4.39884234, -4.18414568, 20.99367855,-46.8764141 ,  3.86016557,
  -5.89626793,  8.41462994,  5.34795751,  2.31701174, -1.23086897,
   2.79606081,  0.56965825, -1.70280557,  1.29640292, -4.14550611,
  10.24310418, -1.42435737, -0.14131848, -0.564101  , -6.70375538,
 -11.6339798 , -7.42540822]

qfrc_actuator:
[-2.17267759e-05, 2.66404861e-04, 3.14886508e-05, 2.81160631e-05,
  1.56328225e-04, 1.07555861e-02,-2.36422304e-04, 6.86299978e-05,
  2.31170024e-05, 7.26863410e-05,-1.26297827e-04, 3.27096579e-05,
  9.53965128e-02, 4.37733319e-04, 3.68876031e-02,-3.53645768e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([11.06184184,  7.41369729, -8.20983784,  7.41369729, 68.22185738,
       51.61698203, -8.20983784, 51.61698203, 57.67332031,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000490494376100839
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.41467349e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.41467349e-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([ 0.10690841, -0.0602436 ,  0.06198905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.58725803e-05,-4.56517730e-06, 1.87437139e-05,-7.40028151e-05,
  2.19087051e-05,-6.78009904e-04,-1.59215772e-04,-6.20157187e-06,
  1.34291377e-05,-2.90452760e-05, 1.86105281e-05, 1.06017075e-05,
 -5.69520287e-04,-1.72348390e-04,-1.81638155e-04,-2.82924829e-06,
 -1.28089586e-03, 1.38966691e-03,-9.79996793e+00,-6.56540482e-02,
 -6.64814722e-03,-8.25051963e-03]


--- Step 447 ---
qpos:
[ 0.00986656, 0.00809399,-0.00560458, 0.03345488, 0.00336255,-0.0074327 ,
 -0.00660678, 0.03916575, 0.01304982, 0.00594234,-0.01169671, 0.03408359,
  0.31058833, 0.00374866, 0.75582016, 0.04792919, 0.0914067 ,-0.06699665,
  0.14297515, 0.95643686,-0.04005706, 0.04828463, 0.28511849]

qacc:
[ -5.64145158, -2.77617717, 11.85212127,-21.81681205,  2.26383733,
  -7.36964285, 16.79832002,-14.34976034,  1.41641184, -0.63411463,
   0.37291052,  2.91608656, -1.50096345,  0.67991647,  0.30125586,
  -5.41558301, -1.40966365, -0.13570527, -0.58365653, -6.70158507,
 -12.31674763, -7.13189153]

qfrc_actuator:
[-5.41925752e-05, 2.59646608e-04, 5.96404777e-05, 2.49561513e-06,
  1.68463632e-04, 1.05322573e-02,-2.15530216e-04, 6.78368739e-05,
  3.09321593e-05, 9.60317354e-06,-1.36842633e-04, 3.79880466e-05,
  9.52210727e-02, 3.92143734e-04, 3.67804596e-02,-3.59499607e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004753081289000649
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16789821e-13, -1.16789821e-13,  1.00000000e+00,  1.36398623e-26,
        1.00000000e+00,  1.16789821e-13, -1.00000000e+00,  0.00000000e+00,
        1.16789821e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10691549, -0.06024017,  0.06198939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.32024646e-05,-8.62031434e-06, 2.69594795e-05,-2.66059434e-05,
  1.25309510e-05,-6.44017358e-04,-1.41710329e-04,-3.59986911e-05,
  8.18748197e-06,-7.50427452e-05,-1.38856610e-05, 4.88303205e-06,
 -5.70178394e-04,-1.86069086e-04,-1.99929500e-04,-8.40787222e-05,
 -1.34147399e-03, 1.23173076e-03,-9.79970646e+00,-6.56222399e-02,
 -6.78639366e-03,-8.09604564e-03]


--- Step 448 ---
qpos:
[ 0.00986481, 0.00809408,-0.00560429, 0.03345445, 0.00336603,-0.0072121 ,
 -0.00660499, 0.03916735, 0.01305023, 0.0059416 ,-0.01169716, 0.03408407,
  0.31253605, 0.00376722, 0.75688175, 0.04792689, 0.09124856,-0.06711805,
  0.14294696, 0.95646096,-0.03965796, 0.04710758, 0.28529029]

qacc:
[ -3.32842001,  1.19107269, -5.71539028, 12.63729506,  1.12505154,
  -6.37359836, 14.00914345,-11.7394588 , -2.22181818, -2.24993095,
   5.69825852, -4.01113428, -2.13370855,  2.39253463,  6.27884029,
 -26.24628745, -1.40069507, -0.13312211, -0.59789469, -6.70246848,
 -12.9005273 , -6.88758172]

qfrc_actuator:
[-7.27368833e-05, 2.73446047e-04, 5.83173641e-05, 2.32801391e-05,
  1.74249590e-04, 1.03289317e-02,-2.03829238e-04, 6.67255094e-05,
  1.75081958e-05,-6.35000068e-05,-1.25117269e-04, 4.09000821e-05,
  9.50457456e-02, 3.75468314e-04, 3.66673417e-02,-3.75403471e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046105639474122717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.10692154, -0.06023737,  0.0619897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94934408e-05, 1.33982963e-05,-7.03402288e-07, 2.08327965e-05,
  5.92607438e-06,-6.02487707e-04,-1.42697207e-04,-3.48233004e-05,
 -1.32169637e-05,-1.17722607e-04,-5.31077445e-06,-6.89007229e-07,
 -5.73565210e-04,-1.59344284e-04,-2.22745712e-04,-1.91314658e-04,
 -1.41704441e-03, 1.07603736e-03,-9.79941280e+00,-6.55929573e-02,
 -6.92918195e-03,-7.93869885e-03]


--- Step 449 ---
qpos:
[ 0.00986354, 0.00809446,-0.00560412, 0.03345425, 0.00336956,-0.00699582,
 -0.0066036 , 0.03916925, 0.01305012, 0.00594045,-0.01169768, 0.03408453,
  0.31448023, 0.00378579, 0.75794078, 0.04792333, 0.09108484,-0.06723998,
  0.14291634, 0.95648807,-0.0392646 , 0.04590045, 0.28545054]

qacc:
[  4.21055198,  1.13189574, -4.48988891,  8.46603535,  0.43038266,
  -3.9672999 ,  4.62732946,  4.24228578, -4.47573228, -0.35239201,
   0.51526459, -0.30776691, -2.465503  ,  3.37301603,  0.18393452,
  -5.82956547, -1.39629974, -0.13294332, -0.60811934, -6.7060653 ,
 -13.40725567, -6.6823241 ]

qfrc_actuator:
[-4.74312373e-05, 2.99378192e-04, 5.74601038e-05, 3.56850134e-05,
  1.76255369e-04, 1.01392633e-02,-2.15286012e-04, 8.32100873e-05,
 -8.30746428e-06,-5.32018941e-05,-1.18138220e-04, 4.24030725e-05,
  9.48652911e-02, 3.76002981e-04, 3.65560419e-02,-3.81118894e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044772956657176954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23983662e-13, -2.47967324e-13,  1.00000000e+00,  3.07438969e-26,
        1.00000000e+00,  2.47967324e-13, -1.00000000e+00,  0.00000000e+00,
        1.23983662e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10692676, -0.06023509,  0.06198999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47535988e-05, 3.41649447e-05, 2.54364774e-06, 1.33614104e-05,
  1.97180907e-06,-5.65592052e-04,-1.57302026e-04,-1.54482085e-05,
 -2.62348774e-05,-5.66319306e-05,-1.80020010e-05,-3.73676826e-06,
 -5.75736560e-04,-1.38815212e-04,-2.42871331e-04,-9.82144736e-05,
 -1.50708557e-03, 9.21075936e-04,-9.79908988e+00,-6.55656974e-02,
 -7.07655198e-03,-7.77830078e-03]


--- Step 450 ---
qpos:
[ 0.00986293, 0.00809496,-0.00560388, 0.03345386, 0.00337343,-0.00678397,
 -0.0066024 , 0.03917131, 0.01304971, 0.00593949,-0.01169871, 0.03408461,
  0.31642089, 0.00380428, 0.75899732, 0.04791768, 0.09092119,-0.06736813,
  0.14288228, 0.95651502,-0.0388308 , 0.04467145, 0.2856145 ]

qacc:
[  5.77329667, -0.39320822,  2.43083068, -5.85826781,  3.06473687,
  -4.98153075,  8.54407763, -2.02561457, -2.73918285,  0.85143897,
  -1.0469064 , -4.92768868, -2.40620599,  3.17451539,  2.74142873,
 -14.61506841,  0.01864497, -1.55429801, -0.8584752 , 16.1343914 ,
 -16.29765848,  2.2964258 ]

qfrc_actuator:
[-1.42762952e-05, 2.96867619e-04, 5.69388479e-05, 2.53169794e-05,
  1.93775072e-04, 9.92379191e-03,-2.22467119e-04, 9.21682928e-05,
 -2.34497100e-05,-1.08032569e-05,-1.31444220e-04, 2.53749415e-05,
  9.46818929e-02, 3.68892485e-04, 3.64406240e-02,-3.91430215e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([10.33182684,  6.42084363, -8.09440627,  6.42084363, 28.7718133 ,
       14.62741869, -8.09440627, 14.62741869, 21.93494695,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043734001908443676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26929046e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.26929046e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08855763, -0.03626454,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.38701330e-05, 1.76901892e-05, 7.30590498e-06,-8.55752031e-06,
  1.73855328e-05,-5.72789503e-04,-1.46478478e-04,-2.15117005e-05,
 -1.59109502e-05, 6.88868055e-06,-2.73308877e-05,-2.01467758e-05,
 -5.75770931e-04,-1.43960365e-04,-2.44468071e-04,-1.41238643e-04,
 -1.61127325e-03, 7.65641945e-04,-9.79873994e+00,-6.55400612e-02,
 -7.22854626e-03,-7.61469808e-03]


--- Step 451 ---
qpos:
[ 0.00986238, 0.0080953 ,-0.00560378, 0.0334534 , 0.00337714,-0.00657644,
 -0.00660166, 0.03917312, 0.01304946, 0.00593885,-0.0117003 , 0.03408447,
  0.31835812, 0.00382257, 0.76005145, 0.04791104, 0.0907575 ,-0.0675026 ,
  0.14284473, 0.9565414 ,-0.03835708, 0.04342134, 0.28578291]

qacc:
[ 5.04708897e-01, 5.23353479e-03,-5.82158602e-02,-7.81102874e-01,
 -1.38731796e+00,-4.97365172e+00, 1.05379665e+01,-1.11021703e+01,
  1.43852502e+00, 1.58206016e+00,-4.09977009e+00, 1.01412082e+00,
 -2.19727754e+00, 2.65465069e+00,-4.39702214e-01,-3.35201031e+00,
 -1.04209792e-02,-1.58000497e+00,-8.74418928e-01, 1.59611510e+01,
 -1.58716973e+01, 2.69065105e+00]

qfrc_actuator:
[-1.22865721e-05, 2.59573352e-04, 3.87421172e-05, 1.93644445e-05,
  1.84781484e-04, 9.71242358e-03,-2.44894698e-04, 7.88620209e-05,
 -1.44316579e-05, 1.49065094e-05,-1.56474932e-04, 1.53554829e-05,
  9.45075056e-02, 3.57277976e-04, 3.63494494e-02,-3.95491153e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([10.22337086, -7.47264646,  6.97688086, -7.47264646, 48.49382375,
       40.98988787,  6.97688086, 40.98988787, 54.12593225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00042823749402423616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08855249, -0.03626568,  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:
[ 2.95917355e-06,-2.62658660e-05,-1.39473921e-05,-5.11033961e-06,
 -8.69075773e-06,-5.70567282e-04,-1.62035243e-04,-4.38188225e-05,
  8.56605453e-06, 2.30929072e-05,-2.76479128e-05,-1.10571352e-05,
 -5.67849235e-04,-1.49343967e-04,-2.25848723e-04,-8.13556011e-05,
 -1.50407789e-03, 8.97140690e-04,-9.79814789e+00,-6.55769200e-02,
 -7.40525381e-03,-7.46543420e-03]


--- Step 452 ---
qpos:
[ 0.0098622 , 0.00809535,-0.00560383, 0.03345324, 0.00338036,-0.00637308,
 -0.00660132, 0.03917438, 0.01304932, 0.00593824,-0.01170183, 0.03408421,
  0.32029193, 0.00384062, 0.761103  , 0.04790717, 0.09059367,-0.06764348,
  0.14280362, 0.95656687,-0.03784385, 0.04215063, 0.28595627]

qacc:
[ 3.27742619e+00, 6.72044269e-01,-4.21355524e+00, 9.82103018e+00,
 -4.16349907e+00,-5.50790314e+00, 1.39808086e+01,-1.98144986e+01,
  9.68573043e-01,-4.16449682e-01, 2.05717460e+00,-4.34185771e+00,
 -1.96749903e+00, 2.13629636e+00,-1.21221597e+01, 3.70747255e+01,
 -3.61939732e-02,-1.60213939e+00,-8.89063681e-01, 1.58359313e+01,
 -1.55749632e+01, 2.95882062e+00]

qfrc_actuator:
[ 6.84640486e-06, 2.37163429e-04, 2.78618664e-05, 3.37690892e-05,
  1.60249956e-04, 9.52293708e-03,-2.58375936e-04, 5.25575302e-05,
 -9.02187406e-06, 1.26377104e-05,-1.52758904e-04, 9.52946083e-06,
  9.43333190e-02, 3.43111472e-04, 3.62675771e-02,-3.79849940e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041936063244951693
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32370916e-13, -1.32370916e-13,  1.00000000e+00, -1.75220595e-26,
        1.00000000e+00,  1.32370916e-13, -1.00000000e+00,  0.00000000e+00,
       -1.32370916e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08854837, -0.03626602,  0.06199061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92078093e-05,-4.02076601e-05,-1.82042045e-05, 1.26970976e-05,
 -2.49702040e-05,-5.51458135e-04,-1.55259968e-04,-5.76818547e-05,
  5.65923145e-06, 4.50424571e-06, 4.72395284e-06,-6.00331011e-06,
 -5.63282244e-04,-1.51312923e-04,-2.01895461e-04, 1.21263405e-04,
 -1.40295143e-03, 1.04866705e-03,-9.79753665e+00,-6.56136491e-02,
 -7.58688742e-03,-7.31183376e-03]


--- Step 453 ---
qpos:
[ 0.00986259, 0.00809506,-0.0056037 , 0.03345289, 0.00338361,-0.00617386,
 -0.00660126, 0.03917529, 0.01304891, 0.00593702,-0.01170245, 0.0340839 ,
  0.32222232, 0.00385867, 0.76215254, 0.04790148, 0.09042912,-0.06779044,
  0.14275925, 0.95659115,-0.03729508, 0.04085888, 0.28613458]

qacc:
[  5.063095  , -1.38149688,  5.0581317 , -8.37487365,  0.28784675,
  -5.42479424, 12.85526586,-15.361738  , -2.41160327, -3.43176188,
  11.2560621 ,-13.02246668, -2.42536218,  3.32946475,  2.69272988,
 -13.40429964, -0.17695326, -1.52021341, -0.81275241, 13.85788654,
 -15.21425041,  2.89410489]

qfrc_actuator:
[ 3.59264455e-05, 2.23872641e-04, 3.92065135e-05, 2.45458743e-05,
  1.62283392e-04, 9.33040378e-03,-2.66357176e-04, 3.66029776e-05,
 -2.35398626e-05,-4.17524576e-05,-1.14454152e-04, 6.21385937e-06,
  9.41647000e-02, 3.45289122e-04, 3.61541093e-02,-3.90004847e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([10.026275  , -7.06797948,  7.11124859, -7.06797948, 46.33539703,
       36.08819547,  7.11124859, 36.08819547, 45.89488818,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004106932703894319
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.20354691e-07,  9.20354961e-07,  1.00000000e+00, -8.47053006e-13,
        1.00000000e+00, -9.20354961e-07, -1.00000000e+00,  1.00974196e-28,
        9.20354691e-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([ 0.09008926, -0.03827571,  0.0619908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.96134003e-05,-3.89848784e-05, 1.23623588e-06,-1.13292956e-05,
  1.13753815e-06,-5.42861620e-04,-1.45402320e-04,-4.65363661e-05,
 -1.43590443e-05,-5.11107641e-05, 3.96345100e-05,-3.07087978e-06,
 -5.54445257e-04,-1.34694699e-04,-2.00102027e-04,-1.22376299e-04,
 -1.30738763e-03, 1.21791473e-03,-9.79690428e+00,-6.56494910e-02,
 -7.77353432e-03,-7.15398171e-03]


--- Step 454 ---
qpos:
[ 0.00986299, 0.00809436,-0.0056034 , 0.03345244, 0.00338616,-0.00597867,
 -0.00660169, 0.03917565, 0.01304798, 0.00593524,-0.01170258, 0.03408427,
  0.32414921, 0.00387698, 0.76320031, 0.04789415, 0.09025828,-0.06793837,
  0.14271354, 0.95661824,-0.03675271, 0.03953774, 0.28629975]

qacc:
[  0.0190208 , -1.21768094,  3.97832383, -5.65034314, -6.00797869,
  -5.07712705, 12.73648105,-18.58019209, -4.51069278, -0.7073525 ,
  -1.38842643, 12.70108105, -2.74602496,  4.19157889,  2.51596008,
 -12.20580668, -1.57554332, -0.2432422 , -0.33896164, -6.94379037,
 -12.9490467 , -7.37209377]

qfrc_actuator:
[ 3.51178959e-05, 1.98465827e-04, 4.58457251e-05, 1.92658142e-05,
  1.26683282e-04, 9.13768530e-03,-2.88758852e-04, 9.12182348e-06,
 -4.96699219e-05,-7.35307774e-05,-9.17687086e-05, 3.98787164e-05,
  9.39835672e-02, 3.57126591e-04, 3.60909598e-02,-3.97535763e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.96899265, -6.22945531,  7.78297508, -6.22945531, 22.58648404,
       10.0989786 ,  7.78297508, 10.0989786 , 18.0521659 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004053286301090031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36953442e-13, -1.36953442e-13,  1.00000000e+00,  1.87562454e-26,
        1.00000000e+00,  1.36953442e-13, -1.00000000e+00,  0.00000000e+00,
        1.36953442e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10695684, -0.06021622,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28324049e-08,-4.74186915e-05,-1.65236705e-06,-7.12852303e-06,
 -3.57493562e-05,-5.35562007e-04,-1.56395728e-04,-5.71270466e-05,
 -2.65620833e-05,-5.22584895e-05, 1.69258940e-05, 3.27914348e-05,
 -5.58277596e-04,-1.20649953e-04,-1.77441822e-04,-1.09793691e-04,
 -1.23930855e-03, 1.38169749e-03,-9.79626423e+00,-6.56824500e-02,
 -7.96324909e-03,-6.99042720e-03]


--- Step 455 ---
qpos:
[ 0.00986303, 0.00809387,-0.00560356, 0.0334519 , 0.00338793,-0.00578773,
 -0.00660205, 0.03917496, 0.01304709, 0.00593319,-0.01170253, 0.03408537,
  0.32607262, 0.00389538, 0.76424653, 0.0478868 , 0.09008123,-0.06808724,
  0.14266627, 0.95664788,-0.03621614, 0.03818571, 0.28645257]

qacc:
[ -3.1582301 ,  1.3930711 , -4.16536858,  3.12195906, -6.86815457,
  -7.91580954, 24.49570678,-39.50487905,  0.35018793,  0.64583609,
  -5.90903836, 18.46792788, -2.49594456,  3.50930293, -2.11383564,
   4.39318657, -1.55178989, -0.23438572, -0.38766831, -6.90655404,
 -13.77453824, -6.95298836]

qfrc_actuator:
[ 1.67208193e-05, 2.37001451e-04, 3.18515480e-05, 1.63359024e-05,
  8.69621609e-05, 8.92864208e-03,-2.83981882e-04,-4.26828427e-05,
 -4.69134035e-05,-7.37977630e-05,-7.83998618e-05, 7.72767844e-05,
  9.38003832e-02, 3.56747483e-04, 3.60527260e-02,-3.96336681e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040030104969421276
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38673509e-13, -1.38673509e-13,  1.00000000e+00,  1.92303421e-26,
        1.00000000e+00,  1.38673509e-13, -1.00000000e+00,  0.00000000e+00,
        1.38673509e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10696263, -0.06021204,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84106290e-05, 1.13933720e-05,-2.42341755e-05,-5.15599098e-06,
 -4.09185021e-05,-5.50388923e-04,-1.29373910e-04,-8.17113601e-05,
  1.97551362e-06,-2.45357475e-05, 5.81525339e-06, 3.63867870e-05,
 -5.59526708e-04,-1.31779650e-04,-1.41940494e-04,-1.91567699e-05,
 -1.32500266e-03, 1.17594976e-03,-9.79592481e+00,-6.56323021e-02,
 -8.12824374e-03,-6.80456244e-03]


--- Step 456 ---
qpos:
[ 0.00986319, 0.00809355,-0.00560367, 0.03345129, 0.00339024,-0.00560104,
 -0.00660248, 0.0391747 , 0.01304658, 0.00593114,-0.01170209, 0.03408582,
  0.32799294, 0.00391272, 0.76529076, 0.04787867, 0.08989804,-0.06823703,
  0.14261728, 0.95667983,-0.03568486, 0.03680148, 0.28659371]

qacc:
[  1.08771793, -0.05736507,  0.81909568, -2.16127048,  4.85015909,
  -4.60069129,  6.46770808,  4.04025254,  3.39179566, -2.41379309,
  11.32753369,-23.12040951, -1.12121349, -0.22893142, -0.57055204,
  -2.20852986, -1.53514904, -0.22958657, -0.43045224, -6.87512583,
 -14.47020479, -6.60148535]

qfrc_actuator:
[ 2.36341759e-05, 2.60196475e-04, 4.15542184e-05, 1.48513949e-05,
  1.16155712e-04, 8.72938835e-03,-2.81006236e-04,-1.96090866e-05,
 -2.71729733e-05,-5.52215491e-05,-5.27525053e-05, 4.55793445e-05,
  9.36373955e-02, 2.95851859e-04, 3.59442737e-02,-4.00648204e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039503397502099746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.40522473e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.40522473e-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([ 0.10696742, -0.0602087 ,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.39582259e-06, 2.43538006e-05, 8.90250421e-06,-1.93168644e-06,
  2.78437514e-05,-5.44208339e-04,-1.31708709e-04,-6.99994926e-06,
  1.97800304e-05, 7.68537128e-06, 2.25744248e-05,-3.18377509e-05,
 -5.41778963e-04,-1.94590531e-04,-1.87104699e-04,-6.49623340e-05,
 -1.42964637e-03, 9.73780020e-04,-9.79553993e+00,-6.55857350e-02,
 -8.29840369e-03,-6.61553168e-03]


--- Step 457 ---
qpos:
[ 0.00986378, 0.00809314,-0.00560354, 0.0334507 , 0.00339323,-0.00541834,
 -0.00660305, 0.03917502, 0.01304631, 0.0059292 ,-0.01170194, 0.03408558,
  0.32991015, 0.00392895, 0.76633239, 0.04787406, 0.08970875,-0.06838773,
  0.14256642, 0.95671384,-0.03515843, 0.03538397, 0.28672371]

qacc:
[  3.75251746, -0.77596817,  2.50745323, -2.6004035 ,  5.99818779,
  -3.65862926,  2.89609261, 10.46959675,  2.10328437, -0.48485448,
   4.89217368,-16.57906197, -0.87493389, -0.82035876,-14.43474895,
  44.95026285, -1.52423119, -0.22800223, -0.46833013, -6.84888591,
 -15.0651843 , -6.30377479]

qfrc_actuator:
[ 4.53949895e-05, 2.38625408e-04, 4.73844138e-05, 1.42425651e-05,
  1.50173283e-04, 8.55546026e-03,-2.79017862e-04, 1.18414410e-05,
 -1.53559657e-05,-6.10092399e-05,-7.32752153e-05, 9.01476449e-06,
  9.34706378e-02, 2.35258625e-04, 3.58523692e-02,-3.81560502e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038961182765512303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42478096e-13, -1.42478096e-13,  1.00000000e+00,  2.03000077e-26,
        1.00000000e+00,  1.42478096e-13, -1.00000000e+00,  0.00000000e+00,
        1.42478096e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10697142, -0.06020604,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19524727e-05,-6.18045077e-06, 1.18963035e-05, 7.07185815e-07,
  3.46267651e-05,-5.12529258e-04,-1.29075209e-04, 3.02086131e-06,
  1.23763783e-05, 1.88206024e-06,-1.72397170e-05,-3.60721557e-05,
 -5.47674595e-04,-2.00016076e-04,-1.93801424e-04, 1.61265526e-04,
 -1.55242923e-03, 7.73143026e-04,-9.79511433e+00,-6.55420457e-02,
 -8.47370950e-03,-6.42311098e-03]


--- Step 458 ---
qpos:
[ 0.00986463, 0.00809282,-0.00560368, 0.03345011, 0.00339626,-0.00523948,
 -0.00660371, 0.03917569, 0.01304619, 0.00592689,-0.01170157, 0.03408527,
  0.33182405, 0.00394467, 0.76737248, 0.04787155, 0.08951339,-0.06853935,
  0.14251355, 0.9567497 ,-0.03463648, 0.03393223, 0.28684305]

qacc:
[  2.23831381,  0.87984633, -2.99193864,  3.47514414,  0.41149869,
  -4.1165632 ,  5.84105552,  3.10095406,  1.28112005, -1.25380089,
   3.99802921, -5.13207023, -1.71375466,  1.39592074, -8.5889957 ,
  26.9315726 , -1.51792826, -0.22896558, -0.5021754 , -6.82729624,
 -15.58237226, -6.04890236]

qfrc_actuator:
[ 5.79595163e-05, 2.43664693e-04, 3.29389187e-05, 1.41092451e-05,
  1.51230538e-04, 8.38041426e-03,-2.77507585e-04, 3.02297441e-05,
 -8.30286992e-06,-9.92855621e-05,-6.77252341e-05, 5.34430728e-06,
  9.33017317e-02, 2.10835209e-04, 3.58131260e-02,-3.70133698e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038410306352243406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.89043002e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.89043002e-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([ 0.10697479, -0.06020391,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31886081e-05, 4.09151539e-06,-1.42292439e-05, 2.81532495e-08,
  1.87015375e-06,-4.94810927e-04,-1.22291606e-04,-8.39012910e-06,
  7.40172782e-06,-4.22585081e-05, 2.58787894e-06,-4.88437242e-06,
 -5.54227246e-04,-1.66171791e-04,-1.17549741e-04, 9.67398830e-05,
 -1.69282685e-03, 5.72417955e-04,-9.79465162e+00,-6.55006818e-02,
 -8.65415472e-03,-6.22711162e-03]


--- Step 459 ---
qpos:
[ 0.00986527, 0.00809248,-0.00560368, 0.03344951, 0.00339893,-0.00506438,
 -0.00660445, 0.03917655, 0.01304615, 0.00592482,-0.01170141, 0.03408522,
  0.33373444, 0.00396061, 0.76841094, 0.04786815, 0.0893229 ,-0.06869733,
  0.14246701, 0.95678255,-0.0340581 , 0.03248811, 0.28696991]

qacc:
[-1.75634154,-0.42000547, 1.5258406 ,-1.93453669,-3.05834704,-4.36428546,
  7.55269707,-1.34261565, 0.7369875 , 1.43490839,-5.73145643,10.29500693,
 -2.68409614, 3.99920596, 0.47106233,-4.7856995 , 1.21735311,-1.59184071,
  1.58475435,27.90713056,-4.52350582, 5.11782951]

qfrc_actuator:
[ 4.72533783e-05, 2.46760183e-04, 4.22399290e-05, 1.42608988e-05,
  1.32877687e-04, 8.20615453e-03,-2.76278500e-04, 4.07892703e-05,
 -4.10798022e-06,-5.00889822e-05,-6.46786950e-05, 2.10534309e-05,
  9.31263410e-02, 2.25703262e-04, 3.57096136e-02,-3.75731210e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004085833771616393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.35862481e-13, -4.24570252e-15,  1.00000000e+00, -5.76831678e-28,
        1.00000000e+00,  4.24570252e-15, -1.00000000e+00,  0.00000000e+00,
       -1.35862481e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07153136, -0.04161028,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03271087e-05, 2.46197113e-06, 8.39990705e-06,-1.63162251e-07,
 -1.84669955e-05,-4.83075361e-04,-1.18425322e-04,-1.54376692e-05,
  4.38363089e-06, 2.59728902e-05,-5.50971838e-06, 1.38973506e-05,
 -5.57148333e-04,-1.23505761e-04,-1.58529920e-04,-6.83555343e-05,
 -1.85054139e-03, 3.70300539e-04,-9.79415449e+00,-6.54612049e-02,
 -8.83974258e-03,-6.02737191e-03]


--- Step 460 ---
qpos:
[ 0.00986648, 0.00809209,-0.00560327, 0.0334489 , 0.00340101,-0.00489286,
 -0.00660553, 0.03917683, 0.01304616, 0.00592339,-0.01170202, 0.03408569,
  0.33564135, 0.00397692, 0.7694468 , 0.04786356, 0.08913704,-0.06886164,
  0.14242541, 0.95681222,-0.0334259 , 0.03105148, 0.28710432]

qacc:
[  4.89890625, -1.2561995 ,  4.38065271, -5.10297598, -5.09156725,
  -4.94853378, 13.25533406,-20.15794146,  0.40692835,  4.0787426 ,
 -15.51371979, 25.28383953, -2.79069937,  4.3682895 , -0.07674125,
  -4.88963801,  1.15724024, -1.58267451,  1.23303415, 26.64552488,
  -4.21351451,  5.07068122]

qfrc_actuator:
[ 7.61971354e-05, 2.48759026e-04, 6.54917350e-05, 1.45988096e-05,
  1.03258139e-04, 8.03381281e-03,-2.92957099e-04, 1.11595715e-05,
 -1.62654873e-06,-2.13381441e-06,-9.82919426e-05, 4.80993983e-05,
  9.29525217e-02, 2.45866578e-04, 3.55569521e-02,-3.82449791e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 10.43782723, -10.32498789,   1.53064117, -10.32498789,
        11.66732071,   8.29358673,   1.53064117,   8.29358673,
        66.38247599,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00044589382482304596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48988204e-13, -6.22470509e-14,  1.00000000e+00, -1.54987814e-26,
        1.00000000e+00,  6.22470509e-14, -1.00000000e+00,  0.00000000e+00,
       -2.48988204e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07153406, -0.04162595,  0.06198998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86512347e-05, 5.11156339e-06, 2.47943329e-05, 7.33261918e-07,
 -3.03088354e-05,-4.73968292e-04,-1.33631226e-04,-5.51184590e-05,
  2.60833469e-06, 6.20114140e-05,-2.84238379e-05, 2.82430274e-05,
 -5.49275862e-04,-1.12144631e-04,-2.43857509e-04,-9.37842685e-05,
 -1.50868009e-03, 6.86686812e-04,-9.79383744e+00,-6.55051793e-02,
 -9.05138025e-03,-5.85800990e-03]


--- Step 461 ---
qpos:
[ 0.00986836, 0.00809152,-0.00560254, 0.03344901, 0.00340273,-0.00472527,
 -0.00660729, 0.03917715, 0.0130462 , 0.00592198,-0.01170196, 0.03408612,
  0.33754509, 0.0039925 , 0.77048011, 0.04785974, 0.08896654,-0.06902521,
  0.14240285, 0.95683654,-0.03275344, 0.02970813, 0.28724288]

qacc:
[ 6.00274687, 0.3468175 ,-4.64464537,16.77334946,-3.21107261,-3.19149943,
  3.65467908, 1.15176846, 0.28373882,-1.95290453, 7.20717647,-9.11202453,
 -1.40344694, 0.60775566,-6.0776417 ,15.8845317 , 3.84249235, 0.1876091 ,
  4.76040074,32.49585961,38.85386239, 4.94076269]

qfrc_actuator:
[ 1.10501113e-04, 2.32397775e-04, 7.90305216e-05, 5.05541940e-05,
  8.50036273e-05, 7.81068926e-03,-3.37827931e-04, 1.13724258e-05,
 -1.72439925e-07,-8.67740043e-06,-6.44918429e-05, 4.60742745e-05,
  9.27797693e-02, 1.97954772e-04, 3.54654842e-02,-3.77349927e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005219884617401055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06345552e-13, -1.06345552e-13,  1.00000000e+00, -1.13093765e-26,
        1.00000000e+00,  1.06345552e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06345552e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0478593 , -0.06280007,  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:
[ 3.51219648e-05,-8.33280766e-06, 1.76725924e-05, 3.70464491e-05,
 -1.92756017e-05,-5.24367329e-04,-1.63140089e-04,-2.61734986e-05,
  1.54479219e-06, 2.35314148e-05, 4.41081773e-05, 2.01931725e-07,
 -5.41677676e-04,-1.76575044e-04,-2.20370192e-04, 1.30241171e-05,
 -1.20740712e-03, 1.02236535e-03,-9.79349418e+00,-6.55424372e-02,
 -9.26661649e-03,-5.68511097e-03]


--- Step 462 ---
qpos:
[ 0.00986961, 0.00809074,-0.00560185, 0.03344924, 0.00340455,-0.00456173,
 -0.00660961, 0.03917817, 0.01304591, 0.00592037,-0.01170108, 0.03408688,
  0.33944555, 0.00400748, 0.77151132, 0.04785837, 0.08881051,-0.06918823,
  0.14239593, 0.95685561,-0.03204412, 0.02845154, 0.28738654]

qacc:
[ -5.59574352,  0.08645782, -1.15784985,  3.31041792,  1.04135796,
  -2.37330371, -2.23450449, 18.09068213, -2.85300166, -1.86715438,
   4.8529401 , -0.19105771, -1.58087042,  1.04142235,-10.41723683,
  32.13224631,  3.61559604,  0.13506019,  3.90903743, 29.93419953,
  36.21165102,  5.15671621]

qfrc_actuator:
[ 7.66621765e-05, 2.05164016e-04, 6.89180535e-05, 5.38964364e-05,
  9.13403426e-05, 7.61213337e-03,-3.63640633e-04, 4.68451084e-05,
 -1.70870947e-05,-2.98087214e-05,-2.68896628e-05, 6.24707219e-05,
  9.26024282e-02, 1.63420413e-04, 3.54108237e-02,-3.63532190e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 13.23127571, -11.19549629,  -7.05177423, -11.19549629,
        41.09354235, -44.23452776,  -7.05177423, -44.23452776,
        83.4586363 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006219725330364051
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.92501651e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.92501651e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04790331, -0.06281084,  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:
[-3.28424149e-05,-2.66373079e-05,-8.38074314e-06, 4.31520955e-06,
  5.61236652e-06,-5.32683810e-04,-1.57071974e-04, 6.47896306e-06,
 -1.68686286e-05, 1.19710366e-06, 4.79173761e-05, 1.89368661e-05,
 -5.54240834e-04,-1.71782471e-04,-1.61139058e-04, 1.09100701e-04,
 -6.89264078e-04, 1.43441604e-03,-9.79480121e+00,-6.55420801e-02,
 -9.47858783e-03,-5.51639854e-03]


--- Step 463 ---
qpos:
[ 0.0098701 , 0.00808975,-0.00560124, 0.03344916, 0.00340644,-0.00440212,
 -0.00661177, 0.03917919, 0.01304577, 0.00591871,-0.01170001, 0.03408785,
  0.34134259, 0.00402228, 0.77254069, 0.04785501, 0.08866809,-0.06935089,
  0.14240148, 0.95686959,-0.03130087, 0.02727587, 0.28753586]

qacc:
[ -6.66626916, -0.68018192,  3.30462635, -8.26883957,  0.61124398,
  -5.65158237, 12.60578154, -9.97708321,  1.27683163, -0.14569502,
  -0.51246761,  4.01855165, -2.2605502 ,  2.77282392,  3.41626086,
 -15.64366853,  3.40267515,  0.09067788,  3.11806323, 27.69879498,
  33.82502364,  5.22355526]

qfrc_actuator:
[ 3.84902242e-05, 1.89255979e-04, 6.25986430e-05, 3.79904382e-05,
  9.43438981e-05, 7.44776775e-03,-3.42360765e-04, 4.95529199e-05,
 -9.17207370e-06,-4.17215078e-05,-2.29280496e-05, 7.18022747e-05,
  9.24277851e-02, 1.54816647e-04, 3.52930840e-02,-3.74861637e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.46402955, -12.71351626,  -6.89743831, -12.71351626,
        41.18342038, -49.24979315,  -6.89743831, -49.24979315,
       105.24237629,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006977568353359886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.95565854e-14, -3.97782927e-14,  1.00000000e+00, -3.16462514e-27,
        1.00000000e+00,  3.97782927e-14, -1.00000000e+00,  0.00000000e+00,
       -7.95565854e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04793634, -0.06281942,  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:
[-3.91150934e-05,-3.23459872e-05,-1.27041087e-05,-1.72526233e-05,
  2.98353632e-06,-5.00330586e-04,-1.09768630e-04,-2.57890480e-05,
  7.42918954e-06,-4.94571481e-07, 1.07732335e-05, 1.14098583e-05,
 -5.57647502e-04,-1.48209128e-04,-1.89043029e-04,-1.30039878e-04,
 -3.06619614e-04, 1.83458706e-03,-9.79589572e+00,-6.55335150e-02,
 -9.68384564e-03,-5.35046475e-03]


--- Step 464 ---
qpos:
[ 0.00987047, 0.00808877,-0.00560111, 0.03344924, 0.00340801,-0.00424614,
 -0.00661324, 0.03917911, 0.01304607, 0.00591741,-0.01169875, 0.03408819,
  0.34323618, 0.00403718, 0.77356788, 0.04784995, 0.08853852,-0.06951334,
  0.14241666, 0.95687865,-0.03052618, 0.02617602, 0.28769119]

qacc:
[ -1.03975127,  1.69720668, -6.68379151, 10.13180603, -2.76150612,
  -8.9482518 , 29.59136277,-46.9885088 ,  3.87195418, -1.36550194,
   8.28168223,-19.95934782, -2.55672101,  3.62962909,  2.05578926,
 -11.49537792,  3.21043476,  0.05308105,  2.40816882, 25.78232993,
  31.7208737 ,  5.19490212]

qfrc_actuator:
[ 3.36007676e-05, 1.97991417e-04, 4.08557235e-05, 4.64105514e-05,
  7.76011607e-05, 7.30541991e-03,-2.93320221e-04,-2.48709571e-06,
  1.32997287e-05, 5.09131023e-06,-3.33524562e-06, 4.13751969e-05,
  9.22548896e-02, 1.61601332e-04, 3.51908090e-02,-3.83180202e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.29728312, -13.91275522,  -6.35941137, -13.91275522,
        38.83635257, -51.49742519,  -6.35941137, -51.49742519,
       127.96039442,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007531265129984005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.04796029, -0.06282618,  0.06198312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.01140044e-06,-1.27024434e-05,-3.05803980e-05, 6.26125236e-06,
 -1.68269048e-05,-4.51692082e-04,-7.05709622e-05,-7.81334834e-05,
  2.26778865e-05, 4.92984218e-05, 2.12167546e-05,-2.98546451e-05,
 -5.53871798e-04,-1.29742958e-04,-2.12943954e-04,-1.16815379e-04,
 -3.45491874e-05, 2.21907059e-03,-9.79681393e+00,-6.55160169e-02,
 -9.88271738e-03,-5.18763318e-03]


--- Step 465 ---
qpos:
[ 0.00987077, 0.00808811,-0.00560198, 0.03344907, 0.0034097 ,-0.00409351,
 -0.00661429, 0.03917839, 0.01304595, 0.0059168 ,-0.0116977 , 0.0340878 ,
  0.3451265 , 0.00405176, 0.77459278, 0.04784484, 0.08841082,-0.06965821,
  0.14244648, 0.9568883 ,-0.02985881, 0.02513215, 0.28782219]

qacc:
[-5.80742907e-01, 2.67733952e+00,-7.85275895e+00, 4.83203777e+00,
  1.22952108e+00,-6.97605559e+00, 2.11707751e+01,-3.05969014e+01,
 -3.74024927e+00,-1.16610470e-02, 4.43417937e+00,-1.71942933e+01,
 -1.93113752e+00, 2.02250574e+00,-3.13261805e+00, 6.25543543e+00,
  4.69615724e-01, 4.39552708e+00, 3.65919688e+00,-4.29673440e+01,
  4.25896276e+01,-1.22727675e+01]

qfrc_actuator:
[ 3.05890226e-05, 2.21373341e-04,-7.45214436e-06, 3.35851232e-05,
  8.48766494e-05, 7.15979239e-03,-2.63715140e-04,-3.30221740e-05,
 -9.10598017e-06, 5.12266193e-05,-9.94822785e-06, 5.61799807e-06,
  9.20884954e-02, 1.41892155e-04, 3.51032337e-02,-3.82541862e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([15.94375203, -9.01266828, 13.15199754, -9.01266828, 60.08204851,
       30.24664683, 13.15199754, 30.24664683, 36.67086924,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008014330977333672
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.92648599e-14, -6.92648599e-14,  1.00000000e+00, -4.79762082e-27,
        1.00000000e+00,  6.92648599e-14, -1.00000000e+00,  0.00000000e+00,
       -6.92648599e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07742043, -0.11305062,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.18350224e-06, 1.02608172e-05,-5.44718248e-05,-1.43040318e-05,
  6.64482339e-06,-4.21799836e-04,-7.69050826e-05,-5.41972381e-05,
 -2.17462650e-05, 7.68466874e-05, 5.14954798e-06,-3.34931051e-05,
 -5.41256808e-04,-1.52630859e-04,-2.06506890e-04,-2.92854697e-05,
  1.47240230e-04, 2.58668356e-03,-9.79758615e+00,-6.54893855e-02,
 -1.00754281e-02,-5.02814566e-03]


--- Step 466 ---
qpos:
[ 0.00987104, 0.00808742,-0.00560308, 0.03344909, 0.00341148,-0.00394432,
 -0.00661469, 0.03917729, 0.01304521, 0.00591683,-0.01169706, 0.03408734,
  0.34701364, 0.00406572, 0.77561522, 0.0478385 , 0.08828494,-0.06978661,
  0.14248742, 0.95689786,-0.02929093, 0.02413913, 0.28793372]

qacc:
[ -0.34286837,  1.00273257, -4.41967257,  8.04805672,  0.72798031,
  -7.11260807, 20.33910792,-25.27254774, -5.40913997,  1.87459258,
  -5.16796871,  4.26231534, -1.63186208,  1.18234402,  0.17684079,
  -5.71844995,  0.45471188,  4.11591808,  2.78065049,-40.03659806,
  38.93339832, -9.79956172]

qfrc_actuator:
[ 2.86958481e-05, 2.17715532e-04,-1.77462190e-05, 4.38621476e-05,
  8.84841363e-05, 6.99562478e-03,-2.28040595e-04,-5.06639448e-05,
 -3.99982526e-05, 7.87411664e-05,-3.19672260e-05, 2.50882762e-06,
  9.19207841e-02, 1.06677711e-04, 3.49766359e-02,-3.89052091e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.69775931,   7.19351928, -15.06879048,   7.19351928,
        73.21079453,  26.97811806, -15.06879048,  26.97811806,
        29.57653765,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008722190860992324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.36435869e-14,  1.59108967e-14,  1.00000000e+00, -1.01262654e-27,
        1.00000000e+00, -1.59108967e-14, -1.00000000e+00,  0.00000000e+00,
        6.36435869e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.077439  , -0.11300865,  0.06198049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.97450688e-06,-9.75263852e-06,-1.53605542e-05, 8.55748057e-06,
  3.65480919e-06,-4.23780215e-04,-6.45781923e-05,-3.97693145e-05,
 -3.14833225e-05, 7.01186077e-05,-6.67362122e-06,-2.88942609e-07,
 -5.38974180e-04,-1.69233417e-04,-2.32484498e-04,-9.49933200e-05,
 -2.87689879e-05, 1.74969356e-03,-9.79954320e+00,-6.53442894e-02,
 -1.01618610e-02,-4.82453306e-03]


--- Step 467 ---
qpos:
[ 0.00987129, 0.00808638,-0.0056036 , 0.03344921, 0.00341327,-0.00379811,
 -0.00661486, 0.03917595, 0.01304411, 0.0059172 ,-0.01169654, 0.03408653,
  0.34889742, 0.00407952, 0.77663504, 0.04783234, 0.08816081,-0.06989952,
  0.14253644, 0.95690684,-0.02881583, 0.02319263, 0.28802961]

qacc:
[ -0.19155932, -1.85164205,  5.45365182, -4.2184351 ,  0.31481057,
  -5.06919156, 13.35338626,-15.64070325, -3.21568621,  0.07340976,
   1.89369387, -8.12647676, -2.12199231,  2.51934636, -4.33727798,
   9.82981847,  0.4381067 ,  3.87202457,  2.01775633,-37.5122823 ,
  35.8570681 , -7.83074348]

qfrc_actuator:
[ 2.74749279e-05, 1.98060391e-04, 1.21629696e-05, 4.99102379e-05,
  8.98961040e-05, 6.87501351e-03,-2.06863929e-04,-6.05865780e-05,
 -5.78714416e-05, 7.70954617e-05,-4.51930724e-05,-1.68913800e-05,
  9.17470665e-02, 9.80868918e-05, 3.48693279e-02,-3.87304455e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.05030805,   7.60154392, -15.26202918,   7.60154392,
        82.31014475,  32.50390295, -15.26202918,  32.50390295,
        33.23949516,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0009213089641351702
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.03787221e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.03787221e-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([ 0.07745307, -0.11297943,  0.06197941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27702346e-06,-2.78790367e-05, 2.63194651e-05, 5.26923700e-06,
  1.37236338e-06,-3.78049751e-04,-7.74340548e-05,-3.14205325e-05,
 -1.87426454e-05, 3.61528571e-05, 4.19441231e-07,-1.66312506e-05,
 -5.47313556e-04,-1.44660088e-04,-2.31305370e-04,-1.91496762e-05,
 -2.22129045e-04, 1.11381181e-03,-9.80113671e+00,-6.52374458e-02,
 -1.02574868e-02,-4.64047729e-03]


--- Step 468 ---
qpos:
[ 0.00987117, 0.00808502,-0.00560345, 0.03344905, 0.00341577,-0.00365463,
 -0.00661551, 0.03917486, 0.0130428 , 0.00591774,-0.01169611, 0.03408551,
  0.35077801, 0.00409256, 0.77765214, 0.04782966, 0.08803837,-0.06999779,
  0.14259091, 0.95691483,-0.02842785, 0.02228909, 0.28811295]

qacc:
[-3.14545254e+00,-2.89715193e+00, 1.09592030e+01,-1.68062809e+01,
  6.11692824e+00,-1.76485511e+00, 5.50641569e-03, 7.04485468e+00,
 -1.81577195e+00, 5.16022640e-02, 1.03479391e+00,-4.63192415e+00,
 -1.28695937e+00, 3.19714309e-01,-1.44887874e+01, 4.49538195e+01,
  4.21193232e-01, 3.66303107e+00, 1.36535066e+00,-3.53656970e+01,
  3.32873883e+01,-6.25881676e+00]

qfrc_actuator:
[ 8.90633980e-06, 1.86900595e-04, 4.77273956e-05, 3.56714055e-05,
  1.25511140e-04, 6.74595572e-03,-2.29729409e-04,-4.81097082e-05,
 -6.79360748e-05, 7.57625835e-05,-5.32564413e-05,-2.79928382e-05,
  9.15752006e-02, 5.20050238e-05, 3.47790222e-02,-3.68268709e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.19132059,   8.05298189, -15.18851495,   8.05298189,
        91.31225824,  39.29907373, -15.18851495,  39.29907373,
        38.02777038,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0009525789892297354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91372956e-14, -1.45686478e-14,  1.00000000e+00,  4.24490998e-28,
        1.00000000e+00,  1.45686478e-14, -1.00000000e+00,  0.00000000e+00,
        2.91372956e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0774636 , -0.11296057,  0.06197873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86121603e-05,-2.10450234e-05, 3.32474548e-05,-1.44170727e-05,
  3.55265835e-05,-3.63115682e-04,-1.13291521e-04,-7.33699157e-06,
 -1.05825595e-05, 1.82303457e-05,-1.12826220e-06,-9.86094930e-06,
 -5.45381480e-04,-1.80286334e-04,-2.05191083e-04, 1.58145581e-04,
 -4.22519105e-04, 6.37869633e-04,-9.80243941e+00,-6.51604273e-02,
 -1.03573314e-02,-4.47363618e-03]


--- Step 469 ---
qpos:
[ 0.00987049, 0.00808366,-0.00560295, 0.03344835, 0.00341867,-0.00351417,
 -0.00661664, 0.03917396, 0.01304173, 0.00591815,-0.01169572, 0.03408579,
  0.35265545, 0.00410466, 0.77866688, 0.04782595, 0.08791754,-0.07008211,
  0.14264863, 0.95692153,-0.02812223, 0.02142552, 0.28818618]

qacc:
[ -4.96244153, -2.05450207,  9.57338663,-19.32597996,  3.61890191,
  -2.28722986,  1.55631952,  4.70544167,  2.06556482,  2.58164808,
 -14.92071253, 37.44609995, -1.29853148,  0.22289674, -0.29637853,
  -3.92190394,  0.40469098,  3.48595164,  0.81275167,-33.55510106,
  31.14960456, -4.9982768 ]

qfrc_actuator:
[-1.97241286e-05, 1.98685628e-04, 6.85962287e-05, 9.61354300e-06,
  1.45467538e-04, 6.57726024e-03,-2.60650635e-04,-4.03346601e-05,
 -5.55758495e-05, 5.68896894e-05,-5.82123431e-05, 3.68892485e-05,
  9.14098786e-02, 1.84688829e-06, 3.46404381e-02,-3.74701352e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.23858344,   8.575548  , -14.95422133,   8.575548  ,
       100.15318392,  47.54765366, -14.95422133,  47.54765366,
        44.50494371,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0009693288075329626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.86338087e-14,  4.29507130e-14,  1.00000000e+00, -1.22984250e-27,
        1.00000000e+00, -4.29507130e-14, -1.00000000e+00,  0.00000000e+00,
        2.86338087e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07747136, -0.11295006,  0.06197837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.91646592e-05, 6.30794803e-06, 2.01330728e-05,-2.60860869e-05,
  2.08457434e-05,-4.00660783e-04,-1.21809802e-04,-1.21655110e-05,
  1.20681881e-05,-9.36417333e-06,-1.68033509e-06, 6.54326655e-05,
 -5.44310251e-04,-1.89859046e-04,-2.21976802e-04,-8.33724241e-05,
 -6.23638200e-04, 2.90716978e-04,-9.80350756e+00,-6.51070750e-02,
 -1.04579844e-02,-4.32212197e-03]


--- Step 470 ---
qpos:
[ 0.00986981, 0.00808245,-0.00560201, 0.03344767, 0.00342178,-0.0033769 ,
 -0.00661781, 0.03917315, 0.01304116, 0.00591813,-0.01169518, 0.03408617,
  0.35452952, 0.00411669, 0.7796794 , 0.04781714, 0.08779828,-0.07015308,
  0.14270775, 0.95692671,-0.027895  , 0.02059947, 0.28825128]

qacc:
[  0.07157425, -1.01529353,  3.84358172, -4.4398946 ,  1.96029774,
  -3.9181822 ,  7.47660888, -3.54108594,  4.42402909, -0.76888745,
   1.4378285 ,  0.56449772, -2.46682746,  3.29294433, 12.24326105,
 -47.26975015,  0.38894308,  3.33700949,  0.34745491,-32.03593194,
  29.37452986, -3.98154961]

qfrc_actuator:
[-1.85366228e-05, 2.24056323e-04, 9.84632755e-05, 1.23278266e-05,
  1.56036663e-04, 6.42166983e-03,-2.60716480e-04,-3.54223608e-05,
 -3.01187937e-05, 9.97627261e-06,-6.13206850e-05, 3.94283487e-05,
  9.12432672e-02, 2.97602884e-06, 3.45049070e-02,-4.01428199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.2488222 ,   7.96641539, -15.29895725,   7.96641539,
        84.17836127,  34.85129746, -15.29895725,  34.85129746,
        35.39645852,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000974343518478013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.54593121e-14,  1.42432187e-14,  1.00000000e+00, -1.21721567e-27,
        1.00000000e+00, -1.42432187e-14, -1.00000000e+00,  0.00000000e+00,
        8.54593121e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07747696, -0.11294625,  0.06197828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.62997692e-07, 3.19760370e-05, 3.27606732e-05, 3.17829560e-06,
  1.10279958e-05,-4.10407888e-04,-9.98848507e-05,-1.70177159e-05,
  2.57959043e-05,-4.97121457e-05,-2.99723399e-06, 3.35003825e-06,
 -5.47523004e-04,-1.39705568e-04,-2.53810756e-04,-3.01995685e-04,
 -8.21730317e-04, 4.89205687e-05,-9.80438433e+00,-6.50728699e-02,
 -1.05571209e-02,-4.18442464e-03]


--- Step 471 ---
qpos:
[ 0.0098695 , 0.00808131,-0.00560067, 0.03344704, 0.00342466,-0.00324269,
 -0.00661881, 0.0391727 , 0.01304055, 0.00591748,-0.01169421, 0.03408555,
  0.35640038, 0.00412833, 0.78068935, 0.04780804, 0.0876805 ,-0.0702112 ,
  0.14276669, 0.95693018,-0.02774286, 0.01980888, 0.28830986]

qacc:
[  3.20758171, -0.90361639,  3.15922262, -2.9946896 , -2.07235298,
  -3.73423062,  5.89645013,  2.51020692, -0.28564356, -4.09286781,
  17.62196824,-35.18180812, -1.84461421,  1.79901806, -2.81956638,
   4.57375035,  0.37408664,  3.21235899, -0.04292891,-30.76592576,
  27.90142807, -3.15546296]

qfrc_actuator:
[ 1.94773915e-07, 2.21926323e-04, 1.15743427e-04, 1.42219535e-05,
  1.43248380e-04, 6.29307483e-03,-2.42508212e-04,-1.44487336e-05,
 -3.26697311e-05,-3.56589641e-05,-4.57400015e-05,-1.25259444e-05,
  9.10813412e-02,-1.88613943e-05, 3.44298640e-02,-4.00829314e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.23997528,   8.94686339, -14.73670191,   8.94686339,
        74.12673374,  34.53676813, -14.73670191,  34.53676813,
        38.20774326,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0009699616045301535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.58453845e-14, -1.43075641e-14,  1.00000000e+00,  1.22823834e-27,
        1.00000000e+00,  1.43075641e-14, -1.00000000e+00,  0.00000000e+00,
        8.58453845e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07748089, -0.11294776,  0.06197839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87544711e-05, 2.26914657e-05, 2.80356523e-05, 4.46196157e-06,
 -1.26129453e-05,-3.84429296e-04,-8.10534683e-05,-7.02478244e-07,
 -1.83451232e-06,-7.39092683e-05, 5.05029244e-06,-5.41263354e-05,
 -5.35109853e-04,-1.55353203e-04,-2.32033943e-04,-4.49317672e-05,
 -1.01464015e-03,-1.05106866e-04,-9.80510277e+00,-6.50544758e-02,
 -1.06531615e-02,-4.05933987e-03]


--- Step 472 ---
qpos:
[ 0.00986942, 0.00808042,-0.00559971, 0.03344612, 0.00342632,-0.00311159,
 -0.00661932, 0.03917249, 0.01303992, 0.0059164 ,-0.01169317, 0.03408536,
  0.358268  , 0.00413964, 0.78169769, 0.04779554, 0.08756417,-0.07025688,
  0.14282416, 0.95693178,-0.02766303, 0.01905208, 0.28836321]

qacc:
[  1.97549753,  0.77165652, -1.09132469, -3.4122583 ,-10.56525544,
  -5.02112469, 10.97589478, -5.4838778 , -0.21667597,  0.10909537,
  -3.00282816, 10.49302342, -2.08081888,  2.33965323,  8.0067146 ,
 -31.22202553,  0.36014876,  3.10843003, -0.36975961,-29.707331  ,
  26.67862863, -2.47829587]

qfrc_actuator:
[ 1.13397179e-05, 2.21054567e-04, 8.98354713e-05,-2.16996314e-06,
  8.13130860e-05, 6.14631080e-03,-2.13529332e-04,-1.91042498e-06,
 -3.39366996e-05,-4.46533462e-05,-3.70395791e-05, 1.04073660e-05,
  9.09170091e-02,-3.63881526e-05, 3.43645958e-02,-4.17841157e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.20923184,   9.73303734, -14.19245027,   9.73303734,
        66.41770729,  33.74666952, -14.19245027,  33.74666952,
        40.35235287,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0009581401888565932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.34522671e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.34522671e-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([ 0.07748351, -0.11295347,  0.06197866])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16882298e-05, 1.78343259e-05,-1.76146441e-05,-1.43624456e-05,
 -6.24251103e-05,-3.83382074e-04,-6.19988679e-05,-7.04895309e-06,
 -1.34403291e-06,-5.15901893e-05,-7.81993667e-06, 1.88879652e-05,
 -5.32052470e-04,-1.51272622e-04,-1.83261454e-04,-2.03833367e-04,
 -1.20121111e-03,-1.84558303e-04,-9.80568815e+00,-6.50494128e-02,
 -1.07450341e-02,-3.94590733e-03]


--- Step 473 ---
qpos:
[ 0.00986947, 0.00807978,-0.00559911, 0.03344535, 0.00342723,-0.00298344,
 -0.00661952, 0.03917208, 0.01303962, 0.0059154 ,-0.01169258, 0.03408575,
  0.36013217, 0.00415133, 0.78270454, 0.0477793 , 0.08744923,-0.07029048,
  0.14287905, 0.95693139,-0.02765323, 0.01832765, 0.28841241]

qacc:
[  1.16402505,  1.65894746, -6.07285335,  9.12014813, -6.5781214 ,
  -5.15638309, 13.62390488,-15.53986585,  2.92480574,  2.5604157 ,
 -11.46302614, 22.3091887 , -2.94338981,  4.62091811,  9.28996972,
 -35.26103985,  0.34709993,  3.02206474, -0.64302185,-28.82755227,
  25.6630159 , -1.91737158]

qfrc_actuator:
[ 1.79243988e-05, 2.38496326e-04, 7.41294482e-05, 6.28570407e-06,
  4.42123591e-05, 6.00768308e-03,-1.96241790e-04,-1.21960561e-05,
 -1.66760114e-05,-1.38475191e-05,-5.00240574e-05, 4.17469759e-05,
  9.07406978e-02,-1.57293116e-05, 3.43051997e-02,-4.36220378e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.14495489,  10.64513732, -13.43988577,  10.64513732,
        47.82187651,  24.29782878, -13.43988577,  24.29782878,
        36.39018721,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0009405138002517716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.90221549e-14, -8.85332324e-14,  1.00000000e+00,  5.22542216e-27,
        1.00000000e+00,  8.85332324e-14, -1.00000000e+00,  0.00000000e+00,
        5.90221549e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07748514, -0.11296244,  0.06197906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92724475e-06, 2.31883423e-05,-1.46876672e-05, 8.33233775e-06,
 -3.90080892e-05,-3.70906626e-04,-7.13144452e-05,-2.92848951e-05,
  1.72015895e-05, 1.17566893e-06,-2.39502155e-05, 2.92263211e-05,
 -5.40977392e-04,-1.12016245e-04,-1.76018880e-04,-2.20861954e-04,
 -1.38090219e-03,-1.99329970e-04,-9.80615986e+00,-6.50558212e-02,
 -1.08320087e-02,-3.84336019e-03]


--- Step 474 ---
qpos:
[ 0.00986925, 0.00807928,-0.00559839, 0.03344468, 0.00342838,-0.00285798,
 -0.0066202 , 0.03917155, 0.01303953, 0.0059148 ,-0.01169261, 0.03408614,
  0.36199306, 0.00416291, 0.78370849, 0.0477696 , 0.08733563,-0.07031228,
  0.14293045, 0.95692888,-0.02771156, 0.01763442, 0.28845835]

qacc:
[-2.33485010e+00, 4.95566090e-02,-2.99250867e-01, 1.58038948e+00,
  2.11818214e+00,-2.44500425e+00, 3.99143300e+00,-3.05233044e+00,
  1.81058748e+00, 2.25001705e+00,-7.23116294e+00, 7.86036056e+00,
 -1.82960678e+00, 1.97318427e+00,-2.39674243e+01, 7.78558673e+01,
  3.34883409e-01, 2.95054546e+00,-8.71278428e-01,-2.80990028e+01,
  2.48190394e+01,-1.44712515e+00]

qfrc_actuator:
[ 4.02203160e-06, 2.49060981e-04, 8.24327679e-05, 1.15727437e-05,
  5.75468792e-05, 5.87501670e-03,-2.21475378e-04,-1.80763966e-05,
 -6.40105890e-06, 2.27384499e-05,-7.55366498e-05, 4.22883920e-05,
  9.05733135e-02,-2.59887227e-05, 3.42333958e-02,-4.00217074e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.03404225,  11.36857015, -12.68519641,  11.36857015,
        59.5179926 ,  38.07444161, -12.68519641,  38.07444161,
        51.15664836,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0009184454024125932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.06605081e-14,  7.55504234e-14,  1.00000000e+00, -6.84943977e-27,
        1.00000000e+00, -7.55504234e-14, -1.00000000e+00,  0.00000000e+00,
        9.06605081e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07748601, -0.1129739 ,  0.06197956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36951217e-05, 2.08747913e-05, 1.15742477e-05, 5.93616340e-06,
  1.20992309e-05,-3.60733675e-04,-1.13144671e-04,-2.50947083e-05,
  1.07615648e-05, 3.35822130e-05,-2.72055747e-05, 3.31228815e-07,
 -5.29359498e-04,-1.38809324e-04,-1.87750556e-04, 3.22788941e-04,
 -1.55354426e-03,-1.56839270e-04,-9.80653279e+00,-6.50722944e-02,
 -1.09135844e-02,-3.75108488e-03]


--- Step 475 ---
qpos:
[ 0.00986887, 0.00807898,-0.00559789, 0.03344409, 0.00343002,-0.00273516,
 -0.00662153, 0.03917097, 0.01303922, 0.00591465,-0.01169274, 0.03408649,
  0.3638507 , 0.00417432, 0.78470956, 0.04776662, 0.08722332,-0.07032251,
  0.14297761, 0.95692415,-0.02783646, 0.01697142, 0.28850178]

qacc:
[ -1.45704748,  1.04767486, -3.67291525,  5.26361599,  4.37853618,
  -1.78253373,  1.56612909,  0.30158871, -1.95575557,  0.8060873 ,
  -1.87086198,  1.07754058, -1.74825147,  1.76978937,-24.48045009,
  79.67577286,  0.32343105,  2.89156995, -1.06176834,-27.4986021 ,
  24.11759063, -1.04756824]

qfrc_actuator:
[-4.07304397e-06, 2.55522902e-04, 6.93083356e-05, 1.49603249e-05,
  8.26991356e-05, 5.74684853e-03,-2.53811327e-04,-2.13331551e-05,
 -1.80784873e-05, 6.24348963e-05,-7.27118415e-05, 4.24602136e-05,
  9.04060681e-02,-3.67086062e-05, 3.41063955e-02,-3.66192746e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.86623838,  12.02374491, -11.82791425,  12.02374491,
        68.94512815,  52.94114181, -11.82791425,  52.94114181,
        70.68390824,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008930697665788384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10788436e-14,  3.10788436e-14,  1.00000000e+00, -9.65894521e-28,
        1.00000000e+00, -3.10788436e-14, -1.00000000e+00,  0.00000000e+00,
        3.10788436e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0774863 , -0.11298722,  0.06198013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.47768697e-06, 2.07877781e-05,-7.18169319e-06, 4.79973954e-06,
  2.53762122e-05,-3.58886158e-04,-1.23117299e-04,-2.33956835e-05,
 -1.13605613e-05, 5.28947196e-05, 6.42794452e-06, 6.76149582e-07,
 -5.26353736e-04,-1.41495019e-04,-1.84188651e-04, 3.32604470e-04,
 -1.71918518e-03,-6.26299889e-05,-9.80681842e+00,-6.50977568e-02,
 -1.09894116e-02,-3.66858950e-03]


--- Step 476 ---
qpos:
[ 0.00986874, 0.00807881,-0.00559754, 0.03344389, 0.00343161,-0.00261486,
 -0.0066234 , 0.03917066, 0.01303912, 0.00591488,-0.01169252, 0.03408612,
  0.365705  , 0.00418587, 0.78570855, 0.04776407, 0.08711226,-0.07032137,
  0.14301989, 0.95691709,-0.02802664, 0.01633783, 0.28854335]

qacc:
[  2.19439554,  1.39759143, -6.42535285, 13.44963759, -0.46767619,
  -1.27736592, -1.47305593,  9.04965003,  1.82889949, -1.94289326,
  10.67191591,-23.88616545, -2.42505824,  3.38725157, -4.23217773,
  10.67649127,  0.31267165,  2.84320446, -1.22056404,-27.00715425,
  23.53491921, -0.70307797]

qfrc_actuator:
[ 9.07401910e-06, 2.59393038e-04, 6.13626048e-05, 3.49338905e-05,
  7.90838016e-05, 5.64015251e-03,-2.72281761e-04,-5.25990730e-06,
 -7.07564968e-06, 8.60505914e-05,-5.31479506e-05, 6.93947578e-06,
  9.02336954e-02,-2.98523601e-05, 3.39783348e-02,-3.65589861e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.63631871,  12.57058014, -10.89713793,  12.57058014,
        75.28258717,  67.65240767, -10.89713793,  67.65240767,
        94.67791255,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008653298779081747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.41502768e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.41502768e-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([ 0.07748616, -0.11300188,  0.06198075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29134160e-05, 1.42214393e-05,-4.37052101e-06, 2.07105822e-05,
 -3.01268316e-06,-3.38259693e-04,-1.10001335e-04,-4.29149424e-06,
  1.06975421e-05, 5.45527183e-05, 3.13076473e-05,-3.30181962e-05,
 -5.29996569e-04,-1.23844934e-04,-1.82625616e-04,-6.47650669e-07,
 -1.87799152e-03, 7.91809887e-05,-9.80702564e+00,-6.51313766e-02,
 -1.10592390e-02,-3.59547914e-03]


--- Step 477 ---
qpos:
[ 0.00986877, 0.00807856,-0.00559721, 0.0334443 , 0.00343279,-0.00249729,
 -0.0066252 , 0.03917087, 0.01303949, 0.00591529,-0.01169198, 0.03408536,
  0.36755608, 0.00419742, 0.78670569, 0.04775988, 0.08701386,-0.07032072,
  0.14306558, 0.95690857,-0.02818769, 0.0157705 , 0.28858747]

qacc:
[  1.39357276,  1.18519702, -6.94554891, 17.50592747, -3.46884695,
  -2.70866802,  2.24540766,  8.63776177,  4.20846135, -1.48988453,
   7.33629186,-14.85063568, -2.2958862 ,  3.05220286,  2.32110457,
 -11.7750828 ,  3.16618911, -0.12314288,  0.85251233, 23.45539939,
  27.47576782,  2.59822872]

qfrc_actuator:
[ 1.68639870e-05, 2.43955206e-04, 5.65447222e-05, 6.45108140e-05,
  5.85614674e-05, 5.51177720e-03,-2.64547719e-04, 2.20898866e-05,
  1.71951913e-05, 8.21489417e-05,-4.17035226e-05,-1.37975311e-05,
  9.00743492e-02,-3.04445781e-05, 3.38869502e-02,-3.74028094e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008516562586848575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.04308308, -0.06228156,  0.06198106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.16237349e-06,-7.49299189e-06,-1.70402458e-06, 3.04377205e-05,
 -2.07214886e-05,-3.44789280e-04,-7.72235094e-05, 8.70187885e-06,
  2.45949293e-05, 3.16499189e-05, 2.54217356e-05,-1.79592789e-05,
 -5.16179421e-04,-1.29154461e-04,-1.84244830e-04,-1.09869402e-04,
 -2.03018650e-03, 2.65573662e-04,-9.80716134e+00,-6.51725022e-02,
 -1.11228776e-02,-3.53143675e-03]


--- Step 478 ---
qpos:
[ 0.00986854, 0.00807829,-0.00559666, 0.03344469, 0.00343372,-0.00238241,
 -0.00662664, 0.03917104, 0.01303947, 0.00591604,-0.01169164, 0.03408472,
  0.36940402, 0.00420863, 0.787701  , 0.0477543 , 0.08692755,-0.07032056,
  0.14311298, 0.95689847,-0.02832096, 0.01526729, 0.28863497]

qacc:
[ -2.2020533 , -0.67741176,  2.49087503, -3.20686397, -2.18578825,
  -4.68922495, 11.77063724,-11.24955446, -3.54650647,  1.25137172,
  -4.32580999,  6.4856911 , -1.914191  ,  2.0115059 ,  1.63134941,
  -9.41395071,  3.01933095, -0.12333928,  0.42823626, 22.49870639,
  26.63532591,  2.96969759]

qfrc_actuator:
[ 3.67888792e-06, 2.52598373e-04, 7.12863326e-05, 6.39781724e-05,
  4.60140914e-05, 5.38936050e-03,-2.41472312e-04, 2.03498997e-05,
 -4.18427070e-06, 9.72808183e-05,-5.30029994e-05,-7.94432900e-06,
  8.99069503e-02,-5.31670585e-05, 3.38122994e-02,-3.80601416e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([16.56762753, 13.30208954, -9.87626933, 13.30208954, 30.24163646,
       18.41716596, -9.87626933, 18.41716596, 41.37322796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008579699186698209
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.6175145e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.6175145e-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([ 0.04308158, -0.06228505,  0.06198093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29559724e-05, 5.41257001e-06, 1.40349204e-05,-3.21715421e-07,
 -1.32544444e-05,-3.35063601e-04,-5.87135274e-05,-1.92752250e-05,
 -2.06678747e-05, 3.73022119e-05,-2.26215226e-06, 7.73815005e-06,
 -5.16765281e-04,-1.49214053e-04,-1.80739554e-04,-9.75912458e-05,
 -1.59639531e-03, 2.17358403e-04,-9.80772366e+00,-6.52140534e-02,
 -1.11841126e-02,-3.49141185e-03]


--- Step 479 ---
qpos:
[ 0.00986851, 0.00807808,-0.00559595, 0.03344506, 0.00343415,-0.00226993,
 -0.00662791, 0.0391708 , 0.01303918, 0.00591696,-0.01169109, 0.03408415,
  0.37124884, 0.00421925, 0.7886945 , 0.04774427, 0.08685282,-0.0703209 ,
  0.14316066, 0.95688671,-0.02842755, 0.01482636, 0.28868648]

qacc:
[ 1.65962468e+00,-3.85739452e-01, 1.52196161e+00,-2.01424286e+00,
 -4.37527633e+00,-4.40330184e+00, 1.28124865e+01,-1.81977843e+01,
 -2.24537238e+00,-1.89059244e-01, 7.36248194e-01,-3.36932220e-02,
 -1.81635964e+00, 1.60274775e+00, 1.08610485e+01,-4.16560843e+01,
  2.89669388e+00,-1.23299610e-01, 7.03313222e-02, 2.16910067e+01,
  2.59048815e+01, 3.24670916e+00]

qfrc_actuator:
[ 1.37609797e-05, 2.57896311e-04, 7.97750397e-05, 6.35158027e-05,
  2.05141581e-05, 5.28932956e-03,-2.27274155e-04, 1.51801338e-06,
 -1.67601662e-05, 1.05862001e-04,-4.20479070e-05,-4.24909708e-06,
  8.97348286e-02,-8.88330224e-05, 3.37051482e-02,-4.03765617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([16.55046825, 13.87198356, -9.02696356, 13.87198356, 32.66682293,
       24.76644618, -9.02696356, 24.76644618, 54.6097483 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008561814669689888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.48357309e-14, -9.72535964e-14,  1.00000000e+00, -6.30550801e-27,
        1.00000000e+00,  9.72535964e-14, -1.00000000e+00,  0.00000000e+00,
       -6.48357309e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04307738, -0.06228754,  0.06198098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.71450346e-06, 1.12084563e-05, 1.13207409e-05, 2.47976655e-07,
 -2.59907493e-05,-3.04518195e-04,-6.42428955e-05,-3.58495114e-05,
 -1.31479842e-05, 2.92681102e-05, 1.86388264e-05, 5.36594367e-06,
 -5.25929385e-04,-1.65593597e-04,-2.10269345e-04,-2.62365357e-04,
 -1.22867168e-03, 1.80928042e-04,-9.80820390e+00,-6.52497710e-02,
 -1.12391170e-02,-3.45485204e-03]


--- Step 480 ---
qpos:
[ 0.00986859, 0.00807784,-0.00559539, 0.03344581, 0.00343427,-0.00215974,
 -0.0066291 , 0.03917068, 0.01303875, 0.00591787,-0.01169033, 0.03408399,
  0.37309033, 0.00422976, 0.7896852 , 0.04773616, 0.08678926,-0.07032173,
  0.14320742, 0.95687322,-0.02850843, 0.01444613, 0.28874249]

qacc:
[ 1.0586329 , 1.14226451,-5.68788974,12.3331708 ,-2.6747039 ,-3.05701606,
  6.01889461,-2.55508312,-1.29875565, 0.24747593,-2.67252736, 9.57400865,
 -2.07281636, 2.42333452,-9.83489631,28.66324599, 2.79461869,-0.12313795,
 -0.23052383,21.01145906,25.27400324, 3.45177388]

qfrc_actuator:
[ 1.97110102e-05, 2.43376776e-04, 6.67417002e-05, 8.08483944e-05,
  5.34514376e-06, 5.18574892e-03,-2.18337813e-04, 8.30374284e-06,
 -2.40393700e-05, 9.27826440e-05,-3.58144174e-05, 1.59095448e-05,
  8.95599852e-02,-9.63838131e-05, 3.36105146e-02,-3.92142660e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([16.46917572, 14.54661936, -7.72202137, 14.54661936, 35.0370738 ,
       34.97790703, -7.72202137, 34.97790703, 82.359993  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008479492217112056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.54651833e-14, -9.81977750e-14,  1.00000000e+00, -6.42853534e-27,
        1.00000000e+00,  9.81977750e-14, -1.00000000e+00,  0.00000000e+00,
       -6.54651833e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04307102, -0.06228926,  0.06198117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.23012631e-06,-5.90046454e-06,-9.32212700e-06, 1.82070717e-05,
 -1.60105249e-05,-2.92757666e-04,-6.44220357e-05,-9.43052724e-06,
 -7.64031499e-06, 7.32343171e-06, 1.47448503e-05, 2.21606856e-05,
 -5.38478823e-04,-1.41878572e-04,-2.28932036e-04, 7.27114515e-05,
 -9.20254293e-04, 1.53136645e-04,-9.80861181e+00,-6.52793234e-02,
 -1.12885107e-02,-3.42182635e-03]


--- Step 481 ---
qpos:
[ 0.00986875, 0.00807768,-0.00559502, 0.0334464 , 0.00343489,-0.00205174,
 -0.00663054, 0.03917064, 0.01303893, 0.0059191 ,-0.01169047, 0.03408446,
  0.3749284 , 0.00424045, 0.79067362, 0.04773296, 0.08673655,-0.07032305,
  0.14325225, 0.95685797,-0.02856435, 0.01412523, 0.28880335]

qacc:
[  0.61247779,  0.30836678, -0.27283885, -2.19755324,  4.48524838,
  -2.02129776,  2.66747907,  0.79036081,  5.29556171,  4.20198262,
 -17.0197152 , 29.0166883 , -2.30683377,  3.11830044,-18.08662764,
  58.68383784,  2.70990931, -0.12292974, -0.48272063, 20.44164943,
  24.73202715,  3.60215835]

qfrc_actuator:
[ 2.31739140e-05, 2.52532232e-04, 5.87906969e-05, 7.29765907e-05,
  3.18872724e-05, 5.08091206e-03,-2.30303675e-04, 1.23583152e-05,
  7.35978644e-06, 1.02333429e-04,-8.57634288e-05, 4.55684732e-05,
  8.93889654e-02,-8.72927844e-05, 3.35608267e-02,-3.65431895e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.33028073, -15.28499547,   5.74865047, -15.28499547,
        35.87294106,  51.9616693 ,   5.74865047,  51.9616693 ,
       154.49033833,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008346696256171793
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.65067346e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.65067346e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.043063  , -0.06229037,  0.06198147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.63801697e-06, 4.71299010e-06,-9.69369573e-06,-8.09546427e-06,
  2.59875392e-05,-2.86256219e-04,-8.19775784e-05,-1.11454368e-05,
  3.11866459e-05, 1.75959799e-05,-4.58727104e-05, 3.09110729e-05,
 -5.36997441e-04,-1.24432466e-04,-1.52808661e-04, 2.40435804e-04,
 -6.65657734e-04, 1.31694599e-04,-9.80895521e+00,-6.53025174e-02,
 -1.13327438e-02,-3.39238281e-03]


--- Step 482 ---
qpos:
[ 0.00986929, 0.0080776 ,-0.00559477, 0.03344688, 0.00343583,-0.00194607,
 -0.00663206, 0.03917031, 0.01304017, 0.00592034,-0.01169111, 0.03408529,
  0.37676322, 0.00425115, 0.79166059, 0.04772957, 0.0866944 ,-0.07032487,
  0.14329431, 0.95684095,-0.02859598, 0.01386252, 0.28886934]

qacc:
[  3.3758881 ,  0.20197012, -0.15099883, -1.48451565,  2.79064931,
  -3.47108081,  9.12459323,-12.32546726,  9.35219364,  2.13918682,
  -9.16991896, 16.28528491, -2.2871705 ,  3.00807968, -1.44064001,
   2.25453815,  2.63982853, -0.12272421, -0.69361124, 19.9656782 ,
  24.26884847,  3.71114568]

qfrc_actuator:
[ 4.28991946e-05, 2.58034050e-04, 5.39819383e-05, 6.81120085e-05,
  4.72584608e-05, 4.95836045e-03,-2.36759208e-04,-2.99562406e-06,
  6.12709992e-05, 8.96299368e-05,-1.15137749e-04, 6.28029254e-05,
  8.92310190e-02,-8.62216371e-05, 3.34795771e-02,-3.67324465e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008175148580058661
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.71609259e-13, -8.48778935e-14,  1.00000000e+00, -2.30536218e-26,
        1.00000000e+00,  8.48778935e-14, -1.00000000e+00,  0.00000000e+00,
       -2.71609259e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04305372, -0.06229099,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98312958e-05, 5.78878135e-06,-5.31340663e-06,-5.15755545e-06,
  1.60142122e-05,-3.03938645e-04,-7.73192654e-05,-3.09126309e-05,
  5.48082111e-05,-1.10469639e-05,-3.03351740e-05, 1.69982280e-05,
 -5.18053636e-04,-1.29950207e-04,-1.33938176e-04,-2.72234954e-05,
 -4.60456719e-04, 1.14933472e-04,-9.80924031e+00,-6.53192510e-02,
 -1.13721456e-02,-3.36655313e-03]


--- Step 483 ---
qpos:
[ 0.00987007, 0.0080775 ,-0.00559427, 0.03344764, 0.00343729,-0.00184293,
 -0.00663362, 0.0391705 , 0.01304101, 0.00592106,-0.01169181, 0.03408533,
  0.37859482, 0.00426181, 0.79264586, 0.04772663, 0.08666258,-0.07032717,
  0.14333288, 0.95682214,-0.02860384, 0.01365703, 0.28894065]

qacc:
[  2.04621932, -0.13793604, -0.72240772,  5.09364829,  4.63411636,
  -2.17347179,  0.63924516, 10.44439262, -3.49129211, -2.13988894,
  10.02527068,-23.36473003, -2.19711094,  2.80192979, -3.73851113,
   9.72168091,  2.58206015, -0.12255254, -0.86953278, 19.57000417,
  23.87526727,  3.78897261]

qfrc_actuator:
[ 5.42863764e-05, 2.61319525e-04, 6.88143515e-05, 8.28131504e-05,
  7.36706429e-05, 4.82620833e-03,-2.39978036e-04, 2.36055551e-05,
  3.92247352e-05, 2.82463888e-05,-1.32208304e-04, 1.93346698e-05,
  8.90650472e-02,-8.98601006e-05, 3.34060260e-02,-3.64762847e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007974658330605067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.96094415e-14, -1.74023604e-14,  1.00000000e+00, -1.21136859e-27,
        1.00000000e+00,  1.74023604e-14, -1.00000000e+00,  0.00000000e+00,
       -6.96094415e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04304352, -0.06229124,  0.0619823 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19545184e-05, 5.20792372e-06, 1.51907409e-05, 1.46625620e-05,
  2.67659811e-05,-3.23229128e-04,-7.78158633e-05, 1.00677105e-05,
 -2.04882758e-05,-7.31148774e-05,-2.25105124e-05,-4.46656294e-05,
 -5.15559689e-04,-1.31496014e-04,-1.49534821e-04, 4.31848957e-06,
 -3.01097740e-04, 1.01636469e-04,-9.80947206e+00,-6.53294805e-02,
 -1.14069585e-02,-3.34435671e-03]


--- Step 484 ---
qpos:
[ 0.00987028, 0.00807743,-0.0055936 , 0.03344822, 0.00343906,-0.00174207,
 -0.00663562, 0.03917135, 0.01304124, 0.0059213 ,-0.01169294, 0.03408417,
  0.3804231 , 0.00427272, 0.79362954, 0.04772492, 0.08664089,-0.07032996,
  0.14336739, 0.95680153,-0.02858838, 0.01350792, 0.28901744]

qacc:
[ -4.90278498, -0.81935474,  3.76344331, -7.20768058,  2.70802082,
  -0.39686906, -5.7110122 , 19.42146917, -5.41639378, -1.87527784,
  10.77541813,-30.29316181, -2.49775421,  3.60111267, -5.92399274,
  17.67188869,  2.53465815, -0.12243347, -1.01589507, 19.2431847 ,
  23.54309111,  3.84353353]

qfrc_actuator:
[ 2.51643348e-05, 2.63351048e-04, 7.73759869e-05, 7.34144376e-05,
  8.86204175e-05, 4.72493786e-03,-2.59018557e-04, 5.69235283e-05,
  8.14595588e-06,-8.56635394e-06,-1.59886249e-04,-4.17865642e-05,
  8.88943748e-02,-7.85386261e-05, 3.33531464e-02,-3.57809131e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007753406663638246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.15958206e-14, -1.78989551e-14,  1.00000000e+00, -1.28149038e-27,
        1.00000000e+00,  1.78989551e-14, -1.00000000e+00,  0.00000000e+00,
       -7.15958206e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04303268, -0.06229121,  0.0619828 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.87811748e-05, 8.70813469e-06, 1.20082179e-05,-8.36778653e-06,
  1.56009254e-05,-3.01386213e-04,-9.62369825e-05, 1.67424974e-05,
 -3.16823008e-05,-8.42853806e-05,-4.70972580e-05,-6.59017034e-05,
 -5.19026963e-04,-1.16317350e-04,-1.31517485e-04, 4.82231614e-05,
 -1.84740886e-04, 9.09158560e-05,-9.80965434e+00,-6.53331979e-02,
 -1.14373629e-02,-3.32580376e-03]


--- Step 485 ---
qpos:
[ 0.00987015, 0.00807733,-0.00559305, 0.03344836, 0.00344064,-0.00164338,
 -0.00663789, 0.03917153, 0.01304178, 0.00592129,-0.01169462, 0.03408331,
  0.38224812, 0.00428373, 0.7946116 , 0.04772304, 0.08662919,-0.07033324,
  0.14339736, 0.9567791 ,-0.02854995, 0.01341453, 0.2890998 ]

qacc:
[ -3.07938761, -0.58142988,  3.87043524,-11.17938619, -1.54810313,
  -3.54670486, 11.33492491,-21.01378143,  2.76038677,  1.78171989,
  -8.04992422, 14.10019454, -2.37512755,  3.25366752, -1.74307513,
   2.94670097,  2.49599352, -0.12237706, -1.13729255, 18.97558739,
  23.2651126 ,  3.88091436]

qfrc_actuator:
[ 7.94066454e-06, 2.46825339e-04, 6.43829939e-05, 4.98992546e-05,
  7.89483088e-05, 4.62519548e-03,-2.69367051e-04, 2.29248131e-05,
  2.52821046e-05, 5.05253889e-06,-1.75780938e-04,-2.40274677e-05,
  8.87263328e-02,-7.62564208e-05, 3.32701147e-02,-3.58968208e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007518189895808908
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.69178965e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.69178965e-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([ 0.04302145, -0.06229097,  0.06198332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80413321e-05,-9.55144028e-06,-1.00120993e-05,-2.28908824e-05,
 -9.33042820e-06,-2.91079897e-04,-8.50399039e-05,-5.01405367e-05,
  1.62101878e-05,-4.60693563e-05,-4.13711929e-05, 1.12410184e-05,
 -5.15009392e-04,-1.23896461e-04,-1.49345088e-04,-2.83367559e-05,
 -1.09129764e-04, 8.21240482e-05,-9.80979022e+00,-6.53304153e-02,
 -1.14634940e-02,-3.31089783e-03]


--- Step 486 ---
qpos:
[ 0.00987015, 0.00807673,-0.00559272, 0.03344864, 0.00344245,-0.00154691,
 -0.00664002, 0.03917127, 0.01304252, 0.00592115,-0.01169604, 0.03408259,
  0.38407021, 0.00429381, 0.79559181, 0.04771905, 0.08662735,-0.07033701,
  0.14342237, 0.95675486,-0.02848884, 0.01337628, 0.28918781]

qacc:
[  1.22779728,  0.23365027, -2.37977099,  5.43632639,  1.94833622,
  -4.20030769, 12.53878506,-18.60612612,  1.77449527, -0.56762367,
   1.14963854,  1.10777891, -1.25209618,  0.23397787,  3.68506554,
 -16.75156772,  2.46470442, -0.12238735, -1.23761907, 18.75911178,
  23.03502866,  3.9058004 ]

qfrc_actuator:
[ 1.56235868e-05, 1.83703843e-04, 3.86857431e-05, 5.37453240e-05,
  9.03708253e-05, 4.52717739e-03,-2.56766076e-04, 2.86091839e-06,
  3.51575766e-05, 3.11276907e-05,-1.48816745e-04,-1.31991872e-05,
  8.85653083e-02,-1.32608003e-04, 3.31637260e-02,-3.70229742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007274626081600899
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.63079100e-14, -7.63079100e-14,  1.00000000e+00,  5.82289713e-27,
        1.00000000e+00,  7.63079100e-14, -1.00000000e+00,  0.00000000e+00,
        7.63079100e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04301002, -0.06229056,  0.06198386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.16664711e-06,-7.15210000e-05,-2.97002015e-05, 2.64428273e-06,
  1.10610924e-05,-2.84070537e-04,-6.08654775e-05,-3.66705062e-05,
  1.03194444e-05,-7.72165702e-06, 1.27628791e-05, 7.64655909e-06,
 -5.07328086e-04,-1.82857678e-04,-1.88802219e-04,-1.35777994e-04,
 -7.24856889e-05, 7.47889149e-05,-9.80988209e+00,-6.53211542e-02,
 -1.14854545e-02,-3.29963767e-03]


--- Step 487 ---
qpos:
[ 0.0098699 , 0.00807576,-0.00559303, 0.03344897, 0.00344403,-0.00145258,
 -0.00664206, 0.03917076, 0.01304373, 0.00592091,-0.01169716, 0.034082  ,
  0.38588931, 0.0043029 , 0.79657011, 0.04771398, 0.08663526,-0.07034127,
  0.1434421 , 0.95672879,-0.02840527, 0.01339273, 0.28928153]

qacc:
[-2.23440771e+00, 1.39890621e+00,-5.90521753e+00, 8.10766703e+00,
 -1.91457303e+00,-3.57849717e+00, 9.74204193e+00,-1.26780833e+01,
  4.03645791e+00,-7.34655359e-01, 1.86556139e+00,-5.03416930e-02,
 -1.17743434e+00, 3.27036902e-03, 4.93608723e-01,-5.72723910e+00,
  2.43965175e+00,-1.22464169e-01,-1.32017516e+00, 1.85869389e+01,
  2.28473385e+01, 3.92179008e+00]

qfrc_actuator:
[ 2.39517009e-06, 1.64131679e-04, 5.52095450e-06, 5.58615180e-05,
  7.86203908e-05, 4.43111237e-03,-2.48432083e-04,-8.81352156e-06,
  5.84178531e-05, 2.91517725e-05,-1.32218692e-04,-6.50400349e-06,
  8.84032573e-02,-1.87648500e-04, 3.30913341e-02,-3.74925458e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007027330136547966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57986462e-13,  5.92449232e-14,  1.00000000e+00,  9.35989580e-27,
        1.00000000e+00, -5.92449232e-14, -1.00000000e+00,  0.00000000e+00,
       -1.57986462e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04299855, -0.06229004,  0.06198441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30465777e-05,-6.55689605e-05,-5.15026838e-05,-1.92503136e-06,
 -1.15310445e-05,-2.72539825e-04,-6.02164825e-05,-2.68773566e-05,
  2.35480399e-05,-3.30070479e-06, 1.68598456e-05, 6.95948627e-06,
 -5.16548172e-04,-1.89213837e-04,-1.82971026e-04,-8.07371961e-05,
 -7.34219873e-05, 6.85665378e-05,-9.80993175e+00,-6.53054384e-02,
 -1.15033231e-02,-3.29201868e-03]


--- Step 488 ---
qpos:
[ 0.00986915, 0.00807507,-0.00559407, 0.03344925, 0.00344545,-0.00136036,
 -0.00664428, 0.03916978, 0.0130452 , 0.0059205 ,-0.01169889, 0.03408226,
  0.38770521, 0.00431161, 0.79754664, 0.04771056, 0.08665286,-0.07034603,
  0.14345628, 0.95670086,-0.02829941, 0.01346351, 0.28938097]

qacc:
[ -4.43270616,  2.33138138, -7.54559727,  7.59584187, -1.31421984,
  -3.28298986,  9.60934032,-15.86625628,  2.35622547,  3.22394013,
 -15.40493279, 31.18305601, -1.78495713,  1.65145821, -7.51519583,
  22.69193019,  2.41988097, -0.12260447, -1.38776314, 18.45331494,
  22.69723986,  3.93163747]

qfrc_actuator:
[-2.30431311e-05, 2.24004462e-04,-1.38770603e-05, 5.69659413e-05,
  7.10711494e-05, 4.31926441e-03,-2.60420488e-04,-3.32151953e-05,
  7.16191197e-05,-7.37899556e-06,-1.75252463e-04, 3.31775728e-05,
  8.82407002e-02,-2.05963365e-04, 3.30500635e-02,-3.65048302e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006780062298936268
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.18741020e-14, -4.09370510e-14,  1.00000000e+00,  3.35168429e-27,
        1.00000000e+00,  4.09370510e-14, -1.00000000e+00,  0.00000000e+00,
        8.18741020e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04298718, -0.06228944,  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:
[-2.58274132e-05, 1.25191588e-05,-3.93372560e-05,-3.52203981e-06,
 -7.96872931e-06,-2.81251923e-04,-7.77128730e-05,-3.88913669e-05,
  1.38664565e-05,-3.45604959e-05,-4.13806183e-05, 4.02625175e-05,
 -5.23956823e-04,-1.55660652e-04,-1.43102193e-04, 6.88002731e-05,
 -1.10874602e-04, 6.32066133e-05,-9.80994058e+00,-6.52832888e-02,
 -1.15171610e-02,-3.28803396e-03]


--- Step 489 ---
qpos:
[ 0.00986845, 0.00807452,-0.00559509, 0.03344916, 0.00344713,-0.00127008,
 -0.00664651, 0.03916916, 0.01304647, 0.00591989,-0.01170081, 0.03408262,
  0.38951782, 0.00432034, 0.79852119, 0.0477103 , 0.08668007,-0.07035127,
  0.14346469, 0.95667104,-0.0281714 , 0.01358833, 0.28948617]

qacc:
[  0.40001328, -0.63727707,  4.12195007,-10.70141246,  2.17004801,
  -1.75602057,  1.01412032,  6.76205303, -1.7446579 ,  0.49326197,
  -2.55951526,  4.78506157, -2.16408805,  2.73059211,-12.3757523 ,
  39.34883636,  2.40459002, -0.12280328, -1.44276884, 18.35336808,
  22.58053229,  3.9374406 ]

qfrc_actuator:
[-1.99519954e-05, 2.42286855e-04,-6.90181816e-06, 3.97957130e-05,
  8.38148914e-05, 4.25205117e-03,-2.48869951e-04,-1.16785403e-05,
  6.10372309e-05,-1.12793701e-05,-1.82261349e-04, 3.86218420e-05,
  8.80779661e-02,-2.02450666e-04, 3.29742648e-02,-3.48432266e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006535854186381224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54799830e-13, -2.12333192e-14,  1.00000000e+00, -5.41024612e-27,
        1.00000000e+00,  2.12333192e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54799830e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04297601, -0.06228879,  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:
[ 2.36461249e-06, 1.70366289e-05, 4.61590416e-06,-1.80588777e-05,
  1.24237290e-05,-2.45536362e-04,-5.85161910e-05, 5.84054010e-06,
 -1.02028313e-05,-3.00048872e-05,-1.78261070e-05, 3.31903095e-06,
 -5.20871640e-04,-1.30425479e-04,-1.44246515e-04, 1.49283351e-04,
 -1.84045718e-04, 5.85270402e-05,-9.80990954e+00,-6.52547205e-02,
 -1.15270170e-02,-3.28767513e-03]


--- Step 490 ---
qpos:
[ 0.00986778, 0.00807405,-0.00559629, 0.03344888, 0.00344894,-0.00118157,
 -0.00664813, 0.0391684 , 0.01304726, 0.00591925,-0.01170259, 0.03408231,
  0.39132729, 0.00432877, 0.79949397, 0.04771134, 0.08671686,-0.070357  ,
  0.14346716, 0.95663931,-0.02802132, 0.013767  , 0.28959713]

qacc:
[  0.36542328,  0.21603961,  0.14243198, -3.06900933,  1.27549532,
  -4.35813392, 12.77399842,-15.05252199, -4.23282602, -1.84404751,
   9.36053174,-21.22963336, -1.84453157,  1.85854173, -6.42616584,
  18.92945883,  2.39310258, -0.12305435, -1.48723047, 18.28295746,
  22.49353221,  3.94078808]

qfrc_actuator:
[-1.78428163e-05, 2.35634077e-04,-2.00744378e-05, 2.97537069e-05,
  9.06469262e-05, 4.19451907e-03,-2.05531976e-04,-1.64829779e-05,
  3.65453200e-05, 4.49114124e-06,-1.67830796e-04, 6.17667032e-06,
  8.79152490e-02,-2.21605709e-04, 3.28884826e-02,-3.42192980e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006297116108296419
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.40766458e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.40766458e-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([ 0.04296513, -0.06228812,  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:
[ 2.18585505e-06, 3.08884480e-06,-9.69059564e-06,-9.49998120e-06,
  7.10173145e-06,-2.09924274e-04,-1.54181649e-05,-1.74326887e-05,
 -2.47956179e-05,-4.50423059e-06, 6.18238470e-06,-3.42776430e-05,
 -5.13321945e-04,-1.48532346e-04,-1.45455643e-04, 4.99278967e-05,
 -2.92357745e-04, 5.43952048e-05,-9.80983929e+00,-6.52197406e-02,
 -1.15329299e-02,-3.29093288e-03]


--- Step 491 ---
qpos:
[ 0.00986646, 0.00807332,-0.00559725, 0.0334492 , 0.00345047,-0.00109487,
 -0.0066489 , 0.03916687, 0.0130474 , 0.0059188 ,-0.01170432, 0.03408194,
  0.39313374, 0.00433634, 0.80046522, 0.0477137 , 0.08676318,-0.07036323,
  0.14346353, 0.95660563,-0.02784923, 0.01399938, 0.28971385]

qacc:
[-5.77170790e+00, 2.06812865e-01,-3.69687039e+00, 1.36486073e+01,
 -2.37835516e+00,-6.34007498e+00, 2.23497709e+01,-3.55300231e+01,
 -5.67505149e+00, 2.38059167e-02, 5.58637463e-01,-1.86179503e+00,
 -1.24063149e+00, 2.37572276e-01,-6.21961363e+00, 1.85545143e+01,
  2.38484613e+00,-1.23350652e-01,-1.52289587e+00, 1.82385485e+01,
  2.24329996e+01, 3.94287351e+00]

qfrc_actuator:
[-5.18430202e-05, 2.14032756e-04,-9.64054700e-06, 5.94529746e-05,
  7.61857189e-05, 4.10790568e-03,-1.61492607e-04,-5.44741364e-05,
  4.07036917e-06, 3.19836917e-05,-1.58554511e-04, 4.99025733e-06,
  8.77526483e-02,-2.71789463e-04, 3.28340428e-02,-3.35018211e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006065728719617525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.04295461, -0.06228744,  0.06198654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.39332913e-05,-2.22483169e-05, 9.57040990e-06, 2.93158214e-05,
 -1.43311912e-05,-2.11130185e-04,-2.84357985e-06,-4.80521951e-05,
 -3.31840422e-05, 2.48203368e-05, 7.95211495e-06,-1.82539004e-06,
 -5.12433950e-04,-1.80896459e-04,-1.26009314e-04, 5.35174752e-05,
 -4.35415495e-04, 5.07141625e-05,-9.80973020e+00,-6.51783475e-02,
 -1.15349318e-02,-3.29779738e-03]


--- Step 492 ---
qpos:
[ 0.00986543, 0.00807209,-0.00559734, 0.03344916, 0.00345182,-0.00100984,
 -0.00664946, 0.03916528, 0.01304785, 0.00591859,-0.01170542, 0.0340815 ,
  0.39493702, 0.00434385, 0.80143514, 0.04771421, 0.08681902,-0.07036995,
  0.14345369, 0.95656993,-0.02765515, 0.01428538, 0.28983632]

qacc:
[  2.60537461, -3.81580405, 14.12523385,-21.20896073, -1.59299028,
  -2.93885689,  7.57910262, -7.94975219,  2.64693417, -1.57797621,
   6.33323737, -8.55368616, -2.2493542 ,  2.86364977,  3.77302402,
 -15.73067588,  2.37933399, -0.12368474, -1.55126966, 18.21711114,
  22.39607603,  3.9445849 ]

qfrc_actuator:
[-3.58137232e-05, 1.83768108e-04, 3.23647722e-05, 4.12898124e-05,
  6.70619013e-05, 4.02234118e-03,-1.53027907e-04,-5.84507592e-05,
  2.04193893e-05, 6.63002882e-05,-1.16813240e-04, 4.46547880e-06,
  8.76008699e-02,-2.68915384e-04, 3.27558457e-02,-3.45088790e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005843121581942806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.0429445 , -0.06228677,  0.06198703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.50563900e-05,-3.94436061e-05, 3.96244414e-05,-1.82101025e-05,
 -9.60289347e-06,-2.09420356e-04,-3.81642312e-05,-1.42455198e-05,
  1.54109247e-05, 4.97869598e-05, 4.78123501e-05, 7.85586853e-07,
 -5.07620137e-04,-1.33087809e-04,-1.41239580e-04,-1.16432225e-04,
 -6.12974888e-04, 4.74124103e-05,-9.80958243e+00,-6.51305296e-02,
 -1.15330496e-02,-3.30825861e-03]


--- Step 493 ---
qpos:
[ 9.86494974e-03, 8.07086395e-03,-5.59703146e-03, 3.34478365e-02,
  3.45339019e-03,-9.26707538e-04,-6.65042345e-03, 3.91647464e-02,
  1.30488316e-02, 5.91817163e-03,-1.17055066e-02, 3.40810946e-02,
  3.96736992e-01, 4.35218096e-03, 8.02403002e-01, 4.77106131e-02,
  8.68843704e-02,-7.03771743e-02, 1.43437560e-01, 9.56532160e-01,
 -2.74390786e-02, 1.46249638e-02, 2.89964539e-01]

qacc:
[  4.78933667, -3.75871139, 18.80693273,-41.64489167,  2.0015271 ,
   0.80692148,-11.02888588, 31.55397203,  4.76229229, -3.05031027,
  10.35465316,-11.32922856, -3.26529423,  5.6235043 ,  9.55934219,
 -37.35630084,  2.37615061, -0.12404899, -1.57365204, 18.21603756,
  22.38023327,  3.94657464]

qfrc_actuator:
[-8.20768386e-06, 2.01902947e-04, 5.70808974e-05,-2.26403300e-05,
  7.89121017e-05, 3.90249207e-03,-1.83353018e-04,-6.89557036e-06,
  4.76240202e-05, 3.35728254e-05,-7.39549729e-05, 4.36045774e-06,
  8.74503821e-02,-2.16891048e-04, 3.26154981e-02,-3.67017615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005630340748893625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85928804e-14, -4.92964402e-14,  1.00000000e+00, -4.86027804e-27,
        1.00000000e+00,  4.92964402e-14, -1.00000000e+00,  0.00000000e+00,
       -9.85928804e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04293483, -0.06228611,  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:
[ 2.80243848e-05, 3.53641461e-06, 2.08346943e-05,-6.46012065e-05,
  1.15061914e-05,-2.48535766e-04,-7.97641920e-05, 4.07988125e-05,
  2.76562097e-05, 5.05169279e-06, 5.90746470e-05, 3.70139953e-06,
 -4.93609887e-04,-7.50586557e-05,-2.29620640e-04,-2.46504336e-04,
 -8.24916836e-04, 4.44362976e-05,-9.80939593e+00,-6.50762656e-02,
 -1.15273060e-02,-3.32230651e-03]


--- Step 494 ---
qpos:
[ 9.86480003e-03, 8.06987795e-03,-5.59657281e-03, 3.34460893e-02,
  3.45509337e-03,-8.45567284e-04,-6.65169357e-03, 3.91648416e-02,
  1.30497877e-02, 5.91723590e-03,-1.17048679e-02, 3.40814423e-02,
  3.98533829e-01, 4.36082806e-03, 8.03368162e-01, 4.77057107e-02,
  8.69592174e-02,-7.03848914e-02, 1.43415066e-01, 9.56492251e-01,
 -2.72009826e-02, 1.50181607e-02, 2.90098493e-01]

qacc:
[  2.93712539, -0.98474478,  5.75602896,-13.51533798,  1.16599626,
  -0.48640645, -4.72345266, 17.49535281, -0.19739778, -1.16609139,
  -0.02544421, 12.30294759, -2.50886243,  3.73139618,  0.12615727,
  -5.86212629,  2.37493972, -0.12443582, -1.59117039, 18.23307466,
  22.38322968,  3.94931415]

qfrc_actuator:
[ 8.22301596e-06, 2.31027020e-04, 7.15502875e-05,-4.19462602e-05,
  8.52576891e-05, 3.79846826e-03,-2.00923043e-04, 2.36084245e-05,
  4.54788259e-05,-2.12811929e-05,-4.88123470e-05, 3.99489502e-05,
  8.72848169e-02,-2.07258912e-04, 3.25018839e-02,-3.72684205e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005428107113408798
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.53399196e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.53399196e-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([ 0.04292565, -0.06228549,  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:
[ 1.72360423e-05, 3.26921981e-05, 1.55439129e-05,-1.96868994e-05,
  6.58751907e-06,-2.60739726e-04,-7.82843146e-05, 1.77055338e-05,
 -1.36134102e-06,-3.96382772e-05, 3.35970669e-05, 3.79219909e-05,
 -4.88709060e-04,-1.04616483e-04,-2.54231140e-04,-1.01605274e-04,
 -1.07122531e-03, 4.17443770e-05,-9.80917045e+00,-6.50155245e-02,
 -1.15177209e-02,-3.33993112e-03]


--- Step 495 ---
qpos:
[ 9.86484870e-03, 8.06922866e-03,-5.59630253e-03, 3.34444804e-02,
  3.45685906e-03,-7.65972634e-04,-6.65307759e-03, 3.91645364e-02,
  1.30503655e-02, 5.91651995e-03,-1.17050040e-02, 3.40822235e-02,
  4.00327657e-01, 4.36904785e-03, 8.04331104e-01, 4.77022585e-02,
  8.70348196e-02,-7.03804040e-02, 1.43392727e-01, 9.56452961e-01,
 -2.70427198e-02, 1.54510263e-02, 2.90220074e-01]

qacc:
[  1.72917143,  1.25294716, -4.41115011,  6.86333692,  0.57234342,
  -2.54992777,  7.81567828,-13.42112405, -3.35516641,  3.35387527,
 -13.35521337, 21.91824164, -1.60648248,  1.33772336, -7.58611024,
  21.96467821,  0.18881981,  3.05112676,  0.03888414,-32.32461838,
  30.71479158, -6.06718517]

qfrc_actuator:
[ 1.79405190e-05, 2.48751418e-04, 6.22051324e-05,-3.48234099e-05,
  8.83059038e-05, 3.75805005e-03,-1.93019624e-04, 5.99256944e-06,
  2.60723046e-05,-2.48976337e-07,-8.76761554e-05, 6.07103264e-05,
  8.71156353e-02,-2.40632703e-04, 3.24523731e-02,-3.63382676e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([12.2208362 , -7.00447836, 10.0142958 , -7.00447836, 48.75354546,
       25.55272748, 10.0142958 , 25.55272748, 30.09363828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00056138767291046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.88820274e-14,  9.88820274e-14,  1.00000000e+00, -9.77765533e-27,
        1.00000000e+00, -9.88820274e-14, -1.00000000e+00,  0.00000000e+00,
        9.88820274e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0776155 , -0.11306643,  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:
[ 1.02231628e-05, 3.84140524e-05,-1.34926183e-06, 8.68280042e-06,
  3.14693105e-06,-2.04569663e-04,-5.59226687e-05,-3.13315697e-05,
 -1.94642261e-05, 7.45943822e-06,-4.15975654e-05, 2.09633368e-05,
 -4.95393976e-04,-1.51482465e-04,-1.83046970e-04, 5.35091401e-05,
 -1.35196876e-03, 3.93031863e-05,-9.80890563e+00,-6.49482658e-02,
 -1.15043118e-02,-3.36112268e-03]


--- Step 496 ---
qpos:
[ 9.86466889e-03, 8.06869176e-03,-5.59605351e-03, 3.34429869e-02,
  3.45864744e-03,-6.87700324e-04,-6.65477058e-03, 3.91633123e-02,
  1.30507062e-02, 5.91614410e-03,-1.17062463e-02, 3.40829100e-02,
  4.02118365e-01, 4.37716825e-03, 8.05291611e-01, 4.77005942e-02,
  8.71112977e-02,-7.03638708e-02, 1.43369510e-01, 9.56413657e-01,
 -2.69610855e-02, 1.59212239e-02, 2.90331759e-01]

qacc:
[ -2.0074712 ,  0.44946756, -1.86725552,  3.80762118,  0.21203451,
  -2.7760837 , 11.23963096,-25.66981292, -2.12695334,  3.34965754,
 -10.8837764 , 10.7524723 , -1.97230819,  2.29666942, -8.89670414,
  26.15786712,  0.21895053,  3.01144481, -0.21947279,-31.15230396,
  29.10665182, -4.81738408]

qfrc_actuator:
[ 5.87989660e-06, 2.41691113e-04, 5.66029421e-05,-2.99891204e-05,
  8.93910546e-05, 3.70288863e-03,-2.05408261e-04,-3.97198664e-05,
  1.44242359e-05, 1.25248649e-05,-1.45980360e-04, 5.48419606e-05,
  8.69550369e-02,-2.45935875e-04, 3.23401885e-02,-3.54200162e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([12.48571831,  8.49230891, -9.15280565,  8.49230891, 24.84528654,
       11.46766088, -9.15280565, 11.46766088, 23.12583484,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005772838349182297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80795996e-14, -2.40397998e-14,  1.00000000e+00,  1.15582395e-27,
        1.00000000e+00,  2.40397998e-14, -1.00000000e+00,  0.00000000e+00,
        4.80795996e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0776261 , -0.11305129,  0.06198718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17541676e-05, 1.45418338e-05, 2.47458651e-06, 6.60669871e-06,
  1.10678516e-06,-1.85327203e-04,-6.35340591e-05,-5.71973322e-05,
 -1.22001699e-05, 9.27194779e-06,-6.11520484e-05,-6.57885052e-06,
 -4.99789037e-04,-1.33039396e-04,-1.98448570e-04, 6.94766536e-05,
 -1.13926454e-03,-1.95494661e-04,-9.80893482e+00,-6.48983519e-02,
 -1.14170172e-02,-3.40076250e-03]


--- Step 497 ---
qpos:
[ 9.86469106e-03, 8.06819353e-03,-5.59582579e-03, 3.34415729e-02,
  3.46009012e-03,-6.10870566e-04,-6.65687039e-03, 3.91612236e-02,
  1.30515945e-02, 5.91572117e-03,-1.17077827e-02, 3.40831694e-02,
  4.03905893e-01, 4.38574304e-03, 8.06249230e-01, 4.76994534e-02,
  8.71887478e-02,-7.03354469e-02, 1.43344500e-01, 9.56373838e-01,
 -2.69533952e-02, 1.64268553e-02, 2.90435458e-01]

qacc:
[  1.77114332,  0.2709483 , -1.23361694,  2.62187831, -3.02853567,
  -2.54334004,  9.96101915,-23.21846842,  4.80820104, -0.12878588,
   2.15610268, -9.02602625, -2.57725567,  3.95413065, -5.68841958,
  14.08976404,  0.24302861,  2.9726606 , -0.44816628,-30.16014975,
  27.7905926 , -3.85520415]

qfrc_actuator:
[ 1.66051680e-05, 2.37602251e-04, 5.31547757e-05,-2.65603669e-05,
  7.15605376e-05, 3.62152362e-03,-2.29731495e-04,-8.38589777e-05,
  4.29467172e-05, 2.38282034e-06,-1.62049638e-04, 3.33504959e-05,
  8.68050324e-02,-2.16801040e-04, 3.21798473e-02,-3.52281877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([12.63956588,  8.77120897, -9.1007977 ,  8.77120897, 28.54889233,
       15.33316436, -9.1007977 , 15.33316436, 27.41743407,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005864999219008377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.73240909e-14,  7.09861363e-14,  1.00000000e+00, -3.35935437e-27,
        1.00000000e+00, -7.09861363e-14, -1.00000000e+00,  0.00000000e+00,
        4.73240909e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07763432, -0.11304118,  0.06198697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.03968293e-05, 4.85363776e-06, 9.63890319e-08, 4.27059613e-06,
 -1.78587883e-05,-2.03397805e-04,-7.33049470e-05,-5.55604600e-05,
  2.81793513e-05,-1.78472142e-05,-2.18955437e-05,-2.33352999e-05,
 -4.88088049e-04,-9.65807405e-05,-2.51161426e-04,-4.08248892e-06,
 -9.37456251e-04,-3.60274543e-04,-9.80887045e+00,-6.48575688e-02,
 -1.13299255e-02,-3.45170275e-03]


--- Step 498 ---
qpos:
[ 9.86449649e-03, 8.06785929e-03,-5.59569332e-03, 3.34402002e-02,
  3.46096307e-03,-5.35635868e-04,-6.65927100e-03, 3.91593222e-02,
  1.30531625e-02, 5.91513048e-03,-1.17091780e-02, 3.40828092e-02,
  4.05690303e-01, 4.39464203e-03, 8.07204625e-01, 4.76964157e-02,
  8.72672479e-02,-7.02952787e-02, 1.43316893e-01, 9.56333097e-01,
 -2.70174091e-02, 1.69663838e-02, 2.90532629e-01]

qacc:
[ -1.90769626,  0.57161202, -1.89108372,  2.62877534, -4.99202581,
  -0.8722183 , -0.72235417,  5.59956802,  5.98579737, -1.90243468,
   9.05701092,-19.85834123, -2.55113504,  3.816707  ,  2.60771525,
 -13.51652314,  0.26247517,  2.93610066, -0.64925601,-29.32431754,
  26.71738647, -3.12019787]

qfrc_actuator:
[ 5.15764201e-06, 2.53077666e-04, 5.10075748e-05,-2.39852405e-05,
  4.27399473e-05, 3.54283824e-03,-2.43241425e-04,-7.34829721e-05,
  7.71289294e-05,-3.50498474e-06,-1.53147582e-04, 2.85552950e-06,
  8.66455246e-02,-2.03022689e-04, 3.20812789e-02,-3.61768258e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([12.70180896,  9.02828738, -8.93453847,  9.02828738, 32.79805847,
       20.30711675, -8.93453847, 20.30711675, 33.22200556,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000590227024932416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.70252537e-14, -2.35126269e-14,  1.00000000e+00,  1.10568724e-27,
        1.00000000e+00,  2.35126269e-14, -1.00000000e+00,  0.00000000e+00,
        4.70252537e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07764064, -0.11303516,  0.06198688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11481835e-05, 1.84146091e-05,-9.79103273e-07, 2.87288568e-06,
 -2.93940604e-05,-2.12718979e-04,-6.73467062e-05,-2.11897302e-06,
  3.49759589e-05,-2.13454264e-05, 1.73339309e-06,-3.24687038e-05,
 -4.83135027e-04,-1.03258225e-04,-2.19522428e-04,-1.28474520e-04,
 -7.42016217e-04,-4.63389810e-04,-9.80872482e+00,-6.48247514e-02,
 -1.12411968e-02,-3.51326893e-03]


--- Step 499 ---
qpos:
[ 9.86347646e-03, 8.06775822e-03,-5.59591104e-03, 3.34388778e-02,
  3.46182865e-03,-4.62121579e-04,-6.66156002e-03, 3.91582346e-02,
  1.30544384e-02, 5.91418239e-03,-1.17100996e-02, 3.40820875e-02,
  4.07471796e-01, 4.40311185e-03, 8.08157771e-01, 4.76924909e-02,
  8.73468615e-02,-7.02435004e-02, 1.43285986e-01, 9.56291107e-01,
 -2.71512666e-02, 1.75385708e-02, 2.90624373e-01]

qacc:
[ -7.25855907,  1.40487971, -4.74964359,  5.98140301, -0.03110401,
  -0.91082404, -3.4859181 , 18.65383096, -2.54868578, -2.53440343,
   9.88527136,-16.64083068, -1.65002685,  1.46287079, -0.55916737,
  -2.6746833 ,  0.2783871 ,  2.9025142 , -0.82523257,-28.62357305,
  25.84608682, -2.56482204]

qfrc_actuator:
[-3.70082667e-05, 2.62398208e-04, 3.19707798e-05,-2.19157969e-05,
  4.31928913e-05, 3.46649018e-03,-2.32454021e-04,-3.11039533e-05,
  6.10979183e-05,-2.44533699e-05,-1.29580247e-04,-1.49255857e-05,
  8.64857495e-02,-2.34015058e-04, 3.19931895e-02,-3.65449513e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([12.68950928,  9.27399813, -8.66121265,  9.27399813, 37.42217541,
       26.48251562, -8.66121265, 26.48251562, 41.04567719,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000589490552624472
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41252012e-13, -4.70840041e-14,  1.00000000e+00,  6.65071034e-27,
        1.00000000e+00,  4.70840041e-14, -1.00000000e+00,  0.00000000e+00,
        1.41252012e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07764545, -0.11303242,  0.0619869 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.24759856e-05, 1.95493308e-05,-1.52481105e-05, 2.88459182e-06,
 -4.54196712e-07,-2.12016374e-04,-4.23696857e-05, 3.07352424e-05,
 -1.50463754e-05,-3.38624863e-05, 1.82725682e-05,-1.92636964e-05,
 -4.81561440e-04,-1.48203557e-04,-2.10544914e-04,-7.37943301e-05,
 -5.49791811e-04,-5.10970099e-04,-9.80850669e+00,-6.47991404e-02,
 -1.11495631e-02,-3.58493468e-03]


--- Step 500 ---
qpos:
[ 9.86195908e-03, 8.06763848e-03,-5.59627983e-03, 3.34379547e-02,
  3.46269284e-03,-3.90608267e-04,-6.66327852e-03, 3.91573189e-02,
  1.30551674e-02, 5.91311810e-03,-1.17108164e-02, 3.40811458e-02,
  4.09250416e-01, 4.41115653e-03, 8.09108875e-01, 4.76870445e-02,
  8.74276416e-02,-7.01802330e-02, 1.43251163e-01, 9.56247594e-01,
 -2.73534309e-02, 1.81424241e-02, 2.90711507e-01]

qacc:
[ -4.36843017,  1.2284605 , -6.08694351, 13.23733276,  0.0401557 ,
  -3.88574079,  9.29121677, -5.75360578, -4.80220304, -1.16923845,
   4.89110712, -8.95704695, -1.66064447,  1.50854426,  1.66844826,
 -10.01644859,  0.29161073,  2.87226414, -0.97872891,-28.03930185,
  25.14276338, -2.15166113]

qfrc_actuator:
[-6.14045212e-05, 2.50138434e-04, 2.08459098e-05,-2.42272651e-06,
  4.31228351e-05, 3.35680260e-03,-2.07380297e-04,-2.34823838e-05,
  3.33915995e-05,-1.86760922e-05,-1.15355379e-04,-2.50887473e-05,
  8.63418856e-02,-2.55740909e-04, 3.19061442e-02,-3.72773824e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([12.61733048,  9.51461663, -8.28668203,  9.51461663, 42.1012689 ,
       33.85291842, -8.28668203, 33.85291842, 51.48663177,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005851683375516087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.74317796e-14, -2.37158898e-14,  1.00000000e+00,  1.12488686e-27,
        1.00000000e+00,  2.37158898e-14, -1.00000000e+00,  0.00000000e+00,
        4.74317796e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07764907, -0.11303229,  0.06198699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55982863e-05,-4.35618797e-06,-8.85547266e-06, 1.98649881e-05,
 -1.56539560e-07,-2.38326399e-04,-2.37094133e-05,-2.48792647e-06,
 -2.81498374e-05,-1.01643711e-05, 8.83974654e-06,-1.13503331e-05,
 -4.73951452e-04,-1.46157376e-04,-1.99187489e-04,-1.06005121e-04,
 -3.58565871e-04,-5.07480783e-04,-9.80822222e+00,-6.47802501e-02,
 -1.10541625e-02,-3.66629068e-03]


--- Step 501 ---
qpos:
[ 9.86050577e-03, 8.06732725e-03,-5.59647360e-03, 3.34383083e-02,
  3.46354940e-03,-3.20850744e-04,-6.66530872e-03, 3.91565289e-02,
  1.30559030e-02, 5.91249516e-03,-1.17116194e-02, 3.40800374e-02,
  4.11026039e-01, 4.41920880e-03, 8.10058452e-01, 4.76795837e-02,
  8.75096329e-02,-7.01055838e-02, 1.43211891e-01, 9.56202329e-01,
 -2.76226405e-02, 1.87771545e-02, 2.90794626e-01]

qacc:
[  0.57170759,  1.88484946,-12.47825473, 34.43213405, -0.04668477,
  -1.19063135,  0.3478798 ,  3.61775157,  0.04746723,  0.48073113,
  -0.16378513, -2.90930863, -2.20382839,  2.89850097,  3.96466404,
 -16.83644936,  0.30279864,  2.84545899, -1.11234538,-27.55536678,
  24.57937225, -1.85125351]

qfrc_actuator:
[-5.73842895e-05, 2.42841664e-04, 3.21617752e-05, 6.26605748e-05,
  4.27359657e-05, 3.26358532e-03,-2.27496236e-04,-1.86462581e-05,
  3.45570018e-05, 3.85436087e-05,-1.06656644e-04,-3.06779653e-05,
  8.61916921e-02,-2.53986570e-04, 3.18570680e-02,-3.82185058e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([12.49780184,  9.75156279, -7.81678157,  9.75156279, 46.35510444,
       42.23753844, -7.81678157, 42.23753844, 65.18982149,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005780079868230314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80193635e-14, -2.40096817e-14,  1.00000000e+00,  1.15292963e-27,
        1.00000000e+00,  2.40096817e-14, -1.00000000e+00,  0.00000000e+00,
        4.80193635e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07765174, -0.11303422,  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:
[ 3.28988023e-06,-1.07041807e-05, 1.00230156e-05, 6.49813746e-05,
 -4.73442096e-07,-2.34072178e-04,-7.31685100e-05,-6.39897042e-06,
  3.57546222e-07, 5.29167935e-05, 7.32007664e-06,-5.93246384e-06,
 -4.74945685e-04,-1.20826270e-04,-1.60279607e-04,-1.27368478e-04,
 -1.66761380e-04,-4.56126281e-04,-9.80787572e+00,-6.47677789e-02,
 -1.09544205e-02,-3.75702049e-03]


--- Step 502 ---
qpos:
[ 9.86014634e-03, 8.06707416e-03,-5.59659287e-03, 3.34390681e-02,
  3.46473922e-03,-2.52296793e-04,-6.66812474e-03, 3.91557619e-02,
  1.30573363e-02, 5.91227214e-03,-1.17121023e-02, 3.40795374e-02,
  4.12798786e-01, 4.42669200e-03, 8.11006441e-01, 4.76709496e-02,
  8.75928739e-02,-7.00196465e-02, 1.43167705e-01, 9.56155110e-01,
 -2.79578695e-02, 1.94421413e-02, 2.90874141e-01]

qacc:
[  9.60054691,  0.68630651, -4.08285554, 10.98605336,  2.92661153,
   0.64728223, -4.72245929,  7.2720072 ,  6.14126572,  0.87413986,
  -4.93924029, 14.6841256 , -1.53292104,  1.125222  ,  1.27524119,
  -7.69341424,  0.31245327,  2.82204328, -1.22855006,-27.15788455,
  24.1327701 , -1.64038837]

qfrc_actuator:
[-1.17136617e-06, 2.56455618e-04, 3.89237814e-05, 8.30505576e-05,
  5.99184305e-05, 3.23406331e-03,-2.56319329e-04,-1.55040207e-05,
  7.04633340e-05, 7.28597946e-05,-8.33119159e-05, 2.01719453e-06,
  8.60324897e-02,-2.91664700e-04, 3.17988457e-02,-3.87412501e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([12.34163251,  9.98104044, -7.25911321,  9.98104044, 49.57965471,
       51.2010482 , -7.25911321, 51.2010482 , 82.74137937,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005686429682295324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.76203951e-14, -7.32152963e-14,  1.00000000e+00,  7.14730616e-27,
        1.00000000e+00,  7.32152963e-14, -1.00000000e+00,  0.00000000e+00,
        9.76203951e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07765367, -0.11303776,  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:
[ 5.63009260e-05, 1.25015492e-05, 8.04017549e-06, 2.15432705e-05,
  1.70905264e-05,-1.78314756e-04,-8.71997540e-05,-9.69348677e-06,
  3.59319074e-05, 6.52021413e-05, 3.49914736e-05, 3.51064154e-05,
 -4.78718889e-04,-1.56563838e-04,-1.56221478e-04,-8.22426279e-05,
  2.67580891e-05,-3.59143027e-04,-9.80747006e+00,-6.47615503e-02,
 -1.08499663e-02,-3.85688164e-03]


--- Step 503 ---
qpos:
[ 9.86046337e-03, 8.06703619e-03,-5.59693456e-03, 3.34393761e-02,
  3.46578067e-03,-1.84982087e-04,-6.67105831e-03, 3.91546476e-02,
  1.30584994e-02, 5.91182981e-03,-1.17120132e-02, 3.40798406e-02,
  4.14568643e-01, 4.43344140e-03, 8.11952604e-01, 4.76597472e-02,
  8.76773988e-02,-6.99225017e-02, 1.43118201e-01, 9.56105758e-01,
 -2.83582929e-02, 2.01369033e-02, 2.90950324e-01]

qacc:
[  5.92518547, -0.03563587,  2.42661647,-10.02565897, -1.2873598 ,
  -2.02187212,  6.30266528,-11.2162424 , -2.35481985, -0.23060284,
  -2.98200093, 16.1226548 , -1.4441214 ,  0.80012006,  5.13133437,
 -21.71898565,  0.32096076,  2.80185918, -1.32962745,-26.83497112,
  23.78386956, -1.50077051]

qfrc_actuator:
[ 3.20438375e-05, 2.64690342e-04, 2.52313694e-05, 5.92316133e-05,
  5.17993949e-05, 3.18965066e-03,-2.54262653e-04,-3.10783751e-05,
  5.55098308e-05, 2.22882344e-05,-6.93039100e-05, 3.92218969e-05,
  8.58733046e-02,-3.34676042e-04, 3.16979158e-02,-4.00784784e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005576072075167415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.97762139e-14,  2.48881069e-14,  1.00000000e+00, -1.23883573e-27,
        1.00000000e+00, -2.48881069e-14, -1.00000000e+00,  0.00000000e+00,
        4.97762139e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07765502, -0.11304253,  0.06198758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48231506e-05, 1.78393111e-05,-9.37362482e-06,-2.25889010e-05,
 -7.69147481e-06,-1.65005943e-04,-4.66221588e-05,-2.65668126e-05,
 -1.39135769e-05,-5.34608284e-06, 3.30100947e-05, 4.18942232e-05,
 -4.88483963e-04,-1.68757054e-04,-1.91839488e-04,-1.60608552e-04,
  2.22824001e-04,-2.18013831e-04,-9.80700711e+00,-6.47614721e-02,
 -1.07405734e-02,-3.96569100e-03]


--- Step 504 ---
qpos:
[ 9.86048676e-03, 8.06716876e-03,-5.59777251e-03, 3.34404576e-02,
  3.46671684e-03,-1.18812758e-04,-6.67432111e-03, 3.91533547e-02,
  1.30591297e-02, 5.91124777e-03,-1.17122441e-02, 3.40806406e-02,
  4.16335263e-01, 4.44031736e-03, 8.12896314e-01, 4.76480202e-02,
  8.77632382e-02,-6.98142181e-02, 1.43063025e-01, 9.56054108e-01,
 -2.88232579e-02, 2.08610752e-02, 2.91023328e-01]

qacc:
[ -2.59476449,  3.20997511,-14.37357008, 28.4136865 , -0.91674737,
  -0.9597625 ,  1.98306445, -3.70937924, -4.69387193,  1.74037141,
  -8.55416722, 17.74512093, -2.38097144,  3.22172718, -1.89762894,
   1.71328153,  0.32861695,  2.7846883 , -1.41765761,-26.57648522,
  23.51692557, -1.41797259]

qfrc_actuator:
[ 1.59350010e-05, 2.69517301e-04,-4.66578121e-07, 9.83459797e-05,
  4.66004106e-05, 3.13682074e-03,-2.69537325e-04,-3.97688783e-05,
  2.84820093e-05,-7.74618250e-06,-9.67831678e-05, 6.09414257e-05,
  8.57035832e-02,-3.27237068e-04, 3.15874172e-02,-4.02880163e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005453481461669962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.08951498e-14,  7.63427248e-14,  1.00000000e+00, -3.88547442e-27,
        1.00000000e+00, -7.63427248e-14, -1.00000000e+00,  0.00000000e+00,
        5.08951498e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07765592, -0.1130482 ,  0.06198785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51087618e-05, 1.19144383e-05,-2.39470240e-05, 3.91134972e-05,
 -5.47225091e-06,-1.58283551e-04,-5.67728214e-05,-1.80323740e-05,
 -2.74294943e-05,-2.43969579e-05,-2.30630010e-05, 2.34488149e-05,
 -5.08237177e-04,-1.22297691e-04,-2.25038810e-04,-5.64366566e-05,
  4.22055601e-04,-3.36258727e-05,-9.80648795e+00,-6.47675095e-02,
 -1.06261173e-02,-4.08331314e-03]


--- Step 505 ---
qpos:
[ 9.86100717e-03, 8.06731962e-03,-5.59858438e-03, 3.34419825e-02,
  3.46792833e-03,-5.38485494e-05,-6.67776398e-03, 3.91519621e-02,
  1.30594310e-02, 5.91067298e-03,-1.17131303e-02, 3.40817001e-02,
  4.18098534e-01, 4.44760323e-03, 8.13837668e-01, 4.76402806e-02,
  8.78504202e-02,-6.96948534e-02, 1.43001872e-01, 9.56000002e-01,
 -2.93522596e-02, 2.16143884e-02, 2.91093216e-01]

qacc:
[  4.36208794,  0.85577557, -4.90283665, 12.53733185,  2.43629821,
  -1.29923881,  2.73338212, -3.27194609, -2.91486713,  2.38016646,
  -9.55800809, 15.07781566, -2.52016428,  3.67850913,-15.38236931,
  49.13234377,  0.33564761,  2.77027967, -1.49451372,-26.37378681,
  23.31893871, -1.38061223]

qfrc_actuator:
[ 4.19417857e-05, 2.72258116e-04, 2.50021493e-06, 1.20917990e-04,
  6.09223601e-05, 3.07934228e-03,-2.77199471e-04,-4.43587687e-05,
  1.23328964e-05,-7.69755866e-06,-1.30739064e-04, 7.33551389e-05,
  8.55330010e-02,-3.07847366e-04, 3.15352091e-02,-3.80558421e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005322383098841088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04297549e-13, -2.60743873e-14,  1.00000000e+00,  2.71949468e-27,
        1.00000000e+00,  2.60743873e-14, -1.00000000e+00,  0.00000000e+00,
        1.04297549e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07765648, -0.11305453,  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:
[ 2.55800530e-05, 6.13016500e-06, 3.83816646e-06, 2.30150462e-05,
  1.41141756e-05,-1.60857252e-04,-4.87090016e-05,-1.38251780e-05,
 -1.69392582e-05,-1.73388683e-05,-4.10152323e-05, 1.10279319e-05,
 -5.11594488e-04,-1.06956178e-04,-1.68576377e-04, 1.89714038e-04,
  6.24923696e-04, 1.93612078e-04,-9.80591311e+00,-6.47796667e-02,
 -1.05065454e-02,-4.20965136e-03]


--- Step 506 ---
qpos:
[ 9.86217998e-03, 8.06747169e-03,-5.59900429e-03, 3.34427065e-02,
  3.46895748e-03, 9.23963312e-06,-6.68046025e-03, 3.91508903e-02,
  1.30588461e-02, 5.91001293e-03,-1.17141006e-02, 3.40821817e-02,
  4.19858821e-01, 4.45419713e-03, 8.14776896e-01, 4.76352277e-02,
  8.79389711e-02,-6.95644553e-02, 1.42934471e-01, 9.55943284e-01,
 -2.99449204e-02, 2.23966547e-02, 2.91159972e-01]

qacc:
[  5.73680796, -2.75399239, 13.18235438,-27.64545036, -1.54765723,
  -3.90333377,  8.97071297, -3.23702723, -7.79547173, -1.05109925,
   6.05019201,-15.88070713, -1.29422743,  0.48719638,-11.21507311,
  34.79571137,  0.34222412,  2.75836843, -1.56187006,-26.2195185 ,
  23.17916054, -1.37970537]

qfrc_actuator:
[ 7.47921248e-05, 2.73831292e-04, 2.23420235e-05, 8.03272714e-05,
  5.11131017e-05, 2.96633470e-03,-2.44806295e-04,-2.87433273e-05,
 -3.27848920e-05,-7.44281862e-06,-1.32612342e-04, 4.47186219e-05,
  8.53726806e-02,-3.52631743e-04, 3.14381679e-02,-3.67095034e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005185854916932991
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.35216971e-14,  8.02825457e-14,  1.00000000e+00, -4.29685809e-27,
        1.00000000e+00, -8.02825457e-14, -1.00000000e+00,  0.00000000e+00,
        5.35216971e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07765677, -0.1130613 ,  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:
[ 3.35802006e-05, 6.78817792e-06, 2.23798816e-05,-3.97503958e-05,
 -9.46161370e-06,-2.15926674e-04,-8.03089012e-06, 6.63325672e-06,
 -4.56066495e-05,-1.74168947e-05,-1.01093759e-05,-3.05823328e-05,
 -4.98906784e-04,-1.69880165e-04,-1.61880043e-04, 1.21676724e-04,
  8.31794788e-04, 4.63682116e-04,-9.80528267e+00,-6.47979749e-02,
 -1.03818560e-02,-4.34464045e-03]


--- Step 507 ---
qpos:
[ 9.86339257e-03, 8.06773401e-03,-5.59894472e-03, 3.34429183e-02,
  3.47020627e-03, 7.03135970e-05,-6.68232202e-03, 3.91496780e-02,
  1.30580697e-02, 5.90924166e-03,-1.17147850e-02, 3.40816031e-02,
  4.21616142e-01, 4.45994991e-03, 8.15713794e-01, 4.76305557e-02,
  8.80390670e-02,-6.94340899e-02, 1.42870427e-01, 9.55883619e-01,
 -3.05127843e-02, 2.32379508e-02, 2.91230966e-01]

qacc:
[ 3.62039760e-01,-2.25007483e+00, 1.03951163e+01,-2.01058943e+01,
  1.99245724e+00,-5.28770550e+00, 1.55755414e+01,-1.78449446e+01,
 -1.67381243e+00,-3.12407619e+00, 1.54070965e+01,-3.41331062e+01,
 -1.24247720e+00, 2.66919654e-01,-4.54885967e+00, 1.10236327e+01,
  2.88626533e+00,-8.19959401e-03, 8.39214973e-01, 2.03541641e+01,
  2.45741882e+01, 3.61632173e+00]

qfrc_actuator:
[ 7.58891283e-05, 2.92466268e-04, 5.19325292e-05, 5.61636957e-05,
  6.26779271e-05, 2.85666786e-03,-2.06987216e-04,-3.68903608e-05,
 -4.13373069e-05,-6.97480582e-06,-1.15545011e-04,-7.81447908e-06,
  8.52132792e-02,-3.99477367e-04, 3.13036395e-02,-3.66077141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005205898500880574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.19893778e-13, -1.06631259e-13,  1.00000000e+00, -3.41106763e-26,
        1.00000000e+00,  1.06631259e-13, -1.00000000e+00,  0.00000000e+00,
       -3.19893778e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04775357, -0.06289982,  0.06198837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05663684e-06, 2.53562902e-05, 3.23727586e-05,-2.38746534e-05,
  1.12205297e-05,-2.34051427e-04,-8.24887170e-06,-1.76805555e-05,
 -9.85613710e-06,-1.26539281e-05, 1.11856459e-05,-5.42200989e-05,
 -5.03517814e-04,-1.79721367e-04,-2.04076716e-04,-5.77948441e-06,
  1.04296178e-03, 7.76891465e-04,-9.80459641e+00,-6.48224837e-02,
 -1.02520832e-02,-4.48824102e-03]


--- Step 508 ---
qpos:
[ 9.86426410e-03, 8.06832884e-03,-5.59862416e-03, 3.34428247e-02,
  3.47192860e-03, 1.29780292e-04,-6.68410430e-03, 3.91480300e-02,
  1.30575415e-02, 5.90815095e-03,-1.17149337e-02, 3.40810994e-02,
  4.23370190e-01, 4.46599976e-03, 8.16648358e-01, 4.76302473e-02,
  8.81503120e-02,-6.93037265e-02, 1.42808388e-01, 9.55820498e-01,
 -3.10567982e-02, 2.41375911e-02, 2.91307446e-01]

qacc:
[-2.99070886e+00,-9.12871169e-01, 5.19138526e+00,-1.11477899e+01,
  4.19434946e+00,-3.25158587e+00, 1.03355935e+01,-1.68010286e+01,
  2.20503309e+00,-1.76913721e+00, 5.37124076e+00,-4.68589563e+00,
 -2.34254190e+00, 3.25592059e+00,-1.65029833e+01, 5.30644936e+01,
  2.78727824e+00,-4.87242534e-04, 5.01146251e-01, 1.97783098e+01,
  2.43686536e+01, 4.29229856e+00]

qfrc_actuator:
[ 5.82857848e-05, 3.21228812e-04, 6.93753173e-05, 4.18882494e-05,
  8.67381514e-05, 2.78539934e-03,-2.01804399e-04,-5.89620397e-05,
 -2.82907011e-05,-2.40713856e-05,-8.74497846e-05,-2.96151759e-06,
  8.50598607e-02,-3.76123298e-04, 3.12425778e-02,-3.42223957e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([11.91721209, -8.77619061,  8.06215991, -8.77619061, 47.73981236,
       38.99525336,  8.06215991, 38.99525336, 54.36610674,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005430855615826125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.04428750e-13, -5.11071875e-14,  1.00000000e+00, -1.04477785e-26,
        1.00000000e+00,  5.11071875e-14, -1.00000000e+00,  0.00000000e+00,
       -2.04428750e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04775787, -0.06290326,  0.06198786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75371493e-05, 4.85921745e-05, 2.58361001e-05,-1.25349889e-05,
  2.42985824e-05,-2.06804490e-04,-4.54837308e-05,-3.28605117e-05,
  1.27605846e-05,-2.41543860e-05, 2.50011353e-05, 3.64725824e-06,
 -5.03201263e-04,-1.11954560e-04,-1.62607197e-04, 2.10413949e-04,
  9.29575238e-04, 4.86236817e-04,-9.80422568e+00,-6.48176112e-02,
 -1.01366877e-02,-4.61146525e-03]


--- Step 509 ---
qpos:
[ 9.86491807e-03, 8.06896578e-03,-5.59793962e-03, 3.34422456e-02,
  3.47323578e-03, 1.87971555e-04,-6.68572878e-03, 3.91464246e-02,
  1.30568285e-02, 5.90689257e-03,-1.17145377e-02, 3.40813278e-02,
  4.25120929e-01, 4.47285519e-03, 8.17581343e-01, 4.76287452e-02,
  8.82723670e-02,-6.91733320e-02, 1.42747152e-01, 9.55753480e-01,
 -3.15777763e-02, 2.50949083e-02, 2.91390418e-01]

qacc:
[-1.89855904e+00,-1.95759378e+00, 9.11600914e+00,-1.81359373e+01,
 -3.62413239e+00,-2.03218796e+00, 4.63223463e+00,-3.22113804e+00,
 -1.60483523e+00,-2.34427284e-01,-2.57099058e+00, 1.44865998e+01,
 -3.14043251e+00, 5.24366366e+00, 1.48666205e+00,-8.08624112e+00,
  2.70247802e+00, 7.77884013e-03, 2.00753466e-01, 1.92710362e+01,
  2.41553886e+01, 4.84400692e+00]

qfrc_actuator:
[ 4.75798181e-05, 3.02543637e-04, 7.95561713e-05, 1.57910088e-05,
  6.46959697e-05, 2.75532117e-03,-1.80276850e-04,-5.35318044e-05,
 -3.81529764e-05,-1.59487506e-05,-5.31019613e-05, 3.56120234e-05,
  8.49048406e-02,-3.29203763e-04, 3.11457936e-02,-3.49464680e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([12.16518401, -9.24215774,  7.91038699, -9.24215774, 56.35607341,
       51.6307446 ,  7.91038699, 51.6307446 , 72.48833713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005580407553188033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.94750844e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.94750844e-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([ 0.0477602 , -0.06290582,  0.06198752])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11913640e-05, 1.32536454e-05, 2.29560085e-05,-2.33663141e-05,
 -2.14203990e-05,-1.58656194e-04,-2.86035961e-05,-5.77092038e-06,
 -9.51286429e-06,-1.89121519e-08, 3.25786312e-05, 3.84776905e-05,
 -4.89065406e-04,-7.75069297e-05,-1.56678992e-04,-8.34891804e-05,
  7.87171570e-04, 2.00669950e-04,-9.80381633e+00,-6.48014801e-02,
 -1.00153098e-02,-4.73866811e-03]


--- Step 510 ---
qpos:
[ 9.86578359e-03, 8.06941223e-03,-5.59698868e-03, 3.34413958e-02,
  3.47426862e-03, 2.45104552e-04,-6.68698411e-03, 3.91455409e-02,
  1.30556577e-02, 5.90589077e-03,-1.17141293e-02, 3.40813077e-02,
  4.26868580e-01, 4.47995355e-03, 8.18512576e-01, 4.76224230e-02,
  8.84049437e-02,-6.90428718e-02, 1.42685658e-01, 9.55682169e-01,
 -3.20764145e-02, 2.61092846e-02, 2.91480704e-01]

qacc:
[ 1.86783744e+00,-1.55736368e+00, 6.32352736e+00,-1.12854623e+01,
 -2.38236527e+00,-9.40385406e-01,-1.71449318e+00, 1.43825518e+01,
 -4.03124413e+00,-1.98685935e-01, 2.26312383e+00,-6.78621321e+00,
 -2.62013141e+00, 3.84375208e+00, 1.21517486e+01,-4.58778772e+01,
  2.63043233e+00, 1.64339013e-02,-6.43242289e-02, 1.88293882e+01,
  2.39508193e+01, 5.30209362e+00]

qfrc_actuator:
[ 5.87778056e-05, 2.73299860e-04, 8.51724816e-05, 6.55592707e-07,
  5.11968793e-05, 2.73251565e-03,-1.49052584e-04,-1.41517758e-05,
 -6.14268999e-05, 7.28141480e-06,-5.07311821e-05, 2.27203062e-05,
  8.47436549e-02,-3.22030202e-04, 3.10275919e-02,-3.74980578e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005666923073007618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79564228e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.79564228e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04776085, -0.06290771,  0.06198732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08812079e-05,-1.81273815e-05, 1.03585949e-05,-1.42293007e-05,
 -1.41620062e-05,-1.19782717e-04,-5.93016926e-06, 3.13575709e-05,
 -2.35507819e-05, 3.16327848e-05, 7.72008932e-06,-1.10148117e-05,
 -4.79504418e-04,-1.08331409e-04,-2.09980586e-04,-2.82291403e-04,
  6.16390669e-04,-8.15457272e-05,-9.80337035e+00,-6.47744032e-02,
 -9.88867374e-03,-4.86985354e-03]


--- Step 511 ---
qpos:
[ 9.86643145e-03, 8.06979248e-03,-5.59599884e-03, 3.34403715e-02,
  3.47547637e-03, 3.01400909e-04,-6.68877331e-03, 3.91448218e-02,
  1.30542170e-02, 5.90499438e-03,-1.17136331e-02, 3.40811478e-02,
  4.28613321e-01, 4.48656926e-03, 8.19441424e-01, 4.76169808e-02,
  8.85477992e-02,-6.89123100e-02, 1.42622976e-01, 9.55606203e-01,
 -3.25533041e-02, 2.71801704e-02, 2.91578988e-01]

qacc:
[-1.90784474,-0.55188452, 2.58397512,-5.62464281, 1.53580984, 0.72219973,
 -4.87885858, 9.20039319,-2.37269723,-0.38923658, 2.18826324,-4.83432786,
 -1.5153508 , 1.13417362,-6.11307916,16.4413871 , 2.56969925, 0.02536726,
 -0.29711801,18.44901198,23.76537541, 5.69022236]

qfrc_actuator:
[ 4.72708287e-05, 2.73441935e-04, 8.80020524e-05,-7.92334878e-06,
  6.06015166e-05, 2.67886147e-03,-1.83295273e-04,-8.35591405e-06,
 -7.46482038e-05, 3.71365054e-06,-4.94794452e-05, 1.51424046e-05,
  8.45841947e-02,-3.56216433e-04, 3.09605217e-02,-3.68444856e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005701246909855379
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.73666851e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.73666851e-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([ 0.04776006, -0.06290908,  0.06198723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12053437e-05,-8.48925661e-06,-1.47175272e-07,-9.27611093e-06,
  8.95917054e-06,-1.22583664e-04,-5.92840871e-05, 9.45821018e-07,
 -1.38822915e-05, 1.52636653e-05, 8.36233139e-06,-6.16747542e-06,
 -4.79368773e-04,-1.52450261e-04,-2.03414816e-04, 2.07778081e-05,
  4.17880418e-04,-3.61842966e-04,-9.80288918e+00,-6.47366144e-02,
 -9.75732709e-03,-5.00501699e-03]


--- Step 512 ---
qpos:
[ 9.86693652e-03, 8.07003615e-03,-5.59524860e-03, 3.34396263e-02,
  3.47644256e-03, 3.56569501e-04,-6.69083326e-03, 3.91438503e-02,
  1.30533188e-02, 5.90398268e-03,-1.17130286e-02, 3.40812710e-02,
  4.30355106e-01, 4.49278018e-03, 8.20367616e-01, 4.76166014e-02,
  8.87007303e-02,-6.87816103e-02, 1.42558290e-01, 9.55525240e-01,
 -3.30089442e-02, 2.83070938e-02, 2.91685848e-01]

qacc:
[-1.25797023e+00, 1.06618917e+00,-5.23692707e+00, 1.05442092e+01,
 -2.11371397e+00,-1.24930987e+00, 3.36418638e+00,-6.47604106e+00,
  4.77796844e+00, 1.18518373e-01,-1.85547233e+00, 6.68553660e+00,
 -1.41035421e+00, 9.68674646e-01,-1.91705351e+01, 6.15214822e+01,
  2.51890381e+00, 3.45049310e-02,-5.00912570e-01, 1.81249365e+01,
  2.36053268e+01, 6.02662559e+00]

qfrc_actuator:
[ 4.02381038e-05, 2.55662171e-04, 7.15278871e-05, 5.19636746e-06,
  4.79036299e-05, 2.60689978e-03,-2.02804880e-04,-2.24421691e-05,
 -4.63375242e-05,-1.58843209e-05,-4.89795963e-05, 2.84961638e-05,
  8.44311909e-02,-3.79084858e-04, 3.08763182e-02,-3.41280114e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005692812991238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.95021868e-13, -9.75109341e-14,  1.00000000e+00, -1.90167645e-26,
        1.00000000e+00,  9.75109341e-14, -1.00000000e+00,  0.00000000e+00,
       -1.95021868e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04775807, -0.06291005,  0.06198724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.35655826e-06,-2.29839393e-05,-1.85807665e-05, 1.25698778e-05,
 -1.24836330e-05,-1.54737098e-04,-5.27381973e-05,-2.14924051e-05,
  2.79189657e-05,-9.58184061e-06, 4.47343798e-06, 1.41786993e-05,
 -4.81487595e-04,-1.48860649e-04,-1.82312903e-04, 2.45135026e-04,
  1.92229268e-04,-6.41432041e-04,-9.80237377e+00,-6.46882715e-02,
 -9.62169154e-03,-5.14414771e-03]


--- Step 513 ---
qpos:
[ 9.86700822e-03, 8.07030575e-03,-5.59509327e-03, 3.34397387e-02,
  3.47724937e-03, 4.10262675e-04,-6.69271425e-03, 3.91430747e-02,
  1.30531115e-02, 5.90330993e-03,-1.17131408e-02, 3.40812071e-02,
  4.32093786e-01, 4.49901778e-03, 8.21291957e-01, 4.76160878e-02,
  8.88635685e-02,-6.86507354e-02, 1.42490889e-01, 9.55438954e-01,
 -3.34437528e-02, 2.94896653e-02, 2.91801782e-01]

qacc:
[ -3.82148483,  3.47052503,-15.93145816, 31.68959392, -1.37053773,
  -2.04440076,  3.63751943,  0.54826103,  6.04744257,  2.05343166,
  -5.90138952,  3.57807047, -2.20457836,  2.82111315, -2.19796582,
   4.03048786,  2.47677807,  0.04379777, -0.6789902 , 17.85205998,
  23.47408553,  6.3253175 ]

qfrc_actuator:
[ 1.81494794e-05, 2.62731426e-04, 4.37344164e-05, 4.87041299e-05,
  4.00433553e-05, 2.52457935e-03,-1.95771590e-04,-1.26012604e-05,
 -1.15647917e-05, 8.33601914e-06,-8.44916810e-05, 1.85365635e-05,
  8.42715182e-02,-3.77294783e-04, 3.07712935e-02,-3.43022497e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005649773207580394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82537691e-14, -4.91268846e-14,  1.00000000e+00, -4.82690157e-27,
        1.00000000e+00,  4.91268846e-14, -1.00000000e+00,  0.00000000e+00,
       -9.82537691e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04775511, -0.06291071,  0.06198733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23074059e-05,-9.10312355e-06,-3.44049189e-05, 4.21242775e-05,
 -8.26613474e-06,-1.82648301e-04,-3.27892170e-05, 8.51343657e-07,
  3.55596253e-05, 2.04299687e-05,-3.64473111e-05,-9.94019413e-06,
 -4.87906881e-04,-1.24439491e-04,-1.68461126e-04,-2.87328566e-05,
 -6.00682223e-05,-9.21360593e-04,-9.80182466e+00,-6.46294602e-02,
 -9.48209982e-03,-5.28723056e-03]


--- Step 514 ---
qpos:
[ 9.86646918e-03, 8.07114387e-03,-5.59581724e-03, 3.34399756e-02,
  3.47795560e-03, 4.62504221e-04,-6.69451585e-03, 3.91427701e-02,
  1.30526327e-02, 5.90304747e-03,-1.17137727e-02, 3.40810014e-02,
  4.33829102e-01, 4.50592713e-03, 8.22215391e-01, 4.76121923e-02,
  8.90361754e-02,-6.85196476e-02, 1.42420149e-01, 9.55347025e-01,
 -3.38580772e-02, 3.07275783e-02, 2.91927233e-01]

qacc:
[ -5.3967016 ,  3.47615366,-11.81055408, 14.92969919, -0.85693879,
  -1.16959139, -0.59829482,  9.68554483, -2.41109942,  1.70727969,
  -4.69376027,  2.75915133, -3.19141812,  5.17258699,  9.09865211,
 -33.26932122,  2.44217804,  0.05321342, -0.8344826 , 17.62543746,
  23.37312252,  6.59703959]

qfrc_actuator:
[-1.26249885e-05, 3.20107468e-04, 9.60051303e-06, 5.64965777e-05,
  3.51000883e-05, 2.45459507e-03,-1.90906589e-04, 1.12486071e-05,
 -2.65379660e-05, 4.06865824e-05,-1.05324060e-04, 1.26986906e-05,
  8.40973124e-02,-3.43226518e-04, 3.07390118e-02,-3.60016695e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005579129461596444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.97489363e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.97489363e-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([ 0.04775137, -0.06291115,  0.06198748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14145921e-05, 4.69639223e-05,-3.87987095e-05, 7.03154039e-06,
 -5.24071118e-06,-1.80789583e-04,-3.74782608e-05, 1.47916893e-05,
 -1.39556652e-05, 3.58581144e-05,-2.14378173e-05,-6.41649669e-06,
 -5.01573380e-04,-8.93911791e-05,-1.22162120e-04,-1.95263230e-04,
 -3.38625664e-04,-1.20255733e-03,-9.80124206e+00,-6.45601992e-02,
 -9.33882232e-03,-5.43424754e-03]


--- Step 515 ---
qpos:
[ 9.86591017e-03, 8.07242477e-03,-5.59670375e-03, 3.34402696e-02,
  3.47859693e-03, 5.13339960e-04,-6.69594847e-03, 3.91420345e-02,
  1.30512887e-02, 5.90299191e-03,-1.17140403e-02, 3.40803462e-02,
  4.35561314e-01, 4.51291021e-03, 8.23137007e-01, 4.76102527e-02,
  8.92184386e-02,-6.83883089e-02, 1.42345528e-01, 9.55249133e-01,
 -3.42522019e-02, 3.20206069e-02, 2.92062599e-01]

qacc:
[ -0.1878921 ,  1.15761516, -3.51886584,  4.44061617, -0.53520345,
  -3.77533654, 12.58482667,-19.59463627, -7.60330852, -1.65446074,
   8.21915531,-16.75923869, -2.15053909,  2.74788605, -8.47340945,
  26.04738591,  2.41408646,  0.06273077, -0.970293  , 17.44043915,
  23.30261018,  6.8499964 ]

qfrc_actuator:
[-1.27549738e-05, 3.53856743e-04, 7.68998244e-06, 6.10026100e-05,
  3.19119923e-05, 2.39257886e-03,-1.69561957e-04,-1.01074419e-05,
 -7.06727535e-05, 5.99557355e-05,-8.17536905e-05,-8.38935176e-06,
  8.39411507e-02,-3.43704977e-04, 3.06864482e-02,-3.48551322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005486861704327439
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01171041e-13, -1.51756562e-13,  1.00000000e+00, -1.53533694e-26,
        1.00000000e+00,  1.51756562e-13, -1.00000000e+00,  0.00000000e+00,
       -1.01171041e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04774702, -0.06291142,  0.06198767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00929413e-06, 5.22670568e-05, 3.25512629e-06, 5.31358352e-06,
 -3.39927809e-06,-1.72101510e-04,-2.06949732e-05,-3.02235908e-05,
 -4.45193377e-05, 3.46289419e-05, 2.81257211e-05,-2.04150586e-05,
 -4.84288917e-04,-1.21193314e-04,-1.43307481e-04, 8.51887041e-05,
 -6.43167099e-04,-1.48586374e-03,-9.80062586e+00,-6.44804461e-02,
 -9.19208639e-03,-5.58517898e-03]


--- Step 516 ---
qpos:
[ 9.86535400e-03, 8.07349322e-03,-5.59675619e-03, 3.34402849e-02,
  3.47919493e-03, 5.62905159e-04,-6.69715767e-03, 3.91406939e-02,
  1.30497708e-02, 5.90331774e-03,-1.17141020e-02, 3.40794314e-02,
  4.37290570e-01, 4.51956843e-03, 8.24057159e-01, 4.76040422e-02,
  8.94066438e-02,-6.82656142e-02, 1.42284983e-01, 9.55147255e-01,
 -3.45921180e-02, 3.33239089e-02, 2.92209895e-01]

qacc:
[  0.05462998, -3.18626263, 12.12915904,-18.12778831, -0.35263553,
  -3.54866004, 12.77081357,-22.66174712, -1.52890828, -0.60256716,
   3.98117944, -9.08945763, -1.9864636 ,  2.16188122, 10.86316104,
 -40.87961502,  1.4854764 , -2.16102043,  3.51890483, 27.13236256,
  -3.14981533,  7.32384658]

qfrc_actuator:
[-1.25973797e-05, 3.20070382e-04, 4.25010432e-05, 4.58016853e-05,
  2.97815380e-05, 2.33587833e-03,-1.56403518e-04,-4.01209448e-05,
 -7.83441707e-05, 8.91679433e-05,-6.77229894e-05,-2.05103761e-05,
  8.37852618e-02,-3.64582161e-04, 3.05738979e-02,-3.71891344e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000574095055195803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66933102e-14, -4.83466551e-14,  1.00000000e+00, -4.67479811e-27,
        1.00000000e+00,  4.83466551e-14, -1.00000000e+00,  0.00000000e+00,
       -9.66933102e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07120633, -0.04152979,  0.0619871 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43520887e-07,-3.69339919e-06, 4.61876905e-05,-1.27465427e-05,
 -2.28505918e-06,-1.60341144e-04,-2.65638178e-05,-3.88010534e-05,
 -8.92562239e-06, 5.34984484e-05, 2.39472315e-05,-1.00574898e-05,
 -4.79615960e-04,-1.43418499e-04,-1.78911565e-04,-2.49303337e-04,
 -9.73522411e-04,-1.77205711e-03,-9.79997573e+00,-6.43901028e-02,
 -9.04209008e-03,-5.74000437e-03]


--- Step 517 ---
qpos:
[ 9.86480415e-03, 8.07424656e-03,-5.59656069e-03, 3.34405180e-02,
  3.47941762e-03, 6.11390376e-04,-6.69835968e-03, 3.91400280e-02,
  1.30485176e-02, 5.90366730e-03,-1.17138667e-02, 3.40791088e-02,
  4.39016675e-01, 4.52631511e-03, 8.24975420e-01, 4.75956853e-02,
  8.96005256e-02,-6.81509986e-02, 1.42235853e-01, 9.55041076e-01,
 -3.48797017e-02, 3.46378321e-02, 2.92369921e-01]

qacc:
[  0.06882524, -0.66133344,  0.83406768,  2.77083178, -3.28155195,
  -0.0521392 , -4.72203281, 17.1693967 ,  2.33763849,  0.41580995,
  -3.94574193, 13.71251867, -2.39357054,  3.2069399 ,  3.84232661,
 -17.15081883,  1.41914409, -2.01975725,  2.85370315, 26.25784206,
  -2.72213981,  7.76374015]

qfrc_actuator:
[-1.22820602e-05, 2.81746026e-04, 4.51555906e-05, 5.45949085e-05,
  1.05374374e-05, 2.30054688e-03,-1.48158819e-04,-3.97180536e-06,
 -6.44829534e-05, 7.08308393e-05,-5.94034251e-05, 8.24401917e-06,
  8.36189832e-02,-3.61824207e-04, 3.04999502e-02,-3.81840152e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 13.37422792,  -7.46426127, -11.09751216,  -7.46426127,
        36.57644117, -15.60596459, -11.09751216, -15.60596459,
        23.8709046 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006305810497721775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76063493e-13, -8.80317467e-14,  1.00000000e+00, -1.54991768e-26,
        1.00000000e+00,  8.80317467e-14, -1.00000000e+00,  0.00000000e+00,
       -1.76063493e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07121051, -0.04153909,  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:
[ 3.13454972e-07,-3.14315020e-05, 7.12798125e-06, 9.98273914e-06,
 -1.93623327e-05,-1.33930100e-04,-3.00542978e-05, 2.74991716e-05,
  1.36264244e-05, 1.60780162e-05, 2.19695753e-05, 3.16813161e-05,
 -4.92944278e-04,-1.22163879e-04,-1.93563080e-04,-1.38521139e-04,
 -1.40869003e-03,-2.02954321e-03,-9.80012292e+00,-6.43177023e-02,
 -8.90866013e-03,-5.88337781e-03]


--- Step 518 ---
qpos:
[ 9.86426239e-03, 8.07462473e-03,-5.59631322e-03, 3.34419127e-02,
  3.48009764e-03, 6.59037009e-04,-6.69960333e-03, 3.91401152e-02,
  1.30470953e-02, 5.90392631e-03,-1.17131289e-02, 3.40787889e-02,
  4.40739745e-01, 4.53278733e-03, 8.25891098e-01, 4.75930799e-02,
  8.97843009e-02,-6.80388896e-02, 1.42209226e-01, 9.54943267e-01,
 -3.51805034e-02, 3.58965011e-02, 2.92501505e-01]

qacc:
[  0.07974197,  1.75037   ,-11.86421676, 32.15943978,  4.03570106,
   0.55005824, -6.76082715, 20.48753342, -1.46979352, -1.5157969 ,
   5.22484134, -5.92089165, -1.56120207,  1.32719299,-21.13355458,
  68.57426683, -2.52659239, -0.62665327,  5.6258652 ,-13.75062532,
 -24.10171412,-15.99770232]

qfrc_actuator:
[-1.18767247e-05, 2.58639134e-04, 4.65213507e-05, 1.12904850e-04,
  3.46323474e-05, 2.27835455e-03,-1.42735515e-04, 3.53317440e-05,
 -7.35764135e-05, 5.96745120e-05,-3.69313140e-05, 7.51764810e-06,
  8.34625722e-02,-3.80673819e-04, 3.04439295e-02,-3.50065856e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.36118393, -12.32017169,   7.37949683, -12.32017169,
        33.69963806,  32.28581579,   7.37949683,  32.28581579,
        68.26279851,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006912384553178358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.03068041e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.03068041e-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([ 0.10675362, -0.05967562,  0.06198447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.99962859e-07,-3.88116905e-05,-3.91462164e-06, 5.74014226e-05,
  2.34978252e-05,-1.03870144e-04,-2.55444847e-05, 3.29565516e-05,
 -8.70145422e-06, 3.71634767e-06, 2.95873626e-05, 1.33793993e-06,
 -4.86644737e-04,-1.43196315e-04,-1.68940100e-04, 2.83269355e-04,
 -1.85305366e-03,-2.25764222e-03,-9.80022554e+00,-6.42348993e-02,
 -8.77981815e-03,-6.02539879e-03]


--- Step 519 ---
qpos:
[ 9.86407468e-03, 8.07448540e-03,-5.59565406e-03, 3.34436433e-02,
  3.48106100e-03, 7.05767971e-04,-6.70073414e-03, 3.91403241e-02,
  1.30455752e-02, 5.90429773e-03,-1.17121549e-02, 3.40781099e-02,
  4.42459832e-01, 4.53898966e-03, 8.26805665e-01, 4.75868593e-02,
  8.99587182e-02,-6.79289330e-02, 1.42201292e-01, 9.54852844e-01,
 -3.54926599e-02, 3.71033029e-02, 2.92608378e-01]

qacc:
[  3.12879409, -1.14929138,  1.67668006,  3.87115938,  2.51135412,
  -1.27995188,  2.28512941,  0.32538027, -0.85583785, -1.24831898,
   6.1849394 ,-12.85996506, -2.04505924,  2.30083972,  9.40898166,
 -35.01883159, -2.33953366, -0.53809204,  4.6732412 ,-12.43376716,
 -22.80236117,-13.99549506]

qfrc_actuator:
[ 6.33095961e-06, 2.27096212e-04, 6.49632657e-05, 1.28883304e-04,
  4.85428881e-05, 2.22873101e-03,-1.38959089e-04, 4.06745643e-05,
 -7.83621366e-05, 7.06840772e-05,-2.40447196e-05,-1.05443605e-05,
  8.33121848e-02,-3.94407793e-04, 3.03561890e-02,-3.70297938e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.50008566, -15.49876928,   0.20200555, -15.49876928,
        15.50292003,   0.21746504,   0.20200555,   0.21746504,
        32.18497675,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007675914624266922
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.23186147e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.23186147e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10673678, -0.0596673 ,  0.06198276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82015795e-05,-5.16134311e-05, 1.19188102e-05, 1.52926284e-05,
  1.45419083e-05,-1.13282001e-04,-2.02309559e-05, 5.44616550e-07,
 -5.03149891e-06, 1.92318307e-05, 1.73327612e-05,-1.68544513e-05,
 -4.79944638e-04,-1.40831455e-04,-1.41345277e-04,-2.09903183e-04,
 -1.51981759e-03,-1.87895368e-03,-9.80077477e+00,-6.43610411e-02,
 -8.59054947e-03,-6.19832918e-03]


--- Step 520 ---
qpos:
[ 9.86445137e-03, 8.07411308e-03,-5.59484492e-03, 3.34451882e-02,
  3.48149402e-03, 7.51367732e-04,-6.70138681e-03, 3.91399056e-02,
  1.30443545e-02, 5.90467175e-03,-1.17113090e-02, 3.40782954e-02,
  4.44176906e-01, 4.54526379e-03, 8.27719166e-01, 4.75735593e-02,
  9.01244355e-02,-6.78208339e-02, 1.42208663e-01, 9.54769013e-01,
 -3.58146804e-02, 3.82612627e-02, 2.92693553e-01]

qacc:
[  4.96133994, -1.11934171,  4.31138236, -7.57528679, -4.63020952,
  -4.1141768 , 15.16308243,-25.96595645,  2.63100187,  2.13480609,
 -11.26533525, 26.43676564, -2.55456293,  3.56410019, 19.9945461 ,
 -71.85176758, -2.17499129, -0.46437764,  3.82637954,-11.33563341,
 -21.61256245,-12.37323382]

qfrc_actuator:
[ 3.48708626e-05, 2.26289316e-04, 7.55177462e-05, 1.19823957e-04,
  2.08285954e-05, 2.16306128e-03,-1.18555986e-04, 8.21835039e-06,
 -6.28141316e-05, 5.93211598e-05,-3.45966874e-05, 3.23633282e-05,
  8.31655161e-02,-3.87214546e-04, 3.02813319e-02,-4.06825142e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.19853373, -16.19209816,   0.45656581, -16.19209816,
        16.21210368,   0.48125777,   0.45656581,   0.48125777,
        33.26633189,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008228131801619742
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.37325365e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.37325365e-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([ 0.10672497, -0.05966046,  0.06198153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90387728e-05,-2.65517714e-05, 1.87959551e-06,-1.05667903e-05,
 -2.73396618e-05,-1.34854070e-04,-6.00583812e-06,-3.81028259e-05,
  1.54137394e-05, 2.21968515e-06,-5.04327610e-06, 4.40019292e-05,
 -4.72258794e-04,-1.17860172e-04,-1.74590309e-04,-3.97688326e-04,
 -1.24310164e-03,-1.55011802e-03,-9.80128919e+00,-6.44656997e-02,
 -8.41475902e-03,-6.36393949e-03]


--- Step 521 ---
qpos:
[ 9.86482234e-03, 8.07367079e-03,-5.59428692e-03, 3.34469645e-02,
  3.48193641e-03, 7.96097569e-04,-6.70161100e-03, 3.91390691e-02,
  1.30436748e-02, 5.90485510e-03,-1.17099301e-02, 3.40789726e-02,
  4.45890987e-01, 4.55135356e-03, 8.28630580e-01, 4.75618589e-02,
  9.02820218e-02,-6.77143475e-02, 1.42228393e-01, 9.54691142e-01,
 -3.61453777e-02, 3.93730307e-02, 2.92759458e-01]

qacc:
[ -0.05674983,  1.08614703, -4.98349577,  9.44087177,  0.1105621 ,
  -3.20777291, 11.53164828,-18.80333149,  4.77743765, -0.73873627,
   0.17615718,  7.63965306, -1.837756  ,  1.95801504, -7.82199551,
  23.12537766, -2.03272739, -0.4031611 ,  3.08943058,-10.42679537,
 -20.55039895,-11.06447928]

qfrc_actuator:
[ 3.37528519e-05, 2.26093897e-04, 6.36841510e-05, 1.31634478e-04,
  2.20976507e-05, 2.14160352e-03,-8.85873044e-05,-1.07114338e-05,
 -3.54241616e-05, 5.23522545e-05,-5.68414981e-06, 5.75150230e-05,
  8.30052113e-02,-4.03203958e-04, 3.02461953e-02,-3.95829957e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.59117132, -16.59022157,   0.17752148, -16.59022157,
        16.59348613,   0.21633032,   0.17752148,   0.21633032,
        36.80826285,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008604552565009138
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.45136988e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.45136988e-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([ 0.10671726, -0.05965482,  0.0619807 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99536680e-07,-1.50983992e-05,-1.74624641e-05, 1.05264064e-05,
  4.46647698e-07,-1.01400690e-04,-4.70556420e-07,-2.57561927e-05,
  2.78293202e-05,-4.90609359e-06, 3.02557164e-05, 2.59246863e-05,
 -4.76867900e-04,-1.35243255e-04,-1.70325704e-04, 6.29866894e-05,
 -1.01157622e-03,-1.26271501e-03,-9.80176986e+00,-6.45536220e-02,
 -8.25017669e-03,-6.52289445e-03]


--- Step 522 ---
qpos:
[ 9.86483232e-03, 8.07326133e-03,-5.59419598e-03, 3.34485249e-02,
  3.48273496e-03, 8.40424286e-04,-6.70201669e-03, 3.91386824e-02,
  1.30426387e-02, 5.90484512e-03,-1.17075528e-02, 3.40788776e-02,
  4.47602049e-01, 4.55726933e-03, 8.29539641e-01, 4.75538479e-02,
  9.04319640e-02,-6.76092702e-02, 1.42257950e-01, 9.54618728e-01,
 -3.64838107e-02, 4.04409026e-02, 2.92808042e-01]

qacc:
[ -3.1831645 ,  0.9105632 , -2.26100304, -0.76613399,  3.13392994,
   0.89405745, -5.86919083, 14.24791695, -3.09922657, -4.62830344,
  19.40190827,-34.22712218, -1.75405626,  1.78840355,-14.53710206,
  46.037254  , -1.91104063, -0.35230874,  2.45697471, -9.6784651 ,
 -19.61563449,-10.01260414]

qfrc_actuator:
[ 1.51844571e-05, 2.26195553e-04, 3.87588471e-05, 1.20118756e-04,
  4.04291427e-05, 2.14686415e-03,-8.85261392e-05, 1.40212623e-05,
 -5.45480366e-05, 4.82119643e-05, 4.62973287e-05, 1.87822381e-05,
  8.28474832e-02,-4.15122904e-04, 3.01551348e-02,-3.76433962e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.79312004, -16.79297061,   0.07084486, -16.79297061,
        16.79358676,   0.11063105,   0.07084486,   0.11063105,
        43.01695415,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008836104184411914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.28231063e-14, -6.28231063e-14,  1.00000000e+00, -3.94674268e-27,
        1.00000000e+00,  6.28231063e-14, -1.00000000e+00,  0.00000000e+00,
       -6.28231063e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10671284, -0.05965012,  0.06198019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85814496e-05,-1.14932854e-05,-2.98363496e-05,-1.25663127e-05,
  1.83098889e-05,-5.42653296e-05,-2.23539828e-05, 1.97723233e-05,
 -1.83347412e-05, 4.60074221e-07, 5.55700322e-05,-3.73979539e-05,
 -4.79767366e-04,-1.35629174e-04,-1.70810489e-04, 1.73719060e-04,
 -8.16530918e-04,-1.00959407e-03,-9.80221886e+00,-6.46285576e-02,
 -8.09512385e-03,-6.67575494e-03]


--- Step 523 ---
qpos:
[ 9.86461944e-03, 8.07310357e-03,-5.59422780e-03, 3.34491920e-02,
  3.48374719e-03, 8.84130763e-04,-6.70261271e-03, 3.91382761e-02,
  1.30413817e-02, 5.90498099e-03,-1.17055205e-02, 3.40787143e-02,
  4.49310098e-01, 4.56328098e-03, 8.30446017e-01, 4.75482972e-02,
  9.05746757e-02,-6.75054329e-02, 1.42295184e-01, 9.54551379e-01,
 -3.68292379e-02, 4.14668558e-02, 2.92840866e-01]

qacc:
[ -1.96427967, -1.1593654 ,  8.39343983,-23.84628431,  1.88394673,
  -0.33183578,  0.07018862,  0.35819652, -1.95653591,  1.02023611,
  -3.0631929 ,  2.31856792, -2.04501736,  2.58057042,-11.28889624,
  34.01750939, -1.80763884, -0.30996468,  1.91917333, -9.06444679,
 -18.79914953, -9.1702506 ]

qfrc_actuator:
[ 4.25602717e-06, 2.61905891e-04, 4.18001641e-05, 7.72094830e-05,
  5.08949184e-05, 2.09702644e-03,-1.05970896e-04, 1.09930901e-05,
 -6.53941859e-05, 4.58477829e-05, 2.26783004e-05, 1.37965742e-05,
  8.27020626e-02,-4.06783540e-04, 3.00093156e-02,-3.64697293e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.87999771, -16.87937074,  -0.14548585, -16.87937074,
        16.8826943 ,  -0.31285978,  -0.14548585,  -0.31285978,
        53.17821   ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008949357539946995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.20280852e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.20280852e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10671105, -0.05964619,  0.06197994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14592081e-05, 2.25853548e-05,-3.44140253e-06,-4.46806682e-05,
  1.09673969e-05,-8.55526799e-05,-3.12384687e-05,-5.84023720e-06,
 -1.13654443e-05, 7.73210944e-06,-1.80011536e-05,-3.77565465e-06,
 -4.69032664e-04,-1.16250983e-04,-2.12898536e-04, 1.03357330e-04,
 -6.51316653e-04,-7.84823094e-04,-9.80263860e+00,-6.46934437e-02,
 -7.94835933e-03,-6.82298876e-03]


--- Step 524 ---
qpos:
[ 9.86462200e-03, 8.07313632e-03,-5.59399160e-03, 3.34496650e-02,
  3.48487765e-03, 9.26539597e-04,-6.70280162e-03, 3.91375364e-02,
  1.30406944e-02, 5.90528978e-03,-1.17044011e-02, 3.40792199e-02,
  4.51015145e-01, 4.56938332e-03, 8.31350279e-01, 4.75430996e-02,
  9.07105069e-02,-6.74026937e-02, 1.42338276e-01, 9.54488789e-01,
 -3.71810796e-02, 4.24525889e-02, 2.92859174e-01]

qacc:
[  1.89550311, -0.90091563,  4.39077394, -8.31275431,  1.07472547,
  -3.54145846, 11.54154296,-16.99959429,  4.97905074,  4.14578865,
 -17.29025652, 30.21070114, -2.16051147,  2.80291564, -4.0590387 ,
   9.97821194, -1.72011808, -0.27455848,  1.46471929, -8.56190498,
 -18.0883008 , -8.49834384]

qfrc_actuator:
[ 1.56704629e-05, 2.83244177e-04, 6.14639612e-05, 6.94856077e-05,
  5.66412839e-05, 1.99675548e-03,-9.83325089e-05,-8.40217146e-06,
 -3.57612735e-05, 4.42874187e-05,-2.76042982e-05, 4.64166794e-05,
  8.25481575e-02,-4.04242115e-04, 2.99159685e-02,-3.62906676e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.89276067, -16.88463589,  -0.52386423, -16.88463589,
        16.9444584 ,  -1.66626666,  -0.52386423,  -1.66626666,
        70.59809944,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008966940989567074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.28596797e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.28596797e-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([ 0.10671134, -0.05964288,  0.06197991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10982428e-05, 3.13439468e-05, 2.23607550e-05,-7.74527501e-06,
  6.02977123e-06,-1.56392425e-04,-1.45886113e-05,-2.43516922e-05,
  2.93159146e-05,-1.15293143e-06,-5.10591051e-05, 3.22509058e-05,
 -4.67208297e-04,-1.16228577e-04,-1.85772541e-04,-5.01689707e-06,
 -5.10870941e-04,-5.83547815e-04,-9.80303149e+00,-6.47505710e-02,
 -7.80896318e-03,-6.96498413e-03]


--- Step 525 ---
qpos:
[ 0.00986511, 0.00807323,-0.00559346, 0.03345006, 0.00348607, 0.00096729,
 -0.00670268, 0.03913662, 0.01304037, 0.00590549,-0.01170379, 0.03407978,
  0.45271733, 0.00457545, 0.83225259, 0.0475397 , 0.09083975,-0.06730093,
  0.1423857 , 0.95443073,-0.03753889, 0.04339956, 0.29286396]

qacc:
[  4.23509509, -0.90868366,  3.69752574, -5.62064551,  0.57068268,
  -3.43767172,  9.80108362,-12.08578352,  3.15768807,  1.36248772,
  -5.28299822,  7.03621465, -1.88358778,  2.22622677, -8.21363629,
  24.81467002, -1.64620419, -0.24478468,  1.08241438, -8.15146398,
 -17.46978576, -7.96494685]

qfrc_actuator:
[ 4.01414729e-05, 2.78167116e-04, 7.30069543e-05, 6.47786335e-05,
  5.95659840e-05, 1.88490269e-03,-9.39181793e-05,-1.95433797e-05,
 -1.80483857e-05, 2.53712958e-05,-5.76738531e-05, 4.76326077e-05,
  8.24105722e-02,-4.05212612e-04, 2.98541499e-02,-3.52769262e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.84921476, -16.81296808,  -1.10460055, -16.81296808,
        17.23047917,  -5.80317133,  -1.10460055,  -5.80317133,
       105.1784617 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008908013273035975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.23159727e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.23159727e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10671325, -0.05964008,  0.06198005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47971254e-05, 1.67366087e-05, 2.04989833e-05,-2.74303101e-06,
  3.04312173e-06,-2.04900821e-04,-3.10238456e-05,-1.89143782e-05,
  1.85487029e-05,-2.87429085e-05,-3.55005259e-05, 2.19460057e-08,
 -4.49614243e-04,-1.19467640e-04,-1.55790076e-04, 7.54458840e-05,
 -3.91337142e-04,-4.01826402e-04,-9.80339974e+00,-6.48017237e-02,
 -7.67625080e-03,-7.10206304e-03]


--- Step 526 ---
qpos:
[ 0.00986623, 0.00807325,-0.00559266, 0.03344972, 0.00348729, 0.00100658,
 -0.00670255, 0.03913558, 0.0130406 , 0.00590543,-0.01170321, 0.03408033,
  0.4544168 , 0.00458142, 0.8331524 , 0.04753991, 0.09096266,-0.06720005,
  0.14243617, 0.95437702,-0.03790232, 0.04430903, 0.292856  ]

qacc:
[  5.57904725, -2.39039915, 11.41856838,-24.38994294,  0.25127444,
  -2.20120316,  5.60965239, -6.82010381,  4.93003679, -0.24721906,
   0.37089387, -0.12764343, -1.59139467,  1.67078786,-14.50899271,
  45.59223962, -1.58385825, -0.21957066,  0.76193263, -7.81696782,
 -16.93104989, -7.54412559]

qfrc_actuator:
[ 7.20939775e-05, 2.57290111e-04, 7.95460131e-05, 2.63423068e-05,
  6.08080993e-05, 1.82024214e-03,-9.15095432e-05,-2.57583550e-05,
  1.02463055e-05, 1.40049887e-05,-5.79068940e-05, 4.81103010e-05,
  8.22828745e-02,-4.08202910e-04, 2.97420743e-02,-3.34232080e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.75441847,  16.64174955,   1.93977065,  16.64174955,
        18.54767954, -15.38480934,   1.93977065, -15.38480934,
       148.74432368,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008788730458365313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26323481e-13, -6.31617405e-14,  1.00000000e+00,  7.97881092e-27,
        1.00000000e+00,  6.31617405e-14, -1.00000000e+00,  0.00000000e+00,
        1.26323481e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10671641, -0.05963771,  0.06198033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26631854e-05,-7.40442304e-06, 1.24164191e-05,-3.70666687e-05,
  1.25914358e-06,-1.87940599e-04,-4.48692960e-05,-1.65259530e-05,
  2.88146994e-05,-3.47818140e-05,-1.05539005e-05,-1.98578462e-06,
 -4.28908395e-04,-1.18496530e-04,-1.84289814e-04, 1.67542740e-04,
 -2.89769681e-04,-2.36470036e-04,-9.80374533e+00,-6.48482918e-02,
 -7.54971028e-03,-7.23449307e-03]


--- Step 527 ---
qpos:
[ 0.00986806, 0.00807322,-0.00559204, 0.0334486 , 0.00348816, 0.00104509,
 -0.00670302, 0.03913476, 0.01304117, 0.00590507,-0.01170237, 0.03408121,
  0.45611351, 0.00458685, 0.83405096, 0.04753818, 0.09107945,-0.06709996,
  0.14248862, 0.95432753,-0.03827111, 0.04518206, 0.29283591]

qacc:
[  6.30772683, -1.15772819,  7.31195125,-20.4159142 , -2.99573825,
   1.13741832, -6.51480497, 12.04058725,  2.98172988, -0.45267151,
  -0.36687808,  5.89962673, -1.55429645,  1.22439911,  4.07715598,
 -16.76039745, -1.53130776, -0.19804162,  0.49412175, -7.545096  ,
 -16.46087898, -7.21491096]

qfrc_actuator:
[ 1.08189722e-04, 2.44809826e-04, 6.52314259e-05,-1.38992561e-05,
  4.32986161e-05, 1.81986233e-03,-1.07868641e-04,-1.12372986e-05,
  2.67936619e-05, 7.36597347e-06,-4.05003246e-05, 6.59292780e-05,
  8.21185925e-02,-4.47823292e-04, 2.96798515e-02,-3.44637317e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008622675675176439
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.43781041e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.43781041e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10672051, -0.05963569,  0.06198071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.70239935e-05,-1.56457018e-05,-1.56085253e-05,-4.08533098e-05,
 -1.75367880e-05,-1.16880567e-04,-6.17388505e-05, 4.50791362e-06,
  1.73552691e-05,-2.83492599e-05, 8.84521043e-06, 1.59211169e-05,
 -4.52470671e-04,-1.50454935e-04,-1.35137921e-04,-1.19932367e-04,
 -2.03910537e-04,-8.49019888e-05,-9.80407001e+00,-6.48913597e-02,
 -7.42895700e-03,-7.36249745e-03]


--- Step 528 ---
qpos:
[ 0.00986998, 0.00807331,-0.00559198, 0.03344737, 0.00348882, 0.0010831 ,
 -0.00670389, 0.03913373, 0.01304125, 0.00590445,-0.01170161, 0.03408232,
  0.45780729, 0.0045919 , 0.834948  , 0.04753681, 0.09119029,-0.06700059,
  0.14254215, 0.95428218,-0.03864508, 0.0460196 , 0.29280417]

qacc:
[ 6.26349283e-01, 1.46515189e+00,-4.49869929e+00, 3.21867876e+00,
 -1.91212794e+00, 9.32860888e-03,-4.45644085e-02,-2.76215575e+00,
 -4.35810268e+00, 3.28491880e-01,-2.61433697e+00, 6.80653677e+00,
 -1.71217360e+00, 1.56494375e+00,-3.25016583e+00, 8.31629320e+00,
 -1.48703995e+00,-1.79487387e-01, 2.71056088e-01,-7.32494274e+00,
 -1.60495573e+01,-6.96039302e+00]

qfrc_actuator:
[ 1.10927511e-04, 2.55107880e-04, 3.87498416e-05,-1.93792481e-05,
  3.26462388e-05, 1.82245037e-03,-1.17132175e-04,-2.00903459e-05,
  7.85983831e-07,-1.40459851e-05,-4.83004760e-05, 7.60688940e-05,
  8.19537643e-02,-4.73448689e-04, 2.96315405e-02,-3.41818993e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008421239452172935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.10672529, -0.05963397,  0.06198117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78914884e-06,-3.42267855e-06,-3.30572131e-05,-7.48633130e-06,
 -1.11893717e-05,-7.67305153e-05,-4.12985329e-05,-1.59922094e-05,
 -2.55253923e-05,-3.47464904e-05,-1.20233312e-05, 9.53700007e-06,
 -4.74598304e-04,-1.47178830e-04,-1.34689802e-04, 1.67177720e-06,
 -1.32021765e-04, 5.49613076e-05,-9.80437528e+00,-6.49317752e-02,
 -7.31370081e-03,-7.48626326e-03]


--- Step 529 ---
qpos:
[ 0.00987156, 0.00807358,-0.00559236, 0.03344675, 0.00348935, 0.00112041,
 -0.00670458, 0.03913293, 0.01304135, 0.00590385,-0.01170075, 0.0340828 ,
  0.45949802, 0.00459694, 0.83584307, 0.04753549, 0.09129533,-0.06690187,
  0.14259602, 0.9542409 ,-0.03902409, 0.04682246, 0.29276115]

qacc:
[ -2.88389449,  2.76565148,-12.09122299, 23.31738468, -1.15028158,
  -0.97599329,  1.12810287,  3.13772249,  0.28848326, -1.52279027,
   8.11658022,-19.12332393, -2.1229081 ,  2.60900698, -2.9117089 ,
   6.27972245, -1.44977775, -0.16333294,  0.08596548, -7.14761508,
 -15.68881067, -6.76695346]

qfrc_actuator:
[ 9.40085793e-05, 2.78936936e-04, 2.31726102e-05, 1.34051812e-05,
  2.61210646e-05, 1.79133847e-03,-1.04351329e-04,-7.10453258e-06,
  3.20141129e-06, 9.02069328e-06,-3.54887356e-05, 4.60687731e-05,
  8.17993760e-02,-4.72867037e-04, 2.95277366e-02,-3.41870121e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000819394870539697
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.77465203e-14, -1.01619780e-13,  1.00000000e+00,  6.88438652e-27,
        1.00000000e+00,  1.01619780e-13, -1.00000000e+00,  0.00000000e+00,
        6.77465203e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10673055, -0.05963249,  0.06198168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68106287e-05, 1.47599832e-05,-2.06158502e-05, 3.13501988e-05,
 -6.86769317e-06,-8.46093182e-05,-9.14178775e-06, 7.87744682e-06,
  1.67686766e-06, 1.56400893e-06, 4.48056828e-06,-3.17212121e-05,
 -4.76835757e-04,-1.25443852e-04,-1.76062448e-04,-2.00924810e-05,
 -7.27607805e-05, 1.84807979e-04,-9.80466248e+00,-6.49702028e-02,
 -7.20372229e-03,-7.60594811e-03]


--- Step 530 ---
qpos:
[ 0.00987259, 0.00807395,-0.00559267, 0.03344684, 0.00348945, 0.00115709,
 -0.00670543, 0.0391323 , 0.01304184, 0.00590347,-0.01169956, 0.03408219,
  0.46118578, 0.00460171, 0.83673665, 0.04753043, 0.09139469,-0.06680375,
  0.14264963, 0.95420365,-0.03940807, 0.04759132, 0.29270712]

qacc:
[-4.91294793e+00, 1.40092525e+00,-7.82590590e+00, 2.00411257e+01,
 -3.75319352e+00,-7.59321224e-03,-1.87364978e+00, 5.54515765e+00,
  3.28327382e+00,-2.91225323e+00, 1.54462258e+01,-3.51477673e+01,
 -2.03090615e+00, 2.23695871e+00, 9.22597524e+00,-3.51930547e+01,
 -1.41844960e+00,-1.49113221e-01,-6.68894921e-02,-7.00587404e+00,
 -1.53716551e+01,-6.62362817e+00]

qfrc_actuator:
[ 6.56665112e-05, 2.93011091e-04, 3.19986070e-05, 5.07066278e-05,
  4.32227778e-06, 1.75817884e-03,-1.14270602e-04, 8.67076922e-07,
  2.23406980e-05, 4.08406801e-05,-1.04482787e-05,-7.25360979e-06,
  8.16407153e-02,-4.92281711e-04, 2.94439891e-02,-3.61378588e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007948747500634568
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -3.4918175e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  3.4918175e-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([ 0.10673613, -0.05963123,  0.06198223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88166987e-05, 1.93979493e-05, 1.04221157e-05, 3.78328102e-05,
 -2.20234988e-05,-8.33729569e-05,-2.86774676e-05, 4.10325793e-06,
  1.91877009e-05, 3.22723609e-05, 2.48138610e-05,-5.37193997e-05,
 -4.78224675e-04,-1.42057724e-04,-1.75536046e-04,-2.20749672e-04,
 -2.50876821e-05, 3.06009714e-04,-9.80493274e+00,-6.50071646e-02,
 -7.09885552e-03,-7.72168547e-03]


--- Step 531 ---
qpos:
[ 0.00987361, 0.00807423,-0.00559249, 0.03344738, 0.00348963, 0.00119335,
 -0.00670676, 0.03913142, 0.0130422 , 0.00590329,-0.01169837, 0.03408131,
  0.46287059, 0.0046062 , 0.83762796, 0.04752701, 0.09148849,-0.06670617,
  0.14270247, 0.95417044,-0.03979696, 0.04832679, 0.29264228]

qacc:
[-7.27809295e-03,-5.71030192e-01,-2.12073541e-02, 6.98004424e+00,
  7.19862859e-01, 2.55563401e-01,-6.63953306e-01,-2.59386989e+00,
 -1.05214880e+00,-2.69457032e-01, 2.42358349e+00,-7.06006630e+00,
 -1.71684946e+00, 1.66403879e+00,-8.24577067e+00, 2.41713632e+01,
 -1.39215884e+00,-1.36452146e-01,-1.92357708e-01,-6.89382707e+00,
 -1.50922171e+01,-6.52158479e+00]

qfrc_actuator:
[ 6.63397980e-05, 2.83497068e-04, 5.51235817e-05, 7.26174257e-05,
  9.21225818e-06, 1.74173420e-03,-1.37538352e-04,-1.19542232e-05,
  1.56559706e-05, 4.21929536e-05,-1.38584319e-05,-2.05890720e-05,
  8.14955722e-02,-5.05666126e-04, 2.93723036e-02,-3.51353628e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007692234884747046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.21651796e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.21651796e-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([ 0.10674187, -0.05963015,  0.06198281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43825740e-07, 5.08411067e-06, 2.97236771e-05, 2.38395897e-05,
  4.23582497e-06,-7.01448786e-05,-4.42978177e-05,-1.73840218e-05,
 -6.12691184e-06, 2.22317503e-05, 4.44520977e-06,-1.21406214e-05,
 -4.69547909e-04,-1.39117696e-04,-1.86517202e-04, 6.32591303e-05,
  1.18036889e-05, 4.19685012e-04,-9.80518707e+00,-6.50430716e-02,
 -6.99897553e-03,-7.83358891e-03]


--- Step 532 ---
qpos:
[ 0.00987498, 0.00807453,-0.00559231, 0.03344785, 0.00349056, 0.00122927,
 -0.00670843, 0.03913038, 0.01304247, 0.00590319,-0.01169721, 0.03408099,
  0.46455248, 0.00461077, 0.83851736, 0.04752502, 0.0915768 ,-0.0666091 ,
  0.14275413, 0.95414124,-0.04019075, 0.04902941, 0.29256676]

qacc:
[  3.02464742, -0.12669739,  0.80692455, -2.05836771,  6.56300183,
   0.17584805, -0.61929348, -1.40271893, -0.72918719,  1.3588332 ,
  -7.01284856, 16.57949822, -2.04673659,  2.57108989, -7.03371652,
  20.82024483, -1.37015552, -0.12504541, -0.29453339, -6.80667094,
 -14.84555667, -6.45369863]

qfrc_actuator:
[ 8.40890783e-05, 2.77738615e-04, 5.08847818e-05, 6.75294576e-05,
  4.75289509e-05, 1.73536712e-03,-1.50684335e-04,-1.91454471e-05,
  1.15722413e-05, 4.29658976e-05,-1.63774164e-05, 7.42149659e-06,
  8.13586430e-02,-4.97584322e-04, 2.93026544e-02,-3.43525133e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007429865678422048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.47135327e-14, -7.47135327e-14,  1.00000000e+00,  5.58211197e-27,
        1.00000000e+00,  7.47135327e-14, -1.00000000e+00,  0.00000000e+00,
        7.47135327e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10674769, -0.05962923,  0.0619834 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77436104e-05, 4.22959696e-06, 1.28965569e-06,-3.38011115e-06,
  3.84151299e-05,-5.67867837e-05,-3.41008831e-05,-1.21443019e-05,
 -4.24933758e-06, 1.35967350e-05, 2.19150157e-06, 2.88808285e-05,
 -4.54731603e-04,-1.15516967e-04,-1.55819947e-04, 5.61877997e-05,
  3.85371764e-05, 5.26749539e-04,-9.80542634e+00,-6.50782478e-02,
 -6.90398907e-03,-7.94175550e-03]


--- Step 533 ---
qpos:
[ 0.00987655, 0.00807483,-0.00559216, 0.03344861, 0.00349125, 0.00126477,
 -0.00671028, 0.03912925, 0.01304236, 0.00590322,-0.01169639, 0.03408102,
  0.4662313 , 0.00461599, 0.83940541, 0.04752026, 0.09165971,-0.06651248,
  0.14280428, 0.95411609,-0.04058944, 0.04969962, 0.29248065]

qacc:
[  1.77299663,  0.673985  , -3.66570852,  8.77008049, -2.09033639,
  -0.24124226,  0.43629942, -1.33856548, -3.49635276,  1.82287941,
  -7.71405298, 14.21355076, -2.9258936 ,  4.69180386,  6.61865734,
 -25.5775749 , -1.35181174, -0.1146465 , -0.37687873, -6.7404805 ,
 -14.62750882, -6.41421082]

qfrc_actuator:
[ 9.39849207e-05, 2.74139728e-04, 4.82631058e-05, 8.20838344e-05,
  3.41939707e-05, 1.71739126e-03,-1.57687286e-04,-2.29428470e-05,
 -8.69241113e-06, 4.34179993e-05,-3.60799002e-05, 2.40250854e-05,
  8.12107702e-02,-4.59094492e-04, 2.92236234e-02,-3.58362878e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007166119918116803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.74633300e-14, -3.87316650e-14,  1.00000000e+00,  3.00028375e-27,
        1.00000000e+00,  3.87316650e-14, -1.00000000e+00,  0.00000000e+00,
        7.74633300e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10675347, -0.05962845,  0.061984  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04016718e-05,-1.12459153e-06,-1.71501866e-06, 1.47113045e-05,
 -1.22609260e-05,-5.85656616e-05,-2.37541486e-05,-7.72279573e-06,
 -2.03811820e-05, 9.73602478e-06,-1.56359069e-05, 1.78227682e-05,
 -4.50962346e-04,-7.80086203e-05,-1.53532807e-04,-1.67310859e-04,
  5.55928626e-05, 6.27956103e-04,-9.80565132e+00,-6.51129493e-02,
 -6.81382784e-03,-8.04626855e-03]


--- Step 534 ---
qpos:
[ 0.00987822, 0.00807501,-0.00559173, 0.03344988, 0.00349109, 0.00129962,
 -0.00671214, 0.03912845, 0.013042  , 0.00590333,-0.01169523, 0.03408121,
  0.46790721, 0.00462141, 0.84029116, 0.04751742, 0.09173727,-0.06641628,
  0.14285266, 0.954095  ,-0.04099307, 0.05033782, 0.292384  ]

qacc:
[  0.94622068,  0.11419472, -2.75608413, 11.13061572, -7.50467034,
  -0.16133573, -2.02968875,  8.14487309, -2.11947055, -0.49290736,
   1.23111159,  0.95593406, -2.10507696,  2.78574711, -9.07395457,
  27.13397412, -1.33660061, -0.10505547, -0.44233007, -6.69203713,
 -14.43454762, -6.39845412]

qfrc_actuator:
[ 9.91734135e-05, 2.71872929e-04, 6.44044346e-05, 1.08090486e-04,
 -9.44605546e-06, 1.67489919e-03,-1.61048120e-04,-6.96600661e-06,
 -2.05664666e-05, 6.13465879e-05,-1.25304532e-05, 3.37644311e-05,
  8.10564485e-02,-4.56244021e-04, 2.91389821e-02,-3.47380048e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006904646064282288
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.03968092e-14, -8.03968092e-14,  1.00000000e+00,  6.46364693e-27,
        1.00000000e+00,  8.03968092e-14, -1.00000000e+00,  0.00000000e+00,
        8.03968092e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10675916, -0.05962779,  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:
[ 5.48267417e-06,-2.63489176e-06, 1.61979178e-05, 2.61820213e-05,
 -4.40077173e-05,-8.17504784e-05,-1.90431175e-05, 1.24228516e-05,
 -1.24491260e-05, 2.08885315e-05, 2.42418589e-05, 9.96129579e-06,
 -4.47325812e-04,-1.06230286e-04,-1.84421328e-04, 7.84111652e-05,
  6.33361493e-05, 7.23926355e-04,-9.80586268e+00,-6.51473778e-02,
 -6.72844345e-03,-8.14719976e-03]


--- Step 535 ---
qpos:
[ 0.00987995, 0.00807514,-0.00559112, 0.03345144, 0.00349075, 0.00133362,
 -0.0067139 , 0.03912751, 0.01304184, 0.00590322,-0.01169335, 0.03408118,
  0.4695802 , 0.0046269 , 0.8411752 , 0.0475161 , 0.09180954,-0.06632047,
  0.14289907, 0.95407801,-0.04140169, 0.05094436, 0.2922768 ]

qacc:
[  0.43854611,  0.02843878, -1.45789523,  6.37530136, -1.53697121,
  -1.64586736,  4.79194696, -6.56712787,  1.83370786, -2.75871326,
  10.33383503,-15.11093242, -2.04298547,  2.5756268 , -7.02212589,
  21.16392362, -1.32407872, -0.09610983, -0.49338735, -6.65869059,
 -14.26367351, -6.4026338 ]

qfrc_actuator:
[ 1.01552189e-04, 2.70508701e-04, 7.37527437e-05, 1.22885762e-04,
 -1.72993633e-05, 1.61810290e-03,-1.62320403e-04,-1.50076060e-05,
 -9.64917059e-06, 3.65087966e-05, 1.86895355e-05, 2.16831243e-05,
  8.09036804e-02,-4.56812048e-04, 2.90830628e-02,-3.39016788e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000664838239594831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.34957256e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.34957256e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1067647 , -0.05962723,  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:
[ 2.53105932e-06, 1.61248463e-06, 1.16931030e-05, 1.57476449e-05,
 -9.13255797e-06,-1.07171489e-04,-2.04581794e-05,-1.20318839e-05,
  1.05709085e-05,-7.74603149e-06, 3.88501171e-05,-1.01563612e-05,
 -4.49386244e-04,-1.13885407e-04,-1.39455687e-04, 6.26426232e-05,
  6.20398551e-05, 8.15175965e-04,-9.80606100e+00,-6.51816924e-02,
 -6.64780356e-03,-8.24461100e-03]


--- Step 536 ---
qpos:
[ 0.00988169, 0.00807533,-0.0055907 , 0.03345319, 0.00349066, 0.00136651,
 -0.00671525, 0.0391265 , 0.01304182, 0.00590301,-0.01169191, 0.03408072,
  0.47125038, 0.00463212, 0.84205762, 0.04751606, 0.09187655,-0.06622501,
  0.14294335, 0.95406515,-0.04181536, 0.05151953, 0.29215904]

qacc:
[  0.12525492,  1.00118795, -4.2016458 ,  7.54996038,  2.25937962,
  -2.78258074,  8.10960534, -9.28843282,  1.14897806,  0.21997932,
   0.80678341, -7.35957837, -1.67628226,  1.61980036, -6.17066479,
  18.34370349, -1.31387169, -0.0876774 , -0.53218838, -6.63824829,
 -14.11232116, -6.42365295]

qfrc_actuator:
[ 1.02259893e-04, 2.69666048e-04, 6.12512056e-05, 1.30957564e-04,
 -4.01664424e-06, 1.55318255e-03,-1.44682134e-04,-1.93815842e-05,
 -3.16039521e-06, 4.02929640e-06,-1.70198607e-05,-3.17476823e-06,
  8.07519486e-02,-4.77147517e-04, 2.90177791e-02,-3.32261974e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006399660313787942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.67407776e-14, -8.67407776e-14,  1.00000000e+00,  7.52396251e-27,
        1.00000000e+00,  8.67407776e-14, -1.00000000e+00,  0.00000000e+00,
        8.67407776e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10677004, -0.05962677,  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:
[ 7.77894420e-07, 3.12923613e-06,-1.01974827e-05, 8.84636670e-06,
  1.29870372e-05,-1.30809003e-04,-7.81121399e-06,-9.97793217e-06,
  6.78696631e-06,-2.92361982e-05,-3.28968546e-05,-2.40476893e-05,
 -4.50747215e-04,-1.35725551e-04,-1.32315200e-04, 5.08976885e-05,
  5.19011449e-05, 9.02134630e-04,-9.80624681e+00,-6.52160176e-02,
 -6.57188905e-03,-8.33855571e-03]


--- Step 537 ---
qpos:
[ 0.00988273, 0.00807548,-0.00559065, 0.03345469, 0.00349108, 0.0013985 ,
 -0.00671645, 0.03912544, 0.01304188, 0.00590285,-0.01169103, 0.03408066,
  0.4729178 , 0.00463679, 0.84293878, 0.04751509, 0.09193833,-0.06612987,
  0.14298539, 0.95405647,-0.04223415, 0.05206358, 0.29203066]

qacc:
[ -6.10779558,  0.4837676 , -0.79019846, -2.71140682,  4.457779  ,
  -1.71400893,  4.6277111 , -5.16665314,  0.66751769,  2.40027736,
 -10.09525735, 17.61764896, -1.50673843,  1.11378708,  1.01474335,
  -6.0819336 , -1.30566234, -0.07965044, -0.56056975, -6.628887  ,
 -13.97828528, -6.45897364]

qfrc_actuator:
[ 6.64741135e-05, 2.51293016e-04, 3.59501389e-05, 1.17244401e-04,
  2.15883927e-05, 1.51949557e-03,-1.33805121e-04,-2.15548090e-05,
  6.62520668e-07, 2.01918505e-05,-3.87573185e-05, 1.78514041e-05,
  8.06062618e-02,-5.09021466e-04, 2.89575804e-02,-3.37160789e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006160292635033482
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.50556122e-14,  1.57694643e-13,  1.00000000e+00, -7.10502868e-27,
        1.00000000e+00, -1.57694643e-13, -1.00000000e+00,  0.00000000e+00,
        4.50556122e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10677516, -0.05962638,  0.06198626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.57638672e-05,-1.83715058e-05,-2.56174044e-05,-1.37653430e-05,
  2.59292833e-05,-1.10049980e-04,-1.78188458e-05,-8.31167342e-06,
  4.00867144e-06,-8.01803345e-06,-3.26740623e-05, 1.81650726e-05,
 -4.50178976e-04,-1.51469974e-04,-1.25567200e-04,-6.54535643e-05,
  3.30546175e-05, 9.85162042e-04,-9.80642055e+00,-6.52504506e-02,
 -6.50069181e-03,-8.42908012e-03]


--- Step 538 ---
qpos:
[ 0.009883  , 0.00807552,-0.00559085, 0.03345533, 0.00349145, 0.0014301 ,
 -0.00671802, 0.03912432, 0.01304198, 0.0059026 ,-0.01168984, 0.0340808 ,
  0.47458224, 0.00464168, 0.84381872, 0.04751313, 0.09200002,-0.06604183,
  0.1430263 , 0.95404432,-0.04261619, 0.0525962 , 0.29191939]

qacc:
[ -6.86802233, -1.21681892,  7.81077713,-22.34463537, -0.37024913,
   0.40715177, -2.03436728,  2.13035086,  0.41072496, -0.52300045,
   0.80822478,  2.41299937, -2.37039465,  3.26814553,  1.35295463,
  -6.9799908 , -0.02643597, -1.7766494 , -0.28055155, 15.34439387,
 -11.09761477,  9.38933386]

qfrc_actuator:
[ 2.72487329e-05, 2.40235745e-04, 2.09671095e-05, 7.30508497e-05,
  1.87289189e-05, 1.52252338e-03,-1.44639222e-04,-2.23981409e-05,
  2.88720468e-06, 2.99249069e-05,-1.63175985e-05, 3.02627760e-05,
  8.04589710e-02,-4.94187692e-04, 2.89111110e-02,-3.41780958e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([12.92962444, -7.87315092, 10.25615341, -7.87315092, 36.35726193,
       17.9842596 , 10.25615341, 17.9842596 , 26.73526719,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006038705142872441
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.83851173e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.83851173e-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([ 0.08811096, -0.03595668,  0.06198653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.02499405e-05,-2.72374478e-05,-2.24147280e-05,-4.61375773e-05,
 -2.15974934e-06,-6.36871672e-05,-3.64085554e-05,-6.40483015e-06,
  2.33677150e-06,-7.24160002e-07, 1.73791152e-05, 1.12892027e-05,
 -4.54982949e-04,-1.07396065e-04,-1.22530981e-04,-6.84785992e-05,
  5.58251727e-06, 1.06456066e-03,-9.80658264e+00,-6.52850658e-02,
 -6.43421298e-03,-8.51622416e-03]


--- Step 539 ---
qpos:
[ 0.00988313, 0.00807556,-0.00559132, 0.03345577, 0.00349179, 0.00146099,
 -0.0067191 , 0.03912353, 0.01304211, 0.00590211,-0.01168861, 0.03408147,
  0.47624371, 0.00464699, 0.84469716, 0.04751028, 0.09206167,-0.06596073,
  0.14306567, 0.95402914,-0.04296152, 0.05311676, 0.29182412]

qacc:
[-1.12885555e+00, 3.54051095e-01,-4.26522204e-01,-2.59607361e+00,
 -2.96114151e-01,-1.65486673e+00, 3.20427433e+00, 2.05632063e+00,
  2.35326466e-01, 6.51224760e-01,-5.01922367e+00, 1.42971040e+01,
 -2.54070872e+00, 3.77705014e+00, 6.67067737e-01,-5.14064675e+00,
 -7.11695067e-03,-1.73505875e+00,-3.87360827e-01, 1.52662347e+01,
 -1.13679760e+01, 8.77924703e+00]

qfrc_actuator:
[ 2.18299043e-05, 2.51401813e-04, 1.22052527e-05, 6.45510284e-05,
  1.68876826e-05, 1.49419393e-03,-1.14782388e-04,-4.67887320e-06,
  4.15427766e-06, 4.12093871e-07,-2.12608804e-05, 5.52793425e-05,
  8.03161637e-02,-4.69616347e-04, 2.88409654e-02,-3.46190510e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 12.72850662,   5.96158172, -11.24608484,   5.96158172,
        91.82483725,  41.92919099, -11.24608484,  41.92919099,
        34.95529064,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005918255908107101
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.37964699e-14, -7.07137449e-14,  1.00000000e+00, -6.63269965e-27,
        1.00000000e+00,  7.07137449e-14, -1.00000000e+00,  0.00000000e+00,
       -9.37964699e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08811544, -0.03594969,  0.0619868 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.57230743e-06,-1.06880001e-05,-1.87434614e-05,-1.13399360e-05,
 -1.92312222e-06,-7.28668846e-05, 1.16459136e-05, 1.35413526e-05,
  1.33252031e-06,-2.58481630e-05,-2.57294869e-06, 2.58040580e-05,
 -4.43765767e-04,-9.11208739e-05,-1.45640365e-04,-6.62521009e-05,
  2.37150951e-05, 8.55133146e-04,-9.80692829e+00,-6.52588294e-02,
 -6.33179561e-03,-8.59074133e-03]


--- Step 540 ---
qpos:
[ 0.00988355, 0.00807583,-0.00559179, 0.0334564 , 0.00349245, 0.00149102,
 -0.00671944, 0.03912296, 0.01304225, 0.00590151,-0.01168749, 0.03408278,
  0.47790231, 0.00465259, 0.84557413, 0.04750324, 0.09212336,-0.06588644,
  0.14310314, 0.95401128,-0.04327021, 0.05362482, 0.29174397]

qacc:
[ 2.43821286e+00, 6.97911856e-01,-2.83417533e+00, 5.92476355e+00,
  2.85538142e+00,-2.74735574e+00, 7.22237141e+00,-3.96541097e+00,
  1.23122670e-01, 1.46739275e+00,-8.12590106e+00, 1.93664230e+01,
 -2.49014713e+00, 3.59936140e+00, 1.06241598e+01,-3.99616873e+01,
  9.14491457e-03,-1.70094453e+00,-4.75260362e-01, 1.51945256e+01,
 -1.15621211e+01, 8.31081395e+00]

qfrc_actuator:
[ 3.63534998e-05, 2.93596921e-04, 2.50562365e-05, 7.71481221e-05,
  3.34219260e-05, 1.44750890e-03,-7.89820855e-05, 6.07788081e-06,
  4.84795257e-06, 7.96302268e-07,-2.47451687e-05, 8.74550454e-05,
  8.01708265e-02,-4.57257509e-04, 2.87460316e-02,-3.68196248e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005788255359423233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39757698e-14, -4.79515396e-14,  1.00000000e+00, -1.14967508e-27,
        1.00000000e+00,  4.79515396e-14, -1.00000000e+00,  0.00000000e+00,
       -2.39757698e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08811895, -0.03594318,  0.0619871 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43341328e-05, 3.18611969e-05, 7.94659353e-06, 1.12701258e-05,
  1.64531099e-05,-8.55558726e-05, 2.23035325e-05, 8.23601514e-06,
  7.21398762e-07,-1.34931645e-05,-8.25770054e-06, 3.14780222e-05,
 -4.36000641e-04,-9.79902795e-05,-1.79573975e-04,-2.44774467e-04,
  2.73014883e-05, 6.67988239e-04,-9.80724884e+00,-6.52335146e-02,
 -6.23663572e-03,-8.66211511e-03]


--- Step 541 ---
qpos:
[ 0.00988448, 0.0080763 ,-0.00559208, 0.03345647, 0.00349365, 0.00152031,
 -0.00671932, 0.03912218, 0.01304171, 0.00590079,-0.01168612, 0.03408409,
  0.47955798, 0.00465866, 0.84644838, 0.04749633, 0.09218514,-0.06581884,
  0.14313841, 0.95399101,-0.04354233, 0.05412006, 0.2916783 ]

qacc:
[  4.52753272, -1.40030484,  7.69017392,-17.6825238 ,  4.75839632,
  -2.72096973,  9.12210944,-12.87706973, -5.99534026, -0.83114113,
   2.73712881, -2.98039981, -2.46313145,  3.67095578, -4.23118097,
   9.37972702,  0.02300558, -1.67303437, -0.54698389, 15.13061969,
 -11.69851069,  7.95530489]

qfrc_actuator:
[ 6.24876507e-05, 3.00909048e-04, 3.29563301e-05, 4.88370907e-05,
  6.06390231e-05, 1.40799545e-03,-5.78096959e-05,-5.12295550e-06,
 -3.03061510e-05, 1.33429327e-06,-9.46429347e-06, 8.81043628e-05,
  8.00187433e-02,-4.34491453e-04, 2.86256259e-02,-3.66665007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005652413034854115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.8207882e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.8207882e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08812168, -0.03593709,  0.0619874 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65523620e-05, 2.72515036e-05, 1.58501122e-05,-2.64530683e-05,
  2.76536921e-05,-8.34776401e-05, 6.18374946e-06,-1.40008236e-05,
 -3.51397889e-05,-7.35775418e-06, 1.25568624e-05, 3.93942422e-07,
 -4.40171384e-04,-8.68329989e-05,-2.39518008e-04,-2.34762208e-05,
  1.89142177e-05, 5.01749027e-04,-9.80754458e+00,-6.52085473e-02,
 -6.14825027e-03,-8.73030716e-03]


--- Step 542 ---
qpos:
[ 0.00988571, 0.00807673,-0.00559275, 0.03345697, 0.00349517, 0.00154896,
 -0.00671926, 0.03912163, 0.01304075, 0.00589985,-0.01168509, 0.0340858 ,
  0.48121062, 0.00466534, 0.84732007, 0.04749218, 0.09224706,-0.06575784,
  0.14317127, 0.95396856,-0.04377797, 0.05460225, 0.2916266 ]

qacc:
[ 2.67776267e+00, 1.86493865e+00,-8.51653207e+00, 1.64519564e+01,
  2.79718917e+00,-1.75985014e-01,-1.60789254e+00, 6.31301706e+00,
 -3.67357315e+00, 1.46770032e+00,-7.32863355e+00, 1.48969546e+01,
 -2.52583330e+00, 3.86546419e+00,-1.19759467e+01, 3.67743247e+01,
  3.49838527e-02,-1.65028288e+00,-6.04905602e-01, 1.50752989e+01,
 -1.17914734e+01, 7.68994666e+00]

qfrc_actuator:
[ 7.74867701e-05, 2.69484483e-04, 2.19688991e-06, 6.76577109e-05,
  7.61674706e-05, 1.37302249e-03,-6.31863664e-05, 6.34584978e-06,
 -5.07724215e-05,-3.34909717e-05,-3.64990260e-05, 1.05718551e-04,
  7.98627226e-02,-4.05792748e-04, 2.85433587e-02,-3.51275620e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005513791116376482
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.03384605e-14, -1.00676921e-13,  1.00000000e+00, -5.06792121e-27,
        1.00000000e+00,  1.00676921e-13, -1.00000000e+00,  0.00000000e+00,
       -5.03384605e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08812381, -0.03593138,  0.06198772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57643715e-05,-1.40523017e-05,-2.40976178e-05, 2.00200912e-05,
  1.62857352e-05,-8.20313695e-05,-2.26873549e-05, 7.76799810e-06,
 -2.14688018e-05,-3.63360516e-05,-2.70039805e-05, 1.77379779e-05,
 -4.44364012e-04,-7.98360271e-05,-2.00115567e-04, 1.20704581e-04,
  4.33880109e-07, 3.55328645e-04,-9.80781586e+00,-6.51834755e-02,
 -6.06628272e-03,-8.79528829e-03]


--- Step 543 ---
qpos:
[ 0.00988643, 0.00807712,-0.00559379, 0.03345803, 0.00349651, 0.00157727,
 -0.00671942, 0.03912155, 0.01304059, 0.00589863,-0.01168433, 0.03408737,
  0.48286035, 0.00467214, 0.84818945, 0.0474918 , 0.09230917,-0.06570337,
  0.14320153, 0.95394408,-0.04397719, 0.05507123, 0.29158852]

qacc:
[-4.56899175e+00, 2.15339107e+00,-1.01431552e+01, 2.05708882e+01,
 -1.50117857e+00, 1.10844742e+00,-6.54282100e+00, 1.50802052e+01,
  7.00392328e+00, 7.81362055e-02,-2.37711523e-01,-1.57961361e+00,
 -1.93391243e+00, 2.36788473e+00,-1.46771272e+01, 4.66805485e+01,
  4.54898699e-02,-1.63183041e+00,-6.51084355e-01, 1.50289340e+01,
 -1.18521136e+01, 7.49667570e+00]

qfrc_actuator:
[ 5.03026377e-05, 2.68235743e-04,-1.57644070e-05, 9.62515102e-05,
  6.69358368e-05, 1.37646551e-03,-6.63976968e-05, 3.10537223e-05,
 -9.16082648e-06,-5.38751965e-05,-5.29319415e-05, 9.76119215e-05,
  7.97044526e-02,-4.09373190e-04, 2.84627567e-02,-3.31389877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005374891853002217
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.54917958e-13,  5.16393192e-14,  1.00000000e+00,  7.99985787e-27,
        1.00000000e+00, -5.16393192e-14, -1.00000000e+00,  0.00000000e+00,
       -1.54917958e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08812546, -0.03592603,  0.06198803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67405388e-05,-1.32339496e-05,-2.31395270e-05, 2.75460467e-05,
 -8.79673076e-06,-4.78181274e-05,-2.30178331e-05, 2.04953764e-05,
  4.09874343e-05,-4.55136340e-05,-2.66558712e-05,-1.02561495e-05,
 -4.46824912e-04,-1.12211694e-04,-1.65691340e-04, 1.78438975e-04,
 -2.67784545e-05, 2.27875673e-04,-9.80806302e+00,-6.51579468e-02,
 -5.99047373e-03,-8.85703668e-03]


--- Step 544 ---
qpos:
[ 0.00988647, 0.00807754,-0.0055948 , 0.03345905, 0.00349739, 0.00160514,
 -0.00671957, 0.03912107, 0.01304092, 0.00589732,-0.01168329, 0.03408807,
  0.48450722, 0.00467864, 0.84905701, 0.04748979, 0.09237149,-0.06565537,
  0.14322903, 0.95391769,-0.04414005, 0.05552691, 0.2915638 ]

qacc:
[ -5.93450667, -0.11984264,  0.73847114, -1.70572857, -4.08952549,
  -1.42310767,  5.93675723,-12.56268924,  4.40250923, -2.67443623,
  13.01971149,-28.35661637, -1.83168898,  1.88047671,  2.31388467,
 -11.74524826,  0.05484768, -1.6169692 , -0.6873046 , 14.99160252,
 -11.88902035,  7.36115318]

qfrc_actuator:
[ 1.62645031e-05, 2.85112035e-04,-8.15101314e-06, 9.48892272e-05,
  4.32089653e-05, 1.34966245e-03,-6.81281244e-05, 1.01313197e-05,
  1.53927019e-05,-2.99412115e-05,-2.74276486e-05, 5.67024111e-05,
  7.95449316e-02,-4.32053234e-04, 2.83459417e-02,-3.40972201e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005237734489756257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.29915666e-14, -5.29915666e-14,  1.00000000e+00,  2.80810613e-27,
        1.00000000e+00,  5.29915666e-14, -1.00000000e+00,  0.00000000e+00,
        5.29915666e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08812673, -0.03592101,  0.06198833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.48051849e-05, 5.86060187e-06, 2.98843220e-06,-2.19381334e-06,
 -2.39935447e-05,-5.84495545e-05,-1.40635453e-05,-2.34313183e-05,
  2.57013889e-05,-7.41723978e-06, 1.24650340e-05,-4.39859937e-05,
 -4.56076396e-04,-1.37845558e-04,-1.80982121e-04,-1.08921142e-04,
 -6.17526280e-05, 1.18730595e-04,-9.80828639e+00,-6.51316883e-02,
 -5.92063866e-03,-8.91553630e-03]


--- Step 545 ---
qpos:
[ 0.0098861 , 0.00807806,-0.00559575, 0.03346003, 0.00349798, 0.00163257,
 -0.00672004, 0.0391207 , 0.01304086, 0.00589621,-0.01168214, 0.03408894,
  0.48615111, 0.0046852 , 0.84992259, 0.04748726, 0.09243406,-0.06561378,
  0.14325367, 0.9538895 ,-0.0442666 , 0.05596922, 0.29155229]

qacc:
[ -3.58517583, -0.09636728,  0.67947285, -1.43380706, -2.56399018,
   0.59089373, -3.43386816,  6.34288978, -3.50214518,  0.32672195,
  -1.50072929,  4.13449136, -2.17655979,  2.73736151, -1.19661621,
   0.2594254 ,  0.06331316, -1.60511566, -0.7151132 , 14.96317735,
 -11.90882189,  7.27198686]

qfrc_actuator:
[-3.76877557e-06, 2.95042575e-04,-3.19724232e-06, 9.36965869e-05,
  2.89010751e-05, 1.32269493e-03,-8.68658552e-05, 1.57636483e-05,
 -5.81527400e-06, 2.74086138e-06,-1.27093672e-05, 6.79003594e-05,
  7.93900856e-02,-4.30341531e-04, 2.82660218e-02,-3.42993858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005103922808734063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08761737e-13, -1.08761737e-13,  1.00000000e+00, -1.18291155e-26,
        1.00000000e+00,  1.08761737e-13, -1.00000000e+00,  0.00000000e+00,
       -1.08761737e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0881277 , -0.03591631,  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:
[-2.10233964e-05, 1.37129660e-05, 6.46244929e-06,-8.80322413e-07,
 -1.50087950e-05,-6.45804467e-05,-3.36773020e-05, 2.12517415e-06,
 -2.04816189e-05, 2.92676590e-05, 1.32004440e-05, 1.04533161e-05,
 -4.63476157e-04,-1.19761827e-04,-1.83681370e-04,-5.14231220e-05,
 -1.03813242e-04, 2.73908867e-05,-9.80848627e+00,-6.51044909e-02,
 -5.85665056e-03,-8.97077560e-03]


--- Step 546 ---
qpos:
[ 0.00988584, 0.00807848,-0.00559623, 0.03346029, 0.00349873, 0.00165942,
 -0.00672043, 0.03912075, 0.01304055, 0.00589545,-0.01168119, 0.03408994,
  0.48779213, 0.00469145, 0.85078616, 0.04748607, 0.09249693,-0.06557858,
  0.14327537, 0.95385956,-0.04435688, 0.05639814, 0.29155387]

qacc:
[  0.95898358, -2.92207405, 13.24999854,-26.32217109,  1.49769458,
  -0.20619756, -2.12681279,  9.4605959 , -2.2425048 ,  1.26632471,
  -4.38029213,  6.63225974, -1.65996045,  1.53387894, -6.94137312,
  20.17121558,  0.07108833, -1.59579027, -0.73583821, 14.94341329,
 -11.91663607,  7.22012613]

qfrc_actuator:
[ 2.35628394e-06, 2.82982803e-04, 1.78739278e-05, 5.71038891e-05,
  3.80089115e-05, 1.29579850e-03,-7.99708084e-05, 3.69686822e-05,
 -1.82770498e-05, 2.26768642e-05,-2.21508380e-05, 7.41678504e-05,
  7.92434858e-02,-4.49719234e-04, 2.81976672e-02,-3.35197734e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004974704348628678
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.36901261e-14, -1.67380252e-13,  1.00000000e+00, -1.40080744e-26,
        1.00000000e+00,  1.67380252e-13, -1.00000000e+00,  0.00000000e+00,
       -8.36901261e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08812844, -0.03591191,  0.06198892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.52978607e-06,-3.11028590e-06, 2.46733486e-05,-3.57988908e-05,
  8.65992133e-06,-7.08717728e-05,-1.08341769e-05, 1.72550600e-05,
 -1.30368751e-05, 3.94947192e-05,-1.40996680e-06, 8.18068960e-06,
 -4.55668839e-04,-1.39415375e-04,-1.66691771e-04, 4.96811755e-05,
 -1.52507647e-04,-4.65171174e-05,-9.80866290e+00,-6.50761963e-02,
 -5.79842722e-03,-9.02274648e-03]


--- Step 547 ---
qpos:
[ 0.009886  , 0.00807898,-0.00559651, 0.03346011, 0.00349959, 0.00168565,
 -0.0067204 , 0.03912033, 0.01304043, 0.00589515,-0.0116804 , 0.03409064,
  0.48943045, 0.00469687, 0.85164823, 0.04748242, 0.0925601 ,-0.06554973,
  0.14329407, 0.95382791,-0.04441091, 0.05681366, 0.2915685 ]

qacc:
[  3.69101779, -1.40168833,  6.99123382,-15.03386525,  0.92995938,
  -2.90262101, 11.1154616 ,-19.26114028,  1.72589292,  0.45842435,
   0.4840262 , -5.64999046, -1.27823676,  0.44806425,  5.30610862,
 -21.64441549,  0.07833619, -1.58867121, -0.75021876, 14.93261336,
 -11.9169105 ,  7.19866103]

qfrc_actuator:
[ 2.38237419e-05, 2.93389874e-04, 3.04269525e-05, 3.54727634e-05,
  4.30700460e-05, 1.26928046e-03,-5.79821193e-05, 1.39250061e-05,
 -7.72378176e-06, 5.24875729e-05,-2.80799722e-05, 5.96993474e-05,
  7.90966034e-02,-4.99170738e-04, 2.81150233e-02,-3.48305485e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004851021714224746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43039844e-13, -1.71647813e-13,  1.00000000e+00, -2.45524764e-26,
        1.00000000e+00,  1.71647813e-13, -1.00000000e+00,  0.00000000e+00,
       -1.43039844e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.088129 , -0.0359078,  0.0619892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16235190e-05, 1.22228801e-05, 1.37109850e-05,-2.16080994e-05,
  5.28228703e-06,-6.86168087e-05, 6.30085983e-06,-2.61792018e-05,
  1.01949592e-05, 5.19643220e-05, 2.33404073e-06,-1.26677594e-05,
 -4.54946973e-04,-1.71488542e-04,-1.62089452e-04,-1.51589019e-04,
 -2.07552019e-04,-1.03261080e-04,-9.80881648e+00,-6.50466857e-02,
 -5.74592128e-03,-9.07144337e-03]


--- Step 548 ---
qpos:
[ 0.0098871 , 0.00807946,-0.00559689, 0.03346005, 0.00350016, 0.00171162,
 -0.00672083, 0.03912   , 0.01304079, 0.00589499,-0.01167931, 0.03409152,
  0.49106603, 0.00470165, 0.85250806, 0.04747954, 0.09262361,-0.06552722,
  0.14330974, 0.95379459,-0.04442867, 0.05721579, 0.29159619]

qacc:
[  8.29847139,  0.53149412, -2.43207987,  4.69805846, -2.56962009,
   1.11132323, -4.83138965,  7.25990705,  4.16234897, -0.30587705,
   0.61717639,  1.82525647, -1.28079948,  0.5962008 , -5.63281179,
  15.02719837,  0.08518326, -1.58343458, -0.75922796, 14.93042499,
 -11.91267644,  7.20187691]

qfrc_actuator:
[ 7.18936879e-05, 2.81643083e-04, 2.01937282e-05, 4.05850411e-05,
  2.79486880e-05, 1.26099369e-03,-8.05527125e-05, 1.82929192e-05,
  1.62886228e-05, 5.24668363e-05,-1.41002372e-05, 6.86656063e-05,
  7.89602922e-02,-5.30507053e-04, 2.80238317e-02,-3.43448899e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000473353997628434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.93179901e-14, -1.75907940e-13,  1.00000000e+00,  5.15726725e-27,
        1.00000000e+00,  1.75907940e-13, -1.00000000e+00,  0.00000000e+00,
        2.93179901e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08812941, -0.03590397,  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:
[ 4.86893842e-05,-3.01253668e-06,-6.77046792e-06, 5.68887857e-06,
 -1.49943143e-05,-4.74291017e-05,-3.71814744e-05, 1.07806570e-06,
  2.43207416e-05, 2.89805529e-05, 2.45549331e-05, 1.10242180e-05,
 -4.51296768e-04,-1.58811147e-04,-1.91975093e-04, 1.71884552e-05,
 -2.68793627e-04,-1.43022378e-04,-9.80894718e+00,-6.50158713e-02,
 -5.69911322e-03,-9.11686216e-03]


--- Step 549 ---
qpos:
[ 0.00988878, 0.00807973,-0.00559729, 0.03346007, 0.0035002 , 0.00173715,
 -0.00672179, 0.03912045, 0.01304212, 0.0058951 ,-0.01167809, 0.0340925 ,
  0.4926988 , 0.00470577, 0.85336585, 0.04747947, 0.0926875 ,-0.06551103,
  0.14332234, 0.95375958,-0.04441017, 0.05760455, 0.29163696]

qacc:
[  4.98663685, -0.09122358, -0.46087147,  2.09806373, -4.67365101,
   2.52808267,-13.10770261, 27.65582515,  8.57495037,  0.167522  ,
  -0.5128921 ,  1.79475001, -1.23356789,  0.46335203,-11.41246977,
  35.69177257,  0.09172692, -1.5797683 , -0.76395227, 14.93608811,
 -11.90594369,  7.22504114]

qfrc_actuator:
[ 9.97258330e-05, 2.56649464e-04, 1.42745211e-05, 4.36056408e-05,
  1.07075695e-06, 1.22804064e-03,-1.11402132e-04, 5.64975476e-05,
  6.57753647e-05, 7.01836200e-05,-6.33007142e-06, 7.35889662e-05,
  7.88091206e-02,-5.68586802e-04, 2.79649131e-02,-3.28040311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004622684833428675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.00631666e-14, -6.00421111e-14,  1.00000000e+00,  5.40758265e-27,
        1.00000000e+00,  6.00421111e-14, -1.00000000e+00,  0.00000000e+00,
        9.00631666e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08812971, -0.0359004 ,  0.06198971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.92171757e-05,-2.78325347e-05,-7.18269184e-06, 2.76564100e-06,
 -2.73192648e-05,-6.80531784e-05,-4.54870238e-05, 3.48510693e-05,
  5.01874916e-05, 3.94679572e-05, 1.71487785e-05, 7.22441694e-06,
 -4.61027421e-04,-1.62580087e-04,-1.52257974e-04, 1.28825643e-04,
 -3.36178780e-04,-1.65907045e-04,-9.80905509e+00,-6.49836898e-02,
 -5.65800586e-03,-9.15899989e-03]


--- Step 550 ---
qpos:
[ 0.00989008, 0.00807975,-0.00559775, 0.03346048, 0.00350025, 0.00176232,
 -0.00672315, 0.03912063, 0.01304369, 0.00589523,-0.01167693, 0.03409357,
  0.49422511, 0.00476904, 0.85422553, 0.04747858, 0.0927462 ,-0.06549751,
  0.14333318, 0.95369247,-0.04439967, 0.05790598, 0.29179827]

qacc:
[-3.23352931e+00, 6.23454008e-01,-4.34631757e+00, 1.13501477e+01,
  1.89948609e-01, 7.71053268e-02, 1.42338371e-01,-3.75483625e+00,
  2.09367497e+00, 3.93208607e-01,-1.79197180e+00, 3.58383303e+00,
 -1.32046364e+02, 2.46567950e+02, 1.51776706e+01,-2.53321077e+01,
 -1.29326388e+00,-6.68433439e-01,-4.42255722e-01,-2.07331709e+01,
 -4.22316766e+01, 5.99985119e+01]

qfrc_actuator:
[ 7.99097863e-05, 2.41676367e-04, 1.08904808e-05, 6.31121035e-05,
  2.99989607e-06, 1.21607559e-03,-1.29199642e-04, 4.32729522e-05,
  7.65972995e-05, 4.51011194e-05,-1.99890354e-05, 7.60951919e-05,
  7.86491378e-02,-5.74940403e-04, 2.79360714e-02,-3.34937493e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.62334911,  5.67263179,  5.09280867,  5.67263179,  8.26128545,
       -0.71056625,  5.09280867, -0.71056625,  8.41481429,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020079745988850467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48070447e-01, -3.16850066e-01, -2.77211858e-02, -3.16714707e-01,
        9.48475638e-01, -9.26060637e-03,  2.92270931e-02,  1.73472348e-18,
       -9.99572797e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11776066, -0.04075413,  0.30336862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004518686224431606
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22847988e-13, -1.84751857e-13,  1.00000000e+00, -2.26963940e-26,
        1.00000000e+00,  1.84751857e-13, -1.00000000e+00,  0.00000000e+00,
       -1.22847988e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08812993, -0.03589708,  0.06198994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89936266e-05,-3.19026815e-05,-9.92364733e-06, 1.81178024e-05,
  1.12917953e-06,-5.88503684e-05,-3.65394367e-05,-1.70909101e-05,
  1.22630594e-05, 8.41170950e-07,-3.16273119e-06, 4.92450572e-06,
 -4.75880811e-04,-1.34050689e-04,-9.30753178e-05,-8.32747311e-05,
 -4.09728096e-04,-1.71957968e-04,-9.80914025e+00,-6.49500981e-02,
 -5.62261972e-03,-9.19785440e-03]


--- Step 551 ---
qpos:
[ 0.00989079, 0.0080798 ,-0.00559861, 0.03346042, 0.00350034, 0.00178705,
 -0.0067244 , 0.03911995, 0.013044  , 0.00589474,-0.01167532, 0.03409437,
  0.49563993, 0.0048525 , 0.85508536, 0.0474753 , 0.0927998 ,-0.06548808,
  0.14334177, 0.95359787,-0.0443869 , 0.05812427, 0.29206587]

qacc:
[  -5.21310328,   0.23483246,   1.26305178,  -8.86162634,   0.20741963,
   -2.68337218,  12.41347222, -27.39349213, -11.06957096,  -2.63740001,
    9.40554469, -14.47773891,-100.32283851, 152.52383708,  14.30207201,
  -33.35986422,  -1.27745375,  -1.02129176,  -0.56157824, -14.74047027,
  -41.54252952,  52.90886249]

qfrc_actuator:
[ 4.99670080e-05, 2.50592901e-04,-8.67802994e-06, 3.89125426e-05,
  4.12010511e-06, 1.19903891e-03,-1.21351958e-04,-8.57941729e-08,
  1.13091472e-05,-2.32674234e-05,-1.08582437e-05, 5.93580692e-05,
  7.85199280e-02,-6.21792826e-04, 2.78557618e-02,-3.49642797e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.86177818, 5.07817068, 7.26245792, 5.07817068, 5.40000956,
       2.4205926 , 7.26245792, 2.4205926 , 7.16921314, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0004039949278434869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48060897e-01, -3.16878422e-01, -2.77236667e-02, -3.16743024e-01,
        9.48466165e-01, -9.26235650e-03,  2.92300007e-02,  1.73472348e-18,
       -9.99572712e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11781785, -0.0408089 ,  0.302815  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004425191028465808
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.76330542e-13, -1.57294406e-13,  1.00000000e+00, -5.91946891e-26,
        1.00000000e+00,  1.57294406e-13, -1.00000000e+00,  0.00000000e+00,
       -3.76330542e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0881301 , -0.03589411,  0.06199015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.04950698e-05,-1.02040564e-05,-2.67501997e-05,-2.55567723e-05,
  1.13395381e-06,-5.91253145e-05,-9.68023546e-06,-4.75310846e-05,
 -6.49375595e-05,-6.83517814e-05, 9.06902232e-06,-1.67201352e-05,
  4.71187368e-03,-3.14294789e-03,-2.71112182e-04,-1.90306847e-04,
 -3.10670127e-04,-2.24643330e-04,-9.80971454e+00,-6.48470796e-02,
 -5.61286364e-03,-9.23558422e-03]


--- Step 552 ---
qpos:
[ 0.00989045, 0.00807966,-0.00559936, 0.03346006, 0.00350078, 0.00181104,
 -0.00672487, 0.03911873, 0.01304318, 0.00589409,-0.01167374, 0.03409459,
  0.49692733, 0.00495045, 0.85594434, 0.0474716 , 0.09284261,-0.06548136,
  0.14334933, 0.95350702,-0.04438452, 0.05829276, 0.29232914]

qacc:
[  -9.24459041,  -1.19249729,   5.13012326, -10.29230032,   3.18478172,
   -4.23852578,  15.87531535, -25.59395747,  -9.93811829,  -1.26685815,
    6.70672129, -16.58925377,-106.71304303, 152.18701757,   7.08284355,
   -9.68141277,  -2.69816775,  -0.67860723,  -0.25896744, -12.01241618,
  -22.23683385,  -4.01273306]

qfrc_actuator:
[-3.43323642e-06, 2.38141890e-04,-2.07553429e-06, 2.47022860e-05,
  2.24985735e-05, 1.16143520e-03,-8.07034133e-05,-2.53006851e-05,
 -4.49828261e-05,-1.04568288e-05,-6.29656483e-06, 3.14094101e-05,
  7.83974882e-02,-6.77656642e-04, 2.77606363e-02,-3.52865269e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([10.98810259,  0.4628015 , 10.97835203,  0.4628015 ,  8.11798709,
        0.12099209, 10.97835203,  0.12099209, 10.98300207,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005687602635979216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47959652e-01, -3.17178875e-01, -2.77499533e-02, -3.17043062e-01,
        9.48365732e-01, -9.28091206e-03,  2.92608140e-02, -1.73472348e-18,
       -9.99571811e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11786054, -0.04086017,  0.3023657 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.30360202, -6.40110384,  8.07403766, -6.40110384, 16.24006896,
        4.70643598,  8.07403766,  4.70643598, 14.03486842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043500635733876935
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11603130e-06,  1.11603143e-06,  1.00000000e+00, -1.24552601e-12,
        1.00000000e+00, -1.11603143e-06, -1.00000000e+00,  0.00000000e+00,
        1.11603130e-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([ 0.10536257, -0.05774015,  0.06199032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.42697701e-05,-2.47826996e-05, 3.25825289e-07,-1.60673843e-05,
  1.83924372e-05,-7.55856409e-05, 2.53246126e-05,-2.90595169e-05,
 -5.81610668e-05,-2.42795378e-05,-9.03043918e-06,-3.08909061e-05,
  1.01584825e-02,-4.21319435e-03,-3.75185710e-04,-1.02867242e-04,
 -4.21843292e-04,-2.38653395e-05,-9.81004221e+00,-6.48148371e-02,
 -5.59072106e-03,-9.26256234e-03]


--- Step 553 ---
qpos:
[ 0.00988947, 0.00807908,-0.00559966, 0.03345989, 0.00350178, 0.00183389,
 -0.00672465, 0.03911763, 0.01304237, 0.00589401,-0.01167251, 0.03409474,
  0.49810523, 0.00504161, 0.85680148, 0.04746788, 0.09287462,-0.06547764,
  0.14335564, 0.95342705,-0.04438423, 0.05841008, 0.2925665 ]

qacc:
[ -5.57255737, -1.41119993,  3.46674309, -0.71565654,  4.98560008,
  -3.22994655,  8.86211896, -7.24535939,  0.15937409,  1.58841917,
  -4.30061388,  3.32869518,-74.17826763, 82.10651213,  1.75021176,
   0.54836195, -2.69780424, -0.7501216 , -0.3111052 , -7.48394309,
 -23.8357162 ,-15.14436763]

qfrc_actuator:
[-3.47038829e-05, 2.13101633e-04, 1.98648159e-05, 3.42479943e-05,
  5.08875213e-05, 1.07646790e-03,-5.65916778e-05,-2.18788708e-05,
 -4.22459940e-05, 6.85885786e-05,-4.16786338e-06, 3.26524919e-05,
  7.82739079e-02,-7.41291238e-04, 2.76780095e-02,-3.52850300e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([12.9411091 , -2.35513353, 12.72500101, -2.35513353,  2.67151116,
       -1.90068939, 12.72500101, -1.90068939, 12.58933095,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007024472328779448
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94784539, -0.31751756, -0.02777959, -0.31738128,  0.94825239,
       -0.00930185,  0.02929556,  0.        , -0.99957079])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11789232, -0.04090704,  0.30199919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004329716063239536
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.61572602e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.61572602e-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([ 0.10684481, -0.05959694,  0.06199036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.28235120e-05,-3.95230964e-05, 1.63191159e-05, 8.18740842e-06,
  2.88855901e-05,-1.24106587e-04, 1.03382322e-05, 4.42859173e-07,
  1.07642836e-06, 6.22606797e-05,-5.07740036e-06,-7.11329058e-07,
  1.64004102e-02,-5.00630841e-03,-4.14935375e-04,-8.14085533e-05,
 -3.51524420e-04, 6.64697557e-05,-9.81009035e+00,-6.48456100e-02,
 -5.54579546e-03,-9.28386644e-03]


--- Step 554 ---
qpos:
[ 0.00988847, 0.00807858,-0.00560016, 0.03345981, 0.00350277, 0.00185557,
 -0.00672433, 0.03911697, 0.01304161, 0.00589422,-0.01167038, 0.03409486,
  0.49920127, 0.00511411, 0.85765576, 0.0474664 , 0.09289631,-0.06547727,
  0.14336058, 0.95336062,-0.04437981, 0.05847552, 0.29277053]

qacc:
[ -0.20922802,  0.8427264 , -3.29612991,  5.2585694 , -0.08403456,
  -0.90057173, -0.90914432,  9.27371724,  0.36274527, -2.23048397,
   8.64371045,-10.93385641,-42.99061377, 26.8938655 , -8.8498892 ,
  29.93886431, -2.58082409, -0.83709847, -0.3427177 , -4.33839606,
 -24.98761086,-18.89939705]

qfrc_actuator:
[-3.49392547e-05, 2.34064954e-04, 1.51303464e-05, 3.99350610e-05,
  4.94300784e-05, 9.99277395e-04,-6.03824910e-05,-1.69651258e-06,
 -4.02956324e-05, 9.79513361e-05, 5.00826675e-05, 3.33745129e-05,
  7.81526158e-02,-7.94107843e-04, 2.75870241e-02,-3.40265373e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([14.23693595, -4.41940979, 13.53363079, -4.41940979,  2.52497913,
       -3.8245418 , 13.53363079, -3.8245418 , 12.98803107,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000805446935330833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94773169, -0.31785421, -0.02780904, -0.31771747,  0.9481396 ,
       -0.0093227 ,  0.02933011,  0.        , -0.99956978])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11791305, -0.04095043,  0.30171543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.25015329,  7.02819455, -7.46124145,  7.02819455, 46.82169406,
       34.44894598, -7.46124145, 34.44894598, 42.69969889,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043051973227185847
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.22349634e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.22349634e-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([ 0.10685376, -0.05959023,  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:
[-1.18316981e-06, 2.59975488e-06,-1.05923930e-05, 4.72131090e-06,
 -6.80073939e-07,-1.45257820e-04,-2.84074014e-05, 1.51803573e-05,
  2.00396838e-06, 6.30857522e-05, 6.64464096e-05, 3.19746309e-06,
  2.17496267e-02,-4.72354183e-03,-4.15715884e-04, 4.48769454e-05,
 -2.70545412e-04, 1.12294325e-04,-9.81008466e+00,-6.48872583e-02,
 -5.51452860e-03,-9.29885904e-03]


--- Step 555 ---
qpos:
[ 0.00988782, 0.0080781 ,-0.00560047, 0.03346013, 0.00350373, 0.00187651,
 -0.00672453, 0.03911689, 0.01304053, 0.00589486,-0.01166792, 0.03409501,
  0.50024613, 0.00516212, 0.85850698, 0.04746651, 0.09290823,-0.06548037,
  0.14336409, 0.95330928,-0.04436722, 0.05848978, 0.29293669]

qacc:
[  3.07360687,  0.30145296, -2.67854431,  9.12388454, -0.22473186,
   1.6583409 , -9.75282572, 21.09561851, -2.77331931, -0.28406579,
   1.75154267, -2.15742475,-15.19046294,-15.49905351, -9.09526396,
  25.80303824, -2.44393948, -0.86838515, -0.3567712 , -2.16063428,
 -25.19422996,-21.15607537]

qfrc_actuator:
[-1.69129325e-05, 2.46808934e-04, 3.03622762e-05, 6.10717539e-05,
  4.81669425e-05, 9.80504639e-04,-8.05900122e-05, 2.81650819e-05,
 -5.65960546e-05, 1.15320512e-04, 6.34859002e-05, 3.37829608e-05,
  7.80501303e-02,-8.79106416e-04, 2.74965077e-02,-3.31014080e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([14.91448175, -6.21139524, 13.55951087, -6.21139524,  3.26865235,
       -5.33476834, 13.55951087, -5.33476834, 12.47070963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000878861371372337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94762334, -0.31817464, -0.02783707, -0.31803745,  0.94803212,
       -0.00934256,  0.02936301,  0.        , -0.99956881])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11792269, -0.04099156,  0.30151209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.21831653,  7.10102164, -7.34775369,  7.10102164, 56.54950848,
       44.77542535, -7.34775369, 44.77542535, 53.49021675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004278041918231307
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29758315e-13,  3.24395788e-14,  1.00000000e+00, -4.20930510e-27,
        1.00000000e+00, -3.24395788e-14, -1.00000000e+00,  0.00000000e+00,
        1.29758315e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10686105, -0.05958492,  0.06199048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79958932e-05, 1.22392990e-05, 1.46407290e-05, 2.09761625e-05,
 -1.33265278e-06,-1.06009450e-04,-5.34423621e-05, 2.29022917e-05,
 -1.62214118e-05, 6.64749081e-05, 3.47006279e-05, 5.46737066e-06,
  2.57393975e-02,-3.87779204e-03,-3.67740740e-04, 2.48247444e-05,
 -2.03103210e-04, 1.31309742e-04,-9.81005347e+00,-6.49257670e-02,
 -5.49701519e-03,-9.30721946e-03]


--- Step 556 ---
qpos:
[ 0.00988738, 0.00807772,-0.0056006 , 0.03346034, 0.00350468, 0.00189697,
 -0.00672514, 0.03911712, 0.0130403 , 0.0058962 ,-0.01166592, 0.03409448,
  0.50127037, 0.00518388, 0.85935534, 0.04746606, 0.09291098,-0.06548689,
  0.14336618, 0.95327373,-0.04434429, 0.05845462, 0.29306287]

qacc:
[  1.94360499, -0.56377024,  2.65118817, -4.80423862, -0.20576292,
   1.16217527, -6.39265516, 12.86954199,  7.43077267,  0.83457266,
   1.16543395,-12.45000511,  8.71020929,-47.28046133, -3.85767109,
   4.18399998, -2.29199027, -0.85370146, -0.35745817, -0.79172805,
 -24.6488445 ,-22.16443611]

qfrc_actuator:
[-6.04564041e-06, 2.54629583e-04, 3.95098703e-05, 5.56408196e-05,
  4.70382437e-05, 9.79057570e-04,-9.23249736e-05, 4.57697313e-05,
 -1.24976480e-05, 1.42975403e-04, 3.48394568e-05,-1.55062402e-06,
  7.79697644e-02,-9.70120320e-04, 2.74170450e-02,-3.32664010e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([15.19320623, -7.77648431, 13.0521955 , -7.77648431,  4.39386206,
       -6.43423787, 13.0521955 , -6.43423787, 11.3596941 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009244343035129999
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47523637e-01, -3.18469182e-01, -2.78628422e-02, -3.18331580e-01,
        9.47933215e-01, -9.36084571e-03,  2.93932544e-02, -1.73472348e-18,
       -9.99567925e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11792139, -0.04103169,  0.30138471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004248878409025131
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.53244761e-14, -2.28635666e-13,  1.00000000e+00,  1.49355051e-26,
        1.00000000e+00,  2.28635666e-13, -1.00000000e+00,  0.00000000e+00,
        6.53244761e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10686703, -0.05958071,  0.06199055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13845878e-05, 1.86166960e-05, 1.42132517e-05,-3.99121710e-06,
 -1.20237931e-06,-7.15450410e-05,-3.96654319e-05, 1.16127933e-05,
  4.36634729e-05, 7.21685651e-05,-1.04892016e-05,-3.11846871e-05,
  2.82182986e-02,-2.74479036e-03,-3.02048218e-04,-7.27205888e-05,
 -1.46912063e-04, 1.28167878e-04,-9.81000757e+00,-6.49555123e-02,
 -5.49076178e-03,-9.30893895e-03]


--- Step 557 ---
qpos:
[ 0.00988709, 0.00807716,-0.00560047, 0.03346051, 0.00350525, 0.0019172 ,
 -0.00672604, 0.03911717, 0.0130406 , 0.00589775,-0.01166405, 0.03409324,
  0.5023027 , 0.00518124, 0.8602011 , 0.04746565, 0.09290521,-0.06549659,
  0.14336687, 0.95325379,-0.0443105 , 0.05837263, 0.29314916]

qacc:
[  1.18798804, -1.07280662,  3.58099986, -4.42627485, -3.22453631,
   0.13392854, -0.15548097, -2.31426402,  4.65917325, -0.84607258,
   6.43301458,-18.82941513, 28.15501553,-68.59159157, -6.46060857,
  11.05591837, -2.12856826, -0.79739471, -0.34765327, -0.1724935 ,
 -23.47995204,-22.02221257]

qfrc_actuator:
[ 5.14915238e-07, 2.23899813e-04, 4.49467606e-05, 5.23604442e-05,
  2.82453546e-05, 9.88042681e-04,-9.88773916e-05, 3.82972624e-05,
  1.35448683e-05, 1.23100704e-04, 1.71270131e-05,-3.98949506e-05,
  7.78857863e-02,-9.64426727e-04, 2.73815874e-02,-3.30051665e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([15.27624684, -9.20561356, 12.19099654, -9.20561356,  5.78976733,
       -7.16339015, 12.19099654, -7.16339015,  9.86705808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009443271012782782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9474346 , -0.31873196, -0.02788583, -0.31859399,  0.94784489,
       -0.00937717,  0.02942025,  0.        , -0.99956713])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11790949, -0.04107205,  0.30132752])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004218183624479649
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31599656e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.31599656e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10687197, -0.05957737,  0.06199061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.89227032e-06,-1.75343898e-05, 1.09003401e-05,-2.06826559e-06,
 -1.88509232e-05,-3.94566701e-05,-2.60479676e-05,-1.17293670e-05,
  2.73167419e-05, 1.69226991e-05,-5.21619311e-06,-3.62296714e-05,
  2.91686948e-02,-1.42552004e-03,-2.04943902e-04,-2.08968369e-05,
 -1.00697912e-04, 1.08872280e-04,-9.80995489e+00,-6.49737126e-02,
 -5.49347603e-03,-9.30419652e-03]


--- Step 558 ---
qpos:
[ 0.00988756, 0.00807629,-0.0055999 , 0.03346065, 0.0035056 , 0.00193707,
 -0.006727  , 0.03911713, 0.01304018, 0.00589898,-0.01166218, 0.03409195,
  0.50336785, 0.00515752, 0.86104431, 0.04746456, 0.09289158,-0.06550914,
  0.14336624, 0.95324862,-0.04426675, 0.05824685, 0.29319759]

qacc:
[  6.78454053, -1.69684227,  5.61162194, -6.71904623, -2.01542031,
  -0.48465552,  1.41939689, -2.61332612, -6.36355015, -0.51546224,
   1.43806251, -2.0243271 , 43.29810782,-82.52883264, -5.06608165,
   4.22009318, -1.96616492, -0.7088092 , -0.33209016, -0.23778302,
 -21.92712636,-20.8901104 ]

qfrc_actuator:
[ 3.99952948e-05, 2.05808190e-04, 6.57498963e-05, 5.03410429e-05,
  1.69589072e-05, 9.67725803e-04,-1.02279434e-04, 3.38992503e-05,
 -2.45259527e-05, 7.49302446e-05, 5.83497838e-06,-4.42187641e-05,
  7.77924724e-02,-9.27568960e-04, 2.73193541e-02,-3.32020895e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.26398032, -10.51372161,  11.06574683, -10.51372161,
         7.37407465,  -7.49631028,  11.06574683,  -7.49631028,
         8.14163055,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0009409795006078738
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47357008e-01, -3.18960755e-01, -2.79058498e-02, -3.18822466e-01,
        9.47767923e-01, -9.39140343e-03,  2.94437585e-02, -1.73472348e-18,
       -9.99566439e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11788746, -0.04111371,  0.30133374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004186326071992652
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32601117e-13,  6.63005584e-14,  1.00000000e+00, -8.79152808e-27,
        1.00000000e+00, -6.63005584e-14, -1.00000000e+00,  0.00000000e+00,
        1.32601117e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10687608, -0.05957471,  0.06199068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.96719045e-05,-2.57119782e-05, 1.84568830e-05,-2.43353626e-06,
 -1.18345512e-05,-4.89960553e-05,-1.53926103e-05,-7.26084607e-06,
 -3.72801634e-05,-4.14018792e-05,-9.73040713e-06,-4.49012963e-06,
  2.86753769e-02,-1.66257957e-04,-1.50479754e-04,-4.57324786e-05,
 -6.42720614e-05, 7.92642631e-05,-9.80990089e+00,-6.49800019e-02,
 -5.50336201e-03,-9.29331865e-03]


--- Step 559 ---
qpos:
[ 0.0098885 , 0.00807567,-0.00559986, 0.03346042, 0.00350615, 0.00195664,
 -0.00672775, 0.03911702, 0.01303999, 0.0058997 ,-0.0116601 , 0.03409132,
  0.50448515, 0.00511594, 0.86188447, 0.04746174, 0.09287069,-0.06552407,
  0.14336434, 0.95325683,-0.04421505, 0.05808035, 0.29321174]

qacc:
[  4.09722911,  0.98889985, -1.46113638, -4.40852919,  1.83000865,
  -1.15295584,  3.84747296, -5.31401239,  2.10426529,  0.09487371,
  -4.10734563, 15.56933099, 54.5613525 ,-91.78645358, -3.23285912,
  -4.73149527, -1.81529548, -0.59793464, -0.31478426, -0.89039618,
 -20.20310641,-18.96704305]

qfrc_actuator:
[ 6.30317087e-05, 2.30987100e-04, 4.22422907e-05, 3.13441788e-05,
  2.79389621e-05, 9.65557013e-04,-8.61475274e-05, 3.13287530e-05,
 -1.12590924e-05, 4.57292420e-05, 1.60625665e-05,-1.07645871e-05,
  7.77016922e-02,-9.54322686e-04, 2.71985384e-02,-3.40219003e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.15518323, -11.58960561,   9.76527626, -11.58960561,
         8.92941106,  -7.38885845,   9.76527626,  -7.38885845,
         6.38595304,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000916845685726609
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94729048, -0.3191568 , -0.027923  , -0.31901823,  0.94770193,
       -0.00940361,  0.02946391,  0.        , -0.99956584])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11785585, -0.04115757,  0.30139641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041536175106325623
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.68226565e-14, -1.00233985e-13,  1.00000000e+00,  6.69790113e-27,
        1.00000000e+00,  1.00233985e-13, -1.00000000e+00,  0.00000000e+00,
        6.68226565e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10687954, -0.0595726 ,  0.06199076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.41592209e-05, 1.45457881e-05,-2.66285415e-05,-1.95088010e-05,
  1.06274582e-05,-3.37734426e-05, 3.64271881e-06,-5.38560609e-06,
  1.21988761e-05,-5.46332228e-05, 2.89489127e-07, 3.12533535e-05,
  2.69501233e-02, 8.65454522e-04,-1.59109126e-04,-9.73114549e-05,
 -3.82335710e-05, 4.39030939e-05,-9.80984817e+00,-6.49760225e-02,
 -5.51930867e-03,-9.27671913e-03]


--- Step 560 ---
qpos:
[ 0.00988937, 0.00807541,-0.00560076, 0.03346032, 0.00350683, 0.0019762 ,
 -0.00672815, 0.03911648, 0.01304066, 0.00590028,-0.01165865, 0.0340918 ,
  0.50566929, 0.00506043, 0.86272175, 0.04745863, 0.0928431 ,-0.06554088,
  0.14336126, 0.95327655,-0.04415839, 0.05787623, 0.29319653]

qacc:
[ -0.70098114,  3.42350144,-12.10897224, 15.75772586,  1.12668761,
  -1.84798123,  8.37978978,-16.2974878 ,  7.45869388,  3.83941177,
 -18.64127138, 38.90944606, 61.89146363,-95.29717371, -7.71338382,
  10.47230795, -1.67423428, -0.4681285 , -0.29630466, -2.04131944,
 -18.34270319,-16.3701778 ]

qfrc_actuator:
[ 5.84424473e-05, 2.46187604e-04,-7.07924214e-06, 3.80196463e-05,
  3.41817617e-05, 9.92120728e-04,-5.85398973e-05, 1.21274604e-05,
  3.21384469e-05, 4.59798411e-05,-1.42630411e-05, 4.46693271e-05,
  7.76041855e-02,-9.60779365e-04, 2.71279224e-02,-3.39595137e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.87928153, -12.29711518,   8.37699093, -12.29711518,
        10.193311  ,  -6.87883273,   8.37699093,  -6.87883273,
         4.78140759,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008741853052340398
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47233577e-01, -3.19324345e-01, -2.79376603e-02, -3.19185546e-01,
        9.47645484e-01, -9.41404271e-03,  2.94811306e-02,  1.73472348e-18,
       -9.99565337e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11781523, -0.04120432,  0.30150889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004120354511514268
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.36810529e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.36810529e-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([ 0.10688248, -0.05957091,  0.06199083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.89204880e-06, 1.70257907e-05,-5.02663954e-05, 5.99835796e-06,
  6.53319517e-06, 7.50074645e-06, 2.06726394e-05,-2.06695814e-05,
  4.37281798e-05,-2.89466364e-05,-4.05256575e-05, 5.37055929e-05,
  2.42530199e-02, 1.75698164e-03,-9.46282313e-05,-8.55218519e-06,
 -2.36135062e-05, 5.54114782e-06,-9.80979674e+00,-6.49646641e-02,
 -5.54085531e-03,-9.25484932e-03]


--- Step 561 ---
qpos:
[ 0.00989017, 0.00807533,-0.00560226, 0.03346064, 0.00350724, 0.00199581,
 -0.00672881, 0.03911574, 0.01304149, 0.00590075,-0.01165816, 0.03409296,
  0.50693057, 0.00499542, 0.86355633, 0.04745798, 0.09280934,-0.06555899,
  0.14335707, 0.95330562,-0.04410039, 0.05763756, 0.29315775]

qacc:
[ -0.56031842,  2.77845328,-11.33382867, 19.45957136, -2.43015695,
   0.40012173, -0.51285971, -2.43732792,  1.4692397 ,  3.92965494,
 -17.12308507, 30.55111622, 65.61586143,-93.73720369,-15.86170101,
  39.10480118, -1.54249971, -0.32673392, -0.27737178, -3.53406553,
 -16.41309466,-13.3254141 ]

qfrc_actuator:
[ 5.53877576e-05, 2.55201291e-04,-3.57359992e-05, 5.97347309e-05,
  1.98267246e-05, 9.82482710e-04,-7.75262942e-05, 1.07888481e-06,
  3.96490493e-05, 2.82244181e-05,-6.81668440e-05, 7.70754459e-05,
  7.74887917e-02,-9.16339401e-04, 2.70715435e-02,-3.24877297e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.33996379, -12.52351918,   6.98541545, -12.52351918,
        10.9490971 ,  -6.07917802,   6.98541545,  -6.07917802,
         3.4411557 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008150863896327685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47183999e-01, -3.19470259e-01, -2.79504263e-02, -3.19331256e-01,
        9.47596303e-01, -9.42313717e-03,  2.94961327e-02,  1.73472348e-18,
       -9.99564894e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11776618, -0.04125443,  0.3016649 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004086831080160197
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.79146631e-14, -1.01871995e-13,  1.00000000e+00,  6.91860221e-27,
        1.00000000e+00,  1.01871995e-13, -1.00000000e+00,  0.00000000e+00,
        6.79146631e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.106885  , -0.05956957,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.15608077e-06, 8.42464355e-06,-3.11102210e-05, 2.08250502e-05,
 -1.41666735e-05,-2.76187999e-06,-1.58299723e-05,-1.04562269e-05,
  8.74627046e-06,-4.00338212e-05,-6.30423592e-05, 3.08014597e-05,
  2.08042729e-02, 2.50369206e-03,-2.60193469e-05, 1.48261651e-04,
 -2.16767754e-05,-3.43637213e-05,-9.80974495e+00,-6.49494767e-02,
 -5.56794146e-03,-9.22819669e-03]


--- Step 562 ---
qpos:
[ 0.00989128, 0.00807528,-0.00560379, 0.0334612 , 0.00350781, 0.00201527,
 -0.00673021, 0.03911563, 0.01304206, 0.0059008 ,-0.01165791, 0.03409379,
  0.50827549, 0.00492539, 0.86438841, 0.04745697, 0.0927699 ,-0.06557783,
  0.14335185, 0.95334172,-0.044045  , 0.05736736, 0.29310167]

qacc:
[  2.64997275,  0.59062595, -3.06477779,  7.21079776,  1.47560284,
   3.13528089,-14.0972701 , 26.15901403, -2.29480909, -0.53902796,
   2.49920866, -7.40982427, 66.21167288,-88.10277567, -6.92169273,
   8.51614627, -1.4194834 , -0.1809086 , -0.25837581, -5.21520978,
 -14.47378545,-10.05468866]

qfrc_actuator:
[ 7.10223660e-05, 2.60529508e-04,-3.42200701e-05, 7.23809466e-05,
  2.89696682e-05, 9.51072579e-04,-1.24002625e-04, 3.03633050e-05,
  2.59672335e-05,-2.96127719e-07,-8.23751363e-05, 6.01412986e-05,
  7.73646575e-02,-8.04715060e-04, 2.69598853e-02,-3.26819910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 13.46730237, -12.2223802 ,   5.65523255, -12.2223802 ,
        11.09589549,  -5.12520683,   5.65523255,  -5.12520683,
         2.39044107,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007414543834899846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47138817e-01, -3.19603167e-01, -2.79620544e-02, -3.19463977e-01,
        9.47551484e-01, -9.43142543e-03,  2.95097996e-02, -1.73472348e-18,
       -9.99564491e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11770929, -0.0413082 ,  0.30185853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004053340281482687
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.84758093e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.84758093e-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([ 0.10688719, -0.0595685 ,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55497335e-05, 4.52144665e-06, 1.62030651e-07, 1.23389175e-05,
  8.74033784e-06,-3.73808900e-05,-4.95784779e-05, 2.83746714e-05,
 -1.34437187e-05,-6.26291554e-05,-2.91901549e-05,-2.02363667e-05,
  1.68322286e-02, 3.09667105e-03,-2.30634461e-05, 7.71556792e-07,
 -3.34586967e-05,-7.49145390e-05,-9.80969023e+00,-6.49341108e-02,
 -5.60059940e-03,-9.19728090e-03]


--- Step 563 ---
qpos:
[ 0.00989222, 0.00807527,-0.00560529, 0.0334619 , 0.00350883, 0.0020345 ,
 -0.00673182, 0.03911516, 0.01304247, 0.00590078,-0.011658  , 0.03409404,
  0.50970223, 0.00485678, 0.86521809, 0.04745531, 0.09272519,-0.06559689,
  0.14334565, 0.95338283,-0.0439957 , 0.05706806, 0.29303376]

qacc:
[-1.45808207e+00, 2.89844707e-01,-1.56032341e+00, 3.96688569e+00,
  3.95422675e+00,-4.79498552e-01, 2.77672826e+00,-8.54768442e+00,
 -1.49263272e+00,-3.81982724e-01, 3.73154394e+00,-1.34077472e+01,
  5.90608576e+01,-7.03890481e+01,-5.24182040e+00, 4.38305635e+00,
 -1.31991512e+00,-5.59470939e-02,-2.43729664e-01,-6.72075503e+00,
 -1.28567231e+01,-7.18426042e+00]

qfrc_actuator:
[ 6.20263425e-05, 2.63728918e-04,-3.26856701e-05, 7.96014597e-05,
  5.18761496e-05, 9.42283611e-04,-1.33135761e-04, 1.20991520e-05,
  1.76855580e-05, 1.83248814e-05,-9.08564645e-05, 3.20877985e-05,
  7.72372433e-02,-6.71211775e-04, 2.68577445e-02,-3.29698751e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006550168344932534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47094783e-01, -3.19732643e-01, -2.79733822e-02, -3.19593271e-01,
        9.47507803e-01, -9.43950370e-03,  2.95231154e-02, -1.73472348e-18,
       -9.99564098e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11764515, -0.04136577,  0.30208434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040201661023843427
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.03561302e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.03561302e-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([ 0.1068891 , -0.05956766,  0.06199105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.55034434e-06, 6.31032856e-06, 2.93064666e-06, 7.66141507e-06,
  2.31427150e-05,-3.94054947e-05,-2.21913110e-05,-2.10695006e-05,
 -8.68306059e-06,-2.33076810e-05,-2.57177721e-05,-3.21430239e-05,
  1.25325724e-02, 3.48791083e-03,-2.24350288e-05,-1.53799007e-05,
 -5.95968365e-05,-1.14881908e-04,-9.80962984e+00,-6.49218626e-02,
 -5.63865335e-03,-9.16264593e-03]


--- Step 564 ---
qpos:
[ 0.00989236, 0.00807539,-0.00560707, 0.03346235, 0.00350978, 0.00205338,
 -0.00673322, 0.03911411, 0.01304242, 0.00590107,-0.01165842, 0.03409389,
  0.51117818, 0.00480809, 0.86604634, 0.04745791, 0.0926752 ,-0.06561617,
  0.14333844, 0.95342892,-0.04395241, 0.05673939, 0.29295414]

qacc:
[ -7.07356176,  0.40392481, -0.09321944, -4.02371202, -0.67637146,
  -2.23160003,  9.74508481,-19.83171951, -3.95519839,  0.58072996,
   0.17901521, -6.58730029, 18.5916266 ,  4.46255812,-15.61740641,
  50.13481912, -1.3173812 , -0.05423891, -0.25392981, -6.72049159,
 -13.00051824, -7.12773754]

qfrc_actuator:
[ 2.08467462e-05, 2.65631129e-04,-4.89274532e-05, 6.58139173e-05,
  4.71876028e-05, 9.29463070e-04,-1.20091993e-04,-1.62037917e-05,
 -5.09655620e-06, 6.50539841e-05,-9.57126380e-05, 1.55141110e-05,
  7.71103395e-02,-6.17774807e-04, 2.68199790e-02,-3.06466329e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005569558354683962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47048980e-01, -3.19867256e-01, -2.79851595e-02, -3.19727694e-01,
        9.47462368e-01, -9.44790681e-03,  2.95369615e-02,  1.73472348e-18,
       -9.99563689e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11757429, -0.041427  ,  0.30233851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039875756751385494
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39210277e-13,  3.48025691e-14,  1.00000000e+00, -4.84487527e-27,
        1.00000000e+00, -3.48025691e-14, -1.00000000e+00,  0.00000000e+00,
        1.39210277e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10689079, -0.05956698,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.14199970e-05, 6.37516879e-06,-1.42967008e-05,-1.32646376e-05,
 -4.04264678e-06,-4.10137844e-05, 1.23534578e-06,-3.12086516e-05,
 -2.30347842e-05, 2.70050773e-05,-1.39489438e-05,-1.90877506e-05,
  8.32405478e-03, 3.47699109e-03, 3.69967076e-05, 2.44175751e-04,
 -9.94256345e-05,-1.53223221e-04,-9.80956139e+00,-6.49144356e-02,
 -5.68159998e-03,-9.12478606e-03]


--- Step 565 ---
qpos:
[ 0.009892  , 0.00807557,-0.00560846, 0.03346259, 0.00351066, 0.00207185,
 -0.00673416, 0.03911306, 0.01304245, 0.00590159,-0.01165889, 0.03409285,
  0.51268756, 0.00477491, 0.86687402, 0.04746358, 0.09262541,-0.06564229,
  0.14332981, 0.95347185,-0.0438725 , 0.0563998 , 0.29289195]

qacc:
[ -4.33045614, -1.38861854,  5.96401882,-10.20070177, -0.53528958,
  -1.80148358,  5.59637375, -5.89821292,  0.62933094, -1.42623052,
   9.30562068,-24.94135662, 10.84908187,  7.94220379,-10.33550626,
  34.38367429,  0.04926781, -1.71063882, -0.35244716, 15.29412476,
 -10.86884185,  9.56526209]

qfrc_actuator:
[-3.43256681e-06, 2.84402941e-04,-2.22971325e-05, 5.75155897e-05,
  4.40429260e-05, 9.14420794e-04,-9.40818402e-05,-1.46654382e-05,
 -7.27019564e-07, 7.50348520e-05,-9.82502147e-05,-2.96446656e-05,
  7.69784064e-02,-5.95933623e-04, 2.67942093e-02,-2.91111738e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004461420530786634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47001258e-01, -3.20007440e-01, -2.79974242e-02, -3.19867681e-01,
        9.47415030e-01, -9.45666235e-03,  2.95513828e-02,  1.73472348e-18,
       -9.99563263e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11749682, -0.04149066,  0.3026246 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 9.87932837, -5.9773799 ,  7.86587939, -5.9773799 , 31.17505041,
       16.1828849 ,  7.86587939, 16.1828849 , 22.17690453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003966681097066216
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39943570e-13, -3.49858924e-13,  1.00000000e+00,  4.89605067e-26,
        1.00000000e+00,  3.49858924e-13, -1.00000000e+00,  0.00000000e+00,
        1.39943570e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08813635, -0.03587754,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.54546701e-05, 1.88159411e-05, 2.57473223e-05,-8.77356214e-06,
 -3.27266232e-06,-3.97286299e-05, 1.64079190e-05,-8.20397110e-07,
  3.72603058e-06, 2.13695050e-05, 6.64874411e-07,-4.48540507e-05,
  5.73854942e-03, 2.50779176e-03, 6.22105604e-05, 1.79220284e-04,
 -1.47332480e-04,-1.95022112e-04,-9.80948424e+00,-6.49070822e-02,
 -5.72911980e-03,-9.08380048e-03]


--- Step 566 ---
qpos:
[ 0.00989135, 0.00807588,-0.00560957, 0.03346308, 0.00351185, 0.00208989,
 -0.00673449, 0.03911203, 0.01304322, 0.00590193,-0.01165925, 0.03409166,
  0.51421978, 0.00475288, 0.86770098, 0.04746757, 0.09257584,-0.06567518,
  0.14331959, 0.953512  ,-0.04375578, 0.05604855, 0.29284614]

qacc:
[ -2.52569703, -0.12441198, -0.32675663,  3.9609101 ,  2.66842046,
  -2.27604708,  7.22500714, -7.63608374,  6.53450121, -0.86925802,
   3.36636199, -5.94922193,  6.75057685,  7.07772995,  3.89812639,
 -15.42475887,  0.05519217, -1.6928482 , -0.39925844, 15.31721   ,
 -11.22947496,  9.00558289]

qfrc_actuator:
[-1.75599221e-05, 2.95552830e-04,-5.98939774e-06, 7.03160020e-05,
  5.95935297e-05, 8.98258838e-04,-6.06166744e-05,-1.33281808e-05,
  3.73452332e-05, 4.51774178e-05,-9.95568467e-05,-3.80309086e-05,
  7.68431032e-02,-5.78871454e-04, 2.66957235e-02,-3.01837396e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033021974632578213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94694099, -0.32018439, -0.02801291, -0.32004438,  0.94735524,
       -0.00946772,  0.02956959,  0.        , -0.99956272])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11741636, -0.04155673,  0.3029323 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003976552190087801
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39596184e-13, -3.54443437e-14,  1.00000000e+00,  4.94789513e-27,
        1.00000000e+00,  3.54443437e-14, -1.00000000e+00,  0.00000000e+00,
        1.39596184e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08813993, -0.03587508,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48458735e-05, 2.66158369e-05, 2.30770855e-05, 1.43300822e-05,
  1.54430770e-05,-3.56833435e-05, 2.70479991e-05, 1.49843737e-07,
  3.81884105e-05,-1.97017770e-05, 1.63914667e-06,-8.31836639e-06,
  3.93715153e-03, 1.75265395e-03,-2.67596712e-05,-8.58782715e-05,
 -7.25863762e-05,-1.63909004e-04,-9.80939096e+00,-6.49290477e-02,
 -5.76196374e-03,-9.04440373e-03]


--- Step 567 ---
qpos:
[ 0.0098902 , 0.00807633,-0.00561101, 0.03346375, 0.00351321, 0.00210741,
 -0.00673435, 0.03911139, 0.01304375, 0.00590188,-0.01165896, 0.03409071,
  0.51576749, 0.00473846, 0.86852693, 0.04746473, 0.09252651,-0.06571479,
  0.14330761, 0.95354962,-0.0436021 , 0.05568505, 0.29281589]

qacc:
[-4.48265855e+00, 1.52376389e+00,-5.95653836e+00, 9.68116800e+00,
  1.58253977e+00,-1.17955564e+00, 1.56041525e+00, 4.84909708e+00,
 -2.07895506e+00,-1.82132347e+00, 4.71133219e+00,-1.21527517e+00,
  4.27454183e+00, 5.40648110e+00, 1.91283692e+01,-6.91744273e+01,
  5.89746943e-02,-1.67897756e+00,-4.40141239e-01, 1.53349025e+01,
 -1.15221911e+01, 8.55047191e+00]

qfrc_actuator:
[-4.33569454e-05, 2.84290130e-04,-3.14373844e-05, 7.76571829e-05,
  6.82703359e-05, 8.63848618e-04,-4.07813305e-05, 5.63019623e-06,
  2.39297276e-05, 2.72303014e-05,-6.47629209e-05,-2.47453217e-05,
  7.67108541e-02,-5.84261646e-04, 2.65802716e-02,-3.38511492e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020865909024818963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94686855, -0.32039691, -0.0280315 , -0.3202566 ,  0.94728339,
       -0.00948101,  0.02959146,  0.        , -0.99956208])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11733286, -0.04162479,  0.30326315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003978404307674044
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39531196e-13, -6.97655981e-14,  1.00000000e+00,  9.73447737e-27,
        1.00000000e+00,  6.97655981e-14, -1.00000000e+00,  0.00000000e+00,
        1.39531196e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08814275, -0.03587291,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.62121652e-05, 8.99960194e-06,-1.66024558e-05, 9.56051119e-06,
  9.10225811e-06,-4.94153468e-05, 1.55947344e-05, 1.83300556e-05,
 -1.23361305e-05,-2.89721133e-05, 3.06404734e-05, 1.23373639e-05,
  2.66840967e-03, 1.19330858e-03,-1.23404729e-04,-3.73122668e-04,
 -7.61677520e-06,-1.16353507e-04,-9.80927340e+00,-6.49485584e-02,
 -5.80129300e-03,-9.00184782e-03]


--- Step 568 ---
qpos:
[ 0.00988908, 0.00807673,-0.00561237, 0.03346416, 0.00351466, 0.00212469,
 -0.00673432, 0.03911099, 0.01304412, 0.0059018 ,-0.01165865, 0.03408993,
  0.51732525, 0.00472952, 0.86935103, 0.04746114, 0.09247742,-0.06576107,
  0.14329373, 0.95358495,-0.04341134, 0.05530881, 0.2928005 ]

qacc:
[  0.3957197 , -0.86498439,  4.12206302, -8.85732014,  0.82243204,
   0.4751178 , -3.17688409,  7.65375211, -1.44808192,  0.25119801,
  -1.63569227,  4.44878798,  2.53713344,  4.37264199, -0.486779  ,
  -2.30462715,  0.06107616, -1.66836448, -0.47590787, 15.35000151,
 -11.76291356,  8.17848515]

qfrc_actuator:
[-4.03142983e-05, 2.77268867e-04,-2.81750536e-05, 6.39242893e-05,
  7.28258321e-05, 8.54254607e-04,-4.69684675e-05, 1.70264718e-05,
  1.58116175e-05, 3.44703344e-05,-6.21454741e-05,-1.65432397e-05,
  7.65642986e-02,-5.86295956e-04, 2.65239265e-02,-3.40464786e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -8.106017802463399e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94678425, -0.32064405, -0.02805312, -0.32050339,  0.94719976,
       -0.00949648,  0.0296169 ,  0.        , -0.99956132])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11724627, -0.0416946 ,  0.30361835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039736828845839123
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.98484917e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.98484917e-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([ 0.08814497, -0.03587098,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29919038e-06,-5.01478791e-06, 3.41962958e-06,-1.37335785e-05,
  4.79560859e-06,-3.38547428e-05,-1.40459053e-05, 1.01366456e-05,
 -8.48066167e-06,-2.10559490e-06, 8.34115645e-07, 8.26294980e-06,
  1.75189528e-03, 8.13523402e-04,-1.45714290e-04,-5.50730825e-05,
  4.88460348e-05,-5.22411541e-05,-9.80913149e+00,-6.49657820e-02,
 -5.84688124e-03,-8.95607691e-03]


--- Step 569 ---
qpos:
[ 0.00988836, 0.00807684,-0.00561328, 0.03346441, 0.0035165 , 0.00214183,
 -0.00673464, 0.03910969, 0.01304508, 0.00590178,-0.01165867, 0.03408995,
  0.51888922, 0.0047245 , 0.87017292, 0.04746323, 0.09242858,-0.06581399,
  0.14327782, 0.95361814,-0.04318339, 0.05491942, 0.29279941]

qacc:
[ 3.44076036e+00,-1.96127779e+00, 7.10292517e+00,-1.03661147e+01,
  3.40558077e+00,-1.05461394e+00, 7.25629318e+00,-2.20584191e+01,
  5.17509763e+00, 2.66080184e+00,-1.27864763e+01, 2.72511482e+01,
  1.45074236e+00, 3.33957277e+00,-2.04102994e+01, 6.67126029e+01,
  6.18593869e-02,-1.66047212e+00,-5.07276161e-01, 1.53646091e+01,
 -1.19641274e+01, 7.87264225e+00]

qfrc_actuator:
[-2.03181743e-05, 2.55170368e-04,-7.97770556e-06, 5.56817209e-05,
  9.26741008e-05, 8.41737340e-04,-6.83766547e-05,-2.93753136e-05,
  4.63982946e-05, 3.88635651e-05,-7.84624326e-05, 2.40980779e-05,
  7.64144172e-02,-5.87228233e-04, 2.64765302e-02,-3.09493450e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003963630293301462
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.10076926e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.10076926e-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([ 0.08814672, -0.03586923,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.00603461e-05,-2.47802739e-05, 1.91187337e-05,-8.60510149e-06,
  1.99729234e-05,-3.45417650e-05,-2.99829430e-05,-4.81791581e-05,
  3.03444215e-05, 3.74135646e-06,-1.63635057e-05, 4.07424152e-05,
  1.10415636e-03, 5.41335234e-04,-1.15187031e-04, 2.88510189e-04,
  9.77475716e-05, 2.85076889e-05,-9.80896515e+00,-6.49808446e-02,
 -5.89856004e-03,-8.90704375e-03]


--- Step 570 ---
qpos:
[ 0.00988754, 0.00807693,-0.00561432, 0.03346491, 0.00351823, 0.00215873,
 -0.00673519, 0.03910751, 0.0130457 , 0.00590204,-0.01165927, 0.03409046,
  0.52045692, 0.00472189, 0.87099343, 0.04746336, 0.09237423,-0.06586723,
  0.14326198, 0.95365634,-0.04296161, 0.05449922, 0.29278613]

qacc:
[-8.79225961e-01, 8.64979988e-01,-4.18680395e+00, 8.75765598e+00,
 -1.07074304e+00,-1.47681740e+00, 8.57791152e+00,-2.34055875e+01,
 -2.93402416e+00, 2.96955444e+00,-1.20639853e+01, 2.10291184e+01,
  5.55217760e-01, 2.63282011e+00, 3.93596159e+00,-1.66346272e+01,
 -1.37809971e+00,-7.80614184e-02, 1.92501454e-02,-7.00656229e+00,
 -1.36596476e+01,-7.37822370e+00]

qfrc_actuator:
[-2.60183654e-05, 2.59793051e-04,-1.35141203e-05, 6.84862722e-05,
  8.58605411e-05, 8.27456127e-04,-8.08831716e-05,-7.39136948e-05,
  2.85088222e-05, 5.92184738e-05,-1.05798889e-04, 4.79884998e-05,
  7.62785021e-02,-6.05885010e-04, 2.63653654e-02,-3.21514427e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.8781709 , -6.82368791,  7.14251662, -6.82368791, 59.64854338,
       47.54871528,  7.14251662, 47.54871528, 55.30439964,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003965541236600062
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.10689589, -0.05956319,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.13719617e-06,-5.63881509e-06,-8.58939701e-06, 1.22372280e-05,
 -6.25462076e-06,-4.24641972e-05,-2.51964906e-05,-4.80291360e-05,
 -1.70267396e-05, 2.08272959e-05,-2.71693997e-05, 2.42764784e-05,
  6.62807846e-04, 3.29283344e-04,-1.31002953e-04,-1.19143308e-04,
  1.39793898e-04, 1.25947914e-04,-9.80877427e+00,-6.49938410e-02,
 -5.95620511e-03,-8.85470778e-03]


--- Step 571 ---
qpos:
[ 0.00988631, 0.00807726,-0.00561582, 0.0334652 , 0.00351916, 0.00217561,
 -0.00673608, 0.03910582, 0.01304576, 0.00590276,-0.01166057, 0.03409088,
  0.52202633, 0.00472155, 0.87181233, 0.04746007, 0.09231439,-0.06592077,
  0.14324602, 0.95369945,-0.0427458 , 0.05404806, 0.29276094]

qacc:
[-3.58869190e+00, 1.16139330e+00,-2.78072614e+00,-3.00309873e-01,
 -6.91273635e+00, 1.93767838e+00,-9.06162471e+00, 1.82532806e+01,
 -4.99150557e+00, 2.42996940e+00,-7.43916259e+00, 6.86435038e+00,
 -8.72156861e-01, 4.21110335e+00, 8.05696563e+00,-3.13767375e+01,
 -1.37104486e+00,-7.81405933e-02,-3.06285783e-02,-6.95005755e+00,
 -1.37683840e+01,-7.23088799e+00]

qfrc_actuator:
[-4.68025969e-05, 2.80298994e-04,-3.40888118e-05, 5.80666414e-05,
  4.56515207e-05, 8.47767174e-04,-8.80253299e-05,-4.59721185e-05,
 -2.89259979e-08, 8.89144950e-05,-1.39366081e-04, 4.40830153e-05,
  7.61456401e-02,-5.81973711e-04, 2.62692021e-02,-3.39266077e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039830795462562907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39367418e-13, -6.96837090e-14,  1.00000000e+00,  9.71163861e-27,
        1.00000000e+00,  6.96837090e-14, -1.00000000e+00,  0.00000000e+00,
        1.39367418e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1068964 , -0.05956244,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.09320261e-05, 1.61115464e-05,-2.23628491e-05,-1.07188818e-05,
 -4.03986266e-05,-1.13031830e-05,-2.08654228e-05, 2.42839869e-05,
 -2.90140540e-05, 3.67634051e-05,-3.17674571e-05,-3.48005014e-06,
  3.47913778e-04, 2.35256882e-04,-1.72765617e-04,-2.02004669e-04,
  1.32816060e-04, 6.16526493e-05,-9.80867526e+00,-6.49700468e-02,
 -6.01161855e-03,-8.79293793e-03]


--- Step 572 ---
qpos:
[ 0.00988484, 0.00807748,-0.00561688, 0.03346534, 0.00351961, 0.00219229,
 -0.00673704, 0.03910483, 0.01304548, 0.00590354,-0.01166157, 0.03409089,
  0.52359594, 0.00472347, 0.87262955, 0.04745523, 0.09224909,-0.06597464,
  0.14322976, 0.95374737,-0.04253579, 0.05356579, 0.29272404]

qacc:
[ -2.08549224, -1.65881943,  6.31475495, -9.4193155 , -4.30015374,
   1.37705146, -8.19713202, 20.44466201, -3.00340766, -1.63441115,
   7.68453376,-15.3823101 , -1.88440862,  5.37322774,  2.40877266,
 -11.57772228, -1.36600446, -0.07903239, -0.07473779, -6.90231012,
 -13.86736741, -7.10542175]

qfrc_actuator:
[-5.85376326e-05, 2.74571067e-04,-1.00587263e-05, 5.18241412e-05,
  2.16226289e-05, 8.35472219e-04,-9.17527455e-05,-1.10809883e-05,
 -1.68375373e-05, 8.84164935e-05,-1.23054821e-04, 2.38639935e-05,
  7.59986803e-02,-5.33342940e-04, 2.62140663e-02,-3.46030046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003991328682392409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39079378e-13, -2.43388912e-13,  1.00000000e+00,  3.38503786e-26,
        1.00000000e+00,  2.43388912e-13, -1.00000000e+00,  0.00000000e+00,
        1.39079378e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10689696, -0.05956184,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23239967e-05,-1.79547915e-06, 2.42480461e-05,-6.53138503e-06,
 -2.51814375e-05,-2.24984160e-05,-7.97412637e-06, 3.41272106e-05,
 -1.76180323e-05, 1.33275402e-05, 1.98790586e-05,-1.98088476e-05,
  1.19844095e-04, 1.72864953e-04,-1.60792349e-04,-1.02138056e-04,
  1.16861190e-04,-5.66645681e-06,-9.80856557e+00,-6.49465319e-02,
 -6.07195591e-03,-8.72786696e-03]


--- Step 573 ---
qpos:
[ 0.00988325, 0.00807771,-0.00561742, 0.03346574, 0.00351976, 0.00220858,
 -0.00673795, 0.03910428, 0.01304431, 0.00590419,-0.01166228, 0.03409068,
  0.52516499, 0.00472669, 0.8734448 , 0.04745056, 0.09217833,-0.06602882,
  0.14321305, 0.95380002,-0.04233143, 0.05305226, 0.29267563]

qacc:
[ -1.12009242, -0.94901278,  2.34479218,  1.10734004, -2.5563766 ,
   0.23538044, -3.43677187, 11.25347567, -7.81041768, -1.41409806,
   5.76816648, -9.97629353, -1.47915955,  3.49795967, -3.27764603,
   7.55990027, -1.3627084 , -0.0805692 , -0.1137528 , -6.86215363,
 -13.96046874, -6.99788384]

qfrc_actuator:
[-6.48478315e-05, 2.88864656e-04, 2.22736372e-05, 6.58587538e-05,
  7.31999404e-06, 8.03787749e-04,-9.35624175e-05, 9.83339595e-06,
 -6.21099347e-05, 7.00247236e-05,-1.13052952e-04, 1.19764625e-05,
  7.58486618e-02,-5.24044950e-04, 2.61356778e-02,-3.44475830e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000399187811633811
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.95301179e-14,  1.04295177e-13,  1.00000000e+00, -7.25165595e-27,
        1.00000000e+00, -1.04295177e-13, -1.00000000e+00,  0.00000000e+00,
        6.95301179e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10689756, -0.05956138,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.66228693e-06, 1.80228581e-05, 3.47335057e-05, 1.46718669e-05,
 -1.50274330e-05,-4.50520941e-05,-6.43966080e-06, 2.03067512e-05,
 -4.57670785e-05,-7.70495872e-06, 1.45209972e-05,-1.10129756e-05,
 -3.59911345e-05, 7.10618006e-05,-1.69318955e-04,-1.22029631e-05,
  9.20572051e-05,-7.61942801e-05,-9.80844528e+00,-6.49232520e-02,
 -6.13717677e-03,-8.65946333e-03]


--- Step 574 ---
qpos:
[ 0.0098809 , 0.00807805,-0.00561757, 0.03346595, 0.00351975, 0.00222437,
 -0.00673851, 0.03910398, 0.01304295, 0.00590424,-0.0116626 , 0.03409039,
  0.52673302, 0.00473041, 0.87425839, 0.04744305, 0.09210214,-0.06608334,
  0.14319574, 0.95385732,-0.0421326 , 0.05250733, 0.29261587]

qacc:
[ -6.60041033, -1.28017936,  5.61215327, -9.56901609, -1.50049163,
  -1.07518924,  1.83951754,  2.29371362, -1.63335318, -2.03489669,
   6.45801928, -8.07897342, -1.26852622,  2.25920332,  6.20258647,
 -25.05370952, -1.36093256, -0.08261884, -0.14828595, -6.82861776,
 -14.05065001, -6.90511072]

qfrc_actuator:
[-1.03422515e-04, 2.97349465e-04, 4.15725352e-05, 5.62201291e-05,
 -1.14868770e-06, 7.78493388e-04,-7.65702553e-05, 2.23368721e-05,
 -7.05189044e-05, 5.54106855e-06,-1.06946432e-04, 5.05908557e-06,
  7.57128469e-02,-5.38286766e-04, 2.60434240e-02,-3.59343750e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003986103803267499
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08892520e-13, -1.74077100e-13,  1.00000000e+00,  3.63634041e-26,
        1.00000000e+00,  1.74077100e-13, -1.00000000e+00,  0.00000000e+00,
        2.08892520e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10689821, -0.05956102,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.87604509e-05, 2.63667505e-05, 2.78120539e-05,-7.37860497e-06,
 -8.91218540e-06,-5.15334098e-05, 7.41674593e-06, 1.07128520e-05,
 -9.71137961e-06,-6.62994383e-05, 5.92420282e-06,-6.95723336e-06,
 -1.39389962e-04,-5.97858131e-06,-1.77015796e-04,-1.72445089e-04,
  5.84826351e-05,-1.50091449e-04,-9.80831442e+00,-6.49001651e-02,
 -6.20725202e-03,-8.58769735e-03]


--- Step 575 ---
qpos:
[ 0.00987845, 0.00807849,-0.00561768, 0.03346538, 0.00351963, 0.00223975,
 -0.00673886, 0.03910349, 0.01304219, 0.00590347,-0.01166238, 0.03408969,
  0.52829964, 0.00473415, 0.87507032, 0.04743436, 0.0920205 ,-0.0661382 ,
  0.14317772, 0.95391917,-0.04193916, 0.05193085, 0.29254488]

qacc:
[ -0.87056764, -1.58805336,  9.12190179,-22.72445132, -0.87892789,
  -1.57433555,  5.63294072, -9.05686282,  5.30345959, -3.44954468,
  12.41581487,-19.69454672, -1.03772157,  1.27235572,  1.18989481,
  -7.57273104, -1.3604901 , -0.08507709, -0.17889297, -6.80089089,
 -14.14016368, -6.82455696]

qfrc_actuator:
[-1.07422425e-04, 2.84473954e-04, 3.52295419e-05, 1.49604490e-05,
 -6.11920271e-06, 7.57294441e-04,-6.63496905e-05, 1.20568304e-05,
 -3.94025007e-05,-5.05604139e-05,-8.56306453e-05,-1.66767829e-05,
  7.55802897e-02,-5.66372077e-04, 2.59908274e-02,-3.64243524e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003975191077891238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.98219911e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.98219911e-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([ 0.1068989 , -0.05956074,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.09680237e-06, 7.28039008e-06, 2.27484009e-06,-3.93099809e-05,
 -5.24259907e-06,-4.85956787e-05, 6.82088969e-07,-1.20561778e-05,
  3.08170450e-05,-9.22559404e-05, 8.11275513e-06,-2.45060613e-05,
 -2.16772532e-04,-5.68963471e-05,-1.59627273e-04,-8.28524686e-05,
  1.61740846e-05,-2.27501757e-04,-9.80817297e+00,-6.48772301e-02,
 -6.28216187e-03,-8.51254027e-03]


--- Step 576 ---
qpos:
[ 0.00987666, 0.00807882,-0.00561807, 0.03346471, 0.00351945, 0.00225474,
 -0.00673908, 0.03910288, 0.01304181, 0.00590221,-0.01166231, 0.03408909,
  0.52986448, 0.00473764, 0.8758801 , 0.04743038, 0.09193342,-0.06619341,
  0.14315888, 0.95398551,-0.04175102, 0.05132266, 0.2924628 ]

qacc:
[ 5.79199402e+00, 4.03482973e-01,-1.25809367e+00, 1.17304378e-01,
 -5.06206272e-01,-1.09076891e+00, 3.64419035e+00,-5.58411402e+00,
  3.33264532e+00,-2.05433053e-02,-1.26392370e+00, 3.51598957e+00,
 -7.58453358e-01, 3.73790813e-01,-1.73945984e+01, 5.63156623e+01,
 -1.36122456e+00,-8.78617350e-02,-2.06078062e-01,-6.77829066e+00,
 -1.42307099e+01,-6.75416929e+00]

qfrc_actuator:
[-7.32776995e-05, 2.58768224e-04, 1.36947265e-05, 8.65280217e-06,
 -8.99295733e-06, 7.38677164e-04,-6.02118187e-05, 6.20403710e-06,
 -2.07885358e-05,-6.56630411e-05,-9.10053872e-05,-1.14416144e-05,
  7.54391069e-02,-6.02482610e-04, 2.59407814e-02,-3.38360456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003960155619543021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40174166e-13,  3.50435416e-14,  1.00000000e+00, -4.91219922e-27,
        1.00000000e+00, -3.50435416e-14, -1.00000000e+00,  0.00000000e+00,
        1.40174166e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10689962, -0.05956053,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.40024556e-05,-2.28562933e-05,-2.11106436e-05,-6.68079080e-06,
 -3.03927579e-06,-4.67235524e-05,-4.40836096e-06,-8.17848457e-06,
  1.94560430e-05,-6.60314726e-05,-2.42737300e-05, 1.08680685e-06,
 -2.83469129e-04,-9.17773489e-05,-1.39969186e-04, 2.32031635e-04,
 -3.48680370e-05,-3.08557616e-04,-9.80802087e+00,-6.48544062e-02,
 -6.36189435e-03,-8.43396352e-03]


--- Step 577 ---
qpos:
[ 0.00987529, 0.00807907,-0.00561876, 0.03346466, 0.00351958, 0.00226912,
 -0.00673887, 0.03910255, 0.01304131, 0.00590082,-0.01166277, 0.03408853,
  0.53142725, 0.0047407 , 0.87668794, 0.0474282 , 0.09184088,-0.06624898,
  0.14313911, 0.95405625,-0.04156806, 0.05068261, 0.2923697 ]

qacc:
[  3.70428692,  2.03824392,-10.04035203, 21.32463666,  2.76826821,
  -1.44899132,  2.78646966,  1.91206908, -1.06055398,  1.39060243,
  -5.40398974,  7.1516643 , -0.9536237 ,  0.44198782, -8.2755349 ,
  24.90820252, -1.3630044 , -0.09090792, -0.23029823, -6.76024058,
 -14.32356085, -6.69228699]

qfrc_actuator:
[-5.24717355e-05, 2.61031528e-04, 1.09079223e-06, 4.06985676e-05,
  7.14179292e-06, 7.03990407e-04,-3.87596691e-05, 2.07603650e-05,
 -2.74474973e-05,-5.61790684e-05,-1.11916592e-04,-8.11543562e-06,
  7.52928337e-02,-6.43155024e-04, 2.58337859e-02,-3.30055140e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003941862612101832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.04123364e-14,  2.11237009e-13,  1.00000000e+00, -1.48736913e-26,
        1.00000000e+00, -2.11237009e-13, -1.00000000e+00,  0.00000000e+00,
        7.04123364e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10690037, -0.05956037,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17673515e-05,-1.51534377e-05,-2.01538654e-05, 3.02064491e-05,
  1.60325615e-05,-6.26178012e-05, 1.08031164e-05, 1.22109779e-05,
 -6.13208633e-06,-3.23567630e-05,-3.74887415e-05,-3.19054759e-07,
 -3.35981642e-04,-1.18101041e-04,-1.52674017e-04, 7.63733932e-05,
 -9.46750846e-05,-3.93384083e-04,-9.80785804e+00,-6.48316522e-02,
 -6.44644413e-03,-8.35193822e-03]


--- Step 578 ---
qpos:
[ 0.00987453, 0.00807958,-0.00561978, 0.03346495, 0.00351956, 0.00228305,
 -0.0067387 , 0.03910241, 0.01304039, 0.0058999 ,-0.01166409, 0.03408796,
  0.53298774, 0.00474317, 0.8774942 , 0.04742664, 0.09174823,-0.06631159,
  0.14311782, 0.95412394,-0.04134779, 0.05003018, 0.29229241]

qacc:
[  5.29415102,  1.93322296, -7.8593954 , 14.11398681, -1.33665951,
  -0.06329839, -1.45324154,  5.17592364, -3.74041215,  3.00751205,
  -9.76934234, 10.60572572, -1.05073588,  0.41223953, -4.12899137,
  11.15781776, -0.02880472, -1.75942649, -0.37932813, 15.52854046,
 -11.61273328,  8.67036632]

qfrc_actuator:
[-2.19429685e-05, 2.97839976e-04,-6.00558030e-06, 5.95737203e-05,
 -1.17085444e-06, 6.77789830e-04,-4.39910957e-05, 2.94534886e-05,
 -4.89241527e-05, 3.40244327e-06,-1.41718313e-04,-5.92523013e-06,
  7.51489221e-02,-6.86269179e-04, 2.57672394e-02,-3.26868661e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.8540396 , -5.95665365,  7.84986458, -5.95665365, 28.22431665,
       13.93977905,  7.84986458, 13.93977905, 20.4318572 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003941645732825072
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40832421e-13, -7.04162106e-14,  1.00000000e+00,  9.91688544e-27,
        1.00000000e+00,  7.04162106e-14, -1.00000000e+00,  0.00000000e+00,
        1.40832421e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08817356, -0.03584807,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11431238e-05, 2.54769321e-05,-1.16578340e-05, 1.81168515e-05,
 -7.87967740e-06,-5.89810647e-05,-1.65841241e-05, 6.58878550e-06,
 -2.16657002e-05, 3.37832781e-05,-4.10912867e-05,-4.94141123e-07,
 -3.71952130e-04,-1.36984054e-04,-1.35851610e-04, 1.47836195e-05,
 -1.63306741e-04,-4.82101851e-04,-9.80768435e+00,-6.48089262e-02,
 -6.53581158e-03,-8.26643475e-03]


--- Step 579 ---
qpos:
[ 0.00987414, 0.00808013,-0.00562057, 0.0334658 , 0.00351979, 0.00229668,
 -0.00673923, 0.03910241, 0.01303956, 0.00589938,-0.01166555, 0.03408738,
  0.53454555, 0.00474585, 0.8782996 , 0.04742267, 0.09165548,-0.06638117,
  0.14309481, 0.95418894,-0.04108996, 0.04936454, 0.29222975]

qacc:
[  3.27215474,  0.53882299, -4.20034021, 13.44598611,  2.14311959,
   1.80227312, -7.53321778, 11.07394037,  0.82015849,  0.89547531,
  -2.39303105,  2.14538772, -2.25839736,  3.05944026,  6.13991349,
 -22.97529034, -0.02572593, -1.74183018, -0.43336512, 15.56216632,
 -12.02541777,  8.04451418]

qfrc_actuator:
[-3.68426122e-06, 3.01814775e-04, 8.09039171e-06, 8.83291872e-05,
  1.16932281e-05, 6.56773669e-04,-8.26697452e-05, 3.46088643e-05,
 -4.34362704e-05, 3.92383818e-05,-1.40803360e-04,-4.37793294e-06,
  7.50011943e-02,-6.77269052e-04, 2.57303265e-02,-3.39132614e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003951089227487714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40495818e-13, -7.02479089e-14,  1.00000000e+00,  9.86953741e-27,
        1.00000000e+00,  7.02479089e-14, -1.00000000e+00,  0.00000000e+00,
        1.40495818e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08817726, -0.03584553,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91539711e-05, 1.65960610e-05, 1.85544324e-05, 2.97957779e-05,
  1.26198895e-05,-5.76525780e-05,-5.28412440e-05, 2.15161952e-06,
  4.88114186e-06, 4.62581900e-05, 2.84230452e-06, 1.57068622e-06,
 -4.01783199e-04,-9.64919877e-05,-1.06758539e-04,-1.41308273e-04,
 -5.29050756e-05,-3.88043458e-04,-9.80744807e+00,-6.48435729e-02,
 -6.61133430e-03,-8.18735174e-03]


--- Step 580 ---
qpos:
[ 0.00987397, 0.00808052,-0.00562078, 0.033467  , 0.00352052, 0.00230973,
 -0.00673982, 0.03910211, 0.01303915, 0.00589891,-0.01166633, 0.03408716,
  0.53610053, 0.00474925, 0.87910336, 0.04741763, 0.09156263,-0.06645766,
  0.14306986, 0.95425153,-0.04079439, 0.048685  , 0.29218078]

qacc:
[  1.97134483, -1.12007223,  2.23282125,  2.88280672,  4.38249992,
  -1.18524239,  4.30763919, -8.7500315 ,  3.68888382, -1.10303862,
   2.53155916,  2.48687676, -2.71105186,  4.22468851,  0.99754619,
  -6.54786897, -0.02491045, -1.72842908, -0.48099135, 15.58977311,
 -12.36705944,  7.52623508]

qfrc_actuator:
[ 7.20328784e-06, 2.86199611e-04, 3.44722308e-05, 1.04907866e-04,
  3.69261385e-05, 6.21133186e-04,-8.74999072e-05, 1.98755183e-05,
 -2.21169540e-05, 4.29605555e-05,-1.04079335e-04, 1.45409205e-05,
  7.48619476e-02,-6.37560246e-04, 2.56472763e-02,-3.44412756e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003951606557609927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.80954849e-13, -7.02387123e-14,  1.00000000e+00,  1.97339068e-26,
        1.00000000e+00,  7.02387123e-14, -1.00000000e+00,  0.00000000e+00,
        2.80954849e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08818017, -0.0358433 ,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14359415e-05,-1.22986996e-06, 3.31266037e-05, 1.85096145e-05,
  2.55735870e-05,-7.91878818e-05,-2.33269910e-05,-1.90198869e-05,
  2.14707508e-05, 3.02808216e-05, 4.67070305e-05, 2.10354416e-05,
 -4.02444853e-04,-6.50613804e-05,-1.59767455e-04,-7.70660040e-05,
  5.00077811e-05,-2.80335318e-04,-9.80718551e+00,-6.48740488e-02,
 -6.69302843e-03,-8.10490860e-03]


--- Step 581 ---
qpos:
[ 0.00987359, 0.00808067,-0.00562054, 0.0334677 , 0.00352119, 0.0023218 ,
 -0.00674004, 0.039102  , 0.01303935, 0.00589856,-0.01166663, 0.03408682,
  0.5376529 , 0.00475283, 0.87990462, 0.047416  , 0.09146967,-0.06654102,
  0.14304283, 0.95431193,-0.04046091, 0.04799099, 0.29214469]

qacc:
[-1.85028851e+00,-2.57073127e+00, 1.07492508e+01,-1.96530310e+01,
 -3.91737166e-01,-1.93917801e+00, 4.24958289e+00,-8.47569030e-01,
  5.32236831e+00,-1.44004631e+00, 5.82614186e+00,-8.61816415e+00,
 -1.80455773e+00, 2.24521888e+00,-1.38905919e+01, 4.35072256e+01,
 -2.58786450e-02,-1.71850820e+00,-5.23091528e-01, 1.56144481e+01,
 -1.26543993e+01, 7.09333698e+00]

qfrc_actuator:
[-4.08348958e-06, 2.59020500e-04, 5.00414759e-05, 7.86684431e-05,
  3.37249827e-05, 5.59375964e-04,-7.23662015e-05, 2.90800773e-05,
  8.34088683e-06, 4.53480956e-05,-8.21399832e-05, 8.01669405e-06,
  7.47278987e-02,-6.33278580e-04, 2.55526221e-02,-3.26012191e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003944768701023005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08818247, -0.03584131,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09647488e-05,-2.02406814e-05, 2.00306347e-05,-2.47892241e-05,
 -2.50005748e-06,-1.12130700e-04,-4.90109365e-06, 4.60586514e-06,
  3.10736090e-05, 2.99027745e-05, 3.46887064e-05,-3.19887060e-06,
 -3.91081632e-04,-9.46738824e-05,-1.85677010e-04, 1.57190289e-04,
  1.46580893e-04,-1.58567743e-04,-9.80689668e+00,-6.49007124e-02,
 -6.78066978e-03,-8.01903898e-03]


--- Step 582 ---
qpos:
[ 0.00987274, 0.00808089,-0.00562077, 0.03346812, 0.00352183, 0.00233323,
 -0.00674049, 0.03910235, 0.0130399 , 0.00589836,-0.0116666 , 0.03408607,
  0.53920271, 0.00475625, 0.88070482, 0.04741207, 0.09137132,-0.06662519,
  0.14301557, 0.95437624,-0.04013025, 0.04726415, 0.2920987 ]

qacc:
[ -4.20463789,  0.81640555, -1.50418753, -2.93024342, -0.378644  ,
   0.69788965, -5.66381542, 14.39096284,  3.20624229, -1.55253828,
   7.53444297,-15.25189471, -1.81362429,  1.9991316 ,  5.53163395,
 -21.35661264, -1.34937386, -0.20094675, -0.05513666, -5.8247466 ,
 -15.14462341, -6.02901106]

qfrc_actuator:
[-2.83286005e-05, 2.60549971e-04, 2.35097927e-05, 6.29307577e-05,
  3.15622860e-05, 5.35827436e-04,-8.11747912e-05, 5.22841901e-05,
  2.61758186e-05, 4.68455072e-05,-6.91507925e-05,-1.34484820e-05,
  7.45863993e-02,-6.50011262e-04, 2.55043995e-02,-3.38189876e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039364620421665904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.66093273e-07, -5.66093335e-07,  1.00000000e+00,  3.20461629e-13,
        1.00000000e+00,  5.66093335e-07, -1.00000000e+00,  0.00000000e+00,
        5.66093273e-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([ 0.10597534, -0.05838828,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.45651970e-05,-6.72633906e-06,-2.91086181e-05,-1.63963698e-05,
 -2.27289849e-06,-8.75046641e-05,-3.25535958e-05, 1.82932540e-05,
  1.87258842e-05, 2.52755815e-05, 2.33350322e-05,-1.90448877e-05,
 -3.97901299e-04,-1.18763366e-04,-1.22211094e-04,-1.38223910e-04,
  2.37684969e-04,-2.24387571e-05,-9.80658148e+00,-6.49238337e-02,
 -6.87408700e-03,-7.92968599e-03]


--- Step 583 ---
qpos:
[ 0.00987194, 0.00808127,-0.0056214 , 0.03346867, 0.00352277, 0.00234427,
 -0.00674116, 0.0391026 , 0.01303998, 0.00589864,-0.01166686, 0.03408542,
  0.54075006, 0.00475919, 0.88150353, 0.04740767, 0.09126732,-0.06670984,
  0.14298786, 0.95444463,-0.03980438, 0.04650335, 0.29204195]

qacc:
[ 5.18381916e-01, 1.62642172e+00,-6.09622966e+00, 9.04623620e+00,
  2.75931822e+00,-7.98114297e-02, 3.85364868e-03,-1.18820851e+00,
 -4.24279763e+00, 1.61524819e+00,-5.19703043e+00, 6.84497366e+00,
 -1.34939894e+00, 9.52297307e-01,-7.29346781e-01,-4.89291960e-01,
 -1.41013247e+00,-1.20550719e-01,-1.14092940e-01,-6.90768503e+00,
 -1.53843279e+01,-6.52142385e+00]

qfrc_actuator:
[-2.44938975e-05, 2.79085487e-04, 7.96539167e-06, 7.12528099e-05,
  4.77901843e-05, 5.35273402e-04,-8.61496249e-05, 4.80403983e-05,
  9.30216680e-07, 8.32451912e-05,-7.93101070e-05,-8.02908828e-06,
  7.44564962e-02,-6.79068875e-04, 2.54467158e-02,-3.39874721e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003947535352731707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40622303e-13, -1.40622303e-13,  1.00000000e+00,  1.97746321e-26,
        1.00000000e+00,  1.40622303e-13, -1.00000000e+00,  0.00000000e+00,
        1.40622303e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10689996, -0.05956071,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.13378714e-06, 8.04646396e-06,-2.10852998e-05, 6.70784395e-06,
  1.61332947e-05,-5.58392107e-05,-2.65560327e-05,-8.78881585e-06,
 -2.47054239e-05, 5.45549143e-05,-2.71954818e-06, 6.94064366e-06,
 -3.95695622e-04,-1.37207073e-04,-1.40120039e-04,-4.26909980e-05,
  2.02283593e-04,-1.19364417e-04,-9.80636313e+00,-6.48902181e-02,
 -6.97227808e-03,-7.82631579e-03]


--- Step 584 ---
qpos:
[ 0.00987154, 0.00808155,-0.00562187, 0.03346931, 0.00352356, 0.00235487,
 -0.00674135, 0.03910309, 0.01304045, 0.00589923,-0.01166805, 0.03408559,
  0.54229495, 0.00476176, 0.88230002, 0.04740447, 0.09115768,-0.066795  ,
  0.14295951, 0.95451697,-0.03948316, 0.04570856, 0.2919746 ]

qacc:
[  3.49036602, -0.42243381,  0.94619272,  0.37043762, -1.3657078 ,
  -1.4064568 ,  3.08380582,  0.85524961,  3.37143958,  4.71823958,
 -19.75412826, 35.39934664, -1.31848671,  0.97930474, -6.84744881,
  19.36990475, -1.41174645, -0.12636306, -0.15942543, -6.85773805,
 -15.42860858, -6.42198603]

qfrc_actuator:
[-4.15850655e-06, 2.72212200e-04, 1.68908273e-05, 7.59414348e-05,
  3.92071822e-05, 5.30747012e-04,-5.32232394e-05, 6.32129950e-05,
  2.15454822e-05, 6.91748710e-05,-1.38395101e-04, 3.09356964e-05,
  7.43336343e-02,-6.97392159e-04, 2.53408265e-02,-3.33580539e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039493175639179756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.10689985, -0.0595608 ,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04274070e-05,-6.44547722e-06, 8.22515603e-06, 4.43381665e-06,
 -8.14241606e-06,-4.20026607e-05, 1.76943475e-05, 1.16656295e-05,
  1.99323995e-05, 1.61585044e-05,-4.79087369e-05, 4.13460823e-05,
 -3.91353080e-04,-1.29455397e-04,-1.84346360e-04, 4.04833866e-05,
  1.50445073e-04,-2.32158790e-04,-9.80613634e+00,-6.48540964e-02,
 -7.07561245e-03,-7.71865449e-03]


--- Step 585 ---
qpos:
[ 0.00987174, 0.00808176,-0.00562223, 0.03347   , 0.00352355, 0.00236525,
 -0.00674098, 0.03910373, 0.0130415 , 0.00589932,-0.01166986, 0.03408631,
  0.54383704, 0.00476476, 0.88309517, 0.04739859, 0.09104238,-0.06688068,
  0.14293037, 0.95459314,-0.03916645, 0.04487968, 0.29189678]

qacc:
[ 5.19786411e+00,-3.24831777e-01, 7.73335234e-01, 2.43211069e-02,
 -7.00478312e+00,-1.58913606e+00, 4.70109263e+00,-3.09750941e+00,
  5.16845828e+00, 2.20781660e+00,-1.11563469e+01, 2.20320080e+01,
 -2.53506707e+00, 3.67024776e+00, 6.30700051e+00,-2.45474204e+01,
 -1.41419901e+00,-1.32229513e-01,-2.00073066e-01,-6.81533337e+00,
 -1.54885432e+01,-6.33077156e+00]

qfrc_actuator:
[ 2.57168269e-05, 2.68032374e-04, 2.23331258e-05, 7.84467493e-05,
 -1.66877787e-06, 5.41818085e-04,-1.59218555e-05, 7.19666084e-05,
  5.12491721e-05,-1.06956660e-05,-1.90561469e-04, 5.37470339e-05,
  7.41884563e-02,-6.73682697e-04, 2.52753675e-02,-3.47501159e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003943600251527929
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.40762622e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.40762622e-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([ 0.10689994, -0.0595609 ,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.04540167e-05,-5.89291103e-06, 5.27770566e-06, 2.59821258e-06,
 -4.11232930e-05,-8.64897508e-06, 3.10852919e-05, 7.76899580e-06,
  3.02767834e-05,-7.89581720e-05,-5.32927253e-05, 2.26511096e-05,
 -4.09580865e-04,-8.49130763e-05,-1.52237406e-04,-1.62081463e-04,
  8.89602238e-05,-3.48840136e-04,-9.80589714e+00,-6.48181298e-02,
 -7.18403613e-03,-7.60723754e-03]


--- Step 586 ---
qpos:
[ 0.00987194, 0.00808217,-0.00562287, 0.03347002, 0.00352305, 0.00237589,
 -0.00674088, 0.03910412, 0.01304256, 0.00589855,-0.01167121, 0.03408624,
  0.54537641, 0.00476781, 0.88388889, 0.04739131, 0.09092141,-0.06696692,
  0.14290027, 0.95467304,-0.03885413, 0.0440166 , 0.29180863]

qacc:
[  0.08891654, -0.30006112,  4.31190853,-15.66499956, -4.32394275,
   0.62298324, -0.68622162, -3.32444586,  0.05687647, -4.08806811,
  16.27833879,-30.15424047, -2.07315566,  2.56301144,  2.25394484,
 -10.61671409, -1.41745306, -0.13814539, -0.23659561, -6.77950064,
 -15.56269861, -6.246558  ]

qfrc_actuator:
[ 2.54572654e-05, 2.83240603e-04, 7.91847597e-06, 4.41365173e-05,
 -2.57109973e-05, 5.62186677e-04,-2.95433774e-05, 5.91294862e-05,
  5.05441220e-05,-5.83573765e-05,-1.67503407e-04, 1.35577157e-05,
  7.40406596e-02,-6.78668383e-04, 2.52288432e-02,-3.53681614e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039317275144229447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.82375373e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.82375373e-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([ 0.10690021, -0.05956099,  0.0619912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.05283822e-07, 1.31195666e-05,-1.48932193e-05,-3.43320979e-05,
 -2.52158728e-05, 2.18882989e-05,-1.14368204e-05,-1.20048573e-05,
  1.27774561e-07,-1.01822718e-04, 9.86469978e-07,-4.49747868e-05,
 -4.13395215e-04,-1.09460946e-04,-1.44264155e-04,-9.25508874e-05,
  1.77850475e-05,-4.69567840e-04,-9.80564523e+00,-6.47822744e-02,
 -7.29752310e-03,-7.49204395e-03]


--- Step 587 ---
qpos:
[ 0.00987179, 0.00808303,-0.00562386, 0.03346994, 0.00352227, 0.00238654,
 -0.00674087, 0.03910436, 0.01304325, 0.00589707,-0.01167232, 0.03408568,
  0.54691316, 0.00477054, 0.88468077, 0.04738463, 0.09079476,-0.06705373,
  0.1428691 , 0.95475655,-0.03854607, 0.04311918, 0.29171024]

qacc:
[-3.08614365e+00, 1.36705663e+00,-3.59543310e+00, 2.16200353e+00,
 -2.50489615e+00,-1.56129476e-02, 6.98637288e-01,-3.02401435e+00,
 -3.16070965e+00,-2.56372863e+00, 9.85293117e+00,-1.81091706e+01,
 -1.53397368e+00, 1.33900002e+00,-4.46409472e+00, 1.18775542e+01,
 -1.42146923e+00,-1.44107083e-01,-2.69507173e-01,-6.74942741e+00,
 -1.56498499e+01,-6.16833353e+00]

qfrc_actuator:
[ 7.46020342e-06, 3.27581973e-04,-2.97015195e-07, 4.17004945e-05,
 -3.96422152e-05, 5.52251217e-04,-3.75854016e-05, 5.14197781e-05,
  3.19439813e-05,-8.61279306e-05,-1.53412072e-04,-1.00494292e-05,
  7.39020374e-02,-7.00665783e-04, 2.51564539e-02,-3.49913908e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039148542392564156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.83592429e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.83592429e-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([ 0.10690061, -0.05956108,  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:
[-1.79738567e-05, 4.71224859e-05,-8.52519388e-06,-3.05689801e-06,
 -1.46394570e-05,-9.69556031e-07,-5.47049719e-06,-7.42500650e-06,
 -1.86340432e-05,-8.63865450e-05,-8.34976693e-06,-2.88066892e-05,
 -4.11691498e-04,-1.32071696e-04,-1.58653157e-04, 1.18482013e-05,
 -6.31635132e-05,-5.94501670e-04,-9.80538030e+00,-6.47464850e-02,
 -7.41605623e-03,-7.37304873e-03]


--- Step 588 ---
qpos:
[ 0.00987109, 0.00808417,-0.00562437, 0.03347015, 0.00352201, 0.00239696,
 -0.00674084, 0.03910454, 0.01304337, 0.00589544,-0.01167381, 0.03408516,
  0.5484472 , 0.00477306, 0.88547089, 0.04737971, 0.09066262,-0.06714149,
  0.14283681, 0.95484332,-0.0382401 , 0.04218838, 0.2916026 ]

qacc:
[ -4.89910495, -0.3888882 ,  0.71592115,  3.20972775,  4.65725439,
  -0.53057456,  1.70771615, -2.73862036, -5.05577194,  0.93111531,
  -3.76420737,  5.12072547, -1.64585668,  1.58286671, -7.80142415,
  23.71745473, -1.37179582, -0.23568174, -0.27692806, -5.60766814,
 -15.52594334, -5.58379841]

qfrc_actuator:
[-2.08228079e-05, 3.53568538e-04, 3.08793596e-05, 5.80789169e-05,
 -1.20111908e-05, 5.24263213e-04,-4.23625461e-05, 4.67797507e-05,
  2.97019596e-06,-6.62741784e-05,-1.62402334e-04,-5.94676074e-06,
  7.37583562e-02,-7.14765941e-04, 2.50952634e-02,-3.40321691e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003893893881809045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.76497198e-07, -1.76497118e-07,  1.00000000e+00,  3.11512467e-14,
        1.00000000e+00,  1.76497118e-07, -1.00000000e+00,  6.31088724e-30,
        1.76497198e-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([ 0.10597714, -0.05838799,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.87798932e-05, 5.04203815e-05, 3.97569064e-05, 1.80444557e-05,
  2.72150431e-05,-3.03714062e-05,-6.03322238e-06,-5.03918657e-06,
 -2.95379737e-05,-3.13497844e-05,-2.88264242e-05,-4.40890401e-07,
 -4.20625138e-04,-1.28092161e-04,-1.40985071e-04, 7.43938248e-05,
 -1.54003505e-04,-7.23802601e-04,-9.80510202e+00,-6.47107145e-02,
 -7.53962598e-03,-7.25022325e-03]


--- Step 589 ---
qpos:
[ 0.00986971, 0.00808532,-0.00562433, 0.03346988, 0.00352209, 0.0024073 ,
 -0.0067412 , 0.03910467, 0.01304314, 0.00589402,-0.01167535, 0.03408463,
  0.54997843, 0.00477573, 0.88625976, 0.04737322, 0.09052993,-0.06723652,
  0.14280265, 0.95492706,-0.03789604, 0.04124331, 0.29150847]

qacc:
[ -5.93692362, -2.47141952, 10.86126645,-19.92304865,  2.91659203,
   0.90508702, -3.17060102,  3.01887921, -3.07342701,  0.37113748,
  -0.84685469,  0.45830115, -2.23198588,  2.86908222,  3.026957  ,
 -12.89893731, -0.13764552, -1.81699722, -0.47061073, 15.76491779,
 -12.55649305,  7.42099576]

qfrc_actuator:
[-5.49276295e-05, 3.33044003e-04, 4.95039491e-05, 3.21483232e-05,
  4.35220343e-06, 5.21199955e-04,-6.30086536e-05, 4.39655251e-05,
 -1.41182813e-05,-1.81104951e-05,-1.49222344e-04,-3.30005298e-06,
  7.36170683e-02,-7.06357034e-04, 2.50302006e-02,-3.48676091e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.81535683, -5.9361507 ,  7.81686283, -5.9361507 , 27.09750822,
       13.12412119,  7.81686283, 13.12412119, 19.78185655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039028084640994887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08821018, -0.03581941,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.49126279e-05, 1.66132862e-05, 3.45548410e-05,-2.20437527e-05,
  1.71269221e-05,-2.18791846e-05,-2.79612482e-05,-4.44737455e-06,
 -1.79446237e-05, 2.47271789e-05, 3.17754005e-06, 3.06703152e-07,
 -4.22355503e-04,-1.07062441e-04,-1.30489690e-04,-9.94814515e-05,
 -2.41656818e-04,-8.45831682e-04,-9.80481029e+00,-6.46776805e-02,
 -7.66715795e-03,-7.12423665e-03]


--- Step 590 ---
qpos:
[ 0.00986861, 0.00808642,-0.00562399, 0.03346969, 0.00352202, 0.00241728,
 -0.00674143, 0.03910476, 0.01304237, 0.00589284,-0.01167651, 0.03408409,
  0.5515071 , 0.00477789, 0.88704708, 0.04736543, 0.09039669,-0.06733874,
  0.14276638, 0.95500815,-0.03751358, 0.04028304, 0.29142655]

qacc:
[  2.56950116, -0.77310279,  2.37011106, -1.66959158, -1.30031512,
  -0.91740286,  2.73515738, -3.29635303, -4.81691181, -0.7059028 ,
   3.02229991, -3.84054012, -1.45411921,  1.06919665,  1.73405785,
  -9.21085559, -0.13638052, -1.79938936, -0.52787679, 15.8173947 ,
 -13.03450702,  6.71835741]

qfrc_actuator:
[-3.89248785e-05, 3.20254224e-04, 6.03307346e-05, 3.47305596e-05,
 -3.81312123e-06, 4.97516741e-04,-5.72600994e-05, 4.22547265e-05,
 -4.18236079e-05, 1.12351316e-05,-1.22918981e-04,-1.48664258e-06,
  7.34826490e-02,-7.37964670e-04, 2.49575046e-02,-3.55111092e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039029488011092794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42228746e-13, -1.42228746e-13,  1.00000000e+00,  2.02290161e-26,
        1.00000000e+00,  1.42228746e-13, -1.00000000e+00,  0.00000000e+00,
        1.42228746e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08821411, -0.03581651,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.50097580e-05, 2.64422986e-06, 1.77412136e-05, 4.06033622e-06,
 -7.68475918e-06,-4.22504443e-05,-2.48663075e-06,-3.72561292e-06,
 -2.82130942e-05, 4.39064671e-05, 3.18493384e-05, 2.99747592e-06,
 -4.12069143e-04,-1.43497427e-04,-1.54236866e-04,-8.89847694e-05,
 -9.92470236e-05,-7.11180895e-04,-9.80443653e+00,-6.47167182e-02,
 -7.78097016e-03,-7.00828994e-03]


--- Step 591 ---
qpos:
[ 0.00986772, 0.00808752,-0.00562326, 0.03346985, 0.00352219, 0.00242676,
 -0.00674151, 0.03910486, 0.01304161, 0.00589197,-0.01167738, 0.03408392,
  0.55303306, 0.00477997, 0.88783281, 0.04735456, 0.0902629 ,-0.06744811,
  0.14272779, 0.95508689,-0.03709245, 0.03930677, 0.29135574]

qacc:
[  1.76596095, -0.35118003, -0.28210289,  5.95057645,  2.19388696,
  -1.09896253,  2.95603112, -2.87787929,  0.16854071,  0.33550827,
  -2.19883372,  7.938112  , -2.01841383,  2.36026961,  7.06639095,
 -27.84597206, -0.13762214, -1.78627465, -0.57866665, 15.86222329,
 -13.43531687,  6.12924885]

qfrc_actuator:
[-2.90615686e-05, 3.29925202e-04, 8.42656104e-05, 5.40731141e-05,
  9.15837877e-06, 4.61776301e-04,-5.37990124e-05, 4.12116614e-05,
 -4.00545956e-05, 2.91596336e-05,-1.06897264e-04, 1.75698966e-05,
  7.33471041e-02,-7.39740374e-04, 2.48696499e-02,-3.71008918e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038946580006894715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42531517e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.42531517e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0882172 , -0.03581397,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02871947e-05, 1.49537043e-05, 2.67908067e-05, 2.01455450e-05,
  1.27385446e-05,-6.04034917e-05,-5.81578344e-06,-3.03375168e-06,
  9.75980138e-07, 4.92293627e-05, 2.91464775e-05, 2.21058000e-05,
 -4.15284866e-04,-1.18120085e-04,-1.77490463e-04,-1.85705197e-04,
  3.83979794e-05,-5.66554943e-04,-9.80403392e+00,-6.47494437e-02,
 -7.90051614e-03,-6.88873511e-03]


--- Step 592 ---
qpos:
[ 0.00986627, 0.00808862,-0.00562249, 0.03347027, 0.00352252, 0.00243581,
 -0.00674186, 0.0391053 , 0.01304088, 0.00589129,-0.01167826, 0.03408402,
  0.55455609, 0.00478289, 0.88861638, 0.04734284, 0.09012855,-0.06756458,
  0.1426867 , 0.95516348,-0.03663244, 0.03831382, 0.29129511]

qacc:
[ -4.95316275,  0.43074477, -2.60748803,  6.96701636,  1.35340082,
   0.91759067, -5.56992903, 12.38994187,  0.23277705,  0.83621888,
  -3.69865084,  8.10681504, -2.86508312,  4.50062131, -0.39781424,
  -2.73338965, -0.14084832, -1.77686754, -0.62392037, 15.90291957,
 -13.7770533 ,  5.63002982]

qfrc_actuator:
[-5.84120181e-05, 3.17531418e-04, 8.03444052e-05, 6.53945621e-05,
  1.67219775e-05, 4.36844758e-04,-6.95325917e-05, 5.83044785e-05,
 -3.87013758e-05, 2.23360662e-05,-1.14864598e-04, 2.88479842e-05,
  7.32109881e-02,-6.88333986e-04, 2.47780857e-02,-3.74602626e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038794491149250765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.43090293e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.43090293e-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([ 0.08821963, -0.03581172,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.90583385e-05, 2.32325322e-06, 3.14308274e-06, 1.32765464e-05,
  7.90501295e-06,-6.03801416e-05,-2.91428982e-05, 1.42225257e-05,
  1.39234125e-06, 2.77137584e-05, 6.57628551e-06, 1.48304780e-05,
 -4.12589774e-04,-6.07563995e-05,-2.02107070e-04,-7.09007380e-05,
  1.72300989e-04,-4.11204118e-04,-9.80360253e+00,-6.47763993e-02,
 -8.02556633e-03,-6.76549290e-03]


--- Step 593 ---
qpos:
[ 0.00986481, 0.00808959,-0.00562197, 0.03347086, 0.00352294, 0.00244471,
 -0.00674224, 0.03910554, 0.01303983, 0.00589082,-0.0116789 , 0.03408388,
  0.55607637, 0.00478641, 0.88939776, 0.04733463, 0.08998831,-0.06768177,
  0.14264501, 0.95524308,-0.03617594, 0.03728324, 0.29122487]

qacc:
[ 3.54812248e-02, 8.58255867e-01,-4.02520519e+00, 7.43789169e+00,
  7.75115768e-01,-5.47531776e-01, 2.47409385e+00,-5.70943080e+00,
 -2.83844569e+00,-8.52485549e-01, 4.39035286e+00,-8.84697685e+00,
 -2.27240083e+00, 3.31119185e+00,-1.36702377e+01, 4.34952744e+01,
 -1.47229303e+00,-1.77579204e-01,-1.50310504e-01,-6.91958351e+00,
 -1.73393505e+01,-5.78375804e+00]

qfrc_actuator:
[-5.73483264e-05, 2.91904744e-04, 5.99097079e-05, 7.18654074e-05,
  2.10355855e-05, 4.54024385e-04,-6.09164490e-05, 5.04205138e-05,
 -5.53659449e-05, 3.61412706e-05,-1.01535197e-04, 1.76665247e-05,
  7.30799738e-02,-6.59164690e-04, 2.47270094e-02,-3.54935875e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038740105375258127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.43291173e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.43291173e-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([ 0.10689811, -0.05956421,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.31587646e-07,-2.31646115e-05,-1.91284482e-05, 6.93393032e-06,
  4.51784387e-06,-2.23188472e-05,-7.05679780e-06,-1.12234741e-05,
 -1.66192195e-05, 3.13293991e-05, 2.03942119e-05,-9.47461388e-06,
 -3.93005286e-04,-7.16630102e-05,-1.58607099e-04, 1.65308232e-04,
  3.03247417e-04,-2.44570712e-04,-9.80314231e+00,-6.47979904e-02,
 -8.15594027e-03,-6.63849495e-03]


--- Step 594 ---
qpos:
[ 0.00986373, 0.00809043,-0.00562196, 0.03347154, 0.00352375, 0.00245355,
 -0.00674257, 0.03910533, 0.01303893, 0.00589103,-0.01168012, 0.03408292,
  0.55759392, 0.00479057, 0.89017719, 0.04733107, 0.08984216,-0.0677997 ,
  0.1426025 , 0.95532552,-0.03572282, 0.03621513, 0.29114515]

qacc:
[  3.22124063,  1.45188194, -5.83670193,  8.38044966,  3.46109883,
  -1.12467268,  5.85654546,-13.85497102,  1.31638912,  0.78834163,
   2.00743764,-15.96918796, -2.26241901,  3.35632007,-16.82196125,
  55.02309596, -1.47799697, -0.18765101, -0.20679275, -6.85354399,
 -17.31558467, -5.68760574]

qfrc_actuator:
[-3.83795689e-05, 2.76219894e-04, 2.98332497e-05, 7.54105254e-05,
  4.11563112e-05, 4.60868978e-04,-5.55822029e-05, 2.79570653e-05,
 -4.69966493e-05, 7.99988488e-05,-1.28926067e-04,-2.43589922e-05,
  7.29467839e-02,-6.25668259e-04, 2.46630264e-02,-3.30590413e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038817676384872435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.86009655e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.86009655e-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([ 0.10689705, -0.05956496,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89640379e-05,-3.23306501e-05,-3.69948039e-05, 2.02122454e-06,
  2.02421233e-05,-7.89271057e-06,-6.34153366e-07,-2.39022130e-05,
  7.90522673e-06, 6.51995329e-05,-1.87223682e-05,-4.01584561e-05,
 -3.84607215e-04,-6.54875410e-05,-1.26028977e-04, 2.30644129e-04,
  2.18728556e-04,-4.02327058e-04,-9.80277435e+00,-6.47483418e-02,
 -8.29594419e-03,-6.49185613e-03]


--- Step 595 ---
qpos:
[ 0.00986288, 0.00809107,-0.00562231, 0.03347226, 0.0035248 , 0.00246242,
 -0.00674319, 0.0391052 , 0.01303813, 0.0058918 ,-0.01168164, 0.03408112,
  0.55910917, 0.00479401, 0.89095501, 0.04732943, 0.08969007,-0.06791843,
  0.14255895, 0.95541065,-0.03527295, 0.0351095 , 0.29105606]

qacc:
[ 2.06054818e+00, 8.20931565e-01,-3.44402879e+00, 4.75593035e+00,
  2.05632347e+00, 9.93276235e-01,-3.89156033e+00, 5.90068248e+00,
  9.23037758e-01,-1.36935722e-01, 5.11588092e+00,-1.96203039e+01,
 -8.83245051e-01,-2.16023983e-02,-8.15444094e+00, 2.51650289e+01,
 -1.48384910e+00,-1.97298582e-01,-2.57932777e-01,-6.79671241e+00,
 -1.73287102e+01,-5.59333445e+00]

qfrc_actuator:
[-2.67862849e-05, 2.66555509e-04, 1.20942203e-05, 7.72086869e-05,
  5.26680651e-05, 4.61464359e-04,-7.00220352e-05, 3.25950585e-05,
 -4.17066615e-05, 1.05816193e-04,-1.44533096e-04,-6.64439248e-05,
  7.28123852e-02,-6.78642779e-04, 2.45807056e-02,-3.21446054e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038796595741653894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43082531e-13, -2.86165063e-13,  1.00000000e+00,  4.09452215e-26,
        1.00000000e+00,  2.86165063e-13, -1.00000000e+00,  0.00000000e+00,
        1.43082531e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10689641, -0.05956559,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21209226e-05,-3.53209172e-05,-2.89149811e-05,-8.31896827e-07,
  1.20854721e-05,-5.28357947e-06,-1.70754643e-05, 3.79321199e-06,
  5.53911487e-06, 5.66974731e-05,-5.82225601e-06,-4.07163829e-05,
 -3.78744348e-04,-1.49199680e-04,-1.23452960e-04, 8.61377824e-05,
  1.23094748e-04,-5.64696918e-04,-9.80239245e+00,-6.46988140e-02,
 -8.44133722e-03,-6.34096078e-03]


--- Step 596 ---
qpos:
[ 0.00986218, 0.00809129,-0.00562252, 0.03347299, 0.00352563, 0.00247133,
 -0.00674373, 0.0391051 , 0.01303775, 0.00589232,-0.01168195, 0.03407986,
  0.56062201, 0.00479663, 0.89173162, 0.04732817, 0.08953203,-0.06803798,
  0.14251419, 0.95549831,-0.0348262 , 0.03396631, 0.29095773]

qacc:
[ 1.29113258e+00,-9.44093896e-01, 2.51210257e+00,-2.25294434e+00,
 -1.88916984e+00,-9.80326000e-02, 3.16636537e-01, 1.32031403e-02,
  3.69357734e+00,-2.59740316e+00, 6.46342220e+00, 1.23508911e+00,
 -9.88267513e-01, 4.00218566e-02,-2.87860807e+00, 7.55068059e+00,
 -1.48997140e+00,-2.06621405e-01,-3.04334069e-01,-6.74784476e+00,
 -1.73731934e+01,-5.50100043e+00]

qfrc_actuator:
[-1.96328159e-05, 2.42861640e-04, 1.95608973e-05, 7.79804755e-05,
  4.12629606e-05, 4.76014244e-04,-6.05179910e-05, 3.53736317e-05,
 -2.05269616e-05, 8.51572837e-05,-8.20930701e-05,-3.72092140e-05,
  7.26719952e-02,-7.29118799e-04, 2.45300270e-02,-3.19560030e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003869359649747717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.43463405e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.43463405e-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([ 0.1068961 , -0.05956614,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.48586064e-06,-4.94679038e-05,-3.42410477e-06,-1.76098529e-06,
 -1.10628463e-05, 7.92004511e-06, 6.34375873e-06, 2.01653135e-06,
  2.13593981e-05, 8.09234212e-06, 7.20373687e-05, 3.06758292e-05,
 -4.00159768e-04,-1.61083563e-04,-1.06972811e-04, 5.74890870e-06,
  1.61770072e-05,-7.31854295e-04,-9.80199570e+00,-6.46493793e-02,
 -8.59208302e-03,-6.18580244e-03]


--- Step 597 ---
qpos:
[ 0.00986157, 0.00809118,-0.00562265, 0.03347337, 0.00352667, 0.00247992,
 -0.00674372, 0.03910505, 0.01303763, 0.00589244,-0.0116811 , 0.03407967,
  0.56213188, 0.00479988, 0.89250654, 0.04732621, 0.08937866,-0.06816463,
  0.14247461, 0.95557981,-0.03433334, 0.03283684, 0.29087829]

qacc:
[  0.80849529, -1.38241275,  5.76169044,-11.67705546,  1.80112712,
  -1.89730154,  5.92610305, -5.73907998,  2.30464639, -1.5771183 ,
   0.30458588, 16.72532477, -2.7219716 ,  4.04282921, -0.18988968,
  -2.4877218 ,  1.17025974, -1.77502404,  1.29482162, 23.59451515,
  -0.37479817, 10.94677077]

qfrc_actuator:
[-1.51475881e-05, 2.28808431e-04, 2.40364828e-05, 6.03939572e-05,
  5.19689387e-05, 4.45649350e-04,-3.68928871e-05, 3.70626379e-05,
 -7.91681947e-06, 5.49532050e-05,-2.74762489e-05, 1.60140173e-05,
  7.25227779e-02,-6.88946077e-04, 2.44291213e-02,-3.23725834e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.98805671, -8.75312238,  4.81083418, -8.75312238, 24.69424261,
       26.75732318,  4.81083418, 26.75732318, 58.67194717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040712815183810425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36348103e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.36348103e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07129259, -0.04127964,  0.06199085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.68081793e-06,-4.25012231e-05,-6.22677815e-06,-1.98608731e-05,
  1.03939023e-05,-2.48603832e-05, 2.60145727e-05, 2.26903105e-06,
  1.32169831e-05,-9.49026570e-06, 6.62217127e-05, 5.66608293e-05,
 -4.24557969e-04,-7.75727556e-05,-1.59979778e-04,-5.74501210e-05,
 -1.02238429e-04,-9.03987714e-04,-9.80158327e+00,-6.46000044e-02,
 -8.74815535e-03,-6.02636560e-03]


--- Step 598 ---
qpos:
[ 0.00986102, 0.00809123,-0.00562319, 0.03347281, 0.00352817, 0.00248818,
 -0.00674337, 0.03910504, 0.01303697, 0.00589293,-0.01168038, 0.03407977,
  0.56363897, 0.00480331, 0.89327924, 0.04732184, 0.0892298 ,-0.06829816,
  0.14243897, 0.9556558 ,-0.03379485, 0.03171987, 0.29081567]

qacc:
[  0.49460626, -0.55036247,  6.20451562,-21.80581322,  4.10664522,
  -1.28400935,  3.81146568, -3.49490533, -4.74307778,  1.43651788,
  -5.58192423, 10.3838672 , -2.24121731,  2.91179734,  4.12554275,
 -18.86148471,  1.12561839, -1.72017242,  0.98739823, 23.25242643,
  -0.86361502,  9.79851231]

qfrc_actuator:
[-1.22670536e-05, 2.56124554e-04, 8.97197271e-06, 1.43947141e-05,
  7.56103923e-05, 4.24194685e-04,-2.30588571e-05, 3.80671094e-05,
 -3.59616250e-05, 9.02868272e-05,-3.12473688e-05, 2.96258690e-05,
  7.23790528e-02,-6.84274444e-04, 2.42928393e-02,-3.36756757e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([10.33938153,  7.4955484 , -7.12176695,  7.4955484 , 53.12971358,
       45.03615567, -7.12176695, 45.03615567, 57.73923146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043796056116564286
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53498402e-13, -1.90123802e-13,  1.00000000e+00, -4.81960799e-26,
        1.00000000e+00,  1.90123802e-13, -1.00000000e+00,  0.00000000e+00,
       -2.53498402e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07129969, -0.04128234,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00054318e-06, 1.41998074e-06,-2.52954983e-05,-4.84228665e-05,
  2.39271158e-05,-3.01943186e-05, 1.18801209e-05, 8.63838274e-07,
 -2.76762781e-05, 4.61241309e-05, 4.37400126e-06, 1.65967963e-05,
 -4.15878844e-04,-1.02530473e-04,-2.25079080e-04,-1.56019674e-04,
  1.52879496e-04,-5.75834323e-04,-9.80137459e+00,-6.46728678e-02,
 -8.88989487e-03,-5.88842982e-03]


--- Step 599 ---
qpos:
[ 0.00986016, 0.00809152,-0.00562429, 0.03347171, 0.00352959, 0.00249632,
 -0.00674291, 0.03910503, 0.01303633, 0.00589387,-0.01168003, 0.03408003,
  0.56514343, 0.00480652, 0.89404996, 0.04731743, 0.08908527,-0.0684384 ,
  0.1424062 , 0.95572679,-0.03321118, 0.03061437, 0.2907681 ]

qacc:
[-2.70829127, 0.76118616, 0.06269866,-8.82448171,-0.63906655,-0.4622366 ,
  1.39451273,-1.42317133, 0.10456967, 1.99657491,-6.96154387,10.15687252,
 -1.66249648, 1.62205252,-2.67808042, 5.36874173, 1.08483391,-1.67486435,
  0.71479034,22.92979853,-1.26625173, 8.83080595]

qfrc_actuator:
[-2.81054628e-05, 2.72399330e-04,-1.73525585e-05,-1.24228306e-05,
  7.11640073e-05, 4.25957773e-04,-1.50975595e-05, 3.86549301e-05,
 -3.44492111e-05, 1.11067112e-04,-5.14764837e-05, 3.75847198e-05,
  7.22440381e-02,-7.00703962e-04, 2.42419570e-02,-3.35380175e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004612154360151832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.01791992e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.01791992e-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([ 0.071305  , -0.04128425,  0.06198963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57488798e-05, 9.77728488e-06,-3.08146917e-05,-2.85720143e-05,
 -3.77722552e-06,-1.29269437e-05, 3.11532536e-06,-2.98412520e-07,
  7.43269958e-07, 4.81497139e-05,-9.60266064e-06, 1.04078810e-05,
 -4.08456884e-04,-1.26016980e-04,-1.77384201e-04,-2.50681504e-05,
  3.82089524e-04,-2.42609148e-04,-9.80113785e+00,-6.47312004e-02,
 -9.03708645e-03,-5.74866540e-03]


--- Step 600 ---
qpos:
[ 0.00985981, 0.0080918 ,-0.00562512, 0.03347061, 0.00353095, 0.00250437,
 -0.00674238, 0.03910502, 0.0130364 , 0.00589483,-0.01167975, 0.03408043,
  0.56664504, 0.00481038, 0.89481928, 0.047315  , 0.08895545,-0.06857855,
  0.14238781, 0.95578807,-0.0325995 , 0.02959326, 0.29074159]

qacc:
[ 4.45647382e+00,-7.91461410e-01, 2.76503511e+00,-3.09140187e+00,
 -5.60511078e-01,-3.16170567e-01, 9.43086913e-01,-9.30282046e-01,
  6.27073830e+00, 4.54925034e-01,-2.14364744e+00, 4.46759830e+00,
 -2.53173331e+00, 3.76614456e+00,-7.87451958e+00, 2.49601373e+01,
  3.67613187e+00, 2.01119932e-02, 3.59629998e+00, 2.51720943e+01,
  3.60564578e+01, 1.33037248e+01]

qfrc_actuator:
[-1.57628388e-06, 2.81906300e-04, 3.13624161e-06,-9.99132815e-06,
  6.79699509e-05, 4.23835726e-04,-1.05686417e-05, 3.90104627e-05,
  2.21320042e-06, 8.73796162e-05,-6.35284582e-05, 4.21520226e-05,
  7.21143362e-02,-6.58451792e-04, 2.42263945e-02,-3.23723473e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005529857647940117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00384413e-13, -1.00384413e-13,  1.00000000e+00, -1.00770303e-26,
        1.00000000e+00,  1.00384413e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00384413e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04780722, -0.06262723,  0.06198758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.60867657e-05, 7.38710447e-06, 1.77380810e-05, 1.23332785e-06,
 -3.30606271e-06,-9.02268244e-06, 2.13133622e-06,-1.15478003e-07,
  3.67036912e-05, 1.65989004e-06,-2.94520236e-06, 6.49737102e-06,
 -4.02972499e-04,-7.05434925e-05,-1.07151990e-04, 9.07867221e-05,
  5.88400572e-04, 9.72971022e-05,-9.80087426e+00,-6.47765907e-02,
 -9.18892818e-03,-5.60705113e-03]


--- Step 601 ---
qpos:
[ 0.00986012, 0.00809212,-0.00562518, 0.03346986, 0.00353226, 0.00251241,
 -0.00674211, 0.03910503, 0.0130369 , 0.00589584,-0.01167962, 0.03408122,
  0.56814391, 0.00481475, 0.89558717, 0.04731461, 0.08883947,-0.06871866,
  0.14238094, 0.95584079,-0.03196085, 0.02865149, 0.29073353]

qacc:
[ 5.86207272e+00,-1.38580581e+00, 3.56263886e+00, 1.11750598e+00,
 -4.38077600e-01, 7.45713202e-01,-2.75377663e+00, 3.47606855e+00,
  3.85530321e+00, 1.30707909e+00,-6.28011613e+00, 1.34433222e+01,
 -2.30017703e+00, 3.26783115e+00,-8.12305099e+00, 2.57360313e+01,
  3.46055660e+00, 9.43140592e-03, 2.88163905e+00, 2.40084150e+01,
  3.38228319e+01, 1.17556360e+01]

qfrc_actuator:
[ 3.19303092e-05, 3.05257474e-04, 5.10967110e-05, 9.65556728e-06,
  6.55474858e-05, 4.19394893e-04,-2.58615682e-05, 3.92244726e-05,
  2.37556118e-05, 9.05215098e-05,-7.08358852e-05, 6.24106545e-05,
  7.19772855e-02,-6.35045034e-04, 2.41681342e-02,-3.13200191e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 13.32069041,  12.16476483,  -5.42764127,  12.16476483,
        34.35269309,  47.13822338,  -5.42764127,  47.13822338,
       118.96978798,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006273540697060292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.65453692e-13, -4.42422819e-14,  1.00000000e+00, -1.17442771e-26,
        1.00000000e+00,  4.42422819e-14, -1.00000000e+00,  0.00000000e+00,
       -2.65453692e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0478372 , -0.06262386,  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:
[ 3.42518094e-05, 3.12112368e-05, 5.17219181e-05, 2.06038218e-05,
 -2.51968217e-06,-9.35111316e-06,-1.69987693e-05,-1.20186927e-07,
  2.25895350e-05, 3.71408280e-06,-7.11941840e-06, 2.03491347e-05,
 -3.93399492e-04,-7.81850366e-05,-1.08074593e-04, 9.41517218e-05,
  7.77923780e-04, 5.63876509e-04,-9.80159275e+00,-6.48601756e-02,
 -9.34404865e-03,-5.46754766e-03]


--- Step 602 ---
qpos:
[ 0.00986049, 0.00809264,-0.00562523, 0.03346903, 0.00353354, 0.00251992,
 -0.00674177, 0.03910474, 0.01303732, 0.00589696,-0.01167934, 0.03408222,
  0.56964009, 0.00481943, 0.8963536 , 0.04731319, 0.08873656,-0.06885878,
  0.14238301, 0.95588587,-0.03129623, 0.02778457, 0.29074175]

qacc:
[ 4.74387057e-01, 8.55069543e-02, 3.74826337e-01,-1.77610709e+00,
 -3.30913264e-01,-1.48731733e+00, 5.54526708e+00,-1.04124876e+01,
 -7.92343331e-01, 1.52299149e-01,-1.19116241e+00, 4.42657384e+00,
 -2.25924329e+00, 3.07841161e+00, 1.10564042e+00,-6.64456197e+00,
  3.26668243e+00,-1.47248609e-03, 2.23322552e+00, 2.29382810e+01,
  3.18427932e+01, 1.04569378e+01]

qfrc_actuator:
[ 3.37568277e-05, 3.01360691e-04, 4.39336260e-05, 3.78825143e-06,
  6.35983791e-05, 3.60264049e-04,-3.49907421e-05, 2.15859142e-05,
  1.84623769e-05, 1.09729066e-04,-5.74274785e-05, 7.40074669e-05,
  7.18359185e-02,-6.23044488e-04, 2.40736561e-02,-3.19419907e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.22563322,  12.88503124,  -6.02864914,  12.88503124,
        37.7644639 ,  50.30954061,  -6.02864914,  50.30954061,
       121.75220966,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000682721475524159
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.62617270e-13, -4.06543175e-14,  1.00000000e+00, -6.61109412e-27,
        1.00000000e+00,  4.06543175e-14, -1.00000000e+00,  0.00000000e+00,
       -1.62617270e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04785924, -0.06262129,  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:
[ 2.80950952e-06, 2.51252890e-05, 6.36421352e-06,-2.33970446e-06,
 -2.02331079e-06,-6.81728106e-05,-1.32560312e-05,-1.86482372e-05,
 -4.64692330e-06, 2.06555862e-05, 1.39872525e-05, 1.19005327e-05,
 -3.93585562e-04,-8.89387217e-05,-1.44129815e-04,-7.31712443e-05,
  8.97257320e-04, 9.87222053e-04,-9.80219876e+00,-6.49157135e-02,
 -9.49595116e-03,-5.33242171e-03]


--- Step 603 ---
qpos:
[ 0.00986054, 0.00809335,-0.0056256 , 0.03346782, 0.00353478, 0.00252663,
 -0.00674107, 0.03910357, 0.01303732, 0.00589827,-0.01167944, 0.03408269,
  0.57113365, 0.00482426, 0.8971183 , 0.04731167, 0.08864604,-0.06899895,
  0.14239172, 0.95592411,-0.03060654, 0.02698855, 0.29076444]

qacc:
[-2.87052684e+00, 3.69189432e-01, 6.91554522e-01,-6.99278131e+00,
 -2.66308364e-01,-3.89394922e+00, 1.60803809e+01,-3.13781595e+01,
 -3.63351246e+00, 2.40771952e-01, 1.74809124e+00,-1.04676882e+01,
 -1.99732782e+00, 2.51646602e+00,-2.13740827e+00, 4.06830723e+00,
  3.09609190e+00,-1.23465094e-02, 1.65851863e+00, 2.19821981e+01,
  3.01150307e+01, 9.36813208e+00]

qfrc_actuator:
[ 1.69201004e-05, 2.98696717e-04, 2.18979266e-05,-1.71108460e-05,
  6.19428076e-05, 3.04347452e-04,-2.28867388e-05,-2.42082554e-05,
 -2.57846552e-06, 1.02983343e-04,-8.50917391e-05, 4.49364257e-05,
  7.17027067e-02,-6.17905677e-04, 2.40001084e-02,-3.19482494e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.84050196,  13.16177702,  -6.85624709,  13.16177702,
        41.4756941 ,  51.13095471,  -6.85624709,  51.13095471,
       112.99539854,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007221232324006871
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30616391e-13, -2.16202867e-14,  1.00000000e+00, -4.98599248e-27,
        1.00000000e+00,  2.16202867e-14, -1.00000000e+00,  0.00000000e+00,
       -2.30616391e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04787469, -0.06261927,  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:
[-1.67495051e-05, 1.25840985e-05,-1.61469230e-05,-1.96471659e-05,
 -1.73557354e-06,-9.78534194e-05,-4.34707171e-06,-4.95537555e-05,
 -2.11627357e-05, 8.15764644e-06,-2.12811414e-05,-2.74754209e-05,
 -3.88728265e-04,-9.75951371e-05,-1.57279343e-04,-2.52986110e-05,
  9.56333972e-04, 1.37495070e-03,-9.80270644e+00,-6.49478263e-02,
 -9.64379640e-03,-5.20162949e-03]


--- Step 604 ---
qpos:
[ 0.00986072, 0.00809403,-0.00562591, 0.03346706, 0.0035353 , 0.00253297,
 -0.00674072, 0.03910219, 0.01303708, 0.00589948,-0.01167974, 0.03408249,
  0.57262475, 0.00482863, 0.89788159, 0.04731002, 0.08855804,-0.06912192,
  0.14241276, 0.95595864,-0.03001945, 0.02623974, 0.29078067]

qacc:
[ 1.25719886e+00, 7.05538785e-01,-4.49247297e+00, 1.22488131e+01,
 -6.33358634e+00, 6.06907723e-02,-3.60042051e-02,-2.68236276e+00,
 -2.22097265e+00,-9.61606377e-01, 6.08400105e+00,-1.73483978e+01,
 -1.36534909e+00, 9.61971322e-01,-1.61730824e+00, 2.82753678e+00,
  6.32487647e-01, 4.30077645e+00, 3.08386219e+00,-4.21484887e+01,
  3.76250240e+01,-3.21149477e+00]

qfrc_actuator:
[ 2.47489028e-05, 2.96696143e-04, 2.67711496e-05, 6.57071322e-06,
  2.49678605e-05, 3.04101379e-04,-3.38731587e-05,-3.29318433e-05,
 -1.49581714e-05, 8.05506102e-05,-1.01415401e-04, 9.87199663e-06,
  7.15638262e-02,-6.52354021e-04, 2.39551735e-02,-3.19453430e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.72277619,  -7.54904658,  13.7919392 ,  -7.54904658,
       132.7634208 ,  64.06244001,  13.7919392 ,  64.06244001,
        50.78748584,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007841393429824234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.53962288e-14, -7.07924577e-14,  1.00000000e+00,  2.50578603e-27,
        1.00000000e+00,  7.07924577e-14, -1.00000000e+00,  0.00000000e+00,
        3.53962288e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07766464, -0.11265781,  0.06198243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.35581777e-06, 8.34496952e-07, 4.80347704e-06, 2.32823840e-05,
 -3.70562005e-05,-5.82375070e-05,-3.35332315e-05,-1.40453151e-05,
 -1.29722677e-05,-2.34986893e-05,-1.82246620e-05,-3.59887275e-05,
 -3.93393902e-04,-1.37763777e-04,-1.28329184e-04,-2.31639468e-05,
  9.63403299e-04, 1.73346639e-03,-9.80312830e+00,-6.49601677e-02,
 -9.78703568e-03,-5.07512225e-03]


--- Step 605 ---
qpos:
[ 0.00986134, 0.00809455,-0.00562553, 0.03346656, 0.00353537, 0.00253927,
 -0.00674097, 0.0391007 , 0.01303703, 0.0059002 ,-0.0116795 , 0.03408152,
  0.57411321, 0.0048329 , 0.8986438 , 0.04730598, 0.08847239,-0.06922873,
  0.142443  , 0.9559898 ,-0.02952801, 0.02553481, 0.2907913 ]

qacc:
[  3.86079719, -1.61386567,  4.30249222, -0.70143357, -3.95335116,
   1.41306763, -4.61539403,  3.58322733,  1.77170056, -3.73374339,
  15.62139565,-29.38889383, -1.96421317,  2.25199397,  5.77395497,
 -22.22193436,  0.58629642,  4.03764491,  2.30077299,-39.31425947,
  35.01186667, -2.78206524]

qfrc_actuator:
[ 4.70387427e-05, 2.95242864e-04, 6.52847313e-05, 2.08118982e-05,
  3.00638676e-06, 3.19386238e-04,-5.81586650e-05,-3.74943083e-05,
 -4.38340471e-06, 4.89167276e-05,-7.54645552e-05,-2.84340974e-05,
  7.14269519e-02,-6.56734410e-04, 2.39008095e-02,-3.31789541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008438148434831427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.57859383e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.57859383e-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([ 0.07766974, -0.11262322,  0.06198111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.24968444e-05, 9.85904938e-07, 4.00799815e-05, 1.48967961e-05,
 -2.30333233e-05,-2.50550813e-05,-4.10052509e-05,-8.50183186e-06,
  1.02035408e-05,-5.01261301e-05, 1.75972289e-05,-4.06451341e-05,
 -4.02810069e-04,-1.16612253e-04,-1.25493395e-04,-1.43276708e-04,
  6.92947847e-04, 1.12003705e-03,-9.80440216e+00,-6.49142304e-02,
 -9.89239744e-03,-4.92138510e-03]


--- Step 606 ---
qpos:
[ 0.00986154, 0.00809509,-0.00562446, 0.03346621, 0.00353553, 0.0025457 ,
 -0.00674219, 0.03909882, 0.01303711, 0.00590043,-0.01167921, 0.03408048,
  0.57559922, 0.00483653, 0.89940439, 0.04730115, 0.08838892,-0.06932031,
  0.14247973, 0.95601787,-0.02912629, 0.02487094, 0.29079705]

qacc:
[ -3.73197021, -1.57426023,  5.06442301, -3.64734942,  0.67714196,
   2.08627796, -5.57715283,  0.37273212,  1.12832881, -0.9442592 ,
   2.69985444, -3.6083643 , -1.20927307,  0.55284685,  0.06005271,
  -3.5579159 ,  0.54593561,  3.80968686,  1.62198042,-36.89444727,
  32.78253986, -2.42236713]

qfrc_actuator:
[ 2.43959193e-05, 3.12020912e-04, 1.05580200e-04, 2.93968136e-05,
  7.82125220e-06, 3.26063506e-04,-1.07769199e-04,-5.73172451e-05,
  1.86164234e-06, 1.21814341e-05,-7.80692871e-05,-3.28174537e-05,
  7.12967112e-02,-6.96527319e-04, 2.38301584e-02,-3.35335255e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008845276115529294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.27579631e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.27579631e-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([ 0.07767326, -0.11259961,  0.06198022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.20056822e-05, 2.62308468e-05, 4.59401477e-05, 1.03018907e-05,
  4.15332011e-06,-1.63988508e-05,-6.01971800e-05,-2.24899335e-05,
  6.52091848e-06,-6.28964283e-05,-1.22072155e-05,-6.71406398e-06,
 -3.97312248e-04,-1.50082755e-04,-1.54832865e-04,-6.19143295e-05,
  4.49559733e-04, 6.52082270e-04,-9.80544395e+00,-6.48807311e-02,
 -9.99227382e-03,-4.78432392e-03]


--- Step 607 ---
qpos:
[ 0.00986146, 0.00809592,-0.00562356, 0.03346634, 0.00353574, 0.00255185,
 -0.00674366, 0.03909741, 0.01303726, 0.00590073,-0.0116795 , 0.03407971,
  0.57708306, 0.00483852, 0.90016305, 0.04729884, 0.0883075 ,-0.06939743,
  0.14252062, 0.95604309,-0.02880925, 0.02424575, 0.29079852]

qacc:
[ -2.40407562,  1.84931618, -8.05938106, 16.39436635,  0.49411437,
   1.30089446, -7.13389932, 15.83110539,  0.63104424,  2.27644884,
  -9.12365592, 14.69117091,  0.04225162, -2.31994077,-10.57255672,
  32.70547307,  0.51101058,  3.61498617,  1.0411412 ,-34.84831289,
  30.89666338, -2.11900618]

qfrc_actuator:
[ 1.09887669e-05, 3.21850456e-04, 9.34098859e-05, 5.23510059e-05,
  1.06000759e-05, 3.09673806e-04,-1.18710339e-04,-3.27233765e-05,
  5.50088297e-06, 4.36062670e-05,-9.75314957e-05,-1.72376318e-05,
  7.11705280e-02,-7.92471914e-04, 2.37711258e-02,-3.21244228e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009096607959976355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.05120059e-14, -7.62800149e-14,  1.00000000e+00,  2.32745627e-27,
        1.00000000e+00,  7.62800149e-14, -1.00000000e+00,  0.00000000e+00,
        3.05120059e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07767553, -0.11258493,  0.06197967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40299877e-05, 3.43893405e-05,-7.54687683e-07, 2.58662768e-05,
  2.89453989e-06,-3.91716204e-05,-2.25777040e-05, 2.13631681e-05,
  3.80422804e-06,-6.56312228e-06,-3.41938936e-05, 1.23323765e-05,
 -3.97559945e-04,-2.11354174e-04,-1.45398293e-04, 1.15729274e-04,
  2.29281642e-04, 3.03428913e-04,-9.80629360e+00,-6.48582602e-02,
 -1.00863407e-02,-4.66226257e-03]


--- Step 608 ---
qpos:
[ 0.00986157, 0.00809678,-0.00562271, 0.03346712, 0.00353598, 0.0025574 ,
 -0.00674404, 0.03909695, 0.01303711, 0.00590123,-0.01167989, 0.03407943,
  0.57856434, 0.00483993, 0.90092032, 0.04729715, 0.088228  ,-0.06946074,
  0.14256371, 0.95606563,-0.02857268, 0.02365721, 0.29079622]

qacc:
[  1.6195383 ,  1.50953478, -8.02701125, 19.20773167,  0.32476621,
  -1.89303408,  1.59956224, 13.46934879, -2.66843448,  1.56013463,
  -7.21909922, 15.6464418 , -1.28786714,  0.69927781, -3.80509461,
  10.50949599,  0.48092904,  3.45024146,  0.54821031,-33.12922963,
  29.30951099, -1.86054702]

qfrc_actuator:
[ 2.08918463e-05, 3.09493715e-04, 8.58526573e-05, 8.35371128e-05,
  1.21492078e-05, 2.97540960e-04,-5.35264663e-05, 1.78212333e-05,
 -1.01736615e-05, 8.00500961e-05,-9.09916152e-05, 1.00073751e-05,
  7.10468434e-02,-8.14347939e-04, 2.37138249e-02,-3.18175270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009220991791601546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.01004233e-14,  1.20401693e-13,  1.00000000e+00, -3.62414193e-27,
        1.00000000e+00, -1.20401693e-13, -1.00000000e+00,  0.00000000e+00,
        3.01004233e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07767681, -0.11257746,  0.0619794 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.51074343e-06, 7.78112325e-06, 3.28566050e-07, 3.31335154e-05,
  1.61776953e-06,-3.79883505e-05, 5.49989737e-05, 4.84933518e-05,
 -1.55673324e-05, 2.62351429e-05, 1.40082427e-06, 2.60222678e-05,
 -4.08387502e-04,-1.49320088e-04,-1.18732951e-04, 1.67925361e-05,
  2.86999100e-05, 5.37713961e-05,-9.80698274e+00,-6.48457173e-02,
 -1.01744269e-02,-4.55383370e-03]


--- Step 609 ---
qpos:
[ 0.00986145, 0.00809773,-0.00562219, 0.03346758, 0.00353624, 0.00256245,
 -0.00674362, 0.0390971 , 0.01303677, 0.00590169,-0.01167958, 0.0340798 ,
  0.58004268, 0.00484219, 0.90167553, 0.04729724, 0.08815032,-0.06951081,
  0.14260733, 0.95608564,-0.02841305, 0.02310364, 0.29079059]

qacc:
[ -2.00616692,  0.39013933,  0.06794946, -4.94375844,  0.18092518,
  -1.65455841,  2.35644864,  7.33755883, -1.61743902, -0.6848785 ,
  -0.38203341, 10.52291054, -2.75475348,  4.23749377, -8.25261822,
  24.90912463,  0.45505116,  3.31173304,  0.13207367,-31.69136446,
  27.97781396, -1.63754903]

qfrc_actuator:
[ 8.92733728e-06, 3.01709589e-04, 6.32560222e-05, 6.60485650e-05,
  1.29626500e-05, 2.70651048e-04,-1.49153349e-05, 4.77664190e-05,
 -1.93368179e-05, 8.38404368e-05,-5.13446501e-05, 4.39273264e-05,
  7.09141182e-02,-7.56677061e-04, 2.36096504e-02,-3.09201396e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([17.06661957, 16.5885897 , -4.01100928, 16.5885897 , 19.74287123,
       11.06834655, -4.01100928, 11.06834655, 62.84269402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009242837528610076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.00585600e-14,  3.00292800e-14,  1.00000000e+00, -1.80351531e-27,
        1.00000000e+00, -3.00292800e-14, -1.00000000e+00,  0.00000000e+00,
        6.00585600e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07767731, -0.11257578,  0.06197936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16959853e-05,-1.98523087e-06,-1.98247426e-05,-1.65048521e-05,
  8.41935285e-07,-3.48902433e-05, 3.91561352e-05, 3.11534874e-05,
 -9.59649171e-06, 1.98467009e-05, 4.61387746e-05, 3.56001334e-05,
 -4.09884520e-04,-6.04646216e-05,-1.66783364e-04, 7.32111352e-05,
 -1.55058039e-04,-1.12474950e-04,-9.80753618e+00,-6.48422403e-02,
 -1.02564574e-02,-4.45793067e-03]


--- Step 610 ---
qpos:
[ 0.00986119, 0.00809892,-0.00562228, 0.03346714, 0.00353651, 0.00256749,
 -0.00674339, 0.03909692, 0.01303667, 0.00590222,-0.01167931, 0.03407992,
  0.58151816, 0.00484539, 0.90242898, 0.04729571, 0.08807437,-0.0695481 ,
  0.14265007, 0.95610322,-0.0283274 , 0.0225836 , 0.29078199]

qacc:
[ -1.27456803,  0.15025829,  3.75636036,-18.63969192,  0.0597986 ,
  -0.14057198,  1.83814482, -7.12716983,  2.08772841, -0.31121507,
   2.30188283, -6.62467779, -2.93462293,  4.66012295,  2.50508625,
 -12.02719473,  0.43276499,  3.19582424, -0.2180728 ,-30.49285498,
  26.86244524, -1.44238765]

qfrc_actuator:
[ 1.93303959e-06, 3.14366303e-04, 3.19342076e-05, 2.00492178e-05,
  1.33370884e-05, 2.70546004e-04,-2.79096341e-05, 2.98002310e-05,
 -6.83555777e-06, 6.82067544e-05,-6.36075477e-05, 2.82372573e-05,
  7.07814227e-02,-7.05741941e-04, 2.35094182e-02,-3.18129809e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([17.03302591, 16.58192462, -3.89406565, 16.58192462, 19.54008098,
       10.67567987, -3.89406565, 10.67567987, 62.49279336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009182696390150485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02259537e-14,  1.51129769e-14,  1.00000000e+00, -4.56804139e-28,
        1.00000000e+00, -1.51129769e-14, -1.00000000e+00,  0.00000000e+00,
        3.02259537e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07767722, -0.1125787 ,  0.06197951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.33034800e-06, 6.69914716e-06,-3.47622590e-05,-4.70953641e-05,
  3.83318471e-07,-1.03815334e-05,-1.43655376e-05,-1.75127954e-05,
  1.22339065e-05, 6.49525865e-06,-1.25849183e-06,-1.25525681e-05,
 -3.91179204e-04,-5.03778337e-05,-1.76435177e-04,-1.08318707e-04,
 -3.24372899e-04,-2.07192350e-04,-9.80797321e+00,-6.48471499e-02,
 -1.03324146e-02,-4.37366122e-03]


--- Step 611 ---
qpos:
[ 0.00986119, 0.00810017,-0.00562244, 0.03346614, 0.00353677, 0.00257295,
 -0.00674354, 0.03909649, 0.01303673, 0.00590272,-0.01167967, 0.0340799 ,
  0.5829911 , 0.00484889, 0.90318101, 0.04729264, 0.08800007,-0.06957298,
  0.14269076, 0.95611845,-0.02831329, 0.02209592, 0.29077075]

qacc:
[ 2.30444387e+00,-8.65610812e-01, 5.55868889e+00,-1.51742179e+01,
 -1.31448777e-03, 1.09344985e+00,-1.98843188e+00,-2.19414400e+00,
  1.30632808e+00, 1.44571138e+00,-4.66512152e+00, 3.41022129e+00,
 -2.18588320e+00, 2.97685655e+00, 2.69574939e+00,-1.21271750e+01,
  4.13519624e-01, 3.09919467e+00,-5.12077961e-01,-2.94970050e+01,
  2.59293550e+01,-1.26899501e+00]

qfrc_actuator:
[ 1.56796820e-05, 3.21338980e-04, 3.12904283e-05,-6.83103515e-06,
  1.34506266e-05, 3.21736681e-04,-3.56794577e-05, 1.92853336e-05,
  5.62126236e-07, 4.08178725e-05,-1.06554665e-04, 1.89268113e-05,
  7.06541672e-02,-6.94770064e-04, 2.34648561e-02,-3.25103937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([16.95555206, 16.52356292, -3.80297437, 16.52356292, 20.86947705,
       17.00563283, -3.80297437, 17.00563283, 90.84341364,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009057812258150694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.06426925e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.06426925e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07767666, -0.11258523,  0.06197979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35399053e-05, 1.47733135e-06,-5.18231938e-06,-2.87136555e-05,
  1.22121316e-07, 4.14822600e-05,-1.23508818e-05,-1.18090280e-05,
  7.75024409e-06,-2.45732593e-05,-4.22049909e-05,-9.32252454e-06,
 -3.72685330e-04,-8.40085026e-05,-1.45686271e-04,-1.00197927e-04,
 -4.81198887e-04,-2.39397783e-04,-9.80830883e+00,-6.48599051e-02,
 -1.04023108e-02,-4.30030690e-03]


--- Step 612 ---
qpos:
[ 0.00986101, 0.0081013 ,-0.00562255, 0.03346484, 0.00353704, 0.00257866,
 -0.00674379, 0.03909628, 0.01303687, 0.00590324,-0.01168034, 0.03408009,
  0.58446162, 0.00485251, 0.90393133, 0.0472897 , 0.08792737,-0.0695858 ,
  0.14272843, 0.95613138,-0.02836868, 0.02163959, 0.29075717]

qacc:
[-1.57785439e+00,-9.02969712e-01, 4.26899410e+00,-9.46555851e+00,
 -1.26154111e-02, 1.06013653e+00,-4.25282317e+00, 8.11556233e+00,
  7.66434260e-01, 1.31747912e+00,-5.49808037e+00, 9.48685164e+00,
 -1.81375304e+00, 2.22684960e+00,-2.77318424e+00, 6.33374058e+00,
  3.96835721e-01, 3.01892527e+00,-7.58600831e-01,-2.86724248e+01,
  2.51495873e+01,-1.11258990e+00]

qfrc_actuator:
[ 6.01705380e-06, 3.07235506e-04, 3.10151175e-05,-2.22222271e-05,
  1.34100579e-05, 3.32257115e-04,-4.00529508e-05, 3.10576687e-05,
  4.88953581e-06, 5.97119892e-05,-1.14046386e-04, 3.11788097e-05,
  7.05355777e-02,-6.89773947e-04, 2.34004712e-02,-3.23747754e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.82977262,  16.40373199,  -3.76282118,  16.40373199,
        22.50684523,  24.7487651 ,  -3.76282118,  24.7487651 ,
       124.72012674,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008882617823459948
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.12470672e-14, -4.68706008e-14,  1.00000000e+00,  1.46456881e-27,
        1.00000000e+00,  4.68706008e-14, -1.00000000e+00,  0.00000000e+00,
        3.12470672e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07767576, -0.11259457,  0.06198019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.27853721e-06,-1.56145778e-05,-1.61291524e-06,-1.60667855e-05,
 -2.16283942e-08, 3.04645335e-05, 2.20402267e-06, 1.28817370e-05,
  4.54241791e-06,-3.97554679e-06,-1.80903084e-05, 9.55669452e-06,
 -3.59990771e-04,-9.24807598e-05,-1.51616137e-04,-1.27646335e-05,
 -6.27130149e-04,-2.15903095e-04,-9.80855468e+00,-6.48800702e-02,
 -1.04661715e-02,-4.23728929e-03]


--- Step 613 ---
qpos:
[ 0.00986071, 0.00810226,-0.00562268, 0.03346406, 0.00353731, 0.00258437,
 -0.00674399, 0.03909658, 0.01303706, 0.00590378,-0.01168083, 0.03408004,
  0.5859297 , 0.00485623, 0.90467967, 0.04728531, 0.08785619,-0.0695868 ,
  0.14276223, 0.95614203,-0.02849188, 0.02121377, 0.29074149]

qacc:
[-1.00011093e+00, 9.01686539e-01,-5.76279119e+00, 1.50323042e+01,
 -1.90257944e-02, 9.20858676e-01,-5.45132181e+00, 1.42254377e+01,
  4.52066331e-01,-9.57588999e-01, 4.41797494e+00,-8.72694209e+00,
 -1.87770293e+00, 2.31340826e+00, 1.59057135e+00,-9.52230122e+00,
  3.82304351e-01, 2.95250594e+00,-9.65093404e-01,-2.79926569e+01,
  2.44988594e+01,-9.69430057e-01]

qfrc_actuator:
[ 3.99511231e-07, 2.98391501e-04, 3.08672919e-05, 4.74941323e-06,
  1.32788836e-05, 3.18383084e-04,-4.25204049e-05, 5.58222037e-05,
  7.37693076e-06, 7.08185718e-05,-1.00336735e-04, 2.05801383e-05,
  7.04062901e-02,-6.88294871e-04, 2.32869884e-02,-3.31700225e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.65071781,  16.22568986,  -3.73810008,  16.22568986,
        24.12817791,  32.45684865,  -3.73810008,  32.45684865,
       157.53371969,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008669166862685651
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.20164279e-14, -4.80246419e-14,  1.00000000e+00, -1.53757749e-27,
        1.00000000e+00,  4.80246419e-14, -1.00000000e+00,  0.00000000e+00,
       -3.20164279e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07767461, -0.11260604,  0.06198067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.88981980e-06,-1.86368142e-05,-4.13621863e-06, 2.59350835e-05,
 -1.21781913e-07, 3.96490457e-06, 4.47880510e-06, 2.63851268e-05,
  2.61647799e-06, 5.54657176e-06, 1.09921242e-05,-1.12092097e-05,
 -3.64761545e-04,-9.48530844e-05,-1.92752247e-04,-1.01527166e-04,
 -7.63461341e-04,-1.41823364e-04,-9.80871980e+00,-6.49072901e-02,
 -1.05240237e-02,-4.18414267e-03]


--- Step 614 ---
qpos:
[ 0.00986001, 0.0081031 ,-0.0056228 , 0.03346327, 0.00353757, 0.00259   ,
 -0.00674417, 0.03909719, 0.01303728, 0.00590375,-0.0116809 , 0.03408028,
  0.58739516, 0.00486034, 0.9054258 , 0.04728061, 0.08778649,-0.06957621,
  0.14279147, 0.95615039,-0.0286815 , 0.02081775, 0.29072395]

qacc:
[ -3.59691512, -0.21848045,  0.6549533 , -0.99344595, -0.02900553,
   0.44371832, -3.00781976,  8.27757332,  0.2772879 , -1.37071175,
   2.59985619,  1.97168583, -2.21252012,  3.05223695, -2.22070607,
   3.37411618,  0.36958067,  2.89780584, -1.13788916,-27.43558982,
  23.95697091, -0.83659938]

qfrc_actuator:
[-2.05374335e-05, 2.92802280e-04, 3.08378505e-05, 3.17306678e-06,
  1.30953421e-05, 3.07780222e-04,-4.39458128e-05, 7.02534846e-05,
  8.76248630e-06, 6.24790875e-06,-9.20209589e-05, 3.21305135e-05,
  7.02653463e-02,-6.71197224e-04, 2.31920653e-02,-3.32658214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008427503697376326
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.58690322e-14,  8.23362902e-14,  1.00000000e+00, -5.42341175e-27,
        1.00000000e+00, -8.23362902e-14, -1.00000000e+00,  0.00000000e+00,
        6.58690322e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07767327, -0.11261907,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11149297e-05,-1.57868064e-05,-3.49872701e-06,-2.01313874e-06,
 -1.86899588e-07,-6.53564814e-06, 7.92814826e-07, 1.52566807e-05,
  1.46308822e-06,-5.96910294e-05, 1.04271640e-05, 1.19501382e-05,
 -3.80487553e-04,-8.05177566e-05,-2.01286497e-04,-4.14179035e-05,
 -8.91239962e-04,-2.09632669e-05,-9.80881121e+00,-6.49412706e-02,
 -1.05758899e-02,-4.14049215e-03]


--- Step 615 ---
qpos:
[ 0.00985906, 0.00810354,-0.00562278, 0.03346214, 0.00353783, 0.00259571,
 -0.00674492, 0.0390973 , 0.01303751, 0.00590346,-0.01168183, 0.03408139,
  0.58885814, 0.0048644 , 0.9061704 , 0.04727237, 0.08771822,-0.06955421,
  0.14281559, 0.95615646,-0.02893642, 0.02045096, 0.29070477]

qacc:
[ -2.14159967, -1.62321382,  6.4332386 ,-12.13378881, -0.05750899,
   0.70364153, -0.26151269, -7.48854659,  0.10833796,  3.85834977,
 -17.9101579 , 34.56400068, -1.91607693,  2.24114219,  8.60280036,
 -33.07944949,  0.35837566,  2.8530286 , -1.28233468,-26.98282168,
  23.50718404, -0.71183207]

qfrc_actuator:
[-3.25718016e-05, 2.53681873e-04, 3.08661042e-05,-1.51920642e-05,
  1.28825321e-05, 2.99210332e-04,-8.02552596e-05, 4.29818634e-05,
  9.48855490e-06,-1.43785361e-05,-1.40514022e-04, 7.43053447e-05,
  7.01334910e-02,-6.80574998e-04, 2.31190223e-02,-3.50780005e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008165975428538891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.79785920e-14, -3.39892960e-14,  1.00000000e+00,  2.31054449e-27,
        1.00000000e+00,  3.39892960e-14, -1.00000000e+00,  0.00000000e+00,
        6.79785920e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0776718 , -0.11263323,  0.06198179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26436059e-05,-4.87897623e-05,-3.73833218e-06,-1.92006542e-05,
 -2.21072046e-07,-1.16112489e-05,-3.70993971e-05,-2.72408691e-05,
  7.45755031e-07,-5.13370364e-05,-5.91241620e-05, 4.02099147e-05,
 -3.77547400e-04,-1.07862984e-04,-1.76117211e-04,-2.10671569e-04,
 -1.01131019e-03, 1.43891200e-04,-9.80883436e+00,-6.49817649e-02,
 -1.06217834e-02,-4.10603639e-03]


--- Step 616 ---
qpos:
[ 0.00985832, 0.00810356,-0.00562274, 0.03346115, 0.00353808, 0.0026011 ,
 -0.00674571, 0.03909743, 0.01303775, 0.00590354,-0.01168362, 0.03408257,
  0.59031874, 0.00486807, 0.90691307, 0.04726262, 0.08765135,-0.06952095,
  0.1428341 , 0.95616019,-0.02925571, 0.02011289, 0.29068415]

qacc:
[ 1.83209584e+00,-2.96455539e-01,-3.71038111e-01, 3.19993876e+00,
 -3.34839664e-02,-2.66776488e-01, 2.29047627e-01, 5.58939247e-01,
  2.23888765e-02, 3.04887283e+00,-1.05059692e+01, 1.29304345e+01,
 -1.42697455e+00, 1.16510199e+00, 1.80231043e+00,-1.02394912e+01,
  3.48447775e-01, 2.81666423e+00,-1.40293076e+00,-2.66190557e+01,
  2.31356445e+01,-5.93370869e-01]

qfrc_actuator:
[-2.15127427e-05, 2.30272447e-04, 3.07828357e-05,-7.80718137e-06,
  1.26542846e-05, 2.73988964e-04,-8.36352418e-05, 4.46275363e-05,
  9.82141508e-06, 4.45145064e-05,-1.68729207e-04, 8.08904728e-05,
  7.00071701e-02,-7.05542816e-04, 2.30431478e-02,-3.57559792e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007891494227306589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05514525e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.05514525e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07767026, -0.11264812,  0.0619824 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06815576e-05,-5.23031396e-05,-1.12877203e-05, 4.79331897e-06,
 -2.35953229e-07,-4.07438427e-05,-1.13484960e-05,-6.76927879e-07,
  3.35230835e-07, 1.97151366e-05,-4.46986527e-05, 3.12234811e-06,
 -3.76447401e-04,-1.28089598e-04,-1.88166554e-04,-1.03894778e-04,
 -1.12434892e-03, 3.50752981e-04,-9.80879348e+00,-6.50285624e-02,
 -1.06617068e-02,-4.08053394e-03]


--- Step 617 ---
qpos:
[ 0.00985771, 0.00810323,-0.00562272, 0.03346026, 0.00353833, 0.00260585,
 -0.00674584, 0.03909793, 0.013038  , 0.00590387,-0.01168523, 0.03408341,
  0.59177665, 0.00487208, 0.90765396, 0.04725135, 0.08759694,-0.06948806,
  0.14285577, 0.95616015,-0.02954649, 0.01984692, 0.29067314]

qacc:
[ 1.21739091e+00,-2.03606380e-01,-3.30492977e-01, 2.19741502e+00,
 -7.81665485e-03,-1.94797049e+00, 4.19656919e+00, 1.43641754e+00,
  1.86127500e-02,-8.56103753e-01, 4.98300644e+00,-1.13140111e+01,
 -2.30742171e+00, 3.13763743e+00, 2.10064995e+00,-1.07923068e+01,
  3.11457984e+00,-9.47778182e-02, 7.91085729e-01, 2.39542261e+01,
  3.02217663e+01, 6.48964125e+00]

qfrc_actuator:
[-1.47053715e-05, 2.16469373e-04, 3.07074018e-05,-3.07085696e-06,
  1.24185244e-05, 2.39132986e-04,-4.98249590e-05, 6.32949362e-05,
  9.92090842e-06, 7.96072475e-05,-1.48916475e-04, 6.65705894e-05,
  6.98682729e-02,-6.86255046e-04, 2.29709907e-02,-3.64697568e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007748332319839207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.14928125e-13, -5.37320312e-14,  1.00000000e+00, -1.15485247e-26,
        1.00000000e+00,  5.37320312e-14, -1.00000000e+00,  0.00000000e+00,
       -2.14928125e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04301592, -0.06203667,  0.06198272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.09378352e-06,-4.51706087e-05,-1.21020328e-05, 2.19954903e-06,
 -2.56202555e-07,-6.02005557e-05, 2.39186540e-05, 1.65051304e-05,
  1.16211238e-07, 3.70348561e-05, 1.85052573e-05,-1.49595488e-05,
 -3.92761480e-04,-8.75777206e-05,-1.76756284e-04,-1.02761424e-04,
 -1.23089516e-03, 5.98268291e-04,-9.80869183e+00,-6.50814804e-02,
 -1.06956509e-02,-4.06379240e-03]


--- Step 618 ---
qpos:
[ 0.0098572 , 0.00810272,-0.00562305, 0.03345908, 0.00353823, 0.00261036,
 -0.00674594, 0.03909794, 0.01303824, 0.00590406,-0.01168586, 0.03408408,
  0.59323193, 0.00487608, 0.90839321, 0.04723952, 0.0875545 ,-0.06945552,
  0.142879  , 0.95615656,-0.02980998, 0.01965007, 0.2906714 ]

qacc:
[  0.74951995,  0.13379571,  0.36100992, -4.55075364, -3.07274215,
  -1.39611756,  6.55601185,-14.75450061,  0.02897976, -3.28832444,
  12.19846019,-16.76609488, -1.89408115,  2.16445288, -0.59128917,
  -1.15955006,  2.99515497, -0.08825905,  0.38918088, 22.95081289,
  28.97874601,  6.23361446]

qfrc_actuator:
[-1.04624111e-05, 2.08529079e-04, 1.29200630e-05,-1.76785397e-05,
 -5.57243630e-06, 2.34458148e-04,-4.76332843e-05, 3.85764555e-05,
  9.88218533e-06, 6.48651490e-05,-1.00989350e-04, 5.78434045e-05,
  6.97272699e-02,-6.94246953e-04, 2.29170979e-02,-3.66663636e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.75584205,   0.24025951, -15.7540101 ,   0.24025951,
        68.61735369,   0.80617448, -15.7540101 ,   0.80617448,
        15.76813677,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007866662453944046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41130121e-13, -7.05650605e-14,  1.00000000e+00, -9.95885554e-27,
        1.00000000e+00,  7.05650605e-14, -1.00000000e+00,  0.00000000e+00,
       -1.41130121e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04302152, -0.06203689,  0.06198246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.43090326e-06,-3.55875151e-05,-2.85264336e-05,-1.69167110e-05,
 -1.80209083e-05,-3.28637660e-05,-6.78184543e-06,-2.61607122e-05,
 -2.30297441e-08, 9.15484896e-06, 5.73519890e-05,-6.79000965e-06,
 -3.95354348e-04,-1.10848384e-04,-1.54131263e-04,-4.97282671e-05,
 -8.62038205e-04, 5.19425393e-04,-9.80905660e+00,-6.51356206e-02,
 -1.06977930e-02,-4.06267051e-03]


--- Step 619 ---
qpos:
[ 0.00985708, 0.00810204,-0.00562362, 0.03345774, 0.00353791, 0.00261471,
 -0.00674603, 0.03909731, 0.01303882, 0.00590394,-0.01168603, 0.03408434,
  0.5946846 , 0.00488001, 0.90913044, 0.04723376, 0.08752364,-0.06942332,
  0.14290242, 0.95614961,-0.03004721, 0.01951984, 0.29067862]

qacc:
[ 3.50420506e+00, 9.55205877e-02, 4.67525689e-02,-2.51306183e+00,
 -1.88729594e+00,-1.55714330e+00, 7.97956136e+00,-1.90956754e+01,
  3.03518170e+00,-2.54305577e+00, 1.01567159e+01,-1.75830823e+01,
 -1.44914949e+00, 1.34017763e+00,-2.12439303e+01, 7.01655690e+01,
  2.89364683e+00,-8.24654093e-02, 4.58363219e-02, 2.21013740e+01,
  2.79287495e+01, 6.02348007e+00]

qfrc_actuator:
[ 9.99111467e-06, 2.04077775e-04, 2.58346038e-06,-2.58043522e-05,
 -1.61166308e-05, 2.29992315e-04,-4.63010244e-05, 6.27449814e-06,
  2.75148363e-05, 2.05302722e-05,-9.03149964e-05, 3.46971478e-05,
  6.95957454e-02,-7.00633262e-04, 2.28848666e-02,-3.33606166e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.58006859e+01,  9.72696313e-02, -1.58003865e+01,  9.72696313e-02,
        1.17379569e+02,  6.25335366e-01, -1.58003865e+01,  6.25335366e-01,
        1.58045355e+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: -0.0007901254926042239
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40512240e-13, -5.26920898e-14,  1.00000000e+00, -7.40388354e-27,
        1.00000000e+00,  5.26920898e-14, -1.00000000e+00,  0.00000000e+00,
       -1.40512240e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04302324, -0.0620369 ,  0.06198239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05713831e-05,-3.09414592e-05,-2.17737380e-05,-1.09626256e-05,
 -1.10666188e-05,-2.55344603e-05,-7.24764522e-06,-3.44631383e-05,
  1.76332313e-05,-2.76598286e-05, 1.93985140e-05,-2.09022143e-05,
 -3.92223888e-04,-1.14563849e-04,-1.16938612e-04, 3.06190669e-04,
 -5.65713356e-04, 4.42223907e-04,-9.80934177e+00,-6.51793955e-02,
 -1.06969958e-02,-4.06542320e-03]


--- Step 620 ---
qpos:
[ 0.00985686, 0.00810112,-0.00562406, 0.03345663, 0.00353816, 0.00261896,
 -0.00674592, 0.03909696, 0.01303962, 0.00590363,-0.01168661, 0.03408438,
  0.59613461, 0.00488414, 0.90986653, 0.04723187, 0.08750402,-0.06939142,
  0.14292484, 0.95613943,-0.03025903, 0.01945411, 0.29069455]

qacc:
[ -0.85839474, -0.20072064, -0.74547234,  4.84266827,  4.9833291 ,
  -0.11332998, -0.99543451,  5.68806675,  1.80902576,  0.42713762,
  -0.91767237, -2.27925789, -1.91046002,  2.33928498,-13.28871649,
  44.35118502,  2.80790244, -0.07728919, -0.24612915, 21.38536009,
  27.04590812,  5.85303326]

qfrc_actuator:
[ 4.31760366e-06, 2.01784586e-04, 1.45114236e-05,-1.22839311e-05,
  1.33174127e-05, 2.43426576e-04,-2.77130540e-05, 2.30411956e-05,
  3.76545656e-05,-5.83905620e-06,-1.19630286e-04, 2.09432765e-05,
  6.94646750e-02,-6.88237718e-04, 2.28497488e-02,-3.13904615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.57582550e+01, -2.35343018e-02, -1.57582375e+01, -2.35343018e-02,
        1.55776666e+02, -2.09111935e-01, -1.57582375e+01, -2.09111935e-01,
        1.57585673e+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: -0.0007868514241011065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.05484537e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.05484537e-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([ 0.04302184, -0.06203674,  0.06198246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.09386256e-06,-2.45213070e-05, 2.49248304e-06, 1.12327929e-05,
  2.91122456e-05,-3.97787349e-06, 1.11804964e-05, 1.47433927e-05,
  1.06308791e-05,-3.87118755e-05,-3.33599395e-05,-1.46754014e-05,
 -3.89367855e-04,-9.63882676e-05,-6.31926757e-05, 1.97208179e-04,
 -3.33376643e-04, 3.66372278e-04,-9.80955700e+00,-6.52135399e-02,
 -1.06930123e-02,-4.07208920e-03]


--- Step 621 ---
qpos:
[ 0.00985658, 0.0081003 ,-0.00562477, 0.03345533, 0.00353842, 0.00262349,
 -0.00674636, 0.03909751, 0.01304018, 0.00590314,-0.01168728, 0.03408422,
  0.59758211, 0.00488836, 0.9106016 , 0.04723007, 0.08749533,-0.06935982,
  0.1429453 , 0.95612611,-0.03044617, 0.01945111, 0.290719  ]

qacc:
[-5.92154491e-01, 5.06757713e-01,-7.92856002e-01,-2.16127664e+00,
  2.74168259e-02, 3.73889662e+00,-1.65900184e+01, 3.27888194e+01,
 -2.01870180e+00,-3.67644028e-01, 1.77177058e+00,-4.76879121e+00,
 -1.88593743e+00, 2.26655196e+00,-1.65215248e+00, 3.89176586e+00,
  2.73586791e+00,-7.26311089e-02,-4.93556980e-01, 2.07842406e+01,
  2.63068950e+01, 5.71678102e+00]

qfrc_actuator:
[ 1.05923160e-06, 2.18670820e-04, 4.00778004e-06,-2.16246334e-05,
  1.27858243e-05, 2.67595657e-04,-5.22305415e-05, 6.85748851e-05,
  2.55448040e-05,-3.66917975e-06,-1.18985179e-04, 1.28165941e-05,
  6.93446285e-02,-6.82580771e-04, 2.27756112e-02,-3.14667868e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007782338750364354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.13296517e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.13296517e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04301797, -0.06203646,  0.06198266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.40904944e-06, 4.20972618e-06,-1.48544809e-05,-1.00808678e-05,
  2.93592949e-07, 2.47409597e-05,-2.35036342e-05, 4.60268151e-05,
 -1.18207106e-05,-2.69734780e-05,-1.19571722e-05,-1.12238175e-05,
 -3.72078820e-04,-9.91982643e-05,-9.31166272e-05,-7.41783554e-06,
 -1.58268957e-04, 2.91577331e-04,-9.80970988e+00,-6.52386286e-02,
 -1.06856692e-02,-4.08268715e-03]


--- Step 622 ---
qpos:
[ 0.00985661, 0.00809952,-0.00562587, 0.03345395, 0.00353798, 0.00262824,
 -0.00674709, 0.03909859, 0.01304128, 0.00590256,-0.01168799, 0.03408361,
  0.5990271 , 0.00489264, 0.91133511, 0.04722924, 0.08749735,-0.06932848,
  0.14296294, 0.95610974,-0.03060925, 0.01950938, 0.29075182]

qacc:
[  2.69119406,  0.97876416, -3.08436236,  2.26486067, -6.15122313,
   2.23635327, -9.75866336, 19.22179407,  4.75334536, -0.983691  ,
   5.23417832,-12.99393989, -1.80317196,  2.11618332, -5.1232143 ,
  14.84446335,  2.67567173, -0.06840291, -0.7026834 , 20.28176071,
  25.69123939,  5.60995719]

qfrc_actuator:
[ 1.70095877e-05, 2.11310662e-04,-1.96015682e-05,-2.65946110e-05,
 -2.31438818e-05, 2.80120773e-04,-6.64384096e-05, 9.51367211e-05,
  5.36968514e-05,-2.06429208e-06,-1.18274924e-04,-9.63659591e-06,
  6.92153003e-02,-6.80919863e-04, 2.26993953e-02,-3.09733530e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007654455520341996
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.25213584e-14, -7.25213584e-14,  1.00000000e+00, -5.25934743e-27,
        1.00000000e+00,  7.25213584e-14, -1.00000000e+00,  0.00000000e+00,
       -7.25213584e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0430122 , -0.06203608,  0.06198294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58592703e-05,-8.46613828e-06,-2.48970197e-05,-5.49325027e-06,
 -3.59136934e-05, 2.33171182e-05,-1.04489626e-05, 2.76942417e-05,
  2.78053217e-05,-1.64060518e-05,-6.70750214e-06,-2.42376979e-05,
 -3.72416335e-04,-9.95053578e-05,-1.31003239e-04, 3.44680515e-05,
 -3.50673459e-05, 2.17553637e-04,-9.80980634e+00,-6.52551068e-02,
 -1.06748493e-02,-4.09722153e-03]


--- Step 623 ---
qpos:
[ 0.00985648, 0.0080987 ,-0.00562724, 0.03345252, 0.00353711, 0.00263294,
 -0.00674703, 0.0390996 , 0.01304306, 0.00590188,-0.01168928, 0.03408312,
  0.60046959, 0.00489673, 0.91206709, 0.04722897, 0.08750987,-0.06929741,
  0.14297707, 0.95609036,-0.03074878, 0.01962769, 0.29079288]

qacc:
[ -1.35778367,  0.5784383 , -1.94367837,  1.56619373, -3.72988996,
  -2.45302439,  8.98454062,-11.56315805,  5.90864581,  1.75167619,
  -6.92932996,  9.9927515 , -1.59049035,  1.53198829, -3.83886584,
  10.38405235,  2.62565419, -0.0645279 , -0.8790452 , 19.86390447,
  25.18127712,  5.52847828]

qfrc_actuator:
[ 8.63196104e-06, 2.07186768e-04,-3.30864363e-05,-2.89735393e-05,
 -4.41058619e-05, 2.85599726e-04,-2.12315908e-05, 9.25710995e-05,
  8.75752490e-05,-1.85619023e-05,-1.53052088e-04,-4.83706817e-06,
  6.90751673e-02,-6.99434644e-04, 2.26326697e-02,-3.06797859e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000749472270303933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48133970e-13,  1.85167462e-14,  1.00000000e+00,  2.74295912e-27,
        1.00000000e+00, -1.85167462e-14, -1.00000000e+00,  0.00000000e+00,
       -1.48133970e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04300495, -0.06203563,  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:
[-7.92363475e-06,-1.41867580e-05,-1.84657284e-05,-3.70342272e-06,
 -2.19755692e-05, 1.73672826e-05, 4.96463443e-05,-1.39889874e-06,
  3.46616051e-05,-2.80520843e-05,-3.98142873e-05, 3.39598457e-06,
 -3.83807344e-04,-1.19702424e-04,-1.32057876e-04, 1.24541097e-05,
  4.04030450e-05, 1.44027872e-04,-9.80985097e+00,-6.52633147e-02,
 -1.06604780e-02,-4.11568718e-03]


--- Step 624 ---
qpos:
[ 0.00985591, 0.00809806,-0.00562859, 0.03345067, 0.00353599, 0.00263794,
 -0.00674678, 0.03909987, 0.01304419, 0.00590119,-0.01169105, 0.03408301,
  0.60190957, 0.00490061, 0.91279667, 0.04723114, 0.08753273,-0.06926658,
  0.14298708, 0.95606798,-0.03086516, 0.01980503, 0.29084209]

qacc:
[ -3.90229093, -0.63269924,  4.3651221 ,-11.66786321, -2.15417597,
  -1.63345834,  9.48989219,-22.68039924, -5.6661419 ,  2.13708511,
  -9.30681452, 16.86681975, -1.44281568,  1.26510489,-10.85791586,
  33.02349356,  2.58436755, -0.06094038, -1.02747953, 19.51871286,
  24.76192173,  5.46887243]

qfrc_actuator:
[-1.40036688e-05, 2.40575140e-04,-2.27200155e-05,-4.75527106e-05,
 -5.60789089e-05, 3.04789400e-04,-1.23655806e-05, 5.51712526e-05,
  5.35294685e-05,-1.03875779e-05,-1.73051633e-04, 1.59219142e-05,
  6.89446189e-02,-7.12058335e-04, 2.25131075e-02,-2.94407269e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007311396103550916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.59241470e-14, -7.59241470e-14,  1.00000000e+00, -5.76447609e-27,
        1.00000000e+00,  7.59241470e-14, -1.00000000e+00,  0.00000000e+00,
       -7.59241470e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04299662, -0.06203513,  0.06198371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28611383e-05, 2.15286828e-05, 5.06275190e-06,-1.98896354e-05,
 -1.25936771e-05, 3.89150682e-05, 1.84623286e-05,-3.49772649e-05,
 -3.30724136e-05,-1.55327882e-05,-3.05559522e-05, 1.82498076e-05,
 -3.85636080e-04,-1.20356884e-04,-1.87858964e-04, 1.05634006e-04,
  7.14016738e-05, 7.07402356e-05,-9.80984729e+00,-6.52635072e-02,
 -1.06425126e-02,-4.13807275e-03]


--- Step 625 ---
qpos:
[ 0.00985472, 0.00809751,-0.00562927, 0.03344893, 0.00353474, 0.00264351,
 -0.00674709, 0.03909936, 0.01304457, 0.00590071,-0.01169294, 0.0340831 ,
  0.6033471 , 0.00490406, 0.9135239 , 0.04723574, 0.08756579,-0.06923598,
  0.14299249, 0.95604261,-0.03095875, 0.02004059, 0.2908994 ]

qacc:
[ -5.34867866, -1.56061215,  5.31350793, -4.70055282, -1.21644807,
   0.71446387,  1.83869208,-14.84961982, -6.70796319,  1.00570072,
  -3.94058707,  7.22598081, -1.20868052,  0.7043991 ,-10.7806222 ,
  32.81153682,  2.55056148, -0.05758449, -1.15217147, 19.23604442,
  24.42036428,  5.42820016]

qfrc_actuator:
[-4.48420675e-05, 2.60752192e-04, 1.95386258e-05,-3.99633584e-05,
 -6.26698563e-05, 3.31878260e-04,-4.27639795e-05, 1.53095545e-05,
  1.52812092e-05, 3.03170664e-05,-1.66298425e-04, 2.81825479e-05,
  6.88145859e-02,-7.38814007e-04, 2.24099093e-02,-2.81880495e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007111360746453049
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.80598161e-14, -1.95149540e-14,  1.00000000e+00, -1.52333372e-27,
        1.00000000e+00,  1.95149540e-14, -1.00000000e+00,  0.00000000e+00,
       -7.80598161e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04298752, -0.06203461,  0.06198415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14778189e-05, 3.24464633e-05, 4.66700234e-05, 8.30957841e-06,
 -6.93468088e-06, 5.09755944e-05,-2.13580101e-05,-3.82480836e-05,
 -3.91973081e-05, 2.65273667e-05, 4.44229505e-07, 1.09003293e-05,
 -3.86776667e-04,-1.34868254e-04,-1.83368629e-04, 1.05797432e-04,
  6.04581938e-05,-2.55579294e-06,-9.80979799e+00,-6.52558696e-02,
 -1.06209348e-02,-4.16436306e-03]


--- Step 626 ---
qpos:
[ 0.00985387, 0.0080969 ,-0.00562908, 0.03344765, 0.00353377, 0.00264946,
 -0.00674772, 0.03909839, 0.01304482, 0.00590101,-0.01169502, 0.03408327,
  0.6047821 , 0.0049072 , 0.91425004, 0.0472396 , 0.08760895,-0.0692056 ,
  0.14299287, 0.95601422,-0.03102983, 0.02033371, 0.29096476]

qacc:
[ 2.91897191,-1.55967764, 3.5324781 , 2.99406257, 2.40715178, 0.46667895,
  1.02574913,-8.82253425,-1.05003104, 1.74724597,-5.09240435, 6.24242827,
 -1.60592145, 1.46497517, 0.75633742,-4.73804106, 2.52316217,-0.05441307,
 -1.25672221,19.00732524,24.14576006, 5.40397688]

qfrc_actuator:
[-2.69990457e-05, 2.55275137e-04, 6.25095038e-05,-1.70229345e-05,
 -4.82907560e-05, 3.45561662e-04,-6.05447620e-05,-7.93687596e-06,
  1.03930363e-05, 1.08053907e-04,-1.61427423e-04, 3.53888773e-05,
  6.86849476e-02,-7.55987179e-04, 2.23805210e-02,-2.85346341e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006900330261121468
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.02235466e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.02235466e-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([ 0.0429779 , -0.06203407,  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:
[ 1.69580789e-05, 2.26882653e-05, 5.57295420e-05, 2.61154490e-05,
  1.42021997e-05, 3.59384884e-05,-1.12653399e-05,-2.25558928e-05,
 -5.99695261e-06, 9.31564426e-05, 1.08116973e-05, 8.57740276e-06,
 -3.90239623e-04,-1.28452061e-04,-1.07610203e-04,-5.35824247e-05,
  9.51949299e-06,-7.60945823e-05,-9.80970505e+00,-6.52405297e-02,
 -1.05957444e-02,-4.19454091e-03]


--- Step 627 ---
qpos:
[ 0.00985392, 0.00809661,-0.00562904, 0.03344702, 0.00353332, 0.00265559,
 -0.00674857, 0.03909819, 0.01304501, 0.00590181,-0.01169637, 0.0340828 ,
  0.60621456, 0.00491013, 0.91497566, 0.04724055, 0.0876621 ,-0.06917542,
  0.14298788, 0.95598279,-0.03107861, 0.02068388, 0.29103816]

qacc:
[  7.97520055,  2.17172246, -9.92805072, 21.28464818,  4.6072387 ,
   2.42190144,-11.60380916, 25.35174007, -0.52148109, -2.68946794,
  13.252869  ,-25.83033802, -1.85522437,  1.96100106,  8.14143945,
 -29.33659375,  2.50124982, -0.05138637, -1.3442226 , 18.8253129 ,
  23.92893286,  5.39410204]

qfrc_actuator:
[ 1.93563403e-05, 2.70015401e-04, 5.21914761e-05, 1.47356802e-05,
 -2.16864104e-05, 3.51161461e-04,-7.07597753e-05, 3.20416878e-05,
  7.42834441e-06, 1.36364029e-04,-1.22044918e-04, 4.09089180e-06,
  6.85556406e-02,-7.67363436e-04, 2.23634341e-02,-2.99962216e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006683017712391381
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.07657505e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.07657505e-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([ 0.04296798, -0.06203352,  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:
[ 4.68450925e-05, 4.00897446e-05, 2.14402082e-06, 3.51705776e-05,
  2.70220406e-05, 2.22015996e-05,-5.02012551e-06, 4.06794219e-05,
 -3.10459661e-06, 8.30164465e-05, 6.02744214e-05,-2.67609921e-05,
 -3.89936283e-04,-1.22506359e-04,-8.30858125e-05,-1.65345474e-04,
 -7.99340871e-05,-1.50099875e-04,-9.80956992e+00,-6.52175673e-02,
 -1.05669547e-02,-4.22858822e-03]


--- Step 628 ---
qpos:
[ 0.00985453, 0.00809681,-0.00562948, 0.03344677, 0.00353319, 0.00266189,
 -0.00674927, 0.03909881, 0.01304517, 0.00590234,-0.01169661, 0.03408273,
  0.60764443, 0.00491294, 0.91569972, 0.0472408 , 0.0877252 ,-0.06914544,
  0.14297721, 0.95594824,-0.03110527, 0.02109068, 0.29111957]

qacc:
[  4.84914497,  2.75108512,-10.51590271, 17.60152244,  2.83759876,
   1.46244507, -8.28678467, 21.82292405, -0.28095431, -2.65122783,
   7.29757309, -2.10089911, -1.78813196,  1.88995199, -0.08567184,
  -2.76526529,  2.48403695, -0.04847097, -1.4173242 , 18.68388547,
  23.76211043,  5.39679685]

qfrc_actuator:
[ 4.66015652e-05, 2.96540326e-04, 2.83243733e-05, 3.36511486e-05,
 -5.85908678e-06, 3.69711876e-04,-5.86730574e-05, 7.33885639e-05,
  5.60832269e-06, 8.17159760e-05,-8.05614212e-05, 2.13870385e-05,
  6.84212998e-02,-7.75234411e-04, 2.22844821e-02,-3.03269104e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006463281641329727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71773889e-13, -2.14717362e-14,  1.00000000e+00,  3.68828363e-27,
        1.00000000e+00,  2.14717362e-14, -1.00000000e+00,  0.00000000e+00,
        1.71773889e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04295794, -0.06203299,  0.06198559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85933178e-05, 5.09210981e-05,-1.41026052e-05, 2.13920827e-05,
  1.66017966e-05, 3.14686514e-05, 1.73990982e-05, 4.29037394e-05,
 -1.87954893e-06, 3.06596369e-06, 6.51373106e-05, 2.24207155e-05,
 -3.93360333e-04,-1.17850156e-04,-1.48006033e-04,-5.57582974e-05,
 -2.06796828e-04,-2.24786442e-04,-9.80939359e+00,-6.51870225e-02,
 -1.05345901e-02,-4.26648684e-03]


--- Step 629 ---
qpos:
[ 0.00985477, 0.00809715,-0.00562978, 0.03344675, 0.00353291, 0.00266817,
 -0.00674995, 0.03909925, 0.01304531, 0.00590282,-0.01169658, 0.0340829 ,
  0.60907158, 0.00491596, 0.91642186, 0.04724262, 0.08779818,-0.06911564,
  0.14296063, 0.95591051,-0.03110995, 0.02155383, 0.29120902]

qacc:
[-3.22278729, 0.32576865,-1.84430982, 5.5248579 ,-1.35193873,-0.42928141,
  2.18094554,-5.06583425,-0.19310527,-0.33684667, 0.04537177, 3.78046717,
 -2.04513276, 2.54382604,-7.43927779,22.22498882, 2.47084868,-0.04563881,
 -1.47830373,18.5778588 ,23.63869548, 5.41055104]

qfrc_actuator:
[ 2.68661814e-05, 2.94330602e-04, 3.22141578e-05, 4.48674238e-05,
 -1.42580639e-05, 3.42714953e-04,-6.89807394e-05, 6.19654857e-05,
  4.47504763e-06, 6.66209381e-05,-7.39971585e-05, 3.15598174e-05,
  6.82840340e-02,-7.63250963e-04, 2.22111285e-02,-2.94570182e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006244250873476132
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.88996172e-14, -2.22249043e-14,  1.00000000e+00, -1.97578548e-27,
        1.00000000e+00,  2.22249043e-14, -1.00000000e+00,  0.00000000e+00,
       -8.88996172e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04294791, -0.06203246,  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:
[-1.89034281e-05, 2.42758578e-05, 1.34130224e-05, 1.33264984e-05,
 -7.91850621e-06,-4.18350839e-06,-2.47967294e-07,-8.65225262e-06,
 -1.18774224e-06, 1.01831908e-06, 1.59931421e-05, 1.29938003e-05,
 -3.97768121e-04,-9.76656026e-05,-1.56138413e-04, 6.29719805e-05,
 -3.70264702e-04,-3.00361721e-04,-9.80917668e+00,-6.51489010e-02,
 -1.04986824e-02,-4.30821903e-03]


--- Step 630 ---
qpos:
[ 0.00985443, 0.00809744,-0.00562991, 0.03344655, 0.00353219, 0.0026737 ,
 -0.00675071, 0.03910035, 0.01304508, 0.00590357,-0.01169654, 0.03408212,
  0.61049594, 0.00491945, 0.91714271, 0.04724466, 0.087881  ,-0.06908601,
  0.14293794, 0.95586952,-0.03109272, 0.02207311, 0.29130652]

qacc:
[ -5.10878551, -0.95961739,  4.13511006, -7.67333224, -3.88192297,
   0.57603335, -6.19819925, 18.08702692, -3.16994857, -1.60679945,
  10.26630692,-26.83299439, -2.40456963,  3.3165877 , -2.4084113 ,
   6.06638619,  2.46110542, -0.0428663 , -1.52911967, 18.50283178,
  23.55307155,  5.43407793]

qfrc_actuator:
[-2.60435642e-06, 2.75025963e-04, 3.45962729e-05, 3.37117050e-05,
 -3.68455195e-05, 2.53013947e-04,-9.26567092e-05, 9.05383170e-05,
 -1.39976318e-05, 9.29218012e-05,-7.02306077e-05,-1.58070068e-05,
  6.81451184e-02,-7.39651841e-04, 2.21678521e-02,-2.93068054e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006028431287371516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.20822492e-14, -4.60411246e-14,  1.00000000e+00,  4.23957031e-27,
        1.00000000e+00,  4.60411246e-14, -1.00000000e+00,  0.00000000e+00,
        9.20822492e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04293801, -0.06203195,  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:
[-3.00025048e-05,-2.40387577e-06, 9.50989018e-06,-9.39131622e-06,
 -2.28136629e-05,-9.26862102e-05,-2.49363300e-05, 2.82033949e-05,
 -1.85057171e-05, 3.07129371e-05, 6.39030489e-06,-4.65183668e-05,
 -3.97253191e-04,-8.32247505e-05,-1.15721084e-04,-3.22346412e-06,
 -5.69777235e-04,-3.77027341e-04,-9.80891950e+00,-6.51031795e-02,
 -1.04592703e-02,-4.35376782e-03]


--- Step 631 ---
qpos:
[ 0.00985443, 0.00809763,-0.00562995, 0.03344623, 0.00353154, 0.00267855,
 -0.0067517 , 0.03910178, 0.01304464, 0.00590418,-0.01169603, 0.0340815 ,
  0.61191774, 0.0049229 , 0.91786215, 0.04724488, 0.08797329,-0.06905651,
  0.1429099 , 0.95582495,-0.03105486, 0.02264651, 0.29141276]

qacc:
[  2.9805886 , -0.61374098,  2.47876509, -4.56358377,  0.70637453,
   0.44768105, -4.36231011, 11.14267972, -1.9119607 , -1.14736878,
   3.16773126, -1.12996118, -1.91054042,  2.18647656,  3.56660514,
 -15.20392314,  2.36733666, -0.03150463, -1.33547934, 17.59307342,
  22.76103317,  5.76497072]

qfrc_actuator:
[ 1.57043797e-05, 2.63357615e-04, 3.59660242e-05, 2.72128821e-05,
 -3.20904549e-05, 2.15174722e-04,-1.06515744e-04, 1.06854118e-04,
 -2.47753178e-05, 7.27243826e-05,-5.02470499e-05,-7.84568639e-06,
  6.80159685e-02,-7.44911296e-04, 2.20840503e-02,-3.02913452e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005817659248363987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.34852610e-08, -1.01382009e-13,  1.00000000e+00, -3.39480303e-21,
        1.00000000e+00,  1.01382009e-13, -1.00000000e+00,  7.52316385e-37,
       -3.34852610e-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([ 0.04543331, -0.06232285,  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:
[ 1.74523595e-05,-1.14686883e-05, 1.71962182e-06,-6.45417708e-06,
  4.07396934e-06,-9.38150316e-05,-3.51575638e-05, 1.20182490e-05,
 -1.12890095e-05,-3.72944489e-06, 2.54981175e-05, 8.59388585e-06,
 -3.83517504e-04,-1.09349245e-04,-1.47579744e-04,-1.15778378e-04,
 -8.04970863e-04,-4.54980520e-04,-9.80862209e+00,-6.50498095e-02,
 -1.04163971e-02,-4.40311710e-03]


--- Step 632 ---
qpos:
[ 0.00985431, 0.00809768,-0.00562999, 0.03344653, 0.00353131, 0.00268318,
 -0.00675334, 0.03910302, 0.0130451 , 0.00590438,-0.01169544, 0.03408173,
  0.61333722, 0.00492594, 0.91858016, 0.04724579, 0.08807468,-0.06902709,
  0.1428773 , 0.95577655,-0.03099761, 0.02327204, 0.29152829]

qacc:
[-1.10048302e+00, 1.09174506e+00,-6.79279404e+00, 1.77020587e+01,
  3.55678961e+00, 1.12743163e+00,-3.61310665e+00, 1.44702909e+00,
  8.00859523e+00, 9.36131316e-01,-7.74574289e+00, 2.26560185e+01,
 -1.27938183e+00, 8.94704110e-01,-4.16896376e+00, 1.16541924e+01,
  2.27469615e+00,-2.03997656e-02,-1.14129970e+00, 1.67007848e+01,
  2.19881689e+01, 6.02873421e+00]

qfrc_actuator:
[ 8.73384341e-06, 2.56342510e-04, 3.67562466e-05, 5.90181481e-05,
 -1.12752684e-05, 2.26454482e-04,-1.32044315e-04, 9.81125081e-05,
  2.23252913e-05, 2.49441153e-05,-5.64847386e-05, 3.25926328e-05,
  6.79034085e-02,-7.67180394e-04, 2.20505517e-02,-2.98068142e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005660183903195698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80730524e-14, -1.47109579e-13,  1.00000000e+00, -1.44274854e-26,
        1.00000000e+00,  1.47109579e-13, -1.00000000e+00,  0.00000000e+00,
       -9.80730524e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04781417, -0.06259947,  0.06198736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.47760358e-06,-1.33493748e-05,-1.59200098e-06, 3.12473630e-05,
  2.08991810e-05,-4.80955618e-05,-4.88700552e-05,-1.37559814e-05,
  4.67793624e-05,-4.42625331e-05,-3.58172897e-06, 4.13272472e-05,
 -3.65230584e-04,-1.28124613e-04,-1.23016383e-04, 2.10871896e-05,
 -1.06401128e-03,-5.34582731e-04,-9.80829985e+00,-6.49884793e-02,
 -1.03699865e-02,-4.45647130e-03]


--- Step 633 ---
qpos:
[ 0.00985375, 0.00809795,-0.00563017, 0.03344718, 0.00353132, 0.00268748,
 -0.00675478, 0.03910479, 0.01304613, 0.00590446,-0.011695  , 0.03408242,
  0.61475426, 0.00492922, 0.91929695, 0.04724783, 0.08818514,-0.06899773,
  0.1428399 , 0.95572427,-0.03092094, 0.02394953, 0.29165295]

qacc:
[-3.76012506e+00, 1.38338278e+00,-5.96878494e+00, 1.19720970e+01,
  2.22231657e+00, 9.27758279e-02,-3.21525139e+00, 1.23450041e+01,
  4.92787917e+00, 1.23717225e+00,-6.60500381e+00, 1.49739947e+01,
 -1.90995373e+00, 2.43720532e+00,-5.07894650e+00, 1.54814006e+01,
  2.26601481e+00,-1.60884993e-02,-1.19951986e+00, 1.66844815e+01,
  2.19034004e+01, 5.95965647e+00]

qfrc_actuator:
[-1.30750060e-05, 2.87700777e-04, 3.72423582e-05, 7.76045320e-05,
  1.06485363e-06, 2.31495549e-04,-1.10810295e-04, 1.27993310e-04,
  4.98540623e-05, 3.19485293e-05,-6.05200691e-05, 5.62534210e-05,
  6.77955486e-02,-7.46007191e-04, 2.20153340e-02,-2.91688711e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000550169898829278
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.04780779, -0.0625986 ,  0.0619877 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19994796e-05, 2.48993885e-05,-1.38677980e-06, 1.85670006e-05,
  1.29200309e-05,-3.26829717e-05, 4.76566794e-06, 2.58510666e-05,
  2.88426958e-05,-1.67130416e-05,-1.22006949e-05, 2.24402488e-05,
 -3.53157260e-04,-8.45201459e-05,-9.84752428e-05, 4.71377115e-05,
 -1.34276108e-03,-6.16612771e-04,-9.80795721e+00,-6.49194618e-02,
 -1.03201848e-02,-4.51380448e-03]


--- Step 634 ---
qpos:
[ 0.00985363, 0.00809845,-0.0056304 , 0.03344838, 0.00353114, 0.00269139,
 -0.0067551 , 0.03910685, 0.01304679, 0.00590453,-0.01169464, 0.03408268,
  0.6161688 , 0.00493327, 0.92001279, 0.047244  , 0.08830463,-0.06896843,
  0.1427975 , 0.95566801,-0.03082482, 0.02467888, 0.29178662]

qacc:
[ 3.79140892e+00, 1.58887695e+00,-7.54865705e+00, 1.70238671e+01,
 -1.69065561e+00,-3.06722093e+00, 8.96708228e+00,-5.50113605e+00,
 -3.23588187e+00,-6.91374030e-01, 4.27870167e+00,-1.16436328e+01,
 -2.81381817e+00, 4.38188624e+00, 1.65761358e+01,-5.95101372e+01,
  2.26006966e+00,-1.21207195e-02,-1.24912759e+00, 1.66845263e+01,
  2.18527658e+01, 5.91908843e+00]

qfrc_actuator:
[ 9.82321983e-06, 3.06285618e-04, 3.76894176e-05, 1.06043697e-04,
 -9.44017151e-06, 2.32997182e-04,-4.43560818e-05, 1.44893786e-04,
  3.01194847e-05, 3.61881610e-05,-6.30186740e-05, 3.43901130e-05,
  6.76799509e-02,-6.99254412e-04, 2.19152063e-02,-3.23515936e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000534419078439638
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.19359745e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.19359745e-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([ 0.04780143, -0.06259787,  0.06198805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22786505e-05, 3.30031946e-05, 6.06103385e-06, 2.98189179e-05,
 -1.01503929e-05,-1.48217137e-05, 6.11464176e-05, 1.61571451e-05,
 -1.89201791e-05,-6.66117940e-06,-6.68490394e-06,-2.25686063e-05,
 -3.43382659e-04,-4.78191068e-05,-1.50526853e-04,-3.30628016e-04,
 -1.65101928e-03,-7.00779789e-04,-9.80758064e+00,-6.48433508e-02,
 -1.02672500e-02,-4.57478696e-03]


--- Step 635 ---
qpos:
[ 0.00985379, 0.00809855,-0.00563032, 0.03344997, 0.00353083, 0.00269523,
 -0.00675497, 0.03910876, 0.0130472 , 0.00590486,-0.0116947 , 0.03408197,
  0.61758099, 0.00493762, 0.92072651, 0.04723908, 0.08843315,-0.06893915,
  0.14274994, 0.95560769,-0.03070922, 0.02546005, 0.29192922]

qacc:
[ 2.43552085e+00,-5.87972014e-01,-3.20083317e-01, 6.86917736e+00,
 -1.07995787e+00,-1.66758599e+00, 6.48397741e+00,-9.86135631e+00,
 -2.14256848e+00,-4.77215814e-01, 6.28527831e+00,-2.25355316e+01,
 -1.97308790e+00, 2.62798651e+00, 3.16429010e-01,-5.34716149e+00,
  2.25648080e+00,-8.41585982e-03,-1.29153566e+00, 1.66998518e+01,
  2.18317785e+01, 5.90192177e+00]

qfrc_actuator:
[ 2.33511813e-05, 2.46081363e-04, 3.80796860e-05, 1.22295816e-04,
 -1.55517982e-05, 2.32574169e-04,-2.27822012e-05, 1.36285207e-04,
  1.82361366e-05, 5.64633649e-05,-8.23700165e-05,-1.40776677e-05,
  6.75544781e-02,-6.91037505e-04, 2.18294102e-02,-3.27904665e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005189341016719473
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.20914454e-13, -1.60457227e-13,  1.00000000e+00, -5.14930433e-26,
        1.00000000e+00,  1.60457227e-13, -1.00000000e+00,  0.00000000e+00,
       -3.20914454e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04779517, -0.06259727,  0.06198839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41711374e-05,-3.92288320e-05, 8.97914670e-06, 1.84522294e-05,
 -6.40850968e-06, 4.46503984e-06, 2.65559617e-05,-6.82591906e-06,
 -1.24216102e-05, 1.41904096e-05,-2.23356791e-05,-4.94243849e-05,
 -3.40603809e-04,-7.62919099e-05,-2.01489819e-04,-8.38070327e-05,
 -1.98873833e-03,-7.87218782e-04,-9.80716966e+00,-6.47600418e-02,
 -1.02112172e-02,-4.63939335e-03]


--- Step 636 ---
qpos:
[ 0.00985376, 0.0080982 ,-0.00563012, 0.03345142, 0.0035308 , 0.00269905,
 -0.00675511, 0.03911059, 0.01304747, 0.00590566,-0.01169574, 0.0340814 ,
  0.61899102, 0.00494131, 0.92143801, 0.04723685, 0.0885707 ,-0.0689099 ,
  0.14269706, 0.95554317,-0.03057407, 0.02629306, 0.29208072]

qacc:
[-1.60062670e+00,-1.23279546e+00, 4.13408689e+00,-6.46466214e+00,
  2.40180882e+00, 5.99269132e-01,-1.88438451e+00, 1.10958086e+00,
 -1.32214526e+00, 3.62006067e+00,-1.25481278e+01, 1.59762310e+01,
 -7.91418119e-01,-7.17271167e-02,-1.14414855e+01, 3.53225260e+01,
  2.25491712e+00,-4.90984571e-03,-1.32797734e+00, 1.67294224e+01,
  2.18366239e+01, 5.90405396e+00]

qfrc_actuator:
[ 1.34883147e-05, 2.10157143e-04, 3.80987040e-05, 1.13425182e-04,
 -1.26845423e-06, 2.13069956e-04,-4.56677175e-05, 1.30452237e-04,
  1.10844800e-05, 8.60931109e-05,-1.29213975e-04,-6.79099947e-06,
  6.74231567e-02,-7.41286013e-04, 2.17683310e-02,-3.12522209e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005038458481924496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.20349742e-13, -3.09866824e-14,  1.00000000e+00, -6.82790746e-27,
        1.00000000e+00,  3.09866824e-14, -1.00000000e+00,  0.00000000e+00,
       -2.20349742e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04778907, -0.06259677,  0.06198872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.47465841e-06,-5.52194994e-05,-6.34629184e-06,-9.88642034e-06,
  1.41019250e-05,-1.19620733e-05,-1.89793142e-05,-4.86863304e-06,
 -7.49596608e-06, 3.08206671e-05,-4.83745929e-05, 6.16163991e-06,
 -3.51232132e-04,-1.39740825e-04,-1.68543292e-04, 1.22072551e-04,
 -2.35596583e-03,-8.76090286e-04,-9.80672370e+00,-6.46694110e-02,
 -1.01521308e-02,-4.70760123e-03]


--- Step 637 ---
qpos:
[ 0.00985395, 0.00809764,-0.00563032, 0.03345344, 0.00353094, 0.00270272,
 -0.00675549, 0.0391127 , 0.01304766, 0.00590638,-0.01169689, 0.03408126,
  0.62039868, 0.00494451, 0.92214795, 0.04723439, 0.0887094 ,-0.06886842,
  0.14264354, 0.95547956,-0.03051916, 0.02716789, 0.29221446]

qacc:
[  1.98313004,  2.03334163,-10.11489539, 20.954242  ,  1.50334301,
   1.02045888, -5.08382205, 10.31916267, -0.77246533,  1.1642418 ,
  -6.18882542, 14.18787199, -1.28360857,  0.81739768, -1.4921041 ,
   2.05400598,  0.29154741,  3.05534128, -0.16172954,-31.98311535,
  31.95296655, -9.02717549]

qfrc_actuator:
[ 2.54453238e-05, 2.06766318e-04, 2.02027352e-05, 1.43114531e-04,
  7.15043074e-06, 1.99853960e-04,-5.91723854e-05, 1.44015705e-04,
  6.77282783e-06, 6.77672503e-05,-1.38565359e-04, 1.54882397e-05,
  6.72883938e-02,-7.72516761e-04, 2.16955381e-02,-3.14017846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([11.45050571, -5.92682368,  9.79728748, -5.92682368, 41.77389754,
       18.34399541,  9.79728748, 18.34399541, 22.54762075,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005146810849013528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61783149e-13, -8.08915747e-14,  1.00000000e+00,  1.30868937e-26,
        1.00000000e+00,  8.08915747e-14, -1.00000000e+00,  0.00000000e+00,
        1.61783149e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07778898, -0.11270568,  0.06198847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16690861e-05,-3.60006813e-05,-3.04271482e-05, 2.69086159e-05,
  8.81658841e-06,-2.41705215e-05,-1.85293430e-05, 1.22865886e-05,
 -4.51091541e-06,-1.08362448e-05,-8.72550175e-06, 2.20484192e-05,
 -3.74462011e-04,-1.36098856e-04,-1.42540801e-04,-3.10959708e-05,
 -2.75282559e-03,-9.67572717e-04,-9.80624206e+00,-6.45713184e-02,
 -1.00900425e-02,-4.77939066e-03]


--- Step 638 ---
qpos:
[ 0.00985429, 0.00809715,-0.00563116, 0.03345544, 0.00353083, 0.00270637,
 -0.0067561 , 0.03911493, 0.01304744, 0.0059069 ,-0.0116978 , 0.03408105,
  0.6218039 , 0.00494735, 0.92285622, 0.04723337, 0.08884941,-0.06881486,
  0.14258841, 0.95541614,-0.03054148, 0.02808223, 0.29233305]

qacc:
[  1.22031053,  1.81800901, -6.21415041,  6.69026324, -2.16225562,
   0.87785444, -3.7027034 ,  6.29965844, -3.48970688, -1.15185389,
   4.11231669, -5.91583903, -1.35489709,  1.00995767, -6.7687327 ,
  20.25596839,  0.32636044,  3.02110102, -0.40412381,-30.91183286,
  30.39306531, -7.71463873]

qfrc_actuator:
[ 3.24044114e-05, 2.22839117e-04,-7.96455146e-06, 1.42017055e-04,
 -5.70902359e-06, 2.08296866e-04,-6.69829815e-05, 1.51146663e-04,
 -1.35874307e-05, 5.65314371e-05,-1.25885643e-04, 1.08867824e-05,
  6.71623140e-02,-7.92238248e-04, 2.16370396e-02,-3.05925853e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([11.73045373,  7.64280005, -8.89894106,  7.64280005, 25.57786607,
       11.89276376, -8.89894106, 11.89276376, 21.94447974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005317656542651455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.21951265e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.21951265e-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([ 0.07780086, -0.1126898 ,  0.06198809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.28068851e-06,-9.16941297e-06,-3.84165379e-05,-3.17254648e-06,
 -1.26170037e-05,-8.50498475e-06,-1.47040526e-05, 5.68088134e-06,
 -2.04917622e-05,-1.81661264e-05, 1.01353282e-05,-4.93710587e-06,
 -3.78835948e-04,-1.29215834e-04,-1.35743030e-04, 5.90442269e-05,
 -2.40994473e-03,-1.13335718e-03,-9.80588314e+00,-6.45336038e-02,
 -9.93156811e-03,-4.88333774e-03]


--- Step 639 ---
qpos:
[ 0.00985506, 0.00809685,-0.00563212, 0.03345667, 0.00353057, 0.00270996,
 -0.0067565 , 0.03911686, 0.01304733, 0.00590751,-0.01169892, 0.03408042,
  0.62320672, 0.0049499 , 0.92356302, 0.04723358, 0.08899085,-0.06874936,
  0.14253078, 0.95535232,-0.0306385 , 0.02903424, 0.29243845]

qacc:
[  3.72799355, -1.00605658,  7.16475694,-20.38288989, -1.34020586,
  -1.27191127,  5.69030463,-11.19563414,  0.89210905, -0.10077508,
   2.23756836, -8.9343531 , -1.40776814,  1.17400716, -5.80375834,
  17.35775929,  0.35464959,  2.98618733, -0.62150064,-30.00007393,
  29.11977125, -6.71533154]

qfrc_actuator:
[ 5.41120714e-05, 2.50380659e-04,-6.39783295e-06, 1.05070391e-04,
 -1.32348461e-05, 2.11913221e-04,-5.35379876e-05, 1.36701320e-04,
 -7.72607442e-06, 6.74529220e-05,-1.35822824e-04,-9.48618715e-06,
  6.70468615e-02,-8.04990930e-04, 2.15818594e-02,-2.99341129e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([11.90475421,  7.91855552, -8.88929982,  7.91855552, 29.48200627,
       15.65775135, -8.88929982, 15.65775135, 25.85262141,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005423321232439077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.11781885e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.11781885e-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([ 0.07781013, -0.11267891,  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:
[ 2.19155701e-05, 1.43667990e-05,-5.15838870e-06,-3.87324061e-05,
 -7.88712918e-06,-4.06858863e-06, 1.00334905e-05,-1.52192321e-05,
  5.27303137e-06, 2.62926874e-06,-1.26064582e-05,-2.08947133e-05,
 -3.68909934e-04,-1.22058771e-04,-1.19246739e-04, 4.98726227e-05,
 -2.08180145e-03,-1.23096109e-03,-9.80544664e+00,-6.45036223e-02,
 -9.77584984e-03,-4.99864321e-03]


--- Step 640 ---
qpos:
[ 0.00985608, 0.00809675,-0.00563311, 0.03345744, 0.00352988, 0.00271309,
 -0.00675597, 0.03911792, 0.01304763, 0.00590806,-0.01170009, 0.03407923,
  0.62460707, 0.00495255, 0.92426867, 0.04723122, 0.08913379,-0.06867204,
  0.1424699 , 0.95528763,-0.0308081 , 0.03002243, 0.29253214]

qacc:
[  2.22667644, -0.5970053 ,  4.45870496,-12.54123887, -3.77106429,
  -5.03465007, 20.80240359,-37.20444673,  3.65830522, -1.14345449,
   6.37310498,-16.20263348, -2.0261568 ,  2.50214993,  6.21731894,
 -23.88517416,  0.37796219,  2.95221555, -0.81512411,-29.22809443,
  28.08526205, -5.96474873]

qfrc_actuator:
[ 6.65754535e-05, 2.66918131e-04,-5.00051836e-06, 8.28711118e-05,
 -3.53069555e-05, 1.77181193e-04,-9.92629499e-06, 9.19368014e-05,
  1.35270006e-05, 5.59518027e-05,-1.41206325e-04,-3.89717459e-05,
  6.69272179e-02,-7.95738153e-04, 2.15074081e-02,-3.13225207e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([11.99022526,  8.17703779, -8.76935316,  8.17703779, 34.01811254,
       20.54004022, -8.76935316, 20.54004022, 31.14291327,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005474969678371105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01390792e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.01390792e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07781732, -0.11267208,  0.06198772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30963033e-05, 2.18708676e-05, 2.39987591e-06,-2.25169407e-05,
 -2.22975274e-05,-3.57195680e-05, 4.34390968e-05,-4.48990748e-05,
  2.14059294e-05,-1.35364697e-05,-7.10907532e-06,-3.02134338e-05,
 -3.65320720e-04,-9.64998695e-05,-1.32806593e-04,-1.53409102e-04,
 -1.76335489e-03,-1.26719720e-03,-9.80494021e+00,-6.44808220e-02,
 -9.62076758e-03,-5.12470724e-03]


--- Step 641 ---
qpos:
[ 0.0098562 , 0.00809689,-0.00563441, 0.0334583 , 0.00352858, 0.00271592,
 -0.0067552 , 0.03911845, 0.01304819, 0.00590855,-0.01170164, 0.0340784 ,
  0.62600513, 0.00495474, 0.92497297, 0.04722813, 0.08927832,-0.06858305,
  0.14240507, 0.9552217 ,-0.03104855, 0.03104559, 0.29261522]

qacc:
[ -7.85095889,  1.38069897, -4.81021728,  6.62245395, -5.30101314,
  -2.09980615,  9.10411639,-18.19184966,  2.20985787,  1.73934333,
  -7.89516937, 14.96601068, -1.28348991,  0.87049473,  0.2534533 ,
  -3.63963974,  0.39749137,  2.92017521, -0.98680088,-28.57804385,
  27.24974252, -5.41199399]

qfrc_actuator:
[ 2.02354913e-05, 2.76759665e-04,-2.14985976e-05, 8.72738864e-05,
 -6.57657521e-05, 1.55362590e-04,-2.29090174e-06, 6.51848571e-05,
  2.59079120e-05, 4.88698530e-05,-1.61692910e-04,-2.03329654e-05,
  6.68051529e-02,-8.26812567e-04, 2.14640247e-02,-3.15981164e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([12.00233032,  8.42844289, -8.54501512,  8.42844289, 39.06132608,
       26.68985336, -8.54501512, 26.68985336, 38.32807716,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005482276569261368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.02511313e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.02511313e-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([ 0.07782286, -0.11266855,  0.0619877 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.59571866e-05, 2.16175983e-05,-1.24543364e-05, 4.98474997e-06,
 -3.11050540e-05,-3.48745333e-05, 4.00927979e-06,-2.76631629e-05,
  1.29864921e-05,-1.74099213e-05,-2.51942917e-05, 1.72279320e-05,
 -3.60411673e-04,-1.30715711e-04,-1.31045247e-04,-5.52907069e-05,
 -1.45105990e-03,-1.24686528e-03,-9.80436879e+00,-6.44649615e-02,
 -9.46484578e-03,-5.26106632e-03]


--- Step 642 ---
qpos:
[ 0.00985543, 0.00809695,-0.0056355 , 0.03345921, 0.00352727, 0.00271891,
 -0.00675513, 0.03911936, 0.01304854, 0.00590901,-0.01170319, 0.03407777,
  0.62740079, 0.00495661, 0.92567608, 0.0472243 , 0.08942451,-0.06848249,
  0.14233568, 0.95515419,-0.03135838, 0.03210278, 0.29268846]

qacc:
[ -7.89829286, -0.56983806,  1.71311239, -1.17069122, -0.11663013,
   2.94299619,-11.75565839, 19.1930396 , -1.76576668,  0.38515709,
  -2.23109419,  5.64417658, -1.51566674,  1.33086203,  0.60103637,
  -4.41885553,  0.41415604,  2.89062466, -1.13859046,-28.03407002,
  26.58019236, -5.0168778 ]

qfrc_actuator:
[-2.48355238e-05, 2.64714186e-04,-1.29370528e-05, 8.95202730e-05,
 -6.54069213e-05, 1.76823961e-04,-3.36631834e-05, 8.47331474e-05,
  1.52100386e-05, 6.22177618e-05,-1.55382968e-04,-9.04064551e-06,
  6.66763811e-02,-8.46051110e-04, 2.14233651e-02,-3.19243016e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([11.95480019,  8.67960662, -8.22080754,  8.67960662, 44.33434346,
       34.18662907, -8.22080754, 34.18662907, 48.04936761,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005453575183751447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.0178855e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.0178855e-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([ 0.07782707, -0.11266766,  0.06198775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.63717935e-05,-2.32386451e-06, 1.16789381e-05, 2.84141821e-06,
 -5.36652995e-07, 1.47809932e-06,-3.90815383e-05, 1.76462502e-05,
 -1.03347284e-05,-8.44946563e-07, 2.20980579e-07, 1.00136423e-05,
 -3.71652443e-04,-1.24698299e-04,-1.15884448e-04,-5.44989809e-05,
 -1.14239475e-03,-1.17326850e-03,-9.80373538e+00,-6.44559949e-02,
 -9.30707438e-03,-5.40736461e-03]


--- Step 643 ---
qpos:
[ 0.00985446, 0.00809688,-0.00563613, 0.03345978, 0.00352598, 0.00272196,
 -0.00675517, 0.03912047, 0.01304877, 0.00590953,-0.01170469, 0.03407726,
  0.62879383, 0.00495883, 0.926378  , 0.0472171 , 0.08957242,-0.06837048,
  0.1422612 , 0.95508483,-0.03173641, 0.03319325, 0.2927524 ]

qacc:
[ -1.64717224, -2.15833398,  8.84428704,-15.26418568,  0.1203871 ,
   0.78370639, -3.52916878,  7.10058797, -1.15076701,  0.20338522,
  -1.1813313 ,  3.30599222, -2.39131463,  3.25620658,  8.60915062,
 -32.26630284,  0.42866278,  2.86382856, -1.27262037,-27.58227174,
  26.04926532, -4.74763994]

qfrc_actuator:
[-3.32747904e-05, 2.57502826e-04, 1.02611378e-05, 7.27232857e-05,
 -6.46622056e-05, 1.88408632e-04,-3.43383944e-05, 9.58752390e-05,
  8.76980884e-06, 7.00492711e-05,-1.50977255e-04,-2.13100838e-06,
  6.65490045e-02,-8.22646717e-04, 2.13470921e-02,-3.36979513e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([11.85961748,  8.93307841, -7.80068183,  8.93307841, 49.3761831 ,
       42.96270884, -7.80068183, 42.96270884, 61.05906632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000539600402157156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02874555e-13, -5.14372775e-14,  1.00000000e+00,  5.29158703e-27,
        1.00000000e+00,  5.14372775e-14, -1.00000000e+00,  0.00000000e+00,
        1.02874555e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07783023, -0.11266886,  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:
[-9.76109624e-06,-5.98207465e-06, 2.42675316e-05,-1.64348383e-05,
  7.30816554e-07, 4.98287728e-06,-4.61070115e-06, 1.01878971e-05,
 -6.73493149e-06, 7.83386720e-06, 4.61969577e-06, 7.08028441e-06,
 -3.75359828e-04,-8.35623858e-05,-1.45381728e-04,-1.97461346e-04,
 -8.35542897e-04,-1.04857934e-03,-9.80304161e+00,-6.44539986e-02,
 -9.14678002e-03,-5.56333168e-03]


--- Step 644 ---
qpos:
[ 0.00985375, 0.00809669,-0.0056365 , 0.03346085, 0.00352505, 0.00272482,
 -0.00675487, 0.03912205, 0.01304891, 0.00591009,-0.01170616, 0.03407719,
  0.63018436, 0.00496107, 0.92707793, 0.04721178, 0.08970665,-0.06824672,
  0.14220057, 0.95502326,-0.03220872, 0.03421564, 0.29278399]

qacc:
[  2.21193735,  0.13938688, -2.81339644, 11.06563718,  3.21584077,
  -0.24334797, -1.47370582,  9.18474497, -0.69426967,  0.83377267,
  -4.70458794, 12.07244403, -1.69614156,  1.84712118, -8.54524899,
  25.8743169 , -3.41618963,  2.9360105 ,  3.46035828,-54.32348475,
 -18.32851788,-19.23126257]

qfrc_actuator:
[-2.00859864e-05, 2.53288269e-04, 2.41544775e-05, 9.81218994e-05,
 -4.59537709e-05, 1.76356032e-04,-1.69090798e-05, 1.19750629e-04,
  4.89459722e-06, 7.45168609e-05,-1.47757568e-04, 1.98908803e-05,
  6.64172445e-02,-8.27457215e-04, 2.12867749e-02,-3.25827789e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006279982067570189
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10492257e-14, -2.20984513e-14,  1.00000000e+00,  2.44170776e-28,
        1.00000000e+00,  2.20984513e-14, -1.00000000e+00,  0.00000000e+00,
        1.10492257e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12296986, -0.0957266 ,  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:
[ 1.29090865e-05,-3.24288021e-06, 1.50862476e-05, 2.56629307e-05,
  1.87307122e-05,-9.89443851e-06, 1.82054189e-05, 2.41184353e-05,
 -4.06440928e-06, 1.01045186e-05, 5.66507350e-06, 2.26588938e-05,
 -3.73273548e-04,-1.04191372e-04,-1.58379384e-04, 7.98029834e-05,
 -5.29177232e-04,-8.74101140e-04,-9.80228814e+00,-6.44591239e-02,
 -8.98353349e-03,-5.72876510e-03]


--- Step 645 ---
qpos:
[ 0.00985354, 0.00809652,-0.00563647, 0.03346253, 0.00352469, 0.0027277 ,
 -0.00675442, 0.03912389, 0.01304866, 0.00591054,-0.0117075 , 0.0340774 ,
  0.63157229, 0.00496334, 0.92777552, 0.04721115, 0.08982809,-0.0681118 ,
  0.14215062, 0.9549689 ,-0.0327692 , 0.03517432, 0.29278549]

qacc:
[  4.4734972 ,  0.16290321, -3.17098063, 13.1924276 ,  5.07218646,
   0.13283199, -1.55783005,  5.83976077, -3.44603426,  0.0844407 ,
  -1.66087548,  6.32850484, -1.59059664,  1.63432115,-17.52841306,
  56.52908671, -3.20217391,  2.79108928,  2.67079121,-50.80108334,
 -17.15062531,-17.95554627]

qfrc_actuator:
[ 5.71501044e-06, 2.68654120e-04, 5.02343169e-05, 1.30389238e-04,
 -1.68226704e-05, 1.85842115e-04,-6.77824242e-06, 1.33163716e-04,
 -1.51937596e-05, 5.91935558e-05,-1.45265168e-04, 3.28730738e-05,
  6.62776135e-02,-8.31251341e-04, 2.11988658e-02,-3.01284719e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007036234864830626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.88932608e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.88932608e-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([ 0.1229385 , -0.09569365,  0.06198419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.61667328e-05, 1.77837936e-05, 2.81603045e-05, 3.31482711e-05,
  2.96584143e-05, 8.64247413e-06, 1.11222721e-05, 1.40770072e-05,
 -2.02012720e-05,-7.53553772e-06, 6.07238753e-06, 1.40545809e-05,
 -3.84028057e-04,-1.07051613e-04,-1.58810642e-04, 2.28012120e-04,
  1.19811077e-04,-1.74389307e-04,-9.80246730e+00,-6.45965258e-02,
 -8.82599530e-03,-5.91003523e-03]


--- Step 646 ---
qpos:
[ 0.0098533 , 0.00809632,-0.00563606, 0.03346425, 0.00352435, 0.00273073,
 -0.00675416, 0.03912553, 0.01304852, 0.00591096,-0.01170852, 0.03407774,
  0.63295769, 0.0049658 , 0.92847074, 0.04721351, 0.08993992,-0.06797876,
  0.14212217, 0.95492044,-0.03333652, 0.03607544, 0.29276986]

qacc:
[ -0.28564992, -1.01529248,  3.43294596, -3.43344243,  0.05311665,
   0.33270319, -0.08634373, -3.05169599,  0.94281627, -0.63861214,
   1.65083764,  0.17456713, -1.78059865,  2.11356994,-12.43323477,
  38.6803635 , -2.39813055, -0.47098681,  5.37568967,-11.28881398,
 -26.30795072,-10.10773176]

qfrc_actuator:
[ 3.22023780e-06, 2.60183304e-04, 6.56321000e-05, 1.30954563e-04,
 -1.73010584e-05, 1.90370861e-04,-1.87226711e-05, 1.22567134e-04,
 -9.15968265e-06, 6.76321724e-05,-1.25559236e-04, 4.04126541e-05,
  6.61599868e-02,-8.16698404e-04, 2.10732015e-02,-2.86814663e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.71536622,  -4.08994803,  15.17382814,  -4.08994803,
       127.59300799,  30.15545821,  15.17382814,  30.15545821,
        23.84345728,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007835757501506724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.08433757e-14, -7.08433757e-14,  1.00000000e+00,  5.01878388e-27,
        1.00000000e+00,  7.08433757e-14, -1.00000000e+00,  0.00000000e+00,
        7.08433757e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10676921, -0.059329  ,  0.0619824 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74538593e-06, 8.72335879e-06, 2.36836594e-05, 2.94238359e-06,
  3.66770201e-07, 1.21585306e-05,-8.34676461e-06,-9.58028307e-06,
  5.45652519e-06, 6.07216306e-06, 1.93940010e-05, 7.70258504e-06,
 -3.68679332e-04,-9.19276904e-05,-1.79573665e-04, 1.35637057e-04,
  5.66682208e-04, 5.58724515e-04,-9.80249360e+00,-6.47304410e-02,
 -8.69749084e-03,-6.08487612e-03]


--- Step 647 ---
qpos:
[ 0.00985269, 0.00809572,-0.00563553, 0.03346602, 0.00352331, 0.00273376,
 -0.00675426, 0.03912707, 0.0130488 , 0.00591147,-0.01170875, 0.03407743,
  0.63434069, 0.00496838, 0.92916487, 0.04721244, 0.09004283,-0.06784739,
  0.14211141, 0.95487748,-0.03391014, 0.0369229 , 0.29273846]

qacc:
[ -3.25640682, -0.76523225,  1.69359412, -0.54317111, -6.10156259,
   0.80731994, -2.4002754 ,  1.08768153,  3.70005907, -3.47159055,
  15.27408853,-27.87953845, -2.04789137,  2.56991233,  8.89348073,
 -33.097308  , -2.23403854, -0.41655988,  4.42367803,-10.49379015,
 -24.53200538, -9.34702356]

qfrc_actuator:
[-1.59130335e-05, 2.01935783e-04, 5.67292316e-05, 1.30586690e-04,
 -5.29590395e-05, 1.74033479e-04,-4.36325076e-05, 1.15666491e-04,
  1.22063631e-05, 9.02991162e-05,-7.80055194e-05, 9.21568558e-06,
  6.60449989e-02,-8.09068448e-04, 2.10101839e-02,-3.05035303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008499176302784323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -6.5313566e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  6.5313566e-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([ 0.10675374, -0.05932858,  0.06198092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91811581e-05,-4.83523656e-05,-4.08808021e-06, 8.78462653e-07,
 -3.56425745e-05,-1.17896648e-05,-2.38001598e-05,-6.86597444e-06,
  2.15225115e-05, 3.03960549e-05, 5.14691902e-05,-3.01155015e-05,
 -3.53891915e-04,-9.21635301e-05,-1.36061383e-04,-1.98938615e-04,
  6.00699273e-04, 8.01402466e-04,-9.80299020e+00,-6.48168283e-02,
 -8.58429435e-03,-6.22397353e-03]


--- Step 648 ---
qpos:
[ 0.00985185, 0.00809482,-0.00563507, 0.03346709, 0.0035222 , 0.00273682,
 -0.00675471, 0.03912885, 0.01304967, 0.005912  ,-0.01170891, 0.0340768 ,
  0.63572122, 0.00497111, 0.92985798, 0.04721006, 0.09013736,-0.0677175 ,
  0.14211502, 0.95483968,-0.03448967, 0.03772007, 0.29269239]

qacc:
[ -1.96870626, -1.64366884,  8.29856015,-20.24657058, -0.66488376,
   1.50352785, -6.34133937, 11.11814219,  5.27084542, -0.80278898,
   4.23475393, -9.78876121, -1.99314803,  2.46543433,  2.6196188 ,
 -11.0408187 , -2.09121944, -0.3696828 ,  3.59169073, -9.81845122,
 -22.99322258, -8.71426712]

qfrc_actuator:
[-2.69247852e-05, 1.85228694e-04, 5.10975154e-05, 9.41124565e-05,
 -5.57701366e-05, 1.80771089e-04,-5.83189929e-05, 1.28728637e-04,
  4.24171758e-05, 6.81442234e-05,-8.53657219e-05,-8.98625176e-06,
  6.59156968e-02,-8.05597099e-04, 2.09953751e-02,-3.10393960e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00089621714783511
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.23878797e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.23878797e-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([ 0.10674316, -0.05932788,  0.06197989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15739486e-05,-4.45458845e-05,-1.60944275e-05,-3.86734433e-05,
 -3.82727112e-06,-5.19048438e-06,-2.03270072e-05, 1.15913866e-05,
  3.08336595e-05, 4.17717587e-06, 4.21281584e-06,-1.57054677e-05,
 -3.59676509e-04,-9.29460715e-05,-1.08906402e-04,-8.42489503e-05,
  6.09704129e-04, 1.01422553e-03,-9.80342706e+00,-6.48957662e-02,
 -8.47869449e-03,-6.35651873e-03]


--- Step 649 ---
qpos:
[ 0.00985089, 0.008094  ,-0.00563483, 0.03346699, 0.0035214 , 0.00273967,
 -0.00675495, 0.03913043, 0.01305022, 0.00591239,-0.01170877, 0.03407597,
  0.63709921, 0.0049742 , 0.93054934, 0.04721167, 0.09022402,-0.06758893,
  0.14213014, 0.95480678,-0.03507476, 0.03846983, 0.2926326 ]

qacc:
[ -1.11410769, -1.67950476, 11.11042009,-31.13921005,  2.82133901,
  -1.28479973,  5.06509908, -8.87782173, -2.92857591, -1.45363303,
   5.77979874, -9.72155958, -1.91183767,  2.45848075,-14.53383933,
  47.41838073, -1.96881419, -0.32945291,  2.87632113, -9.25178466,
 -21.67564108, -8.19473015]

qfrc_actuator:
[-3.30624219e-05, 2.11245492e-04, 4.75764150e-05, 3.67204046e-05,
 -3.92142803e-05, 1.65820434e-04,-4.89941553e-05, 1.17952503e-04,
  2.43286588e-05, 5.46174254e-05,-7.20051675e-05,-1.94680467e-05,
  6.57885494e-02,-7.86937864e-04, 2.09509419e-02,-2.88580655e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009259656872143973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.19898938e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.19898938e-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([ 0.10673653, -0.05932699,  0.06197922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.47849929e-06,-3.85193833e-06,-1.60389982e-05,-6.06112184e-05,
  1.64455739e-05,-2.16665926e-05, 6.11565663e-06,-1.14858859e-05,
 -1.72087393e-05,-1.09963135e-05, 1.41955690e-05,-1.04632452e-05,
 -3.60479390e-04,-7.95512173e-05,-1.14167773e-04, 1.97154275e-04,
  5.98325127e-04, 1.20232845e-03,-9.80381304e+00,-6.49689714e-02,
 -8.37999503e-03,-6.48304155e-03]


--- Step 650 ---
qpos:
[ 0.00985055, 0.00809328,-0.00563474, 0.03346688, 0.00352081, 0.00274204,
 -0.00675491, 0.03913154, 0.01305019, 0.00591273,-0.01170822, 0.034075  ,
  0.63847493, 0.00497694, 0.9312397 , 0.04721346, 0.09030323,-0.06746153,
  0.14215433, 0.95477856,-0.03566515, 0.03917462, 0.29255982]

qacc:
[  5.46654599,  0.54157825, -1.74729294,  1.88064705,  1.81764951,
  -2.35993512,  9.39885574,-17.35971198, -4.96241223, -1.48861133,
   5.83019146, -8.8967917 , -1.33821438,  1.04934713, -1.96918976,
   4.9124219 , -1.86492393, -0.29490723,  2.26755088, -8.78060674,
 -20.55470347, -7.77348432]

qfrc_actuator:
[-7.79181884e-07, 2.27131267e-04, 4.55022293e-05, 3.85369596e-05,
 -2.91551950e-05, 1.20327720e-04,-4.34257050e-05, 9.32317941e-05,
 -4.29304814e-06, 6.41862160e-05,-4.64732468e-05,-2.53008308e-05,
  6.56681166e-02,-8.12705487e-04, 2.08994869e-02,-2.88223846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.15190131, -16.15409023,  -5.76481458, -16.15409023,
        19.44081565,  -6.41396674,  -5.76481458,  -6.41396674,
        35.12503749,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000942164520654154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.89187451e-14,  2.94593725e-14,  1.00000000e+00, -1.73570926e-27,
        1.00000000e+00, -2.94593725e-14, -1.00000000e+00,  0.00000000e+00,
        5.89187451e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10673309, -0.05932597,  0.06197887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.21028545e-05, 7.84913359e-06,-6.93419363e-06,-8.11163062e-08,
  1.05192971e-05,-5.69363409e-05, 1.41396356e-06,-2.56711348e-05,
 -2.91136115e-05, 5.88529883e-06, 2.46438874e-05,-6.01500479e-06,
 -3.50527953e-04,-1.21777622e-04,-9.06718631e-05,-2.04049092e-06,
  5.70028642e-04, 1.36995333e-03,-9.80415567e+00,-6.50378065e-02,
 -8.28767667e-03,-6.60398118e-03]


--- Step 651 ---
qpos:
[ 0.0098506 , 0.00809252,-0.00563465, 0.0334668 , 0.00352   , 0.00274377,
 -0.0067547 , 0.03913238, 0.01305017, 0.00591326,-0.01170803, 0.03407433,
  0.63984858, 0.00497879, 0.93192901, 0.0472146 , 0.09037532,-0.0673352 ,
  0.14218553, 0.95475483,-0.03626065, 0.0398365 , 0.29247466]

qacc:
[ 3.42022340e+00,-4.02193702e-02,-7.29773648e-02, 5.94574176e-01,
 -1.91424257e+00,-1.89205138e+00, 6.70077586e+00,-1.13133586e+01,
  2.79079160e-03, 1.86954693e+00,-7.62782610e+00, 1.33990854e+01,
 -7.72983799e-01,-2.42911348e-01, 4.75535055e-01,-3.85288025e+00,
 -1.77730035e+00,-2.65135879e-01, 1.75290432e+00,-8.39170761e+00,
 -1.96038446e+01,-7.43656572e+00]

qfrc_actuator:
[ 1.83520673e-05, 2.19138684e-04, 4.43160880e-05, 3.96723656e-05,
 -4.07597616e-05, 7.46243338e-05,-4.02660406e-05, 7.82260391e-05,
 -3.36424514e-06, 6.98163942e-05,-6.71274393e-05,-1.05748593e-05,
  6.55571049e-02,-8.64554783e-04, 2.08491411e-02,-2.91643210e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.17254995, -15.81658203,  -6.68821387, -15.81658203,
        21.83851766, -11.03428545,  -6.68821387, -11.03428545,
        43.266913  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0009473678887404607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.85951370e-14, -2.92975685e-14,  1.00000000e+00,  1.71669504e-27,
        1.00000000e+00,  2.92975685e-14, -1.00000000e+00,  0.00000000e+00,
        5.85951370e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10673221, -0.05932489,  0.06197876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.00511098e-05,-5.00159985e-06,-4.14953666e-07, 1.23063996e-06,
 -1.13243661e-05,-7.84357250e-05,-9.34634530e-06,-1.79044943e-05,
  1.04047832e-07, 1.37269372e-05,-1.66184176e-05, 1.57151351e-05,
 -3.44944848e-04,-1.54015741e-04,-1.02784677e-04,-4.83240137e-05,
  5.27362772e-04, 1.52055733e-03,-9.80446113e+00,-6.51033408e-02,
 -8.20135680e-03,-6.71969965e-03]


--- Step 652 ---
qpos:
[ 0.00985054, 0.00809172,-0.00563454, 0.03346639, 0.00351906, 0.00274508,
 -0.00675453, 0.03913302, 0.01305016, 0.00591374,-0.01170744, 0.03407383,
  0.64121976, 0.00498064, 0.93261658, 0.04721833, 0.0904406 ,-0.06720982,
  0.14222201, 0.95473547,-0.03686112, 0.04045722, 0.29237758]

qacc:
[ -1.01439037, -0.76413965,  4.04519095, -9.76322135, -1.16250505,
  -0.8444651 ,  3.04976966, -6.12448211,  0.11107343, -0.82297393,
   2.19445621, -0.06841063, -1.6287118 ,  1.73181418,-10.30393126,
  32.57745185, -1.70370671, -0.23933033,  1.31968179, -8.07290395,
 -18.7978014 , -7.17149885]

qfrc_actuator:
[ 1.18240803e-05, 2.14673906e-04, 4.35578538e-05, 2.26156307e-05,
 -4.72674951e-05, 6.46457382e-05,-3.85574883e-05, 6.90533374e-05,
 -2.79914231e-06, 7.28804653e-05,-4.38765615e-05,-1.65823479e-06,
  6.54305068e-02,-8.60358603e-04, 2.07835236e-02,-2.77723192e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.15833682, -15.23707703,  -7.88923357, -15.23707703,
        27.65069121, -20.26468231,  -7.88923357, -20.26468231,
        56.29705957,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000943735855449851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.88206445e-14, -5.88206445e-14,  1.00000000e+00,  3.45986822e-27,
        1.00000000e+00,  5.88206445e-14, -1.00000000e+00,  0.00000000e+00,
        5.88206445e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10673335, -0.05932379,  0.06197884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.95617190e-06,-7.26123914e-06,-1.79283340e-06,-1.72606526e-05,
 -6.85593488e-06,-5.66092410e-05,-1.62880121e-05,-1.32112165e-05,
  5.74584765e-07, 7.96130017e-06, 2.45762572e-05, 9.23562759e-06,
 -3.64774557e-04,-1.03080197e-04,-1.28088456e-04, 1.21085702e-04,
  4.72172742e-04, 1.65693906e-03,-9.80473444e+00,-6.51664080e-02,
 -8.12075669e-03,-6.83049491e-03]


--- Step 653 ---
qpos:
[ 0.0098504 , 0.00809087,-0.00563444, 0.03346578, 0.0035184 , 0.00274645,
 -0.00675489, 0.03913386, 0.01305015, 0.00591376,-0.01170583, 0.03407378,
  0.64258827, 0.00498314, 0.93330233, 0.04722404, 0.09049931,-0.06708531,
  0.14226231, 0.95472037,-0.03746645, 0.04103824, 0.29226895]

qacc:
[ -0.6796991 , -0.43718883,  2.31478187, -5.71119552,  2.39057561,
   1.95269251, -7.69446964, 11.96133508,  0.10350253, -2.51746498,
   6.13861803,  0.60648853, -2.35328721,  3.35714501, -8.54833266,
  26.36823901, -1.642088  , -0.21679649,  0.95605398, -7.81346135,
 -18.11404623, -6.96744896]

qfrc_actuator:
[ 8.00265746e-06, 2.12341439e-04, 4.30533971e-05, 1.27445131e-05,
 -3.29633615e-05, 9.38925826e-05,-5.53260915e-05, 8.11659364e-05,
 -2.46224120e-06, 3.90445914e-05, 5.11024641e-06, 2.15528771e-05,
  6.52999928e-02,-8.23082723e-04, 2.06928648e-02,-2.67900847e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009330877745644672
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.94918857e-14, -2.97459428e-14,  1.00000000e+00,  1.76964223e-27,
        1.00000000e+00,  2.97459428e-14, -1.00000000e+00,  0.00000000e+00,
        5.94918857e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10673607, -0.05932269,  0.06197909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.99034532e-06,-7.47611825e-06,-2.81303855e-06,-1.05775118e-05,
  1.40906709e-05,-6.39329511e-06,-3.09435353e-05, 8.86181592e-06,
  3.56660310e-07,-2.39346113e-05, 5.39665184e-05, 2.45810607e-05,
 -3.68740492e-04,-6.43945736e-05,-1.44265606e-04, 8.66885033e-05,
  4.05774984e-04, 1.78135886e-03,-9.80497965e+00,-6.52276557e-02,
 -8.04567606e-03,-6.93661248e-03]


--- Step 654 ---
qpos:
[ 0.00985055, 0.00808998,-0.00563436, 0.03346506, 0.00351791, 0.00274836,
 -0.00675597, 0.0391341 , 0.01305015, 0.00591348,-0.01170412, 0.03407338,
  0.6439544 , 0.00498551, 0.93398637, 0.04722661, 0.09055165,-0.06696159,
  0.14230522, 0.95470946,-0.03807658, 0.04158079, 0.29214904]

qacc:
[  2.63472542, -0.24875672,  1.28477639, -3.19576153,  1.51692547,
   1.48528109, -1.73885769, -7.88525933,  0.04423761, -1.40982828,
   5.98343557,-12.23055088, -1.76585763,  1.90237856,  7.14357249,
 -28.35354717, -1.59063581, -0.19695058,  0.65151226, -7.60417531,
 -17.5332069 , -6.81517422]

qfrc_actuator:
[ 2.35658803e-05, 2.11308488e-04, 4.27186344e-05, 7.18522701e-06,
 -2.42782776e-05, 1.46358671e-04,-8.26842131e-05, 5.24715495e-05,
 -2.26274046e-06, 1.25284708e-06,-2.26515150e-06,-2.88064530e-07,
  6.51725625e-02,-8.37607258e-04, 2.05712757e-02,-2.85433600e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009169519113453456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.05387813e-14, -1.21077563e-13,  1.00000000e+00,  7.32988808e-27,
        1.00000000e+00,  1.21077563e-13, -1.00000000e+00,  0.00000000e+00,
        6.05387813e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10674002, -0.05932164,  0.06197945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54501892e-05,-6.21797602e-06,-2.58105017e-06,-6.17961241e-06,
  9.08432568e-06, 4.28362164e-05,-3.21976306e-05,-2.98711698e-05,
  1.99809505e-07,-3.89949731e-05,-4.84090900e-06,-2.05246248e-05,
 -3.59438860e-04,-1.09257255e-04,-1.86084140e-04,-1.90767141e-04,
  3.29091183e-04, 1.89564328e-03,-9.80519999e+00,-6.52875855e-02,
 -7.97597392e-03,-7.03825505e-03]


--- Step 655 ---
qpos:
[ 0.0098509 , 0.00808921,-0.00563438, 0.0334646 , 0.00351752, 0.00275027,
 -0.00675721, 0.03913403, 0.01304981, 0.00591326,-0.01170347, 0.0340724 ,
  0.64531823, 0.00498746, 0.93466956, 0.04722188, 0.09060336,-0.06684637,
  0.14235269, 0.95469575,-0.03864228, 0.04210601, 0.29204432]

qacc:
[  1.62024123,  0.98369442, -4.43774318,  9.2014459 ,  0.94785346,
  -0.1871598 ,  2.00056441, -7.19762989, -3.04854262,  1.84164291,
  -4.03528601, -4.21482819, -1.75084797,  1.68264747, 20.89349951,
 -74.66390682, -0.16114812, -2.12652788,  1.14133222, 18.3103993 ,
 -14.99612895,  8.25689697]

qfrc_actuator:
[ 3.26605270e-05, 2.28819728e-04, 4.24942967e-05, 2.19602810e-05,
 -1.89764978e-05, 1.23495223e-04,-9.82358970e-05, 3.55188669e-05,
 -1.98981486e-05,-3.37398094e-06,-6.06839551e-05,-3.07627402e-05,
  6.50470514e-02,-8.64946743e-04, 2.05270461e-02,-3.22495606e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.93160594, -10.21100813,  13.50609464, -10.21100813,
        55.74856784,  29.34677447,  13.50609464,  29.34677447,
        39.11863784,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0009022237137114031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23054073e-13, -6.15270364e-14,  1.00000000e+00,  7.57115240e-27,
        1.00000000e+00,  6.15270364e-14, -1.00000000e+00,  0.00000000e+00,
        1.23054073e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08813331, -0.035737  ,  0.06197979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.53589074e-06, 1.32738327e-05,-2.03020282e-06, 1.43017693e-05,
  5.57753907e-06,-6.89405532e-06,-1.17130741e-05,-1.68153141e-05,
 -1.76415113e-05,-2.83212671e-05,-6.77957424e-05,-3.27149650e-05,
 -3.63369973e-04,-1.28494650e-04,-1.57616146e-04,-4.06619527e-04,
  2.42748653e-04, 2.00127185e-03,-9.80539807e+00,-6.53465851e-02,
 -7.91155441e-03,-7.13559042e-03]


--- Step 656 ---
qpos:
[ 0.00985135, 0.00808849,-0.00563413, 0.03346466, 0.00351721, 0.00275187,
 -0.00675797, 0.03913444, 0.01304926, 0.00591302,-0.01170332, 0.03407173,
  0.64667965, 0.00498936, 0.93535183, 0.04721452, 0.0906545 ,-0.06673928,
  0.14240322, 0.95467968,-0.03916483, 0.04261394, 0.29195354]

qacc:
[  0.94255198,  0.36516669, -3.34586196, 11.66594463,  0.60789359,
  -0.75642044,  0.0659912 ,  7.75642092, -1.85120472,  2.02550776,
  -8.54864931, 14.66476805, -1.8614265 ,  2.10379607,  6.73146981,
 -25.23541486, -0.13941793, -2.02972145,  0.76271617, 17.73196104,
 -14.77101088,  7.56557361]

qfrc_actuator:
[ 3.78689682e-05, 2.39568389e-04, 6.01800042e-05, 4.85969987e-05,
 -1.57074017e-05, 1.09011680e-04,-7.14657250e-05, 6.10720821e-05,
 -3.01367045e-05, 1.16558658e-05,-7.76147492e-05,-1.28088065e-05,
  6.49334237e-02,-8.64129568e-04, 2.05398692e-02,-3.33454756e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([16.89529201, -8.80303337, 14.42073145, -8.80303337, 78.42955804,
       37.56315682, 14.42073145, 37.56315682, 39.82545501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008970461067050184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.18821606e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.18821606e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08813743, -0.03573192,  0.06197991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.48680164e-06, 1.83964849e-05, 2.06819416e-05, 2.74159453e-05,
  3.42643096e-06,-2.15314957e-05, 2.33138288e-05, 2.45237197e-05,
 -1.07460125e-05,-1.62180642e-05,-3.22656548e-05, 1.37597992e-05,
 -3.58332242e-04,-1.05102760e-04,-1.13978111e-04,-1.54513086e-04,
  2.65687586e-04, 1.68966201e-03,-9.80592526e+00,-6.53421783e-02,
 -7.79395011e-03,-7.21718163e-03]


--- Step 657 ---
qpos:
[ 0.0098522 , 0.00808799,-0.00563379, 0.03346606, 0.00351693, 0.00275373,
 -0.00675863, 0.0391351 , 0.01304893, 0.00591271,-0.01170314, 0.03407124,
  0.6480386 , 0.0049913 , 0.93603251, 0.04720851, 0.09070516,-0.06663998,
  0.14245552, 0.95466163,-0.03964535, 0.04310468, 0.29187568]

qacc:
[  3.54408501,  2.78977382,-15.21216552, 38.18202701,  0.36178097,
   0.58120406, -2.65886829,  6.7322715 ,  1.99292791,  0.19486444,
  -1.61674957,  4.85360753, -1.73055577,  1.92142015, -6.32578194,
  19.00057154, -0.12136659, -1.94913649,  0.44545435, 17.23862321,
 -14.55309889,  7.02000305]

qfrc_actuator:
[ 5.85029182e-05, 2.64026780e-04, 7.05311845e-05, 1.17510707e-04,
 -1.36596433e-05, 1.53122339e-04,-5.53877096e-05, 7.59508755e-05,
 -1.81814158e-05, 2.07836222e-05,-6.97739469e-05,-1.95126503e-06,
  6.48057140e-02,-8.64367230e-04, 2.04910967e-02,-3.25375459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.80991794,  -8.27510204,  14.63202062,  -8.27510204,
       124.97029226,  61.16982457,  14.63202062,  61.16982457,
        51.40435664,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008857210233566559
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.13367018e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.13367018e-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([ 0.08814079, -0.03572578,  0.06198018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.07967331e-05, 4.02163861e-05, 1.76518371e-05, 7.09518096e-05,
  2.13569369e-06, 3.78876178e-05, 1.53393598e-05, 1.52371561e-05,
  1.16441573e-05,-6.01351305e-06, 9.95208505e-07, 9.31604365e-06,
 -3.62879487e-04,-1.00830210e-04,-1.28549883e-04, 5.52864563e-05,
  2.74576951e-04, 1.41230686e-03,-9.80640239e+00,-6.53392511e-02,
 -7.68573149e-03,-7.29518325e-03]


--- Step 658 ---
qpos:
[ 0.00985364, 0.00808792,-0.00563393, 0.03346794, 0.00351599, 0.00275563,
 -0.00675901, 0.03913595, 0.01304876, 0.00591242,-0.0117029 , 0.03407053,
  0.649395  , 0.00499355, 0.9367116 , 0.04719924, 0.0907554 ,-0.06654821,
  0.14250855, 0.95464186,-0.0400848 , 0.04357835, 0.29180996]

qacc:
[  5.11603311,  2.92517659,-11.6526452 , 20.48406784, -5.822494  ,
  -0.33782371,  0.50747246,  2.24460579,  1.28224665, -0.61452554,
   3.17240879, -7.1702871 , -2.29344649,  3.04520014,  7.6885727 ,
 -29.92584889, -0.10625869, -1.88213653,  0.18035843, 16.8187032 ,
 -14.34649107,  6.59149811]

qfrc_actuator:
[ 8.80522088e-05, 2.78769636e-04, 4.10426911e-05, 1.39739874e-04,
 -4.78511493e-05, 1.43184487e-04,-4.55384262e-05, 8.44592362e-05,
 -1.10139940e-05, 2.64224765e-05,-6.51636932e-05,-1.31077256e-05,
  6.46749732e-02,-8.47556757e-04, 2.03735046e-02,-3.43447322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.67489455,   7.51003698, -14.88796335,   7.51003698,
       108.47954202,  46.30964497, -14.88796335,  46.30964497,
        40.03518486,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008696184357357278
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.40832684e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.40832684e-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([ 0.08814355, -0.03571885,  0.06198054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01531242e-05, 4.39343391e-05,-1.65552281e-05, 2.59403448e-05,
 -3.41188188e-05, 1.50098914e-05, 2.00761396e-05, 1.09548240e-05,
  7.49498666e-06, 2.89400310e-06, 3.81475701e-06,-1.11976009e-05,
 -3.67260282e-04,-8.41351959e-05,-1.78948213e-04,-1.95998789e-04,
  2.72550375e-04, 1.16525753e-03,-9.80683474e+00,-6.53370001e-02,
 -7.58586336e-03,-7.36958133e-03]


--- Step 659 ---
qpos:
[ 0.00985542, 0.00808813,-0.00563457, 0.03346871, 0.00351534, 0.00275748,
 -0.00675888, 0.03913655, 0.01304866, 0.0059125 ,-0.01170275, 0.03406931,
  0.65074895, 0.00499624, 0.93738855, 0.04718852, 0.09080526,-0.06646374,
  0.14256142, 0.95462062,-0.040484  , 0.04403509, 0.29175577]

qacc:
[  2.99162234, -0.54929108,  7.15780059,-25.74647206,  2.54489097,
  -2.00154689,  8.08128555,-13.1942037 ,  0.75655734, -0.29662913,
   3.90402685,-12.80842259, -2.18349629,  2.98440997,  1.36841125,
  -8.9970857 , -0.09350326, -1.82650357, -0.04051672, 16.46202812,
 -14.15356393,  6.25714841]

qfrc_actuator:
[ 1.04854816e-04, 2.69629666e-04, 5.94937786e-06, 8.10247345e-05,
 -3.20878746e-05, 1.36437098e-04,-2.18950402e-05, 7.13580949e-05,
 -6.72911629e-06, 6.54148395e-05,-6.25329501e-05,-3.71355783e-05,
  6.45638137e-02,-8.20807798e-04, 2.02785882e-02,-3.50172968e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008498873812666091
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.53158906e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.53158906e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08814583, -0.03571134,  0.06198099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76765928e-05, 1.31262149e-05,-2.71639427e-05,-5.69056759e-05,
  1.47972575e-05, 6.18408584e-06, 2.95770758e-05,-1.15540760e-05,
  4.49843707e-06, 4.09300379e-05, 3.31258064e-06,-2.39884457e-05,
 -3.47671166e-04,-7.13433747e-05,-2.06181021e-04,-1.02718135e-04,
  2.61896242e-04, 9.45364650e-04,-9.80722666e+00,-6.53348095e-02,
 -7.49355657e-03,-7.44036996e-03]


--- Step 660 ---
qpos:
[ 0.0098567 , 0.00808841,-0.00563556, 0.03346879, 0.00351489, 0.00275946,
 -0.00675851, 0.03913663, 0.01304828, 0.00591317,-0.01170301, 0.03406816,
  0.65210055, 0.00499921, 0.93806352, 0.04718284, 0.09085479,-0.0663864 ,
  0.14261339, 0.95459808,-0.04084364, 0.04447504, 0.29171264]

qacc:
[ -4.41704567, -0.33460458,  4.26156332,-15.7318171 ,  1.70693803,
  -1.57088804,  8.03488752,-17.43332483, -2.59973038,  2.04755655,
  -6.41560856,  7.65839981, -1.62763663,  1.98828308,-18.04542557,
  59.13737687, -0.08262637, -1.78038756, -0.22394885, 16.15988591,
 -13.97558439,  5.99867037]

qfrc_actuator:
[ 7.85121993e-05, 2.63896008e-04,-1.45568472e-05, 4.61514619e-05,
 -2.25423313e-05, 1.49438632e-04,-8.05949688e-06, 4.56564186e-05,
 -2.19261378e-05, 1.06310576e-04,-7.87105314e-05,-3.30080272e-05,
  6.44538344e-02,-8.06087648e-04, 2.02666187e-02,-3.21738245e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008274890860589801
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.35419235e-14, -3.35419235e-14,  1.00000000e+00,  1.12506063e-27,
        1.00000000e+00,  3.35419235e-14, -1.00000000e+00,  0.00000000e+00,
        3.35419235e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08814772, -0.03570345,  0.0619815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.58311225e-05,-6.44431076e-06,-2.31086283e-05,-3.63600319e-05,
  9.96767212e-06, 2.20094636e-05, 1.83309637e-05,-2.46446500e-05,
 -1.50538390e-05, 6.34395966e-05,-8.14526642e-06, 5.53128316e-06,
 -3.32016282e-04,-7.62730521e-05,-1.23313109e-04, 2.51057240e-04,
  2.44280931e-04, 7.50118236e-04,-9.80758170e+00,-6.53322091e-02,
 -7.40820911e-03,-7.50754927e-03]


--- Step 661 ---
qpos:
[ 0.00985766, 0.00808874,-0.00563654, 0.03346843, 0.00351386, 0.00276182,
 -0.00675836, 0.03913641, 0.01304771, 0.0059136 ,-0.01170288, 0.0340678 ,
  0.65344991, 0.00500212, 0.93873726, 0.04718081, 0.09090402,-0.06631602,
  0.14266385, 0.9545744 ,-0.04116434, 0.04489837, 0.29168021]

qacc:
[ -2.85762155, -0.85838404,  5.03834084,-12.74833689, -5.04341029,
   0.49515381,  0.27124923, -5.52584928, -1.55302407,  0.2520252 ,
  -4.72354601, 18.11610102, -1.35731238,  1.29577755,-12.78782226,
  42.29345234, -0.07324839, -1.74225261, -0.3756763 , 15.90488121,
 -13.81309423,  5.80147382]

qfrc_actuator:
[ 6.24955997e-05, 2.78054723e-04,-8.49942280e-06, 2.56098241e-05,
 -5.22537155e-05, 1.74115443e-04,-1.78082044e-05, 3.05104883e-05,
 -3.07144383e-05, 5.92174913e-05,-7.03157193e-05, 5.40099379e-06,
  6.43339896e-02,-8.16377956e-04, 2.02299191e-02,-3.02976929e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008032252632699105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03665473e-13, -6.91103153e-14,  1.00000000e+00, -7.16435353e-27,
        1.00000000e+00,  6.91103153e-14, -1.00000000e+00,  0.00000000e+00,
       -1.03665473e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0881493 , -0.03569533,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67522322e-05, 4.21172419e-06, 6.29912541e-07,-2.23227568e-05,
 -2.94200367e-05, 3.96419404e-05,-3.82557552e-06,-1.40541849e-05,
 -9.19233168e-06,-1.30879163e-05, 2.06850453e-05, 4.09556822e-05,
 -3.31768316e-04,-9.95512382e-05,-7.29125789e-05, 1.84125452e-04,
  2.20911201e-04, 5.77519559e-04,-9.80790279e+00,-6.53288414e-02,
 -7.32936187e-03,-7.57112367e-03]


--- Step 662 ---
qpos:
[ 0.00985807, 0.00808914,-0.0056375 , 0.03346817, 0.00351317, 0.00276473,
 -0.00675869, 0.03913566, 0.01304774, 0.00591364,-0.01170277, 0.03406795,
  0.65479706, 0.00500469, 0.93941023, 0.04717607, 0.090953  ,-0.06625249,
  0.14271232, 0.95454969,-0.04144658, 0.04530521, 0.29165822]

qacc:
[ -4.77884754,  0.21656792, -1.04783473,  2.6421405 ,  2.98086435,
   0.98206109, -0.22759593, -8.5462784 ,  5.18742072,  0.6048014 ,
  -5.08536681, 14.30602237, -1.48695674,  1.31899111,  7.12189933,
 -26.36222599, -0.06506539, -1.71082634, -0.50054033, 15.69075957,
 -13.66615586,  5.6539101 ]

qfrc_actuator:
[ 3.49463803e-05, 2.86384452e-04,-4.47761218e-06, 3.14466913e-05,
 -3.38206487e-05, 2.05503499e-04,-4.13377455e-05, 3.94343412e-06,
 -1.49541921e-07, 1.31778598e-05,-8.33164585e-05, 2.81093998e-05,
  6.42083008e-02,-8.41426819e-04, 2.01517564e-02,-3.18487233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007777621003571961
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.56864594e-14, -7.13729188e-14,  1.00000000e+00,  2.54704677e-27,
        1.00000000e+00,  7.13729188e-14, -1.00000000e+00,  0.00000000e+00,
        3.56864594e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08815062, -0.03568711,  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:
[-2.80241067e-05, 9.84986451e-06, 4.20512638e-06, 5.60744600e-06,
  1.76112374e-05, 5.20662868e-05,-1.63262440e-05,-2.52782232e-05,
  3.02979311e-05,-4.73519924e-05,-1.17453646e-05, 2.36601303e-05,
 -3.42268509e-04,-1.19227029e-04,-1.01485995e-04,-1.56511815e-04,
  1.92652762e-04, 4.25979626e-04,-9.80819233e+00,-6.53244360e-02,
 -7.25666560e-03,-7.63110050e-03]


--- Step 663 ---
qpos:
[ 0.00985814, 0.00808963,-0.00563839, 0.03346763, 0.00351271, 0.00276789,
 -0.00675922, 0.03913462, 0.01304813, 0.00591356,-0.01170293, 0.03406871,
  0.6561418 , 0.00500706, 0.94008204, 0.04717212, 0.09100175,-0.0661957 ,
  0.14275837, 0.95452403,-0.04169081, 0.0456957 , 0.29164646]

qacc:
[ -2.92685401, -0.61583262,  3.55411112, -8.55059456,  1.97856153,
   0.25837523,  0.79164091, -5.7504902 ,  3.21218636,  1.78336715,
  -9.13582659, 20.01443386, -1.54592866,  1.44911157, -3.95966896,
  11.59716453, -0.05783403, -1.68505479, -0.60262267, 15.51223236,
 -13.53451274,  5.54666964]

qfrc_actuator:
[ 1.85794673e-05, 2.91184205e-04,-1.70087015e-06, 1.72417114e-05,
 -2.26911670e-05, 2.05091561e-04,-5.50319476e-05,-1.13788072e-05,
  1.78258461e-05, 2.12760900e-05,-9.11421158e-05, 5.91173798e-05,
  6.40738583e-02,-8.57273968e-04, 2.01286060e-02,-3.13239787e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007516505175285682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.23154277e-14, -3.69261711e-14,  1.00000000e+00,  3.40885528e-27,
        1.00000000e+00,  3.69261711e-14, -1.00000000e+00,  0.00000000e+00,
        9.23154277e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08815173, -0.0356789 ,  0.06198321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71625336e-05, 1.14030242e-05, 5.53109918e-06,-1.35253583e-05,
  1.16500497e-05, 2.41543182e-05,-5.85392432e-06,-1.41529038e-05,
  1.88198151e-05,-1.97858168e-05,-1.82380009e-05, 2.90309634e-05,
 -3.62894660e-04,-1.15963981e-04,-9.77268553e-05, 2.83725817e-05,
  1.60117197e-04, 2.94239069e-04,-9.80845226e+00,-6.53187895e-02,
 -7.18985590e-03,-7.68748884e-03]


--- Step 664 ---
qpos:
[ 0.00985871, 0.00808986,-0.0056391 , 0.0334673 , 0.00351204, 0.00277091,
 -0.00675948, 0.03913376, 0.01304839, 0.00591337,-0.01170291, 0.03406945,
  0.65748398, 0.00500957, 0.94075248, 0.04717339, 0.09105029,-0.06614556,
  0.14280169, 0.9544975 ,-0.04189737, 0.04607   , 0.29164481]

qacc:
[ 4.33743373e+00,-4.06899867e-01, 3.32509898e-02, 3.61869871e+00,
 -1.81459183e+00,-5.25312751e-01, 8.31091483e-01, 2.08542138e+00,
 -1.15698375e+00,-6.56066592e-01, 2.18788383e+00,-2.60580671e+00,
 -1.68167498e+00, 1.86538190e+00,-1.77146656e+01, 5.93042959e+01,
 -5.13593964e-02,-1.66406381e+00,-6.85369464e-01, 1.53648177e+01,
 -1.34176967e+01, 5.47230129e+00]

qfrc_actuator:
[ 4.44340149e-05, 2.58310230e-04, 2.87086317e-07, 2.68548986e-05,
 -3.37175718e-05, 1.85679251e-04,-4.51700121e-05,-2.22476050e-06,
  1.04824976e-05, 2.62422206e-05,-7.78679460e-05, 5.93085654e-05,
  6.39449123e-02,-8.49861554e-04, 2.01118963e-02,-2.85125908e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007253432642530949
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.82654351e-14, -3.82654351e-14,  1.00000000e+00,  1.46424352e-27,
        1.00000000e+00,  3.82654351e-14, -1.00000000e+00,  0.00000000e+00,
        3.82654351e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08815268, -0.03567079,  0.0619838 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53693752e-05,-2.59465963e-05, 4.56326094e-06, 1.00327716e-05,
 -1.06859399e-05,-7.82291208e-06, 1.36116221e-05, 9.70700882e-06,
 -6.81605791e-06,-8.61043998e-06, 7.94599829e-06,-7.24568607e-07,
 -3.68331874e-04,-9.70322309e-05,-6.84719861e-05, 2.67948563e-04,
  1.23725930e-04, 1.81304977e-04,-9.80868419e+00,-6.53117505e-02,
 -7.12873450e-03,-7.74029870e-03]


--- Step 665 ---
qpos:
[ 0.00985924, 0.00808954,-0.00563993, 0.03346785, 0.00351159, 0.00277352,
 -0.00675922, 0.03913372, 0.01304856, 0.0059131 ,-0.01170298, 0.03406951,
  0.65882392, 0.00501155, 0.94142223, 0.04717303, 0.09109864,-0.06610202,
  0.14284199, 0.95447014,-0.04206655, 0.04642821, 0.29165317]

qacc:
[ -0.33881368,  1.36937198, -9.59921245, 25.1921052 ,  1.9439764 ,
  -0.31536885, -3.1620529 , 16.92189215, -0.79198256, -1.2539244 ,
   7.18315649,-18.73431354, -1.28565769,  0.8236425 ,  3.97167452,
 -15.22599763, -0.04548532, -1.6471267 , -0.75169842, 15.2447028 ,
 -13.31510156,  5.42482983]

qfrc_actuator:
[ 4.16702837e-05, 2.03142020e-04,-1.60956156e-05, 6.81284529e-05,
 -2.21889606e-05, 1.55149666e-04,-2.15542763e-05, 3.90035397e-05,
  6.05242636e-06, 1.16100675e-05,-8.77694567e-05, 2.36287240e-05,
  6.38300160e-02,-8.82010769e-04, 2.00405276e-02,-2.95250973e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000699209366448808
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.96956576e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.96956576e-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([ 0.08815347, -0.03566284,  0.06198438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.05054430e-06,-6.82974577e-05,-2.08284243e-05, 4.05154839e-05,
  1.12211279e-05,-3.17852912e-05, 2.39820334e-05, 4.15491321e-05,
 -4.62754332e-06,-1.78334428e-05,-1.07255785e-05,-3.57889507e-05,
 -3.52174825e-04,-1.34450972e-04,-8.35273999e-05,-9.74566536e-05,
  8.37574739e-05, 8.64009982e-05,-9.80888941e+00,-6.53032074e-02,
 -7.07315502e-03,-7.78954031e-03]


--- Step 666 ---
qpos:
[ 0.00985939, 0.00808877,-0.00564063, 0.03346816, 0.00351128, 0.00277579,
 -0.00675864, 0.03913419, 0.01304867, 0.00591277,-0.01170293, 0.03406948,
  0.66016171, 0.00501259, 0.94209091, 0.04716786, 0.09114684,-0.066065  ,
  0.14287908, 0.954442  ,-0.04219859, 0.04677046, 0.29167151]

qacc:
[-3.34110670e+00,-1.38814617e+00, 5.06423349e+00,-8.89110563e+00,
  1.26047215e+00,-2.86499947e-01,-1.73162884e+00, 1.01193961e+01,
 -4.74923100e-01,-6.23227689e-01, 2.53237792e+00,-4.41618848e+00,
 -1.04659343e+00, 1.55077604e-01, 1.29995767e+01,-4.76458357e+01,
 -4.00865786e-02,-1.63363751e+00,-8.04089228e-01, 1.51486285e+01,
 -1.32260354e+01, 5.39945234e+00]

qfrc_actuator:
[ 2.20708090e-05, 1.88252105e-04,-7.77612891e-06, 5.66497275e-05,
 -1.52228313e-05, 1.36037257e-04,-7.80345243e-06, 6.32582479e-05,
  3.38072746e-06, 2.07415705e-05,-7.58762088e-05, 2.03559075e-05,
  6.37076353e-02,-9.37274428e-04, 1.99523303e-02,-3.20741556e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000673546368714556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.24162282e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.24162282e-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([ 0.08815415, -0.03565513,  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:
[-1.96808290e-05,-5.56310034e-05,-6.94016927e-06,-1.43361693e-05,
  7.27135174e-06,-3.02467312e-05, 1.15423230e-05, 2.45243129e-05,
 -2.80845409e-06,-4.58073681e-06, 5.65445966e-06,-5.10381892e-06,
 -3.59686356e-04,-1.61046104e-04,-1.48583691e-04,-2.73566707e-04,
  4.03824500e-05, 8.92774049e-06,-9.80906896e+00,-6.52930795e-02,
 -7.02301217e-03,-7.83522367e-03]


--- Step 667 ---
qpos:
[ 0.00985896, 0.00808783,-0.00564137, 0.03346831, 0.00351141, 0.00277769,
 -0.00675781, 0.03913426, 0.01304875, 0.00591298,-0.01170332, 0.03406971,
  0.66149693, 0.00501361, 0.94275795, 0.04716227, 0.0911949 ,-0.06603448,
  0.14291279, 0.9544131 ,-0.04229368, 0.04709685, 0.2916998 ]

qacc:
[ -5.09799484, -0.47494569,  2.087459  , -4.80988771,  3.80463318,
  -2.05380497,  8.24304211,-15.1855005 , -0.31679554,  2.49956716,
  -9.01026217, 13.95277902, -1.8648068 ,  2.04293175, -0.99849956,
   0.27976609, -0.03506269, -1.62308915, -0.8446585 , 15.07379422,
 -13.14975794,  5.39229744]

qfrc_actuator:
[-7.27168942e-06, 1.97648049e-04,-2.57267133e-06, 4.97740671e-05,
  6.74789812e-06, 1.06108940e-04, 3.18999123e-08, 4.18199351e-05,
  1.76469167e-06, 7.96465585e-05,-8.65867762e-05, 3.62198973e-05,
  6.35755112e-02,-9.34781117e-04, 1.99073515e-02,-3.21339118e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006485907468022772
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.55873315e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.55873315e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08815474, -0.03564768,  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:
[-2.99186535e-05,-2.37331709e-05,-7.62154628e-06,-9.77529813e-06,
  2.21654086e-05,-4.34952843e-05, 3.82286274e-06,-2.18654239e-05,
 -1.69848172e-06, 5.73035495e-05,-1.11333129e-05, 1.57648408e-05,
 -3.81170034e-04,-1.09919782e-04,-1.52228147e-04,-4.21886885e-05,
 -6.31036927e-06,-5.15688140e-05,-9.80922368e+00,-6.52813099e-02,
 -6.97823350e-03,-7.87735813e-03]


--- Step 668 ---
qpos:
[ 0.00985783, 0.00808673,-0.00564236, 0.03346873, 0.00351248, 0.00277891,
 -0.00675674, 0.03913446, 0.01304916, 0.00591349,-0.01170406, 0.03407015,
  0.6628294 , 0.00501522, 0.94342325, 0.04715954, 0.09124283,-0.06601042,
  0.142943  , 0.95438344,-0.04235195, 0.04740747, 0.29173806]

qacc:
[-6.08921944e+00, 1.08346524e+00,-5.32087378e+00, 1.06116029e+01,
  8.39603204e+00,-1.29480905e+00, 2.75336286e+00,-3.76702758e-01,
  2.84333813e+00, 1.82527426e+00,-6.82448881e+00, 1.08369555e+01,
 -2.31072304e+00, 3.18354857e+00,-1.10780074e+01, 3.53858534e+01,
 -3.03329942e-02,-1.61505564e+00,-8.75221286e-01, 1.50177803e+01,
 -1.30855079e+01, 5.40023467e+00]

qfrc_actuator:
[-4.21080473e-05, 1.86009796e-04,-1.68917803e-05, 6.34417817e-05,
  5.51279460e-05, 5.21178637e-05, 4.24233638e-06, 4.69171821e-05,
  1.85353614e-05, 7.90791906e-05,-1.10343781e-04, 4.54855417e-05,
  6.34483082e-02,-8.98177199e-04, 1.98617646e-02,-3.05471002e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006245268017781025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.66638538e-14,  4.44425692e-14,  1.00000000e+00,  2.96271294e-27,
        1.00000000e+00, -4.44425692e-14, -1.00000000e+00,  0.00000000e+00,
       -6.66638538e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08815524, -0.03564054,  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:
[-3.56926234e-05,-2.68700700e-05,-2.04775783e-05, 1.22014931e-05,
  4.89957829e-05,-7.85321820e-05,-5.09274136e-06, 2.93299194e-06,
  1.67424832e-05, 2.98491200e-05,-1.27444257e-05, 1.16429022e-05,
 -3.76705504e-04,-7.05949338e-05,-1.27953786e-04, 1.35101852e-04,
 -5.62946427e-05,-9.54226908e-05,-9.80935419e+00,-6.52678604e-02,
 -6.93877305e-03,-7.91595217e-03]


--- Step 669 ---
qpos:
[ 0.00985733, 0.00808541,-0.0056432 , 0.03346895, 0.00351378, 0.00277982,
 -0.00675576, 0.0391347 , 0.01305011, 0.00591362,-0.01170448, 0.03407039,
  0.66415928, 0.00501751, 0.94408698, 0.04715738, 0.09129067,-0.0659928 ,
  0.14296963, 0.95435303,-0.04237351, 0.04770242, 0.29178632]

qacc:
[  5.50015416, -1.1403334 ,  4.49153844, -8.10183297,  1.99392277,
  -0.09720835, -0.39526376,  1.36462328,  4.79516556, -1.82865585,
   6.6142641 ,-10.24743801, -2.41713607,  3.46856329, -3.85349914,
  10.55974689, -0.02583276, -1.60917774, -0.89734123, 14.97848569,
 -13.03252385,  5.42072366]

qfrc_actuator:
[-8.88556438e-06, 1.79564656e-04,-7.17991341e-06, 5.35541412e-05,
  6.54016824e-05, 5.51454102e-05, 6.20181505e-06, 4.98182599e-05,
  4.59928915e-05, 2.50926824e-05,-1.06334265e-04, 3.29886210e-05,
  6.33294905e-02,-8.59465431e-04, 1.97786020e-02,-3.03113634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006014942915895938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.22887416e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.22887416e-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([ 0.08815566, -0.03563373,  0.06198657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.22009491e-05,-2.51365448e-05, 2.08761324e-06,-1.15046740e-05,
  1.16393536e-05,-4.18545729e-05,-1.48172814e-05,-5.90696382e-07,
  2.79448166e-05,-3.94319972e-05, 9.00973995e-06,-1.14332109e-05,
 -3.55891565e-04,-5.98075720e-05,-1.35223792e-04, 1.28568506e-05,
 -1.09591938e-04,-1.22868471e-04,-9.80946100e+00,-6.52527068e-02,
 -6.90460641e-03,-7.95101318e-03]


--- Step 670 ---
qpos:
[ 0.00985758, 0.00808403,-0.00564371, 0.03346867, 0.00351485, 0.00278072,
 -0.00675491, 0.03913459, 0.01305103, 0.00591331,-0.01170477, 0.03407086,
  0.66541454, 0.00506028, 0.9447512 , 0.04715619, 0.09133291,-0.06597943,
  0.14299321, 0.95430001,-0.04239125, 0.04791853, 0.29192173]

qacc:
[ 6.56272001e+00,-2.06210369e+00, 9.34700156e+00,-1.84980648e+01,
 -2.04208935e+00,-3.67485930e-01, 2.77652462e+00,-8.61353469e+00,
 -1.90529751e-01,-4.93747906e-01,-3.14707904e-02, 3.95464262e+00,
 -9.04236291e+01, 1.50927844e+02, 5.05193361e+00, 6.27245947e-01,
 -1.39658154e+00,-1.06360493e+00,-7.58824974e-01,-1.22322821e+01,
 -3.94820671e+01, 4.33058932e+01]

qfrc_actuator:
[ 2.86251211e-05, 1.94111109e-04, 1.66481521e-05, 2.99046476e-05,
  5.31567450e-05, 7.45343570e-05, 7.03711750e-06, 3.36914875e-05,
  4.40090649e-05,-7.12874676e-06,-1.03959215e-04, 4.32629997e-05,
  6.32157912e-02,-8.73057400e-04, 1.97155458e-02,-2.99871884e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([7.35030457, 2.59685206, 6.876288  , 2.59685206, 2.34607013,
       1.88986507, 6.876288  , 1.88986507, 6.63659101, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -9.058542245530595e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99192627, -0.10854919, -0.06556935, -0.10831281,  0.99409108,
       -0.00715981,  0.0659591 ,  0.        , -0.99782233])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11480339, -0.04742427,  0.29717019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005795950085879104
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19719697e-13, -1.43663637e-13,  1.00000000e+00, -1.71993671e-26,
        1.00000000e+00,  1.43663637e-13, -1.00000000e+00,  0.00000000e+00,
       -1.19719697e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08815603, -0.03562726,  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:
[ 3.84247326e-05, 4.98190826e-07, 1.85188570e-05,-2.48752167e-05,
 -1.19280176e-05,-7.14347498e-06,-9.67883610e-06,-1.84496018e-05,
 -1.20310806e-06,-5.28887124e-05,-5.05330524e-06, 8.67289124e-06,
 -3.36338236e-04,-1.05001632e-04,-1.32144578e-04, 1.39270494e-05,
 -1.66260843e-04,-1.34058068e-04,-9.80954446e+00,-6.52358364e-02,
 -6.87572695e-03,-7.98254735e-03]


--- Step 671 ---
qpos:
[ 0.00985724, 0.00808255,-0.00564391, 0.03346846, 0.00351577, 0.00278169,
 -0.00675412, 0.03913427, 0.01305159, 0.00591288,-0.01170574, 0.0340718 ,
  0.66660302, 0.00511125, 0.94541509, 0.04715516, 0.09136992,-0.06597123,
  0.14301349, 0.95422818,-0.0423975 , 0.04806177, 0.292132  ]

qacc:
[ -5.13700845, -0.8183338 ,  2.39568083, -1.50316621, -1.36656903,
  -0.1584194 ,  1.55618777, -5.06772652, -3.32523848,  2.74142224,
 -11.98191275, 21.37810706,-57.22918086, 74.20475363,  3.13286484,
  -1.92048937, -1.30886709, -1.29063343, -0.82784597, -7.35096888,
 -37.58001008, 37.19297077]

qfrc_actuator:
[-2.67288707e-06, 1.85665966e-04, 3.09424252e-05, 3.38810429e-05,
  4.55208559e-05, 8.58102005e-05, 7.27347086e-06, 2.42703660e-05,
  2.47094000e-05,-8.31083311e-06,-1.37996679e-04, 6.68632736e-05,
  6.30957594e-02,-9.40365244e-04, 1.96857284e-02,-2.99712630e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([7.69356965, 2.08453928, 7.40578895, 2.08453928, 1.83702776,
       1.64846604, 7.40578895, 1.64846604, 7.22956882, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00021964774233486763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99192399, -0.10882967, -0.06513758, -0.10859578,  0.99406041,
       -0.00713126,  0.06552678,  0.        , -0.99785081])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11484019, -0.04749596,  0.29719895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005593166678690559
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.96240810e-14, -9.92481619e-14,  1.00000000e+00,  4.92509882e-27,
        1.00000000e+00,  9.92481619e-14, -1.00000000e+00,  0.00000000e+00,
        4.96240810e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08815636, -0.03562128,  0.06198752])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.01978945e-05,-5.33831101e-06, 1.58381678e-05, 4.15751447e-06,
 -7.97633533e-06, 4.44454021e-06,-3.08949899e-06,-1.04243574e-05,
 -1.93536862e-05,-3.14134519e-05,-4.52774294e-05, 2.13283228e-05,
  3.27112446e-03,-2.19916167e-03,-1.92709686e-04,-3.43763007e-05,
 -1.26908802e-04,-1.16415701e-04,-9.80989182e+00,-6.51872888e-02,
 -6.85512707e-03,-8.00983561e-03]


--- Step 672 ---
qpos:
[ 0.00985722, 0.00808112,-0.00564403, 0.03346864, 0.00351624, 0.00278287,
 -0.00675345, 0.03913416, 0.0130519 , 0.00591258,-0.01170699, 0.03407295,
  0.66774444, 0.00515347, 0.9460777 , 0.0471515 , 0.09140217,-0.0659687 ,
  0.14303033, 0.9541404 ,-0.04238712, 0.04813831, 0.29240749]

qacc:
[  2.79032411,  0.60825709, -3.67907536, 10.15499672, -3.90998581,
   1.05552656, -4.25975861,  8.03971416, -2.08558907,  1.38765263,
  -5.6177238 ,  9.71597454,-28.14742825, 20.94950756,  7.71633901,
 -25.78779282, -1.19213417, -1.41891433, -0.85856351, -3.71288714,
 -35.25906485, 32.43844311]

qfrc_actuator:
[ 1.45416997e-05, 1.99016335e-04, 3.94234885e-05, 5.40572306e-05,
  2.29137467e-05, 1.09905621e-04, 7.13930888e-06, 3.66219734e-05,
  1.31349313e-05, 2.67196642e-05,-1.39870421e-04, 8.03612943e-05,
  6.29898874e-02,-9.70555485e-04, 1.96120012e-02,-3.13787378e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.20076897, 1.83073647, 7.99381108, 1.83073647, 1.50204391,
       1.53413687, 7.99381108, 1.53413687, 7.84942212, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003190956352311485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99189605, -0.10926319, -0.06483662, -0.1090305 ,  0.99401286,
       -0.00712693,  0.06522714,  0.        , -0.99787044])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11486569, -0.04756068,  0.29722028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005405906383571385
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.54029169e-13, -1.02686113e-13,  1.00000000e+00, -1.58166566e-26,
        1.00000000e+00,  1.02686113e-13, -1.00000000e+00,  0.00000000e+00,
       -1.54029169e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08815665, -0.03561575,  0.06198793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.63565321e-05, 1.38622155e-05, 9.49477163e-06, 2.05819066e-05,
 -2.28317654e-05, 2.54495752e-05, 2.31960012e-08, 1.22293912e-05,
 -1.21367607e-05, 9.04506742e-06,-1.31858260e-05, 1.10023328e-05,
  6.50322436e-03,-2.64125655e-03,-2.55169206e-04,-1.84152985e-04,
 -2.12459371e-04, 3.00019777e-05,-9.81006058e+00,-6.51835384e-02,
 -6.83684299e-03,-8.02777376e-03]


--- Step 673 ---
qpos:
[ 0.00985809, 0.00808011,-0.00564421, 0.03346937, 0.00351644, 0.0027842 ,
 -0.00675303, 0.03913388, 0.01305242, 0.00591238,-0.01170714, 0.03407348,
  0.66886284, 0.00517911, 0.9467382 , 0.0471434 , 0.09143019,-0.06597206,
  0.14304372, 0.95403879,-0.04235679, 0.04815438, 0.29274058]

qacc:
[  7.85258248,  1.87837605, -8.25829221, 17.65217987, -2.42561634,
   0.55331131, -0.91192747, -1.90499938,  1.82134842, -4.23592828,
  17.94687721,-30.68134917, -3.49570189,-16.17139434, 10.08347513,
 -40.36339571, -1.05510426, -1.47478542, -0.86206003, -0.99822453,
 -32.64964012, 28.69280781]

qfrc_actuator:
[ 6.01940862e-05, 2.43061909e-04, 4.44997582e-05, 8.36131775e-05,
  9.42733775e-06, 1.06010141e-04,-1.08957829e-05, 2.61903080e-05,
  2.39585899e-05, 6.55353911e-05,-6.93192171e-05, 5.23614750e-05,
  6.29037912e-02,-9.82552515e-04, 1.95226765e-02,-3.36130390e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.75292631, 1.80066444, 8.56570643, 1.80066444, 1.2904548 ,
       1.56874476, 8.56570643, 1.56874476, 8.42314815, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00039202839554796287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99184556, -0.10982851, -0.06465355, -0.10959592,  0.99395055,
       -0.00714402,  0.06504705,  0.        , -0.9978822 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11488091, -0.04761973,  0.2972349 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005233366896470332
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32589479e-13, -5.30357916e-14,  1.00000000e+00,  7.03198798e-27,
        1.00000000e+00,  5.30357916e-14, -1.00000000e+00,  0.00000000e+00,
        1.32589479e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08815691, -0.03561066,  0.06198832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.61265735e-05, 5.46988942e-05, 9.83817276e-06, 3.08814041e-05,
 -1.41271417e-05, 1.08063523e-05,-1.23728394e-05,-9.10531192e-06,
  1.04799131e-05, 4.16411922e-05, 7.11924467e-05,-2.78528534e-05,
  8.77012114e-03,-2.21620545e-03,-2.87409056e-04,-2.77672221e-04,
 -3.82906106e-04, 2.57838735e-04,-9.81008720e+00,-6.52117717e-02,
 -6.82686619e-03,-8.03724442e-03]


--- Step 674 ---
qpos:
[ 0.00985916, 0.00807993,-0.00564538, 0.03347046, 0.00351716, 0.00278569,
 -0.00675307, 0.0391328 , 0.01305306, 0.00591218,-0.01170636, 0.03407334,
  0.66998181, 0.00518565, 0.94739556, 0.04713609, 0.09145459,-0.06598135,
  0.14305372, 0.95392496,-0.04230451, 0.04811621, 0.2931251 ]

qacc:
[  1.67026726,  4.55625302,-16.18208016, 23.33910574,  4.61286642,
  -0.14668828,  4.16885325,-17.32847436,  1.13445086, -3.98646925,
  17.01442896,-29.98317951, 16.75616781,-42.09907438, -8.73668847,
  19.79549868, -0.90581009, -1.47913956, -0.84667883,  1.03187722,
 -29.87632888, 25.70328697]

qfrc_actuator:
[ 6.89460001e-05, 2.87396325e-04,-5.59295821e-06, 1.00723502e-04,
  3.69269234e-05, 1.03046835e-04,-3.94840261e-05,-1.53538905e-05,
  3.01235688e-05, 5.33424879e-05,-2.75850342e-05, 1.79770187e-05,
  6.28131140e-02,-1.00781392e-03, 1.94507436e-02,-3.29417550e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([9.24391952, 2.01182674, 9.02233901, 2.01182674, 1.19525402,
       1.79471426, 9.02233901, 1.79471426, 8.84372904, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0004416105497633719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99177505, -0.11050896, -0.06457576, -0.11027545,  0.99387513,
       -0.00718018,  0.06497371,  0.        , -0.99788698])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11488683, -0.04767462,  0.29724355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000507468644411424
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.2041253e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -8.2041253e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08815715, -0.03560596,  0.06198867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00867159e-05, 7.83283683e-05,-3.65040802e-05, 2.03946294e-05,
  2.71026025e-05, 7.60573465e-08,-2.82143449e-05,-4.16891519e-05,
  6.47499129e-06, 2.46181794e-05, 5.81437702e-05,-3.06796193e-05,
  9.83218024e-03,-1.41197898e-03,-2.62410960e-04, 9.74205249e-06,
 -6.10352693e-04, 5.36829614e-04,-9.81000359e+00,-6.52620744e-02,
 -6.82779558e-03,-8.03902932e-03]


--- Step 675 ---
qpos:
[ 0.00985963, 0.00808047,-0.00564739, 0.03347106, 0.00351786, 0.00278719,
 -0.0067529 , 0.03913155, 0.01305377, 0.00591253,-0.01170555, 0.03407314,
  0.6711225 , 0.0051734 , 0.94804993, 0.04713226, 0.09147599,-0.06599642,
  0.14306046, 0.95380011,-0.04222929, 0.04802993, 0.29355607]

qacc:
[ -5.2409143 ,  2.3252346 , -4.8247631 , -2.84006402, -0.17941598,
  -0.93420092,  4.09951019, -7.46499923,  0.59494725,  0.52815161,
  -0.53011005, -1.14077953, 32.58512256,-59.4811792 ,-17.68957115,
  48.93197993, -0.75017532, -1.44623586, -0.8177852 ,  2.53520765,
 -27.03195766, 23.30595023]

qfrc_actuator:
[ 3.81471111e-05, 3.13576495e-04,-5.23488083e-05, 7.48342735e-05,
  3.50688648e-05, 1.18335267e-04,-2.08332317e-05,-2.16172027e-05,
  3.34897018e-05, 9.93625643e-05,-2.11754358e-05, 1.55513266e-05,
  6.27130685e-02,-1.04963154e-03, 1.94000665e-02,-3.09167587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([9.5897897 , 2.53448316, 9.24880866, 2.53448316, 1.27010844,
       2.27987115, 9.24880866, 2.27987115, 8.96502869, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0004709494054767746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91686574e-01, -1.11291235e-01, -6.45910158e-02, -1.11055921e-01,
        9.93787835e-01, -7.23334868e-03,  6.49947740e-02,  8.67361738e-19,
       -9.97885604e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11488441, -0.04772681,  0.29724694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004928975844857991
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.44665601e-14, -5.63110400e-14,  1.00000000e+00,  4.75639985e-27,
        1.00000000e+00,  5.63110400e-14, -1.00000000e+00,  0.00000000e+00,
        8.44665601e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08815736, -0.03560163,  0.061989  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.04819983e-05, 6.33334690e-05,-3.43545530e-05,-2.33988663e-05,
 -1.08463219e-06, 7.67500799e-06, 1.37336191e-05,-8.04955129e-06,
  3.55785300e-06, 7.04847377e-05, 1.75886526e-05, 4.27356792e-08,
  9.70708789e-03,-4.96810881e-04,-1.66494961e-04, 1.70169776e-04,
 -8.75273854e-04, 8.46971809e-04,-9.80983756e+00,-6.53267889e-02,
 -6.84039104e-03,-8.03383722e-03]


--- Step 676 ---
qpos:
[ 0.00985939, 0.00808107,-0.0056489 , 0.03347168, 0.00351785, 0.00278839,
 -0.0067521 , 0.03913024, 0.01305452, 0.00591403,-0.01170553, 0.03407288,
  0.67230266, 0.0051446 , 0.94870278, 0.04712615, 0.09149501,-0.06601704,
  0.14306408, 0.95366509,-0.04213091, 0.04790138, 0.29402949]

qacc:
[ -6.28003978, -1.25486034,  4.54552094, -5.06710583, -6.28124599,
  -2.29745991,  7.85067086, -9.60162738,  0.25913386,  3.5929996 ,
 -10.39574497,  9.92603127, 43.66259216,-68.87854712,  1.21040929,
 -15.66815265, -0.59370901, -1.38656797, -0.77856755,  3.6121045 ,
 -24.20689642, 21.40544649]

qfrc_actuator:
[ 2.08038914e-06, 3.10885227e-04,-2.58307818e-05, 7.71074638e-05,
 -1.81933683e-06, 9.13906768e-05, 7.91390888e-06,-2.47695209e-05,
  3.51832718e-05, 1.79763611e-04,-5.31669459e-05, 1.42222142e-05,
  6.26001515e-02,-1.07630004e-03, 1.93728928e-02,-3.20151698e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([9.74608122, 3.50476129, 9.0941051 , 3.50476129, 1.69784643,
       3.10169517, 9.0941051 , 3.10169517, 8.55072434, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00048302809793549135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99158187, -0.11216468, -0.0646876 , -0.11192677,  0.99368963,
       -0.00730174,  0.06509839,  0.        , -0.99787885])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11487461, -0.04777764,  0.29724577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004795330779621687
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.15760839e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.15760839e-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([ 0.08815755, -0.03559764,  0.0619893 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.69104543e-05, 2.46168039e-05, 3.45762576e-05, 3.34621795e-06,
 -3.69165777e-05,-2.02149819e-05, 3.17287082e-05,-2.50586584e-06,
  1.82047922e-06, 1.23433235e-04,-1.52767374e-05, 2.29865701e-06,
  8.51242069e-03, 4.19164571e-04,-5.74794451e-05,-1.16707607e-04,
 -1.16410656e-03, 1.17479601e-03,-9.80961300e+00,-6.54000111e-02,
 -6.86438874e-03,-8.02232373e-03]


--- Step 677 ---
qpos:
[ 0.00985907, 0.00808165,-0.00564974, 0.03347267, 0.00351739, 0.00278939,
 -0.00675124, 0.03912928, 0.01305459, 0.00591579,-0.01170583, 0.03407269,
  0.67353447, 0.00510377, 0.94935329, 0.04712064, 0.09151224,-0.06604291,
  0.14306476, 0.95352048,-0.04200962, 0.04773586, 0.29454231]

qacc:
[ -0.73013994, -1.14474145,  2.47145767,  2.86254096, -3.88161431,
   0.32150335, -2.96477567,  8.98434246, -5.9483715 ,  1.41483037,
  -4.81442048,  6.32149677, 49.24757448,-69.69145657, -8.97867194,
  17.5973074 , -0.44800099, -1.31434229, -0.7341891 ,  4.34133188,
 -21.60210991, 19.95808769]

qfrc_actuator:
[-1.28010660e-06, 3.08984484e-04, 8.13523014e-06, 9.59638980e-05,
 -2.35158595e-05, 7.49291215e-05, 6.70078150e-06,-8.35317078e-06,
  3.74731554e-07, 1.37952077e-04,-8.96567312e-05, 1.35581452e-05,
  6.24824592e-02,-1.05309528e-03, 1.93012132e-02,-3.15709455e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([9.71454525, 5.07744056, 8.28202793, 5.07744056, 2.91536844,
       4.16835301, 8.28202793, 4.16835301, 7.15906429, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0004806440198123455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91462338e-01, -1.13120886e-01, -6.48544319e-02, -1.12879646e-01,
        9.93581232e-01, -7.38378558e-03,  6.52734067e-02, -8.67361738e-19,
       -9.97867417e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11485835, -0.04782826,  0.29724068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004672814585093277
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48494955e-13, -1.78193946e-13,  1.00000000e+00, -2.64609019e-26,
        1.00000000e+00,  1.78193946e-13, -1.00000000e+00,  0.00000000e+00,
       -1.48494955e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0881577 , -0.03559397,  0.06198957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.40552444e-06, 1.91329290e-05, 4.34362567e-05, 2.11749599e-05,
 -2.27542896e-05,-2.13823148e-05,-1.58679201e-06, 1.65990821e-05,
 -3.47084685e-05, 2.41047575e-05,-1.28120455e-05, 4.13889344e-06,
  6.42709016e-03, 1.27404169e-03,-6.78945010e-05, 3.82185760e-05,
 -1.46787730e-03, 1.51153254e-03,-9.80934989e+00,-6.54773087e-02,
 -6.89893788e-03,-8.00509978e-03]


--- Step 678 ---
qpos:
[ 0.0098587 , 0.00808243,-0.00565075, 0.03347356, 0.00351702, 0.00279067,
 -0.00675115, 0.03912852, 0.0130539 , 0.00591697,-0.01170584, 0.03407222,
  0.67482114, 0.00505791, 0.95000149, 0.04711788, 0.09152811,-0.06607377,
  0.14306268, 0.95336649,-0.04186605, 0.04753702, 0.29509286]

qacc:
[ -0.34351173,  0.52264486, -1.07727131, -0.49074578,  0.74346204,
   2.95169316,-10.8326238 , 15.33179624, -6.68255375, -2.15108089,
   7.7664063 ,-12.72604539, 45.89806815,-57.50148531,-14.96706206,
  39.6553167 , -0.3413854 , -1.24633999, -0.69098227,  4.61768458,
 -19.73089508, 19.20741495]

qfrc_actuator:
[-3.11420851e-06, 3.07629885e-04,-7.05450499e-06, 8.89085569e-05,
 -1.83330628e-05, 1.00274534e-04,-2.99051616e-05, 1.67454297e-06,
 -3.78871281e-05, 5.87457119e-05,-9.34807160e-05,-4.55895744e-06,
  6.23593834e-02,-9.97874949e-04, 1.92349139e-02,-3.00433050e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([9.53107287, 7.13033356, 6.32453108, 7.13033356, 5.43211912,
       4.62119754, 6.32453108, 4.62119754, 4.32109295, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0004662342255354498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99132909, -0.11415343, -0.06508169, -0.11390822,  0.99346313,
       -0.00747818,  0.06550992,  0.        , -0.99785192])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11483651, -0.04787956,  0.29723228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045604739692900464
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.12917467e-14, -1.21722329e-13,  1.00000000e+00,  1.11122440e-26,
        1.00000000e+00,  1.21722329e-13, -1.00000000e+00,  0.00000000e+00,
        9.12917467e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08815781, -0.03559059,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95673703e-06, 1.92106278e-05,-5.15367595e-06,-4.32185147e-06,
  4.52780341e-06, 1.37195266e-05,-4.06626152e-05, 9.37860974e-06,
 -3.92344325e-05,-6.82676704e-05,-2.94917707e-07,-1.74482329e-05,
  3.72722791e-03, 1.93507508e-03,-3.31851245e-05, 1.57020159e-04,
 -1.78192189e-03, 1.85294786e-03,-9.80906274e+00,-6.55559219e-02,
 -6.94293648e-03,-7.98271582e-03]


--- Step 679 ---
qpos:
[ 0.00985832, 0.00808321,-0.00565212, 0.03347439, 0.00351706, 0.00279259,
 -0.00675198, 0.03912716, 0.0130531 , 0.00591769,-0.01170564, 0.03407187,
  0.67615356, 0.00501578, 0.95064903, 0.04711149, 0.09154273,-0.06610942,
  0.14305797, 0.95320272,-0.04170123, 0.04730551, 0.29568188]

qacc:
[ -0.17875823,  0.92858414, -3.05410789,  2.69487768,  3.56076674,
   2.12485101, -3.8353313 , -5.57561611, -0.94017583, -0.96170425,
   2.04415988,  0.03926575, 31.20453427,-30.21029987,  7.98871553,
 -34.14925982, -0.31147053, -1.19808242, -0.65743807,  4.19080662,
 -19.27926768, 19.6018865 ]

qfrc_actuator:
[-4.04572113e-06, 2.88638640e-04,-3.34174857e-05, 8.43777158e-05,
  2.62427314e-06, 1.50305651e-04,-6.91885061e-05,-2.76295388e-05,
 -4.23585609e-05, 4.66082819e-05,-7.81904105e-05, 2.68248140e-06,
  6.22469071e-02,-9.78883334e-04, 1.91879006e-02,-3.19725550e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([9.24145324, 8.30640025, 4.0507003 , 8.30640025, 7.49178517,
       3.58788413, 4.0507003 , 3.58788413, 1.88410775, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0004413868473343639
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91182669e-01, -1.15258992e-01, -6.53626953e-02, -1.15009197e-01,
        9.93335474e-01, -7.58418339e-03,  6.58012293e-02,  8.67361738e-19,
       -9.97832751e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11480969, -0.04793189,  0.29722095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044573894109313505
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24537361e-13, -1.24537361e-13,  1.00000000e+00,  1.55095542e-26,
        1.00000000e+00,  1.24537361e-13, -1.00000000e+00,  0.00000000e+00,
        1.24537361e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08815789, -0.03558748,  0.06199005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.81757886e-07,-9.51599732e-06,-2.31778164e-05,-3.97137224e-06,
  2.10920996e-05, 4.96614023e-05,-4.11475753e-05,-2.99420310e-05,
 -5.60611606e-06,-5.11788270e-05, 5.37256829e-07, 3.96611160e-06,
  8.77862949e-04, 2.21056750e-03, 1.75543476e-05,-1.77288255e-04,
 -2.10954986e-03, 2.20482303e-03,-9.80875534e+00,-6.56362775e-02,
 -6.99482954e-03,-7.95558408e-03]


--- Step 680 ---
qpos:
[ 0.00985827, 0.00808374,-0.00565368, 0.03347519, 0.00351735, 0.00279484,
 -0.0067527 , 0.03912576, 0.01305295, 0.00591832,-0.01170516, 0.0340719 ,
  0.67751879, 0.00498278, 0.95129508, 0.04710135, 0.0915561 ,-0.06614978,
  0.14305071, 0.95302873,-0.04151581, 0.04704095, 0.29631034]

qacc:
[  2.95538411,  0.0824584 , -0.65651065,  0.52228865,  2.20448685,
   0.10066051,  0.40816447, -1.30659903,  5.6561197 , -0.10195932,
  -1.43559383,  7.70055203, 16.93424603, -7.76031062,  8.22293979,
 -34.07179318, -0.31232468, -1.17635983, -0.63689338,  3.78205662,
 -19.38021895, 20.10335625]

qfrc_actuator:
[ 1.33130860e-05, 2.59166754e-04,-4.84674329e-05, 8.13566702e-05,
  1.49369731e-05, 1.79178135e-04,-5.63801267e-05,-2.65533653e-05,
 -9.15168521e-06, 7.48177435e-05,-5.14762948e-05, 2.48476844e-05,
  6.21396352e-02,-9.35119707e-04, 1.90671818e-02,-3.39703796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.88230391, 8.42379461, 2.81691447, 8.42379461, 7.99863425,
       2.64255512, 2.81691447, 2.64255512, 0.97991929, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00040618238828148015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91022631e-01, -1.16439267e-01, -6.56965963e-02, -1.16184256e-01,
        9.93197814e-01, -7.70205435e-03,  6.61465374e-02,  8.67361738e-19,
       -9.97809920e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11477805, -0.0479849 ,  0.29720675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004362844866572235
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.54271002e-14, -6.36180668e-14,  1.00000000e+00,  6.07088763e-27,
        1.00000000e+00,  6.36180668e-14, -1.00000000e+00,  0.00000000e+00,
        9.54271002e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08815793, -0.0355846 ,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73273613e-05,-3.97646790e-05,-2.00023281e-05,-4.30849777e-06,
  1.29325877e-05, 4.68113782e-05, 1.69521148e-05, 1.19748237e-06,
  3.30318906e-05,-1.61106173e-07, 1.63354025e-05, 2.00665953e-05,
 -1.51169753e-03, 2.07216523e-03,-8.70873751e-05,-1.99685303e-04,
 -2.46648785e-03, 2.58893383e-03,-9.80841485e+00,-6.57236984e-02,
 -7.05234449e-03,-7.92385544e-03]


--- Step 681 ---
qpos:
[ 0.00985878, 0.00808395,-0.00565538, 0.03347596, 0.00351744, 0.00279718,
 -0.00675289, 0.03912475, 0.01305354, 0.00591913,-0.01170476, 0.03407184,
  0.67890571, 0.00496005, 0.9519389 , 0.0470936 , 0.09156823,-0.06619485,
  0.14304095, 0.95284444,-0.04130976, 0.04674332, 0.29697819]

qacc:
[ 4.85653460e+00,-7.95080381e-02,-1.59001363e-01,-3.06438567e-02,
 -1.73705883e+00,-5.98225589e-01, 7.06411754e-01, 4.85255361e+00,
  6.53802985e+00, 2.46998679e-01,-1.61652311e-01,-1.42157720e+00,
  7.98369894e+00, 3.36562139e+00,-1.07586581e+01, 3.22323674e+01,
 -3.09333502e-01,-1.17784279e+00,-6.26148792e-01, 3.79733655e+00,
 -1.93920180e+01, 2.00933634e+01]

qfrc_actuator:
[ 4.12977343e-05, 2.41432631e-04,-5.67647011e-05, 7.92458466e-05,
  4.30493996e-06, 1.77641261e-04,-3.07160357e-05,-7.58143889e-06,
  2.82025085e-05, 9.15423495e-05,-5.35555691e-05, 2.01522588e-05,
  6.20243519e-02,-8.65639163e-04, 1.89822245e-02,-3.26207354e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.48985978, 8.20925401, 2.16468651, 8.20925401, 7.94283076,
       2.0745268 , 2.16468651, 2.0745268 , 0.62252314, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00036020071693093956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99084833, -0.11769638, -0.06608444, -0.11743548,  0.99304963,
       -0.00783234,  0.06654696,  0.        , -0.99778329])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11474159, -0.04803799,  0.29718962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000427628418119691
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94717477e-13, -1.29811652e-13,  1.00000000e+00,  2.52765973e-26,
        1.00000000e+00,  1.29811652e-13, -1.00000000e+00,  0.00000000e+00,
        1.94717477e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08815794, -0.03558196,  0.06199045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84651933e-05,-4.42835825e-05,-1.91142702e-05,-4.59091891e-06,
 -1.02487560e-05, 2.81273329e-05, 3.74473916e-05, 2.15867081e-05,
  3.82940471e-05, 2.08511635e-05, 5.79213205e-07,-3.75055673e-06,
 -3.26330446e-03, 1.68831871e-03,-1.13857622e-04, 1.18355725e-04,
 -2.85798639e-03, 3.01127262e-03,-9.80803372e+00,-6.58205630e-02,
 -7.11539316e-03,-7.88756294e-03]


--- Step 682 ---
qpos:
[ 0.00985927, 0.00808398,-0.00565696, 0.03347665, 0.00351741, 0.00279958,
 -0.00675273, 0.03912397, 0.01305422, 0.00592014,-0.01170438, 0.03407137,
  0.6803059 , 0.00494588, 0.95258172, 0.04708832, 0.09157916,-0.06624469,
  0.1430287 , 0.95264996,-0.04108254, 0.04641298, 0.2976846 ]

qacc:
[ -0.11059547, -0.74347251,  2.55091951, -3.73331617, -1.11535413,
  -0.39176636,  0.50596992,  3.12890955,  0.86205667, -0.51651669,
   3.918888  ,-11.03739291,  3.02435323,  6.8485329 , -8.93328195,
  29.17398181, -0.30056898, -1.19327672, -0.62119074,  4.11241207,
 -19.28793989, 19.70769301]

qfrc_actuator:
[ 3.98014087e-05, 2.48642882e-04,-4.32187770e-05, 7.76980500e-05,
 -1.99141367e-06, 1.75741488e-04,-1.55548620e-05, 3.98498984e-06,
  3.21810008e-05, 1.01139865e-04,-5.49209243e-05,-3.38323196e-07,
  6.19040817e-02,-8.38772374e-04, 1.89721028e-02,-3.12616494e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.10276714, 7.90958755, 1.75876668, 7.90958755, 7.72391179,
       1.70380167, 1.75876668, 1.70380167, 0.44037022, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00030322456888359626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99065941, -0.11903016, -0.06652638, -0.11876267,  0.99289064,
       -0.00797535,  0.06700273,  0.        , -0.99775279])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11470036, -0.04809068,  0.29716955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041971754089974167
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.61291772e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.61291772e-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([ 0.0881579 , -0.03557952,  0.06199062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.98929461e-07,-2.16797682e-05, 1.89949649e-06,-4.19577062e-06,
 -6.58031843e-06, 2.24055942e-05, 2.63078008e-05, 1.44853265e-05,
  5.07737399e-06, 2.11975455e-05, 2.86815350e-06,-1.96540635e-05,
 -4.46410895e-03, 1.20475229e-03,-2.74142883e-05, 1.31571084e-04,
 -3.27881951e-03, 3.46374431e-03,-9.80761308e+00,-6.59258190e-02,
 -7.18534557e-03,-7.84674394e-03]


--- Step 683 ---
qpos:
[ 0.0098594 , 0.00808399,-0.00565875, 0.03347732, 0.00351764, 0.00280212,
 -0.00675266, 0.03912372, 0.01305461, 0.00592145,-0.01170408, 0.03407065,
  0.6817132 , 0.00493853, 0.95322401, 0.04708173, 0.09158893,-0.06629938,
  0.14301398, 0.95244548,-0.04083349, 0.04605036, 0.29842855]

qacc:
[ -3.22255708,  0.51105407, -1.71847741,  1.59245558,  2.36698047,
   1.49045062, -7.26291185, 16.26100757, -2.66656584,  0.11130191,
   1.25559353, -5.72274991, -0.42159533,  8.72536497,  3.44060598,
 -12.63239106, -0.2902989 , -1.2131202 , -0.61842886,  4.51618112,
 -19.15639529, 19.20963162]

qfrc_actuator:
[ 2.09619542e-05, 2.53077881e-04,-5.22874121e-05, 7.65297896e-05,
  1.20746826e-05, 1.73592405e-04,-2.44914967e-05, 2.88380781e-05,
  1.64819509e-05, 1.24132548e-04,-5.58782726e-05,-1.22028626e-05,
  6.17754699e-02,-8.04363276e-04, 1.89216394e-02,-3.20376696e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([7.75743714, 7.61659799, 1.4714843 , 7.61659799, 7.48015698,
       1.43523887, 1.4714843 , 1.43523887, 0.3284503 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00023524618818425536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99045575, -0.12043871, -0.06702179, -0.12016392,  0.99272076,
       -0.00813121,  0.06751324,  0.        , -0.99771838])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11465446, -0.04814262,  0.29714656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041249856941236174
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.01455392e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.01455392e-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([ 0.08815781, -0.03557728,  0.06199078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88654226e-05,-7.46155715e-06,-1.34419234e-05,-2.11135483e-06,
  1.38851733e-05, 1.63450891e-05,-5.95387327e-07, 2.70015134e-05,
 -1.55431324e-05, 3.45606490e-05, 3.07977579e-06,-1.12415688e-05,
 -5.25294600e-03, 8.14017622e-04,-4.17519070e-05,-7.31106198e-05,
 -3.72324898e-03, 3.93822607e-03,-9.80715546e+00,-6.60380018e-02,
 -7.26336675e-03,-7.80144369e-03]


--- Step 684 ---
qpos:
[ 0.00985964, 0.00808384,-0.00566058, 0.03347798, 0.0035177 , 0.00280495,
 -0.00675303, 0.03912342, 0.01305514, 0.00592298,-0.01170383, 0.03407084,
  0.68312303, 0.00493656, 0.95386509, 0.04707468, 0.09159759,-0.06635902,
  0.14299679, 0.95223125,-0.04056186, 0.04565601, 0.29920881]

qacc:
[  1.03938705, -0.11022061,  0.12470103, -0.11089494, -1.58740379,
   1.52810561, -4.66942174,  4.35433756,  1.34985383,  2.30570386,
 -11.63892317, 27.27930166, -2.56098237,  9.30246335, -0.1243476 ,
  -1.40058508, -0.27868912, -1.23621553, -0.61752556,  4.98809516,
 -19.00144503, 18.62304468]

qfrc_actuator:
[ 2.75803468e-05, 2.37986179e-04,-5.68932282e-05, 7.55759653e-05,
  2.50647626e-06, 1.88968931e-04,-4.75749204e-05, 2.57899574e-05,
  2.48430136e-05, 1.37223096e-04,-5.65240166e-05, 3.43749920e-05,
  6.16472566e-02,-7.67120759e-04, 1.88469640e-02,-3.22914459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([7.48610058, 7.37849498, 1.26471884, 7.37849498, 7.2736672 ,
       1.23935739, 1.26471884, 1.23935739, 0.25556684, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00015633778539954221
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9902373 , -0.12191967, -0.06756983, -0.12163682,  0.99253997,
       -0.00830001,  0.06807769,  0.        , -0.99768002])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.114604  , -0.04819357,  0.2971207 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040591884307966675
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36754310e-13, -1.03099929e-13,  1.00000000e+00, -1.40993596e-26,
        1.00000000e+00,  1.03099929e-13, -1.00000000e+00,  0.00000000e+00,
       -1.36754310e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08815768, -0.03557523,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.08059256e-06,-2.21194424e-05,-7.85590102e-06,-1.77652217e-06,
 -9.16884734e-06, 2.54634145e-05,-1.88767949e-05,-1.84862614e-06,
  7.93598456e-06, 3.25178599e-05, 6.46729714e-06, 4.79453984e-05,
 -5.73292131e-03, 5.12270792e-04,-1.03475707e-04,-3.56381843e-05,
 -4.18837192e-03, 4.43068938e-03,-9.80666224e+00,-6.61562688e-02,
 -7.34996433e-03,-7.75169371e-03]


--- Step 685 ---
qpos:
[ 0.00986031, 0.00808336,-0.00566183, 0.03347895, 0.00351729, 0.00280778,
 -0.00675326, 0.03912274, 0.01305612, 0.00592456,-0.01170348, 0.03407125,
  0.6845321 , 0.00493829, 0.95450491, 0.04707097, 0.09160518,-0.06642371,
  0.14297712, 0.95200755,-0.04026676, 0.04523053, 0.30002402]

qacc:
[  3.72948938, -1.41500375,  3.09837385,  1.56749126, -4.03867288,
  -1.16867469,  5.75827458,-12.53393534,  3.8818355 ,  0.23797433,
  -1.70555769,  5.37243802, -3.43210034,  8.1369744 ,-11.58248346,
  38.60749391, -0.26578783, -1.26206761, -0.61840605,  5.51998576,
 -18.82425177, 17.95682606]

qfrc_actuator:
[ 4.91352423e-05, 2.29087171e-04,-2.33930119e-05, 9.24984403e-05,
 -2.09021239e-05, 1.79125436e-04,-4.32641765e-05, 6.35569313e-06,
  4.73047526e-05, 1.26581946e-04,-5.69773050e-05, 4.39485166e-05,
  6.15194377e-02,-7.64963576e-04, 1.88270776e-02,-3.04600836e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([7.31943942, 7.23361831, 1.11756858, 7.23361831, 7.14965811,
       1.09893315, 1.11756858, 1.09893315, 0.20644147, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -6.663195372909244e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99000405, -0.12347025, -0.06816948, -0.12317857,  0.99234827,
       -0.0084818 ,  0.06869512,  0.        , -0.9976377 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11454908, -0.04824337,  0.29709201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000399926664117381
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38803326e-13,  3.41586311e-14,  1.00000000e+00,  4.74133161e-27,
        1.00000000e+00, -3.41586311e-14, -1.00000000e+00,  0.00000000e+00,
       -1.38803326e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0881575 , -0.03557335,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.17230153e-05,-2.29406085e-05, 2.79232312e-05, 1.56708740e-05,
 -2.36595443e-05, 3.16072599e-07, 7.15369514e-06,-1.90367164e-05,
  2.27015385e-05, 1.08792817e-05, 8.69808750e-06, 1.21193044e-05,
 -5.98451482e-03, 2.47671753e-04,-7.52261803e-05, 1.66769903e-04,
 -4.67121299e-03, 4.93720322e-03,-9.80613489e+00,-6.62797256e-02,
 -7.44559766e-03,-7.69752724e-03]


--- Step 686 ---
qpos:
[ 0.00986123, 0.00808285,-0.00566331, 0.03347979, 0.00351661, 0.00281032,
 -0.00675302, 0.03912185, 0.01305702, 0.00592615,-0.01170308, 0.03407144,
  0.68589083, 0.00496903, 0.95514592, 0.0470692 , 0.09161272,-0.06649502,
  0.14295442, 0.95178213,-0.03993376, 0.0447883 , 0.30084892]

qacc:
[ 2.21447243e+00, 3.22503783e-01,-6.44011534e-01,-1.27931927e+00,
 -2.41890144e+00,-2.12682410e+00, 7.94602174e+00,-1.22059693e+01,
 -7.29720805e-01,-6.17349425e-01, 3.16913212e+00,-7.16831376e+00,
 -6.22980343e+01, 1.04020299e+02, 9.12739196e-01, 1.13808475e+01,
 -1.25191811e-02,-1.65698120e+00,-7.58761501e-01, 1.52811931e+01,
 -1.38158645e+01, 5.39355359e+00]

qfrc_actuator:
[ 6.15481058e-05, 2.24138322e-04,-3.86404226e-05, 8.43274930e-05,
 -3.45095930e-05, 1.54342685e-04,-2.29152085e-05,-4.80607327e-06,
  4.23729832e-05, 1.19536262e-04,-5.74467990e-05, 3.16418428e-05,
  6.13920608e-02,-7.66590113e-04, 1.88507640e-02,-2.95438710e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003944716566744444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40722788e-13, -2.11084182e-13,  1.00000000e+00,  2.97043545e-26,
        1.00000000e+00,  2.11084182e-13, -1.00000000e+00,  0.00000000e+00,
        1.40722788e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08815726, -0.03557162,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30245822e-05,-1.13025863e-05,-1.59881784e-05,-7.88219364e-06,
 -1.42794951e-05,-2.40507686e-05, 2.06087217e-05,-1.12745497e-05,
 -4.27811611e-06, 1.30300003e-06, 3.24506243e-06,-1.13096132e-05,
 -6.07077521e-03, 6.24549714e-05,-6.86013154e-07, 8.93069990e-05,
 -5.16858750e-03, 5.45376789e-03,-9.80557503e+00,-6.64074031e-02,
 -7.55070509e-03,-7.63898022e-03]


--- Step 687 ---
qpos:
[ 0.00986229, 0.00808245,-0.00566504, 0.0334805 , 0.00351611, 0.00281269,
 -0.00675282, 0.0391205 , 0.0130575 , 0.00592752,-0.01170261, 0.0340722 ,
  0.68722573, 0.00499453, 0.95578638, 0.04706732, 0.09162021,-0.06657299,
  0.14292869, 0.95155495,-0.03956272, 0.04432917, 0.30168342]

qacc:
[ 1.23452434e+00, 5.70432307e-01,-1.33325862e+00,-4.21931463e-01,
  1.64547954e+00,-1.06815058e+00, 5.39181481e+00,-1.30429096e+01,
 -3.60457757e+00, 7.10673043e-01,-5.34178521e+00, 1.52500606e+01,
 -1.35914972e+01, 8.77695293e+00, 3.15120640e-01,-4.68633248e-01,
 -1.33751628e-02,-1.66252985e+00,-7.57011380e-01, 1.53070120e+01,
 -1.39163380e+01, 5.34568162e+00]

qfrc_actuator:
[ 6.84759874e-05, 2.39140417e-04,-4.70587479e-05, 7.91715430e-05,
 -2.44823065e-05, 1.38630247e-04,-2.88347485e-05,-2.87693484e-05,
  2.13528947e-05, 9.69170807e-05,-5.79258298e-05, 5.98235081e-05,
  6.12694390e-02,-7.79506773e-04, 1.88098797e-02,-2.97089333e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038945193909570297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.4253659e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.4253659e-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([ 0.08815697, -0.03557001,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.29893875e-06, 5.07670620e-06,-1.29750114e-05,-6.34501557e-06,
  9.61256434e-06,-2.54859373e-05,-8.76934714e-06,-2.45038884e-05,
 -2.11354183e-05,-2.17661307e-05,-2.24092203e-07, 2.81251614e-05,
 -3.67679259e-03,-1.40131550e-03,-1.09393712e-04,-2.68231977e-05,
 -5.42871421e-03, 5.68239709e-03,-9.80512382e+00,-6.64729535e-02,
 -7.70382195e-03,-7.57814074e-03]


--- Step 688 ---
qpos:
[ 0.00986342, 0.00808239,-0.00566619, 0.0334814 , 0.00351609, 0.00281478,
 -0.00675238, 0.03911922, 0.01305739, 0.00592867,-0.01170212, 0.03407329,
  0.68854446, 0.00501378, 0.95642569, 0.0470646 , 0.09161814,-0.0666541 ,
  0.1429051 , 0.95133492,-0.0392092 , 0.04387188, 0.30248928]

qacc:
[  0.66741953, -0.7860654 ,  2.64684622, -0.53803533,  4.13544377,
  -0.88876654,  2.36095451, -1.40838256, -5.27780656,  0.35477479,
  -3.08028862,  8.99219476, -6.97373665,  0.23652541,  1.13366509,
  -5.71463668, -2.38871019, -0.78496208,  0.5333733 , -7.28177934,
   3.92545564,-15.05632083]

qfrc_actuator:
[ 7.21229889e-05, 3.01498441e-04, 1.98545661e-06, 9.36167312e-05,
 -6.27479697e-07, 1.28355072e-04,-1.46974602e-05,-2.45845010e-05,
 -8.95955500e-06, 8.29260360e-05,-5.84414860e-05, 7.60874714e-05,
  6.11437710e-02,-7.94311891e-04, 1.87516717e-02,-3.01547432e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.80711219, -6.26989917,  7.54107512, -6.26989917, 13.86847294,
        3.3767496 ,  7.54107512,  3.3767496 , 12.61465344,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038944443250042704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.42539337e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.42539337e-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([ 0.10734471, -0.05891226,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.86040876e-06, 6.22772577e-05, 4.82971970e-05, 1.40929637e-05,
  2.41205915e-05,-2.74706648e-05, 6.91741565e-06, 2.30930616e-06,
 -3.09169944e-05,-2.50664656e-05,-4.08806031e-06, 1.58660120e-05,
 -2.60873856e-03,-1.15344719e-03,-1.48179423e-04,-6.72180176e-05,
 -5.69345784e-03, 5.92581203e-03,-9.80464496e+00,-6.65372527e-02,
 -7.86261909e-03,-7.51355627e-03]


--- Step 689 ---
qpos:
[ 0.00986425, 0.0080826 ,-0.00566699, 0.0334825 , 0.003516  , 0.00281676,
 -0.00675211, 0.039118  , 0.01305725, 0.00592964,-0.01170164, 0.03407457,
  0.6898514 , 0.00502809, 0.95706391, 0.04705961, 0.09160732,-0.06673786,
  0.14288306, 0.95112132,-0.03887037, 0.04340854, 0.30327054]

qacc:
[ -2.71316008, -0.19488735,  0.43514921,  2.07995758, -0.52048046,
   0.44489098, -2.11449914,  3.66015612, -0.15145105,  0.16280342,
  -1.71608774,  5.06298174, -4.84468702, -0.51710519,  5.42170601,
 -20.85009636, -2.18914996, -0.66463433,  0.38829829, -7.23504714,
  -0.3122301 ,-13.1161906 ]

qfrc_actuator:
[ 5.60592673e-05, 3.03231717e-04, 1.37702439e-05, 1.01808510e-04,
 -4.33812701e-06, 1.21514646e-04,-2.42834772e-05,-2.15990478e-05,
 -8.98788942e-06, 7.42003987e-05,-5.89600708e-05, 8.52075912e-05,
  6.10217688e-02,-8.24904557e-04, 1.87044451e-02,-3.12939615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.87468001,  6.38393043, -7.53357403,  6.38393043, 18.75413252,
        7.52442425, -7.53357403,  7.52442425, 16.25085695,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003962099975887423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40105377e-13, -2.80210755e-13,  1.00000000e+00,  3.92590335e-26,
        1.00000000e+00,  2.80210755e-13, -1.00000000e+00,  0.00000000e+00,
        1.40105377e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10737463, -0.05888612,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59333396e-05, 4.71510837e-05, 3.10960611e-05, 1.28060996e-05,
 -3.03486145e-06,-2.07444735e-05,-1.43564187e-05, 2.08880972e-06,
 -9.12003826e-07,-2.29685398e-05,-5.67145150e-06, 8.20843877e-06,
 -1.92013665e-03,-8.70891092e-04,-1.47774838e-04,-1.41531926e-04,
 -5.33008242e-03, 5.56180503e-03,-9.80489271e+00,-6.64460704e-02,
 -7.86947152e-03,-7.43731738e-03]


--- Step 690 ---
qpos:
[ 0.00986488, 0.00808276,-0.00566775, 0.03348409, 0.00351553, 0.0028186 ,
 -0.00675251, 0.03911687, 0.01305781, 0.00593062,-0.01170179, 0.03407562,
  0.69114961, 0.00503852, 0.95769978, 0.04705571, 0.09158837,-0.06682391,
  0.14286208, 0.95091358,-0.03854398, 0.04293294, 0.3040304 ]

qacc:
[ -1.73997642,  0.82925597, -5.14594776, 13.71700159, -3.43501656,
   1.89015018, -7.3270146 ,  9.90793984,  6.05150788,  1.30417308,
  -3.68325077,  0.75838255, -3.16060793, -1.25098686, -6.64003349,
  18.42932079, -2.03098424, -0.57075712,  0.26476534, -7.19576256,
  -3.65847858,-11.57210902]

qfrc_actuator:
[ 4.62763996e-05, 2.68516235e-04, 3.20569141e-06, 1.23925429e-04,
 -2.42478845e-05, 9.89440356e-05,-6.55486660e-05,-1.93634657e-05,
  2.65640887e-05, 6.86896070e-05,-9.49629091e-05, 7.23054489e-05,
  6.09181318e-02,-8.63771616e-04, 1.85946084e-02,-3.07013049e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.92515628,  6.43742259, -7.55435752,  6.43742259, 21.12504744,
        9.54395291, -7.55435752,  9.54395291, 18.05800649,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040113581588432923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38384929e-13, -2.07577393e-13,  1.00000000e+00,  2.87255827e-26,
        1.00000000e+00,  2.07577393e-13, -1.00000000e+00,  0.00000000e+00,
        1.38384929e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10739825, -0.05886543,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02222031e-05,-1.38498211e-06, 3.45254430e-06, 2.54619493e-05,
 -2.00027867e-05,-3.71202469e-05,-4.72696220e-05, 8.88472147e-07,
  3.55217321e-05,-1.92188817e-05,-4.11816703e-05,-1.39289646e-05,
 -1.43184096e-03,-6.61350253e-04,-2.13303806e-04, 2.85012763e-05,
 -5.04296989e-03, 5.28844223e-03,-9.80501885e+00,-6.63849754e-02,
 -7.88198452e-03,-7.36235718e-03]


--- Step 691 ---
qpos:
[ 0.00986573, 0.00808294,-0.00566857, 0.03348524, 0.00351517, 0.00281997,
 -0.006753  , 0.03911578, 0.01305845, 0.00593139,-0.01170229, 0.03407617,
  0.692441  , 0.0050465 , 0.95833299, 0.04705518, 0.0915618 ,-0.06691194,
  0.14284173, 0.95071122,-0.03822822, 0.04244016, 0.30477141]

qacc:
[ 1.95090605e+00,-6.98143516e-01, 4.37418961e+00,-1.18641425e+01,
  9.74252169e-01,-2.88914734e-01,-3.27726333e-02, 1.19274779e+00,
  6.69554015e-01,-3.36177700e-01, 2.89134870e+00,-1.07998431e+01,
 -2.78182304e+00,-3.57836529e-02,-1.40004075e+01, 4.35381505e+01,
 -1.90575240e+00,-4.97864029e-01, 1.59391953e-01,-7.16283837e+00,
 -6.30380743e+00,-1.03409786e+01]

qfrc_actuator:
[ 5.80273330e-05, 2.65403424e-04,-2.85948202e-06, 1.00754937e-04,
 -1.80186859e-05, 6.69926989e-05,-7.19877365e-05,-1.76185297e-05,
  2.95054932e-05, 4.72310504e-05,-1.16124064e-04, 4.65288583e-05,
  6.08150106e-02,-8.71182738e-04, 1.84899645e-02,-2.89163823e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.9601915 ,  6.48529421, -7.55952207,  6.48529421, 24.12343683,
       12.15061112, -7.55952207, 12.15061112, 20.384169  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040449301916484215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37236364e-13, -6.86181820e-14,  1.00000000e+00, -9.41690981e-27,
        1.00000000e+00,  6.86181820e-14, -1.00000000e+00,  0.00000000e+00,
       -1.37236364e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10741692, -0.05884903,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14579650e-05,-2.08919361e-06,-5.04189357e-06,-2.26167522e-05,
  5.64943280e-06,-6.25017852e-05,-1.99113405e-05,-1.46360711e-06,
  3.94977753e-06,-4.13311162e-05,-3.06981699e-05,-2.83016694e-05,
 -1.09634050e-03,-4.73318187e-04,-2.11088719e-04, 1.50490651e-04,
 -4.81616661e-03, 5.08228078e-03,-9.80505120e+00,-6.63465807e-02,
 -7.89990501e-03,-7.28751543e-03]


--- Step 692 ---
qpos:
[ 0.00986637, 0.00808312,-0.00566945, 0.03348611, 0.00351454, 0.00282097,
 -0.00675336, 0.03911503, 0.01305911, 0.00593158,-0.01170235, 0.03407639,
  0.69372669, 0.00505343, 0.95896475, 0.0470559 , 0.091528  ,-0.06700175,
  0.14282166, 0.95051385,-0.03792168, 0.0419263 , 0.30549559]

qacc:
[ -1.85142995, -0.43065551,  2.71219103, -7.50539425, -2.3440247 ,
  -0.14819629, -1.63075066,  7.66544291,  0.2949886 , -2.64504541,
   9.70316291,-15.56516744, -3.27495796,  2.27950239, -5.75903096,
  17.48038892, -1.80675182, -0.44161771,  0.06935734, -7.1355085 ,
  -8.39842985, -9.35725987]

qfrc_actuator:
[ 4.68515099e-05, 2.63448935e-04,-6.13171643e-06, 8.66543742e-05,
 -3.19546490e-05, 6.53061725e-05,-5.78469228e-05, 1.59516341e-06,
  3.09703932e-05, 1.64245903e-05,-9.29068124e-05, 3.11416829e-05,
  6.06963652e-02,-8.41847635e-04, 1.84524582e-02,-2.82185445e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.98162691,  6.53003739, -7.54927065,  6.53003739, 27.93382021,
       15.52845286, -7.54927065, 15.52845286, 23.41357052,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004065228145513494
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36551134e-13, -6.82755669e-14,  1.00000000e+00,  9.32310607e-27,
        1.00000000e+00,  6.82755669e-14, -1.00000000e+00,  0.00000000e+00,
        1.36551134e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10743172, -0.05883601,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08489407e-05,-5.13176678e-06,-5.10376039e-06,-1.48065100e-05,
 -1.37962997e-05,-4.08531750e-05,-1.28072477e-06, 1.58184089e-05,
  1.56718943e-06,-6.14925789e-05, 9.91573382e-06,-1.87731534e-05,
 -8.70988489e-04,-3.20064360e-04,-1.26458382e-04, 4.94059672e-05,
 -4.63797941e-03, 4.92605726e-03,-9.80500936e+00,-6.63254956e-02,
 -7.92306652e-03,-7.21189313e-03]


--- Step 693 ---
qpos:
[ 0.00986652, 0.00808331,-0.00567015, 0.03348748, 0.00351409, 0.00282195,
 -0.0067535 , 0.0391155 , 0.01306013, 0.00593133,-0.01170271, 0.03407647,
  0.69500772, 0.00505941, 0.95959532, 0.04705606, 0.09148729,-0.06709315,
  0.14280157, 0.95032114,-0.03762319, 0.04138828, 0.30620456]

qacc:
[-4.24011198e+00, 5.61294570e-01,-4.02152424e+00, 1.22433500e+01,
  1.61392511e+00, 1.84039541e+00,-1.17663599e+01, 3.25423861e+01,
  3.14200449e+00,-7.56372701e-02, 5.27913714e-03,-1.74275541e+00,
 -2.70531896e+00, 1.84615822e+00, 1.07479255e-01,-2.55846497e+00,
 -1.72867027e+00,-3.98578235e-01,-7.70233570e-03,-7.11321319e+00,
 -1.00607607e+01,-8.56925023e+00]

qfrc_actuator:
[ 2.22639838e-05, 2.79966490e-04, 1.00440331e-05, 1.13520533e-04,
 -2.21505442e-05, 9.96189687e-05,-3.15475080e-05, 6.64724644e-05,
  4.93173420e-05,-1.95516067e-05,-1.14722766e-04, 2.20114604e-05,
  6.05632231e-02,-8.44137571e-04, 1.83966380e-02,-2.85203796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.99136045,  6.5746329 , -7.5233959 ,  6.5746329 , 32.79515728,
       19.92804776, -7.5233959 , 19.92804776, 27.4063151 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040743855751139424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.72488454e-13, -1.36244227e-13,  1.00000000e+00,  3.71249787e-26,
        1.00000000e+00,  1.36244227e-13, -1.00000000e+00,  0.00000000e+00,
        2.72488454e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10744347, -0.05882565,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48974022e-05, 1.19553543e-05, 1.39809031e-05, 2.61814553e-05,
  9.39700918e-06, 1.18453053e-05, 1.82449142e-05, 6.33911435e-05,
  1.83710344e-05,-6.91237759e-05,-3.39476195e-05,-1.17884449e-05,
 -7.16893972e-04,-2.68094177e-04,-1.20664078e-04,-4.62127945e-05,
 -4.49973559e-03, 4.80692954e-03,-9.80490738e+00,-6.63177412e-02,
 -7.95136150e-03,-7.13479113e-03]


--- Step 694 ---
qpos:
[ 0.00986638, 0.0080834 ,-0.00567029, 0.0334888 , 0.0035141 , 0.0028232 ,
 -0.00675368, 0.03911604, 0.01306137, 0.00593067,-0.01170366, 0.0340768 ,
  0.69628484, 0.00506464, 0.96022444, 0.04705584, 0.09143991,-0.06718601,
  0.14278117, 0.95013283,-0.03733184, 0.04082365, 0.3068996 ]

qacc:
[ -2.57742129, -1.8057891 ,  6.42169651, -8.01141806,  4.08802037,
   0.63638095, -2.03504222,  3.04256229,  1.8522065 ,  1.64002419,
  -7.66184817, 13.20082359, -2.27699834,  1.58330529, -0.86115817,
   0.2203285 , -1.66729538, -0.36601836, -0.07377728, -7.09552583,
 -11.38412767, -7.93615305]

qfrc_actuator:
[ 7.73941293e-06, 2.72029801e-04, 3.76760835e-05, 1.11045866e-04,
  1.55434906e-06, 1.19830437e-04,-3.36041462e-05, 6.89720499e-05,
  5.97019907e-05,-4.07580431e-05,-1.45239871e-04, 3.43430843e-05,
  6.04427980e-02,-8.47338412e-04, 1.83298581e-02,-2.86987155e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.99124643,  6.62267681, -7.48098637,  6.62267681, 39.01795156,
       25.69640923, -7.48098637, 25.69640923, 32.73945171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040742785134224857
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.72495614e-13,  6.81239035e-14,  1.00000000e+00, -1.85634649e-26,
        1.00000000e+00, -6.81239035e-14, -1.00000000e+00,  0.00000000e+00,
        2.72495614e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10745283, -0.05881739,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52315596e-05, 2.74749929e-06, 3.27331116e-05,-9.69987999e-07,
  2.39728083e-05, 3.32885955e-05, 4.81904369e-06, 4.86884215e-06,
  1.08833980e-05,-6.73550301e-05,-4.93771400e-05, 7.96609896e-06,
 -6.01789387e-04,-2.22520022e-04,-1.39047999e-04,-3.83783442e-05,
 -4.39493733e-03, 4.71525726e-03,-9.80475550e+00,-6.63203511e-02,
 -7.98472236e-03,-7.05566365e-03]


--- Step 695 ---
qpos:
[ 0.00986607, 0.00808368,-0.00567045, 0.03348973, 0.00351406, 0.00282439,
 -0.00675373, 0.03911629, 0.01306237, 0.0059298 ,-0.01170455, 0.0340772 ,
  0.69755856, 0.00506954, 0.9608521 , 0.04705403, 0.09138605,-0.06728024,
  0.14276026, 0.94994868,-0.03704688, 0.04023043, 0.30758176]

qacc:
[ -1.52575128, -0.47694584,  3.68947999,-10.43660908, -0.52829703,
  -1.06362232,  4.92524786,-10.15905745, -2.01947478, -0.30539044,
   0.38159097,  0.94731602, -2.31658051,  2.17086246,  2.78075338,
 -12.49542564, -1.61928511, -0.34177635, -0.13055062, -7.08210672,
 -12.44206714, -7.42576909]

qfrc_actuator:
[-7.41726029e-07, 2.85051124e-04, 3.62199025e-05, 9.13068416e-05,
 -2.26159991e-06, 9.57914231e-05,-3.47291235e-05, 5.24662260e-05,
  4.75591630e-05,-1.74761483e-05,-1.27307571e-04, 4.14620001e-05,
  6.03354297e-02,-8.33143554e-04, 1.82565685e-02,-2.95126613e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.98302578,  6.67863053, -7.42002008,  6.67863053, 47.00636585,
       33.32406199, -7.42002008, 33.32406199, 39.97743216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004066546495645196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36506865e-13, -6.82534324e-14,  1.00000000e+00,  9.31706206e-27,
        1.00000000e+00,  6.82534324e-14, -1.00000000e+00,  0.00000000e+00,
        1.36506865e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1074603 , -0.05881077,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.91580422e-06, 2.12682752e-05, 3.10778054e-06,-1.85097982e-05,
 -3.12317921e-06,-4.25576855e-06, 6.49853633e-06,-1.48225125e-05,
 -1.18583073e-05,-2.41993786e-05,-1.76781230e-06, 2.68182301e-06,
 -5.10802773e-04,-1.68933701e-04,-1.51163828e-04,-1.03453169e-04,
 -4.31867711e-03, 4.64374442e-03,-9.80456132e+00,-6.63310935e-02,
 -8.02310854e-03,-6.97408283e-03]


--- Step 696 ---
qpos:
[ 0.00986566, 0.00808428,-0.00567069, 0.03349041, 0.00351432, 0.00282551,
 -0.00675351, 0.03911702, 0.01306288, 0.00592878,-0.01170525, 0.03407733,
  0.69882923, 0.00507399, 0.96147842, 0.04704724, 0.09132586,-0.06737577,
  0.14273862, 0.9497685 ,-0.03676771, 0.03960705, 0.30825186]

qacc:
[ -0.88136304,  0.14336698,  1.19268961, -5.73001011,  2.64632948,
   0.1494315 , -2.74678616, 10.80626653, -4.37459096, -1.2965191 ,
   5.50166062,-10.51107285, -2.15112043,  1.96773268, 13.23078726,
 -48.85111145, -1.58198628, -0.32413904, -0.17945161, -7.07267402,
 -13.29250393, -7.01267789]

qfrc_actuator:
[-5.60097614e-06, 3.10390627e-04, 3.54219815e-05, 7.93187866e-05,
  1.32552350e-05, 9.86731873e-05,-1.77180883e-05, 7.81447679e-05,
  2.22572554e-05,-2.07889258e-05,-1.16233890e-04, 2.77749883e-05,
  6.02093616e-02,-8.44138712e-04, 1.81687741e-02,-3.21146484e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.96828263,  6.74826373, -7.33672919,  6.74826373, 57.28472451,
       43.52127771, -7.33672919, 43.52127771, 49.99879927,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004052613319896481
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.84880926e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.84880926e-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([ 0.1074663 , -0.05880545,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.10609697e-06, 3.70692082e-05, 3.33487778e-06,-1.13313229e-05,
  1.54269126e-05, 1.16455055e-06, 1.64055934e-05, 2.54295246e-05,
 -2.56510225e-05,-1.70555832e-05, 5.97118210e-06,-1.47293081e-05,
 -4.64015643e-04,-1.61780484e-04,-1.77526034e-04,-2.87246756e-04,
 -4.26722757e-03, 4.58682829e-03,-9.80433057e+00,-6.63482769e-02,
 -8.06649758e-03,-6.88971161e-03]


--- Step 697 ---
qpos:
[ 0.00986553, 0.00808486,-0.00567081, 0.03349097, 0.00351407, 0.00282694,
 -0.00675378, 0.03911771, 0.01306342, 0.00592771,-0.01170616, 0.03407765,
  0.70009709, 0.00507808, 0.96210273, 0.04704096, 0.09125947,-0.06747254,
  0.1427161 , 0.94959211,-0.03649384, 0.03895223, 0.30891057]

qacc:
[  2.54977554, -0.65188563,  2.77439982, -5.02701819, -4.47210244,
   1.70550722, -5.30277454,  5.13546479,  0.32447988,  0.93558538,
  -4.22617411,  7.92406156, -1.68472003,  1.34767059, -4.39612562,
  11.31211922, -1.55329117, -0.31174887, -0.22169851, -7.06698568,
 -13.98105004, -6.67680496]

qfrc_actuator:
[ 9.46097851e-06, 2.89654727e-04, 3.50935020e-05, 7.20075845e-05,
 -1.32223470e-05, 1.17755843e-04,-4.32635679e-05, 7.52147597e-05,
  2.49253368e-05,-2.22686005e-05,-1.27173094e-04, 3.74327998e-05,
  6.00934665e-02,-8.52252482e-04, 1.81149260e-02,-3.16659595e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040337072614882175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.88090975e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.88090975e-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([ 0.10747112, -0.05880115,  0.06199096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49279696e-05, 1.75866921e-07, 7.34233229e-06,-5.82989980e-06,
 -2.60403086e-05, 2.41728649e-05,-2.24225065e-05,-1.82284212e-06,
  1.92944335e-06,-1.03772657e-05,-1.42148741e-05, 8.85159706e-06,
 -4.25481084e-04,-1.46276671e-04,-1.75208314e-04, 4.40375174e-06,
 -4.23774940e-03, 4.54023845e-03,-9.80406760e+00,-6.63706102e-02,
 -8.11487922e-03,-6.80228284e-03]


--- Step 698 ---
qpos:
[ 0.00986559, 0.00808518,-0.00567079, 0.03349147, 0.0035135 , 0.00282844,
 -0.00675427, 0.03911802, 0.01306365, 0.00592692,-0.01170736, 0.03407804,
  0.70136244, 0.00508182, 0.96272468, 0.04703821, 0.09118694,-0.06757053,
  0.14269255, 0.94941937,-0.03622487, 0.03826491, 0.30955843]

qacc:
[  1.6020186 , -0.83511408,  2.74395182, -3.82719941, -2.77940658,
  -0.04883095,  1.93190553, -8.1599937 , -2.80866656,  1.31479355,
  -4.48524081,  6.07060367, -1.28503562,  0.82101571,-14.11035471,
  44.4622507 , -1.53152414, -0.30353009, -0.25833311, -7.06482838,
 -14.54360835, -6.40229278]

qfrc_actuator:
[ 1.83732842e-05, 2.59243767e-04, 3.48625133e-05, 6.74682637e-05,
 -2.87052520e-05, 1.10698644e-04,-5.81866683e-05, 5.54524038e-05,
  8.53359185e-06, 1.27998751e-05,-1.33243657e-04, 4.29855220e-05,
  5.99944152e-02,-8.58536037e-04, 1.80282956e-02,-2.97769091e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004010880498262759
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38401409e-13, -6.92007045e-14,  1.00000000e+00,  9.57747501e-27,
        1.00000000e+00,  6.92007045e-14, -1.00000000e+00,  0.00000000e+00,
        1.38401409e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10747503, -0.05879763,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.33578917e-06,-2.90610186e-05, 5.00791927e-07,-4.39409549e-06,
 -1.62138156e-05, 1.69146573e-06,-1.27686241e-05,-1.95408472e-05,
 -1.63445699e-05, 2.67595745e-05,-9.63574954e-06, 4.79221631e-06,
 -3.81652656e-04,-1.32636080e-04,-1.72755988e-04, 1.65368731e-04,
 -4.22808022e-03, 4.50067478e-03,-9.80377571e+00,-6.63971028e-02,
 -8.16825130e-03,-6.71158322e-03]


--- Step 699 ---
qpos:
[ 0.00986576, 0.00808516,-0.00567042, 0.03349191, 0.00351379, 0.00282973,
 -0.00675451, 0.03911776, 0.01306368, 0.00592665,-0.01170851, 0.03407844,
  0.70262545, 0.00508507, 0.96334557, 0.04703293, 0.09110835,-0.06766971,
  0.14266784, 0.94925012,-0.03596046, 0.03754424, 0.31019588]

qacc:
[  0.95161448, -1.55488648,  5.12850971, -6.47112457,  7.51838177,
  -2.20489611,  9.83557267,-20.02188629, -1.75397495,  0.59014859,
  -1.10050994,  0.72919651, -1.45833793,  1.07126646,  6.18355993,
 -23.69072746, -1.51535196, -0.29863026, -0.29024891, -7.06601069,
 -15.00842749, -6.17661098]

qfrc_actuator:
[ 2.35882366e-05, 2.41020635e-04, 5.23900088e-05, 6.45819471e-05,
  1.56779275e-05, 8.80574982e-05,-4.90614142e-05, 2.59418956e-05,
 -1.20109066e-06, 6.95013002e-05,-1.18485067e-04, 4.61128834e-05,
  5.98842419e-02,-8.81345513e-04, 1.79700321e-02,-3.11390603e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003985027556831222
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39299291e-13, -1.39299291e-13,  1.00000000e+00, -1.94042924e-26,
        1.00000000e+00,  1.39299291e-13, -1.00000000e+00,  0.00000000e+00,
       -1.39299291e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1074782 , -0.05879475,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.46981009e-06,-3.45690792e-05, 1.14286219e-05,-4.20209758e-06,
  4.39241388e-05,-2.52255406e-05, 7.21394737e-06,-3.02624372e-05,
 -1.01934034e-05, 6.99174010e-05, 1.92883259e-05, 4.03827337e-06,
 -3.63450717e-04,-1.36373230e-04,-1.24245868e-04,-1.50240364e-04,
 -4.23657976e-03, 4.46556997e-03,-9.80345746e+00,-6.64269908e-02,
 -8.22661718e-03,-6.61744086e-03]


--- Step 700 ---
qpos:
[ 0.00986599, 0.00808505,-0.00566993, 0.03349195, 0.00351426, 0.00283069,
 -0.00675486, 0.03911718, 0.01306428, 0.0059268 ,-0.01170945, 0.03407888,
  0.70388615, 0.00508771, 0.96396537, 0.04702597, 0.09102375,-0.06777008,
  0.14264185, 0.94908425,-0.03570033, 0.03678948, 0.31082327]

qacc:
[  0.54164211, -1.31335888,  6.20720455,-13.30642766,  1.62598043,
  -0.76056479,  3.43447973, -8.47216435,  5.03886728,  0.01829814,
   0.54264193, -0.50560574, -1.27812055,  0.71403967,  3.5288367 ,
 -14.53323614, -1.5037129 , -0.29637381, -0.31821403, -7.07035905,
 -15.39772351, -5.98985499]

qfrc_actuator:
[ 2.65872080e-05, 2.48058500e-04, 6.25529498e-05, 4.49585221e-05,
  2.39275090e-05, 5.63432580e-05,-6.13945480e-05, 8.68643062e-06,
  2.85715962e-05, 8.55543216e-05,-1.09197936e-04, 4.78257332e-05,
  5.97674707e-02,-9.13787330e-04, 1.79340820e-02,-3.19200361e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039569026431024446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40289404e-13, -1.40289404e-13,  1.00000000e+00,  1.96811168e-26,
        1.00000000e+00,  1.40289404e-13, -1.00000000e+00,  0.00000000e+00,
        1.40289404e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1074808 , -0.05879235,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.14207708e-06,-1.01156851e-05, 4.27908220e-06,-2.07931223e-05,
  9.49051435e-06,-4.56549993e-05,-1.77157107e-05,-1.86793728e-05,
  2.95044742e-05, 5.93269168e-05, 2.62607986e-05, 5.45768252e-06,
 -3.60358410e-04,-1.42569009e-04,-1.18672651e-04,-1.04380795e-04,
 -4.26201493e-03, 4.43291255e-03,-9.80311479e+00,-6.64596825e-02,
 -8.28998391e-03,-6.51971565e-03]


--- Step 701 ---
qpos:
[ 0.00986556, 0.00808493,-0.00566934, 0.03349139, 0.00351449, 0.00283139,
 -0.00675511, 0.03911673, 0.01306557, 0.00592683,-0.01170998, 0.03407904,
  0.70514448, 0.00508996, 0.96458333, 0.04702177, 0.09093317,-0.06787163,
  0.14261449, 0.94892164,-0.03544424, 0.036     , 0.31144089]

qacc:
[ -5.75162535, -1.44975495,  7.67574985,-18.03765663, -2.18554911,
  -0.37404642,  0.29100984,  1.89388582,  6.14913079, -1.87308962,
   7.57372251,-12.82846179, -1.21649487,  0.72327563,-10.99942173,
  34.70671695, -1.49576063, -0.29622529, -0.34289013, -7.07771526,
 -15.72895947, -5.83419311]

qfrc_actuator:
[-7.24586477e-06, 2.52380344e-04, 6.83736235e-05, 1.56584797e-05,
  1.08244273e-05, 5.48678485e-05,-5.08373012e-05, 1.65054641e-05,
  6.36040191e-05, 4.16233751e-05,-1.03377398e-04, 3.09027578e-05,
  5.96468207e-02,-9.33949577e-04, 1.78742812e-02,-3.03979079e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003927135769825896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.41352768e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.41352768e-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([ 0.10748293, -0.05879033,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.37465448e-05,-1.34339840e-06, 3.53383754e-06,-2.99912580e-05,
 -1.28477070e-05,-3.14922633e-05,-1.70789080e-06, 4.88576608e-06,
  3.58900835e-05,-5.07995168e-06, 2.15061755e-05,-1.33661306e-05,
 -3.63624837e-04,-1.30989592e-04,-1.34821844e-04, 1.29212185e-04,
 -4.30347336e-03, 4.40111411e-03,-9.80274918e+00,-6.64947176e-02,
 -8.35836123e-03,-6.41829177e-03]


--- Step 702 ---
qpos:
[ 0.00986472, 0.00808482,-0.00566872, 0.03349084, 0.0035149 , 0.00283201,
 -0.00675504, 0.03911599, 0.01306694, 0.00592663,-0.0117103 , 0.03407869,
  0.70640056, 0.00509137, 0.96520022, 0.04702026, 0.09083662,-0.06797437,
  0.14258567, 0.94876217,-0.03519201, 0.03517527, 0.31204899]

qacc:
[ -3.52768048, -0.08500228,  0.3113877 , -0.3514002 ,  1.64729162,
  -1.5952961 ,  6.77717824,-12.26987934,  0.58325863, -1.93280693,
   8.67381063,-17.86396185, -0.79543175, -0.22579836, -9.67785382,
  31.61189082, -1.49081977, -0.2977602 , -0.36484809, -7.08793497,
 -16.01585498, -5.70343037]

qfrc_actuator:
[-2.69805209e-05, 2.55019644e-04, 7.15794225e-05, 1.64059691e-05,
  2.07752594e-05, 7.16223953e-05,-2.67080647e-05, 3.55100562e-06,
  6.59333367e-05, 1.53281589e-05,-9.99172176e-05, 3.09372617e-06,
  5.95292599e-02,-9.82211057e-04, 1.78588593e-02,-2.89518483e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038962476363949006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.12366826e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.12366826e-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([ 0.10748469, -0.0587886 ,  0.06199125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.06955859e-05, 1.32099467e-06, 2.32341627e-06, 2.30160039e-07,
  9.57444425e-06,-1.02529734e-06, 1.75791586e-05,-1.42673200e-05,
  3.34695947e-06,-2.52448489e-05, 4.60274963e-06,-2.75432567e-05,
 -3.59364115e-04,-1.57596202e-04,-6.99340670e-05, 1.32989613e-04,
 -4.36029787e-03, 4.36890880e-03,-9.80236172e+00,-6.65317367e-02,
 -8.43176082e-03,-6.31307191e-03]


--- Step 703 ---
qpos:
[ 0.00986401, 0.00808478,-0.0056684 , 0.03349066, 0.00351577, 0.00283276,
 -0.00675505, 0.0391151 , 0.01306763, 0.00592642,-0.01171095, 0.03407836,
  0.70765449, 0.00509186, 0.96581626, 0.04702011, 0.09073412,-0.06807832,
  0.14255531, 0.94860573,-0.03494344, 0.03431481, 0.31264776]

qacc:
[  0.99482629,  1.69188135, -7.46664227, 14.33365042,  4.04742648,
   0.08045276,  0.55326764, -3.03540152, -5.92369948,  0.94246645,
  -3.48818592,  4.45219085, -0.72523452, -0.3744684 , -5.382939  ,
  17.05835903, -1.48835076, -0.30064191, -0.38458103, -7.10088662,
 -16.26918256, -5.59266468]

qfrc_actuator:
[-2.04947977e-05, 2.56647122e-04, 5.54815021e-05, 3.48265372e-05,
  4.42227297e-05, 8.14669822e-05,-3.02052390e-05,-3.74946265e-06,
  3.12414300e-05, 1.75115457e-05,-1.15585507e-04, 4.61644330e-06,
  5.94242771e-02,-1.02898955e-03, 1.78221303e-02,-2.82717852e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003864663251324646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43637744e-13, -2.15456617e-13,  1.00000000e+00,  3.09477024e-26,
        1.00000000e+00,  2.15456617e-13, -1.00000000e+00,  0.00000000e+00,
        1.43637744e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10748615, -0.05878711,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.89629525e-06, 2.84946809e-06,-1.55339292e-05, 1.85631672e-05,
  2.37192000e-05, 1.22725311e-05,-2.04436070e-06,-7.01419083e-06,
 -3.46056305e-05,-1.21461252e-05,-2.12607832e-05, 6.61645618e-08,
 -3.49535888e-04,-1.61140754e-04,-6.41471770e-05, 6.41958597e-05,
 -4.43203621e-03, 4.33527691e-03,-9.80195322e+00,-6.65704576e-02,
 -8.51019597e-03,-6.20397275e-03]


--- Step 704 ---
qpos:
[ 0.00986337, 0.00808456,-0.00566787, 0.03349036, 0.00351657, 0.00283375,
 -0.00675519, 0.03911446, 0.01306755, 0.00592607,-0.01171207, 0.03407876,
  0.70890614, 0.005092  , 0.96643141, 0.04701751, 0.09062566,-0.06818349,
  0.14252335, 0.94845222,-0.0346984 , 0.03341816, 0.31323736]

qacc:
[  0.74009265, -1.08058747,  4.03421932, -6.40305457, -0.63021201,
   1.21424547, -4.91639937,  9.30133928, -6.74898142,  2.65354443,
 -12.82260118, 26.41167852, -1.54367792,  1.33922295,  6.21956904,
 -23.43750501, -1.487922  , -0.30460339, -0.40251533, -7.11645073,
 -16.49739563, -5.49801538]

qfrc_actuator:
[-1.63853037e-05, 2.39842726e-04, 6.36247070e-05, 2.79743931e-05,
  3.99137477e-05, 1.04754039e-04,-3.22505103e-05, 1.00670896e-05,
 -7.19909128e-06, 1.16509939e-06,-1.42285700e-04, 4.11514370e-05,
  5.93162615e-02,-1.03893972e-03, 1.77460066e-02,-2.96466746e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003832724315676189
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44834709e-13, -2.89669419e-13,  1.00000000e+00, -4.19541861e-26,
        1.00000000e+00,  2.89669419e-13, -1.00000000e+00,  0.00000000e+00,
       -1.44834709e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10748737, -0.05878579,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.27816035e-06,-1.76218631e-05, 7.45841807e-06,-6.90655372e-06,
 -3.62998429e-06, 2.94103218e-05,-1.23155146e-08, 1.41345278e-05,
 -3.94289451e-05,-2.75212920e-05,-3.18125880e-05, 3.52844167e-05,
 -3.47689882e-04,-1.22775161e-04,-1.09059396e-04,-1.44518914e-04,
 -4.51840240e-03, 4.29938652e-03,-9.80152426e+00,-6.66106576e-02,
 -8.59368134e-03,-6.09092149e-03]


--- Step 705 ---
qpos:
[ 0.00986348, 0.00808417,-0.00566723, 0.03348998, 0.00351662, 0.00283507,
 -0.00675513, 0.03911396, 0.01306702, 0.00592517,-0.01171247, 0.03407923,
  0.71015546, 0.00509199, 0.96704513, 0.04701363, 0.09051125,-0.06828989,
  0.14248971, 0.94830152,-0.03445674, 0.03248494, 0.31381792]

qacc:
[  6.53597351, -0.68533857,  2.41710657, -3.72927866, -6.57395872,
   0.1572871 , -0.50319398,  2.29782946, -4.01672695, -2.58875145,
   7.94872723, -7.67951746, -1.64060804,  1.62314338,  1.86877544,
  -9.35788149, -1.48918772, -0.30943272, -0.41901984, -7.13451922,
 -16.70712366, -5.41640913]

qfrc_actuator:
[ 2.17891971e-05, 2.29956119e-04, 6.81733598e-05, 2.40601610e-05,
  1.54547424e-06, 1.35932828e-04,-1.55895156e-05, 1.84612508e-05,
 -2.97736045e-05,-2.61695166e-05,-1.04319512e-04, 4.47142134e-05,
  5.92011905e-02,-1.04475954e-03, 1.76782351e-02,-3.02689203e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038007004069701145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46055056e-13, -2.92110113e-13,  1.00000000e+00, -4.26641590e-26,
        1.00000000e+00,  2.92110113e-13, -1.00000000e+00,  0.00000000e+00,
       -1.46055056e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10748838, -0.05878461,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.82904375e-05,-1.84902657e-05, 1.58577910e-06,-4.54578917e-06,
 -3.84617978e-05, 4.81940026e-05, 2.32151062e-05, 9.92872741e-06,
 -2.37072294e-05,-4.77728367e-05, 2.96016331e-05, 1.97343621e-06,
 -3.45881206e-04,-1.09688779e-04,-1.43524921e-04,-8.63980281e-05,
 -4.61924672e-03, 4.26054854e-03,-9.80107519e+00,-6.66521597e-02,
 -8.68223286e-03,-5.97385307e-03]


--- Step 706 ---
qpos:
[ 0.00986405, 0.00808389,-0.00566694, 0.03348956, 0.00351656, 0.00283651,
 -0.00675448, 0.03911321, 0.01306656, 0.00592366,-0.01171206, 0.03407974,
  0.71140246, 0.00509191, 0.96765685, 0.04701233, 0.09039503,-0.06839739,
  0.14245854, 0.94814953,-0.03419352, 0.03152515, 0.31440331]

qacc:
[  3.99402124,  0.97909104, -3.11865261,  2.7958808 , -0.9969032 ,
  -1.97509605,  8.3100027 ,-13.54596377,  0.72429354, -3.02639997,
   9.43088691, -9.57439536, -1.43934414,  1.34669609,-10.67506963,
  33.2711158 , -0.45353288, -0.27542668,  0.61830514,  5.95708169,
 -16.04553743,  2.38051357]

qfrc_actuator:
[ 4.42032704e-05, 2.42030584e-04, 5.28303028e-05, 2.19077425e-05,
 -3.29524030e-06, 1.36169010e-04, 1.20152233e-05, 5.86322720e-06,
 -2.50751538e-05,-5.96367567e-05,-6.40550296e-05, 4.66296627e-05,
  5.90872981e-02,-1.04815895e-03, 1.76102301e-02,-2.88437726e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.81081732,  9.51641127, -2.38538323,  9.51641127, 11.1579355 ,
        5.37428552, -2.38538323,  5.37428552, 31.25136017,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038982069733113633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42401754e-13, -2.84803509e-13,  1.00000000e+00,  4.05565194e-26,
        1.00000000e+00,  2.84803509e-13, -1.00000000e+00,  0.00000000e+00,
        1.42401754e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09310319, -0.05508902,  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:
[ 2.34992873e-05, 1.88770309e-06,-1.91282208e-05,-2.97969620e-06,
 -5.91871754e-06, 3.23465327e-05, 4.07490649e-05,-9.53686335e-06,
  4.00347078e-06,-5.39566881e-05, 3.41254073e-05, 9.33551934e-07,
 -3.40885668e-04,-1.03983183e-04,-1.51077978e-04, 1.17631317e-04,
 -4.73453237e-03, 4.21818215e-03,-9.80060623e+00,-6.66948219e-02,
 -8.77586774e-03,-5.85270810e-03]


--- Step 707 ---
qpos:
[ 0.00986454, 0.00808345,-0.00566593, 0.03348941, 0.00351644, 0.00283798,
 -0.0067537 , 0.03911237, 0.0130665 , 0.00592206,-0.01171219, 0.03408064,
  0.71264704, 0.00509209, 0.96826701, 0.04701298, 0.09028398,-0.06850852,
  0.14243022, 0.94800641,-0.03385831, 0.03055842, 0.3149661 ]

qacc:
[ -0.6795398 , -1.59875345,  4.22744409, -0.38232082, -0.50393909,
  -0.55156433,  2.46049418, -4.46642875,  3.53994963,  2.24151272,
  -9.80427554, 17.51993965, -1.86087488,  2.24122746, -8.07557498,
  25.22308915,  1.29373211, -0.90691713,  0.71404894, 33.54348326,
 -14.35618707,-11.08718298]

qfrc_actuator:
[ 3.93983609e-05, 2.49331445e-04, 9.69683354e-05, 3.85672208e-05,
 -6.10544703e-06, 1.17907032e-04, 1.02140456e-05,-1.25214155e-06,
 -4.36730799e-06,-6.09878094e-05,-9.38137516e-05, 6.53038911e-05,
  5.89688703e-02,-1.03236550e-03, 1.75528390e-02,-2.78214538e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.96676291,  8.41653391, -5.33838177,  8.41653391, 13.50808545,
        5.58327644, -5.33838177,  5.58327644, 18.76939965,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040511722185734844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37024911e-13, -3.85382562e-14,  1.00000000e+00, -5.28070112e-27,
        1.00000000e+00,  3.85382562e-14, -1.00000000e+00,  0.00000000e+00,
       -1.37024911e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07102789, -0.0422654 ,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.13316887e-06, 4.29187900e-06, 4.20682440e-05, 1.60203930e-05,
 -2.96843382e-06, 7.77458867e-06, 9.54661492e-06,-4.50790767e-06,
  2.07971182e-05,-2.43860739e-05,-3.66574265e-05, 1.75619262e-05,
 -3.40728672e-04,-8.26309018e-05,-1.19758496e-04, 8.80780680e-05,
 -4.89200106e-03, 4.32333765e-03,-9.80006707e+00,-6.67771707e-02,
 -8.92041846e-03,-5.73593427e-03]


--- Step 708 ---
qpos:
[ 0.00986531, 0.00808277,-0.00566406, 0.03348981, 0.00351629, 0.00283945,
 -0.0067532 , 0.03911217, 0.0130667 , 0.00592071,-0.0117134 , 0.0340814 ,
  0.71388927, 0.00509245, 0.96887613, 0.04701082, 0.09018499,-0.0686163 ,
  0.1424131 , 0.94787763,-0.03346593, 0.02967287, 0.31547988]

qacc:
[  2.52249351, -1.6117613 ,  2.96204299,  5.31170526, -0.29615127,
   2.1381409 ,-10.37038592, 22.04741843,  2.14638197,  3.02069212,
  -9.75511287,  8.98070626, -2.03507171,  2.50461694,  7.12661906,
 -26.80450533,  3.01368965,  0.83841422,  2.79815715, 40.87378309,
  30.08574344,-23.24484643]

qfrc_actuator:
[ 5.41215552e-05, 2.36224007e-04, 1.40376143e-04, 6.62043802e-05,
 -7.70874383e-06, 1.06340823e-04,-9.01655561e-06, 3.03832526e-05,
  7.83618724e-06,-4.33608972e-05,-1.46787102e-04, 5.81620017e-05,
  5.88531400e-02,-1.02311792e-03, 1.74805451e-02,-2.93527091e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 10.66899989,   4.7527085 ,   9.55192758,   4.7527085 ,
        37.99895958, -13.59844185,   9.55192758, -13.59844185,
        17.43511381,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004634845714146518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.59307438e-13, -1.19769146e-13,  1.00000000e+00, -4.30339449e-26,
        1.00000000e+00,  1.19769146e-13, -1.00000000e+00,  0.00000000e+00,
       -3.59307438e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04859909, -0.06482382,  0.06198958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46049557e-05,-1.32967692e-06, 5.00233532e-05, 2.95875336e-05,
 -1.68517365e-06,-5.50171973e-06,-1.66293390e-05, 3.22080387e-05,
  1.27818609e-05,-2.76484011e-06,-6.19006738e-05,-9.11244079e-06,
 -3.32640391e-04,-8.48224324e-05,-1.25488208e-04,-1.65348649e-04,
 -4.59114560e-03, 4.14850840e-03,-9.79971821e+00,-6.67613414e-02,
 -9.17389695e-03,-5.62980319e-03]


--- Step 709 ---
qpos:
[ 0.0098659 , 0.00808196,-0.00566222, 0.03349059, 0.00351646, 0.00284101,
 -0.00675297, 0.03911199, 0.01306635, 0.00591926,-0.01171488, 0.03408206,
  0.7151291 , 0.00509347, 0.96948428, 0.04700608, 0.09009776,-0.06872131,
  0.14240498, 0.94775914,-0.033024  , 0.02886429, 0.31595709]

qacc:
[ -1.52919977,  0.66506536, -4.18921854, 10.79106722,  2.86396024,
   0.89563669, -3.09303394,  3.78260414, -4.80031029,  0.45996959,
  -1.36974583,  0.08829069, -2.4719895 ,  3.53632301,  6.54992607,
 -24.56051262,  2.9418665 ,  0.69307255,  2.24934688, 36.33731594,
  29.12298451,-16.93049021]

qfrc_actuator:
[ 4.47243221e-05, 2.11025635e-04, 1.29650995e-04, 8.22975742e-05,
  9.16279194e-06, 1.16571892e-04,-2.05779471e-05, 3.13023612e-05,
 -2.05739593e-05,-5.01387862e-05,-1.59696088e-04, 5.36509733e-05,
  5.87444333e-02,-9.82319111e-04, 1.74472508e-02,-3.06009873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 11.76383248, -11.39091682,  -2.93849768, -11.39091682,
        12.06049685,  -1.15000232,  -2.93849768,  -1.15000232,
        16.22175016,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005337929500574268
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07987577e-13, -5.19968943e-14,  1.00000000e+00, -1.08147081e-26,
        1.00000000e+00,  5.19968943e-14, -1.00000000e+00,  0.00000000e+00,
       -2.07987577e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04863694, -0.06486966,  0.06198801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.98468588e-06,-1.43364434e-05,-3.83110485e-06, 1.83385323e-05,
  1.68210351e-05, 5.04036234e-06,-1.36541396e-05, 7.31034315e-07,
 -2.80502935e-05,-2.14341865e-05,-2.13917654e-05,-6.94503571e-06,
 -3.22062484e-04,-5.15973009e-05,-1.18195586e-04,-1.52105511e-04,
 -3.72068736e-03, 3.61465216e-03,-9.80088253e+00,-6.65183435e-02,
 -9.42776719e-03,-5.52694700e-03]


--- Step 710 ---
qpos:
[ 0.00986638, 0.00808113,-0.00566054, 0.0334919 , 0.00351649, 0.00284266,
 -0.00675289, 0.03911182, 0.01306601, 0.00591769,-0.011716  , 0.03408297,
  0.71636656, 0.00509526, 0.97009105, 0.04700507, 0.09002199,-0.06882401,
  0.14240383, 0.94764779,-0.03253869, 0.02812891, 0.31640743]

qacc:
[ -1.03291886,  1.54308831, -7.78612693, 17.25569479, -1.27358809,
   0.55376257, -1.85164518,  2.16833457,  0.0765481 , -0.70046968,
   1.24080761,  2.46208522, -2.14338947,  3.09240558,-13.16942934,
  43.50515708,  2.86431033,  0.57513274,  1.74248173, 32.63057271,
  28.17366929,-12.02924081]

qfrc_actuator:
[ 3.89522373e-05, 2.14057876e-04, 1.22489356e-04, 1.09170520e-04,
  1.26753690e-06, 1.22024161e-04,-2.74517584e-05, 3.19135576e-05,
 -1.94004627e-05,-3.58164097e-05,-1.31172690e-04, 6.84940481e-05,
  5.86347054e-02,-9.40892133e-04, 1.74427143e-02,-2.84750821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 12.65537017, -12.24574456,  -3.19376493, -12.24574456,
        12.9995503 ,  -1.31967818,  -3.19376493,  -1.31967818,
        17.71536747,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005874463231724941
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.72478498e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.72478498e-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([ 0.04866577, -0.06490583,  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:
[-6.03315854e-06,-4.98946983e-06,-9.97454301e-06, 2.64791708e-05,
 -7.41475089e-06, 5.42838462e-06,-7.51046457e-06, 3.64670851e-07,
  3.63873768e-07,-2.32251357e-06, 2.12544641e-05, 1.30554269e-05,
 -3.09062971e-04,-4.15797112e-05,-8.50246776e-05, 1.86903156e-04,
 -3.09460028e-03, 3.29850679e-03,-9.80181763e+00,-6.63211035e-02,
 -9.64233075e-03,-5.42471344e-03]


--- Step 711 ---
qpos:
[ 0.00986713, 0.00808047,-0.00565904, 0.03349315, 0.00351642, 0.00284428,
 -0.00675258, 0.03911164, 0.01306637, 0.00591647,-0.01171695, 0.03408365,
  0.71760213, 0.00509645, 0.9706966 , 0.0470066 , 0.08995737,-0.0689248 ,
  0.1424078 , 0.94754114,-0.03201496, 0.02746339, 0.31683842]

qacc:
[ 2.37662276, 0.58665692,-1.5235054 , 0.66441624,-0.82497072,-0.67157773,
  2.37551175,-2.81079698, 6.20747287,-0.43604836, 3.14346236,-7.45732452,
 -0.71692621,-0.0449491 ,-9.43517027,30.43825821, 2.78646186, 0.47926021,
  1.28320925,29.60595861,27.26981561,-8.23163394]

qfrc_actuator:
[ 5.31203727e-05, 2.33978185e-04, 1.17626067e-04, 1.06700341e-04,
 -3.39495180e-06, 1.24590587e-04,-1.37624551e-05, 3.23440037e-05,
  1.69417768e-05, 8.98156723e-06,-1.13837501e-04, 5.91391827e-05,
  5.85244481e-02,-9.88226364e-04, 1.73862681e-02,-2.72179334e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 13.31420355, -12.8659503 ,  -3.42568814, -12.8659503 ,
        13.76897251,  -1.70798815,  -3.42568814,  -1.70798815,
        19.72894119,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00062696332859484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.85397099e-14, -4.42698549e-14,  1.00000000e+00, -3.91964011e-27,
        1.00000000e+00,  4.42698549e-14, -1.00000000e+00,  0.00000000e+00,
       -8.85397099e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04868713, -0.06493439,  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:
[ 1.39944757e-05, 1.62084761e-05,-6.21930767e-06,-2.51838395e-06,
 -4.87110873e-06, 4.00335289e-06, 1.38786507e-05, 4.07134239e-07,
  3.63444372e-05, 4.85158644e-05, 1.99540386e-05,-8.46104389e-06,
 -2.98363591e-04,-1.25788961e-04,-8.38892443e-05, 1.23182321e-04,
 -2.65833131e-03, 3.12719813e-03,-9.80257069e+00,-6.61558817e-02,
 -9.83020230e-03,-5.32391683e-03]


--- Step 712 ---
qpos:
[ 0.00986805, 0.0080801 ,-0.00565791, 0.03349332, 0.00351665, 0.00284591,
 -0.00675212, 0.03911147, 0.01306682, 0.00591585,-0.01171781, 0.03408385,
  0.71883574, 0.00509712, 0.97130109, 0.04700926, 0.08990348,-0.0690238 ,
  0.14241548, 0.94743713,-0.03145813, 0.02686509, 0.31725627]

qacc:
[  1.42028619, -0.78967023,  7.9351303 ,-26.2156197 ,  2.55065993,
  -0.42267512,  1.48459732, -1.61286909,  0.7621299 , -0.51552042,
   5.04262556,-14.1311865 , -0.94665518,  0.36328005, -4.96698778,
  15.22652475,  2.68343777,  0.4474765 ,  0.92320441, 26.54895032,
  26.78191981, -5.11677827]

qfrc_actuator:
[ 6.11579072e-05, 2.46092800e-04, 9.64598475e-05, 5.14962568e-05,
  1.16430464e-05, 1.25495037e-04,-5.80711260e-06, 3.26756678e-05,
  2.04257377e-05, 5.38883125e-05,-1.03146645e-04, 3.56328253e-05,
  5.84192407e-02,-1.01673849e-03, 1.73359928e-02,-2.66624385e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 13.77025241, -13.51698393,  -2.6288775 , -13.51698393,
        14.1790272 ,  -2.10181043,  -2.6288775 ,  -2.10181043,
        24.57719865,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006546024907701425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.95726940e-08, -2.95729927e-08,  1.00000000e+00,  8.74553064e-16,
        1.00000000e+00,  2.95729927e-08, -1.00000000e+00,  0.00000000e+00,
        2.95726940e-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([ 0.04912364, -0.06558428,  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:
[ 8.44256712e-06, 1.97920553e-05,-1.86851866e-05,-5.47791100e-05,
  1.49003321e-05, 5.96353371e-06, 1.04836676e-05, 9.87574577e-07,
  4.52880652e-06, 7.58636883e-05, 2.29001017e-05,-2.08996912e-05,
 -3.06620592e-04,-1.22298520e-04,-8.39540233e-05, 4.96577669e-05,
 -2.37123728e-03, 3.05189812e-03,-9.80317785e+00,-6.60124835e-02,
 -9.99952782e-03,-5.22516731e-03]


--- Step 713 ---
qpos:
[ 0.00986905, 0.00807993,-0.00565704, 0.03349283, 0.00351671, 0.00284762,
 -0.00675188, 0.03911167, 0.01306696, 0.00591548,-0.01171837, 0.03408344,
  0.72006707, 0.00509805, 0.97190477, 0.04700924, 0.08984887,-0.06910813,
  0.14243084, 0.94734594,-0.0309977 , 0.02632589, 0.31761889]

qacc:
[  0.77306548, -0.38864065,  4.51730168,-15.60663957, -1.47243832,
   1.4853904 , -6.70084947, 13.37117015, -2.68843973, -1.70848038,
   9.11488168,-20.13311025, -2.04577255,  2.59347215,  7.07179345,
 -26.13185829, -0.17926922,  3.66759738,  1.92226932,-35.34618103,
  43.98315972,-28.560777  ]

qfrc_actuator:
[ 6.55163164e-05, 2.53327819e-04, 8.35314675e-05, 1.89526317e-05,
  2.64976986e-06, 1.25380576e-04,-1.90673825e-05, 5.06906474e-05,
  4.53079707e-06, 4.52217043e-05,-9.64518057e-05, 3.99352268e-06,
  5.83064873e-02,-9.98301942e-04, 1.72734713e-02,-2.81219270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([14.78384732, -9.54724492, 11.28770375, -9.54724492, 30.82808032,
       13.57036164, 11.28770375, 13.57036164, 26.26178554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000718398577330609
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.86353432e-14,  9.65883581e-14,  1.00000000e+00, -3.73172437e-27,
        1.00000000e+00, -9.65883581e-14, -1.00000000e+00,  0.00000000e+00,
        3.86353432e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08125744, -0.11331694,  0.0619839 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.60884220e-06, 1.20954442e-05,-1.30473437e-05,-3.34107597e-05,
 -8.56804032e-06, 5.36908576e-06,-1.07278745e-05, 1.86475090e-05,
 -1.57426019e-05, 3.76264686e-05, 2.44799036e-05,-2.79999565e-05,
 -3.18336068e-04,-7.64788549e-05,-1.04898292e-04,-1.56056561e-04,
 -2.20524737e-03, 3.03549935e-03,-9.80367853e+00,-6.58834684e-02,
 -1.01542543e-02,-5.12869191e-03]


--- Step 714 ---
qpos:
[ 0.0098701 , 0.00807966,-0.00565629, 0.03349302, 0.00351666, 0.00284929,
 -0.00675146, 0.03911173, 0.01306726, 0.00591491,-0.01171862, 0.03408306,
  0.72129618, 0.00509921, 0.97250736, 0.04700743, 0.08979391,-0.06917832,
  0.14245158, 0.94726451,-0.03062805, 0.02583953, 0.3179374 ]

qacc:
[  0.39060084,  1.61623053, -8.79299803, 20.76440055, -0.94415192,
  -0.84457297,  3.57107982, -6.35959986,  1.36536607, -1.06815533,
   3.30791255, -3.17089994, -1.92967888,  2.39690212,  3.95730832,
 -15.83796304, -0.08822849,  3.53347247,  1.34453997,-33.87245098,
  39.9989951 ,-22.81992729]

qfrc_actuator:
[ 6.76761276e-05, 2.39872454e-04, 7.55785268e-05, 5.32727505e-05,
 -2.66941896e-06, 1.24584023e-04,-9.23340864e-06, 4.34460555e-05,
  1.28724318e-05, 4.51164646e-06,-9.23862031e-05, 3.28358485e-06,
  5.81946295e-02,-9.87764427e-04, 1.72302474e-02,-2.89814166e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.44948467,   4.23436282, -14.85788505,   4.23436282,
        12.27195897,  -0.90556608, -14.85788505,  -0.90556608,
        15.19140653,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007639334300109518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.63324532e-14, -5.44986798e-14,  1.00000000e+00,  1.98007074e-27,
        1.00000000e+00,  5.44986798e-14, -1.00000000e+00,  0.00000000e+00,
        3.63324532e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08129458, -0.11328407,  0.06198289])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29700759e-06,-1.08227121e-05,-8.22572639e-06, 3.37358765e-05,
 -5.56124974e-06, 7.20654079e-07, 1.02439382e-05,-7.02719374e-06,
  7.90564927e-06,-1.57966856e-05, 1.38967374e-05, 1.20818197e-06,
 -3.14448582e-04,-7.70678316e-05,-1.18515801e-04,-1.10278110e-04,
 -1.67478349e-03, 2.20495843e-03,-9.80522021e+00,-6.56355124e-02,
 -1.00885957e-02,-5.01168396e-03]


--- Step 715 ---
qpos:
[ 0.00987082, 0.0080792 ,-0.00565532, 0.03349396, 0.00351689, 0.00285087,
 -0.00675062, 0.03911203, 0.01306766, 0.00591383,-0.01171837, 0.03408305,
  0.72252317, 0.00510047, 0.97310833, 0.04700821, 0.08973888,-0.06923487,
  0.14247568, 0.94719042,-0.03034435, 0.0254009 , 0.31822057]

qacc:
[-2.85966230e+00, 6.59880866e-01,-5.87677044e+00, 1.85640467e+01,
  2.49091406e+00,-7.89072283e-01, 1.54497176e+00, 2.22204759e+00,
  8.84599608e-01,-1.35278747e+00, 2.28770844e+00, 3.62927412e+00,
 -1.45494146e+00, 1.58360308e+00,-1.01304629e+01, 3.21970168e+01,
 -1.86419922e-02, 3.41132686e+00, 8.39440019e-01,-3.25590450e+01,
  3.67191814e+01,-1.82833628e+01]

qfrc_actuator:
[ 5.07730767e-05, 2.31959328e-04, 8.83329724e-05, 9.11353704e-05,
  1.19766304e-05, 1.23453560e-04, 1.41416518e-05, 5.69176068e-05,
  1.76659375e-05,-3.73212731e-05,-7.22777131e-05, 2.07446625e-05,
  5.80940392e-02,-9.82040846e-04, 1.71880041e-02,-2.75263196e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.85482315,   4.4812659 , -15.20834222,   4.4812659 ,
        13.80303295,  -0.60457724, -15.20834222,  -0.60457724,
        15.67667939,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007943537846562959
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.74705378e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.74705378e-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([ 0.08132358, -0.11326126,  0.06198222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68424291e-05,-1.42209095e-05, 1.06656992e-05, 3.77690232e-05,
  1.44880729e-05, 1.01947200e-06, 2.45179391e-05, 1.37154808e-05,
  5.00996292e-06,-4.77161304e-05, 1.86094172e-05, 1.72908634e-05,
 -3.01072602e-04,-8.11055407e-05,-1.17685420e-04, 1.22219395e-04,
 -1.30558975e-03, 1.59595622e-03,-9.80640985e+00,-6.54516836e-02,
 -1.00499506e-02,-4.91238765e-03]


--- Step 716 ---
qpos:
[ 0.00987134, 0.00807872,-0.00565395, 0.03349461, 0.00351764, 0.00285232,
 -0.00674974, 0.03911253, 0.01306811, 0.00591263,-0.01171799, 0.03408323,
  0.723748  , 0.00510186, 0.9737076 , 0.04701041, 0.08968398,-0.06927821,
  0.14250138, 0.94712175,-0.03014255, 0.02500584, 0.31847533]

qacc:
[ -1.81578608, -1.71280259,  7.28594202,-12.80893944,  4.564669  ,
   0.12024379, -1.46138079,  4.74754165,  0.4820086 , -0.11895835,
  -0.60170858,  3.72805465, -1.56772433,  1.75744183, -6.70326418,
  20.0552492 ,  0.03440851,  3.30264964,  0.40299854,-31.40713445,
  34.02624059,-14.69608102]

qfrc_actuator:
[ 4.05388897e-05, 2.45271647e-04, 1.13218477e-04, 7.75260566e-05,
  3.82554358e-05, 1.04456333e-04, 9.82874191e-06, 6.47277570e-05,
  2.03250967e-05,-2.61762766e-05,-6.06227541e-05, 3.10051815e-05,
  5.79789759e-02,-9.79177450e-04, 1.70985043e-02,-2.68494462e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.07655589,   4.72726836, -15.36582517,   4.72726836,
        16.26896052,   0.05919294, -15.36582517,   0.05919294,
        16.09476649,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008123534167566171
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.41668725e-14, -3.41668725e-14,  1.00000000e+00,  1.16737518e-27,
        1.00000000e+00,  3.41668725e-14, -1.00000000e+00,  0.00000000e+00,
        3.41668725e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08134616, -0.11324663,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07206967e-05, 9.17679051e-06, 2.45603625e-05,-1.31172453e-05,
  2.66894993e-05,-1.28375863e-05,-6.37664838e-07, 8.96235659e-06,
  2.78028022e-06,-1.09139853e-05, 4.69890974e-06, 9.19782879e-06,
 -3.08042267e-04,-8.19970243e-05,-1.37350831e-04, 5.77526309e-05,
 -1.04730409e-03, 1.15651910e-03,-9.80732540e+00,-6.53154891e-02,
 -1.00286312e-02,-4.82878026e-03]


--- Step 717 ---
qpos:
[ 0.00987207, 0.0080784 ,-0.00565263, 0.03349511, 0.00351835, 0.00285357,
 -0.0067491 , 0.03911245, 0.01306962, 0.00591179,-0.011718  , 0.03408385,
  0.72497045, 0.00510368, 0.9743051 , 0.04701308, 0.08962938,-0.06930872,
  0.14252721, 0.94705698,-0.0300192 , 0.02465096, 0.31870716]

qacc:
[ 1.90895279e+00, 3.15174936e-02, 8.56565565e-01,-3.62375951e+00,
 -3.17255366e-01,-7.88242693e-01, 4.83719876e+00,-1.41976022e+01,
  9.33039749e+00, 2.45704893e+00,-9.94314652e+00, 1.79228931e+01,
 -2.03848467e+00, 2.65762352e+00,-3.90100346e+00, 1.01901134e+01,
  7.46887996e-02, 3.20747750e+00, 2.88644953e-02,-3.04083952e+01,
  3.18190706e+01,-1.18569526e+01]

qfrc_actuator:
[ 5.20707458e-05, 2.53454839e-04, 1.09607276e-04, 6.92682377e-05,
  3.56588489e-05, 7.47949597e-05,-1.08828582e-05, 3.35992658e-05,
  7.49660591e-05, 1.65715638e-05,-7.16067677e-05, 5.47317817e-05,
  5.78499833e-02,-9.60335484e-04, 1.70073450e-02,-2.66381715e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.16895832,   4.98997505, -15.37970618,   4.98997505,
        19.84049973,   1.19123862, -15.37970618,   1.19123862,
        16.55545797,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008202350747154308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01515687e-13,  8.45964056e-14,  1.00000000e+00, -8.58786220e-27,
        1.00000000e+00, -8.45964056e-14, -1.00000000e+00,  0.00000000e+00,
        1.01515687e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08136371, -0.11323859,  0.06198165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12291540e-05, 1.78204779e-05, 8.43508741e-07,-7.27321513e-06,
 -1.84262711e-06,-3.66428039e-05,-2.31613247e-05,-3.15336264e-05,
  5.47122187e-05, 3.80506187e-05,-1.23318139e-05, 2.36019049e-05,
 -3.26626611e-04,-6.76766439e-05,-1.54578910e-04, 5.22124834e-06,
 -8.65555926e-04, 8.49985437e-04,-9.80802429e+00,-6.52152654e-02,
 -1.00177431e-02,-4.75927093e-03]


--- Step 718 ---
qpos:
[ 0.00987259, 0.00807811,-0.00565162, 0.03349623, 0.00351868, 0.00285478,
 -0.00674907, 0.039112  , 0.01307143, 0.00591128,-0.01171787, 0.03408436,
  0.7261905 , 0.00510605, 0.97490062, 0.04701403, 0.0895752 ,-0.06932673,
  0.14255187, 0.94699492,-0.02997142, 0.02433352, 0.31892039]

qacc:
[ -1.87298493,  2.16463545,-10.31321478, 21.58003838, -3.37293356,
   0.88757273, -1.70215335, -3.62895883,  2.62028038, -0.16371135,
   1.61639983, -3.76942554, -2.27469123,  3.11686749,  2.45660415,
 -12.43231699,  0.10509558,  3.12508627, -0.29012781,-29.55010712,
  30.0123502 , -9.60746723]

qfrc_actuator:
[ 4.08138930e-05, 2.40642601e-04, 8.91929568e-05, 9.97157947e-05,
  1.60838472e-05, 7.43696360e-05,-4.11792930e-05, 1.52961575e-05,
  8.87551583e-05, 4.23359417e-05,-6.02064834e-05, 5.07058377e-05,
  5.77287077e-02,-9.32263955e-04, 1.68886292e-02,-2.75900762e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.1657143 ,   5.28274029, -15.27818621,   5.28274029,
        24.69455181,   2.94901718, -15.27818621,   2.94901718,
        17.18539633,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008199539998846039
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.38501619e-14, -8.46254047e-14,  1.00000000e+00,  2.86458365e-27,
        1.00000000e+00,  8.46254047e-14, -1.00000000e+00,  0.00000000e+00,
        3.38501619e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08137729, -0.11323585,  0.06198166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09308917e-05,-2.98780472e-06,-1.68950259e-05, 3.10948698e-05,
 -1.96379290e-05,-2.71051830e-05,-4.18310343e-05,-2.12922993e-05,
  1.53545065e-05, 4.55595661e-05, 1.85656030e-05,-2.36412613e-06,
 -3.26756396e-04,-5.95954527e-05,-1.95556673e-04,-1.16147429e-04,
 -7.36752838e-04, 6.50269660e-04,-9.80854891e+00,-6.51427173e-02,
 -1.00124033e-02,-4.70260959e-03]


--- Step 719 ---
qpos:
[ 0.00987262, 0.00807777,-0.0056508 , 0.03349736, 0.00351913, 0.002856  ,
 -0.00674954, 0.03911236, 0.01307201, 0.00591094,-0.01171698, 0.0340848 ,
  0.72740828, 0.00510876, 0.9754941 , 0.04701572, 0.08952154,-0.06933252,
  0.14257429, 0.9469346 ,-0.0299968 , 0.02405126, 0.31911845]

qacc:
[ -4.25056781,  0.5351105 , -2.02151853,  2.55207411,  0.93097079,
   3.10435619,-14.42941664, 29.14963305,-10.78131805, -2.02918955,
   7.92191857,-10.61326582, -1.85571649,  2.33471778, -5.1249198 ,
  13.88292498,  0.12786503,  3.05439904, -0.56109398,-28.81808128,
  28.53504131, -7.82275963]

qfrc_actuator:
[ 1.62270041e-05, 2.33064716e-04, 7.67225912e-05, 9.94095572e-05,
  2.21871584e-05, 9.14135097e-05,-5.90068977e-05, 5.79689926e-05,
  2.51149189e-05, 5.78028433e-05,-1.79958431e-05, 4.81425339e-05,
  5.76174759e-02,-9.16699550e-04, 1.68226969e-02,-2.70895219e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 16.08617394,   5.61583802, -15.07406234,   5.61583802,
        31.00398996,   5.55762849, -15.07406234,   5.55762849,
        18.156667  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008131622342640032
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.82657764e-14, -6.82657764e-14,  1.00000000e+00,  4.66021622e-27,
        1.00000000e+00,  6.82657764e-14, -1.00000000e+00,  0.00000000e+00,
        6.82657764e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08138776, -0.11323731,  0.06198182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49002771e-05,-1.14151082e-05,-1.41034981e-05,-4.17375619e-07,
  5.53811497e-06,-7.71663577e-06,-2.93279751e-05, 3.96487582e-05,
 -6.31899293e-05, 4.47045285e-05, 5.38309132e-05,-1.51714892e-08,
 -3.15719052e-04,-7.00767405e-05,-1.73612351e-04, 1.74237177e-05,
 -6.44604068e-04, 5.38661859e-04,-9.80893060e+00,-6.50919083e-02,
 -1.00091680e-02,-4.65781379e-03]


--- Step 720 ---
qpos:
[ 0.00987271, 0.00807745,-0.00564989, 0.0334981 , 0.00351998, 0.00285704,
 -0.0067499 , 0.03911322, 0.01307183, 0.0059105 ,-0.01171544, 0.0340856 ,
  0.72862398, 0.00511138, 0.97608631, 0.04701977, 0.08946845,-0.06932633,
  0.14259355, 0.94687526,-0.03009333, 0.02380238, 0.31930406]

qacc:
[  0.43927407, -1.04490302,  5.41363747,-12.30253646,  3.65279807,
   0.43105853, -3.97135271, 12.41594255, -6.72240498, -1.21319947,
   2.67309723,  2.43997182, -1.30523804,  1.19990839, -8.92077663,
  28.66525813,  0.14472785,  2.99421893, -0.79066193,-28.19825289,
  27.32854116, -6.40448932]

qfrc_actuator:
[ 1.95036926e-05, 2.46432042e-04, 8.67878514e-05, 8.10141282e-05,
  4.33609081e-05, 8.33858687e-05,-5.14548352e-05, 8.29458058e-05,
 -1.25654176e-05, 3.16099384e-05, 6.51986586e-06, 6.42264142e-05,
  5.75123451e-02,-9.26403161e-04, 1.68151397e-02,-2.57352791e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.94148351,   5.99724556, -14.7703738 ,   5.99724556,
        38.90208363,   9.32274017, -14.7703738 ,   9.32274017,
        19.72681507,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008012503188326858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.46403302e-14,  8.66008255e-14,  1.00000000e+00, -2.99988119e-27,
        1.00000000e+00, -8.66008255e-14, -1.00000000e+00,  0.00000000e+00,
        3.46403302e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0813958 , -0.11324207,  0.06198209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56390595e-06, 4.04425840e-06, 5.94872454e-06,-1.93832245e-05,
  2.13280380e-05,-1.67397501e-05, 3.70789037e-06, 2.44004723e-05,
 -3.94631061e-05, 9.90540064e-06, 4.03754509e-05, 1.98623455e-05,
 -3.04947628e-04,-9.53205168e-05,-9.05303292e-05, 1.12989569e-04,
 -5.77794308e-04, 5.01652154e-04,-9.80919260e+00,-6.50585624e-02,
 -1.00056165e-02,-4.62411096e-03]


--- Step 721 ---
qpos:
[ 0.00987352, 0.0080773 ,-0.0056492 , 0.03349828, 0.00352074, 0.00285768,
 -0.00674999, 0.03911334, 0.01307189, 0.00591005,-0.01171383, 0.03408626,
  0.72983776, 0.00511334, 0.97667754, 0.04702272, 0.08941599,-0.06930837,
  0.14260887, 0.94681626,-0.03025935, 0.02358539, 0.31947938]

qacc:
[  6.3797771 , -0.3407856 ,  3.9067819 ,-13.46844871, -0.84356415,
  -2.77431018, 12.18674146,-24.87779965,  2.10648105, -0.48871785,
   2.24372322, -4.5507065 , -0.91624849,  0.22552036,  1.91762603,
  -8.69344648,  0.15702586,  2.94335575, -0.98478489,-27.6774783 ,
  26.34480181, -5.275211  ]

qfrc_actuator:
[ 5.69111324e-05, 2.54561089e-04, 7.46482550e-05, 5.21596861e-05,
  3.77216894e-05, 4.27581093e-05,-4.68508384e-05, 4.40394728e-05,
  8.65412230e-07, 1.61259426e-05, 2.46820576e-06, 5.55947383e-05,
  5.74056147e-02,-9.68724042e-04, 1.67520743e-02,-2.63732535e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.73910659,   6.43263735, -14.3645624 ,   6.43263735,
        48.41583997,  14.63306503, -14.3645624 ,  14.63306503,
        22.29198291,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007853848524600887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.53400954e-14, -7.06801908e-14,  1.00000000e+00,  2.49784469e-27,
        1.00000000e+00,  7.06801908e-14, -1.00000000e+00,  0.00000000e+00,
        3.53400954e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08140192, -0.11324938,  0.06198244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.74823765e-05, 1.07884404e-05,-1.12510366e-05,-2.88556864e-05,
 -5.03986604e-06,-4.82053619e-05, 2.43629604e-06,-3.90247422e-05,
  1.23104759e-05,-7.72127548e-07, 3.64135221e-06,-6.42632124e-06,
 -3.04750924e-04,-1.31449384e-04,-1.00779766e-04,-7.10707355e-05,
 -5.28419710e-04, 5.29441131e-04,-9.80935220e+00,-6.50395796e-02,
 -1.00000535e-02,-4.60089335e-03]


--- Step 722 ---
qpos:
[ 0.00987408, 0.00807699,-0.00564848, 0.03349744, 0.00352073, 0.00285789,
 -0.00675001, 0.03911371, 0.01307245, 0.00590988,-0.01171235, 0.03408611,
  0.73104927, 0.00511564, 0.9772679 , 0.04702089, 0.08936419,-0.06927881,
  0.14261959, 0.94675709,-0.03049348, 0.0233991 , 0.31964612]

qacc:
[ -2.1696811 , -2.3595138 , 12.35755898,-29.76127667, -6.70106843,
  -0.24084258, -0.98198192,  5.38350676,  4.43142565, -0.95410554,
   7.39906497,-21.61259964, -2.24679527,  2.97349073, 13.34266108,
 -48.15789028,  0.16580041,  2.9006899 , -1.14869517,-27.24387267,
  25.54458052, -4.37393255]

qfrc_actuator:
[ 4.30881805e-05, 2.23892449e-04, 6.72208713e-05,-3.88104637e-07,
 -1.41157223e-06, 1.83667295e-05,-4.42141644e-05, 5.65862790e-05,
  2.65109872e-05, 4.25312513e-05,-6.50736995e-07, 1.47208021e-05,
  5.72979834e-02,-9.41241667e-04, 1.66823517e-02,-2.88915892e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.48560989,   6.9244375 , -13.8512194 ,   6.9244375 ,
        59.36358397,  21.93527374, -13.8512194 ,  21.93527374,
        26.45139043,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000766541444532795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08626516e-13, -9.05220971e-14,  1.00000000e+00,  9.83310007e-27,
        1.00000000e+00,  9.05220971e-14, -1.00000000e+00,  0.00000000e+00,
        1.08626516e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08140654, -0.11325864,  0.06198286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27499310e-05,-2.81888927e-05,-7.59210947e-06,-5.30397008e-05,
 -3.92918436e-05,-5.25412638e-05,-8.37733383e-06, 9.80466620e-06,
  2.59956916e-05, 2.64507750e-05,-3.06777667e-06,-4.09106890e-05,
 -3.14461204e-04,-6.90940419e-05,-1.32763876e-04,-2.70715708e-04,
 -4.90930307e-04, 6.14911562e-04,-9.80942227e+00,-6.50326969e-02,
 -9.99129524e-03,-4.58768313e-03]


--- Step 723 ---
qpos:
[ 0.00987414, 0.00807626,-0.00564775, 0.03349601, 0.00352026, 0.00285795,
 -0.00674988, 0.03911452, 0.01307262, 0.0059099 ,-0.01171064, 0.03408545,
  0.73225863, 0.00511823, 0.97785704, 0.04701663, 0.08931309,-0.06923778,
  0.14262517, 0.94669733,-0.0307946 , 0.02324254, 0.31980565]

qacc:
[ -4.50713928, -1.79755503,  8.14546841,-18.13810508, -4.11903643,
   0.29931937, -3.20085769, 10.76128019, -3.39808174, -1.43011474,
   7.59792084,-16.82498396, -1.9552896 ,  2.49317322,  5.68829569,
 -22.15884415,  0.17185996,  2.86520026, -1.28693188,-26.88689307,
  24.89589301, -3.65261489]

qfrc_actuator:
[ 1.69641217e-05, 1.87969062e-04, 6.24676799e-05,-3.09762811e-05,
 -2.44314442e-05, 3.94182228e-05,-2.49072624e-05, 8.15738596e-05,
  5.86612768e-06, 5.82742786e-05, 1.47202264e-05,-9.24713519e-06,
  5.71952383e-02,-9.25885300e-04, 1.66459417e-02,-3.00114996e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.18804027,   7.4699369 , -13.22409203,   7.4699369 ,
        71.22369961,  31.65304947, -13.22409203,  31.65304947,
        33.06800372,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007455331639306118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.44583258e-14, -5.58437444e-14,  1.00000000e+00,  4.15803171e-27,
        1.00000000e+00,  5.58437444e-14, -1.00000000e+00,  0.00000000e+00,
        7.44583258e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08141   , -0.11326934,  0.06198333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64941858e-05,-5.55290819e-05,-1.33490380e-05,-3.30896790e-05,
 -2.41553575e-05,-9.66179136e-06, 7.76001693e-06, 2.26376353e-05,
 -1.98939500e-05, 2.81476530e-05, 1.90259112e-05,-2.37403295e-05,
 -3.01686090e-04,-6.97758338e-05,-1.36242100e-04,-1.46045001e-04,
 -4.61410323e-04, 7.52912034e-04,-9.80941238e+00,-6.50362512e-02,
 -9.97851770e-03,-4.58410523e-03]


--- Step 724 ---
qpos:
[ 0.00987456, 0.0080753 ,-0.00564752, 0.03349563, 0.00351951, 0.00285832,
 -0.00674995, 0.03911456, 0.0130722 , 0.00591   ,-0.01170902, 0.03408523,
  0.73346611, 0.00512019, 0.97844474, 0.04701589, 0.08926268,-0.06918542,
  0.14262513, 0.9466366 ,-0.03116181, 0.02311492, 0.31995903]

qacc:
[  3.29071246,  3.19728255,-16.25480069, 35.22162983, -2.41177204,
  -0.62354216,  6.08615192,-19.41068752, -5.22250916,  1.29307089,
  -6.32244742, 14.10355262, -0.61532218, -0.22642557,-12.7803491 ,
  41.64675644,  0.17583202,  2.83597182, -1.40340358,-26.59728877,
  24.37268925, -3.07341622]

qfrc_actuator:
[ 3.70831798e-05, 1.84700975e-04, 4.15601921e-05, 2.26074985e-05,
 -3.77718790e-05, 6.98572451e-05,-3.12258043e-05, 4.27143874e-05,
 -2.41106414e-05, 4.98457175e-05, 5.36524689e-06, 1.24429737e-05,
  5.70901711e-02,-9.71135901e-04, 1.66402325e-02,-2.79889645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.85431535,   8.05876397, -12.47826141,   8.05876397,
        83.01257693,  44.018259  , -12.47826141,  44.018259  ,
        43.282375  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007230348631400985
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.83876035e-14, -1.91938017e-14,  1.00000000e+00,  7.36804050e-28,
        1.00000000e+00,  1.91938017e-14, -1.00000000e+00,  0.00000000e+00,
        3.83876035e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08141256, -0.11328104,  0.06198383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93485989e-05,-3.84842663e-05,-3.51627091e-05, 5.01026592e-05,
 -1.40318061e-05, 2.75947877e-05,-6.57854849e-06,-3.85656581e-05,
 -3.05305095e-05, 1.01987145e-05,-2.03655151e-06, 2.30910347e-05,
 -2.96422485e-04,-1.27699739e-04,-9.22722553e-05, 1.74930282e-04,
 -4.37085099e-04, 9.39752889e-04,-9.80932968e+00,-6.50490114e-02,
 -9.96114822e-03,-4.58986638e-03]


--- Step 725 ---
qpos:
[ 0.00987488, 0.00807409,-0.00564727, 0.03349585, 0.00351895, 0.00285882,
 -0.00675005, 0.03911415, 0.01307211, 0.00591035,-0.01170785, 0.03408494,
  0.73467146, 0.00512196, 0.97903205, 0.04701706, 0.08922475,-0.06913205,
  0.14262961, 0.94657629,-0.03150454, 0.02304178, 0.32010915]

qacc:
[ -0.93747706,  0.91454622, -6.32237373, 17.08282606,  1.67396756,
  -0.66156135,  4.52447205,-12.42851815,  2.91629688,  1.42052658,
  -4.23469702,  3.354374  , -1.33431692,  1.15977143, -6.22663125,
  21.16553381,  3.11790348,  0.25007302,  1.12889728, 20.34610665,
  21.92128067, -0.47809842]

qfrc_actuator:
[ 3.10053207e-05, 1.83267010e-04, 4.69686037e-05, 5.42887785e-05,
 -2.75606998e-05, 7.00380426e-05,-3.48680981e-05, 1.98480862e-05,
 -6.06741547e-06, 6.24547404e-05,-1.85911814e-05, 7.52281617e-06,
  5.69784370e-02,-9.80934125e-04, 1.66530087e-02,-2.69711828e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.90725953,   8.41758489, -12.30327807,   8.41758489,
        60.53148838,  31.21491825, -12.30327807,  31.21491825,
        36.26369987,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007265421607105804
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.64045836e-14, -3.82022918e-14,  1.00000000e+00,  2.91883019e-27,
        1.00000000e+00,  3.82022918e-14, -1.00000000e+00,  0.00000000e+00,
        7.64045836e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04860918, -0.06513092,  0.06198375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.53783620e-06,-2.80327371e-05,-5.13027729e-06, 2.97922800e-05,
  9.82375450e-06, 1.25829511e-05,-8.98433446e-08,-2.26622857e-05,
  1.71800223e-05, 1.88470627e-05,-2.13204870e-05,-4.10632688e-06,
 -3.12018187e-04,-1.04058220e-04,-1.80452676e-05, 9.79215101e-05,
 -4.15980996e-04, 1.17284781e-03,-9.80917945e+00,-6.50700590e-02,
 -9.93878879e-03,-4.60473880e-03]


--- Step 726 ---
qpos:
[ 0.00987513, 0.00807293,-0.00564705, 0.03349538, 0.00351887, 0.00285921,
 -0.00675012, 0.03911383, 0.01307224, 0.00591067,-0.01170657, 0.03408424,
  0.73587474, 0.00512333, 0.97961886, 0.04701716, 0.08919864,-0.06907776,
  0.14263692, 0.94651549,-0.03182409, 0.02302315, 0.32025863]

qacc:
[ -0.66332067, -1.29042231,  7.65500847,-19.71552493,  4.15143877,
  -0.05727029, -0.43812407,  2.19804891,  1.91111841, -1.18650059,
   5.84426198,-12.93769471, -1.27765942,  0.94111085,  2.5420035 ,
  -9.80116701,  2.95625646,  0.23009477,  0.70857739, 19.69937367,
  22.09537657,  0.89765415]

qfrc_actuator:
[ 2.72950655e-05, 2.00795334e-04, 5.01133186e-05, 1.95827726e-05,
 -3.57306732e-06, 5.21154104e-05,-3.69883890e-05, 2.43202113e-05,
  4.59287760e-06, 5.19706650e-05,-1.54106309e-05,-1.30143022e-05,
  5.68681189e-02,-1.00516420e-03, 1.66022711e-02,-2.76192692e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.08702084, -10.11487396,  11.19408427, -10.11487396,
        24.78338359,   8.76154625,  11.19408427,   8.76154625,
        23.0038753 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007386191878440279
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.75776531e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.75776531e-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([ 0.04860257, -0.06513972,  0.06198348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.87529690e-06, 2.10675948e-06,-2.23619466e-06,-3.55030905e-05,
  2.42722638e-05,-1.18883764e-05,-3.20354557e-07, 4.56673898e-06,
  1.11584958e-05,-4.54482696e-06, 4.28753657e-06,-2.05505123e-05,
 -3.13395110e-04,-1.17443378e-04,-6.06557078e-05,-6.44823486e-05,
 -2.17795030e-04, 9.86033143e-04,-9.80938707e+00,-6.50894484e-02,
 -9.95602073e-03,-4.62459209e-03]


--- Step 727 ---
qpos:
[ 0.00987567, 0.00807179,-0.00564655, 0.03349482, 0.00351907, 0.00285952,
 -0.0067505 , 0.03911394, 0.01307285, 0.00591074,-0.01170519, 0.03408367,
  0.73707602, 0.00512437, 0.98020424, 0.04701563, 0.08918382,-0.06902261,
  0.14264563, 0.94645351,-0.0321215 , 0.02305886, 0.32040952]

qacc:
[  2.62864805, -0.95111836,  3.7631808 , -5.65732963,  2.52669766,
   1.64305003, -7.81027092, 15.70795099,  4.15994052, -0.36499685,
   0.27329179,  2.00526459, -1.2777223 ,  1.00336468,  2.9317927 ,
 -13.120092  ,  2.82205069,  0.21471536,  0.34985111, 19.13935524,
  22.17233127,  1.97575546]

qfrc_actuator:
[ 4.27689174e-05, 2.11739274e-04, 6.96789357e-05, 1.71185176e-05,
  1.05705444e-05, 4.12693106e-05,-5.60111870e-05, 4.48223227e-05,
  2.85594072e-05, 2.78255548e-05,-1.40780555e-05,-7.06340841e-06,
  5.67693726e-02,-1.02001458e-03, 1.65027990e-02,-2.85347303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.15052587, -10.28145203,  11.12790089, -10.28145203,
        29.49438509,  13.25278703,  11.12790089,  13.25278703,
        27.3952336 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007429540814281183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.47167996e-14, -3.73583998e-14,  1.00000000e+00, -2.79130007e-27,
        1.00000000e+00,  3.73583998e-14, -1.00000000e+00,  0.00000000e+00,
       -7.47167996e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04859521, -0.06514669,  0.06198339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53692734e-05, 1.01769470e-05, 1.85088895e-05,-3.13907573e-06,
  1.48293518e-05,-1.73689644e-05,-2.13640507e-05, 2.00694662e-05,
  2.42849681e-05,-2.67021114e-05, 1.93486404e-07, 5.50208043e-06,
 -3.06658094e-04,-1.10859343e-04,-1.45559500e-04,-1.05400381e-04,
 -5.63078926e-05, 8.17852337e-04,-9.80954721e+00,-6.51034522e-02,
 -9.96383719e-03,-4.64782970e-03]


--- Step 728 ---
qpos:
[ 0.00987605, 0.00807072,-0.00564585, 0.03349459, 0.0035191 , 0.00285982,
 -0.00675085, 0.03911391, 0.01307442, 0.00591095,-0.01170424, 0.03408351,
  0.73827507, 0.00512554, 0.98078805, 0.04701231, 0.08917984,-0.06896665,
  0.14265452, 0.94638978,-0.03239768, 0.02314871, 0.32056342]

qacc:
[ -1.43134889,  0.20357454, -1.94473665,  7.1101166 , -1.55445974,
  -0.38818871,  1.91809724, -4.26895415,  8.53655325,  2.24178975,
  -9.50111525, 17.25393959, -1.81995314,  2.13237112,  3.18936305,
 -14.22617196,  2.71100979,  0.2030624 ,  0.04498716, 18.65818973,
  22.18622496,  2.82340389]

qfrc_actuator:
[ 3.39041942e-05, 2.18751709e-04, 8.10457242e-05, 3.36644877e-05,
  1.04987429e-06, 5.24393881e-05,-4.93292368e-05, 3.90738975e-05,
  7.79203325e-05, 4.89586610e-05,-3.16518979e-05, 1.44083769e-05,
  5.66563362e-02,-1.01138633e-03, 1.64274445e-02,-2.94230923e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.12239545, -10.43454039,  10.94564805, -10.43454039,
        35.72781118,  19.64324466,  10.94564805,  19.64324466,
        33.84839768,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000741029170482424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.49108854e-14, -3.74554427e-14,  1.00000000e+00, -2.80582037e-27,
        1.00000000e+00,  3.74554427e-14, -1.00000000e+00,  0.00000000e+00,
       -7.49108854e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04858719, -0.06515225,  0.06198343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.42071662e-06, 1.64324480e-05, 1.56475164e-05, 1.75632770e-05,
 -9.10510389e-06,-2.09763944e-06, 1.15727916e-06,-6.84189299e-06,
  5.00431962e-05, 6.46967317e-06,-2.28914250e-05, 2.04383977e-05,
 -3.16685812e-04,-8.38759832e-05,-1.60721960e-04,-1.14885649e-04,
  6.93738583e-05, 6.62302710e-04,-9.80966274e+00,-6.51114144e-02,
 -9.96388891e-03,-4.67451853e-03]


--- Step 729 ---
qpos:
[ 0.00987598, 0.00806966,-0.00564526, 0.03349458, 0.00351935, 0.00286001,
 -0.00675052, 0.03911344, 0.01307623, 0.00591148,-0.01170362, 0.03408324,
  0.73947177, 0.00512715, 0.9813704 , 0.04701145, 0.08918634,-0.06890992,
  0.14266256, 0.94632387,-0.03265337, 0.02329243, 0.32072162]

qacc:
[ -3.98589394,  0.78079517, -3.70608919,  7.78451318,  2.05194419,
  -2.95195511, 12.22895888,-21.00470634,  2.04648201,  1.06634754,
  -2.69836697,  0.92102734, -1.91815606,  2.45185496, -9.4121753 ,
  30.13274163,  2.619437  ,  0.194431  , -0.21328074, 18.24771621,
  22.16136345,  3.49284765]

qfrc_actuator:
[ 1.07791713e-05, 2.05596881e-04, 6.97170608e-05, 4.34946040e-05,
  1.31857792e-05, 5.90345873e-05,-9.69555898e-06, 1.79622899e-05,
  8.85708820e-05, 7.92276733e-05,-4.23087411e-05, 9.35468716e-06,
  5.65401427e-02,-9.89004887e-04, 1.64145575e-02,-2.79793758e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.02036534, -10.59718028,  10.64477077, -10.59718028,
        43.74324741,  28.59446823,  10.64477077,  28.59446823,
        43.48699382,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007341090129389799
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.56170409e-14, -7.56170409e-14,  1.00000000e+00, -5.71793687e-27,
        1.00000000e+00,  7.56170409e-14, -1.00000000e+00,  0.00000000e+00,
       -7.56170409e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04857865, -0.0651567 ,  0.06198359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33578269e-05, 4.62464298e-08,-5.39452833e-06, 1.14191316e-05,
  1.18765506e-05, 5.35838206e-06, 3.91072840e-05,-2.12940578e-05,
  1.20769204e-05, 3.00384970e-05,-1.14463990e-05,-5.17467956e-06,
 -3.19609397e-04,-6.65903518e-05,-1.05812996e-04, 1.15969601e-04,
  1.60227196e-04, 5.14979171e-04,-9.80973621e+00,-6.51128715e-02,
 -9.95738675e-03,-4.70471161e-03]


--- Step 730 ---
qpos:
[ 0.00987631, 0.00806848,-0.00564445, 0.03349469, 0.00351975, 0.00285997,
 -0.00674938, 0.03911342, 0.01307781, 0.00591201,-0.01170299, 0.03408223,
  0.74066621, 0.00512926, 0.98195168, 0.04701353, 0.08920302,-0.06885243,
  0.14266887, 0.94625539,-0.03288917, 0.02348975, 0.32088513]

qacc:
[  3.63598453, -0.52932324,  1.16658999,  0.55676926,  1.29156926,
  -1.65505678,  3.52469913,  3.17361324, -2.02913602, -1.51467051,
   8.51606416,-21.21661618, -1.9100508 ,  2.53516719,-10.37621242,
  34.32969323,  2.54418395,  0.1882529 , -0.43153113, 17.90009115,
  22.11505792,  4.02473697]

qfrc_actuator:
[ 3.27114841e-05, 1.98120393e-04, 8.04957187e-05, 4.92593032e-05,
  2.02260940e-05, 4.52179762e-05, 3.12983149e-05, 4.12599915e-05,
  7.63441776e-05, 6.14841218e-05,-4.87595098e-05,-2.90009361e-05,
  5.64381239e-02,-9.58722869e-04, 1.63912650e-02,-2.64142459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.85782983, -10.79396591,  10.21006401, -10.79396591,
        53.6702673 ,  41.03207646,  10.21006401,  41.03207646,
        58.23648389,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007232670287678211
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.67505624e-14, -3.83752812e-14,  1.00000000e+00, -2.94532442e-27,
        1.00000000e+00,  3.83752812e-14, -1.00000000e+00,  0.00000000e+00,
       -7.67505624e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04856971, -0.06516028,  0.06198383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12693568e-05,-8.05207806e-06, 1.05253545e-05, 5.80432172e-06,
  7.37914755e-06,-3.66036996e-06, 4.61749710e-05, 2.44652505e-05,
 -1.18700137e-05,-3.54775828e-06,-1.84634782e-06,-3.75672104e-05,
 -3.01788620e-04,-5.62604515e-05,-6.71378181e-05, 1.47602700e-04,
  2.17218781e-04, 3.72633102e-04,-9.80976981e+00,-6.51075002e-02,
 -9.94522296e-03,-4.73844978e-03]


--- Step 731 ---
qpos:
[ 0.00987691, 0.00806725,-0.00564349, 0.03349416, 0.00351989, 0.00285976,
 -0.0067483 , 0.03911407, 0.01307888, 0.00591242,-0.01170296, 0.03408152,
  0.74185871, 0.00513116, 0.98253187, 0.04701291, 0.08922963,-0.0687942 ,
  0.14267272, 0.94618406,-0.03310559, 0.0237404 , 0.32105473]

qacc:
[  2.2868991 , -1.77869104,  8.88544308,-19.92806152, -2.31606598,
   1.34726754, -7.93888037, 19.79491427, -4.44448076,  2.1614106 ,
  -9.1966808 , 15.43245709, -1.39690376,  1.30556599,  6.65783674,
 -25.41801582,  2.48259559,  0.18407081, -0.61558442, 17.6080883 ,
  22.05957893,  4.45070945]

qfrc_actuator:
[ 4.54872920e-05, 1.94178345e-04, 8.65106633e-05, 1.71025929e-05,
  6.45140517e-06, 1.93406320e-05, 1.94495066e-05, 7.27301325e-05,
  5.07624510e-05, 3.28669057e-05,-8.83929026e-05,-1.56663555e-05,
  5.63340349e-02,-9.77216245e-04, 1.62871863e-02,-2.79865890e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.64575151, -11.0537674 ,   9.60792711, -11.0537674 ,
        65.20028439,  58.1621864 ,   9.60792711,  58.1621864 ,
        81.56042234,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007094102928046075
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.04856048, -0.06516318,  0.06198413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33811850e-05,-5.98256126e-06, 5.85174926e-06,-3.20249785e-05,
 -1.35690576e-05,-1.73469648e-05,-6.08445075e-06, 3.33843165e-05,
 -2.59165777e-05,-3.26159886e-05,-4.19026910e-05, 1.23879742e-05,
 -2.90486274e-04,-9.89604444e-05,-1.28365273e-04,-1.59828217e-04,
  2.41248779e-04, 2.32852462e-04,-9.80976535e+00,-6.50950753e-02,
 -9.92805916e-03,-4.77576365e-03]


--- Step 732 ---
qpos:
[ 0.00987697, 0.00806606,-0.00564278, 0.03349328, 0.00352021, 0.00285944,
 -0.00674763, 0.03911511, 0.0130793 , 0.00591286,-0.01170355, 0.03408165,
  0.74304934, 0.00513258, 0.98311067, 0.04701169, 0.08926597,-0.06873525,
  0.14267349, 0.9461096 ,-0.03330304, 0.02404416, 0.32123107]

qacc:
[-4.75756167e+00, 5.10425462e-03, 1.60720177e+00,-7.55929413e+00,
  1.56257228e+00, 1.79089094e+00,-8.27066909e+00, 1.58007567e+01,
 -5.82546162e+00, 3.47478104e+00,-1.58236121e+01, 3.11954638e+01,
 -9.94229170e-01, 4.97350117e-01,-1.64893182e-01,-2.25627306e+00,
  2.43244699e+00, 1.81517025e-01,-7.70516273e-01, 1.73652146e+01,
  2.20035422e+01, 4.79538869e+00]

qfrc_actuator:
[ 1.72519167e-05, 1.92334769e-04, 7.18935480e-05,-1.60667717e-06,
  1.60425817e-05, 3.98935935e-06,-5.80935674e-06, 9.09479338e-05,
  1.75327090e-05, 5.11134331e-05,-1.11816967e-04, 2.79430341e-05,
  5.62340821e-02,-1.00669120e-03, 1.62411920e-02,-2.82011753e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006933019071964502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.04855107, -0.06516555,  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:
[-2.78521205e-05,-5.31537755e-06,-1.62370345e-05,-1.93853616e-05,
  9.19820493e-06,-2.48895851e-05,-2.84476420e-05, 1.79109101e-05,
 -3.39754280e-05,-8.13613063e-06,-3.48950908e-05, 4.10049088e-05,
 -2.91229694e-04,-1.15843115e-04,-1.30540324e-04,-4.85748349e-05,
  2.33119319e-04, 9.38299472e-05,-9.80972428e+00,-6.50754373e-02,
 -9.90639018e-03,-4.81667540e-03]


--- Step 733 ---
qpos:
[ 0.00987738, 0.008065  ,-0.00564233, 0.03349251, 0.00352064, 0.00285912,
 -0.00674733, 0.03911634, 0.01307897, 0.00591347,-0.01170422, 0.0340819 ,
  0.74423785, 0.00513421, 0.98368842, 0.0470127 , 0.08931187,-0.06867558,
  0.14267065, 0.9460318 ,-0.03348187, 0.02440082, 0.32141468]

qacc:
[ 3.07056464, 1.1600613 ,-4.37996602, 6.73748181, 0.97567941, 1.42802952,
 -5.9131169 , 9.84809216,-6.57428029, 0.71617663,-2.74993075, 4.88582013,
 -1.59005039, 1.86034352,-8.21254657,26.73043735, 2.39188064, 0.18029605,
 -0.9007134 ,17.16572395,21.95290057, 5.077933  ]

qfrc_actuator:
[ 3.61175347e-05, 2.09436140e-04, 6.29889256e-05, 5.49337524e-06,
  2.15636329e-05, 1.27298903e-05,-2.09880700e-05, 1.01226317e-04,
 -1.99277475e-05, 7.96131296e-05,-1.07521281e-04, 3.58041043e-05,
  5.61366747e-02,-9.89150601e-04, 1.62407650e-02,-2.69012133e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006755808060073809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.21680408e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.21680408e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04854159, -0.06516751,  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:
[ 1.80749430e-05, 9.97124674e-06,-1.26644672e-05, 5.93740383e-06,
  5.77427339e-06,-1.02819337e-05,-2.32107984e-05, 8.57276884e-06,
 -3.84284815e-05, 1.84790596e-05,-2.61097770e-07, 7.10465322e-06,
 -2.92745512e-04,-7.27713532e-05,-7.27775457e-05, 1.08986455e-04,
  1.93518967e-04,-4.58050264e-05,-9.80964775e+00,-6.50484681e-02,
 -9.88059035e-03,-4.86120043e-03]


--- Step 734 ---
qpos:
[ 0.00987836, 0.00806391,-0.00564197, 0.03349218, 0.00352078, 0.00285935,
 -0.00674779, 0.03911765, 0.01307853, 0.00591426,-0.01170489, 0.03408258,
  0.74542424, 0.00513631, 0.98426522, 0.04701359, 0.08936722,-0.06861518,
  0.14266378, 0.94595044,-0.03364234, 0.02481022, 0.32160598]

qacc:
[ 4.98077413, 1.08684887,-5.83660416,13.71000055,-2.51706756, 2.98604593,
 -9.86315652,11.82677423,-0.89820107, 1.1554255 ,-5.55086116,12.80807269,
 -1.95852667, 2.62446563,-0.90162316, 1.46024696, 2.35934868, 0.18017033,
 -1.00994711,17.00457718,21.91166108, 5.31323805]

qfrc_actuator:
[ 6.48152931e-05, 2.02286423e-04, 5.76295445e-05, 2.77437151e-05,
  6.88505463e-06, 7.13625212e-05,-4.77458974e-05, 1.06783414e-04,
 -2.40706008e-05, 9.63764426e-05,-1.04624547e-04, 5.80989452e-05,
  5.60355575e-02,-9.61655914e-04, 1.61824864e-02,-2.70263427e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006567790784644811
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.45202794e-14, -8.45202794e-14,  1.00000000e+00, -7.14367763e-27,
        1.00000000e+00,  8.45202794e-14, -1.00000000e+00,  0.00000000e+00,
       -8.45202794e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04853214, -0.06516915,  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:
[ 2.92195040e-05,-3.89546919e-06,-4.64630920e-06, 2.23572552e-05,
 -1.45174233e-05, 4.84632460e-05,-3.14465418e-05, 4.47738567e-06,
 -5.22771431e-06, 2.73183336e-05, 6.92884190e-06, 2.32170937e-05,
 -2.86159018e-04,-5.44210352e-05,-8.90932395e-05,-1.79040828e-05,
  1.23017523e-04,-1.87108159e-04,-9.80953661e+00,-6.50140725e-02,
 -9.85094710e-03,-4.90934875e-03]


--- Step 735 ---
qpos:
[ 0.00987933, 0.00806274,-0.00564169, 0.03349283, 0.00352075, 0.00286028,
 -0.00674869, 0.03911862, 0.0130784 , 0.00591533,-0.01170529, 0.03408349,
  0.74660875, 0.0051382 , 0.9848414 , 0.04701128, 0.08943189,-0.06855406,
  0.1426525 , 0.94586535,-0.03378468, 0.02527224, 0.32180531]

qacc:
[ -0.07343969,  2.10123021,-11.71665035, 28.60258726, -1.5844601 ,
   1.51198362, -2.66133408, -2.83008887,  2.6274707 ,  0.05321643,
  -0.65169742,  4.01619563, -1.41094824,  1.34959426,  8.89902974,
 -32.21894858,  2.33356176,  0.18094871, -1.10145094, 16.87737842,
  21.88240713,  5.51287266]

qfrc_actuator:
[ 6.35499644e-05, 1.98454203e-04, 5.43177144e-05, 7.64618408e-05,
 -1.81085847e-06, 1.23870440e-04,-6.31660640e-05, 9.18028855e-05,
 -8.56925234e-06, 1.23753108e-04,-8.48586543e-05, 7.09485078e-05,
  5.59322921e-02,-9.81784623e-04, 1.61427834e-02,-2.87020266e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006373370121592753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.70985839e-14, -8.70985839e-14,  1.00000000e+00, -7.58616332e-27,
        1.00000000e+00,  8.70985839e-14, -1.00000000e+00,  0.00000000e+00,
       -8.70985839e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04852278, -0.06517054,  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:
[-4.31818843e-07,-5.96916631e-06,-3.90812698e-06, 4.88265149e-05,
 -9.09065033e-06, 7.32940122e-05,-9.12738401e-06,-1.39065493e-05,
  1.53630036e-05, 4.50537034e-05, 2.70623381e-05, 1.47101874e-05,
 -2.80731542e-04,-9.63455550e-05,-9.19773497e-05,-1.82088318e-04,
  2.20673684e-05,-3.30908630e-04,-9.80939146e+00,-6.49721662e-02,
 -9.81768544e-03,-4.96112618e-03]


--- Step 736 ---
qpos:
[ 0.00988027, 0.00806137,-0.00564136, 0.03349371, 0.00352096, 0.00286123,
 -0.00674929, 0.03912013, 0.0130781 , 0.00591682,-0.01170519, 0.03408382,
  0.74779134, 0.00513965, 0.98541676, 0.04700919, 0.08950582,-0.06849222,
  0.14263651, 0.94577633,-0.03390905, 0.0257868 , 0.32201297]

qacc:
[ -0.19063184,  0.11538644, -1.78853459,  6.0026545 ,  2.1317814 ,
   0.25895733, -3.15472345, 11.93930973, -1.38398119, -2.02835826,
  10.47993161,-21.59770567, -1.0555414 ,  0.60871088, -1.85924262,
   4.86796915,  2.31344499,  0.18247714, -1.17799506, 16.78030288,
  21.86668256,  5.68580804]

qfrc_actuator:
[ 6.24083959e-05, 1.78917462e-04, 5.22635770e-05, 8.71044104e-05,
  1.08431618e-05, 1.01329217e-04,-5.40306341e-05, 1.18127710e-04,
 -1.71459413e-05, 1.57340520e-04,-5.52540061e-05, 4.26507448e-05,
  5.58224663e-02,-1.01223536e-03, 1.61408583e-02,-2.84362335e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006176161029646937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.98797019e-14,  4.49398510e-14,  1.00000000e+00,  4.03918041e-27,
        1.00000000e+00, -4.49398510e-14, -1.00000000e+00,  0.00000000e+00,
       -8.98797019e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04851359, -0.06517173,  0.06198617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15454117e-06,-2.15553135e-05,-2.07117520e-06, 1.12022290e-05,
  1.24220994e-05, 1.59355783e-05, 2.26678288e-05, 2.88771257e-05,
 -8.12283102e-06, 6.49708507e-05, 4.27425427e-05,-2.51486325e-05,
 -2.94289688e-04,-1.14297706e-04,-7.41069571e-05, 2.46595408e-06,
 -1.08991127e-04,-4.77873211e-04,-9.80921266e+00,-6.49226662e-02,
 -9.78098566e-03,-5.01653531e-03]


--- Step 737 ---
qpos:
[ 0.00988154, 0.00805967,-0.00564096, 0.03349473, 0.00352097, 0.00286196,
 -0.00674961, 0.03912198, 0.01307806, 0.00591842,-0.01170458, 0.03408384,
  0.74897195, 0.00514075, 0.9859909 , 0.04700681, 0.08958895,-0.06842963,
  0.14261554, 0.94568322,-0.03401557, 0.02635387, 0.32222922]

qacc:
[ 2.85203968e+00,-3.50558901e-01,-2.69839112e-05, 2.56557899e+00,
 -1.70030832e+00,-3.67406001e-01,-5.19392568e-01, 6.05708032e+00,
  2.16851075e+00,-1.91095034e+00, 8.29790217e+00,-1.44317136e+01,
 -1.17419967e+00, 8.40694814e-01,-8.19531116e-01, 4.29295353e-01,
  2.29810082e+00, 1.84631197e-01,-1.24195370e+00, 1.67100258e+01,
  2.18652754e+01, 5.83898700e+00]

qfrc_actuator:
[ 7.91110036e-05, 1.50102082e-04, 5.08724803e-05, 9.29938949e-05,
  4.54263740e-07, 6.96592715e-05,-4.84981389e-05, 1.32995981e-04,
 -4.32696251e-06, 1.41142279e-04,-3.78303102e-05, 2.58869919e-05,
  5.57194276e-02,-1.03082855e-03, 1.60711031e-02,-2.86248474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005979102850318524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.04850463, -0.06517277,  0.06198661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66656112e-05,-4.07769765e-05,-5.70197806e-06, 5.11237054e-06,
 -1.00322900e-05,-1.68655415e-05, 1.26070667e-05, 1.68927067e-05,
  1.26149684e-05, 2.78253929e-05, 3.52193047e-05,-1.29941405e-05,
 -2.98799648e-04,-1.09813569e-04,-1.13199349e-04,-3.03955058e-05,
 -2.69921817e-04,-6.28552769e-04,-9.80900039e+00,-6.48654853e-02,
 -9.74099628e-03,-5.07557625e-03]


--- Step 738 ---
qpos:
[ 0.009883  , 0.00805803,-0.00564105, 0.03349614, 0.00352121, 0.00286289,
 -0.00675021, 0.03912294, 0.01307851, 0.00591963,-0.01170377, 0.0340841 ,
  0.75015047, 0.00514191, 0.98656396, 0.04699794, 0.08968122,-0.06836629,
  0.1425894 , 0.94558583,-0.03410436, 0.02697345, 0.32245427]

qacc:
[  1.65267325,  2.22802276, -9.50504251, 17.06606919,  1.92330885,
  -0.76269533,  6.8200895 ,-21.8071622 ,  4.40610662, -0.58355889,
   0.35956375,  3.61983081, -1.96256286,  2.33994253, 18.17018799,
 -65.54697014,  2.28677787,  0.18731009, -1.29536457, 16.66365641,
  21.87842909,  5.97776862]

qfrc_actuator:
[ 8.84300199e-05, 1.69203199e-04, 3.20886191e-05, 1.13788750e-04,
  1.20844637e-05, 8.59983656e-05,-6.29720729e-05, 8.77176046e-05,
  2.09894982e-05, 7.74598425e-05,-4.56803657e-05, 3.37522393e-05,
  5.56152090e-02,-1.02446845e-03, 1.59660401e-02,-3.20996865e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005784556204637692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59644081e-14,  4.79822041e-14,  1.00000000e+00,  4.60458381e-27,
        1.00000000e+00, -4.79822041e-14, -1.00000000e+00,  0.00000000e+00,
       -9.59644081e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04849595, -0.06517369,  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:
[ 9.78439052e-06,-4.60387940e-06,-2.77212895e-05, 1.89494136e-05,
  1.13378803e-05, 1.02051849e-05,-1.58291603e-05,-4.52407448e-05,
  2.56895563e-05,-4.14651292e-05, 1.75948448e-06, 1.00177813e-05,
 -3.02121125e-04,-8.46978203e-05,-1.68318672e-04,-3.65449739e-04,
 -4.60583690e-04,-7.83415981e-04,-9.80875463e+00,-6.48005276e-02,
 -9.69784341e-03,-5.13824728e-03]


--- Step 739 ---
qpos:
[ 0.00988353, 0.00805643,-0.00564108, 0.03349707, 0.00352193, 0.00286396,
 -0.00675101, 0.03912336, 0.01307891, 0.00592058,-0.01170335, 0.03408482,
  0.75132676, 0.00514322, 0.98713533, 0.04698623, 0.0897826 ,-0.0683022 ,
  0.1425579 , 0.94548401,-0.03417545, 0.0276456 , 0.32268832]

qacc:
[ -8.19825855, -1.07143647,  6.00697447,-14.61822344,  4.23350265,
  -0.41073165,  4.06388824,-13.38880567, -0.40140763,  1.6563928 ,
  -8.38341173, 17.2206154 , -1.90271118,  2.26309174,  6.22409241,
 -25.06710112,  2.27884524,  0.19043185, -1.33997991, 16.6386796 ,
  21.90599991,  6.10627602]

qfrc_actuator:
[ 4.00653078e-05, 1.81287068e-04, 3.88935534e-05, 8.99576816e-05,
  3.65890538e-05, 9.53144620e-05,-7.12413551e-05, 6.06963237e-05,
  1.79466691e-05, 5.67455187e-05,-6.85829112e-05, 5.59822682e-05,
  5.54943866e-02,-1.02114485e-03, 1.59090597e-02,-3.34000533e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005594386650233929
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92265188e-14,  4.96132594e-14,  1.00000000e+00,  4.92295102e-27,
        1.00000000e+00, -4.96132594e-14, -1.00000000e+00,  0.00000000e+00,
       -9.92265188e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04848759, -0.06517452,  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:
[-4.80822166e-05, 4.65131011e-06, 3.11045816e-06,-2.46186725e-05,
  2.48330144e-05, 9.78985527e-06,-9.68246880e-06,-2.80155393e-05,
 -2.32285241e-06,-4.31526984e-05,-3.09290802e-05, 2.07028791e-05,
 -3.16364972e-04,-8.24095676e-05,-1.81861298e-04,-1.73498436e-04,
 -6.80921238e-04,-9.42873743e-04,-9.80847523e+00,-6.47276864e-02,
 -9.65163765e-03,-5.20454525e-03]


--- Step 740 ---
qpos:
[ 0.00988313, 0.00805474,-0.00564065, 0.03349665, 0.00352224, 0.00286489,
 -0.00675153, 0.03912379, 0.01307859, 0.00592181,-0.01170372, 0.03408542,
  0.7525008 , 0.0051444 , 0.98770463, 0.04697758, 0.08989309,-0.06823732,
  0.14252089, 0.94537755,-0.0342289 , 0.02837039, 0.32293155]

qacc:
[ -8.13159412, -4.18819989, 20.41598888,-44.28445099, -3.51977902,
  -0.89650883,  2.82407789, -2.74251212, -6.44785611,  2.36749882,
  -7.34314467,  6.20279065, -1.30813748,  1.09630817,-12.23474419,
  38.54557377,  2.27377131,  0.19392951, -1.37730994, 16.63290437,
  21.94757503,  6.2276685 ]

qfrc_actuator:
[-6.35599700e-06, 1.71392943e-04, 6.07113020e-05, 2.23242460e-05,
  1.52100552e-05, 8.26304177e-05,-5.80174398e-05, 6.24020137e-05,
 -1.95198310e-05, 9.73587577e-05,-1.00021358e-04, 5.09999975e-05,
  5.53690155e-02,-1.03752128e-03, 1.58650448e-02,-3.16310436e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005410036997920142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02607711e-13, -1.53911566e-13,  1.00000000e+00,  1.57925135e-26,
        1.00000000e+00,  1.53911566e-13, -1.00000000e+00,  0.00000000e+00,
        1.02607711e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04847958, -0.06517528,  0.06198786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.77837333e-05,-7.66788278e-06, 2.23282393e-05,-6.78021738e-05,
 -2.06680140e-05,-1.04320535e-05, 1.30791010e-05, 1.24232130e-06,
 -3.75436248e-05, 1.09401682e-05,-4.34624870e-05,-7.50319549e-06,
 -3.28294870e-04,-1.05090546e-04,-1.52213112e-04, 1.42768535e-04,
 -9.30954732e-04,-1.10729683e-03,-9.80816187e+00,-6.46468426e-02,
 -9.60247901e-03,-5.27446601e-03]


--- Step 741 ---
qpos:
[ 0.00988251, 0.00805294,-0.00563996, 0.03349579, 0.00352196, 0.00286562,
 -0.00675157, 0.03912424, 0.01307782, 0.00592316,-0.01170393, 0.0340859 ,
  0.75367263, 0.00514541, 0.98827195, 0.04697207, 0.09001265,-0.06817166,
  0.14247824, 0.94526629,-0.0342647 , 0.02914795, 0.32318411]

qacc:
[ -1.82152244, -1.7394571 ,  7.91088426,-15.97994748, -5.28719226,
  -1.60004739,  5.29786309, -5.79201204, -3.92419848, -0.50913731,
   2.54549356, -4.85371473, -1.25365141,  0.98891217,-12.35948271,
  39.16645778,  2.2711064 ,  0.19774807, -1.40865937, 16.64442005,
  22.00256072,  6.34435457]

qfrc_actuator:
[-1.57381398e-05, 1.66195809e-04, 7.33453832e-05, 4.65106192e-07,
 -1.52554764e-05, 7.47359270e-05,-3.22836941e-05, 6.32363741e-05,
 -4.14325288e-05, 1.21065715e-04,-8.27482980e-05, 4.78480854e-05,
  5.52569741e-02,-1.04774027e-03, 1.57809724e-02,-3.00208144e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005232589924830944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06087333e-13, -1.06087333e-13,  1.00000000e+00, -1.12545223e-26,
        1.00000000e+00,  1.06087333e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06087333e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04847195, -0.06517597,  0.06198826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07392372e-05,-7.73643803e-06, 1.14723271e-05,-2.27289820e-05,
 -3.10573499e-05,-1.10091439e-05, 2.52278179e-05, 8.63011261e-07,
 -2.29703409e-05, 2.04700147e-05, 1.39098500e-05,-4.33460219e-06,
 -3.25913683e-04,-1.07183896e-04,-1.43342917e-04, 1.48339640e-04,
 -1.21077074e-03,-1.27702859e-03,-9.80781413e+00,-6.45578643e-02,
 -9.55046053e-03,-5.34800457e-03]


--- Step 742 ---
qpos:
[ 0.00988249, 0.00805108,-0.00563915, 0.03349503, 0.00352165, 0.00286632,
 -0.0067516 , 0.03912436, 0.01307714, 0.00592418,-0.01170288, 0.03408598,
  0.75484227, 0.00514651, 0.98883799, 0.04696515, 0.0901413 ,-0.06810519,
  0.14242986, 0.94515002,-0.03428285, 0.02997843, 0.32344617]

qacc:
[  5.11115264, -0.26796911,  0.38772181,  1.14292478, -0.1594989 ,
  -0.72877723,  3.92399038, -9.57807759,  0.82193701, -4.80808878,
  18.19430864,-26.94659908, -1.76002841,  2.00033506,  2.5246384 ,
 -11.27274223,  2.27046855,  0.20184203, -1.43515801, 16.67155877,
  22.0702484 ,  6.45815886]

qfrc_actuator:
[ 1.45074082e-05, 1.63852073e-04, 8.05024689e-05, 5.71445116e-06,
 -1.53051888e-05, 6.98288161e-05,-3.48736352e-05, 4.58009696e-05,
 -3.62516178e-05, 9.91663834e-05,-1.91393809e-05, 2.80780644e-05,
  5.51583349e-02,-1.03641756e-03, 1.57048866e-02,-3.08267771e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005062822278725648
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.19289354e-13,  5.48223384e-14,  1.00000000e+00,  1.20219551e-26,
        1.00000000e+00, -5.48223384e-14, -1.00000000e+00,  0.00000000e+00,
       -2.19289354e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04846471, -0.06517663,  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:
[ 2.99425199e-05,-5.21721120e-06, 6.20152664e-06, 4.87735260e-06,
 -9.37578517e-07,-5.85330189e-06,-1.73487262e-06,-1.70187758e-05,
  4.53892721e-06,-7.82309480e-06, 6.93861932e-05,-1.84987353e-05,
 -3.11451172e-04,-8.56308340e-05,-1.31039570e-04,-9.19280165e-05,
 -1.52051306e-03,-1.45239415e-03,-9.80743145e+00,-6.44606061e-02,
 -9.49567094e-03,-5.42515536e-03]


--- Step 743 ---
qpos:
[ 0.00988316, 0.00804903,-0.00563818, 0.033494  , 0.00352135, 0.00286695,
 -0.00675168, 0.03912496, 0.01307652, 0.00592484,-0.01170151, 0.03408555,
  0.75600987, 0.00514743, 0.98940263, 0.04695857, 0.09027903,-0.06803789,
  0.14237564, 0.94502854,-0.03428331, 0.03086202, 0.32371785]

qacc:
[ 6.21856832e+00,-1.23299392e+00, 5.15528026e+00,-9.84628843e+00,
  1.35442098e-02, 1.04710599e+00,-5.94351103e+00, 1.45588360e+01,
  6.08992473e-01,-2.42569196e+00, 1.01315473e+01,-1.92790130e+01,
 -1.31241649e+00, 1.14802674e+00,-3.03604264e+00, 7.81641026e+00,
  2.27158314e+00, 2.06177986e-01,-1.45760488e+00, 1.67131993e+01,
  2.21503141e+01, 6.57058384e+00]

qfrc_actuator:
[ 5.00699313e-05, 1.45486120e-04, 8.43957209e-05,-8.64045983e-06,
 -1.52018822e-05, 6.66228964e-05,-3.64183256e-05, 7.09944625e-05,
 -3.29233571e-05, 5.03191946e-05,-1.76566216e-05,-1.32605912e-06,
  5.50571627e-02,-1.04787149e-03, 1.56602297e-02,-3.05640555e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004901252252757088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.39777357e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.39777357e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04845787, -0.06517725,  0.06198899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.64185419e-05,-1.97230349e-05, 3.76100806e-06,-1.42661621e-05,
  7.53869649e-08,-7.59234747e-06,-3.56429775e-06, 2.45496960e-05,
  3.45682224e-06,-3.97320137e-05, 7.74785959e-06,-2.77038336e-05,
 -3.01015644e-04,-1.00197753e-04,-1.22536691e-04, 2.71011338e-06,
 -1.86037418e-03,-1.63370692e-03,-9.80701319e+00,-6.43549099e-02,
 -9.43819657e-03,-5.50591227e-03]


--- Step 744 ---
qpos:
[ 0.00988357, 0.00804689,-0.00563693, 0.03349313, 0.0035207 , 0.00286729,
 -0.00675139, 0.03912587, 0.01307526, 0.00592482,-0.01170025, 0.03408553,
  0.75717545, 0.0051482 , 0.98996595, 0.04695491, 0.09042276,-0.06797825,
  0.14232738, 0.94490505,-0.03424493, 0.0317529 , 0.32399611]

qacc:
[ -2.34667072, -0.57061036,  1.16439007,  1.27462009, -2.98420467,
  -0.78245682,  0.99929297,  3.74129892, -5.6629843 ,  0.27066723,
  -3.97773873, 11.77031619, -1.16570754,  0.94490494,-10.71290651,
  34.79496213,  1.49773629, -1.91432943,  1.48942805, 19.39874267,
  -2.9243968 ,  4.15254648]

qfrc_actuator:
[ 3.52060962e-05, 1.53143941e-04, 1.04002140e-04, 1.07029040e-06,
 -3.27718474e-05, 4.67404012e-05,-1.95317867e-05, 8.55730988e-05,
 -6.62264059e-05,-1.45420216e-05,-3.52589577e-05, 1.70194025e-05,
  5.49598619e-02,-1.05500327e-03, 1.56344871e-02,-2.89619955e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 10.92242572,  -7.48623722,  -7.95334117,  -7.48623722,
        33.29112749, -21.05497605,  -7.95334117, -21.05497605,
        30.74083185,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004812859843765227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.24391563e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.24391563e-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([ 0.07045255, -0.04225989,  0.06198918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38270327e-05,-3.13028386e-06, 1.55146894e-05, 8.72110870e-06,
 -1.75713507e-05,-2.38356313e-05, 1.57208437e-05, 1.46052281e-05,
 -3.32144216e-05,-8.67058868e-05,-2.58370996e-05, 1.63678792e-05,
 -2.94098508e-04,-9.67878190e-05,-8.89031283e-05, 1.43065273e-04,
 -2.23059521e-03,-1.82127714e-03,-9.80655857e+00,-6.42406031e-02,
 -9.37812357e-03,-5.59026859e-03]


--- Step 745 ---
qpos:
[ 0.00988346, 0.0080451 ,-0.00563598, 0.03349306, 0.0035195 , 0.00286756,
 -0.00675097, 0.03912693, 0.01307396, 0.00592414,-0.01169915, 0.03408539,
  0.75833893, 0.00514915, 0.99052823, 0.04695315, 0.09056376,-0.06792365,
  0.14229274, 0.94478574,-0.03420808, 0.03262511, 0.32426118]

qacc:
[ -4.63200913,  2.94878157,-13.15064987, 27.06810584, -4.83676294,
  -0.14659614, -0.24772153,  2.74548815, -0.38358001, -0.66481091,
   1.60047087, -2.93354464, -1.58251962,  1.81822342, -7.13203937,
  23.00908215, -0.67998674, -1.25890316,  3.40522763, -3.46738549,
  -8.41462212, -7.24912363]

qfrc_actuator:
[ 8.53234765e-06, 1.94161262e-04, 9.73466369e-05, 4.26508430e-05,
 -6.06036097e-05, 5.26007482e-05,-9.73206104e-06, 9.37811141e-05,
 -6.75650776e-05,-5.30500773e-05,-4.62619598e-05, 1.00348104e-05,
  5.48596293e-02,-1.04174672e-03, 1.55935082e-02,-2.80036222e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([11.76980376, -8.8567646 ,  7.75151606, -8.8567646 , 29.94895668,
       20.77122421,  7.75151606, 20.77122421, 35.50268929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000534155423562957
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.09274472, -0.05463494,  0.06198799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70640733e-05, 4.29042158e-05,-5.07693324e-06, 4.21573777e-05,
 -2.83408832e-05,-3.61931734e-06, 7.30910999e-06, 8.01215679e-06,
 -2.31143416e-06,-9.16595909e-05,-3.15435351e-05,-1.12772098e-05,
 -2.91401097e-04,-7.44232014e-05,-7.40476749e-05, 9.06006477e-05,
 -2.56233209e-03,-1.83594922e-03,-9.80646707e+00,-6.41794055e-02,
 -9.32244507e-03,-5.67556725e-03]


--- Step 746 ---
qpos:
[ 0.00988302, 0.00804373,-0.00563514, 0.03349312, 0.00351798, 0.0028681 ,
 -0.00675118, 0.03912878, 0.01307369, 0.00592309,-0.01169864, 0.0340855 ,
  0.75950039, 0.00515025, 0.99108869, 0.04695138, 0.09069601,-0.0678728 ,
  0.14227292, 0.94467862,-0.03418748, 0.03345037, 0.32449129]

qacc:
[ -2.80900773,  1.14758329, -3.86495815,  6.06611755, -2.87852754,
   3.75605483,-16.19308228, 30.6563784 ,  9.03365967,  1.65835042,
  -7.70964255, 13.32177862, -1.56314911,  1.78336302, -2.60790161,
   5.46113709, -2.18866011, -0.93745446,  3.70318917,-14.51002447,
 -19.14631278,-19.56103509]

qfrc_actuator:
[-7.10976041e-06, 2.19266308e-04, 9.31494659e-05, 4.93997011e-05,
 -7.64939003e-05, 7.38030887e-05,-3.96088247e-05, 1.33694448e-04,
 -1.45624345e-05,-5.77284056e-05,-7.09550421e-05, 2.37261105e-05,
  5.47577176e-02,-1.03428780e-03, 1.54635214e-02,-2.81429953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005890177513287603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.42435964e-14, -9.42435964e-14,  1.00000000e+00,  8.88185546e-27,
        1.00000000e+00,  9.42435964e-14, -1.00000000e+00,  0.00000000e+00,
        9.42435964e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10716626, -0.05799412,  0.06198676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63950495e-05, 4.98996489e-05, 5.50969323e-06, 9.23536616e-06,
 -1.66979227e-05, 2.10044839e-05,-2.94563064e-05, 4.01643290e-05,
  5.29056202e-05,-6.29263461e-05,-4.79074602e-05, 8.45176334e-06,
 -2.86228858e-04,-7.47832427e-05,-1.63240272e-04,-2.04612313e-05,
 -2.43299445e-03,-1.73923471e-03,-9.80657381e+00,-6.41827337e-02,
 -9.19810460e-03,-5.77247495e-03]


--- Step 747 ---
qpos:
[ 0.0098824 , 0.00804274,-0.00563432, 0.03349257, 0.00351663, 0.00286871,
 -0.00675167, 0.03913074, 0.0130737 , 0.00592209,-0.01169812, 0.03408567,
  0.76065979, 0.00515172, 0.99164718, 0.04695012, 0.09082001,-0.06782522,
  0.1422654 , 0.94458197,-0.03418008, 0.03423025, 0.32469203]

qacc:
[ -1.6245102 , -0.70860425,  5.8623515 ,-16.75254931,  1.45128789,
   1.13014485, -4.39354934,  6.86086605,  2.56676088,  0.16500475,
  -0.79997194,  1.93826174, -1.72733339,  2.19319212, -4.27011601,
  11.02481569, -2.06277478, -0.81896602,  3.07707237,-12.92708061,
 -18.96004622,-16.56528442]

qfrc_actuator:
[-1.61296662e-05, 2.34632605e-04, 9.03659404e-05, 1.78384649e-05,
 -6.74724742e-05, 6.83915384e-05,-5.70725334e-05, 1.38676144e-04,
 -1.02055971e-06,-6.64002416e-06,-5.01183188e-05, 3.17449792e-05,
  5.46601933e-02,-1.01258581e-03, 1.53761032e-02,-2.78645551e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([13.53527401, 13.46474748,  1.379934  , 13.46474748, 13.65410984,
       -1.15954416,  1.379934  , -1.15954416, 24.84956101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006403138948315595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -8.6693654e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  8.6693654e-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([ 0.10715366, -0.05797814,  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:
[-9.46670718e-06, 4.48398263e-05, 8.52934030e-06,-2.90507570e-05,
  8.55354535e-06, 1.94353727e-06,-1.53707148e-05, 5.64015716e-06,
  1.50225281e-05, 6.41543526e-06, 2.23391825e-06, 3.82790637e-06,
 -2.80362359e-04,-5.87802219e-05,-1.69827898e-04, 4.63639043e-06,
 -2.04713732e-03,-1.50852676e-03,-9.80684949e+00,-6.42627771e-02,
 -9.03534221e-03,-5.87337744e-03]


--- Step 748 ---
qpos:
[ 0.00988203, 0.00804171,-0.00563338, 0.03349238, 0.00351574, 0.00286923,
 -0.00675168, 0.03913169, 0.01307388, 0.00592145,-0.01169724, 0.03408519,
  0.76181709, 0.00515352, 0.99220455, 0.04694997, 0.0909362 ,-0.06778053,
  0.14226796, 0.94449442,-0.03418347, 0.03496627, 0.32486787]

qacc:
[  2.12752302,  0.35016065, -2.89103957,  9.05230814,  4.09204619,
  -3.58958743, 16.89689263,-35.24354926,  1.43188501, -1.89243972,
  10.23696012,-22.54756612, -1.74841092,  2.18158339, -4.92529823,
  15.11968879, -1.95208889, -0.72247495,  2.51879128,-11.63684623,
 -18.69510538,-14.17403175]

qfrc_actuator:
[-3.43068570e-06, 2.08510970e-04, 8.83766178e-05, 3.49964581e-05,
 -4.38649646e-05, 6.48520809e-05,-3.16803565e-05, 8.75480212e-05,
  6.92268167e-06, 4.21405050e-05,-2.00779662e-05, 9.38812642e-07,
  5.45493994e-02,-1.00037092e-03, 1.53675620e-02,-2.71628107e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([14.14099838, 14.06547599,  1.45952749, 14.06547599, 14.2993867 ,
       -1.52638927,  1.45952749, -1.52638927, 28.85082171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006774422037390954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.19422689e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.19422689e-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([ 0.10714468, -0.05796534,  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:
[ 1.24481894e-05,-5.03853629e-07, 7.32256536e-06, 1.88112753e-05,
  2.38517532e-05,-5.40406117e-06, 2.40894177e-05,-5.14719054e-05,
  8.36962684e-06, 5.30286739e-05, 3.17777720e-05,-3.03793972e-05,
 -2.86510794e-04,-6.34230608e-05,-9.07334131e-05, 4.76227469e-05,
 -1.73056670e-03,-1.30653350e-03,-9.80712014e+00,-6.43244919e-02,
 -8.89235828e-03,-5.96836839e-03]


--- Step 749 ---
qpos:
[ 0.00988146, 0.00804067,-0.0056325 , 0.0334931 , 0.00351479, 0.00286963,
 -0.00675107, 0.03913167, 0.01307416, 0.00592117,-0.0116963 , 0.03408436,
  0.76297215, 0.00515585, 0.99276108, 0.04695058, 0.09104497,-0.06773842,
  0.14227863, 0.94441489,-0.03419575, 0.03565981, 0.32502236]

qacc:
[ -1.66727056,  2.01710979,-10.99587005, 26.70578252, -0.46306863,
  -3.88555866, 17.74102179,-35.48774367,  0.8216318 , -0.38269734,
   3.52407917, -9.85894106, -2.05335893,  2.74815626, -3.35741487,
  10.31836009, -1.85594844, -0.64399908,  2.02902954,-10.58671849,
 -18.39279314,-12.26619168]

qfrc_actuator:
[-1.35580953e-05, 2.11036389e-04, 8.67369841e-05, 8.06532829e-05,
 -4.73748440e-05, 6.25845398e-05, 1.02342331e-06, 3.93524407e-05,
  1.15196007e-05, 5.36952301e-05,-2.03739090e-05,-1.69530952e-05,
  5.44307223e-02,-9.76210507e-04, 1.53424329e-02,-2.67479085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([14.54167716, 14.45636452,  1.57286349, 14.45636452, 14.78679371,
       -2.25289365,  1.57286349, -2.25289365, 35.24827513,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007027137657719812
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.89953946e-14,  9.87442433e-14,  1.00000000e+00,  7.80034046e-27,
        1.00000000e+00, -9.87442433e-14, -1.00000000e+00,  0.00000000e+00,
       -7.89953946e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10713868, -0.057955  ,  0.06198422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.77165449e-06, 4.59490464e-06,-1.89502672e-07, 4.62549022e-05,
 -2.83248018e-06,-2.53149205e-06, 3.27646373e-05,-4.85997764e-05,
  4.85208795e-06, 4.64882080e-05, 1.35187775e-05,-1.51109963e-05,
 -2.97841513e-04,-5.44825535e-05,-7.01433163e-05, 3.05828027e-05,
 -1.46693566e-03,-1.12992721e-03,-9.80738223e+00,-6.43720436e-02,
 -8.76515546e-03,-6.05777831e-03]


--- Step 750 ---
qpos:
[ 0.00988008, 0.00804019,-0.00563218, 0.03349466, 0.00351347, 0.00287002,
 -0.00675042, 0.03913178, 0.01307414, 0.00592117,-0.01169533, 0.03408333,
  0.76412502, 0.00515852, 0.99331729, 0.04694991, 0.09114664,-0.06769863,
  0.14229572, 0.94434252,-0.03421542, 0.03631213, 0.32515833]

qacc:
[ -7.10935065,  4.08847   ,-17.07741382, 32.26974729, -3.33539151,
   0.1722207 , -1.19372963,  3.51696824, -2.5703909 , -0.1433526 ,
   1.8649463 , -5.50334778, -1.99565376,  2.54549819,  3.52808802,
 -12.68189129, -1.77315552, -0.58021428,  1.60436078, -9.73272241,
 -18.07912772,-10.7444581 ]

qfrc_actuator:
[-5.47989741e-05, 2.66223045e-04, 6.76793464e-05, 1.24972064e-04,
 -6.68220291e-05, 6.11342253e-05, 2.27847816e-06, 4.65350110e-05,
 -3.64050389e-06, 6.05175167e-05,-2.09589404e-05,-2.71488322e-05,
  5.43180555e-02,-9.62964538e-04, 1.53339944e-02,-2.73935416e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([14.78021166, 14.67784389,  1.73653553, 14.67784389, 15.19873622,
       -3.53752512,  1.73653553, -3.53752512, 44.68068917,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007181603269340031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.72963211e-14, -1.93240803e-14,  1.00000000e+00, -1.49368031e-27,
        1.00000000e+00,  1.93240803e-14, -1.00000000e+00,  0.00000000e+00,
       -7.72963211e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10713509, -0.05794659,  0.06198388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.15173444e-05, 5.97230864e-05,-1.65302915e-05, 4.54086236e-05,
 -1.95278945e-05, 1.79694951e-06, 3.07446861e-06, 7.25967105e-06,
 -1.50059498e-05, 3.49669441e-05, 1.01540674e-05,-8.02969346e-06,
 -2.96041881e-04,-6.62295423e-05,-4.72434862e-05,-7.40821960e-05,
 -1.24447126e-03,-9.75338873e-04,-9.80763341e+00,-6.44087107e-02,
 -8.65084926e-03,-6.14189702e-03]


--- Step 751 ---
qpos:
[ 0.00987857, 0.00804004,-0.00563175, 0.03349638, 0.00351226, 0.00287032,
 -0.00675001, 0.03913235, 0.01307394, 0.00592127,-0.01169458, 0.03408258,
  0.76527612, 0.0051605 , 0.99387271, 0.04694881, 0.09124151,-0.06766095,
  0.14231777, 0.94427662,-0.03424127, 0.03692434, 0.32527804]

qacc:
[ -1.21850563,  0.41946495, -1.50837713,  3.73572137,  1.07009975,
   1.46364542, -7.36510492, 15.80870032, -1.60300134,  1.31074794,
  -5.63278754, 10.62396248, -0.77676443,  0.03064938,  0.16312687,
  -2.18056875, -1.70229548, -0.52837327,  1.23930865, -9.03848823,
 -17.77013382, -9.53089193]

qfrc_actuator:
[-6.07568714e-05, 2.81440773e-04, 7.42116525e-05, 1.32674004e-04,
 -5.99798971e-05, 4.23549557e-05,-1.50059538e-05, 6.84690073e-05,
 -1.25539856e-05, 4.66945472e-05,-3.94759244e-05,-1.49870781e-05,
  5.42197211e-02,-1.00954609e-03, 1.52982739e-02,-2.75930696e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([14.89227532, 14.76160802,  1.96844934, 14.76160802, 15.65681846,
       -5.73338921,  1.96844934, -5.73338921, 57.88756229,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00072554737253408
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.91273352e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.91273352e-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([ 0.10713345, -0.05793968,  0.06198372])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.12019383e-06, 4.71466369e-05, 1.84056212e-05, 1.05718704e-05,
  6.28714813e-06,-1.68573402e-05,-1.62951596e-05, 2.22568818e-05,
 -9.32709234e-06, 7.46962082e-06,-1.03298637e-05, 1.38559831e-05,
 -2.83331769e-04,-1.28261805e-04,-7.72752519e-05,-3.27363085e-05,
 -1.05461299e-03,-8.39670201e-04,-9.80787224e+00,-6.44370505e-02,
 -8.54734215e-03,-6.22097417e-03]


--- Step 752 ---
qpos:
[ 0.00987734, 0.00803981,-0.00563071, 0.03349751, 0.00351115, 0.00287046,
 -0.00674976, 0.03913319, 0.01307398, 0.00592172,-0.01169446, 0.03408232,
  0.76642542, 0.0051619 , 0.99442653, 0.0469502 , 0.09132981,-0.06762522,
  0.14234353, 0.94421664,-0.03427238, 0.03749743, 0.32538327]

qacc:
[  2.52227783, -2.9922762 , 13.00687274,-24.1307639 ,  0.79923676,
   0.83284733, -4.36786025,  9.29355511,  2.07986988,  3.26003265,
 -13.02515747, 22.30909486, -0.66854719, -0.06910029, -9.85926213,
  31.11732155, -1.64192695, -0.48622287,  0.92760663, -8.47417977,
 -17.47536212, -8.56322182]

qfrc_actuator:
[-4.58905774e-05, 2.54927629e-04, 9.56364036e-05, 1.01009466e-04,
 -5.54667726e-05, 3.10295892e-05,-2.54050562e-05, 8.11222367e-05,
  3.93280737e-08, 7.38095860e-05,-6.85069813e-05, 1.02000205e-05,
  5.41300285e-02,-1.03787144e-03, 1.52302602e-02,-2.62856250e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([14.90505843, 14.72825706,  2.28893224, 14.72825706, 16.37404585,
       -9.45227825,  2.28893224, -9.45227825, 75.72624886,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007263959232073208
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.64199653e-14, -1.52839931e-13,  1.00000000e+00,  1.16800222e-26,
        1.00000000e+00,  1.52839931e-13, -1.00000000e+00,  0.00000000e+00,
        7.64199653e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10713337, -0.05793395,  0.06198371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46784102e-05, 4.10534697e-06, 3.37909249e-05,-2.88055411e-05,
  4.68571694e-06,-2.31790813e-05,-1.51280313e-05, 1.17971813e-05,
  1.23315708e-05, 2.97376230e-05,-2.82891379e-05, 2.54195997e-05,
 -2.82034447e-04,-1.20490252e-04,-1.16380133e-04, 1.16938076e-04,
 -8.91075103e-04,-7.20215213e-04,-9.80809786e+00,-6.44590466e-02,
 -8.45309668e-03,-6.29522277e-03]


--- Step 753 ---
qpos:
[ 0.00987699, 0.00803968,-0.00562975, 0.03349862, 0.0035101 , 0.00287053,
 -0.00674997, 0.03913418, 0.01307348, 0.00592222,-0.01169487, 0.0340824 ,
  0.76757265, 0.00516327, 0.99497943, 0.04695139, 0.09141174,-0.06759129,
  0.14237194, 0.94416218,-0.03430801, 0.03803227, 0.32547547]

qacc:
[  7.69632153,  0.26946546, -0.72589064,  0.4768321 ,  0.53944095,
   1.44893529, -5.96548942,  9.39365076, -4.75898307,  2.23895314,
  -9.29560034, 15.90588981, -1.51166871,  1.5558018 , -0.61634215,
   0.44811756, -1.59068433, -0.45192576,  0.66292862, -8.01546717,
 -17.20020025, -7.79178435]

qfrc_actuator:
[-1.14550719e-06, 2.56911032e-04, 8.99681983e-05, 9.96672261e-05,
 -5.23688874e-05, 2.42683072e-05,-4.93868059e-05, 8.82226393e-05,
 -2.80693613e-05, 5.41777717e-05,-1.03342918e-04, 2.51205766e-05,
  5.40242838e-02,-1.03732826e-03, 1.51909040e-02,-2.64092713e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.83875101,  14.58702017,   2.72164918,  14.58702017,
        17.77254293, -15.72402578,   2.72164918, -15.72402578,
        99.11363935,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007220077760312915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53768846e-13, -7.68844230e-14,  1.00000000e+00,  1.18224290e-26,
        1.00000000e+00,  7.68844230e-14, -1.00000000e+00,  0.00000000e+00,
        1.53768846e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10713452, -0.05792916,  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:
[ 4.51639721e-05, 1.00274745e-05,-1.66621918e-06,-5.62490020e-07,
  3.22313060e-06,-2.23507925e-05,-3.02312909e-05, 5.81048830e-06,
 -2.77462067e-05,-7.76928127e-06,-3.13047514e-05, 1.57096717e-05,
 -2.95637419e-04,-8.95621101e-05,-8.62520341e-05,-2.22187081e-05,
 -7.49197025e-04,-6.14682539e-04,-9.80830984e+00,-6.44762325e-02,
 -8.36697689e-03,-6.36482352e-03]


--- Step 754 ---
qpos:
[ 0.00987718, 0.00803986,-0.00562922, 0.03349936, 0.0035091 , 0.00287048,
 -0.00675046, 0.03913524, 0.01307195, 0.00592249,-0.01169555, 0.03408233,
  0.76871757, 0.00516525, 0.99553136, 0.04695173, 0.09148749,-0.06755907,
  0.14240211, 0.94411289,-0.03434757, 0.03852964, 0.32555577]

qacc:
[  4.71074252,  0.8408764 , -0.84623812, -5.12251793,  0.39114899,
   0.8336267 , -3.48340815,  5.27608625, -8.99855358,  0.16114853,
  -0.37945625, -1.59028223, -2.26599854,  3.10616506,  1.26541957,
  -6.12149318, -1.54732654, -0.42398998,  0.4392834 , -7.64259538,
 -16.94737867, -7.17702031]

qfrc_actuator:
[ 2.53151989e-05, 2.75849619e-04, 6.84717789e-05, 8.06764642e-05,
 -5.01281866e-05, 2.02314339e-05,-6.34302909e-05, 9.19943346e-05,
 -7.99164968e-05, 2.44172113e-05,-1.23763290e-04, 1.60877568e-05,
  5.39089963e-02,-1.00202776e-03, 1.51421091e-02,-2.68420050e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.70868423,  14.33514667,   3.29377618,  14.33514667,
        20.73221385, -26.21555806,   3.29377618, -26.21555806,
       128.80382905,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007134911276246991
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.78021605e-14, -7.78021605e-14,  1.00000000e+00, -6.05317618e-27,
        1.00000000e+00,  7.78021605e-14, -1.00000000e+00,  0.00000000e+00,
       -7.78021605e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10713662, -0.0579251 ,  0.061984  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77502193e-05, 2.41856932e-05,-1.96634229e-05,-1.86358065e-05,
  2.32551232e-06,-2.25323435e-05,-2.21834185e-05, 1.87909440e-06,
 -5.26367279e-05,-3.99230353e-05,-2.53380745e-05,-1.01424313e-05,
 -3.05767090e-04,-5.12688783e-05,-9.99939737e-05,-5.76101866e-05,
 -6.25490447e-04,-5.21169734e-04,-9.80850803e+00,-6.44897912e-02,
 -8.28813684e-03,-6.42992935e-03]


--- Step 755 ---
qpos:
[ 0.009877  , 0.00804003,-0.00562857, 0.03349986, 0.00350848, 0.00287026,
 -0.00675084, 0.03913632, 0.01307086, 0.0059229 ,-0.01169669, 0.03408246,
  0.76986002, 0.00516827, 0.99608206, 0.04695121, 0.09155358,-0.06752014,
  0.14242985, 0.94407231,-0.03444287, 0.03898332, 0.32560936]

qacc:
[ -3.2751216 , -0.80410541,  3.85445595, -8.06280675,  3.34541433,
  -0.55273012,  1.53991297, -1.29572471,  3.71944828,  1.86421532,
  -7.20594199, 11.27641849, -2.70482091,  4.04386437,  1.02211909,
  -5.67769125, -2.41350485,  1.67484884, -0.60566782,-32.75811163,
 -11.25818092,-15.84968156]

qfrc_actuator:
[ 5.28751475e-06, 2.69203093e-04, 7.33733937e-05, 6.92107204e-05,
 -3.06568335e-05, 1.78915392e-05,-5.37260524e-05, 9.37897077e-05,
 -5.65444445e-05, 5.98566895e-05,-1.35578553e-04, 2.85371953e-05,
  5.37880807e-02,-9.46503462e-04, 1.50823644e-02,-2.72754960e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([14.52834555, -0.16633798, 14.5273933 , -0.16633798, 85.80595587,
        0.81612532, 14.5273933 ,  0.81612532, 14.53769014,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007018603961841688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.93371119e-08, -9.93371490e-08,  1.00000000e+00,  9.86786548e-15,
        1.00000000e+00,  9.93371490e-08, -1.00000000e+00,  0.00000000e+00,
        9.93371119e-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([ 0.12369328, -0.08919544,  0.06198427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92283310e-05, 2.01277086e-06, 6.81964114e-06,-1.14768078e-05,
  1.95304206e-05,-1.94360015e-05, 2.38663007e-06, 9.76965076e-08,
  2.18635106e-05, 7.42134493e-06,-2.35279260e-05, 9.66753305e-06,
 -3.08573503e-04,-2.49279553e-05,-1.21038539e-04,-6.13701578e-05,
 -5.17321120e-04,-4.38117693e-04,-9.80869247e+00,-6.45006342e-02,
 -8.21594191e-03,-6.49066953e-03]


--- Step 756 ---
qpos:
[ 0.00987692, 0.00804017,-0.00562786, 0.03350058, 0.00350809, 0.0028698 ,
 -0.00675103, 0.03913672, 0.01307039, 0.00592338,-0.01169796, 0.03408238,
  0.77100043, 0.00517115, 0.9966315 , 0.0469511 , 0.09161359,-0.06748278,
  0.14245872, 0.94403651,-0.03454138, 0.03940055, 0.32565252]

qacc:
[  0.9384087 ,  0.21021744, -1.73270547,  5.35860787,  2.10473213,
  -2.22112557, 10.30580433,-22.09377433,  5.56327049,  0.02234305,
   0.90740257, -4.32795639, -1.34679847,  1.22264954, -3.00193702,
   7.99979813, -1.51896111, -0.39246061,  0.28117011, -7.16249175,
 -16.59858989, -6.38879434]

qfrc_actuator:
[ 1.13217159e-05, 2.65144728e-04, 7.59828936e-05, 8.00206122e-05,
 -1.89521646e-05,-1.06654944e-06,-4.78262500e-05, 5.89199938e-05,
 -2.45844585e-05, 6.31085442e-05,-1.41944281e-04, 1.80828825e-05,
  5.36745362e-02,-9.68274559e-04, 1.50427356e-02,-2.69957610e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.36159604,  -3.00886966,  14.04286809,  -3.00886966,
       133.19098477,  25.46076344,  14.04286809,  25.46076344,
        19.81690034,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006912644738677198
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.03037814e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.03037814e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10714254, -0.05791862,  0.06198451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.48597629e-06,-2.03716681e-06, 3.45829145e-06, 1.09065931e-05,
  1.22530417e-05,-2.93126782e-05, 2.18623935e-06,-3.56199463e-05,
  3.25847609e-05, 2.95828628e-06,-7.39013018e-06,-1.07619803e-05,
 -2.96945948e-04,-9.70037143e-05,-1.10132765e-04, 7.25246974e-06,
 -2.53161040e-04,-3.01603507e-04,-9.80882734e+00,-6.45362840e-02,
 -8.13018425e-03,-6.55712777e-03]


--- Step 757 ---
qpos:
[ 0.00987726, 0.00804066,-0.00562757, 0.03350141, 0.00350785, 0.00286912,
 -0.00675115, 0.03913671, 0.01306997, 0.00592347,-0.0116985 , 0.03408148,
  0.77213908, 0.0051732 , 0.99717977, 0.04695289, 0.09166766,-0.06744692,
  0.14248808, 0.94400531,-0.03464282, 0.03978183, 0.32568583]

qacc:
[  3.64352075,  1.86364469, -6.43059004,  8.70588626,  1.26727188,
  -1.34573438,  6.12996965,-13.26678762,  0.3998376 , -4.22493235,
  17.74696687,-32.72088349, -0.49834961, -0.50187159, -7.47155601,
  23.6562585 , -1.4870986 , -0.37470454,  0.12180021, -6.96195117,
 -16.41173847, -6.0795771 ]

qfrc_actuator:
[ 3.26622513e-05, 2.98185881e-04, 5.94744952e-05, 8.60910922e-05,
 -1.19179920e-05,-1.21147691e-05,-4.43199456e-05, 3.82415688e-05,
 -2.33552445e-05, 2.93220984e-05,-1.09670637e-04,-2.35381523e-05,
  5.35814419e-02,-1.01790899e-03, 1.50152240e-02,-2.59422554e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000678254387358676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.18441462e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.18441462e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10714607, -0.05791598,  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:
[ 2.14942277e-05, 3.30710232e-05,-1.61375469e-05, 6.31140298e-06,
  7.37369572e-06,-2.84923483e-05,-3.50539520e-06,-2.25520565e-05,
  2.15740774e-06,-3.41124132e-05, 3.16096908e-05,-4.19589217e-05,
 -2.86207009e-04,-1.38142170e-04,-8.49175172e-05, 8.99346483e-05,
 -1.88772577e-04,-2.35154043e-04,-9.80898167e+00,-6.45486750e-02,
 -8.07146858e-03,-6.61169931e-03]


--- Step 758 ---
qpos:
[ 0.0098775 , 0.00804124,-0.00562713, 0.03350229, 0.00350804, 0.00286822,
 -0.00675129, 0.0391375 , 0.01306957, 0.00592323,-0.01169808, 0.03408007,
  0.77327582, 0.0051749 , 0.99772725, 0.04695421, 0.09171588,-0.0674125 ,
  0.14251739, 0.94397859,-0.03474697, 0.0401276 , 0.32570974]

qacc:
[-8.01045831e-01,-1.87108789e-01, 5.98442287e-01, 1.06782518e-01,
  3.79631994e+00, 1.37898229e+00,-8.71310538e+00, 2.26726679e+01,
  1.95991437e-01,-4.19599297e+00, 1.65044339e+01,-2.67376398e+01,
 -1.16350711e+00, 8.32976234e-01, 3.14925694e-01,-2.63693179e+00,
 -1.46056183e+00,-3.60037371e-01,-1.11662038e-02,-6.79935138e+00,
 -1.62440417e+01,-5.83564080e+00]

qfrc_actuator:
[ 2.73278967e-05, 2.99851210e-04, 6.74615090e-05, 8.93392582e-05,
  1.00660184e-05,-1.83418442e-05,-4.22111296e-05, 7.93462765e-05,
 -2.24741308e-05, 2.70053036e-05,-5.50182656e-05,-4.76635429e-05,
  5.34900149e-02,-1.03026158e-03, 1.49737163e-02,-2.62163616e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006634232428060077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.36738113e-14, -8.36738113e-14,  1.00000000e+00, -7.00130670e-27,
        1.00000000e+00,  8.36738113e-14, -1.00000000e+00,  0.00000000e+00,
       -8.36738113e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10714993, -0.05791367,  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:
[-4.71206463e-06, 1.70794582e-05, 1.30369707e-05, 4.22526603e-06,
  2.21847836e-05,-2.38219054e-05,-4.97948281e-06, 3.93251174e-05,
  9.30546194e-07,-1.66567410e-05, 5.00545618e-05,-2.53073407e-05,
 -2.87344469e-04,-1.07652208e-04,-7.85947468e-05,-3.51086037e-05,
 -1.34810516e-04,-1.76319015e-04,-9.80912298e+00,-6.45599811e-02,
 -8.01819913e-03,-6.66216717e-03]


--- Step 759 ---
qpos:
[ 0.00987769, 0.00804158,-0.00562642, 0.03350324, 0.00350814, 0.00286756,
 -0.00675188, 0.03913874, 0.01306918, 0.00592315,-0.01169775, 0.03407839,
  0.77441067, 0.00517639, 0.99827398, 0.04695284, 0.09175835,-0.06737947,
  0.14254622, 0.94395627,-0.03485367, 0.04043825, 0.32572461]

qacc:
[ -0.5617649 , -0.91008924,  2.49989249, -1.57148759, -0.75002095,
   2.53841245,-10.52034156, 18.9827062 ,  0.11247459, -0.09227101,
   1.78131314, -6.42484068, -1.39082318,  1.29386966,  7.0880472 ,
 -26.20316658, -1.43858103, -0.34788834, -0.12143541, -6.66811859,
 -16.09529347, -5.64435919]

qfrc_actuator:
[ 2.40833408e-05, 2.65056886e-04, 7.19836155e-05, 9.08988061e-05,
  5.16946672e-06, 1.39218697e-05,-5.86342277e-05, 1.03218647e-04,
 -2.17948046e-05, 4.36650227e-05,-5.84787245e-05,-6.12641796e-05,
  5.33996652e-02,-1.03814608e-03, 1.49238194e-02,-2.76259784e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006473305211476266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.57539532e-14, -8.57539532e-14,  1.00000000e+00, -7.35374049e-27,
        1.00000000e+00,  8.57539532e-14, -1.00000000e+00,  0.00000000e+00,
       -8.57539532e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10715399, -0.0579116 ,  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:
[-3.37600894e-06,-2.23999447e-05, 9.78800684e-06, 2.82062437e-06,
 -4.27558219e-06, 1.96392231e-05,-2.05869901e-05, 2.34443909e-05,
  6.98374505e-07, 1.66061313e-05,-1.61081604e-06,-1.30725077e-05,
 -2.80032129e-04,-9.66723822e-05,-9.91895716e-05,-1.55081680e-04,
 -9.04535564e-05,-1.24397847e-04,-9.80925148e+00,-6.45705269e-02,
 -7.97018600e-03,-6.70859784e-03]


--- Step 760 ---
qpos:
[ 0.00987783, 0.0080418 ,-0.00562568, 0.03350421, 0.00350819, 0.00286731,
 -0.0067528 , 0.03914022, 0.0130688 , 0.00592312,-0.01169827, 0.03407697,
  0.77554363, 0.00517752, 0.99881938, 0.04695275, 0.09179514,-0.0673478 ,
  0.1425742 , 0.94393827,-0.0349628 , 0.04071409, 0.32573072]

qacc:
[ -0.35183875, -0.23202511,  0.56101572, -0.34314699, -0.54002645,
   1.9386982 , -7.14511411, 11.55986445,  0.07229347,  3.01878537,
 -11.76732729, 17.65772402, -0.99690354,  0.57130941, -5.74597761,
  17.40564028, -1.42050217, -0.33779527, -0.21223221, -6.56289908,
 -15.96490353, -5.49564451]

qfrc_actuator:
[ 2.21030971e-05, 2.61940845e-04, 7.42576250e-05, 9.14129657e-05,
  2.23918999e-06, 5.11553228e-05,-6.79751157e-05, 1.16771487e-04,
 -2.12390629e-05, 1.80893347e-05,-1.13893241e-04,-5.08378466e-05,
  5.32993773e-02,-1.06109502e-03, 1.48902177e-02,-2.68524556e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006304416300396132
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32076822e-13,  1.54089625e-13,  1.00000000e+00,  2.03516680e-26,
        1.00000000e+00, -1.54089625e-13, -1.00000000e+00,  0.00000000e+00,
       -1.32076822e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10715817, -0.05790976,  0.06198588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08674142e-06,-1.35239900e-05,-1.06428751e-06,-5.65108734e-08,
 -3.04512445e-06, 4.49947509e-05,-6.99645619e-06, 1.41386378e-05,
  5.81753098e-07,-1.71806163e-05,-5.26346686e-05, 1.08308932e-05,
 -2.83749189e-04,-1.07378542e-04,-1.05221127e-04, 5.40210908e-05,
 -5.50658695e-05,-7.88277874e-05,-9.80936739e+00,-6.45805622e-02,
 -7.92728405e-03,-6.75104771e-03]


--- Step 761 ---
qpos:
[ 0.00987829, 0.00804205,-0.00562468, 0.03350479, 0.00350854, 0.00286714,
 -0.00675368, 0.03914153, 0.01306843, 0.00592273,-0.01169901, 0.0340757 ,
  0.77657061, 0.00523546, 0.99936646, 0.0469561 , 0.09182338,-0.06731826,
  0.14260028, 0.94392598,-0.03507498, 0.04093667, 0.32572639]

qacc:
[ 2.81462309e+00,-1.47953557e+00, 6.90961934e+00,-1.38989873e+01,
  2.72236738e+00,-3.32084937e-01, 2.09037304e+00,-5.25047717e+00,
  8.65934534e-02, 4.03667022e-01,-2.77279133e+00, 5.93144141e+00,
 -1.26716304e+02, 1.98458474e+02, 2.61529915e+00, 1.93615206e+01,
 -2.13762936e+00,-5.35010128e-01,-4.74983971e-01,-9.79751943e+00,
 -2.45758365e+01,-6.84498635e+00]

qfrc_actuator:
[ 3.86352669e-05, 2.77802355e-04, 9.30555043e-05, 7.35766852e-05,
  1.82508602e-05, 3.78421217e-05,-7.30233464e-05, 1.06410733e-04,
 -2.07607971e-05,-1.50331092e-05,-1.28662797e-04,-4.41732003e-05,
  5.31985194e-02,-1.09285183e-03, 1.48504934e-02,-2.53304734e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.41848035, -1.55578622,  7.25350811, -1.55578622,  1.03875043,
       -1.36837179,  7.25350811, -1.36837179,  7.12498182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001281554219313371
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92704168e-01, -5.26972818e-02, -1.08450129e-01, -5.23855993e-02,
        9.98610533e-01, -5.72297892e-03,  1.08601027e-01,  8.67361738e-19,
       -9.94085417e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1136061 , -0.05231415,  0.29674983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006131410010385696
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52678512e-14,  4.52678512e-14,  1.00000000e+00,  2.04917835e-27,
        1.00000000e+00, -4.52678512e-14, -1.00000000e+00,  0.00000000e+00,
       -4.52678512e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10716239, -0.0579081 ,  0.06198627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64663815e-05, 8.05634630e-06, 1.58577345e-05,-1.84579787e-05,
  1.59404938e-05, 1.10241818e-05, 3.88386641e-06,-8.40022295e-06,
  4.89584407e-07,-5.31287963e-05,-2.44174636e-05, 4.32239385e-06,
 -2.88470782e-04,-1.19626252e-04,-8.94143593e-05, 1.40069899e-04,
 -2.81564216e-05,-3.91586933e-05,-9.80947092e+00,-6.45902782e-02,
 -7.88938271e-03,-6.78956434e-03]


--- Step 762 ---
qpos:
[ 0.00987964, 0.00804241,-0.00562349, 0.0335048 , 0.00350909, 0.00286692,
 -0.00675424, 0.03914235, 0.01306807, 0.0059222 ,-0.01169974, 0.03407413,
  0.7775027 , 0.00530633, 0.9999136 , 0.04695759, 0.09184315,-0.06729169,
  0.14262417, 0.94392413,-0.03518141, 0.04110588, 0.32569897]

qacc:
[ 7.76383552e+00,-1.57974092e+00, 8.23103514e+00,-1.84749646e+01,
  1.67486374e+00,-1.99815434e+00, 9.02375662e+00,-1.78098074e+01,
  7.55607810e-02,-8.19096109e-01, 3.94430755e+00,-9.08694263e+00,
 -8.30182163e+01, 1.02575511e+02, 1.18952008e+01,-2.67415479e+01,
 -2.11710619e+00,-7.42274099e-01,-5.45598637e-01,-5.32446227e+00,
 -2.59366244e+01,-1.34223487e+01]

qfrc_actuator:
[ 8.36833589e-05, 2.87207691e-04, 1.03779826e-04, 4.51167096e-05,
  2.75297142e-05, 2.98660478e-05,-5.79627618e-05, 8.20248063e-05,
 -2.03320506e-05, 9.79519659e-07,-1.19349403e-04,-5.75072654e-05,
  5.31120824e-02,-1.15141403e-03, 1.47695926e-02,-2.65815632e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.728641  , -4.02213572,  6.59956937, -4.02213572,  2.42034978,
       -3.23516074,  6.59956937, -3.23516074,  5.75695848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002283739850312595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92357399e-01, -6.59525969e-02, -1.04293083e-01, -6.55913559e-02,
        9.97822757e-01, -6.89340826e-03,  1.04520649e-01, -8.67361738e-19,
       -9.94522717e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11363665, -0.05236794,  0.29677018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005958374766330266
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.65824603e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.65824603e-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([ 0.10716659, -0.05790659,  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:
[ 4.55182334e-05, 1.63775403e-05, 1.36859511e-05,-2.79301822e-05,
  9.73608859e-06,-1.35006528e-06, 1.75341966e-05,-2.39439209e-05,
  4.22667478e-07,-1.85308530e-05,-4.50314921e-06,-1.63662317e-05,
  4.91966746e-03,-3.02261947e-03,-2.58061319e-04,-1.57517782e-04,
  2.81136836e-08, 7.36471951e-06,-9.80961245e+00,-6.46031865e-02,
 -7.85877418e-03,-6.82251797e-03]


--- Step 763 ---
qpos:
[ 0.00988117, 0.00804278,-0.00562243, 0.03350485, 0.00350974, 0.00286679,
 -0.00675467, 0.03914288, 0.01306771, 0.0059218 ,-0.01170053, 0.03407273,
  0.77836574, 0.00536677, 1.00045924, 0.04695529, 0.09185456,-0.06726843,
  0.1426457 , 0.94393479,-0.03527817, 0.04122209, 0.32564289]

qacc:
[  1.61683202,  0.46880809, -1.80814754,  2.68562289,  0.94298569,
  -0.84776835,  4.5071468 ,-10.07331748,  0.06374194,  0.66596603,
  -2.84275414,  5.74909784,-44.43863418, 35.29121981, 12.11291319,
 -38.83710561, -2.09032186, -0.82753639, -0.59117897, -3.25655014,
 -26.33567517,-16.29299718]

qfrc_actuator:
[ 9.18907384e-05, 2.74887959e-04, 9.18702274e-05, 4.61310778e-05,
  3.27654883e-05, 4.29617083e-05,-4.89021303e-05, 6.73508203e-05,
 -1.99354199e-05, 2.86285711e-05,-1.13474803e-04,-4.69450198e-05,
  5.30211376e-02,-1.20491404e-03, 1.46853746e-02,-2.85697953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.10668173, -5.69759809,  5.76677246, -5.69759809,  4.1469048 ,
       -3.91227807,  5.76677246, -3.91227807,  4.24133274,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030388126701573996
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92386808e-01, -6.59319377e-02, -1.04025974e-01, -6.55726633e-02,
        9.97824123e-01, -6.87359012e-03,  1.04252815e-01,  8.67361738e-19,
       -9.94550829e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11365839, -0.05241545,  0.29678489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005787397330873217
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59172976e-14,  4.79586488e-14,  1.00000000e+00,  4.60006399e-27,
        1.00000000e+00, -4.79586488e-14, -1.00000000e+00,  0.00000000e+00,
       -9.59172976e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10717072, -0.05790522,  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:
[ 9.50814454e-06,-1.54643237e-06,-7.82867328e-06, 1.64045732e-06,
  5.51239306e-06, 1.49528791e-05, 1.01198531e-05,-1.45917371e-05,
  4.00319487e-07, 1.56851031e-05, 9.43767579e-07, 9.30003086e-06,
  9.57025187e-03,-3.72641328e-03,-3.47941756e-04,-2.64473000e-04,
 -1.03468823e-05, 4.77103221e-05,-9.80971909e+00,-6.46221159e-02,
 -7.83817085e-03,-6.84821636e-03]


--- Step 764 ---
qpos:
[ 0.00988278, 0.00804317,-0.00562181, 0.03350529, 0.00351011, 0.00286657,
 -0.00675515, 0.03914291, 0.01306737, 0.00592148,-0.01170155, 0.03407217,
  0.77919012, 0.00540639, 1.00100234, 0.04695334, 0.09185783,-0.06724849,
  0.14266478, 0.94395832,-0.03536437, 0.0412867 , 0.32555716]

qacc:
[  0.74910372,  2.00667504, -8.74998843, 16.02038177, -2.52397657,
  -0.9734621 ,  5.339818  ,-13.60129514,  0.0577117 ,  2.52474485,
 -12.42775733, 27.41428983,-12.55599202,-10.32271074, -4.5011559 ,
  11.02198659, -2.03357553, -0.82889601, -0.61398298, -2.58114977,
 -25.81960141,-16.78585372]

qfrc_actuator:
[ 9.60921525e-05, 2.67335456e-04, 6.66273312e-05, 6.44484107e-05,
  1.78292910e-05, 1.53016993e-05,-6.11221116e-05, 4.07690185e-05,
 -1.95607414e-05, 2.75493627e-05,-1.27356083e-04,-4.64181410e-06,
  5.29339040e-02,-1.23717400e-03, 1.46472369e-02,-2.81330088e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.45439383, -6.72800948,  5.11963509, -6.72800948,  5.42246618,
       -3.98443201,  5.11963509, -3.98443201,  3.21822058,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035554574837914584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99241001, -0.06584702, -0.1038583 , -0.06548937,  0.99782973,
       -0.00685363,  0.10408419,  0.        , -0.99456849])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11367143, -0.05245792,  0.29679409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005620172133644352
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.87712652e-14, -7.40784489e-14,  1.00000000e+00, -7.31682212e-27,
        1.00000000e+00,  7.40784489e-14, -1.00000000e+00,  0.00000000e+00,
       -9.87712652e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10717474, -0.05790396,  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:
[ 4.46971671e-06,-9.99174931e-06,-2.64886455e-05, 1.80081149e-05,
 -1.47740597e-05,-1.78228646e-05,-8.38463458e-06,-2.58751239e-05,
  3.88762596e-07, 8.31124021e-06,-1.01867468e-05, 4.31947090e-05,
  1.29339684e-02,-3.23870818e-03,-3.15180596e-04,-3.17957026e-05,
 -4.08088156e-05, 7.54421502e-05,-9.80980417e+00,-6.46370355e-02,
 -7.82655761e-03,-6.86689190e-03]


--- Step 765 ---
qpos:
[ 0.00988409, 0.00804368,-0.00562153, 0.03350522, 0.0035096 , 0.00286593,
 -0.00675534, 0.03914264, 0.01306737, 0.00592154,-0.01170284, 0.0340714 ,
  0.78000571, 0.00542222, 1.00154304, 0.04695119, 0.09185334,-0.06723165,
  0.14268139, 0.94399394,-0.03544095, 0.04130214, 0.32544357]

qacc:
[ -2.7092259 ,  0.1071851 ,  1.97092407,-10.12724091, -7.64724193,
  -1.98332925,  7.56201334,-12.95910074,  3.07988167,  0.76791526,
  -1.10459848, -2.51042768, 12.60735305,-40.23996627, -4.50798807,
   6.93347362, -1.94059754, -0.77408766, -0.61669255, -2.67620663,
 -24.53145722,-15.78642537]

qfrc_actuator:
[ 8.01612952e-05, 2.80400384e-04, 5.14935734e-05, 3.95329305e-05,
 -2.66115334e-05,-1.88973829e-05,-5.04742026e-05, 2.50979454e-05,
 -1.44951976e-06, 6.24886064e-05,-1.35128203e-04,-1.50505956e-05,
  5.28486482e-02,-1.24213401e-03, 1.46102656e-02,-2.80427390e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.68664803, -7.36746437,  4.60199117, -7.36746437,  6.28353835,
       -3.84720967,  4.60199117, -3.84720967,  2.52753579,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003844207005464632
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92427499e-01, -6.56955399e-02, -1.03787068e-01, -6.53392117e-02,
        9.97839715e-01, -6.83310893e-03,  1.04011763e-01, -8.67361738e-19,
       -9.94576067e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11367591, -0.05249681,  0.2967979 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005458084737347824
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08522256e-14,  2.54261128e-14,  1.00000000e+00,  1.29297442e-27,
        1.00000000e+00, -2.54261128e-14, -1.00000000e+00,  0.00000000e+00,
       -5.08522256e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10717865, -0.05790281,  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:
[-1.58086214e-05, 2.75189015e-06,-1.98516730e-05,-2.59133547e-05,
 -4.48656602e-05,-4.69978207e-05, 5.04733230e-06,-1.72263539e-05,
  1.81216058e-05, 3.93577147e-05,-5.79892243e-06,-9.56022813e-06,
  1.47820246e-02,-2.20314438e-03,-2.31709296e-04,-4.15706565e-05,
 -8.18849544e-05, 8.91869455e-05,-9.80987189e+00,-6.46440357e-02,
 -7.82285069e-03,-6.87886339e-03]


--- Step 766 ---
qpos:
[ 0.00988486, 0.00804381,-0.0056207 , 0.03350521, 0.00350856, 0.00286505,
 -0.00675493, 0.03914249, 0.01306725, 0.00592173,-0.01170384, 0.03407015,
  0.78083884, 0.00541531, 1.00208141, 0.04694651, 0.09184158,-0.06721753,
  0.14269558, 0.94404019,-0.03550999, 0.04127162, 0.32530571]

qacc:
[ -4.76548696, -1.91120562,  5.88898877, -5.61693257, -4.6290457 ,
  -1.7445892 ,  5.31436047, -4.15726194, -1.11826811, -1.57804507,
   7.88498613,-16.59405992, 31.71788496,-59.13260729,  1.31882136,
 -16.45488952, -1.82000741, -0.68300577, -0.60398796, -3.22936587,
 -22.7035457 ,-13.8430203 ]

qfrc_actuator:
[ 5.25104432e-05, 2.52452812e-04, 7.80107236e-05, 4.26605022e-05,
 -5.25505765e-05,-3.40203486e-06,-8.68079360e-06, 3.37351962e-05,
 -8.54896431e-06, 6.54490261e-05,-1.21370256e-04,-3.86085457e-05,
  5.27686081e-02,-1.23716449e-03, 1.45474436e-02,-2.92214925e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.75123169, -7.71607456,  4.1287104 , -7.71607456,  6.82121953,
       -3.60696592,  4.1287104 , -3.60696592,  2.01023626,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000391837022122829
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99243945, -0.06548165, -0.10380794, -0.06512635,  0.99785377,
       -0.00681214,  0.10403121,  0.        , -0.99457403])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11367211, -0.05253358,  0.29679652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005302232282570346
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04693926e-13, -2.61734814e-14,  1.00000000e+00, -2.74020452e-27,
        1.00000000e+00,  2.61734814e-14, -1.00000000e+00,  0.00000000e+00,
       -1.04693926e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10718241, -0.05790174,  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:
[-2.81002911e-05,-3.16510714e-05, 2.37341438e-05, 2.05308020e-06,
 -2.72304782e-05,-1.04710865e-05, 3.21233205e-05, 6.46709881e-06,
 -6.57126391e-06, 2.33828949e-05, 2.08580130e-05,-2.22543247e-05,
  1.51430855e-02,-1.00748837e-03,-1.83396297e-04,-1.51593740e-04,
 -1.28484278e-04, 8.92077511e-05,-9.80992289e+00,-6.46431183e-02,
 -7.82631684e-03,-6.88457270e-03]


--- Step 767 ---
qpos:
[ 0.00988597, 0.00804377,-0.00561963, 0.03350557, 0.00350792, 0.00286445,
 -0.00675481, 0.03914278, 0.01306636, 0.00592146,-0.01170413, 0.03406937,
  0.78171094, 0.00538893, 1.0026168 , 0.04694056, 0.09182308,-0.0672057 ,
  0.14270745, 0.94409519,-0.03557428, 0.04119888, 0.32514828]

qacc:
[  3.10157598, -0.12151129, -1.48696622,  7.75467405,  3.38419704,
   2.08219541, -8.80559939, 16.81497029, -6.77233547, -1.61344606,
   2.90925761,  4.3674936 , 45.54113207,-70.05033336, -4.34777617,
  -0.15425074, -1.681965  , -0.56951685, -0.58019287, -4.06515643,
 -20.53870311,-11.31111618]

qfrc_actuator:
[ 7.14469095e-05, 2.53611437e-04, 9.32626708e-05, 6.22648749e-05,
 -3.18771562e-05, 2.41356504e-05,-1.96359779e-05, 5.66632487e-05,
 -4.81884801e-05, 1.38051944e-05,-9.51334380e-05,-1.64575107e-05,
  5.26949695e-02,-1.21777257e-03, 1.44532143e-02,-2.97173322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.64343999, -7.82499749,  3.67130346, -7.82499749,  7.09253674,
       -3.30558729,  3.67130346, -3.30558729,  1.59792807,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000379320177318413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99244585, -0.06521359, -0.10391545, -0.06485902,  0.99787133,
       -0.00679116,  0.10413712,  0.        , -0.99456295])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11366041, -0.05256954,  0.29679024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005153451399074749
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15432909e-13,  5.38582272e-14,  1.00000000e+00,  1.16028345e-26,
        1.00000000e+00, -5.38582272e-14, -1.00000000e+00,  0.00000000e+00,
       -2.15432909e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.107186  , -0.05790076,  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:
[ 1.81225440e-05,-1.15769198e-05, 1.16973904e-05, 1.91081312e-05,
  1.98940286e-05, 2.86125251e-05,-8.93108142e-06, 2.37191443e-05,
 -3.98186963e-05,-3.52085967e-05, 3.28782180e-05, 2.34464345e-05,
  1.41949772e-02, 1.51171481e-04,-1.71481299e-04,-7.71190228e-05,
 -1.77672523e-04, 7.67303115e-05,-9.80995696e+00,-6.46364190e-02,
 -7.83641337e-03,-6.88456925e-03]


--- Step 768 ---
qpos:
[ 0.00988731, 0.00804424,-0.00561947, 0.03350547, 0.00350821, 0.00286405,
 -0.00675507, 0.03914302, 0.01306499, 0.00592084,-0.0117038 , 0.03406886,
  0.78263818, 0.00534685, 1.00314951, 0.04693471, 0.09179844,-0.06719564,
  0.14271712, 0.94415678,-0.03563698, 0.04108786, 0.32497657]

qacc:
[  1.87211708,  2.23819657, -5.07018849, -1.87916142,  8.27286887,
   1.19861705, -3.66736577,  3.15227123, -4.09246731, -1.69056288,
   4.24758314, -0.4606393 , 54.93575073,-75.71306834, -8.58268096,
  13.99108848, -1.53601887, -0.44449471, -0.54909754, -5.06200008,
 -18.21123475, -8.46011198]

qfrc_actuator:
[ 8.21508207e-05, 2.89926112e-04, 4.85851683e-05, 3.81514303e-05,
  1.60599476e-05, 2.29865755e-05,-4.38352032e-05, 5.22818217e-05,
 -7.11500421e-05, 9.58834772e-07,-6.19443222e-05,-3.13608471e-06,
  5.26279387e-02,-1.21941288e-03, 1.43988672e-02,-2.94508383e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.40200236, -7.75384014,  3.23598621, -7.75384014,  7.15888477,
       -2.97867001,  3.23598621, -2.97867001,  1.26472501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034848819688253045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92446565e-01, -6.49021280e-02, -1.04103459e-01, -6.45479847e-02,
        9.97891634e-01, -6.77081138e-03,  1.04323411e-01, -8.67361738e-19,
       -9.94543426e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11364127, -0.05260578,  0.29677935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005012351765336376
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10748714e-13, -8.30615355e-14,  1.00000000e+00, -9.19895825e-27,
        1.00000000e+00,  8.30615355e-14, -1.00000000e+00,  0.00000000e+00,
       -1.10748714e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10718942, -0.05789986,  0.06198878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12138553e-05, 3.30666301e-05,-4.49817900e-05,-2.38370025e-05,
  4.85120563e-05, 1.40496206e-05,-1.85641050e-05,-3.00313516e-06,
 -2.41092822e-05,-2.47408524e-05, 3.07862673e-05, 1.34109626e-05,
  1.21836119e-02, 1.12595955e-03,-8.85553379e-05, 1.02504528e-05,
 -2.27741263e-04, 5.37553347e-05,-9.80997377e+00,-6.46269952e-02,
 -7.85259585e-03,-6.87947720e-03]


--- Step 769 ---
qpos:
[ 0.00988842, 0.00804478,-0.00561972, 0.03350475, 0.00350908, 0.0028639 ,
 -0.00675564, 0.03914284, 0.01306371, 0.00592009,-0.01170338, 0.03406817,
  0.78363194, 0.00529316, 1.00368   , 0.04693186, 0.09176825,-0.06718684,
  0.14272475, 0.94422271,-0.03570146, 0.04094258, 0.32479621]

qacc:
[-2.00309725e+00,-1.78546935e-02, 2.82054774e+00,-1.28712467e+01,
  5.01858612e+00, 3.59193358e-01, 9.35848366e-01,-7.72726958e+00,
  7.06757010e-01,-7.37432219e-01, 3.13001692e+00,-6.16924416e+00,
  6.04851778e+01,-7.69929998e+01,-1.69791369e+01, 4.37024825e+01,
 -1.38738916e+00,-3.14049076e-01,-5.12682640e-01,-6.15023421e+00,
 -1.58175659e+01,-5.44213266e+00]

qfrc_actuator:
[ 7.01563051e-05, 2.75726064e-04, 2.22606790e-05, 6.25053188e-06,
  4.41392854e-05, 4.00891257e-05,-5.80214764e-05, 3.18408504e-05,
 -6.63479963e-05,-6.28467383e-06,-6.02984263e-05,-1.28476196e-05,
  5.25566875e-02,-1.21189802e-03, 1.43791808e-02,-2.76703564e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.08936373, -7.57461827,  2.83953579, -7.57461827,  7.0928504 ,
       -2.65825423,  2.83953579, -2.65825423,  0.99832403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003009607871286842
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92441395e-01, -6.45594139e-02, -1.04365514e-01, -6.42053758e-02,
        9.97913865e-01, -6.75186169e-03,  1.04583689e-01,  8.67361738e-19,
       -9.94516089e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11361519, -0.05264318,  0.29676419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004879348704459746
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.68837714e-14, -2.84418857e-14,  1.00000000e+00, -1.61788172e-27,
        1.00000000e+00,  2.84418857e-14, -1.00000000e+00,  0.00000000e+00,
       -5.68837714e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10719266, -0.05789904,  0.06198908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16622993e-05,-6.04071892e-06,-2.58678977e-05,-3.25060942e-05,
  2.94643291e-05, 2.10299664e-05,-1.36691747e-05,-2.05407397e-05,
  4.10457845e-06,-1.41376406e-05, 7.95457266e-07,-9.44306089e-06,
  9.35957492e-03, 1.92253765e-03, 1.21254082e-05, 1.80375416e-04,
 -2.77815473e-04, 2.29943170e-05,-9.80997326e+00,-6.46180157e-02,
 -7.87418672e-03,-6.86995892e-03]


--- Step 770 ---
qpos:
[ 0.00988972, 0.00804519,-0.00561993, 0.03350365, 0.00351027, 0.00286411,
 -0.00675647, 0.03914241, 0.01306318, 0.0059192 ,-0.01170263, 0.03406701,
  0.78466438, 0.00525142, 1.00421006, 0.04692849, 0.09173257,-0.06717924,
  0.14273033, 0.94429275,-0.03576807, 0.04076342, 0.32460776]

qacc:
[  1.69485532, -1.06148655,  5.11801152,-11.6265033 ,  2.88920227,
   0.61819858, -0.43859389, -3.91878391,  6.67259184, -2.11825462,
   9.22711679,-17.76376554, 19.9266397 , -7.55035585, -0.16053354,
  -2.94760933, -1.37338691, -0.29918697, -0.51116299, -6.27093164,
 -15.58798707, -5.12664281]

qfrc_actuator:
[ 8.04051639e-05, 2.66939508e-04, 2.45614650e-05,-1.22346044e-05,
  6.02971304e-05, 6.80050577e-05,-6.61165102e-05, 1.98933139e-05,
 -2.74959662e-05,-1.02605881e-05,-4.17724135e-05,-3.60475873e-05,
  5.24692435e-02,-1.16119554e-03, 1.43270874e-02,-2.80289240e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023831711967994774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92430106e-01, -6.41983172e-02, -1.04695088e-01, -6.38440427e-02,
        9.97937160e-01, -6.73514200e-03,  1.04911504e-01, -8.67361738e-19,
       -9.94481562e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11358271, -0.05268239,  0.2967451 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004754679208256313
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.83752855e-14, -5.83752855e-14,  1.00000000e+00, -3.40767396e-27,
        1.00000000e+00,  5.83752855e-14, -1.00000000e+00,  0.00000000e+00,
       -5.83752855e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10719571, -0.05789829,  0.06198935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.91555881e-06,-1.89236764e-05,-3.26026107e-06,-2.02704459e-05,
  1.70042725e-05, 3.59949433e-05,-6.13763203e-06,-1.19183587e-05,
  3.89620524e-05,-1.21010653e-05, 1.53808986e-05,-2.39602271e-05,
  5.95110046e-03, 2.55840932e-03, 5.56944406e-05,-9.34583717e-06,
 -3.27471087e-04,-1.21800036e-05,-9.80995558e+00,-6.46123416e-02,
 -7.90028923e-03,-6.85669754e-03]


--- Step 771 ---
qpos:
[ 0.00989078, 0.00804545,-0.00562014, 0.03350269, 0.003512  , 0.00286448,
 -0.00675677, 0.0391418 , 0.01306347, 0.00591846,-0.01170151, 0.03406554,
  0.78572076, 0.00522277, 1.00473964, 0.04692548, 0.09169138,-0.06717283,
  0.14273386, 0.94436686,-0.03583682, 0.04055031, 0.32441121]

qacc:
[ -2.03596573,  0.0762214 , -1.11318061,  3.54493644,  4.67086019,
  -1.59003308,  6.66417806,-10.49621034,  7.17168197, -1.45900027,
   6.78780389,-12.82961135,  7.81704016,  6.44788073, -1.97627485,
   5.43172682, -1.37598488, -0.29824711, -0.51100175, -6.2789538 ,
 -15.62113499, -5.1377225 ]

qfrc_actuator:
[ 6.81660458e-05, 2.61586034e-04, 2.60060263e-05,-4.90725615e-06,
  8.70679758e-05, 8.44591680e-05,-3.49908732e-05, 1.30553371e-05,
  1.33241638e-05, 2.33073632e-05,-1.34073270e-05,-4.92220347e-05,
  5.23721949e-02,-1.10349669e-03, 1.42874248e-02,-2.78724231e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016037008288538647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99241259, -0.06382019, -0.10509157, -0.06346534,  0.99796141,
       -0.00672066,  0.10530625,  0.        , -0.99443984])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11354398, -0.05272218,  0.29672214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004638393967257154
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19677526e-13, -5.98387628e-14,  1.00000000e+00, -7.16135506e-27,
        1.00000000e+00,  5.98387628e-14, -1.00000000e+00,  0.00000000e+00,
       -1.19677526e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10719857, -0.05789761,  0.06198961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19631188e-05,-1.74883034e-05,-3.56886044e-06, 6.01046443e-06,
  2.72675895e-05, 3.48131365e-05, 3.74000070e-05,-5.73829778e-06,
  4.19214587e-05, 2.89894330e-05, 2.69330976e-05,-1.36260031e-05,
  3.92333529e-03, 2.02184793e-03, 2.39720948e-05, 2.88755783e-05,
 -3.83720163e-04,-5.17672698e-05,-9.80992597e+00,-6.46072134e-02,
 -7.93112224e-03,-6.83963706e-03]


--- Step 772 ---
qpos:
[ 0.00989135, 0.00804545,-0.00562027, 0.03350184, 0.00351334, 0.0028651 ,
 -0.00675702, 0.03914149, 0.0130639 , 0.0059182 ,-0.01170052, 0.03406426,
  0.78679291, 0.00520373, 1.00526839, 0.04692606, 0.09164467,-0.0671676 ,
  0.14273537, 0.94444503,-0.0359077 , 0.04030316, 0.32420653]

qacc:
[ -4.37842964, -0.33676349,  0.25581027,  1.64086276, -3.36476628,
   0.78752584, -3.51393148,  8.19090698,  1.2381506 ,  1.36895222,
  -4.76309076,  7.89367843,  4.58060493,  5.84141963,-12.12507529,
  40.5062681 , -1.37936175, -0.29753271, -0.5084469 , -6.29066676,
 -15.66234102, -5.15299204]

qfrc_actuator:
[ 4.27821276e-05, 2.40602644e-04, 2.69523823e-05,-2.07788109e-07,
  6.66171867e-05, 9.40907245e-05,-3.42556207e-05, 2.70477624e-05,
  1.94597858e-05, 6.14033376e-05,-1.48042770e-05,-3.85999444e-05,
  5.22693173e-02,-1.06526432e-03, 1.42605657e-02,-2.59933545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -6.692244867258103e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99238873, -0.06342499, -0.10555509, -0.06306923,  0.99798661,
       -0.00670834,  0.10576804,  0.        , -0.99439083])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11349907, -0.0527619 ,  0.29669532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000453039511758499
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.53163107e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.53163107e-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([ 0.10720125, -0.057897  ,  0.06198985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57313929e-05,-3.12551512e-05,-2.89683243e-06, 3.94587407e-06,
 -1.96646826e-05, 3.65799141e-05, 1.23336197e-05, 1.66664844e-05,
  7.33532014e-06, 5.93189329e-05, 7.43450916e-06, 1.25317955e-05,
  2.62590078e-03, 1.40855665e-03, 7.92419327e-06, 1.95802281e-04,
 -4.47490597e-04,-9.59754021e-05,-9.80988500e+00,-6.46021629e-02,
 -7.96675775e-03,-6.81875067e-03]


--- Step 773 ---
qpos:
[ 0.0098923 , 0.0080453 ,-0.00562014, 0.03350067, 0.00351408, 0.00286569,
 -0.00675739, 0.03914139, 0.01306406, 0.00591815,-0.01169918, 0.03406347,
  0.78787552, 0.00519109, 1.00579649, 0.04692958, 0.09159243,-0.06716357,
  0.14273485, 0.94452725,-0.03598071, 0.04002188, 0.32399368]

qacc:
[  3.35401354, -1.58765866,  6.68422529,-12.37886538, -5.27877142,
   0.73633247, -3.6015856 ,  7.59523349, -2.40431475,  0.31304363,
  -2.76219668, 10.44987582,  3.06653658,  3.85429832, -9.91869129,
  33.18357034, -1.38340904, -0.29700553, -0.50418151, -6.30552282,
 -15.71085274, -5.17174976]

qfrc_actuator:
[ 6.31295790e-05, 2.45926643e-04, 4.52801716e-05,-1.48626409e-05,
  3.62861701e-05, 6.39603762e-05,-5.14985948e-05, 3.53979207e-05,
  5.13120755e-06, 6.63228293e-05, 1.78737276e-06,-1.40761092e-05,
  5.21734679e-02,-1.05822888e-03, 1.42254592e-02,-2.45346929e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044304709066782244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.26470102e-14,  3.13235051e-14,  1.00000000e+00,  1.96232394e-27,
        1.00000000e+00, -3.13235051e-14, -1.00000000e+00,  0.00000000e+00,
       -6.26470102e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10720375, -0.05789645,  0.06199008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96037243e-05,-1.25906207e-05, 1.16552622e-05,-1.60144474e-05,
 -3.08785145e-05,-6.43872976e-06,-7.59416811e-06, 1.06693798e-05,
 -1.41002478e-05, 4.01681034e-05, 3.01882930e-05, 2.75679727e-05,
  1.74412771e-03, 9.37159762e-04, 1.54470098e-06, 1.59344851e-04,
 -5.18899450e-04,-1.44849991e-04,-9.80983259e+00,-6.45971585e-02,
 -8.00722035e-03,-6.79402365e-03]


--- Step 774 ---
qpos:
[ 0.00989349, 0.00804526,-0.0056199 , 0.03349932, 0.0035148 , 0.00286629,
 -0.00675848, 0.03914109, 0.01306404, 0.00591803,-0.01169723, 0.03406334,
  0.78896489, 0.00518284, 1.00632434, 0.04692794, 0.09153464,-0.06716072,
  0.14273234, 0.94461351,-0.03605586, 0.03970633, 0.32377261]

qacc:
[  2.07269828, -0.52604928,  2.87184192, -6.35978898, -0.23812804,
   1.62188045, -4.90492494,  2.50736102, -1.49773845, -0.43446973,
  -1.36095635, 11.87029694,  1.32938534,  3.68256587, 15.26830571,
 -53.88231491, -1.38803739, -0.29663466, -0.49877431, -6.32306851,
 -15.76603564, -5.19342289]

qfrc_actuator:
[ 7.47297518e-05, 2.67020571e-04, 5.60620244e-05,-2.30024499e-05,
  3.59028394e-05, 4.56668979e-05,-9.71349781e-05, 2.25622713e-05,
 -3.36375360e-06, 5.14194231e-05, 2.87538037e-05, 1.84173398e-05,
  5.20817445e-02,-1.05279730e-03, 1.41428129e-02,-2.74192963e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004338323473877387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.91932961e-13,  1.91932961e-13,  1.00000000e+00,  3.68382614e-26,
        1.00000000e+00, -1.91932961e-13, -1.00000000e+00,  0.00000000e+00,
       -1.91932961e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10720608, -0.05789596,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21550392e-05, 1.57847191e-05, 9.06350860e-06,-8.58612641e-06,
 -1.26360188e-06,-2.30332411e-05,-4.75337321e-05,-1.31656180e-05,
 -8.88305164e-06, 1.49594513e-05, 3.99231568e-05, 3.57953276e-05,
  1.13125963e-03, 6.24291882e-04,-5.99103684e-05,-2.79106369e-04,
 -5.98078468e-04,-1.98445633e-04,-9.80976866e+00,-6.45921652e-02,
 -8.05253725e-03,-6.76543901e-03]


--- Step 775 ---
qpos:
[ 0.00989411, 0.00804545,-0.00561989, 0.03349788, 0.00351551, 0.00286688,
 -0.00676017, 0.03914097, 0.01306392, 0.00591826,-0.01169537, 0.03406359,
  0.79005832, 0.00517792, 1.00685144, 0.04691892, 0.09147128,-0.06715906,
  0.14272786, 0.94470377,-0.03613316, 0.03935639, 0.32354327]

qacc:
[-4.92465672e+00, 7.72844225e-01,-1.94323479e+00, 6.97322971e-01,
 -1.10861703e-01, 2.04652324e+00,-8.07680611e+00, 1.22358346e+01,
 -9.05802696e-01, 1.49769829e+00,-6.29689533e+00, 1.28523979e+01,
  3.83339931e-02, 3.88912020e+00, 2.13020651e+01,-7.58770016e+01,
 -1.39317372e+00,-2.96395194e-01,-4.92695237e-01,-6.34292991e+00,
 -1.58273610e+01,-5.21754471e+00]

qfrc_actuator:
[ 4.55688220e-05, 2.79627503e-04, 4.46245043e-05,-2.72318507e-05,
  3.53999515e-05, 5.22029765e-05,-1.23641212e-04, 3.28579481e-05,
 -8.35042428e-06, 7.80673655e-05, 2.60329223e-05, 3.75695868e-05,
  5.19924547e-02,-1.03112167e-03, 1.40689107e-02,-3.12428358e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042535919401712197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.10720824, -0.05789552,  0.06199047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88089887e-05, 2.29403336e-05,-7.35868834e-06,-3.40467081e-06,
 -5.44385110e-07,-1.67355327e-05,-3.75673168e-05, 7.40977343e-06,
 -5.23544538e-06, 4.47723605e-05, 6.50414548e-06, 2.18678317e-05,
  7.06566591e-04, 4.28207753e-04,-1.32212243e-04,-4.06001164e-04,
 -6.85172989e-04,-2.56824751e-04,-9.80969311e+00,-6.45871455e-02,
 -8.10273793e-03,-6.73297764e-03]


--- Step 776 ---
qpos:
[ 0.00989404, 0.00804581,-0.00562001, 0.03349676, 0.00351586, 0.0028673 ,
 -0.00676159, 0.03914094, 0.01306374, 0.00591923,-0.01169453, 0.03406339,
  0.79115404, 0.0051751 , 1.00737657, 0.04691298, 0.09140232,-0.06715859,
  0.14272143, 0.94479803,-0.0362126 , 0.03897192, 0.32330561]

qacc:
[ -6.14219079,  1.2571131 , -5.45946947, 10.90478982, -3.12315654,
  -0.81691422,  2.23176128, -1.07625988, -0.56465927,  2.90987863,
  -7.06321886,  0.39064238,  0.3435436 ,  1.85019028,-12.16885209,
  38.39738081, -1.39875869, -0.29626715, -0.48632946, -6.36479995,
 -15.89439369, -5.24373559]

qfrc_actuator:
[ 1.04054348e-05, 2.86971870e-04, 3.78892901e-05,-1.13939163e-05,
  1.70685177e-05, 5.58856068e-05,-1.03006889e-04, 3.89708063e-05,
 -1.12336911e-05, 1.11506151e-04,-2.95514473e-05, 1.32227936e-05,
  5.18939714e-02,-1.03588716e-03, 1.40429140e-02,-2.93735646e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041758714431250343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.32332736e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.32332736e-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([ 0.10721024, -0.05789514,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.59760612e-05, 1.84907438e-05,-3.01942112e-06, 1.65039069e-05,
 -1.83515447e-05,-1.31201761e-05, 1.28199803e-05, 4.24297317e-06,
 -3.01493399e-06, 6.07232693e-05,-4.48034634e-05,-2.17825613e-05,
  4.06347796e-04, 2.59177180e-04,-1.32093899e-04, 1.47010082e-04,
 -7.80341197e-04,-3.20056704e-04,-9.80960583e+00,-6.45820592e-02,
 -8.15785395e-03,-6.69661849e-03]


--- Step 777 ---
qpos:
[ 0.00989423, 0.00804612,-0.00562014, 0.03349619, 0.00351599, 0.0028676 ,
 -0.00676246, 0.03914061, 0.01306388, 0.00592045,-0.0116945 , 0.0340633 ,
  0.79225066, 0.00517375, 1.00790069, 0.04690423, 0.09132774,-0.0671593 ,
  0.14271309, 0.94489626,-0.03629419, 0.03855275, 0.32305956]

qacc:
[  2.36070524,  1.0955247 , -6.38897722, 16.17245134, -1.93769905,
  -2.28211095,  9.14141123,-15.03212334,  2.7161696 ,  2.8146779 ,
 -10.01662869, 12.96641989, -0.61325315,  2.35913032,  7.04910549,
 -26.6413585 , -1.40474451, -0.29623462, -0.47998991, -6.38842767,
 -15.96678088, -5.27168741]

qfrc_actuator:
[ 2.52616485e-05, 2.73385929e-04, 3.39833576e-05, 1.61257367e-05,
  6.14278760e-06, 5.80290930e-05,-7.24738140e-05, 2.48471645e-05,
  4.89556612e-06, 9.52319140e-05,-8.03787796e-05, 1.67142679e-05,
  5.17846610e-02,-1.03888387e-03, 1.39712374e-02,-3.09095209e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004104728690027676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.01427808e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.01427808e-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([ 0.1072121, -0.0578948,  0.0619908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38363682e-05,-3.18353829e-06, 1.14074650e-07, 2.85322587e-05,
 -1.14527436e-05,-2.36859808e-06, 2.95611340e-05,-1.41566574e-05,
  1.60713709e-05, 7.44814713e-06,-4.45772541e-05, 4.11606745e-06,
  1.85082696e-04, 1.52317929e-04,-1.15671734e-04,-1.62461787e-04,
 -8.83753638e-04,-3.88217135e-04,-9.80950670e+00,-6.45768636e-02,
 -8.21791866e-03,-6.65633870e-03]


--- Step 778 ---
qpos:
[ 0.00989495, 0.00804602,-0.00562014, 0.033496  , 0.00351633, 0.00286777,
 -0.00676269, 0.03914045, 0.0130642 , 0.00592151,-0.01169439, 0.03406359,
  0.79334736, 0.00517337, 1.00842383, 0.046891  , 0.09124752,-0.06716119,
  0.14270285, 0.94499843,-0.03637793, 0.03809872, 0.32280506]

qacc:
[  4.58683209, -0.15699841, -1.77565856,  8.25497749,  1.89409685,
  -1.63350797,  4.87036626, -2.88301122,  1.69879872,  0.34413939,
  -3.1321605 ,  9.67197096, -0.92726147,  2.16107055, 12.21854569,
 -44.59989482, -1.41109301, -0.29628498, -0.4739283 , -6.413609  ,
 -16.04424107, -5.30115064]

qfrc_actuator:
[ 5.16886174e-05, 2.29639213e-04, 3.16951000e-05, 3.25255089e-05,
  1.74217313e-05, 5.92766041e-05,-3.63738218e-05, 3.44342824e-05,
  1.43320617e-05, 8.48324148e-05,-7.48915495e-05, 3.65345775e-05,
  5.16901994e-02,-1.04103281e-03, 1.39147441e-02,-3.31995231e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000403971454000035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37413549e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.37413549e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10721382, -0.05789452,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68181395e-05,-4.42847751e-05,-1.94614082e-06, 1.68228672e-05,
  1.09519088e-05, 5.41894802e-06, 3.87698335e-05, 1.02353448e-05,
  9.90140921e-06,-1.53041569e-05, 1.66268200e-06, 1.86740571e-05,
  4.73855890e-05, 7.77032199e-05,-1.31650103e-04,-2.53890038e-04,
 -9.95592972e-04,-4.61387510e-04,-9.80939559e+00,-6.45715136e-02,
 -8.28296717e-03,-6.61211367e-03]


--- Step 779 ---
qpos:
[ 0.00989563, 0.00804569,-0.00562017, 0.03349565, 0.00351715, 0.00286791,
 -0.0067625 , 0.03914076, 0.01306395, 0.0059228 ,-0.01169433, 0.03406304,
  0.79444359, 0.0051734 , 1.0089462 , 0.04687692, 0.09116163,-0.06716427,
  0.14269073, 0.9451045 ,-0.03646383, 0.03760966, 0.32254206]

qacc:
[ -0.29336117, -0.52485916,  2.07203312, -4.52003673,  4.21131491,
  -0.25059788, -1.13897693,  8.56315152, -5.10235075, -1.30443322,
   8.64712574,-23.32227427, -0.69834898,  1.19481304,  1.51573712,
  -6.80777878, -1.41777406, -0.29640833, -0.4683448 , -6.44017893,
 -16.1265543 , -5.33192372]

qfrc_actuator:
[ 4.91927061e-05, 2.21419049e-04, 3.02374943e-05, 2.44688091e-05,
  4.16771579e-05, 6.00292966e-05,-1.50139606e-05, 5.79009612e-05,
 -1.57575627e-05, 1.13768593e-04,-7.16895172e-05,-5.17340834e-06,
  5.15940365e-02,-1.06049852e-03, 1.39313028e-02,-3.34285573e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039803740661092935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.39462147e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.39462147e-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([ 0.10721541, -0.05789428,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74762224e-06,-3.26548465e-05,-1.02632724e-05,-9.69492077e-06,
  2.45666934e-05, 1.22305271e-05, 2.76088904e-05, 2.52394506e-05,
 -2.98108449e-05, 2.14859353e-05, 8.77340160e-07,-4.19464507e-05,
 -5.12080301e-05, 1.16453552e-05,-7.68080413e-05,-5.50340101e-05,
 -1.11605389e-03,-5.39654806e-04,-9.80927237e+00,-6.45659618e-02,
 -8.35303613e-03,-6.56391716e-03]


--- Step 780 ---
qpos:
[ 0.00989628, 0.00804534,-0.00562033, 0.03349519, 0.00351826, 0.00286802,
 -0.00676226, 0.03914103, 0.01306369, 0.00592476,-0.01169506, 0.03406233,
  0.79553891, 0.00517345, 1.00946764, 0.04686523, 0.09107004,-0.06716854,
  0.14267676, 0.94521446,-0.03655189, 0.03708537, 0.32227047]

qacc:
[ -0.31177331,  0.07947911,  0.15821348, -1.93887161,  2.50373883,
  -0.25705332,  1.00161847, -1.71234587, -0.1581384 ,  2.78171246,
  -7.93937642,  5.95595928, -0.51831247,  0.4657766 , -8.60385733,
  28.1742857 , -1.42476413, -0.29659693, -0.46339644, -6.46800486,
 -16.2135533 , -5.36384429]

qfrc_actuator:
[ 4.74422856e-05, 2.34513791e-04, 2.93989725e-05, 1.98674347e-05,
  5.56162071e-05, 4.26877579e-05,-2.02767464e-05, 5.38262703e-05,
 -1.56099955e-05, 1.65989508e-04,-1.05271811e-04,-1.17192838e-05,
  5.14915740e-02,-1.09018700e-03, 1.39224740e-02,-3.20842884e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003926254492649939
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.12076744e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.12076744e-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([ 0.10721689, -0.05789408,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80964411e-06,-7.69123147e-06,-9.17898464e-06,-6.54294897e-06,
  1.46395911e-05,-3.71729295e-06, 1.53159145e-06,-2.10663458e-06,
 -6.86558290e-07, 6.25624775e-05,-3.05009305e-05,-6.41172248e-06,
 -1.28242887e-04,-3.70107851e-05,-5.73984292e-05, 1.19876098e-04,
 -1.24534321e-03,-6.23111321e-04,-9.80913688e+00,-6.45601584e-02,
 -8.42816376e-03,-6.51172134e-03]


--- Step 781 ---
qpos:
[ 0.0098969 , 0.00804502,-0.00562055, 0.03349466, 0.00351918, 0.00286794,
 -0.00676229, 0.03914163, 0.01306377, 0.00592699,-0.01169642, 0.03406297,
  0.79663291, 0.00517375, 1.00998765, 0.0468573 , 0.09097272,-0.06717399,
  0.14266096, 0.94532826,-0.0366421 , 0.03652566, 0.32199023]

qacc:
[-2.31210210e-01, 8.34171278e-02, 2.84890451e-02,-1.04828574e+00,
 -1.64126204e+00, 1.19246528e+00,-6.02597509e+00, 1.24032276e+01,
  3.04563565e+00, 4.90045689e+00,-2.26931540e+01, 4.69287218e+01,
 -9.01275551e-01, 1.06378020e+00,-1.34194568e+01, 4.40135105e+01,
 -1.43204510e+00,-2.96844808e-01,-4.59204410e-01,-6.49698096e+00,
 -1.63051156e+01,-5.39678188e+00]

qfrc_actuator:
[ 4.61540335e-05, 2.42526813e-04, 2.90335472e-05, 1.73616032e-05,
  4.56146988e-05, 1.45102536e-05,-4.13070870e-05, 6.90504352e-05,
  2.34602170e-06, 1.60620857e-04,-1.42409789e-04, 5.57432671e-05,
  5.13960401e-02,-1.09028019e-03, 1.38558490e-02,-3.01802276e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003876911351377438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43183958e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.43183958e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10721825, -0.05789393,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34047876e-06, 1.54861246e-06,-3.30465115e-06,-3.27821589e-06,
 -9.58657167e-06,-3.00322318e-05,-2.16876272e-05, 1.50748953e-05,
  1.79651780e-05, 2.29793178e-05,-2.82068361e-05, 6.89622855e-05,
 -1.76137889e-04,-3.66758039e-05,-8.74927139e-05, 1.87958743e-04,
 -1.38368003e-03,-7.11854573e-04,-9.80898897e+00,-6.45540511e-02,
 -8.50838970e-03,-6.45549681e-03]


--- Step 782 ---
qpos:
[ 0.00989716, 0.00804505,-0.00562094, 0.03349407, 0.00351997, 0.00286792,
 -0.00676269, 0.03914239, 0.01306372, 0.00592902,-0.01169798, 0.03406375,
  0.79772532, 0.00517453, 1.01050674, 0.04684969, 0.09086964,-0.06718063,
  0.14264333, 0.94544587,-0.03673448, 0.03593033, 0.32170126]

qacc:
[ -3.21868432,  0.83415667, -2.01547952,  0.95266313, -1.12975916,
   1.41042867, -5.54551746,  8.70524937, -1.14571928,  0.56826761,
  -2.98967493,  5.87002996, -1.53288954,  2.10533035, -2.16957978,
   5.93095514, -1.43960325, -0.29714742, -0.45586027, -6.52702349,
 -16.40115655, -5.43063199]

qfrc_actuator:
[ 2.73954400e-05, 2.82951384e-04, 2.89392621e-05, 1.61072051e-05,
  3.93582594e-05, 3.32546444e-05,-5.37524186e-05, 7.77414113e-05,
 -4.87540418e-06, 1.20848415e-04,-1.63764598e-04, 5.96478896e-05,
  5.12994071e-02,-1.07285228e-03, 1.38025571e-02,-3.00937715e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038319131538906703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44865369e-13, -1.44865369e-13,  1.00000000e+00,  2.09859751e-26,
        1.00000000e+00,  1.44865369e-13, -1.00000000e+00,  0.00000000e+00,
        1.44865369e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10721951, -0.05789382,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.87946216e-05, 4.04805018e-05,-2.87891519e-07,-1.36385458e-06,
 -6.53922338e-06,-1.88502657e-06,-2.07980290e-05, 6.94648903e-06,
 -6.69871325e-06,-2.98529828e-05,-1.77085626e-05, 5.25152357e-06,
 -2.04834457e-04,-3.02213843e-05,-7.90547463e-05, 6.45189337e-06,
 -1.53129606e-03,-8.05987275e-04,-9.80882847e+00,-6.45475850e-02,
 -8.59375505e-03,-6.39521264e-03]


--- Step 783 ---
qpos:
[ 0.00989719, 0.00804548,-0.00562136, 0.03349311, 0.00352102, 0.00286826,
 -0.00676309, 0.03914249, 0.01306393, 0.00593054,-0.01169929, 0.03406389,
  0.79881602, 0.00517569, 1.01102441, 0.04684427, 0.09076077,-0.06718846,
  0.14262388, 0.94556724,-0.03682901, 0.03529915, 0.32140348]

qacc:
[ -1.99879051, -0.15355426,  2.86289041, -9.50802704,  2.30951949,
  -0.84658635,  6.47195618,-18.06161814,  2.2962176 , -2.65918053,
  11.18796232,-22.22412515, -1.40100659,  1.78172836, -8.65825382,
  27.45654163, -1.44742843, -0.29750132, -0.45343133, -6.55806671,
 -16.50162326, -5.46531107]

qfrc_actuator:
[ 1.62571036e-05, 3.06976337e-04, 2.91417679e-05,-2.12570707e-06,
  5.31169118e-05, 7.99759665e-05,-4.30923783e-05, 4.70568031e-05,
  8.64131435e-06, 7.85367392e-05,-1.58088390e-04, 2.60882791e-05,
  5.11968606e-02,-1.06299526e-03, 1.37412918e-02,-2.89481706e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037908448356351043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46434775e-13, -7.32173877e-14,  1.00000000e+00,  1.07215717e-26,
        1.00000000e+00,  7.32173877e-14, -1.00000000e+00,  0.00000000e+00,
        1.46434775e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10722067, -0.05789374,  0.06199149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16591937e-05, 4.65412658e-05, 8.48765785e-06,-1.65319244e-05,
  1.35726321e-05, 4.16701084e-05, 7.95285591e-06,-3.13502348e-05,
  1.33213828e-05,-6.24979974e-05,-2.49678256e-06,-3.53519362e-05,
 -2.26025657e-04,-4.29566118e-05,-1.05099364e-04, 1.02948075e-04,
 -1.68843593e-03,-9.05617371e-04,-9.80865521e+00,-6.45407028e-02,
 -8.68430233e-03,-6.33083640e-03]


--- Step 784 ---
qpos:
[ 0.00989674, 0.00804607,-0.00562169, 0.03349196, 0.00352223, 0.00286885,
 -0.00676336, 0.03914222, 0.01306465, 0.00593164,-0.01170029, 0.03406396,
  0.79990488, 0.00517737, 1.01154073, 0.04683894, 0.09064608,-0.06719749,
  0.14260263, 0.94569232,-0.0369257 , 0.03463191, 0.32109681]

qacc:
[ -4.20071489, -0.41755998,  2.63612731, -6.23260296,  1.37789215,
  -0.8100663 ,  4.8977406 ,-11.60581741,  4.46083207, -1.59575297,
   5.18132455, -6.64420723, -1.74792966,  2.36877827, -2.11973937,
   4.85491526, -1.45551327, -0.29790398, -0.4519652 , -6.59005959,
 -16.60648934, -5.50075248]

qfrc_actuator:
[-8.05411848e-06, 3.03235017e-04, 2.94515339e-05,-1.24598754e-05,
  6.07923244e-05, 8.99023138e-05,-3.65278211e-05, 2.89994475e-05,
  3.42636795e-05, 7.06005557e-05,-1.36546967e-04, 2.40304909e-05,
  5.10961598e-02,-1.04002116e-03, 1.36646711e-02,-2.89624187e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037533101899342447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.10722175, -0.05789371,  0.06199157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46275276e-05, 2.33172632e-05, 1.03994866e-05,-8.36527422e-06,
  8.07681565e-06, 3.35247390e-05, 1.50668193e-05,-1.66075061e-05,
  2.59842754e-05,-4.49506450e-05, 7.09813413e-06,-5.51174544e-06,
 -2.39378313e-04,-3.76295130e-05,-1.19974877e-04,-1.06102590e-05,
 -1.85535769e-03,-1.01085811e-03,-9.80846902e+00,-6.45333444e-02,
 -8.78007545e-03,-6.26233414e-03]


--- Step 785 ---
qpos:
[ 0.00989566, 0.00804665,-0.00562168, 0.03349139, 0.00352353, 0.00286946,
 -0.00676346, 0.03914212, 0.01306498, 0.00593302,-0.01170108, 0.03406392,
  0.80099197, 0.00517938, 1.01205591, 0.04682931, 0.09053056,-0.06721524,
  0.14258274, 0.94581152,-0.0369838 , 0.03395545, 0.32081116]

qacc:
[ -5.54176391,  0.22098487, -3.26094653, 12.78089535,  0.73403027,
  -0.12423247, -0.1861686 ,  2.63540081, -3.41807932, -0.45930008,
   2.65675182, -5.138691  , -1.82119045,  2.37315161, 11.47855067,
 -42.25253652, -0.20691227, -2.18137005,  0.34013358, 16.29415215,
 -10.84364455, 11.37962531]

qfrc_actuator:
[-3.99265161e-05, 3.00650316e-04, 4.74672770e-05, 1.74197316e-05,
  6.48191398e-05, 7.77209598e-05,-3.25643628e-05, 3.62423075e-05,
  1.35418641e-05, 1.36662352e-04,-1.05657099e-04, 2.28128335e-05,
  5.10019657e-02,-1.02722244e-03, 1.35788805e-02,-3.12580316e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.71863923, -6.41649433,  7.29935265, -6.41649433, 21.27266236,
       10.15656147,  7.29935265, 10.15656147, 18.64676233,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003802694101747994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.91956964e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.91956964e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08708975, -0.03535632,  0.06199146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.25672833e-05, 1.22219089e-05, 2.38246201e-05, 3.10788847e-05,
  4.26822653e-06, 8.95158058e-06, 1.21659631e-05, 8.87694048e-06,
 -1.99965013e-05, 4.21383233e-05, 2.22868261e-05,-3.00694392e-06,
 -2.39746333e-04,-4.95536446e-05,-1.48599317e-04,-2.46973448e-04,
 -2.03233322e-03,-1.12182817e-03,-9.80826970e+00,-6.45254471e-02,
 -8.88111975e-03,-6.18967040e-03]


--- Step 786 ---
qpos:
[ 0.00989523, 0.00804725,-0.00562141, 0.03349084, 0.00352451, 0.00286982,
 -0.00676307, 0.03914211, 0.01306471, 0.00593445,-0.01170171, 0.03406424,
  0.80207749, 0.00518104, 1.01256924, 0.046818  , 0.09041431,-0.06724141,
  0.14256355, 0.94592599,-0.03700264, 0.03326763, 0.32054342]

qacc:
[  5.80747688, -0.64452783,  2.25425299, -2.34648174, -2.67542148,
  -1.47720748,  4.35446726, -3.18555467, -5.2324602 ,  0.42299848,
  -2.92831209,  8.94636324, -0.91610475,  0.56469328,  2.40131466,
 -12.25371051, -0.18432525, -2.10681568,  0.1743827 , 16.35313474,
 -11.9162356 ,  9.68336949]

qfrc_actuator:
[-4.97947004e-06, 2.98878639e-04, 5.80632809e-05, 1.74724663e-05,
  4.89152976e-05, 5.24024557e-05,-1.24968301e-05, 4.05357672e-05,
 -1.65418496e-05, 1.22319742e-04,-1.04693838e-04, 3.99177366e-05,
  5.09117354e-02,-1.05604997e-03, 1.34982692e-02,-3.20384811e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.86073063,  5.81144561, -7.96624808,  5.81144561, 36.75708367,
       19.6211179 , -7.96624808, 19.6211179 , 24.17450273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039482966132832475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.81190380e-13, -1.40595190e-13,  1.00000000e+00, -3.95340149e-26,
        1.00000000e+00,  1.40595190e-13, -1.00000000e+00,  0.00000000e+00,
       -2.81190380e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08710045, -0.03535129,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.40194905e-05, 1.12882378e-05, 1.71270539e-05, 2.00716560e-06,
 -1.57802316e-05,-1.74386799e-05, 2.37161406e-05, 5.26962690e-06,
 -3.06346012e-05, 1.36493050e-05, 1.23026313e-05, 1.96229026e-05,
 -2.39750110e-04,-9.35254471e-05,-1.82472589e-04,-1.12201291e-04,
 -1.76896761e-03,-1.15918520e-03,-9.80821311e+00,-6.45838755e-02,
 -8.90246317e-03,-6.12400003e-03]


--- Step 787 ---
qpos:
[ 0.00989558, 0.00804804,-0.00562162, 0.03349033, 0.00352496, 0.00287004,
 -0.00676271, 0.03914184, 0.01306478, 0.00593509,-0.01170244, 0.03406455,
  0.80316122, 0.00518271, 1.01308087, 0.04681029, 0.09030315,-0.06727494,
  0.14254933, 0.94603202,-0.03698305, 0.03259801, 0.32030148]

qacc:
[  6.71012071,  1.61904309, -5.60888712,  6.8889585 , -4.77552911,
  -0.66292684,  3.27787528, -7.89391053,  2.93215849, -0.85355924,
   1.5760005 , -1.12182787, -1.07746584,  0.98684221,-13.36029185,
  43.25485041,  1.27527289, -1.8368454 ,  1.24174914, 20.506088  ,
   2.11188563, 14.5356663 ]

qfrc_actuator:
[ 3.35133386e-05, 2.97557722e-04, 2.86572905e-05, 1.77133405e-05,
  2.14092829e-05, 3.72230245e-05,-1.86542652e-05, 2.52998909e-05,
  1.37723422e-06, 6.59297017e-06,-1.39453637e-04, 3.20800159e-05,
  5.08186027e-02,-1.05604429e-03, 1.34847806e-02,-2.99660312e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 10.11489268,  -6.97356239,  -7.3266965 ,  -6.97356239,
        45.36663064, -33.55266508,  -7.3266965 , -33.55266508,
        42.05037727,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00041875018976883505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32563883e-13, -1.32563883e-13,  1.00000000e+00, -1.75731831e-26,
        1.00000000e+00,  1.32563883e-13, -1.00000000e+00,  0.00000000e+00,
       -1.32563883e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07054309, -0.04186779,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.94631010e-05, 8.60481618e-06,-2.49052423e-05, 1.35418831e-06,
 -2.79619147e-05,-1.98295413e-05,-6.66438515e-06,-1.50610228e-05,
  1.70557175e-05,-1.04768626e-04,-2.97552308e-05,-6.44651456e-06,
 -2.53014824e-04,-7.45101554e-05,-1.13099329e-04, 1.76891781e-04,
 -1.53077299e-03,-1.18892384e-03,-9.80812808e+00,-6.46328486e-02,
 -8.93400948e-03,-6.05470581e-03]


--- Step 788 ---
qpos:
[ 0.00989604, 0.0080489 ,-0.00562213, 0.03348948, 0.00352507, 0.00287048,
 -0.00676288, 0.03914171, 0.01306505, 0.00593504,-0.01170356, 0.03406512,
  0.80424305, 0.0051847 , 1.01359128, 0.04680341, 0.09019693,-0.06731544,
  0.14253892, 0.9461308 ,-0.03692415, 0.03194488, 0.32008223]

qacc:
[ 0.98967568, 0.26489466, 0.62477255,-6.01786814,-2.95306419, 2.10985353,
 -7.73876584,11.0915666 , 1.88111019, 0.75368211,-5.10532599,10.75337944,
 -1.58182206, 1.92794319,-4.18087408,12.28431992, 1.2336027 ,-1.74580712,
  0.95456604,20.7319317 , 1.20247053,12.83324639]

qfrc_actuator:
[ 3.82582096e-05, 2.96346029e-04, 1.13799900e-05, 2.88736189e-07,
  5.05392291e-06, 6.36128092e-05,-4.02315563e-05, 3.41865699e-05,
  1.19034052e-05,-2.71162007e-05,-1.59970046e-04, 4.50167574e-05,
  5.07238059e-02,-1.03897141e-03, 1.34210800e-02,-2.96010360e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([10.44845747,  9.5562264 , -4.22478407,  9.5562264 , 16.88419241,
       14.55727421, -4.22478407, 14.55727421, 43.37620143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044673389832748656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.07055186, -0.04186146,  0.06198997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.87095008e-06,-1.49840710e-06,-1.85280008e-05,-1.78930737e-05,
 -1.71563507e-05, 1.32576141e-05,-2.70202874e-05, 7.51376671e-06,
  1.09772174e-05,-9.87279008e-05,-4.60457626e-05, 7.29089316e-06,
 -2.56122731e-04,-5.70587256e-05,-1.01703109e-04, 3.06054733e-05,
 -1.20057291e-03,-1.10522541e-03,-9.80819060e+00,-6.47213567e-02,
 -8.95514451e-03,-5.98909579e-03]


--- Step 789 ---
qpos:
[ 0.00989621, 0.00804962,-0.00562221, 0.0334884 , 0.00352498, 0.00287099,
 -0.00676327, 0.03914135, 0.01306477, 0.00593485,-0.01170524, 0.03406647,
  0.80532335, 0.00518603, 1.01410025, 0.04679704, 0.0900955 ,-0.06736264,
  0.14253132, 0.94622332,-0.03682535, 0.03130685, 0.31988312]

qacc:
[ -2.54003374, -1.83477905,  7.22967217,-11.70651756, -1.7408684 ,
   0.19980018,  0.42701106, -4.28215235, -4.99479938,  2.96921149,
 -14.15811338, 28.6654936 , -0.53788915, -0.21744506, -3.6439106 ,
   9.69808448,  1.19622897, -1.67132115,  0.70171794, 20.85592906,
   0.47986924, 11.44923641]

qfrc_actuator:
[ 2.31002818e-05, 2.95227629e-04, 3.69075843e-05,-9.62386771e-06,
 -4.60349536e-06, 6.13835344e-05,-5.27890295e-05, 2.17225817e-05,
 -1.75261250e-05, 6.34711843e-06,-1.71586469e-04, 8.79017262e-05,
  5.06387364e-02,-1.08296010e-03, 1.33485735e-02,-2.93594696e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([10.73025639,  9.74077007, -4.50064447,  9.74077007, 19.65353923,
       19.31271108, -4.50064447, 19.31271108, 52.52886527,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004679212197346294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.37267082e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.37267082e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07055856, -0.04185625,  0.06198949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.49917332e-05,-6.57297232e-06, 2.23140944e-05,-1.09653286e-05,
 -1.01397744e-05,-9.47349398e-08,-1.28891274e-05,-1.26841143e-05,
 -2.91516052e-05,-3.09261270e-05,-3.74165646e-05, 3.72038664e-05,
 -2.44294052e-04,-1.14865013e-04,-1.23048521e-04, 1.12332776e-05,
 -9.06450441e-04,-1.01685344e-03,-9.80823057e+00,-6.47961040e-02,
 -8.98487883e-03,-5.92244273e-03]


--- Step 790 ---
qpos:
[ 0.0098955 , 0.00805024,-0.00562204, 0.03348791, 0.00352478, 0.00287135,
 -0.00676371, 0.03914051, 0.01306378, 0.00593432,-0.01170671, 0.03406725,
  0.80640194, 0.00518691, 1.0146087 , 0.04678884, 0.08999872,-0.06741627,
  0.14252563, 0.94631034,-0.03668625, 0.03068275, 0.31970209]

qacc:
[ -7.64924502,  0.35763568, -3.90480524, 13.65730954, -1.01150905,
  -1.01836973,  5.38101762,-13.45179056, -6.10389211, -2.18593065,
   9.5801442 ,-19.48939269, -1.03735927,  0.62361298,  4.82614605,
 -17.86115974,  1.16270253, -1.61044912,  0.4792303 , 20.90745161,
  -0.0965142 , 10.31840833]

qfrc_actuator:
[-2.13922867e-05, 2.94353012e-04, 5.20030000e-05, 2.04987791e-05,
 -1.02451863e-05, 4.20527814e-05,-6.00380373e-05,-3.21925070e-06,
 -5.24818238e-05,-8.91136501e-06,-1.59798898e-04, 5.93661843e-05,
  5.05435603e-02,-1.10949502e-03, 1.33400824e-02,-3.02572397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([10.95294323,  9.83774319, -4.81516088,  9.83774319, 23.65912436,
       25.95970313, -4.81516088, 25.95970313, 63.9906089 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048333525835556057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.07056358, -0.04185182,  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:
[-4.49244004e-05,-4.39278934e-07, 1.61020294e-05, 3.04012000e-05,
 -5.92895261e-06,-2.26062059e-05,-9.29504389e-06,-2.56377283e-05,
 -3.57972322e-05,-3.86742431e-05, 2.09791143e-06,-3.04289857e-05,
 -2.61460981e-04,-1.07485081e-04,-6.93980730e-05,-1.06174642e-04,
 -6.44032709e-04,-9.20728182e-04,-9.80824717e+00,-6.48590591e-02,
 -9.02203448e-03,-5.85462362e-03]


--- Step 791 ---
qpos:
[ 0.00989427, 0.00805092,-0.00562198, 0.03348745, 0.00352451, 0.00287161,
 -0.00676399, 0.0391397 , 0.01306308, 0.00593353,-0.01170806, 0.03406803,
  0.80747844, 0.0051881 , 1.01511643, 0.04678121, 0.08990646,-0.06747615,
  0.14252109, 0.94639251,-0.03650663, 0.03007163, 0.31953744]

qacc:
[-4.63833076, 0.47514542,-1.68296848, 2.27544441,-0.57508264,-0.52371905,
  1.50102644,-1.06365756, 2.45553686,-0.66767483, 1.8651766 ,-1.86733908,
 -1.77879311, 2.16545777,-2.64902856, 8.06657382, 1.13264646,-1.56084711,
  0.28383119,20.90949596,-0.55867239, 9.38925616]

qfrc_actuator:
[-4.72822699e-05, 2.93636424e-04, 4.30789868e-05, 2.06643787e-05,
 -1.34805921e-05, 4.81432984e-05,-4.64275799e-05, 1.90596573e-07,
 -3.71397260e-05,-1.76642297e-05,-1.52271651e-04, 6.00231149e-05,
  5.04370664e-02,-1.08999177e-03, 1.33326894e-02,-2.98644655e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([11.11461641,  9.83076289, -5.18563389,  9.83076289, 29.77018956,
       35.36665334, -5.18563389, 35.36665334, 78.16161402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004938805176124134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12397937e-13,  1.12397937e-13,  1.00000000e+00, -1.26332962e-26,
        1.00000000e+00, -1.12397937e-13, -1.00000000e+00,  0.00000000e+00,
        1.12397937e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07056723, -0.04184793,  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:
[-2.71739992e-05, 3.62960129e-06,-5.98541364e-06, 1.29689577e-06,
 -3.41041492e-06,-9.57793872e-06, 6.91205093e-06, 1.62289328e-06,
  1.43092711e-05,-3.12316791e-05,-1.23382658e-06,-1.51604720e-06,
 -2.80430457e-04,-6.40407279e-05,-6.03710854e-05, 2.24026648e-05,
 -4.09856754e-04,-8.14570102e-04,-9.80824005e+00,-6.49117067e-02,
 -9.06566067e-03,-5.78554153e-03]


--- Step 792 ---
qpos:
[ 0.00989308, 0.00805156,-0.00562169, 0.03348664, 0.00352421, 0.00287197,
 -0.00676423, 0.03913927, 0.01306326, 0.00593252,-0.01170938, 0.0340695 ,
  0.80855285, 0.00518956, 1.01562271, 0.0467765 , 0.08981863,-0.06754211,
  0.14251699, 0.94647034,-0.03628636, 0.02947272, 0.31938778]

qacc:
[  0.3918837 , -1.418824  ,  6.47468435,-12.90823886, -0.32511539,
   0.80008176, -4.21265165, 10.49832494,  7.73527701,  1.00016003,
  -6.93289449, 19.01223113, -1.55110505,  1.78079103,-10.87797985,
  35.19246524,  1.10573008, -1.52062922,  0.11271203, 20.87982091,
  -0.9318036 ,  8.62101634]

qfrc_actuator:
[-4.42537538e-05, 2.92901166e-04, 5.55273290e-05, 3.18054064e-06,
 -1.52750789e-05, 6.95176091e-05,-3.82448598e-05, 2.02900183e-05,
  7.68557426e-06,-2.24386555e-05,-1.47278492e-04, 9.56112162e-05,
  5.03292032e-02,-1.07895738e-03, 1.32674070e-02,-2.83590485e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005003540531555717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10943742e-13, -2.21887485e-13,  1.00000000e+00,  2.46170280e-26,
        1.00000000e+00,  2.21887485e-13, -1.00000000e+00,  0.00000000e+00,
        1.10943742e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07056978, -0.04184441,  0.06198876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25367218e-06, 8.38359210e-08, 1.25005529e-05,-1.75093892e-05,
 -1.89513537e-06, 1.75102826e-05, 7.11400843e-06, 1.99617469e-05,
  4.52175077e-05,-2.25136688e-05,-1.64045070e-06, 3.41798307e-05,
 -2.82008045e-04,-6.74125372e-05,-1.00158049e-04, 1.41928527e-04,
 -2.01151859e-04,-6.96711056e-04,-9.80820919e+00,-6.49551775e-02,
 -9.11499303e-03,-5.71512010e-03]


--- Step 793 ---
qpos:
[ 0.00989194, 0.00805242,-0.00562165, 0.03348562, 0.00352388, 0.00287263,
 -0.00676449, 0.0391394 , 0.01306362, 0.00593133,-0.01171031, 0.03407067,
  0.80962528, 0.00519093, 1.01612792, 0.04677063, 0.08974338,-0.06760739,
  0.14251808, 0.94653783,-0.03604983, 0.02894142, 0.31926313]

qacc:
[  0.3844077 ,  0.53552328, -0.64179243, -2.64365042, -0.17553384,
   1.62478062, -7.60068945, 17.22140846,  1.69348808, -1.91955875,
   7.77817767,-13.51009875, -1.45494234,  1.41409802,  2.02391444,
  -9.14753696,  3.14570918,  0.1690238 ,  1.29817098, 17.93529004,
  29.10386659, 14.94850568]

qfrc_actuator:
[-4.19873695e-05, 3.09976736e-04, 4.49903037e-05,-6.77237089e-06,
 -1.62078064e-05, 9.98856945e-05,-3.32615909e-05, 5.00527995e-05,
  1.62310317e-05,-2.47661299e-05,-1.26028711e-04, 8.04554731e-05,
  5.02205932e-02,-1.09083642e-03, 1.31941127e-02,-2.90522367e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005226363671913259
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.31068585e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.31068585e-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([ 0.04838326, -0.06455643,  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:
[ 2.32867581e-06, 1.89340255e-05,-9.59382186e-06,-9.85770542e-06,
 -9.81613925e-07, 4.24747927e-05, 1.01666818e-05, 3.11485213e-05,
  9.81726293e-06,-1.37263067e-05, 1.76021372e-05,-1.55120164e-05,
 -2.84644761e-04,-9.13655626e-05,-1.10441446e-04,-7.57670051e-05,
 -1.56806186e-05,-5.65938073e-04,-9.80815473e+00,-6.49903403e-02,
 -9.16941773e-03,-5.64329914e-03]


--- Step 794 ---
qpos:
[ 0.00989083, 0.00805367,-0.00562213, 0.03348483, 0.00352459, 0.00287324,
 -0.00676425, 0.0391399 , 0.01306374, 0.00593017,-0.01171075, 0.03407092,
  0.81069575, 0.00519217, 1.01663197, 0.04676557, 0.08968016,-0.06767198,
  0.14252283, 0.9465962 ,-0.03579649, 0.02847564, 0.31916043]

qacc:
[  0.29174633,  2.48890333, -9.09812909, 13.66711025,  9.04348846,
  -0.76915604,  1.03573975,  4.58272758, -2.14248111, -3.23761131,
  15.46922216,-32.15003959, -1.29094414,  1.14612002, -4.0643721 ,
  11.9345079 ,  3.00558254,  0.17494792,  0.91178799, 17.93714497,
  28.05409616, 13.26936415]

qfrc_actuator:
[-4.01970923e-05, 3.37502267e-04, 2.10402943e-05, 5.53755320e-06,
  3.66315986e-05, 8.21511154e-05,-1.24034619e-05, 6.75164761e-05,
  3.34501928e-06,-7.82508684e-06,-9.53767116e-05, 3.55724900e-05,
  5.01222523e-02,-1.09845332e-03, 1.31639614e-02,-2.85500798e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([12.11940468, 11.69947267,  3.16264273, 11.69947267, 14.69050591,
       -9.51120036,  3.16264273, -9.51120036, 47.30391278,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005552852519740692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99937423e-13, -1.49953067e-13,  1.00000000e+00, -2.99812299e-26,
        1.00000000e+00,  1.49953067e-13, -1.00000000e+00,  0.00000000e+00,
       -1.99937423e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04839206, -0.06454737,  0.06198754])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86146043e-06, 3.56844792e-05,-2.15688572e-05, 1.25978575e-05,
  5.28246143e-05, 9.43049025e-06, 3.19565847e-05, 2.02405263e-05,
 -1.26163223e-05, 1.22924910e-05, 2.94703234e-05,-4.51622807e-05,
 -2.82159920e-04,-9.28383849e-05,-9.66633666e-05, 3.02196264e-05,
  1.25088291e-04,-3.46504594e-04,-9.80843278e+00,-6.50714549e-02,
 -9.22655930e-03,-5.57598524e-03]


--- Step 795 ---
qpos:
[ 0.00988941, 0.00805492,-0.00562223, 0.03348453, 0.00352592, 0.00287368,
 -0.00676393, 0.03914065, 0.01306371, 0.00592903,-0.01171057, 0.03407097,
  0.81176427, 0.00519355, 1.0171349 , 0.04676208, 0.08962847,-0.06773585,
  0.14252985, 0.94664646,-0.03552593, 0.02807346, 0.31907722]

qacc:
[ -2.74886631, -0.10690981, -1.67945459,  9.45812949,  5.52706333,
   0.08916481, -1.67650795,  5.97395946, -1.34754642, -2.13561942,
   8.54106335,-13.11387741, -1.44224127,  1.56442869, -6.31556867,
  19.94221807,  2.88470286,  0.1777736 ,  0.56942131, 17.8721236 ,
  27.12730021, 11.90500338]

qfrc_actuator:
[-5.64539647e-05, 3.35528616e-04, 4.26909899e-05, 3.08520391e-05,
  6.74383530e-05, 5.35576250e-05,-1.80444145e-05, 7.75743539e-05,
 -4.28747244e-06, 2.79071670e-06,-5.93549706e-05, 2.68448975e-05,
  5.00354685e-02,-1.08569242e-03, 1.31277875e-02,-2.77007939e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 12.50626214,  12.16392392,   2.90612242,  12.16392392,
        15.17133286, -11.15497317,   2.90612242, -11.15497317,
        59.1967402 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005785149649834148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.91909128e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.91909128e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04839784, -0.0645403 ,  0.06198702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61943496e-05, 1.40321437e-05, 2.67950522e-05, 2.63427294e-05,
  3.23097340e-05,-1.58590073e-05, 9.29978417e-07, 1.19563179e-05,
 -7.99021533e-06, 2.16846438e-05, 4.06470413e-05,-8.05656799e-06,
 -2.69038696e-04,-7.24335737e-05,-8.46870575e-05, 7.25753920e-05,
  2.22782546e-04,-1.51914507e-04,-9.80866650e+00,-6.51314890e-02,
 -9.28245776e-03,-5.51331043e-03]


--- Step 796 ---
qpos:
[ 0.00988746, 0.00805595,-0.00562219, 0.03348423, 0.00352657, 0.00287417,
 -0.00676399, 0.03914118, 0.01306392, 0.00592781,-0.01171045, 0.03407166,
  0.8128309 , 0.00519505, 1.0176368 , 0.04676157, 0.08958791,-0.06779901,
  0.14253794, 0.9466894 ,-0.03523791, 0.02773321, 0.31901151]

qacc:
[ -4.63056656, -0.62577286,  1.82901837, -1.82796693, -5.95402245,
   0.67506204, -1.36047874, -1.9527226 ,  2.23154524,  1.43974431,
  -8.03844186, 19.46460751, -1.30902151,  1.37418716,-10.42785373,
  34.47888645,  2.78121704,  0.17836287,  0.26931146, 17.76927197,
  26.31687738, 10.79428136]

qfrc_actuator:
[-8.32028653e-05, 2.98348013e-04, 3.77298979e-05, 2.81168176e-05,
  3.17555366e-05, 5.40682187e-05,-3.93538999e-05, 6.54087430e-05,
  8.99301498e-06,-2.59088467e-05,-7.36997154e-05, 5.72179220e-05,
  4.99450370e-02,-1.07866462e-03, 1.31040153e-02,-2.61215851e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 12.76258352,  12.52643026,   2.44378457,  12.52643026,
        15.17437196, -12.36242342,   2.44378457, -12.36242342,
        76.13029465,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000593866007573926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.34742021e-14, -4.67371011e-14,  1.00000000e+00, -4.36871323e-27,
        1.00000000e+00,  4.67371011e-14, -1.00000000e+00,  0.00000000e+00,
       -9.34742021e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04840109, -0.0645348 ,  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:
[-2.72113324e-05,-2.27143492e-05, 2.13846522e-06,-6.95074013e-07,
 -3.47703108e-05,-7.66380894e-06,-2.40691252e-05,-1.25850107e-05,
  1.30562379e-05,-8.48669324e-06,-5.12654854e-06, 3.25541607e-05,
 -2.60116715e-04,-7.06248177e-05,-6.24625676e-05, 1.49369098e-04,
  2.79791110e-04, 2.22225508e-05,-9.80885633e+00,-6.51736393e-02,
 -9.33647269e-03,-5.45512852e-03]


--- Step 797 ---
qpos:
[ 0.00988554, 0.00805672,-0.00562212, 0.03348358, 0.00352645, 0.00287467,
 -0.0067643 , 0.0391412 , 0.01306464, 0.00592644,-0.01171098, 0.03407242,
  0.81389589, 0.00519605, 1.018138  , 0.04676061, 0.08955812,-0.06786146,
  0.14254608, 0.94672567,-0.03493226, 0.02745341, 0.31896167]

qacc:
[ 3.50453648e-01,-1.15972947e+00, 5.15917312e+00,-1.12521346e+01,
 -6.84444034e+00,-3.08050886e-01, 3.24972180e+00,-1.15342874e+01,
  4.40187154e+00, 1.69011898e+00,-6.60196078e+00, 8.82901213e+00,
 -8.48028663e-01, 3.30049377e-01, 3.75218884e-01,-2.68847108e+00,
  2.69317500e+00, 1.77348050e-01, 8.38806389e-03, 1.76485611e+01,
  2.56136243e+01, 9.88775696e+00]

qfrc_actuator:
[-8.04019856e-05, 2.75751123e-04, 3.46587753e-05, 8.83904974e-06,
 -7.26337977e-06, 5.41532561e-05,-5.18859730e-05, 4.02811147e-05,
  3.44742729e-05,-6.03452410e-05,-1.17809716e-04, 5.70213493e-05,
  4.98578076e-02,-1.11062614e-03, 1.30557619e-02,-2.64325362e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 12.90991695,  12.7914412 ,   1.74498927,  12.7914412 ,
        14.52157129, -11.81404497,   1.74498927, -11.81404497,
        99.51140159,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006026897800255199
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.21056787e-14, -9.21056787e-14,  1.00000000e+00, -8.48345605e-27,
        1.00000000e+00,  9.21056787e-14, -1.00000000e+00,  0.00000000e+00,
       -9.21056787e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04840222, -0.06453052,  0.06198649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01439702e-06,-3.49275118e-05,-7.53254774e-06,-2.01908683e-05,
 -4.00086272e-05,-9.74198751e-06,-1.75197545e-05,-2.65343812e-05,
  2.58446546e-05,-3.87995805e-05,-4.53570299e-05,-1.03633473e-07,
 -2.50869588e-04,-1.07354933e-04,-6.88612293e-05,-3.26816748e-05,
  2.98265793e-04, 1.79439617e-04,-9.80900329e+00,-6.52003667e-02,
 -9.38811639e-03,-5.40131913e-03]


--- Step 798 ---
qpos:
[ 0.00988334, 0.00805715,-0.00562179, 0.03348303, 0.00352621, 0.00287525,
 -0.00676451, 0.0391402 , 0.01306567, 0.00592487,-0.01171174, 0.03407315,
  0.81495916, 0.00519669, 1.01863857, 0.04675728, 0.08953881,-0.06792321,
  0.14255334, 0.94675581,-0.03460888, 0.02723278, 0.31892639]

qacc:
[ -2.58982346, -0.96633815,  2.30562906, -0.50909439, -1.07323615,
  -2.27649372, 12.61920041,-30.60684955,  2.6326529 ,  0.34285443,
  -1.49418749,  1.53656255, -1.14253191,  0.84555341,  6.31082349,
 -23.28752244,  2.61867867,  0.17519323, -0.21702645, 17.52355286,
  25.00732653,  9.14556966]

qfrc_actuator:
[-9.57329995e-05, 2.62038991e-04, 5.05271731e-05, 1.55044278e-05,
 -1.24066682e-05, 7.17518187e-05,-4.13793538e-05,-1.00106004e-05,
  4.91731971e-05,-6.26126825e-05,-1.25932363e-04, 5.65625672e-05,
  4.97672184e-02,-1.12990840e-03, 1.30141297e-02,-2.76777471e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 12.96785061,  12.94459025,   0.77635873,  12.94459025,
        13.39013468,  -7.04093875,   0.77635873,  -7.04093875,
       130.36469777,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006061612181698928
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.15781966e-14, -4.57890983e-14,  1.00000000e+00, -4.19328305e-27,
        1.00000000e+00,  4.57890983e-14, -1.00000000e+00,  0.00000000e+00,
       -9.15781966e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04840161, -0.06452721,  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:
[-1.52870533e-05,-3.56855885e-05, 7.02080406e-06, 4.51497623e-06,
 -6.28233497e-06, 7.36640001e-06, 5.41783352e-06,-5.18305546e-05,
  1.54171011e-05,-3.32722751e-05,-2.17071215e-05,-3.69118512e-06,
 -2.58078839e-04,-1.00574839e-04,-8.56476409e-05,-1.37134319e-04,
  2.80078563e-04, 3.22547976e-04,-9.80910866e+00,-6.52135657e-02,
 -9.43702730e-03,-5.35178104e-03]


--- Step 799 ---
qpos:
[ 0.00988131, 0.00805724,-0.005621  , 0.0334829 , 0.0035259 , 0.00287602,
 -0.00676441, 0.03913892, 0.01306651, 0.00592309,-0.01171233, 0.0340735 ,
  0.8160202 , 0.00519805, 1.0191382 , 0.04675408, 0.08952972,-0.06798427,
  0.14255896, 0.94678022,-0.0342677 , 0.02707019, 0.31890459]

qacc:
[  1.58508015, -0.87218585,  0.70877605,  5.98748357, -0.52319036,
  -1.19230864,  5.77217586,-11.19561499, -1.54495593, -1.55791875,
   6.78844883,-13.58812649, -2.22024483,  3.05677611, -1.62196957,
   4.09418824,  2.55596292,  0.17223904, -0.41077874, 17.4032961 ,
  24.48772001,  8.53565688]

qfrc_actuator:
[-8.61174974e-05, 2.53849377e-04, 7.75075745e-05, 3.74049528e-05,
 -1.53214818e-05, 9.97771830e-05,-1.72991560e-05,-2.14163221e-05,
  3.96517610e-05,-6.32236508e-05,-1.12602966e-04, 3.82602418e-05,
  4.96533766e-02,-1.08826190e-03, 1.29924681e-02,-2.75096305e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006052944147445782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.83418680e-13, -1.37564010e-13,  1.00000000e+00, -2.52318091e-26,
        1.00000000e+00,  1.37564010e-13, -1.00000000e+00,  0.00000000e+00,
       -1.83418680e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04839958, -0.06452466,  0.06198643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.16547031e-06,-2.65180043e-05, 2.06251751e-05, 2.07027159e-05,
 -3.08891097e-06, 3.10241385e-05, 2.44739705e-05,-1.19097728e-05,
 -9.09941753e-06,-2.37860689e-05, 3.68142866e-06,-2.05478873e-05,
 -2.84334946e-04,-3.96056161e-05,-8.47902029e-05,-3.71386229e-06,
  2.26815310e-04, 4.53770141e-04,-9.80917373e+00,-6.52146962e-02,
 -9.48294365e-03,-5.30642762e-03]


--- Step 800 ---
qpos:
[ 0.00988044, 0.00805715,-0.00561992, 0.03348268, 0.00352556, 0.00287689,
 -0.00676434, 0.03913893, 0.01306723, 0.00592105,-0.01171272, 0.03407328,
  0.81707904, 0.00520019, 1.01963677, 0.04674913, 0.08953064,-0.06804465,
  0.14256227, 0.94679927,-0.03390866, 0.02696472, 0.31889536]

qacc:
[ 10.24045583, -1.27627737,  4.55952054, -6.44993444, -0.28784311,
   2.88384123,-15.52499848, 37.7965311 , -1.05050649, -2.05266247,
   9.20563542,-19.07596335, -2.36260526,  3.34317394,  3.94094831,
 -15.61104725,  2.503433  ,  0.16873516, -0.57662522, 17.29367048,
  24.04503454,  8.03227203]

qfrc_actuator:
[-2.63851911e-05, 2.49101647e-04, 9.31060616e-05, 3.25953973e-05,
 -1.69122808e-05, 9.84229517e-05,-2.08290760e-05, 4.34286303e-05,
  3.37072776e-05,-8.05064925e-05,-1.04476399e-04, 9.61961662e-06,
  4.95469949e-02,-1.04648981e-03, 1.29242542e-02,-2.84619707e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000600959191829481
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.84741833e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.84741833e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04839642, -0.06452269,  0.06198653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.99814200e-05,-1.44317939e-05, 1.33691338e-05,-4.83100874e-06,
 -1.66828103e-06, 2.05123977e-05, 5.47352468e-06, 6.67902985e-05,
 -6.21689284e-06,-3.06341470e-05, 2.98397722e-06,-2.99274151e-05,
 -2.77205436e-04,-3.20434202e-05,-1.16214203e-04,-1.08212538e-04,
  1.39789395e-04, 5.74857916e-04,-9.80919972e+00,-6.52048847e-02,
 -9.52568020e-03,-5.26518375e-03]


--- Step 801 ---
qpos:
[ 0.0098803 , 0.00805697,-0.0056192 , 0.0334821 , 0.00352555, 0.00287767,
 -0.0067642 , 0.03913973, 0.01306788, 0.00591911,-0.01171317, 0.03407269,
  0.81813588, 0.00520283, 1.02013424, 0.04674267, 0.0895414 ,-0.06810438,
  0.14256271, 0.94681321,-0.03353174, 0.02691555, 0.31889797]

qacc:
[  6.33172341,  0.157004  ,  0.77874971, -6.40586524,  2.89427851,
   1.30090884, -8.16473003, 21.85012331, -0.6840995 , -0.4672297 ,
   3.41658045, -9.79218332, -1.96278589,  2.5961711 ,  3.07611922,
 -12.74243072,  2.45967534,  0.16486412, -0.71808955, 17.198337  ,
  23.67027079,  7.61476409]

qfrc_actuator:
[ 9.10072725e-06, 2.28643077e-04, 6.63468321e-05, 1.21000406e-05,
  4.03237572e-08, 7.94495426e-05,-2.29519059e-05, 8.15587707e-05,
  2.99235801e-05,-5.44021985e-05,-9.95648973e-05,-7.13971986e-06,
  4.94504921e-02,-1.02275597e-03, 1.28814120e-02,-2.91805323e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005938974125860447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.34692593e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.34692593e-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([ 0.04839237, -0.06452119,  0.06198669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.71886272e-05,-2.59596969e-05,-2.82735720e-05,-2.07493080e-05,
  1.69093309e-05,-3.54317138e-06, 5.08824152e-06, 4.04963834e-05,
 -3.97686363e-06, 8.38634873e-06,-2.05436889e-06,-1.85450284e-05,
 -2.62154761e-04,-4.64114896e-05,-1.15747923e-04,-9.44225990e-05,
  2.00647971e-05, 6.87191707e-04,-9.80918766e+00,-6.51850012e-02,
 -9.56510905e-03,-5.22798349e-03]


--- Step 802 ---
qpos:
[ 0.00988058, 0.00805691,-0.00561895, 0.0334816 , 0.0035254 , 0.00287813,
 -0.00676364, 0.03914065, 0.01306847, 0.00591774,-0.01171353, 0.03407183,
  0.81919071, 0.00520583, 1.02063068, 0.04673695, 0.08956186,-0.06816346,
  0.1425598 , 0.94682227,-0.0331369 , 0.026922  , 0.31891181]

qacc:
[ 3.72866942, 1.61451514,-5.88521127, 7.9803697 ,-1.22586139,-1.38671906,
  3.83899685,-2.32210697,-0.45560092,-0.0455714 , 2.37322199,-7.55346793,
 -1.72305863, 2.12953111,-3.63241988,10.77346321, 2.42345297, 0.16075877,
 -0.83839426,17.11941049,23.35531196, 7.26658047]

qfrc_actuator:
[ 3.00154244e-05, 2.52003185e-04, 5.02309040e-05, 1.80085887e-05,
 -7.73442771e-06, 5.00523041e-05,-6.57469312e-06, 8.58867620e-05,
  2.74413388e-05, 1.52346447e-05,-7.86522066e-05,-1.67384599e-05,
  4.93440009e-02,-1.00986786e-03, 1.28644855e-02,-2.86892154e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005847383580835364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.49333158e-14, -9.49333158e-14,  1.00000000e+00, -9.01233446e-27,
        1.00000000e+00,  9.49333158e-14, -1.00000000e+00,  0.00000000e+00,
       -9.49333158e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04838765, -0.06452005,  0.06198689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19671116e-05, 2.12683323e-06,-2.56847590e-05, 3.41265694e-06,
 -7.29714234e-06,-2.86182942e-05, 1.76597761e-05, 5.13584056e-06,
 -2.59820801e-06, 7.31848342e-05, 2.17803248e-05,-9.66443806e-06,
 -2.66850037e-04,-5.70165231e-05,-8.77296247e-05, 2.74687905e-05,
 -1.31517068e-04, 7.91861327e-04,-9.80913843e+00,-6.51557180e-02,
 -9.60114441e-03,-5.19476848e-03]


--- Step 803 ---
qpos:
[ 0.00988043, 0.00805695,-0.00561898, 0.03348185, 0.00352516, 0.00287829,
 -0.00676285, 0.03914162, 0.01306938, 0.00591682,-0.01171329, 0.03406981,
  0.82024361, 0.00520878, 1.02112546, 0.04673521, 0.08959189,-0.06822192,
  0.14255312, 0.94682661,-0.03272411, 0.02698353, 0.31893635]

qacc:
[ -3.88086097,  2.48289513,-11.82096315, 25.22750016, -0.79573244,
  -0.89192584,  2.40384043, -1.62067205,  2.74062592, -3.45128056,
  18.1065374 ,-39.57815052, -1.0985417 ,  0.91306661,-14.40103426,
  47.00371744,  2.39369282,  0.15651516, -0.94043787, 17.05793578,
  23.09293725,  6.97445713]

qfrc_actuator:
[ 6.68896662e-06, 2.65970734e-04, 4.07379990e-05, 5.72101785e-05,
 -1.22542050e-05, 3.24307546e-05, 2.77106597e-06, 8.80492944e-05,
  4.34971802e-05, 3.94759813e-05,-4.82598053e-05,-7.52530836e-05,
  4.92369150e-02,-1.02130332e-03, 1.28045597e-02,-2.66006772e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005740128368906666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67071600e-14, -4.83535800e-14,  1.00000000e+00, -4.67613739e-27,
        1.00000000e+00,  4.83535800e-14, -1.00000000e+00,  0.00000000e+00,
       -9.67071600e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04838242, -0.06451919,  0.06198713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26989438e-05, 1.00047452e-05,-1.21012498e-05, 3.84701998e-05,
 -4.73815249e-06,-2.97848409e-05, 5.77334244e-06, 1.64317522e-06,
  1.60021675e-05, 6.93082470e-05, 4.78806859e-05,-5.48069193e-05,
 -2.71883148e-04,-8.51824558e-05,-1.05101550e-04, 1.97393209e-04,
 -3.14310194e-04, 8.89730357e-04,-9.80905266e+00,-6.51175547e-02,
 -9.63373084e-03,-5.16548662e-03]


--- Step 804 ---
qpos:
[ 0.00987999, 0.00805712,-0.00561913, 0.03348221, 0.00352556, 0.0028784 ,
 -0.00676256, 0.03914194, 0.01307082, 0.00591616,-0.01171314, 0.03406718,
  0.82129467, 0.00521158, 1.02161856, 0.04673798, 0.0896314 ,-0.06827977,
  0.14254234, 0.94682636,-0.03229332, 0.02709966, 0.31897116]

qacc:
[-2.44714063e+00, 7.32043020e-01,-2.82030483e+00, 4.79009691e+00,
  5.59056609e+00,-3.65304915e-02, 2.77024231e+00,-1.32155938e+01,
  4.65952528e+00,-7.33658995e-01, 5.65533935e+00,-1.62795801e+01,
 -9.32683121e-01, 6.19371045e-01,-1.60924882e+01, 5.28152360e+01,
  2.36946922e+00, 1.52202140e-01,-1.02679887e+00, 1.70142252e+01,
  2.28767808e+01, 6.72776424e+00]

qfrc_actuator:
[-6.97975227e-06, 2.74270437e-04, 3.52221619e-05, 6.24252241e-05,
  2.06911757e-05, 2.19646627e-05,-2.75758452e-05, 5.34213479e-05,
  7.03348227e-05, 1.86054177e-05,-6.59769709e-05,-1.08852411e-04,
  4.91455141e-02,-1.02931520e-03, 1.27349037e-02,-2.42992963e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005621659057814393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.4811771e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.4811771e-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([ 0.04837685, -0.06451855,  0.06198739])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43131920e-05, 1.30340131e-05,-3.60828293e-06, 5.97418047e-06,
  3.27999763e-05,-2.58780470e-05,-3.57445659e-05,-3.56765918e-05,
  2.73139805e-05, 2.54718369e-05, 6.13154740e-07,-3.00337400e-05,
 -2.65431824e-04,-8.94307795e-05,-1.01971942e-04, 2.26343646e-04,
 -5.27838208e-04, 9.81486672e-04,-9.80893082e+00,-6.50709119e-02,
 -9.66283436e-03,-5.14009110e-03]


--- Step 805 ---
qpos:
[ 0.00987974, 0.00805739,-0.00561935, 0.03348263, 0.00352634, 0.00287857,
 -0.00676323, 0.03914117, 0.01307222, 0.00591533,-0.01171304, 0.03406525,
  0.82234401, 0.00521398, 1.02211087, 0.04674043, 0.08968031,-0.06833703,
  0.14252716, 0.94682161,-0.03184448, 0.02727003, 0.31901586]

qacc:
[  1.61341067,  0.42923891, -1.58667452,  2.63157862,  3.41241769,
   0.5324835 ,  2.78917273,-20.0992852 , -0.29829881,  1.43231827,
  -8.38345473, 20.8230369 , -0.96525604,  0.53372154, -0.12254235,
  -1.13459697,  2.34998642,  0.1478684 , -1.09975417, 16.98809775,
  22.70126291,  6.51797952]

qfrc_actuator:
[ 2.91234556e-06, 2.79107869e-04, 3.20457231e-05, 6.53450284e-05,
  3.99178032e-05, 1.56692852e-05,-8.11092450e-05,-2.59592971e-06,
  6.77920058e-05,-1.15511855e-05,-7.66261754e-05,-7.43338438e-05,
  4.90582613e-02,-1.05291167e-03, 1.26861009e-02,-2.45544029e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005495682044523026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01008666e-13, -2.84086873e-14,  1.00000000e+00, -2.86952361e-27,
        1.00000000e+00,  2.84086873e-14, -1.00000000e+00,  0.00000000e+00,
       -1.01008666e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04837105, -0.06451809,  0.06198767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.48831138e-06, 1.16280360e-05,-7.21781130e-07, 3.46959784e-06,
  2.01530391e-05,-2.96755644e-05,-6.45223634e-05,-5.90601876e-05,
 -1.75878253e-06,-1.70307723e-05,-6.33914131e-06, 3.50529689e-05,
 -2.58457607e-04,-1.04533821e-04,-7.63596916e-05,-2.72853069e-05,
 -7.71770742e-04, 1.06768171e-03,-9.80877315e+00,-6.50160976e-02,
 -9.68843578e-03,-5.11853958e-03]


--- Step 806 ---
qpos:
[ 0.00987927, 0.00805749,-0.00561922, 0.03348343, 0.00352667, 0.00287865,
 -0.00676402, 0.03914003, 0.01307289, 0.00591443,-0.01171257, 0.0340644 ,
  0.82339166, 0.00521581, 1.02260301, 0.04674141, 0.08973045,-0.06837992,
  0.14251527, 0.946815  ,-0.03148133, 0.02747753, 0.31905369]

qacc:
[ -1.95533656, -0.39046699, -0.54320523,  6.74939571, -4.09401364,
  -0.53059657,  3.2344385 , -9.20427572, -6.41744116,  1.05719587,
  -8.45626386, 26.54860455, -0.9381452 ,  0.39532807,  4.23528612,
 -15.05631216,  0.30878513,  3.59064911,  0.82151066,-34.58107884,
  31.37555913, -3.52851258]

qfrc_actuator:
[-8.91552945e-06, 2.64087728e-04, 4.80158827e-05, 8.46468202e-05,
  1.53986905e-05, 2.95434807e-05,-7.68731118e-05,-1.74924153e-05,
  3.02206441e-05, 6.28101240e-06,-4.75084761e-05,-1.77702985e-05,
  4.89682258e-02,-1.08553291e-03, 1.26977224e-02,-2.52478693e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000559215786543818
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.98532132e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.98532132e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.081139  , -0.11282528,  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:
[-1.15543319e-05,-8.52222577e-06, 1.84015132e-05, 1.98412163e-05,
 -2.39514481e-05,-1.85685711e-05,-1.18769718e-05,-1.95478742e-05,
 -3.76313807e-05, 8.53803536e-06, 2.60461442e-05, 5.63028780e-05,
 -2.61090305e-04,-1.15243178e-04,-3.48249070e-05,-8.25314571e-05,
 -1.04590224e-03, 1.14876079e-03,-9.80857974e+00,-6.49533466e-02,
 -9.71052591e-03,-5.10079354e-03]


--- Step 807 ---
qpos:
[ 0.009879  , 0.00805771,-0.00561925, 0.03348411, 0.00352635, 0.00287859,
 -0.00676456, 0.0391394 , 0.01307276, 0.00591412,-0.01171235, 0.03406489,
  0.82443748, 0.00521751, 1.02309503, 0.04674244, 0.08978182,-0.06840894,
  0.14250512, 0.94680661,-0.03120031, 0.02772055, 0.31908517]

qacc:
[  1.80760471,  0.3372913 , -0.48233486, -1.44060629, -5.62735769,
   0.13051985, -2.79407256, 11.05639814, -7.06276172,  4.25765252,
 -19.64518848, 42.64310296, -1.28653678,  1.17377942, -0.26407996,
   0.87049943,  0.30641867,  3.46753003,  0.43706081,-33.14979979,
  30.04368127, -3.29260536]

qfrc_actuator:
[ 2.06485619e-06, 2.72887856e-04, 3.95867137e-05, 7.79240291e-05,
 -1.69149039e-05, 3.78977486e-05,-5.61906444e-05, 9.74257152e-06,
 -9.90440593e-06, 7.06470561e-05,-4.82100680e-05, 5.13653021e-05,
  4.88819065e-02,-1.08775069e-03, 1.27189422e-02,-2.51264958e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([12.70901692, 11.86807263, -4.54620316, 11.86807263, 19.02196955,
       16.48025344, -4.54620316, 16.48025344, 55.73147718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000590658615552242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.39817854e-14, -9.39817854e-14,  1.00000000e+00,  8.83257598e-27,
        1.00000000e+00,  9.39817854e-14, -1.00000000e+00,  0.00000000e+00,
        9.39817854e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114185, -0.11280634,  0.06198676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06460446e-05, 8.67618344e-06,-7.24020267e-06,-6.06687896e-06,
 -3.29997300e-05,-5.31946313e-06, 1.47197632e-05, 2.56530968e-05,
 -4.11976431e-05, 7.69513865e-05, 6.22722204e-06, 7.15029759e-05,
 -2.60939230e-04,-8.81067500e-05,-1.46963530e-05, 6.58311796e-07,
 -9.20347835e-04, 7.43983074e-04,-9.80893087e+00,-6.48957008e-02,
 -9.68059934e-03,-5.09233717e-03]


--- Step 808 ---
qpos:
[ 0.00987921, 0.00805785,-0.00561932, 0.03348507, 0.00352599, 0.00287851,
 -0.00676488, 0.03913909, 0.01307249, 0.00591432,-0.01171264, 0.03406553,
  0.82548148, 0.00521914, 1.02358625, 0.0467437 , 0.0898344 ,-0.06842453,
  0.14249536, 0.9467965 ,-0.03099832, 0.02799773, 0.31911068]

qacc:
[  4.20029817,  0.58231857, -3.40658595,  8.33178436, -0.34588622,
   0.05154809, -1.56604954,  6.77770049, -1.21342657,  2.42083042,
  -8.34692503, 11.59203838, -1.28167342,  1.22209163, -1.75532675,
   4.64255917,  0.30421704,  3.3582596 ,  0.09723959,-31.91219923,
  28.90221259, -3.11307351]

qfrc_actuator:
[ 2.63887676e-05, 2.60262511e-04, 3.46356877e-05, 9.14433416e-05,
 -1.80379469e-05, 4.30108930e-05,-4.37261828e-05, 2.60382143e-05,
 -1.56941360e-05, 7.35303775e-05,-8.40681586e-05, 5.63489390e-05,
  4.87925644e-02,-1.08967867e-03, 1.26660360e-02,-2.50581622e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([13.06828105, 12.29576819, -4.42651717, 12.29576819, 20.39641048,
       20.35572827, -4.42651717, 20.35572827, 69.61145178,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006121831792180177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.06773546e-14, -1.81354709e-13,  1.00000000e+00,  1.64447653e-26,
        1.00000000e+00,  1.81354709e-13, -1.00000000e+00,  0.00000000e+00,
        9.06773546e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114397, -0.11279334,  0.06198628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46300066e-05,-9.53350275e-06,-4.26434367e-06, 1.35201902e-05,
 -2.06475651e-06, 6.27644048e-06, 1.40757858e-05, 1.70803827e-05,
 -6.93777921e-06, 5.02580823e-05,-1.67205420e-05, 9.88915203e-06,
 -2.57004456e-04,-8.18501056e-05,-7.11441583e-05, 2.39130887e-06,
 -7.99892968e-04, 4.26783151e-04,-9.80916384e+00,-6.48476825e-02,
 -9.64673705e-03,-5.09600802e-03]


--- Step 809 ---
qpos:
[ 0.00987971, 0.00805778,-0.00561914, 0.03348687, 0.00352596, 0.00287879,
 -0.0067652 , 0.03913894, 0.01307285, 0.00591442,-0.01171279, 0.03406592,
  0.82652373, 0.00522049, 1.02407644, 0.04674178, 0.0898882 ,-0.06842708,
  0.14248481, 0.94678469,-0.03087274, 0.02830793, 0.31913051]

qacc:
[  2.55709454,  0.75686145, -6.65381241, 20.97392756,  2.92854499,
   0.79885752, -2.88636159,  5.49648072,  5.48226083, -1.05264778,
   4.64827472, -9.24409565, -1.26009464,  1.05459444,  8.18489706,
 -30.64412396,  0.30236782,  3.26251278, -0.20029856,-30.85017996,
  27.93129245, -2.98016709]

qfrc_actuator:
[ 4.06115924e-05, 2.52679617e-04, 4.94737484e-05, 1.34511430e-04,
 -7.91216064e-07, 8.16243920e-05,-3.62442169e-05, 3.57488653e-05,
  1.65245223e-05, 3.93753511e-05,-8.74094818e-05, 4.12307648e-05,
  4.86961471e-02,-1.10920158e-03, 1.25793707e-02,-2.67987839e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([13.28937331, 12.60899116, -4.19771186, 12.60899116, 21.52091535,
       24.72571829, -4.19771186, 24.72571829, 87.55992209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006254681406636237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -8.8751365e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  8.8751365e-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([ 0.08114548, -0.11278521,  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:
[ 1.49202699e-05,-1.32138977e-05, 1.28072581e-05, 4.27718114e-05,
  1.71889402e-05, 4.57691947e-05, 1.11084351e-05, 1.08006985e-05,
  3.20397029e-05,-9.08885391e-06, 5.32237955e-06,-1.33514758e-05,
 -2.61110634e-04,-9.67634786e-05,-1.27673266e-04,-1.84974330e-04,
 -6.83425647e-04, 1.86681704e-04,-9.80929240e+00,-6.48086917e-02,
 -9.60864228e-03,-5.11112574e-03]


--- Step 810 ---
qpos:
[ 0.00988038, 0.00805784,-0.00561916, 0.03348846, 0.00352614, 0.0028795 ,
 -0.00676579, 0.03913926, 0.01307359, 0.00591401,-0.01171222, 0.03406648,
  0.82756403, 0.00522192, 1.0245655 , 0.0467364 , 0.0899432 ,-0.0684169 ,
  0.14247241, 0.94677124,-0.03082133, 0.02865018, 0.31914485]

qacc:
[  1.45324461,  0.29068195,  0.07652651, -3.37551259,  1.80335159,
   2.27639208, -9.26442823, 17.48712554,  3.40569148, -2.36221713,
   6.679825  , -4.40862548, -1.72313294,  1.95521625,  8.91002507,
 -33.28225613,  0.30097356,  3.17943982, -0.45904097,-29.94474007,
  27.11105955, -2.88593843]

qfrc_actuator:
[ 4.87709073e-05, 2.66034076e-04, 4.04035558e-05, 1.23622763e-04,
  9.36696016e-06, 1.04474147e-04,-4.93771872e-05, 5.92881423e-05,
  3.53392127e-05, 1.14307490e-06,-5.39328799e-05, 4.99119206e-05,
  4.85955448e-02,-1.10352667e-03, 1.25257577e-02,-2.85264774e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 13.39726341,  12.82105297,  -3.88680689,  12.82105297,
        22.19723019,  29.02764234,  -3.88680689,  29.02764234,
       109.1480817 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006319707307588796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.75676336e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.75676336e-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([ 0.08114651, -0.11278108,  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:
[ 8.57717067e-06, 1.04435775e-05,-8.74880459e-06,-1.01843022e-05,
  1.06619403e-05, 5.12017175e-05,-1.93675909e-06, 2.60947284e-05,
  1.97228122e-05,-4.27780794e-05, 3.17915836e-05, 8.21394029e-06,
 -2.72360053e-04,-7.53813637e-05,-1.39359355e-04,-2.00894247e-04,
 -5.70054537e-04, 1.53273778e-05,-9.80932742e+00,-6.47782630e-02,
 -9.56612775e-03,-5.13713102e-03]


--- Step 811 ---
qpos:
[ 0.00988045, 0.00805816,-0.00561957, 0.03348888, 0.0035261 , 0.00288034,
 -0.0067661 , 0.03913952, 0.01307455, 0.00591295,-0.01171083, 0.03406716,
  0.82860242, 0.00522342, 1.02505339, 0.04673117, 0.0899994 ,-0.06839429,
  0.14245728, 0.94675615,-0.03084219, 0.02902365, 0.31915385]

qacc:
[ -5.2580801 , -0.97905015,  8.95330337,-28.90670491, -1.96585602,
  -0.72554504,  3.11240307, -4.75708149,  1.97249443, -2.87077173,
   8.52855646, -7.41174083, -1.43985947,  1.51460973, -2.08773577,
   5.02310062,  0.30008147,  3.10793772, -0.68294446,-29.17743601,
  26.42276557, -2.82390807]

qfrc_actuator:
[ 1.77943101e-05, 2.73937735e-04, 1.73276886e-05, 6.33147808e-05,
 -2.48724520e-06, 9.98850081e-05,-3.91113595e-05, 5.52490731e-05,
  4.61015292e-05,-3.90744447e-05,-1.67626385e-05, 5.47896606e-05,
  4.85031637e-02,-1.10075140e-03, 1.25133249e-02,-2.82781777e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 13.41343112,  12.94263285,  -3.52255438,  12.94263285,
        22.31397044,  32.70252215,  -3.52255438,  32.70252215,
       133.56962804,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006329465536208806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.75405493e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.75405493e-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([ 0.08114714, -0.11278018,  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:
[-3.07283251e-05, 1.14952137e-05,-2.23537417e-05,-6.03655446e-05,
 -1.15342210e-05, 2.47453068e-05, 2.15038119e-05,-1.40566078e-06,
  1.13057632e-05,-5.72041530e-05, 3.25307247e-05, 4.30206054e-06,
 -2.65705782e-04,-7.59892031e-05,-1.05054050e-04,-5.59958035e-06,
 -4.59061697e-04,-9.38537557e-05,-9.80927738e+00,-6.47560376e-02,
 -9.51908583e-03,-5.17356738e-03]


--- Step 812 ---
qpos:
[ 0.00988049, 0.00805874,-0.00562033, 0.03348891, 0.00352591, 0.00288113,
 -0.00676613, 0.03913906, 0.01307529, 0.00591164,-0.0117094 , 0.03406789,
  0.82963893, 0.00522495, 1.02553979, 0.0467289 , 0.0900568 ,-0.06835949,
  0.14243865, 0.94673943,-0.03093374, 0.02942768, 0.31915758]

qacc:
[ -0.2514839 ,  0.55251196,  0.18384525, -6.51206669, -1.23487164,
  -2.31979791, 11.20689389,-24.03225591, -1.95988352, -0.3650875 ,
   0.58704516,  0.46899685, -1.20085902,  1.14084449,-11.06368484,
  35.69866434,  0.2997034 ,  3.04681641, -0.87602989,-28.53115894,
  25.84932546, -2.78879193]

qfrc_actuator:
[ 1.72912079e-05, 2.96160035e-04, 3.88509211e-06, 4.54223917e-05,
 -9.44786170e-06, 7.89641049e-05,-3.29928492e-05, 1.72555498e-05,
  3.42898174e-05,-4.46447680e-05,-1.32481657e-05, 5.73799151e-05,
  4.84104561e-02,-1.09972230e-03, 1.24670616e-02,-2.66889751e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006294708522810444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.81870082e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.81870082e-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([ 0.08114744, -0.11278187,  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:
[-1.37177707e-06, 2.14278560e-05,-1.59085321e-05,-1.93475423e-05,
 -7.28071090e-06,-2.73307703e-06, 1.38234571e-05,-3.62178674e-05,
 -1.15136055e-05,-3.06276551e-05,-4.15077194e-06, 1.34559390e-06,
 -2.61385203e-04,-7.67624565e-05,-1.02084622e-04, 1.43615896e-04,
 -3.49866379e-04,-1.45969689e-04,-9.80914888e+00,-6.47417414e-02,
 -9.46746660e-03,-5.22006473e-03]


--- Step 813 ---
qpos:
[ 0.00988088, 0.00805915,-0.00562028, 0.03348905, 0.00352599, 0.00288156,
 -0.00676621, 0.03913856, 0.01307519, 0.00591029,-0.01170862, 0.03406936,
  0.83067359, 0.00522627, 1.02602473, 0.04672824, 0.0901154 ,-0.06831272,
  0.14241585, 0.94672108,-0.03109463, 0.02986172, 0.31915607]

qacc:
[  2.99883385, -2.29927406,  7.40158516, -6.72393969,  2.31917606,
  -0.44025696,  1.0390044 , -1.41228793, -7.38338382,  3.30661864,
 -14.96273721, 28.78480131, -1.07589804,  0.78607982, -6.94193661,
  21.30103982,  0.2998293 ,  2.99489621, -1.04215147,-27.99048089,
  25.37551927, -2.77627823]

qfrc_actuator:
[ 3.47407115e-05, 2.91344422e-04, 4.95958220e-05, 5.26592021e-05,
  4.28721173e-06, 3.06199843e-05,-4.72286207e-05, 1.28265403e-05,
 -8.46335771e-06,-4.73109480e-05,-4.72502845e-05, 9.41139775e-05,
  4.83069667e-02,-1.11749065e-03, 1.23899189e-02,-2.59216399e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006224594828735108
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.91803447e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.91803447e-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([ 0.08114749, -0.11278561,  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:
[ 1.74182734e-05, 3.03890038e-06, 4.75102241e-05, 7.22843266e-06,
  1.35280773e-05,-4.85988704e-05,-1.43584039e-05,-4.77315504e-06,
 -4.30935530e-05,-2.05656840e-05,-4.07951452e-05, 3.53028537e-05,
 -2.69434927e-04,-9.49251247e-05,-1.14318678e-04, 7.02697114e-05,
 -2.41997084e-04,-1.44927185e-04,-9.80894694e+00,-6.47351678e-02,
 -9.41126188e-03,-5.27632525e-03]


--- Step 814 ---
qpos:
[ 0.00988077, 0.00805972,-0.00562006, 0.03348927, 0.00352658, 0.00288159,
 -0.0067662 , 0.03913904, 0.01307423, 0.00590888,-0.01170826, 0.03407089,
  0.83170653, 0.00522709, 1.02650874, 0.04672577, 0.0901752 ,-0.06825414,
  0.14238832, 0.94670107,-0.03132379, 0.03032531, 0.31914931]

qacc:
[ -4.24423707, -0.05636267,  0.16444463,  0.93383095,  4.48540665,
   1.23360895, -9.31793631, 26.4683478 , -7.54793566,  1.25205467,
  -4.83409859,  6.70233067, -0.98497192,  0.49524888,  4.13473739,
 -16.31213844,  0.300436  ,  2.95106138, -1.18487739,-27.54174292,
  24.98798963, -2.78284533]

qfrc_actuator:
[ 9.34931987e-06, 3.06149861e-04, 5.87599187e-05, 5.68825455e-05,
  3.00916215e-05, 1.94148889e-05,-3.79567263e-05, 6.36530201e-05,
 -5.13256551e-05,-4.83442751e-05,-6.75705051e-05, 9.73715943e-05,
  4.82183770e-02,-1.14630554e-03, 1.23369062e-02,-2.68883872e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006126886381892377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.06025472e-14, -4.53012736e-14,  1.00000000e+00,  4.10441078e-27,
        1.00000000e+00,  4.53012736e-14, -1.00000000e+00,  0.00000000e+00,
        9.06025472e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114733, -0.11279095,  0.06198625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48976755e-05, 2.66176728e-05, 1.58867790e-05, 6.13593887e-06,
  2.61728339e-05,-4.15609749e-05,-2.70381053e-06, 4.81541693e-05,
 -4.40973990e-05,-1.94263388e-05,-2.83665223e-05, 1.65169651e-06,
 -2.63705312e-04,-1.11871605e-04,-1.03656917e-04,-1.08729662e-04,
 -1.35069829e-04,-9.36505936e-05,-9.80867536e+00,-6.47361643e-02,
 -9.35049364e-03,-5.34211135e-03]


--- Step 815 ---
qpos:
[ 0.00988071, 0.00806079,-0.00562042, 0.03348921, 0.00352713, 0.00288145,
 -0.00676587, 0.03913973, 0.01307277, 0.00590727,-0.01170808, 0.03407212,
  0.83273764, 0.00522781, 1.02699178, 0.04672373, 0.0902362 ,-0.0681839 ,
  0.14235555, 0.94667937,-0.0316203 , 0.03081809, 0.31913724]

qacc:
[  0.33623328,  1.65931778, -3.74279458, -0.70450706, -0.34202988,
  -0.66456494,  1.14500295,  2.17659547, -4.45871118, -0.38754535,
   2.32862099, -7.3374284 , -1.25360303,  1.14571881, -2.65089192,
   7.39125422,  0.30149301,  2.91428624, -1.30743923,-27.17299759,
  24.67512832, -2.80561327]

qfrc_actuator:
[ 1.21982995e-05, 3.32458507e-04, 2.85684112e-05, 4.15224461e-05,
  2.72813825e-05, 3.06708086e-05,-1.46998429e-05, 7.56152118e-05,
 -7.61463685e-05,-6.61209783e-05,-7.96561564e-05, 8.09175921e-05,
  4.81334561e-02,-1.14586743e-03, 1.23196788e-02,-2.65601315e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006008128596611123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.38590121e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.38590121e-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([ 0.08114702, -0.11279751,  0.06198651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14596081e-06, 4.47059222e-05,-2.25328374e-05,-1.35515973e-05,
 -2.08253840e-06,-1.04734700e-05, 1.60023864e-05, 1.10227797e-05,
 -2.60836429e-05,-3.44037237e-05,-1.95255159e-05,-1.82352334e-05,
 -2.61047950e-04,-8.50225748e-05,-8.41531678e-05, 1.18737024e-05,
 -2.87711381e-05, 5.74042944e-06,-9.80833694e+00,-6.47446221e-02,
 -9.28520568e-03,-5.41723568e-03]


--- Step 816 ---
qpos:
[ 0.00988138, 0.00806184,-0.00562066, 0.03348898, 0.00352729, 0.00288133,
 -0.00676529, 0.03913951, 0.01307137, 0.00590562,-0.01170758, 0.03407273,
  0.83376672, 0.00522908, 1.02747376, 0.04672142, 0.09029842,-0.06810213,
  0.14231713, 0.94665593,-0.03198345, 0.03133977, 0.31911978]

qacc:
[  6.36199515, -0.70486163,  3.13346445, -6.10299126, -3.35925672,
  -2.56281397, 13.07593459,-29.41408576,  0.5220369 , -2.23432007,
  10.47569495,-21.54639939, -1.94270079,  2.56972042, -0.59474812,
   0.17781472,  0.30296626,  2.88364474, -1.41272218,-26.87387638,
  24.42690997, -2.84222283]

qfrc_actuator:
[ 4.94124180e-05, 3.12010737e-04, 2.86905239e-05, 3.25052924e-05,
  7.64806739e-06, 3.75805738e-05,-1.06627720e-06, 2.91286102e-05,
 -7.23969234e-05,-4.05120946e-05,-5.13591434e-05, 5.29924290e-05,
  4.80401569e-02,-1.11033167e-03, 1.22653765e-02,-2.67126591e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005873811791633071
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.45061796e-14, -4.72530898e-14,  1.00000000e+00,  4.46570899e-27,
        1.00000000e+00,  4.72530898e-14, -1.00000000e+00,  0.00000000e+00,
        9.45061796e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114658, -0.11280496,  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:
[ 3.72893159e-05,-7.16621836e-07, 6.10437233e-06,-8.14633527e-06,
 -1.96972828e-05, 4.82966024e-06, 1.38187354e-05,-4.61690884e-05,
  2.99287654e-06, 1.59549936e-06, 1.81683712e-05,-3.04286505e-05,
 -2.61014144e-04,-4.34415184e-05,-9.94036009e-05,-2.71032730e-05,
  7.71553292e-05, 1.51788218e-04,-9.80793369e+00,-6.47604676e-02,
 -9.21545763e-03,-5.50155284e-03]


--- Step 817 ---
qpos:
[ 0.00988214, 0.00806276,-0.00562085, 0.03348901, 0.00352722, 0.00288128,
 -0.00676457, 0.03913873, 0.01307036, 0.00590478,-0.01170743, 0.03407294,
  0.83479402, 0.00523046, 1.02795479, 0.0467179 , 0.09036186,-0.06800893,
  0.1422727 , 0.94663069,-0.03241266, 0.03189014, 0.31909682]

qacc:
[  0.84599069,  0.23094978, -2.13810096,  6.58634408, -2.0774155 ,
  -1.45754091,  7.63640279,-17.45205244,  3.49159636,  1.23170198,
  -1.15348442, -5.81608032, -1.48140436,  1.65748433,  2.35557202,
 -10.04345959,  0.30482041,  2.85831039, -1.50327828,-26.63542512,
  24.234708  , -2.89073739]

qfrc_actuator:
[ 5.32879953e-05, 2.99338482e-04, 2.87902195e-05, 4.50367863e-05,
 -3.96787783e-06, 4.17567285e-05, 6.72874547e-06, 1.87819429e-06,
 -5.18674988e-05, 4.65442423e-05,-5.25361167e-05, 3.63590885e-05,
  4.79525656e-02,-1.10759546e-03, 1.22208264e-02,-2.73259176e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005728514071621088
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.69032292e-14, -1.93806458e-13,  1.00000000e+00,  1.87804717e-26,
        1.00000000e+00,  1.93806458e-13, -1.00000000e+00,  0.00000000e+00,
        9.69032292e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114605, -0.11281305,  0.06198713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.93476781e-06,-1.21847948e-05, 4.10549828e-07, 1.25504696e-05,
 -1.21728948e-05, 7.74396456e-06, 8.89307927e-06,-2.74637097e-05,
  2.06109962e-05, 9.04464449e-05, 3.48029585e-07,-1.65277916e-05,
 -2.45819889e-04,-6.66121936e-05,-1.00686787e-04,-7.72247686e-05,
  1.82919359e-04, 3.43583333e-04,-9.80746698e+00,-6.47836564e-02,
 -9.14132077e-03,-5.59495249e-03]


--- Step 818 ---
qpos:
[ 0.00988225, 0.00806367,-0.00562131, 0.03348851, 0.00352666, 0.00288126,
 -0.00676377, 0.03913799, 0.01306995, 0.00590491,-0.01170802, 0.0340733 ,
  0.83581964, 0.0052314 , 1.02843471, 0.04671331, 0.09041345,-0.06790632,
  0.14223244, 0.94661077,-0.0329136 , 0.03238306, 0.31905498]

qacc:
[ -5.70417401, -0.36085087,  3.51426034,-12.29338761, -4.25242771,
  -0.08034444,  0.24300699,  0.14100678,  5.22609479,  3.64992256,
 -11.81822461, 14.91598552, -0.94673552,  0.49281982,  1.67241015,
  -8.09148026, -2.96023519,  2.34997346,  1.04345209,-42.72798932,
 -15.52698273,-11.86740338]

qfrc_actuator:
[ 1.97465619e-05, 2.91436553e-04, 1.11443822e-05, 1.68852857e-05,
 -2.85191109e-05, 4.42526813e-05, 1.10302735e-05, 3.92202922e-06,
 -2.16350640e-05, 9.86276112e-05,-8.85941707e-05, 4.42889388e-05,
  4.78524728e-02,-1.14207909e-03, 1.21715056e-02,-2.78500510e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006122498336759152
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.06674827e-14, -4.53337414e-14,  1.00000000e+00,  4.11029621e-27,
        1.00000000e+00,  4.53337414e-14, -1.00000000e+00,  0.00000000e+00,
        9.06674827e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12528082, -0.09342262,  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:
[-3.34083806e-05,-1.41252041e-05,-1.96876221e-05,-2.84172276e-05,
 -2.48938248e-05, 7.47769891e-06, 6.04067282e-06, 2.14955196e-06,
  3.08480628e-05, 1.02057132e-04,-1.78986753e-05, 1.14961741e-05,
 -2.55243768e-04,-1.05510644e-04,-1.11440653e-04,-7.12372790e-05,
  2.88692594e-04, 5.80674280e-04,-9.80693770e+00,-6.48141681e-02,
 -9.06287498e-03,-5.69735376e-03]


--- Step 819 ---
qpos:
[ 0.0098823 , 0.00806427,-0.00562158, 0.03348768, 0.00352616, 0.00288128,
 -0.00676292, 0.03913727, 0.01306991, 0.00590517,-0.0117076 , 0.03407373,
  0.83684321, 0.00523258, 1.02891328, 0.04670811, 0.09045371,-0.06779467,
  0.1421946 , 0.94659612,-0.03348365, 0.03282086, 0.31899438]

qacc:
[-4.95929248e-01,-1.58791424e+00, 6.45439624e+00,-1.21793962e+01,
  4.83942928e-01,-2.13631160e-02, 1.96007791e-02, 4.19012213e-01,
  3.24957680e+00,-2.48153130e+00, 8.77729816e+00,-9.14689103e+00,
 -1.73030963e+00, 2.02703406e+00,-2.57208596e-02,-2.49621527e+00,
 -2.83413406e+00, 2.26072262e+00, 6.04846909e-01,-4.11074370e+01,
 -1.48372738e+01,-1.17370796e+01]

qfrc_actuator:
[ 1.77194775e-05, 2.68590846e-04, 1.86530664e-05, 5.14605647e-07,
 -2.49844494e-05, 4.57343050e-05, 1.32479449e-05, 5.42740724e-06,
 -3.69224733e-06, 9.37443047e-05,-3.85353089e-05, 4.88125629e-05,
  4.77449338e-02,-1.12737331e-03, 1.21087184e-02,-2.81397085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([13.55494601, -2.83334397, 13.25551671, -2.83334397, 68.68911256,
       11.78483358, 13.25551671, 11.78483358, 16.07393399,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000641505779749682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.65325816e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.65325816e-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([ 0.12526843, -0.09341401,  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:
[-2.98415247e-06,-3.60675114e-05, 1.17996299e-06,-1.82087284e-05,
  2.82919756e-06, 6.98738203e-06, 4.57416654e-06, 2.07758394e-06,
  1.88553691e-05, 4.89940111e-05, 6.93359842e-05, 8.50046646e-06,
 -2.77276356e-04,-6.73991812e-05,-1.28397890e-04,-4.86577715e-05,
  3.35609846e-04, 1.03918930e-03,-9.80683016e+00,-6.48858381e-02,
 -9.00929985e-03,-5.79861177e-03]


--- Step 820 ---
qpos:
[ 0.00988336, 0.00806449,-0.00562148, 0.03348734, 0.00352605, 0.00288124,
 -0.0067623 , 0.03913696, 0.01306974, 0.00590513,-0.01170573, 0.0340739 ,
  0.83786473, 0.00523421, 1.02939059, 0.04670285, 0.09048528,-0.067685  ,
  0.14217102, 0.94658606,-0.03405589, 0.03320933, 0.31892344]

qacc:
[  8.87998824, -0.55497495, -0.88778273,  9.20673472,  3.43365803,
   1.35901267, -6.6682643 , 14.02311772, -1.08327954, -5.03827392,
  18.51428963,-25.27419723, -1.85996057,  2.35624186, -1.54722258,
   3.05653129, -2.17187834, -0.49226413,  3.5658784 , -8.66528585,
 -22.90306629, -6.49445   ]

qfrc_actuator:
[ 6.97745680e-05, 2.54827558e-04, 4.09118101e-05, 2.67257275e-05,
 -4.94344335e-06, 2.88373760e-05,-3.54312322e-06, 2.43496781e-05,
 -1.08827185e-05, 5.51210852e-05, 2.62347340e-05, 3.35533072e-05,
  4.76489981e-02,-1.10141900e-03, 1.20645419e-02,-2.81115296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([14.231612  , -6.33262516, 12.74506331, -6.33262516, 99.16437384,
       42.20044507, 12.74506331, 42.20044507, 35.19969929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006830954868417144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.12641165e-14, -8.12641165e-14,  1.00000000e+00, -6.60385663e-27,
        1.00000000e+00,  8.12641165e-14, -1.00000000e+00,  0.00000000e+00,
       -8.12641165e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10711489, -0.05797468,  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:
[ 5.19567370e-05,-3.44869180e-05, 1.43219182e-05, 2.43532514e-05,
  2.01236088e-05,-1.19638340e-05,-1.47212187e-05, 1.94198997e-05,
 -6.63923209e-06, 3.45185124e-06, 8.37147658e-05,-1.05985996e-05,
 -2.69395793e-04,-5.25524726e-05,-1.14590040e-04,-1.76613160e-05,
  2.77474398e-04, 1.52847433e-03,-9.80662835e+00,-6.49633987e-02,
 -8.97110340e-03,-5.89624920e-03]


--- Step 821 ---
qpos:
[ 0.00988435, 0.00806491,-0.00562191, 0.03348731, 0.00352584, 0.00288114,
 -0.00676217, 0.03913724, 0.01306949, 0.005905  ,-0.01170361, 0.03407394,
  0.83888435, 0.00523611, 1.02986617, 0.04670131, 0.09050864,-0.06757714,
  0.14215914, 0.94658055,-0.0346305 , 0.0335505 , 0.3188422 ]

qacc:
[ -0.67519133,  2.38687186, -9.39493471, 15.34239191, -0.92735017,
   2.52622103,-11.62754954, 22.73430022, -0.73563147, -1.03642876,
   4.07508268, -6.59611364, -1.35346667,  1.52850394,-13.69633431,
  44.41742218, -2.05377156, -0.45577792,  2.92344049, -8.41324631,
 -21.91094116, -6.44279203]

qfrc_actuator:
[ 6.44713549e-05, 2.82219089e-04, 1.84952471e-05, 4.22871954e-05,
 -1.08620527e-05, 1.87519270e-05,-3.14873284e-05, 5.33397455e-05,
 -1.50518891e-05, 3.21483046e-05, 2.79644051e-05, 2.44917421e-05,
  4.75600986e-02,-1.08676162e-03, 1.20102690e-02,-2.61204815e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([14.89808916, -0.70576251, 14.88136284, -0.70576251, 40.9351946 ,
        1.234834  , 14.88136284,  1.234834  , 14.95665232,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007259331435642696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.64686827e-14, -1.52937365e-13,  1.00000000e+00,  1.16949189e-26,
        1.00000000e+00,  1.52937365e-13, -1.00000000e+00,  0.00000000e+00,
        7.64686827e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10710788, -0.05797656,  0.06198369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.83731384e-06, 1.21146698e-05,-2.69399124e-05, 1.50508183e-05,
 -5.35087838e-06,-1.89825826e-05,-3.15636990e-05, 2.83446353e-05,
 -4.35780285e-06,-4.22813677e-06, 1.23654185e-05,-6.22771020e-06,
 -2.54103875e-04,-5.87370289e-05,-1.15451424e-04, 1.81997710e-04,
  1.67293897e-04, 1.61484420e-03,-9.80683812e+00,-6.50208103e-02,
 -8.92201590e-03,-5.97367974e-03]


--- Step 822 ---
qpos:
[ 0.00988423, 0.00806563,-0.00562241, 0.03348708, 0.00352555, 0.00288087,
 -0.00676204, 0.0391375 , 0.01306919, 0.0059052 ,-0.01170221, 0.03407423,
  0.83990214, 0.0052382 , 1.03034067, 0.04670271, 0.09052419,-0.06747098,
  0.1421567 , 0.94657954,-0.0352076 , 0.03384618, 0.31875073]

qacc:
[ -9.71051938,  0.17552909,  0.85389614, -4.55233535, -0.60466594,
  -0.24500172,  0.63846968, -0.8557083 , -0.45204828,  2.93914467,
 -10.91174086, 16.14587503, -1.30551132,  1.41159294,-10.4120688 ,
  34.33570317, -1.95193449, -0.42344342,  2.35943006, -8.18334989,
 -21.02898105, -6.38603261]

qfrc_actuator:
[ 7.68106275e-06, 3.16114995e-04, 2.32903942e-05, 3.37011898e-05,
 -1.42652846e-05, 1.27777080e-05,-3.02567270e-05, 5.25120410e-05,
 -1.74010204e-05, 5.39702731e-05,-7.49208292e-06, 3.68672464e-05,
  4.74701553e-02,-1.07889714e-03, 1.19819814e-02,-2.45869004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([15.32581107, -1.16557324, 15.28142414, -1.16557324, 45.73118454,
        2.31913527, 15.28142414,  2.31913527, 15.50270047,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007551310059805971
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47023896e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.47023896e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10710351, -0.05797771,  0.06198303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.68958202e-05, 3.57360313e-05, 4.49961855e-06,-8.70599162e-06,
 -3.56189187e-06,-2.18950565e-05,-5.59807449e-06,-2.18191024e-06,
 -2.47294353e-06, 2.17223351e-05,-3.50457023e-05, 1.24965398e-05,
 -2.47380079e-04,-6.35862100e-05,-6.63329404e-05, 1.47547128e-04,
  4.52417257e-05, 1.69093769e-03,-9.80701280e+00,-6.50775790e-02,
 -8.87962856e-03,-6.04576921e-03]


--- Step 823 ---
qpos:
[ 0.00988378, 0.00806649,-0.00562192, 0.033486  , 0.00352558, 0.00288026,
 -0.00676153, 0.0391374 , 0.0130692 , 0.00590548,-0.01170118, 0.03407468,
  0.84091837, 0.0052398 , 1.0308148 , 0.04670027, 0.09053228,-0.0673664 ,
  0.14216173, 0.94658298,-0.03578732, 0.03409797, 0.31864911]

qacc:
[ -2.91033539, -4.30971524, 19.16985884,-35.41398844,  2.71236472,
  -2.2864289 ,  9.01338598,-15.6340943 ,  2.79543377,  1.46124161,
  -5.70640081,  8.90538041, -1.04369435,  0.66195233, 11.16512809,
 -39.69637769, -1.86512031, -0.39493723,  1.87034497, -7.97986258,
 -20.2557761 , -6.33287848]

qfrc_actuator:
[-7.92999164e-06, 3.35979716e-04, 7.96608376e-05,-6.73936428e-06,
  1.60010131e-06,-8.35112515e-06,-1.18118621e-05, 3.41702055e-05,
 -9.08060413e-07, 4.90358107e-05,-2.88988592e-05, 4.40254228e-05,
  4.73849738e-02,-1.11062538e-03, 1.19266817e-02,-2.67080028e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007730283717943959
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.59049896e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.59049896e-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([ 0.10710136, -0.05797829,  0.06198263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72211173e-05, 4.03655168e-05, 6.40054507e-05,-3.89205669e-05,
  1.57567948e-05,-3.46160359e-05, 1.31584718e-05,-1.95162863e-05,
  1.64332643e-05, 4.83147670e-07,-2.08235999e-05, 7.11554674e-06,
 -2.39334675e-04,-1.02999749e-04,-7.72366296e-05,-2.14150701e-04,
 -8.74457838e-05, 1.75773012e-03,-9.80715680e+00,-6.51338248e-02,
 -8.84364404e-03,-6.11274740e-03]


--- Step 824 ---
qpos:
[ 0.00988314, 0.00806732,-0.00562093, 0.0334845 , 0.00352579, 0.00287935,
 -0.00676083, 0.03913778, 0.01306908, 0.00590539,-0.01169992, 0.03407488,
  0.84193302, 0.00524079, 1.03128803, 0.04669693, 0.0905332 ,-0.06726329,
  0.14217257, 0.94659082,-0.03636974, 0.03430724, 0.31853739]

qacc:
[ -1.59860229, -2.29534567,  9.94590194,-18.08368094,  1.68138079,
   0.07424673, -2.87282863, 11.11578775, -1.28049501, -1.63251984,
   6.14992654,-10.4974534 , -0.72836732,  0.07366762,  1.39546044,
  -6.73548282, -1.79176268, -0.36984566,  1.44989153, -7.80399937,
 -19.58443113, -6.28863067]

qfrc_actuator:
[-1.69147130e-05, 3.11978142e-04, 9.49456815e-05,-3.00679340e-05,
  1.09261739e-05,-2.05779800e-05,-1.18207836e-06, 5.89278493e-05,
 -8.96335180e-06, 1.04061394e-05,-2.41788777e-05, 3.02974390e-05,
  4.72973649e-02,-1.14777303e-03, 1.19030821e-02,-2.70601435e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007816533688597693
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.10176063e-14, -3.55088032e-14,  1.00000000e+00,  2.52175020e-27,
        1.00000000e+00,  3.55088032e-14, -1.00000000e+00,  0.00000000e+00,
        7.10176063e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10710102, -0.05797842,  0.06198244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.46520874e-06, 1.00858872e-05, 3.01474742e-05,-2.01415738e-05,
  9.76224444e-06,-2.96806149e-05, 4.42562803e-06, 2.33495559e-05,
 -7.58543913e-06,-4.23733942e-05, 2.48413661e-06,-1.42938697e-05,
 -2.47518703e-04,-1.15111802e-04,-9.16703141e-05,-5.90133641e-05,
 -2.29884866e-04, 1.81611981e-03,-9.80727378e+00,-6.51896668e-02,
 -8.81382685e-03,-6.17481209e-03]


--- Step 825 ---
qpos:
[ 0.00988275, 0.00806802,-0.00562027, 0.03348384, 0.00352611, 0.00287844,
 -0.00676044, 0.03913879, 0.0130685 , 0.00590519,-0.01169894, 0.03407422,
  0.84294593, 0.0052416 , 1.03176028, 0.0466938 , 0.0905272 ,-0.06716158,
  0.14218777, 0.94660303,-0.03695496, 0.03447518, 0.31841561]

qacc:
[  2.11802657,  2.45808526,-12.58127023, 27.76877566,  0.95878973,
   2.1403233 ,-10.28629171, 21.69738669, -3.88138699, -1.1230872 ,
   7.40334365,-21.66834073, -1.13270867,  0.93530899, -1.99191426,
   5.04389851, -1.73023289, -0.34773679,  1.09070035, -7.65523292,
 -19.00564514, -6.25633073]

qfrc_actuator:
[-4.18795231e-06, 2.79502673e-04, 6.79151449e-05, 1.00477903e-05,
  1.63225818e-05,-9.61674344e-06,-1.29456866e-05, 9.10949721e-05,
 -3.14088979e-05, 5.23920129e-06,-3.97398554e-05,-1.33770205e-05,
  4.72136829e-02,-1.15233118e-03, 1.18719349e-02,-2.68976823e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007827489718733871
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.09182040e-14, -3.54591020e-14,  1.00000000e+00,  2.51469583e-27,
        1.00000000e+00,  3.54591020e-14, -1.00000000e+00,  0.00000000e+00,
        7.09182040e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10710216, -0.05797822,  0.06198242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24568852e-05,-2.15107066e-05,-2.19478210e-05, 4.11987987e-05,
  5.66244169e-06,-3.69412714e-06,-1.65402840e-05, 3.15021332e-05,
 -2.26744044e-05,-2.89767363e-05,-2.45161650e-05,-4.56853127e-05,
 -2.50847936e-04,-8.73291080e-05,-8.70325821e-05,-4.00033215e-07,
 -3.81479364e-04, 1.86690015e-03,-9.80736676e+00,-6.52452103e-02,
 -8.78999502e-03,-6.23213148e-03]


--- Step 826 ---
qpos:
[ 0.00988286, 0.00806862,-0.00561995, 0.03348401, 0.00352615, 0.00287786,
 -0.00676056, 0.03913912, 0.01306767, 0.00590523,-0.01169812, 0.03407369,
  0.843957  , 0.00524261, 1.03223187, 0.04668915, 0.09052063,-0.06706916,
  0.14221031, 0.94661241,-0.03749084, 0.03462428, 0.31830889]

qacc:
[  4.38199355,  2.53925025,-12.73836492, 27.69686649, -2.51059585,
   0.49240172,  1.75093181,-12.97407066, -2.33962823,  1.01104379,
  -3.62826002,  5.72967707, -1.62766652,  1.90792005,  3.75058142,
 -14.2350078 , -0.14192787, -2.32235296,  1.83532898, 20.03963703,
 -17.00570667,  8.0792958 ]

qfrc_actuator:
[ 2.12131069e-05, 2.77571504e-04, 5.16257374e-05, 5.16285521e-05,
  1.61244583e-06, 1.50686062e-05,-3.77382876e-05, 5.63530299e-05,
 -4.43837779e-05, 5.55471168e-05,-3.15484177e-05,-3.30212873e-06,
  4.71271029e-02,-1.13753297e-03, 1.18416242e-02,-2.76765376e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.91910807, -10.57422008,  11.89974249, -10.57422008,
        56.89026348,  36.40734364,  11.89974249,  36.40734364,
        48.27100679,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007994538002249335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.94363467e-14, -3.47181733e-14,  1.00000000e+00,  2.41070312e-27,
        1.00000000e+00,  3.47181733e-14, -1.00000000e+00,  0.00000000e+00,
        6.94363467e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08719036, -0.03543487,  0.06198205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57448594e-05,-1.67542947e-05,-2.20250818e-05, 4.06994383e-05,
 -1.45510849e-05, 2.05806769e-05,-2.64995106e-05,-3.48607187e-05,
 -1.36263746e-05, 2.70698238e-05,-2.40159705e-06, 7.09633188e-06,
 -2.48873790e-04,-6.24831057e-05,-7.77187358e-05,-9.07021948e-05,
 -5.41862498e-04, 1.91075394e-03,-9.80743822e+00,-6.53005415e-02,
 -8.77201213e-03,-6.28484741e-03]


--- Step 827 ---
qpos:
[ 0.00988361, 0.00806916,-0.00561983, 0.03348432, 0.00352602, 0.00287739,
 -0.00676093, 0.0391387 , 0.01306668, 0.00590553,-0.01169702, 0.03407359,
  0.84496615, 0.00524386, 1.03270266, 0.0466816 , 0.09051356,-0.06698557,
  0.14223832, 0.94661952,-0.03797918, 0.03475462, 0.31821561]

qacc:
[  5.68620593,  0.75201852, -3.4079378 ,  6.18923973, -1.56124867,
  -0.74530254,  6.06510144,-18.86285455, -1.30822081,  0.43827509,
  -2.89959419,  9.78041955, -1.8022338 ,  2.16954548,  7.72643526,
 -28.42224617, -0.12574923, -2.20875675,  1.36752111, 19.24002846,
 -16.65548431,  7.19618906]

qfrc_actuator:
[ 5.38637083e-05, 2.76225442e-04, 4.19314657e-05, 5.82602483e-05,
 -7.06000209e-06, 1.21675077e-05,-5.22479808e-05, 1.80333068e-05,
 -5.16755642e-05, 8.55705519e-05,-9.11383834e-06, 2.06396422e-05,
  4.70228782e-02,-1.12917573e-03, 1.17905185e-02,-2.91812846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([16.08152762, -7.14864843, 14.40528917, -7.14864843, 58.4659637 ,
       21.03334607, 14.40528917, 21.03334607, 26.51936018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008127711857854464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08719477, -0.03543535,  0.06198175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33751432e-05,-1.35381608e-05,-1.44720188e-05, 5.94027708e-06,
 -9.07643605e-06, 1.65702058e-06,-1.47202107e-05,-3.90317269e-05,
 -7.66899932e-06, 4.49517824e-05, 2.79666829e-05, 2.51565072e-05,
 -2.59651801e-04,-6.27218991e-05,-1.05377966e-04,-1.67369104e-04,
 -4.42929285e-04, 1.60088249e-03,-9.80787875e+00,-6.53241980e-02,
 -8.69265319e-03,-6.32704636e-03]


--- Step 828 ---
qpos:
[ 0.00988475, 0.00806966,-0.00561983, 0.03348435, 0.00352647, 0.0028767 ,
 -0.00676106, 0.03913782, 0.01306596, 0.0059061 ,-0.01169586, 0.03407275,
  0.84597336, 0.00524528, 1.03317211, 0.04667296, 0.09050604,-0.06691044,
  0.14227021, 0.94662483,-0.03842154, 0.03486634, 0.31813449]

qacc:
[  3.38078724, -0.29851754,  2.1333071 , -6.67879669,  5.17332033,
  -1.8410579 ,  8.02723892,-15.94262389,  2.32845186, -1.27525826,
   8.16830038,-21.1381532 , -1.62459123,  1.8421247 ,  1.41872698,
  -7.55836519, -0.11293765, -2.11304998,  0.96905287, 18.55525095,
 -16.32835221,  6.48630133]

qfrc_actuator:
[ 7.27630464e-05, 2.75240267e-04, 3.61891167e-05, 4.42810277e-05,
  2.34020851e-05,-7.20185982e-06,-4.29126853e-05,-4.33354474e-06,
 -3.78145516e-05, 8.55569669e-05,-1.40212804e-05,-1.84738709e-05,
  4.69187919e-02,-1.12480331e-03, 1.17322983e-02,-2.96814661e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([16.13449242, -6.71465658, 14.67089747, -6.71465658, 77.85671123,
       28.24936263, 14.67089747, 28.24936263, 29.06381519,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008172655257852601
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.79230305e-14, -6.79230305e-14,  1.00000000e+00,  4.61353807e-27,
        1.00000000e+00,  6.79230305e-14, -1.00000000e+00,  0.00000000e+00,
        6.79230305e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08719834, -0.03543386,  0.06198166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98439174e-05,-1.13030665e-05,-1.01262819e-05,-1.49481526e-05,
  3.02068390e-05,-2.31366000e-05, 6.52533777e-06,-2.35616141e-05,
  1.36585967e-05, 3.19491246e-05, 8.67592353e-06,-3.57327461e-05,
 -2.66235974e-04,-6.90623380e-05,-1.32785373e-04,-7.45043090e-05,
 -3.63343925e-04, 1.32913782e-03,-9.80826170e+00,-6.53483170e-02,
 -8.62444513e-03,-6.36520037e-03]


--- Step 829 ---
qpos:
[ 0.00988576, 0.00807042,-0.00562007, 0.03348418, 0.00352728, 0.00287589,
 -0.00676139, 0.03913671, 0.01306507, 0.00590678,-0.01169439, 0.03407111,
  0.84679782, 0.00522376, 1.03358029, 0.04667919, 0.09049749,-0.06684652,
  0.14230351, 0.94663259,-0.03880103, 0.03495403, 0.31805572]

qacc:
[-1.12865907e+00, 5.85257613e-01,-7.27962265e-01,-2.57135958e+00,
  3.17484103e+00,-1.42506219e-01, 1.27795059e+00,-5.07046160e+00,
 -1.51529482e+00,-2.40078442e+00, 1.21577151e+01,-2.66533519e+01,
 -1.18194734e+02, 9.37177580e+01,-1.27734436e+02, 3.33752853e+02,
 -2.56583244e-01,-2.80483911e+00, 3.53910033e-01, 2.59421075e+01,
 -2.14624798e+01, 1.35919728e+00]

qfrc_actuator:
[ 6.56625092e-05, 3.09983095e-04, 3.28172796e-05, 3.60472054e-05,
  4.11466674e-05,-1.84232506e-05,-5.51447973e-05,-1.71359602e-05,
 -4.71218591e-05, 8.51530013e-05, 2.98826353e-07,-5.89198982e-05,
  4.68201858e-02,-1.10509685e-03, 1.17178190e-02,-2.90528823e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.03442303, -0.18236887, -1.01822031, -0.18236887,  2.81530893,
       -0.31896648, -1.01822031, -0.31896648,  1.09155168,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001810566730569153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16064842e-01, -8.38583054e-01, -1.74515159e-01, -9.14647109e-02,
       -1.48626200e-01,  9.84654487e-01, -8.51652092e-01,  5.24107541e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10197228, -0.03668039,  0.30468735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([16.10386319, -6.03414737, 14.93062206, -6.03414737, 40.06095259,
        9.68215573, 14.93062206,  9.68215573, 20.01686522,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008146565920663512
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.81405537e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.81405537e-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([ 0.08720126, -0.03543077,  0.06198172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.53967093e-06, 2.56751077e-05,-7.47885347e-06,-9.36168522e-06,
  1.85960167e-05,-2.37822376e-05,-1.70123459e-05,-1.40240939e-05,
 -8.90394769e-06, 1.76929845e-05, 2.07322001e-05,-3.94748646e-05,
 -2.66083497e-04,-5.66927310e-05,-8.94031612e-05, 4.04699323e-05,
 -2.98625705e-04, 1.09092780e-03,-9.80859400e+00,-6.53722145e-02,
 -8.56593301e-03,-6.39931669e-03]


--- Step 830 ---
qpos:
[ 0.00988668, 0.0080716 ,-0.00562103, 0.03348427, 0.00352761, 0.002875  ,
 -0.0067622 , 0.0391358 , 0.01306408, 0.00590759,-0.01169252, 0.03406968,
  0.84748594, 0.00520474, 1.03394238, 0.04668589, 0.09048818,-0.06679377,
  0.14233694, 0.94664497,-0.03911638, 0.03502142, 0.31797282]

qacc:
[-8.44934564e-01, 3.12499532e+00,-1.14531768e+01, 1.68540238e+01,
 -4.26324396e+00, 1.66913815e+00,-7.00242729e+00, 1.15248496e+01,
 -9.08001350e-01,-5.23252936e-01, 1.21999489e+00, 1.68056090e+00,
 -1.04243837e+02, 1.07852434e+02,-6.20561581e+01, 1.35946004e+02,
 -1.91043846e-01,-2.78986770e+00, 3.17705805e-02, 2.72918636e+01,
 -1.98132645e+01,-1.96465489e+00]

qfrc_actuator:
[ 6.10733164e-05, 3.30365063e-04,-4.47907643e-06, 4.90478179e-05,
  1.57462607e-05,-2.47549321e-05,-7.99911756e-05,-6.47226133e-06,
 -5.22452731e-05, 1.02329023e-04, 2.58646120e-05,-4.65443617e-05,
  4.67518616e-02,-1.10640437e-03, 1.16551395e-02,-2.75471503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.18749694, -0.22844871, -1.16531548, -0.22844871,  9.46980857,
       -1.62366628, -1.16531548, -1.62366628,  1.50580085,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003831751365926294
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16162794e-01, -8.38646407e-01, -1.73920022e-01, -9.11603480e-02,
       -1.48114702e-01,  9.84759781e-01, -8.51625364e-01,  5.24150970e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1017674 , -0.03647807,  0.30427408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 16.00383344,  -3.83057651,  15.53864114,  -3.83057651,
       129.91471221,  28.08124166,  15.53864114,  28.08124166,
        22.92640433,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008063184320625805
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.88451969e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.88451969e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08720366, -0.03542641,  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:
[-4.76800026e-06, 3.27637036e-05,-3.32443971e-05, 1.36591425e-05,
 -2.48787450e-05,-2.37035166e-05,-3.23242364e-05, 8.78738386e-06,
 -5.36618545e-06, 2.96167483e-05, 3.03862176e-05, 1.30818349e-05,
  8.79363056e-03, 1.08287911e-03, 2.91852382e-03,-5.50223694e-04,
 -2.64394803e-04, 8.09885202e-04,-9.80896103e+00,-6.53971948e-02,
 -8.52381620e-03,-6.42557353e-03]


--- Step 831 ---
qpos:
[ 0.00988789, 0.00807282,-0.00562257, 0.03348421, 0.00352729, 0.00287407,
 -0.00676307, 0.039135  , 0.01306337, 0.00590869,-0.01169101, 0.03406913,
  0.84807897, 0.00521006, 1.03428198, 0.04669209, 0.09047816,-0.06675173,
  0.14236956, 0.94666187,-0.0393699 , 0.0350689 , 0.31788597]

qacc:
[  2.46384322,  1.36341591, -4.12183558,  2.35920315, -5.73406381,
   0.37839721, -1.80401401,  3.64048445,  2.54602457,  3.20589667,
 -14.58214396, 30.1750551 ,-91.02913463,118.63053495,-24.49461832,
  54.43481135, -0.1757097 , -2.67952475, -0.20296211, 26.25396203,
 -19.25060239, -1.89397416]

qfrc_actuator:
[ 7.57600933e-05, 3.06369931e-04,-4.37881548e-05, 3.89007859e-05,
 -1.70883331e-05,-1.03938651e-05,-7.65400360e-05, 1.57774974e-07,
 -3.71051689e-05, 1.12238547e-04, 4.70912035e-06,-3.16820658e-06,
  4.66987827e-02,-1.11883681e-03, 1.16336142e-02,-2.50757010e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.4654757 , -0.11973396, -1.46057619, -0.11973396,  7.39175541,
       -0.48581987, -1.46057619, -0.48581987,  1.50530185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000549761912047336
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51627353, -0.838686  , -0.17339966, -0.09089863, -0.14766476,
        0.98485154, -0.85158622,  0.52421457,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10160134, -0.03631529,  0.30393875])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007935491982948156
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.99530052e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.99530052e-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([ 0.08720566, -0.03542108,  0.0619822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45603796e-05,-1.19913410e-05,-3.61666891e-05,-9.62811297e-06,
 -3.35492403e-05,-5.15920793e-06,-5.09927998e-06, 4.67391172e-06,
  1.50003192e-05, 3.32556698e-05,-1.08714723e-05, 4.59485079e-05,
  1.55509971e-02, 9.41210529e-04, 5.20263240e-03,-3.26715538e-04,
 -2.40073288e-04, 5.69456344e-04,-9.80926327e+00,-6.54208859e-02,
 -8.49279807e-03,-6.44694509e-03]


--- Step 832 ---
qpos:
[ 0.00988891, 0.00807386,-0.00562418, 0.03348368, 0.00352657, 0.00287312,
 -0.00676364, 0.03913426, 0.01306354, 0.00590974,-0.0116899 , 0.0340695 ,
  0.84859327, 0.00522965, 1.03461627, 0.04669736, 0.09046724,-0.06672021,
  0.14240055, 0.94668202,-0.03956357, 0.03509321, 0.31779922]

qacc:
[-1.56328335e+00,-1.00898589e+00, 5.22529586e+00,-1.31062751e+01,
 -3.43072106e+00,-7.63114065e-01, 2.41510791e+00,-1.85269534e+00,
  7.70434555e+00, 2.92475360e+00,-1.44146770e+01, 3.09832298e+01,
 -7.15372899e+01, 8.82977812e+01, 5.04208656e-01,-3.44888511e-02,
 -2.27824598e-01,-2.63043855e+00,-4.07206848e-01, 2.47140450e+01,
 -2.05424034e+01, 1.24186954e-01]

qfrc_actuator:
[ 6.61684985e-05, 2.91450658e-04,-4.86582582e-05, 1.51763382e-05,
 -3.62689040e-05,-1.39126431e-06,-5.63240360e-05, 4.39702504e-06,
  7.59173520e-06, 8.20589400e-05,-2.61258111e-05, 4.03016481e-05,
  4.66560465e-02,-1.12527351e-03, 1.16522944e-02,-2.36145487e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.73688299, -1.62033447, -0.62552277, -1.62033447,  1.60384256,
        0.34462375, -0.62552277,  0.34462375,  0.84418048,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006845792961083614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16397646e-01, -8.38711645e-01, -1.72905317e-01, -9.06532774e-02,
       -1.47235294e-01,  9.84938451e-01, -8.51537113e-01,  5.24294331e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10146894, -0.03618941,  0.30367239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007774578998821502
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08720734, -0.03541503,  0.06198257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.18139642e-06,-2.95332977e-05,-1.21327393e-05,-2.56770356e-05,
 -2.01361771e-05, 5.29839359e-06, 1.87082169e-05, 3.93995071e-06,
  4.51383375e-05,-1.19128486e-05,-2.37455882e-05, 4.54077251e-05,
  2.02588615e-02,-2.84520950e-04, 6.34349161e-03,-1.55538001e-04,
 -2.12693546e-04, 3.79376851e-04,-9.80950700e+00,-6.54380367e-02,
 -8.46548649e-03,-6.46345129e-03]


--- Step 833 ---
qpos:
[ 0.00988981, 0.0080747 ,-0.00562531, 0.03348318, 0.00352598, 0.00287213,
 -0.00676368, 0.03913356, 0.01306425, 0.00591048,-0.01168899, 0.03407007,
  0.8490423 , 0.00524435, 1.03495235, 0.04670063, 0.09045518,-0.06669913,
  0.14242922, 0.94670423,-0.03969871, 0.03509097, 0.31771644]

qacc:
[ -1.05965311, -1.55841972,  5.04237318, -5.16637883,  1.07498017,
  -1.44388555,  4.92232039, -5.05995967,  4.70269335,  0.56208811,
  -3.45585551,  7.42984729,-46.60031373, 42.34967188, 11.95338583,
 -30.32419036, -0.28408381, -2.60905037, -0.57880298, 23.45156085,
 -21.97771606,  2.05161348]

qfrc_actuator:
[ 6.01105084e-05, 2.99948809e-04,-1.53861662e-05, 1.91884524e-05,
 -2.95042603e-05, 4.41315791e-06,-2.63953925e-05, 7.20178903e-06,
  3.38150132e-05, 4.58038063e-05,-4.48330782e-05, 4.79333707e-05,
  4.66108164e-02,-1.12778291e-03, 1.15984967e-02,-2.38185528e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.92177628, -1.86224025, -0.4746423 , -1.86224025,  1.82646783,
        0.37393895, -0.4746423 ,  0.37393895,  0.45464165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007879701731802317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16526488e-01, -8.38728230e-01, -1.72439389e-01, -9.04240528e-02,
       -1.46829267e-01,  9.85020130e-01, -8.51483340e-01,  5.24381657e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10136953, -0.03610047,  0.30347336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007589459712355057
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46284856e-13, -7.31424282e-14,  1.00000000e+00, -1.06996296e-26,
        1.00000000e+00,  7.31424282e-14, -1.00000000e+00,  0.00000000e+00,
       -1.46284856e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08720876, -0.03540848,  0.06198298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.32986094e-06,-1.16476316e-05, 2.47960268e-05, 1.82968572e-06,
  6.19309565e-06, 1.28366449e-05, 3.34839749e-05, 3.76166359e-06,
  2.75057672e-05,-4.59116508e-05,-2.25495201e-05, 7.17587668e-06,
  2.41486419e-02,-1.00223268e-03, 6.55178627e-03,-1.30393095e-04,
 -1.77307845e-04, 2.30665712e-04,-9.80970454e+00,-6.54470422e-02,
 -8.44041968e-03,-6.47453654e-03]


--- Step 834 ---
qpos:
[ 0.00988995, 0.00807546,-0.00562611, 0.03348307, 0.00352582, 0.00287143,
 -0.00676375, 0.03913289, 0.01306457, 0.00591101,-0.01168891, 0.03407075,
  0.84944769, 0.0052438 , 1.03529366, 0.0467006 , 0.09044186,-0.0666883 ,
  0.14245506, 0.94672763,-0.03977698, 0.03506028, 0.3176403 ]

qacc:
[ -6.74218297, -0.22136742, -0.96964304,  7.19631394,  3.77783438,
   0.53494441, -1.5313782 ,  2.03494325, -3.37001198,  2.25813336,
  -8.94665693, 12.42974539,-22.10850216,  6.28904473, 18.87995924,
 -51.97410416, -0.31423068, -2.56151022, -0.7081373 , 22.31282709,
 -22.65968212,  3.38939509]

qfrc_actuator:
[ 2.06833722e-05, 3.04838529e-04, 4.74049280e-06, 3.95318955e-05,
 -7.52754446e-06, 2.60594471e-05,-2.64939275e-05, 9.14211497e-06,
  1.34403897e-05, 2.39462333e-05,-9.17974477e-05, 5.21694408e-05,
  4.65603856e-02,-1.13224072e-03, 1.14954392e-02,-2.50071130e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.02059855, -1.98693999, -0.36727097, -1.98693999,  1.96241096,
        0.31479552, -0.36727097,  0.31479552,  0.31755133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008596813618305048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16651495e-01, -8.38738070e-01, -1.72016517e-01, -9.02173646e-02,
       -1.46459923e-01,  9.85094066e-01, -8.51429421e-01,  5.24469199e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10130322, -0.036049  ,  0.3033415 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007387409744742945
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08720999, -0.03540161,  0.06198344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.96140035e-05, 3.55578303e-06, 2.08419336e-05, 2.07397325e-05,
  2.21557602e-05, 3.59423038e-05, 6.82051474e-06, 3.72565611e-06,
 -1.96048310e-05,-5.19085729e-05,-5.89978721e-05, 1.62214480e-06,
  2.73600852e-02,-7.63316813e-04, 6.35581234e-03,-1.49597881e-04,
 -1.35706382e-04, 1.17972953e-04,-9.80985426e+00,-6.54496367e-02,
 -8.41985609e-03,-6.47996044e-03]


--- Step 835 ---
qpos:
[ 0.00988892, 0.00807654,-0.00562735, 0.03348286, 0.00352626, 0.00287105,
 -0.00676416, 0.03913296, 0.01306431, 0.00591177,-0.01168995, 0.03407178,
  0.84983561, 0.0052237 , 1.03564511, 0.04669842, 0.09042723,-0.0666874 ,
  0.14247771, 0.94675141,-0.03980057, 0.0350001 , 0.31757311]

qacc:
[-10.23195409,  1.5067207 , -4.29768184,  3.04563501,  5.34598071,
   2.85428329,-12.70596263, 25.77803423, -5.24369749,  4.17715418,
 -15.90756871, 23.60499344,  1.1884903 ,-21.99197061, 20.90155704,
 -52.80415777, -0.32750122, -2.48250695, -0.79864261, 21.04718636,
 -22.8224407 ,  4.54593313]

qfrc_actuator:
[-3.80692856e-05, 3.25264090e-04,-1.85727834e-05, 3.37968734e-05,
  2.32183083e-05, 3.91558276e-05,-4.42583906e-05, 4.60552444e-05,
 -1.64388351e-05, 6.40094720e-05,-1.37268560e-04, 7.21210621e-05,
  4.65338671e-02,-1.12553855e-03, 1.14529889e-02,-2.53453812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.06167409, -2.0448545 , -0.26281192, -2.0448545 ,  2.03149352,
        0.23482524, -0.26281192,  0.23482524,  0.2345749 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009006860589176529
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16766960e-01, -8.38744563e-01, -1.71637604e-01, -9.00327144e-02,
       -1.46128634e-01,  9.85160156e-01, -8.51378893e-01,  5.24551218e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1012686 , -0.0360346 ,  0.30327428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007174372835342946
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54748443e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.54748443e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08721106, -0.03539453,  0.06198392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.98833109e-05, 2.75756708e-05,-1.92920772e-05,-4.45593441e-06,
  3.13878625e-05, 3.47995071e-05,-9.36158599e-06, 3.87640150e-05,
 -3.04504080e-05,-1.10855196e-06,-6.34114623e-05, 1.57154917e-05,
  2.95153616e-02, 6.38636239e-06, 6.04675460e-03,-2.00960974e-05,
 -9.13930146e-05, 4.02947742e-05,-9.80995087e+00,-6.54480500e-02,
 -8.40592831e-03,-6.47974261e-03]


--- Step 836 ---
qpos:
[ 0.00988788, 0.00807815,-0.00562867, 0.03348184, 0.00352673, 0.00287096,
 -0.00676452, 0.03913379, 0.01306368, 0.00591287,-0.01169136, 0.03407229,
  0.85023345, 0.00518476, 1.0360096 , 0.04669351, 0.09041132,-0.06669603,
  0.14249692, 0.94677508,-0.03977184, 0.03491069, 0.31751599]

qacc:
[ -0.07242368, -0.7601795 ,  7.10889037,-21.34096473,  0.17454302,
   1.83254336, -9.17971257, 22.07463685, -3.15262244,  0.42897141,
   1.34493947,-10.08567617, 21.48744832,-41.77654798, 25.47825824,
 -65.94886425, -0.31810898, -2.38463581, -0.85962057, 19.9490029 ,
 -22.34603207,  5.12000797]

qfrc_actuator:
[-3.67047922e-05, 3.72393393e-04,-1.40410633e-05,-5.00661082e-06,
  2.33688528e-05, 6.47340740e-05,-3.68012751e-05, 8.54850882e-05,
 -3.39048423e-05, 1.05351912e-04,-1.45712903e-04, 4.79613877e-05,
  4.65102600e-02,-1.04848495e-03, 1.14409489e-02,-2.62367399e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.07137817, -2.06239943, -0.1926554 , -2.06239943,  2.05488168,
        0.17659696, -0.1926554 ,  0.17659696,  0.18088628,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009128456840328189
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16868235e-01, -8.38752320e-01, -1.71294404e-01, -8.98648489e-02,
       -1.45828947e-01,  9.85219888e-01, -8.51335149e-01,  5.24622210e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10126321, -0.03605618,  0.30326744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006955189013166108
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.98125703e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.98125703e-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([ 0.087212  , -0.03538738,  0.06198441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.33140120e-07, 5.83318188e-05, 7.70334956e-06,-3.83725261e-05,
  1.05382010e-06, 4.47952444e-05, 1.48413766e-05, 4.13518861e-05,
 -1.83284674e-05, 2.82684665e-05,-1.59381112e-05,-2.60957550e-05,
  3.03659007e-02, 1.06216209e-03, 5.52274052e-03,-2.44934619e-06,
 -4.71808410e-05,-4.02913366e-06,-9.80999275e+00,-6.54439053e-02,
 -8.39983083e-03,-6.47392940e-03]


--- Step 837 ---
qpos:
[ 0.00988755, 0.00807997,-0.00562961, 0.03348106, 0.00352685, 0.00287119,
 -0.00676477, 0.03913474, 0.0130632 , 0.00591422,-0.01169263, 0.03407248,
  0.85066759, 0.00512916, 1.03639024, 0.04668686, 0.09039423,-0.06671372,
  0.14251255, 0.94679814,-0.03969356, 0.0347928 , 0.31746996]

qacc:
[  6.27268066, -0.31592168,  0.52696892,  2.8311433 , -3.04919721,
   0.3604366 , -1.13954387,  2.68056377,  1.23344225, -0.74632122,
   4.50526307,-10.48570301, 39.99634139,-58.2302233 , 25.81294999,
 -63.49884632, -0.29862042, -2.26455656, -0.89344792, 18.72359567,
 -21.5591507 ,  5.64402184]

qfrc_actuator:
[ 3.86441976e-08, 3.81967962e-04, 7.00747190e-06, 8.10856160e-06,
  5.50781654e-06, 7.99378713e-05,-3.22112816e-05, 9.05995368e-05,
 -2.61689421e-05, 1.29515053e-04,-1.32233948e-04, 3.35769695e-05,
  4.64812384e-02,-9.75384217e-04, 1.13985952e-02,-2.65580633e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.05993285, -2.05731458, -0.10382704, -2.05731458,  2.05502943,
        0.09716044, -0.10382704,  0.09716044,  0.13471578,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008986478993979934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51695328, -0.83876569, -0.170972  , -0.08970537, -0.14554852,
        0.98527589, -0.85130033,  0.5246787 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10128389, -0.03611202,  0.30331553])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006733756727902024
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08721283, -0.03538024,  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:
[ 3.67520683e-05, 4.21039416e-05, 3.27190176e-05, 1.51363492e-05,
 -1.78177628e-05, 4.50970804e-05, 1.71049095e-05, 8.35131637e-06,
  7.22865574e-06, 3.55277304e-05, 1.64547743e-05,-1.42321302e-05,
  2.98426841e-02, 2.07862716e-03, 4.82110639e-03, 9.99871124e-05,
 -5.70274117e-06,-1.71996543e-05,-9.80998236e+00,-6.54383336e-02,
 -8.40213899e-03,-6.46264531e-03]


--- Step 838 ---
qpos:
[ 0.00988767, 0.00808184,-0.00563017, 0.03348047, 0.00352675, 0.00287155,
 -0.00676484, 0.03913542, 0.01306282, 0.00591549,-0.01169361, 0.03407322,
  0.85116192, 0.00505942, 1.03678849, 0.04667951, 0.09037606,-0.06673994,
  0.14252456, 0.94682021,-0.0395687 , 0.03464777, 0.31743558]

qacc:
[  3.89824445, -0.61122021,  1.45443921,  1.1772296 , -1.885857  ,
  -0.88647137,  4.55916126, -9.64261806,  0.86062979,  0.23247457,
  -3.33227217, 12.50574709, 56.37788033,-72.12603591, 23.71663797,
 -55.61067295, -0.26763539, -2.13134369, -0.90665046, 17.52509758,
 -20.45088684,  5.94753958]

qfrc_actuator:
[ 2.17861943e-05, 3.69096094e-04, 1.97764643e-05, 1.61468219e-05,
 -5.04889188e-06, 7.10233842e-05,-2.94214678e-05, 7.54688411e-05,
 -2.14185754e-05, 1.07810501e-04,-1.23732234e-04, 6.05689181e-05,
  4.64462362e-02,-9.52533060e-04, 1.13160024e-02,-2.65362562e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.02195635e+00, -2.02195621e+00, -7.42644964e-04, -2.02195621e+00,
        2.02195609e+00,  7.06826388e-04, -7.42644964e-04,  7.06826388e-04,
        9.75212888e-02,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0008608653169640521
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51702031, -0.83878903, -0.17065452, -0.0895454 , -0.14527417,
        0.98533093, -0.85127646,  0.52471743,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10132722, -0.03620004,  0.30341261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006513200227571542
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08721358, -0.03537318,  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:
[ 2.28026960e-05, 1.80405719e-05, 2.60098937e-05, 1.12674108e-05,
 -1.10485711e-05, 2.01813563e-05, 1.44996116e-05,-1.24453144e-05,
  4.97120602e-06, 9.17909812e-07, 1.73723498e-05, 2.88057336e-05,
  2.79950477e-02, 2.93835677e-03, 3.92352090e-03, 1.87533530e-04,
  3.12826419e-05,-2.61492759e-06,-9.80992438e+00,-6.54320363e-02,
 -8.41293732e-03,-6.44602781e-03]


--- Step 839 ---
qpos:
[ 0.00988771, 0.00808355,-0.00563043, 0.03348001, 0.00352584, 0.00287166,
 -0.00676466, 0.0391356 , 0.01306214, 0.00591634,-0.01169426, 0.03407397,
  0.85173795, 0.00497893, 1.03720515, 0.04667339, 0.09035699,-0.06677411,
  0.14253296, 0.94684105,-0.03940032, 0.03447763, 0.31741289]

qacc:
[-7.31721454e-01,-7.75650691e-01, 1.90331738e+00, 2.58647024e-02,
 -7.15964829e+00,-2.03220515e+00, 8.85260910e+00,-1.75428729e+01,
 -2.48565773e+00,-1.45486606e+00, 4.33935119e+00,-4.36066523e+00,
  7.03464151e+01,-8.26993685e+01, 1.81535984e+01,-3.66176553e+01,
 -2.24334647e-01,-1.98681034e+00,-9.02340119e-01, 1.63926084e+01,
 -1.90111330e+01, 5.98235052e+00]

qfrc_actuator:
[ 1.67689225e-05, 3.42848259e-04, 2.74375499e-05, 2.10942974e-05,
 -4.67213493e-05, 2.99484611e-05,-2.78265475e-05, 4.85304241e-05,
 -3.62246601e-05, 5.88281604e-05,-1.18406809e-04, 5.83841334e-05,
  4.63935362e-02,-9.02448104e-04, 1.12618098e-02,-2.56019821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.94403689, -1.93932181,  0.13531572, -1.93932181,  1.93493698,
       -0.13041836,  0.13531572, -0.13041836,  0.07490316,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008023819781372182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51706849, -0.83882593, -0.17032682, -0.08937664, -0.14499325,
        0.98538763, -0.85126493,  0.52473613,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10138978, -0.03631794,  0.30355262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006295988468804914
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.64507241e-13, -8.81690802e-14,  1.00000000e+00,  2.33213601e-26,
        1.00000000e+00,  8.81690802e-14, -1.00000000e+00,  0.00000000e+00,
        2.64507241e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08721427, -0.03536626,  0.06198588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.36806645e-06,-1.03560390e-05, 1.49659848e-05, 6.83719123e-06,
 -4.19795946e-05,-2.73451897e-05, 7.11441464e-06,-2.58159349e-05,
 -1.46632058e-05,-4.36817654e-05, 8.64582910e-06,-9.86334586e-07,
  2.49358444e-02, 3.69909677e-03, 2.97894495e-03, 3.13515701e-04,
  6.24663966e-05, 3.59584110e-05,-9.80982560e+00,-6.54253685e-02,
 -8.43197198e-03,-6.42426222e-03]


--- Step 840 ---
qpos:
[ 0.00988802, 0.00808504,-0.00563056, 0.03348032, 0.00352444, 0.00287139,
 -0.00676461, 0.03913517, 0.01306096, 0.00591668,-0.011695  , 0.03407439,
  0.8524138 , 0.00489189, 1.03763901, 0.0466707 , 0.09033727,-0.06681564,
  0.14253781, 0.94686075,-0.03919123, 0.03428527, 0.31740082]

qacc:
[  2.50684174,  0.94040093, -7.04412935, 20.39472074, -4.32710021,
  -1.39594835,  6.89585019,-17.2101111 , -4.54134582, -1.09552586,
   4.36906879, -9.67615267, 81.21944564,-89.28805136,  9.04453645,
  -8.89894055, -0.16493218, -1.8410526 , -0.88667361, 15.54084395,
 -17.16721626,  5.4740344 ]

qfrc_actuator:
[ 3.15485826e-05, 3.26511496e-04, 3.19576796e-05, 5.96724808e-05,
 -7.08713429e-05,-1.23447907e-05,-4.48490549e-05, 1.48323276e-05,
 -6.24220206e-05, 1.15986043e-05,-1.32903978e-04, 3.90124671e-05,
  4.63314424e-02,-8.15998217e-04, 1.12772102e-02,-2.37816102e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.81569067, -1.78712273,  0.32081915, -1.78712273,  1.76005231,
       -0.30993338,  0.32081915, -0.30993338,  0.08920711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007262004385335182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17098074e-01, -8.38879320e-01, -1.69973727e-01, -8.91909404e-02,
       -1.44692930e-01,  9.85448594e-01, -8.51266443e-01,  5.24733687e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1014681 , -0.03646315,  0.30372932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006084034136930871
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.82481393e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.82481393e-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([ 0.08721489, -0.03535953,  0.06198636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46456522e-05,-1.88029515e-05, 4.44501700e-06, 3.87832611e-05,
 -2.53522422e-05,-5.72427429e-05,-2.26900937e-05,-3.51254804e-05,
 -2.66275374e-05,-6.99449995e-05,-2.24934028e-05,-2.09652829e-05,
  2.07940310e-02, 4.32817048e-03, 2.06298421e-03, 4.31609514e-04,
  8.72818446e-05, 9.44894287e-05,-9.80969458e+00,-6.54182767e-02,
 -8.45863186e-03,-6.39758835e-03]


--- Step 841 ---
qpos:
[ 0.00988852, 0.00808636,-0.00563061, 0.03348074, 0.0035231 , 0.00287069,
 -0.00676474, 0.03913434, 0.01305981, 0.00591651,-0.01169589, 0.03407457,
  0.85320327, 0.00480476, 1.0380833 , 0.04666519, 0.09031724,-0.06686401,
  0.14253918, 0.94688024,-0.03894329, 0.03407531, 0.31739581]

qacc:
[ 1.53680313e+00,-2.30167048e-01, 2.33535102e-02, 1.89868031e+00,
  5.82732970e-01,-8.75603573e-01, 3.94314181e+00,-1.00949968e+01,
  3.56959426e-01,-7.41798103e-01, 2.61165153e+00,-5.94586732e+00,
  8.67906229e+01,-8.79489144e+01, 1.77060037e+01,-5.42776031e+01,
 -7.68800542e-02,-1.71199266e+00,-8.68988125e-01, 1.54686586e+01,
 -1.46308862e+01, 3.69954589e+00]

qfrc_actuator:
[ 4.01181658e-05, 3.16243471e-04, 3.46447317e-05, 6.44771323e-05,
 -6.67522769e-05,-3.73846073e-05,-5.49989070e-05,-4.83751962e-06,
 -5.96026926e-05,-1.65730180e-05,-1.41251409e-04, 2.74242188e-05,
  4.62697912e-02,-6.72129374e-04, 1.12539247e-02,-2.60722225e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.63915232, -1.58377112,  0.42248001, -1.58377112,  1.53027698,
       -0.40814622,  0.42248001, -0.40814622,  0.10911498,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000635348113902317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17111532e-01, -8.38950694e-01, -1.69580058e-01, -8.89805613e-02,
       -1.44360160e-01,  9.85516415e-01, -8.51280285e-01,  5.24711232e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10155876, -0.03663291,  0.30393653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005878780719744681
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88852600e-13, -9.44263001e-14,  1.00000000e+00,  1.78326523e-26,
        1.00000000e+00,  9.44263001e-14, -1.00000000e+00,  0.00000000e+00,
        1.88852600e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08721546, -0.03535302,  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:
[ 8.97383401e-06,-1.82517325e-05, 6.74850630e-07, 4.90312422e-06,
  3.38069324e-06,-6.32409185e-05,-2.59792269e-05,-2.35888141e-05,
  2.04023331e-06,-7.28475497e-05,-2.62875865e-05,-1.57710706e-05,
  1.57470869e-02, 4.80524746e-03, 1.16624128e-03, 2.78303945e-05,
  1.06830451e-04, 1.69212720e-04,-9.80954210e+00,-6.54098922e-02,
 -8.49170445e-03,-6.36632432e-03]


--- Step 842 ---
qpos:
[ 0.00988807, 0.00808738,-0.00563056, 0.03348159, 0.00352183, 0.00286973,
 -0.00676513, 0.03913396, 0.01305905, 0.00591604,-0.01169644, 0.03407456,
  0.85405636, 0.00474639, 1.03853281, 0.04665656, 0.0902969 ,-0.06691923,
  0.14253697, 0.9468995 ,-0.03865656, 0.03384776, 0.31739774]

qacc:
[ -8.20288959,  0.20407849, -3.05798422, 10.33356292,  0.51883933,
   1.29219154, -6.98810547, 15.29494078,  3.4202242 , -1.7430193 ,
   6.51861639,-10.3724158 , 25.9955442 ,  4.78376559, 16.09168668,
 -47.62401754, -0.07719051, -1.70882831, -0.89706156, 15.45311906,
 -14.61922123,  3.63670795]

qfrc_actuator:
[-8.29984706e-06, 2.91901533e-04, 3.62253685e-05, 8.48757635e-05,
 -6.37858660e-05,-3.41181013e-05,-6.09294485e-05, 1.94308040e-05,
 -3.97236468e-05, 2.41216974e-06,-1.10309210e-04, 2.05332836e-05,
  4.61982433e-02,-5.50901491e-04, 1.12074189e-02,-2.84727921e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005328578380857186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17116519e-01, -8.39038763e-01, -1.69128531e-01, -8.87375093e-02,
       -1.43979562e-01,  9.85594004e-01, -8.51302626e-01,  5.24674985e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10165838, -0.03682414,  0.30416808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005681280035207403
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.95417761e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.95417761e-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([ 0.08721598, -0.03534676,  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:
[-4.81731742e-05,-3.42456787e-05,-1.95350124e-06, 1.97310261e-05,
  3.04248319e-06,-3.84452566e-05,-2.29980172e-05, 2.02041264e-05,
  1.99118915e-05,-2.78437731e-05, 1.21220973e-05,-1.12275069e-05,
  9.99997982e-03, 4.93735193e-03, 5.83221851e-04,-7.49097147e-05,
  1.26098362e-04, 2.57697934e-04,-9.80938318e+00,-6.53974764e-02,
 -8.52861731e-03,-6.33092250e-03]


--- Step 843 ---
qpos:
[ 0.00988774, 0.00808795,-0.00563041, 0.03348268, 0.00352128, 0.00286908,
 -0.00676589, 0.0391338 , 0.01305819, 0.00591538,-0.01169611, 0.03407406,
  0.85495157, 0.00470991, 1.03898452, 0.04664753, 0.09027624,-0.06698127,
  0.14253108, 0.94691853,-0.03833103, 0.03360256, 0.31740652]

qacc:
[  1.00377185, -0.34767114, -0.67506267,  5.22882535,  6.44607307,
   1.89329005, -7.12840333, 11.42426439, -0.8571132 , -3.73607127,
  14.96073773,-24.52236349, 15.1670043 ,  8.23705885,  3.95829221,
 -10.28905718, -0.07835986, -1.7082472 , -0.91894174, 15.45108175,
 -14.64014862,  3.59643635]

qfrc_actuator:
[-1.10680115e-06, 2.59324881e-04, 3.70989390e-05, 9.65273513e-05,
 -2.60255154e-05, 2.16407126e-05,-6.41767439e-05, 3.38774348e-05,
 -4.54770756e-05, 1.41601737e-05,-5.62181065e-05,-1.22440120e-06,
  4.61158429e-02,-5.60828753e-04, 1.11950055e-02,-2.89722367e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041620725650384874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51711304, -0.83914305, -0.16862101, -0.08846282, -0.14355269,
        0.98568096, -0.85133333,  0.52462516,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10177003, -0.03703747,  0.30442956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000549255589023856
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01066156e-13, -1.01066156e-13,  1.00000000e+00,  1.02143680e-26,
        1.00000000e+00,  1.01066156e-13, -1.00000000e+00,  0.00000000e+00,
        1.01066156e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08721647, -0.03534077,  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:
[ 5.80445728e-06,-5.13396154e-05,-5.77016879e-06, 1.04983822e-05,
  3.78335173e-05, 3.04166460e-05,-1.33055214e-05, 1.24005992e-05,
 -5.19922663e-06,-1.77169979e-06, 4.94546646e-05,-2.27486586e-05,
  6.74037589e-03, 3.49369884e-03, 2.95061891e-04, 2.77703099e-05,
  1.43505056e-04, 3.62152343e-04,-9.80919972e+00,-6.53827773e-02,
 -8.57051483e-03,-6.29160899e-03]


--- Step 844 ---
qpos:
[ 0.00988854, 0.00808832,-0.00563029, 0.0334832 , 0.0035212 , 0.00286877,
 -0.00676701, 0.03913347, 0.01305658, 0.00591447,-0.01169535, 0.03407335,
  0.85587517, 0.00468852, 1.03943697, 0.04663903, 0.09025988,-0.0670486 ,
  0.14252325, 0.94693446,-0.03796491, 0.03336804, 0.31742774]

qacc:
[  9.85576844, -1.38798345,  6.96919267,-16.75973678,  3.99918139,
   1.1034173 , -2.56769836, -0.1011895 , -6.59624723, -1.93968176,
   7.3978028 ,-11.71095063, 10.06408929,  6.00529413, -0.81406207,
   3.68615335,  1.07357645, -1.31886587, -0.48642598, 20.64233629,
  -1.56935679,  7.26768236]

qfrc_actuator:
[ 5.65309117e-05, 2.57564221e-04, 3.75007376e-05, 6.74221318e-05,
 -3.59337797e-06, 3.74154045e-05,-8.33542567e-05, 2.47191102e-05,
 -8.40293576e-05,-1.39106414e-05,-4.21846424e-05,-1.37934908e-05,
  4.60318998e-02,-5.83088708e-04, 1.11658512e-02,-2.88783624e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028392190400522655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17100562e-01, -8.39259945e-01, -1.68076631e-01, -8.81667870e-02,
       -1.43095673e-01,  9.85773933e-01, -8.51371615e-01,  5.24563031e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10189592, -0.03727354,  0.30472443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005342363747486978
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03907472e-13, -5.19537361e-14,  1.00000000e+00, -5.39838138e-27,
        1.00000000e+00,  5.19537361e-14, -1.00000000e+00,  0.00000000e+00,
       -1.03907472e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07063079, -0.04173641,  0.06198801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.77827745e-05,-3.12341460e-05,-1.05614183e-05,-3.13047638e-05,
  2.35183923e-05, 3.06128175e-05,-1.40889999e-05,-8.07204827e-06,
 -3.87035904e-05,-1.98043867e-05, 1.89760194e-05,-1.13747991e-05,
  4.55246004e-03, 2.37929272e-03, 1.42739791e-04, 5.37903113e-05,
  1.59099722e-04, 4.82564439e-04,-9.80899135e+00,-6.53657968e-02,
 -8.61739532e-03,-6.24838322e-03]


--- Step 845 ---
qpos:
[ 0.00988967, 0.00808856,-0.00563021, 0.03348301, 0.00352104, 0.00286836,
 -0.00676821, 0.03913342, 0.01305417, 0.0059133 ,-0.01169496, 0.03407324,
  0.85681769, 0.00467776, 1.03988923, 0.04662966, 0.09024778,-0.06712117,
  0.14251319, 0.94694734,-0.03755841, 0.03314404, 0.31746114]

qacc:
[  2.9811433 , -1.53632203,  8.21440537,-20.31351731, -0.65812033,
   0.64524802, -3.627627  ,  8.53477807, -6.99386774,  1.93549786,
  -9.94567507, 21.17380707,  6.21556446,  5.14681518,  2.1782758 ,
  -8.41221319,  1.06424552, -1.31404282, -0.55659743, 20.52613893,
  -1.61430962,  7.12444306]

qfrc_actuator:
[ 7.23698701e-05, 2.56483142e-04, 3.77161286e-05, 3.23475714e-05,
 -8.12659656e-06, 1.12994899e-05,-9.41898550e-05, 3.72136549e-05,
 -1.23816992e-04,-4.79973834e-05,-6.98266305e-05, 1.45878029e-05,
  4.59520773e-02,-5.79181129e-04, 1.10947501e-02,-2.95012862e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00014540999458167772
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5170784 , -0.83938687, -0.16751004, -0.08785721, -0.14262091,
        0.98587037, -0.85141708,  0.52448924,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10202813, -0.03752025,  0.30503477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005247738276492747
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11562194e-13, -1.05781097e-13,  1.00000000e+00,  2.23792810e-26,
        1.00000000e+00,  1.05781097e-13, -1.00000000e+00,  0.00000000e+00,
        2.11562194e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07062927, -0.04173398,  0.06198822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74746548e-05,-2.20687580e-05,-8.63037520e-06,-3.73924800e-05,
 -3.85299431e-06,-1.22196217e-05,-6.51000399e-06, 1.31647131e-05,
 -4.08972017e-05,-4.17222539e-05,-2.97858257e-05, 2.79709985e-05,
  3.05554521e-03, 1.63157736e-03, 2.27867632e-05,-3.76488011e-05,
  1.30331721e-04, 6.52081630e-04,-9.80882362e+00,-6.53516345e-02,
 -8.67261424e-03,-6.20316340e-03]


--- Step 846 ---
qpos:
[ 0.00989098, 0.00808852,-0.00563012, 0.03348311, 0.00352152, 0.00286779,
 -0.00676892, 0.03913348, 0.01305199, 0.0059119 ,-0.01169462, 0.0340731 ,
  0.8577724 , 0.00467518, 1.04034111, 0.04661837, 0.0902399 ,-0.06719899,
  0.14250067, 0.9469572 ,-0.03711167, 0.03293038, 0.31750649]

qacc:
[  1.59968279,  0.17982375, -2.41026039,  7.60084497,  5.61999855,
  -1.33305725,  3.91143318, -2.45484844,  2.03649459, -0.22744512,
   0.51142288, -0.81505672,  2.90153286,  5.89409933,  5.27371813,
 -19.22289581,  1.05634544, -1.31103268, -0.61594888, 20.44138947,
  -1.65914953,  6.99908241]

qfrc_actuator:
[ 8.12163042e-05, 2.38060976e-04, 3.78332819e-05, 4.73098256e-05,
  2.47677028e-05, 1.36000969e-05,-6.46630101e-05, 4.45692872e-05,
 -1.10744693e-04,-5.00657424e-05,-6.85931688e-05, 1.35450082e-05,
  4.58639058e-02,-5.25655306e-04, 1.10517961e-02,-3.05424605e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005147620469484332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.0706276 , -0.04173143,  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:
[ 9.33768156e-06,-3.41550387e-05,-6.80341649e-06, 1.29889692e-05,
  3.27802069e-05,-5.28569845e-06, 2.66755237e-05, 6.86691176e-06,
  1.18919450e-05,-3.03371703e-05,-1.00770268e-05,-3.31367441e-06,
  2.02336943e-03, 1.15522664e-03,-2.15643025e-05,-1.01030311e-04,
  8.34765478e-05, 8.37870145e-04,-9.80863373e+00,-6.53325151e-02,
 -8.73165313e-03,-6.15648236e-03]


--- Step 847 ---
qpos:
[ 0.00989171, 0.00808846,-0.00563041, 0.03348337, 0.00352238, 0.00286718,
 -0.00676931, 0.03913363, 0.01305033, 0.00591064,-0.01169467, 0.03407188,
  0.8587349 , 0.00467854, 1.04079224, 0.04660857, 0.09023623,-0.06728206,
  0.14248548, 0.94696407,-0.03662478, 0.03272695, 0.31756359]

qacc:
[ -5.22494084,  1.43917932, -5.87295641,  9.47138942,  3.44445693,
  -0.82322951,  2.48194653, -1.52512125,  4.53942849, -0.95322929,
   8.15477931,-26.13257766,  1.49262739,  4.79922798, -5.56874007,
  17.99259874,  1.04971571, -1.30962228, -0.6659872 , 20.38460626,
  -1.70444192,  6.88868475]

qfrc_actuator:
[ 5.03840745e-05, 2.44947432e-04, 2.01054745e-05, 5.60751571e-05,
  4.39313532e-05, 1.53056470e-05,-4.69525524e-05, 4.88846939e-05,
 -8.44169881e-05,-3.28610827e-05,-8.57122361e-05,-4.02625827e-05,
  4.57706492e-02,-4.79662360e-04, 1.10364054e-02,-2.96902483e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005044379767586704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10045543e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.10045543e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07062585, -0.04172881,  0.06198867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05783688e-05,-1.30627631e-05,-2.51741197e-05, 7.31815961e-06,
  2.00923939e-05, 4.59447764e-06, 2.01552406e-05, 5.14684089e-06,
  2.66515652e-05,-1.93929224e-06,-2.47313697e-05,-5.55190281e-05,
  1.32219064e-03, 7.93787322e-04,-2.86509323e-05, 7.78514854e-05,
  1.89657031e-05, 1.03992708e-03,-9.80842164e+00,-6.53084909e-02,
 -8.79442778e-03,-6.10834008e-03]


--- Step 848 ---
qpos:
[ 0.00989171, 0.00808858,-0.00563101, 0.03348302, 0.00352313, 0.00286641,
 -0.0067694 , 0.03913384, 0.01304866, 0.00590935,-0.01169471, 0.03407141,
  0.85970259, 0.00468506, 1.04124309, 0.0465988 , 0.09023672,-0.06737035,
  0.14246746, 0.94696794,-0.03609777, 0.03253361, 0.31763224]

qacc:
[ -6.33219641, -0.20146466,  3.69907437,-14.10910962, -1.05806619,
  -0.85153077,  2.48076664, -1.68376568, -0.14363536,  1.47210875,
  -8.40929299, 21.19361244,  1.55090397,  1.81819521, -0.53619671,
   1.20468155,  1.04422109, -1.30963439, -0.7079748 , 20.35290571,
  -1.75062108,  6.79090375]

qfrc_actuator:
[ 1.42003508e-05, 2.66865761e-04, 9.82360459e-06, 2.56181937e-05,
  3.70957882e-05,-1.14890490e-06,-3.63719105e-05, 5.13653574e-05,
 -8.60203630e-05,-2.21115526e-05,-7.79797549e-05,-4.09855966e-07,
  4.56849508e-02,-5.10232833e-04, 1.10269480e-02,-2.96812514e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004939958506125219
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12371695e-13, -5.61858477e-14,  1.00000000e+00, -6.31369896e-27,
        1.00000000e+00,  5.61858477e-14, -1.00000000e+00,  0.00000000e+00,
       -1.12371695e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07062405, -0.04172618,  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:
[-3.70583290e-05, 9.71910845e-06,-1.58234852e-05,-3.17439715e-05,
 -6.26375667e-06,-9.46789650e-06, 1.42007165e-05, 3.47610014e-06,
 -8.47489200e-07, 2.23050894e-06, 2.38013725e-06, 3.78376198e-05,
  8.48954049e-04, 4.67550634e-04,-1.07522734e-05, 1.78636513e-06,
 -6.28758691e-05, 1.25830198e-03,-9.80818722e+00,-6.52796012e-02,
 -8.86087613e-03,-6.05873406e-03]


--- Step 849 ---
qpos:
[ 0.00989093, 0.00808858,-0.00563106, 0.03348195, 0.00352379, 0.00286545,
 -0.00676903, 0.03913408, 0.01304767, 0.00590797,-0.01169497, 0.03407248,
  0.86067345, 0.00469332, 1.04169265, 0.04659354, 0.09024138,-0.0674639 ,
  0.14244647, 0.94696881,-0.03553065, 0.03235027, 0.3177123 ]

qacc:
[ -6.8149315 , -3.169826  , 14.16160573,-27.55715078, -0.75132974,
  -1.52161101,  4.94031351, -5.13497891,  6.01158301,  3.64882573,
 -19.69888732, 46.78438877,  1.44605291,  0.22210012,-15.60375646,
  51.67312102,  1.03977076, -1.3109511 , -0.74277576, 20.34430724,
  -1.79805783,  6.70398087]

qfrc_actuator:
[-2.48305518e-05, 2.62109101e-04, 3.95747122e-05,-9.89631842e-06,
  3.27692059e-05,-1.06302042e-05,-1.24037055e-05, 5.27285634e-05,
 -5.07973437e-05,-3.28856570e-05,-9.10803017e-05, 7.65059812e-05,
  4.56037400e-02,-5.50838155e-04, 1.09784294e-02,-2.73291100e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048359263099119476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -5.7394538e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  5.7394538e-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([ 0.07062222, -0.04172356,  0.06198913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.00810645e-05,-3.96005591e-06, 2.87193236e-05,-3.62599498e-05,
 -4.50868493e-06,-1.16673992e-05, 2.38916144e-05, 1.51818283e-06,
  3.51938157e-05,-7.37110298e-06,-1.10225961e-05, 7.78339101e-05,
  5.09446712e-04, 2.69903990e-04,-5.48039608e-05, 2.33237257e-04,
 -1.61810941e-04, 1.49308996e-03,-9.80793022e+00,-6.52458743e-02,
 -8.93095437e-03,-6.00765946e-03]


--- Step 850 ---
qpos:
[ 0.00988969, 0.00808836,-0.00563068, 0.03348047, 0.00352439, 0.00286451,
 -0.00676847, 0.03913466, 0.01304711, 0.00590653,-0.01169588, 0.03407379,
  0.86164589, 0.00470295, 1.04214054, 0.04659422, 0.09025018,-0.06756269,
  0.14242239, 0.94696668,-0.03492335, 0.03217682, 0.31780359]

qacc:
[ -4.03697616, -2.28539024,  9.40538111,-16.78224924, -0.4967662 ,
   0.20006218, -2.14565738,  7.86169082,  3.76088217,  2.25810482,
  -9.24757757, 14.70083438,  0.6180896 ,  0.6078804 ,-20.45690714,
  67.92940661,  1.03624192, -1.31341641, -0.77150573, 20.35635402,
  -1.84696842,  6.62622922]

qfrc_actuator:
[-4.74704622e-05, 2.41576762e-04, 5.71178572e-05,-3.03370906e-05,
  2.99625415e-05, 1.94086794e-06, 1.54972090e-06, 7.11905616e-05,
 -2.96775982e-05,-5.65010963e-05,-1.34212814e-04, 8.57992486e-05,
  4.55252168e-02,-5.61794223e-04, 1.09012487e-02,-2.43261008e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004733517247225011
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17272523e-13, -5.86362617e-14,  1.00000000e+00, -6.87642238e-27,
        1.00000000e+00,  5.86362617e-14, -1.00000000e+00,  0.00000000e+00,
       -1.17272523e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0706204 , -0.04172099,  0.06198936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37826002e-05,-1.83766914e-05, 1.90132196e-05,-2.03181675e-05,
 -2.93994705e-06, 1.10753308e-05, 1.45451132e-05, 1.88191855e-05,
  2.21103207e-05,-2.66192190e-05,-4.33055125e-05, 1.01104511e-05,
  2.73921421e-04, 1.73431744e-04,-7.71815857e-05, 3.05857628e-04,
 -2.77678055e-04, 1.74443167e-03,-9.80765031e+00,-6.52073290e-02,
 -9.00463446e-03,-5.95510942e-03]


--- Step 851 ---
qpos:
[ 0.00988853, 0.00808814,-0.00563049, 0.03347947, 0.00352495, 0.00286368,
 -0.00676775, 0.03913511, 0.01304646, 0.00590498,-0.01169704, 0.03407554,
  0.86261894, 0.00471347, 1.04258848, 0.04659367, 0.09026304,-0.06766673,
  0.14239524, 0.94696152,-0.03427621, 0.03201284, 0.31790596]

qacc:
[  0.72079522,  1.48170506, -7.2563955 , 15.67495958, -0.33500359,
  -0.56598813,  2.81080119, -5.51679315, -0.77333668,  1.41937861,
  -7.06800848, 14.89812903, -0.31159319,  1.30901439,  3.83398136,
 -13.17667161,  1.01311057, -1.30993862, -0.76821542, 20.14017718,
  -1.99003679,  6.52653489]

qfrc_actuator:
[-4.25284290e-05, 2.47233934e-04, 4.94872404e-05,-6.26903192e-06,
  2.80725001e-05, 9.84759093e-06, 9.57766181e-06, 6.40710134e-05,
 -3.47918591e-05,-5.23033248e-05,-1.41580177e-04, 1.08450010e-04,
  4.54483357e-02,-5.73036891e-04, 1.08974903e-02,-2.50480204e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046335809117696705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.52237038e-07,  7.52236972e-07,  1.00000000e+00,  5.65860512e-13,
        1.00000000e+00, -7.52236972e-07, -1.00000000e+00,  1.00974196e-28,
       -7.52237038e-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([ 0.07095623, -0.04191164,  0.06198958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.25874326e-06,-1.55971817e-06,-9.78403551e-06, 2.35471789e-05,
 -1.97113024e-06, 1.79362367e-05, 1.27614249e-05,-5.77581273e-06,
 -4.49899483e-06,-1.91339227e-05,-1.78268488e-05, 2.02097734e-05,
  1.19784962e-04, 9.51335969e-05,-6.60107357e-06,-6.55276483e-05,
 -4.10376015e-04, 2.01249867e-03,-9.80734708e+00,-6.51639754e-02,
 -9.08190079e-03,-5.90107497e-03]


--- Step 852 ---
qpos:
[ 0.00988813, 0.00808777,-0.00563034, 0.03347911, 0.00352549, 0.00286281,
 -0.00676686, 0.03913549, 0.01304644, 0.00590385,-0.01169854, 0.03407713,
  0.86359206, 0.004724  , 1.04303664, 0.0465899 , 0.09027349,-0.06777365,
  0.142371  , 0.94695728,-0.03362047, 0.03183308, 0.31800666]

qacc:
[  6.65302695,  1.26720067, -7.57904609, 19.07636469, -0.23077116,
  -0.67254926,  2.62091824, -4.08403653,  5.55239996,  1.17299849,
  -2.75284182,  0.38113072, -0.17005114,  0.29713673, 10.1010702 ,
 -34.8348006 , -0.60195308, -0.72033578,  0.72639623,  1.6002723 ,
  -8.82995064, -1.06544367]

qfrc_actuator:
[-3.64455292e-06, 2.32959303e-04, 4.49404585e-05, 2.60442758e-05,
  2.67365477e-05,-2.89442898e-06, 1.40143983e-05, 5.97023399e-05,
 -2.04346433e-06, 4.16121015e-06,-1.45387382e-04, 1.03335589e-04,
  4.53671450e-02,-6.20028883e-04, 1.09004093e-02,-2.67143336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([10.79383136, -9.57725844,  4.97824429, -9.57725844, 25.83399884,
       28.9346128 ,  4.97824429, 28.9346128 , 66.45889088,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004724333214373849
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17500499e-13, -1.17500499e-13,  1.00000000e+00,  1.38063674e-26,
        1.00000000e+00,  1.17500499e-13, -1.00000000e+00,  0.00000000e+00,
        1.17500499e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09276736, -0.05438649,  0.06198938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.90047752e-05,-1.61457743e-05,-5.25574928e-06, 3.23685866e-05,
 -1.38600630e-06,-3.03339626e-07, 9.51397924e-06,-3.27169239e-06,
  3.26079483e-05, 4.30107651e-05,-9.22865308e-06,-6.15560753e-06,
  1.00583743e-05, 4.71195153e-06,-1.57363304e-05,-1.73122160e-04,
 -5.57936512e-04, 2.29442057e-03,-9.80702260e+00,-6.51158789e-02,
 -9.16250805e-03,-5.84551791e-03]


--- Step 853 ---
qpos:
[ 0.00988785, 0.00808727,-0.00563023, 0.0334788 , 0.003526  , 0.00286202,
 -0.00676597, 0.03913616, 0.01304682, 0.00590268,-0.0116996 , 0.03407796,
  0.86456453, 0.00473476, 1.04348357, 0.04658859, 0.09028159,-0.06788338,
  0.14234905, 0.94695386,-0.0329556 , 0.03163717, 0.31810597]

qacc:
[ 1.09154163e+00,-6.18821475e-03,-3.99423371e-01, 1.25087992e+00,
 -1.79576070e-01, 7.10875893e-01,-3.58972946e+00, 8.50073839e+00,
  3.46818291e+00,-2.83129342e+00, 1.32048770e+01,-2.69758866e+01,
 -4.52185546e-01, 5.89199344e-01,-9.24842394e+00, 2.97869088e+01,
 -5.84444288e-01,-7.03527916e-01, 5.75450033e-01, 1.79874647e+00,
 -9.08260341e+00,-9.11561654e-01]

qfrc_actuator:
[ 1.63819034e-06, 2.24630737e-04, 4.21829542e-05, 2.74291235e-05,
  2.57369208e-05, 7.58495440e-06, 1.62182662e-05, 7.47248251e-05,
  1.72315794e-05,-1.50197370e-05,-1.29119159e-04, 6.42156273e-05,
  4.52780682e-02,-6.34696202e-04, 1.08540606e-02,-2.53718086e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047865994939312595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.31943998e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.31943998e-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([ 0.09276838, -0.05438409,  0.06198924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.38832369e-06,-1.70287349e-05,-5.61782464e-06, 1.14084129e-06,
 -1.03938488e-06, 1.21546762e-05, 3.19877927e-06, 1.52741373e-05,
  2.02127428e-05, 2.76694595e-06, 2.38286917e-05,-3.77149591e-05,
 -8.14162014e-05,-9.77811349e-06,-8.19274098e-05, 1.20465606e-04,
 -5.14834388e-04, 2.34313763e-03,-9.80691347e+00,-6.50560406e-02,
 -9.20748960e-03,-5.78604555e-03]


--- Step 854 ---
qpos:
[ 0.0098873 , 0.00808681,-0.00563077, 0.03347853, 0.00352616, 0.00286148,
 -0.00676515, 0.03913698, 0.01304708, 0.00590112,-0.01169972, 0.03407833,
  0.86553598, 0.00474565, 1.0439288 , 0.04659194, 0.09028742,-0.06799587,
  0.14232888, 0.94695118,-0.03228112, 0.03142487, 0.31820414]

qacc:
[ -2.47080521,  1.98933554, -7.19441906,  8.94838763, -3.18179846,
   0.84681986, -3.16654866,  5.7548362 , -0.98801969, -4.1246708 ,
  15.93544575,-25.23900585, -0.4901209 ,  0.43749096,-16.57318983,
  54.40037621, -0.56984432, -0.69124969,  0.44287176,  1.96714494,
  -9.28418164, -0.77732569]

qfrc_actuator:
[-1.29091844e-05, 2.19908562e-04, 4.99400490e-06, 2.83600346e-05,
  7.19056865e-06, 3.18928238e-05, 1.71893162e-05, 8.33001767e-05,
  1.06572333e-05,-4.37874330e-05,-8.36867486e-05, 4.08653683e-05,
  4.51896483e-02,-6.47936473e-04, 1.07835996e-02,-2.29781267e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004819973731859384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15168991e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.15168991e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09276932, -0.05438204,  0.06198916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43696196e-05,-1.53359467e-05,-4.13537792e-05, 3.03620742e-08,
 -1.85724253e-05, 3.24365496e-05, 4.40159626e-06, 9.50247063e-06,
 -6.00287336e-06,-2.38533236e-05, 4.76578907e-05,-2.31389023e-05,
 -1.35902200e-04,-3.32520547e-05,-9.98257422e-05, 2.34388222e-04,
 -4.72863990e-04, 2.39539294e-03,-9.80679404e+00,-6.49961541e-02,
 -9.25539898e-03,-5.72436410e-03]


--- Step 855 ---
qpos:
[ 0.00988727, 0.00808615,-0.00563169, 0.03347829, 0.00352609, 0.00286131,
 -0.00676464, 0.03913755, 0.01304692, 0.00589967,-0.01169972, 0.03407841,
  0.86650635, 0.00475625, 1.04437275, 0.04659419, 0.09028057,-0.06809901,
  0.14231461, 0.94695789,-0.03168349, 0.03115606, 0.31827066]

qacc:
[  4.55582125,  0.80117254, -3.37063669,  4.55385249, -1.98144705,
   0.8226188 , -1.22248911, -2.77698148, -3.74528065, -0.75274409,
   4.1088364 , -9.34852431, -0.62125623,  0.32341448,  1.49334684,
  -7.86972634, -3.17083456,  2.34135851,  1.47492406,-44.72646469,
 -14.16556682,-18.60070741]

qfrc_actuator:
[ 1.42569414e-05, 1.99485110e-04,-1.67040351e-05, 2.90007565e-05,
 -3.78224352e-06, 4.65339080e-05,-2.71365149e-07, 7.02712684e-05,
 -1.10746477e-05,-2.46871017e-05,-7.47044942e-05, 2.69881639e-05,
  4.51070046e-02,-6.78061438e-04, 1.06827802e-02,-2.37135948e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005383187351112456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.12526219, -0.09345925,  0.0619879 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67551120e-05,-3.75199773e-05,-2.99447098e-05,-1.44311885e-06,
 -1.14900835e-05, 3.40974825e-05,-9.89416757e-06,-1.13035041e-05,
 -2.19167727e-05, 1.46697797e-05, 9.14379652e-06,-1.36976194e-05,
 -1.66314035e-04,-6.85094986e-05,-1.24701960e-04,-7.42319664e-05,
 -4.31881898e-04, 2.45063313e-03,-9.80666496e+00,-6.49361369e-02,
 -9.30619570e-03,-5.66039683e-03]


--- Step 856 ---
qpos:
[ 0.0098879 , 0.00808543,-0.00563236, 0.0334773 , 0.00352623, 0.00286129,
 -0.00676455, 0.039138  , 0.01304615, 0.00589835,-0.01170021, 0.03407871,
  0.8674752 , 0.00476715, 1.04481525, 0.0465939 , 0.09027514,-0.06818578,
  0.14230923, 0.94696496,-0.03118164, 0.03093195, 0.31832105]

qacc:
[  5.89167516, -2.28914842, 11.1938541 ,-24.40923176,  1.86548001,
   1.1428755 , -3.22316941,  1.57416735, -5.33193568,  1.99319164,
  -7.74346699, 12.14099789, -1.48293651,  1.86289785,  5.63115714,
 -22.55391723,  0.35443489,  4.08829883,  2.22210838,-37.97953039,
  36.65489873, -8.47967664]

qfrc_actuator:
[ 4.80109636e-05, 2.23126229e-04, 6.36970892e-06,-6.03709173e-06,
  7.54856205e-06, 3.74269030e-05,-2.85225637e-05, 6.23697855e-05,
 -4.15449428e-05,-3.04596751e-05,-1.04883989e-04, 3.65551769e-05,
  4.50172186e-02,-6.64700918e-04, 1.05957234e-02,-2.50448777e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 12.97829726, -10.338463  ,  -7.84553265, -10.338463  ,
        52.46225688, -52.03004992,  -7.84553265, -52.03004992,
        81.54097741,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006067873515570449
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.14836987e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.14836987e-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([ 0.0810676 , -0.11272219,  0.06198637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.45075551e-05,-3.54288710e-06, 1.16033438e-05,-3.77068276e-05,
  1.10169104e-05, 7.42756798e-06,-2.28224109e-05,-7.00431186e-06,
 -3.10925386e-05, 3.77696639e-06,-2.64793739e-05, 1.02494007e-05,
 -2.00031196e-04,-3.99463518e-05,-1.57083065e-04,-1.54280570e-04,
 -4.14039443e-05, 1.84938518e-03,-9.80719119e+00,-6.48446334e-02,
 -9.27684947e-03,-5.58428171e-03]


--- Step 857 ---
qpos:
[ 0.00988894, 0.00808519,-0.00563329, 0.03347587, 0.00352616, 0.00286106,
 -0.00676438, 0.03913871, 0.01304537, 0.00589695,-0.01170074, 0.0340798 ,
  0.86844231, 0.0047788 , 1.04525667, 0.04659121, 0.0902711 ,-0.06825702,
  0.14231035, 0.94697205,-0.03077046, 0.03074968, 0.31835761]

qacc:
[ 3.48950516e+00, 4.34091630e-01, 1.20899998e+00,-8.80078784e+00,
 -1.84129534e+00, 1.98889753e-02,-1.59627124e+00, 6.15831665e+00,
 -1.26192867e-01, 1.64854049e+00,-9.40375124e+00, 2.33585792e+01,
 -2.01210326e+00, 2.86907392e+00, 5.83939736e+00,-2.23602890e+01,
  3.51168240e-01, 3.88614412e+00, 1.62559796e+00,-3.60577644e+01,
  3.44579659e+01,-7.30271647e+00]

qfrc_actuator:
[ 6.76066570e-05, 2.73129579e-04, 2.58292348e-06,-2.62176357e-05,
 -3.59183748e-06, 1.41160986e-05,-2.75006871e-05, 7.52788807e-05,
 -4.14043977e-05,-3.34754138e-05,-1.04750034e-04, 7.75527702e-05,
  4.49285500e-02,-6.25725740e-04, 1.05649185e-02,-2.61823348e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 13.89719672,   6.39088281, -12.34053053,   6.39088281,
        68.85463945,  28.46122175, -12.34053053,  28.46122175,
        28.63662242,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000662376294096434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08107645, -0.1126908 ,  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:
[ 2.05818311e-05, 4.88490721e-05,-4.37777762e-06,-2.06610350e-05,
 -1.08233808e-05,-2.41693408e-05,-4.99424200e-07, 1.22998025e-05,
 -7.45907504e-07,-5.89437803e-06,-1.97171417e-06, 4.04473037e-05,
 -2.11832511e-04,-1.53436156e-05,-1.23924405e-04,-1.43324645e-04,
 -1.10045659e-05, 1.29798090e-03,-9.80803965e+00,-6.47690956e-02,
 -9.28676711e-03,-5.50668709e-03]


--- Step 858 ---
qpos:
[ 0.00988985, 0.00808538,-0.00563435, 0.03347489, 0.00352597, 0.0028606 ,
 -0.00676417, 0.03913958, 0.01304528, 0.00589566,-0.01170135, 0.03408136,
  0.86940773, 0.00479094, 1.04569785, 0.04658822, 0.09026846,-0.06831342,
  0.14231585, 0.94697893,-0.03044549, 0.0306068 , 0.31838218]

qacc:
[ -1.04449056,  1.85314094, -7.67921624, 15.39064953, -1.16354919,
  -0.07496999, -0.80676993,  3.5634531 ,  6.12809788,  1.27967209,
  -6.32406714, 14.35806769, -1.6794875 ,  2.21221138,  0.69915931,
  -2.62941933,  0.34646667,  3.70658415,  1.09622872,-34.3661107 ,
  32.56494981, -6.35849097]

qfrc_actuator:
[ 6.09574685e-05, 3.02950451e-04, 8.43264662e-07,-1.98119044e-06,
 -1.01237947e-05, 3.56536963e-07,-2.70058047e-05, 8.25826792e-05,
 -5.49282448e-06,-1.69254672e-05,-1.04434672e-04, 1.01233465e-04,
  4.48406269e-02,-6.07447016e-04, 1.06158159e-02,-2.61295022e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.53444677,   7.04155792, -12.71481832,   7.04155792,
        67.88410249,  29.54542342, -12.71481832,  29.54542342,
        30.89691497,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007022508206275535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.95237354e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.95237354e-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([ 0.0810832 , -0.11266843,  0.06198424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.04270427e-06, 5.53749427e-05, 7.11189719e-06, 2.57808934e-05,
 -6.84859671e-06,-2.68501595e-05,-4.13395511e-06, 6.48927688e-06,
  3.58819452e-05, 1.46314950e-05, 2.73734328e-07, 2.41488192e-05,
 -2.11444808e-04,-3.33206419e-05,-2.77473528e-05,-1.98615204e-05,
  5.42939954e-06, 8.67610742e-04,-9.80869845e+00,-6.47108204e-02,
 -9.29889909e-03,-5.44402174e-03]


--- Step 859 ---
qpos:
[ 0.00989069, 0.00808588,-0.0056351 , 0.03347419, 0.00352604, 0.00285998,
 -0.00676394, 0.03913982, 0.01304563, 0.00589429,-0.01170157, 0.03408283,
  0.87037161, 0.00480303, 1.04613871, 0.04658722, 0.09026718,-0.06835563,
  0.14232389, 0.94698537,-0.03020288, 0.03050126, 0.31839624]

qacc:
[ -0.7551131 ,  0.12849717, -1.06079362,  5.24883055,  2.3601996 ,
  -1.54117131,  7.79475402,-18.39261615,  3.80452212, -1.33983199,
   4.97524966, -6.94527184, -1.01593391,  0.91140933, -6.44403134,
  22.02027709,  0.34116064,  3.54977991,  0.63341501,-32.89730483,
  30.94898255, -5.60170919]

qfrc_actuator:
[ 5.66714814e-05, 3.20504871e-04, 1.80478488e-05, 1.26805883e-05,
  3.86875264e-06,-7.58002159e-06,-2.68115082e-05, 5.10222661e-05,
  1.56702906e-05,-2.42953725e-05,-8.62084380e-05, 9.67902837e-05,
  4.47532086e-02,-6.19375821e-04, 1.06304844e-02,-2.50188669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.94476166,   7.77134053, -12.76527192,   7.77134053,
        64.10922984,  29.93072351, -12.76527192,  29.93072351,
        33.16621798,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007290395683904466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.6142851e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        7.6142851e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08108829, -0.11265351,  0.06198365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.43951543e-06, 5.10969540e-05, 3.04226456e-05, 1.77867033e-05,
  1.37883651e-05,-2.35171876e-05,-5.63522434e-06,-3.27287252e-05,
  2.21827129e-05, 1.96610130e-06, 2.21349022e-05,-3.33746589e-06,
 -2.13293219e-04,-6.84108130e-05,-1.03098623e-05, 1.04166691e-04,
  1.26061360e-05, 5.39737780e-04,-9.80919747e+00,-6.46671520e-02,
 -9.31112794e-03,-5.39506633e-03]


--- Step 860 ---
qpos:
[ 0.0098918 , 0.00808667,-0.00563559, 0.03347369, 0.00352627, 0.00285939,
 -0.00676381, 0.03913967, 0.01304553, 0.00589268,-0.01170115, 0.0340839 ,
  0.87133392, 0.00481476, 1.04657873, 0.04658799, 0.09026724,-0.06838418,
  0.14233286, 0.94699124,-0.03003931, 0.03043128, 0.31840096]

qacc:
[  2.52201285,  0.07275337, -0.51098883,  3.17232375,  1.46454408,
  -0.52496617,  3.58223274,-10.28817252, -3.83366437, -2.93008168,
  11.6774084 ,-19.50261239, -0.76974106,  0.30856292, -6.53668246,
  21.1559722 ,  0.33575999,  3.41447756,  0.23292018,-31.63470045,
  29.57896936, -4.99567807]

qfrc_actuator:
[ 7.15719628e-05, 3.30651901e-04, 2.84831050e-05, 2.15855229e-05,
  1.20755784e-05, 5.75086027e-06,-2.67981933e-05, 3.23582338e-05,
 -7.53368265e-06,-4.58816367e-05,-5.76614519e-05, 7.58317355e-05,
  4.46554897e-02,-6.49099741e-04, 1.05754996e-02,-2.41829589e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.18070875,   8.55161076, -12.54288131,   8.55161076,
        58.71487559,  29.68115861, -12.54288131,  29.68115861,
        35.4170252 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007450280260233311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.45088095e-14, -7.45088095e-14,  1.00000000e+00,  5.55156269e-27,
        1.00000000e+00,  7.45088095e-14, -1.00000000e+00,  0.00000000e+00,
        7.45088095e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08109203, -0.1126447 ,  0.06198329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47891751e-05, 4.57552533e-05, 2.53562690e-05, 1.24954228e-05,
  8.59221545e-06,-2.36248659e-06,-6.66735004e-06,-2.05039616e-05,
 -2.25777722e-05,-1.60001449e-05, 3.15786766e-05,-2.01740200e-05,
 -2.32314284e-04,-9.51203200e-05,-5.81984096e-05, 8.58195976e-05,
  1.37712615e-05, 2.99589332e-04,-9.80956043e+00,-6.46361094e-02,
 -9.32195579e-03,-5.35881177e-03]


--- Step 861 ---
qpos:
[ 0.00989206, 0.00808769,-0.00563591, 0.0334733 , 0.00352626, 0.00285923,
 -0.00676419, 0.03913962, 0.01304447, 0.00589098,-0.01170011, 0.034084  ,
  0.87229459, 0.00482612, 1.04701714, 0.04658827, 0.09026863,-0.06839954,
  0.14234139, 0.94699639,-0.029952  , 0.03039541, 0.31839729]

qacc:
[ -7.58834519,  0.07787347, -0.30857688,  1.92667927, -2.20974143,
   2.22186177, -7.50716314,  9.7233276 , -8.48771192, -3.83113095,
  17.64041462,-35.42785327, -0.92572161,  0.51472305, -0.85734727,
  -0.31533454,  0.33056842,  3.29875147, -0.11119154,-30.55773608,
  28.42364164, -4.51081265]

qfrc_actuator:
[ 2.66347830e-05, 3.36252429e-04, 3.47958251e-05, 2.70184319e-05,
 -9.47777563e-07, 4.94769541e-05,-4.45405365e-05, 3.92094526e-05,
 -5.66606818e-05,-4.02812299e-05,-2.33264133e-05, 2.75656605e-05,
  4.45623001e-02,-6.71406371e-04, 1.04521525e-02,-2.45826909e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.28381795,   9.44858508, -12.0132981 ,   9.44858508,
        46.7467716 ,  24.74594336, -12.0132981 ,  24.74594336,
        34.74676219,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007521835917362052
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.38000029e-14, -3.69000014e-14,  1.00000000e+00,  2.72322021e-27,
        1.00000000e+00,  3.69000014e-14, -1.00000000e+00,  0.00000000e+00,
        7.38000029e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08109471, -0.11264084,  0.06198314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.45032945e-05, 3.69404322e-05, 1.93155056e-05, 8.51375121e-06,
 -1.27787784e-05, 4.01724643e-05,-1.97555314e-05, 6.12123873e-06,
 -4.97792642e-05, 2.35461509e-06, 3.42341008e-05,-4.82505643e-05,
 -2.45471516e-04,-9.81391784e-05,-1.48228209e-04,-4.43723623e-05,
  1.11565922e-05, 1.35549298e-04,-9.80980598e+00,-6.46162134e-02,
 -9.33033478e-03,-5.33443093e-03]


--- Step 862 ---
qpos:
[ 0.00989108, 0.00808876,-0.00563602, 0.03347266, 0.00352575, 0.0028595 ,
 -0.00676481, 0.03913894, 0.01304283, 0.0058895 ,-0.01169911, 0.03408421,
  0.87325383, 0.0048368 , 1.04745375, 0.04658644, 0.09027131,-0.06840209,
  0.14234829, 0.94700072,-0.02993857, 0.03039241, 0.31838596]

qacc:
[-10.78905801, -1.04601917,  4.91456637, -9.71444118, -4.42027091,
  -0.05031488,  3.68811967,-14.53641036, -5.11479517,  0.63541356,
  -2.32285503,  4.23733046, -0.60056668, -0.11255714,  3.73980415,
 -16.90135783,  0.32575816,  3.2004422 , -0.40539669,-29.64509606,
  27.45370931, -4.12334456]

qfrc_actuator:
[-3.54151779e-05, 3.21306231e-04, 3.86030337e-05, 1.26065731e-05,
 -2.63604702e-05, 7.55188346e-05,-5.47227691e-05, 7.77538115e-06,
 -8.51320773e-05,-1.84422916e-05,-2.12674828e-05, 3.46553044e-05,
  4.44931943e-02,-7.06869428e-04, 1.03464707e-02,-2.57084035e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.28387419,  10.2465104 , -11.34045127,  10.2465104 ,
        57.93641424,  38.53812205, -11.34045127,  38.53812205,
        50.10446986,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007521875257402444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.68998084e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.68998084e-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([ 0.08109653, -0.11264098,  0.06198314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.33089701e-05, 1.00169818e-05, 1.41054915e-05,-1.19938139e-05,
 -2.57614335e-05, 4.46941281e-05,-4.09850279e-06,-3.02751941e-05,
 -2.98891756e-05, 2.81877005e-05, 5.10091405e-06, 7.43905601e-06,
 -2.31062814e-04,-1.14405509e-04,-1.82484870e-04,-1.34875609e-04,
  6.29261437e-06, 3.85780051e-05,-9.80994863e+00,-6.46063576e-02,
 -9.33554077e-03,-5.32125022e-03]


--- Step 863 ---
qpos:
[ 0.00989006, 0.00808987,-0.00563633, 0.03347188, 0.00352493, 0.00285996,
 -0.00676547, 0.03913791, 0.0130412 , 0.00588874,-0.01169886, 0.03408415,
  0.87421165, 0.00484645, 1.04788965, 0.04658234, 0.09027529,-0.06839217,
  0.14235257, 0.94700413,-0.02999702, 0.03042125, 0.31836757]

qacc:
[ -0.41633066,  0.33857465, -0.5372872 , -1.56955385, -2.64720592,
  -0.36941092,  3.17083722, -9.3584074 ,  0.10156847,  2.48148652,
  -6.32498863,  2.24519899, -0.39912245, -0.63462822,  5.85430458,
 -21.99612134,  0.32141827,  3.11740134, -0.65606375,-28.87641469,
  26.64284258, -3.81422758]

qfrc_actuator:
[-3.60110721e-05, 3.11887200e-04, 2.30481891e-05, 4.36723080e-06,
 -4.11023725e-05, 7.30188483e-05,-6.04433403e-05,-1.04358299e-05,
 -8.34568896e-05, 3.06237558e-05,-5.59202986e-05, 2.09991247e-05,
  4.44119497e-02,-7.67509230e-04, 1.03579797e-02,-2.67189108e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 15.20159566,  10.99886009, -10.49350215,  10.99886009,
        66.62226493,  53.89704396, -10.49350215,  53.89704396,
        71.69427436,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007464685579735147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.43650227e-14, -1.11547534e-13,  1.00000000e+00,  8.29523489e-27,
        1.00000000e+00,  1.11547534e-13, -1.00000000e+00,  0.00000000e+00,
        7.43650227e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08109768, -0.11264431,  0.06198327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39931118e-06,-1.47270886e-06,-1.21696309e-05,-7.55338197e-06,
 -1.54572807e-05, 2.03391348e-05, 1.96587484e-06,-1.70237927e-05,
  8.31327649e-07, 6.62267032e-05,-2.79401590e-05,-1.21254833e-05,
 -2.39607942e-04,-1.39679531e-04,-8.94403435e-05,-1.32419964e-04,
  2.25217335e-07, 1.70677981e-06,-9.80999962e+00,-6.46057120e-02,
 -9.33708063e-03,-5.31872361e-03]


--- Step 864 ---
qpos:
[ 0.00988972, 0.00809086,-0.00563649, 0.03347136, 0.00352395, 0.0028605 ,
 -0.00676616, 0.03913703, 0.01303961, 0.00588834,-0.01169864, 0.03408358,
  0.87516769, 0.0048559 , 1.0483246 , 0.04657863, 0.09028053,-0.06837007,
  0.14235337, 0.94700652,-0.03012571, 0.03048109, 0.31834257]

qacc:
[  6.06288123, -0.07347977, -1.05500329,  5.2670783 , -1.50139732,
   0.49317669, -2.24749396,  4.82864258,  0.27891144, -0.48485173,
   4.59761158,-13.71091662, -1.14455255,  0.89572429, -2.54457005,
   7.05055491,  0.31758566,  3.0476179 , -0.86911985,-28.23309429,
  25.96796964, -3.56822608]

qfrc_actuator:
[-4.26005547e-07, 3.05765140e-04, 3.17120196e-05, 1.75703127e-05,
 -4.94418420e-05, 7.12227359e-05,-6.35904840e-05,-2.98556433e-06,
 -8.18106299e-05, 4.21912668e-05,-5.86063873e-05,-4.75842965e-06,
  4.43234714e-02,-7.71636046e-04, 1.03385796e-02,-2.64074616e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([15.05186196, 11.65295495, -9.52718161, 11.65295495, 71.37840718,
       68.89452947, -9.52718161, 68.89452947, 99.3186348 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007362352806949968
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.53986568e-14, -3.76993284e-14,  1.00000000e+00,  2.84247872e-27,
        1.00000000e+00,  3.76993284e-14, -1.00000000e+00,  0.00000000e+00,
        7.53986568e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08109829, -0.11265015,  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:
[ 3.55139507e-05,-9.81559501e-06, 6.59287801e-06, 1.25721458e-05,
 -8.77119533e-06, 9.24211094e-06, 7.12505909e-07, 8.06184804e-06,
  1.69244987e-06, 4.23308621e-05, 7.13725934e-06,-2.41212689e-05,
 -2.56297048e-04,-9.17154556e-05,-8.20848387e-05, 1.07731530e-05,
 -6.33421676e-06, 1.96190757e-05,-9.80996761e+00,-6.46136523e-02,
 -9.33462519e-03,-5.32641023e-03]


--- Step 865 ---
qpos:
[ 0.00988948, 0.00809135,-0.0056361 , 0.03347136, 0.00352287, 0.00286098,
 -0.00676709, 0.03913627, 0.01303805, 0.00588753,-0.01169761, 0.03408378,
  0.87612172, 0.00486578, 1.04875817, 0.04657897, 0.09028703,-0.068336  ,
  0.14234997, 0.94700781,-0.03032323, 0.03057121, 0.31831134]

qacc:
[  0.76599163, -1.10130427,  0.75141652,  7.86379386, -0.81846839,
   0.88638678, -3.79619398,  6.43278654,  0.32011553, -1.21583953,
   0.29189387, 12.08478898, -1.54932733,  1.85291832,-14.15488743,
  46.82750874,  0.31426509,  2.98927435, -1.04990601,-27.69860612,
  25.40919911, -3.37316556]

qfrc_actuator:
[ 2.89163981e-06, 2.66267060e-04, 5.46382945e-05, 4.33053526e-05,
 -5.39496647e-05, 5.21361597e-05,-8.29376014e-05, 1.74768591e-06,
 -8.02049087e-05,-4.18417195e-06,-2.47798946e-05, 3.35828429e-05,
  4.42307380e-02,-7.42264029e-04, 1.03006807e-02,-2.42554130e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007225059084985802
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53662830e-13, -3.84157075e-14,  1.00000000e+00,  5.90306632e-27,
        1.00000000e+00,  3.84157075e-14, -1.00000000e+00,  0.00000000e+00,
        1.53662830e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08109849, -0.11265793,  0.0619838 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.32238154e-06,-4.31056592e-05, 2.21361429e-05, 2.57851388e-05,
 -4.75432894e-06,-1.34381072e-05,-1.70672351e-05, 5.31351900e-06,
  1.66815244e-06,-2.22544506e-05, 4.26166268e-05, 3.99340877e-05,
 -2.58150507e-04,-5.11277714e-05,-8.14707154e-05, 2.03731023e-04,
 -1.29048847e-05, 8.83133760e-05,-9.80985922e+00,-6.46297075e-02,
 -9.32796090e-03,-5.34395564e-03]


--- Step 866 ---
qpos:
[ 0.00988892, 0.0080915 ,-0.00563572, 0.03347169, 0.00352175, 0.00286118,
 -0.00676759, 0.03913556, 0.01303721, 0.00588647,-0.01169638, 0.03408342,
  0.87707395, 0.00487566, 1.0491909 , 0.04658247, 0.09029478,-0.06829017,
  0.14234176, 0.94700791,-0.03058846, 0.03069104, 0.31827414]

qacc:
[ -2.65290606,  0.24943478, -2.92195266,  8.85265858, -0.38278924,
  -1.50054865,  4.62273287, -4.33785296,  6.35423709, -2.05726526,
   9.18663959,-18.93020478, -1.13628155,  1.01992448,-10.7165244 ,
  35.86990707,  0.31144192,  2.94076275, -1.20314048,-27.25850395,
  24.94955634, -3.2193224 ]

qfrc_actuator:
[-1.28214162e-05, 2.42667349e-04, 5.01568335e-05, 5.84298983e-05,
 -5.61684969e-05, 4.05234293e-05,-5.85181024e-05, 4.81300977e-06,
 -4.31313384e-05,-3.14423786e-05,-2.31352179e-05, 2.78634524e-06,
  4.41408614e-02,-7.46603902e-04, 1.02783847e-02,-2.26347518e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007061348460670053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.17919017e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.17919017e-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([ 0.08109836, -0.11266717,  0.06198416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56088774e-05,-4.20473245e-05,-9.77722811e-06, 1.45430419e-05,
 -2.35822192e-06,-2.24316161e-05, 1.97326964e-05, 2.00535241e-06,
  3.71083628e-05,-2.91763553e-05, 3.67385446e-06,-2.94997982e-05,
 -2.46241146e-04,-7.59907946e-05,-4.34755225e-05, 1.61569081e-04,
 -1.91645493e-05, 2.04836671e-04,-9.80967948e+00,-6.46535218e-02,
 -9.31695537e-03,-5.37107636e-03]


--- Step 867 ---
qpos:
[ 0.00988888, 0.0080915 ,-0.00563602, 0.03347222, 0.00352096, 0.00286141,
 -0.00676765, 0.0391352 , 0.01303716, 0.00588557,-0.01169555, 0.03408235,
  0.8780245 , 0.00488541, 1.04962337, 0.04658584, 0.09030376,-0.06823274,
  0.14232822, 0.94700672,-0.03092048, 0.0308401 , 0.31823118]

qacc:
[  4.41978961,  2.10862793, -8.67519154, 13.37745623,  2.88672551,
  -0.45338164,  0.21506977,  5.07085328,  6.98114599, -0.15217041,
   3.86096754,-15.76711739, -1.20158453,  1.06945514,  0.092425  ,
  -0.69061897,  0.30909024,  2.90067904, -1.33294032,-26.90029034,
  24.57464437, -3.0989306 ]

qfrc_actuator:
[ 1.36585832e-05, 2.28653151e-04, 1.18149881e-05, 6.71765356e-05,
 -3.92710328e-05, 6.91497586e-05,-2.61770741e-05, 2.46618300e-05,
 -3.23136173e-06,-1.17215062e-05,-4.05180404e-05,-3.29678986e-05,
  4.40580777e-02,-7.53158572e-04, 1.02601256e-02,-2.27604589e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006878359870840234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.07040519e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.07040519e-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([ 0.08109798, -0.11267748,  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:
[ 2.60194824e-05,-3.89381240e-05,-4.77341150e-05, 6.88844357e-06,
  1.68217104e-05, 2.02437363e-05, 3.02124260e-05, 1.96117285e-05,
  4.09434938e-05, 2.93491473e-06,-2.39812983e-05,-3.74528867e-05,
 -2.37871813e-04,-8.14431583e-05,-2.85478258e-05,-1.09915025e-05,
 -2.48995920e-05, 3.67075928e-04,-9.80943219e+00,-6.46848260e-02,
 -9.30153269e-03,-5.40754734e-03]


--- Step 868 ---
qpos:
[ 0.00988915, 0.00809117,-0.00563669, 0.03347216, 0.00352037, 0.00286158,
 -0.00676756, 0.03913546, 0.01303725, 0.00588479,-0.01169501, 0.03408154,
  0.87897324, 0.00489554, 1.05005573, 0.04658929, 0.09031397,-0.06816384,
  0.14230891, 0.94700415,-0.03131852, 0.031018  , 0.31818262]

qacc:
[  2.78125317, -0.60538479,  4.00352827,-13.33363786,  1.84253386,
   0.74940702, -5.42145707, 15.93654079,  1.16684791,  1.49847231,
  -6.26627887, 11.28590742, -1.66735367,  2.06839596, -0.29903659,
   1.11566499,  0.3071781 ,  2.86780678, -1.44287164,-26.61321761,
  24.27229187, -3.00578523]

qfrc_actuator:
[ 2.92615583e-05, 2.02584194e-04,-1.06615409e-05, 3.65864457e-05,
 -2.90105811e-05, 5.07036828e-05,-2.47586341e-05, 5.42613242e-05,
  2.49642427e-06, 3.76368660e-07,-5.10347627e-05,-1.80521397e-05,
  4.39796052e-02,-7.25411339e-04, 1.02708960e-02,-2.26710363e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006682029214966495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.30752896e-14, -8.30752896e-14,  1.00000000e+00,  6.90150375e-27,
        1.00000000e+00,  8.30752896e-14, -1.00000000e+00,  0.00000000e+00,
        8.30752896e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08109741, -0.11268853,  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:
[ 1.63325433e-05,-5.73968014e-05,-3.61592777e-05,-3.37777336e-05,
  1.07437268e-05,-4.57307938e-08, 9.99772015e-06, 3.18936416e-05,
  6.89291061e-06, 7.21993622e-06,-1.41585482e-05, 1.34837355e-05,
 -2.30365693e-04,-4.63589993e-05,-1.33807495e-05, 2.46788631e-06,
 -2.99703419e-05, 5.73595855e-04,-9.80912014e+00,-6.47234168e-02,
 -9.28165606e-03,-5.45319174e-03]


--- Step 869 ---
qpos:
[ 0.00988961, 0.00809051,-0.00563709, 0.03347134, 0.00351957, 0.00286111,
 -0.00676687, 0.03913611, 0.01303741, 0.00588393,-0.01169456, 0.03408127,
  0.8799203 , 0.00490592, 1.05048752, 0.04659484, 0.09032541,-0.06808358,
  0.14228345, 0.94700009,-0.03178201, 0.03122443, 0.31812855]

qacc:
[  1.63779086, -2.76278631, 12.41351044,-25.70238737, -1.87668533,
  -1.71397138,  3.22182352,  3.12520575,  0.60048017,  1.26785475,
  -6.94239773, 16.48843201, -1.32553171,  1.51140359, -7.05762093,
  23.70884858,  0.30567076,  2.8410965 , -1.5360108 ,-26.38807021,
  24.03222037, -2.93492487]

qfrc_actuator:
[ 3.83241125e-05, 2.05024136e-04, 1.18514001e-05, 8.56038613e-07,
 -4.04977080e-05,-1.36473179e-05,-6.28235621e-06, 7.15478193e-05,
  5.81695247e-06,-9.86866883e-06,-5.73884157e-05, 8.81272811e-06,
  4.38984640e-02,-7.13041360e-04, 1.02564736e-02,-2.15665699e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006477263457029536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.28507746e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.28507746e-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([ 0.0810967 , -0.11270005,  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:
[ 9.51245671e-06,-3.85486266e-05, 5.04546565e-06,-4.00968020e-05,
 -1.11834280e-05,-6.09487477e-05, 2.07976169e-05, 1.82496016e-05,
  3.51688136e-06,-8.52767915e-06,-6.13517212e-06, 2.69489119e-05,
 -2.20286133e-04,-5.18416355e-05,-3.09991197e-05, 1.06469714e-04,
 -3.42870001e-05, 8.23513007e-04,-9.80874538e+00,-6.47691409e-02,
 -9.25731540e-03,-5.50787268e-03]


--- Step 870 ---
qpos:
[ 0.00989017, 0.00808966,-0.00563731, 0.03347044, 0.00351829, 0.0028602 ,
 -0.0067665 , 0.03913665, 0.01303795, 0.00588345,-0.0116944 , 0.03408128,
  0.8808657 , 0.0049162 , 1.0509186 , 0.04659973, 0.09033806,-0.06799203,
  0.14225154, 0.94699442,-0.03231051, 0.03145915, 0.31806906]

qacc:
[  0.93155221, -0.91659388,  3.2602119 , -4.89463493, -4.19109241,
   0.10999458, -0.78595057, -0.18212359,  3.35494108,  1.86772252,
  -7.10642531, 12.10065453, -1.20610553,  1.10679035,  0.98770148,
  -4.78647941,  0.30453277,  2.81964441, -1.61500706,-26.21695334,
  23.84574594, -2.88237817]

qfrc_actuator:
[ 4.34679582e-05, 2.06946502e-04, 2.53531066e-05,-2.04942890e-06,
 -6.46912496e-05,-5.16860476e-05,-3.13410763e-05, 6.36693157e-05,
  2.54576759e-05, 3.76303515e-05,-6.13256883e-05, 2.47152086e-05,
  4.37997986e-02,-7.27670363e-04, 1.01950256e-02,-2.20037644e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006268090093185241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.42807541e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.42807541e-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([ 0.08109589, -0.11271181,  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:
[ 5.40551855e-06,-2.02781904e-05, 4.78633528e-06,-5.15946758e-06,
 -2.45343612e-05,-6.70399963e-05,-3.44590945e-05,-9.41685859e-06,
  1.97345165e-05, 4.26461308e-05,-5.51658686e-06, 1.58506624e-05,
 -2.33387483e-04,-7.77703818e-05,-7.29278486e-05,-4.38046377e-05,
 -3.77929294e-05, 1.11639811e-03,-9.80830933e+00,-6.48218835e-02,
 -9.22851872e-03,-5.57148656e-03]


--- Step 871 ---
qpos:
[ 0.00989079, 0.00808863,-0.00563713, 0.03346984, 0.00351673, 0.00285925,
 -0.00676633, 0.0391367 , 0.01303872, 0.00588375,-0.01169445, 0.03408039,
  0.88180947, 0.00492605, 1.05134861, 0.04659953, 0.09034032,-0.06789215,
  0.142218  , 0.94699269,-0.03289936, 0.03164481, 0.31799542]

qacc:
[  0.51987143, -0.78332308,  1.17830646,  3.46857968, -2.47243926,
  -0.52545066,  3.94382354,-12.33839838,  2.00942882, -0.21642377,
   6.06736712,-21.88966654, -1.19844244,  0.87918471, 13.93384024,
 -50.85716503, -2.59836492,  2.08581626, -0.4054782 ,-36.09918323,
 -13.46771737, -9.06632216]

qfrc_actuator:
[ 4.62664487e-05, 2.08556650e-04, 5.11947123e-05, 1.43731122e-05,
 -7.84098149e-05,-2.06223813e-05,-2.85797263e-05, 4.10326405e-05,
  3.67957512e-05, 1.01594369e-04,-6.35838617e-05,-1.91717381e-05,
  4.37013287e-02,-7.58253391e-04, 1.00894186e-02,-2.47671560e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 13.11115683,  12.21038793,   4.77586223,  12.21038793,
        27.5247852 , -36.85114548,   4.77586223, -36.85114548,
       107.32802496,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000614756088950244
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.80595694e-13, -9.02978469e-14,  1.00000000e+00,  1.63074023e-26,
        1.00000000e+00,  9.02978469e-14, -1.00000000e+00,  0.00000000e+00,
        1.80595694e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12526847, -0.09344591,  0.06198618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94854222e-06,-8.92639744e-06, 2.20776696e-05, 1.56228587e-05,
 -1.44376995e-05,-1.39279178e-05,-1.56503235e-05,-2.68837724e-05,
  1.19121231e-05, 8.73755231e-05, 6.42312343e-06,-4.19418354e-05,
 -2.47616938e-04,-1.02502549e-04,-1.51608621e-04,-2.89843617e-04,
 -4.04530755e-05, 1.45220020e-03,-9.80781294e+00,-6.48815594e-02,
 -9.19528601e-03,-5.64395761e-03]


--- Step 872 ---
qpos:
[ 0.00989109, 0.00808776,-0.00563705, 0.03346942, 0.00351571, 0.00285879,
 -0.00676615, 0.03913639, 0.01303928, 0.00588438,-0.0116941 , 0.03407899,
  0.88275169, 0.00493521, 1.05177664, 0.04659834, 0.09033248,-0.06778414,
  0.1421819 , 0.94699499,-0.03354773, 0.03178237, 0.3179071 ]

qacc:
[ -2.78188411,  0.92454269, -3.77566633,  7.13693566,  4.71295921,
  -0.10356766,  2.78095073, -9.25631523, -1.88073629, -1.72384967,
   8.904533  ,-18.51101092, -0.60820566, -0.15151621,  0.04942467,
  -4.36031864, -2.52550511,  2.02971043, -0.63974429,-35.53030085,
 -13.130285  , -9.32070391]

qfrc_actuator:
[ 2.99108131e-05, 2.27798916e-04, 4.86245272e-05, 2.42888098e-05,
 -5.03434310e-05, 5.16734642e-05,-9.12051626e-06, 2.77361140e-05,
  2.53986845e-05, 1.03878253e-04,-4.70329743e-05,-4.46057370e-05,
  4.36190111e-02,-7.98042004e-04, 1.00106321e-02,-2.51510490e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006154830688104296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.01911913e-14, -1.80382383e-13,  1.00000000e+00,  1.62689020e-26,
        1.00000000e+00,  1.80382383e-13, -1.00000000e+00,  0.00000000e+00,
        9.01911913e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12526961, -0.09344899,  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:
[-1.62730867e-05, 1.95161579e-05,-1.14380747e-06, 1.06041148e-05,
  2.76528065e-05, 6.01498184e-05, 1.37341515e-05,-1.49558044e-05,
 -1.10257562e-05, 5.06722440e-05, 3.39385727e-05,-2.22826239e-05,
 -2.46998200e-04,-1.20127786e-04,-1.85417299e-04,-7.50241653e-05,
 -2.70525318e-04, 1.86215184e-03,-9.80749806e+00,-6.49507023e-02,
 -9.19052636e-03,-5.70734820e-03]


--- Step 873 ---
qpos:
[ 0.00989119, 0.00808717,-0.00563732, 0.03346879, 0.00351503, 0.00285884,
 -0.0067661 , 0.03913592, 0.01303935, 0.00588505,-0.01169343, 0.03407803,
  0.88369221, 0.00494408, 1.05220339, 0.04659814, 0.09032133,-0.06767957,
  0.14215991, 0.94699717,-0.0341819 , 0.03190199, 0.31782105]

qacc:
[ -1.7564206 ,  0.89109004, -1.71755326, -1.73911926,  3.0138567 ,
   0.69206261, -0.84376454, -1.98795375, -4.26020162,  0.06399539,
  -1.99877421,  9.05240582, -0.95517762,  0.59298032, -4.79120412,
  14.15476263, -0.82521001, -0.85894365,  3.52580946,  3.8380888 ,
 -10.78954374,  1.01349108]

qfrc_actuator:
[ 2.01660815e-05, 2.39590031e-04, 2.93632471e-05, 1.25350135e-05,
 -3.34165421e-05, 7.71909361e-05,-1.52695796e-05, 2.00953246e-05,
  7.13623176e-07, 8.70487721e-05,-3.74820987e-05,-2.34999008e-05,
  4.35411100e-02,-8.07407596e-04, 1.00013158e-02,-2.44831779e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([13.94592496, -9.16068139, 10.51526221, -9.16068139, 76.74036585,
       54.70523273, 10.51526221, 54.70523273, 61.60400497,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006653722604941376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.34287128e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.34287128e-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([ 0.09281965, -0.05440005,  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:
[-1.01992009e-05, 2.29475526e-05,-1.49934407e-05,-1.07473949e-05,
  1.77341278e-05, 6.13747297e-05, 7.45261440e-06,-4.87914993e-06,
 -2.49791354e-05, 1.75362812e-05, 2.34197139e-05, 2.40193803e-05,
 -2.46267857e-04,-9.37494141e-05,-1.04533609e-04, 3.84795577e-05,
 -5.73611585e-04, 2.30216335e-03,-9.80711513e+00,-6.50265990e-02,
 -9.19769438e-03,-5.76813461e-03]


--- Step 874 ---
qpos:
[ 0.00989153, 0.00808675,-0.00563782, 0.03346838, 0.00351456, 0.00285916,
 -0.00676599, 0.03913504, 0.01303913, 0.00588614,-0.01169336, 0.0340777 ,
  0.88429027, 0.00486928, 1.05250993, 0.04662465, 0.09030595,-0.06758489,
  0.14214864, 0.94701631,-0.0347601 , 0.03199232, 0.3176922 ]

qacc:
[   1.98455354,   1.30225944,  -5.22662662,   9.18267103,   1.83096405,
   -0.6389467 ,   4.52381312, -11.93261205,  -2.63473894,   3.49897084,
  -14.26479794,  25.60709332,-191.29407168,  98.85585114,-247.04739159,
  633.18214347,  -1.05969048,  -2.47215768,   2.6822292 ,  22.81429007,
  -22.30294719, -22.57065695]

qfrc_actuator:
[ 3.21490873e-05, 2.46737611e-04, 1.81254295e-05, 2.36200530e-05,
 -2.31953758e-05, 7.44187374e-05,-1.89098686e-05,-1.96382462e-06,
 -1.38348923e-05, 1.12167148e-04,-6.77173651e-05, 7.03508152e-06,
  4.34552762e-02,-8.16407578e-04, 9.99640936e-03,-2.47976199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.03631162,  0.78472384, -0.67686799,  0.78472384,  0.76577701,
       -0.31364307, -0.67686799, -0.31364307,  0.67269095,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018540224117560695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51697036, -0.84280908, -0.14971473, -0.07828036, -0.1276193 ,
        0.98872923, -0.85241647,  0.52286343,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10156033, -0.03921782,  0.30483797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([14.56303504, -2.32448829, 14.37632581, -2.32448829, 31.89185855,
        2.80187357, 14.37632581,  2.80187357, 15.01606612,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007040829497669127
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.88417774e-14, -7.88417774e-14,  1.00000000e+00,  6.21602587e-27,
        1.00000000e+00,  7.88417774e-14, -1.00000000e+00,  0.00000000e+00,
        7.88417774e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09282174, -0.05440241,  0.06198417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17037657e-05, 1.64445212e-05,-8.70437283e-06, 1.13441865e-05,
  1.07466758e-05, 3.28838785e-05, 9.78548892e-06,-1.92663491e-05,
 -1.52517395e-05, 4.07532972e-05,-2.29097284e-05, 3.25644455e-05,
 -2.46137207e-04,-8.76512475e-05,-5.41534239e-05,-4.39148981e-05,
 -5.95694400e-04, 2.21245397e-03,-9.80727406e+00,-6.50822679e-02,
 -9.15191640e-03,-5.81845234e-03]


--- Step 875 ---
qpos:
[ 0.00989165, 0.00808627,-0.00563838, 0.03346846, 0.00351421, 0.00285972,
 -0.00676616, 0.03913359, 0.01303908, 0.00588749,-0.01169332, 0.03407771,
  0.88464553, 0.00472223, 1.05276342, 0.04663952, 0.09029526,-0.06750397,
  0.14214607, 0.9470283 ,-0.03524925, 0.03208276, 0.31759344]

qacc:
[-1.78885844e+00, 1.12377570e+00,-6.21118199e+00, 1.49716216e+01,
  1.09850985e+00,-1.10037948e-01, 3.26306571e+00,-1.29458788e+01,
  1.50970088e+00, 1.15897893e+00,-5.13829881e+00, 1.11100195e+01,
 -1.29428433e+02, 5.20255757e+01,-3.58411158e+01, 2.89082061e+01,
  1.17419775e+00,-3.44143437e+00, 2.17346283e+00, 4.15808805e+01,
 -1.44984675e+01, 1.68159061e+01]

qfrc_actuator:
[ 2.13171656e-05, 2.33339424e-04, 1.17199272e-05, 4.80619477e-05,
 -1.69997249e-05, 7.24680628e-05,-3.89183005e-05,-3.23532732e-05,
 -4.54348775e-06, 1.26545315e-04,-6.77807870e-05, 2.51192635e-05,
  4.34060649e-02,-7.59429789e-04, 9.97826917e-03,-2.45425187e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.24687085, -0.37932201,  1.18777175, -0.37932201,  5.02283585,
        1.20587701,  1.18777175,  1.20587701,  1.63197489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00042911005986779135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51712464, -0.84278771, -0.14930164, -0.07808273, -0.12725591,
        0.9887917 , -0.85234101,  0.52298643,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1012781 , -0.0389156 ,  0.30424231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 14.97673551, -13.35798493,   6.77250656, -13.35798493,
        18.27481495,   6.50507977,   6.77250656,   6.50507977,
        27.80725206,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000731177721110829
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.14461004e-06,  1.14460998e-06,  1.00000000e+00,  1.31013208e-12,
        1.00000000e+00, -1.14460998e-06, -1.00000000e+00, -2.01948392e-28,
       -1.14461004e-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([ 0.07107909, -0.04195649,  0.06198356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04909318e-05,-5.48911060e-06,-3.67732712e-06, 2.50686257e-05,
  6.51306663e-06, 1.76267987e-05,-1.26806967e-05,-2.90162667e-05,
  8.87515295e-06, 3.37850723e-05, 6.64695163e-06, 1.96704653e-05,
  1.68123471e-02, 4.14322790e-03, 5.95681714e-03,-1.34915384e-03,
 -7.92841010e-04, 1.87083971e-03,-9.80763661e+00,-6.51666428e-02,
 -9.18236230e-03,-5.85590163e-03]


--- Step 876 ---
qpos:
[ 0.00989131, 0.00808586,-0.00563906, 0.03346882, 0.00351326, 0.00286012,
 -0.00676615, 0.03913215, 0.01303913, 0.00588889,-0.01169319, 0.03407796,
  0.88481988, 0.00454347, 1.05300286, 0.04664247, 0.09028901,-0.06743618,
  0.14214996, 0.94703256,-0.03565256, 0.03216966, 0.31752692]

qacc:
[  -4.17896566,   0.99814845,  -4.59586436,   9.56503859,  -5.37917828,
   -0.66043921,   2.04822151,  -2.06479078,   0.9860243 ,   0.29017015,
   -1.92092652,   5.77619204,-115.16352823,  81.64845252,  22.79610913,
  -92.2263964 ,   1.10890952,  -3.28033706,   1.61664489,  39.43013358,
  -15.75261973,  17.80525881]

qfrc_actuator:
[-2.86355148e-06, 2.43276329e-04, 8.13592657e-06, 6.23951135e-05,
 -4.87258961e-05, 5.31846131e-05,-3.29377823e-05,-3.19079437e-05,
  9.49009191e-07, 1.16728931e-04,-6.78127206e-05, 3.57524760e-05,
  4.33875112e-02,-6.40837126e-04, 9.93982205e-03,-2.59768337e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.63027999, -1.5288102 , -0.56617332, -1.5288102 ,  3.46562975,
       -4.95590544, -0.56617332, -4.95590544, 15.01246974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006309517572643964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17239142e-01, -8.42748695e-01, -1.49125140e-01, -7.80055923e-02,
       -1.27096165e-01,  9.88818331e-01, -8.52278592e-01,  5.23088140e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10105204, -0.03865971,  0.30375572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([15.42728426, -7.48829603, 13.48801402, -7.48829603, 40.06955654,
       13.68093401, 13.48801402, 13.68093401, 23.0226859 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007623392449498667
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.28168615e-14, -3.64084308e-14,  1.00000000e+00, -2.65114766e-27,
        1.00000000e+00,  3.64084308e-14, -1.00000000e+00,  0.00000000e+00,
       -7.28168615e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07075685, -0.04176838,  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:
[-2.44803553e-05, 7.20151125e-06,-4.29119841e-06, 1.44611562e-05,
 -3.15331306e-05,-1.33016656e-05, 7.05435386e-06, 1.99274751e-07,
  5.75977784e-06, 1.12459761e-05, 8.42934096e-06, 1.26903197e-05,
  2.89264303e-02, 7.87138804e-03, 8.57696549e-03,-9.09099850e-04,
 -4.87974893e-04, 1.33374731e-03,-9.80831077e+00,-6.51805333e-02,
 -9.06894243e-03,-5.88703327e-03]


--- Step 877 ---
qpos:
[ 0.00989102, 0.00808594,-0.00564023, 0.03346898, 0.00351227, 0.00286021,
 -0.00676597, 0.03913075, 0.01303926, 0.00589073,-0.01169378, 0.03407869,
  0.88486683, 0.00436752, 1.05325525, 0.04663544, 0.09028673,-0.06738054,
  0.14215857, 0.94702797,-0.03597562, 0.03224862, 0.31749615]

qacc:
[   0.48024749,   1.6113808 ,  -3.9635815 ,   0.88828613,  -0.23191142,
   -0.82653354,   2.16937508,  -1.53088052,   0.54434322,   3.60854299,
  -14.04123587,  23.16185727,-101.91250995, 105.54221656,  56.79142338,
 -153.2798711 ,   0.99108575,  -3.03841288,   1.17703243,  36.00923539,
  -16.99793186,  19.48354619]

qfrc_actuator:
[ 8.05146725e-07, 2.84865162e-04,-1.14282732e-05, 5.29293517e-05,
 -4.92587909e-05, 2.37874206e-05,-2.94600943e-05,-3.10699927e-05,
  4.15364764e-06, 1.45752388e-04,-1.03445578e-04, 5.96456611e-05,
  4.33692195e-02,-4.61391049e-04, 9.86095986e-03,-2.76653093e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.93320086, -1.89232243, -0.39545085, -1.89232243,  2.39988537,
       -2.2331917 , -0.39545085, -2.2331917 , 12.61953195,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007952790761051316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51730922, -0.84270844, -0.14910953, -0.07800781, -0.12707649,
        0.98882068, -0.85223585,  0.52315777,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10087521, -0.03844766,  0.30336603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([15.68991356, -7.11933989, 13.98171616, -7.11933989, 49.57831231,
       17.25560914, 13.98171616, 17.25560914, 24.47628464,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007816471403380848
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.06527258e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.06527258e-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([ 0.07076434, -0.04176899,  0.06198244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97523781e-06, 4.53636239e-05,-1.80916209e-05,-9.02149354e-06,
 -1.43432499e-06,-3.53924906e-05, 1.60544357e-06, 5.19540800e-07,
  3.37602969e-06, 3.75466466e-05,-3.18512185e-05, 2.49095392e-05,
  3.79493051e-02, 9.63766629e-03, 9.19849217e-03,-4.82163817e-04,
 -2.55879915e-04, 8.99319427e-04,-9.80886386e+00,-6.51888633e-02,
 -8.97568333e-03,-5.91358524e-03]


--- Step 878 ---
qpos:
[ 0.00989146, 0.00808611,-0.00564153, 0.03346939, 0.00351163, 0.00286006,
 -0.00676604, 0.03912938, 0.01303908, 0.00589283,-0.01169396, 0.03407998,
  0.88483223, 0.00422274, 1.0535407 , 0.04662304, 0.09028789,-0.06733588,
  0.1421705 , 0.94701282,-0.03622526, 0.0323151 , 0.31750619]

qacc:
[   6.45449675,   0.98706194,  -4.4287585 ,   8.98076665,   3.03805385,
    0.46792034,  -2.28725707,   3.54982622,  -2.69429662,   0.32466115,
   -3.06077388,  12.0300222 , -89.23142409, 123.21960024,  72.41420838,
 -165.11157447,   0.86286508,  -2.74552202,   0.83172462,  31.93207059,
  -18.13028296,  21.95645041]

qfrc_actuator:
[ 3.85932354e-05, 2.73993649e-04,-2.23985474e-05, 6.50609945e-05,
 -3.14156781e-05, 6.30588216e-06,-4.53036449e-05,-3.00296363e-05,
 -1.17652791e-05, 1.79917940e-04,-7.08893707e-05, 9.11565121e-05,
  4.33527831e-02,-2.67272780e-04, 9.83048665e-03,-2.77027463e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.08074831, -2.07223971, -0.18797908, -2.07223971,  2.12958322,
       -0.53834518, -0.18797908, -0.53834518,  8.01534633,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009263415172081054
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17327095e-01, -8.42682580e-01, -1.49193653e-01, -7.80555166e-02,
       -1.27145910e-01,  9.88807997e-01, -8.52220636e-01,  5.23182556e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10074083, -0.03827661,  0.30306134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([15.81620057, -6.67646332, 14.33795795, -6.67646332, 71.83101656,
       26.0832725 , 14.33795795, 26.0832725 , 27.96186404,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007913312668055145
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40298137e-13, -3.50745342e-14,  1.00000000e+00, -4.92089181e-27,
        1.00000000e+00,  3.50745342e-14, -1.00000000e+00,  0.00000000e+00,
       -1.40298137e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0707693 , -0.04176808,  0.06198222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78907230e-05, 1.03850817e-05,-4.12750367e-06, 1.32760344e-05,
  1.77898954e-05,-3.69219923e-05,-2.29385358e-05,-4.07933806e-07,
 -1.58042521e-05, 4.95903293e-05, 3.72344182e-05, 3.24981264e-05,
  4.43003960e-02, 9.69316157e-03, 8.51611543e-03, 1.19929369e-05,
 -9.18935885e-05, 5.69856149e-04,-9.80929666e+00,-6.51930317e-02,
 -8.90199393e-03,-5.93567385e-03]


--- Step 879 ---
qpos:
[ 0.00989236, 0.00808588,-0.00564245, 0.03347032, 0.00351121, 0.0028596 ,
 -0.006766  , 0.03912837, 0.01303836, 0.0058952 ,-0.01169344, 0.03408128,
  0.88475423, 0.00413135, 1.05387174, 0.04661035, 0.09029202,-0.06730095,
  0.14218467, 0.94698524,-0.03640885, 0.03236501, 0.31756236]

qacc:
[ 3.96638854e+00,-5.27482124e-01,-1.08782133e+00, 9.75041423e+00,
  1.93306932e+00, 2.52184669e-02,-2.21297762e+00, 8.45396692e+00,
 -4.68156751e+00,-1.57051327e+00, 6.13887687e+00,-7.46441320e+00,
 -7.72635541e+01, 1.34836872e+02, 7.53359767e+01,-1.49097991e+02,
  7.39973109e-01,-2.43200064e+00, 5.60194026e-01, 2.76734677e+01,
 -1.89605107e+01, 2.45868088e+01]

qfrc_actuator:
[ 6.06460179e-05, 2.31838387e-04,-1.06344510e-05, 8.97747748e-05,
 -2.06620871e-05,-3.98720397e-06,-3.68808331e-05,-1.11310893e-05,
 -3.88117548e-05, 1.99425230e-04,-3.37891297e-05, 9.14506816e-05,
  4.33538963e-02,-1.11603871e-04, 9.86405045e-03,-2.60457137e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.10452874, -2.1043077 ,  0.03050069, -2.1043077 ,  2.10501814,
        0.03376512,  0.03050069,  0.03376512,  4.43405629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010282227282608877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51728191, -0.84268623, -0.14932961, -0.07812145, -0.12726497,
        0.98878747, -0.85224202,  0.52314772,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10064248, -0.03814349,  0.30283033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 15.84136515,  -6.08579807,  14.62572773,  -6.08579807,
       146.48504829,  54.36112923,  14.62572773,  54.36112923,
        38.4611528 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007932971595370764
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.07077223, -0.04176598,  0.06198218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.31362395e-05,-3.66117203e-05, 1.38705122e-05, 2.52742979e-05,
  1.12474179e-05,-3.56805026e-05,-2.03834517e-06, 1.65176924e-05,
 -2.74745285e-05, 5.62393068e-05, 5.30292474e-05, 4.33347408e-06,
  4.83762177e-02, 8.29112879e-03, 6.89047862e-03, 4.44422974e-04,
  9.17407632e-06, 3.39633562e-04,-9.80961872e+00,-6.51951753e-02,
 -8.84689864e-03,-5.95333835e-03]


--- Step 880 ---
qpos:
[ 0.00989317, 0.00808529,-0.00564314, 0.03347086, 0.00351093, 0.00285882,
 -0.00676561, 0.03912793, 0.01303767, 0.00589774,-0.01169234, 0.0340819 ,
  0.88463215, 0.00405362, 1.0542411 , 0.04660195, 0.09029849,-0.06727539,
  0.14220005, 0.94694276,-0.03652854, 0.03239089, 0.31767263]

qacc:
[ -0.75241515, -1.91612882,  7.82598836,-14.78987972,  1.18011982,
  -0.27184058, -1.99966905, 11.35067563,  0.24790791, -2.7704416 ,
  13.06433179,-25.80938752,-46.44604736, 61.73273364, 47.39359793,
 -74.7310811 ,  0.58484613, -2.34307001,  0.30278911, 25.29768679,
 -22.2714536 , 28.57977698]

qfrc_actuator:
[ 5.54968510e-05, 2.06878207e-04,-3.43405539e-06, 6.84151000e-05,
 -1.41734707e-05,-9.78515652e-06,-1.41481041e-05, 1.81501677e-05,
 -3.66797119e-05, 1.92265098e-04,-1.21543385e-05, 5.56035656e-05,
  4.33597157e-02,-1.36665345e-05, 9.84318022e-03,-2.44663643e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.10452874, -2.06417934,  0.41012783, -2.06417934,  2.05344005,
       -0.25713011,  0.41012783, -0.25713011,  0.81038914,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001104752088556209
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51716225, -0.84273279, -0.1494813 , -0.07818452, -0.12740424,
        0.98876455, -0.85230886,  0.52303882,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10057426, -0.03804514,  0.30266251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 15.78834031,   5.33562573, -14.8594343 ,   5.33562573,
       134.3832101 ,  42.58424825, -14.8594343 ,  42.58424825,
        31.07920578,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007891693556797974
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.4068248e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.4068248e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07077358, -0.04176293,  0.06198227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.50291265e-06,-4.14632868e-05, 2.23008006e-06,-2.19573808e-05,
  6.79532407e-06,-2.54413044e-05, 1.56897870e-05, 2.80060938e-05,
  1.37670324e-06, 3.53218675e-05, 3.98968041e-05,-3.15263260e-05,
  5.05493623e-02, 5.72105768e-03, 4.58364895e-03, 6.15733353e-04,
  4.72941885e-05, 2.01640348e-04,-9.80984009e+00,-6.51985576e-02,
 -8.81015918e-03,-5.96661196e-03]


--- Step 881 ---
qpos:
[ 0.00989391, 0.00808465,-0.00564412, 0.03347078, 0.00351107, 0.00285772,
 -0.00676491, 0.03912784, 0.01303736, 0.00590023,-0.01169083, 0.03408212,
  0.88447882, 0.00396938, 1.05463273, 0.0465921 , 0.09030702,-0.06725899,
  0.14221571, 0.94688469,-0.03658555, 0.03238981, 0.31783925]

qacc:
[-6.04216908e-01,-5.33569346e-01, 4.35536230e+00,-1.43755018e+01,
  3.75353224e+00,-5.54620203e-01,-1.85824960e-01, 6.18387978e+00,
  3.32085016e+00,-2.02021481e+00, 8.75504592e+00,-1.61587541e+01,
 -2.04311637e+01, 1.41668870e+01, 3.86611237e+01,-8.42990238e+01,
  5.17895363e-01,-2.29090682e+00, 6.87167641e-02, 2.41939966e+01,
 -2.34938672e+01, 2.96750266e+01]

qfrc_actuator:
[ 5.21362634e-05, 2.10102473e-04,-1.67238923e-05, 3.78710640e-05,
  7.50782506e-06,-3.05177277e-05,-8.82792084e-07, 3.55618001e-05,
 -1.73875995e-05, 1.69094852e-04, 4.23914358e-08, 3.42531151e-05,
  4.33753084e-02, 8.57368694e-05, 9.79398927e-03,-2.70614499e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.10452874, -2.05157252,  0.469139  , -2.05157252,  2.02291602,
       -0.35689721,  0.469139  , -0.35689721,  0.54379617,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011535308371604697
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51695079, -0.84282378, -0.14969953, -0.07826926, -0.12760827,
        0.98873154, -0.85242935,  0.52284242,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10053874, -0.03798347,  0.30256211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007802532969777842
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42290078e-13, -7.11450390e-14,  1.00000000e+00, -1.01232331e-26,
        1.00000000e+00,  7.11450390e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42290078e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07077367, -0.04175916,  0.06198247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.50006357e-06,-2.04185613e-05,-2.23265852e-05,-3.26692961e-05,
  2.18638092e-05,-3.04915448e-05, 1.09166845e-05, 1.74109892e-05,
  1.93525740e-05, 3.36393387e-06, 2.32714176e-05,-1.90796837e-05,
  5.27664473e-02, 5.13735591e-03, 2.61184328e-03, 1.39895143e-04,
  1.31591536e-05, 1.48447759e-04,-9.80997702e+00,-6.52074668e-02,
 -8.79202100e-03,-5.97448487e-03]


--- Step 882 ---
qpos:
[ 0.0098946 , 0.00808417,-0.00564569, 0.03347068, 0.00351112, 0.00285653,
 -0.00676411, 0.0391276 , 0.01303762, 0.00590269,-0.01168943, 0.03408213,
  0.884316  , 0.00387556, 1.05503679, 0.04657644, 0.09031754,-0.06725148,
  0.14223086, 0.94681113,-0.03658158, 0.03236148, 0.31806163]

qacc:
[ -0.42649465,  1.81341457, -6.03697436,  6.38613436, -0.75476291,
  -0.6796793 ,  2.92649225, -5.68102963,  5.08887907, -0.23208897,
   1.68663991, -5.34843289, -1.01041184, -8.58794218, 35.76899208,
 -98.81881982,  0.49648094, -2.21952715, -0.12665754, 23.35620924,
 -23.36850216, 29.35507289]

qfrc_actuator:
[ 4.98644014e-05, 2.30083613e-04,-4.18879359e-05, 3.76914309e-05,
  2.45373811e-06,-2.45647158e-05, 6.61321599e-06, 2.80750914e-05,
  1.18404318e-05, 1.54225585e-04,-1.12384406e-05, 2.15881202e-05,
  4.33971963e-02, 2.00736554e-04, 9.73319544e-03,-3.10557176e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.10452874, -2.03458455,  0.53805846, -2.03458455,  1.99056315,
       -0.43094317,  0.53805846, -0.43094317,  0.47498403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001174708414431304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.49727249, -0.85213199, -0.16306789, -0.08218929, -0.14084054,
        0.98661485, -0.86369265,  0.50401886,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1005354 , -0.03795851,  0.3025286 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007676239113734301
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44631115e-13, -7.23155577e-14,  1.00000000e+00, -1.04590798e-26,
        1.00000000e+00,  7.23155577e-14, -1.00000000e+00,  0.00000000e+00,
       -1.44631115e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0707728 , -0.04175483,  0.06198276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37338594e-06, 2.58253466e-06,-3.32434480e-05,-2.45912280e-06,
 -4.44430168e-06,-8.05719189e-06, 3.14862260e-06,-8.07648789e-06,
  2.97886226e-05,-9.10144757e-06,-8.42813030e-06,-1.20973065e-05,
  5.43483654e-02, 5.57902526e-03, 1.42974986e-03,-1.88456327e-04,
 -9.98257280e-05, 1.78197645e-04,-9.81001706e+00,-6.52266873e-02,
 -8.79690397e-03,-5.97703399e-03]


--- Step 883 ---
qpos:
[ 0.00989526, 0.00808376,-0.00564728, 0.0334702 , 0.00351076, 0.00285566,
 -0.00676395, 0.03912692, 0.01303789, 0.00590511,-0.01168846, 0.03408235,
  0.88416541, 0.00376897, 1.05545582, 0.0465612 , 0.0903299 ,-0.06725242,
  0.14224492, 0.94672167,-0.03651913, 0.03230488, 0.31834073]

qacc:
[-2.88130793e-01,-6.36713782e-01, 4.00079068e+00,-1.05412492e+01,
 -3.59546047e+00, 1.30289468e+00,-2.21011010e+00,-4.50398058e+00,
  1.97293075e-02, 1.60111405e+00,-6.71255072e+00, 1.12087243e+01,
  1.84904352e+01,-3.15330001e+01, 1.92192169e+01,-3.89669583e+01,
  4.58518913e-01,-2.11391272e+00,-2.70498140e-01, 2.19823574e+01,
 -2.34572697e+01, 2.98041289e+01]

qfrc_actuator:
[ 4.82511912e-05, 2.42168169e-04,-3.82500357e-05, 1.98879784e-05,
 -1.83002233e-05,-2.72065749e-06,-2.47684811e-05, 6.01906391e-06,
  1.11714836e-05, 1.44342005e-04,-3.62595504e-05, 3.18747281e-05,
  4.34060521e-02, 2.95257040e-04, 9.67085035e-03,-3.01593378e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.10452874, -1.99832896,  0.66009285, -1.99832896,  1.92590447,
       -0.54075732,  0.66009285, -0.54075732,  0.46746963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011699442142001258
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.80966404e-01, -8.59317545e-01, -1.73909966e-01, -8.49391919e-02,
       -1.51756416e-01,  9.84761557e-01, -8.72614836e-01,  4.88408996e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10056148, -0.03796879,  0.30255744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007521782129247395
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47601061e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.47601061e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07077117, -0.04175009,  0.06198311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67532849e-06, 6.58949911e-06, 1.54631983e-08,-1.88860749e-05,
 -2.08829167e-05, 1.76754281e-05,-3.29323437e-05,-2.24479378e-05,
  1.84659731e-07,-1.73266511e-05,-2.84038354e-05, 9.35972416e-06,
  5.48310822e-02, 6.15404790e-03, 7.38830347e-04, 1.89768338e-04,
 -2.86992761e-04, 2.84670483e-04,-9.80996064e+00,-6.52564625e-02,
 -8.82509205e-03,-5.97437764e-03]


--- Step 884 ---
qpos:
[ 0.0098959 , 0.00808332,-0.00564819, 0.03346879, 0.00351085, 0.00285495,
 -0.00676442, 0.03912567, 0.0130378 , 0.0059073 ,-0.01168714, 0.03408197,
  0.88404904, 0.00365014, 1.05589076, 0.04655152, 0.09034402,-0.06726137,
  0.14225745, 0.9466162 ,-0.03640083, 0.03222013, 0.31867634]

qacc:
[ -0.19345593, -3.8510754 , 17.61762271,-34.8510032 ,  3.88179732,
   0.74725867,  0.10150917, -9.33569547, -3.10419633, -2.50619801,
  11.05084924,-21.84625084, 35.33905715,-47.9043815 ,  3.85111298,
  14.04766792,  0.44036376, -2.00270001, -0.38527127, 20.74650234,
 -22.99158982, 29.68890794]

qfrc_actuator:
[ 4.70380884e-05, 2.49537886e-04, 8.03773983e-08,-2.58828299e-05,
  5.13795487e-06,-7.20474582e-06,-6.10326859e-05,-2.44381549e-05,
 -7.09201541e-06, 1.37472113e-04,-1.58950115e-05, 2.32219804e-06,
  4.34161263e-02, 4.20016831e-04, 9.64950521e-03,-2.69001339e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.10452874, -1.95544478,  0.77799545, -1.95544478,  1.84936251,
       -0.64134498,  0.77799545, -0.64134498,  0.49254668,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011405951485498938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.67505412e-01, -8.64903863e-01, -1.82701936e-01, -8.68764173e-02,
       -1.60724875e-01,  9.83168349e-01, -8.79710849e-01,  4.75509013e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10061437, -0.03801297,  0.30264398])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007346643291683552
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.55598836e-14, -3.77799418e-14,  1.00000000e+00, -2.85464801e-27,
        1.00000000e+00,  3.77799418e-14, -1.00000000e+00,  0.00000000e+00,
       -7.55598836e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07076897, -0.04174507,  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:
[-1.25473978e-06, 1.02802345e-05, 3.90638033e-05,-4.58500194e-05,
  2.28529050e-05,-2.34026650e-06,-3.74351140e-05,-3.12721530e-05,
 -1.82548567e-05,-2.21233765e-05, 1.35710776e-05,-3.11036123e-05,
  5.42291458e-02, 6.91960247e-03,-3.78107307e-05, 4.93282901e-04,
 -5.49160893e-04, 4.69585264e-04,-9.80981144e+00,-6.52974577e-02,
 -8.87453023e-03,-5.96647379e-03]


--- Step 885 ---
qpos:
[ 0.00989652, 0.00808296,-0.005649  , 0.0334679 , 0.00351088, 0.00285431,
 -0.00676509, 0.03912472, 0.01303784, 0.00590966,-0.01168575, 0.03408086,
  0.88398777, 0.00352296, 1.05633808, 0.04654699, 0.09035996,-0.06727792,
  0.14226804, 0.94649525,-0.0362291 , 0.03210904, 0.31906615]

qacc:
[ -0.16872034,  0.90880099, -5.30333998, 14.16078748, -0.57831937,
   1.30553933, -5.86155608, 11.6270627 ,  1.11256039, -1.48254416,
   8.69283422,-21.55363004, 48.66352743,-57.15670149, -0.93450698,
  21.20314179,  0.45554089, -1.90035198, -0.4838237 , 19.93893952,
 -21.71521074, 28.50264296]

qfrc_actuator:
[ 4.60699401e-05, 2.54154686e-04, 5.28576637e-06, 1.03848610e-06,
  1.14592563e-06, 8.04563501e-06,-6.44769860e-05,-6.35240987e-06,
 -5.01848502e-08, 1.68113957e-04,-4.41504389e-06,-3.26499392e-05,
  4.34351646e-02, 5.31997096e-04, 9.63083207e-03,-2.45842827e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.10452874, -1.91763917,  0.86700705, -1.91763917,  1.78099857,
       -0.71558141,  0.86700705, -0.71558141,  0.52181158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001088613670229214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45602671, -0.86943128, -0.19007602, -0.08828931, -0.16832674,
        0.98176938, -0.88557588,  0.46449474,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10069099, -0.03808919,  0.30278272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000715699176501508
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.32686384e-13, -3.87810641e-14,  1.00000000e+00, -9.02382558e-27,
        1.00000000e+00,  3.87810641e-14, -1.00000000e+00,  0.00000000e+00,
       -2.32686384e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07076635, -0.04173986,  0.06198392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.97374343e-07, 1.64973211e-05, 1.05722084e-05, 2.78271561e-05,
 -3.34031956e-06, 4.91117472e-06,-9.60455518e-06, 1.60861462e-05,
  6.52419138e-06, 1.96401654e-05, 7.46599983e-06,-3.60622493e-05,
  5.25380592e-02, 7.64693655e-03,-8.59596277e-04, 4.44753155e-04,
 -8.80795990e-04, 7.24944749e-04,-9.80957762e+00,-6.53488569e-02,
 -8.94394821e-03,-5.95336004e-03]


--- Step 886 ---
qpos:
[ 0.00989712, 0.00808275,-0.00565004, 0.03346736, 0.0035112 , 0.00285372,
 -0.00676585, 0.03912469, 0.01303797, 0.00591219,-0.01168486, 0.03408042,
  0.88400019, 0.00339261, 1.05679279, 0.04654288, 0.09037789,-0.06730169,
  0.14227636, 0.94635984,-0.03600616, 0.03197477, 0.31950623]

qacc:
[ -0.15351263,  1.55085414, -6.6712951 , 12.83841679,  2.60921165,
   2.22264954,-11.64969034, 27.48552576,  0.72167287,  3.03021984,
 -13.29669248, 25.52998676, 58.9872965 ,-61.92780249,  5.35274407,
 -12.90431604,  0.49680167, -1.80522381, -0.56837373, 19.46861897,
 -19.81555844, 26.49383354]

qfrc_actuator:
[ 4.52535521e-05, 2.57022947e-04,-9.07726520e-06, 1.72319274e-05,
  1.65323856e-05, 1.74112500e-05,-6.61572185e-05, 4.01900130e-05,
  4.08284981e-06, 1.67697191e-04,-3.36352960e-05, 5.05642304e-07,
  4.34458170e-02, 6.37323568e-04, 9.58687861e-03,-2.49827607e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.10452874, -1.88572207,  0.93439472, -1.88572207,  1.72233262,
       -0.77131821,  0.93439472, -0.77131821,  0.54791489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010163915139890629
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44645344, -0.873049  , -0.19612434, -0.08929457, -0.1746174 ,
        0.98057903, -0.89034027,  0.45529573,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10078774, -0.03819505,  0.30296731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006957883240444745
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.97816654e-14, -3.98908327e-14,  1.00000000e+00, -3.18255706e-27,
        1.00000000e+00,  3.98908327e-14, -1.00000000e+00,  0.00000000e+00,
       -7.97816654e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07076342, -0.04173456,  0.06198437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.38480964e-07, 1.54922675e-05,-8.67520475e-06, 1.78122817e-05,
  1.52929255e-05, 1.08494294e-05,-1.27455894e-06, 4.67388408e-05,
  4.33523375e-06, 1.04658575e-05,-2.55332010e-05, 3.35475111e-05,
  4.97944943e-02, 8.17422675e-03,-1.52979796e-03, 1.46155524e-04,
 -1.26743214e-03, 1.03361858e-03,-9.80927430e+00,-6.54072256e-02,
 -9.03179576e-03,-5.93516227e-03]


--- Step 887 ---
qpos:
[ 0.00989805, 0.00808251,-0.00565112, 0.03346633, 0.00351205, 0.00285308,
 -0.00676655, 0.03912488, 0.01303814, 0.0059143 ,-0.0116841 , 0.03408077,
  0.88410057, 0.00326164, 1.0572547 , 0.04653923, 0.09039794,-0.06733227,
  0.14228216, 0.94621077,-0.03573444, 0.03182013, 0.31999329]

qacc:
[  2.90035615, -0.9213241 ,  5.24500025,-13.46296246,  4.63659246,
   0.18281939, -1.69370878,  5.40041469,  0.43741478,  1.39275273,
  -9.13955474, 23.3975059 , 68.07823538,-68.29119681,  4.43087697,
 -11.41670408,  0.53125914, -1.70135104, -0.62973249, 18.83007067,
 -18.06239211, 24.8313797 ]

qfrc_actuator:
[ 6.22855668e-05, 2.40979046e-04,-1.71414596e-05,-8.54410349e-06,
  4.32098527e-05, 5.47414971e-06,-6.67994218e-05, 4.98311046e-05,
  6.46240077e-06, 1.13074928e-04,-5.12113535e-05, 3.79284763e-05,
  4.34477823e-02, 7.72304369e-04, 9.54906407e-03,-2.46753971e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.08085306, -1.80488073,  1.03554575, -1.80488073,  1.59862614,
       -0.84048635,  1.03554575, -0.84048635,  0.61594663,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000926505676568715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39506446e-01, -8.75591557e-01, -2.00433303e-01, -8.99163700e-02,
       -1.79132787e-01,  9.79707350e-01, -8.93727660e-01,  4.48609930e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10090092, -0.03832779,  0.30319109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006753443800751879
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46590419e-13, -4.10984032e-14,  1.00000000e+00, -1.01344725e-26,
        1.00000000e+00,  4.10984032e-14, -1.00000000e+00,  0.00000000e+00,
       -2.46590419e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07076027, -0.04172923,  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:
[ 1.70149607e-05,-8.39058769e-06,-5.30102171e-06,-2.50617286e-05,
  2.71141393e-05,-4.09504524e-06, 3.07421002e-06, 1.09740418e-05,
  2.51489979e-06,-5.27053422e-05,-1.74374267e-05, 3.76340389e-05,
  4.61143890e-02, 8.47167013e-03,-1.94436583e-03, 1.53899529e-04,
 -1.69078780e-03, 1.37575296e-03,-9.80892038e+00,-6.54677497e-02,
 -9.13587516e-03,-5.91208263e-03]


--- Step 888 ---
qpos:
[ 0.00989953, 0.00808215,-0.00565229, 0.03346571, 0.00351252, 0.00285256,
 -0.00676728, 0.03912447, 0.013038  , 0.00591594,-0.01168345, 0.03408088,
  0.88430031, 0.00313268, 1.05772237, 0.04653479, 0.0904203 ,-0.06736925,
  0.14228524, 0.94604902,-0.03541628, 0.03164844, 0.32052349]

qacc:
[  4.7556901 ,  0.87758958, -5.1071234 , 12.37063889, -3.31635113,
  -0.99842671,  6.28573648,-16.58860728, -2.78892237, -0.77562705,
   2.89048013, -6.50360827, 74.8837468 ,-72.27359718,  5.64946685,
 -19.69408273,  0.57678105, -1.60067251, -0.67867422, 18.33332738,
 -16.06491472, 22.86833561]

qfrc_actuator:
[ 8.96861503e-05, 2.31465484e-04,-2.15224878e-05, 1.21945379e-05,
  2.30553978e-05, 1.63555305e-05,-6.69417662e-05, 1.99070596e-05,
 -9.96151916e-06, 7.97135231e-05,-6.19953253e-05, 2.42584505e-05,
  4.34405983e-02, 9.06052757e-04, 9.53066120e-03,-2.51891597e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.97147741, -1.63305699,  1.10446732, -1.63305699,  1.38545542,
       -0.86648767,  1.10446732, -0.86648767,  0.69029532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008212570193460144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.36298873e-01, -8.76753393e-01, -2.02353109e-01, -9.01514298e-02,
       -1.81161531e-01,  9.79312626e-01, -8.95274267e-01,  4.45515418e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10102748, -0.0384849 ,  0.30344826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006547033951936343
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.27182366e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.27182366e-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([ 0.07075697, -0.04172393,  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:
[ 2.78857247e-05,-1.63481030e-05,-7.61818126e-06, 1.97122554e-05,
 -1.93856047e-05, 9.73721047e-06,-2.15667910e-07,-2.97780961e-05,
 -1.63641650e-05,-6.49082050e-05,-2.25508001e-05,-1.58067711e-05,
  4.17124656e-02, 8.64165561e-03,-2.33090927e-03, 7.81363179e-05,
 -2.14374079e-03, 1.74348819e-03,-9.80852813e+00,-6.55283353e-02,
 -9.25358468e-03,-5.88434508e-03]


--- Step 889 ---
qpos:
[ 0.00990028, 0.0080818 ,-0.00565358, 0.03346567, 0.00351206, 0.00285228,
 -0.0067681 , 0.03912404, 0.01303731, 0.00591684,-0.01168225, 0.03408082,
  0.88460615, 0.00300759, 1.05819398, 0.04652968, 0.09044516,-0.06741225,
  0.14228546, 0.94587558,-0.03505387, 0.03146308, 0.32109295]

qacc:
[ -6.30278981,  1.60508111, -8.12322371, 18.37952473, -8.22935277,
   0.56870899, -1.43136337,  0.98729191, -4.72311838, -2.87011689,
   9.56168539,-12.93471474, 78.76018187,-74.18046313,  2.36103819,
 -12.6262581 ,  0.62471468, -1.50524448, -0.71658914, 17.90927264,
 -14.06831972, 20.90061047]

qfrc_actuator:
[ 5.19537807e-05, 2.43734070e-04,-2.36385046e-05, 4.23951094e-05,
 -2.45052845e-05, 4.07805746e-05,-6.67228212e-05, 2.02239783e-05,
 -3.73204107e-05, 4.15664752e-05,-3.31508492e-05, 1.61538968e-05,
  4.34237314e-02, 1.00118110e-03, 9.49714593e-03,-2.56524616e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.77220233, -1.35636016,  1.14060871, -1.35636016,  1.06992085,
       -0.8351213 ,  1.14060871, -0.8351213 ,  0.77911394,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000702938704283986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39321757e-01, -8.75698329e-01, -2.00371731e-01, -8.98498201e-02,
       -1.79097293e-01,  9.79719944e-01, -8.93825153e-01,  4.48415651e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10116451, -0.0386638 ,  0.30373323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006341353154359353
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.75383374e-14, -4.37691687e-14,  1.00000000e+00, -3.83148026e-27,
        1.00000000e+00,  4.37691687e-14, -1.00000000e+00,  0.00000000e+00,
       -8.75383374e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07075359, -0.04171871,  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:
[-3.69416558e-05, 2.43093792e-06,-5.73260468e-06, 2.96234411e-05,
 -4.81071713e-05, 2.85714719e-05, 1.18987876e-06, 1.51634490e-07,
 -2.78392289e-05,-7.98529237e-05, 1.20859966e-05,-1.19786746e-05,
  3.67309994e-02, 8.64224372e-03,-2.66210028e-03, 6.89592343e-05,
 -2.61253602e-03, 2.12206503e-03,-9.80811343e+00,-6.55851945e-02,
 -9.38258061e-03,-5.85219472e-03]


--- Step 890 ---
qpos:
[ 0.00989989, 0.00808143,-0.00565462, 0.03346632, 0.00351103, 0.00285168,
 -0.00676842, 0.03912399, 0.0130363 , 0.00591706,-0.01168046, 0.03408135,
  0.88501893, 0.00288967, 1.05866668, 0.04652489, 0.09047272,-0.06746094,
  0.14228269, 0.94569149,-0.03464911, 0.03126748, 0.32169767]

qacc:
[-10.06250289,  0.6936252 , -5.38573492, 16.84237341, -4.95737424,
  -1.03221197,  1.47784545,  4.55214518, -2.80795507, -1.31666505,
   0.94047574,  8.71060506, 77.1076735 ,-69.13280669, -4.62332006,
   6.16960901,  0.67602992, -1.42205182, -0.74841911, 17.63973389,
 -12.09397324, 18.87798641]

qfrc_actuator:
[-6.06277855e-06, 2.51221487e-04,-6.55958640e-06, 7.79335751e-05,
 -5.22955211e-05, 2.14154916e-06,-4.84512100e-05, 3.83525412e-05,
 -5.31377876e-05, 1.87648780e-05, 1.09812677e-06, 4.69254913e-05,
  4.33968720e-02, 1.10597082e-03, 9.44919449e-03,-2.57284947e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.51396417, -1.00714338,  1.13037592, -1.00714338,  0.69950401,
       -0.72566847,  1.13037592, -0.72566847,  0.86740742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005736873212043839
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45375728, -0.87036925, -0.19121114, -0.08839442, -0.16955272,
        0.98154893, -0.88673038,  0.46228696,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10130963, -0.0388621 ,  0.30404123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006138556302775627
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.04303040e-14, -9.04303040e-14,  1.00000000e+00,  8.17763987e-27,
        1.00000000e+00,  9.04303040e-14, -1.00000000e+00,  0.00000000e+00,
        9.04303040e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07075018, -0.04171362,  0.0619862 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.90667647e-05, 8.94450696e-06, 1.79199197e-05, 3.60259718e-05,
 -2.91480152e-05,-2.24053854e-05, 2.43410348e-05, 1.94023914e-05,
 -1.66324871e-05,-6.55308246e-05, 1.88047322e-05, 2.75311291e-05,
  3.14036253e-02, 8.55921918e-03,-2.91743291e-03, 9.21898002e-05,
 -3.08778561e-03, 2.50140217e-03,-9.80768804e+00,-6.56356871e-02,
 -9.52074660e-03,-5.81591899e-03]


--- Step 891 ---
qpos:
[ 0.0098995 , 0.00808102,-0.0056557 , 0.03346741, 0.00351002, 0.00285055,
 -0.00676807, 0.03912418, 0.01303546, 0.00591723,-0.01167879, 0.03408185,
  0.88553198, 0.00278436, 1.05913811, 0.04651925, 0.09050319,-0.06751505,
  0.1422768 , 0.94549776,-0.03420347, 0.03106485, 0.32233382]

qacc:
[-2.37141950e-02, 9.67240559e-01,-5.38509266e+00, 1.31246977e+01,
  2.03164615e-01,-2.10380892e+00, 5.47121787e+00,-2.06633240e+00,
  1.42728695e+00, 2.11547011e-01,-7.86310602e-01, 7.43898443e-01,
  6.78349669e+01,-5.42117692e+01,-3.76348894e+00, 1.10688517e-02,
  7.26551730e-01,-1.35728043e+00,-7.77895648e-01, 1.75442144e+01,
 -1.02913637e+01, 1.69266623e+01]

qfrc_actuator:
[-4.52229583e-06, 2.38125202e-04,-1.37999589e-05, 9.85854389e-05,
 -5.04656567e-05,-3.83678447e-05,-1.99123616e-05, 4.90192046e-05,
 -4.42791657e-05, 4.09086281e-05, 2.83317257e-06, 4.70769201e-05,
  4.33601209e-02, 1.21170348e-03, 9.42997706e-03,-2.64669613e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.25653582, -0.6655652 ,  1.06578855, -0.6655652 ,  0.37796324,
       -0.5486523 ,  1.06578855, -0.5486523 ,  0.91391262,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004357780422570424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.49181363, -0.85461979, -0.16656641, -0.08308024, -0.14436773,
        0.98603024, -0.86672777,  0.49878149,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10146102, -0.03907762,  0.3043685 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000594035291825612
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.86895129e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.86895129e-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([ 0.07074675, -0.04170868,  0.06198664])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39324284e-07,-2.84426733e-06,-1.92131408e-06, 2.23605659e-05,
  9.91570294e-07,-4.71640310e-05, 2.75919418e-05, 1.09297485e-05,
  8.36369454e-06,-9.47618087e-06,-8.55723044e-06,-1.47548812e-06,
  2.60237340e-02, 8.31189649e-03,-3.00254644e-03,-2.69785229e-07,
 -3.56075402e-03, 2.87244103e-03,-9.80726139e+00,-6.56773942e-02,
 -9.66635337e-03,-5.77582781e-03]


--- Step 892 ---
qpos:
[ 0.00989947, 0.00808069,-0.00565744, 0.03346877, 0.00350904, 0.00284928,
 -0.00676751, 0.03912482, 0.01303542, 0.00591746,-0.01167774, 0.03408238,
  0.88612843, 0.00269889, 1.05960404, 0.04651669, 0.09053667,-0.06757449,
  0.14226776, 0.94529527,-0.03371824, 0.03085793, 0.32299803]

qacc:
[  3.1893494 ,  2.50351698, -9.92557106, 15.59300837,  0.26612384,
   0.18038119, -2.81392216, 10.41578083,  7.03818262,  1.83349172,
  -6.53924021,  7.85936946, 49.73129513,-28.83269972,-20.43893688,
  52.64738484,  0.75227528, -1.32864491, -0.78870179, 17.44194731,
  -8.75358148, 15.21941168]

qfrc_actuator:
[ 1.43138323e-05, 2.30452242e-04,-5.31957254e-05, 1.10274896e-04,
 -4.89757085e-05,-2.63911126e-05,-3.33337367e-06, 7.29553897e-05,
 -3.21850918e-06, 3.64013459e-05,-3.22340258e-05, 4.69735934e-05,
  4.33088604e-02, 1.29195469e-03, 9.43349788e-03,-2.52846643e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.09971708, -0.43033797,  1.01202119, -0.43033797,  0.18799335,
       -0.38768885,  1.01202119, -0.38768885,  0.9348616 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002914683807825706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08664213e-01, -8.46873826e-01, -1.55130402e-01, -7.98762658e-02,
       -1.32985803e-01,  9.87894002e-01, -8.57251714e-01,  5.14897562e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10161764, -0.03930857,  0.30471268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005748160365266873
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.36226880e-07, -3.36227010e-07,  1.00000000e+00,  1.13048559e-13,
        1.00000000e+00,  3.36227010e-07, -1.00000000e+00, -1.26217745e-29,
        3.36226880e-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([ 0.0710799 , -0.04189223,  0.06198707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88324948e-05,-8.67605097e-06,-3.94309205e-05, 1.19372575e-05,
  1.50010880e-06,-8.19290580e-06, 1.06218631e-05, 2.30838647e-05,
  4.12978427e-05,-1.16639106e-05,-3.81535538e-05,-8.39963082e-07,
  2.09633753e-02, 7.76750375e-03,-2.94873793e-03, 1.57318382e-04,
 -4.02653712e-03, 3.23039420e-03,-9.80683779e+00,-6.57089797e-02,
 -9.81824529e-03,-5.73225268e-03]


--- Step 893 ---
qpos:
[ 0.00990001, 0.00808042,-0.00565937, 0.03346988, 0.00350843, 0.00284817,
 -0.00676742, 0.0391254 , 0.01303552, 0.00591759,-0.01167734, 0.03408258,
  0.88682926, 0.00264057, 1.0600396 , 0.0465183 , 0.09056635,-0.06763901,
  0.14226062, 0.94509277,-0.03324094, 0.03065233, 0.32365898]

qacc:
[ 5.00261455e+00, 8.88992749e-02, 8.29953790e-01,-4.83238741e+00,
  3.23848703e+00, 1.41333049e+00,-4.49944615e+00, 4.17987784e+00,
  1.28039196e+00, 9.99196995e-01,-2.37718888e+00,-2.18462135e+00,
  6.17640553e+01,-3.37698084e+01,-6.12108804e+01, 1.40305557e+02,
 -9.47535747e-01,-1.27125355e+00, 4.74868001e-01,-3.48779493e+00,
  1.96010933e+00,-1.63912022e+00]

qfrc_actuator:
[ 4.31597878e-05, 2.43688078e-04,-5.79853930e-05, 9.88308055e-05,
 -2.99545354e-05,-1.86155595e-05,-2.92370200e-05, 6.90370607e-05,
  3.20048945e-06, 1.58200308e-05,-7.10755891e-05, 2.89358901e-05,
  4.32574542e-02, 1.39789810e-03, 9.41913458e-03,-2.56486169e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.018945  , -0.59549723,  0.82682039, -0.59549723,  0.35145424,
       -0.48074395,  0.82682039, -0.48074395,  0.67270089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001397489468794633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.07505596e-01, -8.47485715e-01, -1.55582882e-01, -7.99325346e-02,
       -1.33479673e-01,  9.87822842e-01, -8.57932900e-01,  5.13761754e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10177955, -0.0395538 ,  0.30507355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.35686972, -10.83091995,   5.94839494, -10.83091995,
        14.6306613 ,   4.14015123,   5.94839494,   4.14015123,
        19.89531448,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005695573514431923
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.74636726e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.74636726e-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([ 0.09299993, -0.05411617,  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:
[ 2.93831282e-05, 7.86631795e-07,-1.10048584e-05,-1.29470117e-05,
  1.90595718e-05, 6.41592985e-06,-2.54822579e-05,-3.45250907e-06,
  7.59226864e-06,-3.50282716e-05,-4.59971486e-05,-1.98797169e-05,
  1.67450743e-02, 6.88603677e-03,-2.70094704e-03,-3.58919231e-05,
 -4.48403231e-03, 3.57455060e-03,-9.80641853e+00,-6.57303058e-02,
 -9.97520396e-03,-5.68549291e-03]


--- Step 894 ---
qpos:
[ 0.0099009 , 0.00808017,-0.00566106, 0.03347048, 0.0035084 , 0.00284743,
 -0.00676801, 0.03912523, 0.01303536, 0.00591766,-0.01167746, 0.03408255,
  0.8876051 , 0.00261315, 1.06045881, 0.04651793, 0.09060337,-0.06770115,
  0.14225062, 0.94489771,-0.03272023, 0.03052103, 0.32429334]

qacc:
[  3.00563426, -1.72597662,  8.34274959,-17.63950912,  5.05079261,
   0.79998824,  1.00530353,-13.21305604, -2.37771339,  0.94465293,
  -2.4819172 , -0.65080729, 35.04800947, -2.76654287,-19.86941839,
  30.46931353,  1.83182261,  0.59243568, -0.71320112, 33.06928404,
  28.41538579,-11.86619292]

qfrc_actuator:
[ 5.99076877e-05, 2.51698901e-04,-4.22224792e-05, 7.39148236e-05,
 -7.67372742e-07, 4.14571579e-06,-6.22841495e-05, 3.09803663e-05,
 -1.08317091e-05, 2.12344914e-05,-9.41531470e-05, 1.82301683e-05,
  4.31957441e-02, 1.46849593e-03, 9.36984727e-03,-2.55434409e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([12.40219273, 12.24307633,  1.98026926, 12.24307633, 12.52015962,
       -0.72933402,  1.98026926, -0.72933402, 16.91132298,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00057227626799769
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.81214000e-14,  1.94001234e-13,  1.00000000e+00,  9.33561100e-27,
        1.00000000e+00, -1.94001234e-13, -1.00000000e+00,  0.00000000e+00,
       -4.81214000e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04875844, -0.06459935,  0.06198713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75888905e-05, 5.66102790e-06, 1.41435024e-05,-2.55139252e-05,
  2.97324410e-05, 2.09820021e-05,-3.49698992e-05,-3.87304185e-05,
 -1.38250825e-05,-2.45333253e-05,-3.66731231e-05,-1.41870748e-05,
  1.14669115e-02, 5.60228269e-03,-1.24704355e-03,-2.37888915e-04,
 -4.42415810e-03, 3.50865619e-03,-9.80649645e+00,-6.56736187e-02,
 -9.99755918e-03,-5.63080704e-03]


--- Step 895 ---
qpos:
[ 0.00990163, 0.00808009,-0.00566266, 0.03347146, 0.00350837, 0.00284678,
 -0.00676839, 0.03912493, 0.01303538, 0.00591782,-0.01167801, 0.03408271,
  0.88842916, 0.00261185, 1.06087092, 0.04651759, 0.09063765,-0.06775022,
  0.14224562, 0.9447309 ,-0.03229111, 0.0304627 , 0.32482739]

qacc:
[-1.32422593e+00, 7.82226469e-01,-4.03792752e+00, 1.02969839e+01,
  5.18316115e-02,-7.14592551e-01, 3.28841071e+00,-6.00530316e+00,
  1.55114056e+00, 1.65921484e+00,-6.57224187e+00, 1.04913666e+01,
  1.76410775e+01, 9.67519381e+00,-1.11461940e+01, 2.24000084e+01,
 -6.84391703e-01, 3.26961845e+00, 1.24851909e+00,-2.94457860e+01,
  5.05351380e+01,-5.21803090e+01]

qfrc_actuator:
[ 5.16449531e-05, 2.74352102e-04,-3.22353143e-05, 9.45404124e-05,
 -1.34124435e-06, 1.78821616e-05,-4.59689435e-05, 2.64185052e-05,
 -1.27221771e-06, 4.22378628e-05,-1.07629235e-04, 2.97112946e-05,
  4.31214115e-02, 1.50328406e-03, 9.32074018e-03,-2.45793772e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([13.25777665, -9.25000556,  9.49768598, -9.25000556, 25.14694176,
       11.57911976,  9.49768598, 11.57911976, 24.53493642,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006235665663152506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.90220134e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.90220134e-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([ 0.08207335, -0.11253404,  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:
[-7.75674369e-06, 2.76780889e-05, 1.20355240e-05, 2.08630563e-05,
  2.81774542e-07, 1.66313259e-05, 1.50170750e-05,-5.62437954e-06,
  9.16012506e-06,-9.05364836e-07,-2.35504757e-05, 8.88557044e-06,
  7.64402650e-03, 4.09473536e-03,-4.93153054e-04,-4.61361819e-05,
 -4.42593588e-03, 3.27316758e-03,-9.80663714e+00,-6.54810157e-02,
 -1.01460879e-02,-5.57952980e-03]


--- Step 896 ---
qpos:
[ 0.00990191, 0.00808006,-0.00566354, 0.03347299, 0.00350834, 0.00284592,
 -0.00676847, 0.03912495, 0.01303551, 0.00591829,-0.01167917, 0.03408333,
  0.88928551, 0.00262918, 1.06127931, 0.04651907, 0.09067   ,-0.06778639,
  0.14224383, 0.94458617,-0.03194907, 0.03046832, 0.32528127]

qacc:
[-3.92204464e+00,-7.96622372e-01, 6.06884169e-01, 7.80570365e+00,
 -4.05195474e-02,-4.80216688e-01,-4.72013411e-02, 5.28881577e+00,
  9.79411862e-01, 3.09097027e+00,-1.23729574e+01, 2.11551025e+01,
  1.09934490e+01, 8.45799398e+00,-1.13223223e+01, 3.09184492e+01,
 -4.81104996e-01, 3.22576435e+00, 8.03449643e-01,-2.91748274e+01,
  4.53063433e+01,-4.17499063e+01]

qfrc_actuator:
[ 2.87317426e-05, 2.87869572e-04, 9.85477853e-06, 1.24052245e-04,
 -1.67794978e-06,-9.17349634e-06,-3.61440042e-05, 4.16365115e-05,
  4.35055847e-06, 7.24814356e-05,-1.33000856e-04, 5.41741009e-05,
  4.30551930e-02, 1.54451280e-03, 9.25019442e-03,-2.32896169e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 13.95692525,   2.90387885, -13.6514926 ,   2.90387885,
        14.48965329,   0.11331931, -13.6514926 ,   0.11331931,
        13.98102998,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006660495771514813
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.33438728e-14, -8.33438728e-14,  1.00000000e+00,  6.94620113e-27,
        1.00000000e+00,  8.33438728e-14, -1.00000000e+00,  0.00000000e+00,
        8.33438728e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08214132, -0.11249896,  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:
[-2.31241980e-05, 3.23897937e-05, 5.00286855e-05, 3.15221130e-05,
 -3.23261442e-07,-1.48652966e-05, 1.49281824e-05, 1.63437311e-05,
  5.88337809e-06, 2.52571000e-05,-2.81480810e-05, 2.37822576e-05,
  5.16826098e-03, 2.83191138e-03,-2.21490500e-04, 7.84685684e-05,
 -3.17210136e-03, 2.13928256e-03,-9.80789503e+00,-6.51710270e-02,
 -9.90884408e-03,-5.52293028e-03]


--- Step 897 ---
qpos:
[ 0.00990192, 0.00807992,-0.00566319, 0.03347415, 0.0035083 , 0.00284492,
 -0.00676869, 0.03912517, 0.01303536, 0.00591857,-0.01168043, 0.03408428,
  0.89016362, 0.00265884, 1.06168532, 0.04652255, 0.09070106,-0.06780985,
  0.14224367, 0.94445864,-0.03169024, 0.0305306 , 0.32567084]

qacc:
[-2.38849425e+00,-4.35393125e+00, 1.68387284e+01,-2.50203999e+01,
 -3.52075557e-02, 6.49821404e-01,-3.43964885e+00, 7.31868299e+00,
 -2.44615123e+00, 7.10023644e-01,-4.24399607e+00, 1.00773026e+01,
  7.62627417e+00, 5.22285798e+00,-9.77265777e+00, 2.85429027e+01,
 -3.21771514e-01, 3.17585502e+00, 4.06098606e-01,-2.88257909e+01,
  4.10586049e+01,-3.35274113e+01]

qfrc_actuator:
[ 1.51398171e-05, 2.78206840e-04, 7.05342981e-05, 1.05308404e-04,
 -1.86298354e-06,-2.49387869e-05,-4.81586301e-05, 5.05659191e-05,
 -1.01486761e-05, 3.69890543e-05,-1.47391985e-04, 6.83238592e-05,
  4.29722383e-02, 1.53338529e-03, 9.16673691e-03,-2.21776035e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.42593377,   3.06973155, -14.09554232,   3.06973155,
        15.75316579,   0.289045  , -14.09554232,   0.289045  ,
        14.48888207,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006953362762498888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.98335325e-14, -7.98335325e-14,  1.00000000e+00,  6.37339292e-27,
        1.00000000e+00,  7.98335325e-14, -1.00000000e+00,  0.00000000e+00,
        7.98335325e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08219473, -0.11247376,  0.06198438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42420748e-05, 2.01337041e-05, 7.46304210e-05,-1.50119053e-05,
 -2.00695641e-07,-2.02621452e-05,-1.26702155e-05, 9.12908927e-06,
 -1.43226045e-05,-2.61661809e-05,-1.18116731e-05, 1.47209957e-05,
  3.47276779e-03, 1.89045974e-03,-1.30481915e-04, 9.55525881e-05,
 -2.28045951e-03, 1.34044233e-03,-9.80877042e+00,-6.49513254e-02,
 -9.72497800e-03,-5.48542230e-03]


--- Step 898 ---
qpos:
[ 0.00990211, 0.00807984,-0.00566238, 0.03347512, 0.00350826, 0.00284369,
 -0.00676874, 0.03912584, 0.01303504, 0.00591828,-0.01168109, 0.03408503,
  0.89105631, 0.00269608, 1.06209043, 0.04652318, 0.09073134,-0.06782082,
  0.14224373, 0.94434442,-0.03151128, 0.03064368, 0.32600861]

qacc:
[ 1.60798543e+00,-1.62113521e+00, 6.74349710e+00,-1.10134896e+01,
 -6.87724559e-03, 1.17556180e-01,-2.74511806e+00, 1.03051982e+01,
 -1.48713646e+00,-2.82111653e+00, 9.75432714e+00,-1.34985063e+01,
  5.34482117e+00, 2.69472561e+00, 7.11899127e+00,-2.72236152e+01,
 -1.96783682e-01, 3.12464829e+00, 5.62028846e-02,-2.84444849e+01,
  3.76130988e+01,-2.70472323e+01]

qfrc_actuator:
[ 2.49004331e-05, 2.72537681e-04, 8.83066261e-05, 9.38131917e-05,
 -1.95694451e-06,-3.39197856e-05,-3.74397913e-05, 7.34633931e-05,
 -1.86218746e-05,-2.05412065e-06,-1.19948969e-04, 5.84924138e-05,
  4.28843533e-02, 1.47194182e-03, 9.11815234e-03,-2.36665670e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.71190698,   3.22172089, -14.35481528,   3.22172089,
        17.41647042,   0.6069983 , -14.35481528,   0.6069983 ,
        14.84813856,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007137007790485039
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55558612e-13, -1.55558612e-13,  1.00000000e+00,  2.41984817e-26,
        1.00000000e+00,  1.55558612e-13, -1.00000000e+00,  0.00000000e+00,
        1.55558612e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08223667, -0.11245659,  0.06198397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.35936850e-06, 2.03559710e-05, 3.05992587e-05,-8.34493760e-06,
 -1.06607800e-07,-2.24995559e-05, 5.30255925e-06, 2.17708069e-05,
 -8.88980697e-06,-5.54872504e-05, 2.11024837e-05,-1.10742516e-05,
  2.29885733e-03, 1.21352221e-03,-7.04391910e-05,-1.55488938e-04,
 -1.63202801e-03, 7.77615589e-04,-9.80936246e+00,-6.47943664e-02,
 -9.57878180e-03,-5.46464443e-03]


--- Step 899 ---
qpos:
[ 0.00990242, 0.00807985,-0.00566165, 0.03347666, 0.00350822, 0.00284248,
 -0.00676873, 0.03912606, 0.01303496, 0.00591793,-0.01168133, 0.03408562,
  0.8919585 , 0.00273811, 1.06249494, 0.04652258, 0.09076123,-0.06781948,
  0.1422428 , 0.94424047,-0.03140937, 0.03080284, 0.32630442]

qacc:
[ 1.00903126e+00, 1.53732880e+00,-7.74048643e+00, 1.78089500e+01,
 -7.99812029e-03,-1.05366163e+00, 5.70441686e+00,-1.35819216e+01,
  2.17252324e+00,-1.65459551e+00, 6.50368391e+00,-1.01734537e+01,
  3.62937001e+00, 1.43908725e+00, 2.69032775e+00,-1.10365032e+01,
 -9.86477279e-02, 3.07501728e+00,-2.48967488e-01,-2.80601905e+01,
  3.48219924e+01,-2.19421498e+01]

qfrc_actuator:
[ 3.05721207e-05, 2.69133824e-04, 8.06179250e-05, 1.22156701e-04,
 -1.99662634e-06,-2.09191258e-05,-3.10912638e-05, 5.11643531e-05,
 -5.72134712e-06, 2.82329124e-05,-8.58305912e-05, 5.24006722e-05,
  4.28040233e-02, 1.41563357e-03, 9.11174567e-03,-2.41903422e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.85535759,   3.37106027, -14.46781262,   3.37106027,
        19.63158314,   1.11288034, -14.46781262,   1.11288034,
        15.11466332,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007231037039470284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.67678978e-14, -3.83839489e-14,  1.00000000e+00, -2.94665507e-27,
        1.00000000e+00,  3.83839489e-14, -1.00000000e+00,  0.00000000e+00,
       -7.67678978e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08226954, -0.11244595,  0.06198377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.94380142e-06, 1.39365569e-05,-1.50593206e-08, 3.01078920e-05,
 -5.16864346e-08, 2.49082438e-06, 3.12084625e-06,-2.26545567e-05,
  1.26266448e-05, 3.15503379e-06, 2.48823765e-05,-7.95423984e-06,
  1.49056239e-03, 7.79024990e-04,-4.24180667e-05,-6.79428733e-05,
 -1.14769942e-03, 3.86089872e-04,-9.80974022e+00,-6.46816748e-02,
 -9.45858439e-03,-5.45876787e-03]


--- Step 900 ---
qpos:
[ 0.00990279, 0.00808   ,-0.00566127, 0.0334782 , 0.00350783, 0.00284174,
 -0.00676914, 0.03912598, 0.01303469, 0.00591794,-0.01168161, 0.03408575,
  0.89286654, 0.00278363, 1.06289874, 0.04652362, 0.09079103,-0.06780603,
  0.14223981, 0.94414435,-0.0313821 , 0.0310043 , 0.326566  ]

qacc:
[ 5.62797634e-01, 1.17189227e+00,-3.89856691e+00, 4.30680787e+00,
 -3.05899022e+00, 1.19014540e+00,-2.10914297e+00,-2.62942259e+00,
 -1.68114069e+00,-2.68648371e-01, 3.55726921e+00,-1.14724300e+01,
  2.00124362e+00, 1.59285408e+00,-6.07386196e+00, 1.96048626e+01,
 -2.15100351e-02, 3.02861051e+00,-5.13346187e-01,-2.76911802e+01,
  3.25639384e+01,-1.79226096e+01]

qfrc_actuator:
[ 3.37840722e-05, 2.67028144e-04, 5.80062531e-05, 1.20445680e-04,
 -1.97564697e-05, 2.28513305e-05,-4.50751443e-05, 3.79667673e-05,
 -1.58506022e-05, 6.43409791e-05,-8.32769213e-05, 3.08654845e-05,
  4.27281593e-02, 1.39766487e-03, 9.10402418e-03,-2.32521181e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 14.8873872 ,   3.52784043, -14.46335506,   3.52784043,
        22.56412545,   1.87247754, -14.46335506,   1.87247754,
        15.34411401,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007252232268935427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.65435375e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.65435375e-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([ 0.08229527, -0.11244057,  0.06198372])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.38380836e-06, 6.96344085e-06,-1.87057286e-05,-5.33775823e-07,
 -1.77596256e-05, 4.48804115e-05,-1.38552594e-05,-1.34216312e-05,
 -9.77117173e-06, 4.26896685e-05, 5.99990603e-06,-2.06944234e-05,
  9.41304617e-04, 5.21938351e-04,-2.88050299e-05, 8.53045929e-05,
 -7.74610438e-04, 1.23227930e-04,-9.80995187e+00,-6.46008341e-02,
 -9.35579129e-03,-5.46637577e-03]


--- Step 901 ---
qpos:
[ 0.00990285, 0.0080803 ,-0.00566143, 0.03347903, 0.00350724, 0.00284103,
 -0.00676931, 0.03912611, 0.01303431, 0.00591831,-0.01168245, 0.03408566,
  0.89342322, 0.00265054, 1.06328209, 0.04652929, 0.0908181 ,-0.0677873 ,
  0.14223782, 0.94406949,-0.03140397, 0.03119624, 0.32676197]

qacc:
[-2.73370017e+00, 2.27975673e-01, 2.49548064e+00,-1.40917785e+01,
 -1.83597543e+00,-2.11338196e-01,-1.65201474e-02, 3.03074560e+00,
 -1.07136634e+00, 1.54054579e+00,-3.85622667e+00, 5.86396811e-01,
 -1.33675396e+02,-5.49567910e+01,-3.94220117e+01, 1.05223933e+02,
 -6.82197968e-01, 1.32179848e+00, 2.48322836e-01,-2.34016901e+01,
  4.23128415e+00,-3.53518344e+01]

qfrc_actuator:
[ 1.77711166e-05, 2.65620516e-04, 2.67500296e-05, 8.32999035e-05,
 -3.00509709e-05, 1.36256999e-05,-3.52980222e-05, 4.80056436e-05,
 -2.17077082e-05, 6.80260853e-05,-1.17100579e-04, 1.81579021e-05,
  4.26496353e-02, 1.41984391e-03, 9.02098317e-03,-2.50110694e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.99710017,  0.9970491 , -0.01009087,  0.9970491 ,  0.99716155,
        0.00606506, -0.01009087,  0.00606506,  1.59637108,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4031929362908708e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50163082, -0.85103948, -0.15523637, -0.07882694, -0.13373348,
        0.98787736, -0.86148293,  0.50778653,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10187878, -0.04020194,  0.30546814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 14.83086021,   3.62069113, -14.3821073 ,   3.62069113,
       127.74681273,  28.42655661, -14.3821073 ,  28.42655661,
        21.98723717,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007214877377028084
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.69398402e-14, -3.84699201e-14,  1.00000000e+00,  2.95986950e-27,
        1.00000000e+00,  3.84699201e-14, -1.00000000e+00,  0.00000000e+00,
        7.69398402e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08231537, -0.11243938,  0.0619838 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59145116e-05,-1.41375903e-06,-3.21503211e-05,-3.75098037e-05,
 -1.07826275e-05, 1.24603473e-05, 1.68912418e-05, 1.12248624e-05,
 -6.11955176e-06, 2.79081639e-05,-2.49796352e-05,-1.10726927e-05,
  5.71612253e-04, 3.70338046e-04,-8.55499987e-05,-1.74980711e-04,
 -4.77245821e-04,-3.92985151e-05,-9.81003103e+00,-6.45434856e-02,
 -9.26412152e-03,-5.48636987e-03]


--- Step 902 ---
qpos:
[ 0.00990306, 0.00808081,-0.00566201, 0.03347905, 0.00350687, 0.00284041,
 -0.00676962, 0.03912602, 0.01303386, 0.00591879,-0.01168332, 0.03408542,
  0.89384195, 0.00253433, 1.06357531, 0.0465428 , 0.09083462,-0.06776525,
  0.14223693, 0.94402613,-0.03145809, 0.03131511, 0.32687064]

qacc:
[ 1.32097175e+00,-2.24619993e-01, 4.60596295e+00,-1.81039213e+01,
  1.98191445e+00, 6.94512718e-02, 7.88166369e-01,-4.21042517e+00,
 -5.93728159e-01,-7.16331321e-02, 1.11732929e+00,-3.81214314e+00,
 -1.14224613e+02, 1.28053169e+02,-1.48600408e+02, 3.45897501e+02,
 -2.63503393e+00, 8.27993415e-01, 2.76436393e-01,-2.53067718e+01,
 -2.83445678e+01,-4.80117737e+01]

qfrc_actuator:
[ 2.60771601e-05, 2.82315197e-04, 8.37787342e-06, 4.33559618e-05,
 -1.81113076e-05, 8.35587337e-06,-4.72579960e-05, 3.61081223e-05,
 -2.49964960e-05, 6.98729021e-05,-1.18981140e-04, 1.07027170e-05,
  4.26014547e-02, 1.54029027e-03, 8.96378807e-03,-2.71819846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.01411681,  0.67213221, -0.75938869,  0.67213221,  0.56467422,
       -0.39780003, -0.75938869, -0.39780003,  0.66202543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012377969461679705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.01338187e-01, -8.51220169e-01, -1.55191002e-01, -7.87573616e-02,
       -1.33721820e-01,  9.87884484e-01, -8.61659620e-01,  5.07486650e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10176207, -0.04009538,  0.30521699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([14.7208692 , 14.71291948,  0.48372565, 14.71291948, 14.75236211,
       -0.95788304,  0.48372565, -0.95788304, 43.85568118,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007142841551222578
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.77157814e-14, -7.77157814e-14,  1.00000000e+00, -6.03974267e-27,
        1.00000000e+00,  7.77157814e-14, -1.00000000e+00,  0.00000000e+00,
       -7.77157814e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12609534, -0.09238611,  0.06198396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.85403763e-06, 7.63882890e-06,-2.39248208e-05,-4.18484675e-05,
  1.16363116e-05, 5.69189857e-06,-6.90691131e-06,-1.05585885e-05,
 -3.45121420e-06, 1.18119719e-05, 4.29759762e-07,-7.33758407e-06,
  1.80834207e-02, 9.41651356e-03, 9.00523067e-04,-6.17451751e-04,
 -1.95876770e-04,-7.66831505e-05,-9.81000781e+00,-6.45669157e-02,
 -9.18700176e-03,-5.51193051e-03]


--- Step 903 ---
qpos:
[ 0.00990372, 0.00808138,-0.00566252, 0.03347857, 0.00350665, 0.00284018,
 -0.00677051, 0.03912613, 0.01303337, 0.00591989,-0.01168417, 0.03408502,
  0.89412994, 0.00243103, 1.06378864, 0.04655486, 0.09084163,-0.0677404 ,
  0.14223638, 0.94401462,-0.03153457, 0.03136191, 0.32689204]

qacc:
[ 3.88536643e+00,-1.12016323e+00, 6.20041490e+00,-1.49141049e+01,
  1.25603139e+00, 2.54246098e+00,-9.14225929e+00, 1.31667164e+01,
 -3.30170919e-01, 4.41453279e-01, 2.66223140e-01,-3.46173481e+00,
 -1.06776376e+02, 1.17055117e+02,-1.05962849e+02, 2.17286802e+02,
 -2.38079515e+00, 7.00222076e-01, 8.58409318e-02,-2.04623907e+01,
 -2.94904437e+01,-4.78744596e+01]

qfrc_actuator:
[ 4.86365435e-05, 2.92008206e-04, 1.55917294e-05, 1.98691274e-05,
 -1.09355843e-05, 4.08954262e-05,-7.19807245e-05, 4.68798283e-05,
 -2.67486239e-05, 1.41733861e-04,-1.01987074e-04, 6.41902001e-06,
  4.25649209e-02, 1.63116423e-03, 8.95041104e-03,-2.71654565e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.04941433,  0.38219951, -0.97734026,  0.38219951,  0.29065102,
       -0.29672263, -0.97734026, -0.29672263,  0.93337773,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000212789753949871
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.01172459e-01, -8.51327888e-01, -1.55135405e-01, -7.87024256e-02,
       -1.33689648e-01,  9.87893216e-01, -8.61761043e-01,  5.07314405e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10166754, -0.04000645,  0.30501226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([14.77585295, 14.24756066, -3.91571776, 14.24756066, 15.67622504,
        3.2760548 , -3.91571776,  3.2760548 , 26.69596375,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007178748130866192
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54654127e-13, -7.73270635e-14,  1.00000000e+00,  1.19589495e-26,
        1.00000000e+00,  7.73270635e-14, -1.00000000e+00,  0.00000000e+00,
        1.54654127e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12609996, -0.0923689 ,  0.06198388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.27875025e-05, 7.21985305e-06, 4.39738701e-06,-2.48020070e-05,
  7.50925031e-06, 3.38738450e-05,-2.47523368e-05, 1.05729179e-05,
 -1.84523047e-06, 7.82312450e-05, 1.92377774e-05,-3.90398710e-06,
  2.49358674e-02, 8.66049022e-03, 5.39189189e-03,-1.00858642e-03,
 -9.21779564e-06,-1.54820937e-05,-9.80999366e+00,-6.46387294e-02,
 -9.13871131e-03,-5.53233074e-03]


--- Step 904 ---
qpos:
[ 0.00990464, 0.00808154,-0.00566276, 0.0334782 , 0.00350651, 0.00284037,
 -0.00677148, 0.03912634, 0.01303286, 0.00592147,-0.01168538, 0.03408496,
  0.89429777, 0.00233229, 1.0639383 , 0.04656606, 0.09083975,-0.06771316,
  0.14223544, 0.94403526,-0.03162577, 0.03133637, 0.32682607]

qacc:
[ 2.34756011e+00,-1.09132900e+00, 2.60625421e+00,-7.53200998e-01,
  7.62036668e-01, 9.49032050e-01,-2.97003015e+00, 4.34425762e+00,
 -1.69089530e-01, 2.33009765e+00,-8.79550637e+00, 1.48471409e+01,
 -9.30533401e+01, 9.51540877e+01,-8.49307866e+01, 1.75763941e+02,
 -2.22047909e+00, 5.95284919e-01,-9.98199755e-02,-1.68959742e+01,
 -3.08619358e+01,-4.78716608e+01]

qfrc_actuator:
[ 6.16440995e-05, 2.44296934e-04, 2.00867981e-05, 2.40183882e-05,
 -6.62825928e-06, 7.80288109e-05,-6.83569108e-05, 5.31807016e-05,
 -2.75826570e-05, 1.48539151e-04,-1.26964716e-04, 2.18551793e-05,
  4.25343673e-02, 1.77252062e-03, 8.93369277e-03,-2.57749152e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.09086026,  0.18634168, -1.07482691,  0.18634168,  0.18047159,
       -0.15783318, -1.07482691, -0.15783318,  1.06349688,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027965923286146137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50113571, -0.85136213, -0.15506622, -0.07866069, -0.13363393,
        0.98790408, -0.86178622,  0.50727163,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10159651, -0.03993715,  0.30485674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([14.73992169, 14.26218299, -3.72228797, 14.26218299, 16.04548585,
        5.00235207, -3.72228797,  5.00235207, 33.90675163,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007155260784884876
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.75808917e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.75808917e-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([ 0.126106  , -0.09235706,  0.06198393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36589500e-05,-4.38361420e-05, 5.66868964e-06, 4.12793617e-06,
  4.53319506e-06, 5.14371805e-05, 7.95066227e-06, 7.10370874e-06,
 -8.57276202e-07, 5.43279943e-05,-6.58609639e-06, 1.93785892e-05,
  3.14367597e-02, 8.15461413e-03, 9.36790693e-03,-7.97593791e-04,
  1.64507152e-05, 2.63606848e-05,-9.80996379e+00,-6.46849853e-02,
 -9.13137342e-03,-5.54378780e-03]


--- Step 905 ---
qpos:
[ 0.00990536, 0.00808134,-0.00566319, 0.03347792, 0.00350677, 0.00284074,
 -0.00677201, 0.03912626, 0.01303201, 0.00592282,-0.01168624, 0.03408479,
  0.89435363, 0.00223065, 1.06403699, 0.04657345, 0.09082947,-0.06768396,
  0.14223345, 0.94408862,-0.03172496, 0.03123752, 0.32667173]

qacc:
[ -1.7195904 ,  0.2417814 , -1.87984608,  3.82433978,  3.50850957,
  -1.53248808,  6.97659007,-12.58429267, -3.06764268, -1.49602572,
   5.37823498, -7.7395186 ,-81.88725391, 76.71691244,-58.19554291,
 107.25431263, -2.10323919,  0.49300731, -0.26056093,-13.85237654,
 -32.41716632,-48.33994959]

qfrc_actuator:
[ 5.11678361e-05, 2.15854442e-04, 4.95897994e-06, 2.65847062e-05,
  1.37103196e-05, 8.22337956e-05,-4.79959852e-05, 3.90739814e-05,
 -4.56232719e-05, 9.84369908e-05,-1.23504012e-04, 1.31858121e-05,
  4.25111556e-02, 1.84083150e-03, 8.90573540e-03,-2.64004019e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.12604102,  0.05447397, -1.12472262,  0.05447397,  0.13639286,
       -0.04793188, -1.12472262, -0.04793188,  1.12371953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003231555228302224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50122948, -0.85132232, -0.15498167, -0.07863146, -0.13355303,
        0.98791735, -0.86173436,  0.50735973,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1015502 , -0.0398895 ,  0.30475279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([14.63168411, 14.21925526, -3.44948689, 14.21925526, 16.31019305,
        6.91904268, -3.44948689,  6.91904268, 43.15292135,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007085014390886685
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.83500896e-14, -7.83500896e-14,  1.00000000e+00, -6.13873654e-27,
        1.00000000e+00,  7.83500896e-14, -1.00000000e+00,  0.00000000e+00,
       -7.83500896e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12611315, -0.09234944,  0.06198409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01030140e-05,-5.16085087e-05,-2.33415861e-05, 9.64576044e-07,
  2.04847942e-05, 3.49214373e-05, 3.22194364e-05,-1.14882193e-05,
 -1.80427917e-05,-2.02967503e-05, 1.45372078e-05,-6.19271669e-06,
  3.74178337e-02, 7.99433956e-03, 1.25223896e-02,-8.17201126e-04,
 -8.85286979e-05, 4.76972190e-05,-9.80993411e+00,-6.47028775e-02,
 -9.15691090e-03,-5.54615191e-03]


--- Step 906 ---
qpos:
[ 0.00990596, 0.00808109,-0.00566396, 0.03347798, 0.00350693, 0.00284109,
 -0.0067722 , 0.03912639, 0.01303129, 0.00592402,-0.01168646, 0.03408413,
  0.8943126 , 0.00212034, 1.0640974 , 0.04657912, 0.0908111 ,-0.06765308,
  0.14222984, 0.94417497,-0.03182721, 0.03106457, 0.32642863]

qacc:
[ -1.16171919,  1.60221533, -7.28396311, 13.90208208, -0.89441377,
  -0.57421565,  1.14258374,  1.90535836,  1.21329445, -3.00036895,
  12.41123014,-21.59716514,-66.38992287, 55.66372564,-47.00205813,
  92.49129148, -2.01915385,  0.41942982, -0.40564294,-11.63370059,
 -33.58373237,-48.5099707 ]

qfrc_actuator:
[ 4.47093003e-05, 2.34589676e-04,-3.82653987e-06, 4.59433662e-05,
  7.81721007e-06, 6.67459799e-05,-3.58209344e-05, 4.85593036e-05,
 -3.81423379e-05, 1.03480811e-04,-8.57827326e-05,-9.62993489e-06,
  4.25065899e-02, 1.90647103e-03, 8.92011559e-03,-2.57171809e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.14344904, -0.03533192, -1.14290305, -0.03533192,  0.12229372,
        0.03156819, -1.14290305,  0.03156819,  1.14247314,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000341847449331403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50145645, -0.85120709, -0.15488034, -0.07861437, -0.1334455 ,
        0.98793324, -0.86160386,  0.50758131,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10153012, -0.0398657 ,  0.30470337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([14.46563615, 14.1291069 , -3.10209085, 14.1291069 , 16.41702497,
        8.8879993 , -3.10209085,  8.8879993 , 54.94784583,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006978590780981203
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.12612114, -0.09234515,  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:
[-6.76235189e-06,-1.48977314e-05,-2.22798151e-05, 1.63606491e-05,
 -5.29935740e-06, 1.02037336e-05, 2.29606116e-05, 1.18724921e-05,
  6.96402434e-06,-3.61620052e-06, 3.50996113e-05,-2.33031989e-05,
  4.30098687e-02, 8.20622626e-03, 1.50839064e-02,-5.58495757e-04,
 -3.04870766e-04, 4.72387122e-05,-9.80991454e+00,-6.46889796e-02,
 -9.21004732e-03,-5.53909548e-03]


--- Step 907 ---
qpos:
[ 0.00990682, 0.00808082,-0.00566495, 0.0334793 , 0.00350702, 0.00284161,
 -0.00677258, 0.039127  , 0.01303135, 0.00592506,-0.01168652, 0.03408394,
  0.89408828, 0.00192239, 1.06408742, 0.04659686, 0.09079673,-0.06762112,
  0.14222746, 0.94426212,-0.03196772, 0.03091653, 0.32617676]

qacc:
[ 2.30041338e+00, 3.15322056e+00,-1.65829704e+01, 3.86491141e+01,
 -6.39517620e-01, 1.72526737e+00,-7.81440201e+00, 1.61541380e+01,
  6.91353301e+00, 2.87196284e-01,-3.24831940e+00, 1.09984868e+01,
 -7.02088099e+01,-2.42124117e+01,-1.38007574e+02, 3.37644534e+02,
  9.97777234e-01, 2.70574864e-01, 3.06003603e-01,-1.38451171e+01,
  1.81327790e+01,-4.47263120e+00]

qfrc_actuator:
[ 5.84277503e-05, 2.45963970e-04,-8.58426658e-06, 1.10581245e-04,
  4.27942853e-06, 7.50734617e-05,-4.64050884e-05, 7.18251614e-05,
  2.05853146e-06, 8.83711484e-05,-8.12037686e-05, 1.27340885e-05,
  4.25158860e-02, 2.01292064e-03, 8.93928712e-03,-2.30117905e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.13706882,  0.37015514, -1.07513286,  0.37015514,  0.87216735,
       -0.09120235, -1.07513286, -0.09120235,  1.10566896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003351777809622676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.01818006e-01, -8.51016543e-01, -1.54756366e-01, -7.86065302e-02,
       -1.33306212e-01,  9.87952664e-01, -8.61394046e-01,  5.07937297e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10153673, -0.03986734,  0.30470951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 14.39056374, -12.98033482,  -6.21282807, -12.98033482,
        16.86189787,  -5.16330793,  -6.21282807,  -5.16330793,
        25.17815758,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006930953292529074
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.00916539e-14, -8.00916539e-14,  1.00000000e+00,  6.41467302e-27,
        1.00000000e+00,  8.00916539e-14, -1.00000000e+00,  0.00000000e+00,
        8.00916539e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08233791, -0.11237105,  0.06198443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35223863e-05,-8.43950480e-07,-1.00015867e-05, 6.35493529e-05,
 -3.68630261e-06, 1.92721689e-05,-5.23983164e-06, 2.47280913e-05,
  4.04005396e-05,-1.09193785e-05, 7.33797200e-06, 2.29687727e-05,
  4.78628166e-02, 8.74687740e-03, 1.70150595e-02,-2.02620842e-04,
 -6.18327918e-04, 2.56832747e-05,-9.80990990e+00,-6.46403475e-02,
 -9.28676728e-03,-5.52240171e-03]


--- Step 908 ---
qpos:
[ 0.00990783, 0.00808067,-0.00566632, 0.03348103, 0.00350707, 0.00284221,
 -0.00677274, 0.03912752, 0.01303224, 0.00592557,-0.01168605, 0.03408438,
  0.8936876 , 0.00165648, 1.06402534, 0.04661099, 0.0907864 ,-0.06758872,
  0.14222616, 0.9443518 ,-0.03213559, 0.03078989, 0.32591251]

qacc:
[ 1.36928537e+00, 2.07678064e+00,-8.90551254e+00, 1.65450134e+01,
 -3.73582368e-01,-6.86378676e-01, 2.95512738e+00,-4.85783637e+00,
  7.29716140e+00,-8.80316534e-01,-6.17209605e-01, 1.12707128e+01,
 -8.19168761e+01, 8.86294289e+00,-6.21851752e+01, 1.14831685e+02,
  1.01328777e+00, 1.08459396e-01, 2.71638901e-01,-9.20334390e+00,
  1.47199871e+01,-6.33473427e+00]

qfrc_actuator:
[ 6.61581900e-05, 2.52910418e-04,-2.86663732e-05, 1.30331636e-04,
  2.16478193e-06, 7.97580849e-05,-3.47395124e-05, 6.75069495e-05,
  4.34347987e-05, 4.34691363e-05,-6.07749034e-05, 4.37116869e-05,
  4.25394363e-02, 2.19081470e-03, 8.88038965e-03,-2.34847350e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.13477315,  0.39660053, -1.06321123,  0.39660053,  0.6834664 ,
       -0.16834707, -1.06321123, -0.16834707,  1.07197609,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033272825885581305
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50219481, -0.85078374, -0.1548141 , -0.07869562, -0.13332068,
        0.98794362, -0.86116629,  0.50832335,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10154273, -0.03985072,  0.30470556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([14.35348825, 13.98565313,  3.22864235, 13.98565313, 15.08081344,
       -3.15058674,  3.22864235, -3.15058674, 28.00102448,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006907527363917143
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.20544911e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.20544911e-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([ 0.08233195, -0.11235036,  0.06198448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.11477369e-06, 7.15226130e-06,-1.92791215e-05, 2.06041575e-05,
 -2.21354090e-06, 1.54216841e-05, 1.58536923e-05,-3.19393497e-06,
  4.25227828e-05,-4.85306291e-05, 1.98591871e-05, 3.12071429e-05,
  5.70496264e-02, 1.33111059e-02, 2.04722524e-02,-8.54552765e-04,
 -7.27752920e-04, 1.19257011e-04,-9.80983811e+00,-6.46901571e-02,
 -9.32802963e-03,-5.51664016e-03]


--- Step 909 ---
qpos:
[ 0.00990893, 0.00808072,-0.00566766, 0.03348226, 0.00350674, 0.00284283,
 -0.00677242, 0.03912762, 0.01303328, 0.00592565,-0.01168528, 0.0340845 ,
  0.89313487, 0.00133463, 1.06392369, 0.04661822, 0.09078019,-0.0675563 ,
  0.14222573, 0.94444519,-0.03232272, 0.03068226, 0.32563342]

qacc:
[ 7.41432057e-01,-8.76060567e-01, 5.63076752e+00,-1.45721387e+01,
 -3.24523483e+00,-2.14497204e+00, 9.43639783e+00,-1.73547443e+01,
  1.28661792e+00,-2.08730323e+00, 7.95801279e+00,-1.36628639e+01,
 -7.31650378e+01, 1.31506184e+01,-3.39823135e+01, 4.23587748e+01,
  1.02699842e+00, 4.90370587e-03, 2.16173636e-01,-5.70034897e+00,
  1.22987077e+01,-7.60463198e+00]

qfrc_actuator:
[ 7.02958762e-05, 2.74815399e-04,-2.21854765e-05, 1.05737966e-04,
 -1.68485547e-05, 8.22860092e-05,-1.00537906e-05, 4.70083446e-05,
  4.96554652e-05, 1.66459779e-05,-4.90211626e-05, 2.62325016e-05,
  4.25934921e-02, 2.46243423e-03, 8.85542497e-03,-2.55786603e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.13386552,  0.40342038, -1.05967119,  0.40342038,  0.73483744,
       -0.15191133, -1.05967119, -0.15191133,  1.07603237,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033175230465821114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.02594037e-01, -8.50509890e-01, -1.55023100e-01, -7.88671227e-02,
       -1.33462124e-01,  9.87910845e-01, -8.60917656e-01,  5.08744326e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10155097, -0.0398204 ,  0.30469816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([14.24839258, 13.90336616,  3.11658476, 13.90336616, 15.22952405,
       -4.37691615,  3.11658476, -4.37691615, 33.77421093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006841460036115243
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.11393342e-14, -4.05696671e-14,  1.00000000e+00, -3.29179578e-27,
        1.00000000e+00,  4.05696671e-14, -1.00000000e+00,  0.00000000e+00,
       -8.11393342e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08232703, -0.11233671,  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:
[ 4.37282473e-06, 2.28222905e-05, 6.30921150e-06,-2.45542240e-05,
 -1.90713920e-05, 1.42679479e-05, 2.97071258e-05,-1.93535121e-05,
  7.41249651e-06,-4.85294924e-05, 5.24179583e-06,-1.82691880e-05,
  6.59217956e-02, 1.69856415e-02, 2.30458005e-02,-8.85425870e-04,
 -8.24514183e-04, 2.10336220e-04,-9.80977004e+00,-6.47373827e-02,
 -9.36119001e-03,-5.51532781e-03]


--- Step 910 ---
qpos:
[ 9.90938146e-03, 8.08081160e-03,-5.66886240e-03, 3.34831883e-02,
  3.50618727e-03, 2.84351309e-03,-6.77178739e-03, 3.91271399e-02,
  1.30336907e-02, 5.92557982e-03,-1.16853241e-02, 3.40847963e-02,
  8.92457724e-01, 9.65426108e-04, 1.06379342e+00, 4.66201118e-02,
  9.07780918e-02,-6.75241631e-02, 1.42225924e-01, 9.44543256e-01,
 -3.25229647e-02, 3.05915906e-02, 3.25337438e-01]

qacc:
[ -5.68863352, -0.903172  ,  4.56540065, -9.89486696, -1.97342824,
  -1.99796598,  9.73912679,-20.4584859 , -5.50352119,  2.47747097,
  -9.84196117, 14.30153065,-58.85482661,  8.21824153,-23.34153474,
  26.81011564,  1.02840913, -0.06886124,  0.15806291, -3.10188932,
  10.34559715, -8.66184014]

qfrc_actuator:
[ 3.67824305e-05, 2.70069080e-04,-1.77818961e-05, 9.07953386e-05,
 -2.79036639e-05, 8.35440656e-05, 4.34590063e-06, 1.71617456e-05,
  1.73817733e-05, 7.81855868e-07,-9.57191327e-05, 3.36413719e-05,
  4.26540344e-02, 2.82322343e-03, 8.87819677e-03,-2.68224800e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.1335262 ,  0.41469943, -1.05494362,  0.41469943,  0.86649294,
       -0.10497105, -1.05494362, -0.10497105,  1.09226197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003313863358768131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50302075, -0.85019727, -0.15535358, -0.07910651, -0.1337045 ,
        0.98785893, -0.86064643,  0.50920302,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10156195, -0.0397793 ,  0.30468948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([14.08960193, 13.77323403,  2.96899092, 13.77323403, 15.34788221,
       -5.83719831,  2.96899092, -5.83719831, 41.1685323 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000674249443339256
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.23302886e-14, -8.23302886e-14,  1.00000000e+00,  6.77827641e-27,
        1.00000000e+00,  8.23302886e-14, -1.00000000e+00,  0.00000000e+00,
        8.23302886e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08232292, -0.11232858,  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:
[-3.33791553e-05, 8.27638024e-06, 9.05642799e-06,-1.42244993e-05,
 -1.15927238e-05, 1.45108037e-05, 2.03257224e-05,-2.85856544e-05,
 -3.20783240e-05,-4.27083586e-05,-5.67181363e-05, 5.15274290e-06,
  7.35849898e-02, 2.01509007e-02, 2.50395745e-02,-6.66554138e-04,
 -9.14054314e-04, 2.97250433e-04,-9.80970956e+00,-6.47834407e-02,
 -9.38786960e-03,-5.51741997e-03]


--- Step 911 ---
qpos:
[ 9.91011766e-03, 8.08067871e-03,-5.67014194e-03, 3.34839847e-02,
  3.50585241e-03, 2.84416334e-03,-6.77121849e-03, 3.91266899e-02,
  1.30337134e-02, 5.92497445e-03,-1.16852607e-02, 3.40855117e-02,
  8.91681767e-01, 5.55644199e-04, 1.06364353e+00, 4.66191465e-02,
  9.07800574e-02,-6.74925226e-02, 1.42226540e-01, 9.44646844e-01,
 -3.27317250e-02, 3.05158345e-02, 3.25022705e-01]

qacc:
[  2.50266785, -0.37232201,  1.45335096, -3.49953409,  1.90444955,
   0.19232674, -0.89311817,  1.57360111, -3.41500231, -0.15482062,
  -2.22521037,  9.65073316,-44.5457383 ,  1.28423039,-18.34424066,
  26.73128815,  1.0163033 , -0.12515293,  0.10423535, -1.21777493,
   8.64865793, -9.643903  ]

qfrc_actuator:
[ 5.23883330e-05, 2.31649064e-04,-3.24917701e-05, 8.16324096e-05,
 -1.64282385e-05, 6.62309016e-05,-5.20968924e-06, 1.75513076e-05,
 -1.77357811e-06,-2.63734130e-05,-8.77201386e-05, 5.56140212e-05,
  4.26948264e-02, 3.23353606e-03, 8.87146616e-03,-2.70117667e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.13358277,  0.43473247, -1.04690858,  0.43473247,  1.06599853,
       -0.02806459, -1.04690858, -0.02806459,  1.12192885,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000331447386758346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50347899, -0.84984826, -0.15577817, -0.07940035, -0.13402396,
        0.98779206, -0.86035137,  0.5097014 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10157542, -0.03972957,  0.30468001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([13.88903891, 13.6060482 ,  2.78941826, 13.6060482 , 15.42838168,
       -7.50850896,  2.78941826, -7.50850896, 50.5135696 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006618754030869034
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -4.1934744e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  4.1934744e-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([ 0.08231945, -0.11232474,  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:
[ 1.46587901e-05,-3.25351518e-05,-1.23652254e-05,-8.77007736e-06,
  1.11512780e-05,-6.26031794e-06,-5.05775140e-06, 1.15679165e-06,
 -2.00802034e-05,-6.25402918e-05,-7.62810338e-06, 1.82813757e-05,
  7.98465411e-02, 2.29362167e-02, 2.64568803e-02,-4.20843240e-04,
 -1.00176888e-03, 3.80649139e-04,-9.80965741e+00,-6.48286164e-02,
 -9.40940818e-03,-5.52212823e-03]


--- Step 912 ---
qpos:
[ 9.91137981e-03, 8.08031725e-03,-5.67129115e-03, 3.34846513e-02,
  3.50600259e-03, 2.84482843e-03,-6.77137119e-03, 3.91269786e-02,
  1.30338509e-02, 5.92389882e-03,-1.16848050e-02, 3.40857657e-02,
  8.90828745e-01, 1.10844171e-04, 1.06348173e+00, 4.66173073e-02,
  9.07859958e-02,-6.74615673e-02, 1.42227386e-01, 9.44756736e-01,
 -3.29455135e-02, 3.04528987e-02, 3.24687425e-01]

qacc:
[  4.62325562, -0.94251974,  3.45398725, -5.72126292,  4.2428218 ,
   3.54868695,-15.75541734, 29.69111288,  1.02975249, -2.66881027,
  10.55762071,-18.8153428 ,-32.25912399, -4.92174519,-13.65487296,
  25.23661833,  0.99318522, -0.17129748,  0.05778351,  0.12517268,
   7.11250445,-10.59682742]

qfrc_actuator:
[ 7.90390040e-05, 2.26539837e-04,-2.30074345e-05, 7.58974303e-05,
  8.21355919e-06, 5.56041220e-05,-4.66376927e-05, 5.34513812e-05,
  4.71060554e-06,-4.21032077e-05,-6.52606057e-05, 3.27557923e-05,
  4.27578977e-02, 3.66798575e-03, 8.88453507e-03,-2.63942203e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.13403914,  0.46204776, -1.0356431 ,  0.46204776,  1.32861601,
        0.08680965, -1.0356431 ,  0.08680965,  1.17276889,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033193931875080473
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50397227, -0.84946495, -0.15627303, -0.07973693, -0.13439971,
        0.9877139 , -0.86003138,  0.51024114,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10159094, -0.03967288,  0.30466981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([13.65695326, 13.41114579,  2.57944589, 13.41114579, 15.45306497,
       -9.33840715,  2.57944589, -9.33840715, 62.20952808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006476982257965225
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.57052699e-14, -1.71410540e-13,  1.00000000e+00,  1.46907866e-26,
        1.00000000e+00,  1.71410540e-13, -1.00000000e+00,  0.00000000e+00,
        8.57052699e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0823165 , -0.11232421,  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:
[ 2.70593824e-05,-2.62123695e-05, 9.50716501e-07,-7.72705838e-06,
  2.49568009e-05,-1.51481694e-05,-4.33178055e-05, 3.54771654e-05,
  5.88942047e-06,-5.14821575e-05, 9.23973389e-06,-2.54459639e-05,
  8.48499698e-02, 2.54080058e-02, 2.74450769e-02,-2.17896834e-04,
 -1.09242683e-03, 4.62353496e-04,-9.80961308e+00,-6.48728360e-02,
 -9.42696156e-03,-5.52882972e-03]


--- Step 913 ---
qpos:
[ 9.91226171e-03, 8.08000267e-03,-5.67276461e-03, 3.34859305e-02,
  3.50610183e-03, 2.84576711e-03,-6.77210829e-03, 3.91266164e-02,
  1.30340643e-02, 5.92313391e-03,-1.16849701e-02, 3.40853679e-02,
  8.89916162e-01,-3.64218042e-04, 1.06331432e+00, 4.66153056e-02,
  9.07957842e-02,-6.74314538e-02, 1.42228309e-01, 9.44873659e-01,
 -3.31616986e-02, 3.04006736e-02, 3.24329877e-01]

qacc:
[-3.34750038e+00, 2.23595525e+00,-1.04563186e+01, 2.15262022e+01,
 -4.71475276e-01, 6.56343817e-01, 9.33258266e-01,-1.14644136e+01,
  6.42111732e-01, 8.02656123e-01, 4.84155075e-01,-1.10002505e+01,
 -2.26402471e+01,-9.33429369e+00,-7.02656335e+00, 1.43326668e+01,
  9.62505819e-01,-2.10469972e-01, 1.91572422e-02, 1.06158560e+00,
  5.70832317e+00,-1.15197038e+01]

qfrc_actuator:
[ 5.87037139e-05, 2.41508666e-04,-3.46879802e-05, 1.07772867e-04,
  4.89490606e-06, 8.44583843e-05,-7.10004552e-05, 2.11748291e-05,
  8.47724657e-06, 2.42922445e-06,-8.77078170e-05, 1.46337270e-06,
  4.28412624e-02, 4.09208119e-03, 8.92547353e-03,-2.56560398e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.13488421,  0.49343157, -1.0220017 ,  0.49343157,  1.63098565,
        0.23952221, -1.0220017 ,  0.23952221,  1.25052768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003328473876862473
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50450373, -0.84904895, -0.15681792, -0.08010634, -0.13481408,
        0.98762753, -0.85968538,  0.51082389,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10160813, -0.03961072,  0.30465888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.40231682,  13.19652754,   2.33960618,  13.19652754,
        15.39257141, -11.22601301,   2.33960618, -11.22601301,
        76.72254181,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006322756944754371
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.77958013e-14, -8.77958013e-14,  1.00000000e+00, -7.70810272e-27,
        1.00000000e+00,  8.77958013e-14, -1.00000000e+00,  0.00000000e+00,
       -8.77958013e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08231396, -0.1123262 ,  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:
[-1.95710453e-05, 2.06432174e-07,-1.72315489e-05, 3.06352107e-05,
 -2.61414494e-06, 1.29413795e-05,-3.16072038e-05,-3.37366529e-05,
  3.91387207e-06, 1.65970766e-05,-3.28171305e-05,-3.36735606e-05,
  8.87856882e-02, 2.75914546e-02, 2.80770081e-02,-1.01758350e-04,
 -1.18982439e-03, 5.44543151e-04,-9.80957589e+00,-6.49159002e-02,
 -9.44148937e-03,-5.53701363e-03]


--- Step 914 ---
qpos:
[ 9.91254821e-03, 8.07992042e-03,-5.67447957e-03, 3.34875515e-02,
  3.50581580e-03, 2.84687369e-03,-6.77286100e-03, 3.91254987e-02,
  1.30343206e-02, 5.92331892e-03,-1.16857901e-02, 3.40845170e-02,
  8.89050848e-01,-8.18233034e-04, 1.06331767e+00, 4.65776993e-02,
  9.08126983e-02,-6.74089531e-02, 1.42227870e-01, 9.44956243e-01,
 -3.32941027e-02, 3.04049248e-02, 3.24075211e-01]

qacc:
[-5.23609929e+00, 1.69609936e+00,-7.02692649e+00, 1.31371789e+01,
 -3.39183748e+00,-1.28304186e+00, 8.09672666e+00,-2.12798619e+01,
  3.40338260e-01, 2.15228666e+00,-3.94042229e+00,-3.55332406e+00,
  9.40001972e+00, 1.79255296e+01, 3.60232306e+02,-8.93307035e+02,
  1.78142139e+00,-1.90318944e+00,-3.40597753e-01, 4.66065294e+01,
  1.19112791e+01, 5.63836761e+01]

qfrc_actuator:
[ 2.86253061e-05, 2.68340290e-04,-4.09123716e-05, 1.26018957e-04,
 -1.48580496e-05, 1.01231312e-04,-6.72199925e-05,-1.54083866e-05,
  1.06063515e-05, 1.00278739e-04,-1.00737651e-04,-1.67618205e-05,
  4.29166990e-02, 4.53696802e-03, 8.93506326e-03,-2.55592019e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.13602857, -0.89336228,  0.70175834, -0.89336228,  1.79910032,
        0.84411294,  0.70175834,  0.84411294,  2.21061311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033407116144099715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50507627, -0.84860146, -0.15739606, -0.08050041, -0.13525237,
        0.98753556, -0.85931231,  0.51145122,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10162679, -0.03954434,  0.30464747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([13.18115674, -7.22389605, 11.02534439, -7.22389605, 19.60281902,
        4.20752578, 11.02534439,  4.20752578, 15.93796213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006189598756848325
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.79369143e-13,  1.96185000e-14,  1.00000000e+00,  3.51895354e-27,
        1.00000000e+00, -1.96185000e-14, -1.00000000e+00,  0.00000000e+00,
       -1.79369143e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04903247, -0.06442312,  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:
[-3.06342445e-05, 2.47165484e-05,-7.22618361e-06, 1.82567551e-05,
 -1.98200786e-05, 1.60098239e-05, 1.39215428e-06,-3.77783802e-05,
  2.24620523e-06, 9.89414817e-05,-1.47968604e-05,-1.93019065e-05,
  9.18376834e-02, 2.95580300e-02, 2.83638788e-02,-8.49519005e-05,
 -1.29673657e-03, 6.29371693e-04,-9.80954525e+00,-6.49575926e-02,
 -9.45376674e-03,-5.54625409e-03]


--- Step 915 ---
qpos:
[ 0.00991247, 0.00807996,-0.00567564, 0.03348865, 0.0035053 , 0.00284763,
 -0.00677339, 0.03912469, 0.0130346 , 0.00592403,-0.01168642, 0.03408379,
  0.88824758,-0.00123923, 1.06351314, 0.04653176, 0.0908345 ,-0.06739156,
  0.14222676, 0.94500642,-0.03335944, 0.03044712, 0.32391819]

qacc:
[-3.16959419e+00,-2.46250614e+00, 1.12476433e+01,-2.13414338e+01,
 -2.04559906e+00,-4.41134984e-01,-4.06191899e-01, 5.68605680e+00,
  2.06130555e-01, 4.30546041e-01,-1.07061383e+00, 2.60347971e+00,
  1.23322297e+01, 2.72057618e+01, 3.09405661e+02,-6.69447720e+02,
  1.22219571e+00,-1.27657906e+00,-1.68584147e-01, 3.58129399e+01,
  5.92631158e+00, 5.30385242e+01]

qfrc_actuator:
[ 1.08208967e-05, 2.84332777e-04,-8.31086528e-06, 1.00607862e-04,
 -2.63642453e-05, 5.74937974e-05,-6.46412703e-05,-9.52636832e-07,
  1.17555356e-05, 1.22839230e-04,-9.00820085e-05,-9.33208851e-06,
  4.29905597e-02, 5.00838304e-03, 8.92614946e-03,-2.62022040e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.13389394, -0.02816449,  1.1335441 , -0.02816449,  2.8242205 ,
        0.04199853,  1.1335441 ,  0.04199853,  1.13493745,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033178292510192256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50549825, -0.84823845, -0.15799699, -0.08088313, -0.13572387,
        0.98743959, -0.8590282 ,  0.51192827,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10165175, -0.03948898,  0.30464665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.2712793 ,   8.39551562, -10.27823777,   8.39551562,
        19.19791454,   4.8410204 , -10.27823777,   4.8410204 ,
        17.22554298,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006243790514588315
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.89061718e-14, -1.33359258e-13,  1.00000000e+00, -1.18564611e-26,
        1.00000000e+00,  1.33359258e-13, -1.00000000e+00,  0.00000000e+00,
       -8.89061718e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04906123, -0.06439961,  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:
[-1.86673242e-05, 2.91116386e-05, 3.74670641e-05,-2.42450367e-05,
 -1.20625781e-05,-3.61517450e-05, 4.74931146e-06, 1.44571628e-05,
  1.24854698e-06, 7.40117308e-05, 2.86121602e-05, 1.07853709e-05,
  8.95372301e-02, 2.89784574e-02, 1.98232058e-02, 1.63281932e-03,
 -5.88752456e-04, 3.55952659e-04,-9.80977362e+00,-6.49826333e-02,
 -9.28697600e-03,-5.55523800e-03]


--- Step 916 ---
qpos:
[ 0.00991218, 0.0080801 ,-0.0056761 , 0.03348942, 0.00350499, 0.00284783,
 -0.00677376, 0.03912444, 0.01303489, 0.00592468,-0.01168665, 0.03408357,
  0.88751434,-0.00161933, 1.06388625, 0.04648735, 0.09085947,-0.06737723,
  0.14222544, 0.94502589,-0.03337149, 0.03051319, 0.32385392]

qacc:
[-1.84958720e+00,-2.48863097e+00, 1.04321445e+01,-1.71972477e+01,
  1.87133397e+00,-3.42755334e-02,-3.29696351e+00, 1.30861173e+01,
  1.20711222e-01,-1.75773221e-01,-1.61260681e+00, 9.69371137e+00,
  1.38847851e+01, 3.32295775e+01, 2.58216400e+02,-5.21351042e+02,
  7.91909006e-01,-7.66677076e-01,-5.09863063e-02, 2.71202191e+01,
  1.57363395e+00, 5.00068557e+01]

qfrc_actuator:
[ 3.86553633e-07, 2.93838405e-04, 2.91351104e-05, 8.52391652e-05,
 -1.51667931e-05, 1.34066591e-05,-6.30155787e-05, 2.56093226e-05,
  1.23187477e-05, 8.25185996e-05,-8.35491777e-05, 1.30904701e-05,
  4.30710947e-02, 5.40431786e-03, 8.91936678e-03,-2.65317924e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.12971542, -0.07941107,  1.12692095, -0.07941107,  2.96143702,
        0.12907646,  1.12692095,  0.12907646,  1.13881109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003272342322257511
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50577081, -0.84796399, -0.15859685, -0.0812419 , -0.13620835,
        0.98734342, -0.85883388,  0.51225419,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10168142, -0.03944419,  0.30465331])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.28092821,   8.41781637, -10.27245938,   8.41781637,
        22.21119627,   7.31795122, -10.27245938,   7.31795122,
        19.27765863,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006249597773972104
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.88235583e-14, -8.88235583e-14,  1.00000000e+00, -7.88962451e-27,
        1.00000000e+00,  8.88235583e-14, -1.00000000e+00,  0.00000000e+00,
       -8.88235583e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04908235, -0.06438111,  0.06198595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09556700e-05, 3.24888976e-05, 4.72466949e-05,-1.32959015e-05,
  1.08410997e-05,-6.27265558e-05,-4.75710585e-06, 2.54603844e-05,
  6.24392410e-07, 7.42393966e-06, 2.57189548e-05, 2.67955056e-05,
  8.65040422e-02, 2.77243108e-02, 1.02146342e-02, 2.01786634e-03,
 -2.04590971e-04, 1.61716022e-04,-9.80989031e+00,-6.49779787e-02,
 -9.19960143e-03,-5.56266790e-03]


--- Step 917 ---
qpos:
[ 0.00991177, 0.00808023,-0.00567603, 0.03349038, 0.00350481, 0.00284798,
 -0.00677433, 0.03912482, 0.01303519, 0.00592515,-0.01168667, 0.03408365,
  0.88685454,-0.00195369, 1.06441408, 0.04645077, 0.09088623,-0.06736426,
  0.14222426, 0.94501613,-0.03334203, 0.03059224, 0.32387796]

qacc:
[-1.06096127e+00,-1.12949416e+00, 3.22659205e+00,-9.06671540e-01,
  1.19203973e+00, 1.75848647e+00,-9.00287370e+00, 2.01585695e+01,
  5.08034753e-02,-2.05234456e-01,-8.63149195e-01, 5.82622954e+00,
  1.44651041e+01, 3.69124402e+01, 2.05350121e+02,-3.85504886e+02,
  4.46262320e-01,-3.38349650e-01, 3.49581464e-02, 1.98808197e+01,
 -1.61687890e+00, 4.73063014e+01]

qfrc_actuator:
[-5.63042077e-06, 2.81670248e-04, 5.13637398e-05, 9.36540171e-05,
 -8.45137153e-06, 4.04651247e-05,-6.19862355e-05, 5.90653749e-05,
  1.25325184e-05, 5.81059785e-05,-7.97787217e-05, 2.63317390e-05,
  4.31473571e-02, 5.75161876e-03, 8.92955353e-03,-2.47858411e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.12446589, -0.15430635,  1.11382812, -0.15430635,  3.31706538,
        0.30375605,  1.11382812,  0.30375605,  1.16654732,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032138369652290463
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50589615, -0.84777899, -0.15918501, -0.08157122, -0.13669676,
        0.98724877, -0.85872884,  0.51243027,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10171414, -0.03940898,  0.30466505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.22828474,   8.40071862, -10.21838754,   8.40071862,
        25.98819838,  10.49015255, -10.21838754,  10.49015255,
        21.85242623,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006217926735901796
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.92759815e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.92759815e-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([ 0.04909747, -0.06436656,  0.06198602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.31924998e-06, 1.51851485e-05, 3.43015121e-05, 1.11824727e-05,
  7.00087392e-06,-7.90884387e-06,-1.16304556e-05, 3.10997157e-05,
  2.33725918e-07,-1.38194150e-05, 9.39473354e-06, 1.49703506e-05,
  8.30699015e-02, 2.60276982e-02, 1.34462559e-03, 2.11667027e-03,
 -4.33209154e-05, 4.17968424e-05,-9.80994470e+00,-6.49581413e-02,
 -9.16498655e-03,-5.56909446e-03]


--- Step 918 ---
qpos:
[ 0.00991163, 0.0080802 ,-0.00567554, 0.03349111, 0.00350472, 0.00284839,
 -0.00677503, 0.0391252 , 0.01303549, 0.00592541,-0.01168625, 0.03408284,
  0.88626763,-0.0022404 , 1.06506561, 0.04642206, 0.09091382,-0.06735132,
  0.1422234 , 0.94497854,-0.03328017, 0.0306766 , 0.32398602]

qacc:
[ 2.43783888e+00,-1.81674600e+00, 7.12019646e+00,-1.15440420e+01,
  7.09353857e-01, 7.34512426e-01,-2.17199515e+00, 2.35932970e+00,
  1.95989382e-02,-3.34436444e+00, 1.52640878e+01,-3.11807383e+01,
  1.41980031e+01, 3.83934379e+01, 1.59404420e+02,-2.91316619e+02,
  2.08163956e-01,-1.06201630e-02, 7.82343079e-02, 1.44160869e+01,
 -3.71560427e+00, 4.47990810e+01]

qfrc_actuator:
[ 8.75066878e-06, 2.56576817e-04, 6.43530166e-05, 8.04584194e-05,
 -4.43460913e-06, 7.44209259e-05,-6.10270375e-05, 6.08617120e-05,
  1.25392405e-05, 4.33733750e-05,-5.98834552e-05,-1.91917923e-05,
  4.32075754e-02, 6.10181049e-03, 8.89233131e-03,-2.41714831e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11893844, -0.29147852,  1.08030714, -0.29147852,  4.10795377,
        0.80646857,  1.08030714,  0.80646857,  1.33653236,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003150504860218695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05876796e-01, -8.47682872e-01, -1.59757365e-01, -8.18690443e-02,
       -1.37185550e-01,  9.87156312e-01, -8.58711900e-01,  5.12458655e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10174841, -0.03938212,  0.30467978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.12822113,   8.35699589, -10.12476221,   8.35699589,
        30.74289434,  14.53918112, -10.12476221,  14.53918112,
        25.12888586,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000615780485331896
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.80295260e-13, -9.01476298e-14,  1.00000000e+00, -1.62531903e-26,
        1.00000000e+00,  9.01476298e-14, -1.00000000e+00,  0.00000000e+00,
       -1.80295260e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0491079 , -0.06435514,  0.06198615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42038456e-05,-9.04556765e-06, 2.07338776e-05,-1.11426750e-05,
  4.21221166e-06, 2.84660250e-05,-1.02721854e-06, 1.66016598e-06,
  9.03499405e-09,-1.98944237e-05, 1.87106334e-05,-4.55004764e-05,
  7.94506831e-02, 2.40936920e-02,-6.43035318e-03, 1.78676887e-03,
 -3.89372813e-05,-8.16274427e-06,-9.80996419e+00,-6.49324444e-02,
 -9.16414554e-03,-5.57464229e-03]


--- Step 919 ---
qpos:
[ 0.00991133, 0.00807999,-0.00567487, 0.03349204, 0.00350503, 0.00284868,
 -0.00677532, 0.03912596, 0.01303578, 0.00592597,-0.01168581, 0.03408145,
  0.88572677,-0.00250381, 1.06579253, 0.04640223, 0.09094167,-0.06733808,
  0.14222287, 0.94491329,-0.03318729, 0.03075917, 0.32417797]

qacc:
[-1.49584624e+00,-3.68869375e-01, 1.23153082e-01, 3.16589035e+00,
  3.48089768e+00,-5.51082593e-01, 1.57821539e-01, 5.72856813e+00,
 -2.77469577e-02,-8.32370277e-01, 5.97619897e+00,-1.61906571e+01,
  1.45832076e+01, 1.14132336e+01, 8.42361166e+01,-1.33577613e+02,
  6.71363205e-02, 7.90097731e-02, 8.54509747e-02, 1.26246867e+01,
 -6.83889630e+00, 4.45568386e+01]

qfrc_actuator:
[-4.84433091e-07, 2.41626378e-04, 7.17086209e-05, 9.01364398e-05,
  1.57156037e-05, 5.89744626e-05,-4.23362160e-05, 7.95334388e-05,
  1.24242368e-05, 8.78162810e-05,-4.83808380e-05,-4.56487591e-05,
  4.32502474e-02, 6.38026493e-03, 8.80258262e-03,-2.49778682e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11365612, -0.56387667,  0.96035049, -0.56387667,  1.1444031 ,
        0.01805331,  0.96035049,  0.01805331,  1.12425625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003088217625798658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05716282e-01, -8.47673290e-01, -1.60315427e-01, -8.21364887e-02,
       -1.37675827e-01,  9.87065836e-01, -8.58780903e-01,  5.12343011e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10178297, -0.03936233,  0.30469593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.99283612,   8.2859909 , -10.00780422,   8.2859909 ,
        36.6175179 ,  19.56012468, -10.00780422,  19.56012468,
        29.18769882,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006076588489692392
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.86927932e-14, -3.65409975e-13,  1.00000000e+00,  2.51010319e-26,
        1.00000000e+00,  3.65409975e-13, -1.00000000e+00,  0.00000000e+00,
        6.86927932e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04911468, -0.06434619,  0.06198633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.83450388e-06,-1.62041723e-05, 7.64793574e-06, 9.78771231e-06,
  2.02798742e-05, 3.24940034e-07, 2.45041699e-05, 1.98878789e-05,
 -1.19452954e-07, 3.52213077e-05, 8.11767687e-06,-2.75473470e-05,
  7.58440496e-02, 2.19927447e-02,-1.27097915e-02, 1.31212938e-03,
 -1.48895161e-04, 8.09217940e-06,-9.80996263e+00,-6.49066233e-02,
 -9.18354352e-03,-5.57922890e-03]


--- Step 920 ---
qpos:
[ 0.00991091, 0.00807968,-0.00567442, 0.03349344, 0.00350591, 0.00284887,
 -0.00677534, 0.03912694, 0.01303607, 0.00592693,-0.01168564, 0.03408046,
  0.88514421,-0.00282101, 1.06639783, 0.04642114, 0.0909626 ,-0.06732017,
  0.14222187, 0.9448774 ,-0.03317306, 0.03080999, 0.32427918]

qacc:
[-9.54502339e-01, 1.48545832e+00,-7.46596203e+00, 1.60642503e+01,
  5.14711479e+00,-4.18726043e-01, 3.28029977e-01, 3.25686814e+00,
 -4.76961513e-02, 2.09970623e+00,-8.35417641e+00, 1.52381410e+01,
  1.72442879e+01,-7.70162409e+01,-2.99515768e+02, 7.80860435e+02,
 -1.73169907e+00, 1.16427218e+00,-1.21375054e-01,-4.04202566e+01,
 -1.19802456e+00,-4.93609823e+01]

qfrc_actuator:
[-5.79945673e-06, 2.32850940e-04, 5.79823237e-05, 1.13203039e-04,
  4.52007770e-05, 4.96597039e-05,-3.12557435e-05, 9.02102949e-05,
  1.22389559e-05, 1.14077801e-04,-5.94172779e-05,-2.51174119e-05,
  4.32875089e-02, 6.62097108e-03, 8.73979649e-03,-2.57907592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10572828,  0.65335793, -0.89205294,  0.65335793,  6.97643335,
        4.29982516, -0.89205294,  4.29982516,  4.25500869,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029912446248483765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05411770e-01, -8.47742916e-01, -1.60906465e-01, -8.23976913e-02,
       -1.38208216e-01,  9.86969660e-01, -8.58935133e-01,  5.12084404e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10182157, -0.03935168,  0.30472149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.91429892, -7.32500184, 10.63595151, -7.32500184, 18.66918205,
        3.96339994, 10.63595151,  3.96339994, 15.64390066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006029523040997631
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.20655761e-14, -4.60327880e-14,  1.00000000e+00,  4.23803515e-27,
        1.00000000e+00,  4.60327880e-14, -1.00000000e+00,  0.00000000e+00,
        9.20655761e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08239002, -0.11226419,  0.06198644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.57328783e-06,-1.58421042e-05,-1.57997171e-05, 2.28246484e-05,
  3.00600293e-05,-3.22105585e-06, 1.48511227e-05, 1.19231029e-05,
 -1.73610168e-07, 4.64322777e-05,-3.72265504e-06, 2.17863535e-05,
  7.35756547e-02, 2.10727191e-02,-1.65510799e-02, 7.84513053e-04,
 -3.65286258e-04, 9.68239407e-05,-9.80993721e+00,-6.48848303e-02,
 -9.21938609e-03,-5.58223241e-03]


--- Step 921 ---
qpos:
[ 0.00991043, 0.00807915,-0.00567404, 0.03349443, 0.0035068 , 0.00284942,
 -0.00677563, 0.03912698, 0.01303601, 0.0059277 ,-0.0116856 , 0.03407944,
  0.8845187 ,-0.00318644, 1.06685233, 0.0464454 , 0.09097933,-0.0672991 ,
  0.14222067, 0.94486603,-0.0332164 , 0.03084024, 0.32430501]

qacc:
[-5.28968413e-01,-9.75935039e-01, 4.81430570e+00,-1.17918186e+01,
 -2.93754827e-03,-7.05240127e-01, 7.16152662e+00,-2.32226769e+01,
 -3.06917888e+00, 4.98695496e-02,-4.54434220e-01, 3.95451513e-01,
  1.13992485e+01,-6.51044060e+01,-2.41113230e+02, 5.15118236e+02,
 -1.05154989e+00, 7.92718513e-01,-4.61684736e-02,-2.89722044e+01,
  4.84427176e-01,-4.08192271e+01]

qfrc_actuator:
[-8.75717744e-06, 2.10012115e-04, 4.97035127e-05, 9.06930953e-05,
  4.44339704e-05, 7.95600776e-05,-4.25108520e-05, 4.28296822e-05,
 -5.73899054e-06, 5.81942604e-05,-8.36954252e-05,-3.03866161e-05,
  4.33277646e-02, 6.92455424e-03, 8.68157576e-03,-2.76517536e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10236674,  0.13525487, -1.09403772,  0.13525487,  2.45260858,
        0.16692914, -1.09403772,  0.16692914,  1.12300403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029487694494986506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50524301, -0.84773025, -0.16150208, -0.08268323, -0.13873141,
        0.98687237, -0.85900697,  0.51196389,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10185254, -0.03932737,  0.30473033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.9131146 ,  8.31051774, -9.88351272,  8.31051774, 21.87634383,
        7.53670053, -9.88351272,  7.53670053, 19.25032336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000602881350790313
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.19346963e-14, -9.20764113e-14,  1.00000000e+00,  6.62348869e-27,
        1.00000000e+00,  9.20764113e-14, -1.00000000e+00,  0.00000000e+00,
        7.19346963e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08241123, -0.1122483 ,  0.06198644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.12210544e-06,-3.39813303e-05,-1.27116321e-05,-2.32943708e-05,
  8.55843328e-08, 3.16793320e-05,-9.68422965e-06,-4.67765878e-05,
 -1.79643958e-05,-2.97876121e-05,-1.44025482e-05,-2.98445075e-06,
  7.57021455e-02, 2.40738622e-02,-1.05426476e-02,-1.34222683e-03,
 -6.80335248e-05, 1.46292739e-05,-9.81000866e+00,-6.48937728e-02,
 -9.14923400e-03,-5.58825478e-03]


--- Step 922 ---
qpos:
[ 0.00990924, 0.00807814,-0.00567336, 0.03349514, 0.00350698, 0.00285034,
 -0.0067764 , 0.03912682, 0.01303609, 0.00592802,-0.01168596, 0.03407807,
  0.88410118,-0.00340388, 1.06723518, 0.04644492, 0.09099047,-0.0672856 ,
  0.14222224, 0.94485758,-0.03323633, 0.03084506, 0.32432713]

qacc:
[ -6.31421222, -1.98111845,  7.31722537,-12.12817715, -6.22749034,
   1.414688  , -3.43334835,  0.28967593,  1.1405426 , -0.19621643,
   1.31967493, -6.39236923, 50.16075606,103.47392963,-30.87948467,
 -45.34495177, -1.39562018, -1.89385247,  0.6909303 ,  7.0475965 ,
 -15.78654763, -2.28515705]

qfrc_actuator:
[-4.58102284e-05, 1.78905985e-04, 6.23757865e-05, 7.70446613e-05,
  8.11244065e-06, 9.70647850e-05,-6.67396590e-05, 3.26986843e-05,
  1.45939928e-06, 6.72563225e-06,-1.15954442e-04,-5.08790888e-05,
  4.33714294e-02, 7.28180518e-03, 8.60646991e-03,-3.15603533e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10208321, -0.06936507,  1.09989813, -0.06936507,  9.66908186,
        0.54027771,  1.09989813,  0.54027771,  1.13615582,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002945148071599498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50519001, -0.84764449, -0.16211687, -0.08299775, -0.13925966,
        0.98677157, -0.85900781,  0.51196247,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10187766, -0.03929172,  0.3047275 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.93055267,  3.91610994, 12.32328184,  3.91610994, 25.32223082,
       -3.93784502, 12.32328184, -3.93784502, 14.18192663,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006039261308161403
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.19171210e-14, -1.83834242e-13,  1.00000000e+00,  1.68975143e-26,
        1.00000000e+00,  1.83834242e-13, -1.00000000e+00,  0.00000000e+00,
        9.19171210e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09337053, -0.0537564 ,  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:
[-3.71512663e-05,-5.37196280e-05, 3.28152278e-06,-1.59994056e-05,
 -3.63057004e-05, 3.11985826e-05,-2.04993242e-05,-1.00197309e-05,
  6.68033710e-06,-7.12612182e-05,-4.02956466e-05,-2.23241519e-05,
  7.78952012e-02, 2.68516200e-02,-3.08964473e-03,-2.00337536e-03,
  7.32368909e-06, 9.03572662e-06,-9.80999203e+00,-6.49066991e-02,
 -9.13106758e-03,-5.59538106e-03]


--- Step 923 ---
qpos:
[ 0.00990795, 0.00807697,-0.00567239, 0.03349564, 0.00350707, 0.00285132,
 -0.00677739, 0.03912725, 0.01303659, 0.00592803,-0.01168706, 0.03407682,
  0.8838655 ,-0.00349596, 1.06758241, 0.04643525, 0.09099687,-0.06727875,
  0.14222587, 0.94485255,-0.03323416, 0.03082704, 0.32434371]

qacc:
[ -0.77863634, -1.47593502,  5.85274377, -9.86412053, -0.81266583,
   1.92347403, -9.23897689, 19.794384  ,  3.76800289,  1.91139805,
  -7.92968071, 11.42479702, 46.37034958, 84.03664403,-24.91811101,
  10.52531468, -1.18564087, -1.6640686 ,  0.51309114,  6.87401697,
 -14.33871065, -3.20944993]

qfrc_actuator:
[-4.93773630e-05, 1.96434294e-04, 8.72883415e-05, 6.87318136e-05,
  4.42252262e-06, 8.92265153e-05,-8.06795798e-05, 6.23165015e-05,
  2.34240066e-05,-6.26636084e-06,-1.52681658e-04,-4.46652580e-05,
  4.34120791e-02, 7.49433912e-03, 8.57812137e-03,-3.18023739e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.09809532, -1.09631095, -0.0625751 , -1.09631095,  1.10157873,
       -0.06102911, -0.0625751 , -0.06102911,  2.16732049,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002893548481400472
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50514308, -0.8476002 , -0.16249419, -0.08318843, -0.13958526,
        0.9867095 , -0.85901697,  0.51194711,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10190125, -0.03927677,  0.30473925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.91334214,  8.93400022, -9.32405735,  8.93400022, 33.45678909,
       19.68404447, -9.32405735, 19.68404447, 31.77393588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006028949830881869
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.60371647e-14, -9.20743293e-14,  1.00000000e+00,  4.23884106e-27,
        1.00000000e+00,  9.20743293e-14, -1.00000000e+00,  0.00000000e+00,
        4.60371647e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09338125, -0.05374589,  0.06198644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.64142095e-06,-1.25020233e-05, 1.36716302e-05,-1.08117370e-05,
 -4.70996107e-06, 4.90781433e-06,-1.03668082e-05, 3.00519635e-05,
  2.21325661e-05,-6.21235721e-05,-5.71792862e-05, 1.33425365e-06,
  6.75425353e-02, 1.96729198e-02, 4.73306727e-04,-7.87884296e-04,
  4.81322150e-08, 4.78957170e-06,-9.80999978e+00,-6.49113110e-02,
 -9.13118486e-03,-5.59697321e-03]


--- Step 924 ---
qpos:
[ 0.00990697, 0.00807566,-0.00567114, 0.03349604, 0.00350781, 0.00285228,
 -0.00677851, 0.03912803, 0.01303735, 0.0059278 ,-0.01168843, 0.03407596,
  0.88376927,-0.0035169 , 1.06791454, 0.04642929, 0.09099879,-0.06727827,
  0.14223089, 0.94485117,-0.03320931, 0.03078476, 0.32435431]

qacc:
[  2.7482365 , -1.19979688,  4.42166735, -6.54945653,  5.66596106,
   1.04087245, -5.25479212, 11.61375443,  2.27591768,  1.22570648,
  -6.46829502, 13.76907213, 54.69653008, 19.59012295,-35.42334328,
  87.29203691, -1.1194431 , -1.59113697,  0.35126557,  6.93739493,
 -15.09800829, -3.47683774]

qfrc_actuator:
[-3.31957489e-05, 1.89758867e-04, 1.01667863e-04, 6.36690803e-05,
  3.77323143e-05, 8.40958604e-05,-8.85121809e-05, 7.95605935e-05,
  3.61434080e-05, 3.87477619e-06,-1.56075619e-04,-2.27559372e-05,
  4.34351348e-02, 7.60123162e-03, 8.56651304e-03,-2.74155732e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.09076812, -1.08866935, -0.06763237, -1.08866935,  1.08846999,
        0.03699282, -0.06763237,  0.03699282,  0.49529962,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027953282494654075
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50510583, -0.84759057, -0.16266015, -0.08326956, -0.13973012,
        0.98668215, -0.85903101,  0.51192355,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10192433, -0.03928067,  0.30476449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.84784509,  8.87442119, -9.2904129 ,  8.87442119, 40.37600409,
       26.29554577, -9.2904129 , 26.29554577, 37.96596966,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000598971719805802
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.6338708e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.6338708e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09338999, -0.05373725,  0.06198653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60475165e-05,-1.12737385e-05, 1.31094787e-05,-5.33610922e-06,
  3.31767661e-05,-3.26636142e-06,-7.05651124e-06, 1.76799115e-05,
  1.33277358e-05,-3.63277287e-05,-2.32076182e-05, 1.72991568e-05,
  5.84775936e-02, 1.35163544e-02, 2.24525088e-03, 1.11384406e-04,
 -3.00608923e-06, 2.87592161e-06,-9.80999609e+00,-6.49135052e-02,
 -9.13449943e-03,-5.59484876e-03]


--- Step 925 ---
qpos:
[ 0.00990585, 0.00807416,-0.00566998, 0.03349676, 0.00350894, 0.00285319,
 -0.00677971, 0.03912936, 0.01303826, 0.00592747,-0.01168937, 0.03407495,
  0.88370105,-0.00349883, 1.06820852, 0.04643371, 0.0909985 ,-0.06727681,
  0.14223775, 0.94486101,-0.033202  , 0.03073871, 0.32433076]

qacc:
[ -1.25711703,  0.66229796, -4.03779828,  9.73491641,  3.4587637 ,
   1.28372943, -7.01018689, 16.68861436,  1.30328549, -1.64176786,
   6.27128177, -9.3854954 , -5.53572183, 44.77329534,-86.5698523 ,
 223.67907777, -0.55188934,  0.24620222,  0.45584346, -8.18759922,
   1.46126881,-18.28154528]

qfrc_actuator:
[-4.10360970e-05, 1.68615845e-04, 9.18740845e-05, 7.82866232e-05,
  5.70370422e-05, 8.06410252e-05,-9.26916534e-05, 1.07134039e-04,
  4.33147331e-05, 2.79474447e-05,-1.21896324e-04,-2.72496441e-05,
  4.34449015e-02, 7.64881130e-03, 8.52710361e-03,-2.49595319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.07814912,  0.57320988, -0.91314619,  0.57320988,  3.29430324,
        1.39114794, -0.91314619,  1.39114794,  1.95141537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002614460987836097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05077795e-01, -8.47602665e-01, -1.62684184e-01, -8.32775768e-02,
       -1.39753315e-01,  9.86678193e-01, -8.59046720e-01,  5.11897190e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1019523 , -0.03930491,  0.30481059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.73947615,   5.42185441, -11.52812853,   5.42185441,
        90.80681291,  36.71625735, -11.52812853,  36.71625735,
        30.00769113,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005924824072688862
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.36924887e-14,  6.90554679e-07,  1.00000000e+00, -6.46997864e-20,
        1.00000000e+00, -6.90554679e-07, -1.00000000e+00,  0.00000000e+00,
        9.36924887e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08809466, -0.0820844 ,  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:
[-7.38459065e-06,-2.49273632e-05,-1.06923410e-05, 1.44829375e-05,
  2.02463567e-05,-5.99352894e-06,-5.11289665e-06, 2.75306674e-05,
  7.53539803e-06,-2.61024419e-07, 2.44363851e-05,-6.51165159e-06,
  5.15168907e-02, 1.00093244e-02, 2.95793758e-03, 1.70400792e-04,
 -2.41160225e-06, 3.55578510e-06,-9.80998176e+00,-6.49132832e-02,
 -9.14103563e-03,-5.58878580e-03]


--- Step 926 ---
qpos:
[ 0.00990465, 0.008073  ,-0.00566946, 0.03349761, 0.00350995, 0.002854  ,
 -0.00678061, 0.0391303 , 0.01303925, 0.00592692,-0.01168982, 0.03407356,
  0.88353002,-0.00355287, 1.06842281, 0.04645024, 0.09099872,-0.0672702 ,
  0.14224334, 0.94487984,-0.033237  , 0.03069941, 0.32427602]

qacc:
[-7.75507384e-01, 2.52555167e+00,-8.92512067e+00, 1.20857279e+01,
 -1.06288607e+00,-1.76150446e+00, 7.75857048e+00,-1.49538269e+01,
  7.14428538e-01,-2.44707693e+00, 9.89774501e+00,-1.70833995e+01,
 -1.99974285e+01,-5.73711806e+01,-1.54875447e+02, 3.69623271e+02,
  1.26093248e-01, 1.28588555e+00,-3.14730705e-01,-1.82640040e+01,
  1.04252732e+01,-1.67308200e+01]

qfrc_actuator:
[-4.52065493e-05, 2.09901286e-04, 6.78389866e-05, 8.65844976e-05,
  5.01794460e-05, 7.82381161e-05,-7.69161571e-05, 8.73112698e-05,
  4.71663087e-05, 7.07527714e-06,-1.01273780e-04,-4.72089168e-05,
  4.34623569e-02, 7.62897394e-03, 8.50558677e-03,-2.39208988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06978197, -0.12760104, -1.06214474, -0.12760104,  3.48102079,
       -0.28967481, -1.06214474, -0.28967481,  1.10458213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002484974936867537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50510693, -0.84759624, -0.1626272 , -0.08325242, -0.13970198,
        0.98668759, -0.85903203,  0.51192184,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1019737 , -0.03932454,  0.30484618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.66444763,  -0.61128167, -12.6496865 ,  -0.61128167,
        22.38294746,  -0.46963542, -12.6496865 ,  -0.46963542,
        12.68714223,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005879898883557888
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.95026073e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.95026073e-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([ 0.08246361, -0.11221479,  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:
[-4.38627337e-06, 2.57980495e-05,-2.99961561e-05, 7.14132935e-06,
 -6.28502155e-06,-5.64581660e-06, 1.48598666e-05,-1.97238090e-05,
  4.06276895e-06,-1.62190164e-05, 2.33708347e-05,-1.92467854e-05,
  5.01340646e-02, 8.03912594e-03, 4.83930980e-03,-2.45612640e-04,
 -4.03526680e-06,-5.72087501e-06,-9.80999358e+00,-6.49098348e-02,
 -9.14716565e-03,-5.58291521e-03]


--- Step 927 ---
qpos:
[ 0.0099034 , 0.00807219,-0.0056693 , 0.03349853, 0.00351086, 0.00285478,
 -0.00678131, 0.03913065, 0.01304027, 0.00592615,-0.01169057, 0.03407269,
  0.88335983,-0.00360498, 1.06873591, 0.04642895, 0.09100591,-0.06726604,
  0.14224711, 0.94487964,-0.03322359, 0.03069712, 0.32427819]

qacc:
[-3.74081042e-01, 1.60792472e+00,-5.38211422e+00, 6.96634516e+00,
 -7.83610163e-01,-1.82470705e+00, 8.92924134e+00,-1.94445446e+01,
  3.34628334e-01, 1.60194286e+00,-8.33962584e+00, 1.79605865e+01,
 -7.97426842e+00, 1.32253939e+01, 2.61118231e+02,-6.99766409e+02,
  1.74272372e+00,-6.11889656e-01,-4.54241862e-01, 2.76810586e+01,
  8.98904564e+00, 3.13296895e+01]

qfrc_actuator:
[-4.71756236e-05, 2.34927878e-04, 5.35925541e-05, 9.11395470e-05,
  4.57352643e-05, 7.65273080e-05,-6.72682336e-05, 5.75248028e-05,
  4.90348369e-05,-2.28467271e-05,-1.24520248e-04,-2.28965484e-05,
  4.34898644e-02, 7.68194983e-03, 8.49991665e-03,-2.53891873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.0662031 , -0.60865087,  0.87540458, -0.60865087,  2.35473924,
        0.89589278,  0.87540458,  0.89589278,  1.68909899,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002426891317755133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5051839 , -0.84754122, -0.16267486, -0.08329017, -0.13973496,
        0.98667973, -0.85898311,  0.51200393,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1019887 , -0.03932577,  0.30486257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.58828018, -6.84035638, 10.56760723, -6.84035638, 27.82705505,
        9.86397853, 10.56760723,  9.86397853, 18.97318141,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005834284779701743
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.51464547e-14, -2.85439364e-13,  1.00000000e+00,  2.71585435e-26,
        1.00000000e+00,  2.85439364e-13, -1.00000000e+00,  0.00000000e+00,
        9.51464547e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04917989, -0.06428468,  0.06198688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08115402e-06, 3.35991042e-05,-1.23579281e-05, 4.76161800e-06,
 -4.62461432e-06,-2.66694195e-06, 9.62870524e-06,-2.98998090e-05,
  1.97573889e-06,-3.49562352e-05,-2.43683817e-05, 2.40566913e-05,
  5.53005239e-02, 1.16979433e-02, 8.81246600e-03,-9.98738642e-04,
 -3.96099380e-05, 4.51066600e-06,-9.80998887e+00,-6.49150191e-02,
 -9.15851556e-03,-5.58064131e-03]


--- Step 928 ---
qpos:
[ 0.00990249, 0.00807166,-0.00566932, 0.0334995 , 0.00351172, 0.00285527,
 -0.00678154, 0.03913134, 0.01304131, 0.00592548,-0.01169201, 0.03407211,
  0.88312669,-0.00368912, 1.0690937 , 0.04641644, 0.09101412,-0.06726031,
  0.14225158, 0.94487616,-0.03321985, 0.03071613, 0.32428691]

qacc:
[  2.89436156,  0.96957019, -3.0933424 ,  3.91033094, -0.50987447,
  -1.00768431,  1.59397407,  3.79984952,  0.10090051,  2.67504914,
 -10.52510482, 16.45574186,-26.01953204, -6.864198  , 40.43943894,
 -43.39119191,  0.25564565,  0.39176715,  0.17401983, -1.27404128,
  11.56804015,  3.83332636]

qfrc_actuator:
[-3.00818161e-05, 2.50063126e-04, 4.51956076e-05, 9.34589825e-05,
  4.27557375e-05, 5.74602331e-05,-4.35662450e-05, 7.53734023e-05,
  4.97223378e-05,-4.84644579e-06,-1.55741817e-04,-8.27287973e-06,
  4.35071242e-02, 7.73341899e-03, 8.47990681e-03,-2.50705013e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06288451,  0.01802296,  1.06273169,  0.01802296,  1.80179028,
       -0.01253117,  1.06273169, -0.01253117,  1.06309703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023714335664515396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50518078, -0.847528  , -0.16275342, -0.08333097, -0.1398021 ,
        0.98666677, -0.85898098,  0.51200749,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10200528, -0.03932837,  0.30487914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.51559202, -7.08914635, 10.31426428, -7.08914635, 30.98552791,
       12.69466003, 10.31426428, 12.69466003, 21.24081956,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005790740186391315
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.43640843e-14,  7.58866403e-07,  1.00000000e+00,  7.16097332e-20,
        1.00000000e+00, -7.58866403e-07, -1.00000000e+00,  0.00000000e+00,
       -9.43640843e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06510858, -0.08720633,  0.06198698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70487764e-05, 3.16041642e-05,-2.80696675e-06, 3.42403032e-06,
 -3.11107911e-06,-1.98730806e-05, 2.33010841e-05, 1.74847440e-05,
  7.28043698e-07,-5.50719281e-06,-4.05904973e-05, 1.27562208e-05,
  5.52736311e-02, 1.16531456e-02, 3.84639850e-03, 9.22496016e-04,
 -3.28615473e-07, 9.83154574e-07,-9.80999877e+00,-6.49180478e-02,
 -9.15077304e-03,-5.57991746e-03]


--- Step 929 ---
qpos:
[ 0.00990178, 0.00807168,-0.00566958, 0.03350045, 0.00351219, 0.00285546,
 -0.0067817 , 0.03913227, 0.01304235, 0.00592453,-0.0116934 , 0.03407135,
  0.88283695,-0.00380358, 1.06948015, 0.04641129, 0.09102286,-0.06725299,
  0.14225654, 0.94487003,-0.03322639, 0.03075107, 0.3243008 ]

qacc:
[ 1.84189545e+00, 1.34036614e+00,-3.71639226e+00, 3.54598100e+00,
 -3.39860413e+00,-6.18271968e-02,-1.34771814e+00, 5.59562009e+00,
  9.15650185e-03,-8.66075747e-01, 3.25987351e+00,-6.04312255e+00,
 -2.17131277e+01,-9.63843115e+00, 2.07881751e+01,-9.58945571e+00,
  1.32322723e-01, 3.98120035e-01, 1.20867220e-01,-2.39163844e+00,
  9.14820420e+00, 2.97442314e+00]

qfrc_actuator:
[-1.96583593e-05, 2.94687588e-04, 4.02752063e-05, 9.44389110e-05,
  2.29087355e-05, 2.82432413e-05,-4.72953695e-05, 8.55995415e-05,
  4.97102405e-05,-2.93483987e-05,-1.55725031e-04,-1.71868739e-05,
  4.35239472e-02, 7.79942926e-03, 8.45260791e-03,-2.31066624e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023638898699060733
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05170188e-01, -8.47507963e-01, -1.62890556e-01, -8.34013493e-02,
       -1.39919792e-01,  9.86644144e-01, -8.58980382e-01,  5.12008500e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10201964, -0.0393214 ,  0.30488496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.42238904,  8.53494866, -9.02609554,  8.53494866, 48.31910082,
       33.94342448, -9.02609554, 33.94342448, 44.51881258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005734874321909985
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.13369472e-07, -8.11042589e-14,  1.00000000e+00,  4.16364506e-20,
        1.00000000e+00,  8.11042589e-14, -1.00000000e+00,  0.00000000e+00,
        5.13369472e-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([ 0.06539788, -0.08761366,  0.0619871 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09216770e-05, 6.18906285e-05, 1.38513247e-06, 2.30227098e-06,
 -1.99440552e-05,-3.47856317e-05,-4.36392212e-06, 1.05190468e-05,
  4.06826196e-09,-3.53732974e-05,-5.65187261e-06,-1.02999092e-05,
  5.84353703e-02, 1.33214285e-02, 1.57732777e-03, 6.78055943e-04,
 -1.84831434e-06,-8.87392024e-07,-9.80999852e+00,-6.49161604e-02,
 -9.14887965e-03,-5.58167315e-03]


--- Step 930 ---
qpos:
[ 0.00990121, 0.00807178,-0.00566946, 0.03350178, 0.00351242, 0.00285559,
 -0.00678227, 0.03913332, 0.01304304, 0.00592334,-0.01169512, 0.03407121,
  0.8825846 ,-0.00388272, 1.06982316, 0.04641984, 0.09102811,-0.06724524,
  0.14226284, 0.94487568,-0.0332487 , 0.03076875, 0.32428037]

qacc:
[ 1.15835637e+00,-1.63253789e-01,-7.78223186e-01, 6.42616996e+00,
 -2.13665752e+00, 1.28369122e+00,-5.18753501e+00, 7.90219541e+00,
 -3.11283018e+00, 1.85256135e+00,-9.61439605e+00, 2.08418070e+01,
  5.03657920e+00, 3.02685389e+01,-1.05192045e+02, 2.75719204e+02,
 -8.71833285e-01, 1.06830681e-01, 3.36285414e-01,-9.52541414e+00,
 -5.20850111e+00,-1.86490916e+01]

qfrc_actuator:
[-1.32502696e-05, 2.85629499e-04, 5.53170580e-05, 1.12401821e-04,
  1.10450048e-05, 2.85672222e-05,-6.72558712e-05, 9.12193807e-05,
  3.15339377e-05,-4.35018378e-05,-1.72943381e-04, 1.33719708e-05,
  4.35475281e-02, 7.90300930e-03, 8.41544249e-03,-2.31946850e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002393709561583338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05152781e-01, -8.47481158e-01, -1.63083888e-01, -8.35001623e-02,
       -1.40085964e-01,  9.86612206e-01, -8.58981019e-01,  5.12007430e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10203236, -0.03930631,  0.30488221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.31225535,  -3.93219338, -11.66745417,  -3.93219338,
       116.80662464, -35.21694291, -11.66745417, -35.21694291,
        24.18115389,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005668795789319042
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.26068431e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.26068431e-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([ 0.08812375, -0.08206699,  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:
[ 6.74073229e-06, 2.59428213e-05, 2.80774880e-05, 2.07058397e-05,
 -1.24431466e-05,-1.95931452e-05,-2.73210351e-05, 4.18173508e-06,
 -1.81924523e-05,-3.54875091e-05,-2.55474398e-05, 2.86540809e-05,
  6.12858563e-02, 1.49417501e-02, 9.82320353e-05, 2.98769254e-04,
 -1.73304625e-06,-3.02419652e-06,-9.80999537e+00,-6.49139643e-02,
 -9.14438370e-03,-5.58592353e-03]


--- Step 931 ---
qpos:
[ 0.00990107, 0.0080717 ,-0.00566926, 0.03350336, 0.00351285, 0.00285571,
 -0.00678251, 0.03913333, 0.01304351, 0.00592232,-0.01169751, 0.03407176,
  0.88246913,-0.00389218, 1.0701464 , 0.04642522, 0.09102928,-0.0672436 ,
  0.14226956, 0.94488608,-0.03324428, 0.03075846, 0.32425151]

qacc:
[ 3.74923865e+00, 5.25043013e-02,-1.66671644e+00, 6.22146800e+00,
  1.77426651e+00,-3.05049842e+00, 1.52130212e+01,-3.36062327e+01,
 -1.99012109e+00, 3.53031540e+00,-1.51848179e+01, 2.80506674e+01,
  5.37724039e+01, 1.90066480e+01,-2.14320999e+01, 2.84167820e+01,
 -1.02115618e+00,-1.52594591e+00, 1.05312544e-01, 8.29716122e+00,
 -1.74767268e+01,-4.80895922e+00]

qfrc_actuator:
[ 8.49746788e-06, 2.44589669e-04, 4.63203225e-05, 1.22432182e-04,
  2.17331625e-05, 4.65006370e-05,-4.32602920e-05, 4.08433122e-05,
  2.05651870e-05,-1.58769628e-05,-2.00149071e-04, 4.91512243e-05,
  4.35634163e-02, 7.97561896e-03, 8.38846668e-03,-2.24762219e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06649901, -1.06155424, -0.10258041, -1.06155424,  1.0621988 ,
        0.04450075, -0.10258041,  0.04450075,  0.60598266,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024317599862483624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05188763e-01, -8.47437673e-01, -1.63198361e-01, -8.35663288e-02,
       -1.40179791e-01,  9.86593277e-01, -8.58953423e-01,  5.12053725e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204244, -0.03929241,  0.30487816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.22407109,  3.66359148, 11.66216153,  3.66359148, 29.78984308,
       -5.51817195, 11.66216153, -5.51817195, 13.95756858,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005615821281864802
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.88477881e-14, -1.97695576e-13,  1.00000000e+00,  1.95417704e-26,
        1.00000000e+00,  1.97695576e-13, -1.00000000e+00,  0.00000000e+00,
        9.88477881e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0934361 , -0.05369965,  0.06198737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19461246e-05,-1.98493454e-05, 5.31465957e-07, 1.25128851e-05,
  1.03284867e-05, 1.50777284e-06, 1.67313868e-05,-5.20803245e-05,
 -1.15039299e-05, 3.78993286e-06,-3.66556702e-05, 3.39399294e-05,
  5.94325537e-02, 1.32505044e-02, 2.23897910e-03,-3.15002174e-04,
 -4.89065827e-06, 5.49572748e-06,-9.80999141e+00,-6.49188077e-02,
 -9.14220966e-03,-5.58952060e-03]


--- Step 932 ---
qpos:
[ 0.00990118, 0.00807145,-0.00566937, 0.03350439, 0.00351271, 0.00285593,
 -0.0067825 , 0.03913204, 0.01304383, 0.00592126,-0.01169987, 0.03407201,
  0.88246897,-0.00386194, 1.07045935, 0.04643011, 0.09102667,-0.06724783,
  0.14227636, 0.9449017 ,-0.03321329, 0.03072141, 0.32421266]

qacc:
[ 2.29111610e+00,-5.21385665e-01, 3.87509497e+00,-1.28889410e+01,
 -4.96632608e+00,-3.24303898e+00, 1.72954221e+01,-4.03833478e+01,
 -1.18855489e+00,-7.37607511e-01, 3.80973233e+00,-8.90624869e+00,
  5.95837620e+01,-1.76201367e+01,-1.66385491e+01, 2.95810246e+01,
 -9.43893977e-01,-1.46748393e+00, 1.92526052e-02, 8.45759882e+00,
 -1.68688688e+01,-5.60182396e+00]

qfrc_actuator:
[ 2.13482948e-05, 2.20111071e-04, 2.30402838e-05, 9.21543416e-05,
 -7.65110040e-06, 5.72203342e-05,-2.89602070e-05,-2.42728598e-05,
  1.39325805e-05,-1.67378772e-05,-1.97352685e-04, 3.44831367e-05,
  4.35643888e-02, 7.99891401e-03, 8.37236324e-03,-2.16925533e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06285641, -1.05331327, -0.1421088 , -1.05331327,  1.05020311,
        0.09378653, -0.1421088 ,  0.09378653,  0.36770878,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023709571001089303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05237923e-01, -8.47413349e-01, -1.63172476e-01, -8.35608422e-02,
       -1.40152926e-01,  9.86597559e-01, -8.58925041e-01,  5.12101331e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10205867, -0.03930037,  0.30489794])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005546242659415085
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00087852e-13, -1.00087852e-13,  1.00000000e+00,  1.00175780e-26,
        1.00000000e+00,  1.00087852e-13, -1.00000000e+00,  0.00000000e+00,
        1.00087852e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0934402 , -0.05369634,  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:
[ 1.34683436e-05,-3.49273274e-05,-2.68874664e-05,-3.08711790e-05,
 -2.90886016e-05, 1.27894333e-05, 1.48713832e-05,-6.54865514e-05,
 -6.96380224e-06,-4.79734119e-06, 2.78364478e-07,-1.51063786e-05,
  5.25919676e-02, 9.79212693e-03, 3.20847316e-03,-7.84594678e-05,
 -3.30710757e-06, 2.44850483e-06,-9.81000153e+00,-6.49164743e-02,
 -9.14249908e-03,-5.58790412e-03]


--- Step 933 ---
qpos:
[ 0.00990111, 0.00807085,-0.00566909, 0.03350433, 0.00351188, 0.00285615,
 -0.00678259, 0.03913071, 0.01304408, 0.00591975,-0.0117014 , 0.03407139,
  0.8824052 ,-0.00386129, 1.07079194, 0.04643057, 0.09102684,-0.06724973,
  0.14228316, 0.94491286,-0.03319246, 0.03070856, 0.32418347]

qacc:
[-1.66340336e+00,-3.77952602e+00, 1.73849379e+01,-3.65310049e+01,
 -6.12209288e+00, 2.21191370e-01,-6.06478248e-01, 6.27485139e-02,
 -6.87843617e-01,-4.71895821e+00, 1.96235085e+01,-3.56589928e+01,
 -2.80015384e+01,-2.56285788e+00, 4.35965385e+01,-1.07797463e+02,
  6.92205668e-01, 5.80515375e-01,-9.06775167e-04,-1.10029286e+00,
  1.29886563e+01, 5.53577036e+00]

qfrc_actuator:
[ 1.11023947e-05, 2.05626846e-04, 4.48036173e-05, 3.84056656e-05,
 -4.26404260e-05, 4.57447704e-05,-3.82893615e-05,-2.65375690e-05,
  9.90281672e-06,-5.23189487e-05,-1.59246751e-04,-9.74840446e-06,
  4.35640774e-02, 7.99473091e-03, 8.32536245e-03,-2.17716186e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.0532002 ,  0.66279555,  0.81849418,  0.66279555,  1.9186612 ,
       -0.70082807,  0.81849418, -0.70082807,  1.62071277,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002199653746568594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50530285, -0.84739973, -0.16304207, -0.08350297, -0.14003561,
        0.98661912, -0.85889247,  0.51215595,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10208314, -0.03933002,  0.30494378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.00913419,  -6.90402477,  -9.82617657,  -6.90402477,
        43.4724237 , -22.10659748,  -9.82617657, -22.10659748,
        27.54157405,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005486382714826518
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17796646e-06, -1.89119413e-13,  1.00000000e+00,  2.22776325e-19,
        1.00000000e+00,  1.89119413e-13, -1.00000000e+00,  0.00000000e+00,
        1.17796646e-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([ 0.06540076, -0.08760368,  0.06198766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.87130201e-06,-4.08803219e-05, 1.01700901e-05,-5.67785639e-05,
 -3.58097279e-05,-4.07343049e-06,-7.12012628e-06,-2.47320218e-06,
 -4.23447132e-06,-3.87897334e-05, 3.66666217e-05,-4.47140820e-05,
  4.68285811e-02, 7.80449067e-03, 3.67147428e-03,-6.34476985e-05,
  3.58443439e-06, 3.72031139e-06,-9.80999889e+00,-6.49104893e-02,
 -9.14588585e-03,-5.58189687e-03]


--- Step 934 ---
qpos:
[ 0.00990022, 0.00806973,-0.00566822, 0.03350398, 0.00351098, 0.00285608,
 -0.00678238, 0.03912937, 0.01304393, 0.0059178 ,-0.01170158, 0.03407021,
  0.88225089,-0.00392938, 1.07104765, 0.04644753, 0.09102712,-0.067246  ,
  0.14228826, 0.94493206,-0.03321554, 0.0306944 , 0.32412648]

qacc:
[-7.09705662e+00,-2.90350568e+00, 1.06393208e+01,-1.62974371e+01,
 -5.83304454e-01,-1.24840810e+00, 3.92068642e+00,-4.31947132e+00,
 -3.42875031e+00,-5.48587212e+00, 2.11137332e+01,-3.26985099e+01,
 -1.31038555e+01,-6.05250900e+01,-1.64443922e+02, 4.08304986e+02,
  3.09891023e-02, 1.40953528e+00,-4.22118050e-01,-2.03963593e+01,
  6.83847882e+00,-1.51348397e+01]

qfrc_actuator:
[-3.04054849e-05, 1.79638011e-04, 7.52703126e-05, 2.45837503e-05,
 -4.51309316e-05, 2.10207590e-05,-2.60324934e-05,-2.73398591e-05,
 -1.03170318e-05,-5.50373952e-05,-8.30155604e-05,-3.55191474e-05,
  4.35749468e-02, 7.99195955e-03, 8.24684723e-03,-2.30368929e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.04784841,  0.49755052,  0.92218749,  0.49755052,  5.55588424,
       -2.43223379,  0.92218749, -2.43223379,  2.36011864,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020973584545278383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50535554, -0.84738099, -0.16297618, -0.083477  , -0.13997437,
        0.98663   , -0.858864  ,  0.5122037 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210271, -0.03934687,  0.3049737 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005445731629067085
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01935158e-13, -1.01935158e-13,  1.00000000e+00,  1.03907764e-26,
        1.00000000e+00,  1.01935158e-13, -1.00000000e+00,  0.00000000e+00,
        1.01935158e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08248128, -0.11220688,  0.06198775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.17997811e-05,-4.91661174e-05, 2.13147888e-05,-1.63255987e-05,
 -3.50961375e-06,-2.85950644e-05, 1.04558909e-05,-1.26711932e-06,
 -2.03598336e-05,-1.86788507e-05, 7.12252648e-05,-2.70262555e-05,
  5.00178439e-02, 9.28026329e-03, 2.60450072e-03, 3.07237718e-05,
  2.19426252e-07, 5.09683864e-06,-9.81000092e+00,-6.49128798e-02,
 -9.14922962e-03,-5.57895352e-03]


--- Step 935 ---
qpos:
[ 0.00989919, 0.00806841,-0.00566709, 0.03350345, 0.0035104 , 0.00285592,
 -0.00678208, 0.03912768, 0.0130432 , 0.00591598,-0.01170161, 0.03406909,
  0.88203914,-0.00402806, 1.07131701, 0.04644696, 0.09103046,-0.06724153,
  0.14229332, 0.94494654,-0.0332368 , 0.03070484, 0.32408111]

qacc:
[-1.26848374e+00,-1.37304118e+00, 5.23975878e+00,-8.58289635e+00,
  2.83283130e+00,-1.13692268e+00, 5.37892367e+00,-1.16352561e+01,
 -5.15672407e+00,-1.33831514e-01, 4.86406162e-01, 1.44333203e-01,
 -2.29691603e+01,-8.30260747e+00, 7.40172146e+01,-2.27831568e+02,
  7.63875419e-01, 1.82819025e-01,-1.09978957e-02, 4.58967533e+00,
  1.12038228e+01, 6.68782762e+00]

qfrc_actuator:
[-3.67157583e-05, 1.82546681e-04, 9.28501317e-05, 1.66067761e-05,
 -2.84716428e-05, 2.41446428e-05,-1.89428244e-05,-4.50338162e-05,
 -3.99046856e-05,-3.78757099e-05,-7.35167595e-05,-3.24188846e-05,
  4.35919128e-02, 8.07652940e-03, 8.21598763e-03,-2.34304199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.04595308, -0.44749152,  0.94539366, -0.44749152,  7.77191084,
        3.18365694,  0.94539366,  3.18365694,  2.55290151,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002059676192516605
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50544712, -0.84731974, -0.16301063, -0.08351026, -0.13999465,
        0.98662431, -0.85880687,  0.51229948,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10211614, -0.03934678,  0.30498544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.84134678, -5.90544921, 10.26368176, -5.90544921, 32.32635113,
       11.78652609, 10.26368176, 11.78652609, 18.62300007,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005384937683937818
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.57037576e-14,  6.47417710e-07,  1.00000000e+00,  4.90119533e-20,
        1.00000000e+00, -6.47417710e-07, -1.00000000e+00, -6.01853108e-36,
       -7.57037576e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0651158 , -0.08718985,  0.06198789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.51577535e-06,-2.08629470e-05, 9.49047498e-06,-9.66083801e-06,
  1.65491604e-05,-1.07591639e-05, 2.42852962e-06,-1.85793093e-05,
 -3.01812187e-05, 2.03382082e-05, 1.35064146e-05, 4.24632386e-06,
  5.45603443e-02, 1.28026457e-02, 6.41199115e-03,-8.35772663e-04,
 -2.79259609e-05, 1.14229850e-05,-9.80999583e+00,-6.49172054e-02,
 -9.15675503e-03,-5.57876574e-03]


--- Step 936 ---
qpos:
[ 0.00989878, 0.00806723,-0.00566565, 0.03350278, 0.00351002, 0.00285588,
 -0.00678179, 0.03912576, 0.01304211, 0.00591477,-0.01170233, 0.03406835,
  0.88184532,-0.00412145, 1.07170031, 0.04642792, 0.09103947,-0.06723867,
  0.14229633, 0.94494217,-0.03321508, 0.03073818, 0.3240929 ]

qacc:
[ 5.46208657e+00,-9.83613262e-01, 4.37841670e+00,-7.44232489e+00,
  1.79064554e+00,-2.30177391e-01, 1.96576041e+00,-5.77971985e+00,
 -3.10590478e+00, 3.52620399e+00,-1.30050023e+01, 2.02955958e+01,
  3.15687408e+00, 5.53142369e+00, 2.24333813e+02,-5.40079793e+02,
  1.41578998e+00,-4.00630904e-01,-5.13320776e-01, 2.28281537e+01,
  3.19458908e+00, 3.11061977e+01]

qfrc_actuator:
[-4.49604724e-06, 2.20456957e-04, 1.20544060e-04, 1.21392333e-05,
 -1.84375380e-05, 4.38898357e-05,-1.48719599e-05,-5.47578905e-05,
 -5.70110706e-05, 8.58524532e-06,-1.03400325e-04,-1.23904691e-05,
  4.36128166e-02, 8.22060518e-03, 8.21366598e-03,-2.16062331e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.04592028,  0.17972312,  1.03036344,  0.17972312,  4.72236737,
       -0.64127132,  1.03036344, -0.64127132,  1.15777525,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020590168678617785
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50552547, -0.84725406, -0.16310904, -0.08357501, -0.14007061,
        0.98660805, -0.85875446,  0.51238734,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10212786, -0.0393385 ,  0.30498893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.76319257,  9.41835667, -7.04750007,  9.41835667, 43.3879632 ,
       42.26369157, -7.04750007, 42.26369157, 68.24485519,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005337541023186232
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.04001358e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.04001358e-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([ 0.04919259, -0.06424057,  0.06198799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.20014840e-05, 2.78266826e-05, 2.42239036e-05,-5.21907212e-06,
  1.05015210e-05, 1.34459878e-05, 1.50616517e-06,-1.04599124e-05,
 -1.79639291e-05, 6.08621707e-05,-2.38473025e-05, 2.14576927e-05,
  5.74509642e-02, 1.44775285e-02, 5.72059123e-03, 2.22049039e-04,
 -1.76824696e-05, 1.33619075e-05,-9.80999059e+00,-6.49225946e-02,
 -9.15222469e-03,-5.58142854e-03]


--- Step 937 ---
qpos:
[ 0.00989841, 0.00806639,-0.00566429, 0.0335024 , 0.00350943, 0.00285592,
 -0.00678118, 0.03912373, 0.01304117, 0.00591415,-0.01170318, 0.03406817,
  0.88160261,-0.00424502, 1.07211911, 0.04642412, 0.09104849,-0.06723379,
  0.14229964, 0.94493535,-0.03320697, 0.03078209, 0.32410946]

qacc:
[ 3.80572752e-01, 1.27490540e+00,-5.15243132e+00, 1.01873114e+01,
 -1.94047731e+00,-1.03938083e+00, 4.37310389e+00,-7.03849785e+00,
  1.28674840e+00, 2.33041432e+00,-9.51750084e+00, 1.89308085e+01,
 -1.57626706e+01,-1.53802813e+01, 6.67587847e+00, 5.36074198e+01,
  5.17775969e-03, 5.04877634e-01, 7.40049571e-02,-4.83726818e+00,
  7.16300981e+00, 2.61484674e+00]

qfrc_actuator:
[-3.12538997e-06, 2.43584563e-04, 1.18643286e-04, 2.75660257e-05,
 -3.01421524e-05, 5.56805290e-05, 5.22208670e-06,-5.96964322e-05,
 -4.88785266e-05, 5.43283659e-05,-1.02880993e-04, 1.74435953e-05,
  4.36366943e-02, 8.32347036e-03, 8.18699627e-03,-2.12123431e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.04544433,  0.00780881,  1.04541517,  0.00780881,  2.0263894 ,
       -0.00732725,  1.04541517, -0.00732725,  1.04549906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020494221885265386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50551787, -0.8472359 , -0.16322691, -0.0836358 , -0.1401716 ,
        0.98658855, -0.85875302,  0.51238975,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10214188, -0.03933404,  0.30499465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.66459868, -6.561441  ,  9.64418759, -6.561441  , 26.86724747,
       10.34315044,  9.64418759, 10.34315044, 18.70158036,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005277601670033766
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.90370139e-07, -7.43673379e-14,  1.00000000e+00,  6.62144570e-20,
        1.00000000e+00,  7.43673379e-14, -1.00000000e+00,  0.00000000e+00,
        8.90370139e-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([ 0.06540192, -0.08759553,  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:
[ 2.29371608e-06, 4.35084128e-05, 6.64775655e-06, 1.73554234e-05,
 -1.14009864e-05, 1.91787618e-05, 2.26960764e-05,-4.51056677e-06,
  7.63852995e-06, 7.58152295e-05, 1.09199497e-05, 3.20412268e-05,
  5.65766709e-02, 1.43164937e-02,-8.82727469e-06, 1.18364453e-03,
 -1.03843941e-05, 3.07527546e-07,-9.80999154e+00,-6.49151029e-02,
 -9.14810831e-03,-5.58324298e-03]


--- Step 938 ---
qpos:
[ 0.00989772, 0.00806571,-0.00566287, 0.03350223, 0.00350939, 0.00285596,
 -0.00678061, 0.03912238, 0.01304069, 0.00591379,-0.01170387, 0.03406802,
  0.88140124,-0.00433453, 1.07248904, 0.04643332, 0.09105384,-0.06722821,
  0.14230408, 0.94493941,-0.03321635, 0.03080604, 0.32409439]

qacc:
[-2.85457409e+00, 4.83081030e-01,-2.27430693e+00, 5.58202552e+00,
  4.87525167e+00, 1.49879185e+00,-8.22141059e+00, 2.00756008e+01,
  3.95675767e+00,-8.02773938e-02, 6.05960545e-01,-4.33461617e-01,
  9.34332696e+00, 2.45599370e+01,-1.11402300e+02, 2.85071449e+02,
 -9.19143029e-01, 1.74347275e-01, 2.83550318e-01,-1.08243030e+01,
 -6.24474052e+00,-1.73114927e+01]

qfrc_actuator:
[-1.99354787e-05, 2.39838419e-04, 1.17001587e-04, 3.67925604e-05,
 -1.28807160e-06, 4.49393546e-05,-9.10249607e-07,-2.62683949e-05,
 -2.59602552e-05, 4.61572216e-05,-1.02139379e-04, 1.73310369e-05,
  4.36623991e-02, 8.39947797e-03, 8.15400015e-03,-2.33602007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.04680231,  0.37927609, -0.97567655,  0.37927609, 10.05707064,
        3.50257406, -0.97567655,  3.50257406,  2.40836276,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002076660141001508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50550182, -0.84721279, -0.16339647, -0.0837224 , -0.14031738,
        0.98656049, -0.85875402,  0.51238806,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10215412, -0.03932191,  0.30499154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000523760455272253
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.99197821e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.99197821e-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([ 0.08813969, -0.08205657,  0.06198822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67292209e-05, 2.27180973e-05, 8.75978181e-06, 1.16583571e-05,
  2.85359148e-05, 4.47060711e-06, 4.65960777e-07, 3.49508546e-05,
  2.31572135e-05, 3.78861153e-05, 1.88719893e-05, 4.14099015e-06,
  5.90442406e-02, 1.59034609e-02,-1.82597037e-03, 2.04113781e-04,
 -9.03086211e-06,-4.37899197e-06,-9.80999135e+00,-6.49108452e-02,
 -9.14315907e-03,-5.58747673e-03]


--- Step 939 ---
qpos:
[ 0.00989683, 0.00806478,-0.00566076, 0.03350287, 0.00350969, 0.00285595,
 -0.00678063, 0.03912183, 0.01304048, 0.00591349,-0.01170414, 0.03406788,
  0.88134645,-0.00434369, 1.07283204, 0.0464373 , 0.09105528,-0.06722825,
  0.14230874, 0.94494734,-0.03320194, 0.03080125, 0.32407321]

qacc:
[ -1.6918185 , -0.59110392, -1.77323403, 14.85013021,  3.02685598,
   3.24104783,-15.07006627, 29.99248503,  2.46277679, -1.07480025,
   3.90175466, -4.45694319, 53.57808784, 30.03535021,-25.58841187,
  28.1942315 , -0.97762773, -1.40402344,  0.05682163,  6.73895407,
 -17.38736938, -3.61945377]

qfrc_actuator:
[-2.95496192e-05, 2.20018536e-04, 1.50923812e-04, 7.77802005e-05,
  1.57084778e-05, 2.07192800e-05,-4.03034516e-05, 1.16733127e-05,
 -1.22841525e-05, 4.12479080e-05,-8.37696774e-05, 1.73009335e-05,
  4.36828380e-02, 8.47819532e-03, 8.13950213e-03,-2.38759811e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.04858031, -1.04727582, -0.05228788, -1.04727582,  1.04789508,
        0.0137246 , -0.05228788,  0.0137246 ,  0.77368978,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021116975116097482
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50553312, -0.84717574, -0.16349166, -0.0837777 , -0.14039523,
        0.98654472, -0.8587302 ,  0.51242799,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10216353, -0.03931106,  0.30498697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.53943166,  3.33326812, 11.04752492,  3.33326812, 30.11968789,
       -5.60604989, 11.04752492, -5.60604989, 13.23089355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005201248466807085
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.3363295e-14,  1.0672659e-13,  1.0000000e+00, -5.6952825e-27,
        1.0000000e+00, -1.0672659e-13, -1.0000000e+00,  0.0000000e+00,
        5.3363295e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09346457, -0.05367702,  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:
[-1.00829164e-05,-4.80184889e-06, 4.00904178e-05, 4.24907032e-05,
  1.78079157e-05,-2.01216177e-05,-3.72085322e-05, 3.88301120e-05,
  1.43447384e-05, 2.03804153e-05, 2.86743686e-05, 2.32859700e-06,
  5.69975744e-02, 1.42813036e-02, 5.98357566e-04,-4.97959874e-04,
 -3.13959580e-06, 2.85157370e-06,-9.80999332e+00,-6.49141430e-02,
 -9.13868659e-03,-5.59099558e-03]


--- Step 940 ---
qpos:
[ 0.00989584, 0.0080638 ,-0.00565797, 0.03350363, 0.00350951, 0.00285544,
 -0.00678094, 0.03912212, 0.01304009, 0.00591336,-0.01170424, 0.03406843,
  0.88141164,-0.00430656, 1.07315912, 0.04643971, 0.09105311,-0.06723373,
  0.14231336, 0.94495978,-0.03316344, 0.03076933, 0.3240439 ]

qacc:
[-9.30771812e-01,-1.73042011e+00, 5.56044124e+00,-4.56327912e+00,
 -4.29111822e+00, 1.88065962e+00,-1.11973430e+01, 2.65558462e+01,
 -1.57435321e+00, 1.19159877e+00,-6.83529931e+00, 1.84356569e+01,
  5.85321905e+01,-9.84513303e+00,-2.14172921e+01, 3.47307388e+01,
 -9.02592349e-01,-1.36157412e+00,-1.18466991e-02, 7.18448945e+00,
 -1.66562229e+01,-4.65169013e+00]

qfrc_actuator:
[-3.48454951e-05, 2.26396505e-04, 1.87769287e-04, 8.38788191e-05,
 -9.92823619e-06,-2.92792912e-05,-6.35723414e-05, 5.19274997e-05,
 -2.19147651e-05, 5.61406040e-05,-7.28898568e-05, 5.28386171e-05,
  4.36891592e-02, 8.49863409e-03, 8.07730222e-03,-2.34600238e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.04615535, -1.04085378, -0.10518761, -1.04085378,  1.03947945,
        0.06605945, -0.10518761,  0.06605945,  0.39248301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002063736421621417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5055728 , -0.84716269, -0.1634366 , -0.08375529, -0.14034448,
        0.98655384, -0.85870903,  0.51246347,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10217686, -0.03932046,  0.30500245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005150521870040115
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.38888608e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.38888608e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09346717, -0.05367428,  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:
[-5.58754534e-06, 1.38015272e-05, 4.22475322e-05, 8.10345596e-06,
 -2.51375711e-05,-6.72645786e-05,-3.06636309e-05, 3.88609994e-05,
 -9.21827868e-06, 3.23310559e-05, 1.87082119e-05, 3.74494219e-05,
  4.96783791e-02, 1.02869840e-02, 1.87827154e-03,-1.96649614e-04,
 -4.08405730e-07, 3.28753411e-06,-9.81000038e+00,-6.49111669e-02,
 -9.13894029e-03,-5.58946225e-03]


--- Step 941 ---
qpos:
[ 0.00989513, 0.00806295,-0.00565561, 0.03350416, 0.00350936, 0.00285427,
 -0.00678086, 0.03912252, 0.01303959, 0.00591368,-0.01170458, 0.03406906,
  0.88137775,-0.00434164, 1.07340526, 0.04645294, 0.09105151,-0.06723328,
  0.14231656, 0.944979  ,-0.03316915, 0.03074044, 0.32399001]

qacc:
[ 2.52096836e+00, 9.22602133e-01,-2.07334308e+00,-1.24836933e+00,
  3.69642923e-01,-1.74104905e+00, 4.48659250e+00,-2.74720467e+00,
 -1.00378757e+00, 1.36789659e+00,-4.31934946e+00, 5.55505919e+00,
 -1.73987246e+01,-5.96520899e+01,-1.53032342e+02, 3.60170942e+02,
  1.43037735e-01, 1.48255871e+00,-3.55990092e-01,-1.99054833e+01,
  8.89465092e+00,-1.33417959e+01]

qfrc_actuator:
[-1.98066451e-05, 2.12901110e-04, 1.55096022e-04, 6.94119613e-05,
 -7.19132647e-06,-5.87744949e-05,-4.17323617e-05, 5.77056715e-05,
 -2.74302971e-05, 8.27742672e-05,-8.41749544e-05, 5.57703501e-05,
  4.36734739e-02, 8.43276840e-03, 8.03439395e-03,-2.55184253e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.03914673,  1.01495383, -0.22292301,  1.01495383,  1.0990588 ,
        0.27277569, -0.22292301,  0.27277569,  2.28107657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001917152734199861
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50562442, -0.84716353, -0.16327251, -0.08367743, -0.14019985,
        0.98658101, -0.85868623,  0.51250167,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10219681, -0.03935018,  0.30504116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.43571756,  -1.69080868, -11.31003104,  -1.69080868,
        60.42611455,  -7.3238869 , -11.31003104,  -7.3238869 ,
        12.53061213,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005137741638676502
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11422253e-13, -1.08045821e-13,  1.00000000e+00,  1.20387087e-26,
        1.00000000e+00,  1.08045821e-13, -1.00000000e+00,  0.00000000e+00,
        1.11422253e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.082483  , -0.1122048 ,  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:
[ 1.48825637e-05, 3.29922627e-06,-2.43600706e-05,-1.22612754e-05,
  1.99838597e-06,-7.17659286e-05, 5.52355290e-06, 2.59364266e-06,
 -5.76898511e-06, 5.01826276e-05,-1.00538138e-06, 5.69294222e-06,
  4.36657298e-02, 7.90819642e-03, 2.62599264e-03,-3.24905119e-04,
  6.44235989e-06, 6.75589813e-06,-9.80999469e+00,-6.49052630e-02,
 -9.14250456e-03,-5.58361350e-03]


--- Step 942 ---
qpos:
[ 0.00989495, 0.00806231,-0.00565455, 0.03350491, 0.0035096 , 0.00285289,
 -0.00678092, 0.03912193, 0.01303937, 0.0059142 ,-0.01170495, 0.03406973,
  0.88124846,-0.00444682, 1.07357249, 0.04646672, 0.09105133,-0.06722822,
  0.14231857, 0.94500494,-0.03320852, 0.03071738, 0.3239125 ]

qacc:
[   4.61296654,   4.34065188, -16.02678625,  21.77802289,   3.32571861,
   -1.93537377,  10.66632771, -27.41813122,   2.48296579,   0.48255078,
   -1.52861727,   2.27034717, -16.89136436, -57.60319555,-118.89059079,
  245.12699581,   0.35523137,   1.15350156,  -0.2961567 , -14.48255193,
    8.49842198, -12.67470841]

qfrc_actuator:
[ 7.07874860e-06, 2.05058339e-04, 8.15507915e-05, 7.84082007e-05,
  1.22376299e-05,-5.78569781e-05,-4.66485682e-05, 7.68898581e-06,
 -1.27192849e-05, 8.06109515e-05,-9.06763270e-05, 5.72380696e-05,
  4.36706335e-02, 8.45061105e-03, 8.07339316e-03,-2.54511929e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.0359282 ,  0.42680164, -0.94392139,  0.42680164,  2.81985534,
        0.80661699, -0.94392139,  0.80661699,  1.40064655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018452943755070008
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05710345e-01, -8.47122344e-01, -1.63220042e-01, -8.36640244e-02,
       -1.40146756e-01,  9.86589691e-01, -8.58636930e-01,  5.12584258e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10221   , -0.03936126,  0.3050597 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005113875153432978
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.42750356e-14, -2.71375178e-14,  1.00000000e+00,  1.47288975e-27,
        1.00000000e+00,  2.71375178e-14, -1.00000000e+00,  0.00000000e+00,
        5.42750356e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08248132, -0.11220426,  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:
[ 2.73122088e-05,-1.15458252e-05,-7.63070069e-05, 8.05110291e-06,
  1.94603919e-05,-3.79210003e-05,-1.89584787e-05,-5.28487763e-05,
  1.45651298e-05, 2.59227722e-05, 3.93601330e-06, 3.69301440e-06,
  4.86152437e-02, 1.15364221e-02, 6.70709240e-03,-8.60807756e-04,
 -1.84757517e-05, 3.45876042e-06,-9.81000292e+00,-6.49073526e-02,
 -9.15119069e-03,-5.58032537e-03]


--- Step 943 ---
qpos:
[ 0.0098951 , 0.00806182,-0.00565442, 0.03350574, 0.00350972, 0.00285159,
 -0.0067815 , 0.03912109, 0.01304002, 0.0059149 ,-0.01170511, 0.03407075,
  0.88106068,-0.00458568, 1.07377087, 0.04646178, 0.09105484,-0.06722321,
  0.14232072, 0.94502584,-0.03323981, 0.03072265, 0.32384779]

qacc:
[ 2.80904506e+00, 2.98078429e+00,-1.07060893e+01, 1.35623301e+01,
 -1.02136599e+00, 1.03756286e+00,-2.46015023e+00,-1.24310439e+00,
  7.63718328e+00, 3.53028255e-01,-2.39664594e+00, 7.92540770e+00,
 -2.24282583e+01,-1.15571826e+01, 1.03337864e+02,-2.93068286e+02,
  9.24054094e-01,-1.18250302e-02, 3.59669559e-02, 8.12205692e+00,
  1.19381869e+01, 7.46509359e+00]

qfrc_actuator:
[ 2.29622002e-05, 2.18237480e-04, 3.77769032e-05, 8.33732104e-05,
  5.82180597e-06,-3.88756400e-05,-6.72443292e-05,-3.73818912e-06,
  3.15299697e-05, 9.67307385e-05,-7.66515548e-05, 7.55741134e-05,
  4.36840614e-02, 8.54544315e-03, 8.08970777e-03,-2.36939234e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.03525461, -0.61881477,  0.82995205, -0.61881477,  3.80510172,
        2.06520642,  0.82995205,  2.06520642,  2.5750788 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018298460050990522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50583194, -0.84703934, -0.16327401, -0.08371257, -0.14018063,
        0.98658076, -0.85856057,  0.51271215,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10221845, -0.03935664,  0.30506292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.32914754, -5.75778411,  9.75692093, -5.75778411, 29.03937469,
       10.45121357,  9.75692093, 10.45121357, 17.49664975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005072239484457754
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90702945e-14,  5.54228379e-08,  1.00000000e+00, -1.61115822e-21,
        1.00000000e+00, -5.54228379e-08, -1.00000000e+00,  0.00000000e+00,
        2.90702945e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06512217, -0.0871713 ,  0.06198859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66610814e-05,-8.67550009e-06,-5.52861991e-05, 1.98306064e-06,
 -5.87283062e-06,-8.34600852e-06,-3.25748031e-05,-1.47328755e-05,
  4.46734017e-05, 3.15754580e-05, 1.99878679e-05, 1.96524905e-05,
  5.33975355e-02, 1.51373511e-02, 1.06647950e-02,-7.13090375e-04,
 -5.82309130e-05, 2.14704263e-05,-9.80998738e+00,-6.49154941e-02,
 -9.16157643e-03,-5.58037413e-03]


--- Step 944 ---
qpos:
[ 0.00989544, 0.0080614 ,-0.00565487, 0.03350662, 0.00350976, 0.0028505 ,
 -0.00678195, 0.03912073, 0.0130412 , 0.00591603,-0.01170549, 0.03407197,
  0.8808922 ,-0.00471848, 1.07409731, 0.0464371 , 0.09106461,-0.0672202 ,
  0.14232123, 0.94502848,-0.03322349, 0.03075195, 0.32383897]

qacc:
[ 1.64401616e+00, 1.75284884e+00,-6.28021709e+00, 7.79058958e+00,
 -6.83779994e-01, 9.10360647e-01,-4.91544578e+00, 1.30833271e+01,
  4.60645010e+00, 1.56757845e+00,-5.66893247e+00, 9.31441627e+00,
  2.94372726e+00, 6.83971433e+00, 2.49082274e+02,-5.96244851e+02,
  1.56162845e+00,-5.02293936e-01,-4.13041317e-01, 2.52246255e+01,
  3.00271128e+00, 3.04937347e+01]

qfrc_actuator:
[ 3.22391653e-05, 2.26250854e-04, 1.20232612e-05, 8.59672524e-05,
  1.99285215e-06, 8.49646080e-06,-4.35468757e-05, 2.54057466e-05,
  5.72987310e-05, 1.23767153e-04,-8.60472381e-05, 8.59624722e-05,
  4.37020361e-02, 8.69584704e-03, 8.03741488e-03,-2.28625710e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.03587503,  0.15944468,  1.0235304 ,  0.15944468,  6.61318591,
       -0.86882865,  1.0235304 , -0.86882865,  1.1712204 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018440802639444636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5059406 , -0.84695177, -0.16339162, -0.08379251, -0.14026986,
        0.98656129, -0.85848875,  0.5128324 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10222649, -0.03934512,  0.30506001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.68922996,  8.48866141, -8.03621332,  8.48866141, 26.09316974,
       15.21489821, -8.03621332, 15.21489821, 27.7607445 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005292592171172802
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.20750653,  0.20750653,  0.9559718 , -0.04401705,  0.97823363,
       -0.20278426, -0.97724283,  0.        ,  0.21212369])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04920591, -0.06420423,  0.06198862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.75201623e-06,-8.15346584e-06,-3.42848662e-05, 3.46239699e-07,
 -3.99690414e-06, 3.53991350e-05, 1.74760707e-05, 2.73789337e-05,
  2.70502211e-05, 4.96562858e-05, 2.58716072e-07, 1.28103112e-05,
  5.63378619e-02, 1.69738075e-02, 9.05025664e-03, 3.04600232e-04,
 -3.65522384e-05, 2.39665665e-05,-9.80998511e+00,-6.49241186e-02,
 -9.15410745e-03,-5.58325024e-03]


--- Step 945 ---
qpos:
[ 0.00989554, 0.00806125,-0.00565548, 0.03350746, 0.0035101 , 0.00284978,
 -0.00678218, 0.03912036, 0.01304233, 0.00591751,-0.01170595, 0.03407331,
  0.8806782 ,-0.00487996, 1.07447138, 0.04642462, 0.0910747 ,-0.06721581,
  0.14232223, 0.94502827,-0.03321629, 0.03079384, 0.32383637]

qacc:
[ -2.084641  ,  0.77969788, -2.13641174,  1.69972558,  2.62570794,
  -0.15260894,  1.31710445, -2.24305981, -0.40257128,  0.97042864,
  -3.2606233 ,  5.14334468,-15.11797273,-14.05115953, 33.86190509,
 -15.44945342,  0.08204035,  0.34605016,  0.12661536, -2.4113003 ,
   7.36427521,  3.46758197]

qfrc_actuator:
[ 1.98043408e-05, 2.66690698e-04, 1.48411565e-05, 8.71519606e-05,
  1.74780692e-05, 3.72255122e-05,-2.92359923e-05, 2.49844239e-05,
  5.42220037e-05, 1.39282566e-04,-9.14092101e-05, 9.15804419e-05,
  4.37125184e-02, 8.87107903e-03, 7.97672111e-03,-2.42769307e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.03589511,  0.20325266, -1.01575934,  0.20325266,  8.08164949,
        1.40985002, -1.01575934,  1.40985002,  1.31800501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001844538922402883
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50596701, -0.84691083, -0.16352199, -0.08386559, -0.14037808,
        0.98653969, -0.85846605,  0.5128704 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10223774, -0.03933858,  0.30506103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.24775879, -6.89465046,  8.88683705, -6.89465046, 22.66588245,
        8.85849162,  8.88683705,  8.85849162, 18.12041808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005022034661219129
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.23893134e-07,  9.43530911e-07,  1.00000000e+00,  2.11250093e-13,
        1.00000000e+00, -9.43530911e-07, -1.00000000e+00,  2.52435490e-29,
       -2.23893134e-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([ 0.06549755, -0.08708314,  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:
[-1.21568551e-05, 2.88339506e-05,-3.06965701e-06,-3.44670138e-07,
  1.53820940e-05, 5.33516939e-05, 2.47415770e-05, 2.23741759e-06,
 -2.28762526e-06, 4.38597713e-05, 5.35869358e-06, 7.99886775e-06,
  5.53818394e-02, 1.68480884e-02, 2.58172175e-03, 1.14896421e-03,
 -6.17014353e-06, 3.70606524e-06,-9.80999199e+00,-6.49182076e-02,
 -9.14477170e-03,-5.58496726e-03]


--- Step 946 ---
qpos:
[ 0.0098948 , 0.00806134,-0.00565582, 0.03350828, 0.00351028, 0.00284943,
 -0.00678222, 0.03911964, 0.01304341, 0.0059188 ,-0.01170622, 0.03407476,
  0.88063945,-0.00492566, 1.07484151, 0.04641962, 0.09108048,-0.06721639,
  0.14232398, 0.94502826,-0.03319154, 0.03080503, 0.32383787]

qacc:
[ -7.36342898, -0.49107965,  2.33539067, -3.36725817, -1.4258778 ,
  -0.74704223,  4.86690332,-11.48008732, -0.38509297, -0.58942756,
   1.26078015,  0.45540942, 48.75085745, 71.3562234 ,-28.88428442,
  91.60183904, -1.07880855, -1.24025626,  0.18526884,  3.26380782,
 -17.41892909,  1.66641683]

qfrc_actuator:
[-2.30600670e-05, 2.90855541e-04, 3.46340243e-05, 8.75429316e-05,
  8.70125489e-06, 5.45324945e-05,-2.06842236e-05, 7.13959069e-06,
  5.19505370e-05, 9.45251128e-05,-9.43838655e-05, 9.43457178e-05,
  4.37289701e-02, 9.04026956e-03, 7.98817564e-03,-2.51487693e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.03731574, -1.02440163,  0.16317242, -1.02440163,  1.17483258,
        0.86333511,  0.16317242,  0.86333511,  6.45736111,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018766601372065825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.505984  , -0.84686645, -0.16369912, -0.08396175, -0.14052696,
        0.98651031, -0.85844663,  0.5129029 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.102248  , -0.0393256 ,  0.30505481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.24255882,  -1.50263578, -11.14168814,  -1.50263578,
        99.82929938, -11.94734625, -11.14168814, -11.94734625,
        12.85385055,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005018821522456973
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.53029740e-14, -1.10605948e-13,  1.00000000e+00,  6.11683787e-27,
        1.00000000e+00,  1.10605948e-13, -1.00000000e+00,  0.00000000e+00,
        5.53029740e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09349797, -0.05366426,  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:
[-4.31996043e-05, 3.96464422e-05, 2.53664214e-05, 1.51395270e-06,
 -8.32196991e-06, 5.23832855e-05, 2.27082567e-05,-1.46568702e-05,
 -2.31723897e-06,-1.88297691e-05, 7.00815674e-06, 4.98094887e-06,
  5.76718609e-02, 1.84536352e-02, 2.03614063e-04, 4.50246216e-04,
 -7.34232652e-06,-6.54641756e-08,-9.80998813e+00,-6.49150319e-02,
 -9.14072666e-03,-5.58898711e-03]


--- Step 947 ---
qpos:
[ 0.00989389, 0.00806153,-0.00565586, 0.03350947, 0.00351069, 0.00284939,
 -0.00678213, 0.03911907, 0.01304412, 0.00591985,-0.01170675, 0.03407662,
  0.8806243 ,-0.00494574, 1.07517528, 0.04642651, 0.09108348,-0.06721578,
  0.14232695, 0.94503849,-0.03318357, 0.03080284, 0.32380904]

qacc:
[-1.42301268e+00, 5.52642674e-02,-1.52724162e+00, 7.22758857e+00,
  2.09726989e+00, 3.40816777e-01,-1.28592946e+00, 3.49038405e+00,
 -3.34991891e+00, 1.23724124e+00,-6.57441102e+00, 1.41616620e+01,
  1.36547350e+00, 2.38879598e+01,-8.92721894e+01, 2.35234070e+02,
 -6.93747737e-01, 2.95657320e-01, 3.03815966e-01,-9.46173376e+00,
 -3.26437017e+00,-1.64671035e+01]

qfrc_actuator:
[-3.02265458e-05, 2.87419380e-04, 4.64756394e-05, 1.05214556e-04,
  2.12136794e-05, 6.48252872e-05,-1.56527145e-05, 1.46825876e-05,
  3.24276327e-05, 6.72756544e-05,-1.13931657e-04, 1.13112380e-04,
  4.37414237e-02, 9.07283796e-03, 7.97660999e-03,-2.32114026e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.03661896,  0.6554796 ,  0.80307245,  0.6554796 ,  2.52282428,
       -1.21306274,  0.80307245, -1.21306274,  2.0267387 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018609848549804443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50599003, -0.84686527, -0.1636866 , -0.08395616, -0.14051572,
        0.98651239, -0.85844362,  0.51290793,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10225801, -0.03933082,  0.305061  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004993838894172167
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.22318551e-13,  7.23164784e-07,  1.00000000e+00, -1.60772947e-19,
        1.00000000e+00, -7.23164784e-07, -1.00000000e+00,  0.00000000e+00,
        2.22318551e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08816106, -0.08204375,  0.06198877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.38457977e-06, 2.40251681e-05, 2.32113345e-05, 2.02783176e-05,
  1.22938070e-05, 4.36600586e-05, 1.81480455e-05, 1.02907790e-05,
 -1.95917472e-05,-3.61621042e-05,-2.24156594e-05, 1.82939622e-05,
  4.89246591e-02, 1.27002598e-02, 3.85365162e-04, 2.69190388e-04,
 -3.43301384e-06, 3.57937722e-06,-9.80999549e+00,-6.49116625e-02,
 -9.14069773e-03,-5.58874425e-03]


--- Step 948 ---
qpos:
[ 0.00989395, 0.00806186,-0.00565602, 0.03351087, 0.0035116 , 0.00284966,
 -0.00678224, 0.03911862, 0.01304458, 0.00592104,-0.01170737, 0.03407793,
  0.88061074,-0.00495465, 1.07545829, 0.04643473, 0.09108491,-0.06721384,
  0.14233073, 0.94506008,-0.03319142, 0.03079174, 0.32374627]

qacc:
[  8.37906409,  0.97297308, -4.16478938,  8.17210027,  4.31163346,
   1.21759201, -4.25072264,  6.38695044, -2.11466368, -0.66690411,
   4.95542206,-14.30776886, -4.69286932, 14.90768151,-78.56921706,
 167.0029034 , -0.39094981,  0.33141358,  0.20456074, -8.20548755,
  -1.25623889,-18.26936249]

qfrc_actuator:
[ 1.91902634e-05, 2.85222895e-04, 3.56680970e-05, 1.15127800e-04,
  4.61638026e-05, 7.08369092e-05,-3.05015960e-05, 1.93449783e-05,
  2.06600136e-05, 1.03911105e-04,-1.07543347e-04, 8.78821121e-05,
  4.37428416e-02, 9.13830393e-03, 7.91168659e-03,-2.46332508e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.03677294, -0.11115734, -1.03079687, -0.11115734,  2.7600502 ,
       -0.18583187, -1.03079687, -0.18583187,  1.05681237,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018644618257409478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5060431 , -0.8468474 , -0.16361496, -0.0839272 , -0.14044956,
        0.98652428, -0.85841517,  0.51295555,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10226484, -0.03933495,  0.3050633 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.15871756,   3.31614057, -10.65458537,   3.31614057,
        93.30231133,  25.56642935, -10.65458537,  25.56642935,
        19.11603085,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004966699371675615
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.72308902e-07, -9.08104296e-14,  1.00000000e+00, -3.38095314e-20,
        1.00000000e+00,  9.08104296e-14, -1.00000000e+00,  0.00000000e+00,
       -3.72308902e-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([ 0.08754581, -0.08532342,  0.06198883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.91837527e-05, 1.68930862e-05,-2.28745348e-06, 1.21380799e-05,
  2.53137151e-05, 3.46222139e-05,-3.23899430e-06, 7.36201842e-06,
 -1.23338444e-05, 1.25268310e-05,-3.21801466e-06,-2.72037901e-05,
  4.77462698e-02, 1.14859573e-02, 2.13281156e-03,-4.68911523e-04,
 -3.08216839e-06, 4.50850702e-06,-9.81000088e+00,-6.49106975e-02,
 -9.14043155e-03,-5.58795072e-03]


--- Step 949 ---
qpos:
[ 0.00989459, 0.00806222,-0.00565594, 0.03351204, 0.00351246, 0.00285005,
 -0.00678218, 0.03911857, 0.01304456, 0.00592193,-0.01170744, 0.0340786 ,
  0.88060843,-0.00494454, 1.07570004, 0.04643976, 0.09108525,-0.06721149,
  0.14233526, 0.94509355,-0.0332074 , 0.03077348, 0.32364865]

qacc:
[  5.20038215, -1.15855373,  5.18236227, -9.80073395, -0.46027196,
   0.49689574, -3.26396152,  9.9046206 , -4.28312768, -3.22229121,
  13.6430759 ,-25.44249363, -3.86621234, 22.50958594,-50.71142842,
  90.25378925, -0.27482858,  0.10252976,  0.18558683, -4.26501359,
  -1.6693784 ,-18.6400263 ]

qfrc_actuator:
[ 4.82457815e-05, 2.83681738e-04, 4.70708416e-05, 1.02624809e-04,
  4.27228013e-05, 7.41483221e-05,-2.14900747e-05, 4.00057788e-05,
 -4.19555678e-06, 7.20695350e-05,-8.56578319e-05, 5.47914726e-05,
  4.37334430e-02, 9.19219307e-03, 7.88126260e-03,-2.53497227e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.03777425, -0.0596426 , -1.03605895, -0.0596426 ,  3.8020901 ,
       -0.15913283, -1.03605895, -0.15913283,  1.04693502,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000188689385338615
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50615095, -0.84680386, -0.16350672, -0.08388803, -0.14034688,
        0.98654222, -0.85835541,  0.51305554,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10226886, -0.03933629,  0.3050615 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004928108779932553
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12641895e-13, -6.76937239e-08,  1.00000000e+00,  7.62514934e-21,
        1.00000000e+00,  6.76937239e-08, -1.00000000e+00,  0.00000000e+00,
        1.12641895e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0881654 , -0.08204187,  0.06198892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.04610573e-05, 7.95673356e-06, 1.50232330e-05,-1.16275986e-05,
 -2.70942140e-06, 2.23200961e-05, 1.60170650e-05, 2.21751760e-05,
 -2.51971130e-05,-2.67087195e-05, 2.31267888e-05,-3.31982198e-05,
  4.76568599e-02, 1.09812899e-02, 4.63524454e-03,-6.08434478e-04,
 -2.43820659e-05, 1.43241359e-05,-9.81000157e+00,-6.49114492e-02,
 -9.14441866e-03,-5.58712745e-03]


--- Step 950 ---
qpos:
[ 0.00989489, 0.00806253,-0.00565538, 0.03351269, 0.00351327, 0.00285053,
 -0.00678198, 0.03911877, 0.01304424, 0.00592234,-0.01170717, 0.03407959,
  0.88061349,-0.00491874, 1.07591434, 0.0464466 , 0.09108482,-0.06720881,
  0.1423403 , 0.94513896,-0.03323019, 0.03074914, 0.32351598]

qacc:
[-3.02278776e+00,-2.43049453e+00, 1.07668395e+01,-2.03892948e+01,
 -4.16198384e-01, 2.72553322e-01,-1.84540171e+00, 5.91882906e+00,
 -2.59788354e+00,-9.32981536e-01, 1.04404452e+00, 4.37058800e+00,
 -4.73195080e+00, 2.00921190e+01,-4.54166588e+01, 1.01357690e+02,
 -1.93927351e-01, 8.47230461e-02, 1.28911479e-01,-3.46951642e+00,
 -1.37777411e+00,-1.86958699e+01]

qfrc_actuator:
[ 2.95607742e-05, 2.82604523e-04, 7.14901429e-05, 7.70524028e-05,
  4.03475150e-05, 7.59152657e-05,-1.62112192e-05, 5.21785148e-05,
 -1.88056923e-05, 3.50376688e-05,-7.28191035e-05, 7.05614768e-05,
  4.37272790e-02, 9.15581205e-03, 7.87251065e-03,-2.27626622e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.03922899, -0.2493765 , -1.00886483, -0.2493765 ,  5.57205093,
       -1.1204467 , -1.00886483, -1.1204467 ,  1.31618688,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001918948666771522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.06317516e-01, -8.46735423e-01, -1.63345329e-01, -8.38305328e-02,
       -1.40193217e-01,  9.86568955e-01, -8.58262789e-01,  5.13210469e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10227096, -0.03933693,  0.305058  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004881092493319086
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13726899e-13,  7.62389192e-07,  1.00000000e+00, -8.67041586e-20,
        1.00000000e+00, -7.62389192e-07, -1.00000000e+00,  0.00000000e+00,
        1.13726899e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08816709, -0.08204179,  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:
[-1.78159558e-05, 5.96948024e-06, 2.75013592e-05,-2.49429152e-05,
 -2.44609538e-06, 1.84917293e-05, 1.26242714e-05, 1.41141232e-05,
 -1.53323489e-05,-4.86547318e-05, 9.01167783e-06, 1.47772288e-05,
  4.70876422e-02, 9.99394050e-03, 6.68512516e-03,-1.91327276e-04,
 -6.18202025e-05, 3.39651201e-05,-9.81000217e+00,-6.49127621e-02,
 -9.15045169e-03,-5.58599025e-03]


--- Step 951 ---
qpos:
[ 0.00989462, 0.00806303,-0.00565513, 0.03351236, 0.00351404, 0.00285118,
 -0.006782  , 0.03911879, 0.01304409, 0.00592249,-0.0117068 , 0.03408075,
  0.88059825,-0.00491534, 1.07624169, 0.04642965, 0.09109095,-0.06720817,
  0.14234276, 0.94516486,-0.03321156, 0.03075582, 0.32344157]

qacc:
[-5.02407714e+00,-9.13604506e-01, 7.73848911e+00,-2.42946013e+01,
 -3.15495891e-01, 4.27056494e-01,-4.07728220e-01,-2.60735717e+00,
  1.52055704e+00,-2.63726870e-01,-2.79846813e-01, 3.27030746e+00,
 -5.68632974e+00,-1.42702436e+01, 2.39066907e+02,-5.93681294e+02,
  1.64283874e+00,-5.12670810e-01,-6.44589255e-01, 2.33777455e+01,
  7.29527213e+00, 3.18421511e+01]

qfrc_actuator:
[ 6.85378380e-07, 2.81855863e-04, 5.01298100e-05, 2.62518968e-05,
  3.86276325e-05, 7.67237090e-05,-3.09558230e-05, 4.14963716e-05,
 -9.51202796e-06, 3.06941876e-05,-6.54339323e-05, 7.94308540e-05,
  4.37336529e-02, 9.11424926e-03, 7.85570091e-03,-2.08935847e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.04107287,  0.29117889,  0.99952367,  0.29117889,  2.90384523,
       -0.54265846,  0.99952367, -0.54265846,  1.19915885,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019587115567784588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50654368, -0.84664115, -0.16313266, -0.0837558 , -0.13999011,
        0.98660414, -0.85813662,  0.5134214 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10227158, -0.03933696,  0.30505307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.15188161, -10.14352572,   4.63393455, -10.14352572,
        12.54719789,   3.05430005,   4.63393455,   3.05430005,
        17.83764092,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004962399198536379
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47869426e-01,  1.47869426e-01,  9.77890211e-01, -2.21084073e-02,
        9.89006892e-01, -1.46207337e-01, -9.88759754e-01, -3.46944695e-18,
        1.49513039e-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([ 0.04922716, -0.06416176,  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:
[-2.93826495e-05, 7.17497281e-06,-1.76142405e-05,-5.00813353e-05,
 -1.78406863e-06, 1.43405009e-05,-8.89006381e-06,-9.18017773e-06,
  8.84166391e-06,-2.90833164e-05,-1.05362714e-06, 7.38058293e-06,
  4.67259101e-02, 9.16758659e-03, 8.03675125e-03,-9.57281599e-05,
 -1.15233817e-04, 6.31498558e-05,-9.81000299e+00,-6.49147669e-02,
 -9.15852530e-03,-5.58457408e-03]


--- Step 952 ---
qpos:
[ 0.00989469, 0.00806396,-0.00565558, 0.03351177, 0.00351513, 0.00285202,
 -0.00678191, 0.03911831, 0.01304405, 0.00592225,-0.011706  , 0.03408201,
  0.88057512,-0.00492633, 1.07669068, 0.04640553, 0.09110185,-0.06720822,
  0.14234327, 0.94517079,-0.03316023, 0.03078333, 0.32342691]

qacc:
[ 3.00250790e+00, 1.99311747e+00,-5.15379973e+00, 1.36299234e+00,
  2.79841716e+00,-1.07540211e+00, 6.27657093e+00,-1.51654578e+01,
  1.00966970e+00,-1.53337845e+00, 4.33038810e+00,-3.15207278e+00,
 -1.55829653e+00,-1.03304543e+01, 2.01330520e+02,-4.43420181e+02,
  1.19247114e+00,-1.71585221e-01,-4.88627682e-01, 1.75668617e+01,
  3.86842904e+00, 3.23106759e+01]

qfrc_actuator:
[ 1.93169370e-05, 3.16606756e-04, 1.96431540e-05, 1.42405574e-05,
  5.50598231e-05, 9.45979260e-05,-2.19193068e-05, 1.74387926e-05,
 -3.97927363e-06, 1.04296706e-05,-4.34555564e-05, 8.41846001e-05,
  4.37497728e-02, 9.11914620e-03, 7.79044546e-03,-2.27569821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.04229895,  0.05037436,  1.04108094,  0.05037436,  1.93777018,
       -0.0433288 ,  1.04108094, -0.0433288 ,  1.04439548,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019846420850403733
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50668368, -0.84658582, -0.16298494, -0.08370101, -0.13985074,
        0.98662856, -0.85805931,  0.5135506 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10227591, -0.0393386 ,  0.3050508 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.06832993,  9.27342361, -6.04247814,  9.27342361, 31.64387415,
       31.57739807, -6.04247814, 31.57739807, 59.5303321 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004909135395086252
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.34462227e-01,  1.34462227e-01,  9.81753441e-01, -1.82457857e-02,
        9.90918720e-01, -1.33218549e-01, -9.90750726e-01,  3.46944695e-18,
        1.35694507e-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([ 0.04923093, -0.06415227,  0.06198916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77979953e-05, 3.29491634e-05,-3.29133243e-05,-1.32876885e-05,
  1.63872156e-05, 2.36395849e-05, 1.05787046e-05,-2.39307473e-05,
  5.77474259e-06,-3.64391752e-05, 1.60873083e-05, 3.61045840e-06,
  4.77555829e-02, 1.02925506e-02, 2.31332705e-03, 9.06581735e-04,
 -2.46269050e-05, 3.54388086e-05,-9.81000030e+00,-6.49186391e-02,
 -9.14105933e-03,-5.58407674e-03]


--- Step 953 ---
qpos:
[ 0.00989533, 0.0080652 ,-0.00565646, 0.03351172, 0.00351607, 0.00285295,
 -0.00678142, 0.03911789, 0.01304443, 0.00592224,-0.01170514, 0.03408222,
  0.8804549 ,-0.00502119, 1.07706752, 0.04641628, 0.09111053,-0.06720249,
  0.14234223, 0.9451902 ,-0.03316595, 0.03079542, 0.32336844]

qacc:
[ 4.96094788e+00, 2.70306712e+00,-1.13600490e+01, 2.12794223e+01,
 -1.36538779e+00,-8.63802433e-01, 3.04928326e+00,-2.85668159e+00,
  3.61371128e+00,-2.01856868e+00, 1.20344726e+01,-3.03496035e+01,
 -6.27924383e+00,-8.26752029e+01,-2.13657847e+02, 5.88958408e+02,
 -5.56696464e-01, 1.44615375e+00,-3.86605653e-01,-2.85569596e+01,
  2.45862241e+00,-2.40169043e+01]

qfrc_actuator:
[ 4.80118752e-05, 3.36821894e-04, 1.95509670e-06, 4.29357088e-05,
  4.65388747e-05, 1.04876499e-04, 1.15617644e-06, 2.12463787e-05,
  1.70402933e-05, 5.18588405e-05,-3.08461068e-05, 3.32224056e-05,
  4.37447263e-02, 9.11736462e-03, 7.76051512e-03,-2.46232907e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.04313619, -0.03482493,  1.04255472, -0.03482493,  4.3535677 ,
        0.11057984,  1.04255472,  0.11057984,  1.04682994,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020021247878990934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.06730031e-01, -8.46576063e-01, -1.62891515e-01, -8.36593783e-02,
       -1.39766785e-01,  9.86643986e-01, -8.58036004e-01,  5.13589540e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10228322, -0.03934211,  0.30505008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.94589109, -6.10672334,  9.08407738, -6.10672334, 21.23478102,
        6.91665225,  9.08407738,  6.91665225, 15.59557426,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004828634107201246
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.74812152e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.74812152e-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([ 0.08247381, -0.1121876 ,  0.06198914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.92130082e-05, 3.12512930e-05,-1.54005274e-05, 2.87091838e-05,
 -8.04623702e-06, 2.46329903e-05, 2.84229915e-05, 4.71905781e-06,
  2.11704983e-05, 2.45283652e-05, 7.17933675e-06,-5.19011672e-05,
  4.81443226e-02, 1.10107588e-02,-3.80644092e-03, 1.07576642e-03,
 -1.33946897e-05, 2.14067908e-05,-9.80997973e+00,-6.49118732e-02,
 -9.14281524e-03,-5.58343869e-03]


--- Step 954 ---
qpos:
[ 0.00989562, 0.00806638,-0.00565739, 0.03351204, 0.00351655, 0.00285374,
 -0.00678085, 0.03911825, 0.0130447 , 0.0059231 ,-0.01170474, 0.03408143,
  0.88024315,-0.00519323, 1.07734601, 0.04643462, 0.09111853,-0.0671925 ,
  0.14234008, 0.94522172,-0.0332139 , 0.03079886, 0.32327103]

qacc:
[-3.07650504e+00, 8.24607228e-01,-4.62526114e+00, 1.11364668e+01,
 -3.98612616e+00, 1.19760787e+00,-7.86380352e+00, 2.14938996e+01,
 -8.77492734e-01, 3.55129948e-01, 4.64677757e+00,-2.19549213e+01,
 -7.40252202e+00,-7.45115596e+01,-1.69774206e+02, 3.79682437e+02,
 -1.70402957e-01, 1.06499885e+00,-2.80234101e-01,-2.05524899e+01,
  3.19687644e+00,-2.11501467e+01]

qfrc_actuator:
[ 2.91268684e-05, 3.12758621e-04,-8.05723864e-06, 5.98429670e-05,
  2.33934876e-05, 7.51077280e-05,-3.18097733e-06, 5.91758167e-05,
  1.15030074e-05, 1.29838803e-04,-4.14130494e-05,-1.45657515e-05,
  4.37406182e-02, 9.16904650e-03, 7.76484117e-03,-2.47524663e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.04602332,  0.22320899, -1.02193078,  0.22320899,  2.30649553,
        0.27531095, -1.02193078,  0.27531095,  1.10615643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020610872022229932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.06836392e-01, -8.46510532e-01, -1.62901170e-01, -8.36820333e-02,
       -1.39764475e-01,  9.86642392e-01, -8.57970972e-01,  5.13698171e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10228698, -0.03933096,  0.3050357 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.94541077, 10.51671314, -3.03327571, 10.51671314, 16.22927372,
       18.319756  , -3.03327571, 18.319756  , 74.462096  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048283123591531807
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.74850456e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.74850456e-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([ 0.0824758 , -0.1121825 ,  0.06198914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80454489e-05,-8.56494173e-06,-4.46652573e-06, 1.82702589e-05,
 -2.33668887e-05,-9.96200883e-06, 4.39965396e-06, 4.00582755e-05,
 -4.92419858e-06, 9.09534765e-05,-6.42269561e-06,-4.75019334e-05,
  5.29926571e-02, 1.52562121e-02,-2.02779397e-04,-6.81649131e-04,
 -2.22039851e-05, 2.06249590e-05,-9.80999388e+00,-6.49144484e-02,
 -9.14404985e-03,-5.58528792e-03]


--- Step 955 ---
qpos:
[ 0.00989568, 0.00806734,-0.00565804, 0.03351222, 0.00351709, 0.00285443,
 -0.00678055, 0.03911874, 0.01304422, 0.00592439,-0.01170443, 0.03408148,
  0.88018827,-0.00525875, 1.07761227, 0.04643534, 0.0911226 ,-0.06718861,
  0.14233907, 0.94525929,-0.03322849, 0.03078666, 0.32316084]

qacc:
[  -1.99139803,  -1.34044833,   5.01271197,  -7.88574875,   0.5539213 ,
    0.90999067,  -3.98740511,   6.73345624,  -6.67571144,   2.58199098,
  -11.93018978,  26.37148585,  40.67000187,  69.98279005,  35.1371558 ,
 -149.46908933,  -0.98040794,  -1.52614023,   0.28721822,  13.53573267,
  -12.66535311,  -6.76987996]

qfrc_actuator:
[ 1.78901583e-05, 2.97894745e-04, 4.09267708e-06, 5.18842915e-05,
  2.73387490e-05, 5.70134307e-05,-2.38202410e-05, 6.35604810e-05,
 -2.73779581e-05, 1.40255512e-04,-4.76413815e-05, 2.86924587e-05,
  4.37507183e-02, 9.33293889e-03, 7.72011601e-03,-2.42389109e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.05040653,  0.30884938, -1.00397507,  0.30884938,  2.78126836,
        0.53245904, -1.00397507,  0.53245904,  1.21420506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021469808308679784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.06999208e-01, -8.46391679e-01, -1.63012054e-01, -8.37674490e-02,
       -1.39842569e-01,  9.86624078e-01, -8.57866434e-01,  5.13872729e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10228853, -0.03930761,  0.30501219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.96633135,  2.54186974, 10.66767648,  2.54186974, 22.12181347,
       -2.65810296, 10.66767648, -2.65810296, 11.59969809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048422823292905426
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.14638403e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.14638403e-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([ 0.09356251, -0.05364374,  0.06198911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17572249e-05,-1.98327512e-05, 1.04595604e-05,-8.12522200e-06,
  3.27561443e-06,-2.10843792e-05,-2.07851708e-05, 4.88678274e-06,
 -3.89839622e-05, 5.78809638e-05, 1.01119046e-05, 4.60083700e-05,
  5.75771834e-02, 1.92823948e-02, 4.66278095e-03,-1.01256777e-03,
 -8.37660733e-05, 5.22027045e-05,-9.80996834e+00,-6.49237113e-02,
 -9.15605721e-03,-5.58906401e-03]


--- Step 956 ---
qpos:
[ 0.00989527, 0.00806802,-0.00565826, 0.03351298, 0.00351734, 0.00285513,
 -0.00678054, 0.03911893, 0.01304363, 0.00592592,-0.01170435, 0.03408174,
  0.88026827,-0.00523618, 1.07788775, 0.04642975, 0.09112337,-0.06719002,
  0.14233893, 0.94530088,-0.03321518, 0.03075954, 0.32304312]

qacc:
[ -4.19548121, -0.38093626, -1.65860764, 11.36880751, -2.6670935 ,
   0.17812726,  0.70942543, -5.65159987, -1.04043742,  1.36627307,
  -5.30186535,  9.08093803, 37.2254374 , 54.55343868, 32.34164896,
 -94.12100055, -0.82540643, -1.32315221,  0.21958323, 10.95383922,
 -11.49457044, -4.02226535]

qfrc_actuator:
[-6.49223359e-06, 2.88717963e-04, 2.92356088e-05, 8.26347693e-05,
  1.16969847e-05, 6.36965699e-05,-3.61530163e-05, 4.81646209e-05,
 -3.23071794e-05, 1.27979032e-04,-6.91988295e-05, 3.63666717e-05,
  4.37502836e-02, 9.44682682e-03, 7.65240041e-03,-2.47154707e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.05166082, -1.01083006, -0.29019488, -1.01083006,  1.11270752,
       -0.21264274, -0.29019488, -0.21264274,  1.79235507,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000217081919775071
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50718902, -0.84629391, -0.16292914, -0.08375502, -0.13975335,
        0.98663777, -0.85775544,  0.51405798,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10229203, -0.03930346,  0.3050054 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.984649  ,  -1.11676996, -10.92773254,  -1.11676996,
        69.19466778,  -5.94882791, -10.92773254,  -5.94882791,
        11.59259509,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00048544409593391107
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.89695420e-07, -6.89695445e-07,  1.00000000e+00,  4.75679790e-13,
        1.00000000e+00,  6.89695445e-07, -1.00000000e+00, -1.00974196e-28,
        6.89695420e-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([ 0.09238628, -0.0539229 ,  0.06198908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47267700e-05,-1.84868639e-05, 2.20497745e-05, 3.01037786e-05,
 -1.55553619e-05,-9.21983396e-06,-1.90916710e-05,-1.69267548e-05,
 -6.01502280e-06, 2.40854998e-05,-6.78198446e-06, 1.13977394e-05,
  4.97356523e-02, 1.40731032e-02, 5.20450486e-03,-1.78772694e-04,
 -7.58872041e-05, 4.93450653e-05,-9.81000112e+00,-6.49184663e-02,
 -9.14881306e-03,-5.58809488e-03]


--- Step 957 ---
qpos:
[ 0.00989387, 0.00806885,-0.00565833, 0.03351407, 0.00351704, 0.00285561,
 -0.00678033, 0.03911892, 0.01304298, 0.00592752,-0.01170442, 0.03408176,
  0.88032884,-0.00523314, 1.07827431, 0.04640327, 0.09113009,-0.06719276,
  0.14233725, 0.94532206,-0.03316633, 0.03076204, 0.32298591]

qacc:
[-8.59165049e+00, 4.86911894e-01,-2.80856103e+00, 8.11187518e+00,
 -4.68697009e+00,-1.25224394e+00, 4.84945629e+00,-8.30853843e+00,
 -4.86530258e-01, 5.10684418e-02, 9.94940383e-01,-4.97041491e+00,
 -6.93631415e+00,-1.02059400e+01, 2.27540651e+02,-5.57246508e+02,
  1.48599493e+00,-3.34282855e-01,-3.87643757e-01, 2.03185460e+01,
  7.56678410e+00, 3.29329152e+01]

qfrc_actuator:
[-5.61713753e-05, 3.18611796e-04, 4.41420994e-05, 1.00424797e-04,
 -1.53564969e-05, 4.96661696e-05,-2.56327173e-05, 3.90408977e-05,
 -3.49556660e-05, 1.19866248e-04,-8.20309829e-05, 2.29902959e-05,
  4.37505105e-02, 9.41777301e-03, 7.63331169e-03,-2.56513603e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.04998301,  0.99802057, -0.32621967,  0.99802057,  1.60780808,
        1.70658287, -0.32621967,  1.70658287,  6.27101959,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021388599641559186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5073952 , -0.84621755, -0.16268362, -0.08365937, -0.13952444,
        0.98667829, -0.85764283,  0.51424584,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1022977 , -0.03931625,  0.30501334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.0247121 , -10.27848829,  -3.98709861, -10.27848829,
        13.18575804,  -5.57103987,  -3.98709861,  -5.57103987,
        25.38650088,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004880798685480038
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.40931192e-02,  4.40931192e-02,  9.98053903e-01, -1.94609588e-03,
        9.99027425e-01, -4.40501518e-02, -9.99025530e-01, -4.33680869e-19,
        4.41360448e-02])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04927053, -0.0641008 ,  0.06198904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.03942917e-05, 2.53693131e-05, 1.48393537e-05, 1.83450033e-05,
 -2.74974653e-05,-2.38865102e-05, 5.67070460e-06,-1.05101146e-05,
 -2.80630093e-06, 4.38282545e-06,-8.31775374e-06,-1.23610789e-05,
  4.29935189e-02, 9.64084071e-03, 4.72001434e-03, 4.15198745e-05,
 -6.07992858e-05, 5.13009672e-05,-9.81002030e+00,-6.49102250e-02,
 -9.14435205e-03,-5.58396845e-03]


--- Step 958 ---
qpos:
[ 0.00989223, 0.00806993,-0.00565825, 0.03351501, 0.00351643, 0.0028559 ,
 -0.00678   , 0.0391188 , 0.01304264, 0.00592863,-0.01170386, 0.03408233,
  0.88028591,-0.00531256, 1.07860054, 0.04641252, 0.09113556,-0.06718948,
  0.14233473, 0.94535377,-0.03317201, 0.03075399, 0.32289326]

qacc:
[-2.10570597e+00,-3.98623893e-01, 2.56032437e+00,-5.66686142e+00,
 -2.82582080e+00,-7.94167072e-01, 2.93927282e+00,-4.87267431e+00,
  2.83194239e+00,-1.28953602e+00, 1.30825164e+00, 7.59724951e+00,
 -1.29334647e+01,-7.43689925e+01,-1.98418027e+02, 5.62043848e+02,
 -3.11366461e-01, 1.50354777e+00,-2.10892798e-01,-2.67605508e+01,
  4.24710048e+00,-1.94642368e+01]

qfrc_actuator:
[-6.70795148e-05, 3.36127939e-04, 5.30293573e-05, 9.27127711e-05,
 -3.11515620e-05, 4.11924096e-05,-1.95295921e-05, 3.36835357e-05,
 -1.84987287e-05, 7.88011796e-05,-5.41030719e-05, 5.06064133e-05,
  4.37548412e-02, 9.37533613e-03, 7.64454953e-03,-2.40287764e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.04833493, -0.10807647,  1.04274906, -0.10807647,  3.16731378,
        0.21962308,  1.04274906,  0.21962308,  1.07109793,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021069030691439207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.07509627e-01, -8.46183482e-01, -1.62503824e-01, -8.35832509e-02,
       -1.39360443e-01,  9.86707914e-01, -8.57582544e-01,  5.14346363e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10230595, -0.03932926,  0.30502153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.03771337, -5.89467026,  9.33187971, -5.89467026, 24.9391073 ,
        8.78109619,  9.33187971,  8.78109619, 16.5844701 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004889283925944843
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13536363e-13,  1.13536363e-13,  1.00000000e+00, -1.28905056e-26,
        1.00000000e+00, -1.13536363e-13, -1.00000000e+00,  0.00000000e+00,
        1.13536363e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08246715, -0.11216188,  0.061989  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23391415e-05, 3.55094448e-05, 1.65822469e-05,-5.75619371e-06,
 -1.65849501e-05,-2.11396375e-05, 1.49690932e-06,-6.38963949e-06,
  1.63845625e-05,-4.09223707e-05, 2.73625279e-05, 2.72721034e-05,
  4.39692500e-02, 1.05753052e-02,-8.30095245e-04, 1.24719219e-03,
 -6.31106261e-06, 3.67072900e-05,-9.80999532e+00,-6.49131946e-02,
 -9.13946368e-03,-5.58109818e-03]


--- Step 959 ---
qpos:
[ 0.00989082, 0.00807149,-0.00565843, 0.0335155 , 0.00351632, 0.00285629,
 -0.00677998, 0.03911827, 0.0130432 , 0.0059291 ,-0.01170254, 0.03408289,
  0.88016983,-0.00543584, 1.07893278, 0.04641   , 0.09114264,-0.06718532,
  0.14233315, 0.94538117,-0.03318395, 0.03076632, 0.32281062]

qacc:
[ 1.96896014e+00, 4.19340828e-01, 1.30114044e+00,-8.96984534e+00,
  4.42837230e+00, 1.56210736e-01, 1.38205666e+00,-8.13397172e+00,
  7.86225553e+00,-3.01818266e+00, 9.55216086e+00,-1.04467300e+01,
 -2.46440173e+01,-2.05186051e+01, 4.50684577e+01,-1.43468530e+02,
  4.03726154e-01, 2.22939886e-01, 2.36528289e-01, 1.01820719e-01,
  1.05446034e+01, 5.66604048e+00]

qfrc_actuator:
[-5.50726545e-05, 3.63808725e-04, 4.04899866e-05, 7.00509369e-05,
 -4.68467919e-06, 5.38573374e-05,-3.38241684e-05, 1.28278447e-05,
  2.68226406e-05, 3.62648377e-05,-2.01950522e-05, 4.88649041e-05,
  4.37592478e-02, 9.43112627e-03, 7.60020016e-03,-2.47268669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.04938223, -0.39682953,  0.97145735, -0.39682953,  6.04677486,
        2.04137933,  0.97145735,  2.04137933,  1.88326299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002127276592973507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50767115, -0.8460998 , -0.162435  , -0.08357348, -0.13928605,
        0.98671925, -0.85748789,  0.51450416,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10231027, -0.03932639,  0.30501445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.07107972, -5.34917887,  9.69304346, -5.34917887, 27.1219995 ,
        8.8578207 ,  9.69304346,  8.8578207 , 15.95933463,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004910909445690907
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.31331320e-07,  2.86123381e-13,  1.00000000e+00, -1.23413976e-19,
        1.00000000e+00, -2.86123381e-13, -1.00000000e+00,  0.00000000e+00,
        4.31331320e-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([ 0.06544015, -0.08748755,  0.06198895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16636081e-05, 5.06753882e-05,-3.37460574e-06,-2.06823299e-05,
  2.59881976e-05, 8.58993390e-07,-1.87042825e-05,-2.18345282e-05,
  4.57747570e-05,-5.86428202e-05, 2.97471527e-05,-2.02342258e-06,
  4.91459483e-02, 1.47548810e-02, 2.13656403e-03,-6.10874797e-04,
 -4.94854682e-05, 3.67183829e-05,-9.81000277e+00,-6.49157587e-02,
 -9.15183280e-03,-5.58032820e-03]


--- Step 960 ---
qpos:
[ 0.00988956, 0.00807358,-0.00565882, 0.03351571, 0.00351653, 0.00285652,
 -0.00677979, 0.03911784, 0.01304429, 0.00592945,-0.01170126, 0.03408341,
  0.87999281,-0.0055962 , 1.07928191, 0.04640396, 0.09115081,-0.06718027,
  0.14233236, 0.94540441,-0.03320148, 0.03079421, 0.32273809]

qacc:
[  1.34098354,  0.68484004, -0.21902462, -4.78771471,  2.80493181,
  -0.49041602,  1.01086909,  0.56839589,  4.73867755, -0.09182293,
   0.24132999, -0.67588093,-20.30374355,-17.77707876, 36.05843541,
 -88.85258152,  0.26936857,  0.22079799,  0.19867753, -0.34864451,
   8.15269457,  5.62406507]

qfrc_actuator:
[-4.74396734e-05, 3.97259701e-04, 3.31903260e-05, 5.65256507e-05,
  1.09358858e-05, 4.34846651e-05,-2.44648758e-05, 1.85294401e-05,
  5.32587253e-05, 4.64437167e-05,-1.85915698e-05, 4.76020044e-05,
  4.37646960e-02, 9.55797592e-03, 7.51869873e-03,-2.48874692e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.05187872,  0.18013261,  1.03634024,  0.18013261,  8.84274704,
       -1.35417826,  1.03634024, -1.35417826,  1.28725669,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021749285857667618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.07819026e-01, -8.46007841e-01, -1.62451747e-01, -8.36066782e-02,
       -1.39285654e-01,  9.86716489e-01, -8.57397084e-01,  5.14655458e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1023145 , -0.03931564,  0.30500171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.08163034,  9.78894325, -5.19414296,  9.78894325, 27.37097463,
       30.69909088, -5.19414296, 30.69909088, 68.93750006,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004917702811948258
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.64563081e-14,  1.17202624e-06,  1.00000000e+00,  3.10074874e-20,
        1.00000000e+00, -1.17202624e-06, -1.00000000e+00,  6.01853108e-36,
       -2.64563081e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06516632, -0.08708013,  0.06198894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.97911677e-06, 6.01588082e-05, 2.02059388e-06,-1.18774392e-05,
  1.63613776e-05,-1.46956924e-05, 6.47297362e-06, 4.66549919e-06,
  2.77185713e-05,-1.65725170e-05,-6.93933520e-06,-2.79315940e-06,
  5.28073359e-02, 1.70758055e-02, 1.74734299e-03,-3.99149296e-05,
 -4.51304797e-05, 3.86328182e-05,-9.80998936e+00,-6.49224774e-02,
 -9.14980230e-03,-5.58246661e-03]


--- Step 961 ---
qpos:
[ 0.00988875, 0.00807564,-0.0056585 , 0.03351576, 0.00351658, 0.0028561 ,
 -0.00677878, 0.03911887, 0.0130457 , 0.00593024,-0.01170081, 0.0340839 ,
  0.87983281,-0.00575269, 1.07973185, 0.04638426, 0.09116311,-0.06717643,
  0.14233042, 0.94540564,-0.03317896, 0.03083827, 0.32273259]

qacc:
[ 3.94063082e+00,-2.31695393e+00, 8.84924399e+00,-1.26095312e+01,
 -1.35833952e+00,-1.51536558e-01,-6.90896093e+00, 3.14968258e+01,
  2.67952293e+00, 2.77482446e+00,-8.91016898e+00, 9.25550794e+00,
  4.62042888e+00, 2.09547547e+00, 1.90261317e+02,-4.49397772e+02,
  1.03511925e+00,-3.00538178e-01,-2.88139558e-01, 2.01407105e+01,
  4.07940874e-01, 3.61268541e+01]

qfrc_actuator:
[-2.46972441e-05, 3.80669768e-04, 6.45921010e-05, 4.85001595e-05,
  2.28096078e-06, 1.75923516e-06, 1.64785001e-05, 9.30741022e-05,
  6.83588604e-05, 8.79838816e-05,-5.36129489e-05, 4.66560380e-05,
  4.37776275e-02, 9.73822719e-03, 7.48294547e-03,-2.28082786e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.05553874,  0.2291613 ,  1.03036262,  0.2291613 ,  9.65776408,
       -1.91320716,  1.03036262, -1.91320716,  1.48105208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022426064782983616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50795183, -0.8459111 , -0.1625403 , -0.08367536, -0.1393477 ,
        0.98670191, -0.85731171,  0.51479766,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10231912, -0.0392988 ,  0.3049848 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004917193328560637
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.38675831e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.38675831e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04929806, -0.06406458,  0.06198894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29848986e-05, 1.68948466e-05, 4.36469143e-05,-5.61319788e-06,
 -8.19535312e-06,-4.84103159e-05, 3.88618456e-05, 7.42290645e-05,
  1.58851594e-05, 3.07039442e-05,-3.94161446e-05,-1.95634890e-06,
  5.58642884e-02, 1.91121227e-02, 8.59153015e-04, 3.41944719e-04,
 -3.99652850e-05, 3.66672772e-05,-9.80997744e+00,-6.49265210e-02,
 -9.14592157e-03,-5.58665002e-03]


--- Step 962 ---
qpos:
[ 0.00988891, 0.00807736,-0.00565758, 0.03351541, 0.00351687, 0.00285537,
 -0.00677731, 0.03912044, 0.01304762, 0.00593111,-0.01170067, 0.03408404,
  0.87983961,-0.00580064, 1.08016822, 0.04638653, 0.09117009,-0.06717712,
  0.14232974, 0.94540174,-0.03314682, 0.03084569, 0.32274662]

qacc:
[ 8.52757859e+00,-2.96480966e+00, 1.15494533e+01,-1.90481644e+01,
  2.13677713e+00,-5.76451896e-01,-7.48535636e-01, 9.31331583e+00,
  4.52313204e+00, 2.56816797e-01, 6.88331132e-01,-6.26411612e+00,
  4.95221328e+01, 6.21062473e+01,-8.72235675e+01, 2.74457989e+02,
 -1.33095854e+00,-1.13450165e+00, 3.13531372e-01,-1.75475218e+00,
 -1.91206408e+01, 9.59518294e+00]

qfrc_actuator:
[ 2.45097367e-05, 3.34401290e-04, 8.28870219e-05, 2.60051308e-05,
  1.49156431e-05,-4.96531619e-06, 4.01395344e-05, 1.18750943e-04,
  9.44248655e-05, 7.68260647e-05,-7.43180421e-05, 2.81635440e-05,
  4.37955537e-02, 9.90665616e-03, 7.45582966e-03,-2.17549630e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.05798976, -0.92161653,  0.51958186, -0.92161653,  1.41434617,
        0.63209281,  0.51958186,  0.63209281,  2.17917436,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022865801348798118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50797834, -0.84587117, -0.16266523, -0.0837458 , -0.13945114,
        0.98668132, -0.85728913,  0.51483526,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10232753, -0.03928768,  0.30497405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.11237109, -10.62047554,  -3.26960099, -10.62047554,
        12.06916526,  -3.10790493,  -3.26960099,  -3.10790493,
        21.20761771,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004937375292524138
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12430488e-13, -1.12430488e-13,  1.00000000e+00,  1.26406146e-26,
        1.00000000e+00,  1.12430488e-13, -1.00000000e+00,  0.00000000e+00,
        1.12430488e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09361776, -0.05362984,  0.06198889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.98593237e-05,-2.81133184e-05, 2.69383458e-05,-2.03763725e-05,
  1.23801306e-05,-2.25897461e-05, 2.10067961e-05, 2.63884441e-05,
  2.65329847e-05,-2.23869186e-06,-1.93002985e-05,-1.85828015e-05,
  5.50303281e-02, 1.90902442e-02,-4.21570715e-03, 1.12910695e-03,
 -1.29450895e-05, 4.43033913e-06,-9.80998374e+00,-6.49149057e-02,
 -9.13971411e-03,-5.58936701e-03]


--- Step 963 ---
qpos:
[ 0.00988931, 0.00807871,-0.00565692, 0.03351486, 0.00351731, 0.00285484,
 -0.00677627, 0.03912125, 0.01304984, 0.00593207,-0.01170083, 0.03408429,
  0.87986466,-0.00582465, 1.08054753, 0.04639966, 0.09117347,-0.06717639,
  0.14233068, 0.94540775,-0.03313522, 0.030838  , 0.32273095]

qacc:
[ 2.13805137e+00,-2.03763801e-01, 8.55145741e-01,-3.66138439e+00,
  1.29162233e+00,-1.32945390e-01, 3.98264476e+00,-1.63574221e+01,
  2.60692927e+00, 1.20948628e+00,-4.62760027e+00, 7.09030174e+00,
 -5.02423145e-01, 2.34180227e+01,-1.16673931e+02, 2.86788407e+02,
 -9.00197403e-01, 3.55804510e-01, 4.05219195e-01,-1.15200109e+01,
 -3.48316495e+00,-1.62049177e+01]

qfrc_actuator:
[ 3.56364838e-05, 2.88404301e-04, 5.76295892e-05, 1.28822673e-05,
  2.22354086e-05, 9.22876318e-06, 1.79805162e-05, 7.99616622e-05,
  1.08987255e-04, 8.74926668e-05,-8.66070525e-05, 3.49750881e-05,
  4.37970569e-02, 9.96176666e-03, 7.36600024e-03,-2.21515807e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.05737548,  0.7010441 ,  0.79156812,  0.7010441 ,  2.35195418,
       -1.14653019,  0.79156812, -1.14653019,  2.07278806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022756564905810622
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50796261, -0.84588659, -0.16263415, -0.08372677, -0.13942631,
        0.98668644, -0.8573003 ,  0.51481666,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10233641, -0.03929491,  0.30497728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.11387661,   3.84708552,  10.42680135,   3.84708552,
        49.24013073, -14.06710985,  10.42680135, -14.06710985,
        16.30409486,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004938334157299425
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.21781831e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.21781831e-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([ 0.08821511, -0.08200087,  0.06198889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25308665e-05,-5.70822243e-05,-2.84840559e-05,-1.37993228e-05,
  7.66190332e-06, 7.04181183e-06,-2.33375536e-05,-3.85224967e-05,
  1.53202607e-05, 4.61379935e-06,-1.57827491e-05, 5.68289986e-06,
  4.66950193e-02, 1.37221260e-02,-3.63264278e-03,-1.08265903e-05,
 -7.06728896e-06, 5.55690636e-06,-9.80999246e+00,-6.49107483e-02,
 -9.14223343e-03,-5.58845117e-03]


--- Step 964 ---
qpos:
[ 0.00988915, 0.00807987,-0.00565634, 0.03351379, 0.00351784, 0.00285445,
 -0.00677605, 0.03912128, 0.01305152, 0.00593326,-0.01170124, 0.03408495,
  0.87978744,-0.00592633, 1.08082705, 0.04642243, 0.09117635,-0.06717054,
  0.14233045, 0.94542486,-0.03316724, 0.03082548, 0.32267872]

qacc:
[-4.90910429e+00,-1.10094348e+00, 5.82334284e+00,-1.47840010e+01,
  7.14067404e-01, 9.04740313e-01, 3.50746055e-01,-1.26461995e+01,
 -4.69444883e+00, 1.83259638e+00,-7.80998112e+00, 1.50504303e+01,
 -1.54805321e+01,-6.69042339e+01,-1.77536132e+02, 4.04906517e+02,
 -1.23630570e-01, 1.27952310e+00,-2.90880083e-01,-2.06560520e+01,
  5.18691938e+00,-1.98271003e+01]

qfrc_actuator:
[ 6.50000408e-06, 2.95996702e-04, 6.01143902e-05,-1.24044169e-05,
  2.63618984e-05, 9.21247518e-08,-3.09927607e-05, 3.90567048e-05,
  8.11538929e-05, 1.11198465e-04,-9.37364566e-05, 5.66411535e-05,
  4.37960715e-02, 9.97232469e-03, 7.30685427e-03,-2.25071972e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.05770656, -0.07112377, -1.05531255, -0.07112377,  2.67524324,
       -0.10901538, -1.05531255, -0.10901538,  1.06505375,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022815518656239692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.07991349e-01, -8.45884721e-01, -1.62554076e-01, -8.36891608e-02,
       -1.39355488e-01,  9.86699636e-01, -8.57286950e-01,  5.14838893e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10234223, -0.03930082,  0.30497729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.12056431,  -0.89086897, -11.0848231 ,  -0.89086897,
        23.74719305,  -1.01478135, -11.0848231 ,  -1.01478135,
        11.20212062,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000494258839195974
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.61559519e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.61559519e-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([ 0.08247492, -0.11213781,  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:
[-2.88025142e-05,-3.08557608e-05,-1.33152886e-05,-2.89907172e-05,
  4.34932318e-06,-1.16621047e-05,-5.17339776e-05,-4.21637169e-05,
 -2.73929303e-05, 2.32480041e-05,-7.93205384e-06, 2.14257475e-05,
  4.57812806e-02, 1.25367168e-02,-8.45974086e-04,-5.90824336e-04,
  1.60839062e-07, 1.43808987e-06,-9.81000023e+00,-6.49092361e-02,
 -9.14155651e-03,-5.58679650e-03]


--- Step 965 ---
qpos:
[ 0.00988934, 0.0080807 ,-0.00565542, 0.03351205, 0.00351806, 0.00285409,
 -0.00677672, 0.03912119, 0.01305251, 0.00593422,-0.01170151, 0.03408521,
  0.87972882,-0.00600155, 1.0810551 , 0.04643863, 0.09117771,-0.06716496,
  0.14233181, 0.94545612,-0.03320364, 0.03080507, 0.32258532]

qacc:
[ 3.01669390e+00,-2.73527967e+00, 1.18908641e+01,-2.35111745e+01,
 -2.66148562e+00, 2.27741020e+00,-7.52881947e+00, 6.75912136e+00,
 -6.07057556e+00,-1.50856670e+00, 6.68162370e+00,-1.37843298e+01,
 -3.42286668e+00, 2.94192341e+01,-5.54709549e+01, 8.52550187e+01,
 -3.82400672e-01,-6.84589772e-02, 3.97131669e-01,-2.46941891e+00,
 -2.55919405e+00,-2.19403989e+01]

qfrc_actuator:
[ 2.49218784e-05, 2.82452519e-04, 7.91780450e-05,-4.45776819e-05,
  1.08245419e-05,-5.32245773e-06,-7.77190900e-05, 3.27214705e-05,
  4.63467412e-05, 7.15582423e-05,-9.76999591e-05, 3.36273757e-05,
  4.38197606e-02, 1.00659242e-02, 7.32527647e-03,-2.07391652e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06034182, -0.44159349,  0.96401243, -0.44159349,  3.66466435,
        1.19298449,  0.96401243,  1.19298449,  1.60682253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023278292601166555
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50807316, -0.84582998, -0.16258326, -0.08371807, -0.13937216,
        0.98669483, -0.85723564,  0.51492432,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10234473, -0.03929215,  0.30496504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.09876713,  3.04537241, 10.67278495,  3.04537241, 29.08101665,
       -5.131055  , 10.67278495, -5.131055  , 12.56286234,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004928691569848254
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.63743014e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.63743014e-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([ 0.08822385, -0.08199667,  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:
[ 1.75882220e-05,-3.48474682e-05, 1.00303587e-05,-3.45206475e-05,
 -1.54139309e-05,-2.44160289e-05,-5.69640152e-05,-9.44534332e-06,
 -3.55747685e-05,-2.74039503e-05, 5.95213614e-07,-2.18767028e-05,
  5.09164513e-02, 1.65140805e-02, 4.15633122e-03,-8.97437832e-04,
 -2.86402955e-05, 1.21046734e-05,-9.80999092e+00,-6.49140406e-02,
 -9.14838744e-03,-5.58747027e-03]


--- Step 966 ---
qpos:
[ 0.00989009, 0.0080813 ,-0.0056543 , 0.03350995, 0.00351776, 0.00285373,
 -0.00677772, 0.03912099, 0.01305308, 0.00593528,-0.01170165, 0.0340848 ,
  0.8798061 ,-0.00598062, 1.08128634, 0.04644149, 0.09117635,-0.06716495,
  0.14233373, 0.9454946 ,-0.0332074 , 0.03077287, 0.3224752 ]

qacc:
[ 4.95828250e+00,-1.62420172e+00, 6.88870152e+00,-1.34401201e+01,
 -4.69704419e+00, 7.07844893e-01,-2.04589074e+00, 6.50371495e-01,
 -3.73942688e+00,-1.57660594e+00, 8.64318463e+00,-2.04389044e+01,
  3.20715751e+01, 6.76349406e+01, 4.52426237e+01,-1.51063668e+02,
 -6.78157412e-01,-1.39075692e+00, 1.38008125e-01, 1.39037515e+01,
 -1.06712486e+01,-8.76027498e+00]

qfrc_actuator:
[ 5.34484932e-05, 2.74183023e-04, 9.00410177e-05,-6.27959641e-05,
 -1.61610140e-05, 9.30875041e-06,-8.71983482e-05, 2.90317012e-05,
  2.54795837e-05, 1.00782981e-04,-8.23000426e-05, 2.20772645e-06,
  4.38350796e-02, 1.01363044e-02, 7.29894439e-03,-2.13015245e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06301412, -0.89716434, -0.57017117, -0.89716434,  1.90014648,
       -1.31722777, -0.57017117, -1.31722777,  3.13567203,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023736298477696846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50822552, -0.84574611, -0.16254333, -0.08372205, -0.13932319,
        0.98670141, -0.85714494,  0.51507529,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10234625, -0.03928488,  0.30495434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.09341473,  2.1153686 , 10.88986071,  2.1153686 , 21.62239901,
       -2.04526791, 10.88986071, -2.04526791, 11.4907105 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000492526541413962
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.55982465e-07, -5.55982577e-07,  1.00000000e+00,  3.09116564e-13,
        1.00000000e+00,  5.55982577e-07, -1.00000000e+00,  0.00000000e+00,
        5.55982465e-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([ 0.09245435, -0.05390109,  0.06198892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90133231e-05,-2.71954533e-05, 3.68813045e-06,-2.00371940e-05,
 -2.74296064e-05,-1.11778490e-05,-2.18523787e-05,-6.88747150e-06,
 -2.18842097e-05, 1.30443715e-05, 9.04958658e-06,-3.29996107e-05,
  5.00011945e-02, 1.52636835e-02, 6.69936749e-03,-6.26467987e-04,
 -7.30948931e-05, 3.21063738e-05,-9.80998922e+00,-6.49178387e-02,
 -9.15614679e-03,-5.58745037e-03]


--- Step 967 ---
qpos:
[ 0.00989048, 0.00808178,-0.00565288, 0.03350831, 0.00351747, 0.00285336,
 -0.00677855, 0.03911967, 0.0130534 , 0.00593667,-0.01170177, 0.03408434,
  0.87986159,-0.005979  , 1.08162314, 0.0464175 , 0.09118145,-0.06716675,
  0.14233374, 0.94551339,-0.03317128, 0.03077214, 0.32242389]

qacc:
[-3.09279867e+00,-5.03905919e-02,-1.99700988e+00, 9.62367942e+00,
  2.13454583e-01,-2.79574866e+00, 1.46713400e+01,-3.42461642e+01,
 -2.24703278e+00, 2.38881775e-01,-5.00828747e-03,-1.17295701e+00,
 -9.01511237e+00,-7.91587352e+00, 2.37504479e+02,-6.03695482e+02,
  1.61465134e+00,-4.52408242e-01,-4.76460260e-01, 2.26942565e+01,
  7.77385295e+00, 3.21100340e+01]

qfrc_actuator:
[ 3.44213254e-05, 2.86877479e-04, 1.13751554e-04,-3.71562500e-05,
 -1.41569235e-05, 1.82339434e-05,-7.45320091e-05,-2.62932350e-05,
  1.29871184e-05, 1.35580352e-04,-7.30790784e-05, 1.67084156e-06,
  4.38181730e-02, 1.00947127e-02, 7.26932247e-03,-2.51208441e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06246233,  0.67906234, -0.81712946,  0.67906234,  5.29988769,
        3.52144443, -0.81712946,  3.52144443,  3.98890229,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023642624196252923
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08412740e-01, -8.45675967e-01, -1.62322656e-01, -8.36361107e-02,
       -1.39117381e-01,  9.86737734e-01, -8.57042290e-01,  5.15246071e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10234957, -0.03929451,  0.30495823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.1039606 , -10.51176999,  -3.57779718, -10.51176999,
        12.46163667,  -3.98892891,  -3.57779718,  -3.98892891,
        22.82365879,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004932010807639081
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.04933135, -0.06402668,  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:
[-1.82120031e-05,-2.63246140e-06, 1.78366451e-05, 2.42115015e-05,
  1.22152942e-06,-2.11864612e-06, 7.44533736e-06,-5.66893342e-05,
 -1.31057967e-05, 4.25051222e-05, 1.18798956e-05,-3.07156391e-07,
  4.31909471e-02, 1.04152588e-02, 6.50597645e-03,-3.42197455e-04,
 -6.62064779e-05, 3.58724642e-05,-9.81001406e+00,-6.49125544e-02,
 -9.15177435e-03,-5.58384639e-03]


--- Step 968 ---
qpos:
[ 0.00989065, 0.00808195,-0.0056511 , 0.03350735, 0.00351722, 0.00285301,
 -0.00677927, 0.03911805, 0.01305321, 0.00593801,-0.01170188, 0.03408393,
  0.87990762,-0.00598826, 1.08208023, 0.04638688, 0.09119122,-0.06716896,
  0.14233242, 0.9455122 ,-0.0331042 , 0.03079234, 0.32243235]

qacc:
[-2.00768504e+00, 1.15425720e-03,-3.49777721e+00, 1.50304353e+01,
  2.31236059e-01,-9.06709615e-01, 4.55202908e+00,-1.00124689e+01,
 -4.36976019e+00, 5.68907779e-02,-4.99671090e-01, 1.38111154e+00,
 -5.29946824e+00,-3.12246512e+00, 1.98074878e+02,-4.34220109e+02,
  1.16663805e+00,-1.03134011e-01,-3.32670836e-01, 1.67606198e+01,
  4.22332024e+00, 3.23036122e+01]

qfrc_actuator:
[ 2.30593079e-05, 2.58867118e-04, 1.27225645e-04,-3.64237277e-06,
 -1.28551512e-05, 2.37350871e-05,-6.67088686e-05,-4.05399244e-05,
 -1.22334233e-05, 1.02448407e-04,-8.52744789e-05, 1.56290385e-06,
  4.38125341e-02, 1.00807029e-02, 7.28698252e-03,-2.59126457e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06147955,  0.04109136,  1.0606839 ,  0.04109136,  1.87359135,
       -0.03146157,  1.0606839 , -0.03146157,  1.06269839,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023474635815651373
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08512749e-01, -8.45645789e-01, -1.62166530e-01, -8.35699292e-02,
       -1.38974999e-01,  9.86763405e-01, -8.56989412e-01,  5.15334016e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10235608, -0.03930505,  0.30496394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.08915312,  9.07569282, -6.37190056,  9.07569282, 29.38677469,
       26.06186196, -6.37190056, 26.06186196, 48.20986007,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004922533587024408
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.25538944e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.25538944e-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([ 0.04933501, -0.06401847,  0.06198893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18861852e-05,-2.47984973e-05, 1.59466408e-05, 3.44895264e-05,
  1.33782224e-06, 3.45150031e-06, 6.35806231e-06,-1.51776910e-05,
 -2.55744899e-05,-6.97384069e-06,-1.97602362e-06, 2.11737618e-06,
  4.42747817e-02, 1.13675735e-02, 1.23995009e-03, 9.20063864e-04,
 -5.26494663e-06, 2.40635581e-05,-9.80999941e+00,-6.49165517e-02,
 -9.14294506e-03,-5.58156892e-03]


--- Step 969 ---
qpos:
[ 0.00989102, 0.00808217,-0.00564983, 0.03350648, 0.00351663, 0.00285267,
 -0.00677993, 0.03911697, 0.01305273, 0.00593902,-0.01170143, 0.03408352,
  0.87985381,-0.00607749, 1.08246783, 0.0463955 , 0.0911985 ,-0.06716501,
  0.14233022, 0.9455251 ,-0.03309735, 0.03079686, 0.3223948 ]

qacc:
[ 1.80070695e+00, 1.62167812e+00,-6.01137366e+00, 8.10410880e+00,
 -2.87629328e+00, 9.52604167e-01,-5.64407354e+00, 1.48296333e+01,
 -2.62149988e+00,-2.02106719e+00, 6.59757485e+00,-7.31417760e+00,
 -1.16247658e+01,-7.30433588e+01,-2.22582891e+02, 6.26895760e+02,
 -6.21572275e-01, 1.53996321e+00,-2.17328787e-01,-3.00572254e+01,
  2.83912812e+00,-2.52123987e+01]

qfrc_actuator:
[ 3.40674627e-05, 2.59935227e-04, 9.88785223e-05,-1.31701278e-06,
 -2.97391400e-05, 2.71641245e-05,-6.17922633e-05,-1.27510645e-05,
 -2.69942486e-05, 8.20673204e-05,-5.70347118e-05, 1.63307709e-06,
  4.38026785e-02, 1.01002741e-02, 7.26930138e-03,-2.49827684e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06038523, -0.069486  ,  1.0581061 , -0.069486  ,  3.82231898,
        0.18137664,  1.0581061 ,  0.18137664,  1.07229626,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023285820497527952
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50851886, -0.8456621 , -0.1620623 , -0.08351577, -0.13888594,
        0.98678053, -0.85699106,  0.51533127,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10236512, -0.03931682,  0.30497032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.16071213, -6.12228756,  9.33161777, -6.12228756, 21.59072342,
        6.84292155,  9.33161777,  6.84292155, 15.65021593,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000496795243836598
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11738492e-13,  1.11738492e-13,  1.00000000e+00, -1.24854905e-26,
        1.00000000e+00, -1.11738492e-13, -1.00000000e+00,  0.00000000e+00,
        1.11738492e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08247185, -0.11211732,  0.06198883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06566181e-05,-8.05682932e-06,-3.03325284e-05, 2.48395455e-06,
 -1.68443739e-05, 6.04724536e-06, 5.90360357e-06, 2.78672787e-05,
 -1.54861740e-05,-2.46539453e-05, 2.66166279e-05,-2.56612717e-07,
  4.47375660e-02, 1.19314629e-02,-4.80073239e-03, 1.34270593e-03,
 -2.11894932e-05, 2.52732567e-05,-9.80996937e+00,-6.49102294e-02,
 -9.15182891e-03,-5.57926255e-03]


--- Step 970 ---
qpos:
[ 0.00989117, 0.00808259,-0.00564931, 0.03350632, 0.00351619, 0.00285214,
 -0.00678068, 0.03911592, 0.01305242, 0.00593965,-0.01170056, 0.03408278,
  0.87970502,-0.00624019, 1.08275319, 0.04641218, 0.09120495,-0.06715651,
  0.14232749, 0.94555048,-0.03313501, 0.03079297, 0.32231687]

qacc:
[-1.92358723e+00, 3.89620681e+00,-1.65544905e+01, 3.01540246e+01,
  1.29642363e+00, 5.91662038e-02,-7.25335534e-01, 1.57881751e+00,
  1.53030854e+00,-2.37169910e+00, 9.08029961e+00,-1.50774736e+01,
 -1.30801883e+01,-6.48003198e+01,-1.76418434e+02, 3.95644076e+02,
 -2.08388904e-01, 1.13794258e+00,-1.36769932e-01,-2.15769382e+01,
  3.67377408e+00,-2.19275030e+01]

qfrc_actuator:
[ 2.26469214e-05, 2.78209951e-04, 6.39065950e-05, 3.58884609e-05,
 -2.16864194e-05,-6.15022846e-06,-7.63668154e-05,-1.37189881e-05,
 -1.77240270e-05, 5.18781223e-05,-4.06122856e-05,-1.59108739e-05,
  4.37934426e-02, 1.02134492e-02, 7.21121162e-03,-2.57599569e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.0621568 ,  0.20244869, -1.04268481,  0.20244869,  2.24930858,
        0.23049854, -1.04268481,  0.23049854,  1.10691062,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023590557789187022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50858826, -0.84562157, -0.162056  , -0.08352383, -0.13887374,
        0.98678156, -0.8569491 ,  0.51540105,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10237018, -0.0393131 ,  0.30496175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.20067011, 10.39555   , -4.16983828, 10.39555   , 19.61905525,
       20.98732319, -4.16983828, 20.98732319, 63.52278742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004992902896273216
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14654492e-13, -1.11180114e-13,  1.00000000e+00,  1.27472995e-26,
        1.00000000e+00,  1.11180114e-13, -1.00000000e+00,  0.00000000e+00,
        1.14654492e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08247487, -0.11211059,  0.06198877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11204537e-05, 7.59173485e-06,-4.03025198e-05, 3.58571869e-05,
  7.57454408e-06,-2.75024459e-05,-1.16193237e-05, 4.32136339e-08,
  8.82394644e-06,-3.85367055e-05, 1.45833618e-05,-1.76863364e-05,
  4.97178034e-02, 1.60439163e-02,-1.39121561e-03,-6.99004025e-04,
 -6.85918570e-06, 8.86514843e-06,-9.80999966e+00,-6.49097082e-02,
 -9.14826785e-03,-5.57920592e-03]


--- Step 971 ---
qpos:
[ 0.00989119, 0.00808284,-0.00564856, 0.03350694, 0.0035162 , 0.00285135,
 -0.00678153, 0.03911453, 0.01305256, 0.00594007,-0.01170011, 0.03408222,
  0.87946915,-0.00646944, 1.08294213, 0.04642686, 0.09121169,-0.06714471,
  0.14232442, 0.94558739,-0.03320548, 0.03078498, 0.32220207]

qacc:
[-1.19896028e+00, 7.10257745e-01,-6.10977080e+00, 1.91965264e+01,
  3.91198798e+00,-7.47053518e-01, 3.60640215e+00,-9.12158295e+00,
  4.02164787e+00, 1.29228279e+00,-5.75034113e+00, 9.65954892e+00,
 -1.30807366e+01,-5.73000105e+01,-1.37224349e+02, 2.71397159e+02,
  7.47347524e-02, 8.23979487e-01,-8.17906385e-02,-1.54085804e+01,
  3.78294039e+00,-1.98559577e+01]

qfrc_actuator:
[ 1.58621790e-05, 2.71131853e-04, 7.86804242e-05, 7.55907809e-05,
  9.84565903e-07,-2.58077107e-05,-8.47577099e-05,-3.16511148e-05,
  5.61265813e-06, 3.37453893e-05,-6.68714502e-05,-8.19553783e-06,
  4.38037112e-02, 1.03905130e-02, 7.18758289e-03,-2.65188827e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06596031,  0.28695956, -1.02660879,  0.28695956,  2.71286724,
        0.46034643, -1.02660879,  0.46034643,  1.19463719,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024228876265294889
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08716335e-01, -8.45526868e-01, -1.62148096e-01, -8.35936269e-02,
       -1.38939233e-01,  9.86766434e-01, -8.56866265e-01,  5.15538752e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1023726 , -0.03929639,  0.30494304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.19785196, 10.34570559, -4.28465452, 10.34570559, 22.32299041,
       26.86270422, -4.28465452, 26.86270422, 76.06040457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004991152666301707
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11219101e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.11219101e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08247715, -0.11210654,  0.06198877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.10061864e-06,-9.64659735e-06, 1.26084390e-05, 3.93297557e-05,
  2.28771987e-05,-3.74019821e-05,-1.54842831e-05,-1.95068279e-05,
  2.35769331e-05,-3.74573554e-05,-3.30516145e-05, 6.22211797e-06,
  5.44742982e-02, 1.98964683e-02, 3.69008870e-03,-1.17960726e-03,
 -5.38267844e-05, 3.03175740e-05,-9.80998323e+00,-6.49165284e-02,
 -9.15801920e-03,-5.58134136e-03]


--- Step 972 ---
qpos:
[ 0.00989113, 0.00808319,-0.00564768, 0.03350697, 0.00351648, 0.0028504 ,
 -0.00678225, 0.0391129 , 0.01305368, 0.00594073,-0.01170021, 0.03408206,
  0.87924596,-0.00669726, 1.08322635, 0.0464045 , 0.09122403,-0.0671362 ,
  0.14232033, 0.94560019,-0.03321974, 0.0308068 , 0.32216095]

qacc:
[-7.15629874e-01,-1.46391162e+00, 7.90815931e+00,-1.84524700e+01,
  2.39540352e+00,-1.07441157e+00, 4.48488580e+00,-8.57472490e+00,
  8.49504405e+00, 2.64247890e+00,-1.06884935e+01, 1.82865009e+01,
  2.03579037e+00, 2.59358249e+00, 2.52918152e+02,-6.80177484e+02,
  1.39773353e+00,-8.21469598e-01,-2.56758880e-01, 2.98396327e+01,
  4.18886079e+00, 4.00742748e+01]

qfrc_actuator:
[ 1.18670951e-05, 2.84639781e-04, 8.71049271e-05, 4.54445945e-05,
  1.43175299e-05,-1.93859615e-05,-7.16363684e-05,-4.16498972e-05,
  5.47865150e-05, 7.60726745e-05,-8.25488354e-05, 1.43040173e-05,
  4.38177406e-02, 1.06461279e-02, 7.19311368e-03,-2.56007525e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.07124368, -0.69654958,  0.81386835, -0.69654958,  2.00006013,
        0.79492796,  0.81386835,  0.79492796,  1.75158311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025082118511059995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50890059, -0.84538135, -0.16232859, -0.08371951, -0.13907414,
        0.98673676, -0.85674456,  0.51574098,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10237369, -0.03926918,  0.30491773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.25327248, -6.16912878,  9.41158816, -6.16912878, 20.62375894,
        6.14218734,  9.41158816,  6.14218734, 15.27936712,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005025440919896734
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.0493724 , -0.06398332,  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:
[-4.20457747e-06, 1.23815255e-05, 9.33276542e-06,-2.93611739e-05,
  1.39717492e-05,-1.84783114e-05, 2.83496977e-06,-1.25109889e-05,
  4.98337195e-05, 1.48097466e-05,-2.72800513e-05, 1.98702762e-05,
  5.88413107e-02, 2.34833347e-02, 8.51053178e-03,-9.89367903e-04,
 -1.31495300e-04, 7.17274179e-05,-9.80994745e+00,-6.49290279e-02,
 -9.17344257e-03,-5.58532315e-03]


--- Step 973 ---
qpos:
[ 0.00989102, 0.00808374,-0.00564702, 0.03350629, 0.00351691, 0.00284955,
 -0.00678294, 0.03911115, 0.01305503, 0.00594165,-0.0117006 , 0.03408214,
  0.87904821,-0.00691281, 1.0836384 , 0.04637652, 0.09124012,-0.06712923,
  0.14231577, 0.94558904,-0.03319011, 0.03084656, 0.32219293]

qacc:
[-4.28141480e-01,-5.33040031e-01, 5.24510026e+00,-1.71000363e+01,
  1.38542124e+00,-2.36423735e-01, 1.57870247e+00,-3.99749872e+00,
  2.06129543e+00, 1.64163450e+00,-6.36381731e+00, 1.08424188e+01,
  4.15735039e+00, 1.14309721e+01, 2.06043533e+02,-4.46088068e+02,
  9.37129728e-01,-3.84581607e-01,-1.15621938e-01, 2.21231205e+01,
  5.62407394e-01, 3.93914433e+01]

qfrc_actuator:
[ 9.54489175e-06, 2.92548428e-04, 7.39746191e-05, 9.94992911e-06,
  2.20429305e-05, 2.69779406e-06,-6.35571466e-05,-4.68610630e-05,
  6.55115692e-05, 1.01072687e-04,-9.15813553e-05, 2.76317839e-05,
  4.38335087e-02, 1.08720212e-02, 7.20768390e-03,-2.34954549e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.07434476, -0.02379609,  1.07408119, -0.02379609,  1.89574353,
        0.01819795,  1.07408119,  0.01819795,  1.07474793,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025566257121812183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50897423, -0.84529381, -0.16255338, -0.08385072, -0.13925753,
        0.98669975, -0.85668798,  0.51583497,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10238025, -0.03924942,  0.30490248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.30231537,  6.59017033, -9.18215594,  6.59017033, 33.57276574,
       15.98383452, -9.18215594, 15.98383452, 22.7741519 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005055705749382189
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.09799015e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.09799015e-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([ 0.04938398, -0.06397456,  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:
[-2.43883010e-06, 1.54779525e-05,-1.04533104e-05,-3.52152437e-05,
  8.11657681e-06, 1.18515312e-05, 4.20127299e-06,-6.14158620e-06,
  1.21489232e-05, 2.84971173e-05,-8.65291539e-06, 1.34025666e-05,
  5.82216667e-02, 2.36420417e-02, 3.75645962e-03, 1.07248417e-03,
 -1.41878373e-05, 1.32168227e-05,-9.80998864e+00,-6.49266604e-02,
 -9.14459705e-03,-5.58819634e-03]


--- Step 974 ---
qpos:
[ 0.00989122, 0.00808427,-0.00564644, 0.03350522, 0.00351744, 0.00284914,
 -0.00678373, 0.03910965, 0.01305615, 0.00594229,-0.01170057, 0.0340824 ,
  0.87902528,-0.00700619, 1.08405456, 0.04637437, 0.09125051,-0.06712743,
  0.14231327, 0.94557304,-0.03315243, 0.0308518 , 0.32224326]

qacc:
[ 2.78882619e+00,-6.40371408e-01, 3.91039838e+00,-1.06667385e+01,
  7.72039789e-01, 1.42175957e+00,-5.30156572e+00, 9.62300406e+00,
 -1.96996017e+00,-1.14416912e+00, 2.74225106e+00, 1.26979039e-02,
  4.52484672e+01, 8.01303405e+01,-7.21097100e+01, 2.60839911e+02,
 -1.42447049e+00,-1.29278771e+00, 5.13753335e-01,-2.12282605e+00,
 -1.78410064e+01, 9.01356131e+00]

qfrc_actuator:
[ 2.59775018e-05, 2.79192516e-04, 6.59666473e-05,-1.06602816e-05,
  2.64091281e-05, 5.17406590e-05,-5.84513345e-05,-3.14524075e-05,
  5.35124058e-05, 6.22785655e-05,-7.89275643e-05, 3.54496074e-05,
  4.38646920e-02, 1.10154059e-02, 7.21599262e-03,-2.17317027e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.07593545,  0.14703477, -1.06584139,  0.14703477,  3.36087657,
        0.31521181, -1.06584139,  0.31521181,  1.1194195 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002581010882856807
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50893246, -0.84527098, -0.1628027 , -0.08397593, -0.13947316,
        0.98665864, -0.85670053,  0.51581412,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10239102, -0.03923667,  0.30489424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.35699643, -10.8028529 ,  -3.50424558, -10.8028529 ,
        12.22330932,  -2.67066064,  -3.50424558,  -2.67066064,
        19.59008208,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005089381689835776
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09072486e-13, -1.09072486e-13,  1.00000000e+00,  1.18968072e-26,
        1.00000000e+00,  1.09072486e-13, -1.00000000e+00,  0.00000000e+00,
        1.09072486e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09371205, -0.05359079,  0.06198855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.63681121e-05,-8.39568984e-06,-7.32918795e-06,-2.09951026e-05,
  4.60117566e-06, 5.63209725e-05, 7.88059854e-06, 1.59493627e-05,
 -1.16415338e-05,-2.40921900e-05, 1.79324447e-05, 8.99885062e-06,
  5.69789523e-02, 2.31756853e-02,-2.63311193e-03, 1.52776945e-03,
 -2.27574997e-05, 1.90920203e-07,-9.80998889e+00,-6.49152290e-02,
 -9.14489126e-03,-5.59011811e-03]


--- Step 975 ---
qpos:
[ 0.00989162, 0.00808471,-0.00564594, 0.03350392, 0.00351836, 0.00284896,
 -0.00678413, 0.03910869, 0.01305747, 0.00594252,-0.01170057, 0.0340828 ,
  0.8791552 ,-0.0069913 , 1.0844483 , 0.04637906, 0.09125637,-0.06713035,
  0.14231231, 0.94555539,-0.03310395, 0.03082957, 0.32230214]

qacc:
[  1.71319002, -0.38845727,  2.18011074, -5.97783813,  3.46808697,
   0.29816603, -2.88529866, 11.34325335,  1.70143402, -0.19197545,
  -0.65141079,  3.32204092, 38.79585446, 72.10200969,-53.89249288,
 140.29901814, -1.13159633, -1.1814787 ,  0.38528291,  0.52162408,
 -14.85142259,  4.01499958]

qfrc_actuator:
[ 3.55637777e-05, 2.70982256e-04, 6.09776439e-05,-2.23583490e-05,
  4.65179811e-05, 6.33062312e-05,-3.72540460e-05,-4.01102115e-06,
  6.37515243e-05, 2.11725793e-05,-8.93422585e-05, 3.99234054e-05,
  4.38801126e-02, 1.10654798e-02, 7.15251567e-03,-2.20624232e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.07459174, -1.0214192 ,  0.3338416 , -1.0214192 ,  1.28154156,
        0.63318208,  0.3338416 ,  0.63318208,  3.01187076,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002560431446669682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08851323e-01, -8.45305993e-01, -1.62874519e-01, -8.40005919e-02,
       -1.39542143e-01,  9.86646791e-01, -8.56746306e-01,  5.15738081e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10240137, -0.03924209,  0.30489838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.38377337,  9.11543234, -6.8190314 ,  9.11543234, 35.7342048 ,
       32.55076814, -6.8190314 , 32.55076814, 54.89645237,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005105847064604124
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.09371781, -0.05358329,  0.06198852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00487836e-05,-1.53373544e-05,-8.36383744e-06,-1.27208488e-05,
  2.02583398e-05, 4.54009015e-05, 3.43707165e-05, 3.04436380e-05,
  9.90079367e-06,-5.05129814e-05,-1.28777566e-05, 4.23558916e-06,
  4.82564622e-02, 1.71214092e-02,-2.90660412e-03, 2.03023983e-04,
 -2.85830486e-05, 1.52932905e-05,-9.80998630e+00,-6.49148287e-02,
 -9.14740261e-03,-5.58875183e-03]


--- Step 976 ---
qpos:
[ 0.00989214, 0.00808496,-0.00564575, 0.03350287, 0.00351986, 0.00284892,
 -0.00678449, 0.03910844, 0.01305855, 0.00594289,-0.01170118, 0.03408323,
  0.87917313,-0.00705386, 1.08475342, 0.04639807, 0.09126093,-0.06712758,
  0.14231099, 0.94555235,-0.03310516, 0.03080562, 0.32231323]

qacc:
[ 9.76692432e-01, 1.12469405e+00,-5.43748283e+00, 1.03591313e+01,
  5.09131241e+00, 1.51158118e+00,-8.19285605e+00, 2.04841514e+01,
 -2.07054044e+00, 1.96234757e+00,-6.84350230e+00, 8.15947825e+00,
 -2.37745887e+01,-5.81976949e+01,-1.74613365e+02, 4.19900574e+02,
 -3.25063108e-01, 1.42404278e+00,-9.08098818e-02,-2.27906215e+01,
  7.76643562e+00,-2.57377823e+01]

qfrc_actuator:
[ 4.10377560e-05, 2.48181069e-04, 4.00743082e-05,-1.09656433e-05,
  7.57324636e-05, 5.24235605e-05,-4.23645791e-05, 3.02710936e-05,
  5.15000018e-05, 4.99093534e-05,-1.13333308e-04, 4.23663353e-05,
  4.38711085e-02, 1.10778713e-02, 7.11744381e-03,-2.28532775e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.07070201, -0.81451483, -0.69495927, -0.81451483,  1.13634434,
       -0.07693493, -0.69495927, -0.07693493,  1.16087225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024996328466145713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08750715e-01, -8.45383705e-01, -1.62785447e-01, -8.39368041e-02,
       -1.39476573e-01,  9.86661491e-01, -8.56812303e-01,  5.15628429e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10241099, -0.03926318,  0.30491356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.45702897,   3.67405249,  10.85195149,   3.67405249,
        41.02786943, -10.01154679,  10.85195149, -10.01154679,
        14.84655282,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005150809892959934
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11139560e-13, -2.15543390e-13,  1.00000000e+00,  2.39553976e-26,
        1.00000000e+00,  2.15543390e-13, -1.00000000e+00,  0.00000000e+00,
        1.11139560e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08252062, -0.11206834,  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:
[ 5.75412619e-06,-3.36674549e-05,-2.55507296e-05, 1.01988094e-05,
  2.98036200e-05, 2.29302105e-05, 9.56212457e-06, 3.80117971e-05,
 -1.19865451e-05,-1.99071402e-06,-3.58673981e-05,-8.64314784e-08,
  4.06082750e-02, 1.17231318e-02,-1.82817612e-03,-2.20281254e-04,
 -3.69748059e-05, 3.12735823e-05,-9.80996540e+00,-6.49159706e-02,
 -9.15308552e-03,-5.58363427e-03]


--- Step 977 ---
qpos:
[ 0.00989271, 0.00808494,-0.00564581, 0.0335023 , 0.00352135, 0.00284916,
 -0.00678521, 0.03910862, 0.01305914, 0.00594367,-0.01170199, 0.03408327,
  0.8790873 ,-0.00718785, 1.08496901, 0.04642041, 0.09126534,-0.06712043,
  0.14230944, 0.94556248,-0.0331444 , 0.03078279, 0.32228164]

qacc:
[ 5.38567530e-01, 1.37477249e+00,-7.47809510e+00, 1.66035561e+01,
 -7.18750928e-02, 2.26252793e+00,-9.31367940e+00, 1.70046289e+01,
 -4.41452135e+00, 2.66671460e-01, 1.47462271e+00,-8.17891805e+00,
 -2.25313264e+01,-5.29801061e+01,-1.42681623e+02, 3.06350129e+02,
 -3.70348131e-02, 1.09281714e+00,-5.71969757e-02,-1.69225554e+01,
  7.16035892e+00,-2.28700988e+01]

qfrc_actuator:
[ 4.40495328e-05, 2.34524092e-04, 2.76463427e-05, 1.38966655e-05,
  7.45620851e-05, 6.35865594e-05,-6.30700019e-05, 5.05064259e-05,
  2.61026663e-05, 1.02430878e-04,-1.09356234e-04, 2.58944573e-05,
  4.38711081e-02, 1.11390403e-02, 7.12215599e-03,-2.17144586e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.07050111,  0.31665567, -1.02259563,  0.31665567,  2.51241969,
        0.44650269, -1.02259563,  0.44650269,  1.20876457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002496441437441482
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50872294, -0.84539851, -0.16279534, -0.08393746, -0.13948773,
        0.98665986, -0.85682873,  0.51560113,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10241626, -0.03926731,  0.30491303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.49512751,  5.83703298, -9.90287849,  5.83703298, 42.90624344,
       18.51458843, -9.90287849, 18.51458843, 22.40814268,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005174147690823055
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.69954722e-14,  1.07285595e-13,  1.00000000e+00, -6.11479313e-27,
        1.00000000e+00, -1.07285595e-13, -1.00000000e+00,  0.00000000e+00,
        5.69954722e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253002, -0.11206338,  0.06198836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16381874e-06,-3.73330948e-05,-2.21799924e-05, 2.27351185e-05,
 -3.17024854e-07, 2.76063818e-05,-1.34720840e-05, 2.22887432e-05,
 -2.57366682e-05, 4.39880035e-05,-8.51356494e-07,-1.77995201e-05,
  4.62046609e-02, 1.56558395e-02, 2.60230687e-03,-8.23349948e-04,
 -2.96491494e-06, 1.87904261e-06,-9.80999491e+00,-6.49109592e-02,
 -9.14795793e-03,-5.58050764e-03]


--- Step 978 ---
qpos:
[ 0.00989297, 0.0080847 ,-0.00564604, 0.03350204, 0.00352281, 0.00284968,
 -0.00678589, 0.03910867, 0.01305941, 0.00594447,-0.01170291, 0.0340835 ,
  0.87890714,-0.00738683, 1.08510586, 0.04644151, 0.09127046,-0.06711002,
  0.14230775, 0.94558485,-0.03321238, 0.03076264, 0.32221094]

qacc:
[-2.75048550e+00, 7.87505695e-01,-4.47176431e+00, 9.97343335e+00,
 -2.27555176e-01, 1.79854473e-02, 1.06294714e+00,-3.64569003e+00,
 -2.71943060e+00, 7.95990808e-01,-3.57859659e+00, 7.06409060e+00,
 -2.08447953e+01,-4.76671684e+01,-1.12868771e+02, 2.25356056e+02,
  1.75675243e-01, 8.17591639e-01,-3.35623905e-02,-1.23537604e+01,
  6.35382229e+00,-2.08613548e+01]

qfrc_actuator:
[ 2.78368377e-05, 2.26490620e-04, 2.03644363e-05, 2.87428328e-05,
  7.32671704e-05, 8.77749458e-05,-5.72333590e-05, 4.45698129e-05,
  1.09311406e-05, 8.01318167e-05,-1.24291623e-04, 3.39800455e-05,
  4.38744753e-02, 1.12544490e-02, 7.09010241e-03,-2.13180075e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.07293051,  0.42973342, -0.98311192,  0.42973342,  2.88840621,
        0.79357251, -0.98311192,  0.79357251,  1.41981332,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002534692657633848
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50876225, -0.84535503, -0.16289826, -0.08399847, -0.13957114,
        0.98664287, -0.85679941,  0.51564985,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10241876, -0.0392574 ,  0.30490117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.48574788,  5.92553814, -9.83922773,  5.92553814, 50.94567347,
       23.76419171, -9.83922773, 23.76419171, 25.79740203,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005168404939665944
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.37024013e-14, -2.68512007e-14,  1.00000000e+00,  1.44197395e-27,
        1.00000000e+00,  2.68512007e-14, -1.00000000e+00,  0.00000000e+00,
        5.37024013e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253732, -0.11206088,  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:
[-1.61354155e-05,-3.25159321e-05,-1.69373428e-05, 1.29226401e-05,
 -1.29467746e-06, 3.77976634e-05, 1.06562270e-05,-4.78528249e-06,
 -1.58853032e-05, 1.33464741e-06,-6.56807134e-06, 9.59590497e-06,
  5.13939446e-02, 1.93446150e-02, 7.04225418e-03,-9.51335432e-04,
 -2.15836121e-05, 7.30123203e-06,-9.80998730e+00,-6.49148896e-02,
 -9.15435686e-03,-5.58050963e-03]


--- Step 979 ---
qpos:
[ 0.00989304, 0.00808461,-0.00564652, 0.03350121, 0.00352425, 0.00285073,
 -0.00678688, 0.03910829, 0.01305916, 0.00594489,-0.01170378, 0.03408352,
  0.87873558,-0.00758335, 1.08534591, 0.04642289, 0.09128177,-0.06710293,
  0.14230491, 0.94558558,-0.0332213 , 0.03077527, 0.32220666]

qacc:
[-1.73609535e+00,-2.55555315e-01, 3.57796130e+00,-1.29502719e+01,
 -2.56729201e-01, 6.64336218e-01, 4.20304241e-01,-7.64671886e+00,
 -4.64250500e+00,-1.10215457e+00, 4.07992053e+00,-7.51238677e+00,
 -2.35537428e+00, 8.09536430e+00, 2.73008062e+02,-7.32819952e+02,
  1.54943896e+00,-8.31822167e-01,-2.90364438e-01, 3.18258991e+01,
  5.21961506e+00, 3.63425351e+01]

qfrc_actuator:
[ 1.81924225e-05, 2.57409962e-04, 1.61915369e-05, 2.07697419e-06,
  7.19191434e-05, 1.19653217e-04,-7.12302116e-05, 2.33172994e-05,
 -1.58491039e-05, 3.09062973e-05,-1.32805125e-04, 2.08715621e-05,
  4.38774231e-02, 1.14955373e-02, 7.03824072e-03,-2.29324113e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.07728178, -0.6026383 ,  0.89295191, -0.6026383 ,  2.23194706,
        0.77926428,  0.89295191,  0.77926428,  1.6031942 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026014208911026874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08864726e-01, -8.45257558e-01, -1.63083876e-01, -8.41137292e-02,
       -1.39718400e-01,  9.86612208e-01, -8.56727244e-01,  5.15769744e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10241983, -0.0392361 ,  0.3048815 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.55597946, -6.58032953,  9.49946969, -6.58032953, 21.3534695 ,
        6.7867697 ,  9.49946969,  6.7867697 , 16.25720832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005211360405661253
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.13039003e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.13039003e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04944257, -0.06394902,  0.06198828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01142588e-05, 9.79699291e-06,-1.25219572e-05,-2.83914446e-05,
 -1.37187326e-06, 5.49993456e-05,-5.04061575e-06,-1.93570622e-05,
 -2.72297960e-05,-4.94481787e-05,-8.71295990e-06,-1.30913040e-05,
  5.61115911e-02, 2.28383658e-02, 1.09225952e-02,-1.05234224e-03,
 -7.16467595e-05, 3.36210030e-05,-9.80996124e+00,-6.49254013e-02,
 -9.16634716e-03,-5.58297740e-03]


--- Step 980 ---
qpos:
[ 0.00989333, 0.00808475,-0.0056471 , 0.03349971, 0.00352566, 0.0028519 ,
 -0.00678786, 0.03910734, 0.01305858, 0.00594544,-0.01170464, 0.03408263,
  0.8785847 ,-0.00776766, 1.08571611, 0.04639154, 0.09129744,-0.0670975 ,
  0.14230142, 0.94556445,-0.03318353, 0.03080889, 0.32226936]

qacc:
[ 1.99879032e+00,-8.08497228e-01, 6.14393620e+00,-1.78128596e+01,
 -2.39948379e-01,-1.03813497e+00, 6.32012544e+00,-1.62254038e+01,
 -2.81338028e+00,-1.70577914e+00, 1.01998898e+01,-2.60900366e+01,
  8.44017342e-02, 1.54868815e+01, 2.31288301e+02,-5.28861283e+02,
  1.08838954e+00,-4.12762257e-01,-1.61226445e-01, 2.40575754e+01,
  1.62178617e+00, 3.62540997e+01]

qfrc_actuator:
[ 3.02502572e-05, 2.75896637e-04, 1.40214828e-05,-3.10111528e-05,
  7.05510607e-05, 1.02541218e-04,-7.90518909e-05,-6.78166687e-06,
 -3.14983682e-05, 7.24476921e-05,-1.19849792e-04,-2.23827103e-05,
  4.38849038e-02, 1.17528279e-02, 6.99823516e-03,-2.51859649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.07944504, -0.00910638,  1.07940662, -0.00910638,  1.80497558,
        0.00612091,  1.07940662,  0.00612091,  1.07949667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002633789085973151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08871208e-01, -8.45211196e-01, -1.63303789e-01, -8.42313318e-02,
       -1.39904289e-01,  9.86575832e-01, -8.56711840e-01,  5.15795331e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10242629, -0.0392218 ,  0.30487136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.59163288,   4.81818459, -10.54281983,   4.81818459,
        42.71228232,  14.22247899, -10.54281983,  14.22247899,
        18.09146216,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005233128713896668
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06076411e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.06076411e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0494534 , -0.06394355,  0.06198823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17756861e-05, 2.01686083e-05,-2.66226841e-06,-3.36506436e-05,
 -1.38687956e-06, 1.17470818e-05, 2.24870996e-06,-2.82926643e-05,
 -1.64391814e-05, 1.15137075e-05, 1.22124732e-06,-4.59274992e-05,
  5.56879074e-02, 2.29759971e-02, 5.71874551e-03, 7.07621093e-04,
 -2.89547678e-07, 5.37280528e-07,-9.80999809e+00,-6.49249583e-02,
 -9.14740738e-03,-5.58485534e-03]


--- Step 981 ---
qpos:
[ 0.00989411, 0.00808483,-0.00564735, 0.03349817, 0.00352705, 0.00285291,
 -0.00678876, 0.03910573, 0.01305817, 0.00594624,-0.01170545, 0.03408121,
  0.87846162,-0.00793296, 1.08620998, 0.04635792, 0.09131606,-0.06709237,
  0.14229763, 0.9455214 ,-0.03310908, 0.03085465, 0.32239891]

qacc:
[ 4.28708923e+00,-1.08234994e+00, 3.87928560e+00,-4.94879818e+00,
 -2.34067284e-01,-1.78649610e+00, 8.87551743e+00,-2.04025066e+01,
  1.41788810e+00,-9.26052177e-01, 5.99864250e+00,-1.54249412e+01,
  1.45861579e+00, 2.06153852e+01, 1.90069592e+02,-3.98510830e+02,
  7.37938127e-01,-7.79371470e-02,-7.29514637e-02, 1.79096834e+01,
 -9.44180382e-01, 3.59092556e+01]

qfrc_actuator:
[ 5.49828344e-05, 2.69051023e-04, 3.07682245e-05,-3.21059402e-05,
  6.91817602e-05, 7.39825359e-05,-8.33602781e-05,-4.18759927e-05,
 -2.27141302e-05, 9.70696560e-05,-1.11735097e-04,-4.74327987e-05,
  4.38990324e-02, 1.19380895e-02, 6.94855014e-03,-2.65138032e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.08009655, -0.04890824,  1.07898867, -0.04890824,  2.15784711,
        0.04885212,  1.07898867,  0.04885212,  1.08231091,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002643437060446572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08774805e-01, -8.45223178e-01, -1.63541975e-01, -8.43415799e-02,
       -1.40115936e-01,  9.86536377e-01, -8.56758248e-01,  5.15718242e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10243695, -0.0392141 ,  0.30486793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.58181072,   4.89725869, -10.49548459,   4.89725869,
        53.5443072 ,  19.57996305, -10.49548459,  19.57996305,
        20.71794382,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005227134270649747
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.06198059e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.06198059e-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([ 0.04946092, -0.06393927,  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:
[ 2.50770729e-05, 2.44929188e-06, 1.94284380e-05,-9.73779972e-07,
 -1.40354165e-06,-2.27668744e-05,-2.58387085e-06,-3.50621017e-05,
  8.32354022e-06, 2.93290611e-05, 9.06002913e-06,-2.54050415e-05,
  5.46663989e-02, 2.25537787e-02,-8.44830539e-04, 1.21022726e-03,
 -4.58864584e-05, 9.95147284e-06,-9.80998851e+00,-6.49151144e-02,
 -9.15473607e-03,-5.58577442e-03]


--- Step 982 ---
qpos:
[ 0.00989553, 0.008085  ,-0.00564746, 0.03349698, 0.00352806, 0.00285376,
 -0.00678944, 0.03910405, 0.01305787, 0.00594654,-0.01170615, 0.03408029,
  0.87826435,-0.00815767, 1.08663453, 0.04636493, 0.0913303 ,-0.06708248,
  0.14229393, 0.94550148,-0.03309755, 0.03087907, 0.32245617]

qacc:
[ 5.57761051e+00, 4.40939163e-01,-2.82692211e+00, 8.40193563e+00,
 -3.26287168e+00,-9.85946839e-01, 3.52095733e+00,-5.02667706e+00,
  9.70934958e-01, 4.56619752e-02,-3.20515464e+00, 1.19387055e+01,
 -7.45386327e+00,-5.57715532e+01,-2.26270278e+02, 6.40758913e+02,
 -1.09452564e+00, 1.19349060e+00, 2.08586816e-02,-3.16905769e+01,
  8.97192409e-01,-3.92329799e+01]

qfrc_actuator:
[ 8.69701867e-05, 2.82699848e-04, 4.07170973e-05,-1.43753132e-05,
  5.00700109e-05, 7.42922012e-05,-6.78747723e-05,-4.41358534e-05,
 -1.73756763e-05, 2.26155143e-05,-1.24329348e-04,-2.60723416e-05,
  4.39104402e-02, 1.20507121e-02, 6.89960801e-03,-2.53871735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.07980104, -0.11478952,  1.07368229, -0.11478952,  4.95842027,
        0.41467095,  1.07368229,  0.41467095,  1.12413435,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002639066731756801
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08571018e-01, -8.45297331e-01, -1.63792373e-01, -8.44404358e-02,
       -1.40348688e-01,  9.86494835e-01, -8.56869495e-01,  5.15533382e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10245053, -0.03921221,  0.30486906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.67344   , -6.68464503,  9.56999071, -6.68464503, 18.7539071 ,
        4.94571109,  9.56999071,  4.94571109, 15.12802257,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005282983733423535
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08358983e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.08358983e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258582, -0.1120265 ,  0.06198812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.27022226e-05, 1.89997701e-05, 1.28176455e-05, 1.84914512e-05,
 -1.91580334e-05,-1.44807759e-05, 9.25387686e-06,-4.00380222e-06,
  5.58739373e-06,-5.72850990e-05,-6.29656073e-06, 2.24390953e-05,
  5.32874498e-02, 2.17198732e-02,-7.08501973e-03, 1.43435088e-03,
 -1.76832732e-04, 5.95839225e-05,-9.80995510e+00,-6.49011073e-02,
 -9.17940404e-03,-5.58581448e-03]


--- Step 983 ---
qpos:
[ 0.00989663, 0.00808506,-0.00564764, 0.03349639, 0.00352918, 0.00285426,
 -0.0067896 , 0.03910304, 0.01305763, 0.0059466 ,-0.01170734, 0.03407998,
  0.87799736,-0.00843532, 1.0869582 , 0.046385  , 0.09134201,-0.06706911,
  0.14229047, 0.94550161,-0.03313345, 0.03088895, 0.32245116]

qacc:
[-2.78187329e+00, 1.28321154e+00,-7.36853956e+00, 1.80947341e+01,
  9.73654659e-01,-5.08879564e-01,-1.72329805e+00, 1.29163637e+01,
  5.71894839e-01, 2.34494467e+00,-1.14257399e+01, 2.30900084e+01,
 -9.05629885e+00,-4.75468302e+01,-1.89292647e+02, 4.44114770e+02,
 -6.31620443e-01, 8.67551469e-01, 5.83416766e-02,-2.34703987e+01,
  1.49432172e+00,-3.36429094e+01]

qfrc_actuator:
[ 6.97095550e-05, 2.55254163e-04, 2.88998724e-05, 1.42922855e-05,
  5.61739309e-05, 5.64839505e-05,-4.06939901e-05,-9.26965364e-06,
 -1.41167658e-05, 1.36281216e-05,-1.49426499e-04, 4.57053766e-06,
  4.39337177e-02, 1.22438079e-02, 6.88533034e-03,-2.33853352e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.08236994,  0.17540641, -1.0680624 ,  0.17540641,  2.19507927,
        0.18273872, -1.0680624 ,  0.18273872,  1.11238087,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002676748859787003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08475356e-01, -8.45299107e-01, -1.64079957e-01, -8.45768811e-02,
       -1.40602217e-01,  9.86447043e-01, -8.56912810e-01,  5.15461382e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10246038, -0.03919784,  0.30485768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.73199056,  7.12483612, -9.32074636,  7.12483612, 26.2629236 ,
       11.10753502, -9.32074636, 11.10753502, 20.22265896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005318590370624043
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33726528e-13, -2.08743849e-13,  1.00000000e+00,  2.79145902e-26,
        1.00000000e+00,  2.08743849e-13, -1.00000000e+00,  0.00000000e+00,
        1.33726528e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08260085, -0.11201497,  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:
[-1.63238033e-05,-1.33762604e-05,-5.67487339e-06, 3.02860394e-05,
  5.55399459e-06,-2.41917788e-05, 2.51934027e-05, 3.44921335e-05,
  3.39710449e-06,-4.13600519e-05,-3.69229660e-05, 2.84095428e-05,
  5.70169321e-02, 2.48863435e-02,-3.64353336e-03,-3.99606747e-04,
 -2.31390812e-05, 6.55367310e-06,-9.81000162e+00,-6.49018544e-02,
 -9.14301495e-03,-5.58814185e-03]


--- Step 984 ---
qpos:
[ 0.00989682, 0.00808519,-0.00564772, 0.03349577, 0.00353071, 0.00285491,
 -0.00678989, 0.03910245, 0.01305743, 0.00594686,-0.01170876, 0.03407962,
  0.87790246,-0.00858429, 1.08725566, 0.04639296, 0.09134902,-0.06706244,
  0.14228925, 0.94550603,-0.03314215, 0.03087729, 0.32243842]

qacc:
[ -7.9411248 , -0.23558255,  1.13899024, -1.94375153,  3.58931132,
   1.39357863, -6.40837599, 13.55038049,  0.34567545,  0.79010195,
  -2.21818967,  1.54661834, 37.74335891, 94.05679976, -1.64153488,
 -49.47880164, -1.17592864, -1.67427781,  0.56277923,  9.57227713,
 -14.50678576, -4.28253846]

qfrc_actuator:
[ 2.35983758e-05, 2.74341702e-04, 3.96735901e-05, 1.36099979e-05,
  7.70758154e-05, 8.13124000e-05,-4.23842787e-05, 1.16436825e-05,
 -1.21064837e-05, 6.16109057e-05,-1.45957405e-04, 4.95557697e-06,
  4.39610616e-02, 1.25024937e-02, 6.83860542e-03,-2.14551759e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.08696979,  0.22674084, -1.06305781,  0.22674084,  2.61277974,
        0.32544179, -1.06305781,  0.32544179,  1.15638365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027425377418791985
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08475144e-01, -8.45235001e-01, -1.64410525e-01, -8.47519703e-02,
       -1.40882662e-01,  9.86392001e-01, -8.56895636e-01,  5.15489931e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10246756, -0.03917312,  0.30483797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.75685588,  3.20369696, 11.31193997,  3.20369696, 22.69152382,
       -3.09684833, 11.31193997, -3.09684833, 12.63392591,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005333693746791407
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04076375e-13, -1.04076375e-13,  1.00000000e+00,  1.08318919e-26,
        1.00000000e+00,  1.04076375e-13, -1.00000000e+00,  0.00000000e+00,
        1.04076375e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09379346, -0.05352457,  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:
[-4.65818327e-05, 1.17252216e-05, 8.36188632e-06,-8.60327781e-07,
  2.10488882e-05, 1.79701283e-05,-2.39308702e-06, 2.14209574e-05,
  2.09162745e-06, 1.84575620e-05,-8.62557697e-06,-2.10893130e-06,
  6.05290811e-02, 2.77971942e-02, 1.34590160e-03,-8.61304899e-04,
 -1.43191952e-06, 6.94842372e-06,-9.80999082e+00,-6.49089269e-02,
 -9.13739545e-03,-5.59195227e-03]


--- Step 985 ---
qpos:
[ 0.00989646, 0.0080857 ,-0.00564754, 0.03349474, 0.00353213, 0.00285608,
 -0.00679037, 0.03910172, 0.01305761, 0.00594735,-0.01170992, 0.03407923,
  0.87796442,-0.00861332, 1.08754153, 0.04639354, 0.09135212,-0.06706154,
  0.14228973, 0.94551489,-0.03312659, 0.03084702, 0.32241693]

qacc:
[ -4.86530684, -1.05780748,  6.22592073,-13.91320622, -0.95252155,
   0.94352977, -1.78885474, -0.62946872,  3.2626584 , -0.47586359,
   2.2563466 , -3.35367485, 32.0955857 , 90.77152383,  5.81806317,
 -43.86329026, -0.97823024, -1.44438788,  0.42349777,  8.67983056,
 -12.63228242, -4.78640282]

qfrc_actuator:
[-3.60293485e-06, 3.21207099e-04, 6.38639793e-05,-4.28389047e-06,
  7.10071991e-05, 1.31364895e-04,-4.32028332e-05, 6.43414678e-06,
  6.90652324e-06, 9.01758750e-05,-1.25420286e-04, 5.36063094e-06,
  4.39662653e-02, 1.26755888e-02, 6.81725404e-03,-2.34517626e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.08745122, -1.06261576,  0.23107986, -1.06261576,  1.15852619,
        0.32683671,  0.23107986,  0.32683671,  2.59040281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002749303604753844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50849026, -0.84520245, -0.16453108, -0.08481836, -0.14098341,
        0.9863719 , -0.8568801 ,  0.51551576,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10247552, -0.03916836,  0.30483496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.77780879,   5.71453649, -10.29858498,   5.71453649,
        52.04312779,  22.34264563, -10.29858498,  22.34264563,
        24.17542109,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005346412590008925
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03828783e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.03828783e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09380303, -0.05351885,  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:
[-2.85248472e-05, 5.50935328e-05, 2.76150828e-05,-1.71156830e-05,
 -5.46471832e-06, 6.05135444e-05, 3.33604805e-06,-4.10573430e-06,
  1.90786451e-05, 3.70224575e-05, 2.32283830e-05, 8.59800714e-07,
  5.19319584e-02, 2.15410041e-02, 2.63442522e-03,-4.55483983e-04,
 -2.46987580e-06, 7.46932655e-08,-9.80999917e+00,-6.49098437e-02,
 -9.13846640e-03,-5.59101065e-03]


--- Step 986 ---
qpos:
[ 0.00989647, 0.00808659,-0.0056468 , 0.0334935 , 0.00353347, 0.00285747,
 -0.00679074, 0.0391006 , 0.01305801, 0.00594803,-0.0117111 , 0.03407887,
  0.87792304,-0.00870905, 1.08775236, 0.04640565, 0.09135518,-0.06705605,
  0.14228999, 0.94553514,-0.03315248, 0.03081683, 0.32235777]

qacc:
[ 3.22393533e+00,-1.52276164e+00, 7.08804183e+00,-1.21386530e+01,
 -7.33368514e-01,-8.36022598e-01, 5.00499279e+00,-1.19811924e+01,
  1.98958756e+00, 3.35920410e-01,-9.65618654e-01, 1.37416052e+00,
 -2.62159749e+01,-4.43042179e+01,-1.45715129e+02, 3.48823328e+02,
 -9.57354556e-03, 1.15021869e+00,-5.56866208e-02,-1.88146718e+01,
  7.16807861e+00,-2.02797641e+01]

qfrc_actuator:
[ 1.60584572e-05, 3.48889398e-04, 9.58951353e-05,-1.43697536e-05,
  6.68608642e-05, 1.25107918e-04,-4.33882983e-05,-1.40706109e-05,
  1.80223490e-05, 8.92280561e-05,-1.30537067e-04, 5.77789667e-06,
  4.39640126e-02, 1.27190950e-02, 6.82140646e-03,-2.47852895e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.08473332, -1.02678075,  0.34981091, -1.02678075,  1.29648841,
        0.62155308,  0.34981091,  0.62155308,  2.90914396,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027108135405445356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08522758e-01, -8.45197994e-01, -1.64453504e-01, -8.47826794e-02,
       -1.40914343e-01,  9.86384836e-01, -8.56864343e-01,  5.15541946e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10248337, -0.03918072,  0.30484492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.78649344,  -0.60847444, -11.7707768 ,  -0.60847444,
        50.97662781,  -2.02588116, -11.7707768 ,  -2.02588116,
        11.89121864,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000535168221374685
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03726546e-13, -5.18632731e-14,  1.00000000e+00,  5.37959819e-27,
        1.00000000e+00,  5.18632731e-14, -1.00000000e+00,  0.00000000e+00,
        1.03726546e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262592, -0.11199436,  0.06198796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88659221e-05, 6.34345962e-05, 4.62161857e-05,-7.10068944e-06,
 -4.28054043e-06, 2.80584529e-05, 1.25768763e-05,-1.78759653e-05,
  1.16703639e-05, 2.45940990e-05, 5.42952433e-06, 2.82582181e-06,
  4.40890404e-02, 1.55899879e-02, 3.21348921e-03,-2.20855013e-04,
  7.31715158e-07,-1.12183364e-06,-9.80999800e+00,-6.49076951e-02,
 -9.14177967e-03,-5.58669270e-03]


--- Step 987 ---
qpos:
[ 0.0098974 , 0.00808784,-0.00564567, 0.03349249, 0.00353475, 0.00285853,
 -0.0067906 , 0.03909998, 0.01305889, 0.00594828,-0.01171174, 0.03407857,
  0.87788479,-0.00877872, 1.08792239, 0.0464097 , 0.0913573 ,-0.06705072,
  0.14229233, 0.94557085,-0.03318464, 0.03078323, 0.32225292]

qacc:
[ 8.12462338e+00,-1.10244555e-01, 3.08451826e-02, 3.36722500e+00,
 -5.03759354e-01,-8.10203925e-01, 1.82482105e-01, 7.82798826e+00,
  4.20833725e+00,-1.95427942e+00, 5.90169795e+00,-5.51259797e+00,
 -1.56790160e+01, 4.09052219e+01,-3.44968080e+01, 3.62704248e+01,
 -2.35446410e-01,-4.14863824e-02, 5.22420885e-01,-2.55149198e+00,
 -8.59983066e-02,-2.42465634e+01]

qfrc_actuator:
[ 6.31385419e-05, 3.64919475e-04, 1.14485873e-04,-2.03378993e-06,
  6.38873096e-05, 8.51684592e-05,-2.56714784e-05, 9.80789297e-06,
  4.21481827e-05, 3.50131482e-05,-1.15380299e-04, 6.15334296e-06,
  4.39750566e-02, 1.28057522e-02, 6.77242835e-03,-2.55254567e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.08549892, -0.43071165,  0.99639118, -0.43071165,  3.56032555,
        1.06979735,  0.99639118,  1.06979735,  1.54794197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002721728551580989
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5086123 , -0.84514133, -0.1644678 , -0.08480518, -0.14091749,
        0.98638245, -0.85680897,  0.51563397,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10248783, -0.03917827,  0.30484166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.76389422,  3.75728808, 11.14773491,  3.75728808, 28.85789789,
       -5.76144811, 11.14773491, -5.76144811, 13.70576138,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005337966982330917
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.88029313e-07, -9.09939261e-14,  1.00000000e+00, -8.99046663e-20,
        1.00000000e+00,  9.09939261e-14, -1.00000000e+00, -1.20370622e-35,
       -9.88029313e-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([ 0.08776466, -0.08516085,  0.06198799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.76348276e-05, 6.07141022e-05, 3.71236312e-05, 1.65134557e-05,
 -3.08522066e-06,-2.24621108e-05, 2.44338651e-05, 2.51683834e-05,
  2.44666998e-05,-3.92240464e-05, 2.10099231e-05, 1.67372495e-06,
  4.92647880e-02, 1.90120543e-02, 6.91270878e-03,-8.72112821e-04,
 -3.39800802e-05, 6.82660707e-06,-9.80999554e+00,-6.49110013e-02,
 -9.15170493e-03,-5.58477370e-03]


--- Step 988 ---
qpos:
[ 0.00989854, 0.00808934,-0.0056445 , 0.03349169, 0.0035353 , 0.00285926,
 -0.00679019, 0.03910002, 0.01306039, 0.00594799,-0.01171181, 0.03407863,
  0.87783913,-0.00885172, 1.08820192, 0.04638386, 0.09136553,-0.067048  ,
  0.14229319, 0.94558472,-0.03316823, 0.03078221, 0.32221399]

qacc:
[ 1.86036311e+00, 6.21158311e-01,-2.58806145e+00, 5.76401773e+00,
 -6.45291985e+00, 1.58354288e-01,-3.95424929e+00, 1.50809165e+01,
  5.54657236e+00,-1.56671655e+00, 2.98818252e+00, 2.82912609e+00,
 -1.00287063e+01, 9.39499568e+00, 2.52894639e+02,-6.48248461e+02,
  1.52739040e+00,-6.51540811e-01,-3.72813459e-01, 2.68359896e+01,
  6.82380685e+00, 3.59701607e+01]

qfrc_actuator:
[ 7.27064671e-05, 3.56062745e-04, 1.07202923e-04, 5.62113164e-06,
  2.61218855e-05, 6.09717386e-05,-1.53995837e-05, 4.18378239e-05,
  7.37402688e-05, 2.64521183e-06,-8.85937495e-05, 2.42227609e-05,
  4.39775647e-02, 1.29054926e-02, 6.73912341e-03,-2.54048376e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002742906315016973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50878143, -0.84504996, -0.16441419, -0.08480496, -0.14085504,
        0.98639139, -0.85670857,  0.51580076,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10249094, -0.03917527,  0.30483793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.76540627, -10.45712402,   5.39197015, -10.45712402,
        13.61576059,   3.58855559,   5.39197015,   3.58855559,
        18.72500912,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005338884895308565
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03975179e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.03975179e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04952963, -0.06388979,  0.06198799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09391246e-05, 3.34283888e-05, 1.03736298e-05, 1.18572165e-05,
 -3.78630113e-05,-3.06720975e-05, 9.49959310e-06, 3.24014792e-05,
  3.22730048e-05,-4.98801127e-05, 2.13353358e-05, 1.71487431e-05,
  4.91100248e-02, 1.78106146e-02, 8.91618592e-03,-4.57944519e-04,
 -8.61004693e-05, 3.12934194e-05,-9.80999632e+00,-6.49137979e-02,
 -9.16200715e-03,-5.58301681e-03]


--- Step 989 ---
qpos:
[ 0.0098991 , 0.00809079,-0.00564381, 0.03349071, 0.00353538, 0.00285969,
 -0.00678965, 0.03910079, 0.01306192, 0.00594772,-0.01171182, 0.03407955,
  0.87779853,-0.00891876, 1.08861579, 0.04635651, 0.09137792,-0.0670462 ,
  0.14229314, 0.94557669,-0.03311479, 0.03080177, 0.32224119]

qacc:
[-5.13381809e+00, 9.02868773e-01,-2.53484512e+00, 2.57729210e-01,
 -4.00841457e+00, 7.89223721e-01,-6.44900200e+00, 1.91348007e+01,
  1.93809296e-01, 1.61538993e+00,-9.36955515e+00, 2.42414122e+01,
 -6.73969573e+00, 1.53929554e+01, 2.03774249e+02,-4.23083123e+02,
  1.04284833e+00,-2.29373981e-01,-2.24905258e-01, 1.94362129e+01,
  3.00506184e+00, 3.57050588e+01]

qfrc_actuator:
[ 4.23572349e-05, 3.14500129e-04, 6.68407932e-05,-7.33421949e-06,
  3.68623441e-06, 4.63655034e-05,-9.56317753e-06, 7.84010599e-05,
  7.39647801e-05, 3.69256380e-05,-7.28327277e-05, 7.03280334e-05,
  4.39811140e-02, 1.29965335e-02, 6.72979343e-03,-2.22093370e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.0871554 ,  0.0265253 ,  1.08683176,  0.0265253 ,  1.85276401,
       -0.0186855 ,  1.08683176, -0.0186855 ,  1.08761144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002745148887783443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50885334, -0.84500798, -0.1644074 , -0.08481335, -0.14084207,
        0.98639252, -0.85666503,  0.51587307,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10249812, -0.03917603,  0.30483939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.74615573,  7.7946626 , -8.7872299 ,  7.7946626 , 33.48428702,
       19.28268644, -8.7872299 , 19.28268644, 28.85075371,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005327195692914205
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -3.1260998e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  3.1260998e-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([ 0.04953722, -0.06388117,  0.06198802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.00325956e-05,-2.02840794e-05,-3.18000086e-05,-1.09380163e-05,
 -2.35245388e-05,-2.84521268e-05, 1.77984320e-06, 3.62072141e-05,
  1.12187841e-06, 1.15566206e-05, 8.68340126e-06, 4.50393144e-05,
  4.94837041e-02, 1.80693921e-02, 3.42691445e-03, 1.35503519e-03,
 -4.74639588e-06, 1.00842578e-05,-9.81000109e+00,-6.49179975e-02,
 -9.14653304e-03,-5.58206102e-03]


--- Step 990 ---
qpos:
[ 0.00989895, 0.00809193,-0.00564373, 0.03348963, 0.0035352 , 0.00285969,
 -0.00678868, 0.03910198, 0.01306309, 0.0059475 ,-0.01171109, 0.03408097,
  0.87767227,-0.00904973, 1.08897077, 0.04637049, 0.09138748,-0.06703919,
  0.14229262, 0.94558576,-0.03311884, 0.03080449, 0.3222139 ]

qacc:
[-6.26852396e+00, 1.12229591e+00,-4.19461823e+00, 3.71714875e+00,
 -2.35097600e+00,-9.35793755e-01, 6.79379087e-01, 6.36942304e+00,
 -3.09074276e+00,-9.52650312e-01, 1.38907701e+00, 6.00299768e+00,
 -1.35960225e+01,-5.40741921e+01,-2.12679923e+02, 6.16231537e+02,
 -7.11543965e-01, 1.30112375e+00,-1.19863011e-01,-2.87660246e+01,
  1.93651054e+00,-2.96803700e+01]

qfrc_actuator:
[ 6.52117282e-06, 2.71249439e-04, 2.48714830e-05,-1.46099377e-05,
 -9.53595798e-06, 1.98476861e-05, 1.14033977e-05, 9.95915237e-05,
  5.57234786e-05, 5.75841047e-05,-2.79141043e-05, 9.71008010e-05,
  4.39897575e-02, 1.30743909e-02, 6.68073840e-03,-2.07061609e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.08663516, -0.07244881,  1.08421729, -0.07244881,  4.1575328 ,
        0.20520137,  1.08421729,  0.20520137,  1.10034698,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027378218569416846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08821724e-01, -8.45022279e-01, -1.64431753e-01, -8.48209922e-02,
       -1.40865896e-01,  9.86388462e-01, -8.56683052e-01,  5.15843143e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1025084 , -0.03918048,  0.30484386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.77711967, -6.5886552 ,  9.76166843, -6.5886552 , 21.09221243,
        6.28723817,  9.76166843,  6.28723817, 16.02070208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005345994397621956
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07673810e-13, -1.03836905e-13,  1.00000000e+00,  2.15642057e-26,
        1.00000000e+00,  1.03836905e-13, -1.00000000e+00,  0.00000000e+00,
        2.07673810e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08264257, -0.11197252,  0.06198798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.67021860e-05,-6.17021849e-05,-5.04767808e-05,-9.45954337e-06,
 -1.39025081e-05,-4.05414016e-05, 1.65491723e-05, 2.07346861e-05,
 -1.82082668e-05, 3.08575432e-05, 4.99361905e-05, 2.84437976e-05,
  4.92383826e-02, 1.78503429e-02,-3.34665102e-03, 1.57914828e-03,
 -2.46046832e-05, 1.46440609e-05,-9.80997838e+00,-6.49117830e-02,
 -9.15399725e-03,-5.58063549e-03]


--- Step 991 ---
qpos:
[ 0.00989871, 0.00809277,-0.00564367, 0.03348877, 0.00353486, 0.00285942,
 -0.00678777, 0.03910344, 0.01306334, 0.00594794,-0.01171006, 0.03408231,
  0.87746395,-0.00923918, 1.089229  , 0.04639264, 0.09139589,-0.06702842,
  0.14229183, 0.94560977,-0.03316512, 0.03079754, 0.32213933]

qacc:
[-7.30948699e-01, 9.35074723e-02,-1.81383939e+00, 5.83476921e+00,
 -1.38108241e+00, 3.75700241e-01,-2.92193379e+00, 7.66422991e+00,
 -8.07710752e+00,-1.35566022e-01, 2.16407463e+00,-4.69679559e+00,
 -1.51589126e+01,-4.68913979e+01,-1.68159048e+02, 3.79679462e+02,
 -2.86174201e-01, 9.39338945e-01,-6.44012904e-02,-2.05491021e+01,
  2.78824416e+00,-2.55675763e+01]

qfrc_actuator:
[ 3.26096558e-06, 2.80548142e-04, 3.55397359e-05,-7.32598088e-07,
 -1.72343743e-05, 4.20557131e-06, 5.57367441e-06, 1.11568330e-04,
  9.01708122e-06, 1.23302241e-04,-1.69069709e-06, 9.45450517e-05,
  4.40147660e-02, 1.32118595e-02, 6.59377457e-03,-2.20609304e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.0892464 ,  0.21015978, -1.06877995,  0.21015978,  2.26338998,
        0.23087798, -1.06877995,  0.23087798,  1.13464514,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002774339418759986
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50886867, -0.84497681, -0.1645201 , -0.08487567, -0.14093611,
        0.98637373, -0.85664975,  0.51589845,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10251521, -0.03917155,  0.30483518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.77793124,  9.08397496, -7.49673684,  9.08397496, 28.44565899,
       20.19668354, -7.49673684, 20.19668354, 36.25073475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005346486898918368
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.19136699e-14,  1.29784175e-13,  1.00000000e+00, -6.73757281e-27,
        1.00000000e+00, -1.29784175e-13, -1.00000000e+00,  0.00000000e+00,
        5.19136699e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08264954, -0.11196582,  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:
[-4.32841907e-06,-3.60894178e-05,-8.63157231e-06, 9.30401175e-06,
 -8.10934755e-06,-3.40249931e-05,-1.14619270e-05, 1.12114795e-05,
 -4.72160762e-05, 9.45013708e-05, 3.97249994e-05, 1.04460770e-06,
  5.35438790e-02, 2.11863518e-02,-4.96466859e-04,-6.24637849e-04,
 -4.86864367e-06, 3.99515217e-06,-9.80999910e+00,-6.49126582e-02,
 -9.14834166e-03,-5.58119265e-03]


--- Step 992 ---
qpos:
[ 0.00989844, 0.00809353,-0.00564335, 0.03348838, 0.00353478, 0.00285916,
 -0.00678733, 0.03910502, 0.01306303, 0.00594926,-0.01170936, 0.03408327,
  0.87727122,-0.00941752, 1.08956831, 0.04637892, 0.0914091 ,-0.06702025,
  0.14229023, 0.94560965,-0.03315995, 0.03081643, 0.32213842]

qacc:
[-3.22637001e-01, 1.58015294e-01,-2.68890602e+00, 1.04763175e+01,
  2.22773312e+00, 1.58669355e+00,-6.17446077e+00, 9.09722943e+00,
 -4.96824200e+00, 1.33426183e+00,-1.50011994e+00,-5.02692737e+00,
 -1.97205750e+00, 1.58049728e+01, 2.28825147e+02,-6.25482275e+02,
  1.20149752e+00,-6.48438734e-01,-2.04367874e-01, 2.69520693e+01,
  3.07420900e+00, 3.99312190e+01]

qfrc_actuator:
[ 1.44983968e-06, 3.03718057e-04, 5.96723481e-05, 2.55585809e-05,
 -3.87045367e-06, 1.28376005e-05,-1.59996166e-05, 1.18017936e-04,
 -1.85573829e-05, 1.62154738e-04,-2.20580383e-05, 7.47783013e-05,
  4.40363768e-02, 1.33874515e-02, 6.53752430e-03,-2.24789136e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.09403416,  0.29940099, -1.05226888,  0.29940099,  2.81265375,
        0.48899707, -1.05226888,  0.48899707,  1.233168  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002839676690849732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08986637e-01, -8.44875112e-01, -1.64677406e-01, -8.49787735e-02,
       -1.41057634e-01,  9.86347480e-01, -8.56569443e-01,  5.16031771e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10251966, -0.03915141,  0.30481783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.7518256 , -6.47195201,  9.80914075, -6.47195201, 21.93538901,
        6.71899153,  9.80914075,  6.71899153, 16.18493466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005330639170778584
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.20680067e-14, -2.08272027e-13,  1.00000000e+00,  1.08443093e-26,
        1.00000000e+00,  2.08272027e-13, -1.00000000e+00,  0.00000000e+00,
        5.20680067e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04956626, -0.06385551,  0.06198801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94964001e-06, 1.57411689e-06, 1.59283591e-05, 2.46272467e-05,
  1.31214908e-05,-1.22891403e-05,-2.96358052e-05, 4.80895717e-06,
 -2.88824985e-05, 9.99016106e-05, 4.06387948e-06,-1.43265321e-05,
  5.76672276e-02, 2.42887320e-02, 4.27770353e-03,-1.07712391e-03,
 -5.61487512e-05, 2.97114124e-05,-9.80997803e+00,-6.49203463e-02,
 -9.15872556e-03,-5.58358197e-03]


--- Step 993 ---
qpos:
[ 0.00989815, 0.00809428,-0.00564306, 0.03348867, 0.00353485, 0.0028591 ,
 -0.00678724, 0.03910594, 0.01306274, 0.00595085,-0.01170892, 0.03408406,
  0.87703179,-0.00961515, 1.08993673, 0.04637272, 0.0914215 ,-0.06701158,
  0.14229018, 0.94560705,-0.03316327, 0.03084807, 0.32214268]

qacc:
[ -0.17301563,  1.46792939, -8.12126413, 19.88686899,  1.39713935,
  -0.12037309,  3.58269722,-14.56093132,  0.13709185,  0.73886964,
  -1.40813671, -1.30160011,-22.73111215,  2.72765471, 21.19305093,
  -9.58063525, -0.20240273,  0.12356019,  0.38686642, -2.0815496 ,
   7.35450465,  2.92133978]

qfrc_actuator:
[ 4.95712469e-07, 2.99604190e-04, 5.61172989e-05, 5.89590923e-05,
  4.02879947e-06, 3.58669401e-05,-2.88350759e-05, 8.56747699e-05,
 -1.68889824e-05, 1.31154604e-04,-5.21123542e-05, 6.27541729e-05,
  4.40501137e-02, 1.35574768e-02, 6.50848375e-03,-2.26370114e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.09656335, -0.42159173,  1.0122804 , -0.42159173,  6.69658578,
        2.33228182,  1.0122804 ,  2.33228182,  2.06790563,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028733878534650744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08992242e-01, -8.44833941e-01, -1.64871193e-01, -8.50825032e-02,
       -1.41221379e-01,  9.86315107e-01, -8.56555816e-01,  5.16054391e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1025285 , -0.03913809,  0.30480929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.75202961, -6.78498424,  9.59552963, -6.78498424, 25.07694231,
        9.42202527,  9.59552963,  9.42202527, 18.41432919,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005330763061378975
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.83828348e-07,  2.74219542e-07,  1.00000000e+00, -1.05253234e-13,
        1.00000000e+00, -2.74219542e-07, -1.00000000e+00,  1.26217745e-29,
        3.83828348e-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([ 0.06575828, -0.08680498,  0.06198801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01347575e-06, 1.08144802e-06,-4.27486855e-07, 3.44969576e-05,
  8.26900499e-06, 1.02469285e-05,-1.88637571e-05,-3.38059617e-05,
  8.87815618e-07, 2.50215250e-05,-9.43868209e-06,-7.88674414e-06,
  5.68998285e-02, 2.39064088e-02, 1.89085517e-04, 7.00067108e-04,
 -1.73732851e-06, 9.53167909e-08,-9.80999752e+00,-6.49165600e-02,
 -9.14521224e-03,-5.58505327e-03]


--- Step 994 ---
qpos:
[ 0.00989819, 0.00809503,-0.00564279, 0.033489  , 0.00353502, 0.00285906,
 -0.00678728, 0.03910648, 0.01306247, 0.00595243,-0.0117087 , 0.03408474,
  0.87696601,-0.0096849 , 1.09028744, 0.04636944, 0.09142888,-0.06700863,
  0.14229166, 0.94560426,-0.03314841, 0.03084962, 0.32215225]

qacc:
[  2.94551909,  0.12753303, -0.68516785,  1.58178868,  0.82477222,
  -0.4156916 ,  3.15869813, -9.68028574,  0.18966904,  0.35325752,
  -0.76960713, -0.92065196, 40.35353372, 90.18104625,-34.73623418,
  84.08420401, -1.2561995 , -1.42897336,  0.38184405,  3.66859479,
 -17.24033982,  2.32638879]

qfrc_actuator:
[ 1.78053718e-05, 2.96847131e-04, 5.38915920e-05, 6.07264118e-05,
  8.64170960e-06, 3.18381503e-05,-3.63614514e-05, 6.62951000e-05,
 -1.57817198e-05, 1.11760301e-04,-7.01617238e-05, 5.53235482e-05,
  4.40748224e-02, 1.37678737e-02, 6.44959505e-03,-2.54151698e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029269607371175177
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08990520e-01, -8.44789371e-01, -1.65104722e-01, -8.52061035e-02,
       -1.41419550e-01,  9.86276042e-01, -8.56544552e-01,  5.16073086e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10253759, -0.03912013,  0.30479713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.7659117 ,   0.48999157, -11.75570442,   0.48999157,
        70.16133699,   2.43398993, -11.75570442,   2.43398993,
        11.86736326,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005339191716613179
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.07938408e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.07938408e-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([ 0.09389158, -0.05347207,  0.06198799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72770219e-05,-7.92890831e-07,-8.73797661e-07, 2.46742032e-06,
  4.85374481e-06,-3.64171604e-06,-8.90538320e-06,-2.02536850e-05,
  1.14756645e-06,-7.75473261e-06,-1.43421193e-05,-6.84481054e-06,
  5.92565921e-02, 2.50842703e-02,-1.33352396e-03, 4.37566164e-05,
 -2.00525618e-06,-1.64978255e-06,-9.80999455e+00,-6.49148648e-02,
 -9.14146089e-03,-5.58871883e-03]


--- Step 995 ---
qpos:
[ 0.00989809, 0.00809577,-0.00564252, 0.03348901, 0.00353525, 0.002859  ,
 -0.00678741, 0.03910678, 0.01306222, 0.00595383,-0.01170887, 0.03408502,
  0.87692519,-0.00971734, 1.09059305, 0.04637347, 0.09143291,-0.06700529,
  0.14229497, 0.9456139 ,-0.03314867, 0.0308376 , 0.32212507]

qacc:
[-1.21020340e+00,-6.54496304e-01, 3.71964047e+00,-9.38350168e+00,
  4.73121237e-01,-2.77793491e-01, 1.92931173e+00,-5.81679134e+00,
  1.28183732e-01, 2.81331648e-02, 1.26102764e+00,-7.49194793e+00,
 -6.02558373e+00, 4.24234713e+01,-8.76697724e+01, 2.12227166e+02,
 -8.38372414e-01, 9.60098765e-02, 4.61055453e-01,-8.56901155e+00,
 -3.56547836e+00,-1.98352826e+01]

qfrc_actuator:
[ 1.02205340e-05, 2.94898817e-04, 5.24557297e-05, 4.38696570e-05,
  1.12848355e-05, 2.94234142e-05,-4.07851141e-05, 5.46862213e-05,
 -1.50232381e-05, 8.17399227e-05,-9.87040793e-05, 3.29123072e-05,
  4.40719872e-02, 1.38097793e-02, 6.45052521e-03,-2.51336822e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10047269,  0.73457659,  0.81941283,  0.73457659,  2.53831392,
       -1.28897727,  0.81941283, -1.28897727,  2.25599833,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002924459917259978
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50897638, -0.84479008, -0.16514464, -0.08522492, -0.14145482,
        0.98626936, -0.85655108,  0.51606225,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10254672, -0.03912139,  0.30479983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000531622729794344
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.15453319e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.15453319e-06, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08845589, -0.08183449,  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:
[-7.09565036e-06,-2.49142478e-06,-1.63526079e-06,-1.68766867e-05,
  2.78105055e-06,-7.15617882e-06,-6.97390909e-06,-1.24684577e-05,
  7.94630764e-07,-3.76745655e-05,-3.21704566e-05,-2.33786327e-05,
  5.05743491e-02, 1.87358874e-02,-4.48887144e-04,-7.43558803e-05,
 -1.86190008e-06, 1.36043602e-06,-9.80999825e+00,-6.49137574e-02,
 -9.14222114e-03,-5.58799367e-03]


--- Step 996 ---
qpos:
[ 0.00989825, 0.00809632,-0.00564221, 0.03348919, 0.0035355 , 0.00285887,
 -0.00678761, 0.03910764, 0.01306198, 0.00595478,-0.01170929, 0.03408539,
  0.87690319,-0.00971648, 1.09085581, 0.04638243, 0.09143446,-0.06700173,
  0.14229972, 0.9456361 ,-0.03316065, 0.03081466, 0.32206086]

qacc:
[ 2.24276418e+00,-4.04484938e-02,-9.17177739e-01, 3.83208092e+00,
  2.62864460e-01, 1.28183978e+00,-7.03987957e+00, 1.68156158e+01,
  1.00038484e-01, 3.01206537e-01,-2.36677321e+00, 4.83679721e+00,
 -8.00993382e+00, 4.03455415e+01,-7.71712452e+01, 1.80408281e+02,
 -6.18482543e-01, 5.80754276e-02, 3.57418341e-01,-6.51596214e+00,
 -2.85500370e+00,-1.98969496e+01]

qfrc_actuator:
[ 2.35435510e-05, 2.75680444e-04, 5.14922410e-05, 5.17012369e-05,
  1.27486072e-05, 2.80139267e-05,-4.33393079e-05, 8.32458945e-05,
 -1.44762817e-05, 4.55211471e-05,-1.15526096e-04, 3.73512851e-05,
  4.40650821e-02, 1.38077504e-02, 6.47979738e-03,-2.25393122e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10102459, -0.16008837, -1.08932404, -0.16008837,  2.92823694,
       -0.26852933, -1.08932404, -0.26852933,  1.14048798,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029315720148604844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50902106, -0.84477005, -0.16510943, -0.08521372, -0.14142046,
        0.98627525, -0.85652564,  0.51610447,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10255352, -0.03912314,  0.3048014 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.67628003,  8.0254423 , -8.48102536,  8.0254423 , 56.01550221,
       41.95741127, -8.48102536, 41.95741127, 51.37982633,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005284712266949071
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05041010e-13,  3.96942938e-07,  1.00000000e+00, -4.16952870e-20,
        1.00000000e+00, -3.96942938e-07, -1.00000000e+00,  6.01853108e-36,
        1.05041010e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08846113, -0.08183144,  0.06198811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31181315e-05,-2.17047672e-05,-2.27488067e-06, 7.33782087e-06,
  1.54114042e-06,-7.38203204e-06,-5.32128587e-06, 2.77687042e-05,
  5.62990804e-07,-6.49834953e-05,-2.93907129e-05, 1.25299008e-06,
  4.93193251e-02, 1.68688102e-02, 1.83006388e-03,-1.81148794e-04,
 -3.91971455e-06, 1.44269951e-06,-9.81000107e+00,-6.49134603e-02,
 -9.14355323e-03,-5.58661381e-03]


--- Step 997 ---
qpos:
[ 0.00989891, 0.00809671,-0.00564134, 0.03348907, 0.00353542, 0.00285845,
 -0.00678748, 0.03910917, 0.01306209, 0.00595519,-0.01170961, 0.03408615,
  0.87680931,-0.00974998, 1.0911311 , 0.0463827 , 0.09143798,-0.06699747,
  0.14230465, 0.94565395,-0.03317527, 0.03081288, 0.32200711]

qacc:
[ 4.43591964e+00,-2.41345068e+00, 9.50030620e+00,-1.53155239e+01,
 -2.87926678e+00, 8.67518904e-02,-3.72891233e+00, 1.51724585e+01,
  3.12163006e+00,-2.01988542e-01,-1.95078695e+00, 8.84501035e+00,
 -3.12937965e+01,-4.18324371e+00, 4.59286785e+01,-1.31307580e+02,
  4.92477981e-01, 1.71513187e-01, 4.48161816e-02, 1.92476928e+00,
  1.03253026e+01, 5.95838049e+00]

qfrc_actuator:
[ 4.90735166e-05, 2.81793211e-04, 8.62687055e-05, 3.84798449e-05,
 -4.24543825e-06, 9.50769363e-06,-2.69876178e-05, 1.17459360e-04,
  3.69441551e-06, 2.36809922e-05,-1.07550863e-04, 5.75574362e-05,
  4.40713658e-02, 1.38394778e-02, 6.45826051e-03,-2.19358176e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.1021581 , -0.18147727, -1.08711475, -0.18147727,  3.6403033 ,
       -0.42370474, -1.08711475, -0.42370474,  1.17288917,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029461052428073574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50912654, -0.84472703, -0.16500428, -0.08517557, -0.14132068,
        0.98629285, -0.85646675,  0.5162022 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10255833, -0.03912522,  0.30480215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.59951884, -10.97961554,  -3.74124042, -10.97961554,
        13.54715971,  -5.71584436,  -3.74124042,  -5.71584436,
        28.3741087 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005237940138779271
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.35048546e-07,  3.62585017e-07,  1.00000000e+00,  4.89665792e-14,
        1.00000000e+00, -3.62585017e-07, -1.00000000e+00,  0.00000000e+00,
       -1.35048546e-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([ 0.06577776, -0.0867868 ,  0.06198822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.58938117e-05,-6.20018643e-06, 3.02555415e-05,-1.40902643e-05,
 -1.69537492e-05,-2.25378500e-05, 1.51341489e-05, 3.42522939e-05,
  1.81678103e-05,-6.42273812e-05,-9.03180915e-06, 1.64267967e-05,
  4.83840598e-02, 1.52364870e-02, 3.94628526e-03,-3.68932685e-04,
 -2.80461408e-05, 1.01575888e-05,-9.81000214e+00,-6.49137360e-02,
 -9.14947343e-03,-5.58469890e-03]


--- Step 998 ---
qpos:
[ 0.00989918, 0.00809706,-0.00564009, 0.03348879, 0.0035348 , 0.00285786,
 -0.00678711, 0.03911006, 0.01306242, 0.0059555 ,-0.01171003, 0.0340871 ,
  0.87671864,-0.00978159, 1.09150367, 0.04636251, 0.09144658,-0.06699479,
  0.14230771, 0.94565139,-0.03314785, 0.03083245, 0.32201559]

qacc:
[-3.40178319e+00,-1.40262374e+00, 5.62898794e+00,-9.00178379e+00,
 -4.80991002e+00,-2.21747201e+00, 1.03279968e+01,-2.17974402e+01,
  1.90345928e+00, 5.49478335e-01,-2.96563451e+00, 6.53349893e+00,
 -4.49004190e+00, 8.77721075e+00, 2.06100237e+02,-5.11320611e+02,
  1.26934419e+00,-3.92913621e-01,-4.67819064e-01, 2.20174618e+01,
  2.60641460e+00, 3.37126095e+01]

qfrc_actuator:
[ 2.83196045e-05, 2.85406792e-04, 1.06444735e-04, 3.07696754e-05,
 -3.19669269e-05,-1.25364807e-06,-1.74290479e-05, 8.37067764e-05,
  1.43400652e-05, 4.62448617e-05,-1.02694201e-04, 6.91481686e-05,
  4.40877235e-02, 1.39102823e-02, 6.41344772e-03,-2.32979499e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.1051599 ,  0.29362806,  1.06543933,  0.29362806,  5.39350225,
       -1.18183891,  1.06543933, -1.18183891,  1.43086692,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000298412168536588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50921866, -0.84467776, -0.16497226, -0.08517399, -0.14128424,
        0.98629821, -0.85641214,  0.51629279,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10256324, -0.03912001,  0.30479761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.53562877, 10.25647521, -5.2797204 , 10.25647521, 32.66180458,
       41.04007067, -5.2797204 , 41.04007067, 91.26077238,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005198923830569552
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06774311e-13, -2.13548623e-13,  1.00000000e+00, -2.28015072e-26,
        1.00000000e+00,  2.13548623e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06774311e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04960284, -0.06381587,  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:
[-2.00210805e-05, 5.77527846e-06, 2.21179977e-05,-7.20702916e-06,
 -2.82133897e-05,-1.87664061e-05, 7.95279530e-06,-3.35301254e-05,
  1.11404356e-05,-1.45199897e-05,-8.95756820e-06, 8.84296823e-06,
  5.19929760e-02, 1.70250148e-02, 3.26923472e-03,-7.20021664e-05,
 -2.09341453e-05, 1.33049940e-05,-9.80999672e+00,-6.49197522e-02,
 -9.14782025e-03,-5.58556065e-03]


--- Step 999 ---
qpos:
[ 0.00989886, 0.0080976 ,-0.00563923, 0.03348809, 0.00353385, 0.00285738,
 -0.00678701, 0.03911019, 0.01306287, 0.00595599,-0.01171111, 0.03408818,
  0.87665317,-0.00978171, 1.09184528, 0.04636488, 0.09145114,-0.06699132,
  0.14231198, 0.94565956,-0.03314083, 0.03083347, 0.3219922 ]

qacc:
[-5.24260107e+00, 4.81475111e-01, 3.97341720e-01,-7.06603549e+00,
 -2.89260865e+00,-6.62299643e-01, 5.78603594e+00,-1.85651695e+01,
  1.07634294e+00, 2.33598043e+00,-8.55304606e+00, 1.17777064e+01,
 -1.18770716e+00, 3.17030090e+01,-1.13374490e+02, 3.31605666e+02,
 -1.00981330e+00, 1.98050796e-01, 3.03716744e-01,-1.19622587e+01,
 -5.12329338e+00,-1.74191593e+01]

qfrc_actuator:
[-1.76105406e-06, 2.87454352e-04, 8.23258322e-05, 8.60006145e-06,
 -4.80216756e-05, 1.03796728e-05,-2.97382758e-05, 4.57351464e-05,
  2.04661990e-05, 5.97186700e-05,-1.35053376e-04, 7.56076526e-05,
  4.40953033e-02, 1.39465175e-02, 6.41582650e-03,-2.37340882e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10637458, -0.08449521,  1.10314336, -0.08449521,  5.62905123,
        0.34641421,  1.10314336,  0.34641421,  1.13290816,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002999315458330877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.09215379e-01, -8.44678684e-01, -1.64977631e-01, -8.51762914e-02,
       -1.41289130e-01,  9.86297309e-01, -8.56413859e-01,  5.16289940e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10257177, -0.03911925,  0.30479846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.46879715, -10.55031793,   4.49712125, -10.55031793,
        13.99423797,   5.9247243 ,   4.49712125,   5.9247243 ,
        25.36829452,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000515802197042608
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.08641038e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.08641038e-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([ 0.08847301, -0.0818237 ,  0.0619884 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06519843e-05, 9.50254528e-06,-2.04686437e-05,-2.12992920e-05,
 -1.68623332e-05, 1.35029921e-06,-1.63644755e-05,-3.91535477e-05,
  6.43845185e-06, 3.87943564e-06,-3.61566479e-05, 5.69717759e-06,
  5.18387547e-02, 1.69668537e-02,-1.59891402e-03, 9.06459364e-04,
 -7.39734113e-06, 3.48258982e-06,-9.80999319e+00,-6.49148433e-02,
 -9.14519759e-03,-5.58574098e-03]


--- Step 1000 ---
qpos:
[ 0.00989749, 0.008098  ,-0.00563826, 0.03348715, 0.00353271, 0.00285696,
 -0.00678711, 0.03911056, 0.01306374, 0.00595643,-0.01171252, 0.03408934,
  0.87659217,-0.00976429, 1.09213235, 0.04637471, 0.09145312,-0.0669869 ,
  0.14231705, 0.94567994,-0.03315219, 0.03082107, 0.32193237]

qacc:
[-9.18973651e+00,-9.99406190e-01, 4.38207413e+00,-8.84157877e+00,
 -1.63621106e+00, 1.13034518e+00,-4.91549356e+00, 9.29280054e+00,
  3.64161563e+00, 1.00060100e+00,-3.98002041e+00, 5.84303445e+00,
 -6.71857511e+00, 2.28509924e+01,-1.02457785e+02, 2.42893917e+02,
 -6.44094263e-01, 2.35061400e-01, 2.00707974e-01,-1.00860666e+01,
 -2.97403180e+00,-1.96965182e+01]

qfrc_actuator:
[-5.48281430e-05, 2.70602377e-04, 8.54927545e-05,-4.17785093e-06,
 -5.70775362e-05, 1.74823588e-05,-3.70059678e-05, 5.88594648e-05,
  4.16381439e-05, 4.97479715e-05,-1.53644687e-04, 7.89702035e-05,
  4.41061733e-02, 1.39316647e-02, 6.40662837e-03,-2.32530696e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10810254, -0.08220645, -1.10504902, -0.08220645,  2.45597863,
       -0.10027076, -1.10504902, -0.10027076,  1.11556185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030207461885907086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50925945, -0.84466381, -0.16491775, -0.08515188, -0.14123392,
        0.98630732, -0.85639008,  0.51632938,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10257821, -0.03911914,  0.304798  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.4023044 ,  5.77935014, -9.82912293,  5.77935014, 61.03952473,
       29.18580614, -9.82912293, 29.18580614, 28.56304133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005117232364232957
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.73671703e-07, -1.42378498e-13,  1.00000000e+00, -9.59163654e-20,
        1.00000000e+00,  1.42378498e-13, -1.00000000e+00,  0.00000000e+00,
       -6.73671703e-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([ 0.08784532, -0.08510459,  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:
[-5.39378070e-05,-1.67166214e-05, 1.85856874e-06,-1.34936946e-05,
 -9.53249639e-06, 2.80972874e-06,-1.03541259e-05, 1.18551868e-05,
  2.13581848e-05,-1.50294612e-05,-2.20415658e-05, 2.38742765e-06,
  5.05895695e-02, 1.53782737e-02,-6.55134788e-05,-1.75377723e-04,
 -2.19083592e-06, 3.48551084e-06,-9.81000021e+00,-6.49143659e-02,
 -9.14379934e-03,-5.58544576e-03]


--- Step 1001 ---
qpos:
[ 0.00989549, 0.00809821,-0.00563727, 0.03348676, 0.00353113, 0.00285636,
 -0.00678692, 0.03911108, 0.01306451, 0.00595647,-0.01171343, 0.03409051,
  0.87646029,-0.00978504, 1.09242203, 0.04637355, 0.09145691,-0.06698181,
  0.14232195, 0.94569579,-0.03316693, 0.03082765, 0.32188364]

qacc:
[-5.48569361e+00, 8.43994614e-01,-5.70226970e+00, 1.54201482e+01,
 -3.89837157e+00,-7.09472224e-01, 1.56172942e+00, 7.15798648e-01,
 -8.37071157e-01,-1.86247760e+00, 5.78002805e+00,-5.90679581e+00,
 -2.73959325e+01,-1.19182329e+01, 3.79210762e+01,-1.25287383e+02,
  4.49648187e-01, 1.70797580e-01,-4.37149269e-02, 1.20540920e+00,
  9.40905595e+00, 6.23068415e+00]

qfrc_actuator:
[-8.54913164e-05, 2.60418503e-04, 8.69374943e-05, 2.41891268e-05,
 -7.96980762e-05, 4.12448854e-06,-2.34539979e-05, 6.64442446e-05,
  3.59922354e-05, 2.58613905e-05,-1.28536355e-04, 8.04796796e-05,
  4.41146488e-02, 1.39230049e-02, 6.34046173e-03,-2.37586213e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11046306,  0.23758719, -1.08474907,  0.23758719,  9.80790959,
        1.9049584 , -1.08474907,  1.9049584 ,  1.52769661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030496821027245307
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50936067, -0.84462299, -0.16481419, -0.08511383, -0.14113594,
        0.98632463, -0.85633366,  0.51642294,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10258267, -0.03911779,  0.30479577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.31636332, -11.18571022,  -1.71463277, -11.18571022,
        11.82742084,  -3.33397413,  -1.71463277,  -3.33397413,
        33.06613335,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005064364109412434
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19962228e-07, -2.81533874e-08,  1.00000000e+00,  3.37734307e-15,
        1.00000000e+00,  2.81533874e-08, -1.00000000e+00, -3.94430453e-31,
        1.19962228e-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([ 0.06578583, -0.08677074,  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:
[-3.22073034e-05,-1.97643404e-05,-2.25660068e-06, 2.74538941e-05,
 -2.28906456e-05,-1.34052034e-05, 1.32728893e-05, 7.57842059e-06,
 -5.04306882e-06,-3.67337415e-05, 1.93802726e-05, 1.48108244e-07,
  5.03736324e-02, 1.44920580e-02, 2.58980732e-03,-5.99932853e-04,
 -2.39010901e-05, 1.23594412e-05,-9.81000053e+00,-6.49152590e-02,
 -9.14834120e-03,-5.58471064e-03]


--- Step 1002 ---
qpos:
[ 0.00989418, 0.00809874,-0.00563702, 0.03348636, 0.00352929, 0.00285563,
 -0.00678657, 0.03911169, 0.01306486, 0.0059568 ,-0.0117149 , 0.03409203,
  0.8764763 ,-0.00969988, 1.09270687, 0.04637145, 0.09145726,-0.06698189,
  0.14232686, 0.94571458,-0.03315799, 0.03081179, 0.32183087]

qacc:
[ 5.95500744e+00, 2.49364385e+00,-8.21775527e+00, 8.93576340e+00,
 -2.26904537e+00,-4.70519305e-01, 1.04045429e+00, 3.31537321e-01,
 -3.70630954e+00, 2.63135009e+00,-1.02352361e+01, 1.67227441e+01,
  3.61591761e+01, 7.21483646e+01,-4.23599417e+00, 4.60501109e+00,
 -8.56137459e-01,-1.29546824e+00, 1.45970319e-03, 7.70425284e+00,
 -1.44005468e+01,-2.38126774e+00]

qfrc_actuator:
[-4.94573590e-05, 2.89843109e-04, 5.18871745e-05, 2.32773028e-05,
 -9.23712542e-05,-3.54326535e-06,-1.55665810e-05, 7.06967406e-05,
  1.46024036e-05, 6.50136234e-05,-1.48905923e-04, 9.86539518e-05,
  4.41229842e-02, 1.39490228e-02, 6.34345058e-03,-2.36362598e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11435002,  0.33167472,  1.06384578,  0.33167472,  5.12866152,
       -1.2515401 ,  1.06384578, -1.2515401 ,  1.50454211,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030965021334258
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50944648, -0.84457598, -0.16478987, -0.08511525, -0.14110668,
        0.9863287 , -0.85628248,  0.51650781,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1025875 , -0.03910957,  0.30478912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005020270986925931
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.79061140e-07, -4.79061252e-07,  1.00000000e+00,  2.29499630e-13,
        1.00000000e+00,  4.79061252e-07, -1.00000000e+00,  0.00000000e+00,
        4.79061140e-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([ 0.09274591, -0.05372002,  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:
[ 3.51068050e-05, 1.90593230e-05,-3.84708470e-05,-1.30260078e-06,
 -1.33294919e-05,-1.20871950e-05, 7.01995592e-06, 4.28551798e-06,
 -2.15473625e-05, 2.26274074e-05,-2.55565256e-05, 1.72732020e-05,
  5.39245876e-02, 1.64269377e-02, 2.45659398e-03,-3.92888813e-05,
 -1.78077378e-05, 1.33837374e-05,-9.80999421e+00,-6.49199170e-02,
 -9.14611841e-03,-5.58645138e-03]


--- Step 1003 ---
qpos:
[ 0.00989365, 0.00809923,-0.00563709, 0.03348597, 0.00352801, 0.00285504,
 -0.0067865 , 0.03911199, 0.01306496, 0.00595737,-0.01171689, 0.03409341,
  0.87647969,-0.00962675, 1.09308961, 0.0463495 , 0.09146317,-0.06698312,
  0.14232959, 0.94571465,-0.03311208, 0.03081954, 0.32183466]

qacc:
[ 6.89645264e+00, 8.17306854e-01,-3.07303313e+00, 3.81050366e+00,
  4.84200000e+00, 3.49081059e-01, 3.09693328e-01,-5.22219334e+00,
 -2.29954701e+00, 1.50152312e+00,-4.32203153e+00, 2.63988750e+00,
 -6.40420543e+00,-3.46064299e+00, 2.04933722e+02,-5.06298061e+02,
  1.38783266e+00,-2.86358404e-01,-5.44293964e-01, 2.00946766e+01,
  4.56528556e+00, 3.07135700e+01]

qfrc_actuator:
[-9.96773423e-06, 2.71581513e-04, 3.12113770e-05, 2.29001774e-05,
 -6.35786462e-05, 9.98721423e-06,-2.88308653e-05, 5.51982442e-05,
  1.87907832e-06, 7.04458121e-05,-1.77961069e-04, 9.09974082e-05,
  4.41194234e-02, 1.38315082e-02, 6.34590198e-03,-2.40814120e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11352383,  1.11035102,  0.08399957,  1.11035102,  1.15247944,
       -0.51493603,  0.08399957, -0.51493603,  7.92022245,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003086634542750285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50953966, -0.84455856, -0.16459092, -0.08502518, -0.14092867,
        0.98636192, -0.85623598,  0.51658489,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10259301, -0.03911854,  0.30479632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.17782676, -10.40010582,  -4.09653633, -10.40010582,
        16.59177879, -13.7447027 ,  -4.09653633, -13.7447027 ,
        46.07227193,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004978674620574747
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.34493548e-13, -2.22995699e-13,  1.00000000e+00,  7.45906223e-26,
        1.00000000e+00,  2.22995699e-13, -1.00000000e+00,  0.00000000e+00,
        3.34493548e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0496146 , -0.06378291,  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:
[ 4.04962347e-05,-1.56109456e-05,-2.15304528e-05,-9.18866623e-07,
  2.84089684e-05, 8.42155944e-06,-1.47445029e-05,-1.56900938e-05,
 -1.33277474e-05, 1.35421748e-05,-2.69202474e-05,-7.23480858e-06,
  4.65287844e-02, 1.10134606e-02, 2.69638447e-03,-3.80316285e-05,
 -1.07729788e-05, 9.50087277e-06,-9.81000489e+00,-6.49153289e-02,
 -9.14584522e-03,-5.58393839e-03]


--- Step 1004 ---
qpos:
[ 0.0098936 , 0.00809952,-0.00563705, 0.03348522, 0.00352742, 0.0028546 ,
 -0.00678658, 0.03911141, 0.01306489, 0.00595778,-0.01171848, 0.03409399,
  0.87638311,-0.00963272, 1.09339982, 0.04635937, 0.09146737,-0.06697868,
  0.14233079, 0.94572729,-0.03311941, 0.03081519, 0.32179717]

qacc:
[ 4.19888142e+00,-1.30373606e+00, 5.76212611e+00,-1.19448336e+01,
  6.14654033e+00,-1.20258139e+00, 8.31426113e+00,-2.35304400e+01,
 -1.33256912e+00,-2.99895732e+00, 1.38020078e+01,-2.82985065e+01,
 -1.36511049e+01,-6.90300429e+01,-2.04339164e+02, 5.57151742e+02,
 -4.29293873e-01, 1.41870053e+00,-3.81373134e-01,-2.62798909e+01,
  3.33333746e+00,-2.25613362e+01]

qfrc_actuator:
[ 1.34648988e-05, 2.60458328e-04, 3.67738590e-05, 5.07180998e-06,
 -2.83664908e-05, 1.82521137e-05,-3.66490167e-05, 1.04549251e-05,
 -5.63655979e-06, 5.55833248e-05,-1.58778802e-04, 5.04268210e-05,
  4.41338229e-02, 1.37567252e-02, 6.30700478e-03,-2.44967301e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11162057, -0.03842632,  1.11095622, -0.03842632,  4.16539805,
        0.1056256 ,  1.11095622,  0.1056256 ,  1.11527401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003063730872322376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.09546950e-01, -8.44582775e-01, -1.64444036e-01, -8.49484092e-02,
       -1.40803440e-01,  9.86386415e-01, -8.56239262e-01,  5.16579449e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10260161, -0.03912944,  0.30480621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.16632984, -6.15458931,  9.31707854, -6.15458931, 22.42323885,
        7.43598452,  9.31707854,  7.43598452, 16.07832352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004971477794682017
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15148608e-13, -1.11659256e-13,  1.00000000e+00,  1.28574079e-26,
        1.00000000e+00,  1.11659256e-13, -1.00000000e+00,  0.00000000e+00,
        1.15148608e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08268755, -0.11192472,  0.06198882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45804604e-05,-2.43399142e-05,-3.50897604e-07,-1.92617861e-05,
  3.60240137e-05, 9.28612035e-06,-8.43316597e-06,-4.51986758e-05,
 -7.88832802e-06,-1.31650521e-05, 1.84276546e-05,-4.10618039e-05,
  4.71727436e-02, 1.15392685e-02,-2.24401534e-03, 9.11024714e-04,
 -7.13477115e-06, 1.20304694e-05,-9.80998655e+00,-6.49129008e-02,
 -9.14835466e-03,-5.58184031e-03]


--- Step 1005 ---
qpos:
[ 0.00989383, 0.0080999 ,-0.00563679, 0.03348387, 0.00352691, 0.00285407,
 -0.00678672, 0.03911136, 0.01306509, 0.00595836,-0.01171995, 0.03409405,
  0.8761928 ,-0.00971204, 1.09361655, 0.04637821, 0.0914712 ,-0.06697   ,
  0.14233083, 0.94575138,-0.03316652, 0.03080436, 0.32172256]

qacc:
[ 2.47398418e+00,-1.76081610e+00, 8.96621742e+00,-1.97481625e+01,
  7.21867375e-01, 1.13929951e+00,-6.49634961e+00, 1.58620057e+01,
  2.24299438e+00,-1.13235149e+00, 6.50952663e+00,-1.56469659e+01,
 -1.34916080e+01,-6.31880344e+01,-1.66113939e+02, 3.78676724e+02,
 -9.00855503e-02, 1.05795805e+00,-2.89625105e-01,-1.90900911e+01,
  3.78058020e+00,-2.01177970e+01]

qfrc_actuator:
[ 2.72577445e-05, 2.89291343e-04, 5.77841116e-05,-2.28645127e-05,
 -2.51765930e-05, 5.53888796e-06,-4.12140287e-05, 3.76335321e-05,
  7.72279551e-06, 8.21010061e-05,-1.46879126e-04, 2.63388772e-05,
  4.41513382e-02, 1.37794505e-02, 6.29239259e-03,-2.32010026e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11322602,  0.26774942, -1.08054728,  0.26774942,  2.45035896,
        0.33132893, -1.08054728,  0.33132893,  1.1953262 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003083066680573989
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.09611120e-01, -8.44552964e-01, -1.64398288e-01, -8.49348152e-02,
       -1.40758212e-01,  9.86394040e-01, -8.56202420e-01,  5.16640510e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.102607  , -0.03912574,  0.30480257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.1404772 , 10.54173197, -3.60307081, 10.54173197, 19.40171487,
       24.17042513, -3.60307081, 24.17042513, 81.85741744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004955206040443
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.12025919e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.12025919e-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([ 0.08268946, -0.11192151,  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:
[ 1.44846670e-05, 1.43234964e-05, 1.52697085e-05,-2.93664297e-05,
  4.21952916e-06,-1.11684561e-05,-5.24335882e-06, 2.64059850e-05,
  1.31312967e-05, 2.12019529e-05, 1.00420520e-05,-2.48120386e-05,
  5.21870928e-02, 1.55159205e-02, 1.36159882e-03,-5.51432945e-04,
 -9.40457949e-06, 5.67504327e-06,-9.80999967e+00,-6.49138766e-02,
 -9.14896818e-03,-5.58170002e-03]


--- Step 1006 ---
qpos:
[ 0.00989388, 0.00810044,-0.00563636, 0.03348289, 0.00352576, 0.00285355,
 -0.00678701, 0.03911231, 0.01306613, 0.00595889,-0.0117215 , 0.0340942 ,
  0.87600883,-0.00979484, 1.09391946, 0.04636249, 0.09148068,-0.06696399,
  0.14232932, 0.94575361,-0.03316243, 0.03082018, 0.32171491]

qacc:
[-1.58811232e+00, 5.09573199e-01,-3.04486271e+00, 8.93828644e+00,
 -5.69784518e+00, 2.47797104e+00,-1.30410111e+01, 3.06480945e+01,
  7.46302625e+00, 3.10149637e-01,-1.61787076e+00, 3.43203299e+00,
  1.59790301e+00,-2.33657797e+00, 2.31816902e+02,-6.26115367e+02,
  1.41265189e+00,-6.65891999e-01,-3.88498539e-01, 2.71046340e+01,
  3.58625110e+00, 3.64140373e+01]

qfrc_actuator:
[ 1.75194122e-05, 3.06386481e-04, 7.01461066e-05,-3.22295427e-06,
 -5.86148361e-05, 1.59366209e-05,-4.38560463e-05, 8.91485364e-05,
  5.10128526e-05, 6.21754928e-05,-1.56963759e-04, 2.99208070e-05,
  4.41684342e-02, 1.38333226e-02, 6.29152284e-03,-2.27302391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11721405,  0.36652638, -1.05537939,  0.36652638,  2.954489  ,
        0.63807362, -1.05537939,  0.63807362,  1.33881286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003130366447551774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.09729372e-01, -8.44471351e-01, -1.64450920e-01, -8.49824777e-02,
       -1.40790921e-01,  9.86385267e-01, -8.56127295e-01,  5.16764989e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10261041, -0.03910984,  0.30478973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.13479317, -6.03591395,  9.35688847, -6.03591395, 22.55696476,
        7.36818067,  9.35688847,  7.36818067, 15.88783738,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004951611934826405
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.24214466e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.24214466e-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([ 0.04963045, -0.0637628 ,  0.06198886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.32126076e-06, 2.69911961e-05, 1.61799918e-05, 2.02130332e-05,
 -3.33230678e-05, 4.22337038e-06,-4.67327213e-06, 5.13704541e-05,
  4.36716651e-05,-7.05684055e-06,-5.31666512e-06, 4.35641297e-06,
  5.68896612e-02, 1.92388263e-02, 6.02924173e-03,-9.54171887e-04,
 -5.75697779e-05, 2.84343070e-05,-9.80997860e+00,-6.49215357e-02,
 -9.15958120e-03,-5.58367577e-03]


--- Step 1007 ---
qpos:
[ 0.00989416, 0.00810151,-0.00563682, 0.03348251, 0.00352421, 0.00285324,
 -0.00678741, 0.03911385, 0.01306734, 0.00595885,-0.01172234, 0.03409442,
  0.87584261,-0.009872  , 1.09433672, 0.04633874, 0.09149414,-0.06695911,
  0.1423268 , 0.9457339 ,-0.03311783, 0.03085247, 0.32177434]

qacc:
[ 1.96194537e+00, 4.42941631e+00,-1.73325278e+01, 2.89004857e+01,
 -3.45373946e+00, 1.83800751e+00,-8.58593817e+00, 1.86902090e+01,
  1.49434095e+00,-2.63465718e+00, 8.03284280e+00,-7.73821061e+00,
  3.98661148e+00, 4.43206670e+00, 1.93343711e+02,-4.30931226e+02,
  9.93447304e-01,-2.85165169e-01,-2.53011712e-01, 2.04092931e+01,
  5.01029076e-01, 3.61456682e+01]

qfrc_actuator:
[ 2.95177056e-05, 3.34090632e-04, 2.40403743e-05, 2.64914081e-05,
 -7.78279436e-05, 4.01285066e-05,-4.52477411e-05, 1.19071743e-04,
  5.83077806e-05, 1.45283113e-05,-1.26850604e-04, 3.19498175e-05,
  4.41902988e-02, 1.39186076e-02, 6.27011682e-03,-2.25326804e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11835701, -0.01756671,  1.11821903, -0.01756671,  1.94895054,
        0.01304825,  1.11821903,  0.01304825,  1.11856199,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003143735274775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.09747220e-01, -8.44441399e-01, -1.64549370e-01, -8.50377465e-02,
       -1.40872556e-01,  9.86368848e-01, -8.56111180e-01,  5.16791686e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10261862, -0.0391001 ,  0.30478554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.13759166,  6.6616431 , -8.92571898,  6.6616431 , 43.26943632,
       23.98136015, -8.92571898, 23.98136015, 29.03589912,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004953382218606528
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12067167e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.12067167e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0496375 , -0.06375628,  0.06198886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17387174e-05, 4.69807067e-05,-3.78468196e-05, 3.18246300e-05,
 -2.01609635e-05, 2.77979534e-05, 6.91026409e-07, 3.09433880e-05,
  8.53398649e-06,-5.24879401e-05, 2.81621680e-05, 1.62773063e-06,
  5.65931748e-02, 1.94991736e-02, 1.69363376e-03, 7.91895286e-04,
 -1.54467628e-06, 1.08574681e-06,-9.80999774e+00,-6.49191407e-02,
 -9.14563490e-03,-5.58495077e-03]


--- Step 1008 ---
qpos:
[ 0.00989527, 0.00810283,-0.00563771, 0.03348216, 0.00352314, 0.00285317,
 -0.00678785, 0.03911572, 0.0130676 , 0.00595807,-0.01172239, 0.03409467,
  0.87560085,-0.01001508, 1.0946834 , 0.04635253, 0.0915044 ,-0.06694956,
  0.14232371, 0.94573308,-0.03312935, 0.0308656 , 0.3217743 ]

qacc:
[ 7.27899797e+00, 1.58152925e+00,-5.29223874e+00, 6.22782553e+00,
  4.13980329e+00, 1.08918714e+00,-4.86967896e+00, 1.06014079e+01,
 -8.37421918e+00,-3.06521872e+00, 9.40316387e+00,-9.51042241e+00,
 -4.29220291e+00,-6.47335384e+01,-2.19082852e+02, 6.12318924e+02,
 -7.98864828e-01, 1.16981843e+00,-1.42769171e-01,-2.83890428e+01,
  6.60204191e-01,-3.23485401e+01]

qfrc_actuator:
[ 7.19740894e-05, 3.32204062e-04,-2.91334317e-06, 2.63513829e-05,
 -5.29972851e-05, 5.46360697e-05,-4.58460777e-05, 1.36061565e-04,
  8.84334162e-06,-3.14452833e-05,-9.11212323e-05, 3.30467679e-05,
  4.41977909e-02, 1.40505105e-02, 6.21477338e-03,-2.19158059e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11756654, -0.07810456,  1.11483391, -0.07810456,  6.03271627,
        0.34435229,  1.11483391,  0.34435229,  1.14169165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031344981767506637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.09659359e-01, -8.44469483e-01, -1.64677352e-01, -8.50910604e-02,
       -1.40989864e-01,  9.86347489e-01, -8.56158192e-01,  5.16713799e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1026306 , -0.03909618,  0.30478739])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.17835844, -6.30694939,  9.22919753, -6.30694939, 19.3087984 ,
        5.5560923 ,  9.22919753,  5.5560923 , 14.97522083,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004979006864487684
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.22980818e-13, -5.57452046e-14,  1.00000000e+00,  1.24301113e-26,
        1.00000000e+00,  5.57452046e-14, -1.00000000e+00,  0.00000000e+00,
        2.22980818e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08270849, -0.11190194,  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:
[ 4.28045526e-05, 1.79017089e-05,-2.08166788e-05, 1.18199357e-06,
  2.42658652e-05, 3.15263448e-05, 6.30503515e-06, 1.88061105e-05,
 -4.92423480e-05,-6.94202763e-05, 2.84232564e-05,-1.44907853e-07,
  5.57108520e-02, 1.93497196e-02,-4.08647660e-03, 1.25417663e-03,
 -4.75522907e-05, 1.21411594e-05,-9.80998350e+00,-6.49093453e-02,
 -9.15446418e-03,-5.58535227e-03]


--- Step 1009 ---
qpos:
[ 0.00989585, 0.00810378,-0.0056381 , 0.03348182, 0.00352272, 0.00285334,
 -0.00678825, 0.03911709, 0.01306725, 0.00595663,-0.01172226, 0.03409532,
  0.87539767,-0.01011966, 1.09497053, 0.04636638, 0.0915109 ,-0.06694073,
  0.14232286, 0.94574735,-0.03315229, 0.03086321, 0.32173022]

qacc:
[ -4.66525025, -1.84369997,  5.82654402, -6.12107376,  5.71877832,
  -0.8403676 ,  5.57287325,-14.55361409, -5.21352006, -0.55583429,
  -0.92945591,  7.89113437,  4.02492449, 33.68830112,-87.6970707 ,
 180.0610393 , -0.93806485, -0.18105393,  0.56110903, -6.96624624,
  -5.00273445,-23.6771107 ]

qfrc_actuator:
[ 4.32472608e-05, 2.94893824e-04, 1.70413211e-05, 2.63951031e-05,
 -2.01994734e-05, 6.32269388e-05,-4.60102227e-05, 1.09798154e-04,
 -2.03627450e-05,-7.60340843e-05,-8.78869388e-05, 5.13346229e-05,
  4.42044166e-02, 1.42086841e-02, 6.17289820e-03,-2.18261304e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11975597, -0.32796635,  1.07065004, -0.32796635, 10.16064499,
        2.76944595,  1.07065004,  2.76944595,  1.96810516,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031599880296706795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.09658381e-01, -8.44433807e-01, -1.64863217e-01, -8.51896177e-02,
       -1.41147474e-01,  9.86316440e-01, -8.56148973e-01,  5.16729075e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10263968, -0.03908049,  0.30477813])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.20732927,  4.01480342, 10.46353587,  4.01480342, 25.97125324,
       -5.66483961, 10.46353587, -5.66483961, 13.38089829,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004997032932672822
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.28097752e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.28097752e-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([ 0.08851865, -0.08178329,  0.06198876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75034564e-05,-3.15738913e-05, 2.11224813e-05, 1.11438839e-07,
  3.34976587e-05, 2.83407218e-05, 7.77595897e-06,-2.43324274e-05,
 -3.06336105e-05,-7.75322059e-05,-7.59792926e-06, 1.62969340e-05,
  5.94925598e-02, 2.28063244e-02,-6.07804972e-04,-6.16361459e-04,
  2.66492479e-07, 4.33073403e-07,-9.80999815e+00,-6.49127746e-02,
 -9.14168778e-03,-5.58785981e-03]


--- Step 1010 ---
qpos:
[ 0.00989538, 0.00810467,-0.00563838, 0.03348217, 0.003522  , 0.00285353,
 -0.00678855, 0.03911815, 0.01306656, 0.00595478,-0.01172218, 0.03409615,
  0.87535635,-0.01010863, 1.0952363 , 0.04636816, 0.09151334,-0.06693801,
  0.14232312, 0.94576662,-0.03314827, 0.03084051, 0.32167616]

qacc:
[-9.10756633e+00, 1.01105421e+00,-6.57852718e+00, 1.82088626e+01,
 -2.57524429e+00,-8.70621152e-01, 4.42270915e+00,-9.82083536e+00,
 -3.05602789e+00,-7.42683986e-04,-1.59463408e+00, 5.35177835e+00,
  4.01426551e+01, 7.78230329e+01, 4.95974180e+00,-6.31619189e+01,
 -1.01693398e+00,-1.52584396e+00, 2.75945645e-01, 9.71196344e+00,
 -1.38555946e+01,-5.45159000e+00]

qfrc_actuator:
[-9.40376799e-06, 3.07850934e-04, 2.88711131e-05, 6.20530950e-05,
 -3.62471675e-05, 5.04181762e-05,-4.59695990e-05, 9.37973492e-05,
 -3.73929191e-05,-8.40582372e-05,-8.61016400e-05, 6.18152794e-05,
  4.42189495e-02, 1.43045665e-02, 6.10869722e-03,-2.37808786e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.12153551,  0.39896382,  1.04817449,  0.39896382,  5.06609716,
       -1.50140784,  1.04817449, -1.50140784,  1.69301231,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003180489321968783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50972935, -0.84437182, -0.16496125, -0.08525356, -0.14122338,
        0.98630005, -0.85610035,  0.51680962,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10264749, -0.03906799,  0.30477159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.23324374,  3.65244229, 10.62287297,  3.65244229, 22.4716152 ,
       -3.86406797, 10.62287297, -3.86406797, 12.5618189 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005013063892196357
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.53664909e-14, -1.10732982e-13,  1.00000000e+00,  6.13089662e-27,
        1.00000000e+00,  1.10732982e-13, -1.00000000e+00,  0.00000000e+00,
        5.53664909e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0939955 , -0.05340053,  0.06198872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.34490509e-05,-3.71896556e-07, 7.90789564e-06, 3.50385322e-05,
 -1.50847604e-05, 3.61031728e-06, 6.00891965e-06,-1.49949242e-05,
 -1.79326710e-05,-5.22139368e-05,-1.45868858e-05, 7.21514943e-06,
  5.75790006e-02, 2.09800387e-02, 2.30165518e-03,-8.15697817e-04,
 -1.77887429e-05, 9.93508777e-06,-9.80999399e+00,-6.49164572e-02,
 -9.14443372e-03,-5.58908296e-03]


--- Step 1011 ---
qpos:
[ 0.00989498, 0.00810573,-0.00563864, 0.03348326, 0.00352075, 0.00285362,
 -0.00678848, 0.03911867, 0.01306533, 0.00595276,-0.01172191, 0.03409672,
  0.8754545 ,-0.00999942, 1.09549816, 0.04636367, 0.09151256,-0.0669406 ,
  0.14232419, 0.94578987,-0.03312046, 0.03080072, 0.32161449]

qacc:
[  0.54153241,  1.71251031, -8.91566009, 21.64935822, -4.65945901,
  -2.28577365, 10.28922317,-20.31243195, -4.77868425, -1.33546661,
   5.60347975,-10.54889812, 35.26183556, 65.14768315, 13.16624202,
 -54.5084557 , -0.80651934, -1.32779819,  0.20312743,  8.69029527,
 -11.84008269, -4.15241001]

qfrc_actuator:
[-4.68079857e-06, 3.33062117e-04, 3.60105124e-05, 1.00653848e-04,
 -6.31659657e-05, 4.26453125e-05,-2.81326197e-05, 6.61987117e-05,
 -6.48789024e-05,-7.01370198e-05,-6.72825462e-05, 4.98974272e-05,
  4.42310678e-02, 1.42528222e-02, 6.06176314e-03,-2.48884151e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11833318, -1.09246584, -0.23913908, -1.09246584,  1.18487476,
       -0.30398379, -0.23913908, -0.30398379,  2.50703093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003143457440369455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50981993, -0.84433595, -0.16486492, -0.08521752, -0.14113261,
        0.98631616, -0.85605001,  0.51689301,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10265577, -0.03907396,  0.30478027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.22240001,   3.36530855, -10.70593108,   3.36530855,
        84.48425337,  23.02917326, -10.70593108,  23.02917326,
        18.46140362,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005006358658560956
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21651158e-06, -1.21651160e-06,  1.00000000e+00,  1.47990044e-12,
        1.00000000e+00,  1.21651160e-06, -1.00000000e+00, -2.01948392e-28,
        1.21651158e-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([ 0.09280597, -0.05367534,  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:
[ 3.19566454e-06, 2.80913113e-05, 9.24359757e-06, 3.95405529e-05,
 -2.73460174e-05,-5.16625454e-06, 1.88035611e-05,-2.75294057e-05,
 -2.80192603e-05,-1.79251957e-05, 6.50557703e-06,-1.45169748e-05,
  4.95003870e-02, 1.51500172e-02, 3.32116826e-03,-3.23246402e-04,
 -1.33217183e-05, 6.65659348e-06,-9.81000502e+00,-6.49128025e-02,
 -9.14455614e-03,-5.58611801e-03]


--- Step 1012 ---
qpos:
[ 0.00989533, 0.00810657,-0.0056386 , 0.03348449, 0.00351954, 0.00285383,
 -0.00678824, 0.03911815, 0.01306412, 0.00595077,-0.01172181, 0.03409748,
  0.87544023,-0.00996996, 1.09568779, 0.04637555, 0.09151218,-0.06693787,
  0.14232442, 0.94582086,-0.03313687, 0.0307617 , 0.32152537]

qacc:
[ 6.58882969e+00,-8.56706680e-01, 1.99495421e+00, 1.71532816e-01,
  2.82001351e-01,-2.46721024e+00, 1.34000656e+01,-3.17355624e+01,
  2.11319324e-01, 9.62906396e-01,-4.20370980e+00, 7.89071737e+00,
 -2.39469348e+01,-5.92174912e+01,-1.56587458e+02, 3.92047976e+02,
  1.02344102e-01, 1.32843183e+00,-2.08712349e-01,-2.02409499e+01,
  7.80619449e+00,-1.48912825e+01]

qfrc_actuator:
[ 3.37815410e-05, 2.94400300e-04, 4.03865414e-05, 1.05179203e-04,
 -6.07467101e-05, 5.57580395e-05,-1.76800866e-05, 1.42564254e-05,
 -6.27976296e-05,-6.08726134e-05,-7.39736634e-05, 6.04373789e-05,
  4.42219484e-02, 1.41014277e-02, 6.08296992e-03,-2.40771565e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11110911, -0.98126395,  0.52123365, -0.98126395,  1.46479806,
        0.66584768,  0.52123365,  0.66584768,  2.36462053,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030575344654658755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50992587, -0.84432352, -0.16460075, -0.08509485, -0.14089809,
        0.98636028, -0.85599911,  0.5169773 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10266461, -0.03909589,  0.30480184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.25292274,  -1.17111872, -11.19181625,  -1.17111872,
        40.16954725,  -3.02585385, -11.19181625,  -3.02585385,
        11.56954999,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005025224877132639
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.52325046e-14,  2.76162523e-14,  1.00000000e+00, -1.52531478e-27,
        1.00000000e+00, -2.76162523e-14, -1.00000000e+00,  0.00000000e+00,
        5.52325046e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08272121, -0.11187611,  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:
[ 3.85578556e-05,-1.93846890e-05, 1.26737122e-05, 6.81421627e-06,
  1.64039000e-06, 1.29134325e-05, 1.07469271e-05,-5.20492944e-05,
  1.27291310e-06, 1.72395821e-08,-1.00757347e-05, 9.71790121e-06,
  4.25197537e-02, 1.00889512e-02, 3.53174306e-03, 6.99719077e-05,
 -4.50592204e-06, 8.52449619e-06,-9.81000672e+00,-6.49067603e-02,
 -9.14687383e-03,-5.57995489e-03]


--- Step 1013 ---
qpos:
[ 0.00989579, 0.00810704,-0.00563867, 0.03348581, 0.00351836, 0.00285398,
 -0.00678784, 0.03911738, 0.01306363, 0.00594944,-0.01172268, 0.03409869,
  0.87541425,-0.00995337, 1.09597342, 0.04635287, 0.09151825,-0.06693747,
  0.14232317, 0.94583142,-0.03310728, 0.03075501, 0.32149799]

qacc:
[ 9.98804461e-01, 3.39030478e-03,-1.09346499e+00, 3.10669728e+00,
  3.42951409e-01,-1.04458547e+00, 4.69289391e+00,-9.27469732e+00,
  6.32186092e+00, 4.45092981e+00,-1.64832195e+01, 2.51550986e+01,
 -5.87666548e+00,-4.45029981e+00, 2.46583362e+02,-6.56136625e+02,
  1.61195692e+00,-5.82144065e-01,-3.69470406e-01, 2.56689238e+01,
  7.18905487e+00, 3.37229237e+01]

qfrc_actuator:
[ 3.85174318e-05, 2.53254640e-04, 2.50654759e-05, 1.07317415e-04,
 -5.88278103e-05, 4.57231516e-05,-1.16072818e-05, 1.67598473e-06,
 -2.55747086e-05,-1.28119655e-06,-1.13421153e-04, 8.40901685e-05,
  4.42230612e-02, 1.40288955e-02, 6.02885866e-03,-2.51563060e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10862456, -0.60391726,  0.92969476, -0.60391726,  2.41691974,
        0.84985103,  0.92969476,  0.84985103,  1.6606764 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003027178689692099
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51006986, -0.84426479, -0.16445579, -0.08504183, -0.14076076,
        0.98638446, -0.85591859,  0.5171106 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10266985, -0.03910137,  0.3048081 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.28745715, -5.8775975 ,  9.6364172 , -5.8775975 , 24.0871299 ,
        7.80698086,  9.6364172 ,  7.80698086, 16.04921562,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005046542805207943
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.09998376e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.09998376e-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([ 0.04968309, -0.06370697,  0.06198865])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.82395096e-06,-4.90968226e-05,-1.75433825e-05, 1.87230472e-06,
  1.97177803e-06,-2.83248032e-06, 8.25896982e-06,-1.26682459e-05,
  3.72530563e-05, 5.80020311e-05,-4.03295813e-05, 2.34962861e-05,
  4.81402739e-02, 1.40020016e-02, 7.08681898e-03,-8.56796938e-04,
 -5.48454500e-05, 1.52438150e-05,-9.81000482e+00,-6.49113631e-02,
 -9.16245061e-03,-5.57623055e-03]


--- Step 1014 ---
qpos:
[ 0.00989596, 0.00810741,-0.00563904, 0.03348747, 0.00351756, 0.0028539 ,
 -0.00678728, 0.03911683, 0.01306394, 0.00594888,-0.01172412, 0.03409943,
  0.87531813,-0.00997561, 1.09629908, 0.0463402 , 0.09152505,-0.06693547,
  0.14232301, 0.94583857,-0.03308956, 0.03076531, 0.32147779]

qacc:
[ -2.56657109,  1.41574371, -6.67759381, 13.1335559 ,  3.32680262,
  -0.27896294, -0.42459545,  4.27880391,  6.95717203,  1.66365678,
  -2.53169871, -5.04909193,-26.91937786,-12.74908033, 29.69961762,
 -16.25619481,  0.18145882,  0.40245397,  0.27141498, -3.05180725,
   9.87592948,  4.03906567]

qfrc_actuator:
[ 2.33535652e-05, 2.64100951e-04, 1.59634887e-05, 1.25769937e-04,
 -3.94757721e-05, 2.19163662e-05,-8.22493775e-06, 1.23408349e-05,
  1.42719449e-05, 5.23636731e-05,-1.36164206e-04, 6.20322795e-05,
  4.42146447e-02, 1.39864747e-02, 5.98625052e-03,-2.44406643e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10502812,  0.29034385,  1.06620242,  0.29034385,  9.29245832,
       -2.22956723,  1.06620242, -2.22956723,  1.71217468,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002982466890799246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10123396e-01, -8.44249922e-01, -1.64366024e-01, -8.50030452e-02,
       -1.40679324e-01,  9.86399417e-01, -8.55890532e-01,  5.17157033e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1026787 , -0.03910948,  0.3048185 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.30997147, -6.00247247,  9.58570701, -6.00247247, 30.24758965,
       11.85854436,  9.58570701, 11.85854436, 18.73567163,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005060425125722018
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23178917e-06, -1.55760625e-13,  1.00000000e+00,  1.91864251e-19,
        1.00000000e+00,  1.55760625e-13, -1.00000000e+00,  0.00000000e+00,
        1.23178917e-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([ 0.06575956, -0.08713056,  0.06198862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50161273e-05,-2.01712798e-05,-2.13479925e-05, 1.57739137e-05,
  1.94073019e-05,-2.42355527e-05, 3.37124499e-06, 1.05830460e-05,
  4.09215773e-05, 7.88233286e-05,-1.48955647e-05,-2.05097883e-05,
  4.87164541e-02, 1.46035045e-02, 2.23875475e-03, 9.41015249e-04,
  8.15442441e-07, 8.97241321e-06,-9.80999861e+00,-6.49157564e-02,
 -9.15391539e-03,-5.57392763e-03]


--- Step 1015 ---
qpos:
[ 0.00989595, 0.00810763,-0.00563893, 0.0334886 , 0.003517  , 0.00285382,
 -0.00678705, 0.03911641, 0.01306369, 0.00594851,-0.01172507, 0.0340999 ,
  0.87513618,-0.01006534, 1.09655291, 0.04635249, 0.0915306 ,-0.06692862,
  0.14232212, 0.94585864,-0.03311834, 0.03076384, 0.32141592]

qacc:
[-1.58953408e+00,-2.62519936e+00, 1.13138828e+01,-2.11574999e+01,
  2.08312981e+00, 1.17842964e+00,-4.77355350e+00, 7.62438785e+00,
 -4.90524098e+00,-1.69144086e+00, 7.52766714e+00,-1.31150146e+01,
 -1.19195698e+01,-5.85718896e+01,-1.82424964e+02, 4.82329472e+02,
 -3.11923397e-01, 1.20872671e+00,-1.82879736e-01,-2.30290991e+01,
  2.39901138e+00,-2.26894563e+01]

qfrc_actuator:
[ 1.43621997e-05, 2.70523028e-04, 4.63365130e-05, 1.00466328e-04,
 -2.77707763e-05, 2.55595476e-05,-2.42622554e-05, 1.88232020e-05,
 -1.56781991e-05, 4.88035212e-05,-1.13384560e-04, 4.87760786e-05,
  4.42115168e-02, 1.40464633e-02, 6.01071018e-03,-2.33104922e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029740211024679216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10166284e-01, -8.44228024e-01, -1.64345387e-01, -8.49992219e-02,
       -1.40657522e-01,  9.86402856e-01, -8.55865349e-01,  5.17198710e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10268711, -0.03910927,  0.30482105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005076531354141489
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08272568, -0.11185945,  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:
[-9.42713815e-06,-8.61017635e-06, 2.41195117e-05,-2.66027211e-05,
  1.22477121e-05,-8.75521683e-06,-2.02672349e-05, 5.76586041e-06,
 -2.87610925e-05, 3.66130009e-05, 3.65374749e-05,-1.07917322e-05,
  5.22180681e-02, 1.66038328e-02, 2.55728987e-04, 5.52547494e-04,
 -2.51568296e-06, 6.02019488e-06,-9.80999755e+00,-6.49150609e-02,
 -9.15460754e-03,-5.57371528e-03]


--- Step 1016 ---
qpos:
[ 0.00989548, 0.00810775,-0.00563872, 0.03348875, 0.00351589, 0.00285375,
 -0.00678701, 0.03911573, 0.01306309, 0.00594795,-0.01172552, 0.03410026,
  0.87489843,-0.01018561, 1.09681442, 0.04635013, 0.09153765,-0.06692174,
  0.14232217, 0.94587463,-0.03314562, 0.03078133, 0.32136438]

qacc:
[-3.96874339e+00,-2.42879745e+00, 1.26612723e+01,-2.98253042e+01,
 -4.80029909e+00, 2.28194253e-02, 1.11235100e+00,-5.55774516e+00,
 -3.11545992e+00,-1.85144655e+00, 6.73114328e+00,-9.36152776e+00,
 -2.19378096e+01,-9.18066046e+00, 5.63260527e+01,-1.79116684e+02,
  3.76162492e-01, 9.24796826e-03, 2.34393293e-01, 3.52851035e+00,
  8.61430308e+00, 5.87672455e+00]

qfrc_actuator:
[-8.67016095e-06, 2.56628791e-04, 4.64785198e-05, 4.96448901e-05,
 -5.61709343e-05, 2.77764861e-05,-3.37843455e-05, 5.04443400e-06,
 -3.32126662e-05, 1.12033103e-05,-9.96370659e-05, 4.07935547e-05,
  4.42261506e-02, 1.41765983e-02, 5.97752031e-03,-2.37189250e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10660174, -0.48824616,  0.99306752, -0.48824616,  5.06664815,
        1.94697479,  0.99306752,  1.94697479,  2.06384074,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003002145005759439
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51026847, -0.84415438, -0.16440644, -0.0850487 , -0.14069895,
        0.98639268, -0.85579952,  0.51730764,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10269287, -0.03909664,  0.30481248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.31615237, -5.85197721,  9.68553907, -5.85197721, 26.93146097,
        9.43472836,  9.68553907,  9.43472836, 17.01659041,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005064234126398861
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.65197750e-14,  3.97120408e-07,  1.00000000e+00, -2.24451561e-20,
        1.00000000e+00, -3.97120408e-07, -1.00000000e+00,  0.00000000e+00,
        5.65197750e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06551934, -0.08675638,  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:
[-2.33048329e-05,-1.48817035e-05, 4.07791307e-07,-5.08764884e-05,
 -2.80544323e-05,-6.61304309e-06,-1.36286567e-05,-1.47428257e-05,
 -1.83422941e-05,-1.00286313e-05, 2.54524944e-05,-5.35637854e-06,
  5.65227294e-02, 2.01100151e-02, 3.80757373e-03,-7.37798907e-04,
 -3.31819743e-05, 1.94957969e-05,-9.80998955e+00,-6.49200776e-02,
 -9.16080923e-03,-5.57551690e-03]


--- Step 1017 ---
qpos:
[ 0.00989509, 0.00810783,-0.00563881, 0.03348831, 0.00351445, 0.00285352,
 -0.00678704, 0.03911489, 0.01306296, 0.00594706,-0.01172596, 0.03410058,
  0.87468332,-0.01029721, 1.09717242, 0.0463243 , 0.09154939,-0.0669168 ,
  0.14232098, 0.94586874,-0.03312598, 0.03081708, 0.3213803 ]

qacc:
[ 6.26684223e-01,-4.40160728e-01, 3.96086486e+00,-1.36169844e+01,
 -2.91441677e+00,-3.52152063e-01, 1.57664071e+00,-3.92660868e+00,
  4.26628491e+00,-5.75386750e-01, 1.62968630e+00,-2.23468530e+00,
  5.47828494e+00, 6.06737789e+00, 2.13538802e+02,-5.39984818e+02,
  1.16972152e+00,-4.85000960e-01,-3.09187574e-01, 2.37252919e+01,
  3.18420593e-01, 3.64461651e+01]

qfrc_actuator:
[-4.27896784e-06, 2.48294900e-04, 2.86642663e-05, 1.96846811e-05,
 -7.24409831e-05, 1.13751237e-05,-3.93897343e-05,-2.78357398e-06,
 -7.77159503e-06,-2.87706915e-05,-1.09254808e-04, 3.59283196e-05,
  4.42411780e-02, 1.42856069e-02, 5.91582270e-03,-2.59969322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10997092,  0.07246627,  1.10760286,  0.07246627,  6.2104291 ,
       -0.33370372,  1.10760286, -0.33370372,  1.1318039 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003043681215625276
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10357799e-01, -8.44076437e-01, -1.64529284e-01, -8.51289231e-02,
       -1.40794004e-01,  9.86372199e-01, -8.55738268e-01,  5.17408945e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10269958, -0.03907929,  0.3048018 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.31381962,  8.54670875, -7.41325057,  8.54670875, 48.52936595,
       42.90566364, -7.41325057, 42.90566364, 60.77959815,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005062796668310748
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.19290463e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.19290463e-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([ 0.04970894, -0.06367945,  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:
[ 3.72348252e-06,-1.87658075e-05,-2.26012174e-05,-3.15740113e-05,
 -1.70687839e-05,-2.35524181e-05,-9.15690580e-06,-8.86704755e-06,
  2.49132162e-05,-4.05375362e-05,-8.72839383e-06,-4.51650874e-06,
  5.93261975e-02, 2.17476760e-02, 3.35579858e-03,-2.34498870e-04,
 -2.37059342e-05, 1.93909241e-05,-9.80998363e+00,-6.49249087e-02,
 -9.15548885e-03,-5.57928217e-03]


--- Step 1018 ---
qpos:
[ 0.0098951 , 0.00810775,-0.0056388 , 0.0334875 , 0.00351283, 0.0028532 ,
 -0.00678689, 0.03911395, 0.0130628 , 0.00594575,-0.01172614, 0.03410083,
  0.87442428,-0.010433  , 1.09755271, 0.0463057 , 0.09156039,-0.06691068,
  0.14232084, 0.94586059,-0.03311724, 0.03086107, 0.32140098]

qacc:
[  3.51963564, -1.25086269,  5.66698229,-12.02055575, -1.61236206,
  -0.84653113,  3.31946372, -5.48544322, -0.33031074, -1.38364118,
   4.36933257, -5.51036979,-16.8004814 , -7.98720106, 11.5801141 ,
   8.38774006, -0.18205396,  0.29533893,  0.26192194, -3.94030177,
   5.60591943,  2.58304667]

qfrc_actuator:
[ 1.62222699e-05, 2.43288779e-04, 3.59407833e-05, 2.23750954e-06,
 -8.14285141e-05, 1.94766325e-05,-2.49562126e-05,-7.05816868e-06,
 -1.05012695e-05,-5.22120213e-05,-9.71090937e-05, 3.29127808e-05,
  4.42567152e-02, 1.43726980e-02, 5.91396325e-03,-2.92500104e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.1107778 ,  0.23077132, -1.08654127,  0.23077132,  6.4141651 ,
        1.12639042, -1.08654127,  1.12639042,  1.35001271,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003053511169337057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10342673e-01, -8.44056425e-01, -1.64678800e-01, -8.52059143e-02,
       -1.40922175e-01,  9.86347248e-01, -8.55739627e-01,  5.17406698e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10271049, -0.03906905,  0.30479936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.27912867, -6.33976235,  9.3287811 , -6.33976235, 24.15087001,
        8.74752877,  9.3287811 ,  8.74752877, 17.22387675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005041404354524382
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.76196765e-07,  2.00112915e-13,  1.00000000e+00, -7.52818313e-20,
        1.00000000e+00, -2.00112915e-13, -1.00000000e+00,  0.00000000e+00,
        3.76196765e-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([ 0.06577685, -0.08710938,  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:
[ 2.06029160e-05,-2.15201424e-05,-4.74684193e-07,-1.96468998e-05,
 -9.48028020e-06,-7.33595003e-06, 8.13948406e-06,-5.77003785e-06,
 -2.03831430e-06,-4.80619419e-05, 2.55450621e-06,-5.14142382e-06,
  5.82074511e-02, 2.14028453e-02,-1.47633830e-03, 6.11905118e-04,
 -1.11939444e-05,-9.94392096e-07,-9.80999187e+00,-6.49153147e-02,
 -9.15042996e-03,-5.58139493e-03]


--- Step 1019 ---
qpos:
[ 0.00989535, 0.00810736,-0.00563867, 0.03348685, 0.00351111, 0.002853  ,
 -0.00678669, 0.03911328, 0.01306295, 0.00594411,-0.01172621, 0.03410104,
  0.87419998,-0.01053582, 1.09788389, 0.04630341, 0.09156715,-0.06690391,
  0.14232224, 0.94586609,-0.03312892, 0.03088222, 0.32138155]

qacc:
[ 2.16588750e+00,-4.07272831e-01, 2.10328982e-01, 2.54427780e+00,
 -8.39954141e-01, 6.35970679e-01,-3.19786007e+00, 7.89384651e+00,
  2.76778967e+00,-8.77736350e-01, 2.64854332e+00,-3.30155747e+00,
  5.72637757e+00, 2.61770925e+01,-1.21631228e+02, 3.20712508e+02,
 -1.06168979e+00, 1.61987432e-01, 3.86066861e-01,-1.24872468e+01,
 -7.06921662e+00,-2.18574309e+01]

qfrc_actuator:
[ 2.82799114e-05, 2.22670733e-04, 4.02467543e-05, 1.00648151e-05,
 -8.60612848e-05, 4.22758992e-05,-1.64633037e-05, 8.57599434e-06,
  5.70177079e-06,-6.54944771e-05,-8.98943148e-05, 3.10398032e-05,
  4.42883873e-02, 1.45470355e-02, 5.90327980e-03,-2.79753138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.1132354 ,  0.1726071 , -1.09977264,  0.1726071 , 11.74429273,
        1.66852301, -1.09977264,  1.66852301,  1.37510673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030831791670862953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51031893, -0.84403289, -0.16487289, -0.08530517, -0.14108897,
        0.98631482, -0.85574389,  0.51739964,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1027214 , -0.03905397,  0.30479274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.25863208,  -4.56703755, -10.29072224,  -4.56703755,
       104.76720635, -41.49924177, -10.29072224, -41.49924177,
        29.67605616,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005028751255810217
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.21952325e-07,  4.82945515e-14,  1.00000000e+00,  3.48663638e-20,
        1.00000000e+00, -4.82945515e-14, -1.00000000e+00, -6.01853108e-36,
       -7.21952325e-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([ 0.08792961, -0.08502737,  0.06198869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26383942e-05,-3.35801278e-05,-8.75654878e-07, 6.50745281e-06,
 -4.90494460e-06, 2.01398378e-05, 7.78496245e-06, 1.54920240e-05,
  1.61241408e-05,-3.98036419e-05,-2.55925546e-06,-3.94143689e-06,
  6.04334433e-02, 2.27880794e-02,-2.60926582e-03, 3.76381612e-04,
 -1.00125678e-05,-4.74725437e-06,-9.80999217e+00,-6.49109669e-02,
 -9.14544725e-03,-5.58562269e-03]


--- Step 1020 ---
qpos:
[ 0.0098954 , 0.00810654,-0.00563843, 0.03348666, 0.00351004, 0.0028532 ,
 -0.00678684, 0.03911349, 0.0130633 , 0.00594235,-0.01172631, 0.03410155,
  0.87414729,-0.01051802, 1.09819534, 0.04630238, 0.09156957,-0.06690261,
  0.14232432, 0.94587344,-0.0331195 , 0.03087434, 0.32136166]

qacc:
[ -1.76202564,  0.08432917, -3.06326517, 11.18719638,  5.67708493,
   3.26051055,-14.60420801, 30.05489319,  1.69575388,  0.58348189,
  -3.5570875 ,  8.91961186, 44.9831292 , 77.66769949,-33.11852173,
  73.14784752, -1.0853053 , -1.36552935,  0.16989463,  5.35616879,
 -17.13897677, -0.6681257 ]

qfrc_actuator:
[ 1.75132289e-05, 1.92880978e-04, 4.27080336e-05, 3.26798943e-05,
 -5.25910014e-05, 7.37057011e-05,-2.92237725e-05, 5.35593797e-05,
  1.51746546e-05,-5.48498148e-05,-8.56122499e-05, 4.76095472e-05,
  4.43189146e-02, 1.46907466e-02, 5.86629577e-03,-2.42812526e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11572985, -0.11362272, -1.10992927, -0.11362272,  2.55917714,
       -0.14776473, -1.10992927, -0.14776473,  1.13085643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003112883036322638
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10355849e-01, -8.43987401e-01, -1.64991435e-01, -8.53744002e-02,
       -1.41185642e-01,  9.86295000e-01, -8.55714976e-01,  5.17447467e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10273045, -0.0390408 ,  0.30478658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.24011037,  3.28584197, 10.74910804,  3.28584197, 24.48350129,
       -4.04830704, 10.74910804, -4.04830704, 12.47761744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005017308352651406
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.09406006, -0.05336412,  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:
[-1.04173365e-05,-4.84524445e-05,-4.35415929e-06, 2.12739282e-05,
  3.33369051e-05, 4.49684903e-05,-7.10388900e-06, 4.64189234e-05,
  9.91233137e-06,-1.22451271e-05,-4.37228533e-06, 1.47014822e-05,
  5.87269110e-02, 2.12866303e-02,-1.95520832e-04,-7.07364529e-05,
 -4.11205729e-06, 4.10900338e-06,-9.80999324e+00,-6.49154203e-02,
 -9.14109670e-03,-5.58902280e-03]


--- Step 1021 ---
qpos:
[ 0.00989532, 0.0081055 ,-0.00563826, 0.03348707, 0.00350938, 0.00285382,
 -0.00678745, 0.03911424, 0.01306341, 0.00594078,-0.01172647, 0.03410153,
  0.87411794,-0.0104699 , 1.09846262, 0.04631145, 0.09156942,-0.06690065,
  0.14232763, 0.94589193,-0.03312426, 0.03085291, 0.32130878]

qacc:
[-1.13329077e+00, 1.11332374e+00,-6.94341926e+00, 1.76412030e+01,
  3.57833931e+00, 2.97860857e+00,-1.20934125e+01, 2.18901285e+01,
 -2.06602644e+00,-7.02309271e-01, 5.10090698e+00,-1.43578642e+01,
 -1.75892558e+00, 3.09074918e+01,-9.51948914e+01, 2.39662091e+02,
 -6.40581554e-01, 1.62268720e-01, 3.06085969e-01,-8.19141578e+00,
 -3.75647163e+00,-1.78406670e+01]

qfrc_actuator:
[ 1.11541256e-05, 1.93341933e-04, 4.40247420e-05, 6.38001175e-05,
 -3.24689099e-05, 9.22547086e-05,-5.43682627e-05, 7.99390155e-05,
  2.85226025e-06,-2.99485635e-05,-8.29801823e-05, 2.16603556e-05,
  4.43192095e-02, 1.46619691e-02, 5.83395860e-03,-2.20682114e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11338786,  0.88878682,  0.67058969,  0.88878682,  1.85860825,
       -0.98770093,  0.67058969, -0.98770093,  2.42246789,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003085006317650092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5103915 , -0.84397995, -0.16491927, -0.08534197, -0.14112091,
        0.98630707, -0.85569695,  0.51747728,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10273939, -0.03904642,  0.304795  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004990830989012132
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.71620273e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.71620273e-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([ 0.08857131, -0.08173749,  0.06198877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.67114715e-06,-2.65984522e-05,-8.48451644e-06, 2.93094895e-05,
  2.10839117e-05, 4.42231352e-05,-1.51270477e-05, 2.89622409e-05,
 -1.20509015e-05, 1.78486055e-05, 9.33162083e-08,-2.63364392e-05,
  5.01496887e-02, 1.52283276e-02, 7.56292428e-04, 8.73630700e-05,
 -5.83562889e-07, 1.71594418e-06,-9.81000073e+00,-6.49128155e-02,
 -9.14174041e-03,-5.58745388e-03]


--- Step 1022 ---
qpos:
[ 0.00989482, 0.00810437,-0.00563755, 0.03348745, 0.00350827, 0.00285492,
 -0.00678839, 0.03911494, 0.01306337, 0.00593928,-0.01172655, 0.03410086,
  0.87399463,-0.01049146, 1.098642  , 0.04632949, 0.09156955,-0.06689429,
  0.14232962, 0.94591951,-0.03316665, 0.03082836, 0.32122556]

qacc:
[-3.67417090e+00,-1.66122031e+00, 5.88794786e+00,-7.24507746e+00,
 -3.91729739e+00, 1.43177784e+00,-3.95641665e+00, 3.20875230e+00,
 -1.30516822e+00,-1.45270702e+00, 8.06193213e+00,-1.94952243e+01,
 -1.70102258e+01,-5.56386324e+01,-1.57540155e+02, 3.61328228e+02,
  6.76828993e-02, 1.09989566e+00,-3.27581639e-01,-1.76801656e+01,
  4.93082541e+00,-1.64365369e+01]

qfrc_actuator:
[-1.03048787e-05, 2.11921429e-04, 8.02846135e-05, 6.41917575e-05,
 -5.58818891e-05, 1.20631942e-04,-6.89280038e-05, 7.73892421e-05,
 -4.44473198e-06,-3.22397803e-05,-8.13059796e-05,-1.13346146e-05,
  4.43138569e-02, 1.46250211e-02, 5.77003874e-03,-2.27901350e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11193442, -0.07082776, -1.10967634, -0.07082776,  3.12161784,
       -0.12827287, -1.10967634, -0.12827287,  1.12012174,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030675243621428115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51047927, -0.84395327, -0.16478407, -0.08528472, -0.14099753,
        0.98632967, -0.8556503 ,  0.51755441,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10274591, -0.03905208,  0.30480163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.14919798,  -1.33818595, -11.06859855,  -1.33818595,
        22.01187841,  -1.31329059, -11.06859855,  -1.31329059,
        11.30797391,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000496070870190446
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51355364e-07, -2.51355263e-07,  1.00000000e+00, -6.31794937e-14,
        1.00000000e+00,  2.51355263e-07, -1.00000000e+00,  0.00000000e+00,
       -2.51355364e-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([ 0.08292759, -0.11088576,  0.06198884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16562029e-05, 3.24134699e-06, 3.07441648e-05,-4.69974884e-07,
 -2.27987224e-05, 5.12137413e-05,-6.28861598e-06,-6.17064994e-07,
 -7.63735010e-06, 6.63537057e-06, 4.48214768e-06,-3.27350114e-05,
  4.89774177e-02, 1.36752627e-02, 2.89607150e-03,-4.91435400e-04,
 -1.67356853e-05, 5.99606236e-06,-9.81000304e+00,-6.49122856e-02,
 -9.14657117e-03,-5.58523946e-03]


--- Step 1023 ---
qpos:
[ 0.00989372, 0.00810346,-0.00563656, 0.03348781, 0.00350689, 0.00285632,
 -0.00678917, 0.0391156 , 0.01306359, 0.00593769,-0.01172686, 0.03410053,
  0.87387171,-0.01052038, 1.09890582, 0.04630899, 0.09157602,-0.06689071,
  0.14232971, 0.94592647,-0.03315817, 0.03083308, 0.3212055 ]

qacc:
[-5.24648885e+00,-5.61805522e-01, 2.55495942e+00,-3.63124464e+00,
 -2.38984395e+00,-1.36016573e-01, 1.27491884e+00,-2.57719858e+00,
  2.26170655e+00, 1.22489036e+00,-5.97470808e+00, 1.23138807e+01,
 -2.67125318e-01,-4.38953491e+00, 2.41320124e+02,-6.63026761e+02,
  1.58653654e+00,-6.93519413e-01,-4.76441626e-01, 2.74483828e+01,
  4.94317968e+00, 3.44535608e+01]

qfrc_actuator:
[-4.04806925e-05, 2.41335228e-04, 1.01443537e-04, 6.42942318e-05,
 -6.92216372e-05, 1.36931753e-04,-5.93436136e-05, 7.56104471e-05,
  9.03403590e-06,-5.08067942e-05,-9.80652941e-05, 5.03248687e-06,
  4.43148329e-02, 1.46532757e-02, 5.76193079e-03,-2.53019712e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11349278, -0.63447278,  0.9150467 , -0.63447278,  2.34188467,
        0.85173928,  0.9150467 ,  0.85173928,  1.70406962,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030862628307670086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10610493e-01, -8.43880695e-01, -1.64749191e-01, -8.52880856e-02,
       -1.40954739e-01,  9.86335493e-01, -8.55571661e-01,  5.17684396e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1027498 , -0.03904466,  0.30479719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.15444971, -6.05717717,  9.36655503, -6.05717717, 23.10693159,
        7.72944804,  9.36655503,  7.72944804, 16.15294019,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004964015676179878
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.23654214e-13, -2.23654214e-13,  1.00000000e+00,  5.00212075e-26,
        1.00000000e+00,  2.23654214e-13, -1.00000000e+00,  0.00000000e+00,
        2.23654214e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04973255, -0.06364597,  0.06198883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.07900972e-05, 3.75830121e-05, 2.56044354e-05, 1.29706742e-06,
 -1.39697641e-05, 4.35749230e-05, 1.93647537e-05, 1.85120274e-07,
  1.32602023e-05,-1.52793588e-05,-1.59489247e-05, 1.61747748e-05,
  5.36756433e-02, 1.71870615e-02, 7.27906864e-03,-1.19160761e-03,
 -6.69060503e-05, 2.51450728e-05,-9.80998539e+00,-6.49193779e-02,
 -9.15948783e-03,-5.58522265e-03]


--- Step 1024 ---
qpos:
[ 0.00989227, 0.00810297,-0.00563598, 0.03348853, 0.00350571, 0.00285774,
 -0.00678996, 0.03911627, 0.01306363, 0.00593603,-0.01172767, 0.03410076,
  0.873761  ,-0.01054762, 1.09928908, 0.04628048, 0.09158699,-0.0668883 ,
  0.14232851, 0.94591253,-0.03310991, 0.03085636, 0.32124928]

qacc:
[-3.12083686e+00, 2.48145206e+00,-9.57215283e+00, 1.62601465e+01,
  1.72150730e+00, 1.09850102e-01,-4.62021003e-01, 8.78285084e-01,
 -1.64327323e+00, 2.42998469e+00,-1.11868017e+01, 2.17591811e+01,
  2.45926459e+00, 1.96559500e+00, 2.00781826e+02,-4.46017434e+02,
  1.12428291e+00,-2.93317821e-01,-3.23430696e-01, 2.04596318e+01,
  1.65246450e+00, 3.44703615e+01]

qfrc_actuator:
[-5.77879315e-05, 2.59213597e-04, 7.80594393e-05, 8.19803833e-05,
 -5.87590988e-05, 1.10462654e-04,-7.11303147e-05, 7.43103682e-05,
 -8.73861992e-07,-6.12630317e-05,-1.25612668e-04, 3.25324054e-05,
  4.43198223e-02, 1.46684629e-02, 5.78561496e-03,-2.41880584e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11266376,  0.01126318,  1.11260675,  0.01126318,  1.84774073,
       -0.00744135,  1.11260675, -0.00744135,  1.11273909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030763144391937256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51064893, -0.843855  , -0.16476168, -0.08530115, -0.14096143,
        0.98633341, -0.85554742,  0.51772446,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10275799, -0.03904217,  0.30479992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.14397311,  7.27094461, -8.4452058 ,  7.27094461, 43.26799973,
       27.65735068, -8.4452058 , 27.65735068, 34.95571549,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004957413588243531
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11976034e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.11976034e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04973788, -0.0636396 ,  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:
[-1.81706395e-05, 4.42529335e-05,-1.24217321e-05, 2.02082964e-05,
  1.00797961e-05, 1.85797708e-06,-4.02608625e-07, 1.23837253e-06,
 -9.54175222e-06,-2.15346666e-05,-3.20856809e-05, 2.66125896e-05,
  5.36596074e-02, 1.75707048e-02, 3.07598920e-03, 8.45299378e-04,
 -1.80670193e-06, 3.38719716e-06,-9.80999952e+00,-6.49205332e-02,
 -9.14524490e-03,-5.58525911e-03]


--- Step 1025 ---
qpos:
[ 0.00989097, 0.00810265,-0.00563556, 0.03348914, 0.00350467, 0.00285889,
 -0.00679073, 0.03911696, 0.0130632 , 0.0059341 ,-0.01172871, 0.03410098,
  0.8735707 ,-0.01064192, 1.09960705, 0.04628985, 0.09159522,-0.06688089,
  0.14232654, 0.94591554,-0.033117  , 0.03086267, 0.32123908]

qacc:
[ 1.29673424e+00, 4.20134839e-01,-6.57181571e-01,-1.33787510e+00,
  1.18976859e+00,-3.98712334e-01, 8.49592486e-01,-4.53448497e-01,
 -4.08287927e+00, 3.08579908e-01,-1.53639748e+00, 1.89508682e+00,
 -7.10758358e+00,-6.27200860e+01,-2.12092940e+02, 5.99600011e+02,
 -6.83220712e-01, 1.25211818e+00,-1.91006330e-01,-2.77877607e+01,
  1.49897761e+00,-2.93916189e+01]

qfrc_actuator:
[-4.96271317e-05, 2.52128614e-04, 6.40451466e-05, 7.43298131e-05,
 -5.21267169e-05, 7.62503825e-05,-7.78757916e-05, 7.32462645e-05,
 -2.44738315e-05,-8.45750588e-05,-1.41524763e-04, 3.08490118e-05,
  4.43367938e-02, 1.47052153e-02, 5.69969151e-03,-2.33575812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11038356, -0.06528173,  1.10846288, -0.06528173,  5.13290319,
        0.23690199,  1.10846288,  0.23690199,  1.12433565,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030487138683246684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51058798, -0.84388347, -0.16480472, -0.08531387, -0.14100404,
        0.98632622, -0.85558252,  0.51766644,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10276958, -0.03904444,  0.30480729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.15002159, -6.24759101,  9.23529036, -6.24759101, 20.03064477,
        6.00766185,  9.23529036,  6.00766185, 15.21415089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000496122766000473
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11889949e-13, -1.11889949e-13,  1.00000000e+00,  1.25193608e-26,
        1.00000000e+00,  1.11889949e-13, -1.00000000e+00,  0.00000000e+00,
        1.11889949e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08275411, -0.111823  ,  0.06198884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.65902195e-06, 1.59691616e-05,-5.70443649e-06,-5.79152367e-06,
  6.91956489e-06,-3.32436862e-05,-6.37771410e-06,-9.77654885e-07,
 -2.38845707e-05,-4.07755102e-05,-2.33627611e-05,-3.19301621e-06,
  5.30645377e-02, 1.75236074e-02,-2.98857766e-03, 1.32758740e-03,
 -3.41687944e-05, 1.29865619e-05,-9.80998114e+00,-6.49130878e-02,
 -9.15312322e-03,-5.58455508e-03]


--- Step 1026 ---
qpos:
[ 0.00989047, 0.0081026 ,-0.00563565, 0.03349   , 0.00350371, 0.00285968,
 -0.00679066, 0.03911759, 0.01306249, 0.00593225,-0.01173006, 0.03410045,
  0.8734016 ,-0.01071012, 1.09986513, 0.0463008 , 0.09160038,-0.06687339,
  0.14232644, 0.94593364,-0.03313925, 0.030855  , 0.32118423]

qacc:
[ 6.97841419e+00, 2.32018201e+00,-8.87405928e+00, 1.40305169e+01,
  8.03615143e-01,-2.93956688e+00, 1.00135164e+01,-1.20963032e+01,
 -2.47418765e+00,-5.82941072e-01, 5.39187034e+00,-1.79451142e+01,
 -8.16126137e-02, 2.49581242e+01,-9.28523595e+01, 1.97286648e+02,
 -7.69359323e-01, 1.99331473e-02, 4.66496544e-01,-8.47321671e+00,
 -3.67183729e+00,-2.40009071e+01]

qfrc_actuator:
[-8.79358855e-06, 2.65656175e-04, 3.78133075e-05, 8.73259544e-05,
 -4.78096004e-05, 7.31735540e-05,-2.83741646e-05, 7.23237982e-05,
 -3.81837203e-05,-6.21306327e-05,-1.50511909e-04,-5.74795099e-06,
  4.43634509e-02, 1.48052241e-02, 5.61358681e-03,-2.31240335e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11143471,  0.30429405, -1.06896785,  0.30429405,  4.74965662,
        1.0356619 , -1.06896785,  1.0356619 ,  1.40624784,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003061481218387208
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10604843e-01, -8.43852041e-01, -1.64913392e-01, -8.53745202e-02,
       -1.41094359e-01,  9.86308052e-01, -8.55566412e-01,  5.17693070e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.102778  , -0.03903405,  0.30480216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.16532331,  4.06468602, 10.3991717 ,  4.06468602, 27.23495698,
       -6.28107866, 10.3991717 , -6.28107866, 13.62038544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004970846574765833
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.73229594e-07,  2.79183588e-14,  1.00000000e+00,  1.04199577e-20,
        1.00000000e+00, -2.79183588e-14, -1.00000000e+00,  0.00000000e+00,
       -3.73229594e-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([ 0.08795882, -0.08500037,  0.06198882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.10582666e-05, 2.10432176e-05,-2.38376463e-05, 1.33687279e-05,
  4.50253579e-06,-2.30582520e-05, 4.18090634e-05,-2.58931919e-06,
 -1.44090739e-05,-5.24830935e-06,-2.03630714e-05,-3.92077580e-05,
  5.70689212e-02, 2.09779981e-02, 1.82115577e-04,-5.44796524e-04,
 -1.03270622e-06, 9.75212987e-07,-9.80999883e+00,-6.49146413e-02,
 -9.14420025e-03,-5.58581959e-03]


--- Step 1027 ---
qpos:
[ 0.00989011, 0.0081029 ,-0.00563612, 0.03349099, 0.00350281, 0.00286055,
 -0.00678987, 0.03911746, 0.01306162, 0.0059309 ,-0.01173149, 0.03409942,
  0.8733869 ,-0.01066763, 1.100112  , 0.04630175, 0.09160193,-0.06687178,
  0.14232727, 0.94595611,-0.03313421, 0.0308292 , 0.32112105]

qacc:
[  1.28429778,  1.77828558, -6.24076387,  8.85932228,  0.53866839,
  -3.49170955, 15.83711904,-30.23922224, -1.41513319, -0.14213998,
   3.61558126,-12.6252198 , 38.11910802, 74.54584788, 13.72968853,
 -71.98699044, -0.90295238, -1.47133892,  0.2338383 , 10.19142548,
 -12.88503904, -4.5219387 ]

qfrc_actuator:
[-2.32269249e-06, 2.91380569e-04, 2.24205614e-05, 9.46228402e-05,
 -4.48885165e-05, 1.06744876e-04, 1.85559174e-05, 3.60492361e-05,
 -4.59578682e-05, 5.29270513e-06,-1.37426592e-04,-2.70443889e-05,
  4.43897144e-02, 1.48590962e-02, 5.60380005e-03,-2.28596952e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11276703,  0.28385603,  1.07595363,  0.28385603,  4.91288494,
       -1.00253984,  1.07595363, -1.00253984,  1.37725517,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003077556186149546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10694125e-01, -8.43789942e-01, -1.64954674e-01, -8.54114215e-02,
       -1.41120281e-01,  9.86301148e-01, -8.55509438e-01,  5.17787216e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10278474, -0.03902445,  0.30479738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.17120091,  2.85435111, 10.80038933,  2.85435111, 22.02133295,
       -2.86749722, 10.80038933, -2.86749722, 11.92902951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004974529927571947
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.40687531e-07, -8.40687656e-07,  1.00000000e+00,  7.06755630e-13,
        1.00000000e+00,  8.40687656e-07, -1.00000000e+00,  0.00000000e+00,
        8.40687531e-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([ 0.09290575, -0.05361316,  0.06198881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.64850406e-06, 3.31575708e-05,-1.35208052e-05, 7.63082605e-06,
  3.03946465e-06, 2.91732621e-05, 4.72153949e-05,-3.58699905e-05,
 -8.19045469e-06, 5.86789168e-05, 8.17507626e-06,-2.29801623e-05,
  5.60358160e-02, 1.97287272e-02, 3.16336182e-03,-5.98528247e-04,
 -2.51354466e-05, 1.27084257e-05,-9.80999505e+00,-6.49176101e-02,
 -9.14842660e-03,-5.58637638e-03]


--- Step 1028 ---
qpos:
[ 0.00988949, 0.00810326,-0.00563639, 0.03349171, 0.00350195, 0.00286159,
 -0.00678881, 0.03911692, 0.01306135, 0.00592971,-0.01173243, 0.03409883,
  0.87336739,-0.01063338, 1.10045931, 0.04628125, 0.09160896,-0.06687169,
  0.14232669, 0.94595801,-0.03308933, 0.03082928, 0.32112007]

qacc:
[-2.31237890e+00,-1.03646477e+00, 4.98354313e+00,-1.00699545e+01,
  3.74799707e-01,-1.34921418e+00, 6.86107861e+00,-1.45004840e+01,
  5.32092735e+00,-2.74818539e-01,-6.15002839e-01, 7.44062182e+00,
 -3.37912243e+00,-2.43931563e+00, 2.13492204e+02,-5.30996942e+02,
  1.37125519e+00,-3.80588154e-01,-3.55269866e-01, 2.16996853e+01,
  5.13068619e+00, 3.37642818e+01]

qfrc_actuator:
[-1.61391917e-05, 2.88739571e-04, 3.13547588e-05, 8.07733484e-05,
 -4.28113079e-05, 1.08730055e-04, 2.82036530e-05, 1.47938196e-05,
 -1.46737345e-05, 1.04798778e-05,-1.11199621e-04,-3.59882439e-06,
  4.43976634e-02, 1.48080085e-02, 5.58431949e-03,-2.28224524e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10961984,  0.93047883, -0.60453729,  0.93047883,  3.84069202,
        4.20355354, -0.60453729,  4.20355354,  7.57955589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003039390082463915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10800748e-01, -8.43753619e-01, -1.64810275e-01, -8.53523810e-02,
       -1.40987226e-01,  9.86325288e-01, -8.55451674e-01,  5.17882644e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10279191, -0.03903244,  0.30480697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.1801187 , -10.1825707 ,  -4.61630892, -10.1825707 ,
        15.75166184, -10.08382715,  -4.61630892, -10.08382715,
        33.42284222,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004980106451944466
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.57328962e-14, -2.22931585e-13,  1.00000000e+00,  1.24246229e-26,
        1.00000000e+00,  2.22931585e-13, -1.00000000e+00,  0.00000000e+00,
        5.57328962e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04976527, -0.06360952,  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:
[-1.35874305e-05, 1.34314771e-05, 1.43820325e-05,-1.27499953e-05,
  2.17339231e-06, 2.64751881e-05, 2.02285840e-05,-1.90735520e-05,
  3.10664821e-05, 3.87668903e-05, 3.85938476e-05, 2.58044526e-05,
  4.83251636e-02, 1.41439553e-02, 3.70123441e-03,-9.54809582e-05,
 -1.79782688e-05, 9.49230753e-06,-9.81000688e+00,-6.49134516e-02,
 -9.14804426e-03,-5.58301112e-03]


--- Step 1029 ---
qpos:
[ 0.00988871, 0.00810351,-0.00563645, 0.03349228, 0.00350078, 0.00286265,
 -0.00678786, 0.03911651, 0.01306077, 0.00592847,-0.0117326 , 0.03409819,
  0.87325638,-0.01067126, 1.10074211, 0.04629644, 0.09161416,-0.06686625,
  0.14232533, 0.94597365,-0.03309816, 0.03081728, 0.32107424]

qacc:
[-1.40033157e+00,-1.04463547e+00, 4.12754418e+00,-6.93621550e+00,
 -2.75765900e+00, 6.07083400e-01,-2.69141445e+00, 5.22054455e+00,
 -2.72784365e+00,-2.28843923e+00, 8.29035107e+00,-1.03612773e+01,
 -1.28574310e+01,-6.21591245e+01,-2.04113387e+02, 5.73866156e+02,
 -4.57378223e-01, 1.33720296e+00,-1.92093516e-01,-2.64211004e+01,
  3.44245785e+00,-2.44475542e+01]

qfrc_actuator:
[-2.40223717e-05, 2.69214269e-04, 3.66993338e-05, 7.23385287e-05,
 -5.89997847e-05, 9.16530941e-05, 1.56627960e-05, 2.02565895e-05,
 -3.16643549e-05,-3.78003751e-06,-7.76363698e-05,-7.31606110e-06,
  4.43980693e-02, 1.47686032e-02, 5.61328820e-03,-2.04589928e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10568931, -0.07470529,  1.10316272, -0.07470529,  3.96463145,
        0.19360526,  1.10316272,  0.19360526,  1.11880011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029907570443712413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10812986e-01, -8.43764944e-01, -1.64714337e-01, -8.53033541e-02,
       -1.40904757e-01,  9.86341314e-01, -8.55449257e-01,  5.17886637e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10280205, -0.03904294,  0.30481953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.22353937, -6.16377307,  9.37953823, -6.16377307, 22.11800607,
        7.15930985,  9.37953823,  7.15930985, 15.92828711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005007063324993927
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.54328432e-14, -8.31492648e-14,  1.00000000e+00,  4.60920016e-27,
        1.00000000e+00,  8.31492648e-14, -1.00000000e+00,  0.00000000e+00,
        5.54328432e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08276799, -0.11179729,  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:
[-8.26667858e-06,-9.60432670e-06, 9.44771687e-06,-7.61093460e-06,
 -1.61174681e-05, 1.04109081e-06,-5.26402849e-06, 6.92226981e-06,
 -1.61015224e-05, 1.65618057e-05, 4.72419932e-05,-2.13718476e-07,
  4.85655022e-02, 1.45161121e-02,-1.29780530e-03, 1.21253630e-03,
 -3.14611834e-06, 1.16845777e-05,-9.80998815e+00,-6.49135444e-02,
 -9.14934708e-03,-5.58029029e-03]


--- Step 1030 ---
qpos:
[ 0.00988818, 0.00810355,-0.00563609, 0.03349275, 0.00349942, 0.00286372,
 -0.00678732, 0.0391162 , 0.01305931, 0.00592792,-0.0117329 , 0.03409713,
  0.87305817,-0.01077584, 1.10093084, 0.04631809, 0.09161904,-0.06685693,
  0.14232349, 0.9460015 ,-0.03314627, 0.03079962, 0.3209889 ]

qacc:
[ 2.26688148e+00,-1.66586486e+00, 5.97335448e+00,-8.32053320e+00,
 -1.63830227e+00, 1.34945188e+00,-5.18372304e+00, 7.43380135e+00,
 -7.83851703e+00, 4.31066005e-01, 1.58279385e+00,-9.15411952e+00,
 -1.39566265e+01,-5.54838157e+01,-1.59205527e+02, 3.53664940e+02,
 -8.04449348e-02, 9.72150988e-01,-1.20532667e-01,-1.86803386e+01,
  4.09085335e+00,-2.13476365e+01]

qfrc_actuator:
[-1.05908329e-05, 2.57470147e-04, 5.75554689e-05, 6.71371746e-05,
 -6.80566216e-05, 8.09660738e-05,-9.93465824e-06, 2.36127134e-05,
 -7.69448027e-05, 5.91998130e-05,-7.56375017e-05,-2.70122058e-05,
  4.44125759e-02, 1.47856344e-02, 5.63462332e-03,-2.16237101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10562106,  0.24062922, -1.07911793,  0.24062922,  2.44623818,
        0.29894012, -1.07911793,  0.29894012,  1.17228081,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029899027919541213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51088847, -0.8437214 , -0.16470329, -0.08531008, -0.14088777,
        0.98634316, -0.85540351,  0.5179622 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10280874, -0.03903919,  0.30481803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.24222214, 10.07965684, -4.97876257, 10.07965684, 22.85293726,
       23.50624727, -4.97876257, 23.50624727, 58.83133745,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005018613458841192
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.53052668e-14, -2.76526334e-14,  1.00000000e+00,  1.52933627e-27,
        1.00000000e+00,  2.76526334e-14, -1.00000000e+00,  0.00000000e+00,
        5.53052668e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08277156, -0.11179122,  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:
[ 1.31917629e-05,-1.54995033e-05, 1.97701535e-05,-5.43536350e-06,
 -9.51477146e-06,-1.09501666e-05,-2.58133736e-05, 3.35040065e-06,
 -4.57384722e-05, 8.20313401e-05, 1.12492995e-05,-1.73509180e-05,
  5.31531486e-02, 1.81394368e-02, 1.94286521e-03,-6.90278868e-04,
 -1.41373498e-05, 6.53170774e-06,-9.81000062e+00,-6.49142443e-02,
 -9.15241975e-03,-5.57928431e-03]


--- Step 1031 ---
qpos:
[ 0.00988782, 0.00810345,-0.00563548, 0.0334928 , 0.00349832, 0.00286495,
 -0.00678745, 0.03911593, 0.013058  , 0.00592814,-0.01173352, 0.0340955 ,
  0.87287107,-0.01088063, 1.1012041 , 0.04630089, 0.09162953,-0.06685055,
  0.14232056, 0.94600627,-0.03314108, 0.03081041, 0.32097435]

qacc:
[ 1.45735945e+00,-1.74696159e+00, 7.70653807e+00,-1.51315634e+01,
  2.14575438e+00, 2.16617405e+00,-7.61337266e+00, 9.31270197e+00,
  1.37012535e+00, 7.00247890e-01, 1.37544309e+00,-1.13117258e+01,
  2.76418710e+00,-9.85203315e-02, 2.42376590e+02,-6.66602667e+02,
  1.40203877e+00,-7.36915021e-01,-2.73802458e-01, 2.83042531e+01,
  4.08345209e+00, 3.84798319e+01]

qfrc_actuator:
[-2.47586561e-06, 2.50538212e-04, 6.96777723e-05, 4.61417041e-05,
 -5.50849302e-05, 9.18734123e-05,-4.30171508e-05, 2.56950006e-05,
 -6.74870466e-05, 9.67917786e-05,-9.19915120e-05,-5.59079555e-05,
  4.44277990e-02, 1.48954599e-02, 5.59777797e-03,-2.35130327e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10816157, -0.93424023,  0.59600105, -0.93424023,  1.59536684,
        0.76370128,  0.59600105,  0.76370128,  2.30527434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000302147454711679
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51102266, -0.84362548, -0.16477833, -0.08537245, -0.14093772,
        0.98633063, -0.85531713,  0.51810483,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10281318, -0.0390235 ,  0.30480701])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.29282407, -6.1179694 ,  9.49201379, -6.1179694 , 21.88014965,
        6.82394014,  9.49201379,  6.82394014, 15.69111698,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005049853158305695
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.09926268e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.09926268e-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([ 0.04979225, -0.06358371,  0.06198864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.48426791e-06,-1.17486601e-05, 1.11619926e-05,-2.10837594e-05,
  1.26982650e-05,-4.52504125e-07,-3.84255980e-05, 7.82687746e-07,
  8.18431305e-06, 8.50494535e-05, 1.38831848e-06,-2.53230216e-05,
  5.75278496e-02, 2.15862281e-02, 6.60436688e-03,-1.20344688e-03,
 -7.20958866e-05, 3.21332775e-05,-9.80997895e+00,-6.49219868e-02,
 -9.16563792e-03,-5.58049327e-03]


--- Step 1032 ---
qpos:
[ 0.00988722, 0.00810342,-0.0056348 , 0.03349259, 0.00349703, 0.00286631,
 -0.00678832, 0.03911604, 0.01305681, 0.00592825,-0.01173312, 0.03409356,
  0.8727069 ,-0.01097535, 1.10159757, 0.04627683, 0.09164384,-0.06684544,
  0.14231707, 0.94598805,-0.03309439, 0.0308385 , 0.32103015]

qacc:
[-2.14835581e+00,-6.28008016e-01, 3.48570299e+00,-8.20786799e+00,
 -1.61659676e+00, 3.03147712e+00,-1.21362503e+01, 1.97635363e+01,
  1.12088517e+00,-3.60517498e+00, 1.39740698e+01,-2.09222849e+01,
  4.66786147e+00, 8.20796815e+00, 1.98449477e+02,-4.36114647e+02,
  9.55518984e-01,-3.17520586e-01,-1.39762180e-01, 2.09456337e+01,
  7.15405204e-01, 3.78960776e+01]

qfrc_actuator:
[-1.53145345e-05, 2.64249646e-04, 7.65496034e-05, 3.37693252e-05,
 -6.47589994e-05, 9.78351183e-05,-8.01640074e-05, 4.47790466e-05,
 -6.13836593e-05, 6.55425566e-05,-4.81150277e-05,-7.22514220e-05,
  4.44324162e-02, 1.50211456e-02, 5.58257210e-03,-2.16818445e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10809956, -0.02453143,  1.10782798, -0.02453143,  1.92636293,
        0.01811939,  1.10782798,  0.01811939,  1.10850079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030207094133458156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11050880e-01, -8.43585276e-01, -1.64896573e-01, -8.54401403e-02,
       -1.41034968e-01,  9.86310864e-01, -8.55293505e-01,  5.18143822e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1028222 , -0.03901424,  0.30480482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.32496091,  6.78599036, -9.06670141,  6.78599036, 36.51330496,
       18.85226526, -9.06670141, 18.85226526, 25.43497564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005069660852881352
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.47483874e-14, -1.09496775e-13,  1.00000000e+00,  5.99477184e-27,
        1.00000000e+00,  1.09496775e-13, -1.00000000e+00,  0.00000000e+00,
        5.47483874e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04980187, -0.06357579,  0.0619886 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26009484e-05, 8.54400385e-06, 5.08410947e-06,-1.29015353e-05,
 -9.31169568e-06,-2.23305452e-06,-4.19586521e-05, 1.77480782e-05,
  6.36644380e-06, 1.55139757e-05, 6.07457580e-05,-1.31396953e-05,
  5.69748269e-02, 2.17236926e-02, 2.35822174e-03, 9.21060541e-04,
 -1.75297060e-06, 2.32583057e-06,-9.80999848e+00,-6.49212197e-02,
 -9.14953825e-03,-5.58125388e-03]


--- Step 1033 ---
qpos:
[ 0.00988681, 0.00810348,-0.00563407, 0.03349223, 0.00349632, 0.00286765,
 -0.00678932, 0.03911636, 0.01305605, 0.00592824,-0.0117321 , 0.03409147,
  0.87247261,-0.01112927, 1.10192558, 0.04629201, 0.09165487,-0.06683579,
  0.14231342, 0.94598935,-0.03310431, 0.03084736, 0.32102445]

qacc:
[ 1.71790591e+00,-3.20128806e-01, 1.96475712e+00,-4.71937758e+00,
  5.13336798e+00, 7.56376583e-01,-3.64100697e+00, 7.47779608e+00,
  3.78180306e+00,-2.22690120e+00, 8.32135511e+00,-1.18147556e+01,
 -5.61310680e+00,-5.61456744e+01,-2.16383888e+02, 6.14400309e+02,
 -8.19545030e-01, 1.13619365e+00,-3.78701728e-02,-2.85959444e+01,
  7.03043066e-01,-3.34185596e+01]

qfrc_actuator:
[-4.87626195e-06, 2.72450002e-04, 8.03636996e-05, 2.65879914e-05,
 -3.44336561e-05, 1.00783333e-04,-8.39088507e-05, 5.59579257e-05,
 -3.95688488e-05, 4.68089039e-05,-2.25541109e-05,-8.10927837e-05,
  4.44345328e-02, 1.51284108e-02, 5.60072430e-03,-2.02682799e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10644053, -0.09075174,  1.10271246, -0.09075174,  5.45889572,
        0.35820116,  1.10271246,  0.35820116,  1.13592   ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003000137278583761
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51096831, -0.84360747, -0.16503883, -0.0855021 , -0.14116376,
        0.98628707, -0.85533664,  0.51807261,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10283474, -0.03901105,  0.30480849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.36463406, -6.39123468,  9.39718185, -6.39123468, 19.46562795,
        5.5096681 ,  9.39718185,  5.5096681 , 15.11188323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000509407982304172
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08971891e-13,  1.36214864e-13,  1.00000000e+00, -1.48435913e-26,
        1.00000000e+00, -1.36214864e-13, -1.00000000e+00,  0.00000000e+00,
        1.08971891e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08279423, -0.111766  ,  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:
[ 1.00820257e-05, 1.34667795e-05, 5.75282201e-06,-6.89073232e-06,
  3.00607844e-05,-6.24996851e-06,-8.76552798e-06, 9.97599958e-06,
  2.19996699e-05, 1.92039409e-06, 3.57898005e-05,-6.32784117e-06,
  5.58288758e-02, 2.13292547e-02,-3.64065985e-03, 1.40361826e-03,
 -4.43617087e-05, 1.35953078e-05,-9.80998203e+00,-6.49123184e-02,
 -9.15863297e-03,-5.58112478e-03]


--- Step 1034 ---
qpos:
[ 0.00988653, 0.00810341,-0.00563347, 0.03349183, 0.00349633, 0.00286891,
 -0.00679005, 0.03911644, 0.01305591, 0.00592819,-0.01173159, 0.03408935,
  0.87217154,-0.01133658, 1.10215503, 0.04631615, 0.09166437,-0.06682293,
  0.14230984, 0.94600765,-0.03315583, 0.0308441 , 0.3209655 ]

qacc:
[ 1.12502915e+00, 8.04523903e-02,-3.94823072e-01, 1.87556056e-02,
  6.28647683e+00,-1.35180045e+00, 5.63837437e+00,-1.00576025e+01,
  5.37161888e+00, 1.32152676e+00,-4.71659489e+00, 5.21757420e+00,
 -7.64704453e+00,-4.82527758e+01,-1.73452960e+02, 3.93708020e+02,
 -3.84106772e-01, 8.01755381e-01, 1.50294366e-02,-2.05179692e+01,
  1.57022082e+00,-2.87556153e+01]

qfrc_actuator:
[ 1.43280021e-06, 2.41776934e-04, 6.45781634e-05, 2.25136151e-05,
  1.44596928e-06, 1.02034204e-04,-6.79210374e-05, 4.46613848e-05,
 -8.68049788e-06, 1.78958363e-05,-6.12583563e-05,-8.54701986e-05,
  4.44586753e-02, 1.52721002e-02, 5.57671394e-03,-2.06039042e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.1079405 ,  0.1883613 , -1.09181142,  0.1883613 ,  2.3295948 ,
        0.21076203, -1.09181142,  0.21076203,  1.14430155,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030187455786002135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5109761 , -0.84356587, -0.16522725, -0.08560375, -0.14132247,
        0.98625552, -0.85532183,  0.51809707,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10284413, -0.03899621,  0.30480045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.40430537,  8.0023635 , -8.12529134,  8.0023635 , 28.4667388 ,
       16.80429523, -8.12529134, 16.80429523, 27.9543678 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005118461279454006
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08452811e-13, -5.42264054e-14,  1.00000000e+00,  5.88100608e-27,
        1.00000000e+00,  5.42264054e-14, -1.00000000e+00,  0.00000000e+00,
        1.08452811e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08280406, -0.11175686,  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:
[ 6.60017024e-06,-2.22546893e-05,-1.25421510e-05,-3.43368701e-06,
  3.67320155e-05,-3.65433305e-06, 1.39565233e-05,-1.16761561e-05,
  3.15137648e-05,-2.07191992e-05,-3.41270827e-05,-3.17864040e-06,
  5.93573655e-02, 2.44350950e-02,-3.99286006e-04,-5.93658255e-04,
 -4.28106024e-07, 7.56547606e-07,-9.80999844e+00,-6.49150412e-02,
 -9.14709814e-03,-5.58296105e-03]


--- Step 1035 ---
qpos:
[ 0.00988564, 0.00810333,-0.0056334 , 0.03349174, 0.00349608, 0.0028698 ,
 -0.00679047, 0.03911677, 0.01305579, 0.00592824,-0.01173165, 0.03408788,
  0.87190054,-0.01152875, 1.10246117, 0.0463022 , 0.09167851,-0.06681298,
  0.14230573, 0.946001  ,-0.03315242, 0.03086493, 0.32098345]

qacc:
[-5.38704861e+00, 2.13333616e+00,-8.92663427e+00, 1.51683739e+01,
 -2.26531071e+00,-8.57750837e-01, 1.35471706e+00, 2.58401122e+00,
  2.13248774e-01, 3.06065972e+00,-1.34351091e+01, 2.53958452e+01,
  6.60602645e+00, 1.13867295e+01, 2.28560809e+02,-6.34920530e+02,
  1.16189458e+00,-7.27320474e-01,-1.31555772e-01, 2.82515955e+01,
  1.68225041e+00, 4.16190350e+01]

qfrc_actuator:
[-3.02518321e-05, 2.41239663e-04, 3.71884895e-05, 3.80052370e-05,
 -1.29630121e-05, 6.68249422e-05,-5.81950858e-05, 5.57445784e-05,
 -8.20926271e-06, 3.60967911e-05,-8.43786940e-05,-5.17333376e-05,
  4.44929317e-02, 1.54555237e-02, 5.51676274e-03,-2.25532504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11156405, -0.50984459, -0.98774143, -0.50984459,  2.74651554,
       -0.84391638, -0.98774143, -0.84391638,  1.54717016,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030630469509660053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51106477, -0.84346518, -0.16546687, -0.08574627, -0.14151629,
        0.98621535, -0.85525457,  0.51820809,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10285132, -0.03897171,  0.30478479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.46541506, -6.33069546,  9.55918603, -6.33069546, 21.37660734,
        6.56381619,  9.55918603,  6.56381619, 15.81238783,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005155949578712626
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07664263e-13, -1.07664263e-13,  1.00000000e+00,  1.15915936e-26,
        1.00000000e+00,  1.07664263e-13, -1.00000000e+00,  0.00000000e+00,
        1.07664263e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04983608, -0.06355126,  0.0619884 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.15040135e-05,-1.57204937e-05,-3.36555536e-05, 1.40366841e-05,
 -1.33660358e-05,-3.48946279e-05, 1.02782862e-05, 1.11793277e-05,
  1.36121990e-06,-5.59711218e-07,-3.17155937e-05, 3.16087035e-05,
  6.27301979e-02, 2.72924357e-02, 4.46134059e-03,-1.23791014e-03,
 -4.25068135e-05, 2.51996906e-05,-9.80997462e+00,-6.49236237e-02,
 -9.15533353e-03,-5.58618816e-03]


--- Step 1036 ---
qpos:
[ 0.00988437, 0.00810335,-0.00563375, 0.03349182, 0.003496  , 0.00287034,
 -0.00679075, 0.03911758, 0.01305533, 0.0059287 ,-0.01173219, 0.03408678,
  0.87180468,-0.0115932 , 1.10276995, 0.04629671, 0.09168763,-0.06680917,
  0.14230376, 0.94599359,-0.03313083, 0.03085898, 0.3210081 ]

qacc:
[ -3.28685674,  1.65679754, -6.37254592,  9.76221008,  1.5463877 ,
   0.11896165, -3.17373807, 11.64640636, -2.99794073,  2.61979229,
 -10.09377006, 16.88899427, 42.40687061, 87.02034638,-21.57015473,
  81.37980383, -1.25608163, -1.53743864,  0.5356324 ,  4.17753533,
 -15.68127212,  3.13366192]

qfrc_actuator:
[-4.85383520e-05, 2.58710341e-04, 2.10485890e-05, 4.71480724e-05,
 -3.59953382e-06, 4.55563660e-05,-5.23821358e-05, 7.98723130e-05,
 -2.56472674e-05, 8.24436691e-05,-9.78793360e-05,-3.12880342e-05,
  4.45109662e-02, 1.56333522e-02, 5.50290993e-03,-2.36160839e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11220144, -0.14872707,  1.10221246, -0.14872707,  6.93442334,
        0.78562166,  1.10221246,  0.78562166,  1.21820932,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030707466357637626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51103593, -0.84343013, -0.16573442, -0.08588398, -0.14174569,
        0.98617042, -0.85525798,  0.51820245,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10286291, -0.03895558,  0.30477953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.51574473, -10.87992193,  -3.77354948, -10.87992193,
        12.50786344,  -2.86048297,  -3.77354948,  -2.86048297,
        19.76310748,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005186764269393896
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.45313642e-07, -9.45313649e-07,  1.00000000e+00,  8.93617888e-13,
        1.00000000e+00,  9.45313649e-07, -1.00000000e+00,  0.00000000e+00,
        9.45313642e-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([ 0.09298681, -0.05355892,  0.06198833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91885915e-05, 2.32339133e-06,-2.30441722e-05, 7.57963713e-06,
  8.97042003e-06,-3.82128076e-05, 2.51941634e-07, 2.32044723e-05,
 -1.73997450e-05, 4.08396215e-05,-1.64257445e-05, 1.99424165e-05,
  6.12429221e-02, 2.67158713e-02, 6.08747673e-04, 5.59081178e-04,
 -3.17624295e-06,-1.11307720e-06,-9.80999923e+00,-6.49183548e-02,
 -9.14363782e-03,-5.58792368e-03]


--- Step 1037 ---
qpos:
[ 0.00988359, 0.0081031 ,-0.00563388, 0.03349201, 0.00349638, 0.00287061,
 -0.00679094, 0.03911832, 0.01305398, 0.00592941,-0.01173287, 0.03408592,
  0.8718665 ,-0.01153963, 1.10306935, 0.04628924, 0.09169272,-0.06681077,
  0.1423034 , 0.94598704,-0.03309141, 0.03083125, 0.32103412]

qacc:
[  4.22821291, -0.77181671,  1.71967964,  0.11726458,  4.0310093 ,
  -0.72767106,  2.34705932, -3.44307477, -7.88286832,  1.26323348,
  -5.04752569,  9.39164457, 35.90227605, 83.53163995, -7.59831669,
   7.07108809, -1.00692482, -1.3501783 ,  0.40258815,  4.93709967,
 -13.19662185,  0.42589778]

qfrc_actuator:
[-2.32750952e-05, 2.33611754e-04, 2.95091622e-05, 5.25062579e-05,
  1.96971506e-05, 3.27943246e-05,-4.88732264e-05, 7.59790805e-05,
 -7.12291897e-05, 9.20686724e-05,-1.05483024e-04,-1.87997220e-05,
  4.45211052e-02, 1.57069571e-02, 5.44605941e-03,-2.64129181e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.1087433 , -0.82946396, -0.73573177, -0.82946396,  1.62296385,
       -0.57973223, -0.73573177, -0.57973223,  1.76233339,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003028639185018283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51099351, -0.84344155, -0.16580708, -0.08591557, -0.14181151,
        0.98615821, -0.85528016,  0.51816586,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10287421, -0.03895829,  0.30478824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.5380792 ,  7.73386575, -8.56239406,  7.73386575, 42.76710917,
       28.20719573, -8.56239406, 28.20719573, 37.01584432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005200421762162462
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.30310452e-07, -6.30310688e-07,  1.00000000e+00,  3.97291415e-13,
        1.00000000e+00,  6.30310688e-07, -1.00000000e+00,  0.00000000e+00,
        6.30310452e-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([ 0.09299474, -0.05355152,  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:
[ 2.47182515e-05,-2.82343022e-05, 6.37021794e-06, 4.80955977e-06,
  2.35374012e-05,-3.30996100e-05,-3.55585458e-06,-5.07306048e-06,
 -4.60617203e-05, 2.99089243e-05,-4.97438867e-07, 1.40615133e-05,
  5.24979004e-02, 2.04071676e-02, 4.19524159e-04,-1.43637768e-04,
 -6.83942856e-06, 5.33377344e-06,-9.80999430e+00,-6.49182528e-02,
 -9.14607981e-03,-5.58603421e-03]


--- Step 1038 ---
qpos:
[ 0.00988345, 0.0081025 ,-0.00563359, 0.0334926 , 0.00349704, 0.00287075,
 -0.00679141, 0.03911867, 0.01305243, 0.00593014,-0.01173354, 0.03408559,
  0.87182663,-0.0115546 , 1.10328724, 0.04629307, 0.09169699,-0.06680732,
  0.14230287, 0.94599412,-0.03309809, 0.03080216, 0.32101538]

qacc:
[ 5.75555123e+00,-8.12276780e-01, 5.08291989e-01, 6.07802898e+00,
  2.42246088e+00,-2.00484471e-01, 2.12250788e+00,-8.36168380e+00,
 -1.67747860e+00, 1.08173945e+00,-6.04309698e+00, 1.50796390e+01,
 -2.43448769e+01,-4.71585345e+01,-1.54653132e+02, 3.65978179e+02,
 -2.06366965e-01, 1.26423810e+00,-4.51125704e-02,-2.11075837e+01,
  7.28208222e+00,-2.40937707e+01]

qfrc_actuator:
[ 9.66118962e-06, 2.18821987e-04, 5.22535845e-05, 7.33297050e-05,
  3.32482947e-05, 2.51944116e-05,-6.44895454e-05, 5.56344907e-05,
 -7.97473516e-05, 7.96531070e-05,-1.09688839e-04, 6.63705966e-06,
  4.45217748e-02, 1.56766360e-02, 5.38037468e-03,-2.89369464e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.1023072 ,  1.00137245,  0.46079755,  1.00137245,  1.36679123,
       -0.57475788,  0.46079755, -0.57475788,  2.35133015,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029480095231735823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10948264e-01, -8.43490360e-01, -1.65698171e-01, -8.58499382e-02,
       -1.41723929e-01,  9.86176514e-01, -8.55313779e-01,  5.18110355e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10288437, -0.03897698,  0.30480798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005236446265925593
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06009206e-13,  1.06009206e-13,  1.00000000e+00, -1.12379518e-26,
        1.00000000e+00, -1.06009206e-13, -1.00000000e+00,  0.00000000e+00,
        1.06009206e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08284507, -0.11172258,  0.06198822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.36311169e-05,-2.90352689e-05, 1.78670494e-05, 1.99271249e-05,
  1.42091192e-05,-2.70621270e-05,-2.30703499e-05,-2.19874564e-05,
 -9.81616370e-06, 4.77307068e-06, 2.39937771e-06, 2.69784192e-05,
  4.46173708e-02, 1.44770007e-02, 8.18033670e-04,-2.98451885e-04,
 -8.88240852e-06, 1.27581503e-05,-9.80997824e+00,-6.49172881e-02,
 -9.15182333e-03,-5.58073263e-03]


--- Step 1039 ---
qpos:
[ 0.00988337, 0.00810189,-0.00563289, 0.03349374, 0.00349785, 0.00287108,
 -0.00679222, 0.03911839, 0.01305149, 0.0059305 ,-0.01173407, 0.03408561,
  0.87169272,-0.01163312, 1.10342454, 0.04629983, 0.0917014 ,-0.06679996,
  0.14230222, 0.94601372,-0.0331404 , 0.03077384, 0.32095596]

qacc:
[ 4.58911248e-01,-1.56227195e-02,-2.26219737e+00, 1.10771549e+01,
  1.36847498e+00,-9.57408936e-02, 3.35794842e+00,-1.38285601e+01,
  5.28603985e+00,-1.89049892e-01,-1.48568632e+00, 7.50198798e+00,
 -2.26047407e+01,-4.35980463e+01,-1.28058177e+02, 2.74893941e+02,
  3.52895815e-02, 9.73568749e-01,-2.78282166e-02,-1.58959907e+01,
  6.56389456e+00,-2.17891525e+01]

qfrc_actuator:
[ 1.13306270e-05, 2.45902160e-04, 8.32838257e-05, 1.03097452e-04,
  4.09504128e-05, 5.61578058e-05,-7.35040687e-05, 2.57699251e-05,
 -4.86210215e-05, 3.64038556e-05,-1.11944841e-04, 2.17172407e-05,
  4.45291030e-02, 1.56877947e-02, 5.36947520e-03,-2.76939550e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.100394  ,  0.33956286, -1.04669194,  0.33956286,  2.69825233,
        0.51836966, -1.04669194,  0.51836966,  1.26856104,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002923443834517152
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51097092, -0.843481  , -0.16567594, -0.0858419 , -0.14170281,
        0.98618025, -0.85530105,  0.51813137,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1028907 , -0.0389801 ,  0.30481282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.61873094,  7.1965116 , -9.12168457,  7.1965116 , 40.74545896,
       22.97939975, -9.12168457, 22.97939975, 29.74822397,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005249656890677079
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05742437e-13, -5.28712184e-14,  1.00000000e+00,  5.59073148e-27,
        1.00000000e+00,  5.28712184e-14, -1.00000000e+00,  0.00000000e+00,
        1.05742437e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08285261, -0.11171762,  0.06198819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.61742067e-06, 1.54172158e-05, 2.79237128e-05, 2.95275511e-05,
  8.09848767e-06, 1.01270660e-05,-1.82041329e-05,-3.22509281e-05,
  3.08492886e-05,-3.89542731e-05,-4.21419429e-08, 1.58935367e-05,
  4.97073555e-02, 1.79140205e-02, 4.87823890e-03,-7.39354932e-04,
 -5.46492985e-06,-2.19447791e-06,-9.80999722e+00,-6.49148112e-02,
 -9.15363309e-03,-5.57743735e-03]


--- Step 1040 ---
qpos:
[ 0.00988297, 0.00810154,-0.00563218, 0.03349487, 0.00349875, 0.00287146,
 -0.00679259, 0.03911807, 0.01305092, 0.00593028,-0.01173415, 0.03408512,
  0.87156614,-0.01171049, 1.10366329, 0.0462709 , 0.09171167,-0.06679545,
  0.1423005 , 0.94601187,-0.0331283 , 0.03077641, 0.32096241]

qacc:
[-2.84834005e+00, 3.11480767e-01,-6.09147123e-01, 3.49502163e-01,
  7.70207248e-01,-1.25948874e+00, 4.76977638e+00,-6.29854238e+00,
  3.37004854e+00,-3.05174699e+00, 1.18621518e+01,-2.07897692e+01,
 -1.67875182e+00, 5.68437230e+00, 2.58106086e+02,-6.84691562e+02,
  1.46618724e+00,-7.09741461e-01,-2.67711925e-01, 2.93219523e+01,
  5.12043608e+00, 3.59494440e+01]

qfrc_actuator:
[-5.41862515e-06, 2.62395544e-04, 8.36264404e-05, 1.02421993e-04,
  4.51516155e-05, 7.44871396e-05,-4.28800270e-05, 2.60919639e-05,
 -2.99274445e-05,-7.23042691e-06,-9.54253321e-05,-4.95294325e-06,
  4.45540506e-02, 1.57817845e-02, 5.30908689e-03,-2.73478802e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10164468, -0.60433954,  0.92108345, -0.60433954,  2.30995602,
        0.79279496,  0.92108345,  0.79279496,  1.62181183,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029395347629892034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11057152e-01, -8.43417241e-01, -1.65734561e-01, -8.58876243e-02,
       -1.41743644e-01,  9.86170399e-01, -8.55244937e-01,  5.18223983e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10289459, -0.03897033,  0.30480683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.67162914, -6.53499181,  9.67061574, -6.53499181, 22.22226796,
        7.12967407,  9.67061574,  7.12967407, 16.48956038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005281881506986608
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.25486526e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.25486526e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0498884 , -0.06352138,  0.06198812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66706730e-05, 3.21605538e-05, 7.98448654e-06, 1.52317407e-06,
  4.43705701e-06, 1.88510762e-05, 2.93639161e-05,-5.00202914e-07,
  1.95568113e-05,-6.47446358e-05, 9.01743208e-06,-2.80327883e-05,
  5.44333495e-02, 2.11869138e-02, 8.84395506e-03,-8.52526114e-04,
 -4.45018792e-05, 1.27258317e-05,-9.80998536e+00,-6.49203262e-02,
 -9.16435398e-03,-5.57700167e-03]


--- Step 1041 ---
qpos:
[ 0.00988202, 0.00810134,-0.00563169, 0.03349567, 0.00349935, 0.0028718 ,
 -0.00679257, 0.03911811, 0.01305024, 0.00593018,-0.01173432, 0.03408427,
  0.87145826,-0.01177695, 1.10403248, 0.04623563, 0.09172596,-0.06679209,
  0.14229823, 0.94598839,-0.03307413, 0.03079831, 0.32103511]

qacc:
[-4.76928324e+00, 1.34088185e-01, 1.26148385e+00,-6.85269260e+00,
 -2.63746926e+00,-4.07699085e-01,-1.49599580e-01, 5.83967472e+00,
 -1.03232617e+00,-3.52559664e-01, 3.04165207e+00,-9.37288821e+00,
  4.34628990e-01, 1.31963689e+01, 2.12317898e+02,-4.62109345e+02,
  1.00499432e+00,-2.87839842e-01,-1.37589199e-01, 2.16231629e+01,
  1.63001031e+00, 3.57737203e+01]

qfrc_actuator:
[-3.28644821e-05, 2.54532014e-04, 6.57937294e-05, 8.38117548e-05,
  2.95078790e-05, 6.75533679e-05,-2.46187821e-05, 4.41951205e-05,
 -3.64667654e-05, 3.80373297e-05,-8.57486397e-05,-2.04605301e-05,
  4.45731803e-02, 1.58684361e-02, 5.29606127e-03,-2.61003230e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10075988, -0.0111469 ,  1.10070343, -0.0111469 ,  1.86847767,
        0.00777473,  1.10070343,  0.00777473,  1.10083861,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029281636939083335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51104739, -0.84340494, -0.16582724, -0.08593537, -0.14182308,
        0.98615482, -0.85524597,  0.51822227,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10290293, -0.03896642,  0.30480865])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.68963504,   5.407268  , -10.36383231,   5.407268  ,
        43.4185577 ,  16.55437709, -10.36383231,  16.55437709,
        20.32678304,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005292838612695611
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.24398676e-14, -1.04879735e-13,  1.00000000e+00,  5.49987943e-27,
        1.00000000e+00,  1.04879735e-13, -1.00000000e+00,  0.00000000e+00,
        5.24398676e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04989803, -0.06351564,  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:
[-2.79097911e-05, 1.18330728e-05,-1.01588888e-05,-1.69287432e-05,
 -1.55121747e-05, 9.64476226e-06, 2.57548830e-05, 1.99176231e-05,
 -6.00609586e-06, 9.73861997e-06,-3.55298539e-06,-1.85148813e-05,
  5.40846359e-02, 2.12171145e-02, 3.75447355e-03, 1.05562343e-03,
 -1.13562938e-06, 8.14849629e-07,-9.80999890e+00,-6.49211515e-02,
 -9.15481903e-03,-5.57669616e-03]


--- Step 1042 ---
qpos:
[ 0.0098811 , 0.00810117,-0.00563138, 0.03349661, 0.00349976, 0.00287223,
 -0.00679258, 0.03911769, 0.0130488 , 0.00593049,-0.01173456, 0.03408319,
  0.8712754 ,-0.01190087, 1.10434674, 0.04624193, 0.09173697,-0.06678394,
  0.14229595, 0.94598478,-0.03307688, 0.03080306, 0.32104499]

qacc:
[ 1.98510030e-01, 8.06437685e-01,-3.37581903e+00, 5.91203428e+00,
 -1.69253997e+00,-7.28369560e-01, 4.71523947e+00,-1.26917770e+01,
 -6.72144146e+00, 3.13440673e-01, 6.16655341e-01,-4.61750965e+00,
 -1.11756413e+01,-4.88252436e+01,-2.07527327e+02, 6.06842915e+02,
 -8.20009668e-01, 1.19827202e+00,-3.27115999e-03,-2.83770286e+01,
  1.75558560e+00,-3.40640069e+01]

qfrc_actuator:
[-3.08751196e-05, 2.49795585e-04, 5.50274557e-05, 9.02790946e-05,
  2.00629298e-05, 6.32798644e-05,-3.16634131e-05, 1.93167851e-05,
 -7.55533904e-05, 8.29214825e-05,-7.98208918e-05,-2.92018610e-05,
  4.45822056e-02, 1.59227123e-02, 5.31051725e-03,-2.33973119e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.09867055, -0.09310402,  1.09471851, -0.09310402,  4.56925209,
        0.2951673 ,  1.09471851,  0.2951673 ,  1.12377404,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002901069136642935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51093507, -0.84345125, -0.16593779, -0.08597538, -0.1419281 ,
        0.98613622, -0.85530906,  0.51811814,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10291465, -0.03896796,  0.30481543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.72963311, -6.68829466,  9.63592275, -6.68829466, 20.11583577,
        5.82086386,  9.63592275,  5.82086386, 15.76989512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005317157888435342
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.61000108e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.61000108e-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([ 0.08288289, -0.11169506,  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:
[ 1.19940094e-06,-9.50341834e-07,-1.01620581e-05, 6.29234330e-06,
 -9.88446605e-06, 7.27515217e-06,-1.19499266e-06,-2.31866061e-05,
 -3.92536958e-05, 4.88060225e-05, 6.86577528e-06,-8.80463813e-06,
  5.31569219e-02, 2.07268799e-02,-2.75952918e-03, 1.64215617e-03,
 -6.37367926e-05, 2.58740462e-05,-9.80997506e+00,-6.49134559e-02,
 -9.16840134e-03,-5.57556123e-03]


--- Step 1043 ---
qpos:
[ 0.00988055, 0.00810114,-0.00563126, 0.03349759, 0.00350039, 0.00287276,
 -0.00679296, 0.039117  , 0.0130469 , 0.0059306 ,-0.01173449, 0.03408207,
  0.87102095,-0.01207703, 1.1045689 , 0.04625866, 0.0917464 ,-0.06677233,
  0.1422938 , 0.94599849,-0.03312188, 0.03079718, 0.3210005 ]

qacc:
[ 3.28762451e+00, 8.24581880e-01,-2.92062975e+00, 4.10882725e+00,
  1.99593394e+00, 5.89276345e-01,-7.62467692e-01,-3.44120617e+00,
 -4.00440521e+00,-1.24209638e+00, 4.25259758e+00,-5.41890661e+00,
 -1.25806905e+01,-4.21971331e+01,-1.68077128e+02, 3.89433449e+02,
 -3.95396620e-01, 8.63928350e-01, 3.38489935e-02,-2.05689022e+01,
  2.38250735e+00,-2.93183462e+01]

qfrc_actuator:
[-1.15733720e-05, 2.64756440e-04, 4.85504719e-05, 9.37080321e-05,
  3.21011530e-05, 6.04905085e-05,-5.36177837e-05, 4.83364044e-06,
 -9.79701093e-05, 3.84724535e-05,-7.61211858e-05,-3.38855494e-05,
  4.46035792e-02, 1.60570707e-02, 5.28421501e-03,-2.34703774e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10004558,  0.19545039, -1.08254304,  0.19545039,  2.29976595,
        0.21660646, -1.08254304,  0.21660646,  1.13915333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029189395231690355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10915949e-01, -8.43432552e-01, -1.66091612e-01, -8.60541171e-02,
       -1.42060243e-01,  9.86110327e-01, -8.55312564e-01,  5.18112360e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10292301, -0.0389571 ,  0.3048093 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.76017156,  7.37930211, -9.15682999,  7.37930211, 30.21588506,
       14.87308225, -9.15682999, 14.87308225, 23.74608452,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005335706923558226
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04037107e-13,  5.20185535e-14,  1.00000000e+00, -5.41185982e-27,
        1.00000000e+00, -5.20185535e-14, -1.00000000e+00,  0.00000000e+00,
        1.04037107e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08289427, -0.11168668,  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:
[ 1.93357692e-05, 1.26036269e-05,-7.71005632e-06, 3.15680986e-06,
  1.17607592e-05, 2.05718822e-08,-2.14045670e-05,-1.46636333e-05,
 -2.35148427e-05,-1.61397941e-05, 1.43238800e-05,-2.52238561e-06,
  5.69259403e-02, 2.37357731e-02,-4.64428099e-05,-4.45766041e-04,
 -2.74202084e-07, 2.49272065e-07,-9.81000020e+00,-6.49137054e-02,
 -9.15323890e-03,-5.57630590e-03]


--- Step 1044 ---
qpos:
[ 0.00987989, 0.00810139,-0.00563132, 0.03349894, 0.00350082, 0.00287329,
 -0.00679359, 0.03911649, 0.01304544, 0.00593039,-0.01173429, 0.03408163,
  0.87079261,-0.01223773, 1.10487409, 0.0462404 , 0.09176044,-0.06676338,
  0.14229113, 0.9459881 ,-0.03311314, 0.03081546, 0.32103029]

qacc:
[-9.70742498e-01, 1.62029130e+00,-6.76556928e+00, 1.30866914e+01,
 -1.81626269e+00, 1.09400788e+00,-4.67352541e+00, 8.24943092e+00,
  3.84288644e+00, 6.25628447e-01,-5.69897934e+00, 1.74148013e+01,
  3.25730055e+00, 1.48684954e+01, 2.28767975e+02,-6.21619318e+02,
  1.15179159e+00,-6.65650232e-01,-1.31043368e-01, 2.77601801e+01,
  1.94743710e+00, 4.02253215e+01]

qfrc_actuator:
[-1.77510781e-05, 2.91412463e-04, 4.47293275e-05, 1.13088850e-04,
  2.11802336e-05, 5.85439562e-05,-6.64210564e-05, 1.43369300e-05,
 -7.48806748e-05, 1.18790146e-05,-7.41229989e-05,-7.15391858e-07,
  4.46347543e-02, 1.62217516e-02, 5.29203841e-03,-2.38212336e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10380106,  0.26701661, -1.0710177 ,  0.26701661,  2.87174459,
        0.44076796, -1.0710177 ,  0.44076796,  1.21368941,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029669962312621175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10979981e-01, -8.43353602e-01, -1.66295403e-01, -8.61735036e-02,
       -1.42226187e-01,  9.86075980e-01, -8.55262291e-01,  5.18195344e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.102929  , -0.03893585,  0.30479459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.76753935, -6.57153858,  9.76165268, -6.57153858, 21.91656924,
        6.83232068,  9.76165268,  6.83232068, 16.36705343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005340179744096479
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.19749839e-14, -2.07899936e-13,  1.00000000e+00,  1.08055958e-26,
        1.00000000e+00,  2.07899936e-13, -1.00000000e+00,  0.00000000e+00,
        5.19749839e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04993074, -0.06349571,  0.06198799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.62246519e-06, 3.22525635e-05,-2.06159872e-06, 1.97124664e-05,
 -1.05850770e-05,-6.99396557e-06,-1.59433521e-05, 8.47893429e-06,
  2.24151318e-05,-3.27847623e-05, 3.40706585e-07, 3.29277066e-05,
  6.05350189e-02, 2.65163653e-02, 4.56009368e-03,-1.00391200e-03,
 -2.76200251e-05, 1.59567962e-05,-9.80998220e+00,-6.49206384e-02,
 -9.15899210e-03,-5.57874740e-03]


--- Step 1045 ---
qpos:
[ 0.00987882, 0.0081017 ,-0.00563105, 0.03350016, 0.00350112, 0.00287362,
 -0.00679376, 0.03911642, 0.01304495, 0.00593013,-0.01173389, 0.03408154,
  0.87052463,-0.01241396, 1.10521267, 0.04623166, 0.09177336,-0.06675404,
  0.14229027, 0.94597556,-0.03311216, 0.03084647, 0.32106434]

qacc:
[ -3.61988056, -1.12233608,  4.67563821, -7.5382763 , -1.16079593,
  -0.63698042,  0.05032194,  6.93687782,  8.60555753,  0.08704532,
  -1.94309379,  7.89836274,-20.30517033,  4.1473567 , 21.37968963,
  -1.31414021, -0.280173  ,  0.09644784,  0.45429452, -1.7375682 ,
   7.22858482,  2.4561293 ]

qfrc_actuator:
[-3.88816369e-05, 2.89388401e-04, 6.03236940e-05, 1.06209050e-04,
  1.45791993e-05, 5.71667266e-05,-3.81910076e-05, 3.78851283e-05,
 -2.51974488e-05, 3.17035251e-05,-5.53199827e-05, 1.89608521e-05,
  4.46602706e-02, 1.63755515e-02, 5.30789073e-03,-2.26836206e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10491676,  0.32246777, -1.05681388,  0.32246777,  6.50006066,
        1.64623123, -1.05681388,  1.64623123,  1.60723464,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002981067400537953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51093108, -0.84333805, -0.16652436, -0.08628727, -0.14242496,
        0.98603734, -0.85528004,  0.51816605,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10293926, -0.03892247,  0.3047896 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.78187516, -6.80705171,  9.61647697, -6.80705171, 23.84346865,
        8.53783468,  9.61647697,  8.53783468, 17.82540673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000534888011401591
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75667976e-14, -4.43956984e-08,  1.00000000e+00,  1.22384723e-21,
        1.00000000e+00,  4.43956984e-08, -1.00000000e+00,  0.00000000e+00,
        2.75667976e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06574168, -0.08657571,  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:
[-2.12812151e-05, 1.64194956e-05, 2.26804223e-05,-5.18846568e-06,
 -6.90412110e-06,-8.23258004e-06, 2.51178693e-05, 2.28637556e-05,
  5.03069723e-05, 2.98211430e-06, 1.32110006e-05, 1.89237543e-05,
  5.92540173e-02, 2.58989607e-02, 4.19847948e-04, 8.58332635e-04,
 -7.54955670e-06, 7.54851247e-07,-9.80999979e+00,-6.49159532e-02,
 -9.15177511e-03,-5.57997672e-03]


--- Step 1046 ---
qpos:
[ 0.00987785, 0.00810179,-0.00562983, 0.03350024, 0.00350168, 0.0028738 ,
 -0.0067933 , 0.03911661, 0.01304506, 0.00592975,-0.01173293, 0.03408133,
  0.87020241,-0.01263312, 1.10547237, 0.04624737, 0.09178379,-0.06674129,
  0.14228924, 0.94598213,-0.03315637, 0.03085894, 0.32103925]

qacc:
[ 9.10746942e-01,-5.26853309e+00, 2.31776761e+01,-4.42002928e+01,
  2.33892705e+00,-1.42759525e+00, 3.65856338e+00, 5.30617012e-02,
  5.29221673e+00,-2.00283169e+00, 7.39107956e+00,-1.02976563e+01,
 -5.78532746e+00,-3.93922129e+01,-1.91084353e+02, 4.97917847e+02,
 -6.22104020e-01, 8.54417161e-01,-4.45514890e-02,-2.31134576e+01,
 -8.30746993e-01,-3.20496673e+01]

qfrc_actuator:
[-3.31307187e-05, 2.70266239e-04, 1.04876694e-04, 4.84153643e-05,
  2.83334039e-05, 5.63251908e-05,-3.70621349e-06, 5.17795729e-05,
  4.22073205e-06, 2.59744792e-05,-2.65691820e-05, 1.28328340e-05,
  4.46767162e-02, 1.65476535e-02, 5.25015295e-03,-2.18457374e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003016525480877257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51087669, -0.84331987, -0.16678313, -0.08641599, -0.14264953,
        0.9859936 , -0.85529953,  0.51813388,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1029497 , -0.03890494,  0.30478093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005344499781450851
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.19329717e-14,  5.19329717e-14,  1.00000000e+00, -2.69703355e-27,
        1.00000000e+00, -5.19329717e-14, -1.00000000e+00,  0.00000000e+00,
        5.19329717e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08292765, -0.1116642 ,  0.06198798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.14815465e-06,-5.49857042e-06, 5.05511138e-05,-5.64092450e-05,
  1.35530798e-05, 7.10564391e-07, 3.66674645e-05, 1.48557985e-05,
  3.08474229e-05,-5.00857634e-07, 3.16446951e-05,-5.17716179e-06,
  6.12495883e-02, 2.68506985e-02,-1.31435174e-03, 4.64139002e-04,
 -7.55313806e-06,-1.79427912e-06,-9.81000021e+00,-6.49124039e-02,
 -9.14785692e-03,-5.58329559e-03]


--- Step 1047 ---
qpos:
[ 0.0098773 , 0.00810211,-0.00562852, 0.03349998, 0.00350205, 0.00287395,
 -0.00679297, 0.03911632, 0.01304553, 0.00592905,-0.01173181, 0.03408145,
  0.87005635,-0.01271999, 1.10571926, 0.04625513, 0.09178972,-0.06673522,
  0.14229002, 0.9459921 ,-0.03317107, 0.03084906, 0.3210093 ]

qacc:
[  3.6923972 , -0.65522479,  4.20346429,-10.43549999, -1.62645426,
  -0.69556945,  4.51850115,-12.8112179 ,  3.11008792, -0.21382769,
  -1.21451528,  6.80509647, 39.84884968, 93.81962314,  5.4380297 ,
 -45.79940591, -1.12393509, -1.6693438 ,  0.45448502, 10.49244092,
 -15.28094337, -2.75630998]

qfrc_actuator:
[-1.15991351e-05, 2.94385509e-04, 1.12798811e-04, 3.21414447e-05,
  1.84516599e-05, 3.80929482e-05,-1.90810891e-05, 2.43739647e-05,
  2.14669767e-05,-1.27353225e-05,-2.77918100e-05, 2.70661647e-05,
  4.46904608e-02, 1.67288208e-02, 5.19976833e-03,-1.92446166e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11264439,  0.33983118,  1.05947738,  0.33983118,  4.2522066 ,
       -1.00702587,  1.05947738, -1.00702587,  1.43565156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003076081474615587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51091106, -0.84324244, -0.16706905, -0.08657421, -0.14288798,
        0.9859452 , -0.855263  ,  0.51819418,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10295782, -0.03887885,  0.30476458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.78658698,  2.79471598, 11.45046703,  2.79471598, 22.53954218,
       -2.62447424, 11.45046703, -2.62447424, 12.42714252,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000535173895946744
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.82005511e-07, -4.82005281e-07,  1.00000000e+00,  2.32329201e-13,
        1.00000000e+00,  4.82005281e-07, -1.00000000e+00,  0.00000000e+00,
        4.82005511e-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([ 0.09308811, -0.05348925,  0.06198796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16750875e-05, 2.90562413e-05, 1.10459656e-05,-1.58615178e-05,
 -9.49827760e-06,-9.63162113e-06,-1.02064221e-05,-2.58198253e-05,
  1.81215443e-05,-3.26608775e-05, 2.38508715e-06, 1.52038966e-05,
  6.39743657e-02, 2.91819828e-02, 2.57167231e-03,-4.99482847e-04,
 -1.08092710e-05, 1.32468808e-05,-9.80998169e+00,-6.49219170e-02,
 -9.14662646e-03,-5.58803114e-03]


--- Step 1048 ---
qpos:
[ 0.00987667, 0.00810281,-0.00562779, 0.03349989, 0.00350196, 0.00287393,
 -0.006793  , 0.03911539, 0.01304585, 0.00592788,-0.01173056, 0.03408141,
  0.86993051,-0.01279153, 1.10606278, 0.04624184, 0.09180027,-0.06673087,
  0.14229002, 0.94598011,-0.03314027, 0.0308604 , 0.3210467 ]

qacc:
[-7.49313244e-01, 2.45561402e+00,-8.78384339e+00, 1.24942498e+01,
 -4.10698620e+00,-4.92235593e-01, 4.11754773e+00,-1.43853061e+01,
 -1.23259244e+00,-1.26004268e+00, 4.23512647e+00,-6.69786558e+00,
 -9.12669254e-01, 1.85192462e+01, 2.06919496e+02,-5.15523000e+02,
  1.15420043e+00,-4.32060679e-01,-1.96515480e-01, 2.35310341e+01,
  1.95882131e+00, 3.64320460e+01]

qfrc_actuator:
[-1.64653228e-05, 3.08595004e-04, 8.14740567e-05, 4.04410742e-05,
 -5.26909043e-06, 9.35200806e-06,-4.61199022e-05,-9.40878837e-06,
  1.36647183e-05,-5.32485541e-05,-2.90757421e-05, 1.76127417e-05,
  4.46997794e-02, 1.68106542e-02, 5.14536421e-03,-1.92650493e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11242016, -1.05951115,  0.33899075, -1.05951115,  1.18120951,
        0.21500022,  0.33899075,  0.21500022,  1.78440053,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030733825373649676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51095636, -0.84320007, -0.16714439, -0.08662205, -0.14294708,
        0.98593243, -0.85523109,  0.51824683,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10296643, -0.03887312,  0.30476527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.78972378,  -9.07142206,  -7.53039765,  -9.07142206,
        31.13711012, -23.30664534,  -7.53039765, -23.30664534,
        39.86585291,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005353641983705942
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07377151e-13, -1.03688576e-13,  1.00000000e+00,  2.15026415e-26,
        1.00000000e+00,  1.03688576e-13, -1.00000000e+00,  0.00000000e+00,
        2.07377151e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04996913, -0.06346958,  0.06198796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.24058408e-06, 3.20430476e-05,-2.45298004e-05, 9.61437878e-06,
 -2.39926625e-05,-3.73537714e-05,-3.11833793e-05,-3.50511566e-05,
 -7.30032617e-06,-5.76135152e-05,-7.21609901e-06,-1.04765096e-05,
  5.51781356e-02, 2.26530903e-02, 3.15985004e-03,-1.03615714e-04,
 -8.60408506e-06, 2.99598599e-06,-9.80999833e+00,-6.49216782e-02,
 -9.14577994e-03,-5.58752171e-03]


--- Step 1049 ---
qpos:
[ 0.00987633, 0.0081035 ,-0.00562703, 0.03350026, 0.00350193, 0.00287349,
 -0.00679272, 0.03911439, 0.01304573, 0.00592676,-0.01172953, 0.03408088,
  0.8699698 ,-0.01273843, 1.10640397, 0.04624361, 0.09180617,-0.06673159,
  0.14229151, 0.94596535,-0.03309831, 0.03084267, 0.32109622]

qacc:
[  2.56245041,  0.86891408, -5.02261865, 12.84348484,  0.55720952,
  -1.57480637,  5.06782791, -6.38455838, -3.88895226, -0.35719033,
   3.48442668,-11.84935797, 37.83249093, 87.67506666,-48.66634415,
 165.89388314, -1.16289325, -1.26615418,  0.37305341,  0.37648805,
 -15.70563968,  5.87078191]

qfrc_actuator:
[-1.32971244e-06, 2.98864766e-04, 8.04790795e-05, 6.31006286e-05,
 -1.43269286e-06,-7.78357536e-06,-2.66036821e-05,-1.11733771e-05,
 -8.81375020e-06,-2.35508088e-05,-3.04154182e-05,-5.70693692e-06,
  4.47088082e-02, 1.68969268e-02, 5.07915959e-03,-2.01630420e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11057741,  0.11395667, -1.10471537,  0.11395667,  6.31954185,
        0.53732956, -1.10471537,  0.53732956,  1.16600552,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003051073969062705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51089855, -0.84321631, -0.16723912, -0.08666275, -0.14303318,
        0.98591636, -0.8552615 ,  0.51819664,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10297811, -0.03887304,  0.30477183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.7674299 , -11.2254593 ,  -3.53008075, -11.2254593 ,
        12.6072596 ,  -2.67061145,  -3.53008075,  -2.67061145,
        20.25982492,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005340113310272338
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.45802138e-07, -8.45802138e-07,  1.00000000e+00,  7.15381256e-13,
        1.00000000e+00,  8.45802138e-07, -1.00000000e+00, -1.00974196e-28,
        8.45802138e-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([ 0.09310327, -0.05347633,  0.06198799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.50236293e-05, 3.50042632e-06, 2.91968105e-06, 2.33683532e-05,
  3.14396238e-06,-4.59725163e-05, 6.75067761e-06,-5.12306320e-06,
 -2.27077810e-05,-4.43324809e-06,-1.44918355e-05,-2.62419090e-05,
  5.41744218e-02, 2.19740651e-02,-1.74365983e-03, 8.57602227e-04,
 -1.80514015e-05, 7.63815745e-06,-9.80999198e+00,-6.49179968e-02,
 -9.14807265e-03,-5.58679323e-03]


--- Step 1050 ---
qpos:
[ 0.00987617, 0.00810385,-0.00562556, 0.03350089, 0.00350195, 0.00287287,
 -0.00679234, 0.03911371, 0.01304569, 0.00592627,-0.01172919, 0.03408105,
  0.86991489,-0.01274936, 1.10666071, 0.04626503, 0.09181045,-0.06672712,
  0.14229251, 0.94596588,-0.03310601, 0.03081857, 0.32109619]

qacc:
[ 1.64431533e+00,-1.90638666e+00, 5.01971985e+00,-1.32720392e+00,
  4.09125316e-01, 1.29072451e-01,-2.10672140e+00, 7.47500834e+00,
  6.35631953e-01, 4.23185211e+00,-1.69035403e+01, 2.99370435e+01,
 -2.14772369e+01,-4.54612625e+01,-1.84387218e+02, 4.63500950e+02,
 -4.04723712e-01, 1.29712528e+00,-1.22758762e-01,-2.34901612e+01,
  5.54742675e+00,-2.67628581e+01]

qfrc_actuator:
[ 7.71285714e-06, 2.74997392e-04, 1.15072494e-04, 7.62770756e-05,
  8.44345263e-07, 1.23330688e-07,-1.51925431e-05, 5.95838449e-06,
 -4.23631316e-06, 4.79486422e-05,-4.92522636e-05, 3.40743215e-05,
  4.47038942e-02, 1.68349074e-02, 5.05390826e-03,-1.99116007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10566044, -0.61410173, -0.91943682, -0.61410173,  2.52994155,
       -0.95129265, -0.91943682, -0.95129265,  1.74103903,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002990395714474201
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51081529, -0.84328332, -0.16715555, -0.08660409, -0.14297102,
        0.98593054, -0.85531718,  0.51810474,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10298822, -0.03888927,  0.30478887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.77584167,  3.6567565 , 11.19368478,  3.6567565 , 39.03439244,
       -8.90483203, 11.19368478, -8.90483203, 14.68487503,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000534521881978306
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03851971e-13, -1.03851971e-13,  1.00000000e+00,  1.07852320e-26,
        1.00000000e+00,  1.03851971e-13, -1.00000000e+00,  0.00000000e+00,
        1.03851971e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08296308, -0.1116399 ,  0.06198798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.46769456e-06,-2.03338921e-05, 3.64665779e-05, 1.38776568e-05,
  2.35031717e-06,-1.66100149e-05, 2.57324093e-06, 1.52981862e-05,
  3.92950562e-06, 6.49238981e-05,-2.24423705e-05, 3.85814840e-05,
  4.59158433e-02, 1.56810216e-02,-1.65800921e-03, 1.28823413e-04,
 -2.65432104e-05, 2.23698061e-05,-9.80997525e+00,-6.49188740e-02,
 -9.15317290e-03,-5.58254862e-03]


--- Step 1051 ---
qpos:
[ 0.00987578, 0.00810403,-0.00562398, 0.0335017 , 0.00350164, 0.00287243,
 -0.00679227, 0.03911322, 0.0130457 , 0.0059262 ,-0.01172879, 0.03408168,
  0.86977061,-0.01282034, 1.10682261, 0.04628859, 0.09181443,-0.06671879,
  0.14229318, 0.94597999,-0.0331508 , 0.03079253, 0.32105249]

qacc:
[-2.05811988e+00,-1.88945928e-01,-3.80572536e-01, 3.30938295e+00,
 -2.80907200e+00, 1.50140634e+00,-5.81919406e+00, 9.52113902e+00,
  4.79215135e-01, 1.27783246e+00,-5.66051408e+00, 1.30227827e+01,
 -2.12339178e+01,-4.14697192e+01,-1.46761773e+02, 3.09704649e+02,
 -7.29575378e-02, 9.67193676e-01,-8.39984476e-02,-1.69594280e+01,
  5.55280838e+00,-2.34387765e+01]

qfrc_actuator:
[-4.66202595e-06, 2.60741443e-04, 1.17059486e-04, 8.37712645e-05,
 -1.55758166e-05, 2.29686347e-05,-2.63131338e-05, 1.63234173e-05,
 -1.51863123e-06, 7.29126667e-05,-4.25242853e-05, 5.74412571e-05,
  4.47133351e-02, 1.68404864e-02, 5.03940108e-03,-2.06744006e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10505806,  0.30554922, -1.06197599,  0.30554922,  2.50489481,
        0.40275771, -1.06197599,  0.40275771,  1.22093856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002982842971655829
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10806042e-01, -8.43290462e-01, -1.67147791e-01, -8.65983805e-02,
       -1.42965396e-01,  9.85931852e-01, -8.55323277e-01,  5.18094675e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10299438, -0.03889056,  0.30479121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.76745945,  7.00961742, -9.45189745,  7.00961742, 39.64944994,
       20.67755043, -9.45189745, 20.67755043, 27.10212832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005340131243900675
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.19754559e-14,  2.59877280e-14,  1.00000000e+00, -1.35072401e-27,
        1.00000000e+00, -2.59877280e-14, -1.00000000e+00,  0.00000000e+00,
        5.19754559e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08297147, -0.11163565,  0.06198799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21170269e-05,-1.75269704e-05, 2.73537638e-06, 8.14882228e-06,
 -1.63598803e-05, 1.47642007e-05,-1.37011883e-05, 1.00420458e-05,
  2.85016169e-06, 5.83019909e-05, 1.87104809e-05, 2.61233172e-05,
  5.06334558e-02, 1.88875143e-02, 2.54541028e-03,-9.31072771e-04,
 -3.01283756e-06, 7.56450212e-08,-9.80999600e+00,-6.49159637e-02,
 -9.15015379e-03,-5.57993195e-03]


--- Step 1052 ---
qpos:
[ 0.00987559, 0.00810437,-0.00562306, 0.0335026 , 0.00350115, 0.00287227,
 -0.00679213, 0.03911282, 0.01304575, 0.00592646,-0.01172792, 0.03408153,
  0.86963611,-0.01288631, 1.10707284, 0.04627455, 0.09182414,-0.06671319,
  0.14229275, 0.94597279,-0.03314143, 0.03079537, 0.32107439]

qacc:
[ 1.72730822e+00, 2.27672217e+00,-8.22769116e+00, 1.08510435e+01,
 -1.71337990e+00, 3.55009720e-01,-1.11895819e+00, 2.35337125e+00,
  2.93987479e-01,-2.42285755e+00, 1.25764156e+01,-2.70213175e+01,
 -2.04945858e+00, 9.60475635e+00, 2.44639969e+02,-6.65547786e+02,
  1.43065458e+00,-6.86103996e-01,-2.73881230e-01, 2.88876978e+01,
  4.20516005e+00, 3.57596551e+01]

qfrc_actuator:
[ 5.96367289e-06, 2.69972569e-04, 8.20436085e-05, 8.78417866e-05,
 -2.51161852e-05, 5.44965932e-05,-1.50773709e-05, 2.26221457e-05,
  7.37350402e-08, 8.76729775e-05,-2.09396820e-05, 1.76822196e-05,
  4.47290203e-02, 1.69082612e-02, 5.01401321e-03,-2.12392605e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10745078, -0.61861151,  0.91856793, -0.61861151,  2.29378574,
        0.79893978,  0.91856793,  0.79893978,  1.64549846,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030126878773600283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5108644 , -0.84324165, -0.16721569, -0.08664447, -0.14301686,
        0.98592034, -0.85528375,  0.51815992,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10299798, -0.03887939,  0.30478319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.79621005, -6.62668657,  9.75897519, -6.62668657, 22.97346392,
        7.58974756,  9.75897519,  7.58974756, 16.94991495,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005357576537344394
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.18062139e-14, -1.03612428e-13,  1.00000000e+00,  5.36776760e-27,
        1.00000000e+00,  1.03612428e-13, -1.00000000e+00,  0.00000000e+00,
        5.18062139e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05000095, -0.06345084,  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:
[ 1.02715630e-05, 3.14339011e-07,-3.80390140e-05, 3.56755106e-06,
 -1.00001957e-05, 3.73947765e-05, 1.29514573e-05, 6.65538641e-06,
  1.69218489e-06, 5.23449304e-05, 3.68304848e-05,-3.61070810e-05,
  5.51170469e-02, 2.19591169e-02, 7.25832082e-03,-1.09622181e-03,
 -3.31051723e-05, 1.06117049e-05,-9.80998347e+00,-6.49210276e-02,
 -9.15915172e-03,-5.57993490e-03]


--- Step 1053 ---
qpos:
[ 0.00987518, 0.00810456,-0.0056222 , 0.03350354, 0.00350054, 0.00287252,
 -0.00679162, 0.03911176, 0.01304581, 0.00592686,-0.01172669, 0.03408094,
  0.86952157,-0.01293873, 1.10744293, 0.04625177, 0.09183785,-0.06670875,
  0.14229168, 0.94594414,-0.0330897 , 0.03081641, 0.3211621 ]

qacc:
[-1.89531483e+00, 3.99544191e-02,-5.73779826e-01, 1.41461471e+00,
 -9.70430091e-01,-1.81188764e+00, 1.00187169e+01,-2.22044077e+01,
  1.75898222e-01,-1.76153331e+00, 8.41601704e+00,-1.67727961e+01,
 -7.38658715e-02, 1.60488774e+01, 2.03943125e+02,-4.55415682e+02,
  9.99768364e-01,-2.86823196e-01,-1.58647991e-01, 2.15900024e+01,
  1.04825067e+00, 3.55289622e+01]

qfrc_actuator:
[-5.45627402e-06, 2.57530257e-04, 7.88235812e-05, 8.98658383e-05,
 -3.05249156e-05, 9.10705780e-05, 9.31923948e-06,-8.99742481e-06,
  9.91403663e-07, 7.84667469e-05,-8.60684409e-06,-5.64644112e-06,
  4.47427446e-02, 1.69723017e-02, 5.00630445e-03,-2.09412937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10743917, -0.01378436,  1.10735338, -0.01378436,  1.87488954,
        0.00955324,  1.10735338,  0.00955324,  1.10755809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000301254411345111
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10826768e-01, -8.43244803e-01, -1.67314718e-01, -8.66908712e-02,
       -1.43104534e-01,  9.85903537e-01, -8.55301529e-01,  5.18130576e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10300587, -0.03887438,  0.30478351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.79321743,   5.21103603, -10.57946506,   5.21103603,
        47.12915526,  17.4051187 , -10.57946506,  17.4051187 ,
        20.36630692,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005355761306749529
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55471318e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.55471318e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05000937, -0.06344579,  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:
[-1.11279790e-05,-1.99918290e-05,-7.73360304e-06, 7.85640814e-07,
 -5.68078610e-06, 6.04476338e-05, 3.39479390e-05,-2.94382317e-05,
  9.85745837e-07, 2.61070630e-05, 2.64194961e-05,-2.05161837e-05,
  5.46398804e-02, 2.17731409e-02, 2.82908802e-03, 8.13134908e-04,
 -4.08652850e-06, 2.08699405e-06,-9.80999910e+00,-6.49211144e-02,
 -9.15215301e-03,-5.57982347e-03]


--- Step 1054 ---
qpos:
[ 0.00987394, 0.00810477,-0.00562145, 0.03350413, 0.00349987, 0.00287311,
 -0.00679107, 0.03911037, 0.01304589, 0.00592699,-0.01172566, 0.03408051,
  0.86933209,-0.01304732, 1.10774709, 0.0462641 , 0.09184834,-0.06669977,
  0.14229046, 0.94593566,-0.03309365, 0.03082119, 0.32118623]

qacc:
[-7.23136559e+00,-3.72785429e-01, 2.86412853e+00,-8.74140938e+00,
 -5.33105804e-01,-3.61868834e-01, 3.38500184e+00,-9.57654675e+00,
  9.50675515e-02, 5.55642603e-01,-3.19257403e+00, 6.56065424e+00,
 -1.22027694e+01,-4.64037135e+01,-2.04122800e+02, 5.71539215e+02,
 -8.04485149e-01, 1.13216323e+00,-3.86754615e-02,-2.76291652e+01,
  1.99072882e+00,-3.44408207e+01]

qfrc_actuator:
[-4.75204265e-05, 2.67828112e-04, 7.65795118e-05, 7.29291075e-05,
 -3.34605962e-05, 9.49113117e-05, 5.78193259e-06,-2.71564078e-05,
  1.50478675e-06, 1.94408870e-05,-3.74272088e-05,-1.38831051e-06,
  4.47540255e-02, 1.70413187e-02, 5.00851258e-03,-2.16841333e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10595754, -0.0796887 ,  1.10308285, -0.0796887 ,  4.85701982,
        0.27098351,  1.10308285,  0.27098351,  1.12553387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000299411097569943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51068717, -0.84330657, -0.16742952, -0.08672836, -0.14321605,
        0.98588405, -0.85538109,  0.51799922,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10301708, -0.03887508,  0.30478932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.80539671, -6.73870519,  9.69315448, -6.73870519, 19.83800945,
        5.58429243,  9.69315448,  5.58429243, 15.68761075,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005363147971982618
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03504791e-13,  1.03504791e-13,  1.00000000e+00, -1.07132419e-26,
        1.00000000e+00, -1.03504791e-13, -1.00000000e+00,  0.00000000e+00,
        1.03504791e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0830042 , -0.11161441,  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:
[-4.23895637e-05,-2.46720411e-06,-7.31252638e-06,-1.80495977e-05,
 -3.07623215e-06, 4.33796316e-05, 1.21051895e-05,-1.49664000e-05,
  5.52724017e-07,-3.98757914e-05,-2.09012069e-05, 5.88934049e-06,
  5.36522600e-02, 2.11655467e-02,-3.16776567e-03, 1.17430248e-03,
 -7.88758902e-05, 3.33689969e-05,-9.80997641e+00,-6.49136359e-02,
 -9.16729662e-03,-5.57879777e-03]


--- Step 1055 ---
qpos:
[ 0.00987256, 0.00810529,-0.00562112, 0.03350381, 0.00349917, 0.00287415,
 -0.00679089, 0.03910914, 0.01304597, 0.00592677,-0.01172519, 0.03408018,
  0.86907091,-0.01320706, 1.10795275, 0.04628134, 0.09185736,-0.0666876 ,
  0.14228927, 0.94594464,-0.03313838, 0.03081638, 0.32115561]

qacc:
[-1.33511010e+00,-2.81227164e-01, 5.44576257e+00,-2.07867831e+01,
 -2.83524396e-01, 1.94566414e+00,-6.75754434e+00, 9.73471483e+00,
  3.92305009e-02, 1.25864703e+00,-5.54995455e+00, 8.26036219e+00,
 -1.37669932e+01,-3.97639482e+01,-1.60740483e+02, 3.50245058e+02,
 -3.68106333e-01, 7.98746038e-01, 6.48204839e-03,-1.97007187e+01,
  2.65213168e+00,-2.94872070e+01]

qfrc_actuator:
[-5.40192169e-05, 2.91658907e-04, 5.72418249e-05, 2.72328318e-05,
 -3.49188486e-05, 1.14522843e-04,-1.43395655e-05,-1.95389117e-05,
  1.77597778e-06,-1.58654545e-05,-7.27591961e-05, 1.23933231e-06,
  4.47716613e-02, 1.71776193e-02, 4.98647077e-03,-2.39875328e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.107891  ,  0.21491063, -1.08684676,  0.21491063,  2.32831184,
        0.24132327, -1.08684676,  0.24132327,  1.15560972,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003018134027010334
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51064249, -0.84330222, -0.16758763, -0.08680503, -0.14335445,
        0.98585718, -0.85539999,  0.51796801,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10302502, -0.03886356,  0.30478275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.8171053 ,  7.29098532, -9.29975864,  7.29098532, 29.66139908,
       13.98987749, -9.29975864, 13.98987749, 22.78513096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005370246915218368
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.5841992e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.5841992e-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([ 0.08301632, -0.11160626,  0.06198792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.70788924e-06, 2.01383277e-05,-2.13821734e-05,-4.64077797e-05,
 -1.53043472e-06, 4.57027488e-05,-1.01980401e-05, 9.60447422e-06,
  2.74968738e-07,-6.16854249e-05,-4.59519180e-05, 3.08654182e-07,
  5.74146179e-02, 2.41118817e-02, 9.96977496e-05,-8.13185924e-04,
 -2.36433327e-06, 2.39167629e-06,-9.81000085e+00,-6.49136849e-02,
 -9.14982326e-03,-5.57963070e-03]


--- Step 1056 ---
qpos:
[ 0.0098718 , 0.00810565,-0.0056206 , 0.03350331, 0.00349846, 0.00287558,
 -0.00679122, 0.03910767, 0.01304605, 0.00592611,-0.01172516, 0.03408057,
  0.86883661,-0.01335045, 1.10824146, 0.04626309, 0.09187109,-0.06667817,
  0.1422874 , 0.9459298 ,-0.03312856, 0.03083516, 0.32119856]

qacc:
[ 5.47182136e+00,-1.11854550e+00, 4.41886298e+00,-7.71239623e+00,
 -1.28909182e-01, 1.47950603e+00,-3.52419892e+00, 4.27583634e-02,
  1.74152355e-02, 2.17016143e+00,-1.16522952e+01, 2.52975634e+01,
  3.31612679e+00, 1.56006165e+01, 2.30297199e+02,-6.26919549e+02,
  1.17855752e+00,-6.85684161e-01,-1.68557828e-01, 2.80674741e+01,
  1.54495184e+00, 3.98542765e+01]

qfrc_actuator:
[-2.17703806e-05, 2.70060407e-04, 6.35159402e-05, 1.82431894e-05,
 -3.54966350e-05, 1.25614561e-04,-4.40112258e-05,-3.23204651e-05,
  1.90272073e-06,-3.67479890e-05,-9.38178319e-05, 3.84017073e-05,
  4.47848657e-02, 1.73362345e-02, 5.00311608e-03,-2.36926959e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11214503,  0.2993821 , -1.07109146,  0.2993821 ,  2.97361381,
        0.52030145, -1.07109146,  0.52030145,  1.25757513,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003070066279440537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51068212, -0.84323689, -0.16779548, -0.08692256, -0.14352628,
        0.98582183, -0.85536439,  0.5180268 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10303072, -0.03884189,  0.30476811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.81702215, -6.60818833,  9.7966249 , -6.60818833, 22.25324139,
        7.03961853,  9.7966249 ,  7.03961853, 16.56550701,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000537019650662926
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.16844692e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.16844692e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05003873, -0.06342766,  0.06198792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.20371358e-05,-1.67627417e-05, 6.18725742e-06,-9.77029818e-06,
 -6.05334218e-07, 3.49165978e-05,-2.11663309e-05,-1.09889862e-05,
  1.14588461e-07,-6.48522839e-05,-3.94517438e-05, 3.29352641e-05,
  6.10123978e-02, 2.68312367e-02, 5.03550197e-03,-1.03061718e-03,
 -1.79401300e-05, 1.26406165e-05,-9.80998391e+00,-6.49203405e-02,
 -9.15349096e-03,-5.58219429e-03]


--- Step 1057 ---
qpos:
[ 0.00987109, 0.00810557,-0.00561962, 0.03350307, 0.0034981 , 0.00287705,
 -0.00679147, 0.03910572, 0.01304648, 0.00592523,-0.01172551, 0.03408137,
  0.86856415,-0.01350781, 1.10856494, 0.04625508, 0.09188368,-0.06666846,
  0.14228725, 0.94591298,-0.03312613, 0.03086628, 0.32124533]

qacc:
[  0.43975927, -1.36461525,  2.9561615 ,  1.03697938,  3.02502175,
  -1.19900754,  6.33525354,-14.76791629,  3.03192413,  1.59287667,
  -7.84333074, 15.69968401,-20.35028034,  5.73719314, 21.28693507,
   2.01611775, -0.28686395,  0.07258609,  0.43043484, -1.61212595,
   6.98896183,  2.21268651]

qfrc_actuator:
[-2.02434422e-05, 2.39305570e-04, 8.47169569e-05, 3.09114819e-05,
 -1.77995121e-05, 1.13699166e-04,-4.36244638e-05,-5.70169251e-05,
  1.96961938e-05,-3.09991753e-05,-1.06196466e-04, 6.01053216e-05,
  4.47891205e-02, 1.74611956e-02, 5.00355066e-03,-2.19872246e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11341339,  0.2928205 , -1.07421857,  0.2928205 ,  5.89536431,
        1.30350872, -1.07421857,  1.30350872,  1.46873594,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003085312122404232
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51061024, -0.84323455, -0.16802583, -0.08703309, -0.14372863,
        0.98578259, -0.85539607,  0.51797449,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10304081, -0.03882839,  0.30476367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.81348115, -6.94421939,  9.55699502, -6.94421939, 23.28634654,
        8.33631222,  9.55699502,  8.33631222, 17.87073877,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005368049817338795
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12754479e-06, -7.81012028e-07,  1.00000000e+00, -8.80626045e-13,
        1.00000000e+00,  7.81012028e-07, -1.00000000e+00, -1.00974196e-28,
       -1.12754479e-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([ 0.06615662, -0.08644182,  0.06198793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43246402e-06,-3.92734643e-05, 1.81528821e-05, 1.19718960e-05,
  1.76934116e-05, 2.72185409e-06, 4.60240460e-06,-2.41456590e-05,
  1.77723342e-05,-3.72316433e-05,-2.94877062e-05, 1.82010322e-05,
  5.96711662e-02, 2.61407813e-02, 8.79177720e-04, 9.13202852e-04,
 -1.35178278e-05, 3.62442755e-06,-9.81000061e+00,-6.49152600e-02,
 -9.14908348e-03,-5.58342020e-03]


--- Step 1058 ---
qpos:
[ 0.0098704 , 0.00810545,-0.00561853, 0.0335033 , 0.00349864, 0.00287832,
 -0.00679104, 0.03910349, 0.01304678, 0.00592409,-0.01172545, 0.03408203,
  0.86834319,-0.01361171, 1.10884918, 0.04626067, 0.09189162,-0.06665945,
  0.14228934, 0.94591098,-0.03313842, 0.03087728, 0.32124889]

qacc:
[ 2.13602869e-01, 6.32268111e-01,-4.36171043e+00, 1.24732609e+01,
  7.98211236e+00,-2.74237989e+00, 1.06157381e+01,-1.65784569e+01,
 -1.17187755e+00,-1.77601223e+00, 6.43088989e+00,-9.34219445e+00,
  3.31363285e+00, 4.87487419e+01,-9.83116714e+01, 2.61390873e+02,
 -1.15956552e+00,-1.77810744e-01, 5.59211478e-01,-9.27519426e+00,
 -6.66285997e+00,-2.33717684e+01]

qfrc_actuator:
[-1.90710119e-05, 2.56647214e-04, 9.67598989e-05, 5.62097637e-05,
  2.82641963e-05, 1.05949395e-04,-7.84090510e-06,-7.07691483e-05,
  1.22404517e-05,-2.70642363e-05,-7.77539862e-05, 5.48090429e-05,
  4.47982159e-02, 1.76074970e-02, 4.95300784e-03,-2.25910965e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031204251670501553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10533660e-01, -8.43229679e-01, -1.68282773e-01, -8.71569864e-02,
       -1.43953991e-01,  9.85738763e-01, -8.55429157e-01,  5.17919837e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10305115, -0.03881104,  0.30475583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.80129483,  -4.28232556, -10.99691991,  -4.28232556,
        58.50851564, -18.18832248, -10.99691991, -18.18832248,
        18.88403426,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000536066047194662
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03552821e-13,  9.94442900e-07,  1.00000000e+00, -1.02977367e-19,
        1.00000000e+00, -9.94442900e-07, -1.00000000e+00, -1.20370622e-35,
        1.03552821e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08888028, -0.08151163,  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:
[ 1.22607874e-06,-3.62736609e-07, 6.57100727e-06, 2.44749891e-05,
  4.65685058e-05,-6.35141274e-06, 3.60666020e-05,-1.39454282e-05,
 -6.96612729e-06,-2.21544077e-05, 1.77619372e-05,-7.55748787e-06,
  6.15850992e-02, 2.69875298e-02,-9.16995681e-04, 3.39126863e-04,
 -1.32348691e-05, 6.66486149e-07,-9.81000230e+00,-6.49109979e-02,
 -9.14505795e-03,-5.58666111e-03]


--- Step 1059 ---
qpos:
[ 0.00986973, 0.0081056 ,-0.00561776, 0.03350416, 0.00349938, 0.00287945,
 -0.00679022, 0.0391018 , 0.01304629, 0.00592293,-0.01172541, 0.03408227,
  0.86829281,-0.01358752, 1.10911323, 0.04625993, 0.09189525,-0.06665657,
  0.14229248, 0.94591285,-0.0331276 , 0.03086284, 0.32124591]

qacc:
[  0.15404959,  2.54921169,-11.22377036, 22.46264072,  1.8010818 ,
  -0.16191085, -2.03356391, 11.09761418, -6.87535166, -0.80295407,
   4.60402823,-11.77214842, 39.34260748, 89.61694568,-10.4675688 ,
  -6.16689225, -1.08080887, -1.53198926,  0.26342705,  7.00507265,
 -15.69624213, -3.78391992]

qfrc_actuator:
[-1.81066005e-05, 2.84886544e-04, 8.57389530e-05, 8.87638274e-05,
  3.73912712e-05, 1.00907697e-04, 1.30587644e-05,-4.24440214e-05,
 -2.77748949e-05,-2.40887394e-05,-7.87104951e-05, 3.36999046e-05,
  4.48141729e-02, 1.76870181e-02, 4.90924241e-03,-2.41224738e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11909363, -0.19624845, -1.10175183, -0.19624845,  2.72486496,
       -0.28602642, -1.10175183, -0.28602642,  1.1700418 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031523081765073553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10525717e-01, -8.43204627e-01, -1.68432330e-01, -8.72353485e-02,
       -1.44081379e-01,  9.85713219e-01, -8.55425909e-01,  5.17925201e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1030597 , -0.03879768,  0.30475008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.78100881,  4.51911219, 10.8797883 ,  4.51911219, 25.03966643,
       -5.50721756, 10.8797883 , -5.50721756, 14.06852887,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005348354420390833
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.18955429e-14, -2.07582172e-13,  1.00000000e+00,  1.07725895e-26,
        1.00000000e+00,  2.07582172e-13, -1.00000000e+00,  0.00000000e+00,
        5.18955429e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09438775, -0.05312527,  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:
[ 9.97182398e-07, 3.04366213e-05,-9.45080009e-06, 3.32396499e-05,
  1.04479357e-05,-1.77087930e-06, 2.35305761e-05, 2.90286415e-05,
 -4.02249169e-05,-6.03057718e-06,-3.59470455e-06,-2.15897842e-05,
  5.90268172e-02, 2.43972531e-02, 9.98092714e-04,-4.94249913e-04,
  5.52792768e-07, 5.03362701e-07,-9.80999876e+00,-6.49157700e-02,
 -9.14129602e-03,-5.58887473e-03]


--- Step 1060 ---
qpos:
[ 0.00986874, 0.00810604,-0.00561714, 0.03350505, 0.00349953, 0.00288074,
 -0.00678953, 0.03910047, 0.01304567, 0.0059224 ,-0.01172623, 0.03408189,
  0.86826701,-0.01352474, 1.10933681, 0.04626469, 0.09189631,-0.06665359,
  0.14229717, 0.94592739,-0.03312951, 0.03083714, 0.32120535]

qacc:
[-2.88988682e+00, 8.53891154e-01,-2.57665726e+00, 3.00698164e+00,
 -5.16031317e+00, 1.32071228e+00,-5.85396134e+00, 1.19878684e+01,
 -1.19407806e+00, 1.95803191e+00,-3.12469556e+00,-6.79848623e+00,
 -7.13841618e+00, 4.40278490e+01,-7.53265225e+01, 1.78978893e+02,
 -6.39524261e-01, 2.48394337e-02, 3.86954836e-01,-7.03851597e+00,
 -2.85437246e+00,-2.01897959e+01]

qfrc_actuator:
[-3.50245046e-05, 3.01602180e-04, 7.90066630e-05, 8.98192293e-05,
  6.94363222e-06, 1.15265226e-04, 7.27663098e-06,-2.51080379e-05,
 -3.33676187e-05, 3.14312193e-05,-1.14790872e-04, 3.43390973e-06,
  4.48216756e-02, 1.76481916e-02, 4.91717461e-03,-2.35802437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11695917,  1.08968621,  0.2453197 ,  1.08968621,  1.20702932,
       -0.40008279,  0.2453197 , -0.40008279,  2.89408797,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003127374029262905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10529402e-01, -8.43212875e-01, -1.68379858e-01, -8.72080080e-02,
       -1.44036592e-01,  9.85722184e-01, -8.55426498e-01,  5.17924229e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10306783, -0.03880307,  0.30475912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.71534161,   2.55796147, -11.4326752 ,   2.55796147,
        84.84537707,  16.36220831, -11.4326752 ,  16.36220831,
        15.37624317,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005308471728282881
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04570871e-13,  9.32932790e-07,  1.00000000e+00, -9.75575945e-20,
        1.00000000e+00, -9.32932790e-07, -1.00000000e+00,  0.00000000e+00,
        1.04570871e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08889242, -0.08150173,  0.06198806])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68813097e-05, 3.31942281e-05,-4.71179117e-07, 2.67570237e-06,
 -3.01533788e-05, 1.94282245e-05,-2.26510984e-06, 1.86381571e-05,
 -6.74074682e-06, 5.05054504e-05,-3.85020574e-05,-3.10654370e-05,
  5.05079466e-02, 1.79548215e-02, 2.01441197e-03,-1.24321846e-04,
  4.52626742e-07, 1.41843136e-07,-9.80999840e+00,-6.49152917e-02,
 -9.14350018e-03,-5.58656787e-03]


--- Step 1061 ---
qpos:
[ 0.00986858, 0.00810649,-0.0056162 , 0.03350594, 0.00349967, 0.0028821 ,
 -0.00678916, 0.03909973, 0.01304534, 0.00592217,-0.01172662, 0.03408144,
  0.86817431,-0.01349359, 1.10957672, 0.04626345, 0.09189918,-0.06664987,
  0.1423022 , 0.94593774,-0.03313466, 0.0308319 , 0.32117484]

qacc:
[ 7.38016313e+00,-8.61680863e-01, 3.01415277e+00,-3.30890408e+00,
 -1.95040767e-01, 2.20175357e+00,-1.02335816e+01, 2.09340976e+01,
  2.49215052e+00,-9.45955661e-01, 4.21861036e+00,-6.22580878e+00,
 -2.99705507e+01,-2.60881231e+00, 4.33135031e+01,-1.14262214e+02,
  4.50124415e-01, 1.85678014e-01, 8.26475711e-02, 1.52517810e+00,
  1.00995031e+01, 5.71445306e+00]

qfrc_actuator:
[ 8.67847582e-06, 2.93525888e-04, 9.25587741e-05, 9.00831159e-05,
  6.71694875e-06, 1.05509491e-04,-1.41417455e-05, 3.36940133e-06,
 -1.86443423e-05, 6.45772573e-05,-8.23339879e-05, 3.55546941e-06,
  4.48311044e-02, 1.76121427e-02, 4.91606956e-03,-2.13541051e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.1158207 , -0.16676292, -1.1032887 , -0.16676292,  3.58077508,
       -0.37257973, -1.1032887 , -0.37257973,  1.17213641,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003113957212407519
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10594528e-01, -8.43199120e-01, -1.68251216e-01, -8.71505554e-02,
       -1.43920993e-01,  9.85744150e-01, -8.55393482e-01,  5.17978756e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10307352, -0.03880874,  0.30476652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.65007768, -10.95688118,  -3.95866957, -10.95688118,
        14.1097118 ,  -6.80782225,  -3.95866957,  -6.80782225,
        30.49289802,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005268759047171704
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.99203713e-07, -5.42447640e-07,  1.00000000e+00, -4.87770932e-13,
        1.00000000e+00,  5.42447640e-07, -1.00000000e+00,  0.00000000e+00,
       -8.99203713e-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([ 0.06617805, -0.0864224 ,  0.06198815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.32312924e-05, 1.04754109e-05, 2.04306397e-05, 1.71862093e-06,
 -1.07785449e-06, 1.37660996e-06,-1.70585212e-05, 2.95941152e-05,
  1.45495463e-05, 5.21300583e-05, 3.70885278e-05, 3.53203173e-07,
  4.92882715e-02, 1.59889165e-02, 4.03230360e-03,-1.77235900e-04,
 -9.75498005e-06, 8.91307811e-07,-9.81000188e+00,-6.49141361e-02,
 -9.14793170e-03,-5.58368974e-03]


--- Step 1062 ---
qpos:
[ 0.00986895, 0.00810677,-0.00561555, 0.0335069 , 0.0034998 , 0.00288325,
 -0.00678896, 0.0390997 , 0.01304518, 0.00592188,-0.01172583, 0.03407996,
  0.86808956,-0.01345894, 1.10991817, 0.04624599, 0.09190702,-0.0666476 ,
  0.14230548, 0.94592795,-0.03309829, 0.03084626, 0.32120605]

qacc:
[ 4.60144883e+00, 6.77282469e-01,-3.02074147e+00, 4.67569939e+00,
 -3.48825820e-02, 1.64332429e+00,-9.25802394e+00, 2.20148048e+01,
  1.61355967e+00,-5.50961897e+00, 2.38958102e+01,-4.36572515e+01,
 -1.63239366e+00, 7.33822971e+00, 1.99402776e+02,-4.79092574e+02,
  1.24440001e+00,-3.62146201e-01,-4.33957265e-01, 2.15030973e+01,
  1.88446315e+00, 3.33898480e+01]

qfrc_actuator:
[ 3.44592129e-05, 2.52991080e-04, 6.46214183e-05, 8.98760709e-05,
  6.53952318e-06, 8.13274680e-05,-2.69436633e-05, 3.81509690e-05,
 -9.84531908e-06, 4.88663198e-05,-2.74596057e-05,-4.94130807e-05,
  4.48490366e-02, 1.76147723e-02, 4.85795679e-03,-2.05100400e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11694724,  0.32180827,  1.0695843 ,  0.32180827,  7.17539302,
       -1.8228184 ,  1.0695843 , -1.8228184 ,  1.66538277,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031272337896361607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51064679, -0.84318016, -0.16818762, -0.08712557, -0.14386178,
        0.985755  , -0.85536483,  0.51802607,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10307915, -0.03880723,  0.30476805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.58143112,  8.74661026, -7.59120253,  8.74661026, 34.84533445,
       26.80475124, -7.59120253, 26.80475124, 42.46595979,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005226902565723252
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.05007173, -0.063392  ,  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:
[ 2.70126414e-05,-3.03966744e-05,-2.32175094e-05, 9.75307842e-07,
 -2.08133260e-07,-2.57199776e-05,-1.36131398e-05, 3.48242349e-05,
  9.22806506e-06, 2.11342716e-05, 7.02300479e-05,-4.94428119e-05,
  5.26491997e-02, 1.75710898e-02, 3.15376328e-03, 2.06085014e-04,
 -6.04257574e-06, 3.43147716e-06,-9.81000014e+00,-6.49178183e-02,
 -9.14774857e-03,-5.58351148e-03]


--- Step 1063 ---
qpos:
[ 0.00986928, 0.00810693,-0.00561575, 0.0335072 , 0.00349993, 0.00288408,
 -0.00678912, 0.03910046, 0.01304513, 0.00592163,-0.01172465, 0.03407824,
  0.86792458,-0.01348655, 1.11018975, 0.04626211, 0.09191266,-0.06664042,
  0.14230755, 0.94593355,-0.03311369, 0.03084548, 0.32118805]

qacc:
[-3.62314461e-01, 8.79091970e-01,-5.51000203e-01,-9.51102126e+00,
 -3.20701670e-02, 2.24483066e+00,-1.19882904e+01, 2.65745449e+01,
  9.51341086e-01,-1.53364199e+00, 6.52548258e+00,-1.12418783e+01,
 -1.19253872e+01,-5.25801920e+01,-2.05439750e+02, 5.67444128e+02,
 -5.53030437e-01, 1.22639235e+00,-3.04154320e-01,-2.59017722e+01,
  1.73416228e+00,-2.67917321e+01]

qfrc_actuator:
[ 3.17128795e-05, 2.28663207e-04, 1.22609287e-05, 5.38263117e-05,
  6.38293333e-06, 4.87243719e-05,-5.23669560e-05, 7.63552151e-05,
 -4.61059940e-06, 3.95915355e-05,-1.33102383e-05,-6.22268981e-05,
  4.48624186e-02, 1.75826470e-02, 4.81063918e-03,-2.01914613e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11623043, -0.04768517,  1.11521141, -0.04768517,  4.70201004,
        0.15332384,  1.11521141,  0.15332384,  1.12278638,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031187953238589854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10604417e-01, -8.43212605e-01, -1.68153596e-01, -8.71002055e-02,
       -1.43837360e-01,  9.85760807e-01, -8.55392707e-01,  5.17980034e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1030881 , -0.03881037,  0.30477481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.54558707, -6.45417891,  9.57309539, -6.45417891, 21.10874784,
        6.44748098,  9.57309539,  6.44748098, 15.8924774 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005205010525992093
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.66575206e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.66575206e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08307238, -0.11156566,  0.06198829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98816358e-06,-4.60916127e-05,-6.14797259e-05,-3.81420491e-05,
 -1.72385383e-07,-4.83500031e-05,-3.12237806e-05, 3.73060020e-05,
  5.50323037e-06, 1.49387219e-05, 2.54513466e-05,-1.04387676e-05,
  5.22644488e-02, 1.73636329e-02,-1.97691930e-03, 1.04772533e-03,
 -1.75754393e-05, 7.71637810e-06,-9.80998939e+00,-6.49131875e-02,
 -9.15106707e-03,-5.58269296e-03]


--- Step 1064 ---
qpos:
[ 0.00986992, 0.00810675,-0.00561627, 0.03350704, 0.0035004 , 0.00288453,
 -0.00678958, 0.03910203, 0.01304514, 0.00592136,-0.01172275, 0.03407741,
  0.86768249,-0.01357254, 1.11036464, 0.04628468, 0.09191761,-0.06662972,
  0.14230872, 0.94595277,-0.03316697, 0.03083615, 0.32112684]

qacc:
[ 2.71418069e+00,-4.96879020e-01, 3.00836053e+00,-9.96407857e+00,
  3.00604036e+00, 1.96794584e+00,-1.11104507e+01, 2.56728291e+01,
  5.79650006e-01,-2.38704463e-01,-2.90397933e+00, 1.69927762e+01,
 -1.27920117e+01,-4.77143159e+01,-1.62931677e+02, 3.61415286e+02,
 -1.69742949e-01, 8.82226484e-01,-2.24867898e-01,-1.83973376e+01,
  2.54525240e+00,-2.33528718e+01]

qfrc_actuator:
[ 4.77089902e-05, 2.14075291e-04,-8.03545062e-07, 3.24788978e-05,
  2.39921750e-05, 2.90302803e-05,-6.73307527e-05, 1.16247064e-04,
 -1.51379558e-06, 5.18587098e-05, 2.99772768e-05,-1.58292779e-05,
  4.48807191e-02, 1.75940164e-02, 4.80287336e-03,-2.09763631e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11880056,  0.26116343, -1.0878917 ,  0.26116343,  2.41679095,
        0.31160052, -1.0878917 ,  0.31160052,  1.19360457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031489013868842003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51063219, -0.84318917, -0.16818675, -0.08712262, -0.14386255,
        0.98575515, -0.85537385,  0.51801118,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10309404, -0.03880104,  0.3047693 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.49191525,  9.2679729 , -6.79476228,  9.2679729 , 31.32567156,
       27.05300179, -6.79476228, 27.05300179, 48.39187987,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005172181170810392
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37511932e-13, -1.07326386e-13,  1.00000000e+00,  1.47586587e-26,
        1.00000000e+00,  1.07326386e-13, -1.00000000e+00,  0.00000000e+00,
        1.37511932e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08307726, -0.11156235,  0.06198837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59271033e-05,-5.47023438e-05,-3.14775803e-05,-2.61925365e-05,
  1.75871713e-05,-5.16125927e-05,-2.75154311e-05, 3.74627346e-05,
  3.25792596e-06, 2.54317632e-05, 4.91396285e-05, 4.77167381e-05,
  5.62925358e-02, 2.04878932e-02, 1.50247180e-03,-7.11282321e-04,
 -3.89181359e-06, 2.32036863e-06,-9.80999770e+00,-6.49153585e-02,
 -9.14725665e-03,-5.58364854e-03]


--- Step 1065 ---
qpos:
[ 0.00987074, 0.00810596,-0.0056163 , 0.03350696, 0.00350108, 0.00288491,
 -0.00679007, 0.03910365, 0.01304519, 0.00592139,-0.01172039, 0.03407642,
  0.86745871,-0.01365243, 1.11062054, 0.04626973, 0.09192796,-0.06662198,
  0.14230849, 0.9459492 ,-0.03316558, 0.03085172, 0.321136  ]

qacc:
[ 1.66544807e+00,-1.99966360e+00, 5.62898168e+00,-4.66248842e+00,
  1.82136351e+00, 1.09937245e-01,-7.92087359e-01, 1.96844471e+00,
  3.32996015e-01,-1.17218128e+00, 5.39917909e+00,-8.96397916e+00,
  4.17386156e+00, 4.61726175e+00, 2.33190630e+02,-6.41952420e+02,
  1.34961176e+00,-7.43326313e-01,-3.49301581e-01, 2.83891872e+01,
  2.18055297e+00, 3.81949284e+01]

qfrc_actuator:
[ 5.68651005e-05, 1.87836800e-04, 2.72533015e-05, 3.77509310e-05,
  3.41643674e-05, 5.27628859e-05,-5.81951838e-05, 1.21325036e-04,
  3.01156626e-07, 7.70920572e-05, 5.47538607e-05,-2.36889917e-05,
  4.49045781e-02, 1.76702603e-02, 4.79713897e-03,-2.22864480e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.12356703, -0.91859754,  0.6469787 , -0.91859754,  1.69334844,
        0.80899077,  0.6469787 ,  0.80899077,  2.27219362,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003203661752301042
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10724421e-01, -8.43112591e-01, -1.68290594e-01, -8.71937232e-02,
       -1.43940887e-01,  9.85737427e-01, -8.55311534e-01,  5.18114060e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10309805, -0.0387813 ,  0.30475572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.48976122, -6.29519976,  9.6117154 , -6.29519976, 22.50979097,
        7.21757624,  9.6117154 ,  7.21757624, 16.21691785,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005170862363219481
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07353759e-13, -1.07353759e-13,  1.00000000e+00, -1.15248296e-26,
        1.00000000e+00,  1.07353759e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07353759e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05008948, -0.06337309,  0.06198837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.59426106e-06,-6.44368611e-05, 1.19811563e-05, 1.33015831e-06,
  1.06537355e-05,-9.21618023e-06,-3.62248916e-06, 2.63937956e-06,
  1.91338700e-06, 5.16406050e-05, 3.77158926e-05,-4.14293789e-06,
  6.01712989e-02, 2.34849371e-02, 6.32598280e-03,-1.16652874e-03,
 -4.73401585e-05, 2.50695619e-05,-9.80997445e+00,-6.49234918e-02,
 -9.15653442e-03,-5.58624825e-03]


--- Step 1066 ---
qpos:
[ 0.00987202, 0.00810495,-0.00561644, 0.03350694, 0.00350187, 0.00288545,
 -0.00679028, 0.03910493, 0.01304526, 0.00592175,-0.01171829, 0.03407539,
  0.86726308,-0.01371766, 1.11098957, 0.04624545, 0.09194209,-0.06661565,
  0.14230736, 0.94592296,-0.03312089, 0.03088236, 0.32121493]

qacc:
[ 3.93352856e+00, 9.16454506e-02,-9.77342433e-01, 2.20791628e+00,
  1.03078555e+00,-1.28030891e+00, 6.32959201e+00,-1.29023337e+01,
  1.75669493e-01, 1.06313085e+00,-2.99960461e+00, 2.48077159e+00,
  5.86173899e+00, 1.13582223e+01, 1.95480139e+02,-4.40936769e+02,
  9.44342046e-01,-3.48721875e-01,-2.27069060e-01, 2.14553372e+01,
 -6.27792563e-01, 3.75636014e+01]

qfrc_actuator:
[ 7.96688442e-05, 1.90534077e-04, 2.60649103e-05, 4.09019866e-05,
  3.98725173e-05, 8.46433582e-05,-3.47498546e-05, 1.05931284e-04,
  1.34807633e-06, 7.42850273e-05, 3.29018803e-05,-2.79182616e-05,
  4.49259612e-02, 1.77265491e-02, 4.75880833e-03,-2.22550167e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.12486945, -0.0224854 ,  1.1246447 , -0.0224854 ,  1.94020498,
        0.01630128,  1.1246447 ,  0.01630128,  1.12519537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032183901955898397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51071111, -0.84309341, -0.16842702, -0.08726419, -0.1440577 ,
        0.98571413, -0.85531229,  0.51811281,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10310676, -0.03876921,  0.30475244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.47245287,  6.40294358, -9.51942689,  6.40294358, 42.99228983,
       21.20082859, -9.51942689, 21.20082859, 25.7325245 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005160261758616752
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.07574293e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.07574293e-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([ 0.05009683, -0.06336671,  0.06198839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30566269e-05,-3.07744036e-05,-1.29684234e-05, 8.31730596e-07,
  6.00785766e-06, 2.60834634e-05, 2.11839408e-05,-1.58664692e-05,
  1.12029743e-06, 3.36579981e-05,-6.70869620e-06,-7.95191941e-07,
  5.92757241e-02, 2.32370612e-02, 2.23335116e-03, 7.11744900e-04,
 -1.11688269e-06,-6.81563389e-07,-9.80999928e+00,-6.49202525e-02,
 -9.14382291e-03,-5.58764724e-03]


--- Step 1067 ---
qpos:
[ 0.0098739 , 0.00810421,-0.00561712, 0.03350691, 0.00350238, 0.00288623,
 -0.00679027, 0.03910601, 0.01304535, 0.00592193,-0.01171627, 0.03407506,
  0.8672425 ,-0.01365673, 1.11135186, 0.04624228, 0.09195076,-0.06661469,
  0.14230763, 0.94589315,-0.03307034, 0.03087761, 0.32130837]

qacc:
[ 5.31504547e+00, 1.84514667e+00,-6.10952682e+00, 6.87768020e+00,
 -2.48307293e+00,-7.27323900e-01, 3.93084435e+00,-8.00553187e+00,
  1.10791092e-01, 1.42302117e+00,-8.37031963e+00, 2.07523707e+01,
  4.54974195e+01, 8.12362409e+01,-7.38813990e+01, 2.43766655e+02,
 -1.36368778e+00,-1.34506955e+00, 3.51790728e-01,-3.20493331e+00,
 -1.78692490e+01, 6.93486338e+00]

qfrc_actuator:
[ 1.10325096e-04, 2.28192784e-04, 7.71546115e-06, 4.27725931e-05,
  2.51572952e-05, 1.03462758e-04,-2.07623871e-05, 9.63925914e-05,
  1.93475639e-06, 3.67578151e-05, 1.91047330e-05, 5.48483553e-06,
  4.49443135e-02, 1.77776222e-02, 4.66848439e-03,-2.26156192e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.12380132,  0.13047495, -1.11620146,  0.13047495,  3.13526995,
        0.23512446, -1.11620146,  0.23512446,  1.15128547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003206318493844078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10588122e-01, -8.43137420e-01, -1.68579541e-01, -8.73244948e-02,
       -1.44199495e-01,  9.85688053e-01, -8.55379566e-01,  5.18001735e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10311909, -0.03876416,  0.3047563 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.47976367, -11.00856908,  -3.25520823, -11.00856908,
        12.11730388,  -2.15605423,  -3.25520823,  -2.15605423,
        18.77117801,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000516474007978357
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07481016e-13,  1.07481016e-13,  1.00000000e+00, -1.15521688e-26,
        1.00000000e+00, -1.07481016e-13, -1.00000000e+00,  0.00000000e+00,
        1.07481016e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09443929, -0.05307752,  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:
[ 3.13062514e-05, 1.78485246e-05,-2.62635682e-05, 1.20780635e-07,
 -1.45355073e-05, 3.70835091e-05, 2.14285269e-05,-8.00078038e-06,
  6.33651577e-07,-2.01599094e-05,-7.72496302e-06, 3.45946509e-05,
  5.78843413e-02, 2.25558745e-02,-3.51883354e-03, 1.14109689e-03,
 -6.58802048e-05, 2.05983751e-05,-9.80998418e+00,-6.49107412e-02,
 -9.15555289e-03,-5.58793352e-03]


--- Step 1068 ---
qpos:
[ 0.00987544, 0.00810369,-0.00561775, 0.03350653, 0.00350237, 0.00288699,
 -0.00679026, 0.0391077 , 0.01304544, 0.00592216,-0.0117145 , 0.03407512,
  0.86713199,-0.01366221, 1.11162625, 0.04626058, 0.09195704,-0.06660871,
  0.14230734, 0.94588127,-0.03307234, 0.03086376, 0.32134448]

qacc:
[-2.95891854e+00,-5.34634819e-01, 3.85379647e+00,-1.02737343e+01,
 -4.61591230e+00, 1.28597866e+00,-7.24032227e+00, 1.79942508e+01,
  4.67798092e-02, 1.55380327e+00,-7.07104548e+00, 1.41063420e+01,
 -1.64661266e+01,-5.23548948e+01,-1.95327906e+02, 4.93720251e+02,
 -5.97639628e-01, 1.25601427e+00,-1.39665529e-01,-2.51291674e+01,
  4.81393361e+00,-3.09480435e+01]

qfrc_actuator:
[ 9.20957361e-05, 2.50926395e-04, 1.50485074e-05, 2.61480335e-05,
 -1.45931886e-06, 7.87884889e-05,-3.02655443e-05, 1.25866824e-04,
  2.24573337e-06, 4.97795593e-05, 1.00629219e-05, 2.52371585e-05,
  4.49412879e-02, 1.77437026e-02, 4.61226248e-03,-2.15256673e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11889786, -0.46704837, -1.01675869, -0.46704837,  3.82518867,
       -1.2431354 , -1.01675869, -1.2431354 ,  1.68993243,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031500330920094464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5104324 , -0.84323685, -0.16855377, -0.08728413, -0.14419381,
        0.98569246, -0.85547662,  0.51784144,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1031298 , -0.03877642,  0.30477155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.52514447,  3.54396803, 10.9667336 ,  3.54396803, 28.29196775,
       -5.41830301, 10.9667336 , -5.41830301, 13.27610272,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005192513447614261
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10246946e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.10246946e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08311867, -0.11153237,  0.06198832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73270828e-05, 2.73345346e-05, 7.80277250e-06,-1.67645310e-05,
 -2.70174505e-05, 1.10379508e-07, 5.08072837e-07, 3.16452967e-05,
  3.23402192e-07, 1.60607645e-06,-1.29855817e-05, 1.92902217e-05,
  4.91322718e-02, 1.62153388e-02,-3.24273900e-03, 1.94129322e-04,
 -7.98099555e-05, 5.06380902e-05,-9.80996591e+00,-6.49149371e-02,
 -9.15829259e-03,-5.58487686e-03]


--- Step 1069 ---
qpos:
[ 0.00987641, 0.00810334,-0.00561854, 0.03350529, 0.00350238, 0.00288764,
 -0.00679029, 0.0391094 , 0.01304553, 0.00592273,-0.0117127 , 0.03407501,
  0.86693725,-0.01372911, 1.1118024 , 0.04628372, 0.09196236,-0.06659898,
  0.14230669, 0.9458852 ,-0.03311395, 0.03084526, 0.32133039]

qacc:
[-5.05383803e+00,-1.14513687e+00, 8.09971733e+00,-2.30423086e+01,
  2.29718771e-01,-5.90897996e-02,-5.85654012e-03, 2.09037817e-01,
  1.95843283e-02, 2.81028857e-02, 1.23090462e+00,-4.36695541e+00,
 -1.62265244e+01,-4.73914961e+01,-1.60212895e+02, 3.48845188e+02,
 -2.41179387e-01, 9.34579176e-01,-9.01937211e-02,-1.84414102e+01,
  4.74707181e+00,-2.69764848e+01]

qfrc_actuator:
[ 6.29893923e-05, 2.46888405e-04, 1.92966946e-06,-1.89654888e-05,
  6.43840219e-07, 6.36985516e-05,-3.59601135e-05, 1.24748685e-04,
  2.39249560e-06, 9.29741259e-05, 2.18289766e-05, 1.90811108e-05,
  4.49429811e-02, 1.77653896e-02, 4.60535248e-03,-2.08962538e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11831049,  0.27636815, -1.08362309,  0.27636815,  2.47440637,
        0.34585984, -1.08362309,  0.34585984,  1.20651888,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031431927603512685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10362876e-01, -8.43270182e-01, -1.68597552e-01, -8.72955699e-02,
       -1.44238060e-01,  9.85684973e-01, -8.55516930e-01,  5.17774837e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10313681, -0.03877432,  0.3047727 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.53821705,  6.29691824, -9.668468  ,  6.29691824, 34.85757252,
       15.18752244, -9.668468  , 15.18752244, 21.42960698,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005200506029416074
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00211387e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.00211387e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0831304, -0.1115261,  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:
[-2.95877152e-05, 1.21573070e-05,-7.07798095e-06,-4.39946513e-05,
  1.33374597e-06,-1.36079940e-05,-4.52594314e-06,-4.84270955e-07,
  1.58799826e-07, 4.22081288e-05, 1.11422604e-05,-6.16568104e-06,
  5.36287612e-02, 1.95570361e-02, 1.13967067e-03,-8.18292194e-04,
 -8.39929476e-06, 9.66997480e-06,-9.80999623e+00,-6.49104209e-02,
 -9.14458336e-03,-5.58311109e-03]


--- Step 1070 ---
qpos:
[ 0.00987703, 0.0081031 ,-0.00561977, 0.03350423, 0.00350207, 0.0028882 ,
 -0.00679033, 0.03911039, 0.01304562, 0.00592336,-0.01171067, 0.03407485,
  0.86666523,-0.01385197, 1.11188833, 0.04630411, 0.09196781,-0.0665866 ,
  0.14230583, 0.94590342,-0.03318473, 0.03082515, 0.32127139]

qacc:
[-3.14324828e+00, 1.79784954e+00,-7.00143626e+00, 1.09303786e+01,
 -2.81424748e+00,-1.54572710e+00, 8.36351168e+00,-2.06876398e+01,
  1.71030988e-02,-6.30920278e-01, 2.61362783e+00,-3.94599669e+00,
 -1.55961654e+01,-4.22441541e+01,-1.25290096e+02, 2.44080413e+02,
  3.28451753e-02, 6.65567921e-01,-5.27642169e-02,-1.31295505e+01,
  4.44985223e+00,-2.40114757e+01]

qfrc_actuator:
[ 4.54823916e-05, 2.44499695e-04,-2.32950723e-05,-9.50811085e-06,
 -1.58673844e-05, 5.44432427e-05,-3.93547926e-05, 8.78892652e-05,
  2.44170119e-06, 8.29612644e-05, 2.81532017e-05, 1.55290148e-05,
  4.49608817e-02, 1.78420082e-02, 4.61614797e-03,-2.17053825e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.1206918 ,  0.37273441, -1.05689128,  0.37273441,  2.85816851,
        0.61275684, -1.05689128,  0.61275684,  1.33679308,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003170793221396765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5103711 , -0.84324258, -0.16871064, -0.08735725, -0.14433292,
        0.98566562, -0.85550573,  0.51779335,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10314141, -0.03876034,  0.30476401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.50807163,  6.3399623 , -9.60419651,  6.3399623 , 41.04063976,
       19.49516216, -9.60419651, 19.49516216, 24.37729946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005182069797157879
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.34328460e-14, -2.14243163e-13,  1.00000000e+00, -5.02032704e-27,
        1.00000000e+00,  2.14243163e-13, -1.00000000e+00,  0.00000000e+00,
       -2.34328460e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08313955, -0.11152259,  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:
[-1.83414849e-05, 1.07353142e-06,-2.50912356e-05, 8.88354172e-06,
 -1.64778526e-05,-1.78475082e-05,-6.79105431e-06,-3.76138099e-05,
  7.18658557e-08, 1.55865235e-05, 1.61744864e-05,-1.48285124e-06,
  5.78573638e-02, 2.27056107e-02, 6.05794421e-03,-1.14253774e-03,
 -1.30990882e-05, 8.73557068e-06,-9.80998686e+00,-6.49142246e-02,
 -9.14828993e-03,-5.58378406e-03]


--- Step 1071 ---
qpos:
[ 0.00987674, 0.00810293,-0.00562107, 0.03350396, 0.00350122, 0.00288865,
 -0.00679041, 0.03911092, 0.01304572, 0.00592368,-0.01170895, 0.03407508,
  0.86641417,-0.01396812, 1.11207073, 0.04628554, 0.09197906,-0.06657781,
  0.14230382, 0.94589872,-0.03319412, 0.03083437, 0.32128338]

qacc:
[-7.94169105e+00, 1.91176868e+00,-9.99147202e+00, 2.36831357e+01,
 -4.75199974e+00,-9.34132518e-01, 5.01169007e+00,-1.25847165e+01,
 -4.33399053e-04, 1.21346848e+00,-6.59404034e+00, 1.40793290e+01,
  5.08615412e+00, 4.68013062e+00, 2.60386754e+02,-7.03948008e+02,
  1.44863534e+00,-8.98416797e-01,-2.89377767e-01, 3.22724980e+01,
  3.18973344e+00, 3.86914484e+01]

qfrc_actuator:
[-5.58881171e-07, 2.60852144e-04,-1.99138363e-05, 3.19801786e-05,
 -4.32115348e-05, 4.87251295e-05,-4.13638802e-05, 6.58111723e-05,
  2.43275027e-06, 2.33982680e-05,-4.49803905e-06, 3.12466729e-05,
  4.49909137e-02, 1.79351994e-02, 4.57114571e-03,-2.24334145e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.12509855, -0.6086065 ,  0.94627949, -0.6086065 ,  2.35809561,
        0.79301099,  0.94627949,  0.79301099,  1.63512931,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032209707537626716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5104509 , -0.843159  , -0.16888687, -0.08746485, -0.14447378,
        0.98563544, -0.85544712,  0.51789016,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10314477, -0.0387368 ,  0.30474884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.55151393, -6.5356884 ,  9.52482289, -6.5356884 , 21.31030619,
        6.69623217,  9.52482289,  6.69623217, 16.14629615,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005208632178429484
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06575295e-13, -1.06575295e-13,  1.00000000e+00,  1.13582936e-26,
        1.00000000e+00,  1.06575295e-13, -1.00000000e+00,  0.00000000e+00,
        1.06575295e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05014184, -0.06334443,  0.06198828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.65605940e-05, 1.21676492e-05, 8.39684113e-07, 4.08453415e-05,
 -2.78170084e-05,-1.87407946e-05,-7.84105966e-06,-2.38125708e-05,
  1.99119613e-09,-4.76154650e-05,-2.75213956e-05, 1.69107954e-05,
  6.17513745e-02, 2.55999345e-02, 1.05198437e-02,-1.07871325e-03,
 -6.09172127e-05, 3.13217181e-05,-9.80995967e+00,-6.49242742e-02,
 -9.16054249e-03,-5.58640139e-03]


--- Step 1072 ---
qpos:
[ 0.00987624, 0.00810291,-0.00562177, 0.03350345, 0.00350005, 0.00288931,
 -0.00679067, 0.03911081, 0.01304616, 0.0059236 ,-0.01170784, 0.03407553,
  0.86619501,-0.01406756, 1.11238166, 0.04625723, 0.09199433,-0.06657088,
  0.14230115, 0.94587113,-0.03315502, 0.0308618 , 0.32136598]

qacc:
[-1.78230700e+00,-1.97004811e+00, 8.37760527e+00,-1.37593553e+01,
 -2.83724004e+00,-5.47551343e-01, 5.12451083e+00,-1.62393666e+01,
  3.01577356e+00, 1.63983776e+00,-7.52887224e+00, 1.25910379e+01,
  6.64923417e+00, 1.29077608e+01, 2.19443454e+02,-4.91703199e+02,
  1.00713324e+00,-4.64390651e-01,-1.62639183e-01, 2.43913482e+01,
 -2.78707716e-04, 3.81174805e+01]

qfrc_actuator:
[-9.77193004e-06, 2.88443553e-04, 1.81770944e-05, 2.10009120e-05,
 -5.89544503e-05, 8.06886576e-05,-4.25095918e-05, 3.48641704e-05,
  2.01419540e-05,-1.22732264e-05,-4.23521347e-05, 4.03498860e-05,
  4.50168386e-02, 1.80335442e-02, 4.53769393e-03,-2.25621744e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.12569217, -0.0266856 ,  1.12537582, -0.0266856 ,  1.88821147,
        0.01808132,  1.12537582,  0.01808132,  1.12612092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003227643303756633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10427015e-01, -8.43132860e-01, -1.69089454e-01, -8.75687531e-02,
       -1.44647699e-01,  9.85600709e-01, -8.55450744e-01,  5.17884180e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10315346, -0.0387219 ,  0.30474526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.5771536 ,   5.0352974 , -10.42479091,   5.0352974 ,
        41.54328275,  14.47399508, -10.42479091,  14.47399508,
        18.56826454,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005224291375963142
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.25023394e-13, -1.06255848e-13,  1.00000000e+00,  4.51612213e-26,
        1.00000000e+00,  1.06255848e-13, -1.00000000e+00,  0.00000000e+00,
        4.25023394e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05015266, -0.06333856,  0.06198825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05351707e-05, 3.63260408e-05, 4.21409216e-05,-9.62798568e-06,
 -1.65389931e-05, 1.88174317e-05,-6.81075112e-06,-3.24856442e-05,
  1.76958540e-05,-6.72901573e-05,-5.05185267e-05, 6.43459874e-06,
  6.07268793e-02, 2.53636937e-02, 5.66024426e-03, 8.56005296e-04,
  2.74081339e-07, 5.70531978e-07,-9.81000003e+00,-6.49233777e-02,
 -9.14381279e-03,-5.58794772e-03]


--- Step 1073 ---
qpos:
[ 0.00987633, 0.00810296,-0.00562199, 0.03350351, 0.0034987 , 0.00288984,
 -0.00679054, 0.03911034, 0.01304749, 0.00592349,-0.0117071 , 0.03407603,
  0.86615496,-0.01403663, 1.11270625, 0.04625379, 0.09200413,-0.06656964,
  0.1423003 , 0.945841  ,-0.03310707, 0.03085585, 0.32146017]

qacc:
[ 5.12994117e+00,-6.74524178e-02,-2.10287850e+00, 1.13720774e+01,
 -1.56507598e+00,-2.01241022e+00, 8.43475175e+00,-1.52209663e+01,
  7.89103352e+00, 1.06887612e+00,-4.08937483e+00, 5.48930407e+00,
  4.50865625e+01, 8.59365661e+01,-5.49976813e+01, 2.21718396e+02,
 -1.36876668e+00,-1.42334214e+00, 4.52934266e-01,-1.40166496e+00,
 -1.73627337e+01, 5.47457156e+00]

qfrc_actuator:
[ 2.05266765e-05, 2.87160072e-04, 4.09546787e-05, 5.02747292e-05,
 -6.77393363e-05, 6.39613256e-05,-2.52361112e-05, 1.67296384e-05,
  6.58906086e-05, 1.98458941e-05,-4.73888821e-05, 4.55004926e-05,
  4.50332355e-02, 1.81578139e-02, 4.55274730e-03,-2.03375325e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.12372443,  0.16174681, -1.11202274,  0.16174681,  4.74954575,
        0.52738583, -1.11202274,  0.52738583,  1.20043417,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032054469336672203
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10294246e-01, -8.43170835e-01, -1.69300695e-01, -8.76585708e-02,
       -1.44840258e-01,  9.85564445e-01, -8.55520752e-01,  5.17768522e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10316624, -0.03871493,  0.30474977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.5894053 , -11.07766312,  -3.4058325 , -11.07766312,
        12.27380492,  -2.22604853,  -3.4058325 ,  -2.22604853,
        18.82975423,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005231769392557012
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.12207944e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.12207944e-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([ 0.09449043, -0.05303627,  0.06198823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00107030e-05, 2.73304290e-05, 3.51489293e-05, 3.21043977e-05,
 -9.24689832e-06,-9.03009551e-06, 1.91938000e-05,-1.81961129e-05,
  4.62309196e-05,-1.56728689e-05,-2.49493306e-05, 6.40381041e-07,
  5.91462301e-02, 2.46537131e-02,-7.55177844e-04, 1.56400926e-03,
 -6.43327603e-05, 2.21958163e-05,-9.80998842e+00,-6.49148221e-02,
 -9.15490728e-03,-5.58826383e-03]


--- Step 1074 ---
qpos:
[ 0.00987644, 0.00810267,-0.005622  , 0.03350469, 0.00349829, 0.00289005,
 -0.00679012, 0.03911002, 0.01304868, 0.00592369,-0.0117064 , 0.03407685,
  0.86602968,-0.01406698, 1.1129554 , 0.04627355, 0.09201158,-0.06656362,
  0.14229927, 0.9458295 ,-0.03310999, 0.03084147, 0.32149507]

qacc:
[ 1.69367967e-01, 1.26689579e+00,-9.87360360e+00, 2.90675950e+01,
  8.28150471e+00,-9.14809536e-01, 1.96342729e+00, 5.95838743e-01,
 -1.34507952e+00, 1.19901122e+00,-5.08352673e+00, 1.06784645e+01,
 -1.70890379e+01,-4.64181638e+01,-1.81949690e+02, 4.73978061e+02,
 -5.85469240e-01, 1.19693346e+00,-4.26771330e-02,-2.41864138e+01,
  4.88833259e+00,-3.19556785e+01]

qfrc_actuator:
[ 2.05684465e-05, 2.33071071e-04, 3.66676845e-05, 1.02969058e-04,
 -1.91048161e-05, 3.60485437e-05,-1.51550598e-05, 2.40085126e-05,
  5.67605548e-05, 7.46886267e-05,-3.27294594e-05, 6.61201722e-05,
  4.50348437e-02, 1.81240279e-02, 4.53870457e-03,-1.93156811e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11802281, -0.52629742, -0.98640054, -0.52629742,  3.2862923 ,
       -1.1568877 , -0.98640054, -1.1568877 ,  1.73528425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031398346966760146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51013546, -0.84326299, -0.16932024, -0.08764171, -0.14487331,
        0.98556109, -0.85561717,  0.51760917,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10317763, -0.03872591,  0.30476597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.61599058,  3.75287357, 10.99305131,  3.75287357, 30.23377144,
       -6.35584933, 10.99305131, -6.35584933, 13.78578842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005247986080385292
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05776102e-13, -1.05776102e-13,  1.00000000e+00,  1.11885838e-26,
        1.00000000e+00,  1.05776102e-13, -1.00000000e+00,  0.00000000e+00,
        1.05776102e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.083191  , -0.11149105,  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:
[ 9.03637686e-07,-3.01585900e-05, 6.79896143e-06, 5.57054075e-05,
  4.83684601e-05,-2.98001769e-05, 9.94399213e-06, 7.20182327e-06,
 -7.81995791e-06, 4.09669754e-05, 8.36225506e-06, 1.90931273e-05,
  5.01948856e-02, 1.81027833e-02,-1.45519705e-03, 4.22608556e-04,
 -7.88953698e-05, 5.09498667e-05,-9.80996743e+00,-6.49192960e-02,
 -9.15809812e-03,-5.58518937e-03]


--- Step 1075 ---
qpos:
[ 0.00987585, 0.00810199,-0.00562195, 0.03350616, 0.00349882, 0.00289037,
 -0.00679001, 0.03910979, 0.01304906, 0.00592423,-0.01170586, 0.03407792,
  0.86582428,-0.01415381, 1.11311323, 0.04629731, 0.09201812,-0.06655405,
  0.14229821, 0.94583441,-0.03315114, 0.03082296, 0.32147819]

qacc:
[-6.04430564e+00,-8.76987785e-02,-1.63949587e+00, 6.85822846e+00,
  8.17228698e+00, 1.16524934e+00,-4.30943194e+00, 6.11867831e+00,
 -7.11846889e+00, 1.41332522e+00,-5.39492156e+00, 9.60162153e+00,
 -1.70648875e+01,-4.15144077e+01,-1.47310056e+02, 3.18880805e+02,
 -2.30898005e-01, 8.85717502e-01,-9.69841837e-03,-1.76753653e+01,
  4.78994915e+00,-2.77866811e+01]

qfrc_actuator:
[-1.49645510e-05, 2.00939166e-04, 3.39780732e-05, 1.15693352e-04,
  2.74282253e-05, 5.49067466e-05,-2.72027590e-05, 2.84054341e-05,
  1.53945488e-05, 8.95757420e-05,-4.19456933e-05, 7.79611142e-05,
  4.50555724e-02, 1.81526549e-02, 4.53070877e-03,-1.98083852e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11675821,  0.27012908, -1.08359548,  0.27012908,  2.48260232,
        0.34049073, -1.08359548,  0.34049073,  1.201639  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003125011626841332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10067042e-01, -8.43288842e-01, -1.69397587e-01, -8.76711678e-02,
       -1.44945883e-01,  9.85547796e-01, -8.55654942e-01,  5.17546733e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10318543, -0.03872307,  0.30476824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.64039149,   5.86935788, -10.05233068,   5.86935788,
        34.21496344,  13.18084791, -10.05233068,  13.18084791,
        19.33642896,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005262858425787026
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08773351e-13, -1.05477189e-13,  1.00000000e+00,  1.14731073e-26,
        1.00000000e+00,  1.05477189e-13, -1.00000000e+00,  0.00000000e+00,
        1.08773351e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08320396, -0.11148444,  0.06198816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.55196652e-05,-4.51972596e-05,-6.15373958e-06, 1.27493551e-05,
  4.78970680e-05, 4.56128597e-06,-1.67380662e-05, 3.60147925e-06,
 -4.15736028e-05, 4.03252716e-05, 9.25632582e-07, 1.42541366e-05,
  5.44754145e-02, 2.11949262e-02, 2.30319838e-03,-7.87737755e-04,
 -7.90062397e-06, 9.34466227e-06,-9.80999619e+00,-6.49147351e-02,
 -9.14515114e-03,-5.58343355e-03]


--- Step 1076 ---
qpos:
[ 0.0098745 , 0.00810122,-0.00562173, 0.03350739, 0.00349955, 0.0028909 ,
 -0.00678986, 0.03910957, 0.01304928, 0.00592457,-0.01170517, 0.03407883,
  0.86563865,-0.01423183, 1.11336069, 0.04628467, 0.09202993,-0.0665472 ,
  0.14229623, 0.94581745,-0.03313679, 0.03083096, 0.32152878]

qacc:
[-6.71930853e+00,-1.07082934e+00, 4.69834525e+00,-9.18512684e+00,
  1.83576902e+00, 1.56255694e-01,-2.34649461e-01, 2.78413391e-01,
 -1.34065957e+00,-1.01770706e+00, 3.95278892e+00,-6.89688461e+00,
  3.08968852e+00, 8.40892023e+00, 2.42649227e+02,-6.56298667e+02,
  1.32055432e+00,-6.80941205e-01,-2.27315538e-01, 2.91051449e+01,
  2.84348606e+00, 3.67220479e+01]

qfrc_actuator:
[-5.33892526e-05, 2.17665466e-04, 5.00527349e-05, 1.04810778e-04,
  3.68285046e-05, 8.37827853e-05,-1.65320853e-05, 3.10908022e-05,
  8.66164368e-06, 4.48306528e-05,-4.75959222e-05, 6.67379996e-05,
  4.50744047e-02, 1.82384592e-02, 4.50385794e-03,-2.00455667e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11853405, -0.7713964 ,  0.80997902, -0.7713964 ,  2.02871643,
        0.86682666,  0.80997902,  0.86682666,  1.9440702 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003145798825993885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51007972, -0.84325365, -0.16953455, -0.08774633, -0.14506049,
        0.98552424, -0.85563968,  0.51757197,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10319083, -0.03870876,  0.30476081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.64830113, -6.65993762,  9.55657628, -6.65993762, 22.34891419,
        7.45721201,  9.55657628,  7.45721201, 16.84520066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005267676941755478
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05380705e-13, -2.10761411e-13,  1.00000000e+00,  2.22101862e-26,
        1.00000000e+00,  2.10761411e-13, -1.00000000e+00,  0.00000000e+00,
        1.05380705e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05019037, -0.06332405,  0.06198815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.94509511e-05,-9.26319587e-06, 6.42769258e-06,-1.27844356e-05,
  1.07641237e-05, 2.81279937e-05, 9.66954704e-06, 2.36939804e-06,
 -7.89869129e-06,-2.14345682e-05, 3.27358661e-06,-9.18859229e-06,
  5.84997115e-02, 2.41069537e-02, 6.83797544e-03,-1.01302520e-03,
 -1.40180900e-05, 8.38228762e-06,-9.80998701e+00,-6.49184985e-02,
 -9.14937985e-03,-5.58407618e-03]


--- Step 1077 ---
qpos:
[ 0.00987304, 0.00810025,-0.00562101, 0.03350846, 0.00350038, 0.00289198,
 -0.00678976, 0.03910934, 0.01304942, 0.00592377,-0.01170322, 0.03407964,
  0.86540937,-0.0143287 , 1.11364659, 0.04627952, 0.09204116,-0.06653985,
  0.14229587, 0.94579876,-0.03312829, 0.03085395, 0.32158242]

qacc:
[ -0.90520387, -1.98452332,  7.32519137,-10.59107059,  0.93062711,
   0.89185969, -2.08344344,  1.67390255, -0.66326251, -5.19897401,
  16.73773473,-19.51558505,-21.45522776,  2.07507368, 35.01992804,
 -38.23509929, -0.14636514,  0.12678515,  0.40374365, -0.43033747,
   7.99870305,  1.8753705 ]

qfrc_actuator:
[-5.76911325e-05, 2.10315554e-04, 7.72681296e-05, 9.79397619e-05,
  4.20511818e-05, 1.36279801e-04,-1.02236548e-05, 3.27805640e-05,
  4.62444207e-06,-5.30479794e-05, 1.90288342e-06, 5.97397577e-05,
  4.50859932e-02, 1.83513688e-02, 4.45802173e-03,-2.00964764e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11743331, -0.31787037,  1.07126823, -0.31787037,  8.93309676,
        2.31909038,  1.07126823,  2.31909038,  1.80556174,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003132937375332068
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50999292, -0.84327387, -0.16969501, -0.0878169 , -0.14520534,
        0.98549663, -0.85568418,  0.51749839,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10320057, -0.03870173,  0.30476272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.66145824, -7.0450556 ,  9.29283594, -7.0450556 , 23.47718771,
        8.95770372,  9.29283594,  8.95770372, 18.45244445,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005275689613501972
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.07829498e-07, -5.87667733e-07,  1.00000000e+00, -1.80901463e-13,
        1.00000000e+00,  5.87667733e-07, -1.00000000e+00,  2.52435490e-29,
       -3.07829498e-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([ 0.06631557, -0.08634093,  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:
[-5.42684391e-06,-1.17368484e-05, 2.56580347e-05,-7.29396618e-06,
  5.53803266e-06, 7.03085253e-05, 1.33835409e-05, 3.27420171e-06,
 -4.26696807e-06,-1.09607154e-04, 4.51429509e-05,-7.98632429e-06,
  5.75210572e-02, 2.37801961e-02, 2.30688504e-03, 8.00884883e-04,
 -1.89130280e-05, 9.86149726e-06,-9.80999839e+00,-6.49162102e-02,
 -9.14879558e-03,-5.58413295e-03]


--- Step 1078 ---
qpos:
[ 0.00987189, 0.00809939,-0.00562037, 0.03350944, 0.00350093, 0.00289364,
 -0.0067896 , 0.03910878, 0.01304986, 0.00592216,-0.01170104, 0.03408109,
  0.86522722,-0.01437563, 1.11390038, 0.04628841, 0.09204811,-0.06653297,
  0.14229769, 0.94579451,-0.03313395, 0.03085882, 0.32159389]

qacc:
[ 2.66479053e+00, 1.70045148e-01, 9.61570531e-04,-1.55520236e+00,
 -2.54781776e+00,-9.25276617e-02, 2.84114892e+00,-9.13489853e+00,
  2.61893970e+00,-4.52568150e-01,-2.59714349e+00, 1.36855226e+01,
  2.41435759e+00, 4.59746668e+01,-8.91468010e+01, 2.44577282e+02,
 -1.06863441e+00,-1.17860873e-01, 5.44080881e-01,-8.71972222e+00,
 -5.81495040e+00,-2.27826425e+01]

qfrc_actuator:
[-4.18738592e-05, 2.24170168e-04, 7.52550947e-05, 9.34780691e-05,
  2.70329167e-05, 1.67005995e-04,-6.44350899e-06, 1.61350375e-05,
  1.99474098e-05,-9.30144051e-05, 1.23219821e-05, 9.07771638e-05,
  4.51088841e-02, 1.84869172e-02, 4.44478049e-03,-1.99737765e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031438379328216386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5099039 , -0.84328913, -0.16988663, -0.08790365, -0.1453768 ,
        0.98546361, -0.85572832,  0.51742539,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10321052, -0.03869008,  0.30476037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.6633621 ,  -5.5110868 , -10.27919928,  -5.5110868 ,
        52.19060562, -21.7282641 , -10.27919928, -21.7282641 ,
        23.31274705,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000527684880310383
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05197540e-13, -1.12791014e-07,  1.00000000e+00,  1.18653372e-20,
        1.00000000e+00,  1.12791014e-07, -1.00000000e+00,  0.00000000e+00,
        1.05197540e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08904644, -0.08139435,  0.06198813])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56599786e-05, 1.23059877e-05,-1.52732200e-06,-4.22015825e-06,
 -1.48369546e-05, 7.29096887e-05, 2.00511753e-05,-1.31084701e-05,
  1.51615471e-05,-9.22732303e-05,-6.95229513e-06, 2.77426645e-05,
  5.97246780e-02, 2.48586994e-02, 3.65184319e-04, 4.37555027e-04,
 -1.91248384e-05, 5.67348881e-06,-9.81000215e+00,-6.49111662e-02,
 -9.14630653e-03,-5.58604828e-03]


--- Step 1079 ---
qpos:
[ 0.00987128, 0.00809889,-0.00562015, 0.03351035, 0.00350095, 0.0028953 ,
 -0.00678913, 0.03910809, 0.01305013, 0.00592073,-0.0116997 , 0.03408249,
  0.86508373,-0.01437697, 1.1141075 , 0.04629732, 0.09205206,-0.06652675,
  0.14230125, 0.94580488,-0.03314901, 0.03084969, 0.3215627 ]

qacc:
[  4.74761961,  1.53289796, -4.5031869 ,  3.77009763, -4.63971806,
  -1.13123745,  4.63333592, -7.53194062, -1.48520624,  2.52231572,
  -8.50045405,  9.08934297, -1.22450681, 45.20033587,-68.19616349,
 140.2319058 , -0.75297153, -0.16408281,  0.43572366, -5.79700132,
  -4.62605402,-22.89699221]

qfrc_actuator:
[-1.43524886e-05, 2.50507284e-04, 5.60817858e-05, 9.04637629e-05,
  2.23173191e-07, 1.31177553e-04,-4.27462869e-06, 6.57122591e-06,
  1.10366708e-05,-4.48545209e-05,-1.79494782e-05, 9.06937497e-05,
  4.51319564e-02, 1.85393129e-02, 4.40812939e-03,-2.21502578e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11940682, -0.19483935, -1.10231995, -0.19483935,  2.84324052,
       -0.30469432, -1.10231995, -0.30469432,  1.17326273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003155943022475553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50988238, -0.84328402, -0.16997654, -0.08794785, -0.14545515,
        0.98544811, -0.8557366 ,  0.5174117 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10321854, -0.03868167,  0.30475911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.62991207,  8.15398026, -8.29261482,  8.15398026, 43.29783609,
       31.13850493, -8.29261482, 31.13850493, 42.24784865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000525647260237269
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05605328e-13,  8.92705492e-07,  1.00000000e+00, -9.42744561e-20,
        1.00000000e+00, -8.92705492e-07, -1.00000000e+00, -1.20370622e-35,
        1.05605328e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0890532 , -0.08138945,  0.06198818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.79739372e-05, 3.27527995e-05,-1.69646144e-05,-2.62409836e-06,
 -2.72063783e-05, 8.45710011e-06, 1.92257835e-05,-6.00329489e-06,
 -8.51544585e-06,-3.65062977e-06,-4.92379795e-05,-3.74328416e-06,
  5.73910919e-02, 2.24163036e-02, 1.93065214e-03,-4.82755567e-04,
 -1.65836362e-07, 5.59775394e-07,-9.81000024e+00,-6.49143214e-02,
 -9.14264543e-03,-5.58710065e-03]


--- Step 1080 ---
qpos:
[ 0.00987101, 0.00809838,-0.00562004, 0.03351125, 0.00350031, 0.00289671,
 -0.00678879, 0.03910803, 0.01304995, 0.00591973,-0.01169892, 0.03408314,
  0.86509909,-0.01426005, 1.11430751, 0.04629548, 0.09205244,-0.06652649,
  0.14230529, 0.94582178,-0.03313621, 0.03082104, 0.32151705]

qacc:
[  2.93700964,  0.2075968 , -0.70347402,  0.56973398, -5.85795316,
   1.33646514, -7.94698484, 19.45129713, -4.0194462 ,  0.59330388,
   1.94945305,-14.52049459, 37.13331772, 81.82776329, 22.20746013,
 -92.53653685, -0.8897915 , -1.49086468,  0.12052039, 10.36697458,
 -13.57284839, -7.78807689]

qfrc_actuator:
[ 2.07792588e-06, 2.30786106e-04, 4.47511059e-05, 8.83303145e-05,
 -3.33060348e-05, 9.12638870e-05,-2.10958005e-05, 3.66999477e-05,
 -1.20716428e-05, 2.26357620e-06,-3.61401514e-05, 5.45982045e-05,
  4.51435517e-02, 1.85261748e-02, 4.39185483e-03,-2.33144315e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.12042096,  0.33965093,  1.06769864,  0.33965093,  5.08884809,
       -1.2624161 ,  1.06769864, -1.2624161 ,  1.52201443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003167671554340335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.09931363e-01, -8.43254926e-01, -1.69973922e-01, -8.79549042e-02,
       -1.45447822e-01,  9.85448561e-01, -8.55706690e-01,  5.17461168e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10322474, -0.03867594,  0.3047592 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.5817315 ,  3.55438298, 11.02283386,  3.55438298, 22.97385823,
       -3.67346381, 11.02283386, -3.67346381, 12.7662633 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005227085918513702
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.09454273, -0.0529889 ,  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:
[ 1.72408180e-05,-4.99719000e-06,-6.74460222e-06,-1.37043044e-06,
 -3.43002672e-05,-3.15440440e-05,-1.29363269e-05, 3.10373578e-05,
 -2.33523946e-05, 3.47767199e-05,-2.51402744e-05,-3.80309225e-05,
  5.54699448e-02, 2.01239287e-02, 4.24571896e-03,-6.01112679e-04,
 -9.14389175e-06, 3.43709895e-06,-9.80999819e+00,-6.49164625e-02,
 -9.14514592e-03,-5.58703721e-03]


--- Step 1081 ---
qpos:
[ 0.00987093, 0.00809771,-0.00561968, 0.03351176, 0.00349926, 0.00289772,
 -0.0067888 , 0.03910803, 0.01304983, 0.00591947,-0.01169858, 0.0340833 ,
  0.8650431 ,-0.01417949, 1.11453342, 0.04628965, 0.09205487,-0.06652516,
  0.14230968, 0.94583408,-0.03312819, 0.0308136 , 0.32148239]

qacc:
[ 1.75985606e+00,-1.66715262e+00, 7.24379292e+00,-1.41109788e+01,
 -3.49475636e+00, 5.99676849e-01,-3.10138227e+00, 4.85699232e+00,
  5.80501262e-01, 1.20492343e+00,-8.64100002e-01,-7.32259260e+00,
 -3.04099376e+01,-6.72813515e+00, 5.13644259e+01,-1.21994386e+02,
  5.11741434e-01, 2.67723235e-01, 8.56168947e-02, 9.05631592e-01,
  1.06825862e+01, 6.21830060e+00]

qfrc_actuator:
[ 1.18447226e-05, 2.19166881e-04, 5.57167206e-05, 6.89499988e-05,
 -5.27652470e-05, 4.91503708e-05,-4.90091438e-05, 3.66586918e-05,
 -7.83846171e-06, 6.61707239e-05,-4.70315864e-05, 3.31371593e-05,
  4.51307262e-02, 1.84005642e-02, 4.41788045e-03,-2.23433460e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11666481, -0.85885141,  0.71366278, -0.85885141,  2.01965373,
        1.08669434,  0.71366278,  1.08669434,  2.4244379 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003123912924084331
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10008961e-01, -8.43248503e-01, -1.69772854e-01, -8.78611379e-02,
       -1.45269551e-01,  9.85483221e-01, -8.55670076e-01,  5.17521710e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10323078, -0.03868795,  0.30477344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.52363169,  -6.36120826,  -9.60880413,  -6.36120826,
        32.09944743, -13.62157531,  -9.60880413, -13.62157531,
        20.54136962,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005191588303463512
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84020009e-14,  7.37666122e-08,  1.00000000e+00, -2.09511938e-21,
        1.00000000e+00, -7.37666122e-08, -1.00000000e+00,  0.00000000e+00,
        2.84020009e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06605532, -0.086384  ,  0.06198832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02579139e-05,-1.58435845e-05, 9.05745268e-06,-1.98562673e-05,
 -2.04461597e-05,-6.11624605e-05,-3.49677017e-05,-1.23875364e-06,
  3.58192111e-06, 7.65483276e-05,-8.11850126e-06,-2.15807675e-05,
  4.75162612e-02, 1.40843559e-02, 4.62477377e-03, 3.29170018e-05,
 -5.68242299e-06, 3.01129820e-06,-9.81000399e+00,-6.49125455e-02,
 -9.14673306e-03,-5.58296878e-03]


--- Step 1082 ---
qpos:
[ 0.00987167, 0.00809684,-0.00561889, 0.03351203, 0.00349834, 0.00289823,
 -0.0067888 , 0.03910768, 0.01305012, 0.00591964,-0.01169804, 0.0340832 ,
  0.86492426,-0.01413199, 1.11478465, 0.0462847 , 0.09205869,-0.06652266,
  0.14231428, 0.94584257,-0.03312609, 0.03082223, 0.32145681]

qacc:
[ 7.10484377e+00,-2.01780312e+00, 7.81060230e+00,-1.25693976e+01,
  1.06049058e+00,-1.44783567e+00, 5.69177339e+00,-1.15076343e+01,
  3.48611753e+00,-5.45774670e-01, 3.89837571e+00,-9.15005347e+00,
 -2.58878905e+01,-7.84431794e+00, 3.55554755e+01,-6.83371629e+01,
  3.47275244e-01, 2.90957513e-01, 5.47935497e-02,-4.21023573e-01,
  8.46763706e+00, 5.07918175e+00]

qfrc_actuator:
[ 5.31202102e-05, 2.12559894e-04, 7.97640687e-05, 5.73455251e-05,
 -4.60326901e-05, 2.37125105e-05,-4.77836534e-05, 1.88499203e-05,
  1.24581327e-05, 8.64324759e-05,-3.56821235e-05, 2.04850690e-05,
  4.51395515e-02, 1.83502981e-02, 4.40266082e-03,-2.17133771e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11569653,  0.34996707,  1.05938747,  0.34996707,  6.75301002,
       -1.86227809,  1.05938747, -1.86227809,  1.73089732,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003112488927444353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51007182, -0.84323683, -0.16964191, -0.08780218, -0.14515218,
        0.98550577, -0.85563866,  0.51757365,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10323663, -0.03869194,  0.30478053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.46326404, 10.30868041, -5.0137342 , 10.30868041, 28.96401014,
       35.98307997, -5.0137342 , 35.98307997, 85.44765513,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005154631399131078
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.31235204e-07,  2.86056333e-14,  1.00000000e+00, -1.51963194e-20,
        1.00000000e+00, -2.86056333e-14, -1.00000000e+00,  3.00926554e-36,
        5.31235204e-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([ 0.06626881, -0.08669007,  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:
[ 4.15643405e-05,-1.44239347e-05, 2.12053974e-05,-1.23573215e-05,
  6.13138149e-06,-6.69601946e-05,-1.57688584e-05,-2.16648432e-05,
  2.04258863e-05, 6.04723033e-05, 2.54132232e-05,-1.00733295e-05,
  5.10915584e-02, 1.58501282e-02, 3.31028322e-03, 2.94881077e-04,
 -4.29387684e-06, 5.12575486e-06,-9.81000193e+00,-6.49156677e-02,
 -9.14796977e-03,-5.58159499e-03]


--- Step 1083 ---
qpos:
[ 0.00987289, 0.00809617,-0.00561796, 0.03351178, 0.00349785, 0.00289857,
 -0.00678865, 0.03910671, 0.0130503 , 0.00592   ,-0.01169727, 0.03408332,
  0.86475083,-0.01411409, 1.11505838, 0.04628363, 0.09206339,-0.06651899,
  0.14231899, 0.94584765,-0.0331302 , 0.03084295, 0.32143945]

qacc:
[ 4.28952312e+00,-1.16284924e+00, 6.73105754e+00,-1.60667500e+01,
  3.80879432e+00,-1.88721846e+00, 8.96253933e+00,-1.95910789e+01,
 -9.07212047e-01, 4.90600113e-02,-7.60656342e-01, 4.12382884e+00,
 -2.16895222e+01,-8.49970463e+00, 2.21312530e+01,-2.77917296e+01,
  2.21352522e-01, 2.94096023e-01, 2.72127214e-02,-1.17447008e+00,
  6.62613035e+00, 4.54112536e+00]

qfrc_actuator:
[ 7.71075871e-05, 2.44573890e-04, 9.36106029e-05, 3.26692924e-05,
 -2.39427895e-05, 4.40558300e-05,-2.93057739e-05,-9.23141684e-06,
  6.53244163e-06, 8.05064801e-05,-2.92097818e-05, 3.08480053e-05,
  4.51525188e-02, 1.83209737e-02, 4.38311729e-03,-1.99006741e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11687131,  0.52398982,  0.98632459,  0.52398982,  7.65513246,
       -3.47348357,  0.98632459, -3.47348357,  2.96217664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003126341520054636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51012157, -0.84322055, -0.16957325, -0.08777415, -0.14508888,
        0.98551759, -0.85561188,  0.51761793,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10324258, -0.03868918,  0.30478182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005104058811927576
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.96707951e-07, -9.66509217e-14,  1.00000000e+00,  9.63327421e-20,
        1.00000000e+00,  9.66509217e-14, -1.00000000e+00,  1.20370622e-35,
        9.96707951e-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([ 0.0662691 , -0.08668782,  0.06198852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51681133e-05, 2.78327723e-05, 1.30492011e-05,-2.48034286e-05,
  2.22423857e-05,-2.13023290e-05, 1.94934000e-06,-3.19183768e-05,
 -5.32352414e-06, 3.27037824e-05, 2.17365223e-05, 1.36354459e-05,
  5.42451929e-02, 1.74720915e-02, 2.01977256e-03, 4.30885818e-04,
 -4.02333227e-06, 4.73412298e-06,-9.80999847e+00,-6.49167806e-02,
 -9.14737127e-03,-5.58235365e-03]


--- Step 1084 ---
qpos:
[ 0.0098737 , 0.00809625,-0.00561715, 0.03351119, 0.00349797, 0.00289867,
 -0.00678854, 0.03910509, 0.01305006, 0.00592062,-0.01169642, 0.03408356,
  0.86453125,-0.01412164, 1.11534678, 0.04628466, 0.09206869,-0.06651428,
  0.14232373, 0.94584944,-0.03313941, 0.03087293, 0.32143036]

qacc:
[-3.63080600e+00, 5.85378550e-01, 8.14439226e-01,-7.19477432e+00,
  5.39885973e+00,-1.56572190e+00, 7.86181096e+00,-1.89057952e+01,
 -3.67152218e+00, 4.09577416e-01,-1.46265024e+00, 3.29033834e+00,
 -1.79138530e+01,-8.04933122e+00, 1.58565061e+01,-2.28957468e+01,
  1.46858231e-01, 2.59652254e-01, 5.15074255e-03,-1.10830894e+00,
  5.11530981e+00, 4.51527753e+00]

qfrc_actuator:
[ 5.52126434e-05, 3.17177886e-04, 1.01469638e-04, 1.82751440e-05,
  7.00093980e-06, 2.07219967e-05,-3.61169646e-05,-4.30812139e-05,
 -1.47850798e-05, 9.44482064e-05,-2.57786566e-05, 3.68828337e-05,
  4.51641649e-02, 1.83139790e-02, 4.35499644e-03,-1.97197280e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031591804633961915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10158463e-01, -8.43200853e-01, -1.69560208e-01, -8.77735509e-02,
       -1.45074008e-01,  9.85519830e-01, -8.55589941e-01,  5.17654183e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10324883, -0.03868087,  0.3047786 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000504338512662729
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.84499395e-07, -4.34539628e-07,  1.00000000e+00,  2.97442113e-13,
        1.00000000e+00,  4.34539628e-07, -1.00000000e+00,  0.00000000e+00,
        6.84499395e-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([ 0.06633682, -0.08631651,  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:
[-2.11664637e-05, 8.98195801e-05, 1.43525500e-05,-1.32340310e-05,
  3.15699035e-05,-3.62153757e-05,-1.20800836e-05,-3.53162422e-05,
 -2.14569179e-05, 3.72804347e-05, 1.33223495e-05, 8.45118705e-06,
  5.69845664e-02, 1.89439585e-02, 8.61230970e-04, 2.53380711e-04,
 -3.47655837e-06, 3.25503400e-06,-9.80999489e+00,-6.49168109e-02,
 -9.14509062e-03,-5.58486332e-03]


--- Step 1085 ---
qpos:
[ 0.0098739 , 0.00809698,-0.00561655, 0.03351079, 0.00349846, 0.00289816,
 -0.0067884 , 0.03910416, 0.01304991, 0.00592135,-0.01169541, 0.0340832 ,
  0.86448374,-0.01400839, 1.11562016, 0.04628804, 0.0920699 ,-0.0665148 ,
  0.1423284 , 0.9458534 ,-0.03312712, 0.03087104, 0.32142015]

qacc:
[-5.39985963e+00, 1.87703160e+00,-6.25931016e+00, 9.50514504e+00,
  3.26942476e+00, 5.03767736e-01,-5.89219595e+00, 1.82019698e+01,
  8.07349559e-01,-1.55778700e+00, 8.30415389e+00,-1.91027924e+01,
  4.68150861e+01, 7.46638794e+01,-2.96362705e+01, 7.07811826e+01,
 -1.02082754e+00,-1.30835934e+00,-1.36742454e-02, 5.10134969e+00,
 -1.85395180e+01,-1.07938686e+00]

qfrc_actuator:
[ 2.42461238e-05, 3.42508849e-04, 8.81723994e-05, 2.78377692e-05,
  2.51500683e-05,-2.86800006e-05,-4.02246207e-05,-9.09381383e-06,
 -9.47743901e-06, 8.46508917e-05,-2.41040284e-05, 4.82558392e-06,
  4.51815496e-02, 1.83103206e-02, 4.31097129e-03,-2.08705453e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032046571905304565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51018182, -0.84317933, -0.16959693, -0.08779714, -0.14510266,
        0.98551351, -0.85557359,  0.51768121,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10325554, -0.03866817,  0.30477223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.21788608,  -4.03802067, -10.46591406,  -4.03802067,
        88.38802706, -29.77423883, -10.46591406, -29.77423883,
        22.70555847,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005003566586581631
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.09456191, -0.05297505,  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:
[-3.15392295e-05, 7.79352736e-05, 6.55702094e-06, 1.36506083e-05,
  1.90359897e-05,-7.36526760e-05,-1.42981398e-05, 3.13321181e-05,
  4.71275876e-06, 1.41227345e-05, 1.12914318e-05,-2.98372302e-05,
  5.93074942e-02, 2.02122642e-02, 7.71673994e-05, 3.19997298e-05,
 -2.41139158e-06, 1.35375456e-06,-9.80999204e+00,-6.49161205e-02,
 -9.14134475e-03,-5.58874227e-03]


--- Step 1086 ---
qpos:
[ 0.00987372, 0.00809813,-0.00561627, 0.0335102 , 0.00349882, 0.00289754,
 -0.00678852, 0.0391036 , 0.01305017, 0.00592224,-0.01169442, 0.03408281,
  0.86445989,-0.01386509, 1.11584714, 0.04629813, 0.0920688 ,-0.06651453,
  0.14233375, 0.94586791,-0.03312793, 0.03085441, 0.32137897]

qacc:
[-3.28765712e+00, 1.05071405e+00,-2.13799060e+00,-9.60400041e-01,
 -1.16144627e+00, 1.34681554e+00,-6.54820703e+00, 1.34016575e+01,
  3.59880534e+00, 1.97404335e-01,-2.68194166e-01,-3.50177229e-01,
 -1.12541791e+00, 2.95558521e+01,-8.82348598e+01, 2.10343274e+02,
 -5.76906951e-01, 1.98197099e-01, 1.66916168e-01,-7.91520283e+00,
 -4.51720665e+00,-1.67811243e+01]

qfrc_actuator:
[ 5.95549410e-06, 3.39273913e-04, 6.23317119e-05, 1.58649787e-05,
  1.78675764e-05,-4.48610042e-06,-4.27646859e-05, 1.12586408e-05,
  1.14635277e-05, 9.61719371e-05,-2.35993679e-05, 3.85075426e-06,
  4.51843986e-02, 1.82080946e-02, 4.31813315e-03,-2.12336618e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.12211695,  0.80444595,  0.7823127 ,  0.80444595,  2.16286065,
       -1.07018849,  0.7823127 , -1.07018849,  2.22258329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031871465088838046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10204634e-01, -8.43195961e-01, -1.69445576e-01, -8.77203947e-02,
       -1.44972189e-01,  9.85539546e-01, -8.55567861e-01,  5.17690676e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10326195, -0.03867445,  0.30478088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000494868629957915
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.17638581e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.17638581e-06, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08906893, -0.08137824,  0.06198887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91656904e-05, 4.22422854e-05,-8.47569858e-06,-8.14139430e-06,
 -6.76772722e-06,-1.85781084e-05,-1.84251371e-05, 1.73137713e-05,
  2.10839085e-05, 2.04360806e-05, 3.76043009e-06,-5.62954616e-07,
  5.07091019e-02, 1.40698073e-02, 8.33740461e-04,-1.22608699e-04,
  1.08610964e-07, 1.49047041e-06,-9.80999966e+00,-6.49139518e-02,
 -9.14173312e-03,-5.58770249e-03]


--- Step 1087 ---
qpos:
[ 0.00987333, 0.00809916,-0.00561605, 0.03350952, 0.00349875, 0.00289696,
 -0.00678876, 0.03910291, 0.01305069, 0.00592335,-0.01169373, 0.03408243,
  0.86445249,-0.01369674, 1.1160274 , 0.04630862, 0.09206624,-0.06651379,
  0.14233957, 0.94589366,-0.03313803, 0.03082683, 0.32130478]

qacc:
[-1.91152944e+00,-1.29687687e-01, 6.29300566e-01,-1.96177853e+00,
 -3.83015926e+00, 1.45883285e-01, 1.15673358e-01,-2.16005800e+00,
  2.17701126e+00, 1.15542072e+00,-3.72838231e+00, 4.14756226e+00,
 -3.43509108e+00, 2.69416030e+01,-6.96658524e+01, 1.44753123e+02,
 -3.64042537e-01, 1.18287320e-01, 1.17359467e-01,-5.45573886e+00,
 -3.31649582e+00,-1.77447741e+01]

qfrc_actuator:
[-4.72490463e-06, 3.01121377e-04, 4.69052459e-05, 9.03138849e-06,
 -4.32025584e-06, 1.03395600e-05,-4.40867234e-05, 5.72178049e-06,
  2.36771830e-05, 1.02628442e-04,-4.14350542e-05, 3.44085797e-06,
  4.51856890e-02, 1.81069160e-02, 4.33274122e-03,-2.13545218e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.12117713, -0.11043575, -1.11572492, -0.11043575,  3.24929958,
       -0.21064404, -1.11572492, -0.21064404,  1.14202692,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003176375978535475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10275627e-01, -8.43195027e-01, -1.69236317e-01, -8.76210574e-02,
       -1.44787711e-01,  9.85575501e-01, -8.55535701e-01,  5.17743822e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10326609, -0.03868101,  0.30478812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004897420922129461
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13347723e-13,  1.86397951e-07,  1.00000000e+00, -2.11277834e-20,
        1.00000000e+00, -1.86397951e-07, -1.00000000e+00,  3.00926554e-36,
        1.13347723e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08906951, -0.08137828,  0.06198898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12148188e-05,-1.66795191e-05,-8.04071033e-06,-5.47617940e-06,
 -2.23867029e-05, 1.39543575e-06,-6.81966184e-06,-6.63020360e-06,
  1.28237236e-05, 1.86022029e-05,-1.31924601e-05, 5.80848230e-07,
  4.95279304e-02, 1.24640904e-02, 3.16369361e-03,-4.70533401e-04,
 -9.08825027e-06, 3.76018432e-06,-9.81000235e+00,-6.49133027e-02,
 -9.14491247e-03,-5.58580934e-03]


--- Step 1088 ---
qpos:
[ 0.00987315, 0.00809977,-0.00561589, 0.0335095 , 0.00349807, 0.0028965 ,
 -0.0067894 , 0.03910321, 0.013051  , 0.00592463,-0.01169322, 0.03408135,
  0.86443203,-0.0135489 , 1.11630146, 0.04629183, 0.09206992,-0.06651496,
  0.1423428 , 0.94590073,-0.03310558, 0.03082561, 0.32128743]

qacc:
[ 1.93691799e+00, 9.16298255e-01,-6.86229231e+00, 1.86007295e+01,
 -5.38146405e+00, 3.31472850e+00,-1.57544308e+01, 3.33661846e+01,
 -1.78759777e+00,-7.33090029e-01, 5.86438980e+00,-1.77395269e+01,
 -8.22042928e-01,-1.69021853e+01, 2.20911631e+02,-5.72017934e+02,
  1.55736417e+00,-4.77630587e-01,-6.45022521e-01, 2.31710944e+01,
  4.98110672e+00, 3.09753542e+01]

qfrc_actuator:
[ 6.90764689e-06, 2.60128682e-04, 3.76051123e-05, 4.07601169e-05,
 -3.50950930e-05, 1.94364901e-05,-6.24647974e-05, 5.60092977e-05,
  1.28985065e-05, 1.05927291e-04,-5.22245689e-05,-3.21586128e-05,
  4.51805154e-02, 1.79638481e-02, 4.27895569e-03,-2.12939295e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.12063709,  0.24006807,  1.09462085,  0.24006807,  4.18042888,
       -0.67106187,  1.09462085, -0.67106187,  1.26781182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000317016298203137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51040037, -0.84317214, -0.16897394, -0.08750261, -0.14455271,
        0.98562052, -0.85547341,  0.51784674,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1032684 , -0.03868766,  0.30479446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.9829375 , -9.92779052,  4.69722169, -9.92779052, 13.41285175,
        5.13573368,  4.69722169,  5.13573368, 21.83754295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048533077996366913
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.71889869e-14, -1.14377974e-13,  1.00000000e+00,  6.54116044e-27,
        1.00000000e+00,  1.14377974e-13, -1.00000000e+00,  0.00000000e+00,
        5.71889869e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05022228, -0.06326786,  0.06198908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13043998e-05,-5.22567151e-05,-1.39375683e-05, 3.06284730e-05,
 -3.14102599e-05, 8.20185323e-06,-1.91471762e-05, 4.99866158e-05,
 -1.04030257e-05, 1.09598739e-05,-8.57196820e-06,-3.52510169e-05,
  4.87005774e-02, 1.10662213e-02, 5.44259478e-03,-4.85693797e-04,
 -3.50010528e-05, 1.29889005e-05,-9.81000452e+00,-6.49129728e-02,
 -9.15153842e-03,-5.58322304e-03]


--- Step 1089 ---
qpos:
[ 0.00987346, 0.00809994,-0.00561581, 0.03350986, 0.00349702, 0.00289619,
 -0.00679004, 0.03910441, 0.01305117, 0.00592579,-0.01169278, 0.03408057,
  0.8643173 ,-0.01347777, 1.11650824, 0.04630328, 0.09207254,-0.06651079,
  0.14234437, 0.94591896,-0.03312127, 0.03081458, 0.32123319]

qacc:
[ 4.26593255e+00, 4.39227471e-01,-4.02736649e+00, 1.11263479e+01,
 -3.20131003e+00, 2.07310501e+00,-1.09272348e+01, 2.65518852e+01,
 -1.15389381e+00, 6.76198647e-01,-3.87543320e+00, 9.25411670e+00,
 -1.30696374e+01,-6.51534752e+01,-1.85683007e+02, 5.03446489e+02,
 -2.62986510e-01, 1.33312847e+00,-4.16004991e-01,-2.35833590e+01,
  3.53388058e+00,-2.01433639e+01]

qfrc_actuator:
[ 3.15772627e-05, 2.35548528e-04, 3.19895033e-05, 5.94133606e-05,
 -5.29201404e-05, 4.27678127e-05,-5.52394274e-05, 1.03223799e-04,
  6.42874882e-06, 8.95473418e-05,-5.88003198e-05,-1.71637792e-05,
  4.51841789e-02, 1.78311719e-02, 4.21044977e-03,-2.22693850e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11813921, -0.05330818,  1.11686774, -0.05330818,  3.95196503,
        0.13525872,  1.11686774,  0.13525872,  1.12459512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031411941104474617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51044108, -0.84318888, -0.16876735, -0.08739946, -0.14437366,
        0.98565591, -0.85545967,  0.51786944,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10327455, -0.03869719,  0.30480555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.95730252, -6.01257767,  9.16031594, -6.01257767, 23.48710477,
        8.22421516,  9.16031594,  8.22421516, 16.35544957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048362642099886166
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.4347632e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.4347632e-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([ 0.08324433, -0.11145502,  0.06198912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49706573e-05,-5.53883143e-05,-1.70761147e-05, 1.65257388e-05,
 -1.87164981e-05, 2.61174707e-05, 8.30433750e-06, 4.78795384e-05,
 -6.75547088e-06,-1.35847242e-05,-6.60505237e-06, 1.44807789e-05,
  4.93563031e-02, 1.19554612e-02, 6.79247228e-04, 7.79870419e-04,
  2.66883208e-07, 8.51989648e-06,-9.80999590e+00,-6.49140304e-02,
 -9.14692229e-03,-5.58116082e-03]


--- Step 1090 ---
qpos:
[ 0.00987407, 0.00809985,-0.00561557, 0.03351006, 0.00349611, 0.00289581,
 -0.00678989, 0.03910546, 0.01305127, 0.00592659,-0.01169201, 0.03407998,
  0.86413748,-0.01344917, 1.11672002, 0.04630043, 0.09207702,-0.0665062 ,
  0.1423461 , 0.94593317,-0.03313726, 0.03082278, 0.3211889 ]

qacc:
[ 2.58189718e+00,-1.13510564e+00, 4.21179798e+00,-7.07162681e+00,
  1.25037889e+00,-2.62288068e+00, 9.90177982e+00,-1.38914292e+01,
 -6.75965116e-01,-1.01312672e+00, 2.08926076e+00, 9.87995550e-01,
 -2.08120270e+01,-2.18653474e+01, 5.10079615e+01,-1.66956134e+02,
  4.65256888e-01, 1.06637955e-01, 3.91420083e-02, 2.72047581e+00,
  9.03971926e+00, 5.66213548e+00]

qfrc_actuator:
[ 4.59629295e-05, 2.38742956e-04, 4.63894597e-05, 5.24783448e-05,
 -4.52250846e-05, 3.90447409e-05,-1.51465132e-05, 9.50176664e-05,
  2.55415420e-06, 6.15623436e-05,-4.51281755e-05,-8.03467528e-06,
  4.52009239e-02, 1.77336257e-02, 4.20281617e-03,-2.34249762e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11919625, -0.42868025,  1.03384404, -0.42868025,  8.51741362,
        3.06764808,  1.03384404,  3.06764808,  2.39118709,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003153499834787208
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10532011e-01, -8.43155456e-01, -1.68659254e-01, -8.73573935e-02,
       -1.44272761e-01,  9.85674417e-01, -8.55409698e-01,  5.17951975e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10327807, -0.03869297,  0.30480353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.92145419, -5.43662241,  9.47213272, -5.43662241, 28.82426101,
       10.27548955,  9.47213272, 10.27548955, 16.81917104,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048122042796314905
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.49101701e-08, -5.82407241e-14,  1.00000000e+00,  4.36282254e-21,
        1.00000000e+00,  5.82407241e-14, -1.00000000e+00,  0.00000000e+00,
        7.49101701e-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([ 0.06626914, -0.08667178,  0.06198918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.50770708e-05,-3.05986017e-05, 1.42217689e-06,-9.58015404e-06,
  7.16972613e-06, 1.46584345e-05, 4.81762537e-05,-5.86760570e-06,
 -4.06769144e-06,-3.63729420e-05, 1.05369188e-05, 8.59871974e-06,
  5.40858459e-02, 1.56912532e-02, 4.03174534e-03,-7.48856360e-04,
 -2.19975781e-05, 1.05335276e-05,-9.80999851e+00,-6.49164158e-02,
 -9.15279601e-03,-5.58080412e-03]


--- Step 1091 ---
qpos:
[ 0.0098745 , 0.00809969,-0.005615  , 0.03351048, 0.00349495, 0.00289569,
 -0.0067896 , 0.03910606, 0.01305167, 0.00592732,-0.01169144, 0.03407916,
  0.86397048,-0.01342641, 1.11703009, 0.04627577, 0.09208648,-0.06650344,
  0.14234594, 0.94592676,-0.0331081 , 0.03084958, 0.32120821]

qacc:
[-1.54329263e+00,-5.42055511e-01, 8.66884481e-01, 2.50771537e+00,
 -2.16393248e+00,-9.44288232e-01, 5.74876050e+00,-1.38881591e+01,
  2.61210376e+00,-1.78062544e-02, 8.99425872e-01,-4.54623349e+00,
  8.77473574e+00,-1.15110407e+01, 2.10715310e+02,-5.27242147e+02,
  1.24202342e+00,-4.59017131e-01,-4.72992245e-01, 2.30199132e+01,
  8.04235848e-01, 3.43972141e+01]

qfrc_actuator:
[ 3.64237808e-05, 2.58610403e-04, 7.25915326e-05, 6.60882919e-05,
 -5.80807738e-05, 5.47521418e-05,-9.37657756e-06, 7.20192311e-05,
  1.79893606e-05, 6.24282088e-05,-5.51834910e-05,-2.01900356e-05,
  4.52209589e-02, 1.76359236e-02, 4.16903872e-03,-2.43761433e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.12148361,  0.17840571,  1.10720228,  0.17840571,  6.21690205,
       -0.82103493,  1.10720228, -0.82103493,  1.2537786 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003179894056583031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51061023, -0.84311455, -0.16862694, -0.08735355, -0.14423731,
        0.98567995, -0.8553634 ,  0.51802843,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10328263, -0.03868299,  0.30479845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.89639966,  8.83127274, -6.38280091,  8.83127274, 42.37399457,
       43.55254531, -6.38280091, 43.55254531, 71.15590197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004795229768438797
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.78816385e-14, -1.15763277e-13,  1.00000000e+00,  6.70056816e-27,
        1.00000000e+00,  1.15763277e-13, -1.00000000e+00,  0.00000000e+00,
        5.78816385e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05023281, -0.06325017,  0.06198921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.11991284e-06, 2.64324149e-06, 1.97218172e-05, 1.21599889e-05,
 -1.26484350e-05, 3.36164194e-05, 1.45283421e-05,-2.08198991e-05,
  1.53093049e-05,-1.69666892e-05,-1.59899387e-05,-1.31841471e-05,
  5.73586736e-02, 1.77193916e-02, 3.74319195e-03,-1.29864588e-04,
 -1.54463720e-05, 1.18046852e-05,-9.80999358e+00,-6.49206288e-02,
 -9.14981231e-03,-5.58280702e-03]


--- Step 1092 ---
qpos:
[ 0.00987515, 0.00809967,-0.0056145 , 0.03351105, 0.00349365, 0.00289588,
 -0.00678955, 0.0391064 , 0.0130526 , 0.00592848,-0.01169213, 0.03407889,
  0.8637308 ,-0.01346911, 1.1172715 , 0.0462828 , 0.09209372,-0.06649596,
  0.14234464, 0.94593589,-0.03312875, 0.03085924, 0.32117827]

qacc:
[ 1.99001244e+00, 6.97778074e-01,-2.87907791e+00, 5.61944691e+00,
 -1.28788211e+00, 5.08506859e-01,-1.23137110e-01,-4.26022554e+00,
  4.58473894e+00, 5.23924650e+00,-2.02012774e+01, 3.15578463e+01,
 -4.18891061e+00,-6.24755596e+01,-1.98417068e+02, 5.44432931e+02,
 -5.51486873e-01, 1.18172745e+00,-2.82926746e-01,-2.52908073e+01,
  4.76628605e-01,-2.68407352e+01]

qfrc_actuator:
[ 4.83880945e-05, 2.70637048e-04, 7.01378943e-05, 7.39524656e-05,
 -6.51847117e-05, 6.40720322e-05,-2.38577101e-05, 5.82486355e-05,
  4.46656071e-05, 9.82066310e-05,-1.14581910e-04, 8.49025709e-06,
  4.52329741e-02, 1.75717074e-02, 4.12697624e-03,-2.43623712e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.12083164, -0.0633112 ,  1.11904212, -0.0633112 ,  5.44482418,
        0.24463525,  1.11904212,  0.24463525,  1.13467219,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003172403313917475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10590802e-01, -8.43125336e-01, -1.68631852e-01, -8.73528435e-02,
       -1.44243483e-01,  9.85679105e-01, -8.55375072e-01,  5.18009156e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1032915 , -0.03867923,  0.30480132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.89032564, -6.1149016 ,  9.01150216, -6.1149016 , 20.50220759,
        6.52229908,  9.01150216,  6.52229908, 15.31613794,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004791094661357881
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.25865223e-14, -2.31726381e-13,  1.00000000e+00,  7.55115686e-27,
        1.00000000e+00,  2.31726381e-13, -1.00000000e+00,  0.00000000e+00,
        3.25865223e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08325016, -0.11144643,  0.06198922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17039517e-05, 1.80934619e-05, 9.36413438e-07, 8.89492469e-06,
 -7.45152264e-06, 3.02225727e-05,-6.47094805e-06,-1.22339125e-05,
  2.71093958e-05, 2.23982523e-05,-6.53422122e-05, 2.71417704e-05,
  5.67280280e-02, 1.79462581e-02,-1.21871666e-03, 9.60370662e-04,
 -1.31179266e-05, 2.65333211e-06,-9.80999139e+00,-6.49132083e-02,
 -9.14855706e-03,-5.58354252e-03]


--- Step 1093 ---
qpos:
[ 0.00987595, 0.00809966,-0.00561395, 0.03351139, 0.00349262, 0.00289612,
 -0.00678902, 0.03910655, 0.01305349, 0.0059299 ,-0.01169325, 0.03407894,
  0.86353224,-0.01347449, 1.11746547, 0.04629056, 0.09209796,-0.06648914,
  0.14234497, 0.94595974,-0.0331568 , 0.03085336, 0.32110569]

qacc:
[  1.21518167, -0.65166063,  3.35342985, -7.66645783,  2.38762365,
  -1.65944433,  6.79137518,-10.78787567, -0.30110263,  2.19645022,
  -8.67268421, 14.6045329 ,  6.96428248, 29.20353874,-72.01047819,
 150.72268836, -0.751423  , -0.1661805 ,  0.40470924, -5.09688969,
  -5.68912396,-22.90071357]

qfrc_actuator:
[ 5.51682457e-05, 2.60017525e-04, 6.85038428e-05, 6.05917801e-05,
 -5.10875572e-05, 6.94082698e-05, 3.07646768e-06, 5.00077893e-05,
  4.22331703e-05, 1.18939976e-04,-1.31439200e-04, 2.54686072e-05,
  4.52474107e-02, 1.76250323e-02, 4.14468819e-03,-2.26195699e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.12300937, -0.39066336,  1.05286855, -0.39066336,  8.86415163,
        2.87232497,  1.05286855,  2.87232497,  2.18877595,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031973251078126736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10641278e-01, -8.43080408e-01, -1.68703620e-01, -8.73997480e-02,
       -1.44298979e-01,  9.85666824e-01, -8.55340148e-01,  5.18066821e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10329799, -0.03866432,  0.30479349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.88416475,  3.31083759, 10.36838448,  3.31083759, 26.20773661,
       -4.89313044, 10.36838448, -4.89313044, 12.44664155,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004786892405278532
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15964903e-13,  9.26971364e-07,  1.00000000e+00, -1.07496144e-19,
        1.00000000e+00, -9.26971364e-07, -1.00000000e+00,  0.00000000e+00,
        1.15964903e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08908884, -0.08136311,  0.06198923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.11893250e-06, 6.84524749e-08, 2.51838150e-06,-1.23828284e-05,
  1.38966246e-05, 2.03653771e-05, 3.19535442e-05,-7.40879323e-06,
 -1.64959520e-06, 2.09032534e-05,-1.93450160e-05, 1.62042379e-05,
  6.03756485e-02, 2.12729510e-02, 2.22597112e-03,-4.51235967e-04,
 -8.84442071e-06, 7.12532459e-06,-9.80999307e+00,-6.49176541e-02,
 -9.14575497e-03,-5.58622202e-03]


--- Step 1094 ---
qpos:
[ 0.00987613, 0.00809933,-0.00561267, 0.03351086, 0.00349143, 0.00289649,
 -0.00678795, 0.03910728, 0.013054  , 0.00593137,-0.01169396, 0.03407916,
  0.86349097,-0.01337104, 1.11765444, 0.04628584, 0.09209872,-0.06648835,
  0.14234581, 0.94598907,-0.03315411, 0.03082933, 0.32102185]

qacc:
[  -5.36451582,  -4.21336037,  18.06152917, -33.88063868,  -1.46368855,
   -0.1444831 ,  -1.63513951,  10.60255423,  -3.33612446,  -0.72822486,
    1.9886533 ,   0.23575399,  42.927698  ,  66.940531  ,  30.03670096,
 -116.4773251 ,  -0.87103859,  -1.50619549,   0.13127424,  11.89212169,
  -13.41168256,  -6.03580432]

qfrc_actuator:
[ 2.33306975e-05, 2.35898301e-04, 1.02775667e-04, 1.70831538e-05,
 -6.01319311e-05, 9.02353888e-05, 3.64879094e-05, 8.06180928e-05,
  2.26836798e-05, 1.30662323e-04,-1.05336668e-04, 3.54475321e-05,
  4.52716521e-02, 1.76545436e-02, 4.08165799e-03,-2.44497068e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.12445348,  0.41193641,  1.04628104,  0.41193641,  3.98353803,
       -1.12566412,  1.04628104, -1.12566412,  1.56764419,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003213696851560898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51076195, -0.84300999, -0.16869021, -0.08741325, -0.14427512,
        0.98566912, -0.85526672,  0.51818804,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10330342, -0.0386531 ,  0.3047888 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.89412275,  2.45867046, 10.61305093,  2.45867046, 21.76726007,
       -2.51892333, 10.61305093, -2.51892333, 11.47766865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047936805935154113
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44795559e-07, -1.44795388e-07,  1.00000000e+00,  2.09657292e-14,
        1.00000000e+00,  1.44795388e-07, -1.00000000e+00,  0.00000000e+00,
        1.44795559e-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([ 0.09340229, -0.05323164,  0.06198922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.16348752e-05,-2.40981072e-05, 3.41595459e-05,-4.36619627e-05,
 -8.64316124e-06, 3.84880945e-05, 4.12873856e-05, 3.24416122e-05,
 -1.95856210e-05, 2.00739296e-05, 2.85956531e-05, 1.05202313e-05,
  5.83446271e-02, 1.94376035e-02, 4.53220698e-03,-6.71041642e-04,
 -4.27741105e-05, 2.38631456e-05,-9.80999079e+00,-6.49209483e-02,
 -9.15061168e-03,-5.58729327e-03]


--- Step 1095 ---
qpos:
[ 0.00987592, 0.00809891,-0.00561104, 0.03350982, 0.00349047, 0.00289723,
 -0.00678712, 0.03910874, 0.01305462, 0.00593303,-0.01169413, 0.03407947,
  0.8634466 ,-0.01328223, 1.11794675, 0.04625877, 0.09210508,-0.06648935,
  0.14234498, 0.94599754,-0.03311014, 0.03083052, 0.32100132]

qacc:
[-3.34918112e+00,-2.13637461e+00, 9.64725844e+00,-1.91257192e+01,
  2.14927008e+00, 2.66094423e+00,-1.18957137e+01, 2.47005958e+01,
  9.51846815e-01,-1.10306780e+00, 3.91502656e+00,-3.37901283e+00,
  2.50120078e+00,-1.41628284e+01, 2.20060977e+02,-5.48692362e+02,
  1.40217629e+00,-4.47021639e-01,-4.20118249e-01, 2.22511616e+01,
  4.56901179e+00, 3.43531916e+01]

qfrc_actuator:
[ 4.52529317e-06, 2.39500905e-04, 1.22388437e-04,-8.29649712e-06,
 -4.72258565e-05, 1.02495678e-04, 2.02740450e-05, 1.16100904e-04,
  2.87305859e-05, 1.54830940e-04,-7.18842108e-05, 4.12454485e-05,
  4.52738629e-02, 1.75833231e-02, 4.04263380e-03,-2.50989946e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.12055094,  0.77681669, -0.80758296,  0.77681669,  5.20171134,
        3.92568157, -0.80758296,  3.92568157,  4.8966769 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003169170209329275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10906257e-01, -8.42962401e-01, -1.68490913e-01, -8.73316240e-02,
       -1.44091552e-01,  9.85703207e-01, -8.55188859e-01,  5.18316521e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10330939, -0.03866014,  0.30479966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.91070971, -10.20521598,  -3.85968305, -10.20521598,
        13.37076876,  -6.5045325 ,  -3.85968305,  -6.5045325 ,
        28.10905429,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004804941023007214
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.15529308e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.15529308e-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([ 0.0502571 , -0.06322104,  0.06198919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.97148470e-05,-4.70156062e-06, 1.73226848e-05,-2.60798420e-05,
  1.26707630e-05, 4.36705220e-05,-2.07455491e-06, 3.91873435e-05,
  5.49957842e-06, 4.17010313e-05, 4.14770252e-05, 7.85101250e-06,
  5.04836939e-02, 1.39240902e-02, 4.74261717e-03,-1.12312228e-04,
 -3.45708837e-05, 2.19558612e-05,-9.81000977e+00,-6.49152646e-02,
 -9.14796084e-03,-5.58416907e-03]


--- Step 1096 ---
qpos:
[ 0.00987515, 0.00809836,-0.00560948, 0.0335092 , 0.00349003, 0.00289811,
 -0.00678633, 0.03910994, 0.01305496, 0.00593478,-0.01169437, 0.0340799 ,
  0.86334054,-0.01323258, 1.11827478, 0.04624855, 0.09211145,-0.06648834,
  0.14234493, 0.94600271,-0.03308249, 0.03084346, 0.32098769]

qacc:
[-4.99205540e+00, 9.05741664e-01,-5.26231531e+00, 1.28436903e+01,
  4.45529138e+00,-2.25738387e-01, 2.16137461e+00,-6.69404011e+00,
 -2.44200788e+00, 5.98305229e-01,-2.46629270e+00, 4.64333927e+00,
 -2.01869348e+01,-1.93097227e+01, 2.19120548e+00, 6.98443281e+01,
  8.92802237e-04, 4.99368866e-01, 1.95524082e-01,-5.99346722e+00,
  8.11870831e+00, 3.73097503e+00]

qfrc_actuator:
[-2.41991258e-05, 2.24132310e-04, 1.15549179e-04, 1.27103669e-05,
 -2.14963436e-05, 9.15879421e-05, 1.03597125e-05, 1.00861598e-04,
  1.42950404e-05, 1.33049882e-04,-8.75826079e-05, 4.45468135e-05,
  4.52716283e-02, 1.74961058e-02, 4.05637320e-03,-2.24056832e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11529717,  0.00466864,  1.1152874 ,  0.00466864,  1.94417384,
       -0.00346971,  1.1152874 , -0.00346971,  1.1153117 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031077596771830247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51095455, -0.84296281, -0.16834234, -0.08726061, -0.14396085,
        0.98572859, -0.85516725,  0.51835217,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10331881, -0.03867041,  0.30481472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.90643063, -5.64682436,  9.33078795, -5.64682436, 28.10513274,
       10.40834393,  9.33078795, 10.40834393, 17.20537241,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004802041622345791
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.56497378e-07,  2.49824928e-13,  1.00000000e+00, -2.13974396e-19,
        1.00000000e+00, -2.49824928e-13, -1.00000000e+00,  0.00000000e+00,
        8.56497378e-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([ 0.06628934, -0.08663659,  0.0619892 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92874924e-05,-1.55447238e-05,-6.58995906e-06, 2.08976728e-05,
  2.61034399e-05, 1.47282593e-05, 1.84390105e-07,-1.26844176e-05,
 -1.42615208e-05, 1.03873088e-05,-1.72203251e-06, 6.67211239e-06,
  5.06354072e-02, 1.45673008e-02,-4.16298691e-04, 1.27380861e-03,
 -5.13296931e-07, 1.52858241e-05,-9.80999160e+00,-6.49155742e-02,
 -9.14580073e-03,-5.58157383e-03]


--- Step 1097 ---
qpos:
[ 0.00987438, 0.0080979 ,-0.00560838, 0.03350884, 0.00348955, 0.00289889,
 -0.00678551, 0.03911028, 0.01305512, 0.00593619,-0.01169454, 0.03408007,
  0.86315681,-0.01324932, 1.11851538, 0.04626194, 0.09211616,-0.06648231,
  0.14234381, 0.94602109,-0.03310424, 0.03084137, 0.32093149]

qacc:
[ 4.00551669e-02, 1.93069304e+00,-7.78396202e+00, 1.28694519e+01,
 -2.86347171e-01,-1.99729296e+00, 1.05542283e+01,-2.53759538e+01,
 -1.53263063e+00,-1.17218976e+00, 4.63371356e+00,-9.02215561e+00,
 -7.08781145e+00,-6.07799228e+01,-2.01599537e+02, 5.15535137e+02,
 -4.14680594e-01, 1.25877007e+00,-2.68539191e-01,-2.49071916e+01,
  1.32033902e+00,-2.32635135e+01]

qfrc_actuator:
[-2.30305720e-05, 2.32959465e-04, 9.31092783e-05, 2.53045477e-05,
 -2.39375825e-05, 6.68555583e-05, 4.12757388e-06, 5.58900083e-05,
  5.66381548e-06, 8.37196600e-05,-9.68587178e-05, 2.85282099e-05,
  4.52880889e-02, 1.74296454e-02, 4.01359789e-03,-2.35128904e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11322119,  0.31189946, -1.06863471,  0.31189946,  8.59755124,
        2.18443074, -1.06863471,  2.18443074,  1.75078495,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003083008684136687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51099001, -0.84295801, -0.16825875, -0.08722208, -0.14388647,
        0.98574286, -0.85515   ,  0.51838064,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1033276 , -0.0386727 ,  0.30482138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048222364295481823
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.75574757e-14, -5.75574757e-14,  1.00000000e+00,  3.31286301e-27,
        1.00000000e+00,  5.75574757e-14, -1.00000000e+00,  0.00000000e+00,
        5.75574757e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08325544, -0.11142194,  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:
[ 3.28359562e-07,-3.36099024e-07,-2.57479643e-05, 1.21072728e-05,
 -1.69344831e-06,-1.70363640e-05,-3.62921341e-06,-4.45884892e-05,
 -9.02779682e-06,-4.36568433e-05,-7.12946657e-06,-1.55068729e-05,
  5.37345267e-02, 1.64561794e-02,-2.25156472e-03, 3.18606272e-04,
 -3.21113811e-06, 7.51610158e-06,-9.80999468e+00,-6.49130031e-02,
 -9.14705282e-03,-5.58095029e-03]


--- Step 1098 ---
qpos:
[ 0.00987432, 0.0080979 ,-0.00560804, 0.03350861, 0.00348939, 0.00289938,
 -0.00678499, 0.03911082, 0.01305553, 0.00593735,-0.01169481, 0.03407971,
  0.86289915,-0.01332812, 1.11865482, 0.0462786 , 0.09212059,-0.06647262,
  0.14234194, 0.94605143,-0.03316226, 0.03083052, 0.32083708]

qacc:
[ 6.19277677e+00, 2.95375808e+00,-1.02244221e+01, 1.33273617e+01,
  2.80860571e+00, 8.53465569e-01,-4.44597480e+00, 8.57628437e+00,
  2.11297897e+00,-1.16477427e+00, 5.93663827e+00,-1.48960071e+01,
 -7.98191234e+00,-5.53805497e+01,-1.60220166e+02, 3.41639934e+02,
 -7.01089393e-02, 9.12585499e-01,-1.86955493e-01,-1.77735855e+01,
  2.11988057e+00,-2.06990149e+01]

qfrc_actuator:
[ 1.34786611e-05, 2.73887158e-04, 6.17280158e-05, 3.28521864e-05,
 -7.43891367e-06, 3.40092211e-05,-1.77147571e-05, 6.47899909e-05,
  1.82766376e-05, 7.15157443e-05,-1.02394150e-04, 1.25325707e-06,
  4.53087730e-02, 1.74540665e-02, 3.99997046e-03,-2.41948817e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11432675,  0.24515061, -1.08702589,  0.24515061,  2.54494353,
        0.32263866, -1.08702589,  0.32263866,  1.18708957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030962248906981076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11084123e-01, -8.42901600e-01, -1.68255496e-01, -8.72364055e-02,
       -1.43873978e-01,  9.85743419e-01, -8.55092293e-01,  5.18475815e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10333345, -0.03866268,  0.30481622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.92779594, 10.59770582, -2.66558726, 10.59770582, 16.17508463,
       20.86190265, -2.66558726, 20.86190265, 93.86948409,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048164799830992255
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.76262659e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.76262659e-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([ 0.08325672, -0.11141857,  0.06198917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65193946e-05, 3.59469077e-05,-3.42090092e-05, 6.87751680e-06,
  1.64465813e-05,-4.50727888e-05,-2.73705143e-05, 7.17229476e-06,
  1.23462275e-05,-3.88061648e-05,-1.59821362e-05,-2.96969942e-05,
  5.76374975e-02, 1.98012990e-02, 2.10108655e-03,-9.31313828e-04,
 -2.55158582e-05, 1.51473390e-05,-9.80999375e+00,-6.49166950e-02,
 -9.15183340e-03,-5.58218669e-03]


--- Step 1099 ---
qpos:
[ 0.00987505, 0.00809829,-0.00560811, 0.03350845, 0.00348944, 0.0028996 ,
 -0.00678449, 0.03911179, 0.01305539, 0.0059382 ,-0.01169542, 0.03407904,
  0.8626615 ,-0.01340786, 1.11888369, 0.04626201, 0.0921304 ,-0.06646601,
  0.14233885, 0.94605835,-0.03316539, 0.03084478, 0.32081499]

qacc:
[ 6.85039750e+00, 1.84258912e+00,-6.17069507e+00, 7.91590780e+00,
  1.75334329e+00, 5.60379684e-01,-4.32225754e+00, 1.19226486e+01,
 -4.77120102e+00,-8.32202408e-02, 9.90270239e-01,-5.44310293e+00,
  1.05082992e+01,-8.16668683e+00, 2.32242528e+02,-6.21582569e+02,
  1.34624521e+00,-7.68451824e-01,-3.04578048e-01, 2.84905472e+01,
  2.23832032e+00, 3.92323240e+01]

qfrc_actuator:
[ 5.27341874e-05, 2.98173649e-04, 4.32126038e-05, 3.73974547e-05,
  2.33149307e-06, 3.20321352e-05,-1.30966540e-05, 8.75476702e-05,
 -9.96722929e-06, 4.61278284e-05,-1.23298781e-04,-1.46418772e-05,
  4.53397779e-02, 1.75197089e-02, 4.02951667e-03,-2.16723930e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11755302,  0.34127534, -1.06416911,  0.34127534,  3.14033711,
        0.64869983, -1.06416911,  0.64869983,  1.3255888 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003134339813843378
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51123391, -0.84279564, -0.16833122, -0.08730239, -0.14392252,
        0.98573049, -0.85499602,  0.51863457,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10333749, -0.03864249,  0.30480319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.98173499, -5.96330497,  9.2215778 , -5.96330497, 21.13858617,
        6.56811691,  9.2215778 ,  6.56811691, 15.22913008,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004852511279959115
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.28793497e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.28793497e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05028377, -0.06319083,  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:
[ 4.03093386e-05, 3.76261113e-05,-1.50703832e-05, 5.03413929e-06,
  1.02230627e-05,-3.25478345e-05,-7.82885091e-06, 2.00148245e-05,
 -2.79012754e-05,-5.16946885e-05,-3.19260414e-05,-1.86906326e-05,
  6.13656488e-02, 2.29711261e-02, 7.18347457e-03,-8.43819348e-04,
 -8.99056218e-05, 4.64018135e-05,-9.80996632e+00,-6.49259829e-02,
 -9.16556525e-03,-5.58490277e-03]


--- Step 1100 ---
qpos:
[ 0.00987624, 0.00809899,-0.0056084 , 0.033508  , 0.00348925, 0.00289967,
 -0.00678398, 0.03911266, 0.01305492, 0.0059384 ,-0.0116956 , 0.03407852,
  0.86245471,-0.01347806, 1.1192313 , 0.04623954, 0.09214395,-0.06646084,
  0.14233506, 0.94604203,-0.03312515, 0.03087409, 0.32086443]

qacc:
[ 4.06993506e+00, 3.80587142e-01, 4.83070092e-01,-5.48338575e+00,
 -2.00327954e+00,-4.26836390e-01, 1.64691748e+00,-3.24818453e+00,
 -2.94028679e+00,-1.73337094e+00, 4.30309311e+00,-1.89231619e+00,
  1.17061944e+01, 8.29955511e-01, 1.92925778e+02,-4.20839781e+02,
  9.33048824e-01,-3.62837522e-01,-1.74699257e-01, 2.14446179e+01,
 -6.67325748e-01, 3.84790613e+01]

qfrc_actuator:
[ 7.55274940e-05, 3.12357296e-04, 3.23879925e-05, 2.23883912e-05,
 -9.69464807e-06, 3.09214607e-05,-1.05174912e-05, 8.28078196e-05,
 -2.65339180e-05, 1.29867096e-05,-9.98932707e-05,-5.97915664e-06,
  4.53658558e-02, 1.75738075e-02, 4.01819855e-03,-2.02480939e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11734275, -0.04007745,  1.11662376, -0.04007745,  1.96296821,
        0.03035088,  1.11662376,  0.03035088,  1.1184321 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003131875921019703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11274771e-01, -8.42748233e-01, -1.68444426e-01, -8.73697991e-02,
       -1.44014037e-01,  9.85711152e-01, -8.54964693e-01,  5.18686199e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10334642, -0.03863014,  0.30480073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.01468321,  6.52915773, -8.87092698,  6.52915773, 39.24549414,
       20.77837162, -8.87092698, 20.77837162, 26.30792889,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000487423059625236
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.05029279, -0.0631835 ,  0.06198904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39541705e-05, 3.23261802e-05,-4.74000880e-06,-1.38223365e-05,
 -1.17473738e-05,-2.00835950e-05,-4.42679769e-06,-6.02001417e-06,
 -1.73738005e-05,-6.94769733e-05, 8.14807650e-06, 4.98114653e-06,
  6.03891690e-02, 2.30733029e-02, 2.69733645e-03, 9.60362418e-04,
 -3.99120431e-06, 4.10192997e-06,-9.80999663e+00,-6.49236675e-02,
 -9.14518830e-03,-5.58638874e-03]


--- Step 1101 ---
qpos:
[ 0.00987701, 0.00809967,-0.00560842, 0.03350773, 0.00348926, 0.00289945,
 -0.00678342, 0.03911417, 0.01305459, 0.00593825,-0.01169508, 0.0340784 ,
  0.86242885,-0.01342252, 1.11957591, 0.04623993, 0.09215195,-0.0664609 ,
  0.14233276, 0.94602159,-0.0330775 , 0.03086771, 0.32093023]

qacc:
[ -3.72401502, -0.38941865,  0.60578983,  2.07883814,  1.78716986,
   0.82262876, -6.18966939, 17.43474111,  1.34390233, -1.63369574,
   3.47892876,  2.48173531, 51.21131395, 74.77713256,-74.06816136,
 251.68506749, -1.38608211, -1.30513994,  0.37384813, -2.54735711,
 -18.28184746,  7.91929751]

qfrc_actuator:
[ 5.29427806e-05, 3.02643983e-04, 4.38836742e-05, 3.14936264e-05,
  1.05401351e-06, 1.25684354e-05,-9.18118955e-06, 1.15180633e-04,
 -1.83296711e-05, 2.89172999e-05,-5.05281694e-05, 1.70866014e-05,
  4.53659768e-02, 1.76286294e-02, 3.99248207e-03,-1.99784254e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11488473,  0.15312447, -1.10431919,  0.15312447,  3.17631826,
        0.28583758, -1.10431919,  0.28583758,  1.15451886,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003102864732463159
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11202879e-01, -8.42765391e-01, -1.68576724e-01, -8.74281310e-02,
       -1.44133388e-01,  9.85688535e-01, -8.55001718e-01,  5.18625165e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10335904, -0.038625  ,  0.30480557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.03687739, -10.56371158,  -3.19697674, -10.56371158,
        11.72442562,  -2.27185302,  -3.19697674,  -2.27185302,
        18.54371962,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000488873932411843
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.27098021e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.27098021e-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([ 0.09465736, -0.05292313,  0.061989  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18920390e-05, 6.77576724e-06, 1.71049985e-05, 1.00562863e-05,
  1.04080994e-05,-3.07706949e-05,-3.57396135e-06, 3.12391655e-05,
  7.68596797e-06,-2.10362218e-05, 3.61910051e-05, 2.04690309e-05,
  5.88437140e-02, 2.26519179e-02,-3.27048364e-03, 1.28034519e-03,
 -3.55985489e-05, 8.86443663e-06,-9.80998642e+00,-6.49144864e-02,
 -9.15150469e-03,-5.58675045e-03]


--- Step 1102 ---
qpos:
[ 0.00987715, 0.00810025,-0.00560795, 0.03350756, 0.00348941, 0.00289908,
 -0.00678261, 0.03911602, 0.01305437, 0.00593771,-0.01169337, 0.03407853,
  0.86231757,-0.01343361, 1.11982786, 0.04625941, 0.09215781,-0.06645583,
  0.14233009, 0.94601796,-0.03308164, 0.03085179, 0.32094204]

qacc:
[-5.43503175e+00,-1.26941449e+00, 3.88405336e+00,-2.74378345e+00,
  1.14016251e+00,-1.87215179e-01,-1.08201257e+00, 6.76427860e+00,
  9.29045248e-01,-3.30165107e+00, 9.99335628e+00,-7.32202823e+00,
 -1.30990604e+01,-5.52890225e+01,-1.95278767e+02, 4.82942586e+02,
 -5.36033383e-01, 1.28343649e+00,-9.37425936e-02,-2.49137274e+01,
  4.43564871e+00,-2.91841472e+01]

qfrc_actuator:
[ 2.15883941e-05, 2.96554270e-04, 6.83822824e-05, 3.69579769e-05,
  7.37556133e-06, 1.95664982e-05, 9.12488622e-06, 1.33615632e-04,
 -1.33672999e-05, 2.09953954e-05, 1.39611436e-05, 3.07380910e-05,
  4.53465592e-02, 1.75638546e-02, 3.95948276e-03,-2.11981212e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10884688, -0.50644915, -0.9864333 , -0.50644915,  3.26216706,
       -1.10554579, -0.9864333 , -1.10554579,  1.6764501 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030299124265098455
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11095266e-01, -8.42839823e-01, -1.68530895e-01, -8.73852690e-02,
       -1.44105785e-01,  9.85696372e-01, -8.55070432e-01,  5.18511867e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10336988, -0.03863748,  0.30482191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.11052607,  3.38649027, 10.5818464 ,  3.38649027, 30.49065013,
       -6.20218807, 10.5818464 , -6.20218807, 13.09540174,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004936199617291692
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12457266e-13, -1.12457266e-13,  1.00000000e+00,  1.26466366e-26,
        1.00000000e+00,  1.12457266e-13, -1.00000000e+00,  0.00000000e+00,
        1.12457266e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08328741, -0.11138769,  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:
[-3.19789517e-05, 1.62957554e-06, 2.83458649e-05, 6.54213243e-06,
  6.60555694e-06,-9.60710546e-06, 1.25828732e-05, 1.75962936e-05,
  5.17121767e-06,-1.13313711e-05, 6.53051657e-05, 1.43996065e-05,
  4.97812825e-02, 1.63011397e-02,-3.15697769e-03, 1.40871347e-05,
 -4.52458628e-05, 3.02847700e-05,-9.80997293e+00,-6.49161696e-02,
 -9.15539608e-03,-5.58359284e-03]


--- Step 1103 ---
qpos:
[ 0.00987726, 0.0081008 ,-0.00560716, 0.03350677, 0.00348928, 0.00289876,
 -0.00678194, 0.03911773, 0.01305421, 0.00593668,-0.01169133, 0.03407923,
  0.86212563,-0.01350646, 1.11997712, 0.0462803 , 0.09216296,-0.06644696,
  0.14232726, 0.94602919,-0.0331244 , 0.03083125, 0.3209065 ]

qacc:
[-2.72853985e-01,-2.23060370e+00, 1.05491959e+01,-2.18615549e+01,
 -2.38241952e+00, 1.52518175e-01, 1.64094620e-01,-2.43006004e+00,
  5.60209960e-01,-3.70576109e-01,-2.08978778e+00, 1.20116382e+01,
 -1.35552209e+01,-4.98024900e+01,-1.56557275e+02, 3.26192437e+02,
 -1.77022352e-01, 9.47435929e-01,-4.12923436e-02,-1.80340723e+01,
  4.56757703e+00,-2.54597264e+01]

qfrc_actuator:
[ 2.08435723e-05, 2.92735201e-04, 8.26032048e-05, 4.73300464e-06,
 -6.71874888e-06, 2.40043758e-05, 1.88508418e-06, 1.25975587e-04,
 -1.03609566e-05,-3.65727444e-05, 1.57568220e-05, 5.64833812e-05,
  4.53595044e-02, 1.75871592e-02, 3.90366146e-03,-2.22998365e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10711272,  0.25753259, -1.07674303,  0.25753259,  2.50719659,
        0.33486841, -1.07674303,  0.33486841,  1.18720568,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003008496284457403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51106785, -0.84285111, -0.1685576 , -0.08739483, -0.14413122,
        0.9856918 , -0.85508584,  0.51848645,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10337696, -0.03863575,  0.30482392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.15920966,  6.53827749, -9.04316801,  6.53827749, 37.40019281,
       18.97242529, -9.04316801, 18.97242529, 24.87641376,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004967008595902211
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.49249139e-15, -1.11759725e-13,  1.00000000e+00,  3.90319876e-28,
        1.00000000e+00,  1.11759725e-13, -1.00000000e+00,  0.00000000e+00,
        3.49249139e-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([ 0.08329713, -0.11138088,  0.06198883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65904974e-06, 3.19025068e-06, 1.82644453e-05,-3.10477215e-05,
 -1.39111057e-05, 2.42080821e-06,-7.07524985e-06,-7.27928541e-06,
  3.14622227e-06,-4.97979855e-05, 7.98245870e-06, 2.77962693e-05,
  5.40636713e-02, 1.96558946e-02, 1.41456123e-03,-1.05130463e-03,
 -2.02458915e-06, 1.95212816e-06,-9.80999739e+00,-6.49131010e-02,
 -9.14725759e-03,-5.58173921e-03]


--- Step 1104 ---
qpos:
[ 0.00987736, 0.00810127,-0.00560642, 0.03350564, 0.00348899, 0.0028984 ,
 -0.00678161, 0.03911972, 0.01305408, 0.00593563,-0.01168997, 0.03407991,
  0.86195171,-0.01357794, 1.12021234, 0.04626505, 0.0921735 ,-0.06644083,
  0.14232353, 0.94601849,-0.03311253, 0.0308372 , 0.3209387 ]

qacc:
[-8.84059454e-02,-6.62527437e-01, 3.63291014e+00,-9.40828302e+00,
 -1.48497720e+00, 1.45912665e+00,-6.43534887e+00, 1.16903633e+01,
  3.05277600e-01, 1.77167153e+00,-6.21776424e+00, 6.72642789e+00,
  7.26111496e+00,-2.86755045e+00, 2.36074107e+02,-6.41950461e+02,
  1.34761128e+00,-6.82676259e-01,-2.24892257e-01, 2.86847022e+01,
  2.97420797e+00, 3.68457552e+01]

qfrc_actuator:
[ 2.03713228e-05, 2.72481724e-04, 7.28677671e-05,-1.39116995e-05,
 -1.49625330e-05, 9.00552157e-06,-2.04042838e-05, 1.38542486e-04,
 -8.52936610e-06,-3.48988665e-05,-1.96809097e-05, 5.35455712e-05,
  4.53891883e-02, 1.76140752e-02, 3.85968926e-03,-2.14551355e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.1083163 , -0.90525565,  0.6394351 , -0.90525565,  1.68014131,
        0.80953926,  0.6394351 ,  0.80953926,  2.25439037,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003023382590287125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51111324, -0.84280381, -0.16865644, -0.08745535, -0.14421011,
        0.9856749 , -0.85505252,  0.5185414 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10338155, -0.03862224,  0.30481593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.18560835, -6.28868238,  9.25042205, -6.28868238, 21.87502056,
        7.26694607,  9.25042205,  7.26694607, 16.12587113,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004983532088790738
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.56945859e-14, -2.22778344e-13,  1.00000000e+00,  1.24075476e-26,
        1.00000000e+00,  2.22778344e-13, -1.00000000e+00,  0.00000000e+00,
        5.56945859e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05032862, -0.06316501,  0.06198879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.20264688e-07,-1.60556798e-05,-7.91519916e-06,-1.84815325e-05,
 -8.63784824e-06,-1.54237623e-05,-2.29201147e-05, 1.22800903e-05,
  1.90111619e-06,-2.33208133e-05,-4.37927217e-05,-4.25864511e-06,
  5.81257780e-02, 2.27720500e-02, 6.50088310e-03,-1.03849821e-03,
 -2.47608837e-05, 9.74406194e-06,-9.80998528e+00,-6.49178357e-02,
 -9.15420020e-03,-5.58224028e-03]


--- Step 1105 ---
qpos:
[ 0.0098778 , 0.00810157,-0.00560577, 0.0335043 , 0.00348825, 0.00289809,
 -0.00678159, 0.03912148, 0.01305364, 0.00593487,-0.01168865, 0.03408011,
  0.86173286,-0.01367424, 1.12048437, 0.04625975, 0.09218359,-0.06643401,
  0.14232139, 0.94600594,-0.03310769, 0.03085753, 0.32097423]

qacc:
[  2.96997525, -0.38484765,  1.93088797, -5.20451989, -3.8948576 ,
   0.46993413, -0.60176912, -2.88284212, -2.84276316, -0.42790475,
   4.07128519,-12.32598526,-18.03788153, -7.04152644, 24.83678482,
  -6.70819612, -0.11175774,  0.17105316,  0.39859896, -1.10113558,
   7.91031001,  1.99510895]

qfrc_actuator:
[ 3.78059055e-05, 2.60200808e-04, 6.67679931e-05,-2.44395890e-05,
 -3.74430919e-05, 1.79357853e-05,-3.37014617e-05, 1.27374430e-04,
 -2.51554167e-05, 1.97963926e-05,-5.58358858e-06, 3.37804829e-05,
  4.54122869e-02, 1.76402522e-02, 3.85215080e-03,-1.99603869e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10678199, -0.38162066,  1.03890906, -0.38162066,  7.70326251,
        2.42307371,  1.03890906,  2.42307371,  1.99684543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003004387497774124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51105834, -0.84281098, -0.16878691, -0.08751558, -0.14432618,
        0.98565256, -0.85507918,  0.51849744,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10339053, -0.03861577,  0.30481734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.23286713, -6.5845625 ,  9.10059562, -6.5845625 , 23.74939574,
        9.05609572,  9.10059562,  9.05609572, 17.78523258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005012831067678146
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.25706600e-07, -2.28289240e-13,  1.00000000e+00,  9.71842361e-20,
        1.00000000e+00,  2.28289240e-13, -1.00000000e+00,  1.20370622e-35,
        4.25706600e-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([ 0.06635675, -0.08657539,  0.06198872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74132515e-05,-2.37096277e-05,-1.10421944e-05,-1.18496020e-05,
 -2.27311060e-05,-3.90107666e-06,-1.88848676e-05,-1.23869230e-05,
 -1.65800081e-05, 3.24466877e-05, 3.73348437e-06,-2.23648326e-05,
  5.72466725e-02, 2.27311778e-02, 2.19147153e-03, 9.16984167e-04,
 -8.41646920e-06, 4.00038635e-06,-9.80999878e+00,-6.49165406e-02,
 -9.14946667e-03,-5.58222779e-03]


--- Step 1106 ---
qpos:
[ 0.00987914, 0.00810164,-0.00560491, 0.03350319, 0.00348725, 0.00289785,
 -0.00678173, 0.03912238, 0.01305368, 0.00593488,-0.01168776, 0.03408039,
  0.86145406,-0.01382019, 1.12067721, 0.04627449, 0.09219176,-0.0664235 ,
  0.142319  , 0.94601088,-0.0331461 , 0.03086316, 0.32095515]

qacc:
[ 7.86829973e+00,-4.90779895e-01, 3.21392446e-01, 3.35680678e+00,
 -2.32695502e+00,-1.18971004e+00, 7.98312436e+00,-2.25047947e+01,
  4.31649552e+00, 2.32885944e+00,-7.13369206e+00, 8.45009097e+00,
 -6.15619757e+00,-4.48393088e+01,-1.78307041e+02, 4.52357930e+02,
 -4.81989278e-01, 9.20596410e-01,-6.34213142e-02,-2.16862420e+01,
  6.20522450e-01,-2.95400693e+01]

qfrc_actuator:
[ 8.33927190e-05, 2.52800997e-04, 8.06539152e-05,-1.23462737e-05,
 -5.03720359e-05, 2.33854378e-05,-4.15048531e-05, 8.46012310e-05,
  7.46499454e-07, 8.82493160e-05,-1.53712330e-05, 3.98733551e-05,
  4.54257990e-02, 1.77626232e-02, 3.83052086e-03,-2.19425347e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003010481529346169
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51100016, -0.84281252, -0.16895526, -0.08759546, -0.14447462,
        0.98562372, -0.85510576,  0.5184536 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10339972, -0.03860434,  0.30481411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005030925296499594
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.10330811e-14,  1.10339844e-13,  1.00000000e+00, -3.42418533e-27,
        1.00000000e+00, -1.10339844e-13, -1.00000000e+00,  0.00000000e+00,
        3.10330811e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08332659, -0.11136025,  0.06198868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.60742198e-05,-2.34581859e-05, 7.20899295e-06, 1.04646823e-05,
 -1.35752813e-05,-1.16436577e-06,-1.13633236e-05,-4.38371651e-05,
  2.54417148e-05, 8.64145567e-05,-3.40609535e-06, 7.17613919e-06,
  5.95043436e-02, 2.40950959e-02, 3.23198185e-04, 2.19444086e-04,
 -8.46482957e-06, 1.21732314e-06,-9.81000103e+00,-6.49130570e-02,
 -9.14705384e-03,-5.58410536e-03]


--- Step 1107 ---
qpos:
[ 0.00988067, 0.00810175,-0.00560431, 0.03350256, 0.00348679, 0.00289741,
 -0.00678161, 0.03912312, 0.01305439, 0.00593576,-0.01168766, 0.03408075,
  0.8613475 ,-0.01384092, 1.12085825, 0.04627307, 0.09219604,-0.06641974,
  0.14231815, 0.9460218 ,-0.03315216, 0.03084885, 0.32092372]

qacc:
[   1.6671869 ,   1.81988611,  -8.47164056,  17.39170175,   4.78400191,
   -1.35945582,   5.14832267,  -8.3072499 ,   5.71996834,   3.51398103,
  -11.22267334,  13.28344469,  43.05714995,  82.56053041,  31.43230007,
 -135.28193607,  -0.97180373,  -1.6845217 ,   0.38695762,  12.39669538,
  -14.51248589,  -6.63672843]

qfrc_actuator:
[ 9.19206604e-05, 2.66236336e-04, 7.07573742e-05, 1.29767476e-05,
 -2.20659404e-05, 8.95238979e-06,-2.82791035e-05, 7.68377548e-05,
  3.37253429e-05, 1.28855952e-04,-5.68526812e-05, 4.33779288e-05,
  4.54365289e-02, 1.79419602e-02, 3.79357421e-03,-2.34884593e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11016501,  0.24162633, -1.08355114,  0.24162633,  2.69685522,
        0.35382375, -1.08355114,  0.35382375,  1.18906588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003046049784924895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51102383, -0.84275607, -0.16916518, -0.08771156, -0.14464971,
        0.98558771, -0.85507972,  0.51849655,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1034066 , -0.03858342,  0.30480206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.2970761 ,  2.6467906 , 10.98264212,  2.6467906 , 22.62229408,
       -2.72935056, 10.98264212, -2.72935056, 11.95484309,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005052475347992779
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.01694589e-07, -7.01694759e-07,  1.00000000e+00,  4.92375416e-13,
        1.00000000e+00,  7.01694759e-07, -1.00000000e+00,  0.00000000e+00,
        7.01694589e-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([ 0.0934955 , -0.05316875,  0.06198864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.83086298e-06, 2.25687187e-06,-1.35037708e-05, 2.47691410e-05,
  2.79220234e-05,-1.93063170e-05, 1.00719864e-05,-9.06035494e-06,
  3.37330024e-05, 8.85316232e-05,-2.38149995e-05, 7.22587731e-06,
  6.25121429e-02, 2.67595391e-02, 4.24042035e-03,-9.37994797e-04,
 -7.74211084e-06, 9.16962408e-06,-9.80998780e+00,-6.49200530e-02,
 -9.14582715e-03,-5.58753478e-03]


--- Step 1108 ---
qpos:
[ 0.00988228, 0.00810219,-0.00560423, 0.03350189, 0.00348702, 0.0028971 ,
 -0.00678149, 0.03912408, 0.01305479, 0.00593652,-0.01168707, 0.03408084,
  0.861257  ,-0.01385749, 1.12114346, 0.04624977, 0.09220537,-0.0664178 ,
  0.14231636, 0.94601161,-0.03311233, 0.03085683, 0.3209571 ]

qacc:
[ 7.72541303e-01, 1.78567650e+00,-5.51953433e+00, 5.19031383e+00,
  6.04248497e+00, 6.18000122e-01,-2.91047642e+00, 6.66980407e+00,
 -2.61415149e+00,-2.06418623e+00, 8.25661969e+00,-1.35546223e+01,
  3.78443086e+00, 3.08101087e+00, 2.20095868e+02,-5.46464104e+02,
  1.26344924e+00,-4.55167258e-01,-2.37549617e-01, 2.39293758e+01,
  2.42945312e+00, 3.51195920e+01]

qfrc_actuator:
[ 9.63121462e-05, 2.91970851e-04, 4.69843005e-05, 1.03713936e-05,
  1.25275532e-05, 3.60964646e-05,-2.05496675e-05, 8.97376959e-05,
  1.73338578e-05, 8.13335835e-05,-4.58045387e-05, 2.75359834e-05,
  4.54481542e-02, 1.80359918e-02, 3.78682834e-03,-2.28932086e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10790453, -0.81290837,  0.7527499 , -0.81290837,  2.26154573,
        1.24583821,  0.7527499 ,  1.24583821,  2.45330797,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003018301145518063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51107325, -0.84272553, -0.169168  , -0.08772155, -0.14464696,
        0.98558723, -0.85504916,  0.51854695,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10341383, -0.03858241,  0.30480718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.32473054, -10.13971422,  -5.04338352, -10.13971422,
        16.97803675, -11.36596279,  -5.04338352, -11.36596279,
        34.17597993,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005069518950119867
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09499840e-13, -1.09499840e-13,  1.00000000e+00,  1.19902149e-26,
        1.00000000e+00,  1.09499840e-13, -1.00000000e+00,  0.00000000e+00,
        1.09499840e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0503638 , -0.06314432,  0.0619886 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.67100999e-06, 2.52573002e-05,-2.41220513e-05,-2.49471163e-06,
  3.53805598e-05, 1.80627991e-05, 4.66949245e-06, 1.22426940e-05,
 -1.53981150e-05,-2.64463278e-06, 2.66390195e-05,-1.27356616e-05,
  5.39137404e-02, 2.05950216e-02, 4.82471346e-03,-7.02389164e-05,
 -6.92905725e-06, 1.79104592e-06,-9.81000056e+00,-6.49193688e-02,
 -9.14616005e-03,-5.58607328e-03]


--- Step 1109 ---
qpos:
[ 0.00988325, 0.00810267,-0.00560408, 0.03350118, 0.00348732, 0.00289725,
 -0.00678169, 0.03912448, 0.01305499, 0.0059368 ,-0.01168584, 0.03408077,
  0.86109734,-0.01392627, 1.12136511, 0.0462564 , 0.09221252,-0.06641132,
  0.14231445, 0.94601794,-0.03312227, 0.03085115, 0.32093797]

qacc:
[-5.69822101e+00,-2.27861376e-01, 1.02210562e+00,-1.71755916e+00,
  5.78485431e-01, 3.33687757e-01, 2.07688144e+00,-1.16823258e+01,
 -1.72109269e+00,-2.74275879e+00, 9.51570514e+00,-1.28620327e+01,
 -1.16107692e+01,-4.22030744e+01,-1.84883800e+02, 5.09478026e+02,
 -5.45350731e-01, 1.13421123e+00,-2.75932026e-02,-2.46453536e+01,
  2.14602457e+00,-2.84830407e+01]

qfrc_actuator:
[ 6.27405398e-05, 2.89287816e-04, 5.07582467e-05, 9.11141576e-06,
  1.50264602e-05, 7.01824259e-05,-3.37118665e-05, 6.14555364e-05,
  7.51752966e-06, 3.48375184e-05,-2.19511669e-05, 1.81540951e-05,
  4.54734967e-02, 1.80610295e-02, 3.74558555e-03,-2.39093322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10404516, -0.0842378 ,  1.10082682, -0.0842378 ,  4.17089196,
        0.23468218,  1.10082682,  0.23468218,  1.12200358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029700826244800064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11024597e-01, -8.42749478e-01, -1.69195681e-01, -8.77279745e-02,
       -1.44675433e-01,  9.85582478e-01, -8.55077578e-01,  5.18500083e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10342439, -0.03858676,  0.30481822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.33780981, -6.51137559,  9.28159034, -6.51137559, 20.66564741,
        6.54381974,  9.28159034,  6.54381974, 15.92853904,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005077573438520389
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.80995391e-07, -8.80995404e-07,  1.00000000e+00, -7.76152890e-13,
        1.00000000e+00,  8.80995404e-07, -1.00000000e+00,  1.00974196e-28,
       -8.80995391e-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([ 0.08351817, -0.11046383,  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:
[-3.34299807e-05, 6.33253292e-06, 5.92751223e-06,-1.06097514e-06,
  3.51039527e-06, 4.56960089e-05,-8.43377592e-06,-2.71115377e-05,
 -1.02524531e-05,-4.30568297e-05, 2.61326431e-05,-8.82390064e-06,
  5.31344793e-02, 2.04116223e-02,-4.29462949e-04, 9.21017858e-04,
 -1.85292070e-05, 1.05523666e-05,-9.80998699e+00,-6.49162494e-02,
 -9.15033299e-03,-5.58447212e-03]


--- Step 1110 ---
qpos:
[ 0.00988312, 0.00810291,-0.00560403, 0.03350051, 0.0034873 , 0.00289764,
 -0.00678198, 0.03912454, 0.01305508, 0.0059368 ,-0.01168489, 0.03408029,
  0.86089178,-0.01401755, 1.1215937 , 0.04625118, 0.09222036,-0.06640478,
  0.14231393, 0.94602113,-0.03313303, 0.030863  , 0.32092631]

qacc:
[-9.64715864e+00, 8.02582895e-02,-8.54518179e-01, 1.80194072e+00,
 -2.79345137e+00,-9.33409355e-02, 2.17769516e+00,-7.88772529e+00,
 -1.05418014e+00,-4.35577946e-01, 2.79502035e+00,-9.38854759e+00,
 -2.05000168e+01,-2.48382358e+00, 4.68233814e+01,-1.47383618e+02,
  1.72722634e-01, 1.42917200e-02, 3.46149051e-01, 2.25490385e+00,
  8.34078722e+00, 4.31597314e+00]

qfrc_actuator:
[ 7.09500546e-06, 2.51963793e-04, 3.51612648e-05, 8.65670274e-06,
 -1.38681941e-06, 7.25448790e-05,-4.13392017e-05, 4.46672235e-05,
  1.66569455e-06, 7.11637179e-06,-4.40226746e-05,-5.10971998e-06,
  4.54981852e-02, 1.80816336e-02, 3.73227025e-03,-2.40149973e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10384153, -0.42192879,  1.0200207 , -0.42192879,  7.23532865,
        2.53627297,  1.0200207 ,  2.53627297,  2.15296395,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029675082375490996
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11052994e-01, -8.42717078e-01, -1.69271270e-01, -8.77732006e-02,
       -1.44736409e-01,  9.85569499e-01, -8.55055964e-01,  5.18535725e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1034317 , -0.03857923,  0.30481659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.36255454, -6.17395125,  9.53886637, -6.17395125, 27.28770319,
       10.30741889,  9.53886637, 10.30741889, 18.03394496,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005092800778378844
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.19009257e-07, -4.69480339e-08,  1.00000000e+00, -1.96716608e-14,
        1.00000000e+00,  4.69480339e-08, -1.00000000e+00,  0.00000000e+00,
       -4.19009257e-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([ 0.06645938, -0.08619171,  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:
[-5.65974985e-05,-3.26359806e-05,-1.36009522e-05, 2.46637755e-09,
 -1.62960592e-05, 2.50093348e-05,-1.65478819e-07,-1.56506634e-05,
 -6.15683874e-06,-4.68061514e-05,-2.80687813e-05,-2.43792867e-05,
  5.66164352e-02, 2.30438773e-02, 2.73004667e-03,-5.87250505e-04,
 -3.57241580e-06, 1.34280716e-06,-9.80999919e+00,-6.49169444e-02,
 -9.14674928e-03,-5.58439616e-03]


--- Step 1111 ---
qpos:
[ 0.00988301, 0.00810309,-0.00560448, 0.0334995 , 0.00348743, 0.00289804,
 -0.00678205, 0.03912545, 0.01305543, 0.00593664,-0.01168482, 0.03407956,
  0.86085673,-0.013984  , 1.12182302, 0.04624672, 0.09222411,-0.06640405,
  0.14231464, 0.94602652,-0.03311972, 0.03084976, 0.32091308]

qacc:
[  0.19192062,  0.62377979, -0.91560351, -4.09587522,  1.31380995,
   1.11824838, -7.51006443, 21.68529284,  2.38544743,  1.75348963,
  -5.52860145,  2.80305567, 42.54232515, 82.3850211 , -1.19249411,
   5.7588913 , -1.02299919, -1.45039553,  0.30688007,  7.41876747,
 -15.73074564, -1.13765699]

qfrc_actuator:
[ 9.92536973e-06, 2.47363693e-04, 8.09255730e-06,-9.12308411e-06,
  6.71541359e-06, 7.36677112e-05,-2.79883331e-05, 8.80223673e-05,
  1.59451961e-05,-9.35202625e-06,-9.29817585e-05,-1.86240362e-05,
  4.55175515e-02, 1.81617625e-02, 3.72100257e-03,-2.29212455e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10514448,  0.08652929,  1.10175179,  0.08652929,  6.17667638,
       -0.39830755,  1.10175179, -0.39830755,  1.13642673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002983928145791876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11072944e-01, -8.42680741e-01, -1.69391897e-01, -8.78410262e-02,
       -1.44836353e-01,  9.85548774e-01, -8.55037076e-01,  5.18566871e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10343935, -0.03856716,  0.30481192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.37434248,   0.67827255, -11.35410116,   0.67827255,
        79.04640677,   4.04260124, -11.35410116,   4.04260124,
        11.61583983,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005100049807611026
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.04147070e-07, -7.04146876e-07,  1.00000000e+00,  4.95822959e-13,
        1.00000000e+00,  7.04146876e-07, -1.00000000e+00,  0.00000000e+00,
        7.04147070e-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([ 0.09352363, -0.05314878,  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:
[ 1.20631076e-06,-2.56869584e-05,-3.54847366e-05,-1.96455994e-05,
  7.64831750e-06, 1.43870222e-05, 1.79544204e-05, 4.41167615e-05,
  1.40911958e-05,-4.94972264e-05,-6.29378299e-05,-1.69665188e-05,
  5.89293385e-02, 2.42503222e-02, 2.36640320e-03, 1.13493295e-04,
 -1.52125752e-06, 1.68130783e-06,-9.80999720e+00,-6.49182427e-02,
 -9.14445789e-03,-5.58643183e-03]


--- Step 1112 ---
qpos:
[ 0.00988294, 0.00810317,-0.00560473, 0.03349824, 0.003488  , 0.00289849,
 -0.00678193, 0.03912652, 0.01305631, 0.00593621,-0.0116854 , 0.03407936,
  0.86076559,-0.01397811, 1.1220752 , 0.04624339, 0.09222879,-0.06640208,
  0.1423163 , 0.94602883,-0.03311267, 0.03085289, 0.32090668]

qacc:
[  0.30759526, -1.21407912,  5.20311355, -9.79268182,  3.88205718,
  -0.13073976, -0.13119526,  2.63373864,  4.49972542,  2.50110684,
 -11.7046653 , 22.141301  ,-24.64792077, -3.6965972 , 31.21325128,
 -58.322572  ,  0.23358582,  0.30893706,  0.23976676, -0.49165111,
   8.67634391,  3.89465584]

qfrc_actuator:
[ 1.16527468e-05, 2.62322294e-04, 2.78390383e-05,-1.91841592e-05,
  2.91882802e-05, 7.41727849e-05,-2.00853226e-05, 9.54156910e-05,
  4.19577942e-05,-1.90723098e-05,-1.21849844e-04, 9.21221357e-06,
  4.55265508e-02, 1.80860185e-02, 3.66866646e-03,-2.08314658e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10215455,  1.06500567,  0.28373859,  1.06500567,  1.21463295,
       -0.42218485,  0.28373859, -0.42218485,  2.6868148 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002946059886253024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11096053e-01, -8.42681699e-01, -1.69317390e-01, -8.78052186e-02,
       -1.44770930e-01,  9.85561577e-01, -8.55026940e-01,  5.18583583e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10344655, -0.03857366,  0.30482168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.36240378,  -2.36601963, -11.11333301,  -2.36601963,
       117.43597764, -22.58297827, -11.11333301, -22.58297827,
        16.17030162,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005092708047242283
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.40213930e-07, -4.11251162e-07,  1.00000000e+00, -2.63288723e-13,
        1.00000000e+00,  4.11251162e-07, -1.00000000e+00,  0.00000000e+00,
       -6.40213930e-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([ 0.0664695 , -0.08618344,  0.06198855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75512307e-06,-7.57566155e-06, 9.39574959e-06,-1.27690718e-05,
  2.26927702e-05, 1.41363737e-05, 1.46062473e-05, 9.48655095e-06,
  2.63985233e-05,-5.11141388e-05,-4.74287591e-05, 2.32086724e-05,
  5.04142665e-02, 1.79340842e-02, 2.27620902e-03, 2.84448892e-04,
  7.85437152e-07, 7.71880955e-07,-9.80999956e+00,-6.49162614e-02,
 -9.14595612e-03,-5.58407227e-03]


--- Step 1113 ---
qpos:
[ 0.00988288, 0.00810327,-0.0056048 , 0.03349686, 0.0034885 , 0.00289897,
 -0.00678189, 0.03912666, 0.01305748, 0.00593558,-0.01168669, 0.03407984,
  0.86062505,-0.01399678, 1.12234287, 0.04623993, 0.09223413,-0.06639894,
  0.1423187 , 0.94602823,-0.03311135, 0.03086893, 0.32090705]

qacc:
[  0.19113464, -0.71387946,  3.09114205, -5.50603371, -0.70627742,
  -1.65816425,  9.88134025,-25.87877182,  2.66385029,  3.142204  ,
 -14.44529222, 27.45139808,-21.42082997, -3.78742916, 24.00161189,
 -49.18735145,  0.1622837 ,  0.29177521,  0.18287829, -0.7864618 ,
   6.95942688,  3.79916602]

qfrc_actuator:
[ 1.26983233e-05, 2.71320340e-04, 3.96629223e-05,-2.45668052e-05,
  2.44265311e-05, 5.65074568e-05,-3.32599147e-05, 4.60670724e-05,
  5.69087736e-05,-2.45661155e-05,-1.56311836e-04, 4.34263375e-05,
  4.55435864e-02, 1.80548078e-02, 3.65358045e-03,-2.17013814e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10163409,  0.41529753,  1.02035564,  0.41529753,  9.71864083,
       -3.50722973,  1.02035564, -3.50722973,  2.52912055,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029393990038414176
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11110253e-01, -8.42677697e-01, -1.69294442e-01, -8.77954064e-02,
       -1.44750043e-01,  9.85565519e-01, -8.55019459e-01,  5.18595916e-01,
       -2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10345339, -0.03857344,  0.30482501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.33477633,  7.78350712, -8.23979195,  7.78350712, 61.00582411,
       46.92047524, -8.23979195, 46.92047524, 55.6569941 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005075705717025563
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46819368e-07, -1.04408145e-06,  1.00000000e+00, -2.57699523e-13,
        1.00000000e+00,  1.04408145e-06, -1.00000000e+00,  5.04870979e-29,
       -2.46819368e-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([ 0.06647251, -0.08618093,  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:
[ 1.09332143e-06, 6.15881257e-06, 1.09791690e-05,-5.62759323e-06,
 -4.11263589e-06,-6.34907502e-06,-8.13749578e-06,-4.80575422e-05,
  1.56824545e-05,-4.28445157e-05,-5.00468935e-05, 3.08361868e-05,
  5.32345850e-02, 1.92848714e-02, 1.11303792e-03, 1.39693731e-04,
 -2.47336871e-07, 7.27581541e-07,-9.80999969e+00,-6.49161098e-02,
 -9.14613694e-03,-5.58389820e-03]


--- Step 1114 ---
qpos:
[ 0.00988284, 0.00810352,-0.00560505, 0.03349508, 0.00348858, 0.00289951,
 -0.00678203, 0.03912621, 0.01305848, 0.00593517,-0.01168888, 0.03407999,
  0.86051149,-0.01398234, 1.12256299, 0.0462467 , 0.09223652,-0.06639503,
  0.14232227, 0.94604061,-0.03312591, 0.0308672 , 0.32086922]

qacc:
[ 1.04876096e-01,-1.20382350e-01, 2.36568701e+00,-8.97788595e+00,
 -3.57468564e+00,-5.97450784e-01, 4.77723874e+00,-1.47820811e+01,
 -1.57195389e+00, 2.10543734e+00,-5.68589278e+00, 1.25936022e+00,
 -3.27405424e-01, 3.14777963e+01,-1.00656357e+02, 2.51314097e+02,
 -7.36223708e-01, 1.92169442e-01, 2.93607980e-01,-9.56083706e+00,
 -5.42141532e+00,-2.06911170e+01]

qfrc_actuator:
[ 1.33341061e-05, 2.76671496e-04, 2.89325697e-05,-4.49220407e-05,
  3.66845298e-06, 6.34598895e-05,-4.11304916e-05, 1.69608604e-05,
  4.74731124e-05, 8.01387372e-06,-1.93790162e-04, 2.78522782e-05,
  4.55562089e-02, 1.80582935e-02, 3.69264000e-03,-2.25637725e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029564139527918175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51111468, -0.84267006, -0.16931908, -0.08780932, -0.14477042,
        0.98556129, -0.85501538,  0.51860264,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10346011, -0.03856764,  0.30482339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005048600674937683
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02532005e-07, -2.40523367e-13,  1.00000000e+00, -2.46613431e-20,
        1.00000000e+00,  2.40523367e-13, -1.00000000e+00,  0.00000000e+00,
       -1.02532005e-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([ 0.08857712, -0.08456003,  0.06198864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.68909622e-07, 1.08229243e-05,-8.29778030e-06,-1.98179761e-05,
 -2.08748875e-05,-3.57584617e-07,-1.18531389e-05,-3.05964625e-05,
 -9.00734203e-06,-3.48942182e-07,-5.14036378e-05,-1.85387011e-05,
  5.57154395e-02, 2.05165427e-02, 3.72263449e-04, 5.85914401e-05,
 -8.84422324e-07,-2.18013665e-07,-9.80999842e+00,-6.49151468e-02,
 -9.14448550e-03,-5.58553518e-03]


--- Step 1115 ---
qpos:
[ 0.00988281, 0.00810371,-0.00560534, 0.03349275, 0.00348876, 0.00290007,
 -0.00678231, 0.03912611, 0.01305936, 0.0059347 ,-0.01169031, 0.03407919,
  0.86055371,-0.01385437, 1.12277531, 0.04624739, 0.09223564,-0.06639648,
  0.14232607, 0.94605717,-0.03311443, 0.03084344, 0.32082386]

qacc:
[ 7.04204120e-02,-1.12593469e+00, 6.27940051e+00,-1.58715676e+01,
  8.35619391e-01, 1.11907307e+00,-5.44047028e+00, 1.16957870e+01,
 -1.03827833e+00,-4.15296704e+00, 1.87173045e+01,-3.64068051e+01,
  3.92826244e+01, 7.43165916e+01, 6.86108583e+00,-4.08007023e+01,
 -8.15731738e-01,-1.33809357e+00, 5.66041072e-02, 8.96562202e+00,
 -1.45411345e+01,-4.19489310e+00]

qfrc_actuator:
[ 1.37238372e-05, 2.61943466e-04, 2.27014147e-05,-7.39425931e-05,
  9.17555191e-06, 6.73694798e-05,-4.56833608e-05, 3.55380592e-05,
  4.15161904e-05, 2.75891428e-05,-1.43861134e-04,-1.68613432e-05,
  4.55557614e-02, 1.80347364e-02, 3.69474205e-03,-2.15720005e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10473566,  0.26489595,  1.07250688,  0.26489595,  8.33710863,
       -1.78630681,  1.07250688, -1.78630681,  1.54593138,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029787896268565077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51117868, -0.84263994, -0.16927578, -0.0877972 , -0.14472713,
        0.98556872, -0.85497837,  0.51866366,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10346468, -0.03856265,  0.304821  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.23734567,  2.38982911, 10.98028482,  2.38982911, 23.99190661,
       -2.77599548, 10.98028482, -2.77599548, 11.84153354,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005015599558328822
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00154893e-06, -1.00154876e-06,  1.00000000e+00,  1.00310009e-12,
        1.00000000e+00,  1.00154876e-06, -1.00000000e+00,  0.00000000e+00,
        1.00154893e-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([ 0.09354112, -0.05313774,  0.06198872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.13554948e-07,-1.12406313e-05,-5.69914846e-06,-2.92256224e-05,
  4.91524603e-06,-7.42385148e-08,-7.14801248e-06, 1.75572581e-05,
 -6.21371318e-06, 8.00766977e-06, 4.29154802e-05,-4.68618710e-05,
  5.43658827e-02, 1.88372856e-02, 2.74866539e-03,-3.54878457e-04,
 -1.15455221e-05, 6.78421935e-06,-9.80999726e+00,-6.49174981e-02,
 -9.14593850e-03,-5.58630971e-03]


--- Step 1116 ---
qpos:
[ 0.00988313, 0.0081041 ,-0.00560583, 0.03349041, 0.00348935, 0.00290066,
 -0.00678265, 0.03912587, 0.01306051, 0.00593396,-0.01169107, 0.03407858,
  0.86052544,-0.01376564, 1.12300206, 0.04624203, 0.09223687,-0.06639649,
  0.14233001, 0.9460694 ,-0.0331081 , 0.03083858, 0.32078892]

qacc:
[ 3.05869319e+00, 8.19566905e-01,-2.55799635e+00, 2.71299380e+00,
  3.59739111e+00,-9.57708549e-02, 9.34672823e-01,-3.11590713e+00,
  2.37185890e+00,-1.81306087e+00, 5.14311416e+00,-2.68306869e+00,
 -2.75744673e+01,-1.22557239e+01, 4.04240541e+01,-1.08757772e+02,
  5.25283113e-01, 3.58551346e-01, 3.59851839e-02, 3.68954647e-01,
  9.66085966e+00, 5.85438869e+00]

qfrc_actuator:
[ 3.17182232e-05, 2.88564329e-04, 1.90971516e-05,-7.23328204e-05,
  3.01028412e-05, 6.94828789e-05,-4.82195549e-05, 2.87631675e-05,
  5.54148973e-05, 4.05794729e-06,-1.13782464e-04,-7.28923096e-06,
  4.55455613e-02, 1.79368001e-02, 3.62487144e-03,-2.30734957e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10215736, -0.99779858,  0.46813335, -0.99779858,  1.43279561,
        0.70473591,  0.46813335,  0.70473591,  2.60426033,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002946095753606141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5112575 , -0.8426375 , -0.16904973, -0.08769002, -0.14452776,
        0.98560752, -0.85494224,  0.51872321,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10346894, -0.03857488,  0.30483241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.18765562,  -6.40524254,  -9.17259539,  -6.40524254,
        39.05130899, -19.4572474 ,  -9.17259539, -19.4572474 ,
        24.77469216,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004984808218303506
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.35204919e-14,  2.52052929e-07,  1.00000000e+00, -2.10515846e-20,
        1.00000000e+00, -2.52052929e-07, -1.00000000e+00,  0.00000000e+00,
        8.35204919e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06621131, -0.08623113,  0.06198879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80038248e-05, 1.79071641e-05,-7.63300933e-06, 3.67503489e-07,
  2.10665627e-05, 1.33260207e-06,-2.82768705e-06,-6.68424623e-06,
  1.37219859e-05,-1.21605746e-05, 3.54224780e-05, 1.04945241e-05,
  4.65688728e-02, 1.30619553e-02, 3.06509094e-03,-2.01564468e-04,
 -6.15353934e-06, 4.36511496e-06,-9.81000417e+00,-6.49134981e-02,
 -9.14687812e-03,-5.58282482e-03]


--- Step 1117 ---
qpos:
[ 0.00988332, 0.00810461,-0.0056061 , 0.03348809, 0.00348984, 0.00290157,
 -0.00678317, 0.03912588, 0.01306251, 0.00593285,-0.01169138, 0.03407846,
  0.86043449,-0.01371307, 1.12324437, 0.04623467, 0.09223962,-0.0663951 ,
  0.142334  , 0.94607795,-0.03310743, 0.03084846, 0.32076282]

qacc:
[-1.15140198e+00,-4.25054593e-01, 1.71769159e+00,-1.94340848e+00,
 -8.81093434e-01, 1.43826173e+00,-5.52502045e+00, 9.71470617e+00,
  7.47621116e+00,-7.85142772e-01,-2.38053563e-02, 8.12441261e+00,
 -2.35272427e+01,-1.30758513e+01, 2.96623287e+01,-6.90418067e+01,
  3.81427469e-01, 3.50927166e-01, 1.27265786e-02,-5.15599225e-01,
  7.79486493e+00, 4.93041423e+00]

qfrc_actuator:
[ 2.44253026e-05, 3.04270000e-04, 3.50097637e-05,-7.04303767e-05,
  2.44249572e-05, 1.06003093e-04,-4.95776069e-05, 4.26221308e-05,
  9.86403711e-05,-2.73617550e-05,-9.58270243e-05, 1.63366248e-05,
  4.55336142e-02, 1.78838492e-02, 3.59530988e-03,-2.37391128e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10197621,  0.37511591,  1.03616583,  0.37511591,  5.81937734,
       -1.70780791,  1.03616583, -1.70780791,  1.72024203,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002943779773118568
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51132171, -0.84262907, -0.16889745, -0.08761971, -0.14439229,
        0.98563363, -0.85491104,  0.51877462,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10347304, -0.03857917,  0.30483691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004950289711090007
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.18034300e-07, -6.35151978e-14,  1.00000000e+00,  1.38484917e-20,
        1.00000000e+00,  6.35151978e-14, -1.00000000e+00,  0.00000000e+00,
        2.18034300e-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([ 0.06641067, -0.0865213 ,  0.06198887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.77368464e-06, 2.41609078e-05, 1.86896447e-05, 2.41749929e-06,
 -5.07809588e-06, 3.63852769e-05,-1.66564340e-06, 1.36872058e-05,
  4.36061742e-05,-3.04079611e-05, 2.01891819e-05, 2.45389261e-05,
  5.00804240e-02, 1.49690993e-02, 2.31023900e-03, 3.36301706e-05,
 -4.95677967e-06, 5.59682047e-06,-9.81000154e+00,-6.49162308e-02,
 -9.14787182e-03,-5.58183747e-03]


--- Step 1118 ---
qpos:
[ 0.00988341, 0.00810512,-0.00560613, 0.03348617, 0.00349026, 0.00290254,
 -0.00678339, 0.03912674, 0.01306535, 0.00593168,-0.01169127, 0.03407859,
  0.86028889,-0.0136931 , 1.12350298, 0.04622922, 0.09224341,-0.06639236,
  0.14233797, 0.94608317,-0.03311254, 0.03086959, 0.32074485]

qacc:
[-7.69173831e-01, 1.33842020e-01,-2.19690550e+00, 8.78985528e+00,
 -6.20094066e-01, 9.90300640e-01,-6.99382408e+00, 2.12083787e+01,
  7.46674267e+00,-7.48736127e-01, 1.46585509e+00, 2.24819874e+00,
 -1.96468275e+01,-1.32951573e+01, 1.88277334e+01,-2.98495059e+01,
  2.59295215e-01, 3.36400610e-01,-5.75314352e-03,-1.10499803e+00,
  6.16101074e+00, 4.47066972e+00]

qfrc_actuator:
[ 2.00542074e-05, 2.95653539e-04, 4.45287623e-05,-5.06151679e-05,
  2.08811208e-05, 1.09610952e-04,-3.23174117e-05, 8.62975056e-05,
  1.41021747e-04,-1.00414306e-05,-6.74571120e-05, 3.02637772e-05,
  4.55384303e-02, 1.78704946e-02, 3.58398709e-03,-2.24993245e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10363055,  0.52131194,  0.97274573,  0.52131194,  7.5934071 ,
       -3.47798804,  0.97274573, -3.47798804,  2.96754693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029648375283964257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11372759e-01, -8.42615331e-01, -1.68811452e-01, -8.75825305e-02,
       -1.44314263e-01,  9.85648362e-01, -8.54884321e-01,  5.18818656e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10347731, -0.03857678,  0.3048359 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004904739671704126
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.32652185e-07, -1.72752084e-13,  1.00000000e+00,  9.20167748e-20,
        1.00000000e+00,  1.72752084e-13, -1.00000000e+00,  0.00000000e+00,
        5.32652185e-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([ 0.06640992, -0.08652032,  0.06198897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.55741964e-06, 8.84533598e-06, 1.68976987e-05, 2.15491147e-05,
 -3.67601234e-06, 2.41685908e-05, 2.50400921e-05, 4.54425767e-05,
  4.36045706e-05, 5.60341957e-06, 2.54416155e-05, 1.38021625e-05,
  5.32174894e-02, 1.67617892e-02, 1.51647600e-03, 2.56452226e-04,
 -4.43373484e-06, 4.97327667e-06,-9.80999800e+00,-6.49172633e-02,
 -9.14705514e-03,-5.58283232e-03]


--- Step 1119 ---
qpos:
[ 0.00988415, 0.00810582,-0.00560639, 0.03348485, 0.00349064, 0.00290331,
 -0.0067832 , 0.0391278 , 0.01306833, 0.00593096,-0.01169188, 0.03407889,
  0.86009704,-0.0137014 , 1.12377377, 0.0462257 , 0.0922479 ,-0.06638844,
  0.14234187, 0.94608519,-0.03312251, 0.03089932, 0.320735  ]

qacc:
[ 5.57497418e+00, 2.17470105e+00,-9.95338620e+00, 2.06949401e+01,
 -3.84391196e-01,-9.66436258e-01, 2.20071357e+00, 7.97762021e-01,
  1.20918368e+00, 2.97239425e+00,-1.04754364e+01, 1.43520467e+01,
 -1.60468298e+01,-1.24979432e+01, 1.24761508e+01,-1.67471417e+01,
  1.75415795e-01, 2.96400431e-01,-1.85994985e-02,-1.10533620e+00,
  4.75988948e+00, 4.42702476e+00]

qfrc_actuator:
[ 5.29509935e-05, 3.08039586e-04, 3.23498455e-05,-2.04473588e-05,
  1.86299026e-05, 7.58376358e-05,-2.20601292e-05, 9.38947412e-05,
  1.47052654e-04, 1.86144273e-05,-1.03984903e-04, 3.84194206e-05,
  4.55654900e-02, 1.78562998e-02, 3.55635134e-03,-2.19225482e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030033331740019934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11410888e-01, -8.42597588e-01, -1.68784502e-01, -8.75746680e-02,
       -1.44287511e-01,  9.85652977e-01, -8.54862317e-01,  5.18854911e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10348198, -0.03856891,  0.30483061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004851066693422985
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.73113550e-07,  3.29712257e-07,  1.00000000e+00, -2.87876240e-13,
        1.00000000e+00, -3.29712257e-07, -1.00000000e+00,  0.00000000e+00,
        8.73113550e-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([ 0.06647351, -0.08617098,  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:
[ 3.27672393e-05, 2.17305922e-05,-7.52627761e-06, 3.15542709e-05,
 -2.35019672e-06,-1.31747536e-05, 1.98950928e-05, 1.03801645e-05,
  7.26711976e-06, 3.77012403e-05,-3.17458361e-05, 9.54546913e-06,
  5.59754546e-02, 1.83765133e-02, 6.68357167e-04, 2.17869925e-04,
 -3.66676101e-06, 3.46348721e-06,-9.80999454e+00,-6.49173207e-02,
 -9.14465160e-03,-5.58545691e-03]


--- Step 1120 ---
qpos:
[ 0.00988492, 0.00810647,-0.0056064 , 0.03348356, 0.00349064, 0.00290392,
 -0.00678314, 0.03912897, 0.01307102, 0.00593036,-0.01169254, 0.03407929,
  0.86007655,-0.01359103, 1.12403022, 0.04622565, 0.0922484 ,-0.0663896 ,
  0.14234561, 0.94608939,-0.03311083, 0.03089677, 0.32072408]

qacc:
[ 3.92601392e-01,-7.58673212e-01, 2.50015614e+00,-2.47076683e+00,
 -3.29696693e+00, 3.47303420e-01,-2.01147971e+00, 4.25723921e+00,
 -2.60126296e+00, 4.94401873e-01,-1.91459933e+00, 3.49669935e+00,
  4.86875061e+01, 7.01433614e+01,-3.21311489e+01, 8.06446384e+01,
 -9.98010139e-01,-1.27211076e+00,-3.89611697e-02, 5.12195859e+00,
 -1.87538052e+01,-1.05580533e+00]

qfrc_actuator:
[ 5.42609220e-05, 2.97320319e-04, 4.30479363e-05,-1.99366774e-05,
 -5.95750039e-07, 5.53905180e-05,-3.39686674e-05, 9.79085123e-05,
  1.31640728e-04, 1.80703503e-05,-1.07473626e-04, 4.30842837e-05,
  4.55804786e-02, 1.78503192e-02, 3.55066722e-03,-2.21066604e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030534884381587594
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51143553, -0.84257755, -0.1688099 , -0.08759245, -0.14430643,
        0.98564863, -0.85484576,  0.5188822 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10348721, -0.03855671,  0.30482232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.9386813 ,  -4.87579332,  -9.79190422,  -4.87579332,
        87.1560052 , -37.95175185,  -9.79190422, -37.95175185,
        29.83642521,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004823799566506387
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15077649e-13,  1.15077649e-13,  1.00000000e+00, -1.32428652e-26,
        1.00000000e+00, -1.15077649e-13, -1.00000000e+00,  0.00000000e+00,
        1.15077649e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09476249, -0.05285208,  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:
[ 2.24837669e-06, 1.21985078e-06, 1.53474008e-05, 1.79604728e-06,
 -1.92983031e-05,-2.32934353e-05,-1.18338960e-05, 4.33519130e-06,
 -1.51941573e-05, 1.44347536e-05, 7.36613544e-07, 5.37046557e-06,
  5.83014691e-02, 1.97839540e-02, 4.82144418e-05, 1.00948648e-04,
 -2.45566581e-06, 1.60010759e-06,-9.80999188e+00,-6.49167285e-02,
 -9.14088660e-03,-5.58936074e-03]


--- Step 1121 ---
qpos:
[ 0.00988571, 0.0081069 ,-0.00560617, 0.03348231, 0.00349109, 0.00290428,
 -0.00678286, 0.03912983, 0.01307316, 0.00593013,-0.01169336, 0.03407972,
  0.86019412,-0.0134011 , 1.12427138, 0.0462267 , 0.09224536,-0.06639571,
  0.142349  , 0.94609703,-0.03307685, 0.0308655 , 0.32070804]

qacc:
[  0.09943601, -0.85395618,  2.46057311, -1.98357083,  4.05136819,
  -1.56367698,  6.42160283,-12.0328024 , -4.85551428,  1.00387818,
  -2.95175933,  3.37093189, 50.96336166, 29.92213985,-27.24904405,
  59.67135019, -0.88410932, -1.23516834, -0.08631723,  6.07681947,
 -17.13125605, -3.10177607]

qfrc_actuator:
[ 5.47096012e-05, 2.72909306e-04, 4.93105957e-05,-1.91279503e-05,
  2.35993378e-05, 4.29748328e-05,-2.33194387e-05, 8.20270732e-05,
  1.03743001e-04, 5.34176649e-05,-1.09272535e-04, 4.56683665e-05,
  4.55809559e-02, 1.77668750e-02, 3.53347298e-03,-2.18826720e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10965501, -1.10866064, -0.04696607, -1.10866064,  1.1091103 ,
        0.01285807, -0.04696607,  0.01285807,  0.80613306,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030398203194241524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11459327e-01, -8.42594883e-01, -1.68651179e-01, -8.75117543e-02,
       -1.44169736e-01,  9.85675799e-01, -8.54839780e-01,  5.18892041e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10349209, -0.03856337,  0.30482922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047832743172333825
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.16052619e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.16052619e-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([ 0.09476351, -0.05285102,  0.06198924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.10669019e-07,-2.05039030e-05, 8.46150741e-06, 1.42816222e-06,
  2.36385965e-05,-2.77324500e-05, 4.52040335e-06,-1.72079304e-05,
 -2.83273200e-05, 4.38333793e-05, 1.47649532e-06, 3.33575113e-06,
  4.97362735e-02, 1.37662627e-02, 7.45162434e-04,-5.05293677e-05,
  1.16468677e-07, 1.41952932e-06,-9.80999979e+00,-6.49145569e-02,
 -9.14130792e-03,-5.58827943e-03]


--- Step 1122 ---
qpos:
[ 0.00988615, 0.00810758,-0.0056066 , 0.03348108, 0.00349184, 0.00290438,
 -0.00678271, 0.03913016, 0.01307494, 0.00592998,-0.01169406, 0.03407985,
  0.86021051,-0.01328653, 1.12443006, 0.04624359, 0.09224238,-0.06639593,
  0.1423509 , 0.94611286,-0.03308685, 0.03083212, 0.32066352]

qacc:
[-3.06059683e+00, 2.22547079e+00,-7.55365926e+00, 8.81337428e+00,
  2.51799904e+00,-1.08824956e+00, 5.55808433e+00,-1.41337711e+01,
 -3.08402499e+00,-8.46790217e-01, 4.41779507e+00,-9.81455061e+00,
 -1.99600707e+01,-5.68730637e+01,-1.70236621e+02, 4.17666460e+02,
  1.39568096e-02, 1.47210158e+00,-3.74097464e-01,-2.05655788e+01,
  6.40175886e+00,-1.55022716e+01]

qfrc_actuator:
[ 3.69050405e-05, 2.93725561e-04, 1.73323433e-05,-1.81659859e-05,
  3.76571909e-05, 1.77779277e-05,-3.49151694e-05, 5.45932002e-05,
  8.64799644e-05, 3.89834458e-05,-1.09930300e-04, 2.92800011e-05,
  4.55802057e-02, 1.75753565e-02, 3.49932345e-03,-2.14040036e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10220667,  1.10154569,  0.03816584,  1.10154569,  1.10388456,
       -0.04842731,  0.03816584, -0.04842731,  2.49991962,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002946725759009427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51148977, -0.84263548, -0.16835576, -0.08735919, -0.14391676,
        0.9857263 , -0.85483717,  0.51889634,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10349918, -0.03858835,  0.30485457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.86401862,  -2.16216335, -10.64668729,  -2.16216335,
        89.54486249, -15.97875774, -10.64668729, -15.97875774,
        14.10903591,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00047730943852934693
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54406541e-14, -2.32600266e-13,  1.00000000e+00, -5.91750292e-27,
        1.00000000e+00,  2.32600266e-13, -1.00000000e+00,  0.00000000e+00,
       -2.54406541e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08336086, -0.11132798,  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:
[-1.77989262e-05, 1.11415505e-05,-3.51278004e-05, 4.05043464e-07,
  1.47207630e-05,-4.05186160e-05,-1.73730945e-05,-2.88050433e-05,
 -1.80545773e-05, 1.05390811e-05, 8.70829035e-06,-1.43909788e-05,
  4.28344021e-02, 9.59557676e-03, 1.46958024e-03,-5.90778225e-05,
  5.03750496e-06, 3.72194105e-06,-9.80999213e+00,-6.49105059e-02,
 -9.14551945e-03,-5.58280719e-03]


--- Step 1123 ---
qpos:
[ 0.00988569, 0.00810852,-0.00560721, 0.03347984, 0.00349275, 0.00290444,
 -0.00678306, 0.03912982, 0.01307651, 0.00592942,-0.01169424, 0.03407981,
  0.86013102,-0.01324434, 1.12450344, 0.04626446, 0.09224035,-0.06639161,
  0.1423516 , 0.94613668,-0.03313029, 0.0307999 , 0.32059185]

qacc:
[-7.96720338e+00, 8.07435624e-01,-2.27341341e+00, 2.03735532e+00,
  1.41563130e+00,-2.92995788e-02, 2.89128028e+00,-1.37818560e+01,
 -1.91819643e+00,-2.30623222e+00, 8.14646656e+00,-1.15063352e+01,
 -1.85582135e+01,-5.50111954e+01,-1.38479132e+02, 3.00491245e+02,
  2.39056723e-01, 1.13300815e+00,-2.99262585e-01,-1.50819721e+01,
  6.23593679e+00,-1.46231363e+01]

qfrc_actuator:
[-9.25210977e-06, 3.23552257e-04, 1.64690521e-05,-1.71109318e-05,
  4.56221216e-05, 2.05292593e-05,-5.96170828e-05, 2.05559162e-05,
  7.56182024e-05,-5.16248714e-06,-9.23643784e-05, 1.95741722e-05,
  4.55899552e-02, 1.74598311e-02, 3.46692352e-03,-2.02143070e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.09942144,  0.38769016, -1.02879728,  0.38769016,  2.73491864,
        0.6163179 , -1.02879728,  0.6163179 ,  1.3316736 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029108466122846396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11558766e-01, -8.42630652e-01, -1.68170194e-01, -8.72718647e-02,
       -1.43752689e-01,  9.85757975e-01, -8.54804803e-01,  5.18949659e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10350255, -0.03859738,  0.30486371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047610122108626696
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.82976359e-14,  8.74464538e-14,  1.00000000e+00, -5.09792152e-27,
        1.00000000e+00, -8.74464538e-14, -1.00000000e+00,  0.00000000e+00,
        5.82976359e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08335962, -0.111328  ,  0.06198929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.66604270e-05, 2.87941144e-05,-2.87416806e-06, 3.27832612e-07,
  8.37120706e-06,-2.47308535e-05,-3.62121540e-05,-3.69371344e-05,
 -1.13721972e-05,-3.70575477e-05, 2.03298031e-05,-9.23026174e-06,
  4.79024116e-02, 1.32449860e-02, 5.55955414e-03,-7.32776994e-04,
 -1.63221316e-05,-4.75089077e-07,-9.80999976e+00,-6.49116127e-02,
 -9.15350982e-03,-5.57929897e-03]


--- Step 1124 ---
qpos:
[ 0.00988536, 0.00810926,-0.00560708, 0.03347861, 0.0034934 , 0.0029047 ,
 -0.00678357, 0.03912868, 0.01307793, 0.00592883,-0.01169464, 0.03408035,
  0.86005236,-0.01321764, 1.12467423, 0.04624981, 0.09224504,-0.0663902 ,
  0.14235042, 0.94614127,-0.03312021, 0.03079734, 0.3205796 ]

qacc:
[ 1.25763552e+00,-2.25402567e+00, 7.57952920e+00,-8.26765012e+00,
 -2.26598925e+00,-9.46239330e-01, 7.14405660e+00,-2.09540018e+01,
 -1.26131467e+00, 1.74738659e+00,-8.73947197e+00, 1.91203281e+01,
  5.55075763e+00,-1.74608070e+01, 2.50861229e+02,-6.69581196e+02,
  1.67901288e+00,-7.25085418e-01,-4.70395546e-01, 2.88370508e+01,
  4.75759639e+00, 3.25097132e+01]

qfrc_actuator:
[-7.11028328e-07, 3.05407432e-04, 5.17995849e-05,-1.59701128e-05,
  3.21876640e-05, 5.76824808e-05,-5.62405327e-05,-1.70761865e-05,
  6.86073726e-05, 4.31940932e-06,-9.98140233e-05, 4.93680825e-05,
  4.55931931e-02, 1.74170665e-02, 3.46542482e-03,-1.97852615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.09983059, -0.61250203,  0.91349252, -0.61250203,  2.37517694,
        0.85512712,  0.91349252,  0.85512712,  1.67319828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002916155240186231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5116673 , -0.84258089, -0.1680893 , -0.08724717, -0.14367305,
        0.98577177, -0.85474236,  0.5190525 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10350361, -0.03859304,  0.30486104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.87158576, -5.90092645,  9.13074169, -5.90092645, 23.18346902,
        7.95680352,  9.13074169,  7.95680352, 16.01383093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047782873020169037
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.80868706e-14, -3.48521224e-13,  1.00000000e+00,  2.02445072e-26,
        1.00000000e+00,  3.48521224e-13, -1.00000000e+00,  0.00000000e+00,
        5.80868706e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05040686, -0.06308256,  0.06198925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.21970894e-06,-2.66161857e-06, 4.09369185e-05, 2.28568950e-06,
 -1.32020924e-05, 1.42663599e-05,-7.46601306e-06,-4.06625180e-05,
 -7.34939846e-06,-7.41369037e-06,-1.29088125e-05, 2.87321195e-05,
  5.26996791e-02, 1.68202138e-02, 9.82123912e-03,-8.88587129e-04,
 -5.78657729e-05, 1.61083446e-05,-9.80998498e+00,-6.49187160e-02,
 -9.16525912e-03,-5.57850270e-03]


--- Step 1125 ---
qpos:
[ 0.00988549, 0.00810985,-0.00560651, 0.03347777, 0.00349319, 0.00290485,
 -0.00678401, 0.0391278 , 0.01307926, 0.00592832,-0.01169493, 0.03408156,
  0.85998621,-0.01319651, 1.12496571, 0.0462221 , 0.09225468,-0.06639017,
  0.14234792, 0.94612617,-0.03306742, 0.03081437, 0.32062797]

qacc:
[ 3.96008277e+00,-6.72893056e-01, 4.65380985e-01, 5.58707093e+00,
 -7.52035142e+00, 2.15497551e-01,-2.07014927e+00, 6.64213051e+00,
 -8.36769607e-01, 1.18488353e+00,-6.85018138e+00, 1.80470548e+01,
  7.79320937e+00,-1.00103989e+01, 2.17465424e+02,-5.02644955e+02,
  1.23635798e+00,-3.47929939e-01,-3.30598617e-01, 2.20907885e+01,
  1.72718475e+00, 3.28160840e+01]

qfrc_actuator:
[ 2.22119325e-05, 2.94339012e-04, 7.25120554e-05, 2.94623439e-06,
 -1.14847177e-05, 4.42526586e-05,-5.39121801e-05,-3.20965601e-06,
  6.39174200e-05, 2.80203596e-05,-8.62425158e-05, 8.44324683e-05,
  4.55979222e-02, 1.73722741e-02, 3.38388195e-03,-2.28067541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.09776460e+00,  2.92506595e-03,  1.09776070e+00,  2.92506595e-03,
        1.75704268e+00, -1.75669604e-03,  1.09776070e+00, -1.75669604e-03,
        1.09776928e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.00028892124049702765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51169079, -0.84257407, -0.16805199, -0.08723125, -0.14363906,
        0.98577813, -0.85472992,  0.51907298,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10350934, -0.0385941 ,  0.30486647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.88756095,  5.7302986 , -9.2575732 ,  5.7302986 , 61.75735084,
       31.487635  , -9.2575732 , 31.487635  , 30.37793353,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004789209904469821
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.79543937e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.79543937e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05041206, -0.06307839,  0.06198923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.31237344e-05,-4.02492182e-06, 2.52763870e-05, 2.02637265e-05,
 -4.40407482e-05,-8.74179219e-06, 2.95501834e-06, 1.34317902e-05,
 -4.90429375e-06, 1.81468699e-05, 1.14563836e-05, 3.48608317e-05,
  5.26614398e-02, 1.75492895e-02, 4.86633828e-03, 5.83848033e-04,
 -3.68762131e-08, 1.34489299e-06,-9.81000000e+00,-6.49210237e-02,
 -9.15308885e-03,-5.57781258e-03]


--- Step 1126 ---
qpos:
[ 0.00988589, 0.00811026,-0.00560592, 0.03347719, 0.00349281, 0.00290464,
 -0.00678402, 0.03912746, 0.01308052, 0.00592824,-0.01169493, 0.03408277,
  0.85984364,-0.01323878, 1.12519635, 0.04622829, 0.09226195,-0.06638504,
  0.14234491, 0.94612739,-0.03306772, 0.03081673, 0.32062412]

qacc:
[ 2.40736623e+00, 2.27322150e-01,-2.28943453e+00, 6.98999590e+00,
 -1.53488337e+00,-5.72332452e-01,-8.68058104e-01, 9.57539617e+00,
 -5.86785926e-01,-2.60434701e-01, 1.72081718e+00,-2.40468551e+00,
 -9.16905937e+00,-5.52483329e+01,-1.93215948e+02, 5.43726083e+02,
 -5.91078342e-01, 1.27758053e+00,-1.25978061e-01,-2.63964314e+01,
  2.18145882e+00,-2.83804548e+01]

qfrc_actuator:
[ 3.56462258e-05, 2.69804480e-04, 6.66915590e-05, 1.44031721e-05,
 -1.93402647e-05, 1.84410522e-05,-3.46357651e-05, 2.30519096e-05,
  6.06297331e-05, 7.79006030e-05,-6.02895100e-05, 8.68409566e-05,
  4.56077912e-02, 1.73402888e-02, 3.31262039e-03,-2.35427799e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.09414847, -0.08261396,  1.09102512, -0.08261396,  4.37370573,
        0.2483327 ,  1.09102512,  0.2483327 ,  1.11295257,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002841211934066282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11621933e-01, -8.42617619e-01, -1.68043283e-01, -8.72148578e-02,
       -1.43638830e-01,  9.85779618e-01, -8.54772816e-01,  5.19002345e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10351872, -0.03860024,  0.30487741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.92437399, -6.1774313 ,  9.01006601, -6.1774313 , 20.2040531 ,
        6.36228193,  9.01006601,  6.36228193, 15.28644631,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048141738934461
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.76538701e-14,  1.44134675e-13,  1.00000000e+00, -8.30992184e-27,
        1.00000000e+00, -1.44134675e-13, -1.00000000e+00,  0.00000000e+00,
        5.76538701e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08337071, -0.11131483,  0.06198917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40875638e-05,-2.07141672e-05,-2.85033055e-06, 1.25517032e-05,
 -9.11137340e-06,-2.95280115e-05, 1.83063948e-05, 2.62550779e-05,
 -3.42434962e-06, 6.39101288e-05, 3.23269522e-05, 4.26056947e-06,
  5.20447116e-02, 1.77950757e-02,-1.24430165e-03, 1.16243140e-03,
 -3.80443019e-05, 1.80105787e-05,-9.80997732e+00,-6.49147704e-02,
 -9.16273550e-03,-5.57625855e-03]


--- Step 1127 ---
qpos:
[ 0.00988575, 0.0081103 ,-0.00560528, 0.03347678, 0.00349199, 0.00290441,
 -0.0067836 , 0.03912704, 0.01308207, 0.00592927,-0.0116955 , 0.03408397,
  0.8596293 ,-0.01333968, 1.12534331, 0.04624791, 0.09226817,-0.06637605,
  0.14234161, 0.94614334,-0.0331087 , 0.03080924, 0.32057353]

qacc:
[-4.65742163e+00,-2.37606902e-01,-5.27126746e-01, 3.56929029e+00,
 -3.82752125e+00,-1.36079055e+00, 5.10634576e+00,-6.99502040e+00,
  2.55975358e+00, 3.04283295e+00,-8.68016060e+00, 8.61224076e+00,
 -9.20367703e+00,-5.04785127e+01,-1.64974787e+02, 3.96056953e+02,
 -2.62974041e-01, 9.63789950e-01,-7.49131203e-02,-1.98622458e+01,
  2.40619785e+00,-2.52639756e+01]

qfrc_actuator:
[ 7.87779653e-06, 2.37277514e-04, 6.29445309e-05, 2.13485979e-05,
 -4.15475897e-05, 3.87563643e-05,-5.56819590e-06, 2.08790114e-05,
  7.59457624e-05, 1.60864489e-04,-8.04043424e-05, 8.77982305e-05,
  4.56123207e-02, 1.73760363e-02, 3.34473195e-03,-2.01294509e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.09406736,  0.21806224, -1.07211578,  0.21806224,  2.39643189,
        0.26489352, -1.07211578,  0.26489352,  1.14794519,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002840122694738317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51162844, -0.84260301, -0.16809671, -0.0872445 , -0.14368334,
        0.98577051, -0.8547659 ,  0.51901374,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10352497, -0.03859365,  0.30487481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.96722799,  7.92848833, -7.57754331,  7.92848833, 35.03923065,
       25.18686918, -7.57754331, 25.18686918, 37.32059742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048428790772447883
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.73121384e-14,  5.73121384e-14,  1.00000000e+00, -3.28468121e-27,
        1.00000000e+00, -5.73121384e-14, -1.00000000e+00,  0.00000000e+00,
        5.73121384e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08337743, -0.11130819,  0.06198911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73764824e-05,-4.41781549e-05,-7.95404062e-06, 6.20184491e-06,
 -2.24785034e-05, 8.71465737e-06, 2.61349232e-05,-2.29214302e-06,
  1.52394963e-05, 1.25565809e-04,-2.78475811e-06, 4.89530063e-06,
  5.58694102e-02, 2.10007235e-02, 1.82409662e-03,-1.92515974e-04,
 -1.16809664e-07, 1.23683354e-07,-9.80999991e+00,-6.49144379e-02,
 -9.15321379e-03,-5.57649542e-03]


--- Step 1128 ---
qpos:
[ 0.00988529, 0.00811007,-0.00560445, 0.03347678, 0.00349092, 0.00290437,
 -0.0067832 , 0.03912625, 0.0130838 , 0.0059309 ,-0.01169639, 0.03408487,
  0.85943858,-0.01343832, 1.12558046, 0.0462362 , 0.0922794 ,-0.06636973,
  0.14233742, 0.94613645,-0.03309641, 0.03082479, 0.32059362]

qacc:
[-2.89986339e+00,-6.41535350e-02,-2.03899773e+00, 9.03943863e+00,
 -2.29020032e+00,-4.73960952e-01, 3.62451827e+00,-1.01254626e+01,
  1.49119770e+00, 1.08588723e+00,-1.48312159e+00,-3.53118857e+00,
  1.10667029e+01,-5.52802996e+00, 2.27556679e+02,-6.03488362e+02,
  1.25260908e+00,-6.65138430e-01,-2.21028085e-01, 2.74315491e+01,
  1.54349934e+00, 3.83043678e+01]

qfrc_actuator:
[-8.41105394e-06, 2.35713067e-04, 7.81716538e-05, 4.33343131e-05,
 -5.42826018e-05, 5.10565564e-05,-6.30017654e-06, 2.03246367e-06,
  8.43359639e-05, 1.56304339e-04,-1.09656341e-04, 7.01456652e-05,
  4.56372820e-02, 1.74907804e-02, 3.28866662e-03,-1.87730189e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.09643618,  0.28005095, -1.06006781,  0.28005095,  2.87358424,
        0.46949072, -1.06006781,  0.46949072,  1.22046723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028717056283620164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11704689e-01, -8.42533391e-01, -1.68213543e-01, -8.73199171e-02,
       -1.43774227e-01,  9.85750579e-01, -8.54712550e-01,  5.19101586e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10352905, -0.03857644,  0.30486275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.99998027, -6.07231244,  9.1720547 , -6.07231244, 21.43486147,
        6.90836034,  9.1720547 ,  6.90836034, 15.5736253 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048645653096660024
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.28226564e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.28226564e-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([ 0.05043603, -0.06306241,  0.06198906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70849042e-05,-2.76637271e-05, 5.33060763e-06, 1.99386800e-05,
 -1.33720024e-05, 2.24704716e-05, 4.20742675e-06,-1.76120693e-05,
  8.87003094e-06, 6.52681822e-05,-3.49584277e-06,-1.22767613e-05,
  5.94823695e-02, 2.40493915e-02, 5.94796490e-03,-7.29181936e-04,
 -3.07516190e-05, 1.60057731e-05,-9.80998462e+00,-6.49206091e-02,
 -9.15961988e-03,-5.57843634e-03]


--- Step 1129 ---
qpos:
[ 0.00988498, 0.00810961,-0.00560372, 0.03347671, 0.00349004, 0.00290426,
 -0.00678296, 0.03912529, 0.01308493, 0.00593223,-0.01169662, 0.03408526,
  0.85920834,-0.01356019, 1.12584842, 0.04623211, 0.09229003,-0.06636282,
  0.14233477, 0.94612744,-0.03309144, 0.03085238, 0.32061808]

qacc:
[ 1.34369692e+00,-1.59478993e-01, 4.33212280e-01,-1.31044712e+00,
  1.76115354e+00, 2.26899533e-02, 5.07499131e-01,-3.17465949e+00,
 -5.26892920e+00,-3.26957863e+00, 1.32762373e+01,-2.30245769e+01,
 -1.49662712e+01,-8.34890901e+00, 2.29091128e+01,-1.31317955e+01,
 -1.49617289e-01, 1.45151818e-01, 3.85681799e-01,-1.63903239e+00,
  6.82984443e+00, 2.48924256e+00]

qfrc_actuator:
[-4.67502467e-08, 2.17286698e-04, 6.91072738e-05, 3.85269000e-05,
 -4.35836876e-05, 2.28290985e-05,-2.46506847e-05,-8.74039012e-06,
  5.30706666e-05, 9.92979747e-05,-9.11528730e-05, 4.16156590e-05,
  4.56631745e-02, 1.75799763e-02, 3.23629382e-03,-1.98547538e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.0960039 ,  0.33344469, -1.04404942,  0.33344469,  6.79280615,
        1.81942388, -1.04404942,  1.81942388,  1.67708485,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028659773117206976
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11674069e-01, -8.42522550e-01, -1.68360921e-01, -8.73934220e-02,
       -1.43902014e-01,  9.85725418e-01, -8.54723369e-01,  5.19083773e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10353763, -0.03856699,  0.30486078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.03916319, -6.32159615,  9.04989205, -6.32159615, 23.54115396,
        8.73298115,  9.04989205,  8.73298115, 17.13938844,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000489022809179421
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59012783e-07, -1.74373259e-13,  1.00000000e+00,  2.77275771e-20,
        1.00000000e+00,  1.74373259e-13, -1.00000000e+00,  0.00000000e+00,
        1.59012783e-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([ 0.06644495, -0.08648166,  0.061989  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.86674231e-06,-3.19461760e-05,-1.34380575e-05,-5.42086802e-06,
  1.03271493e-05,-1.55537142e-05,-1.38021349e-05,-1.00057423e-05,
 -3.09853022e-05,-2.17984441e-05, 3.11206585e-05,-2.60966356e-05,
  5.83253212e-02, 2.40270088e-02, 1.38229454e-03, 7.27708854e-04,
 -5.32216189e-06, 4.12334958e-07,-9.80999855e+00,-6.49166192e-02,
 -9.15232332e-03,-5.57917551e-03]


--- Step 1130 ---
qpos:
[ 0.00988477, 0.00810895,-0.00560309, 0.03347623, 0.0034893 , 0.00290411,
 -0.00678297, 0.03912456, 0.01308567, 0.00593316,-0.01169653, 0.03408569,
  0.85892443,-0.01372859, 1.12603732, 0.04624971, 0.0922986 ,-0.06635226,
  0.14233182, 0.94613583,-0.03313026, 0.03086266, 0.32058831]

qacc:
[ 8.99509486e-01,-8.16892668e-01, 4.23173087e+00,-1.09186244e+01,
  1.17937355e+00, 1.09912912e+00,-4.94970955e+00, 9.27719672e+00,
 -3.35245038e+00,-1.38042900e+00, 4.00032049e+00,-3.59878383e+00,
 -3.57855568e+00,-4.39981868e+01,-1.83204210e+02, 4.69590779e+02,
 -5.15463883e-01, 9.13647763e-01,-7.57571548e-02,-2.23650841e+01,
 -5.39487623e-01,-2.94046709e+01]

qfrc_actuator:
[ 5.00470508e-06, 2.06547612e-04, 6.34369206e-05, 1.79598436e-05,
 -3.69338124e-05, 2.37320845e-05,-3.56529431e-05, 3.03639694e-06,
  3.42224030e-05, 6.47401141e-05,-8.03486904e-05, 4.24025426e-05,
  4.56731554e-02, 1.76784246e-02, 3.25746911e-03,-2.01781063e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028817306450765293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51163755, -0.84250799, -0.16854466, -0.08748534, -0.14406116,
        0.98569402, -0.85473583,  0.51906326,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1035465 , -0.03855327,  0.30485491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004908923299607182
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69623198e-13, -2.82705330e-14,  1.00000000e+00,  4.79533821e-27,
        1.00000000e+00,  2.82705330e-14, -1.00000000e+00,  0.00000000e+00,
        1.69623198e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0834011 , -0.11128762,  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:
[ 5.26593151e-06,-3.15997388e-05,-1.41149577e-05,-2.25071627e-05,
  6.93902528e-06,-1.10675023e-05,-1.62609000e-05, 1.04394905e-05,
 -1.97327198e-05,-4.14912821e-05, 9.22041714e-06, 4.19771758e-07,
  6.03093742e-02, 2.52883262e-02,-1.43104307e-04, 3.13041909e-04,
 -5.88786821e-06,-1.89597791e-06,-9.80999868e+00,-6.49134059e-02,
 -9.14918017e-03,-5.58183525e-03]


--- Step 1131 ---
qpos:
[ 0.00988497, 0.0081084 ,-0.00560272, 0.03347583, 0.00348864, 0.0029043 ,
 -0.0067836 , 0.03912429, 0.01308653, 0.00593356,-0.0116962 , 0.03408615,
  0.85867906,-0.01388166, 1.12630977, 0.04623828, 0.0923115 ,-0.06634415,
  0.14232814, 0.94612063,-0.03311643, 0.03089043, 0.32063193]

qacc:
[ 3.56093781e+00, 1.01574165e+00,-3.70920379e+00, 5.28879118e+00,
  7.25057219e-01, 3.14435340e+00,-1.25553471e+01, 2.14313762e+01,
  1.01177863e+00,-1.26846504e+00, 3.39410054e+00,-2.86414466e+00,
  1.37149518e+01, 4.54516536e+00, 2.10917529e+02,-5.59316893e+02,
  1.08316633e+00,-6.13310508e-01,-1.81788845e-01, 2.61880506e+01,
 -1.01793823e+00, 3.96015915e+01]

qfrc_actuator:
[ 2.58104107e-05, 2.35994257e-04, 5.98444330e-05, 2.38050197e-05,
 -3.27278124e-05, 5.98623976e-05,-5.98547387e-05, 2.80135013e-05,
  4.05989693e-05, 2.61239277e-05,-7.41045736e-05, 4.26807408e-05,
  4.56869373e-02, 1.78327766e-02, 3.25166601e-03,-1.91523982e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10050808, -0.40158285, -1.02462151, -0.40158285,  3.02795008,
       -0.75542787, -1.02462151, -0.75542787,  1.39658509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000292491658536133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51168132, -0.84243721, -0.16876544, -0.08761079, -0.14424328,
        0.98565624, -0.85469677,  0.51912756,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10355307, -0.0385307 ,  0.3048406 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.09711346, -6.14605099,  9.23969612, -6.14605099, 21.59060706,
        6.98005063,  9.23969612,  6.98005063, 15.74009593,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004927633612355625
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.25305514e-13, -2.25305514e-13,  1.00000000e+00,  5.07625747e-26,
        1.00000000e+00,  2.25305514e-13, -1.00000000e+00,  0.00000000e+00,
        2.25305514e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05046188, -0.06304579,  0.06198892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09477608e-05, 7.91585929e-06,-1.26356361e-05, 3.56561749e-06,
  4.39963775e-06, 2.70393588e-05,-2.81262448e-05, 2.41451846e-05,
  5.80392996e-06,-5.99359447e-05,-1.18751674e-06,-1.17493726e-06,
  6.30062673e-02, 2.77729304e-02, 3.79877949e-03,-6.69983928e-04,
 -1.25754915e-05, 1.20459477e-05,-9.80998454e+00,-6.49213062e-02,
 -9.14867304e-03,-5.58588272e-03]


--- Step 1132 ---
qpos:
[ 0.00988541, 0.00810796,-0.00560271, 0.03347551, 0.00348769, 0.00290479,
 -0.00678457, 0.03912431, 0.0130878 , 0.00593337,-0.01169571, 0.03408628,
  0.85861895,-0.01390199, 1.12658027, 0.04623923, 0.09231918,-0.066342  ,
  0.1423261 , 0.94610509,-0.0330871 , 0.03088597, 0.32068125]

qacc:
[  2.16277067,  1.28901115, -4.7662719 ,  6.69847044, -2.56065909,
   1.93363773, -7.4842356 , 12.68472932,  3.66245804, -1.93804722,
   7.13602279,-12.65273537, 49.6411378 , 82.72049002,-40.56555403,
 137.16379812, -1.30713613, -1.4901111 ,  0.41033944,  2.0729896 ,
 -17.82164134,  2.45886523]

qfrc_actuator:
[ 3.79705835e-05, 2.36055052e-04, 3.99419314e-05, 2.74302850e-05,
 -4.77451243e-05, 8.12663618e-05,-7.37499681e-05, 4.28236473e-05,
  6.17673544e-05,-1.46471943e-05,-7.06244182e-05, 2.48943791e-05,
  4.57072844e-02, 1.79774100e-02, 3.20190884e-03,-1.97373046e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10073436, -0.15998337,  1.08904613, -0.15998337,  8.86169882,
        1.14010345,  1.08904613,  1.14010345,  1.26821817,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002927834937435049
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51161185, -0.84243186, -0.16900263, -0.08772563, -0.14445104,
        0.9856156 , -0.85472658,  0.51907848,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10356377, -0.0385172 ,  0.30483716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.14610459, -10.65267763,  -3.27965042, -10.65267763,
        11.85606066,  -2.30601806,  -3.27965042,  -2.30601806,
        18.63631358,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004958758438993044
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.11945665e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.11945665e-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([ 0.09482969, -0.05280862,  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:
[ 1.27615375e-05, 2.05298393e-06,-1.96984243e-05, 3.59705353e-06,
 -1.48826621e-05, 3.17521650e-05,-1.09330291e-05, 1.54670290e-05,
  2.13142459e-05,-7.45979422e-05,-9.09606076e-06,-2.04215002e-05,
  6.10979768e-02, 2.71529686e-02,-4.32312068e-04, 7.22150960e-04,
 -1.68402191e-05, 1.42435973e-06,-9.80999915e+00,-6.49132200e-02,
 -9.14570519e-03,-5.58762121e-03]


--- Step 1133 ---
qpos:
[ 0.00988566, 0.00810716,-0.00560247, 0.03347525, 0.00348657, 0.0029054 ,
 -0.00678507, 0.03912448, 0.01308931, 0.00593286,-0.0116956 , 0.03408654,
  0.8584852 ,-0.01397689, 1.12676798, 0.04625775, 0.09232513,-0.06633545,
  0.14232388, 0.94610613,-0.03310401, 0.03087198, 0.32067778]

qacc:
[-1.76041447e+00,-9.73581309e-01, 2.52849747e+00,-1.53660139e+00,
 -1.50428294e+00,-8.45515069e-01, 2.59541898e+00,-8.50893594e-01,
  2.13720063e+00, 9.00261387e-01,-4.37240447e+00, 7.48462056e+00,
 -1.35294340e+01,-4.25094631e+01,-1.75885770e+02, 4.36862868e+02,
 -4.29718999e-01, 1.09991785e+00,-4.59178088e-02,-2.23116465e+01,
  3.52295895e+00,-2.85038308e+01]

qfrc_actuator:
[ 2.71870468e-05, 2.00706670e-04, 4.59610463e-05, 2.96843215e-05,
 -5.62032034e-05, 9.37228869e-05,-4.59953657e-05, 5.15318357e-05,
  7.37114519e-05,-2.09168066e-05,-8.65815249e-05, 3.21222713e-05,
  4.57169777e-02, 1.80459437e-02, 3.18905139e-03,-2.03437793e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.09699243, -0.6444009 , -0.88777243, -0.6444009 ,  1.48269714,
       -0.27996866, -0.88777243, -0.27996866,  1.30021124,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000287905392900658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11528652e-01, -8.42474533e-01, -1.69041712e-01, -8.77322428e-02,
       -1.44492747e-01,  9.85608898e-01, -8.54775697e-01,  5.18997599e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1035732 , -0.03852273,  0.30484753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.18675008,   4.43111427,  10.2717381 ,   4.43111427,
        47.21592921, -15.54258959,  10.2717381 , -15.54258959,
        17.89165141,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004984243858730947
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11373265e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.11373265e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08343072, -0.11126461,  0.06198879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04171270e-05,-3.80954767e-05, 4.14626007e-06, 1.73152461e-06,
 -8.87031998e-06, 2.86049706e-05, 3.35080154e-05, 9.99316346e-06,
  1.25250283e-05,-5.07264621e-05,-3.31962293e-05, 3.31738279e-06,
  5.18467011e-02, 2.05873934e-02,-3.47956350e-04, 4.28792066e-05,
 -2.30511269e-05, 1.52372192e-05,-9.80998851e+00,-6.49152042e-02,
 -9.14837878e-03,-5.58559426e-03]


--- Step 1134 ---
qpos:
[ 0.00988577, 0.0081061 ,-0.00560188, 0.033475  , 0.00348571, 0.00290593,
 -0.00678484, 0.03912441, 0.01309061, 0.00593289,-0.01169612, 0.03408679,
  0.85828444,-0.0140998 , 1.12686747, 0.04627963, 0.09233056,-0.06632575,
  0.14232171, 0.94612216,-0.03315503, 0.03085243, 0.32062708]

qacc:
[-1.13490461e+00,-1.27172363e+00, 3.99421407e+00,-4.17902061e+00,
  2.24247022e+00,-2.64653913e+00, 1.03183773e+01,-1.55930046e+01,
 -1.91231094e+00, 2.45182070e+00,-7.65839034e+00, 8.09532363e+00,
 -1.36746772e+01,-3.57431683e+01,-1.40802796e+02, 3.02733974e+02,
 -1.30730838e-01, 7.86677870e-01, 1.19970606e-02,-1.60541276e+01,
  3.39277672e+00,-2.53658661e+01]

qfrc_actuator:
[ 2.07408111e-05, 1.97782846e-04, 6.70903993e-05, 3.11013469e-05,
 -4.29742289e-05, 8.31402337e-05,-1.16661933e-05, 3.88481486e-05,
  6.23734334e-05, 6.44763741e-05,-9.59757957e-05, 3.62764302e-05,
  4.57369120e-02, 1.81142538e-02, 3.22165591e-03,-1.98220672e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.09677879,  0.28070322, -1.0602497 ,  0.28070322,  2.56853331,
        0.38964993, -1.0602497 ,  0.38964993,  1.19993939,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028762346478286604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51152492, -0.84245796, -0.16913555, -0.08778174, -0.14457248,
        0.9855928 , -0.85477285,  0.51900229,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10357935, -0.03851594,  0.30484531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.21094934,  7.74328743, -8.1072119 ,  7.74328743, 36.69852642,
       24.34346576, -8.1072119 , 24.34346576, 34.46166176,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004999274778633754
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.19021646e-07, -4.19021691e-07,  1.00000000e+00, -1.75579159e-13,
        1.00000000e+00,  4.19021691e-07, -1.00000000e+00,  0.00000000e+00,
       -4.19021646e-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([ 0.08360846, -0.11039298,  0.06198876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.75423176e-06,-2.32741458e-05, 1.38380166e-05,-3.60662191e-08,
  1.29850033e-05, 1.27436346e-05, 4.47093800e-05,-1.01044140e-05,
 -1.09999496e-05, 5.03376376e-05,-2.38412217e-05, 8.96456500e-07,
  5.55482559e-02, 2.33848834e-02, 3.81934982e-03,-7.85042177e-04,
 -2.93476983e-06, 1.40332951e-06,-9.80999711e+00,-6.49153438e-02,
 -9.14533003e-03,-5.58497783e-03]


--- Step 1135 ---
qpos:
[ 0.00988546, 0.00810514,-0.00560147, 0.03347442, 0.00348466, 0.00290621,
 -0.00678431, 0.03912424, 0.01309142, 0.00593364,-0.01169666, 0.03408702,
  0.85810792,-0.01421579, 1.12705973, 0.04626691, 0.09234132,-0.06631909,
  0.14231865, 0.9461154 ,-0.03314909, 0.03085893, 0.32064701]

qacc:
[-3.72214870e+00,-8.63749115e-02, 1.95926417e+00,-7.66020721e+00,
 -1.56490135e+00,-1.34884300e+00, 4.69574459e+00,-6.57927998e+00,
 -4.33282880e+00, 1.00413295e+00,-2.09611849e+00, 1.25870027e+00,
  7.92476451e+00, 2.02913048e+00, 2.41608472e+02,-6.46516301e+02,
  1.33140400e+00,-7.58888498e-01,-2.21807398e-01, 2.96577739e+01,
  2.36855551e+00, 3.83805622e+01]

qfrc_actuator:
[-8.45894873e-07, 2.14363398e-04, 6.15791199e-05, 1.42921125e-05,
 -5.25940576e-05, 4.11083792e-05,-9.35843904e-06, 3.14109295e-05,
  3.74264870e-05, 1.33127334e-04,-8.32779789e-05, 3.86743315e-05,
  4.57597175e-02, 1.81977128e-02, 3.19979528e-03,-1.90841917e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.09898504, -0.71057619,  0.83836126, -0.71057619,  2.08006885,
        0.83154461,  0.83836126,  0.83154461,  1.80378359,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002905169713676975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51159467, -0.84238667, -0.16927962, -0.08787069, -0.14468701,
        0.98556807, -0.85472196,  0.51908609,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10358334, -0.03849927,  0.30483455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.28231355, -6.44312529,  9.26157306, -6.44312529, 20.93164238,
        6.71288066,  9.26157306,  6.71288066, 15.95235511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005043369540876225
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10067586e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.10067586e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05050097, -0.06302575,  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:
[-2.17850042e-05, 6.45186353e-06,-8.60945245e-06,-1.73266020e-05,
 -9.24759505e-06,-2.61208981e-05, 1.00876269e-05,-5.54310857e-06,
 -2.52414934e-05, 9.19183173e-05, 2.01969246e-05, 3.74884227e-06,
  5.89205221e-02, 2.58718175e-02, 8.20549200e-03,-8.80411583e-04,
 -3.97968757e-05, 1.70174380e-05,-9.80997872e+00,-6.49219932e-02,
 -9.15491382e-03,-5.58619393e-03]


--- Step 1136 ---
qpos:
[ 0.00988523, 0.00810431,-0.00560115, 0.03347363, 0.00348351, 0.00290623,
 -0.006784  , 0.03912402, 0.01309192, 0.00593459,-0.01169654, 0.03408695,
  0.85796493,-0.0143154 , 1.12737032, 0.04624435, 0.09235582,-0.06631388,
  0.14231513, 0.94608598,-0.03309795, 0.03088154, 0.32073693]

qacc:
[ 7.71869373e-01, 3.68816197e-02, 9.62275136e-01,-4.40222311e+00,
 -9.43178479e-01, 1.53353898e-01,-7.75983527e-01, 3.30268742e-01,
 -2.66526244e+00,-2.19419132e+00, 9.46339599e+00,-1.58330743e+01,
  8.73941700e+00, 1.02883777e+01, 2.04552852e+02,-4.61781536e+02,
  9.35519984e-01,-3.62309392e-01,-1.14978071e-01, 2.25072334e+01,
 -4.32879912e-01, 3.77021725e+01]

qfrc_actuator:
[ 4.33309604e-06, 2.24629131e-04, 5.82050634e-05, 4.64492630e-06,
 -5.78396753e-05, 1.59411321e-05,-2.61091322e-05, 2.70708970e-05,
  2.24294488e-05, 1.20323509e-04,-5.76727540e-05, 2.22796613e-05,
  4.57837728e-02, 1.83255316e-02, 3.12148915e-03,-2.01581796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.09831237, -0.02798589,  1.09795576, -0.02798589,  1.87810025,
        0.01987608,  1.09795576,  0.01987608,  1.09881899,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002896389375019711
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11559617e-01, -8.42374190e-01, -1.69447580e-01, -8.79544305e-02,
       -1.44832664e-01,  9.85539201e-01, -8.54734331e-01,  5.19065722e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10359183, -0.0384906 ,  0.30483413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.3193502 ,   5.10417397, -10.10322211,   5.10417397,
        43.92978392,  16.47487556, -10.10322211,  16.47487556,
        19.64249999,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005066204445299954
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19142957e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.19142957e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05051112, -0.06302015,  0.0619886 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.56434592e-06, 1.13771726e-05,-3.69240954e-06,-1.00023371e-05,
 -5.51782349e-06,-3.79468636e-05,-2.11042056e-05,-5.21920228e-06,
 -1.56815173e-05, 4.29019998e-05, 4.72080881e-05,-1.16836895e-05,
  5.77315398e-02, 2.56548852e-02, 3.48527448e-03, 7.42073109e-04,
 -3.07765499e-06, 1.11829797e-06,-9.80999990e+00,-6.49208494e-02,
 -9.14532010e-03,-5.58654732e-03]


--- Step 1137 ---
qpos:
[ 0.00988577, 0.0081035 ,-0.0056006 , 0.03347306, 0.00348333, 0.00290609,
 -0.00678363, 0.03912338, 0.01309224, 0.00593505,-0.0116957 , 0.03408608,
  0.85785499,-0.01437596, 1.12765187, 0.04624742, 0.09236507,-0.0663081 ,
  0.14231402, 0.94607156,-0.03307431, 0.03088526, 0.32078152]

qacc:
[ 6.61987656e+00,-2.09506623e-01,-1.85103681e-01, 3.69042217e+00,
  8.62925198e+00,-1.28185714e+00, 5.99782659e+00,-1.32572001e+01,
 -1.58072404e+00,-4.33705035e+00, 1.79164692e+01,-3.26107655e+01,
  3.74512766e-01, 3.63553588e+01,-1.19760174e+02, 3.58021609e+02,
 -1.31242685e+00, 1.43613598e-01, 6.03032979e-01,-1.50891960e+01,
 -4.00439660e+00,-2.45811023e+01]

qfrc_actuator:
[ 4.29815298e-05, 2.31046349e-04, 7.38714041e-05, 1.70473194e-05,
 -7.20360021e-06, 1.87278359e-05,-1.84067194e-05, 6.83579442e-06,
  1.34126809e-05, 4.11351857e-05,-4.27513182e-05,-2.28561634e-05,
  4.57962175e-02, 1.84322360e-02, 3.08888966e-03,-2.15409766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.09581139, -0.1072332 ,  1.09055199, -0.1072332 ,  7.23313109,
        0.60347826,  1.09055199,  0.60347826,  1.15515097,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002863421210017486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5114156 , -0.84242621, -0.16962362, -0.08802372, -0.14499654,
        0.98550892, -0.85481338,  0.51893554,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10360366, -0.03848915,  0.3048408 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.35081971, -10.10502799,   5.17005971, -10.10502799,
        13.81048329,   4.80748207,   5.17005971,   4.80748207,
        20.74717944,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000508558121548967
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.19953765e-07, -3.13817739e-13,  1.00000000e+00, -1.94552489e-19,
        1.00000000e+00,  3.13817739e-13, -1.00000000e+00, -2.40741243e-35,
       -6.19953765e-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([ 0.08868917, -0.08448019,  0.06198856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.87854804e-05, 1.16185696e-05, 1.72234814e-05, 1.25702706e-05,
  5.04670257e-05,-2.30225008e-05,-2.91908656e-06,-2.26928800e-05,
 -9.44583776e-06,-4.59861803e-05, 2.91825008e-05,-4.18928532e-05,
  5.60662109e-02, 2.49440538e-02,-2.46821758e-03, 1.09443280e-03,
 -8.15167946e-05, 3.37134000e-05,-9.80997728e+00,-6.49131625e-02,
 -9.16082368e-03,-5.58572094e-03]


--- Step 1138 ---
qpos:
[ 0.00988607, 0.00810272,-0.00559989, 0.03347334, 0.00348388, 0.00289797,
 -0.00678835, 0.03912081, 0.01309245, 0.00593496,-0.01169542, 0.03408547,
  0.8576775 ,-0.01448618, 1.12784619, 0.04626836, 0.09237231,-0.06629848,
  0.14231265, 0.94607457,-0.03309763, 0.03087684, 0.32077106]

qacc:
[-2.01969128e+00, 1.36647872e+00,-8.37801930e+00, 2.27722728e+01,
  6.32664849e+00,-2.81874130e-01,-6.19020157e+00,-1.30986803e+01,
 -9.79114675e-01, 1.38340242e+00,-7.07663266e+00, 1.28358006e+01,
 -1.21751681e+01,-3.90195722e+01,-1.83332319e+02, 4.53434726e+02,
 -5.01755230e-01, 9.58894605e-01,-6.59136060e-02,-2.30233434e+01,
  2.42703519e+00,-2.97691795e+01]

qfrc_actuator:
[ 3.00007072e-05, 2.35208686e-04, 8.29010774e-05, 6.00854160e-05,
  2.26586259e-05, 2.05603848e-05, 3.78205914e-06, 1.29590051e-05,
  7.98432024e-06,-2.40199524e-05,-8.78335499e-05,-1.36029605e-05,
  4.57845545e-02, 1.84970607e-02, 3.10336917e-03,-1.95186968e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20924088, -0.00472405,  0.20918755, -0.00472405,  0.01279494,
       -0.00443631,  0.20918755, -0.00443631,  0.2091407 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.523066846484772e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96961182, -0.24400504,  0.01773274, -0.24396424,  0.96977396,
        0.00446174, -0.01828544,  0.        , -0.99983281])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12733756, -0.08292376,  0.11173127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.09484439, -0.01486073, -1.09474353, -0.01486073,  2.67494802,
       -0.02144931, -1.09474353, -0.02144931,  1.09513555,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000285053485273721
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11341271e-01, -8.42453007e-01, -1.69714569e-01, -8.80595198e-02,
       -1.45081204e-01,  9.85493260e-01, -8.54854154e-01,  5.18868360e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361236, -0.03848757,  0.30484387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.40125619,   0.77003622, -11.3752225 ,   0.77003622,
        21.09986199,   0.65653904, -11.3752225 ,   0.65653904,
        11.44570006,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005116588562657232
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08492505e-13, -5.42462527e-14,  1.00000000e+00,  5.88531187e-27,
        1.00000000e+00,  5.42462527e-14, -1.00000000e+00,  0.00000000e+00,
        1.08492505e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08348543, -0.11122286,  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:
[-1.18708401e-05, 1.47918837e-05, 1.39880335e-05, 4.43766484e-05,
  3.12900518e-05,-1.25972229e-05, 1.62852786e-05, 4.59286031e-06,
 -5.71018480e-06,-8.66649484e-05,-5.24487979e-05, 7.47636928e-06,
  5.44020544e-02, 2.30584732e-02,-1.00591797e-03, 1.45706639e-05,
 -1.84599668e-05, 9.93393774e-06,-9.80999395e+00,-6.49117671e-02,
 -9.14790413e-03,-5.58472241e-03]


--- Step 1139 ---
qpos:
[ 0.00988552, 0.00810217,-0.00559968, 0.03347416, 0.00348309, 0.00288473,
 -0.00679502, 0.03911752, 0.0130926 , 0.00593474,-0.01169617, 0.03408529,
  0.85752915,-0.01455724, 1.12798275, 0.04628254, 0.09237703,-0.06628968,
  0.14231339, 0.9460948 ,-0.03312997, 0.03085755, 0.3207099 ]

qacc:
[ -7.45563038,  2.82445408,-11.89276601, 21.79447019,-11.78995742,
  -2.76986092,  3.12139341, -8.63997166, -0.62012096,  3.62805016,
 -15.02295298, 24.35439812, -3.4418131 , 40.2759707 ,-64.02486353,
 101.84517539, -0.63237328, -0.20567525,  0.52814385, -4.94167061,
  -3.12728615,-27.05964852]

qfrc_actuator:
[-1.32748305e-05, 2.37995565e-04, 5.24372355e-05, 8.52865797e-05,
  4.41748431e-06, 2.96987396e-05, 2.20420912e-05, 1.88164459e-05,
  4.70945029e-06,-9.48492800e-06,-1.32407364e-04, 9.79244055e-06,
  4.57982453e-02, 1.85920787e-02, 3.10444537e-03,-2.04491737e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.2092929 , 0.08353136, 0.1919011 , 0.08353136, 0.04075711,
       0.07336083, 0.1919011 , 0.07336083, 0.17736016, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.7731064354278183e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96983803, -0.24308865,  0.01794713, -0.24304704,  0.97000408,
        0.00449766, -0.01850212,  0.        , -0.99982882])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12733828, -0.08291225,  0.11173379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.09682494, -0.33029038,  1.04591262, -0.33029038,  6.1253446 ,
        1.58796406,  1.04591262,  1.58796406,  1.59829058,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028768438861110485
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5113495 , -0.84242028, -0.16985218, -0.08813446, -0.14519669,
        0.98546955, -0.85484151,  0.51888919,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10361803, -0.03847477,  0.30483574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.3929428 ,  4.33574193, 10.53567689,  4.33574193, 26.55951476,
       -6.24149191, 10.53567689, -6.24149191, 13.96150089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005111481653164117
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05990266e-06, -2.03626689e-13,  1.00000000e+00, -2.15824469e-19,
        1.00000000e+00,  2.03626689e-13, -1.00000000e+00, -2.40741243e-35,
       -1.05990266e-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([ 0.08870713, -0.08446537,  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:
[-4.36093274e-05, 1.58637018e-05,-2.41498170e-05, 2.71826299e-05,
 -2.30643367e-05, 3.95966870e-04, 2.89515296e-04, 1.06775488e-04,
 -3.46575536e-06,-4.44415810e-05,-6.86771334e-05, 1.80135921e-05,
  5.77920338e-02, 2.56379219e-02, 3.35114774e-03,-9.73743337e-04,
 -4.31464822e-06, 2.79352403e-06,-9.80999593e+00,-6.49140299e-02,
 -9.14539504e-03,-5.58528494e-03]


--- Step 1140 ---
qpos:
[ 0.00988446, 0.00810197,-0.00560019, 0.03347493, 0.00348903, 0.00286092,
 -0.00681031, 0.03910794, 0.01309235, 0.00593405,-0.01169655, 0.03408535,
  0.85739766,-0.01462392, 1.12820699, 0.04626399, 0.09238684,-0.06628383,
  0.14231293, 0.94609308,-0.03311187, 0.03086309, 0.32071633]

qacc:
[-4.54394110e+00, 2.34813985e+00,-7.43351606e+00, 7.33929086e+00,
  5.91599092e+01,-2.92747961e+00, 1.65533257e+01,-1.03746203e+02,
 -3.36934513e+00,-1.17790139e+00, 2.35483274e+00, 1.32390119e+00,
  4.37494438e+00, 2.67548215e+00, 2.28487707e+02,-6.11275450e+02,
  1.27413466e+00,-7.36429208e-01,-3.01482521e-01, 2.64379844e+01,
  2.88487127e+00, 3.66837677e+01]

qfrc_actuator:
[-3.85129136e-05, 2.57513971e-04, 1.66298930e-05, 8.20055363e-05,
 -4.09086175e-05, 4.35457256e-05, 3.68317195e-05, 2.40724063e-05,
 -1.50251152e-05,-1.83550781e-05,-1.04972520e-04, 2.36359692e-05,
  4.58155528e-02, 1.86717754e-02, 3.09796800e-03,-2.24437626e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20931923, -0.2088388 , -0.01417384, -0.2088388 ,  0.20854045,
        0.01147461, -0.01417384,  0.01147461,  0.04025116,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.067735017452288e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69921101e-01, -2.42755103e-01,  1.79726836e-02, -2.42713437e-01,
        9.70087604e-01,  4.49749140e-03, -1.85268666e-02, -8.67361738e-19,
       -9.99828363e-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([ 0.12734018, -0.08290807,  0.11173406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.09893604,  0.39233731,  1.02651442,  0.39233731,  2.8017195 ,
       -0.65080965,  1.02651442, -0.65080965,  1.34767771,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029045313435567213
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5114433 , -0.84235303, -0.16990328, -0.08817793, -0.14523008,
        0.98546074, -0.85478091,  0.51898902,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362204, -0.03846385,  0.30482901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.39236087, -10.12886684,   5.21458939, -10.12886684,
        13.59152849,   4.27168361,   5.21458939,   4.27168361,
        19.68971877,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005111124114125509
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.05054706, -0.06299297,  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:
[-2.64737753e-05, 2.45683875e-05,-3.45597320e-05,-2.90689041e-06,
 -1.20537684e-06, 6.66079621e-04, 4.01776225e-04, 1.47756852e-04,
 -1.98480643e-05,-4.71197162e-05, 1.04313124e-05, 9.91622847e-06,
  5.63527407e-02, 2.37618059e-02, 6.23099656e-03,-8.35156430e-04,
 -3.70713318e-05, 1.34397591e-05,-9.80999156e+00,-6.49174902e-02,
 -9.15316008e-03,-5.58515505e-03]


--- Step 1141 ---
qpos:
[ 0.0098831 , 0.00810203,-0.0056011 , 0.03347529, 0.00349584, 0.00282715,
 -0.00683025, 0.03909819, 0.01309188, 0.00593293,-0.01169659, 0.03408522,
  0.85722432,-0.01470924, 1.12846681, 0.04625568, 0.09239621,-0.06627757,
  0.14231371, 0.9460899 ,-0.03310286, 0.03088089, 0.32072491]

qacc:
[ -2.60261208,  0.68629304, -0.26168895, -6.15799397,  7.61570258,
  -0.56171928,-16.41699942, 28.30828415, -2.04645428, -1.90663922,
   6.74840582,-10.15538447,-20.17500219,  0.94417274, 22.39494916,
  -0.35911832, -0.10914241,  0.10235181,  0.31066006, -2.39459024,
   7.24116255,  1.31128809]

qfrc_actuator:
[-5.29223986e-05, 2.69086596e-04,-4.23008023e-06, 6.20110288e-05,
 -5.67722753e-05, 6.77198878e-05, 3.92504629e-05, 5.25898935e-05,
 -2.65377789e-05,-4.08755684e-05,-8.85810293e-05, 1.40314496e-05,
  4.58244343e-02, 1.87791414e-02, 3.10790328e-03,-2.12397054e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20939507, -0.20660065,  0.03409492, -0.20660065,  0.2065333 ,
       -0.01734109,  0.03409492, -0.01734109,  0.10431548,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7447955764878963e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97012381, -0.24192742,  0.01819125, -0.2418849 ,  0.97029435,
        0.0045357 , -0.01874817,  0.        , -0.99982424])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12734363, -0.08289773,  0.1117366 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.09851298, -0.00996577,  1.09846778, -0.00996577,  1.74412996,
        0.00585731,  1.09846778,  0.00585731,  1.09856612,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002899011758391709
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11435942e-01, -8.42341480e-01, -1.69982669e-01, -8.82190943e-02,
       -1.45297967e-01,  9.85447052e-01, -8.54781065e-01,  5.18988758e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10363006, -0.0384596 ,  0.30483098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.384187  , -6.35113009,  9.44790242, -6.35113009, 25.80357747,
        9.69309596,  9.44790242,  9.69309596, 17.90014268,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005106101281797764
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.71136625e-08, -1.47458266e-07,  1.00000000e+00,  9.89646429e-15,
        1.00000000e+00,  1.47458266e-07, -1.00000000e+00, -1.57772181e-30,
        6.71136625e-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([ 0.06661349, -0.08606294,  0.06198852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51526685e-05, 1.80535017e-05,-2.01335299e-05,-2.01928666e-05,
 -3.53981699e-04, 1.21983952e-03, 8.36213189e-04, 4.91276570e-04,
 -1.20966666e-05,-4.62689001e-05, 8.29926762e-06,-1.10668137e-05,
  5.55172482e-02, 2.36509903e-02, 1.85337854e-03, 9.20445677e-04,
 -2.15996584e-06, 1.72267090e-06,-9.80999763e+00,-6.49165264e-02,
 -9.14609914e-03,-5.58465035e-03]


--- Step 1142 ---
qpos:
[ 0.00988193, 0.00810207,-0.00560221, 0.03347613, 0.00349736, 0.00278871,
 -0.00685084, 0.03909225, 0.01309092, 0.00593159,-0.0116962 , 0.0340846 ,
  0.85709933,-0.01474359, 1.12869404, 0.04626353, 0.09240147,-0.06627159,
  0.1423162 , 0.94610073,-0.0331089 , 0.03087911, 0.32069251]

qacc:
[ 1.59838876e+00, 1.46285254e+00,-7.25174754e+00, 1.57061715e+01,
 -4.63992704e+01, 3.57879814e+00,-3.76148397e+01, 1.07739378e+02,
 -4.20203927e+00,-2.48560000e+00, 1.05140385e+01,-1.95389804e+01,
  3.34285398e+00, 4.53205001e+01,-9.62941883e+01, 2.68461686e+02,
 -1.02849749e+00,-7.05991024e-02, 4.29545529e-01,-9.39265079e+00,
 -6.39118312e+00,-2.21850047e+01]

qfrc_actuator:
[-4.30962700e-05, 2.58096600e-04,-1.61312765e-05, 8.56113867e-05,
 -3.40260914e-05, 1.01706474e-04,-1.80138164e-06, 9.14511634e-05,
 -5.08663968e-05,-3.59284942e-05,-6.11848264e-05,-9.32220423e-06,
  4.58435891e-02, 1.88711201e-02, 3.08661272e-03,-1.98353343e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20945524,  0.20943638,  0.00281051,  0.20943638,  0.20950165,
       -0.00345899,  0.00281051, -0.00345899,  0.46721561,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.180822111082597e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97030262, -0.24119493,  0.01838046, -0.24115167,  0.97047669,
        0.00456814, -0.01893962,  0.        , -0.99982063])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12734828, -0.0828887 ,  0.11173879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002917699639601781
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11426393e-01, -8.42325225e-01, -1.70091915e-01, -8.82758323e-02,
       -1.45391324e-01,  9.85428202e-01, -8.54780920e-01,  5.18988996e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10363809, -0.03845058,  0.30482811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.37147981,   4.90892857, -10.25733753,   4.90892857,
        76.70449002,  31.26689354, -10.25733753,  31.26689354,
        26.3351043 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005098289695285891
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08881909e-13, -1.66448862e-08,  1.00000000e+00,  1.81232698e-21,
        1.00000000e+00,  1.66448862e-08, -1.00000000e+00,  0.00000000e+00,
        1.08881909e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08937198, -0.08114899,  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:
[ 9.40303886e-06,-5.91187739e-06,-1.13392366e-05, 2.32863495e-05,
 -3.74395944e-04, 1.75322681e-03, 1.02759655e-03, 5.38559152e-04,
 -2.46920891e-05,-1.96511368e-05, 1.84920222e-05,-2.52613949e-05,
  5.76270372e-02, 2.46758561e-02, 4.78765973e-05, 5.47872795e-04,
 -2.69426888e-06,-3.64656527e-07,-9.80999814e+00,-6.49142525e-02,
 -9.14435501e-03,-5.58593984e-03]


--- Step 1143 ---
qpos:
[ 0.00988157, 0.008102  ,-0.00560345, 0.03347794, 0.00349567, 0.00275142,
 -0.00687073, 0.03908691, 0.01308899, 0.00593013,-0.01169558, 0.03408439,
  0.85701277,-0.01473266, 1.12887245, 0.04627233, 0.09240388,-0.06626611,
  0.14232007, 0.9461255 ,-0.03312494, 0.03086253, 0.32061938]

qacc:
[ 7.16470246e+00, 2.22546181e+00,-1.22728566e+01, 2.94391721e+01,
 -2.83435791e+01, 8.80217457e-01,-3.40468277e+00, 1.18550820e+01,
 -8.55990869e+00, 4.94656260e-02,-2.10994340e+00, 8.93188041e+00,
 -5.13467505e-01, 4.34565889e+01,-7.42261188e+01, 1.56597591e+02,
 -7.11922951e-01,-1.24985864e-01, 3.41430425e-01,-6.24447976e+00,
 -4.93431800e+00,-2.19033067e+01]

qfrc_actuator:
[-1.33564254e-06, 2.51502806e-04,-2.27148906e-05, 1.34660550e-04,
 -3.55705943e-05, 1.40277992e-04,-3.55551353e-05, 7.93579064e-05,
 -1.00298387e-04,-3.22852708e-05,-4.51547573e-05, 1.27140506e-05,
  4.58622967e-02, 1.89094686e-02, 3.03013660e-03,-2.17839253e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.20944094, 0.05770952, 0.20133335, 0.05770952, 0.03389692,
       0.05031735, 0.20133335, 0.05031735, 0.19501814, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -3.082827656796366e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97036239, -0.24095494,  0.0183726 , -0.24091176,  0.9705363 ,
        0.00456136, -0.01893036,  0.        , -0.9998208 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12735352, -0.08288591,  0.11173864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10152379, -0.12472454, -1.09443979, -0.12472454,  2.7227596 ,
       -0.18475927, -1.09443979, -0.18475927,  1.12257933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029379846995406677
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11481458e-01, -8.42289732e-01, -1.70102104e-01, -8.82907829e-02,
       -1.45394166e-01,  9.85426443e-01, -8.54746428e-01,  5.19045802e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10364391, -0.03844461,  0.30482579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.32859185,  8.83465053, -7.09125823,  8.83465053, 41.16143157,
       37.16727052, -7.09125823, 37.16727052, 57.63346966,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005071897246665039
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.40318451e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.40318451e-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([ 0.08937702, -0.08114466,  0.06198859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.20268085e-05,-1.12274645e-05,-8.38424750e-06, 4.88570700e-05,
 -1.11771609e-04, 2.02707487e-03, 1.02737781e-03, 3.36433910e-04,
 -5.01443955e-05,-4.57461837e-06, 1.33872168e-05, 2.13466650e-05,
  5.52286476e-02, 2.21670978e-02, 1.61735948e-03,-4.55441025e-04,
 -6.94507559e-06, 4.64774340e-06,-9.80999951e+00,-6.49156469e-02,
 -9.14458075e-03,-5.58616272e-03]


--- Step 1144 ---
qpos:
[ 0.00988137, 0.00810203,-0.00560481, 0.03347961, 0.0035016 , 0.00271381,
 -0.00689387, 0.03907667, 0.01308683, 0.00592878,-0.01169543, 0.03408481,
  0.85693481,-0.01472294, 1.12913493, 0.0462524 , 0.09241139,-0.06626303,
  0.14232219, 0.94612924,-0.03309669, 0.03086847, 0.32061068]

qacc:
[ 1.38345532e+00, 1.52826549e-01, 2.48113789e-01,-2.63339932e+00,
  6.70567031e+01,-1.59951317e+00, 2.55818644e+01,-1.04857262e+02,
 -2.06446272e+00, 2.77299751e+00,-1.23332844e+01, 2.39258885e+01,
  2.35931450e+00,-1.07439633e+00, 2.11098695e+02,-5.58186102e+02,
  1.27338075e+00,-5.99323247e-01,-4.35281440e-01, 2.32154699e+01,
  2.80929857e+00, 3.49036730e+01]

qfrc_actuator:
[ 5.62074055e-06, 2.65390696e-04,-2.60878539e-05, 1.27276637e-04,
 -1.61308923e-05, 1.95401460e-04,-3.05138619e-05, 5.61193139e-05,
 -1.10847988e-04,-2.94474661e-05,-7.14347270e-05, 4.35235577e-05,
  4.58745622e-02, 1.88831767e-02, 2.99246491e-03,-2.33490456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20937777, -0.2083157 , -0.02106225, -0.2083157 ,  0.20809531,
        0.01268416, -0.02106225,  0.01268416,  0.08392538,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6059416746342994e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70314914e-01, -2.41158308e-01,  1.82109525e-02, -2.41115846e-01,
        9.70485791e-01,  4.52528262e-03, -1.87647801e-02, -8.67361738e-19,
       -9.99823926e-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([ 0.12735892, -0.08288866,  0.11173666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10309676,  0.28383923,  1.06595392,  0.28383923,  3.63732894,
       -0.67480827,  1.06595392, -0.67480827,  1.28278282,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029580657281517585
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11603090e-01, -8.42231397e-01, -1.70025152e-01, -8.82706379e-02,
       -1.45316368e-01,  9.85439723e-01, -8.54675712e-01,  5.19162236e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10364774, -0.03844108,  0.30482442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.28058818, -10.29471335,   4.61200031, -10.29471335,
        13.32413041,   4.56150912,   4.61200031,   4.56150912,
        21.46259722,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005042304959597538
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.05057128, -0.06296127,  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:
[ 8.14929175e-06, 7.99989852e-06,-5.02443280e-06,-7.20702845e-06,
  6.88370596e-05, 2.02639202e-03, 9.98345036e-04, 2.82966332e-04,
 -1.19819857e-05, 3.98210077e-06,-2.48271489e-05, 3.14961458e-05,
  5.33197884e-02, 1.98766453e-02, 4.01846365e-03,-6.60200367e-04,
 -3.69843000e-05, 1.79604136e-05,-9.81000018e+00,-6.49163619e-02,
 -9.15023905e-03,-5.58522054e-03]


--- Step 1145 ---
qpos:
[ 0.00988092, 0.00810209,-0.00560591, 0.03348115, 0.0035058 , 0.00266832,
 -0.00691999, 0.03906879, 0.01308524, 0.00592748,-0.0116956 , 0.03408595,
  0.85678568,-0.01476788, 1.12932908, 0.04626265, 0.09241711,-0.06625553,
  0.14232324, 0.94614756,-0.03311746, 0.03085966, 0.32055531]

qacc:
[-2.27071293e+00,-9.14181434e-01, 3.83618389e+00,-6.34479162e+00,
 -1.52675650e+01, 2.83177237e+00,-3.51159710e+01, 8.65224885e+01,
  5.08918994e+00, 2.40155466e+00,-1.14907147e+01, 2.42637341e+01,
 -1.15597528e+01,-4.43262213e+01,-1.92759449e+02, 5.26729329e+02,
 -4.45480715e-01, 1.10294530e+00,-2.68066499e-01,-2.45839933e+01,
  1.42841345e+00,-2.54104049e+01]

qfrc_actuator:
[-7.97367884e-06, 2.73653657e-04,-9.74628051e-06, 1.22266998e-04,
  6.32868551e-06, 2.25959314e-04,-1.62905082e-05, 6.69718157e-05,
 -8.06672675e-05,-2.72718220e-05,-8.69785055e-05, 7.92135398e-05,
  4.58789378e-02, 1.88464976e-02, 2.95587292e-03,-2.22607141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2093878 ,  0.12239479,  0.16989046,  0.12239479,  0.37194309,
       -0.11711029,  0.16989046, -0.11711029,  0.29375798,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6873497507091877e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97040078, -0.24080782,  0.01827362, -0.24076514,  0.97057282,
        0.00453385, -0.01882766,  0.        , -0.99982274])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12736449, -0.08288443,  0.11173734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10243481, -0.05612552,  1.1010052 , -0.05612552,  4.26137657,
        0.16103217,  1.1010052 ,  0.16103217,  1.11064369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002949638071194633
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11626978e-01, -8.42225179e-01, -1.69984070e-01, -8.82527957e-02,
       -1.45279139e-01,  9.85446810e-01, -8.54663255e-01,  5.19182743e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10365512, -0.03844273,  0.3048299 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.24943246, -6.14424447,  9.42326858, -6.14424447, 22.09850399,
        7.07390936,  9.42326858,  7.07390936, 15.86182657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005023068707988992
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.94308067e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -7.94308067e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08352014, -0.11118293,  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:
[-1.33579682e-05, 1.14044677e-05, 1.71375760e-05,-4.98198996e-06,
 -2.90534212e-04, 2.07459110e-03, 1.17533490e-03, 5.39408003e-04,
  2.98371761e-05, 6.58963384e-07,-1.66781248e-05, 3.56164339e-05,
  5.28932014e-02, 1.99007652e-02,-2.26256543e-04, 8.84286129e-04,
 -1.57681793e-06, 5.97672973e-06,-9.80999559e+00,-6.49150740e-02,
 -9.14511270e-03,-5.58406727e-03]


--- Step 1146 ---
qpos:
[ 0.00988064, 0.0081019 ,-0.00560668, 0.033483  , 0.00351604, 0.00261662,
 -0.00695076, 0.03905525, 0.01308403, 0.00592643,-0.01169634, 0.03408749,
  0.85665376,-0.01480917, 1.12960593, 0.04624482, 0.09242732,-0.06625053,
  0.14232304, 0.94614471,-0.0330926 , 0.03087175, 0.32056512]

qacc:
[ 1.64611246e+00,-6.30495794e-01, 4.59556091e-01, 4.50177918e+00,
  5.31611011e+01,-6.96403329e+00, 3.66076720e+01,-1.22308013e+02,
  3.26463048e+00, 2.76771101e+00,-1.11173748e+01, 1.89314535e+01,
  5.67662856e+00, 5.38162019e-01, 2.07029051e+02,-5.47086053e+02,
  1.12037444e+00,-6.22870048e-01,-3.10137746e-01, 2.35707454e+01,
  1.82158597e+00, 3.52753444e+01]

qfrc_actuator:
[ 1.96126737e-06, 2.43060735e-04, 3.44824467e-07, 1.36467077e-04,
  1.41786382e-06, 2.31705227e-04, 3.99869546e-05, 7.52168594e-05,
 -6.22731198e-05,-7.71836176e-06,-1.13797563e-04, 9.97485611e-05,
  4.58801232e-02, 1.88930053e-02, 2.88801153e-03,-2.23624701e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20936356, -0.20782337,  0.02534852, -0.20782337,  0.20706822,
       -0.01881868,  0.02534852, -0.01881868,  0.05507597,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4860635581333385e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97043496, -0.24067454,  0.0182141 , -0.24063216,  0.97060588,
        0.00451643, -0.0187657 ,  0.        , -0.99982391])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12737108, -0.08288298,  0.11173656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10481802,  0.27408005, -1.07028173,  0.27408005,  2.43849563,
        0.34153103, -1.07028173,  0.34153103,  1.19227802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002979825845992731
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51171703, -0.84216694, -0.17000154, -0.08827767, -0.14528447,
        0.9854438 , -0.85460677,  0.51927571,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10365966, -0.03843285,  0.30482342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.23279351, -5.99940921,  9.49645929, -5.99940921, 22.67808023,
        7.23058527,  9.49645929,  7.23058527, 15.80073178,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005012785551628401
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.05058422, -0.06294398,  0.06198873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.55848839e-06,-2.08849789e-05, 1.43949488e-05, 1.51842771e-05,
 -2.08396687e-04, 2.47590523e-03, 1.38166872e-03, 4.29614952e-04,
  1.92375809e-05, 1.80552971e-05,-2.74930121e-05, 2.06786048e-05,
  5.64517817e-02, 2.26802713e-02, 3.11758084e-03,-6.36597786e-04,
 -2.48987470e-05, 1.23661647e-05,-9.80999597e+00,-6.49180234e-02,
 -9.15036845e-03,-5.58438221e-03]


--- Step 1147 ---
qpos:
[ 0.00988084, 0.00810169,-0.00560765, 0.03348467, 0.00352351, 0.00255649,
 -0.00698263, 0.0390444 , 0.0130834 , 0.00592552,-0.01169709, 0.0340889 ,
  0.85645853,-0.01490068, 1.12981133, 0.04625754, 0.09243526,-0.06624143,
  0.14232219, 0.94615907,-0.03311739, 0.03086672, 0.32052068]

qacc:
[ 4.08205523e+00, 1.49012763e-01, 2.16214440e-01,-3.07466532e+00,
 -2.43840909e+01,-2.47243477e+00,-1.86250994e+01, 7.30815046e+01,
  5.05479845e+00,-7.66997958e-02, 1.10757537e+00,-3.53889960e+00,
 -8.48182680e+00,-4.29150146e+01,-1.98567240e+02, 5.40142323e+02,
 -5.65997849e-01, 1.02526496e+00,-1.65470902e-01,-2.51012873e+01,
  4.92183940e-01,-2.94718715e+01]

qfrc_actuator:
[ 2.56721692e-05, 2.42689310e-04,-1.12410908e-05, 1.26310395e-04,
 -2.70097507e-05, 2.59565628e-04, 1.06607753e-04, 7.12218897e-05,
 -3.32240926e-05, 4.28064581e-06,-1.11497399e-04, 9.34545648e-05,
  4.58740028e-02, 1.88997359e-02, 2.86481712e-03,-2.12960346e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20939101, -0.14380872,  0.15219608, -0.14380872,  0.31813461,
        0.10275086,  0.15219608,  0.10275086,  0.30647938,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.712865441637418e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97059344, -0.24002436,  0.01834895, -0.23998148,  0.97076687,
        0.00453682, -0.0189015 ,  0.        , -0.99982135])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12737845, -0.08287508,  0.11173808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10464761, -0.06272913,  1.10286509, -0.06272913,  4.78286402,
        0.20921084,  1.10286509,  0.20921084,  1.11654718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002977681391951922
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11707913e-01, -8.42163195e-01, -1.70047540e-01, -8.83006953e-02,
       -1.45324303e-01,  9.85435860e-01, -8.54609852e-01,  5.19270643e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10366794, -0.03842936,  0.30482516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.23767906, -6.2450245 ,  9.3426495 , -6.2450245 , 21.22334444,
        6.67484368,  9.3426495 ,  6.67484368, 15.69942862,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005015805626005787
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69467194e-13, -2.21344906e-13,  1.00000000e+00,  3.75107000e-26,
        1.00000000e+00,  2.21344906e-13, -1.00000000e+00,  0.00000000e+00,
        1.69467194e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08353131, -0.11116967,  0.06198872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39757759e-05,-8.41017097e-06,-1.35946168e-05,-1.02603758e-05,
 -5.39322832e-04, 2.81701042e-03, 1.68198213e-03, 7.08759991e-04,
  2.95986076e-05, 1.73488967e-05, 3.37429379e-06,-6.06951964e-06,
  5.55841712e-02, 2.25053856e-02,-1.04519364e-03, 8.73436233e-04,
 -5.20936664e-06, 3.02550806e-06,-9.80999519e+00,-6.49146990e-02,
 -9.14682805e-03,-5.58402765e-03]


--- Step 1148 ---
qpos:
[ 0.00988097, 0.00810155,-0.00560852, 0.03348617, 0.0035358 , 0.00248924,
 -0.00702103, 0.03902719, 0.01308311, 0.00592469,-0.01169749, 0.03408985,
  0.8562875 ,-0.01498365, 1.13009695, 0.0462417 , 0.09244727,-0.06623494,
  0.14232048, 0.94615204,-0.03309536, 0.03088174, 0.32054226]

qacc:
[-5.44384525e-01,-5.29583869e-01, 2.69974425e+00,-5.74367625e+00,
  4.24546586e+01,-4.36616818e+00, 2.86512802e+01,-1.23015344e+02,
  3.11591532e+00,-1.80178834e+00, 8.45537437e+00,-1.68159090e+01,
  7.70691711e+00, 3.36387232e+00, 2.04781010e+02,-5.44565015e+02,
  1.01755971e+00,-6.54827369e-01,-2.14014370e-01, 2.39821286e+01,
  1.21869466e+00, 3.57136496e+01]

qfrc_actuator:
[ 2.17890237e-05, 2.60306135e-04, 6.55190366e-08, 1.19660298e-04,
 -4.53793869e-05, 3.23143029e-04, 1.42237871e-04, 8.93006480e-05,
 -1.58855812e-05, 1.17559174e-05,-9.20600393e-05, 7.14448186e-05,
  4.58914292e-02, 1.89527548e-02, 2.90062298e-03,-2.16004768e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20937527, -0.20697357,  0.0316219 , -0.20697357,  0.20567529,
       -0.02421736,  0.0316219 , -0.02421736,  0.05086635,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5852620211227732e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97067696, -0.23968765,  0.01833233, -0.23964491,  0.97085006,
        0.00452597, -0.01888277,  0.        , -0.9998217 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12738686, -0.08287115,  0.11173779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10732594, -0.46952546, -1.00285422, -0.46952546,  2.74231737,
       -0.76548523, -1.00285422, -0.76548523,  1.46571781,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003011140947652335
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51177769, -0.84210254, -0.17013789, -0.08836106, -0.14539335,
        0.98542026, -0.85456183,  0.51934967,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10367348, -0.03841531,  0.30481597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.24293866, -6.10879211,  9.43855543, -6.10879211, 21.95737224,
        6.93456195,  9.43855543,  6.93456195, 15.731104  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005019056250859522
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.31802326e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.31802326e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05060204, -0.06292726,  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:
[-3.20070032e-06, 9.68869472e-06, 7.54880397e-06,-7.68268309e-06,
 -4.18420580e-04, 3.30454003e-03, 1.77376216e-03, 5.92447658e-04,
  1.81826430e-05, 1.76604716e-05, 2.32409349e-05,-2.12684694e-05,
  5.87662646e-02, 2.50708580e-02, 2.55829612e-03,-6.85939067e-04,
 -1.89200511e-05, 9.76898892e-06,-9.80999371e+00,-6.49185328e-02,
 -9.14927015e-03,-5.58513445e-03]


--- Step 1149 ---
qpos:
[ 0.00988071, 0.00810141,-0.00560864, 0.03348686, 0.00354247, 0.00242069,
 -0.00705668, 0.03901464, 0.01308304, 0.00592416,-0.01169824, 0.03408952,
  0.85615108,-0.0150274 , 1.13034387, 0.04624501, 0.09245472,-0.06622818,
  0.14232074, 0.94616135,-0.0330958 , 0.0308773 , 0.32051515]

qacc:
[-3.41938173e+00,-3.77858291e+00, 1.69439536e+01,-3.23452267e+01,
 -4.94425695e+01, 3.00079899e-01,-2.30796199e+01, 1.00159345e+02,
  1.83133861e+00,-1.28630593e+00, 1.05765754e+01,-3.24920828e+01,
  1.55574922e+00, 3.53402885e+01,-1.14516479e+02, 3.18789921e+02,
 -1.14085437e+00, 6.95985465e-02, 4.91339060e-01,-1.27212112e+01,
 -5.05332653e+00,-2.63198872e+01]

qfrc_actuator:
[ 1.69124378e-06, 2.70896832e-04, 4.26446836e-05, 7.96623359e-05,
 -4.64702713e-05, 4.10212868e-04, 1.82888969e-04, 1.10854064e-04,
 -5.58155996e-06, 1.65255667e-05,-1.15952562e-04, 4.86692840e-06,
  4.59173871e-02, 1.90303897e-02, 2.89151431e-03,-2.26135990e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20940563,  0.14626906,  0.14985353,  0.14626906,  0.3632134 ,
       -0.15012871,  0.14985353, -0.15012871,  0.35594329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.826245933298416e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70879852e-01, -2.38851833e-01,  1.84963602e-02, -2.38808499e-01,
        9.71056024e-01,  4.54957225e-03, -1.90476757e-02, -8.67361738e-19,
       -9.99818577e-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([ 0.12739621, -0.08286102,  0.11173963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10724372, -0.10973617,  1.10179246, -0.10973617,  6.84543442,
        0.57151153,  1.10179246,  0.57151153,  1.16416505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003010121539402834
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11746913e-01, -8.42098529e-01, -1.70250300e-01, -8.84158621e-02,
       -1.45491581e-01,  9.85400850e-01, -8.54574591e-01,  5.19328671e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10368281, -0.03840848,  0.30481588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.26405664, -10.07129319,   5.0446036 , -10.07129319,
        14.29921508,   6.05953865,   5.0446036 ,   6.05953865,
        23.36161577,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005032100994805752
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.21440602e-07, -1.10314064e-13,  1.00000000e+00, -6.85536385e-20,
        1.00000000e+00,  1.10314064e-13, -1.00000000e+00,  1.20370622e-35,
       -6.21440602e-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([ 0.08877324, -0.08440738,  0.06198868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01845245e-05, 1.72492587e-05, 4.52529424e-05,-3.94721110e-05,
 -6.61381550e-04, 3.75047645e-03, 2.14185724e-03, 9.32655953e-04,
  1.08241185e-05, 1.85726468e-05,-1.81066529e-05,-6.54311153e-05,
  5.75810198e-02, 2.47231388e-02,-1.46683571e-03, 6.39676543e-04,
 -8.44182698e-06, 2.28301921e-06,-9.80999589e+00,-6.49142838e-02,
 -9.14655474e-03,-5.58523808e-03]


--- Step 1150 ---
qpos:
[ 0.00988021, 0.00810132,-0.00560847, 0.03348604, 0.00354586, 0.00234924,
 -0.00709305, 0.03900375, 0.01308344, 0.00592377,-0.01169925, 0.03408876,
  0.85595016,-0.01511897, 1.13049701, 0.04625932, 0.09246092,-0.06621801,
  0.14232045, 0.94618557,-0.03313766, 0.03086124, 0.32044086]

qacc:
[-2.08848617e+00,-3.82491068e+00, 2.00652520e+01,-4.64732457e+01,
 -2.87808037e+01, 1.62570428e+00,-1.82570865e+01, 5.00912210e+01,
  4.11624438e+00, 2.40295465e-02, 2.00211915e+00,-9.18961439e+00,
 -1.13931628e+01,-3.77877099e+01,-1.72217892e+02, 4.00487348e+02,
 -3.11830625e-01, 8.50744704e-01,-1.34486010e-01,-2.04829144e+01,
  1.69064990e+00,-2.55409651e+01]

qfrc_actuator:
[-1.00277342e-05, 2.59556638e-04, 5.00384633e-05, 2.62469834e-06,
 -4.64093846e-05, 5.26159728e-04, 2.19891977e-04, 1.08255613e-04,
  1.82561852e-05, 1.94239711e-05,-1.29779174e-04,-1.64237642e-05,
  4.59360036e-02, 1.91064369e-02, 2.86327257e-03,-2.37046236e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20936892, -0.07447466,  0.19567542, -0.07447466,  0.14349519,
       -0.02507174,  0.19567542, -0.02507174,  0.19982654,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.531968951915181e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70955827e-01, -2.38545892e-01,  1.84564106e-02, -2.38502808e-01,
        9.71131226e-01,  4.53357984e-03, -1.90050635e-02, -8.67361738e-19,
       -9.99819387e-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([ 0.12740561, -0.08285758,  0.11173906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10795153,  0.01079878, -1.1078989 ,  0.01079878,  3.00233799,
        0.01846474, -1.1078989 ,  0.01846474,  1.10813151,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030188817961189393
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51179261, -0.84206568, -0.17027539, -0.08843718, -0.14550799,
        0.98539651, -0.85454502,  0.51937733,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10368963, -0.03840267,  0.30481437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.26579328,  -0.44307088, -11.25707717,  -0.44307088,
        18.95157499,  -0.30250713, -11.25707717,  -0.30250713,
        11.27769975,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005033173234641568
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.90414319e-07, -7.90414431e-07,  1.00000000e+00, -6.24754884e-13,
        1.00000000e+00,  7.90414431e-07, -1.00000000e+00, -1.00974196e-28,
       -7.90414319e-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([ 0.08371996, -0.11029569,  0.06198868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22877694e-05, 5.96081255e-06, 1.51674216e-05,-7.55010275e-05,
 -3.79585315e-04, 3.93436752e-03, 2.04277671e-03, 6.97145393e-04,
  2.41528327e-05, 6.77259275e-06,-1.44690554e-05,-2.23915687e-05,
  5.58689209e-02, 2.28390665e-02, 4.36450612e-04,-4.27479672e-04,
 -3.92947776e-06, 2.83900387e-06,-9.81000062e+00,-6.49148417e-02,
 -9.14531995e-03,-5.58479104e-03]


--- Step 1151 ---
qpos:
[ 0.00987957, 0.00810118,-0.00560875, 0.03348507, 0.00355593, 0.00228001,
 -0.00713092, 0.03898766, 0.01308412, 0.00592334,-0.01170012, 0.03408809,
  0.8557705 ,-0.0152043 , 1.13073124, 0.04624072, 0.09247172,-0.06621101,
  0.14231917, 0.94618765,-0.0331288 , 0.03086892, 0.3204349 ]

qacc:
[-1.21139973e+00, 8.49377343e-01,-2.44787207e+00, 4.22955133e-01,
  5.87213348e+01,-3.66177042e+00, 3.90442554e+01,-1.27933416e+02,
  2.49185274e+00,-2.63414256e-01, 5.06819202e-01, 8.21878205e-01,
  6.79257982e+00, 2.11521328e+00, 2.19212427e+02,-5.93199866e+02,
  1.15119443e+00,-7.89892404e-01,-2.49660173e-01, 2.63738066e+01,
  2.31643743e+00, 3.70476667e+01]

qfrc_actuator:
[-1.67159686e-05, 2.35002677e-04, 1.87245578e-05,-6.86945434e-06,
 -8.12677395e-05, 6.43803163e-04, 2.74821212e-04, 1.27812754e-04,
  3.21183625e-05, 2.12378492e-05,-1.19756789e-04,-1.08791702e-05,
  4.59632161e-02, 1.92528959e-02, 2.83522650e-03,-2.30622769e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20931523, -0.20718798,  0.02976588, -0.20718798,  0.20665266,
       -0.01853307,  0.02976588, -0.01853307,  0.08031421,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0257748434525434e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70971731e-01, -2.38492372e-01,  1.83108165e-02, -2.38449975e-01,
        9.71144371e-01,  4.49674651e-03, -1.88548861e-02, -8.67361738e-19,
       -9.99822231e-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([ 0.12741557, -0.08285729,  0.11173723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1111547 ,  0.30875341, -1.06739688,  0.30875341,  2.77104585,
        0.48013729, -1.06739688,  0.48013729,  1.2500384 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030580874874178285
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11908038e-01, -8.41979848e-01, -1.70352860e-01, -8.84985707e-02,
       -1.45561327e-01,  9.85383125e-01, -8.54469522e-01,  5.19501527e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10369398, -0.03838684,  0.30480368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.29372974, -6.21622618,  9.42904362, -6.21622618, 21.32944577,
        6.61618327,  9.42904362,  6.61618327, 15.6555392 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005050411715314534
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09914111e-13, -1.09914111e-13,  1.00000000e+00,  1.20811117e-26,
        1.00000000e+00,  1.09914111e-13, -1.00000000e+00,  0.00000000e+00,
        1.09914111e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.050632  , -0.06289989,  0.06198864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.03344507e-06,-2.13225942e-05,-3.08249401e-05,-1.01811449e-05,
 -2.50654472e-04, 4.20021277e-03, 2.13471764e-03, 6.34136704e-04,
  1.45501502e-05, 1.69041229e-06, 8.88208417e-06, 4.90234204e-06,
  5.91212741e-02, 2.53787815e-02, 5.09280633e-03,-9.14441028e-04,
 -5.47240420e-05, 2.40766492e-05,-9.80998424e+00,-6.49207772e-02,
 -9.15674487e-03,-5.58571991e-03]


--- Step 1152 ---
qpos:
[ 0.00987921, 0.00810098,-0.00560945, 0.03348468, 0.00357108, 0.00219985,
 -0.00717843, 0.03896537, 0.01308531, 0.00592271,-0.01170048, 0.03408714,
  0.85562136,-0.01527421, 1.13107529, 0.0462153 , 0.09248559,-0.06620579,
  0.14231736, 0.94616923,-0.03308082, 0.03089099, 0.32049211]

qacc:
[ 2.35370948e+00, 2.32556839e+00,-1.08591686e+01, 2.16844367e+01,
  4.45079808e+01,-3.44017810e-01, 6.27382195e+00,-8.98775344e+01,
  4.47105279e+00,-2.29610677e+00, 8.92583509e+00,-1.43407345e+01,
  7.74785248e+00, 9.94975388e+00, 1.82879506e+02,-4.04160210e+02,
  7.64802041e-01,-4.47892615e-01,-1.31937409e-01, 1.95013368e+01,
 -1.94050007e-01, 3.40122209e+01]

qfrc_actuator:
[-2.63988686e-06, 2.38110384e-04, 3.12900592e-07, 2.34247974e-05,
 -1.10224852e-04, 6.87488347e-04, 3.23829274e-04, 1.66851408e-04,
  5.77466492e-05, 4.75757636e-06,-9.57301247e-05,-2.50881565e-05,
  4.59848624e-02, 1.93889040e-02, 2.82689146e-03,-2.22274784e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20931845, -0.20883309,  0.01424623, -0.20883309,  0.2085899 ,
       -0.01067964,  0.01424623, -0.01067964,  0.05276736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0596034380412997e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71115004e-01, -2.37902263e-01,  1.83891849e-02, -2.37859621e-01,
        9.71289099e-01,  4.50414680e-03, -1.89327615e-02, -8.67361738e-19,
       -9.99820759e-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([ 0.1274253 , -0.08285024,  0.11173806])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11128208, -0.02139966,  1.11107601, -0.02139966,  1.99274593,
        0.01697726,  1.11107601,  0.01697726,  1.11160906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000305963192201004
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51192081, -0.84195106, -0.17045675, -0.08855637, -0.14564778,
        0.98536516, -0.85445588,  0.51952396,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10370251, -0.03837846,  0.30480286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.30045939,  6.94464658, -8.91472189,  6.94464658, 34.58353303,
       18.13771868, -8.91472189, 18.13771868, 25.4299014 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005054561473552266
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.09823872e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.09823872e-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([ 0.05064144, -0.06289138,  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:
[ 1.38708363e-05,-1.56096284e-05,-2.69570264e-05, 2.81193865e-05,
 -6.13961744e-04, 4.13570366e-03, 2.26023805e-03, 9.33160188e-04,
  2.60395405e-05,-1.34560696e-05, 2.56561640e-05,-1.37299132e-05,
  5.80778603e-02, 2.52034751e-02, 1.02679811e-03, 8.13773683e-04,
 -7.13844342e-07, 1.06106024e-06,-9.80999908e+00,-6.49196052e-02,
 -9.14484841e-03,-5.58593350e-03]


--- Step 1153 ---
qpos:
[ 0.00987936, 0.00810082,-0.00561017, 0.03348496, 0.00358331, 0.00211557,
 -0.00722476, 0.03894694, 0.01308644, 0.00592228,-0.01170046, 0.03408667,
  0.85541755,-0.01538784, 1.13134321, 0.04622599, 0.09249603,-0.06619636,
  0.14231526, 0.94617206,-0.03308964, 0.03089088, 0.32048286]

qacc:
[ 4.53008414e+00, 1.46765093e+00,-8.04855483e+00, 1.97354020e+01,
 -2.55370218e+01,-7.55200192e-01,-2.14042366e+01, 8.91643217e+01,
 -4.07442816e-01, 2.29793204e-01,-2.46472556e+00, 1.00855956e+01,
 -5.96138788e+00,-3.90942757e+01,-2.22269593e+02, 6.13024577e+02,
 -8.54508005e-01, 1.05499412e+00,-7.33005293e-02,-2.90475648e+01,
 -6.16671574e-01,-3.60894267e+01]

qfrc_actuator:
[ 2.35432337e-05, 2.57834420e-04, 7.55565751e-06, 5.91599377e-05,
 -1.18950736e-04, 7.52319294e-04, 3.60268116e-04, 2.02905282e-04,
  5.45928855e-05, 4.85087164e-05,-6.37286876e-05, 2.43719097e-06,
  4.59962463e-02, 1.94359711e-02, 2.80357457e-03,-2.24716801e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20934989, -0.05170159,  0.20286528, -0.05170159,  0.43131053,
        0.05656818,  0.20286528,  0.05656818,  0.22376667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3649733052568178e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71129553e-01, -2.37833312e-01,  1.85123637e-02, -2.37790111e-01,
        9.71305985e-01,  4.53292459e-03, -1.90592501e-02,  8.67361738e-19,
       -9.99818356e-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([ 0.12743938, -0.08284928,  0.11173939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10940828, -0.07265244,  1.10702681, -0.07265244,  5.95448375,
        0.31797475,  1.10702681,  0.31797475,  1.13027646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003036800168518098
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11834987e-01, -8.41981050e-01, -1.70566285e-01, -8.86001203e-02,
       -1.45749361e-01,  9.85346204e-01, -8.54502759e-01,  5.19446855e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10371416, -0.03837686,  0.30480876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.3294857 , -6.34465233,  9.38630028, -6.34465233, 19.90386604,
        5.79583655,  9.38630028,  5.79583655, 15.24717071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005072447743077191
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09436615e-13, -2.18873231e-13,  1.00000000e+00,  2.39527455e-26,
        1.00000000e+00,  2.18873231e-13, -1.00000000e+00,  0.00000000e+00,
        1.09436615e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08357982, -0.1111198 ,  0.06198859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65741836e-05, 6.65361121e-06, 1.68221982e-06, 3.46831802e-05,
 -8.76405110e-04, 4.75048188e-03, 2.78016294e-03, 1.27932215e-03,
 -2.42131838e-06, 4.09796946e-05, 3.19208235e-05, 2.75726388e-05,
  5.65623940e-02, 2.44810243e-02,-4.49294805e-03, 1.12890364e-03,
 -4.42688792e-05, 1.67077617e-05,-9.80998096e+00,-6.49122310e-02,
 -9.15455667e-03,-5.58517970e-03]


--- Step 1154 ---
qpos:
[ 0.00987947, 0.00810092,-0.00561091, 0.03348529, 0.00358759, 0.0020332 ,
 -0.00726671, 0.03893362, 0.01308754, 0.00592213,-0.01169982, 0.03408651,
  0.85525005,-0.01545867, 1.1315445 , 0.04623566, 0.0925027 ,-0.06618743,
  0.14231533, 0.94619301,-0.03311356, 0.03087485, 0.32042008]

qacc:
[-2.89232362e-01, 5.12234853e-01,-1.49344119e+00, 2.12807785e+00,
 -6.98215323e+01, 9.08035242e-01,-2.08522259e+01, 1.00415163e+02,
 -3.94164848e-01,-7.60989453e-01, 1.96126694e+00, 2.10595535e+00,
  3.13322103e-01, 3.99043862e+01,-9.46853432e+01, 1.89704417e+02,
 -9.45361311e-01,-1.26143011e-01, 5.41810601e-01,-8.56913122e+00,
 -4.50480491e+00,-2.87247077e+01]

qfrc_actuator:
[ 2.11307629e-05, 2.87476192e-04, 1.22037797e-05, 6.23311200e-05,
 -1.27329745e-04, 8.45160642e-04, 3.99960121e-04, 2.11843927e-04,
  5.22734651e-05, 7.48072013e-05,-2.70047726e-05, 1.88490958e-05,
  4.60133652e-02, 1.95181382e-02, 2.77339794e-03,-2.32326455e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20933262,  0.03980698,  0.20551289,  0.03980698,  0.46224573,
       -0.0489882 ,  0.20551289, -0.0489882 ,  0.21882142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2024572312635615e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71135535e-01, -2.37811093e-01,  1.84839331e-02, -2.37768029e-01,
        9.71311425e-01,  4.52551492e-03, -1.90298730e-02,  8.67361738e-19,
       -9.99818916e-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([ 0.12745283, -0.08284914,  0.11173892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11084377,  0.38358901, -1.042513  ,  0.38358901,  5.72428996,
        1.69750138, -1.042513  ,  1.69750138,  1.73543346,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003054312784325752
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51184673, -0.84194667, -0.17070072, -0.08867408, -0.14586173,
        0.98532292, -0.85448805,  0.51947105,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10372233, -0.03836463,  0.30480268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.34855617,  4.29783626, 10.50325334,  4.29783626, 24.14580938,
       -5.23652025, 10.50325334, -5.23652025, 13.49129289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000508418826012191
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.88783035e-07, -6.82399387e-14,  1.00000000e+00, -4.01785182e-20,
        1.00000000e+00,  6.82399387e-14, -1.00000000e+00,  0.00000000e+00,
       -5.88783035e-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([ 0.08881771, -0.08437019,  0.06198856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65331590e-06, 3.52189978e-05, 7.43831044e-06, 4.18975145e-06,
 -7.38976259e-04, 5.05334319e-03, 2.76269510e-03, 1.09587168e-03,
 -2.37780520e-06, 5.70087492e-05, 5.00814670e-05, 1.98113549e-05,
  5.93114508e-02, 2.67509422e-02,-7.23491013e-04,-7.54018180e-04,
 -1.09298280e-06, 6.98471125e-07,-9.80999926e+00,-6.49140873e-02,
 -9.14421176e-03,-5.58582391e-03]


--- Step 1155 ---
qpos:
[ 0.00987956, 0.00810127,-0.00561183, 0.03348498, 0.00358216, 0.001968  ,
 -0.00729691, 0.03892398, 0.01308825, 0.00592136,-0.01169793, 0.03408558,
  0.85524337,-0.01540841, 1.1317301 , 0.04623251, 0.0925052 ,-0.0661848 ,
  0.1423165 , 0.94621793,-0.03310956, 0.03084093, 0.32035015]

qacc:
[ -0.26909212, -0.50536617,  4.9646442 ,-15.93061524,-85.38786234,
  -2.35481587, 25.9870621 ,  6.3065618 , -3.29813664, -5.84941703,
  22.88802954,-37.6203631 , 38.56718528, 81.57649727, 15.69242504,
 -88.32696187, -1.04076105, -1.5754402 ,  0.27753414, 10.51810781,
 -12.88200058, -3.88433595]

qfrc_actuator:
[ 1.96557248e-05, 2.87300242e-04,-2.45273347e-06, 2.85684551e-05,
 -1.29299220e-04, 9.14910910e-04, 4.37923810e-04, 1.83974255e-04,
  3.27201920e-05,-1.60369503e-05, 1.21464394e-05,-2.46798540e-05,
  4.60277063e-02, 1.96055925e-02, 2.76229537e-03,-2.42543421e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20927802,  0.09618516,  0.18586475,  0.09618516,  0.39717877,
       -0.0972388 ,  0.18586475, -0.0972388 ,  0.25959918,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5823824856271557e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97116953, -0.23768401,  0.01833165, -0.23764168,  0.97134253,
        0.00448569, -0.01887249,  0.        , -0.9998219 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12746406, -0.08284804,  0.11173701])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11249642,  0.27098854,  1.07898725,  0.27098854,  4.1013729 ,
       -0.75065879,  1.07898725, -0.75065879,  1.30102499,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030743007709147364
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51194622, -0.84187754, -0.1707433 , -0.08871411, -0.14588722,
        0.98531555, -0.85442429,  0.51957591,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10372829, -0.03835434,  0.30479745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.34939486,  3.05105901, 10.93159652,  3.05105901, 20.05370996,
       -2.42941449, 10.93159652, -2.42941449, 12.02745565,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005084704393622027
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.49581904e-08, -9.49584105e-08,  1.00000000e+00,  9.01707882e-15,
        1.00000000e+00,  9.49584105e-08, -1.00000000e+00,  1.57772181e-30,
        9.49581904e-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([ 0.09381671, -0.05293292,  0.06198856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50997073e-06, 2.12379220e-05,-6.31378205e-06,-3.19138465e-05,
 -3.43390654e-04, 5.03082967e-03, 2.58289650e-03, 8.13349268e-04,
 -1.96036502e-05,-4.77699736e-05, 5.77766970e-05,-3.89680348e-05,
  5.75111799e-02, 2.47003832e-02, 2.59467891e-03,-8.05639109e-04,
 -3.29031789e-05, 1.36072172e-05,-9.80999585e+00,-6.49164456e-02,
 -9.15079366e-03,-5.58549510e-03]


--- Step 1156 ---
qpos:
[ 0.00987963, 0.00810158,-0.0056128 , 0.0334843 , 0.00358601, 0.00191387,
 -0.00732591, 0.03891036, 0.01308769, 0.00591991,-0.01169543, 0.03408419,
  0.85523965,-0.01536034, 1.13201056, 0.04620768, 0.09251255,-0.0661841 ,
  0.14231664, 0.94622188,-0.0330652 , 0.0308316 , 0.32034396]

qacc:
[-1.60520835e-01,-6.76838757e-01, 3.92067028e+00,-1.02868141e+01,
  8.14937374e+01, 2.87040757e+00, 2.75821072e+01,-1.06480425e+02,
 -1.11803279e+01,-3.55671555e+00, 1.33919162e+01,-2.19594417e+01,
 -1.36939394e+00, 1.43655053e+00, 2.05934727e+02,-5.16559559e+02,
  1.21296998e+00,-4.82121083e-01,-2.59133003e-01, 2.17077284e+01,
  4.43672512e+00, 3.45411969e+01]

qfrc_actuator:
[ 1.87532488e-05, 2.69158690e-04,-1.07737901e-05, 8.81853289e-06,
 -1.22476234e-04, 9.72542401e-04, 4.47985357e-04, 1.86639072e-04,
 -3.23260027e-05,-6.98573690e-05, 3.41413143e-05,-4.99691755e-05,
  4.60225411e-02, 1.95475650e-02, 2.73914851e-03,-2.42452993e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20923294,  0.20456541,  0.0439479 ,  0.20456541,  0.258874  ,
       -0.2310655 ,  0.0439479 , -0.2310655 ,  1.28477942,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.520406763389401e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97120783, -0.23754448,  0.01811014, -0.23750319,  0.97137666,
        0.00442873, -0.01864378,  0.        , -0.99982619])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12747171, -0.08284693,  0.1117343 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10952093, -0.86871312,  0.69019867, -0.86871312,  2.08734019,
        1.23072452,  0.69019867,  1.23072452,  2.65856266,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003038179613895269
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12061943e-01, -8.41836878e-01, -1.70596713e-01, -8.86556938e-02,
       -1.45751180e-01,  9.85340937e-01, -8.54361010e-01,  5.19679964e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10373375, -0.03836189,  0.30480709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.37393575, -10.01025398,  -5.40011387, -10.01025398,
        17.44349866, -11.25121946,  -5.40011387, -11.25121946,
        32.23045231,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005099799745420658
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.08849669e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.08849669e-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([ 0.05068127, -0.0628535 ,  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:
[-9.36602013e-07,-8.93887280e-06,-5.80856354e-06,-1.96774132e-05,
  1.49302330e-04, 4.23290152e-03, 2.00692244e-03, 6.31352272e-04,
 -6.56215052e-05,-7.02655725e-05, 1.78862376e-05,-2.60952853e-05,
  4.94664843e-02, 1.85889167e-02, 3.35484853e-03,-1.64252015e-04,
 -2.30423245e-05, 8.71476749e-06,-9.81000823e+00,-6.49120716e-02,
 -9.15070507e-03,-5.58130968e-03]


--- Step 1157 ---
qpos:
[ 0.00987969, 0.00810183,-0.00561361, 0.03348406, 0.00358773, 0.00185688,
 -0.00735734, 0.0388994 , 0.01308704, 0.00591808,-0.01169306, 0.03408322,
  0.85515808,-0.01536821, 1.13221801, 0.0462131 , 0.09251798,-0.06617852,
  0.14231626, 0.9462407 ,-0.03307367, 0.03080925, 0.32028964]

qacc:
[-9.34667146e-02, 3.93239747e-01,-3.41494787e+00, 1.09609654e+01,
 -1.87476285e+01, 8.56458608e+00,-4.72291503e+01, 9.93832509e+01,
 -7.50710549e-01, 7.46190980e-01,-5.13649932e+00, 1.28124397e+01,
 -1.58137804e+01,-4.16019049e+01,-1.99676953e+02, 5.41324086e+02,
 -4.80330348e-01, 1.22193414e+00,-1.30287144e-01,-2.60978980e+01,
  2.87163511e+00,-2.61766424e+01]

qfrc_actuator:
[ 1.81947558e-05, 2.75925382e-04, 2.40454899e-06, 3.29719162e-05,
 -1.25491545e-04, 1.02212897e-03, 4.64893219e-04, 2.67095647e-04,
 -3.48584979e-05,-8.34161653e-05, 2.82103077e-05,-2.88034471e-05,
  4.60194162e-02, 1.94948227e-02, 2.71004112e-03,-2.50755481e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2092286 ,  0.09512639,  0.18635336,  0.09512639,  0.42164847,
       -0.10843237,  0.18635336, -0.10843237,  0.26457925,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.153997198455909e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71212308e-01, -2.37528905e-01,  1.80740491e-02, -2.37487784e-01,
        9.71380471e-01,  4.41959584e-03, -1.86065601e-02, -8.67361738e-19,
       -9.99826883e-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([ 0.12748023, -0.08284686,  0.11173379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10540874, -0.08945425,  1.10178329, -0.08945425,  3.89586733,
        0.22655851,  1.10178329,  0.22655851,  1.12380312,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029872430932970204
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12081107e-01, -8.41847627e-01, -1.70486108e-01, -8.85998093e-02,
       -1.45655714e-01,  9.85360080e-01, -8.54355320e-01,  5.19689317e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1037421 , -0.038373  ,  0.30482099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.40352747, -6.23028664,  9.55112387, -6.23028664, 22.35051772,
        7.14082323,  9.55112387,  7.14082323, 16.06155266,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005117983534278225
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.62694402e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.62694402e-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([ 0.08360229, -0.11108782,  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:
[-5.87098942e-07,-2.73938537e-07, 9.94484980e-06, 2.31894161e-05,
 -3.17879465e-04, 3.73116000e-03, 1.96427884e-03, 9.11745662e-04,
 -4.42419453e-06,-5.02737685e-05,-1.91521062e-05, 1.82689374e-05,
  4.93150336e-02, 1.86441027e-02,-1.42263140e-03, 8.36069171e-04,
  7.30779199e-07, 1.11333562e-05,-9.80998912e+00,-6.49144206e-02,
 -9.15148917e-03,-5.57774328e-03]


--- Step 1158 ---
qpos:
[ 0.00987974, 0.00810222,-0.00561436, 0.03348444, 0.00358957, 0.00180027,
 -0.00738784, 0.03888965, 0.01308671, 0.00591591,-0.01169106, 0.03408217,
  0.85502116,-0.01540323, 1.13242894, 0.04620967, 0.09252419,-0.0661728 ,
  0.1423171 , 0.94625688,-0.03308653, 0.03080512, 0.32024092]

qacc:
[-6.47213442e-02, 1.31605190e+00,-7.01065790e+00, 1.74805439e+01,
  1.11991964e+00, 3.84678032e-01,-5.75144137e+00, 2.48682541e+01,
  2.80003365e+00, 4.03228245e-01,-1.80637437e+00, 1.39563498e+00,
 -2.44320347e+01,-3.47484662e+00, 3.27478329e+01,-1.05354285e+02,
  1.93965649e-01, 3.18159245e-02, 3.05495374e-01, 7.13418042e-01,
  9.26910564e+00, 3.30407385e+00]

qfrc_actuator:
[ 1.78431365e-05, 2.97677629e-04, 1.05396187e-05, 6.50420112e-05,
 -1.26711217e-04, 1.09414261e-03, 5.06822753e-04, 3.18147714e-04,
 -1.83145722e-05,-1.08345851e-04, 6.03775865e-06,-3.37155634e-05,
  4.60353334e-02, 1.94821385e-02, 2.75828619e-03,-2.29365225e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20922116,  0.00186996,  0.2092128 ,  0.00186996,  0.4765233 ,
       -0.00238916,  0.2092128 , -0.00238916,  0.20924251,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4200714457094163e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71241272e-01, -2.37419341e-01,  1.79568545e-02, -2.37378773e-01,
        9.71407256e-01,  4.38879218e-03, -1.84854029e-02,  8.67361738e-19,
       -9.99829130e-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([ 0.12748828, -0.0828458 ,  0.11173232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10536763, -0.49742621,  0.98711943, -0.49742621,  5.01470648,
        1.96998209,  0.98711943,  1.96998209,  2.09807499,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029867276576150595
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5121686 , -0.84180415, -0.17043797, -0.08858918, -0.14560583,
        0.98536841, -0.85430397,  0.51977372,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10374695, -0.03837089,  0.30482066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.40821556, -5.73685157,  9.86082737, -5.73685157, 27.2718835 ,
        9.22919598,  9.86082737,  9.22919598, 16.77759538,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000512086249943309
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.10478682e-07,  1.31267994e-14,  1.00000000e+00, -1.19516710e-20,
        1.00000000e+00, -1.31267994e-14, -1.00000000e+00,  0.00000000e+00,
        9.10478682e-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([ 0.06667   , -0.08625025,  0.06198848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.69714640e-07, 2.46477056e-05, 1.01127626e-05, 3.28555632e-05,
 -2.12668227e-04, 3.94850894e-03, 2.12899869e-03, 8.29400531e-04,
  1.63970778e-05,-5.61790954e-05,-3.42885960e-05,-7.37257059e-06,
  5.32222821e-02, 2.14283105e-02, 2.27190335e-03,-4.63981562e-04,
 -1.94180121e-05, 6.20014022e-06,-9.81000222e+00,-6.49141439e-02,
 -9.15742895e-03,-5.57540844e-03]


--- Step 1159 ---
qpos:
[ 0.00987944, 0.00810244,-0.00561457, 0.03348487, 0.00358745, 0.00176971,
 -0.00739859, 0.03889006, 0.01308623, 0.00591379,-0.01168982, 0.03408105,
  0.85483832,-0.01546009, 1.13265779, 0.04620869, 0.09253072,-0.06616668,
  0.14231893, 0.94626956,-0.03310369, 0.03081468, 0.32020076]

qacc:
[-3.04523840e+00,-1.68459969e+00, 5.49897805e+00,-5.52471013e+00,
 -3.46859967e+01, 2.01898765e-01, 6.48598801e+00, 1.18415201e+02,
 -1.29630917e+00, 2.04624118e+00,-6.87876064e+00, 6.76600422e+00,
 -2.08404600e+01,-1.66246888e+00, 1.98001725e+01,-2.92690477e+01,
  7.96890084e-02, 1.01401821e-01, 2.47469731e-01,-2.72995882e-02,
  7.07934119e+00, 4.76900659e+00]

qfrc_actuator:
[-1.36497134e-07, 2.74977934e-04, 3.34442674e-05, 6.60095379e-05,
 -1.10502702e-04, 1.17752576e-03, 5.25873594e-04, 3.16449363e-04,
 -2.62004070e-05,-8.67205907e-05,-2.56001026e-05,-3.62003000e-05,
  4.60474753e-02, 1.95225867e-02, 2.76880003e-03,-1.96334809e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.10711854,  0.22325528,  1.08437472,  0.22325528, 10.94991945,
       -2.02647408,  1.08437472, -2.02647408,  1.52433689,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030085684509513955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51225032, -0.84175364, -0.17044184, -0.08860539, -0.14560051,
        0.98536774, -0.8542533 ,  0.519857  ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10375206, -0.03836312,  0.30481619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.39543298,  8.45817137, -7.63644091,  8.45817137, 36.4815977 ,
       27.78559838, -7.63644091, 27.78559838, 42.17094155,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005113011534459814
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.42842030e-14,  1.24794997e-06,  1.00000000e+00, -6.77439693e-20,
        1.00000000e+00, -1.24794997e-06, -1.00000000e+00,  0.00000000e+00,
        5.42842030e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06649722, -0.08598244,  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:
[-1.79838886e-05,-5.42620218e-06, 3.03816749e-05, 3.01303502e-06,
 -2.02692599e-04, 4.01571429e-03, 2.10280923e-03, 7.67624748e-04,
 -7.44271974e-06,-1.71265747e-05,-4.77172686e-05,-6.22005537e-06,
  5.60002348e-02, 2.28268600e-02, 2.10378668e-03, 3.07891241e-04,
 -1.70282792e-05, 1.02017339e-05,-9.80999807e+00,-6.49191641e-02,
 -9.15697486e-03,-5.57586192e-03]


--- Step 1160 ---
qpos:
[ 0.00987928, 0.00810197,-0.0056139 , 0.033485  , 0.00358513, 0.00175867,
 -0.00740127, 0.03889194, 0.01308567, 0.00591221,-0.01168928, 0.03407984,
  0.85468285,-0.01550367, 1.13297547, 0.04619022, 0.09254123,-0.06616215,
  0.14231966, 0.94625971,-0.0330766 , 0.03083855, 0.32023037]

qacc:
[ 1.19850841e+00,-3.94173054e+00, 1.39684316e+01,-1.99076092e+01,
 -1.82555706e+00, 6.27176452e+00, 8.87288635e+00,-1.07680852e+01,
 -8.33586818e-01, 2.47417281e+00,-7.40675693e+00, 6.56878926e+00,
  7.11333829e+00, 8.34968301e+00, 1.84122354e+02,-4.53594010e+02,
  9.94896352e-01,-3.96400365e-01,-2.73728167e-01, 2.17716240e+01,
 -1.12485377e+00, 3.75386005e+01]

qfrc_actuator:
[ 7.15729752e-06, 2.08118666e-04, 6.46892208e-05, 4.86425442e-05,
 -1.15303429e-04, 1.22414288e-03, 5.29750036e-04, 2.91419898e-04,
 -3.06555316e-05,-1.96697051e-05,-4.46212341e-05,-3.71979354e-05,
  4.60531715e-02, 1.96182076e-02, 2.72329576e-03,-2.13905060e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003047990961724418
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12319718e-01, -8.41701776e-01, -1.70489374e-01, -8.86428420e-02,
       -1.45633352e-01,  9.85359515e-01, -8.54207793e-01,  5.19931771e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10375762, -0.03835093,  0.30480841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.37360105,  8.44983762, -7.61308381,  8.44983762, 45.08654994,
       37.41833804, -7.61308381, 37.41833804, 52.90458745,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005099593961839927
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08854061e-13,  2.17708122e-13,  1.00000000e+00, -2.36984132e-26,
        1.00000000e+00, -2.17708122e-13, -1.00000000e+00,  0.00000000e+00,
        1.08854061e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05071257, -0.06282045,  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:
[ 6.77760909e-06,-6.35005268e-05, 3.39702394e-05,-1.64898567e-05,
 -9.27755306e-06, 2.76064398e-03, 1.11940759e-03, 2.34835934e-04,
 -4.67614741e-06, 4.74113563e-05,-2.86386906e-05,-3.49888987e-06,
  5.83007179e-02, 2.40147287e-02, 1.15736549e-03, 8.40394544e-06,
 -1.33506516e-05, 1.04301998e-05,-9.80999313e+00,-6.49225151e-02,
 -9.15485595e-03,-5.57806504e-03]


--- Step 1161 ---
qpos:
[ 0.00987885, 0.00810096,-0.00561309, 0.03348461, 0.00358298, 0.00174593,
 -0.00740873, 0.03889126, 0.01308574, 0.00591111,-0.01168877, 0.03407858,
  0.85446942,-0.01559363, 1.13321208, 0.04620269, 0.09254896,-0.06615325,
  0.1423196 , 0.94626738,-0.0331006 , 0.03084212, 0.32020486]

qacc:
[-2.23635214e+00,-2.18028271e+00, 8.94362231e+00,-1.78011601e+01,
  1.34966453e+00, 5.82659621e+00,-1.32399353e+01,-2.21278949e+01,
  5.62595901e+00, 6.24794898e-01,-1.13548540e+00, 1.01500628e-01,
 -6.78493529e+00,-4.07949581e+01,-2.13950039e+02, 5.73300674e+02,
 -6.93840778e-01, 1.09123088e+00,-2.00114409e-01,-2.62799197e+01,
 -7.77863915e-01,-3.00093085e+01]

qfrc_actuator:
[-6.23188078e-06, 1.68602132e-04, 6.48954795e-05, 2.05929157e-05,
 -1.34889841e-04, 1.24482366e-03, 5.46064219e-04, 2.92526381e-04,
  2.45752652e-06, 2.08702571e-05,-3.80810703e-05,-3.72584460e-05,
  4.60607080e-02, 1.96672839e-02, 2.71171484e-03,-2.22659270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20924063, -0.01906383,  0.20837037, -0.01906383,  0.02101451,
       -0.01722083,  0.20837037, -0.01722083,  0.20766509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.465932060760483e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97126929, -0.23729098,  0.01813698, -0.23724962,  0.97143862,
        0.00443028, -0.01867023,  0.        , -0.9998257 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12750484, -0.08284388,  0.11173432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1108866 , -0.05886562,  1.10932586, -0.05886562,  5.8477567 ,
        0.25135877,  1.10932586,  0.25135877,  1.12422478,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030548331252823756
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12279677e-01, -8.41712636e-01, -1.70556065e-01, -8.86716248e-02,
       -1.45693906e-01,  9.85347973e-01, -8.54228819e-01,  5.19897224e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10376664, -0.03834592,  0.30480897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.33253179, -6.35400761,  9.38364876, -6.35400761, 19.72504503,
        5.68287394,  9.38364876,  5.68287394, 15.18061105,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005074323608174891
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.64094239e-13,  8.20471193e-14,  1.00000000e+00, -1.34634596e-26,
        1.00000000e+00, -8.20471193e-14, -1.00000000e+00,  0.00000000e+00,
        1.64094239e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08362036, -0.11106863,  0.06198859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32181448e-05,-6.87042945e-05,-9.29997448e-06,-2.99172958e-05,
 -1.89415403e-05, 1.80616283e-03, 7.32709094e-04, 1.62725930e-04,
  3.29932946e-05, 6.10372546e-05, 1.26994501e-05, 9.17375231e-07,
  5.69382654e-02, 2.33998459e-02,-3.30067581e-03, 7.94144282e-04,
 -1.54280173e-05, 2.75885585e-06,-9.80999334e+00,-6.49151122e-02,
 -9.15481117e-03,-5.57866840e-03]


--- Step 1162 ---
qpos:
[ 0.00987793, 0.00809985,-0.00561276, 0.03348387, 0.0035897 , 0.00172366,
 -0.00742428, 0.038884  , 0.01308622, 0.00591015,-0.01168806, 0.03407771,
  0.85428569,-0.01566928, 1.13352304, 0.04618932, 0.09256053,-0.06614655,
  0.14231873, 0.94625366,-0.03307866, 0.03086194, 0.32024577]

qacc:
[-4.42100351e+00, 4.76971579e-01,-4.03664609e-01,-4.80658349e+00,
  7.79369609e+01,-3.65426714e+00, 2.22300071e+01,-1.15701586e+02,
  3.49077410e+00, 4.20340372e-01,-2.87109818e+00, 9.11302129e+00,
  8.32412197e+00, 8.16912932e+00, 1.87924755e+02,-4.98099227e+02,
  9.59877726e-01,-5.49637776e-01,-1.99527885e-01, 2.29589835e+01,
 -4.40178897e-01, 3.58286510e+01]

qfrc_actuator:
[-3.16951708e-05, 1.81126393e-04, 4.68587717e-05, 4.23225800e-06,
 -1.45881518e-04, 1.24559429e-03, 5.79450097e-04, 2.94997279e-04,
  2.19108032e-05, 9.83737372e-06,-3.43441053e-05,-1.90146293e-05,
  4.60760427e-02, 1.97072915e-02, 2.72192902e-03,-2.07188377e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2092775 , -0.20322484,  0.04996736, -0.20322484,  0.20028752,
       -0.0365636 ,  0.04996736, -0.0365636 ,  0.06056778,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5752675473560113e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97128036, -0.2372369 ,  0.01825118, -0.23719503,  0.97145183,
        0.0044571 , -0.01878753,  0.        , -0.9998235 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12750837, -0.08284285,  0.11173565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11425703, -0.36895022, -1.05140119, -0.36895022,  2.99734308,
       -0.66079915, -1.05140119, -0.66079915,  1.34613996,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003095393779141775
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51231867, -0.84166719, -0.17066315, -0.08873572, -0.14578026,
        0.98532943, -0.85419878,  0.51994659,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10377272, -0.03833073,  0.30479883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.32626561, -6.19003059,  9.48513648, -6.19003059, 22.8681316 ,
        7.53225888,  9.48513648,  7.53225888, 16.241842  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005070464490824766
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.47397101e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.47397101e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0507252, -0.0628083,  0.0619886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.58597923e-05,-2.90740068e-05,-3.44049238e-05,-2.02068278e-05,
 -3.83040178e-05, 1.89234550e-03, 1.00488439e-03, 2.93071556e-04,
  2.04086435e-05, 2.58102049e-05, 1.79491478e-05, 2.13194546e-05,
  5.98505327e-02, 2.57611134e-02, 7.57056338e-04,-5.99420384e-04,
 -7.84392503e-06, 5.74534537e-06,-9.80999383e+00,-6.49198666e-02,
 -9.15188729e-03,-5.58085846e-03]


--- Step 1163 ---
qpos:
[ 0.00987739, 0.00809887,-0.00561278, 0.03348256, 0.00359349, 0.00169038,
 -0.00744336, 0.03887846, 0.01308657, 0.00590907,-0.01168718, 0.03407745,
  0.85404774,-0.0157887 , 1.13375067, 0.04620555, 0.09256924,-0.06613593,
  0.14231738, 0.94625926,-0.03310726, 0.03086177, 0.32022628]

qacc:
[ 3.42230838e+00, 3.77595319e-03, 2.63851770e+00,-1.20459942e+01,
 -2.56414539e+01,-1.07631482e+00,-2.44145560e+01, 6.77398039e+01,
 -1.00369129e+00, 6.03422323e-01,-4.91507452e+00, 1.51708117e+01,
 -5.76233500e+00,-3.91832510e+01,-2.13229711e+02, 5.65939340e+02,
 -7.14832365e-01, 9.79429286e-01,-1.22751006e-01,-2.58586786e+01,
 -6.63776307e-01,-3.27803422e+01]

qfrc_actuator:
[-1.07965605e-05, 2.06894259e-04, 3.61830521e-05,-2.28329183e-05,
 -1.60487955e-04, 1.26068201e-03, 5.92803240e-04, 2.85570972e-04,
  1.54035729e-05,-1.42307883e-05,-3.25004994e-05, 9.80236793e-06,
  4.61009059e-02, 1.97529674e-02, 2.68621991e-03,-2.06472077e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2093702 , -0.13037058,  0.16382732, -0.13037058,  0.17947819,
       -0.02378748,  0.16382732, -0.02378748,  0.19044059,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5427444818447134e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71257715e-01, -2.37312561e-01,  1.84715714e-02, -2.37269656e-01,
        9.71433347e-01,  4.51244127e-03, -1.90147595e-02,  8.67361738e-19,
       -9.99819203e-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([ 0.12751507, -0.08284317,  0.1117382 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11469345, -0.05942509,  1.11310833, -0.05942509,  6.06347687,
        0.2641988 ,  1.11310833,  0.2641988 ,  1.12879813,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031005908289773496
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12255207e-01, -8.41680843e-01, -1.70786304e-01, -8.87906779e-02,
       -1.45890977e-01,  9.85308093e-01, -8.54231127e-01,  5.19893433e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10378232, -0.03832317,  0.30479802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.32773151, -6.38434683,  9.3572227 , -6.38434683, 19.93462163,
        5.87240183,  9.3572227 ,  5.87240183, 15.33441717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005071367367039531
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.73649823e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.73649823e-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([ 0.0836375 , -0.11105495,  0.06198859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.01572303e-05, 1.56840762e-06,-2.16053968e-05,-2.98900866e-05,
 -4.96513007e-04, 2.38488527e-03, 1.42330380e-03, 6.12281801e-04,
 -5.92222893e-06,-4.97663730e-06, 1.01279910e-05, 3.09607533e-05,
  5.83893885e-02, 2.50922458e-02,-3.00046484e-03, 6.98761848e-04,
 -1.78261805e-05, 4.28488561e-06,-9.80999633e+00,-6.49139979e-02,
 -9.15224554e-03,-5.58143038e-03]


--- Step 1164 ---
qpos:
[ 0.00987746, 0.00809804,-0.00561301, 0.03348092, 0.00360417, 0.00164596,
 -0.00747087, 0.03886588, 0.01308754, 0.00590824,-0.01168668, 0.03407752,
  0.85384266,-0.01589148, 1.13404899, 0.04619257, 0.09258171,-0.06612786,
  0.14231545, 0.94624345,-0.03308815, 0.03087904, 0.3202733 ]

qacc:
[ 5.25004612e+00, 7.24819128e-02, 1.39981105e+00,-6.86125555e+00,
  6.04643237e+01,-5.79683453e+00, 2.88134697e+01,-1.28757608e+02,
  5.34117835e+00, 2.08063270e+00,-8.40254869e+00, 1.47414808e+01,
  9.10554225e+00, 9.70433436e+00, 1.92697358e+02,-5.22644388e+02,
  9.39076032e-01,-6.36488186e-01,-1.42468223e-01, 2.39819065e+01,
 -1.53950381e-01, 3.59201894e+01]

qfrc_actuator:
[ 1.94735715e-05, 2.22669086e-04, 3.00070282e-05,-3.82041706e-05,
 -1.33510470e-04, 1.27189523e-03, 6.10572719e-04, 2.81101694e-04,
  4.69307969e-05, 7.33097139e-06,-4.96062399e-05, 2.68363655e-05,
  4.61326436e-02, 1.99076594e-02, 2.65044717e-03,-2.10242375e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20943391, -0.20277276,  0.05240013, -0.20277276,  0.19935442,
       -0.03900461,  0.05240013, -0.03900461,  0.0584978 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0335223052502887e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97126646, -0.23727038,  0.01855324, -0.23722711,  0.97144365,
        0.00453154, -0.01909862,  0.        , -0.9998176 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1275217 , -0.08284237,  0.11173911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11790077, -0.35318097, -1.06064383, -0.35318097,  2.99536199,
       -0.62517082, -1.06064383, -0.62517082,  1.32607474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003138408597481065
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12280430e-01, -8.41634119e-01, -1.70940840e-01, -8.88778131e-02,
       -1.46018851e-01,  9.85281295e-01, -8.54206940e-01,  5.19933173e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10378905, -0.03830591,  0.30478708])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.33983445, -6.23997496,  9.46860907, -6.23997496, 22.29692109,
        7.22090708,  9.46860907,  7.22090708, 16.09853544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005078819894770575
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.27897931e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.27897931e-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([ 0.05074289, -0.0627948 ,  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:
[ 3.08504776e-05, 1.09555254e-05,-9.53285791e-06,-1.66288825e-05,
 -3.23321310e-04, 2.94780392e-03, 1.61863129e-03, 5.22199573e-04,
  3.13529001e-05, 2.22258822e-05,-1.58116043e-05, 1.77750539e-05,
  6.11314673e-02, 2.74377921e-02, 1.12383036e-03,-8.20238241e-04,
 -6.82111069e-06, 5.42938887e-06,-9.80999318e+00,-6.49191973e-02,
 -9.14919001e-03,-5.58347490e-03]


--- Step 1165 ---
qpos:
[ 0.00987789, 0.00809717,-0.00561329, 0.03347981, 0.00361195, 0.00159105,
 -0.00749979, 0.03885646, 0.01308853, 0.00590814,-0.0116866 , 0.03407705,
  0.85358938,-0.01603206, 1.13426612, 0.04620795, 0.09259123,-0.0661163 ,
  0.14231341, 0.94624816,-0.03311818, 0.03087661, 0.32025654]

qacc:
[ 3.18208161e+00, 1.17176949e+00,-6.54336110e+00, 1.59263607e+01,
 -2.53866028e+01,-3.38570359e+00,-2.12545962e+01, 8.56428762e+01,
  1.92728887e-01, 1.00612314e+00, 1.05223975e-01,-9.41973545e+00,
 -5.52194352e+00,-3.35539315e+01,-2.06262718e+02, 5.46347463e+02,
 -7.37462085e-01, 8.69882405e-01,-3.09527086e-02,-2.50775202e+01,
 -7.19377116e-01,-3.45484728e+01]

qfrc_actuator:
[ 3.72496156e-05, 2.14622595e-04, 2.65129251e-05,-1.10684595e-05,
 -1.07973328e-04, 1.28532466e-03, 6.72797099e-04, 2.87675937e-04,
  4.73427112e-05, 7.37101813e-05,-5.98415355e-05, 1.31744870e-06,
  4.61466434e-02, 2.00138488e-02, 2.64105607e-03,-2.08457675e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20955883, -0.1461304 ,  0.15020256, -0.1461304 ,  0.70122518,
        0.47833671,  0.15020256,  0.47833671,  0.67492729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.816145367333728e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97124153, -0.2373581 ,  0.01873537, -0.23731395,  0.97142222,
        0.00457782, -0.01928654,  0.        , -0.999814  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1275316 , -0.08284296,  0.11174119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11798742, -0.06153587,  1.11629262, -0.06153587,  5.8967251 ,
        0.26342896,  1.11629262,  0.26342896,  1.132509  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031394212592953036
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51220388, -0.84164672, -0.17110812, -0.08895412, -0.14616824,
        0.98525226, -0.8542449 ,  0.5198708 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379934, -0.03829672,  0.3047861 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.35610242, -6.5266453 ,  9.29322136, -6.5266453 , 19.8480826 ,
        5.96393225,  9.29322136,  5.96393225, 15.54458227,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005088831667924943
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22115857e-06, -1.22115899e-06,  1.00000000e+00, -1.49122876e-12,
        1.00000000e+00,  1.22115899e-06, -1.00000000e+00,  0.00000000e+00,
       -1.22115857e-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([ 0.0838229 , -0.11020192,  0.06198855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86630788e-05,-4.55494169e-06,-2.96585769e-06, 2.69564175e-05,
 -6.41958809e-04, 3.52040084e-03, 2.10287871e-03, 8.80982643e-04,
  1.30865702e-06, 7.63416824e-05,-6.97344344e-06,-2.47681327e-05,
  5.95011031e-02, 2.67136383e-02,-2.42409373e-03, 6.56985005e-04,
 -1.96035459e-05, 6.21511458e-06,-9.80999769e+00,-6.49141079e-02,
 -9.14969911e-03,-5.58399939e-03]


--- Step 1166 ---
qpos:
[ 0.00987853, 0.00809598,-0.00561322, 0.03347939, 0.00362579, 0.00152645,
 -0.00753664, 0.03883995, 0.01308883, 0.0059088 ,-0.01168699, 0.03407593,
  0.85337173,-0.0161534 , 1.13455647, 0.04619445, 0.09260438,-0.0661075 ,
  0.14231096, 0.94623141,-0.03309974, 0.0308922 , 0.32030642]

qacc:
[ 1.86133930e+00, 3.11233126e-02,-3.59374208e+00, 1.51150623e+01,
  5.32316458e+01,-5.32487761e+00, 3.01012996e+01,-1.32589000e+02,
 -6.11900283e+00, 1.02193176e+00, 5.93199296e-01,-1.16660923e+01,
  9.33069947e+00, 1.20324167e+01, 1.95532774e+02,-5.27044974e+02,
  9.09246181e-01,-6.86835407e-01,-9.93456911e-02, 2.44333995e+01,
 -2.40146938e-03, 3.60149954e+01]

qfrc_actuator:
[ 4.75261274e-05, 1.92424449e-04, 4.23118961e-05, 2.30868678e-05,
 -1.11773548e-04, 1.33939370e-03, 7.04795130e-04, 2.93501956e-04,
  1.16733867e-05, 1.13146402e-04,-8.35154881e-05,-3.12299595e-05,
  4.61667632e-02, 2.01564762e-02, 2.64264048e-03,-2.09704299e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2096125 , -0.20264432,  0.0535974 , -0.20264432,  0.19927505,
       -0.03908447,  0.0535974 , -0.03908447,  0.06183957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.106652367550229e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97124974, -0.23732129,  0.01877647, -0.23727695,  0.97143122,
        0.0045871 , -0.01932866,  0.        , -0.99981318])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12754112, -0.08284236,  0.11174159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12081994, -0.32931823, -1.07134814, -0.32931823,  3.05757868,
       -0.59533398, -1.07134814, -0.59533398,  1.30381772,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003172268604358877
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12222568e-01, -8.41597419e-01, -1.71294555e-01, -8.90572146e-02,
       -1.46323740e-01,  9.85219862e-01, -8.54222953e-01,  5.19906864e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380677, -0.03827855,  0.3047756 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.389753  , -6.39961903,  9.42185489, -6.39961903, 21.70627917,
        7.00730779,  9.42185489,  7.00730779, 16.14933599,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005109521747505702
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.25927674e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.25927674e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05076404, -0.06278014,  0.06198851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08089319e-05,-2.41600943e-05, 1.54402864e-05, 3.43863554e-05,
 -5.00658534e-04, 4.10137828e-03, 2.20650257e-03, 7.29512315e-04,
 -3.56045114e-05, 7.96324910e-05,-9.61835678e-06,-2.99979764e-05,
  6.19300372e-02, 2.87492811e-02, 1.63134973e-03,-7.75225311e-04,
 -6.49514682e-06, 5.37477298e-06,-9.80999303e+00,-6.49193486e-02,
 -9.14678364e-03,-5.58585809e-03]


--- Step 1167 ---
qpos:
[ 0.00987929, 0.00809449,-0.00561318, 0.03347906, 0.00363426, 0.00145957,
 -0.00757042, 0.03882836, 0.01308801, 0.00590995,-0.01168787, 0.03407446,
  0.85321042,-0.01621718, 1.13480884, 0.04619997, 0.09261227,-0.06609934,
  0.14231091, 0.94623127,-0.03310003, 0.03088699, 0.32030731]

qacc:
[ 1.04450155e+00,-1.51732188e-01,-4.40839605e-01, 2.31658096e+00,
 -4.70974111e+01,-1.39400070e+00,-1.99860494e+01, 1.01629551e+02,
 -9.87012470e+00, 1.31422466e+00,-2.24522207e+00,-3.35990980e+00,
  5.47221546e+00, 4.92618557e+01,-1.12986142e+02, 3.15202671e+02,
 -1.31700629e+00,-1.60345311e-01, 5.98360239e-01,-1.11637014e+01,
 -6.29171352e+00,-2.64755939e+01]

qfrc_actuator:
[ 5.33102979e-05, 1.62010955e-04, 3.38035511e-05, 2.55850927e-05,
 -1.23226955e-04, 1.38573773e-03, 7.43490188e-04, 3.07847456e-04,
 -4.49373210e-05, 1.18330298e-04,-1.15028033e-04,-4.99197183e-05,
  4.61900731e-02, 2.02612876e-02, 2.59722991e-03,-2.11728978e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20973216,  0.12634833,  0.16740274,  0.12634833,  0.41099518,
       -0.1519046 ,  0.16740274, -0.1519046 ,  0.32438317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.6895548397604126e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97122414, -0.23741465,  0.01891945, -0.23736961,  0.9714084 ,
        0.00462396, -0.01947631,  0.        , -0.99981032])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12755371, -0.08284315,  0.11174318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12047733, -0.10096078,  1.11591952, -0.10096078,  9.36794026,
        0.74617413,  1.11591952,  0.74617413,  1.18798607,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031683216554037564
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12139708e-01, -8.41608174e-01, -1.71489362e-01, -8.91471398e-02,
       -1.46497060e-01,  9.85185972e-01, -8.54263254e-01,  5.19840642e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10381775, -0.03826875,  0.30477522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.4124929 , -10.60589469,   4.21426055, -10.60589469,
        13.23783411,   4.59377781,   4.21426055,   4.59377781,
        22.97350654,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000512348878740613
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08346390e-13,  1.02859913e-06,  1.00000000e+00, -1.11445002e-19,
        1.00000000e+00, -1.02859913e-06, -1.00000000e+00,  0.00000000e+00,
        1.08346390e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08956571, -0.08098886,  0.06198848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.08540607e-06,-3.92162461e-05,-1.03945828e-05, 2.66925595e-06,
 -8.15221637e-04, 4.63509534e-03, 2.64280827e-03, 1.09803965e-03,
 -5.75918369e-05, 4.64140995e-05,-1.72850879e-05,-1.61903963e-05,
  6.01709861e-02, 2.78938478e-02,-2.07905301e-03, 6.48306670e-04,
 -2.08299039e-05, 7.61248928e-06,-9.80999794e+00,-6.49147117e-02,
 -9.14757659e-03,-5.58627720e-03]


--- Step 1168 ---
qpos:
[ 0.00987976, 0.00809269,-0.00561321, 0.03347877, 0.00363586, 0.00140294,
 -0.00759732, 0.03881982, 0.01308686, 0.00591121,-0.01168843, 0.03407312,
  0.85321622,-0.01615419, 1.1350411 , 0.04620131, 0.09261565,-0.06609722,
  0.14231206, 0.94623378,-0.03307989, 0.03085796, 0.32030476]

qacc:
[ -2.46567375, -0.09491842, -0.39556771,  1.38669899,-60.40817986,
   0.73973231,  4.32253729, 29.77421065, -2.86946054, -0.48288274,
   1.39284193,  0.2215902 , 40.40079935, 84.80398256,-16.97020261,
  16.42966464, -1.12519205, -1.51211704,  0.29999246,  5.94867365,
 -14.5234172 , -2.12681865]

qfrc_actuator:
[ 3.86540612e-05, 1.44542199e-04, 2.86936421e-05, 2.71591580e-05,
 -1.12511750e-04, 1.47716799e-03, 7.60620166e-04, 3.35894999e-04,
 -6.01509780e-05, 1.20681199e-04,-9.77882797e-05,-4.25868271e-05,
  4.62068233e-02, 2.03151595e-02, 2.56827476e-03,-2.19632160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20972235,  0.05077029,  0.20348425,  0.05077029,  0.4672399 ,
       -0.06425185,  0.20348425, -0.06425185,  0.22575349,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.644515855756677e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97122491, -0.237413  ,  0.01890097, -0.23736805,  0.97140881,
        0.00461941, -0.01945728,  0.        , -0.99981069])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12756432, -0.08284319,  0.11174288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12051357, -0.15185467, -1.11017603, -0.15185467,  2.56907368,
       -0.1981403 , -1.11017603, -0.1981403 ,  1.14761605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003168739417903437
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51213469, -0.84159476, -0.17157016, -0.08918954, -0.14656584,
        0.9851719 , -0.85426184,  0.51984297,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382608, -0.03826227,  0.3047752 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.41889219,  4.21458816, 10.61265026,  4.21458816, 23.50729827,
       -4.80065317, 10.61265026, -4.80065317, 13.32536942,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005127417191922647
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09634362e-06, -1.09634365e-06,  1.00000000e+00,  1.20196937e-12,
        1.00000000e+00,  1.09634365e-06, -1.00000000e+00,  0.00000000e+00,
        1.09634362e-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([ 0.09392616, -0.05284476,  0.06198847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44914987e-05,-4.13776374e-05,-1.43818813e-05,-4.10552747e-07,
 -5.35977695e-04, 4.84327938e-03, 2.50744203e-03, 8.80575374e-04,
 -1.68306184e-05, 2.39906024e-05, 2.41394094e-05, 8.41364402e-06,
  5.73708014e-02, 2.50722143e-02,-2.11974596e-04,-3.82758666e-04,
 -1.00658057e-07, 1.32748906e-08,-9.80999980e+00,-6.49162306e-02,
 -9.14446547e-03,-5.58579147e-03]


--- Step 1169 ---
qpos:
[ 0.00987971, 0.00809105,-0.00561323, 0.03347809, 0.00363614, 0.00134425,
 -0.00762688, 0.03881304, 0.01308657, 0.00591222,-0.01168863, 0.03407261,
  0.8531397 ,-0.01614735, 1.13518293, 0.04621659, 0.09261812,-0.06609077,
  0.14231264, 0.94624967,-0.03310428, 0.03082302, 0.32025865]

qacc:
[-4.60512428e+00,-6.43281259e-01, 4.25187083e+00,-1.11689638e+01,
 -1.16033310e+01, 8.35703241e+00,-4.11306772e+01, 7.73141059e+01,
  7.59201864e+00, 3.48561953e-01,-5.26910038e+00, 1.93056950e+01,
 -1.95972148e+01,-3.80668608e+01,-1.75863351e+02, 4.21049100e+02,
 -2.30791317e-01, 1.08376414e+00,-1.40916092e-01,-2.11193894e+01,
  4.84809757e+00,-2.35360825e+01]

qfrc_actuator:
[ 1.20859808e-05, 1.88220026e-04, 4.34431525e-05, 1.04446372e-05,
 -1.20350034e-04, 1.56628547e-03, 7.59784620e-04, 3.72059850e-04,
 -1.53656243e-05, 8.60192799e-05,-8.74110156e-05,-2.22265640e-06,
  4.62076403e-02, 2.02639728e-02, 2.49569436e-03,-2.25952333e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2096517 , -0.04438825,  0.2048988 , -0.04438825,  0.27919938,
        0.01506646,  0.2048988 ,  0.01506646,  0.21291562,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.3063458278857257e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97122857, -0.23740718,  0.01878543, -0.23736279,  0.97141023,
        0.00459105, -0.01933831,  0.        , -0.999813  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12757235, -0.08284336,  0.11174144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11620471, -0.90225636, -0.65715023, -0.90225636,  4.25657637,
       -4.31167816, -0.65715023, -4.31167816,  7.03606728,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031184920287237385
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12135956e-01, -8.41616241e-01, -1.71460974e-01, -8.91312827e-02,
       -1.46473479e-01,  9.85190913e-01, -8.54267158e-01,  5.19834227e-01,
       -2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383299, -0.03827319,  0.30478854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.43874218,   2.95255564, -11.05111931,   2.95255564,
        95.39397749,  22.43053364, -11.05111931,  22.43053364,
        17.43156488,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005139596953107339
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.40034090e-14, -5.40034090e-14,  1.00000000e+00,  2.91636818e-27,
        1.00000000e+00,  5.40034090e-14, -1.00000000e+00,  0.00000000e+00,
        5.40034090e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0836988 , -0.1110027 ,  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:
[-2.69890182e-05, 1.76102844e-05, 4.43896180e-06,-1.89879669e-05,
 -2.00168378e-04, 4.42253664e-03, 2.16406005e-03, 7.64292882e-04,
  4.43171593e-05,-1.59451117e-05, 1.85914270e-05, 4.23930962e-05,
  4.90181145e-02, 1.86828141e-02, 7.18476418e-04,-2.37582617e-04,
  1.13495636e-06, 5.74794239e-07,-9.80999304e+00,-6.49150602e-02,
 -9.14861926e-03,-5.58138390e-03]


--- Step 1170 ---
qpos:
[ 0.009879  , 0.00809   ,-0.00561332, 0.03347717, 0.00364495, 0.00129032,
 -0.00765583, 0.03880185, 0.01308682, 0.00591282,-0.01168855, 0.03407227,
  0.85307185,-0.01613969, 1.13540813, 0.04619987, 0.09262576,-0.06608705,
  0.14231226, 0.94624586,-0.03308081, 0.03081433, 0.32027319]

qacc:
[-5.83394371e+00, 4.98536699e-01, 4.22141671e-01,-5.02819315e+00,
  7.49141523e+01,-4.65946885e+00, 4.41215082e+01,-1.24703755e+02,
  4.75695584e+00,-9.90763879e-01, 2.03257514e+00, 7.34983924e-01,
  8.89961372e-01, 2.26505119e+00, 2.20075463e+02,-5.90859337e+02,
  1.29613613e+00,-6.82510012e-01,-2.41861856e-01, 2.55832229e+01,
  4.06128822e+00, 3.30187308e+01]

qfrc_actuator:
[-2.12734465e-05, 2.50496851e-04, 5.22888765e-05, 9.22561898e-07,
 -1.24377693e-04, 1.62671249e-03, 7.90454519e-04, 3.59907608e-04,
  1.11036179e-05, 4.72191284e-05,-8.13228223e-05, 3.94681891e-06,
  4.62153314e-02, 2.02464560e-02, 2.40399141e-03,-2.16990043e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20955489, -0.20457247,  0.04542419, -0.20457247,  0.2103099 ,
        0.00340027,  0.04542419,  0.00340027,  0.22486834,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7939534619157616e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71254183e-01, -2.37315742e-01,  1.86158915e-02, -2.37272162e-01,
        9.71432570e-01,  4.54776196e-03, -1.91633388e-02, -8.67361738e-19,
       -9.99816366e-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([ 0.12758005, -0.08284261,  0.11173936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11599253, -0.75010216,  0.8263087 , -0.75010216,  2.06333948,
        0.85997764,  0.8263087 ,  0.85997764,  1.89665851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031159874867132996
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5122013 , -0.84158434, -0.17142235, -0.08912197, -0.14643393,
        0.98519763, -0.85422895,  0.51989701,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10383668, -0.03827094,  0.30478869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.46229842, -6.20599897,  9.63690105, -6.20599897, 23.42992022,
        7.70694315,  9.63690105,  7.70694315, 16.42543762,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005154039623703338
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.07704161e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.07704161e-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([ 0.05080019, -0.06274989,  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:
[-3.41162546e-05, 7.22798169e-05, 1.23952056e-05,-8.97706063e-06,
 -1.38503134e-04, 4.58823020e-03, 2.32862836e-03, 6.64282039e-04,
  2.77237314e-05,-4.20782326e-05, 6.54081630e-06, 6.95190580e-06,
  5.31416252e-02, 2.14720090e-02, 5.14543547e-03,-8.45663514e-04,
 -2.55048073e-05, 1.45686571e-06,-9.80999437e+00,-6.49163563e-02,
 -9.15741777e-03,-5.57871785e-03]


--- Step 1171 ---
qpos:
[ 0.00987755, 0.0080894 ,-0.0056133 , 0.03347648, 0.0036546 , 0.00123437,
 -0.00768593, 0.03879105, 0.0130867 , 0.00591353,-0.01168909, 0.03407132,
  0.852954  ,-0.01615437, 1.13566094, 0.0461911 , 0.09263324,-0.06608257,
  0.14231321, 0.94624142,-0.03306772, 0.03081951, 0.32028716]

qacc:
[ -6.49156828,  0.79904091, -2.9992357 ,  6.69008037,  7.43303024,
   1.34382967,-10.34955709, 20.45484766, -3.31612545,  0.65199151,
   0.49158838,-10.22376365,-23.80633023,  0.61207668, 17.65778174,
  -0.65731458, -0.04199396,  0.18938444,  0.33517069, -2.68764461,
   8.23958982, -0.09622486]

qfrc_actuator:
[-5.83590169e-05, 2.70173272e-04, 5.76783078e-05, 1.34808515e-05,
 -1.17679435e-04, 1.68168143e-03, 8.20063858e-04, 3.41988361e-04,
 -8.94430263e-06, 5.94456532e-05,-1.13379522e-04,-2.78217287e-05,
  4.62219196e-02, 2.02501532e-02, 2.38429288e-03,-2.21450156e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20957027, -0.18158504,  0.10462587, -0.18158504,  0.20827004,
       -0.00225664,  0.10462587, -0.00225664,  0.20565373,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.879906949629402e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97124776, -0.23734177,  0.01861916, -0.23729817,  0.97142621,
        0.00454909, -0.01916683,  0.        , -0.9998163 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12758917, -0.0828429 ,  0.11173932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11352518, -0.01545142,  1.11341798, -0.01545142,  1.76096792,
        0.00898487,  1.11341798,  0.00898487,  1.11364987,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030866507671665973
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12177894e-01, -8.41600739e-01, -1.71411788e-01, -8.91122365e-02,
       -1.46427491e-01,  9.85199472e-01, -8.54244002e-01,  5.19872278e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10384399, -0.03827406,  0.30479623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.46620233, -6.42135429,  9.49947393, -6.42135429, 26.82761149,
       10.3838435 ,  9.49947393, 10.3838435 , 18.48536344,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000515643200225707
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52314509e-14, -3.83802260e-08,  1.00000000e+00, -9.68388787e-22,
        1.00000000e+00,  3.83802260e-08, -1.00000000e+00, -1.88079096e-37,
       -2.52314509e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06660256, -0.08590159,  0.0619884 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.80288698e-05, 6.23030154e-05, 2.15534517e-05, 1.59159170e-05,
 -5.58043626e-04, 4.40736541e-03, 2.32838405e-03, 8.67261683e-04,
 -1.92732013e-05,-9.66639032e-06,-3.97103785e-05,-3.32120227e-05,
  5.27132656e-02, 2.14350605e-02, 9.53384234e-04, 7.09189311e-04,
 -3.24148727e-06, 4.00069996e-06,-9.80999433e+00,-6.49184786e-02,
 -9.15489278e-03,-5.57663511e-03]


--- Step 1172 ---
qpos:
[ 0.00987636, 0.0080891 ,-0.0056134 , 0.03347564, 0.00366117, 0.00117329,
 -0.00771793, 0.03878209, 0.01308634, 0.00591433,-0.01169041, 0.03407104,
  0.85277173,-0.01621611, 1.13583071, 0.04620394, 0.09263897,-0.06607404,
  0.14231356, 0.94625327,-0.03310006, 0.03081011, 0.32024971]

qacc:
[ 2.24266240e+00, 3.79164248e-01,-1.32037427e-01,-2.58513162e+00,
 -2.70925597e+01, 2.37701044e+00,-2.59666630e+01, 6.45252233e+01,
 -2.12732139e+00, 3.65196141e+00,-1.57023504e+01, 2.85434722e+01,
 -1.19718773e+01,-3.63473798e+01,-1.88407585e+02, 4.80284449e+02,
 -4.39224068e-01, 1.01483013e+00,-1.51203967e-01,-2.27680170e+01,
  9.71220205e-01,-2.78792993e+01]

qfrc_actuator:
[-4.40810976e-05, 2.64198973e-04, 4.30867594e-05, 3.39035609e-06,
 -1.35781287e-04, 1.72050984e-03, 8.32813340e-04, 3.70829248e-04,
 -2.06993461e-05, 6.64330081e-05,-1.49766791e-04, 7.12637055e-06,
  4.62274897e-02, 2.02893971e-02, 2.40448710e-03,-2.26027453e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20956557, -0.12994609,  0.16441333, -0.12994609,  0.19236283,
       -0.0135964 ,  0.16441333, -0.0135964 ,  0.19881949,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.853854390371087e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97124156, -0.23736644,  0.01862808, -0.2373228 ,  0.97142018,
        0.00455177, -0.01917613,  0.        , -0.99981612])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12759831, -0.08284324,  0.11173935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003087018278621399
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5121572 , -0.84160831, -0.17143646, -0.08912185, -0.14645052,
        0.98519518, -0.8542554 ,  0.51985354,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10385108, -0.03827124,  0.30479779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.46427636,  8.04637207, -8.16612081,  8.04637207, 49.03864512,
       37.0233748 , -8.16612081, 37.0233748 , 47.94473702,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005155251778326264
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.38394181e-14,  2.69197091e-14,  1.00000000e+00, -1.44934147e-27,
        1.00000000e+00, -2.69197091e-14, -1.00000000e+00,  0.00000000e+00,
        5.38394181e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08372018, -0.11098308,  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:
[ 1.32166872e-05, 3.40146384e-05, 1.49474357e-06,-6.36051718e-06,
 -6.18408549e-04, 4.55005683e-03, 2.40011270e-03, 8.76854476e-04,
 -1.23017565e-05,-8.06824994e-06,-4.44232900e-05, 3.25160986e-05,
  5.52175469e-02, 2.25906306e-02,-4.12557638e-04, 2.64786880e-04,
 -2.84305989e-06, 1.18016495e-06,-9.80999859e+00,-6.49160051e-02,
 -9.15450575e-03,-5.57624298e-03]


--- Step 1173 ---
qpos:
[ 9.87603259e-03, 8.08892784e-03,-5.61359180e-03, 3.34750578e-02,
  3.67330118e-03, 1.11045381e-03,-7.75427274e-03, 3.87674415e-02,
  1.30858388e-02, 5.91513765e-03,-1.16916384e-02, 3.40714745e-02,
  8.52612649e-01,-1.62678693e-02, 1.13608497e+00, 4.61897019e-02,
  9.26490665e-02,-6.60682452e-02, 1.42313085e-01, 9.46245309e-01,
 -3.30843002e-02, 3.08209983e-02, 3.20273806e-01]

qacc:
[ 7.62985186e+00, 9.64557812e-01,-4.28145622e+00, 8.75354519e+00,
  4.88214719e+01,-1.97753215e+00, 2.74946133e+01,-1.17444972e+02,
 -1.21345474e+00, 1.24733079e+00,-7.43569383e+00, 1.96566580e+01,
  5.91334275e+00, 6.37993233e+00, 2.06709486e+02,-5.41935267e+02,
  1.09459361e+00,-6.86115393e-01,-2.08023978e-01, 2.47284469e+01,
  1.19129617e+00, 3.33653922e+01]

qfrc_actuator:
[ 3.14766849e-07, 2.60555925e-04, 3.44348784e-05, 1.55170314e-05,
 -1.47419792e-04, 1.77130522e-03, 8.36646204e-04, 4.08365246e-04,
 -2.74643689e-05, 8.80093427e-05,-1.35106385e-04, 4.55545450e-05,
  4.62355463e-02, 2.03836250e-02, 2.46823412e-03,-2.00405072e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20951308, -0.20545406,  0.041041  , -0.20545406,  0.20427557,
       -0.02621938,  0.041041  , -0.02621938,  0.07825707,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.5497098754474056e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71261693e-01, -2.37290458e-01,  1.85462406e-02, -2.37247210e-01,
        9.71438747e-01,  4.53023511e-03, -1.90915182e-02, -8.67361738e-19,
       -9.99817740e-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([ 0.12760712, -0.08284255,  0.11173831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11652554,  0.27232557, -1.08280565,  0.27232557,  2.5834044 ,
        0.36891997, -1.08280565,  0.36891997,  1.2093089 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031222734312759957
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12211859e-01, -8.41560536e-01, -1.71507656e-01, -8.91694989e-02,
       -1.46504869e-01,  9.85182787e-01, -8.54217661e-01,  5.19915558e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038555 , -0.03825793,  0.30478891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.4617885 , -6.29489866,  9.57845742, -6.29489866, 22.53884697,
        7.27976932,  9.57845742,  7.27976932, 16.2460046 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005153727113546558
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07710692e-13, -2.15421383e-13,  1.00000000e+00,  2.32031862e-26,
        1.00000000e+00,  2.15421383e-13, -1.00000000e+00,  0.00000000e+00,
        1.07710692e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0508229 , -0.0627311 ,  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:
[ 4.47857132e-05, 1.54366939e-05,-1.65445171e-06, 1.35146164e-05,
 -4.75865872e-04, 4.85927212e-03, 2.49978982e-03, 8.22522972e-04,
 -7.11595461e-06, 9.26367834e-06, 8.65408033e-06, 3.71805003e-05,
  5.84459742e-02, 2.50388864e-02, 3.79904142e-03,-5.60939143e-04,
 -1.82937562e-05, 8.54672353e-06,-9.80999103e+00,-6.49204328e-02,
 -9.15800855e-03,-5.57733849e-03]


--- Step 1174 ---
qpos:
[ 9.87624302e-03, 8.08883009e-03,-5.61383572e-03, 3.34742808e-02,
  3.68570880e-03, 1.04498033e-03,-7.79181559e-03, 3.87535654e-02,
  1.30852615e-02, 5.91602919e-03,-1.16923860e-02, 3.40712940e-02,
  8.52416212e-01,-1.63346233e-02, 1.13636262e+00, 4.61853260e-02,
  9.26583148e-02,-6.60619298e-02, 1.42313972e-01, 9.46237815e-01,
 -3.30790700e-02, 3.08409611e-02, 3.20294564e-01]

qacc:
[  4.68995899, -0.16890041,  1.53568233, -4.80719811,  2.43026937,
   1.4395892 ,-13.43827988, 30.60709374, -0.66741949, -2.50124023,
  11.67927689,-23.16950393,-18.88751655,  3.04151246,  5.50167425,
  32.52593222, -0.21315841,  0.13078817,  0.34167656, -3.46858392,
   6.02466904, -1.66434772]

qfrc_actuator:
[ 2.65599746e-05, 2.58360030e-04, 2.93829611e-05, 5.12281569e-06,
 -1.44841134e-04, 1.82797914e-03, 8.56094557e-04, 4.40156427e-04,
 -3.12404755e-05, 1.00623100e-04,-1.08118693e-04, 1.47502195e-05,
  4.62501809e-02, 2.04548781e-02, 2.47679015e-03,-2.02365294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20953727, -0.20147656,  0.05755923, -0.20147656,  0.20824009,
       -0.00454055,  0.05755923, -0.00454055,  0.19364382,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.692988008726297e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97125002, -0.23733416,  0.01859826, -0.23729066,  0.97142807,
        0.00454383, -0.01914527,  0.        , -0.99981671])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12761813, -0.08284301,  0.11173884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11649548, -0.40853656,  1.0390669 , -0.40853656,  9.37094372,
        3.24545407,  1.0390669 ,  3.24545407,  2.39253136,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031219193826996836
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12174531e-01, -8.41565751e-01, -1.71593524e-01, -8.92089954e-02,
       -1.46581352e-01,  9.85167835e-01, -8.54235919e-01,  5.19885559e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038638 , -0.03825201,  0.30478947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.44467374, -6.50407329,  9.4168778 , -6.50407329, 25.40647099,
        9.64316989,  9.4168778 ,  9.64316989, 18.10504302,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005143234812874683
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.92614049e-14,  1.75179172e-07,  1.00000000e+00,  1.38849473e-20,
        1.00000000e+00, -1.75179172e-07, -1.00000000e+00,  3.00926554e-36,
       -7.92614049e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06662543, -0.08588507,  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:
[ 2.75269315e-05, 6.70023759e-06,-1.59530491e-06,-9.52662147e-06,
 -7.51452327e-04, 5.00709014e-03, 2.73791579e-03, 1.13884901e-03,
 -3.97564841e-06, 2.11549764e-05, 3.12572328e-05,-2.93841435e-05,
  5.72999178e-02, 2.46117543e-02,-4.20321030e-04, 7.72544076e-04,
 -6.85145285e-06, 1.97270639e-06,-9.80999799e+00,-6.49174510e-02,
 -9.15452200e-03,-5.57745836e-03]


--- Step 1175 ---
qpos:
[ 9.87642177e-03, 8.08891725e-03,-5.61419183e-03, 3.34733756e-02,
  3.69519461e-03, 9.74649908e-04,-7.82993483e-03, 3.87428296e-02,
  1.30853336e-02, 5.91695270e-03,-1.16930617e-02, 3.40711263e-02,
  8.52168256e-01,-1.64412003e-02, 1.13655163e+00, 4.62032050e-02,
  9.26653798e-02,-6.60518430e-02, 1.42314203e-01, 9.46248301e-01,
 -3.31191012e-02, 3.08416370e-02, 3.20259383e-01]

qacc:
[-2.84711669e-01, 2.94477006e-01,-1.52833690e-01,-2.02506643e+00,
 -2.56313014e+01, 1.70458895e+00,-2.85580971e+01, 8.72925514e+01,
  5.71206871e+00,-1.43525283e-01, 4.99887449e-01,-3.96689657e-01,
 -6.82555456e+00,-3.41871633e+01,-1.98744199e+02, 5.04145698e+02,
 -5.45845367e-01, 9.42832771e-01,-1.63825144e-01,-2.33428241e+01,
 -1.22859211e+00,-3.03616916e+01]

qfrc_actuator:
[ 2.41494172e-05, 2.74790044e-04, 2.64788028e-05,-6.88072723e-07,
 -1.66174858e-04, 1.88975314e-03, 8.83498120e-04, 4.46567244e-04,
  2.27645097e-06, 9.00325555e-05,-1.09668317e-04, 1.44620526e-05,
  4.62680506e-02, 2.05155759e-02, 2.42805838e-03,-2.05733320e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20953188, -0.15838131,  0.13718224, -0.15838131,  0.49041722,
        0.32429119,  0.13718224,  0.32429119,  0.5839365 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.661515029638193e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97124022, -0.23737138,  0.01863483, -0.2373277 ,  0.97141898,
        0.00455352, -0.0191831 ,  0.        , -0.99981599])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12762904, -0.08284351,  0.1117392 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031433522332017746
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51214346, -0.84156272, -0.17170109, -0.0892612 , -0.1466755 ,
        0.98514909, -0.85424909,  0.51986391,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10387205, -0.03824182,  0.30478581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.4211476 ,  7.30367915, -8.78059699,  7.30367915, 47.11680981,
       29.69156469, -8.78059699, 29.69156469, 36.11851864,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005128801531188998
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.41170787e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.41170787e-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([ 0.08374309, -0.11096686,  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:
[-1.62278720e-06, 1.94561378e-05,-2.04182483e-06,-5.76307344e-06,
 -7.86555931e-04, 5.20340365e-03, 2.82634381e-03, 1.10704740e-03,
  3.34132901e-05, 6.41033299e-06, 5.65173766e-06, 1.12810845e-06,
  5.91836440e-02, 2.54227646e-02,-1.64487486e-03, 2.44442122e-04,
 -4.11933350e-06,-7.64466585e-07,-9.80999943e+00,-6.49150680e-02,
 -9.15161002e-03,-5.57928263e-03]


--- Step 1176 ---
qpos:
[ 9.87588052e-03, 8.08938859e-03,-5.61498980e-03, 3.34727501e-02,
  3.70890634e-03, 9.00483017e-04,-7.87281885e-03, 3.87261098e-02,
  1.30851168e-02, 5.91805796e-03,-1.16946522e-02, 3.40713517e-02,
  8.51952789e-01,-1.65316259e-02, 1.13681590e+00, 4.61916160e-02,
  9.26764661e-02,-6.60446639e-02, 1.42313649e-01, 9.46238872e-01,
 -3.31099727e-02, 3.08600747e-02, 3.20286408e-01]

qacc:
[-6.33848137e+00, 2.33124354e+00,-8.73444143e+00, 1.39745592e+01,
  3.70805766e+01,-4.14231590e+00, 3.25460576e+01,-1.25516803e+02,
 -2.57146986e+00, 3.60995354e+00,-1.41733780e+01, 2.22920915e+01,
  9.03518054e+00, 9.34149806e+00, 2.00241894e+02,-5.39232282e+02,
  1.00534156e+00,-7.26907461e-01,-1.96462979e-01, 2.48137365e+01,
 -1.91408151e-01, 3.36725955e+01]

qfrc_actuator:
[-1.28546794e-05, 3.02254873e-04, 7.19344175e-06, 1.40170845e-05,
 -1.98768964e-04, 1.95786388e-03, 9.33286414e-04, 4.70576492e-04,
 -1.35370016e-05, 8.32896474e-05,-1.63628822e-04, 3.21012295e-05,
  4.62904808e-02, 2.06007666e-02, 2.37549780e-03,-1.97377755e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20947709, -0.20400558,  0.04756443, -0.20400558,  0.20201143,
       -0.03202047,  0.04756443, -0.03202047,  0.07214013,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.325017237967547e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71259161e-01, -2.37299267e-01,  1.85661168e-02, -2.37255924e-01,
        9.71436595e-01,  4.53526864e-03, -1.91120213e-02,  8.67361738e-19,
       -9.99817349e-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([ 0.12763938, -0.08284289,  0.1117383 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12256658, -0.42096248, -1.04064707, -0.42096248,  2.89648001,
       -0.71758334, -1.04064707, -0.71758334,  1.41284335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003192280758251981
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12194425e-01, -8.41503287e-01, -1.71840298e-01, -8.93446606e-02,
       -1.46787669e-01,  9.85124820e-01, -8.54209812e-01,  5.19928454e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10387771, -0.03822276,  0.30477334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.42123185, -6.31263388,  9.51815057, -6.31263388, 22.01099759,
        7.02335117,  9.51815057,  7.02335117, 16.07926328,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005128853236103514
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.41165331e-14, -1.08233066e-13,  1.00000000e+00,  5.85719832e-27,
        1.00000000e+00,  1.08233066e-13, -1.00000000e+00,  0.00000000e+00,
        5.41165331e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05084432, -0.0627143 ,  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:
[-3.70429540e-05, 3.76780164e-05,-1.57122468e-05, 1.53587260e-05,
 -6.73059663e-04, 5.51738966e-03, 2.90624841e-03, 9.74308374e-04,
 -1.48595388e-05,-1.95573335e-06,-5.19050284e-05, 1.81298235e-05,
  6.17817369e-02, 2.75014867e-02, 2.72923230e-03,-7.86035625e-04,
 -1.77823761e-05, 1.25817314e-05,-9.80998537e+00,-6.49222589e-02,
 -9.15368532e-03,-5.58222324e-03]


--- Step 1177 ---
qpos:
[ 9.87490009e-03, 8.09001814e-03,-5.61594488e-03, 3.34723150e-02,
  3.72696080e-03, 8.13376217e-04,-7.92593127e-03, 3.87031796e-02,
  1.30843680e-02, 5.91878581e-03,-1.16963811e-02, 3.40718057e-02,
  8.51776143e-01,-1.65987935e-02, 1.13718178e+00, 4.61747557e-02,
  9.26901838e-02,-6.60391171e-02, 1.42312696e-01, 9.46210913e-01,
 -3.30629482e-02, 3.08884565e-02, 3.20371118e-01]

qacc:
[-3.86128906e+00, 1.04775143e+00,-4.22276631e+00, 7.63716186e+00,
  3.80919197e+01,-1.37266771e+00, 6.17026673e+00,-8.76358935e+01,
 -4.67771664e+00, 3.67657660e-01,-2.98400149e+00, 7.42209554e+00,
  9.24126719e+00, 1.58330206e+01, 1.66112328e+02,-3.63042966e+02,
  6.57860572e-01,-4.08086569e-01,-9.97192055e-02, 1.83250200e+01,
 -2.03303537e+00, 3.10082684e+01]

qfrc_actuator:
[-3.44086254e-05, 3.00562103e-04,-3.79347115e-06, 2.29225218e-05,
 -2.26345670e-04, 2.03069895e-03, 9.83171869e-04, 5.13013017e-04,
 -4.05177543e-05, 4.31874822e-05,-1.77067488e-04, 4.23587080e-05,
  4.63099414e-02, 2.06783604e-02, 2.36766446e-03,-1.84806980e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20948692, -0.20791802,  0.02559039, -0.20791802,  0.20725358,
       -0.01814554,  0.02559039, -0.01814554,  0.06205718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.387880023616381e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97124618, -0.23734835,  0.01861778, -0.23730475,  0.9714246 ,
        0.00454888, -0.01916544,  0.        , -0.99981633])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12765207, -0.08284347,  0.11173882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12328047, -0.05157076,  1.12209601, -0.05157076,  2.05962231,
        0.04303363,  1.12209601,  0.04303363,  1.12525826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003200407813240627
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12151793e-01, -8.41499261e-01, -1.71987020e-01, -8.94158263e-02,
       -1.46916115e-01,  9.85099216e-01, -8.54227927e-01,  5.19898691e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10388724, -0.0382122 ,  0.30477157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.40038978,  5.83397347, -9.794572  ,  5.83397347, 48.65472802,
       22.18992526, -9.794572  , 22.18992526, 24.61744869,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005116056399344926
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.08503791e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.08503791e-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([ 0.05085123, -0.06270893,  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:
[-2.25967331e-05, 1.67720552e-05,-4.60051481e-06, 1.02790602e-05,
 -9.11932250e-04, 5.78528479e-03, 3.19578465e-03, 1.31624620e-03,
 -2.74005511e-05,-5.11682061e-05,-1.96029623e-05, 8.73182423e-06,
  6.01752954e-02, 2.67727543e-02,-1.04500808e-03, 8.12285059e-04,
 -6.77246243e-06, 3.53874317e-07,-9.80999948e+00,-6.49174658e-02,
 -9.14862681e-03,-5.58340816e-03]


--- Step 1178 ---
qpos:
[ 9.87401362e-03, 8.09063165e-03,-5.61668620e-03, 3.34723322e-02,
  3.74215537e-03, 7.22305255e-04,-7.97658786e-03, 3.86846607e-02,
  1.30836466e-02, 5.91891880e-03,-1.16976309e-02, 3.40730551e-02,
  8.51552498e-01,-1.67038516e-02, 1.13746436e+00, 4.61962429e-02,
  9.27000452e-02,-6.60292761e-02, 1.42311336e-01, 9.46205783e-01,
 -3.30739570e-02, 3.08915120e-02, 3.20384838e-01]

qacc:
[ 8.31779946e-01, 3.10998409e-01,-3.05188823e+00, 1.05527181e+01,
 -2.50052413e+01,-2.97510072e+00,-1.55301670e+01, 9.07655012e+01,
  2.66779474e-01,-4.88556878e-01,-2.75796458e+00, 1.61965858e+01,
 -3.99323345e+00,-3.51956261e+01,-2.39631061e+02, 6.58419178e+02,
 -9.64098250e-01, 1.07353948e+00,-1.01545217e-01,-3.00389722e+01,
 -1.86497274e+00,-3.85575214e+01]

qfrc_actuator:
[-2.89326869e-05, 2.99199692e-04, 7.84330140e-06, 4.60782365e-05,
 -2.17213853e-04, 2.11700667e-03, 1.04048515e-03, 5.15868052e-04,
 -3.83347918e-05, 1.90614824e-05,-1.48850800e-04, 8.36996692e-05,
  4.63312064e-02, 2.07200763e-02, 2.34430678e-03,-1.74498564e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20952717, -0.19950154,  0.06403726, -0.19950154,  0.33095093,
        0.37828332,  0.06403726,  0.37828332,  1.38803031,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.6338672404835225e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97120435, -0.23751041,  0.01873302, -0.23746624,  0.97138499,
        0.00458036, -0.01928486,  0.        , -0.99981403])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12766801, -0.08284531,  0.11174008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12164613, -0.08659957,  1.11829806, -0.08659957,  6.97216649,
        0.45305682,  1.11829806,  0.45305682,  1.15673027,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003181757439465294
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12018975e-01, -8.41551975e-01, -1.72124499e-01, -8.94662753e-02,
       -1.47046349e-01,  9.85075204e-01, -8.54302262e-01,  5.19776534e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10389959, -0.03820916,  0.30477713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.42859063, -6.47148767,  9.41979464, -6.47148767, 19.59804116,
        5.61248948,  9.41979464,  5.61248948, 15.28442378,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005133369145346178
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08137852e-13, -1.08137852e-13,  1.00000000e+00,  1.16937950e-26,
        1.00000000e+00,  1.08137852e-13, -1.00000000e+00,  0.00000000e+00,
        1.08137852e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08377349, -0.11094496,  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:
[ 4.83682478e-06, 7.49138139e-06, 1.48969998e-05, 2.39181360e-05,
 -1.11993708e-03, 6.52242895e-03, 3.76621561e-03, 1.62998941e-03,
  1.38731185e-06,-5.64335437e-05, 1.55460214e-05, 3.86421489e-05,
  5.82539259e-02, 2.56524531e-02,-6.15386822e-03, 1.17771579e-03,
 -7.34712076e-05, 2.58085191e-05,-9.80998214e+00,-6.49091323e-02,
 -9.16095864e-03,-5.58340509e-03]


--- Step 1179 ---
qpos:
[ 9.87354432e-03, 8.09135279e-03,-5.61755519e-03, 3.34719439e-02,
  3.75332262e-03, 6.27869467e-04,-8.02523721e-03, 3.86701466e-02,
  1.30833012e-02, 5.91889076e-03,-1.16983974e-02, 3.40743878e-02,
  8.51279340e-01,-1.68459540e-02, 1.13763157e+00, 4.62246976e-02,
  9.27079825e-02,-6.60164657e-02, 1.42309802e-01, 9.46219961e-01,
 -3.31270879e-02, 3.08784125e-02, 3.20338734e-01]

qacc:
[ 3.65460113e+00,-3.42900153e-01, 3.12839449e+00,-1.00073835e+01,
 -3.52976748e+01,-1.74593187e+00,-1.70122182e+01, 8.54491707e+01,
  3.32597150e+00,-1.39874518e+00, 4.31547896e+00,-3.51527745e+00,
 -7.10176315e+00,-3.13002766e+01,-1.91961563e+02, 4.23158563e+02,
 -4.80999882e-01, 7.42381350e-01,-4.36187140e-02,-2.12727587e+01,
 -2.04250084e-01,-3.23133639e+01]

qfrc_actuator:
[-7.59628029e-06, 2.98146460e-04,-2.75898582e-06, 2.41881168e-05,
 -2.33849286e-04, 2.18984554e-03, 1.12916751e-03, 5.22341786e-04,
 -1.90002477e-05, 4.03948696e-05,-1.13955624e-04, 8.97745923e-05,
  4.63705319e-02, 2.08453687e-02, 2.28201025e-03,-1.87451216e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20949333,  0.02517778,  0.20797484,  0.02517778,  0.54850482,
       -0.0410413 ,  0.20797484, -0.0410413 ,  0.21446186,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.428206691347705e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97119916, -0.23753412,  0.01870123, -0.23749009,  0.9713792 ,
        0.00457307, -0.01925225,  0.        , -0.99981466])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12768256, -0.08284576,  0.11173959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1234218 ,  0.20122972, -1.10525252,  0.20122972,  2.24556053,
        0.20430414, -1.10525252,  0.20430414,  1.16061879,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032020132450747416
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11990370e-01, -8.41538280e-01, -1.72276478e-01, -8.95426829e-02,
       -1.47177759e-01,  9.85048636e-01, -8.54311401e-01,  5.19761514e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10390828, -0.03819605,  0.30477089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.43433978,  7.43018276, -8.69117428,  7.43018276, 29.40154731,
       15.36036805, -8.69117428, 15.36036805, 24.5660914 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000513689643312068
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.40317991e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.40317991e-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([ 0.08378471, -0.11093697,  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:
[ 2.14740425e-05, 7.22903554e-06,-6.39031708e-06,-2.05879494e-05,
 -9.93577861e-04, 6.79742236e-03, 3.73381145e-03, 1.41625236e-03,
  1.93514279e-05,-5.35211521e-06, 2.64995030e-05, 4.94599697e-06,
  6.06424230e-02, 2.76743864e-02,-2.05843192e-03,-8.70823786e-04,
 -4.89128459e-08, 1.62529699e-06,-9.81000003e+00,-6.49125164e-02,
 -9.14432669e-03,-5.58469082e-03]


--- Step 1180 ---
qpos:
[ 9.87333443e-03, 8.09214748e-03,-5.61849827e-03, 3.34706069e-02,
  3.76846331e-03, 5.32700190e-04,-8.07581628e-03, 3.86499699e-02,
  1.30831900e-02, 5.91894104e-03,-1.16982487e-02, 3.40750303e-02,
  8.51040049e-01,-1.69708208e-02, 1.13786347e+00, 4.62147378e-02,
  9.27200027e-02,-6.60072151e-02, 1.42307768e-01, 9.46213244e-01,
 -3.31270759e-02, 3.08871176e-02, 3.20357736e-01]

qacc:
[ 2.27214519e+00,-1.65350274e+00, 1.00337642e+01,-2.63788292e+01,
  3.48953636e+01,-7.29869281e+00, 4.83994909e+01,-1.42625673e+02,
  2.08629309e+00,-3.87764599e+00, 1.68823280e+01,-3.03353240e+01,
  9.29025856e+00, 1.01662754e+01, 2.11676660e+02,-6.01922843e+02,
  1.02071806e+00,-8.89967258e-01,-1.25255621e-01, 2.72836652e+01,
  1.04835403e+00, 3.53302955e+01]

qfrc_actuator:
[ 5.14297943e-06, 2.97161489e-04,-8.69616203e-06,-2.40526062e-05,
 -2.63633686e-04, 2.23783682e-03, 1.21838496e-03, 5.29628774e-04,
 -7.48703912e-06, 7.10553702e-05,-5.74967249e-05, 5.73312473e-05,
  4.64013088e-02, 2.10351169e-02, 2.28212303e-03,-2.03880107e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20941801, -0.20300206,  0.0514399 , -0.20300206,  0.20121243,
       -0.03238242,  0.0514399 , -0.03238242,  0.08162425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9187509061247156e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97122451, -0.23744067,  0.01857087, -0.23739727,  0.97140204,
        0.00453929, -0.01911759,  0.        , -0.99981724])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12769612, -0.08284501,  0.11173795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12746994, -0.61328635, -0.94608051, -0.61328635,  2.40905398,
       -0.83077283, -0.94608051, -0.83077283,  1.66600935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032475064077578156
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51205231, -0.84146351, -0.17245751, -0.0896505 , -0.14732407,
        0.98501696, -0.85426297,  0.51984111,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10391433, -0.03817442,  0.30475702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.44591095, -6.36016828,  9.51615138, -6.36016828, 21.08795197,
        6.44430726,  9.51615138,  6.44430726, 15.75299656,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005143993509637568
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07914505e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.07914505e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05088127, -0.06268872,  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:
[ 1.33533893e-05, 8.49217079e-07,-5.94110101e-06,-4.85523492e-05,
 -8.21996317e-04, 7.01769117e-03, 3.72437928e-03, 1.22365223e-03,
  1.20595026e-05, 3.33659372e-05, 5.87936153e-05,-3.16616660e-05,
  6.31491075e-02, 2.97198005e-02, 3.70529750e-03,-1.38476982e-03,
 -3.50224739e-05, 1.86317309e-05,-9.80997695e+00,-6.49202287e-02,
 -9.15292197e-03,-5.58681571e-03]


--- Step 1181 ---
qpos:
[ 9.87258923e-03, 8.09286736e-03,-5.61920083e-03, 3.34690449e-02,
  3.77709723e-03, 4.49204608e-04,-8.11657845e-03, 3.86337838e-02,
  1.30832177e-02, 5.91929339e-03,-1.16977977e-02, 3.40756375e-02,
  8.50981582e-01,-1.69592673e-02, 1.13809725e+00, 4.62134308e-02,
  9.27266886e-02,-6.60041969e-02, 1.42307414e-01, 9.46208675e-01,
 -3.31074859e-02, 3.08682681e-02, 3.20375073e-01]

qacc:
[ -4.68864485, -1.22519187,  5.19021531, -9.4289485 ,-57.11618279,
  -3.6821761 , 18.85740234, 25.72317643,  1.22629988, -0.52097554,
   2.58207546, -3.89538696, 44.3890941 , 90.20748568,-23.31244445,
  85.74062645, -1.33358644, -1.55811598,  0.42026222,  4.91007172,
 -16.17787058, -1.28542166]

qfrc_actuator:
[-2.27904171e-05, 2.96208501e-04, 5.91584765e-06,-3.41403428e-05,
 -2.72192040e-04, 2.32289202e-03, 1.29330489e-03, 5.09964016e-04,
 -6.75100194e-07, 8.93845720e-05,-4.19825551e-05, 5.57749733e-05,
  4.64159091e-02, 2.11175607e-02, 2.26502387e-03,-2.02157860e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20940777,  0.12733599,  0.16624427,  0.12733599,  0.63120825,
       -0.32308109,  0.16624427, -0.32308109,  0.45687403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.842414256499574e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97121627, -0.23747397,  0.0185759 , -0.23743055,  0.9713939 ,
        0.0045412 , -0.01912293,  0.        , -0.99981714])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12771157, -0.08284551,  0.1117379 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12766928, -0.15664324,  1.11673672, -0.15664324,  8.94067993,
        1.09592105,  1.11673672,  1.09592105,  1.28139273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003249722500713202
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51201772, -0.84144549, -0.17264806, -0.08974654, -0.14748869,
        0.98498358, -0.85427362,  0.51982361,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10392437, -0.03816171,  0.30475485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.48053374, -10.79319286,  -3.91275386, -10.79319286,
        12.62732588,  -3.16338549,  -3.91275386,  -3.16338549,
        20.2066205 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005165211728944638
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02786736e-06, -1.02786731e-06,  1.00000000e+00,  1.05651126e-12,
        1.00000000e+00,  1.02786731e-06, -1.00000000e+00,  2.01948392e-28,
        1.02786736e-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([ 0.09403214, -0.05275707,  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:
[-2.75516822e-05,-3.79530287e-06, 1.23802054e-05,-1.11990587e-05,
 -1.02922707e-03, 7.14351923e-03, 3.89754168e-03, 1.48749336e-03,
  7.16575077e-06, 4.77740329e-05, 2.85480340e-05, 1.28914462e-06,
  6.14690076e-02, 2.89424154e-02, 4.51264760e-04, 5.52581226e-04,
 -1.88311432e-06, 6.75763033e-07,-9.81000054e+00,-6.49184015e-02,
 -9.14335466e-03,-5.58767957e-03]


--- Step 1182 ---
qpos:
[ 9.87186020e-03, 8.09337396e-03,-5.61967264e-03, 3.34677379e-02,
  3.78670086e-03, 3.70855243e-04,-8.15518415e-03, 3.86193431e-02,
  1.30833275e-02, 5.91938097e-03,-1.16971527e-02, 3.40763024e-02,
  8.50876366e-01,-1.69656428e-02, 1.13834362e+00, 4.62125841e-02,
  9.27333276e-02,-6.60005371e-02, 1.42308507e-01, 9.46204590e-01,
 -3.30970432e-02, 3.08641538e-02, 3.20388612e-01]

qacc:
[ 1.52907406e-01,-4.02339318e-01,-5.12286231e-02, 4.25193868e+00,
  8.50924418e+00, 4.35036186e+00,-1.30390279e+01, 3.60370145e+01,
  7.32585932e-01,-7.74259847e-01, 2.00619115e+00,-1.11729697e+00,
 -2.42705075e+01, 5.18084678e+00, 1.81839943e+01,-3.45892797e+01,
 -1.17290860e-02, 1.60409559e-01, 3.61726508e-01,-1.90059240e+00,
  8.49196246e+00,-1.77188225e+00]

qfrc_actuator:
[-2.11785602e-05, 2.77641016e-04, 1.48197700e-05,-2.16805803e-05,
 -2.76876552e-04, 2.45357705e-03, 1.34867158e-03, 5.19997805e-04,
  3.31761847e-06, 2.90493769e-05,-5.07885375e-05, 5.46196153e-05,
  4.64170096e-02, 2.10805533e-02, 2.23026943e-03,-1.99816132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20936028,  0.18694971,  0.09424188,  0.18694971,  0.29082353,
       -0.16160044,  0.09424188, -0.16160044,  0.52993065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.45753949863945e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71210130e-01, -2.37507066e-01,  1.84736721e-02, -2.37464111e-01,
        9.71385811e-01,  4.51687435e-03, -1.90178525e-02, -8.67361738e-19,
       -9.99819144e-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([ 0.12772401, -0.08284619,  0.1117366 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12317673,  0.85469492,  0.72871295,  0.85469492,  1.92680327,
       -0.94255979,  0.72871295, -0.94255979,  2.22868895,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031992287509923704
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51198533, -0.84146843, -0.17263229, -0.08973241, -0.14747882,
        0.98498634, -0.85429451,  0.51978927,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10393304, -0.03816791,  0.30476681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005164017821725157
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.39466239e-07,  2.11530178e-07,  1.00000000e+00,  1.56419425e-13,
        1.00000000e+00, -2.11530178e-07, -1.00000000e+00,  0.00000000e+00,
       -7.39466239e-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([ 0.06692074, -0.08578789,  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:
[ 8.24279508e-07,-1.86340529e-05, 9.26243991e-06, 1.25122519e-05,
 -7.08572539e-04, 6.69406960e-03, 3.46355785e-03, 1.29830758e-03,
  4.21356517e-06,-2.76844452e-05, 4.61208135e-06, 1.90129673e-06,
  5.24308705e-02, 2.20858082e-02, 3.22054757e-04, 1.43418985e-04,
 -3.54223386e-06, 4.31946889e-06,-9.80999244e+00,-6.49188507e-02,
 -9.14689272e-03,-5.58447681e-03]


--- Step 1183 ---
qpos:
[ 9.87115575e-03, 8.09390657e-03,-5.62041265e-03, 3.34669396e-02,
  3.79641095e-03, 2.94817036e-04,-8.19189011e-03, 3.86063198e-02,
  1.30831398e-02, 5.91875625e-03,-1.16963394e-02, 3.40770095e-02,
  8.50729283e-01,-1.69879543e-02, 1.13859900e+00, 4.62133414e-02,
  9.27398167e-02,-6.59961858e-02, 1.42310735e-01, 9.46201046e-01,
 -3.30953344e-02, 3.08713237e-02, 3.20398566e-01]

qacc:
[  0.20715878,  1.8312524 , -8.62778741, 17.84234085,  0.95736285,
   0.66047886, -3.90963537, 23.70324315, -2.59888563, -1.31950091,
   3.16928233, -2.19220092,-21.66509251,  4.61977989,  9.31063873,
 -11.47435882, -0.03745418,  0.17288889,  0.2838843 , -2.26011184,
   6.78873737, -1.73080544]

qfrc_actuator:
[-1.99295312e-05, 2.84178477e-04, 2.45975942e-06, 3.91777017e-06,
 -2.66357909e-04, 2.56024008e-03, 1.41379262e-03, 5.12994508e-04,
 -1.21325422e-05,-4.25331687e-05,-5.64464865e-05, 5.36257336e-05,
  4.64239820e-02, 2.11071618e-02, 2.23182193e-03,-1.94854323e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20931823, -0.17563062,  0.11387715, -0.17563062,  0.24641237,
        0.05720961,  0.11387715,  0.05720961,  0.29755155,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0572879329848863e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97120546, -0.23753216,  0.0183962 , -0.23748956,  0.97137968,
        0.00449844, -0.01893822,  0.        , -0.99982066])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12773558, -0.08284678,  0.11173561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031803654134216245
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51196202, -0.84147988, -0.17264557, -0.08973544, -0.14749252,
        0.98498401, -0.85430816,  0.51976683,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10394108, -0.03816807,  0.3047726 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.46828496,  6.65639749, -9.33884   ,  6.65639749, 48.43925828,
       26.35161262, -9.33884   , 26.35161262, 30.25078986,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005157708143747848
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.84609409e-07, -2.03798660e-13,  1.00000000e+00,  7.83828820e-20,
        1.00000000e+00,  2.03798660e-13, -1.00000000e+00,  0.00000000e+00,
        3.84609409e-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([ 0.06687409, -0.08607029,  0.0619884 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26425058e-06,-1.44069165e-06,-1.46321931e-05, 2.53667937e-05,
 -7.46539617e-04, 6.54675533e-03, 3.42226051e-03, 1.20433053e-03,
 -1.53392532e-05,-8.60400216e-05,-1.07527095e-05,-1.98695148e-06,
  5.47738300e-02, 2.30084426e-02,-3.11045000e-04, 1.68872037e-04,
 -1.90528979e-06, 1.53130594e-06,-9.80999843e+00,-6.49168740e-02,
 -9.14744954e-03,-5.58326194e-03]


--- Step 1184 ---
qpos:
[ 9.87081665e-03, 8.09440992e-03,-5.62098691e-03, 3.34660859e-02,
  3.80546670e-03, 2.20664664e-04,-8.22708452e-03, 3.85939458e-02,
  1.30827679e-02, 5.91820167e-03,-1.16964467e-02, 3.40773294e-02,
  8.50546177e-01,-1.70233135e-02, 1.13885564e+00, 4.62119642e-02,
  9.27461913e-02,-6.59912714e-02, 1.42313837e-01, 9.46197654e-01,
 -3.31003094e-02, 3.08875427e-02, 3.20406505e-01]

qacc:
[  3.21166221, -0.62247769,  2.38665785, -3.57834143, -5.73931359,
  -0.38431654,  2.2642036 ,  5.1499358 , -1.65046483,  1.87129013,
  -4.89690113, -0.39248591,-19.05810206,  4.96624659,  9.09913939,
 -27.51806116, -0.0286497 ,  0.14077502,  0.21823828, -1.67875004,
   5.38283231, -0.9314016 ]

qfrc_actuator:
[-1.16045284e-06, 2.87872312e-04, 1.32533080e-05, 1.53814851e-06,
 -2.46242004e-04, 2.61776123e-03, 1.44865516e-03, 4.95398813e-04,
 -2.11490792e-05,-1.37949087e-05,-9.57727616e-05, 3.49685968e-05,
  4.64303956e-02, 2.11061078e-02, 2.18579323e-03,-2.15082193e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20928077, -0.16422532,  0.12972465, -0.16422532,  0.1918113 ,
       -0.02211553,  0.12972465, -0.02211553,  0.18128355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6192823929622507e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97120234, -0.23754983,  0.01833268, -0.23750752,  0.97137535,
        0.00448326, -0.01887291,  0.        , -0.99982189])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12774659, -0.0828473 ,  0.11173479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031864432856366356
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11946397e-01, -8.41481211e-01, -1.72685432e-01, -8.97540576e-02,
       -1.47527854e-01,  9.84977026e-01, -8.54315572e-01,  5.19754658e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10394872, -0.03816312,  0.30477341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.42495459,  6.71626086, -9.24237131,  6.71626086, 58.0667434 ,
       33.89372818, -9.24237131, 33.89372818, 36.05490209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005131137944897246
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.67076387e-07, -1.09199452e-06,  1.00000000e+00, -1.82446499e-13,
        1.00000000e+00,  1.09199452e-06, -1.00000000e+00,  0.00000000e+00,
       -1.67076387e-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([ 0.06693207, -0.08578097,  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:
[ 1.88033565e-05, 9.46526749e-07, 9.57632047e-06,-2.45158955e-06,
 -7.31746789e-04, 6.49194263e-03, 3.36348875e-03, 1.11614841e-03,
 -9.48306785e-06,-2.16762876e-05,-5.84952299e-05,-2.27563419e-05,
  5.68721512e-02, 2.38040574e-02,-8.12410903e-04,-1.14841862e-04,
 -7.44337739e-07,-8.03322181e-09,-9.81000003e+00,-6.49157873e-02,
 -9.14638943e-03,-5.58391233e-03]


--- Step 1185 ---
qpos:
[ 9.87139511e-03, 8.09470539e-03,-5.62104349e-03, 3.34648635e-02,
  3.80767246e-03, 1.50987961e-04,-8.25815159e-03, 3.85859814e-02,
  1.30822904e-02, 5.91799269e-03,-1.16969570e-02, 3.40770056e-02,
  8.50415831e-01,-1.70034269e-02, 1.13905972e+00, 4.62178868e-02,
  9.27488561e-02,-6.59865265e-02, 1.42318208e-01, 9.46208919e-01,
 -3.31169479e-02, 3.08826246e-02, 3.20371992e-01]

qacc:
[ 8.07120574e+00,-2.49675580e+00, 1.00322219e+01,-1.70562198e+01,
 -6.01874077e+01, 3.57339260e+00,-2.25687645e+01, 8.87622668e+01,
 -9.48515949e-01, 2.60075389e-01, 2.45655452e+00,-1.32108374e+01,
  4.38716365e+00, 4.78687666e+01,-9.90780014e+01, 2.35216525e+02,
 -9.27427658e-01,-4.23750257e-02, 3.17442654e-01,-8.00611108e+00,
 -7.65520351e+00,-2.29613137e+01]

qfrc_actuator:
[ 4.55226856e-05, 2.72152188e-04, 3.76123334e-05,-1.72674630e-05,
 -2.72907414e-04, 2.66305073e-03, 1.46499087e-03, 5.42659272e-04,
 -2.62997416e-05, 3.91330675e-05,-1.01020671e-04, 6.12605115e-06,
  4.64427807e-02, 2.11096952e-02, 2.12223935e-03,-2.28811020e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2092508 , -0.10158362,  0.18293897, -0.10158362,  0.34290251,
        0.07421505,  0.18293897,  0.07421505,  0.25046145,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1548228992692128e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97120003, -0.23756325,  0.01828115, -0.23752117,  0.97137207,
        0.00447092, -0.01881992,  0.        , -0.99982289])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12775717, -0.08284779,  0.11173412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003210205682044205
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51193542, -0.84147465, -0.17274992, -0.08978668, -0.14758349,
        0.98496572, -0.85431872,  0.51974948,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10395619, -0.03815413,  0.30477074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.36712288,  7.06278087, -8.90666093,  7.06278087, 76.04498826,
       51.28808584, -8.90666093, 51.28808584, 52.03741608,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005095610472826968
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08939158e-13,  6.21708147e-07,  1.00000000e+00, -6.77283618e-20,
        1.00000000e+00, -6.21708147e-07, -1.00000000e+00,  0.00000000e+00,
        1.08939158e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08970921, -0.08088135,  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:
[ 4.72180655e-05,-1.33197162e-05, 2.56515165e-05,-1.84800853e-05,
 -7.25694771e-04, 6.44607666e-03, 3.30555778e-03, 1.13121386e-03,
 -5.42627512e-06, 2.77646776e-05,-1.77105321e-05,-3.22371150e-05,
  5.86842239e-02, 2.44602445e-02,-9.44681283e-04,-1.46648418e-04,
 -1.39096883e-07,-6.01093366e-07,-9.80999913e+00,-6.49152633e-02,
 -9.14412351e-03,-5.58602969e-03]


--- Step 1186 ---
qpos:
[ 9.87149381e-03, 8.09504236e-03,-5.62120375e-03, 3.34641270e-02,
  3.80054289e-03, 9.84906035e-05,-8.27854695e-03, 3.85815340e-02,
  1.30820998e-02, 5.91783689e-03,-1.16969627e-02, 3.40770026e-02,
  8.50447651e-01,-1.68623126e-02, 1.13925126e+00, 4.62190780e-02,
  9.27478195e-02,-6.59872939e-02, 1.42322729e-01, 9.46224340e-01,
 -3.31080512e-02, 3.08539498e-02, 3.20330127e-01]

qacc:
[-4.21355239e+00, 1.35351899e+00,-6.78347881e+00, 1.53127066e+01,
 -8.20568429e+01, 2.79302630e-01, 1.73742628e+01, 1.34991311e+01,
  2.53892806e+00,-6.84385389e-01, 1.17898589e+00, 3.53739713e+00,
  4.05771558e+01, 7.90899954e+01,-4.20267854e+00,-1.21919034e+01,
 -9.25349834e-01,-1.37809507e+00, 3.73757070e-02, 8.45771519e+00,
 -1.52721611e+01,-4.14367101e+00]

qfrc_actuator:
[ 1.94927580e-05, 2.80479292e-04, 3.41871278e-05, 7.66463124e-06,
 -3.21184242e-04, 2.71540971e-03, 1.48474274e-03, 5.53802868e-04,
 -1.13830829e-05, 5.30134510e-05,-6.82182583e-05, 2.48415623e-05,
  4.64520553e-02, 2.11062506e-02, 2.13818276e-03,-2.11094251e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20922249,  0.03323497,  0.20656594,  0.03323497,  0.44951444,
       -0.03866124,  0.20656594, -0.03866124,  0.21544281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4065927007243384e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97122002, -0.23749391,  0.01811941, -0.23745259,  0.97138903,
        0.00443   , -0.01865309,  0.        , -0.99982602])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12776564, -0.0828475 ,  0.11173215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12590578,  0.28984236,  1.0879592 ,  0.28984236,  6.81643584,
       -1.51600963,  1.0879592 , -1.51600963,  1.52978471,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003230039476870494
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11991832e-01, -8.41447727e-01, -1.72713886e-01, -8.97772684e-02,
       -1.47547038e-01,  9.84972037e-01, -8.54285904e-01,  5.19803419e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10396132, -0.03814876,  0.30476965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.30568123,  2.54217208, 11.01616036,  2.54217208, 23.42419369,
       -2.79655915, 11.01616036, -2.79655915, 11.95103626,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005057780705267556
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.06480598e-07, -7.06480677e-07,  1.00000000e+00,  4.99114892e-13,
        1.00000000e+00,  7.06480677e-07, -1.00000000e+00,  1.00974196e-28,
        7.06480598e-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([ 0.09406125, -0.05273352,  0.06198862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46902081e-05, 5.39274941e-06,-3.65916332e-06, 2.48892933e-05,
 -4.31472556e-04, 6.27756755e-03, 3.12014379e-03, 9.22119091e-04,
  1.47729196e-05, 2.43775856e-05, 3.52495849e-05, 1.86676123e-05,
  5.60562794e-02, 2.16949535e-02, 1.69730236e-03,-3.35002010e-04,
 -1.07138197e-05, 5.31859258e-06,-9.80999724e+00,-6.49180753e-02,
 -9.14609234e-03,-5.58656351e-03]


--- Step 1187 ---
qpos:
[ 9.87128008e-03, 8.09556566e-03,-5.62151343e-03, 3.34643699e-02,
  3.79435495e-03, 8.28455273e-05,-8.27617999e-03, 3.85853406e-02,
  1.30817446e-02, 5.91757349e-03,-1.16967511e-02, 3.40772641e-02,
  8.50479694e-01,-1.67260869e-02, 1.13953717e+00, 4.62032017e-02,
  9.27519781e-02,-6.59892438e-02, 1.42325593e-01, 9.46220494e-01,
 -3.30602744e-02, 3.08461938e-02, 3.20347166e-01]

qacc:
[-2.74893326e+00, 2.68573995e+00,-1.33433016e+01, 3.03818404e+01,
  8.37055159e+00, 2.06333684e+00, 2.84311451e+01, 5.09576189e+01,
 -1.43871990e+00,-2.02181214e-01,-5.97625386e-01, 4.90294101e+00,
 -1.19841670e+00,-1.49940593e+00, 1.91147600e+02,-4.66047440e+02,
  1.29877098e+00,-2.95606462e-01,-4.14165437e-01, 2.05174387e+01,
  2.99181506e+00, 3.19003593e+01]

qfrc_actuator:
[ 4.12317380e-06, 3.03068500e-04, 3.22583249e-05, 5.81321391e-05,
 -3.06192046e-04, 2.77526907e-03, 1.51610160e-03, 5.60157848e-04,
 -2.02816346e-05, 2.58668245e-05,-6.65898810e-05, 3.58795870e-05,
  4.64477176e-02, 2.09572490e-02, 2.15218133e-03,-1.93126911e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.12259471, -1.08028791,  0.3052817 , -1.08028791,  1.26726585,
        0.51194188,  0.3052817 ,  0.51194188,  2.93418257,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031926015136125207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51206258, -0.84145054, -0.17249029, -0.08966987, -0.14735066,
        0.98501122, -0.85425478,  0.51985457,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10396549, -0.03816097,  0.30478265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.25693639, -10.49997189,  -4.05822709, -10.49997189,
        16.43314251, -13.39255235,  -4.05822709, -13.39255235,
        45.90788623,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005027703997423083
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.1041054e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.1041054e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0509191 , -0.06265481,  0.06198869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60727921e-05, 2.58979517e-05,-4.03910834e-07, 5.10586590e-05,
  5.02865652e-05, 5.48061747e-03, 2.61878168e-03, 7.52801921e-04,
 -8.47283358e-06,-5.42319023e-06, 1.16524847e-05, 1.36653078e-05,
  4.79454702e-02, 1.54833876e-02, 2.33473213e-03, 8.05167358e-05,
 -5.91538334e-06, 1.28577435e-06,-9.81000303e+00,-6.49146127e-02,
 -9.14793089e-03,-5.58270216e-03]


--- Step 1188 ---
qpos:
[ 9.87157350e-03, 8.09614253e-03,-5.62178745e-03, 3.34652197e-02,
  3.78841716e-03, 9.29414534e-05,-8.26281952e-03, 3.85919379e-02,
  1.30812857e-02, 5.91724403e-03,-1.16967494e-02, 3.40773359e-02,
  8.50429431e-01,-1.66507841e-02, 1.13974587e+00, 4.62195447e-02,
  9.27542201e-02,-6.59856661e-02, 1.42327253e-01, 9.46230317e-01,
 -3.30656569e-02, 3.08253923e-02, 3.20319599e-01]

qacc:
[ 4.45088288e+00, 1.21181614e+00,-6.79455245e+00, 1.72151490e+01,
  2.10607686e+00, 9.03688072e+00, 5.34846503e+00, 6.44709453e+00,
 -9.17914274e-01, 1.10224669e-01, 2.84844343e-01,-3.18926833e+00,
 -1.58660251e+01,-4.60851117e+01,-2.11892106e+02, 5.74888412e+02,
 -4.79127646e-01, 1.38188824e+00,-3.01104640e-01,-2.63258668e+01,
  2.86925086e+00,-2.43283117e+01]

qfrc_actuator:
[ 3.06796421e-05, 2.98548272e-04, 3.13145686e-05, 8.77278546e-05,
 -2.95286524e-04, 2.79533135e-03, 1.53806537e-03, 5.75248390e-04,
 -2.53799389e-05, 9.74876888e-06,-8.35804850e-05, 2.44864111e-05,
  4.64492751e-02, 2.08340435e-02, 2.10258583e-03,-1.96664771e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.11802159, -0.08220221,  1.11499555, -0.08220221,  4.02408099,
        0.21424704,  1.11499555,  0.21424704,  1.1338168 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003139820529207563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12043929e-01, -8.41500647e-01, -1.72301121e-01, -8.95652519e-02,
       -1.47192874e-01,  9.85044326e-01, -8.54276934e-01,  5.19818160e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10397244, -0.03817633,  0.30479942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.2537298 , -6.2471983 ,  9.36049933, -6.2471983 , 21.45705296,
        6.80969902,  9.36049933,  6.80969902, 15.79852369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005025723408508126
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10454052e-13, -1.10454052e-13,  1.00000000e+00,  1.22000975e-26,
        1.00000000e+00,  1.10454052e-13, -1.00000000e+00,  0.00000000e+00,
        1.10454052e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08383905, -0.11089818,  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:
[ 2.61040835e-05, 1.20458067e-05, 6.12051508e-06, 3.16849340e-05,
  1.41108151e-05, 3.65859831e-03, 1.50277687e-03, 3.55211585e-04,
 -5.34263920e-06,-1.61557819e-05,-1.62027802e-05,-1.09566428e-05,
  4.79354518e-02, 1.56021087e-02,-2.43826155e-03, 8.97331410e-04,
 -8.28824926e-06, 1.32330359e-05,-9.80998239e+00,-6.49148724e-02,
 -9.15330781e-03,-5.57907264e-03]


--- Step 1189 ---
qpos:
[ 9.87218289e-03, 8.09652914e-03,-5.62163599e-03, 3.34660768e-02,
  3.78258034e-03, 1.01760142e-04,-8.25553000e-03, 3.85951918e-02,
  1.30814590e-02, 5.91694611e-03,-1.16969996e-02, 3.40772614e-02,
  8.50298510e-01,-1.66345043e-02, 1.13985237e+00, 4.62418243e-02,
  9.27560220e-02,-6.59780291e-02, 1.42328024e-01, 9.46252184e-01,
 -3.31100866e-02, 3.07980888e-02, 3.20253032e-01]

qacc:
[ 2.78930967e+00,-1.43103064e+00, 4.69653303e+00,-5.09740501e+00,
  7.16400250e-01, 8.39634795e+00,-1.82725486e+01,-2.89482730e+01,
  5.55205697e+00, 4.34110647e-01,-8.88589849e-01,-1.24289404e+00,
 -1.64469467e+01,-4.35055434e+01,-1.69257942e+02, 3.72247554e+02,
 -1.10016525e-01, 1.01483143e+00,-2.22229189e-01,-1.87149086e+01,
  3.63680156e+00,-2.10901167e+01]

qfrc_actuator:
[ 4.61918623e-05, 2.77820612e-04, 4.85891558e-05, 8.70286565e-05,
 -3.22023460e-04, 2.78788574e-03, 1.52155072e-03, 5.62236752e-04,
  7.31214497e-06, 1.80019897e-05,-9.36496526e-05, 1.77356995e-05,
  4.64511378e-02, 2.08020581e-02, 2.10143972e-03,-2.04924888e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20922097, -0.01797272,  0.20844758, -0.01797272,  0.02600044,
       -0.0157976 ,  0.20844758, -0.0157976 ,  0.20785887,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.245574509263401e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71248389e-01, -2.37387770e-01,  1.79892688e-02, -2.37347062e-01,
        9.71414971e-01,  4.39609490e-03, -1.85186242e-02, -8.67361738e-19,
       -9.99828516e-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([ 0.12777219, -0.08284634,  0.11173056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11789353,  0.27574307, -1.08335206,  0.27574307,  2.40563435,
        0.32776567, -1.08335206,  0.32776567,  1.20131896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031383239419747046
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51208685, -0.84149814, -0.17218575, -0.08951095, -0.14709086,
        0.9850645 , -0.8542569 ,  0.51985109,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1039759 , -0.03817783,  0.30480113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.23494088,  9.82327528, -5.45226187,  9.82327528, 27.63262395,
       29.54351029, -5.45226187, 29.54351029, 64.46313153,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005014113057441871
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10709812e-13,  8.30323588e-14,  1.00000000e+00, -9.19249680e-27,
        1.00000000e+00, -8.30323588e-14, -1.00000000e+00,  0.00000000e+00,
        1.10709812e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08384232, -0.11089458,  0.06198872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62568663e-05,-1.13809255e-05, 2.16061460e-05, 6.41702994e-07,
 -2.51343362e-05, 2.36356397e-03, 9.36296760e-04, 2.02598503e-04,
  3.25346650e-05,-4.58910058e-06,-1.57776717e-05,-8.21617488e-06,
  5.20516207e-02, 1.86143219e-02, 1.41763937e-03,-7.97094090e-04,
 -6.00889098e-06,-2.35202691e-07,-9.81000003e+00,-6.49138099e-02,
 -9.15421245e-03,-5.57672175e-03]


--- Step 1190 ---
qpos:
[ 9.87297367e-03, 8.09676185e-03,-5.62123065e-03, 3.34665812e-02,
  3.78424761e-03, 1.08238484e-04,-8.25285113e-03, 3.85926627e-02,
  1.30813327e-02, 5.91675310e-03,-1.16977105e-02, 3.40771114e-02,
  8.50176938e-01,-1.66224745e-02, 1.14004087e+00, 4.62295784e-02,
  9.27632656e-02,-6.59734412e-02, 1.42327538e-01, 9.46253728e-01,
 -3.31027652e-02, 3.07965109e-02, 3.20249378e-01]

qacc:
[ 1.60212327e+00,-1.64251449e+00, 7.04474423e+00,-1.34353163e+01,
  6.58860229e+01,-2.23778807e+00, 2.76788617e+01,-1.18413862e+02,
 -2.65123286e+00, 1.27561327e+00,-4.01950554e+00, 3.36254210e+00,
  4.95625311e+00,-6.26840378e+00, 2.25374146e+02,-6.12954459e+02,
  1.36040171e+00,-7.62278746e-01,-3.14171248e-01, 2.72988296e+01,
  3.15613435e+00, 3.42431442e+01]

qfrc_actuator:
[ 5.50658550e-05, 2.65343524e-04, 5.86380287e-05, 6.85092065e-05,
 -3.18038834e-04, 2.78065724e-03, 1.51236868e-03, 5.72886898e-04,
 -9.02651073e-06, 2.30541681e-05,-1.17192467e-04, 1.38028255e-05,
  4.64559983e-02, 2.07762635e-02, 2.09711073e-03,-1.95150977e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20922826, -0.20890833, -0.01156602, -0.20890833,  0.20894285,
        0.00515517, -0.01156602,  0.00515517,  0.11611424,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.03259743212374e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71280747e-01, -2.37255252e-01,  1.79904281e-02, -2.37214564e-01,
        9.71447346e-01,  4.39377757e-03, -1.85192005e-02, -8.67361738e-19,
       -9.99828505e-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([ 0.12777111, -0.08284451,  0.11173057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12076075, -0.79581621,  0.78916489, -0.79581621,  1.98120396,
        0.86769528,  0.78916489,  0.86769528,  1.99576923,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031715872681334177
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12186496e-01, -8.41444914e-01, -1.72149501e-01, -8.95089434e-02,
       -1.47049650e-01,  9.85070835e-01, -8.54197367e-01,  5.19948899e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10397706, -0.03816764,  0.30479251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.24712335, -6.1139962 ,  9.4401713 , -6.1139962 , 22.67504845,
        7.40137953,  9.4401713 ,  7.40137953, 16.0406811 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005021642050754699
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.52719117e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.52719117e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05093671, -0.06263654,  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:
[ 9.33074266e-06,-1.43647652e-05, 1.03718290e-05,-1.82510030e-05,
 -2.61975880e-05, 2.41978396e-03, 1.23046538e-03, 3.80376208e-04,
 -1.54157167e-05,-1.09940811e-06,-2.67129016e-05,-4.83525771e-06,
  5.60892484e-02, 2.15394659e-02, 6.52034044e-03,-9.96902190e-04,
 -5.20403232e-05, 1.65890668e-05,-9.80998391e+00,-6.49196467e-02,
 -9.16622837e-03,-5.57649212e-03]


--- Step 1191 ---
qpos:
[ 9.87386478e-03, 8.09693897e-03,-5.62101063e-03, 3.34668779e-02,
  3.79216398e-03, 1.00126005e-04,-8.26197636e-03, 3.85834547e-02,
  1.30813568e-02, 5.91653181e-03,-1.16983965e-02, 3.40768989e-02,
  8.50075038e-01,-1.66049481e-02, 1.14034304e+00, 4.62101520e-02,
  9.27742642e-02,-6.59705268e-02, 1.42326300e-01, 9.46236178e-01,
 -3.30555755e-02, 3.08111288e-02, 3.20304696e-01]

qacc:
[ 8.75318951e-01, 1.52358984e-02, 7.12894589e-01,-3.96669786e+00,
  5.48322597e+01,-1.47746275e-01, 5.59152660e-01,-8.63405308e+01,
  1.32443849e+00,-2.38290820e-01, 1.05509899e+00,-2.15206755e+00,
  6.37319889e+00, 1.64606698e+00, 1.89559943e+02,-4.19500470e+02,
  9.38761880e-01,-4.18382960e-01,-1.88190552e-01, 2.02320418e+01,
  5.96656421e-01, 3.18407750e+01]

qfrc_actuator:
[ 5.99651024e-05, 2.57856536e-04, 4.66002639e-05, 5.74074516e-05,
 -2.85312158e-04, 2.77513302e-03, 1.49080166e-03, 5.66005747e-04,
 -8.46819945e-07, 2.60997283e-05,-1.13004836e-04, 1.15483145e-05,
  4.64627863e-02, 2.07230194e-02, 2.06732159e-03,-1.84949996e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20927142, -0.20926847,  0.00111196, -0.20926847,  0.20926716,
       -0.00080267,  0.00111196, -0.00080267,  0.05821082,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4900962328471304e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97128041, -0.23724464,  0.01814786, -0.23720324,  0.97144994,
        0.00443202, -0.01868121,  0.        , -0.99982549])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12777247, -0.08284383,  0.11173242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12031543, -0.02213498,  1.12009674, -0.02213498,  1.88237315,
        0.01505953,  1.12009674,  0.01505953,  1.12061303,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003166454018340121
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51219397, -0.84144084, -0.17214718, -0.08950901, -0.1470469 ,
        0.98507124, -0.85419288,  0.51995627,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10398269, -0.03816409,  0.30479376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.2532621 ,  6.35973917, -9.28383679,  6.35973917, 44.57281312,
       22.82500851, -9.28383679, 22.82500851, 26.88915746,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005025434506702592
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10460401e-13, -1.10460401e-13,  1.00000000e+00,  1.22015003e-26,
        1.00000000e+00,  1.10460401e-13, -1.00000000e+00,  0.00000000e+00,
        1.10460401e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05094404, -0.06263041,  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:
[ 5.15916261e-06,-1.41730447e-05,-1.43688079e-05,-1.17167532e-05,
 -3.68675569e-04, 2.53101578e-03, 1.43932918e-03, 6.62627570e-04,
  7.74103674e-06,-3.28440595e-06, 5.14413949e-07,-3.31699317e-06,
  5.56273508e-02, 2.16980017e-02, 2.38710800e-03, 8.30659343e-04,
  7.79977478e-08, 3.76748842e-07,-9.80999980e+00,-6.49210518e-02,
 -9.15512923e-03,-5.57601158e-03]


--- Step 1192 ---
qpos:
[ 9.87411804e-03, 8.09678847e-03,-5.62056274e-03, 3.34673911e-02,
  3.79811720e-03, 8.06290906e-05,-8.27445129e-03, 3.85767555e-02,
  1.30814787e-02, 5.91623057e-03,-1.16987344e-02, 3.40766449e-02,
  8.49909140e-01,-1.66380364e-02, 1.14057254e+00, 4.62270106e-02,
  9.27822663e-02,-6.59629396e-02, 1.42324599e-01, 9.46237945e-01,
 -3.30638665e-02, 3.08064690e-02, 3.20299069e-01]

qacc:
[-5.58416911e+00,-6.13258239e-01, 6.62980182e-01, 2.94115465e+00,
 -1.71734202e+01,-4.88520624e-01,-3.06176327e+01, 8.76884047e+01,
  8.71341062e-01,-1.16510579e+00, 4.17312663e+00,-5.38486351e+00,
 -8.85722805e+00,-4.25935781e+01,-2.17660307e+02, 6.04430744e+02,
 -7.49121234e-01, 1.16822464e+00,-1.15462769e-01,-2.80781207e+01,
  4.74515078e-01,-3.31015024e+01]

qfrc_actuator:
[ 2.69827529e-05, 2.35574209e-04, 5.71534183e-05, 6.85049614e-05,
 -2.90344796e-04, 2.78381796e-03, 1.45308874e-03, 5.34062370e-04,
  3.96106509e-06, 2.80325585e-05,-9.24801778e-05, 1.03181593e-05,
  4.64694654e-02, 2.06985172e-02, 2.08036452e-03,-1.86497834e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2093777 ,  0.01982063,  0.20843743,  0.01982063,  0.45675369,
       -0.02352336,  0.20843743, -0.02352336,  0.21161457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6053559966461667e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97125035, -0.23734904,  0.01838999, -0.23730651,  0.97142444,
        0.00449324, -0.01893095,  0.        , -0.99982079])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12777753, -0.08284439,  0.11173525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11773833, -0.08687836,  1.11435682, -0.08687836,  5.71294014,
        0.35825473,  1.11435682,  0.35825473,  1.14566886,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003136508897303784
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12111019e-01, -8.41489163e-01, -1.72157756e-01, -8.95001758e-02,
       -1.47064650e-01,  9.85069392e-01, -8.54243538e-01,  5.19873040e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10399178, -0.03816659,  0.30480166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.27379774, -6.35049232,  9.31502887, -6.35049232, 20.32239098,
        6.16885065,  9.31502887,  6.16885065, 15.47939273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005038114423159545
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65273592e-13, -1.10182395e-13,  1.00000000e+00,  1.82102402e-26,
        1.00000000e+00,  1.10182395e-13, -1.00000000e+00,  0.00000000e+00,
        1.65273592e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08386281, -0.1108756 ,  0.06198867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.28400867e-05,-3.36888362e-05, 5.44394595e-06, 9.76304626e-06,
 -6.86163430e-04, 3.26966439e-03, 1.99204429e-03, 9.64691049e-04,
  5.02544557e-06, 7.95789721e-08, 1.98056241e-05,-1.41548014e-06,
  5.46490995e-02, 2.13978830e-02,-3.28814096e-03, 1.17304124e-03,
 -3.97919860e-05, 1.81566079e-05,-9.80998096e+00,-6.49154618e-02,
 -9.16458222e-03,-5.57459784e-03]


--- Step 1193 ---
qpos:
[ 9.87397432e-03, 8.09597881e-03,-5.61953374e-03, 3.34680516e-02,
  3.80073040e-03, 5.06690627e-05,-8.29034848e-03, 3.85721504e-02,
  1.30813123e-02, 5.91576012e-03,-1.16987645e-02, 3.40763923e-02,
  8.49679423e-01,-1.67195135e-02, 1.14069761e+00, 4.62499985e-02,
  9.27889811e-02,-6.59520379e-02, 1.42322676e-01, 9.46256266e-01,
 -3.31126383e-02, 3.07902354e-02, 3.20241461e-01]

qacc:
[-3.45391545e+00,-2.18570749e+00, 5.91874082e+00,-3.82538410e+00,
 -2.93003620e+01, 1.02338171e-01,-2.91665383e+01, 7.84566668e+01,
 -2.52189530e+00,-1.07613254e+00, 3.51487275e+00,-3.86612560e+00,
 -1.07790039e+01,-3.84999126e+01,-1.73250478e+02, 3.81191702e+02,
 -3.21825965e-01, 8.28621108e-01,-5.56505684e-02,-1.99314308e+01,
  1.61153081e+00,-2.80593492e+01]

qfrc_actuator:
[ 7.47474280e-06, 1.86956324e-04, 8.09220696e-05, 7.48282515e-05,
 -3.30073036e-04, 2.80365836e-03, 1.45521342e-03, 5.51576043e-04,
 -1.10141670e-05, 1.16080854e-05,-8.02389774e-05, 9.70659525e-06,
  4.64882267e-02, 2.07451726e-02, 2.06254937e-03,-2.02704827e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20946428, -0.13034847,  0.16396512, -0.13034847,  0.61784446,
        0.32465279,  0.16396512,  0.32465279,  0.46755573,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.2412928575762785e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97125192, -0.23733459,  0.01849341, -0.23729158,  0.97142797,
        0.00451822, -0.01903734,  0.        , -0.99981877])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12778253, -0.08284384,  0.11173644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11888493,  0.21518785, -1.09799712,  0.21518785,  2.33146065,
        0.23764321, -1.09799712,  0.23764321,  1.16545875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003149882667535888
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12116579e-01, -8.41475317e-01, -1.72208882e-01, -8.95285394e-02,
       -1.47107239e-01,  9.85060455e-01, -8.54237233e-01,  5.19883401e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10399768, -0.03815761,  0.30479684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.29400092,  7.87338623, -8.09717519,  7.87338623, 31.12413094,
       19.28206678, -8.09717519, 19.28206678, 30.04315179,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005050578956118934
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09910471e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.09910471e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08387156, -0.11086825,  0.06198864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04561137e-05,-6.59272404e-05, 1.78144777e-05, 5.25755087e-06,
 -6.27733917e-04, 3.85959672e-03, 2.16204457e-03, 8.56852846e-04,
 -1.48344489e-05,-1.23320094e-05, 1.46560856e-05, 5.13553702e-08,
  5.78668024e-02, 2.39757408e-02, 3.22175033e-04,-8.04608588e-04,
 -8.37193878e-07, 3.19859358e-07,-9.80999944e+00,-6.49161314e-02,
 -9.15568413e-03,-5.57457867e-03]


--- Step 1194 ---
qpos:
[ 9.87359746e-03, 8.09483207e-03,-5.61860938e-03, 3.34691345e-02,
  3.80896872e-03, 1.56297648e-05,-8.31150085e-03, 3.85612822e-02,
  1.30813131e-02, 5.91481673e-03,-1.16984916e-02, 3.40765197e-02,
  8.49473724e-01,-1.67946591e-02, 1.14090135e+00, 4.62374872e-02,
  9.28002369e-02,-6.59445337e-02, 1.42320103e-01, 9.46253414e-01,
 -3.31082413e-02, 3.07976387e-02, 3.20249631e-01]

qacc:
[-2.04303031e+00, 7.20674221e-01,-4.99210660e+00, 1.27096741e+01,
  4.93873257e+01,-5.01241205e+00, 3.44019786e+01,-1.30458515e+02,
  1.48729613e+00,-6.92460984e-01,-4.75772017e-02, 6.49421096e+00,
  8.97546002e+00, 1.66624492e-01, 2.23375450e+02,-6.13158232e+02,
  1.13525611e+00,-8.49399150e-01,-1.62577706e-01, 2.75772007e+01,
  1.90677924e+00, 3.57218851e+01]

qfrc_actuator:
[-3.93438125e-06, 1.76257590e-04, 7.66703573e-05, 9.60223028e-05,
 -3.35198621e-04, 2.83382448e-03, 1.48265309e-03, 5.98175065e-04,
 -2.00724818e-06,-3.34621606e-05,-7.30669815e-05, 2.71924786e-05,
  4.65111996e-02, 2.08525426e-02, 1.98376149e-03,-1.99514188e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20950957, -0.2072394 ,  0.03075864, -0.2072394 ,  0.2066433 ,
       -0.01931178,  0.03075864, -0.01931178,  0.07939452,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.528435209414073e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71280214e-01, -2.37218232e-01,  1.85001445e-02, -2.37175213e-01,
        9.71456386e-01,  4.51751786e-03, -1.90437211e-02, -8.67361738e-19,
       -9.99818652e-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([ 0.12778776, -0.08284228,  0.11173647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12252138,  0.29652867, -1.08264722,  0.29652867,  2.92447498,
        0.49354111, -1.08264722,  0.49354111,  1.25769846,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003191765135875057
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5122003 , -0.84140352, -0.17231069, -0.08959773, -0.14718431,
        0.98504265, -0.85417978,  0.51997779,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1040014 , -0.03813897,  0.30478367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.34579725, -6.26602759,  9.45854183, -6.26602759, 21.28773661,
        6.58626535,  9.45854183,  6.58626535, 15.70901953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005082490292771108
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.46101891e-14, -2.18440757e-13,  1.00000000e+00,  1.19290910e-26,
        1.00000000e+00,  2.18440757e-13, -1.00000000e+00,  0.00000000e+00,
        5.46101891e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05097371, -0.06260948,  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:
[-1.20144957e-05,-4.36514744e-05,-1.54969681e-05, 1.90865764e-05,
 -4.65858805e-04, 4.41420440e-03, 2.36114597e-03, 7.98857636e-04,
  8.57879142e-06,-4.89245411e-05, 6.43850481e-06, 1.74677627e-05,
  6.10809067e-02, 2.65045979e-02, 5.46071209e-03,-1.08022590e-03,
 -4.32343844e-05, 1.91910346e-05,-9.80997979e+00,-6.49227898e-02,
 -9.16566349e-03,-5.57599714e-03]


--- Step 1195 ---
qpos:
[ 9.87239641e-03, 8.09384609e-03,-5.61823344e-03, 3.34700841e-02,
  3.82267226e-03,-3.38629619e-05,-8.34421831e-03, 3.85436547e-02,
  1.30810765e-02, 5.91351338e-03,-1.16978557e-02, 3.40768374e-02,
  8.49301373e-01,-1.68536102e-02, 1.14121412e+00, 4.62159640e-02,
  9.28145090e-02,-6.59390360e-02, 1.42317298e-01, 9.46230879e-01,
 -3.30626696e-02, 3.08193671e-02, 3.20318825e-01]

qacc:
[-7.25238832e+00, 1.48495786e+00,-4.39838903e+00, 2.82072339e+00,
  4.79426603e+01,-7.86016154e-01, 3.46067629e+00,-9.11400609e+01,
 -2.06956188e+00,-1.09467127e+00, 2.41665361e+00, 5.52856413e-01,
  9.55386410e+00, 8.94264083e+00, 1.88256696e+02,-4.24866218e+02,
  7.54052169e-01,-5.01619104e-01,-5.77595638e-02, 2.05091317e+01,
 -5.22651185e-01, 3.28947621e+01]

qfrc_actuator:
[-4.59944938e-05, 2.06004555e-04, 5.60597431e-05, 9.02994780e-05,
 -3.09439105e-04, 2.88674006e-03, 1.49297831e-03, 6.16486961e-04,
 -1.44562573e-05,-4.20905534e-05,-5.13020730e-05, 3.74050126e-05,
  4.65204399e-02, 2.09787292e-02, 1.94088268e-03,-2.00295192e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20963363, -0.20917355,  0.01388112, -0.20917355,  0.20899113,
       -0.0096817 ,  0.01388112, -0.0096817 ,  0.06374074,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2154701264874556e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71274721e-01, -2.37229773e-01,  1.86400659e-02, -2.37186098e-01,
        9.71453568e-01,  4.55191967e-03, -1.91878094e-02,  8.67361738e-19,
       -9.99815897e-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([ 0.12779557, -0.08284201,  0.11173808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12245174, -0.05032914,  1.12132283, -0.05032914,  1.98585275,
        0.03875265,  1.12132283,  0.03875265,  1.1241911 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031909705091915026
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12186683e-01, -8.41386615e-01, -1.72433655e-01, -8.96612455e-02,
       -1.47289600e-01,  9.85021134e-01, -8.54181282e-01,  5.19975324e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10400957, -0.0381286 ,  0.30478191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.3754334 ,  5.9852675 , -9.67352355,  5.9852675 , 38.6407395 ,
       16.86977342, -9.67352355, 16.86977342, 21.81321297,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005100720511862084
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.44150097e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.44150097e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05098426, -0.06260232,  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:
[-4.24153414e-05, 2.97880346e-06,-3.08747151e-05,-7.75941605e-06,
 -7.21355118e-04, 4.72262980e-03, 2.63491368e-03, 1.13047341e-03,
 -1.22259106e-05,-3.38750058e-05, 1.30636508e-05, 8.67953260e-06,
  5.98876328e-02, 2.63150077e-02, 1.48105946e-03, 6.86293795e-04,
 -8.73163713e-07,-2.11425362e-08,-9.80999977e+00,-6.49214900e-02,
 -9.15503727e-03,-5.57648098e-03]


--- Step 1196 ---
qpos:
[ 9.87104539e-03, 8.09300164e-03,-5.61784667e-03, 3.34702300e-02,
  3.83318609e-03,-9.17487203e-05,-8.37776293e-03, 3.85295151e-02,
  1.30806921e-02, 5.91240736e-03,-1.16969043e-02, 3.40768603e-02,
  8.49078372e-01,-1.69524566e-02, 1.14145077e+00, 4.62294961e-02,
  9.28252883e-02,-6.59294258e-02, 1.42314486e-01, 9.46230571e-01,
 -3.30731791e-02, 3.08187993e-02, 3.20318706e-01]

qacc:
[-1.31852716e+00,-1.49511692e+00, 8.99878892e+00,-2.30308015e+01,
 -2.79308559e+01,-1.54878799e+00,-2.51986210e+01, 9.29427313e+01,
 -1.29381562e+00,-1.22463314e+00, 5.99336542e+00,-1.17467250e+01,
 -6.02960600e+00,-3.48983475e+01,-2.18999479e+02, 6.01796076e+02,
 -8.73184282e-01, 1.02814769e+00,-1.99158046e-03,-2.86683067e+01,
 -7.63386025e-01,-3.75854219e+01]

qfrc_actuator:
[-5.25029954e-05, 2.24150671e-04, 6.16246751e-05, 5.10607429e-05,
 -3.20496573e-04, 2.98246382e-03, 1.51919949e-03, 6.03075422e-04,
 -2.16886415e-05, 6.72762404e-06,-2.09626699e-05, 2.55387333e-05,
  4.65357137e-02, 2.10505523e-02, 1.91931195e-03,-2.06463212e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20981815,  0.02310915,  0.20854166,  0.02310915,  0.50492161,
       -0.03270133,  0.20854166, -0.03270133,  0.21344189,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.066888311951741e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70625595e-01, -2.39908550e-01,  1.81615222e-02, -2.39866565e-01,
        9.70795492e-01,  4.48817954e-03, -1.87078765e-02,  8.67361738e-19,
       -9.99824992e-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([ 0.12781428, -0.08287361,  0.11173224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11993933, -0.09282768,  1.11608563, -0.09282768,  6.22801802,
        0.4248519 ,  1.11608563,  0.4248519 ,  1.15527534,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003162109326141773
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51207899, -0.84142699, -0.17255645, -0.08970819, -0.14740478,
        0.98499963, -0.85424092,  0.51987734,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10402106, -0.03812571,  0.30478806])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.40487417, -6.45472541,  9.40253555, -6.45472541, 19.98038565,
        5.88698352,  9.40253555,  5.88698352, 15.4462162 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005118810596591028
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08445410e-13,  5.42227048e-14,  1.00000000e+00, -5.88020344e-27,
        1.00000000e+00, -5.42227048e-14, -1.00000000e+00,  0.00000000e+00,
        1.08445410e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0839038 , -0.1108413 ,  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:
[-7.71177969e-06, 1.31199527e-05, 2.11703004e-06,-4.03291072e-05,
 -1.00567362e-03, 5.54324746e-03, 3.24039478e-03, 1.45525120e-03,
 -7.59602596e-06, 3.29795589e-05, 2.52588735e-05,-1.26957851e-05,
  5.82337804e-02, 2.55776126e-02,-3.99623206e-03, 1.07417633e-03,
 -5.36649689e-05, 2.04826794e-05,-9.80998252e+00,-6.49143459e-02,
 -9.16571705e-03,-5.57587238e-03]


--- Step 1197 ---
qpos:
[ 9.86997131e-03, 8.09248084e-03,-5.61749248e-03, 3.34695382e-02,
  3.83929487e-03,-1.57213363e-04,-8.41252004e-03, 3.85185605e-02,
  1.30805686e-02, 5.91187852e-03,-1.16966258e-02, 3.40767597e-02,
  8.48804100e-01,-1.70895081e-02, 1.14158414e+00, 4.62519315e-02,
  9.28342745e-02,-6.59168959e-02, 1.42311806e-01, 9.46249246e-01,
 -3.31252449e-02, 3.08035347e-02, 3.20259621e-01]

qacc:
[ 2.42297940e+00,-1.21054554e+00, 8.46465999e+00,-2.31376664e+01,
 -3.86447892e+01, 2.20783516e-03,-2.78534176e+01, 9.03366098e+01,
  2.26379243e+00, 2.38461670e+00,-6.88177770e+00, 5.40263951e+00,
 -8.15578865e+00,-3.11520691e+01,-1.79890175e+02, 4.06991127e+02,
 -4.48269881e-01, 7.29916057e-01, 3.30428842e-02,-2.07922265e+01,
  3.84925051e-01,-3.18211460e+01]

qfrc_actuator:
[-3.80250797e-05, 2.53043831e-04, 6.48024318e-05, 1.01886581e-05,
 -3.47175395e-04, 3.06808820e-03, 1.56659897e-03, 6.16344303e-04,
 -8.03298451e-06, 3.63425413e-05,-5.65867734e-05, 1.85866397e-05,
  4.65609669e-02, 2.11393693e-02, 1.87533185e-03,-2.02157035e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20990359,  0.04680783,  0.20461805,  0.04680783,  0.53940938,
       -0.07537678,  0.20461805, -0.07537678,  0.22714657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.415593160346517e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97062653, -0.23990023,  0.0182215 , -0.23985797,  0.97079755,
        0.00450284, -0.01876962,  0.        , -0.99982384])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12782485, -0.08287332,  0.11173288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12098503,  0.19671086, -1.10359063,  0.19671086,  2.3123211 ,
        0.21235115, -1.10359063,  0.21235115,  1.15883582,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031741679497337684
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12073826e-01, -8.41401264e-01, -1.72697162e-01, -8.97826839e-02,
       -1.47524165e-01,  9.84974969e-01, -8.54236189e-01,  5.19885115e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10402919, -0.03811262,  0.30478244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.43743436,  7.43600367, -8.69026778,  7.43600367, 28.72470585,
       14.79220404, -8.69026778, 14.79220404, 24.09468339,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005138794751716469
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.40118393e-14,  1.35029598e-13,  1.00000000e+00, -7.29319695e-27,
        1.00000000e+00, -1.35029598e-13, -1.00000000e+00,  0.00000000e+00,
        5.40118393e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08391532, -0.11083214,  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:
[ 1.42666304e-05, 3.49663899e-05, 4.75997894e-06,-4.10202539e-05,
 -8.72867166e-04, 6.05105291e-03, 3.33025685e-03, 1.29436519e-03,
  1.34482386e-05, 5.27556351e-05,-2.61382943e-05,-4.91143567e-06,
  6.07908046e-02, 2.76631508e-02,-2.39915562e-04,-6.36947830e-04,
 -2.32744743e-07, 6.39906783e-07,-9.80999933e+00,-6.49164846e-02,
 -9.15360962e-03,-5.57659021e-03]


--- Step 1198 ---
qpos:
[ 9.86838918e-03, 8.09226477e-03,-5.61712843e-03, 3.34683612e-02,
  3.85107876e-03,-2.24525267e-04,-8.45062199e-03, 3.85018354e-02,
  1.30809549e-02, 5.91162312e-03,-1.16972187e-02, 3.40762850e-02,
  8.48562620e-01,-1.72114408e-02, 1.14179580e+00, 4.62403546e-02,
  9.28472374e-02,-6.59079526e-02, 1.42308849e-01, 9.46246225e-01,
 -3.31238822e-02, 3.08111414e-02, 3.20267955e-01]

qacc:
[-4.46330849e+00,-6.15286284e-01, 4.84182508e+00,-1.34962878e+01,
  4.98299096e+01,-5.06687546e+00, 3.87129017e+01,-1.31675629e+02,
  4.45133617e+00, 2.01753785e+00,-5.10423240e+00,-1.65197981e-01,
  9.71622872e+00, 7.83916076e+00, 2.18413939e+02,-5.96403835e+02,
  9.94177442e-01,-8.96671741e-01,-6.92855250e-02, 2.75430377e+01,
  1.48303334e+00, 3.65726478e+01]

qfrc_actuator:
[-6.45801168e-05, 2.70393856e-04, 6.65869631e-05,-1.35552772e-05,
 -3.80735800e-04, 3.13244338e-03, 1.60966899e-03, 6.44528969e-04,
  1.78058774e-05, 1.84714488e-05,-1.13174144e-04,-3.22297514e-06,
  4.65834356e-02, 2.12881557e-02, 1.89232533e-03,-1.93903895e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20989772, -0.205316  ,  0.04361641, -0.205316  ,  0.20478849,
       -0.02405071,  0.04361641, -0.02405071,  0.09668354,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.3923443150214975e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97065767, -0.23977781,  0.01817383, -0.23973579,  0.97082779,
        0.00448863, -0.01871994,  0.        , -0.99982477])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12783502, -0.0828719 ,  0.11173224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12445262, -0.38896633, -1.05503502, -0.38896633,  2.94188372,
       -0.67004364, -1.05503502, -0.67004364,  1.37148178,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032136871275748085
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51215824, -0.84131495, -0.17286729, -0.08988867, -0.14765882,
        0.98494512, -0.85417444,  0.51998657,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10403491, -0.03809094,  0.30476902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.51184483, -6.3943799 ,  9.57258989, -6.3943799 , 20.81609328,
        6.2151309 ,  9.57258989,  6.2151309 , 15.66348076,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005184378430119901
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07073880e-13, -1.07073880e-13,  1.00000000e+00,  1.14648157e-26,
        1.00000000e+00,  1.07073880e-13, -1.00000000e+00,  0.00000000e+00,
        1.07073880e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05102164, -0.06257835,  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:
[-2.61334249e-05, 3.61535902e-05, 8.17835405e-06,-2.28777075e-05,
 -6.86174884e-04, 6.49716435e-03, 3.43515256e-03, 1.16354077e-03,
  2.62393802e-05, 6.04087438e-06,-4.90770553e-05,-2.05485976e-05,
  6.33770652e-02, 2.97254635e-02, 4.93643117e-03,-1.00070739e-03,
 -4.63292693e-05, 2.16489710e-05,-9.80997686e+00,-6.49238149e-02,
 -9.16434865e-03,-5.57835802e-03]


--- Step 1199 ---
qpos:
[ 9.86615659e-03, 8.09197094e-03,-5.61659977e-03, 3.34672927e-02,
  3.86737589e-03,-3.04382827e-04,-8.49859157e-03, 3.84785700e-02,
  1.30813033e-02, 5.91113276e-03,-1.16980317e-02, 3.40759194e-02,
  8.48361753e-01,-1.73094361e-02, 1.14211442e+00, 4.62197797e-02,
  9.28627922e-02,-6.59012329e-02, 1.42305951e-01, 9.46223323e-01,
 -3.30809986e-02, 3.08326233e-02, 3.20337977e-01]

qacc:
[-5.70122107e+00,-3.28047773e-01, 5.81098781e-01, 1.07260988e+00,
  3.95893861e+01,-2.54136090e+00, 1.24802952e+01,-1.00513031e+02,
 -3.35793453e-01, 5.29543179e-01,-2.79799612e+00, 5.20866810e+00,
  9.85747189e+00, 1.60086066e+01, 1.85297556e+02,-4.18678677e+02,
  6.47958987e-01,-5.55869171e-01, 1.49570754e-02, 2.05867914e+01,
 -7.99657306e-01, 3.32395742e+01]

qfrc_actuator:
[-9.73280943e-05, 2.45202199e-04, 6.75061377e-05,-9.28698855e-06,
 -4.08990671e-04, 3.16358435e-03, 1.65275870e-03, 6.53839579e-04,
  1.50961823e-05,-1.00657365e-05,-1.28613966e-04, 1.85826958e-06,
  4.66091650e-02, 2.13993768e-02, 1.93860643e-03,-1.97099777e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20999746, -0.20792698,  0.02941599, -0.20792698,  0.20721527,
       -0.01966587,  0.02941599, -0.01966587,  0.07098924,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.7741709122452315e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97065442, -0.23978451,  0.0182587 , -0.2397421 ,  0.97082614,
        0.00450972, -0.01880739,  0.        , -0.99982313])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12784725, -0.08287178,  0.11173317])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12420143, -0.05877955,  1.12266371, -0.05877955,  2.0634687 ,
        0.04917742,  1.12266371,  0.04917742,  1.12677622,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003210848135726606
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12142487e-01, -8.41287366e-01, -1.73048090e-01, -8.99828163e-02,
       -1.47813174e-01,  9.84913376e-01, -8.54173967e-01,  5.19987340e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1040448 , -0.03807822,  0.30476726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.54931722,  5.9922674 , -9.87316867,  5.9922674 , 34.72689532,
       14.06703869, -9.87316867, 14.06703869, 20.08694684,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005207289943149479
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.33013831e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.33013831e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05103422, -0.06257024,  0.06198829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.34787490e-05,-4.26320431e-06, 8.60653075e-06, 5.65892726e-06,
 -9.98185721e-04, 6.62359991e-03, 3.64675948e-03, 1.46165686e-03,
 -1.96042200e-06,-3.61494254e-05,-2.09374745e-05, 3.24412415e-06,
  6.17614634e-02, 2.90823860e-02, 1.06591431e-03, 6.67427791e-04,
 -5.67995696e-07,-1.06316863e-07,-9.80999997e+00,-6.49224137e-02,
 -9.15266574e-03,-5.57902951e-03]


--- Step 1200 ---
qpos:
[ 9.86423872e-03, 8.09136503e-03,-5.61593810e-03, 3.34666622e-02,
  3.88289575e-03,-3.90288532e-04,-8.54746472e-03, 3.84566884e-02,
  1.30812718e-02, 5.91035086e-03,-1.16984666e-02, 3.40759285e-02,
  8.48134527e-01,-1.74132098e-02, 1.14245033e+00, 4.62134770e-02,
  9.28759135e-02,-6.58939350e-02, 1.42305079e-01, 9.46203688e-01,
 -3.30562936e-02, 3.08589854e-02, 3.20395981e-01]

qacc:
[  2.77145504,  0.11179955, -2.85489917, 10.45966864, -6.75878659,
  -2.60739049, -8.11906437, 37.93351154, -3.32505793, -0.66418813,
   0.2383986 ,  5.84435154,-16.40835197,  9.35136759,-16.86883635,
  97.66864806, -0.60836707,  0.14454096,  0.50628685, -7.57954043,
   5.36896309, -6.40885789]

qfrc_actuator:
[-8.01883090e-05, 2.12498757e-04, 6.77474209e-05, 1.13887997e-05,
 -3.81912490e-04, 3.22173934e-03, 1.68596829e-03, 6.72656279e-04,
 -4.39892795e-06,-9.09829458e-06,-1.01915366e-04, 2.27404398e-05,
  4.66349665e-02, 2.14731924e-02, 1.95445428e-03,-2.13631796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21015257, -0.20690336,  0.03681172, -0.20690336,  0.20912122,
       -0.00579678,  0.03681172, -0.00579678,  0.17757129,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.321764121267249e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70620536e-01, -2.39909880e-01,  1.84126421e-02, -2.39866724e-01,
        9.70795164e-01,  4.55026449e-03, -1.89665573e-02, -8.67361738e-19,
       -9.99820119e-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([ 0.12786265, -0.08287298,  0.11173491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12150671,  0.28231759, -1.08539121,  0.28231759,  4.8771895 ,
        0.97687847, -1.08539121,  0.97687847,  1.3755994 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003180159055663466
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51203168, -0.84131961, -0.17321917, -0.09005504, -0.1479695 ,
        0.9848833 , -0.85423278,  0.51989071,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10405775, -0.03807353,  0.30477363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.54901815, -6.59664721,  9.47966592, -6.59664721, 23.47322412,
        8.29773756,  9.47966592,  8.29773756, 17.32319287,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005207107200877579
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07813225e-06,  4.60885750e-13,  1.00000000e+00, -4.96895792e-19,
        1.00000000e+00, -4.60885750e-13, -1.00000000e+00,  0.00000000e+00,
        1.07813225e-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([ 0.06700161, -0.08595516,  0.06198829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61844882e-05,-3.30649277e-05, 6.19753132e-07, 2.09047113e-05,
 -1.19676943e-03, 7.31255549e-03, 4.17490346e-03, 1.80782556e-03,
 -1.95651964e-05,-2.34047803e-05, 1.67814373e-05, 1.86756464e-05,
  5.97547712e-02, 2.79605547e-02,-4.27094070e-03, 9.51078210e-04,
 -5.25049339e-05, 1.99135011e-05,-9.80998457e+00,-6.49154529e-02,
 -9.16282826e-03,-5.57856478e-03]


--- Step 1201 ---
qpos:
[ 9.86288574e-03, 8.09059322e-03,-5.61532781e-03, 3.34666240e-02,
  3.89481503e-03,-4.79940822e-04,-8.59552248e-03, 3.84389267e-02,
  1.30806616e-02, 5.90947895e-03,-1.16985982e-02, 3.40751303e-02,
  8.47867368e-01,-1.75468840e-02, 1.14268417e+00, 4.62292380e-02,
  9.28858095e-02,-6.58829652e-02, 1.42304027e-01, 9.46206028e-01,
 -3.30831056e-02, 3.08616319e-02, 3.20386050e-01]

qacc:
[ 4.95850721e+00, 1.13425791e+00,-6.87949225e+00, 1.73521934e+01,
 -3.15693006e+01, 1.30971401e+00,-2.91369198e+01, 1.01761216e+02,
 -5.07847847e+00,-2.61759366e+00, 1.25856188e+01,-2.69908910e+01,
 -4.53759433e+00,-2.67696049e+01,-2.17961731e+02, 5.42670695e+02,
 -8.06331295e-01, 9.17951755e-01,-4.47687485e-02,-2.67606209e+01,
 -2.18322544e+00,-3.68469564e+01]

qfrc_actuator:
[-5.15734882e-05, 2.11058940e-04, 6.75477126e-05, 4.15363959e-05,
 -3.71407168e-04, 3.27687088e-03, 1.70823282e-03, 6.91868617e-04,
 -3.36080119e-05,-8.03015228e-06,-8.59490628e-05,-1.82165830e-05,
  4.66493994e-02, 2.15624584e-02, 1.92430820e-03,-2.27705759e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21020362,  0.2026074 , -0.05599827,  0.2026074 ,  0.26317   ,
        0.1916377 , -0.05599827,  0.1916377 ,  0.90356818,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.491760611776065e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70593479e-01, -2.40012270e-01,  1.85043158e-02, -2.39968663e-01,
        9.70769855e-01,  4.57499047e-03, -1.90614858e-02, -8.67361738e-19,
       -9.99818313e-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([ 0.12787776, -0.08287415,  0.11173591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12135307,  0.08117513, -1.11841107,  0.08117513,  6.77437598,
        0.41030075, -1.11841107,  0.41030075,  1.15113302,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031783963561736114
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51193981, -0.84133979, -0.17339257, -0.09013181, -0.14812576,
        0.98485279, -0.85427975,  0.51981354,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10406973, -0.03806448,  0.30477443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.58430751,  6.91982922, -9.29043293,  6.91982922, 33.67621002,
       16.4547975 , -9.29043293, 16.4547975 , 23.84039821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000522865823722421
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12334212e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.12334212e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08396602, -0.1107923 ,  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:
[ 2.90648640e-05,-1.88788181e-05,-6.22806379e-06, 2.91599972e-05,
 -1.14740091e-03, 7.67383958e-03, 4.24397760e-03, 1.75819617e-03,
 -2.97777545e-05,-7.72675631e-06, 1.38598965e-05,-4.10124054e-05,
  6.10851905e-02, 2.83400541e-02,-5.17193114e-03, 9.51517848e-05,
 -3.14552041e-05, 7.75465448e-06,-9.80999612e+00,-6.49094344e-02,
 -9.15553799e-03,-5.57978492e-03]


--- Step 1202 ---
qpos:
[ 9.86188634e-03, 8.08974106e-03,-5.61474163e-03, 3.34665890e-02,
  3.90189866e-03,-5.73405447e-04,-8.64302109e-03, 3.84250041e-02,
  1.30800506e-02, 5.90894646e-03,-1.16990312e-02, 3.40741794e-02,
  8.47558590e-01,-1.77102483e-02, 1.14280735e+00, 4.62504376e-02,
  9.28940681e-02,-6.58694105e-02, 1.42302919e-01, 9.46227203e-01,
 -3.31481003e-02, 3.08480927e-02, 3.20318089e-01]

qacc:
[ 3.10327818e+00,-3.83662796e-02,-4.11196096e-02, 2.04824139e-01,
 -4.24359726e+01, 1.38220989e+00,-2.82993251e+01, 9.64823434e+01,
 -2.31660096e-02, 9.76970976e-01,-2.18803201e+00,-2.21755476e-01,
 -6.64737205e+00,-2.43703915e+01,-1.80248685e+02, 3.92553229e+02,
 -4.09334984e-01, 6.46245503e-01,-1.41071676e-02,-1.94501400e+01,
 -8.71600877e-01,-3.13285603e+01]

qfrc_actuator:
[-3.42023350e-05, 2.10603310e-04, 6.72145997e-05, 4.15321777e-05,
 -3.85463965e-04, 3.33030604e-03, 1.74032541e-03, 7.08028753e-04,
 -3.27896138e-05, 2.85187729e-05,-9.42512773e-05,-2.42345123e-05,
  4.66698333e-02, 2.17051805e-02, 1.86070773e-03,-2.16801242e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21013034,  0.07142586,  0.19761859,  0.07142586,  0.5954404 ,
       -0.13926372,  0.19761859, -0.13926372,  0.26046483,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.246287844684166e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70601257e-01, -2.39984213e-01,  1.84601496e-02, -2.39940820e-01,
        9.70776791e-01,  4.56350474e-03, -1.90158539e-02,  8.67361738e-19,
       -9.99819182e-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([ 0.12789168, -0.08287402,  0.11173531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12407863,  0.21460683, -1.10340232,  0.21460683,  2.36251022,
        0.24086942, -1.10340232,  0.24086942,  1.17092666,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032094589720449256
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51194858, -0.84129651, -0.17357661, -0.09023199, -0.14828024,
        0.98482037, -0.85426392,  0.51983955,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10407826, -0.03804662,  0.3047654 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.56427432,  7.46861139, -8.82905909,  7.46861139, 31.66764178,
       17.0056897 , -8.82905909, 17.0056897 , 25.9495997 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005216427110738275
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06416039e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.06416039e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08397606, -0.11078609,  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:
[ 1.81935110e-05,-1.10144245e-05,-3.98878815e-06,-4.61664540e-07,
 -9.81428247e-04, 7.91846664e-03, 4.23695708e-03, 1.56870978e-03,
 -3.26148321e-08, 3.33560434e-05,-9.59601610e-06,-6.66256536e-06,
  6.31022481e-02, 2.99809353e-02,-1.37813679e-04,-9.00402111e-04,
 -2.94701056e-06, 4.15208814e-06,-9.80999458e+00,-6.49155356e-02,
 -9.14878210e-03,-5.58211687e-03]


--- Step 1203 ---
qpos:
[ 9.86110333e-03, 8.08859708e-03,-5.61381043e-03, 3.34669012e-02,
  3.91497909e-03,-6.62032755e-04,-8.69101622e-03, 3.84062145e-02,
  1.30797986e-02, 5.90896483e-03,-1.17000030e-02, 3.40734979e-02,
  8.47288289e-01,-1.78526734e-02, 1.14300398e+00, 4.62360299e-02,
  9.29063101e-02,-6.58597292e-02, 1.42301400e-01, 9.46226919e-01,
 -3.31578821e-02, 3.08566279e-02, 3.20317094e-01]

qacc:
[ 1.91498441e+00,-6.39020235e-01, 2.46441087e-01, 5.43305450e+00,
  5.26287267e+01,-2.33783837e+00, 3.79762033e+01,-1.24761556e+02,
  3.13173835e+00, 2.78116846e+00,-1.00070412e+01, 1.51316014e+01,
  1.01865974e+01, 1.28967276e+01, 2.16154795e+02,-5.98741599e+02,
  9.95838015e-01,-9.68358845e-01,-1.02991484e-01, 2.82688254e+01,
  8.21884547e-01, 3.63368436e+01]

qfrc_actuator:
[-2.35920269e-05, 1.92966378e-04, 8.45473599e-05, 5.92943910e-05,
 -4.11582735e-04, 3.43754564e-03, 1.76049228e-03, 7.38743068e-04,
 -1.43010041e-05, 6.82101071e-05,-1.16631132e-04,-9.62074590e-06,
  4.67007827e-02, 2.18739736e-02, 1.79745917e-03,-2.13208095e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2099789 , -0.20404801,  0.04955349, -0.20404801,  0.20516735,
       -0.01981269,  0.04955349, -0.01981269,  0.12839553,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.705090850519802e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97063856, -0.23984405,  0.01831972, -0.23980135,  0.97081143,
        0.00452598, -0.01887052,  0.        , -0.99982194])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1279048 , -0.08287274,  0.11173357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12878839, -0.60894435, -0.95044728, -0.60894435,  2.40033579,
       -0.81467075, -0.95044728, -0.81467075,  1.65074175,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032621228248123744
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12045569e-01, -8.41195383e-01, -1.73780505e-01, -9.03583934e-02,
       -1.48441990e-01,  9.84784411e-01, -8.54192424e-01,  5.19957021e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10408438, -0.03802142,  0.30474988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.6095664 , -6.46597828,  9.64225891, -6.46597828, 20.7359104 ,
        6.12001219,  9.64225891,  6.12001219, 15.71357006,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005244068662576956
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.05107751, -0.06254152,  0.06198821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11270994e-05,-2.46064092e-05, 1.45537935e-05, 1.71433422e-05,
 -7.65764313e-04, 8.22030903e-03, 4.23085271e-03, 1.40781759e-03,
  1.84976718e-05, 5.61010123e-05,-1.68894912e-05, 1.55856664e-05,
  6.52146716e-02, 3.16383173e-02, 5.32772979e-03,-1.13743581e-03,
 -6.34738664e-05, 3.32232900e-05,-9.80996353e+00,-6.49252673e-02,
 -9.16232824e-03,-5.58499309e-03]


--- Step 1204 ---
qpos:
[ 9.86079869e-03, 8.08729723e-03,-5.61300250e-03, 3.34677842e-02,
  3.93217248e-03,-7.57284510e-04,-8.74732866e-03, 3.83814468e-02,
  1.30794254e-02, 5.90922899e-03,-1.17008471e-02, 3.40726442e-02,
  8.47063177e-01,-1.79665180e-02, 1.14330339e+00, 4.62102689e-02,
  9.29212032e-02,-6.58525700e-02, 1.42299787e-01, 9.46207040e-01,
 -3.31243394e-02, 3.08786590e-02, 3.20377160e-01]

qacc:
[ 4.19685885e+00, 1.30557826e+00,-7.37742340e+00, 1.75814802e+01,
  3.60126698e+01, 2.11576511e+00, 4.86916897e+00,-9.00244999e+01,
 -1.06709199e+00,-3.84191412e-01, 2.57158144e+00,-5.93943323e+00,
  1.02456031e+01, 2.00317401e+01, 1.86301693e+02,-4.31045909e+02,
  6.62776999e-01,-6.30509514e-01,-2.33146218e-02, 2.13919532e+01,
 -1.26364462e+00, 3.29194469e+01]

qfrc_actuator:
[ 7.10152560e-07, 1.83016906e-04, 7.66148854e-05, 8.73711396e-05,
 -4.53836884e-04, 3.56994321e-03, 1.80984101e-03, 7.85360328e-04,
 -2.10751047e-05, 7.39344047e-05,-1.11594470e-04,-1.84940561e-05,
  4.67216797e-02, 2.19841507e-02, 1.78574611e-03,-2.27867360e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20996828, -0.20818583,  0.0273009 , -0.20818583,  0.20773446,
       -0.01703424,  0.0273009 , -0.01703424,  0.08007195,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.6651745851222015e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97064129, -0.23983239,  0.01832786, -0.23978965,  0.97081431,
        0.00452776, -0.01887885,  0.        , -0.99982178])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12791921, -0.08287267,  0.11173359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12937299, -0.05037913,  1.12824877, -0.05037913,  2.04457897,
        0.04086624,  1.12824877,  0.04086624,  1.13119777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032685728475015624
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51204356, -0.84115384, -0.17398737, -0.09046896, -0.14861687,
        0.98474788, -0.85418192,  0.51997427,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10409462, -0.03800592,  0.30474686])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.62902193,  5.93750584, -9.99900873,  5.93750584, 35.28897218,
       14.04950195, -9.99900873, 14.04950195, 19.9717489 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005255930086451449
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05616228e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.05616228e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05108946, -0.06253368,  0.06198818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46119219e-05,-1.99324400e-05,-1.06274671e-05, 2.78589975e-05,
 -1.10785895e-03, 8.11466798e-03, 4.30667312e-03, 1.69813288e-03,
 -6.22977524e-06, 3.42932748e-05, 1.50955301e-05,-6.74738423e-06,
  6.33100019e-02, 3.07035094e-02, 1.64207881e-03, 4.96013323e-04,
  9.81797755e-08, 4.25491154e-07,-9.80999890e+00,-6.49238877e-02,
 -9.14566452e-03,-5.58637252e-03]


--- Step 1205 ---
qpos:
[ 9.86044272e-03, 8.08612962e-03,-5.61265929e-03, 3.34682928e-02,
  3.94462745e-03,-8.47294228e-04,-8.79770049e-03, 3.83603453e-02,
  1.30789741e-02, 5.90952694e-03,-1.17014970e-02, 3.40713685e-02,
  8.47026577e-01,-1.79364655e-02, 1.14360019e+00, 4.62017971e-02,
  9.29300415e-02,-6.58511427e-02, 1.42299882e-01, 9.46186580e-01,
 -3.30806057e-02, 3.08665557e-02, 3.20443262e-01]

qacc:
[ -0.46756521,  0.70394178, -0.67427282, -5.16075247,-41.56358878,
  -2.0476147 ,  2.01496838, 47.93012966, -0.68026608, -1.3645966 ,
   6.71387907,-14.35240547, 46.37092159, 94.73361845,-56.07305115,
 190.70892747, -1.51371513, -1.43299176,  0.4270214 , -0.74931466,
 -17.87261371,  2.54024123]

qfrc_actuator:
[-2.62633719e-06, 1.95413313e-04, 5.38535686e-05, 6.80162530e-05,
 -4.70781872e-04, 3.69145711e-03, 1.86696560e-03, 7.91319427e-04,
 -2.49174854e-05, 5.93632111e-05,-1.08311479e-04,-4.11258884e-05,
  4.67452076e-02, 2.20786465e-02, 1.79434367e-03,-2.36726534e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21002192, -0.20907014,  0.01997213, -0.20907014,  0.21319883,
        0.03325618,  0.01997213,  0.03325618,  0.55815071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.86399720710429e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97181577, -0.23502015,  0.01842913, -0.23497791,  0.9719905 ,
        0.00445603, -0.01896019,  0.        , -0.99982024])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12792175, -0.08281492,  0.11173471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12712143,  0.17993387, -1.1126664 ,  0.17993387,  3.2918248 ,
        0.35006309, -1.1126664 ,  0.35006309,  1.18373158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003243626550063177
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51194808, -0.8411725 , -0.17417803, -0.09055431, -0.14878812,
        0.98471418, -0.85423011,  0.5198951 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10410791, -0.0379991 ,  0.30475269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.60836565, -11.00354616,  -3.69812451, -11.00354616,
        12.47462774,  -2.57751054,  -3.69812451,  -2.57751054,
        19.27759262,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005243336364918485
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14910715e-07, -2.14910591e-07,  1.00000000e+00,  4.61865890e-14,
        1.00000000e+00,  2.14910591e-07, -1.00000000e+00,  6.31088724e-30,
        2.14910715e-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([ 0.09423069, -0.05260281,  0.06198821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63984860e-06, 2.93787425e-07,-2.72205859e-05,-2.00363568e-05,
 -1.33045215e-03, 8.57158286e-03, 4.78149797e-03, 2.00339501e-03,
 -4.00801081e-06, 7.43357520e-06, 1.20010373e-05,-2.07678957e-05,
  6.10721745e-02, 2.93704037e-02,-3.49233450e-03, 9.74368927e-04,
 -3.75020533e-05, 1.23210100e-05,-9.80999106e+00,-6.49172019e-02,
 -9.15213245e-03,-5.58649921e-03]


--- Step 1206 ---
qpos:
[ 9.85935995e-03, 8.08505922e-03,-5.61262030e-03, 3.34685590e-02,
  3.95420565e-03,-9.38339012e-04,-8.84668532e-03, 3.83432964e-02,
  1.30784805e-02, 5.90961796e-03,-1.17019869e-02, 3.40702110e-02,
  8.46925651e-01,-1.79481794e-02, 1.14380248e+00, 4.62135347e-02,
  9.29364195e-02,-6.58451768e-02, 1.42299811e-01, 9.46185933e-01,
 -3.30886678e-02, 3.08406778e-02, 3.20446834e-01]

qacc:
[-6.38911566e+00, 4.92226621e-01,-5.23487958e-01,-3.28084156e+00,
 -2.52295463e+01, 3.14493561e+00,-3.02183691e+01, 9.87920301e+01,
 -3.64115392e-01,-4.76849843e-01, 8.05535424e-01, 1.13551323e+00,
 -1.56924300e+01,-2.77298118e+01,-2.00803478e+02, 4.99652066e+02,
 -6.15042729e-01, 1.13467619e+00,-4.14111991e-02,-2.54185393e+01,
  2.51064669e+00,-3.37838851e+01]

qfrc_actuator:
[-3.99603060e-05, 2.03238860e-04, 4.03383189e-05, 5.64244705e-05,
 -4.65335172e-04, 3.77947149e-03, 1.91782472e-03, 7.83383067e-04,
 -2.69956651e-05, 3.27284147e-05,-1.06198175e-04,-3.61889156e-05,
  4.67451365e-02, 2.20547374e-02, 1.75167793e-03,-2.40965262e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20997353, -0.02603221,  0.20835356, -0.02603221,  0.46862049,
        0.032316  ,  0.20835356,  0.032316  ,  0.21401117,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.684937297118086e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97178641, -0.23514495,  0.01838551, -0.23510287,  0.97196032,
        0.00444798, -0.01891591,  0.        , -0.99982108])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12793658, -0.08281658,  0.11173411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12100251, -0.48042384, -1.01283738, -0.48042384,  1.57892034,
       -0.21720628, -1.01283738, -0.21720628,  1.22403097,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031743689786496276
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51183721, -0.84124286, -0.17416405, -0.0905272 , -0.14878824,
        0.98471665, -0.85429942,  0.51978121,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10411854, -0.03801037,  0.30477035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.63273104,   4.49190221,  10.73048209,   4.49190221,
        41.08991369, -12.33111269,  10.73048209, -12.33111269,
        16.79467547,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005258190593394052
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.05570824e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.05570824e-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([ 0.08402461, -0.11075268,  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:
[-3.74038949e-05, 1.54577700e-06,-1.74914703e-05,-1.29100820e-05,
 -1.08808431e-03, 8.40140602e-03, 4.53702149e-03, 1.81250592e-03,
 -2.18910056e-06,-2.08921214e-05, 4.41507187e-06, 5.27026813e-06,
  5.16491870e-02, 2.21533522e-02,-3.40632404e-03, 6.72228462e-05,
 -4.29061504e-05, 3.10071872e-05,-9.80997310e+00,-6.49199432e-02,
 -9.15551586e-03,-5.58289897e-03]


--- Step 1207 ---
qpos:
[ 9.85887301e-03, 8.08403797e-03,-5.61277469e-03, 3.34690279e-02,
  3.96329918e-03,-1.02519510e-03,-8.89198862e-03, 3.83284064e-02,
  1.30783107e-02, 5.90963914e-03,-1.17024816e-02, 3.40691158e-02,
  8.46779301e-01,-1.79764586e-02, 1.14399470e+00, 4.62090473e-02,
  9.29432314e-02,-6.58394108e-02, 1.42301222e-01, 9.46186485e-01,
 -3.30996547e-02, 3.08325288e-02, 3.20444851e-01]

qacc:
[ 5.22171764e+00, 1.01250574e+00,-4.38872948e+00, 8.18683863e+00,
 -4.21594651e+00,-3.01461948e-01, 6.75965239e-03, 2.83735797e+01,
  2.84870400e+00, 4.37933135e-02,-5.62669248e-01, 1.71002172e+00,
 -2.43531495e+01, 6.54911026e+00, 3.51649218e+01,-1.42635311e+02,
  1.08453612e-01,-5.00050944e-02, 3.70441969e-01, 1.56241079e+00,
  8.92941352e+00,-2.57195549e+00]

qfrc_actuator:
[-8.23360290e-06, 2.08304018e-04, 3.23961087e-05, 6.72610033e-05,
 -4.46419740e-04, 3.86931907e-03, 1.96710193e-03, 8.00761909e-04,
 -1.02670733e-05, 3.45879143e-05,-1.04830300e-04,-3.28346663e-05,
  4.67522007e-02, 2.20523846e-02, 1.72389968e-03,-2.46965831e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20984686,  0.04162203,  0.20567768,  0.04162203,  0.48337332,
       -0.05535227,  0.20567768, -0.05535227,  0.22104824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.1866824765024364e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71788385e-01, -2.35147886e-01,  1.82430148e-02, -2.35106462e-01,
        9.71959604e-01,  4.41356445e-03, -1.87693138e-02,  8.67361738e-19,
       -9.99823841e-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([ 0.12795013, -0.08281698,  0.11173235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11951175, -0.48756002,  1.00776574, -0.48756002,  4.98327937,
        1.86930209,  1.00776574,  1.86930209,  2.02388558,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003157159440406639
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51182012, -0.84124902, -0.17418454, -0.09053516, -0.14880738,
        0.98471303, -0.85430881,  0.51976577,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10412514, -0.03800919,  0.30477393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.63608604, -6.54202093,  9.6229133 , -6.54202093, 26.82530493,
       10.3262063 ,  9.6229133 , 10.3262063 , 18.65623219,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005260235071327565
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.67575635e-07, -1.85913813e-13,  1.00000000e+00,  1.79885676e-19,
        1.00000000e+00,  1.85913813e-13, -1.00000000e+00,  0.00000000e+00,
        9.67575635e-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([ 0.0670764 , -0.08590022,  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:
[ 3.06661289e-05, 1.79132105e-06,-1.02098496e-05, 1.00497925e-05,
 -9.25330384e-04, 8.54692940e-03, 4.51863123e-03, 1.62760841e-03,
  1.66582383e-05,-8.68293815e-06,-2.21462657e-06, 2.71774629e-06,
  5.48717297e-02, 2.42392814e-02, 1.28722375e-03,-1.00428310e-03,
 -3.50216715e-06, 7.79202264e-07,-9.80999497e+00,-6.49166451e-02,
 -9.14987528e-03,-5.58011052e-03]


--- Step 1208 ---
qpos:
[ 9.85911475e-03, 8.08307217e-03,-5.61302223e-03, 3.34692696e-02,
  3.97209478e-03,-1.10796265e-03,-8.93414128e-03, 3.83156286e-02,
  1.30790326e-02, 5.90958908e-03,-1.17031786e-02, 3.40670475e-02,
  8.46595164e-01,-1.80173880e-02, 1.14419493e+00, 4.61995245e-02,
  9.29502280e-02,-6.58336938e-02, 1.42303821e-01, 9.46187939e-01,
 -3.31138557e-02, 3.08376955e-02, 3.20438594e-01]

qacc:
[ 6.39010883e+00,-1.46359946e-01, 1.56525662e+00,-5.36379045e+00,
 -2.58886615e+00, 9.50409745e-01,-4.45649757e+00, 3.29539127e+01,
  7.83747850e+00,-1.54629060e+00, 9.45874619e+00,-2.58942075e+01,
 -2.12334833e+01, 7.48057846e+00, 2.79439093e+01,-7.87643803e+01,
  4.61658238e-02,-1.22386258e-02, 2.96921067e-01, 6.93733177e-01,
  6.87140561e+00,-1.99584952e+00]

qfrc_actuator:
[ 2.83923233e-05, 2.11722127e-04, 2.78085642e-05, 5.57011653e-05,
 -4.38417082e-04, 3.90219894e-03, 2.01258065e-03, 8.33602484e-04,
  3.51490271e-05, 1.79844178e-05,-1.21561430e-04,-8.36793102e-05,
  4.67801381e-02, 2.20722239e-02, 1.75411426e-03,-2.47637912e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20972753,  0.09856706,  0.18512205,  0.09856706,  1.29933531,
       -0.58015478,  0.18512205, -0.58015478,  0.51862728,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.668370685421597e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71792932e-01, -2.35137734e-01,  1.81313072e-02, -2.35096818e-01,
        9.71962060e-01,  4.38633839e-03, -1.86543364e-02,  8.67361738e-19,
       -9.99825993e-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([ 0.12796279, -0.08281723,  0.11173097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11995399,  0.16908958,  1.10711592,  0.16908958, 10.9469438 ,
       -1.50087406,  1.10711592, -1.50087406,  1.34918217,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031622788167611545
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11817489e-01, -8.41240436e-01, -1.74233715e-01, -9.05610547e-02,
       -1.48849195e-01,  9.84704328e-01, -8.54307646e-01,  5.19767685e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10413162, -0.03800305,  0.3047738 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.61744224,   5.77110524, -10.08262409,   5.77110524,
        48.89661966,  21.33790313, -10.08262409,  21.33790313,
        23.83085846,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000524887118441763
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.12266599e-14,  8.28130051e-07,  1.00000000e+00,  4.24223364e-20,
        1.00000000e+00, -8.28130051e-07, -1.00000000e+00,  0.00000000e+00,
       -5.12266599e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06693564, -0.08567757,  0.06198819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.75035439e-05, 2.79146990e-06,-5.11534403e-06,-1.16403415e-05,
 -8.93093668e-04, 8.37409679e-03, 4.38161733e-03, 1.55283229e-03,
  4.58858902e-05,-2.17872786e-05,-1.86962886e-05,-5.12376932e-05,
  5.71697700e-02, 2.50875758e-02, 1.81673559e-03,-2.00701272e-04,
 -1.10761035e-06, 6.21891267e-07,-9.80999887e+00,-6.49180142e-02,
 -9.15064111e-03,-5.58003391e-03]


--- Step 1209 ---
qpos:
[ 0.00985945, 0.00808215,-0.00561333, 0.03346937, 0.00398541,-0.00118898,
 -0.00897886, 0.03829805, 0.01307995, 0.00590959,-0.01170447, 0.03406509,
  0.84644257,-0.0180403 , 1.14448431, 0.04617097, 0.0929608 ,-0.06583023,
  0.14230549, 0.9461724 ,-0.033085  , 0.03085717, 0.32048559]

qacc:
[ 8.09164496e-01,-7.45007748e-02, 9.34669706e-01,-3.30440754e+00,
  3.96156356e+01,-4.71456098e-01, 2.51658010e+01,-1.05286379e+02,
  1.68519180e+00, 1.94186275e+00,-7.28601613e+00, 1.00806046e+01,
  7.20477753e+00, 1.26517025e+01, 1.89351199e+02,-4.71029738e+02,
  8.95031266e-01,-5.63658411e-01,-2.32380755e-01, 2.15591580e+01,
 -7.47799752e-01, 2.88160301e+01]

qfrc_actuator:
[ 3.20813537e-05, 2.14126037e-04, 2.52109461e-05, 4.88048174e-05,
 -4.54707611e-04, 3.95258076e-03, 2.05483856e-03, 8.92655937e-04,
  4.38222639e-05, 2.58377235e-05,-1.48952494e-04,-7.72695985e-05,
  4.68002442e-02, 2.21258419e-02, 1.73797360e-03,-2.59784967e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20961866, -0.20495323,  0.04397904, -0.20495323,  0.20504381,
       -0.02131994,  0.04397904, -0.02131994,  0.11026247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.138657127184291e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97179943, -0.23511767,  0.0180432 , -0.23507716,  0.97196691,
        0.00436463, -0.0185636 ,  0.        , -0.99982768])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12797462, -0.08281736,  0.11172988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12191392,  0.24069058,  1.09579144,  0.24069058,  8.0775172 ,
       -1.52779817,  1.09579144, -1.52779817,  1.45749476,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003184824164517537
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51182571, -0.8412211 , -0.1743029 , -0.0905996 , -0.14890673,
        0.98469208, -0.85429863,  0.5197825 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10413826, -0.03799311,  0.30477071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005227195721517336
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.30984051e-14, -2.12393621e-13,  1.00000000e+00,  1.12777625e-26,
        1.00000000e+00,  2.12393621e-13, -1.00000000e+00,  0.00000000e+00,
        5.30984051e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05113111, -0.06251023,  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:
[ 4.76245802e-06, 2.45911542e-06,-3.04189197e-06,-7.17970895e-06,
 -8.94488330e-04, 8.22358415e-03, 4.26783843e-03, 1.50658686e-03,
  9.97151966e-06,-1.03549578e-05,-3.59547877e-05, 3.83649405e-06,
  5.90779386e-02, 2.57740062e-02, 1.39611526e-03,-7.13769029e-05,
 -7.41327585e-07, 1.26408917e-06,-9.80999814e+00,-6.49195519e-02,
 -9.14960742e-03,-5.58158852e-03]


--- Step 1210 ---
qpos:
[ 0.00986017, 0.0080813 ,-0.00561345, 0.03347006, 0.00399537,-0.00127106,
 -0.0090227 , 0.03828443, 0.01307993, 0.0059095 ,-0.01170637, 0.03406393,
  0.84624154,-0.01809845, 1.14469389, 0.04617366, 0.09296853,-0.06582244,
  0.1423065 , 0.94617683,-0.03310708, 0.03085479, 0.32047045]

qacc:
[ 3.39964060e+00, 8.01609096e-01,-5.18077567e+00, 1.49658706e+01,
 -2.93958844e+01, 4.32796739e+00,-3.40574063e+01, 1.01757953e+02,
 -8.26328105e+00, 3.26044045e+00,-1.51808406e+01, 3.01199320e+01,
 -7.85837995e+00,-2.86231692e+01,-2.12739679e+02, 5.72376969e+02,
 -7.13674827e-01, 1.08209060e+00,-1.64389757e-01,-2.63107085e+01,
 -1.46172589e+00,-3.37413139e+01]

qfrc_actuator:
[ 5.18582011e-05, 2.33666967e-04, 4.15625556e-05, 8.02163670e-05,
 -4.72519237e-04, 4.06742737e-03, 2.09962267e-03, 9.38000682e-04,
 -4.71425316e-06, 1.27632107e-05,-1.82270546e-04,-3.72001698e-05,
  4.68107718e-02, 2.21563631e-02, 1.68110211e-03,-2.64789124e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20960131,  0.13129786,  0.16338171,  0.13129786,  0.43715972,
       -0.18287196,  0.16338171, -0.18287196,  0.35656206,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.047822178884511e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97177882, -0.23520043,  0.01807438, -0.23515976,  0.97194689,
        0.0043738 , -0.01859606,  0.        , -0.99982708])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.127988  , -0.08281846,  0.1117302 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12100268, -0.08696761,  1.1176241 , -0.08696761,  5.21275671,
        0.31839869,  1.1176241 ,  0.31839869,  1.14577878,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003174370865016178
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5117542 , -0.84125138, -0.17436672, -0.09062115, -0.14896832,
        0.98468078, -0.85433919,  0.51971584,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10414808, -0.03799065,  0.3047761 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.54283374, -6.6155841 ,  9.4589142 , -6.6155841 , 21.44444948,
        6.92521047,  9.4589142 ,  6.92521047, 16.38634023,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005203327844018057
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06683939e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.06683939e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08406052, -0.1107357 ,  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:
[ 1.99170365e-05, 2.00175449e-05, 1.62501487e-05, 3.12742026e-05,
 -1.13825344e-03, 8.25457025e-03, 4.44255308e-03, 1.79232960e-03,
 -4.82570919e-05,-2.61017934e-05,-3.97328662e-05, 3.84633607e-05,
  5.75097585e-02, 2.49034734e-02,-3.12309615e-03, 8.29230815e-04,
 -2.47006712e-05, 7.51093933e-06,-9.80999332e+00,-6.49138620e-02,
 -9.15347137e-03,-5.58173623e-03]


--- Step 1211 ---
qpos:
[ 0.00986078, 0.00808046,-0.00561334, 0.03347112, 0.00400447,-0.00134936,
 -0.00906301, 0.03827307, 0.01307898, 0.00590873,-0.01170756, 0.0340629 ,
  0.84600812,-0.01816738, 1.14490126, 0.04616941, 0.09297615,-0.065815  ,
  0.14230869, 0.94618231,-0.03313202, 0.0308639 , 0.32045082]

qacc:
[-9.86928648e-01, 1.04946156e-01,-1.95634331e+00, 8.08260531e+00,
 -7.63091394e+00,-1.70240836e-01,-1.67779407e+00, 3.24243879e+01,
 -8.11194616e+00,-2.60060209e+00, 7.46857468e+00,-5.94435535e+00,
 -1.80544920e+01, 6.25727350e+00, 1.84721514e+01,-6.78241415e+01,
 -2.46326400e-02,-8.85275098e-02, 2.95319213e-01, 5.79427351e-01,
  5.95548647e+00,-2.14702292e+00]

qfrc_actuator:
[ 4.54510897e-05, 2.27926670e-04, 5.13153006e-05, 9.84379859e-05,
 -4.85182807e-04, 4.16980161e-03, 2.16124994e-03, 9.68283631e-04,
 -5.10175478e-05,-3.04896950e-05,-1.47872898e-04,-3.09315270e-05,
  4.68322671e-02, 2.22368409e-02, 1.65439583e-03,-2.32493418e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20952855,  0.05346112,  0.20259349,  0.05346112,  0.48080817,
       -0.07158627,  0.20259349, -0.07158627,  0.228419  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.641981130465774e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71789340e-01, -2.35163314e-01,  1.79915219e-02, -2.35123022e-01,
        9.71955871e-01,  4.35302264e-03, -1.85106366e-02, -8.67361738e-19,
       -9.99828663e-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([ 0.12800015, -0.08281831,  0.11172916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12333514, -0.76428246,  0.82325826, -0.76428246,  2.92708914,
        1.67453837,  0.82325826,  1.67453837,  2.67791451,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032010290380283634
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51177353, -0.84122218, -0.17445086, -0.09066967, -0.14903729,
        0.98466588, -0.85432246,  0.51974333,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10415461, -0.03797847,  0.30477028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.50507891, -6.35270961,  9.59218022, -6.35270961, 25.67775773,
        9.38628246,  9.59218022,  9.38628246, 17.72142655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000518023849740529
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.52540918e-14,  8.46300442e-07,  1.00000000e+00, -4.67615623e-20,
        1.00000000e+00, -8.46300442e-07, -1.00000000e+00, -6.01853108e-36,
        5.52540918e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06695767, -0.08566682,  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:
[-5.83197445e-06, 1.01856442e-05, 1.69794381e-05, 2.02499829e-05,
 -9.83453196e-04, 8.41338347e-03, 4.46147778e-03, 1.62514282e-03,
 -4.76865471e-05,-6.43967161e-05, 2.54708132e-05, 4.53301250e-06,
  5.99528154e-02, 2.67476758e-02, 8.35786983e-04,-4.11246480e-04,
 -4.37557551e-06, 3.08507300e-06,-9.80999608e+00,-6.49179101e-02,
 -9.14865931e-03,-5.58305459e-03]


--- Step 1212 ---
qpos:
[ 0.00986061, 0.00807958,-0.00561329, 0.03347173, 0.0040173 ,-0.00142803,
 -0.00910634, 0.03825656, 0.01307783, 0.00590803,-0.01170865, 0.03406225,
  0.84581162,-0.01821495, 1.14519771, 0.04615056, 0.092987  ,-0.0658099 ,
  0.14231007, 0.94616987,-0.03311368, 0.03088567, 0.32048735]

qacc:
[-6.76775198e+00,-7.95491947e-01, 4.68463085e+00,-1.24057894e+01,
  3.27709347e+01,-2.71024449e+00, 3.05512923e+01,-1.14321418e+02,
 -1.78895753e+00, 5.57594192e-01,-3.41708369e+00, 9.63520170e+00,
  9.33702042e+00, 1.37632388e+01, 1.75806803e+02,-4.23930928e+02,
  8.05535586e-01,-5.82420437e-01,-2.03649059e-01, 2.13348170e+01,
 -1.59512630e+00, 3.03193139e+01]

qfrc_actuator:
[ 5.92646276e-06, 2.07064739e-04, 3.92228192e-05, 7.32147054e-05,
 -5.13646307e-04, 4.27803020e-03, 2.22999243e-03, 9.54133405e-04,
 -6.01120130e-05, 1.52834910e-05,-1.27182618e-04,-9.08204315e-06,
  4.68606427e-02, 2.23369100e-02, 1.61504825e-03,-2.08979325e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20945792, -0.20136199,  0.05767123, -0.20136199,  0.20046316,
       -0.03140566,  0.05767123, -0.03140566,  0.0998035 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.198894543712238e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97180198, -0.23511622,  0.01792403, -0.23507623,  0.97196727,
        0.00433577, -0.01844098,  0.        , -0.99982995])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12801143, -0.08281807,  0.11172832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12671935,  0.2018922 ,  1.10848366,  0.2018922 ,  8.76308346,
       -1.39083906,  1.10848366, -1.39083906,  1.38003798,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003239141817507758
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11803598e-01, -8.41182666e-01, -1.74553142e-01, -9.07298325e-02,
       -1.49120410e-01,  9.84647755e-01, -8.54298060e-01,  5.19783441e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10416147, -0.03796337,  0.30476283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005163698547235585
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.15005391e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.15005391e-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([ 0.05115115, -0.06249681,  0.06198839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.96864218e-05,-1.07681988e-05,-7.19085630e-06,-2.38058460e-05,
 -9.68244966e-04, 8.33596034e-03, 4.35557830e-03, 1.49807270e-03,
 -1.04774788e-05, 1.52423470e-05, 1.07087851e-05, 2.00678286e-05,
  6.15997068e-02, 2.73870252e-02, 9.02120022e-04, 1.69727499e-04,
 -5.17226148e-06, 5.26581761e-06,-9.80999304e+00,-6.49210676e-02,
 -9.14684234e-03,-5.58576570e-03]


--- Step 1213 ---
qpos:
[ 0.00986032, 0.00807861,-0.00561276, 0.03347131, 0.0040251 ,-0.0014979 ,
 -0.00914172, 0.03824402, 0.01307726, 0.00590788,-0.01171029, 0.03406219,
  0.84580368,-0.01812167, 1.14548593, 0.04615129, 0.09299199,-0.06581003,
  0.14231231, 0.9461575 ,-0.03308315, 0.03087092, 0.32052842]

qacc:
[-1.10363263e+00,-3.55311608e+00, 1.68626460e+01,-3.53855465e+01,
 -4.40725477e+01,-2.38338185e+00, 8.78792304e+00, 4.03870573e+01,
  5.15421537e+00, 3.52315131e+00,-1.40493064e+01, 2.48990664e+01,
  4.91477262e+01, 8.89811735e+01,-7.15536906e+01, 2.32380654e+02,
 -1.46298345e+00,-1.31056506e+00, 2.14370567e-01,-1.49917339e-01,
 -1.93151732e+01, 1.71788492e+00]

qfrc_actuator:
[ 4.92273136e-07, 2.12681037e-04, 6.74912729e-05, 2.26031440e-05,
 -5.38099541e-04, 4.37465560e-03, 2.29037824e-03, 9.19824037e-04,
 -2.94805632e-05, 6.07355312e-05,-1.49907235e-04, 2.18187368e-05,
  4.68827479e-02, 2.24386774e-02, 1.57595727e-03,-1.95015192e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20945126,  0.09556157,  0.18638084,  0.09556157,  0.64331242,
       -0.22245018,  0.18638084, -0.22245018,  0.32350638,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.15390259766362e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97178628, -0.23517797,  0.01796541, -0.2351378 ,  0.97195232,
        0.00434699, -0.01848384,  0.        , -0.99982916])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12802445, -0.08281888,  0.11172876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12689603,  0.15536483, -1.11613459,  0.15536483,  3.58309998,
        0.34190116, -1.11613459,  0.34190116,  1.17448833,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032411136007419754
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51174837, -0.84119665, -0.17464762, -0.09077069, -0.14920614,
        0.984631  , -0.8543268 ,  0.5197362 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10417158, -0.0379565 ,  0.30476465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.43705476, -10.91273271,  -3.42322751, -10.91273271,
        12.29557424,  -2.73683054,  -3.42322751,  -2.73683054,
        20.16165752,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005138561907627182
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.08028573e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.08028573e-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([ 0.09550942, -0.05227673,  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:
[-6.56471784e-06,-2.89408810e-06, 2.43449568e-05,-5.17829317e-05,
 -1.17961586e-03, 8.45443455e-03, 4.56813848e-03, 1.72118507e-03,
  3.03342363e-05, 5.70797049e-05,-1.75412994e-05, 3.23206925e-05,
  5.97737562e-02, 2.64216594e-02,-3.59511662e-03, 1.03899860e-03,
 -1.43966152e-05, 2.21667403e-06,-9.80999739e+00,-6.49151933e-02,
 -9.14658558e-03,-5.58673374e-03]


--- Step 1214 ---
qpos:
[ 0.00986031, 0.0080777 ,-0.00561226, 0.03347065, 0.00403076,-0.00156727,
 -0.00917637, 0.03823501, 0.01307707, 0.00590783,-0.01171177, 0.03406251,
  0.84572605,-0.01807691, 1.14567753, 0.0461745 , 0.09299498,-0.06580518,
  0.14231371, 0.94616214,-0.03310218, 0.03084271, 0.32051548]

qacc:
[ 2.47011817e+00,-3.58619729e-01, 2.39940939e+00,-6.57181525e+00,
 -1.88613055e+01, 5.95133239e+00,-3.50916671e+01, 9.46094854e+01,
  3.27249193e+00, 4.11188563e-01,-2.86747426e+00, 9.03330134e+00,
 -1.49558654e+01,-3.48644094e+01,-2.10899994e+02, 5.30150113e+02,
 -5.01235073e-01, 1.24717441e+00,-2.08310879e-01,-2.44920527e+01,
  2.21312167e+00,-2.92622025e+01]

qfrc_actuator:
[ 1.51772638e-05, 2.16486577e-04, 6.62045727e-05, 1.07747759e-05,
 -5.35125650e-04, 4.43755441e-03, 2.31823247e-03, 9.55137789e-04,
 -1.12300872e-05, 5.22330296e-05,-1.44790573e-04, 4.00244246e-05,
  4.68754627e-02, 2.23601566e-02, 1.58517783e-03,-1.84291147e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20940473,  0.18448659, -0.09907089,  0.18448659,  0.48412447,
        0.51157417, -0.09907089,  0.51157417,  1.16204153,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8194092116667228e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97176884, -0.2352562 ,  0.01788427, -0.23521637,  0.97193339,
        0.00432888, -0.01840071,  0.        , -0.99983069])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12803504, -0.08282007,  0.11172776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12254866,  0.37478184,  1.05813707,  0.37478184,  2.6833029 ,
       -0.55280395,  1.05813707, -0.55280395,  1.31834643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031920763138662507
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51167996, -0.84126044, -0.17454077, -0.09070129, -0.1491233 ,
        0.98464995, -0.85437515,  0.51965672,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10417922, -0.03796809,  0.30477908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.42428843,   4.3580484 ,  10.56038732,   4.3580484 ,
        56.76441853, -18.71091236,  10.56038732, -18.71091236,
        19.14588607,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005130729136734735
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04294202e-14, -1.08193494e-13,  1.00000000e+00,  3.29226529e-27,
        1.00000000e+00,  1.08193494e-13, -1.00000000e+00,  0.00000000e+00,
        3.04294202e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0840929 , -0.11072067,  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:
[ 1.45007317e-05, 5.02540077e-06,-6.71051161e-07,-1.21156427e-05,
 -9.25375416e-04, 8.08078087e-03, 4.19943174e-03, 1.55880213e-03,
  1.91298094e-05, 2.12120632e-05, 1.58841184e-05, 2.06766476e-05,
  5.03411222e-02, 1.93007950e-02,-3.17723465e-03, 1.65963923e-04,
 -1.71280039e-05, 1.42472896e-05,-9.80998524e+00,-6.49171564e-02,
 -9.14972508e-03,-5.58351568e-03]


--- Step 1215 ---
qpos:
[ 0.00986014, 0.00807687,-0.00561267, 0.0334706 , 0.00403581,-0.00163213,
 -0.00920822, 0.03822773, 0.0130771 , 0.0059079 ,-0.01171342, 0.03406306,
  0.84559851,-0.01805467, 1.14585874, 0.04618383, 0.09299894,-0.06580025,
  0.1423161 , 0.94616707,-0.03312266, 0.03083179, 0.32049988]

qacc:
[-1.51047715e+00, 3.91090939e+00,-1.63652194e+01, 2.83473154e+01,
 -5.28319848e+00, 1.74463895e+00,-4.86456169e+00, 2.70504920e+01,
  1.93206692e+00, 1.13999857e+00,-4.86160259e+00, 9.21210244e+00,
 -2.35079383e+01, 2.65996947e-02, 2.74078119e+01,-1.16515178e+02,
  2.43770875e-01, 2.01292027e-02, 2.47358386e-01, 2.13381948e+00,
  8.44609200e+00,-1.04631723e+00]

qfrc_actuator:
[ 6.07025841e-06, 2.01346676e-04, 1.19884787e-05, 3.95924588e-05,
 -5.34315727e-04, 4.50273643e-03, 2.34836930e-03, 1.01331583e-03,
 -4.26365920e-07, 4.70881965e-05,-1.58990495e-04, 5.05949736e-05,
  4.68669984e-02, 2.22532400e-02, 1.59435517e-03,-1.76582599e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20933996,  0.01060622,  0.2090711 ,  0.01060622,  0.47625267,
       -0.01354054,  0.2090711 , -0.01354054,  0.21002687,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2729508973977628e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97177825, -0.23522935,  0.01772532, -0.23519023,  0.97193989,
        0.00428989, -0.01823706,  0.        , -0.99983369])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12804455, -0.08282013,  0.11172584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1224884 , -0.47628705,  1.01643045, -0.47628705,  5.12388565,
        1.87500648,  1.01643045,  1.87500648,  2.00109382,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031913888135210513
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51169049, -0.84126547, -0.17448566, -0.09067361, -0.14907562,
        0.98465971, -0.85437178,  0.51966226,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10418318, -0.03796706,  0.30477973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.40035301, -6.36909466,  9.45529915, -6.36909466, 27.18274153,
       10.6310255 ,  9.45529915, 10.6310255 , 18.56141759,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005116033817287787
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.30735814e-14,  3.87812380e-07,  1.00000000e+00, -3.22169633e-20,
        1.00000000e+00, -3.87812380e-07, -1.00000000e+00, -6.01853108e-36,
        8.30735814e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06698635, -0.0856532 ,  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:
[-8.68908994e-06,-1.29538154e-05,-5.36741974e-05, 2.87757936e-05,
 -8.17186210e-04, 8.12351638e-03, 4.19456077e-03, 1.44060955e-03,
  1.13517788e-05, 1.09083977e-05,-7.13043823e-06, 1.24333900e-05,
  5.38168238e-02, 2.16187471e-02, 1.65876003e-03,-8.81386207e-04,
 -8.16942178e-06, 8.89727994e-08,-9.80999408e+00,-6.49165841e-02,
 -9.15032299e-03,-5.58126853e-03]


--- Step 1216 ---
qpos:
[ 0.00986054, 0.00807591,-0.00561335, 0.03347054, 0.00404527,-0.00169285,
 -0.00924086, 0.03821571, 0.01307726, 0.00590809,-0.01171548, 0.03406341,
  0.84549087,-0.01802462, 1.14612695, 0.04617308, 0.09300704,-0.06579757,
  0.14231745, 0.94615547,-0.03309964, 0.03083866, 0.32053582]

qacc:
[ 5.10396593e+00, 5.74963955e-01,-2.26229597e+00, 2.58071787e+00,
  3.86202240e+01,-2.21458628e+00, 3.57398489e+01,-1.19549829e+02,
  1.12302969e+00, 8.98533209e-01,-2.09289336e+00,-9.16472216e-01,
  5.36495288e+00, 4.57448513e+00, 1.89287035e+02,-4.75588222e+02,
  1.03335294e+00,-5.64894729e-01,-2.62691951e-01, 2.23596916e+01,
  8.47745497e-01, 2.80023924e+01]

qfrc_actuator:
[ 3.62837343e-05, 1.92543612e-04,-2.08153337e-06, 3.87824691e-05,
 -5.35490378e-04, 4.56508080e-03, 2.37752139e-03, 9.96836122e-04,
  5.91175367e-06, 4.39051923e-05,-1.84495686e-04, 3.88181822e-05,
  4.68638802e-02, 2.21582094e-02, 1.57259656e-03,-1.73273796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20929343, -0.20080527,  0.05899986, -0.20080527,  0.20189255,
       -0.0251888 ,  0.05899986, -0.0251888 ,  0.12356368,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7794913003202052e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71788652e-01, -2.35195039e-01,  1.76099327e-02, -2.35156432e-01,
        9.71948195e-01,  4.26130614e-03, -1.81181804e-02,  8.67361738e-19,
       -9.99835852e-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([ 0.12805341, -0.08282006,  0.11172444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12407445,  0.15653742,  1.11312147,  0.15653742,  5.12827679,
       -0.5631079 ,  1.11312147, -0.5631079 ,  1.20326388,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003209411634749259
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51171035, -0.84125675, -0.17446949, -0.09066846, -0.14905983,
        0.98466258, -0.85436043,  0.51968092,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10418737, -0.03796104,  0.3047771 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005109535922594999
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.43211283e-14, -1.08642257e-13,  1.00000000e+00,  5.90156995e-27,
        1.00000000e+00,  1.08642257e-13, -1.00000000e+00,  0.00000000e+00,
        5.43211283e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05117538, -0.06248325,  0.06198851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99654099e-05,-2.58687089e-05,-2.23459440e-05,-2.65886436e-06,
 -7.88242939e-04, 7.96299297e-03, 4.08540039e-03, 1.33772991e-03,
  6.66299718e-06, 1.99661453e-06,-2.36831912e-05,-1.13122300e-05,
  5.63079867e-02, 2.26494403e-02, 2.15321530e-03,-1.55643148e-04,
 -5.45704230e-06, 2.05723092e-06,-9.80999660e+00,-6.49201108e-02,
 -9.15077407e-03,-5.58156653e-03]


--- Step 1217 ---
qpos:
[ 0.0098613 , 0.00807466,-0.0056136 , 0.03347043, 0.00405441,-0.00175331,
 -0.00927225, 0.03820502, 0.01307784, 0.00590793,-0.01171681, 0.0340636 ,
  0.84534374,-0.01801113, 1.14641015, 0.04617327, 0.09301429,-0.0657938 ,
  0.14231981, 0.94614581,-0.03308974, 0.03085266, 0.32056403]

qacc:
[  3.16890945, -1.69925851,  5.66005733, -6.82214601, -2.79782239,
  -0.38399091, -3.78181525, 24.73050409,  3.72338882, -2.87406162,
  10.23793603,-13.94381156,-19.16216056,  1.58374834,-10.27668087,
  69.55561098, -0.21212229,  0.27537915,  0.25495109, -4.91291642,
   5.57936142, -4.05543984]

qfrc_actuator:
[ 5.39005856e-05, 1.87726083e-04, 2.54272714e-05, 3.83305225e-05,
 -5.24869576e-04, 4.60653857e-03, 2.42628169e-03, 9.76853855e-04,
  2.73260209e-05, 2.40904963e-05,-1.45464995e-04, 3.17364308e-05,
  4.68648100e-02, 2.21377383e-02, 1.52920999e-03,-1.83855128e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20929423, -0.18891631,  0.09008164, -0.18891631,  0.22505389,
        0.03305064,  0.09008164,  0.03305064,  0.27860697,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7891391784342577e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97177259, -0.23525974,  0.01763221, -0.23522102,  0.97193254,
        0.00426794, -0.01814139,  0.        , -0.99983543])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12806354, -0.08282086,  0.11172467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12289247, -0.03714328,  1.12227798, -0.03714328,  1.95008526,
        0.02737704,  1.12227798,  0.02737704,  1.12379855,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031959944297010016
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11654442e-01, -8.41292624e-01, -1.74460462e-01, -9.06537197e-02,
       -1.49058230e-01,  9.84664180e-01, -8.54395480e-01,  5.19623291e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10419498, -0.03796149,  0.30478253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.34413136, -6.66476265,  9.17988317, -6.66476265, 25.69547781,
       10.41933933,  9.17988317, 10.41933933, 18.90876178,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005081464935907275
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.02249001e-14,  8.50463142e-08,  1.00000000e+00,  6.82283206e-21,
        1.00000000e+00, -8.50463142e-08, -1.00000000e+00, -1.50463277e-36,
       -8.02249001e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06699904, -0.0856474 ,  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:
[ 1.84663213e-05,-2.39611671e-05, 1.93388103e-05,-2.38286947e-06,
 -9.97873404e-04, 7.80012888e-03, 4.17392615e-03, 1.55534576e-03,
  2.16043476e-05,-2.40557323e-05, 3.61556836e-05,-8.03260753e-06,
  5.53129891e-02, 2.22371830e-02,-2.24512861e-03, 7.41917048e-04,
 -1.36400779e-05, 6.33703185e-06,-9.80999513e+00,-6.49174714e-02,
 -9.15246414e-03,-5.58088694e-03]


--- Step 1218 ---
qpos:
[ 0.00986193, 0.00807332,-0.00561334, 0.03347064, 0.00406055,-0.00181602,
 -0.00930253, 0.03819771, 0.01307867, 0.00590705,-0.0117169 , 0.03406406,
  0.84514191,-0.01803984, 1.14659211, 0.04619237, 0.0930194 ,-0.06578576,
  0.14232115, 0.94615367,-0.03312584, 0.03084773, 0.32053757]

qacc:
[-1.20664115e+00,-9.19977583e-01, 1.80407231e+00, 2.78802813e+00,
 -2.63278468e+01, 9.53652919e-01,-2.18487530e+01, 8.00323589e+01,
  2.27156177e+00,-3.84430369e+00, 1.11633747e+01,-7.88164761e+00,
 -7.73375129e+00,-3.53553350e+01,-2.07202538e+02, 5.06751463e+02,
 -5.34746445e-01, 1.06573343e+00,-2.55352636e-01,-2.36602504e+01,
 -9.51931297e-01,-2.96928129e+01]

qfrc_actuator:
[ 4.61972816e-05, 2.03261527e-04, 5.95210584e-05, 5.58769043e-05,
 -5.21958749e-04, 4.65544888e-03, 2.48510073e-03, 1.00384299e-03,
  3.96910069e-05,-2.30260858e-05,-8.64538529e-05, 4.52619489e-05,
  4.68781227e-02, 2.21655039e-02, 1.46021932e-03,-2.10396799e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20928553, -0.15596094,  0.13955866, -0.15596094,  0.54894828,
        0.37958319,  0.13955866,  0.37958319,  0.633481  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6813922314758655e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97176055, -0.2353085 ,  0.01764467, -0.23526972,  0.97192073,
        0.00427189, -0.01815443,  0.        , -0.99983519])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12807318, -0.08282155,  0.11172478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12393169,  0.3549093 , -1.06642479,  0.3549093 ,  9.37962041,
        2.74751741, -1.06642479,  2.74751741,  2.03831354,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003207795463961282
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5116113 , -0.84131622, -0.17447319, -0.0906529 , -0.14907363,
        0.98466192, -0.8544214 ,  0.51958067,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10420215, -0.03795689,  0.30478258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.30803569,  6.21273453, -9.44847082,  6.21273453, 47.25747852,
       23.63814728, -9.44847082, 23.63814728, 26.8510306 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005059232005404646
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.09722486e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.09722486e-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([ 0.08412117, -0.11070907,  0.06198862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.18200303e-06, 6.08120177e-06, 3.14599228e-05, 1.71449971e-05,
 -9.78843858e-04, 7.83906037e-03, 4.17172349e-03, 1.51573388e-03,
  1.29677203e-05,-5.34142077e-05, 5.82342740e-05, 1.35913726e-05,
  5.72990662e-02, 2.30922212e-02,-3.06882023e-03,-7.24098459e-05,
 -6.93047782e-06, 1.42960871e-06,-9.80999957e+00,-6.49145473e-02,
 -9.14954142e-03,-5.58173498e-03]


--- Step 1219 ---
qpos:
[ 0.00986246, 0.00807229,-0.00561309, 0.03347069, 0.00407076,-0.00187518,
 -0.00933401, 0.03818508, 0.0130793 , 0.00590569,-0.01171659, 0.03406505,
  0.84496605,-0.01805929, 1.14683957, 0.04617772, 0.09302871,-0.06578059,
  0.14232143, 0.9461438 ,-0.033114  , 0.03086085, 0.32056664]

qacc:
[-8.58700053e-01, 1.35802745e-01, 7.55842379e-01,-3.60102235e+00,
  3.57168710e+01,-2.99601985e+00, 3.98172123e+01,-1.32445046e+02,
 -1.76579507e+00,-6.63086158e-01,-7.69235862e-01, 9.62173055e+00,
  9.17640299e+00, 2.47448545e+00, 1.98653456e+02,-5.54884870e+02,
  1.05139339e+00,-7.17727627e-01,-2.63649934e-01, 2.44227324e+01,
  2.05322179e-01, 3.01519755e+01]

qfrc_actuator:
[ 4.14094577e-05, 2.30926226e-04, 6.18097369e-05, 4.83840441e-05,
 -5.20863271e-04, 4.72897230e-03, 2.49633878e-03, 1.00318413e-03,
  2.88733763e-05,-5.05081470e-05,-6.95014350e-05, 7.07826524e-05,
  4.69123081e-02, 2.21479564e-02, 1.42839247e-03,-2.21118805e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20926087, -0.20156243,  0.05623788, -0.20156243,  0.20157649,
       -0.02754164,  0.05623788, -0.02754164,  0.11054877,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3291371452080625e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97177582, -0.23525156,  0.01756311, -0.23521314,  0.97193452,
        0.00425106, -0.01807026,  0.        , -0.99983672])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12808196, -0.08282112,  0.11172379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12771832, -0.54781134, -0.98572377, -0.54781134,  2.64508111,
       -0.84326723, -0.98572377, -0.84326723,  1.59636012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003250267336676258
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11647437e-01, -8.41283224e-01, -1.74526324e-01, -9.06877760e-02,
       -1.49114603e-01,  9.84652508e-01, -8.54396060e-01,  5.19622336e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10420647, -0.0379426 ,  0.30477277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.28719351, -6.29358104,  9.36971585, -6.29358104, 22.27791227,
        7.38239881,  9.36971585,  7.38239881, 16.2459058 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005046380174541648
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10001921e-13, -1.10001921e-13,  1.00000000e+00, -1.21004226e-26,
        1.00000000e+00,  1.10001921e-13, -1.00000000e+00,  0.00000000e+00,
       -1.10001921e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0511904 , -0.06247336,  0.06198865])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.98837029e-06, 3.83390391e-05, 8.02458817e-06,-5.80797719e-06,
 -8.27545310e-04, 8.02714052e-03, 4.12887851e-03, 1.34655400e-03,
 -1.04734000e-05,-4.47008844e-05, 1.35728832e-05, 2.55118564e-05,
  6.00686708e-02, 2.51855722e-02, 1.95647964e-03,-1.12586641e-03,
 -1.27536946e-05, 8.37533294e-06,-9.80998945e+00,-6.49203097e-02,
 -9.15065803e-03,-5.58369748e-03]


--- Step 1220 ---
qpos:
[ 0.00986258, 0.00807143,-0.00561274, 0.03347032, 0.00408009,-0.00193297,
 -0.00936478, 0.03817357, 0.01307945, 0.00590435,-0.01171656, 0.03406667,
  0.8447585 ,-0.01809163, 1.14710318, 0.04617362, 0.09303702,-0.06577485,
  0.14232286, 0.94613595,-0.03311322, 0.03088017, 0.32058804]

qacc:
[ -3.56561068, -0.91986997,  5.41230031,-13.06579415, -7.69419437,
   2.15995611, -9.80074478, 27.0997022 , -4.22843214,  2.09148145,
 -10.04578913, 21.29819922,-15.73201014,  1.98879104, -7.47258942,
  62.03320512, -0.25323158,  0.14349745,  0.286634  , -4.09139521,
   4.8074526 , -4.02223342]

qfrc_actuator:
[ 2.06317509e-05, 2.29998760e-04, 6.30904582e-05, 2.62054956e-05,
 -5.44487513e-04, 4.77687008e-03, 2.49863700e-03, 9.93281768e-04,
  4.50079354e-06,-3.06662154e-05,-7.74497794e-05, 1.03134468e-04,
  4.69430729e-02, 2.21218899e-02, 1.40750245e-03,-2.03637391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20927052, -0.19514168,  0.07559019, -0.19514168,  0.21774256,
        0.0218712 ,  0.07559019,  0.0218712 ,  0.26573265,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4769745614443782e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9717627 , -0.23530146,  0.01762025, -0.23526279,  0.97192244,
        0.00426585, -0.01812928,  0.        , -0.99983565])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12809216, -0.08282167,  0.11172443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12778777, -0.04833325,  1.12675159, -0.04833325,  1.84530395,
        0.03077865,  1.12675159,  0.03077865,  1.12910805,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003251038709900841
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51160173, -0.84129772, -0.17459039, -0.09071401, -0.14917363,
        0.98464115, -0.85442064,  0.51958192,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10421455, -0.03793614,  0.30477352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.25131766, -6.62628144,  9.09310416, -6.62628144, 25.36530463,
       10.28507408,  9.09310416, 10.28507408, 18.74620546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005024233351656723
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.19372669e-07,  1.94672409e-07,  1.00000000e+00,  1.59509251e-13,
        1.00000000e+00, -1.94672409e-07, -1.00000000e+00,  0.00000000e+00,
       -8.19372669e-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([ 0.06720883, -0.08559654,  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:
[-2.09035341e-05, 2.19515695e-05, 9.99625807e-06,-2.03693306e-05,
 -1.05494189e-03, 7.90031826e-03, 4.19196063e-03, 1.60290049e-03,
 -2.46912778e-05,-1.21645264e-06,-1.46162214e-05, 3.14030409e-05,
  5.87991761e-02, 2.46960332e-02,-1.34318274e-03, 7.35816454e-04,
 -7.73284164e-06, 1.91476269e-06,-9.80999916e+00,-6.49168822e-02,
 -9.14776344e-03,-5.58425245e-03]


--- Step 1221 ---
qpos:
[ 0.00986279, 0.00807052,-0.00561226, 0.03346971, 0.00408263,-0.00197843,
 -0.00938734, 0.03816548, 0.01307896, 0.00590307,-0.01171634, 0.03406793,
  0.84473564,-0.01798846, 1.14734951, 0.04617776, 0.09304007,-0.0657746 ,
  0.14232493, 0.94613051,-0.03309454, 0.03086555, 0.32060743]

qacc:
[  0.83986054, -0.909572  ,  4.1318658 , -8.36608811,-59.61930329,
   0.48976857,  7.64895151, 29.14293833, -5.61124289, -1.15494149,
   5.72468823,-12.16416964, 49.83111213, 83.22994056,-50.71596885,
 139.78585393, -1.31231647, -1.37305008,  0.15910617,  3.10493116,
 -18.93303899, -1.62403812]

qfrc_actuator:
[ 2.61133851e-05, 2.11932079e-04, 6.36595236e-05, 1.33019834e-05,
 -5.79622909e-04, 4.84565706e-03, 2.52965252e-03, 1.02677403e-03,
 -2.76468962e-05,-1.82412345e-05,-6.43172569e-05, 8.60176127e-05,
  4.69653893e-02, 2.21801860e-02, 1.36862856e-03,-1.91843144e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20927158,  0.16136495, -0.13325145,  0.16136495,  0.35743268,
        0.17942025, -0.13325145,  0.17942025,  0.42654608,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4924082334720693e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97175362, -0.23533575,  0.01766338, -0.23529688,  0.97191413,
        0.00427695, -0.0181738 ,  0.        , -0.99983484])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12810173, -0.08282211,  0.11172491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12958062,  0.28742349, -1.09240108,  0.28742349, 11.64837022,
        2.76761645, -1.09240108,  2.76761645,  1.85777285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003270859167513311
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51156897, -0.8413013 , -0.17466916, -0.09075041, -0.14924369,
        0.98462718, -0.8544364 ,  0.51955601,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10422252, -0.03792595,  0.30477047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.22747089, 10.52038906, -3.92141767, 10.52038906, 23.30398147,
       32.39889259, -3.92141767, 32.39889259, 98.14730046,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005009494614700433
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10811879e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.10811879e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09555774, -0.05223919,  0.06198873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.89663232e-06,-4.57896149e-06, 5.63742812e-06,-1.20106142e-05,
 -1.04630657e-03, 7.90319800e-03, 4.18865358e-03, 1.58036902e-03,
 -3.28545329e-05, 1.01074464e-05, 1.21801826e-05,-1.70631680e-05,
  6.04045944e-02, 2.53993935e-02,-2.19519136e-03, 3.24452813e-04,
 -3.00869438e-06,-6.80573278e-07,-9.81000009e+00,-6.49152958e-02,
 -9.14443400e-03,-5.58633905e-03]


--- Step 1222 ---
qpos:
[ 0.00986342, 0.00806978,-0.00561246, 0.03346968, 0.0040833 ,-0.00202372,
 -0.00941068, 0.0381601 , 0.01307878, 0.00590214,-0.01171636, 0.03406863,
  0.84464044,-0.01793777, 1.14749651, 0.04619752, 0.09304179,-0.06576958,
  0.14232605, 0.9461399 ,-0.03312105, 0.03083969, 0.32057949]

qacc:
[ 3.56300365e+00, 3.27632944e+00,-1.37583544e+01, 2.45456820e+01,
 -1.64804029e+01, 8.04463381e+00,-3.97354374e+01, 8.76999272e+01,
  2.69482629e+00,-4.39511949e-02, 3.21001779e+00,-1.29075970e+01,
 -1.45700887e+01,-3.87917491e+01,-1.94266474e+02, 4.65947592e+02,
 -3.33902469e-01, 1.19219812e+00,-2.36567234e-01,-2.22069650e+01,
  2.48381986e+00,-2.56486938e+01]

qfrc_actuator:
[ 4.70116618e-05, 2.19242427e-04, 2.82294528e-05, 4.14491431e-05,
 -5.79895501e-04, 4.89771828e-03, 2.53460209e-03, 1.06580415e-03,
 -1.08511259e-05, 7.44631618e-06,-7.43889279e-05, 5.77001108e-05,
  4.69802801e-02, 2.21103403e-02, 1.32139234e-03,-2.06729669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20925675,  0.18628035,  0.09533109,  0.18628035,  0.27164612,
       -0.12191104,  0.09533109, -0.12191104,  0.44747526,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2607303100214225e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97174587, -0.23537266,  0.01759731, -0.23533408,  0.9719052 ,
        0.00426166, -0.01810599,  0.        , -0.99983607])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12810851, -0.08282272,  0.11172411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12608855,  0.6922926 ,  0.88814772,  0.6922926 ,  2.18264524,
       -0.82356388,  0.88814772, -0.82356388,  1.76803939,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032320875998057626
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51153657, -0.8413461 , -0.17454819, -0.09067984, -0.14914502,
        0.98464863, -0.85446328,  0.51951178,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10422863, -0.03793471,  0.30478181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000499866561741058
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14522313e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.14522313e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08414875, -0.11069534,  0.06198876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10389846e-05, 5.42949030e-06,-3.60910887e-05, 2.79143223e-05,
 -7.07104865e-04, 7.34082493e-03, 3.78363327e-03, 1.44850655e-03,
  1.58620708e-05, 3.31523341e-05,-7.06361643e-06,-2.77942176e-05,
  5.11873252e-02, 1.85540473e-02,-1.38029632e-03,-2.36693504e-04,
 -4.17382027e-06, 4.40713564e-06,-9.80999369e+00,-6.49162906e-02,
 -9.14722027e-03,-5.58368388e-03]


--- Step 1223 ---
qpos:
[ 0.0098636 , 0.00806929,-0.00561315, 0.03346995, 0.00408971,-0.00206251,
 -0.00943298, 0.03815043, 0.01307914, 0.00590164,-0.0117166 , 0.03406931,
  0.84455722,-0.01788827, 1.1477155 , 0.04618268, 0.09304848,-0.0657673 ,
  0.14232603, 0.94613258,-0.03310041, 0.0308366 , 0.3206035 ]

qacc:
[-3.91813127e+00, 2.37349734e+00,-9.29869478e+00, 1.53444828e+01,
  5.02985860e+01,-3.29138654e+00, 4.21820233e+01,-1.22865871e+02,
  4.79871204e+00, 1.15438364e+00,-3.24053556e+00, 3.06278252e+00,
  5.31182935e+00,-3.83904656e+00, 2.10804982e+02,-5.83428371e+02,
  1.24327365e+00,-6.85119561e-01,-2.86161716e-01, 2.48764168e+01,
  2.61208531e+00, 2.83611110e+01]

qfrc_actuator:
[ 2.35503822e-05, 2.41574056e-04, 7.45546861e-06, 5.80123767e-05,
 -5.79204417e-04, 4.94696805e-03, 2.56513668e-03, 1.08974681e-03,
  1.68670316e-05, 4.07784330e-05,-8.02787236e-05, 5.85250188e-05,
  4.70018748e-02, 2.20618891e-02, 1.34105459e-03,-2.15613380e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20923771, -0.20865758,  0.01557021, -0.20865758,  0.20926564,
        0.00037429,  0.01557021,  0.00037429,  0.2142536 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.777980966732089e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71761585e-01, -2.35317270e-01,  1.74700876e-02, -2.35279252e-01,
        9.71918609e-01,  4.22979175e-03, -1.79748463e-02,  8.67361738e-19,
       -9.99838439e-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([ 0.12811458, -0.08282232,  0.11172258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12651378,  0.31483353, -1.08162524,  0.31483353,  2.65531524,
        0.44499513, -1.08162524,  0.44499513,  1.25604052,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003236845474504857
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51157279, -0.84133614, -0.17449007, -0.09065512, -0.14909203,
        0.98465893, -0.85444423,  0.51954313,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10423158, -0.03793128,  0.30478057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.21271965, -6.23351676,  9.32031924, -6.23351676, 23.04154541,
        7.9112294 ,  9.32031924,  7.9112294 , 16.50382393,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005000370278675226
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.55070406e-14,  1.11014081e-13,  1.00000000e+00, -6.16206312e-27,
        1.00000000e+00, -1.11014081e-13, -1.00000000e+00,  0.00000000e+00,
        5.55070406e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05121126, -0.06245967,  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:
[-2.28571278e-05, 1.91434878e-05,-2.31222208e-05, 1.60916384e-05,
 -6.12798075e-04, 7.38338604e-03, 3.85448001e-03, 1.33710024e-03,
  2.81791889e-05, 4.92583972e-05,-8.64716887e-07, 1.46015061e-06,
  5.48261698e-02, 2.11284110e-02, 3.60290336e-03,-1.10696797e-03,
 -1.50034584e-05, 2.08967946e-06,-9.80999320e+00,-6.49179331e-02,
 -9.15170312e-03,-5.58230514e-03]


--- Step 1224 ---
qpos:
[ 0.00986349, 0.0080689 ,-0.005614  , 0.03346938, 0.00409651,-0.00209975,
 -0.00945467, 0.03814204, 0.01307949, 0.00590124,-0.01171621, 0.03406964,
  0.84442948,-0.01786032, 1.14795684, 0.04617827, 0.09305484,-0.06576406,
  0.14232715, 0.94612694,-0.03309135, 0.03084346, 0.32062044]

qacc:
[ -2.48419933, -1.15650486,  7.88517855,-22.31490956,  3.47027456,
   3.00178624,-13.18340542, 33.38549137, -0.11695869, -2.36404873,
  10.12751169,-17.38457459,-19.92349073, -2.33325987,  2.16960592,
  41.77768349, -0.08132479,  0.24123444,  0.28696967, -3.74820331,
   6.65197503, -3.63262475]

qfrc_actuator:
[ 9.66813841e-06, 2.37266270e-04,-4.43392449e-06, 1.43928713e-05,
 -6.02543946e-04, 5.02363886e-03, 2.59174522e-03, 1.09281091e-03,
  1.52709151e-05, 4.29627397e-05,-4.80794333e-05, 4.10019234e-05,
  4.70065286e-02, 2.19959834e-02, 1.35705887e-03,-1.98746425e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20924686, -0.20362139,  0.04819312, -0.20362139,  0.26332836,
        0.22850047,  0.04819312,  0.22850047,  1.17468729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0788896922004765e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97175035, -0.23536104,  0.01750567, -0.23532286,  0.97190801,
        0.00423924, -0.01801166,  0.        , -0.99983778])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12812171, -0.08282275,  0.11172297])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12396956, -0.02774755,  1.123627  , -0.02774755,  1.77854271,
        0.01616444,  1.123627  ,  0.01616444,  1.12436873,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003208224248554423
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51153464, -0.84136702, -0.17445299, -0.09062849, -0.14906483,
        0.9846655 , -0.85446988,  0.51950093,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10423822, -0.03793385,  0.30478797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.20522876, -6.54438819,  9.0955008 , -6.54438819, 26.77961046,
       11.20606791,  9.0955008 , 11.20606791, 19.26821067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004995731044704729
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20243357e-07,  3.24670491e-13,  1.00000000e+00, -3.90394697e-20,
        1.00000000e+00, -3.24670491e-13, -1.00000000e+00, -6.01853108e-36,
        1.20243357e-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([ 0.0671846 , -0.08583307,  0.06198876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45242966e-05, 2.32743330e-06,-1.02121554e-05,-4.32830613e-05,
 -9.22777690e-04, 7.13670946e-03, 3.82930230e-03, 1.55534151e-03,
 -7.79672300e-07, 2.96440811e-05, 4.23244801e-05,-1.54146828e-05,
  5.42305738e-02, 2.11210809e-02, 1.58975522e-05, 7.90603954e-04,
 -6.59597179e-06, 4.67192063e-06,-9.80999525e+00,-6.49178694e-02,
 -9.15107743e-03,-5.58087769e-03]


--- Step 1225 ---
qpos:
[ 0.00986357, 0.00806842,-0.00561469, 0.03346899, 0.00410039,-0.00214047,
 -0.00947687, 0.03813661, 0.01307947, 0.00590118,-0.01171525, 0.03407007,
  0.84424337,-0.01787775, 1.14810805, 0.04619538, 0.0930594 ,-0.06575653,
  0.14232743, 0.94613807,-0.03312733, 0.03083345, 0.32058484]

qacc:
[ 1.58029542e+00,-2.35367593e-01,-7.34386853e-02, 2.89150000e+00,
 -2.56220307e+01, 2.98004633e+00,-2.96869591e+01, 8.41590654e+01,
 -3.21369287e+00,-9.17845856e-01, 3.48697504e+00,-2.82603652e+00,
 -8.68144700e+00,-3.73313184e+01,-1.98727061e+02, 5.00919825e+02,
 -4.50681482e-01, 1.07002473e+00,-2.11538141e-01,-2.29194806e+01,
 -1.48093263e-01,-2.85144589e+01]

qfrc_actuator:
[ 1.93016640e-05, 2.34777957e-04, 6.62139513e-06, 2.44597211e-05,
 -6.19505196e-04, 5.06585585e-03, 2.59827090e-03, 1.07947903e-03,
 -3.57009729e-06, 7.98783794e-05,-1.15415400e-05, 4.83245015e-05,
  4.70109978e-02, 2.19581965e-02, 1.31948511e-03,-2.06828325e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20925361,  0.13517047, -0.15973734,  0.13517047,  0.56874553,
        0.30420369, -0.15973734,  0.30420369,  0.46667216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2059886713559875e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97174268, -0.23538974,  0.01754518, -0.23535138,  0.97190106,
        0.00424936, -0.01805243,  0.        , -0.99983704])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12812835, -0.08282304,  0.11172342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032066521493370547
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11509267e-01, -8.41384554e-01, -1.74442835e-01, -9.06185536e-02,
       -1.49058983e-01,  9.84667303e-01, -8.54486131e-01,  5.19474207e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10424469, -0.03793101,  0.30478979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.19479761,  6.41704647, -9.17305883,  6.41704647, 40.23004406,
       20.31171162, -9.17305883, 20.31171162, 25.40392891,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004989254134419863
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66892134e-13,  2.78153556e-14,  1.00000000e+00, -4.64216405e-27,
        1.00000000e+00, -2.78153556e-14, -1.00000000e+00,  0.00000000e+00,
        1.66892134e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08416786, -0.11068392,  0.06198878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.22497321e-06,-5.13036819e-06, 8.79723274e-06, 8.97551672e-06,
 -9.59522159e-04, 7.10310214e-03, 3.80629410e-03, 1.47772896e-03,
 -1.88546932e-05, 6.15846967e-05, 4.73407206e-05, 9.75669019e-06,
  5.64596183e-02, 2.21599152e-02,-1.14448148e-03, 1.87166895e-04,
 -2.95472562e-06, 8.77307952e-07,-9.80999937e+00,-6.49155456e-02,
 -9.14971497e-03,-5.58096815e-03]


--- Step 1226 ---
qpos:
[ 0.00986376, 0.00806777,-0.00561497, 0.03346975, 0.00410775,-0.00218058,
 -0.0095007 , 0.03812573, 0.01307923, 0.00590177,-0.01171425, 0.03407058,
  0.84407998,-0.01789048, 1.14832925, 0.04617704, 0.09306847,-0.06575205,
  0.14232669, 0.94613135,-0.03311424, 0.0308435 , 0.32060505]

qacc:
[ 1.02374931e+00, 1.01989778e+00,-8.83621949e+00, 2.82812557e+01,
  3.04958441e+01,-5.91594285e+00, 4.51187510e+01,-1.37036773e+02,
 -1.99629012e+00, 9.18733343e-01,-2.37741733e+00, 3.24408900e+00,
  9.57637443e+00,-2.12030691e+00, 2.10342628e+02,-5.86326659e+02,
  1.12483098e+00,-7.58571517e-01,-2.54438688e-01, 2.52739384e+01,
  9.73871171e-01, 3.03517248e+01]

qfrc_actuator:
[ 2.49433638e-05, 2.33530600e-04, 3.11790186e-05, 8.38104303e-05,
 -6.29481233e-04, 5.09180330e-03, 2.62912757e-03, 1.05412407e-03,
 -1.46478581e-05, 1.19600889e-04,-8.09650164e-06, 5.24818793e-05,
  4.70182050e-02, 2.19874635e-02, 1.26973568e-03,-2.34956528e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20924753, -0.20497757,  0.04205618, -0.20497757,  0.2049895 ,
       -0.02075318,  0.04205618, -0.02075318,  0.10809865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.092150058507397e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71761308e-01, -2.35316505e-01,  1.74957765e-02, -2.35278375e-01,
        9.71918794e-01,  4.23599687e-03, -1.80012740e-02, -8.67361738e-19,
       -9.99837964e-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([ 0.12813444, -0.08282226,  0.11172281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12666423,  0.26552758, -1.09492803,  0.26552758,  2.57379543,
        0.35093927, -1.09492803,  0.35093927,  1.21176941,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003238526308199006
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11560239e-01, -8.41346484e-01, -1.74476978e-01, -9.06458787e-02,
       -1.49082328e-01,  9.84661254e-01, -8.54452717e-01,  5.19529166e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10424848, -0.03791817,  0.30478135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.20126775, -6.22733934,  9.31067366, -6.22733934, 21.98181439,
        7.21044734,  9.31067366,  7.21044734, 16.02389434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000499327388027021
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.55859268e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.55859268e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05122977, -0.06244776,  0.06198877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.90429885e-06,-1.88525666e-06, 2.49059675e-05, 5.96130042e-05,
 -8.23455775e-04, 7.30446880e-03, 3.86352712e-03, 1.30459374e-03,
 -1.15936353e-05, 8.43410722e-05, 2.23237704e-05, 8.62212094e-06,
  5.93849640e-02, 2.44579736e-02, 3.30862712e-03,-1.17123953e-03,
 -1.87937839e-05, 9.19176449e-06,-9.80998922e+00,-6.49205956e-02,
 -9.15344438e-03,-5.58226424e-03]


--- Step 1227 ---
qpos:
[ 0.00986368, 0.00806716,-0.00561525, 0.03347053, 0.00411914,-0.00222815,
 -0.00953161, 0.03810894, 0.01307886, 0.00590285,-0.01171341, 0.03407083,
  0.84394728,-0.01789014, 1.14865081, 0.0461489 , 0.09308057,-0.06574929,
  0.14232537, 0.94610768,-0.03306321, 0.03086549, 0.32067804]

qacc:
[-2.44735413e+00, 9.33850638e-02,-2.92118673e-01, 4.89445773e-01,
  3.53755136e+01,-2.33249864e+00, 1.88838665e+01,-1.04352740e+02,
 -1.16440994e+00, 5.42178690e-01, 1.56360814e-01,-4.90812312e+00,
  1.01539541e+01, 5.21962664e+00, 1.77772170e+02,-4.06961253e+02,
  7.61096290e-01,-4.31935505e-01,-1.47043544e-01, 1.87648286e+01,
 -1.04406632e+00, 2.84670641e+01]

qfrc_actuator:
[ 1.04301076e-05, 2.33144864e-04, 2.80310102e-05, 8.29194545e-05,
 -6.04991168e-04, 5.14081031e-03, 2.65815182e-03, 1.02877421e-03,
 -2.10618778e-05, 1.25061719e-04,-2.42028477e-05, 3.69696295e-05,
  4.70271852e-02, 2.20250622e-02, 1.22281725e-03,-2.40096295e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20926894, -0.20783763,  0.02443374, -0.20783763,  0.20755836,
       -0.01455045,  0.02443374, -0.01455045,  0.08550029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4537807148523411e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97175154, -0.23535021,  0.01758487, -0.23531169,  0.97191063,
        0.00425821, -0.01809309,  0.        , -0.99983631])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12814226, -0.08282246,  0.11172384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12580459, -0.04338997,  1.12496813, -0.04338997,  1.9612421 ,
        0.03222279,  1.12496813,  0.03222279,  1.12704742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032289047297733963
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11529695e-01, -8.41354802e-01, -1.74526410e-01, -9.06669527e-02,
       -1.49127366e-01,  9.84652493e-01, -8.54468768e-01,  5.19502767e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10425625, -0.03791299,  0.30478351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.19241002,  5.14903304, -9.93768086,  5.14903304, 57.07511541,
       23.77330984, -9.93768086, 23.77330984, 23.51012878,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004987768875406029
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66941831e-13, -2.22589108e-13,  1.00000000e+00,  3.71594332e-26,
        1.00000000e+00,  2.22589108e-13, -1.00000000e+00,  0.00000000e+00,
        1.66941831e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05123612, -0.06244346,  0.06198878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43469884e-05, 6.28581010e-06, 1.60144628e-06, 1.05028732e-06,
 -9.72854845e-04, 7.32523892e-03, 3.97478171e-03, 1.55159911e-03,
 -6.71241265e-06, 5.75665998e-05, 4.34368538e-06,-1.09620029e-05,
  5.82572312e-02, 2.42612735e-02,-2.41497425e-04, 5.49306138e-04,
 -4.89091000e-06, 1.25462369e-06,-9.80999861e+00,-6.49179571e-02,
 -9.14927092e-03,-5.58245760e-03]


--- Step 1228 ---
qpos:
[ 0.00986342, 0.00806637,-0.00561516, 0.03347129, 0.00412743,-0.00228005,
 -0.00956166, 0.03809591, 0.01307841, 0.00590424,-0.01171267, 0.03407091,
  0.84376408,-0.01793047, 1.14889227, 0.04615894, 0.09308912,-0.0657418 ,
  0.14232361, 0.9461056 ,-0.03306989, 0.03086353, 0.32068367]

qacc:
[-1.50351949e+00,-1.29420695e+00, 4.29014758e+00,-4.91127530e+00,
 -2.72046808e+01,-3.13641820e-01,-2.29409359e+01, 8.96415792e+01,
 -6.57977509e-01, 3.53805281e-01, 2.89162273e-02,-2.96178818e+00,
 -5.28408351e+00,-3.61763952e+01,-2.34399591e+02, 6.47043478e+02,
 -8.88511445e-01, 1.17981731e+00,-1.08722500e-01,-2.97445686e+01,
 -1.29957878e+00,-3.66134072e+01]

qfrc_actuator:
[ 1.92419901e-06, 2.15373084e-04, 4.40054952e-05, 8.20667066e-05,
 -5.97277012e-04, 5.19371229e-03, 2.69217004e-03, 1.04158288e-03,
 -2.46823203e-05, 1.27605578e-04,-3.41110804e-05, 2.77243640e-05,
  4.70356928e-02, 2.20396311e-02, 1.17234472e-03,-2.23713199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20932136,  0.06031348,  0.2004438 ,  0.06031348,  0.54854094,
       -0.10207107,  0.2004438 , -0.10207107,  0.24003452,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0897737921400525e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97171555, -0.23548576,  0.01775788, -0.23544645,  0.9718778 ,
        0.00430273, -0.01827172,  0.        , -0.99983306])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12815265, -0.08282373,  0.11172585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12254991, -0.11116058,  1.11703251, -0.11116058,  5.93459295,
        0.47886653,  1.11703251,  0.47886653,  1.17020392,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003192090562241078
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11418310e-01, -8.41412824e-01, -1.74573112e-01, -9.06722292e-02,
       -1.49178813e-01,  9.84644214e-01, -8.54534879e-01,  5.19394013e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.104267  , -0.03791465,  0.30479292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.2445832 , -6.40146798,  9.24455834, -6.40146798, 20.30925275,
        6.27690256,  9.24455834,  6.27690256, 15.59107432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005020072494318628
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.87447674e-14, -1.10578386e-13,  1.00000000e+00,  6.49590154e-27,
        1.00000000e+00,  1.10578386e-13, -1.00000000e+00,  0.00000000e+00,
        5.87447674e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08419384, -0.11066514,  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:
[-8.91052839e-06,-1.38622751e-05, 1.75157406e-05,-5.06686980e-07,
 -1.16698972e-03, 7.75286386e-03, 4.36330399e-03, 1.86044403e-03,
 -3.78652410e-06, 3.51096472e-05, 2.11529920e-06,-6.84603872e-06,
  5.67295139e-02, 2.36211432e-02,-5.31521764e-03, 1.20236329e-03,
 -6.16691071e-05, 2.44936160e-05,-9.80997786e+00,-6.49106810e-02,
 -9.16120694e-03,-5.58155691e-03]


--- Step 1229 ---
qpos:
[ 0.00986375, 0.00806516,-0.00561449, 0.03347239, 0.00413141,-0.00233619,
 -0.00959139, 0.03808626, 0.01307792, 0.0059059 ,-0.01171229, 0.03407055,
  0.84352851,-0.01801107, 1.14902573, 0.04618044, 0.09309586,-0.0657309 ,
  0.14232161, 0.94612198,-0.03311947, 0.03084579, 0.32063193]

qacc:
[ 5.20301242e+00,-1.47518436e+00, 3.01988753e+00, 2.27824215e+00,
 -3.77188286e+01, 5.30529368e-01,-2.42370779e+01, 8.54017130e+01,
 -3.66316036e-01, 4.75494583e-01, 6.50322355e-01,-7.77103690e+00,
 -7.49326147e+00,-3.35865108e+01,-1.94694824e+02, 4.48504875e+02,
 -4.53449518e-01, 8.55516513e-01,-5.79322442e-02,-2.16352270e+01,
  8.04232506e-02,-3.10204899e+01]

qfrc_actuator:
[ 3.25337015e-05, 1.87392550e-04, 7.10895220e-05, 9.90081654e-05,
 -6.11851080e-04, 5.23105681e-03, 2.72409352e-03, 1.05222939e-03,
 -2.66312933e-05, 1.28391977e-04,-5.80423006e-05, 4.49207753e-06,
  4.70501197e-02, 2.20356590e-02, 1.18030062e-03,-2.07699709e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20934305,  0.02373596,  0.20799307,  0.02373596,  0.58943799,
       -0.04337605,  0.20799307, -0.04337605,  0.21429308,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.302013179732955e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97171359, -0.23549132,  0.01779156, -0.23545186,  0.97187645,
        0.004311  , -0.0183064 ,  0.        , -0.99983242])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12816192, -0.0828237 ,  0.11172622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.123172  ,  0.20042998, -1.10514396,  0.20042998,  2.27266635,
        0.20847341, -1.10514396,  0.20847341,  1.16098094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003199174961044728
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11404795e-01, -8.41406580e-01, -1.74642786e-01, -9.07071584e-02,
       -1.49239117e-01,  9.84631859e-01, -8.54539260e-01,  5.19386805e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10427411, -0.03790559,  0.30478946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.26601662,  7.32932821, -8.55593821,  7.32932821, 32.32825277,
       18.0426784 , -8.55593821, 18.0426784 , 26.7220319 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005033311128641305
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.44648569e-15, -1.10287542e-13,  1.00000000e+00,  3.80104435e-28,
        1.00000000e+00,  1.10287542e-13, -1.00000000e+00,  0.00000000e+00,
        3.44648569e-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([ 0.08420361, -0.11065793,  0.06198868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.03524042e-05,-3.21121477e-05, 2.63676102e-05, 1.69439126e-05,
 -1.02617525e-03, 8.00894303e-03, 4.35378921e-03, 1.68356426e-03,
 -2.03897516e-06, 2.05015207e-05,-1.66806662e-05,-2.17926302e-05,
  5.92684346e-02, 2.56521745e-02,-1.30753773e-03,-5.48126273e-04,
 -1.40346186e-07, 5.74279849e-07,-9.80999978e+00,-6.49121165e-02,
 -9.14730016e-03,-5.58184358e-03]


--- Step 1230 ---
qpos:
[ 0.00986375, 0.00806371,-0.00561381, 0.03347406, 0.00414082,-0.00238949,
 -0.00962205, 0.03807168, 0.01307742, 0.00590792,-0.01171253, 0.03406959,
  0.84332141,-0.01808178, 1.14923244, 0.04616885, 0.09310668,-0.06572345,
  0.14231914, 0.94611856,-0.03311764, 0.03084993, 0.3206418 ]

qacc:
[-2.85274266e+00, 8.01903364e-01,-5.68602539e+00, 1.55212528e+01,
  4.76204983e+01,-3.90083771e+00, 4.00819915e+01,-1.26069837e+02,
 -1.98025600e-01, 9.43279441e-01,-5.51736556e-02,-9.88997883e+00,
  1.04151576e+01, 2.06921673e+00, 2.08090387e+02,-5.71332480e+02,
  1.02057091e+00,-8.61978826e-01,-1.18652419e-01, 2.65567579e+01,
  1.39558731e+00, 3.34750546e+01]

qfrc_actuator:
[ 1.49080970e-05, 1.71329712e-04, 6.89695137e-05, 1.26278454e-04,
 -6.19607723e-04, 5.29622794e-03, 2.75494684e-03, 1.07819233e-03,
 -2.75818858e-05, 1.45792196e-04,-9.00871030e-05,-2.67985098e-05,
  4.70700845e-02, 2.21074283e-02, 1.26598876e-03,-1.96089122e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20933395, -0.20702607,  0.03099858, -0.20702607,  0.20773205,
       -0.01069842,  0.03099858, -0.01069842,  0.13788385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2154526327158362e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71740452e-01, -2.35385239e-01,  1.77280611e-02, -2.35346077e-01,
        9.71902150e-01,  4.29356381e-03, -1.82405823e-02, -8.67361738e-19,
       -9.99833627e-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([ 0.12817047, -0.08282252,  0.11172543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12643861, -0.41093274, -1.048808  , -0.41093274,  2.91981146,
       -0.70266018, -1.048808  , -0.70266018,  1.40174742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003236005136170116
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11477115e-01, -8.41340715e-01, -1.74748281e-01, -9.07765121e-02,
       -1.49320416e-01,  9.84613141e-01, -8.54488611e-01,  5.19470128e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1042786 , -0.03788742,  0.30477728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.27286467, -6.27906788,  9.36219976, -6.27906788, 20.92397891,
        6.4728379 ,  9.36219976,  6.4728379 , 15.61408678,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000503753851651606
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.05126515, -0.06242546,  0.06198867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67709242e-05,-2.78046690e-05,-4.91719123e-06, 2.71337023e-05,
 -8.18812322e-04, 8.28919561e-03, 4.36954937e-03, 1.54015269e-03,
 -9.94244812e-07, 2.44193804e-05,-3.06419837e-05,-3.14170548e-05,
  6.19073447e-02, 2.77394066e-02, 4.17437788e-03,-1.00629834e-03,
 -3.91716830e-05, 1.71278405e-05,-9.80997968e+00,-6.49186427e-02,
 -9.15697373e-03,-5.58313323e-03]


--- Step 1231 ---
qpos:
[ 0.00986389, 0.00806231,-0.00561354, 0.03347568, 0.00415478,-0.00245036,
 -0.00966081, 0.03805132, 0.0130769 , 0.00591025,-0.01171292, 0.03406857,
  0.84315087,-0.01813338, 1.14954316, 0.04615024, 0.09312017,-0.06571809,
  0.14231658, 0.94609686,-0.03307612, 0.03086724, 0.32070845]

qacc:
[ 1.16075368e+00, 1.10618791e+00,-3.68575238e+00, 3.59786406e+00,
  3.97400630e+01, 6.70659198e-01, 7.29852696e+00,-8.84194236e+01,
 -7.46483933e-02, 7.19370895e-01,-1.80635344e+00, 1.04592950e+00,
  1.05359467e+01, 1.05592410e+01, 1.74763261e+02,-3.88463812e+02,
  6.66673123e-01,-5.24660263e-01,-2.37401320e-02, 1.97015854e+01,
 -7.93147820e-01, 3.06180682e+01]

qfrc_actuator:
[ 2.22789810e-05, 1.80174013e-04, 4.96672552e-05, 1.23886398e-04,
 -6.13531700e-04, 5.37269351e-03, 2.78628215e-03, 1.10257199e-03,
 -2.79377859e-05, 1.72952911e-04,-9.10955763e-05,-2.70630155e-05,
  4.70826557e-02, 2.22083361e-02, 1.26872298e-03,-1.86673326e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20937275, -0.20878574,  0.01566716, -0.20878574,  0.20870444,
       -0.00890607,  0.01566716, -0.00890607,  0.09068756,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.564194135919835e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9706599 , -0.23978794,  0.01791902, -0.2397471 ,  0.97082529,
        0.00442589, -0.01845751,  0.        , -0.99982965])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12819368, -0.08287504,  0.11172767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12592979, -0.05842982,  1.12441266, -0.05842982,  2.02591143,
        0.04676732,  1.12441266,  0.04676732,  1.12836004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003230308613765966
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11458893e-01, -8.41327369e-01, -1.74865829e-01, -9.08362638e-02,
       -1.49421656e-01,  9.84592272e-01, -8.54493168e-01,  5.19462632e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10428715, -0.03787768,  0.30477653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.30607578,  5.62426704, -9.80790344,  5.62426704, 40.08345301,
       16.50216636, -9.80790344, 16.50216636, 20.76911658,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005058023920126026
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09748693e-13, -2.19497385e-13,  1.00000000e+00,  2.40895510e-26,
        1.00000000e+00,  2.19497385e-13, -1.00000000e+00,  0.00000000e+00,
        1.09748693e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05127597, -0.06241873,  0.06198862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.88602012e-06,-6.52223718e-06,-2.47065495e-05,-3.22686486e-06,
 -1.08418595e-03, 8.22551780e-03, 4.44843288e-03, 1.81197483e-03,
 -3.67108000e-07, 3.30699994e-05,-8.44779381e-07,-8.91557260e-07,
  6.04948417e-02, 2.73461040e-02, 5.11064033e-04, 7.42040448e-04,
 -6.70510853e-07, 1.99995237e-07,-9.81000006e+00,-6.49180453e-02,
 -9.14728786e-03,-5.58346943e-03]


--- Step 1232 ---
qpos:
[ 0.0098648 , 0.0080613 ,-0.00561364, 0.03347618, 0.0041645 ,-0.00251455,
 -0.00969883, 0.038035  , 0.01307639, 0.0059122 ,-0.01171251, 0.03406792,
  0.84293657,-0.01821907, 1.14977099, 0.04616758, 0.09313007,-0.06570858,
  0.14231396, 0.94609811,-0.03309103, 0.03086055, 0.32070387]

qacc:
[ 6.79679957e+00,-7.52968908e-01, 8.17942301e+00,-2.73209801e+01,
 -3.70524436e+01, 1.92499206e+00,-3.00942047e+01, 1.00915486e+02,
  3.41964223e-02,-1.96487078e+00, 4.75075338e+00, 6.13692008e-01,
 -4.73505072e+00,-3.03651486e+01,-2.31628535e+02, 6.31567226e+02,
 -8.96746933e-01, 1.03800283e+00,-1.45099872e-02,-2.90612164e+01,
 -1.48327552e+00,-3.86387051e+01]

qfrc_actuator:
[ 6.20711805e-05, 2.21519173e-04, 3.82182744e-05, 6.85678568e-05,
 -6.00436305e-04, 5.41195708e-03, 2.78993596e-03, 1.14655292e-03,
 -2.79412296e-05, 1.34884878e-04,-5.59487027e-05,-9.03613233e-06,
  4.70943635e-02, 2.22425594e-02, 1.20563012e-03,-1.90510830e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20945572,  0.07720837,  0.19470636,  0.07720837,  0.58541237,
       -0.14908089,  0.19470636, -0.14908089,  0.26857188,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.184123092617075e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97064925, -0.23981937,  0.01807498, -0.2397778 ,  0.97081753,
        0.00446503, -0.01861831,  0.        , -0.99982666])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12820596, -0.08287508,  0.11172948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12297861, -0.1052442 ,  1.11803605, -0.1052442 ,  6.28645738,
        0.48605428,  1.11803605,  0.48605428,  1.16873241,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031969750264668965
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11353732e-01, -8.41368601e-01, -1.74974963e-01, -9.08760561e-02,
       -1.49525183e-01,  9.84572883e-01, -8.54551873e-01,  5.19366053e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10429869, -0.03787548,  0.30478362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.36957742, -6.46828399,  9.35032582, -6.46828399, 20.1921352 ,
        6.10318939,  9.35032582,  6.10318939, 15.59158668,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005097119906441322
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12310237e-13, -1.08906897e-13,  1.00000000e+00,  1.22313595e-26,
        1.00000000e+00,  1.08906897e-13, -1.00000000e+00,  0.00000000e+00,
        1.12310237e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0842369 , -0.11063216,  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:
[ 3.99910876e-05, 3.25020743e-05,-1.59417275e-05,-5.65170810e-05,
 -1.29797188e-03, 8.64597144e-03, 4.85794819e-03, 2.14448801e-03,
  4.49365835e-09,-1.98669041e-05, 4.18220773e-05, 1.93953322e-05,
  5.86768194e-02, 2.64259015e-02,-4.75637298e-03, 1.05310282e-03,
 -4.72457787e-05, 1.95321582e-05,-9.80998503e+00,-6.49121530e-02,
 -9.15675574e-03,-5.58268829e-03]


--- Step 1233 ---
qpos:
[ 0.00986584, 0.00806043,-0.00561356, 0.03347636, 0.00416874,-0.00258164,
 -0.00973703, 0.03802222, 0.01307622, 0.00591337,-0.0117114 , 0.03406756,
  0.84267577,-0.01833849, 1.14988692, 0.04619189, 0.09313821,-0.06569619,
  0.14231145, 0.94611882,-0.03314709, 0.03083844, 0.32063912]

qacc:
[ 1.10115751e+00,-9.86213987e-01, 5.13253309e+00,-1.11261918e+01,
 -4.80905405e+01, 4.06117516e+00,-3.48852473e+01, 9.85771326e+01,
  3.10942907e+00,-2.43635749e+00, 5.95811704e+00,-1.57618374e+00,
 -7.67190338e+00,-2.71394329e+01,-1.86711691e+02, 4.12465923e+02,
 -4.39736884e-01, 7.21374079e-01, 2.85366652e-02,-2.06868429e+01,
  3.30682465e-03,-3.24742488e+01]

qfrc_actuator:
[ 6.73618177e-05, 2.28734774e-04, 4.93661391e-05, 5.36047323e-05,
 -6.29437959e-04, 5.46317653e-03, 2.78914187e-03, 1.19480758e-03,
 -9.98526287e-06, 5.82216196e-05,-3.55064448e-05, 1.81736194e-06,
  4.71167921e-02, 2.23355724e-02, 1.15339660e-03,-1.99213892e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20948162,  0.03733475,  0.20612779,  0.03733475,  0.65799238,
       -0.08123619,  0.20612779, -0.08123619,  0.22419547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.3541431513757163e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97066521, -0.23975376,  0.01808823, -0.23971214,  0.97083373,
        0.00446701, -0.01863165,  0.        , -0.99982642])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12821702, -0.08287423,  0.11172959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12375927,  0.19828994, -1.10612657,  0.19828994,  2.28540287,
        0.20824221, -1.10612657,  0.20824221,  1.16108984,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003205841837621955
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11353708e-01, -8.41343657e-01, -1.75094937e-01, -9.09403322e-02,
       -1.49626512e-01,  9.84551554e-01, -8.54545050e-01,  5.19377279e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1043066 , -0.03786336,  0.30477867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.39776743,  7.27288015, -8.77578012,  7.27288015, 29.56526611,
       15.05621595, -8.77578012, 15.05621595, 23.8755247 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005114445609017831
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.42689819e-14,  8.14034728e-14,  1.00000000e+00, -4.41768359e-27,
        1.00000000e+00, -8.14034728e-14, -1.00000000e+00,  0.00000000e+00,
        5.42689819e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08424834, -0.11062354,  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:
[ 6.44751020e-06, 1.97236129e-05, 1.39519528e-05,-1.52223973e-05,
 -1.11564076e-03, 8.86568411e-03, 4.82159718e-03, 1.99161395e-03,
  1.79531614e-05,-7.83788804e-05, 2.21340267e-05, 1.18226516e-05,
  6.08869429e-02, 2.82249785e-02,-6.69856954e-04,-8.32315252e-04,
 -1.62809994e-06, 1.13357146e-06,-9.80999832e+00,-6.49144213e-02,
 -9.14713153e-03,-5.58295201e-03]


--- Step 1234 ---
qpos:
[ 0.00986659, 0.00805944,-0.00561296, 0.03347636, 0.00417914,-0.00264494,
 -0.00977461, 0.03800514, 0.01307662, 0.00591419,-0.01170987, 0.0340673 ,
  0.84244687,-0.01844388, 1.15007232, 0.04617807, 0.09315032,-0.06568766,
  0.14230869, 0.94611884,-0.03314948, 0.03083998, 0.32063866]

qacc:
[-2.51798175e+00,-1.96770756e+00, 7.53932572e+00,-1.13104123e+01,
  5.40291098e+01,-5.68981698e+00, 4.55438795e+01,-1.23597985e+02,
  4.95499771e+00,-1.41412334e+00, 3.94938195e+00,-2.65444457e+00,
  1.00796924e+01, 6.32640150e+00, 2.17762030e+02,-6.13117455e+02,
  9.90348829e-01,-9.65263181e-01,-6.46258070e-02, 2.78477166e+01,
  1.83637844e+00, 3.49489169e+01]

qfrc_actuator:
[ 5.22924290e-05, 2.15583730e-04, 7.36735656e-05, 4.47522216e-05,
 -6.63002108e-04, 5.54024408e-03, 2.83955979e-03, 1.17348187e-03,
  1.83970837e-05, 6.54909714e-05,-6.35687071e-06, 8.30416369e-06,
  4.71474746e-02, 2.24771356e-02, 1.10794835e-03,-2.12926535e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20945989, -0.20885475,  0.0159103 , -0.20885475,  0.20931343,
       -0.00192253,  0.0159103 , -0.00192253,  0.18422274,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.212062523041816e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70703447e-01, -2.39605248e-01,  1.80039542e-02, -2.39564046e-01,
        9.70870396e-01,  4.44327267e-03, -1.85441376e-02, -8.67361738e-19,
       -9.99828043e-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([ 0.12822729, -0.08287258,  0.11172856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12704891, -0.50930625, -1.00540856, -0.50930625,  2.61827364,
       -0.75540443, -1.00540856, -0.75540443,  1.50971145,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003242818300141122
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11445111e-01, -8.41257858e-01, -1.75240165e-01, -9.10344180e-02,
       -1.49739274e-01,  9.84525716e-01, -8.54480329e-01,  5.19483750e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10431186, -0.03784286,  0.30476582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.46174932, -6.39247451,  9.51356753, -6.39247451, 20.48350617,
        6.06201097,  9.51356753,  6.06201097, 15.53501105,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000515370309686361
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15422387e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.15422387e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05131479, -0.06239511,  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:
[-1.48760872e-05, 1.37582581e-07, 2.95809855e-05,-7.81993660e-06,
 -8.75249946e-04, 9.09117027e-03, 4.88234623e-03, 1.79301292e-03,
  2.88686709e-05,-3.15304569e-05, 1.60681574e-05, 4.11884349e-06,
  6.32429599e-02, 3.00559716e-02, 4.87611727e-03,-1.31850930e-03,
 -5.69128759e-05, 2.34210676e-05,-9.80997381e+00,-6.49215876e-02,
 -9.16066649e-03,-5.58415001e-03]


--- Step 1235 ---
qpos:
[ 0.00986681, 0.00805876,-0.00561251, 0.03347624, 0.00419321,-0.002716  ,
 -0.00982019, 0.03798237, 0.01307735, 0.00591502,-0.01170817, 0.03406708,
  0.84225779,-0.01852638, 1.15035971, 0.04615214, 0.09316503,-0.06568163,
  0.14230598, 0.94609997,-0.03311002, 0.03085624, 0.32069686]

qacc:
[-4.67407558e+00, 5.76613504e-01,-9.75712407e-01,-1.00666865e+00,
  3.20749277e+01, 3.25036302e-01, 7.88506829e+00,-8.77856207e+01,
  2.96982461e+00,-3.88460918e-01, 1.20231484e+00,-6.59223014e-01,
  1.02153649e+01, 1.45219566e+01, 1.87308805e+02,-4.36498475e+02,
  6.52863593e-01,-6.24547716e-01, 1.57824188e-02, 2.09361918e+01,
 -4.30573402e-01, 3.16639397e+01]

qfrc_actuator:
[ 2.53711360e-05, 2.43662327e-04, 6.99521175e-05, 3.95449887e-05,
 -7.08746691e-04, 5.60952855e-03, 2.86671500e-03, 1.17010014e-03,
  3.49310869e-05, 8.74870998e-05, 1.02775215e-05, 1.22444828e-05,
  4.71670757e-02, 2.25780686e-02, 1.09688219e-03,-2.27190919e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20951257, -0.20908907,  0.01331463, -0.20908907,  0.20903778,
       -0.0074559 ,  0.01331463, -0.0074559 ,  0.09242722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.546601609071684e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97071777, -0.23954258,  0.01806562, -0.23950111,  0.97088586,
        0.00445725, -0.01860735,  0.        , -0.99982687])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12823868, -0.08287166,  0.11172925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12641138, -0.0548388 ,  1.12507568, -0.0548388 ,  2.03102013,
        0.04409273,  1.12507568,  0.04409273,  1.12856056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003235700610885445
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11442427e-01, -8.41227273e-01, -1.75394752e-01, -9.11167932e-02,
       -1.49870108e-01,  9.84498187e-01, -8.54473156e-01,  5.19495549e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10432118, -0.03783127,  0.30476502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.50627509,  5.86341667, -9.90023795,  5.86341667, 34.26418107,
       13.47837154, -9.90023795, 13.47837154, 19.48884166,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005180970486376862
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14288622e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.14288622e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05132793, -0.06238694,  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:
[-2.73434162e-05, 3.39520553e-05,-3.15832488e-07,-4.32870696e-06,
 -1.22876896e-03, 8.97357186e-03, 4.87956324e-03, 2.00508655e-03,
  1.73468463e-05, 7.82422335e-06, 1.22155223e-05, 3.21947284e-06,
  6.16658138e-02, 2.94573805e-02, 1.38913234e-03, 4.44201812e-04,
 -1.25103461e-09, 2.94916807e-08,-9.80999994e+00,-6.49220766e-02,
 -9.14706412e-03,-5.58450537e-03]


--- Step 1236 ---
qpos:
[ 0.00986636, 0.00805874,-0.00561259, 0.03347639, 0.00420536,-0.00278987,
 -0.00986571, 0.03796157, 0.01307794, 0.00591581,-0.01170681, 0.03406695,
  0.84204575,-0.01861148, 1.15066718, 0.04614242, 0.09317737,-0.06567512,
  0.14230534, 0.94608523,-0.03308857, 0.03087675, 0.32074055]

qacc:
[ -5.90465801,  2.94191598,-10.30066173, 15.2121647 ,-16.7863567 ,
   0.21385968,-14.43474039, 50.50174529, -1.34711424,  1.0919702 ,
  -4.36767963,  6.55049784,-16.02861248, 11.94019185,-18.54274555,
 109.58019847, -0.59416373,  0.11660483,  0.51440349, -7.546717  ,
   5.07872968, -7.73050346]

qfrc_actuator:
[-8.30318808e-06, 2.96105674e-04, 4.98703260e-05, 5.42869728e-05,
 -7.44018682e-04, 5.66642662e-03, 2.88828711e-03, 1.21610048e-03,
  2.66031380e-05, 6.48369166e-05,-1.60366129e-05, 1.46669419e-05,
  4.71888197e-02, 2.26578897e-02, 1.11167004e-03,-2.23334203e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2096105 , -0.20900761,  0.01588646, -0.20900761,  0.20994467,
        0.0043964 ,  0.01588646,  0.0043964 ,  0.26745101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.096180162289106e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70711057e-01, -2.39559150e-01,  1.82059622e-02, -2.39517027e-01,
        9.70881771e-01,  4.49221002e-03, -1.87519868e-02,  1.73472348e-18,
       -9.99824166e-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([ 0.1282525 , -0.08287157,  0.11173087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1231874 ,  0.34058715, -1.07030385,  0.34058715,  5.92307887,
        1.5273993 , -1.07030385,  1.5273993 ,  1.60922936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003199350078120632
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11350604e-01, -8.41253316e-01, -1.75537513e-01, -9.11769409e-02,
       -1.50000612e-01,  9.84472743e-01, -8.54521694e-01,  5.19415706e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1043335 , -0.0378277 ,  0.30477266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.50548088, -6.68157514,  9.36657055, -6.68157514, 24.30379722,
        9.1295861 ,  9.36657055,  9.1295861 , 18.01800488,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005180484480995681
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.25026848e-07, -8.07110953e-07,  1.00000000e+00, -5.85177110e-13,
        1.00000000e+00,  8.07110953e-07, -1.00000000e+00,  1.00974196e-28,
       -7.25026848e-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([ 0.06734494, -0.08550721,  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:
[-3.44395752e-05, 7.11883220e-05,-1.32533611e-05, 1.61035683e-05,
 -1.44729472e-03, 9.42164441e-03, 5.30258449e-03, 2.33603470e-03,
 -7.82843200e-06,-1.56548737e-05,-2.31111221e-05, 3.23729765e-06,
  5.96955796e-02, 2.83932714e-02,-3.69918741e-03, 1.08755775e-03,
 -3.81497767e-05, 1.55732633e-05,-9.80998662e+00,-6.49164724e-02,
 -9.15499542e-03,-5.58372857e-03]


--- Step 1237 ---
qpos:
[ 0.00986551, 0.00805916,-0.00561286, 0.03347673, 0.00421273,-0.00286795,
 -0.00990957, 0.03794523, 0.01307876, 0.00591676,-0.01170587, 0.03406684,
  0.84179716,-0.01872279, 1.150872  , 0.04615458, 0.09318663,-0.06566491,
  0.14230449, 0.94609233,-0.03311787, 0.03087327, 0.32071693]

qacc:
[-3.52498989e+00, 1.46836182e+00,-5.15828460e+00, 8.25521434e+00,
 -4.18270870e+01,-9.51069654e-01,-2.33138199e+01, 1.00626465e+02,
  2.10101803e+00, 1.40895582e+00,-4.75506316e+00, 5.47103257e+00,
 -4.74827264e+00,-2.28348833e+01,-2.18174890e+02, 5.42335420e+02,
 -7.69768044e-01, 9.28253617e-01,-4.98786703e-02,-2.64522688e+01,
 -2.43099349e+00,-3.65237091e+01]

qfrc_actuator:
[-2.79259543e-05, 3.09423911e-04, 3.81769523e-05, 6.29136455e-05,
 -7.51138693e-04, 5.69629952e-03, 2.95491002e-03, 1.21533041e-03,
  3.92175266e-05, 8.64641086e-05,-3.21639273e-05, 1.61145913e-05,
  4.72213900e-02, 2.27591290e-02, 1.07110828e-03,-2.42906784e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20966183,  0.18998603, -0.08867577,  0.18998603,  0.3027743 ,
        0.19949158, -0.08867577,  0.19949158,  0.63706851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.356494792915296e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9709864 , -0.2383698 ,  0.01911167, -0.23832364,  0.97117446,
        0.00469086, -0.01967893,  0.        , -0.99980635])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12826202, -0.08285732,  0.11174169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12257866,  0.09161947, -1.11883364,  0.09161947,  7.08553258,
        0.48829662, -1.11883364,  0.48829662,  1.16256448,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031924184620278
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11282034e-01, -8.41266247e-01, -1.75675221e-01, -9.12385092e-02,
       -1.50124341e-01,  9.84448179e-01, -8.54556151e-01,  5.19359013e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10434483, -0.03782005,  0.3047747 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.5300845 ,  6.69819484, -9.38493658,  6.69819484, 26.24143714,
       10.49975196, -9.38493658, 10.49975196, 19.02394275,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005195534196245355
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06843972e-13, -1.60265959e-13,  1.00000000e+00,  1.71234517e-26,
        1.00000000e+00,  1.60265959e-13, -1.00000000e+00,  0.00000000e+00,
        1.06843972e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08429659, -0.11058656,  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:
[-2.05791387e-05, 5.10702551e-05, 1.93908200e-06, 1.15334694e-05,
 -1.35857699e-03, 9.59555264e-03, 5.36781225e-03, 2.23690381e-03,
  1.23910710e-05, 8.19276155e-06,-2.21195205e-05, 3.60958413e-08,
  6.08735710e-02, 2.86252035e-02,-4.75026844e-03, 8.01807959e-05,
 -1.92797758e-05, 4.67474831e-06,-9.80999666e+00,-6.49116037e-02,
 -9.14891386e-03,-5.58451226e-03]


--- Step 1238 ---
qpos:
[ 0.00986478, 0.00805965,-0.00561282, 0.03347717, 0.00420963,-0.00292966,
 -0.00994054, 0.03793325, 0.01307973, 0.00591841,-0.0117057 , 0.0340667 ,
  0.84172874,-0.01869625, 1.15104781, 0.04615149, 0.09319088,-0.06566132,
  0.14230512, 0.94610501,-0.03311888, 0.03084659, 0.320682  ]

qacc:
[ 1.02858228e+00,-5.21918383e-01, 1.51545657e+00,-8.35916506e-02,
 -9.18447535e+01,-5.21350057e+00, 3.18194929e+01, 1.08831092e+01,
  1.23356442e+00, 3.02490384e+00,-9.33866612e+00, 9.59837576e+00,
  4.41374026e+01, 9.06380085e+01, 3.30192422e+00,-7.36682862e+01,
 -1.25124845e+00,-1.65542910e+00, 3.68193903e-01, 9.93318571e+00,
 -1.54144901e+01,-6.19457847e+00]

qfrc_actuator:
[-2.13667491e-05, 2.99235872e-04, 4.91316254e-05, 6.78484402e-05,
 -7.73246657e-04, 5.76572668e-03, 3.02918416e-03, 1.21873592e-03,
  4.63127685e-05, 1.52219715e-04,-5.97157374e-05, 1.70240857e-05,
  4.72358786e-02, 2.28801256e-02, 1.05559286e-03,-2.49347847e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20962451,  0.07096599,  0.19724671,  0.07096599,  0.49524095,
       -0.10275991,  0.19724671, -0.10275991,  0.24659577,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.168872626365479e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97103584, -0.23817274,  0.0190564 , -0.23812689,  0.97122281,
        0.0046732 , -0.01962104,  0.        , -0.99980749])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12827386, -0.08285513,  0.11174101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12498484,  0.29974394,  1.08431751,  0.29974394,  5.89317249,
       -1.3180967 ,  1.08431751, -1.3180967 ,  1.48935366,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003219690315327707
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5113129 , -0.84121704, -0.17582094, -0.09132211, -0.15024404,
        0.98442216, -0.85452875,  0.51940409,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10435261, -0.03780373,  0.30476668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.5254532 ,  2.71248662, 11.20171807,  2.71248662, 20.58404661,
       -2.19353079, 11.20171807, -2.19353079, 12.05661484,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000519270224361408
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11571390e-06, -1.11571383e-06,  1.00000000e+00,  1.24481742e-12,
        1.00000000e+00,  1.11571383e-06, -1.00000000e+00,  0.00000000e+00,
        1.11571390e-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([ 0.09448178, -0.05241215,  0.06198832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.98905946e-06, 1.92483956e-05, 2.21410658e-05, 7.41474732e-06,
 -1.14187599e-03, 9.87840330e-03, 5.36051709e-03, 2.01804257e-03,
  7.45515409e-06, 6.57313173e-05,-2.86042358e-05, 4.91659647e-07,
  6.27163169e-02, 3.00597258e-02, 3.62197853e-04,-1.07914928e-03,
 -9.20517795e-06, 5.87438840e-06,-9.80999284e+00,-6.49171743e-02,
 -9.14654901e-03,-5.58622510e-03]


--- Step 1239 ---
qpos:
[ 0.00986413, 0.0080604 ,-0.00561297, 0.03347734, 0.0042149 ,-0.00298112,
 -0.00996981, 0.037918  , 0.01308077, 0.00592067,-0.01170594, 0.03406689,
  0.84167847,-0.01865981, 1.15131108, 0.04612769, 0.09319911,-0.06565996,
  0.14230524, 0.94609985,-0.03307953, 0.03084014, 0.3207019 ]

qacc:
[ 7.26727009e-01, 2.77628993e-01, 7.08064950e-01,-5.47836583e+00,
  7.33478302e+01, 1.87723544e+00, 2.65747528e+01,-9.34166686e+01,
  6.60591156e-01, 2.65274904e+00,-9.71600670e+00, 1.58148677e+01,
  2.52924437e+00, 9.08940212e+00, 1.92002768e+02,-4.83764747e+02,
  9.94161860e-01,-5.58619724e-01,-1.26777783e-01, 2.11897538e+01,
  2.46354661e+00, 2.97562259e+01]

qfrc_actuator:
[-1.72073724e-05, 3.10636994e-04, 3.77552414e-05, 5.28105116e-05,
 -7.78989561e-04, 5.83999985e-03, 3.07840321e-03, 1.24069789e-03,
  5.00965603e-05, 1.90595389e-04,-7.58491656e-05, 3.53956151e-05,
  4.72266535e-02, 2.28594005e-02, 1.05749782e-03,-2.36197214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20953682, -0.20909777, -0.01355736, -0.20909777,  0.21264716,
       -0.04797126, -0.01355736, -0.04797126,  0.94940655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.690386071732904e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71068823e-01, -2.38049687e-01,  1.89126315e-02, -2.38004551e-01,
        9.71252978e-01,  4.63539995e-03, -1.94724051e-02,  8.67361738e-19,
       -9.99810395e-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([ 0.12828217, -0.08285399,  0.11173929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12191225, -1.01377955,  0.48056023, -1.01377955,  1.52024887,
        0.84032239,  0.48056023,  0.84032239,  2.89463836,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031848051246862407
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51136661, -0.84119751, -0.17575819, -0.09129807, -0.15018523,
        0.98443337, -0.85449918,  0.51945274,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.104359  , -0.03780689,  0.30477513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.53690781,  -9.93924497,  -5.85761481,  -9.93924497,
        20.07613687, -14.48942825,  -5.85761481, -14.48942825,
        36.12267891,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005199705714575564
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06758256e-13, -3.20274767e-13,  1.00000000e+00,  3.41919755e-26,
        1.00000000e+00,  3.20274767e-13, -1.00000000e+00,  0.00000000e+00,
        1.06758256e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05136611, -0.06235983,  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:
[ 4.33385062e-06, 2.70415542e-05,-4.42340913e-06,-1.33049994e-05,
 -6.24072893e-04, 9.13700384e-03, 4.76636770e-03, 1.82161690e-03,
  4.02514165e-06, 6.91897947e-05,-6.08233998e-06, 2.02043854e-05,
  5.37001638e-02, 2.31477923e-02, 1.81509238e-03,-1.85278827e-04,
 -7.37564539e-06,-5.00370063e-07,-9.81000104e+00,-6.49155040e-02,
 -9.14848650e-03,-5.58315491e-03]


--- Step 1240 ---
qpos:
[ 0.00986388, 0.0080615 ,-0.00561385, 0.03347735, 0.00421643,-0.00303622,
 -0.01000023, 0.03790634, 0.01308185, 0.00592288,-0.01170583, 0.03406769,
  0.84156991,-0.01866242, 1.15149487, 0.04613637, 0.09320486,-0.06565389,
  0.14230507, 0.94611291,-0.03309353, 0.03081592, 0.32066423]

qacc:
[ 3.47996230e+00, 2.18650245e+00,-6.51912133e+00, 4.83763249e+00,
 -3.28043134e+01, 5.91567524e+00,-4.31836209e+01, 1.10022771e+02,
  3.45758443e-01, 1.80283155e-01,-3.29055119e+00, 1.31473354e+01,
 -1.30520625e+01,-2.73553200e+01,-2.15762313e+02, 5.84093619e+02,
 -6.20862989e-01, 1.17885309e+00,-7.37993302e-02,-2.68960171e+01,
  8.25396246e-01,-3.12684937e+01]

qfrc_actuator:
[ 3.25048975e-06, 3.17014033e-04,-4.41015009e-06, 4.38907703e-05,
 -7.54055705e-04, 5.91675387e-03, 3.11861929e-03, 1.24419742e-03,
  5.19023686e-05, 1.59085761e-04,-6.74365574e-05, 6.38870937e-05,
  4.72325995e-02, 2.28264496e-02, 1.00716012e-03,-2.31438270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20955544,  0.13386474,  0.16122567,  0.13386474,  0.39720058,
       -0.15580066,  0.16122567, -0.15580066,  0.33891583,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.797068147314943e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71086470e-01, -2.37977043e-01,  1.89207336e-02, -2.37931884e-01,
        9.71270780e-01,  4.63588561e-03, -1.94803900e-02, -8.67361738e-19,
       -9.99810239e-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([ 0.12829089, -0.08285309,  0.11173936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11718637, -0.13055764,  1.10953148, -0.13055764,  4.05704248,
        0.34593041,  1.10953148,  0.34593041,  1.15789171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031300416829148695
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51133901, -0.84122571, -0.17570353, -0.09126385, -0.15014207,
        0.98444313, -0.85451936,  0.51941955,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10436802, -0.03781522,  0.30478944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.57037071, -6.50276785,  9.57013525, -6.50276785, 22.56808934,
        7.47279002,  9.57013525,  7.47279002, 16.64802296,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005220150065342877
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59510217e-13, -7.97551084e-14,  1.00000000e+00,  1.27217546e-26,
        1.00000000e+00,  7.97551084e-14, -1.00000000e+00,  0.00000000e+00,
        1.59510217e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0843202 , -0.11056616,  0.06198826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05892233e-05, 1.99924956e-05,-3.75917652e-05,-8.17475200e-06,
 -1.01738936e-03, 8.70368454e-03, 4.72238087e-03, 1.98960591e-03,
  1.95074769e-06, 6.71604186e-06, 2.26311222e-05, 3.16343515e-05,
  5.27979539e-02, 2.26190390e-02,-2.61258316e-03, 8.96725015e-04,
 -8.16000718e-06, 9.72441541e-06,-9.80998701e+00,-6.49153719e-02,
 -9.15213762e-03,-5.58018568e-03]


--- Step 1241 ---
qpos:
[ 0.00986388, 0.00806237,-0.00561474, 0.03347728, 0.00421625,-0.00309085,
 -0.01002856, 0.03789674, 0.0130826 , 0.00592511,-0.01170558, 0.03406848,
  0.84141779,-0.01868151, 1.15167268, 0.04613516, 0.09321094,-0.06564799,
  0.1423064 , 0.94612611,-0.03311195, 0.03080728, 0.32062421]

qacc:
[ 2.17535407e+00,-4.52230486e-01, 1.53728569e+00,-2.82185559e+00,
 -1.48997572e+01,-9.89791560e-01,-4.14788504e+00, 3.57734082e+01,
 -2.91240919e+00,-3.75758038e-01, 1.42885807e+00,-1.80671612e+00,
 -2.28692483e+01, 5.15487080e+00, 2.19724193e+01,-8.79016764e+01,
  8.44656932e-02,-4.31147618e-02, 3.75156159e-01, 4.47740790e-01,
  8.10981156e+00,-9.46743998e-01]

qfrc_actuator:
[ 1.53853379e-05, 2.84693768e-04,-1.11629409e-05, 3.86247393e-05,
 -7.19711223e-04, 5.96927406e-03, 3.17336437e-03, 1.28429734e-03,
  3.47774974e-05, 1.57087543e-04,-6.26400852e-05, 6.25510004e-05,
  4.72432236e-02, 2.28311536e-02, 1.01723902e-03,-2.20227055e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20951907,  0.02416778,  0.20812054,  0.02416778,  0.4877821 ,
       -0.03231301,  0.20812054, -0.03231301,  0.21327138,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.5857012012742965e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71118707e-01, -2.37852909e-01,  1.88268422e-02, -2.37808224e-01,
        9.71301186e-01,  4.61033020e-03, -1.93831146e-02,  8.67361738e-19,
       -9.99812130e-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([ 0.12829905, -0.08285177,  0.11173823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11685062, -0.59380459,  0.94591301, -0.59380459,  3.78994512,
        1.67805683,  0.94591301,  1.67805683,  2.17026446,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003126098260377275
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11394663e-01, -8.41196444e-01, -1.75681648e-01, -9.12620531e-02,
       -1.50117551e-01,  9.84447032e-01, -8.54486241e-01,  5.19474026e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10437326, -0.03781181,  0.30478977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.56814122, -6.16891496,  9.78602982, -6.16891496, 26.06131802,
        9.13620507,  9.78602982,  9.13620507, 17.32741983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005218788642897092
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.19301729e-07,  2.97289930e-13,  1.00000000e+00, -1.84112167e-19,
        1.00000000e+00, -2.97289930e-13, -1.00000000e+00,  0.00000000e+00,
        6.19301729e-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([ 0.0673445 , -0.08570455,  0.06198826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27276998e-05,-2.92771612e-05,-7.53902180e-06,-5.87038937e-06,
 -7.96134475e-04, 8.94034388e-03, 4.83595209e-03, 1.84948552e-03,
 -1.70620565e-05, 7.70898839e-06, 1.00379373e-05, 3.43588833e-07,
  5.57228085e-02, 2.45761201e-02, 1.36741203e-03,-6.15887777e-04,
 -1.34783297e-05, 1.20799040e-06,-9.80999874e+00,-6.49149018e-02,
 -9.15481592e-03,-5.57805472e-03]


--- Step 1242 ---
qpos:
[ 0.00986402, 0.00806266,-0.00561496, 0.03347714, 0.00422446,-0.00313969,
 -0.01005569, 0.03788393, 0.01308314, 0.00592768,-0.01170539, 0.03406888,
  0.84129163,-0.01868646, 1.15194046, 0.04611717, 0.09322057,-0.06564446,
  0.14230715, 0.94612114,-0.03308823, 0.03081532, 0.32064056]

qacc:
[ 1.31063418e+00,-2.76466372e+00, 8.98654971e+00,-1.06795107e+01,
  7.35353807e+01,-2.44639728e+00, 3.31051746e+01,-9.44560737e+01,
 -1.86504885e+00,-2.01258579e-01, 3.04733717e+00,-1.00462016e+01,
  5.78325900e+00, 1.01154419e+01, 1.83718674e+02,-4.49568903e+02,
  8.85822568e-01,-5.93663862e-01,-1.44470520e-01, 2.14351770e+01,
  4.87759912e-01, 3.05023048e+01]

qfrc_actuator:
[ 2.25188082e-05, 2.47332817e-04, 2.06499511e-05, 3.55448881e-05,
 -6.98012695e-04, 6.00460308e-03, 3.19853626e-03, 1.31097364e-03,
  2.44011796e-05, 1.90485640e-04,-5.99488835e-05, 4.36845685e-05,
  4.72521003e-02, 2.28337460e-02, 1.04383766e-03,-2.02206342e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20947647, -0.20896284,  0.01466018, -0.20896284,  0.21113494,
        0.02363954,  0.01466018,  0.02363954,  0.54642898,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.320995997167194e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97115904, -0.23769403,  0.01875277, -0.23764973,  0.97134008,
        0.00458894, -0.01930608,  0.        , -0.99981362])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12830671, -0.08285007,  0.11173733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11829914,  0.17227865,  1.10494933,  0.17227865,  7.16293574,
       -0.9424521 ,  1.10494933, -0.9424521 ,  1.26524196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003143060376498811
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11458074e-01, -8.41156124e-01, -1.75690108e-01, -9.12779044e-02,
       -1.50117814e-01,  9.84445522e-01, -8.54446594e-01,  5.19539236e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10437852, -0.03780378,  0.30478663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005217337616432033
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06397468e-13, -2.12794936e-13,  1.00000000e+00,  2.26408424e-26,
        1.00000000e+00,  2.12794936e-13, -1.00000000e+00,  0.00000000e+00,
        1.06397468e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05139333, -0.06233852,  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:
[ 7.48456998e-06,-5.55584435e-05, 2.46334252e-05,-4.70985861e-06,
 -6.89274695e-04, 8.95452116e-03, 4.75753115e-03, 1.77417765e-03,
 -1.08515422e-05, 3.97080875e-05, 5.50249898e-06,-1.81885345e-05,
  5.79082762e-02, 2.54026181e-02, 1.68958887e-03, 5.82202853e-05,
 -1.43705413e-05, 6.30581493e-06,-9.80999704e+00,-6.49194597e-02,
 -9.15520345e-03,-5.57840266e-03]


--- Step 1243 ---
qpos:
[ 0.00986459, 0.00806272,-0.00561464, 0.03347693, 0.0042325 ,-0.00318735,
 -0.01008251, 0.03787322, 0.0130839 , 0.00593045,-0.0117051 , 0.03406871,
  0.84113213,-0.01870104, 1.15222448, 0.04611466, 0.09322883,-0.06564   ,
  0.14230929, 0.94611884,-0.0330806 , 0.03082842, 0.32064688]

qacc:
[  3.78672845, -1.98347152,  6.94005844, -8.91960593, -1.42296632,
   5.04572311,-24.62219424, 59.7071497 ,  1.90374433, -1.17697331,
   6.94235616,-17.00983514,-19.09889557,  7.97331043,-21.9696836 ,
 113.39290235, -0.34272047,  0.23404199,  0.34839749, -6.59834038,
   5.09921057, -5.33424237]

qfrc_actuator:
[ 4.44067502e-05, 2.60659719e-04, 5.71805284e-05, 3.37876506e-05,
 -7.11056649e-04, 6.02410625e-03, 3.17050924e-03, 1.31627319e-03,
  3.58388232e-05, 1.91536423e-04,-5.83795150e-05, 1.46903759e-05,
  4.72712183e-02, 2.28110390e-02, 1.01866934e-03,-1.91443565e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20951628,  0.03732974,  0.20616391,  0.03732974,  0.5970871 ,
       -0.07017678,  0.20616391, -0.07017678,  0.22222306,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.568947076289221e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97118235, -0.23759418,  0.01881111, -0.23754962,  0.97136451,
        0.00460117, -0.01936566,  0.        , -0.99981247])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12831518, -0.08284875,  0.11173801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11717234, -0.05646629,  1.11574441, -0.05646629,  2.0307166 ,
        0.04623322,  1.11574441,  0.04623322,  1.11951214,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031298769778247636
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51143681, -0.84116685, -0.17570066, -0.09127977, -0.15012903,
        0.98444364, -0.85445913,  0.51951863,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10438694, -0.03780262,  0.30479161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.53723475, -6.55755324,  9.49243284, -6.55755324, 26.57649762,
       10.38940897,  9.49243284, 10.38940897, 18.71443616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005199905572123557
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17956787e-06,  1.69722422e-13,  1.00000000e+00, -2.00199116e-19,
        1.00000000e+00, -1.69722422e-13, -1.00000000e+00,  0.00000000e+00,
        1.17956787e-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([ 0.06735818, -0.08569277,  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:
[ 2.20803392e-05,-1.28605130e-05, 2.79243192e-05,-3.37755178e-06,
 -1.12133620e-03, 8.68649440e-03, 4.67018460e-03, 1.93986346e-03,
  1.11520245e-05, 2.35143871e-05, 9.78763336e-06,-2.74626852e-05,
  5.66284764e-02, 2.46723270e-02,-2.83861644e-03, 1.00337405e-03,
 -5.93205681e-06, 3.10858379e-06,-9.80999562e+00,-6.49166308e-02,
 -9.15392106e-03,-5.57773632e-03]


--- Step 1244 ---
qpos:
[ 0.00986542, 0.00806299,-0.00561432, 0.03347634, 0.00423651,-0.00323952,
 -0.0101103 , 0.03786609, 0.01308479, 0.00593309,-0.01170436, 0.03406821,
  0.84092592,-0.01874936, 1.1524046 , 0.04613254, 0.09323477,-0.06563139,
  0.14231063, 0.94613466,-0.03312024, 0.03082011, 0.32059691]

qacc:
[ 2.25670124e+00,-4.82925764e-01, 3.73828940e+00,-1.05013399e+01,
 -3.53871605e+01, 4.15581647e+00,-3.84316152e+01, 1.04988098e+02,
  1.17243186e+00,-2.08245137e+00, 8.57803586e+00,-1.48993839e+01,
 -7.46928587e+00,-2.74413250e+01,-2.15529509e+02, 5.30418253e+02,
 -5.78364495e-01, 1.03845805e+00,-2.00275370e-01,-2.46276292e+01,
 -1.90349884e+00,-3.06156264e+01]

qfrc_actuator:
[ 5.70531068e-05, 2.86520153e-04, 6.08901366e-05, 1.51087961e-05,
 -7.22004289e-04, 6.03641508e-03, 3.18199468e-03, 1.35797638e-03,
  4.22690003e-05, 1.73194290e-04,-3.98571080e-05,-2.29908443e-06,
  4.72902313e-02, 2.28090314e-02, 1.00844335e-03,-2.15993188e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20952775, -0.01759342,  0.20878781, -0.01759342,  0.48868677,
        0.02352322,  0.20878781,  0.02352322,  0.21150992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.637249243170347e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97032175, -0.24108433,  0.01881612, -0.24103901,  0.97050417,
        0.00467414, -0.01938799,  0.        , -0.99981204])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12833369, -0.08289056,  0.11173804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11841798,  0.21141034, -1.09825518,  0.21141034,  7.65919048,
        1.25907618, -1.09825518,  1.25907618,  1.3607858 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003144446110717954
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11431229e-01, -8.41165797e-01, -1.75721939e-01, -9.12901771e-02,
       -1.50147606e-01,  9.84439841e-01, -8.54461352e-01,  5.19514965e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10439463, -0.03779667,  0.30479086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.51071028,  6.91741534, -9.20031609,  6.91741534, 25.86449272,
       10.79213734, -9.20031609, 10.79213734, 19.6249637 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005183684286316215
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.14176436e-13,  2.67720545e-14,  1.00000000e+00, -5.73394321e-27,
        1.00000000e+00, -2.67720545e-14, -1.00000000e+00,  0.00000000e+00,
        2.14176436e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08434679, -0.11054695,  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:
[ 1.32694733e-05, 2.42925997e-05, 4.37005434e-06,-1.83309406e-05,
 -1.12423553e-03, 8.64214117e-03, 4.66748870e-03, 1.87645968e-03,
  6.76514483e-06,-4.44475574e-06, 2.35999003e-05,-1.61843899e-05,
  5.83126619e-02, 2.51519317e-02,-3.66690876e-03,-1.70689067e-05,
 -1.60877778e-06,-1.12727011e-07,-9.80999888e+00,-6.49149231e-02,
 -9.15150894e-03,-5.57863044e-03]


--- Step 1245 ---
qpos:
[ 0.00986571, 0.0080634 ,-0.00561425, 0.0334759 , 0.00424576,-0.00328933,
 -0.01013836, 0.03785476, 0.01308506, 0.00593521,-0.01170292, 0.03406754,
  0.84074759,-0.01878487, 1.15264416, 0.04611443, 0.09324461,-0.06562587,
  0.14231118, 0.94613207,-0.03311227, 0.03083027, 0.3206044 ]

qacc:
[-4.78768889e+00, 1.17308423e+00,-4.54432196e+00, 7.43371206e+00,
  4.59130027e+01,-4.86053679e+00, 3.94104393e+01,-1.13157505e+02,
 -5.41454168e+00,-3.02288005e+00, 1.05075748e+01,-1.41852609e+01,
  8.35363845e+00, 6.48593901e+00, 1.96541796e+02,-5.60277381e+02,
  9.72992096e-01,-7.73648049e-01,-1.97434592e-01, 2.42942767e+01,
  4.38921706e-01, 3.11710056e+01]

qfrc_actuator:
[ 2.86490823e-05, 2.84048120e-04, 4.52453029e-05, 2.21208392e-05,
 -7.10002847e-04, 6.08512915e-03, 3.21833376e-03, 1.36595423e-03,
  1.01878533e-05, 1.25700828e-04,-1.15501998e-05,-1.20950904e-05,
  4.73169108e-02, 2.28828975e-02, 9.37525277e-04,-2.43313135e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2094926 , -0.20649644,  0.03530398, -0.20649644,  0.20875593,
       -0.00430889,  0.03530398, -0.00430889,  0.18428946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.423678463278456e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97036232, -0.24092628,  0.01874835, -0.24088132,  0.97054342,
        0.00465406, -0.01931737,  0.        , -0.9998134 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12834108, -0.08288884,  0.11173723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12244892, -0.39577481, -1.05035893, -0.39577481,  2.88052895,
       -0.66244382, -1.05035893, -0.66244382,  1.37205748,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003190938372423963
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51150678, -0.84110926, -0.17577267, -0.09133086, -0.15018224,
        0.98443078, -0.85441178,  0.51959649,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10439917, -0.03778151,  0.30478015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.48647113, -6.36161098,  9.56393877, -6.36161098, 21.80407118,
        6.86292116,  9.56393877,  6.86292116, 16.05145588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005168847820286593
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61093400e-13, -1.07395600e-13,  1.00000000e+00,  1.73007223e-26,
        1.00000000e+00,  1.07395600e-13, -1.00000000e+00,  0.00000000e+00,
        1.61093400e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05141399, -0.0623216 ,  0.06198837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80179767e-05, 1.12196030e-05,-1.07297249e-05, 7.84675762e-06,
 -9.10471918e-04, 8.91868307e-03, 4.75304213e-03, 1.70597243e-03,
 -3.18816583e-05,-4.58956803e-05, 2.96979254e-05,-9.49146214e-06,
  6.06749652e-02, 2.69138157e-02, 1.45330496e-03,-1.31094124e-03,
 -2.97865605e-05, 1.50476793e-05,-9.80998572e+00,-6.49210144e-02,
 -9.15753641e-03,-5.58040987e-03]


--- Step 1246 ---
qpos:
[ 0.00986565, 0.00806367,-0.00561429, 0.03347627, 0.00425882,-0.00334634,
 -0.01017336, 0.03783804, 0.01308494, 0.00593679,-0.01170132, 0.03406681,
  0.84060398,-0.01879995, 1.15297836, 0.04608858, 0.09325697,-0.06562213,
  0.14231133, 0.94611232,-0.03306787, 0.03085103, 0.32066525]

qacc:
[-3.00457661e+00, 1.77936752e+00,-9.98596186e+00, 2.41570804e+01,
  3.34822402e+01,-1.25082382e+00, 1.33262399e+01,-9.01413384e+01,
 -3.38318760e+00,-1.25324823e+00, 3.70907337e+00,-4.70773021e+00,
  8.58483039e+00, 1.33713303e+01, 1.63289577e+02,-3.68188252e+02,
  6.30844894e-01,-4.46606063e-01,-1.01566319e-01, 1.78282677e+01,
 -1.44384354e+00, 2.87341149e+01]

qfrc_actuator:
[ 1.18191563e-05, 2.64566932e-04, 3.59737868e-05, 6.19183965e-05,
 -7.09640025e-04, 6.13286806e-03, 3.23376773e-03, 1.32453183e-03,
 -8.79675596e-06, 7.89144304e-05,-1.33287444e-05,-1.76055900e-05,
  4.73431586e-02, 2.29159853e-02, 8.67162466e-04,-2.31968639e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20953417, -0.20703518,  0.03226457, -0.20703518,  0.20691305,
       -0.01681918,  0.03226457, -0.01681918,  0.1016089 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.674919258011326e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70322670e-01, -2.41080289e-01,  1.88204740e-02, -2.41034954e-01,
        9.70505175e-01,  4.67513768e-03, -1.93924509e-02, -8.67361738e-19,
       -9.99811949e-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([ 0.12835048, -0.08289056,  0.11173807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12287408, -0.04661781,  1.12190596, -0.04661781,  2.02713973,
        0.03757435,  1.12190596,  0.03757435,  1.12443539,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031957851310808873
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11497347e-01, -8.41102481e-01, -1.75832536e-01, -9.13612761e-02,
       -1.50233811e-01,  9.84420093e-01, -8.54414174e-01,  5.19592551e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10440724, -0.03777428,  0.3047802 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.45984235,  5.88671537, -9.83232266,  5.88671537, 47.15438558,
       21.37069985, -9.83232266, 21.37069985, 24.25470596,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000515253433519533
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.38678130e-14, -2.15471252e-13,  1.00000000e+00,  1.16069651e-26,
        1.00000000e+00,  2.15471252e-13, -1.00000000e+00,  0.00000000e+00,
        5.38678130e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05142109, -0.062316  ,  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:
[-1.76254216e-05,-1.51125583e-05,-8.00777511e-06, 4.00608348e-05,
 -1.17182397e-03, 8.85065742e-03, 4.78277058e-03, 1.87456457e-03,
 -1.98995687e-05,-6.68263745e-05,-7.96799405e-06,-6.63960467e-06,
  5.93060368e-02, 2.63070369e-02,-1.59310222e-03, 6.00692484e-04,
 -1.46282954e-06, 5.14894738e-08,-9.80999920e+00,-6.49185191e-02,
 -9.15012797e-03,-5.58088356e-03]


--- Step 1247 ---
qpos:
[ 0.00986505, 0.00806378,-0.0056144 , 0.03347711, 0.00426791,-0.00340768,
 -0.01020769, 0.03782556, 0.01308494, 0.00593805,-0.01170068, 0.03406606,
  0.84041665,-0.01884811, 1.15322618, 0.04610195, 0.09326559,-0.06561378,
  0.14231092, 0.94611479,-0.0330817 , 0.03084556, 0.32065708]

qacc:
[-4.79463343e+00, 9.88702870e-01,-5.83098491e+00, 1.42932299e+01,
 -3.48568667e+01, 1.15374176e+00,-3.02057576e+01, 1.05540315e+02,
  1.01452632e+00, 2.20620739e+00,-8.38209085e+00, 9.84125568e+00,
 -5.20694687e+00,-2.90009701e+01,-2.46681588e+02, 6.76824140e+02,
 -9.33132693e-01, 1.15356340e+00,-1.36965328e-01,-3.03240409e+01,
 -2.27142608e+00,-3.75484260e+01]

qfrc_actuator:
[-1.58032946e-05, 2.52849266e-04, 3.04880118e-05, 8.51688972e-05,
 -7.16944024e-04, 6.20638088e-03, 3.26119918e-03, 1.34510809e-03,
 -2.15609004e-06, 5.05439259e-05,-6.83745763e-05,-2.05777755e-05,
  4.73462251e-02, 2.28763612e-02, 8.82364879e-04,-2.11235732e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20962488,  0.10132211,  0.18351137,  0.10132211,  0.52211979,
       -0.17253777,  0.18351137, -0.17253777,  0.30488814,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.1707679640412294e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97035109, -0.24095495,  0.01895953, -0.24090897,  0.9705363 ,
        0.00470708, -0.01953511,  0.        , -0.99980917])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12836116, -0.08288878,  0.11173969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12095232, -0.11422137,  1.11511775, -0.11422137,  6.1153447 ,
        0.511575  ,  1.11511775,  0.511575  ,  1.17335289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003173791775841143
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51140554, -0.84114783, -0.17588263, -0.09137173, -0.15028608,
        0.98441114, -0.85446801,  0.51950402,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10441794, -0.03777409,  0.30478747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.47738   , -6.51036707,  9.4522681 , -6.51036707, 20.61327855,
        6.29246361,  9.4522681 ,  6.29246361, 15.81139247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005163280058944619
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.37557043e-14,  1.61267113e-13,  1.00000000e+00, -8.66902724e-27,
        1.00000000e+00, -1.61267113e-13, -1.00000000e+00,  0.00000000e+00,
        5.37557043e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08437226, -0.11052973,  0.06198839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81321249e-05,-2.01224744e-05,-8.21054352e-06, 2.31049257e-05,
 -1.37033949e-03, 9.28625108e-03, 5.15872815e-03, 2.16505597e-03,
  6.05877118e-06,-6.77516787e-05,-7.00953066e-05,-6.24544213e-06,
  5.75718653e-02, 2.52462067e-02,-6.31466269e-03, 1.19454238e-03,
 -4.47542982e-05, 1.68850666e-05,-9.80998350e+00,-6.49118070e-02,
 -9.15913441e-03,-5.58025031e-03]


--- Step 1248 ---
qpos:
[ 0.00986412, 0.00806376,-0.00561456, 0.03347787, 0.00427177,-0.00347307,
 -0.01024166, 0.0378169 , 0.01308536, 0.00593926,-0.01170086, 0.03406524,
  0.84018148,-0.01893052, 1.15335734, 0.04612453, 0.09327238,-0.06560217,
  0.1423102 , 0.94613604,-0.03313805, 0.03082324, 0.3205907 ]

qacc:
[-2.86515749e+00,-1.88128519e-01, 7.62090287e-01,-1.96106086e+00,
 -4.58260526e+01, 1.62060523e+00,-2.95194181e+01, 9.78643252e+01,
  3.70636935e+00, 2.07384575e+00,-7.25268545e+00, 7.46445176e+00,
 -8.17637180e+00,-2.72001411e+01,-2.00509184e+02, 4.50569791e+02,
 -4.60699060e-01, 8.14871278e-01,-7.99330724e-02,-2.16046578e+01,
 -4.83893782e-01,-3.14785129e+01]

qfrc_actuator:
[-3.18075687e-05, 2.45872180e-04, 2.72871077e-05, 8.07449843e-05,
 -7.58077929e-04, 6.31313087e-03, 3.30872956e-03, 1.35990233e-03,
  1.95098642e-05, 6.87003928e-05,-1.01093322e-04,-2.20515333e-05,
  4.73571693e-02, 2.29094471e-02, 8.87229277e-04,-2.10560573e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20963593,  0.0241291 ,  0.20824267,  0.0241291 ,  0.63409326,
       -0.04918191,  0.20824267, -0.04918191,  0.21533464,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2271475890689196e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97038953, -0.24080059,  0.01895351, -0.24075467,  0.97057461,
        0.00470239, -0.01952813,  0.        , -0.99980931])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12837097, -0.08288694,  0.1117396 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12275634,  0.20495869, -1.10389027,  0.20495869,  2.23488287,
        0.20648791, -1.10389027,  0.20648791,  1.16109483,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003194443910645565
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11413684e-01, -8.41129499e-01, -1.75946612e-01, -9.14074882e-02,
       -1.50339221e-01,  9.84399710e-01, -8.54459311e-01,  5.19518320e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10442478, -0.0377637 ,  0.30478206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.46986863,  7.61490913, -8.57735655,  7.61490913, 31.78718765,
       18.03755473, -8.57735655, 18.03755473, 27.48346671,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005158678478300038
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.38036548e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.38036548e-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([ 0.08438175, -0.11052334,  0.0619884 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68138155e-05,-1.89481416e-05,-7.56945344e-06,-5.12117427e-06,
 -1.21242745e-03, 9.61240737e-03, 5.17324510e-03, 1.96809728e-03,
  2.18221494e-05,-3.45268061e-05,-5.55842336e-05,-6.92676158e-06,
  5.97680462e-02, 2.69340311e-02,-1.99645626e-03,-7.61276817e-04,
 -1.86778675e-06, 9.84270332e-07,-9.80999852e+00,-6.49143720e-02,
 -9.14957254e-03,-5.58062361e-03]


--- Step 1249 ---
qpos:
[ 0.00986369, 0.00806377,-0.00561486, 0.0334789 , 0.00428079,-0.00353389,
 -0.01027439, 0.03780392, 0.01308604, 0.00594026,-0.01170146, 0.0340644 ,
  0.83997442,-0.01900053, 1.15355375, 0.04611076, 0.09328309,-0.06559426,
  0.14230903, 0.94613747,-0.03314269, 0.03082352, 0.32058595]

qacc:
[ 4.42607658e+00, 9.63921651e-01,-4.54564811e+00, 9.45810441e+00,
  4.52565046e+01,-6.40523123e+00, 4.97173452e+01,-1.29706399e+02,
  2.24636261e+00, 8.65781878e-01,-3.37413466e+00, 3.79418472e+00,
  8.58778633e+00, 5.99525107e+00, 2.06207052e+02,-5.81652501e+02,
  9.83877304e-01,-9.22780533e-01,-1.12391356e-01, 2.68041355e+01,
  1.69137565e+00, 3.34999443e+01]

qfrc_actuator:
[-5.33697502e-06, 2.59525491e-04, 2.54619398e-05, 9.55862592e-05,
 -7.81164463e-04, 6.38801887e-03, 3.36838262e-03, 1.35219951e-03,
  3.20850173e-05, 6.14026753e-05,-1.20155512e-04,-2.25680087e-05,
  4.73801116e-02, 2.30538229e-02, 8.43793470e-04,-2.15161381e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20958905, -0.2025002 ,  0.05404849, -0.2025002 ,  0.20759244,
       -0.00748057,  0.05404849, -0.00748057,  0.18156204,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.982336679822551e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97043865, -0.24061078,  0.01884868, -0.2405654 ,  0.97062168,
        0.00467246, -0.01941918,  0.        , -0.99981143])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12838024, -0.08288486,  0.11173835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12708306, -0.47176548, -1.02359834, -0.47176548,  2.6967723 ,
       -0.7234529 , -1.02359834, -0.7234529 ,  1.46051473,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032431989832280774
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51150881, -0.84105196, -0.17604073, -0.09147496, -0.15040835,
        0.98438288, -0.85439515,  0.51962384,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10442884, -0.0377446 ,  0.30476827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.49951653, -6.39842077,  9.55505584, -6.39842077, 20.94440997,
        6.32465192,  9.55505584,  6.32465192, 15.73473869,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000517683427282617
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07229918e-13, -2.14459835e-13,  1.00000000e+00, -2.29965104e-26,
        1.00000000e+00,  2.14459835e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07229918e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05145245, -0.06229477,  0.06198836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.59855565e-05, 1.27235436e-06,-6.84660084e-06, 1.36673392e-05,
 -9.74083659e-04, 9.89281868e-03, 5.21675150e-03, 1.76967923e-03,
  1.31893758e-05,-3.84141351e-05,-3.32905564e-05,-4.05529788e-06,
  6.21838637e-02, 2.87932322e-02, 3.78917936e-03,-1.26855813e-03,
 -5.88492219e-05, 2.41359298e-05,-9.80997348e+00,-6.49215557e-02,
 -9.16337301e-03,-5.58180741e-03]


--- Step 1250 ---
qpos:
[ 0.00986221, 0.0080636 ,-0.00561484, 0.03348044, 0.00429364,-0.00359951,
 -0.01031312, 0.03778543, 0.01308722, 0.00594077,-0.01170218, 0.03406323,
  0.83980347,-0.01904928, 1.15384909, 0.04608742, 0.0932964 ,-0.06558867,
  0.14230775, 0.94612066,-0.03310719, 0.03083769, 0.32063788]

qacc:
[-9.28181714e+00,-4.80671403e-02,-2.28778226e+00, 1.07005648e+01,
  3.35892363e+01,-9.85468966e-01, 1.73892114e+01,-9.92762056e+01,
  4.32198730e+00,-1.03650028e+00, 4.12424186e+00,-9.26428919e+00,
  8.83796782e+00, 1.40248881e+01, 1.75163505e+02,-4.00504987e+02,
  6.46154148e-01,-5.82906485e-01,-2.59446388e-02, 2.00415016e+01,
 -5.27588498e-01, 3.05851236e+01]

qfrc_actuator:
[-6.05980974e-05, 2.49945410e-04, 4.23190457e-05, 1.21667571e-04,
 -7.83966447e-04, 6.45452774e-03, 3.41652026e-03, 1.35536551e-03,
  5.69563307e-05, 2.12361749e-05,-1.31097865e-04,-4.02798496e-05,
  4.73998124e-02, 2.31432538e-02, 8.07137028e-04,-2.15190802e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2096354 , -0.20650649,  0.03608419, -0.20650649,  0.20647596,
       -0.01808115,  0.03608419, -0.01808115,  0.10615867,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.224450197819812e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70479636e-01, -2.40442262e-01,  1.88890284e-02, -2.40396731e-01,
        9.70663443e-01,  4.67898605e-03, -1.94599153e-02, -8.67361738e-19,
       -9.99810638e-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([ 0.12839033, -0.08288273,  0.1117388 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12750132, -0.0512659 ,  1.12633523, -0.0512659 ,  2.02746557,
        0.04096247,  1.12633523,  0.04096247,  1.12936576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003247855423428164
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11513851e-01, -8.41026937e-01, -1.76145598e-01, -9.15320975e-02,
       -1.50496335e-01,  9.84364124e-01, -8.54386011e-01,  5.19638859e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10443685, -0.03773399,  0.30476625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.52111747,  5.91572989, -9.88636877,  5.91572989, 36.5979208 ,
       15.0052662 , -9.88636877, 15.0052662 , 20.49985414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005190050624555437
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.13913718e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.13913718e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05146398, -0.06228717,  0.06198833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.45205584e-05,-9.68584789e-06, 1.67500132e-05, 2.61622902e-05,
 -1.23485316e-03, 9.73285956e-03, 5.20379651e-03, 1.98923077e-03,
  2.52367167e-05,-6.87187381e-05,-2.31205130e-05,-2.05881840e-05,
  6.07962029e-02, 2.82632009e-02, 4.87005560e-04, 5.47649946e-04,
 -2.86288083e-07, 1.97437160e-07,-9.80999979e+00,-6.49224205e-02,
 -9.14950290e-03,-5.58217177e-03]


--- Step 1251 ---
qpos:
[ 0.00985938, 0.00806296,-0.00561413, 0.03348161, 0.0043051 ,-0.00366711,
 -0.01035063, 0.03776906, 0.01308833, 0.00594055,-0.01170264, 0.03406221,
  0.83960627,-0.01910297, 1.15415921, 0.0460808 , 0.09330744,-0.06558242,
  0.14230825, 0.94610788,-0.0330902 , 0.03085563, 0.3206756 ]

qacc:
[-1.17311162e+01,-3.30417263e+00, 1.25150629e+01,-1.98571989e+01,
 -1.22482991e+01,-1.63210126e+00,-6.83042356e+00, 4.27607505e+01,
 -4.69565919e-01,-1.34134084e+00, 2.74531639e+00,-8.85292305e-03,
 -1.67397728e+01, 1.02171794e+01,-2.79886012e+01, 1.31194730e+02,
 -5.64290619e-01, 1.66332316e-01, 4.43424157e-01,-7.86781644e+00,
  4.92657687e+00,-7.58704084e+00]

qfrc_actuator:
[-1.28030803e-04, 2.08865855e-04, 6.99890531e-05, 1.00888299e-04,
 -7.93093059e-04, 6.52356456e-03, 3.46448669e-03, 1.35020327e-03,
  5.33631618e-05,-2.05247744e-05,-1.19561761e-04,-3.24889468e-05,
  4.74211634e-02, 2.31504047e-02, 8.17101250e-04,-2.11924601e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20974075, -0.20274665,  0.05371198, -0.20274665,  0.21870655,
        0.03384323,  0.05371198,  0.03384323,  0.33748882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.728598001679322e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97051541, -0.24028794,  0.01901414, -0.24024184,  0.97070166,
        0.00470677, -0.01958804,  0.        , -0.99980814])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12840229, -0.08288061,  0.11174026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12530342,  0.34494887, -1.07112934,  0.34494887,  6.38626447,
        1.69425155, -1.07112934,  1.69425155,  1.67092394,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003223275901730727
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51143264, -0.84105647, -0.17624038, -0.09156839, -0.1505852 ,
        0.98434716, -0.85443074,  0.51956531,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10444781, -0.03773103,  0.30477242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.49791743, -6.59578629,  9.41794608, -6.59578629, 24.75879445,
        9.28715349,  9.41794608,  9.28715349, 18.00210413,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005175855486860115
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.44629899e-14,  5.51079175e-07,  1.00000000e+00, -3.00134195e-20,
        1.00000000e+00, -5.51079175e-07, -1.00000000e+00,  0.00000000e+00,
        5.44629899e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06730272, -0.0854539 ,  0.06198836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.89909284e-05,-4.19267492e-05, 2.86395159e-05,-2.01061452e-05,
 -1.43589682e-03, 1.00450937e-02, 5.55260032e-03, 2.25918620e-03,
 -2.89735870e-06,-8.58418050e-05,-6.21338554e-06, 3.64767424e-06,
  5.90108650e-02, 2.72081572e-02,-4.45349781e-03, 1.05838246e-03,
 -3.04506694e-05, 1.25990620e-05,-9.80998912e+00,-6.49174727e-02,
 -9.15578796e-03,-5.58142784e-03]


--- Step 1252 ---
qpos:
[ 0.00985715, 0.00806218,-0.00561342, 0.03348183, 0.00431203,-0.00373804,
 -0.01038692, 0.03775697, 0.01308905, 0.00593979,-0.01170278, 0.0340616 ,
  0.83937054,-0.01918513, 1.15436459, 0.04609896, 0.09331541,-0.06557225,
  0.14230822, 0.94611629,-0.03312431, 0.03084917, 0.3206479 ]

qacc:
[ 5.20435092e+00,-2.14653109e+00, 1.13368768e+01,-2.75217206e+01,
 -3.95613572e+01, 1.07108241e+00,-2.81618562e+01, 1.02687769e+02,
 -3.46914738e+00,-7.67038724e-01,-3.01442800e-02, 7.06157131e+00,
 -4.54414381e+00,-2.51555768e+01,-2.30076684e+02, 5.79399196e+02,
 -7.70147465e-01, 9.80257004e-01,-1.32575554e-01,-2.67205357e+01,
 -2.59413136e+00,-3.55389911e+01]

qfrc_actuator:
[-9.55460036e-05, 2.02508759e-04, 6.81415905e-05, 5.26767539e-05,
 -7.84555306e-04, 6.57546363e-03, 3.50754954e-03, 1.35239258e-03,
  3.30415050e-05,-2.72986179e-05,-9.48461026e-05,-9.74310072e-06,
  4.74371654e-02, 2.31968880e-02, 7.84488455e-04,-2.12479248e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20978692,  0.17103837, -0.12147603,  0.17103837,  0.45887702,
        0.35071913, -0.12147603,  0.35071913,  0.70359982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.933197932878683e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70556510e-01, -2.40116079e-01,  1.90873945e-02, -2.40069658e-01,
        9.70744183e-01,  4.72131630e-03, -1.96626412e-02,  8.67361738e-19,
       -9.99806672e-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([ 0.12841353, -0.08287847,  0.11174112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12565514,  0.12605311, -1.11857504,  0.12605311,  6.96671574,
        0.65823377, -1.11857504,  0.65823377,  1.19983203,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032272277426949797
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51137374, -0.84107239, -0.17633528, -0.09160873, -0.15067174,
        0.98433016, -0.85446167,  0.51951445,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1044578 , -0.0377237 ,  0.30477291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.49514613,  6.72939461, -9.31952965,  6.72939461, 25.64548684,
       10.21760004, -9.31952965, 10.21760004, 18.87301446,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005174159092332375
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.68213396e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.68213396e-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([ 0.08442422, -0.11049321,  0.06198836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.05053707e-05,-2.47513591e-05,-7.67402088e-06,-4.94079068e-05,
 -1.35718345e-03, 1.01990227e-02, 5.53663313e-03, 2.15634633e-03,
 -2.04352581e-05,-5.58856402e-05, 6.35669240e-06, 1.89274101e-05,
  6.03378335e-02, 2.75020008e-02,-5.23121485e-03, 2.14959076e-04,
 -1.37881139e-05, 3.20227883e-06,-9.80999805e+00,-6.49134423e-02,
 -9.15033058e-03,-5.58223647e-03]


--- Step 1253 ---
qpos:
[ 0.00985636, 0.00806133,-0.00561309, 0.03348183, 0.00432379,-0.00380783,
 -0.01042461, 0.03774017, 0.01308918, 0.00593926,-0.0117027 , 0.03406118,
  0.83916996,-0.01924749, 1.15462952, 0.04608619, 0.09332664,-0.06556508,
  0.14230779, 0.94610625,-0.03311254, 0.03085917, 0.32067777]

qacc:
[ 1.26330318e+01, 4.95911797e-01,-1.01028677e+00,-2.06983770e+00,
  4.23122057e+01,-4.36875984e+00, 3.74739050e+01,-1.17364474e+02,
 -5.22875951e+00, 7.32272826e-02,-5.64817007e-01, 3.19148552e+00,
  9.45938188e+00, 1.19500892e+01, 1.81461754e+02,-5.07163526e+02,
  8.14900705e-01,-7.50887718e-01,-9.82887034e-02, 2.31428594e+01,
 -2.33168882e-01, 3.11724249e+01]

qfrc_actuator:
[-2.22603097e-05, 1.99094741e-04, 4.89953405e-05, 4.19791734e-05,
 -7.79495913e-04, 6.63697005e-03, 3.54716592e-03, 1.35596914e-03,
  3.04601077e-06, 4.02721941e-05,-6.24060626e-05, 3.89805835e-06,
  4.74573330e-02, 2.32924740e-02, 7.68509352e-04,-2.13249444e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20974833, -0.20285634,  0.05332605, -0.20285634,  0.20495819,
       -0.01822207,  0.05332605, -0.01822207,  0.14043021,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.7628188304244605e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70605148e-01, -2.39923766e-01,  1.90324261e-02, -2.39877653e-01,
        9.70791732e-01,  4.70371882e-03, -1.96050558e-02,  8.67361738e-19,
       -9.99807802e-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([ 0.12842393, -0.08287632,  0.11174045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12899902, -0.23024087, -1.10527279, -0.23024087,  3.1662061 ,
       -0.42437336, -1.10527279, -0.42437336,  1.21740081,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003264448937571879
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51141052, -0.84102722, -0.17644406, -0.09167364, -0.15075957,
        0.98431067, -0.85443269,  0.5195621 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10446431, -0.03770754,  0.30476321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.48808275, -6.38697574,  9.54895734, -6.38697574, 21.68894658,
        6.82301403,  9.54895734,  6.82301403, 16.05176689,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005169834656562483
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00, -1.073751e-13,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  1.073751e-13, -1.000000e+00,  0.000000e+00,
        0.000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05148975, -0.06226887,  0.06198837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.41502470e-05,-2.09202409e-05,-2.69122345e-05,-1.29865010e-05,
 -1.12623576e-03, 1.04298860e-02, 5.51613878e-03, 1.94582579e-03,
 -3.05995674e-05, 3.84691022e-05, 2.23475233e-05, 1.18389216e-05,
  6.22842670e-02, 2.90231157e-02,-1.48155116e-05,-1.03262434e-03,
 -1.30637226e-05, 7.65126643e-06,-9.80999050e+00,-6.49193526e-02,
 -9.15026102e-03,-5.58390700e-03]


--- Step 1254 ---
qpos:
[ 0.00985611, 0.00806061,-0.00561341, 0.03348205, 0.00433413,-0.00387628,
 -0.0104603 , 0.0377256 , 0.01308894, 0.00593922,-0.01170235, 0.03406054,
  0.83894568,-0.0193133 , 1.15489909, 0.04608244, 0.0933362 ,-0.06555774,
  0.14230896, 0.94609974,-0.03311406, 0.03087417, 0.32069537]

qacc:
[ 4.71385099e+00, 2.42213295e+00,-9.29232234e+00, 1.39093441e+01,
 -1.24739394e+01, 8.06803297e-01,-9.61454136e+00, 4.37788286e+01,
 -3.17436251e+00,-5.33855527e-01, 3.72137675e+00,-8.18437932e+00,
 -1.58392828e+01, 1.08194847e+01,-1.96668570e+01, 8.02521046e+01,
 -4.15507575e-01, 4.38833831e-02, 3.97212356e-01,-5.23158898e+00,
  4.63800638e+00,-6.49651484e+00]

qfrc_actuator:
[ 3.41023694e-06, 2.15175215e-04, 1.98474309e-05, 5.34426064e-05,
 -8.01814551e-04, 6.70111263e-03, 3.58684759e-03, 1.36765733e-03,
 -1.46443237e-05, 8.08813723e-05,-4.31112428e-05,-5.61113896e-06,
  4.74854076e-02, 2.33806397e-02, 7.62145303e-04,-2.11345930e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20980055, -0.19789197,  0.06967812, -0.19789197,  0.24334196,
        0.09526054,  0.06967812,  0.09526054,  0.48034884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.992013649800644e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97064739, -0.23974796,  0.01909342, -0.23970159,  0.97083516,
        0.00471512, -0.019667  ,  0.        , -0.99980659])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1284355 , -0.08287412,  0.11174116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12880839, -0.47266381,  1.02508405, -0.47266381,  9.97836575,
        4.08050983,  1.02508405,  4.08050983,  3.01032176,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032623437459172223
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11361329e-01, -8.41034330e-01, -1.76552676e-01, -9.17230711e-02,
       -1.50856640e-01,  9.84291193e-01, -8.54456827e-01,  5.19522406e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10447398, -0.03769962,  0.30476402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.47252824, -6.67986284,  9.32728989, -6.67986284, 25.50048082,
       10.04630501,  9.32728989, 10.04630501, 18.66732333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005160307934314202
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.20676578e-07, -2.71144751e-07,  1.00000000e+00, -1.41178721e-13,
        1.00000000e+00,  2.71144751e-07, -1.00000000e+00,  0.00000000e+00,
       -5.20676578e-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([ 0.06749519, -0.08540058,  0.06198839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77797663e-05,-1.67875293e-06,-3.72294641e-05, 9.38127410e-06,
 -1.38994122e-03, 1.04404281e-02, 5.62694061e-03, 2.19313738e-03,
 -1.85497263e-05, 6.72532497e-05, 3.04105652e-05,-6.85384092e-06,
  6.05536177e-02, 2.81221321e-02,-3.00294625e-03, 5.31576451e-04,
 -7.72631687e-06, 2.65676711e-06,-9.80999912e+00,-6.49164890e-02,
 -9.14763280e-03,-5.58417460e-03]


--- Step 1255 ---
qpos:
[ 0.00985652, 0.00806006,-0.00561389, 0.0334827 , 0.00433722,-0.00393229,
 -0.01048722, 0.0377149 , 0.01308918, 0.00593956,-0.01170202, 0.03405983,
  0.83890708,-0.01923774, 1.15514467, 0.04608229, 0.0933403 ,-0.06555613,
  0.14231112, 0.94609565,-0.03309745, 0.0308568 , 0.32071084]

qacc:
[ 5.74167057e+00, 1.57501705e+00,-7.18000268e+00, 1.49836626e+01,
 -6.35119332e+01, 2.74450866e-02, 7.58729136e+00, 3.61268097e+01,
  4.21074301e+00, 3.88365599e-01,-3.00658200e-01,-1.34146101e+00,
  4.73099013e+01, 9.03630067e+01,-4.63790860e+01, 1.10652561e+02,
 -1.36524423e+00,-1.43518432e+00, 2.49997681e-01, 3.45351840e+00,
 -1.82170443e+01,-1.64617116e+00]

qfrc_actuator:
[ 3.63417235e-05, 2.42784031e-04, 2.06303181e-05, 7.78606128e-05,
 -8.36237613e-04, 6.76616899e-03, 3.60598754e-03, 1.36141765e-03,
  1.05576992e-05, 8.72297988e-05,-4.95815203e-05,-1.09345838e-05,
  4.75062813e-02, 2.34441850e-02, 7.37720562e-04,-2.19470835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20980514,  0.17101472, -0.12154079,  0.17101472,  0.35677836,
        0.20679957, -0.12154079,  0.20679957,  0.50078375,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.0116360024856925e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97069327, -0.23955981,  0.01912244, -0.23951334,  0.97088161,
        0.00471836, -0.01969596,  0.        , -0.99980602])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12844615, -0.0828719 ,  0.1117415 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1305164 ,  0.18270207, -1.11565554,  0.18270207,  9.36852667,
        1.34907365, -1.11565554,  1.34907365,  1.3514435 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032811343341450605
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11332572e-01, -8.41028817e-01, -1.76662194e-01, -9.17766388e-02,
       -1.50952242e-01,  9.84271542e-01, -8.54468285e-01,  5.19503562e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10448305, -0.03768831,  0.30476094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.45134734, 11.36803487,  1.37881803, 11.36803487, 12.23217876,
       -6.43777397,  1.37881803, -6.43777397, 64.52930078,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005147326861538767
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16445736e-06, -1.16445726e-06,  1.00000000e+00,  1.35596083e-12,
        1.00000000e+00,  1.16445726e-06, -1.00000000e+00,  2.01948392e-28,
        1.16445736e-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([ 0.09462989, -0.05230464,  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:
[ 3.37260142e-05, 1.94214245e-05,-3.81392820e-06, 2.32412602e-05,
 -1.35307620e-03, 1.04410580e-02, 5.54781468e-03, 2.07626019e-03,
  2.46973636e-05, 4.99365135e-05, 1.09285475e-05,-1.52115621e-06,
  6.17585059e-02, 2.83592500e-02,-3.26445825e-03,-1.51822678e-06,
 -1.54343699e-06,-2.89914315e-07,-9.81000027e+00,-6.49155178e-02,
 -9.14450654e-03,-5.58594299e-03]


--- Step 1256 ---
qpos:
[ 0.00985697, 0.0080595 ,-0.00561402, 0.03348363, 0.00433726,-0.00398873,
 -0.01051466, 0.03770753, 0.01308973, 0.00594006,-0.01170195, 0.0340598 ,
  0.83880541,-0.01920457, 1.15528657, 0.04609861, 0.09334279,-0.06555002,
  0.14231254, 0.94610781,-0.03312714, 0.0308261 , 0.32067486]

qacc:
[ 4.23816871e-01,-4.35169721e-01, 3.51925541e-01, 3.86751293e+00,
 -2.68737954e+01, 7.78732354e+00,-4.25341897e+01, 1.01171324e+02,
  2.63027539e+00, 2.34655085e+00,-1.09672834e+01, 2.31026223e+01,
 -1.45678076e+01,-2.90358536e+01,-2.03132813e+02, 4.87987384e+02,
 -4.04893808e-01, 1.12668084e+00,-1.86534158e-01,-2.29755117e+01,
  1.71629627e+00,-2.78794024e+01]

qfrc_actuator:
[ 3.77931799e-05, 2.41716233e-04, 3.91434088e-05, 9.19836492e-05,
 -8.36030068e-04, 6.82014798e-03, 3.62297881e-03, 1.39513216e-03,
  2.52937669e-05, 7.29095169e-05,-7.13411672e-05, 2.17109932e-05,
  4.74995163e-02, 2.34027731e-02, 7.15520237e-04,-2.24555350e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20974611,  0.18425747,  0.10021285,  0.18425747,  0.27962116,
       -0.12847653,  0.10021285, -0.12847653,  0.44597089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.7528068949471956e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70709627e-01, -2.39499889e-01,  1.90426543e-02, -2.39453818e-01,
        9.70896392e-01,  4.69742563e-03, -1.96134773e-02,  8.67361738e-19,
       -9.99807637e-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([ 0.12845423, -0.08287138,  0.11174055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12710635,  0.75316945,  0.83851327,  0.75316945,  2.07679079,
       -0.85302562,  0.83851327, -0.85302562,  1.89331108,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032434584973311165
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11305194e-01, -8.41065000e-01, -1.76569146e-01, -9.17218331e-02,
       -1.50876667e-01,  9.84288239e-01, -8.54490552e-01,  5.19466935e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10448978, -0.03769576,  0.30477211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005139484141834377
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08009189e-13, -5.40045943e-14,  1.00000000e+00,  5.83299242e-27,
        1.00000000e+00,  5.40045943e-14, -1.00000000e+00,  0.00000000e+00,
        1.08009189e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08446023, -0.11047058,  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:
[ 2.42038143e-06, 1.00354528e-05, 2.28680737e-05, 1.52750020e-05,
 -9.90695419e-04, 9.87571186e-03, 5.12727697e-03, 1.91629345e-03,
  1.54564294e-05, 1.57911393e-05,-1.01584146e-05, 3.51331342e-05,
  5.24700083e-02, 2.12501241e-02,-2.08861224e-03,-2.32375211e-04,
 -2.79951008e-06, 3.33818913e-06,-9.80999404e+00,-6.49163153e-02,
 -9.14752786e-03,-5.58307944e-03]


--- Step 1257 ---
qpos:
[ 0.00985674, 0.00805851,-0.00561367, 0.03348408, 0.00434366,-0.00403606,
 -0.01053896, 0.03769667, 0.01308941, 0.00593989,-0.01170145, 0.03405987,
  0.83871886,-0.01916729, 1.15549375, 0.04607843, 0.09334989,-0.06554694,
  0.14231308, 0.94610328,-0.03310987, 0.03081835, 0.32069073]

qacc:
[-5.90392281e+00,-2.89058081e+00, 1.15686707e+01,-2.04532039e+01,
  5.58555646e+01,-4.04716968e+00, 4.64067444e+01,-1.18256930e+02,
 -7.55329520e+00,-1.86993294e+00, 4.97567585e+00,-3.41116920e+00,
  4.24539368e+00, 2.07117654e+00, 2.06836260e+02,-5.83613547e+02,
  1.15447771e+00,-7.57749773e-01,-2.19158545e-01, 2.48223492e+01,
  2.72615286e+00, 2.83035596e+01]

qfrc_actuator:
[ 2.95010720e-06, 1.88056406e-04, 5.00950821e-05, 6.44143894e-05,
 -8.34081735e-04, 6.85760901e-03, 3.66221135e-03, 1.43406393e-03,
 -1.95201469e-05,-6.98311419e-06,-6.65096383e-05, 2.31494893e-05,
  4.74971978e-02, 2.34078469e-02, 6.65410338e-04,-2.47000102e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20964954, -0.20581195,  0.03992957, -0.20581195,  0.22038235,
        0.05532089,  0.03992957,  0.05532089,  0.49479412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.295609297050712e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70735019e-01, -2.39409033e-01,  1.88901389e-02, -2.39363717e-01,
        9.70918799e-01,  4.65792804e-03, -1.94559410e-02,  8.67361738e-19,
       -9.99810715e-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([ 0.12846168, -0.08287061,  0.11173874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1277293 ,  0.3046047 , -1.08581276,  0.3046047 ,  2.60346068,
        0.41398916, -1.08581276,  0.41398916,  1.24386631,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032503893418850703
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11352854e-01, -8.41045538e-01, -1.76523828e-01, -9.17060817e-02,
       -1.50833207e-01,  9.84296367e-01, -8.54463723e-01,  5.19511065e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10449306, -0.03769159,  0.30477065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.44665042, -6.35731031,  9.51895012, -6.35731031, 22.63369221,
        7.47135926,  9.51895012,  7.47135926, 16.43646008,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005144446953242315
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07904993e-13, -2.15809986e-13,  1.00000000e+00,  2.32869750e-26,
        1.00000000e+00,  2.15809986e-13, -1.00000000e+00,  0.00000000e+00,
        1.07904993e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05151933, -0.06224828,  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:
[-3.47704197e-05,-4.26501709e-05, 1.63752677e-05,-2.60514178e-05,
 -8.35690540e-04, 9.93659710e-03, 5.19328753e-03, 1.78896320e-03,
 -4.43684755e-05,-7.16665301e-05, 8.05112138e-06, 2.44578266e-06,
  5.56212249e-02, 2.33741331e-02, 3.04256606e-03,-1.28136512e-03,
 -2.16508352e-05, 2.61193983e-06,-9.80999152e+00,-6.49179529e-02,
 -9.15428084e-03,-5.58131539e-03]


--- Step 1258 ---
qpos:
[ 0.00985645, 0.00805701,-0.0056128 , 0.03348386, 0.00435393,-0.00408626,
 -0.01056872, 0.03768079, 0.01308821, 0.00593905,-0.01170077, 0.03405928,
  0.83865524,-0.01911804, 1.15579949, 0.04604844, 0.09336014,-0.06554562,
  0.14231314, 0.94608313,-0.03305669, 0.03082515, 0.32075502]

qacc:
[-5.96219803e-01,-3.52372559e+00, 1.44291994e+01,-2.65089287e+01,
  3.38274238e+01, 1.09800234e+00, 1.16872018e+01,-8.76404759e+01,
 -7.71751349e+00,-2.73417772e+00, 1.12355174e+01,-2.23662143e+01,
  5.07369128e+00, 8.61567245e+00, 1.75321913e+02,-4.01792206e+02,
  7.87917073e-01,-4.38851364e-01,-1.20807929e-01, 1.83109856e+01,
  5.67544311e-01, 2.62082467e+01]

qfrc_actuator:
[ 2.91713174e-07, 1.56508868e-04, 7.39905712e-05, 3.02331581e-05,
 -8.39296655e-04, 6.87580863e-03, 3.69358218e-03, 1.46385829e-03,
 -6.35169967e-05,-5.44511970e-05,-6.40721734e-05,-1.15831763e-05,
  4.74981051e-02, 2.33935028e-02, 6.40337295e-04,-2.48592975e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20967644, -0.20851086,  0.02207778, -0.20851086,  0.20871314,
       -0.00909778,  0.02207778, -0.00909778,  0.12375358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.4277350229317976e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70756629e-01, -2.39320576e-01,  1.89005253e-02, -2.39275229e-01,
        9.70940607e-01,  4.65866252e-03, -1.94662013e-02, -8.67361738e-19,
       -9.99810516e-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([ 0.12846946, -0.0828695 ,  0.11173885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12532564, -0.02568338,  1.12503251, -0.02568338,  1.92863389,
        0.01833873,  1.12503251,  0.01833873,  1.12574429,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000322352573369453
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11326714e-01, -8.41067817e-01, -1.76493397e-01, -9.16850774e-02,
       -1.50810364e-01,  9.84301824e-01, -8.54481619e-01,  5.19481628e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10449976, -0.03769367,  0.30477811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.43732127,   5.4472712 , -10.05681631,   5.4472712 ,
        51.94137942,  21.93900956, -10.05681631,  21.93900956,
        23.32057847,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005138725384366133
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.40125684e-14, -1.08025137e-13,  1.00000000e+00,  5.83471508e-27,
        1.00000000e+00,  1.08025137e-13, -1.00000000e+00,  0.00000000e+00,
        5.40125684e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05152627, -0.06224348,  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:
[-3.66077530e-06,-5.31122941e-05, 1.62091182e-05,-3.59473857e-05,
 -1.15945831e-03, 9.50191494e-03, 5.06829679e-03, 1.99330690e-03,
 -4.52834475e-05,-8.57928257e-05,-1.12922832e-05,-3.74767733e-05,
  5.48647815e-02, 2.31527848e-02,-2.50678191e-04, 5.27196383e-04,
 -3.04959598e-06, 2.96401817e-06,-9.80999618e+00,-6.49191968e-02,
 -9.15184011e-03,-5.57965681e-03]


--- Step 1259 ---
qpos:
[ 0.00985647, 0.00805543,-0.0056118 , 0.0334832 , 0.00436069,-0.00414135,
 -0.01059794, 0.03766902, 0.01308719, 0.00593834,-0.01170102, 0.03405895,
  0.83853716,-0.01910764, 1.1560257 , 0.04605882, 0.09336701,-0.0655393 ,
  0.14231272, 0.9460841 ,-0.03306214, 0.03080959, 0.32075309]

qacc:
[ 2.76761923e+00,-1.34486824e+00, 6.44877107e+00,-1.40636147e+01,
 -3.07684765e+01, 5.18221196e-01,-2.84557733e+01, 1.02114676e+02,
  1.47195096e+00, 3.30808824e+00,-1.25891934e+01, 1.83263951e+01,
 -9.86734947e+00,-3.00920004e+01,-2.39838429e+02, 6.67910525e+02,
 -8.44319335e-01, 1.24976459e+00,-1.18606939e-01,-2.99482025e+01,
 -4.08096900e-01,-3.59868262e+01]

qfrc_actuator:
[ 1.66097179e-05, 1.73985683e-04, 8.76599897e-05, 1.02166141e-05,
 -8.48855776e-04, 6.92627811e-03, 3.74534425e-03, 1.47334821e-03,
 -5.34033280e-05,-1.11768799e-05,-9.84973883e-05, 3.70789684e-06,
  4.75050277e-02, 2.33225143e-02, 6.35594431e-04,-2.17581506e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20977381,  0.12478893,  0.16862021,  0.12478893,  0.48272209,
       -0.20199787,  0.16862021, -0.20199787,  0.35926419,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.876006505795138e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97077763, -0.23922706,  0.01900527, -0.23918123,  0.97096365,
        0.00468254, -0.01957362,  0.        , -0.99980842])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12847891, -0.08286814,  0.11174008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12113572, -0.12942619,  1.11364005, -0.12942619,  4.85944817,
        0.43446311,  1.11364005,  0.43446311,  1.17162861,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003175900223605857
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51122801, -0.84113493, -0.17645951, -0.09164921, -0.1507925 ,
        0.9843079 , -0.85454453,  0.51937814,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10450905, -0.03770135,  0.30479139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.48328474, -6.54063949,  9.43853079, -6.54063949, 21.40396523,
        6.87475583,  9.43853079,  6.87475583, 16.24729945,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005166896552145084
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.07436158e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.07436158e-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([ 0.0844867 , -0.11045138,  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:
[ 1.61998960e-05,-1.03721576e-05, 3.45911785e-06,-2.24292060e-05,
 -1.36246164e-03, 9.69771924e-03, 5.39447914e-03, 2.25416125e-03,
  8.79648666e-06,-8.63555135e-06,-5.48303051e-05, 1.04977932e-05,
  5.37246760e-02, 2.24826232e-02,-5.18817144e-03, 1.32633200e-03,
 -4.95996272e-05, 2.73269441e-05,-9.80997348e+00,-6.49145924e-02,
 -9.16374326e-03,-5.57713058e-03]


--- Step 1260 ---
qpos:
[ 0.00985634, 0.00805419,-0.00561142, 0.0334823 , 0.00436279,-0.00420189,
 -0.0106265 , 0.03766106, 0.01308663, 0.00593777,-0.01170204, 0.03405845,
  0.83836131,-0.01913732, 1.15614105, 0.04608017, 0.09337228,-0.06552933,
  0.14231202, 0.94610295,-0.03311092, 0.03078018, 0.32069527]

qacc:
[-1.33922910e+00, 1.68151222e+00,-4.33460219e+00, 9.32306674e-01,
 -4.06917670e+01,-1.12410240e+00,-2.24201994e+01, 9.12806839e+01,
  4.13936533e+00, 1.96311534e+00,-6.03336365e+00, 4.21595519e+00,
 -1.20800822e+01,-2.90470596e+01,-1.97204463e+02, 4.51654480e+02,
 -4.01500536e-01, 9.10436014e-01,-7.10518447e-02,-2.15616315e+01,
  1.04780631e+00,-3.01996277e+01]

qfrc_actuator:
[ 8.45100918e-06, 2.02908480e-04, 5.98865856e-05,-1.27016651e-06,
 -8.55182181e-04, 6.99928390e-03, 3.80551414e-03, 1.44578329e-03,
 -2.92745542e-05,-2.76796175e-06,-1.36245083e-04,-4.88808646e-06,
  4.75163733e-02, 2.32280653e-02, 5.96944088e-04,-2.08912438e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20978175,  0.00632983,  0.20968624,  0.00632983,  0.64648806,
       -0.01318292,  0.20968624, -0.01318292,  0.21017971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.910748147155402e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97080683, -0.23911072,  0.01897768, -0.23906505,  0.97099231,
        0.00467333, -0.01954463,  0.        , -0.99980899])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12848765, -0.08286676,  0.11173974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12139851,  0.215026  , -1.10059004,  0.215026  ,  2.25384881,
        0.22125065, -1.10059004,  0.22125065,  1.164625  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003178917779003995
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11225207e-01, -8.41138554e-01, -1.76450333e-01, -9.16437909e-02,
       -1.50785064e-01,  9.84309545e-01, -8.54546782e-01,  5.19374428e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10451443, -0.03769738,  0.30479028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.49462459,  7.52686978, -8.68749824,  7.52686978, 32.50465219,
       18.20313945, -8.68749824, 18.20313945, 27.26586925,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005173839821878273
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07291979e-13, -8.04689841e-14,  1.00000000e+00,  8.63367653e-27,
        1.00000000e+00,  8.04689841e-14, -1.00000000e+00,  0.00000000e+00,
        1.07291979e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08449614, -0.11044468,  0.06198836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.69588208e-06, 2.29286485e-05,-3.02582868e-05,-1.22459977e-05,
 -1.19289239e-03, 1.00176918e-02, 5.42838627e-03, 2.02152392e-03,
  2.43750139e-05,-7.26701060e-06,-4.59111874e-05,-1.06564903e-05,
  5.64585123e-02, 2.43305546e-02,-1.25567981e-03,-6.06242531e-04,
 -1.34030454e-06,-1.21566837e-07,-9.80999844e+00,-6.49133774e-02,
 -9.15402183e-03,-5.57551585e-03]


--- Step 1261 ---
qpos:
[ 0.00985542, 0.00805338,-0.00561204, 0.03348129, 0.00437036,-0.00425585,
 -0.01065286, 0.03764903, 0.01308638, 0.00593692,-0.01170249, 0.03405677,
  0.8382052 ,-0.01916102, 1.15632694, 0.04606662, 0.09338179,-0.06552292,
  0.14231085, 0.94610315,-0.03310935, 0.03077486, 0.32069536]

qacc:
[-6.93993719e+00, 3.11816823e+00,-9.78437910e+00, 9.02365594e+00,
  4.79613577e+01,-5.88368691e+00, 5.06262031e+01,-1.29220090e+02,
  2.60485435e+00,-4.39110116e+00, 2.00673106e+01,-4.10897206e+01,
  6.43827093e+00, 1.89880614e+00, 2.09657414e+02,-5.82392748e+02,
  1.05900780e+00,-8.86943364e-01,-1.18004722e-01, 2.64830527e+01,
  2.64638656e+00, 3.15570545e+01]

qfrc_actuator:
[-3.18077381e-05, 2.20556572e-04, 7.93580273e-06,-7.66022398e-06,
 -8.57029310e-04, 7.08832585e-03, 3.85263899e-03, 1.44788908e-03,
 -1.48604250e-05,-1.53280535e-05,-1.04767898e-04,-6.29998718e-05,
  4.75273050e-02, 2.32073089e-02, 5.86239603e-04,-2.06999019e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20972469, -0.20209284,  0.05606181, -0.20209284,  0.21224824,
        0.00909694,  0.05606181,  0.00909694,  0.24251755,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.655296024815269e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97084549, -0.2389631 ,  0.01885947, -0.23891803,  0.97102865,
        0.00464118, -0.01942216,  0.        , -0.99981137])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12849604, -0.08286519,  0.11173834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12471307, -0.71511178, -0.86809828, -0.71511178,  2.16541345,
       -0.85729591, -0.86809828, -0.85729591,  1.8309262 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003216626903838872
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51130589, -0.84108292, -0.17648173, -0.09167509, -0.15080279,
        0.98430392, -0.85449515,  0.51945937,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.104517  , -0.03768342,  0.30477932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.5031978 , -6.40676972,  9.55389247, -6.40676972, 21.3509704 ,
        6.60384356,  9.55389247,  6.60384356, 15.93168651,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000517908731125713
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.05155614, -0.06222446,  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:
[-4.04645465e-05, 2.37352025e-05,-5.13524773e-05,-6.68850982e-06,
 -9.62219618e-04, 1.03817629e-02, 5.44335308e-03, 1.83296121e-03,
  1.51037882e-05,-2.65235018e-05, 2.39706749e-05,-6.02155283e-05,
  5.93579784e-02, 2.63143414e-02, 4.27376193e-03,-1.13681771e-03,
 -4.79979195e-05, 1.47010136e-05,-9.80998040e+00,-6.49184368e-02,
 -9.16662301e-03,-5.57529336e-03]


--- Step 1262 ---
qpos:
[ 0.00985438, 0.00805271,-0.00561298, 0.03348089, 0.00438145,-0.00431324,
 -0.01068545, 0.03763151, 0.01308629, 0.00593594,-0.01170235, 0.03405474,
  0.83807759,-0.01916928, 1.15661656, 0.04604537, 0.09339409,-0.06551868,
  0.14230957, 0.9460861 ,-0.03306912, 0.03078457, 0.32074886]

qacc:
[-1.15593789e+00, 2.36399492e+00,-1.07247196e+01, 2.17160735e+01,
  3.06340678e+01, 1.46986114e+00, 1.12599627e+01,-9.37841364e+01,
  1.55762716e+00,-2.52938517e+00, 1.02720388e+01,-1.72886985e+01,
  6.92484001e+00, 1.02689701e+01, 1.76606592e+02,-3.95201773e+02,
  6.98393777e-01,-5.44847616e-01,-2.56867120e-02, 1.95876028e+01,
  2.93708259e-01, 2.88752076e+01]

qfrc_actuator:
[-3.73720025e-05, 2.31215043e-04,-4.63963066e-06, 2.44857000e-05,
 -8.82202835e-04, 7.14162817e-03, 3.87239283e-03, 1.47415825e-03,
 -6.28453744e-06,-4.60219429e-06,-6.82932938e-05,-7.87384754e-05,
  4.75384181e-02, 2.32007521e-02, 5.90619524e-04,-1.97889017e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20978466, -0.20721304,  0.03274696, -0.20721304,  0.20737893,
       -0.01522279,  0.03274696, -0.01522279,  0.1134594 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.9234145311921516e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97088051, -0.23881796,  0.01889504, -0.23877274,  0.97106436,
        0.00464694, -0.01945808,  0.        , -0.99981067])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12850498, -0.08286332,  0.11173875])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12444779, -0.04877416,  1.12338948, -0.04877416,  1.98537608,
        0.03737889,  1.12338948,  0.03737889,  1.12607067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032136326323983555
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51130319, -0.84107481, -0.17652825, -0.09169954, -0.15084235,
        0.98429557, -0.85449414,  0.51946103,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10452358, -0.03767704,  0.30477929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.52826099,  5.77753851, -9.97601374,  5.77753851, 39.00379813,
       15.91226495, -9.97601374, 15.91226495, 20.74373782,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005194419204096745
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.13733813e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.13733813e-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([ 0.05156702, -0.06221751,  0.06198832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.70305415e-06, 1.30649105e-05,-1.42073031e-05, 3.12633940e-05,
 -1.26094822e-03, 1.01080456e-02, 5.35457551e-03, 2.06295364e-03,
  8.99400641e-06,-1.69099619e-06, 3.18830352e-05,-1.72118427e-05,
  5.83810003e-02, 2.60091080e-02, 7.48609711e-04, 6.98789333e-04,
 -3.31609069e-08,-1.70497650e-08,-9.80999981e+00,-6.49205228e-02,
 -9.15625346e-03,-5.57481735e-03]


--- Step 1263 ---
qpos:
[ 0.00985327, 0.00805208,-0.00561375, 0.03348085, 0.00438792,-0.00437523,
 -0.01071761, 0.03761816, 0.01308666, 0.00593485,-0.0117021 , 0.03405325,
  0.83790219,-0.01921164, 1.15682361, 0.0460605 , 0.093403  ,-0.06551006,
  0.14230813, 0.94609127,-0.0330853 , 0.03077125, 0.32073324]

qacc:
[-5.11816931e-01, 3.61705287e-01,-2.76767225e+00, 8.85126524e+00,
 -4.03545494e+01, 1.42479896e+00,-3.13900711e+01, 1.06260359e+02,
  3.95090175e+00, 6.33251641e-01,-4.77314592e+00, 1.41061389e+01,
 -8.11055148e+00,-2.71277287e+01,-2.32339253e+02, 6.35081498e+02,
 -8.47412849e-01, 1.09595488e+00,-4.07474037e-02,-2.89454315e+01,
 -1.04566441e+00,-3.75128433e+01]

qfrc_actuator:
[-4.02137587e-05, 2.37789063e-04, 6.13850067e-06, 4.35666178e-05,
 -9.03844161e-04, 7.16312719e-03, 3.90101258e-03, 1.50022677e-03,
  1.65424329e-05,-1.54469062e-05,-6.45605544e-05,-5.16472238e-05,
  4.75481404e-02, 2.31908513e-02, 5.66567179e-04,-1.98212037e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20991742,  0.14206372,  0.15454197,  0.14206372,  0.4412898 ,
       -0.21269059,  0.15454197, -0.21269059,  0.40543465,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.4698887174313184e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70914643e-01, -2.38669251e-01,  1.90196115e-02, -2.38623470e-01,
        9.71100916e-01,  4.67448475e-03, -1.95856179e-02,  8.67361738e-19,
       -9.99808183e-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([ 0.12851563, -0.08286124,  0.11174021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12188443, -0.12392731,  1.1150187 , -0.12392731,  5.52609221,
        0.48949998,  1.1150187 ,  0.48949998,  1.17628927,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031844866709456
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11219962e-01, -8.41116895e-01, -1.76568739e-01, -9.17063253e-02,
       -1.50885617e-01,  9.84288312e-01, -8.54543211e-01,  5.19380304e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10453316, -0.03767747,  0.30478671])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.55574907, -6.5792152 ,  9.49996126, -6.5792152 , 21.19563078,
        6.67611735,  9.49996126,  6.67611735, 16.17930611,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005211219661311189
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06522378e-13,  5.32611892e-14,  1.00000000e+00, -5.67350854e-27,
        1.00000000e+00, -5.32611892e-14, -1.00000000e+00,  0.00000000e+00,
        1.06522378e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08452725, -0.11042168,  0.06198828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.02573632e-06, 1.23220263e-05, 1.28297578e-05, 1.97626389e-05,
 -1.45795251e-03, 1.03041165e-02, 5.69538414e-03, 2.36406978e-03,
  2.30780826e-05,-5.90066557e-06, 6.72902384e-06, 2.77929706e-05,
  5.69639529e-02, 2.52264841e-02,-4.46735154e-03, 1.07954613e-03,
 -3.31824771e-05, 1.61613766e-05,-9.80998530e+00,-6.49162711e-02,
 -9.16407592e-03,-5.57336323e-03]


--- Step 1264 ---
qpos:
[ 0.00985214, 0.00805146,-0.00561408, 0.03348069, 0.00439222,-0.00443549,
 -0.01074687, 0.03760716, 0.01308695, 0.00593374,-0.01170211, 0.03405245,
  0.83769051,-0.01926666, 1.15701604, 0.04606487, 0.09341148,-0.06550198,
  0.14230844, 0.94609878,-0.03310727, 0.03077075, 0.32070885]

qacc:
[ -0.20968925, -1.53473448,  6.06062711, -9.11406756,-18.94772342,
  -0.97141416, -3.03694965, 37.56096531, -0.66005126,  2.13437301,
 -10.60776491, 23.13120873,-19.63454278,  5.70494352, 11.74606133,
 -70.87964041, -0.10771577, -0.13434253,  0.43690279, -0.51260652,
   7.10297463, -4.39547201]

qfrc_actuator:
[-4.14413513e-05, 2.41961978e-04, 3.05735052e-05, 3.70548172e-05,
 -9.16651692e-04, 7.20357594e-03, 3.93079449e-03, 1.51869781e-03,
  1.20711516e-05,-2.14566890e-05,-8.02492875e-05,-1.73710379e-05,
  4.75681957e-02, 2.32400754e-02, 5.54467278e-04,-1.99418888e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20994507,  0.01404156,  0.20947498,  0.01404156,  0.50211191,
       -0.01958457,  0.20947498, -0.01958457,  0.21125787,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.5769300325991555e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97095586, -0.23850259,  0.01900596, -0.23845691,  0.97114186,
        0.00466767, -0.01957073,  0.        , -0.99980847])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12852549, -0.08285922,  0.11174004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12325379,  0.20022472, -1.10526429,  0.20022472,  2.31381222,
        0.21567622, -1.10526429,  0.21567622,  1.16232473,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003200104718032547
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51123821, -0.84109406, -0.17662465, -0.09173957, -0.15093083,
        0.98427828, -0.85452872,  0.51940414,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10453912, -0.0376675 ,  0.30478146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.56479629, -6.32292801,  9.68323782, -6.32292801, 25.44215365,
        9.06159006,  9.68323782,  9.06159006, 17.48180284,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005216745898046183
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.40480786e-07,  4.09167529e-13,  1.00000000e+00, -1.80230435e-19,
        1.00000000e+00, -4.09167529e-13, -1.00000000e+00,  0.00000000e+00,
        4.40480786e-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([ 0.06754319, -0.08554876,  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:
[-1.30803500e-06, 1.45949376e-05, 2.92620561e-05,-5.15169123e-06,
 -1.24025349e-03, 1.05767873e-02, 5.70508860e-03, 2.17381130e-03,
 -3.82226166e-06,-6.67956969e-06,-1.51046595e-05, 3.48013461e-05,
  5.93736797e-02, 2.69821197e-02,-3.55154419e-04,-7.52858861e-04,
 -4.83989712e-06, 9.91641600e-07,-9.80999764e+00,-6.49175428e-02,
 -9.15863829e-03,-5.57283583e-03]


--- Step 1265 ---
qpos:
[ 0.00985135, 0.00805089,-0.00561411, 0.0334808 , 0.00440181,-0.0044943 ,
 -0.01077878, 0.03759167, 0.01308718, 0.00593291,-0.01170242, 0.0340517 ,
  0.83751183,-0.01930325, 1.15728919, 0.04604981, 0.09342297,-0.06549651,
  0.1423084 , 0.94608855,-0.03308666, 0.03078493, 0.32073979]

qacc:
[ 2.98345764e+00,-1.79449435e-01,-4.43005157e-01, 4.73111400e+00,
  4.62415640e+01,-8.54940283e-03, 2.16007866e+01,-9.59615859e+01,
 -5.06839552e-01, 1.31682736e+00,-4.30007738e+00, 5.19712386e+00,
  8.59972723e+00, 1.14674758e+01, 1.77995903e+02,-4.49553744e+02,
  7.53411456e-01,-6.53144296e-01,-8.60873663e-02, 2.13575806e+01,
 -5.27149833e-01, 2.99115512e+01]

qfrc_actuator:
[-2.39576257e-05, 2.44705255e-04, 4.50898190e-05, 5.10473075e-05,
 -9.07005550e-04, 7.28641540e-03, 3.94087334e-03, 1.53277746e-03,
  9.31686714e-06, 1.09037556e-05,-8.95029970e-05,-1.46605325e-05,
  4.76004594e-02, 2.33347134e-02, 5.14440283e-04,-1.96120995e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20993872, -0.20649064,  0.037893  , -0.20649064,  0.20838461,
       -0.00846882,  0.037893  , -0.00846882,  0.16378951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.5525245754369696e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97100245, -0.23831405,  0.01899092, -0.23826849,  0.97118814,
        0.00466007, -0.01955432,  0.        , -0.9998088 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12853449, -0.08285702,  0.11173986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12602015,  0.086582  ,  1.12268648,  0.086582  ,  9.80272362,
       -0.66915063,  1.12268648, -0.66915063,  1.1776253 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032313213706313423
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51127448, -0.84105606, -0.17670059, -0.0917868 , -0.150991  ,
        0.98426465, -0.85450195,  0.51944818,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10454522, -0.03765392,  0.30477406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005220470289244439
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.19000865e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.19000865e-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([ 0.05159812, -0.06219715,  0.06198826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74529092e-05, 1.67582390e-05, 2.09695176e-05, 1.55328331e-05,
 -1.12226521e-03, 1.05757024e-02, 5.57112792e-03, 2.07108893e-03,
 -2.86978845e-06, 2.70382801e-05,-1.12744847e-05, 2.58345649e-06,
  6.12184238e-02, 2.77101617e-02, 3.31427344e-04,-1.82511914e-04,
 -7.33413766e-06, 4.55615541e-06,-9.80999532e+00,-6.49209727e-02,
 -9.15851577e-03,-5.57430761e-03]


--- Step 1266 ---
qpos:
[ 0.00985146, 0.00805024,-0.00561388, 0.03348109, 0.00441097,-0.0045513 ,
 -0.01080919, 0.03757867, 0.01308772, 0.00593215,-0.0117025 , 0.03405062,
  0.83730648,-0.0193451 , 1.15757112, 0.04604805, 0.09343263,-0.06549044,
  0.14230994, 0.94608237,-0.0330823 , 0.03080257, 0.32075679]

qacc:
[  7.95782221, -0.4857367 ,  0.75876105,  2.12229654, -3.77353605,
   3.33956763,-18.94802565, 58.32964342,  2.73393893, -1.24697987,
   5.92379062,-11.87528042,-16.81818636,  9.93264761,-26.48383109,
 113.01590697, -0.45630908,  0.14881361,  0.39251545, -6.85524617,
   4.40770461, -7.43558567]

qfrc_actuator:
[ 2.21511974e-05, 2.28797765e-04, 5.36410064e-05, 5.92337165e-05,
 -8.90470818e-04, 7.37653013e-03, 3.96127699e-03, 1.56786982e-03,
  2.53568473e-05, 1.27299188e-05,-7.69886786e-05,-3.05055320e-05,
  4.76191426e-02, 2.33773226e-02, 4.49602285e-04,-1.94149982e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21003492, -0.03461895,  0.20716224, -0.03461895,  0.70132766,
        0.0821001 ,  0.20716224,  0.0821001 ,  0.22375469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.9111417979100825e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97104547, -0.23813122,  0.0190844 , -0.23808524,  0.97123299,
        0.0046792 , -0.01964967,  0.        , -0.99980693])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12854463, -0.08285465,  0.11174096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12563202,  0.43874655, -1.0366045 ,  0.43874655,  8.16254456,
        2.97839833, -1.0366045 ,  2.97839833,  2.38624973,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032269681172320284
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11227571e-01, -8.41069530e-01, -1.76772217e-01, -9.18167812e-02,
       -1.51056597e-01,  9.84251789e-01, -8.54526798e-01,  5.19407308e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10455449, -0.03764822,  0.30477619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.54575602, -6.66200978,  9.42985195, -6.66200978, 25.88439522,
       10.12997394,  9.42985195, 10.12997394, 18.70238858,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005205113776112717
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.11947625e-07,  2.80209624e-13,  1.00000000e+00, -2.27515538e-19,
        1.00000000e+00, -2.80209624e-13, -1.00000000e+00, -4.81482486e-35,
        8.11947625e-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([ 0.06756039, -0.08553573,  0.06198829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.66122321e-05,-1.50960785e-06, 1.51399256e-05, 9.93289888e-06,
 -1.36990641e-03, 1.05961485e-02, 5.72526373e-03, 2.33094884e-03,
  1.59650896e-05, 1.47631392e-05, 1.68155304e-05,-1.50217041e-05,
  5.95858649e-02, 2.68315979e-02,-3.77382383e-03, 8.07387991e-04,
 -1.14671527e-05, 3.27980927e-06,-9.80999655e+00,-6.49167603e-02,
 -9.15841494e-03,-5.57442605e-03]


--- Step 1267 ---
qpos:
[ 0.00985178, 0.00804972,-0.0056139 , 0.03348149, 0.00441546,-0.00461162,
 -0.01083998, 0.03756956, 0.0130888 , 0.00593106,-0.01170196, 0.03404974,
  0.83706325,-0.01941486, 1.15774928, 0.04607057, 0.09343956,-0.06548043,
  0.14231075, 0.94609619,-0.03312633, 0.03079586, 0.32071213]

qacc:
[ 1.80551253e+00, 1.07097062e+00,-3.98882059e+00, 6.05405798e+00,
 -4.08609171e+01, 4.77455044e+00,-3.96792627e+01, 1.10001423e+02,
  4.71470495e+00,-1.76292341e+00, 4.82076363e+00,-2.22202943e+00,
 -4.57520326e+00,-2.44939503e+01,-2.27135586e+02, 5.71250156e+02,
 -6.84757571e-01, 9.86332751e-01,-1.79990320e-01,-2.55159020e+01,
 -3.04033017e+00,-3.35210924e+01]

qfrc_actuator:
[ 3.14748832e-05, 2.37318376e-04, 4.07682423e-05, 6.39162802e-05,
 -9.01705928e-04, 7.43456409e-03, 3.98478690e-03, 1.61038357e-03,
  5.23296864e-05,-2.14209139e-05,-5.18445728e-05,-2.16385347e-05,
  4.76285333e-02, 2.34227828e-02, 4.32031479e-04,-1.88368595e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21007665,  0.00216709,  0.21006547,  0.00216709,  0.51132206,
       -0.00310772,  0.21006547, -0.00310772,  0.21010871,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.0600192661250576e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97109103, -0.23794069,  0.01914258, -0.23789447,  0.97127969,
        0.00468948, -0.01970862,  0.        , -0.99980577])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12855381, -0.08285231,  0.11174165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12739415,  0.15051146, -1.11730205,  0.15051146,  8.50374531,
        0.9936663 , -1.11730205,  0.9936663 ,  1.26125067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032466632272877224
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51120284, -0.84106909, -0.1768458 , -0.09185179, -0.15112143,
        0.98423857, -0.85453783,  0.51938915,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10456306, -0.03763858,  0.30477358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.51909256,  6.66404187, -9.39574581,  6.66404187, 23.78837277,
        8.70212952, -9.39574581,  8.70212952, 17.69117901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005188812115788505
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.34911941e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.34911941e-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([ 0.08456434, -0.11039775,  0.06198833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06518921e-05, 1.12656875e-05,-1.09738982e-05, 5.33335089e-06,
 -1.35953343e-03, 1.05662772e-02, 5.67497627e-03, 2.24909322e-03,
  2.74290553e-05,-2.30275726e-05, 2.97570444e-05, 9.79278217e-06,
  6.09269020e-02, 2.71402493e-02,-4.23543715e-03, 1.99246348e-04,
 -2.90371578e-06,-6.80539384e-07,-9.80999946e+00,-6.49151456e-02,
 -9.15449230e-03,-5.57608527e-03]


--- Step 1268 ---
qpos:
[ 0.00985187, 0.00804955,-0.00561445, 0.03348193, 0.00442441,-0.00467032,
 -0.01087163, 0.03755621, 0.01309019, 0.00592959,-0.01170078, 0.03404932,
  0.83685343,-0.01946696, 1.15798958, 0.04606251, 0.09344991,-0.0654736 ,
  0.14231104, 0.94609194,-0.03312342, 0.03080604, 0.32072399]

qacc:
[-2.08791649e+00, 2.05457203e+00,-6.87347611e+00, 8.30981283e+00,
  3.90497292e+01,-4.27814461e+00, 3.61145637e+01,-1.09180017e+02,
  2.79783951e+00,-1.35744684e+00, 2.14814441e+00, 5.11537933e+00,
  9.57212672e+00, 9.83250715e+00, 1.84206949e+02,-5.11315825e+02,
  8.54317546e-01,-7.96843808e-01,-1.30609517e-01, 2.37467675e+01,
 -2.00438224e-01, 3.06381197e+01]

qfrc_actuator:
[ 1.90640310e-05, 2.60305024e-04, 1.54427199e-05, 6.65053868e-05,
 -9.42951442e-04, 7.47774066e-03, 4.02918549e-03, 1.63719490e-03,
  6.77625023e-05,-4.12740869e-05,-1.95862260e-05, 1.67313129e-06,
  4.76502957e-02, 2.35302223e-02, 4.41981508e-04,-1.85482502e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21002442, -0.20522018,  0.04466471, -0.20522018,  0.20825401,
       -0.00813448,  0.04466471, -0.00813448,  0.17264907,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.8730973125765016e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71140050e-01, -2.37745490e-01,  1.90810240e-02, -2.37699612e-01,
        9.71327485e-01,  4.67033774e-03, -1.96442748e-02, -8.67361738e-19,
       -9.99807033e-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([ 0.12856242, -0.08285013,  0.11174093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13189951, -0.2166628 , -1.11096973, -0.2166628 ,  3.2579059 ,
       -0.41461661, -1.11096973, -0.41461661,  1.2127586 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032962345395920874
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51126762, -0.84101074, -0.17693605, -0.09191182, -0.15119055,
        0.98422235, -0.85449262,  0.51946353,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10456843, -0.03762055,  0.3047615 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.51133642, -6.4078631 ,  9.56295752, -6.4078631 , 21.58311547,
        6.74880978,  9.56295752,  6.74880978, 16.03351996,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005184067372574069
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.35401522e-14, -1.07080304e-13,  1.00000000e+00,  5.73309580e-27,
        1.00000000e+00,  1.07080304e-13, -1.00000000e+00,  0.00000000e+00,
        5.35401522e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0516218 , -0.06218016,  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:
[-1.21016654e-05, 2.72688113e-05,-2.41609882e-05, 2.79575357e-06,
 -1.16760712e-03, 1.07773641e-02, 5.73916870e-03, 2.08124102e-03,
  1.61997461e-05,-2.61157928e-05, 3.15142170e-05, 2.35472816e-05,
  6.28432714e-02, 2.86456717e-02, 9.58250190e-04,-9.87293877e-04,
 -2.74995272e-05, 1.54143801e-05,-9.80998300e+00,-6.49225262e-02,
 -9.15969716e-03,-5.57840565e-03]


--- Step 1269 ---
qpos:
[ 0.00985215, 0.00804955,-0.00561555, 0.03348243, 0.00443668,-0.00473583,
 -0.01091003, 0.03753772, 0.01309107, 0.0059281 ,-0.01169961, 0.03404918,
  0.83668253,-0.01949502, 1.15831615, 0.04604402, 0.09346254,-0.06546882,
  0.14231108, 0.94607105,-0.03308361, 0.03082623, 0.32078776]

qacc:
[ 1.69788705e+00, 1.86006459e+00,-6.50662906e+00, 8.10656221e+00,
  2.89746568e+01,-7.88156828e-01, 1.13982376e+01,-8.46332454e+01,
 -4.53665314e+00, 5.87039978e-01,-3.29347544e+00, 8.16054394e+00,
  9.62967819e+00, 1.56877836e+01, 1.59038721e+02,-3.71262411e+02,
  5.72708481e-01,-5.10315189e-01,-6.34389158e-02, 1.79874365e+01,
 -1.77949663e+00, 2.79537380e+01]

qfrc_actuator:
[ 2.94771961e-05, 2.56212132e-04,-1.69617558e-05, 6.78517767e-05,
 -9.56201689e-04, 7.52616135e-03, 4.06899824e-03, 1.66116516e-03,
  4.07709364e-05,-3.46160268e-05,-1.88427304e-05, 1.55513244e-05,
  4.76637762e-02, 2.36581862e-02, 3.77361492e-04,-2.02896843e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21008786, -0.20798819,  0.02962807, -0.20798819,  0.20813041,
       -0.01374125,  0.02962807, -0.01374125,  0.1136247 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.0993903844831014e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97118613, -0.23755258,  0.01913836, -0.23750647,  0.97137468,
        0.00468034, -0.01970235,  0.        , -0.99980589])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1285721 , -0.08284772,  0.1117416 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13253594, -0.06600813,  1.13061071, -0.06600813,  2.13132023,
        0.05831174,  1.13061071,  0.05831174,  1.13594034,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033031483750145687
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51124868, -0.84100317, -0.17702674, -0.09195705, -0.15126919,
        0.98420604, -0.85449909,  0.51945289,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10457722, -0.03761101,  0.30476058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.49136854,  5.71047413, -9.97206279,  5.71047413, 45.83276315,
       19.66550446, -9.97206279, 19.66550446, 22.75276518,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005171846458299351
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.36666659e-14, -2.14666664e-13,  1.00000000e+00,  1.15204441e-26,
        1.00000000e+00,  2.14666664e-13, -1.00000000e+00,  0.00000000e+00,
        5.36666659e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05162977, -0.06217441,  0.06198837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00797998e-05, 6.29236915e-06,-2.96428640e-05, 1.73447678e-06,
 -1.40377408e-03, 1.07478170e-02, 5.82297242e-03, 2.31753061e-03,
 -2.65459993e-05,-3.76816032e-07, 5.04434827e-08, 1.43088673e-05,
  6.11845851e-02, 2.78910035e-02,-2.21664163e-03, 3.66861922e-04,
 -1.26095677e-06,-1.41566558e-07,-9.80999990e+00,-6.49200983e-02,
 -9.15215077e-03,-5.57918496e-03]


--- Step 1270 ---
qpos:
[ 0.00985186, 0.00804962,-0.00561697, 0.03348224, 0.00444433,-0.00480438,
 -0.01094745, 0.03752366, 0.01309127, 0.00592659,-0.01169813, 0.03404884,
  0.83647406,-0.01955084, 1.1585491 , 0.04606142, 0.0934714 ,-0.06545969,
  0.14231063, 0.94607331,-0.03310127, 0.03081935, 0.32077992]

qacc:
[-4.98993890e+00,-3.95133506e-01, 4.43636244e+00,-1.57649014e+01,
 -4.04313768e+01, 2.46034500e+00,-3.31938522e+01, 1.10523498e+02,
 -5.92913321e+00,-1.27650180e+00, 5.36748204e+00,-9.29690658e+00,
 -4.18340527e+00,-2.48053133e+01,-2.47270173e+02, 6.63437632e+02,
 -9.45171548e-01, 1.08651458e+00,-1.21782676e-01,-3.00465917e+01,
 -2.76437150e+00,-3.89161316e+01]

qfrc_actuator:
[-1.01172266e-08, 2.53650511e-04,-3.56369284e-05, 3.29270297e-05,
 -9.53294428e-04, 7.60325881e-03, 4.07679214e-03, 1.68603708e-03,
  6.78219528e-06,-3.00166826e-05,-1.10884385e-06, 6.01334994e-06,
  4.76759151e-02, 2.37140011e-02, 3.43477716e-04,-1.97777681e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21021865,  0.11640497,  0.17504789,  0.11640497,  0.52638012,
       -0.21024399,  0.17504789, -0.21024399,  0.35002865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.540930120512694e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97123193, -0.23735519,  0.01926293, -0.23730852,  0.97142293,
        0.00470666, -0.0198296 ,  0.        , -0.99980337])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12858376, -0.08284513,  0.11174308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13048205, -0.11582242,  1.12453316, -0.11582242,  6.65215345,
        0.56871008,  1.12453316,  0.56871008,  1.18905691,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003280757974262304
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51115006, -0.84104721, -0.17710225, -0.0919798 , -0.15134373,
        0.98419246, -0.85455563,  0.51935987,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10458851, -0.03760899,  0.30476758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.48142157, -6.53187445,  9.44233326, -6.53187445, 20.61111465,
        6.31560095,  9.44233326,  6.31560095, 15.85033245,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005165755489128232
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.37299446e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.37299446e-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([ 0.08459329, -0.11037932,  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:
[-2.91957957e-05,-5.07735838e-06,-2.09553171e-05,-3.56461026e-05,
 -1.56659974e-03, 1.11683697e-02, 6.16966462e-03, 2.60024373e-03,
 -3.47475610e-05, 5.04621224e-06, 1.81632934e-05,-9.27160081e-06,
  5.92494373e-02, 2.67443805e-02,-6.56884108e-03, 9.38647613e-04,
 -4.42222593e-05, 1.65033489e-05,-9.80998674e+00,-6.49138316e-02,
 -9.16051542e-03,-5.57878772e-03]


--- Step 1271 ---
qpos:
[ 0.00985123, 0.00804977,-0.00561836, 0.03348162, 0.00444993,-0.00486979,
 -0.01098175, 0.03751219, 0.01309072, 0.0059255 ,-0.01169692, 0.03404837,
  0.83623682,-0.0196142 , 1.15876091, 0.04607035, 0.09347947,-0.06545106,
  0.14231173, 0.9460786 ,-0.03312604, 0.03082209, 0.32076151]

qacc:
[ -3.08190432, -0.88194814,  5.16201714,-12.91371688,-17.8350823 ,
   0.82322986, -7.80642977, 45.33769333, -6.65185515,  1.05717633,
  -2.3907396 ,  0.24562526,-16.96531735,  7.95522898, -4.9047793 ,
 -26.77260872, -0.19511463, -0.12452807,  0.38640938, -1.60236939,
   5.81769423, -5.43737667]

qfrc_actuator:
[-1.72476908e-05, 2.69793547e-04,-2.83282347e-05, 1.24545686e-05,
 -9.69589524e-04, 7.67875727e-03, 4.09584720e-03, 1.70392003e-03,
 -3.10391136e-05, 8.86569068e-06,-8.99453842e-06, 5.45576496e-07,
  4.76980587e-02, 2.36977242e-02, 3.99703148e-04,-1.81578719e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21021837,  0.01674715,  0.20955022,  0.01674715,  0.51302108,
       -0.02419984,  0.20955022, -0.02419984,  0.21215241,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.540025170473456e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97128032, -0.23715885,  0.01924107, -0.23711233,  0.97147088,
        0.0046972 , -0.01980613,  0.        , -0.99980384])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12859444, -0.08284283,  0.11174282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13219563,  0.20030397, -1.11433625,  0.20030397,  2.26069171,
        0.20284923, -1.11433625,  0.20284923,  1.16865815,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003299454112734235
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11155812e-01, -8.41026440e-01, -1.77184262e-01, -9.20248098e-02,
       -1.51412341e-01,  9.84177696e-01, -8.54547348e-01,  5.19373497e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10459586, -0.03759735,  0.30476239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.46818365, -6.26925644,  9.60289851, -6.26925644, 25.4008448 ,
        9.09594385,  9.60289851,  9.09594385, 17.40647452,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005157646064378792
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.63251999e-07, -2.63448937e-13,  1.00000000e+00,  9.56983529e-20,
        1.00000000e+00,  2.63448937e-13, -1.00000000e+00,  1.20370622e-35,
        3.63251999e-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([ 0.06760288, -0.08550376,  0.0619884 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80675401e-05, 7.45272972e-06, 2.46322960e-06,-2.21041456e-05,
 -1.35191379e-03, 1.13985584e-02, 6.14093726e-03, 2.39643704e-03,
 -3.88109092e-05, 4.50854054e-05,-4.92421286e-06,-4.80122775e-06,
  6.11503788e-02, 2.81184179e-02,-1.83711143e-03,-6.95446794e-04,
 -2.52941789e-06, 1.58279877e-06,-9.80999765e+00,-6.49170913e-02,
 -9.15162117e-03,-5.57926753e-03]


--- Step 1272 ---
qpos:
[ 0.00985108, 0.00804997,-0.00561973, 0.03348179, 0.00446061,-0.0049348 ,
 -0.01101779, 0.03749657, 0.01308972, 0.00592479,-0.01169641, 0.03404822,
  0.83603721,-0.01965569, 1.15904431, 0.04605884, 0.09349042,-0.06544507,
  0.14231234, 0.94606666,-0.03310864, 0.03083766, 0.32079701]

qacc:
[ 4.28251434e+00, 1.64793484e+00,-9.14835356e+00, 2.28906685e+01,
  4.44093053e+01,-3.31176020e+00, 2.99932990e+01,-9.94088679e+01,
 -3.97964044e+00, 3.11017618e+00,-1.16897314e+01, 1.80144342e+01,
  1.01681283e+01, 1.31443324e+01, 1.67543678e+02,-4.32645688e+02,
  7.16944967e-01,-6.59873997e-01,-1.20535934e-01, 2.08877689e+01,
 -1.31494742e+00, 2.91269726e+01]

qfrc_actuator:
[ 8.38059263e-06, 2.79375688e-04,-2.34026625e-05, 5.39448288e-05,
 -9.44881071e-04, 7.74833782e-03, 4.15464154e-03, 1.68217448e-03,
 -5.30579895e-05, 1.46243714e-05,-4.95528556e-05, 1.52827300e-05,
  4.77107869e-02, 2.36823142e-02, 4.05652277e-04,-1.87685474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2101773 , -0.20593161,  0.04203179, -0.20593161,  0.20837699,
       -0.00882047,  0.04203179, -0.00882047,  0.16696209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.404686186679068e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71331658e-01, -2.36950931e-01,  1.92110954e-02, -2.36904600e-01,
        9.71521619e-01,  4.68552304e-03, -1.97742336e-02,  8.67361738e-19,
       -9.99804471e-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([ 0.12860408, -0.08284046,  0.11174247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003332003505497265
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51118159, -0.84099084, -0.17727885, -0.09208018, -0.15148938,
        0.98416066, -0.85452596,  0.51940868,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10460306, -0.03758261,  0.30475519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000515198969849015
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.38735076e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.38735076e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05165568, -0.0621563 ,  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:
[ 2.51180465e-05, 1.33194438e-05, 6.02098010e-06, 4.14696989e-05,
 -1.22526339e-03, 1.13140559e-02, 6.04535913e-03, 2.24527311e-03,
 -2.31082200e-05, 2.97587330e-05,-3.20174566e-05, 1.64076896e-05,
  6.26002922e-02, 2.84805840e-02,-7.78252471e-04,-3.33915777e-04,
 -5.29440537e-06, 4.49812996e-06,-9.80999440e+00,-6.49203844e-02,
 -9.15121197e-03,-5.58127670e-03]


--- Step 1273 ---
qpos:
[ 0.00985192, 0.00805034,-0.0056208 , 0.03348242, 0.00447003,-0.00500007,
 -0.01105107, 0.03748353, 0.01308915, 0.00592375,-0.01169581, 0.03404828,
  0.83581468,-0.01970057, 1.15932657, 0.04605671, 0.09349956,-0.06543861,
  0.14231432, 0.94605894,-0.03310667, 0.03085593, 0.32081825]

qacc:
[  8.76376634,  0.31265961, -2.77072069, 10.18394035,-10.96499572,
  -2.65558595, -1.90601355, 42.46741146,  3.82543642, -0.26411333,
  -0.63109267,  4.49080259,-15.03606967, 10.00015347,-29.3321549 ,
 101.57530303, -0.44897448,  0.11778956,  0.33946103, -6.57578637,
   3.91844793, -7.61777457]

qfrc_actuator:
[ 5.90297205e-05, 3.02761850e-04,-2.15960342e-06, 7.82921839e-05,
 -9.37370349e-04, 7.81585395e-03, 4.22311755e-03, 1.62461861e-03,
 -3.00935808e-05,-3.51238282e-05,-5.59226538e-05, 2.39941569e-05,
  4.77289037e-02, 2.37120460e-02, 3.36569526e-04,-2.07415620e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21024839, -0.19614309,  0.07571178, -0.19614309,  0.27451745,
        0.16649895,  0.07571178,  0.16649895,  0.64158968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.63716191390281e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97138068, -0.23674405,  0.01928293, -0.23669742,  0.97157205,
        0.00469869, -0.01984714,  0.        , -0.99980303])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12861486, -0.08283789,  0.11174333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13477367,  0.38528822, -1.06736323,  0.38528822,  7.48489749,
        2.2922168 , -1.06736323,  2.2922168 ,  1.96219971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033272881150219
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11126103e-01, -8.41006446e-01, -1.77364779e-01, -9.21162550e-02,
       -1.51568006e-01,  9.84145180e-01, -8.54555266e-01,  5.19360470e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10461317, -0.03757604,  0.30475775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.41868732, -6.58725598,  9.32708308, -6.58725598, 25.47154888,
        9.92483884,  9.32708308,  9.92483884, 18.42810854,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005127291439984572
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55767523e-07, -2.48990734e-14,  1.00000000e+00,  3.87846698e-21,
        1.00000000e+00,  2.48990734e-14, -1.00000000e+00,  0.00000000e+00,
        1.55767523e-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([ 0.06761873, -0.085492  ,  0.06198847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.13681380e-05, 3.38727494e-05, 2.61831832e-05, 2.59347482e-05,
 -1.47131789e-03, 1.13645758e-02, 6.20125213e-03, 2.39614879e-03,
  2.23168185e-05,-3.90086938e-05,-3.59620779e-06, 9.19979510e-06,
  6.07356164e-02, 2.74171626e-02,-4.43110448e-03, 4.89783364e-04,
 -1.25648977e-05, 3.33264915e-06,-9.80999780e+00,-6.49159983e-02,
 -9.15114953e-03,-5.58172534e-03]


--- Step 1274 ---
qpos:
[ 0.00985337, 0.00805092,-0.00562127, 0.03348228, 0.0044773 ,-0.00506399,
 -0.01108241, 0.03747248, 0.01308886, 0.00592256,-0.01169503, 0.03404808,
  0.83557135,-0.01974815, 1.15959159, 0.04605422, 0.09350741,-0.06543188,
  0.14231733, 0.94605478,-0.03311629, 0.03087673, 0.32082752]

qacc:
[  5.2852033 , -3.00526986, 14.35894562,-28.85117136,-18.79311457,
   0.47286475, -7.4438002 , 37.6912929 ,  2.46357247, -1.23789242,
   5.25985644,-10.09558155,-13.78664996,  9.52174938,-23.78522655,
  47.49247295, -0.32553616,  0.06647613,  0.25935354, -4.83191055,
   3.19728665, -6.36878673]

qfrc_actuator:
[ 8.84809887e-05, 3.16544030e-04, 2.85857558e-05, 3.91130208e-05,
 -9.71379809e-04, 7.86486752e-03, 4.24036467e-03, 1.61150002e-03,
 -1.63479402e-05,-2.88474831e-05,-4.22885536e-05, 1.13121995e-05,
  4.77650005e-02, 2.38208887e-02, 2.74368361e-04,-2.30382101e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21025135, -0.1886851 ,  0.09275538, -0.1886851 ,  0.25633674,
        0.09374796,  0.09275538,  0.09374796,  0.40095558,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.6466597071524e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97143127, -0.23653371,  0.01931577, -0.23648697,  0.97162328,
        0.00470227, -0.0198799 ,  0.        , -0.99980238])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12862484, -0.08283541,  0.11174373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13634233,  0.17954016, -1.12206917,  0.17954016,  8.03730931,
        1.10421062, -1.12206917,  1.10421062,  1.31302497,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033440551830177777
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51109331, -0.84100813, -0.17745129, -0.09215673, -0.15164464,
        0.98412958, -0.85457051,  0.51933538,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10462249, -0.03756586,  0.304756  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.36826615,  6.77488992, -9.12898361,  6.77488992, 49.81129756,
       28.52971557, -9.12898361, 28.52971557, 32.54101555,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005096313552088098
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23776667e-06,  2.80660462e-13,  1.00000000e+00, -3.47392166e-19,
        1.00000000e+00, -2.80660462e-13, -1.00000000e+00,  0.00000000e+00,
        1.23776667e-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([ 0.06762475, -0.08548777,  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:
[ 3.09242120e-05, 3.92567948e-05, 4.18682608e-05,-3.63191452e-05,
 -1.44228013e-03, 1.14289280e-02, 6.08240210e-03, 2.25382966e-03,
  1.43634486e-05,-1.58494578e-05, 5.45533451e-06,-1.42991932e-05,
  6.19166965e-02, 2.76963530e-02,-4.44195089e-03,-2.09740563e-04,
 -3.20133644e-06,-5.28408520e-07,-9.81000007e+00,-6.49146470e-02,
 -9.14698343e-03,-5.58363604e-03]


--- Step 1275 ---
qpos:
[ 0.00985448, 0.00805142,-0.00562119, 0.03348136, 0.00447611,-0.00512231,
 -0.01110887, 0.03746685, 0.01308874, 0.00592147,-0.01169422, 0.0340477 ,
  0.83539728,-0.01972789, 1.15979248, 0.04606211, 0.09351058,-0.06542547,
  0.14232156, 0.94606776,-0.03313971, 0.0308711 , 0.32078734]

qacc:
[-3.03079914e+00,-3.23360011e+00, 1.46525190e+01,-2.88723676e+01,
 -7.40843151e+01, 5.06064378e+00,-2.99241593e+01, 1.11516577e+02,
  1.46719505e+00,-3.03689696e-01, 2.02376850e+00,-5.16777705e+00,
  9.94372428e+00, 5.34644096e+01,-1.25593078e+02, 3.02880835e+02,
 -1.16845905e+00,-8.07006168e-02, 3.06665690e-01,-9.72196844e+00,
 -9.73003243e+00,-2.67894775e+01]

qfrc_actuator:
[ 6.97064242e-05, 2.88955251e-04, 4.68634504e-05,-1.62505652e-06,
 -9.75652296e-04, 7.93679255e-03, 4.24433196e-03, 1.66011412e-03,
 -8.15241111e-06,-6.76118239e-06,-3.45207542e-05, 3.94725338e-06,
  4.78018666e-02, 2.39068344e-02, 2.92347462e-04,-2.20963089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2102058 ,  0.16158988, -0.134444  ,  0.16158988,  0.42062079,
        0.25290034, -0.134444  ,  0.25290034,  0.51416979,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.498892585544999e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71482880e-01, -2.36321117e-01,  1.93221117e-02, -2.36274389e-01,
        9.71675012e-01,  4.69933153e-03, -1.98853644e-02, -8.67361738e-19,
       -9.99802267e-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([ 0.12863406, -0.08283299,  0.11174382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13928298,  0.30991707, -1.09631981,  0.30991707, 10.63998098,
        2.68573863, -1.09631981,  2.68573863,  1.89851056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033751506166552196
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51107983, -0.84099714, -0.17754216, -0.09220303, -0.15172284,
        0.9841132 , -0.85457358,  0.51933033,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10463117, -0.03755278,  0.30475144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.30848682, 10.74500884, -3.52514669, 10.74500884, 15.7549487 ,
       13.55327209, -3.52514669, 13.55327209, 52.6202509 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005059510065202069
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09716456e-13,  1.16394490e-06,  1.00000000e+00, -1.27703910e-19,
        1.00000000e+00, -1.16394490e-06, -1.00000000e+00,  0.00000000e+00,
        1.09716456e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09047586, -0.08036405,  0.06198862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78813341e-05, 1.44725711e-06, 3.02832377e-05,-3.83155973e-05,
 -1.33916475e-03, 1.14364833e-02, 5.99038697e-03, 2.20326430e-03,
  8.59561225e-06, 1.37760541e-05, 4.67561764e-06,-8.13295874e-06,
  6.29918471e-02, 2.79173377e-02,-3.56711080e-03,-9.92528900e-05,
  3.33827700e-07,-6.92336811e-07,-9.80999825e+00,-6.49150606e-02,
 -9.14346784e-03,-5.58662276e-03]


--- Step 1276 ---
qpos:
[ 0.00985534, 0.00805191,-0.00562145, 0.03348036, 0.00446428,-0.00516192,
 -0.01112404, 0.03746504, 0.01308871, 0.00592014,-0.01169348, 0.03404763,
  0.83539639,-0.0195772 , 1.15996975, 0.04606574, 0.09350931,-0.06542478,
  0.14232595, 0.9460855 ,-0.03313808, 0.03083891, 0.32073829]

qacc:
[-2.05742856e+00, 7.76773055e-01,-2.41940579e+00, 1.52414426e+00,
 -9.33414280e+01, 1.21725532e+00, 1.56868016e+01, 1.84056650e+01,
  8.78249848e-01, 4.86531253e-01,-3.52610157e+00, 9.20828272e+00,
  4.52279488e+01, 8.17142810e+01,-2.21673639e+01, 2.65567360e+01,
 -1.11075377e+00,-1.42764746e+00, 3.79572640e-02, 7.80504910e+00,
 -1.65106834e+01,-5.01411952e+00]

qfrc_actuator:
[ 5.82094350e-05, 2.72250962e-04, 2.19620186e-05,-7.48451225e-06,
 -9.54914804e-04, 8.01766282e-03, 4.27211879e-03, 1.68828266e-03,
 -3.28635155e-06,-4.63985446e-05,-4.79534534e-05, 1.75373164e-05,
  4.78211873e-02, 2.38740961e-02, 3.25994660e-04,-2.02047758e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21003709,  0.09090609,  0.18934534,  0.09090609,  0.44777899,
       -0.11414164,  0.18934534, -0.11414164,  0.26483732,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.918962358635151e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71523454e-01, -2.36164634e-01,  1.91949167e-02, -2.36118553e-01,
        9.71713057e-01,  4.66512254e-03, -1.97536882e-02,  8.67361738e-19,
       -9.99804877e-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([ 0.12864115, -0.08283151,  0.11174234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1415983 ,  0.26981621,  1.10925466,  0.26981621,  6.07710925,
       -1.20051861,  1.10925466, -1.20051861,  1.43361364,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003399331860969526
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5111442 , -0.84096363, -0.17751556, -0.09220038, -0.15169333,
        0.98411799, -0.85453537,  0.51939321,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10463687, -0.03754445,  0.30474898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.25547801,  2.56185802, 10.96004876,  2.56185802, 21.8681806 ,
       -2.48066754, 10.96004876, -2.48066754, 11.83532197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005026803245701789
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.36509224e-07, -9.36509284e-07,  1.00000000e+00,  8.77049583e-13,
        1.00000000e+00,  9.36509284e-07, -1.00000000e+00,  0.00000000e+00,
        9.36509224e-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([ 0.09480147, -0.05217491,  0.06198869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20070254e-05,-1.13080147e-05,-2.22034207e-05,-5.49409041e-06,
 -8.95604182e-04, 1.12394630e-02, 5.77501422e-03, 1.96062128e-03,
  5.11265375e-06,-3.12831281e-05,-1.02889649e-05, 1.41849869e-05,
  5.95498762e-02, 2.44939922e-02,-3.28562038e-04,-4.29210786e-04,
 -1.59396878e-05, 7.91304511e-06,-9.80999462e+00,-6.49191625e-02,
 -9.14659524e-03,-5.58752530e-03]


--- Step 1277 ---
qpos:
[ 0.00985607, 0.00805227,-0.00562199, 0.03348   , 0.00445952,-0.00518959,
 -0.01113769, 0.0374598 , 0.0130884 , 0.00591841,-0.01169308, 0.03404777,
  0.83540107,-0.01942876, 1.16022418, 0.04604804, 0.09351269,-0.06542598,
  0.14232895, 0.94608654,-0.03309905, 0.03082637, 0.32074046]

qacc:
[-1.27535913e+00, 1.93628441e+00,-9.86250186e+00, 2.15086141e+01,
  6.19460667e+01, 4.37287324e+00, 2.15897026e+01,-9.20167926e+01,
 -2.52178711e+00, 8.54752738e-01,-4.65515100e+00, 8.99880234e+00,
  1.64595988e+00,-1.77449670e+00, 1.78497014e+02,-4.58936585e+02,
  1.16425474e+00,-4.75064813e-01,-3.46425099e-01, 1.97785715e+01,
  2.70922988e+00, 2.78069589e+01]

qfrc_actuator:
[ 5.11037604e-05, 2.62032903e-04, 7.32819305e-06, 2.49543692e-05,
 -9.49099807e-04, 8.07080320e-03, 4.27032570e-03, 1.70360804e-03,
 -1.81700180e-05,-8.72539379e-05,-7.40270134e-05, 2.55309219e-05,
  4.78181343e-02, 2.37159175e-02, 2.34561639e-04,-2.13666511e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20984489,  0.20976966,  0.00561866,  0.20976966,  0.21009359,
       -0.0092852 ,  0.00561866, -0.0092852 ,  0.55650275,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.178561601209736e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97153396, -0.23613768,  0.01899353, -0.23609256,  0.97171961,
        0.00461562, -0.01954631,  0.        , -0.99980895])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12864503, -0.08283167,  0.11173997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13807198, -1.13715186,  0.04575461, -1.13715186,  1.14141718,
        0.08313907,  0.04575461,  0.08313907,  3.20434993,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003362397611926185
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51122516, -0.84096096, -0.17729494, -0.09209665, -0.15149819,
        0.98415776, -0.85449812,  0.51945448,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10464076, -0.03755434,  0.3047613 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.21470838, -10.41869688,  -4.14975172, -10.41869688,
        16.17369117, -12.45041681,  -4.14975172, -12.45041681,
        42.47371552,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005001600723292254
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10986771e-13, -1.10986771e-13,  1.00000000e+00,  1.23180633e-26,
        1.00000000e+00,  1.10986771e-13, -1.00000000e+00,  0.00000000e+00,
        1.10986771e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0516776 , -0.06213099,  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:
[-7.45168033e-06,-2.13830025e-05,-1.98953620e-05, 3.10812006e-05,
 -3.57256126e-04, 1.03588056e-02, 5.20904851e-03, 1.78467346e-03,
 -1.47529045e-05,-5.98251046e-05,-3.33051422e-05, 6.57434418e-06,
  5.08897920e-02, 1.78129230e-02, 7.59502505e-04,-3.32809269e-04,
 -1.23721904e-05, 1.14046355e-06,-9.81000337e+00,-6.49156550e-02,
 -9.14868331e-03,-5.58365196e-03]


--- Step 1278 ---
qpos:
[ 0.00985601, 0.0080524 ,-0.00562241, 0.03348037, 0.00445528,-0.00521612,
 -0.01115199, 0.03745598, 0.01308792, 0.00591665,-0.01169288, 0.03404794,
  0.83535569,-0.01930375, 1.16048477, 0.04604134, 0.09351581,-0.06542545,
  0.1423326 , 0.94608806,-0.03307752, 0.030822  , 0.32073862]

qacc:
[-6.84315988e+00, 8.46743461e-01,-6.48013668e+00, 1.89017873e+01,
  4.39751015e+00, 6.20265201e+00,-2.59223933e+01, 5.06607816e+01,
 -1.55701010e+00, 6.10363216e-01,-2.39978725e+00, 3.41823353e+00,
 -2.25098120e+01,-2.04834175e+00,-2.33913525e+01, 9.65740976e+01,
 -6.58157230e-02, 4.35848814e-01, 1.61075382e-01,-6.90119791e+00,
  6.73086662e+00,-2.10271444e+00]

qfrc_actuator:
[ 1.11322937e-05, 2.55837582e-04, 1.66863169e-05, 6.19283901e-05,
 -9.47959998e-04, 8.12434975e-03, 4.27380972e-03, 1.71696092e-03,
 -2.68048722e-05,-5.75815539e-05,-7.18749605e-05, 3.01506852e-05,
  4.78105070e-02, 2.35984896e-02, 1.45072240e-04,-2.22200928e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2098274 ,  0.0609585 ,  0.20077748,  0.0609585 ,  0.47809346,
       -0.08144886,  0.20077748, -0.08144886,  0.23455627,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.10578157098309e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97154471, -0.23609608,  0.01896091, -0.23605113,  0.97172972,
        0.00460683, -0.01951254,  0.        , -0.99980961])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12864915, -0.08283123,  0.11173959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13274057,  0.00412526,  1.13273306,  0.00412526,  2.00964221,
       -0.00319356,  1.13273306, -0.00319356,  1.1327522 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003305366738474455
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51123014, -0.84099966, -0.17709692, -0.09199135, -0.15133047,
        0.98419342, -0.85450649,  0.51944072,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10464725, -0.03756805,  0.3047786 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.1657768 , -5.96569937,  9.43848518, -5.96569937, 28.88015457,
       11.19656918,  9.43848518, 11.19656918, 18.24269268,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004971130991861388
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.04795074e-07, -2.14064854e-13,  1.00000000e+00,  1.50871855e-19,
        1.00000000e+00,  2.14064854e-13, -1.00000000e+00,  0.00000000e+00,
        7.04795074e-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([ 0.06763588, -0.08547142,  0.06198882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.01922393e-05,-2.09414728e-05, 3.56859143e-06, 3.59756503e-05,
 -7.10313445e-04, 9.81685147e-03, 5.13775927e-03, 1.96996079e-03,
 -9.07903617e-06,-1.03284605e-05,-1.40647134e-05, 1.03489177e-06,
  5.06029920e-02, 1.78051262e-02,-3.19298630e-03, 6.47061674e-04,
 -3.72763702e-07, 8.05095991e-06,-9.80998955e+00,-6.49168806e-02,
 -9.15068189e-03,-5.58006899e-03]


--- Step 1279 ---
qpos:
[ 0.00985548, 0.00805248,-0.00562248, 0.03348079, 0.00444892,-0.00524684,
 -0.01116693, 0.03745524, 0.01308768, 0.00591515,-0.01169284, 0.03404813,
  0.83524677,-0.0192272 , 1.16064519, 0.04606036, 0.09351704,-0.06541986,
  0.14233479, 0.946104  ,-0.03310564, 0.03080033, 0.32069079]

qacc:
[-4.19071559e+00,-8.99723942e-01, 2.89486134e+00,-2.45851168e+00,
 -1.84906430e+01, 2.63829277e+00,-3.03587157e+01, 8.75882215e+01,
  2.14330760e+00, 8.00724930e-01,-2.43115419e+00, 2.72722181e+00,
 -1.04242271e+01,-3.84521648e+01,-2.26233273e+02, 5.75712045e+02,
 -4.72469245e-01, 1.26148854e+00,-3.65606906e-01,-2.53108079e+01,
  3.11161290e-01,-2.51257512e+01]

qfrc_actuator:
[-1.23593972e-05, 2.69958706e-04, 4.01461969e-05, 6.57822446e-05,
 -9.45880968e-04, 8.18415420e-03, 4.31750456e-03, 1.74340192e-03,
 -1.39332144e-05,-2.13012057e-05,-7.05403523e-05, 3.28292127e-05,
  4.78049423e-02, 2.34920868e-02, 1.77528813e-04,-2.01083971e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2098028 , -0.10820071,  0.17974933, -0.10820071,  0.90672838,
        0.41951667,  0.17974933,  0.41951667,  0.46233225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.001621973238053e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97156055, -0.23603299,  0.01893496, -0.23598818,  0.97174504,
        0.00459923, -0.01948552,  0.        , -0.99981014])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.128653  , -0.08283055,  0.11173929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13083334,  0.44693615, -1.03876471,  0.44693615,  7.80138018,
        2.87005177, -1.03876471,  2.87005177,  2.3656942 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003284603695554922
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51124024, -0.84102725, -0.17693667, -0.09190724, -0.15119407,
        0.98422224, -0.85450949,  0.51943578,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10465273, -0.03757454,  0.30478761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.14313721,  8.23099989, -7.51133461,  8.23099989, 31.07559498,
       21.84219801, -7.51133461, 21.84219801, 35.07804877,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004956885954167239
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.59939766e-14, -1.39984942e-13,  1.00000000e+00,  7.83831354e-27,
        1.00000000e+00,  1.39984942e-13, -1.00000000e+00,  0.00000000e+00,
        5.59939766e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0846416 , -0.11034575,  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:
[-2.46457708e-05, 4.67474532e-06, 2.08225953e-05, 3.78164288e-06,
 -7.33535768e-04, 9.82050001e-03, 5.21374491e-03, 1.92554894e-03,
  1.26051722e-05, 2.77000874e-05,-2.47764496e-06, 1.77281515e-06,
  5.30996392e-02, 1.88672619e-02,-3.47313329e-03, 3.07624239e-04,
  2.10648485e-08, 2.58108415e-06,-9.80999732e+00,-6.49145600e-02,
 -9.15174976e-03,-5.57797197e-03]


--- Step 1280 ---
qpos:
[ 0.00985535, 0.00805255,-0.005622  , 0.03348123, 0.00445017,-0.00527007,
 -0.01117865, 0.03745123, 0.01308794, 0.00591378,-0.01169277, 0.03404835,
  0.83515091,-0.01915196, 1.16087319, 0.04605154, 0.09352271,-0.06541694,
  0.14233581, 0.94610307,-0.03309038, 0.03079807, 0.32069533]

qacc:
[ 3.63337236e+00,-1.52059173e+00, 5.28868849e+00,-5.74850191e+00,
  6.66990841e+01,-5.93490222e+00, 4.90596177e+01,-1.15830972e+02,
  4.40483164e+00, 1.64054884e-01,-4.55128995e-01, 8.56065622e-01,
  6.83890365e+00,-5.50281111e+00, 1.83822830e+02,-4.98633754e+02,
  1.10947986e+00,-6.65547359e-01,-2.88909270e-01, 2.25442674e+01,
  1.62663089e+00, 2.84729398e+01]

qfrc_actuator:
[ 9.55246740e-06, 2.78427000e-04, 7.17984225e-05, 6.78934784e-05,
 -9.58572133e-04, 8.21709032e-03, 4.36784426e-03, 1.77547441e-03,
  1.14917923e-05,-1.68344375e-05,-6.96599311e-05, 3.43535717e-05,
  4.78089559e-02, 2.34089537e-02, 1.85985328e-04,-1.81842025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20973325, -0.05222681,  0.20312655, -0.05222681,  0.47140757,
        0.0672803 ,  0.20312655,  0.0672803 ,  0.227032  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.6945152405499786e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71580271e-01, -2.35960341e-01,  1.88280214e-02, -2.35916047e-01,
        9.71762686e-01,  4.57176059e-03, -1.93751229e-02, -8.67361738e-19,
       -9.99812285e-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([ 0.12865675, -0.08282989,  0.11173803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13278064,  0.28232535, -1.09703436,  0.28232535,  2.4455879 ,
        0.3378552 , -1.09703436,  0.3378552 ,  1.21972877,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003305800911229284
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11313433e-01, -8.41003947e-01, -1.76835895e-01, -9.18663502e-02,
       -1.51100985e-01,  9.84240350e-01, -8.54470097e-01,  5.19500580e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10465493, -0.03756937,  0.30478368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.10742612, -6.02242376,  9.33302347, -6.02242376, 23.23888616,
        7.82820202,  9.33302347,  7.82820202, 16.15881703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004934222846091074
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.05168738, -0.06211517,  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:
[ 2.12100775e-05, 1.55357333e-05, 3.53138355e-05, 3.10577850e-06,
 -6.40462354e-04, 1.00644607e-02, 5.29725353e-03, 1.80408460e-03,
  2.57882955e-05, 1.95782847e-05, 6.37431254e-06, 2.66246620e-06,
  5.62805572e-02, 2.12060323e-02, 1.54060308e-03,-7.87134641e-04,
 -2.53569035e-05, 6.89263026e-06,-9.80999376e+00,-6.49173475e-02,
 -9.15886572e-03,-5.57721710e-03]


--- Step 1281 ---
qpos:
[ 0.00985618, 0.00805269,-0.00562117, 0.03348204, 0.00445117,-0.00529336,
 -0.01119014, 0.03744877, 0.01308816, 0.00591255,-0.01169266, 0.03404824,
  0.83501371,-0.0190972 , 1.16111186, 0.04605546, 0.0935278 ,-0.06541302,
  0.14233776, 0.94610399,-0.03308916, 0.03080271, 0.32069228]

qacc:
[  8.37479444, -0.16810359, -0.87986388,  6.72032964, -2.10910028,
   2.42925633,-15.30509497, 41.6797125 , -0.37251791, -0.61973141,
   3.84027183, -9.6709258 ,-17.81085724, -3.4505336 ,-22.26151439,
 101.89431844, -0.14477701,  0.25003131,  0.22864879, -5.38648593,
   5.60786541, -3.98948698]

qfrc_actuator:
[ 5.80070955e-05, 2.83486608e-04, 9.02663765e-05, 8.67220337e-05,
 -9.71253836e-04, 8.22389030e-03, 4.38304813e-03, 1.76276821e-03,
  8.58941446e-06,-1.36952925e-05,-6.91765630e-05, 1.74094042e-05,
  4.78194348e-02, 2.33297545e-02, 1.68549592e-04,-1.62947082e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20979734,  0.04179682,  0.2055917 ,  0.04179682,  0.49708816,
       -0.05840626,  0.2055917 , -0.05840626,  0.22167133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.978195237640607e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71599827e-01, -2.35875944e-01,  1.88763261e-02, -2.35831441e-01,
        9.71783175e-01,  4.58175379e-03, -1.94244216e-02,  8.67361738e-19,
       -9.99811328e-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([ 0.12866096, -0.08282872,  0.1117386 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13146282, -0.0386118 ,  1.13080381, -0.0386118 ,  1.89510586,
        0.02607493,  1.13080381,  0.02607493,  1.13235316,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003291478091380828
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11309799e-01, -8.41022887e-01, -1.76756308e-01, -9.18230184e-02,
       -1.51034187e-01,  9.84254646e-01, -8.54476929e-01,  5.19489343e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10466063, -0.03757028,  0.3047886 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.08937085, -6.19759873,  9.19586406, -6.19759873, 27.99904558,
       11.39636014,  9.19586406, 11.39636014, 18.77000496,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004922673246182094
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.49336014e-07,  4.54809282e-14,  1.00000000e+00, -2.49843118e-20,
        1.00000000e+00, -4.54809282e-14, -1.00000000e+00,  3.00926554e-36,
        5.49336014e-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([ 0.06764661, -0.08545803,  0.06198893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.90619669e-05, 2.11736100e-05, 2.61258429e-05, 2.07734931e-05,
 -1.03373844e-03, 9.69733366e-03, 5.15158113e-03, 1.95429706e-03,
 -2.16710420e-06, 1.55760771e-05, 5.41858380e-06,-1.58314323e-05,
  5.56366817e-02, 2.11900285e-02,-1.86031971e-03, 7.93338674e-04,
 -7.27347828e-07, 1.31667358e-06,-9.80999828e+00,-6.49174761e-02,
 -9.15450627e-03,-5.57611712e-03]


--- Step 1282 ---
qpos:
[ 0.00985724, 0.00805309,-0.00562016, 0.03348271, 0.00445182,-0.00531704,
 -0.01120108, 0.03744784, 0.01308834, 0.00591148,-0.01169284, 0.03404795,
  0.8348393 ,-0.01906109, 1.16134513, 0.04606347, 0.09353253,-0.06540832,
  0.14234039, 0.94610652,-0.0330989 , 0.03081325, 0.3206828 ]

qacc:
[  2.01355554, -0.42172605,  2.60394959, -5.498607  , -3.16339948,
   1.13176774,-11.22162364, 37.15295341, -0.33139616,  0.65363422,
  -1.23069059, -1.61467236,-15.71324273, -3.65659261,-19.83372037,
  58.79955528, -0.09140264,  0.19283858,  0.17085608, -4.11047947,
   4.62916826, -3.37360893]

qfrc_actuator:
[ 6.84235349e-05, 3.04186008e-04, 1.00799200e-04, 7.97184225e-05,
 -9.61368417e-04, 8.23733080e-03, 4.37887085e-03, 1.75520259e-03,
  6.78605124e-06,-1.13949542e-05,-8.67082391e-05, 7.48294635e-06,
  4.78435460e-02, 2.32193669e-02, 1.75550005e-04,-1.63183916e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20984055, -0.056545  ,  0.2020785 , -0.056545  ,  1.09358281,
        0.24728611,  0.2020785 ,  0.24728611,  0.27903541,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.160605498778169e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97162357, -0.23577489,  0.01891641, -0.23573022,  0.9718077 ,
        0.0045894 , -0.01946518,  0.        , -0.99981054])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12866481, -0.08282741,  0.11173908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13243944,  0.3618795 , -1.07306212,  0.3618795 , 10.81540191,
        3.26548254, -1.07306212,  3.26548254,  2.23369086,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003302101422109231
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51131821, -0.84102884, -0.17670363, -0.09179628, -0.1509888 ,
        0.9842641 , -0.85447477,  0.5194929 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10466606, -0.03756601,  0.30478811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.05522591,  7.87485967, -7.75916265,  7.87485967, 52.17231595,
       41.73018773, -7.75916265, 41.73018773, 53.40765323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004900661155016506
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.73055366e-07, -2.60837124e-13,  1.00000000e+00,  2.27725251e-19,
        1.00000000e+00,  2.60837124e-13, -1.00000000e+00,  4.81482486e-35,
        8.73055366e-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([ 0.06765016, -0.08545442,  0.06198898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18182445e-05, 3.88248319e-05, 1.88271416e-05,-4.79422538e-06,
 -1.01176871e-03, 9.71528860e-03, 5.13605806e-03, 1.86964031e-03,
 -1.86290396e-06, 1.14949782e-05,-1.41809141e-05,-9.37672397e-06,
  5.77269772e-02, 2.21024251e-02,-2.39072250e-03, 1.52211916e-04,
 -1.57399198e-07, 1.40718247e-07,-9.80999979e+00,-6.49170758e-02,
 -9.15377647e-03,-5.57650372e-03]


--- Step 1283 ---
qpos:
[ 0.00985738, 0.00805377,-0.00561901, 0.03348295, 0.00445198,-0.00534085,
 -0.01121116, 0.03744835, 0.01308884, 0.00591041,-0.01169291, 0.03404788,
  0.83463183,-0.01904197, 1.16156604, 0.04606973, 0.09353711,-0.06540312,
  0.14234349, 0.94611027,-0.03311636, 0.03082918, 0.32066842]

qacc:
[ -8.05466836, -0.89362798,  5.58524388,-13.55243868, -4.17226574,
   0.36809627, -7.60304675, 31.06275702,  2.83506525,  0.14985319,
  -1.48410679,  5.17637719,-13.68705744, -3.86263425,-12.57501754,
  18.29347277, -0.03448832,  0.12825406,  0.12066307, -2.69726597,
   3.85020883, -2.54300541]

qfrc_actuator:
[ 2.08543311e-05, 3.16284482e-04, 1.06611660e-04, 5.75785419e-05,
 -9.55476684e-04, 8.23733691e-03, 4.38040996e-03, 1.75011345e-03,
  2.34056905e-05,-9.68876311e-06,-7.92290147e-05, 1.95071309e-05,
  4.78716268e-02, 2.31676376e-02, 1.66317833e-04,-1.81644012e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20987556, -0.05891019,  0.20143818, -0.05891019,  1.27356529,
        0.31107394,  0.20143818,  0.31107394,  0.30084852,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.303739124999904e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70577434e-01, -2.40050664e-01,  1.88446959e-02, -2.40005430e-01,
        9.70760361e-01,  4.65993663e-03, -1.94123047e-02,  8.67361738e-19,
       -9.99811563e-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([ 0.12868101, -0.08287868,  0.11173823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003330001258947663
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11336955e-01, -8.41022642e-01, -1.76678901e-01, -9.17863849e-02,
       -1.50965869e-01,  9.84268544e-01, -8.54464615e-01,  5.19509598e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10467139, -0.03755745,  0.30478385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.00196318,  7.8505791 , -7.70789217,  7.8505791 , 62.46886454,
       52.41964618, -7.70789217, 52.41964618, 64.39199119,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048658713345417476
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14973924e-13,  1.01487016e-07,  1.00000000e+00, -1.16683604e-20,
        1.00000000e+00, -1.01487016e-07, -1.00000000e+00,  3.00926554e-36,
        1.14973924e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0675432 , -0.08529211,  0.06198906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.72219485e-05, 3.74661706e-05, 1.59657357e-05,-1.99234217e-05,
 -9.87692764e-04, 9.73509882e-03, 5.11057198e-03, 1.78793255e-03,
  1.65680425e-05, 4.84450215e-06, 7.79803443e-06, 1.18471970e-05,
  5.96144169e-02, 2.29822857e-02,-2.13518884e-03,-2.37694175e-04,
 -1.04123034e-06, 1.21470736e-06,-9.80999785e+00,-6.49180246e-02,
 -9.15236231e-03,-5.57832047e-03]


--- Step 1284 ---
qpos:
[ 0.0098573 , 0.00805443,-0.0056174 , 0.03348329, 0.00445687,-0.0053639 ,
 -0.01122331, 0.0374437 , 0.01308954, 0.00590954,-0.01169295, 0.03404759,
  0.83445609,-0.01901209, 1.16186017, 0.04605918, 0.09354507,-0.0654    ,
  0.1423453 , 0.94609827,-0.03309427, 0.03085431, 0.32070366]

qacc:
[-1.96849840e+00,-1.12658643e+00, 3.58908675e+00,-2.69244977e+00,
  4.13043604e+01,-3.88601107e+00, 3.69151813e+01,-1.23153790e+02,
  1.71279367e+00,-2.78208400e-01, 2.28474462e+00,-6.27353007e+00,
  1.34677002e+01,-2.93711335e-01, 1.58648023e+02,-3.98763897e+02,
  8.41056125e-01,-5.22827015e-01,-3.26609126e-01, 1.91627831e+01,
 -2.56473068e+00, 2.67602778e+01]

qfrc_actuator:
[ 1.05596886e-05, 3.05349138e-04, 1.27309441e-04, 6.22118871e-05,
 -9.69472580e-04, 8.22919660e-03, 4.38485030e-03, 1.72824807e-03,
  3.29827959e-05, 9.51413115e-06,-7.47782463e-05, 8.86328400e-06,
  4.78870771e-02, 2.31746383e-02, 1.26864236e-04,-1.78663606e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20989031, -0.19731281,  0.07156533, -0.19731281,  0.20305181,
       -0.01885443,  0.07156533, -0.01885443,  0.15790674,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.362895636232513e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97058949, -0.2399989 ,  0.01888318, -0.23995349,  0.97077316,
        0.00466838, -0.01945169,  0.        , -0.9998108 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12868457, -0.08287803,  0.11173869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033685203766178705
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51136385, -0.84100574, -0.17668153, -0.09179262, -0.15096515,
        0.98426807, -0.85444785,  0.51953717,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10467685, -0.03754553,  0.30477729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004829175317090234
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.74747732e-14, -1.14949546e-13,  1.00000000e+00,  6.60669911e-27,
        1.00000000e+00,  1.14949546e-13, -1.00000000e+00,  0.00000000e+00,
        5.74747732e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05169953, -0.06209979,  0.06198914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16301100e-05, 1.24046483e-05, 2.96938870e-05, 6.40079550e-06,
 -9.77717443e-04, 9.73493964e-03, 5.07251909e-03, 1.69464802e-03,
  1.00454587e-05, 2.40774052e-05, 6.83513805e-06,-9.93376458e-06,
  6.12813903e-02, 2.38373874e-02,-1.56125771e-03,-1.21631364e-04,
 -2.49007596e-06, 3.15971354e-06,-9.80999441e+00,-6.49197676e-02,
 -9.15015780e-03,-5.58125795e-03]


--- Step 1285 ---
qpos:
[ 0.00985743, 0.00805501,-0.00561573, 0.03348337, 0.00445849,-0.00539153,
 -0.01123571, 0.0374421 , 0.01308966, 0.00590894,-0.01169327, 0.03404718,
  0.83423759,-0.01902085, 1.16205792, 0.04608163, 0.09355004,-0.06539221,
  0.14234572, 0.94610513,-0.03312434, 0.03085367, 0.32068039]

qacc:
[ 1.94980343e+00,-8.09515855e-01, 3.78580220e+00,-8.21761183e+00,
 -2.85502902e+01, 9.82200119e-01,-2.50249588e+01, 8.13748089e+01,
 -5.11928625e+00, 9.00830255e-01,-2.18001980e+00, 4.02221720e-01,
 -7.08038434e-01,-3.79919242e+01,-2.43011134e+02, 6.41850307e+02,
 -7.42859979e-01, 1.17024470e+00,-3.45425106e-01,-2.75930650e+01,
 -3.15370315e+00,-3.19280490e+01]

qfrc_actuator:
[ 2.23051372e-05, 2.80781269e-04, 1.21051473e-04, 4.70492223e-05,
 -9.82657502e-04, 8.23308059e-03, 4.39361979e-03, 1.68457420e-03,
  2.82724431e-06, 2.12700788e-05,-8.98593300e-05, 2.72509483e-06,
  4.78903092e-02, 2.31604384e-02, 5.13689633e-05,-1.75443799e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21001945, -0.16654366,  0.12795069, -0.16654366,  0.61049102,
        0.52126332,  0.12795069,  0.52126332,  0.88850818,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.854977791772847e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97058327, -0.24001257,  0.01902851, -0.23996646,  0.97076978,
        0.0047046 , -0.01960147,  0.        , -0.99980787])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12868963, -0.08287791,  0.11174042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13850421, -0.09600675,  1.134449  , -0.09600675,  7.48373747,
        0.53698776,  1.134449  ,  0.53698776,  1.18394869,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033669577975315557
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51131498, -0.84103478, -0.17668474, -0.09178557, -0.1509732 ,
        0.9842675 , -0.85447785,  0.51948782,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10468547, -0.0375413 ,  0.30478024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.90538887, -6.18015462,  8.98516528, -6.18015462, 20.83361603,
        6.82880916,  8.98516528,  6.82880916, 15.60236385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004801335168120868
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.084663 , -0.1103327,  0.0619892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14131572e-05,-1.12705150e-05, 1.56319901e-07,-1.34844633e-05,
 -1.22697379e-03, 9.70198989e-03, 5.18539810e-03, 1.90866144e-03,
 -2.98643438e-05, 2.62448300e-05,-9.59777183e-06,-5.06082309e-06,
  5.96970688e-02, 2.32847404e-02,-5.30244691e-03, 7.50537175e-04,
 -1.61185902e-05, 1.89098579e-06,-9.80999560e+00,-6.49132847e-02,
 -9.15097826e-03,-5.58233366e-03]


--- Step 1286 ---
qpos:
[ 0.00985736, 0.00805559,-0.0056147 , 0.03348295, 0.00446382,-0.00541869,
 -0.01125034, 0.03743466, 0.01308873, 0.00590829,-0.01169338, 0.03404706,
  0.83404939,-0.01902137, 1.16231267, 0.04607398, 0.09355868,-0.06538717,
  0.14234516, 0.94609512,-0.03311009, 0.03086737, 0.32071008]

qacc:
[-1.82285159e+00, 7.95784122e-01,-7.44707201e-01,-6.73299178e+00,
  3.24562143e+01,-5.24578261e+00, 4.41035032e+01,-1.41699615e+02,
 -9.24519499e+00,-5.46440431e-02,-1.06657776e+00, 5.63768728e+00,
  1.39660369e+01,-3.02157275e+00, 1.74806327e+02,-4.90239452e+02,
  9.15024686e-01,-6.89229848e-01,-2.46363287e-01, 2.21719071e+01,
 -9.38829976e-01, 2.86713862e+01]

qfrc_actuator:
[ 1.14119296e-05, 2.65863813e-04, 8.10878105e-05, 2.03204327e-05,
 -9.89257538e-04, 8.26695679e-03, 4.40399396e-03, 1.65718430e-03,
 -5.04703803e-05, 1.06451406e-05,-8.08646372e-05, 1.70259562e-05,
  4.79024235e-02, 2.31963629e-02, 0.00000000e+00,-1.87042582e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21006438, -0.19855817,  0.06856891, -0.19855817,  0.20116265,
       -0.02577714,  0.06856891, -0.02577714,  0.13542032,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.016636363627205e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97060022, -0.23994233,  0.01904968, -0.23989613,  0.97078714,
        0.00470837, -0.01962292,  0.        , -0.99980745])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12869407, -0.08287699,  0.11174067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14150916, -0.22398014, -1.11931947, -0.22398014,  3.40456979,
       -0.45284715, -1.11931947, -0.45284715,  1.23212562,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033984057447698985
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51134847, -0.84100718, -0.17671917, -0.09181004, -0.15099861,
        0.98426131, -0.85445518,  0.51952511,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10469084, -0.03752773,  0.30477216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.88891639, -6.01011842,  9.08003176, -6.01011842, 21.99241007,
        7.34945798,  9.08003176,  7.34945798, 15.75355937,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004790134143023289
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15886423e-13, -1.15886423e-13,  1.00000000e+00,  1.34296631e-26,
        1.00000000e+00,  1.15886423e-13, -1.00000000e+00,  0.00000000e+00,
        1.15886423e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05170734, -0.06209243,  0.06198923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05749714e-05,-2.18025280e-05,-4.27660900e-05,-2.74744716e-05,
 -1.07030144e-03, 9.96557455e-03, 5.20881780e-03, 1.72911340e-03,
 -5.41390370e-05, 1.86811843e-06, 1.30715120e-05, 1.49991903e-05,
  6.18474309e-02, 2.52535740e-02,-5.39404319e-04,-1.01736231e-03,
 -8.78275779e-06, 6.37204906e-06,-9.80999223e+00,-6.49191960e-02,
 -9.14864371e-03,-5.58448480e-03]


--- Step 1287 ---
qpos:
[ 0.00985717, 0.00805602,-0.00561416, 0.03348293, 0.00446854,-0.00544579,
 -0.01126474, 0.03742838, 0.01308785, 0.0059076 ,-0.01169333, 0.03404677,
  0.83383477,-0.01903431, 1.16256791, 0.04607512, 0.09356607,-0.06538154,
  0.14234566, 0.94608821,-0.03310922, 0.03088456, 0.32072888]

qacc:
[ -1.15225627,  1.97005271, -8.92428681, 16.45609168, -5.42845565,
   1.86127381,-11.36497868, 30.91846296,  0.51640644, -0.82370506,
   3.57585876, -6.72555407,-11.56416759, -1.53662059,-25.4973378 ,
  91.01027955, -0.31428938,  0.14752824,  0.26674087, -5.55495074,
   3.93228361, -5.79192432]

qfrc_actuator:
[ 5.02663579e-06, 2.56675397e-04, 5.70820795e-05, 4.02474606e-05,
 -9.97578098e-04, 8.31562273e-03, 4.41740096e-03, 1.68272964e-03,
 -4.59390305e-05, 4.55965325e-06,-7.55521541e-05, 7.73245599e-06,
  4.79148316e-02, 2.32309286e-02, 0.00000000e+00,-1.88338577e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21024011, -0.19585792,  0.07642368, -0.19585792,  0.2694567 ,
        0.15175974,  0.07642368,  0.15175974,  0.59916863,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.610519762196448e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70991274e-01, -2.38343765e-01,  1.91884399e-02, -2.38297239e-01,
        9.71180853e-01,  4.70915896e-03, -1.97578441e-02, -8.67361738e-19,
       -9.99804795e-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([ 0.1286953 , -0.0828575 ,  0.11174231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14041429,  0.46624537, -1.04074973,  0.46624537,  9.30137357,
        3.65602736, -1.04074973,  3.65602736,  2.77827763,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003386998747111336
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11302912e-01, -8.41025820e-01, -1.76762277e-01, -9.18249825e-02,
       -1.51039979e-01,  9.84253574e-01, -8.54480839e-01,  5.19482911e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10469957, -0.03752206,  0.30477475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.87652147, -6.29064226,  8.87279771, -6.29064226, 25.26724617,
       10.20274595,  8.87279771, 10.20274595, 18.11007135,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047816677831363227
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.20281950e-07, -6.38125652e-08,  1.00000000e+00,  3.32005259e-14,
        1.00000000e+00,  6.38125652e-08, -1.00000000e+00,  0.00000000e+00,
        5.20281950e-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([ 0.06770434, -0.08524911,  0.06198924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.69413269e-06,-3.14275343e-05,-3.47447136e-05, 1.69761278e-05,
 -1.26423153e-03, 9.99226958e-03, 5.33377543e-03, 2.04639821e-03,
  2.98979906e-06,-1.69486287e-06, 7.83765659e-06,-8.46523972e-06,
  6.03440480e-02, 2.48754811e-02,-3.39358396e-03, 4.74287548e-04,
 -8.76979002e-06, 2.16542043e-06,-9.80999855e+00,-6.49154140e-02,
 -9.14704337e-03,-5.58493461e-03]


--- Step 1288 ---
qpos:
[ 0.00985724, 0.0080563 ,-0.00561338, 0.03348309, 0.0044656 ,-0.00547115,
 -0.01127575, 0.03742663, 0.01308738, 0.00590721,-0.01169335, 0.034046  ,
  0.83368426,-0.01898788, 1.16276332, 0.04608963, 0.09356883,-0.06537603,
  0.14234745, 0.94609771,-0.03312401, 0.03087634, 0.32070014]

qacc:
[ 2.37700194e+00,-4.82031947e-01, 6.07782132e-01, 2.41665828e+00,
 -6.69979634e+01, 2.25974291e+00,-2.36482386e+01, 9.51765342e+01,
  3.55745456e+00,-4.51016517e-01, 4.19375850e+00,-1.26550331e+01,
  1.20344166e+01, 4.35045786e+01,-1.28543753e+02, 3.21958162e+02,
 -1.15370135e+00,-3.02534115e-02, 3.22475862e-01,-1.04768124e+01,
 -8.97495599e+00,-2.57860636e+01]

qfrc_actuator:
[ 1.91053574e-05, 2.68829913e-04, 7.82630551e-05, 5.19845142e-05,
 -1.00408358e-03, 8.33786974e-03, 4.43107677e-03, 1.69987713e-03,
 -2.51522316e-05, 3.67131808e-05,-7.24726509e-05,-1.53776106e-05,
  4.79367548e-02, 2.32820523e-02, 1.54465028e-05,-1.80812884e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21037124,  0.14912117, -0.14838779,  0.14912117,  0.43676106,
        0.22750871, -0.14838779,  0.22750871,  0.43900437,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.020514365929066e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97099111, -0.2383356 ,  0.01929777, -0.23828854,  0.97118286,
        0.00473582, -0.01987038,  0.        , -0.99980256])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12870078, -0.08285717,  0.11174361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14112389,  0.18707877, -1.12568435,  0.18707877,  8.77655187,
        1.26894049, -1.12568435,  1.26894049,  1.35201056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033943984059677093
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11274515e-01, -8.41031305e-01, -1.76818309e-01, -9.18499277e-02,
       -1.51090387e-01,  9.84243509e-01, -8.54495150e-01,  5.19459372e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1047079 , -0.03751277,  0.30477346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.86904747,  9.89694053, -4.49296797,  9.89694053, 20.29301782,
       20.75876675, -4.49296797, 20.75876675, 56.59567663,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004776546786131914
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.00179418e-06,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.00179418e-06, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09053044, -0.08032231,  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:
[ 1.38758101e-05,-1.18932530e-05, 1.09863217e-05, 9.51679774e-06,
 -1.23973280e-03, 1.00124218e-02, 5.33703455e-03, 2.00594364e-03,
  2.08690302e-05, 3.24852788e-05, 3.40905763e-06,-2.30744838e-05,
  6.16853003e-02, 2.55476757e-02,-3.40753873e-03, 1.08725622e-04,
 -2.38149945e-06,-5.59094321e-07,-9.81000003e+00,-6.49141928e-02,
 -9.14359377e-03,-5.58679301e-03]


--- Step 1289 ---
qpos:
[ 0.00985782, 0.00805657,-0.00561242, 0.03348303, 0.00445186,-0.00548127,
 -0.01127583, 0.03742808, 0.01308647, 0.00590713,-0.01169335, 0.0340446 ,
  0.83370883,-0.01881519, 1.16293086, 0.04609883, 0.09356708,-0.06537622,
  0.14234937, 0.94611281,-0.03311453, 0.0308408 , 0.32065997]

qacc:
[ 4.50697183e+00,-1.02599903e+00, 4.56732679e+00,-8.71838782e+00,
 -9.44865629e+01,-3.63339215e+00, 2.90171287e+01,-2.76400586e+00,
 -3.85079446e+00,-8.87887812e-01, 6.43052983e+00,-1.75139522e+01,
  5.00594710e+01, 7.32194661e+01,-2.55948862e+01, 2.87609475e+01,
 -1.12956850e+00,-1.42540609e+00, 3.23524026e-02, 7.37386267e+00,
 -1.67192567e+01,-6.38229391e+00]

qfrc_actuator:
[ 4.51148611e-05, 2.76107233e-04, 9.05208330e-05, 4.10960497e-05,
 -9.84466116e-04, 8.32481582e-03, 4.47715153e-03, 1.70814299e-03,
 -4.82404679e-05, 5.59888668e-05,-7.05843148e-05,-4.63969122e-05,
  4.79571904e-02, 2.32230267e-02, 3.18965328e-05,-1.77680517e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21034948,  0.08016999,  0.19447281,  0.08016999,  0.46129529,
       -0.10345058,  0.19447281, -0.10345058,  0.25299622,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.954168570589842e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71008048e-01, -2.38269271e-01,  1.92646063e-02, -2.38222392e-01,
        9.71199132e-01,  4.72628482e-03, -1.98358974e-02, -8.67361738e-19,
       -9.99803249e-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([ 0.12870428, -0.08285644,  0.11174322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1415231 ,  0.30961709,  1.09873211,  0.30961709,  7.75261061,
       -1.86297069,  1.09873211, -1.86297069,  1.66649872,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003398550582723793
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11320315e-01, -8.41013976e-01, -1.76768286e-01, -9.18313302e-02,
       -1.51043152e-01,  9.84252495e-01, -8.54469743e-01,  5.19501162e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10471328, -0.03750745,  0.3047734 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.85276256,  3.06515182, 10.41092212,  3.06515182, 21.65850966,
       -3.18139499, 10.41092212, -3.18139499, 11.78941913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004765347101071127
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16489209e-13, -1.16489209e-13,  1.00000000e+00,  1.35697357e-26,
        1.00000000e+00,  1.16489209e-13, -1.00000000e+00,  0.00000000e+00,
        1.16489209e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09608871, -0.05183842,  0.06198928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.63981363e-05, 3.28892009e-06, 1.14701886e-05,-1.08360643e-05,
 -8.37449662e-04, 9.91361762e-03, 5.21360905e-03, 1.78752339e-03,
 -2.24843126e-05, 3.71789863e-05, 8.22525513e-06,-2.99566461e-05,
  5.85012034e-02, 2.25203082e-02,-4.01885963e-04,-5.29158019e-04,
 -7.99455936e-06, 3.07092899e-06,-9.80999820e+00,-6.49170608e-02,
 -9.14524778e-03,-5.58686279e-03]


--- Step 1290 ---
qpos:
[ 0.00985906, 0.00805662,-0.0056115 , 0.03348322, 0.00444564,-0.00548335,
 -0.01127537, 0.03742532, 0.01308564, 0.00590757,-0.01169405, 0.0340439 ,
  0.83373531,-0.01865275, 1.16317842, 0.04608711, 0.09357019,-0.0653782 ,
  0.14234998, 0.94611142,-0.03306813, 0.03082576, 0.32067031]

qacc:
[ 5.72735033e+00, 3.95026596e-01,-2.93478884e+00, 7.69238582e+00,
  6.56995736e+01, 3.46896643e-01, 3.17063727e+01,-1.10962303e+02,
  6.32751356e-01, 4.08863075e+00,-1.65267722e+01, 2.93523543e+01,
  4.21321830e+00,-1.14794359e+01, 1.81228796e+02,-4.62900668e+02,
  1.21325908e+00,-4.47099002e-01,-3.28381065e-01, 1.96939011e+01,
  3.20245053e+00, 2.74501701e+01]

qfrc_actuator:
[ 7.79317614e-05, 2.44867168e-04, 7.96181133e-05, 5.24743152e-05,
 -9.60729083e-04, 8.31188611e-03, 4.49827299e-03, 1.71060767e-03,
 -4.37154834e-05, 8.51460220e-05,-1.04962364e-04,-1.08157948e-05,
  4.79537880e-02, 2.29895155e-02, 1.59371308e-05,-1.79401017e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21025738, -0.21024198,  0.00254497, -0.21024198,  0.2103191 ,
        0.00509886,  0.00254497,  0.00509886,  0.63147856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.665997150176217e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71021813e-01, -2.38223156e-01,  1.91407042e-02, -2.38176887e-01,
        9.71210445e-01,  4.69492372e-03, -1.97080913e-02,  8.67361738e-19,
       -9.99805777e-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([ 0.12870458, -0.08285606,  0.11174175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13607283, -1.13542165, -0.03845961, -1.13542165,  1.13834795,
       -0.06716731, -0.03845961, -0.06716731,  3.11901607,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003341183482238069
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51138663, -0.84102437, -0.17652683, -0.09171375, -0.15083206,
        0.98429583, -0.85444269,  0.51954566,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10471679, -0.03752034,  0.3047882 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.8466068 , -10.17323559,  -3.76220106, -10.17323559,
        15.13395004, -11.59325409,  -3.76220106, -11.59325409,
        42.19551755,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004761098619867482
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.33186311e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.33186311e-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([ 0.0517249 , -0.06207258,  0.06198929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.35682928e-05,-2.75093858e-05,-9.20151478e-06, 1.17013299e-05,
 -2.74191256e-04, 9.13894582e-03, 4.68851830e-03, 1.63033515e-03,
  3.89925451e-06, 5.03582772e-05,-2.67176746e-05, 3.68799831e-05,
  4.97464877e-02, 1.59718449e-02, 9.73302101e-04,-2.81437326e-04,
 -5.44256824e-06,-1.24285994e-06,-9.81000159e+00,-6.49134880e-02,
 -9.14853872e-03,-5.58221509e-03]


--- Step 1291 ---
qpos:
[ 0.00986033, 0.00805674,-0.00561081, 0.03348319, 0.0044378 ,-0.00549045,
 -0.01127788, 0.03742474, 0.01308487, 0.005908  ,-0.01169416, 0.0340443 ,
  0.83368952,-0.01854635, 1.16333923, 0.04610772, 0.09357131,-0.06537467,
  0.14234951, 0.94612448,-0.03307599, 0.03079584, 0.32063386]

qacc:
[ 3.31933636e-01, 2.32534955e-01, 2.87786254e-01,-4.03771680e+00,
 -1.42126915e+01, 6.12407159e+00,-4.05899606e+01, 8.65247914e+01,
  5.54107202e-01, 5.84211227e-01,-6.76596006e+00, 2.48926948e+01,
 -1.21727762e+01,-4.38394607e+01,-2.26396162e+02, 6.04998307e+02,
 -4.94623785e-01, 1.37860698e+00,-2.69998783e-01,-2.70904286e+01,
  2.21036911e+00,-2.55353512e+01]

qfrc_actuator:
[ 7.89831420e-05, 2.61736392e-04, 7.27445608e-05, 4.13139693e-05,
 -9.84010213e-04, 8.33563672e-03, 4.49268508e-03, 1.71570991e-03,
 -4.07129337e-05, 8.43958712e-05,-7.16281760e-05, 4.58993386e-05,
  4.79453637e-02, 2.27728366e-02, 3.77961033e-06,-1.75158839e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21036627,  0.10523733,  0.18215123,  0.10523733,  0.41797296,
       -0.11994414,  0.18215123, -0.11994414,  0.27966365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.005417097479165e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71014180e-01, -2.38251039e-01,  1.91808337e-02, -2.38204570e-01,
        9.71203605e-01,  4.70535070e-03, -1.97495496e-02,  8.67361738e-19,
       -9.99804959e-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([ 0.12870583, -0.08285619,  0.11174222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12909319, -0.12832938,  1.12177671, -0.12832938,  4.17978646,
        0.34899422,  1.12177671,  0.34899422,  1.16901754,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000326548803202859
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51137813, -0.84107391, -0.17631528, -0.09159879, -0.15065438,
        0.98433374, -0.8544601 ,  0.51951702,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10472306, -0.0375366 ,  0.30480765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.88605181, -5.99723884,  9.08511146, -5.99723884, 22.61030119,
        7.73937932,  9.08511146,  7.73937932, 15.99494964,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004788180398040687
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.79668544e-14, -8.69502817e-14,  1.00000000e+00,  5.04023432e-27,
        1.00000000e+00,  8.69502817e-14, -1.00000000e+00,  0.00000000e+00,
        5.79668544e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0846881 , -0.11030567,  0.06198923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99688315e-06, 8.12724985e-08,-1.32988194e-05,-1.24340294e-05,
 -6.72991930e-04, 8.76053438e-03, 4.65592051e-03, 1.84555663e-03,
  3.13105150e-06, 2.34644106e-05, 4.17249779e-05, 5.86683457e-05,
  4.96417515e-02, 1.62650259e-02,-3.04458079e-03, 8.05949185e-04,
 -3.43393225e-06, 1.18616313e-05,-9.80998323e+00,-6.49147096e-02,
 -9.15335884e-03,-5.57794383e-03]


--- Step 1292 ---
qpos:
[ 0.00986127, 0.00805686,-0.00560996, 0.03348334, 0.00442716,-0.00550509,
 -0.01128227, 0.03742629, 0.01308414, 0.00590829,-0.01169288, 0.03404464,
  0.83357021,-0.01849608, 1.16338837, 0.04613282, 0.09357202,-0.06536713,
  0.1423483 , 0.94614992,-0.03312318, 0.03075869, 0.32055746]

qacc:
[-2.99561625e+00,-5.44721239e-02,-6.00774385e-01, 3.65296657e+00,
 -2.44503862e+01,-2.20551537e-01,-2.26235327e+01, 6.81398053e+01,
  4.15974746e-01,-4.18907315e+00, 1.48851413e+01,-1.79269608e+01,
 -1.37079358e+01,-4.22964855e+01,-1.78976320e+02, 3.85772428e+02,
 -1.03418413e-01, 1.00237262e+00,-1.85270188e-01,-1.89409881e+01,
  3.35279549e+00,-2.16088619e+01]

qfrc_actuator:
[ 6.13278925e-05, 2.71770766e-04, 8.62326166e-05, 5.25260923e-05,
 -9.76117083e-04, 8.37349704e-03, 4.50986228e-03, 1.68219721e-03,
 -3.86393490e-05, 8.37834042e-05, 1.31791526e-06, 4.36019493e-05,
  4.79458605e-02, 2.26871484e-02, 0.00000000e+00,-1.91354685e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21039382, -0.02445815,  0.20896736, -0.02445815,  0.5460376 ,
        0.03928473,  0.20896736,  0.03928473,  0.21499182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.088649938580305e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9706449 , -0.23975493,  0.01913253, -0.23970837,  0.97083344,
        0.00472493, -0.01970733,  0.        , -0.99980579])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12871159, -0.08287414,  0.11174164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12725063,  0.26241313, -1.0962816 ,  0.26241313,  2.42402611,
        0.31040465, -1.0962816 ,  0.31040465,  1.20155112,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003245065683411291
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51143385, -0.8410704 , -0.17617036, -0.09153106, -0.15052595,
        0.98435969, -0.85443401,  0.51955993,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10472571, -0.03753938,  0.30481135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.90341227,  9.81337701, -4.75205542,  9.81337701, 24.17650121,
       27.4099972 , -4.75205542, 27.4099972 , 67.50726311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004799994142431485
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.78241864e-14, -8.67362796e-14,  1.00000000e+00,  5.01545480e-27,
        1.00000000e+00,  8.67362796e-14, -1.00000000e+00,  0.00000000e+00,
        5.78241864e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08469112, -0.11030058,  0.0619892 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75983519e-05, 6.78433845e-06, 1.14259384e-05, 1.05114274e-05,
 -5.84047194e-04, 9.05004827e-03, 4.82126406e-03, 1.70352189e-03,
  2.16796826e-06, 2.36252664e-05, 8.49564767e-05, 1.29170608e-06,
  5.32556421e-02, 1.89788256e-02, 1.28663473e-03,-9.72929044e-04,
 -1.11901925e-05,-1.03413965e-06,-9.80999954e+00,-6.49132993e-02,
 -9.15740828e-03,-5.57461785e-03]


--- Step 1293 ---
qpos:
[ 0.00986164, 0.00805681,-0.00560859, 0.03348363, 0.00442367,-0.00551138,
 -0.01128382, 0.03742327, 0.01308413, 0.00590891,-0.01169141, 0.03404498,
  0.83345932,-0.01845723, 1.16351183, 0.04611886, 0.09357815,-0.0653632 ,
  0.14234606, 0.94615652,-0.03311813, 0.03074832, 0.32053951]

qacc:
[-4.92739126e+00,-1.39225381e+00, 4.10326718e+00,-2.56287544e+00,
  6.25673108e+01,-6.45411334e+00, 5.81430168e+01,-1.47820174e+02,
  6.33571243e+00,-1.23940337e-01, 1.08646432e+00,-1.74609884e+00,
  9.24946753e+00,-1.66653920e+01, 2.27394484e+02,-6.37200631e+02,
  1.35459771e+00,-9.04144857e-01,-2.55889724e-01, 2.77915057e+01,
  3.62190225e+00, 3.19183312e+01]

qfrc_actuator:
[ 3.28139006e-05, 2.59987658e-04, 1.11637612e-04, 5.90758398e-05,
 -9.12188850e-04, 8.38884168e-03, 4.50531100e-03, 1.67793582e-03,
 -1.62345547e-06, 1.01140504e-04, 8.23314412e-06, 4.21169432e-05,
  4.79544235e-02, 2.26315584e-02, 3.12417158e-06,-2.04121228e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21036719,  0.04458811,  0.20558759,  0.04458811,  0.49736451,
       -0.06224436,  0.20558759, -0.06224436,  0.22386683,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.008220271334146e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97067869, -0.23962623,  0.01903027, -0.2395802 ,  0.97086522,
        0.004697  , -0.01960135,  0.        , -0.99980788])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12871301, -0.08287265,  0.11174042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12881693, -0.86449689,  0.72586003, -0.86449689,  1.83473815,
        0.84074983,  0.72586003,  0.84074983,  2.13014718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003262438067252657
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5115473 , -0.84101583, -0.17610148, -0.09151442, -0.15045545,
        0.98437202, -0.85436788,  0.51966867,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10472599, -0.03753072,  0.30480428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.96625868, -5.95448637,  9.20885018, -5.95448637, 21.8805296 ,
        7.05721954,  9.20885018,  7.05721954, 15.52949044,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004842233962649295
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.73197740e-14, -1.14639548e-13,  1.00000000e+00,  6.57111297e-27,
        1.00000000e+00,  1.14639548e-13, -1.00000000e+00,  0.00000000e+00,
        5.73197740e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05174759, -0.06205189,  0.06198911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.90151947e-05,-5.20248365e-06, 2.85653665e-05, 7.43840332e-06,
 -3.80223770e-04, 9.44297985e-03, 4.91164972e-03, 1.59229148e-03,
  3.70845619e-05, 4.81447600e-05, 2.22841136e-05, 2.48744147e-06,
  5.69403109e-02, 2.17294236e-02, 6.87209846e-03,-1.32575692e-03,
 -6.75385919e-05, 1.73079300e-05,-9.80998219e+00,-6.49190242e-02,
 -9.17270991e-03,-5.57337869e-03]


--- Step 1294 ---
qpos:
[ 0.00986097, 0.00805689,-0.00560729, 0.03348399, 0.00442884,-0.00551367,
 -0.0112876 , 0.03741521, 0.01308422, 0.00590956,-0.01169001, 0.0340457 ,
  0.83336821,-0.01841801, 1.163747  , 0.04609545, 0.09358798,-0.06536151,
  0.14234332, 0.94614584,-0.0330732 , 0.03075507, 0.32057502]

qacc:
[-9.08536270e+00, 5.49688397e-01,-2.02784069e+00, 3.39573441e+00,
  7.58287818e+01, 9.97501613e-01, 2.51355603e+01,-1.11422868e+02,
  8.69124187e-01, 1.02215347e+00,-5.17060904e+00, 1.18292179e+01,
  1.01843610e+01,-6.59719940e+00, 1.93296093e+02,-4.37329959e+02,
  9.25845383e-01,-5.57460570e-01,-1.26464771e-01, 2.05021057e+01,
  1.08597074e+00, 2.89562348e+01]

qfrc_actuator:
[-1.96094444e-05, 2.70791604e-04, 1.08269277e-04, 6.28130626e-05,
 -8.58969088e-04, 8.39555247e-03, 4.48374029e-03, 1.67933496e-03,
  2.40485371e-06, 7.56051702e-05,-6.07290009e-06, 5.88476488e-05,
  4.79577733e-02, 2.25717529e-02, 2.80716446e-05,-1.98227704e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2105619 , -0.21056073, -0.00070024, -0.21056073,  0.21056466,
       -0.00083141, -0.00070024, -0.00083141,  0.46056282,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.576385742274856e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70690455e-01, -2.39572078e-01,  1.91117827e-02, -2.39525656e-01,
        9.70878581e-01,  4.71598570e-03, -1.96850390e-02,  8.67361738e-19,
       -9.99806231e-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([ 0.12871526, -0.08287165,  0.11174137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12652072, -0.03725896,  1.12590439, -0.03725896,  1.85537827,
        0.0241197 ,  1.12590439,  0.0241197 ,  1.1273189 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003236922970156236
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51157726, -0.84100488, -0.17606672, -0.09150114, -0.15042284,
        0.98437823, -0.85435136,  0.51969583,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10473081, -0.03752891,  0.30480824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.01072439,  6.34113722, -9.00144601,  6.34113722, 41.3511362 ,
       21.37353425, -9.00144601, 21.37353425, 26.06747343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000487163241378874
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.27895484e-13, -6.05347378e-14,  1.00000000e+00, -1.37955933e-26,
        1.00000000e+00,  6.05347378e-14, -1.00000000e+00,  0.00000000e+00,
       -2.27895484e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05175651, -0.06204509,  0.06198904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.32545753e-05, 1.40877838e-05,-6.82667034e-07, 4.64494751e-06,
 -6.84280646e-04, 9.03229465e-03, 4.74789103e-03, 1.82262881e-03,
  5.10173145e-06, 6.06965700e-06,-1.55712554e-06, 1.96063257e-05,
  5.65220026e-02, 2.22387190e-02, 3.17875256e-03, 6.85686780e-04,
 -8.75510962e-07, 5.93839588e-07,-9.81000064e+00,-6.49228994e-02,
 -9.15934180e-03,-5.57224452e-03]


--- Step 1295 ---
qpos:
[ 0.00986003, 0.00805716,-0.00560636, 0.03348441, 0.00443447,-0.00551914,
 -0.01129331, 0.03740798, 0.01308367, 0.00591015,-0.01168814, 0.03404659,
  0.83323891,-0.01839797, 1.16400648, 0.04608907, 0.0935965 ,-0.06535865,
  0.14234217, 0.94613813,-0.03304669, 0.03076774, 0.32059927]

qacc:
[ -2.45881332,  1.38873524, -4.79269328,  6.13801004,  3.9068531 ,
   2.89857368,-19.95367377, 39.69329195, -5.63006527, -1.01510042,
   2.76848968, -0.46981315,-16.59958042, -3.16251816,-15.0750162 ,
 106.01843135, -0.32805986,  0.29089566,  0.39771608, -7.54513143,
   5.89535186, -5.99171428]

qfrc_actuator:
[-3.24238871e-05, 2.77169716e-04, 8.80207332e-05, 6.48616495e-05,
 -8.69813448e-04, 8.38033593e-03, 4.47364235e-03, 1.68642099e-03,
 -3.07789507e-05, 7.77471616e-05, 2.03262523e-05, 6.83700520e-05,
  4.79619952e-02, 2.25554774e-02, 0.00000000e+00,-1.96737712e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21095787,  0.04357765,  0.20640787,  0.04357765,  0.66696103,
       -0.09627319,  0.20640787, -0.09627319,  0.23128344,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.61461643259331e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97068254, -0.23958719,  0.01932314, -0.23953973,  0.97087485,
        0.00476846, -0.01990281,  0.        , -0.99980192])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12871874, -0.08287119,  0.11174385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12184071, -0.47791613,  1.01494963, -0.47791613,  8.62148514,
        3.5314078 ,  1.01494963,  3.5314078 ,  2.78469835,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031839861721352504
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51152721, -0.8410408 , -0.17604058, -0.09147817, -0.15040622,
        0.98438291, -0.85438379,  0.51964252,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10473913, -0.03753336,  0.30481965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.02327439, -6.18974771,  9.12138156, -6.18974771, 25.95234699,
       10.13083295,  9.12138156, 10.13083295, 17.89803339,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048798583217583055
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.62350956e-07, -2.85444505e-13,  1.00000000e+00,  1.60519990e-19,
        1.00000000e+00,  2.85444505e-13, -1.00000000e+00,  2.40741243e-35,
        5.62350956e-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([ 0.0677097 , -0.085389  ,  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:
[-1.43285541e-05, 1.42789320e-05,-1.72759194e-05, 2.71752298e-06,
 -1.12854808e-03, 8.81691405e-03, 4.84910032e-03, 2.08162391e-03,
 -3.30337615e-05, 6.01489137e-06, 2.81136080e-05, 1.01038110e-05,
  5.55359517e-02, 2.22034402e-02,-2.43920756e-03, 1.17275062e-03,
 -2.15550900e-05, 1.33952815e-05,-9.80998343e+00,-6.49191734e-02,
 -9.16587135e-03,-5.57018293e-03]


--- Step 1296 ---
qpos:
[ 0.00985928, 0.00805765,-0.00560595, 0.03348417, 0.00443649,-0.00553325,
 -0.01130228, 0.03740329, 0.01308273, 0.00591055,-0.01168557, 0.0340469 ,
  0.83305961,-0.01841781, 1.16416867, 0.04610737, 0.09360252,-0.06535129,
  0.14234046, 0.94614908,-0.03307126, 0.0307592 , 0.32056525]

qacc:
[ 1.71828361e+00, 3.83319062e-01, 1.84498715e+00,-1.26184684e+01,
 -3.14803022e+01, 2.97431169e+00,-3.78112049e+01, 9.33652944e+01,
 -3.43328288e+00,-3.43289690e+00, 1.43521429e+01,-2.54819296e+01,
 -5.98424104e+00,-3.42035099e+01,-2.18894700e+02, 5.56038535e+02,
 -6.25085683e-01, 1.12383347e+00,-1.39693392e-01,-2.63576512e+01,
 -1.17535280e+00,-3.16898776e+01]

qfrc_actuator:
[-2.18153756e-05, 2.80771348e-04, 5.79638502e-05, 3.03864604e-05,
 -9.32094290e-04, 8.35756038e-03, 4.47103660e-03, 1.72857693e-03,
 -5.00833885e-05, 6.10876918e-05, 5.28951738e-05, 3.81169281e-05,
  4.79818967e-02, 2.25491994e-02, 0.00000000e+00,-2.00161553e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21130111,  0.01710845, -0.21060736,  0.01710845,  2.03133487,
        0.14784834, -0.21060736,  0.14784834,  0.2233114 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.42004796612246e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97067937, -0.23958569,  0.01950036, -0.23953736,  0.97087522,
        0.00481216, -0.02008534,  0.        , -0.99979827])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12872207, -0.08287068,  0.11174592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12010532,  0.1214317 , -1.1135036 ,  0.1214317 ,  7.7522664 ,
        0.72326177, -1.1135036 ,  0.72326177,  1.19897969,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000316402783416194
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11494628e-01, -8.41062212e-01, -1.76032958e-01, -9.14682557e-02,
       -1.50403326e-01,  9.84384273e-01, -8.54404356e-01,  5.19608695e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10474686, -0.03753225,  0.30482425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.06872246,  6.9421896 , -8.6210568 ,  6.9421896 , 28.55044691,
       14.07732818, -8.6210568 , 14.07732818, 22.40462751,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004909388724675112
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.65357057e-14, -2.82678529e-14,  1.00000000e+00,  1.59814301e-27,
        1.00000000e+00,  2.82678529e-14, -1.00000000e+00,  0.00000000e+00,
        5.65357057e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0847165 , -0.11027197,  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:
[ 1.02039662e-05, 8.11071501e-06,-2.91546079e-05,-3.44109985e-05,
 -1.21315165e-03, 8.95410496e-03, 4.94379908e-03, 2.08257270e-03,
 -2.02389102e-05,-7.11415087e-06, 3.75937702e-05,-2.88322267e-05,
  5.74636352e-02, 2.31547487e-02,-3.65960738e-03, 2.85296820e-04,
 -1.03591789e-05, 3.96221400e-06,-9.80999431e+00,-6.49143564e-02,
 -9.16239539e-03,-5.56967717e-03]


--- Step 1297 ---
qpos:
[ 0.00985867, 0.00805806,-0.00560582, 0.03348388, 0.00443635,-0.00555032,
 -0.01131129, 0.03739957, 0.0130819 , 0.00591104,-0.01168298, 0.03404686,
  0.83284422,-0.01845673, 1.16431569, 0.04611127, 0.09360889,-0.06534444,
  0.14234008, 0.94616119,-0.03309815, 0.03076306, 0.32052637]

qacc:
[ 1.15923616e+00, 6.11404157e-01,-2.14828958e+00, 1.92034259e+00,
 -1.88960611e+01,-1.74743791e+00,-3.47093433e+00, 2.23883716e+01,
  1.05913901e+00,-6.40799642e-01, 3.95562757e+00,-1.01603452e+01,
 -1.52773952e+01,-4.15301611e+00, 2.16118661e+01,-1.07219528e+02,
  8.82845787e-02,-1.26172666e-01, 3.32840651e-01, 9.82811003e-01,
  6.30484977e+00,-2.31508474e+00]

qfrc_actuator:
[-1.52709904e-05, 2.64850104e-04, 4.00772516e-05, 2.79482934e-05,
 -9.68113808e-04, 8.39021951e-03, 4.47500532e-03, 1.71870829e-03,
 -4.32995019e-05, 6.88028546e-05, 5.32287914e-05, 2.01932108e-05,
  4.80136433e-02, 2.25772887e-02, 0.00000000e+00,-2.00878318e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21149194, -0.01114297,  0.21119819, -0.01114297,  0.49663372,
        0.01504428,  0.21119819,  0.01504428,  0.21228569,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.838434010077454e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97069966, -0.2394992 ,  0.01955237, -0.23945063,  0.97089656,
        0.00482315, -0.02013847,  0.        , -0.9997972 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12872533, -0.08286939,  0.11174653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12181787,  0.21755631, -1.10052014,  0.21755631,  2.42584722,
        0.25778703, -1.10052014,  0.25778703,  1.17277849,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003183724691927807
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51154575, -0.84102539, -0.17606031, -0.09149207, -0.15042086,
        0.98437938, -0.8543712 ,  0.51966321,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10475136, -0.03752097,  0.30481721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.06418838, -5.94062327,  9.33409126, -5.94062327, 25.07963134,
        8.9200399 ,  9.33409126,  8.9200399 , 16.74129128,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004906460681130852
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.25460208e-07,  3.50299657e-13,  1.00000000e+00, -3.24188393e-19,
        1.00000000e+00, -3.50299657e-13, -1.00000000e+00,  0.00000000e+00,
        9.25460208e-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([ 0.06772322, -0.08537661,  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:
[ 6.83860663e-06,-1.88987169e-05,-2.10023377e-05,-3.77082120e-06,
 -1.06929889e-03, 9.41881184e-03, 5.11030122e-03, 1.94521770e-03,
  6.20975226e-06, 1.02115887e-05, 2.46142125e-06,-1.74956808e-05,
  5.99950534e-02, 2.51771837e-02, 1.20075106e-03,-9.56931448e-04,
 -1.34141593e-05, 5.83948882e-06,-9.80999473e+00,-6.49178793e-02,
 -9.16303664e-03,-5.57036278e-03]


--- Step 1298 ---
qpos:
[ 0.00985883, 0.00805825,-0.00560559, 0.0334839 , 0.00444239,-0.00556714,
 -0.01132257, 0.03739096, 0.01308116, 0.00591198,-0.01168143, 0.03404697,
  0.83266105,-0.01848591, 1.16454769, 0.04609492, 0.09361879,-0.06534036,
  0.14233899, 0.94615594,-0.03308076, 0.03078125, 0.32054192]

qacc:
[ 6.79250252e+00, 3.70837295e-02,-1.91764062e+00, 7.34339844e+00,
  5.40697655e+01,-3.54177676e+00, 3.36061233e+01,-1.14771908e+02,
  7.28903981e-01, 3.81804811e+00,-1.34134139e+01, 1.74671891e+01,
  1.38503085e+01,-1.26133749e+00, 1.86352367e+02,-4.70500959e+02,
  8.79804026e-01,-6.90856840e-01,-1.77764603e-01, 2.21223790e+01,
 -9.50104265e-01, 2.94504526e+01]

qfrc_actuator:
[ 2.43260890e-05, 2.55177246e-04, 4.72204984e-05, 4.43785964e-05,
 -9.52867906e-04, 8.43617509e-03, 4.48102414e-03, 1.69594189e-03,
 -3.89717635e-05, 9.09320856e-05,-8.71972184e-07, 2.74221097e-05,
  4.80423949e-02, 2.26211668e-02, 0.00000000e+00,-1.95274092e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21163713, -0.208504  ,  0.03628164, -0.208504  ,  0.21266945,
        0.00593258,  0.03628164,  0.00593258,  0.24573059,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010144754990924645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97072194, -0.23940435,  0.01960813, -0.23935553,  0.97091995,
        0.00483487, -0.02019541,  0.        , -0.99979605])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12872862, -0.08286808,  0.11174719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12442367,  0.03731061,  1.12380448,  0.03731061,  6.94534319,
       -0.19325609,  1.12380448, -0.19325609,  1.13083983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003213360183011537
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51160842, -0.84097539, -0.17611705, -0.09153371, -0.15046194,
        0.98436923, -0.85432921,  0.51973223,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10475646, -0.03750663,  0.30480911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.07572285, -5.17599597,  9.79186919, -5.17599597, 96.67919461,
       45.25011685,  9.79186919, 45.25011685, 34.99499894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000491390171017278
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12967565e-13, -2.25935131e-13,  1.00000000e+00,  2.55233416e-26,
        1.00000000e+00,  2.25935131e-13, -1.00000000e+00,  0.00000000e+00,
        1.12967565e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05178596, -0.06202277,  0.06198895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.97849354e-05,-2.47526157e-05, 5.16882281e-07, 1.48196757e-05,
 -9.45961479e-04, 9.61376844e-03, 5.11925671e-03, 1.87420599e-03,
  4.51262454e-06, 2.75499568e-05,-5.23305867e-05, 7.40397207e-06,
  6.18280515e-02, 2.61762309e-02, 1.95609909e-03,-1.81418904e-04,
 -1.54044814e-05, 1.03101035e-05,-9.80999112e+00,-6.49223470e-02,
 -9.16171893e-03,-5.57262932e-03]


--- Step 1299 ---
qpos:
[ 0.00985912, 0.0080582 ,-0.00560498, 0.03348376, 0.00444794,-0.00558679,
 -0.01133493, 0.03738361, 0.01308049, 0.00591267,-0.01168053, 0.03404689,
  0.83245276,-0.01852508, 1.16479447, 0.04609206, 0.09362733,-0.06533561,
  0.14233924, 0.94615388,-0.03307755, 0.03080241, 0.32054629]

qacc:
[  1.14271588, -1.73997494,  6.47338458, -9.85025072, -4.28691846,
   1.9122676 ,-17.60803202, 43.4556174 ,  0.4960958 ,  1.10958985,
  -3.61639929,  1.48868582,-12.56866927,  1.75491092,-18.46430566,
  97.30505605, -0.33620566,  0.16567343,  0.33413051, -6.00823067,
   3.8126785 , -5.97420618]

qfrc_actuator:
[ 2.98034672e-05, 2.49440755e-04, 6.91079784e-05, 3.62872759e-05,
 -9.32091220e-04, 8.45257718e-03, 4.47275057e-03, 1.68866967e-03,
 -3.61328242e-05, 3.25507936e-05,-5.10836118e-05, 1.38673821e-05,
  4.80538485e-02, 2.26355628e-02, 0.00000000e+00,-1.90043278e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21200262,  0.08925219,  0.19229965,  0.08925219,  0.62766553,
       -0.19292195,  0.19229965, -0.19292195,  0.30154363,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010876232983498592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97107605, -0.23794968,  0.01978013, -0.23790034,  0.97127748,
        0.00484586, -0.02036507,  0.        , -0.99979261])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1287292 , -0.08285025,  0.11174921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12343645, -0.49209039,  1.00992895, -0.49209039,  9.59452698,
        4.12755991,  1.00992895,  4.12755991,  3.13460027,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032021795349529626
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11589541e-01, -8.40974681e-01, -1.76175275e-01, -9.15615595e-02,
       -1.50513150e-01,  9.84358813e-01, -8.54337534e-01,  5.19718556e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10476515, -0.03750051,  0.30481145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.06302237, -6.32961354,  9.07339277, -6.32961354, 26.31673179,
       10.64101247,  9.07339277, 10.64101247, 18.48620996,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004905707045903522
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.37345801e-07, -6.19928395e-14,  1.00000000e+00,  2.09130241e-20,
        1.00000000e+00,  6.19928395e-14, -1.00000000e+00,  0.00000000e+00,
        3.37345801e-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([ 0.06773527, -0.08536634,  0.06198897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.60076609e-06,-1.88324341e-05, 1.73442840e-05,-8.84835072e-06,
 -1.23412184e-03, 9.61858744e-03, 5.22441474e-03, 2.11203978e-03,
  2.98321542e-06,-5.35206348e-05,-5.07406412e-05,-1.40467384e-05,
  6.02269296e-02, 2.57031497e-02,-2.29658048e-03, 8.82239690e-04,
 -5.97148308e-06, 7.00338078e-07,-9.80999680e+00,-6.49173515e-02,
 -9.15833504e-03,-5.57327199e-03]


--- Step 1300 ---
qpos:
[ 0.00985878, 0.00805816,-0.00560422, 0.03348385, 0.00444934,-0.00561423,
 -0.01135007, 0.03737899, 0.01308019, 0.00591275,-0.01167954, 0.03404664,
  0.83220696,-0.01859544, 1.16493818, 0.04610937, 0.09363355,-0.06532684,
  0.14233869, 0.94617013,-0.03312032, 0.03080024, 0.3204941 ]

qacc:
[-5.49113191e+00, 9.41636817e-02,-1.29342514e+00, 5.10062177e+00,
 -3.62953583e+01, 3.15605624e+00,-3.75479068e+01, 9.46875056e+01,
  3.39615299e+00,-1.45383382e+00, 4.70907322e+00,-7.31450527e+00,
 -2.29937274e+00,-2.93282753e+01,-2.13833836e+02, 5.25841221e+02,
 -5.82788949e-01, 1.00369243e+00,-2.00176514e-01,-2.43175985e+01,
 -3.01963487e+00,-3.07777863e+01]

qfrc_actuator:
[-2.60807056e-06, 2.63908858e-04, 8.17619356e-05, 4.93445328e-05,
 -9.21550528e-04, 8.45422366e-03, 4.47337766e-03, 1.72198416e-03,
 -1.64403467e-05,-2.60447558e-06,-4.56668712e-05, 5.88427319e-06,
  4.80749009e-02, 2.26658643e-02, 0.00000000e+00,-2.12453298e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21226821, -0.02009743,  0.21131466, -0.02009743,  0.4999523 ,
        0.02736067,  0.21131466,  0.02736067,  0.21487039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001137699382945158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71083362e-01, -2.37913929e-01,  1.98511232e-02, -2.37864234e-01,
        9.71286241e-01,  4.86247874e-03, -2.04379742e-02,  8.67361738e-19,
       -9.99791123e-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([ 0.12873382, -0.08284953,  0.11175078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12434464,  0.13892737, -1.11572848,  0.13892737,  9.23569662,
        1.01000272, -1.11572848,  1.01000272,  1.25010733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003212467169321925
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51158817, -0.84096188, -0.17624033, -0.09159621, -0.15056822,
        0.98434717, -0.85433464,  0.51972331,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10477347, -0.03749085,  0.30480951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.05046067,  6.55370844, -8.89727973,  6.55370844, 26.05005713,
       11.04865587, -8.89727973, 11.04865587, 19.18886605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004897571276058776
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.66721219e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.66721219e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08473898, -0.11025525,  0.06198898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.22308330e-05, 7.13668759e-06, 1.05870578e-05, 1.26768743e-05,
 -1.19903497e-03, 9.76252695e-03, 5.27945620e-03, 2.08170308e-03,
  1.97643107e-05,-7.62035583e-05,-1.23933657e-05,-1.23092023e-05,
  6.15021294e-02, 2.62333093e-02,-3.04045594e-03,-1.73389101e-05,
 -1.78246527e-06,-7.52847840e-07,-9.80999763e+00,-6.49162523e-02,
 -9.15489506e-03,-5.57540143e-03]


--- Step 1301 ---
qpos:
[ 0.00985841, 0.00805843,-0.00560319, 0.03348439, 0.00445668,-0.00564049,
 -0.01136579, 0.03736972, 0.01308014, 0.00591277,-0.01167875, 0.03404659,
  0.83199564,-0.01865477, 1.16514721, 0.0460942 , 0.09364347,-0.06532138,
  0.1423374 , 0.94616849,-0.03311486, 0.03081457, 0.32049815]

qacc:
[-3.57654342e-01, 6.01588976e-01,-3.46277265e+00, 1.06520303e+01,
  5.19693283e+01,-6.46451998e+00, 4.47549192e+01,-1.24932238e+02,
  2.08717013e+00, 9.26111381e-01,-4.28482384e+00, 8.18499506e+00,
  1.48191670e+01,-9.60436978e-01, 1.94263752e+02,-5.40476129e+02,
  9.26664117e-01,-8.24218045e-01,-1.84056259e-01, 2.42963879e+01,
 -5.70822871e-01, 3.04838460e+01]

qfrc_actuator:
[-3.79174495e-06, 3.08105727e-04, 1.06713886e-04, 7.47541747e-05,
 -9.31051423e-04, 8.48860941e-03, 4.51698354e-03, 1.74218798e-03,
 -4.73796653e-06, 2.98938404e-05,-4.28797694e-05, 1.90475666e-05,
  4.80984068e-02, 2.27309040e-02, 0.00000000e+00,-2.15375079e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21235076, -0.20841598,  0.04068936, -0.20841598,  0.21460897,
        0.01156685,  0.04068936,  0.01156685,  0.27159763,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011527995210311005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97111373, -0.23779371,  0.01980595, -0.23774427,  0.97131568,
        0.00484881, -0.02039084,  0.        , -0.99979209])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12873833, -0.08284801,  0.11175092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12787152, -0.20964755, -1.10821572, -0.20964755,  3.43545659,
       -0.43653915, -1.10821572, -0.43653915,  1.21045415,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000325196858582801
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51166804, -0.8408945 , -0.17632997, -0.0916586 , -0.15063519,
        0.98433111, -0.85428012,  0.51981293,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1047788 , -0.03747295,  0.3047983 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.06597844, -6.13291665,  9.21103753, -6.13291665, 20.96443173,
        6.59061357,  9.21103753,  6.59061357, 15.45415768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004907617153712684
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.65561142e-14, -1.13112228e-13,  1.00000000e+00,  6.39718811e-27,
        1.00000000e+00,  1.13112228e-13, -1.00000000e+00,  0.00000000e+00,
        5.65561142e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05180628, -0.06200774,  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:
[-2.10106974e-06, 5.09000397e-05, 2.81617095e-05, 2.63280851e-05,
 -1.00117599e-03, 1.01873170e-02, 5.46264256e-03, 1.96589782e-03,
  1.22398117e-05,-1.32105644e-05,-1.49190602e-05, 9.22661889e-06,
  6.34018167e-02, 2.78600457e-02, 2.10905184e-03,-1.05600122e-03,
 -3.17811839e-05, 1.88148155e-05,-9.80998197e+00,-6.49236599e-02,
 -9.16061618e-03,-5.57818236e-03]


--- Step 1302 ---
qpos:
[ 0.00985767, 0.00805882,-0.00560121, 0.03348487, 0.00446789,-0.00567535,
 -0.01138951, 0.03735456, 0.01307953, 0.00591278,-0.01167831, 0.03404705,
  0.83182543,-0.01869458, 1.16545434, 0.04607368, 0.09365574,-0.0653179 ,
  0.14233578, 0.94615033,-0.03307266, 0.0308379 , 0.32055386]

qacc:
[-3.10016845e+00,-2.64785165e+00, 9.97080952e+00,-1.27928867e+01,
  3.37749107e+01,-1.24411524e+00, 1.27019336e+01,-9.54422680e+01,
 -4.83967562e+00, 1.99279191e+00,-9.23687394e+00, 1.85037699e+01,
  1.43852485e+01, 7.23536667e+00, 1.60842116e+02,-3.52803784e+02,
  5.87413739e-01,-4.96244956e-01,-8.15351797e-02, 1.77561663e+01,
 -2.23243817e+00, 2.78020674e+01]

qfrc_actuator:
[-2.20785994e-05, 3.16577250e-04, 1.56620333e-04, 7.17578631e-05,
 -9.43248236e-04, 8.53679177e-03, 4.54979219e-03, 1.74305536e-03,
 -3.33420971e-05, 3.16704871e-05,-5.91460487e-05, 4.45956110e-05,
  4.81076047e-02, 2.27515399e-02, 0.00000000e+00,-1.95044419e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21268298, -0.21062058,  0.02954692, -0.21062058,  0.21092989,
       -0.01249661,  0.02954692, -0.01249661,  0.12360285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001211564430432445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97105123, -0.23805305,  0.01975487, -0.2380038 ,  0.97125215,
        0.0048419 , -0.02033959,  0.        , -0.99979313])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12874513, -0.08285078,  0.11175258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12726166, -0.06659603,  1.12529277, -0.06659603,  2.05183621,
        0.05471731,  1.12529277,  0.05471731,  1.13049989,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003245188524539184
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51166472, -0.84087677, -0.17642413, -0.09170852, -0.15071503,
        0.98431424, -0.85427675,  0.51981847,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10478778, -0.03746386,  0.30479893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.06571383,  5.54081972, -9.57858755,  5.54081972, 50.05721518,
       22.55498304, -9.57858755, 22.55498304, 24.1128457 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004907446240102475
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.65580839e-14, -2.26232336e-13,  1.00000000e+00,  1.27952674e-26,
        1.00000000e+00,  2.26232336e-13, -1.00000000e+00,  0.00000000e+00,
        5.65580839e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05181368, -0.06200248,  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:
[-1.83331947e-05, 4.38580694e-05, 6.47841634e-05, 6.67676260e-07,
 -1.31013705e-03, 1.01778428e-02, 5.52544442e-03, 2.19934077e-03,
 -2.82597636e-05,-8.30269219e-06,-2.05232470e-05, 2.46431091e-05,
  6.16859269e-02, 2.73299844e-02,-1.15921661e-03, 7.70877367e-04,
 -1.27597969e-06,-2.36700370e-07,-9.80999879e+00,-6.49200951e-02,
 -9.15203630e-03,-5.57915609e-03]


--- Step 1303 ---
qpos:
[ 0.00985638, 0.00805938,-0.00559916, 0.03348536, 0.00447473,-0.00571764,
 -0.01141458, 0.03734287, 0.01307859, 0.00591277,-0.01167808, 0.0340478 ,
  0.83162005,-0.01876294, 1.16566863, 0.04608729, 0.09366441,-0.06530994,
  0.14233371, 0.94615449,-0.03308722, 0.03083415, 0.32054042]

qacc:
[-4.90076373e+00, 7.05010963e-02, 4.38786543e-02,-5.93026178e-02,
 -3.81264020e+01, 1.22116249e+00,-3.31345035e+01, 1.00775159e+02,
 -2.97905937e+00, 1.18099742e+00,-5.47756199e+00, 1.09131571e+01,
 -1.91428286e+00,-2.73534053e+01,-2.40918880e+02, 6.42590453e+02,
 -9.00550238e-01, 1.11891939e+00,-1.12938849e-01,-2.97563366e+01,
 -2.91626099e+00,-3.76111696e+01]

qfrc_actuator:
[-5.02955720e-05, 3.03680906e-04, 1.49693733e-04, 6.98118711e-05,
 -9.57368033e-04, 8.60255843e-03, 4.58375253e-03, 1.78868060e-03,
 -4.99330469e-05, 3.27384041e-05,-6.88770992e-05, 5.94388685e-05,
  4.81223568e-02, 2.27858858e-02, 0.00000000e+00,-2.13659067e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21315474,  0.13495271,  0.16499306,  0.13495271,  0.48285833,
       -0.22059855,  0.16499306, -0.22059855,  0.39358883,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012901627915127891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71046658e-01, -2.38077636e-01,  1.96831687e-02, -2.38028741e-01,
        9.71246127e-01,  4.82485556e-03, -2.02658916e-02,  8.67361738e-19,
       -9.99794626e-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([ 0.1287535 , -0.08285062,  0.11175493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12399704, -0.11629196,  1.1179649 , -0.11629196,  6.98556887,
        0.60972726,  1.1179649 ,  0.60972726,  1.18742155,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032085353931886454
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51158176, -0.84091067, -0.17650311, -0.09173602, -0.15079075,
        0.98430008, -0.85432348,  0.51974166,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1047994 , -0.03746251,  0.30480754])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.08495209, -6.29397341,  9.12480474, -6.29397341, 20.36003206,
        6.39762805,  9.12480474,  6.39762805, 15.49781373,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004919837215764666
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.64156382e-14,  1.12831276e-13,  1.00000000e+00,  6.36544846e-27,
        1.00000000e+00, -1.12831276e-13, -1.00000000e+00,  0.00000000e+00,
       -5.64156382e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08476242, -0.11023747,  0.06198893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.87299716e-05, 2.49977545e-05, 1.01079146e-05, 2.18243667e-06,
 -1.51758726e-03, 1.06752156e-02, 5.95931637e-03, 2.53969869e-03,
 -1.73967414e-05,-6.77652935e-06,-1.31270599e-05, 1.42560231e-05,
  5.96435230e-02, 2.63885012e-02,-6.06927478e-03, 8.51167387e-04,
 -3.97112883e-05, 1.32958042e-05,-9.80998534e+00,-6.49130104e-02,
 -9.15974422e-03,-5.57889994e-03]


--- Step 1304 ---
qpos:
[ 0.0098551 , 0.00806039,-0.00559812, 0.03348586, 0.00447593,-0.00576683,
 -0.01144135, 0.0373343 , 0.01307814, 0.00591314,-0.01167842, 0.03404835,
  0.83137463,-0.01886154, 1.1657643 , 0.04610747, 0.09367132,-0.06529883,
  0.14233143, 0.94617757,-0.0331432 , 0.03081268, 0.32046859]

qacc:
[ 1.05275317e-01, 3.45340428e+00,-1.15315405e+01, 1.30951813e+01,
 -4.93347359e+01, 2.09656844e+00,-3.37118144e+01, 9.52318561e+01,
  4.35420891e+00, 1.69435739e+00,-4.47786106e+00, 1.67117506e+00,
 -5.16948128e+00,-2.57850699e+01,-1.95548168e+02, 4.28806438e+02,
 -4.40869184e-01, 7.87504068e-01,-5.41094325e-02,-2.12202983e+01,
 -1.07022050e+00,-3.15915761e+01]

qfrc_actuator:
[-4.86208408e-05, 3.13363292e-04, 9.14148796e-05, 6.84401104e-05,
 -9.65960661e-04, 8.68114027e-03, 4.61497659e-03, 1.83639747e-03,
 -2.38022689e-05, 6.88983543e-05,-9.24331663e-05, 5.01149120e-05,
  4.81458265e-02, 2.28864730e-02, 0.00000000e+00,-2.20318827e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2133338 ,  0.01515735,  0.21279465,  0.01515735,  0.76020451,
       -0.03895357,  0.21279465, -0.03895357,  0.21610846,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001318690617241663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97062249, -0.23980808,  0.0195977 , -0.23975921,  0.97082032,
        0.00484094, -0.02018674,  0.        , -0.99979623])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12876662, -0.08287115,  0.11175558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1245365 ,  0.19933485, -1.10672849,  0.19933485,  2.26717625,
        0.20580289, -1.10672849,  0.20580289,  1.16160402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032146343157381246
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11598967e-01, -8.40881676e-01, -1.76591350e-01, -9.17864446e-02,
       -1.50863361e-01,  9.84284255e-01, -8.54307758e-01,  5.19767500e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480709, -0.03745158,  0.30480365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.10154415,  7.42389735, -8.25409174,  7.42389735, 33.00305599,
       19.6986635 , -8.25409174, 19.6986635 , 28.81892122,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004930467047008502
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12588018e-13, -1.12588018e-13,  1.00000000e+00,  1.26760618e-26,
        1.00000000e+00,  1.12588018e-13, -1.00000000e+00,  0.00000000e+00,
        1.12588018e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08477134, -0.11023074,  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:
[ 8.60450870e-07, 2.57912502e-05,-5.18239890e-05, 8.61480582e-08,
 -1.30812974e-03, 1.11269009e-02, 6.05950605e-03, 2.41381049e-03,
  2.56342106e-05, 3.02567573e-05,-2.60839796e-05,-9.79271033e-06,
  6.14252867e-02, 2.79182970e-02,-1.43203186e-03,-9.23041401e-04,
 -2.82417675e-06, 1.44742612e-06,-9.80999825e+00,-6.49161884e-02,
 -9.15128314e-03,-5.57956520e-03]


--- Step 1305 ---
qpos:
[ 0.00985385, 0.00806171,-0.00559751, 0.03348632, 0.00448429,-0.00580965,
 -0.01146626, 0.03732177, 0.01307836, 0.00591371,-0.01167901, 0.03404844,
  0.83116176,-0.01894921, 1.1659299 , 0.04609362, 0.09368198,-0.06529161,
  0.14232879, 0.9461815 ,-0.03314752, 0.03081289, 0.32045651]

qacc:
[ 2.41526143e-01, 1.50972527e+00,-4.60195431e+00, 4.29120138e+00,
  6.25539434e+01,-5.03839935e+00, 4.67243109e+01,-1.22783311e+02,
  5.80763900e+00,-4.16380758e-02, 2.44713417e+00,-1.01660249e+01,
  1.31133505e+01, 5.82539190e-01, 2.05880244e+02,-5.70991148e+02,
  9.39100297e-01,-9.71048063e-01,-8.72009747e-02, 2.66723990e+01,
  1.28633749e+00, 3.24976494e+01]

qfrc_actuator:
[-4.71152522e-05, 3.36257694e-04, 7.43941051e-05, 6.74060549e-05,
 -9.68215385e-04, 8.73436061e-03, 4.62767790e-03, 1.84883333e-03,
  9.50824495e-06, 7.24623507e-05,-1.06083240e-04, 2.66671998e-05,
  4.81655803e-02, 2.30221618e-02, 0.00000000e+00,-2.04213217e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21330803, -0.21204956,  0.02313659, -0.21204956,  0.21754056,
        0.03879165,  0.02313659,  0.03879165,  0.5688381 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013146259243891205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70669836e-01, -2.39622971e-01,  1.95166752e-02, -2.39574550e-01,
        9.70866022e-01,  4.81698154e-03, -2.01023363e-02, -8.67361738e-19,
       -9.99797928e-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([ 0.12877397, -0.082869  ,  0.11175482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12763148, -0.30243613, -1.08631724, -0.30243613,  3.11483822,
       -0.55324825, -1.08631724, -0.55324825,  1.28165855,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032493024354682547
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51170347, -0.84079426, -0.17670477, -0.09186606, -0.15094768,
        0.9842639 , -0.85423661,  0.51988442,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481191, -0.0374325 ,  0.30479147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.17849842, -6.22032124,  9.28797236, -6.22032124, 20.15870369,
        6.01420412,  9.28797236,  6.01420412, 15.20631851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004979094322690031
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11488451e-13, -2.22976902e-13,  1.00000000e+00,  2.48593493e-26,
        1.00000000e+00,  2.22976902e-13, -1.00000000e+00,  0.00000000e+00,
        1.11488451e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05184668, -0.06198162,  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:
[ 1.53684413e-06, 2.65703638e-05,-1.80969423e-05,-1.72573430e-06,
 -1.02847404e-03, 1.15277230e-02, 6.15759014e-03, 2.27063000e-03,
  3.40521075e-05, 1.46729180e-05,-1.09548666e-05,-2.32466192e-05,
  6.34481017e-02, 2.95687888e-02, 4.49641972e-03,-1.09146348e-03,
 -6.39965690e-05, 2.66454395e-05,-9.80997340e+00,-6.49233979e-02,
 -9.16566697e-03,-5.58081651e-03]


--- Step 1306 ---
qpos:
[ 0.00985229, 0.00806304,-0.00559673, 0.03348676, 0.00449613,-0.00585896,
 -0.01149846, 0.03730364, 0.01307863, 0.00591418,-0.01167878, 0.03404787,
  0.8309892 ,-0.01901659, 1.16619614, 0.04607061, 0.09369509,-0.06528694,
  0.14232616, 0.94616804,-0.03311178, 0.03082638, 0.32049864]

qacc:
[-2.77790523e+00,-4.72396755e-01, 1.79451822e+00,-2.39721178e+00,
  3.05022157e+01, 2.42943762e-01, 1.01870849e+01,-9.04045235e+01,
  4.92367518e-01,-3.75301274e+00, 1.59698592e+01,-2.86182571e+01,
  1.29316003e+01, 9.35664385e+00, 1.76195866e+02,-4.00908243e+02,
  6.11190239e-01,-6.39329042e-01,-1.10269832e-03, 1.99571029e+01,
 -7.72565376e-01, 2.92621913e+01]

qfrc_actuator:
[-6.34835425e-05, 3.31528404e-04, 8.19448537e-05, 6.66279816e-05,
 -1.01270126e-03, 8.74408908e-03, 4.64414985e-03, 1.84593692e-03,
  1.12585060e-05, 7.42567365e-05,-6.06405822e-05,-4.91385739e-06,
  4.81939896e-02, 2.31498296e-02, 0.00000000e+00,-2.06156096e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21359869, -0.21276071,  0.01890191, -0.21276071,  0.21297312,
       -0.00704153,  0.01890191, -0.00704153,  0.13433895,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001359721596050882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97071495, -0.23944641,  0.0194397 , -0.23939841,  0.97090958,
        0.00479423, -0.02002215,  0.        , -0.99979954])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12878183, -0.08286664,  0.11175574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12662219, -0.0601245 ,  1.12501671, -0.0601245 ,  2.0394303 ,
        0.0487834 ,  1.12501671,  0.0487834 ,  1.12922933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032380567437755156
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51172103, -0.84075843, -0.17682436, -0.09193339, -0.1510467 ,
        0.98424242, -0.85421885,  0.51991361,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482062, -0.03742233,  0.30479154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.2236772 ,  5.72288419, -9.65502596,  5.72288419, 36.67061776,
       15.08332495, -9.65502596, 15.08332495, 20.16411115,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005007148565321917
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10863799e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.10863799e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05185888, -0.06197401,  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:
[-1.63193165e-05, 6.26550593e-06, 1.07282298e-05,-3.04375011e-07,
 -1.43024593e-03, 1.12205001e-02, 6.08215094e-03, 2.46624752e-03,
  2.72592416e-06, 6.73908602e-06, 4.63186873e-05,-3.17852788e-05,
  6.18473478e-02, 2.91505921e-02, 9.97564294e-04, 5.90297772e-04,
 -1.14033875e-06, 7.37364088e-07,-9.80999970e+00,-6.49241578e-02,
 -9.15100937e-03,-5.58112001e-03]


--- Step 1307 ---
qpos:
[ 0.00985089, 0.00806443,-0.00559616, 0.03348721, 0.00451121,-0.00592299,
 -0.01154089, 0.03727987, 0.01307892, 0.00591477,-0.01167811, 0.03404726,
  0.83086051,-0.01905762, 1.16656186, 0.04604777, 0.09370966,-0.06528378,
  0.14232373, 0.94613887,-0.03304546, 0.03084702, 0.3205896 ]

qacc:
[ 1.40392183e+00, 6.63380200e-01,-2.26788373e+00, 2.64660742e+00,
  2.82248317e+01,-2.53140154e+00, 4.49680996e+00,-7.47421052e+01,
  1.79550698e-01,-1.14079697e+00, 4.47342866e+00,-5.89172471e+00,
  1.20997416e+01, 1.54973877e+01, 1.46427609e+02,-2.98943090e+02,
  3.64622918e-01,-3.77489815e-01, 5.35517322e-02, 1.45998086e+01,
 -2.08002703e+00, 2.62103678e+01]

qfrc_actuator:
[-5.47359779e-05, 3.28152525e-04, 6.83152413e-05, 6.59958195e-05,
 -1.04622855e-03, 8.77354684e-03, 4.67129342e-03, 1.85480552e-03,
  1.21692464e-05, 9.29632844e-05,-3.39485784e-05,-5.48501007e-06,
  4.82150703e-02, 2.32412134e-02, 0.00000000e+00,-2.02301294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2140435 , -0.21335133,  0.01719971, -0.21335133,  0.21338875,
       -0.0081217 ,  0.01719971, -0.0081217 ,  0.11329903,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014257728574466666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97075943, -0.23927378,  0.01934388, -0.23922629,  0.97095214,
        0.00476695, -0.01992259,  0.        , -0.99980153])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12879169, -0.08286422,  0.11175753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1229303 , -0.0964411 ,  1.11878129, -0.0964411 ,  2.44746843,
        0.11417774,  1.11878129,  0.11417774,  1.13277264,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003196425162068701
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51165668, -0.8407756 , -0.17692891, -0.09197793, -0.15114198,
        0.98422363, -0.8542526 ,  0.51985815,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483217, -0.03742012,  0.30480015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.22770162,  5.74140546, -9.64870701,  5.74140546, 45.0842472 ,
       20.14613515, -9.64870701, 20.14613515, 23.21553896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005009637288684726
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.54043617e-14, -2.21617447e-13,  1.00000000e+00,  1.22785732e-26,
        1.00000000e+00,  2.21617447e-13, -1.00000000e+00,  0.00000000e+00,
        5.54043617e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05186763, -0.06196803,  0.06198873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.27930640e-06, 2.27196185e-06,-1.10478926e-05,-3.10407199e-09,
 -1.63854400e-03, 1.15768289e-02, 6.47511330e-03, 2.75492630e-03,
  9.91618836e-07, 3.06642165e-05, 3.26827587e-05, 7.01270653e-07,
  5.98512124e-02, 2.82285866e-02,-4.03788839e-03, 1.08609036e-03,
 -2.35277360e-05, 9.88503531e-06,-9.80998928e+00,-6.49193222e-02,
 -9.15610584e-03,-5.58027375e-03]


--- Step 1308 ---
qpos:
[ 0.00985029, 0.00806583,-0.00559573, 0.03348765, 0.00452164,-0.00599415,
 -0.01158235, 0.03726078, 0.01307956, 0.00591546,-0.0116774 , 0.03404738,
  0.83069838,-0.01912282, 1.16683408, 0.04606751, 0.09371968,-0.06527585,
  0.14232115, 0.94613513,-0.03304385, 0.03083789, 0.32060168]

qacc:
[ 7.06292769e+00, 3.85988533e-01,-1.35842492e+00, 1.48836623e+00,
 -4.05600131e+01,-2.44034884e+00,-2.45389989e+01, 1.08893013e+02,
  3.11240866e+00, 1.46557149e+00,-8.12552843e+00, 2.05081341e+01,
 -3.12985353e+00,-2.23734523e+01,-2.67326802e+02, 7.33819786e+02,
 -1.13484474e+00, 1.19494706e+00,-4.07387030e-02,-3.37459609e+01,
 -2.79883490e+00,-4.28784131e+01]

qfrc_actuator:
[-1.35173859e-05, 3.25529851e-04, 6.00306351e-05, 6.54342946e-05,
 -1.05656088e-03, 8.82566518e-03, 4.72843896e-03, 1.89076577e-03,
  3.03415844e-05, 8.61143289e-05,-3.62217216e-05, 2.99408605e-05,
  4.82193313e-02, 2.32788944e-02, 0.00000000e+00,-1.79556960e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21453878,  0.07599577,  0.20062784,  0.07599577,  0.67663893,
       -0.1750388 ,  0.20062784, -0.1750388 ,  0.28084168,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014956214763842837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70801265e-01, -2.39114115e-01,  1.92183299e-02, -2.39067274e-01,
        9.70991473e-01,  4.73266147e-03, -1.97924806e-02,  8.67361738e-19,
       -9.99804110e-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([ 0.12880432, -0.08286194,  0.11175967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11771014, -0.15553311,  1.10683576, -0.15553311,  6.42039386,
        0.74513572,  1.10683576,  0.74513572,  1.22241698,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003136179098522369
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51151598, -0.84084442, -0.17700867, -0.09199544, -0.1512247 ,
        0.98420929, -0.85433497,  0.51972277,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484546, -0.03742469,  0.30481444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.30636148, -6.4167315 ,  9.30910129, -6.4167315 , 19.93432029,
        5.94722234,  9.30910129,  5.94722234, 15.40576138,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005058200028967147
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.64617307e-13,  2.74362179e-14,  1.00000000e+00, -4.51647631e-27,
        1.00000000e+00, -2.74362179e-14, -1.00000000e+00,  0.00000000e+00,
        1.64617307e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0848172 , -0.11019247,  0.06198862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.14506253e-05,-3.68525620e-06,-9.19901714e-06,-8.51933864e-07,
 -1.81038083e-03, 1.23677715e-02, 7.04477362e-03, 3.07293052e-03,
  1.82123434e-05, 1.70526958e-05, 8.09742689e-06, 3.78829023e-05,
  5.76611430e-02, 2.69495376e-02,-9.01819611e-03, 1.30385995e-03,
 -9.55948698e-05, 4.32908009e-05,-9.80996108e+00,-6.49118336e-02,
 -9.17203834e-03,-5.57837085e-03]


--- Step 1309 ---
qpos:
[ 0.00984984, 0.0080669 ,-0.00559471, 0.03348807, 0.0045262 ,-0.00607092,
 -0.01162375, 0.03724579, 0.01308007, 0.00591601,-0.01167713, 0.03404798,
  0.83049598,-0.01921498, 1.16697819, 0.04609674, 0.09372729,-0.06526453,
  0.1423186 , 0.94615266,-0.03308963, 0.0308095 , 0.32054796]

qacc:
[ 1.37471262e+00,-2.15070959e+00, 7.11462028e+00,-8.15346289e+00,
 -5.12703854e+01, 9.32394326e-01,-3.12318833e+01, 1.06044419e+02,
 -1.17128071e+00, 2.10060861e+00,-9.78689467e+00, 1.90209162e+01,
 -7.14159601e+00,-2.11614245e+01,-2.18248463e+02, 4.88180449e+02,
 -6.05739419e-01, 8.44760444e-01, 1.01150154e-02,-2.41417604e+01,
 -7.53766655e-01,-3.55884442e+01]

qfrc_actuator:
[-6.78297796e-06, 3.05639880e-04, 9.04818962e-05, 6.49256869e-05,
 -1.04639031e-03, 8.88967349e-03, 4.77872820e-03, 1.93493003e-03,
  2.30232538e-05, 4.61759757e-05,-7.34043505e-05, 5.07158864e-05,
  4.82348559e-02, 2.33065829e-02, 0.00000000e+00,-1.83456550e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21462909,  0.06053067,  0.20591669,  0.06053067,  0.43032896,
       -0.06340651,  0.20591669, -0.06340651,  0.23326788,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015079784408050396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70844510e-01, -2.38948650e-01,  1.90913756e-02, -2.38902463e-01,
        9.71032205e-01,  4.69794761e-03, -1.96609087e-02,  8.67361738e-19,
       -9.99806706e-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([ 0.12881611, -0.08285994,  0.11175972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11707794,  0.18586207, -1.10150734,  0.18586207,  2.16598491,
        0.17698659, -1.10150734,  0.17698659,  1.14694165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003128768919749135
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11490181e-01, -8.40843895e-01, -1.77085683e-01, -9.20321151e-02,
       -1.51292527e-01,  9.84195438e-01, -8.54346466e-01,  5.19703873e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485399, -0.03741863,  0.30481388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.35745652,  7.28503862, -8.71321013,  7.28503862, 27.60675527,
       13.58589626, -8.71321013, 13.58589626, 22.7165053 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005089664742650574
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.0906642e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.0906642e-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([ 0.08482976, -0.11018224,  0.06198855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.90951340e-06,-2.39278080e-05, 2.85041343e-05,-1.00805520e-06,
 -1.56781562e-03, 1.27911450e-02, 7.04791170e-03, 2.88389285e-03,
 -6.79369006e-06,-2.71313715e-05,-3.13688543e-05, 2.25192249e-05,
  5.93480361e-02, 2.81872863e-02,-4.34850708e-03,-8.65428626e-04,
 -1.27263531e-06, 1.30969239e-06,-9.80999876e+00,-6.49112903e-02,
 -9.15169995e-03,-5.57717849e-03]


--- Step 1310 ---
qpos:
[ 0.00984914, 0.00806783,-0.00559362, 0.03348815, 0.00452667,-0.00614534,
 -0.01166162, 0.03723315, 0.01308014, 0.00591644,-0.01167786, 0.03404887,
  0.83026227,-0.01931759, 1.16709467, 0.04610387, 0.09373504,-0.06525472,
  0.14231789, 0.94617222,-0.03313451, 0.03079739, 0.32048676]

qacc:
[-2.28190811e+00,-1.07398292e+00, 4.98375985e+00,-1.08719235e+01,
 -3.58161891e+01,-1.82914435e+00, 1.20679261e+00, 3.20421110e+01,
 -3.86643609e+00, 3.17138245e+00,-1.27362478e+01, 1.92823842e+01,
 -1.75397858e+01, 5.89498302e+00, 2.67416027e+01,-1.51388297e+02,
  3.66345792e-02,-3.76413901e-01, 4.58672783e-01, 3.18416567e+00,
  7.64457130e+00,-3.57918386e+00]

qfrc_actuator:
[-2.04097063e-05, 2.93473632e-04, 9.02300741e-05, 4.67108883e-05,
 -1.05634720e-03, 8.96215471e-03, 4.82541873e-03, 1.94721156e-03,
  7.54638275e-07, 2.20686701e-05,-1.31051853e-04, 6.26474574e-05,
  4.82589576e-02, 2.33584771e-02, 0.00000000e+00,-1.99962157e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21442774,  0.04437671,  0.20978552,  0.04437671,  0.50712508,
       -0.06191536,  0.20978552, -0.06191536,  0.22752493,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014802736014663925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97089567, -0.23875091,  0.01896319, -0.23870538,  0.97108084,
        0.00466231, -0.01952793,  0.        , -0.99980931])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12882734, -0.08285781,  0.11175833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11956574,  0.24291651, -1.09289479,  0.24291651,  2.59670587,
        0.32832229, -1.09289479,  0.32832229,  1.19254157,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003157785050852905
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51156302, -0.84077942, -0.17718138, -0.09209657, -0.15136533,
        0.98417821, -0.85429591,  0.51978698,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485894, -0.03740341,  0.30480326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.35802638, -6.23885293,  9.49112624, -6.23885293, 23.58306635,
        8.0359511 ,  9.49112624,  8.0359511 , 16.64034123,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005090015320608349
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.37403791e-07, -5.21863915e-13,  1.00000000e+00,  1.23892472e-19,
        1.00000000e+00,  5.21863915e-13, -1.00000000e+00, -2.40741243e-35,
        2.37403791e-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([ 0.06784008, -0.08528195,  0.06198855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34153698e-05,-1.97497146e-05,-1.74395086e-06,-1.82794026e-05,
 -1.28453258e-03, 1.31476316e-02, 7.09266708e-03, 2.69138053e-03,
 -2.24687207e-05,-4.48190308e-05,-6.63464206e-05, 1.01190658e-05,
  6.13861135e-02, 2.95892420e-02, 2.05325547e-03,-1.50625827e-03,
 -4.21190098e-05, 1.25529310e-05,-9.80998270e+00,-6.49156333e-02,
 -9.16308846e-03,-5.57684131e-03]


--- Step 1311 ---
qpos:
[ 0.00984862, 0.00806874,-0.00559317, 0.03348839, 0.00453518,-0.00621058,
 -0.01169629, 0.03721759, 0.01307995, 0.00591662,-0.01167816, 0.03404981,
  0.83006468,-0.01940208, 1.16729529, 0.04608946, 0.09374597,-0.06524834,
  0.14231692, 0.94617355,-0.03313218, 0.0308031 , 0.32048251]

qacc:
[ 1.62166962e+00, 2.10445814e+00,-8.19354075e+00, 1.19625587e+01,
  7.04608234e+01,-2.94571903e+00, 4.02232317e+01,-1.02420165e+02,
 -2.33642341e+00,-1.39088603e+00, 4.28806136e+00,-3.89505755e+00,
  1.11257158e+01, 8.95139723e+00, 1.89289414e+02,-4.82009135e+02,
  7.94664082e-01,-8.57000284e-01,-6.39421752e-02, 2.40131046e+01,
  2.06822972e-01, 3.08848908e+01]

qfrc_actuator:
[-1.03949871e-05, 2.85896027e-04, 5.40997780e-05, 5.37066019e-05,
 -1.09555456e-03, 9.03400336e-03, 4.86646696e-03, 1.95822323e-03,
 -1.23742801e-05, 4.30174933e-05,-9.37492968e-05, 6.92821527e-05,
  4.82888488e-02, 2.34191758e-02, 0.00000000e+00,-1.85746021e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21415597, -0.21234039,  0.02782698, -0.21234039,  0.23140777,
        0.13164393,  0.02782698,  0.13164393,  1.21869635,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014419578069336224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97095528, -0.23851788,  0.01884317, -0.23847298,  0.97113811,
        0.00462801, -0.01940318,  0.        , -0.99981174])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1288376 , -0.08285532,  0.11175709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12280908,  0.01606948,  1.12269408,  0.01606948,  4.57822704,
       -0.04945851,  1.12269408, -0.04945851,  1.123517  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003195044781290325
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11654213e-01, -8.40699815e-01, -1.77295764e-01, -9.21743868e-02,
       -1.51451875e-01,  9.84157615e-01, -8.54232901e-01,  5.19890518e-01,
       -2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486438, -0.03738575,  0.30479257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.41127947, -6.37311601,  9.46576417, -6.37311601, 56.66396085,
       30.46775548,  9.46576417, 30.46775548, 31.92463019,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005122743780469341
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.08362147e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.08362147e-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([ 0.05191804, -0.06193672,  0.06198848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.62240253e-06,-1.98140641e-05,-4.10795683e-05, 5.72933350e-06,
 -1.11886325e-03, 1.31052601e-02, 6.95889410e-03, 2.58497441e-03,
 -1.37801861e-05,-1.74015407e-05, 2.02254499e-05, 2.61512279e-06,
  6.29809443e-02, 3.01745373e-02, 3.43171848e-03,-2.59644437e-04,
 -4.29764974e-05, 2.03421368e-05,-9.80998186e+00,-6.49240910e-02,
 -9.16273960e-03,-5.57868726e-03]


--- Step 1312 ---
qpos:
[ 0.00984788, 0.0080695 ,-0.00559283, 0.03348835, 0.00454763,-0.00627897,
 -0.01173708, 0.03719726, 0.0130796 , 0.00591666,-0.01167747, 0.03405008,
  0.82990867,-0.01946118, 1.16759662, 0.0460713 , 0.09375892,-0.06524418,
  0.14231598, 0.94615843,-0.03309339, 0.03081935, 0.32052959]

qacc:
[-1.94082815e+00,-4.61788174e-01, 2.56190015e+00,-7.16933505e+00,
  3.42480548e+01, 3.04886432e+00, 3.10045138e+00,-7.34538462e+01,
 -1.34080598e+00,-4.32786933e+00, 1.79949176e+01,-3.10899409e+01,
  1.07359898e+01, 1.58923536e+01, 1.60161783e+02,-3.44252391e+02,
  5.05261968e-01,-5.55325046e-01, 4.71937965e-03, 1.78741764e+01,
 -1.45472899e+00, 2.76504468e+01]

qfrc_actuator:
[-2.20440635e-05, 2.80990863e-04, 5.03809801e-05, 3.99613763e-05,
 -1.10956506e-03, 9.11544643e-03, 4.88529353e-03, 1.97280902e-03,
 -2.00135505e-05, 5.56561134e-05,-3.59979369e-05, 3.73509152e-05,
  4.83119455e-02, 2.34785184e-02, 0.00000000e+00,-1.78898793e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21423239, -0.21301629,  0.0227942 , -0.21301629,  0.21357185,
       -0.00617289,  0.0227942 , -0.00617289,  0.15654554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014528422874394428
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97029703, -0.24119143,  0.01871815, -0.24114656,  0.97047756,
        0.004652  , -0.01928757,  0.        , -0.99981398])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12885654, -0.08288727,  0.11175851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12246151, -0.0655975 ,  1.12054308, -0.0655975 ,  2.1566691 ,
        0.06054335,  1.12054308,  0.06054335,  1.12600576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003191081979282022
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11661546e-01, -8.40672662e-01, -1.77403320e-01, -9.22334426e-02,
       -1.51541843e-01,  9.84138233e-01, -8.54222134e-01,  5.19908209e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487331, -0.03737687,  0.30479294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.41881823,  5.79116995, -9.8413292 ,  5.79116995, 39.92551019,
       16.77487811, -9.8413292 , 16.77487811, 21.29006306,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005127371792222335
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08264338e-13, -1.08264338e-13,  1.00000000e+00,  1.17211669e-26,
        1.00000000e+00,  1.08264338e-13, -1.00000000e+00,  0.00000000e+00,
        1.08264338e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05192824, -0.0619299 ,  0.06198847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13838159e-05,-2.42591684e-05,-1.26893126e-05,-1.59079691e-05,
 -1.53548690e-03, 1.27301434e-02, 6.81904486e-03, 2.74600248e-03,
 -8.03749709e-06, 7.18671400e-06, 5.67381275e-05,-3.19275872e-05,
  6.11960360e-02, 2.93288172e-02,-7.77754134e-04, 8.84926835e-04,
 -2.76565264e-07, 2.84058041e-07,-9.80999966e+00,-6.49228184e-02,
 -9.15251217e-03,-5.57906372e-03]


--- Step 1313 ---
qpos:
[ 0.00984667, 0.00807017,-0.00559255, 0.03348744, 0.0045591 ,-0.0063479 ,
 -0.01177573, 0.03717991, 0.01307916, 0.00591681,-0.011677  , 0.03405001,
  0.82973327,-0.01951913, 1.16790579, 0.04607074, 0.09376938,-0.06523924,
  0.14231678, 0.94614914,-0.03307561, 0.03083617, 0.32055723]

qacc:
[-4.20222858e+00,-1.76179139e+00, 9.76077183e+00,-2.46027490e+01,
 -8.42808506e+00,-5.59829787e-01,-1.16176180e+01, 6.02387499e+01,
 -7.91380639e-01, 6.14899383e-02, 1.38511088e+00,-6.87522904e+00,
 -1.53370148e+01, 1.43678892e+01,-4.08387418e+01, 1.61311035e+02,
 -6.21028106e-01, 1.95169939e-01, 4.38731513e-01,-9.45621491e+00,
  3.86805124e+00,-1.04362804e+01]

qfrc_actuator:
[-4.63581281e-05, 2.77830928e-04, 4.80822578e-05,-3.60397623e-06,
 -1.08980047e-03, 9.19356742e-03, 4.93433520e-03, 1.97480495e-03,
 -2.43633982e-05, 4.55561322e-05,-5.54729918e-05, 1.84882483e-05,
  4.83185240e-02, 2.35225391e-02, 0.00000000e+00,-1.82714953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21448422, -0.07620077,  0.2004917 , -0.07620077,  0.69975276,
        0.18443575,  0.2004917 ,  0.18443575,  0.28458261,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014881014945091563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97043486, -0.24064578,  0.0185952 , -0.24060161,  0.97061301,
        0.00461034, -0.0191582 ,  0.        , -0.99981646])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12886745, -0.08288059,  0.11175963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11974761,  0.37088948, -1.0565395 ,  0.37088948,  6.83131649,
        2.00499917, -1.0565395 ,  2.00499917,  1.82358605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003159891287737213
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11590557e-01, -8.40697871e-01, -1.77488570e-01, -9.22664028e-02,
       -1.51621580e-01,  9.84122862e-01, -8.54261092e-01,  5.19844195e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488467, -0.03737566,  0.30480099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.38988295, -6.54819666,  9.31936447, -6.54819666, 25.53327059,
        9.93776818,  9.31936447,  9.93776818, 18.37259734,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005109601597771058
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.14806451e-14,  4.85668101e-09,  1.00000000e+00, -3.95725502e-22,
        1.00000000e+00, -4.85668101e-09, -1.00000000e+00,  0.00000000e+00,
        8.14806451e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0677757 , -0.08512275,  0.06198851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46484381e-05,-2.00617984e-05,-9.43463878e-06,-4.53552836e-05,
 -1.71207327e-03, 1.29693465e-02, 7.17562629e-03, 2.98691275e-03,
 -4.57587115e-06, 4.25641283e-06,-1.21159640e-05,-1.72149674e-05,
  5.91228982e-02, 2.81045410e-02,-5.81783238e-03, 1.03364636e-03,
 -2.90964551e-05, 1.15835134e-05,-9.80998744e+00,-6.49172713e-02,
 -9.15886111e-03,-5.57831026e-03]


--- Step 1314 ---
qpos:
[ 0.00984586, 0.00807059,-0.00559261, 0.03348743, 0.00456546,-0.00642184,
 -0.01181415, 0.03716688, 0.01307867, 0.00591662,-0.01167658, 0.03405011,
  0.82952677,-0.01959821, 1.16810476, 0.04609618, 0.09377667,-0.06523013,
  0.14231695, 0.94616127,-0.03311009, 0.03082617, 0.32051883]

qacc:
[ 3.57357048e+00, 2.50050006e+00,-1.32036347e+01, 2.95971235e+01,
 -4.47580680e+01, 1.71576710e+00,-3.37791067e+01, 1.11591498e+02,
 -4.22011019e-01, 6.35114472e-02,-1.54769105e+00, 4.72795764e+00,
 -3.78117939e+00,-1.87931244e+01,-2.41767010e+02, 6.08753010e+02,
 -7.95463475e-01, 1.04212834e+00,-1.61468222e-01,-2.76459017e+01,
 -3.54753312e+00,-3.59315177e+01]

qfrc_actuator:
[-2.46670874e-05, 2.57975701e-04, 2.88673703e-05, 4.21506924e-05,
 -1.06419577e-03, 9.26833570e-03, 4.99567980e-03, 1.98114877e-03,
 -2.67443495e-05, 3.87182281e-06,-6.72154174e-05, 2.51492911e-05,
  4.83245064e-02, 2.35359268e-02, 0.00000000e+00,-1.75386320e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21452178,  0.00062647,  0.21452087,  0.00062647,  0.549842  ,
       -0.00097925,  0.21452087, -0.00097925,  0.21452464,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014932830614611096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97057088, -0.24010575,  0.01847665, -0.24006226,  0.97074674,
        0.00457004, -0.01903344,  0.        , -0.99981885])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12887744, -0.08287416,  0.11176008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11971696,  0.13504255, -1.11154379,  0.13504255,  6.32141855,
        0.63195986, -1.11154379,  0.63195986,  1.19649439,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003159536491399655
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51154967, -0.84070703, -0.17756304, -0.092299  , -0.15168892,
        0.98410943, -0.85428206,  0.51980974,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489464, -0.0373702 ,  0.30480275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.38770702,  6.58802161, -9.28858668,  6.58802161, 20.71401749,
        6.61477757, -9.28858668,  6.61477757, 16.07930318,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005108264519298605
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08487766, -0.11014866,  0.06198851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09818479e-05,-3.49964542e-05,-2.60970579e-05, 4.36870030e-05,
 -1.63789449e-03, 1.30739827e-02, 7.13069265e-03, 2.84417031e-03,
 -2.50740210e-06,-4.25580666e-05,-1.29584662e-05, 6.08808407e-06,
  6.00965948e-02, 2.80604447e-02,-6.21585821e-03, 2.25692191e-04,
 -9.58067387e-06, 1.77554705e-06,-9.80999735e+00,-6.49138383e-02,
 -9.15289215e-03,-5.57895698e-03]


--- Step 1315 ---
qpos:
[ 0.00984566, 0.00807074,-0.00559292, 0.03348867, 0.00457705,-0.00649208,
 -0.01185197, 0.0371503 , 0.01307816, 0.00591583,-0.01167588, 0.0340503 ,
  0.82935493,-0.01965847, 1.16835747, 0.04609041, 0.09378696,-0.06522416,
  0.14231676, 0.94615653,-0.03310059, 0.03083212, 0.32053322]

qacc:
[ 5.35886956e+00, 2.87568360e+00,-1.60277899e+01, 3.80706857e+01,
  4.58305328e+01,-4.17191494e+00, 3.67884064e+01,-1.01683587e+02,
 -1.96693617e-01,-1.42402909e+00, 3.52189979e+00,-1.94378959e+00,
  1.01684806e+01, 1.01635016e+01, 1.73654577e+02,-4.92472950e+02,
  7.53517901e-01,-7.84364509e-01,-8.64659490e-02, 2.22727091e+01,
 -1.18775096e-01, 2.86223004e+01]

qfrc_actuator:
[ 6.17914620e-06, 2.46034923e-04, 1.75679813e-05, 1.04567856e-04,
 -1.06605236e-03, 9.32802358e-03, 5.02996583e-03, 2.00533200e-03,
 -2.79489139e-05,-3.86221782e-05,-5.66408763e-05, 2.90073760e-05,
  4.83372093e-02, 2.36237780e-02, 0.00000000e+00,-1.78892265e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21427275, -0.21012725,  0.04194461, -0.21012725,  0.21666817,
        0.01200018,  0.04194461,  0.01200018,  0.27438931,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001458555719048325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70675587e-01, -2.39691311e-01,  1.83570328e-02, -2.39648460e-01,
        9.70849152e-01,  4.53213688e-03, -1.89082235e-02,  8.67361738e-19,
       -9.99821224e-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([ 0.12888725, -0.08286948,  0.11175896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12286014, -0.20184977, -1.1045685 , -0.20184977,  3.10718853,
       -0.36261782, -1.1045685 , -0.36261782,  1.18912523,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031956263651753347
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51160446, -0.84065639, -0.17764488, -0.09235282, -0.15175197,
        0.98409466, -0.85424343,  0.51987322,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490071, -0.03735602,  0.30479351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.37523073, -6.32635614,  9.45373429, -6.32635614, 21.25016779,
        6.60822135,  9.45373429,  6.60822135, 15.79739455,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005100595913010708
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.44163390e-14, -1.08832678e-13,  1.00000000e+00,  5.92227589e-27,
        1.00000000e+00,  1.08832678e-13, -1.00000000e+00,  0.00000000e+00,
        5.44163390e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05195268, -0.06191253,  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:
[ 3.14297486e-05,-3.50345830e-05,-2.02354392e-05, 6.08633073e-05,
 -1.38361033e-03, 1.33871525e-02, 7.15502632e-03, 2.65291661e-03,
 -1.29055687e-06,-6.87093170e-05, 3.94949797e-07, 1.70373796e-06,
  6.16645123e-02, 2.92071833e-02,-7.10256113e-04,-1.11046122e-03,
 -1.98584113e-05, 9.33118649e-06,-9.80998988e+00,-6.49193924e-02,
 -9.15535222e-03,-5.58020774e-03]


--- Step 1316 ---
qpos:
[ 0.00984549, 0.00807078,-0.00559312, 0.0334899 , 0.00458645,-0.0065594 ,
 -0.01188811, 0.03713624, 0.01307695, 0.00591499,-0.01167581, 0.03405018,
  0.82916123,-0.01972021, 1.16860502, 0.04608914, 0.09379576,-0.06521808,
  0.14231811, 0.94615655,-0.03310458, 0.03084237, 0.32053177]

qacc:
[ 2.35867769e-01,-4.40103976e-01, 1.36174008e+00,-1.44671948e+00,
 -1.91574856e+01, 4.42775817e+00,-2.07770807e+01, 5.96187129e+01,
 -6.18322118e+00, 1.10407049e+00,-2.70258791e+00,-1.60035759e+00,
 -1.57122444e+01, 1.23430201e+01,-2.04788675e+01, 6.21218331e+01,
 -3.75901612e-01, 2.54750764e-02, 3.84699493e-01,-5.37474014e+00,
  4.38329070e+00,-8.39301696e+00]

qfrc_actuator:
[ 6.64703161e-06, 2.56730111e-04, 2.88167653e-05, 1.05277243e-04,
 -1.07494696e-03, 9.35420827e-03, 5.02980147e-03, 2.06410786e-03,
 -6.39573723e-05,-2.79313927e-05,-8.62570367e-05, 1.34379279e-05,
  4.83438195e-02, 2.37425630e-02, 0.00000000e+00,-2.05521810e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21431232,  0.08885493,  0.19502455,  0.08885493,  0.75605079,
       -0.24682089,  0.19502455, -0.24682089,  0.32676613,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014641346156910105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97079417, -0.23921967,  0.01823836, -0.23917746,  0.97096547,
        0.00449344, -0.01878374,  0.        , -0.99982357])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12889754, -0.08286387,  0.11175916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12256977, -0.07238255,  1.12023375, -0.07238255,  1.93604883,
        0.05256197,  1.12023375,  0.05256197,  1.125966  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031923170878752775
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51158133, -0.84065387, -0.17772342, -0.0923908 , -0.15182079,
        0.98408048, -0.85425317,  0.51985721,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490966, -0.03734984,  0.30479472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.36161282, -6.58437437,  9.25917167, -6.58437437, 27.5444022 ,
       11.50789157,  9.25917167, 11.50789157, 19.54509499,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000509222152994057
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.6892771e-07,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.6892771e-07, -1.0000000e+00,  0.0000000e+00,
        0.0000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06780258, -0.08510618,  0.06198855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34899550e-06,-1.04611533e-05, 3.62348405e-06,-3.11134506e-07,
 -1.65451499e-03, 1.32314447e-02, 7.12625612e-03, 2.88935881e-03,
 -3.60709608e-05,-2.75592074e-05,-4.37010597e-05,-1.84673316e-05,
  5.99369884e-02, 2.83862375e-02,-3.40086295e-03, 1.82608830e-04,
 -2.42091398e-06, 7.61474915e-07,-9.80999926e+00,-6.49176023e-02,
 -9.15083539e-03,-5.58020630e-03]


--- Step 1317 ---
qpos:
[ 0.00984601, 0.0080706 ,-0.00559285, 0.03349077, 0.00459332,-0.00662439,
 -0.01192249, 0.03712468, 0.01307531, 0.00591429,-0.01167678, 0.03404954,
  0.82894779,-0.0197827 , 1.16883811, 0.0460864 , 0.09380345,-0.06521202,
  0.14232067, 0.94616067,-0.03311888, 0.03085624, 0.3205168 ]

qacc:
[ 6.13625173e+00,-2.38567357e+00, 9.56619621e+00,-1.63345291e+01,
 -2.21310197e+01, 3.28895876e+00,-1.77354443e+01, 5.62370510e+01,
 -3.74943197e+00, 1.99282803e+00,-4.62164567e+00,-2.93769475e+00,
 -1.45154250e+01, 1.19456110e+01,-1.61716110e+01, 2.69900425e+01,
 -2.74626239e-01,-3.08052002e-03, 2.99760904e-01,-4.02061883e+00,
  3.53033138e+00,-7.15123957e+00]

qfrc_actuator:
[ 4.24860956e-05, 2.45441966e-04, 5.33361454e-05, 8.74568150e-05,
 -1.10048403e-03, 9.39508565e-03, 5.04315526e-03, 2.10347721e-03,
 -8.46568895e-05,-2.11539480e-05,-1.39174094e-04,-1.34244965e-05,
  4.83559399e-02, 2.38039070e-02, 0.00000000e+00,-2.25269664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21421479,  0.03586816,  0.21119056,  0.03586816,  1.09123148,
       -0.14895068,  0.21119056, -0.14895068,  0.23951226,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014503435593653434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97091679, -0.23872999,  0.01812666, -0.2386884 ,  0.97108599,
        0.00445623, -0.01866638,  0.        , -0.99982577])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12890675, -0.08285815,  0.11175902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12414087,  0.26011054, -1.09363395,  0.26011054, 10.74666087,
        2.28862579, -1.09363395,  2.28862579,  1.66846897,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032101631771575353
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51158467, -0.84063577, -0.17779941, -0.0924322 , -0.15188455,
        0.98406675, -0.85424669,  0.51986786,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491785, -0.03734027,  0.30479199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.32789425,  6.68595909, -9.14435013,  6.68595909, 47.57707427,
       26.50385549, -9.14435013, 26.50385549, 30.7063838 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005071467602894912
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.47288828e-14,  6.28119448e-07,  1.00000000e+00, -3.43762756e-20,
        1.00000000e+00, -6.28119448e-07, -1.00000000e+00,  6.01853108e-36,
        5.47288828e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06780966, -0.08510201,  0.06198859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.58735492e-05,-1.64038168e-05, 2.27932675e-05,-1.81518020e-05,
 -1.57060905e-03, 1.31287353e-02, 7.05706456e-03, 2.80258274e-03,
 -2.17345119e-05,-1.84386424e-05,-6.46217783e-05,-2.99115964e-05,
  6.10414304e-02, 2.85220697e-02,-3.14778578e-03,-2.41193319e-04,
 -1.36786975e-07, 4.58581103e-08,-9.80999915e+00,-6.49176990e-02,
 -9.14893189e-03,-5.58159962e-03]


--- Step 1318 ---
qpos:
[ 0.00984731, 0.00807026,-0.0055923 , 0.03349178, 0.00460467,-0.00669009,
 -0.01195916, 0.03710952, 0.01307482, 0.00591337,-0.01167748, 0.03404853,
  0.82877597,-0.01982083, 1.16914069, 0.04606647, 0.09381362,-0.06520837,
  0.14232252, 0.94614978,-0.03309505, 0.03087861, 0.32054925]

qacc:
[ 6.77175814e+00,-7.24812176e-01, 1.69124197e+00, 2.93651277e-01,
  3.91349703e+01,-2.01724804e+00, 2.09241092e+01,-7.89097382e+01,
  1.00752691e+01,-1.79460912e+00, 7.50781535e+00,-1.40556855e+01,
  1.20000128e+01, 1.36042585e+01, 1.54520126e+02,-3.91728023e+02,
  6.17511378e-01,-6.02341880e-01,-1.75341662e-01, 1.84231981e+01,
 -2.64727325e+00, 2.55634453e+01]

qfrc_actuator:
[ 8.11138594e-05, 2.38875763e-04, 6.76493612e-05, 9.43816313e-05,
 -1.15254226e-03, 9.47972996e-03, 5.08161213e-03, 2.07697054e-03,
 -2.51586948e-05,-1.68825132e-05,-1.16655996e-04,-2.89689844e-05,
  4.83772872e-02, 2.38484058e-02, 0.00000000e+00,-2.26268052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21401497, -0.21260334,  0.02454035, -0.21260334,  0.21464135,
        0.00542657,  0.02454035,  0.00542657,  0.26102764,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014216365204056136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97103531, -0.23825544,  0.01802125, -0.23821442,  0.97120252,
        0.00442097, -0.0185556 ,  0.        , -0.99982783])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12894861, -0.08285286,  0.11355933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003242612001206638
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51161079, -0.84060381, -0.17787531, -0.09247767, -0.15194574,
        0.98405303, -0.85422613,  0.51990165,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049255 , -0.037328  ,  0.30478663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.28179783, -6.08368909,  9.50093097, -6.08368909, 63.93180734,
       33.71314761,  9.50093097, 33.71314761, 32.86918846,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005043051339337079
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.10074531e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.10074531e-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([ 0.05197297, -0.0618972 ,  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:
[ 3.96440515e-05,-1.17966425e-05, 1.30990331e-05, 6.65347700e-06,
 -1.49615400e-03, 1.31005807e-02, 7.00841753e-03, 2.65176787e-03,
  5.88744562e-05,-2.06439665e-05, 9.73532224e-06,-1.91468585e-05,
  6.20483784e-02, 2.86050905e-02,-2.42949689e-03,-1.78178645e-04,
 -2.49784785e-06, 2.75783195e-06,-9.80999564e+00,-6.49194520e-02,
 -9.14718542e-03,-5.58410393e-03]


--- Step 1319 ---
qpos:
[ 0.00984837, 0.00806983,-0.00559158, 0.03349251, 0.00461183,-0.00674863,
 -0.01198717, 0.0371007 , 0.01307539, 0.00591213,-0.01167759, 0.03404734,
  0.82857939,-0.01987515, 1.16934286, 0.0460772 , 0.09382052,-0.06520051,
  0.14232358, 0.94616119,-0.03312375, 0.03087147, 0.32051329]

qacc:
[-2.07030816e+00,-1.15403124e+00, 5.11652530e+00,-1.00751517e+01,
 -3.64965664e+01,-1.61700045e+00,-7.15468237e+00, 9.76160199e+01,
  9.36178659e+00,-2.49685102e+00, 9.03084083e+00,-1.29307657e+01,
 -2.38977174e+00,-1.53560976e+01,-2.41366230e+02, 6.28416837e+02,
 -8.16364242e-01, 1.05116284e+00,-1.98416593e-01,-2.81567139e+01,
 -4.74962815e+00,-3.72342892e+01]

qfrc_actuator:
[ 6.78048463e-05, 2.35172735e-04, 7.58530478e-05, 8.03021793e-05,
 -1.15549909e-03, 9.55721150e-03, 5.12072243e-03, 2.03378535e-03,
  2.78027060e-05,-3.15829812e-05,-8.52732112e-05,-3.76738843e-05,
  4.84046851e-02, 2.38757395e-02, 0.00000000e+00,-2.35690682e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21418582, -0.20566302, -0.05981878, -0.20566302,  0.29484038,
       -0.27729856, -0.05981878, -0.27729856,  1.16756633,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001446219290351751
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97202088, -0.23420949,  0.01792571, -0.23416967,  0.97218615,
        0.00431849, -0.01843856,  0.        , -0.99983   ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12911205, -0.08280514,  0.12244225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12662455, -0.12570841,  1.11958933, -0.12570841,  5.76683092,
        0.52100619,  1.11958933,  0.52100619,  1.18512356,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032380831616492207
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51156506, -0.84061936, -0.17793334, -0.09250055, -0.15199974,
        0.98404254, -0.85425104,  0.51986071,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493562, -0.03732386,  0.30479056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.2375001 , -6.48863701,  9.17491135, -6.48863701, 21.62174098,
        7.34389327,  9.17491135,  7.34389327, 16.43121324,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005015695009626786
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.42366960e-07, -8.42367308e-07,  1.00000000e+00, -7.09582389e-13,
        1.00000000e+00,  8.42367308e-07, -1.00000000e+00, -1.00974196e-28,
       -8.42366960e-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([ 0.08505007, -0.1094381 ,  0.06198872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21841247e-05,-7.29532061e-06, 7.60291510e-06,-1.40068518e-05,
 -1.72302421e-03, 1.32156766e-02, 7.16299559e-03, 2.78883552e-03,
  5.46242555e-05,-2.49916809e-05, 2.76734755e-05,-9.62206851e-06,
  5.99937079e-02, 2.74149487e-02,-5.90827820e-03, 5.85720347e-04,
 -1.49578740e-05, 2.52699158e-06,-9.80999501e+00,-6.49134887e-02,
 -9.14832229e-03,-5.58481247e-03]


--- Step 1320 ---
qpos:
[ 0.00984891, 0.00806949,-0.00559139, 0.0334931 , 0.00462357,-0.00681157,
 -0.01202091, 0.03708781, 0.01307625, 0.00591066,-0.0116779 , 0.03404644,
  0.82841828,-0.01991066, 1.16960108, 0.04605976, 0.09383026,-0.06519574,
  0.1423241 , 0.94615705,-0.03311057, 0.03087859, 0.3205262 ]

qacc:
[-4.51438207e+00, 1.32400046e+00,-3.89789315e+00, 2.10324201e+00,
  3.98763328e+01, 1.78154002e+00, 2.23751456e+00,-6.00182739e+01,
  2.51202470e+00, 8.48744689e-01,-4.72991276e+00, 1.03242041e+01,
  1.09165397e+01, 9.45241728e+00, 1.67858895e+02,-4.67324195e+02,
  7.09201280e-01,-7.69884964e-01,-1.33996185e-01, 2.10869810e+01,
 -5.35487444e-01, 2.65000554e+01]

qfrc_actuator:
[ 4.17853272e-05, 2.33172791e-04, 4.48769275e-05, 7.17254370e-05,
 -1.12212054e-03, 9.60507256e-03, 5.13244728e-03, 2.02535281e-03,
  4.09616396e-05,-5.74635357e-05,-1.02263172e-04,-2.45547063e-05,
  4.84295381e-02, 2.39058385e-02, 0.00000000e+00,-2.32961552e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21413374, -0.20546443, -0.06031273, -0.20546443,  0.25282945,
       -0.13182277, -0.06031273, -0.13182277,  0.66320792,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014387738398565574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9720952 , -0.2339078 ,  0.01783444, -0.23386845,  0.97225878,
        0.00429064, -0.01834331,  0.        , -0.99983175])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12911912, -0.08280161,  0.12243564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1293894 , -0.13369042, -1.12144875, -0.13369042,  3.33244213,
       -0.26263085, -1.12144875, -0.26263085,  1.16069821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032687536595571134
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11618379e-01, -8.40575346e-01, -1.77987983e-01, -9.25395332e-02,
       -1.52039984e-01,  9.84032661e-01, -8.54214885e-01,  5.19920119e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494181, -0.03731161,  0.30478362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.21841088, -6.32255045,  9.26704368, -6.32255045, 20.59424901,
        6.39677675,  9.26704368,  6.39677675, 15.58268768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005003891227207263
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.21871934e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.21871934e-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([ 0.05198638, -0.06188697,  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:
[-2.63684467e-05,-5.11141864e-06,-3.20369476e-05,-8.90090266e-06,
 -1.48026697e-03, 1.29083621e-02, 6.74305194e-03, 2.46370368e-03,
  1.46978817e-05,-3.44823791e-05,-1.90598144e-05, 1.28219082e-05,
  6.12570352e-02, 2.82567217e-02,-8.92342924e-04,-9.21019911e-04,
 -1.56705527e-05, 7.60680642e-06,-9.80999267e+00,-6.49188231e-02,
 -9.14834645e-03,-5.58605608e-03]


--- Step 1321 ---
qpos:
[ 0.00984914, 0.00806938,-0.00559196, 0.03349392, 0.00462372,-0.00686147,
 -0.01204406, 0.03708048, 0.01307691, 0.00590922,-0.01167855, 0.03404602,
  0.82844367,-0.01980322, 1.16984728, 0.04605721, 0.09383408,-0.06519619,
  0.14232554, 0.94615401,-0.03308333, 0.03085196, 0.32054054]

qacc:
[-2.80288939e+00, 2.91662483e+00,-1.09682775e+01, 1.61253655e+01,
 -1.01210900e+02,-7.54386232e-01, 4.57835255e+00, 6.46512867e+01,
 -1.71508012e+00, 2.00663662e+00,-9.11282938e+00, 1.79943869e+01,
  4.86862196e+01, 8.92192765e+01,-6.29429585e+01, 1.94134748e+02,
 -1.47962281e+00,-1.30705725e+00, 2.28448224e-01, 1.23529767e+00,
 -1.82643070e+01, 1.50068653e-01]

qfrc_actuator:
[ 2.62624613e-05, 2.49802044e-04, 8.78401326e-06, 8.41867557e-05,
 -1.10952741e-03, 9.66160417e-03, 5.15642400e-03, 2.06339154e-03,
  3.05902273e-05,-3.67539713e-05,-1.12213718e-04, 1.25288803e-06,
  4.84483346e-02, 2.39623145e-02, 0.00000000e+00,-2.07632875e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21429944, -0.1728559 , -0.12666921, -0.1728559 ,  0.22841701,
       -0.01926518, -0.12666921, -0.01926518,  0.24058918,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001462320505674585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74189812e-01, -2.25030102e-01,  1.77669477e-02, -2.24992687e-01,
        9.74351812e-01,  4.10334132e-03, -1.82346330e-02, -8.67361738e-19,
       -9.99833735e-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([ 0.12917059, -0.08269556,  0.12607872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12861935,  0.20953662, -1.10899777,  0.20953662,  4.59198747,
        0.65437685, -1.10899777,  0.65437685,  1.25225884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000326025419845943
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11599777e-01, -8.40576642e-01, -1.78035326e-01, -9.25615878e-02,
       -1.52081983e-01,  9.84024097e-01, -8.54223636e-01,  5.19905741e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495076, -0.03730729,  0.30478678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.20604247, -10.51673636,  -3.86957933, -10.51673636,
        12.58139894,  -3.73794158,  -3.86957933,  -3.73794158,
        21.36501396,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004996235471950117
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.79164558e-07, -9.79164778e-07,  1.00000000e+00,  9.58763447e-13,
        1.00000000e+00,  9.79164778e-07, -1.00000000e+00,  0.00000000e+00,
        9.79164558e-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([ 0.09512291, -0.05194352,  0.06198876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62734874e-05, 6.76945206e-06,-4.14016622e-05, 1.09606065e-05,
 -1.69611585e-03, 1.31875259e-02, 7.05509563e-03, 2.70519244e-03,
 -9.97060191e-06,-1.89371338e-06,-1.89540442e-05, 2.39255511e-05,
  5.95014698e-02, 2.73727820e-02,-3.69838017e-03, 7.40113943e-04,
 -2.82046682e-06, 9.65936010e-07,-9.80999858e+00,-6.49165305e-02,
 -9.14507760e-03,-5.58592851e-03]


--- Step 1322 ---
qpos:
[ 0.00984919, 0.00806944,-0.00559296, 0.03349418, 0.00462258,-0.00689769,
 -0.01205813, 0.03707885, 0.01307744, 0.00590772,-0.0116793 , 0.03404592,
  0.82841002,-0.01973336, 1.16998685, 0.0460746 , 0.0938361 ,-0.06519181,
  0.14232629, 0.94616888,-0.03310584, 0.03080983, 0.32049837]

qacc:
[-1.66721125e+00, 2.69093418e-01, 1.76740804e+00,-1.09971498e+01,
 -1.12781533e+01, 4.43756182e+00,-1.35929281e+01, 8.75684433e+01,
 -1.13998114e+00, 8.50035008e-01,-4.44238421e+00, 9.98683758e+00,
 -1.48857507e+01,-2.40106456e+01,-2.17840963e+02, 5.33336832e+02,
 -4.48533881e-01, 1.20704952e+00,-1.70927586e-01,-2.48476899e+01,
  1.30357940e+00,-3.06246137e+01]

qfrc_actuator:
[ 1.70464509e-05, 2.59691804e-04,-1.21854735e-05, 5.56864201e-05,
 -1.11283793e-03, 9.70766310e-03, 5.19146585e-03, 2.08581501e-03,
  2.42184681e-05,-4.15312104e-05,-1.17719875e-04, 1.66134931e-05,
  4.84433010e-02, 2.38852028e-02, 0.00000000e+00,-2.14530771e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21424465, -0.18223618, -0.11265321, -0.18223618,  0.20952562,
        0.00763385, -0.11265321,  0.00763385,  0.20189557,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001454580979277755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97471039, -0.22276988,  0.01769835, -0.22273317,  0.97487106,
        0.00404429, -0.01815455,  0.        , -0.99983519])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1291875 , -0.0826688 ,  0.12702171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.123448  ,  0.54634499,  0.98165298,  0.54634499,  2.49890989,
       -0.76552175,  0.98165298, -0.76552175,  1.54950383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032023107296338087
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11575058e-01, -8.40623902e-01, -1.77883150e-01, -9.24754161e-02,
       -1.51956284e-01,  9.84051617e-01, -8.54247773e-01,  5.19866082e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495659, -0.0373208 ,  0.30480231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005007150192109094
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10863763e-13, -5.54318815e-14,  1.00000000e+00,  6.14538698e-27,
        1.00000000e+00,  5.54318815e-14, -1.00000000e+00,  0.00000000e+00,
        1.10863763e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08493841, -0.110113  ,  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:
[-9.67529232e-06, 5.59539284e-06,-2.42845812e-05,-2.94290744e-05,
 -1.12047831e-03, 1.25838877e-02, 6.56122113e-03, 2.45008087e-03,
 -6.66135081e-06,-8.66694063e-06,-7.37770950e-06, 1.50954382e-05,
  5.01735722e-02, 2.01481113e-02,-3.10086292e-03,-7.43780577e-05,
 -2.71668383e-06, 5.41473829e-06,-9.80998763e+00,-6.49163193e-02,
 -9.14944487e-03,-5.58145277e-03]


--- Step 1323 ---
qpos:
[ 0.00984877, 0.00806953,-0.00559391, 0.03349408, 0.00462475,-0.00694151,
 -0.01208069, 0.03707193, 0.01307824, 0.00590585,-0.01167998, 0.03404637,
  0.82838711,-0.01966323, 1.17018935, 0.04605906, 0.09384229,-0.06519042,
  0.14232639, 0.94616878,-0.03308525, 0.03079083, 0.32050262]

qacc:
[-3.99871389e+00,-8.44526252e-01, 4.58732052e+00,-1.09034817e+01,
  2.88557065e+01, 2.75558121e+00,-2.18059593e+00,-7.00631090e+01,
  2.33567276e+00, 4.40130887e-01,-4.68026519e+00, 1.45547703e+01,
  3.79617912e+00,-1.25431293e+00, 1.92498500e+02,-5.38633756e+02,
  1.04048455e+00,-7.46304242e-01,-1.62994974e-01, 2.31313523e+01,
  3.49655547e+00, 2.54043409e+01]

qfrc_actuator:
[-6.13976332e-06, 2.65495791e-04,-6.35660877e-06, 3.88221487e-05,
 -1.11359022e-03, 9.75932322e-03, 5.23041419e-03, 2.07875061e-03,
  3.80122699e-05,-7.92696407e-05,-1.20660051e-04, 4.34403328e-05,
  4.84500069e-02, 2.38335467e-02, 0.00000000e+00,-2.18785971e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21403914, -0.0076772 ,  0.21390141, -0.0076772 ,  0.55698429,
        0.01230874,  0.21390141,  0.01230874,  0.21448092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014251421141239567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97419663, -0.22501071,  0.01763829, -0.22497384,  0.97435629,
        0.00407326, -0.01810251,  0.        , -0.99983614])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12918029, -0.0826956 ,  0.12604381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12288614,  0.28075065, -1.08722231,  0.28075065,  2.49118861,
        0.35333326, -1.08722231,  0.35333326,  1.21412649,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003195922369411627
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11632793e-01, -8.40612532e-01, -1.77770796e-01, -9.24255299e-02,
       -1.51855119e-01,  9.84071920e-01, -8.54218594e-01,  5.19914025e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495855, -0.03732225,  0.30480363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.24316558, -6.25761534,  9.34082559, -6.25761534, 21.4979428 ,
        6.86989074,  9.34082559,  6.86989074, 15.84544975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005019196484599003
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.52988426e-14, -2.21195370e-13,  1.00000000e+00,  1.22318480e-26,
        1.00000000e+00,  2.21195370e-13, -1.00000000e+00,  0.00000000e+00,
        5.52988426e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05201125, -0.06187112,  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:
[-2.34569326e-05, 2.66093389e-06, 2.98618488e-06,-1.80355796e-05,
 -1.05647332e-03, 1.19525621e-02, 6.14626019e-03, 2.15819960e-03,
  1.35955773e-05,-4.33995332e-05,-5.08951238e-06, 2.64996013e-05,
  5.31323976e-02, 2.19743265e-02, 2.22802711e-03,-1.11429506e-03,
 -2.43438519e-05,-1.81424137e-06,-9.80999300e+00,-6.49151664e-02,
 -9.15790950e-03,-5.57768685e-03]


--- Step 1324 ---
qpos:
[ 0.00984843, 0.0080695 ,-0.00559473, 0.03349379, 0.00462531,-0.00698166,
 -0.01209761, 0.03706837, 0.0130792 , 0.00590382,-0.01168051, 0.03404745,
  0.82832301,-0.01960808, 1.17040246, 0.04605244, 0.09384789,-0.06518827,
  0.1423279 , 0.94617263,-0.03307872, 0.03078109, 0.32049288]

qacc:
[  0.62310958, -0.9231825 ,  3.84574894, -7.21418916,-13.99255631,
  -3.95666845,  6.98812646, 39.48351668,  1.40371283,  0.66338393,
  -5.30502361, 16.03348008,-21.90045676,  5.4001616 ,-10.45067865,
  61.1090331 , -0.14557642,  0.18981707,  0.35286503, -4.88346904,
   6.80059856, -7.31030161]

qfrc_actuator:
[-1.85987780e-06, 2.51173904e-04,-2.51237947e-06, 2.89584985e-05,
 -1.09914586e-03, 9.83016493e-03, 5.28565876e-03, 2.06270141e-03,
  4.58106492e-05,-6.54251622e-05,-1.04442136e-04, 7.67716430e-05,
  4.84596011e-02, 2.37565875e-02, 0.00000000e+00,-2.13415087e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21417143, -0.00155705,  0.21416577, -0.00155705,  0.5724376 ,
        0.0026047 ,  0.21416577,  0.0026047 ,  0.21419037,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014441674539791125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97470726, -0.22279326,  0.01757633, -0.22275705,  0.97486572,
        0.00401685, -0.01802948,  0.        , -0.99983746])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12919559, -0.08266918,  0.12689807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11971394,  0.21427581,  1.0990201 ,  0.21427581,  6.33749775,
       -1.01731064,  1.0990201 , -1.01731064,  1.31805887,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003159501466350324
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51162566, -0.84063757, -0.17767289, -0.09237168, -0.15177328,
        0.9840896 , -0.85422869,  0.51989744,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496362, -0.03732912,  0.30481304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.25319291, -6.62537803,  9.09608249, -6.62537803, 30.84469606,
       14.27000192,  9.09608249, 14.27000192, 21.64713529,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005025391770403296
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10461341e-13,  1.33221458e-07,  1.00000000e+00,  1.47158209e-20,
        1.00000000e+00, -1.33221458e-07, -1.00000000e+00,  0.00000000e+00,
       -1.10461341e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06786226, -0.0850705 ,  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:
[ 3.61385394e-06,-1.29886732e-05, 4.14929946e-06,-9.99412569e-06,
 -1.20772132e-03, 1.24056382e-02, 6.62721434e-03, 2.40675040e-03,
  8.16221956e-06,-1.02581255e-05, 7.57247377e-06, 3.18154368e-05,
  5.26045191e-02, 2.18825139e-02,-9.21757950e-04, 5.85498680e-04,
  4.07780118e-08, 2.07442296e-06,-9.80999450e+00,-6.49184450e-02,
 -9.15606842e-03,-5.57474570e-03]


--- Step 1325 ---
qpos:
[ 0.00984883, 0.00806944,-0.00559576, 0.03349271, 0.00462423,-0.00701539,
 -0.01210947, 0.037068  , 0.0130799 , 0.00590213,-0.01168103, 0.03404818,
  0.82822175,-0.01956602, 1.17061447, 0.04605032, 0.09385302,-0.06518545,
  0.14233053, 0.94618014,-0.03308432, 0.03077848, 0.32047037]

qacc:
[  6.51839665, -1.07299279,  7.10614716,-20.45965837,-14.24615099,
   0.96475163, -4.55748143, 46.94340783, -2.28695285, -0.2959366 ,
   3.21593749, -9.61765854,-19.84039631,  5.24602376,-14.46789956,
  49.83099811, -0.11941782,  0.16668359,  0.278518  , -4.34460993,
   5.47617221, -6.69761791]

qfrc_actuator:
[ 3.63085135e-05, 2.42668280e-04,-1.77126052e-05,-1.22371485e-05,
 -1.10748794e-03, 9.88652677e-03, 5.32218931e-03, 2.07022832e-03,
  3.22591368e-05,-2.07125279e-05,-9.45921341e-05, 6.04565007e-05,
  4.84539116e-02, 2.36795841e-02, 0.00000000e+00,-2.05137946e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2142243 , -0.12014204,  0.17736387, -0.12014204,  1.23697189,
        0.69278475,  0.17736387,  0.69278475,  0.68350012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001451695277608991
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75618650e-01, -2.18771133e-01,  1.75340061e-02, -2.18735810e-01,
        9.75776199e-01,  3.93116208e-03, -1.79692907e-02, -4.33680869e-19,
       -9.99838539e-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([ 0.12922076, -0.08262119,  0.12860392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003154171346445413
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11642867e-01, -8.40644587e-01, -1.77590132e-01, -9.23303577e-02,
       -1.51701549e-01,  9.84104540e-01, -8.54222853e-01,  5.19907028e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496814, -0.03733043,  0.30481619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.24105077,  6.51432787, -9.16104551,  6.51432787, 52.83172786,
       29.57471464, -9.16104551, 29.57471464, 32.27133465,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005017889548863891
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.26756905e-07, -1.78201559e-13,  1.00000000e+00,  5.82285900e-20,
        1.00000000e+00,  1.78201559e-13, -1.00000000e+00,  0.00000000e+00,
        3.26756905e-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([ 0.06795604, -0.08519478,  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:
[ 3.82680667e-05,-1.53263984e-05,-1.77071893e-05,-4.18007274e-05,
 -1.13543566e-03, 1.22800728e-02, 6.38241585e-03, 2.24616158e-03,
 -1.33314692e-05, 4.19869068e-05, 9.79268588e-06,-1.58703985e-05,
  5.46570100e-02, 2.25527879e-02,-1.45657394e-03, 2.20823451e-04,
  1.15472115e-07, 8.61261858e-08,-9.80999996e+00,-6.49176135e-02,
 -9.15723031e-03,-5.57312764e-03]


--- Step 1326 ---
qpos:
[ 0.00984934, 0.00806923,-0.0055961 , 0.03349109, 0.00462156,-0.00704291,
 -0.01211684, 0.03707069, 0.01308008, 0.00590045,-0.01168158, 0.03404875,
  0.82808745,-0.01953531, 1.17082437, 0.04605352, 0.09385772,-0.06518203,
  0.14233401, 0.94619082,-0.03310036, 0.03078127, 0.32043689]

qacc:
[  0.98406708, -3.21477286, 13.42760958,-23.6342362 ,-13.93293472,
   1.92231899, -7.7907958 , 48.8220523 , -4.5092368 , -0.21691298,
   1.45678338, -4.11374718,-17.72416342,  4.94844736,-18.453913  ,
  61.50053415, -0.10761725,  0.14918531,  0.21365353, -3.84804361,
   4.35953016, -5.77028674]

qfrc_actuator:
[ 4.08506813e-05, 2.55357583e-04, 2.69692807e-05,-3.60450439e-05,
 -1.12883527e-03, 9.91223205e-03, 5.34582496e-03, 2.07297567e-03,
  6.25226350e-06,-4.66749781e-05,-1.06232859e-04, 5.05892441e-05,
  4.84614756e-02, 2.36421621e-02, 0.00000000e+00,-1.79054012e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00014577019486506723
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97571018, -0.218366  ,  0.01749087, -0.21833092,  0.97586694,
        0.00391387, -0.01792342,  0.        , -0.99983936])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12922635, -0.08261634,  0.12873975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031724342557307454
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51168195, -0.84063496, -0.17752308, -0.09230141, -0.15164067,
        0.98411664, -0.85420257,  0.51994036,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10497227, -0.03732704,  0.30481455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.19985005,  6.55417647, -9.08181765,  6.55417647, 64.48431706,
       38.45439461, -9.08181765, 38.45439461, 38.95166118,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004992393737370267
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11191453e-13,  6.50116076e-07,  1.00000000e+00, -7.22873510e-20,
        1.00000000e+00, -6.50116076e-07, -1.00000000e+00,  1.20370622e-35,
        1.11191453e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06787319, -0.08506442,  0.06198877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.63100934e-06,-1.30146091e-06, 3.79020531e-05,-2.58876793e-05,
 -1.07507655e-03, 1.19861885e-02, 6.15405828e-03, 2.08943138e-03,
 -2.63766133e-05,-1.07752751e-06,-2.28543529e-06,-8.03404654e-06,
  5.65215994e-02, 2.31685619e-02,-1.40506647e-03, 2.55619953e-04,
 -3.58486166e-06, 2.07017482e-06,-9.80999971e+00,-6.49187964e-02,
 -9.15792500e-03,-5.57317360e-03]


--- Step 1327 ---
qpos:
[ 0.00984886, 0.00806893,-0.00559568, 0.03348988, 0.00462675,-0.00707085,
 -0.01212453, 0.03707441, 0.01307926, 0.00589879,-0.01168283, 0.03404993,
  0.82799304,-0.01946776, 1.17102522, 0.0460589 , 0.09386146,-0.06517823,
  0.14233787, 0.94619028,-0.03310641, 0.0307794 , 0.32043805]

qacc:
[ -8.60883848, -1.41457701,  3.18023251,  2.64453665, 68.81736948,
   2.34761032,-13.76708476, 32.68576638, -8.84552339,  3.27298942,
 -14.22092253, 25.96504212,  6.29696013, 28.42988352,-19.69045642,
  50.01930679, -0.23712878,  0.09607377,  0.09462716,  3.26231391,
  -4.20608768, 18.25905945]

qfrc_actuator:
[-9.95141022e-06, 2.63141280e-04, 7.12562476e-05,-1.38588342e-05,
 -1.12186412e-03, 9.91718287e-03, 5.34249266e-03, 2.05396314e-03,
 -4.46235290e-05,-6.15855599e-05,-1.48485015e-04, 8.00386511e-05,
  4.84779595e-02, 2.36142381e-02, 0.00000000e+00,-1.74501829e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2143025 , -0.19926953, -0.07884932, -0.19926953,  0.49359023,
       -0.70582142, -0.07884932, -0.70582142,  1.99806817,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001462751588528148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97579289, -0.21799849,  0.01746101, -0.2179636 ,  0.97594911,
        0.00390028, -0.01789131,  0.        , -0.99983994])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12923119, -0.08261195,  0.12888059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.28335427, 2.25886564, 6.92421659, 2.25886564, 4.96938864,
       0.75487781, 6.92421659, 0.75487781, 7.03709283, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -7.697912878769036e-07
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98643099,  0.06045885, -0.15263887,  0.05974778,  0.99817069,
        0.00924528,  0.15291861,  0.        , -0.98823879])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11317704, -0.054651  ,  0.29651352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003208431842100837
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11739578e-01, -8.40610995e-01, -1.77470447e-01, -9.22835487e-02,
       -1.51589928e-01,  9.84126130e-01, -8.54169978e-01,  5.19993893e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10497621, -0.03731979,  0.30480925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.15547831, -6.15594553,  9.30317316, -6.15594553, 49.25764872,
       25.21235299,  9.30317316, 25.21235299, 27.83858945,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004964662784874979
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11812531e-13, -1.11812531e-13,  1.00000000e+00,  1.25020421e-26,
        1.00000000e+00,  1.11812531e-13, -1.00000000e+00,  0.00000000e+00,
        1.11812531e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0520355 , -0.06185392,  0.06198883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.06412458e-05, 1.37912656e-05, 4.77999662e-05, 2.29424843e-05,
 -9.88263143e-04, 1.16816203e-02, 5.92569308e-03, 1.91776650e-03,
 -5.16312406e-05,-1.62722309e-05,-4.30081800e-05, 2.91726257e-05,
  5.81895519e-02, 2.37073988e-02,-1.30436913e-03, 3.45550156e-05,
 -9.68729787e-06, 6.45940460e-06,-9.80999606e+00,-6.49214783e-02,
 -9.15815302e-03,-5.57454417e-03]


--- Step 1328 ---
qpos:
[ 0.00984778, 0.00806872,-0.00559508, 0.03348966, 0.00463682,-0.00710538,
 -0.01213622, 0.0370788 , 0.01307784, 0.0058974 ,-0.01168502, 0.03405144,
  0.82793237,-0.01936834, 1.17121732, 0.04606615, 0.09386451,-0.0651741 ,
  0.14234193, 0.94618039,-0.03310394, 0.0307738 , 0.32046805]

qacc:
[-5.30589014e+00, 1.65263626e+00,-9.85153461e+00, 2.64847891e+01,
  4.26157113e+01, 3.77053018e+00,-2.90295797e+01, 5.19538631e+01,
 -5.34594428e+00, 3.64530611e+00,-1.37976461e+01, 2.06492544e+01,
  4.87306550e+00, 2.50680253e+01,-1.83533154e+01, 4.59767253e+01,
 -1.76493706e-01, 8.30798443e-02, 5.11286080e-02, 2.82915239e+00,
 -3.45981488e+00, 1.52143244e+01]

qfrc_actuator:
[-3.96524963e-05, 2.67989270e-04, 7.94484218e-05, 3.51991872e-05,
 -1.10672670e-03, 9.94933843e-03, 5.32601555e-03, 2.07595495e-03,
 -7.42197624e-05,-3.43651280e-05,-1.90662230e-04, 9.68639891e-05,
  4.84890934e-02, 2.35483542e-02, 0.00000000e+00,-1.65015250e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21440711, -0.20558193, -0.06088085, -0.20558193,  0.22313908,
       -0.02948606, -0.06088085, -0.02948606,  0.31397538,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014774021917362664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75869159e-01, -2.17659221e-01,  1.74312625e-02, -2.17624506e-01,
        9.76024827e-01,  3.88727305e-03, -1.78594458e-02, -4.33680869e-19,
       -9.99840507e-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([ 0.12923376, -0.08260784,  0.12887399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.28343378, 2.30247947, 6.90992011, 2.30247947, 5.31698673,
       0.65524694, 6.90992011, 0.65524694, 7.06509658, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -3.227717387379845e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98643006,  0.06045431, -0.15264669,  0.05974322,  0.99817097,
        0.00924506,  0.1529264 ,  0.        , -0.98823758])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11317851, -0.05464691,  0.29651445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003238930151697159
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11737296e-01, -8.40627148e-01, -1.77400502e-01, -9.22455842e-02,
       -1.51531153e-01,  9.84138741e-01, -8.54175446e-01,  5.19984912e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049791 , -0.03731596,  0.30480598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004929480749534809
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.63052724e-14, -1.12610545e-13,  1.00000000e+00,  6.34056739e-27,
        1.00000000e+00,  1.12610545e-13, -1.00000000e+00,  0.00000000e+00,
        5.63052724e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05203835, -0.06185112,  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:
[-3.11411869e-05, 2.34095996e-05, 1.77259031e-05, 5.17540019e-05,
 -1.36646178e-03, 1.17361210e-02, 5.92616182e-03, 1.88831380e-03,
 -3.10753109e-05, 1.05391379e-05,-4.97935954e-05, 1.52136217e-05,
  5.62056050e-02, 2.17983120e-02,-8.54788732e-04, 1.97401293e-05,
 -1.15224976e-07, 2.55895672e-07,-9.80999977e+00,-6.49213221e-02,
 -9.15653413e-03,-5.57469145e-03]


--- Step 1329 ---
qpos:
[ 0.0098467 , 0.00806878,-0.00559497, 0.0334897 , 0.00465038,-0.00715015,
 -0.01215269, 0.03708364, 0.01307711, 0.00589589,-0.01168725, 0.03405245,
  0.82789988,-0.01924179, 1.17140179, 0.04607532, 0.09386704,-0.06516968,
  0.14234605, 0.94616265,-0.03309416, 0.0307653 , 0.32052226]

qacc:
[-4.76658235e-02, 2.27533615e+00,-8.71772926e+00, 1.39219704e+01,
  3.05877582e+01, 6.83820437e-01,-2.40919685e+01, 4.72261819e+01,
  6.07676002e+00,-1.08047393e+00, 5.71243190e+00,-1.42770761e+01,
  3.75965380e+00, 2.16797090e+01,-1.67837997e+01, 4.28403433e+01,
 -1.25914152e-01, 7.31035470e-02, 1.40943092e-02, 2.49423453e+00,
 -2.82901172e+00, 1.27786959e+01]

qfrc_actuator:
[-3.89255668e-05, 2.70929705e-04, 4.85120012e-05, 4.63828086e-05,
 -1.10459508e-03, 9.98639562e-03, 5.32320948e-03, 2.06924322e-03,
 -3.77883255e-05,-5.31566658e-05,-1.96786247e-04, 7.06553308e-05,
  4.84961370e-02, 2.34676939e-02, 0.00000000e+00,-1.54400816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2145191 , -0.21011562, -0.04324201, -0.21011562,  0.21589615,
       -0.00669119, -0.04324201, -0.00669119,  0.24703199,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014929137541866045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75960802e-01, -2.17251071e-01,  1.73920912e-02, -2.17216583e-01,
        9.76115758e-01,  3.87090404e-03, -1.78176523e-02, -4.33680869e-19,
       -9.99841253e-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([ 0.12923577, -0.0826029 ,  0.12879579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.28353437, 2.33181757, 6.90018114, 2.33181757, 5.79214314,
       0.50399434, 6.90018114, 0.50399434, 7.11321669, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -4.779889371287368e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98643291,  0.06039328, -0.15265245,  0.05968286,  0.99817466,
        0.00923604,  0.1529316 ,  0.        , -0.98823678])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11317945, -0.05464427,  0.29651505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003265631715235591
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11685229e-01, -8.40676869e-01, -1.77315055e-01, -9.21903294e-02,
       -1.51464754e-01,  9.84154140e-01, -8.54212602e-01,  5.19923869e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498098, -0.03731488,  0.30480414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004891229299834182
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13491206e-13, -2.26982412e-13,  1.00000000e+00,  2.57605077e-26,
        1.00000000e+00,  2.26982412e-13, -1.00000000e+00,  0.00000000e+00,
        1.13491206e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0520401 , -0.06184894,  0.061989  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54889190e-07, 2.19042965e-05,-2.21286010e-05, 1.38084838e-05,
 -1.60797783e-03, 1.21038795e-02, 6.12407560e-03, 1.84837374e-03,
  3.55468770e-05,-2.24745669e-05,-9.51562700e-06,-2.71781223e-05,
  5.45265330e-02, 2.01230415e-02,-4.20588210e-04, 3.09685579e-05,
 -5.68749683e-06, 5.36233162e-06,-9.80999861e+00,-6.49217915e-02,
 -9.15722026e-03,-5.57397708e-03]


--- Step 1330 ---
qpos:
[ 0.00984529, 0.00806903,-0.00559515, 0.03348883, 0.00466648,-0.00720712,
 -0.01217384, 0.0370887 , 0.01307716, 0.0058939 ,-0.01168883, 0.03405278,
  0.82789049,-0.01909285, 1.17157452, 0.04608359, 0.09386925,-0.06516502,
  0.14235009, 0.94613839,-0.03307804, 0.03075469, 0.32059655]

qacc:
[-2.89180918e+00,-7.92375284e-01, 7.02505046e+00,-2.23750222e+01,
  2.22077781e+01,-2.61673321e+00,-1.50841767e+01, 3.55051472e+01,
  6.95072595e+00,-3.86762264e+00, 1.57216758e+01,-2.80807411e+01,
  3.05602081e+00, 1.78922576e+01,-1.44674789e+01, 2.58402005e+01,
 -8.24201101e-02, 5.87291755e-02,-2.01779253e-02, 2.24233410e+00,
 -2.24432928e+00, 1.06028742e+01]

qfrc_actuator:
[-5.58070339e-05, 2.72506322e-04, 3.01987805e-05,-3.41260266e-07,
 -1.12858958e-03, 1.00149276e-02, 5.34873022e-03, 2.04525461e-03,
  1.70122884e-06,-8.14954973e-05,-1.64026906e-04, 3.70802624e-05,
  4.85000104e-02, 2.33523964e-02, 0.00000000e+00,-1.64490086e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21460445, -0.2129805 , -0.02635101, -0.2129805 ,  0.2147664 ,
       -0.00130894, -0.02635101, -0.00130894,  0.22518389,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015046179259018994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97607803, -0.21672802,  0.01733916, -0.21669383,  0.97623202,
        0.00384937, -0.01776132,  0.        , -0.99984226])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12923817, -0.08259661,  0.12868877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.2836145 , 2.37065248, 6.88702018, 2.37065248, 6.63263126,
       0.22408167, 6.88702018, 0.22408167, 7.20648102, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -5.7225754609934125e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86438998e-01,  6.02848854e-02, -1.52655941e-01,  5.95757175e-02,
        9.98181212e-01,  9.21961441e-03,  1.52934095e-01, -1.73472348e-18,
       -9.88236390e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11317999, -0.05464287,  0.29651539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003289672075005451
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51159147, -0.84075476, -0.17721627, -0.09212042, -0.15139166,
        0.98417193, -0.8542763 ,  0.51981921,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498194, -0.03731601,  0.30480328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004851325711918014
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71637057e-13, -2.28849410e-13,  1.00000000e+00,  3.92790392e-26,
        1.00000000e+00,  2.28849410e-13, -1.00000000e+00,  0.00000000e+00,
        1.71637057e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.052041  , -0.06184724,  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:
[-1.68782256e-05, 9.84621118e-06,-1.60372587e-05,-4.62825733e-05,
 -1.80666218e-03, 1.26461361e-02, 6.38899342e-03, 1.80178066e-03,
  4.04867118e-05,-4.39479187e-05, 2.60441304e-05,-3.53918378e-05,
  5.31211119e-02, 1.86488627e-02,-4.22476567e-05,-1.65849725e-04,
 -1.99409210e-05, 1.67785764e-05,-9.80999467e+00,-6.49223108e-02,
 -9.15947892e-03,-5.57253498e-03]


--- Step 1331 ---
qpos:
[ 0.00984403, 0.00806896,-0.00559509, 0.03348779, 0.00467816,-0.00726037,
 -0.01218942, 0.03709706, 0.01307735, 0.00589155,-0.01169003, 0.03405306,
  0.82783617,-0.01896264, 1.17172628, 0.04609088, 0.09387117,-0.06516021,
  0.14235445, 0.9461231 ,-0.03307643, 0.0307486 , 0.32064241]

qacc:
[ 1.36377439e+00,-1.47892439e+00, 5.41127030e+00,-8.65440057e+00,
 -3.84419204e+01,-3.80630950e+00, 6.92592545e+00, 3.82996417e+01,
  1.14429167e+00,-1.65827322e+00, 5.41390276e+00,-6.63591391e+00,
 -2.15821243e+01, 1.35178176e+00,-2.72106108e+01, 5.17985325e+01,
 -7.27100829e-02, 3.78422371e-02, 8.00776212e-02,-5.55001292e+00,
  4.79574464e+00,-1.50345078e+01]

qfrc_actuator:
[-4.74221092e-05, 2.37730157e-04, 3.72091497e-05,-9.73402432e-06,
 -1.15094267e-03, 1.00976587e-02, 5.39306640e-03, 2.04645354e-03,
  7.14788717e-06,-9.74265554e-05,-1.44138733e-04, 3.49607297e-05,
  4.85014252e-02, 2.32102111e-02, 0.00000000e+00,-1.81473294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21464262, -0.21422453, -0.01339049, -0.21422453,  0.21538729,
       -0.01191345, -0.01339049, -0.01191345,  0.40523705,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001509820838465675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97622566, -0.21606755,  0.01727052, -0.21603375,  0.97637842,
        0.00382188, -0.01768834,  0.        , -0.99984355])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12924156, -0.08258873,  0.12858142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28367499, -1.69755259,  7.08309513, -1.69755259,  2.63526495,
       -1.11404977,  7.08309513, -1.11404977,  7.01667899,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.342145035547368e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86447871e-01,  6.01373078e-02, -1.52656811e-01,  5.94298805e-02,
        9.98190114e-01,  9.19701518e-03,  1.52933603e-01, -1.73472348e-18,
       -9.88236466e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11318028, -0.05464249,  0.29651557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003311495094542657
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11463266e-01, -8.40855615e-01, -1.77107769e-01, -9.20391216e-02,
       -1.51314117e-01,  9.84191464e-01, -8.54361825e-01,  5.19678624e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498204, -0.03731884,  0.30480314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.91975681, -6.33718666,  8.89275852, -6.33718666, 28.51137981,
       12.53619991,  8.89275852, 12.53619991, 19.85334459,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004811058459993488
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15382408e-13, -1.32464774e-08,  1.00000000e+00,  1.52841047e-21,
        1.00000000e+00,  1.32464774e-08, -1.00000000e+00,  0.00000000e+00,
        1.15382408e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06789335, -0.08505419,  0.06198918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.90962327e-06,-3.45726504e-05, 5.47085800e-06,-1.04237501e-05,
 -1.95560649e-03, 1.33411378e-02, 6.66841711e-03, 1.79192500e-03,
  6.57471494e-06,-3.65400696e-05, 1.28329282e-05,-3.78503119e-06,
  5.19678053e-02, 1.73847695e-02, 5.41402577e-04,-2.92295419e-04,
 -3.84832828e-05, 3.10554205e-05,-9.80998939e+00,-6.49224900e-02,
 -9.16279887e-03,-5.57049295e-03]


--- Step 1332 ---
qpos:
[ 0.00984358, 0.00806875,-0.00559532, 0.03348769, 0.00469297,-0.00731835,
 -0.01220827, 0.03710523, 0.01307691, 0.00588916,-0.01169085, 0.03405361,
  0.82780197,-0.01881509, 1.171865  , 0.04609487, 0.09387295,-0.06515537,
  0.1423585 , 0.94610178,-0.03306747, 0.03074103, 0.32070697]

qacc:
[ 7.01299539e+00, 2.59397881e+00,-1.35508950e+01, 3.05660851e+01,
  2.73218848e+01, 2.42824937e+00,-1.70023534e+01, 2.24437098e+01,
 -5.49513637e+00,-4.98827425e-01, 5.83878322e-01, 3.56609558e+00,
  4.14910872e+00, 1.22728782e+01,-9.22666237e+00, 4.40699858e+00,
 -3.57592971e-02, 7.62069894e-03,-7.61049126e-02, 2.84966864e+00,
 -2.09017714e+00, 9.90444357e+00]

qfrc_actuator:
[-6.47548050e-06, 2.34834435e-04, 2.34884765e-05, 3.84128305e-05,
 -1.16638376e-03, 1.01841172e-02, 5.42255520e-03, 2.04185288e-03,
 -2.52396329e-05,-7.03147246e-05,-1.14201570e-04, 5.13616736e-05,
  4.84906790e-02, 2.31018011e-02, 0.00000000e+00,-1.88345027e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21459831, -0.21452106, -0.0057575 , -0.21452106,  0.21465705,
       -0.00218871, -0.0057575 , -0.00218871,  0.2961483 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015037793494714644
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97635071, -0.21550633,  0.01721374, -0.21547285,  0.97650244,
        0.00379893, -0.01762795,  0.        , -0.99984462])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12924532, -0.0825821 ,  0.12853516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28368155,  2.34397171,  6.89621734,  2.34397171,  8.89030236,
       -0.54607816,  6.89621734, -0.54607816,  7.46928936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.4057290764717604e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9864527 ,  0.06004307, -0.15266271,  0.05933671,  0.99819579,
        0.00918291,  0.15293864,  0.        , -0.98823569])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11318063, -0.05464005,  0.29651579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13648477,  0.92840195, -0.65549023,  0.92840195,  3.43206201,
        3.25133511, -0.65549023,  3.25133511,  5.74150515,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033455714109695565
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5113831 , -0.84092403, -0.17701439, -0.0919746 , -0.15124406,
        0.98420826, -0.85441676,  0.5195883 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498223, -0.03731718,  0.30479987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.85935316, -5.90995894,  9.11032032, -5.90995894, 53.85335055,
       27.89065043,  9.11032032, 27.89065043, 28.95230632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004769886580042033
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.50503850e-07, -2.50503809e-07,  1.00000000e+00,  6.27521685e-14,
        1.00000000e+00,  2.50503809e-07, -1.00000000e+00,  1.26217745e-29,
        2.50503850e-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([ 0.05245936, -0.06245593,  0.06198927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.11604726e-05,-2.15349267e-05,-2.05457058e-05, 4.66540202e-05,
 -1.75064399e-03, 1.32437089e-02, 6.42000324e-03, 1.62275473e-03,
 -3.22223830e-05, 9.26859294e-06, 2.38799547e-05, 1.52124851e-05,
  5.42034468e-02, 1.82097787e-02, 1.58699298e-03,-3.12247849e-04,
 -1.25148190e-05, 1.20056374e-05,-9.80999806e+00,-6.49195122e-02,
 -9.16062634e-03,-5.56968427e-03]


--- Step 1333 ---
qpos:
[ 0.00984396, 0.00806884,-0.00559564, 0.03348775, 0.00470343,-0.00736896,
 -0.01222028, 0.03711755, 0.01307642, 0.00588686,-0.01169107, 0.03405397,
  0.82770245,-0.01871488, 1.17191105, 0.04611236, 0.09387384,-0.06514715,
  0.14236108, 0.94609973,-0.03309954, 0.03071957, 0.32071176]

qacc:
[ 7.35381600e+00, 9.46370725e-01,-3.48781289e+00, 6.17005970e+00,
 -3.80278012e+01,-7.53184150e-01,-6.02847974e-01, 5.60045929e+01,
 -3.34061672e-01,-1.98080133e+00, 8.00538562e+00,-1.22520193e+01,
 -1.39730346e+01,-3.34521037e+01,-1.77968894e+02, 4.23414188e+02,
 -2.19613771e-01, 8.43862977e-01,-3.70174311e-01,-2.03980188e+01,
  6.96217523e-01,-3.22271272e+01]

qfrc_actuator:
[ 3.55479638e-05, 2.86526375e-04, 3.32856228e-05, 4.90181612e-05,
 -1.18344892e-03, 1.02265174e-02, 5.43199598e-03, 2.03594296e-03,
 -2.63667907e-05,-5.30758403e-05,-7.83777692e-05, 4.30647358e-05,
  4.84843750e-02, 2.29318316e-02, 0.00000000e+00,-2.01305602e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21456859, -0.21412531,  0.01378516, -0.21412531,  0.21502989,
        0.00716545,  0.01378516,  0.00716545,  0.32586976,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014997121396092612
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97649143, -0.21487298,  0.01714922, -0.21483985,  0.976642  ,
        0.00377303, -0.01755937,  0.        , -0.99984582])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12924906, -0.08257459,  0.12845734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28370257, -7.24853546,  0.71488236, -7.24853546,  7.21391127,
       -0.70764747,  0.71488236, -0.70764747,  0.1085251 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.605338508655179e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98646039,  0.05991284, -0.15266419,  0.059208  ,  0.99820361,
        0.00916301,  0.15293893,  0.        , -0.98823564])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11318091, -0.05463853,  0.29651597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13910297,  1.09907823, -0.29930358,  1.09907823,  1.62551537,
        1.78616402, -0.29930358,  1.78616402,  7.69810909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033732595737679473
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11271205e-01, -8.41012762e-01, -1.76916051e-01, -9.19017457e-02,
       -1.51173272e-01,  9.84225945e-01, -8.54491559e-01,  5.19465279e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498193, -0.03731738,  0.30479808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.82021669, -6.31017185,  8.78969967, -6.31017185, 55.8546681 ,
       32.33047068,  8.78969967, 32.33047068, 34.03043245,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004742791231067689
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.34086421e-13, -1.17043210e-13,  1.00000000e+00, -2.73982262e-26,
        1.00000000e+00,  1.17043210e-13, -1.00000000e+00,  0.00000000e+00,
       -2.34086421e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0850069 , -0.11008152,  0.06198933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.31884254e-05, 3.74310643e-05, 4.43672607e-06, 9.87925364e-06,
 -1.92403147e-03, 1.35249782e-02, 6.59376439e-03, 1.62669993e-03,
 -2.04970828e-06, 2.80886231e-05, 4.12431266e-05,-6.77026701e-06,
  5.31906524e-02, 1.71705600e-02, 2.23699297e-03,-2.77273678e-04,
 -2.70418252e-05, 2.28761768e-05,-9.80999465e+00,-6.49198260e-02,
 -9.16295831e-03,-5.56841274e-03]


--- Step 1334 ---
qpos:
[ 0.0098445 , 0.00806928,-0.00559561, 0.03348756, 0.00471549,-0.00742806,
 -0.0122424 , 0.03712289, 0.01307593, 0.00588484,-0.01169116, 0.03405355,
  0.82760835,-0.01863064, 1.1720373 , 0.04609514, 0.09387984,-0.06514304,
  0.14236183, 0.94608638,-0.03308353, 0.03072059, 0.32075269]

qacc:
[ 1.37433342e+00,-1.07157308e+00, 5.55011623e+00,-1.07854523e+01,
  1.38757137e+01, 2.67784275e+00, 3.57902857e+00,-1.01806336e+02,
 -9.19591549e-02,-1.59908043e+00, 9.56407909e+00,-2.35713909e+01,
  1.00076176e+01,-2.14196224e+01, 2.22829590e+02,-6.08859459e+02,
  1.27580820e+00,-1.02522714e+00,-4.55873881e-01, 2.56056914e+01,
  2.50259234e+00, 2.00186628e+01]

qfrc_actuator:
[ 4.23532810e-05, 3.17322983e-04, 5.70949430e-05, 3.75085284e-05,
 -1.19525390e-03, 1.02855380e-02, 5.42060938e-03, 2.02497726e-03,
 -2.68260631e-05,-4.18616371e-05,-7.49171983e-05, 2.54612184e-06,
  4.84983553e-02, 2.28181646e-02, 0.00000000e+00,-2.08817141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21441849,  0.21436696,  0.00470043,  0.21436696,  0.2149593 ,
       -0.02466406,  0.00470043, -0.02466406,  1.3392429 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001478986491904194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76516282e-01, -2.14763875e-01,  1.71005334e-02, -2.14730953e-01,
        9.76666001e-01,  3.76032012e-03, -1.75090905e-02, -4.33680869e-19,
       -9.99846704e-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([ 0.12925027, -0.08257342,  0.1282437 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14414265,  0.3577743 , -1.08676583,  0.3577743 ,  2.62400963,
        0.48718717, -1.08676583,  0.48718717,  1.3045296 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003425606583334324
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11249960e-01, -8.41037065e-01, -1.76861908e-01, -9.18688942e-02,
       -1.51129880e-01,  9.84235676e-01, -8.54507803e-01,  5.19438557e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10497995, -0.03730818,  0.3047876 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.80345476, -5.99193352,  8.9895143 , -5.99193352, 21.21875072,
        6.94228397,  8.9895143 ,  6.94228397, 15.43081311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047310833057397084
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17332855e-13, -9.16662931e-14,  1.00000000e+00, -1.07554679e-26,
        1.00000000e+00,  9.16662931e-14, -1.00000000e+00,  0.00000000e+00,
       -1.17332855e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05204733, -0.06183959,  0.06198936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.04827042e-06, 5.30822864e-05, 3.24299160e-05,-9.56137328e-06,
 -1.71789736e-03, 1.32177587e-02, 6.24121872e-03, 1.40815674e-03,
 -5.16553777e-07, 3.52333327e-05, 1.41364385e-05,-3.80149333e-05,
  5.64718206e-02, 1.94219179e-02, 6.86924653e-03,-1.02817001e-03,
 -6.99657176e-06, 7.46278768e-06,-9.80999084e+00,-6.49221214e-02,
 -9.16263672e-03,-5.56803272e-03]


--- Step 1335 ---
qpos:
[ 0.00984511, 0.00807015,-0.0055956 , 0.03348725, 0.00473066,-0.00749406,
 -0.01226765, 0.03712802, 0.01307544, 0.00588358,-0.01169172, 0.03405298,
  0.82754196,-0.01852595, 1.17218093, 0.04608833, 0.09388494,-0.06513871,
  0.14236286, 0.94606583,-0.03306215, 0.03071877, 0.32081568]

qacc:
[ 6.73707579e-01, 4.03825133e-01,-9.47618315e-02,-2.28445513e+00,
  2.72835559e+01,-8.90593087e-01,-9.21466307e+00, 1.55632227e+01,
 -4.68620666e-02, 2.00568762e+00,-5.04132365e+00, 2.54486409e+00,
  7.51732813e+00, 1.23626422e+01,-5.84332609e+00, 5.76808546e+01,
 -2.24333779e-01, 5.31430259e-02, 6.94350957e-02, 1.62622004e+00,
 -2.46095215e+00, 1.16239816e+01]

qfrc_actuator:
[ 4.61276725e-05, 3.35422000e-04, 5.34000852e-05, 3.08331581e-05,
 -1.22587756e-03, 1.03496807e-02, 5.44644945e-03, 2.05594934e-03,
 -2.68982990e-05, 1.87606901e-05,-9.06360748e-05,-3.37335177e-06,
  4.85151631e-02, 2.27613560e-02, 0.00000000e+00,-2.03450995e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21455604, -0.21416298, -0.01298122, -0.21416298,  0.21478427,
       -0.00376538, -0.01298122, -0.00376538,  0.27667693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014979919276243443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76706574e-01, -2.13902436e-01,  1.70298363e-02, -2.13869929e-01,
        9.76855029e-01,  3.72903181e-03, -1.74333302e-02,  4.33680869e-19,
       -9.99848028e-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([ 0.12925699, -0.08256307,  0.12831853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28350668,  2.41191651,  6.87256345,  2.41191651, 11.65207617,
       -1.53314334,  6.87256345, -1.53314334,  7.82156119,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.407503538082658e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98645943,  0.05981308, -0.15270951,  0.05910901,  0.99820959,
        0.00915041,  0.15298342,  0.        , -0.98822876])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11318127, -0.05462972,  0.29651623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14411651, -0.34862481, -1.08970791, -0.34862481,  2.51817487,
       -0.43959563, -1.08970791, -0.43959563,  1.28475414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003425338143462484
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11182564e-01, -8.41085628e-01, -1.76825768e-01, -9.18374079e-02,
       -1.51106727e-01,  9.84242169e-01, -8.54551506e-01,  5.19366656e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498297, -0.03730633,  0.30478933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.78172314,  4.22667175, -9.91870958,  4.22667175, 43.99031946,
       14.15121946, -9.91870958, 14.15121946, 16.81199947,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047158106579661343
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06520294e-06,  1.06520291e-06,  1.00000000e+00,  1.13465728e-12,
        1.00000000e+00, -1.06520291e-06, -1.00000000e+00,  2.01948392e-28,
       -1.06520294e-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([ 0.05246893, -0.06244776,  0.06198939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.01992947e-06, 5.40575720e-05, 1.09275527e-05,-3.46580563e-06,
 -1.82886663e-03, 1.37085147e-02, 6.77377253e-03, 1.78798390e-03,
 -8.01693987e-08, 8.16891396e-05,-7.99010613e-06,-4.65480403e-06,
  5.62158236e-02, 2.01615003e-02, 2.85722567e-03, 7.60939402e-04,
 -1.35636290e-05, 8.17339719e-06,-9.80999652e+00,-6.49206525e-02,
 -9.16563204e-03,-5.56730696e-03]


--- Step 1336 ---
qpos:
[ 0.00984577, 0.00807141,-0.00559592, 0.03348723, 0.00474083,-0.00755141,
 -0.01228479, 0.03713778, 0.01307529, 0.00588308,-0.0116928 , 0.03405234,
  0.82741604,-0.01846565, 1.17224416, 0.04610198, 0.09388863,-0.06513088,
  0.14236294, 0.94606591,-0.0330854 , 0.03070072, 0.32081477]

qacc:
[ 3.39267917e-01, 2.01733547e+00,-7.68149539e+00, 1.29880954e+01,
 -4.37190399e+01,-1.63635010e+00, 2.98874048e+00, 5.77544466e+01,
  3.03009353e+00, 2.32170935e+00,-6.57800133e+00, 5.77900745e+00,
 -1.15101053e+01,-3.28683808e+01,-1.80938522e+02, 4.59955607e+02,
 -3.53743357e-01, 8.76756841e-01,-2.36196350e-01,-2.23933481e+01,
  2.18001053e-01,-3.44891451e+01]

qfrc_actuator:
[ 4.80993883e-05, 3.45673377e-04, 3.34456363e-05, 4.47795716e-05,
 -1.23444097e-03, 1.04187059e-02, 5.49168253e-03, 2.09036805e-03,
 -8.98972501e-06, 5.51837115e-05,-1.17311055e-04,-6.60149336e-06,
  4.85261424e-02, 2.26553713e-02, 0.00000000e+00,-2.04134515e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21465785, -0.21465713, -0.00055562, -0.21465713,  0.21465882,
       -0.00037317, -0.00055562, -0.00037317,  0.35882799,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015118912261431893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97690824, -0.21298594,  0.0169493 , -0.21295389,  0.97705527,
        0.00369474, -0.01734733,  0.        , -0.99984952])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12926359, -0.0825521 ,  0.12835091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28422267, -7.25099248,  0.69498768, -7.25099248,  7.2181842 ,
       -0.68899701,  0.69498768, -0.68899701,  0.09573251,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.038693901767417e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98646966,  0.05969042, -0.15269139,  0.05898797,  0.99821694,
        0.00913049,  0.15296413,  0.        , -0.98823174])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11318387, -0.05462709,  0.29651786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14396238,  1.12381652, -0.2137437 ,  1.12381652,  1.41969602,
        1.44974573, -0.2137437 ,  1.44974573,  8.7664008 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034237551115294393
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11076871e-01, -8.41160460e-01, -1.76775319e-01, -9.17913780e-02,
       -1.51075664e-01,  9.84251231e-01, -8.54619667e-01,  5.19254490e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498547, -0.03730679,  0.30479178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.78029662, -6.16219894,  8.84545643, -6.16219894, 20.53115116,
        6.79294573,  8.84545643,  6.79294573, 15.51261126,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004714804401564354
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08503145, -0.11006617,  0.0619894 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10211591e-06, 4.25581321e-05,-7.57240929e-06, 1.65719597e-05,
 -1.99332812e-03, 1.41252126e-02, 6.97637898e-03, 1.83363615e-03,
  1.79306444e-05, 8.03058501e-05,-1.09243744e-05,-8.92707014e-08,
  5.48417881e-02, 1.90309870e-02, 1.98539073e-03, 2.32781184e-04,
 -3.05320945e-05, 2.01724047e-05,-9.80999214e+00,-6.49194112e-02,
 -9.16845585e-03,-5.56584683e-03]


--- Step 1337 ---
qpos:
[ 0.00984575, 0.00807274,-0.00559636, 0.03348809, 0.00475443,-0.00761095,
 -0.01230398, 0.03714704, 0.01307501, 0.00588324,-0.0116939 , 0.0340513 ,
  0.82731607,-0.01838808, 1.17228841, 0.04610523, 0.09389204,-0.06512373,
  0.14236331, 0.9460574 ,-0.03309606, 0.03068522, 0.32084024]

qacc:
[ -5.89396568,  2.29625365,-11.78236523, 27.27325272, 29.97538327,
   1.7851334 , -8.53612587,  4.86747294, -1.14899276,  0.09635018,
   2.63444953,-10.07285164,  8.60458624,  8.36137653,  3.24891143,
 -52.42978276, -0.0701774 , -0.17164948,  0.0708714 ,  5.81759584,
  -1.11173089, 14.09683507]

qfrc_actuator:
[ 1.34903219e-05, 3.33331902e-04, 2.17905696e-05, 8.84848179e-05,
 -1.24063735e-03, 1.04956255e-02, 5.53855547e-03, 2.06882771e-03,
 -1.61470620e-05, 9.45410273e-05,-1.14815796e-04,-2.59979247e-05,
  4.85298259e-02, 2.25765497e-02, 0.00000000e+00,-2.00992230e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21460354, -0.21451934,  0.00601096, -0.21451934,  0.21473083,
        0.00454273,  0.00601096,  0.00454273,  0.37672443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015044938660448842
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76978423e-01, -2.12668708e-01,  1.68873198e-02, -2.12636945e-01,
        9.77124363e-01,  3.67548352e-03, -1.72826720e-02,  4.33680869e-19,
       -9.99850643e-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([ 0.12926725, -0.08254838,  0.12823044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28358437,  2.48926896,  6.84500849,  2.48926896, 24.26434277,
       -6.17525527,  6.84500849, -6.17525527,  9.52928958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.3874977066062075e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98646221,  0.05968463, -0.15274181,  0.05898178,  0.99821728,
        0.00913262,  0.15301459,  0.        , -0.98822393])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1131828 , -0.05462115,  0.29651721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14675993,  0.28563734, -1.11061679,  0.28563734,  2.56787983,
        0.36549502, -1.11061679,  0.36549502,  1.24076088,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003452316109393746
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.11067816e-01, -8.41169525e-01, -1.76758360e-01, -9.17806620e-02,
       -1.51062331e-01,  9.84254277e-01, -8.54626232e-01,  5.19243684e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498604, -0.03729786,  0.30478467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.78551082, -6.02273109,  8.94728752, -6.02273109, 46.14746361,
       23.803363  ,  8.94728752, 23.803363  , 26.80838415,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047184802312573437
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17646252e-13,  2.57351175e-14,  1.00000000e+00,  3.02764011e-27,
        1.00000000e+00, -2.57351175e-14, -1.00000000e+00,  0.00000000e+00,
       -1.17646252e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0520623 , -0.06182896,  0.06198939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.45383798e-05, 1.05600085e-05,-3.23513183e-06, 4.55871796e-05,
 -1.74888586e-03, 1.37720018e-02, 6.61809460e-03, 1.58040903e-03,
 -6.62204149e-06, 8.20425281e-05, 1.77537618e-05,-1.63305601e-05,
  5.78219886e-02, 2.11711715e-02, 6.00413095e-03,-7.59045941e-04,
 -4.72467794e-06, 3.21148088e-06,-9.80999470e+00,-6.49207808e-02,
 -9.16582331e-03,-5.56524131e-03]


--- Step 1338 ---
qpos:
[ 0.00984498, 0.00807415,-0.00559663, 0.03348911, 0.00476985,-0.0076774 ,
 -0.01232668, 0.03715584, 0.01307465, 0.00588396,-0.01169439, 0.03405   ,
  0.82724048,-0.01829403, 1.17233045, 0.04610611, 0.09389522,-0.06511709,
  0.14236392, 0.94604156,-0.03309623, 0.0306714 , 0.32088824]

qacc:
[ -6.66251036, -0.06420812, -0.21717177,  2.41997478, 15.94382366,
  -0.33311272,-10.20315318, 13.01181777, -0.7248531 , -1.50115527,
   7.52147197,-13.35802991,  7.69909571,  8.49978741,  3.76895741,
 -18.2022574 , -0.0557746 , -0.12632028,  0.0613409 ,  4.76946243,
  -1.15335679, 12.01664335]

qfrc_actuator:
[-2.46191234e-05, 3.43107699e-04, 3.28076491e-05, 9.60765640e-05,
 -1.25185289e-03, 1.05491489e-02, 5.55784099e-03, 2.05250058e-03,
 -2.02533552e-05, 1.35446772e-04,-7.73634206e-05,-3.69776392e-05,
  4.85395588e-02, 2.25056135e-02, 0.00000000e+00,-1.91511755e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21489783, -0.21450368, -0.01300954, -0.21450368,  0.21508575,
       -0.00309839, -0.01300954, -0.00309839,  0.26598467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015441117635680722
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97801566, -0.20785056,  0.01683772, -0.20781977,  0.97816059,
        0.00357787, -0.01721366,  0.        , -0.99985183])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12929284, -0.08249095,  0.13002508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28338814,  2.58536089,  6.80908598,  2.58536089, 20.20426171,
       -4.90596261,  6.80908598, -4.90596261,  9.1461468 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1859291581223003e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86460321e-01,  5.96286226e-02, -1.52775856e-01,  5.89261216e-02,
        9.98220631e-01,  9.12605251e-03,  1.53048186e-01,  1.73472348e-18,
       -9.88218727e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11318223, -0.05461648,  0.29651687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14856795, -0.50389233,  1.03213413, -0.50389233,  6.96403426,
        2.83913574,  1.03213413,  2.83913574,  2.53464627,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003470582791675308
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51101588, -0.84120467, -0.17674125, -0.09176217, -0.15105355,
        0.98425735, -0.85465927,  0.5191893 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498639, -0.0372918 ,  0.30478068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.80102358,  5.24927245, -9.43966362,  5.24927245, 79.14662593,
       38.00608811, -9.43966362, 38.00608811, 31.93570795,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004729379974388048
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17375114e-13, -1.21043086e-13,  1.00000000e+00,  1.42074460e-26,
        1.00000000e+00,  1.21043086e-13, -1.00000000e+00,  0.00000000e+00,
        1.17375114e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0520687 , -0.06182485,  0.06198936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.90954644e-05, 1.69094209e-05, 1.43663849e-05, 8.81710894e-06,
 -1.93168880e-03, 1.39370765e-02, 6.74137460e-03, 1.58930669e-03,
 -4.26675175e-06, 8.97579485e-05, 5.60341468e-05,-7.16283425e-06,
  5.65339479e-02, 2.02349570e-02, 6.95246364e-03,-1.44315067e-04,
 -4.63921333e-06, 6.93418675e-06,-9.80999652e+00,-6.49234985e-02,
 -9.16564024e-03,-5.56434598e-03]


--- Step 1339 ---
qpos:
[ 0.0098441 , 0.00807584,-0.00559628, 0.0334898 , 0.0047867 ,-0.00775135,
 -0.01235354, 0.03716403, 0.0130739 , 0.00588493,-0.01169424, 0.03404862,
  0.82718713,-0.01818479, 1.17237595, 0.04610741, 0.09389824,-0.06511079,
  0.14236472, 0.94601937,-0.03308752, 0.03065866, 0.32095578]

qacc:
[ -0.9195552 , -2.02304412,  9.11405615,-15.86184238, 12.57602107,
   0.48541949,-13.56027259, 15.25671833, -3.42471545, -1.58967894,
   6.48787272, -9.07917296,  6.85196462,  8.09172026,  3.75041452,
  -5.87595879, -0.04003397, -0.08799539,  0.04644985,  3.96339456,
  -1.13953179, 10.41832865]

qfrc_actuator:
[-2.89664763e-05, 3.83864635e-04, 7.49255398e-05, 8.23840607e-05,
 -1.24809112e-03, 1.06119996e-02, 5.54508827e-03, 2.03945933e-03,
 -4.02757063e-05, 1.23856087e-04,-5.50686106e-05,-4.28928652e-05,
  4.85627816e-02, 2.24333010e-02, 0.00000000e+00,-1.82165799e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21497055, -0.21464324, -0.01185819, -0.21464324,  0.21505015,
       -0.00144085, -0.01185819, -0.00144085,  0.24105113,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015537310008876054
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78274602e-01, -2.06634415e-01,  1.67636743e-02, -2.06604083e-01,
        9.78418223e-01,  3.54035927e-03, -1.71334444e-02,  4.33680869e-19,
       -9.99853212e-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([ 0.12930027, -0.08247649,  0.13018482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28335058,  2.6391118 ,  6.78839338,  2.6391118 , 19.3713743 ,
       -4.6994398 ,  6.78839338, -4.6994398 ,  9.11034356,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7051458388117235e-07
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86463015e-01,  5.95296967e-02, -1.52797042e-01,  5.88281738e-02,
        9.98226535e-01,  9.11212159e-03,  1.53068504e-01, -1.73472348e-18,
       -9.88215580e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11318202, -0.05461299,  0.29651675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14972267, -0.64965998,  0.94858007, -0.64965998,  8.05364951,
        4.72833564,  0.94858007,  4.72833564,  4.38804754,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034821716957874444
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10927253e-01, -8.41263294e-01, -1.76718454e-01, -9.17340355e-02,
       -1.51043963e-01,  9.84261443e-01, -8.54715279e-01,  5.19097092e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498653, -0.03728826,  0.30477888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047321995889124113
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17305177e-13, -6.23183755e-14,  1.00000000e+00,  7.31026809e-27,
        1.00000000e+00,  6.23183755e-14, -1.00000000e+00,  0.00000000e+00,
        1.17305177e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05207344, -0.06182163,  0.06198936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.46063643e-06, 5.34968344e-05, 4.76720489e-05,-1.23022678e-05,
 -2.01907028e-03, 1.43487238e-02, 6.90484524e-03, 1.59938501e-03,
 -2.01127225e-05, 4.98495034e-05, 4.74890235e-05,-2.67017492e-07,
  5.53388814e-02, 1.93370880e-02, 7.06292610e-03, 6.75914508e-05,
 -1.43770079e-05, 1.54702562e-05,-9.80999517e+00,-6.49250913e-02,
 -9.16754489e-03,-5.56298320e-03]


--- Step 1340 ---
qpos:
[ 0.00984317, 0.00807755,-0.00559554, 0.03349003, 0.00480496,-0.00783914,
 -0.01239138, 0.03716541, 0.01307326, 0.00588641,-0.01169418, 0.03404755,
  0.82714089,-0.01808879, 1.17253226, 0.04609007, 0.09390584,-0.06510815,
  0.14236408, 0.94598863,-0.03303761, 0.03066499, 0.32105091]

qacc:
[-3.87116563e-01,-2.02818155e+00, 9.19792297e+00,-1.78320718e+01,
  1.20982504e+01,-1.68113085e+00, 8.13766947e+00,-9.81904006e+01,
  9.62612278e-01, 1.53697859e+00,-5.76131659e+00, 1.07167097e+01,
  9.08015032e+00,-1.79251810e+01, 2.19554104e+02,-5.31510963e+02,
  1.14245067e+00,-9.11540909e-01,-3.60236378e-01, 2.19886988e+01,
  2.08531734e+00, 1.53684429e+01]

qfrc_actuator:
[-3.11585980e-05, 3.54211301e-04, 8.19280831e-05, 5.63301725e-05,
 -1.27119354e-03, 1.07192839e-02, 5.55068589e-03, 2.02872209e-03,
 -3.40013959e-05, 1.51874006e-04,-5.98779220e-05,-2.80896326e-05,
  4.85774343e-02, 2.23193434e-02, 0.00000000e+00,-1.69534612e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21487342, -0.20770505, -0.05503815, -0.20770505,  0.30274241,
       -0.33160333, -0.05503815, -0.33160333,  1.46629054,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001540867727066514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97824624, -0.20677602,  0.01667258, -0.20674599,  0.97838831,
        0.00352364, -0.01704086,  0.        , -0.99985479])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12933478, -0.0824784 ,  0.1316807 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003489395570771484
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51080665, -0.84134287, -0.17668829, -0.09169622, -0.15103164,
        0.98426686, -0.85479142,  0.5189717 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498643, -0.03728688,  0.30477861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047286514207141306
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.21061735e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.21061735e-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([ 0.05207687, -0.0618191 ,  0.06198937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33630613e-06, 9.51645556e-06, 2.34745956e-05,-2.23572034e-05,
 -2.11412516e-03, 1.48332653e-02, 7.12012713e-03, 1.61924276e-03,
  5.72105719e-06, 6.56488373e-05, 1.13177280e-05, 1.85786071e-05,
  5.42409954e-02, 1.84610457e-02, 6.88875915e-03, 1.72588177e-04,
 -2.99878579e-05, 2.69884397e-05,-9.80999184e+00,-6.49257376e-02,
 -9.17075963e-03,-5.56118868e-03]


--- Step 1341 ---
qpos:
[ 0.00984223, 0.00807905,-0.0055954 , 0.03349005, 0.00481671,-0.00791785,
 -0.01241898, 0.03717254, 0.01307305, 0.00588853,-0.01169454, 0.03404701,
  0.82703524,-0.01803682, 1.1726284 , 0.04610599, 0.09391127,-0.06510155,
  0.14236283, 0.94598033,-0.03303905, 0.03065279, 0.32107637]

qacc:
[-1.81703601e-01, 9.80556393e-01,-2.94933926e+00, 2.87176243e-01,
 -5.66407030e+01,-4.69392558e+00, 1.01258564e+01, 6.59136461e+01,
  3.71423064e+00, 3.10077356e+00,-1.21069677e+01, 2.16103888e+01,
 -1.17270175e+01,-3.23058825e+01,-1.89766616e+02, 5.34320164e+02,
 -5.38570881e-01, 9.89096892e-01,-1.50704260e-01,-2.58287564e+01,
  2.85725171e-01,-3.76502268e+01]

qfrc_actuator:
[-3.20759879e-05, 3.00229498e-04, 3.23424384e-05, 4.08828697e-05,
 -1.29319532e-03, 1.08093299e-02, 5.59351445e-03, 2.00805818e-03,
 -1.22945021e-05, 1.85534612e-04,-8.04879051e-05,-1.20407625e-06,
  4.85768549e-02, 2.22205177e-02, 0.00000000e+00,-1.65469044e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21663035, -0.21415375, -0.03266315, -0.21415375,  0.21706999,
       -0.00288246, -0.03266315, -0.00288246,  0.23552904,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017576449773832646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79298441e-01, -2.01742466e-01,  1.65692877e-02, -2.01713595e-01,
        9.79438603e-01,  3.41290300e-03, -1.69171274e-02, -4.33680869e-19,
       -9.99856895e-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([ 0.12933334, -0.08241817,  0.13167902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28476987, -7.24789701,  0.73202526, -7.24789701,  7.21140816,
       -0.72636583,  0.73202526, -0.72636583,  0.09290769,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3247163566731711e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98648915,  0.05921425, -0.15275086,  0.05851689,  0.9982453 ,
        0.00906093,  0.15301936,  0.        , -0.98822319])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11318736, -0.05460927,  0.29652009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14696514,  1.1133329 , -0.27571524,  1.1133329 ,  1.39577161,
        1.00467581, -0.27571524,  1.00467581,  5.20382696,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003454396832557159
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10652649e-01, -8.41442400e-01, -1.76659444e-01, -9.16531301e-02,
       -1.51024047e-01,  9.84272036e-01, -8.54888049e-01,  5.18812513e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10499097, -0.0372922 ,  0.30478826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.82948582,  6.01112383, -9.00800496,  6.01112383, 51.71777359,
       27.28512718, -9.00800496, 27.28512718, 29.03709993,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047492388502543004
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16884311e-13, -1.16884311e-13,  1.00000000e+00, -1.36619422e-26,
        1.00000000e+00,  1.16884311e-13, -1.00000000e+00,  0.00000000e+00,
       -1.16884311e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08508009, -0.11003082,  0.06198932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.86840223e-07,-4.48378606e-05,-4.55302177e-05,-1.46681234e-05,
 -2.20597196e-03, 1.56194797e-02, 7.71294463e-03, 1.93926723e-03,
  2.18957359e-05, 7.34536318e-05,-5.02924373e-06, 3.04505981e-05,
  5.38839642e-02, 1.90222286e-02, 1.34589317e-03, 1.14497052e-03,
 -8.33329778e-05, 4.58572383e-05,-9.80997221e+00,-6.49197560e-02,
 -9.18675905e-03,-5.55889061e-03]


--- Step 1342 ---
qpos:
[ 0.00984162, 0.0080804 ,-0.00559559, 0.03348985, 0.00482491,-0.00797923,
 -0.01243431, 0.03718507, 0.01307275, 0.00589076,-0.01169518, 0.03404685,
  0.8268719 ,-0.01802562, 1.17263135, 0.04612611, 0.09391609,-0.06509225,
  0.14236128, 0.9459922 ,-0.03307824, 0.03062795, 0.32103975]

qacc:
[ 2.98548164e+00, 2.78599360e-01,-4.44190575e-01,-2.47512911e+00,
 -3.10300164e+01,-1.74347329e-01, 1.11065345e+01, 5.00903141e+01,
 -7.36443984e-01, 1.74745916e+00,-7.66779174e+00, 1.47650650e+01,
 -1.30047053e+01,-2.80142951e+01,-1.50486830e+02, 3.26274204e+02,
 -1.55524636e-01, 6.73460329e-01,-7.52293131e-02,-1.85961270e+01,
  7.97345632e-01,-3.33903068e+01]

qfrc_actuator:
[-1.44842730e-05, 3.02859404e-04, 2.06501623e-05, 3.17395321e-05,
 -1.30719825e-03, 1.08538836e-02, 5.64185795e-03, 1.97161575e-03,
 -1.71918568e-05, 1.51237836e-04,-1.10216941e-04, 1.48206887e-05,
  4.85781931e-02, 2.21846001e-02, 0.00000000e+00,-1.92292025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21635577, -0.21623809, -0.00713492, -0.21623809,  0.21775533,
       -0.04241667, -0.00713492, -0.04241667,  1.5018776 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017257619294538853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97936807, -0.20141203,  0.01647339, -0.20138355,  0.97950661,
        0.00338736, -0.01681805,  0.        , -0.99985857])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12934156, -0.08241431,  0.1316789 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28489112, -7.2516236 ,  0.69540914, -7.2516236 ,  7.21885025,
       -0.68866442,  0.69540914, -0.68866442,  0.10360046,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3800895608779998e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86489039e-01,  5.91615261e-02, -1.52772019e-01,  5.84646022e-02,
        9.98248423e-01,  9.05408472e-03,  1.53040081e-01,  1.73472348e-18,
       -9.88219982e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11318821, -0.05460456,  0.29652063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14745363,  1.13943843, -0.13538795,  1.13943843,  1.27458925,
        1.06998601, -0.13538795,  1.06998601, 10.15256195,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003459342254950657
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10603507e-01, -8.41473143e-01, -1.76655057e-01, -9.16419609e-02,
       -1.51025694e-01,  9.84272823e-01, -8.54918598e-01,  5.18762171e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049932 , -0.03728731,  0.30478613])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.8542672 ,  7.12627024, -8.18726992,  7.12627024, 32.37444875,
       18.73135134, -8.18726992, 18.73135134, 27.1581967 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004766384297255344
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.3292772e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.3292772e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08508981, -0.11002325,  0.06198928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75454814e-05,-3.25308269e-05,-2.70877215e-05,-1.29289819e-05,
 -1.89495751e-03, 1.52128955e-02, 7.25044785e-03, 1.61616738e-03,
 -4.24415547e-06, 6.98020991e-06,-1.41429364e-05, 1.95874372e-05,
  5.68556689e-02, 2.11864911e-02, 4.35217679e-03,-7.87408500e-04,
 -4.46550479e-06, 5.16187450e-06,-9.80999743e+00,-6.49176448e-02,
 -9.17200675e-03,-5.55743566e-03]


--- Step 1343 ---
qpos:
[ 0.00984123, 0.00808187,-0.00559581, 0.03348915, 0.00483657,-0.00803818,
 -0.0124506 , 0.03719737, 0.01307239, 0.00589249,-0.0116956 , 0.03404694,
  0.82673708,-0.01799549, 1.17260481, 0.0461287 , 0.09392041,-0.06508405,
  0.14236038, 0.94599426,-0.03310269, 0.03060804, 0.32103304]

qacc:
[  1.88464415, -0.82375309,  5.34294179,-14.27443227, 30.25248125,
   5.34379671,-13.51931951,  9.34581192, -0.47298088, -0.82712275,
   0.99912702,  3.07251747,  9.50228533,  9.09256014,  9.23567574,
 -95.98888542, -0.12304407, -0.27407469,  0.1608356 ,  7.14115114,
  -0.37697578, 16.03021278]

qfrc_actuator:
[-3.89217975e-06, 3.39503492e-04, 3.16637440e-05, 8.70221789e-06,
 -1.33449332e-03, 1.09125223e-02, 5.65188512e-03, 1.94148949e-03,
 -1.99616291e-05, 9.42013098e-05,-1.09869353e-04, 2.42636755e-05,
  4.85773406e-02, 2.22007914e-02, 0.00000000e+00,-2.18318098e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21604672, -0.21595677, -0.00623359, -0.21595677,  0.21632589,
       -0.00967162, -0.00623359, -0.00967162,  0.55111066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016890678574708645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97938637, -0.20132816,  0.01641087, -0.2012999 ,  0.97952385,
        0.00337304, -0.01675392,  0.        , -0.99985964])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12934788, -0.08241341,  0.1316785 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28364939,   2.57025989,   6.81507979,   2.57025989,
        34.69598392, -10.33837112,   6.81507979, -10.33837112,
        11.18269408,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -6.08763742669525e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98647322,  0.0592243 , -0.15284984,  0.05852591,  0.9982447 ,
        0.00906834,  0.15311861,  0.        , -0.98820782])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11318637, -0.05459679,  0.29651951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15038886,  0.31277146, -1.10705399,  0.31277146,  2.97497595,
        0.51549317, -1.10705399,  0.51549317,  1.29602905,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003488830470774634
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51065059, -0.84143863, -0.17668335, -0.09166556, -0.15104446,
        0.98426775, -0.85488795,  0.51881268,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10499389, -0.03727404,  0.3047767 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.87486394, -6.10227929,  9.00138063, -6.10227929, 44.89069452,
       23.0602512 ,  9.00138063, 23.0602512 , 26.50803168,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047805331202149803
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.32238329e-13, -1.19747889e-13,  1.00000000e+00, -2.78100496e-26,
        1.00000000e+00,  1.19747889e-13, -1.00000000e+00,  0.00000000e+00,
       -2.32238329e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05209991, -0.06180464,  0.06198925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10782340e-05, 1.22652925e-05, 4.97146763e-07,-2.56229081e-05,
 -1.74418282e-03, 1.44074516e-02, 6.64810236e-03, 1.31559064e-03,
 -2.88184991e-06,-5.52903698e-05, 7.06833713e-07, 9.63092684e-06,
  5.97402887e-02, 2.32419556e-02, 9.01074161e-03,-1.25741136e-03,
 -2.50512309e-05, 7.42666065e-06,-9.80998717e+00,-6.49211532e-02,
 -9.17968169e-03,-5.55712689e-03]


--- Step 1344 ---
qpos:
[ 0.00984132, 0.00808353,-0.00559601, 0.03348885, 0.00484998,-0.00810035,
 -0.01246921, 0.03720928, 0.01307201, 0.00589385,-0.011696  , 0.03404713,
  0.82662946,-0.01794678, 1.17257489, 0.04612632, 0.09392434,-0.06507668,
  0.14236005, 0.94598799,-0.03311493, 0.03059159, 0.32105182]

qacc:
[  4.1651951 ,  1.02246802, -5.02908895, 11.94630889, 15.23523856,
   1.39505846, -9.53596219,  8.86758632, -0.26118299, -0.27305611,
  -0.22321934,  2.45281664,  8.35934828,  9.91919081,  9.91176709,
 -42.18288935, -0.10032543, -0.20497918,  0.14191384,  5.80200014,
  -0.62269458, 13.64241947]

qfrc_actuator:
[ 2.02422906e-05, 3.60824515e-04, 3.83734178e-05, 3.09755993e-05,
 -1.35761824e-03, 1.09875824e-02, 5.64723833e-03, 1.88312724e-03,
 -2.14487561e-05, 7.73393422e-05,-1.09636815e-04, 2.97545845e-05,
  4.85641645e-02, 2.21870973e-02, 0.00000000e+00,-2.09907445e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.15347746e-01, -2.15347444e-01,  3.60654411e-04, -2.15347444e-01,
        2.15348065e-01,  1.90953297e-04,  3.60654411e-04,  1.90953297e-04,
        3.29366327e-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: -0.0001602608604834006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97920497, -0.20221384,  0.01634613, -0.20218567,  0.97934139,
        0.00337514, -0.01669094,  0.        , -0.9998607 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1293566 , -0.08242407,  0.13167839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28335632,  2.6766113 ,  6.77370144,  2.6766113 , 23.55890898,
       -6.43124422,  6.77370144, -6.43124422,  9.8246465 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.197442728009111e-07
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98646431,  0.0592302 , -0.15290504,  0.05853123,  0.99824435,
        0.00907252,  0.15317396,  0.        , -0.98819924])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11318529, -0.05459045,  0.29651885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15218013, -0.46383396,  1.0546929 , -0.46383396,  5.94127053,
        2.10615123,  1.0546929 ,  2.10615123,  2.07842555,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035066375936794187
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51064976, -0.84143272, -0.17671391, -0.09168178, -0.15107037,
        0.98426226, -0.8548867 ,  0.51881473,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10499435, -0.03726398,  0.30477112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.92312148,  5.50970196, -9.43174254,  5.50970196, 59.13539479,
       28.16396392, -9.43174254, 28.16396392, 27.37554759,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004813329206331124
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.40599885e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.40599885e-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([ 0.05210998, -0.06179864,  0.06198918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.44511240e-05, 2.71405060e-05, 8.40480461e-06, 2.23158733e-05,
 -1.94082672e-03, 1.43634610e-02, 6.69215709e-03, 1.26899017e-03,
 -1.58369486e-06,-4.72819635e-05,-1.07838226e-05, 3.33034588e-06,
  5.83008331e-02, 2.22812666e-02, 1.04863004e-02,-2.96776554e-04,
 -6.34879433e-06, 2.74506597e-06,-9.80999409e+00,-6.49257069e-02,
 -9.17605321e-03,-5.55662623e-03]


--- Step 1345 ---
qpos:
[ 0.00984169, 0.00808514,-0.00559576, 0.03348917, 0.0048635 ,-0.00817815,
 -0.01250001, 0.03721366, 0.01307196, 0.00589507,-0.0116965 , 0.03404702,
  0.82653303,-0.01790981, 1.17266783, 0.04610213, 0.0939331 ,-0.06507361,
  0.14235844, 0.9459709 ,-0.03307961, 0.03059764, 0.32110523]

qacc:
[ 2.54850864e+00,-2.70471574e-02,-2.58630728e+00, 1.25513003e+01,
  7.90168119e-01,-2.08272210e+00, 9.23557874e+00,-1.08552174e+02,
  2.90156146e+00,-5.60976843e-01, 3.03787068e+00,-8.09769303e+00,
  1.05291637e+01,-1.75163323e+01, 2.46915941e+02,-6.01442362e+02,
  1.20978505e+00,-1.07901709e+00,-3.18055731e-01, 2.54003210e+01,
  2.60478886e+00, 1.92139717e+01]

qfrc_actuator:
[ 3.44037170e-05, 3.55090594e-04, 6.02190061e-05, 6.19661925e-05,
 -1.34239935e-03, 1.10416636e-02, 5.65328642e-03, 1.84358194e-03,
 -4.41657728e-06, 8.46580832e-05,-1.09336734e-04, 1.51497792e-05,
  4.85693158e-02, 2.20949828e-02, 0.00000000e+00,-1.92040920e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21509565,  0.21213162, -0.03558528,  0.21213162,  0.24416173,
        0.17326929, -0.03558528,  0.17326929,  1.24799185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015701271264357463
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97921582, -0.20216669,  0.01627888, -0.20213876,  0.97935113,
        0.00336044, -0.01662211,  0.        , -0.99986184])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12936349, -0.08242357,  0.13167808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15326574, -0.61773341,  0.97387232, -0.61773341,  7.27089368,
        3.88045032,  0.97387232,  3.88045032,  3.61466007,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035173613585778233
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10607956e-01, -8.41452993e-01, -1.76738156e-01, -9.16872582e-02,
       -1.51095409e-01,  9.84257905e-01, -8.54911084e-01,  5.18774554e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10499462, -0.0372568 ,  0.30476818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.95206923,  5.42554079, -9.51374414,  5.42554079, 71.55824632,
       34.5627632 , -9.51374414, 34.5627632 , 30.66267724,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048327683561932844
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29728169e-13, -2.33317671e-13,  1.00000000e+00, -5.35996414e-26,
        1.00000000e+00,  2.33317671e-13, -1.00000000e+00,  0.00000000e+00,
       -2.29728169e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05211758, -0.06179391,  0.06198913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48612699e-05, 1.20868950e-05, 2.92416747e-05, 3.28751039e-05,
 -2.01289613e-03, 1.45808529e-02, 6.81516470e-03, 1.24923641e-03,
  1.69748687e-05,-2.12527954e-05,-1.06913525e-05,-1.69418515e-05,
  5.69458966e-02, 2.12585675e-02, 1.06564001e-02, 1.30620085e-04,
 -3.50026972e-06, 5.06427744e-06,-9.80999643e+00,-6.49286471e-02,
 -9.17559317e-03,-5.55572785e-03]


--- Step 1346 ---
qpos:
[ 0.00984154, 0.0080866 ,-0.00559514, 0.03348953, 0.00487977,-0.00826176,
 -0.01253224, 0.0372185 , 0.01307211, 0.00589599,-0.01169667, 0.03404708,
  0.82647221,-0.01784496, 1.1727932 , 0.04609555, 0.09394036,-0.06507008,
  0.14235771, 0.94594671,-0.03304217, 0.03059889, 0.32118024]

qacc:
[-4.57326108,-1.16746977, 3.70921793,-3.49422166,24.16866298,-2.78747951,
 -3.22195707,17.84213551, 1.8158344 ,-0.96814383, 2.15637799, 0.42758987,
  8.39828335,18.55374963,-5.28944894,88.2047208 ,-0.37648   , 0.11822251,
  0.21951692,-0.21709732,-2.86181486,11.30643628]

qfrc_actuator:
[ 7.07228490e-06, 3.33277384e-04, 7.29652874e-05, 6.23128702e-05,
 -1.35648874e-03, 1.10968609e-02, 5.65879972e-03, 1.85812633e-03,
  5.62631050e-06, 7.08837023e-05,-9.11531936e-05, 2.43674013e-05,
  4.85912517e-02, 2.20142256e-02, 0.00000000e+00,-1.82594842e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21513027, -0.2141054 , -0.02097411, -0.2141054 ,  0.21571228,
       -0.00594122, -0.02097411, -0.00594122,  0.2757787 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001574632354072109
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79247086e-01, -2.02023357e-01,  1.61773753e-02, -2.01995795e-01,
        9.79380704e-01,  3.33701457e-03, -1.65179641e-02,  4.33680869e-19,
       -9.99863569e-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([ 0.12937308, -0.08242178,  0.13167785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28428424,  2.6110504 ,  6.80023622,  2.6110504 ,  9.586164  ,
       -0.88384049,  6.80023622, -0.88384049,  7.62364775,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0746870379746798e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98647344,  0.0590895 , -0.15290056,  0.05839226,  0.99825269,
        0.00905063,  0.1531682 ,  0.        , -0.98820013])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11319015, -0.05458187,  0.2965219 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14950833, -0.36327576, -1.09059622, -0.36327576,  2.51789213,
       -0.45580633, -1.09059622, -0.45580633,  1.30133664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003480025010658693
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10522929e-01, -8.41499383e-01, -1.76762916e-01, -9.16852469e-02,
       -1.51125590e-01,  9.84253459e-01, -8.54962078e-01,  5.18690510e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500012, -0.03725756,  0.30477689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.9485991 ,  4.95928158, -9.76101165,  4.95928158, 43.61413106,
       16.59639151, -9.76101165, 16.59639151, 19.3807352 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048304472039814583
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.23210474e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.23210474e-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([ 0.05212277, -0.0617902 ,  0.06198914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69117802e-05,-7.66308669e-06, 1.99586242e-05, 2.51065450e-06,
 -2.03219252e-03, 1.54209198e-02, 7.43161164e-03, 1.64050868e-03,
  1.05224570e-05,-2.86260413e-05, 1.18815013e-05, 7.60512969e-06,
  5.64072238e-02, 2.17637143e-02, 4.51200339e-03, 1.31557001e-03,
 -2.99637642e-05, 1.55835502e-05,-9.80998770e+00,-6.49247289e-02,
 -9.18362176e-03,-5.55427389e-03]


--- Step 1347 ---
qpos:
[ 0.00984141, 0.00808741,-0.00559413, 0.03349064, 0.00488971,-0.00833232,
 -0.01255446, 0.03722842, 0.01307169, 0.00589658,-0.01169636, 0.03404793,
  0.82635266,-0.01782041, 1.17284908, 0.04610928, 0.09394608,-0.06506309,
  0.14235665, 0.94594418,-0.03305097, 0.03058444, 0.32118817]

qacc:
[ 1.90668011e-01,-4.08788366e-01,-2.99342296e+00, 1.59433847e+01,
 -5.52255477e+01,-1.52220456e-01, 4.27692881e+00, 5.79122178e+01,
 -4.99665634e+00,-1.59386528e-01,-3.37975072e+00, 1.65086305e+01,
 -1.41525595e+01,-2.65645666e+01,-1.64163329e+02, 4.25128459e+02,
 -3.83102418e-01, 8.63986557e-01,-8.28590853e-02,-2.30055745e+01,
  7.75900652e-01,-3.61691428e+01]

qfrc_actuator:
[ 8.79909672e-06, 2.66437795e-04, 8.01361553e-05, 9.78575987e-05,
 -1.39086101e-03, 1.11846579e-02, 5.65810132e-03, 1.84688739e-03,
 -2.40363392e-05, 6.24368459e-05,-6.26137168e-05, 6.52816788e-05,
  4.85993536e-02, 2.19585992e-02, 0.00000000e+00,-1.91922689e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.15086516e-01, -2.15085492e-01,  6.63757356e-04, -2.15085492e-01,
        2.15087413e-01,  2.90449184e-04,  6.63757356e-04,  2.90449184e-04,
        3.09204352e-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: -0.00015689367889246003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79282169e-01, -2.01861862e-01,  1.60692987e-02, -2.01834690e-01,
        9.79414003e-01,  3.31195852e-03, -1.64070542e-02, -4.33680869e-19,
       -9.99865395e-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([ 0.12938308, -0.08241983,  0.13167771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28700263, -7.24126384,  0.815172  , -7.24126384,  7.1961506 ,
       -0.80704875,  0.815172  , -0.80704875,  0.11789859,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.12418409384479e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86487614e-01,  5.89476988e-02, -1.52863852e-01,  5.82524715e-02,
        9.98261072e-01,  9.02666899e-03,  1.53130134e-01,  1.73472348e-18,
       -9.88206032e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11319438, -0.05457975,  0.29652454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14650525,  1.13323605, -0.17392627,  1.13323605,  1.2086461 ,
        0.40488565, -0.17392627,  0.40488565,  3.78458292,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000344973102959889
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10399351e-01, -8.41574942e-01, -1.76760059e-01, -9.16615246e-02,
       -1.51136639e-01,  9.84253972e-01, -8.55038401e-01,  5.18564685e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500459, -0.03726055,  0.30478487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.96416767, -6.26320002,  8.9991832 , -6.26320002, 20.21341393,
        6.43723747,  8.9991832 ,  6.43723747, 15.44431937,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004840841658379641
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29345040e-13, -1.14672520e-13,  1.00000000e+00, -2.62995737e-26,
        1.00000000e+00,  1.14672520e-13, -1.00000000e+00,  0.00000000e+00,
       -2.29345040e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08513683, -0.10998692,  0.06198911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.51152156e-07,-6.69644699e-05, 8.10908521e-06, 3.59514701e-05,
 -2.20458550e-03, 1.58023772e-02, 7.50352273e-03, 1.60645294e-03,
 -2.93716052e-05,-2.17016654e-05, 2.43439553e-05, 4.02444592e-05,
  5.46342112e-02, 2.03121962e-02, 2.88852028e-03, 3.41289060e-04,
 -5.01789683e-05, 2.95618678e-05,-9.80998263e+00,-6.49220283e-02,
 -9.18733460e-03,-5.55213422e-03]


--- Step 1348 ---
qpos:
[ 0.00984165, 0.00808758,-0.00559295, 0.03349219, 0.00490247,-0.00840035,
 -0.01257747, 0.03723844, 0.01307126, 0.00589716,-0.01169579, 0.03404889,
  0.82626089,-0.01777344, 1.17288476, 0.04611335, 0.09395092,-0.06505659,
  0.14235635, 0.94593397,-0.03305125, 0.03057132, 0.32121945]

qacc:
[  3.23073015, -0.39166923, -1.66457008,  9.38535216, 24.52040452,
   5.69199077,-15.87879377, 16.86722185, -0.05644899, -0.49813178,
   1.27775693,  0.2797049 ,  6.57945295, 14.86661705, -0.6062333 ,
 -41.15676172, -0.21990282, -0.12401511,  0.19055822,  3.75881779,
  -1.00684551, 12.43121088]

qfrc_actuator:
[ 2.76281724e-05, 2.26403757e-04, 8.37957406e-05, 1.18284261e-04,
 -1.39390822e-03, 1.12754888e-02, 5.66056865e-03, 1.83312436e-03,
 -2.35710759e-05, 7.50804883e-05,-4.59091820e-05, 7.12643781e-05,
  4.86063643e-02, 2.19395907e-02, 0.00000000e+00,-1.97512193e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21497673, -0.21497417,  0.00104892, -0.21497417,  0.21498086,
        0.00084786,  0.00104892,  0.00084786,  0.3887454 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000155454518228402
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97921047, -0.20221592,  0.01598698, -0.20218897,  0.97934096,
        0.00330102, -0.01632422,  0.        , -0.99986675])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.129392  , -0.08242413,  0.13167761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2868302 ,  2.45210063,  6.86185812,  2.45210063, 13.42503476,
       -2.19350138,  6.86185812, -2.19350138,  8.07068291,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0734676994388312e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86483742e-01,  5.89287446e-02, -1.52896144e-01,  5.82334471e-02,
        9.98262192e-01,  9.02566268e-03,  1.53162310e-01, -1.73472348e-18,
       -9.88201046e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11319492, -0.05457436,  0.29652489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14711964,  0.25557516, -1.11828655,  0.25557516,  2.58842447,
        0.32939833, -1.11828655,  0.32939833,  1.22240091,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003455962147631024
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10378136e-01, -8.41583320e-01, -1.76781432e-01, -9.16691548e-02,
       -1.51157007e-01,  9.84250133e-01, -8.55050247e-01,  5.18545153e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500693, -0.03725389,  0.30478239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.97196797, -6.13052421,  9.09949197, -6.13052421, 42.29764082,
       21.10478217,  9.09949197, 21.10478217, 25.19071541,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048460309716838907
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.84675686e-07, -5.84675543e-07,  1.00000000e+00,  3.41845574e-13,
        1.00000000e+00,  5.84675543e-07, -1.00000000e+00,  0.00000000e+00,
        5.84675686e-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([ 0.05255301, -0.06239078,  0.0619891 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88271641e-05,-7.43083202e-05,-7.95396730e-06, 1.85308341e-05,
 -1.89096637e-03, 1.52438645e-02, 7.00681793e-03, 1.33870060e-03,
 -3.77472072e-07, 7.22252391e-06, 1.66009538e-05, 6.67545848e-06,
  5.75778116e-02, 2.23083132e-02, 6.36173630e-03,-7.30691935e-04,
 -1.71784371e-06, 1.60812899e-06,-9.80999780e+00,-6.49209398e-02,
 -9.17944862e-03,-5.55092326e-03]


--- Step 1349 ---
qpos:
[ 0.00984142, 0.00808739,-0.00559182, 0.0334936 , 0.00491675,-0.00847064,
 -0.01260193, 0.03724851, 0.01307084, 0.00589762,-0.01169463, 0.03404921,
  0.82619415,-0.01770571, 1.17291227, 0.04611345, 0.09395506,-0.06505047,
  0.14235667, 0.94591743,-0.03304451, 0.03055899, 0.32127003]

qacc:
[-4.08684643e+00,-6.32360477e-01, 2.14696829e+00,-4.16422397e+00,
  1.33446124e+01, 1.13404195e+00,-8.69770183e+00, 1.37862105e+01,
  9.66999232e-02,-3.08828193e+00, 1.34479675e+01,-2.52535602e+01,
  5.40479589e+00, 1.44165968e+01, 1.09417217e-02,-1.74706464e+01,
 -1.77150925e-01,-9.48044078e-02, 1.55943805e-01, 3.04936244e+00,
 -9.72610730e-01, 1.02637457e+01]

qfrc_actuator:
[ 3.10575904e-06, 2.20451124e-04, 8.54302488e-05, 1.11908932e-04,
 -1.40252830e-03, 1.13734280e-02, 5.70723342e-03, 1.83856238e-03,
 -2.31166484e-05, 6.46880873e-05,-1.85164322e-05, 3.88968384e-05,
  4.86123740e-02, 2.18781875e-02, 0.00000000e+00,-2.02224824e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21490306, -0.21488594,  0.00271296, -0.21488594,  0.2149169 ,
        0.00109568,  0.00271296,  0.00109568,  0.30168919,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015448064138222565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79218486e-01, -2.02183329e-01,  1.59077850e-02, -2.02156655e-01,
        9.79347692e-01,  3.28411345e-03, -1.62432455e-02,  4.33680869e-19,
       -9.99868070e-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([ 0.12939986, -0.08242378,  0.13167735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28682666,  2.49660964,  6.84578578,  2.49660964, 12.43662036,
       -1.87809333,  6.84578578, -1.87809333,  7.97175401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.072412884902162e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98648425,  0.05886441, -0.15291761,  0.05816968,  0.99826599,
        0.00901704,  0.15318324,  0.        , -0.9881978 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11319548, -0.05457024,  0.29652525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034585408490455
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10318237e-01, -8.41616720e-01, -1.76795345e-01, -9.16658428e-02,
       -1.51175287e-01,  9.84247634e-01, -8.55086353e-01,  5.18485612e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500853, -0.03724957,  0.30478182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.99011038,  5.49820138, -9.51589763,  5.49820138, 74.00026019,
       36.40670657, -9.51589763, 36.40670657, 32.02558304,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004858052916846938
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.47193977e-07, -2.47194007e-07,  1.00000000e+00,  6.11048695e-14,
        1.00000000e+00,  2.47194007e-07, -1.00000000e+00,  1.26217745e-29,
        2.47193977e-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([ 0.05255988, -0.06238615,  0.06198908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40144339e-05,-4.83727930e-05,-1.40735865e-05,-9.48137527e-06,
 -2.04035155e-03, 1.52176358e-02, 7.09402288e-03, 1.33995811e-03,
  4.47881706e-07,-2.66971914e-06, 3.11442968e-05,-3.13585195e-05,
  5.61948275e-02, 2.11247901e-02, 7.37097258e-03,-2.95081372e-04,
 -6.60781547e-06, 7.32310464e-06,-9.80999664e+00,-6.49224271e-02,
 -9.18068347e-03,-5.54960387e-03]


--- Step 1350 ---
qpos:
[ 0.00984021, 0.00808696,-0.00559075, 0.03349491, 0.00492553,-0.00852924,
 -0.01261593, 0.03726344, 0.01307009, 0.00589791,-0.01169339, 0.03404919,
  0.82606487,-0.01767842, 1.17287733, 0.04612527, 0.0939589 ,-0.06504187,
  0.1423567 , 0.94592086,-0.03307392, 0.03053687, 0.32125898]

qacc:
[-8.61424517e+00,-3.51196538e-01, 1.24481637e+00,-2.76374578e+00,
 -4.79355113e+01,-3.65426477e+00, 1.50866880e+01, 4.35867410e+01,
 -2.95049172e+00,-1.21165241e+00, 5.49796827e+00,-1.16283329e+01,
 -1.78628338e+01,-2.30735461e+01,-1.27568837e+02, 3.12685376e+02,
 -7.48268215e-02, 6.21271288e-01,-7.43700597e-02,-1.74030712e+01,
  1.88511150e+00,-3.30702483e+01]

qfrc_actuator:
[-4.67414556e-05, 2.17171768e-04, 8.59829482e-05, 1.07599367e-04,
 -1.41433171e-03, 1.14261649e-02, 5.76363253e-03, 1.80225371e-03,
 -4.04344947e-05, 4.05930102e-05,-2.06409109e-05, 1.97265855e-05,
  4.86170319e-02, 2.18373079e-02, 0.00000000e+00,-1.97716252e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21484387, -0.21269705,  0.03029609, -0.21269705,  0.22042973,
        0.03921612,  0.03029609,  0.03921612,  0.49016497,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015369317991204617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79154078e-01, -2.02501600e-01,  1.58238155e-02, -2.02475161e-01,
        9.79281932e-01,  3.27214039e-03, -1.61585903e-02,  8.67361738e-19,
       -9.99869441e-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([ 0.12940885, -0.08242764,  0.13167727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28694117, -7.23805445,  0.84266204, -7.23805445,  7.19024804,
       -0.83054665,  0.84266204, -0.83054665,  0.15295204,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1062461145410058e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98648829,  0.0587626 , -0.15293071,  0.05806896,  0.99827199,
        0.00900216,  0.15319543,  0.        , -0.98819591])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11319601, -0.05456727,  0.29652559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1474835 ,  1.09300296, -0.34937506,  1.09300296,  1.38359791,
        0.73867247, -0.34937506,  0.73867247,  3.45838457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003459644321456076
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51022638, -0.84167179, -0.1767983 , -0.09165092, -0.15118779,
        0.9842471 , -0.85514277,  0.51839256,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500946, -0.03724727,  0.30478247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.00578313, -6.47410185,  8.90018357, -6.47410185, 67.54593385,
       41.12799378,  8.90018357, 41.12799378, 40.92278638,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004868385086182835
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01939018e-06, -1.01939021e-06,  1.00000000e+00, -1.03915636e-12,
        1.00000000e+00,  1.01939021e-06, -1.00000000e+00, -2.01948392e-28,
       -1.01939018e-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([ 0.08476676, -0.109383  ,  0.06198905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.05481534e-05,-3.36603049e-05,-1.15137766e-05,-7.05808869e-06,
 -2.12859506e-03, 1.53865902e-02, 7.22363365e-03, 1.30075136e-03,
 -1.73033157e-05,-2.05304856e-05, 5.51857939e-08,-1.88218255e-05,
  5.49485852e-02, 2.00449388e-02, 7.78001796e-03,-5.09809527e-05,
 -1.72099638e-05, 1.59347060e-05,-9.80999416e+00,-6.49231072e-02,
 -9.18305015e-03,-5.54794092e-03]


--- Step 1351 ---
qpos:
[ 0.00983841, 0.00808645,-0.00559003, 0.03349582, 0.00493683,-0.00858675,
 -0.01263073, 0.03727822, 0.01306948, 0.00589806,-0.01169246, 0.0340493 ,
  0.82596164,-0.01763127, 1.17283479, 0.0461309 , 0.09396232,-0.06503418,
  0.14235725, 0.9459162 ,-0.03309105, 0.03051842, 0.32127272]

qacc:
[ -5.1726898 ,  0.05367911,  1.40693617, -7.87960318, 21.93657321,
   3.28308887, -8.99526301,  6.70400151,  1.25334471,  1.00706429,
  -4.46333815,  7.54866624,  6.68010601, 12.52381032,  7.49326692,
 -42.58895329, -0.1020686 , -0.22575564,  0.13007008,  5.8874014 ,
  -0.51999022, 13.27048107]

qfrc_actuator:
[-7.55761191e-05, 2.15523147e-04, 6.81676879e-05, 8.67974128e-05,
 -1.43937601e-03, 1.14564768e-02, 5.77904824e-03, 1.78932927e-03,
 -3.25691072e-05, 2.61187343e-05,-4.02271838e-05, 2.61983671e-05,
  4.86331826e-02, 2.18438735e-02, 0.00000000e+00,-1.74885006e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21478294, -0.21307777,  0.02701061, -0.21307777,  0.21820577,
        0.02700161,  0.02701061,  0.02700161,  0.42778973,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001528778408641942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79160798e-01, -2.02473499e-01,  1.57674766e-02, -2.02447252e-01,
        9.79287742e-01,  3.26001850e-03, -1.61009639e-02,  4.33680869e-19,
       -9.99870371e-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([ 0.12941505, -0.08242739,  0.1316769 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2850296 ,  2.548848  ,  6.8245901 ,  2.548848  , 16.42862354,
       -3.41494959,  6.8245901 , -3.41494959,  8.56044501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4407257272166327e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86477691e-01,  5.87757749e-02, -1.52994033e-01,  5.80814013e-02,
        9.98271210e-01,  9.00791563e-03,  1.53258985e-01,  1.73472348e-18,
       -9.88186057e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11319436, -0.05456109,  0.29652457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15022908, -0.99165414,  0.58279413, -0.99165414,  1.84688763,
        1.1854003 ,  0.58279413,  1.1854003 ,  3.16724855,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003487235173063563
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51023139, -0.84166245, -0.17682831, -0.09166788, -0.1512126 ,
        0.98424171, -0.85513796,  0.51840049,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500929, -0.03723654,  0.30477542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.03449498, -6.21041569,  9.12089997, -6.21041569, 59.50596923,
       33.00419972,  9.12089997, 33.00419972, 33.50703611,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004887186543848648
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.03420779e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.03420779e-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([ 0.05215775, -0.06176753,  0.06198901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.02857897e-05,-2.31660827e-05,-2.64377142e-05,-2.27820988e-05,
 -1.87841476e-03, 1.48343853e-02, 6.71720317e-03, 1.04482032e-03,
  7.36936264e-06,-2.67836816e-05,-2.44894906e-05, 5.22476884e-06,
  5.80913506e-02, 2.20728421e-02, 1.09019314e-02,-4.09325744e-04,
 -9.33148396e-06, 3.75053986e-06,-9.80999197e+00,-6.49246383e-02,
 -9.18568587e-03,-5.54729224e-03]


--- Step 1352 ---
qpos:
[ 0.00983697, 0.0080858 ,-0.00558977, 0.03349579, 0.00494947,-0.00864646,
 -0.01264793, 0.03729246, 0.01306896, 0.00589829,-0.01169214, 0.03404914,
  0.82588219,-0.01756584, 1.17278904, 0.04613217, 0.09396545,-0.06502717,
  0.14235821, 0.9459047 ,-0.03309791, 0.0305027 , 0.32130736]

qacc:
[  3.12761953, -0.80789647,  6.53875962,-21.79903188, 11.61301773,
   2.68803451,-11.63603164,  8.05077312,  0.84773156,  1.241123  ,
  -3.11558726, -0.74053252,  5.91118838, 11.77582909,  8.43433917,
 -36.36533997, -0.07545432, -0.1744945 ,  0.10270586,  4.86381848,
  -0.59934072, 11.18580881]

qfrc_actuator:
[-5.62988154e-05, 1.97029940e-04, 3.96490296e-05, 3.86950590e-05,
 -1.44267959e-03, 1.15147649e-02, 5.77694079e-03, 1.81126946e-03,
 -2.76914419e-05, 3.52100696e-05,-6.99088341e-05, 1.21967963e-05,
  4.86505086e-02, 2.17815365e-02, 0.00000000e+00,-1.91218523e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21476698, -0.21355688,  0.02276655, -0.21355688,  0.21594499,
        0.01105013,  0.02276655,  0.01105013,  0.31842048,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015266353524912422
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79004255e-01, -2.03233631e-01,  1.57085736e-02, -2.03207474e-01,
        9.79130273e-01,  3.26055740e-03, -1.60433949e-02,  4.33680869e-19,
       -9.99871296e-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([ 0.1294233 , -0.08243653,  0.13167731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28412131,  2.64486773,  6.78698003,  2.64486773, 15.88705661,
       -3.35254058,  6.78698003, -3.35254058,  8.59059729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.765603302094346e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86472685e-01,  5.87418836e-02, -1.53039318e-01,  5.80474998e-02,
        9.98273205e-01,  9.00536826e-03,  1.53304043e-01, -1.73472348e-18,
       -9.88179068e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11319328, -0.05455619,  0.29652392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15219412, -0.55318041,  1.01071397, -0.55318041,  7.35403879,
        3.39437177,  1.01071397,  3.39437177,  3.00998971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035067760570130343
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10196773e-01, -8.41678549e-01, -1.76851559e-01, -9.16741045e-02,
       -1.51236016e-01,  9.84237535e-01, -8.55157945e-01,  5.18367522e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500893, -0.03722868,  0.30477119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.05596902,  5.47702037, -9.6039939 ,  5.47702037, 71.1152606 ,
       34.25095507, -9.6039939 , 34.25095507, 30.58879886,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004901142604443881
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.1680108e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.1680108e-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([ 0.05216525, -0.06176273,  0.06198898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.84090692e-05,-3.78820844e-05,-3.73498380e-05,-5.04540558e-05,
 -2.00758537e-03, 1.48403433e-02, 6.75565753e-03, 1.07508146e-03,
  5.08000264e-06,-1.07367864e-05,-3.80634780e-05,-1.58980543e-05,
  5.68064057e-02, 2.10168183e-02, 1.12839299e-02,-2.62222441e-04,
 -3.66523456e-06, 4.81713030e-06,-9.80999546e+00,-6.49282069e-02,
 -9.18467913e-03,-5.54649573e-03]


--- Step 1353 ---
qpos:
[ 0.00983577, 0.00808503,-0.00558963, 0.03349516, 0.00496322,-0.00870965,
 -0.01266769, 0.03730616, 0.01306851, 0.0058987 ,-0.0116923 , 0.03404879,
  0.82582396,-0.01748415, 1.17273731, 0.04612733, 0.09396837,-0.06502072,
  0.14235946, 0.94588745,-0.03309612, 0.03048909, 0.32135961]

qacc:
[  2.12131994, -1.09863391,  6.20082185,-16.32500473,  9.75564609,
   1.41609589, -9.40547027,  6.50189735,  0.53085157,  1.15797433,
  -2.96433166,  0.26573362,  5.31431038, 10.42593474,  9.64615673,
 -46.60505118, -0.05108109, -0.13602887,  0.07369396,  4.06405975,
  -0.5962328 ,  9.42007357]

qfrc_actuator:
[-4.43704809e-05, 2.04026631e-04, 4.04658483e-05, 1.04036536e-05,
 -1.43276279e-03, 1.15749463e-02, 5.78399471e-03, 1.83680223e-03,
 -2.46191314e-05, 5.82808995e-05,-8.74763898e-05, 4.02549508e-06,
  4.86571549e-02, 2.17069942e-02, 0.00000000e+00,-2.25662296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21476511, -0.21391045,  0.01914079, -0.21391045,  0.21545263,
        0.00768347,  0.01914079,  0.00768347,  0.30063278,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015263842856024466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97899836, -0.20326674,  0.01564714, -0.20324079,  0.9791234 ,
        0.00324836, -0.01598076,  0.        , -0.9998723 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12943011, -0.08243698,  0.13167702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2837184 ,  2.72074758,  6.75648476,  2.72074758, 16.79599709,
       -3.83046957,  6.75648476, -3.83046957,  8.82619813,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.751724890594461e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86472284e-01,  5.86682791e-02, -1.53070134e-01,  5.79744904e-02,
        9.98277533e-01,  8.99585642e-03,  1.53334247e-01,  1.73472348e-18,
       -9.88174382e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11319266, -0.05455245,  0.29652354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15363119, -0.65202831,  0.95169533, -0.65202831,  8.35453061,
        4.93350141,  0.95169533,  4.93350141,  4.5336862 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035209598423244486
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10128658e-01, -8.41716737e-01, -1.76866299e-01, -9.16697515e-02,
       -1.51255890e-01,  9.84234887e-01, -8.55199047e-01,  5.18299711e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500828, -0.03722323,  0.30476899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.06144483,  5.35127481, -9.68087907,  5.35127481, 86.40774755,
       41.64898343, -9.68087907, 41.64898343, 34.08364709,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004904687005958669
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13179804e-13,  5.30530330e-14,  1.00000000e+00,  6.00453185e-27,
        1.00000000e+00, -5.30530330e-14, -1.00000000e+00,  0.00000000e+00,
       -1.13179804e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05217078, -0.06175895,  0.06198897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24450035e-05,-2.40330255e-05,-1.33488286e-05,-3.21885123e-05,
 -2.06439089e-03, 1.50131274e-02, 6.88356111e-03, 1.12699102e-03,
  3.21616462e-06, 8.51169201e-06,-2.50303865e-05,-1.02589351e-05,
  5.56241661e-02, 2.00268178e-02, 1.14449590e-02,-3.88880011e-04,
 -7.68100103e-06, 1.00736979e-05,-9.80999594e+00,-6.49304414e-02,
 -9.18571469e-03,-5.54534781e-03]


--- Step 1354 ---
qpos:
[ 0.00983507, 0.00808423,-0.00558988, 0.03349489, 0.00497795,-0.00877762,
 -0.01268997, 0.03731933, 0.01306845, 0.00589911,-0.01169265, 0.0340487 ,
  0.82578477,-0.01738777, 1.17268829, 0.04612053, 0.09397115,-0.06501466,
  0.14236093, 0.94586527,-0.03308709, 0.03047699, 0.32142695]

qacc:
[  4.35287471,  1.81038097, -8.04831585, 14.98518602,  8.54785118,
  -0.36142592, -5.69905095,  4.26602997,  3.38452125,  1.05938833,
  -4.88054737,  9.6370017 ,  4.57121121,  9.67059373,  9.93034674,
 -28.9081759 , -0.03708697, -0.10059753,  0.05466181,  3.35663687,
  -0.62697805,  8.06503526]

qfrc_actuator:
[-1.91261047e-05, 2.08611924e-04, 2.32130750e-05, 2.95468082e-05,
 -1.43298563e-03, 1.16029105e-02, 5.79767131e-03, 1.84697741e-03,
 -4.88056291e-06, 5.40926583e-05,-9.76757646e-05, 1.71304084e-05,
  4.86620927e-02, 2.16375901e-02, 0.00000000e+00,-2.24464763e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21476534, -0.21404645,  0.01755755, -0.21404645,  0.21524534,
        0.00585176,  0.01755755,  0.00585176,  0.28610497,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001526414639491328
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97898686, -0.20332738,  0.01557915, -0.20330164,  0.97911081,
        0.00323525, -0.01591153,  0.        , -0.9998734 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12943748, -0.08243775,  0.13167682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2835599 ,  2.75838215,  6.74103647,  2.75838215, 16.64315767,
       -3.82987803,  6.74103647, -3.82987803,  8.8507176 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.099212390605575e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9864757 ,  0.05856122, -0.15308912,  0.05786854,  0.99828382,
        0.0089805 ,  0.1533523 ,  0.        , -0.98817158])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11319241, -0.05454975,  0.29652339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003531425265735937
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10032257e-01, -8.41773662e-01, -1.76873399e-01, -9.16562267e-02,
       -1.51272388e-01,  9.84233611e-01, -8.55257992e-01,  5.18202438e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500723, -0.03721972,  0.30476829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004900126760765261
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13285133e-13, -6.01827270e-14,  1.00000000e+00, -6.81780823e-27,
        1.00000000e+00,  6.01827270e-14, -1.00000000e+00,  0.00000000e+00,
       -1.13285133e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05217476, -0.06175599,  0.06198898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55948692e-05,-1.29549739e-05,-2.49654615e-05, 1.70274971e-05,
 -2.12060962e-03, 1.52173626e-02, 7.02646073e-03, 1.16503816e-03,
  1.98354803e-05,-5.05112823e-06,-1.18820070e-05, 1.24039621e-05,
  5.45678974e-02, 1.91427404e-02, 1.17456032e-02,-7.07916492e-05,
 -1.72456722e-05, 1.76520231e-05,-9.80999459e+00,-6.49315539e-02,
 -9.18800863e-03,-5.54388352e-03]


--- Step 1355 ---
qpos:
[ 0.00983502, 0.00808325,-0.0055903 , 0.03349486, 0.00499334,-0.00885145,
 -0.0127148 , 0.03733192, 0.01306897, 0.00589994,-0.01169388, 0.03404875,
  0.82576238,-0.01727836, 1.17264764, 0.04611464, 0.09397381,-0.06500891,
  0.14236256, 0.9458389 ,-0.03307202, 0.03046595, 0.32150714]

qacc:
[  5.73004768,  0.69620709, -3.83467356,  8.31310211,  5.81192044,
  -1.84607047, -2.24500457,  0.60845433,  5.08242208,  3.32244865,
 -11.69141332, 15.41102116,  3.87983973,  8.78022339,  9.65018983,
 -15.72660492, -0.02686404, -0.07393834,  0.03777303,  2.76351878,
  -0.61665231,  6.85799156]

qfrc_actuator:
[ 1.37556623e-05, 1.93946053e-04, 1.31997175e-05, 4.09222755e-05,
 -1.45735188e-03, 1.16497385e-02, 5.81629956e-03, 1.81262012e-03,
  2.45097351e-05, 8.69254113e-05,-1.39043630e-04, 2.48779052e-05,
  4.86654379e-02, 2.15130807e-02, 0.00000000e+00,-2.12705291e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21475656, -0.2137847 ,  0.02040797, -0.2137847 ,  0.21526386,
        0.00531421,  0.02040797,  0.00531421,  0.27042581,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001525234952671635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97897075, -0.20341068,  0.01550345, -0.20338518,  0.97909351,
        0.00322091, -0.01583449,  0.        , -0.99987463])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12944548, -0.08243881,  0.13167672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28351572,  2.77637976,  6.73359612,  2.77637976, 16.79883247,
       -3.92333195,  6.73359612, -3.92333195,  8.90117428,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.532436276965009e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98648227,  0.05842545, -0.15309864,  0.05773429,  0.99829177,
        0.00896016,  0.15336062,  0.        , -0.98817029])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11319245, -0.05454796,  0.29652341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003539838945511435
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50991154, -0.84184726, -0.17687118, -0.09163335, -0.15128366,
        0.98423401, -0.85533242,  0.51807957,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500584, -0.03721791,  0.30476859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004889249297230364
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.40611500e-13, -3.19323281e-14,  1.00000000e+00, -1.08765182e-26,
        1.00000000e+00,  3.19323281e-14, -1.00000000e+00,  0.00000000e+00,
       -3.40611500e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05217752, -0.06175368,  0.06198901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.36096106e-05,-2.62940387e-05,-1.51625564e-05, 1.02899525e-05,
 -2.19392314e-03, 1.55055932e-02, 7.17198931e-03, 1.15685119e-03,
  2.99532224e-05, 2.80815686e-05,-4.34469254e-05, 7.36058563e-06,
  5.36192137e-02, 1.82819118e-02, 1.16114879e-02, 1.44935023e-04,
 -2.98901996e-05, 2.65511718e-05,-9.80999210e+00,-6.49317529e-02,
 -9.19103911e-03,-5.54212517e-03]


--- Step 1356 ---
qpos:
[ 0.00983536, 0.00808233,-0.00559067, 0.03349492, 0.0050095 ,-0.00893065,
 -0.01274186, 0.03734391, 0.01306949, 0.0059011 ,-0.01169507, 0.03404885,
  0.82575451,-0.01715778, 1.17261184, 0.04610793, 0.09397642,-0.06500337,
  0.14236426, 0.94580898,-0.03305185, 0.03045572, 0.32159818]

qacc:
[ 3.46255276e+00, 1.36436818e-01,-7.64626622e-01, 2.23481746e+00,
  6.62403328e+00,-2.09249068e+00,-3.12887998e-01,-2.57092958e+00,
  2.51924142e-02, 4.27364416e-01,-1.05450837e+00, 1.44308891e+00,
  3.42796347e+00, 7.43135092e+00, 9.66693180e+00,-2.33874522e+01,
 -1.57022564e-02,-5.61843526e-02, 1.88276090e-02, 2.31689143e+00,
 -5.58173784e-01, 5.79442934e+00]

qfrc_actuator:
[ 3.31124497e-05, 2.21150091e-04, 2.52093756e-05, 4.76196749e-05,
 -1.46077511e-03, 1.17463975e-02, 5.85668907e-03, 1.78731738e-03,
  2.38352771e-05, 1.23793866e-04,-1.27336714e-04, 2.94140756e-05,
  4.86673442e-02, 2.14045401e-02, 0.00000000e+00,-2.21446217e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21472796, -0.21354389,  0.02251894, -0.21354389,  0.21538369,
        0.00621821,  0.02251894,  0.00621821,  0.27369431,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001521380953325663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78950982e-01, -2.03512243e-01,  1.54188873e-02, -2.03487004e-01,
        9.79072401e-01,  3.20500541e-03, -1.57484649e-02, -4.33680869e-19,
       -9.99875985e-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([ 0.12945419, -0.08244011,  0.13167674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28353816,  2.79549835,  6.72570569,  2.79549835, 18.34459563,
       -4.59746075,  6.72570569, -4.59746075,  9.19444454,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.828576935399816e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86491444e-01,  5.82652031e-02, -1.53100608e-01,  5.75759378e-02,
        9.98301140e-01,  8.93561836e-03,  1.53361147e-01, -1.73472348e-18,
       -9.88170207e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11319269, -0.05454697,  0.29652357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003547318168771262
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50977006, -0.84193551, -0.17685894, -0.09160138, -0.15128871,
        0.98423621, -0.85542017,  0.51793467,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500414, -0.03721754,  0.30476951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048735553647326346
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13902782e-13, -3.55946192e-15,  1.00000000e+00,  4.05432614e-28,
        1.00000000e+00,  3.55946192e-15, -1.00000000e+00,  0.00000000e+00,
        1.13902782e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05217933, -0.06175187,  0.06198904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03088922e-05, 9.86136435e-06, 5.08183859e-06, 5.24810770e-06,
 -2.23052449e-03, 1.58987886e-02, 7.34091265e-03, 1.16077729e-03,
  1.89562693e-07, 4.39091542e-05, 1.24146692e-05, 4.37923414e-06,
  5.27814032e-02, 1.75192358e-02, 1.11934313e-02, 1.21516562e-05,
 -4.38214579e-05, 3.59083794e-05,-9.80998901e+00,-6.49311745e-02,
 -9.19447330e-03,-5.54009981e-03]


--- Step 1357 ---
qpos:
[ 0.00983594, 0.0080818 ,-0.00559135, 0.03349503, 0.00502657,-0.00901486,
 -0.01277081, 0.03735535, 0.01307   , 0.00590205,-0.01169564, 0.03404937,
  0.82575936,-0.01702738, 1.17258566, 0.04610292, 0.09397898,-0.06499799,
  0.14236599, 0.94577599,-0.0330274 , 0.03044602, 0.32169863]

qacc:
[ 1.99717545e+00, 1.49417750e+00,-4.84199862e+00, 6.10524359e+00,
  8.04466193e+00,-2.50880523e+00, 1.65281481e+00,-4.47891155e+00,
 -7.67404795e-02,-1.16923666e+00, 1.97028643e+00, 4.54731879e+00,
  2.90379771e+00, 6.65785377e+00, 9.09484761e+00,-1.11354651e+01,
 -1.08552082e-02,-3.82190140e-02, 7.80985342e-03, 1.91646412e+00,
 -5.49961803e-01, 5.02009577e+00]

qfrc_actuator:
[ 4.43516367e-05, 2.55555211e-04, 1.47841967e-05, 5.15601745e-05,
 -1.45199095e-03, 1.18215444e-02, 5.91084638e-03, 1.78545477e-03,
  2.32202937e-05, 9.19934777e-05,-1.02100639e-04, 4.98266462e-05,
  4.86679872e-02, 2.13199856e-02, 0.00000000e+00,-2.06845094e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21468209, -0.21350692,  0.02243199, -0.21350692,  0.21536448,
        0.00649495,  0.02243199,  0.00649495,  0.27650085,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015151798140950932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9789283 , -0.2036283 ,  0.01532625, -0.20360335,  0.97904827,
        0.00318764, -0.01565423,  0.        , -0.99987747])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12946354, -0.08244159,  0.13167686])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28362641,  2.79591155,  6.72562951,  2.79591155, 18.85334254,
       -4.80964686,  6.72562951, -4.80964686,  9.28304478,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.849828511300131e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98650278,  0.05808427, -0.15309635,  0.0573972 ,  0.99831168,
        0.00890753,  0.15335526,  0.        , -0.98817112])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11319312, -0.05454667,  0.29652383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035542259192505556
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50961099, -0.8420361 , -0.1768385 , -0.09156187, -0.15128873,
        0.98423988, -0.85551918,  0.51777112,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500213, -0.03721834,  0.30477086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004854382870533164
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14352643e-13,  1.10779123e-13,  1.00000000e+00, -1.26678855e-26,
        1.00000000e+00, -1.10779123e-13, -1.00000000e+00,  0.00000000e+00,
        1.14352643e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05218039, -0.06175047,  0.06198908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18240947e-05, 4.12376996e-05,-7.56691835e-06, 4.64287554e-06,
 -2.25956830e-03, 1.62456282e-02, 7.50828540e-03, 1.18928726e-03,
 -5.92481489e-07,-4.52070179e-06, 3.59873386e-05, 2.28089548e-05,
  5.20561179e-02, 1.68737406e-02, 1.09518757e-02, 1.99509573e-04,
 -5.78674634e-05, 4.50789281e-05,-9.80998571e+00,-6.49299030e-02,
 -9.19811284e-03,-5.53783910e-03]


--- Step 1358 ---
qpos:
[ 0.00983699, 0.00808134,-0.00559147, 0.03349518, 0.00503757,-0.00908833,
 -0.01279079, 0.03737078, 0.01307015, 0.00590316,-0.01169629, 0.03405048,
  0.82568812,-0.01694576, 1.17251549, 0.04611308, 0.09398151,-0.06499015,
  0.14236716, 0.94576366,-0.03303962, 0.03042875, 0.32173524]

qacc:
[ 4.18941751e+00,-1.41604249e+00, 5.02394499e+00,-5.43124964e+00,
 -5.28103867e+01,-2.54083583e+00, 1.29640561e+01, 3.37726443e+01,
 -3.14018449e+00, 1.67038534e+00,-8.12035430e+00, 1.83114837e+01,
 -2.32851560e+01,-2.58094814e+01,-1.10528805e+02, 2.93020954e+02,
 -7.40556274e-03, 6.15463580e-01,-1.38042302e-01,-1.72441814e+01,
  3.05812568e+00,-3.41984044e+01]

qfrc_actuator:
[ 6.84801680e-05, 2.58421752e-04, 4.44891357e-05, 5.38401609e-05,
 -1.47185253e-03, 1.19210698e-02, 5.97380012e-03, 1.79784566e-03,
  4.90183092e-06, 1.08162247e-04,-1.04866350e-04, 7.93625783e-05,
  4.86621855e-02, 2.11757000e-02, 0.00000000e+00,-1.85559063e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21462107, -0.21062704,  0.04121231, -0.21062704,  0.21974181,
        0.02617098,  0.04121231,  0.02617098,  0.3483752 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001506886157889851
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97890328, -0.20375607,  0.0152263 , -0.20373143,  0.97902169,
        0.00316893, -0.01555256,  0.        , -0.99987905])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12947346, -0.08244323,  0.13167707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28379715, -7.2526728 ,  0.67263523, -7.2526728 ,  7.22249746,
       -0.66096235,  0.67263523, -0.66096235,  0.15698686,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.437486652466407e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9865159 ,  0.05788535, -0.15308712,  0.05720073,  0.99832324,
        0.00887639,  0.15334425,  0.        , -0.98817283])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11319367, -0.05454698,  0.29652418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15774852,  0.70207236, -0.92058462,  0.70207236,  5.51596442,
        3.32373889, -0.92058462,  3.32373889,  3.69255646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003561109247602719
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50943659, -0.84214769, -0.17680957, -0.09151508, -0.15128322,
        0.98424508, -0.85562805,  0.5175912 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10499986, -0.03722017,  0.30477245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.97036486, -6.35272999,  8.94380942, -6.35272999, 40.88300714,
       21.24675637,  8.94380942, 21.24675637, 26.06179851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004844965478560115
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.14574916e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.14574916e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08524375, -0.10991249,  0.06198911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.44822482e-05, 2.45918892e-05, 3.74645886e-05, 3.87745344e-06,
 -2.32537301e-03, 1.65986591e-02, 7.66652619e-03, 1.22947246e-03,
 -1.83367392e-05, 2.20241095e-05, 1.51704922e-06, 3.10293300e-05,
  5.14142422e-02, 1.62361295e-02, 1.04716261e-02, 3.27562476e-04,
 -7.16631127e-05, 5.40412561e-05,-9.80998233e+00,-6.49280787e-02,
 -9.20182643e-03,-5.53536263e-03]


--- Step 1359 ---
qpos:
[ 0.00983832, 0.00808098,-0.0055912 , 0.03349502, 0.00505056,-0.00915831,
 -0.01281142, 0.03738568, 0.01306939, 0.00590469,-0.01169734, 0.03405158,
  0.82562913,-0.01685618, 1.17243921, 0.04611561, 0.09398405,-0.06498305,
  0.14236843, 0.94574646,-0.03304288, 0.03041524, 0.32178675]

qacc:
[ 2.47741515e+00,-1.60842454e+00, 7.25738788e+00,-1.33932764e+01,
  1.71899154e+01, 5.31072165e+00,-1.00665460e+01,-6.14229052e-01,
 -8.03053526e+00, 1.66591631e+00,-5.07219365e+00, 5.19368892e+00,
  3.92522111e+00, 3.99373128e+00, 1.39786397e+01,-6.21858667e+01,
  4.17124546e-03,-1.85716603e-01, 2.23136279e-02, 4.52886988e+00,
  1.61761073e-01, 8.02572039e+00]

qfrc_actuator:
[ 8.22517903e-05, 2.60293698e-04, 6.20303766e-05, 3.73787210e-05,
 -1.48453382e-03, 1.20569827e-02, 5.99642857e-03, 1.81446124e-03,
 -4.14417740e-05, 1.35073609e-04,-1.23966871e-04, 7.85344598e-05,
  4.86760298e-02, 2.10857437e-02, 0.00000000e+00,-1.90081436e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21449302, -0.21184787,  0.03358177, -0.21184787,  0.21945538,
        0.03130464,  0.03358177,  0.03130464,  0.41197578,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014893170776620062
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78898416e-01, -2.03785112e-01,  1.51498843e-02, -2.03760711e-01,
        9.79015643e-01,  3.15349493e-03, -1.54746090e-02,  4.33680869e-19,
       -9.99880261e-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([ 0.12948135, -0.08244372,  0.13167712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28341224,   2.70646627,   6.76188836,   2.70646627,
        40.75658325, -13.39773793,   6.76188836, -13.39773793,
        12.64589737,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.7850592778264625e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98651475,  0.05780574, -0.15312459,  0.05712173,  0.99832785,
        0.00886631,  0.15338107,  0.        , -0.98816712])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1131924 , -0.05454352,  0.29652339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.16109035, -0.4734093 ,  1.06019547, -0.4734093 ,  5.27064971,
        1.83504238,  1.06019547,  1.83504238,  1.9804922 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003593178301336764
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50936352, -0.84219089, -0.17681431, -0.09150448, -0.15129517,
        0.98424423, -0.85567268,  0.51751741,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049972, -0.037213 ,  0.3047663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.95826997, -6.0914597 ,  9.10921509, -6.0914597 , 20.61530782,
        6.45779645,  9.10921509,  6.45779645, 15.27668889,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048369098566988675
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.01024045e-07,  6.01024020e-07,  1.00000000e+00,  3.61229888e-13,
        1.00000000e+00, -6.01024020e-07, -1.00000000e+00,  0.00000000e+00,
       -6.01024045e-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([ 0.05260369, -0.06235358,  0.06198912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44776272e-05, 2.35522076e-05, 2.73740936e-05,-1.40361585e-05,
 -2.03486292e-03, 1.62002801e-02, 7.24171222e-03, 1.04643338e-03,
 -4.68553967e-05, 4.08292639e-05,-1.32977940e-05, 7.69360735e-07,
  5.52333065e-02, 1.85835265e-02, 1.26720469e-02,-4.75867275e-04,
 -8.36861867e-06, 1.24248149e-05,-9.80999525e+00,-6.49254963e-02,
 -9.19488103e-03,-5.53408002e-03]


--- Step 1360 ---
qpos:
[ 0.00983946, 0.00808104,-0.00559138, 0.03349433, 0.00506454,-0.00922893,
 -0.01283359, 0.03739987, 0.01306843, 0.00590603,-0.0116986 , 0.03405203,
  0.82558191,-0.01675914, 1.17236846, 0.04611611, 0.09398662,-0.06497653,
  0.14236976, 0.94572509,-0.03303869, 0.0304045 , 0.32185099]

qacc:
[-1.68988944e+00, 7.25107959e-01, 4.40943555e-01,-9.10912388e+00,
  8.63597773e+00, 1.94714356e+00,-5.16962385e+00,-4.25107762e+00,
 -1.79936096e+00,-9.91886040e-01, 5.88594665e+00,-1.65478123e+01,
  3.72136223e+00, 3.78530978e+00, 1.42028958e+01,-3.79561182e+01,
  4.59198560e-03,-1.43572569e-01, 1.58879453e-02, 3.71102083e+00,
 -2.84632805e-02, 6.85197239e+00]

qfrc_actuator:
[ 7.20608202e-05, 2.79250164e-04, 3.67073075e-05, 1.00042357e-05,
 -1.49852467e-03, 1.21289304e-02, 6.00090332e-03, 1.80103780e-03,
 -5.06456647e-05, 7.93496724e-05,-1.52517357e-04, 4.20991625e-05,
  4.86911241e-02, 2.09556609e-02, 0.00000000e+00,-1.85336643e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21442506, -0.21210607,  0.03145031, -0.21210607,  0.21700367,
        0.01739057,  0.03145031,  0.01739057,  0.33170993,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001479901568704183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97888883, -0.20383668,  0.01507563, -0.20381251,  0.97900491,
        0.00313887, -0.01539893,  0.        , -0.99988143])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12948919, -0.08244445,  0.13167712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28334972,   2.77246867,   6.73502788,   2.77246867,
        37.97427262, -12.63389311,   6.73502788, -12.63389311,
        12.4840814 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.7484430278042356e-07
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98651753,  0.05769832, -0.15314724,  0.05701538,  0.99833406,
        0.00885108,  0.15340279,  0.        , -0.98816374])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1131918 , -0.05454072,  0.29652303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.16365901, -0.4801564 ,  1.05997742, -0.4801564 ,  8.93753666,
        3.52146849,  1.05997742,  3.52146849,  2.75883981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003617521599163105
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50926735, -0.84224785, -0.17682001, -0.09149025, -0.15131044,
        0.9842432 , -0.85573144,  0.51742024,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049947 , -0.03720758,  0.30476235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004833776204470076
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22838902e-06,  1.22838890e-06,  1.00000000e+00,  1.50893943e-12,
        1.00000000e+00, -1.22838890e-06, -1.00000000e+00,  2.01948392e-28,
       -1.22838902e-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([ 0.05260764, -0.06235059,  0.06198913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.76989288e-06, 3.71912399e-05,-1.75725952e-05,-2.56915751e-05,
 -2.14782697e-03, 1.61009565e-02, 7.28018896e-03, 1.05985334e-03,
 -1.05169835e-05,-3.56701402e-05,-2.17349619e-05,-3.51324494e-05,
  5.46358414e-02, 1.80538742e-02, 1.29796157e-02,-4.62790265e-05,
 -1.56975813e-05, 1.78339086e-05,-9.80999557e+00,-6.49267884e-02,
 -9.19691135e-03,-5.53296103e-03]


--- Step 1361 ---
qpos:
[ 0.00984047, 0.00808155,-0.00559191, 0.03349331, 0.00507754,-0.00931424,
 -0.01286719, 0.0374062 , 0.01306805, 0.00590707,-0.01169984, 0.0340517 ,
  0.82553149,-0.01668537, 1.17242962, 0.04609259, 0.09399468,-0.06497442,
  0.1423693 , 0.94569614,-0.03298825, 0.03041716, 0.32194004]

qacc:
[-1.16787328e+00, 9.04745502e-01,-9.53071539e-01,-4.56976598e+00,
 -8.63621687e+00,-3.59346246e+00, 1.78049806e+01,-1.24584851e+02,
  5.16645382e+00,-2.09656419e+00, 1.02216755e+01,-2.36660344e+01,
  6.56434153e+00,-2.44386883e+01, 2.67013213e+02,-6.52295659e+02,
  1.37476867e+00,-1.10394650e+00,-4.46674619e-01, 2.51319942e+01,
  3.31918442e+00, 1.40423163e+01]

qfrc_actuator:
[ 6.56037419e-05, 3.08098668e-04, 2.18504435e-05,-5.83051670e-06,
 -1.49535517e-03, 1.21652198e-02, 6.03112331e-03, 1.75223229e-03,
 -2.01553960e-05, 6.32509366e-05,-1.51264529e-04, 2.68911478e-06,
  4.87012457e-02, 2.08343133e-02, 0.00000000e+00,-1.80613893e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21438045,  0.2093587 , -0.04612927,  0.2093587 ,  0.25504145,
        0.18454085, -0.04612927,  0.18454085,  1.05192312,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014736838427699934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97887553, -0.20390621,  0.0149985 , -0.20388228,  0.97899043,
        0.00312392, -0.01532038,  0.        , -0.99988264])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12949729, -0.08244537,  0.13167715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003636418040145575
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50915132, -0.84231737, -0.17682302, -0.09147101, -0.15132559,
        0.98424266, -0.85580254,  0.51730263,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10499236, -0.03720372,  0.30475999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004825031280160104
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.31553722e-07,  7.31553580e-07,  1.00000000e+00,  5.35170745e-13,
        1.00000000e+00, -7.31553580e-07, -1.00000000e+00,  0.00000000e+00,
       -7.31553722e-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([ 0.05261043, -0.06234828,  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:
[-6.72055410e-06, 4.49096819e-05,-1.02256113e-05,-1.53470943e-05,
 -2.19436870e-03, 1.61716683e-02, 7.38785910e-03, 1.04692642e-03,
  3.01842440e-05,-4.20820279e-05,-1.00102581e-05,-4.23753234e-05,
  5.40578823e-02, 1.75571249e-02, 1.27047041e-02, 1.02078519e-04,
 -2.56304395e-05, 2.41547186e-05,-9.80999458e+00,-6.49270366e-02,
 -9.19948142e-03,-5.53166050e-03]


--- Step 1362 ---
qpos:
[ 0.0098414 , 0.00808225,-0.00559255, 0.03349247, 0.00508661,-0.00938445,
 -0.01288642, 0.03741831, 0.0130677 , 0.00590808,-0.01170038, 0.03405116,
  0.82541782,-0.01665445, 1.17245647, 0.0461002 , 0.09400126,-0.06496877,
  0.14236855, 0.94568905,-0.03298443, 0.03041371, 0.32196156]

qacc:
[-7.53875865e-01, 9.33730189e-01,-3.73768132e+00, 6.91320321e+00,
 -3.40850038e+01,-8.26558878e+00, 3.41993596e+01, 3.13736039e+01,
  2.24458964e-01,-2.40747422e+00, 9.39185743e+00,-1.40345352e+01,
 -1.67108530e+01,-2.63570797e+01,-1.44776786e+02, 4.33045021e+02,
 -3.71892775e-01, 8.85447785e-01,-7.48157569e-02,-2.32494132e+01,
  6.73502942e-01,-3.64239235e+01]

qfrc_actuator:
[ 6.14038391e-05, 3.07179302e-04, 1.33611206e-05, 3.02945711e-06,
 -1.51582097e-03, 1.22299341e-02, 6.08731057e-03, 1.70737126e-03,
 -1.98157985e-05, 1.06609421e-04,-9.67777964e-05,-2.59854915e-06,
  4.87039799e-02, 2.07814711e-02, 0.00000000e+00,-1.80723399e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21455549, -0.21147829,  0.03620756, -0.21147829,  0.22960914,
        0.0879242 ,  0.03620756,  0.0879242 ,  0.72809639,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000149791576190637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97885954, -0.20399106,  0.01488811, -0.20396747,  0.97897275,
        0.00310227, -0.01520789,  0.        , -0.99988435])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1295083 , -0.08244632,  0.13167725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28520657, -7.24483354,  0.7659123 , -7.24483354,  7.20518451,
       -0.75693583,  0.7659123 , -0.75693583,  0.12528227,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5146869554233289e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98654384,  0.05740028, -0.15308973,  0.05672142,  0.99835124,
        0.00880191,  0.15334256,  0.        , -0.98817309])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1131979 , -0.05453722,  0.29652684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.16224622,  1.15161617, -0.1568326 ,  1.15161617,  1.19754589,
        0.25920426, -0.1568326 ,  0.25920426,  3.06557375,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036041650253033
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50900917, -0.84240146, -0.17683169, -0.0914501 , -0.15134835,
        0.98424111, -0.85588933,  0.51715902,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10499594, -0.03720714,  0.3047694 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.99100893,  6.21812306, -9.06295883,  6.21812306, 32.98418972,
       15.08958688, -9.06295883, 15.08958688, 21.34401945,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048586466102956694
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.14252292e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.14252292e-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([ 0.085283  , -0.10988439,  0.06198908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.37553638e-06, 2.14089453e-05,-1.00128984e-06, 1.01343336e-05,
 -2.16597345e-03, 1.69745684e-02, 8.01726986e-03, 1.39479362e-03,
  1.18700943e-06, 1.59292444e-05, 4.30965684e-05,-8.26224269e-06,
  5.42189785e-02, 1.86661260e-02, 6.10782061e-03, 1.30229321e-03,
 -7.73527745e-05, 3.80150500e-05,-9.80997496e+00,-6.49197112e-02,
 -9.21547199e-03,-5.52992052e-03]


--- Step 1363 ---
qpos:
[ 0.00984227, 0.00808281,-0.00559287, 0.03349175, 0.00509083,-0.0094367 ,
 -0.01289433, 0.03743532, 0.01306667, 0.00590945,-0.01169991, 0.03405084,
  0.82524465,-0.01666298, 1.17241867, 0.0461168 , 0.09400746,-0.06496053,
  0.14236763, 0.94570189,-0.03301661, 0.03039803, 0.32192203]

qacc:
[-4.90926557e-01,-8.51681829e-01, 2.25692640e+00,-5.54184431e-01,
 -4.23063642e+01, 2.29180976e+00, 5.64581542e+00, 4.79941773e+01,
 -5.98347825e+00,-1.87177918e+00, 6.49547305e+00,-4.71697891e+00,
 -1.61690022e+01,-2.36531998e+01,-1.22605697e+02, 2.90423507e+02,
 -9.45721372e-02, 6.46241385e-01,-4.00775951e-02,-1.77358126e+01,
  7.18837203e-01,-3.28297293e+01]

qfrc_actuator:
[ 5.85648513e-05, 2.88485813e-04, 2.63454302e-05, 8.57311989e-06,
 -1.58262912e-03, 1.22877886e-02, 6.12009623e-03, 1.65440304e-03,
 -5.49901521e-05, 1.67744024e-04,-2.87824413e-05, 1.23199235e-05,
  4.87078026e-02, 2.07631099e-02, 0.00000000e+00,-1.77635591e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21462917, -0.20522902,  0.062823  , -0.20522902,  0.31114356,
        0.31529143,  0.062823  ,  0.31529143,  1.24461736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015079891372460263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9788626 , -0.20398188,  0.01481248, -0.20395853,  0.97897466,
        0.00308637, -0.01513061,  0.        , -0.99988553])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12951644, -0.08244621,  0.13167706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28658486, -7.24757773,  0.75295148, -7.24757773,  7.20942926,
       -0.74266558,  0.75295148, -0.74266558,  0.1380147 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9990877992536896e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86546096e-01,  5.73571981e-02, -1.53091322e-01,  5.66788290e-02,
        9.98353721e-01,  8.79536891e-03,  1.53343769e-01,  1.73472348e-18,
       -9.88172904e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11320039, -0.05453241,  0.29652839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1626134 ,  1.05253766, -0.4937959 ,  1.05253766,  2.6028571 ,
        3.06991361, -0.4937959 ,  3.06991361,  7.70620707,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036076439988307654
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5089702 , -0.84241897, -0.17686041, -0.09145843, -0.15137688,
        0.98423594, -0.85591161,  0.51712214,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049981 , -0.03720117,  0.30476848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.0098275 ,  7.28236703, -8.25732597,  7.28236703, 34.09049851,
       20.35549016, -8.25732597, 20.35549016, 28.96190435,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004871043351816623
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.27923043e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.27923043e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08529184, -0.10987761,  0.06198905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.95794817e-06,-6.51429317e-06, 1.76344391e-05, 6.62542499e-06,
 -2.03625945e-03, 1.62802607e-02, 7.33271646e-03, 1.05379043e-03,
 -3.51339059e-05, 7.85604840e-05, 7.63033186e-05, 1.69314102e-05,
  5.73855273e-02, 2.07896340e-02, 7.82270835e-03,-2.23633529e-04,
 -3.15031185e-06, 2.64725071e-06,-9.80999915e+00,-6.49179337e-02,
 -9.20069385e-03,-5.52919207e-03]


--- Step 1364 ---
qpos:
[ 0.00984275, 0.00808316,-0.00559267, 0.0334911 , 0.00508929,-0.00947296,
 -0.01289362, 0.03745653, 0.01306522, 0.0059113 ,-0.01169894, 0.03405071,
  0.82501234,-0.01670923, 1.17231307, 0.04613191, 0.09401414,-0.06495041,
  0.1423666 , 0.94573241,-0.03307628, 0.03037414, 0.32182851]

qacc:
[-3.36520115e+00,-1.54906615e+00, 4.83651803e+00,-4.30078985e+00,
 -5.01890077e+01, 5.75351300e+00,-7.36241951e+00, 5.41297725e+01,
 -3.62824350e+00,-3.88645696e-01, 1.47632233e+00, 7.79503886e-01,
 -1.75713908e+01,-2.06213099e+01,-9.54519403e+01, 1.88913606e+02,
  1.19763112e-01, 4.71673272e-01,-2.99716357e-02,-1.32077075e+01,
  1.15997126e+00,-2.89241372e+01]

qfrc_actuator:
[ 3.87960934e-05, 2.77126953e-04, 5.18145309e-05, 1.21123386e-05,
 -1.60373342e-03, 1.23503801e-02, 6.13613740e-03, 1.64836930e-03,
 -7.52706455e-05, 1.85904989e-04,-6.52420796e-06, 2.12742683e-05,
  4.87195438e-02, 2.07791677e-02, 0.00000000e+00,-1.92963296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21468934,  0.00676424,  0.21458275,  0.00676424,  1.10899976,
       -0.02819115,  0.21458275, -0.02819115,  0.215578  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015161616896717243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97888271, -0.20388839,  0.01477058, -0.20386518,  0.97899414,
        0.00307617, -0.01508751,  0.        , -0.99988618])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12952192, -0.08244508,  0.13167645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28572474, -7.26712263,  0.52030154, -7.26712263,  7.2488682 ,
       -0.5147803 ,  0.52030154, -0.5147803 ,  0.09571813,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.712964120439105e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98653327,  0.05742816, -0.15314736,  0.05674845,  0.99834964,
        0.00880951,  0.15340053,  0.        , -0.98816409])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132004 , -0.05452447,  0.29652841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1654143 ,  0.92753872, -0.70559366,  0.92753872,  3.49075734,
        3.05678158, -0.70559366,  3.05678158,  5.18370903,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036340068566592367
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50902647, -0.84237339, -0.1769156 , -0.09149801, -0.15141745,
        0.98422603, -0.85587392,  0.51718452,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10499931, -0.03718739,  0.30476081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.99494798,  7.32129723, -8.20289511,  7.32129723, 39.89829084,
       25.79698522, -8.20289511, 25.79698522, 34.01942823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004861247326514717
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.14191168e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.14191168e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08529872, -0.10987343,  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:
[-1.98576131e-05,-1.10939817e-05, 2.65225929e-05, 4.00015826e-06,
 -1.81451322e-03, 1.54468679e-02, 6.78323209e-03, 8.01973756e-04,
 -2.12507537e-05, 7.85091188e-05, 4.84493919e-05, 1.52883437e-05,
  6.03728424e-02, 2.27782714e-02, 1.10549604e-02,-8.26347796e-04,
 -2.08435204e-05, 7.52937689e-06,-9.80999143e+00,-6.49215785e-02,
 -9.20598017e-03,-5.52951427e-03]


--- Step 1365 ---
qpos:
[ 0.00984264, 0.00808343,-0.00559249, 0.03349086, 0.00509163,-0.009503  ,
 -0.01289212, 0.03747769, 0.01306423, 0.00591325,-0.01169801, 0.03405078,
  0.82481036,-0.01673626, 1.17219156, 0.04613334, 0.09401996,-0.06494166,
  0.14236615, 0.94575127,-0.03311928, 0.03035656, 0.32177032]

qacc:
[ -5.13845092,  0.7980583 , -4.71117006, 11.89671142, 33.73393466,
   5.85368279, -8.82536353,  2.17860665,  4.02839816,  0.67670025,
  -3.09652514,  6.58261772, 10.39358977,  8.71075694, 17.60530421,
 -96.23224136, -0.21430898, -0.34449653,  0.1479788 ,  8.17137132,
  -0.10457685, 18.93984296]

qfrc_actuator:
[ 9.22076331e-06, 2.70297972e-04, 4.89600209e-05, 3.22059229e-05,
 -1.59457420e-03, 1.23750888e-02, 6.14030065e-03, 1.68700970e-03,
 -5.11060354e-05, 1.42515341e-04,-2.93744995e-05, 2.65782776e-05,
  4.87328191e-02, 2.07944335e-02, 0.00000000e+00,-2.08000488e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2147811 ,  0.10148219,  0.18929418,  0.10148219,  0.54291063,
       -0.17591299,  0.18929418, -0.17591299,  0.30908952,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001528531803479631
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97891832, -0.20371831,  0.01475712, -0.20369516,  0.97902955,
        0.00307069, -0.01507321,  0.        , -0.99988639])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12952524, -0.082443  ,  0.13167541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28407622,  2.4895615 , -6.84542548,  2.4895615 , 44.90294241,
       13.68132357, -6.84542548, 13.68132357, 12.25973428,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.476075614700328e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98650823,  0.05760141, -0.15324359,  0.05691877,  0.99833966,
        0.00884173,  0.15349845,  0.        , -0.98814889])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11319902, -0.05451361,  0.29652757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.16975972, -0.79104562,  0.8617335 , -0.79104562,  2.51015621,
        1.23044395,  0.8617335 ,  1.23044395,  2.29927052,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036743078339421156
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.09168518e-01, -8.42269587e-01, -1.77001023e-01, -9.15691648e-02,
       -1.51474256e-01,  9.84210667e-01, -8.55781811e-01,  5.17336923e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500026, -0.03716698,  0.30474884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.04423413, -6.18818754,  9.14775615, -6.18818754, 18.21390327,
        4.85006995,  9.14775615,  4.85006995, 14.32516357,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004893527205965115
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13437913e-13,  2.48145434e-14,  1.00000000e+00,  2.81491001e-27,
        1.00000000e+00, -2.48145434e-14, -1.00000000e+00,  0.00000000e+00,
       -1.13437913e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05223021, -0.06171677,  0.061989  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.01473819e-05,-7.40476415e-06,-1.74569516e-06, 2.06146667e-05,
 -1.51758349e-03, 1.46730969e-02, 6.35648690e-03, 6.31159442e-04,
  2.35922231e-05, 1.10855858e-05,-1.70405354e-07, 1.06367971e-05,
  6.33437251e-02, 2.46814601e-02, 1.44452398e-02,-9.02135729e-04,
 -9.43726227e-05, 3.92584376e-05,-9.80996891e+00,-6.49296982e-02,
 -9.22205977e-03,-5.53076768e-03]


--- Step 1366 ---
qpos:
[ 0.00984219, 0.00808347,-0.00559227, 0.03349123, 0.00509703,-0.00953229,
 -0.01289116, 0.03749848, 0.01306388, 0.0059148 ,-0.01169739, 0.03405134,
  0.82463814,-0.0167436 , 1.17207572, 0.04613185, 0.09402507,-0.06493396,
  0.14236626, 0.94576024,-0.03314842, 0.03034332, 0.32174219]

qacc:
[ -3.09842719,  0.83779721, -5.99251229, 16.58457654, 26.70025512,
   1.70334821, -3.22557697, -2.5711057 ,  5.65030732,  1.30677982,
  -7.4902357 , 16.72952554,  9.33547722, 10.19284121, 17.04019925,
 -47.7668607 , -0.17740791, -0.26126874,  0.13646618,  6.63040104,
  -0.5213433 , 16.08983419]

qfrc_actuator:
[-8.13161742e-06, 2.48383411e-04, 4.71831882e-05, 6.18620789e-05,
 -1.59234072e-03, 1.23804426e-02, 6.14172796e-03, 1.68401186e-03,
 -1.87334173e-05, 8.01462176e-05,-6.11723250e-05, 4.73648763e-05,
  4.87570690e-02, 2.08028729e-02, 0.00000000e+00,-1.94956398e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21495782, -0.20465648,  0.06574639, -0.20465648,  0.26766999,
        0.16408337,  0.06574639,  0.16408337,  0.72571936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015520513262249198
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97894197, -0.20360515,  0.01475025, -0.20358204,  0.97905309,
        0.00306748, -0.01506584,  0.        , -0.9998865 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12952831, -0.08244154,  0.13167435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28351887,  2.73462252,  6.75066565,  2.73462252, 31.9463214 ,
       -9.99063777,  6.75066565, -9.99063777, 11.33061947,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.575131959186451e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98649129,  0.05770716, -0.15331279,  0.05702263,  0.99833355,
        0.00886201,  0.1535687 ,  0.        , -0.98813797])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11319847, -0.05450427,  0.29652725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.17248195, -0.49290038,  1.06384357, -0.49290038,  6.35002944,
        2.39886313,  1.06384357,  2.39886313,  2.28392406,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036991938305786507
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50925388, -0.84219945, -0.17708916, -0.0916316 , -0.1515395 ,
        0.98419481, -0.85572433,  0.51743199,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500136, -0.03715047,  0.30474153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.09764622,  5.72990571, -9.50399559,  5.72990571, 48.91685658,
       22.8009901 , -9.50399559, 22.8009901 , 24.84423543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004927974505471028
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12644964e-13, -8.80038784e-14,  1.00000000e+00,  9.91319374e-27,
        1.00000000e+00,  8.80038784e-14, -1.00000000e+00,  0.00000000e+00,
        1.12644964e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05224314, -0.06170883,  0.06198892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82156848e-05,-2.55543252e-05,-2.81163896e-06, 2.96804496e-05,
 -1.70924875e-03, 1.43683627e-02, 6.31897667e-03, 6.30876528e-04,
  3.30537452e-05,-5.58255450e-05,-2.91965635e-05, 2.14550471e-05,
  6.18510959e-02, 2.37291439e-02, 1.52445401e-02,-8.71466507e-05,
 -4.06809390e-05, 1.63772828e-05,-9.80998428e+00,-6.49355949e-02,
 -9.21142133e-03,-5.53161801e-03]


--- Step 1367 ---
qpos:
[ 0.00984153, 0.00808326,-0.00559207, 0.0334923 , 0.00510461,-0.00956445,
 -0.01289265, 0.03751838, 0.01306358, 0.00591591,-0.01169681, 0.03405214,
  0.82449428,-0.01673139, 1.17197055, 0.04613033, 0.0940296 ,-0.06492704,
  0.14236683, 0.9457607 ,-0.03316592, 0.03033299, 0.32173999]

qacc:
[ -1.79213263,  1.17297144, -7.59940478, 19.93811007, 18.90881595,
   1.16672944, -5.91805748, -3.55902238,  0.41126408,  0.04209162,
  -1.98748774,  6.46088122,  8.31093099, 10.97730177, 15.78591134,
 -32.52351713, -0.14392814, -0.19420683,  0.11853176,  5.43669544,
  -0.80056023, 13.84965139]

qfrc_actuator:
[-1.81479163e-05, 2.35363797e-04, 4.60086624e-05, 9.68969698e-05,
 -1.55949616e-03, 1.24126804e-02, 6.12477373e-03, 1.65635773e-03,
 -1.73089080e-05, 6.00909520e-05,-6.25708818e-05, 5.93191092e-05,
  4.87815382e-02, 2.08523128e-02, 0.00000000e+00,-1.88670972e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2151766 , -0.20566583,  0.06326562, -0.20566583,  0.23634993,
        0.06883091,  0.06326562,  0.06883091,  0.43893423,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001580638113163208
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9789557 , -0.2035396 ,  0.01474307, -0.20351653,  0.97906671,
        0.00306496, -0.01505829,  0.        , -0.99988662])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12953158, -0.08244063,  0.13167335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28337371,  2.82382263,  6.7136844 ,  2.82382263, 23.26097715,
       -6.72029179,  6.7136844 , -6.72029179, 10.10997545,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7304723890363092e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86480959e-01,  5.77554010e-02, -1.53361111e-01,  5.70698664e-02,
        9.98330764e-01,  8.87224232e-03,  1.53617535e-01,  1.73472348e-18,
       -9.88130383e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11319849, -0.05449638,  0.29652727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.17411654,  0.6315087 , -0.9898214 ,  0.6315087 ,  9.03782281,
        5.01706558, -0.9898214 ,  5.01706558,  4.37501777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003714006404354084
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50929082, -0.84215997, -0.17717067, -0.09168179, -0.1516044 ,
        0.98418014, -0.85569698,  0.51747723,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500252, -0.03713744,  0.30473751])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.12890829,  5.66498513, -9.57917237,  5.66498513, 58.85070491,
       28.22198597, -9.57917237, 28.22198597, 27.81898596,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004947884490403148
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.24383376e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.24383376e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05225298, -0.06170258,  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:
[-1.05457252e-05,-2.66282814e-05,-5.77509899e-06, 3.44196837e-05,
 -1.82968090e-03, 1.43645305e-02, 6.32940494e-03, 6.21190494e-04,
  2.35049868e-06,-5.64388535e-05,-1.58121114e-05, 8.96176256e-06,
  6.03875079e-02, 2.27935170e-02, 1.49642618e-02, 1.22199922e-04,
 -1.30468040e-05, 5.06712351e-06,-9.80999310e+00,-6.49395660e-02,
 -9.20577713e-03,-5.53206450e-03]


--- Step 1368 ---
qpos:
[ 0.00984144, 0.00808304,-0.00559195, 0.03349342, 0.00511368,-0.00960163,
 -0.01289766, 0.03753706, 0.01306364, 0.00591686,-0.0116958 , 0.03405231,
  0.82437678,-0.01670052, 1.17187429, 0.04612825, 0.09403368,-0.0649207 ,
  0.1423678 , 0.94575394,-0.03317365, 0.03032458, 0.32175988]

qacc:
[  5.03999643,  0.29073824, -1.26363031,  2.15757559, 13.00912638,
   0.6744878 , -6.94688751, -4.70796823,  3.22172052, -2.72828225,
  12.04794357,-23.42581889,  7.37483798, 10.9632318 , 14.79056224,
 -32.75839897, -0.11503871, -0.14622113,  0.09714011,  4.47359422,
  -0.92148131, 11.79285835]

qfrc_actuator:
[ 1.17351531e-05, 2.45530714e-04, 4.52320417e-05, 9.93155656e-05,
 -1.56187541e-03, 1.24821099e-02, 6.11666531e-03, 1.63234627e-03,
  1.39153820e-06, 8.33824740e-05,-2.81046366e-05, 3.05268927e-05,
  4.87998663e-02, 2.08831168e-02, 0.00000000e+00,-1.93713041e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21540554, -0.20677881,  0.06034957, -0.20677881,  0.22704935,
        0.03989578,  0.06034957,  0.03989578,  0.35210249,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016099532560475292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97896126, -0.20351386,  0.01472968, -0.20349083,  0.97907207,
        0.00306177, -0.01504453,  0.        , -0.99988682])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12953538, -0.0824402 ,  0.13167246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28335098,  2.89146794,  6.68480475,  2.89146794, 20.24323326,
       -5.6057111 ,  6.68480475, -5.6057111 ,  9.70806412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.3107448604726044e-07
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98647605,  0.05775402, -0.15339321,  0.05706821,  0.99833084,
        0.00887389,  0.15364967,  0.        , -0.98812539])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1131989 , -0.05448986,  0.29652754])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037221960509547565
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50928578, -0.84214805, -0.17724182, -0.09171889, -0.15166512,
        0.98416733, -0.855696  ,  0.51747885,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500357, -0.03712744,  0.30473588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.14170668,  5.56862913, -9.65028483,  5.56862913, 71.13104037,
       34.616424  , -9.65028483, 34.616424  , 31.11687121,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004955982675629023
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12008364e-13, -5.60041821e-14,  1.00000000e+00, -6.27293682e-27,
        1.00000000e+00,  5.60041821e-14, -1.00000000e+00,  0.00000000e+00,
       -1.12008364e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05226035, -0.06169766,  0.06198886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.95723538e-05,-4.44073878e-06,-5.79873624e-06, 1.74579631e-06,
 -1.94065412e-03, 1.45782817e-02, 6.44401106e-03, 6.42171361e-04,
  1.87520870e-05,-1.12002908e-05, 2.11488101e-05,-3.15891743e-05,
  5.89867333e-02, 2.18462191e-02, 1.44333833e-02, 7.42629952e-05,
 -2.23532923e-06, 1.69472914e-06,-9.80999748e+00,-6.49421475e-02,
 -9.20336557e-03,-5.53210271e-03]


--- Step 1369 ---
qpos:
[ 0.00984171, 0.0080827 ,-0.00559126, 0.03349452, 0.0051236 ,-0.00964586,
 -0.01290651, 0.03755443, 0.01306393, 0.00591759,-0.01169411, 0.03405247,
  0.82428328,-0.01665228, 1.1717879 , 0.04612641, 0.09403738,-0.06491481,
  0.14236907, 0.94574107,-0.03317325, 0.03031739, 0.32179841]

qacc:
[  3.16785834, -1.79603803,  6.22613468, -7.27704448,  7.46103467,
  -1.27912319, -3.4429982 , -7.89794579,  1.99303523, -2.20869668,
   7.4972902 , -8.60343656,  6.43408322, 10.59355559, 13.85157533,
 -27.33164779, -0.09269183, -0.11067169,  0.07732893,  3.66175246,
  -0.94921495,  9.93525428]

qfrc_actuator:
[ 2.93551385e-05, 2.51729623e-04, 8.02749003e-05, 1.00296019e-04,
 -1.60333340e-03, 1.25416508e-02, 6.13366757e-03, 1.61119533e-03,
  1.23681019e-05, 7.93193801e-05, 9.65863706e-06, 3.13102463e-05,
  4.88136705e-02, 2.08425503e-02, 0.00000000e+00,-1.91295844e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21562267, -0.20780784,  0.05752424, -0.20780784,  0.22274657,
        0.02573528,  0.05752424,  0.02573528,  0.30859204,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016372208318540145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78960139e-01, -2.03520909e-01,  1.47066470e-02, -2.03497947e-01,
        9.79070600e-01,  3.05709329e-03, -1.50210281e-02,  4.33680869e-19,
       -9.99887178e-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([ 0.1295399 , -0.08244017,  0.13167171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28335025,  2.93257892,  6.66687121,  2.93257892, 18.61546723,
       -4.98469617,  6.66687121, -4.98469617,  9.47598522,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.10674566004544e-07
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98647559,  0.05771029, -0.1534126 ,  0.05702484,  0.99833337,
        0.00886827,  0.1536687 ,  0.        , -0.98812243])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11319959, -0.05448458,  0.29652797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003726080275437643
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50924481, -0.84216024, -0.17730159, -0.09174344, -0.15172012,
        0.98415657, -0.85571775,  0.51744288,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500435, -0.03712001,  0.30473597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.13959679,  5.43979724, -9.72107106,  5.43979724, 86.19802236,
       42.00181377, -9.72107106, 42.00181377, 34.64331868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004954649736354649
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12038498e-13, -1.12038498e-13,  1.00000000e+00, -1.25526249e-26,
        1.00000000e+00,  1.12038498e-13, -1.00000000e+00,  0.00000000e+00,
       -1.12038498e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05226576, -0.0616938 ,  0.06198886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.84615005e-05, 2.60736778e-06, 3.34693821e-05, 6.20038116e-07,
 -2.05686032e-03, 1.48901847e-02, 6.63741262e-03, 6.81795516e-04,
  1.15102190e-05,-7.35152150e-06, 3.69376190e-05, 4.14767144e-07,
  5.76828068e-02, 2.08716681e-02, 1.39904087e-02, 1.26937062e-04,
 -2.29843594e-06, 3.69940563e-06,-9.80999880e+00,-6.49436714e-02,
 -9.20309402e-03,-5.53174775e-03]


--- Step 1370 ---
qpos:
[ 0.0098415 , 0.00808213,-0.00559034, 0.03349566, 0.0051346 ,-0.00969679,
 -0.01291895, 0.03757053, 0.01306434, 0.00591852,-0.0116927 , 0.034053  ,
  0.82421136,-0.01658815, 1.17171154, 0.04612519, 0.09404079,-0.06490923,
  0.14237058, 0.94572297,-0.03316598, 0.03031091, 0.32185295]

qacc:
[ -4.20414802, -0.83880645,  2.3719089 , -1.82785294,  9.30613055,
  -1.49581794, -2.18926247, -9.13431912,  1.12596613,  1.7944753 ,
  -7.57998301, 14.23715989,  5.55568936,  9.99589047, 12.92485648,
 -23.7336219 , -0.07268095, -0.07943242,  0.05762956,  3.02718007,
  -0.94889022,  8.53311734]

qfrc_actuator:
[ 4.09806455e-06, 2.20148272e-04, 8.29250777e-05, 1.00452056e-04,
 -1.59718704e-03, 1.25992959e-02, 6.13196696e-03, 1.57459123e-03,
  1.87052638e-05, 9.44711227e-05,-4.27220705e-06, 4.94753536e-05,
  4.88080452e-02, 2.07884948e-02, 0.00000000e+00,-1.88010679e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21580642, -0.20812303,  0.05707204, -0.20812303,  0.22275585,
        0.0253423 ,  0.05707204,  0.0253423 ,  0.3082215 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016599090980637263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97895369, -0.20355444,  0.01467158, -0.20353158,  0.97906363,
        0.00305033, -0.01498532,  0.        , -0.99988771])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12954529, -0.08244049,  0.13167113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28335895,  2.95095934,  6.6587654 ,  2.95095934, 18.11150199,
       -4.79869884,  6.6587654 , -4.79869884,  9.40999419,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0824634205636632e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98647876,  0.05763085, -0.15342207,  0.05694626,  0.99833796,
        0.00885656,  0.15367749,  0.        , -0.98812106])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11320045, -0.05448044,  0.29652851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003727468187708577
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50917344, -0.8421934 , -0.17734905, -0.09175594, -0.15176803,
        0.98414801, -0.85575888,  0.51737486,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500479, -0.03711475,  0.30473726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004945888379987023
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.24473935e-13, -1.12236967e-13,  1.00000000e+00, -2.51942737e-26,
        1.00000000e+00,  1.12236967e-13, -1.00000000e+00,  0.00000000e+00,
       -2.24473935e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05226964, -0.06169078,  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:
[-2.47314137e-05,-2.31758989e-05, 7.32485202e-06, 1.43377927e-06,
 -2.09350874e-03, 1.53019646e-02, 6.82866295e-03, 7.10863166e-04,
  6.66434763e-06, 1.86465460e-05,-1.09143268e-05, 1.91299404e-05,
  5.64765680e-02, 1.99479489e-02, 1.34985833e-02, 1.48506493e-04,
 -8.89258104e-06, 9.01384532e-06,-9.80999814e+00,-6.49443375e-02,
 -9.20418928e-03,-5.53102478e-03]


--- Step 1371 ---
qpos:
[ 0.00984168, 0.00808164,-0.00559002, 0.03349612, 0.00514682,-0.00975397,
 -0.01293469, 0.03758539, 0.01306517, 0.00592015,-0.01169201, 0.03405405,
  0.82415852,-0.0165098 , 1.1716441 , 0.04612429, 0.09404398,-0.06490388,
  0.14237224, 0.9457004 ,-0.03315295, 0.03030484, 0.3219212 ]

qacc:
[  3.39145931,  0.36266895,  1.72681162,-12.60821634, 10.67617017,
  -1.57389001, -1.18203836,-10.27976684,  3.63779262,  4.00954259,
 -15.18760809, 24.91448711,  4.79255018,  9.1053643 , 12.17913986,
 -23.4777216 , -0.05580922, -0.05658668,  0.03886092,  2.51172483,
  -0.90014014,  7.29369125]

qfrc_actuator:
[ 2.48208812e-05, 2.19322725e-04, 4.85092803e-05, 6.45573555e-05,
 -1.58078445e-03, 1.26582813e-02, 6.13806894e-03, 1.54695280e-03,
  4.00162865e-05, 1.56333291e-04,-3.07785131e-05, 7.76961145e-05,
  4.88007686e-02, 2.07031201e-02, 0.00000000e+00,-1.87803116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21595806, -0.2085951 ,  0.05591035, -0.2085951 ,  0.22263841,
        0.02492361,  0.05591035,  0.02492361,  0.30894518,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016783756349748215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97894284, -0.20360995,  0.01462515, -0.20358723,  0.97905209,
        0.00304154, -0.01493807,  0.        , -0.99988842])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12955149, -0.08244111,  0.13167071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28340154,  2.95819582,  6.65560031,  2.95819582, 18.43817225,
       -4.95792935,  6.65560031, -4.95792935,  9.48703836,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5364658519665252e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86484937e-01,  5.75206655e-02, -1.53423736e-01,  5.68373748e-02,
        9.98344316e-01,  8.83967109e-03,  1.53678178e-01,  1.73472348e-18,
       -9.88120953e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11320143, -0.0544773 ,  0.29652913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003727580187171356
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.09075837e-01, -8.42244959e-01, -1.77384389e-01, -9.17572249e-02,
       -1.51808541e-01,  9.84141646e-01, -8.55816805e-01,  5.17279031e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500484, -0.03711133,  0.30473935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004931397924372444
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12566765e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.12566765e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05227231, -0.06168841,  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:
[ 2.00104110e-05,-1.22116753e-05,-3.82566972e-05,-3.66087308e-05,
 -2.13047134e-03, 1.56982827e-02, 7.01447711e-03, 7.46932368e-04,
  2.15110886e-05, 7.08070957e-05,-2.33654760e-05, 2.90079288e-05,
  5.53905307e-02, 1.90663575e-02, 1.29991958e-02, 1.20002791e-04,
 -1.92737478e-05, 1.63319358e-05,-9.80999623e+00,-6.49442873e-02,
 -9.20613841e-03,-5.52995782e-03]


--- Step 1372 ---
qpos:
[ 0.00984245, 0.00808129,-0.00558965, 0.03349645, 0.00515982,-0.00981677,
 -0.01295425, 0.03759883, 0.01306591, 0.00592232,-0.01169192, 0.03405544,
  0.82412224,-0.01641921, 1.17158082, 0.04612147, 0.09404701,-0.0648987 ,
  0.14237397, 0.9456741 ,-0.03313508, 0.03029902, 0.32200082]

qacc:
[ 5.18952578e+00,-2.25876945e-01, 1.65857058e+00,-4.24809712e+00,
  6.84698734e+00, 2.88208218e-01,-5.82492729e+00,-8.51020224e+00,
 -8.70301384e-01, 3.10642213e+00,-1.14578700e+01, 1.78956310e+01,
  4.23297412e+00, 7.73997089e+00, 1.20004042e+01,-3.30505615e+01,
 -4.07948480e-02,-4.41771740e-02, 1.98507031e-02, 2.09430316e+00,
 -7.86686668e-01, 6.05887631e+00]

qfrc_actuator:
[ 5.47019503e-05, 2.54480285e-04, 6.35934350e-05, 6.09968121e-05,
 -1.59431748e-03, 1.27380435e-02, 6.13225889e-03, 1.54291861e-03,
  3.44664834e-05, 1.74631263e-04,-6.42767704e-05, 9.38933061e-05,
  4.88025997e-02, 2.05765182e-02, 0.00000000e+00,-2.03639943e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21607959, -0.20980239,  0.05170441, -0.20980239,  0.22061887,
        0.01841915,  0.05170441,  0.01841915,  0.29081948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016930131950759636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97892841, -0.20368342,  0.0145681 , -0.20366087,  0.97903681,
        0.00303082, -0.01488003,  0.        , -0.99988929])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12955844, -0.08244196,  0.13167041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28351499,  2.96534012,  6.65254452,  2.96534012, 20.1219997 ,
       -5.72269358,  6.65254452, -5.72269358,  9.83437848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.5225243356961495e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86493594e-01,  5.73841585e-02, -1.53419188e-01,  5.67025409e-02,
        9.98352172e-01,  8.81836214e-03,  1.53672413e-01, -1.73472348e-18,
       -9.88121849e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11320249, -0.05447505,  0.29652979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037271863197694573
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50895571, -0.84231248, -0.17740849, -0.09174844, -0.15184201,
        0.9841373 , -0.85588919,  0.51715925,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1050045 , -0.03710945,  0.30474195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004912623160726604
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.25993932e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.25993932e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05227403, -0.06168657,  0.06198895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.04511251e-05, 1.88769013e-05, 6.58307435e-06,-6.12151007e-06,
 -2.20522800e-03, 1.60924890e-02, 7.17484457e-03, 8.04799744e-04,
 -4.90786448e-06, 5.42512559e-05,-2.07760059e-05, 1.89794230e-05,
  5.44377935e-02, 1.82270448e-02, 1.25549025e-02,-5.44728315e-05,
 -3.15634408e-05, 2.46504657e-05,-9.80999360e+00,-6.49436091e-02,
 -9.20861443e-03,-5.52857691e-03]


--- Step 1373 ---
qpos:
[ 0.00984323, 0.00808101,-0.00558913, 0.03349707, 0.00517347,-0.00988471,
 -0.01297746, 0.03761088, 0.01306658, 0.00592448,-0.01169224, 0.03405638,
  0.82410034,-0.01631814, 1.17152041, 0.04611608, 0.09404992,-0.06489367,
  0.14237573, 0.9456447 ,-0.03311315, 0.03029336, 0.32208993]

qacc:
[ 6.94914240e-02, 2.53936896e-01,-2.05541000e+00, 6.96355447e+00,
  5.55319131e+00, 5.37554441e-01,-5.88944858e+00,-8.70283685e+00,
 -6.41447675e-01, 2.10659559e-01, 1.12526367e+00,-8.22261388e+00,
  3.77314099e+00, 6.49810448e+00, 1.19612150e+01,-3.57435956e+01,
 -2.97462639e-02,-3.45593850e-02, 4.75350882e-03, 1.74900635e+00,
 -6.92421057e-01, 5.04571588e+00]

qfrc_actuator:
[ 5.42144656e-05, 2.57874537e-04, 7.24735191e-05, 7.65689368e-05,
 -1.60811288e-03, 1.28143897e-02, 6.12112787e-03, 1.53597346e-03,
  3.08990657e-05, 1.31155027e-04,-1.01801993e-04, 6.73456366e-05,
  4.88094365e-02, 2.04924795e-02, 0.00000000e+00,-2.18238811e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21616983, -0.21078782,  0.04793634, -0.21078782,  0.21984208,
        0.01614776,  0.04793634,  0.01614776,  0.28717547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001703791893717963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78911289e-01, -2.03770526e-01,  1.45004007e-02, -2.03748174e-01,
        9.79018678e-01,  3.01807754e-03, -1.48111584e-02, -4.33680869e-19,
       -9.99890309e-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([ 0.1295661 , -0.082443  ,  0.13167023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28374074,  2.96871871,  6.65128472,  2.96871871, 22.09750741,
       -6.61194161,  6.65128472, -6.61194161, 10.23489914,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.953174519630257e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98650429,  0.0572258 , -0.15340958,  0.05654616,  0.99836126,
        0.0087934 ,  0.15366139,  0.        , -0.98812356])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11320361, -0.05447356,  0.29653049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003726600517898013
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50881685, -0.84239324, -0.17742334, -0.09173134, -0.15186969,
        0.98413462, -0.85597358,  0.51701956,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500373, -0.03710881,  0.30474489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004890827139900633
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13500538e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.13500538e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05227502, -0.06168513,  0.061989  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.87331938e-07, 1.50636585e-05, 1.33754653e-05, 1.64874860e-05,
 -2.25843901e-03, 1.64521797e-02, 7.35517540e-03, 8.69027635e-04,
 -3.68069780e-06,-1.66990004e-05,-2.82499400e-05,-2.45800548e-05,
  5.36169978e-02, 1.75289628e-02, 1.23477185e-02,-1.03509045e-04,
 -4.41864173e-05, 3.29957635e-05,-9.80999070e+00,-6.49423395e-02,
 -9.21137472e-03,-5.52692201e-03]


--- Step 1374 ---
qpos:
[ 0.00984365, 0.00808088,-0.00558879, 0.03349754, 0.00518782,-0.00995809,
 -0.01300339, 0.0376218 , 0.0130672 , 0.00592665,-0.01169272, 0.03405664,
  0.82409106,-0.01620801, 1.17146625, 0.04610992, 0.09405273,-0.06488874,
  0.14237747, 0.94561272,-0.03308785, 0.03028771, 0.32218695]

qacc:
[-3.13752391e+00, 4.15376461e-01,-5.19748724e-01,-1.95296450e+00,
  6.12633878e+00,-1.91053871e+00, 1.08614805e+00,-1.20716608e+01,
 -4.26867372e-01,-9.63902421e-01, 6.37732023e+00,-1.80824935e+01,
  3.31479944e+00, 5.61131098e+00, 1.15508058e+01,-2.70091328e+01,
 -2.39749560e-02,-2.63764883e-02,-4.54440198e-03, 1.43677069e+00,
 -6.29211097e-01, 4.20598599e+00]

qfrc_actuator:
[ 3.58533271e-05, 2.59986580e-04, 5.97426409e-05, 6.77297788e-05,
 -1.62223303e-03, 1.28727111e-02, 6.16143858e-03, 1.54558347e-03,
  2.85350796e-05, 1.39715568e-04,-1.06189675e-04, 3.35559040e-05,
  4.88188757e-02, 2.04308510e-02, 0.00000000e+00,-2.17752452e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21622969, -0.21169273,  0.04406211, -0.21169273,  0.21960624,
        0.01622234,  0.04406211,  0.01622234,  0.29416859,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017108994284703122
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97886291, -0.20400833,  0.01442224, -0.20398619,  0.97896915,
        0.00300547, -0.01473207,  0.        , -0.99989148])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12957474, -0.08244586,  0.13167026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28411902,  2.96475392,  6.65346708,  2.96475392, 23.25769427,
       -7.11775068,  6.65346708, -7.11775068, 10.45575555,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.751111275101877e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98651665,  0.05704925, -0.15339585,  0.05637185,  0.99837137,
        0.00876539,  0.15364609,  0.        , -0.98812594])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11320477, -0.05447275,  0.29653121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037260737481553295
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08662367e-01, -8.42485093e-01, -1.77430168e-01, -9.17071300e-02,
       -1.51892286e-01,  9.84133393e-01, -8.56067987e-01,  5.16863233e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500255, -0.03710919,  0.30474802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004867027831900739
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28111090e-13, -1.17619781e-13,  1.00000000e+00, -2.68303764e-26,
        1.00000000e+00,  1.17619781e-13, -1.00000000e+00,  0.00000000e+00,
       -2.28111090e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05227544, -0.06168402,  0.06198906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.83458340e-05, 1.40055875e-05,-7.40642374e-06,-7.41208036e-06,
 -2.30457554e-03, 1.67705984e-02, 7.57966553e-03, 9.48882051e-04,
 -2.46556840e-06,-7.74203274e-06,-1.21897917e-05,-3.59670643e-05,
  5.29072040e-02, 1.69415951e-02, 1.22060413e-02, 2.98135844e-05,
 -5.63837051e-05, 4.09606090e-05,-9.80998775e+00,-6.49405485e-02,
 -9.21426668e-03,-5.52502740e-03]


--- Step 1375 ---
qpos:
[ 0.00984385, 0.00808101,-0.00558865, 0.03349789, 0.00520246,-0.01003626,
 -0.01303227, 0.03763155, 0.01306709, 0.00592873,-0.011693  , 0.03405716,
  0.82409275,-0.01609008, 1.17142111, 0.04610459, 0.09405546,-0.06488388,
  0.14237917, 0.94557859,-0.03305975, 0.03028197, 0.32229052]

qacc:
[-1.97121839e+00, 6.56917434e-01,-1.35433628e+00,-5.75158497e-01,
  2.51877127e+00,-5.23452873e-01,-2.36524856e+00,-9.72399458e+00,
 -6.35040522e+00,-1.14659676e-01,-9.00051904e-01, 5.33517310e+00,
  2.88429374e+00, 4.83070895e+00, 1.08182876e+01,-1.85156265e+01,
 -2.04531532e-02,-2.00592924e-02,-1.11863061e-02, 1.16719861e+00,
 -5.69884212e-01, 3.48761459e+00]

qfrc_actuator:
[ 2.48816681e-05, 2.78959425e-04, 5.20770003e-05, 6.23294329e-05,
 -1.65461865e-03, 1.29758235e-02, 6.19762645e-03, 1.56540377e-03,
 -8.60708487e-06, 1.43974312e-04,-9.07835863e-05, 4.91001963e-05,
  4.88188670e-02, 2.03443833e-02, 0.00000000e+00,-2.10067411e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21625605, -0.21266731,  0.03923382, -0.21266731,  0.21847381,
        0.01202142,  0.03923382,  0.01202142,  0.28141826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017140183498959722
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78833944e-01, -2.04153396e-01,  1.43353187e-02, -2.04131506e-01,
        9.78938911e-01,  2.98956755e-03, -1.46437316e-02, -4.33680869e-19,
       -9.99892775e-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([ 0.12958375, -0.08244764,  0.13167032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28468052,  2.95440443,  6.65868341,  2.95440443, 24.30230937,
       -7.55058544,  6.65868341, -7.55058544, 10.63481473,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2823828870264273e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98653035,  0.05685754, -0.15337891,  0.05618257,  0.9983823 ,
        0.00873488,  0.15362744,  0.        , -0.98812884])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11320596, -0.05447251,  0.29653195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037259365053627074
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08494836e-01, -8.42586495e-01, -1.77428860e-01, -9.16762284e-02,
       -1.51909413e-01,  9.84133629e-01, -8.56170819e-01,  5.16692877e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500103, -0.03711045,  0.30475121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048419881707871537
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29290735e-13, -1.46889377e-13,  1.00000000e+00, -3.36803731e-26,
        1.00000000e+00,  1.46889377e-13, -1.00000000e+00,  0.00000000e+00,
       -2.29290735e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05227543, -0.06168317,  0.06198911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14889030e-05, 2.49490274e-05,-5.94454904e-06,-5.20155573e-06,
 -2.37207030e-03, 1.71484959e-02, 7.75274503e-03, 1.02479959e-03,
 -3.72065093e-05,-4.20246624e-06, 1.10414100e-05, 1.40866426e-05,
  5.22768604e-02, 1.63996784e-02, 1.18942621e-02, 1.45233142e-04,
 -6.77159284e-05, 4.83500034e-05,-9.80998489e+00,-6.49383178e-02,
 -9.21718525e-03,-5.52291981e-03]


--- Step 1376 ---
qpos:
[ 0.00984392, 0.00808135,-0.00558915, 0.03349786, 0.005217  ,-0.01011879,
 -0.01306416, 0.03764007, 0.0130662 , 0.00593014,-0.0116923 , 0.03405858,
  0.82410379,-0.01596575, 1.17138212, 0.04609883, 0.09405813,-0.06487911,
  0.14238079, 0.94554273,-0.03302935, 0.03027612, 0.32239939]

qacc:
[-1.19225788e+00, 1.29475676e+00,-2.59749538e+00,-3.09641128e+00,
 -8.83326100e-01, 1.62823596e-01,-3.76766776e+00,-9.38100803e+00,
 -6.89478539e+00,-1.78459495e+00, 1.31691418e+00, 1.30471236e+01,
  2.62246210e+00, 3.74008317e+00, 1.03860817e+01,-2.31867050e+01,
 -1.55086347e-02,-1.79327216e-02,-1.96744881e-02, 9.67273251e-01,
 -4.82086389e-01, 2.81807660e+00]

qfrc_actuator:
[ 1.83531679e-05, 2.72390774e-04, 1.20393891e-05, 4.12676770e-05,
 -1.69783259e-03, 1.30540791e-02, 6.19715023e-03, 1.55634867e-03,
 -4.81693329e-05, 9.24963280e-05,-4.60439531e-05, 9.35585596e-05,
  4.88128823e-02, 2.02406479e-02, 0.00000000e+00,-2.15944366e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21624969, -0.2131504 ,  0.03648062, -0.2131504 ,  0.21789358,
        0.00960498,  0.03648062,  0.00960498,  0.27237003,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017132669420234423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78802656e-01, -2.04310042e-01,  1.42396540e-02, -2.04288425e-01,
        9.78906230e-01,  2.97199490e-03, -1.45464945e-02, -4.33680869e-19,
       -9.99894194e-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([ 0.12959334, -0.08244958,  0.13167048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2854447 ,  2.94787987,  6.66241013,  2.94787987, 27.44093397,
       -8.91808821,  6.66241013, -8.91808821, 11.23138202,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6088474768373567e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86545118e-01,  5.66532341e-02, -1.53359519e-01,  5.59808815e-02,
        9.98393916e-01,  8.70228936e-03,  1.53606224e-01,  1.73472348e-18,
       -9.88132141e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11320715, -0.05447278,  0.29653269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037263866763644483
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08316461e-01, -8.42696096e-01, -1.77419462e-01, -9.16390570e-02,
       -1.51920863e-01,  9.84135323e-01, -8.56280713e-01,  5.16510737e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10499925, -0.03711249,  0.30475434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004816304536178623
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30513460e-13, -3.24159554e-14,  1.00000000e+00, -7.47231404e-27,
        1.00000000e+00,  3.24159554e-14, -1.00000000e+00,  0.00000000e+00,
       -2.30513460e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0522751 , -0.06168251,  0.06198917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.84727330e-06, 5.92061084e-06,-3.57997698e-05,-2.03004969e-05,
 -2.42980134e-03, 1.74693290e-02, 7.90069851e-03, 1.07468702e-03,
 -4.06159116e-05,-5.10301971e-05, 4.56980753e-05, 4.49307872e-05,
  5.17220945e-02, 1.59034376e-02, 1.14442314e-02, 4.53772605e-05,
 -7.79124397e-05, 5.50210222e-05,-9.80998221e+00,-6.49357100e-02,
 -9.22006910e-03,-5.52062356e-03]


--- Step 1377 ---
qpos:
[ 0.00984356, 0.0080816 ,-0.00559   , 0.03349726, 0.00523137,-0.01020526,
 -0.01309776, 0.03764772, 0.01306518, 0.00593125,-0.01169084, 0.03406014,
  0.82412058,-0.01583738, 1.17134673, 0.04609165, 0.09406072,-0.06487439,
  0.14238233, 0.94550578,-0.03299763, 0.03027048, 0.3225115 ]

qacc:
[-3.72652440e+00,-3.40399911e-01, 3.47290195e+00,-1.28361275e+01,
 -1.43011178e+00,-2.27864787e+00, 4.26358293e+00,-1.38432752e+01,
 -1.05101289e+00,-2.19383759e+00, 6.67894037e+00,-5.22719157e+00,
  1.48435124e+00, 2.53521321e+00, 9.59864537e+00,-2.58594986e+01,
 -1.91876942e-02,-1.66704987e-02,-1.92398929e-02, 5.87242752e-01,
 -1.49820805e-01, 1.72620558e+00]

qfrc_actuator:
[-3.26298679e-06, 2.50429110e-04,-1.14001511e-05, 1.11159192e-05,
 -1.72951769e-03, 1.31189055e-02, 6.22918693e-03, 1.53048731e-03,
 -5.33233267e-05, 9.69596716e-05,-2.31717910e-06, 1.01377571e-04,
  4.88137151e-02, 2.01425883e-02, 0.00000000e+00,-2.26314734e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21621057, -0.21308699,  0.03661894, -0.21308699,  0.21820717,
        0.01161829,  0.03661894,  0.01161829,  0.28381785,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017086328776246457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97876948, -0.20447613,  0.01413556, -0.20445481,  0.97887155,
        0.00295277, -0.01444067,  0.        , -0.99989573])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12960344, -0.08245166,  0.13167074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2864305 ,   2.89435173,   6.6869124 ,   2.89435173,
        31.59772109, -10.52285744,   6.6869124 , -10.52285744,
        11.84112611,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.950836544694941e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86560732e-01,  5.64387790e-02, -1.53338146e-01,  5.57691757e-02,
        9.98406062e-01,  8.66803402e-03,  1.53582947e-01, -1.73472348e-18,
       -9.88135759e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11320834, -0.05447348,  0.29653343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003727264246801281
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.08129315e-01, -8.42812310e-01, -1.77403519e-01, -9.15968194e-02,
       -1.51927717e-01,  9.84138197e-01, -8.56396299e-01,  5.16319066e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049972 , -0.03711515,  0.30475741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004790390494953134
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21071280e-06,  1.21071302e-06,  1.00000000e+00,  1.46582575e-12,
        1.00000000e+00, -1.21071302e-06, -1.00000000e+00, -2.01948392e-28,
       -1.21071280e-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([ 0.0526918 , -0.06228796,  0.06198923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18074533e-05,-2.69248020e-05,-2.73261288e-05,-3.15311147e-05,
 -2.45653714e-03, 1.77554100e-02, 8.08504932e-03, 1.11024628e-03,
 -6.32456395e-06,-1.27872926e-05, 4.03420786e-05, 8.08139847e-06,
  5.12557184e-02, 1.54830260e-02, 1.11375228e-02,-3.62883749e-05,
 -8.67250965e-05, 6.07518554e-05,-9.80997982e+00,-6.49327473e-02,
 -9.22289071e-03,-5.51816620e-03]


--- Step 1378 ---
qpos:
[ 0.00984295, 0.00808159,-0.00559077, 0.03349595, 0.00523961,-0.01028083,
 -0.01312183, 0.03765922, 0.01306446, 0.00593305,-0.01169038, 0.03406178,
  0.82405866,-0.01575863, 1.17126694, 0.04609525, 0.09406343,-0.06486731,
  0.14238337, 0.94548991,-0.03300206, 0.03025753, 0.32255879]

qacc:
[-2.24269689e+00,-1.99219925e+00, 9.62102884e+00,-2.18463202e+01,
 -5.33304521e+01,-4.13944318e+00, 1.95771442e+01, 2.37243157e+01,
  2.50993247e+00, 3.84024811e+00,-1.27324710e+01, 1.51942564e+01,
 -2.49101630e+01,-2.51132222e+01,-9.78101869e+01, 2.47797692e+02,
  2.87741318e-02, 5.93083875e-01,-1.23800987e-01,-1.69379593e+01,
  3.12106002e+00,-3.47069037e+01]

qfrc_actuator:
[-1.58353977e-05, 2.37212093e-04,-7.16497915e-06,-2.41405064e-05,
 -1.73642652e-03, 1.31947614e-02, 6.29836979e-03, 1.51243865e-03,
 -3.81828795e-05, 1.52620584e-04,-4.81273236e-05, 1.05360006e-04,
  4.88186251e-02, 2.00299824e-02, 0.00000000e+00,-2.21513228e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21613764, -0.20836886,  0.05742732, -0.20836886,  0.22997939,
        0.05022329,  0.05742732,  0.05022329,  0.39836747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016999555776563632
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78735099e-01, -2.04648244e-01,  1.40250713e-02, -2.04627236e-01,
        9.78835582e-01,  2.93226593e-03, -1.43283219e-02, -4.33680869e-19,
       -9.99897344e-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([ 0.12961396, -0.08245384,  0.13167111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28764977, -7.26283618,  0.60087423, -7.26283618,  7.23898751,
       -0.58818639,  0.60087423, -0.58818639,  0.17817304,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3045697033402084e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86576907e-01,  5.62180696e-02, -1.53315147e-01,  5.55513029e-02,
        9.98418514e-01,  8.63273415e-03,  1.53557997e-01, -1.73472348e-18,
       -9.88139637e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11320953, -0.05447444,  0.29653418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1757651 ,  0.90014634, -0.75641268,  0.90014634,  5.81555065,
        5.52143837, -0.75641268,  5.52143837,  7.7463881 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000372884809832041
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.07936871e-01, -8.42932529e-01, -1.77383447e-01, -9.15514323e-02,
       -1.51931637e-01,  9.84141815e-01, -8.56515307e-01,  5.16121623e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10499496, -0.03711814,  0.30476031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.89382611, -6.33161526,  8.86487989, -6.33161526, 42.76522831,
       22.7636989 ,  8.86487989, 22.7636989 , 27.15247656,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004793478685722746
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.31611132e-13, -1.15805566e-13,  1.00000000e+00, -2.68218582e-26,
        1.00000000e+00,  1.15805566e-13, -1.00000000e+00,  0.00000000e+00,
       -2.31611132e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08542209, -0.10979062,  0.06198922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32004974e-05,-3.52734707e-05,-5.77351461e-06,-3.79656724e-05,
 -2.45515954e-03, 1.80322399e-02, 8.24050701e-03, 1.13635061e-03,
  1.49595780e-05, 5.71231994e-05,-4.32373216e-05, 4.97836299e-06,
  5.09730182e-02, 1.51660131e-02, 1.09581317e-02, 8.26656280e-05,
 -9.22635599e-05, 6.41932441e-05,-9.80997856e+00,-6.49292961e-02,
 -9.22531064e-03,-5.51563360e-03]


--- Step 1379 ---
qpos:
[ 0.00984253, 0.00808127,-0.00559122, 0.03349455, 0.00524377,-0.01034018,
 -0.01313595, 0.03767471, 0.01306426, 0.0059354 ,-0.01169106, 0.03406348,
  0.82391804,-0.01572767, 1.17113733, 0.04609954, 0.09406693,-0.06485833,
  0.14238394, 0.94549263,-0.03303526, 0.03024012, 0.32254906]

qacc:
[ 1.76045546e+00,-1.48449590e+00, 5.02142150e+00,-6.65375581e+00,
 -3.55024946e+01, 1.88805092e+00, 7.65983675e+00, 3.33504414e+01,
  4.63584632e+00, 4.03758831e+00,-1.35888184e+01, 1.60466715e+01,
 -2.65531058e+01,-2.17930260e+01,-7.51462628e+01, 1.57144062e+02,
  1.98588131e-01, 4.72790133e-01,-1.19962938e-01,-1.31499560e+01,
  3.19403471e+00,-3.04675154e+01]

qfrc_actuator:
[-5.22680226e-06, 2.29437969e-04, 1.33965780e-05,-2.65899778e-05,
 -1.72243326e-03, 1.32462045e-02, 6.32604696e-03, 1.49469522e-03,
 -1.12296857e-05, 1.67139901e-04,-1.10703884e-04, 1.07046806e-04,
  4.88173995e-02, 1.99606974e-02, 0.00000000e+00,-2.28300001e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21599481, -0.20198239,  0.07653021, -0.20198239,  0.36006819,
        0.3802457 ,  0.07653021,  0.3802457 ,  1.21955839,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016828171222764543
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78724049e-01, -2.04706981e-01,  1.39386956e-02, -2.04686224e-01,
        9.78823300e-01,  2.91508007e-03, -1.42402573e-02,  4.33680869e-19,
       -9.99898602e-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([ 0.12962238, -0.08245469,  0.13167131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28679276, -7.28628854,  0.08572097, -7.28628854,  7.28579946,
       -0.08443077,  0.08572097, -0.08443077,  0.11017129,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0622914669615015e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.986579  ,  0.05611891, -0.153338  ,  0.05545312,  0.99842409,
        0.00861874,  0.15358003,  0.        , -0.98813621])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11320903, -0.05447152,  0.29653386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.17854974,  0.83318334, -0.83353765,  0.83318334,  3.09676921,
        1.91740409, -0.83353765,  1.91740409,  3.09513879,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003753699017798562
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50784775, -0.84298314, -0.17739808, -0.09154317, -0.1519537 ,
        0.98413918, -0.85656903,  0.51603245,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10499254, -0.03711222,  0.304756  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.88264976,  7.0838968 , -8.26138438,  7.0838968 , 34.42721928,
       20.18878351, -8.26138438, 20.18878351, 28.19394438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047858578146865727
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15989972e-13, -1.15989972e-13,  1.00000000e+00, -1.34536735e-26,
        1.00000000e+00,  1.15989972e-13, -1.00000000e+00,  0.00000000e+00,
       -1.15989972e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08543116, -0.10978468,  0.06198924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02230860e-05,-3.03091520e-05, 1.12638891e-05,-4.89431246e-06,
 -2.13437663e-03, 1.75412731e-02, 7.79348355e-03, 9.26026519e-04,
  2.74063581e-05, 3.76739561e-05,-5.59618390e-05, 2.72620330e-06,
  5.49081997e-02, 1.75767595e-02, 1.31800133e-02,-5.24082990e-04,
 -1.30979339e-05, 1.53964190e-05,-9.80999621e+00,-6.49255822e-02,
 -9.21505792e-03,-5.51431894e-03]


--- Step 1380 ---
qpos:
[ 0.00984259, 0.00808074,-0.00559148, 0.03349349, 0.00525023,-0.0103935 ,
 -0.01314926, 0.03768979, 0.01306439, 0.00593754,-0.01169134, 0.03406483,
  0.82379886,-0.01568491, 1.17100011, 0.0460938 , 0.09407021,-0.06485057,
  0.14238464, 0.94548884,-0.03305592, 0.03022679, 0.32255929]

qacc:
[ 4.17953464e+00,-1.72492474e-01,-1.17049834e+00, 6.61778709e+00,
  1.99595884e+01, 4.82950695e+00,-4.01857103e+00,-8.64916176e+00,
  2.87683419e+00,-2.11739827e+00, 8.56850921e+00,-1.49838882e+01,
  8.39301125e+00, 3.65282325e+00, 1.88506542e+01,-8.28110508e+01,
 -5.57315107e-02,-3.02808463e-01, 3.37870662e-02, 6.17285843e+00,
 -3.27278419e-01, 1.07497233e+01]

qfrc_actuator:
[ 1.89377771e-05, 2.25086502e-04, 2.57176348e-05,-9.70367776e-06,
 -1.73100477e-03, 1.32910785e-02, 6.32457600e-03, 1.47546234e-03,
  4.70043761e-06, 1.39067542e-04,-9.40368446e-05, 8.95908334e-05,
  4.88153241e-02, 1.99354067e-02, 0.00000000e+00,-2.34360158e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21590053, -0.20445209,  0.06937132, -0.20445209,  0.26858895,
        0.15528403,  0.06937132,  0.15528403,  0.6735557 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001671396192086506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78733746e-01, -2.04664459e-01,  1.38821276e-02, -2.04643875e-01,
        9.78832192e-01,  2.90262025e-03, -1.41823366e-02, -4.33680869e-19,
       -9.99899426e-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([ 0.12962854, -0.08245428,  0.13167112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28505185, -1.7915252 ,  7.06133259, -1.7915252 , 48.97530468,
       10.57720166,  7.06133259, 10.57720166,  9.96858546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.450233810207674e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86569590e-01,  5.61277201e-02, -1.53395316e-01,  5.54613312e-02,
        9.98423597e-01,  8.62332317e-03,  1.53637510e-01,  1.73472348e-18,
       -9.88127277e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11320765, -0.05446486,  0.29653302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.18301211,  1.03730124, -0.56879151,  1.03730124,  2.24044699,
        1.92843687, -0.56879151,  1.92843687,  4.69988941,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037929629202629095
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.07850665e-01, -8.42969895e-01, -1.77452692e-01, -9.15727889e-02,
       -1.51999612e-01,  9.84129332e-01, -8.56564140e-01,  5.16040574e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10499056, -0.03709851,  0.30474683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.87879083, -6.08308529,  9.01909992, -6.08308529, 19.20870622,
        5.61825306,  9.01909992,  5.61825306, 14.66811713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004783220326596005
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.5386797e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.5386797e-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([ 0.05228674, -0.06167312,  0.06198925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.44467555e-05,-1.91588136e-05, 7.29034000e-06, 1.58864462e-05,
 -1.93891200e-03, 1.67774828e-02, 7.29509724e-03, 7.07627078e-04,
  1.67315241e-05,-1.85197925e-05, 1.76257906e-05,-1.77333782e-05,
  5.88417300e-02, 1.99402815e-02, 1.56730225e-02,-6.18595171e-04,
 -8.69962629e-06, 5.51075433e-06,-9.80999129e+00,-6.49281416e-02,
 -9.21862286e-03,-5.51456028e-03]


--- Step 1381 ---
qpos:
[ 0.00984363, 0.00808009,-0.00559161, 0.03349262, 0.00525798,-0.01044578,
 -0.01316338, 0.03770401, 0.01306437, 0.00593959,-0.01169146, 0.03406597,
  0.82369919,-0.01563169, 1.17087152, 0.04608586, 0.09407333,-0.06484372,
  0.14238543, 0.94547946,-0.03306624, 0.03021654, 0.32258669]

qacc:
[ 8.59772558e+00,-1.04423782e-01,-7.56438490e-01, 4.21526881e+00,
  1.11835764e+01, 1.83785917e+00,-9.37152585e-01,-1.34756582e+01,
 -1.35436853e+00,-1.04549268e+00, 4.50140929e+00,-8.54769421e+00,
  7.59315264e+00, 3.20968300e+00, 1.91882249e+01,-4.90575555e+01,
 -3.88758835e-02,-2.29479324e-01, 2.46043907e-02, 5.03815548e+00,
 -4.12332175e-01, 9.21814011e+00]

qfrc_actuator:
[ 6.86327325e-05, 2.22815668e-04, 3.30940512e-05, 6.61838193e-07,
 -1.74011180e-03, 1.33179622e-02, 6.32853146e-03, 1.47588495e-03,
 -3.74181595e-06, 1.39255553e-04,-8.41627613e-05, 7.87818565e-05,
  4.88278640e-02, 1.98605438e-02, 0.00000000e+00,-2.24737557e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21589281, -0.20637999,  0.06337984, -0.20637999,  0.2381059 ,
        0.07233117,  0.06337984,  0.07233117,  0.45142045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001670457034749014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873595, -0.20465732,  0.01383173, -0.20463689,  0.97883368,
        0.00289198, -0.01413083,  0.        , -0.99990015])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12963439, -0.08245424,  0.13167085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28427798,  7.27563043,  0.35483454,  7.27563043,  7.31724571,
       -0.67597999,  0.35483454, -0.67597999, 21.14476784,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.07108315641641e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98656516,  0.05609949, -0.15343414,  0.0554331 ,  0.99842518,
        0.00862115,  0.15367615,  0.        , -0.98812127])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.113207  , -0.05445929,  0.29653262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.18596094, -0.5268543 ,  1.06251019, -0.5268543 ,  7.35583637,
        3.05938281,  1.06251019,  3.05938281,  2.70298074,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003818541385031529
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.07822424e-01, -8.42975766e-01, -1.77505618e-01, -9.15958955e-02,
       -1.52047481e-01,  9.84119787e-01, -8.56578413e-01,  5.16016882e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498889, -0.0370878 ,  0.30474135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.89308807,  5.30544425, -9.51375998,  5.30544425, 78.23654772,
       37.55475978, -9.51375998, 37.55475978, 31.83587879,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004792976252794151
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15817706e-13, -6.15281561e-14,  1.00000000e+00,  7.12604986e-27,
        1.00000000e+00,  6.15281561e-14, -1.00000000e+00,  0.00000000e+00,
        1.15817706e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05229337, -0.06166876,  0.06198922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.03859699e-05,-1.07649838e-05, 4.87697497e-06, 1.01090681e-05,
 -2.06306289e-03, 1.65050416e-02, 7.25928817e-03, 7.28413590e-04,
 -7.96636713e-06,-7.35824613e-06, 7.58081181e-06,-1.13457450e-05,
  5.77826597e-02, 1.92744539e-02, 1.60567333e-02,-1.98709878e-05,
 -2.62008897e-06, 4.46394539e-06,-9.80999628e+00,-6.49313176e-02,
 -9.21717254e-03,-5.51452977e-03]


--- Step 1382 ---
qpos:
[ 0.00984526, 0.00807951,-0.00559175, 0.03349222, 0.00526708,-0.01049889,
 -0.01317869, 0.03771728, 0.01306459, 0.00594136,-0.01169161, 0.03406666,
  0.82361729,-0.01556905, 1.17075823, 0.04607923, 0.09407635,-0.06483755,
  0.1423863 , 0.94546517,-0.03306792, 0.03020854, 0.32262916]

qacc:
[ 5.15530693e+00, 1.06785283e+00,-5.62555474e+00, 1.35699754e+01,
  1.17492087e+01, 2.41560993e-01, 1.50741594e+00,-1.53717739e+01,
  2.15292102e+00,-1.14772465e+00, 5.44043507e+00,-1.28498709e+01,
  6.84841335e+00, 2.93328432e+00, 1.84302447e+01,-3.20491619e+01,
 -2.64713721e-02,-1.68897555e-01, 1.63412839e-02, 4.13592455e+00,
 -5.02818545e-01, 8.09342288e+00]

qfrc_actuator:
[ 9.74466485e-05, 2.39542229e-04, 3.74982541e-05, 2.48571402e-05,
 -1.71394368e-03, 1.33543786e-02, 6.33703882e-03, 1.47097085e-03,
  9.04766703e-06, 1.03095695e-04,-9.60495339e-05, 5.42234447e-05,
  4.88538989e-02, 1.97880638e-02, 0.00000000e+00,-2.09638204e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21592523, -0.20762232,  0.05930156, -0.20762232,  0.23265248,
        0.05856424,  0.05930156,  0.05856424,  0.42096607,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016743965204363392
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78731782e-01, -2.04680713e-01,  1.37806248e-02, -2.04660427e-01,
        9.78828793e-01,  2.88163582e-03, -1.40786876e-02,  4.33680869e-19,
       -9.99900890e-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([ 0.12964039, -0.08245454,  0.13167059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28397438,  7.24734554,  0.7295652 ,  7.24734554,  7.44737397,
       -1.62317676,  0.7295652 , -1.62317676, 23.4082671 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.787133449279958e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98656484,  0.05603932, -0.15345815,  0.05537343,  0.99842856,
        0.00861322,  0.15369968,  0.        , -0.98811761])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11320692, -0.05445471,  0.29653257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.18783559, -0.68434213,  0.97089095, -0.68434213,  8.59013933,
        5.21758729,  0.97089095,  5.21758729,  4.8655038 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038346535149544184
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5077673 , -0.84299902, -0.17755289, -0.09161114, -0.15209349,
        0.98411126, -0.85660946,  0.51596534,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498751, -0.03707967,  0.3047385 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.89650541,  5.17538285, -9.58901676,  5.17538285, 94.83557532,
       45.30358369, -9.58901676, 45.30358369, 35.34774959,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047953016877376464
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.31523082e-13, -2.06200245e-13,  1.00000000e+00, -4.77401161e-26,
        1.00000000e+00,  2.06200245e-13, -1.00000000e+00,  0.00000000e+00,
       -2.31523082e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0522983 , -0.06166533,  0.06198922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02474495e-05, 1.21887667e-05, 3.13900054e-06, 2.41008745e-05,
 -2.10136090e-03, 1.64913738e-02, 7.30903828e-03, 7.66896692e-04,
  1.25672384e-05,-3.92731851e-05,-1.28904070e-05,-2.48387916e-05,
  5.68322889e-02, 1.86776724e-02, 1.56277294e-02, 2.41677453e-04,
 -4.14304047e-06, 6.72190629e-06,-9.80999814e+00,-6.49331759e-02,
 -9.21740875e-03,-5.51417273e-03]


--- Step 1383 ---
qpos:
[ 0.00984687, 0.00807921,-0.00559248, 0.03349177, 0.00527728,-0.01055479,
 -0.01319549, 0.03772949, 0.01306496, 0.00594258,-0.01169202, 0.03406675,
  0.82355176,-0.01549779, 1.17065723, 0.04607274, 0.09407929,-0.06483189,
  0.1423872 , 0.94544662,-0.03306236, 0.03020213, 0.32268469]

qacc:
[-1.27127174e-01, 1.93384548e+00,-6.17430331e+00, 6.20354161e+00,
  9.63144149e+00,-1.71565446e+00, 5.20622525e+00,-1.90374611e+01,
  1.33721133e+00,-1.26017495e+00, 5.91671300e+00,-1.53525554e+01,
  6.36930942e+00, 2.59993809e+00, 1.75567841e+01,-3.54573170e+01,
 -1.87151572e-02,-1.28177880e-01, 8.71874720e-03, 3.41238676e+00,
 -5.64423368e-01, 6.98773191e+00]

qfrc_actuator:
[ 9.59791156e-05, 2.49766535e-04, 4.69965273e-06, 2.15074909e-05,
 -1.70269422e-03, 1.33802200e-02, 6.34897832e-03, 1.42777873e-03,
  1.64862663e-05, 4.53470480e-05,-1.20843499e-04, 2.17270227e-05,
  4.88715095e-02, 1.97316234e-02, 0.00000000e+00,-2.12819615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21598272, -0.20787292,  0.05862922, -0.20787292,  0.22928282,
        0.04715619,  0.05862922,  0.04715619,  0.38317743,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016813575093178843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78722086e-01, -2.04730704e-01,  1.37265306e-02, -2.04710572e-01,
        9.78818338e-01,  2.87105601e-03, -1.40235732e-02,  4.33680869e-19,
       -9.99901665e-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([ 0.12964667, -0.08245514,  0.13167035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28391354,  7.14141312,  1.43374165,  7.14141312,  8.37409163,
       -5.430136  ,  1.43374165, -5.430136  , 34.3312163 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.348469753262734e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86567970e-01,  5.59508992e-02, -1.53470316e-01,  5.52859693e-02,
        9.98433522e-01,  8.60027434e-03,  1.53711101e-01, -1.73472348e-18,
       -9.88115832e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11320727, -0.05445101,  0.29653279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003844181807165665
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50768833, -0.84303812, -0.17759307, -0.09161829, -0.15213608,
        0.98410401, -0.8566555 ,  0.51588889,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498635, -0.03707374,  0.30473751])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004791812918704119
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.31691646e-13, -3.25816378e-14,  1.00000000e+00, -7.54889330e-27,
        1.00000000e+00,  3.25816378e-14, -1.00000000e+00,  0.00000000e+00,
       -2.31691646e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05230189, -0.06166265,  0.06198923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.00576658e-07, 1.87505438e-05,-2.90538616e-05,-2.24872894e-06,
 -2.15771599e-03, 1.65609303e-02, 7.38109766e-03, 7.71260489e-04,
  7.78926564e-06,-8.34963712e-05,-3.53740993e-05,-3.51144549e-05,
  5.59618164e-02, 1.81487646e-02, 1.48651342e-02, 1.44549848e-04,
 -1.04174761e-05, 1.11857370e-05,-9.80999803e+00,-6.49339781e-02,
 -9.21869338e-03,-5.51351137e-03]


--- Step 1384 ---
qpos:
[ 0.00984846, 0.00807895,-0.00559349, 0.03349096, 0.00528819,-0.01061502,
 -0.01321409, 0.03774052, 0.01306542, 0.00594339,-0.01169309, 0.03406681,
  0.82350113,-0.01541877, 1.17056933, 0.04606712, 0.09408217,-0.06482662,
  0.14238811, 0.94542442,-0.03305078, 0.03019682, 0.3227514 ]

qacc:
[-2.69917987e-01, 8.07296104e-02, 1.32996877e+00,-7.28390970e+00,
  6.14598653e+00,-3.12472539e+00, 7.82860521e+00,-2.22508140e+01,
  7.45767305e-01, 1.24001469e+00,-5.05369147e+00, 5.80254779e+00,
  5.82621702e+00, 2.26013304e+00, 1.65810715e+01,-3.02258417e+01,
 -1.44061222e-02,-9.63821232e-02, 2.80297445e-03, 2.79246979e+00,
 -5.85033231e-01, 5.98617444e+00]

qfrc_actuator:
[ 9.44597614e-05, 2.38093765e-04,-1.43371272e-05, 1.94696128e-06,
 -1.71844357e-03, 1.34197554e-02, 6.38150624e-03, 1.37986054e-03,
  2.07091192e-05, 2.82998758e-05,-1.53158649e-04, 2.02989221e-05,
  4.88835505e-02, 1.96285715e-02, 0.00000000e+00,-2.07375886e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21604661, -0.20802555,  0.05832244, -0.20802555,  0.22641793,
        0.03699262,  0.05832244,  0.03699262,  0.34799258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016890548573188953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78707644e-01, -2.04803704e-01,  1.36671529e-02, -2.04783738e-01,
        9.78803066e-01,  2.85970042e-03, -1.39631284e-02, -4.33680869e-19,
       -9.99902511e-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([ 0.1296534 , -0.08245602,  0.13167018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28401736,  7.03424255,  1.89112154,  7.03424255,  9.5131261 ,
       -8.29142452,  1.89112154, -8.29142452, 38.12491778,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.084286954980285e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98657394,  0.055838  , -0.15347306,  0.0551744 ,  0.99843984,
        0.00858302,  0.15371287,  0.        , -0.98811556])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11320795, -0.05444812,  0.29653321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038489146424451696
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.07588578e-01, -8.43091122e-01, -1.77626561e-01, -9.16181284e-02,
       -1.52175274e-01,  9.84097965e-01, -8.56714628e-01,  5.15790699e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498527, -0.03706963,  0.30473792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004783860955202557
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.32076775e-13, -3.26357965e-14,  1.00000000e+00, -7.57401043e-27,
        1.00000000e+00,  3.26357965e-14, -1.00000000e+00,  0.00000000e+00,
       -2.32076775e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05230443, -0.06166054,  0.06198924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52689776e-06,-7.27035757e-06,-1.88085073e-05,-1.98030672e-05,
 -2.22877705e-03, 1.67419588e-02, 7.48888511e-03, 7.76341993e-04,
  4.42146274e-06,-7.25859031e-05,-5.51437191e-05,-6.91578189e-06,
  5.51548199e-02, 1.76126313e-02, 1.42533269e-02, 1.92817947e-04,
 -1.94200482e-05, 1.69237647e-05,-9.80999668e+00,-6.49339140e-02,
 -9.22064363e-03,-5.51256438e-03]


--- Step 1385 ---
qpos:
[ 0.00984932, 0.00807843,-0.00559465, 0.03349063, 0.00529966,-0.01067968,
 -0.01323454, 0.03775031, 0.01306593, 0.0059438 ,-0.01169462, 0.03406719,
  0.82346411,-0.01533277, 1.17049289, 0.0460619 , 0.09408501,-0.06482164,
  0.14238901, 0.94539911,-0.03303418, 0.0301922 , 0.32282767]

qacc:
[-6.31932309e+00, 1.09879482e+00,-6.44491911e+00, 1.53155943e+01,
  4.83229831e+00,-3.23447577e+00, 8.18992409e+00,-2.32320354e+01,
  4.06687200e-01, 1.40879281e+00,-7.09742751e+00, 1.35235362e+01,
  5.37473273e+00, 1.93290507e+00, 1.55692756e+01,-3.02375183e+01,
 -1.20178598e-02,-7.31685300e-02,-2.19331499e-03, 2.28854950e+00,
 -5.93530168e-01, 5.11077976e+00]

qfrc_actuator:
[ 5.74266042e-05, 2.13424516e-04,-2.51819635e-05, 2.62628682e-05,
 -1.73267993e-03, 1.34879149e-02, 6.42729904e-03, 1.34741046e-03,
  2.30072815e-05, 1.79912109e-05,-1.71722159e-04, 3.71915207e-05,
  4.88917929e-02, 1.95127337e-02, 0.00000000e+00,-2.07487452e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21609994, -0.20843263,  0.05705279, -0.20843263,  0.22505432,
        0.03271331,  0.05705279,  0.03271331,  0.33561245,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016954503323222367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97868915, -0.20489651,  0.01360056, -0.20487673,  0.97878364,
        0.00284711, -0.01389537,  0.        , -0.99990345])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966067, -0.08245715,  0.1316701 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28428186,   6.86831911,   2.42630474,   6.86831911,
        11.57641423, -12.15005448,   2.42630474, -12.15005448,
        41.67833385,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.0733169346014884e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86582242e-01,  5.57040400e-02, -1.53468365e-01,  5.50420791e-02,
        9.98447325e-01,  8.56210209e-03,  1.53707022e-01, -1.73472348e-18,
       -9.88116467e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11320887, -0.05444595,  0.29653379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003850354138447614
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.07470896e-01, -8.43156367e-01, -1.77653120e-01, -9.16110291e-02,
       -1.52210547e-01,  9.84093171e-01, -8.56785101e-01,  5.15673628e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498421, -0.03706708,  0.30473933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047725460689702903
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.32626990e-13, -3.63479671e-15,  1.00000000e+00, -8.45551817e-28,
        1.00000000e+00,  3.63479671e-15, -1.00000000e+00,  0.00000000e+00,
       -2.32626990e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05230614, -0.0616589 ,  0.06198927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.70755871e-05,-3.34509890e-05,-1.53331722e-05, 2.29726010e-05,
 -2.27821809e-03, 1.70288326e-02, 7.62583012e-03, 8.03318138e-04,
  2.40250411e-06,-6.25997959e-05,-4.05849948e-05, 1.17398953e-05,
  5.44178547e-02, 1.71075866e-02, 1.35995500e-02, 1.48734487e-04,
 -2.96968413e-05, 2.32700946e-05,-9.80999462e+00,-6.49331317e-02,
 -9.22297338e-03,-5.51135423e-03]


--- Step 1386 ---
qpos:
[ 0.00984974, 0.0080778 ,-0.005596  , 0.03349094, 0.00531175,-0.01074829,
 -0.01325677, 0.03775889, 0.01306611, 0.00594404,-0.01169653, 0.03406807,
  0.82343958,-0.01524041, 1.17042552, 0.04605622, 0.0940878 ,-0.06481688,
  0.14238988, 0.94537109,-0.03301336, 0.03018795, 0.32291222]

qacc:
[-3.95787119e+00, 1.67339698e+00,-8.83234707e+00, 2.00508088e+01,
  5.43344643e+00,-2.77526303e+00, 7.47297271e+00,-2.28447093e+01,
 -2.83624009e+00, 1.86249619e+00,-9.13390086e+00, 1.86901277e+01,
  4.98852452e+00, 1.67550456e+00, 1.46226439e+01,-3.19861625e+01,
 -1.05041295e-02,-5.47172285e-02,-6.39500446e-03, 1.88722507e+00,
 -6.03909223e-01, 4.42033873e+00]

qfrc_actuator:
[ 3.52927850e-05, 2.16731980e-04,-3.11366701e-05, 5.84407826e-05,
 -1.72838659e-03, 1.35040859e-02, 6.44631577e-03, 1.32476041e-03,
  6.40272266e-06, 2.96288479e-05,-1.81970880e-04, 6.47434219e-05,
  4.88920110e-02, 1.94401464e-02, 0.00000000e+00,-2.12694649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21613792, -0.20905913,  0.05486238, -0.20905913,  0.22425237,
        0.03092102,  0.05486238,  0.03092102,  0.33396587,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001699988854578846
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78667197e-01, -2.05006219e-01,  1.35265652e-02, -2.04986640e-01,
        9.78760671e-01,  2.83320537e-03, -1.38200948e-02,  4.33680869e-19,
       -9.99904498e-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([ 0.1296685 , -0.08245849,  0.1316701 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28473459,   6.64268878,   2.99032503,   6.64268878,
        14.78956043, -16.67117183,   2.99032503, -16.67117183,
        44.31796841,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.3081612555742807e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86592447e-01,  5.55520441e-02, -1.53457854e-01,  5.48919918e-02,
        9.98455793e-01,  8.53808207e-03,  1.53695192e-01, -1.73472348e-18,
       -9.88118307e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11320996, -0.05444443,  0.29653447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038495056280111637
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.07337786e-01, -8.43232264e-01, -1.77673073e-01, -9.15976212e-02,
       -1.52241902e-01,  9.84089569e-01, -8.56865361e-01,  5.15540253e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498309, -0.03706585,  0.30474145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004758768475970343
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.66600983e-13, -1.49458127e-13,  1.00000000e+00, -6.97373092e-26,
        1.00000000e+00,  1.49458127e-13, -1.00000000e+00,  0.00000000e+00,
       -4.66600983e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05230721, -0.06165762,  0.0619893 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31992632e-05,-1.75642092e-05,-1.39372539e-05, 3.06669122e-05,
 -2.30158437e-03, 1.72697532e-02, 7.73848787e-03, 8.42360191e-04,
 -1.65571440e-05,-3.12440936e-05,-2.77593745e-05, 2.36952389e-05,
  5.37379962e-02, 1.66838778e-02, 1.30287256e-02, 7.74027783e-05,
 -4.03063861e-05, 2.97731588e-05,-9.80999219e+00,-6.49317533e-02,
 -9.22550368e-03,-5.50990064e-03]


--- Step 1387 ---
qpos:
[ 0.00985057, 0.00807703,-0.00559714, 0.03349125, 0.00532413,-0.01081917,
 -0.01328127, 0.03776614, 0.01306644, 0.0059439 ,-0.01169792, 0.03406889,
  0.82342394,-0.01514355, 1.170371  , 0.04605254, 0.09409053,-0.06481226,
  0.14239075, 0.94534099,-0.03298963, 0.03018413, 0.32300311]

qacc:
[ 3.70369157e+00,-7.75132194e-01, 2.47635643e+00,-2.57507739e+00,
  2.55759686e+00, 6.22442223e-01,-9.91366877e-01,-1.65793786e+01,
  1.29394588e+00,-2.05223250e+00, 6.84376742e+00,-8.40788262e+00,
  3.42436084e+00, 1.33620047e+00, 1.28347253e+01,-1.75586290e+01,
 -1.67355355e-02,-3.45996594e-02,-1.81993627e-03, 1.31061152e+00,
 -3.38642340e-01, 3.37738005e+00]

qfrc_actuator:
[ 5.76223741e-05, 2.19045636e-04,-1.62995513e-05, 5.94984132e-05,
 -1.73101917e-03, 1.35613498e-02, 6.43217584e-03, 1.32622565e-03,
  1.43115685e-05, 1.88733878e-05,-1.51628063e-04, 6.28621660e-05,
  4.88976759e-02, 1.93558322e-02, 0.00000000e+00,-1.97812485e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2161621 , -0.21024876,  0.05021463, -0.21024876,  0.22203762,
        0.02460084,  0.05021463,  0.02460084,  0.31916585,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017028707029106169
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97864228, -0.20513045,  0.01344575, -0.20511109,  0.97873464,
        0.00281806, -0.01373789,  0.        , -0.99990563])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12967682, -0.08246002,  0.13167017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28541034,   6.35068319,   3.57015781,   6.35068319,
        19.40235919, -21.5539221 ,   3.57015781, -21.5539221 ,
        45.62604902,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.5956050752690717e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98660421,  0.05538439, -0.15344282,  0.05472647,  0.99846511,
        0.0085114 ,  0.1536787 ,  0.        , -0.98812087])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11321117, -0.0544435 ,  0.29653522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038470551693987605
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50719121, -0.8433175 , -0.17768698, -0.09157856, -0.1522696 ,
        0.98408706, -0.85695417,  0.51539262,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498187, -0.03706574,  0.30474408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047433031899380904
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.06570749e-07, -4.06571157e-07,  1.00000000e+00,  1.65299940e-13,
        1.00000000e+00,  4.06571157e-07, -1.00000000e+00,  2.52435490e-29,
        4.06570749e-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([ 0.05272541, -0.06226168,  0.06198934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16651267e-05,-9.04435208e-06, 1.05765688e-05, 4.24269844e-07,
 -2.33536757e-03, 1.75268318e-02, 7.81407397e-03, 9.05055621e-04,
  7.42641315e-06,-3.29392215e-05, 2.13081613e-05,-3.71696456e-06,
  5.31188838e-02, 1.62794760e-02, 1.25759950e-02, 2.48933490e-04,
 -5.08100247e-05, 3.62502311e-05,-9.80998957e+00,-6.49298846e-02,
 -9.22814040e-03,-5.50821875e-03]


--- Step 1388 ---
qpos:
[ 0.00985132, 0.00807606,-0.00559805, 0.03349193, 0.00533006,-0.01087891,
 -0.01329842, 0.03777651, 0.01306686, 0.00594355,-0.01169896, 0.03406899,
  0.82333303,-0.01509485, 1.17027843, 0.04606192, 0.09409348,-0.06480525,
  0.14239119, 0.94533122,-0.03300055, 0.03017247, 0.32303169]

qacc:
[-7.25202907e-01,-1.35890563e-01,-1.48274355e+00, 7.65959343e+00,
 -5.61035334e+01, 7.11297588e-01, 5.85589996e+00, 2.79149953e+01,
  8.22810404e-01,-2.77904917e+00, 1.25986733e+01,-2.56684433e+01,
 -2.32856662e+01,-2.51616649e+01,-9.53144222e+01, 2.52616550e+02,
  5.60909970e-02, 5.96162808e-01,-1.06140159e-01,-1.63666925e+01,
  2.61059175e+00,-3.33812883e+01]

qfrc_actuator:
[ 5.26807057e-05, 2.03060288e-04,-7.07838995e-06, 7.77560140e-05,
 -1.77323642e-03, 1.36786750e-02, 6.43485199e-03, 1.30724391e-03,
  1.88383661e-05, 1.27014102e-05,-1.33172400e-04, 2.59341768e-05,
  4.88958323e-02, 1.92460449e-02, 0.00000000e+00,-1.85305287e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21617561, -0.20480486,  0.06918715, -0.20480486,  0.23612771,
        0.05906138,  0.06918715,  0.05906138,  0.39100661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017044789769847526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97861511, -0.20526569,  0.01335917, -0.20524656,  0.97870629,
        0.00280184, -0.01364983,  0.        , -0.99990684])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12968548, -0.08246169,  0.1316703 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28633332, -7.26918331,  0.49962716, -7.26918331,  7.25265217,
       -0.49003433,  0.49962716, -0.49003433,  0.15671822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9198366495290128e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98661716,  0.05520465, -0.15342431,  0.05454904,  0.99847506,
        0.00848267,  0.15365863,  0.        , -0.98812399])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11321246, -0.05444299,  0.29653603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.18895874,  1.09599376, -0.46089107,  1.09599376,  1.98708914,
        1.89794508, -0.46089107,  1.89794508,  5.7022507 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003844252282791718
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50703434, -0.84341004, -0.17769548, -0.09155475, -0.15229383,
        0.98408552, -0.85704954,  0.51523402,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049806 , -0.03706642,  0.3047469 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.84466641, -6.27859237,  8.84228858, -6.27859237, 73.55959818,
       44.53162645,  8.84228858, 44.53162645, 42.46497912,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047597577219471443
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.33252003e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.33252003e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08550782, -0.10973214,  0.0619893 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.32450824e-06,-1.87950580e-05, 8.68998196e-06, 1.82467003e-05,
 -2.39246905e-03, 1.77602607e-02, 7.93130153e-03, 9.52353681e-04,
  4.72398017e-06,-2.03264079e-05, 1.41637881e-05,-3.76733131e-05,
  5.26727742e-02, 1.59425743e-02, 1.19352763e-02, 2.74458439e-04,
 -5.94759041e-05, 4.15593163e-05,-9.80998758e+00,-6.49274774e-02,
 -9.23054386e-03,-5.50639083e-03]


--- Step 1389 ---
qpos:
[ 0.00985166, 0.00807504,-0.00559892, 0.03349315, 0.00533129,-0.01092436,
 -0.01330652, 0.03779064, 0.01306699, 0.00594332,-0.01170016, 0.03406829,
  0.82316931,-0.01509198, 1.17014264, 0.0460768 , 0.09409722,-0.06479632,
  0.14239122, 0.94533973,-0.03303957, 0.03015502, 0.32300441]

qacc:
[-3.59437551e+00, 9.78308527e-01,-5.84706606e+00, 1.52623066e+01,
 -4.08775086e+01, 1.40953464e+00, 6.60046862e+00, 3.34490863e+01,
 -2.59500908e+00,-1.00327042e+00, 7.15501932e+00,-2.07049421e+01,
 -2.32087074e+01,-2.29781819e+01,-8.01414994e+01, 1.88459373e+02,
  1.95960801e-01, 4.80022239e-01,-1.05171036e-01,-1.30696185e+01,
  2.45196973e+00,-2.98744489e+01]

qfrc_actuator:
[ 3.17127732e-05, 2.11743638e-04,-1.31067437e-06, 1.05970937e-04,
 -1.79706845e-03, 1.37485312e-02, 6.47441672e-03, 1.27208610e-03,
  3.57811711e-06, 2.70124373e-05,-1.39652694e-04,-1.35736825e-05,
  4.88967370e-02, 1.91895846e-02, 0.00000000e+00,-1.66532279e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21612157, -0.19634666,  0.09031347, -0.19634666,  0.39747882,
        0.39428106,  0.09031347,  0.39428106,  1.07331122,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001698036936061728
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78975798e-01, -2.03542426e-01,  1.32991493e-02, -2.03523648e-01,
        9.79066127e-01,  2.76481951e-03, -1.35835047e-02,  4.33680869e-19,
       -9.99907740e-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([ 0.12968782, -0.08244115,  0.13166926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28558307, -7.28385307,  0.15876131, -7.28385307,  7.28217361,
       -0.15642386,  0.15876131, -0.15642386,  0.10897077,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.661111230126711e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86616487e-01,  5.51418449e-02, -1.53451248e-01,  5.44867532e-02,
        9.98478531e-01,  8.47447857e-03,  1.53685075e-01,  1.73472348e-18,
       -9.88119880e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11321208, -0.05443876,  0.29653579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.19123371,  0.85149381, -0.83306426,  0.85149381,  3.79489995,
        2.66126611, -0.83306426,  2.66126611,  3.91137395,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003863571276211284
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50697661, -0.84343606, -0.17773666, -0.09156624, -0.15233497,
        0.98407809, -0.85708246,  0.51517925,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10497928, -0.03705868,  0.30474291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.83371397,  7.17153773, -8.12024661,  7.17153773, 37.13031834,
       23.22430581, -8.12024661, 23.22430581, 31.34466562,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004752173679958005
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16812126e-13, -1.16812126e-13,  1.00000000e+00, -1.36450729e-26,
        1.00000000e+00,  1.16812126e-13, -1.00000000e+00,  0.00000000e+00,
       -1.16812126e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08551565, -0.10972705,  0.06198932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.10949092e-05, 7.90687009e-07, 3.60697855e-06, 2.80680628e-05,
 -2.09369091e-03, 1.72756667e-02, 7.60449726e-03, 7.61601569e-04,
 -1.51342033e-05, 4.28306956e-06,-1.02216365e-05,-4.06193151e-05,
  5.64372896e-02, 1.82932991e-02, 1.38386713e-02,-1.90116579e-04,
 -4.69196871e-06, 7.51604641e-06,-9.80999767e+00,-6.49260220e-02,
 -9.22393455e-03,-5.50571468e-03]


--- Step 1390 ---
qpos:
[ 0.00985175, 0.00807422,-0.00559982, 0.03349468, 0.00533514,-0.01096514,
 -0.01331356, 0.03780448, 0.01306694, 0.00594335,-0.01170154, 0.0340671 ,
  0.8230301 ,-0.01507539, 1.17000618, 0.04608498, 0.09410067,-0.06478862,
  0.14239149, 0.94534083,-0.03306515, 0.03014179, 0.32299981]

qacc:
[-2.23366599e+00, 9.49308091e-01,-4.29391377e+00, 9.44274650e+00,
  2.27416688e+01, 2.57032125e+00, 9.91160760e-01,-1.12210167e+01,
 -1.62873180e+00,-1.63130990e-01, 3.14263378e+00,-1.14820940e+01,
  9.37590226e+00, 4.60660857e+00, 1.90275306e+01,-6.85480542e+01,
 -7.07475985e-02,-3.07403523e-01, 6.26290275e-02, 6.56838435e+00,
 -4.46749961e-01, 1.21859410e+01]

qfrc_actuator:
[ 1.92412478e-05, 2.35129724e-04, 2.47487240e-06, 1.22081130e-04,
 -1.79128512e-03, 1.38000574e-02, 6.51371684e-03, 1.26083096e-03,
 -5.45242598e-06, 5.33750889e-05,-1.42958020e-04,-3.65223530e-05,
  4.89017803e-02, 1.91820604e-02, 0.00000000e+00,-1.56194333e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21611003, -0.19956621,  0.08292691, -0.19956621,  0.32148465,
        0.25358734,  0.08292691,  0.25358734,  0.82637592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000169665749788993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97899624, -0.20344659,  0.01326087, -0.20342793,  0.97908604,
        0.00275551, -0.01354413,  0.        , -0.99990827])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12969241, -0.08244004,  0.13166879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28416572e+00,  4.60653717e-02,  7.28402006e+00,  4.60653717e-02,
        4.84922102e+01, -2.60606625e-01,  7.28402006e+00, -2.60606625e-01,
        7.28581384e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -1.0042553469563354e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98660425,  0.05518493, -0.15351444,  0.05452878,  0.99847615,
        0.00848461,  0.15374873,  0.        , -0.98810998])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11321069, -0.05443103,  0.29653493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.19521121, -1.11000398,  0.44319408, -1.11000398,  2.73661548,
        3.86053189,  0.44319408,  3.86053189, 10.86412595,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003896957999247367
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.07008705e-01, -8.43400601e-01, -1.77813383e-01, -9.16128550e-02,
       -1.52396470e-01,  9.84064226e-01, -8.57058491e-01,  5.15219121e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10497837, -0.03704364,  0.30473425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.84585342, -6.07826073,  8.98261002, -6.07826073, 18.85864134,
        5.42201143,  8.98261002,  5.42201143, 14.51476469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004760578095150264
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.33211808e-13, -1.49401314e-13,  1.00000000e+00, -3.48421507e-26,
        1.00000000e+00,  1.49401314e-13, -1.00000000e+00,  0.00000000e+00,
       -2.33211808e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05232301, -0.06164633,  0.0619893 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30697160e-05, 2.58117120e-05, 5.38406366e-06, 1.68174315e-05,
 -1.85276254e-03, 1.66147657e-02, 7.19178916e-03, 5.62140100e-04,
 -9.45922487e-06, 2.49248233e-05,-5.06590834e-06,-2.39039072e-05,
  6.00840925e-02, 2.05779164e-02, 1.60021075e-02,-3.61872093e-04,
 -1.75405435e-05, 7.76593368e-06,-9.80998795e+00,-6.49302147e-02,
 -9.22994703e-03,-5.50635734e-03]


--- Step 1391 ---
qpos:
[ 0.00985169, 0.0080735 ,-0.00560059, 0.0334957 , 0.00534042,-0.01100589,
 -0.01332154, 0.03781733, 0.01306608, 0.00594377,-0.01170307, 0.03406597,
  0.82291356,-0.01504635, 1.16987106, 0.04608721, 0.09410392,-0.06478189,
  0.14239195, 0.94533567,-0.03307954, 0.03013173, 0.3230144 ]

qacc:
[-1.31627252e+00,-1.26959668e+00, 6.85920963e+00,-1.59251973e+01,
  1.24360591e+01, 6.19200914e-01, 1.92814283e+00,-1.73085078e+01,
 -7.03000715e+00, 1.06432066e+00,-3.29056967e+00, 4.27684489e+00,
  8.75984747e+00, 4.00948311e+00, 1.97116884e+01,-6.66458525e+01,
 -4.96570468e-02,-2.39757832e-01, 4.69157661e-02, 5.40860046e+00,
 -5.25300700e-01, 1.03028439e+01]

qfrc_actuator:
[ 1.18757610e-05, 2.31622098e-04, 5.11931177e-06, 9.54476245e-05,
 -1.79092620e-03, 1.38622315e-02, 6.52172874e-03, 1.21321867e-03,
 -4.62428956e-05, 8.67764418e-05,-1.44284402e-04,-3.17721516e-05,
  4.89084945e-02, 1.91449331e-02, 0.00000000e+00,-1.83646701e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21618212, -0.20052064,  0.08078478, -0.20052064,  0.25985472,
        0.10840232,  0.08078478,  0.10840232,  0.48525387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017052529324944828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97900977, -0.20338362,  0.01322781, -0.20336506,  0.97909913,
        0.00274775, -0.01351018,  0.        , -0.99990873])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1296968 , -0.08243927,  0.13166826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28363011,  7.2684663 ,  0.46975011,  7.2684663 ,  7.33785321,
       -0.83899676,  0.46975011, -0.83899676, 20.26546781,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.888692445848595e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98659742,  0.05518569, -0.15355801,  0.05452916,  0.99847611,
        0.00848714,  0.15379237,  0.        , -0.98810319])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11321004, -0.05442455,  0.29653453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.19763516, -0.58797053,  1.04336984, -0.58797053,  7.09002454,
        3.32054001,  1.04336984,  3.32054001,  3.0688601 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003917066270621566
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.07005149e-01, -8.43387403e-01, -1.77886107e-01, -9.16509049e-02,
       -1.52458449e-01,  9.84051083e-01, -8.57056527e-01,  5.15222389e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10497778, -0.0370319 ,  0.30472932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.86926298,  5.37396231, -9.44782551,  5.37396231, 71.86518262,
       34.69473187, -9.44782551, 34.69473187, 30.60377026,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047766946180773096
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.19844117e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.19844117e-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([ 0.05233052, -0.06164153,  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:
[-7.72654433e-06, 1.27912082e-05, 9.23832696e-06,-2.50128939e-05,
 -1.98336694e-03, 1.64446462e-02, 7.14755910e-03, 5.29584761e-04,
 -4.10509904e-05, 4.52828258e-05, 2.38982723e-06, 5.18385807e-06,
  5.88650152e-02, 1.98544860e-02, 1.60381960e-02,-3.00579850e-04,
 -4.55968122e-06, 3.49906297e-06,-9.80999489e+00,-6.49338455e-02,
 -9.22690358e-03,-5.50662717e-03]


--- Step 1392 ---
qpos:
[ 0.00985154, 0.00807277,-0.00560151, 0.03349574, 0.00534674,-0.01104867,
 -0.01333122, 0.03782896, 0.01306509, 0.00594435,-0.01170457, 0.03406562,
  0.82281789,-0.01500602, 1.16973961, 0.04608457, 0.09410704,-0.06477589,
  0.14239255, 0.94532516,-0.0330846 , 0.03012403, 0.32304534]

qacc:
[-7.74853290e-01,-1.62886214e+00, 9.96038120e+00,-2.67781966e+01,
  9.03125851e+00,-4.93287928e-01, 3.05680752e+00,-2.01865906e+01,
 -1.20832119e+00, 1.73896874e+00,-9.12527420e+00, 2.22995609e+01,
  8.11075207e+00, 3.49774187e+00, 1.99449137e+01,-6.23779482e+01,
 -3.48886820e-02,-1.84963274e-01, 3.39393083e-02, 4.45280996e+00,
 -5.80840543e-01, 8.77256145e+00]

qfrc_actuator:
[ 7.57166304e-06, 2.11996746e-04,-1.08143319e-05, 4.38581492e-05,
 -1.79368332e-03, 1.39158189e-02, 6.53028938e-03, 1.18009416e-03,
 -5.21438361e-05, 8.86673013e-05,-1.44379798e-04, 6.99686078e-06,
  4.89208193e-02, 1.90680545e-02, 0.00000000e+00,-2.05175958e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21629106, -0.2017996 ,  0.07783795, -0.2017996 ,  0.24641652,
        0.07810207,  0.07783795,  0.07810207,  0.41877541,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017181523985534608
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97901745, -0.20334893,  0.01319281, -0.20333046,  0.97910633,
        0.00273999, -0.01347434,  0.        , -0.99990922])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12970141, -0.08243882,  0.13166775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28345989,  7.23967078,  0.79746782,  7.23967078,  7.46982887,
       -1.6919179 ,  0.79746782, -1.6919179 , 22.64323777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.6938101477591933e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86595062e-01,  5.51505808e-02, -1.53585794e-01,  5.44942283e-02,
        9.98478049e-01,  8.48325685e-03,  1.53819901e-01,  1.73472348e-18,
       -9.88098901e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11320996, -0.0544192 ,  0.29653448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.19891492, -0.69580197,  0.97634861, -0.69580197,  7.91875669,
        4.78894435,  0.97634861,  4.78894435,  4.61179111,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003927611348186078
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50697131, -0.84339352, -0.17795352, -0.09168066, -0.15251922,
        0.98403889, -0.85707336,  0.51519438,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10497733, -0.0370229 ,  0.30472717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.88002024,  5.24957479, -9.52978515,  5.24957479, 87.39865407,
       42.15103332, -9.52978515, 42.15103332, 34.09932671,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004784060943752999
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.32067074e-13,  2.53823362e-14,  1.00000000e+00,  5.89040449e-27,
        1.00000000e+00, -2.53823362e-14, -1.00000000e+00,  0.00000000e+00,
       -2.32067074e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05233615, -0.06163775,  0.06198924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.51621641e-06,-1.16055041e-05,-1.30034493e-05,-5.12071400e-05,
 -2.05777195e-03, 1.64983492e-02, 7.20345097e-03, 5.45369785e-04,
 -7.05277040e-06, 2.79172731e-05, 9.74824483e-06, 4.08996489e-05,
  5.77431373e-02, 1.91534831e-02, 1.59747191e-02,-2.17563030e-04,
 -1.78786220e-06, 3.69655810e-06,-9.80999803e+00,-6.49360955e-02,
 -9.22610340e-03,-5.50653333e-03]


--- Step 1393 ---
qpos:
[ 0.00985168, 0.00807209,-0.00560264, 0.03349516, 0.0053543 ,-0.01109341,
 -0.01334299, 0.03783927, 0.01306507, 0.00594473,-0.01170588, 0.03406611,
  0.82274092,-0.01495567, 1.16962049, 0.04608148, 0.09411005,-0.06477042,
  0.14239324, 0.94530998,-0.03308193, 0.03011803, 0.32309059]

qacc:
[ 2.57614688e+00,-6.13803374e-01, 4.87841102e+00,-1.52684385e+01,
  1.07225413e+01, 5.57290216e-01,-2.79533241e-01,-1.74784244e+01,
  8.55759163e+00, 9.26133231e-01,-7.32431222e+00, 2.19283105e+01,
  7.18446529e+00, 3.19685261e+00, 1.93244121e+01,-4.16159247e+01,
 -2.43724134e-02,-1.33506496e-01, 2.41390721e-02, 3.64053089e+00,
 -6.15226348e-01, 7.66404581e+00]

qfrc_actuator:
[ 2.28546147e-05, 2.18268350e-04,-1.99216522e-05, 1.34808955e-05,
 -1.78073806e-03, 1.39662969e-02, 6.54031441e-03, 1.20956885e-03,
 -1.94739208e-06, 5.39595013e-05,-1.43853186e-04, 4.76898300e-05,
  4.89305323e-02, 1.90345360e-02, 0.00000000e+00,-1.96392112e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21641576, -0.20481591,  0.06990155, -0.20481591,  0.23906333,
        0.06635879,  0.06990155,  0.06635879,  0.41085116,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017327848252316703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9790202 , -0.20333828,  0.0131529 , -0.20331993,  0.97910855,
        0.00273155, -0.01343354,  0.        , -0.99990977])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12970643, -0.08243866,  0.1316673 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28342599,  7.13024705,  1.48589065,  7.13024705,  8.40806941,
       -5.39675344,  1.48589065, -5.39675344, 33.18047657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.074847794278476e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98659638,  0.05508484, -0.15360093,  0.05442914,  0.99848168,
        0.00847395,  0.1538345 ,  0.        , -0.98809663])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11321033, -0.05441487,  0.29653472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003931436631719035
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.06911534e-01, -8.43416545e-01, -1.78014688e-01, -9.17023845e-02,
       -1.52577527e-01,  9.84027830e-01, -8.57106393e-01,  5.15139428e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10497687, -0.0370162 ,  0.30472704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004784555802038598
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16021536e-13, -1.19647209e-13,  1.00000000e+00, -1.38816529e-26,
        1.00000000e+00,  1.19647209e-13, -1.00000000e+00,  0.00000000e+00,
       -1.16021536e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0523403 , -0.06163479,  0.06198924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51561270e-05,-5.06273756e-06,-1.48584389e-05,-3.23172981e-05,
 -2.09684613e-03, 1.66517377e-02, 7.29889617e-03, 6.36664725e-04,
  5.00038693e-05,-1.53385653e-05, 8.91972867e-06, 4.30255291e-05,
  5.67098423e-02, 1.85549231e-02, 1.57934320e-02, 1.14663659e-04,
 -5.25396489e-06, 6.70171814e-06,-9.80999874e+00,-6.49372235e-02,
 -9.22671210e-03,-5.50610575e-03]


--- Step 1394 ---
qpos:
[ 0.00985166, 0.00807127,-0.00560329, 0.03349454, 0.00536299,-0.01114039,
 -0.01335742, 0.03784817, 0.01306565, 0.00594472,-0.01170701, 0.03406677,
  0.82268076,-0.01489634, 1.16951523, 0.04607907, 0.094113  ,-0.06476534,
  0.142394  , 0.94529074,-0.03307281, 0.0301132 , 0.32314827]

qacc:
[-1.41125740e+00,-1.60682235e+00, 5.63748640e+00,-6.99708484e+00,
  9.77741581e+00, 1.51390890e+00,-3.74074905e+00,-1.48659740e+01,
  5.30591143e+00,-6.85827596e-01, 9.89796376e-01, 1.86218828e+00,
  6.40742447e+00, 2.91486515e+00, 1.82571384e+01,-3.44883003e+01,
 -1.77360646e-02,-9.62099911e-02, 1.58221627e-02, 2.97749960e+00,
 -6.31031527e-01, 6.64961363e+00]

qfrc_actuator:
[ 1.40374159e-05, 2.22278348e-04, 1.07025656e-05, 1.36115777e-05,
 -1.77673621e-03, 1.40156595e-02, 6.53454531e-03, 1.24166271e-03,
  2.75954670e-05, 1.53569391e-05,-1.43127037e-04, 5.36439677e-05,
  4.89434463e-02, 1.90415282e-02, 0.00000000e+00,-1.90971889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21655551, -0.20768661,  0.06133972, -0.20768661,  0.23141459,
        0.05031047,  0.06133972,  0.05031047,  0.38689882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001749020045404205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79018819e-01, -2.03347831e-01,  1.31076690e-02, -2.03329608e-01,
        9.79106562e-01,  2.72229416e-03, -1.33873774e-02,  4.33680869e-19,
       -9.99910385e-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([ 0.12971185, -0.08243873,  0.1316669 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28346038,  7.00849405,  1.9823739 ,  7.00849405,  9.69147902,
       -8.51332052,  1.9823739 , -8.51332052, 37.381494  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7019576663263045e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98660076,  0.05499216, -0.15360597,  0.05433753,  0.99848679,
        0.00845993,  0.15383876,  0.        , -0.98809596])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11321105, -0.05441146,  0.29653516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003931012941535729
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.06828907e-01, -8.43454947e-01, -1.78067997e-01, -9.17157932e-02,
       -1.52631664e-01,  9.84018185e-01, -8.57153821e-01,  5.15060509e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049764 , -0.03701144,  0.30472827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004779683018770048
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.26643236e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.26643236e-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([ 0.05234327, -0.06163247,  0.06198925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.38177508e-06,-3.23104625e-06, 2.66520162e-05,-1.22464027e-06,
 -2.15466693e-03, 1.68011134e-02, 7.39865851e-03, 7.34144904e-04,
  3.09566371e-05,-4.34757420e-05, 1.52854178e-07, 6.44170334e-06,
  5.57870021e-02, 1.80593406e-02, 1.51803424e-02, 1.91533241e-04,
 -1.25293931e-05, 1.15580171e-05,-9.80999791e+00,-6.49374413e-02,
 -9.22818342e-03,-5.50537356e-03]


--- Step 1395 ---
qpos:
[ 0.00985085, 0.00807   ,-0.00560317, 0.03349463, 0.00537236,-0.01119084,
 -0.01337476, 0.03785559, 0.01306624, 0.00594471,-0.01170855, 0.03406749,
  0.82263592,-0.01482888, 1.16941913, 0.04607534, 0.09411589,-0.06476056,
  0.14239479, 0.94526807,-0.03305834, 0.03010914, 0.32321644]

qacc:
[-6.94359682e+00,-1.26281731e+00, 6.45743219e-01, 1.08175438e+01,
  5.92074220e+00, 4.84117565e-01,-2.14147988e+00,-1.63201510e+01,
  2.92216864e-02, 1.25261979e+00,-4.69635389e+00, 6.31700878e+00,
  5.91714558e+00, 2.52420634e+00, 1.73886101e+01,-4.15431741e+01,
 -1.44128468e-02,-7.47816426e-02, 8.32253528e-03, 2.44278426e+00,
 -6.26794739e-01, 5.59979204e+00]

qfrc_actuator:
[-2.66529990e-05, 1.89590210e-04, 4.68011311e-05, 4.94678705e-05,
 -1.79624050e-03, 1.40654125e-02, 6.52069204e-03, 1.22270391e-03,
  2.69747805e-05, 2.79394840e-05,-1.60097620e-04, 5.68543972e-05,
  4.89577790e-02, 1.89988499e-02, 0.00000000e+00,-2.03641745e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21670411, -0.20901886,  0.05719956, -0.20901886,  0.22711492,
        0.0380432 ,  0.05719956,  0.0380432 ,  0.35572175,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001766099081328792
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79013966e-01, -2.03374503e-01,  1.30562231e-02, -2.03356421e-01,
        9.79101022e-01,  2.71198051e-03, -1.33349091e-02,  8.67361738e-19,
       -9.99911086e-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([ 0.12971769, -0.082439  ,  0.13166654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28357707,   6.8236246 ,   2.54728135,   6.8236246 ,
        12.00237093, -12.64064443,   2.54728135, -12.64064443,
        41.14517315,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -5.303208158740906e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86607692e-01,  5.48759767e-02, -1.53603023e-01,  5.42227648e-02,
        9.98493178e-01,  8.44183624e-03,  1.53834824e-01, -1.73472348e-18,
       -9.88096578e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11321201, -0.05440886,  0.29653576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039279332051054606
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50672629, -0.84350703, -0.17811334, -0.09172134, -0.15268123,
        0.98400998, -0.8572139 ,  0.51496052,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10497587, -0.03700832,  0.30473042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047706828819935043
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16358921e-13, -6.18156768e-14,  1.00000000e+00,  7.19280544e-27,
        1.00000000e+00,  6.18156768e-14, -1.00000000e+00,  0.00000000e+00,
        1.16358921e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05234532, -0.06163066,  0.06198927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.09279775e-05,-2.90061969e-05, 3.86903499e-05, 3.66211707e-05,
 -2.23063814e-03, 1.69646703e-02, 7.51805673e-03, 7.86160572e-04,
  2.42723050e-07,-1.13967549e-05,-2.56979711e-05, 1.47791186e-06,
  5.49610271e-02, 1.75661303e-02, 1.44890683e-02, 3.13257012e-05,
 -2.19314473e-05, 1.74830570e-05,-9.80999617e+00,-6.49369085e-02,
 -9.23018318e-03,-5.50436241e-03]


--- Step 1396 ---
qpos:
[ 0.00984956, 0.00806853,-0.00560322, 0.03349553, 0.00538212,-0.0112458 ,
 -0.01339477, 0.03786159, 0.01306681, 0.0059449 ,-0.01171039, 0.03406786,
  0.82260491,-0.0147542 , 1.16933209, 0.0460705 , 0.09411872,-0.06475601,
  0.14239559, 0.94524254,-0.03303944, 0.03010552, 0.32329335]

qacc:
[-4.22606173e+00, 1.89332155e+00,-1.05310152e+01, 2.49292019e+01,
  3.32108507e+00,-1.41425669e+00, 2.38038908e+00,-1.93108778e+01,
 -1.18053503e-01, 3.99764729e-01, 4.07408354e-01,-6.03105167e+00,
  5.39794560e+00, 2.13158106e+00, 1.65655317e+01,-3.88327576e+01,
 -1.31336767e-02,-5.81490890e-02, 2.50334592e-03, 1.98318618e+00,
 -6.00796186e-01, 4.67056269e+00]

qfrc_actuator:
[-5.02647954e-05, 1.70752617e-04, 3.24423969e-05, 8.82668591e-05,
 -1.82985540e-03, 1.41352846e-02, 6.53881748e-03, 1.19150077e-03,
  2.63649280e-05, 5.32422505e-05,-1.69422301e-04, 4.07075416e-05,
  4.89618397e-02, 1.89058743e-02, 0.00000000e+00,-2.09239032e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21684491, -0.20975887,  0.05498119, -0.20975887,  0.22536683,
        0.032512  ,  0.05498119,  0.032512  ,  0.34088154,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017821113187484823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97900616, -0.20341589,  0.01299703, -0.20339797,  0.97909242,
        0.00270026, -0.01327457,  0.        , -0.99991189])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12972405, -0.08243946,  0.13166625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28382425,   6.60467214,   3.07122151,   6.60467214,
        15.17237115, -16.96434651,   3.07122151, -16.96434651,
        43.76570819,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -7.659275225409228e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98661668,  0.05473998, -0.1535938 ,  0.05408847,  0.99850064,
        0.00842035,  0.15382443,  0.        , -0.9880982 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11321316, -0.05440699,  0.29653648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039230669595702696
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50660673, -0.84357076, -0.17815164, -0.09172006, -0.15272667,
        0.98400305, -0.8572847 ,  0.51484264,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10497519, -0.03700657,  0.30473324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004758598988509194
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.33308801e-13, -3.64545002e-15,  1.00000000e+00, -8.50515573e-28,
        1.00000000e+00,  3.64545002e-15, -1.00000000e+00,  0.00000000e+00,
       -2.33308801e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05234665, -0.06162924,  0.0619893 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47871861e-05,-2.54641648e-05,-1.43023215e-05, 3.96116410e-05,
 -2.29847924e-03, 1.72103466e-02, 7.68268898e-03, 8.29337680e-04,
 -6.07412358e-07, 1.37034307e-05,-1.47758163e-05,-1.74936450e-05,
  5.41988795e-02, 1.70650536e-02, 1.40331506e-02, 4.24005802e-05,
 -3.20628567e-05, 2.37283798e-05,-9.80999394e+00,-6.49357417e-02,
 -9.23247941e-03,-5.50309516e-03]


--- Step 1397 ---
qpos:
[ 0.00984799, 0.00806729,-0.00560386, 0.03349618, 0.00539196,-0.01130528,
 -0.01341746, 0.0378662 , 0.01306737, 0.00594488,-0.01171193, 0.03406839,
  0.82258632,-0.01467313, 1.1692548 , 0.04606522, 0.09412151,-0.06475164,
  0.14239638, 0.94521461,-0.03301692, 0.03010213, 0.32337761]

qacc:
[-2.42274718e+00, 1.41796784e+00,-3.52119723e+00,-1.85925391e-01,
  7.75212555e-01,-1.31733922e+00, 1.86669066e+00,-1.81743104e+01,
 -8.83800251e-02,-7.87423880e-01, 1.73494216e+00, 6.92803638e-01,
  4.86402662e+00, 1.81907432e+00, 1.55993460e+01,-3.39757694e+01,
 -1.26696479e-02,-4.38571927e-02,-1.88188463e-03, 1.59972606e+00,
 -5.70867274e-01, 3.91932915e+00]

qfrc_actuator:
[-6.36249847e-05, 1.95661799e-04, 6.19873638e-06, 7.51947881e-05,
 -1.87190871e-03, 1.41663871e-02, 6.55929748e-03, 1.20673490e-03,
  2.57763668e-05, 3.27250601e-05,-1.56345942e-04, 4.88300829e-05,
  4.89593191e-02, 1.88691400e-02, 0.00000000e+00,-2.10562703e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21696436, -0.21133058,  0.04912148, -0.21133058,  0.2229361 ,
        0.02569162,  0.04912148,  0.02569162,  0.32749492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017955692498048924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97899583, -0.20346988,  0.01292941, -0.20345214,  0.97908121,
        0.00268695, -0.01320566,  0.        , -0.9999128 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12973098, -0.08244008,  0.13166605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28425631,   6.31220276,   3.63544856,   6.31220276,
        19.85253864, -21.82221674,   3.63544856, -21.82221674,
        45.17401172,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.0585120069609848e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86627330e-01,  5.45874176e-02, -1.53579707e-01,  5.39378597e-02,
        9.98508995e-01,  8.39603814e-03,  1.53809037e-01, -1.73472348e-18,
       -9.88100592e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11321443, -0.05440577,  0.29653727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039172047913779674
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.06472970e-01, -8.43644457e-01, -1.78182940e-01, -9.17124830e-02,
       -1.52767734e-01,  9.83997378e-01, -8.57364538e-01,  5.14709675e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10497432, -0.03700597,  0.30473648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004744279117739336
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.65645324e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.65645324e-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([ 0.05234742, -0.06162815,  0.06198933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40718186e-05, 9.45967261e-06,-3.18766030e-05,-1.38844967e-05,
 -2.35967059e-03, 1.74687747e-02, 7.83746978e-03, 9.15572449e-04,
 -6.00929854e-07,-1.66404646e-05, 1.35008513e-05, 7.86108379e-06,
  5.35044497e-02, 1.66655634e-02, 1.35815487e-02, 8.45713012e-05,
 -4.20426249e-05, 2.98515468e-05,-9.80999152e+00,-6.49340400e-02,
 -9.23490242e-03,-5.50159646e-03]


--- Step 1398 ---
qpos:
[ 0.00984661, 0.00806633,-0.00560462, 0.03349662, 0.00540147,-0.011369  ,
 -0.01344245, 0.03786959, 0.01306758, 0.0059447 ,-0.01171308, 0.03407004,
  0.82257659,-0.01458754, 1.16918742, 0.04606012, 0.09412421,-0.06474739,
  0.14239718, 0.94518497,-0.03299203, 0.03009905, 0.32346707]

qacc:
[ 1.71765923e+00, 2.88502682e-01, 3.57471690e-01,-3.85673505e+00,
 -2.93165982e+00,-1.71703349e+00, 3.16618790e+00,-1.76248829e+01,
 -3.11968421e+00, 9.97525779e-01,-8.55550226e+00, 2.73376772e+01,
  3.40008859e+00, 1.37798905e+00, 1.39892707e+01,-2.78709600e+01,
 -1.94440885e-02,-3.17187173e-02, 1.64053835e-03, 1.06764830e+00,
 -2.89465043e-01, 2.77153712e+00]

qfrc_actuator:
[-5.30969089e-05, 2.28719824e-04, 8.81405022e-06, 6.72487996e-05,
 -1.91888546e-03, 1.41760451e-02, 6.56452035e-03, 1.19710584e-03,
  7.45233691e-06, 3.83011089e-05,-1.30311198e-04, 1.06653694e-04,
  4.89578064e-02, 1.88463489e-02, 0.00000000e+00,-2.09343575e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21705728, -0.21212082,  0.04602849, -0.21212082,  0.22181047,
        0.02190493,  0.04602849,  0.02190493,  0.31800545,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018059591356930216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97898339, -0.20353457,  0.01285336, -0.20351703,  0.97906776,
        0.00267204, -0.01312817,  0.        , -0.99991382])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12973846, -0.08244086,  0.13166595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28491946,   5.9254202 ,   4.23785877,   5.9254202 ,
        26.43898806, -26.78142692,   4.23785877, -26.78142692,
        44.7310017 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.3927150387678858e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9866393 ,  0.05442092, -0.15356191,  0.05377351,  0.99851808,
        0.00836938,  0.15378981,  0.        , -0.98810358])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11321578, -0.05440514,  0.29653811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003910959618517318
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.06327233e-01, -8.43726789e-01, -1.78207292e-01, -9.16990343e-02,
       -1.52804208e-01,  9.83992968e-01, -8.57452051e-01,  5.14563874e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10497327, -0.03700635,  0.30473996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004728323816842085
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.62370985e-07,  6.62370796e-07,  1.00000000e+00,  4.38735196e-13,
        1.00000000e+00, -6.62370796e-07, -1.00000000e+00,  0.00000000e+00,
       -6.62370985e-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([ 0.05276557, -0.06223135,  0.06198937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01367922e-05, 3.12194098e-05, 1.85570998e-07,-8.91011436e-06,
 -2.41114943e-03, 1.77067760e-02, 7.97784668e-03, 9.75241790e-04,
 -1.83493268e-05,-5.84598162e-07, 2.45500439e-05, 5.77330528e-05,
  5.28827149e-02, 1.63219325e-02, 1.30960335e-02, 1.19442818e-04,
 -5.14605076e-05, 3.56651613e-05,-9.80998910e+00,-6.49318942e-02,
 -9.23735760e-03,-5.49988942e-03]


--- Step 1399 ---
qpos:
[ 0.00984607, 0.0080655 ,-0.00560532, 0.03349732, 0.00540466,-0.01142268,
 -0.01346007, 0.03787616, 0.01306791, 0.00594475,-0.0117143 , 0.03407201,
  0.82249078,-0.01455009, 1.16908565, 0.04606747, 0.09412726,-0.06474079,
  0.14239758, 0.94517546,-0.03300106, 0.03008861, 0.32349491]

qacc:
[ 7.25465153e+00, 5.28906671e-01,-2.74288501e+00, 6.99353738e+00,
 -5.48582789e+01,-6.78560303e-01, 8.46247949e+00, 2.71525045e+01,
  1.07981523e+00, 1.16313583e+00,-5.06398550e+00, 1.05272159e+01,
 -2.40698460e+01,-2.44102548e+01,-8.80495127e+01, 2.35118648e+02,
  8.58568639e-02, 5.89475577e-01,-9.88484769e-02,-1.59683569e+01,
  2.71815199e+00,-3.30058617e+01]

qfrc_actuator:
[-1.08440896e-05, 2.31016118e-04, 1.07585686e-05, 8.01776946e-05,
 -1.95067244e-03, 1.42453856e-02, 6.56127593e-03, 1.17295715e-03,
  1.43418466e-05, 5.95635037e-05,-1.32219623e-04, 1.22267183e-04,
  4.89514444e-02, 1.87424619e-02, 0.00000000e+00,-1.92442084e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.217116  , -0.20709732,  0.06519249, -0.20709732,  0.23894392,
        0.06934086,  0.06519249,  0.06934086,  0.43739146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018124907241464858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97896935, -0.20360732,  0.01276969, -0.20359   ,  0.97905263,
        0.00265563, -0.01304291,  0.        , -0.99991494])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12974641, -0.08244175,  0.13166596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28584295, -7.27288964,  0.43426227, -7.27288964,  7.26041122,
       -0.4259226 ,  0.43426227, -0.4259226 ,  0.15262356,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7550579315011757e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86652219e-01,  5.42444991e-02, -1.53541309e-01,  5.35993706e-02,
        9.98527683e-01,  8.34105208e-03,  1.53767704e-01, -1.73472348e-18,
       -9.88107025e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11321717, -0.05440492,  0.29653897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.19620255,  0.89648741, -0.79196646,  0.89648741,  6.3235867 ,
        5.8040783 , -0.79196646,  5.8040783 ,  7.76628272,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039052033822261256
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50617306, -0.84381535, -0.17822594, -0.09168102, -0.15283677,
        0.98398959, -0.857545  ,  0.51440896,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10497209, -0.0370074 ,  0.30474344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.81154801, -6.27760432,  8.80234369, -6.27760432, 42.70134885,
       22.74298284,  8.80234369, 22.74298284, 27.03125635,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047367441010476297
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.34385266e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.34385266e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08559543, -0.10967151,  0.06198935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.25566102e-05, 1.94614112e-05, 8.12800195e-06, 1.41023918e-05,
 -2.42607861e-03, 1.79912117e-02, 8.09050448e-03, 1.01267318e-03,
  6.36292943e-06, 2.84909926e-05, 3.00490299e-06, 1.75615405e-05,
  5.24330644e-02, 1.59898650e-02, 1.26016668e-02, 2.79457152e-04,
 -5.85812696e-05, 3.99901388e-05,-9.80998741e+00,-6.49292548e-02,
 -9.23952568e-03,-5.49805746e-03]


--- Step 1400 ---
qpos:
[ 0.00984604, 0.00806492,-0.00560605, 0.03349815, 0.00540366,-0.01146096,
 -0.01346918, 0.03788635, 0.01306866, 0.00594481,-0.01171515, 0.03407379,
  0.82233   ,-0.0145587 , 1.16894193, 0.04607766, 0.09413123,-0.06473229,
  0.14239759, 0.94518393,-0.03303745, 0.03007318, 0.32346788]

qacc:
[ 4.47671999e+00, 6.60782896e-01,-2.47288227e+00, 4.72598038e+00,
 -3.64753978e+01, 4.12713726e+00,-3.92651366e-01, 3.81587096e+01,
  3.74857987e+00,-1.40557373e+00, 5.77789230e+00,-9.45460274e+00,
 -2.49031815e+01,-2.16352191e+01,-7.00641608e+01, 1.56198956e+02,
  2.28158259e-01, 4.74913911e-01,-1.00090905e-01,-1.26106627e+01,
  2.69794979e+00,-2.93308464e+01]

qfrc_actuator:
[ 1.42295872e-05, 2.50404244e-04, 1.21764676e-05, 8.75036315e-05,
 -1.93172553e-03, 1.43201812e-02, 6.56195024e-03, 1.17168749e-03,
  3.60221306e-05, 5.44152209e-05,-1.15075747e-04, 1.12906107e-04,
  4.89601500e-02, 1.86585310e-02, 0.00000000e+00,-1.90442939e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21711265, -0.17332065,  0.13075877, -0.17332065,  0.32796163,
        0.14693024,  0.13075877,  0.14693024,  0.41186857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018121179979827898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97897322, -0.2035927 ,  0.01270644, -0.20357555,  0.97905567,
        0.00264228, -0.01297826,  0.        , -0.99991578])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12975257, -0.08244161,  0.13166578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28533595, -7.28517211, -0.0488589 , -7.28517211,  7.28501304,
        0.04814711, -0.0488589 ,  0.04814711,  0.10629652,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.566548583317069e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98665191,  0.05418386, -0.15356468,  0.05353926,  0.99853098,
        0.00833297,  0.1537906 ,  0.        , -0.98810346])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11321701, -0.05440096,  0.29653888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.19815127,  0.84533016, -0.84910741,  0.84533016,  3.45944719,
        2.25123656, -0.84910741,  2.25123656,  3.43937323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003921324874534564
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50611718, -0.84383804, -0.1782772 , -0.09169813, -0.15288627,
        0.9839803 , -0.85757615,  0.51435702,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10497095, -0.03700006,  0.30474023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.80261541,  7.18503527, -8.06670738,  7.18503527, 37.64063496,
       23.90468726, -8.06670738, 23.90468726, 32.09457669,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000473049539272713
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17347437e-13, -1.17347437e-13,  1.00000000e+00, -1.37704211e-26,
        1.00000000e+00,  1.17347437e-13, -1.00000000e+00,  0.00000000e+00,
       -1.17347437e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08560302, -0.10966651,  0.06198937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62952334e-05, 3.26077958e-05, 6.94224494e-06, 8.71579384e-06,
 -2.09127661e-03, 1.75655593e-02, 7.72324567e-03, 8.52659352e-04,
  2.18695189e-05, 1.21687500e-05, 2.40161712e-05,-7.69634215e-06,
  5.62460815e-02, 1.83127054e-02, 1.43233480e-02,-3.22425310e-04,
 -4.39210138e-06, 6.67718327e-06,-9.80999810e+00,-6.49276300e-02,
 -9.23275880e-03,-5.49739423e-03]


--- Step 1401 ---
qpos:
[ 0.00984561, 0.00806463,-0.00560707, 0.03349943, 0.00540566,-0.01149349,
 -0.01347691, 0.03789646, 0.01306933, 0.00594527,-0.01171622, 0.03407544,
  0.82219422,-0.01455327, 1.16879628, 0.04608028, 0.09413484,-0.06472498,
  0.14239784, 0.94518527,-0.03306104, 0.03006153, 0.32346263]

qacc:
[-3.42468100e+00, 2.14380579e+00,-8.92275934e+00, 1.67913038e+01,
  2.60554452e+01, 3.48927793e+00,-1.11632155e+00,-6.83254604e+00,
 -8.15719551e-01, 8.53912284e-01,-1.70707750e+00,-5.76595484e-01,
  9.52062218e+00, 4.78906320e+00, 1.97605670e+01,-7.38770462e+01,
 -8.65510292e-02,-2.99042917e-01, 6.14965124e-02, 6.21164256e+00,
 -5.28132373e-01, 1.16976181e+01]

qfrc_actuator:
[-6.52413248e-06, 2.62119070e-04,-4.42381075e-06, 1.09234804e-04,
 -1.91743717e-03, 1.43356261e-02, 6.59640297e-03, 1.20017469e-03,
  3.07208055e-05, 8.67981192e-05,-1.22428281e-04, 1.06681627e-04,
  4.89805358e-02, 1.86570095e-02, 0.00000000e+00,-1.86271227e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21716581, -0.20478784,  0.07226983, -0.20478784,  0.35640543,
        0.39455717,  0.07226983,  0.39455717,  1.33520504,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018180092988909663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97899347, -0.20349756,  0.01267033, -0.20348052,  0.97907545,
        0.00263349, -0.01294112,  0.        , -0.99991626])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12975669, -0.08244047,  0.1316652 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28419309, -5.1169698 ,  5.18421537, -5.1169698 , 17.68009579,
       10.26105521,  5.18421537, 10.26105521, 17.41214995,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0209512742004932e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86640572e-01,  5.42273139e-02, -1.53622202e-01,  5.35817072e-02,
        9.98528617e-01,  8.34279481e-03,  1.53848572e-01,  1.73472348e-18,
       -9.88094437e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11321602, -0.05439343,  0.29653826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.20178724, -0.95014606,  0.73587706, -0.95014606,  2.3816064 ,
        1.52335299,  0.73587706,  1.52335299,  3.16870253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039511021231209407
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.06149783e-01, -8.43799832e-01, -1.78365468e-01, -9.17509328e-02,
       -1.52957532e-01,  9.83964308e-01, -8.57551260e-01,  5.14398519e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10497034, -0.0369854 ,  0.3047325 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.81925097, -6.07078777,  8.95554171, -6.07078777, 18.73324221,
        5.36474093,  8.95554171,  5.36474093, 14.45590464,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047421183864093663
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.14529823e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.14529823e-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([ 0.05236227, -0.06161736,  0.06198934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99914010e-05, 3.17938194e-05,-8.69566255e-06, 2.35382607e-05,
 -1.86715688e-03, 1.68126237e-02, 7.33307413e-03, 6.99736709e-04,
 -4.67641893e-06, 4.38324067e-05,-2.14206085e-06,-5.02486103e-06,
  6.00159601e-02, 2.06150727e-02, 1.64220391e-02,-4.22517627e-04,
 -1.57860095e-05, 6.99753043e-06,-9.80998951e+00,-6.49316012e-02,
 -9.23805067e-03,-5.49809289e-03]


--- Step 1402 ---
qpos:
[ 0.00984494, 0.00806457,-0.00560825, 0.03350061, 0.00540938,-0.01152508,
 -0.01348564, 0.03790575, 0.01306958, 0.00594587,-0.01171752, 0.0340767 ,
  0.82208096,-0.01453538, 1.16866016, 0.04608093, 0.09413821,-0.06471857,
  0.14239827, 0.94518052,-0.03307409, 0.03005275, 0.323476  ]

qacc:
[-2.15975491e+00, 5.25049067e-01,-1.02227719e+00,-5.79746306e-01,
  1.49562209e+01, 2.34742823e+00,-3.19949644e+00,-9.85595893e+00,
 -3.64465290e+00, 5.26875288e-02, 1.76001088e+00,-8.34783620e+00,
  8.49591414e+00, 4.29560176e+00, 1.98297474e+01,-4.94147186e+01,
 -6.29778522e-02,-2.25469608e-01, 4.70867770e-02, 5.06807122e+00,
 -5.69018355e-01, 9.98978625e+00]

qfrc_actuator:
[-1.85739562e-05, 2.69084414e-04,-1.37936037e-05, 1.03746417e-04,
 -1.91146568e-03, 1.43722089e-02, 6.60158354e-03, 1.21328130e-03,
  9.57662813e-06, 7.02982911e-05,-1.44037748e-04, 8.46143261e-05,
  4.89963053e-02, 1.86810063e-02, 0.00000000e+00,-1.81643401e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21731338, -0.20727811,  0.06527547, -0.20727811,  0.25431724,
        0.11750341,  0.06527547,  0.11750341,  0.590438  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018342504903467918
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97900707, -0.20343393,  0.01264101, -0.20341697,  0.97908868,
        0.00262654, -0.012911  ,  0.        , -0.99991665])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1297605 , -0.08243965,  0.13166454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28373773,  7.26031861,  0.58361716,  7.26031861,  7.36727466,
       -1.03921673,  0.58361716, -1.03921673, 20.21180954,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.926372272023495e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98663431,  0.05423008, -0.15366142,  0.0535841 ,  0.99852847,
        0.00834535,  0.15388788,  0.        , -0.98808832])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11321567, -0.05438715,  0.29653804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.20389976, -0.64451752,  1.01684404, -0.64451752,  7.34647752,
        3.89341812,  1.01684404,  3.89341812,  3.67170811,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039682252398564
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50614806, -0.84378323, -0.1784489 , -0.09179495, -0.15302842,
        0.98394918, -0.85754757,  0.51440467,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496997, -0.03697397,  0.30472833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.84011059,  5.36360749, -9.42017581,  5.36360749, 73.02122202,
       35.40433657, -9.42017581, 35.40433657, 30.99843551,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004756606221374693
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.2035025e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.2035025e-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([ 0.05236955, -0.06161266,  0.06198931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26072131e-05, 2.39709659e-05,-3.04519137e-06,-3.96772675e-06,
 -2.01137389e-03, 1.65630724e-02, 7.26954446e-03, 7.17543155e-04,
 -2.12608101e-05, 7.34614111e-06,-1.29889008e-05,-2.03628582e-05,
  5.87814632e-02, 1.99365027e-02, 1.65224464e-02, 3.16924899e-06,
 -3.93233850e-06, 2.91035782e-06,-9.80999571e+00,-6.49348598e-02,
 -9.23525819e-03,-5.49839752e-03]


--- Step 1403 ---
qpos:
[ 0.00984448, 0.00806463,-0.00560917, 0.03350101, 0.00541427,-0.01155817,
 -0.01349642, 0.03791392, 0.01307026, 0.00594622,-0.01171863, 0.0340777 ,
  0.82198817,-0.01450624, 1.16853349, 0.0460797 , 0.09414139,-0.06471285,
  0.14239885, 0.94517056,-0.03307836, 0.03004608, 0.32350529]

qacc:
[ 1.80983596e+00,-2.18425452e+00, 1.12771645e+01,-2.52354414e+01,
  1.01173202e+01, 1.42422809e+00,-3.27590739e+00,-1.16550765e+01,
  3.83492750e+00,-1.43457701e+00, 5.70017808e+00,-1.02413818e+01,
  7.74344273e+00, 3.83891796e+00, 1.94098522e+01,-4.80859679e+01,
 -4.60110340e-02,-1.71598388e-01, 3.42724216e-02, 4.16300805e+00,
 -6.10452326e-01, 8.53688716e+00]

qfrc_actuator:
[-7.63686457e-06, 2.73150384e-04,-1.10286360e-06, 6.45341322e-05,
 -1.91040823e-03, 1.44239844e-02, 6.59103392e-03, 1.20016152e-03,
  3.25431342e-05, 4.23252023e-05,-1.38581158e-04, 7.11098433e-05,
  4.90139547e-02, 1.86807716e-02, 0.00000000e+00,-1.91200742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21750513, -0.20874213,  0.06111634, -0.20874213,  0.23920323,
        0.0741096 ,  0.06111634,  0.0741096 ,  0.47062555,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001855112891286627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97901504, -0.20339746,  0.01261076, -0.20338059,  0.97909625,
        0.00261976, -0.01288   ,  0.        , -0.99991705])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12976444, -0.08243913,  0.13166388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28358467,  7.21950929,  0.96399748,  7.21950929,  7.55315186,
       -2.0188257 ,  0.96399748, -2.0188257 , 22.40284714,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.390918515376415e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86632254e-01,  5.41979261e-02, -1.53685978e-01,  5.35521323e-02,
        9.98530212e-01,  8.34172182e-03,  1.53912196e-01, -1.73472348e-18,
       -9.88084529e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11321582, -0.05438198,  0.29653814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.20495925, -0.79629864,  0.90434245, -0.79629864,  7.90933883,
        5.90339242,  0.90434245,  5.90339242,  6.40306022,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000397676456413458
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.06116851e-01, -8.43785905e-01, -1.78524732e-01, -9.18295784e-02,
       -1.53096076e-01,  9.83935425e-01, -8.57562279e-01,  5.14380149e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496977, -0.03696526,  0.30472667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.84909887,  5.24253146, -9.49835829,  5.24253146, 88.66123849,
       42.94769446, -9.49835829, 42.94769446, 34.55368365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047628195524382355
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.36744274e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.36744274e-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([ 0.052375  , -0.06160898,  0.06198929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05877205e-05, 1.66825917e-05, 1.71429322e-05,-3.83668991e-05,
 -2.09662568e-03, 1.65691439e-02, 7.30960620e-03, 7.45002223e-04,
  2.23669159e-05,-2.74364701e-05, 4.67626166e-06,-1.40356641e-05,
  5.76731425e-02, 1.93123695e-02, 1.60487447e-02, 7.12049905e-06,
 -1.42888955e-06, 3.03989475e-06,-9.80999845e+00,-6.49368510e-02,
 -9.23450189e-03,-5.49834701e-03]


--- Step 1404 ---
qpos:
[ 0.00984415, 0.00806445,-0.00560977, 0.03350098, 0.00541992,-0.01159444,
 -0.01350975, 0.03792086, 0.01307156, 0.00594653,-0.01172001, 0.03407854,
  0.8219139 ,-0.01446699, 1.16841655, 0.04607694, 0.09414443,-0.06470766,
  0.14239952, 0.94515616,-0.03307535, 0.03004091, 0.32354814]

qacc:
[ 1.19692621e+00,-2.07967584e+00, 8.81352961e+00,-1.66603698e+01,
  6.56679167e+00, 3.65006381e-01,-2.18583366e+00,-1.27928971e+01,
  5.39716275e+00, 3.95348366e-01,-8.02950514e-01,-1.52972454e+00,
  7.01246596e+00, 3.40350128e+00, 1.88075412e+01,-4.53394335e+01,
 -3.44852094e-02,-1.30289860e-01, 2.39296978e-02, 3.40669779e+00,
 -6.21240903e-01, 7.25759365e+00]

qfrc_actuator:
[-1.01292261e-06, 2.39998846e-04, 6.72347807e-06, 4.13135731e-05,
 -1.93018467e-03, 1.44514381e-02, 6.59024869e-03, 1.20744334e-03,
  6.35406870e-05, 4.33043582e-05,-1.52741713e-04, 6.27600094e-05,
  4.90161271e-02, 1.86622165e-02, 0.00000000e+00,-1.98548945e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2177149 , -0.21055503,  0.05537469, -0.21055503,  0.23140652,
        0.05206062,  0.05537469,  0.05206062,  0.41566862,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018776314859333433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79018239e-01, -2.03384207e-01,  1.25758676e-02, -2.03367430e-01,
        9.79099006e-01,  2.61233322e-03, -1.28443268e-02, -4.33680869e-19,
       -9.99917508e-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([ 0.12976875, -0.08243888,  0.13166328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28357295,  7.08635235,  1.68346229,  7.08635235,  8.77725029,
       -6.28747314,  1.68346229, -6.28747314, 33.75001081,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.254976355734035e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98663367,  0.05413584, -0.1536988 ,  0.05349068,  0.99853358,
        0.00833283,  0.15392451,  0.        , -0.98808261])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11321636, -0.05437782,  0.29653847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003979321499737418
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.06060289e-01, -8.43805423e-01, -1.78592812e-01, -9.18554843e-02,
       -1.53159925e-01,  9.83923070e-01, -8.57592884e-01,  5.14329122e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049696 , -0.03695879,  0.30472684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004762544652242712
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16557755e-13, -1.20200185e-13,  1.00000000e+00, -1.40102637e-26,
        1.00000000e+00,  1.20200185e-13, -1.00000000e+00,  0.00000000e+00,
       -1.16557755e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05237901, -0.06160608,  0.06198929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93301784e-06,-2.19123270e-05, 1.20656036e-05,-2.26585817e-05,
 -2.17482929e-03, 1.66731396e-02, 7.41190749e-03, 8.08277255e-04,
  3.16243118e-05,-1.39909277e-05,-1.97310844e-05,-9.63829923e-06,
  5.66510208e-02, 1.87299214e-02, 1.55790215e-02, 2.79074884e-05,
 -4.69915161e-06, 5.82990782e-06,-9.80999900e+00,-6.49378057e-02,
 -9.23503775e-03,-5.49797126e-03]


--- Step 1405 ---
qpos:
[ 0.00984391, 0.00806416,-0.0056103 , 0.03350101, 0.00542644,-0.01163414,
 -0.01352553, 0.03792661, 0.01307323, 0.00594667,-0.01172094, 0.03407889,
  0.8218564 ,-0.01441865, 1.16830898, 0.04607273, 0.09414737,-0.06470285,
  0.14240025, 0.94513795,-0.03306628, 0.03003677, 0.32360264]

qacc:
[ 7.23811896e-01,-1.95606272e-01, 1.66094790e-01, 1.05719721e+00,
  7.45552208e+00,-1.50409841e-01,-1.04430806e+00,-1.30766607e+01,
  3.19742189e+00,-2.50089138e+00, 1.06188542e+01,-1.95941711e+01,
  6.35539458e+00, 3.04033288e+00, 1.80631043e+01,-4.34738677e+01,
 -2.63323477e-02,-9.74189056e-02, 1.52311203e-02, 2.79546727e+00,
 -6.31964145e-01, 6.23103445e+00]

qfrc_actuator:
[ 3.01162798e-06, 2.38063784e-04, 1.14683393e-05, 4.54074639e-05,
 -1.92701365e-03, 1.45020745e-02, 6.59663783e-03, 1.20977947e-03,
  8.12505379e-05, 4.37864250e-05,-1.25010089e-04, 3.97607051e-05,
  4.90137786e-02, 1.86293261e-02, 0.00000000e+00,-2.06306208e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2179231 , -0.21186187,  0.05103944, -0.21186187,  0.22912767,
        0.04650956,  0.05103944,  0.04650956,  0.41098169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018996804701052687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97901741, -0.20339076,  0.01253412, -0.20337409,  0.97909765,
        0.00260375, -0.0128017 ,  0.        , -0.99991805])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12977355, -0.08243888,  0.13166276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28366329,  6.96079814,  2.14453729,  6.96079814, 10.16184403,
       -9.3420782 ,  2.14453729, -9.3420782 , 37.6064377 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.227154098946213e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86637927e-01,  5.40482084e-02, -1.53702284e-01,  5.34040716e-02,
        9.98538327e-01,  8.31949347e-03,  1.53927276e-01,  1.73472348e-18,
       -9.88082180e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11321718, -0.05437455,  0.29653898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000397786925334358
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50598204, -0.8438396 , -0.17865305, -0.09187328, -0.15321949,
        0.98391213, -0.85763715,  0.51425531,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496937, -0.0369542 ,  0.30472829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004757238781129963
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.33375510e-13,  5.46973851e-14,  1.00000000e+00, -1.27650301e-26,
        1.00000000e+00, -5.46973851e-14, -1.00000000e+00,  0.00000000e+00,
        2.33375510e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05238188, -0.06160381,  0.06198931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.21605159e-06,-1.26504372e-05, 9.29804970e-07, 3.13295220e-06,
 -2.20958846e-03, 1.68838966e-02, 7.54620269e-03, 8.72557066e-04,
  1.86048160e-05,-1.18123040e-05, 2.20886076e-05,-2.44696605e-05,
  5.57227019e-02, 1.81910189e-02, 1.50951111e-02, 2.74577554e-05,
 -1.13078206e-05, 1.01908185e-05,-9.80999820e+00,-6.49379070e-02,
 -9.23637198e-03,-5.49730039e-03]


--- Step 1406 ---
qpos:
[ 0.00984371, 0.00806394,-0.00561088, 0.03350143, 0.00543404,-0.01167776,
 -0.013543  , 0.0379314 , 0.01307474, 0.00594666,-0.01172126, 0.03407895,
  0.82181421,-0.01436209, 1.16820792, 0.04606588, 0.09415022,-0.06469834,
  0.14240101, 0.94511651,-0.03305213, 0.03003328, 0.32366701]

qacc:
[ 4.37236987e-01, 9.90123919e-01,-4.99211629e+00, 1.15426203e+01,
  9.50836954e+00,-2.45862902e+00, 5.25720276e+00,-1.62297380e+01,
 -1.25691187e+00,-2.52320417e+00, 9.94562905e+00,-1.58923827e+01,
  5.86585695e+00, 2.65062787e+00, 1.74273400e+01,-4.73387258e+01,
 -2.12806166e-02,-7.55879257e-02, 7.78914691e-03, 2.29881680e+00,
 -6.29425836e-01, 5.27491182e+00]

qfrc_actuator:
[ 5.47544560e-06, 2.54842496e-04, 1.44885896e-05, 6.55580338e-05,
 -1.91047907e-03, 1.45503943e-02, 6.64375841e-03, 1.20959560e-03,
  7.32422856e-05, 4.41245110e-05,-9.05178078e-05, 2.61113582e-05,
  4.90241860e-02, 1.85848021e-02, 0.00000000e+00,-2.23131523e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21812539, -0.21273321,  0.0482003 , -0.21273321,  0.22886775,
        0.04741164,  0.0482003 ,  0.04741164,  0.42737785,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019208259861932462
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79013198e-01, -2.03414044e-01,  1.24854028e-02, -2.03397504e-01,
        9.79092808e-01,  2.59393824e-03, -1.27520116e-02, -4.33680869e-19,
       -9.99918690e-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([ 0.12977884, -0.08243908,  0.13166232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28387597,   6.77885492,   2.6649531 ,   6.77885492,
        12.51427613, -13.30459581,   2.6649531 , -13.30459581,
        41.12684481,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -8.065635430597803e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86644533e-01,  5.39385712e-02, -1.53698391e-01,  5.32957814e-02,
        9.98544256e-01,  8.30235774e-03,  1.53922463e-01,  1.73472348e-18,
       -9.88082929e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11321822, -0.05437208,  0.29653963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039738168581591874
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05885037e-01, -8.43886616e-01, -1.78705650e-01, -9.18836029e-02,
       -1.53274632e-01,  9.83902582e-01, -8.57693263e-01,  5.14161713e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.104969  , -0.03695117,  0.30473063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004748094556746574
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.37478476e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.37478476e-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([ 0.05238386, -0.06160204,  0.06198933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.58081054e-06, 1.00497329e-05, 6.39664320e-07, 1.97032491e-05,
 -2.23605712e-03, 1.71053494e-02, 7.71644404e-03, 9.31963344e-04,
 -7.48385125e-06,-2.73657646e-06, 3.39357842e-05,-1.38670114e-05,
  5.48947537e-02, 1.76907104e-02, 1.46290579e-02,-6.74870064e-05,
 -1.97205482e-05, 1.54451509e-05,-9.80999660e+00,-6.49373056e-02,
 -9.23818628e-03,-5.49635809e-03]


--- Step 1407 ---
qpos:
[ 0.0098432 , 0.00806392,-0.00561121, 0.03350205, 0.00544308,-0.01172602,
 -0.01356275, 0.03793514, 0.01307546, 0.00594659,-0.01172172, 0.03407888,
  0.82178565,-0.01429831, 1.16811772, 0.04605883, 0.094153  ,-0.06469406,
  0.14240179, 0.94509235,-0.03303383, 0.03003015, 0.32373973]

qacc:
[-2.75082959e+00,-6.40434854e-03,-4.31697290e-01, 3.35195255e+00,
  1.24975227e+01,-1.94016257e+00, 2.43258008e+00,-1.35331355e+01,
 -7.01815394e+00, 1.12343456e-01, 3.77557688e-02,-1.91185892e+00,
  5.21099328e+00, 2.30238881e+00, 1.65197882e+01,-3.48101102e+01,
 -1.86074106e-02,-5.57580027e-02, 2.54212913e-03, 1.85209667e+00,
 -5.96659856e-01, 4.45498343e+00]

qfrc_actuator:
[-1.07506946e-05, 2.82709575e-04, 3.43104806e-05, 7.72556223e-05,
 -1.88650296e-03, 1.45991903e-02, 6.68003164e-03, 1.20814496e-03,
  3.24128867e-05, 2.66712327e-05,-1.05571178e-04, 1.80740635e-05,
  4.90311224e-02, 1.85127700e-02, 0.00000000e+00,-2.18592749e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22141876, -0.21664083,  0.04574949, -0.21664083,  0.2310878 ,
        0.04578652,  0.04574949,  0.04578652,  0.43823498,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002232930144353185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97915552, -0.20273114,  0.01243217, -0.2027148 ,  0.97923444,
        0.00257384, -0.01269581,  0.        , -0.9999194 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1297829 , -0.08243085,  0.13166159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28425419,   6.55446453,   3.17794805,   6.55446453,
        15.83955478, -17.64516394,   3.17794805, -17.64516394,
        43.67710882,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.0572755810384827e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98665305,  0.05381027, -0.15368871,  0.0531691 ,  0.99855118,
        0.00828203,  0.1539117 ,  0.        , -0.98808461])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11321941, -0.05437034,  0.29654037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003968063320634828
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50577206, -0.84394468, -0.17875125, -0.09188729, -0.15332558,
        0.9838943 , -0.85775949,  0.51405121,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496843, -0.03694946,  0.30473361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004736099198097282
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17208591e-13, -3.29649161e-14,  1.00000000e+00, -3.86377136e-27,
        1.00000000e+00,  3.29649161e-14, -1.00000000e+00,  0.00000000e+00,
       -1.17208591e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05238514, -0.06160067,  0.06198935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61487398e-05, 3.44787748e-05, 2.26668185e-05, 1.25346276e-05,
 -2.26671385e-03, 1.73521510e-02, 7.83786517e-03, 9.78587941e-04,
 -4.10442160e-05,-1.25618439e-05,-1.19129928e-05,-7.24910625e-06,
  5.41360030e-02, 1.72058539e-02, 1.43051773e-02, 1.10055891e-04,
 -2.88013811e-05, 2.10186564e-05,-9.80999455e+00,-6.49361147e-02,
 -9.24027652e-03,-5.49516538e-03]


--- Step 1408 ---
qpos:
[ 0.00984285, 0.00806416,-0.00561132, 0.03350279, 0.00545304,-0.01177833,
 -0.01358533, 0.03793768, 0.01307568, 0.00594625,-0.0117228 , 0.03407844,
  0.82176919,-0.01422818, 1.16803986, 0.04605269, 0.09415571,-0.06468993,
  0.14240255, 0.94506584,-0.03301212, 0.03002716, 0.3238196 ]

qacc:
[ 1.35721021e+00, 1.28691249e-02,-9.13267746e-02, 1.79367750e+00,
  7.93282843e+00, 9.70708696e-02,-3.10417284e+00,-9.99759924e+00,
 -4.36613017e+00, 5.58980936e-01,-8.88695069e-01,-4.55136160e+00,
  4.60518513e+00, 2.02688595e+00, 1.53153785e+01,-2.73827026e+01,
 -1.67906249e-02,-3.94053451e-02,-1.63422626e-03, 1.49098662e+00,
 -5.69619972e-01, 3.80897557e+00]

qfrc_actuator:
[-2.34150530e-06, 2.99318786e-04, 4.61879919e-05, 8.39072615e-05,
 -1.87659646e-03, 1.46505497e-02, 6.69330993e-03, 1.24191571e-03,
  8.10631018e-06,-1.92458966e-05,-1.49830296e-04,-4.40129861e-06,
  4.90409016e-02, 1.84397108e-02, 0.00000000e+00,-2.12024439e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22095213, -0.21746354,  0.03910825, -0.21746354,  0.22649218,
        0.03080571,  0.03910825,  0.03080571,  0.39224895,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002191898933203877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97934192, -0.20183245,  0.0123717 , -0.20181635,  0.97942006,
        0.00254948, -0.01263166,  0.        , -0.99992022])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12978696, -0.08242005,  0.13166085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28484137,   6.21113949,   3.80665994,   6.21113949,
        21.38084502, -22.99975473,   3.80665994, -22.99975473,
        44.81240807,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.3576404973799114e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9866631 ,  0.05366614, -0.15367456,  0.05302682,  0.99855893,
        0.00825902,  0.15389634,  0.        , -0.988087  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11322069, -0.05436924,  0.29654117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003961582056700767
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05645517e-01, -8.44012467e-01, -1.78789167e-01, -9.18844372e-02,
       -1.53371498e-01,  9.83887409e-01, -8.57834402e-01,  5.13926200e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496768, -0.03694888,  0.30473694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000472203903968349
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17557586e-13, -9.18418644e-14,  1.00000000e+00, -1.07967079e-26,
        1.00000000e+00,  9.18418644e-14, -1.00000000e+00,  0.00000000e+00,
       -1.17557586e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05238588, -0.0615996 ,  0.06198938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.95999287e-06, 4.11085472e-05, 2.22289818e-05, 9.15750412e-06,
 -2.32868215e-03, 1.76370972e-02, 7.96590286e-03, 1.06508126e-03,
 -2.54775400e-05,-5.57171465e-05,-4.85632350e-05,-2.35637510e-05,
  5.34638979e-02, 1.67707079e-02, 1.37641360e-02, 1.86507272e-04,
 -3.78183528e-05, 2.65584472e-05,-9.80999234e+00,-6.49344276e-02,
 -9.24248677e-03,-5.49374843e-03]


--- Step 1409 ---
qpos:
[ 0.00984294, 0.00806443,-0.00561143, 0.03350331, 0.00546308,-0.01183516,
 -0.01361021, 0.03793925, 0.01307561, 0.00594534,-0.01172427, 0.03407775,
  0.82176129,-0.0141536 , 1.16797155, 0.04604667, 0.09415833,-0.06468593,
  0.14240333, 0.94503776,-0.03298824, 0.03002446, 0.32390423]

qacc:
[ 3.93600087e+00,-4.78714856e-01, 2.69857472e+00,-6.64541008e+00,
  7.48683362e-01,-1.60032158e+00, 1.16635688e+00,-1.11579762e+01,
 -2.58211960e+00,-1.25782653e-01, 3.74531064e-01,-3.47669130e+00,
  3.20976048e+00, 1.48381108e+00, 1.37040963e+01,-2.76337628e+01,
 -2.30699424e-02,-3.17521753e-02, 1.86012467e-03, 9.70633357e-01,
 -2.70968006e-01, 2.54441773e+00]

qfrc_actuator:
[ 2.05060878e-05, 2.73525155e-04, 3.54804061e-05, 6.97700601e-05,
 -1.91068987e-03, 1.46869653e-02, 6.72976287e-03, 1.26187567e-03,
 -6.27032345e-06,-6.42515225e-05,-1.75593649e-04,-1.74800139e-05,
  4.90467086e-02, 1.83462688e-02, 0.00000000e+00,-2.14994445e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2205006 , -0.21774475,  0.03475256, -0.21774475,  0.22412053,
        0.0226809 ,  0.03475256,  0.0226809 ,  0.36260945,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021512963474440522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79533431e-01, -2.00905163e-01,  1.23033672e-02, -2.00889317e-01,
        9.79610696e-01,  2.52325745e-03, -1.25594455e-02,  4.33680869e-19,
       -9.99921127e-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([ 0.12979144, -0.08240893,  0.13166018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28567121,   5.77693854,   4.43936775,   5.77693854,
        28.84313356, -28.05267371,   4.43936775, -28.05267371,
        43.79054779,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.6935575537289823e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86674399e-01,  5.35084225e-02, -1.53657015e-01,  5.28711339e-02,
        9.98567398e-01,  8.23374015e-03,  1.53877460e-01, -1.73472348e-18,
       -9.88089939e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11322203, -0.0543687 ,  0.296542  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039549690572712303
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5055073 , -0.84408883, -0.17881951, -0.09187542, -0.15341226,
        0.9838819 , -0.85791683,  0.51378859,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496677, -0.03694927,  0.30474043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004706499250956318
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.99907593e-07,  3.99907409e-07,  1.00000000e+00,  1.59926009e-13,
        1.00000000e+00, -3.99907409e-07, -1.00000000e+00,  0.00000000e+00,
       -3.99907593e-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([ 0.05280421, -0.06220187,  0.06198942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30866563e-05, 2.17359347e-06, 8.35598679e-07,-1.14305021e-05,
 -2.40854424e-03, 1.78781860e-02, 8.14492874e-03, 1.14483265e-03,
 -1.51195778e-05,-8.71862905e-05,-4.40503586e-05,-1.75999706e-05,
  5.28650732e-02, 1.63586633e-02, 1.31488615e-02, 1.11151480e-04,
 -4.64656390e-05, 3.19278292e-05,-9.80999012e+00,-6.49323334e-02,
 -9.24474345e-03,-5.49212930e-03]


--- Step 1410 ---
qpos:
[ 0.00984296, 0.00806451,-0.00561127, 0.03350401, 0.00546718,-0.0118835 ,
 -0.01362728, 0.03794429, 0.01307572, 0.00594384,-0.01172554, 0.03407757,
  0.82167754,-0.01412678, 1.16786826, 0.04605235, 0.09416136,-0.06467956,
  0.1424037 , 0.94502967,-0.0329979 , 0.03001427, 0.32392778]

qacc:
[-6.17180884e-01,-5.83016872e-01, 9.53519556e-01, 1.93795402e+00,
 -5.14938574e+01,-3.29933482e+00, 1.35138499e+01, 2.78679413e+01,
  1.53701865e+00,-3.40774272e-01,-2.05019999e+00, 1.08281437e+01,
 -2.41140794e+01,-2.40470629e+01,-8.66680975e+01, 2.29054684e+02,
  1.01972446e-01, 5.94019620e-01,-1.00623476e-01,-1.58132827e+01,
  2.60339041e+00,-3.27279265e+01]

qfrc_actuator:
[ 1.61555470e-05, 2.57927339e-04, 4.68416199e-05, 7.89687876e-05,
 -1.95296699e-03, 1.47165120e-02, 6.76295942e-03, 1.23831003e-03,
  3.06003616e-06,-7.27956458e-05,-1.54717240e-04, 1.05960177e-05,
  4.90393632e-02, 1.82576924e-02, 0.00000000e+00,-2.02339692e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21910783, -0.21240664,  0.05377416, -0.21240664,  0.23878516,
        0.07772501,  0.05377416,  0.07772501,  0.52611975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020198977631102696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79724313e-01, -1.99976905e-01,  1.22273620e-02, -1.99961333e-01,
        9.79800611e-01,  2.49559960e-03, -1.24794391e-02, -4.33680869e-19,
       -9.99922129e-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([ 0.1297965 , -0.08239781,  0.13165984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28676172, -7.2746405 ,  0.42012142, -7.2746405 ,  7.26294983,
       -0.41231649,  0.42012142, -0.41231649,  0.14726814,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0529800626836458e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98668656,  0.05334158, -0.15363694,  0.05270646,  0.99857632,
        0.00820692,  0.15385598,  0.        , -0.98809328])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132234 , -0.05436856,  0.29654285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.20151976,  0.898029  , -0.79824411,  0.898029  ,  6.3495151 ,
        5.79152297, -0.79824411,  5.79152297,  7.71701485,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003948924813639307
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05361334e-01, -8.44171033e-01, -1.78844038e-01, -9.18619111e-02,
       -1.53448947e-01,  9.83877436e-01, -8.58004261e-01,  5.13642569e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496572, -0.03695028,  0.3047439 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.78260272, -6.27666284,  8.76744118, -6.27666284, 43.43902661,
       23.37892642,  8.76744118, 23.37892642, 27.51971399,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004716430876173794
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35394741e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.35394741e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08567919, -0.10961329,  0.0619894 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.69243408e-06,-1.47013602e-05, 1.15135416e-05, 9.09581242e-06,
 -2.45510243e-03, 1.81364612e-02, 8.29367348e-03, 1.17053084e-03,
  8.86815325e-06,-6.71061078e-05,-3.13749710e-06, 2.24806400e-05,
  5.24296452e-02, 1.60454041e-02, 1.26726427e-02, 2.32706502e-04,
 -5.26683218e-05, 3.56893369e-05,-9.80998864e+00,-6.49297663e-02,
 -9.24670845e-03,-5.49039393e-03]


--- Step 1411 ---
qpos:
[ 0.00984293, 0.00806451,-0.00561073, 0.0335048 , 0.00546688,-0.01191869,
 -0.01363629, 0.03795291, 0.01307628, 0.00594252,-0.01172662, 0.03407727,
  0.82151878,-0.01414564, 1.16772181, 0.04605918, 0.09416538,-0.0646713 ,
  0.14240367, 0.94503946,-0.03303438, 0.02999917, 0.3238969 ]

qacc:
[-4.44747238e-01,-1.01406878e+00, 3.13529119e+00,-2.30228960e+00,
 -3.82932779e+01, 2.24858868e+00, 2.24355745e+00, 3.68914145e+01,
  4.00461058e+00,-4.85086579e-01, 2.54940917e+00,-4.86092663e+00,
 -2.51950298e+01,-2.10272986e+01,-6.67333482e+01, 1.41989207e+02,
  2.49991295e-01, 4.72567851e-01,-9.91399239e-02,-1.23575703e+01,
  2.65175517e+00,-2.90947622e+01]

qfrc_actuator:
[ 1.35795155e-05, 2.66399791e-04, 7.11959271e-05, 8.40974862e-05,
 -1.97641078e-03, 1.47662356e-02, 6.78503013e-03, 1.23781516e-03,
  2.62658427e-05,-5.94987613e-06,-1.24056350e-04, 9.46247370e-06,
  4.90420668e-02, 1.82579862e-02, 0.00000000e+00,-2.09878499e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21897812, -0.17447099,  0.13233023, -0.17447099,  0.37555552,
        0.20643971,  0.13233023,  0.20643971,  0.49115887,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000200714276981907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79862601e-01, -1.99301715e-01,  1.21700244e-02, -1.99286345e-01,
        9.79938175e-01,  2.47516303e-03, -1.24191758e-02, -4.33680869e-19,
       -9.99922879e-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([ 0.12980058, -0.08238977,  0.13165928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28617512, -7.28535592, -0.1092569 , -7.28535592,  7.28455953,
        0.10772949, -0.1092569 ,  0.10772949,  0.10266845,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8682685367876897e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86685672e-01,  5.32896010e-02, -1.53660676e-01,  5.26549031e-02,
        9.98579100e-01,  8.20016770e-03,  1.53879323e-01, -1.73472348e-18,
       -9.88089649e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11322325, -0.0543647 ,  0.29654276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.20341586,  0.84415572, -0.8576776 ,  0.84415572,  3.45703298,
        2.21808727, -0.8576776 ,  2.21808727,  3.38653344,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039643143574179685
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50531279, -0.84418795, -0.17890134, -0.09188349, -0.15350281,
        0.98386702, -0.85803054,  0.51359867,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496473, -0.03694298,  0.3047408 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.77327141,  7.22030447, -7.99566009,  7.22030447, 38.57072782,
       25.10187984, -7.99566009, 25.10187984, 33.44097028,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004709842144298704
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35724041e-13, -1.17862021e-13,  1.00000000e+00, -2.77829118e-26,
        1.00000000e+00,  1.17862021e-13, -1.00000000e+00,  0.00000000e+00,
       -2.35724041e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08568637, -0.10960858,  0.06198941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.68775469e-06, 3.01174960e-06, 2.30461300e-05, 5.07217178e-06,
 -2.18156731e-03, 1.77636025e-02, 7.92665506e-03, 9.96034027e-04,
  2.34275415e-05, 2.97082959e-05, 1.72233915e-05,-3.67404630e-06,
  5.62253821e-02, 1.84338726e-02, 1.44236237e-02,-4.27580298e-04,
 -3.26117105e-06, 5.29360402e-06,-9.80999825e+00,-6.49284764e-02,
 -9.24060493e-03,-5.48980873e-03]


--- Step 1412 ---
qpos:
[ 0.00984287, 0.00806458,-0.0056099 , 0.03350493, 0.005469  ,-0.01194925,
 -0.01364394, 0.03796149, 0.01307676, 0.00594196,-0.01172762, 0.03407656,
  0.82138492,-0.0141505 , 1.16757189, 0.04605768, 0.09416902,-0.06466425,
  0.14240389, 0.94504236,-0.03305844, 0.02998785, 0.32388701]

qacc:
[-2.62543798e-01,-2.04973882e+00, 1.01436703e+01,-2.18104476e+01,
  2.10528832e+01, 2.22528134e+00, 1.05608995e+00,-7.28893824e+00,
 -6.40983065e-01,-1.18092548e-01, 3.65006676e+00,-1.16703095e+01,
  9.47691940e+00, 4.78824646e+00, 1.98129114e+01,-7.73479007e+01,
 -9.82359086e-02,-3.04719638e-01, 6.15250142e-02, 6.05295176e+00,
 -4.69541465e-01, 1.12779474e+01]

qfrc_actuator:
[ 1.20774362e-05, 2.71523796e-04, 8.53590688e-05, 5.13077687e-05,
 -1.96995347e-03, 1.47845009e-02, 6.81478135e-03, 1.23192545e-03,
  2.19403016e-05, 7.00720455e-05,-1.05335277e-04,-8.78707095e-06,
  4.90641067e-02, 1.82576086e-02, 0.00000000e+00,-2.09418694e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21898373, -0.20933924,  0.06427251, -0.20933924,  0.31970239,
        0.32804647,  0.06427251,  0.32804647,  1.28744992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020076967670868082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97995721, -0.19883807,  0.01213641, -0.19882282,  0.98003236,
        0.00246235, -0.01238368,  0.        , -0.99992332])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12980353, -0.08238421,  0.1316585 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28480849, -4.69909057,  5.56659523, -4.69909057, 19.12005632,
        9.99082907,  5.56659523,  9.99082907, 15.71865515,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.342598999212134e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86673970e-01,  5.33410109e-02, -1.53717964e-01,  5.27052205e-02,
        9.98576355e-01,  8.21116139e-03,  1.53937116e-01, -1.73472348e-18,
       -9.88080647e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11322233, -0.05435727,  0.29654218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.20696236, -0.96362552,  0.72676268, -0.96362552,  2.31762687,
        1.4726467 ,  0.72676268,  1.4726467 ,  3.15956667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039928221414762356
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05352114e-01, -8.44144350e-01, -1.78995971e-01, -9.19408549e-02,
       -1.53578764e-01,  9.83849807e-01, -8.58001236e-01,  5.13647622e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049643 , -0.0369284 ,  0.30473334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.78971936, -6.06322949,  8.92498134, -6.06322949, 18.53827155,
        5.26401663,  8.92498134,  5.26401663, 14.36585466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047214426218404604
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17572436e-13,  2.57189705e-14,  1.00000000e+00,  3.02384202e-27,
        1.00000000e+00, -2.57189705e-14, -1.00000000e+00,  0.00000000e+00,
       -1.17572436e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05240085, -0.06158875,  0.06198939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57947643e-06, 1.17768463e-05, 1.77912126e-05,-3.17674164e-05,
 -1.95449988e-03, 1.71255573e-02, 7.55316813e-03, 8.11507787e-04,
 -3.65512575e-06, 9.61059805e-05, 2.68802319e-05,-1.64469002e-05,
  5.99989477e-02, 2.07182741e-02, 1.65832979e-02,-4.80361356e-04,
 -1.76997960e-05, 7.51274881e-06,-9.80998932e+00,-6.49326186e-02,
 -9.24621308e-03,-5.49055423e-03]


--- Step 1413 ---
qpos:
[ 0.00984279, 0.00806462,-0.00560916, 0.03350506, 0.00547284,-0.01197919,
 -0.01365199, 0.03796951, 0.01307719, 0.00594162,-0.01172792, 0.034076  ,
  0.82127342,-0.01414295, 1.16743326, 0.04605508, 0.09417236,-0.06465811,
  0.1424043 , 0.94503928,-0.03307221, 0.02997936, 0.32389539]

qacc:
[ -0.1553221 ,  0.17898866, -0.63452411,  0.57912798, 14.98429165,
   0.74580473,  0.84713539,-10.31042315, -0.46663332, -1.31737156,
   4.46058454, -3.00813068,  8.3722478 ,  4.37709067, 19.75998133,
 -45.3896018 , -0.07167073, -0.22559162,  0.04706186,  4.94820261,
  -0.54009079,  9.80163593]

qfrc_actuator:
[ 1.12191790e-05, 2.56784748e-04, 7.56024717e-05, 4.97188484e-05,
 -1.93287838e-03, 1.48049058e-02, 6.81713368e-03, 1.20723416e-03,
  1.91932927e-05, 6.22024049e-05,-7.60020737e-05,-1.44309026e-06,
  4.90861308e-02, 1.82331719e-02, 0.00000000e+00,-1.96155591e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21907496, -0.20996243,  0.06252691, -0.20996243,  0.26084631,
        0.14026626,  0.06252691,  0.14026626,  0.69008253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020166746096228982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80067013e-01, -1.98297824e-01,  1.21087815e-02, -1.98282691e-01,
        9.80141813e-01,  2.44979349e-03, -1.23541118e-02, -4.33680869e-19,
       -9.99923685e-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([ 0.12980597, -0.0823777 ,  0.13165762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28420136,  7.26027788,  0.58987677,  7.26027788,  7.36824544,
       -1.03442521,  0.58987677, -1.03442521, 20.0160375 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0259452294406343e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98666718,  0.05335323, -0.15375733,  0.05271696,  0.9985757 ,
        0.00821515,  0.15397664,  0.        , -0.98807449])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11322201, -0.05435108,  0.29654198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.20897864, -0.6583702 ,  1.01399113, -0.6583702 ,  7.47573776,
        4.06891871,  1.01399113,  4.06891871,  3.85087042,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004008871370819804
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50535841, -0.84412158, -0.17908555, -0.09198954, -0.15365403,
        0.9838335 , -0.85799231,  0.51366253,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496407, -0.03691701,  0.30472938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.81089275,  5.36625282, -9.38502705,  5.36625282, 72.30543846,
       35.16188896, -9.38502705, 35.16188896, 30.91606502,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004736286324501515
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.20866584e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.20866584e-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([ 0.0524082 , -0.06158401,  0.06198935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.99621809e-07,-5.85230857e-06,-6.24240080e-06,-1.08919632e-06,
 -2.03883398e-03, 1.69156403e-02, 7.48860983e-03, 7.89051292e-04,
 -2.82070412e-06, 5.07547020e-05, 5.19471735e-05, 1.20777115e-05,
  5.87756427e-02, 1.99934327e-02, 1.67603233e-02, 6.99810994e-05,
 -4.91048620e-06, 2.82444343e-06,-9.80999551e+00,-6.49358895e-02,
 -9.24329476e-03,-5.49091640e-03]


--- Step 1414 ---
qpos:
[ 0.0098427 , 0.00806444,-0.00560842, 0.03350484, 0.00547796,-0.01201025,
 -0.01366184, 0.03797654, 0.01307725, 0.00594112,-0.01172763, 0.03407558,
  0.82118207,-0.01412424, 1.16730828, 0.04605281, 0.0941755 ,-0.06465263,
  0.14240485, 0.945031  ,-0.03307741, 0.02997295, 0.32391963]

qacc:
[-8.01149851e-02,-1.00700811e+00, 4.61490796e+00,-1.04175436e+01,
  1.10047326e+01, 1.48836056e+00,-3.34978831e+00,-9.91221924e+00,
 -3.32891366e+00,-1.58021542e+00, 4.72217038e+00,-3.02076553e+00,
  7.48469339e+00, 4.00130025e+00, 1.89909055e+01,-3.75839795e+01,
 -5.24750205e-02,-1.67034074e-01, 3.46052180e-02, 4.06086353e+00,
 -5.92907555e-01, 8.50248760e+00]

qfrc_actuator:
[ 1.07461897e-05, 2.30187270e-04, 6.95023996e-05, 3.09699351e-05,
 -1.91320897e-03, 1.48642561e-02, 6.80425044e-03, 1.18954864e-03,
 -3.47128196e-07, 2.19781475e-05,-5.86957233e-05, 3.09286411e-06,
  4.90968257e-02, 1.82080391e-02, 0.00000000e+00,-1.91578864e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21921754, -0.2109702 ,  0.05956429, -0.2109702 ,  0.24378645,
        0.0870204 ,  0.05956429,  0.0870204 ,  0.52743429,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020306132888838862
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80190437e-01, -1.97688534e-01,  1.20809896e-02, -1.97673521e-01,
        9.80264884e-01,  2.43635487e-03, -1.23242093e-02, -4.33680869e-19,
       -9.99924054e-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([ 0.12980831, -0.08237035,  0.13165672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28397218,  7.21024285,  1.0337547 ,  7.21024285,  7.57737632,
       -2.04643817,  1.0337547 , -2.04643817, 21.55748999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.771667776757194e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98666448,  0.05333116, -0.15378231,  0.05269495,  0.99857688,
        0.00821308,  0.15400147,  0.        , -0.98807062])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11322217, -0.054346  ,  0.29654208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040165984834371826
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05335794e-01, -8.44117852e-01, -1.79166928e-01, -9.20286052e-02,
       -1.53725482e-01,  9.83818689e-01, -8.58001440e-01,  5.13647280e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496402, -0.03690831,  0.30472785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.82049174,  5.24713507, -9.46311868,  5.24713507, 87.78084814,
       42.67318191, -9.46311868, 42.67318191, 34.48203048,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004742982834582271
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17038482e-13, -3.65745257e-15,  1.00000000e+00, -4.28062698e-28,
        1.00000000e+00,  3.65745257e-15, -1.00000000e+00,  0.00000000e+00,
       -1.17038482e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05241371, -0.06158029,  0.06198934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.01277834e-07,-3.12167669e-05,-8.12480449e-06,-1.92388491e-05,
 -2.10556500e-03, 1.69450685e-02, 7.49593932e-03, 7.99437936e-04,
 -1.96069822e-05,-5.76706939e-07, 3.46158161e-05, 8.74622742e-06,
  5.76677680e-02, 1.93469562e-02, 1.61988494e-02, 1.71130068e-04,
 -1.13282787e-06, 2.20684707e-06,-9.80999841e+00,-6.49379157e-02,
 -9.24231668e-03,-5.49093521e-03]


--- Step 1415 ---
qpos:
[ 0.00984261, 0.00806398,-0.00560775, 0.03350475, 0.00548401,-0.01204471,
 -0.01367379, 0.03798251, 0.01307672, 0.0059407 ,-0.01172827, 0.03407566,
  0.82110881,-0.01409553, 1.1671973 , 0.04605136, 0.09417848,-0.06464765,
  0.14240549, 0.94501824,-0.0330755 , 0.02996801, 0.32395749]

qacc:
[-4.08080166e-02, 1.07576123e-01,-1.46145661e+00, 4.07178200e+00,
  8.04407973e+00,-8.15005983e-01, 8.45317639e-01,-1.33394825e+01,
 -5.12784307e+00, 3.72107501e+00,-1.51560923e+01, 2.49411996e+01,
  6.68535969e+00, 3.62091169e+00, 1.80067707e+01,-3.33301966e+01,
 -3.94134940e-02,-1.23989279e-01, 2.44077490e-02, 3.32058026e+00,
 -6.09859825e-01, 7.29379340e+00]

qfrc_actuator:
[ 1.05034388e-05, 2.14437590e-04, 6.55457222e-05, 3.77679870e-05,
 -1.92197029e-03, 1.48952111e-02, 6.81928787e-03, 1.17671248e-03,
 -2.96157100e-05,-1.86465972e-06,-1.19803607e-04, 2.36430323e-05,
  4.91001174e-02, 1.81965321e-02, 0.00000000e+00,-1.86985914e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21940035, -0.2120196 ,  0.05642874, -0.2120196 ,  0.23637433,
        0.06377631,  0.05642874,  0.06377631,  0.45902699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020483224138451468
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80326370e-01, -1.97015270e-01,  1.20495273e-02, -1.97000389e-01,
        9.80400420e-01,  2.42139927e-03, -1.22904142e-02, -4.33680869e-19,
       -9.99924470e-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([ 0.12981075, -0.08236223,  0.13165581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28395144,  7.07729981,  1.72272345,  7.07729981,  8.86219215,
       -6.48373518,  1.72272345, -6.48373518, 33.92045992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.624368877249671e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98666518,  0.0532792 , -0.15379578,  0.0526435 ,  0.99857965,
        0.00820577,  0.15401454,  0.        , -0.98806858])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132227, -0.0543419,  0.2965424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004018668266837183
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05287889e-01, -8.44131076e-01, -1.79239716e-01, -9.20585055e-02,
       -1.53792416e-01,  9.83805430e-01, -8.58026446e-01,  5.13605509e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496404, -0.03690185,  0.30472805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004743276327236201
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17031240e-13, -1.49946277e-13,  1.00000000e+00, -1.75483988e-26,
        1.00000000e+00,  1.49946277e-13, -1.00000000e+00,  0.00000000e+00,
       -1.17031240e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05241778, -0.06157736,  0.06198934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66929705e-07,-3.57104450e-05,-1.20772202e-05, 4.80409842e-06,
 -2.17790084e-03, 1.70333633e-02, 7.60114911e-03, 8.35775635e-04,
 -2.98292079e-05,-1.66315288e-05,-5.66566898e-05, 2.18955285e-05,
  5.66633838e-02, 1.87767816e-02, 1.55192357e-02, 2.01624142e-04,
 -3.16761261e-06, 4.30288627e-06,-9.80999918e+00,-6.49389311e-02,
 -9.24260646e-03,-5.49063861e-03]


--- Step 1416 ---
qpos:
[ 0.00984252, 0.00806342,-0.00560724, 0.03350542, 0.00549049,-0.01208349,
 -0.01368819, 0.03798731, 0.01307688, 0.00594044,-0.01172973, 0.0340763 ,
  0.82105225,-0.01405762, 1.16709022, 0.04604597, 0.09418134,-0.06464307,
  0.1424062 , 0.94500175,-0.03306763, 0.02996409, 0.32400674]

qacc:
[-2.31951879e-02, 1.89206710e+00,-1.01500039e+01, 2.36210447e+01,
  3.77037695e+00,-1.27295636e+00, 1.20801936e+00,-1.44324367e+01,
  6.02176464e+00, 3.68970035e+00,-1.52464226e+01, 2.63161652e+01,
  6.31241185e+00, 3.14947184e+00, 1.75389377e+01,-5.33751701e+01,
 -3.06588039e-02,-1.00194895e-01, 1.50376768e-02, 2.74763378e+00,
 -6.18653725e-01, 6.08805776e+00]

qfrc_actuator:
[ 1.03980471e-05, 2.23083173e-04, 6.29425482e-05, 7.73067283e-05,
 -1.94795445e-03, 1.49296079e-02, 6.83435282e-03, 1.16725931e-03,
  6.64030445e-06, 1.94645175e-05,-1.55647456e-04, 5.34077334e-05,
  4.90931020e-02, 1.82076530e-02, 0.00000000e+00,-2.19727264e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21960373, -0.21307276,  0.05315822, -0.21307276,  0.23162058,
        0.04816682,  0.05315822,  0.04816682,  0.41266959,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020678146464715006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98047271, -0.19628802,  0.01201175, -0.19627329,  0.98054628,
        0.00240454, -0.01225006,  0.        , -0.99992497])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1298135 , -0.08235347,  0.13165496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28408535,  6.94272569,  2.20373759,  6.94272569, 10.35907851,
       -9.68755723,  2.20373759, -9.68755723, 37.80407679,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.535389453398104e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9866687 ,  0.05320149, -0.1538001 ,  0.05256669,  0.9985838 ,
        0.008194  ,  0.15401822,  0.        , -0.98806801])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132235 , -0.05433867,  0.29654289])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004017010964327119
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50521814, -0.84415918, -0.17930396, -0.09207989, -0.1538545 ,
        0.98379372, -0.85806522,  0.51354072,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496405, -0.03689726,  0.30472946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047385977150310454
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17146790e-13, -1.20807627e-13,  1.00000000e+00, -1.41522258e-26,
        1.00000000e+00,  1.20807627e-13, -1.00000000e+00,  0.00000000e+00,
       -1.17146790e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05242071, -0.06157507,  0.06198935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24408709e-07,-1.36038978e-05,-1.13032481e-05, 3.76838588e-05,
 -2.25024978e-03, 1.72391344e-02, 7.72195762e-03, 8.79540545e-04,
  3.54017082e-05, 1.27478627e-06,-4.54870927e-05, 2.75212381e-05,
  5.57519758e-02, 1.82872510e-02, 1.48215461e-02,-1.66632495e-04,
 -8.71925567e-06, 8.08216828e-06,-9.80999862e+00,-6.49391174e-02,
 -9.24370376e-03,-5.49005508e-03]


--- Step 1417 ---
qpos:
[ 0.00984242, 0.00806278,-0.00560649, 0.03350619, 0.00549735,-0.01212632,
 -0.0137052 , 0.03799091, 0.01307747, 0.00594067,-0.01173125, 0.03407685,
  0.82101075,-0.0140115 , 1.16699074, 0.04603863, 0.0941841 ,-0.06463879,
  0.14240694, 0.94498207,-0.03305482, 0.02996081, 0.32406577]

qacc:
[ 3.88733987e-03,-5.92183722e-01, 1.56448725e+00,-3.02672932e-01,
  3.27493057e+00,-5.64996072e-01,-6.81541198e-01,-1.29908826e+01,
  3.79491761e+00, 5.88770953e-01,-8.39040456e-01,-9.08136824e-01,
  5.66173218e+00, 2.81321332e+00, 1.69480768e+01,-4.33103090e+01,
 -2.44580634e-02,-7.39008683e-02, 8.30874692e-03, 2.24372284e+00,
 -6.11390531e-01, 5.22363123e+00]

qfrc_actuator:
[ 1.03744052e-05, 2.28557388e-04, 7.90316513e-05, 8.25534029e-05,
 -1.96639796e-03, 1.49861005e-02, 6.85062621e-03, 1.17812626e-03,
  2.79175724e-05, 8.55155252e-05,-1.40569669e-04, 5.29154588e-05,
  4.90953523e-02, 1.81758870e-02, 0.00000000e+00,-2.24716778e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2197896 , -0.21438203,  0.04845424, -0.21438203,  0.22890644,
        0.04033677,  0.04845424,  0.04033677,  0.3982565 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020854409708341237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80626772e-01, -1.95519671e-01,  1.19662757e-02, -1.95505116e-01,
        9.80699780e-01,  2.38568657e-03, -1.22017726e-02,  4.33680869e-19,
       -9.99925556e-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([ 0.12981666, -0.08234424,  0.13165418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28437993,   6.79395612,   2.62761322,   6.79395612,
        12.32604692, -13.035733  ,   2.62761322, -13.035733  ,
        40.98956809,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.1283469373496859e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9866745 ,  0.05310228, -0.15379717,  0.0524687 ,  0.99858908,
        0.00817852,  0.15401448,  0.        , -0.98806859])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132245 , -0.05433624,  0.29654352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004012553116333496
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05130053e-01, -8.44199652e-01, -1.79361580e-01, -9.20943990e-02,
       -1.53912956e-01,  9.83783220e-01, -8.58115523e-01,  5.13456667e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496386, -0.03689419,  0.30473181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047301463787323417
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.34712192e-13, -1.79701522e-13,  1.00000000e+00, -4.21781381e-26,
        1.00000000e+00,  1.79701522e-13, -1.00000000e+00,  0.00000000e+00,
       -2.34712192e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05242274, -0.06157328,  0.06198937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.19260851e-08,-2.84014646e-06, 1.31899045e-05, 5.00470851e-06,
 -2.29042594e-03, 1.75130886e-02, 7.86156864e-03, 9.49277378e-04,
  2.22825026e-05, 5.85851070e-05, 1.07080369e-05,-1.47485989e-06,
  5.49186933e-02, 1.77943734e-02, 1.46288747e-02,-1.83035512e-05,
 -1.60310352e-05, 1.26610159e-05,-9.80999725e+00,-6.49386090e-02,
 -9.24530069e-03,-5.48920545e-03]


--- Step 1418 ---
qpos:
[ 0.00984267, 0.00806224,-0.00560588, 0.03350632, 0.00550486,-0.01217291,
 -0.01372475, 0.03799334, 0.01307762, 0.0059413 ,-0.01173259, 0.03407704,
  0.82098243,-0.0139582 , 1.16690777, 0.04603416, 0.09418678,-0.06463469,
  0.14240769, 0.94495949,-0.0330379 , 0.02995787, 0.32413358]

qacc:
[ 3.02411763e+00,-8.19417462e-01, 5.77536453e+00,-1.65789400e+01,
  5.62224147e+00,-2.68769159e-01,-1.37979326e+00,-1.18483642e+01,
 -3.86461240e+00,-7.04255347e-01, 4.86463388e+00,-1.18026579e+01,
  4.80433591e+00, 2.66537604e+00, 1.55838899e+01,-1.93649732e+01,
 -1.97794133e-02,-4.53917532e-02, 3.45611716e-03, 1.81267288e+00,
 -6.05939216e-01, 4.68424526e+00]

qfrc_actuator:
[ 2.81516507e-05, 2.32149283e-04, 7.04904216e-05, 4.98358463e-05,
 -1.96268232e-03, 1.50218037e-02, 6.85100027e-03, 1.18393058e-03,
  4.68247919e-06, 1.07020943e-04,-1.30884141e-04, 3.46975995e-05,
  4.91027097e-02, 1.81689647e-02, 0.00000000e+00,-1.98896254e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21995337, -0.21544261,  0.04431666, -0.21544261,  0.22744424,
        0.03641638,  0.04431666,  0.03641638,  0.39698929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000210082764889124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98078788, -0.19471315,  0.01191318, -0.19469878,  0.98086023,
        0.00236492, -0.01214564,  0.        , -0.99992624])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12982021, -0.08233457,  0.13165347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28486282,   6.53983934,   3.20931887,   6.53983934,
        16.06108131, -17.88387544,   3.20931887, -17.88387544,
        43.72800755,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.367364728661897e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98668218,  0.05298456, -0.15378856,  0.05235246,  0.99859533,
        0.00815988,  0.15400489,  0.        , -0.98807009])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11322564, -0.05433452,  0.29654423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040065191313919357
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.05026140e-01, -8.44251113e-01, -1.79411972e-01, -9.21021829e-02,
       -1.53967021e-01,  9.83774031e-01, -8.58175848e-01,  5.13355835e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496347, -0.03689241,  0.30473475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047188700930689276
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17636532e-13, -6.24944076e-14,  1.00000000e+00, -7.35162537e-27,
        1.00000000e+00,  6.24944076e-14, -1.00000000e+00,  0.00000000e+00,
       -1.17636532e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05242407, -0.06157189,  0.06198939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77757284e-05, 4.95582981e-06,-7.33301162e-06,-3.22874089e-05,
 -2.30564402e-03, 1.77529953e-02, 7.99268279e-03, 1.01536081e-03,
 -2.25823911e-05, 5.64332217e-05, 2.30683811e-05,-1.53646648e-05,
  5.41734517e-02, 1.73761498e-02, 1.42506892e-02, 3.37428932e-04,
 -2.41833792e-05, 1.76808409e-05,-9.80999544e+00,-6.49375278e-02,
 -9.24718026e-03,-5.48811285e-03]


--- Step 1419 ---
qpos:
[ 0.00984347, 0.00806216,-0.00560581, 0.03350569, 0.00551338,-0.01222513,
 -0.01374696, 0.03799464, 0.01307749, 0.00594183,-0.01173299, 0.03407702,
  0.82096607,-0.01389841, 1.16683489, 0.0460298 , 0.09418938,-0.06463074,
  0.14240844, 0.94493455,-0.03301759, 0.02995506, 0.32420861]

qacc:
[ 4.85180526e+00, 5.89389453e-01, 1.96119822e+00,-1.44784480e+01,
  8.87436955e+00,-2.33631449e+00, 2.29087556e+00,-1.34599439e+01,
 -2.42361886e+00,-3.16373006e+00, 1.19314482e+01,-1.68652975e+01,
  4.43610852e+00, 2.30504061e+00, 1.44546568e+01,-2.91715086e+01,
 -1.81869118e-02,-3.75151303e-02,-1.48922402e-03, 1.47570304e+00,
 -5.74704379e-01, 3.85136598e+00]

qfrc_actuator:
[ 5.62637588e-05, 2.69965227e-04, 4.74414526e-05, 1.27795929e-05,
 -1.96384603e-03, 1.50463681e-02, 6.86056926e-03, 1.13387796e-03,
 -9.05602018e-06, 8.39148489e-05,-8.91426461e-05, 2.39107672e-05,
  4.91074314e-02, 1.81746870e-02, 0.00000000e+00,-2.06475813e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22425678, -0.21950577,  0.04591647, -0.21950577,  0.23264755,
        0.04011244,  0.04591647,  0.04011244,  0.41601613,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002464845868692143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98095653, -0.19386539,  0.01185283, -0.19385124,  0.98102814,
        0.00234229, -0.01208205,  0.        , -0.99992701])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12982414, -0.08232442,  0.13165281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28556258,   6.09757855,   3.98734974,   6.09757855,
        23.17843515, -24.30387231,   3.98734974, -24.30387231,
        44.45179583,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.6534752782141203e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86691417e-01,  5.28500879e-02, -1.53775536e-01,  5.22197074e-02,
        9.98602458e-01,  8.13842440e-03,  1.53990745e-01, -1.73472348e-18,
       -9.88072290e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11322687, -0.05433343,  0.29654499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000400006841187234
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50490789, -0.84431293, -0.1794539 , -0.09210285, -0.15401548,
        0.98376638, -0.85824535,  0.51323963,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496297, -0.03689178,  0.30473797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047055160257777895
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.68657437e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.68657437e-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([ 0.05242485, -0.06157081,  0.06198942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86229685e-05, 3.77064522e-05,-2.40477431e-05,-3.77272576e-05,
 -2.33927832e-03, 1.79676923e-02, 8.13014500e-03, 1.02346894e-03,
 -1.43602949e-05, 1.25428872e-05, 5.57168964e-05,-7.86726283e-06,
  5.35187211e-02, 1.70214412e-02, 1.34271647e-02, 1.18517762e-04,
 -3.28463274e-05, 2.30745686e-05,-9.80999340e+00,-6.49359848e-02,
 -9.24922675e-03,-5.48679848e-03]


--- Step 1420 ---
qpos:
[ 0.00984426, 0.00806244,-0.00560608, 0.03350532, 0.00552281,-0.01228304,
 -0.0137712 , 0.03799492, 0.01307686, 0.00594224,-0.01173283, 0.03407725,
  0.82096043,-0.01383285, 1.16677311, 0.04602642, 0.09419192,-0.06462689,
  0.14240916, 0.94490758,-0.03299447, 0.02995219, 0.32428982]

qacc:
[-1.39745158e-01, 1.92922695e+00,-7.25340701e+00, 1.18614853e+01,
  7.80174838e+00,-3.99380276e+00, 7.61439750e+00,-1.78915607e+01,
 -4.45473075e+00,-1.22773051e+00, 3.15042310e+00, 2.02818518e-01,
  3.96744314e+00, 2.03373232e+00, 1.33394907e+01,-2.30673097e+01,
 -1.69283053e-02,-2.66979250e-02,-5.20365625e-03, 1.19317275e+00,
 -5.51782201e-01, 3.28615325e+00]

qfrc_actuator:
[ 5.47228759e-05, 2.92407359e-04, 3.39158078e-05, 2.67541248e-05,
 -1.95081595e-03, 1.51031238e-02, 6.89454816e-03, 1.06850036e-03,
 -3.48336226e-05, 6.99091921e-05,-6.44943239e-05, 3.53193859e-05,
  4.91102071e-02, 1.80970452e-02, 0.00000000e+00,-2.00204303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22361718, -0.21823178,  0.04878042, -0.21823178,  0.23270249,
        0.0406455 ,  0.04878042,  0.0406455 ,  0.4054553 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002414977037825723
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98112933, -0.19299326,  0.01178328, -0.19297934,  0.98120008,
        0.00231767, -0.01200905,  0.        , -0.99992789])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12982861, -0.08231401,  0.13165224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28650348,   5.78190466,   4.4342656 ,   5.78190466,
        28.71538725, -27.94143929,   4.4342656 , -27.94143929,
        43.71976048,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.9737968497059607e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9867019 ,  0.05270185, -0.15375915,  0.05207338,  0.99861029,
        0.00811467,  0.15397313,  0.        , -0.98807503])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11322816, -0.05433289,  0.29654579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003993397982298809
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.04777803e-01, -8.44383299e-01, -1.79488758e-01, -9.20976036e-02,
       -1.54059227e-01,  9.83760025e-01, -8.58322434e-01,  5.13110708e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496229, -0.0368921 ,  0.30474138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004690739014653611
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.36684032e-13, -3.32836920e-14,  1.00000000e+00, -7.87771844e-27,
        1.00000000e+00,  3.32836920e-14, -1.00000000e+00,  0.00000000e+00,
       -2.36684032e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05242521, -0.06156998,  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:
[-7.09410857e-07, 3.69546156e-05,-1.00044948e-05, 1.40240718e-05,
 -2.37729251e-03, 1.83079986e-02, 8.29828462e-03, 1.01489448e-03,
 -2.61820840e-05, 4.16049562e-06, 3.38287180e-05, 1.37210837e-05,
  5.29233034e-02, 1.66175994e-02, 1.29241136e-02, 1.76031087e-04,
 -4.10030132e-05, 2.81550145e-05,-9.80999132e+00,-6.49340314e-02,
 -9.25133481e-03,-5.48528206e-03]


--- Step 1421 ---
qpos:
[ 0.00984503, 0.00806269,-0.00560636, 0.03350514, 0.00552688,-0.01233249,
 -0.01378829, 0.03799843, 0.01307626, 0.00594194,-0.01173204, 0.03407769,
  0.8208794 ,-0.01381494, 1.16667578, 0.04603591, 0.0941948 ,-0.06462059,
  0.14240944, 0.94490041,-0.03300515, 0.02994148, 0.32431063]

qacc:
[-2.10883733e-01, 3.91190778e-01,-2.28996433e+00, 5.74491573e+00,
 -4.63781318e+01,-2.02598431e+00, 9.93702162e+00, 2.83062631e+01,
  3.95861826e-01,-2.26554808e+00, 5.85316781e+00,-2.75443633e+00,
 -2.36749944e+01,-2.44027815e+01,-9.10570563e+01, 2.43150123e+02,
  8.56190572e-02, 6.13207527e-01,-1.12162890e-01,-1.60100446e+01,
  2.47136230e+00,-3.23836779e+01]

qfrc_actuator:
[ 5.34903702e-05, 2.70043175e-04, 2.61111598e-05, 3.51382839e-05,
 -1.94730468e-03, 1.51815155e-02, 6.90809386e-03, 1.02977838e-03,
 -3.19881301e-05,-9.59973260e-06,-5.01100226e-05, 4.19283989e-05,
  4.91008458e-02, 1.79852724e-02, 0.00000000e+00,-1.83938155e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22296822, -0.21181062,  0.06964974, -0.21181062,  0.25992699,
        0.11239468,  0.06964974,  0.11239468,  0.56476974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023630305100296662
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98130548, -0.19210036,  0.01170516, -0.1920867 ,  0.98137529,
        0.00229124, -0.0119273 ,  0.        , -0.99992887])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1298336 , -0.08230339,  0.13165178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2876973 , -7.27625   ,  0.40831099, -7.27625   ,  7.26517649,
       -0.40132895,  0.40831099, -0.40132895,  0.13586968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3172625100579976e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98671338,  0.05254182, -0.15374026,  0.05191542,  0.99861872,
        0.00808897,  0.15395292,  0.        , -0.98807819])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11322945, -0.05433284,  0.29654659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.20621884,  0.91114195, -0.79043295,  0.91114195,  6.34645642,
        5.92521618, -0.79043295,  5.92521618,  8.03628968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003986875083498732
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50463754, -0.84446122, -0.17951661, -0.09208677, -0.15409814,
        0.98375494, -0.85840607,  0.51297078,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496145, -0.03689324,  0.30474485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.74477195, -6.2548955 ,  8.73649853, -6.2548955 , 53.11515713,
       30.33507428,  8.73649853, 30.33507428, 32.46316624,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004689596041878158
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08575807, -0.10955869,  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:
[-1.24053437e-06,-3.17333128e-06,-9.18158911e-07, 9.89521033e-06,
 -2.41853031e-03, 1.86736824e-02, 8.41407336e-03, 1.02760643e-03,
  2.10230412e-06,-6.96350797e-05, 1.98783247e-05, 8.22396363e-06,
  5.23785560e-02, 1.62162430e-02, 1.23701519e-02, 2.90018879e-04,
 -4.86519246e-05, 3.29822966e-05,-9.80998928e+00,-6.49317462e-02,
 -9.25346747e-03,-5.48358112e-03]


--- Step 1422 ---
qpos:
[ 0.00984612, 0.0080626 ,-0.00560627, 0.03350474, 0.00553241,-0.01237937,
 -0.01380602, 0.03800125, 0.0130764 , 0.0059408 ,-0.01173089, 0.03407789,
  0.820813  ,-0.01378861, 1.16657595, 0.04603924, 0.0941975 ,-0.06461501,
  0.14240986, 0.94488919,-0.03300846, 0.02993322, 0.32434375]

qacc:
[ 2.86371282e+00,-1.94705176e+00, 7.27097955e+00,-1.15954742e+01,
  1.25901716e+01, 3.72252178e+00,-5.41421023e+00,-7.56392016e+00,
  6.43384739e+00,-2.60267784e+00, 8.60567945e+00,-1.25131450e+01,
  5.36230698e+00, 3.20986960e+00, 1.47889764e+01,-5.74377266e+01,
 -4.63782312e-02,-1.78530065e-01, 3.64587432e-02, 3.63350226e+00,
 -1.76326770e-01, 6.63029953e+00]

qfrc_actuator:
[ 7.02111738e-05, 2.38793549e-04, 3.92988892e-05, 2.23683454e-05,
 -1.96136763e-03, 1.52432516e-02, 6.90101769e-03, 1.02094812e-03,
  5.43724239e-06,-7.45184314e-05,-4.21747973e-05, 2.78430609e-05,
  4.91075427e-02, 1.79573917e-02, 0.00000000e+00,-1.84206982e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2225092 , -0.21325954,  0.0634879 , -0.21325954,  0.25591452,
        0.11221039,  0.0634879 ,  0.11221039,  0.59943046,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023254172907555135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81430905e-01, -1.91462201e-01,  1.16448908e-02, -1.91448725e-01,
        9.81499988e-01,  2.27158069e-03, -1.18643820e-02, -4.33680869e-19,
       -9.99929616e-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([ 0.1298378 , -0.08229582,  0.13165131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28690282, -0.10203309,  7.28618844, -0.10203309, 71.58730846,
        0.90043912,  7.28618844,  0.90043912,  7.29951224,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.094977758966088e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98671186,  0.05249519, -0.15376596,  0.05186914,  0.99862118,
        0.00808312,  0.15397827,  0.        , -0.98807423])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11322915, -0.05432908,  0.2965464 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.20809766, -1.02475529,  0.63982541, -1.02475529,  3.58921759,
        3.81364233,  0.63982541,  3.81364233,  7.31609233,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040018729182640493
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.04593307e-01, -8.44474636e-01, -1.79577792e-01, -9.21111312e-02,
       -1.54154867e-01,  9.83743776e-01, -8.58429458e-01,  5.12931639e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496062, -0.03688604,  0.3047417 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.73598638, -6.01713482,  8.89131554, -6.01713482, 19.56379075,
        5.97415408,  8.89131554,  5.97415408, 14.77895284,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004683317042237591
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.85811696e-09, -2.85839592e-09,  1.00000000e+00,  8.16962986e-18,
        1.00000000e+00,  2.85839592e-09, -1.00000000e+00,  0.00000000e+00,
        2.85811696e-09])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05284857, -0.06216795,  0.06198947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66835194e-05,-3.27978832e-05, 1.27615797e-05,-1.27447284e-05,
 -2.16495645e-03, 1.83141184e-02, 8.05044018e-03, 8.56952927e-04,
  3.74596438e-05,-9.94011548e-05,-3.72315265e-06,-1.62239033e-05,
  5.61549869e-02, 1.85709896e-02, 1.41491798e-02,-3.55997075e-04,
 -2.76626980e-06, 4.70357265e-06,-9.80999813e+00,-6.49307213e-02,
 -9.24786847e-03,-5.48300612e-03]


--- Step 1423 ---
qpos:
[ 0.00984706, 0.00806251,-0.00560616, 0.03350451, 0.00553891,-0.0124261 ,
 -0.01382461, 0.03800333, 0.01307663, 0.00593937,-0.01173041, 0.03407793,
  0.82076008,-0.01375467, 1.16647729, 0.04603812, 0.09420006,-0.06460999,
  0.14241039, 0.94487456,-0.03300565, 0.02992681, 0.32438723]

qacc:
[-1.34366695e+00, 2.84185072e-01,-1.77841429e+00, 4.81930127e+00,
  8.37253116e+00, 1.05785160e+00,-4.27502458e-01,-1.09645629e+01,
  8.82484477e-01, 1.14449449e+00,-3.93341697e+00, 2.30007038e+00,
  4.97404062e+00, 2.80859456e+00, 1.50846624e+01,-5.05241754e+01,
 -3.51195848e-02,-1.40469446e-01, 2.64522738e-02, 2.97333833e+00,
 -2.39894431e-01, 5.56000598e+00]

qfrc_actuator:
[ 6.18598622e-05, 2.55782017e-04, 4.69553830e-05, 3.27602976e-05,
 -1.95513954e-03, 1.52797470e-02, 6.92200223e-03, 1.05045122e-03,
  9.64888857e-06,-7.69996601e-05,-7.35925414e-05, 1.94484298e-05,
  4.91184871e-02, 1.79250728e-02, 0.00000000e+00,-2.01884218e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22211228, -0.21461212,  0.057232  , -0.21461212,  0.2434314 ,
        0.07994377,  0.057232  ,  0.07994377,  0.52189038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022922782804943298
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81564423e-01, -1.90780107e-01,  1.15859085e-02, -1.90766819e-01,
        9.81632798e-01,  2.25171863e-03, -1.18026909e-02,  4.33680869e-19,
       -9.99930346e-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([ 0.12984177, -0.08228771,  0.13165079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28661279,  7.13134927,  1.49618969,  7.13134927,  8.44072187,
       -5.50087666,  1.49618969, -5.50087666, 33.50566312,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0076956748178115e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98671327,  0.05242555, -0.15378063,  0.05180022,  0.99862484,
        0.00807314,  0.15399239,  0.        , -0.98807203])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11322925, -0.05432605,  0.29654646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004010232431507439
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.04529787e-01, -8.44500229e-01, -1.79635902e-01, -9.21303320e-02,
       -1.54211086e-01,  9.83733166e-01, -8.58464732e-01,  5.12872600e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495986, -0.03688064,  0.30474046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046852645706286236
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.43291521e-07,  5.43291410e-07,  1.00000000e+00,  2.95165617e-13,
        1.00000000e+00, -5.43291410e-07, -1.00000000e+00, -5.04870979e-29,
       -5.43291521e-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([ 0.05285233, -0.0621652 ,  0.06198947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.88716576e-06, 7.42960478e-07, 2.01153634e-06, 9.18000407e-06,
 -2.23163198e-03, 1.82238086e-02, 8.10420726e-03, 9.21701388e-04,
  5.24014753e-06,-5.94901102e-05,-5.29718942e-05,-1.31008888e-05,
  5.54344261e-02, 1.81165638e-02, 1.42768146e-02,-2.24053428e-04,
 -6.32577034e-06, 7.39902225e-06,-9.80999841e+00,-6.49316117e-02,
 -9.24885988e-03,-5.48240708e-03]


--- Step 1424 ---
qpos:
[ 0.00984789, 0.00806281,-0.00560614, 0.03350401, 0.00554609,-0.01247465,
 -0.01384383, 0.03800475, 0.01307657, 0.0059381 ,-0.01173085, 0.03407747,
  0.8207195 ,-0.01371391, 1.166383  , 0.04603414, 0.0942025 ,-0.06460541,
  0.14241099, 0.94485707,-0.03299779, 0.02992174, 0.32443944]

qacc:
[-9.53901575e-01, 2.51746659e-01, 9.93290154e-01,-5.72024719e+00,
  5.95370139e+00,-2.00027449e+00, 6.40390319e+00,-1.54124087e+01,
 -2.63920379e+00, 1.77663695e+00,-3.94287510e+00,-3.19054757e+00,
  4.57394195e+00, 2.45853914e+00, 1.49654770e+01,-4.32615368e+01,
 -2.73712704e-02,-1.09612225e-01, 1.81346838e-02, 2.42909152e+00,
 -2.87454030e-01, 4.69150261e+00]

qfrc_actuator:
[ 5.65657939e-05, 3.01524282e-04, 5.14881638e-05, 2.12277440e-05,
 -1.95458283e-03, 1.52847447e-02, 6.96029415e-03, 1.05000799e-03,
 -5.73274172e-06,-4.22323488e-05,-1.09981357e-04,-3.25335439e-06,
  4.91262309e-02, 1.78697943e-02, 0.00000000e+00,-2.12178317e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22175666, -0.21495762,  0.05449071, -0.21495762,  0.23858941,
        0.06640264,  0.05449071,  0.06640264,  0.48370507,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022620829823850996
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98170403, -0.19006409,  0.01152557, -0.19005099,  0.98177168,
        0.00223127, -0.01173956,  0.        , -0.99993109])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12984573, -0.08227919,  0.13165028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28667977,  7.03297255,  1.9060428 ,  7.03297255,  9.48765898,
       -8.12123756,  1.9060428 , -8.12123756, 37.25265992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.028185535148222e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98671708,  0.05233659, -0.15378651,  0.05171228,  0.9986295 ,
        0.00805971,  0.15399757,  0.        , -0.98807123])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11322967, -0.05432369,  0.29654672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040139339537555147
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50445002, -0.84453643, -0.17968971, -0.09214428, -0.15426543,
        0.98372334, -0.85851011,  0.51279664,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049591 , -0.03687676,  0.30474061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004682433231190244
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.85233281e-07,  1.85233247e-07,  1.00000000e+00,  3.43113620e-14,
        1.00000000e+00, -1.85233247e-07, -1.00000000e+00,  0.00000000e+00,
       -1.85233281e-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([ 0.05285504, -0.06216305,  0.06198947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.51875274e-06, 4.69635327e-05, 5.25127646e-06,-1.12518368e-05,
 -2.27948574e-03, 1.82234569e-02, 8.18602706e-03, 9.58041320e-04,
 -1.52548160e-05,-9.95415985e-06,-5.56437382e-05,-2.73369796e-05,
  5.47681452e-02, 1.76803833e-02, 1.42196772e-02,-1.03796364e-04,
 -1.17225123e-05, 1.07972865e-05,-9.80999781e+00,-6.49316977e-02,
 -9.25029479e-03,-5.48161485e-03]


--- Step 1425 ---
qpos:
[ 0.00984865, 0.00806332,-0.00560573, 0.03350338, 0.00554801,-0.01251393,
 -0.01385546, 0.0380096 , 0.01307668, 0.00593741,-0.01173173, 0.03407632,
  0.82060636,-0.01371842, 1.16625747, 0.04604007, 0.09420569,-0.06459871,
  0.14241124, 0.94485831,-0.03301948, 0.02991017, 0.32443471]

qacc:
[-6.04646099e-01,-1.11589665e+00, 4.95797946e+00,-8.18321908e+00,
 -4.56274534e+01,-1.83169805e+00, 9.99722726e+00, 3.01748979e+01,
  1.38826633e+00, 5.51745353e-01, 2.10242097e+00,-1.39610482e+01,
 -2.34720380e+01,-2.22141933e+01,-7.57091503e+01, 1.98786962e+02,
  1.84741578e-01, 5.29286775e-01,-8.85571133e-02,-1.38572539e+01,
  2.38858465e+00,-3.04875978e+01]

qfrc_actuator:
[ 5.31216879e-05, 3.10853174e-04, 7.20090052e-05, 1.46644581e-05,
 -1.97528555e-03, 1.53082527e-02, 6.99133615e-03, 1.04956741e-03,
  2.99265946e-06, 3.22944032e-05,-1.13336243e-04,-3.41519174e-05,
  4.91316717e-02, 1.78339810e-02, 0.00000000e+00,-1.98496107e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22142883, -0.20922835,  0.07248604, -0.20922835,  0.29645525,
        0.21656107,  0.07248604,  0.21656107,  0.84652458,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022338057623172344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81848190e-01, -1.89321817e-01,  1.14622123e-02, -1.89308917e-01,
        9.81915093e-01,  2.21001477e-03, -1.16733233e-02,  4.33680869e-19,
       -9.99931864e-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([ 0.12984985, -0.08227037,  0.13164981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28703487, -7.28030142,  0.31319077, -7.28030142,  7.27380508,
       -0.30753415,  0.31319077, -0.30753415,  0.13822489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.133531556774984e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98672282,  0.05223126, -0.15378545,  0.05160823,  0.99863502,
        0.00804339,  0.15399565,  0.        , -0.98807153])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323031, -0.05432194,  0.29654712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.20968474,  0.87674874, -0.83345594,  0.87674874,  6.22005312,
        5.27062553, -0.83345594,  5.27062553,  6.75408614,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004014465103645821
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50435647, -0.84458195, -0.17973836, -0.09215297, -0.15431692,
        0.98371445, -0.85856414,  0.51270617,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049583 , -0.03687415,  0.30474174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.73668095, -6.29098418,  8.70056527, -6.29098418, 27.89985738,
       12.40991453,  8.70056527, 12.40991453, 19.70972737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046838141022463093
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91214688e-07, -9.91214765e-07,  1.00000000e+00, -9.82506634e-13,
        1.00000000e+00,  9.91214765e-07, -1.00000000e+00,  0.00000000e+00,
       -9.91214688e-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([ 0.08542654, -0.10902053,  0.06198947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58558813e-06, 3.61790264e-05, 3.04759675e-05,-4.58768344e-06,
 -2.33443342e-03, 1.83397869e-02, 8.24943500e-03, 9.90624568e-04,
  8.28714051e-06, 5.63417173e-05,-1.31889103e-05,-3.37769219e-05,
  5.41565653e-02, 1.73023566e-02, 1.40034473e-02, 1.76385589e-04,
 -1.79543817e-05, 1.45132248e-05,-9.80999671e+00,-6.49311333e-02,
 -9.25196716e-03,-5.48064328e-03]


--- Step 1426 ---
qpos:
[ 0.00984902, 0.00806406,-0.00560537, 0.03350304, 0.00555163,-0.01255033,
 -0.01386729, 0.03801389, 0.01307688, 0.00593693,-0.01173232, 0.03407514,
  0.82051353,-0.0137115 , 1.1661337 , 0.046041  , 0.09420864,-0.06459288,
  0.14241163, 0.94485407,-0.03303148, 0.02990129, 0.32444663]

qacc:
[-3.44705046e+00, 1.07840526e+00,-4.61819594e+00, 9.63287001e+00,
  1.47985381e+01, 3.21159902e+00,-3.64342641e+00,-7.70140363e+00,
  9.18149007e-01,-5.71099039e-01, 2.53776924e+00,-3.52467314e+00,
  7.60749552e+00, 4.07184130e+00, 1.75363413e+01,-5.80294069e+01,
 -5.90925755e-02,-2.17505661e-01, 3.76230412e-02, 4.67846593e+00,
 -5.01278146e-01, 8.94356598e+00]

qfrc_actuator:
[ 3.30402900e-05, 3.16130880e-04, 6.61727773e-05, 2.88187045e-05,
 -1.98531217e-03, 1.53680108e-02, 7.01005405e-03, 1.06306026e-03,
  8.09119468e-06, 4.14329726e-05,-9.69795687e-05,-3.40551833e-05,
  4.91429272e-02, 1.78237064e-02, 0.00000000e+00,-1.91119187e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22125106, -0.21161013,  0.06460019, -0.21161013,  0.26927641,
        0.15731614,  0.06460019,  0.15731614,  0.73656983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002218289252685758
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81946012e-01, -1.88816457e-01,  1.14182055e-02, -1.88803693e-01,
        9.82012396e-01,  2.19543574e-03, -1.16273537e-02,  4.33680869e-19,
       -9.99932400e-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([ 0.12985316, -0.08226436,  0.13164924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28597117,  1.23347112,  7.18080253,  1.23347112, 61.32435225,
       -9.28235838,  7.18080253, -9.28235838,  8.88043376,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.799603586116211e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98671684,  0.05223366, -0.15382304,  0.05161028,  0.99863489,
        0.00804572,  0.15403331,  0.        , -0.98806566])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11322981, -0.05431667,  0.2965468 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.21198803, -0.97722511,  0.71690033, -0.97722511,  3.66740623,
        3.34704311,  0.71690033,  3.34704311,  5.77442779,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004032616577307671
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50435426, -0.84456623, -0.1798184 , -0.09219497, -0.15438505,
        0.98369982, -0.85856093,  0.51271155,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495783, -0.03686402,  0.30473741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.74480529, -6.03716951,  8.88838708, -6.03716951, 18.89675948,
        5.53696963,  8.88838708,  5.53696963, 14.50562532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046896198332865846
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18370259e-13, -2.10847023e-13,  1.00000000e+00,  2.49580166e-26,
        1.00000000e+00,  2.10847023e-13, -1.00000000e+00,  0.00000000e+00,
        1.18370259e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05244535, -0.06155525,  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:
[-2.01738559e-05, 3.15826999e-05, 5.22205760e-06, 1.66691188e-05,
 -2.08105034e-03, 1.79375239e-02, 7.88897609e-03, 8.32907081e-04,
  5.35238411e-06, 3.65143782e-05, 2.52222316e-05, 1.40323275e-06,
  5.77962148e-02, 1.95559947e-02, 1.55673436e-02,-2.45299281e-04,
 -3.48227420e-06, 2.44393389e-06,-9.80999627e+00,-6.49326157e-02,
 -9.25204212e-03,-5.48076178e-03]


--- Step 1427 ---
qpos:
[ 0.00984949, 0.00806516,-0.00560509, 0.03350217, 0.00555592,-0.01258747,
 -0.01388068, 0.03801722, 0.0130768 , 0.00593641,-0.01173285, 0.03407402,
  0.82043913,-0.01369435, 1.16601682, 0.04603944, 0.09421141,-0.06458771,
  0.14241214, 0.9448452 ,-0.03303545, 0.0298944 , 0.3244727 ]

qacc:
[ 8.79388638e-01,-4.14405646e-01, 4.39986125e+00,-1.37303952e+01,
  5.66228901e+00, 1.37939605e+00,-2.24554440e+00,-1.14926930e+01,
 -2.50502934e+00,-1.20509340e-01, 8.28196911e-02, 8.92640962e-01,
  6.89612050e+00, 3.60733972e+00, 1.74910560e+01,-4.68150145e+01,
 -4.35871257e-02,-1.66585036e-01, 2.73840077e-02, 3.82685854e+00,
 -5.26939312e-01, 7.59149416e+00]

qfrc_actuator:
[ 3.88320245e-05, 3.36605998e-04, 6.25582822e-05, 1.76413867e-06,
 -2.01155883e-03, 1.54344552e-02, 7.00839172e-03, 1.03426678e-03,
 -6.74643329e-06, 1.14702117e-05,-1.04856120e-04,-3.35136051e-05,
  4.91519258e-02, 1.78079111e-02, 0.00000000e+00,-1.97081113e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22113626, -0.21222932,  0.06212861, -0.21222932,  0.24537078,
        0.08278433,  0.06212861,  0.08278433,  0.50392485,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002208199733803727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82056583e-01, -1.88243047e-01,  1.13764066e-02, -1.88230417e-01,
        9.82122475e-01,  2.18051159e-03, -1.15834907e-02,  4.33680869e-19,
       -9.99932909e-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([ 0.12985618, -0.08225751,  0.1316486 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28549368,  7.20896422,  1.05321082,  7.20896422,  7.93117083,
       -4.41949839,  1.05321082, -4.41949839, 37.53585307,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6275391002492112e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86714606e-01,  5.22048966e-02, -1.53847114e-01,  5.15816711e-02,
        9.98636395e-01,  8.04253954e-03,  1.54057187e-01, -1.73472348e-18,
       -9.88061933e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11322976, -0.05431241,  0.29654677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.21319858, -0.78147018,  0.92798446, -0.78147018,  8.19979472,
        5.88352155,  0.92798446,  5.88352155,  6.16780382,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004042098654778504
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50432574, -0.8445674 , -0.17989291, -0.09222923, -0.15445137,
        0.9836862 , -0.858574  ,  0.51268966,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495748, -0.03685635,  0.30473554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046960186110985014
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18208968e-13, -6.27985141e-14,  1.00000000e+00, -7.42334752e-27,
        1.00000000e+00,  6.27985141e-14, -1.00000000e+00,  0.00000000e+00,
       -1.18208968e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05245038, -0.06155184,  0.06198944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.22442781e-06, 3.98907308e-05, 4.11757266e-06,-2.51970312e-05,
 -2.19290432e-03, 1.78617224e-02, 7.89835556e-03, 8.31998558e-04,
 -1.46761541e-05,-4.24455727e-06, 2.83609898e-06, 3.01113015e-06,
  5.67896636e-02, 1.89680175e-02, 1.54820309e-02,-5.38409382e-05,
 -1.30668284e-06, 2.55830020e-06,-9.80999855e+00,-6.49345044e-02,
 -9.25154099e-03,-5.48063088e-03]


--- Step 1428 ---
qpos:
[ 0.00985002, 0.00806638,-0.00560478, 0.03350135, 0.0055607 ,-0.01262707,
 -0.01389566, 0.03801956, 0.01307689, 0.00593589,-0.01173346, 0.03407292,
  0.82038139,-0.01366803, 1.16590951, 0.0460369 , 0.09421406,-0.06458305,
  0.14241272, 0.94483233,-0.03303275, 0.02988893, 0.32451095]

qacc:
[ 5.75533294e-01, 1.71652185e-01,-6.14985155e-01, 1.38490515e+00,
  4.28152892e+00,-8.52549957e-01, 2.42414185e+00,-1.49866822e+01,
  1.47274825e+00, 2.69077538e-01,-1.03333216e+00, 1.48990245e+00,
  6.21297608e+00, 3.24076604e+00, 1.69689967e+01,-3.92012393e+01,
 -3.23683212e-02,-1.25111214e-01, 1.88346052e-02, 3.13494020e+00,
 -5.49123166e-01, 6.52383335e+00]

qfrc_actuator:
[ 4.20584805e-05, 3.30483706e-04, 6.03217078e-05, 3.95106392e-06,
 -2.02941451e-03, 1.54896151e-02, 7.03143870e-03, 1.01624330e-03,
  2.30691287e-06, 1.14860445e-05,-1.09410851e-04,-3.27785694e-05,
  4.91590083e-02, 1.77854381e-02, 0.00000000e+00,-1.98672034e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22104635, -0.21278871,  0.0598536 , -0.21278871,  0.24031164,
        0.06849107,  0.0598536 ,  0.06849107,  0.46454258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022002575452971157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82176916e-01, -1.87616905e-01,  1.13315137e-02, -1.87604420e-01,
        9.82242280e-01,  2.16441866e-03, -1.15363734e-02, -4.33680869e-19,
       -9.99933454e-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([ 0.12985928, -0.08225003,  0.13164796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28538328,  7.11848473,  1.55047888,  7.11848473,  8.54959522,
       -5.8041896 ,  1.55047888, -5.8041896 , 33.93330199,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.585097876788612e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86715460e-01,  5.21495972e-02, -1.53860392e-01,  5.15269273e-02,
        9.98639284e-01,  8.03469038e-03,  1.54070037e-01, -1.73472348e-18,
       -9.88059929e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323008, -0.05430905,  0.29654696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004045653699880375
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.04274766e-01, -8.44583429e-01, -1.79960529e-01, -9.22557361e-02,
       -1.54514307e-01,  9.83673832e-01, -8.58601095e-01,  5.12644282e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495716, -0.03685075,  0.30473542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046966132984269104
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.51436063e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.51436063e-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([ 0.05245408, -0.06154917,  0.06198944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.38649329e-06, 1.59147652e-05, 5.62383326e-06, 3.54691457e-06,
 -2.24360626e-03, 1.79549801e-02, 7.99988872e-03, 8.62579498e-04,
  8.63204660e-06,-1.62061393e-06,-4.96269846e-06, 7.15302286e-07,
  5.58752262e-02, 1.84336064e-02, 1.51399838e-02, 5.48417956e-05,
 -3.82530336e-06, 4.78282407e-06,-9.80999900e+00,-6.49354224e-02,
 -9.25210874e-03,-5.48020642e-03]


--- Step 1429 ---
qpos:
[ 0.00985025, 0.00806766,-0.00560479, 0.03350163, 0.0055662 ,-0.01266912,
 -0.01391214, 0.03802099, 0.01307708, 0.00593535,-0.01173413, 0.03407219,
  0.82033847,-0.01363356, 1.1658153 , 0.04603541, 0.0942166 ,-0.06457874,
  0.14241335, 0.94481596,-0.03302451, 0.02988445, 0.32455986]

qacc:
[-2.73426903e+00, 3.27799077e+00,-1.61919022e+01, 3.56896578e+01,
  6.30228231e+00,-9.32181249e-01, 2.46995104e+00,-1.40665515e+01,
  9.45358182e-01, 9.06813915e-01,-4.80725959e+00, 1.12341581e+01,
  5.45644887e+00, 2.97183501e+00, 1.59900312e+01,-2.81445613e+01,
 -2.42682106e-02,-8.91965650e-02, 1.21976611e-02, 2.55844305e+00,
 -5.59266174e-01, 5.70066130e+00]

qfrc_actuator:
[ 2.59881703e-05, 3.26255326e-04, 4.10837399e-05, 5.88174189e-05,
 -2.02458332e-03, 1.55222795e-02, 7.06996123e-03, 1.05833583e-03,
  7.60338277e-06, 1.16998916e-05,-1.11852564e-04,-1.41572570e-05,
  4.91591113e-02, 1.77204192e-02, 0.00000000e+00,-1.88813541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22097171, -0.21448586,  0.05314429, -0.21448586,  0.23597817,
        0.06056481,  0.05314429,  0.06056481,  0.46540617,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002193639279746496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98230571, -0.18694444,  0.01128177, -0.18693211,  0.98237049,
        0.00214691, -0.01148423,  0.        , -0.99993405])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1298626 , -0.08224201,  0.13164735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28554091,  7.00456938,  2.00377497,  7.00456938,  9.79585355,
       -8.77526636,  2.00377497, -8.77526636, 37.96112229,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.645362088101123e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98671886,  0.05207139, -0.15386507,  0.05144962,  0.99864336,
        0.00802285,  0.1540741 ,  0.        , -0.9880593 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323067, -0.0543065 ,  0.29654733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040452610512037865
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.04204362e-01, -8.44612628e-01, -1.80020747e-01, -9.22747560e-02,
       -1.54573086e-01,  9.83662813e-01, -8.58640397e-01,  5.12578452e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495681, -0.03684688,  0.30473653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004692701037492253
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18292537e-13,  5.54496268e-14,  1.00000000e+00, -6.55927705e-27,
        1.00000000e+00, -5.54496268e-14, -1.00000000e+00,  0.00000000e+00,
        1.18292537e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05245674, -0.06154708,  0.06198945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59726643e-05, 5.93855318e-06,-1.51519015e-05, 5.58101092e-05,
 -2.26350038e-03, 1.81126050e-02, 8.11828424e-03, 9.53694213e-04,
  5.53895564e-06,-1.65521669e-06,-3.34761845e-06, 1.83987009e-05,
  5.50422489e-02, 1.79093208e-02, 1.46638847e-02, 2.03609479e-04,
 -9.11032124e-06, 8.30365394e-06,-9.80999832e+00,-6.49355460e-02,
 -9.25333634e-03,-5.47951391e-03]


--- Step 1430 ---
qpos:
[ 0.00985028, 0.00806897,-0.00560499, 0.03350222, 0.00557232,-0.01271396,
 -0.01393041, 0.03802145, 0.01307699, 0.00593478,-0.01173539, 0.03407207,
  0.82030886,-0.01359176, 1.16573334, 0.04603496, 0.09421908,-0.06457469,
  0.14241401, 0.94479653,-0.03301164, 0.02988058, 0.32461808]

qacc:
[-1.71179311e+00, 1.18019890e+00,-5.44704859e+00, 1.10078288e+01,
  5.32189131e+00,-6.78301100e-01, 1.14757062e+00,-1.30179751e+01,
 -2.50562886e+00, 2.87019173e+00,-1.28778146e+01, 2.44445964e+01,
  4.85021797e+00, 2.74140948e+00, 1.48774341e+01,-2.60066934e+01,
 -1.87951889e-02,-6.31670054e-02, 6.44506529e-03, 2.09675900e+00,
 -5.65706959e-01, 4.97615771e+00]

qfrc_actuator:
[ 1.64422094e-05, 3.23164465e-04, 2.97447024e-05, 7.32122621e-05,
 -2.02432318e-03, 1.55246605e-02, 7.08281392e-03, 1.08356733e-03,
 -7.11391441e-06,-5.70018959e-06,-1.48515627e-04, 1.48425840e-05,
  4.91599170e-02, 1.77159909e-02, 0.00000000e+00,-1.84678248e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22092361, -0.2157529 ,  0.04751764, -0.2157529 ,  0.23139789,
        0.04755826,  0.04751764,  0.04755826,  0.43686093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021893608243211388
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98244304, -0.18622467,  0.01122734, -0.18621251,  0.98250719,
        0.00212803, -0.01142724,  0.        , -0.99993471])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12986613, -0.08223342,  0.13164676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28593068,   6.81920327,   2.565785  ,   6.81920327,
        12.17955753, -13.00601423,   2.565785  , -13.00601423,
        41.85260515,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.7856577512431157e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98672438,  0.05197304, -0.15386295,  0.05135247,  0.99864849,
        0.00800755,  0.15407118,  0.        , -0.98805975])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323146, -0.05430466,  0.29654782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040424570829853654
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.04116827e-01, -8.44653698e-01, -1.80073195e-01, -9.22865156e-02,
       -1.54627147e-01,  9.83653214e-01, -8.58690528e-01,  5.12494465e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495642, -0.03684447,  0.30473844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046853231876460566
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.36957619e-13, -1.51800974e-13,  1.00000000e+00, -3.59703974e-26,
        1.00000000e+00,  1.51800974e-13, -1.00000000e+00,  0.00000000e+00,
       -2.36957619e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05245858, -0.06154545,  0.06198947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00047745e-05,-5.61484286e-07,-1.00625823e-05, 1.52084482e-05,
 -2.29960274e-03, 1.82390416e-02, 8.20686904e-03, 1.02475947e-03,
 -1.45635914e-05,-1.81972865e-05,-3.67649935e-05, 2.91753033e-05,
  5.43013828e-02, 1.74966440e-02, 1.40109569e-02, 1.92204759e-04,
 -1.59942441e-05, 1.26382455e-05,-9.80999697e+00,-6.49350191e-02,
 -9.25496662e-03,-5.47857697e-03]


--- Step 1431 ---
qpos:
[ 0.00985054, 0.00807016,-0.0056052 , 0.03350194, 0.00557896,-0.01276208,
 -0.01395044, 0.03802094, 0.01307708, 0.00593393,-0.01173697, 0.03407232,
  0.82029137,-0.01354324, 1.16566011, 0.04603411, 0.09422149,-0.06457082,
  0.14241467, 0.94477446,-0.03299488, 0.02987705, 0.32468435]

qacc:
[ 2.02101835e+00,-1.91536472e+00, 1.02183343e+01,-2.50017028e+01,
  4.53967992e+00,-1.44596735e+00, 2.94515849e+00,-1.44738262e+01,
  1.48517704e+00, 1.27357040e+00,-6.63322881e+00, 1.36626845e+01,
  4.43399151e+00, 2.49358638e+00, 1.39538165e+01,-3.03525367e+01,
 -1.54261934e-02,-4.65153811e-02, 1.25111042e-03, 1.73079347e+00,
 -5.68338118e-01, 4.29670588e+00]

qfrc_actuator:
[ 2.85716605e-05, 3.03020166e-04, 2.31323716e-05, 2.81731654e-05,
 -2.02698399e-03, 1.55634544e-02, 7.09891422e-03, 1.06360029e-03,
  2.01325547e-06,-3.36451239e-05,-1.69655238e-04, 3.19224673e-05,
  4.91660741e-02, 1.77277142e-02, 0.00000000e+00,-1.91117053e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22090643, -0.21603991,  0.04611301, -0.21603991,  0.22996756,
        0.04245148,  0.04611301,  0.04245148,  0.41979202,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021878305957995366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98258822, -0.18546073,  0.01116753, -0.18544876,  0.98265168,
        0.0021077 , -0.01136469,  0.        , -0.99993542])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12986992, -0.08222431,  0.1316462 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28654732,   6.56549083,   3.16039585,   6.56549083,
        15.93221438, -17.96073992,   3.16039585, -17.96073992,
        44.59866867,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.987460636743031e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98673165,  0.05185701, -0.15385546,  0.05123789,  0.99865452,
        0.00798923,  0.15406275,  0.        , -0.98806106])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323239, -0.05430345,  0.29654839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004038189531910002
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5040142 , -0.84470531, -0.18011838, -0.09229166, -0.1546767 ,
        0.98364494, -0.85875022,  0.51239444,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495594, -0.03684329,  0.30474089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004675338301852183
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18731839e-13, -1.22442208e-13,  1.00000000e+00, -1.45377885e-26,
        1.00000000e+00,  1.22442208e-13, -1.00000000e+00,  0.00000000e+00,
       -1.18731839e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05245978, -0.06154418,  0.06198949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18399371e-05,-2.19350444e-05,-7.45535432e-06,-4.51186879e-05,
 -2.33299676e-03, 1.84193325e-02, 8.31358143e-03, 1.05352335e-03,
  8.70400970e-06,-4.44345837e-05,-2.83951914e-05, 1.56008040e-05,
  5.36425358e-02, 1.71404623e-02, 1.33995463e-02, 7.67114827e-05,
 -2.36708813e-05, 1.74045386e-05,-9.80999524e+00,-6.49339541e-02,
 -9.25684439e-03,-5.47741450e-03]


--- Step 1432 ---
qpos:
[ 0.00985129, 0.00807096,-0.00560506, 0.03350045, 0.00558079,-0.01280107,
 -0.01396384, 0.03802365, 0.01307761, 0.00593295,-0.01173829, 0.03407201,
  0.82019994,-0.01354092, 1.16555314, 0.04604414, 0.09422445,-0.06456465,
  0.14241495, 0.9447715 ,-0.0330097 , 0.02986645, 0.32469243]

qacc:
[ 4.30168876e+00,-4.01269343e+00, 1.87147994e+01,-4.00968707e+01,
 -4.17293574e+01, 2.55362606e-01, 3.17066186e+00, 3.49907254e+01,
  3.99673351e+00,-2.04165322e+00, 9.36439356e+00,-1.92190763e+01,
 -2.37132884e+01,-2.29500641e+01,-8.22649484e+01, 2.16361658e+02,
  1.37498030e-01, 5.76266440e-01,-9.62479943e-02,-1.48851785e+01,
  2.46133231e+00,-3.11808006e+01]

qfrc_actuator:
[ 5.33595654e-05, 2.72781988e-04, 3.70067816e-05,-3.37294090e-05,
 -2.03155197e-03, 1.56434485e-02, 7.09987941e-03, 1.05240413e-03,
  2.51079507e-05,-1.43912848e-05,-1.46004191e-04, 6.34933389e-06,
  4.91803952e-02, 1.76935657e-02, 0.00000000e+00,-1.80720969e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22491921, -0.21537978,  0.06480896, -0.21537978,  0.27884011,
        0.17919549,  0.06480896,  0.17919549,  0.82044007,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002515189484419378
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82618571e-01, -1.85303868e-01,  1.11004794e-02, -1.85292045e-01,
        9.82681269e-01,  2.09321357e-03, -1.12961137e-02,  4.33680869e-19,
       -9.99936197e-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([ 0.12987554, -0.08222245,  0.13164604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28739688, -7.2777542 ,  0.37476282, -7.2777542 ,  7.26842994,
       -0.3683309 ,  0.37476282, -0.3683309 ,  0.13454822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2358144810504132e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98674036,  0.05172567, -0.1538438 ,  0.05110823,  0.99866133,
        0.00796834,  0.15405002,  0.        , -0.98806305])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323342, -0.05430282,  0.29654903])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.21203487,  0.9143274 , -0.79563429,  0.9143274 ,  6.28865977,
        5.8339583 , -0.79563429,  5.8339583 ,  7.91630594,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040329841672564354
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50389843, -0.84476609, -0.18015721, -0.09229101, -0.15472229,
        0.98363783, -0.85881822,  0.51228045,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495531, -0.03684315,  0.30474372])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.72009615, -6.25938318,  8.70290663, -6.25938318, 25.71548631,
       10.78512006,  8.70290663, 10.78512006, 18.4770677 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046719147770629243
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04884539e-06, -1.04884566e-06,  1.00000000e+00, -1.10007694e-12,
        1.00000000e+00,  1.04884566e-06, -1.00000000e+00, -2.01948392e-28,
       -1.04884539e-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([ 0.08547676, -0.10899237,  0.0619895 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51162726e-05,-4.60143178e-05, 6.85256922e-06,-6.39807067e-05,
 -2.36373465e-03, 1.86650927e-02, 8.40271869e-03, 1.09087277e-03,
  2.33227980e-05,-1.07385784e-05, 1.15427248e-05,-2.81515565e-05,
  5.30508532e-02, 1.67698506e-02, 1.29649350e-02, 2.00580127e-04,
 -3.15359477e-05, 2.22837444e-05,-9.80999330e+00,-6.49324381e-02,
 -9.25887110e-03,-5.47604130e-03]


--- Step 1433 ---
qpos:
[ 0.00985199, 0.00807144,-0.0056051 , 0.03349929, 0.0055846 ,-0.01283771,
 -0.01397845, 0.03802559, 0.01307842, 0.0059322 ,-0.01173982, 0.03407208,
  0.82012659,-0.01352826, 1.16544412, 0.04604778, 0.09422722,-0.06455922,
  0.14241535, 0.94476371,-0.03301604, 0.02985815, 0.32471519]

qacc:
[-4.70034098e-01, 7.75899828e-01,-4.81307829e+00, 1.11728902e+01,
  1.71370708e+01, 4.87185499e+00,-9.72786955e+00,-3.16676587e+00,
  2.38581440e+00, 1.63032086e+00,-6.97297149e+00, 1.36211039e+01,
  6.70720703e+00, 3.81716050e+00, 1.60565181e+01,-6.10033496e+01,
 -4.87549026e-02,-1.85457527e-01, 3.16758037e-02, 4.08128667e+00,
 -4.58392874e-01, 7.88248095e+00]

qfrc_actuator:
[ 4.98870886e-05, 2.54545027e-04, 2.73080739e-05,-1.62834220e-05,
 -2.03213189e-03, 1.57015615e-02, 7.08409290e-03, 1.06042887e-03,
  3.84789305e-05, 1.53748629e-05,-1.49198034e-04, 2.69639650e-05,
  4.91909463e-02, 1.77176177e-02, 0.00000000e+00,-1.82637087e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22452873, -0.21722719,  0.05679347, -0.21722719,  0.25985225,
        0.1351076 ,  0.05679347,  0.1351076 ,  0.74129667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024856692798291635
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98262633, -0.18526564,  0.01105179, -0.18525393,  0.98268848,
        0.00208359, -0.01124649,  0.        , -0.99993676])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12988007, -0.08222201,  0.13164575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28654165,  0.63195593,  7.25908541,  0.63195593, 76.46457098,
       -6.02244816,  7.25908541, -6.02244816,  7.81083936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.98570116919459e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86736877e-01,  5.17039413e-02, -1.53873448e-01,  5.10865160e-02,
        9.98662457e-01,  7.96651929e-03,  1.54079536e-01, -1.73472348e-18,
       -9.88058448e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323308, -0.05429857,  0.29654882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.21391083, -0.9219113 ,  0.78972087, -0.9219113 ,  4.00675446,
        3.26033439,  0.78972087,  3.26033439,  5.01998871,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004047659119480815
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50387556, -0.8447645 , -0.18022863, -0.09232464, -0.1547854 ,
        0.98362475, -0.85882803,  0.51226401,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495482, -0.03683504,  0.30474047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.7222633 , -6.02242938,  8.87114844, -6.02242938, 19.18596645,
        5.74582365,  8.87114844,  5.74582365, 14.62297778,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046734733200444467
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18779219e-13, -3.34066554e-14,  1.00000000e+00, -3.96801645e-27,
        1.00000000e+00,  3.34066554e-14, -1.00000000e+00,  0.00000000e+00,
       -1.18779219e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05246613, -0.06153946,  0.06198949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77297992e-06,-4.53157680e-05,-2.05828643e-05, 1.44660903e-05,
 -2.12339767e-03, 1.82682503e-02, 8.05643236e-03, 9.38330626e-04,
  1.40263747e-05, 2.50002473e-05,-4.93716379e-06, 2.00108564e-05,
  5.67588646e-02, 1.91038086e-02, 1.46532285e-02,-3.61477049e-04,
 -1.54522689e-06, 2.47192215e-06,-9.80999790e+00,-6.49325194e-02,
 -9.25598323e-03,-5.47578112e-03]


--- Step 1434 ---
qpos:
[ 0.00985229, 0.00807184,-0.00560567, 0.03349869, 0.00558934,-0.01287588,
 -0.01399487, 0.03802664, 0.01307903, 0.00593136,-0.01174129, 0.0340731 ,
  0.82006962,-0.01350643, 1.16533906, 0.04604794, 0.09422983,-0.06455436,
  0.14241585, 0.94475191,-0.03301542, 0.02985157, 0.3247502 ]

qacc:
[-3.45439422e+00, 2.55472982e+00,-1.15816252e+01, 2.20876836e+01,
  7.99384906e+00, 1.17800853e+00,-3.35364146e+00,-8.15926333e+00,
 -1.67279677e+00, 1.71037888e+00,-1.03174329e+01, 2.68977847e+01,
  6.07358624e+00, 3.33416711e+00, 1.62165575e+01,-4.85626281e+01,
 -3.67907561e-02,-1.44379672e-01, 2.29632239e-02, 3.32017477e+00,
 -4.60394190e-01, 6.57197836e+00]

qfrc_actuator:
[ 2.98049230e-05, 2.61360687e-04, 3.86198918e-06, 1.21976726e-05,
 -2.05294793e-03, 1.57319305e-02, 7.09894243e-03, 1.08267481e-03,
  2.82626123e-05,-2.10408234e-06,-1.50382711e-04, 7.45863231e-05,
  4.91936148e-02, 1.77207807e-02, 0.00000000e+00,-1.92425937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2241763 , -0.21842509,  0.05045289, -0.21842509,  0.24075635,
        0.07177983,  0.05045289,  0.07177983,  0.53493187,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024586404656189316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98263036, -0.18524715,  0.01100342, -0.18523554,  0.98269196,
        0.00207425, -0.01119722,  0.        , -0.99993731])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1298846 , -0.08222179,  0.13164544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28620196,  7.16131472,  1.34324625,  7.16131472,  8.16064296,
       -4.66195028,  1.34324625, -4.66195028, 32.14068654,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8771144795698567e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98673666,  0.05165472, -0.15389134,  0.05103774,  0.998665  ,
        0.00795984,  0.15409706,  0.        , -0.98805571])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323315, -0.05429522,  0.29654886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000405497731418391
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50382943, -0.84477768, -0.18029578, -0.09235174, -0.15484742,
        0.98361244, -0.85885217,  0.51222353,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495435, -0.03682905,  0.30473932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004677094969716272
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.41083465e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.41083465e-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([ 0.05247033, -0.06153653,  0.06198949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01780043e-05,-2.21744639e-05,-3.48444413e-05, 2.61102218e-05,
 -2.24348074e-03, 1.81830655e-02, 8.13230302e-03, 9.98713225e-04,
 -9.81346188e-06,-3.60865613e-06, 4.09033655e-06, 4.89168423e-05,
  5.58569899e-02, 1.85894655e-02, 1.47587989e-02,-1.39855662e-04,
 -2.97634438e-06, 4.28291836e-06,-9.80999879e+00,-6.49337939e-02,
 -9.25638682e-03,-5.47535965e-03]


--- Step 1435 ---
qpos:
[ 0.00985235, 0.00807223,-0.005606  , 0.03349768, 0.00559487,-0.01291697,
 -0.0140129 , 0.03802685, 0.01307952, 0.00593073,-0.01174232, 0.03407463,
  0.82002732,-0.01347646, 1.16524375, 0.04604763, 0.09423234,-0.06454994,
  0.14241641, 0.94473664,-0.03300904, 0.02984622, 0.32479576]

qacc:
[-2.12696043e+00,-1.54045406e+00, 7.19734080e+00,-1.46450599e+01,
  6.91806956e+00,-1.08349133e+00, 1.75763495e+00,-1.14266989e+01,
 -1.11078326e+00, 6.38398790e-02,-1.91126692e+00, 9.62821845e+00,
  5.38922062e+00, 2.99547899e+00, 1.56898775e+01,-3.42840763e+01,
 -2.78110814e-02,-1.07224730e-01, 1.56702205e-02, 2.70444535e+00,
 -4.75693417e-01, 5.64933877e+00]

qfrc_actuator:
[ 1.78693493e-05, 2.83085584e-04, 2.58526517e-05,-6.31114281e-06,
 -2.05013473e-03, 1.57485810e-02, 7.11550526e-03, 1.07839062e-03,
  2.20006035e-05, 4.10577729e-05,-1.15031625e-04, 1.02173161e-04,
  4.91963828e-02, 1.76551781e-02, 0.00000000e+00,-1.87445764e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22382202, -0.21866632,  0.04776334, -0.21866632,  0.23697076,
        0.06019655,  0.04776334,  0.06019655,  0.49940906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024310876136311024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98263143, -0.18524456,  0.01095086, -0.18523306,  0.98269245,
        0.00206432, -0.01114373,  0.        , -0.99993791])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12988942, -0.08222175,  0.1316452 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28621518,  7.07184444,  1.75440812,  7.07184444,  9.05727265,
       -7.13895634,  1.75440812, -7.13895634, 36.06263737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8814580959924963e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98673911,  0.05158253, -0.15389989,  0.05096634,  0.99866874,
        0.00794913,  0.15410504,  0.        , -0.98805447])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323353, -0.05429267,  0.29654909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004057357192134636
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50376388, -0.84480371, -0.18035698, -0.09237212, -0.15490652,
        0.98360122, -0.85888844,  0.51216272,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495386, -0.03682482,  0.30473964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004675719584712329
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.56166470e-13,  2.59704717e-14,  1.00000000e+00,  9.24981123e-27,
        1.00000000e+00, -2.59704717e-14, -1.00000000e+00,  0.00000000e+00,
       -3.56166470e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05247339, -0.06153424,  0.06198949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25184465e-05, 3.23148169e-06, 1.40258349e-05,-2.01539364e-05,
 -2.28694521e-03, 1.82774601e-02, 8.23997467e-03, 1.03948491e-03,
 -6.54838257e-06, 4.41289772e-05, 3.68277352e-05, 2.85291484e-05,
  5.50411208e-02, 1.80642845e-02, 1.45622636e-02, 8.42275786e-05,
 -7.45171352e-06, 7.40088622e-06,-9.80999842e+00,-6.49342016e-02,
 -9.25752508e-03,-5.47468085e-03]


--- Step 1436 ---
qpos:
[ 0.00985227, 0.00807279,-0.00560591, 0.03349676, 0.0056012 ,-0.01296092,
 -0.01403241, 0.03802625, 0.01307993, 0.00593061,-0.01174304, 0.03407644,
  0.81999837,-0.01343912, 1.16515555, 0.04604577, 0.09423476,-0.06454584,
  0.142417  , 0.94471841,-0.03299785, 0.02984171, 0.32485035]

qacc:
[-1.25214450e+00,-7.72785682e-01, 2.66790781e+00,-1.81674207e+00,
  6.91318024e+00,-1.30030147e+00, 2.56341332e+00,-1.21034302e+01,
 -6.96231230e-01, 4.42746429e-01,-1.80482214e+00, 5.93935112e+00,
  4.94113195e+00, 2.66351906e+00, 1.50692806e+01,-3.77651980e+01,
 -2.15247665e-02,-8.19115352e-02, 9.02977575e-03, 2.22582546e+00,
 -4.93698122e-01, 4.83553174e+00]

qfrc_actuator:
[ 1.08298461e-05, 3.13723858e-04, 5.67836595e-05, 9.84794825e-07,
 -2.03338676e-03, 1.57767595e-02, 7.13362213e-03, 1.07623496e-03,
  1.81243070e-05, 8.48320147e-05,-9.36764572e-05, 1.17818250e-04,
  4.91934488e-02, 1.75811980e-02, 0.00000000e+00,-1.98619041e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2234605 , -0.21881552,  0.04532511, -0.21881552,  0.23477637,
        0.05462946,  0.04532511,  0.05462946,  0.4871945 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024025637293548617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98263007, -0.18525521,  0.010893  , -0.18524383,  0.98269044,
        0.00205353, -0.01108488,  0.        , -0.99993856])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12989463, -0.08222189,  0.13164504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28650586,   6.9290848 ,   2.2540966 ,   6.9290848 ,
        10.75632147, -10.66620064,   2.2540966 , -10.66620064,
        40.07436807,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.9745415657648388e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98674374,  0.05149049, -0.15390101,  0.0508754 ,  0.99867349,
        0.00793496,  0.15410544,  0.        , -0.98805441])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323415, -0.05429083,  0.29654947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000405661296438345
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5036815 , -0.84484127, -0.18041113, -0.09238568, -0.15496149,
        0.98359129, -0.85893529,  0.51208415,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495334, -0.03682209,  0.30474095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000467047929596176
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.28557524e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.28557524e-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([ 0.05247556, -0.06153244,  0.0619895 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.39546334e-06, 3.44663321e-05, 3.26306809e-05, 7.53007408e-06,
 -2.31010213e-03, 1.84533616e-02, 8.33936994e-03, 1.07912208e-03,
 -4.05244909e-06, 7.73117303e-05, 3.60103412e-05, 1.93662689e-05,
  5.43047611e-02, 1.75829704e-02, 1.40768980e-02,-3.37663756e-06,
 -1.36199678e-05, 1.13052253e-05,-9.80999731e+00,-6.49339068e-02,
 -9.25908966e-03,-5.47376888e-03]


--- Step 1437 ---
qpos:
[ 0.00985244, 0.00807361,-0.00560602, 0.03349563, 0.00560781,-0.01300731,
 -0.01405358, 0.03802482, 0.01308029, 0.00593067,-0.01174357, 0.03407779,
  0.81997909,-0.01339637, 1.16507841, 0.04604477, 0.09423709,-0.06454198,
  0.14241764, 0.94469792,-0.03298329, 0.029838  , 0.32491172]

qacc:
[ 2.27977172e+00, 4.68305635e-01,-2.31156927e-01,-3.45423339e+00,
  2.35410801e+00,-3.64015867e-01, 1.24434256e-01,-1.01727193e+01,
 -4.31342974e-01,-1.29641239e+00, 6.90479577e+00,-1.53954204e+01,
  3.38053931e+00, 2.23054752e+00, 1.36443360e+01,-2.41578124e+01,
 -2.32660997e-02,-5.76446654e-02, 1.10686114e-02, 1.58636531e+00,
 -2.41396826e-01, 3.63488962e+00]

qfrc_actuator:
[ 2.44785621e-05, 3.14034995e-04, 3.95442834e-05,-1.20818565e-05,
 -2.04410160e-03, 1.58484634e-02, 7.15319190e-03, 1.07566804e-03,
  1.56821780e-05, 5.75744160e-05,-9.85039075e-05, 9.08021214e-05,
  4.91920092e-02, 1.75529562e-02, 0.00000000e+00,-1.89177659e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22310367, -0.21895624,  0.04281835, -0.21895624,  0.23162443,
        0.04357185,  0.04281835,  0.04357185,  0.44591305,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023739893054541727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82626664e-01, -1.85276954e-01,  1.08300620e-02, -1.85265702e-01,
        9.82686344e-01,  2.04191389e-03, -1.10208736e-02,  4.33680869e-19,
       -9.99939268e-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([ 0.12990022, -0.08222216,  0.13164495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28704678,   6.75034284,   2.74479914,   6.75034284,
        13.24879072, -14.66184355,   2.74479914, -14.66184355,
        43.34523017,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.1369748484632785e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86750163e-01,  5.13814054e-02, -1.53896286e-01,  5.07676690e-02,
        9.98679103e-01,  7.91786614e-03,  1.54099836e-01, -1.73472348e-18,
       -9.88055282e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323493, -0.05428963,  0.29654995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000405372219429179
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.03584619e-01, -8.44888814e-01, -1.80458925e-01, -9.23932022e-02,
       -1.55012644e-01,  9.83582521e-01, -8.58991285e-01,  5.11990207e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049527 , -0.03682061,  0.30474298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046623349358883043
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85592060e-07, -1.85592192e-07,  1.00000000e+00,  3.44444372e-14,
        1.00000000e+00,  1.85592192e-07, -1.00000000e+00,  0.00000000e+00,
        1.85592060e-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([ 0.05289544, -0.06213194,  0.06198952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34467409e-05, 2.66265332e-05,-5.84550842e-06,-1.03132448e-05,
 -2.36068095e-03, 1.86696723e-02, 8.43406060e-03, 1.11927636e-03,
 -2.53334332e-06, 2.42520963e-05, 1.62538984e-05,-2.20821474e-05,
  5.36354366e-02, 1.71852673e-02, 1.37235200e-02, 1.69287681e-04,
 -2.05709787e-05, 1.55716560e-05,-9.80999578e+00,-6.49330325e-02,
 -9.26091079e-03,-5.47264054e-03]


--- Step 1438 ---
qpos:
[ 0.00985313, 0.00807465,-0.00560659, 0.03349437, 0.0056095 ,-0.01304381,
 -0.01406743, 0.03802678, 0.01308062, 0.0059308 ,-0.01174433, 0.03407849,
  0.81988611,-0.01340003, 1.16496735, 0.04605598, 0.09423997,-0.06453571,
  0.14241784, 0.94469652,-0.03300055, 0.02982663, 0.32491511]

qacc:
[ 4.43167338e+00, 1.31412465e+00,-3.76794191e+00, 2.24049295e+00,
 -4.24975532e+01,-2.64018755e-01, 5.69627174e+00, 3.41062761e+01,
 -2.90096613e-01,-5.70673858e-01, 4.88789344e+00,-1.56267720e+01,
 -2.32586670e+01,-2.36127676e+01,-8.66261515e+01, 2.31158095e+02,
  1.37347518e-01, 6.00147305e-01,-1.09776195e-01,-1.51018865e+01,
  2.21777212e+00,-3.10927524e+01]

qfrc_actuator:
[ 5.01927940e-05, 3.13732436e-04, 1.16154504e-05,-1.93350881e-05,
 -2.05333589e-03, 1.59292684e-02, 7.17438854e-03, 1.07640496e-03,
  1.41024068e-05, 4.10997516e-05,-1.19061832e-04, 5.65801399e-05,
  4.91806658e-02, 1.75156660e-02, 0.00000000e+00,-1.74648843e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22275945, -0.21462136,  0.0596611 , -0.21462136,  0.2697448 ,
        0.16902236,  0.0596611 ,  0.16902236,  0.83079062,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002346015373805534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98262179, -0.18530675,  0.01076226, -0.18529564,  0.98268073,
        0.00202947, -0.01095194,  0.        , -0.99994003])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12990611, -0.08222254,  0.13164493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28782537, -7.27834078,  0.37169083, -7.27834078,  7.26914257,
       -0.3658411 ,  0.37169083, -0.3658411 ,  0.12403229,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3511241233437488e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98675796,  0.05125942, -0.15388699,  0.05064722,  0.99868537,
        0.00789854,  0.15408956,  0.        , -0.98805688])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323584, -0.0542889 ,  0.29655052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.21423329,  0.9212155 , -0.79102749,  0.9212155 ,  6.04965507,
        5.63123986, -0.79102749,  5.63123986,  7.77226769,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004050172063897745
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.03476868e-01, -8.44944088e-01, -1.80500782e-01, -9.23955805e-02,
       -1.55059953e-01,  9.83574841e-01, -8.59054189e-01,  5.11884655e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.104952  , -0.03682001,  0.30474533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.71950277, -6.27539112,  8.69063899, -6.27539112, 27.27985202,
       11.95800087,  8.69063899, 11.95800087, 19.35421105,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004671487845296085
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.37659406e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.37659406e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08587486, -0.10947634,  0.0619895 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.61050246e-05, 1.29159860e-05,-2.35120401e-05,-6.51486424e-06,
 -2.38355306e-03, 1.88750081e-02, 8.53843451e-03, 1.16204404e-03,
 -1.64316273e-06,-5.00139994e-07,-1.43073961e-05,-3.30518679e-05,
  5.31406699e-02, 1.68765595e-02, 1.31717322e-02, 2.71478470e-04,
 -2.66985344e-05, 1.92234136e-05,-9.80999447e+00,-6.49316092e-02,
 -9.26267025e-03,-5.47138049e-03]


--- Step 1439 ---
qpos:
[ 0.00985377, 0.00807565,-0.00560718, 0.03349407, 0.0056125 ,-0.01307727,
 -0.01408092, 0.03802846, 0.01308093, 0.00593072,-0.01174521, 0.03407917,
  0.81980935,-0.01339431, 1.1648451 , 0.04605627, 0.09424263,-0.06453027,
  0.1424182 , 0.94469076,-0.03300969, 0.02981809, 0.3249317 ]

qacc:
[-3.66662894e-01, 1.99280876e+00,-1.12266397e+01, 2.79130607e+01,
  1.12595413e+01, 2.37336690e+00,-1.44987556e+00,-6.40788009e+00,
 -1.87196397e-01,-1.91141447e-02,-1.97078125e-01,-8.65669054e-02,
  6.03466241e+00, 3.47321202e+00, 1.63408146e+01,-8.15608930e+01,
 -5.36720173e-02,-2.07725275e-01, 4.22462922e-02, 4.03357532e+00,
 -1.32384543e-01, 7.11240254e+00]

qfrc_actuator:
[ 4.72906049e-05, 3.13005836e-04, 1.31161415e-05, 3.01475582e-05,
 -2.07436052e-03, 1.59686549e-02, 7.20601028e-03, 1.09176899e-03,
  1.30423744e-05, 1.33585392e-05,-1.30959367e-04, 5.38987050e-05,
  4.91758615e-02, 1.75226067e-02, 0.00000000e+00,-2.11493973e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22256345, -0.21609128,  0.0532827 , -0.21609128,  0.25843227,
        0.14546825,  0.0532827 ,  0.14546825,  0.81251899,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023299010992210468
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98263049, -0.18526337,  0.01071486, -0.18525235,  0.98268891,
        0.00202004, -0.01090361,  0.        , -0.99994055])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1299104 , -0.08222204,  0.13164462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28673764,  0.28905461, -7.28100219,  0.28905461, 10.60595608,
        0.13177243, -7.28100219,  0.13177243,  7.29196899,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0457264736298002e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86753435e-01,  5.12465809e-02, -1.53920259e-01,  5.06342716e-02,
        9.98686031e-01,  7.89826507e-03,  1.54122771e-01,  8.67361738e-19,
       -9.88051705e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323531, -0.05428455,  0.29655018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.21631542, -1.01577086,  0.66905364, -1.01577086,  3.38117976,
        3.2867411 ,  0.66905364,  3.2867411 ,  6.20631268,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040663315786844693
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5034614 , -0.84493729, -0.18057572, -0.09243239, -0.15512525,
        0.98356109, -0.85905929,  0.51187609,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495144, -0.03681146,  0.30474157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.70915886, -6.01937182,  8.85738372, -6.01937182, 19.1337902 ,
        5.72527849,  8.85738372,  5.72527849, 14.59998951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046640321947664465
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.64623691e-07,  3.64623868e-07,  1.00000000e+00,  1.32950501e-13,
        1.00000000e+00, -3.64623868e-07, -1.00000000e+00,  2.52435490e-29,
       -3.64623691e-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([ 0.0529023 , -0.06212682,  0.06198952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15517775e-06, 1.33903582e-06, 1.04299118e-06, 4.90963651e-05,
 -2.15906191e-03, 1.84207421e-02, 8.20488914e-03, 1.00725072e-03,
 -1.10516308e-06,-3.23897974e-05,-1.49005773e-05,-3.84121850e-06,
  5.68216734e-02, 1.92045693e-02, 1.48692610e-02,-7.06949252e-04,
 -1.96844385e-06, 2.26275346e-06,-9.80999737e+00,-6.49322171e-02,
 -9.26070180e-03,-5.47120305e-03]


--- Step 1440 ---
qpos:
[ 0.00985403, 0.00807665,-0.00560774, 0.03349402, 0.00561643,-0.01311089,
 -0.01409489, 0.03802958, 0.01308157, 0.00593013,-0.01174581, 0.03407981,
  0.81974993,-0.01337895, 1.16471843, 0.04604844, 0.09424516,-0.0645255 ,
  0.14241867, 0.94468099,-0.03301144, 0.02981141, 0.32496053]

qacc:
[-3.37305302e+00, 3.88585660e-01,-2.40211708e+00, 6.50982901e+00,
  8.10693997e+00,-4.19828483e-02, 2.18051470e+00,-1.09070008e+01,
  2.91981151e+00,-1.48821041e+00, 4.46700484e+00,-5.03279524e+00,
  6.60739235e+00, 3.24847423e+00, 1.78004318e+01,-7.21824483e+01,
 -3.47960609e-02,-1.64599141e-01, 2.42879418e-02, 3.53886754e+00,
 -4.65167815e-01, 6.57445034e+00]

qfrc_actuator:
[ 2.75646729e-05, 3.12189219e-04, 1.42664401e-05, 4.16267352e-05,
 -2.07120410e-03, 1.60038564e-02, 7.23016548e-03, 1.08274176e-03,
  3.00489024e-05,-2.08720910e-05,-1.19918777e-04, 5.20435186e-05,
  4.91855176e-02, 1.75366020e-02, 0.00000000e+00,-2.43608099e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2224329 , -0.21649807,  0.05103902, -0.21649807,  0.24523677,
        0.09672978,  0.05103902,  0.09672978,  0.63274273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023190918434823216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98263558, -0.18523892,  0.01067046, -0.185228  ,  0.98269351,
        0.00201139, -0.01085838,  0.        , -0.99994105])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12991453, -0.08222174,  0.13164429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28624883,  7.20143593,  1.10848657,  7.20143593,  8.09894285,
       -5.27977885,  1.10848657, -5.27977885, 41.58706059,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8924686067115727e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86752115e-01,  5.12091550e-02, -1.53941180e-01,  5.05971279e-02,
        9.98687950e-01,  7.89355447e-03,  1.54143424e-01,  8.67361738e-19,
       -9.88048483e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323524, -0.05428102,  0.29655013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.2174171 , -0.74612463,  0.96197839, -0.74612463,  8.74241965,
        5.83650304,  0.96197839,  5.83650304,  5.744295  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004074835376595284
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50342534, -0.84494314, -0.18064887, -0.09246448, -0.15519129,
        0.98354765, -0.85907697,  0.51184642,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495086, -0.03680483,  0.30474002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004669376601223463
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18883431e-13, -1.52319396e-13,  1.00000000e+00,  1.81082525e-26,
        1.00000000e+00,  1.52319396e-13, -1.00000000e+00,  0.00000000e+00,
        1.18883431e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05248829, -0.06152305,  0.0619895 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.97914705e-05, 2.21995296e-06, 3.24934699e-06, 1.25278962e-05,
 -2.22109657e-03, 1.83059067e-02, 8.21169076e-03, 1.01305282e-03,
  1.69635322e-05,-5.55731271e-05, 2.39208581e-06,-3.83274015e-06,
  5.60199723e-02, 1.87488804e-02, 1.54315947e-02,-4.80998233e-04,
 -1.75362416e-06, 3.07953817e-06,-9.80999878e+00,-6.49337536e-02,
 -9.26082195e-03,-5.47093242e-03]


--- Step 1441 ---
qpos:
[ 0.00985405, 0.00807758,-0.00560849, 0.03349378, 0.00562123,-0.01314535,
 -0.01411004, 0.03802994, 0.01308206, 0.00592937,-0.01174612, 0.03408038,
  0.81970594,-0.01335517, 1.16460218, 0.04603988, 0.09424758,-0.06452119,
  0.1424192 , 0.94466766,-0.03300709, 0.02980606, 0.32500022]

qacc:
[-2.09718043e+00, 9.33010720e-02, 3.09149067e-01,-3.09672686e+00,
  7.43040500e+00, 6.32661073e-01,-6.96699401e-01,-9.89018151e+00,
 -1.27538566e+00,-1.21162652e+00, 4.26090842e+00,-5.79753696e+00,
  5.72564786e+00, 2.99968903e+00, 1.74481835e+01,-3.90178580e+01,
 -2.53067806e-02,-1.17415307e-01, 1.71671478e-02, 2.87857671e+00,
 -4.91439309e-01, 5.81845113e+00]

qfrc_actuator:
[ 1.58565756e-05, 2.93549672e-04,-2.59798545e-06, 3.06388841e-05,
 -2.05369365e-03, 1.60562672e-02, 7.23277404e-03, 1.07721158e-03,
  2.20473306e-05,-5.37424560e-06,-9.54644143e-05, 5.06909000e-05,
  4.92084912e-02, 1.74975714e-02, 0.00000000e+00,-2.28346739e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22233869, -0.21699721,  0.04844279, -0.21699721,  0.23917792,
        0.07543054,  0.04844279,  0.07543054,  0.56022625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023112525862867107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82637540e-01, -1.85231147e-01,  1.06248582e-02, -1.85220320e-01,
        9.82694979e-01,  2.00271164e-03, -1.08119594e-02,  4.33680869e-19,
       -9.99941549e-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([ 0.12991881, -0.08222163,  0.13164399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28615749,  7.12551561,  1.5215513 ,  7.12551561,  8.53548967,
       -5.85069721,  1.5215513 , -5.85069721, 34.68532199,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8624321597228672e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98675352,  0.05114892, -0.1539522 ,  0.05053753,  0.99869104,
        0.00788481,  0.15415398,  0.        , -0.98804684])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323551, -0.05427834,  0.2965503 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004077565092540436
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.03369968e-01, -8.44961504e-01, -1.80717269e-01, -9.24904936e-02,
       -1.55255402e-01,  9.83535088e-01, -8.59106619e-01,  5.11796655e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495017, -0.03680001,  0.30474016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000466939088012
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18883068e-13, -3.34358628e-14,  1.00000000e+00, -3.97495794e-27,
        1.00000000e+00,  3.34358628e-14, -1.00000000e+00,  0.00000000e+00,
       -1.18883068e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05249154, -0.06152066,  0.0619895 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22744324e-05,-1.62273950e-05,-1.55767472e-05,-1.05365683e-05,
 -2.25043143e-03, 1.83672299e-02, 8.23841036e-03, 1.03542200e-03,
 -7.54106529e-06,-1.52143227e-05, 1.31496119e-05,-3.72531456e-06,
  5.51758126e-02, 1.82276506e-02, 1.56553641e-02, 7.78060017e-05,
 -4.87911765e-06, 5.40608400e-06,-9.80999884e+00,-6.49344059e-02,
 -9.26167657e-03,-5.47038908e-03]


--- Step 1442 ---
qpos:
[ 0.00985324, 0.00807819,-0.00560934, 0.03349379, 0.00562658,-0.01318206,
 -0.01412682, 0.03802943, 0.01308245, 0.00592867,-0.01174651, 0.03408058,
  0.81967558,-0.01332396, 1.16450174, 0.04603361, 0.09424993,-0.06451721,
  0.14241978, 0.94465121,-0.0329977 , 0.02980161, 0.3250494 ]

qacc:
[-7.28431671e+00, 3.79460278e-01,-2.95156522e+00, 7.49489426e+00,
  4.82392956e+00,-2.15422781e-01, 1.11754574e-01,-1.08529515e+01,
 -8.81675785e-01,-4.32801327e-01, 3.25399465e+00,-9.62433620e+00,
  4.95768741e+00, 2.76106915e+00, 1.63026336e+01,-2.33686043e+01,
 -1.93006003e-02,-8.31170557e-02, 1.12028106e-02, 2.33349506e+00,
 -4.96754087e-01, 5.08404700e+00]

qfrc_actuator:
[-2.65384145e-05, 2.64283286e-04,-1.22962945e-05, 4.20029418e-05,
 -2.06337405e-03, 1.60842532e-02, 7.24111500e-03, 1.07420526e-03,
  1.71379597e-05, 4.34264158e-06,-9.85985571e-05, 3.19388077e-05,
  4.92336774e-02, 1.74773307e-02, 0.00000000e+00,-2.09927425e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22227764, -0.21759252,  0.04539652, -0.21759252,  0.23404519,
        0.05640366,  0.04539652,  0.05640366,  0.49262907,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023061551380609404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98263691, -0.18523728,  0.01057649, -0.18522655,  0.98269382,
        0.00199366, -0.01076275,  0.        , -0.99994208])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1299233 , -0.08222168,  0.13164373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2863624 ,  6.99692476,  2.03325378,  6.99692476,  9.97740059,
       -9.26052216,  2.03325378, -9.26052216, 39.15408958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9291660628453287e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86757203e-01,  5.10683220e-02, -1.53955348e-01,  5.04578739e-02,
        9.98695162e-01,  7.87251367e-03,  1.54156498e-01,  8.67361738e-19,
       -9.88046443e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323604, -0.05427641,  0.29655062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004076917176787172
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50329735, -0.84499175, -0.18077809, -0.09250933, -0.15531498,
        0.98352391, -0.85914714,  0.51172864,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494945, -0.03679679,  0.30474136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046652810831171454
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18987796e-13, -3.34653175e-14,  1.00000000e+00, -3.98196437e-27,
        1.00000000e+00,  3.34653175e-14, -1.00000000e+00,  0.00000000e+00,
       -1.18987796e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05249385, -0.0615188 ,  0.06198951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.27514188e-05,-4.20386479e-05,-1.53344529e-05, 9.92531765e-06,
 -2.30311846e-03, 1.84389163e-02, 8.30685369e-03, 1.07048435e-03,
 -5.13203944e-06, 3.79457488e-06,-4.77395543e-06,-1.90200887e-05,
  5.44295061e-02, 1.77850631e-02, 1.51367724e-02, 2.99087365e-04,
 -1.01248178e-05, 8.78060408e-06,-9.80999800e+00,-6.49343263e-02,
 -9.26302483e-03,-5.46960064e-03]


--- Step 1443 ---
qpos:
[ 0.00985227, 0.00807882,-0.00560988, 0.03349351, 0.00563223,-0.0132215 ,
 -0.01414488, 0.03802818, 0.01308278, 0.00592837,-0.0117471 , 0.03408018,
  0.81965518,-0.01328719, 1.16441571, 0.04602957, 0.09425219,-0.06451347,
  0.14242041, 0.94463235,-0.03298473, 0.02979804, 0.32510583]

qacc:
[-1.37116710e+00,-1.45128940e+00, 6.38780468e+00,-1.17725404e+01,
  2.55046237e+00,-1.57789773e+00, 3.49461133e+00,-1.22572560e+01,
 -5.61019542e-01,-1.84830221e-01, 4.00021149e+00,-1.45116941e+01,
  3.43832374e+00, 2.34769063e+00, 1.44872886e+01,-1.99308869e+01,
 -2.09285542e-02,-5.84376565e-02, 1.25348873e-02, 1.68800188e+00,
 -2.57714944e-01, 3.87706722e+00]

qfrc_actuator:
[-3.34003076e-05, 2.99925033e-04, 1.77931685e-05, 3.09224620e-05,
 -2.07165846e-03, 1.60993202e-02, 7.25380679e-03, 1.05537229e-03,
  1.40958264e-05, 4.59155813e-05,-1.00269319e-04, 3.07850933e-06,
  4.92491463e-02, 1.74660029e-02, 0.00000000e+00,-2.00538208e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22223891, -0.21771612,  0.04460743, -0.21771612,  0.23271108,
        0.0511117 ,  0.04460743,  0.0511117 ,  0.47170056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002302913764386626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98263414, -0.18525496,  0.01052344, -0.18524433,  0.98269049,
        0.00198386, -0.0107088 ,  0.        , -0.99994266])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12992813, -0.08222188,  0.13164351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28682112,   6.80063065,   2.61709473,   6.80063065,
        12.58007233, -13.75473571,   2.61709473, -13.75473571,
        43.0290799 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.0707639323610928e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98676277,  0.05096979, -0.15395229,  0.05036055,  0.9987002 ,
        0.00785713,  0.15415266,  0.        , -0.98804704])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323676, -0.05427514,  0.29655107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040743766377972327
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50320952, -0.84503282, -0.18083063, -0.09252097, -0.15536919,
        0.98351425, -0.85919733,  0.51164436,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494873, -0.03679493,  0.30474323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046579857414910273
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.96432322e-07,  1.96432379e-07,  1.00000000e+00,  3.85856683e-14,
        1.00000000e+00, -1.96432379e-07, -1.00000000e+00,  0.00000000e+00,
       -1.96432322e-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([ 0.05291393, -0.0621178 ,  0.06198953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.09543782e-06, 9.36658904e-06, 1.98658648e-05,-1.32168229e-05,
 -2.33931407e-03, 1.85676714e-02, 8.40145596e-03, 1.09513112e-03,
 -3.18827334e-06, 4.19225942e-05,-2.12009037e-06,-2.92307531e-05,
  5.37635987e-02, 1.74018802e-02, 1.43479921e-02, 2.78729779e-04,
 -1.65171026e-05, 1.27418440e-05,-9.80999665e+00,-6.49336442e-02,
 -9.26467474e-03,-5.46859095e-03]


--- Step 1444 ---
qpos:
[ 0.00985157, 0.00807955,-0.00560984, 0.03349307, 0.005633  ,-0.01325136,
 -0.01415589, 0.03803025, 0.01308306, 0.00592864,-0.01174727, 0.03407936,
  0.81956113,-0.01329649, 1.16429693, 0.04603665, 0.09425511,-0.06450737,
  0.14242062, 0.94463226,-0.03300266, 0.02978714, 0.32510527]

qacc:
[ 2.38263748e+00,-1.81456065e+00, 7.34309920e+00,-1.11306725e+01,
 -4.21734174e+01,-9.00435107e-02, 4.82820739e+00, 3.41875009e+01,
 -3.42858474e-01,-1.24426522e+00, 7.23100249e+00,-1.53328331e+01,
 -2.35570718e+01,-2.29877421e+01,-8.15899131e+01, 2.16083554e+02,
  1.64378133e-01, 5.89217781e-01,-1.04599044e-01,-1.46267863e+01,
  2.22566542e+00,-3.05450306e+01]

qfrc_actuator:
[-1.92832135e-05, 3.21052601e-04, 5.36225515e-05, 2.45536126e-05,
 -2.07906399e-03, 1.61257822e-02, 7.25165970e-03, 1.06276981e-03,
  1.21764458e-05, 1.06240440e-04,-6.54183854e-05,-1.37101484e-05,
  4.92479723e-02, 1.74411649e-02, 0.00000000e+00,-1.94876487e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22221862, -0.21384613,  0.06042308, -0.21384613,  0.27876381,
        0.20012169,  0.06042308,  0.20012169,  0.93047863,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023012141432663598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82629803e-01, -1.85281245e-01,  1.04657034e-02, -1.85270737e-01,
        9.82685535e-01,  1.97326457e-03, -1.06501042e-02, -2.16840434e-19,
       -9.99943286e-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([ 0.12993329, -0.08222218,  0.13164336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28751705, -7.27993307,  0.33238415, -7.27993307,  7.2725826 ,
       -0.32709679,  0.33238415, -0.32709679,  0.12338853,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2687454040052102e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86769803e-01,  5.08574958e-02, -1.53944374e-01,  5.02496682e-02,
        9.98705920e-01,  7.83937012e-03,  1.54143848e-01, -8.67361738e-19,
       -9.88048417e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323761, -0.05427434,  0.2965516 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.21694536,  0.74279517, -0.96395609,  0.74279517,  5.22535764,
        3.08876027, -0.96395609,  3.08876027,  3.59704984,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040711979517179137
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50311011, -0.84508219, -0.18087652, -0.09252696, -0.15541903,
        0.98350581, -0.8592549 ,  0.51154768,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494799, -0.03679401,  0.30474543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.7070749 , -6.27722587,  8.67397765, -6.27722587, 27.72235144,
       12.31369719,  8.67397765, 12.31369719, 19.61831052,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004662527069668604
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19058078e-13, -1.19058078e-13,  1.00000000e+00, -1.41748260e-26,
        1.00000000e+00,  1.19058078e-13, -1.00000000e+00,  0.00000000e+00,
       -1.19058078e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08591324, -0.10944933,  0.06198952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38880918e-05, 2.98871174e-05, 3.97545685e-05,-5.53642077e-06,
 -2.36140209e-03, 1.87327612e-02, 8.46391903e-03, 1.13973620e-03,
 -1.99568029e-06, 8.20959170e-05, 4.22496539e-05,-1.56313119e-05,
  5.32641785e-02, 1.70982844e-02, 1.36292900e-02, 2.24561432e-04,
 -2.24307738e-05, 1.62850144e-05,-9.80999541e+00,-6.49324056e-02,
 -9.26632466e-03,-5.46744255e-03]


--- Step 1445 ---
qpos:
[ 0.00985139, 0.00808045,-0.00560995, 0.03349294, 0.00563538,-0.01327819,
 -0.01416691, 0.03803195, 0.01308333, 0.00592893,-0.01174621, 0.03407802,
  0.81948326,-0.01329633, 1.16417721, 0.04603782, 0.0942578 ,-0.06450205,
  0.142421  , 0.94462753,-0.03301242, 0.02977902, 0.32511877]

qacc:
[ 4.55112036e+00, 1.28870396e+00,-5.61242537e+00, 1.11890238e+01,
  1.38331289e+01, 3.19836538e+00,-4.09593719e+00,-4.46687416e+00,
 -1.81199750e-01,-4.49864488e+00, 1.83054051e+01,-2.94183659e+01,
  5.80208009e+00, 3.80569073e+00, 1.63307433e+01,-5.94474461e+01,
 -5.61100803e-02,-1.94097418e-01, 4.26739966e-02, 4.02075252e+00,
 -1.83681347e-01, 7.55942457e+00]

qfrc_actuator:
[ 7.05719198e-06, 3.15622269e-04, 3.92517524e-05, 3.87574750e-05,
 -2.08089139e-03, 1.61656010e-02, 7.26830503e-03, 1.08213943e-03,
  1.09326847e-05, 8.87327221e-05,-9.18109749e-06,-4.09669345e-05,
  4.92493056e-02, 1.74576206e-02, 0.00000000e+00,-1.94204744e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22248109, -0.21593988,  0.05355187, -0.21593988,  0.26335999,
        0.16483806,  0.05355187,  0.16483806,  0.8871659 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023230890671078862
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98280352, -0.18435964,  0.01042951, -0.18434926,  0.98285885,
        0.00195631, -0.0106114 ,  0.        , -0.9999437 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12993493, -0.08221116,  0.13164242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28651595,  0.7902204 ,  7.24353963,  0.7902204 , 75.51848236,
       -7.4436387 ,  7.24353963, -7.4436387 ,  8.09856578,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9776927268560142e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98676487,  0.05085259, -0.15397758,  0.05024455,  0.99870617,
        0.0078403 ,  0.15417706,  0.        , -0.98804323])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323715, -0.05426995,  0.2965513 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.21899919, -0.92292565,  0.7963462 , -0.92292565,  3.91961434,
        3.12987866,  0.7963462 ,  3.12987866,  4.84637291,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004086992009039266
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50310152, -0.84507037, -0.18095561, -0.09256721, -0.15548712,
        0.98349126, -0.85925559,  0.51154651,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494747, -0.03678527,  0.30474175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.70389613, -6.02083179,  8.85002695, -6.02083179, 19.00742415,
        5.64903878,  8.85002695,  5.64903878, 14.54703836,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046602292569835913
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06078780e-06,  1.06078746e-06,  1.00000000e+00,  1.12527039e-12,
        1.00000000e+00, -1.06078746e-06, -1.00000000e+00,  0.00000000e+00,
       -1.06078780e-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([ 0.05292091, -0.0621126 ,  0.06198953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67428755e-05, 1.92385292e-05,-3.50023222e-06, 1.67511155e-05,
 -2.11949756e-03, 1.82943358e-02, 8.12892221e-03, 9.93128596e-04,
 -1.27237254e-06, 3.64522149e-05, 7.78591726e-05,-2.25793898e-05,
  5.69489228e-02, 1.94184754e-02, 1.52689802e-02,-3.24151806e-04,
 -2.23433567e-06, 1.92295268e-06,-9.80999731e+00,-6.49332992e-02,
 -9.26501227e-03,-5.46737129e-03]


--- Step 1446 ---
qpos:
[ 0.00985153, 0.00808169,-0.00561089, 0.03349371, 0.00563874,-0.01330515,
 -0.01417962, 0.03803279, 0.01308358, 0.00592905,-0.01174434, 0.03407711,
  0.81942219,-0.01328665, 1.16406537, 0.04603726, 0.09426035,-0.06449731,
  0.14242149, 0.94461846,-0.03301482, 0.02977268, 0.32514547]

qacc:
[ 2.75117758e+00, 4.60428882e+00,-1.95097481e+01, 3.59479620e+01,
  8.48187487e+00, 2.77248860e+00,-6.46141320e+00,-5.81225648e+00,
 -1.18463488e-01,-1.60053410e+00, 3.59652275e+00, 2.61809636e+00,
  6.08153999e+00, 3.68864133e+00, 1.67181149e+01,-4.19447292e+01,
 -3.64330015e-02,-1.45851115e-01, 2.54260916e-02, 3.50102691e+00,
 -5.03681046e-01, 7.08402077e+00]

qfrc_actuator:
[ 2.26212568e-05, 3.29655275e-04,-4.74020355e-06, 8.26461267e-05,
 -2.08389937e-03, 1.62161637e-02, 7.24718913e-03, 1.07554847e-03,
  1.00956314e-05, 6.03492255e-05, 2.33998676e-05,-2.09624682e-05,
  4.92520344e-02, 1.74262559e-02, 0.00000000e+00,-1.91719173e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22254066, -0.21692854,  0.0496624 , -0.21692854,  0.24210937,
        0.08547735,  0.0496624 ,  0.08547735,  0.5959112 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023280188816403235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98280381, -0.18436005,  0.01039403, -0.18434974,  0.98285878,
        0.00194966, -0.0105753 ,  0.        , -0.99994408])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12993847, -0.08221113,  0.13164197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28607553,  7.17027965,  1.29382625,  7.17027965,  8.09038464,
       -4.45741552,  1.29382625, -4.45741552, 31.98870913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8350601908456832e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98676322,  0.05082134, -0.15399849,  0.05021352,  0.99870776,
        0.00783654,  0.15419775,  0.        , -0.98804001])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323712, -0.05426638,  0.29655128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004095633206586857
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50307086, -0.84507244, -0.18103113, -0.09260151, -0.15555459,
        0.98347737, -0.85926985,  0.51152256,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494703, -0.03677853,  0.30474015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004665526023704125
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18981549e-13,  5.57726010e-14,  1.00000000e+00, -6.63591045e-27,
        1.00000000e+00, -5.57726010e-14, -1.00000000e+00,  0.00000000e+00,
        1.18981549e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05250689, -0.06150923,  0.06198951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.63294306e-05, 2.47650299e-05,-3.98793292e-05, 4.49154060e-05,
 -2.20264090e-03, 1.81948204e-02, 8.10803733e-03, 1.00505094e-03,
 -8.60967311e-07, 7.09633775e-06, 4.89068205e-05, 2.38210477e-05,
  5.61420310e-02, 1.89142523e-02, 1.53179232e-02,-3.55810810e-06,
 -1.30642995e-06, 2.45311866e-06,-9.80999886e+00,-6.49348817e-02,
 -9.26489979e-03,-5.46717915e-03]


--- Step 1447 ---
qpos:
[ 0.00985117, 0.00808307,-0.00561202, 0.03349497, 0.00564284,-0.01333382,
 -0.0141944 , 0.03803267, 0.01308381, 0.00592933,-0.01174272, 0.03407682,
  0.81937616,-0.01326846, 1.16396479, 0.04603686, 0.09426279,-0.064493  ,
  0.14242204, 0.94460563,-0.03301111, 0.02976763, 0.32518359]

qacc:
[-4.43182273e+00, 1.74398817e+00,-8.05923114e+00, 1.69251331e+01,
  6.41493008e+00, 1.55537388e+00,-4.87584660e+00,-6.87649556e+00,
 -1.15597414e-01, 2.16693802e+00,-1.00853767e+01, 2.12044624e+01,
  5.37723834e+00, 3.37113232e+00, 1.60107567e+01,-3.21212889e+01,
 -2.69344258e-02,-1.07229152e-01, 1.77379305e-02, 2.85839253e+00,
 -5.18015234e-01, 6.11293809e+00]

qfrc_actuator:
[-3.79116516e-06, 3.37370894e-04,-1.25056869e-05, 1.08141854e-04,
 -2.08763914e-03, 1.62573559e-02, 7.24062271e-03, 1.08953808e-03,
  9.50436203e-06, 6.11168601e-05, 6.20816682e-06, 8.90214296e-06,
  4.92549634e-02, 1.73978453e-02, 0.00000000e+00,-1.86550603e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22264203, -0.21810486,  0.0447185 , -0.21810486,  0.23547528,
        0.06259145,  0.0447185 ,  0.06259145,  0.52791838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023363779821604646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82800488e-01, -1.84379927e-01,  1.03558540e-02, -1.84369692e-01,
        9.82855047e-01,  1.94271943e-03, -1.05365018e-02,  2.16840434e-19,
       -9.99944490e-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([ 0.12994223, -0.08221132,  0.13164155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28600617,  7.10138428,  1.62979359,  7.10138428,  8.75233443,
       -6.38912839,  1.62979359, -6.38912839, 35.12490318,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8115712150803076e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86764384e-01,  5.07652697e-02, -1.54009537e-01,  5.01580333e-02,
        9.98710612e-01,  7.82842955e-03,  1.54208371e-01, -8.67361738e-19,
       -9.88038349e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323743, -0.05426363,  0.29655147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000409907939062014
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.03019199e-01, -8.45088430e-01, -1.81100060e-01, -9.26284485e-02,
       -1.55618772e-01,  9.83464676e-01, -8.59297187e-01,  5.11476631e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494664, -0.03677366,  0.3047401 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004665388265224363
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.37970124e-13, -9.29570797e-14,  1.00000000e+00, -2.21210078e-26,
        1.00000000e+00,  9.29570797e-14, -1.00000000e+00,  0.00000000e+00,
       -2.37970124e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05251017, -0.06150682,  0.06198951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.59419311e-05, 1.52210041e-05,-6.01363839e-06, 2.60482398e-05,
 -2.25563293e-03, 1.82432158e-02, 8.18685614e-03, 1.06277005e-03,
 -6.14092702e-07, 1.58350018e-05,-8.89887419e-06, 3.23221080e-05,
  5.53050868e-02, 1.84088645e-02, 1.49268817e-02, 1.35486539e-04,
 -4.11565603e-06, 4.72702099e-06,-9.80999903e+00,-6.49355871e-02,
 -9.26557640e-03,-5.46671092e-03]


--- Step 1448 ---
qpos:
[ 0.00985083, 0.00808435,-0.00561282, 0.03349584, 0.00564773,-0.01336579,
 -0.01421062, 0.03803183, 0.01308369, 0.00593017,-0.01174203, 0.03407654,
  0.81934365,-0.01324263, 1.16387429, 0.04603632, 0.09426515,-0.06448901,
  0.14242264, 0.9445896 ,-0.03300236, 0.02976346, 0.32523141]

qacc:
[ 2.87790611e-01,-1.89102416e+00, 8.23920007e+00,-1.56286914e+01,
  6.80222363e+00,-1.82567830e+00, 3.23592521e+00,-1.10679351e+01,
 -3.15370685e+00, 3.39530944e+00,-1.10495156e+01, 1.22839358e+01,
  4.83086613e+00, 3.03746115e+00, 1.52048273e+01,-3.18192851e+01,
 -2.08757847e-02,-8.08272633e-02, 1.11536260e-02, 2.33421877e+00,
 -5.16448094e-01, 5.19443859e+00]

qfrc_actuator:
[-1.43716793e-06, 3.23613244e-04, 1.15146250e-06, 8.71269672e-05,
 -2.09197165e-03, 1.62945720e-02, 7.29709461e-03, 1.11629688e-03,
 -8.69007729e-06, 9.68832039e-05,-4.01161780e-05, 8.80746501e-06,
  4.92628920e-02, 1.73861740e-02, 0.00000000e+00,-1.88769444e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22277231, -0.21909473,  0.04031129, -0.21909473,  0.23293115,
        0.05521403,  0.04031129,  0.05521403,  0.5228645 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023470675678413706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82794225e-01, -1.84415706e-01,  1.03130011e-02, -1.84405553e-01,
        9.82848334e-01,  1.93506904e-03, -1.04929731e-02,  2.16840434e-19,
       -9.99944947e-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([ 0.12994631, -0.0822117 ,  0.13164118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28621713,  6.97431214,  2.10901168,  6.97431214, 10.2052686 ,
       -9.65304097,  2.10901168, -9.65304097, 39.20795637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.882097598563901e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86767872e-01,  5.06876697e-02, -1.54012749e-01,  5.00813408e-02,
        9.98714554e-01,  7.81659514e-03,  1.54210979e-01,  1.73472348e-18,
       -9.88037942e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323799, -0.05426161,  0.29655181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004099149144598479
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50294927, -0.84511681, -0.18116181, -0.09264822, -0.15567886,
        0.9834533 , -0.85933598,  0.51141144,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494624, -0.03677038,  0.30474111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046611181030549453
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38188134e-13, -9.30422400e-14,  1.00000000e+00, -2.21615575e-26,
        1.00000000e+00,  9.30422400e-14, -1.00000000e+00,  0.00000000e+00,
       -2.38188134e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0525125 , -0.06150494,  0.06198952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61590307e-06,-5.41944500e-06, 1.69575134e-05,-2.00659739e-05,
 -2.29720031e-03, 1.83676101e-02, 8.34732882e-03, 1.13685453e-03,
 -1.82048735e-05, 4.41404706e-05,-4.30525653e-05, 9.01547988e-07,
  5.45612283e-02, 1.79714135e-02, 1.43655024e-02, 1.05419857e-04,
 -9.23761374e-06, 8.09592020e-06,-9.80999827e+00,-6.49355629e-02,
 -9.26680372e-03,-5.46599476e-03]


--- Step 1449 ---
qpos:
[ 0.00985087, 0.00808537,-0.00561388, 0.03349616, 0.00565299,-0.01340115,
 -0.01422813, 0.03803032, 0.01308301, 0.00593134,-0.01174216, 0.03407663,
  0.81932128,-0.01321095, 1.16379079, 0.04603454, 0.09426742,-0.06448527,
  0.14242329, 0.94457118,-0.03298997, 0.02976014, 0.32528645]

qacc:
[ 3.29221915e+00,-7.14385132e-01, 4.32980843e+00,-1.30709350e+01,
  3.25589481e+00,-2.27319582e+00, 4.42003375e+00,-1.14457734e+01,
 -4.97279356e+00, 3.47817803e+00,-1.33288015e+01, 2.07761410e+01,
  3.48921299e+00, 2.53047634e+00, 1.40041376e+01,-3.41723866e+01,
 -2.23488909e-02,-6.13733239e-02, 1.19760904e-02, 1.70362082e+00,
 -2.74235485e-01, 3.86662504e+00]

qfrc_actuator:
[ 1.78427611e-05, 2.79401781e-04,-2.60411910e-05, 5.66600943e-05,
 -2.09699710e-03, 1.63139161e-02, 7.32058401e-03, 1.09762048e-03,
 -3.70995423e-05, 9.99137245e-05,-8.53757942e-05, 2.66087204e-05,
  4.92627631e-02, 1.73642545e-02, 0.00000000e+00,-1.98947056e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22292238, -0.2192832 ,  0.04011566, -0.2192832 ,  0.23193112,
        0.04924419,  0.04011566,  0.04924419,  0.49210462,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002359307788765855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98278557, -0.18446451,  0.01026475, -0.18445445,  0.98283918,
        0.00192654, -0.01044398,  0.        , -0.99994546])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12995081, -0.08221224,  0.13164088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28667273,   6.80114431,   2.61534617,   6.80114431,
        12.52197517, -13.61427707,   2.61534617, -13.61427707,
        42.69027016,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.026042377697441e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86773261e-01,  5.05917142e-02, -1.54009774e-01,  4.99865626e-02,
        9.98719419e-01,  7.80160906e-03,  1.54207249e-01, -8.67361738e-19,
       -9.88038524e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11323872, -0.05426024,  0.29655227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004097004209460968
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50286373, -0.84515595, -0.18121669, -0.09266148, -0.15573484,
        0.98344319, -0.85938461,  0.51132972,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494577, -0.03676842,  0.30474286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046535590686688706
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21480503e-06,  1.21480480e-06,  1.00000000e+00,  1.47575098e-12,
        1.00000000e+00, -1.21480480e-06, -1.00000000e+00,  0.00000000e+00,
       -1.21480503e-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([ 0.05293263, -0.0621035 ,  0.06198954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93208197e-05,-4.46364377e-05,-2.69251140e-05,-3.05059316e-05,
 -2.34143222e-03, 1.85531967e-02, 8.44373169e-03, 1.15468343e-03,
 -2.89065024e-05, 1.88150796e-05,-4.14302038e-05, 1.82187479e-05,
  5.38845896e-02, 1.75667223e-02, 1.38632421e-02, 1.11545615e-05,
 -1.55072542e-05, 1.20004897e-05,-9.80999698e+00,-6.49349329e-02,
 -9.26836217e-03,-5.46505358e-03]


--- Step 1450 ---
qpos:
[ 0.0098508 , 0.00808609,-0.00561551, 0.03349614, 0.00565831,-0.01343972,
 -0.01424723, 0.03802803, 0.01308234, 0.00593218,-0.01174202, 0.03407695,
  0.81930823,-0.01317394, 1.16371173, 0.04603044, 0.09426961,-0.06448173,
  0.14242396, 0.94455078,-0.03297457, 0.02975737, 0.3253475 ]

qacc:
[-1.01429396e+00, 4.90667204e-01,-8.96342183e-01,-3.84715023e+00,
  5.27117984e-01,-1.40779844e+00, 2.13016324e+00,-1.05891072e+01,
  1.02639095e-01,-7.24419556e-01, 1.03443179e+00, 2.58752473e+00,
  3.25069174e+00, 2.23128037e+00, 1.35047647e+01,-3.78681250e+01,
 -1.92459391e-02,-4.97325501e-02, 6.09776870e-03, 1.39352248e+00,
 -3.00034748e-01, 3.20937699e+00]

qfrc_actuator:
[ 1.14161733e-05, 2.52619168e-04,-5.95242558e-05, 3.85756444e-05,
 -2.12009444e-03, 1.63594537e-02, 7.34245339e-03, 1.08742105e-03,
 -3.57833666e-05, 6.55683149e-05,-7.64845660e-05, 3.70308767e-05,
  4.92522916e-02, 1.73171646e-02, 0.00000000e+00,-2.13784111e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2230809 , -0.21967133,  0.03885346, -0.21967133,  0.23050552,
        0.04197763,  0.03885346,  0.04197763,  0.46041578,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023721512583120332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98277529, -0.18452227,  0.01021123, -0.18451231,  0.98282833,
        0.00191712, -0.01038964,  0.        , -0.99994603])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12995569, -0.0822129 ,  0.13164067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28736083,   6.46103522,   3.37055659,   6.46103522,
        17.895954  , -20.33566037,   3.37055659, -20.33566037,
        46.26888043,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.225838097105516e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9867801 ,  0.05048204, -0.15400195,  0.04987827,  0.99872497,
        0.00778426,  0.15419856,  0.        , -0.98803988])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132396 , -0.05425936,  0.29655281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004093822335410895
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50276661, -0.84520307, -0.18126641, -0.09266986, -0.1557877 ,
        0.98343403, -0.85944053,  0.51123573,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494519, -0.03676737,  0.30474504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046437388553809264
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.42287329e-07, -5.42287384e-07,  1.00000000e+00,  2.94075577e-13,
        1.00000000e+00,  5.42287384e-07, -1.00000000e+00, -5.04870979e-29,
        5.42287329e-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([ 0.0529337 , -0.06210233,  0.06198956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.89156539e-06,-5.86313863e-05,-4.70761826e-05,-2.15239513e-05,
 -2.38322747e-03, 1.87697358e-02, 8.53047482e-03, 1.17808463e-03,
  5.05579924e-07,-3.16541203e-05, 8.29322773e-06, 1.01481496e-05,
  5.33670040e-02, 1.72261963e-02, 1.35155525e-02,-7.46636917e-05,
 -2.12531913e-05, 1.54315594e-05,-9.80999579e+00,-6.49337451e-02,
 -9.26993865e-03,-5.46396913e-03]


--- Step 1451 ---
qpos:
[ 0.00985031, 0.00808631,-0.00561693, 0.03349588, 0.00565891,-0.01346968,
 -0.01425903, 0.03802915, 0.01308204, 0.00593287,-0.01174179, 0.03407703,
  0.81922012,-0.01318311, 1.16359433, 0.04603329, 0.09427252,-0.06447586,
  0.14242422, 0.94454919,-0.03298984, 0.02974766, 0.32535147]

qacc:
[-3.68054036e+00,-1.77152340e+00, 6.39970628e+00,-1.06370018e+01,
 -4.08239313e+01,-1.90270339e+00, 9.06743772e+00, 3.16644986e+01,
  3.22099713e+00,-9.21122555e-01, 3.95842446e+00,-7.97853833e+00,
 -2.45464412e+01,-2.22359202e+01,-7.71724138e+01, 1.88772930e+02,
  1.80066298e-01, 5.82574218e-01,-1.00783664e-01,-1.44576068e+01,
  2.37814034e+00,-3.05802540e+01]

qfrc_actuator:
[-1.00948008e-05, 2.36444020e-04,-4.31152118e-05, 2.79351240e-05,
 -2.13611823e-03, 1.64218767e-02, 7.38191156e-03, 1.08267703e-03,
 -1.69789748e-05, 6.25702347e-05,-7.13674201e-05, 2.52744187e-05,
  4.92459759e-02, 1.73064149e-02, 0.00000000e+00,-2.24158609e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22321532, -0.21611599,  0.0558476 , -0.21611599,  0.27759432,
        0.21043289,  0.0558476 ,  0.21043289,  1.03753698,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023829753827519102
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98276374, -0.184587  ,  0.01015225, -0.18457715,  0.98281618,
        0.00190674, -0.01032975,  0.        , -0.99994665])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12996093, -0.08221366,  0.13164054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28828101, -7.28296709,  0.27826313, -7.28296709,  7.27782301,
       -0.27371664,  0.27826313, -0.27371664,  0.12430884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4678259384056825e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86788089e-01,  5.03609908e-02, -1.53990385e-01,  4.97587657e-02,
        9.98731080e-01,  7.76496147e-03,  1.54186035e-01, -8.67361738e-19,
       -9.88041835e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324057, -0.05425892,  0.29655341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.21938477,  0.88365237, -0.84027241,  0.88365237,  6.41009908,
        5.45869048, -0.84027241,  5.45869048,  6.95988598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004089944949549327
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50265982, -0.84525693, -0.1813114 , -0.09267396, -0.15583761,
        0.98342574, -0.85950255,  0.51113145,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494447, -0.03676709,  0.30474753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.69794083, -6.27483792,  8.66442999, -6.27483792, 27.78653085,
       12.37567074,  8.66442999, 12.37567074, 19.66048403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004655917941534665
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19227082e-13, -1.19227082e-13,  1.00000000e+00, -1.42150972e-26,
        1.00000000e+00,  1.19227082e-13, -1.00000000e+00,  0.00000000e+00,
       -1.19227082e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0859576 , -0.10941783,  0.06198954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16971024e-05,-5.96176311e-05,-2.23398767e-06,-1.51983515e-05,
 -2.40226743e-03, 1.89939565e-02, 8.64957302e-03, 1.21202400e-03,
  1.88098256e-05,-1.85860112e-05,-6.16294949e-08,-1.26315437e-05,
  5.28952212e-02, 1.69482317e-02, 1.32946720e-02,-6.21522366e-05,
 -2.67644461e-05, 1.87020804e-05,-9.80999452e+00,-6.49321752e-02,
 -9.27154680e-03,-5.46275133e-03]


--- Step 1452 ---
qpos:
[ 0.0098499 , 0.0080863 ,-0.00561829, 0.03349581, 0.00566106,-0.01349756,
 -0.01427022, 0.03803007, 0.01308196, 0.00593321,-0.0117417 , 0.034077  ,
  0.81914813,-0.01318295, 1.16347376, 0.04602918, 0.0942752 ,-0.06447075,
  0.14242463, 0.94454334,-0.03299745, 0.02974037, 0.32536833]

qacc:
[ 8.01663289e-01,-4.71873923e-02,-1.09210051e+00, 4.55120266e+00,
  1.34202664e+01, 5.52664619e-01, 2.81865564e+00,-8.80744631e+00,
  2.00693174e+00,-3.03050909e-01, 8.49670259e-01,-2.14924233e+00,
  5.85645410e+00, 3.63996395e+00, 1.62006804e+01,-6.38345700e+01,
 -5.96488156e-02,-1.90116870e-01, 3.55282498e-02, 3.74890428e+00,
 -2.55356991e-01, 6.92836926e+00]

qfrc_actuator:
[-4.79843840e-06, 2.44706809e-04,-3.28348552e-05, 3.95554540e-05,
 -2.12538526e-03, 1.64306445e-02, 7.38818634e-03, 1.02408520e-03,
 -5.79387160e-06, 2.50823466e-05,-8.61903035e-05, 1.83273927e-05,
  4.92547370e-02, 1.73491006e-02, 0.00000000e+00,-2.23813141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22332583, -0.21598632,  0.05678325, -0.21598632,  0.27238769,
        0.1866165 ,  0.05678325,  0.1866165 ,  0.93315862,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023918293439651172
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9827673 , -0.18457026,  0.01011238, -0.18456049,  0.98281932,
        0.00189907, -0.01028915,  0.        , -0.99994707])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12996469, -0.08221344,  0.13164013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2874117 ,   1.87762765,   7.04136944,   1.87762765,
        64.17098823, -15.16838126,   7.04136944, -15.16838126,
        11.33216071,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.2399001009133217e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86784299e-01,  5.03475726e-02, -1.54019056e-01,  4.97452832e-02,
        9.98731757e-01,  7.76433265e-03,  1.54214637e-01, -8.67361738e-19,
       -9.88037371e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132403 , -0.05425484,  0.29655324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.22130577, -1.01147382,  0.6844768 , -1.01147382,  3.42900533,
        3.26239007,  0.6844768 ,  3.26239007,  6.0422466 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041045995901730216
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.02644144e-01, -8.45249071e-01, -1.81391491e-01, -9.27133962e-02,
       -1.55907341e-01,  9.83410966e-01, -8.59507470e-01,  5.11123184e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494396, -0.0367589 ,  0.30474428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.6781414 , -6.00912879,  8.82683834, -6.00912879, 18.95164631,
        5.63243085,  8.82683834,  5.63243085, 14.51258371,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004641523473648592
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.49466149e-07, -4.49466373e-07,  1.00000000e+00,  2.02019920e-13,
        1.00000000e+00,  4.49466373e-07, -1.00000000e+00,  2.52435490e-29,
        4.49466149e-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([ 0.05293976, -0.06209767,  0.06198957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.65892786e-06,-2.61853005e-05,-2.81956703e-06, 8.69678370e-06,
 -2.15534445e-03, 1.85736247e-02, 8.29214061e-03, 9.83493769e-04,
  1.17162268e-05,-4.84574389e-05,-1.91185714e-05,-7.99453236e-06,
  5.66572450e-02, 1.93007664e-02, 1.52132600e-02,-4.05688751e-04,
 -1.44813030e-06, 1.88811210e-06,-9.80999800e+00,-6.49326099e-02,
 -9.26922400e-03,-5.46263486e-03]


--- Step 1453 ---
qpos:
[ 0.00984957, 0.00808626,-0.00561936, 0.03349619, 0.00566387,-0.01352606,
 -0.01428232, 0.03803034, 0.01308202, 0.00593286,-0.01174107, 0.03407725,
  0.81909049,-0.0131746 , 1.16336329, 0.04602469, 0.09427769,-0.0644662 ,
  0.14242515, 0.94453383,-0.03299878, 0.02973489, 0.32539632]

qacc:
[ 5.90813252e-01, 8.00457922e-02,-2.20941749e+00, 9.43745894e+00,
  5.65903608e+00, 4.26030542e-01,-1.42004388e-02,-9.13643535e+00,
  1.21682850e+00,-1.87628519e+00, 4.23785297e+00,-2.58980687e-02,
  5.07675794e+00, 3.33414806e+00, 1.59475658e+01,-3.43942434e+01,
 -4.52853997e-02,-1.40887048e-01, 2.65982975e-02, 3.03752591e+00,
 -3.02164171e-01, 5.97749551e+00]

qfrc_actuator:
[-1.51372384e-06, 2.67557139e-04,-8.40122589e-06, 6.41900896e-05,
 -2.13848946e-03, 1.64458144e-02, 7.39604976e-03, 1.02419128e-03,
  8.11051842e-07,-1.50970920e-05,-5.95390885e-05, 3.19816303e-05,
  4.92670407e-02, 1.73512898e-02, 0.00000000e+00,-2.08821616e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22348917, -0.21701215,  0.05341477, -0.21701215,  0.24711166,
        0.09597286,  0.05341477,  0.09597286,  0.61340523,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024048410626681684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9827669 , -0.1845744 ,  0.01007491, -0.1845647 ,  0.98281854,
        0.00189208, -0.01025104,  0.        , -0.99994746])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12996837, -0.08221346,  0.13163972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28707148,  7.16150819,  1.34692654,  7.16150819,  8.17205123,
       -4.70537147,  1.34692654, -4.70537147, 32.30518147,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.144096433652407e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86783481e-01,  5.03100827e-02, -1.54036545e-01,  4.97081066e-02,
        9.98733646e-01,  7.75941749e-03,  1.54231857e-01,  8.67361738e-19,
       -9.88034683e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324042, -0.05425156,  0.2965533 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041122165215812955
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50260824, -0.84525405, -0.18146775, -0.09274708, -0.15597604,
        0.9833969 , -0.85952483,  0.51109399,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494349, -0.03675263,  0.30474303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046448059223930455
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.01654179e-07,  7.01654334e-07,  1.00000000e+00,  4.92318695e-13,
        1.00000000e+00, -7.01654334e-07, -1.00000000e+00,  0.00000000e+00,
       -7.01654179e-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([ 0.05294382, -0.06209473,  0.06198956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.40950202e-06, 8.01689817e-06, 1.89947134e-05, 2.35873547e-05,
 -2.24603208e-03, 1.84862337e-02, 8.26924501e-03, 9.93840256e-04,
  6.92333341e-06,-7.15785426e-05, 1.40047276e-05, 1.07591578e-05,
  5.58634614e-02, 1.88357206e-02, 1.53746903e-02, 9.29022142e-05,
 -1.65958661e-06, 2.79835607e-06,-9.80999909e+00,-6.49338918e-02,
 -9.26936714e-03,-5.46239468e-03]


--- Step 1454 ---
qpos:
[ 0.00984961, 0.00808629,-0.00561987, 0.03349613, 0.00566742,-0.01355531,
 -0.01429565, 0.03802992, 0.01308181, 0.00593235,-0.01174007, 0.03407794,
  0.81904572,-0.01315891, 1.1632641 , 0.04602067, 0.09428004,-0.06446207,
  0.14242574, 0.94452113,-0.03299489, 0.0297307 , 0.32543394]

qacc:
[ 3.41142992e+00,-2.41668499e+00, 1.05538699e+01,-1.89791627e+01,
  6.36302721e+00, 1.00085341e+00,-2.10688983e+00,-7.35215061e+00,
 -2.32994316e+00,-3.29385126e-01,-1.03153498e+00, 8.32199930e+00,
  4.50022565e+00, 3.05978936e+00, 1.51428253e+01,-2.89956411e+01,
 -3.46904283e-02,-1.04948505e-01, 1.87317378e-02, 2.48005289e+00,
 -3.46102372e-01, 5.16432631e+00]

qfrc_actuator:
[ 1.83048345e-05, 2.81299388e-04, 2.42723335e-05, 4.30498276e-05,
 -2.13011539e-03, 1.65021921e-02, 7.42391385e-03, 1.07778804e-03,
 -1.30830271e-05, 1.46123568e-05,-2.63676351e-05, 5.76727633e-05,
  4.92810488e-02, 1.73266009e-02, 0.00000000e+00,-2.04949902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2236665 , -0.21882671,  0.04627715, -0.21882671,  0.24027024,
        0.07851267,  0.04627715,  0.07851267,  0.59492246,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002418868505013228
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82668355e-01, -1.85100563e-01,  1.00342710e-02, -1.85090913e-01,
        9.82719584e-01,  1.89000936e-03, -1.02107164e-02,  2.16840434e-19,
       -9.99947869e-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([ 0.12997334, -0.0822197 ,  0.13163966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28710154,  7.06254317,  1.79508575,  7.06254317,  9.17005334,
       -7.4082413 ,  1.79508575, -7.4082413 , 36.43391201,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.152733838565029e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98678512,  0.05025169, -0.15404514,  0.04965034,  0.99873659,
        0.00775082,  0.15424001,  0.        , -0.98803341])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324082, -0.05424898,  0.29655355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004115391439356516
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.02554784e-01, -8.45270898e-01, -1.81537316e-01, -9.27739737e-02,
       -1.56040978e-01,  9.83384057e-01, -8.59553185e-01,  5.11046301e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049431 , -0.03674802,  0.30474311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046432547257569453
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.22704380e-07,  9.22704110e-07,  1.00000000e+00,  8.51383123e-13,
        1.00000000e+00, -9.22704110e-07, -1.00000000e+00,  1.00974196e-28,
       -9.22704380e-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([ 0.05294679, -0.06209243,  0.06198956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99178969e-05, 2.31751436e-05, 3.74975805e-05,-1.96788760e-05,
 -2.27044347e-03, 1.85746379e-02, 8.34359958e-03, 1.07958537e-03,
 -1.37237045e-05,-6.95624255e-06, 2.04793840e-05, 2.33162559e-05,
  5.51598804e-02, 1.84013929e-02, 1.48721673e-02, 1.51236535e-04,
 -4.55191805e-06, 4.89141030e-06,-9.80999911e+00,-6.49343720e-02,
 -9.27009910e-03,-5.46194718e-03]


--- Step 1455 ---
qpos:
[ 0.0098499 , 0.0080867 ,-0.00562035, 0.03349548, 0.00567209,-0.01358614,
 -0.01430962, 0.03802899, 0.01308144, 0.00593199,-0.01173909, 0.03407857,
  0.8190127 ,-0.0131365 , 1.16317348, 0.04601605, 0.09428229,-0.06445826,
  0.14242638, 0.94450568,-0.03298661, 0.0297274 , 0.32547992]

qacc:
[ 2.07308622e+00,-7.68549683e-01, 6.00598538e+00,-1.66931718e+01,
  9.77695159e+00,-1.36906251e+00, 3.99341081e+00,-1.06508263e+01,
 -1.45526159e+00, 1.46330812e-01, 3.65688638e-02,-1.14428494e+00,
  4.11148785e+00, 2.80308312e+00, 1.43808794e+01,-3.21116448e+01,
 -2.70707276e-02,-7.91964183e-02, 1.15962617e-02, 2.04586614e+00,
 -3.90631463e-01, 4.47486341e+00]

qfrc_actuator:
[ 2.99439425e-05, 3.07246477e-04, 2.59793126e-05, 1.28945017e-05,
 -2.09144621e-03, 1.65126672e-02, 7.44670314e-03, 1.07502480e-03,
 -2.11762572e-05, 3.27441664e-05,-2.48407166e-05, 5.47893358e-05,
  4.92903705e-02, 1.73011071e-02, 0.00000000e+00,-2.11370494e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22385458, -0.21932654,  0.04479669, -0.21932654,  0.2409487 ,
        0.08369354,  0.04479669,  0.08369354,  0.63362177,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024336367889402004
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98266094, -0.18514223,  0.00999197, -0.18513266,  0.98271173,
        0.00188248, -0.01016775,  0.        , -0.99994831])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12997739, -0.08222016,  0.13163935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28742456,   6.92133443,   2.28072062,   6.92133443,
        10.87125581, -10.87590228,   2.28072062, -10.87590228,
        40.29267577,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.2434430923769245e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98678877,  0.05017513, -0.15404667,  0.0495747 ,  0.99874043,
        0.00773906,  0.15424095,  0.        , -0.98803326])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324144, -0.05424703,  0.29655393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004115601532913694
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50248602, -0.84529829, -0.1816001 , -0.09279446, -0.15610184,
        0.98337246, -0.85959117,  0.5109824 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494274, -0.03674479,  0.30474412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046379612793846835
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.77241872e-07,  3.77241936e-07,  1.00000000e+00,  1.42311454e-13,
        1.00000000e+00, -3.77241936e-07, -1.00000000e+00,  0.00000000e+00,
       -3.77241872e-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([ 0.05294889, -0.06209065,  0.06198958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22144115e-05, 4.58209710e-05, 1.04364880e-05,-2.82475028e-05,
 -2.26866943e-03, 1.86240048e-02, 8.42836840e-03, 1.11159057e-03,
 -8.48802074e-06, 1.94712740e-05, 3.41233371e-06,-2.02126688e-06,
  5.45256964e-02, 1.80083077e-02, 1.43100829e-02, 6.40116318e-05,
 -8.99470564e-06, 7.69262696e-06,-9.80999849e+00,-6.49342022e-02,
 -9.27119443e-03,-5.46130777e-03]


--- Step 1456 ---
qpos:
[ 0.00985033, 0.00808728,-0.00562075, 0.03349483, 0.00567244,-0.01360808,
 -0.01431619, 0.03803155, 0.01308132, 0.00593165,-0.01173804, 0.03407917,
  0.81890783,-0.01315864, 1.16305088, 0.04602063, 0.09428533,-0.06445224,
  0.14242663, 0.94450855,-0.03300746, 0.02971723, 0.32547041]

qacc:
[ 1.20767563e+00,-1.77358735e-02, 3.22504015e-01,-3.74831996e-01,
 -3.73557140e+01,-1.67725611e+00, 8.39168292e+00, 3.36363530e+01,
  2.20801553e+00,-2.20644649e-01, 9.38024767e-01,-1.53306631e+00,
 -2.33083630e+01,-2.17536587e+01,-7.46285534e+01, 1.93410202e+02,
  1.99226476e-01, 5.52461012e-01,-9.63300914e-02,-1.37484567e+01,
  2.13991854e+00,-2.97320542e+01]

qfrc_actuator:
[ 3.66705033e-05, 3.04665921e-04, 2.71909809e-05, 1.31768111e-05,
 -2.08854366e-03, 1.65322289e-02, 7.46634898e-03, 1.05629497e-03,
 -8.03122912e-06, 2.59179179e-05,-2.43056414e-05, 5.28419163e-05,
  4.92911919e-02, 1.72905661e-02, 4.26881242e-05,-2.07901330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22404723, -0.21479706,  0.0637133 , -0.21479706,  0.37027774,
        0.49298789,  0.0637133 ,  0.49298789,  1.88606054,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002448647425974014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98265105, -0.1851971 ,  0.00994696, -0.18518761,  0.9827014 ,
        0.00187458, -0.01012205,  0.        , -0.99994877])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12998168, -0.08222077,  0.13163908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28800594, -7.28213932,  0.29236529, -7.28213932,  7.27645563,
       -0.28769123,  0.29236529, -0.28769123,  0.12228655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3980542607203104e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98679409,  0.05008278, -0.15404263,  0.04948349,  0.99874507,
        0.00772458,  0.15423618,  0.        , -0.98803401])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324222, -0.05424564,  0.29655441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.22250874,  0.88806258, -0.84016217,  0.88806258,  5.91158531,
        4.95641629, -0.84016217,  4.95641629,  6.46150667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004113728662824805
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50240387, -0.84533494, -0.1816568 , -0.09280924, -0.15615902,
        0.98336199, -0.85963759,  0.5109043 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494232, -0.03674273,  0.30474582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.67164659, -6.28018898,  8.62805119, -6.28018898, 28.89065931,
       13.26126148,  8.62805119, 13.26126148, 20.32425833,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046367811691965124
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.72956788e-07, -8.72956744e-07,  1.00000000e+00, -7.62053515e-13,
        1.00000000e+00,  8.72956744e-07, -1.00000000e+00,  0.00000000e+00,
       -8.72956788e-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([ 0.08563989, -0.10890037,  0.06198958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.09062223e-06, 2.39838056e-05, 1.09862888e-05, 2.05820471e-06,
 -2.32219414e-03, 1.87235984e-02, 8.48050242e-03, 1.11860494e-03,
  1.29104991e-05, 4.67629956e-06, 4.89867948e-06,-1.03680661e-06,
  5.39389195e-02, 1.76610816e-02, 1.39256248e-02, 1.28927924e-04,
 -1.42621852e-05, 1.08919540e-05,-9.80999747e+00,-6.49335016e-02,
 -9.27251860e-03,-5.46048550e-03]


--- Step 1457 ---
qpos:
[ 0.00985083, 0.00808778,-0.00562102, 0.03349457, 0.00567445,-0.01362814,
 -0.01432346, 0.03803354, 0.01308135, 0.00593106,-0.01173659, 0.0340801 ,
  0.81882298,-0.01316927, 1.162926  , 0.04601836, 0.09428812,-0.06444703,
  0.14242701, 0.94450621,-0.0330192 , 0.02970945, 0.32547674]

qacc:
[ 6.86773515e-01, 3.20579844e-01,-2.91752595e+00, 9.40345016e+00,
  1.43445184e+01, 3.24590846e+00,-5.57661274e+00,-4.66291218e+00,
  1.41212122e+00,-7.73631672e-01, 8.74709685e-01, 4.38941629e+00,
  7.38078284e+00, 4.32435425e+00, 1.71096427e+01,-6.51933706e+01,
 -6.30424908e-02,-2.04570403e-01, 3.28775028e-02, 4.37304029e+00,
 -5.40539616e-01, 8.50779063e+00]

qfrc_actuator:
[ 4.04541165e-05, 2.85035516e-04, 2.80212695e-05, 3.13492283e-05,
 -2.10209947e-03, 1.65651550e-02, 7.45856306e-03, 1.04193145e-03,
 -2.45760811e-07, 4.19065869e-06,-6.69187987e-06, 6.92012357e-05,
  4.92940147e-02, 1.73375761e-02, 5.50622698e-05,-2.13655626e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22423589, -0.21644827,  0.05858226, -0.21644827,  0.27726462,
        0.19592924,  0.05858226,  0.19592924,  0.94815039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024632367396853935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98265744, -0.18516456,  0.00992157, -0.18515512,  0.98270753,
        0.00186945, -0.01009616,  0.        , -0.99994903])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12998446, -0.08222033,  0.13163849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28695565, -0.62485193, -7.26011589, -0.62485193, 11.07256992,
       -0.32581414, -7.26011589, -0.32581414,  7.31499729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1104859304958596e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98678802,  0.05009536, -0.15407742,  0.04949564,  0.99874444,
        0.00772827,  0.15427112,  0.        , -0.98802855])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324184, -0.05424077,  0.29655417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.22454724, -0.83439566,  0.89626995, -0.83439566,  4.58094039,
        3.12468345,  0.89626995,  3.12468345,  4.13351715,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041291149440485795
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.02410462e-01, -8.45311958e-01, -1.81745485e-01, -9.28573157e-02,
       -1.56233608e-01,  9.83345605e-01, -8.59628552e-01,  5.10919517e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494222, -0.03673321,  0.30474214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.67919161, -6.01851486,  8.82171255, -6.01851486, 18.70384291,
        5.47472873,  8.82171255,  5.47472873, 14.41426414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004642289346242223
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.58731310e-13, -1.53208163e-13,  1.00000000e+00, -5.49605651e-26,
        1.00000000e+00,  1.53208163e-13, -1.00000000e+00,  0.00000000e+00,
       -3.58731310e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05253791, -0.06148554,  0.06198957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.99217171e-06,-3.87460746e-06, 7.20743935e-06, 1.96209929e-05,
 -2.11952501e-03, 1.83126285e-02, 8.10256719e-03, 9.29367049e-04,
  8.15404523e-06,-1.81421598e-05, 1.91368611e-05, 1.67055233e-05,
  5.75350889e-02, 1.99361323e-02, 1.55393352e-02,-3.87962647e-04,
 -3.95143972e-06, 2.07965129e-06,-9.80999659e+00,-6.49352327e-02,
 -9.27274577e-03,-5.46071198e-03]


--- Step 1458 ---
qpos:
[ 0.00985103, 0.0080881 ,-0.0056209 , 0.03349418, 0.00567717,-0.01365017,
 -0.01433252, 0.03803465, 0.01308114, 0.00593052,-0.01173529, 0.03408088,
  0.81875603,-0.01316977, 1.16280957, 0.04601456, 0.09429072,-0.06444244,
  0.1424275 , 0.94449941,-0.03302344, 0.02970345, 0.32549658]

qacc:
[-2.64726418e+00,-1.57989100e+00, 5.85458861e+00,-8.61460234e+00,
  6.13667406e+00, 5.56746049e-01,-2.10161533e+00,-8.68743894e+00,
 -2.22178457e+00, 1.48249039e-01, 2.16887609e-01,-2.72596213e+00,
  6.49912989e+00, 3.88660362e+00, 1.69911153e+01,-4.16495853e+01,
 -4.72342644e-02,-1.53566767e-01, 2.42948585e-02, 3.55223039e+00,
 -5.39148559e-01, 7.23913679e+00]

qfrc_actuator:
[ 2.47242806e-05, 2.73107153e-04, 4.63018307e-05, 2.43746546e-05,
 -2.12978830e-03, 1.65740579e-02, 7.45722970e-03, 1.03286766e-03,
 -1.34367571e-05, 9.29450180e-06,-1.46947723e-05, 6.06927817e-05,
  4.92976809e-02, 1.73453776e-02, 1.91738307e-05,-2.07730950e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22448478, -0.21761627,  0.05510515, -0.21761627,  0.24956715,
        0.099053  ,  0.05510515,  0.099053  ,  0.61565587,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002482319275066602
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82658837e-01, -1.85158490e-01,  9.89669182e-03, -1.85149101e-01,
        9.82708672e-01,  1.86469965e-03, -1.00708298e-02, -2.16840434e-19,
       -9.99949288e-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([ 0.12998727, -0.08222019,  0.13163791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28648739,  7.19055822,  1.17846127,  7.19055822,  7.90990427,
       -3.80387163,  1.17846127, -3.80387163, 30.49638068,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9687573124806128e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9867854 ,  0.05007824, -0.15409976,  0.04947856,  0.9987453 ,
        0.00772674,  0.15429335,  0.        , -0.98802508])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324187, -0.05423689,  0.29655417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041363691717522774
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50239192, -0.845305  , -0.18182909, -0.09289806, -0.15630664,
        0.98333015, -0.85963499,  0.51090869,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494214, -0.03672602,  0.30474077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004648085257406287
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19427997e-13, -1.23160122e-13,  1.00000000e+00, -1.47087667e-26,
        1.00000000e+00,  1.23160122e-13, -1.00000000e+00,  0.00000000e+00,
       -1.19427997e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05254265, -0.0614823 ,  0.06198955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56198064e-05,-1.17799424e-05, 1.90440182e-05,-6.50955125e-06,
 -2.23037913e-03, 1.82286586e-02, 8.13721279e-03, 9.49397642e-04,
 -1.29672253e-05,-3.67249595e-07,-8.82768350e-06,-8.30300164e-06,
  5.65369137e-02, 1.93685611e-02, 1.56203209e-02, 1.39295310e-05,
 -8.85009061e-07, 1.51478829e-06,-9.80999877e+00,-6.49369862e-02,
 -9.27208358e-03,-5.46067014e-03]


--- Step 1459 ---
qpos:
[ 0.00985104, 0.00808825,-0.00562022, 0.033493  , 0.00568046,-0.01367541,
 -0.0143436 , 0.03803485, 0.01308077, 0.00593026,-0.01173393, 0.03408116,
  0.81870497,-0.0131613 , 1.1627067 , 0.04601199, 0.09429318,-0.0644383 ,
  0.14242804, 0.94448877,-0.0330215 , 0.02969871, 0.32552807]

qacc:
[-1.64784774e+00,-3.40959458e+00, 1.51422205e+01,-2.94856708e+01,
  4.83984918e+00,-4.56315338e-01,-6.95930011e-01,-9.46216551e+00,
 -1.38086604e+00,-8.05194661e-01, 5.55634662e+00,-1.45416096e+01,
  5.67720048e+00, 3.55637915e+00, 1.61532107e+01,-2.77289722e+01,
 -3.55499666e-02,-1.12231138e-01, 1.71194170e-02, 2.88963132e+00,
 -5.41037027e-01, 6.24206672e+00]

qfrc_actuator:
[ 1.53889814e-05, 2.65928388e-04, 7.47427249e-05,-1.50801215e-05,
 -2.14791783e-03, 1.65893954e-02, 7.47887121e-03, 1.06301328e-03,
 -2.11138551e-05, 4.80571763e-05,-2.17544340e-06, 3.76180320e-05,
  4.93066507e-02, 1.73441823e-02, 3.86555561e-05,-1.95055310e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22473846, -0.21927286,  0.04926243, -0.21927286,  0.2414339 ,
        0.07431337,  0.04926243,  0.07431337,  0.55551595,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002501579781267382
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98265625, -0.18517378,  0.00986723, -0.18516445,  0.98270579,
        0.00185931, -0.01004088,  0.        , -0.99994959])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12999043, -0.0822203 ,  0.1316374 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28640637,  7.11222101,  1.58367611,  7.11222101,  8.63852044,
       -6.07228589,  1.58367611, -6.07228589, 34.55677998,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9431836928224516e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86785623e-01,  5.00357462e-02, -1.54112160e-01,  4.94364777e-02,
        9.98747428e-01,  7.72078779e-03,  1.54305439e-01,  8.67361738e-19,
       -9.88023194e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324221, -0.05423387,  0.29655438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004138378470824067
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5023519 , -0.84531241, -0.18190521, -0.09293088, -0.15637569,
        0.98331607, -0.85965483,  0.51087531,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494207, -0.03672078,  0.30474095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004648576074432337
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.35855777e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.35855777e-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([ 0.05254614, -0.06147976,  0.06198955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.78598421e-06,-1.01295000e-05, 2.81240837e-05,-3.94268412e-05,
 -2.28408419e-03, 1.83434830e-02, 8.24814976e-03, 1.02324791e-03,
 -8.04536419e-06, 3.63757570e-05, 1.10586666e-05,-2.35604242e-05,
  5.56512184e-02, 1.88606826e-02, 1.52191470e-02, 2.18269061e-04,
 -2.20824956e-06, 2.96689101e-06,-9.80999931e+00,-6.49378497e-02,
 -9.27241120e-03,-5.46034597e-03]


--- Step 1460 ---
qpos:
[ 0.00985093, 0.00808843,-0.00561929, 0.0334917 , 0.00568438,-0.01370368,
 -0.01435681, 0.03803412, 0.0130803 , 0.00593028,-0.01173217, 0.03408113,
  0.81866837,-0.01314464, 1.1626122 , 0.04600837, 0.09429553,-0.0644345 ,
  0.14242863, 0.94447484,-0.03301437, 0.02969483, 0.32556958]

qacc:
[-9.78161573e-01,-8.76600996e-01, 3.73087609e+00,-6.29378870e+00,
  5.55638219e+00, 2.00990277e-02,-1.96235106e+00,-8.50249213e+00,
 -7.77369625e-01,-1.36878710e+00, 6.66649176e+00,-1.26899818e+01,
  5.19418469e+00, 3.23184479e+00, 1.53947814e+01,-3.62031066e+01,
 -2.70339242e-02,-8.51197638e-02, 1.02272922e-02, 2.38753067e+00,
 -5.56659713e-01, 5.36368824e+00]

qfrc_actuator:
[ 9.89844500e-06, 2.79417540e-04, 9.11971371e-05,-2.00595970e-05,
 -2.14269245e-03, 1.66106215e-02, 7.47975531e-03, 1.08156760e-03,
 -2.54772064e-05, 7.12388995e-05, 2.25087326e-05, 2.39631608e-05,
  4.93183389e-02, 1.73524523e-02, 6.39674806e-05,-2.06949169e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2249791 , -0.22049588,  0.04468966, -0.22049588,  0.23808175,
        0.06464761,  0.04468966,  0.06464761,  0.54394617,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000251967859742074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82650354e-01, -1.85206962e-01,  9.83170263e-03, -1.85197693e-01,
        9.82699538e-01,  1.85295679e-03, -1.00047901e-02, -2.16840434e-19,
       -9.99949951e-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([ 0.12999402, -0.08222064,  0.13163699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28661736,  6.98530842,  2.07370656,  6.98530842, 10.05962   ,
       -9.34089665,  2.07370656, -9.34089665, 38.75155324,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0091014903645302e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98678819,  0.04997124, -0.15411667,  0.04937271,  0.99875066,
        0.00771104,  0.15430946,  0.        , -0.98802257])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324278, -0.05423163,  0.29655473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004137124489397499
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50229324, -0.84533267, -0.181973  , -0.09295584, -0.15643972,
        0.98330353, -0.85968641,  0.51082217,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494199, -0.0367172 ,  0.30474216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004644935281249013
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.60198379e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.60198379e-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([ 0.05254865, -0.06147777,  0.06198956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.77330933e-06, 1.19304453e-05, 1.64551000e-05,-5.20663612e-06,
 -2.30686915e-03, 1.85262992e-02, 8.35096620e-03, 1.08748167e-03,
 -4.57816152e-06, 4.47864736e-05, 3.27312728e-05,-1.21747948e-05,
  5.48684311e-02, 1.84202230e-02, 1.45688574e-02, 3.81008260e-05,
 -6.16128031e-06, 5.67679555e-06,-9.80999884e+00,-6.49379837e-02,
 -9.27335301e-03,-5.45976826e-03]


--- Step 1461 ---
qpos:
[ 0.00985076, 0.00808884,-0.00561831, 0.03349138, 0.0056889 ,-0.01373512,
 -0.01437203, 0.03803249, 0.01308014, 0.00593045,-0.01173004, 0.03408062,
  0.8186451 ,-0.01312046, 1.16252067, 0.0460012 , 0.09429779,-0.06443098,
  0.14242924, 0.94445812,-0.03300288, 0.02969149, 0.32561953]

qacc:
[-5.73728258e-01, 2.13504400e+00,-1.13255121e+01, 2.79783618e+01,
  5.13772984e+00,-4.59765164e-01,-6.48126315e-01,-9.41026069e+00,
  2.61517625e+00,-1.85816019e+00, 8.97911670e+00,-1.81827580e+01,
  4.86268646e+00, 2.84772166e+00, 1.50261853e+01,-4.64419270e+01,
 -2.16439308e-02,-6.82822747e-02, 4.32179952e-03, 1.97570956e+00,
 -5.53474313e-01, 4.50553878e+00]

qfrc_actuator:
[ 6.71296735e-06, 3.05162766e-04, 1.00554178e-04, 3.08047069e-05,
 -2.14151436e-03, 1.66542330e-02, 7.48684728e-03, 1.07579830e-03,
 -1.01043800e-05, 6.72264883e-05, 3.63777624e-05,-1.79314425e-06,
  4.93312135e-02, 1.73280751e-02, 6.08023449e-05,-2.31630432e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22520627, -0.22116429,  0.04247608, -0.22116429,  0.23652218,
        0.05891966,  0.04247608,  0.05891966,  0.53198891,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025366131835290726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98264166, -0.18525531,  0.00979017, -0.18524612,  0.98269042,
        0.00184563, -0.00996262,  0.        , -0.99995037])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12999804, -0.08222116,  0.13163665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28708163,   6.82822524,   2.54497518,   6.82822524,
        12.14937557, -13.04564321,   2.54497518, -13.04564321,
        42.28883364,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.1470169794832917e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86792683e-01,  4.98877661e-02, -1.54114927e-01,  4.92902574e-02,
        9.98754830e-01,  7.69803481e-03,  1.54307066e-01,  8.67361738e-19,
       -9.88022940e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324352, -0.05423007,  0.29655519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004133593829229846
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.02218422e-01, -8.45364048e-01, -1.82033741e-01, -9.29740823e-02,
       -1.56499529e-01,  9.83292285e-01, -8.59728141e-01,  5.10751919e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494179, -0.03671498,  0.30474413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004638145234897445
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.61808626e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.61808626e-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([ 0.05255039, -0.06147622,  0.06198958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.34753911e-06, 3.55762765e-05, 1.36582094e-05, 5.18442169e-05,
 -2.33787771e-03, 1.87223980e-02, 8.46493431e-03, 1.12835558e-03,
  1.52593592e-05, 2.72474222e-05, 2.67094199e-05,-2.29453478e-05,
  5.41576421e-02, 1.79852892e-02, 1.41496212e-02,-1.55776695e-04,
 -1.15913541e-05, 9.10606693e-06,-9.80999776e+00,-6.49375135e-02,
 -9.27468928e-03,-5.45895474e-03]


--- Step 1462 ---
qpos:
[ 0.00985021, 0.00808934,-0.00561716, 0.03349168, 0.00569405,-0.01377002,
 -0.01438912, 0.03803001, 0.01307981, 0.0059305 ,-0.01172731, 0.03407947,
  0.81863361,-0.0130897 , 1.16243938, 0.04599428, 0.09429999,-0.06442764,
  0.14242985, 0.944439  ,-0.03298781, 0.02968844, 0.32567679]

qacc:
[-3.34669173e+00, 9.52368468e-01,-5.79758980e+00, 1.61437857e+01,
  5.41647175e+00,-1.07880920e+00, 7.71063090e-01,-9.86164517e+00,
 -1.37993050e+00,-3.13734751e+00, 1.36365493e+01,-2.54504649e+01,
  4.19722162e+00, 2.60982060e+00, 1.42493657e+01,-2.81207342e+01,
 -1.79932004e-02,-4.69655234e-02, 7.37146812e-04, 1.59278882e+00,
 -5.28560350e-01, 3.90859729e+00]

qfrc_actuator:
[-1.28442200e-05, 3.02568591e-04, 1.05741857e-04, 6.08663898e-05,
 -2.14297308e-03, 1.66948772e-02, 7.51614224e-03, 1.09128345e-03,
 -1.87449894e-05, 4.69102170e-05, 6.13770550e-05,-3.44983885e-05,
  4.93337305e-02, 1.73347743e-02, 7.26884401e-05,-2.21085518e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22541368, -0.22204753,  0.03881008, -0.22204753,  0.23435077,
        0.05113253,  0.03881008,  0.05113253,  0.5179627 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002551950814594074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98263065, -0.1853162 ,  0.00974265, -0.1853071 ,  0.98267894,
        0.00183729, -0.00991437,  0.        , -0.99995085])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13000247, -0.08222185,  0.13163639])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28778704,   6.64852108,   2.98479602,   6.64852108,
        14.88955109, -16.93264406,   2.98479602, -16.93264406,
        45.00461601,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.3410406391174172e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86798746e-01,  4.97883526e-02, -1.54108257e-01,  4.91920924e-02,
        9.98759791e-01,  7.68232392e-03,  1.54299621e-01,  8.67361738e-19,
       -9.88024102e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324438, -0.05422915,  0.29655572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041284382360573166
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50212996, -0.84540479, -0.18208855, -0.09298666, -0.15655582,
        0.98328214, -0.85977845,  0.51066723,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494137, -0.03671389,  0.30474668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046290212148032694
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19919846e-13,  5.62124279e-14,  1.00000000e+00,  6.74098571e-27,
        1.00000000e+00, -5.62124279e-14, -1.00000000e+00,  0.00000000e+00,
       -1.19919846e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05255152, -0.06147501,  0.0619896 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96450711e-05, 2.23172848e-05, 1.59973145e-05, 3.30655737e-05,
 -2.36906984e-03, 1.89228554e-02, 8.59489505e-03, 1.18904664e-03,
 -8.19488066e-06,-5.70568790e-07, 3.30969606e-05,-3.10646975e-05,
  5.34938463e-02, 1.76156863e-02, 1.40140678e-02, 1.27761150e-04,
 -1.76044848e-05, 1.27988723e-05,-9.80999634e+00,-6.49365330e-02,
 -9.27626670e-03,-5.45792274e-03]


--- Step 1463 ---
qpos:
[ 0.00985012, 0.00808948,-0.00561567, 0.03349169, 0.00569979,-0.01380767,
 -0.01440779, 0.03802679, 0.0130787 , 0.00593056,-0.01172435, 0.03407864,
  0.8186303 ,-0.01305418, 1.16237084, 0.04598944, 0.09430209,-0.06442441,
  0.14243048, 0.94441805,-0.03297035, 0.02968578, 0.32573955]

qacc:
[ 4.05392546e+00,-2.04539392e+00, 7.78355787e+00,-1.29804951e+01,
  5.07050194e+00,-7.49639981e-01, 4.88326119e-01,-8.71099389e+00,
 -6.94831697e+00, 3.73808280e-02,-1.42534797e+00, 6.51302519e+00,
  2.66128563e+00, 2.26383681e+00, 1.25070115e+01,-1.65001262e+01,
 -2.07377988e-02,-2.84034339e-02, 4.28552159e-03, 1.07668710e+00,
 -2.73272651e-01, 2.92904125e+00]

qfrc_actuator:
[ 1.13761427e-05, 2.47490737e-04, 1.08296474e-04, 4.29090646e-05,
 -2.12853035e-03, 1.67352981e-02, 7.52392941e-03, 1.08432169e-03,
 -5.92092632e-05, 5.25216288e-05, 7.49206494e-05,-1.77785574e-05,
  4.93296930e-02, 1.73402904e-02, 3.95877895e-05,-2.07395968e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22559558, -0.2224653 ,  0.03745074, -0.2224653 ,  0.23385605,
        0.04906892,  0.03745074,  0.04906892,  0.51707536,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000256530535030347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98261769, -0.18538772,  0.00968904, -0.18537871,  0.98266545,
        0.00182791, -0.00985995,  0.        , -0.99995139])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13000733, -0.08222267,  0.1316362 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28872619,   6.31070009,   3.64699792,   6.31070009,
        20.44067054, -22.75788966,   3.64699792, -22.75788966,
        46.66857211,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.5767373855403272e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86806095e-01,  4.96750254e-02, -1.54097773e-01,  4.90802106e-02,
        9.98765434e-01,  7.66427283e-03,  1.54288252e-01,  8.67361738e-19,
       -9.88025878e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324533, -0.05422878,  0.29655631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041227085563422483
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50202959, -0.84545413, -0.18213623, -0.09299325, -0.15660735,
        0.98327331, -0.85983635,  0.51056973,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494079, -0.03671378,  0.3047495 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046182200316407043
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75604058e-07, -2.75604002e-07,  1.00000000e+00,  7.59575813e-14,
        1.00000000e+00,  2.75604002e-07, -1.00000000e+00,  0.00000000e+00,
        2.75604058e-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([ 0.05297096, -0.06207323,  0.06198962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.36635991e-05,-3.79139408e-05, 1.02603208e-05,-1.58073762e-05,
 -2.38592195e-03, 1.91376938e-02, 8.69715074e-03, 1.22454876e-03,
 -4.06947139e-05, 1.07624794e-05, 1.63974802e-05, 1.72325256e-05,
  5.29012256e-02, 1.72912457e-02, 1.34710160e-02, 2.52416850e-04,
 -2.38211614e-05, 1.66284702e-05,-9.80999477e+00,-6.49351320e-02,
 -9.27797438e-03,-5.45669495e-03]


--- Step 1464 ---
qpos:
[ 0.00985101, 0.00808921,-0.00561405, 0.03349116, 0.00570098,-0.01383675,
 -0.01441945, 0.03802694, 0.01307745, 0.00593074,-0.01172156, 0.03407838,
  0.81855251,-0.01306506, 1.16226608, 0.04599556, 0.09430476,-0.06441871,
  0.14243065, 0.94441604,-0.03298483, 0.0296753 , 0.32574486]

qacc:
[ 8.61661814e+00,-2.02084905e+00, 8.65438116e+00,-1.78227843e+01,
 -3.92464012e+01,-1.26727530e+00, 6.87945036e+00, 3.37588268e+01,
 -1.16288980e+00, 1.83858644e+00,-8.71793356e+00, 1.87315426e+01,
 -2.37461764e+01,-2.32414404e+01,-8.62255984e+01, 2.24871112e+02,
  1.40023956e-01, 6.20308804e-01,-1.14329882e-01,-1.51925526e+01,
  2.18092984e+00,-3.08115916e+01]

qfrc_actuator:
[ 6.11738938e-05, 2.14605294e-04, 1.09022998e-04, 1.45484843e-05,
 -2.14026274e-03, 1.67762690e-02, 7.53702341e-03, 1.06412359e-03,
 -6.48145731e-05, 5.58553170e-05, 6.39696092e-05, 1.01473756e-05,
  4.93216215e-02, 1.73087900e-02, 1.08547246e-05,-2.04439132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22575125, -0.21890409,  0.05517815, -0.21890409,  0.27582156,
        0.19864013,  0.05517815,  0.19864013,  1.01380122,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002576663673433261
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9826031 , -0.18546691,  0.00965295, -0.18545796,  0.98265051,
        0.00182191, -0.00982338,  0.        , -0.99995175])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13001252, -0.0822236 ,  0.13163608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28988861, -7.28134553,  0.35282196, -7.28134553,  7.27303259,
       -0.34786543,  0.35282196, -0.34786543,  0.1108333 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8414543041958927e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86814416e-01,  4.95511521e-02, -1.54084368e-01,  4.89579318e-02,
        9.98771587e-01,  7.64444852e-03,  1.54273880e-01, -8.67361738e-19,
       -9.88028122e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324632, -0.05422879,  0.29655692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.22299881,  0.93642089, -0.78666512,  0.93642089,  6.01723191,
        5.70690115, -0.78666512,  5.70690115,  8.0163107 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041174371995909837
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5019203 , -0.84551008, -0.18217772, -0.09299491, -0.15665461,
        0.98326562, -0.85989997,  0.51046258,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494013, -0.03671434,  0.30475233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.66255137, -6.25794746,  8.63296561, -6.25794746, 27.63278897,
       12.30154968,  8.63296561, 12.30154968, 19.57981747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046301230018565287
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19891310e-13, -1.19891310e-13,  1.00000000e+00, -1.43739262e-26,
        1.00000000e+00,  1.19891310e-13, -1.00000000e+00,  0.00000000e+00,
       -1.19891310e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08603529, -0.1093633 ,  0.06198959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.04569759e-05,-5.26592368e-05,-6.40837515e-06,-2.99425469e-05,
 -2.42696835e-03, 1.93182310e-02, 8.79016822e-03, 1.24148012e-03,
 -6.75658193e-06, 1.34247751e-05,-6.14510600e-06, 2.92864284e-05,
  5.24837416e-02, 1.70213639e-02, 1.28060717e-02, 1.78403627e-04,
 -2.89803551e-05, 1.97702353e-05,-9.80999359e+00,-6.49333180e-02,
 -9.27956204e-03,-5.45535135e-03]


--- Step 1465 ---
qpos:
[ 0.00985146, 0.00808878,-0.00561228, 0.03349061, 0.00570322,-0.01386401,
 -0.01443171, 0.03802661, 0.01307684, 0.00593109,-0.01171923, 0.03407847,
  0.81848904,-0.01306748, 1.16216327, 0.04599782, 0.09430722,-0.06441372,
  0.14243098, 0.94441002,-0.0329921 , 0.02966736, 0.32576232]

qacc:
[-3.89668273e+00,-6.72558666e-01, 2.21263163e+00,-2.78050482e+00,
  9.02565943e+00, 3.08522235e+00,-5.51021689e+00,-3.15817334e+00,
  5.54346494e+00, 2.15414448e+00,-8.87024689e+00, 1.55290716e+01,
  4.99695126e+00, 3.61544095e+00, 1.44250791e+01,-4.65352021e+01,
 -5.33516229e-02,-1.80856357e-01, 3.88345045e-02, 3.57793663e+00,
 -1.19412968e-01, 6.54227352e+00]

qfrc_actuator:
[ 3.68502217e-05, 2.30735063e-04, 1.26487882e-04, 1.58180544e-05,
 -2.18055686e-03, 1.67718278e-02, 7.54532995e-03, 1.10318077e-03,
 -3.20949926e-05, 5.77112786e-05, 3.86439659e-05, 2.66676712e-05,
  4.93289272e-02, 1.72688249e-02, 3.66225980e-05,-1.85814528e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2258601 , -0.22105812,  0.04632593, -0.22105812,  0.25088527,
        0.11941512,  0.04632593,  0.11941512,  0.79568527,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025845674165094325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82605479e-01, -1.85456307e-01,  9.61406423e-03, -1.85447431e-01,
        9.82652511e-01,  1.81446527e-03, -9.78378838e-03,  2.16840434e-19,
       -9.99952138e-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([ 0.13001618, -0.08222346,  0.13163568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28874088, -0.62262761, -7.26209877, -0.62262761,  9.59778328,
       -0.19796943, -7.26209877, -0.19796943,  7.30571411,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.580253538916604e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98681062,  0.04953529, -0.15411375,  0.04894204,  0.99877237,
        0.00764345,  0.15430318,  0.        , -0.98802355])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324586, -0.05422515,  0.29655663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.22491778, -0.86302288,  0.86926122, -0.86302288,  4.32755947,
        3.08037527,  0.86926122,  3.08037527,  4.28318642,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004131900490761147
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5019022 , -0.84550444, -0.18225372, -0.09303168, -0.15672117,
        0.98325154, -0.85990655,  0.51045148,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493959, -0.03670684,  0.30474905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.64459988, -5.99552056,  8.79552385, -5.99552056, 19.06446492,
        5.73945052,  8.79552385,  5.73945052, 14.55693007,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004616922541781419
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.37461075e-07, -5.37461014e-07,  1.00000000e+00,  2.88864374e-13,
        1.00000000e+00,  5.37461014e-07, -1.00000000e+00,  0.00000000e+00,
        5.37461075e-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([ 0.05297666, -0.06206884,  0.06198962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.29036901e-05,-1.59176716e-05, 4.74452005e-06,-1.79555629e-06,
 -2.24005075e-03, 1.88859207e-02, 8.44792715e-03, 1.11215335e-03,
  3.25346112e-05, 9.30397691e-06,-2.23313154e-05, 1.74469705e-05,
  5.62157967e-02, 1.93018155e-02, 1.46445204e-02,-1.82838167e-04,
 -1.48272547e-06, 1.94718543e-06,-9.80999800e+00,-6.49335609e-02,
 -9.27679105e-03,-5.45508510e-03]


--- Step 1466 ---
qpos:
[ 0.00985092, 0.0080884 ,-0.00561072, 0.03349042, 0.00570609,-0.01389221,
 -0.01444498, 0.03802574, 0.01307696, 0.00593192,-0.01171708, 0.03407835,
  0.81843829,-0.01306243, 1.16207095, 0.04600053, 0.09430951,-0.06440928,
  0.14243142, 0.94440054,-0.03299343, 0.02966134, 0.32579022]

qacc:
[ -8.64639414,  1.41475817, -6.45631576, 13.00250293,  5.49389966,
   0.4259221 , -1.07258027, -5.99024264,  6.50769424,  0.74972322,
  -0.87961821, -2.74491834,  4.33235764,  3.30606422, 14.041789  ,
 -26.84019306, -0.0401572 , -0.13528417,  0.02955205,  2.90016955,
  -0.1812607 ,  5.60661997]

qfrc_actuator:
[-1.31603275e-05, 2.40679455e-04, 1.18415888e-04, 3.45680341e-05,
 -2.18850553e-03, 1.67612211e-02, 7.55558051e-03, 1.12703599e-03,
  5.15594325e-06, 1.11850613e-04, 4.05308255e-05, 1.85825404e-05,
  4.93348224e-02, 1.72229739e-02, 2.90499507e-05,-1.72723663e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22601469, -0.22213705,  0.04168659, -0.22213705,  0.2409321 ,
        0.07949103,  0.04168659,  0.07949103,  0.64960179,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002595739802917192
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82604052e-01, -1.85465767e-01,  9.57735197e-03, -1.85456958e-01,
        9.82650726e-01,  1.80763203e-03, -9.74644573e-03,  2.16840434e-19,
       -9.99952502e-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([ 0.13001982, -0.08222354,  0.1316353 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28821788,  7.1599362 ,  1.36140863,  7.1599362 ,  8.20609872,
       -4.82732961,  1.36140863, -4.82732961, 32.67616618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.45199008626081e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98680969,  0.0494967 , -0.15413212,  0.04890377,  0.99877429,
        0.00763839,  0.15432128,  0.        , -0.98802072])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132458 , -0.05422223,  0.29655659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004140021449665411
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50186514, -0.84551097, -0.1823255 , -0.09306271, -0.15678623,
        0.98323823, -0.85992483,  0.5104207 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493916, -0.03670115,  0.3047476 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004621412828015973
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.89492194e-07,  5.89491743e-07,  1.00000000e+00,  3.47500781e-13,
        1.00000000e+00, -5.89491743e-07, -1.00000000e+00,  5.04870979e-29,
       -5.89492194e-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([ 0.05298063, -0.06206598,  0.06198961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.06691090e-05, 1.93287583e-06,-1.08517716e-05, 1.81961984e-05,
 -2.30044366e-03, 1.87854691e-02, 8.48885267e-03, 1.16015162e-03,
  3.81826218e-05, 5.54465411e-05, 1.62830053e-06,-8.12715389e-06,
  5.55056219e-02, 1.88321541e-02, 1.45414355e-02, 1.41334375e-04,
 -1.85155801e-06, 2.96058403e-06,-9.80999896e+00,-6.49348484e-02,
 -9.27708220e-03,-5.45475496e-03]


--- Step 1467 ---
qpos:
[ 0.00984978, 0.00808822,-0.00560993, 0.03349082, 0.00570966,-0.01392232,
 -0.01445897, 0.0380244 , 0.01307685, 0.00593348,-0.01171537, 0.03407811,
  0.81839937,-0.01305045, 1.16198234, 0.04600049, 0.09431169,-0.06440527,
  0.14243195, 0.94438814,-0.03298979, 0.02965672, 0.32582694]

qacc:
[-5.25221738e+00, 3.62476124e+00,-1.50243017e+01, 2.63057154e+01,
  6.01557512e+00,-1.43240644e+00, 3.40302028e+00,-8.82249299e+00,
 -2.17484217e+00, 1.96832028e+00,-5.12303116e+00, 3.32769050e+00,
  4.10320131e+00, 2.97794276e+00, 1.37314666e+01,-4.02644958e+01,
 -3.05763504e-02,-1.07407706e-01, 2.04866720e-02, 2.39926109e+00,
 -2.52155188e-01, 4.74076170e+00]

qfrc_actuator:
[-4.23601676e-05, 2.46771051e-04, 7.75701696e-05, 6.34286845e-05,
 -2.17705438e-03, 1.67844648e-02, 7.58539400e-03, 1.12427144e-03,
 -8.49447989e-06, 1.61461381e-04, 2.31695157e-05, 1.39045739e-05,
  4.93341736e-02, 1.72422296e-02, 0.00000000e+00,-1.95183732e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22617721, -0.22251508,  0.040536  , -0.22251508,  0.24006342,
        0.07622586,  0.040536  ,  0.07622586,  0.6446054 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002607418694511025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98259947, -0.18549167,  0.00954589, -0.18548292,  0.98264584,
        0.00180196, -0.00971448,  0.        , -0.99995281])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13002366, -0.08222382,  0.13163498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28812823,  7.06294154,  1.79768457,  7.06294154,  9.19156711,
       -7.47844076,  1.79768457, -7.47844076, 36.67025172,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.429320888972623e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86811109e-01,  4.94385217e-02, -1.54141713e-01,  4.88462131e-02,
        9.98777169e-01,  7.62986844e-03,  1.54330433e-01,  8.67361738e-19,
       -9.88019290e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324605, -0.05421994,  0.29655673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041440185224472326
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.01811709e-01, -8.45528512e-01, -1.82391182e-01, -9.30874760e-02,
       -1.56847905e-01,  9.83226046e-01, -8.59953330e-01,  5.10372677e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493885, -0.03669699,  0.3047474 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004621002663067759
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.32233381e-07,  8.32233607e-07,  1.00000000e+00,  6.92612588e-13,
        1.00000000e+00, -8.32233607e-07, -1.00000000e+00,  0.00000000e+00,
       -8.32233381e-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([ 0.05298353, -0.06206376,  0.06198961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06434299e-05, 5.69067485e-06,-4.11641917e-05, 2.89221693e-05,
 -2.32083121e-03, 1.88575269e-02, 8.56947495e-03, 1.18461617e-03,
 -1.25406815e-05, 8.05635964e-05,-6.02482398e-06,-2.41166433e-06,
  5.48687200e-02, 1.84782981e-02, 1.39902266e-02,-1.05147028e-04,
 -4.57783176e-06, 4.94980848e-06,-9.80999899e+00,-6.49353489e-02,
 -9.27787479e-03,-5.45425112e-03]


--- Step 1468 ---
qpos:
[ 0.00984865, 0.00808797,-0.00560955, 0.03349157, 0.00571372,-0.01395419,
 -0.01447435, 0.03802242, 0.01307657, 0.00593588,-0.01171428, 0.03407817,
  0.81837119,-0.01303221, 1.1618998 , 0.04599896, 0.09431377,-0.06440158,
  0.14243253, 0.94437323,-0.032982  , 0.02965309, 0.32587128]

qacc:
[ 1.88066220e-02, 1.79975858e+00,-8.02086406e+00, 1.48160290e+01,
  4.21008077e+00, 1.84003906e-01,-1.34905063e+00,-6.26112132e+00,
 -1.46044439e+00, 3.40211940e+00,-1.17571303e+01, 1.71382048e+01,
  3.69552870e+00, 2.72265651e+00, 1.33504983e+01,-3.38794957e+01,
 -2.38207661e-02,-8.11659674e-02, 1.36689605e-02, 1.96496383e+00,
 -2.95350283e-01, 4.08385943e+00]

qfrc_actuator:
[-4.13162046e-05, 2.32630661e-04, 5.32043597e-05, 8.02299285e-05,
 -2.17202817e-03, 1.68115907e-02, 7.59156493e-03, 1.14117712e-03,
 -1.64912689e-05, 2.07910993e-04,-5.42078592e-06, 2.90109247e-05,
  4.93292210e-02, 1.72270771e-02, 2.59859913e-05,-1.99616340e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22633569, -0.22329455,  0.03697823, -0.22329455,  0.2361272 ,
        0.05912646,  0.03697823,  0.05912646,  0.58337323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002618742761933634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98259224, -0.18553132,  0.00951979, -0.18552261,  0.98263835,
        0.00179743, -0.00968799,  0.        , -0.99995307])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13002775, -0.08222427,  0.13163473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2883735 ,   6.95129479,   2.19086489,   6.95129479,
        10.54848571, -10.3438606 ,   2.19086489, -10.3438606 ,
        40.10793465,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.4908464118708664e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86814446e-01,  4.93637514e-02, -1.54144312e-01,  4.87723230e-02,
        9.98780867e-01,  7.61842940e-03,  1.54332464e-01, -8.67361738e-19,
       -9.88018973e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324652, -0.05421823,  0.29655703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004144864541024294
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50174433, -0.84555537, -0.18245203, -0.0931071 , -0.15690702,
        0.98321476, -0.85999052,  0.51031001,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049385 , -0.03669409,  0.30474817])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046168104450610217
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.39943336e-07,  3.39943489e-07,  1.00000000e+00,  1.15561524e-13,
        1.00000000e+00, -3.39943489e-07, -1.00000000e+00,  0.00000000e+00,
       -3.39943336e-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([ 0.05298559, -0.06206203,  0.06198962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73056172e-07,-1.82323439e-05,-2.72652442e-05, 1.61829919e-05,
 -2.35051853e-03, 1.89807263e-02, 8.61260571e-03, 1.22474527e-03,
 -8.31812019e-06, 9.00722732e-05,-1.28119852e-05, 1.82970976e-05,
  5.42722544e-02, 1.81159911e-02, 1.38319608e-02,-1.13279066e-05,
 -8.58568863e-06, 7.44907495e-06,-9.80999845e+00,-6.49352090e-02,
 -9.27897966e-03,-5.45357952e-03]


--- Step 1469 ---
qpos:
[ 0.00984788, 0.00808768,-0.00560974, 0.03349219, 0.00571332,-0.01397741,
 -0.01448271, 0.03802388, 0.01307619, 0.00593825,-0.01171287, 0.03407811,
  0.81827125,-0.01305865, 1.16178397, 0.0460075 , 0.09431661,-0.06439561,
  0.14243269, 0.94437666,-0.03300373, 0.02964218, 0.32586012]

qacc:
[ 3.19381592e+00, 1.26667554e+00,-4.00448271e+00, 2.52351445e+00,
 -3.84985434e+01,-1.02332011e+00, 5.89380447e+00, 3.57649391e+01,
 -8.07812922e-01,-1.14156707e+00, 4.49268070e+00,-6.96815722e+00,
 -2.29842343e+01,-2.22487331e+01,-7.92108816e+01, 2.06592176e+02,
  1.90652302e-01, 5.70845110e-01,-1.04462260e-01,-1.39981594e+01,
  2.01902434e+00,-2.97509089e+01]

qfrc_actuator:
[-2.24867146e-05, 2.24283069e-04, 2.09286209e-05, 7.20455041e-05,
 -2.18868119e-03, 1.68239260e-02, 7.60224545e-03, 1.13474550e-03,
 -2.10801722e-05, 1.63311750e-04,-4.89585805e-06, 2.01248112e-05,
  4.93266833e-02, 1.71714262e-02, 6.83392298e-05,-1.89699197e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22648706, -0.22004299,  0.05364209, -0.22004299,  0.30905659,
        0.33870499,  0.05364209,  0.33870499,  1.61587464,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026295002624000634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98258279, -0.18558247,  0.00949828, -0.1855738 ,  0.98262869,
        0.00179388, -0.00966619,  0.        , -0.99995328])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13003211, -0.08222486,  0.13163454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28890052, -7.28215077,  0.31360956, -7.28215077,  7.27557975,
       -0.30931404,  0.31360956, -0.30931404,  0.10649358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6181489281804057e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98681936,  0.04927463, -0.15414139,  0.04868429,  0.99878527,
        0.0076045 ,  0.15432885,  0.        , -0.98801954])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324718, -0.05421705,  0.29655743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.22648706,  0.97230685, -0.7475894 ,  0.97230685,  3.60847904,
        3.09799353, -0.7475894 ,  3.09799353,  5.25570461,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041436599942528703
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50166485, -0.84559054, -0.18250757, -0.09312166, -0.15696296,
        0.98320445, -0.86003531,  0.51023452,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493809, -0.03669224,  0.30474963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.64371756, -6.28145903,  8.59255469, -6.28145903, 29.82264821,
       14.02047138,  8.59255469, 14.02047138, 20.89317419,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046162717071976953
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.22451581e-07, -8.22451874e-07,  1.00000000e+00, -6.76426845e-13,
        1.00000000e+00,  8.22451874e-07, -1.00000000e+00,  0.00000000e+00,
       -8.22451581e-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([ 0.08572193, -0.10885397,  0.06198962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88287386e-05,-2.34752969e-05,-3.88421802e-05,-9.59586599e-06,
 -2.39158148e-03, 1.90829248e-02, 8.69283381e-03, 1.25058829e-03,
 -4.78541479e-06, 3.80352284e-06, 1.81443017e-05,-5.12102603e-06,
  5.37323628e-02, 1.77467374e-02, 1.35728207e-02, 1.62244199e-04,
 -1.32477995e-05, 1.02421968e-05,-9.80999756e+00,-6.49345493e-02,
 -9.28026309e-03,-5.45274992e-03]


--- Step 1470 ---
qpos:
[ 0.00984735, 0.00808767,-0.00561079, 0.03349268, 0.00571454,-0.01399922,
 -0.01449108, 0.03802502, 0.01307543, 0.00593978,-0.01171104, 0.03407804,
  0.8181903 ,-0.01307411, 1.16166477, 0.04600892, 0.09431921,-0.06439048,
  0.142433  , 0.94437511,-0.0330165 , 0.02963388, 0.32586406]

qacc:
[ 1.99905165e+00, 2.48573774e+00,-7.80700460e+00, 6.80823590e+00,
  1.40564249e+01, 1.23596988e+00,-4.57976521e-01,-5.78107574e+00,
 -3.45782734e+00,-2.30895311e+00, 6.70555682e+00,-6.98747328e+00,
  6.95144203e+00, 4.20926200e+00, 1.63649329e+01,-6.48718573e+01,
 -5.85536578e-02,-2.11030064e-01, 3.71615947e-02, 4.34604026e+00,
 -4.08408391e-01, 8.11555119e+00]

qfrc_actuator:
[-1.11024221e-05, 2.54917633e-04,-1.57639609e-05, 6.69745916e-05,
 -2.19583718e-03, 1.68531725e-02, 7.62554254e-03, 1.11049457e-03,
 -4.13813263e-05, 6.46190220e-05,-5.32611238e-06, 1.48863855e-05,
  4.93432861e-02, 1.71931774e-02, 7.84159619e-05,-1.97121174e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22662445, -0.22073966,  0.05130929, -0.22073966,  0.2752578 ,
        0.20922742,  0.05130929,  0.20922742,  1.12674978,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002639214132740468
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98258991, -0.18554709,  0.00945232, -0.18553851,  0.98263537,
        0.00178484, -0.00961936,  0.        , -0.99995373])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13003499, -0.08222441,  0.13163404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2875699 , -1.23497598, -7.18216607, -1.23497598,  9.41831563,
       -0.36638248, -7.18216607, -0.36638248,  7.3505695 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.283079173611335e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86812805e-01,  4.92903498e-02, -1.54178303e-01,  4.86995431e-02,
        9.98784492e-01,  7.60875102e-03,  1.54365937e-01, -8.67361738e-19,
       -9.88013744e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324659, -0.05421237,  0.29655706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.22866514, -0.9231132 ,  0.81085143, -0.9231132 ,  4.23660749,
        3.4243897 ,  0.81085143,  3.4243897 ,  5.12715901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041598810313351047
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.01673862e-01, -8.45566182e-01, -1.82595641e-01, -9.31698224e-02,
       -1.57036786e-01,  9.83188096e-01, -8.60024837e-01,  5.10252173e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493795, -0.03668288,  0.30474564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.65420171, -6.01147171,  8.79626182, -6.01147171, 18.69055681,
        5.49214227,  8.79626182,  5.49214227, 14.40759817,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046239929453112394
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.62609923e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.62609923e-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([ 0.05257448, -0.06145781,  0.06198961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19155050e-05, 9.09272437e-06,-4.66534512e-05,-7.60845903e-06,
 -2.17578560e-03, 1.86802360e-02, 8.36580019e-03, 1.05485663e-03,
 -2.04274613e-05,-9.31420224e-05, 2.36895353e-06,-4.55547607e-06,
  5.73380947e-02, 2.00035799e-02, 1.52492767e-02,-4.14867459e-04,
 -4.63201996e-06, 2.22501486e-06,-9.80999625e+00,-6.49364093e-02,
 -9.28083122e-03,-5.45295130e-03]


--- Step 1471 ---
qpos:
[ 0.00984661, 0.00808796,-0.00561211, 0.0334934 , 0.00571684,-0.01402229,
 -0.01450026, 0.03802563, 0.01307476, 0.00594072,-0.01170926, 0.03407826,
  0.81812665,-0.01307971, 1.16154986, 0.04600689, 0.09432165,-0.064386  ,
  0.14243342, 0.9443693 ,-0.03302183, 0.0296275 , 0.32588095]

qacc:
[-1.80569290e+00, 1.63143134e+00,-6.25058088e+00, 1.05693837e+01,
  9.25238525e+00,-5.36812142e-01, 1.71787674e+00,-8.77079564e+00,
  9.55161899e-01,-4.68329267e-02,-2.18651027e+00, 7.68714378e+00,
  6.28499306e+00, 3.80320828e+00, 1.66103138e+01,-4.92682538e+01,
 -4.29195315e-02,-1.60825279e-01, 2.72955081e-02, 3.56411478e+00,
 -4.51413976e-01, 6.95063297e+00]

qfrc_actuator:
[-2.19497105e-05, 2.90886488e-04,-1.90974625e-05, 8.15644236e-05,
 -2.18384558e-03, 1.68963452e-02, 7.64287208e-03, 1.07791454e-03,
 -3.52640815e-05, 4.07906649e-05,-6.57533423e-06, 2.95306200e-05,
  4.93551362e-02, 1.72413280e-02, 1.15563544e-04,-2.04754841e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22682134, -0.22084851,  0.05170934, -0.22084851,  0.25747263,
        0.13091044,  0.05170934,  0.13091044,  0.78593452,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026530554287862614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98259227, -0.18553687,  0.00940786, -0.18552837,  0.9826373 ,
        0.00177635, -0.00957409,  0.        , -0.99995417])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1300379 , -0.08222424,  0.13163356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28692081,  7.20268153,  1.1048048 ,  7.20268153,  7.82348328,
       -3.49807369,  1.1048048 , -3.49807369, 30.09231668,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.100271017080188e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98680964,  0.04927786, -0.15420257,  0.04868702,  0.99878511,
        0.00760802,  0.15439014,  0.        , -0.98800996])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324644, -0.05420863,  0.29655695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004168016404649517
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.01659103e-01, -8.45556910e-01, -1.82679106e-01, -9.32111383e-02,
       -1.57109323e-01,  9.83172591e-01, -8.60028969e-01,  5.10245208e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493785, -0.03667576,  0.30474394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004631346189051533
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39719291e-13, -3.74561392e-15,  1.00000000e+00, -8.97895913e-28,
        1.00000000e+00,  3.74561392e-15, -1.00000000e+00,  0.00000000e+00,
       -2.39719291e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05257927, -0.06145457,  0.06198959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05014318e-05, 3.11078880e-05,-7.45329139e-06, 1.32180868e-05,
 -2.24518665e-03, 1.86535526e-02, 8.38381920e-03, 1.03753776e-03,
  5.51091496e-06,-7.57060561e-05,-2.03936858e-05, 1.06394232e-05,
  5.63999944e-02, 1.95026287e-02, 1.54570499e-02,-1.34813197e-04,
 -1.02779325e-06, 1.39507153e-06,-9.80999857e+00,-6.49383126e-02,
 -9.28012137e-03,-5.45292052e-03]


--- Step 1472 ---
qpos:
[ 0.00984575, 0.00808809,-0.00561273, 0.03349429, 0.00571992,-0.01404718,
 -0.01451103, 0.03802548, 0.01307384, 0.00594121,-0.01170757, 0.03407864,
  0.81807868,-0.01307644, 1.16144119, 0.04600245, 0.09432395,-0.06438201,
  0.14243392, 0.94435983,-0.03302098, 0.02962252, 0.32590894]

qacc:
[-1.06296401e+00,-1.79858131e+00, 5.44544893e+00,-3.67221182e+00,
  6.73260738e+00, 4.62643297e-01,-1.94377221e+00,-7.32775352e+00,
 -2.34078091e+00,-1.90073531e-02,-1.47220048e+00, 4.69402552e+00,
  5.67385409e+00, 3.43459953e+00, 1.63599030e+01,-4.41540532e+01,
 -3.17897996e-02,-1.22087420e-01, 1.91669824e-02, 2.92386399e+00,
 -4.76465443e-01, 5.95578219e+00]

qfrc_actuator:
[-2.80402111e-05, 2.76671844e-04, 1.50952305e-05, 8.98855412e-05,
 -2.17821152e-03, 1.69499946e-02, 7.65742945e-03, 1.09395124e-03,
 -4.91464402e-05, 2.64718685e-05,-8.00601931e-06, 3.80574719e-05,
  4.93636032e-02, 1.72487887e-02, 1.20454176e-04,-2.14372488e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22703657, -0.22198412,  0.04763041, -0.22198412,  0.24725015,
        0.09420647,  0.04763041,  0.09420647,  0.66609097,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002668078943652297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98259067, -0.18554734,  0.0093681 , -0.18553891,  0.98263533,
        0.00176894, -0.00953364,  0.        , -0.99995455])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13004106, -0.08222432,  0.13163313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28671782,  7.13697691,  1.46963166,  7.13697691,  8.41975299,
       -5.50236226,  1.46963166, -5.50236226, 34.00785721,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0397369091678663e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98680926,  0.0492411 , -0.15421671,  0.04865059,  0.99878692,
        0.00760302,  0.15440401,  0.        , -0.98800779])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324663, -0.05420574,  0.29655707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041707403120303595
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50162387, -0.84556118, -0.18275609, -0.09324522, -0.15717861,
        0.98315828, -0.86004583,  0.51021679,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493773, -0.03667055,  0.30474385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046331933042834117
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.36500512e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.36500512e-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([ 0.0525828 , -0.06145203,  0.06198959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.37878596e-06, 2.21003687e-06, 4.01694342e-05, 9.65478027e-06,
 -2.29306135e-03, 1.87717423e-02, 8.43937532e-03, 1.08057713e-03,
 -1.37469082e-05,-6.04661268e-05,-1.92455616e-05, 4.77713701e-06,
  5.55431635e-02, 1.90168703e-02, 1.52499966e-02,-5.77921159e-05,
 -1.64038267e-06, 2.44068901e-06,-9.80999930e+00,-6.49393056e-02,
 -9.28035645e-03,-5.45262490e-03]


--- Step 1473 ---
qpos:
[ 0.00984517, 0.00808784,-0.00561274, 0.03349461, 0.00572347,-0.01407491,
 -0.01452378, 0.03802447, 0.0130724 , 0.0059412 ,-0.01170643, 0.0340788 ,
  0.81804467,-0.0130653 , 1.16134263, 0.04599772, 0.09432616,-0.06437837,
  0.14243447, 0.94434721,-0.03301504, 0.02961853, 0.32594646]

qacc:
[ 2.47179309e+00,-3.39980314e+00, 1.37564858e+01,-2.41999702e+01,
  4.10552947e+00, 1.77688951e-02,-1.89943987e+00,-7.66575411e+00,
 -4.44135632e+00, 4.88276162e-01,-1.78707819e+00,-5.93053041e-01,
  4.98848301e+00, 3.11232571e+00, 1.56932045e+01,-3.35010527e+01,
 -2.43869445e-02,-9.02740364e-02, 1.29003253e-02, 2.37550684e+00,
 -4.75081355e-01, 5.10151215e+00]

qfrc_actuator:
[-1.35226452e-05, 2.32678066e-04, 3.54487280e-05, 5.89231483e-05,
 -2.19428313e-03, 1.69932320e-02, 7.67142665e-03, 1.10409081e-03,
 -7.46972846e-05,-1.75442945e-05,-4.49911673e-05, 2.51750388e-05,
  4.93642379e-02, 1.72466299e-02, 9.50085844e-05,-2.10944812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22725678, -0.222971  ,  0.04392693, -0.222971  ,  0.24111114,
        0.07032406,  0.04392693,  0.07032406,  0.5842184 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002683336365853718
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98258577, -0.18557503,  0.00933315, -0.18556665,  0.9826301 ,
        0.00176262, -0.00949813,  0.        , -0.99995489])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13004453, -0.0822246 ,  0.13163276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28684076,  7.0368458 ,  1.89231326,  7.0368458 ,  9.51364219,
       -8.28068932,  1.89231326, -8.28068932, 38.07980461,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0766111119995903e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86811190e-01,  4.91834634e-02, -1.54222768e-01,  4.85936019e-02,
        9.98789761e-01,  7.59440093e-03,  1.54409641e-01,  8.67361738e-19,
       -9.88006914e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324708, -0.05420362,  0.29655734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041698663325346935
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.01570968e-01, -8.45577402e-01, -1.82826205e-01, -9.32723999e-02,
       -1.57244017e-01,  9.83145248e-01, -8.60073732e-01,  5.10169752e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493753, -0.03666692,  0.30474488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004630749236280568
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.36836451e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.36836451e-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([ 0.05258535, -0.06145004,  0.06198959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43346345e-05,-3.40454939e-05, 2.60965207e-05,-2.92903811e-05,
 -2.34816434e-03, 1.89069023e-02, 8.53332040e-03, 1.12886121e-03,
 -2.59587819e-05,-8.16456178e-05,-5.17069105e-05,-1.60518149e-05,
  5.47597875e-02, 1.85706666e-02, 1.49145804e-02, 9.74018782e-05,
 -4.80561132e-06, 4.65559862e-06,-9.80999902e+00,-6.49395532e-02,
 -9.28119380e-03,-5.45208728e-03]


--- Step 1474 ---
qpos:
[ 0.00984476, 0.00808753,-0.00561259, 0.03349455, 0.00572751,-0.01410649,
 -0.01453813, 0.03802273, 0.01307102, 0.00594098,-0.01170591, 0.03407878,
  0.81802313,-0.01304716, 1.16125478, 0.04599328, 0.09432829,-0.06437501,
  0.14243505, 0.94433191,-0.03300487, 0.0296152 , 0.32599212]

qacc:
[ 1.57023355e+00,-1.31487606e+00, 6.18151796e+00,-1.30038186e+01,
  4.15390584e+00,-2.15453885e+00, 3.36104564e+00,-1.05780392e+01,
  4.20360822e-01, 1.00850952e+00,-3.22388952e+00, 1.10245175e+00,
  4.42640142e+00, 2.81668984e+00, 1.48428350e+01,-2.91675357e+01,
 -1.94376815e-02,-6.70941397e-02, 7.51823904e-03, 1.93308326e+00,
 -4.70267017e-01, 4.35498621e+00]

qfrc_actuator:
[-4.74597980e-06, 2.42117466e-04, 4.72933032e-05, 4.05549722e-05,
 -2.20563348e-03, 1.69964642e-02, 7.70386869e-03, 1.11109262e-03,
 -7.14000808e-05,-8.15065260e-06,-6.72999595e-05, 1.75040084e-05,
  4.93650894e-02, 1.72539184e-02, 1.30676395e-04,-2.08681087e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22746262, -0.22368364,  0.04129009, -0.22368364,  0.23910299,
        0.06306018,  0.04129009,  0.06306018,  0.56908288,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026974961847540127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98257814, -0.18561692,  0.00930409, -0.1856086 ,  0.98262219,
        0.00175754, -0.00946863,  0.        , -0.99995517])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13004839, -0.08222506,  0.13163247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28723151,   6.87806998,   2.4074668 ,   6.87806998,
        11.54560121, -12.16605139,   2.4074668 , -12.16605139,
        42.04532361,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.189682798708201e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86815006e-01,  4.91078557e-02, -1.54222447e-01,  4.85189078e-02,
        9.98793481e-01,  7.58268231e-03,  1.54408744e-01,  8.67361738e-19,
       -9.88007055e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324772, -0.05420217,  0.29655773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041668641568652913
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.01502840e-01, -8.45604258e-01, -1.82888874e-01, -9.32928043e-02,
       -1.57304777e-01,  9.83133592e-01, -8.60111245e-01,  5.10106504e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493725, -0.03666463,  0.30474665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004624998453825746
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20024151e-13, -6.37628302e-14,  1.00000000e+00,  7.65307955e-27,
        1.00000000e+00,  6.37628302e-14, -1.00000000e+00,  0.00000000e+00,
        1.20024151e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05258712, -0.06144849,  0.06198961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.17410018e-06,-5.44826702e-06, 7.01509918e-06,-1.94948429e-05,
 -2.38333117e-03, 1.90531890e-02, 8.66537261e-03, 1.17882016e-03,
  2.53476237e-06,-4.76583144e-05,-4.61115814e-05,-1.32733051e-05,
  5.40626901e-02, 1.81846031e-02, 1.44473041e-02, 1.35334415e-04,
 -9.39200466e-06, 7.54605442e-06,-9.80999815e+00,-6.49391885e-02,
 -9.28239862e-03,-5.45133240e-03]


--- Step 1475 ---
qpos:
[ 0.00984412, 0.00808768,-0.00561258, 0.03349456, 0.00573205,-0.01414133,
 -0.0145541 , 0.03802026, 0.01306934, 0.00594084,-0.01170505, 0.03407891,
  0.81801301,-0.0130226 , 1.1611726 , 0.04598688, 0.09433036,-0.06437185,
  0.14243563, 0.94431432,-0.03299116, 0.02961226, 0.32604471]

qacc:
[-2.09067161e+00, 1.15486821e+00,-3.53596388e+00, 4.72787469e+00,
  4.39084955e+00,-1.26504982e+00, 1.37868336e+00,-9.16842906e+00,
 -2.58913448e+00,-4.72819874e-01, 1.24218924e+00, 7.28446817e-01,
  4.09558740e+00, 2.51229964e+00, 1.41995246e+01,-3.77279332e+01,
 -1.59415199e-02,-5.24703227e-02, 2.50072349e-03, 1.59772564e+00,
 -4.74822200e-01, 3.70362427e+00]

qfrc_actuator:
[-1.71775131e-05, 3.01200003e-04, 5.42446445e-05, 4.75404791e-05,
 -2.19659119e-03, 1.69778401e-02, 7.71227153e-03, 1.13417842e-03,
 -8.66511925e-05, 5.09644628e-05,-2.72775046e-05, 3.07745618e-05,
  4.93816792e-02, 1.72113209e-02, 1.59986878e-04,-2.24915303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22763872, -0.22457953,  0.03719433, -0.22457953,  0.23678879,
        0.05524819,  0.03719433,  0.05524819,  0.56122749,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027095328098660507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9825682 , -0.18567064,  0.00928171, -0.18566235,  0.98261204,
        0.00175384, -0.00944596,  0.        , -0.99995539])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1300527 , -0.08222567,  0.13163227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28786516,   6.66445425,   2.94924196,   6.66445425,
        14.69528123, -16.73866919,   2.94924196, -16.73866919,
        45.11253216,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.3615464142952283e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86820364e-01,  4.90168448e-02, -1.54217114e-01,  4.84290346e-02,
        9.98797952e-01,  7.56833383e-03,  1.54402713e-01,  8.67361738e-19,
       -9.88007997e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324849, -0.05420131,  0.29655821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041626804260527615
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50142163, -0.84564045, -0.1829442 , -0.09330689, -0.15736075,
        0.9831233 , -0.86015707,  0.51002924,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493685, -0.03666346,  0.30474888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004616751691902399
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40477093e-13, -1.23996001e-13,  1.00000000e+00, -2.98181978e-26,
        1.00000000e+00,  1.23996001e-13, -1.00000000e+00,  0.00000000e+00,
       -2.40477093e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05258829, -0.06144729,  0.06198962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21706811e-05, 5.66636753e-05, 6.01750750e-06, 6.61553168e-06,
 -2.39821677e-03, 1.92283706e-02, 8.75375604e-03, 1.23843195e-03,
 -1.51934635e-05, 2.23692986e-05, 2.40343171e-05, 9.37349113e-06,
  5.34553812e-02, 1.77909158e-02, 1.39425950e-02,-4.11660930e-05,
 -1.46389978e-05, 1.07571707e-05,-9.80999695e+00,-6.49383188e-02,
 -9.28382187e-03,-5.45038065e-03]


--- Step 1476 ---
qpos:
[ 0.00984333, 0.00808837,-0.00561255, 0.03349464, 0.00573664,-0.01417891,
 -0.01457186, 0.03801703, 0.0130675 , 0.00594088,-0.01170381, 0.03407918,
  0.81801087,-0.01299345, 1.16109895, 0.04598036, 0.09433235,-0.06436884,
  0.14243625, 0.94429509,-0.03297511, 0.02960978, 0.32610225]

qacc:
[-1.27235221e+00, 8.05381436e-01,-2.13264093e+00, 2.85195389e+00,
  4.48833674e-01,-2.18553718e-01,-1.31340863e+00,-6.85168651e+00,
 -1.48391501e+00,-5.84951285e-01, 1.83701552e+00,-1.84536405e-01,
  2.67137322e+00, 2.08217096e+00, 1.29073248e+01,-2.69824957e+01,
 -1.91254636e-02,-3.65588507e-02, 5.59577887e-03, 1.07997381e+00,
 -2.19645988e-01, 2.64543605e+00]

qfrc_actuator:
[-2.42375008e-05, 3.36305213e-04, 5.84886166e-05, 5.16790735e-05,
 -2.21103877e-03, 1.70003065e-02, 7.70693306e-03, 1.13171286e-03,
 -9.49535776e-05, 6.86809687e-05,-3.79830717e-06, 3.85969026e-05,
  4.93913815e-02, 1.71720929e-02, 1.53596230e-04,-2.21855538e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22778894, -0.22504655,  0.03523991, -0.22504655,  0.23494957,
        0.04572868,  0.03523991,  0.04572868,  0.51981805,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027197455512571983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98255633, -0.18573431,  0.0092647 , -0.18572605,  0.9826    ,
        0.00175124, -0.00942876,  0.        , -0.99995555])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13005741, -0.08222642,  0.13163215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2887336 ,   6.44304766,   3.4077521 ,   6.44304766,
        18.38271201, -20.97542004,   3.4077521 , -20.97542004,
        46.94702657,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.5785115000986735e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98682698,  0.04891271, -0.15420786,  0.04832623,  0.99880306,
        0.00755176,  0.15439266,  0.        , -0.98800957])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324935, -0.05420099,  0.29655874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041576958233956
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50132919, -0.84568459, -0.18299347, -0.09331568, -0.15741281,
        0.98311413, -0.86020999,  0.50993997,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493627, -0.03666323,  0.30475145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046065733197905737
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86147436e-07,  9.86147535e-07,  1.00000000e+00,  9.72486863e-13,
        1.00000000e+00, -9.86147535e-07, -1.00000000e+00,  0.00000000e+00,
       -9.86147436e-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([ 0.05300787, -0.06204467,  0.06198965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.38799796e-06, 6.83103083e-05, 1.69177953e-05, 6.90388621e-06,
 -2.43803027e-03, 1.94150971e-02, 8.83079305e-03, 1.27311307e-03,
 -8.72734103e-06, 3.55757499e-05, 3.13746498e-05, 9.79334864e-06,
  5.28947158e-02, 1.74305328e-02, 1.36541416e-02, 8.77165391e-05,
 -2.00647695e-05, 1.40518557e-05,-9.80999559e+00,-6.49370303e-02,
 -9.28538122e-03,-5.44924516e-03]


--- Step 1477 ---
qpos:
[ 0.00984281, 0.00808913,-0.005612  , 0.0334948 , 0.00573651,-0.01420749,
 -0.01458345, 0.03801694, 0.0130666 , 0.00594115,-0.01170282, 0.03407923,
  0.81793451,-0.01301069, 1.16099372, 0.04598696, 0.09433495,-0.06436332,
  0.14243638, 0.94429459,-0.03299068, 0.02959936, 0.32610308]

qacc:
[ 2.35450372e+00,-1.23012482e+00, 4.23528144e+00,-3.91258619e+00,
 -4.07345104e+01, 1.22148288e+00,-2.06567337e-01, 3.79462970e+01,
  8.34079440e+00, 5.65009583e-01,-7.07007749e-01,-2.72258266e+00,
 -2.35846025e+01,-2.33662794e+01,-8.59192907e+01, 2.33762803e+02,
  1.50631781e-01, 6.28654720e-01,-1.19914605e-01,-1.50787276e+01,
  2.06325379e+00,-3.04239981e+01]

qfrc_actuator:
[-1.03200401e-05, 3.21273763e-04, 7.87712173e-05, 5.40905866e-05,
 -2.23932883e-03, 1.70659740e-02, 7.69414447e-03, 1.13197750e-03,
 -4.58362475e-05, 6.14366163e-05,-2.59532363e-05, 2.53466408e-05,
  4.93861965e-02, 1.71696494e-02, 1.89233478e-04,-1.96673176e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22790505, -0.2223985 ,  0.04979579, -0.2223985 ,  0.26605773,
        0.1703979 ,  0.04979579,  0.1703979 ,  0.988938  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002727605100089636
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98254314, -0.18580459,  0.00925365, -0.18579635,  0.98258672,
        0.00174984, -0.00941764,  0.        , -0.99995565])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13006244, -0.08222726,  0.1316321 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28982544, -7.28240602,  0.3288123 , -7.28240602,  7.27516545,
       -0.32468364,  0.3288123 , -0.32468364,  0.09885926,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8277067697431147e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98683451,  0.04879913, -0.15419562,  0.04821411,  0.99880861,
        0.00753359,  0.15437954,  0.        , -0.98801162])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325028, -0.05420104,  0.29655932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.22773427,  0.93969087, -0.7901345 ,  0.93969087,  6.11155449,
        5.80822793, -0.7901345 ,  5.80822793,  8.13534146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000415296270347683
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.01228805e-01, -8.45734609e-01, -1.83037309e-01, -9.33201247e-02,
       -1.57461140e-01,  9.83105968e-01, -8.60268004e-01,  5.09842094e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493556, -0.03666362,  0.30475409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.6303542 , -6.26095339,  8.59097742, -6.26095339, 29.01464572,
       13.39814862,  8.59097742, 13.39814862, 20.39468949,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046063908552600175
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20508991e-13, -1.20508991e-13,  1.00000000e+00, -1.45224168e-26,
        1.00000000e+00,  1.20508991e-13, -1.00000000e+00,  0.00000000e+00,
       -1.20508991e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610937, -0.10931107,  0.06198965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37276355e-05, 2.69333035e-05, 3.67082607e-05, 6.05712293e-06,
 -2.46896823e-03, 1.96197396e-02, 8.90745794e-03, 1.31114429e-03,
  4.88814548e-05, 1.95246099e-05,-1.06203527e-05,-1.04530663e-05,
  5.24899737e-02, 1.71979726e-02, 1.32649528e-02, 3.45943422e-04,
 -2.43993049e-05, 1.66204453e-05,-9.80999458e+00,-6.49353336e-02,
 -9.28681937e-03,-5.44800552e-03]


--- Step 1478 ---
qpos:
[ 0.00984281, 0.00808968,-0.00561128, 0.03349504, 0.00573762,-0.0142334 ,
 -0.01459545, 0.03801645, 0.0130663 , 0.00594133,-0.01170197, 0.03407951,
  0.81787215,-0.0130196 , 1.16089178, 0.04599035, 0.09433733,-0.06435851,
  0.14243667, 0.94429007,-0.03299908, 0.02959155, 0.32611602]

qacc:
[ 4.53643897e+00,-5.53274375e-01, 1.15668092e+00, 3.55148006e-01,
  1.05555342e+01, 3.83356380e+00,-6.92315774e+00,-1.20855246e+00,
  5.23778117e+00, 7.31622542e-01,-3.71836325e+00, 7.82718690e+00,
  4.81543276e+00, 3.65311626e+00, 1.44400830e+01,-4.37327102e+01,
 -5.28411316e-02,-1.80284457e-01, 4.14701564e-02, 3.56841552e+00,
 -7.89224139e-02, 6.51980894e+00]

qfrc_actuator:
[ 1.58309079e-05, 2.76395689e-04, 7.26492531e-05, 5.54346189e-05,
 -2.25342393e-03, 1.71113990e-02, 7.68740751e-03, 1.13028692e-03,
 -1.65765509e-05, 3.90965399e-05,-3.94858751e-05, 3.52563257e-05,
  4.93951685e-02, 1.72206589e-02, 2.10782792e-04,-1.79064936e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22798187, -0.22343051,  0.04532701, -0.22343051,  0.25826   ,
        0.14925002,  0.04532701,  0.14925002,  0.96368019,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027327880108308545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82546799e-01, -1.85786970e-01,  9.21900706e-03, -1.85778793e-01,
        9.82590048e-01,  1.74311901e-03, -9.38235339e-03,  2.16840434e-19,
       -9.99955985e-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([ 0.13006597, -0.08222704,  0.13163175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28863029, -0.51217577, -7.27061259, -0.51217577,  9.75919786,
       -0.17403827, -7.27061259, -0.17403827,  7.30089035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5536681734626505e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9868301 ,  0.04879218, -0.15422608,  0.04820701,  0.99880895,
        0.007534  ,  0.15440999,  0.        , -0.98800686])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324977, -0.05419746,  0.29655899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.22972541, -0.83159191,  0.90591362, -0.83159191,  4.39075222,
        2.90169423,  0.90591362,  2.90169423,  3.89336286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041677354129438546
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50121832, -0.84572399, -0.18311506, -0.09335919, -0.15752837,
        0.98309149, -0.86026987,  0.50983894,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493504, -0.03665605,  0.30475066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.63087969, -5.99490729,  8.77933309, -5.99490729, 18.98798702,
        5.70659333,  8.77933309,  5.70659333, 14.52758774,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004606780236789224
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08749620e-06,  1.08749594e-06,  1.00000000e+00,  1.18264771e-12,
        1.00000000e+00, -1.08749594e-06, -1.00000000e+00,  0.00000000e+00,
       -1.08749620e-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([ 0.05301365, -0.06204026,  0.06198965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65467082e-05,-2.20026499e-05, 4.15648091e-06, 3.88238215e-06,
 -2.24726016e-03, 1.92158800e-02, 8.59292435e-03, 1.15245784e-03,
  3.06586627e-05,-1.40705989e-05,-1.11870758e-05, 1.01703601e-05,
  5.62107529e-02, 1.95686216e-02, 1.48667015e-02,-1.33873000e-04,
 -1.74700331e-06, 1.58100853e-06,-9.80999785e+00,-6.49359290e-02,
 -9.28475995e-03,-5.44782448e-03]


--- Step 1479 ---
qpos:
[ 0.00984347, 0.00809014,-0.00561094, 0.03349567, 0.00573965,-0.01426048,
 -0.01460846, 0.03801542, 0.013066  , 0.00594124,-0.01170097, 0.03408059,
  0.81782431,-0.01302011, 1.16080219, 0.04599497, 0.09433957,-0.06435425,
  0.14243707, 0.94428177,-0.03300101, 0.02958545, 0.32614042]

qacc:
[  5.76779106,  1.71362945, -7.91559361, 15.21981826,  8.01673162,
   0.15779383, -0.52304543, -6.37520923,  0.08615818,  0.86246673,
  -6.9907123 , 20.9161635 ,  5.04777908,  3.5645321 , 14.44960281,
 -24.27432098, -0.03502595, -0.1349716 ,  0.02552649,  3.10086295,
  -0.38053617,  6.14770777]

qfrc_actuator:
[ 4.89659270e-05, 2.67130494e-04, 5.08403999e-05, 7.38408424e-05,
 -2.26305930e-03, 1.71474215e-02, 7.72391850e-03, 1.14745767e-03,
 -1.70100958e-05, 2.56731931e-05,-3.01032198e-05, 7.64667338e-05,
  4.94020412e-02, 1.72143268e-02, 2.32531439e-04,-1.61341956e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22812153, -0.22433344,  0.04139976, -0.22433344,  0.24511859,
        0.09210218,  0.04139976,  0.09210218,  0.72719692,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000274217840228769
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82546657e-01, -1.85789404e-01,  9.18503211e-03, -1.85781287e-01,
        9.82589587e-01,  1.73671863e-03, -9.34778083e-03,  2.16840434e-19,
       -9.99956309e-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([ 0.1300694 , -0.08222705,  0.1316314 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28806922,  7.16455905,  1.33605636,  7.16455905,  8.16643565,
       -4.71021159,  1.33605636, -4.71021159, 32.5464266 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.414284294407116e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98682853,  0.04876257, -0.15424544,  0.0481776 ,  0.9988104 ,
        0.00753036,  0.15442915,  0.        , -0.98800387])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324966, -0.05419458,  0.29655892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004176323453323766
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.01188970e-01, -8.45725486e-01, -1.83188478e-01, -9.33924495e-02,
       -1.57594000e-01,  9.83077810e-01, -8.60283364e-01,  5.09816176e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493466, -0.03665028,  0.30474903])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004612240552067104
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20356149e-13, -6.39392043e-14,  1.00000000e+00, -7.69547642e-27,
        1.00000000e+00,  6.39392043e-14, -1.00000000e+00,  0.00000000e+00,
       -1.20356149e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0525988 , -0.06143927,  0.06198963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.38808248e-05,-2.05638291e-05,-2.57239659e-05, 1.76782753e-05,
 -2.31827695e-03, 1.91198656e-02, 8.65050594e-03, 1.18955510e-03,
  4.34508124e-07,-2.31738381e-05, 5.43609433e-06, 4.04140891e-05,
  5.55177699e-02, 1.91459179e-02, 1.47268288e-02, 2.04425428e-04,
 -1.20421643e-06, 2.12243386e-06,-9.80999901e+00,-6.49373295e-02,
 -9.28484836e-03,-5.44757564e-03]


--- Step 1480 ---
qpos:
[ 0.00984417, 0.00809079,-0.00561102, 0.03349647, 0.00574248,-0.01428965,
 -0.01462268, 0.03801382, 0.01306536, 0.00594104,-0.01169963, 0.03408247,
  0.81778959,-0.01301302, 1.16072152, 0.04599935, 0.09434171,-0.0643504 ,
  0.14243754, 0.94427024,-0.03299756, 0.02958058, 0.3261746 ]

qacc:
[ 3.96884440e-01, 1.77746749e+00,-6.72836419e+00, 1.03737592e+01,
  6.88482925e+00,-6.03035933e-01, 5.29823920e-01,-7.00696662e+00,
 -3.04552361e+00, 5.84541496e-01,-5.68646011e+00, 1.91023566e+01,
  4.56425599e+00, 3.23296683e+00, 1.37802406e+01,-2.93141581e+01,
 -2.60863037e-02,-1.02862908e-01, 1.78500443e-02, 2.54366539e+00,
 -4.06973115e-01, 5.24886211e+00]

qfrc_actuator:
[ 5.04372575e-05, 2.96947265e-04, 3.78470841e-05, 8.44048955e-05,
 -2.25245835e-03, 1.71628083e-02, 7.75163638e-03, 1.17625013e-03,
 -3.49107236e-05, 3.55618569e-05,-7.22152978e-06, 1.18027858e-04,
  4.93964512e-02, 1.71879466e-02, 2.37486453e-04,-1.66943649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22827763, -0.22524424,  0.03709052, -0.22524424,  0.24012951,
        0.07197439,  0.03709052,  0.07197439,  0.6653655 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027526234910919096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82543079e-01, -1.85809800e-01,  9.15516235e-03, -1.85801734e-01,
        9.82585731e-01,  1.73126764e-03, -9.31741839e-03,  2.16840434e-19,
       -9.99956592e-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([ 0.13007307, -0.08222727,  0.1316311 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28794624,  7.09104863,  1.68261397,  7.09104863,  8.88212311,
       -6.71834768,  1.68261397, -6.71834768, 35.6011131 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.382642220827356e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86829420e-01,  4.87114421e-02, -1.54255925e-01,  4.81270161e-02,
        9.98812893e-01,  7.52295911e-03,  1.54439261e-01,  8.67361738e-19,
       -9.88002285e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11324986, -0.05419242,  0.29655903])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041805093184102936
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50114152, -0.84573927, -0.18325462, -0.0934185 , -0.15765545,
        0.98306548, -0.86030818,  0.50977431,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493439, -0.0366462 ,  0.30474872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004612689252302682
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20344442e-13, -9.40190950e-14,  1.00000000e+00, -1.13146755e-26,
        1.00000000e+00,  9.40190950e-14, -1.00000000e+00,  0.00000000e+00,
       -1.20344442e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05260177, -0.06143708,  0.06198963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.42782090e-06, 1.37489930e-05,-1.98104728e-05, 9.13218063e-06,
 -2.35411179e-03, 1.91944316e-02, 8.72924017e-03, 1.24558887e-03,
 -1.78972911e-05,-2.27429192e-07, 2.01492052e-05, 4.15381289e-05,
  5.47857909e-02, 1.86997362e-02, 1.41154511e-02, 8.76265980e-05,
 -3.50134265e-06, 3.96427629e-06,-9.80999910e+00,-6.49379387e-02,
 -9.28552586e-03,-5.44709666e-03]


--- Step 1481 ---
qpos:
[ 0.00984488, 0.00809168,-0.00561129, 0.03349704, 0.00574627,-0.01432191,
 -0.01463757, 0.03801178, 0.01306382, 0.0059408 ,-0.01169829, 0.03408416,
  0.81776685,-0.01299899, 1.16064653, 0.04600208, 0.09434377,-0.06434686,
  0.14243806, 0.94425594,-0.03298961, 0.02957657, 0.32621715]

qacc:
[ 9.83490446e-02, 3.56470162e-01, 1.97021824e-01,-4.27497990e+00,
  8.29588826e+00,-3.09865403e+00, 6.92764797e+00,-1.10349660e+01,
 -7.91024206e+00,-4.84136859e-01, 2.50841901e+00,-5.93583495e+00,
  4.18505633e+00, 2.92571859e+00, 1.32699556e+01,-3.44655725e+01,
 -2.00159610e-02,-7.90873869e-02, 1.11864386e-02, 2.09468532e+00,
 -4.28091840e-01, 4.48207000e+00]

qfrc_actuator:
[ 5.10110069e-05, 3.14458504e-04, 3.03266010e-05, 7.25592804e-05,
 -2.22995507e-03, 1.71672197e-02, 7.79243250e-03, 1.15900861e-03,
 -8.06913281e-05, 2.38963467e-05,-1.19733522e-05, 1.06225875e-04,
  4.93883123e-02, 1.71824710e-02, 1.89624402e-04,-1.79341953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2284335 , -0.22532108,  0.03758021, -0.22532108,  0.24080758,
        0.07419174,  0.03758021,  0.07419174,  0.67326769,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027630009570066315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82536630e-01, -1.85845132e-01,  9.12999096e-03, -1.85837109e-01,
        9.82579049e-01,  1.72684771e-03, -9.29186407e-03, -2.16840434e-19,
       -9.99956830e-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([ 0.13007705, -0.08222766,  0.13163086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28815682,  6.97543211,  2.11200773,  6.97543211, 10.23087303,
       -9.71905397,  2.11200773, -9.71905397, 39.38775575,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4365730302482484e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86832318e-01,  4.86418872e-02, -1.54259340e-01,  4.80582737e-02,
        9.98816283e-01,  7.51235792e-03,  1.54442156e-01, -8.67361738e-19,
       -9.88001832e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325028, -0.05419089,  0.29655929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000418158568541222
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.01078504e-01, -8.45763670e-01, -1.83314341e-01, -9.34382477e-02,
       -1.57713162e-01,  9.83054349e-01, -8.60342738e-01,  5.09715974e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493411, -0.03664352,  0.30474938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046093393047666464
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40863810e-13, -9.40874256e-14,  1.00000000e+00, -2.26622558e-26,
        1.00000000e+00,  9.40874256e-14, -1.00000000e+00,  0.00000000e+00,
       -2.40863810e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05260388, -0.06143536,  0.06198964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.45979104e-07, 2.14729501e-05,-6.81384488e-06,-1.17674782e-05,
 -2.37144366e-03, 1.93052036e-02, 8.83094933e-03, 1.25728268e-03,
 -4.62908654e-05,-5.87129574e-06,-8.97188326e-07,-1.03122631e-05,
  5.41212781e-02, 1.83136112e-02, 1.36235479e-02,-2.41409812e-05,
 -7.49664660e-06, 6.56331591e-06,-9.80999850e+00,-6.49378850e-02,
 -9.28662083e-03,-5.44640827e-03]


--- Step 1482 ---
qpos:
[ 0.00984525, 0.00809247,-0.00561131, 0.0334985 , 0.00575043,-0.01435786,
 -0.01465321, 0.03800929, 0.01306175, 0.00594066,-0.01169704, 0.03408533,
  0.81775264,-0.01297987, 1.1605816 , 0.04600575, 0.09434574,-0.06434355,
  0.14243863, 0.94423959,-0.03297853, 0.02957339, 0.3262659 ]

qacc:
[-3.00378287e+00, 1.04095437e+00,-7.66444849e+00, 2.28729396e+01,
  3.30366831e+00,-3.71229192e+00, 8.06402395e+00,-1.19289792e+01,
 -4.72797395e+00,-6.22054822e-01, 4.58721756e+00,-1.33454493e+01,
  2.73762453e+00, 2.48804852e+00, 1.20138582e+01,-2.05250004e+01,
 -2.12419685e-02,-5.63551093e-02, 1.26995582e-02, 1.48717802e+00,
 -1.89823861e-01, 3.32180289e+00]

qfrc_actuator:
[ 3.33094307e-05, 3.06723383e-04, 4.37961919e-05, 1.18631458e-04,
 -2.23629380e-03, 1.71668715e-02, 7.82327363e-03, 1.11423359e-03,
 -1.07003817e-04, 3.47700559e-05,-1.53729525e-05, 8.08357756e-05,
  4.93889265e-02, 1.71694052e-02, 1.89929617e-04,-1.69038625e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22857565, -0.22498943,  0.0403309 , -0.22498943,  0.24018103,
        0.06474163,  0.0403309 ,  0.06474163,  0.58974244,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027724201654426853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98252775, -0.18589305,  0.00910997, -0.18588506,  0.98256998,
        0.00172352, -0.00927157,  0.        , -0.99995702])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13008138, -0.08222822,  0.1316307 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28864717,   6.82414809,   2.5603477 ,   6.82414809,
        12.27929529, -13.30167845,   2.5603477 , -13.30167845,
        42.74188795,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.55774464261683e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86836861e-01,  4.85565499e-02, -1.54257160e-01,  4.79739817e-02,
        9.98820435e-01,  7.49904109e-03,  1.54439331e-01,  8.67361738e-19,
       -9.88002274e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325087, -0.05418995,  0.29655966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004180465030551415
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50100208, -0.84579723, -0.18336839, -0.0934525 , -0.15776754,
        0.98304427, -0.86038569,  0.50964346,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493374, -0.036642  ,  0.30475076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004602963773558237
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17952285e-06,  1.17952295e-06,  1.00000000e+00,  1.39127428e-12,
        1.00000000e+00, -1.17952295e-06, -1.00000000e+00,  0.00000000e+00,
       -1.17952285e-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([ 0.05302426, -0.06203198,  0.06198966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76775391e-05, 2.32892805e-06, 1.66496310e-05, 4.65247671e-05,
 -2.42559032e-03, 1.94605697e-02, 8.89612348e-03, 1.23426300e-03,
 -2.76289315e-05, 6.93144496e-06,-5.09606895e-06,-2.58780469e-05,
  5.35230175e-02, 1.79529260e-02, 1.33416377e-02, 1.61665055e-04,
 -1.23621348e-05, 9.55800135e-06,-9.80999748e+00,-6.49372856e-02,
 -9.28797317e-03,-5.44552519e-03]


--- Step 1483 ---
qpos:
[ 0.00984541, 0.00809305,-0.00561108, 0.03350051, 0.005755  ,-0.01439602,
 -0.01467017, 0.03800615, 0.01305971, 0.00594086,-0.01169569, 0.03408615,
  0.81774614,-0.0129561 , 1.16052573, 0.04601014, 0.09434765,-0.0643404 ,
  0.14243922, 0.94422141,-0.03296481, 0.02957074, 0.32632013]

qacc:
[-1.87428347e+00, 1.43757192e-01,-3.26616558e+00, 1.26317584e+01,
  3.53673171e+00,-5.92688843e-01, 5.73033020e-01,-7.99912161e+00,
  3.93879598e-01,-5.61231466e-01, 4.15378336e+00,-1.07402075e+01,
  2.43075602e+00, 2.35049092e+00, 1.11178156e+01,-1.95598372e+01,
 -1.74846445e-02,-4.01514542e-02, 7.25108201e-03, 1.22222393e+00,
 -2.41430262e-01, 2.93530655e+00]

qfrc_actuator:
[ 2.27461647e-05, 2.84064969e-04, 5.17370104e-05, 1.45150888e-04,
 -2.22423651e-03, 1.72187544e-02, 7.83072938e-03, 1.10638623e-03,
 -1.03885540e-04, 7.67920606e-05,-9.90970371e-08, 6.54373935e-05,
  4.93893463e-02, 1.71686228e-02, 1.91906190e-04,-1.66609607e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22868062, -0.22527614,  0.03931271, -0.22527614,  0.2390372 ,
        0.05934698,  0.03931271,  0.05934698,  0.56876042,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027793486647437784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98251715, -0.18594969,  0.00909718, -0.18594172,  0.98255927,
        0.00172164, -0.00925866,  0.        , -0.99995714])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13008609, -0.0822289 ,  0.13163062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28938267,   6.45133396,   3.39343334,   6.45133396,
        18.14347222, -20.63495859,   3.39343334, -20.63495859,
        46.51897575,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.729403938000671e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86842656e-01,  4.84594365e-02, -1.54250624e-01,  4.78780886e-02,
        9.98825151e-01,  7.48369052e-03,  1.54432058e-01,  8.67361738e-19,
       -9.88003411e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132516 , -0.05418942,  0.29656011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004178603406463206
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00915793e-01, -8.45837807e-01, -1.83416938e-01, -9.34620040e-02,
       -1.57818335e-01,  9.83035211e-01, -8.60434903e-01,  5.09560377e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493333, -0.03664129,  0.30475247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004594486956245942
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.80266626e-07, -3.80266677e-07,  1.00000000e+00,  1.44602726e-13,
        1.00000000e+00,  3.80266677e-07, -1.00000000e+00,  2.52435490e-29,
        3.80266626e-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([ 0.05302522, -0.06203092,  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:
[-1.10714876e-05,-1.59622603e-05, 1.20703357e-05, 2.80964688e-05,
 -2.43241997e-03, 1.96980052e-02, 8.94146739e-03, 1.24901649e-03,
  2.33770319e-06, 4.37080489e-05, 1.51659748e-05,-1.57856647e-05,
  5.30971711e-02, 1.76975803e-02, 1.28412889e-02, 1.39631533e-04,
 -1.67506321e-05, 1.21497199e-05,-9.80999658e+00,-6.49361943e-02,
 -9.28931047e-03,-5.44452858e-03]


--- Step 1484 ---
qpos:
[ 0.00984578, 0.00809339,-0.00561091, 0.03350182, 0.00575537,-0.01442457,
 -0.01468024, 0.03800638, 0.01305808, 0.00594106,-0.01169431, 0.03408648,
  0.81766594,-0.01297827, 1.16042805, 0.04602347, 0.09435016,-0.06433474,
  0.14243933, 0.94422185,-0.03298246, 0.02956   , 0.32631803]

qacc:
[ 1.90537581e+00,-1.57664699e+00, 8.15794622e+00,-2.01235808e+01,
 -3.62787633e+01, 4.40628244e-01, 2.81246806e+00, 3.70536217e+01,
  3.50342066e+00,-1.13180909e+00, 6.10017078e+00,-1.46413967e+01,
 -2.32603396e+01,-2.33402508e+01,-8.83793442e+01, 2.20372170e+02,
  1.51701055e-01, 6.27307314e-01,-1.22433331e-01,-1.49945391e+01,
  1.95058561e+00,-3.02312723e+01]

qfrc_actuator:
[ 3.42274279e-05, 2.52614366e-04, 3.84998560e-05, 1.06663775e-04,
 -2.21907724e-03, 1.72842329e-02, 7.84277413e-03, 1.12107130e-03,
 -8.34760902e-05, 4.84664165e-05,-9.28282083e-06, 3.83329767e-05,
  4.93947413e-02, 1.71736015e-02, 1.57334241e-04,-1.76023603e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2287659 , -0.22238259,  0.05366393, -0.22238259,  0.29284101,
        0.26552638,  0.05366393,  0.26552638,  1.32910356,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027849601643307944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98250506, -0.18601399,  0.00908881, -0.18600603,  0.9825471 ,
        0.00172068, -0.00925025,  0.        , -0.99995722])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13009107, -0.08222967,  0.13163061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29034515, -7.28247184,  0.3387275 , -7.28247184,  7.27477549,
       -0.33473993,  0.3387275 , -0.33473993,  0.09360408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9388875142638428e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86849485e-01,  4.83518598e-02, -1.54240695e-01,  4.77718836e-02,
        9.98830365e-01,  7.46655762e-03,  1.54421312e-01, -8.67361738e-19,
       -9.88005090e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325241, -0.05418926,  0.29656061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.23088909,  0.94789235, -0.7852312 ,  0.94789235,  6.03550109,
        5.79989044, -0.7852312 ,  5.79989044,  8.23223052,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041763246150261594
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00820670e-01, -8.45884703e-01, -1.83460420e-01, -9.34671796e-02,
       -1.57865804e-01,  9.83027097e-01, -8.60489711e-01,  5.09467817e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493286, -0.03664128,  0.30475441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.62785191, -6.26646599,  8.58385929, -6.26646599, 29.14146765,
       13.51547591,  8.58385929, 13.51547591, 20.49454093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046045357651045005
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20557542e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.20557542e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614928, -0.10928228,  0.06198965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11561298e-05,-3.67121210e-05,-1.40893627e-05,-3.82125545e-05,
 -2.44774280e-03, 1.98760013e-02, 9.01991213e-03, 1.29611249e-03,
  2.04933540e-05,-1.45806126e-06, 1.14441246e-06,-2.50196417e-05,
  5.27168954e-02, 1.74691295e-02, 1.23551817e-02, 9.07381915e-06,
 -2.11898137e-05, 1.47918981e-05,-9.80999559e+00,-6.49347790e-02,
 -9.29068305e-03,-5.44342161e-03]


--- Step 1485 ---
qpos:
[ 0.00984594, 0.00809338,-0.00561056, 0.03350266, 0.00575678,-0.01445018,
 -0.01469048, 0.03800626, 0.01305739, 0.00594077,-0.01169249, 0.03408617,
  0.81760048,-0.0129916 , 1.16031804, 0.04602591, 0.09435246,-0.06432989,
  0.1424396 , 0.94421838,-0.03299262, 0.02955196, 0.32632776]

qacc:
[-1.83360175e+00,-1.96092965e+00, 8.29502354e+00,-1.64908135e+01,
  8.93898519e+00, 3.63604010e+00,-5.91637092e+00,-1.79203264e+00,
  8.35687516e+00,-3.18691482e+00, 1.30689001e+01,-2.43518816e+01,
  5.28828278e+00, 3.60982573e+00, 1.45574296e+01,-7.77136065e+01,
 -5.13880181e-02,-2.01260187e-01, 4.16448867e-02, 3.74410710e+00,
 -8.28001598e-02, 6.37959313e+00]

qfrc_actuator:
[ 2.30841805e-05, 2.33745099e-04, 4.82850426e-05, 8.34725736e-05,
 -2.24911212e-03, 1.73114225e-02, 7.84989999e-03, 1.14553307e-03,
 -3.53104409e-05,-4.11719185e-06, 2.37854013e-06, 4.48060506e-06,
  4.94208234e-02, 1.72130191e-02, 1.53016225e-04,-2.04044340e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22882799, -0.22398815,  0.04681403, -0.22398815,  0.2645159 ,
        0.17075375,  0.04681403,  0.17075375,  1.04582278,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027890363442522253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82509510e-01, -1.85992135e-01,  9.05470354e-03, -1.85984237e-01,
        9.82551233e-01,  1.71401102e-03, -9.21550270e-03, -2.16840434e-19,
       -9.99957536e-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([ 0.13009449, -0.08222941,  0.13163026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28892457,   2.59566657,   6.81108923,   2.59566657,
        58.47959497, -19.50846738,   6.81108923, -19.50846738,
        14.72348826,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.623810721482984e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86844431e-01,  4.83502520e-02, -1.54273527e-01,  4.77700468e-02,
        9.98830443e-01,  7.46789806e-03,  1.54454170e-01, -8.67361738e-19,
       -9.87999954e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325177, -0.05418547,  0.29656021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.23310451, -1.00870238,  0.70927163, -1.00870238,  3.47557935,
        3.18917268,  0.70927163,  3.18917268,  5.76863919,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004192587303530352
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00814739e-01, -8.45870923e-01, -1.83540131e-01, -9.35080978e-02,
       -1.57934212e-01,  9.83012218e-01, -8.60488718e-01,  5.09469495e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493248, -0.03663333,  0.30475051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.61784242, -5.99267181,  8.76507058, -5.99267181, 18.93561302,
        5.68685317,  8.76507058,  5.68685317, 14.50593942,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045970995879739325
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.37731264e-07,  3.37731227e-07,  1.00000000e+00,  1.14062394e-13,
        1.00000000e+00, -3.37731227e-07, -1.00000000e+00,  0.00000000e+00,
       -3.37731264e-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([ 0.0530313 , -0.06202635,  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:
[-1.08375765e-05,-4.39614861e-05,-8.65436629e-07,-2.60001744e-05,
 -2.26756994e-03, 1.94238391e-02, 8.68332337e-03, 1.15288960e-03,
  4.87507669e-05,-5.42570382e-05, 1.06136762e-05,-3.43676507e-05,
  5.64288390e-02, 1.98061858e-02, 1.44424288e-02,-7.17511459e-04,
 -2.32765677e-06, 1.71982775e-06,-9.80999739e+00,-6.49357948e-02,
 -9.28934477e-03,-5.44335307e-03]


--- Step 1486 ---
qpos:
[ 0.00984597, 0.00809323,-0.0056102 , 0.0335032 , 0.00575881,-0.01447626,
 -0.01470162, 0.0380056 , 0.01305729, 0.00594006,-0.01169025, 0.03408545,
  0.81755067,-0.01299601, 1.16020658, 0.04602235, 0.09435463,-0.06432567,
  0.14243997, 0.9442113 ,-0.03299601, 0.02954573, 0.32634849]

qacc:
[-1.18110940e+00,-8.34718891e-01, 3.99153875e+00,-9.13761486e+00,
  5.27242768e+00, 7.97469611e-01,-1.48869709e+00,-6.07436231e+00,
  5.14531610e+00,-2.56227711e+00, 1.00665907e+01,-1.75342665e+01,
  5.72152699e+00, 3.39126225e+00, 1.58654494e+01,-5.89279341e+01,
 -3.40708718e-02,-1.58238987e-01, 2.52273591e-02, 3.26378806e+00,
 -3.81387191e-01, 5.90757693e+00]

qfrc_actuator:
[ 1.64593373e-05, 2.40399227e-04, 5.39052017e-05, 6.95056422e-05,
 -2.26832150e-03, 1.73539597e-02, 7.87611729e-03, 1.16045795e-03,
 -6.70507075e-06,-1.75023940e-05, 2.61389097e-05,-1.53272378e-05,
  4.94273807e-02, 1.72189512e-02, 1.65703917e-04,-2.20301032e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22895675, -0.22489176,  0.04295223, -0.22489176,  0.24866573,
        0.1031934 ,  0.04295223,  0.1031934 ,  0.76926276,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002797464883955824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98251021, -0.18599006,  0.00902129, -0.18598222,  0.98255163,
        0.00170767, -0.00918149,  0.        , -0.99995785])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13009777, -0.08222937,  0.13162992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28821604,  7.19467965,  1.16390625,  7.19467965,  7.91413034,
       -3.86908557,  1.16390625, -3.86908557, 31.20494575,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4515257351686885e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98684225,  0.04832667, -0.15429486,  0.04774659,  0.99883158,
        0.00746528,  0.15447535,  0.        , -0.98799664])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325157, -0.05418244,  0.29656007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042014851592702947
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50079046, -0.84586831, -0.18361838, -0.09354482, -0.1580034 ,
        0.98299761, -0.86049885,  0.50945237,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493208, -0.03662715,  0.30474872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004603593152943536
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.42048645e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.42048645e-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([ 0.05261647, -0.06142571,  0.06198965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.94831367e-06,-1.92320955e-05,-4.47242618e-06,-1.63889223e-05,
 -2.33881907e-03, 1.93199196e-02, 8.71796921e-03, 1.18471975e-03,
  2.99740315e-05,-4.30015807e-05, 1.26513530e-05,-2.24394906e-05,
  5.56976624e-02, 1.93706195e-02, 1.50744174e-02,-3.35084231e-04,
 -9.87375373e-07, 1.80295089e-06,-9.80999888e+00,-6.49373901e-02,
 -9.28925732e-03,-5.44319236e-03]


--- Step 1487 ---
qpos:
[ 0.00984592, 0.00809286,-0.00560975, 0.03350357, 0.00576149,-0.01450408,
 -0.01471375, 0.0380044 , 0.01305684, 0.00593953,-0.01168857, 0.03408484,
  0.81751472,-0.01299261, 1.16010531, 0.0460186 , 0.0943567 ,-0.06432191,
  0.14244042, 0.94420105,-0.03299384, 0.02954081, 0.32637881]

qacc:
[-6.92951777e-01,-8.51111910e-01, 3.33271857e+00,-6.19606635e+00,
  5.72094780e+00,-6.96853064e-01, 1.44744473e+00,-8.05437030e+00,
 -3.06549324e+00, 2.01919506e+00,-7.30548674e+00, 9.89190219e+00,
  4.94616500e+00, 3.10674860e+00, 1.55152384e+01,-3.26931648e+01,
 -2.51147335e-02,-1.15574562e-01, 1.83936665e-02, 2.64744560e+00,
 -3.99034591e-01, 5.15309280e+00]

qfrc_actuator:
[ 1.25542517e-05, 2.26782129e-04, 5.71246415e-05, 6.10921307e-05,
 -2.26327103e-03, 1.73902032e-02, 7.89685679e-03, 1.15224927e-03,
 -2.53552684e-05, 1.05005856e-05, 3.74618444e-06,-8.92466851e-06,
  4.94216127e-02, 1.72011656e-02, 2.04035537e-04,-2.06474188e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22910732, -0.2252552 ,  0.0418361 , -0.2252552 ,  0.24589802,
        0.090405  ,  0.0418361 ,  0.090405  ,  0.7158687 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002807277436980682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82507581e-01, -1.86005384e-01,  8.99163423e-03, -1.85997595e-01,
        9.82548725e-01,  1.70219790e-03, -9.15133672e-03,  2.16840434e-19,
       -9.99958126e-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([ 0.13010122, -0.08222953,  0.13162962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28799284,  7.14167651,  1.45303005,  7.14167651,  8.40307329,
       -5.48064632,  1.45303005, -5.48064632, 34.22549699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3946819245575713e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98684251,  0.04828264, -0.15430698,  0.047703  ,  0.99883371,
        0.00745905,  0.15448716,  0.        , -0.9879948 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325168, -0.05418017,  0.29656013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042050470800004974
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50074896, -0.84587703, -0.18369143, -0.09357558, -0.15807009,
        0.98298396, -0.86051967,  0.50941722,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493163, -0.03662267,  0.30474848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004605023168183092
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.40394153e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.40394153e-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([ 0.05261955, -0.06142347,  0.06198965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.10889173e-06,-2.60004076e-05,-1.87453367e-06,-9.71273334e-06,
 -2.36439619e-03, 1.93812475e-02, 8.78494911e-03, 1.20375044e-03,
 -1.78128660e-05, 5.61905008e-06,-3.05108912e-05, 4.55771597e-06,
  5.49100858e-02, 1.89064269e-02, 1.51869969e-02, 1.03757206e-04,
 -2.48524760e-06, 3.12984047e-06,-9.80999923e+00,-6.49381517e-02,
 -9.28979320e-03,-5.44279034e-03]


--- Step 1488 ---
qpos:
[ 0.00984582, 0.00809254,-0.00560967, 0.03350383, 0.0057649 ,-0.01453375,
 -0.0147271 , 0.03800257, 0.01305617, 0.00593932,-0.01168788, 0.03408466,
  0.8174913 ,-0.01298214, 1.16001358, 0.04601457, 0.09435869,-0.0643185 ,
  0.14244092, 0.94418804,-0.03298702, 0.0295368 , 0.3264175 ]

qacc:
[-4.21148758e-01, 8.46322357e-01,-2.47262375e+00, 1.15869303e+00,
  6.23156865e+00,-3.20197231e-01, 1.91375213e-01,-7.61358399e+00,
 -1.96940411e+00, 4.05950045e+00,-1.56994646e+01, 2.45753898e+01,
  4.44389333e+00, 2.84610576e+00, 1.48096214e+01,-3.15812388e+01,
 -1.87424187e-02,-8.61886734e-02, 1.19796124e-02, 2.17546917e+00,
 -4.24842167e-01, 4.48439678e+00]

qfrc_actuator:
[ 1.02797514e-05, 2.36638494e-04, 4.10771722e-05, 5.59964716e-05,
 -2.24395938e-03, 1.74063652e-02, 7.89698553e-03, 1.14813436e-03,
 -3.61577126e-05, 2.74120040e-05,-4.55279216e-05, 1.28513281e-05,
  4.94186973e-02, 1.72022006e-02, 2.62085071e-04,-2.08667707e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22926229, -0.22572023,  0.04014442, -0.22572023,  0.24361266,
        0.08068787,  0.04014442,  0.08068787,  0.68294633,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028173287140678606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82502119e-01, -1.86035456e-01,  8.96634457e-03, -1.86027710e-01,
        9.82543032e-01,  1.69769460e-03, -9.12565076e-03, -2.16840434e-19,
       -9.99958360e-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([ 0.13010494, -0.08222987,  0.13162938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28812662,  7.03105141,  1.91862079,  7.03105141,  9.61599604,
       -8.53079966,  1.91862079, -8.53079966, 38.55042264,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.428912740766673e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98684479,  0.04822064, -0.15431177,  0.04764171,  0.99883671,
        0.00744968,  0.15449149,  0.        , -0.98799412])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325204, -0.05417858,  0.29656035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042054390064495033
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00692305e-01, -8.45896311e-01, -1.83757032e-01, -9.35995737e-02,
       -1.58132117e-01,  9.82971695e-01, -8.60550019e-01,  5.09365943e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493118, -0.03661966,  0.30474924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004602520309860275
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.41220668e-13,  2.63835106e-14,  1.00000000e+00,  6.36424805e-27,
        1.00000000e+00, -2.63835106e-14, -1.00000000e+00,  0.00000000e+00,
       -2.41220668e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05262175, -0.06142171,  0.06198966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39952920e-06,-5.48073581e-06,-2.19866918e-05,-6.46452851e-06,
 -2.37819806e-03, 1.94853380e-02, 8.83445838e-03, 1.22708425e-03,
 -1.13058559e-05, 1.39399831e-05,-5.17255111e-05, 2.10493278e-05,
  5.42137264e-02, 1.85167178e-02, 1.47379150e-02, 9.20865634e-05,
 -5.80013002e-06, 5.30700356e-06,-9.80999880e+00,-6.49382310e-02,
 -9.29076021e-03,-5.44217454e-03]


--- Step 1489 ---
qpos:
[ 0.0098457 , 0.00809249,-0.0056102 , 0.03350437, 0.00576854,-0.01456534,
 -0.01474187, 0.03800011, 0.01305572, 0.0059392 ,-0.01168804, 0.03408511,
  0.81747689,-0.01296647, 1.15993178, 0.04601092, 0.0943606 ,-0.06431534,
  0.14244146, 0.94417299,-0.03297695, 0.02953368, 0.32646232]

qacc:
[-2.57776642e-01, 2.64608971e+00,-1.00933263e+01, 1.56286575e+01,
  2.00265171e+00, 1.05107699e-01,-1.39679738e+00,-5.85335339e+00,
  1.91312770e+00, 3.79797100e+00,-1.60181603e+01, 2.81847533e+01,
  3.00276384e+00, 2.38314085e+00, 1.34801044e+01,-2.59687388e+01,
 -1.98223184e-02,-6.30729905e-02, 1.34862434e-02, 1.55516438e+00,
 -1.83999794e-01, 3.29333724e+00]

qfrc_actuator:
[ 8.98241146e-06, 2.60402991e-04, 1.38767732e-05, 7.06508821e-05,
 -2.25192100e-03, 1.74290441e-02, 7.90313843e-03, 1.16452222e-03,
 -2.44867762e-05, 1.97003144e-05,-9.25358343e-05, 4.34781495e-05,
  4.94117885e-02, 1.71766444e-02, 2.73073227e-04,-2.06255741e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22941767, -0.22644411,  0.03681758, -0.22644411,  0.239617  ,
        0.06273032,  0.03681758,  0.06273032,  0.61523641,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002827358599557107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82494240e-01, -1.86078105e-01,  8.94473116e-03, -1.86070394e-01,
        9.82534956e-01,  1.69400449e-03, -9.10372818e-03,  2.16840434e-19,
       -9.99958560e-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([ 0.13010893, -0.08223036,  0.13162919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2885523 ,   6.88573586,   2.38948453,   6.88573586,
        11.51029251, -12.1657151 ,   2.38948453, -12.1657151 ,
        42.34628123,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.5347549905330635e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86848748e-01,  4.81429089e-02, -1.54310752e-01,  4.75649229e-02,
        9.98840458e-01,  7.43759269e-03,  1.54489890e-01,  8.67361738e-19,
       -9.87994369e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325258, -0.0541776 ,  0.29656069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000420376798660176
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00622342e-01, -8.45924989e-01, -1.83815623e-01, -9.36173784e-02,
       -1.58189663e-01,  9.82960740e-01, -8.60588785e-01,  5.09300445e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493066, -0.03661787,  0.30475069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004596858279803507
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24401093e-06,  1.24401067e-06,  1.00000000e+00,  1.54756287e-12,
        1.00000000e+00, -1.24401067e-06, -1.00000000e+00,  0.00000000e+00,
       -1.24401093e-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([ 0.0530423 , -0.06201788,  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:
[-1.36559480e-06, 1.58903158e-05,-3.12618783e-05, 1.35330616e-05,
 -2.42226311e-03, 1.96019796e-02, 8.90236562e-03, 1.27468071e-03,
  1.13556484e-05,-9.70488780e-06,-4.97766941e-05, 2.98438842e-05,
  5.35801674e-02, 1.81375923e-02, 1.42738668e-02, 1.30309235e-04,
 -1.01487005e-05, 7.98336836e-06,-9.80999791e+00,-6.49377502e-02,
 -9.29200559e-03,-5.44136055e-03]


--- Step 1490 ---
qpos:
[ 0.0098459 , 0.00809239,-0.00561072, 0.03350541, 0.00577252,-0.01459792,
 -0.01475814, 0.037997  , 0.01305576, 0.00593904,-0.01168873, 0.03408593,
  0.81747083,-0.01294595, 1.15985294, 0.04600439, 0.09436245,-0.06431238,
  0.14244204, 0.94415623,-0.03296413, 0.02953115, 0.32651232]

qacc:
[ 2.90164966e+00, 9.45200132e-01,-5.59986435e+00, 1.44269524e+01,
  2.95783612e+00, 1.56216721e+00,-4.68426910e+00,-3.54953296e+00,
  4.27846743e+00, 2.19301461e+00,-9.42431810e+00, 1.65492552e+01,
  2.84725621e+00, 2.13110740e+00, 1.29712849e+01,-3.91905868e+01,
 -1.65341552e-02,-5.12148136e-02, 7.63471250e-03, 1.28714331e+00,
 -2.28365152e-01, 2.77126008e+00]

qfrc_actuator:
[ 2.60226934e-05, 2.56778298e-04, 1.58980474e-05, 9.68178091e-05,
 -2.24054123e-03, 1.74741927e-02, 7.89582997e-03, 1.19346977e-03,
  3.15591906e-07, 1.50641416e-05,-1.20165488e-04, 6.12967788e-05,
  4.94076750e-02, 1.71341635e-02, 2.28816240e-04,-2.29538859e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22955662, -0.22726454,  0.03235845, -0.22726454,  0.23759392,
        0.05644875,  0.03235845,  0.05644875,  0.62601563,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002836287233789373
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98248466, -0.18612948,  0.00892807, -0.18612179,  0.98252522,
        0.00169133, -0.00908686,  0.        , -0.99995871])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13011319, -0.08223096,  0.13162906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28923162,   6.56594136,   3.16564555,   6.56594136,
        16.448859  , -18.99820285,   3.16564555, -18.99820285,
        46.69385986,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.69504520661781e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98685397,  0.04805356, -0.15430519,  0.0474767 ,  0.99884476,
        0.00742349,  0.15448366,  0.        , -0.98799534])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325327, -0.05417705,  0.29656111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004201351959605386
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00542670e-01, -8.45960675e-01, -1.83868353e-01, -9.36302703e-02,
       -1.58243306e-01,  9.82950878e-01, -8.60633725e-01,  5.09224501e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049301 , -0.03661693,  0.30475249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004588974773589729
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67848184e-07, -1.67848166e-07,  1.00000000e+00,  2.81730098e-14,
        1.00000000e+00,  1.67848166e-07, -1.00000000e+00, -3.15544362e-30,
        1.67848184e-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([ 0.0530433 , -0.0620168 ,  0.06198969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70082523e-05,-6.09226430e-07, 1.92746545e-06, 2.60298183e-05,
 -2.42254141e-03, 1.97444304e-02, 8.96619155e-03, 1.33530287e-03,
  2.51220741e-05,-1.90584790e-05,-3.47314214e-05, 1.62604094e-05,
  5.31253399e-02, 1.78342738e-02, 1.37343366e-02,-1.21020190e-04,
 -1.41455290e-05, 1.03200281e-05,-9.80999708e+00,-6.49367688e-02,
 -9.29326170e-03,-5.44043095e-03]


--- Step 1491 ---
qpos:
[ 0.009847  , 0.00809236,-0.00561096, 0.03350638, 0.00577259,-0.01462061,
 -0.01476797, 0.03799712, 0.01305575, 0.00593883,-0.01168975, 0.03408624,
  0.81739039,-0.01297111, 1.15973769, 0.04600547, 0.09436513,-0.06430704,
  0.1424422 , 0.94415778,-0.0329811 , 0.02952145, 0.326507  ]

qacc:
[ 7.83844936e+00,-8.75057654e-01, 3.52524009e+00,-5.24956650e+00,
 -3.38460078e+01, 1.79843482e+00,-1.04028592e+00, 3.94380871e+01,
 -4.31043622e-01,-2.17194274e-01, 2.77213302e+00,-1.08386130e+01,
 -2.42746670e+01,-2.20680296e+01,-7.62981493e+01, 1.89840236e+02,
  2.07946446e-01, 5.96921411e-01,-1.06249996e-01,-1.41101408e+01,
  2.11630684e+00,-2.96641246e+01]

qfrc_actuator:
[ 7.14716842e-05, 2.72415706e-04, 3.50600598e-05, 9.40413594e-05,
 -2.23551530e-03, 1.75148989e-02, 7.88110652e-03, 1.21247899e-03,
 -2.86429706e-06, 1.23685796e-05,-1.36138696e-04, 3.59427812e-05,
  4.94049746e-02, 1.71153152e-02, 2.42221733e-04,-2.32424177e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22968999, -0.22524902,  0.04494853, -0.22524902,  0.31378341,
        0.42141445,  0.04494853,  0.42141445,  2.3415096 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028448220475727203
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82473650e-01, -1.86188243e-01,  8.91433934e-03, -1.86180580e-01,
        9.82514090e-01,  1.68928385e-03, -9.07298880e-03, -2.16840434e-19,
       -9.99958840e-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([ 0.13011764, -0.08223165,  0.13162897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29014781, -7.28579305,  0.2519419 , -7.28579305,  7.28154721,
       -0.24871659,  0.2519419 , -0.24871659,  0.09762601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.897174172680275e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98686022,  0.04795445, -0.15429609,  0.04737884,  0.99884952,
        0.00740771,  0.15447381,  0.        , -0.98799688])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325405, -0.0541769 ,  0.29656159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.23388165,  0.95527789, -0.78096612,  0.95527789,  5.97517156,
        5.79954663, -0.78096612,  5.79954663,  8.32788809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041982643833960836
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00454747e-01, -8.46002155e-01, -1.83916827e-01, -9.36393673e-02,
       -1.58294245e-01,  9.82941809e-01, -8.60683865e-01,  5.09139750e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492939, -0.03661668,  0.30475458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.61706278, -6.27870382,  8.5615361 , -6.27870382, 30.56367511,
       14.6280842 ,  8.5615361 , 14.6280842 , 21.34474143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000459651933613095
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20767797e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.20767797e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618704, -0.1092553 ,  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:
[ 4.59328238e-05, 1.68227622e-05, 2.01781346e-05,-2.23097004e-06,
 -2.43481194e-03, 1.98355336e-02, 9.02749110e-03, 1.38729331e-03,
 -2.47278946e-06,-1.98094929e-05,-2.36179741e-05,-2.70568539e-05,
  5.27055595e-02, 1.75727895e-02, 1.36017937e-02,-6.03018840e-06,
 -1.80750800e-05, 1.25997728e-05,-9.80999617e+00,-6.49354418e-02,
 -9.29455461e-03,-5.43938941e-03]


--- Step 1492 ---
qpos:
[ 0.00984829, 0.00809225,-0.00561058, 0.03350697, 0.00577403,-0.0146408 ,
 -0.01477783, 0.03799702, 0.0130557 , 0.00593837,-0.01169091, 0.03408661,
  0.8173245 ,-0.01298774, 1.15962725, 0.04600387, 0.09436756,-0.06430243,
  0.14244251, 0.94415531,-0.03299089, 0.02951428, 0.32651378]

qacc:
[ 1.70055525e+00,-2.61115248e+00, 1.07857577e+01,-1.84222352e+01,
  1.18500122e+01, 2.86515960e+00,-4.50196889e+00,-1.17863156e+00,
 -3.31858518e-01, 1.88381773e-01,-1.37609025e+00, 2.71299776e+00,
  5.05904253e+00, 3.65446845e+00, 1.50982524e+01,-4.27514389e+01,
 -6.22533067e-02,-1.85248791e-01, 3.99104066e-02, 3.55035225e+00,
 -1.13966802e-01, 6.51865872e+00]

qfrc_actuator:
[ 8.00139251e-05, 2.64017117e-04, 6.42315682e-05, 7.42767773e-05,
 -2.24792450e-03, 1.75247228e-02, 7.89009740e-03, 1.22189062e-03,
 -4.73998808e-06,-6.88457456e-06,-1.45129356e-04, 3.86559497e-05,
  4.94155927e-02, 1.71769843e-02, 2.72357214e-04,-2.02699747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.22983461, -0.22630009,  0.04015243, -0.22630009,  0.2637793 ,
        0.19131309,  0.04015243,  0.19131309,  1.30807996,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028540379701595675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82478968e-01, -1.86162135e-01,  8.87333475e-03, -1.86154543e-01,
        9.82519038e-01,  1.68126915e-03, -9.03120897e-03,  2.16840434e-19,
       -9.99959218e-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([ 0.13012056, -0.08223131,  0.13162853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28899746, -0.55129259, -7.26811945, -0.55129259, 11.11639964,
       -0.29031147, -7.26811945, -0.29031147,  7.31101781,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.640893891310474e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86855160e-01,  4.79597474e-02, -1.54326780e-01,  4.73838503e-02,
        9.98849269e-01,  7.41000029e-03,  1.54504573e-01, -8.67361738e-19,
       -9.87992073e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325363, -0.05417314,  0.29656132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.23587198, -0.73268745,  0.99526311, -0.73268745,  5.63759108,
        3.2404339 ,  0.99526311,  3.2404339 ,  3.62139719,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004212739488246728
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00454909e-01, -8.45983803e-01, -1.84000785e-01, -9.36836414e-02,
       -1.58365603e-01,  9.82926096e-01, -8.60678953e-01,  5.09148053e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492898, -0.03660869,  0.30475119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.60927485, -5.99270057,  8.75467034, -5.99270057, 18.66582778,
        5.51482894,  8.75467034,  5.51482894, 14.38425635,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004590714777156468
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.74565284e-07,  5.74565308e-07,  1.00000000e+00,  3.30125280e-13,
        1.00000000e+00, -5.74565308e-07, -1.00000000e+00,  5.04870979e-29,
       -5.74565284e-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([ 0.05304939, -0.0620122 ,  0.06198968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.85619142e-06, 5.09545951e-06, 3.50524696e-05,-1.83926867e-05,
 -2.25110834e-03, 1.93524870e-02, 8.71503202e-03, 1.23476610e-03,
 -1.95245682e-06,-3.63508062e-05,-1.69139649e-05, 5.22656663e-07,
  5.64357579e-02, 1.99191907e-02, 1.54539959e-02,-8.83373423e-05,
 -2.45570844e-06, 1.38999555e-06,-9.80999765e+00,-6.49365058e-02,
 -9.29361730e-03,-5.43939577e-03]


--- Step 1493 ---
qpos:
[ 0.00984898, 0.00809201,-0.00561008, 0.03350735, 0.0057766 ,-0.01466237,
 -0.01478815, 0.03799656, 0.01305495, 0.0059371 ,-0.01169165, 0.03408738,
  0.81727393,-0.0129956 , 1.15952495, 0.04600114, 0.09436982,-0.0642984 ,
  0.14244292, 0.94414908,-0.03299417, 0.02950874, 0.32653199]

qacc:
[-5.23229363e+00,-9.42513667e-01, 3.99463882e+00,-7.64309871e+00,
  9.75573371e+00,-1.24453595e+00, 3.27181703e+00,-7.60811477e+00,
 -6.23283777e+00,-1.36351562e+00, 1.61370557e+00, 5.36208301e+00,
  5.45191308e+00, 3.53715642e+00, 1.53056300e+01,-3.63873497e+01,
 -4.27189536e-02,-1.42405809e-01, 2.35313166e-02, 3.11465659e+00,
 -4.24921942e-01, 6.13166861e+00]

qfrc_actuator:
[ 4.90034275e-05, 2.41321048e-04, 6.34686849e-05, 6.24180003e-05,
 -2.23901972e-03, 1.75371919e-02, 7.91719466e-03, 1.19220820e-03,
 -4.13294973e-05,-7.13588393e-05,-1.32219225e-04, 5.78579388e-05,
  4.94235498e-02, 1.72155121e-02, 2.62199559e-04,-2.04168110e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23004118, -0.22635148,  0.04103597, -0.22635148,  0.25311448,
        0.12727068,  0.04103597,  0.12727068,  0.93205716,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028671318032839687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82480448e-01, -1.86156227e-01,  8.83342089e-03, -1.86148704e-01,
        9.82520157e-01,  1.67365147e-03, -8.99057473e-03, -2.16840434e-19,
       -9.99959584e-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([ 0.13012338, -0.0822312 ,  0.1316281 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28846586,  7.16940884,  1.31198763,  7.16940884,  8.11958826,
       -4.54170153,  1.31198763, -4.54170153, 32.1067753 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5136243461728687e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98685292,  0.04794238, -0.15434652,  0.04736655,  0.9988501 ,
        0.00740826,  0.15452421,  0.        , -0.987989  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325359, -0.05417012,  0.29656129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004220929589063147
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00436197e-01, -8.45977725e-01, -1.84079609e-01, -9.37216775e-02,
       -1.58434686e-01,  9.82911338e-01, -8.60685692e-01,  5.09136661e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492871, -0.03660255,  0.30474962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004596142610250459
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.62333086e-13, -9.43575746e-14,  1.00000000e+00, -3.41888712e-26,
        1.00000000e+00,  9.43575746e-14, -1.00000000e+00,  0.00000000e+00,
       -3.62333086e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05263446, -0.06141196,  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:
[-3.07286986e-05,-1.33964307e-05, 3.96447635e-06,-1.07881528e-05,
 -2.31104699e-03, 1.92406227e-02, 8.74327247e-03, 1.21643254e-03,
 -3.66596127e-05,-8.82444739e-05, 3.35447311e-06, 1.70720771e-05,
  5.57159729e-02, 1.95308566e-02, 1.52054780e-02, 3.15418046e-05,
 -7.29197171e-07, 1.26542590e-06,-9.80999906e+00,-6.49380083e-02,
 -9.29339069e-03,-5.43929698e-03]


--- Step 1494 ---
qpos:
[ 0.00984895, 0.008092  ,-0.00561   , 0.03350758, 0.00578009,-0.01468614,
 -0.01479929, 0.03799564, 0.01305341, 0.00593559,-0.01169243, 0.03408799,
  0.81723739,-0.01299547, 1.15942769, 0.04599587, 0.09437195,-0.06429481,
  0.14244339, 0.94413963,-0.032992  , 0.02950438, 0.32655992]

qacc:
[-6.35384088e+00, 1.19377757e+00,-3.16427787e+00, 1.04354547e+00,
  7.95857008e+00,-1.59885239e+00, 3.40592165e+00,-8.51771693e+00,
 -6.84063544e+00,-5.69645747e-01, 2.29265617e+00,-4.94522569e+00,
  5.03224980e+00, 3.15861384e+00, 1.49977813e+01,-4.19137744e+01,
 -3.23001081e-02,-1.10866681e-01, 1.57779186e-02, 2.56758625e+00,
 -4.50632141e-01, 5.21398295e+00]

qfrc_actuator:
[ 1.27257860e-05, 2.63378889e-04, 4.49766912e-05, 5.52719727e-05,
 -2.21762896e-03, 1.75541215e-02, 7.93786440e-03, 1.17479371e-03,
 -8.03055662e-05,-5.57944039e-05,-1.24420871e-04, 5.10717451e-05,
  4.94293170e-02, 1.71832573e-02, 2.70000299e-04,-2.20849218e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23026136, -0.22656617,  0.04108611, -0.22656617,  0.2493686 ,
        0.10536535,  0.04108611,  0.10536535,  0.8112904 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028809996871474985
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98247846, -0.18616838,  0.00879798, -0.18616091,  0.98251786,
        0.00166705, -0.00895452,  0.        , -0.99995991])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13012642, -0.0822313 ,  0.13162773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2883706 ,  7.10752705,  1.6135071 ,  7.10752705,  8.71847908,
       -6.29965292,  1.6135071 , -6.29965292, 35.03845217,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4901268939151745e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98685308,  0.04790359, -0.15435749,  0.04732814,  0.99885196,
        0.00740278,  0.1545349 ,  0.        , -0.98798733])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325384, -0.05416784,  0.29656144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000422437452790901
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50039942, -0.84598382, -0.18415154, -0.09375269, -0.15849991,
        0.98289786, -0.8607037 ,  0.50910622,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492849, -0.03659814,  0.30474944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045967386755586814
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.41524068e-13, -3.39643221e-14,  1.00000000e+00, -8.20320123e-27,
        1.00000000e+00,  3.39643221e-14, -1.00000000e+00,  0.00000000e+00,
       -2.41524068e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05263751, -0.06140971,  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:
[-3.71573534e-05, 1.49120263e-05,-2.11476452e-05,-7.79318553e-06,
 -2.34608268e-03, 1.93270114e-02, 8.78785559e-03, 1.21681478e-03,
 -4.00543811e-05,-3.23199548e-05,-9.40304287e-06,-1.01152967e-05,
  5.49554713e-02, 1.90603653e-02, 1.48087525e-02,-7.81516296e-05,
 -1.90636364e-06, 2.44599968e-06,-9.80999940e+00,-6.49387142e-02,
 -9.29378836e-03,-5.43895664e-03]


--- Step 1495 ---
qpos:
[ 0.00984849, 0.00809212,-0.00560985, 0.03350735, 0.00578435,-0.01471285,
 -0.01481145, 0.0379942 , 0.01305211, 0.00593464,-0.0116935 , 0.03408843,
  0.81721339,-0.01298827, 1.15933939, 0.04599016, 0.09437398,-0.06429155,
  0.1424439 , 0.94412742,-0.03298532, 0.02950082, 0.3265962 ]

qacc:
[-3.81627231e+00,-9.47698231e-01, 5.58146438e+00,-1.37050465e+01,
  6.74686796e+00,-2.11619730e+00, 4.08135995e+00,-9.21983962e+00,
  2.03595216e+00, 1.22102573e+00,-2.58245867e+00,-2.74769983e-01,
  4.45408105e+00, 2.84999315e+00, 1.44429237e+01,-3.15547393e+01,
 -2.51077596e-02,-8.26457974e-02, 1.01158458e-02, 2.09032413e+00,
 -4.49972290e-01, 4.47101856e+00]

qfrc_actuator:
[-8.59559400e-06, 2.76483033e-04, 5.18589829e-05, 3.32302593e-05,
 -2.20674228e-03, 1.75573633e-02, 7.97297080e-03, 1.18274709e-03,
 -6.71045990e-05, 2.52993044e-05,-1.19418251e-04, 4.68543138e-05,
  4.94333355e-02, 1.71413125e-02, 3.20515620e-04,-2.18068193e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23047826, -0.22715636,  0.03898994, -0.22715636,  0.24526689,
        0.08615894,  0.03898994,  0.08615894,  0.73244238,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002894571964046788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82473604e-01, -1.86195459e-01,  8.76751392e-03, -1.86188046e-01,
        9.82512723e-01,  1.66152686e-03, -8.92356273e-03,  2.16840434e-19,
       -9.99960184e-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([ 0.13012976, -0.08223158,  0.13162742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28861218,  7.00841762,  2.00148695,  7.00841762,  9.86273397,
       -9.01355893,  2.00148695, -9.01355893, 38.8505393 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.54928895451797e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86855230e-01,  4.78465261e-02, -1.54361472e-01,  4.72717349e-02,
        9.98854699e-01,  7.39412870e-03,  1.54538465e-01, -8.67361738e-19,
       -9.87986773e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325429, -0.05416624,  0.29656171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004224432967534312
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00347176e-01, -8.46000419e-01, -1.84217248e-01, -9.37775305e-02,
       -1.58561563e-01,  9.82885551e-01, -8.60731362e-01,  5.09059448e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049282 , -0.03659516,  0.30475029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000459365200498732
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20843179e-13, -1.24619529e-13,  1.00000000e+00, -1.50594200e-26,
        1.00000000e+00,  1.24619529e-13, -1.00000000e+00,  0.00000000e+00,
       -1.20843179e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0526397 , -0.06140795,  0.06198968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23737286e-05, 1.67268946e-05, 7.08852743e-06,-2.22851872e-05,
 -2.38120292e-03, 1.94418104e-02, 8.86452417e-03, 1.24820637e-03,
  1.20465159e-05, 6.06878427e-05,-3.15622247e-06,-6.11956153e-06,
  5.42581542e-02, 1.86190510e-02, 1.46088222e-02, 7.68926755e-05,
 -4.93780275e-06, 4.46659250e-06,-9.80999900e+00,-6.49387634e-02,
 -9.29464750e-03,-5.43839547e-03]


--- Step 1496 ---
qpos:
[ 0.0098488 , 0.00809221,-0.00560957, 0.03350723, 0.00578902,-0.01474305,
 -0.01482517, 0.0379921 , 0.01305063, 0.00593412,-0.01169426, 0.03408879,
  0.81720046,-0.01297482, 1.15926355, 0.04598606, 0.09437593,-0.06428853,
  0.14244444, 0.94411283,-0.03297494, 0.0294978 , 0.3266397 ]

qacc:
[ 6.87270589e+00,-2.18209335e-01, 2.54914618e-01, 1.34247434e+00,
  3.39932879e+00,-1.64744775e+00, 1.96515884e+00,-8.39702937e+00,
 -1.55478686e+00,-4.96435893e-01, 2.94209385e+00,-5.19946875e+00,
  3.84504746e+00, 2.61873095e+00, 1.34727239e+01,-2.05715392e+01,
 -2.02102089e-02,-5.90625176e-02, 5.77131993e-03, 1.68802052e+00,
 -4.38787437e-01, 3.86051084e+00]

qfrc_actuator:
[ 3.23162725e-05, 2.66460354e-04, 5.58863437e-05, 3.81220821e-05,
 -2.22013774e-03, 1.75717506e-02, 7.99950741e-03, 1.18840508e-03,
 -7.65558210e-05, 5.62519167e-05,-9.80532670e-05, 4.42494520e-05,
  4.94306071e-02, 1.71622711e-02, 3.48194487e-04,-2.05493456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23067744, -0.22774046,  0.03669281, -0.22774046,  0.24094099,
        0.06370258,  0.03669281,  0.06370258,  0.62605885,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002906959972397584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98246634, -0.18623494,  0.00874251, -0.18622757,  0.98250524,
        0.00165715, -0.00889818,  0.        , -0.99996041])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13013345, -0.08223202,  0.13162718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28913526,   6.84867116,   2.49543506,   6.84867116,
        11.98395217, -12.88483026,   2.49543506, -12.88483026,
        42.65129182,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.672893183559047e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86858997e-01,  4.77737241e-02, -1.54359940e-01,  4.71998230e-02,
        9.98858184e-01,  7.38277894e-03,  1.54536392e-01,  8.67361738e-19,
       -9.87987097e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132549 , -0.05416524,  0.29656209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004222442258038669
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50028159, -0.8460264 , -0.18427608, -0.09379623, -0.15861885,
        0.98287452, -0.86076745,  0.50899843,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492783, -0.0365934 ,  0.30475182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004587748137442199
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20998689e-13, -3.40308814e-14,  1.00000000e+00, -4.11769205e-27,
        1.00000000e+00,  3.40308814e-14, -1.00000000e+00,  0.00000000e+00,
       -1.20998689e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0526412 , -0.06140657,  0.06198969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.02803967e-05,-1.71700695e-07, 7.58322836e-06, 5.42104238e-06,
 -2.43355676e-03, 1.96039337e-02, 8.94225217e-03, 1.27979585e-03,
 -9.09127630e-06, 6.40214322e-05, 3.33210930e-05,-2.29700521e-07,
  5.36280664e-02, 1.82855494e-02, 1.41906517e-02, 2.24971275e-04,
 -8.97846825e-06, 6.97171868e-06,-9.80999816e+00,-6.49382728e-02,
 -9.29578845e-03,-5.43763487e-03]


--- Step 1497 ---
qpos:
[ 0.0098503 , 0.0080924 ,-0.00560929, 0.03350715, 0.00579376,-0.01477574,
 -0.01484069, 0.03798929, 0.01304905, 0.00593357,-0.01169449, 0.03408847,
  0.81719514,-0.01295687, 1.15920023, 0.04598417, 0.09437779,-0.06428566,
  0.14244501, 0.94409646,-0.03296208, 0.02949534, 0.32668854]

qacc:
[ 1.03301750e+01, 2.17551546e-01,-8.29521265e-01, 1.66800756e+00,
  7.26914790e-01, 3.17953800e-01,-2.94020347e+00,-4.48516312e+00,
 -8.74933903e-01,-2.88778979e+00, 1.31203320e+01,-2.57048907e+01,
  2.38894541e+00, 2.27383662e+00, 1.17720101e+01,-1.44238820e+01,
 -2.13377342e-02,-3.89275517e-02, 8.50668900e-03, 1.15952243e+00,
 -2.00292130e-01, 2.85985820e+00]

qfrc_actuator:
[ 9.17718746e-05, 2.78187075e-04, 5.81131359e-05, 4.10463778e-05,
 -2.23027480e-03, 1.76123145e-02, 8.00409629e-03, 1.21079309e-03,
 -8.15284567e-05, 2.15195272e-05,-8.51245917e-05, 7.08741110e-06,
  4.94288383e-02, 1.72012269e-02, 3.24252304e-04,-1.94330558e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23084353, -0.22847201,  0.03300424, -0.22847201,  0.23825461,
        0.05130325,  0.03300424,  0.05130325,  0.58599054,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002917235210247977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82457099e-01, -1.86284583e-01,  8.72369837e-03, -1.86277240e-01,
        9.82495829e-01,  1.65404317e-03, -8.87912000e-03, -2.16840434e-19,
       -9.99960580e-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([ 0.13013754, -0.0822326 ,  0.13162702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28990736,   6.60889103,   3.07657418,   6.60889103,
        15.58982854, -17.82933592,   3.07657418, -17.82933592,
        45.58969512,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.84552152114797e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98686409,  0.04768725, -0.1543541 ,  0.04711444,  0.99886232,
        0.00736911,  0.1545299 ,  0.        , -0.98798811])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325562, -0.05416477,  0.29656254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004219420455703198
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00204385e-01, -8.46060815e-01, -1.84327619e-01, -9.38089122e-02,
       -1.58671229e-01,  9.82864858e-01, -8.60810932e-01,  5.08924885e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049274 , -0.03659266,  0.30475374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004579729363503958
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.78045255e-08, -4.78047210e-08,  1.00000000e+00,  2.28528200e-15,
        1.00000000e+00,  4.78047210e-08, -1.00000000e+00, -3.94430453e-31,
        4.78045255e-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([ 0.05306133, -0.06200262,  0.06198971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.06020936e-05, 1.34363297e-05, 3.30692385e-06, 3.28254076e-06,
 -2.46331518e-03, 1.98205595e-02, 9.02513915e-03, 1.33552290e-03,
 -5.21241102e-06, 7.96078862e-06, 3.02621799e-05,-3.32679615e-05,
  5.30731432e-02, 1.80120041e-02, 1.35448257e-02, 2.56595612e-04,
 -1.34908787e-05, 9.72404949e-06,-9.80999708e+00,-6.49373393e-02,
 -9.29709576e-03,-5.43669551e-03]


--- Step 1498 ---
qpos:
[ 0.00985215, 0.0080928 ,-0.00560875, 0.03350674, 0.00579437,-0.01479988,
 -0.01484966, 0.0379898 , 0.01304707, 0.00593264,-0.01169462, 0.03408778,
  0.81711633,-0.01298468, 1.1591005 , 0.04599325, 0.09438031,-0.06428026,
  0.14244508, 0.94409846,-0.0329802 , 0.02948477, 0.32668187]

qacc:
[ 3.13054508e+00,-1.17152424e+00, 6.01915122e+00,-1.25164155e+01,
 -3.56544168e+01,-1.17337258e-01, 2.94961617e+00, 3.75092681e+01,
 -3.43867533e+00,-1.52672443e+00, 6.29916883e+00,-1.25699631e+01,
 -2.32878375e+01,-2.31280013e+01,-8.65549765e+01, 2.25586566e+02,
  1.64188793e-01, 6.33869577e-01,-1.22894945e-01,-1.48314971e+01,
  1.87632137e+00,-2.97928941e+01]

qfrc_actuator:
[ 1.08388002e-04, 3.02839219e-04, 7.70899434e-05, 2.50476519e-05,
 -2.23830720e-03, 1.76689726e-02, 8.01414253e-03, 1.20801672e-03,
 -1.01571475e-04,-3.45887361e-05,-9.53391553e-05,-1.46729599e-05,
  4.94328831e-02, 1.71969642e-02, 3.11491205e-04,-1.91240053e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23097747, -0.22587053,  0.04830212, -0.22587053,  0.29192242,
        0.28499098,  0.04830212,  0.28499098,  1.56365335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002925484896974587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98244646, -0.18634131,  0.00871054, -0.18633399,  0.98248507,
        0.00165207, -0.00886583,  0.        , -0.9999607 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13014195, -0.08223327,  0.13162694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29090351, -7.28378593,  0.32208157, -7.28378593,  7.27680706,
       -0.31878729,  0.32208157, -0.31878729,  0.08161684,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.05381522225304e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86870195e-01,  4.75905473e-02, -1.54344929e-01,  4.70189686e-02,
        9.98866928e-01,  7.35369192e-03,  1.54520011e-01,  8.67361738e-19,
       -9.87989659e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325642, -0.05416466,  0.29656303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.23637757,  0.95627848, -0.78368423,  0.95627848,  6.01844575,
        5.83524423, -0.78368423,  5.83524423,  8.35674347,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004216401774965746
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00118607e-01, -8.46101577e-01, -1.84373263e-01, -9.38168677e-02,
       -1.58719549e-01,  9.82856297e-01, -8.60859904e-01,  5.08842044e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492693, -0.03659262,  0.30475579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.60340779, -6.27246871,  8.549175  , -6.27246871, 30.49167959,
       14.59188314,  8.549175  , 14.59188314, 21.30936835,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045863318474678727
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.21036055e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.21036055e-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([ 0.08622327, -0.1092295 ,  0.06198969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83462757e-05, 3.29960634e-05, 2.22638633e-05,-1.52483499e-05,
 -2.47564012e-03, 2.00028871e-02, 9.12609280e-03, 1.36794537e-03,
 -2.01902895e-05,-4.68146474e-05,-5.98532946e-06,-2.10172830e-05,
  5.26965663e-02, 1.77821015e-02, 1.29078181e-02, 1.77453520e-04,
 -1.73661960e-05, 1.20280967e-05,-9.80999623e+00,-6.49360026e-02,
 -9.29834346e-03,-5.43565529e-03]


--- Step 1499 ---
qpos:
[ 0.00985384, 0.00809328,-0.00560794, 0.03350649, 0.00579608,-0.01482173,
 -0.01485874, 0.03799004, 0.01304488, 0.00593171,-0.01169503, 0.03408751,
  0.81705167,-0.01300399, 1.15899727, 0.04599591, 0.0943826 ,-0.06427562,
  0.14244533, 0.9440965 ,-0.03299105, 0.02947693, 0.32668716]

qacc:
[-1.39281113e+00,-2.78062620e-01, 4.09612921e-01, 2.11492558e+00,
  9.40434377e+00, 2.76034489e+00,-4.35248926e+00,-1.79786761e+00,
 -1.98931845e+00, 1.63126719e+00,-7.60577383e+00, 1.52882082e+01,
  4.91699663e+00, 3.67685233e+00, 1.41120386e+01,-5.71303364e+01,
 -5.66062146e-02,-1.92176037e-01, 4.34622119e-02, 3.63565976e+00,
 -3.84400983e-02, 6.43842965e+00]

qfrc_actuator:
[ 9.96506499e-05, 2.99590436e-04, 8.80995999e-05, 3.35734498e-05,
 -2.25864167e-03, 1.77252413e-02, 8.01982626e-03, 1.18640656e-03,
 -1.12572874e-04,-1.44053037e-05,-1.01477502e-04, 8.27274446e-06,
  4.94474417e-02, 1.72152340e-02, 3.09390725e-04,-1.92182240e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23108105, -0.22638873,  0.04633133, -0.22638873,  0.27192115,
        0.19955696,  0.04633133,  0.19955696,  1.20617598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002931842720107191
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98245201, -0.1863138 ,  0.00867243, -0.18630655,  0.98249029,
        0.00164459, -0.00882699,  0.        , -0.99996104])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1301449 , -0.08223293,  0.13162654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28945314,   4.10120596,   6.02629545,   4.10120596,
        48.38420917, -27.96710842,   6.02629545, -27.96710842,
        26.32251792,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.7452858437635836e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86864624e-01,  4.75982564e-02, -1.54378169e-01,  4.70263370e-02,
        9.98866561e-01,  7.35646980e-03,  1.54553346e-01,  8.67361738e-19,
       -9.87984445e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132558 , -0.05416094,  0.29656264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.23852422, -0.931228  ,  0.81655169, -0.931228  ,  4.07474423,
        3.23453802,  0.81655169,  3.23453802,  4.92731993,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00042318854786146194
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00120632e-01, -8.46082727e-01, -1.84454256e-01, -9.38599122e-02,
       -1.58788191e-01,  9.82841100e-01, -8.60854035e-01,  5.08851973e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492664, -0.03658472,  0.30475203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.59948114, -5.98953759,  8.74496654, -5.98953759, 18.81415938,
        5.62633646,  8.74496654,  5.62633646, 14.45302975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004583393637302617
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.78726487e-07,  8.78726540e-07,  1.00000000e+00,  7.72160285e-13,
        1.00000000e+00, -8.78726540e-07, -1.00000000e+00,  0.00000000e+00,
       -8.78726487e-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([ 0.05306756, -0.06199796,  0.0619897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.20515002e-06, 1.91289589e-05, 2.00272766e-05, 1.04109690e-05,
 -2.28916078e-03, 1.96324164e-02, 8.80451887e-03, 1.18070133e-03,
 -1.15937137e-05,-8.10935085e-06,-1.72601349e-05, 2.03277511e-05,
  5.63861629e-02, 2.00891709e-02, 1.47275062e-02,-3.80118847e-04,
 -2.99089673e-06, 1.53556119e-06,-9.80999730e+00,-6.49372544e-02,
 -9.29761023e-03,-5.43563997e-03]


--- Step 1500 ---
qpos:
[ 0.00985542, 0.00809396,-0.00560758, 0.03350639, 0.0057982 ,-0.01484458,
 -0.01486916, 0.03798964, 0.01304325, 0.00593116,-0.01169572, 0.03408711,
  0.81700197,-0.01301468, 1.15889803, 0.04599556, 0.09438475,-0.06427159,
  0.14244569, 0.94409086,-0.03299533, 0.02947091, 0.32670356]

qacc:
[-1.05085256e+00, 1.82748088e+00,-6.70663811e+00, 9.67227513e+00,
  3.57550104e+00, 1.08574886e+00,-3.10291535e+00,-5.08050438e+00,
  5.03788028e+00, 1.03135367e+00,-2.43063844e+00, 4.92224687e-01,
  5.33114768e+00, 3.49624724e+00, 1.48627907e+01,-4.37368711e+01,
 -3.83715639e-02,-1.49823856e-01, 2.68298709e-02, 3.17302056e+00,
 -3.44614068e-01, 5.97974886e+00]

qfrc_actuator:
[ 9.38271269e-05, 2.97403804e-04, 5.87175390e-05, 3.86818021e-05,
 -2.28993322e-03, 1.78018785e-02, 8.02693830e-03, 1.15575532e-03,
 -8.26540283e-05, 3.35961416e-05,-1.04825079e-04, 4.14592202e-06,
  4.94524150e-02, 1.72110769e-02, 3.28012763e-04,-1.97795037e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23124481, -0.22658916,  0.04616837, -0.22658916,  0.25371652,
        0.11028862,  0.04616837,  0.11028862,  0.77252896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029418568499954404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98245382, -0.18630594,  0.00863618, -0.18629875,  0.98249178,
        0.00163764, -0.00879008,  0.        , -0.99996137])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13014777, -0.0822328 ,  0.13162615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28871863,  7.18650659,  1.21636434,  7.18650659,  7.98382326,
       -4.10680736,  1.21636434, -4.10680736, 31.55249979,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.574925243307301e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98686191,  0.04758366, -0.15440004,  0.04701176,  0.99886726,
        0.00735525,  0.15457514,  0.        , -0.98798104])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132556 , -0.05415794,  0.2965625 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004240669317169602
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00104111e-01, -8.46075486e-01, -1.84532245e-01, -9.38978937e-02,
       -1.58856335e-01,  9.82826460e-01, -8.60859491e-01,  5.08842742e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492642, -0.03657859,  0.3047502 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004590402359064272
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20928727e-13, -1.85172113e-13,  1.00000000e+00, -2.23926278e-26,
        1.00000000e+00,  1.85172113e-13, -1.00000000e+00,  0.00000000e+00,
       -1.20928727e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05265268, -0.06139808,  0.06198968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.05416050e-06, 1.30590273e-05,-2.26197217e-05, 6.82129441e-06,
 -2.37515689e-03, 1.95957959e-02, 8.81769677e-03, 1.16365426e-03,
  2.95828616e-05, 4.08009609e-05,-6.43061594e-06,-4.67220957e-06,
  5.56837002e-02, 1.96607090e-02, 1.49230805e-02,-1.15063460e-04,
 -8.34568981e-07, 1.24525071e-06,-9.80999887e+00,-6.49389202e-02,
 -9.29734069e-03,-5.43553854e-03]


--- Step 1501 ---
qpos:
[ 0.00985691, 0.00809487,-0.00560816, 0.03350638, 0.00580074,-0.01486934,
 -0.01488095, 0.03798857, 0.01304269, 0.00593124,-0.01169692, 0.034087  ,
  0.81696593,-0.01301753, 1.15880353, 0.04599263, 0.09438677,-0.06426801,
  0.14244612, 0.94408206,-0.03299413, 0.0294662 , 0.32672953]

qacc:
[-7.53642779e-01, 3.10313519e+00,-1.10198113e+01, 1.39517570e+01,
  3.59698997e+00,-6.72568156e-02,-6.42683232e-01,-7.18322268e+00,
  9.30358945e+00, 2.79400805e+00,-9.97300037e+00, 1.52243297e+01,
  4.86293677e+00, 3.16236981e+00, 1.47050635e+01,-4.15406894e+01,
 -2.84576322e-02,-1.14962663e-01, 1.88288370e-02, 2.61016611e+00,
 -3.83308991e-01, 5.12889562e+00]

qfrc_actuator:
[ 8.97739166e-05, 2.95697912e-04, 5.71478286e-06, 4.17058053e-05,
 -2.29205431e-03, 1.78398497e-02, 8.01842160e-03, 1.12015641e-03,
 -2.88927155e-05, 8.01351840e-05,-1.24142712e-04, 1.96534834e-05,
  4.94510541e-02, 1.72254284e-02, 3.37217760e-04,-2.09844338e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23141996, -0.22660957,  0.04693935, -0.22660957,  0.25269736,
        0.10272111,  0.04693935,  0.10272111,  0.7273277 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029525151549912197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82452341e-01, -1.86315199e-01,  8.60495861e-03, -1.86308053e-01,
        9.82490024e-01,  1.63180748e-03, -8.75831653e-03,  2.16840434e-19,
       -9.99961645e-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([ 0.13015087, -0.08223288,  0.13162583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28847596,  7.13101605,  1.50681515,  7.13101605,  8.50323186,
       -5.74884302,  1.50681515, -5.74884302, 34.49492645,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.516101799013032e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86861616e-01,  4.75482610e-02, -1.54412800e-01,  4.69766871e-02,
        9.98868942e-01,  7.35037384e-03,  1.54587648e-01, -8.67361738e-19,
       -9.87979078e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325571, -0.05415568,  0.29656256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042445285110334803
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.00070100e-01, -8.46079861e-01, -1.84604345e-01, -9.39294869e-02,
       -1.58921414e-01,  9.82812920e-01, -8.60875802e-01,  5.08815147e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492621, -0.03657415,  0.30474983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000459226989980438
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20879549e-13, -9.44371473e-14,  1.00000000e+00, -1.14155197e-26,
        1.00000000e+00,  9.44371473e-14, -1.00000000e+00,  0.00000000e+00,
       -1.20879549e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05265582, -0.0613958 ,  0.06198968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.22301542e-06, 1.18103626e-06,-5.28684116e-05, 2.93160682e-06,
 -2.39812844e-03, 1.96847695e-02, 8.87633880e-03, 1.16010127e-03,
  5.46143548e-05, 6.78605932e-05,-1.18309551e-05, 1.69446978e-05,
  5.49338410e-02, 1.92433473e-02, 1.47351068e-02,-8.44679481e-05,
 -1.57434338e-06, 2.19871088e-06,-9.80999936e+00,-6.49397597e-02,
 -9.29769068e-03,-5.43521007e-03]


--- Step 1502 ---
qpos:
[ 0.00985765, 0.00809552,-0.00560865, 0.03350639, 0.00580388,-0.01489621,
 -0.01489417, 0.03798683, 0.01304278, 0.00593194,-0.01169865, 0.03408708,
  0.81694223,-0.01301333, 1.15871658, 0.04598865, 0.09438871,-0.06426477,
  0.14244661, 0.94407049,-0.03298834, 0.02946242, 0.3267639 ]

qacc:
[-6.57310085e+00,-5.22572663e-01, 1.28671458e+00,-8.02041035e-01,
  5.22008830e+00,-1.78021492e-01,-5.65880462e-01,-7.30370708e+00,
  5.68040690e+00, 2.71052502e+00,-9.31201516e+00, 1.30585703e+01,
  4.32593337e+00, 2.93365721e+00, 1.42107080e+01,-3.37281935e+01,
 -2.12061128e-02,-8.41881592e-02, 1.24949831e-02, 2.14434363e+00,
 -4.14024070e-01, 4.50362359e+00]

qfrc_actuator:
[ 5.12890904e-05, 2.76423152e-04, 1.02109745e-05, 4.34690752e-05,
 -2.27684079e-03, 1.78204232e-02, 8.00109331e-03, 1.11737081e-03,
  2.95277087e-06, 1.07645964e-04,-1.52709718e-04, 2.88334018e-05,
  4.94667744e-02, 1.72482364e-02, 3.40561229e-04,-2.11475411e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23159172, -0.22721703,  0.04480121, -0.22721703,  0.25031001,
        0.09493301,  0.04480121,  0.09493301,  0.71306077,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002962915483769245
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82448098e-01, -1.86338768e-01,  8.57893729e-03, -1.86331664e-01,
        9.82485554e-01,  1.62708612e-03, -8.73187117e-03,  2.16840434e-19,
       -9.99961876e-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([ 0.13015425, -0.08223314,  0.13162558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28859963,  7.03551264,  1.904008  ,  7.03551264,  9.56855142,
       -8.424665  ,  1.904008  , -8.424665  , 38.41863533,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5462509300698255e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86863325e-01,  4.74949425e-02, -1.54418291e-01,  4.69239716e-02,
        9.98871478e-01,  7.34237389e-03,  1.54592752e-01,  8.67361738e-19,
       -9.87978280e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325606, -0.05415408,  0.29656277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042450228506195846
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50002098, -0.84609448, -0.1846704 , -0.09395505, -0.15898304,
        0.98280051, -0.86090155,  0.50877159,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492594, -0.03657112,  0.3047505 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004590213432576068
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.66876737e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.66876737e-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([ 0.05265808, -0.06139402,  0.06198968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.86050025e-05,-2.94416583e-05,-1.67513322e-06, 4.09072873e-08,
 -2.40380807e-03, 1.97617695e-02, 8.92778509e-03, 1.19041425e-03,
  3.34203466e-05, 6.37694563e-05,-1.54102347e-05, 1.20087596e-05,
  5.42663357e-02, 1.88745687e-02, 1.45034414e-02, 2.90566070e-05,
 -4.20267707e-06, 3.99324495e-06,-9.80999909e+00,-6.49399243e-02,
 -9.29849288e-03,-5.43467383e-03]


--- Step 1503 ---
qpos:
[ 0.00985758, 0.00809604,-0.00560883, 0.03350605, 0.00580761,-0.01492556,
 -0.01490895, 0.03798438, 0.01304255, 0.00593278,-0.01170051, 0.03408695,
  0.81692959,-0.0130028 , 1.15863853, 0.04598452, 0.09439059,-0.06426178,
  0.14244712, 0.9440565 ,-0.03297874, 0.02945923, 0.32680556]

qacc:
[-7.11479611e+00,-1.75866678e+00, 7.52515542e+00,-1.40729435e+01,
  5.01520698e+00,-3.93741224e-01,-3.66301195e-01,-7.57266191e+00,
 -2.71625110e+00, 1.28910679e-01, 6.86761337e-01,-4.12672202e+00,
  3.83067653e+00, 2.69151582e+00, 1.35063126e+01,-2.83324763e+01,
 -1.66148379e-02,-6.15854166e-02, 7.38182728e-03, 1.75226049e+00,
 -4.21619128e-01, 3.90316580e+00]

qfrc_actuator:
[ 1.05985630e-05, 2.82500539e-04, 3.08012778e-05, 2.67519473e-05,
 -2.26933418e-03, 1.78207818e-02, 7.99684806e-03, 1.11680269e-03,
 -1.38690003e-05, 8.79985351e-05,-1.68831447e-04, 1.64419867e-05,
  4.94763937e-02, 1.72382506e-02, 3.61266869e-04,-2.10457130e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23175717, -0.22781941,  0.04254056, -0.22781941,  0.2471681 ,
        0.08253086,  0.04254056,  0.08253086,  0.67373845,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029728863251387015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82441476e-01, -1.86374674e-01,  8.55728388e-03, -1.86367604e-01,
        9.82478743e-01,  1.62330331e-03, -8.70989214e-03, -2.16840434e-19,
       -9.99962068e-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([ 0.13015794, -0.08223355,  0.13162538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28902056,   6.88592808,   2.3903588 ,   6.88592808,
        11.5080163 , -12.15369893,   2.3903588 , -12.15369893,
        42.30029021,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.6462852978349287e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86866694e-01,  4.74257911e-02, -1.54418011e-01,  4.68556573e-02,
        9.98874764e-01,  7.33164617e-03,  1.54591964e-01, -8.67361738e-19,
       -9.87978403e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325658, -0.05415308,  0.29656309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004243418018066895
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.49995845, -0.8461184 , -0.18473007, -0.09397473, -0.15904071,
        0.9827893 , -0.86093571,  0.50871377,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492559, -0.03656928,  0.30475186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004585134979812472
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.42135298e-13, -3.78336403e-15,  1.00000000e+00, -9.16085977e-28,
        1.00000000e+00,  3.78336403e-15, -1.00000000e+00,  0.00000000e+00,
       -2.42135298e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05265963, -0.06139263,  0.0619897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.18022070e-05,-1.07647292e-05, 1.43026162e-05,-1.80348535e-05,
 -2.42658956e-03, 1.98687842e-02, 8.99588820e-03, 1.22385455e-03,
 -1.58489826e-05, 1.33508974e-05,-4.42142645e-06,-9.95737769e-06,
  5.36592287e-02, 1.85113448e-02, 1.41481342e-02, 9.17563972e-05,
 -7.97097210e-06, 6.34477475e-06,-9.80999835e+00,-6.49395379e-02,
 -9.29958462e-03,-5.43394418e-03]


--- Step 1504 ---
qpos:
[ 0.00985703, 0.00809653,-0.0056088 , 0.03350516, 0.00581147,-0.01495737,
 -0.01492533, 0.03798124, 0.01304144, 0.00593305,-0.01170194, 0.03408708,
  0.81692457,-0.01298774, 1.15857151, 0.04598179, 0.09439239,-0.06425896,
  0.14244767, 0.94404076,-0.03296659, 0.02945669, 0.32685249]

qacc:
[-4.27190252e+00,-1.76508822e+00, 8.58801479e+00,-1.84761081e+01,
  1.10559700e+00,-2.05768621e-01,-1.09892333e+00,-6.44369652e+00,
 -7.79509513e+00,-1.41778452e+00, 2.90484955e+00, 1.19822272e+00,
  2.39890813e+00, 2.27942887e+00, 1.20620425e+01,-1.86357702e+01,
 -1.86355140e-02,-4.27394702e-02, 9.83602665e-03, 1.20482366e+00,
 -1.76090713e-01, 2.82162679e+00]

qfrc_actuator:
[-1.33005393e-05, 2.86023384e-04, 4.30429952e-05,-6.82738859e-07,
 -2.28442266e-03, 1.78519723e-02, 8.00114471e-03, 1.11786663e-03,
 -5.91936750e-05, 2.25281319e-05,-1.59932746e-04, 2.69316256e-05,
  4.94766975e-02, 1.72242489e-02, 3.70693112e-04,-2.00796298e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23190742, -0.22834801,  0.04047513, -0.22834801,  0.2439529 ,
        0.06795683,  0.04047513,  0.06795683,  0.61529855,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002981901306030614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98243285, -0.18642095,  0.00854001, -0.18641391,  0.98246996,
        0.00162044, -0.00869238,  0.        , -0.99996222])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13016196, -0.08223409,  0.13162525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28970045,   6.6832641 ,   2.91096438,   6.6832641 ,
        14.51975666, -16.59943886,   2.91096438, -16.59943886,
        45.40024374,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.8003074002133796e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98687143,  0.04734285, -0.15441319,  0.04677375,  0.9988787 ,
        0.00731857,  0.15458653,  0.        , -0.98797925])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325723, -0.05415261,  0.29656349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042406041552692654
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.49988422, -0.84615064, -0.1847833 , -0.09398881, -0.15909423,
        0.98277929, -0.86097728,  0.50864342,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492514, -0.03656845,  0.30475369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004577664102015935
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75817978e-07,  9.75818105e-07,  1.00000000e+00,  9.52220849e-13,
        1.00000000e+00, -9.75818105e-07, -1.00000000e+00, -2.01948392e-28,
       -9.75817978e-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([ 0.05307983, -0.06198826,  0.06198971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50950524e-05,-3.45478277e-07, 1.11542888e-05,-2.77503539e-05,
 -2.47076687e-03, 2.00249412e-02, 9.07843659e-03, 1.26045062e-03,
 -4.57691758e-05,-5.93592806e-05, 1.07799346e-05, 1.07181621e-05,
  5.31066769e-02, 1.81806127e-02, 1.37138125e-02, 1.95938970e-04,
 -1.23007404e-05, 8.98084191e-06,-9.80999734e+00,-6.49386951e-02,
 -9.30085810e-03,-5.43303686e-03]


--- Step 1505 ---
qpos:
[ 0.00985619, 0.00809678,-0.00560826, 0.0335043 , 0.00581093,-0.01498156,
 -0.01493518, 0.03798139, 0.0130398 , 0.00593295,-0.01170356, 0.03408735,
  0.81684611,-0.01301806, 1.15847148, 0.04599014, 0.09439491,-0.06425369,
  0.14244778, 0.94404319,-0.03298465, 0.02944658, 0.32684457]

qacc:
[-2.45797321e+00,-1.65432270e+00, 5.32096850e+00,-5.42639046e+00,
 -3.78127704e+01,-1.34034701e+00, 5.65880615e+00, 3.50293569e+01,
 -4.70332547e+00, 3.34653824e-01,-2.47577657e+00, 5.46653239e+00,
 -2.36433037e+01,-2.24100383e+01,-8.19009553e+01, 2.16654571e+02,
  1.79580203e-01, 6.13317388e-01,-1.12640762e-01,-1.43942604e+01,
  2.00146790e+00,-2.94264135e+01]

qfrc_actuator:
[-2.71244651e-05, 2.70203096e-04, 6.79966170e-05, 1.29632225e-06,
 -2.31284818e-03, 1.78848957e-02, 8.02898975e-03, 1.12017385e-03,
 -8.54107409e-05, 1.23794589e-06,-1.72029354e-04, 3.30214957e-05,
  4.94713228e-02, 1.72426143e-02, 3.51537612e-04,-1.91422677e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23202659, -0.2252802 ,  0.05554432, -0.2252802 ,  0.30906887,
        0.31247297,  0.05554432,  0.31247297,  1.49937434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000298902457883147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82422850e-01, -1.86474161e-01,  8.52830855e-03, -1.86467135e-01,
        9.82459866e-01,  1.61870142e-03, -8.68056686e-03,  2.16840434e-19,
       -9.99962323e-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([ 0.13016629, -0.08223472,  0.13162518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2906108 , -7.28439262,  0.30104812, -7.28439262,  7.27829153,
       -0.29808645,  0.30104812, -0.29808645,  0.07788099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.994117593497982e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86877190e-01,  4.72498551e-02, -1.54404869e-01,  4.66819431e-02,
        9.98883102e-01,  7.30376523e-03,  1.54577516e-01,  8.67361738e-19,
       -9.87980664e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325797, -0.05415251,  0.29656396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.23933783,  0.75921154, -0.97956935,  0.75921154,  8.72297536,
        5.80016513, -0.97956935,  5.80016513,  5.73473401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004237726443984806
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.49980157, -0.84618906, -0.1848309 , -0.09399833, -0.15914388,
        0.98277034, -0.86102422,  0.50856396,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492464, -0.0365683 ,  0.30475566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.58815725, -6.2753116 ,  8.52816148, -6.2753116 , 31.21137676,
       15.17526713,  8.52816148, 15.17526713, 21.75463552,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004574898449358048
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.95157390e-07, -7.95157439e-07,  1.00000000e+00, -6.32275313e-13,
        1.00000000e+00,  7.95157439e-07, -1.00000000e+00, -1.00974196e-28,
       -7.95157390e-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([ 0.08592893, -0.10873547,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45397383e-05,-1.49217557e-05, 2.52933472e-05, 1.81205983e-06,
 -2.50564512e-03, 2.01827807e-02, 9.18702159e-03, 1.29733185e-03,
 -2.75402273e-05,-5.18107877e-05,-2.26452192e-05, 4.13169788e-06,
  5.27200345e-02, 1.79723205e-02, 1.31449256e-02, 2.20831793e-04,
 -1.59792495e-05, 1.11427588e-05,-9.80999653e+00,-6.49374357e-02,
 -9.30207390e-03,-5.43203191e-03]


--- Step 1506 ---
qpos:
[ 0.00985553, 0.00809708,-0.00560781, 0.03350382, 0.00581197,-0.01500386,
 -0.01494496, 0.03798129, 0.01303819, 0.00593308,-0.01170585, 0.03408731,
  0.81678373,-0.01303889, 1.15837107, 0.04599349, 0.09439721,-0.06424916,
  0.14244802, 0.94404127,-0.03299496, 0.02943887, 0.32684977]

qacc:
[ 1.62331121e+00, 1.09303851e+00,-5.42854543e+00, 1.21398408e+01,
  1.35716671e+01, 1.79115702e+00,-1.76232169e+00,-3.95768044e+00,
  3.49512986e-01, 1.54719856e+00,-3.72697226e+00,-8.62007582e-01,
  5.67699426e+00, 3.97289350e+00, 1.44706411e+01,-5.17248711e+01,
 -5.30385547e-02,-1.86027563e-01, 3.65010454e-02, 3.78869144e+00,
 -2.88659842e-01, 7.05273457e+00]

qfrc_actuator:
[-1.71608373e-05, 2.78504585e-04, 6.46979073e-05, 2.05618331e-05,
 -2.30930344e-03, 1.79274999e-02, 8.06346745e-03, 1.13727946e-03,
 -8.24091675e-05, 4.19816862e-05,-1.96281098e-04, 1.87299358e-05,
  4.94695634e-02, 1.72574907e-02, 3.77382799e-04,-1.85023579e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23210856, -0.22657853,  0.05036423, -0.22657853,  0.28932339,
        0.25739796,  0.05036423,  0.25739796,  1.39009012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002993910787868674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98242886, -0.18644409,  0.00849357, -0.18643712,  0.98246557,
        0.00161184, -0.00864516,  0.        , -0.99996263])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13016925, -0.08223435,  0.13162482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28925848,   4.69773687,   5.57355878,   4.69773687,
        40.71473891, -28.17304311,   5.57355878, -28.17304311,
        31.03522556,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.701186434570144e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98687162,  0.04726016, -0.15443733,  0.04669189,  0.99888261,
        0.0073069 ,  0.15461009,  0.        , -0.98797557])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325741, -0.05414881,  0.29656359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.24147091, -0.93093671,  0.82134454, -0.93093671,  4.04199348,
        3.17419689,  0.82134454,  3.17419689,  4.83920155,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00042529685462395714
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.99158082e-01, -8.46478005e-01, -1.85246314e-01, -9.40957934e-02,
       -1.59568727e-01,  9.82692120e-01, -8.61386784e-01,  5.07949613e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049244 , -0.03656043,  0.30475198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.59694891, -5.99253808,  8.73984058, -5.99253808, 18.74215716,
        5.58482391,  8.73984058,  5.58482391, 14.42622584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004581496774338917
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21163790e-13, -2.15823001e-13,  1.00000000e+00, -2.61499327e-26,
        1.00000000e+00,  2.15823001e-13, -1.00000000e+00,  0.00000000e+00,
       -1.21163790e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05266684, -0.06138705,  0.0619897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.54188852e-06, 5.24349751e-06,-3.20896325e-06, 1.95374080e-05,
 -2.28261005e-03, 1.98449251e-02, 8.89518059e-03, 1.15017760e-03,
  2.19949112e-06, 7.27752773e-06,-3.75811298e-05,-1.72108552e-05,
  5.63912178e-02, 2.02572821e-02, 1.48228261e-02,-2.69822312e-04,
 -3.11812213e-06, 1.50246820e-06,-9.80999735e+00,-6.49387361e-02,
 -9.30154791e-03,-5.43206785e-03]


--- Step 1507 ---
qpos:
[ 0.009855  , 0.00809735,-0.00560765, 0.0335036 , 0.0058141 ,-0.01502617,
 -0.01495554, 0.03798073, 0.01303664, 0.00593315,-0.01170784, 0.0340874 ,
  0.81673597,-0.01305118, 1.15827532, 0.04599425, 0.09439936,-0.0642452 ,
  0.14244838, 0.94403566,-0.03299885, 0.02943296, 0.32686611]

qacc:
[ 1.08314626e+00, 1.31633230e+00,-5.82031767e+00, 1.07503985e+01,
  9.31874322e+00, 1.22924968e+00,-2.47342362e+00,-4.27554128e+00,
  4.35287106e-01,-6.62531063e-01, 1.62925971e+00, 4.07731698e-01,
  5.11505142e+00, 3.59633026e+00, 1.45796076e+01,-4.12948168e+01,
 -3.92379226e-02,-1.42946070e-01, 2.73255972e-02, 3.09824240e+00,
 -3.28696445e-01, 5.98353179e+00]

qfrc_actuator:
[-1.10321171e-05, 2.65588708e-04, 4.48416128e-05, 3.20841897e-05,
 -2.29078642e-03, 1.79608462e-02, 8.08803099e-03, 1.18323598e-03,
 -7.99925672e-05, 4.84811718e-05,-1.74002405e-04, 2.81171765e-05,
  4.94858615e-02, 1.72512931e-02, 4.07176040e-04,-1.91668834e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23226134, -0.22799625,  0.04430621, -0.22799625,  0.26060517,
        0.1458551 ,  0.04430621,  0.1458551 ,  0.98282016,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000300298776508931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98243077, -0.18643556,  0.00845933, -0.18642865,  0.98246719,
        0.00160527, -0.0086103 ,  0.        , -0.99996293])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13017218, -0.08223423,  0.13162447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28858865,  7.18994721,  1.19506637,  7.18994721,  7.94792915,
       -3.96682852,  1.19506637, -3.96682852, 31.15444948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5435883788037487e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86868972e-01,  4.72459416e-02, -1.54458578e-01,  4.66776794e-02,
        9.98883287e-01,  7.30569930e-03,  1.54631256e-01, -8.67361738e-19,
       -9.87972254e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325724, -0.05414592,  0.29656348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004261404353201891
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.49466029, -0.8485924 , -0.18762231, -0.09448728, -0.16209344,
        0.98224125, -0.86393481,  0.50360366,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492423, -0.03655451,  0.30475027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004588163480442192
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20987736e-13, -1.24768603e-13,  1.00000000e+00, -1.50954708e-26,
        1.00000000e+00,  1.24768603e-13, -1.00000000e+00,  0.00000000e+00,
       -1.20987736e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05267106, -0.06138417,  0.06198969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.40042132e-06,-9.81882552e-06,-1.84997816e-05, 1.20154066e-05,
 -2.34289361e-03, 1.97846505e-02, 8.91703403e-03, 1.20856749e-03,
  2.48195455e-06, 2.08658004e-06, 1.85812530e-05, 8.06840916e-06,
  5.56026679e-02, 1.97762017e-02, 1.48732557e-02,-8.51648002e-05,
 -7.87614542e-07, 1.15357346e-06,-9.80999895e+00,-6.49403410e-02,
 -9.30121823e-03,-5.43194125e-03]


--- Step 1508 ---
qpos:
[ 0.00985455, 0.00809716,-0.00560725, 0.03350354, 0.00581683,-0.0150505 ,
 -0.01496735, 0.0379796 , 0.01303512, 0.00593321,-0.01170958, 0.03408795,
  0.81670127,-0.01305591, 1.15818838, 0.0459946 , 0.0944014 ,-0.06424167,
  0.14244882, 0.94402692,-0.03299746, 0.02942837, 0.3268919 ]

qacc:
[ 7.00009664e-01,-9.86523107e-01, 1.92582593e+00, 8.22498864e-01,
  5.24699671e+00,-4.28196604e-01,-1.57782754e-03,-6.27022205e+00,
  3.68679395e-01, 2.42380453e-01,-2.79953602e+00, 1.02751288e+01,
  4.51656489e+00, 3.25414875e+00, 1.41598762e+01,-3.08460478e+01,
 -2.97451769e-02,-1.08272792e-01, 1.98921127e-02, 2.51776634e+00,
 -3.46259475e-01, 5.07733153e+00]

qfrc_actuator:
[-7.21753984e-06, 2.22235858e-04, 5.07933316e-05, 3.89323275e-05,
 -2.29892835e-03, 1.79720338e-02, 8.10747927e-03, 1.19356281e-03,
 -7.79495997e-05, 5.23925261e-05,-1.60028685e-04, 5.13774652e-05,
  4.94965708e-02, 1.72296210e-02, 4.06944889e-04,-1.88429838e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23244755, -0.2287342 ,  0.04138269, -0.2287342 ,  0.25032925,
        0.0988374 ,  0.04138269,  0.0988374 ,  0.77875072,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030139992431203337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82429338e-01, -1.86444543e-01,  8.42781156e-03, -1.86437683e-01,
        9.82465487e-01,  1.59936353e-03, -8.57822659e-03,  2.16840434e-19,
       -9.99963206e-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([ 0.13017523, -0.0822343 ,  0.13162414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28838908,  7.11773055,  1.56796911,  7.11773055,  8.63513817,
       -6.11351151,  1.56796911, -6.11351151, 35.04042033,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.494702770762683e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86868731e-01,  4.72108323e-02, -1.54470854e-01,  4.66429035e-02,
        9.98884947e-01,  7.30083842e-03,  1.54643290e-01, -8.67361738e-19,
       -9.87970370e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325737, -0.05414375,  0.29656355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042652045889356416
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.49242325, -0.84962722, -0.18881983, -0.09468245, -0.16336512,
        0.98201175, -0.86519048,  0.50144334,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492407, -0.03655022,  0.30474994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045898309964953476
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20943780e-13, -1.24723274e-13,  1.00000000e+00,  1.50845042e-26,
        1.00000000e+00,  1.24723274e-13, -1.00000000e+00,  0.00000000e+00,
        1.20943780e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05267417, -0.0613819 ,  0.06198969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.99276186e-06,-5.21575354e-05, 2.05641501e-06, 6.02052547e-06,
 -2.40516826e-03, 1.97974696e-02, 8.97667894e-03, 1.24226937e-03,
  2.11136013e-06, 9.27851665e-06, 1.69930215e-05, 2.41532752e-05,
  5.48827167e-02, 1.93280137e-02, 1.46425053e-02, 7.71750931e-05,
 -1.56998049e-06, 2.13746832e-06,-9.80999938e+00,-6.49411338e-02,
 -9.30158305e-03,-5.43159846e-03]


--- Step 1509 ---
qpos:
[ 0.00985415, 0.00809675,-0.00560712, 0.03350322, 0.00582008,-0.01507803,
 -0.01498024, 0.03797795, 0.01303434, 0.00593345,-0.01171176, 0.0340888 ,
  0.81667816,-0.01305391, 1.15811241, 0.04599585, 0.09440333,-0.06423847,
  0.14244931, 0.9440155 ,-0.03299173, 0.02942473, 0.32692579]

qacc:
[ 4.26032991e-01,-4.29410146e-02, 8.60111614e-01,-4.78348350e+00,
  4.44244347e+00,-2.24360188e+00, 4.07676384e+00,-8.99610860e+00,
  6.36963031e+00, 2.07313493e+00,-8.31727629e+00, 1.40539888e+01,
  3.94980432e+00, 2.96202540e+00, 1.33826872e+01,-2.34784525e+01,
 -2.30822715e-02,-8.04734164e-02, 1.37031032e-02, 2.04275785e+00,
 -3.57434669e-01, 4.33974535e+00]

qfrc_actuator:
[-4.79474416e-06, 2.14339931e-04, 3.63019150e-05, 2.52160660e-05,
 -2.30527192e-03, 1.79896970e-02, 8.14235646e-03, 1.18279487e-03,
 -4.06376030e-05, 5.47209401e-05,-1.86599177e-04, 6.48411463e-05,
  4.94875628e-02, 1.71962098e-02, 4.09459959e-04,-1.81150004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.232629  , -0.22899545,  0.04095527, -0.22899545,  0.24827555,
        0.08748544,  0.04095527,  0.08748544,  0.72179117,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003024675624700556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82425188e-01, -1.86467596e-01,  8.40157165e-03, -1.86460778e-01,
        9.82461112e-01,  1.59458817e-03, -8.55155644e-03,  2.16840434e-19,
       -9.99963435e-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([ 0.13017858, -0.08223455,  0.13162389])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28854066,  7.0065083 ,  2.00790102,  7.0065083 ,  9.8943194 ,
       -9.09278405,  2.00790102, -9.09278405, 39.01752849,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5319203277894283e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98687045,  0.04715793, -0.15447601,  0.0465906 ,  0.99888745,
        0.00729288,  0.15464806,  0.        , -0.98796962])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325773, -0.05414222,  0.29656377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004265993142204968
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.49179735, -0.84990963, -0.18917978, -0.09474905, -0.16374251,
        0.98194247, -0.86553913,  0.50084131,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049239 , -0.03654732,  0.30475055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004587597106633645
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.42005346e-13, -3.78133353e-15,  1.00000000e+00, -9.15102929e-28,
        1.00000000e+00,  3.78133353e-15, -1.00000000e+00,  0.00000000e+00,
       -2.42005346e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05267639, -0.06138013,  0.06198969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51824347e-06,-3.63746360e-05,-2.48056961e-05,-1.57633694e-05,
 -2.44193618e-03, 1.99174869e-02, 9.07313964e-03, 1.25971644e-03,
  3.73720680e-05, 1.20750364e-05,-2.17084209e-05, 1.49214527e-05,
  5.42205350e-02, 1.89158639e-02, 1.42060023e-02, 1.70852516e-04,
 -4.16944257e-06, 3.91816188e-06,-9.80999910e+00,-6.49412663e-02,
 -9.30237571e-03,-5.43106167e-03]


--- Step 1510 ---
qpos:
[ 0.00985412, 0.00809639,-0.0056076 , 0.03350307, 0.00582394,-0.01510849,
 -0.01499424, 0.03797576, 0.01303435, 0.00593397,-0.01171427, 0.03408909,
  0.81666554,-0.01304579, 1.15804458, 0.04599689, 0.0944052 ,-0.06423551,
  0.14244983, 0.94400174,-0.03298235, 0.02942171, 0.32696672]

qacc:
[ 3.28860382e+00, 2.10357295e+00,-8.18544731e+00, 1.21861723e+01,
  5.32804416e+00,-1.92941912e+00, 3.51658712e+00,-8.96252834e+00,
  7.00483086e+00, 1.14686568e-01, 2.44275579e+00,-1.17169820e+01,
  3.54965760e+00, 2.74229139e+00, 1.25991703e+01,-2.67542673e+01,
 -1.80647522e-02,-5.97242440e-02, 8.13817113e-03, 1.68027150e+00,
 -3.81499174e-01, 3.76552736e+00]

qfrc_actuator:
[ 1.45432342e-05, 2.27638762e-04, 9.96686952e-06, 3.50240274e-05,
 -2.29293128e-03, 1.80132156e-02, 8.16909529e-03, 1.17730661e-03,
 -6.18329466e-07, 7.36636656e-05,-2.01404288e-04, 3.68966474e-05,
  4.94823637e-02, 1.72423467e-02, 3.97134662e-04,-1.85762657e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23278538, -0.22929738,  0.04014655, -0.22929738,  0.24738697,
        0.08339709,  0.04014655,  0.08339709,  0.70910862,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003033835118402302
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82418779e-01, -1.86502257e-01,  8.38156251e-03, -1.86495470e-01,
        9.82454532e-01,  1.59109687e-03, -8.53124724e-03, -2.16840434e-19,
       -9.99963608e-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([ 0.1301823 , -0.08223495,  0.13162371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28897802,   6.84637572,   2.50126771,   6.84637572,
        12.01272175, -12.92965332,   2.50126771, -12.92965332,
        42.67953785,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.636349982792505e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98687378,  0.04708974, -0.15447554,  0.04652323,  0.99889066,
        0.00728229,  0.15464709,  0.        , -0.98796977])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325827, -0.05414125,  0.2965641 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004264950992101247
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.92288557e-01, -8.49674874e-01, -1.88956568e-01, -9.47276326e-02,
       -1.63496974e-01,  9.81985446e-01, -8.65262187e-01,  5.01319607e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492369, -0.03654557,  0.30475178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004582359735227498
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21140972e-13,  8.70700736e-14,  1.00000000e+00, -1.05477533e-26,
        1.00000000e+00, -8.70700736e-14, -1.00000000e+00,  0.00000000e+00,
        1.21140972e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05267793, -0.06137875,  0.0619897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93998944e-05,-1.28256701e-05,-3.74451457e-05, 7.08549550e-06,
 -2.45522280e-03, 2.01014624e-02, 9.15489804e-03, 1.28039730e-03,
  4.10847210e-05, 2.18758496e-05,-1.44499820e-05,-2.78869961e-05,
  5.36355626e-02, 1.86260525e-02, 1.36469770e-02, 7.99127852e-05,
 -7.75586363e-06, 6.14866854e-06,-9.80999841e+00,-6.49408612e-02,
 -9.30342491e-03,-5.43034965e-03]


--- Step 1511 ---
qpos:
[ 0.00985398, 0.00809593,-0.00560817, 0.03350406, 0.00582833,-0.01514162,
 -0.01500964, 0.03797294, 0.01303415, 0.00593486,-0.01171647, 0.03408899,
  0.81666229,-0.01303216, 1.1579855 , 0.04599828, 0.09440701,-0.06423271,
  0.14245037, 0.94398596,-0.03296994, 0.02941908, 0.32701377]

qacc:
[-9.91283949e-01, 2.47789348e+00,-1.37867255e+01, 3.36191360e+01,
  4.56182741e+00,-9.22664674e-01, 8.03557296e-01,-7.47456608e+00,
 -1.84619865e+00,-1.16697086e+00, 6.54531027e+00,-1.41295097e+01,
  3.11716554e+00, 2.54515841e+00, 1.18028013e+01,-2.26741276e+01,
 -1.48135577e-02,-4.26741216e-02, 3.89064635e-03, 1.37028589e+00,
 -3.87639163e-01, 3.27233325e+00]

qfrc_actuator:
[ 8.17754031e-06, 2.35743574e-04, 1.24751796e-05, 9.41194406e-05,
 -2.28744096e-03, 1.80412749e-02, 8.19139936e-03, 1.19296860e-03,
 -1.25950721e-05, 1.20161295e-04,-1.73584983e-04, 2.03464997e-05,
  4.94897841e-02, 1.72808573e-02, 4.23695756e-04,-1.83233585e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23291909, -0.22992815,  0.03720681, -0.22992815,  0.24421746,
        0.06982091,  0.03720681,  0.06982091,  0.66439366,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030416355543941287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98241044, -0.18654687,  0.00836661, -0.1865401 ,  0.98244606,
        0.00158865, -0.0085161 ,  0.        , -0.99996374])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13018636, -0.08223547,  0.1316236 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28966644,   6.64816593,   2.99017167,   6.64816593,
        15.00071321, -17.14427268,   2.99017167, -17.14427268,
        45.40720023,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.7928059366029797e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86878436e-01,  4.70082237e-02, -1.54470642e-01,  4.64427446e-02,
        9.98894502e-01,  7.26942681e-03,  1.54641598e-01,  8.67361738e-19,
       -9.87970635e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325893, -0.05414078,  0.29656451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042627176021650963
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.49365712, -0.84903233, -0.18827309, -0.09463473, -0.16276064,
        0.98211672, -0.86449229,  0.50264608,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492338, -0.03654477,  0.30475345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045748586664218216
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.42679196e-13, -9.47965611e-14,  1.00000000e+00, -2.30051533e-26,
        1.00000000e+00,  9.47965611e-14, -1.00000000e+00,  0.00000000e+00,
       -2.42679196e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05267892, -0.06137769,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.81455203e-06,-6.47254536e-06,-4.49835628e-06, 5.73895484e-05,
 -2.48051951e-03, 2.02777533e-02, 9.23286537e-03, 1.32329867e-03,
 -1.08004171e-05, 5.45750799e-05, 2.96142665e-05,-1.66533156e-05,
  5.31187681e-02, 1.83579777e-02, 1.32673272e-02, 1.15966934e-04,
 -1.18577740e-05, 8.63582040e-06,-9.80999747e+00,-6.49400174e-02,
 -9.30463848e-03,-5.42947301e-03]


--- Step 1512 ---
qpos:
[ 0.00985308, 0.00809548,-0.00560873, 0.03350539, 0.00583301,-0.01517697,
 -0.01502618, 0.03796959, 0.01303312, 0.00593596,-0.01171798, 0.03408869,
  0.81666529,-0.01301465, 1.15793447, 0.04600012, 0.09440874,-0.06423004,
  0.14245094, 0.94396876,-0.03295559, 0.02941691, 0.32706505]

qacc:
[-6.71215737e+00, 6.85460752e-01,-3.82961229e+00, 9.59510847e+00,
  2.50604587e+00,-8.28591652e-01, 9.29072166e-01,-6.57969772e+00,
 -7.29487960e+00,-2.04909672e+00, 8.57515304e+00,-1.33543884e+01,
  1.84709170e+00, 2.13428912e+00, 1.04945007e+01,-1.94874206e+01,
 -1.76436341e-02,-3.01770064e-02, 6.69106384e-03, 9.05352554e-01,
 -1.48648975e-01, 2.26508110e+00]

qfrc_actuator:
[-3.10238952e-05, 2.40840849e-04, 1.42635963e-05, 1.10748213e-04,
 -2.28621997e-03, 1.80729700e-02, 8.21178247e-03, 1.20387209e-03,
 -5.50802947e-05, 1.29726535e-04,-1.38443715e-04, 1.06934622e-05,
  4.94885214e-02, 1.72597019e-02, 4.67916396e-04,-1.81792487e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23302974, -0.23037215,  0.03509321, -0.23037215,  0.24270829,
        0.06353561,  0.03509321,  0.06353561,  0.65011432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030480698752500043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82400459e-01, -1.86599878e-01,  8.35600017e-03, -1.86593128e-01,
        9.82435996e-01,  1.58710452e-03, -8.50538886e-03, -2.16840434e-19,
       -9.99963829e-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([ 0.13019075, -0.0822361 ,  0.13162356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29058355,   6.38055957,   3.52718981,   6.38055957,
        19.42247986, -21.9461643 ,   3.52718981, -21.9461643 ,
        46.99040585,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.9884994295830773e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98688417,  0.04691508, -0.1544623 ,  0.04635078,  0.99889888,
        0.0072546 ,  0.15463257,  0.        , -0.98797205])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325967, -0.05414076,  0.29656497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042599055572695854
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.49560467, -0.84811673, -0.18728058, -0.09448897, -0.16169678,
        0.98230646, -0.86339321,  0.50453162,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492297, -0.0365448 ,  0.30475538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045656636377659207
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.22555027e-07,  2.22555255e-07,  1.00000000e+00,  4.95307908e-14,
        1.00000000e+00, -2.22555255e-07, -1.00000000e+00, -6.31088724e-30,
       -2.22555027e-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([ 0.05309878, -0.06197316,  0.06198974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.93697343e-05, 3.02714936e-06, 1.89317643e-06, 1.73130743e-05,
 -2.50572702e-03, 2.04445785e-02, 9.32390226e-03, 1.36579786e-03,
 -4.27731171e-05, 4.54765638e-05, 4.95014709e-05,-6.61024610e-06,
  5.26489565e-02, 1.80610688e-02, 1.28756586e-02, 1.13302397e-04,
 -1.61384650e-05, 1.12286294e-05,-9.80999642e+00,-6.49388109e-02,
 -9.30595146e-03,-5.42844403e-03]


--- Step 1513 ---
qpos:
[ 0.0098524 , 0.00809474,-0.00560877, 0.03350552, 0.00583345,-0.01520396,
 -0.01503624, 0.03796951, 0.01303158, 0.00593726,-0.01171902, 0.03408828,
  0.81659401,-0.01304319, 1.15784344, 0.04601154, 0.09441113,-0.0642248 ,
  0.142451  , 0.94396996,-0.03297241, 0.02940659, 0.32706084]

qacc:
[ 2.01456313e+00,-4.30320437e+00, 1.97982672e+01,-4.09996742e+01,
 -3.65269378e+01,-2.56716054e-01, 3.26397021e+00, 3.66594091e+01,
 -4.39690340e+00,-1.24822666e+00, 5.28429852e+00,-7.93307879e+00,
 -2.35905336e+01,-2.31804084e+01,-8.76137299e+01, 2.21608417e+02,
  1.61886715e-01, 6.41944444e-01,-1.25944237e-01,-1.49255939e+01,
  1.89712408e+00,-2.97911974e+01]

qfrc_actuator:
[-1.82190151e-05, 2.08571462e-04, 3.33089085e-05, 4.89839856e-05,
 -2.30528633e-03, 1.81074519e-02, 8.21355727e-03, 1.19431617e-03,
 -7.96600558e-05, 1.34906473e-04,-1.17163424e-04, 5.14527274e-06,
  4.94873183e-02, 1.72376783e-02, 4.63896439e-04,-1.84579520e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23311104, -0.22761918,  0.05030174, -0.22761918,  0.29076116,
        0.26087115,  0.05030174,  0.26087115,  1.41357269,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030527849885741835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82389402e-01, -1.86658350e-01,  8.35007992e-03, -1.86651607e-01,
        9.82424888e-01,  1.58649496e-03, -8.49945886e-03,  2.16840434e-19,
       -9.99963879e-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([ 0.1301954 , -0.08223681,  0.13162357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2917084 , -7.28501576,  0.31234076, -7.28501576,  7.2784379 ,
       -0.30952039,  0.31234076, -0.30952039,  0.07247488,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.212231427393886e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86890701e-01,  4.68138163e-02, -1.54451321e-01,  4.62508280e-02,
        9.98903632e-01,  7.23839172e-03,  1.54620842e-01, -8.67361738e-19,
       -9.87973884e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326047, -0.05414103,  0.29656547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.24208281,  0.76165701, -0.98114642,  0.76165701,  8.67860401,
        5.77291872, -0.98114642,  5.77291872,  5.72355871,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004257322014520331
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.49786358, -0.84704914, -0.1861172 , -0.09430878, -0.16045393,
        0.98252755, -0.86211236,  0.50671717,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492248, -0.03654534,  0.30475737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.58299666, -6.27031066,  8.52543386, -6.27031066, 30.92692443,
       14.9626106 ,  8.52543386, 14.9626106 , 21.5877406 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004571016169880454
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21441599e-13, -1.21441599e-13,  1.00000000e+00, -1.47480619e-26,
        1.00000000e+00,  1.21441599e-13, -1.00000000e+00,  0.00000000e+00,
       -1.21441599e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08629905, -0.10917502,  0.06198973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16852042e-05,-2.94345811e-05, 2.05142059e-05,-6.12309291e-05,
 -2.53930723e-03, 2.05910524e-02, 9.38318374e-03, 1.38267012e-03,
 -2.57795572e-05, 4.05129450e-05, 3.65486047e-05,-2.01212445e-06,
  5.23353451e-02, 1.78447181e-02, 1.24700319e-02, 6.28379733e-05,
 -1.94382489e-05, 1.31658203e-05,-9.80999568e+00,-6.49372555e-02,
 -9.30714696e-03,-5.42733668e-03]


--- Step 1514 ---
qpos:
[ 0.00985257, 0.00809371,-0.00560855, 0.03350493, 0.00583496,-0.01522788,
 -0.01504634, 0.03796919, 0.01303011, 0.0059388 ,-0.01172007, 0.03408819,
  0.81653583,-0.01306374, 1.15774874, 0.04601674, 0.0944133 ,-0.06422031,
  0.14245124, 0.94396749,-0.03298238, 0.02939893, 0.32706764]

qacc:
[ 7.45670080e+00,-2.61353059e+00, 1.17932978e+01,-2.44799039e+01,
  9.21519182e+00, 3.64457968e+00,-6.09523964e+00,-3.36862937e-01,
  5.41210998e-01, 9.76669701e-01,-4.34294438e+00, 9.57800689e+00,
  4.46188612e+00, 3.60106915e+00, 1.32307918e+01,-5.44114570e+01,
 -5.33773850e-02,-1.87127826e-01, 4.27963084e-02, 3.44590267e+00,
  5.50438046e-03, 5.93898247e+00]

qfrc_actuator:
[ 2.51034579e-05, 1.89681770e-04, 4.44372010e-05, 1.25855796e-05,
 -2.31435697e-03, 1.81339241e-02, 8.21476186e-03, 1.22215913e-03,
 -7.57415751e-05, 1.37368585e-04,-1.22016440e-04, 1.97903790e-05,
  4.94931737e-02, 1.72812558e-02, 4.66920904e-04,-1.80181403e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23315397, -0.22894275,  0.04411339, -0.22894275,  0.27266553,
        0.20505982,  0.04411339,  0.20505982,  1.29738763,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030552706129860263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98239435, -0.18663364,  0.0083197 , -0.18662694,  0.98242958,
        0.00158051, -0.0084685 ,  0.        , -0.99996414])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13019862, -0.08223653,  0.13162327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29022759,   4.40864052,   5.80614391,   4.40864052,
        44.44281055, -28.21018303,   5.80614391, -28.21018303,
        28.71039177,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.9141112412866746e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86885608e-01,  4.68168941e-02, -1.54482926e-01,  4.62536367e-02,
        9.98903488e-01,  7.24034990e-03,  1.54652504e-01,  8.67361738e-19,
       -9.87968928e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325984, -0.05413766,  0.29656507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.24435112, -0.86249715,  0.89694391, -0.86249715,  4.35863178,
        2.994678  ,  0.89694391,  2.994678  ,  4.12401974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004273387470655595
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.48996079, -0.85073402, -0.19023684, -0.09494241, -0.16485143,
        0.98173823, -0.86655892,  0.49907478,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492214, -0.03653794,  0.30475358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.5790362 , -5.98317733,  8.72453988, -5.98317733, 18.84139505,
        5.66621952,  8.72453988,  5.66621952, 14.46485673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004568032140338273
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.48509774e-07,  7.48509841e-07,  1.00000000e+00,  5.60266932e-13,
        1.00000000e+00, -7.48509841e-07, -1.00000000e+00,  1.00974196e-28,
       -7.48509774e-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([ 0.05310442, -0.06196888,  0.06198973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.36492119e-05,-3.37028205e-05, 5.46529687e-06,-3.81405709e-05,
 -2.33631046e-03, 2.02008492e-02, 9.06106563e-03, 1.24720974e-03,
  3.20143887e-06, 3.25324201e-05, 7.94473302e-06, 1.76076924e-05,
  5.60555705e-02, 2.01911332e-02, 1.44740672e-02,-3.71363250e-04,
 -2.38396458e-06, 1.40249083e-06,-9.80999762e+00,-6.49382666e-02,
 -9.30589290e-03,-5.42726015e-03]


--- Step 1515 ---
qpos:
[ 0.00985292, 0.00809311,-0.00560883, 0.03350456, 0.00583763,-0.01525107,
 -0.01505709, 0.03796844, 0.0130287 , 0.00594018,-0.01172097, 0.03408832,
  0.81649171,-0.01307606, 1.15765836, 0.04601942, 0.09441533,-0.06421639,
  0.14245157, 0.94396154,-0.03298608, 0.02939302, 0.32708497]

qacc:
[ 1.49157480e+00, 2.44090093e+00,-8.81431017e+00, 1.31241158e+01,
  9.94516539e+00, 1.90119567e+00,-3.64133353e+00,-3.05345608e+00,
  5.22647247e-01,-1.93044386e-01,-5.34062418e-01, 4.16291972e+00,
  4.90236687e+00, 3.50722232e+00, 1.39499421e+01,-3.97576261e+01,
 -3.54545241e-02,-1.43868036e-01, 2.64130493e-02, 3.02965431e+00,
 -3.18650922e-01, 5.66000826e+00]

qfrc_actuator:
[ 3.27666012e-05, 2.49942628e-04, 3.31153832e-05, 2.69209105e-05,
 -2.28554417e-03, 1.81752853e-02, 8.21954933e-03, 1.23914332e-03,
 -7.28394984e-05, 1.02580714e-04,-1.24504587e-04, 2.84272118e-05,
  4.95034002e-02, 1.72575777e-02, 5.20275979e-04,-1.82704093e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23326999, -0.22971518,  0.04056879, -0.22971518,  0.25937107,
        0.14779374,  0.04056879,  0.14779374,  1.07013168,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030619742303733414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82395841e-01, -1.86627139e-01,  8.28988959e-03, -1.86620494e-01,
        9.82430818e-01,  1.57478608e-03, -8.43814083e-03, -2.16840434e-19,
       -9.99964398e-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([ 0.13020167, -0.08223644,  0.13162297])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2894695 ,  7.18460204,  1.23201429,  7.18460204,  8.0078569 ,
       -4.18934067,  1.23201429, -4.18934067, 31.719986  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7489598105298823e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86883185e-01,  4.67994607e-02, -1.54503686e-01,  4.62362617e-02,
        9.98904305e-01,  7.23862052e-03,  1.54673161e-01, -8.67361738e-19,
       -9.87965694e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325962, -0.05413495,  0.29656492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042830990704490764
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.48511971, -0.85293752, -0.19276012, -0.09529898, -0.16755467,
        0.98124591, -0.86923931,  0.49439157,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492188, -0.03653221,  0.30475164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004574710743103505
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21343522e-13, -1.25135507e-13,  1.00000000e+00,  1.51843831e-26,
        1.00000000e+00,  1.25135507e-13, -1.00000000e+00,  0.00000000e+00,
        1.21343522e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05268916, -0.06136994,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.89950281e-06, 4.09592134e-05,-1.89213196e-05, 1.23391547e-05,
 -2.36122031e-03, 2.00896345e-02, 9.06824844e-03, 1.27659798e-03,
  3.00716370e-06,-1.42468972e-05, 5.81231663e-06, 1.06472068e-05,
  5.54109161e-02, 1.97686577e-02, 1.47134834e-02,-8.57552035e-05,
 -7.98006831e-07, 1.31114441e-06,-9.80999898e+00,-6.49398166e-02,
 -9.30577963e-03,-5.42712256e-03]


--- Step 1516 ---
qpos:
[ 0.00985335, 0.00809315,-0.00560943, 0.03350433, 0.00584094,-0.01527565,
 -0.01506877, 0.0379672 , 0.01302734, 0.00594147,-0.01172135, 0.0340892 ,
  0.81646051,-0.01308088, 1.15757106, 0.04601894, 0.09441725,-0.06421293,
  0.14245199, 0.94395269,-0.03298459, 0.0293884 , 0.32711108]

qacc:
[ 7.63956054e-01, 1.97207670e+00,-6.36831426e+00, 8.67945892e+00,
  5.45313843e+00,-2.92805941e-01, 4.41776033e-01,-6.52774046e+00,
  4.20604928e-01, 1.39482050e-02,-3.45600632e+00, 1.58925433e+01,
  4.55930158e+00, 3.10161826e+00, 1.39419070e+01,-4.24340145e+01,
 -2.69300387e-02,-1.14704136e-01, 1.84608929e-02, 2.48705123e+00,
 -3.44030568e-01, 4.72126607e+00]

qfrc_actuator:
[ 3.71231424e-05, 3.03834910e-04, 2.67425983e-05, 3.55375465e-05,
 -2.28777130e-03, 1.82266881e-02, 8.22710997e-03, 1.19662382e-03,
 -7.05686092e-05, 1.16755458e-04,-9.02263231e-05, 6.89345071e-05,
  4.95103652e-02, 1.72611053e-02, 5.28679548e-04,-2.00149899e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23343183, -0.22955681,  0.04235671, -0.22955681,  0.2543572 ,
        0.11340734,  0.04235671,  0.11340734,  0.84805524,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003071290655579168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98239414, -0.18663734,  0.00826144, -0.18663074,  0.98242888,
        0.00156947, -0.0084092 ,  0.        , -0.99996464])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13020479, -0.08223654,  0.13162268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28921512,  7.12686408,  1.529858  ,  7.12686408,  8.5517907 ,
       -5.88172535,  1.529858  , -5.88172535, 34.68931184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6912640570428575e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86883059e-01,  4.67623482e-02, -1.54515733e-01,  4.61995095e-02,
        9.98906043e-01,  7.23343155e-03,  1.54684951e-01, -8.67361738e-19,
       -9.87963848e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11325969, -0.05413294,  0.29656496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042879615958768243
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.82543482e-01, -8.54090950e-01, -1.94114496e-01, -9.54849147e-02,
       -1.69006120e-01,  9.80978880e-01, -8.70651721e-01,  4.91899970e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492165, -0.03652809,  0.3047511 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045764536612230566
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21297309e-13, -1.25087850e-13,  1.00000000e+00, -1.51728195e-26,
        1.00000000e+00,  1.25087850e-13, -1.00000000e+00,  0.00000000e+00,
       -1.21297309e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05269213, -0.06136778,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.62690675e-06, 7.34451972e-05, 1.94892005e-07, 9.95965341e-06,
 -2.42128582e-03, 2.01052818e-02, 9.10857849e-03, 1.25502609e-03,
  2.35419947e-06, 7.82138480e-06, 3.24121570e-05, 4.03033173e-05,
  5.47146830e-02, 1.93602631e-02, 1.45070762e-02,-1.33079092e-04,
 -1.75429696e-06, 2.32957575e-06,-9.80999936e+00,-6.49405810e-02,
 -9.30619884e-03,-5.42677015e-03]


--- Step 1517 ---
qpos:
[ 0.00985383, 0.00809339,-0.00560966, 0.03350421, 0.00584421,-0.01530313,
 -0.01508193, 0.0379653 , 0.01302635, 0.00594285,-0.01172115, 0.03409122,
  0.81644097,-0.01307903, 1.15748913, 0.04601654, 0.09441908,-0.06420983,
  0.14245245, 0.9439414 ,-0.03297883, 0.02938471, 0.32714457]

qacc:
[ 4.39697422e-01,-5.06728401e-01, 1.71436403e+00,-4.64985234e-01,
 -2.65153557e-01,-1.02069371e+00, 8.91244142e-01,-7.82075671e+00,
  3.38371806e+00, 8.15653417e-01,-7.52523452e+00, 2.61890775e+01,
  4.09426311e+00, 2.76093323e+00, 1.36687599e+01,-3.64875496e+01,
 -2.12153849e-02,-8.92626635e-02, 1.24755126e-02, 2.01975412e+00,
 -3.46507681e-01, 3.95355054e+00]

qfrc_actuator:
[ 3.95099017e-05, 3.00267216e-04, 4.10930212e-05, 4.07227117e-05,
 -2.32631382e-03, 1.82504526e-02, 8.23687460e-03, 1.17190773e-03,
 -5.09344233e-05, 1.42559393e-04,-5.20569924e-05, 1.27933026e-04,
  4.95096431e-02, 1.72961629e-02, 4.99418494e-04,-2.06858924e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23359739, -0.22973796,  0.04228724, -0.22973796,  0.24858891,
        0.08144588,  0.04228724,  0.08144588,  0.67607628,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030807798037806874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9823899 , -0.18666076,  0.00823725, -0.1866542 ,  0.98242443,
        0.00156508, -0.00838462,  0.        , -0.99996485])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13020813, -0.0822368 ,  0.13162245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28933868,  7.03801382,  1.89758266,  7.03801382,  9.54968606,
       -8.38348519,  1.89758266, -8.38348519, 38.38315398,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7194422910917428e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86884793e-01,  4.67088052e-02, -1.54520846e-01,  4.61465764e-02,
        9.98908548e-01,  7.22537025e-03,  1.54689683e-01, -8.67361738e-19,
       -9.87963108e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326   , -0.05413156,  0.29656515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004289318594484085
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.48180455, -0.85441406, -0.19452759, -0.09554956, -0.16944399,
        0.98089705, -0.87105376,  0.49118768,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492135, -0.0365253 ,  0.30475158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045744344405317106
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21350851e-13, -6.44676396e-14,  1.00000000e+00, -7.82320293e-27,
        1.00000000e+00,  6.44676396e-14, -1.00000000e+00,  0.00000000e+00,
       -1.21350851e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05269425, -0.06136608,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54432614e-06, 3.79768013e-05, 2.98965925e-05, 8.53448041e-06,
 -2.49147154e-03, 2.02001436e-02, 9.16519700e-03, 1.25530135e-03,
  1.97046833e-05, 3.85524523e-05, 4.51576111e-05, 6.12351639e-05,
  5.40673956e-02, 1.90207617e-02, 1.43261645e-02,-4.23537986e-05,
 -4.28607282e-06, 4.00763976e-06,-9.80999908e+00,-6.49406955e-02,
 -9.30701637e-03,-5.42622360e-03]


--- Step 1518 ---
qpos:
[ 0.00985365, 0.00809378,-0.00560963, 0.03350382, 0.00584751,-0.01533407,
 -0.01509631, 0.03796282, 0.01302561, 0.00594448,-0.01172104, 0.03409362,
  0.81643157,-0.01307139, 1.15741853, 0.0460154 , 0.09442085,-0.06420698,
  0.14245295, 0.943928  ,-0.03296959, 0.02938166, 0.32718444]

qacc:
[-5.82927356e+00,-1.06610003e+00, 5.24026404e+00,-1.04224606e+01,
  2.65931170e-01,-2.36846191e+00, 4.21444419e+00,-9.64360285e+00,
  2.13090801e+00, 1.35247723e+00,-5.95043649e+00, 1.24228493e+01,
  3.47189503e+00, 2.52063864e+00, 1.28468885e+01,-2.08029718e+01,
 -1.70982000e-02,-6.40206869e-02, 8.09332603e-03, 1.62003079e+00,
 -3.42157762e-01, 3.41954808e+00]

qfrc_actuator:
[ 5.21396386e-06, 2.97907710e-04, 4.95791101e-05, 2.60615725e-05,
 -2.35072957e-03, 1.82419284e-02, 8.26664362e-03, 1.17598784e-03,
 -3.89901510e-05, 1.39675175e-04,-6.50962827e-05, 1.44088538e-04,
  4.95092847e-02, 1.72591973e-02, 4.84520581e-04,-1.92920315e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23373268, -0.23019851,  0.04049216, -0.23019851,  0.24691279,
        0.07492907,  0.04049216,  0.07492907,  0.65970551,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030885038537980695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82383638e-01, -1.86694473e-01,  8.21961927e-03, -1.86687938e-01,
        9.82418024e-01,  1.56202090e-03, -8.36672279e-03, -2.16840434e-19,
       -9.99964998e-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([ 0.13021182, -0.08223719,  0.13162231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28976754,   6.90211498,   2.34553183,   6.90211498,
        11.30332501, -11.81055607,   2.34553183, -11.81055607,
        42.04428034,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.815047086176626e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86888034e-01,  4.66414666e-02, -1.54520491e-01,  4.60800545e-02,
        9.98911695e-01,  7.21491437e-03,  1.54688840e-01, -8.67361738e-19,
       -9.87963240e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326048, -0.05413074,  0.29656544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000428842979117801
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.48242166, -0.85413011, -0.19424495, -0.09552748, -0.1691319 ,
        0.98095306, -0.87071456,  0.49178873,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492096, -0.03652363,  0.30475274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004569527562527792
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21481161e-13,  5.69442941e-14,  1.00000000e+00,  6.91765894e-27,
        1.00000000e+00, -5.69442941e-14, -1.00000000e+00,  0.00000000e+00,
       -1.21481161e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05269571, -0.06136477,  0.06198973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.42122610e-05, 2.54122964e-05, 2.03078302e-05,-1.18332184e-05,
 -2.51433680e-03, 2.03371604e-02, 9.26977109e-03, 1.29249822e-03,
  1.25184329e-05, 3.05731123e-05, 2.57995092e-06, 2.05527200e-05,
  5.34848346e-02, 1.86500311e-02, 1.40438386e-02, 1.93591786e-04,
 -7.59839682e-06, 6.01735278e-06,-9.80999841e+00,-6.49402787e-02,
 -9.30806511e-03,-5.42550314e-03]


--- Step 1519 ---
qpos:
[ 0.00985341, 0.00809421,-0.00560913, 0.03350291, 0.00585091,-0.01536722,
 -0.01511154, 0.0379599 , 0.01302467, 0.00594679,-0.01172153, 0.03409583,
  0.81642911,-0.0130596 , 1.15735723, 0.04601502, 0.09442255,-0.06420432,
  0.14245348, 0.94391308,-0.03295802, 0.02937927, 0.32722886]

qacc:
[-5.53144301e-01,-2.34528473e+00, 1.06289851e+01,-2.03927083e+01,
  8.56315556e-01,-1.46843849e+00, 2.89113613e+00,-7.65068362e+00,
 -1.75548020e+00, 2.19894477e+00,-5.69351478e+00, 2.79876318e+00,
  2.15377971e+00, 2.13159966e+00, 1.14130037e+01,-2.00553345e+01,
 -1.84462225e-02,-4.55220254e-02, 1.01952905e-02, 1.11371571e+00,
 -1.20687116e-01, 2.44303918e+00]

qfrc_actuator:
[ 2.86074623e-06, 2.96244976e-04, 7.22568174e-05,-1.70950153e-07,
 -2.34896371e-03, 1.82512720e-02, 8.29098584e-03, 1.19752299e-03,
 -4.94258903e-05, 1.90407842e-04,-9.06586703e-05, 1.34845126e-04,
  4.94982078e-02, 1.72304871e-02, 4.98814847e-04,-1.91688328e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23382873, -0.2307483 ,  0.03782987, -0.2307483 ,  0.24607112,
        0.07467408,  0.03782987,  0.07467408,  0.68931317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030939705882233756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82375686e-01, -1.86736797e-01,  8.20853433e-03, -1.86730279e-01,
        9.82409980e-01,  1.56028078e-03, -8.35550788e-03,  2.16840434e-19,
       -9.99965092e-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([ 0.13021589, -0.0822377 ,  0.13162225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29045644,   6.68355183,   2.91219677,   6.68355183,
        14.5095663 , -16.56800647,   2.91219677, -16.56800647,
        45.31437398,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.9621506004196835e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98689251,  0.0465621 , -0.15451586,  0.04600169,  0.9989154 ,
        0.0072024 ,  0.15468363,  0.        , -0.98796406])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326108, -0.05413041,  0.29656581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042864627695286437
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.83830294e-01, -8.53490914e-01, -1.93549753e-01, -9.54501525e-02,
       -1.68376885e-01,  9.81090461e-01, -8.69941099e-01,  4.93155639e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492051, -0.03652292,  0.3047543 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004562353772064396
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.51271450e-07,  6.51270920e-07,  1.00000000e+00,  4.24154156e-13,
        1.00000000e+00, -6.51270920e-07, -1.00000000e+00,  5.04870979e-29,
       -6.51271450e-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([ 0.053116  , -0.06195966,  0.06198975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.32060457e-06, 1.62108128e-05, 3.00163227e-05,-2.46698387e-05,
 -2.51399387e-03, 2.05212219e-02, 9.35540515e-03, 1.34281840e-03,
 -1.00644756e-05, 6.91794976e-05,-1.82452139e-05,-7.45386861e-06,
  5.29659404e-02, 1.83314795e-02, 1.34931505e-02, 1.43180066e-04,
 -1.12890966e-05, 8.22013753e-06,-9.80999754e+00,-6.49394332e-02,
 -9.30924229e-03,-5.42462844e-03]


--- Step 1520 ---
qpos:
[ 0.00985382, 0.00809441,-0.00560798, 0.03350275, 0.00585026,-0.01539094,
 -0.01512059, 0.03796013, 0.01302362, 0.00594937,-0.01172219, 0.03409793,
  0.81635248,-0.01309288, 1.15725664, 0.04602074, 0.0944251 ,-0.06419927,
  0.1424536 , 0.94391611,-0.03297565, 0.02936986, 0.32721918]

qacc:
[ 5.84626661e+00,-5.61019669e-01,-1.63358756e+00, 1.38117926e+01,
 -3.48966119e+01, 1.77391689e+00,-1.47208300e+00, 3.92077573e+01,
 -1.04097260e+00, 6.03130940e-01,-1.20596645e+00,-5.09991739e-01,
 -2.44189146e+01,-2.14272178e+01,-7.60111853e+01, 1.82674907e+02,
  2.15428110e-01, 5.96659913e-01,-1.04816495e-01,-1.38379556e+01,
  2.09392992e+00,-2.90115419e+01]

qfrc_actuator:
[ 3.70914692e-05, 2.77297910e-04, 1.03128596e-04, 3.80219341e-05,
 -2.33156986e-03, 1.82892140e-02, 8.27668541e-03, 1.22963437e-03,
 -5.51950984e-05, 1.84000468e-04,-1.05438844e-04, 1.28532889e-04,
  4.94912758e-02, 1.72238077e-02, 5.09096351e-04,-2.14057675e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2338965 , -0.2293633 ,  0.0458263 , -0.2293633 ,  0.3231015 ,
        0.44647615,  0.0458263 ,  0.44647615,  2.46853545,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003097819668353447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98236654, -0.18678517,  0.00820249, -0.18677866,  0.98240078,
        0.00155955, -0.00834944,  0.        , -0.99996514])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1302202 , -0.08223829,  0.13162226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29137462, -7.2877681 ,  0.22930321, -7.2877681 ,  7.28422874,
       -0.22711181,  0.22930321, -0.22711181,  0.07325432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.147508467216702e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9868979 ,  0.04647409, -0.15450792,  0.04591479,  0.9989195 ,
        0.00718838,  0.15467505,  0.        , -0.9879654 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326178, -0.05413042,  0.29656625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.24590721,  0.82336692, -0.93506775,  0.82336692,  7.23745671,
        5.27581417, -0.93506775,  5.27581417,  5.89148598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004284342876003265
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.85746457e-01, -8.52619872e-01, -1.92586948e-01, -9.53330711e-02,
       -1.67336004e-01,  9.81279913e-01, -8.68885484e-01,  4.95013146e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492001, -0.03652283,  0.30475601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.57103712, -6.28896709,  8.49680638, -6.28896709, 32.84294398,
       16.48469826,  8.49680638, 16.48469826, 22.77229489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004561992937273741
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05655065e-06, -1.05655066e-06,  1.00000000e+00, -1.11629929e-12,
        1.00000000e+00,  1.05655066e-06, -1.00000000e+00, -2.01948392e-28,
       -1.05655065e-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([ 0.08600859, -0.10868937,  0.06198975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.41398847e-05,-4.75857733e-06, 3.70552440e-05, 3.94460738e-05,
 -2.50150316e-03, 2.06708599e-02, 9.38406602e-03, 1.39741283e-03,
 -6.02283052e-06, 2.81003681e-05,-3.02241002e-06,-4.13274695e-06,
  5.26124422e-02, 1.81169985e-02, 1.30398414e-02,-1.18068709e-04,
 -1.43475817e-05, 9.97377952e-06,-9.80999688e+00,-6.49382054e-02,
 -9.31035002e-03,-5.42367284e-03]


--- Step 1521 ---
qpos:
[ 0.00985396, 0.00809461,-0.00560706, 0.03350309, 0.00585139,-0.01541129,
 -0.01512928, 0.03796021, 0.01302251, 0.00595153,-0.0117224 , 0.03409964,
  0.81629214,-0.01311662, 1.15715128, 0.0460192 , 0.09442742,-0.06419498,
  0.14245385, 0.943915  ,-0.03298576, 0.02936271, 0.327222  ]

qacc:
[-2.48964853e+00, 1.63006083e+00,-7.89113150e+00, 1.67381807e+01,
  1.53341845e+01, 3.09176163e+00,-3.92931776e+00,-1.79158302e+00,
 -5.09918759e-01,-2.61833897e+00, 1.01716250e+01,-1.73364031e+01,
  5.85968769e+00, 3.81915640e+00, 1.47411673e+01,-6.21376684e+01,
 -5.99222347e-02,-1.89399892e-01, 3.36589114e-02, 3.66447647e+00,
 -3.10018629e-01, 6.71880643e+00]

qfrc_actuator:
[ 2.15598114e-05, 2.65986001e-04, 8.53025961e-05, 6.05490585e-05,
 -2.31844205e-03, 1.83158151e-02, 8.26802409e-03, 1.21140668e-03,
 -5.81647960e-05, 1.25707666e-04,-9.61911833e-05, 1.06214058e-04,
  4.94992064e-02, 1.72601484e-02, 5.15682319e-04,-2.15647135e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23397805, -0.22920904,  0.04699943, -0.22920904,  0.31521251,
        0.39616797,  0.04699943,  0.39616797,  2.16602852,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003102442185842219
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98237305, -0.18675236,  0.00816962, -0.1867459 ,  0.98240702,
        0.00155302, -0.00831592,  0.        , -0.99996542])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13022307, -0.08223789,  0.13162192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29009871, -1.47321401, -7.13969045, -1.47321401,  9.46127056,
       -0.44800272, -7.13969045, -0.44800272,  7.38254024,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8867035780912734e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86892382e-01,  4.64881856e-02, -1.54538913e-01,  4.59284923e-02,
        9.98918840e-01,  7.19200939e-03,  1.54706175e-01, -8.67361738e-19,
       -9.87960525e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326133, -0.05412683,  0.29656595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.24815046, -0.77799242,  0.97601606, -0.77799242,  5.8111789 ,
        3.63723682,  0.97601606,  3.63723682,  4.14742927,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043000429217049564
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.47903708, -0.85561895, -0.19606043, -0.09577912, -0.17107324,
        0.98059181, -0.87255363,  0.48851834,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491981, -0.03651505,  0.30475244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.57594845, -5.98801081,  8.7174774 , -5.98801081, 18.55812767,
        5.48293654,  8.7174774 ,  5.48293654, 14.34216221,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004565702871883459
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21582926e-13, -9.49866606e-14,  1.00000000e+00,  1.15487561e-26,
        1.00000000e+00,  9.49866606e-14, -1.00000000e+00,  0.00000000e+00,
        1.21582926e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05270269, -0.06135933,  0.06198974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45655676e-05,-4.63812163e-06,-1.28974469e-05, 2.43688558e-05,
 -2.28582649e-03, 2.02272446e-02, 9.06719270e-03, 1.22133254e-03,
 -3.12288377e-06,-4.34762567e-05, 1.45088169e-05,-2.13085741e-05,
  5.63292939e-02, 2.04074052e-02, 1.50124137e-02,-4.38619557e-04,
 -3.25732992e-06, 1.42703422e-06,-9.80999749e+00,-6.49395438e-02,
 -9.31001286e-03,-5.42376292e-03]


--- Step 1522 ---
qpos:
[ 0.00985356, 0.00809501,-0.00560668, 0.03350299, 0.00585353,-0.01543189,
 -0.01513847, 0.03795992, 0.01302206, 0.00595306,-0.01172232, 0.03410076,
  0.81624624,-0.01313204, 1.15705504, 0.04601723, 0.09442955,-0.06419125,
  0.14245421, 0.94391035,-0.03298972, 0.02935726, 0.32723552]

qacc:
[-4.68896153e+00, 9.21339657e-01,-1.07257660e+00,-5.62580147e+00,
  8.72647163e+00, 2.89274295e-01, 4.57823429e-03,-5.36708062e+00,
  5.85342824e+00,-2.86141148e+00, 1.14605464e+01,-2.16126892e+01,
  5.05073666e+00, 3.48748891e+00, 1.46510391e+01,-3.19479610e+01,
 -4.51967780e-02,-1.41160796e-01, 2.56977266e-02, 2.96294628e+00,
 -3.29299945e-01, 5.75133944e+00]

qfrc_actuator:
[-5.39560957e-06, 2.76878758e-04, 5.66197823e-05, 3.81319034e-05,
 -2.31208817e-03, 1.83378823e-02, 8.28383386e-03, 1.20053174e-03,
 -2.39594797e-05, 7.23720887e-05,-9.08279828e-05, 7.46201010e-05,
  4.94946057e-02, 1.72857287e-02, 5.55639192e-04,-2.00126612e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23415326, -0.22961757,  0.04586417, -0.22961757,  0.26904095,
        0.17466416,  0.04586417,  0.17466416,  1.10860404,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031123405409467847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82375558e-01, -1.86740692e-01,  8.13497930e-03, -1.86734289e-01,
        9.82409240e-01,  1.54633283e-03, -8.28064209e-03,  2.16840434e-19,
       -9.99965715e-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([ 0.13022576, -0.08223772,  0.13162156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28948523,  7.18895651,  1.20644072,  7.18895651,  7.96067378,
       -3.9994881 ,  1.20644072, -3.9994881 , 31.12169311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7524862933561497e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98688964,  0.04647896, -0.15455918,  0.04591923,  0.99891927,
        0.00719152,  0.1547264 ,  0.        , -0.98795736])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326123, -0.05412404,  0.29656588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004308510667775141
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.47536352, -0.85722495, -0.19797705, -0.09601145, -0.17313784,
        0.98020666, -0.87453492,  0.48496255,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491961, -0.0365092 ,  0.30475084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045719164164835513
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.42835372e-13, -3.41487242e-14,  1.00000000e+00, -8.29251815e-27,
        1.00000000e+00,  3.41487242e-14, -1.00000000e+00,  0.00000000e+00,
       -2.42835372e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05270684, -0.06135648,  0.06198973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73741454e-05, 6.65509557e-06,-3.03996153e-05,-2.25905249e-05,
 -2.36865939e-03, 2.00809800e-02, 9.06493529e-03, 1.21831408e-03,
  3.41086222e-05,-7.56479065e-05,-2.59505022e-06,-3.33780380e-05,
  5.55100716e-02, 1.99565474e-02, 1.52930705e-02, 7.98818755e-05,
 -7.15102895e-07, 8.56255048e-07,-9.80999905e+00,-6.49410800e-02,
 -9.30963814e-03,-5.42367883e-03]


--- Step 1523 ---
qpos:
[ 0.00985388, 0.00809543,-0.00560691, 0.033503  , 0.00585629,-0.01545373,
 -0.0151489 , 0.03795908, 0.01302202, 0.00595401,-0.01172268, 0.03410085,
  0.81621329,-0.01314   , 1.15696696, 0.04601456, 0.09443155,-0.06418796,
  0.14245464, 0.94390267,-0.03298861, 0.02935305, 0.32725815]

qacc:
[ 6.25333368e+00, 1.92564532e+00,-7.29254266e+00, 1.00950788e+01,
  5.29683139e+00, 6.59284734e-01,-2.41857399e+00,-4.27260816e+00,
  3.63312707e+00,-1.66473178e+00, 9.17916248e+00,-2.59136667e+01,
  4.50871009e+00, 3.15825611e+00, 1.41049805e+01,-3.20475439e+01,
 -3.43644501e-02,-1.07747554e-01, 1.84972158e-02, 2.41842268e+00,
 -3.50426165e-01, 4.88827125e+00]

qfrc_actuator:
[ 3.21674317e-05, 2.65380207e-04, 2.18335376e-05, 4.27282509e-05,
 -2.30974186e-03, 1.83417637e-02, 8.29729744e-03, 1.24760192e-03,
 -3.65392968e-06, 2.23837000e-05,-1.23321583e-04, 2.00619519e-05,
  4.94927181e-02, 1.72845009e-02, 5.50630919e-04,-2.04911998e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23435509, -0.230949  ,  0.03981044, -0.230949  ,  0.25352571,
        0.11121292,  0.03981044,  0.11121292,  0.87952537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031236878229762586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82374842e-01, -1.86745822e-01,  8.10359706e-03, -1.86739469e-01,
        9.82408264e-01,  1.54041140e-03, -8.24870612e-03, -2.16840434e-19,
       -9.99965979e-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([ 0.13022857, -0.08223775,  0.13162123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28933648,  7.10795166,  1.61599802,  7.10795166,  8.73316255,
       -6.35065497,  1.61599802, -6.35065497, 35.22263091,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7189429967094918e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98688918,  0.04644964, -0.15457091,  0.04589018,  0.99892063,
        0.00718752,  0.15473793,  0.        , -0.98795555])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326141, -0.05412197,  0.29656598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004312397530730485
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.73646337e-01, -8.57962775e-01, -1.98894505e-01, -9.61261674e-02,
       -1.74122899e-01,  9.80020906e-01, -8.75453544e-01,  4.83302279e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491946, -0.03650498,  0.30475053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045733817932762377
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.68963041e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.68963041e-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([ 0.05270989, -0.06135424,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.67859894e-05,-1.50514093e-05,-3.79446896e-05, 3.38974919e-06,
 -2.41698599e-03, 2.00985677e-02, 9.10389365e-03, 1.28390485e-03,
  2.12553019e-05,-9.43056706e-05,-4.96170645e-05,-5.85469227e-05,
  5.47862043e-02, 1.95394277e-02, 1.48341255e-02, 5.39499702e-05,
 -1.09603038e-06, 1.56605291e-06,-9.80999950e+00,-6.49418446e-02,
 -9.30991239e-03,-5.42338494e-03]


--- Step 1524 ---
qpos:
[ 0.00985464, 0.00809566,-0.00560778, 0.03350345, 0.00585958,-0.01547793,
 -0.01516056, 0.0379577 , 0.01302119, 0.00595441,-0.01172321, 0.03410061,
  0.81619193,-0.01314126, 1.15688698, 0.04601136, 0.09443344,-0.06418498,
  0.14245511, 0.94389241,-0.03298328, 0.02934972, 0.32728859]

qacc:
[ 3.91123795e+00, 2.44087500e+00,-1.08930276e+01, 1.95298968e+01,
  4.51603756e+00,-7.89841353e-01, 5.45310212e-01,-6.08107222e+00,
 -6.95285057e+00,-9.11145685e-01, 3.61949415e+00,-8.69494435e+00,
  4.00148719e+00, 2.87961906e+00, 1.34619310e+01,-2.99194096e+01,
 -2.66827018e-02,-8.10478951e-02, 1.24589944e-02, 1.97240713e+00,
 -3.65357536e-01, 4.18434147e+00]

qfrc_actuator:
[ 5.41496344e-05, 2.40548249e-04,-1.63362027e-05, 6.31704127e-05,
 -2.30980845e-03, 1.83358280e-02, 8.31029059e-03, 1.25876240e-03,
 -4.49617590e-05, 1.01085815e-05,-1.24657299e-04, 5.66340885e-06,
  4.95027242e-02, 1.73002204e-02, 5.07749288e-04,-2.07633733e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23456009, -0.23159021,  0.03720763, -0.23159021,  0.24938102,
        0.09224945,  0.03720763,  0.09224945,  0.80874527,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031351524472746344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9823715 , -0.18676458,  0.00807647, -0.18675826,  0.9824047 ,
        0.00153541, -0.00822112,  0.        , -0.99996621])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13023161, -0.08223794,  0.13162096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28954277,  6.99789407,  2.04130165,  6.99789407,  9.99829609,
       -9.28602042,  2.04130165, -9.28602042, 39.12344018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.765353308338262e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9868906 ,  0.04640319, -0.15457585,  0.04584426,  0.99892279,
        0.00718055,  0.15474254,  0.        , -0.98795483])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326179, -0.05412052,  0.29656622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043131232735058386
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.73442896e-01, -8.58041026e-01, -1.99041256e-01, -9.61586975e-02,
       -1.74272564e-01,  9.79991111e-01, -8.75560009e-01,  4.83109378e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491929, -0.03650212,  0.30475114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004571145331137838
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.42876335e-13, -6.45140265e-14,  1.00000000e+00, -1.56689303e-26,
        1.00000000e+00,  6.45140265e-14, -1.00000000e+00,  0.00000000e+00,
       -2.42876335e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05271209, -0.06135249,  0.06198973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30253081e-05,-4.09422869e-05,-4.58390902e-05, 1.85482513e-05,
 -2.44787345e-03, 2.01559793e-02, 9.17921831e-03, 1.32289949e-03,
 -4.07294685e-05,-7.77921916e-05,-2.89605081e-05,-2.12984221e-05,
  5.41486636e-02, 1.91818892e-02, 1.43846448e-02, 6.25743273e-05,
 -3.21209789e-06, 3.04301079e-06,-9.80999928e+00,-6.49419786e-02,
 -9.31059680e-03,-5.42290066e-03]


--- Step 1525 ---
qpos:
[ 0.00985532, 0.00809595,-0.00560923, 0.03350375, 0.00586312,-0.01550546,
 -0.0151737 , 0.03795571, 0.01301987, 0.00595423,-0.01172326, 0.03410085,
  0.81618069,-0.01313666, 1.15682065, 0.04601069, 0.09443525,-0.06418224,
  0.14245562, 0.94387987,-0.03297451, 0.02934697, 0.32732586]

qacc:
[-7.85125442e-01, 1.39182722e+00,-4.25414832e+00, 2.69091720e+00,
  2.24366300e+00,-1.50078746e+00, 1.54239782e+00,-7.28502070e+00,
 -4.27094496e+00,-1.12256937e+00, 8.68851606e-01, 7.06794191e+00,
  3.36738125e+00, 2.69227208e+00, 1.24222027e+01,-1.43306187e+01,
 -2.13608352e-02,-5.61861910e-02, 7.93916268e-03, 1.58639141e+00,
 -3.66745695e-01, 3.65489747e+00]

qfrc_actuator:
[ 4.90119534e-05, 2.61174311e-04,-3.84992055e-05, 5.72476240e-05,
 -2.32922923e-03, 1.83611103e-02, 8.32348427e-03, 1.23082540e-03,
 -6.89406320e-05, 2.91059338e-06,-8.96378575e-05, 3.28244773e-05,
  4.95141965e-02, 1.73416478e-02, 5.21742830e-04,-1.87804057e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23474795, -0.23166748,  0.03790488, -0.23166748,  0.24726967,
        0.07653041,  0.03790488,  0.07653041,  0.70248744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031456066177027646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82365981e-01, -1.86794554e-01,  8.05449668e-03, -1.86788276e-01,
        9.82399000e-01,  1.53149190e-03, -8.19880383e-03,  2.16840434e-19,
       -9.99966389e-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([ 0.13023495, -0.08223827,  0.13162075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29004086,   6.84192728,   2.51649097,   6.84192728,
        12.07910991, -13.02069534,   2.51649097, -13.02069534,
        42.69118152,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.874314042412835e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86893539e-01,  4.63420082e-02, -1.54575425e-01,  4.57838172e-02,
        9.98925632e-01,  7.17103994e-03,  1.54741674e-01,  8.67361738e-19,
       -9.87954966e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326234, -0.05411963,  0.29656655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043118017466114403
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.47436572, -0.8576306 , -0.19861247, -0.09613004, -0.17379853,
        0.9800781 , -0.87506353,  0.48400808,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491904, -0.03650038,  0.30475238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045660662098810645
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21573251e-13, -3.79916409e-15,  1.00000000e+00, -4.61876728e-28,
        1.00000000e+00,  3.79916409e-15, -1.00000000e+00,  0.00000000e+00,
       -1.21573251e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0527136 , -0.06135113,  0.06198974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.49480659e-06,-1.09365887e-05,-3.56194300e-05,-8.90289220e-06,
 -2.49347821e-03, 2.02998934e-02, 9.25414574e-03, 1.32175048e-03,
 -2.51609986e-05,-5.76191769e-05, 1.46495376e-05, 2.24132524e-05,
  5.35804140e-02, 1.88886015e-02, 1.39953934e-02, 2.87534321e-04,
 -6.29522453e-06, 4.96575472e-06,-9.80999867e+00,-6.49415973e-02,
 -9.31153542e-03,-5.42224244e-03]


--- Step 1526 ---
qpos:
[ 0.00985627, 0.00809595,-0.00561053, 0.03350328, 0.00586661,-0.01553627,
 -0.01518875, 0.03795299, 0.01301863, 0.0059534 ,-0.01172283, 0.03410107,
  0.81617839,-0.01312684, 1.1567667 , 0.04601233, 0.09443698,-0.06417965,
  0.14245615, 0.9438654 ,-0.03296289, 0.02934459, 0.32736899]

qacc:
[ 2.45313335e+00,-2.40049776e+00, 1.12546382e+01,-2.46143295e+01,
 -4.62240556e-01,-5.24243805e-01,-1.32783895e+00,-5.91606969e+00,
  6.19630446e-01,-2.22763174e+00, 6.77892758e+00,-7.34904394e+00,
  2.91780191e+00, 2.48120915e+00, 1.12908514e+01,-1.30302340e+01,
 -1.77847158e-02,-4.03815549e-02, 3.95134195e-03, 1.28250004e+00,
 -3.63255784e-01, 3.13303590e+00]

qfrc_actuator:
[ 6.34634907e-05, 2.37893684e-04,-3.31207492e-05, 1.81521521e-05,
 -2.36020747e-03, 1.84070404e-02, 8.33755114e-03, 1.23297868e-03,
 -6.47555758e-05,-3.64874376e-05,-6.88930686e-05, 3.09860516e-05,
  4.95262635e-02, 1.73611480e-02, 5.69070935e-04,-1.77807039e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23489851, -0.23214206,  0.03587996, -0.23214206,  0.24430352,
        0.06085012,  0.03587996,  0.06085012,  0.62859658,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003153948718100327
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98235866, -0.18683375,  0.00803873, -0.18682749,  0.98239155,
        0.00152883, -0.00818282,  0.        , -0.99996652])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13023867, -0.08223873,  0.13162063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29078933,   6.59280499,   3.11296183,   6.59280499,
        15.82094433, -18.06564019,   3.11296183, -18.06564019,
        45.55121434,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.030668659768704e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98689774,  0.04626786, -0.1545708 ,  0.0457106 ,  0.99892907,
        0.00715933,  0.15473652,  0.        , -0.98795577])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326298, -0.05411923,  0.29656695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004309574061756579
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.75884812e-01, -8.56960096e-01, -1.97871270e-01, -9.60632942e-02,
       -1.72988101e-01,  9.80228015e-01, -8.74245669e-01,  4.85483790e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491877, -0.03649961,  0.30475396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045588341782856756
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43532224e-13, -6.46882469e-14,  1.00000000e+00, -1.57536726e-26,
        1.00000000e+00,  6.46882469e-14, -1.00000000e+00,  0.00000000e+00,
       -2.43532224e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05271458, -0.06135008,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43219704e-05,-3.71336000e-05,-1.56340483e-06,-4.09678354e-05,
 -2.53741390e-03, 2.05133936e-02, 9.34312397e-03, 1.35456540e-03,
  3.44763820e-06,-6.76386163e-05, 1.14247095e-05,-3.36374848e-06,
  5.30863658e-02, 1.86148138e-02, 1.33619225e-02, 2.61035352e-04,
 -9.89584826e-06, 7.15955239e-06,-9.80999785e+00,-6.49407981e-02,
 -9.31262618e-03,-5.42142771e-03]


--- Step 1527 ---
qpos:
[ 0.00985705, 0.00809551,-0.00561169, 0.03350272, 0.00586996,-0.01556968,
 -0.01520518, 0.0379497 , 0.01301744, 0.00595223,-0.01172225, 0.03410126,
  0.81618193,-0.01311336, 1.15672243, 0.04601545, 0.09443864,-0.06417718,
  0.1424567 , 0.94384958,-0.03294949, 0.02934265, 0.32741612]

qacc:
[-1.55917556e+00,-1.15729015e+00, 3.67642263e+00,-5.23047682e+00,
 -1.27561567e+00,-7.27690195e-01, 1.29063958e-02,-5.67569984e+00,
  5.33453276e-01,-9.90199959e-01, 3.01228563e+00,-3.66361213e+00,
  1.67742357e+00, 2.08228088e+00, 9.79295319e+00,-1.35325277e+01,
 -1.98129308e-02,-2.86348854e-02, 6.70540761e-03, 8.35148948e-01,
 -1.28799487e-01, 2.13998298e+00]

qfrc_actuator:
[ 5.38324163e-05, 2.06342610e-04,-2.94683873e-05, 1.30971121e-05,
 -2.38015890e-03, 1.84488940e-02, 8.35315476e-03, 1.23580081e-03,
 -6.17853554e-05,-4.16594752e-05,-5.69075350e-05, 2.98037185e-05,
  4.95331047e-02, 1.73302756e-02, 6.20043888e-04,-1.73787735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23500559, -0.23245972,  0.0344979 , -0.23245972,  0.24392856,
        0.06012629,  0.0344979 ,  0.06012629,  0.64015898,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003159862522370336
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82349860e-01, -1.86880410e-01,  8.02904294e-03, -1.86874168e-01,
        9.82382671e-01,  1.52737918e-03, -8.17302989e-03,  2.16840434e-19,
       -9.99966600e-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([ 0.13024278, -0.08223928,  0.13162059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29176148,   6.31644404,   3.64311956,   6.31644404,
        20.42563434, -22.77152083,   3.64311956, -22.77152083,
        46.77304519,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.222402988069635e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98690297,  0.04618254, -0.15456294,  0.04562637,  0.99893302,
        0.00714573,  0.15472803,  0.        , -0.9879571 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132637 , -0.05411924,  0.2965674 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004306954398361666
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.47778143, -0.85612185, -0.1969271 , -0.09596733, -0.17196091,
        0.98041813, -0.87322115,  0.48732415,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491843, -0.03649965,  0.30475574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004549998039055447
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.83768815e-07,  1.83768880e-07,  1.00000000e+00,  3.37709893e-14,
        1.00000000e+00, -1.83768880e-07, -1.00000000e+00,  0.00000000e+00,
       -1.83768815e-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([ 0.05313458, -0.06194479,  0.06198978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.23281738e-06,-5.43769248e-05,-5.61355348e-06,-7.49456296e-06,
 -2.55470746e-03, 2.07207726e-02, 9.45457150e-03, 1.39420201e-03,
  3.04215707e-06,-4.07584896e-05,-6.92412089e-07,-3.75106708e-06,
  5.26467797e-02, 1.83222749e-02, 1.27943763e-02, 1.86337976e-04,
 -1.36399419e-05, 9.43010818e-06,-9.80999693e+00,-6.49396546e-02,
 -9.31380773e-03,-5.42047065e-03]


--- Step 1528 ---
qpos:
[ 0.00985805, 0.00809496,-0.00561297, 0.03350241, 0.0058695 ,-0.0155951 ,
 -0.01521456, 0.03794988, 0.01301629, 0.00595115,-0.01172173, 0.03410138,
  0.81611169,-0.01314573, 1.15663936, 0.0460302 , 0.0944409 ,-0.06417205,
  0.14245671, 0.94385199,-0.03296752, 0.02933211, 0.32740829]

qacc:
[ 1.95858927e+00, 7.21866039e-01,-3.87882273e+00, 8.66710337e+00,
 -3.26866095e+01,-1.95107624e+00, 7.71467722e+00, 3.51038753e+01,
  3.87090224e-01, 2.05705375e-01,-3.00431720e-01,-6.68352797e-01,
 -2.32225206e+01,-2.33882214e+01,-9.20843046e+01, 2.39765537e+02,
  1.51445732e-01, 6.64168828e-01,-1.35482303e-01,-1.51360673e+01,
  1.72660037e+00,-2.95229885e+01]

qfrc_actuator:
[ 6.56031663e-05, 2.23365326e-04,-2.68904524e-05, 2.81005310e-05,
 -2.37562544e-03, 1.84711702e-02, 8.38766959e-03, 1.23914838e-03,
 -5.95629481e-05,-8.57439692e-06,-5.00471258e-05, 2.90436492e-05,
  4.95207886e-02, 1.72686613e-02, 6.30395699e-04,-1.66264273e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23506947, -0.22980733,  0.04945957, -0.22980733,  0.31263304,
        0.36038881,  0.04945957,  0.36038881,  1.90956828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031633832208335114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9823401 , -0.18693185,  0.00802512, -0.18692561,  0.98237288,
        0.00152707, -0.00816911,  0.        , -0.99996663])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024718, -0.08223991,  0.13162063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29293253, -7.28579514,  0.32257421, -7.28579514,  7.27875429,
       -0.3202356 ,  0.32257421, -0.3202356 ,  0.05995824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.439147907909282e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98690894,  0.04608954, -0.1545526 ,  0.04553457,  0.99893731,
        0.00713084,  0.15471702,  0.        , -0.98795883])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326448, -0.05411953,  0.29656788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.24880942,  1.00830207, -0.73678485,  1.00830207,  5.50497882,
        5.82463712, -0.73678485,  5.82463712,  9.21992016,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000430463420905488
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.47987557, -0.85519199, -0.19587265, -0.0958512 , -0.17081757,
        0.98062934, -0.87208485,  0.48935469,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491804, -0.03650018,  0.30475755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.56169655, -6.27866962,  8.49280531, -6.27866962, 32.33579854,
       16.09743632,  8.49280531, 16.09743632, 22.46241494,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045549201147077056
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.21870746e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.21870746e-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([ 0.08637092, -0.10912324,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14919704e-05,-1.48406548e-05,-9.58545452e-06, 1.23382780e-05,
 -2.54277042e-03, 2.08740481e-02, 9.55868457e-03, 1.42589828e-03,
  2.29174131e-06, 1.00216478e-05,-1.76860320e-06,-2.60312599e-06,
  5.23420362e-02, 1.80775959e-02, 1.23217503e-02, 1.87546142e-04,
 -1.64973192e-05, 1.11060531e-05,-9.80999630e+00,-6.49381896e-02,
 -9.31488122e-03,-5.41944379e-03]


--- Step 1529 ---
qpos:
[ 0.00985953, 0.00809426,-0.00561368, 0.03350259, 0.00587038,-0.01561836,
 -0.01522268, 0.03795021, 0.01301553, 0.00595011,-0.01172114, 0.03410149,
  0.81605412,-0.01317032, 1.15655063, 0.04603801, 0.09444295,-0.06416769,
  0.1424569 , 0.94385083,-0.03297875, 0.02932432, 0.3274112 ]

qacc:
[ 4.21669520e+00,-8.12785403e-01, 5.35076722e-01, 7.08673276e+00,
  1.16101472e+01,-3.60794499e-01, 4.75973328e+00,-5.70635630e+00,
  3.34798736e+00,-1.69102627e-01, 7.32151570e-01,-1.09519168e+00,
  4.31128565e+00, 3.53009509e+00, 1.24860966e+01,-5.60664673e+01,
 -5.23606027e-02,-1.90699605e-01, 4.48256377e-02, 3.44436564e+00,
  5.60276105e-02, 5.79811292e+00]

qfrc_actuator:
[ 8.98841978e-05, 2.33859120e-04, 1.07422342e-05, 5.48198041e-05,
 -2.37044004e-03, 1.85076685e-02, 8.44340355e-03, 1.22124834e-03,
 -4.00454187e-05,-6.10277796e-06,-4.60958753e-05, 2.85724628e-05,
  4.95092605e-02, 1.72899057e-02, 5.77782869e-04,-1.70138488e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23509239, -0.22990592,  0.0491091 , -0.22990592,  0.31533069,
        0.37563832,  0.0491091 ,  0.37563832,  1.993656  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031646450467455266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98234592, -0.18690256,  0.0079959 , -0.18689637,  0.98237846,
        0.00152126, -0.00813933,  0.        , -0.99996688])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13025017, -0.08223957,  0.13162034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29119831, -2.18421815, -6.95634702, -2.18421815,  7.34927025,
       -0.01823397, -6.95634702, -0.01823397,  7.29692358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.112775504995214e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86903261e-01,  4.60997116e-02, -1.54585800e-01,  4.55443765e-02,
        9.98936843e-01,  7.13394530e-03,  1.54750324e-01,  8.67361738e-19,
       -9.87953611e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326374, -0.05411619,  0.29656741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.25137205, -0.83486323,  0.93216704, -0.83486323,  5.48747362,
        3.79391812,  0.93216704,  3.79391812,  4.64926383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004322400680742933
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.71398108e-01, -8.58896901e-01, -2.00199745e-01, -9.63238472e-02,
       -1.75504001e-01,  9.79755103e-01, -8.76644478e-01,  4.81138712e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491777, -0.03649276,  0.30475349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.56044496, -5.97894103,  8.70489872, -5.97894103, 18.83764387,
        5.68517634,  8.70489872,  5.68517634, 14.46529614,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004553970674139865
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02748655e-06,  1.02748641e-06,  1.00000000e+00,  1.05572847e-12,
        1.00000000e+00, -1.02748641e-06, -1.00000000e+00,  0.00000000e+00,
       -1.02748655e-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([ 0.05314028, -0.0619405 ,  0.06198977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46062407e-05, 7.79791942e-07, 3.38339802e-05, 2.59958909e-05,
 -2.34746061e-03, 2.05125028e-02, 9.26221874e-03, 1.23450174e-03,
  1.95834790e-05, 7.62881695e-06, 5.71844104e-06,-1.52925056e-07,
  5.60200214e-02, 2.03922550e-02, 1.42102979e-02,-4.32158012e-04,
 -3.16897727e-06, 1.47668278e-06,-9.80999732e+00,-6.49395128e-02,
 -9.31417141e-03,-5.41942752e-03]


--- Step 1530 ---
qpos:
[ 0.0098606 , 0.00809354,-0.00561398, 0.03350343, 0.00587173,-0.01564134,
 -0.01523184, 0.03795001, 0.013015  , 0.00594922,-0.01172026, 0.03410122,
  0.81601019,-0.01318689, 1.15646441, 0.0460426 , 0.09444486,-0.06416391,
  0.14245721, 0.94384629,-0.03298379, 0.02931837, 0.32742432]

qacc:
[-3.58710744e+00, 2.28747909e-01,-3.59517512e+00, 1.43148023e+01,
  3.91723425e+00, 2.15687623e+00,-4.88623267e+00,-2.99555756e+00,
  2.11490994e+00,-1.42501717e+00, 6.95982683e+00,-1.41244240e+01,
  4.75505064e+00, 3.42351696e+00, 1.33635230e+01,-4.15898043e+01,
 -3.49609433e-02,-1.47777905e-01, 2.84680813e-02, 3.01914838e+00,
 -2.62512966e-01, 5.49056072e+00]

qfrc_actuator:
[ 6.80693939e-05, 2.40529783e-04, 3.32611738e-05, 8.82396459e-05,
 -2.38624450e-03, 1.85730781e-02, 8.44383437e-03, 1.22803721e-03,
 -2.82572605e-05, 1.35211266e-05,-2.62487438e-05, 1.05004049e-05,
  4.95090574e-02, 1.73255763e-02, 5.65693404e-04,-1.75910125e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23518494, -0.23065909,  0.04591666, -0.23065909,  0.2631338 ,
        0.14039911,  0.04591666,  0.14039911,  0.9404699 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003169731983189043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82348298e-01, -1.86891226e-01,  7.96809235e-03, -1.86885078e-01,
        9.82380613e-01,  1.51587534e-03, -8.11100325e-03, -2.16840434e-19,
       -9.99967105e-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([ 0.130253  , -0.08223943,  0.13162006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29026461,  7.1942365 ,  1.1793724 ,  7.1942365 ,  7.93512757,
       -3.93369953,  1.1793724 , -3.93369953, 31.28604808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9219363468010134e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98690023,  0.04608991, -0.15460806,  0.04553453,  0.9989373 ,
        0.00713345,  0.15477253,  0.        , -0.98795013])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326342, -0.05411349,  0.2965672 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004333364569599195
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.66075326e-01, -8.61161826e-01, -2.02914024e-01, -9.65824675e-02,
       -1.78454274e-01,  9.79196558e-01, -8.79457570e-01,  4.75977292e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491758, -0.03648699,  0.30475131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045617722278654127
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.46465839e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.46465839e-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([ 0.05272496, -0.06134231,  0.06198975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11130171e-05, 1.52468067e-05, 2.77602096e-05, 3.51312615e-05,
 -2.43061004e-03, 2.04706713e-02, 9.20024752e-03, 1.23382656e-03,
  1.23445850e-05, 2.50994323e-05, 2.21254169e-05,-1.75504759e-05,
  5.53860127e-02, 2.00393857e-02, 1.44835862e-02,-1.42859889e-04,
 -8.67512863e-07, 1.03026051e-06,-9.80999884e+00,-6.49412110e-02,
 -9.31391026e-03,-5.41935377e-03]


--- Step 1531 ---
qpos:
[ 0.0098607 , 0.00809315,-0.00561439, 0.03350431, 0.00587326,-0.01566463,
 -0.01524293, 0.03794902, 0.01301462, 0.00594898,-0.01171993, 0.03410073,
  0.81597859,-0.01319624, 1.15638449, 0.04604589, 0.09444667,-0.06416058,
  0.14245759, 0.94383881,-0.03298367, 0.02931378, 0.32744631]

qacc:
[-8.42861288e+00, 7.95077413e-01,-2.37282014e+00, 2.97658723e+00,
  1.51337991e+00, 3.34360292e+00,-9.22885949e+00,-9.92462340e-01,
  1.24805204e+00, 1.96928593e+00,-4.83803751e+00, 1.42756139e+00,
  4.22818288e+00, 3.16849827e+00, 1.31332281e+01,-3.26212883e+01,
 -2.55135695e-02,-1.10830756e-01, 2.08688261e-02, 2.47327611e+00,
 -3.06358924e-01, 4.76632427e+00]

qfrc_actuator:
[ 1.92942616e-05, 2.62576219e-04, 2.89030149e-05, 8.98093523e-05,
 -2.39654096e-03, 1.86035953e-02, 8.39512440e-03, 1.23251755e-03,
 -2.11181343e-05, 6.10703837e-05,-5.03771150e-05,-6.64106728e-09,
  4.95204320e-02, 1.73665453e-02, 5.72059145e-04,-1.77587848e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23531031, -0.23145994,  0.04239384, -0.23145994,  0.25368229,
        0.1003065 ,  0.04239384,  0.1003065 ,  0.78295916,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031766049562141754
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82347677e-01, -1.86895549e-01,  7.94320483e-03, -1.86889440e-01,
        9.82379791e-01,  1.51117688e-03, -8.08567613e-03,  2.16840434e-19,
       -9.99967310e-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([ 0.13025594, -0.08223947,  0.13161982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28988564,  7.1397295 ,  1.47196989,  7.1397295 ,  8.43423481,
       -5.55061861,  1.47196989, -5.55061861, 34.21293322,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8408093782431334e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98689947,  0.04606106, -0.15462151,  0.04550594,  0.99893863,
        0.0071296 ,  0.1547858 ,  0.        , -0.98794805])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326341, -0.05411148,  0.29656719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004339130651619745
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.63103372e-01, -8.62403293e-01, -2.04440280e-01, -9.67197980e-02,
       -1.80114155e-01,  9.78879038e-01, -8.81011094e-01,  4.73095606e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491741, -0.03648278,  0.30475054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004564491450679137
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43230388e-13, -3.80047481e-15,  1.00000000e+00, -9.24390960e-28,
        1.00000000e+00,  3.80047481e-15, -1.00000000e+00,  0.00000000e+00,
       -2.43230388e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05272798, -0.06134013,  0.06198974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.93715169e-05, 3.78290574e-05, 3.43572678e-06, 3.86836035e-06,
 -2.46384999e-03, 2.04881628e-02, 9.20394050e-03, 1.26539634e-03,
  7.49663982e-06, 6.54282731e-05,-1.68262131e-05,-9.00751052e-06,
  5.47152700e-02, 1.96793188e-02, 1.43657145e-02, 2.01682014e-06,
 -1.05861568e-06, 1.62680517e-06,-9.80999942e+00,-6.49421129e-02,
 -9.31417021e-03,-5.41907792e-03]


--- Step 1532 ---
qpos:
[ 0.00986057, 0.00809305,-0.00561483, 0.03350486, 0.00587513,-0.01568991,
 -0.01525525, 0.03794746, 0.01301433, 0.00594904,-0.01172009, 0.03410051,
  0.81595819,-0.01319902, 1.15631027, 0.04604772, 0.0944484 ,-0.06415759,
  0.14245804, 0.94382882,-0.03297927, 0.02931015, 0.32747588]

qacc:
[-2.11797581e+00,-2.08246383e-01, 2.74052171e+00,-8.73093411e+00,
  2.96971387e+00,-3.43185794e-01,-1.98194178e-01,-6.17172211e+00,
  7.61844883e-01, 2.28057296e+00,-8.67404679e+00, 1.37880479e+01,
  3.83757291e+00, 2.88431913e+00, 1.27707739e+01,-3.26488657e+01,
 -1.93604425e-02,-8.52937062e-02, 1.42624825e-02, 2.02908670e+00,
 -3.32484036e-01, 4.06640540e+00]

qfrc_actuator:
[ 8.31421265e-06, 2.75773017e-04, 2.65096803e-05, 7.26219490e-05,
 -2.40343926e-03, 1.85959063e-02, 8.38923816e-03, 1.21831747e-03,
 -1.67697994e-05, 5.37972296e-05,-8.24011420e-05, 1.17704290e-05,
  4.95330548e-02, 1.74082793e-02, 5.73089182e-04,-1.85749718e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2354524 , -0.23174323,  0.04162823, -0.23174323,  0.25354244,
        0.10070673,  0.04162823,  0.10070673,  0.79608402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031843684724436116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98234457, -0.18691283,  0.00792143, -0.18690675,  0.9823765 ,
        0.00150718, -0.00806354,  0.        , -0.99996749])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13025907, -0.08223966,  0.13161962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28991484,  7.04015308,  1.89185174,  7.04015308,  9.52148965,
       -8.30436546,  1.89185174, -8.30436546, 38.19297291,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8471424993237514e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98690058,  0.04601559, -0.15462795,  0.04546097,  0.99894072,
        0.00712284,  0.15479192,  0.        , -0.98794709])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326364, -0.05411006,  0.29656733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004341377272202016
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.46184588, -0.86291973, -0.20510469, -0.09678439, -0.18083339,
        0.97874004, -0.88166386,  0.47187798,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491723, -0.0364799 ,  0.30475077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045633150765080066
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21646545e-13, -6.46247270e-14,  1.00000000e+00, -7.86137475e-27,
        1.00000000e+00,  6.46247270e-14, -1.00000000e+00,  0.00000000e+00,
       -1.21646545e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05273015, -0.06133842,  0.06198975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23722825e-05, 3.52261286e-05, 5.98711462e-06,-1.53703444e-05,
 -2.47984570e-03, 2.04971584e-02, 9.29455823e-03, 1.29035282e-03,
  4.58479648e-06, 2.54602589e-05,-2.08939028e-05, 1.38239341e-05,
  5.41116642e-02, 1.93596752e-02, 1.40530455e-02,-1.45750676e-05,
 -2.96418989e-06, 2.98168304e-06,-9.80999932e+00,-6.49423692e-02,
 -9.31482501e-03,-5.41861821e-03]


--- Step 1533 ---
qpos:
[ 0.009861  , 0.00809302,-0.00561519, 0.03350521, 0.0058771 ,-0.01571824,
 -0.01526869, 0.03794537, 0.01301375, 0.00594867,-0.01172002, 0.03410047,
  0.81594797,-0.01319588, 1.15624036, 0.0460475 , 0.09445007,-0.06415487,
  0.14245852, 0.94381673,-0.03297132, 0.0293072 , 0.32751177]

qacc:
[ 4.90649819e+00,-5.04939091e-01, 2.71577329e+00,-6.11894032e+00,
  7.98107254e-01,-1.98785276e+00, 3.49164082e+00,-8.68468302e+00,
 -2.53593427e+00,-8.09370818e-01, 1.26847566e+00, 1.94774180e+00,
  3.50748172e+00, 2.56344900e+00, 1.24443732e+01,-3.44663649e+01,
 -1.56290097e-02,-6.76677220e-02, 8.86423742e-03, 1.65706129e+00,
 -3.36202846e-01, 3.39014033e+00]

qfrc_actuator:
[ 3.74287618e-05, 2.65798126e-04, 2.52659006e-05, 6.22932920e-05,
 -2.42628736e-03, 1.85848428e-02, 8.40912874e-03, 1.21076008e-03,
 -3.18503615e-05,-4.02850113e-06,-8.35116269e-05, 1.87689558e-05,
  4.95301060e-02, 1.74127423e-02, 5.81397536e-04,-1.97732684e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23558522, -0.23203866,  0.04072415, -0.23203866,  0.25081886,
        0.0867985 ,  0.04072415,  0.0867985 ,  0.73014701,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031916001919063554
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98233937, -0.18694086,  0.00790417, -0.1869348 ,  0.98237117,
        0.00150413, -0.00804601,  0.        , -0.99996763])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13026247, -0.08223998,  0.13161947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29026779,   6.91027399,   2.32295453,   6.91027399,
        11.18549448, -11.58743458,   2.32295453, -11.58743458,
        41.760313  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.922606772996357e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98690323,  0.04595589, -0.15462882,  0.04540198,  0.99894347,
        0.00711362,  0.15479236,  0.        , -0.98794703])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326405, -0.0541092 ,  0.29656758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043412020321385766
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.61925501e-01, -8.62878691e-01, -2.05098018e-01, -9.67977862e-02,
       -1.80818653e-01,  9.78741438e-01, -8.81620678e-01,  4.71958663e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491697, -0.03647812,  0.30475169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045591362860086804
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21758043e-13, -6.46839604e-14,  1.00000000e+00, -7.87579244e-27,
        1.00000000e+00,  6.46839604e-14, -1.00000000e+00,  0.00000000e+00,
       -1.21758043e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05273165, -0.0613371 ,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.87753946e-05, 1.03054245e-05, 6.24394926e-06,-8.91064168e-06,
 -2.51995568e-03, 2.05864199e-02, 9.37668208e-03, 1.31124418e-03,
 -1.49410987e-05,-4.73109178e-05, 2.05451355e-06, 7.63619769e-06,
  5.35482987e-02, 1.90359835e-02, 1.37781683e-02,-6.05754886e-05,
 -5.82881500e-06, 4.76150828e-06,-9.80999879e+00,-6.49420952e-02,
 -9.31573326e-03,-5.41798854e-03]


--- Step 1534 ---
qpos:
[ 0.00986143, 0.00809314,-0.0056156 , 0.03350579, 0.00587934,-0.01574913,
 -0.01528299, 0.03794279, 0.01301334, 0.00594828,-0.0117201 , 0.03410049,
  0.81594706,-0.01318737, 1.15617402, 0.04604501, 0.09445169,-0.06415237,
  0.14245902, 0.94380286,-0.0329604 , 0.02930467, 0.32755305]

qacc:
[ 8.40841859e-04, 7.80484452e-01,-3.42831072e+00, 7.18115914e+00,
  2.46046556e+00,-2.03742278e+00, 4.41785080e+00,-9.72542613e+00,
  1.47742906e+00, 5.10623641e-01,-2.10713425e+00, 3.36649739e+00,
  3.22941323e+00, 2.28935921e+00, 1.21266647e+01,-3.49090921e+01,
 -1.29265289e-02,-5.30206313e-02, 4.17703585e-03, 1.36397393e+00,
 -3.48306286e-01, 2.88672033e+00]

qfrc_actuator:
[ 3.66387476e-05, 2.77532437e-04, 2.46207956e-05, 7.38189276e-05,
 -2.42308367e-03, 1.86268705e-02, 8.42711544e-03, 1.17187647e-03,
 -2.27396646e-05, 1.49413663e-05,-8.43414936e-05, 2.28697335e-05,
  4.95228292e-02, 1.73751082e-02, 6.15295726e-04,-2.10117571e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23568534, -0.2317593 ,  0.04283934, -0.2317593 ,  0.25339864,
        0.09582833,  0.04283934,  0.09582833,  0.75411317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003197036323976136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98233251, -0.18697741,  0.00789274, -0.18697137,  0.98236421,
        0.00150226, -0.00803443,  0.        , -0.99996772])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13026621, -0.08224042,  0.13161941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29089486,   6.75077684,   2.75393535,   6.75077684,
        13.51758454, -15.26360902,   2.75393535, -15.26360902,
        44.70688511,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.052067675877705e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98690711,  0.0458843 , -0.1546253 ,  0.04533129,  0.99894676,
        0.00710235,  0.15478833,  0.        , -0.98794766])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326459, -0.05410882,  0.29656791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004339399270323973
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.63074930e-01, -8.62391812e-01, -2.04553103e-01, -9.67695608e-02,
       -1.80215493e-01,  9.78855468e-01, -8.81020580e-01,  4.73077941e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491659, -0.03647726,  0.3047531 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004552687745018047
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21930504e-13, -6.47755804e-14,  1.00000000e+00, -7.89811918e-27,
        1.00000000e+00,  6.47755804e-14, -1.00000000e+00,  0.00000000e+00,
       -1.21930504e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05273262, -0.06133607,  0.06198977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39160584e-08, 1.84181748e-05, 1.94651035e-06, 1.20086398e-05,
 -2.52128905e-03, 2.07820957e-02, 9.45136931e-03, 1.29914792e-03,
  8.66797839e-06,-6.72932707e-06,-1.00815499e-05, 2.29430941e-06,
  5.30322013e-02, 1.87022528e-02, 1.35980178e-02,-8.22735876e-05,
 -9.07915235e-06, 6.69588472e-06,-9.80999804e+00,-6.49413826e-02,
 -9.31679162e-03,-5.41720413e-03]


--- Step 1535 ---
qpos:
[ 0.00986184, 0.00809354,-0.0056161 , 0.03350683, 0.00588213,-0.01578046,
 -0.01529806, 0.03793973, 0.01301303, 0.00594811,-0.01172033, 0.03410053,
  0.81595236,-0.0131751 , 1.15611473, 0.04604231, 0.09445325,-0.06415   ,
  0.14245954, 0.9437877 ,-0.03294755, 0.02930263, 0.32759822]

qacc:
[-1.18162929e-01, 1.57631140e+00,-7.04901719e+00, 1.50250412e+01,
  4.64629866e+00, 6.23049370e-01,-1.05080447e+00,-5.59096599e+00,
  9.76810058e-01, 7.41662072e-01,-2.30347778e+00, 2.69045982e+00,
  1.90463590e+00, 1.96937354e+00, 1.09714001e+01,-2.33399864e+01,
 -1.49457397e-02,-3.46859294e-02, 7.00937779e-03, 9.10758137e-01,
 -1.32753305e-01, 2.08299702e+00]

qfrc_actuator:
[ 3.59935073e-05, 3.02191726e-04, 2.44290282e-05, 9.81260483e-05,
 -2.38672549e-03, 1.87014944e-02, 8.42638574e-03, 1.16763017e-03,
 -1.72093106e-05, 4.42438216e-05,-8.47167023e-05, 2.52874375e-05,
  4.95179932e-02, 1.73281491e-02, 6.69784145e-04,-2.06659814e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23576047, -0.2319739 ,  0.04208451, -0.2319739 ,  0.25499358,
        0.10601479,  0.04208451,  0.10601479,  0.8201243 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032011062530723516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82324212e-01, -1.87021278e-01,  7.88567697e-03, -1.87015252e-01,
        9.82355863e-01,  1.50127814e-03, -8.02731196e-03,  2.16840434e-19,
       -9.99967781e-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([ 0.13027025, -0.08224095,  0.1316194 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29176485,   6.56439206,   3.17467974,   6.56439206,
        16.56849768, -19.18181248,   3.17467974, -19.18181248,
        46.95464364,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.2230477756110004e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98691199,  0.04580257, -0.15461837,  0.0452506 ,  0.99895051,
        0.00708936,  0.15478081,  0.        , -0.98794884])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326523, -0.05410889,  0.29656831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043365558656499614
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.46506021, -0.86155235, -0.20358426, -0.09670417, -0.17915036,
        0.97905743, -0.87998142,  0.4750081 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491605, -0.03647718,  0.30475485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045445310095575825
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.62521502e-07,  3.62521432e-07,  1.00000000e+00,  1.31421814e-13,
        1.00000000e+00, -3.62521432e-07, -1.00000000e+00,  0.00000000e+00,
       -3.62521502e-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([ 0.05315269, -0.06193042,  0.06198979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.38492437e-07, 3.58734407e-05, 4.26972544e-06, 2.53967242e-05,
 -2.49911366e-03, 2.09865573e-02, 9.49382741e-03, 1.31977870e-03,
  5.77338309e-06, 2.35720121e-05,-2.92289077e-06, 1.82573753e-06,
  5.25619395e-02, 1.83865205e-02, 1.34748373e-02, 6.69231523e-05,
 -1.24532849e-05, 8.68803970e-06,-9.80999717e+00,-6.49403117e-02,
 -9.31794476e-03,-5.41627507e-03]


--- Step 1536 ---
qpos:
[ 0.00986293, 0.00809403,-0.00561655, 0.03350851, 0.00588125,-0.01580306,
 -0.01530676, 0.03793989, 0.01301246, 0.00594809,-0.01172086, 0.03410096,
  0.81588304,-0.01320856, 1.15601958, 0.04605001, 0.09445556,-0.06414506,
  0.14245957, 0.94379046,-0.03296498, 0.0292928 , 0.3275894 ]

qacc:
[ 5.95894955e+00, 1.28171067e+00,-7.10608834e+00, 1.80573285e+01,
 -3.15995464e+01, 4.00303164e-01, 1.81586270e+00, 3.71939330e+01,
 -2.44094689e+00, 1.83812516e+00,-7.92302217e+00, 1.50819613e+01,
 -2.41575960e+01,-2.23535766e+01,-8.39698282e+01, 2.17828196e+02,
  1.88952090e-01, 6.42369191e-01,-1.24599671e-01,-1.44762193e+01,
  1.90825925e+00,-2.89846852e+01]

qfrc_actuator:
[ 7.09533522e-05, 2.98910307e-04, 2.45700058e-05, 1.29768731e-04,
 -2.36635100e-03, 1.87413020e-02, 8.43244442e-03, 1.16659103e-03,
 -3.15907308e-05, 4.40104650e-05,-1.02512197e-04, 4.44649468e-05,
  4.95198910e-02, 1.72928127e-02, 6.72276941e-04,-1.99139651e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23583809, -0.2296999 ,  0.05345615, -0.2296999 ,  0.35649837,
        0.51847461,  0.05345615,  0.51847461,  2.46371225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003205303579701396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82314870e-01, -1.87070574e-01,  7.88012335e-03, -1.87064555e-01,
        9.82346477e-01,  1.50063062e-03, -8.02173524e-03,  2.16840434e-19,
       -9.99967825e-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([ 0.13027438, -0.08224154,  0.13161941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29284871, -7.28889487,  0.24011233, -7.28889487,  7.28499941,
       -0.2382747 ,  0.24011233, -0.2382747 ,  0.05973739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.424091452157197e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98691763,  0.04571344, -0.1546088 ,  0.04516261,  0.99895459,
        0.0070751 ,  0.1547706 ,  0.        , -0.98795043])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326593, -0.05410925,  0.29656875])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.25302533,  1.0947613 , -0.60956556,  1.0947613 ,  2.13452708,
        1.58315046, -0.60956556,  1.58315046,  4.09631565,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043337888383821697
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.46745272, -0.86053536, -0.20240268, -0.09661335, -0.17785586,
        0.97930238, -0.87872283,  0.47733237,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491543, -0.0364776 ,  0.30475667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.55227041, -6.2859408 ,  8.47569225, -6.2859408 , 33.16478533,
       16.77042133,  8.47569225, 16.77042133, 22.98994187,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045477596235959927
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.22062633e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.22062633e-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([ 0.08640761, -0.10909665,  0.06198978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.49520007e-05, 1.87372475e-05, 8.95429624e-06, 3.38197992e-05,
 -2.50580500e-03, 2.10490093e-02, 9.53930830e-03, 1.34258304e-03,
 -1.42098200e-05, 1.24325901e-05,-1.32192155e-05, 2.01225700e-05,
  5.22533027e-02, 1.81630243e-02, 1.31264890e-02, 1.52289116e-04,
 -1.51637794e-05, 1.02464337e-05,-9.80999655e+00,-6.49389171e-02,
 -9.31901167e-03,-5.41527115e-03]


--- Step 1537 ---
qpos:
[ 0.00986409, 0.00809452,-0.00561718, 0.03351024, 0.00588193,-0.01582264,
 -0.01531459, 0.03794008, 0.01301171, 0.00594816,-0.01172154, 0.03410092,
  0.81582676,-0.01323413, 1.15592233, 0.04605226, 0.09445765,-0.06414086,
  0.14245976, 0.9437896 ,-0.03297568, 0.02928554, 0.32759145]

qacc:
[ 5.70861081e-01, 5.82240528e-01,-2.31227219e+00, 3.48863207e+00,
  1.35126770e+01, 1.58688988e+00,-6.42446124e-02,-2.92267995e+00,
 -1.48286101e+00,-3.94675547e-01, 3.57686380e+00,-1.15001126e+01,
  4.44205961e+00, 3.54653743e+00, 1.32881139e+01,-5.12334298e+01,
 -5.57609722e-02,-1.84394048e-01, 4.27497058e-02, 3.37411272e+00,
 -1.37688632e-02, 5.86142017e+00]

qfrc_actuator:
[ 7.33317451e-05, 2.78931613e-04, 7.04721254e-06, 1.29945091e-04,
 -2.35156764e-03, 1.87334841e-02, 8.45348461e-03, 1.18172328e-03,
 -3.98231725e-05, 4.37921517e-05,-1.12800052e-04, 2.00579223e-05,
  4.95435320e-02, 1.73301811e-02, 6.47179123e-04,-1.93784489e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23590984,  0.01586764,  0.2353756 ,  0.01586764,  0.76686416,
       -0.03579382,  0.2353756 , -0.03579382,  0.23832285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032091767349486295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98232087, -0.18704042,  0.00784787, -0.18703445,  0.98235222,
        0.00149424, -0.00798886,  0.        , -0.99996809])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1302771 , -0.08224118,  0.13161908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29129546, -2.16978292, -6.96096484, -2.16978292,  7.80950685,
       -0.16153023, -6.96096484, -0.16153023,  7.3416456 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.131962427696946e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86912108e-01,  4.57258645e-02, -1.54640345e-01,  4.51746609e-02,
        9.98954026e-01,  7.07846735e-03,  1.54802264e-01,  8.67361738e-19,
       -9.87945474e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326531, -0.05410596,  0.29656835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.25553309, -0.7803667 ,  0.98356044, -0.7803667 ,  6.55904662,
        4.20786075,  0.98356044,  4.20786075,  4.59409195,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043509535667463393
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.46019281, -0.86357126, -0.20607588, -0.09691481, -0.18186475,
        0.97853602, -0.88251351,  0.47028704,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491507, -0.03647019,  0.30475288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.55292433, -5.97799115,  8.69642649, -5.97799115, 18.72096814,
        5.61477679,  8.69642649,  5.61477679, 14.41256552,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045482571145597986
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19330823e-06,  1.19330794e-06,  1.00000000e+00,  1.42398418e-12,
        1.00000000e+00, -1.19330794e-06, -1.00000000e+00,  0.00000000e+00,
       -1.19330823e-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([ 0.05315828, -0.0619262 ,  0.06198978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.37753192e-06,-6.20950762e-06,-1.13861689e-05, 1.94178946e-06,
 -2.30730606e-03, 2.06057559e-02, 9.24182953e-03, 1.19674802e-03,
 -8.63285095e-06, 4.86512040e-06,-8.64628588e-06,-2.39392313e-05,
  5.60082523e-02, 2.04874327e-02, 1.48954681e-02,-3.13870636e-04,
 -3.12618702e-06, 1.36970365e-06,-9.80999752e+00,-6.49402105e-02,
 -9.31844352e-03,-5.41529630e-03]


--- Step 1538 ---
qpos:
[ 0.00986493, 0.00809476,-0.00561786, 0.03351164, 0.0058836 ,-0.0158423 ,
 -0.01532305, 0.03793988, 0.01301088, 0.00594831,-0.01172176, 0.03409986,
  0.81578403,-0.01325178, 1.15583517, 0.04605493, 0.09445959,-0.06413722,
  0.14246007, 0.94378529,-0.03298033, 0.02927999, 0.32760388]

qacc:
[-2.84944814e+00,-8.26968866e-01, 3.89373823e+00,-9.38630571e+00,
  8.43100087e+00, 8.40007648e-01,-1.46547466e+00,-4.38947462e+00,
 -8.06058967e-01,-3.30937537e+00, 1.62724175e+01,-3.47895341e+01,
  4.63412599e+00, 3.48798436e+00, 1.35577742e+01,-2.59784953e+01,
 -3.80971056e-02,-1.38237271e-01, 2.74966386e-02, 2.92852734e+00,
 -3.03065215e-01, 5.58112477e+00]

qfrc_actuator:
[ 5.65030220e-05, 2.49003321e-04,-3.11210094e-06, 1.11574976e-04,
 -2.36166763e-03, 1.87348182e-02, 8.46871488e-03, 1.20845748e-03,
 -4.43641364e-05, 6.13245496e-05,-8.31011634e-05,-2.97963029e-05,
  4.95590391e-02, 1.73936045e-02, 6.30409742e-04,-1.76131668e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23606563, -0.23120218,  0.04767107, -0.23120218,  0.27537168,
        0.19063226,  0.04767107,  0.19063226,  1.16062204,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032175618013217597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98232339, -0.18702854,  0.00781547, -0.18702262,  0.98235448,
        0.00148797, -0.00795585,  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([ 0.13027963, -0.08224102,  0.13161874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29048514,  7.18569385,  1.23165637,  7.18569385,  8.00547344,
       -4.17136398,  1.23165637, -4.17136398, 31.62693583,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.968120986667924e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86909185e-01,  4.57180226e-02, -1.54661316e-01,  4.51667635e-02,
        9.98954385e-01,  7.07821064e-03,  1.54823202e-01,  8.67361738e-19,
       -9.87942193e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326508, -0.05410334,  0.2965682 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043613290369417
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55811033e-01, -8.65359619e-01, -2.08300343e-01, -9.70749421e-02,
       -1.84297283e-01,  9.78064909e-01, -8.84767064e-01,  4.66033520e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491481, -0.03646446,  0.3047509 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004555454000712972
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21856463e-13, -1.25664478e-13,  1.00000000e+00, -1.53130288e-26,
        1.00000000e+00,  1.25664478e-13, -1.00000000e+00,  0.00000000e+00,
       -1.21856463e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0527428 , -0.06132843,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67355245e-05,-3.56861061e-05,-1.27807522e-05,-1.89962858e-05,
 -2.39597990e-03, 2.04571761e-02, 9.21373983e-03, 1.22187607e-03,
 -4.78377718e-06, 1.74411426e-05, 2.88173866e-05,-5.04091467e-05,
  5.53720529e-02, 2.01568717e-02, 1.49861602e-02, 1.36014293e-04,
 -7.85765804e-07, 8.66178698e-07,-9.80999897e+00,-6.49418171e-02,
 -9.31814510e-03,-5.41524169e-03]


--- Step 1539 ---
qpos:
[ 0.00986555, 0.00809465,-0.00561831, 0.03351245, 0.00588553,-0.01586352,
 -0.01533304, 0.03793903, 0.01300999, 0.00594852,-0.01172135, 0.03409855,
  0.81575348,-0.01326229, 1.15575538, 0.04605684, 0.09446141,-0.064134  ,
  0.14246046, 0.9437781 ,-0.03297999, 0.02927571, 0.32762503]

qacc:
[-1.81322471e+00,-2.31083932e+00, 1.00427488e+01,-2.02646754e+01,
  2.24567687e+00, 9.02046346e-01,-3.52691243e+00,-3.90918923e+00,
 -4.03529816e-01,-2.19138102e+00, 8.97658095e+00,-1.43686684e+01,
  4.16980237e+00, 3.14196916e+00, 1.30727709e+01,-3.01266582e+01,
 -2.88920696e-02,-1.07512997e-01, 2.01052174e-02, 2.38750005e+00,
 -3.17697778e-01, 4.67899330e+00]

qfrc_actuator:
[ 4.62670096e-05, 2.31097674e-04, 8.85765801e-06, 8.24408651e-05,
 -2.38673574e-03, 1.87612772e-02, 8.48161969e-03, 1.24257478e-03,
 -4.66978032e-05, 7.17363083e-05,-4.77241446e-05,-4.09180948e-05,
  4.95584984e-02, 1.74339641e-02, 6.06962901e-04,-1.83424265e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23625414, -0.23240224,  0.04248786, -0.23240224,  0.25635207,
        0.10993264,  0.04248786,  0.10993264,  0.83756923,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003227666183788007
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98232284, -0.18703266,  0.00778583, -0.18702679,  0.9823537 ,
        0.00148236, -0.00792569,  0.        , -0.99996859])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13028228, -0.08224103,  0.13161843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29019478,  7.12023648,  1.56498321,  7.12023648,  8.6147275 ,
       -6.02625388,  1.56498321, -6.02625388, 34.70796661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9071577362642735e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86908490e-01,  4.56907237e-02, -1.54673816e-01,  4.51397055e-02,
        9.98955634e-01,  7.07454700e-03,  1.54835521e-01,  8.67361738e-19,
       -9.87940262e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326514, -0.05410139,  0.29656823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043668917840735365
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53363352e-01, -8.66341784e-01, -2.09555684e-01, -9.71621873e-02,
       -1.85669314e-01,  9.77796715e-01, -8.86014210e-01,  4.63658085e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491464, -0.03646033,  0.30475022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004557728805915928
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43591287e-13, -1.25601757e-13,  1.00000000e+00, -3.05954937e-26,
        1.00000000e+00,  1.25601757e-13, -1.00000000e+00,  0.00000000e+00,
       -2.43591287e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05274576, -0.06132628,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07243012e-05,-4.13279108e-05, 2.36879462e-06,-3.14768275e-05,
 -2.47009741e-03, 2.04880759e-02, 9.25881523e-03, 1.27615399e-03,
 -2.46256584e-06, 2.39522730e-05, 4.07874410e-05,-1.03558708e-05,
  5.46938759e-02, 1.98012265e-02, 1.44594588e-02, 4.25937090e-05,
 -9.46081789e-07, 1.44376331e-06,-9.80999950e+00,-6.49426546e-02,
 -9.31837047e-03,-5.41498154e-03]


--- Step 1540 ---
qpos:
[ 0.00986571, 0.00809435,-0.00561895, 0.03351257, 0.00588787,-0.01588674,
 -0.01534441, 0.03793759, 0.01300908, 0.00594867,-0.01172046, 0.03409748,
  0.81573397,-0.01326633, 1.1556821 , 0.04605773, 0.09446315,-0.06413111,
  0.1424609 , 0.94376841,-0.03297549, 0.02927234, 0.32765369]

qacc:
[-4.15076909e+00,-1.16471348e+00, 6.72615822e+00,-1.82952509e+01,
  3.47132504e+00,-3.92008659e-02,-1.18807936e+00,-5.45275140e+00,
 -1.68522877e-01,-9.08109420e-01, 2.10524334e+00, 1.40496564e+00,
  3.75094024e+00, 2.88440241e+00, 1.25830432e+01,-3.02513840e+01,
 -2.19621419e-02,-8.13707672e-02, 1.36715397e-02, 1.96004347e+00,
 -3.44636375e-01, 4.03269839e+00]

qfrc_actuator:
[ 2.22471321e-05, 2.20605446e-04,-1.67259697e-06, 4.72319983e-05,
 -2.38495409e-03, 1.87865784e-02, 8.47652823e-03, 1.22826107e-03,
 -4.77149554e-05, 6.01182667e-05,-2.70354544e-05,-2.91626583e-05,
  4.95586155e-02, 1.74581032e-02, 5.95369338e-04,-1.89606272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2364376 , -0.23269885,  0.0418806 , -0.23269885,  0.25568965,
        0.10696912,  0.0418806 ,  0.10696912,  0.83078422,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003237455077355218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82319873e-01, -1.87049277e-01,  7.76118731e-03, -1.87043439e-01,
        9.82350532e-01,  1.47780698e-03, -7.90062921e-03,  2.16840434e-19,
       -9.99968790e-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([ 0.13028519, -0.08224121,  0.13161819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29029435,  7.02077785,  1.96394249,  7.02077785,  9.7281244 ,
       -8.71484948,  1.96394249, -8.71484948, 38.4444765 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9282060757790792e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86909607e-01,  4.56470731e-02, -1.54679577e-01,  4.50965424e-02,
        9.98957629e-01,  7.06803747e-03,  1.54840978e-01,  8.67361738e-19,
       -9.87939407e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326542, -0.05410004,  0.29656839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004368990883143623
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52477703e-01, -8.66689007e-01, -2.10033554e-01, -9.72037084e-02,
       -1.86186822e-01,  9.77694178e-01, -8.86462277e-01,  4.62800856e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491447, -0.03645751,  0.30475048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004556261417284907
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21834869e-13, -3.42660569e-14,  1.00000000e+00, -4.17480055e-27,
        1.00000000e+00,  3.42660569e-14, -1.00000000e+00,  0.00000000e+00,
       -1.21834869e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05274788, -0.0613246 ,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.43379874e-05,-3.44609927e-05,-1.98599371e-05,-3.75107383e-05,
 -2.48147660e-03, 2.05924307e-02, 9.33077816e-03, 1.29382050e-03,
 -1.07919902e-06, 9.74453837e-06, 3.02967210e-05, 1.39930087e-05,
  5.40844755e-02, 1.94686123e-02, 1.40810999e-02, 1.88357359e-05,
 -2.75552482e-06, 2.72744554e-06,-9.80999938e+00,-6.49428663e-02,
 -9.31899129e-03,-5.41453932e-03]


--- Step 1541 ---
qpos:
[ 0.00986592, 0.00809387,-0.00561973, 0.03351227, 0.00589088,-0.01591204,
 -0.01535701, 0.03793558, 0.01300783, 0.00594894,-0.01171935, 0.03409656,
  0.81572424,-0.01326459, 1.15561911, 0.04605975, 0.09446482,-0.06412844,
  0.14246138, 0.94375649,-0.03296753, 0.02926956, 0.32768905]

qacc:
[ 4.87644110e-01,-7.00447106e-01, 3.93955286e+00,-1.09266507e+01,
  5.82400737e+00,-4.91444980e-01, 1.27477114e-01,-6.44054788e+00,
 -3.07550306e+00,-1.31897920e-01, 9.79500919e-02, 1.98102097e+00,
  3.21797082e+00, 2.72763952e+00, 1.17683271e+01,-1.91952014e+01,
 -1.69663764e-02,-5.66067688e-02, 8.71724504e-03, 1.59784892e+00,
 -3.63637221e-01, 3.58328265e+00]

qfrc_actuator:
[ 2.58100307e-05, 2.14542462e-04,-7.62982579e-06, 2.64731592e-05,
 -2.36730875e-03, 1.88299985e-02, 8.47884431e-03, 1.20285468e-03,
 -6.57026248e-05, 7.08697806e-05,-1.52670314e-05,-2.18297175e-05,
  4.95694439e-02, 1.74880701e-02, 5.96026362e-04,-1.79088575e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23660889, -0.23277244,  0.04243538, -0.23277244,  0.25662982,
        0.10982158,  0.04243538,  0.10982158,  0.83901739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032465558366507057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82314857e-01, -1.87076447e-01,  7.74114422e-03, -1.87070638e-01,
        9.82345358e-01,  1.47421245e-03, -7.88026752e-03,  2.16840434e-19,
       -9.99968950e-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([ 0.13028838, -0.08224151,  0.13161801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29070708,   6.88331512,   2.40299453,   6.88331512,
        11.52168482, -12.1195253 ,   2.40299453, -12.1195253 ,
        42.00677094,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.0138856280212153e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86912214e-01,  4.55892673e-02, -1.54679993e-01,  4.50394337e-02,
        9.98960269e-01,  7.05908709e-03,  1.54840986e-01,  8.67361738e-19,
       -9.87939406e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326586, -0.05409922,  0.29656867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043687091143666226
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45279993, -0.86655059, -0.2099102 , -0.09721317, -0.18604272,
        0.97772067, -0.88629669,  0.46311789,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491423, -0.03645579,  0.30475141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004551912751228626
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43902527e-13,  2.66768389e-14,  1.00000000e+00,  6.50654844e-27,
        1.00000000e+00, -2.66768389e-14, -1.00000000e+00,  0.00000000e+00,
       -2.43902527e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05274934, -0.06132329,  0.06198977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86138887e-06,-3.10346902e-05,-1.68081349e-05,-2.36499581e-05,
 -2.48403676e-03, 2.07367880e-02, 9.40214831e-03, 1.29830551e-03,
 -1.80155668e-05, 2.30416387e-05, 1.79863470e-05, 9.07101408e-06,
  5.35436296e-02, 1.91748342e-02, 1.37581985e-02, 1.74953740e-04,
 -5.51223748e-06, 4.44631046e-06,-9.80999886e+00,-6.49425680e-02,
 -9.31985922e-03,-5.41392799e-03]


--- Step 1542 ---
qpos:
[ 0.00986651, 0.00809359,-0.00562073, 0.03351064, 0.00589446,-0.01593911,
 -0.01537111, 0.03793294, 0.01300567, 0.00594903,-0.01171797, 0.03409612,
  0.81572333,-0.01325759, 1.15556198, 0.04606095, 0.09446643,-0.06412595,
  0.14246187, 0.94374271,-0.03295669, 0.02926716, 0.32773006]

qacc:
[ 3.37185854e+00,-1.87638163e+00, 1.26693342e+01,-3.54423923e+01,
  4.90038805e+00, 5.39359523e-01,-2.66559835e+00,-4.46942885e+00,
 -7.86374835e+00,-1.99544124e-02,-2.26741995e+00, 1.01712857e+01,
  2.90729803e+00, 2.47486111e+00, 1.10961528e+01,-2.63891108e+01,
 -1.40268863e-02,-4.37761795e-02, 4.47272609e-03, 1.30712291e+00,
 -3.60766162e-01, 3.02379117e+00]

qfrc_actuator:
[ 4.55831955e-05, 2.46712535e-04,-1.08010441e-05,-3.88634106e-05,
 -2.35833201e-03, 1.88674278e-02, 8.50376928e-03, 1.25976709e-03,
 -1.11287629e-04, 4.16332088e-05,-8.77589012e-06, 6.03735464e-07,
  4.95757627e-02, 1.74841305e-02, 5.82154206e-04,-1.88903505e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23676859, -0.23400609,  0.03606263, -0.23400609,  0.25003408,
        0.08607819,  0.03606263,  0.08607819,  0.79531959,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003255006743913545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82308046e-01, -1.87112882e-01,  7.72478488e-03, -1.87107096e-01,
        9.82338419e-01,  1.47139390e-03, -7.86366972e-03, -4.33680869e-19,
       -9.99969081e-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([ 0.13029185, -0.08224193,  0.13161788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29138329,   6.67009637,   2.94517991,   6.67009637,
        14.66396195, -16.69704794,   2.94517991, -16.69704794,
        45.10602359,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.149207397248992e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98691606,  0.04551878, -0.1546762 ,  0.04496983,  0.99896348,
        0.00704798,  0.15483669,  0.        , -0.98794008])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326642, -0.05409887,  0.29656901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004367134359062038
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45386492, -0.86611391, -0.20941189, -0.09719987, -0.18548726,
        0.97782752, -0.88575325,  0.46415642,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491394, -0.036455  ,  0.30475275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045453738123651943
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.81645943e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.81645943e-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([ 0.05275029, -0.06132228,  0.06198979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98479023e-05, 1.03574113e-05,-1.24552192e-05,-6.77049584e-05,
 -2.50889235e-03, 2.08797802e-02, 9.48929643e-03, 1.38375579e-03,
 -4.60883367e-05,-1.22786512e-05, 1.37652346e-05, 2.42191996e-05,
  5.30606765e-02, 1.88816426e-02, 1.32303322e-02, 2.09573692e-05,
 -8.83989594e-06, 6.47033436e-06,-9.80999810e+00,-6.49418549e-02,
 -9.32088710e-03,-5.41316007e-03]


--- Step 1543 ---
qpos:
[ 0.00986699, 0.0080936 ,-0.00562161, 0.03350855, 0.0058982 ,-0.01596888,
 -0.01538583, 0.03792996, 0.01300299, 0.00594899,-0.01171678, 0.03409597,
  0.81572842,-0.01324685, 1.15550654, 0.04605954, 0.09446797,-0.06412361,
  0.1424624 , 0.94372775,-0.03294403, 0.02926523, 0.32777457]

qacc:
[-9.89923035e-01,-8.92872682e-01, 5.67921211e+00,-1.40397559e+01,
  1.40643624e+00,-2.50824372e+00, 5.20834115e+00,-8.18423576e+00,
 -4.66219895e+00, 9.52568498e-01,-4.89066053e+00, 1.04114926e+01,
  1.84617903e+00, 1.96564519e+00, 1.03061068e+01,-3.24986979e+01,
 -1.71140780e-02,-3.76458956e-02, 6.88036218e-03, 8.59708275e-01,
 -1.13265813e-01, 1.87683279e+00]

qfrc_actuator:
[ 3.92252150e-05, 2.83758812e-04, 5.57621482e-06,-5.88634428e-05,
 -2.37247408e-03, 1.88662587e-02, 8.54300529e-03, 1.25983880e-03,
 -1.37240447e-04, 2.41673073e-05,-2.33507116e-05, 1.39563550e-05,
  4.95684593e-02, 1.74758151e-02, 6.12852224e-04,-2.07217207e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23691596, -0.23424973,  0.03544342, -0.23424973,  0.24930502,
        0.08188073,  0.03544342,  0.08188073,  0.77807541,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003262776968286485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82299757e-01, -1.87156941e-01,  7.71149129e-03, -1.87151174e-01,
        9.82330026e-01,  1.46922020e-03, -7.85020419e-03, -2.16840434e-19,
       -9.99969187e-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([ 0.13029558, -0.08224244,  0.13161779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29229288,   6.45901633,   3.38506182,   6.45901633,
        18.14649749, -20.71084327,   3.38506182, -20.71084327,
        46.81052979,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.322518848001128e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86920912e-01,  4.54375775e-02, -1.54669128e-01,  4.48896584e-02,
        9.98967180e-01,  7.03505646e-03,  1.54829039e-01, -8.67361738e-19,
       -9.87941278e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326707, -0.05409893,  0.29656941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004364642865462356
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45557939, -0.86541305, -0.20858492, -0.09716419, -0.18457191,
        0.97800426, -0.88487657,  0.46582557,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491354, -0.03645497,  0.3047544 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004537178002928133
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.35739514e-07,  3.35739284e-07,  1.00000000e+00,  1.12720944e-13,
        1.00000000e+00, -3.35739284e-07, -1.00000000e+00,  1.26217745e-29,
       -3.35739514e-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([ 0.05317041, -0.06191627,  0.0619898 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.78333656e-06, 3.73946285e-05, 1.46572968e-05,-2.12993099e-05,
 -2.55158406e-03, 2.09675268e-02, 9.60337064e-03, 1.41518568e-03,
 -2.72671090e-05,-2.04921783e-05,-1.45941939e-05, 1.37732773e-05,
  5.26127140e-02, 1.86104301e-02, 1.29695366e-02,-1.20465418e-04,
 -1.22914878e-05, 8.54525516e-06,-9.80999724e+00,-6.49407925e-02,
 -9.32201248e-03,-5.41224848e-03]


--- Step 1544 ---
qpos:
[ 0.00986705, 0.00809367,-0.00562197, 0.03350692, 0.00589811,-0.01599153,
 -0.01539403, 0.03793028, 0.01300106, 0.00594872,-0.01171597, 0.03409567,
  0.81565907,-0.01328152, 1.15541257, 0.04606707, 0.09447029,-0.06411872,
  0.14246242, 0.94373071,-0.03296147, 0.02925553, 0.32776517]

qacc:
[-3.71020632e+00,-3.72658920e-01,-5.02998168e-01, 7.70958651e+00,
 -3.29415532e+01,-2.01339773e+00, 7.01466337e+00, 3.42594676e+01,
  6.53896828e+00, 4.46710339e-01,-1.38928730e+00,-5.13433493e-01,
 -2.41991504e+01,-2.20366819e+01,-8.34390353e+01, 2.10257165e+02,
  1.95070621e-01, 6.39043799e-01,-1.24225712e-01,-1.43864505e+01,
  1.89193486e+00,-2.89465220e+01]

qfrc_actuator:
[ 1.75324913e-05, 2.88058533e-04, 3.34366660e-05,-3.42458211e-05,
 -2.38255255e-03, 1.88790908e-02, 8.55506958e-03, 1.22577754e-03,
 -9.81636291e-05,-3.96817391e-06,-5.02190880e-05, 4.09564925e-06,
  4.95635698e-02, 1.74820411e-02, 6.54479058e-04,-2.03791686e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23701884, -0.23109891,  0.05264244, -0.23109891,  0.34567006,
        0.47697596,  0.05264244,  0.47697596,  2.33093066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003268185164605315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82290617e-01, -1.87205214e-01,  7.70394947e-03, -1.87199457e-01,
        9.82320827e-01,  1.46817564e-03, -7.84260015e-03, -2.16840434e-19,
       -9.99969246e-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([ 0.13029956, -0.08224302,  0.13161777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29341012, -7.28972895,  0.23169608, -7.28972895,  7.2860933 ,
       -0.2302052 ,  0.23169608, -0.2302052 ,  0.05058781,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.523699628652211e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98692645,  0.04534973, -0.15465956,  0.04480294,  0.99897117,
        0.00702099,  0.15481885,  0.        , -0.98794288])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326777, -0.05409929,  0.29656985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.25714494,  1.1096714 , -0.59079844,  1.1096714 ,  2.03415799,
        1.45943032, -0.59079844,  1.45943032,  3.99833037,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043619174046267246
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.45784704, -0.86448187, -0.20747816, -0.09710633, -0.18335089,
        0.97823965, -0.88371175,  0.46803157,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491299, -0.03645539,  0.30475617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.54267292, -6.29191375,  8.45930101, -6.29191375, 33.98688782,
       17.43749015,  8.45930101, 17.43749015, 23.51244239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004540445230950263
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.44518537e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.44518537e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08644341, -0.10907067,  0.0619898 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18428663e-05, 2.73371796e-05, 3.66677918e-05, 2.63193918e-05,
 -2.56968048e-03, 2.11170268e-02, 9.64791950e-03, 1.39855844e-03,
  3.82956767e-05,-4.20492438e-05,-3.24370884e-05,-1.09773816e-05,
  5.23077382e-02, 1.84294921e-02, 1.29278241e-02, 4.36859519e-05,
 -1.47261102e-05, 9.92363261e-06,-9.80999667e+00,-6.49394016e-02,
 -9.32302706e-03,-5.41126789e-03]


--- Step 1545 ---
qpos:
[ 0.00986719, 0.0080937 ,-0.0056219 , 0.03350563, 0.00589885,-0.01601079,
 -0.01540237, 0.03793032, 0.01299995, 0.00594817,-0.01171545, 0.0340949 ,
  0.81560284,-0.01330827, 1.15531257, 0.04606719, 0.09447238,-0.06411458,
  0.14246262, 0.94373021,-0.03297229, 0.02924839, 0.32776615]

qacc:
[ 7.56926525e-01,-6.13967564e-01, 6.99586477e-01, 4.32661557e+00,
  7.15277392e+00, 4.34314611e+00,-7.85126007e+00, 9.35254684e-01,
  7.27867071e+00,-4.86459759e-01, 3.13009989e+00,-1.03952871e+01,
  4.54803777e+00, 3.45987344e+00, 1.33302533e+01,-5.98275691e+01,
 -5.89284081e-02,-1.90292729e-01, 4.20281252e-02, 3.33001838e+00,
  1.85953673e-03, 5.60935814e+00]

qfrc_actuator:
[ 2.25011527e-05, 2.72815653e-04, 4.99929090e-05,-1.91061277e-05,
 -2.38626109e-03, 1.89270852e-02, 8.52615577e-03, 1.22098822e-03,
 -5.66365127e-05,-2.06044015e-05,-6.64319668e-05,-1.93576475e-05,
  4.95724787e-02, 1.75091314e-02, 6.74266327e-04,-2.09673697e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23709054, -0.23189275,  0.04937282, -0.23189275,  0.29949364,
        0.29309295,  0.04937282,  0.29309295,  1.61368055,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032719464600514206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82296769e-01, -1.87174241e-01,  7.67212409e-03, -1.87168532e-01,
        9.82326730e-01,  1.46185984e-03, -7.81015507e-03, -2.16840434e-19,
       -9.99969500e-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([ 0.13030226, -0.08224265,  0.13161745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29183737, -2.29252564, -6.92208194, -2.29252564,  7.57022833,
       -0.09220036, -6.92208194, -0.09220036,  7.32237322,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.236890561232776e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86920912e-01,  4.53633705e-02, -1.54690913e-01,  4.48161949e-02,
        9.98970552e-01,  7.02453259e-03,  1.54850323e-01,  8.67361738e-19,
       -9.87937942e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326718, -0.054096  ,  0.29656947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.25972503, -0.81872023,  0.95739455, -0.81872023,  6.01386572,
        4.06552469,  0.95739455,  4.06552469,  4.73637666,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043793566427748916
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50718124e-01, -8.67358483e-01, -2.11050789e-01, -9.73164596e-02,
       -1.87275045e-01,  9.77475097e-01, -8.87345862e-01,  4.61104457e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491267, -0.036448  ,  0.3047524 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.54320199, -5.97591881,  8.68605219, -5.97591881, 18.66127075,
        5.58515178,  8.68605219,  5.58515178, 14.38573169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004540849070209958
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19105004e-06,  1.19104993e-06,  1.00000000e+00,  1.41860006e-12,
        1.00000000e+00, -1.19104993e-06, -1.00000000e+00,  0.00000000e+00,
       -1.19105004e-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([ 0.05317598, -0.06191206,  0.0619898 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.35376266e-06, 8.74378184e-06, 2.76378494e-05, 1.80972339e-05,
 -2.38161030e-03, 2.08100056e-02, 9.29241842e-03, 1.22892616e-03,
  4.26026454e-05,-4.73127015e-05,-2.92828131e-05,-2.65936762e-05,
  5.60391985e-02, 2.07275256e-02, 1.48750540e-02,-4.60993135e-04,
 -3.21791542e-06, 1.37287849e-06,-9.80999752e+00,-6.49407310e-02,
 -9.32252592e-03,-5.41131081e-03]


--- Step 1546 ---
qpos:
[ 0.00986739, 0.00809366,-0.00562158, 0.03350454, 0.0059003 ,-0.01602982,
 -0.01541147, 0.03792993, 0.012999  , 0.00594736,-0.01171517, 0.03409386,
  0.81556045,-0.013327  , 1.15521788, 0.04606524, 0.09447431,-0.06411103,
  0.14246292, 0.94372641,-0.03297712, 0.02924295, 0.32777708]

qacc:
[ 5.20415166e-01,-3.61601475e-01, 3.19820680e-01, 2.86009173e+00,
  6.01672812e+00, 1.51691298e+00,-3.17184807e+00,-3.25496787e+00,
  1.41903893e+00,-2.86397587e-01, 1.68902326e+00,-5.97380888e+00,
  4.85409268e+00, 3.34708842e+00, 1.40251444e+01,-3.79138456e+01,
 -4.06954960e-02,-1.45566657e-01, 2.65366155e-02, 2.90890375e+00,
 -2.96054094e-01, 5.34874035e+00]

qfrc_actuator:
[ 2.53747125e-05, 2.63692747e-04, 5.96377116e-05,-9.70108312e-06,
 -2.38928696e-03, 1.89437923e-02, 8.52998792e-03, 1.23601143e-03,
 -4.95259587e-05,-3.02039747e-05,-7.61844182e-05,-3.28472484e-05,
  4.95844650e-02, 1.75135808e-02, 6.95390567e-04,-2.05663344e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23723872, -0.23277335,  0.04581244, -0.23277335,  0.27297292,
        0.18156572,  0.04581244,  0.18156572,  1.15977542,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032796996131268517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98229964, -0.18716043,  0.00764095, -0.18715476,  0.98232936,
        0.00145581, -0.0077784 ,  0.        , -0.99996975])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13030477, -0.08224247,  0.13161712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29101397,  7.18809772,  1.22071122,  7.18809772,  7.98641978,
       -4.09486276,  1.22071122, -4.09486276, 31.40341101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.076039985618533e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98691789,  0.04535769, -0.15471184,  0.04481044,  0.99897081,
        0.0070246 ,  0.15487123,  0.        , -0.98793466])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326696, -0.05409339,  0.29656932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043896448885781975
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44656591, -0.86899276, -0.21314427, -0.09742164, -0.18957717,
        0.97702074, -0.88943123,  0.45706902,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491241, -0.03644224,  0.30475048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004548062857705759
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22054494e-13, -3.43278265e-14,  1.00000000e+00, -4.18986551e-27,
        1.00000000e+00,  3.43278265e-14, -1.00000000e+00,  0.00000000e+00,
       -1.22054494e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05276043, -0.06131465,  0.06198978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99889757e-06, 2.25354208e-06, 1.54826550e-05, 1.10906790e-05,
 -2.42653409e-03, 2.06576017e-02, 9.30415149e-03, 1.25753266e-03,
  8.30593241e-06,-4.32184888e-05,-2.40529930e-05,-1.70480428e-05,
  5.53947353e-02, 2.03364096e-02, 1.52001166e-02,-5.07168262e-05,
 -8.16805482e-07, 7.92592841e-07,-9.80999897e+00,-6.49423402e-02,
 -9.32221874e-03,-5.41127562e-03]


--- Step 1547 ---
qpos:
[ 0.00986763, 0.00809373,-0.00562174, 0.0335036 , 0.00590278,-0.0160501 ,
 -0.01542095, 0.03792925, 0.01299849, 0.00594585,-0.01171484, 0.03409269,
  0.81553034,-0.01333861, 1.15513269, 0.04606346, 0.09447611,-0.06410791,
  0.14246329, 0.94371972,-0.03297698, 0.02923875, 0.32779673]

qacc:
[ 2.71960820e-01, 1.79224055e+00,-6.83933788e+00, 1.01751860e+01,
  8.92957583e+00,-1.21774572e+00, 3.14984709e+00,-6.63238938e+00,
  3.86780397e+00,-1.31200212e+00, 3.83048741e+00,-5.42677771e+00,
  4.20681048e+00, 3.12497062e+00, 1.34419315e+01,-2.68455440e+01,
 -3.02250486e-02,-1.06690448e-01, 1.96016583e-02, 2.37095493e+00,
 -3.28210657e-01, 4.68440453e+00]

qfrc_actuator:
[ 2.69836785e-05, 2.58263866e-04, 2.96374742e-05,-3.74471061e-06,
 -2.35659723e-03, 1.89080377e-02, 8.55413758e-03, 1.26319325e-03,
 -2.72248724e-05,-8.87365431e-05,-8.20089289e-05,-4.03544032e-05,
  4.95924361e-02, 1.75544462e-02, 6.52603194e-04,-1.99503772e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23741785, -0.23359528,  0.04243209, -0.23359528,  0.26902792,
        0.17401836,  0.04243209,  0.17401836,  1.19541621,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032890362515027033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98229957, -0.18716195,  0.0076127 , -0.18715633,  0.98232907,
        0.00145044, -0.00774965,  0.        , -0.99996997])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13030736, -0.08224246,  0.13161683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29072073,  7.12958699,  1.52433533,  7.12958699,  8.53141404,
       -5.80294287,  1.52433533, -5.80294287, 34.43211484,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.016677326363016e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86917038e-01,  4.53334452e-02, -1.54724398e-01,  4.47863938e-02,
        9.98971911e-01,  7.02140867e-03,  1.54883633e-01, -8.67361738e-19,
       -9.87932721e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326702, -0.05409145,  0.29656935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004394733079814544
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44450258, -0.86978926, -0.21420573, -0.0974776 , -0.19074123,
        0.97678857, -0.89045807,  0.45506529,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491218, -0.03643807,  0.3047499 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045504395195150593
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21990746e-13, -9.53052704e-14,  1.00000000e+00, -1.16263611e-26,
        1.00000000e+00,  9.53052704e-14, -1.00000000e+00,  0.00000000e+00,
       -1.21990746e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0527634 , -0.0613125 ,  0.06198978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69408921e-06,-4.95045416e-07,-2.72453729e-05, 6.80610269e-06,
 -2.42894609e-03, 2.06115056e-02, 9.36667529e-03, 1.30644572e-03,
  2.25212810e-05,-8.83711026e-05,-1.82969217e-05,-1.05202212e-05,
  5.47109865e-02, 1.99770274e-02, 1.48935446e-02, 1.15317035e-04,
 -7.65294070e-07, 1.21218599e-06,-9.80999953e+00,-6.49431856e-02,
 -9.32241212e-03,-5.41103609e-03]


--- Step 1548 ---
qpos:
[ 0.00986788, 0.00809379,-0.00562224, 0.03350309, 0.00590584,-0.01607299,
 -0.01543129, 0.03792815, 0.01299825, 0.00594389,-0.01171443, 0.03409211,
  0.81551125,-0.0133438 , 1.15505607, 0.0460616 , 0.09447782,-0.0641051 ,
  0.14246373, 0.94371056,-0.03297274, 0.02923544, 0.32782384]

qacc:
[ 1.43873400e-01, 1.83000955e+00,-8.35902378e+00, 1.63500883e+01,
  4.97777205e+00,-1.92872886e+00, 3.62849418e+00,-7.62940513e+00,
  2.39433197e+00, 3.62402869e-01,-4.61044113e+00, 1.48184899e+01,
  3.74263648e+00, 2.85332276e+00, 1.27951519e+01,-2.65665822e+01,
 -2.33105854e-02,-8.09773096e-02, 1.35315868e-02, 1.93420542e+00,
 -3.41209133e-01, 3.99416649e+00]

qfrc_actuator:
[ 2.78359498e-05, 2.54916878e-04, 1.19886526e-05, 1.78652510e-05,
 -2.35635097e-03, 1.88776910e-02, 8.57264213e-03, 1.26219563e-03,
 -1.39033155e-05,-8.73313779e-05,-6.79144304e-05,-8.81731652e-06,
  4.95923131e-02, 1.75970793e-02, 6.61439418e-04,-2.01072272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2376083 , -0.23402711,  0.04109766, -0.23402711,  0.25890678,
        0.12128234,  0.04109766,  0.12128234,  0.92824013,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032989195250334894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98229697, -0.1871766 ,  0.00758791, -0.18717101,  0.98232628,
        0.00144583, -0.00772443,  0.        , -0.99997017])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13031015, -0.08224261,  0.13161659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29082402,  7.02030772,  1.96758593,  7.02030772,  9.74356337,
       -8.75132549,  1.96758593, -8.75132549, 38.51538041,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0377205108750738e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98691798,  0.04529281, -0.15473029,  0.04474621,  0.99897375,
        0.00701537,  0.15488925,  0.        , -0.98793184])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326729, -0.05409012,  0.29656952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043964244714171847
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44389416, -0.8700154 , -0.21454877, -0.09750758, -0.19111109,
        0.97671328, -0.89075824,  0.45447745,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491196, -0.03643523,  0.30475023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045491252916163294
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22025989e-13, -3.43198094e-14,  1.00000000e+00, -4.18790868e-27,
        1.00000000e+00,  3.43198094e-14, -1.00000000e+00,  0.00000000e+00,
       -1.22025989e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05276552, -0.06131082,  0.06198978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.01299944e-07,-8.95886524e-06,-2.08684825e-05, 2.07807121e-05,
 -2.48050763e-03, 2.06442991e-02, 9.40420689e-03, 1.32004922e-03,
  1.39273830e-05,-5.21830016e-05,-6.76215548e-06, 2.69164679e-05,
  5.40963886e-02, 1.96630130e-02, 1.44291808e-02, 9.17813315e-05,
 -2.37921993e-06, 2.38979202e-06,-9.80999944e+00,-6.49434161e-02,
 -9.32298848e-03,-5.41061295e-03]


--- Step 1549 ---
qpos:
[ 0.00986745, 0.00809365,-0.00562234, 0.03350317, 0.00590908,-0.01609896,
 -0.01544307, 0.03792646, 0.01299783, 0.00594205,-0.0117139 , 0.03409251,
  0.81550183,-0.01334335, 1.15499127, 0.04606156, 0.09447945,-0.06410254,
  0.1424642 , 0.94369926,-0.03296513, 0.02923274, 0.32785736]

qacc:
[-5.96393287e+00,-1.87197269e-01,-2.16442648e+00, 1.17178208e+01,
  1.52569806e+00,-1.24375693e+00, 1.02833256e+00,-6.66295714e+00,
 -1.61465984e+00, 1.85439874e+00,-1.05755373e+01, 2.74865732e+01,
  3.19308607e+00, 2.62649409e+00, 1.19021685e+01,-1.63902986e+01,
 -1.86110896e-02,-5.84397559e-02, 8.93668086e-03, 1.55848500e+00,
 -3.38008119e-01, 3.43692364e+00]

qfrc_actuator:
[-7.26889264e-06, 2.52891017e-04, 3.73110018e-05, 4.85293723e-05,
 -2.37552533e-03, 1.88879637e-02, 8.58839796e-03, 1.26229182e-03,
 -2.37301899e-05,-3.21724440e-05,-4.19159989e-05, 4.54983137e-05,
  4.95976573e-02, 1.75853796e-02, 7.22295309e-04,-1.87732353e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23777777, -0.23448019,  0.03946277, -0.23448019,  0.25289878,
        0.08984612,  0.03946277,  0.08984612,  0.7716262 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003307677268390447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82292341e-01, -1.87201695e-01,  7.56844123e-03, -1.87196139e-01,
        9.82321498e-01,  1.44232314e-03, -7.70464787e-03, -2.16840434e-19,
       -9.99970319e-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([ 0.13031324, -0.08224289,  0.13161641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29124482,   6.87946417,   2.41562078,   6.87946417,
        11.57951016, -12.21258238,   2.41562078, -12.21258238,
        42.07154799,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.121976429564964e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98692039,  0.04523816, -0.15473091,  0.04469222,  0.99897623,
        0.00700691,  0.15488948,  0.        , -0.9879318 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326773, -0.05408932,  0.29656978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000439584114225881
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44439497, -0.86981039, -0.21434316, -0.09751953, -0.19087412,
        0.97675842, -0.89050719,  0.45496917,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491169, -0.03643349,  0.30475119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045449657313606506
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22137667e-13, -1.25954469e-13,  1.00000000e+00, -1.53837851e-26,
        1.00000000e+00,  1.25954469e-13, -1.00000000e+00,  0.00000000e+00,
       -1.22137667e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05276699, -0.06130951,  0.06198979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.50818933e-05,-1.04515884e-05, 2.16264829e-05, 2.99646625e-05,
 -2.52849401e-03, 2.07863820e-02, 9.46347862e-03, 1.34138477e-03,
 -9.45596833e-06, 2.58063415e-05, 1.53365392e-05, 5.23734509e-05,
  5.35507895e-02, 1.93304826e-02, 1.40634656e-02, 2.29269054e-04,
 -4.93362775e-06, 3.99267133e-06,-9.80999896e+00,-6.49431412e-02,
 -9.32381239e-03,-5.41002278e-03]


--- Step 1550 ---
qpos:
[ 0.0098666 , 0.00809364,-0.00562254, 0.0335036 , 0.00591289,-0.01612659,
 -0.0154564 , 0.03792412, 0.01299764, 0.00594064,-0.01171402, 0.03409289,
  0.81550096,-0.0133378 , 1.15493747, 0.0460633 , 0.09448103,-0.06410013,
  0.14246468, 0.94368605,-0.0329547 , 0.02923041, 0.32789664]

qacc:
[-3.66969097e+00, 1.21008142e+00,-5.55054940e+00, 1.17852493e+01,
  4.92443428e+00, 8.01217492e-01,-3.34006549e+00,-4.08941327e+00,
  1.99779836e+00, 2.33879036e+00,-7.37824024e+00, 7.57648408e+00,
  2.74937454e+00, 2.49679090e+00, 1.08317747e+01,-1.44002681e+01,
 -1.46881404e-02,-3.93379308e-02, 4.76302696e-03, 1.27738277e+00,
 -3.57546353e-01, 3.08361052e+00]

qfrc_actuator:
[-2.77506621e-05, 2.69611035e-04, 3.45504869e-05, 6.65495522e-05,
 -2.35292489e-03, 1.89596156e-02, 8.58567774e-03, 1.26338022e-03,
 -1.15943847e-05,-1.61642661e-05,-7.98647981e-05, 4.18225585e-05,
  4.96113331e-02, 1.75747963e-02, 7.17896480e-04,-1.79836306e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23791015, -0.23488943,  0.03779149, -0.23488943,  0.25273938,
        0.09216964,  0.03779149,  0.09216964,  0.81078175,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033144946125086855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98228607, -0.18723516,  0.00755487, -0.18722962,  0.98231512,
        0.00144   , -0.00769088,  0.        , -0.99997042])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13031669, -0.08224328,  0.13161631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29193125,   6.67019878,   2.9463044 ,   6.67019878,
        14.66874878, -16.70052806,   2.9463044 , -16.70052806,
        45.10059821,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.2547238207163615e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.986924  ,  0.04517136, -0.1547274 ,  0.04462625,  0.99897925,
        0.00699639,  0.1548855 ,  0.        , -0.98793243])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326828, -0.05408898,  0.29657012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043940759189014443
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.45573259e-01, -8.69341903e-01, -2.13796930e-01, -9.75169699e-02,
       -1.90261840e-01,  9.76878126e-01, -8.89918486e-01,  4.56119599e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491139, -0.03643267,  0.30475253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004538640100735375
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22307894e-13, -3.43990952e-14,  1.00000000e+00, -4.20728089e-27,
        1.00000000e+00,  3.43990952e-14, -1.00000000e+00,  0.00000000e+00,
       -1.22307894e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05276794, -0.0613085 ,  0.0619898 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14864935e-05, 1.66221455e-05,-1.21447649e-06, 1.89056950e-05,
 -2.51471619e-03, 2.10127397e-02, 9.53336996e-03, 1.37205433e-03,
  1.18680200e-05, 3.59063879e-05,-2.89028603e-05,-1.01761584e-06,
  5.30814717e-02, 1.90378518e-02, 1.34688535e-02, 2.17351375e-04,
 -7.96236533e-06, 5.82666291e-06,-9.80999827e+00,-6.49424543e-02,
 -9.32478388e-03,-5.40928340e-03]


--- Step 1551 ---
qpos:
[ 0.00986586, 0.00809387,-0.00562309, 0.0335039 , 0.0059174 ,-0.01615526,
 -0.01547069, 0.03792133, 0.01299759, 0.00593938,-0.01171447, 0.03409289,
  0.81550572,-0.01332861, 1.15489094, 0.04606547, 0.09448254,-0.06409782,
  0.1424652 , 0.94367147,-0.03294244, 0.02922852, 0.32794   ]

qacc:
[ 9.12115207e-01, 1.02053403e+00,-2.62761767e+00, 7.60369222e-01,
  6.01773772e+00, 3.31931575e-01,-1.25957513e+00,-4.41901883e+00,
  1.27917009e+00, 3.59911305e-01, 5.86019254e-01,-6.66588328e+00,
  1.54805930e+00, 2.17204982e+00, 9.42274665e+00,-1.73886164e+01,
 -1.65493758e-02,-2.64921873e-02, 7.24804555e-03, 8.47070558e-01,
 -1.38593982e-01, 2.17572754e+00]

qfrc_actuator:
[-2.16972876e-05, 2.79566294e-04, 1.52843255e-05, 5.92223591e-05,
 -2.32348077e-03, 1.90324079e-02, 8.59030890e-03, 1.24760145e-03,
 -4.37426305e-06,-2.40116868e-05,-1.02193905e-04, 2.17319313e-05,
  4.96084557e-02, 1.75986774e-02, 6.63342239e-04,-1.82375791e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23803233, -0.23497175,  0.03804821, -0.23497175,  0.25471298,
        0.10301361,  0.03804821,  0.10301361,  0.87420651,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003320767442464887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9822783 , -0.18727635,  0.0075441 , -0.18727082,  0.98230727,
        0.00143828, -0.00767998,  0.        , -0.99997051])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13032039, -0.08224377,  0.13161626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29284845,   6.41073012,   3.47680568,   6.41073012,
        18.9365938 , -21.46939346,   3.47680568, -21.46939346,
        46.87932527,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.424043666891776e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98692861,  0.04509358, -0.15472065,  0.04454946,  0.99898277,
        0.00698401,  0.15487819,  0.        , -0.98793357])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326891, -0.05408904,  0.29657052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043916926396869006
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44718607, -0.8687024 , -0.21302761, -0.097501  , -0.18940516,
        0.97704618, -0.88911089,  0.45769185,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491104, -0.03643265,  0.3047541 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045306424572381975
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.57689962e-07,  5.57689793e-07,  1.00000000e+00,  3.11018000e-13,
        1.00000000e+00, -5.57689793e-07, -1.00000000e+00,  0.00000000e+00,
       -5.57689962e-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([ 0.05318813, -0.06190213,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.44643243e-06, 1.98067620e-05,-1.53248012e-05,-6.28839807e-06,
 -2.51399493e-03, 2.11697767e-02, 9.61600452e-03, 1.38857606e-03,
  7.56670249e-06, 6.27276589e-06,-1.84911380e-05,-1.95696958e-05,
  5.26504982e-02, 1.88068618e-02, 1.28654359e-02, 1.03406701e-04,
 -1.12967245e-05, 7.84770325e-06,-9.80999745e+00,-6.49414349e-02,
 -9.32586160e-03,-5.40840353e-03]


--- Step 1552 ---
qpos:
[ 0.00986519, 0.00809417,-0.00562355, 0.03350445, 0.00591815,-0.01617595,
 -0.01547902, 0.03792166, 0.01299763, 0.00593786,-0.01171391, 0.03409261,
  0.81543624,-0.01336467, 1.15480206, 0.04607543, 0.09448481,-0.06409293,
  0.1424652 , 0.94367475,-0.03296037, 0.0292187 , 0.32792965]

qacc:
[ 6.87830676e-01, 3.60337908e-01,-2.19628323e+00, 6.29192635e+00,
 -3.23403106e+01, 4.10951092e-01, 7.42488236e-01, 3.79465784e+01,
  8.02265237e-01,-3.78420242e+00, 1.41588808e+01,-2.04465175e+01,
 -2.40285287e+01,-2.20973111e+01,-8.56658760e+01, 2.09817764e+02,
  1.89281483e-01, 6.45661869e-01,-1.28348857e-01,-1.44583474e+01,
  1.83389129e+00,-2.88392021e+01]

qfrc_actuator:
[-1.78316805e-05, 2.85300723e-04, 2.19044164e-05, 7.25360911e-05,
 -2.34354426e-03, 1.90704295e-02, 8.59937952e-03, 1.25728365e-03,
 -1.12305759e-07,-2.83062008e-05,-4.41967199e-05, 9.90293125e-06,
  4.95956027e-02, 1.75893922e-02, 6.37218001e-04,-1.96439131e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23814581, -0.23266375,  0.05080358, -0.23266375,  0.33914969,
        0.46256468,  0.05080358,  0.46256468,  2.35654042,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003326578336780364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98226949, -0.1873229 ,  0.00753575, -0.18731739,  0.98229839,
        0.00143706, -0.00767154,  0.        , -0.99997057])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13032425, -0.08224433,  0.13161623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29396635, -7.2901822 ,  0.23492239, -7.2901822 ,  7.28643702,
       -0.2336525 ,  0.23492239, -0.2336525 ,  0.04319154,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.619673257894707e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98693397,  0.04500799, -0.15471142,  0.04446497,  0.99898663,
        0.00697031,  0.15486836,  0.        , -0.98793512])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326959, -0.05408938,  0.29657094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.26121496,  1.07670001, -0.65679546,  1.07670001,  3.94875361,
        4.40574438, -0.65679546,  4.40574438,  8.48365383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004389366073921109
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44908834, -0.86794576, -0.21210806, -0.09747314, -0.18838475,
        0.97724622, -0.88815463,  0.45954472,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491061, -0.03643309,  0.30475575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.53123018, -6.28065591,  8.45341176, -6.28065591, 33.2541407 ,
       16.8825069 ,  8.45341176, 16.8825069 , 23.07447541,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045316930324822147
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22495392e-13, -1.22495392e-13,  1.00000000e+00, -1.50051209e-26,
        1.00000000e+00,  1.22495392e-13, -1.00000000e+00,  0.00000000e+00,
       -1.22495392e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0864781 , -0.10904553,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.02834293e-06, 1.33770882e-05, 8.60997400e-06, 1.35098197e-05,
 -2.56908787e-03, 2.12613798e-02, 9.67352771e-03, 1.42148268e-03,
  4.47633814e-06,-5.39156545e-06, 5.63579261e-05,-1.25773359e-05,
  5.23565462e-02, 1.86151908e-02, 1.24766744e-02,-5.86742996e-05,
 -1.39550845e-05, 9.41144620e-06,-9.80999686e+00,-6.49401063e-02,
 -9.32686150e-03,-5.40745179e-03]


--- Step 1553 ---
qpos:
[ 0.00986458, 0.0080947 ,-0.005624  , 0.03350513, 0.00591976,-0.0161946 ,
 -0.01548788, 0.03792163, 0.01299772, 0.00593597,-0.01171285, 0.03409259,
  0.81538165,-0.01339187, 1.15470593, 0.0460774 , 0.09448686,-0.06408881,
  0.14246536, 0.94367425,-0.03297113, 0.02921123, 0.32793067]

qacc:
[ 4.47673951e-01, 5.51716585e-01,-2.11624725e+00, 4.33898769e+00,
  7.38258123e+00, 3.38961423e+00,-6.67025728e+00,-3.08196857e-01,
  4.69442995e-01,-1.32312444e+00, 2.96091477e+00, 9.06504410e-01,
  5.28847452e+00, 3.67333756e+00, 1.32713364e+01,-6.23046076e+01,
 -5.43287130e-02,-1.91335431e-01, 3.73941520e-02, 3.53399275e+00,
 -1.98427694e-01, 6.12784624e+00]

qfrc_actuator:
[-1.52935286e-05, 3.06330498e-04, 2.60095157e-05, 8.01564161e-05,
 -2.37137567e-03, 1.90612155e-02, 8.58682392e-03, 1.27883223e-03,
  2.37587275e-06,-6.56155787e-05,-2.79882083e-05, 2.08387535e-05,
  4.95944013e-02, 1.75898865e-02, 6.58984128e-04,-2.02192217e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23823742, -0.23399825,  0.04474246, -0.23399825,  0.28302538,
        0.23423619,  0.04474246,  0.23423619,  1.4632676 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033312584758726164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98227579, -0.1872912 ,  0.0075019 , -0.18728574,  0.98230444,
        0.00143035, -0.00763705,  0.        , -0.99997084])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13032677, -0.08224394,  0.13161588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29227447, -2.23402829, -6.94164135, -2.23402829,  7.77282527,
       -0.15465565, -6.94164135, -0.15465565,  7.3420473 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.319101314404224e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86928248e-01,  4.50234176e-02, -1.54743420e-01,  4.44799884e-02,
        9.98985932e-01,  6.97414988e-03,  1.54900499e-01,  8.67361738e-19,
       -9.87930076e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326895, -0.05408608,  0.29657053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.26394133, -0.76905811,  1.00304402, -0.76905811,  6.33471241,
        3.88788284,  1.00304402,  3.88788284,  4.24487514,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044075671272886247
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.41603939e-01, -8.70866297e-01, -2.15819029e-01, -9.76067953e-02,
       -1.92485757e-01,  9.76433381e-01, -8.91885012e-01,  4.52262231e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491037, -0.03642569,  0.30475187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.5358033 , -5.97582612,  8.67713393, -5.97582612, 18.63157273,
        5.57544816,  8.67713393,  5.57544816, 14.3755399 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004535194998386838
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22400804e-13, -9.56256278e-14,  1.00000000e+00, -1.17046537e-26,
        1.00000000e+00,  9.56256278e-14, -1.00000000e+00,  0.00000000e+00,
       -1.22400804e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05277411, -0.06130362,  0.06198981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65609008e-06, 3.08645049e-05, 8.39737214e-06, 8.75348309e-06,
 -2.40873543e-03, 2.08534078e-02, 9.36321408e-03, 1.28645860e-03,
  2.60746920e-06,-2.91710182e-05, 2.16130209e-05, 1.24125006e-05,
  5.60676640e-02, 2.08788322e-02, 1.46169303e-02,-5.05320795e-04,
 -3.51363004e-06, 1.45711785e-06,-9.80999739e+00,-6.49415420e-02,
 -9.32653044e-03,-5.40751566e-03]


--- Step 1554 ---
qpos:
[ 0.00986366, 0.00809524,-0.00562402, 0.03350591, 0.00592198,-0.01621366,
 -0.01549767, 0.03792116, 0.01299819, 0.00593369,-0.0117118 , 0.03409273,
  0.81534015,-0.0134114 , 1.15461816, 0.04607905, 0.09448875,-0.06408526,
  0.14246562, 0.94367047,-0.03297606, 0.02920555, 0.32794154]

qacc:
[ -2.7032648 , -1.02113488,  3.28799964, -2.49511999,  5.23306857,
   1.15398707, -3.04535496, -2.73932218,  3.29759804, -0.18174416,
  -0.86036772,  4.14787865,  4.47001042,  3.38913739, 13.2655195 ,
 -28.65944395, -0.04028889, -0.14110571,  0.02928415,  2.85275014,
  -0.23019001,  5.29965874]

qfrc_actuator:
[-3.13089708e-05, 3.00844784e-04, 4.63963835e-05, 8.43698062e-05,
 -2.37148448e-03, 1.90619325e-02, 8.58315203e-03, 1.29199492e-03,
  2.15537501e-05,-1.04785895e-04,-3.67322599e-05, 2.72587559e-05,
  4.95948414e-02, 1.75779979e-02, 7.02525860e-04,-1.83941121e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23839115, -0.23473204,  0.04160785, -0.23473204,  0.26570619,
        0.1540987 ,  0.04160785,  0.1540987 ,  1.10774408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003339089697219958
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98227862, -0.18727763,  0.00746997, -0.18727222,  0.98230702,
        0.00142416, -0.00760452,  0.        , -0.99997109])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13032924, -0.08224376,  0.13161554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2913694 ,  7.19833495,  1.16105199,  7.19833495,  7.89785285,
       -3.76009949,  1.16105199, -3.76009949, 30.60337936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.146487063314046e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86925140e-01,  4.50177056e-02, -1.54764901e-01,  4.44741938e-02,
        9.98986189e-01,  6.97423128e-03,  1.54921962e-01, -8.67361738e-19,
       -9.87926711e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326868, -0.05408353,  0.29657035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044179350205029576
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.37195138e-01, -8.72542254e-01, -2.18014739e-01, -9.76642510e-02,
       -1.94915675e-01,  9.75945477e-01, -8.94048156e-01,  4.47970864e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491013, -0.03642008,  0.30474996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000454292251541491
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.67296312e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.67296312e-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([ 0.05277817, -0.06130086,  0.06198979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59310605e-05, 1.38709393e-05, 2.80975117e-05, 5.99517732e-06,
 -2.45203046e-03, 2.07534940e-02, 9.38634653e-03, 1.31804719e-03,
  1.92355284e-05,-5.04293960e-05,-1.16683438e-05, 6.16110337e-06,
  5.53233762e-02, 2.04245208e-02, 1.50256126e-02, 7.67187519e-05,
 -8.49294492e-07, 7.89701493e-07,-9.80999894e+00,-6.49431686e-02,
 -9.32618103e-03,-5.40744001e-03]


--- Step 1555 ---
qpos:
[ 0.00986255, 0.00809525,-0.00562321, 0.03350642, 0.00592471,-0.01623452,
 -0.01550838, 0.03792027, 0.01299923, 0.00593126,-0.01171065, 0.03409257,
  0.8153103 ,-0.01342409, 1.15454045, 0.04608139, 0.09449052,-0.06408213,
  0.14246598, 0.9436639 ,-0.03297616, 0.02920119, 0.32796083]

qacc:
[-1.58354364e+00,-3.51758642e+00, 1.26575413e+01,-1.81123603e+01,
  4.42003061e+00,-6.91042467e-01, 7.28197907e-01,-5.12170414e+00,
  5.02582620e+00,-1.08155048e+00, 4.87893782e+00,-1.02544512e+01,
  3.92823421e+00, 3.09598487e+00, 1.26902294e+01,-2.30036886e+01,
 -3.03389140e-02,-1.06746201e-01, 2.17981184e-02, 2.32114521e+00,
 -2.60586132e-01, 4.52445513e+00]

qfrc_actuator:
[-4.03634808e-05, 2.44081267e-04, 7.61292594e-05, 6.87838188e-05,
 -2.37280481e-03, 1.90702221e-02, 8.60317211e-03, 1.30034348e-03,
  5.04018628e-05,-9.16273548e-05,-2.46474831e-05, 1.31965789e-05,
  4.95958931e-02, 1.75740732e-02, 7.57987387e-04,-1.78362424e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23856288, -0.23525172,  0.03960906, -0.23525172,  0.25990033,
        0.12673039,  0.03960906,  0.12673039,  0.99125791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033478051149391056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98227861, -0.18727881,  0.00744229, -0.18727343,  0.9823068 ,
        0.00141889, -0.00757634,  0.        , -0.9999713 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13033186, -0.08224375,  0.13161526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29101354,  7.12212586,  1.56019287,  7.12212586,  8.60510686,
       -5.99870577,  1.56019287, -5.99870577, 34.67451096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.075954653958256e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98692419,  0.04499356, -0.15477798,  0.04445025,  0.99898728,
        0.00697107,  0.15493489,  0.        , -0.98792468])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326869, -0.05408163,  0.29657035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044233779963602336
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34737477e-01, -8.73459365e-01, -2.19253423e-01, -9.76947952e-02,
       -1.96284973e-01,  9.75667944e-01, -8.95242455e-01,  4.45579339e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490997, -0.03641602,  0.30474932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004545823634408419
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22114617e-13, -9.54020446e-14,  1.00000000e+00, -1.16499841e-26,
        1.00000000e+00,  9.54020446e-14, -1.00000000e+00,  0.00000000e+00,
       -1.22114617e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05278116, -0.0612987 ,  0.06198979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.50676143e-06,-4.29694252e-05, 3.62600130e-05,-1.39047961e-05,
 -2.48388449e-03, 2.07824498e-02, 9.45305095e-03, 1.34834933e-03,
  2.93713518e-05,-1.71096415e-05, 4.57829756e-07,-1.65053356e-05,
  5.46701299e-02, 2.00371718e-02, 1.46643152e-02, 1.49377958e-04,
 -7.79534991e-07, 1.22707841e-06,-9.80999950e+00,-6.49440411e-02,
 -9.32639567e-03,-5.40718125e-03]


--- Step 1556 ---
qpos:
[ 0.00986169, 0.00809481,-0.00562195, 0.03350607, 0.00592795,-0.01625821,
 -0.01551969, 0.03791906, 0.01299991, 0.00592934,-0.01171001, 0.03409289,
  0.81529088,-0.01343067, 1.15447194, 0.04608422, 0.09449219,-0.06407932,
  0.1424664 , 0.94365496,-0.0329723 , 0.0291978 , 0.32798725]

qacc:
[ 2.17036226e+00,-3.65773485e+00, 1.57921083e+01,-3.10918530e+01,
  4.32576617e+00,-2.68884093e+00, 5.53066319e+00,-8.04960228e+00,
 -3.12583056e+00, 3.04553447e+00,-1.19221307e+01, 2.06623800e+01,
  3.48413573e+00, 2.80163965e+00, 1.20198954e+01,-2.24458693e+01,
 -2.35505111e-02,-8.17127445e-02, 1.54357715e-02, 1.88735166e+00,
 -2.77901833e-01, 3.82493068e+00]

qfrc_actuator:
[-2.74901667e-05, 2.10326298e-04, 9.31528569e-05, 2.38782653e-05,
 -2.37499907e-03, 1.90846329e-02, 8.65552555e-03, 1.30595805e-03,
  3.14478592e-05,-2.94211568e-05,-3.56611521e-05, 4.05155815e-05,
  4.96022944e-02, 1.75549377e-02, 7.77541792e-04,-1.76925187e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23872626, -0.23557924,  0.0386348 , -0.23557924,  0.25785427,
        0.11663476,  0.0386348 ,  0.11663476,  0.94991733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033560652087973947
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82276256e-01, -1.87292025e-01,  7.41989030e-03, -1.87286681e-01,
        9.82304280e-01,  1.41472078e-03, -7.55355592e-03,  2.16840434e-19,
       -9.99971471e-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([ 0.13033472, -0.08224389,  0.13161505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29106663,  7.0184669 ,  1.97503797,  7.0184669 ,  9.76575206,
       -8.79400703,  1.97503797, -8.79400703, 38.5413252 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0865782943980716e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86925008e-01,  4.49536010e-02, -1.54784376e-01,  4.44107289e-02,
        9.98989076e-01,  6.96515633e-03,  1.54941010e-01,  8.67361738e-19,
       -9.87923724e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326893, -0.0540803 ,  0.29657049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004425499746007826
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43370885, -0.87383498, -0.21979323, -0.09771576, -0.19687736,
        0.97554648, -0.89573895,  0.4445804 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490985, -0.03641324,  0.30474955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004544940529335323
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22138345e-13,  2.67177629e-14,  1.00000000e+00,  3.26326333e-27,
        1.00000000e+00, -2.67177629e-14, -1.00000000e+00,  0.00000000e+00,
       -1.22138345e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05278331, -0.06129701,  0.06198979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25856043e-05,-5.09005983e-05, 1.21232764e-05,-4.57652815e-05,
 -2.51175048e-03, 2.08885385e-02, 9.55186085e-03, 1.37489377e-03,
 -1.81309813e-05, 5.21140059e-05,-1.50472985e-05, 2.62826062e-05,
  5.40932908e-02, 1.96761371e-02, 1.41828010e-02, 1.29707215e-04,
 -2.28684292e-06, 2.33990581e-06,-9.80999943e+00,-6.49443001e-02,
 -9.32697010e-03,-5.40675680e-03]


--- Step 1557 ---
qpos:
[ 0.00986099, 0.00809428,-0.00562065, 0.03350552, 0.00593183,-0.01628423,
 -0.0155319 , 0.03791742, 0.01300037, 0.0059279 ,-0.01170926, 0.03409314,
  0.81528044,-0.01343189, 1.15441829, 0.04609071, 0.09449379,-0.06407674,
  0.14246686, 0.94364389,-0.03296517, 0.02919508, 0.32802006]

qacc:
[ 1.41237076e+00,-6.59454060e-01, 3.04618019e+00,-6.63359483e+00,
  5.60124687e+00,-1.48092505e+00, 2.57293965e+00,-6.71935754e+00,
 -2.04939007e+00, 2.41185379e-01, 3.38345221e-01,-1.92621621e+00,
  2.84527405e+00, 2.67905571e+00, 1.08494375e+01,-6.18817072e+00,
 -1.82700862e-02,-5.45138102e-02, 1.06923182e-02, 1.51970088e+00,
 -2.96702187e-01, 3.42739924e+00]

qfrc_actuator:
[-1.95682979e-05, 2.26031428e-04, 1.02590129e-04, 1.53445402e-05,
 -2.36015644e-03, 1.91577034e-02, 8.69183208e-03, 1.29225221e-03,
  2.00130174e-05, 8.37327080e-06,-2.44771570e-05, 3.87386564e-05,
  4.96115979e-02, 1.75424158e-02, 7.91243349e-04,-1.51352696e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23886268, -0.23564326,  0.03908494, -0.23564326,  0.25725197,
        0.11086912,  0.03908494,  0.11086912,  0.90729296,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033629388354272324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98227198, -0.18731511,  0.00740336, -0.18730979,  0.98229988,
        0.00141175, -0.00753677,  0.        , -0.9999716 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13033789, -0.08224416,  0.13161491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29144381,   6.88088069,   2.41218443,   6.88088069,
        11.55988497, -12.17594892,   2.41218443, -12.17594892,
        42.02396712,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.161033981006045e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86927264e-01,  4.49002266e-02, -1.54785484e-01,  4.43579938e-02,
        9.98991476e-01,  6.95691951e-03,  1.54941746e-01, -8.67361738e-19,
       -9.87923608e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326933, -0.05407948,  0.29657074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044253897810258663
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43376599, -0.87380445, -0.21980182, -0.09773265, -0.19687856,
        0.97554455, -0.89570943,  0.44463986,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049097 , -0.03641151,  0.3047504 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004541133740241371
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22240732e-13, -3.43802059e-14,  1.00000000e+00, -4.20266153e-27,
        1.00000000e+00,  3.43802059e-14, -1.00000000e+00,  0.00000000e+00,
       -1.22240732e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0527848, -0.0612957,  0.0619898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.26427917e-06,-1.22065475e-05,-1.17567083e-06,-1.11875505e-05,
 -2.52187944e-03, 2.11035370e-02, 9.61914872e-03, 1.37741452e-03,
 -1.19378765e-05, 6.50121941e-05, 2.10203168e-05, 4.50273277e-07,
  5.35818012e-02, 1.93577964e-02, 1.37374127e-02, 3.60688185e-04,
 -4.65535058e-06, 3.82207212e-06,-9.80999902e+00,-6.49440590e-02,
 -9.32776570e-03,-5.40618210e-03]


--- Step 1558 ---
qpos:
[ 0.00986039, 0.00809406,-0.00562002, 0.03350486, 0.00593622,-0.0163126 ,
 -0.01554523, 0.03791528, 0.01300102, 0.00592681,-0.01170827, 0.03409234,
  0.81527813,-0.01342818, 1.15437335, 0.04609818, 0.09449534,-0.06407432,
  0.14246735, 0.94363098,-0.03295531, 0.02919277, 0.32805839]

qacc:
[ 8.53467800e-01, 2.06605617e+00,-6.32424109e+00, 5.37467264e+00,
  4.33172752e+00,-1.03067649e+00, 1.31403279e+00,-6.62881218e+00,
  1.79717251e+00,-2.36317658e+00, 1.35459016e+01,-3.23922094e+01,
  2.57017970e+00, 2.48215391e+00, 9.88798757e+00,-1.59781336e+01,
 -1.48871566e-02,-4.10840932e-02, 5.91187269e-03, 1.25045311e+00,
 -3.15512483e-01, 2.94543590e+00]

qfrc_actuator:
[-1.46310271e-05, 2.53477398e-04, 7.22055235e-05, 1.05720468e-05,
 -2.35319428e-03, 1.91955987e-02, 8.70127773e-03, 1.26718220e-03,
  3.08631121e-05, 1.35815217e-05,-1.81253447e-05,-1.56509516e-05,
  4.96117443e-02, 1.75676851e-02, 7.52661765e-04,-1.54240635e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23898163, -0.23563819,  0.03983543, -0.23563819,  0.25595359,
        0.10039412,  0.03983543,  0.10039412,  0.83284219,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003368915239791567
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98226601, -0.18734692,  0.00739101, -0.18734161,  0.98229381,
        0.00140964, -0.00752423,  0.        , -0.99997169])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13034134, -0.08224454,  0.13161483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29208728,   6.64657536,   2.99959546,   6.64657536,
        15.00436557, -17.08905071,   2.99959546, -17.08905071,
        45.1584146 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.284147305594876e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98693072,  0.04483471, -0.15478244,  0.04429329,  0.99899442,
        0.00694661,  0.15493824,  0.        , -0.98792416])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11326985, -0.05407909,  0.29657106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004424271787796148
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.34375026e-01, -8.73569320e-01, -2.19533552e-01, -9.77443710e-02,
       -1.96573188e-01,  9.75604951e-01, -8.95412963e-01,  4.45236594e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490956, -0.0364107 ,  0.30475158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045350843438050903
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.26228909e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.26228909e-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([ 0.05278577, -0.06129468,  0.06198981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.16946060e-06, 1.99082963e-05,-3.34452140e-05,-5.55464364e-06,
 -2.54739959e-03, 2.12590596e-02, 9.67338164e-03, 1.37352495e-03,
  1.05288470e-05, 4.59646598e-05, 2.23938653e-05,-5.08660143e-05,
  5.31323751e-02, 1.91154014e-02, 1.29572975e-02, 1.49362547e-04,
 -7.57112094e-06, 5.59595129e-06,-9.80999839e+00,-6.49434179e-02,
 -9.32869692e-03,-5.40547050e-03]


--- Step 1559 ---
qpos:
[ 0.0098595 , 0.00809433,-0.00562018, 0.03350413, 0.0059406 ,-0.01634314,
 -0.01555962, 0.03791266, 0.01300112, 0.00592642,-0.01170794, 0.03409127,
  0.81528111,-0.01342101, 1.15433331, 0.04610514, 0.09449681,-0.06407202,
  0.14246786, 0.94361687,-0.03294374, 0.02919096, 0.32810028]

qacc:
[-2.50018298e+00, 2.71525369e+00,-8.46063080e+00, 8.21480099e+00,
 -7.51239614e-02,-8.86122021e-01, 1.02784308e+00,-6.05949626e+00,
 -5.00466641e+00, 2.16025987e+00,-5.17220510e+00, 8.15409822e-01,
  1.45950518e+00, 2.06203227e+00, 8.75974311e+00,-2.01760757e+01,
 -1.72065899e-02,-3.19794012e-02, 8.15849046e-03, 8.15764727e-01,
 -8.64312803e-02, 1.91609839e+00]

qfrc_actuator:
[-2.92410290e-05, 2.87593535e-04, 3.63678753e-05, 8.03426855e-06,
 -2.36882621e-03, 1.92310931e-02, 8.71294968e-03, 1.25330483e-03,
  1.48258252e-06, 5.24313332e-05,-5.03562999e-05,-2.95821062e-05,
  4.96114768e-02, 1.75428995e-02, 7.25333914e-04,-1.61656377e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23907737, -0.23573738,  0.03982309, -0.23573738,  0.25404618,
        0.08860958,  0.03982309,  0.08860958,  0.76361209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033737139759345116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98225863, -0.18738592,  0.00738262, -0.18738063,  0.98228637,
        0.00140835, -0.00751575,  0.        , -0.99997176])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13034507, -0.08224501,  0.1316148 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29296174,   6.4407992 ,   3.42102275,   6.4407992 ,
        18.40423079, -20.91931507,   3.42102275, -20.91931507,
        46.67799879,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.444379195466883e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98693516,  0.04475872, -0.15477615,  0.04421826,  0.99899783,
        0.00693453,  0.15493142,  0.        , -0.98792523])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327046, -0.05407908,  0.29657143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000442235323903507
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43549954, -0.87314128, -0.21900791, -0.09775094, -0.19598271,
        0.97572308, -0.89486586,  0.44633518,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490936, -0.03641064,  0.30475302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004527246194650904
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17298555e-06,  1.17298573e-06,  1.00000000e+00,  1.37589531e-12,
        1.00000000e+00, -1.17298573e-06, -1.00000000e+00, -4.03896783e-28,
       -1.17298555e-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([ 0.05320601, -0.06188794,  0.06198983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44540196e-05, 3.81080351e-05,-3.60397675e-05,-2.94951824e-06,
 -2.58817873e-03, 2.14132444e-02, 9.74165816e-03, 1.38532591e-03,
 -2.90665730e-05, 6.70345647e-05,-2.17349613e-05,-1.21748960e-05,
  5.27260418e-02, 1.88439755e-02, 1.24948788e-02, 2.65822237e-05,
 -1.06746504e-05, 7.46188883e-06,-9.80999764e+00,-6.49424445e-02,
 -9.32972009e-03,-5.40462926e-03]


--- Step 1560 ---
qpos:
[ 0.0098588 , 0.00809471,-0.00562042, 0.03350407, 0.00594474,-0.01637565,
 -0.0155752 , 0.0379095 , 0.01300051, 0.00592641,-0.01170735, 0.03409001,
  0.81528887,-0.01341071, 1.15429783, 0.04611158, 0.09449822,-0.06406983,
  0.1424684 , 0.94360179,-0.03293077, 0.02918947, 0.32814509]

qacc:
[ 1.54837994e+00, 1.76086282e+00,-8.87956155e+00, 2.04609292e+01,
 -2.06718186e+00,-3.65594099e-01,-2.23584385e-01,-5.62851823e+00,
 -6.13445792e+00,-5.57917602e-01, 3.51008014e+00,-7.35699536e+00,
  1.31702921e+00, 1.86915848e+00, 8.27829918e+00,-1.91812128e+01,
 -1.55383005e-02,-2.62688955e-02, 4.20463282e-03, 6.53779034e-01,
 -1.12520604e-01, 1.55957551e+00]

qfrc_actuator:
[-1.97328255e-05, 2.89910075e-04, 3.31521394e-05, 4.23464512e-05,
 -2.39770368e-03, 1.92836613e-02, 8.72634835e-03, 1.24631746e-03,
 -3.35958390e-05, 7.54831541e-05,-3.39338812e-05,-3.73410660e-05,
  4.96109237e-02, 1.75408340e-02, 7.47395271e-04,-1.64578129e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23913414, -0.2359192 ,  0.03908027, -0.2359192 ,  0.25232554,
        0.07963369,  0.03908027,  0.07963369,  0.71986566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033765542235895306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82250427e-01, -1.87429041e-01,  7.37929742e-03, -1.87423752e-01,
        9.82278145e-01,  1.40804786e-03, -7.51243165e-03,  2.16840434e-19,
       -9.99971781e-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([ 0.13034904, -0.08224554,  0.13161484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29403637,   5.97393843,   4.18509572,   5.97393843,
        26.94554208, -28.05118284,   4.18509572, -28.05118284,
        47.33518491,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.631574958407977e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98694028,  0.04467589, -0.15476739,  0.04413651,  0.99900153,
        0.00692128,  0.15492207,  0.        , -0.98792669])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327112, -0.05407933,  0.29657185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004420303152327402
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43702213, -0.87256166, -0.21828379, -0.09775211, -0.19517259,
        0.97588534, -0.89412314,  0.44782119,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490907, -0.036411  ,  0.30475455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045183179844962286
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.60537352e-07, -4.60537602e-07,  1.00000000e+00,  2.12094768e-13,
        1.00000000e+00,  4.60537602e-07, -1.00000000e+00,  2.52435490e-29,
        4.60537352e-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([ 0.05320631, -0.06188733,  0.06198985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.11072052e-06, 1.60473045e-05, 1.16873822e-07, 3.46429506e-05,
 -2.61659995e-03, 2.15756792e-02, 9.80880395e-03, 1.40251378e-03,
 -3.58809485e-05, 5.55293102e-05, 2.71750944e-05,-5.87149432e-06,
  5.24611527e-02, 1.86685825e-02, 1.22731441e-02, 2.30446534e-05,
 -1.29622437e-05, 8.76930946e-06,-9.80999715e+00,-6.49411653e-02,
 -9.33064578e-03,-5.40372902e-03]


--- Step 1561 ---
qpos:
[ 0.0098589 , 0.00809509,-0.00562036, 0.03350441, 0.0059447 ,-0.01640079,
 -0.01558475, 0.03790949, 0.01299983, 0.00592652,-0.01170617, 0.03408868,
  0.81522224,-0.01344582, 1.15421784, 0.04612622, 0.09450033,-0.06406499,
  0.14246839, 0.94360465,-0.03294853, 0.02917967, 0.32813597]

qacc:
[ 7.11032202e+00,-2.21362251e-02,-1.63111734e+00, 8.08910321e+00,
 -3.58284733e+01,-5.85438938e-01, 3.03955050e+00, 3.62381144e+01,
 -6.05903851e-01,-1.67974015e+00, 6.51412495e+00,-8.82016937e+00,
 -2.38882635e+01,-2.24443086e+01,-9.01009537e+01, 2.20646895e+02,
  1.75177956e-01, 6.63813032e-01,-1.35825668e-01,-1.47829925e+01,
  1.74696871e+00,-2.89741085e+01]

qfrc_actuator:
[ 2.16533083e-05, 2.91080741e-04, 4.91253078e-05, 6.25584539e-05,
 -2.43429412e-03, 1.92938830e-02, 8.74133530e-03, 1.26145935e-03,
 -3.62293221e-05, 7.13358303e-05,-6.71307367e-06,-4.13838556e-05,
  4.96047280e-02, 1.75513489e-02, 7.08404724e-04,-1.75434837e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.239151  , -0.23357898,  0.05132308, -0.23357898,  0.30350217,
        0.2928718 ,  0.05132308,  0.2928718 ,  1.57205418,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033773969074898935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98224159, -0.18747528,  0.00738063, -0.18746998,  0.98226932,
        0.00140866, -0.00751385,  0.        , -0.99997177])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13035323, -0.08224612,  0.13161494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29528721, -7.2906568 ,  0.25988236, -7.2906568 ,  7.2860666 ,
       -0.25867184,  0.25988236, -0.25867184,  0.03859004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.8379256458995824e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86945944e-01,  4.45875044e-02, -1.54756770e-01,  4.40492644e-02,
        9.99005483e-01,  6.90708740e-03,  1.54910832e-01,  8.67361738e-19,
       -9.87928456e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327183, -0.05407981,  0.29657229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.26555276,  1.09530692, -0.63397675,  1.09530692,  3.83217029,
        4.43428556, -0.63397675,  4.43428556,  8.92656503,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004418255917516599
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43881892, -0.87187522, -0.21742022, -0.09774639, -0.19420916,
        0.97607809, -0.8932433 ,  0.44957358,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049087 , -0.03641175,  0.30475614])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.52701558, -6.29368666,  8.43845751, -6.29368666, 34.56018509,
       17.92474966,  8.43845751, 17.92474966, 23.89589936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004528460733890932
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.67748477e-13, -1.22582826e-13,  1.00000000e+00, -4.50796474e-26,
        1.00000000e+00,  1.22582826e-13, -1.00000000e+00,  0.00000000e+00,
       -3.67748477e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0865172 , -0.10901677,  0.06198983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.16489123e-05, 1.16476613e-05, 2.04998549e-05, 2.15775223e-05,
 -2.64119808e-03, 2.16857813e-02, 9.88390278e-03, 1.44434296e-03,
 -3.63452475e-06, 3.22484022e-05, 4.18318489e-05,-8.34319764e-07,
  5.22156093e-02, 1.85224021e-02, 1.20064026e-02,-5.99610041e-05,
 -1.50011336e-05, 9.93981529e-06,-9.80999668e+00,-6.49397029e-02,
 -9.33154916e-03,-5.40277344e-03]


--- Step 1562 ---
qpos:
[ 0.00985916, 0.0080955 ,-0.00562011, 0.03350499, 0.00594529,-0.01642344,
 -0.01559356, 0.03790949, 0.01299913, 0.00592646,-0.01170478, 0.03408771,
  0.81516767,-0.01347358, 1.15412978, 0.04613298, 0.09450222,-0.06406092,
  0.14246855, 0.94360434,-0.03295994, 0.02917245, 0.32813634]

qacc:
[ 1.32504449e+00,-3.14286784e-02,-8.46460467e-01, 4.67826449e+00,
  5.37873606e+00, 1.24226762e+00, 2.83794895e-01,-3.02808833e+00,
 -2.22143882e-01,-7.22903104e-03,-1.83714138e+00, 8.03805855e+00,
  4.15781907e+00, 3.25045890e+00, 1.17926127e+01,-5.88058530e+01,
 -5.40557128e-02,-1.92541105e-01, 4.27047761e-02, 3.23434171e+00,
  6.88936720e-02, 5.13324885e+00]

qfrc_actuator:
[ 2.82052693e-05, 2.91631412e-04, 5.85097780e-05, 7.43106592e-05,
 -2.45373087e-03, 1.92879037e-02, 8.76827878e-03, 1.28641252e-03,
 -3.74962127e-05, 3.32336992e-05,-8.96872062e-06,-2.54803035e-05,
  4.96074261e-02, 1.75634457e-02, 6.58338834e-04,-1.79475162e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23912408, -0.2344834 ,  0.04688139, -0.2344834 ,  0.29869228,
        0.29793811,  0.04688139,  0.29793811,  1.72930051,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033760513486997336
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98224779, -0.1874437 ,  0.0073574 , -0.18743845,  0.98227535,
        0.00140398, -0.00749016,  0.        , -0.99997195])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13035613, -0.08224577,  0.13161473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29341448,   6.30797961,   3.66105013,   6.30797961,
        21.43554469, -24.36685264,   3.66105013, -24.36685264,
        49.27743661,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.524461684621125e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86940381e-01,  4.46004404e-02, -1.54788517e-01,  4.40618213e-02,
        9.99004905e-01,  6.91051265e-03,  1.54942700e-01,  8.67361738e-19,
       -9.87923458e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327112, -0.05407663,  0.29657184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.26851094, -0.72342615,  1.04200508, -0.72342615,  5.1290791 ,
        2.68025177,  1.04200508,  2.68025177,  3.12931205,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004437746206160187
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43087512, -0.87485481, -0.22130452, -0.09777907, -0.19853197,
        0.97520475, -0.8970986 ,  0.44183041,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490845, -0.03640455,  0.30475211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.51853272, -5.96743548,  8.6619423 , -5.96743548, 18.72111915,
        5.65097338,  8.6619423 ,  5.65097338, 14.41163405,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000452194073697263
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.81426509e-07,  3.81426429e-07,  1.00000000e+00,  1.45486151e-13,
        1.00000000e+00, -3.81426429e-07, -1.00000000e+00,  0.00000000e+00,
       -3.81426509e-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([ 0.05321148, -0.0618834 ,  0.06198984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.73958331e-06, 1.22223429e-05, 1.50542842e-05, 1.33770800e-05,
 -2.45199736e-03, 2.13126493e-02, 9.60952414e-03, 1.31200364e-03,
 -1.35931902e-06,-1.14817127e-05, 9.51648661e-06, 1.87167100e-05,
  5.59380173e-02, 2.08059993e-02, 1.41830843e-02,-5.09627487e-04,
 -3.24084537e-06, 1.43169223e-06,-9.80999744e+00,-6.49411097e-02,
 -9.33095796e-03,-5.40282874e-03]


--- Step 1563 ---
qpos:
[ 0.00985949, 0.00809578,-0.00561967, 0.03350642, 0.00594622,-0.01644595,
 -0.0156025 , 0.03790924, 0.01299876, 0.00592595,-0.01170295, 0.03408697,
  0.81512631,-0.01349368, 1.15403994, 0.04613451, 0.09450397,-0.06405746,
  0.14246882, 0.94360105,-0.03296551, 0.02916698, 0.32814574]

qacc:
[ 6.84795582e-01, 1.06442330e+00,-7.66559207e+00, 2.22256695e+01,
  2.84339985e+00, 4.32597389e-02, 1.17795459e+00,-5.47835700e+00,
  2.97250567e+00,-1.39188711e+00, 3.13362078e+00, 3.47275450e-01,
  4.73666653e+00, 3.07944847e+00, 1.30421763e+01,-4.96927133e+01,
 -3.70131431e-02,-1.53110531e-01, 2.66419772e-02, 2.85603871e+00,
 -2.43627408e-01, 4.86740000e+00]

qfrc_actuator:
[ 3.19445587e-05, 2.74022943e-04, 6.39146608e-05, 1.16490212e-04,
 -2.46600661e-03, 1.93096257e-02, 8.78751800e-03, 1.28362004e-03,
 -2.02066956e-05,-7.26478154e-06, 6.75421873e-06,-1.57756517e-05,
  4.96156849e-02, 1.75951533e-02, 6.63860686e-04,-1.97674251e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23916263, -0.23476381,  0.04565873, -0.23476381,  0.27516712,
        0.18512455,  0.04565873,  0.18512455,  1.19101885,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003377978328809522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82250977e-01, -1.87427855e-01,  7.33601845e-03, -1.87422628e-01,
        9.82278371e-01,  1.39978060e-03, -7.46837013e-03, -2.16840434e-19,
       -9.99972111e-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([ 0.13035885, -0.08224559,  0.13161453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29237296,  7.1995648 ,  1.15972848,  7.1995648 ,  7.9033054 ,
       -3.792653  ,  1.15972848, -3.792653  , 30.837066  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.337343998320815e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86937213e-01,  4.45958282e-02, -1.54810046e-01,  4.40571143e-02,
        9.99005111e-01,  6.91075763e-03,  1.54964218e-01, -8.67361738e-19,
       -9.87920083e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327079, -0.05407407,  0.29657162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044496340034814075
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.25962634e-01, -8.76646296e-01, -2.23712106e-01, -9.77709769e-02,
       -2.01216158e-01,  9.74655269e-01, -8.99442422e-01,  4.37039277e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490826, -0.03639891,  0.30474993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004529648456119001
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22550683e-13, -1.26380392e-13,  1.00000000e+00, -1.54880034e-26,
        1.00000000e+00,  1.26380392e-13, -1.00000000e+00,  0.00000000e+00,
       -1.22550683e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05279564, -0.06128683,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.96120559e-06,-7.10816490e-06, 1.02368580e-05, 4.34813513e-05,
 -2.49565106e-03, 2.12102162e-02, 9.59181797e-03, 1.30850247e-03,
  1.72467687e-05,-4.41661458e-05, 1.51568644e-05, 9.90523648e-06,
  5.53437209e-02, 2.04707107e-02, 1.45943172e-02,-2.97260024e-04,
 -9.00857980e-07, 8.26245581e-07,-9.80999889e+00,-6.49427789e-02,
 -9.33066960e-03,-5.40282501e-03]


--- Step 1564 ---
qpos:
[ 0.00986021, 0.00809593,-0.00561912, 0.033508  , 0.00594751,-0.01646864,
 -0.01561188, 0.03790863, 0.0129986 , 0.00592526,-0.01170129, 0.03408636,
  0.81509716,-0.01350681, 1.15395118, 0.04613215, 0.09450561,-0.06405447,
  0.14246917, 0.94359517,-0.03296621, 0.02916277, 0.32816294]

qacc:
[ 3.40344341e+00,-1.68354535e-01,-2.72035475e-01, 2.79529805e+00,
  3.12711120e+00, 2.41653471e-01, 3.08397222e-01,-5.71841870e+00,
  1.84386939e+00, 5.18956336e-01,-2.73978004e+00, 5.38710566e+00,
  4.37008377e+00, 2.77606693e+00, 1.32987342e+01,-4.44436264e+01,
 -2.73670284e-02,-1.18935401e-01, 1.90133466e-02, 2.35578558e+00,
 -2.91551643e-01, 4.19279893e+00]

qfrc_actuator:
[ 5.17620074e-05, 2.63434292e-04, 6.68755446e-05, 1.22961433e-04,
 -2.45618797e-03, 1.93670871e-02, 8.78497232e-03, 1.24669344e-03,
 -9.88721134e-06,-1.33291581e-05,-2.56155224e-06,-9.78978676e-06,
  4.96214148e-02, 1.76353714e-02, 7.02458497e-04,-2.13667898e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23922991, -0.23448392,  0.04741559, -0.23448392,  0.27494434,
        0.17661825,  0.04741559,  0.17661825,  1.11265867,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033813377739172435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98225147, -0.18742601,  0.0073178 , -0.18742081,  0.98227872,
        0.00139629, -0.00744982,  0.        , -0.99997225])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13036164, -0.08224557,  0.13161437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29192211,  7.15356401,  1.4137362 ,  7.15356401,  8.32001024,
       -5.20216874,  1.4137362 , -5.20216874, 33.61511241,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.252991971019748e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98693609,  0.04457448, -0.15482335,  0.04403593,  0.99900606,
        0.00690804,  0.15497739,  0.        , -0.98791802])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327076, -0.05407217,  0.29657159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004455556822747816
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.23400638e-01, -8.77560602e-01, -2.24987311e-01, -9.77663343e-02,
       -2.02635224e-01,  9.74361694e-01, -9.00651788e-01,  4.34541547e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490805, -0.03639477,  0.30474919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045326669960257804
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.82715844e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.82715844e-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([ 0.05279851, -0.06128476,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99240114e-05,-1.06036063e-05, 4.24585420e-06, 7.36206516e-06,
 -2.50240208e-03, 2.12618556e-02, 9.59676670e-03, 1.28447365e-03,
  1.07933708e-05,-2.72032449e-05,-1.62439670e-05, 4.80830735e-06,
  5.46881980e-02, 2.01279239e-02, 1.47233722e-02,-1.95837210e-04,
 -6.22445465e-07, 1.05854696e-06,-9.80999952e+00,-6.49436955e-02,
 -9.33082600e-03,-5.40262909e-03]


--- Step 1565 ---
qpos:
[ 0.00986116, 0.00809609,-0.00561881, 0.03350897, 0.00594917,-0.01649221,
 -0.01562183, 0.03790761, 0.01299823, 0.00592459,-0.0117004 , 0.0340855 ,
  0.81507904,-0.01351368, 1.15386762, 0.04612795, 0.09450716,-0.06405185,
  0.14246956, 0.94358705,-0.03296284, 0.02915948, 0.32818692]

qacc:
[ 2.02682894e+00,-5.91846649e-01, 4.70924946e+00,-1.49758166e+01,
  3.21942339e+00,-4.46353943e-01, 1.61299788e+00,-7.12796394e+00,
 -1.95957465e+00, 1.64246671e+00,-4.72727941e+00, 1.52032165e+00,
  3.91222132e+00, 2.52971167e+00, 1.31120750e+01,-3.49313748e+01,
 -2.06891050e-02,-9.00282563e-02, 1.31020324e-02, 1.92858188e+00,
 -3.16192668e-01, 3.63768037e+00]

qfrc_actuator:
[ 6.31327459e-05, 2.57089652e-04, 5.06114915e-05, 9.06155108e-05,
 -2.45103136e-03, 1.94107484e-02, 8.78746309e-03, 1.20724668e-03,
 -2.15110152e-05,-1.65851478e-05,-4.42125295e-05,-2.37837076e-05,
  4.96145922e-02, 1.76783214e-02, 7.55383026e-04,-2.17609258e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23931976, -0.23419856,  0.04924412, -0.23419856,  0.27446719,
        0.16715655,  0.04924412,  0.16715655,  1.03429436,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003385816310591533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82249680e-01, -1.87435983e-01,  7.30200661e-03, -1.87430804e-01,
        9.82276821e-01,  1.39335344e-03, -7.43375641e-03,  2.16840434e-19,
       -9.99972369e-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([ 0.13036452, -0.08224568,  0.13161424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29191206,  7.07309196,  1.77294997,  7.07309196,  9.18686716,
       -7.55982511,  1.77294997, -7.55982511, 37.45144227,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.251086680394316e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98693665,  0.04453864, -0.15483008,  0.04400048,  0.99900766,
        0.00690277,  0.15498387,  0.        , -0.987917  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327094, -0.05407086,  0.2965717 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044572479134285945
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42264405, -0.87782006, -0.22539732, -0.09777899, -0.20308427,
        0.97426693, -0.9010057 ,  0.43380724,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490777, -0.0363919 ,  0.30474948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045320590531928995
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.44970997e-13, -1.56934545e-13,  1.00000000e+00, -3.84444119e-26,
        1.00000000e+00,  1.56934545e-13, -1.00000000e+00,  0.00000000e+00,
       -2.44970997e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05280058, -0.06128313,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19328466e-05,-1.10926295e-05,-1.76900304e-05,-3.25161902e-05,
 -2.51548837e-03, 2.13154791e-02, 9.62164875e-03, 1.26318038e-03,
 -1.13266657e-05,-2.16071349e-05,-4.91149865e-05,-1.56293781e-05,
  5.40715287e-02, 1.98223240e-02, 1.47239927e-02,-3.95438348e-05,
 -1.79317024e-06, 1.91981565e-06,-9.80999954e+00,-6.49440025e-02,
 -9.33133320e-03,-5.40225600e-03]


--- Step 1566 ---
qpos:
[ 0.00986189, 0.00809637,-0.00561876, 0.03350918, 0.00595095,-0.01651714,
 -0.01563289, 0.03790603, 0.01299806, 0.00592409,-0.01169988, 0.03408477,
  0.81507066,-0.01351505, 1.15379276, 0.04612386, 0.09450865,-0.06404949,
  0.14246999, 0.94357698,-0.03295614, 0.02915682, 0.32821677]

qacc:
[-1.90567552e+00,-6.84255835e-01, 5.86116998e+00,-1.86091403e+01,
  9.62533275e-01, 1.66126485e-01,-8.12688382e-01,-6.14440792e+00,
  1.81928906e+00, 1.53197439e+00,-5.73834836e+00, 8.61859278e+00,
  3.37856189e+00, 2.32735289e+00, 1.24726045e+01,-2.51210377e+01,
 -1.62536109e-02,-6.59164085e-02, 8.75823920e-03, 1.55884877e+00,
 -3.17384018e-01, 3.15411806e+00]

qfrc_actuator:
[ 5.16832593e-05, 2.70970494e-04, 4.08749072e-05, 5.34381673e-05,
 -2.46658035e-03, 1.94291517e-02, 8.79327260e-03, 1.21973750e-03,
 -1.04495849e-05, 1.72171201e-05,-5.13509748e-05,-1.39289127e-05,
  4.96158807e-02, 1.77208435e-02, 7.68562361e-04,-2.12595397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23941856, -0.2348984 ,  0.04630326, -0.2348984 ,  0.26445927,
        0.12703256,  0.04630326,  0.12703256,  0.88386011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033907310140813754
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98224598, -0.18745589,  0.00728882, -0.18745073,  0.98227302,
        0.00139099, -0.00742036,  0.        , -0.99997247])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13036755, -0.08224592,  0.13161414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29224863,   6.95235828,   2.20036461,   6.95235828,
        10.70166557, -10.7725274 ,   2.20036461, -10.7725274 ,
        41.32954845,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.314297299051405e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9869386 ,  0.04449017, -0.15483159,  0.04395258,  0.99900982,
        0.00689531,  0.15498505,  0.        , -0.98791682])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327129, -0.05407009,  0.29657192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004456221328297605
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42317509, -0.87761785, -0.22518826, -0.09780619, -0.2028391 ,
        0.97431527, -0.90075346,  0.43433076,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490741, -0.03639011,  0.30475044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004528648562738963
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.83055442e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.83055442e-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([ 0.05280201, -0.06128187,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11123201e-05, 2.61993443e-06,-1.53408298e-05,-3.89014716e-05,
 -2.54977125e-03, 2.13790110e-02, 9.65590543e-03, 1.29618567e-03,
  1.07332041e-05, 1.09149347e-05,-1.81925262e-05, 6.92717629e-06,
  5.35209617e-02, 1.95523016e-02, 1.44790872e-02, 1.02457295e-04,
 -3.82637254e-06, 3.17948980e-06,-9.80999917e+00,-6.49438113e-02,
 -9.33206867e-03,-5.40172001e-03]


--- Step 1567 ---
qpos:
[ 0.00986214, 0.00809682,-0.00561916, 0.03350896, 0.00595322,-0.01654377,
 -0.01564451, 0.03790406, 0.01299802, 0.00592366,-0.0116989 , 0.03408412,
  0.81507075,-0.01351159, 1.15372924, 0.04612149, 0.09451009,-0.06404731,
  0.14247045, 0.9435652 ,-0.03294671, 0.02915456, 0.32825179]

qacc:
[-4.29807981e+00, 6.21471435e-01,-2.06596447e-02,-6.98364290e+00,
  4.23844798e+00,-1.50121106e+00, 3.69602968e+00,-8.20615618e+00,
  1.18917193e+00,-1.01749994e+00, 3.42447113e+00,-2.84318339e+00,
  2.84403273e+00, 2.16425132e+00, 1.14961621e+01,-1.60029299e+01,
 -1.32470796e-02,-4.58563848e-02, 5.28846661e-03, 1.25158248e+00,
 -3.13533159e-01, 2.76597083e+00]

qfrc_actuator:
[ 2.68967514e-05, 2.79115947e-04, 1.74099808e-05, 3.14995838e-05,
 -2.45893596e-03, 1.94509748e-02, 8.83735562e-03, 1.24595548e-03,
 -3.87012076e-06, 3.75992435e-05,-2.01171017e-05,-7.80901499e-06,
  4.96217552e-02, 1.77080901e-02, 7.73368998e-04,-2.00553252e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2395114 , -0.23556444,  0.04330248, -0.23556444,  0.2637498 ,
        0.13185633,  0.04330248,  0.13185633,  0.95680657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033953387663993425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82240711e-01, -1.87483882e-01,  7.27869542e-03, -1.87478734e-01,
        9.82267679e-01,  1.38927311e-03, -7.41009358e-03,  2.16840434e-19,
       -9.99972545e-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([ 0.1303708 , -0.08224625,  0.13161409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2928699 ,   6.77124189,   2.70854845,   6.77124189,
        13.29140814, -14.99605937,   2.70854845, -14.99605937,
        44.78230281,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.4279045810779644e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86941690e-01,  4.44306457e-02, -1.54828998e-01,  4.38938030e-02,
        9.99012471e-01,  6.88595243e-03,  1.54982047e-01, -8.67361738e-19,
       -9.87917287e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327177, -0.05406978,  0.29657221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044536905865647024
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.24550340e-01, -8.77112348e-01, -2.24568335e-01, -9.78395473e-02,
       -2.02134510e-01,  9.74458343e-01, -9.00102456e-01,  4.35678285e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490699, -0.03638923,  0.30475182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004523093073214163
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.58814824e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.58814824e-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([ 0.05280294, -0.06128089,  0.06198984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51009339e-05, 4.75729601e-06,-2.61638388e-05,-2.31151176e-05,
 -2.54779294e-03, 2.14694614e-02, 9.75609514e-03, 1.35061260e-03,
  6.88761381e-06, 2.30416026e-05, 3.14880949e-05, 6.09410643e-06,
  5.30397445e-02, 1.92639040e-02, 1.40500926e-02, 2.18055340e-04,
 -6.31519954e-06, 4.66375625e-06,-9.80999859e+00,-6.49432126e-02,
 -9.33294649e-03,-5.40103814e-03]


--- Step 1568 ---
qpos:
[ 0.00986209, 0.00809711,-0.00561948, 0.03350882, 0.00595575,-0.01657192,
 -0.01565647, 0.03790179, 0.01299772, 0.00592295,-0.01169734, 0.0340829 ,
  0.81507619,-0.01350489, 1.15367645, 0.04612106, 0.09451146,-0.06404526,
  0.14247093, 0.94355225,-0.0329356 , 0.02915281, 0.32829028]

qacc:
[-2.61753162e+00,-2.60932413e-01, 2.66839411e-01, 1.22660433e+00,
  2.26273688e+00,-1.66181933e+00, 4.27814314e+00,-7.82682232e+00,
 -2.31231199e+00,-3.16582112e+00, 1.32096001e+01,-2.39354484e+01,
  1.55140070e+00, 1.82117196e+00, 9.94791054e+00,-1.18338188e+01,
 -1.53889715e-02,-3.12500793e-02, 8.19390730e-03, 8.02994087e-01,
 -8.28231299e-02, 1.86043857e+00]

qfrc_actuator:
[ 1.22188652e-05, 2.65969454e-04, 2.15240540e-05, 3.64434703e-05,
 -2.45555179e-03, 1.94757436e-02, 8.86878498e-03, 1.24495240e-03,
 -1.77410882e-05,-3.29717118e-06,-2.03924136e-06,-3.94298439e-05,
  4.96194937e-02, 1.76606571e-02, 8.15207498e-04,-1.91561147e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2395963 , -0.23574807,  0.04276956, -0.23574807,  0.26209661,
        0.12402286,  0.04276956,  0.12402286,  0.92321682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003399544754058537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98223406, -0.187519  ,  0.00727117, -0.18751387,  0.98226097,
        0.00138811, -0.00740248,  0.        , -0.9999726 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13037425, -0.08224668,  0.13161406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29373191,   6.52275131,   3.26377704,   6.52275131,
        17.28016232, -19.95816538,   3.26377704, -19.95816538,
        47.18069342,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.5795382608957346e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86945714e-01,  4.43613586e-02, -1.54823212e-01,  4.38253966e-02,
        9.99015550e-01,  6.87493607e-03,  1.54975778e-01,  8.67361738e-19,
       -9.87918270e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327232, -0.05406988,  0.29657256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044505431656924576
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42640419, -0.87643241, -0.22370894, -0.09787087, -0.20116407,
        0.97465599, -0.89922231,  0.43749199,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490651, -0.03638912,  0.30475342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004515873890488956
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.64920571e-07,  4.64920496e-07,  1.00000000e+00,  2.16151102e-13,
        1.00000000e+00, -4.64920496e-07, -1.00000000e+00, -2.52435490e-29,
       -4.64920571e-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([ 0.05322328, -0.06187382,  0.06198985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53903128e-05,-1.69017049e-05, 1.07530314e-06, 3.79402711e-06,
 -2.56898915e-03, 2.15805845e-02, 9.81576081e-03, 1.36896952e-03,
 -1.36691699e-05,-2.12381615e-05, 2.69213337e-05,-2.94254271e-05,
  5.26142423e-02, 1.89752676e-02, 1.35259713e-02, 2.22181875e-04,
 -9.01662129e-06, 6.27044692e-06,-9.80999790e+00,-6.49422831e-02,
 -9.33391240e-03,-5.40022577e-03]


--- Step 1569 ---
qpos:
[ 0.00986255, 0.00809733,-0.00561951, 0.03350871, 0.00595438,-0.01659216,
 -0.01566263, 0.03790258, 0.01299691, 0.00592217,-0.0116959 , 0.03408167,
  0.8150073 ,-0.01354312, 1.15358858, 0.04613102, 0.09451366,-0.06404064,
  0.14247093, 0.9435568 ,-0.03295401, 0.02914349, 0.32827618]

qacc:
[ 4.52084949e+00,-8.50054578e-01, 2.74626014e+00,-2.56702027e+00,
 -3.34253870e+01, 5.91305492e-01, 2.20260883e-01, 3.76104551e+01,
 -4.47804648e+00, 2.29807775e-01,-9.60614628e-01, 1.19858785e+00,
 -2.44435500e+01,-2.13855688e+01,-8.27557347e+01, 2.15306814e+02,
  2.04848430e-01, 6.42254179e-01,-1.22045284e-01,-1.41160055e+01,
  1.89046537e+00,-2.82389684e+01]

qfrc_actuator:
[ 3.91176567e-05, 2.75811656e-04, 4.18219783e-05, 3.94124963e-05,
 -2.47244289e-03, 1.94672726e-02, 8.85713222e-03, 1.26319321e-03,
 -4.35366236e-05,-9.63637804e-06,-9.91614317e-06,-3.98129336e-05,
  4.96229779e-02, 1.76453214e-02, 8.15003423e-04,-1.88040586e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23966245, -0.23370749,  0.05309331, -0.23370749,  0.35711937,
        0.51702489,  0.05309331,  0.51702489,  2.51551581,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003402815752253195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82226533e-01, -1.87558602e-01,  7.26691099e-03, -1.87553469e-01,
        9.82253415e-01,  1.38759677e-03, -7.39820384e-03, -2.16840434e-19,
       -9.99972633e-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([ 0.13037786, -0.08224716,  0.13161409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29479756, -7.2920349 ,  0.20074495, -7.2920349 ,  7.289292  ,
       -0.19998876,  0.20074495, -0.19998876,  0.03023105,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7585062074470774e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98695041,  0.04428544, -0.154815  ,  0.04375046,  0.99901892,
        0.00686278,  0.15496703,  0.        , -0.98791964])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327295, -0.05407024,  0.29657294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.27003086,  1.09916861, -0.63624424,  1.09916861,  4.0190382 ,
        4.74915507, -0.63624424,  4.74915507,  9.47461932,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004447694826844102
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42847884, -0.87566861, -0.22273384, -0.09789595, -0.20006686,
        0.97487929, -0.89823286,  0.43951989,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490602, -0.03638948,  0.30475503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.51201852, -6.30933514,  8.40802138, -6.30933514, 36.48911908,
       19.49308   ,  8.40802138, 19.49308   , 25.1395235 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045169208885314924
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18416892e-06, -1.18416896e-06,  1.00000000e+00, -1.40225608e-12,
        1.00000000e+00,  1.18416896e-06, -1.00000000e+00, -2.01948392e-28,
       -1.18416892e-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([ 0.08623894, -0.10855511,  0.06198985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64536417e-05, 7.63658273e-07, 1.70716782e-05, 2.35683607e-06,
 -2.59895366e-03, 2.16493291e-02, 9.82202110e-03, 1.40243083e-03,
 -2.61922274e-05,-1.39114291e-05,-9.97302737e-06,-9.33114282e-07,
  5.23502492e-02, 1.87974847e-02, 1.29907784e-02, 1.60471502e-04,
 -1.10694654e-05, 7.43954585e-06,-9.80999744e+00,-6.49410611e-02,
 -9.33479204e-03,-5.39935593e-03]


--- Step 1570 ---
qpos:
[ 0.00986298, 0.00809747,-0.00561959, 0.03350936, 0.00595427,-0.01660904,
 -0.0156689 , 0.03790312, 0.0129958 , 0.00592182,-0.01169513, 0.03408111,
  0.81495289,-0.01357279, 1.1534979 , 0.04613535, 0.09451563,-0.06403674,
  0.14247108, 0.94355754,-0.03296541, 0.02913644, 0.32827355]

qacc:
[-2.29834013e-01, 1.58628045e+00,-9.00506052e+00, 2.21984702e+01,
  1.07034268e+01, 4.21987106e+00,-7.52443302e+00, 7.61594150e-01,
 -2.69628102e+00, 3.80948881e+00,-1.55567609e+01, 2.78315823e+01,
  5.10045843e+00, 3.59336455e+00, 1.27428878e+01,-5.08773415e+01,
 -5.49502023e-02,-1.82490392e-01, 3.70041033e-02, 3.45337540e+00,
 -2.15347581e-01, 6.17371246e+00]

qfrc_actuator:
[ 3.70112011e-05, 2.63913857e-04, 3.60819605e-05, 7.67209753e-05,
 -2.46194362e-03, 1.94655454e-02, 8.83136624e-03, 1.28973346e-03,
 -5.83846819e-05, 4.01805805e-05,-3.29009856e-05,-4.04774675e-06,
  4.96422134e-02, 1.76961279e-02, 8.30589678e-04,-1.85174716e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23972195, -0.23480432,  0.04830678, -0.23480432,  0.32541781,
        0.41654106,  0.04830678,  0.41654106,  2.2643993 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034057542651059276
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98223367, -0.18752238,  0.00723676, -0.18751729,  0.98226033,
        0.00138156, -0.00736746,  0.        , -0.99997286])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13038019, -0.08224672,  0.13161378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29307095, -1.52402907,  7.13205575, -1.52402907, 23.04751206,
        3.36652251,  7.13205575,  3.36652251,  8.01245374,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4638666805948405e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86944396e-01,  4.43084738e-02, -1.54846758e-01,  4.37729895e-02,
        9.99017897e-01,  6.86776837e-03,  1.54998983e-01, -8.67361738e-19,
       -9.87914630e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327232, -0.05406697,  0.29657254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.27291332, -0.69974956,  1.06332445, -0.69974956,  7.26505163,
        3.94328949,  1.06332445,  3.94328949,  3.86790216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044664414101824846
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21445173e-01, -8.78202001e-01, -2.26153073e-01, -9.78461405e-02,
       -2.03890522e-01,  9.74091776e-01, -9.01559814e-01,  4.32654482e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490581, -0.03638211,  0.30475117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.51748137, -5.97173911,  8.65769867, -5.97173911, 18.56957512,
        5.55401672,  8.65769867,  5.55401672, 14.34842307,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004521131327894501
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.49400023e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.49400023e-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([ 0.05280902, -0.06127611,  0.06198984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35395630e-06,-7.84319907e-06,-3.40171347e-06, 3.79763406e-05,
 -2.39378545e-03, 2.12531602e-02, 9.50619652e-03, 1.27575875e-03,
 -1.55982275e-05, 3.99402549e-05,-2.71237436e-05, 3.48080266e-05,
  5.60860195e-02, 2.10960140e-02, 1.47613064e-02,-3.30039078e-04,
 -4.38827940e-06, 1.66303179e-06,-9.80999725e+00,-6.49427159e-02,
 -9.33495175e-03,-5.39951362e-03]


--- Step 1571 ---
qpos:
[ 0.00986305, 0.00809721,-0.00561956, 0.03351013, 0.00595507,-0.01662479,
 -0.01567593, 0.03790322, 0.01299555, 0.00592213,-0.01169508, 0.03408096,
  0.81491169,-0.01359472, 1.15340883, 0.04613612, 0.09451745,-0.06403341,
  0.14247133, 0.943555  ,-0.03297097, 0.02913109, 0.32828075]

qacc:
[-3.26342802e+00,-5.79217654e-01, 7.95621104e-01, 1.45697839e+00,
  7.76981573e+00, 2.72343249e+00,-5.76337652e+00,-1.19983323e+00,
  7.57513512e+00, 3.74554157e+00,-1.38242549e+01, 2.15735225e+01,
  4.62374246e+00, 3.27693334e+00, 1.30432197e+01,-4.24292833e+01,
 -4.05489131e-02,-1.40106042e-01, 2.78555411e-02, 2.83574254e+00,
 -2.69608593e-01, 5.29246587e+00]

qfrc_actuator:
[ 1.78362270e-05, 2.21267455e-04, 3.27021114e-05, 8.06416756e-05,
 -2.43859818e-03, 1.95047452e-02, 8.80073373e-03, 1.27009516e-03,
 -1.34083094e-05, 8.77032592e-05,-6.43559125e-05, 1.72343083e-05,
  4.96549321e-02, 1.77510949e-02, 8.16728479e-04,-1.97492981e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.23987929, -0.23509552,  0.04766729, -0.23509552,  0.29118579,
        0.25304414,  0.04766729,  0.25304414,  1.48789544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003413505976176403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82237229e-01, -1.87504953e-01,  7.20544308e-03, -1.87499908e-01,
        9.82263657e-01,  1.37545175e-03, -7.33554889e-03, -2.16840434e-19,
       -9.99973094e-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([ 0.13038234, -0.08224649,  0.13161344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29213287,  7.1967364 ,  1.17566453,  7.1967364 ,  7.91605978,
       -3.81931865,  1.17566453, -3.81931865, 30.67178664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.292694954383585e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86940951e-01,  4.43101186e-02, -1.54868243e-01,  4.37744648e-02,
        9.99017824e-01,  6.86897674e-03,  1.55020500e-01,  8.67361738e-19,
       -9.87911253e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327205, -0.05406443,  0.29657236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044773522144895774
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.17185354e-01, -8.79696315e-01, -2.28234034e-01, -9.77971243e-02,
       -2.06219535e-01,  9.73606299e-01, -9.03544190e-01,  4.28494921e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490568, -0.03637653,  0.3047492 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004528940869911041
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.51152222e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.51152222e-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([ 0.05281302, -0.06127339,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92182134e-05,-4.61150497e-05,-4.10750487e-06, 4.20442330e-06,
 -2.43304070e-03, 2.11246633e-02, 9.48168422e-03, 1.26919323e-03,
  4.45461551e-05, 6.57423034e-05,-2.53456015e-05, 2.27333586e-05,
  5.53750422e-02, 2.07232343e-02, 1.48897398e-02,-1.71433037e-04,
 -1.08417241e-06, 6.50695850e-07,-9.80999890e+00,-6.49443792e-02,
 -9.33443063e-03,-5.39951787e-03]


--- Step 1572 ---
qpos:
[ 0.00986288, 0.00809674,-0.00561957, 0.03351025, 0.0059564 ,-0.01664186,
 -0.01568377, 0.03790291, 0.01299619, 0.00592316,-0.01169549, 0.0340807 ,
  0.81488247,-0.0136097 , 1.15332327, 0.04613426, 0.09451914,-0.06403052,
  0.14247167, 0.94354972,-0.03297172, 0.029127  , 0.32829623]

qacc:
[-2.02002739e+00,-1.51798692e+00, 7.78583264e+00,-1.89841664e+01,
  4.56621884e+00,-3.89633855e-01, 6.15423452e-01,-5.67647448e+00,
  7.76356774e+00, 1.94966885e+00,-5.10102526e+00, 3.29309399e+00,
  4.18534183e+00, 2.92791867e+00, 1.30315054e+01,-3.82583263e+01,
 -3.07772385e-02,-1.09184115e-01, 2.03628343e-02, 2.31578091e+00,
 -2.90969937e-01, 4.44811971e+00]

qfrc_actuator:
[ 6.53013044e-06, 2.13770253e-04, 3.05906865e-05, 4.71045681e-05,
 -2.44320785e-03, 1.95161286e-02, 8.80337306e-03, 1.24077154e-03,
  3.09102978e-05, 1.33445542e-04,-8.28073478e-05, 1.20670857e-05,
  4.96526811e-02, 1.77704482e-02, 8.06206036e-04,-2.08251164e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24008849, -0.23516695,  0.0483631 , -0.23516695,  0.2788777 ,
        0.18861362,  0.0483631 ,  0.18861362,  1.15722765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003423771200714497
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98223787, -0.18750273,  0.00717538, -0.18749772,  0.98226408,
        0.0013697 , -0.00730494,  0.        , -0.99997332])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13038451, -0.08224643,  0.13161312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29175468,  7.13221298,  1.51697866,  7.13221298,  8.52011477,
       -5.77524659,  1.51697866, -5.77524659, 34.44460126,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.221102116201202e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86939624e-01,  4.42933507e-02, -1.54881493e-01,  4.37578082e-02,
        9.99018568e-01,  6.86695972e-03,  1.55033648e-01,  8.67361738e-19,
       -9.87909190e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327206, -0.05406254,  0.29657236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004482661422095447
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.15017640e-01, -8.80440122e-01, -2.29315394e-01, -9.77754368e-02,
       -2.07425924e-01,  9.73352172e-01, -9.04544262e-01,  4.26379734e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490554, -0.03637245,  0.30474857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004532050982319902
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.74151797e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.74151797e-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([ 0.05281597, -0.06127125,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18691214e-05,-3.39531725e-05,-1.19960311e-05,-3.55739438e-05,
 -2.48308853e-03, 2.10799447e-02, 9.52242531e-03, 1.26119300e-03,
  4.56088309e-05, 7.82476818e-05,-7.21285206e-06,-2.78678778e-06,
  5.47118221e-02, 2.03557262e-02, 1.48008711e-02,-1.00283540e-04,
 -4.58075984e-07, 7.70830975e-07,-9.80999956e+00,-6.49452984e-02,
 -9.33450081e-03,-5.39933071e-03]


--- Step 1573 ---
qpos:
[ 0.00986258, 0.00809637,-0.00561981, 0.03351062, 0.00595816,-0.01666096,
 -0.01569262, 0.03790211, 0.01299666, 0.00592479,-0.01169609, 0.03408037,
  0.81486383,-0.01361858, 1.15324666, 0.04613261, 0.09452073,-0.06402794,
  0.14247207, 0.94354206,-0.0329685 , 0.02912384, 0.32831885]

qacc:
[-1.19026000e+00, 1.33609640e+00,-5.64543736e+00, 1.04154078e+01,
  3.67404120e+00,-8.37835404e-01, 1.12749484e+00,-6.35324395e+00,
 -1.45189801e+00, 1.22781276e+00,-2.99505092e+00, 1.85189709e+00,
  3.60698874e+00, 2.68836154e+00, 1.25067283e+01,-2.47264601e+01,
 -2.36312854e-02,-8.03596943e-02, 1.46902520e-02, 1.87411476e+00,
 -3.00839728e-01, 3.83278340e+00]

qfrc_actuator:
[-4.80727858e-08, 2.45098572e-04, 2.93551438e-05, 6.28384249e-05,
 -2.44682419e-03, 1.95483383e-02, 8.82632649e-03, 1.24131103e-03,
  2.12097394e-05, 1.60043957e-04,-9.34479665e-05, 9.14384293e-06,
  4.96570615e-02, 1.77661358e-02, 8.45389042e-04,-2.00272262e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24029864, -0.23566835,  0.0469453 , -0.23566835,  0.27137528,
        0.15600671,  0.0469453 ,  0.15600671,  1.02346207,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034340354817176156
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82236210e-01, -1.87512424e-01,  7.14968220e-03, -1.87507457e-01,
        9.82262231e-01,  1.36486388e-03, -7.27879173e-03,  2.16840434e-19,
       -9.99973509e-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([ 0.13038688, -0.08224651,  0.13161286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29179629,  7.0420801 ,  1.89193049,  7.0420801 ,  9.52542623,
       -8.31394229,  1.89193049, -8.31394229, 38.23767289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.229057670132341e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86940022e-01,  4.42610685e-02, -1.54888187e-01,  4.37258713e-02,
        9.99019999e-01,  6.86224166e-03,  1.55040127e-01,  8.67361738e-19,
       -9.87908173e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327228, -0.05406124,  0.29657249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004484053826282714
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41445389, -0.8806228 , -0.2296333 , -0.09778551, -0.20777258,
        0.97327722, -0.90480162,  0.42583334,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490536, -0.03636962,  0.3047489 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004531489344140188
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.50786019e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.50786019e-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([ 0.0528181 , -0.06126959,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.92475601e-06, 8.35254397e-06,-1.09513276e-05, 1.31728515e-05,
 -2.51327951e-03, 2.11793535e-02, 9.58592215e-03, 1.28300378e-03,
 -8.37362453e-06, 6.87312881e-05, 4.52944255e-06, 1.23557426e-07,
  5.41173327e-02, 2.00044076e-02, 1.46659450e-02, 1.11100495e-04,
 -1.46296783e-06, 1.58803132e-06,-9.80999959e+00,-6.49456116e-02,
 -9.33495462e-03,-5.39897072e-03]


--- Step 1574 ---
qpos:
[ 0.00986289, 0.00809617,-0.00562016, 0.0335115 , 0.00596054,-0.01668214,
 -0.01570246, 0.03790083, 0.01299633, 0.00592676,-0.01169648, 0.03408035,
  0.81485446,-0.01362205, 1.15318195, 0.04613294, 0.09452225,-0.06402559,
  0.14247251, 0.94353228,-0.03296201, 0.02912129, 0.32834781]

qacc:
[ 5.37522640e+00, 1.55600262e+00,-7.40944798e+00, 1.63471666e+01,
  5.42533148e+00,-1.00326496e+00, 1.60979606e+00,-6.85110857e+00,
 -7.11624273e+00, 4.90492036e-01,-2.36950301e+00, 7.13760316e+00,
  3.05455676e+00, 2.53619684e+00, 1.15364858e+01,-1.49616533e+01,
 -1.83359632e-02,-5.58613919e-02, 9.89978749e-03, 1.51954612e+00,
 -3.16373380e-01, 3.39057585e+00]

qfrc_actuator:
[ 3.17120761e-05, 2.63977787e-04, 2.88535124e-05, 8.97273401e-05,
 -2.43220013e-03, 1.95942723e-02, 8.84424927e-03, 1.22449133e-03,
 -2.02077136e-05, 1.75001897e-04,-8.17135279e-05, 2.53092341e-05,
  4.96704412e-02, 1.77634343e-02, 8.49870591e-04,-1.86555271e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24049399, -0.23583093,  0.04712891, -0.23583093,  0.27129533,
        0.15412847,  0.04712891,  0.15412847,  1.01174584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034435354318241196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82232640e-01, -1.87531928e-01,  7.12866362e-03, -1.87526989e-01,
        9.82258508e-01,  1.36099817e-03, -7.25742110e-03, -2.16840434e-19,
       -9.99973665e-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([ 0.13038952, -0.08224672,  0.13161266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29216845,   6.89822262,   2.36436996,   6.89822262,
        11.38183175, -11.93189235,   2.36436996, -11.93189235,
        42.10433869,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.2993490818180716e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86941835e-01,  4.42153334e-02, -1.54889695e-01,  4.36806809e-02,
        9.99022024e-01,  6.85520374e-03,  1.55041322e-01,  8.67361738e-19,
       -9.87907986e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327267, -0.05406045,  0.29657273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004483124409395944
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.14942062e-01, -8.80441539e-01, -2.29446687e-01, -9.78167108e-02,
       -2.07551616e-01,  9.73321231e-01, -9.04574473e-01,  4.26315638e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490514, -0.03636785,  0.30474983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045280765566341197
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22593226e-13, -6.51276513e-14,  1.00000000e+00, -7.98420887e-27,
        1.00000000e+00,  6.51276513e-14, -1.00000000e+00,  0.00000000e+00,
       -1.22593226e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05281957, -0.06126829,  0.06198983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15670071e-05, 2.18662160e-05, 3.37577315e-07, 2.71251888e-05,
 -2.52001196e-03, 2.13274084e-02, 9.65500185e-03, 1.29038843e-03,
 -4.16272137e-05, 5.42813242e-05, 2.64834539e-05, 1.92687884e-05,
  5.36018246e-02, 1.96963474e-02, 1.42246331e-02, 2.38154435e-04,
 -3.41632558e-06, 2.83841233e-06,-9.80999924e+00,-6.49454337e-02,
 -9.33564366e-03,-5.39845599e-03]


--- Step 1575 ---
qpos:
[ 0.00986323, 0.008096  ,-0.00562046, 0.03351271, 0.0059635 ,-0.0167059 ,
 -0.01571307, 0.03789911, 0.01299584, 0.00592878,-0.01169629, 0.03408089,
  0.81485351,-0.01362057, 1.15312403, 0.04613299, 0.09452371,-0.06402342,
  0.14247297, 0.94352075,-0.03295279, 0.02911915, 0.32838208]

qacc:
[ 2.94104446e-01, 5.46072862e-01,-3.26137473e+00, 8.73953637e+00,
  4.95029656e+00,-2.13686665e+00, 4.48623854e+00,-8.82947905e+00,
 -1.28917585e+00,-3.84024638e-01,-8.84222569e-01, 9.54501017e+00,
  2.79698646e+00, 2.28567801e+00, 1.08280317e+01,-2.34195285e+01,
 -1.51756397e-02,-4.41424832e-02, 5.36554557e-03, 1.24628400e+00,
 -3.21137758e-01, 2.84576699e+00]

qfrc_actuator:
[ 3.25233546e-05, 2.57531581e-04, 2.87539815e-05, 1.05198907e-04,
 -2.42475886e-03, 1.96138008e-02, 8.87728117e-03, 1.21520253e-03,
 -2.66860996e-05, 1.65222316e-04,-5.69036328e-05, 5.25790381e-05,
  4.96783053e-02, 1.77599534e-02, 8.54246980e-04,-1.94434305e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24067506, -0.23606778,  0.04686671, -0.23606778,  0.26956367,
        0.14551201,  0.04686671,  0.14551201,  0.97361951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034523048680332245
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82227411e-01, -1.87559963e-01,  7.11144390e-03, -1.87555047e-01,
        9.82253155e-01,  1.35792097e-03, -7.23992981e-03, -2.16840434e-19,
       -9.99973791e-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([ 0.13039243, -0.08224703,  0.13161251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2928124 ,   6.69424394,   2.89347726,   6.69424394,
        14.39230774, -16.42513469,   2.89347726, -16.42513469,
        45.29340772,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.417547684749538e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86944824e-01,  4.41575991e-02, -1.54887122e-01,  4.36236654e-02,
        9.99024577e-01,  6.84612131e-03,  1.55038350e-01, -8.67361738e-19,
       -9.87908452e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327316, -0.0540601 ,  0.29657303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000448097934935751
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41606568, -0.88004054, -0.22894976, -0.0978574 , -0.2069829 ,
        0.97343824, -0.9040538 ,  0.42741868,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049049 , -0.03636699,  0.30475112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004522483015716311
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22744853e-13, -2.18639269e-13,  1.00000000e+00, -2.68368449e-26,
        1.00000000e+00,  2.18639269e-13, -1.00000000e+00,  0.00000000e+00,
       -1.22744853e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05282054, -0.06126729,  0.06198984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.71795099e-06, 7.03297958e-06, 5.40018584e-06, 1.69460465e-05,
 -2.54410435e-03, 2.14518682e-02, 9.73763961e-03, 1.30534505e-03,
 -7.63867720e-06, 2.67882908e-05, 3.99336336e-05, 3.08853976e-05,
  5.31458596e-02, 1.94223074e-02, 1.36355193e-02, 6.07735090e-05,
 -5.93879129e-06, 4.37880722e-06,-9.80999868e+00,-6.49448577e-02,
 -9.33648483e-03,-5.39779955e-03]


--- Step 1576 ---
qpos:
[ 0.00986324, 0.00809607,-0.00562109, 0.03351375, 0.00596631,-0.01673198,
 -0.01572538, 0.03789668, 0.01299598, 0.00593092,-0.01169603, 0.03408144,
  0.81486031,-0.01361457, 1.15306808, 0.0461305 , 0.09452512,-0.0640214 ,
  0.14247343, 0.94350779,-0.03294131, 0.02911724, 0.32842062]

qacc:
[-2.97829935e+00, 9.25407193e-01,-2.10584809e+00,-4.82368178e-01,
 -1.35572646e+00, 1.93319998e-01,-2.13333835e+00,-5.78841667e+00,
  5.41638390e+00,-4.02089246e-02, 3.48096775e-01,-4.88530319e-01,
  2.65467993e+00, 1.99013993e+00, 1.05566136e+01,-3.28252695e+01,
 -1.34366594e-02,-3.87418402e-02, 1.66119045e-03, 1.02171541e+00,
 -3.10587195e-01, 2.28292304e+00]

qfrc_actuator:
[ 1.50998952e-05, 2.71470975e-04, 1.10272618e-05, 9.60526692e-05,
 -2.45732784e-03, 1.96543223e-02, 8.88406029e-03, 1.22832849e-03,
  5.21461382e-06, 1.58519825e-04,-6.01858925e-05, 5.06389344e-05,
  4.96772780e-02, 1.77898170e-02, 9.06523015e-04,-2.13349187e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24082866, -0.23682396,  0.04373622, -0.23682396,  0.25920667,
        0.09951372,  0.04373622,  0.09951372,  0.77967795,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003459716822866657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82220828e-01, -1.87594929e-01,  7.09845541e-03, -1.87590030e-01,
        9.82246478e-01,  1.35570274e-03, -7.22675578e-03, -2.16840434e-19,
       -9.99973887e-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([ 0.13039561, -0.08224744,  0.13161242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29369102,   6.51206618,   3.284954  ,   6.51206618,
        17.41797376, -20.07029606,   3.284954  , -20.07029606,
        47.08088328,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.572491943913035e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98694876,  0.04408978, -0.15488136,  0.04355671,  0.99902757,
        0.00683533,  0.15503212,  0.        , -0.98790943])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327374, -0.05406016,  0.29657339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004477917527537147
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.17771477e-01, -8.79435058e-01, -2.28168736e-01, -9.79049658e-02,
       -2.06096069e-01,  9.73621604e-01, -9.03261651e-01,  4.29090188e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490456, -0.03636686,  0.30475268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045152786587072946
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.26782595e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.26782595e-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([ 0.0528211 , -0.06126651,  0.06198985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73723670e-05, 1.97205026e-05,-1.50201496e-05,-8.32999374e-06,
 -2.60535942e-03, 2.16223675e-02, 9.78372096e-03, 1.34023421e-03,
  3.16967335e-05, 1.77691434e-05, 8.21115929e-06, 1.18471327e-06,
  5.27242843e-02, 1.92050927e-02, 1.33490731e-02,-1.14195543e-04,
 -8.63378601e-06, 5.99116511e-06,-9.80999800e+00,-6.49439493e-02,
 -9.33742357e-03,-5.39701170e-03]


--- Step 1577 ---
qpos:
[ 0.00986372, 0.00809635,-0.0056219 , 0.03351397, 0.00596911,-0.0167592 ,
 -0.015739  , 0.03789367, 0.01299649, 0.00593328,-0.01169582, 0.0340816 ,
  0.81487184,-0.01360561, 1.15302016, 0.04612884, 0.09452647,-0.06401948,
  0.14247392, 0.94349386,-0.03292852, 0.02911567, 0.32846207]

qacc:
[ 4.21124839e+00,-9.04349323e-01, 7.04788934e+00,-2.09931792e+01,
 -5.43258911e-02, 9.68317978e-01,-3.14244526e+00,-4.09303183e+00,
  3.34830301e+00,-3.71387630e-01, 3.32690297e+00,-9.93404318e+00,
  1.30663916e+00, 1.75192667e+00, 9.30900171e+00,-1.53686384e+01,
 -1.54810183e-02,-2.25678867e-02, 5.43794697e-03, 6.15961536e-01,
 -8.60337834e-02, 1.55634139e+00]

qfrc_actuator:
[ 4.03512031e-05, 2.79661024e-04, 8.48337825e-07, 5.47465338e-05,
 -2.46014469e-03, 1.97259687e-02, 8.87631320e-03, 1.21985033e-03,
  2.39325881e-05, 1.71321591e-04,-6.22996543e-05, 3.15035901e-05,
  4.96759976e-02, 1.78381259e-02, 9.50447656e-04,-2.01367163e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24094264, -0.2370789 ,  0.04297616, -0.2370789 ,  0.26025994,
        0.10656432,  0.04297616,  0.10656432,  0.82880705,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034652010540943656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98221327, -0.18763482,  0.00709015, -0.18762993,  0.98223886,
        0.00135442, -0.00721836,  0.        , -0.99997395])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13039909, -0.08224791,  0.13161239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29477827,   6.34839354,   3.59328394,   6.34839354,
        20.35442929, -23.07298995,   3.59328394, -23.07298995,
        48.05872093,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.7553421758526166e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98695343,  0.04401391, -0.15487315,  0.04348181,  0.99903092,
        0.00682318,  0.15502339,  0.        , -0.9879108 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327437, -0.05406057,  0.29657378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044741076082136037
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42006126, -0.87861975, -0.22710323, -0.09795681, -0.20489104,
        0.97387069, -0.90219344,  0.43133166,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490405, -0.03636734,  0.30475446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045068996027198627
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.66024468e-07,  2.66024247e-07,  1.00000000e+00,  7.07689587e-14,
        1.00000000e+00, -2.66024247e-07, -1.00000000e+00, -1.26217745e-29,
       -2.66024468e-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([ 0.05324123, -0.06185925,  0.06198987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47644166e-05, 1.57548282e-05,-8.23856080e-06,-4.11432236e-05,
 -2.60036789e-03, 2.18113265e-02, 9.86103885e-03, 1.36747237e-03,
  1.96319073e-05, 2.44149428e-05, 2.57860021e-06,-1.80745804e-05,
  5.23350349e-02, 1.90269823e-02, 1.32953533e-02, 1.33177128e-04,
 -1.11960955e-05, 7.50689258e-06,-9.80999730e+00,-6.49427617e-02,
 -9.33841559e-03,-5.39610361e-03]


--- Step 1578 ---
qpos:
[ 0.00986485, 0.00809637,-0.00562237, 0.03351372, 0.00596824,-0.01677946,
 -0.01574679, 0.03789371, 0.01299722, 0.00593513,-0.01169447, 0.03408155,
  0.81480816,-0.01364186, 1.15293251, 0.04613529, 0.09452863,-0.06401495,
  0.1424739 , 0.94349737,-0.03294535, 0.02910658, 0.32845109]

qacc:
[ 5.66570540e+00,-2.29969110e+00, 9.68549837e+00,-1.82226540e+01,
 -3.14696295e+01,-7.47370532e-01, 3.20727838e+00, 3.51377712e+01,
  1.99050433e+00,-4.31698027e+00, 1.53080248e+01,-2.04965285e+01,
 -2.48495525e+01,-2.13197321e+01,-8.26952258e+01, 2.05124090e+02,
  2.05431295e-01, 6.49944254e-01,-1.26150953e-01,-1.41613596e+01,
  1.92082587e+00,-2.81544365e+01]

qfrc_actuator:
[ 7.27710904e-05, 2.48834087e-04, 1.29283227e-05, 3.03624259e-05,
 -2.40969490e-03, 1.97982750e-02, 8.89565495e-03, 1.18081711e-03,
  3.47291041e-05, 1.24668338e-04,-1.03694255e-05, 2.01822916e-05,
  4.96745597e-02, 1.78439975e-02, 9.30162183e-04,-2.11914754e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24103191,  0.2403895 , -0.0175861 ,  0.2403895 ,  0.25136577,
        0.14125659, -0.0175861 ,  0.14125659,  2.17190927,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003469487307627129
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82205071e-01, -1.87677913e-01,  7.08513799e-03, -1.87673030e-01,
        9.82230625e-01,  1.35377973e-03, -7.21331407e-03, -2.16840434e-19,
       -9.99973984e-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([ 0.13040273, -0.08224843,  0.1316124 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29604098, -7.29426196,  0.16110987, -7.29426196,  7.29249601,
       -0.16049879,  0.16110987, -0.16049879,  0.0294457 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.9570537712176084e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98695864,  0.04393244, -0.15486311,  0.04340141,  0.9990345 ,
        0.00681009,  0.15501277,  0.        , -0.98791247])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327503, -0.05406122,  0.2965742 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.27358829,  1.17279523, -0.49656669,  1.17279523,  2.41242725,
        2.68971909, -0.49656669,  2.68971909,  7.62618863,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004470808520236653
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42248668, -0.87775033, -0.22596318, -0.09800115, -0.20360534,
        0.97413584, -0.90105537,  0.43370407,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490347, -0.03636818,  0.30475618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.50441761, -6.29956469,  8.4058476 , -6.29956469, 35.88887663,
       19.02378551,  8.4058476 , 19.02378551, 24.76134602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004511049302422382
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46111924e-13, -1.23055962e-13,  1.00000000e+00, -3.02855397e-26,
        1.00000000e+00,  1.23055962e-13, -1.00000000e+00,  0.00000000e+00,
       -2.46111924e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08658457, -0.10896761,  0.06198986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.31329015e-05,-2.54754710e-05, 1.29004345e-05,-2.47952148e-05,
 -2.54972900e-03, 2.19413933e-02, 9.94659789e-03, 1.35791393e-03,
  1.13714434e-05,-3.33221305e-05, 5.66348899e-05,-1.05444249e-05,
  5.20977932e-02, 1.88845691e-02, 1.28747466e-02,-1.40585909e-05,
 -1.30694192e-05, 8.58519890e-06,-9.80999687e+00,-6.49413303e-02,
 -9.33930272e-03,-5.39514544e-03]


--- Step 1579 ---
qpos:
[ 0.00986602, 0.00809603,-0.00562235, 0.03351353, 0.00596852,-0.01679684,
 -0.01575409, 0.03789368, 0.01299808, 0.00593644,-0.01169269, 0.03408176,
  0.81475709,-0.01367047, 1.15283525, 0.04613289, 0.09453057,-0.06401114,
  0.14247404, 0.94349756,-0.03295588, 0.02909983, 0.32845009]

qacc:
[ 3.29815211e-01,-1.71008681e+00, 5.15693461e+00,-4.64337345e+00,
  9.84326133e+00, 2.26932005e+00,-2.30663046e+00,-1.77962769e+00,
  1.11443300e+00,-1.34478972e+00, 2.66554472e+00, 1.58907144e+00,
  4.37693826e+00, 3.33805467e+00, 1.24356852e+01,-6.43532087e+01,
 -5.83548022e-02,-1.80817671e-01, 3.99211825e-02, 3.16191864e+00,
 -4.30684533e-02, 5.38391204e+00]

qfrc_actuator:
[ 7.36315315e-05, 2.30483895e-04, 3.79063461e-05, 3.38687070e-05,
 -2.39462838e-03, 1.98100827e-02, 8.88912552e-03, 1.17329976e-03,
  4.07802878e-05, 7.84980802e-05, 1.81264858e-06, 3.12931680e-05,
  4.96747242e-02, 1.78358891e-02, 9.60572380e-04,-2.27863093e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.41097600e-01,  2.75368392e-04,  2.41097443e-01,  2.75368392e-04,
        6.77754023e-01, -4.98725228e-04,  2.41097443e-01, -4.98725228e-04,
        2.41098170e-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: -0.0003472636042210603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82211467e-01, -1.87645548e-01,  7.05566963e-03, -1.87640707e-01,
        9.82236809e-01,  1.34790814e-03, -7.18326738e-03,  2.16840434e-19,
       -9.99974200e-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([ 0.13040515, -0.08224804,  0.1316121 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29434705,  1.9642147 ,  7.02490993,  1.9642147 , 24.64907329,
       -4.8525047 ,  7.02490993, -4.8525047 ,  8.65114182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.683912490794581e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86953183e-01,  4.39495606e-02, -1.54893029e-01,  4.34181115e-02,
        9.99033751e-01,  6.81406466e-03,  1.55042839e-01,  8.67361738e-19,
       -9.87907748e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327445, -0.0540582 ,  0.29657382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.27642864,  0.5919523 , -1.13086805,  0.5919523 ,  1.41343983,
        0.07171844, -1.13086805,  0.07171844,  1.31396962,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004489093159452873
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41594681, -0.88005046, -0.22912755, -0.09790962, -0.20715487,
        0.97339641, -0.90410284,  0.42731493,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490317, -0.03636119,  0.30475248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.50377911, -5.96391135,  8.64645228, -5.96391135, 18.64047871,
        5.61230821,  8.64645228,  5.61230821, 14.37488226,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004510555364777587
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01629066e-06,  1.01629067e-06,  1.00000000e+00,  1.03284672e-12,
        1.00000000e+00, -1.01629067e-06, -1.00000000e+00,  0.00000000e+00,
       -1.01629066e-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([ 0.05324632, -0.06185537,  0.06198987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79650509e-06,-3.09807487e-05, 2.04499699e-05, 2.37833781e-06,
 -2.35118471e-03, 2.16061575e-02, 9.64887467e-03, 1.19763585e-03,
  6.36814564e-06,-5.36335766e-05, 1.18729984e-05, 1.14298441e-05,
  5.58582261e-02, 2.11378466e-02, 1.48931046e-02,-5.78081952e-04,
 -3.33310551e-06, 1.29958724e-06,-9.80999770e+00,-6.49426842e-02,
 -9.33889505e-03,-5.39521801e-03]


--- Step 1580 ---
qpos:
[ 0.00986684, 0.00809567,-0.00562188, 0.03351334, 0.00597034,-0.01681267,
 -0.01576116, 0.03789349, 0.01299901, 0.00593773,-0.01169152, 0.03408211,
  0.8147193 ,-0.01369138, 1.15274117, 0.04612758, 0.09453234,-0.0640079 ,
  0.14247429, 0.94349462,-0.0329607 , 0.02909465, 0.3284585 ]

qacc:
[-3.00106290e+00,-1.27646702e+00, 4.52876479e+00,-5.23628142e+00,
  1.32443395e+01, 1.07247626e+00,-2.57611421e-01,-3.83009807e+00,
  5.60217779e-01, 1.92299712e+00,-7.46789989e+00, 1.07965019e+01,
  4.68512478e+00, 3.18114449e+00, 1.33725379e+01,-4.01887986e+01,
 -4.09246251e-02,-1.39979602e-01, 2.52921438e-02, 2.75745652e+00,
 -3.08668904e-01, 5.06571280e+00]

qfrc_actuator:
[ 5.59075312e-05, 2.55330553e-04, 7.03474190e-05, 3.60135555e-05,
 -2.38639027e-03, 1.97868867e-02, 8.88783365e-03, 1.20434884e-03,
  4.39928763e-05, 8.60959679e-05,-2.73457915e-05, 3.77183693e-05,
  4.96813072e-02, 1.78733809e-02, 9.98816101e-04,-2.26154023e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034795440624948277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9822147 , -0.18762971,  0.00702674, -0.18762491,  0.98223983,
        0.00134226, -0.0071538 ,  0.        , -0.99997441])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13040739, -0.08224783,  0.1316118 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29343284,  7.18856932,  1.23232861,  7.18856932,  8.00310564,
       -4.13974974,  1.23232861, -4.13974974, 31.44192511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.527671786444925e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98695009,  0.04394811, -0.15491317,  0.04341654,  0.99903381,
        0.00681473,  0.15506299,  0.        , -0.98790458])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327421, -0.05405581,  0.29657367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044995929112973343
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41223501, -0.88132165, -0.23094253, -0.09784767, -0.20918959,
        0.97296739, -0.905808  ,  0.42368842,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490287, -0.03635576,  0.30475062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004517933100974397
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.45736933e-13, -1.26708106e-13,  1.00000000e+00, -3.11368614e-26,
        1.00000000e+00,  1.26708106e-13, -1.00000000e+00,  0.00000000e+00,
       -2.45736933e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05283029, -0.06125953,  0.06198985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76834628e-05, 1.18575762e-05, 2.86454842e-05, 1.57195873e-06,
 -2.40041457e-03, 2.14397335e-02, 9.62334072e-03, 1.23226033e-03,
  3.37993497e-06,-1.95156361e-05,-3.84150589e-05, 4.75261251e-06,
  5.52348512e-02, 2.07933141e-02, 1.54137621e-02,-1.18432713e-04,
 -8.49642882e-07, 6.20141190e-07,-9.80999905e+00,-6.49442346e-02,
 -9.33856935e-03,-5.39520125e-03]


--- Step 1581 ---
qpos:
[ 0.00986676, 0.00809561,-0.00562116, 0.03351315, 0.00597313,-0.01682945,
 -0.01576847, 0.03789305, 0.01299962, 0.005939  ,-0.01169074, 0.03408252,
  0.81469328,-0.01370555, 1.15265396, 0.04612128, 0.09453398,-0.06400508,
  0.1424746 , 0.94348907,-0.03296088, 0.02909063, 0.3284748 ]

qacc:
[-7.97285474e+00,-2.90695085e-01, 1.62689006e+00,-2.26352789e+00,
  8.25430563e+00,-1.15985202e+00, 3.39634512e+00,-6.85430711e+00,
 -2.76971340e+00, 1.22173498e+00,-4.64710766e+00, 6.35137089e+00,
  4.10580846e+00, 2.84474744e+00, 1.30684374e+01,-3.12037606e+01,
 -3.14770725e-02,-1.07528245e-01, 1.89264819e-02, 2.22663108e+00,
 -3.02587229e-01, 4.23910818e+00]

qfrc_actuator:
[ 9.64497032e-06, 2.88141927e-04, 8.93524146e-05, 3.73761423e-05,
 -2.38310318e-03, 1.97783731e-02, 8.92525696e-03, 1.22314247e-03,
  2.77583711e-05, 9.01478922e-05,-4.49538163e-05, 4.13527951e-05,
  4.96859000e-02, 1.79173852e-02, 9.61067428e-04,-2.26517626e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24145465, -0.23603446,  0.0508732 , -0.23603446,  0.29962261,
        0.26987966,  0.0508732 ,  0.26987966,  1.49360512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034896737209697584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82215019e-01, -1.87629134e-01,  6.99752050e-03, -1.87624373e-01,
        9.82239944e-01,  1.33667819e-03, -7.12404392e-03,  2.16840434e-19,
       -9.99974624e-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([ 0.13040958, -0.0822478 ,  0.13161149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29308155,  7.13226052,  1.52312126,  7.13226052,  8.53073781,
       -5.79552467,  1.52312126, -5.79552467, 34.4315589 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4657522750486985e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.986949  ,  0.04392909, -0.15492547,  0.04339766,  0.99903465,
        0.00681231,  0.15507518,  0.        , -0.98790267])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327424, -0.05405408,  0.29657367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045045243268162247
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41048348, -0.88190723, -0.23182527, -0.09782546, -0.21017406,
        0.97275744, -0.90660548,  0.42197927,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490259, -0.03635185,  0.30475007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045207696316103274
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.83723042e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.83723042e-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([ 0.05283311, -0.06125748,  0.06198984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.67627853e-05, 4.54256903e-05, 2.50358104e-05, 2.89315181e-06,
 -2.47430613e-03, 2.13544781e-02, 9.64968331e-03, 1.25871528e-03,
 -1.61385203e-05,-1.46499042e-05,-2.62351739e-05, 1.55525130e-06,
  5.45750466e-02, 2.04533432e-02, 1.52185876e-02, 2.35104597e-05,
 -5.21210708e-07, 8.48388786e-07,-9.80999959e+00,-6.49450614e-02,
 -9.33871622e-03,-5.39498436e-03]


--- Step 1582 ---
qpos:
[ 0.00986577, 0.00809572,-0.00562018, 0.03351334, 0.00597643,-0.01684813,
 -0.0157768 , 0.03789212, 0.01299969, 0.00594006,-0.0116907 , 0.03408336,
  0.81467749,-0.01371383, 1.15257794, 0.04611637, 0.09453553,-0.06400258,
  0.14247498, 0.94348124,-0.03295726, 0.02908747, 0.32849793]

qacc:
[-7.88143399e+00, 2.82310541e-01,-2.24728818e+00, 8.20964095e+00,
  4.49455265e+00,-6.52073315e-01, 7.21966422e-01,-6.06207403e+00,
 -4.80336027e+00, 2.67509241e+00,-1.17660938e+01, 2.05916044e+01,
  3.46197843e+00, 2.61864115e+00, 1.22558223e+01,-1.90151850e+01,
 -2.43197336e-02,-7.80024732e-02, 1.38678979e-02, 1.79019674e+00,
 -3.00519778e-01, 3.66005579e+00]

qfrc_actuator:
[-3.52853820e-05, 2.89922964e-04, 1.00317780e-04, 5.60220584e-05,
 -2.38282020e-03, 1.97627967e-02, 8.93302252e-03, 1.23475530e-03,
  2.08594986e-07, 5.65784979e-05,-9.10940118e-05, 6.10860992e-05,
  4.96783049e-02, 1.78921414e-02, 9.41187457e-04,-2.13996765e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24167827, -0.23682959,  0.04816773, -0.23682959,  0.27671105,
        0.17224813,  0.04816773,  0.17224813,  1.08858258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003500278706129085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98221307, -0.18764032,  0.00697159, -0.18763559,  0.98223781,
        0.00133181, -0.00709766,  0.        , -0.99997481])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13041191, -0.0822479 ,  0.13161122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29315451,  7.03361727,  1.92829735,  7.03361727,  9.62701762,
       -8.51295054,  1.92829735, -8.51295054, 38.3448157 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.478702483393628e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98694955,  0.04389529, -0.15493155,  0.04336424,  0.99903614,
        0.00680733,  0.15508103,  0.        , -0.98790175])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327446, -0.05405293,  0.2965738 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045057652691241263
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41014769, -0.88200831, -0.23203493, -0.09783886, -0.21039906,
        0.97270745, -0.90675599,  0.42165575,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049023 , -0.03634919,  0.30475042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004520135769680439
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.45617185e-13, -2.18752806e-13,  1.00000000e+00, -5.37294484e-26,
        1.00000000e+00,  2.18752806e-13, -1.00000000e+00,  0.00000000e+00,
       -2.45617185e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05283514, -0.06125588,  0.06198984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.62484511e-05, 3.24570120e-05, 2.35270225e-05, 2.15159221e-05,
 -2.52200631e-03, 2.13871807e-02, 9.66947460e-03, 1.28357227e-03,
 -2.80077216e-05,-4.71738869e-05,-5.23674349e-05, 1.82233820e-05,
  5.39787157e-02, 2.00904485e-02, 1.48574434e-02, 1.99198211e-04,
 -1.64813975e-06, 1.70577234e-06,-9.80999955e+00,-6.49453075e-02,
 -9.33921613e-03,-5.39459552e-03]


--- Step 1583 ---
qpos:
[ 0.0098646 , 0.00809591,-0.00561925, 0.03351344, 0.00598028,-0.01686859,
 -0.01578627, 0.03789066, 0.01299977, 0.00594051,-0.01169046, 0.03408373,
  0.81467101,-0.01371671, 1.15250731, 0.04611021, 0.094537  ,-0.06400032,
  0.14247539, 0.94347148,-0.03295047, 0.02908489, 0.32852687]

qacc:
[-1.63705919e+00, 5.77667946e-02, 3.10143879e-01,-1.81674163e+00,
  4.64290989e+00,-2.68478165e-01,-2.66737349e-01,-5.65137316e+00,
  1.42790828e-01,-2.33217371e+00, 9.16185964e+00,-1.72538499e+01,
  3.18475978e+00, 2.36432223e+00, 1.16801691e+01,-2.94489491e+01,
 -1.90959554e-02,-6.10108581e-02, 8.65266307e-03, 1.47673338e+00,
 -3.17136585e-01, 3.11399420e+00]

qfrc_actuator:
[-4.35576823e-05, 2.73091907e-04, 8.85927671e-05, 4.91551660e-05,
 -2.36653438e-03, 1.97443067e-02, 8.92387523e-03, 1.24238593e-03,
  1.73074200e-06, 1.83907144e-05,-8.28472739e-05, 3.68235335e-05,
  4.96790898e-02, 1.78767774e-02, 9.26066036e-04,-2.27674486e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24188631, -0.23749766,  0.04586769, -0.23749766,  0.2721007 ,
        0.15644666,  0.04586769,  0.15644666,  1.05194923,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003510100277854719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9822093 , -0.1876608 ,  0.00695018, -0.1876561 ,  0.98223389,
        0.00132787, -0.00707589,  0.        , -0.99997497])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13041449, -0.08224812,  0.13161102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29356122,   6.881216  ,   2.41762315,   6.881216  ,
        11.60655108, -12.27594746,   2.41762315, -12.27594746,
        42.2342615 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.550029471166844e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86951441e-01,  4.38486567e-02, -1.54932719e-01,  4.33181590e-02,
        9.99038185e-01,  6.80013208e-03,  1.55081879e-01, -8.67361738e-19,
       -9.87901620e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327482, -0.05405226,  0.29657403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045048561609768896
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.10716383e-01, -8.81802750e-01, -2.31810190e-01, -9.78742352e-02,
       -2.10134714e-01,  9.72761037e-01, -9.06494725e-01,  4.22217139e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490201, -0.03634759,  0.30475133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045168017281896344
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.68697728e-13, -1.57464655e-13,  1.00000000e+00, -5.80568606e-26,
        1.00000000e+00,  1.57464655e-13, -1.00000000e+00,  0.00000000e+00,
       -3.68697728e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05283654, -0.06125464,  0.06198985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.58186728e-06, 7.07200643e-06,-1.38874304e-06,-4.24402856e-06,
 -2.53187595e-03, 2.14642149e-02, 9.71178121e-03, 1.31549263e-03,
  7.14482594e-07,-7.46538500e-05,-7.33059720e-06,-2.77444521e-05,
  5.34680818e-02, 1.97809961e-02, 1.42841897e-02,-6.81280456e-06,
 -3.61034278e-06, 2.94986834e-06,-9.80999918e+00,-6.49450840e-02,
 -9.33992822e-03,-5.39405554e-03]


--- Step 1584 ---
qpos:
[ 0.00986403, 0.00809625,-0.00561844, 0.03351276, 0.0059844 ,-0.01689121,
 -0.01579705, 0.03788864, 0.01299987, 0.00594048,-0.01168958, 0.03408306,
  0.81467288,-0.01371479, 1.15244097, 0.0461024 , 0.0945384 ,-0.06399826,
  0.14247582, 0.94346012,-0.03294108, 0.02908268, 0.32856063]

qacc:
[ 5.25178551e+00,-1.04953710e+00, 7.31084621e+00,-2.06755441e+01,
  2.31635205e+00,-3.42388051e-01,-5.09576048e-01,-5.63844257e+00,
  1.79358388e-01,-4.56116734e+00, 1.96851145e+01,-3.81937153e+01,
  2.85706072e+00, 2.10321387e+00, 1.12556815e+01,-3.03139376e+01,
 -1.59793473e-02,-4.80729447e-02, 4.84530443e-03, 1.19585908e+00,
 -3.05510975e-01, 2.58263212e+00]

qfrc_actuator:
[-1.24355714e-05, 2.80629563e-04, 8.12149437e-05, 9.54297780e-06,
 -2.37637928e-03, 1.97602199e-02, 8.94060795e-03, 1.26561280e-03,
  2.60267745e-06, 1.34122672e-05,-4.26090881e-05,-1.31011097e-05,
  4.96792910e-02, 1.78832313e-02, 8.97941700e-04,-2.37334728e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24207767, -0.2383429 ,  0.04235871, -0.2383429 ,  0.26416382,
        0.12427379,  0.04235871,  0.12427379,  0.94133817,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003519096632889653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98220403, -0.18768904,  0.00693257, -0.18768436,  0.9822285 ,
        0.00132471, -0.007058  ,  0.        , -0.99997509])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13041731, -0.08224843,  0.13161086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29424671,   6.73053765,   2.81174286,   6.73053765,
        13.8763049 , -15.75563365,   2.81174286, -15.75563365,
        45.00889227,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.667091026690441e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98695442,  0.04379107, -0.15493001,  0.04326129,  0.99904071,
        0.00679107,  0.15507877,  0.        , -0.98790211])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132753 , -0.05405205,  0.29657432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004502276905663422
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.12115178e-01, -8.81313448e-01, -2.31187559e-01, -9.79288733e-02,
       -2.09422117e-01,  9.72909201e-01, -9.05853750e-01,  4.23590585e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490162, -0.03634684,  0.30475267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004511424640290945
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23045724e-13, -9.61294721e-14,  1.00000000e+00,  1.18283205e-26,
        1.00000000e+00,  9.61294721e-14, -1.00000000e+00,  0.00000000e+00,
        1.23045724e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05283746, -0.06125368,  0.06198986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.08502660e-05, 1.10062467e-05,-6.24657413e-06,-3.94418758e-05,
 -2.56877233e-03, 2.15701443e-02, 9.78567221e-03, 1.36497325e-03,
  8.69388970e-07,-4.94477962e-05, 2.29459906e-05,-5.39197907e-05,
  5.30027523e-02, 1.95178050e-02, 1.39879557e-02,-4.04670060e-05,
 -5.98997407e-06, 4.38246833e-06,-9.80999862e+00,-6.49444731e-02,
 -9.34078204e-03,-5.39337421e-03]


--- Step 1585 ---
qpos:
[ 0.00986383, 0.00809683,-0.00561781, 0.03351195, 0.00598811,-0.01691579,
 -0.01580956, 0.03788599, 0.01299998, 0.00594007,-0.01168856, 0.03408217,
  0.81467969,-0.01370982, 1.15238567, 0.04609674, 0.09453974,-0.06399631,
  0.14247628, 0.9434477 ,-0.03293019, 0.02908097, 0.32859752]

qacc:
[ 3.30045153e+00, 5.49492433e-01,-9.41569779e-01,-1.22444154e+00,
 -3.52159417e+00, 9.29710806e-01,-4.43545868e+00,-2.24825738e+00,
  9.57331414e-02,-1.34049112e+00, 5.01612723e+00,-8.88006610e+00,
  1.37842008e+00, 1.78488307e+00, 9.80791206e+00,-1.06213382e+01,
 -1.77705635e-02,-3.06616727e-02, 8.76550961e-03, 7.22994563e-01,
 -4.94445344e-02, 1.67819858e+00]

qfrc_actuator:
[ 6.10687201e-06, 3.02675096e-04, 7.65427450e-05, 4.26707489e-06,
 -2.41960080e-03, 1.97978553e-02, 8.95574902e-03, 1.31620440e-03,
  3.07589900e-06,-7.02377697e-06,-3.69584812e-05,-2.44192186e-05,
  4.96735683e-02, 1.78834437e-02, 9.25830226e-04,-2.17865875e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24223781, -0.23945726,  0.03659752, -0.23945726,  0.25508015,
        0.08402733,  0.03659752,  0.08402733,  0.79202793,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003526597728453659
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82197583e-01, -1.87723282e-01,  6.91932818e-03, -1.87718624e-01,
        9.82221955e-01,  1.32242920e-03, -7.04456680e-03,  2.16840434e-19,
       -9.99975187e-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([ 0.1304204 , -0.08224883,  0.13161076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2951703 ,   6.53601955,   3.24036388,   6.53601955,
        17.06731052, -19.71102686,   3.24036388, -19.71102686,
        47.05356215,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.819114702252287e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98695828,  0.04372438, -0.15492428,  0.04319545,  0.99904363,
        0.00678045,  0.15507259,  0.        , -0.98790308])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327584, -0.05405223,  0.29657466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044986468802421596
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41416454, -0.88059785, -0.23025022, -0.09799444, -0.20835607,
        0.97313146, -0.9049115 ,  0.42559978,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049011 , -0.03634679,  0.3047543 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004504445448408188
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.77135991e-07,  7.77135567e-07,  1.00000000e+00,  6.03940019e-13,
        1.00000000e+00, -7.77135567e-07, -1.00000000e+00,  0.00000000e+00,
       -7.77135991e-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([ 0.05325789, -0.06184594,  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:
[ 1.94253642e-05, 2.52122193e-05,-4.54525702e-06,-5.79024888e-06,
 -2.62550255e-03, 2.17162401e-02, 9.86694073e-03, 1.44407172e-03,
  4.82667304e-07,-4.56654143e-05,-3.61104315e-06,-1.36930501e-05,
  5.25799392e-02, 1.92771651e-02, 1.38027362e-02, 2.36941520e-04,
 -8.45247711e-06, 5.83944771e-06,-9.80999797e+00,-6.49435410e-02,
 -9.34171630e-03,-5.39256624e-03]


--- Step 1586 ---
qpos:
[ 0.00986386, 0.00809777,-0.0056179 , 0.03351145, 0.00598793,-0.01693356,
 -0.01581658, 0.03788636, 0.01300044, 0.0059394 ,-0.01168784, 0.03408186,
  0.81461224,-0.01374965, 1.15229892, 0.04610333, 0.0945419 ,-0.06399178,
  0.14247625, 0.9434527 ,-0.03294874, 0.02907165, 0.32858214]

qacc:
[ 1.93708698e+00, 3.10007078e+00,-1.16950200e+01, 1.79683181e+01,
 -3.33472339e+01,-5.27263826e-02, 6.29343050e-01, 3.76962510e+01,
  3.07162796e+00, 1.67759343e+00,-8.92889477e+00, 1.96026088e+01,
 -2.45064584e+01,-2.12034444e+01,-8.30533111e+01, 2.24106950e+02,
  2.06311904e-01, 6.46593872e-01,-1.23833611e-01,-1.40920751e+01,
  1.85573213e+00,-2.80695996e+01]

qfrc_actuator:
[ 1.70838480e-05, 3.15520705e-04, 3.80918850e-05, 1.92577990e-05,
 -2.44677335e-03, 1.98314567e-02, 8.97087406e-03, 1.33024471e-03,
  2.10631680e-05,-1.88965245e-05,-5.18088338e-05, 4.78757534e-06,
  4.96696221e-02, 1.78797601e-02, 9.65260342e-04,-2.00761615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24234891, -0.23848343,  0.04311204, -0.23848343,  0.29518617,
        0.29228057,  0.04311204,  0.29228057,  1.85916126,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035317871755284977
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98219052, -0.18776051,  0.00691165, -0.18775586,  0.98221484,
        0.00132123, -0.0070368 ,  0.        , -0.99997524])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13042372, -0.08224928,  0.13161074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29628961, -7.2937835 ,  0.19121789, -7.2937835 ,  7.29128588,
       -0.1908615 ,  0.19121789, -0.1908615 ,  0.01610024,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.9955647014298976e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98696275,  0.04365171, -0.15491629,  0.04312372,  0.99904681,
        0.00676881,  0.1550641 ,  0.        , -0.98790441])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327645, -0.05405264,  0.29657504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.2774222 ,  1.12552337, -0.60415611,  1.12552337,  3.59751564,
        4.32225933, -0.60415611,  4.32225933,  9.32965204,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044954539863923575
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41636709, -0.87982505, -0.22922986, -0.09805474, -0.20719941,
        0.97337232, -0.90389364,  0.42775728,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490057, -0.03634718,  0.3047559 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.49379652, -6.31900588,  8.37794307, -6.31900588, 37.91965725,
       20.68576664,  8.37794307, 20.68576664, 26.0958936 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004502818707307676
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.07836189e-07, -8.07836147e-07,  1.00000000e+00, -6.52599274e-13,
        1.00000000e+00,  8.07836147e-07, -1.00000000e+00, -1.00974196e-28,
       -8.07836189e-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([ 0.08630949, -0.10851356,  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:
[ 1.15373090e-05, 2.57381495e-05,-3.40160046e-05, 1.57994876e-05,
 -2.63229666e-03, 2.18496576e-02, 9.96889367e-03, 1.48964565e-03,
  1.79853410e-05,-3.87363298e-05,-2.52065939e-05, 2.68590681e-05,
  5.23285838e-02, 1.91213456e-02, 1.32907153e-02, 3.00608105e-04,
 -1.02342679e-05, 6.84455799e-06,-9.80999758e+00,-6.49423333e-02,
 -9.34254717e-03,-5.39171211e-03]


--- Step 1587 ---
qpos:
[ 0.00986437, 0.00809875,-0.00561837, 0.03351149, 0.00598874,-0.0169495 ,
 -0.01582363, 0.03788654, 0.01300111, 0.0059386 ,-0.01168764, 0.03408155,
  0.81455849,-0.01378134, 1.15221391, 0.04610676, 0.09454383,-0.06398798,
  0.14247637, 0.94345401,-0.03296053, 0.02906463, 0.32857782]

qacc:
[ 4.17012965e+00, 2.21777245e+00,-1.01494697e+01, 2.01837349e+01,
  8.41932245e+00, 2.10902590e+00,-3.25978653e+00,-1.19148724e+00,
  1.84992088e+00, 1.26560474e+00,-4.79119661e+00, 5.80040425e+00,
  4.73733909e+00, 3.54957606e+00, 1.20596890e+01,-3.86708792e+01,
 -5.77914771e-02,-1.80447511e-01, 3.86147888e-02, 3.34555310e+00,
 -1.52647981e-01, 5.95870355e+00]

qfrc_actuator:
[ 4.12765497e-05, 3.04887439e-04, 1.54849684e-05, 4.60179713e-05,
 -2.46067243e-03, 1.98546352e-02, 8.96171158e-03, 1.30120600e-03,
  3.14622890e-05,-2.55963449e-05,-7.85782984e-05, 4.33789586e-06,
  4.96683676e-02, 1.79026091e-02, 1.00971779e-03,-1.84396998e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24243076, -0.2376418 ,  0.04794836, -0.2376418 ,  0.31836201,
        0.3763307 ,  0.04794836,  0.3763307 ,  2.10760196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035356023629501757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98219795, -0.18772283,  0.00687986, -0.18771822,  0.98222204,
        0.00131488, -0.00700438,  0.        , -0.99997547])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13042585, -0.08224882,  0.1316104 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29443056, -0.33495163,  7.28673622, -0.33495163, 23.13966093,
        0.72836255,  7.28673622,  0.72836255,  7.32791143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.697854836356953e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86956598e-01,  4.36773623e-02, -1.54948257e-01,  4.31488384e-02,
        9.99045689e-01,  6.77419587e-03,  1.55096268e-01,  8.67361738e-19,
       -9.87899361e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132758 , -0.05404944,  0.29657462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.28043076, -0.63082224,  1.11425591, -0.63082224,  8.64665099,
        4.17029471,  1.11425591,  4.17029471,  3.64139166,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045146052216255635
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.09434815e-01, -8.82200535e-01, -2.32562568e-01, -9.79035874e-02,
       -2.10950789e-01,  9.72581437e-01, -9.07071122e-01,  4.20977410e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490037, -0.03633987,  0.30475203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.50364184, -5.96926304,  8.64259166, -5.96926304, 18.5356253 ,
        5.54752832,  8.64259166,  5.54752832, 14.3352073 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045104491605391095
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.46140944e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.46140944e-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([ 0.05284353, -0.06124891,  0.06198987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45283184e-05,-2.61769896e-06,-2.09426096e-05, 2.69923907e-05,
 -2.45176364e-03, 2.15327032e-02, 9.68558962e-03, 1.30974792e-03,
  1.08952795e-05,-3.23927407e-05,-3.69463779e-05,-2.45910925e-06,
  5.60411598e-02, 2.13850602e-02, 1.49095407e-02,-1.48130398e-04,
 -4.74851850e-06, 1.74522561e-06,-9.80999720e+00,-6.49440504e-02,
 -9.34286933e-03,-5.39187935e-03]


--- Step 1588 ---
qpos:
[ 0.00986482, 0.00809953,-0.00561844, 0.03351184, 0.00599021,-0.01696583,
 -0.01583115, 0.03788643, 0.0130019 , 0.00593775,-0.01168754, 0.03408086,
  0.81451707,-0.01380574, 1.15213469, 0.04610901, 0.09454558,-0.06398472,
  0.14247661, 0.94345216,-0.03296674, 0.02905935, 0.32858298]

qacc:
[-4.99881408e-01,-7.37418338e-01, 9.95105825e-01, 3.67869446e+00,
  5.67447838e+00, 1.78721062e-01,-1.69634804e-01,-3.81775331e+00,
  1.04751905e+00,-5.75415808e-01, 3.59583265e+00,-1.01039130e+01,
  4.20103430e+00, 3.24902954e+00, 1.19846563e+01,-2.97286386e+01,
 -4.29665699e-02,-1.37357291e-01, 2.95892885e-02, 2.73188173e+00,
 -2.04973657e-01, 5.10137170e+00]

qfrc_actuator:
[ 3.75511964e-05, 2.98091629e-04, 3.78365195e-05, 6.17278816e-05,
 -2.45217184e-03, 1.98560661e-02, 8.95905218e-03, 1.28381986e-03,
  3.73064679e-05,-1.14651749e-05,-7.66619331e-05,-1.35643504e-05,
  4.96634837e-02, 1.79241082e-02, 1.01272901e-03,-1.85176708e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24257827, -0.23780101,  0.04790507, -0.23780101,  0.29163963,
        0.24354083,  0.04790507,  0.24354083,  1.45151613,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003542462397162161
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98220201, -0.18770269,  0.00684993, -0.18769812,  0.98222589,
        0.00130902, -0.00697388,  0.        , -0.99997568])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13042792, -0.08224856,  0.13161009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29339243,  7.19363895,  1.20213637,  7.19363895,  7.9459831 ,
       -3.90513238,  1.20213637, -3.90513238, 30.66188303,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.520604861079043e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86952945e-01,  4.36823656e-02, -1.54970110e-01,  4.31536308e-02,
        9.99045470e-01,  6.77592882e-03,  1.55118175e-01, -8.67361738e-19,
       -9.87895922e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327551, -0.05404692,  0.29657443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045261819935093475
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40502935, -0.88367026, -0.23468725, -0.09778631, -0.21334466,
        0.97207093, -0.90905944,  0.41666645,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049003 , -0.03633433,  0.30474995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045186542987513123
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22848856e-13, -1.57400097e-13,  1.00000000e+00, -1.93364219e-26,
        1.00000000e+00,  1.57400097e-13, -1.00000000e+00,  0.00000000e+00,
       -1.22848856e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05284754, -0.06124619,  0.06198985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.03035229e-06,-1.14521718e-05, 2.01576925e-05, 1.53961043e-05,
 -2.49245622e-03, 2.14432119e-02, 9.68468923e-03, 1.30160085e-03,
  6.14177796e-06,-1.16868296e-05,-9.40256095e-06,-2.06148516e-05,
  5.53506769e-02, 2.09998489e-02, 1.48268394e-02, 2.92433089e-06,
 -1.28280210e-06, 6.44405198e-07,-9.80999885e+00,-6.49457569e-02,
 -9.34231822e-03,-5.39191131e-03]


--- Step 1589 ---
qpos:
[ 0.00986487, 0.00810018,-0.00561826, 0.03351271, 0.00599244,-0.01698325,
 -0.01583894, 0.03788609, 0.01300275, 0.00593698,-0.01168726, 0.03408061,
  0.81448705,-0.01382342, 1.15205604, 0.04610755, 0.09454721,-0.0639819 ,
  0.14247694, 0.94344765,-0.03296827, 0.02905537, 0.32859612]

qacc:
[-3.43741286e+00, 2.33592518e-01,-3.32140444e+00, 1.22180366e+01,
  6.61606371e+00,-1.18337935e+00, 3.06089464e+00,-5.78788980e+00,
  5.65549027e-01, 5.40116030e-01,-3.67730813e+00, 1.10874225e+01,
  3.94180296e+00, 2.91232033e+00, 1.20276921e+01,-4.10248267e+01,
 -3.22854155e-02,-1.09259520e-01, 2.14482108e-02, 2.25667620e+00,
 -2.50814402e-01, 4.29140295e+00]

qfrc_actuator:
[ 1.74197495e-05, 2.93819787e-04, 5.10426675e-05, 8.85901320e-05,
 -2.43030270e-03, 1.98636869e-02, 8.99624720e-03, 1.30911128e-03,
  4.04254245e-05, 1.51326056e-05,-5.77391610e-05, 1.17105714e-05,
  4.96613785e-02, 1.79601466e-02, 9.58492285e-04,-2.10518196e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24274569, -0.2384958 ,  0.04522419, -0.2384958 ,  0.28667367,
        0.23166003,  0.04522419,  0.23166003,  1.46443574,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035502230964958975
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82203340e-01, -1.87696645e-01,  6.82404614e-03, -1.87692115e-01,
        9.82227046e-01,  1.30402698e-03, -6.94752417e-03, -2.16840434e-19,
       -9.99975866e-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([ 0.13043011, -0.08224847,  0.13160982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29293885,  7.12625739,  1.5502944 ,  7.12625739,  8.57612965,
       -5.89845899,  1.5502944 , -5.89845899, 34.40645804,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.440280037296664e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98695135,  0.04366961, -0.15498387,  0.04314093,  0.99904603,
        0.00677455,  0.15513186,  0.        , -0.98789377])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327549, -0.05404502,  0.29657441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004532408569834094
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4024915 , -0.88449937, -0.23592682, -0.09771701, -0.21473903,
        0.97177082, -0.91019338,  0.41418356,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490031, -0.03633026,  0.30474915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004522154264324091
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.52129436e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.52129436e-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([ 0.05285051, -0.06124406,  0.06198984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02257066e-05,-5.88307288e-06, 1.38465725e-05, 2.73662867e-05,
 -2.50366581e-03, 2.14708592e-02, 9.74542250e-03, 1.34149584e-03,
  3.28798387e-06, 1.72724926e-05, 1.46481868e-05, 2.40506831e-05,
  5.47319429e-02, 2.06717443e-02, 1.44853556e-02,-1.91589235e-04,
 -3.73984848e-07, 6.06331289e-07,-9.80999955e+00,-6.49467377e-02,
 -9.34231809e-03,-5.39177199e-03]


--- Step 1590 ---
qpos:
[ 0.00986503, 0.0081007 ,-0.00561816, 0.03351358, 0.00599506,-0.01700253,
 -0.01584757, 0.03788536, 0.01300398, 0.00593622,-0.01168675, 0.03408066,
  0.81446723,-0.01383512, 1.15198177, 0.04610427, 0.09454874,-0.06397941,
  0.14247733, 0.94344088,-0.03296596, 0.02905234, 0.32861604]

qacc:
[ 9.05909988e-01,-7.77292832e-03,-2.07671471e-01, 2.92717944e-01,
  3.24440742e+00,-8.93560238e-01, 1.28288205e+00,-5.35538744e+00,
  3.31233957e+00,-2.69270821e-02,-1.16284661e+00, 6.05525908e+00,
  3.48187259e+00, 2.64278948e+00, 1.18577598e+01,-3.22748230e+01,
 -2.49064664e-02,-8.32288032e-02, 1.54668464e-02, 1.83349128e+00,
 -2.65178037e-01, 3.64178910e+00]

qfrc_actuator:
[ 2.33075614e-05, 2.73323628e-04, 4.09948606e-05, 8.62850816e-05,
 -2.43628990e-03, 1.98758904e-02, 9.02184221e-03, 1.32456033e-03,
  5.96697181e-05, 1.36060301e-05,-4.65954629e-05, 2.67071686e-05,
  4.96659068e-02, 1.79848101e-02, 9.50053149e-04,-2.14789464e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24292   , -0.2391202 ,  0.04279787, -0.2391202 ,  0.27144923,
        0.1593985 ,  0.04279787,  0.1593985 ,  1.13351114,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000355827440371974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98220241, -0.1877023 ,  0.00680203, -0.1876978 ,  0.98222596,
        0.00129986, -0.00692511,  0.        , -0.99997602])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13043246, -0.08224852,  0.1316096 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29292657,  7.04362407,  1.89053903,  7.04362407,  9.50098498,
       -8.22661321,  1.89053903, -8.22661321, 37.9430056 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.438078495682117e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98695143,  0.04364189, -0.15499115,  0.0431135 ,  0.99904724,
        0.00677056,  0.15513896,  0.        , -0.98789266])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327568, -0.05404367,  0.29657452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045344369967882696
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.01596434e-01, -8.84781051e-01, -2.36395425e-01, -9.77048134e-02,
       -2.15259301e-01,  9.71656937e-01, -9.10589959e-01,  4.13310931e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490024, -0.03632738,  0.30474933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004521977938646976
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22758563e-13, -3.45258458e-14,  1.00000000e+00, -4.23834320e-27,
        1.00000000e+00,  3.45258458e-14, -1.00000000e+00,  0.00000000e+00,
       -1.22758563e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05285264, -0.0612424 ,  0.06198984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.30540326e-06,-1.97878731e-05,-8.62160273e-06,-1.54841213e-06,
 -2.54811005e-03, 2.15388338e-02, 9.78489985e-03, 1.36855008e-03,
  1.93399650e-05, 1.22179541e-05, 1.73550321e-05, 1.67133822e-05,
  5.41668091e-02, 2.03606619e-02, 1.44493532e-02,-4.77980222e-05,
 -1.03767943e-06, 1.22469208e-06,-9.80999967e+00,-6.49471243e-02,
 -9.34268074e-03,-5.39147181e-03]


--- Step 1591 ---
qpos:
[ 0.00986526, 0.00810115,-0.00561788, 0.0335137 , 0.00599777,-0.01702452,
 -0.01585742, 0.03788414, 0.01300543, 0.0059356 ,-0.01168638, 0.03408057,
  0.81445613,-0.01384171, 1.15192041, 0.04610365, 0.09455019,-0.06397715,
  0.14247776, 0.94343214,-0.03296054, 0.02904997, 0.3286419 ]

qacc:
[ 6.11591645e-01,-2.10977585e+00, 1.05743865e+01,-2.38020536e+01,
  8.73730120e-01,-1.18179879e+00, 1.05452452e+00,-5.50304633e+00,
  1.93737216e+00, 2.57907127e-01,-4.48831059e-02,-2.43705442e+00,
  2.81868789e+00, 2.48188003e+00, 1.09713862e+01,-1.07759445e+01,
 -1.97025547e-02,-5.73712048e-02, 1.12504328e-02, 1.45839689e+00,
 -2.61942319e-01, 3.17747929e+00]

qfrc_actuator:
[ 2.67153336e-05, 2.78656253e-04, 5.27172182e-05, 4.90537251e-05,
 -2.45890661e-03, 1.98742826e-02, 9.04116206e-03, 1.33435846e-03,
  7.04991159e-05, 1.29785902e-05,-5.80128350e-05, 1.77468708e-05,
  4.96687865e-02, 1.79829543e-02, 1.01666296e-03,-1.90483407e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24307848, -0.23965448,  0.04065564, -0.23965448,  0.26320418,
        0.11863577,  0.04065564,  0.11863577,  0.94240562,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003565570198438223
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98219968, -0.18771724,  0.00678468, -0.18771276,  0.98222311,
        0.00129665, -0.00690747,  0.        , -0.99997614])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13043504, -0.08224868,  0.13160945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29326101,   6.9129954 ,   2.32425274,   6.9129954 ,
        11.17139511, -11.53468502,   2.32425274, -11.53468502,
        41.60072817,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.497521199828167e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98695288,  0.04360143, -0.15499332,  0.04307351,  0.99904901,
        0.00676436,  0.15514085,  0.        , -0.98789236])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327603, -0.05404282,  0.29657473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045337565622534116
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4018782 , -0.88467589, -0.23631012, -0.097736  , -0.21515146,
        0.97167769, -0.91046229,  0.41359209,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490011, -0.0363255 ,  0.30475016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045189478216688117
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.68522630e-13, -3.45489966e-14,  1.00000000e+00, -1.27320871e-26,
        1.00000000e+00,  3.45489966e-14, -1.00000000e+00,  0.00000000e+00,
       -3.68522630e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05285413, -0.0612411 ,  0.06198985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55053323e-06,-7.60054374e-06, 6.50987898e-06,-3.84113060e-05,
 -2.58958711e-03, 2.16306415e-02, 9.84694197e-03, 1.39806688e-03,
  1.13801480e-05, 1.05377683e-05,-6.17459427e-06,-7.51112976e-06,
  5.36596282e-02, 2.00602493e-02, 1.42989977e-02, 2.86208003e-04,
 -2.60450444e-06, 2.23787864e-06,-9.80999943e+00,-6.49470287e-02,
 -9.34326863e-03,-5.39102671e-03]


--- Step 1592 ---
qpos:
[ 0.00986587, 0.00810155,-0.00561752, 0.03351407, 0.00600058,-0.01704928,
 -0.01586855, 0.03788242, 0.01300665, 0.00593505,-0.01168612, 0.03408002,
  0.81445265,-0.01384372, 1.15187125, 0.04610574, 0.09455158,-0.06397505,
  0.14247822, 0.94342167,-0.03295256, 0.02904806, 0.32867294]

qacc:
[ 3.37328524e+00, 2.21083776e-01,-1.92858921e+00, 6.12820194e+00,
  8.04176249e-01,-1.14258487e+00, 8.83285287e-01,-5.49364099e+00,
 -1.99500641e+00,-5.28994177e-01, 3.94064373e+00,-1.16097112e+01,
  2.37194569e+00, 2.34074403e+00, 9.83954991e+00,-8.31043638e+00,
 -1.59249455e-02,-3.98493177e-02, 7.19353393e-03, 1.17714201e+00,
 -2.71263126e-01, 2.77529318e+00]

qfrc_actuator:
[ 4.63806288e-05, 2.81711998e-04, 5.95358764e-05, 6.26239130e-05,
 -2.47362292e-03, 1.98837435e-02, 9.05742666e-03, 1.34101540e-03,
  5.85313441e-05, 1.27787985e-05,-6.49222146e-05,-5.25233732e-06,
  4.96757683e-02, 1.79991513e-02, 1.02085990e-03,-1.77810468e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24319953, -0.24006264,  0.03893504, -0.24006264,  0.26024779,
        0.10511488,  0.03893504,  0.10511488,  0.89130877,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035711264065229476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98219549, -0.18773959,  0.0067729 , -0.18773512,  0.98221884,
        0.00129456, -0.00689551,  0.        , -0.99997623])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13043793, -0.08224894,  0.13160937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29387488,   6.69459405,   2.89534477,   6.69459405,
        14.33513757, -16.28075374,   2.89534477, -16.28075374,
        44.93810918,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.604067969913096e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86955454e-01,  4.35497349e-02, -1.54991461e-01,  4.30224655e-02,
        9.99051260e-01,  6.75624698e-03,  1.55138648e-01,  8.67361738e-19,
       -9.87892707e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327649, -0.05404239,  0.29657502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045319228499893216
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.02742835e-01, -8.84380647e-01, -2.35942960e-01, -9.77851131e-02,
       -2.14725760e-01,  9.71766906e-01, -9.10074876e-01,  4.14443868e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489997, -0.0363245 ,  0.30475133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004513714046397582
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.53348856e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.53348856e-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([ 0.05285511, -0.0612401 ,  0.06198986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.97634004e-05,-1.51514405e-06, 4.71227257e-06, 1.27200641e-05,
 -2.60934530e-03, 2.17767331e-02, 9.92451158e-03, 1.42905803e-03,
 -1.16416870e-05, 4.12292126e-06,-5.74879887e-06,-2.29068391e-05,
  5.32302437e-02, 1.98202387e-02, 1.36586282e-02, 2.79920588e-04,
 -4.68086319e-06, 3.50026066e-06,-9.80999899e+00,-6.49465455e-02,
 -9.34398908e-03,-5.39045523e-03]


--- Step 1593 ---
qpos:
[ 0.00986671, 0.00810187,-0.00561733, 0.03351461, 0.00600422,-0.0170757 ,
 -0.01588027, 0.03788036, 0.01300807, 0.00593483,-0.01168609, 0.03407953,
  0.81445614,-0.01384145, 1.15182892, 0.04610817, 0.09455291,-0.06397306,
  0.1424787 , 0.94340963,-0.03294237, 0.02904638, 0.32870864]

qacc:
[ 2.02342872e+00, 7.38582513e-01,-3.58199295e+00, 7.09563511e+00,
  7.19625781e+00,-1.23657183e+00, 2.64644857e+00,-6.35487282e+00,
  1.67473108e+00, 1.19560557e+00,-3.84716110e+00, 4.86142870e+00,
  2.16027249e+00, 2.23381869e+00, 8.99340685e+00,-1.68938537e+01,
 -1.27515462e-02,-2.80604022e-02, 3.03838711e-03, 9.86979866e-01,
 -3.05840256e-01, 2.49207580e+00]

qfrc_actuator:
[ 5.77051829e-05, 2.65656244e-04, 4.56828590e-05, 7.04715023e-05,
 -2.43037341e-03, 1.99187364e-02, 9.07239619e-03, 1.32824531e-03,
  6.87494314e-05, 4.83359086e-05,-6.91127583e-05,-8.12071235e-07,
  4.96849975e-02, 1.80246898e-02, 9.87208078e-04,-1.82878806e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24328063, -0.24006151,  0.03944535, -0.24006151,  0.26634984,
        0.14039749,  0.03944535,  0.14039749,  1.09772937,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003574841698184062
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98219007, -0.18776816,  0.00676621, -0.18776371,  0.98221338,
        0.00129349, -0.00688874,  0.        , -0.99997627])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13044114, -0.08224929,  0.13160935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29472245,   6.44991084,   3.40758356,   6.44991084,
        18.30092477, -20.83265822,   3.40758356, -20.83265822,
        46.72700214,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.746172881081598e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86958951e-01,  4.34881722e-02, -1.54986477e-01,  4.29616851e-02,
        9.99053942e-01,  6.74646113e-03,  1.55133242e-01, -8.67361738e-19,
       -9.87893556e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327704, -0.05404232,  0.29657536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045295475641833675
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.03965337e-01, -8.83968111e-01, -2.35398356e-01, -9.78422436e-02,
       -2.14101100e-01,  9.71898973e-01, -9.09526746e-01,  4.15645400e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489982, -0.03632422,  0.3047527 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004506822041747127
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23171385e-13, -1.57813337e-13,  1.00000000e+00, -1.94380873e-26,
        1.00000000e+00,  1.57813337e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23171385e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05285569, -0.06123932,  0.06198987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18846532e-05,-1.53993637e-05,-1.31566918e-05, 8.18980332e-06,
 -2.57073701e-03, 2.19510858e-02, 1.00033674e-02, 1.44144390e-03,
  9.88823359e-06, 3.57113627e-05,-4.83328359e-06, 3.97479913e-06,
  5.28589027e-02, 1.96175022e-02, 1.30156519e-02, 9.45555372e-05,
 -7.01142272e-06, 4.89697733e-06,-9.80999844e+00,-6.49457483e-02,
 -9.34479613e-03,-5.38976817e-03]


--- Step 1594 ---
qpos:
[ 0.00986664, 0.00810199,-0.00561698, 0.03351524, 0.0060086 ,-0.01710351,
 -0.01589285, 0.03787787, 0.01300925, 0.00593493,-0.01168616, 0.03407943,
  0.81446596,-0.01383525, 1.15179181, 0.04611037, 0.0945542 ,-0.06397116,
  0.14247917, 0.94339627,-0.03293032, 0.02904479, 0.32874835]

qacc:
[-7.93608520e+00,-5.63267162e-01, 1.29747287e+00,-3.82105938e-02,
  6.26414950e+00,-3.40109627e-01, 3.57228191e-01,-5.42326252e+00,
 -2.06344959e+00, 1.52231458e+00,-6.47426699e+00, 1.32165947e+01,
  1.94388809e+00, 2.06416098e+00, 8.40495403e+00,-1.82420137e+01,
 -1.11719563e-02,-2.08730504e-02,-1.21429448e-05, 8.10183003e-01,
 -3.07497564e-01, 2.13632986e+00]

qfrc_actuator:
[ 1.07667910e-05, 2.55948410e-04, 5.51529297e-05, 7.48511148e-05,
 -2.40638357e-03, 1.99690471e-02, 9.08642555e-03, 1.32161242e-03,
  5.64461163e-05, 6.95584623e-05,-7.14981710e-05, 1.97719135e-05,
  4.96847069e-02, 1.80187743e-02, 1.00545306e-03,-1.86038087e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24335309, -0.24022402,  0.03889913, -0.24022402,  0.26376385,
        0.12604797,  0.03889913,  0.12604797,  1.02177021,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035781555848634397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82183447e-01, -1.87802977e-01,  6.76158735e-03, -1.87798527e-01,
        9.82206721e-01,  1.29285028e-03, -6.88407767e-03,  2.16840434e-19,
       -9.99976304e-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([ 0.13044456, -0.08224972,  0.13160937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29577208,   6.23758727,   3.78428266,   6.23758727,
        22.06906112, -24.35063338,   3.78428266, -24.35063338,
        47.43262613,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.91497519271613e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98696322,  0.0434177 , -0.15497905,  0.04289212,  0.99905701,
        0.00673519,  0.15512533,  0.        , -0.9878948 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327764, -0.05404259,  0.29657573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004526680618644161
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40553472, -0.88343956, -0.23468306, -0.09790647, -0.21328493,
        0.97207194, -0.90882117,  0.41718592,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489957, -0.03632455,  0.30475423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044987337711242803
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.27248861e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.27248861e-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([ 0.05285595, -0.06123873,  0.06198989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.66062808e-05,-2.06994878e-05, 4.94355359e-06, 3.42089977e-06,
 -2.58859520e-03, 2.20854335e-02, 1.00477692e-02, 1.45198381e-03,
 -1.20105041e-05, 4.03810206e-05, 4.53768532e-06, 2.20258565e-05,
  5.25098713e-02, 1.93968708e-02, 1.26935336e-02, 4.56929304e-05,
 -9.50600677e-06, 6.40114030e-06,-9.80999782e+00,-6.49446943e-02,
 -9.34567994e-03,-5.38896604e-03]


--- Step 1595 ---
qpos:
[ 0.00986602, 0.00810195,-0.00561652, 0.03351592, 0.00601304,-0.01713219,
 -0.0159068 , 0.03787482, 0.01300959, 0.00593463,-0.01168563, 0.03407927,
  0.8144794 ,-0.01382648, 1.15176059, 0.04611307, 0.09455543,-0.06396931,
  0.14247966, 0.94338207,-0.0329173 , 0.02904343, 0.3287905 ]

qacc:
[-4.92587311e+00,-3.73209331e-01, 8.64649604e-01,-1.42363752e-01,
  5.86179962e-01, 1.53001371e+00,-4.80478610e+00,-1.95058267e+00,
 -7.41472162e+00,-2.30701659e+00, 7.69910675e+00,-9.30716362e+00,
  7.99148160e-01, 1.80887797e+00, 7.20366808e+00,-1.25654916e+01,
 -1.45991672e-02,-1.34253044e-02, 4.22027334e-03, 4.49552714e-01,
 -7.98425709e-02, 1.30716944e+00]

qfrc_actuator:
[-1.68274411e-05, 2.50201739e-04, 6.05907592e-05, 7.71783265e-05,
 -2.41192990e-03, 2.00111872e-02, 9.06488304e-03, 1.31888896e-03,
  1.32261061e-05, 1.10500909e-05,-5.50863952e-05, 1.41730979e-05,
  4.96785119e-02, 1.80103918e-02, 1.03343058e-03,-1.82681926e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24341613, -0.24052686,  0.03739308, -0.24052686,  0.25839444,
        0.09634632,  0.03739308,  0.09634632,  0.86315311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035810350335803974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98217582, -0.18784298,  0.00675866, -0.18783853,  0.98219907,
        0.00129257, -0.00688115,  0.        , -0.99997632])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13044816, -0.08225021,  0.13160941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29699655,   4.81503157,   5.48284868,   4.81503157,
        46.57582237, -34.49462085,   5.48284868, -34.49462085,
        37.59013396,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.1030774126564025e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86968114e-01,  4.33395785e-02, -1.54969749e-01,  4.28150111e-02,
        9.99060399e-01,  6.72264021e-03,  1.55115496e-01,  8.67361738e-19,
       -9.87896342e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327826, -0.05404314,  0.29657612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004523539118394076
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40736276, -0.88282231, -0.23383829, -0.09797327, -0.21232424,
        0.9722755 , -0.90799604,  0.41897874,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489922, -0.03632538,  0.30475587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004489841455453872
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82049132e-07, -1.82049218e-07,  1.00000000e+00,  3.31419021e-14,
        1.00000000e+00,  1.82049218e-07, -1.00000000e+00,  0.00000000e+00,
        1.82049132e-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([ 0.05327599, -0.06183094,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.89305020e-05,-1.61799522e-05, 1.88434279e-06, 1.67733250e-06,
 -2.63063776e-03, 2.21980620e-02, 1.00695327e-02, 1.47096186e-03,
 -4.35481797e-05,-3.40489921e-05, 2.60754437e-05,-3.28178924e-06,
  5.21876148e-02, 1.91922056e-02, 1.24606158e-02, 9.10462696e-05,
 -1.19459919e-05, 7.88399636e-06,-9.80999717e+00,-6.49434210e-02,
 -9.34661256e-03,-5.38805557e-03]


--- Step 1596 ---
qpos:
[ 0.00986576, 0.00810212,-0.0056167 , 0.03351627, 0.00601382,-0.01715313,
 -0.01591521, 0.03787477, 0.0130094 , 0.00593401,-0.01168544, 0.03407946,
  0.81441778,-0.01386292, 1.15168542, 0.04612357, 0.09455744,-0.06396479,
  0.14247961, 0.94338548,-0.03293445, 0.02903406, 0.32877984]

qacc:
[ 3.16475923e+00, 1.39473981e+00,-3.23022674e+00,-1.41480626e+00,
 -3.14688024e+01, 9.99704132e-01,-1.26698797e+00, 3.85035105e+01,
 -4.58426595e+00, 1.22526123e+00,-6.36899629e+00, 1.29102758e+01,
 -2.45400563e+01,-2.16888217e+01,-8.80726115e+01, 2.14834756e+02,
  1.92611170e-01, 6.66687814e-01,-1.35321004e-01,-1.44900058e+01,
  1.79285917e+00,-2.83742857e+01]

qfrc_actuator:
[ 2.70884506e-06, 2.64612749e-04, 2.81071577e-05, 6.05248535e-05,
 -2.43483151e-03, 2.00484740e-02, 9.05836193e-03, 1.31880652e-03,
 -1.23328919e-05,-2.36904549e-05,-8.13158742e-05, 2.86596325e-05,
  4.96687895e-02, 1.80003129e-02, 1.04569782e-03,-1.96783017e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24345597, -0.23827817,  0.0499432 , -0.23827817,  0.33930197,
        0.4572797 ,  0.0499432 ,  0.4572797 ,  2.42512974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003582852669711274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98216769, -0.18788548,  0.00675842, -0.18788104,  0.98219094,
        0.00129283, -0.00688097,  0.        , -0.99997633])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1304519 , -0.08225074,  0.13160948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29836203, -7.29568308,  0.19772888, -7.29568308,  7.29301214,
       -0.19739722,  0.19772888, -0.19739722,  0.01491629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.303091994649353e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86973420e-01,  4.32567109e-02, -1.54959106e-01,  4.27332226e-02,
        9.99063990e-01,  6.70930123e-03,  1.55104285e-01,  8.67361738e-19,
       -9.87898102e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327891, -0.05404387,  0.29657652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.28142379,  1.14129069, -0.58266842,  1.14129069,  3.29434931,
        3.94277957, -0.58266842,  3.94277957,  9.00426826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004520890533870925
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40924108, -0.88218495, -0.23296232, -0.09803511, -0.21133045,
        0.97248576, -0.90714434,  0.42081962,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489881, -0.03632649,  0.30475745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.48752678, -6.29665188,  8.38691798, -6.29665188, 36.15485547,
       19.27027709,  8.38691798, 19.27027709, 24.95508528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004497945820085836
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23414451e-13, -1.23414451e-13,  1.00000000e+00, -1.52311266e-26,
        1.00000000e+00,  1.23414451e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23414451e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08665295, -0.10891724,  0.06198989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87057620e-05, 5.81063366e-06,-3.55402482e-05,-1.72500737e-05,
 -2.65711482e-03, 2.22806124e-02, 1.01321776e-02, 1.49871241e-03,
 -2.68100833e-05,-4.85443147e-05,-3.01646570e-05, 1.38674477e-05,
  5.19966610e-02, 1.90534529e-02, 1.21794774e-02,-7.45375491e-05,
 -1.35290732e-05, 8.81521724e-06,-9.80999682e+00,-6.49419406e-02,
 -9.34742693e-03,-5.38710417e-03]


--- Step 1597 ---
qpos:
[ 0.00986573, 0.00810245,-0.00561728, 0.03351607, 0.00601508,-0.01717177,
 -0.01592309, 0.03787471, 0.01300926, 0.00593333,-0.0116857 , 0.03408013,
  0.81436749,-0.01389243, 1.15160002, 0.0461254 , 0.09455921,-0.06396103,
  0.14247973, 0.94338599,-0.03294566, 0.02902715, 0.32877787]

qacc:
[ 2.05484276e+00, 1.54036443e-01, 2.08171823e+00,-1.11811433e+01,
  4.19903750e+00, 1.48977591e+00,-8.42142208e-01,-1.99708570e+00,
  3.33957720e-01, 2.19339035e+00,-1.00088959e+01, 1.92897157e+01,
  3.93003260e+00, 3.04717717e+00, 1.09936272e+01,-6.06312722e+01,
 -5.67575715e-02,-1.87973690e-01, 4.15251326e-02, 3.02949454e+00,
  8.82937003e-02, 4.70484160e+00]

qfrc_actuator:
[ 1.43176004e-05, 2.73062033e-04, 9.07049620e-06, 3.28288870e-05,
 -2.46443301e-03, 2.00745748e-02, 9.07224710e-03, 1.29922450e-03,
 -9.52958689e-06,-8.59286459e-06,-9.69266815e-05, 5.48310158e-05,
  4.96692279e-02, 1.80182118e-02, 1.05813733e-03,-2.07907376e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2434736 , -0.23844828,  0.04921192, -0.23844828,  0.32120885,
        0.37665339,  0.04921192,  0.37665339,  2.06848579,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035836568842393865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98217397, -0.18785357,  0.00673244, -0.18784916,  0.98219705,
        0.00128764, -0.00685447,  0.        , -0.99997651])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13045436, -0.08225037,  0.13160923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29633752,  1.78665071,  7.07420811,  1.78665071, 25.05290346,
       -4.48456996,  7.07420811, -4.48456996,  8.42895335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.002942465820053e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86967896e-01,  4.32730619e-02, -1.54989723e-01,  4.27491667e-02,
        9.99063282e-01,  6.71316822e-03,  1.55135041e-01,  8.67361738e-19,
       -9.87893273e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327821, -0.05404092,  0.29657608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.28459147,  0.6006552 , -1.13551247,  0.6006552 ,  1.419511  ,
        0.07136876, -1.13551247,  0.07136876,  1.3223436 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004540822430315479
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.01916426e-01, -8.84622953e-01, -2.36443266e-01, -9.78036250e-02,
       -2.15266971e-01,  9.71645296e-01, -9.10438157e-01,  4.13645213e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489857, -0.03631967,  0.30475355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.48222507, -5.95710855,  8.62495798, -5.95710855, 18.64110997,
        5.63519998,  8.62495798,  5.63519998, 14.37435974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004493816973089803
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.76805573e-07,  5.76804977e-07,  1.00000000e+00,  3.32704325e-13,
        1.00000000e+00, -5.76804977e-07, -1.00000000e+00,  0.00000000e+00,
       -5.76805573e-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([ 0.05328082, -0.06182724,  0.0619899 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21454458e-05, 3.62045787e-06,-2.28117703e-05,-2.90138787e-05,
 -2.50319825e-03, 2.19202981e-02, 9.86964321e-03, 1.32925725e-03,
  2.02320648e-06,-1.76752723e-05,-2.88682042e-05, 2.33189617e-05,
  5.57504694e-02, 2.13324833e-02, 1.43903887e-02,-5.75885645e-04,
 -3.36608534e-06, 1.33425155e-06,-9.80999761e+00,-6.49433358e-02,
 -9.34696578e-03,-5.38716773e-03]


--- Step 1598 ---
qpos:
[ 0.0098655 , 0.00810286,-0.00561754, 0.0335155 , 0.00601685,-0.01719033,
 -0.01593122, 0.03787439, 0.01300949, 0.00593306,-0.01168613, 0.03408103,
  0.81432927,-0.0139149 , 1.15151948, 0.0461257 , 0.09456083,-0.06395782,
  0.14247995, 0.94338361,-0.03295146, 0.0290219 , 0.32878457]

qacc:
[-1.79514916e+00,-1.51400476e+00, 7.14906035e+00,-1.41598097e+01,
  4.29591371e+00, 2.92387710e-01, 1.49881413e-01,-4.09975194e+00,
  3.32108683e+00, 1.45464574e+00,-5.39708412e+00, 9.33702555e+00,
  4.17736245e+00, 3.02444072e+00, 1.17499635e+01,-3.08627174e+01,
 -3.91409566e-02,-1.40906592e-01, 2.69710216e-02, 2.65395176e+00,
 -2.11933114e-01, 4.66842036e+00]

qfrc_actuator:
[ 3.39930879e-06, 2.95663598e-04, 3.36209883e-05, 1.66251528e-05,
 -2.46524309e-03, 2.00785586e-02, 9.08340566e-03, 1.30526462e-03,
  9.93928579e-06, 5.40277757e-05,-8.81671234e-05, 6.99688921e-05,
  4.96760143e-02, 1.80543509e-02, 1.04792524e-03,-1.96382614e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24354735, -0.23891242,  0.04728812, -0.23891242,  0.29125644,
        0.24103929,  0.04728812,  0.24103929,  1.46134329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003587016757222626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98217753, -0.18783582,  0.00670913, -0.18783143,  0.98220044,
        0.00128305, -0.00683071,  0.        , -0.99997667])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13045667, -0.08225016,  0.131609  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29517626,  7.19875577,  1.18216415,  7.19875577,  7.93213891,
       -3.87876636,  1.18216415, -3.87876636, 30.9148163 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.820076534114947e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86964583e-01,  4.32733704e-02, -1.55010735e-01,  4.27493285e-02,
        9.99063269e-01,  6.71412628e-03,  1.55156075e-01, -8.67361738e-19,
       -9.87889970e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327788, -0.05403856,  0.29657586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004552811691231251
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.97445088e-01, -8.86068423e-01, -2.38579447e-01, -9.76418342e-02,
       -2.17683772e-01,  9.71122983e-01, -9.12416284e-01,  4.09263394e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489837, -0.03631432,  0.30475145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045017837246115466
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23309236e-13,  2.69738954e-14,  1.00000000e+00,  3.32613044e-27,
        1.00000000e+00, -2.69738954e-14, -1.00000000e+00,  0.00000000e+00,
       -1.23309236e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05286459, -0.06123213,  0.06198989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05692653e-05, 1.86704866e-05, 2.14877792e-05,-1.74020435e-05,
 -2.52859254e-03, 2.18100487e-02, 9.85416739e-03, 1.33622425e-03,
  1.95181308e-05, 4.77990802e-05, 2.36886554e-06, 1.38359385e-05,
  5.51901045e-02, 2.10226682e-02, 1.48937431e-02,-2.68389061e-05,
 -9.96169040e-07, 6.58152852e-07,-9.80999894e+00,-6.49449676e-02,
 -9.34668252e-03,-5.38718060e-03]


--- Step 1599 ---
qpos:
[ 0.00986514, 0.00810343,-0.00561757, 0.03351508, 0.00601871,-0.01720984,
 -0.01594023, 0.03787366, 0.01300961, 0.00593346,-0.01168714, 0.03408141,
  0.81430189,-0.01393106, 1.15144386, 0.04612455, 0.09456233,-0.06395506,
  0.14248026, 0.94337879,-0.03295279, 0.02901789, 0.32879862]

qacc:
[-1.12686929e+00,-1.58975398e-01, 2.13429193e-01, 1.92381355e+00,
  7.26368309e-01, 3.31202350e-01,-1.24850421e+00,-3.88451733e+00,
 -1.03006913e+00, 1.47210781e+00,-1.73800916e+00,-6.87811535e+00,
  3.74910315e+00, 2.72844467e+00, 1.15391030e+01,-3.00050336e+01,
 -2.95079873e-02,-1.09107398e-01, 2.00765228e-02, 2.16521721e+00,
 -2.37189237e-01, 3.95142644e+00]

qfrc_actuator:
[-2.93553684e-06, 3.09003651e-04, 4.82698364e-05, 2.51077612e-05,
 -2.48449006e-03, 2.00883237e-02, 9.09350426e-03, 1.32691665e-03,
  3.54694896e-06, 9.14708003e-05,-1.18147376e-04, 4.30481148e-05,
  4.96861373e-02, 1.80985555e-02, 1.01247957e-03,-2.03589429e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24364777, -0.23964655,  0.04397462, -0.23964655,  0.27329154,
        0.16154833,  0.04397462,  0.16154833,  1.12403063,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035915838032452745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98217856, -0.18783114,  0.00668906, -0.18782679,  0.98220133,
        0.00127918, -0.00681027,  0.        , -0.99997681])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13045904, -0.0822501 ,  0.13160881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2946347 ,  7.14185399,  1.48513197,  7.14185399,  8.44770913,
       -5.54502183,  1.48513197, -5.54502183, 33.96010076,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.731712565004735e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98696319,  0.04325755, -0.15502402,  0.04273361,  0.99906395,
        0.00671224,  0.15516926,  0.        , -0.9878879 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327781, -0.05403679,  0.29657581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045592250432014396
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39485917, -0.88688665, -0.23982976, -0.09754586, -0.21909614,
        0.97081496, -0.9135486 ,  0.40672959,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489824, -0.03631042,  0.30475063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045052429445686937
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.69643670e-13, -3.46540941e-14,  1.00000000e+00, -1.28096665e-26,
        1.00000000e+00,  3.46540941e-14, -1.00000000e+00,  0.00000000e+00,
       -3.69643670e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05286737, -0.06123013,  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:
[-6.63053604e-06, 2.74599814e-05, 2.05501261e-05, 9.68886489e-06,
 -2.57291453e-03, 2.18165314e-02, 9.87721267e-03, 1.37038891e-03,
 -5.82266534e-06, 6.52751852e-05,-1.93307509e-05,-2.45224024e-05,
  5.45975003e-02, 2.07153846e-02, 1.46164438e-02,-2.16433330e-05,
 -4.26684141e-07, 7.29888590e-07,-9.80999956e+00,-6.49458945e-02,
 -9.34677253e-03,-5.38701923e-03]


--- Step 1600 ---
qpos:
[ 0.0098647 , 0.00810393,-0.00561756, 0.03351446, 0.00602058,-0.01723011,
 -0.0159505 , 0.03787239, 0.01300931, 0.00593424,-0.01168839, 0.03408079,
  0.81428435,-0.01394152, 1.1513729 , 0.04612193, 0.09456374,-0.06395263,
  0.14248062, 0.94337189,-0.0329504 , 0.02901477, 0.32881894]

qacc:
[-6.39103241e-01,-5.67607297e-01, 2.75559311e+00,-6.20679021e+00,
  1.05937318e-01, 1.42017711e+00,-4.22762206e+00,-2.55616681e+00,
 -3.72747690e+00,-8.91366389e-01, 8.16531206e+00,-2.54471609e+01,
  3.39045620e+00, 2.46227428e+00, 1.12728912e+01,-2.96024254e+01,
 -2.25275820e-02,-8.43186895e-02, 1.41404740e-02, 1.77361660e+00,
 -2.60860838e-01, 3.37087566e+00]

qfrc_actuator:
[-6.51460946e-06, 2.81187093e-04, 3.91718749e-05, 1.25213780e-05,
 -2.49683157e-03, 2.01558198e-02, 9.08594183e-03, 1.32269968e-03,
 -1.80211108e-05, 9.56180125e-05,-1.35373845e-04,-8.44713217e-06,
  4.96926104e-02, 1.80922464e-02, 1.01497227e-03,-2.11331641e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24374713, -0.23997954,  0.04269051, -0.23997954,  0.26886826,
        0.14121538,  0.04269051,  0.14121538,  1.03757225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003596093178604593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98217758, -0.1878368 ,  0.00667323, -0.18783246,  0.98220025,
        0.00127619, -0.00679416,  0.        , -0.99997692])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13046157, -0.08225016,  0.13160867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29455759,  7.05363226,  1.85925855,  7.05363226,  9.40614178,
       -8.01090222,  1.85925855, -8.01090222, 37.68622012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.718959433344219e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86963366e-01,  4.32280234e-02, -1.55031132e-01,  4.27043942e-02,
        9.99065232e-01,  6.70795978e-03,  1.55176186e-01, -8.67361738e-19,
       -9.87886811e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327794, -0.05403556,  0.29657588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045616413796649533
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39374626, -0.8872292 , -0.24039182, -0.09751285, -0.2197259 ,
        0.97067594, -0.91403235,  0.40564131,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489811, -0.03630771,  0.30475074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045052141149198865
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.85047954e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.85047954e-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([ 0.05286937, -0.06122856,  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:
[-3.76131470e-06,-7.82103583e-06,-5.64163520e-07,-1.05100134e-05,
 -2.58955257e-03, 2.19326218e-02, 9.91394509e-03, 1.38716425e-03,
 -2.17086793e-05, 3.56004052e-05,-6.96590602e-06,-4.98432698e-05,
  5.40611731e-02, 2.03934409e-02, 1.43746968e-02,-2.65953239e-05,
 -1.18766877e-06, 1.36237050e-06,-9.80999965e+00,-6.49462535e-02,
 -9.34717672e-03,-5.38670320e-03]


--- Step 1601 ---
qpos:
[ 0.00986457, 0.00810413,-0.00561752, 0.03351373, 0.0060228 ,-0.01725143,
 -0.01596175, 0.03787065, 0.01300841, 0.0059353 ,-0.01168956, 0.03407989,
  0.81427551,-0.01394692, 1.15131044, 0.04611992, 0.09456508,-0.06395045,
  0.14248102, 0.94336313,-0.03294493, 0.02901228, 0.32884483]

qacc:
[ 2.68756582e+00,-7.51408971e-01, 2.54907594e+00,-4.31932636e+00,
  3.02185971e+00, 3.83465666e-01,-1.45827336e+00,-4.13156034e+00,
 -5.28909097e+00,-4.27862808e-01, 3.22988837e+00,-8.33857132e+00,
  2.91791687e+00, 2.29992115e+00, 1.06590764e+01,-1.91766128e+01,
 -1.73584171e-02,-6.05748387e-02, 9.56960875e-03, 1.44283385e+00,
 -2.78674461e-01, 2.98167213e+00]

qfrc_actuator:
[ 9.30805148e-06, 2.46576141e-04, 3.36929080e-05, 5.33659825e-06,
 -2.48724104e-03, 2.01693722e-02, 9.06851858e-03, 1.30325082e-03,
 -4.83406571e-05, 1.15313329e-04,-1.27315673e-04,-2.07400775e-05,
  4.96965950e-02, 1.80714739e-02, 1.04539976e-03,-2.03356668e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24384609, -0.240065  ,  0.04277513, -0.240065  ,  0.2708207 ,
        0.15138845,  0.04277513,  0.15138845,  1.09347694,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003600575677056957
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82174948e-01, -1.87851022e-01,  6.66063842e-03, -1.87846703e-01,
        9.82197533e-01,  1.27388605e-03, -6.78136342e-03, -2.16840434e-19,
       -9.99977006e-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([ 0.13046427, -0.08225033,  0.13160858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29484442,   6.93752462,   2.25510692,   6.93752462,
        10.88104085, -11.03243747,   2.25510692, -11.03243747,
        41.23461286,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.76617888397625e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86964823e-01,  4.31867622e-02, -1.55033355e-01,  4.26636196e-02,
        9.99067017e-01,  6.70164115e-03,  1.55178134e-01, -8.67361738e-19,
       -9.87886505e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327823, -0.05403481,  0.29657606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004561245188756075
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3937843 , -0.88720562, -0.24041653, -0.09753291, -0.21974403,
        0.97066982, -0.91401382,  0.40568306,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489793, -0.03630599,  0.30475151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045024843710407547
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.85281399e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.85281399e-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([ 0.05287075, -0.06122734,  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:
[ 1.57117373e-05,-3.95684356e-05,-7.53166506e-06,-7.74351741e-06,
 -2.58073360e-03, 2.19847494e-02, 9.96004776e-03, 1.39481829e-03,
 -3.09207349e-05, 3.60074036e-05, 1.28366994e-05,-1.19751457e-05,
  5.35736802e-02, 2.00878849e-02, 1.41735115e-02, 1.27286327e-04,
 -2.71482725e-06, 2.32888481e-06,-9.80999940e+00,-6.49461486e-02,
 -9.34778142e-03,-5.38624481e-03]


--- Step 1602 ---
qpos:
[ 0.00986463, 0.00810399,-0.00561751, 0.03351293, 0.00602543,-0.01727486,
 -0.01597346, 0.03786861, 0.01300715, 0.00593628,-0.01169049, 0.03407923,
  0.8142746 ,-0.01394772, 1.15125339, 0.04611717, 0.09456637,-0.06394845,
  0.14248144, 0.94335282,-0.0329369 , 0.02901018, 0.3288754 ]

qacc:
[ 1.67739920e+00,-5.00573817e-01, 1.43696943e+00,-2.36982394e+00,
  3.47014294e+00,-2.14070665e+00, 4.90703184e+00,-8.06251213e+00,
 -3.12392954e+00,-2.91016095e-01,-1.31621136e-01, 3.95594483e+00,
  2.68030390e+00, 2.06065339e+00, 1.01440346e+01,-2.40064157e+01,
 -1.42855473e-02,-4.79501713e-02, 5.28408352e-03, 1.18395345e+00,
 -2.86504290e-01, 2.51169763e+00]

qfrc_actuator:
[ 1.86697526e-05, 2.25917822e-04, 3.03663909e-05, 1.38608900e-06,
 -2.48258820e-03, 2.01511570e-02, 9.08090001e-03, 1.27479666e-03,
 -6.58106528e-05, 9.10360257e-05,-1.22064821e-04,-9.83893535e-06,
  4.97094854e-02, 1.80581375e-02, 1.03881681e-03,-2.10954546e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24394363, -0.23991387,  0.04415686, -0.23991387,  0.27276904,
        0.15661472,  0.04415686,  0.15661472,  1.09486558,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003604985399301821
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98217085, -0.18787279,  0.00665059, -0.18786848,  0.98219337,
        0.00127212, -0.00677116,  0.        , -0.99997708])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13046714, -0.08225059,  0.13160852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29542443,   6.7624022 ,   2.73735894,   6.7624022 ,
        13.40235115, -15.08662022,   2.73735894, -15.08662022,
        44.56558007,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.859887757896297e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98696734,  0.04313503, -0.15503172,  0.04261253,  0.99906925,
        0.00669353,  0.15517615,  0.        , -0.98788682])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327864, -0.05403447,  0.29657631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045592429963343815
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39455539, -0.88695016, -0.24009467, -0.09758506, -0.21936865,
        0.97074948, -0.91367565,  0.40644409,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048977 , -0.03630512,  0.30475268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044976839661041434
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23421636e-13, -1.27278562e-13,  1.00000000e+00, -1.57089283e-26,
        1.00000000e+00,  1.27278562e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23421636e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05287166, -0.0612264 ,  0.0619899 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.79564018e-06,-4.46729557e-05,-1.26971753e-05,-6.05690688e-06,
 -2.59375774e-03, 2.20200004e-02, 1.00215102e-02, 1.38935215e-03,
 -1.83343648e-05,-2.03986413e-06, 1.38588878e-05, 1.26586060e-05,
  5.31513244e-02, 1.98217153e-02, 1.37430919e-02, 2.11355280e-05,
 -4.70376321e-06, 3.52702855e-06,-9.80999896e+00,-6.49456670e-02,
 -9.34851640e-03,-5.38565562e-03]


--- Step 1603 ---
qpos:
[ 0.00986481, 0.00810393,-0.00561803, 0.03351241, 0.00602843,-0.01730063,
 -0.0159855 , 0.03786627, 0.01300569, 0.00593687,-0.0116909 , 0.03407907,
  0.81428076,-0.01394441, 1.15120224, 0.04611413, 0.0945676 ,-0.0639466 ,
  0.14248187, 0.94334118,-0.03292674, 0.02900833, 0.32890996]

qacc:
[ 9.61494111e-01, 2.16657452e+00,-8.78714798e+00, 1.45201338e+01,
  3.25130372e+00,-2.78603597e+00, 6.67704804e+00,-9.45096408e+00,
 -1.73274389e+00,-8.94638313e-01, 3.41552878e-01, 7.80169062e+00,
  2.37169629e+00, 1.87049040e+00, 9.58765767e+00,-2.09792665e+01,
 -1.22844188e-02,-3.62502241e-02, 2.14669443e-03, 9.58558654e-01,
 -2.82658557e-01, 2.13684779e+00]

qfrc_actuator:
[ 2.41475776e-05, 2.49285885e-04, 1.06346777e-05, 1.71328419e-05,
 -2.48108775e-03, 2.01863723e-02, 9.12879992e-03, 1.25873315e-03,
 -7.55753423e-05, 5.83786723e-05,-1.00937650e-04, 1.45735050e-05,
  4.97168248e-02, 1.80654472e-02, 1.01532570e-03,-2.11809133e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24401831, -0.23982746,  0.04503025, -0.23982746,  0.27268222,
        0.15266164,  0.04503025,  0.15266164,  1.05708182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003608355663103428
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98216556, -0.18790068,  0.00664415, -0.18789638,  0.98218803,
        0.00127108, -0.00676464,  0.        , -0.99997712])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13047023, -0.08225093,  0.13160851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29624972,   6.5963207 ,   3.11830292,   6.5963207 ,
        16.09396547, -18.61030053,   3.11830292, -18.61030053,
        46.66366003,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.989411395841619e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86970719e-01,  4.30744674e-02, -1.55027062e-01,  4.25527328e-02,
        9.99071864e-01,  6.68391173e-03,  1.55171082e-01,  8.67361738e-19,
       -9.87887613e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327912, -0.05403451,  0.29657661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045560820921320013
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.95948746e-01, -8.86495875e-01, -2.39477876e-01, -9.76627737e-02,
       -2.18658720e-01,  9.70901821e-01, -9.13064386e-01,  4.07815433e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489738, -0.03630494,  0.30475415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044913499755455666
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23595693e-13, -2.51053751e-13,  1.00000000e+00, -3.10291623e-26,
        1.00000000e+00,  2.51053751e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23595693e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05287219, -0.06122568,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.74267852e-06,-4.48573159e-06,-3.07301087e-05, 1.32769165e-05,
 -2.61235223e-03, 2.21617714e-02, 1.00931953e-02, 1.38917781e-03,
 -1.02856228e-05,-3.04263036e-05, 2.28511152e-05, 2.50527652e-05,
  5.27625653e-02, 1.95988581e-02, 1.34502932e-02, 4.93933684e-05,
 -6.84298266e-06, 4.78930218e-06,-9.80999841e+00,-6.49448723e-02,
 -9.34933790e-03,-5.38494497e-03]


--- Step 1604 ---
qpos:
[ 0.00986505, 0.0081038 ,-0.00561879, 0.03351243, 0.00603149,-0.01732744,
 -0.01599824, 0.03786354, 0.01300413, 0.00593678,-0.01169054, 0.03407854,
  0.81429107,-0.01393847, 1.15115953, 0.04611247, 0.09456878,-0.06394484,
  0.14248232, 0.94332867,-0.0329154 , 0.02900683, 0.32894711]

qacc:
[ 5.59668647e-01, 1.69134809e+00,-8.41672619e+00, 1.81211078e+01,
  5.24815561e-01,-2.05222134e-01, 3.71656238e-01,-5.22772581e+00,
 -8.93048266e-01,-3.83632271e+00, 1.39643961e+01,-2.12161062e+01,
  1.10271462e+00, 1.62105257e+00, 8.24945403e+00,-1.07593044e+01,
 -1.42673752e-02,-2.22850379e-02, 5.88356696e-03, 5.67710728e-01,
 -5.79821688e-02, 1.38633065e+00]

qfrc_actuator:
[ 2.72978547e-05, 2.45534141e-04,-6.78312133e-07, 4.43694478e-05,
 -2.48161306e-03, 2.02369572e-02, 9.14479318e-03, 1.26795682e-03,
 -8.07309716e-05, 3.27312079e-06,-7.06481555e-05,-6.52249867e-06,
  4.97099725e-02, 1.80837966e-02, 1.06133728e-03,-2.01530335e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24406379, -0.24016908,  0.04342749, -0.24016908,  0.26785941,
        0.131598  ,  0.04342749,  0.131598  ,  0.97184632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036104056589966065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98215927, -0.18793364,  0.00664131, -0.18792935,  0.98218173,
        0.00127077, -0.00676179,  0.        , -0.99997714])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13047356, -0.08225134,  0.13160854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29728159,   6.37789921,   3.54580318,   6.37789921,
        19.87161761, -22.61768172,   3.54580318, -22.61768172,
        47.98010775,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.145631573022737e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98697479,  0.04300636, -0.15502008,  0.0424855 ,  0.9990748 ,
        0.00667302,  0.15516364,  0.        , -0.98788878])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327965, -0.05403488,  0.29657694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004552318868366432
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.97764629e-01, -8.85904115e-01, -2.38657072e-01, -9.77540518e-02,
       -2.17718496e-01,  9.71103909e-01, -9.12265008e-01,  4.09600482e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489696, -0.03630536,  0.30475578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004483923548974818
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38524344e-07, -1.38524326e-07,  1.00000000e+00,  1.91889914e-14,
        1.00000000e+00,  1.38524326e-07, -1.00000000e+00,  0.00000000e+00,
        1.38524344e-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([ 0.05329251, -0.06181745,  0.06198993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.31384954e-06,-1.20279898e-05,-1.55575150e-05, 2.62417358e-05,
 -2.63165098e-03, 2.23299689e-02, 1.01256667e-02, 1.41298343e-03,
 -5.45916660e-06,-6.63507268e-05, 2.76832130e-05,-2.11215683e-05,
  5.24017584e-02, 1.94116254e-02, 1.32021058e-02, 1.67520308e-04,
 -8.98272616e-06, 6.05419024e-06,-9.80999783e+00,-6.49438210e-02,
 -9.35021328e-03,-5.38412377e-03]


--- Step 1605 ---
qpos:
[ 0.00986498, 0.00810331,-0.00561899, 0.03351241, 0.00603081,-0.01734704,
 -0.0160056 , 0.03786374, 0.01300286, 0.0059368 ,-0.01169093, 0.03407742,
  0.81422651,-0.01397742, 1.15107707, 0.04611949, 0.09457081,-0.06394044,
  0.14248225, 0.94333342,-0.03293347, 0.02899763, 0.32893249]

qacc:
[-2.68589891e+00,-2.13991405e+00, 7.11353772e+00,-8.42697910e+00,
 -3.20273172e+01, 5.80860754e-01,-5.24694097e-01, 3.72526507e+01,
  2.56680095e+00, 1.02822205e+00,-9.55877469e-01,-8.14372851e+00,
 -2.47352171e+01,-2.11661589e+01,-8.44824734e+01, 2.11304480e+02,
  2.12545596e-01, 6.59997377e-01,-1.31297326e-01,-1.41001714e+01,
  1.80948689e+00,-2.78130211e+01]

qfrc_actuator:
[ 1.13014484e-05, 2.25620383e-04, 2.84887549e-05, 4.26302956e-05,
 -2.48319023e-03, 2.02786601e-02, 9.14216010e-03, 1.25706445e-03,
 -6.53826891e-05, 2.39125537e-05,-1.06340534e-04,-3.64934974e-05,
  4.97052662e-02, 1.81086016e-02, 1.11132917e-03,-2.09582758e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24408882, -0.23849154,  0.05197247, -0.23849154,  0.32234463,
        0.35910069,  0.05197247,  0.35910069,  1.89193194,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003611532971751727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9821524 , -0.18796956,  0.00664125, -0.18796526,  0.98217486,
        0.00127101, -0.00676178,  0.        , -0.99997714])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13047702, -0.08225179,  0.13160862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29848168, -7.29703522,  0.14529902, -7.29703522,  7.29559132,
       -0.14515632,  0.14529902, -0.14515632,  0.00861312,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.320173758444964e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98697934,  0.04293328, -0.15501136,  0.04241337,  0.99907794,
        0.00666129,  0.15515443,  0.        , -0.98789023])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328022, -0.05403545,  0.2965773 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.28590052,  1.14453671, -0.58615345,  1.14453671,  3.35524946,
        4.04065834, -0.58615345,  4.04065834,  9.17578293,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004549007540016754
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3996937 , -0.88527282, -0.23777508, -0.09784332, -0.21671103,
        0.97132024, -0.91141189,  0.41149529,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489651, -0.03630613,  0.30475738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.4782419 , -6.32030057,  8.35747295, -6.32030057, 38.53094699,
       21.2147295 ,  8.35747295, 21.2147295 , 26.52178375,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044907099506319437
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23613308e-13, -1.23613308e-13,  1.00000000e+00, -1.52802499e-26,
        1.00000000e+00,  1.23613308e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23613308e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08668561, -0.10889314,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59054722e-05,-2.87151054e-05, 2.56843040e-05,-2.28035460e-06,
 -2.63631228e-03, 2.24251692e-02, 1.01590034e-02, 1.42172641e-03,
  1.51696849e-05,-1.16576207e-05,-4.67221702e-05,-3.22671102e-05,
  5.21898640e-02, 1.93046019e-02, 1.28309199e-02, 1.74650059e-05,
 -1.04806929e-05, 6.90505261e-06,-9.80999750e+00,-6.49425451e-02,
 -9.35099135e-03,-5.38326153e-03]


--- Step 1606 ---
qpos:
[ 0.00986437, 0.00810288,-0.00561898, 0.03351234, 0.00603087,-0.01736347,
 -0.01601258, 0.03786387, 0.01300213, 0.00593768,-0.01169274, 0.03407624,
  0.81417383,-0.01400916, 1.15098686, 0.04611894, 0.0945726 ,-0.06393678,
  0.14248234, 0.94333503,-0.03294543, 0.02899087, 0.32892727]

qacc:
[-4.70111786e+00,-5.71406141e-01, 2.36895800e+00,-3.58797450e+00,
  6.22905922e+00, 2.94753257e+00,-4.13365232e+00,-6.98922760e-02,
  4.67405278e+00, 4.97621565e+00,-1.58975384e+01, 1.66277524e+01,
  4.11209994e+00, 3.16841593e+00, 1.13844391e+01,-5.66564349e+01,
 -5.88192946e-02,-1.83605905e-01, 4.22683240e-02, 3.08975743e+00,
  3.30488409e-02, 5.08002146e+00]

qfrc_actuator:
[-1.58354517e-05, 2.49585939e-04, 4.57232037e-05, 4.16176347e-05,
 -2.48162369e-03, 2.03071987e-02, 9.14029591e-03, 1.26644081e-03,
 -3.80902133e-05, 1.07225113e-04,-1.62656042e-04,-3.59196838e-05,
  4.97088102e-02, 1.81659953e-02, 1.13046258e-03,-2.16990673e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24410273, -0.01422051,  0.24368816, -0.01422051,  0.68713702,
        0.02585342,  0.24368816,  0.02585342,  0.24561142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036121595860781435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98215966, -0.18793251,  0.00661544, -0.18792825,  0.98218194,
        0.00126581, -0.00673545,  0.        , -0.99997732])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13047928, -0.08225136,  0.13160836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29644406,  2.42682004,  6.88103484,  2.42682004, 23.38827777,
       -5.67530689,  6.88103484, -5.67530689,  9.29802505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.019301437659498e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98697336,  0.04295754, -0.15504266,  0.04243712,  0.9990769 ,
        0.00666641,  0.15518591,  0.        , -0.98788528])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327955, -0.05403238,  0.29657687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.28900082,  0.61499337, -1.13283108,  0.61499337,  1.43512193,
        0.07932649, -1.13283108,  0.07932649,  1.33206573,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004568273551328672
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39280568, -0.88747361, -0.24102758, -0.09755303, -0.22040349,
        0.97051827, -0.91443267,  0.40473806,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489632, -0.03629909,  0.3047536 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.47685263, -5.95751064,  8.61814991, -5.95751064, 18.5568852 ,
        5.58552363,  8.61814991,  5.58552363, 14.33798486,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004489625241162609
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98322888e-07,  9.98322949e-07,  1.00000000e+00,  9.96648649e-13,
        1.00000000e+00, -9.98322949e-07, -1.00000000e+00,  0.00000000e+00,
       -9.98322888e-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([ 0.05329762, -0.0618136 ,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75992875e-05, 1.31301456e-05, 1.43961274e-05,-1.39663810e-06,
 -2.44785488e-03, 2.20941691e-02, 9.88835861e-03, 1.28454180e-03,
  2.77222908e-05, 6.57672258e-05,-6.55898417e-05,-2.16783886e-06,
  5.59375263e-02, 2.16072651e-02, 1.48391846e-02,-4.89987002e-04,
 -4.43071259e-06, 1.62520188e-06,-9.80999735e+00,-6.49442025e-02,
 -9.35116581e-03,-5.38341107e-03]


--- Step 1607 ---
qpos:
[ 0.00986379, 0.00810267,-0.00561914, 0.03351261, 0.00603201,-0.01737843,
 -0.01601949, 0.03786384, 0.01300207, 0.00593823,-0.01169317, 0.03407538,
  0.81413357,-0.01403368, 1.15090264, 0.04611729, 0.09457423,-0.06393367,
  0.14248255, 0.94333362,-0.03295188, 0.02898574, 0.32893111]

qacc:
[ 2.03626301e-01, 1.45455457e+00,-6.20243920e+00, 1.21729951e+01,
  9.27524755e+00, 1.40535541e+00,-1.54418261e+00,-2.45029720e+00,
  6.01689042e+00,-3.65542177e+00, 1.10251984e+01,-7.44644422e+00,
  4.31809761e+00, 3.07829316e+00, 1.20501451e+01,-2.95138923e+01,
 -4.11652082e-02,-1.39061594e-01, 2.78748931e-02, 2.68802830e+00,
 -2.38126972e-01, 4.87962760e+00]

qfrc_actuator:
[-1.38003403e-05, 2.64101836e-04, 3.81886575e-05, 5.88193896e-05,
 -2.48114439e-03, 2.03289883e-02, 9.15948684e-03, 1.30756377e-03,
 -3.99252183e-06, 8.53387431e-05,-8.83532851e-05,-1.73197811e-05,
  4.97068654e-02, 1.81910493e-02, 1.14028262e-03,-2.04980844e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24419836, -0.23924417,  0.04893939, -0.23924417,  0.33146558,
        0.42661288,  0.04893939,  0.42661288,  2.32973013,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036164605667034336
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82163959e-01, -1.87910947e-01,  6.59037670e-03, -1.87906717e-01,
        9.82186070e-01,  1.26086488e-03, -6.70990650e-03,  2.16840434e-19,
       -9.99977488e-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([ 0.13048133, -0.08225109,  0.13160811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29527134,  7.19559787,  1.20181331,  7.19559787,  7.9548806 ,
       -3.9492681 ,  1.20181331, -3.9492681 , 30.94066189,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.835378449579093e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98696968,  0.04296435, -0.15506424,  0.0424437 ,  0.99907661,
        0.00666839,  0.15520756,  0.        , -0.98788188])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327922, -0.0540299 ,  0.29657665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045795888410654677
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.38863558, -0.88876753, -0.24301166, -0.09736155, -0.22265533,
        0.97002337, -0.91623311,  0.40064559,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489618, -0.03629358,  0.30475161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004498092475154758
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23410427e-13, -1.27267003e-13,  1.00000000e+00, -1.57060751e-26,
        1.00000000e+00,  1.27267003e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23410427e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05288142, -0.06121876,  0.06198989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25420264e-06, 2.47801014e-05,-3.09073786e-06, 1.82376755e-05,
 -2.48391408e-03, 2.19579150e-02, 9.88842308e-03, 1.32938083e-03,
  3.49120770e-05, 1.24905635e-06, 7.97455882e-05, 1.91101403e-05,
  5.53411581e-02, 2.12724042e-02, 1.52380771e-02, 9.57110959e-06,
 -1.37508147e-06, 6.53483661e-07,-9.80999883e+00,-6.49459144e-02,
 -9.35070044e-03,-5.38348236e-03]


--- Step 1608 ---
qpos:
[ 0.00986358, 0.00810249,-0.00561931, 0.03351309, 0.00603352,-0.01739445,
 -0.01602696, 0.03786349, 0.01300243, 0.00593803,-0.0116916 , 0.03407511,
  0.81410425,-0.01405188, 1.15082717, 0.04611605, 0.09457573,-0.06393099,
  0.14248284, 0.94332968,-0.03295385, 0.02898186, 0.32894255]

qacc:
[ 3.27895742e+00, 5.08149172e-01,-2.68292393e+00, 6.44627505e+00,
  3.23954965e+00,-4.86695648e-01, 1.02264263e+00,-4.75688700e+00,
  3.67875412e+00,-5.36867109e+00, 1.52363040e+01,-7.75463983e+00,
  3.74749809e+00, 2.75969163e+00, 1.15929957e+01,-2.19638199e+01,
 -3.14457903e-02,-1.06389172e-01, 2.13171744e-02, 2.16736857e+00,
 -2.38850680e-01, 4.08527165e+00]

qfrc_actuator:
[ 5.39196473e-06, 2.55014319e-04, 3.38340366e-05, 6.88294291e-05,
 -2.49971527e-03, 2.03294200e-02, 9.19148392e-03, 1.33235056e-03,
  1.60801047e-05, 3.66847919e-05, 8.83018648e-06, 1.17451519e-05,
  4.97064766e-02, 1.81938094e-02, 1.14355725e-03,-1.99418807e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24435836, -0.24007352,  0.04555996, -0.24007352,  0.28421566,
        0.21002397,  0.04555996,  0.21002397,  1.35105802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000362363856673134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82165503e-01, -1.87903743e-01,  6.56568606e-03, -1.87899545e-01,
        9.82187448e-01,  1.25609118e-03, -6.68475867e-03, -2.16840434e-19,
       -9.99977657e-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([ 0.13048333, -0.08225098,  0.13160785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29471987,  7.13837959,  1.50215673,  7.13837959,  8.47578204,
       -5.61251026,  1.50215673, -5.61251026, 33.9658574 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.745749063497257e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86967955e-01,  4.29542250e-02, -1.55078015e-01,  4.24336081e-02,
        9.99077041e-01,  6.66740970e-03,  1.55221278e-01, -8.67361738e-19,
       -9.87879727e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11327916, -0.05402805,  0.2965766 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004585338891776168
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.86280005e-01, -8.89481975e-01, -2.44150718e-01, -9.72537005e-02,
       -2.23944839e-01,  9.69737298e-01, -9.17240141e-01,  3.98334689e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489612, -0.03628956,  0.30475089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004501934515895589
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23305106e-13, -6.55058375e-14,  1.00000000e+00,  8.07720423e-27,
        1.00000000e+00,  6.55058375e-14, -1.00000000e+00,  0.00000000e+00,
        1.23305106e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05288428, -0.06121671,  0.06198989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92368387e-05, 4.92403374e-06, 1.01872171e-06, 1.13202141e-05,
 -2.55666833e-03, 2.18859426e-02, 9.91769025e-03, 1.36247168e-03,
  2.10625243e-05,-3.06650397e-05, 1.07924032e-04, 3.22496795e-05,
  5.47193828e-02, 2.09147378e-02, 1.49435257e-02, 1.20110404e-04,
 -3.39696295e-07, 5.04922063e-07,-9.80999956e+00,-6.49469076e-02,
 -9.35066634e-03,-5.38337288e-03]


--- Step 1609 ---
qpos:
[ 0.0098636 , 0.00810246,-0.00561956, 0.03351334, 0.00603516,-0.01741224,
 -0.01603526, 0.03786275, 0.01300234, 0.00593806,-0.01168997, 0.03407485,
  0.81408484,-0.01406436, 1.15075681, 0.04611358, 0.09457714,-0.06392864,
  0.1424832 , 0.94332362,-0.03295209, 0.02897889, 0.32896039]

qacc:
[ 2.02695834e+00,-8.69033648e-02, 1.61234919e+00,-5.75938492e+00,
  1.03969898e+00,-8.18760255e-01, 1.19938287e+00,-5.38814765e+00,
 -3.98010427e+00, 1.46603300e-01,-1.36937360e-01, 9.62527060e-02,
  3.42472410e+00, 2.46091139e+00, 1.12185207e+01,-2.84322524e+01,
 -2.41966421e-02,-8.37344962e-02, 1.50898217e-02, 1.77588371e+00,
 -2.58129945e-01, 3.43214314e+00]

qfrc_actuator:
[ 1.67667284e-05, 2.67370005e-04, 3.12961497e-05, 5.67578528e-05,
 -2.51169095e-03, 2.03189678e-02, 9.19625235e-03, 1.32979673e-03,
 -7.77009660e-06, 6.12764015e-05, 1.20573568e-05, 1.11909047e-05,
  4.97013828e-02, 1.81812006e-02, 1.13178936e-03,-2.10259017e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24452067, -0.24043979,  0.0444867 , -0.24043979,  0.27560174,
        0.16798562,  0.0444867 ,  0.16798562,  1.15244214,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036308973438672676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98216495, -0.18790734,  0.00654504, -0.18790317,  0.98218676,
        0.00125217, -0.00666374,  0.        , -0.9999778 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1304855 , -0.08225101,  0.13160765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29463145,  7.04381257,  1.89640513,  7.04381257,  9.50553428,
       -8.21195054,  1.89640513, -8.21195054, 37.7962576 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7311761882117815e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86967825e-01,  4.29298787e-02, -1.55085580e-01,  4.24095069e-02,
        9.99078088e-01,  6.66394871e-03,  1.55228687e-01, -8.67361738e-19,
       -9.87878563e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132793 , -0.05402672,  0.29657669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045873648272210627
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.38523789, -0.88978871, -0.244679  , -0.09721454, -0.22453763,
        0.96960414, -0.91768246,  0.39731461,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489609, -0.03628675,  0.30475105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004502220109237204
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23297284e-13, -6.55016822e-14,  1.00000000e+00, -8.07617953e-27,
        1.00000000e+00,  6.55016822e-14, -1.00000000e+00,  0.00000000e+00,
       -1.23297284e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05288634, -0.06121511,  0.06198989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19247071e-05, 1.58196857e-05,-1.00111342e-06,-1.16060614e-05,
 -2.58752098e-03, 2.19288909e-02, 9.95058977e-03, 1.37560970e-03,
 -2.32669912e-05, 3.11164041e-05, 1.12859189e-05, 2.49009308e-06,
  5.41676034e-02, 2.05862686e-02, 1.44959276e-02,-8.59187550e-06,
 -7.85585727e-07, 9.86183507e-07,-9.80999972e+00,-6.49473317e-02,
 -9.35097493e-03,-5.38310944e-03]


--- Step 1610 ---
qpos:
[ 0.00986341, 0.00810281,-0.00562021, 0.03351309, 0.00603706,-0.01743111,
 -0.01604476, 0.03786149, 0.01300161, 0.00593865,-0.01168901, 0.03407459,
  0.81407436,-0.01407164, 1.15069227, 0.04611037, 0.09457847,-0.06392654,
  0.14248359, 0.94331567,-0.03294722, 0.02897654, 0.32898387]

qacc:
[-1.85139416e+00, 6.22053852e-01, 6.23986267e-01,-8.88310111e+00,
  2.22071588e+00, 8.38061589e-01,-2.88067526e+00,-3.40296535e+00,
 -5.57244037e+00, 2.66644288e+00,-8.41429915e+00, 9.12124391e+00,
  3.04453705e+00, 2.29606824e+00, 1.07582842e+01,-2.52892555e+01,
 -1.84440535e-02,-6.15911975e-02, 1.00341371e-02, 1.46161871e+00,
 -2.86553566e-01, 3.03310853e+00]

qfrc_actuator:
[ 5.69100780e-06, 2.92455768e-04, 1.21643653e-05, 3.18080191e-05,
 -2.50185112e-03, 2.03386205e-02, 9.16742808e-03, 1.31104486e-03,
 -3.95232811e-05, 9.36379699e-05,-2.22060452e-05, 1.09538819e-05,
  4.96984904e-02, 1.81929435e-02, 1.14296244e-03,-2.13039678e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24466518, -0.24061315,  0.04434372, -0.24061315,  0.27431458,
        0.16088035,  0.04434372,  0.16088035,  1.11761687,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036373402000691284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82162731e-01, -1.87919506e-01,  6.52903412e-03, -1.87915354e-01,
        9.82184432e-01,  1.24918786e-03, -6.64746244e-03, -2.16840434e-19,
       -9.99977905e-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([ 0.13048789, -0.08225114,  0.13160751])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29490633,   6.93255466,   2.27053831,   6.93255466,
        10.93200108, -11.10501332,   2.27053831, -11.10501332,
        41.20145243,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.7762925959938576e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98696899,  0.04289356, -0.15508822,  0.04237361,  0.99907965,
        0.00665841,  0.15523108,  0.        , -0.98787819])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132796 , -0.05402588,  0.29657687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045866129718252665
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.85309941e-01, -8.89754160e-01, -2.44691202e-01, -9.72378813e-02,
       -2.24540818e-01,  9.69601060e-01, -9.17649739e-01,  3.97390182e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.104896  , -0.03628493,  0.30475184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004499752536999274
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46729796e-13, -1.88902500e-13,  1.00000000e+00, -4.66078752e-26,
        1.00000000e+00,  1.88902500e-13, -1.00000000e+00,  0.00000000e+00,
       -2.46729796e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05288778, -0.06121386,  0.06198989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07296315e-05, 3.32356091e-05,-1.63866881e-05,-2.45328919e-05,
 -2.58371867e-03, 2.20374194e-02, 9.96364211e-03, 1.37661836e-03,
 -3.24025301e-05, 5.21719913e-05,-2.63777561e-05, 1.53318687e-06,
  5.36693122e-02, 2.03118924e-02, 1.42526092e-02, 2.56716481e-05,
 -2.06763293e-06, 1.82428522e-06,-9.80999954e+00,-6.49472900e-02,
 -9.35149910e-03,-5.38270475e-03]


--- Step 1611 ---
qpos:
[ 0.00986275, 0.00810329,-0.00562104, 0.0335129 , 0.00603961,-0.01745115,
 -0.0160551 , 0.03785981, 0.0130012 , 0.00593967,-0.01168846, 0.03407433,
  0.81407182,-0.01407429, 1.15063573, 0.04610772, 0.09457974,-0.06392461,
  0.14248401, 0.94330604,-0.03293975, 0.02897459, 0.3290124 ]

qacc:
[-4.18385392e+00, 7.82120357e-01,-2.81278518e+00, 4.10699032e+00,
  5.58528447e+00,-9.89134512e-02,-1.54806586e-01,-4.85625246e+00,
  2.74980245e+00, 1.68571883e+00,-5.19154238e+00, 5.49984703e+00,
  2.61851610e+00, 2.17194302e+00, 1.00605751e+01,-1.81640403e+01,
 -1.45443795e-02,-4.29600979e-02, 6.14921448e-03, 1.19132048e+00,
 -2.98922707e-01, 2.69696332e+00]

qfrc_actuator:
[-1.85073121e-05, 2.89384593e-04, 1.19165782e-06, 3.49904813e-05,
 -2.47911060e-03, 2.03763642e-02, 9.17240542e-03, 1.30061070e-03,
 -2.24017370e-05, 1.12476488e-04,-4.27387545e-05, 1.09122170e-05,
  4.97073008e-02, 1.82175438e-02, 1.13569788e-03,-2.07434634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24480522, -0.24080478,  0.04407556, -0.24080478,  0.27744335,
        0.17831689,  0.04407556,  0.17831689,  1.21903124,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003643566209547853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82159054e-01, -1.87939181e-01,  6.51583959e-03, -1.87935045e-01,
        9.82180668e-01,  1.24679867e-03, -6.63405400e-03, -2.16840434e-19,
       -9.99977994e-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([ 0.13049046, -0.08225136,  0.1316074 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29547593,   6.77260334,   2.71216024,   6.77260334,
        13.2468205 , -14.86125176,   2.71216024, -14.86125176,
        44.40588038,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.868099245970386e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98697123,  0.04284658, -0.15508695,  0.04232721,  0.99908166,
        0.00665105,  0.1552295 ,  0.        , -0.98787843])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328001, -0.05402547,  0.29657712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045840646056436823
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.38619623, -0.88947084, -0.24432377, -0.0973059 , -0.22411083,
        0.96969371, -0.91726988,  0.3982662 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489584, -0.03628395,  0.30475307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004495177431179803
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.70471369e-13, -3.47316908e-14,  1.00000000e+00, -1.28670971e-26,
        1.00000000e+00,  3.47316908e-14, -1.00000000e+00,  0.00000000e+00,
       -3.70471369e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05288872, -0.0612129 ,  0.0619899 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.44911324e-05, 1.10705456e-05,-6.96978974e-06, 3.56393780e-06,
 -2.57403129e-03, 2.21302488e-02, 1.00288628e-02, 1.39226502e-03,
  1.62225363e-05, 4.25846709e-05,-1.29689380e-05, 1.30960685e-06,
  5.32310977e-02, 2.00771158e-02, 1.39555867e-02, 1.18794656e-04,
 -3.86499174e-06, 2.91532345e-06,-9.80999914e+00,-6.49468686e-02,
 -9.35216747e-03,-5.38216680e-03]


--- Step 1612 ---
qpos:
[ 0.00986249, 0.00810348,-0.00562182, 0.03351314, 0.00604283,-0.01747338,
 -0.01606581, 0.03785784, 0.013001  , 0.00594101,-0.01168812, 0.03407373,
  0.81407635,-0.01407275, 1.1505856 , 0.04610509, 0.09458097,-0.06392281,
  0.14248444, 0.94329499,-0.03293012, 0.02897287, 0.3290452 ]

qacc:
[ 3.56217128e+00, 3.71859374e-01,-3.67556564e+00, 1.11630778e+01,
  5.79827235e+00,-2.41630985e+00, 5.60687769e+00,-8.28278426e+00,
  1.81926211e+00, 2.91337898e-01, 1.00702594e+00,-6.83241733e+00,
  2.31810273e+00, 1.98715973e+00, 9.39118530e+00,-1.91762030e+01,
 -1.24280113e-02,-3.24051351e-02, 2.85159427e-03, 9.66422929e-01,
 -2.93394435e-01, 2.28527893e+00]

qfrc_actuator:
[ 3.02940448e-06, 2.51772196e-04,-4.95977864e-06, 5.46881575e-05,
 -2.46687743e-03, 2.03899797e-02, 9.21552840e-03, 1.29527235e-03,
 -1.21535498e-05, 1.23114107e-04,-5.50363159e-05,-6.76089058e-06,
  4.97175763e-02, 1.82483274e-02, 1.08501135e-03,-2.09325085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24494399, -0.24096782,  0.0439553 , -0.24096782,  0.27679866,
        0.17463085,  0.0439553 ,  0.17463085,  1.20228965,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036497188613465417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98215407, -0.18796562,  0.00650459, -0.1879615 ,  0.98217561,
        0.00124483, -0.00662263,  0.        , -0.99997807])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13049321, -0.08225167,  0.13160732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29628911,   6.55345399,   3.20750301,   6.55345399,
        16.75423885, -19.32414042,   3.20750301, -19.32414042,
        46.77867305,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.995487867111313e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86974361e-01,  4.27900561e-02, -1.55082627e-01,  4.22714052e-02,
        9.99084086e-01,  6.64207786e-03,  1.55224799e-01,  8.67361738e-19,
       -9.87879174e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328049, -0.05402544,  0.29657742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045805918787419794
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.38758942, -0.88903168, -0.24371524, -0.09739832, -0.223407  ,
        0.96984683, -0.91667225,  0.39963983,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048956 , -0.03628369,  0.30475456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044890155507129603
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47319933e-13, -1.27524340e-13,  1.00000000e+00, -3.15393113e-26,
        1.00000000e+00,  1.27524340e-13, -1.00000000e+00,  0.00000000e+00,
       -2.47319933e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05288928, -0.06121216,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08423116e-05,-3.27222735e-05,-4.59361961e-06, 2.00026248e-05,
 -2.59438758e-03, 2.22034074e-02, 1.01138934e-02, 1.40786694e-03,
  1.07283860e-05, 3.17898640e-05,-5.07223204e-06,-1.62751207e-05,
  5.28449573e-02, 1.98756655e-02, 1.35065710e-02, 7.21745753e-05,
 -5.95607525e-06, 4.16837914e-06,-9.80999862e+00,-6.49461354e-02,
 -9.35293588e-03,-5.38150532e-03]


--- Step 1613 ---
qpos:
[ 0.0098625 , 0.00810344,-0.00562291, 0.03351293, 0.00604599,-0.01749694,
 -0.01607768, 0.0378554 , 0.01300023, 0.00594227,-0.01168773, 0.03407226,
  0.81408533,-0.01406823, 1.15054283, 0.04610342, 0.09458212,-0.0639211 ,
  0.1424849 , 0.94328303,-0.03291928, 0.02897144, 0.3290807 ]

qacc:
[ 2.27470525e+00,-3.65141444e-01, 2.72278867e+00,-9.68458404e+00,
 -5.82502043e-01, 4.79894490e-01,-2.24218631e+00,-3.20981746e+00,
 -4.96695802e+00,-2.01699548e+00, 1.07168607e+01,-2.57351599e+01,
  1.11058320e+00, 1.93620058e+00, 7.98189089e+00,-1.21306908e+01,
 -1.65907718e-02,-2.24409648e-02, 8.22492116e-03, 5.69917547e-01,
 -9.13991141e-02, 1.44375827e+00]

qfrc_actuator:
[ 1.58110997e-05, 2.29301219e-04,-2.61141571e-05, 3.06526840e-05,
 -2.47898330e-03, 2.04083505e-02, 9.21041080e-03, 1.31077774e-03,
 -4.15539165e-05, 9.32674971e-05,-6.24263292e-05,-5.24236976e-05,
  4.97178701e-02, 1.82459230e-02, 1.08268640e-03,-2.03254036e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24505981, -0.24154841,  0.0413361 , -0.24154841,  0.2658689 ,
        0.1215984 ,  0.0413361 ,  0.1215984 ,  0.9556228 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036548411987248137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98214801, -0.18799755,  0.00649644, -0.18799343,  0.9821695 ,
        0.00124349, -0.00661438,  0.        , -0.99997812])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13049619, -0.08225205,  0.13160729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29730736,   4.9713846 ,   5.34191257,   4.9713846 ,
        38.86077103, -29.37414551,   5.34191257, -29.37414551,
        34.63399113,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.149458281495287e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86978212e-01,  4.27254128e-02, -1.55075941e-01,  4.22075933e-02,
        9.99086853e-01,  6.63173937e-03,  1.55217678e-01, -8.67361738e-19,
       -9.87880293e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328103, -0.05402574,  0.29657775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004576598516986832
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.38936261, -0.88847335, -0.24292358, -0.09750611, -0.2224959 ,
        0.97004543, -0.91590901,  0.40138595,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489527, -0.03628402,  0.3047562 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044816022284419174
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.97000273e-07,  8.97000136e-07,  1.00000000e+00,  8.04609367e-13,
        1.00000000e+00, -8.97000136e-07, -1.00000000e+00,  0.00000000e+00,
       -8.97000273e-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([ 0.05330965, -0.0618036 ,  0.06198993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33636033e-05,-4.08513663e-05,-2.77814852e-05,-2.52073261e-05,
 -2.64014657e-03, 2.23319161e-02, 1.01282227e-02, 1.43765275e-03,
 -2.90789719e-05,-1.38627403e-05,-2.03027476e-06,-4.47956394e-05,
  5.24912578e-02, 1.96642245e-02, 1.31842705e-02, 1.32306330e-04,
 -8.08870605e-06, 5.44204594e-06,-9.80999806e+00,-6.49451426e-02,
 -9.35376779e-03,-5.38073128e-03]


--- Step 1614 ---
qpos:
[ 0.00986265, 0.00810324,-0.00562399, 0.03351207, 0.00604916,-0.01752169,
 -0.0160905 , 0.03785255, 0.01299912, 0.00594317,-0.0116873 , 0.03407064,
  0.81409841,-0.01406079, 1.15050856, 0.04610358, 0.09458321,-0.06391945,
  0.14248539, 0.94327029,-0.03290744, 0.02897013, 0.32911852]

qacc:
[ 1.34763225e+00,-1.59201638e+00, 8.14633844e+00,-1.94573263e+01,
  5.85540986e-02, 2.49571663e-01,-1.45239309e+00,-3.23482980e+00,
 -3.03564078e+00,-8.80210007e-01, 3.09644882e+00,-5.51903815e+00,
  8.80444310e-01, 2.08782035e+00, 7.01888144e+00,-6.28579696e+00,
 -1.68820346e-02,-1.66637932e-02, 6.90483707e-03, 4.41558584e-01,
 -1.39391033e-01, 1.23829039e+00]

qfrc_actuator:
[ 2.33230100e-05, 2.33719510e-04,-2.04395824e-05,-1.17585555e-06,
 -2.48746979e-03, 2.04295944e-02, 9.21277776e-03, 1.32134414e-03,
 -5.85482238e-05, 5.71472624e-05,-6.70498590e-05,-6.09629513e-05,
  4.97174831e-02, 1.82408834e-02, 1.09841109e-03,-1.92500792e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2451432 , -0.24195659,  0.0393979 , -0.24195659,  0.26426853,
        0.11745546,  0.0393979 ,  0.11745546,  0.96647913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036585222609598705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82141390e-01, -1.88032299e-01,  6.49187494e-03, -1.88028192e-01,
        9.82162845e-01,  1.24285110e-03, -6.60977451e-03,  2.16840434e-19,
       -9.99978155e-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([ 0.13049933, -0.08225247,  0.1316073 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29847896,   4.96667341,   5.34789213,   4.96667341,
        33.26315294, -24.1138102 ,   5.34789213, -24.1138102 ,
        29.69336221,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.319785219044121e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86982545e-01,  4.26555888e-02, -1.55067590e-01,  4.21386747e-02,
        9.99089836e-01,  6.62052512e-03,  1.55208855e-01, -8.67361738e-19,
       -9.87881679e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328159, -0.05402625,  0.29657811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000457300592202711
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39124273, -0.88787907, -0.24207411, -0.09761296, -0.22152107,
        0.97025776, -0.91509608,  0.40323587,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489488, -0.03628471,  0.30475782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044734007368568647
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.22230107e-07, -6.22230170e-07,  1.00000000e+00,  3.87170345e-13,
        1.00000000e+00,  6.22230170e-07, -1.00000000e+00, -5.04870979e-29,
        6.22230107e-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([ 0.05330972, -0.06180317,  0.06198995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.88182663e-06,-2.52258781e-05,-7.04473763e-06,-3.50285088e-05,
 -2.64531576e-03, 2.24206672e-02, 1.01886267e-02, 1.47219503e-03,
 -1.78196404e-05,-4.62709714e-05,-9.30267541e-06,-1.00747529e-05,
  5.22687623e-02, 1.95099393e-02, 1.28328412e-02, 1.92192717e-04,
 -9.57225086e-06, 6.29999489e-06,-9.80999772e+00,-6.49439314e-02,
 -9.35451356e-03,-5.37990853e-03]


--- Step 1615 ---
qpos:
[ 0.0098629 , 0.00810272,-0.00562413, 0.03351113, 0.00604865,-0.01753969,
 -0.01609796, 0.03785266, 0.01299781, 0.00594411,-0.01168771, 0.03406998,
  0.81403662,-0.01409813, 1.15043156, 0.04611177, 0.09458513,-0.06391513,
  0.14248534, 0.94327483,-0.03292526, 0.02896089, 0.32910453]

qacc:
[ 8.15710551e-01,-3.19855378e+00, 1.10800628e+01,-1.35957566e+01,
 -3.14024707e+01, 8.82874407e-02, 2.59726872e-01, 3.72558195e+01,
 -1.74542243e+00, 4.36755597e+00,-1.95332540e+01, 3.73867804e+01,
 -2.46848046e+01,-2.11637584e+01,-8.69408887e+01, 2.13501698e+02,
  2.05129707e-01, 6.69865709e-01,-1.35807635e-01,-1.42581730e+01,
  1.74548403e+00,-2.78356643e+01]

qfrc_actuator:
[ 2.76757022e-05, 2.36547735e-04, 3.66521246e-05,-1.77858944e-06,
 -2.49383239e-03, 2.04707127e-02, 9.21990112e-03, 1.31131789e-03,
 -6.80919344e-05, 7.08363415e-05,-1.05522153e-04,-1.20904441e-05,
  4.97165592e-02, 1.82508800e-02, 1.09264317e-03,-2.07468736e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24519672, -0.2406737 ,  0.04687857, -0.2406737 ,  0.30854888,
        0.32524879,  0.04687857,  0.32524879,  1.91501784,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003660881634903233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98213426, -0.18806959,  0.00649023, -0.18806548,  0.98215571,
        0.00124279, -0.00660815,  0.        , -0.99997817])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13050262, -0.08225293,  0.13160735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29975989, -7.29887219,  0.11383854, -7.29887219,  7.298     ,
       -0.11283687,  0.11383854, -0.11283687,  0.06511094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.4985817741391003e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86987241e-01,  4.25812969e-02, -1.55058114e-01,  4.20653498e-02,
        9.99093005e-01,  6.60856952e-03,  1.55198878e-01, -8.67361738e-19,
       -9.87883246e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328216, -0.05402694,  0.29657846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.28927562,  1.16210699, -0.55833589,  1.16210699,  3.077536  ,
        3.72204246, -0.55833589,  3.72204246,  9.03624592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000456997321195972
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.39305002, -0.88730535, -0.24124862, -0.09770877, -0.22057628,
        0.97046334, -0.91431104,  0.40501275,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489445, -0.03628575,  0.3047594 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.47009641, -6.31627235,  8.35030673, -6.31627235, 38.49739839,
       21.20018798,  8.35030673, 21.20018798, 26.50617334,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044843426642980633
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47577651e-13, -1.23788826e-13,  1.00000000e+00, -3.06473467e-26,
        1.00000000e+00,  1.23788826e-13, -1.00000000e+00,  0.00000000e+00,
       -2.47577651e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08672034, -0.10886733,  0.06198993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.57209376e-06,-1.42105016e-05, 4.98177031e-05,-2.60476952e-06,
 -2.65207578e-03, 2.25226503e-02, 1.02440500e-02, 1.48276218e-03,
 -1.00626050e-05,-1.45829171e-05,-4.95367926e-05, 4.63728658e-05,
  5.20631858e-02, 1.93735363e-02, 1.24026668e-02,-4.91913464e-05,
 -1.09381122e-05, 7.11918830e-06,-9.80999737e+00,-6.49426034e-02,
 -9.35525646e-03,-5.37903416e-03]


--- Step 1616 ---
qpos:
[ 0.00986285, 0.00810222,-0.00562374, 0.03351052, 0.00604865,-0.01755566,
 -0.01610461, 0.03785282, 0.0129964 , 0.00594507,-0.01168863, 0.03406989,
  0.81398621,-0.01412863, 1.15034453, 0.04611144, 0.09458681,-0.06391155,
  0.14248544, 0.94327646,-0.03293717, 0.02895408, 0.32909925]

qacc:
[-2.57013554e+00,-8.04829543e-01, 1.55397441e+00, 3.18785194e+00,
  4.25028737e+00, 5.51098611e-01, 1.64591893e+00,-3.32689081e+00,
 -9.34044499e-01, 2.62463174e+00,-1.17105445e+01, 2.23452608e+01,
  4.00173186e+00, 2.90770727e+00, 1.08684592e+01,-5.97584504e+01,
 -5.63919922e-02,-1.86132876e-01, 3.98059360e-02, 3.01476596e+00,
  7.23557855e-02, 4.71228365e+00]

qfrc_actuator:
[ 1.23832297e-05, 2.56405450e-04, 7.04050160e-05, 1.60312714e-05,
 -2.53075347e-03, 2.04985309e-02, 9.22394231e-03, 1.25022805e-03,
 -7.31774291e-05, 7.86528965e-05,-1.27936898e-04, 1.69241525e-05,
  4.97222715e-02, 1.82631791e-02, 1.08893644e-03,-2.19034143e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24522392, -0.02036554,  0.24437679, -0.02036554,  0.68113765,
        0.03632759,  0.24437679,  0.03632759,  0.24825134,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003662079583208021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98214116, -0.1880345 ,  0.00646348, -0.18803043,  0.98216242,
        0.00123743, -0.00658087,  0.        , -0.99997835])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13050474, -0.08225252,  0.13160708])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29757639,  2.28526723,  6.93052486,  2.28526723, 23.98006074,
       -5.50087267,  6.93052486, -5.50087267,  9.11143094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.189186885992628e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98698135,  0.04260432, -0.15508926,  0.04208788,  0.99909202,
        0.00661348,  0.1552302 ,  0.        , -0.98787832])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328144, -0.05402398,  0.296578  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.29252464,  0.6198787 , -1.13418267,  0.6198787 ,  1.42073736,
        0.07007367, -1.13418267,  0.07007367,  1.33082285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004589970571519491
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.38593063, -0.88951552, -0.24458063, -0.09734771, -0.2243727 ,
        0.96962896, -0.91737723,  0.39801888,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489423, -0.03627893,  0.30475557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.46218571, -5.95162285,  8.60438931, -5.95162285, 18.5692798 ,
        5.60764566,  8.60438931,  5.60764566, 14.34097255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004478141498492486
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.08397992e-07,  4.08397874e-07,  1.00000000e+00,  1.66788872e-13,
        1.00000000e+00, -4.08397874e-07, -1.00000000e+00,  0.00000000e+00,
       -4.08397992e-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([ 0.05331452, -0.06179952,  0.06198994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51670687e-05, 2.21137480e-05, 3.68727340e-05, 1.88772355e-05,
 -2.50561223e-03, 2.22134861e-02, 9.98030110e-03, 1.27389511e-03,
 -5.37412607e-06,-8.61869057e-06,-2.99296116e-05, 2.75787458e-05,
  5.58121189e-02, 2.16258604e-02, 1.45369078e-02,-5.66037837e-04,
 -4.22777576e-06, 1.54789984e-06,-9.80999742e+00,-6.49442193e-02,
 -9.35530090e-03,-5.37916206e-03]


--- Step 1617 ---
qpos:
[ 0.00986262, 0.00810189,-0.00562349, 0.03350947, 0.00604893,-0.01757248,
 -0.0161112 , 0.03785282, 0.01299493, 0.00594576,-0.01168967, 0.03406946,
  0.81394782,-0.01415222, 1.15026327, 0.04611006, 0.09458834,-0.06390853,
  0.14248565, 0.94327524,-0.0329437 , 0.02894891, 0.32910257]

qacc:
[-1.61262020e+00,-2.51412375e-01, 3.11513137e+00,-1.06880705e+01,
  2.46112029e+00,-1.66302783e+00, 5.03989227e+00,-7.54842546e+00,
 -4.37478802e-01,-7.05819609e-01, 3.38878036e+00,-8.71932467e+00,
  4.23739940e+00, 2.84965907e+00, 1.16027302e+01,-2.84004483e+01,
 -3.93204412e-02,-1.40347335e-01, 2.56808979e-02, 2.63360741e+00,
 -2.14523435e-01, 4.62782210e+00]

qfrc_actuator:
[ 3.40448235e-06, 2.50751715e-04, 5.46676529e-05,-8.73894618e-06,
 -2.55320166e-03, 2.05203935e-02, 9.24629874e-03, 1.19571681e-03,
 -7.56008845e-05, 4.74384551e-05,-1.40713104e-04,-1.47648857e-06,
  4.97269000e-02, 1.82786504e-02, 1.07973560e-03,-2.04145199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24530732, -0.23809604,  0.05904199, -0.23809604,  0.32321459,
        0.31417322,  0.05904199,  0.31417322,  1.51225987,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003665749480396371
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82145324e-01, -1.88013552e-01,  6.43947336e-03, -1.88009511e-01,
        9.82166434e-01,  1.23269154e-03, -6.55639731e-03, -2.16840434e-19,
       -9.99978507e-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([ 0.13050671, -0.08225226,  0.13160684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29629146,  7.20792494,  1.13211625,  7.20792494,  7.87520817,
       -3.6858301 ,  1.13211625, -3.6858301 , 30.76312782,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.9958507750444194e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98697766,  0.04261126, -0.15511088,  0.0420946 ,  0.99909173,
        0.00661548,  0.15525189,  0.        , -0.98787492])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328106, -0.05402161,  0.29657775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046017856057317837
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.38159766, -0.89082024, -0.24662222, -0.09711003, -0.2266984 ,
        0.9691117 , -0.91921318,  0.39376024,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489405, -0.03627358,  0.30475354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004486461694946098
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23730358e-13, -3.47991632e-14,  1.00000000e+00, -4.30571293e-27,
        1.00000000e+00,  3.47991632e-14, -1.00000000e+00,  0.00000000e+00,
       -1.23730358e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05289812, -0.06120507,  0.06198992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.40412845e-06, 1.51476693e-05,-5.97161272e-06,-2.21771999e-05,
 -2.55289388e-03, 2.21345953e-02, 9.96266429e-03, 1.21630736e-03,
 -2.57707869e-06,-4.10646886e-05,-1.72902403e-05,-1.92687020e-05,
  5.52482398e-02, 2.12995796e-02, 1.50309529e-02, 9.61438801e-06,
 -1.38005597e-06, 6.43916261e-07,-9.80999884e+00,-6.49459277e-02,
 -9.35489803e-03,-5.37922591e-03]


--- Step 1618 ---
qpos:
[ 0.00986193, 0.00810141,-0.005623  , 0.03350814, 0.00604952,-0.01758994,
 -0.01611856, 0.03785239, 0.01299311, 0.00594605,-0.01169052, 0.03406882,
  0.81391995,-0.01416972, 1.15019322, 0.04611052, 0.09458975,-0.06390591,
  0.14248594, 0.94327145,-0.03294579, 0.02894495, 0.32911357]

qacc:
[ -3.94403829, -1.44830823,  6.01894354,-11.01199705,  2.6666082 ,
   0.42627089, -0.97875396, -4.59787133, -3.1767613 , -1.49651093,
   5.53348321, -9.41041775,  3.56513242,  2.7193185 , 10.88827887,
 -14.23367922, -0.02872415, -0.10040663,  0.01970008,  2.14036449,
  -0.24890838,  4.1296663 ]

qfrc_actuator:
[-1.95326935e-05, 2.29629756e-04, 6.29713108e-05,-2.29127481e-05,
 -2.54920060e-03, 2.05229933e-02, 9.24455806e-03, 1.21637642e-03,
 -9.41925493e-05, 2.85991794e-05,-1.30138327e-04,-1.21489326e-05,
  4.97197580e-02, 1.83109842e-02, 1.08747953e-03,-1.87992861e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24540029, -0.23896162,  0.05584486, -0.23896162,  0.30191803,
        0.24184087,  0.05584486,  0.24184087,  1.28024365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036698329762410806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98214704, -0.18800524,  0.00642003, -0.18800122,  0.98216803,
        0.00122891, -0.00653659,  0.        , -0.99997864])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13050881, -0.08225216,  0.13160665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29565148,  7.15583285,  1.42147339,  7.15583285,  8.34029606,
       -5.25884061,  1.42147339, -5.25884061, 33.76915744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.895953458288413e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98697585,  0.04260221, -0.15512484,  0.04208556,  0.99909211,
        0.00661467,  0.15526581,  0.        , -0.98787273])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328095, -0.05401983,  0.29657768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046079297481899366
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.37907972, -0.89156132, -0.2478245 , -0.09697024, -0.22806525,
        0.96880494, -0.92026917,  0.39128591,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489395, -0.03626968,  0.30475278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044903769994283915
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47244947e-13, -1.27485676e-13,  1.00000000e+00, -3.15201892e-26,
        1.00000000e+00,  1.27485676e-13, -1.00000000e+00,  0.00000000e+00,
       -2.47244947e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05290089, -0.06120308,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31976765e-05,-1.48264658e-05, 9.93370987e-06,-1.41599722e-05,
 -2.56314870e-03, 2.21801982e-02, 9.95799471e-03, 1.24580244e-03,
 -1.86767222e-05,-4.62173424e-05,-7.00197234e-07,-1.34038870e-05,
  5.46396139e-02, 2.09872039e-02, 1.47512758e-02, 2.23780129e-04,
 -3.40751215e-07, 4.70102404e-07,-9.80999955e+00,-6.49469315e-02,
 -9.35487933e-03,-5.37911586e-03]


--- Step 1619 ---
qpos:
[ 0.00986064, 0.00810076,-0.00562239, 0.03350666, 0.00605021,-0.01760847,
 -0.01612708, 0.03785143, 0.01299142, 0.0059455 ,-0.01169074, 0.03406808,
  0.81390155,-0.01418171, 1.15013037, 0.04611107, 0.09459108,-0.06390361,
  0.14248628, 0.94326549,-0.03294421, 0.02894187, 0.32913108]

qacc:
[-5.38597282e+00,-8.75413258e-01, 3.44078074e+00,-6.11951686e+00,
  8.56094048e-01, 7.36040229e-01,-2.45138160e+00,-4.06919603e+00,
  1.23631642e+00,-3.08905181e+00, 9.76877215e+00,-1.17705411e+01,
  3.20714419e+00, 2.46336080e+00, 1.03162147e+01,-2.07631970e+01,
 -2.18176304e-02,-7.75611212e-02, 1.41171257e-02, 1.75046451e+00,
 -2.63436512e-01, 3.49434170e+00]

qfrc_actuator:
[-5.05040028e-05, 2.17245314e-04, 6.76105353e-05,-3.07230879e-05,
 -2.56497666e-03, 2.05319199e-02, 9.24691696e-03, 1.24694867e-03,
 -8.66471621e-05,-3.58443917e-05,-1.05813015e-04,-1.81601081e-05,
  4.97159075e-02, 1.83159756e-02, 1.09936943e-03,-1.92632708e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24550708, -0.24003233,  0.05155781, -0.24003233,  0.28552691,
        0.18631616,  0.05155781,  0.18631616,  1.11291981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003674514580695696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98214667, -0.18800775,  0.00640365, -0.18800376,  0.98216754,
        0.00122579, -0.00651991,  0.        , -0.99997875])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13051105, -0.08225218,  0.1316065 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29548983,  7.05710233,  1.84972391,  7.05710233,  9.39944684,
       -8.02705735,  1.84972391, -8.02705735, 37.92047378,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.8703110858208943e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86975633e-01,  4.25787446e-02, -1.55132688e-01,  4.20623291e-02,
        9.99093114e-01,  6.61135085e-03,  1.55273504e-01,  8.67361738e-19,
       -9.87871520e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328104, -0.05401856,  0.29657773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004610452018497903
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.77759900e-01, -8.91941367e-01, -2.48471437e-01, -9.69014499e-02,
       -2.28797212e-01,  9.68639223e-01, -9.20818965e-01,  3.89990299e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489393, -0.03626699,  0.30475285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004490837363498451
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47219602e-13, -9.65701569e-14,  1.00000000e+00, -2.38740357e-26,
        1.00000000e+00,  9.65701569e-14, -1.00000000e+00,  0.00000000e+00,
       -2.47219602e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0529029 , -0.06120152,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.16359286e-05,-1.92215552e-05, 2.31468414e-06,-8.37352157e-06,
 -2.59454922e-03, 2.22218268e-02, 9.99898353e-03, 1.29746969e-03,
  6.99889572e-06,-9.10190904e-05, 1.42354872e-05,-8.27373519e-06,
  5.41094527e-02, 2.06876669e-02, 1.42049389e-02, 8.55253115e-05,
 -7.33065133e-07, 9.36565191e-07,-9.80999972e+00,-6.49473760e-02,
 -9.35518027e-03,-5.37885101e-03]


--- Step 1620 ---
qpos:
[ 0.00985967, 0.00810003,-0.00562203, 0.03350512, 0.00605108,-0.01762845,
 -0.01613651, 0.03785002, 0.01298983, 0.00594379,-0.0116902 , 0.03406765,
  0.81389172,-0.0141887 , 1.15007179, 0.0461104 , 0.09459233,-0.06390155,
  0.14248667, 0.94325771,-0.03293957, 0.02893942, 0.32915405]

qacc:
[ 2.87605527e+00, 4.89774448e-01,-1.60839703e+00, 9.16890955e-01,
  1.49182860e+00,-3.19843946e-01, 2.58206901e-01,-5.53222996e+00,
  9.54598673e-01,-2.98394318e+00, 7.14052558e+00,-2.15846288e+00,
  2.92710553e+00, 2.20895557e+00, 9.95330540e+00,-2.58003876e+01,
 -1.71270253e-02,-6.10608312e-02, 9.35108493e-03, 1.43357782e+00,
 -2.71255064e-01, 2.93233330e+00]

qfrc_actuator:
[-3.26937152e-05, 2.10179331e-04, 5.23198392e-05,-3.47291093e-05,
 -2.57478082e-03, 2.05630869e-02, 9.27019109e-03, 1.26599340e-03,
 -8.15263781e-05,-1.09279486e-04,-7.37560253e-05,-3.66146940e-06,
  4.97190749e-02, 1.83204570e-02, 1.08174759e-03,-2.02545144e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24561214, -0.24071183,  0.04881738, -0.24071183,  0.28171038,
        0.17799553,  0.04881738,  0.17799553,  1.12328388,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000367911102047251
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98214461, -0.18801895,  0.00639058, -0.18801497,  0.9821654 ,
        0.00122337, -0.00650662,  0.        , -0.99997883])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13051348, -0.08225231,  0.1316064 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29570066,   6.94244512,   2.24270012,   6.94244512,
        10.85395984, -11.0148561 ,   2.24270012, -11.0148561 ,
        41.39300743,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.9037218101136034e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86976704e-01,  4.25430393e-02, -1.55135666e-01,  4.20270385e-02,
        9.99094635e-01,  6.60592352e-03,  1.55276248e-01,  8.67361738e-19,
       -9.87871088e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328129, -0.05401776,  0.29657787])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004610286541958178
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.77449111e-01, -8.92022371e-01, -2.48652887e-01, -9.68970908e-02,
       -2.28996096e-01,  9.68592660e-01, -9.20946862e-01,  3.89688180e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489389, -0.03626529,  0.30475355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004488610079751709
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.71013411e-13, -3.47825073e-14,  1.00000000e+00, -1.29047767e-26,
        1.00000000e+00,  3.47825073e-14, -1.00000000e+00,  0.00000000e+00,
       -3.71013411e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05290429, -0.06120031,  0.06198992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69042335e-05,-1.76826441e-05,-1.92594613e-05,-4.90762623e-06,
 -2.60945033e-03, 2.23075358e-02, 1.00807230e-02, 1.34307749e-03,
  5.28557874e-06,-1.21725806e-04, 1.47319507e-05, 1.09324365e-05,
  5.36397061e-02, 2.04165801e-02, 1.38280102e-02,-1.77868394e-05,
 -1.98868748e-06, 1.77753663e-06,-9.80999954e+00,-6.49473605e-02,
 -9.35569925e-03,-5.37844547e-03]


--- Step 1621 ---
qpos:
[ 0.00985961, 0.00809957,-0.00562235, 0.03350422, 0.00605321,-0.01765242,
 -0.01614803, 0.03784803, 0.01298798, 0.00594147,-0.01168945, 0.03406736,
  0.8138896 ,-0.01419131, 1.15001422, 0.04610691, 0.09459353,-0.06389971,
  0.14248707, 0.94324862,-0.03293252, 0.02893744, 0.32918098]

qacc:
[ 7.96328855e+00, 3.53843486e+00,-1.48397898e+01, 2.68313573e+01,
  1.08242428e+01,-6.20281556e-01,-3.00726250e+00,-7.58093682e-01,
 -2.37190525e+00,-1.11478474e+00, 2.17902337e+00, 4.60817186e-01,
  2.73595800e+00, 1.77042724e+00, 9.92375426e+00,-3.26929295e+01,
 -1.56561467e-02,-5.62941433e-02, 5.85214158e-03, 1.13486130e+00,
 -2.20800139e-01, 2.12234710e+00]

qfrc_actuator:
[ 1.36882369e-05, 2.41778949e-04, 2.54079386e-05,-9.69149065e-07,
 -2.56336246e-03, 2.05196379e-02, 9.28846687e-03, 1.31375892e-03,
 -9.56345819e-05,-1.16468084e-04,-5.51874876e-05, 5.02544157e-06,
  4.97261920e-02, 1.83406927e-02, 1.04642399e-03,-2.20818844e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26290913, -0.25882229,  0.04617607, -0.25882229,  0.30763582,
        0.25069838,  0.04617607,  0.25069838,  1.66810293,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004331544079038026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82158847e-01, -1.87944706e-01,  6.38643064e-03, -1.87940733e-01,
        9.82179611e-01,  1.22207366e-03, -6.50230423e-03,  2.16840434e-19,
       -9.99978860e-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([ 0.13051591, -0.08225142,  0.1316064 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29621224,   6.8038962 ,   2.63471243,   6.8038962 ,
        12.84932287, -14.34038413,   2.63471243, -14.34038413,
        44.32890093,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.983621381247287e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98697882,  0.04249705, -0.1551348 ,  0.04198161,  0.99909659,
        0.00659873,  0.15527508,  0.        , -0.98787127])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328165, -0.05401737,  0.2965781 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046081450235583557
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.37799249, -0.89185135, -0.24844083, -0.09694839, -0.22874409,
        0.96864707, -0.92071857,  0.39022726,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489377, -0.03626439,  0.3047547 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004484329266820769
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23789196e-13, -3.48157112e-14,  1.00000000e+00, -4.30980888e-27,
        1.00000000e+00,  3.48157112e-14, -1.00000000e+00,  0.00000000e+00,
       -1.23789196e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05290521, -0.06119938,  0.06198993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.68606231e-05, 1.75573147e-05,-3.30982990e-05, 3.22441139e-05,
 -2.60675306e-03, 2.23373425e-02, 1.01444912e-02, 1.41341339e-03,
 -1.40064373e-05,-7.16933897e-05,-4.36958273e-06, 4.19606740e-06,
  5.32180744e-02, 2.01868368e-02, 1.35804304e-02,-1.38901830e-04,
 -3.68616181e-06, 2.80868553e-06,-9.80999917e+00,-6.49469671e-02,
 -9.35635730e-03,-5.37791124e-03]


--- Step 1622 ---
qpos:
[ 0.00985976, 0.0080992 ,-0.00562297, 0.03350372, 0.00605602,-0.01768082,
 -0.01616143, 0.03784551, 0.01298596, 0.00593917,-0.0116896 , 0.03406683,
  0.81389452,-0.01418997, 1.14995851, 0.04610109, 0.09459466,-0.06389807,
  0.14248749, 0.94323853,-0.03292353, 0.02893576, 0.32921092]

qacc:
[ 1.84686047e+00, 1.79513529e+00,-7.94451491e+00, 1.54020769e+01,
  5.82864582e+00,-1.71232146e+00,-1.78741992e-01,-2.69734489e+00,
 -1.39303440e+00, 2.02754183e+00,-6.14758161e+00, 3.31801196e+00,
  2.51118881e+00, 1.56555380e+00, 9.77748740e+00,-3.03413743e+01,
 -1.50527519e-02,-4.88985216e-02, 3.67576440e-03, 9.00589111e-01,
 -2.11286819e-01, 1.61636635e+00]

qfrc_actuator:
[ 2.32420376e-05, 2.43013132e-04, 9.79441931e-06, 1.92642620e-05,
 -2.55812079e-03, 2.05055479e-02, 9.30530270e-03, 1.32581231e-03,
 -1.03193734e-04,-1.01729963e-04,-9.77343570e-05,-7.48894355e-06,
  4.97301223e-02, 1.83512519e-02, 1.03789935e-03,-2.31475114e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26218545, -0.25846507,  0.04401157, -0.25846507,  0.2929849 ,
        0.1808748 ,  0.04401157,  0.1808748 ,  1.32440205,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043077030518027094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98222344, -0.18760614,  0.00640767, -0.18760215,  0.98224434,
        0.00122385, -0.0065235 ,  0.        , -0.99997872])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13051816, -0.0822474 ,  0.13160672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29697343,   5.10427373,   5.21461512,   5.10427373,
        41.21122129, -33.1966215 ,   5.21461512, -33.1966215 ,
        39.79115357,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.099605759696556e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98698172,  0.04244369, -0.15513098,  0.04192893,  0.99909886,
        0.00659027,  0.1552709 ,  0.        , -0.98787193])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328209, -0.05401735,  0.29657837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046045323245929264
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.37932711, -0.89144486, -0.24786489, -0.09705037, -0.22807506,
        0.96879461, -0.92015877,  0.39154544,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048935 , -0.03626414,  0.30475617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044785202048744366
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47899523e-13, -1.27823192e-13,  1.00000000e+00, -3.16873083e-26,
        1.00000000e+00,  1.27823192e-13, -1.00000000e+00,  0.00000000e+00,
       -2.47899523e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05290575, -0.06119866,  0.06198994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08969936e-05, 5.63621711e-06,-1.49383915e-05, 2.04699709e-05,
 -2.66462252e-03, 2.25236105e-02, 1.02667879e-02, 1.45471658e-03,
 -7.98894514e-06,-2.60107412e-05,-5.77312279e-05,-1.56518460e-05,
  5.28366014e-02, 1.99785426e-02, 1.35224766e-02,-1.04708655e-04,
 -5.31046847e-06, 3.73435056e-06,-9.80999875e+00,-6.49462586e-02,
 -9.35707371e-03,-5.37727152e-03]


--- Step 1623 ---
qpos:
[ 0.00986003, 0.00809863,-0.00562339, 0.03350382, 0.00605912,-0.01771294,
 -0.01617611, 0.03784265, 0.01298422, 0.00593719,-0.01169049, 0.03406645,
  0.81390407,-0.01418554, 1.1499167 , 0.04609946, 0.0945957 ,-0.06389657,
  0.14248796, 0.94322789,-0.03291357, 0.02893431, 0.32924254]

qacc:
[ 1.01022346e+00, 3.95082175e-01,-4.31442853e+00, 1.44495015e+01,
  2.57027873e+00,-2.05573341e+00, 1.63267224e+00,-2.76434601e+00,
  2.34119134e+00, 2.80082149e+00,-1.00385022e+01, 1.36326914e+01,
  1.08238892e+00, 2.11457476e+00, 7.83714122e+00, 2.42696804e+00,
 -2.34824126e-02,-3.43024268e-02, 1.37226691e-02, 4.67119060e-01,
 -7.06320111e-02, 9.05238589e-01]

qfrc_actuator:
[ 2.87861161e-05, 2.26092407e-04, 1.86068255e-05, 4.91115642e-05,
 -2.55650575e-03, 2.05821237e-02, 9.32189113e-03, 1.26335975e-03,
 -8.90787081e-05,-5.64763325e-05,-1.22668463e-04, 3.11391463e-06,
  4.97265973e-02, 1.83546888e-02, 1.09327309e-03,-1.94888870e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26132637, -0.25667868,  0.04906656, -0.25667868,  0.29619133,
        0.18238676,  0.04906656,  0.18238676,  1.21543424,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00042790700857008577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82285773e-01, -1.87278440e-01,  6.43785732e-03, -1.87274418e-01,
        9.82306870e-01,  1.22738821e-03, -6.55381482e-03,  2.16840434e-19,
       -9.99978524e-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([ 0.13052086, -0.08224355,  0.13160716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29793821,   5.08961182,   5.23027281,   5.08961182,
        26.35847226, -18.54792723,   5.23027281, -18.54792723,
        25.34704449,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.24202743674811e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86985200e-01,  4.23847668e-02, -1.55124940e-01,  4.18707642e-02,
        9.99101362e-01,  6.58084822e-03,  1.55264467e-01,  8.67361738e-19,
       -9.87872940e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328258, -0.05401766,  0.29657868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004600053908769879
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.38125542, -0.89085856, -0.24701281, -0.09718657, -0.22709051,
        0.96901221, -0.91934709,  0.39344748,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489309, -0.03626443,  0.30475784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044715292564189314
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.61158433e-07,  5.61158369e-07,  1.00000000e+00,  3.14898751e-13,
        1.00000000e+00, -5.61158369e-07, -1.00000000e+00,  0.00000000e+00,
       -5.61158433e-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([ 0.05332621, -0.0617898 ,  0.06198995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.85816135e-06,-1.59524291e-05, 8.85708770e-06, 2.99731970e-05,
 -2.69690513e-03, 2.28229827e-02, 1.03777244e-02, 1.41882393e-03,
  1.38743106e-05, 1.81895239e-05,-3.79311748e-05, 7.19273212e-06,
  5.24810154e-02, 1.97847754e-02, 1.34857639e-02, 3.78583904e-04,
 -6.78153472e-06, 4.55824849e-06,-9.80999832e+00,-6.49453063e-02,
 -9.35781665e-03,-5.37653857e-03]


--- Step 1624 ---
qpos:
[ 0.00986036, 0.00809806,-0.00562375, 0.03350391, 0.00605852,-0.01774124,
 -0.0161861 , 0.03784273, 0.01298266, 0.00593548,-0.01169089, 0.03406578,
  0.81384077,-0.0142242 , 1.14983955, 0.04610947, 0.09459757,-0.06389242,
  0.14248792, 0.94323452,-0.03293289, 0.02892452, 0.32922247]

qacc:
[ 5.66792692e-01,-1.89576561e-01, 7.00346137e-01,-8.95707203e-01,
 -3.16725708e+01,-1.94349823e+00, 1.92097959e+00, 3.86306749e+01,
  1.61391394e+00,-1.60125643e+00, 7.49057432e+00,-1.36115719e+01,
 -2.43905934e+01,-1.97979282e+01,-8.69084256e+01, 2.29279767e+02,
  2.07006697e-01, 6.61122684e-01,-1.29316482e-01,-1.41483124e+01,
  1.48675007e+00,-2.77873055e+01]

qfrc_actuator:
[ 3.19374103e-05, 2.34043225e-04, 2.39420168e-05, 4.88707612e-05,
 -2.55695707e-03, 2.06253961e-02, 9.35623457e-03, 1.24499133e-03,
 -8.00743231e-05,-1.09632298e-05,-8.35681989e-05,-8.21669486e-06,
  4.97185625e-02, 1.83531149e-02, 1.10062295e-03,-1.89101653e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26035312, -0.25218075,  0.06471953, -0.25218075,  0.41793323,
        0.61401357,  0.06471953,  0.61401357,  2.65286742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000424618654626138
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98234497, -0.18696636,  0.00647587, -0.1869623 ,  0.98236632,
        0.0012325 , -0.00659211,  0.        , -0.99997827])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13052392, -0.0822399 ,  0.13160771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2990127 , -7.29848363,  0.08788107, -7.29848363,  7.29796462,
       -0.08704219,  0.08788107, -0.08704219,  0.07019771,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.395177647707005e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98698902,  0.04232268, -0.15511761,  0.04180948,  0.99910399,
        0.00657088,  0.15525672,  0.        , -0.98787416])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328308, -0.05401818,  0.29657899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.29358582,  1.18130204, -0.5271525 ,  1.18130204,  2.92707761,
        3.66051039, -0.5271525 ,  3.66051039,  9.49646532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004596463221023428
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.38304236, -0.89031332, -0.24621279, -0.0973054 , -0.22616895,
        0.9692158 , -0.91859143,  0.39520854,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489269, -0.03626514,  0.30475942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.45278983, -6.38286597,  8.277671  , -6.38286597, 45.43884292,
       26.97755051,  8.277671  , 26.97755051, 31.25502865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044707536819244063
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.92998425e-07, -8.92998398e-07,  1.00000000e+00, -7.97446162e-13,
        1.00000000e+00,  8.92998398e-07, -1.00000000e+00, -1.00974196e-28,
       -8.92998425e-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([ 0.08645301, -0.10842841,  0.06198996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.31324734e-06, 2.17066900e-06, 4.17880084e-06,-3.28861905e-08,
 -2.71221418e-03, 2.30535801e-02, 1.04764757e-02, 1.41767038e-03,
  9.39905102e-06, 4.82404285e-05, 3.84665110e-05,-1.17171659e-05,
  5.22414366e-02, 1.96279449e-02, 1.27989555e-02, 2.26514467e-04,
 -7.66557247e-06, 5.04427294e-06,-9.80999808e+00,-6.49441855e-02,
 -9.35846794e-03,-5.37576485e-03]


--- Step 1625 ---
qpos:
[ 0.00986038, 0.00809746,-0.00562375, 0.03350398, 0.00605861,-0.01776906,
 -0.01619635, 0.03784267, 0.01298088, 0.00593433,-0.01169095, 0.03406459,
  0.8137904 ,-0.01425547, 1.14975236, 0.04611069, 0.09459922,-0.06388904,
  0.14248802, 0.94323795,-0.0329458 , 0.02891721, 0.32921199]

qacc:
[-2.70564301e+00,-1.07148206e+00, 3.85995649e+00,-4.76760624e+00,
  5.91390890e+00, 1.06291794e+00,-2.27982893e+00,-1.20594978e-01,
 -1.97947233e+00,-1.24555695e+00, 7.66971522e+00,-1.73841378e+01,
  4.80960496e+00, 2.71418329e+00, 1.16268377e+01,-6.24861567e+01,
 -5.45087070e-02,-1.91789324e-01, 3.58426846e-02, 3.23628274e+00,
 -1.04967542e-03, 5.18586629e+00]

qfrc_actuator:
[ 1.59044181e-05, 2.39040686e-04, 4.49994660e-05, 4.86923279e-05,
 -2.55476554e-03, 2.06603898e-02, 9.39577292e-03, 1.28542802e-03,
 -9.19096085e-05, 3.46156871e-05,-6.02357813e-05,-3.23186126e-05,
  4.97199542e-02, 1.83757426e-02, 1.08309024e-03,-2.11581381e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2596924 , -0.02157931,  0.25879427, -0.02157931,  0.80933898,
        0.04583175,  0.25879427,  0.04583175,  0.26351403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00042235866136484306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98237278, -0.18682009,  0.00647925, -0.18681602,  0.98239414,
        0.00123215, -0.00659537,  0.        , -0.99997825])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1305266 , -0.08223824,  0.13160782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29667858, -5.1269108 , -5.19194606, -5.1269108 ,  9.63903755,
       -2.31301816, -5.19194606, -2.31301816,  9.58072345,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.055074427619748e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9869822 ,  0.04235787, -0.15515137,  0.04184402,  0.9991025 ,
        0.00657778,  0.15529075,  0.        , -0.98786881])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328225, -0.05401514,  0.29657846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.29686289, -0.73711645,  1.0670111 , -0.73711645,  6.62051866,
        3.67770707,  1.0670111 ,  3.67770707,  3.83750974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000461639423478404
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.37571749, -0.89248769, -0.24960387, -0.0968459 , -0.23004991,
        0.96834803, -0.92166004,  0.38799841,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489256, -0.03625828,  0.30475568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.4627406 , -5.95840012,  8.6003726 , -5.95840012, 18.39170238,
        5.49324186,  8.6003726 ,  5.49324186, 14.26849815,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044785770340013964
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23948189e-13, -3.48604281e-14,  1.00000000e+00, -4.32088693e-27,
        1.00000000e+00,  3.48604281e-14, -1.00000000e+00,  0.00000000e+00,
       -1.23948189e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05291125, -0.0611943 ,  0.06198994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59358534e-05, 7.09780740e-06, 2.20295281e-05, 6.01829683e-08,
 -2.52480312e-03, 2.28988373e-02, 1.02818696e-02, 1.31092378e-03,
 -1.15583201e-05, 8.00652102e-05, 3.76537698e-05,-2.09262650e-05,
  5.58855289e-02, 2.18063869e-02, 1.45499362e-02,-5.79738784e-04,
 -6.37881824e-06, 2.17605721e-06,-9.80999693e+00,-6.49461550e-02,
 -9.35944596e-03,-5.37593214e-03]


--- Step 1626 ---
qpos:
[ 0.00986021, 0.00809665,-0.00562313, 0.0335044 , 0.00605948,-0.01779589,
 -0.01620625, 0.03784258, 0.01297931, 0.0059338 ,-0.01169107, 0.03406385,
  0.81375161,-0.01428024, 1.14966751, 0.04610902, 0.09460071,-0.06388624,
  0.14248823, 0.9432386 ,-0.03295343, 0.02891178, 0.32920984]

qacc:
[-1.66291010e+00,-1.27543155e+00, 2.68023098e+00, 2.51000721e+00,
  6.58623119e+00, 2.93764807e-01, 9.36935860e-01,-2.57744838e+00,
  1.89698799e+00, 1.84468959e+00,-7.25009218e+00, 1.44005569e+01,
  4.21524880e+00, 2.46679048e+00, 1.20895041e+01,-3.75246343e+01,
 -4.00327689e-02,-1.44683719e-01, 2.80693310e-02, 2.63351127e+00,
 -7.14208456e-02, 4.49558164e+00]

qfrc_actuator:
[ 6.46177323e-06, 2.24543006e-04, 7.51719265e-05, 6.63208719e-05,
 -2.53615013e-03, 2.07099779e-02, 9.42375339e-03, 1.30980080e-03,
 -8.04088976e-05, 6.20789600e-05,-6.41706900e-05,-1.04989962e-05,
  4.97325562e-02, 1.83796318e-02, 1.12950883e-03,-2.10388520e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25455303, -0.25451373,  0.00447274, -0.25451373,  0.25532669,
        0.04402398,  0.00447274,  0.04402398,  2.75966352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004039638359723989
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98240166, -0.18667169,  0.00637571, -0.18666776,  0.98242235,
        0.00121146, -0.00648979,  0.        , -0.99997894])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1305293 , -0.08223655,  0.13160667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29528987,  7.22656389,  0.99901383,  7.22656389,  7.73564378,
       -3.18538701,  0.99901383, -3.18538701, 30.33741603,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.838352595401563e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98697772,  0.04237531, -0.15517511,  0.04186109,  0.99910176,
        0.0065815 ,  0.15531462,  0.        , -0.98786506])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328179, -0.05401275,  0.29657816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000462772428142521
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.37132039, -0.89375145, -0.25165356, -0.09655137, -0.2323948 ,
        0.96781738, -0.92347117,  0.38366783,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489243, -0.03625299,  0.30475378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044878177418151977
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.71078915e-13, -9.66351340e-14,  1.00000000e+00, -3.58592607e-26,
        1.00000000e+00,  9.66351340e-14, -1.00000000e+00,  0.00000000e+00,
       -3.71078915e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05291521, -0.06119164,  0.06198992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.89320404e-06,-5.95956608e-06, 3.43614221e-05, 1.86979042e-05,
 -2.54077974e-03, 2.29254831e-02, 1.03234317e-02, 1.34256575e-03,
  1.11955510e-05, 7.91520796e-05, 1.65325210e-05, 2.61516395e-05,
  5.52517992e-02, 2.14407356e-02, 1.50996646e-02,-1.27921490e-04,
 -2.34795770e-06, 7.83462238e-07,-9.80999863e+00,-6.49480231e-02,
 -9.35883675e-03,-5.37599884e-03]


--- Step 1627 ---
qpos:
[ 0.00986027, 0.00809589,-0.00562274, 0.03350437, 0.00606124,-0.01782176,
 -0.01621595, 0.03784243, 0.01297823, 0.00593342,-0.01169104, 0.03406376,
  0.81372343,-0.01429913, 1.14958536, 0.04610461, 0.09460208,-0.06388388,
  0.14248853, 0.94323688,-0.03295668, 0.02890779, 0.32921481]

qacc:
[ 2.03558955e+00,-2.68067370e-01, 2.97232089e+00,-1.05689343e+01,
  7.69462777e+00, 5.14662031e-01, 2.62578579e-01,-2.50198824e+00,
  4.35788309e+00, 1.13051818e+00,-6.50834456e+00, 1.75199141e+01,
  3.87072481e+00, 2.19906280e+00, 1.21611110e+01,-3.69394871e+01,
 -2.96966838e-02,-1.12647212e-01, 2.09063927e-02, 2.16419328e+00,
 -1.32868965e-01, 3.83441828e+00]

qfrc_actuator:
[ 1.87323095e-05, 2.16294298e-04, 5.71554073e-05, 4.10156090e-05,
 -2.50803443e-03, 2.07143552e-02, 9.42654232e-03, 1.32447076e-03,
 -5.52587030e-05, 4.29015608e-05,-6.64517917e-05, 2.03842851e-05,
  4.97408882e-02, 1.84057320e-02, 1.16028887e-03,-2.23634239e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25398973, -0.25375206,  0.01098522, -0.25375206,  0.25872773,
        0.10944494,  0.01098522,  0.10944494,  2.78210209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040185384996838325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82434854e-01, -1.86496877e-01,  6.37742985e-03, -1.86492948e-01,
        9.82455554e-01,  1.21061024e-03, -6.49131640e-03,  2.16840434e-19,
       -9.99978931e-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([ 0.13053183, -0.08223454,  0.13160676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29457057,  7.16972006,  1.34382815,  7.16972006,  8.24189044,
       -5.05423131,  1.34382815, -5.05423131, 34.26038737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.721109322301671e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86975169e-01,  4.23772459e-02, -1.55190804e-01,  4.18628957e-02,
        9.99101681e-01,  6.58247202e-03,  1.55330340e-01,  1.73472348e-18,
       -9.87862584e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328162, -0.05401094,  0.29657804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004633349441390585
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36892749, -0.89442128, -0.2527906 , -0.09639212, -0.23369135,
        0.96752101, -0.92444636,  0.38131212,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489234, -0.03624905,  0.3047531 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044924445756308606
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47131157e-13, -3.47528189e-14,  1.00000000e+00, -8.58850434e-27,
        1.00000000e+00,  3.47528189e-14, -1.00000000e+00,  0.00000000e+00,
       -2.47131157e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05291814, -0.06118955,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19862776e-05,-3.66400907e-06,-1.43665764e-05,-2.40079102e-05,
 -2.55112165e-03, 2.28810226e-02, 1.03093226e-02, 1.35840487e-03,
  2.54923253e-05, 2.96417459e-05, 1.70169285e-05, 3.53585441e-05,
  5.46808698e-02, 2.11426039e-02, 1.50156048e-02,-1.15248356e-04,
 -5.62451509e-07, 2.71936456e-07,-9.80999947e+00,-6.49491790e-02,
 -9.35869539e-03,-5.37592762e-03]


--- Step 1628 ---
qpos:
[ 0.00986083, 0.00809526,-0.00562261, 0.03350402, 0.00606389,-0.01784687,
 -0.01622575, 0.03784211, 0.01297644, 0.00593326,-0.01169098, 0.03406369,
  0.81370465,-0.01431284, 1.14950979, 0.04609948, 0.09460336,-0.06388187,
  0.14248889, 0.94323311,-0.03295631, 0.02890486, 0.32922591]

qacc:
[ 4.30110992e+00, 2.76503122e-01, 5.67230506e-01,-5.59346779e+00,
  7.59282954e+00, 9.28003463e-01,-1.18301939e+00,-2.05741668e+00,
 -6.38016414e+00, 2.87915207e-01,-7.21613353e-01, 1.00395104e+00,
  3.38402950e+00, 2.00093348e+00, 1.18256965e+01,-2.74486580e+01,
 -2.24969964e-02,-8.45291795e-02, 1.55327832e-02, 1.75448830e+00,
 -1.64095395e-01, 3.29650521e+00]

qfrc_actuator:
[ 4.36825799e-05, 2.29373791e-04, 4.63195019e-05, 2.61218482e-05,
 -2.49240866e-03, 2.07090077e-02, 9.41421716e-03, 1.33337748e-03,
 -9.32943187e-05, 4.92013220e-05,-6.79252193e-05, 2.08044035e-05,
  4.97356782e-02, 1.84431760e-02, 1.17091598e-03,-2.22365439e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25345553, -0.24809154,  0.05186802, -0.24809154,  0.34364411,
        0.43138379,  0.05186802,  0.43138379,  2.31682058,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003998345630406099
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82472115e-01, -1.86300433e-01,  6.37906312e-03, -1.86296507e-01,
        9.82492824e-01,  1.20959888e-03, -6.49273253e-03, -2.16840434e-19,
       -9.99978922e-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([ 0.13053426, -0.08223226,  0.13160685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29434763,  7.09417315,  1.69711954,  7.09417315,  9.05371638,
       -7.35438267,  1.69711954, -7.35438267, 38.03659234,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.684009933310326e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9869742 ,  0.04236591, -0.15520007,  0.04185164,  0.99910216,
        0.0065811 ,  0.15533954,  0.        , -0.98786114])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328167, -0.05400965,  0.29657807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046348367167213576
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36812275, -0.89463465, -0.25320838, -0.0963517 , -0.23415985,
        0.96741176, -0.92477132,  0.38052334,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489221, -0.03624624,  0.3047533 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004493438994951082
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.79085466e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.79085466e-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([ 0.05292027, -0.06118792,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52940852e-05, 7.06117229e-06,-1.41890658e-05,-1.60147106e-05,
 -2.58044305e-03, 2.28292296e-02, 1.02870599e-02, 1.37096674e-03,
 -3.73039975e-05, 2.79246566e-05, 7.97076649e-06, 2.96698225e-06,
  5.41456280e-02, 2.08863976e-02, 1.48922559e-02, 3.42952363e-05,
 -2.31228281e-07, 3.42474878e-07,-9.80999978e+00,-6.49497562e-02,
 -9.35886680e-03,-5.37572619e-03]


--- Step 1629 ---
qpos:
[ 0.00986098, 0.0080945 ,-0.00562226, 0.03350384, 0.00606649,-0.01787286,
 -0.01623666, 0.03784133, 0.01297454, 0.00593334,-0.01169067, 0.03406362,
  0.81369443,-0.01432169, 1.14944448, 0.04609573, 0.09460456,-0.06388011,
  0.1424893 , 0.94322759,-0.03295299, 0.02890263, 0.32924225]

qacc:
[-3.45551410e+00,-4.26356058e-01, 5.57444068e-01, 2.12677111e+00,
 -4.23116903e-01, 1.02749115e+00,-3.40991291e+00,-2.05124218e+00,
 -8.47122522e-01,-4.15722264e-01, 2.01269488e+00,-2.85141915e+00,
  2.90089261e+00, 2.14698774e+00, 1.09285703e+01,-1.63560506e+01,
 -2.04365911e-02,-6.38769384e-02, 1.35449525e-02, 1.40227397e+00,
 -2.16345827e-01, 2.81634914e+00]

qfrc_actuator:
[ 2.26311342e-05, 2.19639049e-04, 5.76793858e-05, 3.52632599e-05,
 -2.52013059e-03, 2.07331444e-02, 9.39304990e-03, 1.30344418e-03,
 -9.72087197e-05, 7.06727310e-05,-5.10928353e-05, 2.10643003e-05,
  4.97327196e-02, 1.84680161e-02, 1.17433213e-03,-2.10703703e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2529445 , -0.2474892 ,  0.05224957, -0.2474892 ,  0.2967074 ,
        0.20729061,  0.05224957,  0.20729061,  1.23481262,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039788590983938667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98251367, -0.1860811 ,  0.00638004, -0.18607717,  0.98253439,
        0.00120831, -0.00649345,  0.        , -0.99997892])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13053661, -0.0822297 ,  0.13160693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29450576,   5.18170277,   5.13417672,   5.18170277,
        34.79562732, -27.75569395,   5.13417672, -27.75569395,
        35.30712861,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.710362286816328e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86974524e-01,  4.23430959e-02, -1.55204224e-01,  4.18290722e-02,
        9.99103129e-01,  6.57772671e-03,  1.55343547e-01,  8.67361738e-19,
       -9.87860508e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132819 , -0.05400883,  0.2965782 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000463373015504961
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.68434549e-01, -8.94531774e-01, -2.53118328e-01, -9.63966626e-02,
       -2.34043952e-01,  9.67435327e-01, -9.24642453e-01,  3.80836360e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489205, -0.03624437,  0.30475408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004491589200336793
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23589110e-13, -3.47594372e-14,  1.00000000e+00, -4.29588791e-27,
        1.00000000e+00,  3.47594372e-14, -1.00000000e+00,  0.00000000e+00,
       -1.23589110e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05292176, -0.06118665,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03251716e-05,-9.37423972e-06, 1.05217897e-05, 8.64210040e-06,
 -2.65255793e-03, 2.28165827e-02, 1.02714072e-02, 1.34941623e-03,
 -4.96592349e-06, 3.88472577e-05, 2.36859730e-05, 1.79166736e-06,
  5.36719167e-02, 2.06521869e-02, 1.45685866e-02, 1.87633445e-04,
 -7.96442480e-07, 7.90090550e-07,-9.80999975e+00,-6.49498672e-02,
 -9.35923846e-03,-5.37540674e-03]


--- Step 1630 ---
qpos:
[ 0.00986089, 0.00809371,-0.00562209, 0.03350379, 0.00606893,-0.01789989,
 -0.01624855, 0.03784011, 0.0129733 , 0.00593408,-0.0116906 , 0.03406318,
  0.81369207,-0.01432613, 1.14938219, 0.04608991, 0.0946057 ,-0.06387857,
  0.14248975, 0.94322061,-0.03294719, 0.02890089, 0.32926296]

qacc:
[-2.22748510e+00, 7.05225812e-01,-3.08753093e+00, 5.53053824e+00,
 -1.35027011e+00, 4.40879408e-01,-1.67701557e+00,-3.76041456e+00,
  5.76039968e+00, 8.03020183e-01,-9.15807390e-02,-6.23278716e+00,
  2.78231712e+00, 1.78111458e+00, 1.06357165e+01,-3.08546646e+01,
 -1.56586189e-02,-5.27100340e-02, 7.48553296e-03, 1.16858816e+00,
 -2.27473655e-01, 2.34167018e+00]

qfrc_actuator:
[ 1.01736001e-05, 2.14182424e-04, 4.64740921e-05, 4.07167656e-05,
 -2.53777611e-03, 2.07940491e-02, 9.38538366e-03, 1.26831523e-03,
 -6.32360496e-05, 1.18883221e-04,-5.90224690e-05, 3.50720829e-06,
  4.97361764e-02, 1.84835414e-02, 1.18350520e-03,-2.30268058e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25240382, -0.2466329 ,  0.05366472, -0.2466329 ,  0.29621609,
        0.20135292,  0.05366472,  0.20135292,  1.17778372,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039580582849807933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98255809, -0.18584629,  0.00638348, -0.18584237,  0.98257883,
        0.00120738, -0.00649666,  0.        , -0.9999789 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13053907, -0.08222696,  0.13160705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29494957,   5.19474231,   5.12161512,   5.19474231,
        37.05142226, -30.18134008,   5.12161512, -30.18134008,
        37.90722336,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.783340185070807e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86975883e-01,  4.23104103e-02, -1.55204493e-01,  4.17967831e-02,
        9.99104514e-01,  6.57265150e-03,  1.55343601e-01, -8.67361738e-19,
       -9.87860499e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328223, -0.05400842,  0.29657841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046312439529408775
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36941143, -0.8942414 , -0.25272022, -0.09648985, -0.23357486,
        0.9675394 , -0.92424288,  0.38180505,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489187, -0.03624332,  0.3047552 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004487501418224127
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.57165232e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.57165232e-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([ 0.05292275, -0.06118567,  0.06198992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30385808e-05,-8.13871987e-06,-1.15408418e-05, 5.58618543e-06,
 -2.66785079e-03, 2.29221237e-02, 1.03199210e-02, 1.33714098e-03,
  3.38445928e-05, 7.48893103e-05, 3.06792535e-06,-1.50388410e-05,
  5.32477394e-02, 2.04246471e-02, 1.40662729e-02,-7.65500437e-05,
 -1.87809072e-06, 1.46791303e-06,-9.80999952e+00,-6.49496086e-02,
 -9.35974343e-03,-5.37497306e-03]


--- Step 1631 ---
qpos:
[ 0.00986134, 0.00809303,-0.00562212, 0.03350379, 0.00607152,-0.01792756,
 -0.01626106, 0.03783853, 0.01297214, 0.0059351 ,-0.01169048, 0.03406221,
  0.81369703,-0.01432634, 1.14932477, 0.04608312, 0.09460678,-0.06387718,
  0.14249021, 0.94321235,-0.03293928, 0.0288994 , 0.32928755]

qacc:
[ 4.73943282e+00, 8.07342526e-01,-2.89784513e+00, 4.03032457e+00,
  1.24873199e+00, 1.64076680e-01,-3.24774173e-01,-4.26275773e+00,
  6.30806040e-01,-8.80616616e-01, 5.89422482e+00,-1.52796408e+01,
  2.48271105e+00, 1.87692039e+00, 1.01017648e+01,-2.50039045e+01,
 -1.45169716e-02,-3.95672770e-02, 5.60028677e-03, 9.55866429e-01,
 -2.73277483e-01, 2.07621275e+00]

qfrc_actuator:
[ 3.83940620e-05, 2.28994043e-04, 3.97853135e-05, 4.39351567e-05,
 -2.53149531e-03, 2.08242801e-02, 9.38613126e-03, 1.26574996e-03,
 -6.05041987e-05, 1.11612307e-04,-6.36593484e-05,-2.43876059e-05,
  4.97379112e-02, 1.85097361e-02, 1.20173945e-03,-2.32774233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25183511, -0.24623535,  0.0528117 , -0.24623535,  0.2992649 ,
        0.22114214,  0.0528117 ,  0.22114214,  1.28291373,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039359715507525784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98260475, -0.18559927,  0.00638932, -0.18559535,  0.98262552,
        0.00120682, -0.00650229,  0.        , -0.99997886])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13054164, -0.08222408,  0.1316072 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29563751,   5.19890502,   5.11837017,   5.19890502,
        32.37014325, -25.46903983,   5.11837017, -25.46903983,
        33.1654192 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.893744577869287e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98697808,  0.04226953, -0.15520166,  0.04175642,  0.99910624,
        0.00656617,  0.1553405 ,  0.        , -0.98786099])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328265, -0.05400838,  0.29657867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004627484627728895
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.37110935, -0.89374391, -0.2519914 , -0.09663482, -0.23272597,
        0.96772947, -0.92354727,  0.3834846 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489155, -0.03624294,  0.30475662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004481760043818783
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.71580477e-13, -9.67657493e-14,  1.00000000e+00, -3.59562633e-26,
        1.00000000e+00,  9.67657493e-14, -1.00000000e+00,  0.00000000e+00,
       -3.71580477e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05292334, -0.06118491,  0.06198993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.78487090e-05, 8.13825788e-06,-9.59015831e-06, 2.58110443e-06,
 -2.65376613e-03, 2.30057741e-02, 1.03702367e-02, 1.35711724e-03,
  3.72282512e-06, 3.45780395e-05, 1.06787538e-05,-2.48745663e-05,
  5.28566707e-02, 2.02302497e-02, 1.39343106e-02, 1.66390956e-06,
 -3.19557686e-06, 2.24111405e-06,-9.80999918e+00,-6.49490408e-02,
 -9.36033948e-03,-5.37443249e-03]


--- Step 1632 ---
qpos:
[ 0.00986212, 0.00809262,-0.00562233, 0.0335038 , 0.0060743 ,-0.01795583,
 -0.01627418, 0.03783664, 0.0129717 , 0.0059361 ,-0.01169025, 0.03406096,
  0.81370885,-0.01432224, 1.14927926, 0.04607923, 0.09460779,-0.06387589,
  0.14249071, 0.94320291,-0.03292963, 0.02889789, 0.3293157 ]

qacc:
[ 2.92516419e+00, 8.92400215e-01,-2.73505017e+00, 3.10362042e+00,
  1.60335129e+00, 2.08978725e-01,-5.46894579e-01,-3.64158767e+00,
  6.44501012e+00,-9.28453686e-01, 4.45677135e+00,-9.57705383e+00,
  1.97920280e+00, 2.45150258e+00, 8.79390472e+00,-5.25001080e+00,
 -1.73673778e-02,-2.65788064e-02, 7.82824137e-03, 7.44923318e-01,
 -3.41492514e-01, 1.90058968e+00]

qfrc_actuator:
[ 5.48230409e-05, 2.55840389e-04, 3.59064242e-05, 4.58368766e-05,
 -2.52885173e-03, 2.08361094e-02, 9.39195244e-03, 1.28280236e-03,
 -2.29367591e-05, 8.89192879e-05,-6.65292997e-05,-4.04243123e-05,
  4.97383782e-02, 1.85230059e-02, 1.24111301e-03,-2.09093871e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25125393, -0.24616095,  0.05033215, -0.24616095,  0.29180194,
        0.19830935,  0.05033215,  0.19830935,  1.22113133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039131763578971045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82654162e-01, -1.85337235e-01,  6.39589925e-03, -1.85333309e-01,
        9.82674976e-01,  1.20629742e-03, -6.50866198e-03, -2.16840434e-19,
       -9.99978818e-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([ 0.13054428, -0.08222102,  0.13160735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2965185 ,   5.19795083,   5.12059463,   5.19795083,
        24.06158101, -17.01833027,   5.12059463, -17.01833027,
        24.5719426 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.030690116175099e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86980953e-01,  4.22213394e-02, -1.55196511e-01,  4.17088504e-02,
        9.99108282e-01,  6.55845286e-03,  1.55335026e-01,  8.67361738e-19,
       -9.87861847e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328312, -0.05400869,  0.29657897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004623104388855077
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.37325419, -0.8931148 , -0.2510523 , -0.0968067 , -0.23163705,
        0.96797352, -0.9226645 ,  0.38560372,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489112, -0.03624316,  0.30475821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004474772832307877
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48107125e-13, -1.89957018e-13,  1.00000000e+00, -4.71296897e-26,
        1.00000000e+00,  1.89957018e-13, -1.00000000e+00,  0.00000000e+00,
       -2.48107125e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05292363, -0.06118433,  0.06198995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72277149e-05, 2.95602390e-05,-3.28294904e-06, 1.96922292e-06,
 -2.65845955e-03, 2.30502734e-02, 1.04072612e-02, 1.39170739e-03,
  3.76891069e-05,-2.25572725e-06, 4.71454115e-06,-1.46703609e-05,
  5.24910868e-02, 2.00324159e-02, 1.37312909e-02, 2.87663276e-04,
 -4.66368172e-06, 3.10704741e-06,-9.80999875e+00,-6.49482274e-02,
 -9.36100888e-03,-5.37378401e-03]


--- Step 1633 ---
qpos:
[ 0.00986275, 0.00809256,-0.00562238, 0.0335038 , 0.00607747,-0.01798661,
 -0.01628848, 0.03783435, 0.01297138, 0.00593735,-0.01169046, 0.03405987,
  0.81372682,-0.01431406, 1.14924593, 0.0460788 , 0.09460872,-0.06387471,
  0.14249123, 0.94319256,-0.03291864, 0.02889622, 0.32934657]

qacc:
[-1.35152881e+00,-2.99526618e-02, 8.31112650e-01,-1.56914454e+00,
  3.33776150e+00,-7.84795151e-01,-4.00673311e-01,-2.53377046e+00,
  9.36802346e-01, 1.91170069e+00,-7.02175781e+00, 1.03896256e+01,
  1.61823500e+00, 2.54645064e+00, 7.54259950e+00,-2.69914807e-01,
 -1.93066693e-02,-2.36335602e-02, 7.58324299e-03, 5.55463373e-01,
 -3.25006701e-01, 1.44688951e+00]

qfrc_actuator:
[ 4.64145935e-05, 2.89700593e-04, 5.15250042e-05, 4.69632051e-05,
 -2.54624321e-03, 2.08726313e-02, 9.41880265e-03, 1.27623440e-03,
 -1.84149735e-05, 1.10427162e-04,-8.61569224e-05,-3.16194263e-05,
  4.97485142e-02, 1.84912332e-02, 1.27638391e-03,-1.91353922e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25910832, -0.25397499,  0.05132077, -0.25397499,  0.29984552,
        0.20159928,  0.05132077,  0.20159928,  1.25677791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000420341816683175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82706549e-01, -1.85058979e-01,  6.40417876e-03, -1.85055050e-01,
        9.82727416e-01,  1.20598120e-03, -6.51673969e-03, -2.16840434e-19,
       -9.99978766e-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([ 0.13054698, -0.08221777,  0.13160753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29752173,   5.20615994,   5.1136799 ,   5.20615994,
        20.8811228 , -13.8292582 ,   5.1136799 , -13.8292582 ,
        21.37687973,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.181145760510512e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86984352e-01,  4.21663712e-02, -1.55189836e-01,  4.16545961e-02,
        9.99110603e-01,  6.54961745e-03,  1.55327984e-01, -8.67361738e-19,
       -9.87862955e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132836 , -0.05400931,  0.29657926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046190192984270427
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.75361104e-01, -8.92494106e-01, -2.50116596e-01, -9.69660369e-02,
       -2.30555631e-01,  9.68215724e-01, -9.21792617e-01,  3.87683339e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489064, -0.03624397,  0.30475984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004466796298860515
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.72825270e-13, -3.88359656e-15,  1.00000000e+00, -1.44790294e-27,
        1.00000000e+00,  3.88359656e-15, -1.00000000e+00,  0.00000000e+00,
       -3.72825270e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05292367, -0.0611839 ,  0.06198997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.90574654e-06, 4.98175064e-05, 2.13941848e-05, 2.31825180e-06,
 -2.68525799e-03, 2.31183006e-02, 1.04646514e-02, 1.40141775e-03,
  5.59584986e-06, 2.05675053e-05,-2.00339340e-05, 8.58422735e-06,
  5.21583540e-02, 1.97847875e-02, 1.31719486e-02, 3.20035547e-04,
 -6.22699191e-06, 4.06890823e-06,-9.80999827e+00,-6.49472303e-02,
 -9.36174763e-03,-5.37302150e-03]


--- Step 1634 ---
qpos:
[ 0.00986292, 0.00809289,-0.00562224, 0.03350347, 0.00608066,-0.01801932,
 -0.0163039 , 0.03783167, 0.01297077, 0.00593841,-0.01169048, 0.03405926,
  0.81374834,-0.01430334, 1.14922324, 0.04608056, 0.09460964,-0.06387362,
  0.1424918 , 0.94318167,-0.03290659, 0.02889489, 0.32937908]

qacc:
[-3.95377208e+00,-6.95555122e-01, 4.65427949e+00,-1.10918744e+01,
  1.60689379e-01,-2.40842590e-01,-1.17168163e+00,-2.40295900e+00,
 -2.51930990e+00, 1.78812241e-01,-2.99368686e+00, 1.09964256e+01,
  6.48577184e-01, 1.96071945e+00, 9.11019583e+00,-8.98786468e+00,
 -1.97819012e-03,-2.51612689e-02, 8.71707449e-03, 5.16982675e-01,
 -3.62725596e-02, 8.86014398e-01]

qfrc_actuator:
[ 2.34583473e-05, 3.09831025e-04, 6.08130464e-05, 2.98930525e-05,
 -2.55817924e-03, 2.09261210e-02, 9.44135405e-03, 1.29119309e-03,
 -3.33897454e-05, 8.71721228e-05,-7.98303464e-05,-8.24756467e-06,
  4.97536159e-02, 1.84486957e-02, 1.26080850e-03,-1.82675056e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25819489, -0.25344961,  0.0492737 , -0.25344961,  0.29387757,
        0.18354131,  0.0492737 ,  0.18354131,  1.20227812,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004171512539776546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98275927, -0.1847783 ,  0.00641792, -0.18477436,  0.98278023,
        0.00120667, -0.00653037,  0.        , -0.99997868])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13054993, -0.0822145 ,  0.13160779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.30136373,  0.73481773,  7.26429317,  0.73481773, 61.50455565,
       -5.48291011,  7.26429317, -5.48291011,  7.85598611,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.712821894565475e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87821645,  0.41904078, -0.23052264,  0.40531026,  0.90796742,
        0.10638971,  0.25388868,  0.        , -0.96723345])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328405, -0.05401021,  0.29657955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004615522082599855
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.37727947, -0.89192674, -0.24925268, -0.09710262, -0.2295604 ,
        0.96843849, -0.92099473,  0.38957504,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489011, -0.03624531,  0.30476146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044580191748930264
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.89202250e-07,  6.89202342e-07,  1.00000000e+00,  4.74999805e-13,
        1.00000000e+00, -6.89202342e-07, -1.00000000e+00,  0.00000000e+00,
       -6.89202250e-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([ 0.05334379, -0.06177498,  0.06198998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31648311e-05, 5.25052727e-05, 2.22946845e-05,-1.41496179e-05,
 -2.71664536e-03, 2.32988891e-02, 1.05475872e-02, 1.43587180e-03,
 -1.48045514e-05,-1.55634287e-05, 8.39415676e-06, 2.37269825e-05,
  5.18555285e-02, 1.95380453e-02, 1.25482359e-02, 2.34298981e-04,
 -7.57576243e-06, 4.91620221e-06,-9.80999782e+00,-6.49460782e-02,
 -9.36252172e-03,-5.37215581e-03]


--- Step 1635 ---
qpos:
[ 0.00986248, 0.0080933 ,-0.00562212, 0.03350298, 0.0060801 ,-0.01804576,
 -0.01631431, 0.03783199, 0.01297032, 0.00593881,-0.01169015, 0.03405863,
  0.81369667,-0.01433582, 1.14916219, 0.04609457, 0.0946113 ,-0.06386976,
  0.1424918 , 0.94318814,-0.03292474, 0.02888451, 0.32935965]

qacc:
[-5.45378214e+00,-1.21063124e-01, 1.24724276e+00,-3.87773676e+00,
 -3.21110915e+01, 5.20331048e-01,-2.38193971e+00, 4.14939029e+01,
  1.52399363e+00,-1.85944680e+00, 5.41491466e+00,-5.66752067e+00,
 -2.43968425e+01,-1.99709234e+01,-9.32476868e+01, 2.44966142e+02,
  1.81774725e-01, 6.92124144e-01,-1.40008232e-01,-1.46909728e+01,
  1.31153263e+00,-2.79447652e+01]

qfrc_actuator:
[-7.86848409e-06, 2.86044590e-04, 4.84669581e-05, 1.99883470e-05,
 -2.56662760e-03, 2.09724476e-02, 9.46171681e-03, 1.31922564e-03,
 -2.42044985e-05, 1.96528347e-05,-7.61442920e-05,-1.20148535e-05,
  4.97450595e-02, 1.84706225e-02, 1.28366011e-03,-1.72344081e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25724066, -0.25285483,  0.04729897, -0.25285483,  0.28901971,
        0.16988713,  0.04729897,  0.16988713,  1.16543751,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004137693985481775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82811266e-01, -1.84500924e-01,  6.43623221e-03, -1.84496968e-01,
        9.82832340e-01,  1.20823333e-03, -6.54865733e-03,  2.16840434e-19,
       -9.99978557e-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([ 0.13055309, -0.08221128,  0.1316081 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.89645878867093e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88023342,  0.41515055, -0.22986765,  0.40167991,  0.90975272,
        0.10489629,  0.25267048,  0.        , -0.96755239])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328455, -0.05401129,  0.29657986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004612632623171139
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.37934119, -0.89131381, -0.24831423, -0.09724146, -0.22848207,
        0.96867954, -0.92013279,  0.39160649,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488958, -0.03624698,  0.30476299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.43522196, -6.35407672,  8.27765465, -6.35407672, 44.36658977,
       26.04632875,  8.27765465, 26.04632875, 30.4288528 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044568745670697557
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05221552e-06, -1.05221565e-06,  1.00000000e+00, -1.10715763e-12,
        1.00000000e+00,  1.05221565e-06, -1.00000000e+00,  0.00000000e+00,
       -1.05221552e-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([ 0.0864868 , -0.10840829,  0.06198999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.19699050e-05, 9.55259571e-06, 7.52085638e-07,-7.15813368e-06,
 -2.72604439e-03, 2.34425138e-02, 1.06239624e-02, 1.48354463e-03,
  8.76089125e-06,-7.35156128e-05, 2.31526759e-06,-3.68248035e-06,
  5.16700216e-02, 1.94329862e-02, 1.20393146e-02, 2.27945431e-04,
 -8.51162493e-06, 5.40367040e-06,-9.80999755e+00,-6.49447195e-02,
 -9.36326976e-03,-5.37125482e-03]


--- Step 1636 ---
qpos:
[ 0.00986201, 0.0080934 ,-0.00562223, 0.03350279, 0.00608001,-0.01807117,
 -0.01632463, 0.03783224, 0.01296965, 0.00593833,-0.01168933, 0.03405799,
  0.81365753,-0.0143607 , 1.14909698, 0.04610249, 0.09461279,-0.06386666,
  0.14249196, 0.94319137,-0.03293628, 0.02887664, 0.32934993]

qacc:
[-2.38144583e-01, 8.56801828e-01,-4.90312914e+00, 1.06521200e+01,
  4.12985651e+00, 9.47605751e-01,-1.12286079e+00,-9.76030519e-01,
 -2.00428347e+00,-2.58232847e+00, 7.59706383e+00,-8.07305021e+00,
  4.25370606e+00, 3.45152361e+00, 1.22117556e+01,-5.18425105e+01,
 -3.95779068e-02,-1.89146787e-01, 4.08505102e-02, 3.33163728e+00,
 -1.88746444e-02, 5.25523050e+00]

qfrc_actuator:
[-8.36142414e-06, 2.36050406e-04, 2.32720392e-05, 3.20818940e-05,
 -2.58696965e-03, 2.10070614e-02, 9.49284988e-03, 1.31636769e-03,
 -3.63717771e-05,-3.83804311e-05,-5.65197417e-05,-1.40185044e-05,
  4.97510638e-02, 1.85404433e-02, 1.30164067e-03,-1.70991764e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25662083, -0.03190231,  0.25463011, -0.03190231,  0.86291894,
        0.07596239,  0.25463011,  0.07596239,  0.26613807,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041154535847343017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98283487, -0.18437526,  0.0064328 , -0.18437132,  0.98285592,
        0.00120674, -0.006545  ,  0.        , -0.99997858])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13055563, -0.08220987,  0.13160813])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29901251,  2.20092669,  6.95927478,  2.20092669, 22.21818678,
       -4.71830899,  6.95927478, -4.71830899,  8.79121573,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.395151783984927e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.08630091e-01,  3.55225206e-01, -2.19559585e-01,  3.45287717e-01,
        9.34780751e-01,  8.34346437e-02,  2.34878162e-01,  1.38777878e-17,
       -9.72024819e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132835 , -0.05400874,  0.2965792 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.29983112, -0.7915866 ,  1.03099544, -0.7915866 ,  8.23576951,
        5.3253348 ,  1.03099544,  5.3253348 ,  5.38856275,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004634293491315829
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.37161075, -0.8935724 , -0.25186072, -0.0967118 , -0.23255247,
        0.96776349, -0.92333757,  0.38398923,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488923, -0.03624092,  0.30475907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.44298625, -5.94842804,  8.58324914, -5.94842804, 18.44380096,
        5.54478494,  8.58324914,  5.54478494, 14.28567492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044630191975882083
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24380265e-13,  2.72081831e-14,  1.00000000e+00,  3.38416103e-27,
        1.00000000e+00, -2.72081831e-14, -1.00000000e+00,  0.00000000e+00,
       -1.24380265e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05292824, -0.06118008,  0.06198997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40151284e-06,-4.48286366e-05,-2.33800978e-05, 1.23909160e-05,
 -2.55863949e-03, 2.31650210e-02, 1.04053358e-02, 1.33100786e-03,
 -1.19423594e-05,-9.88384789e-05, 4.58892603e-06,-5.14630141e-06,
  5.53355887e-02, 2.16634492e-02, 1.39764518e-02,-3.71012634e-04,
 -5.97234946e-06, 1.83160208e-06,-9.80999727e+00,-6.49464559e-02,
 -9.36400800e-03,-5.37126755e-03]


--- Step 1637 ---
qpos:
[ 0.00986188, 0.0080933 ,-0.00562297, 0.03350311, 0.00608057,-0.01809609,
 -0.01633473, 0.03783245, 0.01296849, 0.00593747,-0.01168822, 0.03405796,
  0.81362939,-0.01437908, 1.14903559, 0.04610819, 0.09461417,-0.06386414,
  0.14249225, 0.94319186,-0.03294248, 0.02887072, 0.32934844]

qacc:
[ 2.98844761e+00, 2.50997507e+00,-1.14808478e+01, 2.13882623e+01,
  5.44144574e+00,-7.89381526e-02, 1.37697966e+00,-2.82549089e+00,
 -4.25798897e+00, 5.43888439e-03,-3.34176382e+00, 1.38872094e+01,
  3.72689987e+00, 2.92257701e+00, 1.22538756e+01,-3.48278726e+01,
 -2.87789917e-02,-1.43281473e-01, 3.07512747e-02, 2.67818882e+00,
 -5.31362565e-02, 4.44069280e+00]

qfrc_actuator:
[ 9.30014600e-06, 2.23951169e-04,-9.41160175e-06, 5.69873339e-05,
 -2.59943212e-03, 2.10551281e-02, 9.49784820e-03, 1.27908959e-03,
 -6.10167527e-05,-1.92184869e-05,-2.76163223e-05, 2.05542061e-05,
  4.97553990e-02, 1.85522192e-02, 1.28304626e-03,-1.71906237e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040939797818272247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98286135, -0.18423406,  0.00643239, -0.18423012,  0.9828824 ,
        0.0012057 , -0.00654441,  0.        , -0.99997859])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13055808, -0.08220826,  0.1316082 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29686623,  7.2686601 ,  0.64096576,  7.2686601 ,  7.56043074,
       -2.9888661 ,  0.64096576, -2.9888661 , 41.19111301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.083471872471396e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.29817340e-01,  3.02309519e-01, -2.09877746e-01,  2.94890620e-01,
        9.53209817e-01,  6.65625127e-02,  2.20180009e-01,  6.93889390e-18,
       -9.75459258e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328287, -0.05400683,  0.2965788 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046475041658306367
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.66770841e-01, -8.94942112e-01, -2.54082203e-01, -9.63519615e-02,
       -2.35104371e-01,  9.67182627e-01, -9.25308300e-01,  3.79215704e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488898, -0.0362365 ,  0.30475696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044715713839163507
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48284759e-13, -1.28021829e-13,  1.00000000e+00, -3.17858690e-26,
        1.00000000e+00,  1.28021829e-13, -1.00000000e+00,  0.00000000e+00,
       -2.48284759e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05293202, -0.06117752,  0.06198995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76062539e-05,-4.14672049e-05,-4.43934458e-05, 2.24172849e-05,
 -2.59529606e-03, 2.31626152e-02, 1.04060546e-02, 1.29729068e-03,
 -2.50197111e-05,-3.53785896e-05, 8.87174242e-06, 3.03968041e-05,
  5.47134916e-02, 2.12953936e-02, 1.41669632e-02,-7.48964615e-05,
 -2.06706622e-06, 5.55724033e-07,-9.80999885e+00,-6.49482290e-02,
 -9.36355138e-03,-5.37118568e-03]


--- Step 1638 ---
qpos:
[ 0.00986162, 0.00809322,-0.00562396, 0.03350367, 0.00608157,-0.01812121,
 -0.0163451 , 0.03783245, 0.01296774, 0.00593652,-0.01168745, 0.03405801,
  0.81361102,-0.01439176, 1.14897922, 0.04611241, 0.09461546,-0.06386204,
  0.14249263, 0.94318996,-0.0329443 , 0.02886629, 0.32935409]

qacc:
[-1.17081890e+00, 1.22492810e+00,-5.33443887e+00, 9.87599740e+00,
  3.88954184e+00, 8.24034239e-02, 2.04527138e-01,-3.20733775e+00,
  3.53841693e+00, 9.34882567e-01,-3.85398074e+00, 5.76600361e+00,
  3.32247060e+00, 2.53758993e+00, 1.18430479e+01,-3.08413417e+01,
 -2.09799560e-02,-1.06898212e-01, 2.19878710e-02, 2.17034361e+00,
 -1.05697168e-01, 3.84560080e+00]

qfrc_actuator:
[ 1.99063717e-06, 2.52357501e-04,-1.06005441e-05, 7.14999404e-05,
 -2.58975942e-03, 2.10581425e-02, 9.48700075e-03, 1.25666671e-03,
 -3.95433808e-05,-2.49070101e-05,-4.63887508e-05, 2.31829336e-05,
  4.97584193e-02, 1.85804939e-02, 1.27921851e-03,-1.77876463e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25545147, -0.24801297,  0.06119656, -0.24801297,  0.35730717,
        0.41279343,  0.06119656,  0.41279343,  1.92839077,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004072890888053173
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9828913 , -0.18407415,  0.00643399, -0.18407021,  0.98291236,
        0.00120492, -0.00654584,  0.        , -0.99997858])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13056047, -0.08220643,  0.13160829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29577041,  7.22702207,  0.99920858,  7.22702207,  8.00563638,
       -5.13428042,  0.99920858, -5.13428042, 44.43071764,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.9147118269355555e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.44364075e-01,  2.59774651e-01, -2.01726608e-01,  2.54043342e-01,
        9.65669266e-01,  5.42664668e-02,  2.08898238e-01, -1.38777878e-17,
       -9.77937384e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328258, -0.05400549,  0.29657861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046549532878051325
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36400101, -0.89570797, -0.25536344, -0.09614006, -0.23657467,
        0.96684513, -0.92642342,  0.37648327,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048888 , -0.03623342,  0.30475609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004475337730473622
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.72113712e-13, -9.69046126e-14,  1.00000000e+00, -3.60595351e-26,
        1.00000000e+00,  9.69046126e-14, -1.00000000e+00,  0.00000000e+00,
       -3.72113712e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05293479, -0.06117552,  0.06198995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.82050078e-06,-2.97386598e-06,-1.44382174e-05, 1.16364373e-05,
 -2.61740051e-03, 2.31424349e-02, 1.03845520e-02, 1.27713797e-03,
  2.07466356e-05,-2.23314572e-05,-2.39388146e-05, 2.01149881e-06,
  5.41665126e-02, 2.09991957e-02, 1.39729755e-02,-2.39221247e-05,
 -4.63153130e-07, 1.69358988e-07,-9.80999957e+00,-6.49492765e-02,
 -9.36357514e-03,-5.37096741e-03]


--- Step 1639 ---
qpos:
[ 0.00986196, 0.00809312,-0.00562442, 0.03350435, 0.00608322,-0.01814708,
 -0.0163554 , 0.03783233, 0.01296793, 0.00593563,-0.01168699, 0.03405773,
  0.81360147,-0.01439936, 1.14892632, 0.0461145 , 0.09461669,-0.06386027,
  0.14249306, 0.94318601,-0.0329425 , 0.02886295, 0.32936586]

qacc:
[ 5.32085128e+00,-1.27150509e+00, 3.94273924e+00,-2.63641189e+00,
  5.48329213e+00,-1.44550698e+00, 4.17157715e+00,-5.69294477e+00,
  8.36849633e+00, 2.43011652e-01, 6.65663594e-01,-6.03558396e+00,
  3.03921722e+00, 2.19807796e+00, 1.14644540e+01,-3.27932381e+01,
 -1.58400631e-02,-8.11320496e-02, 1.47529273e-02, 1.76651784e+00,
 -1.50015859e-01, 3.29679274e+00]

qfrc_actuator:
[ 3.32943003e-05, 2.69417503e-04, 2.47353155e-05, 7.98396491e-05,
 -2.56687913e-03, 2.10701125e-02, 9.52031215e-03, 1.26109120e-03,
  8.90618792e-06,-1.01253592e-05,-5.77640901e-05, 6.94226206e-06,
  4.97603648e-02, 1.85991123e-02, 1.29465839e-03,-1.90413831e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25486904, -0.24759706,  0.06044768, -0.24759706,  0.35940898,
        0.42820144,  0.06044768,  0.42820144,  2.00880605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040513898923992867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82924977e-01, -1.83894117e-01,  6.43762400e-03, -1.83890173e-01,
        9.82946058e-01,  1.20438062e-03, -6.54931564e-03,  2.16840434e-19,
       -9.99978553e-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([ 0.13056289, -0.08220434,  0.13160841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29538131,  7.16263502,  1.38536929,  7.16263502,  8.84239266,
       -7.99835666,  1.38536929, -7.99835666, 48.6484776 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.853001193068222e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95360785,  0.22884818, -0.19560314,  0.2241807 ,  0.97346213,
        0.04598373,  0.20093554,  0.        , -0.97960447])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328255, -0.05400464,  0.29657859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004658352399608505
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.62799326e-01, -8.96031918e-01, -2.55936420e-01, -9.60527299e-02,
       -2.37228422e-01,  9.66693617e-01, -9.26903729e-01,  3.75299185e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488864, -0.03623144,  0.30475608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004475386579490259
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24036550e-13,  5.81421329e-14,  1.00000000e+00, -7.21174959e-27,
        1.00000000e+00, -5.81421329e-14, -1.00000000e+00,  0.00000000e+00,
        1.24036550e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05293679, -0.06117396,  0.06198995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11095429e-05, 1.29246925e-05, 3.33576045e-05, 7.94065576e-06,
 -2.61726188e-03, 2.31649922e-02, 1.04320615e-02, 1.29203746e-03,
  4.90301397e-05,-2.53449453e-06,-1.88666648e-05,-1.79874724e-05,
  5.36796053e-02, 2.07329810e-02, 1.37391624e-02,-7.43895272e-05,
 -2.83166807e-07, 3.47271063e-07,-9.80999975e+00,-6.49497390e-02,
 -9.36389582e-03,-5.37062494e-03]


--- Step 1640 ---
qpos:
[ 0.00986233, 0.00809294,-0.00562443, 0.03350548, 0.00608506,-0.01817384,
 -0.01636647, 0.03783182, 0.01296802, 0.00593513,-0.01168687, 0.03405756,
  0.81359971,-0.01440251, 1.14887936, 0.04611589, 0.09461787,-0.06385873,
  0.14249353, 0.94318028,-0.03293773, 0.02886041, 0.32938297]

qacc:
[ 2.57625161e-01,-4.22947301e-01,-5.38901432e-01, 7.67680898e+00,
  1.65851857e+00, 1.62372630e-01,-6.32710846e-01,-4.27154452e+00,
 -9.92850386e-01, 1.70220755e+00,-5.83008042e+00, 8.09729429e+00,
  2.64583148e+00, 1.96246977e+00, 1.08750005e+01,-2.54161590e+01,
 -1.24693761e-02,-5.85010774e-02, 9.44886177e-03, 1.42161555e+00,
 -1.76399829e-01, 2.86684946e+00]

qfrc_actuator:
[ 3.38240606e-05, 2.61962070e-04, 4.58052937e-05, 1.02251103e-04,
 -2.57194529e-03, 2.11236013e-02, 9.52662331e-03, 1.24610876e-03,
  1.82019638e-06, 3.45604486e-05,-6.45906306e-05, 1.52677957e-05,
  4.97507477e-02, 1.86280241e-02, 1.29498736e-03,-1.90792255e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25427248, -0.24703976,  0.060215  , -0.24703976,  0.32190752,
        0.27748146,  0.060215  ,  0.27748146,  1.39267576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040291538967252174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98296235, -0.18369404,  0.00644298, -0.1836901 ,  0.98298347,
        0.00120403, -0.00655451,  0.        , -0.99997852])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13056535, -0.08220202,  0.13160854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29549834,   7.07116749,   1.7952399 ,   7.07116749,
        10.26530847, -11.69761478,   1.7952399 , -11.69761478,
        53.37056225,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.8716650793933995e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95897   ,  0.20897836, -0.1915844 ,  0.20492875,  0.97792026,
        0.04094096,  0.19591004,  0.        , -0.98062187])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328271, -0.05400423,  0.29657868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046588144389105956
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.62851527e-01, -8.96008422e-01, -2.55944676e-01, -9.60698661e-02,
       -2.37230390e-01,  9.66691431e-01, -9.26881519e-01,  3.75354032e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488843, -0.03623035,  0.30475668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044725915785551185
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48228126e-13, -1.59021143e-13,  1.00000000e+00, -3.94735203e-26,
        1.00000000e+00,  1.59021143e-13, -1.00000000e+00,  0.00000000e+00,
       -2.48228126e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05293816, -0.06117275,  0.06198995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41960313e-06, 7.02041470e-06, 2.81265172e-05, 2.42723774e-05,
 -2.65426017e-03, 2.32572851e-02, 1.04351840e-02, 1.28286846e-03,
 -5.69409299e-06, 3.86455631e-05,-1.02924438e-05, 7.21365460e-06,
  5.32288324e-02, 2.05077096e-02, 1.35666639e-02, 2.77851341e-05,
 -9.80165663e-07, 8.80794648e-07,-9.80999962e+00,-6.49497281e-02,
 -9.36440880e-03,-5.37016693e-03]


--- Step 1641 ---
qpos:
[ 0.00986201, 0.00809272,-0.00562416, 0.03350688, 0.00608654,-0.01820212,
 -0.01637888, 0.03783073, 0.01296768, 0.00593484,-0.01168683, 0.03405783,
  0.81360482,-0.01440174, 1.14883846, 0.04611684, 0.09461901,-0.06385736,
  0.14249403, 0.94317303,-0.03293054, 0.02885842, 0.32940461]

qacc:
[-6.01118003e+00,-2.68102168e-01,-2.03662497e-01, 4.35187177e+00,
 -3.11186001e+00, 5.42888475e-01,-2.38559136e+00,-4.39630594e+00,
 -3.78855200e+00, 1.45168456e+00,-6.62834539e+00, 1.43275626e+01,
  2.32668728e+00, 1.73779018e+00, 1.02347850e+01,-2.29106411e+01,
 -1.05616754e-02,-4.33676264e-02, 5.35391685e-03, 1.14020960e+00,
 -1.87952488e-01, 2.42923338e+00]

qfrc_actuator:
[-1.52808501e-06, 2.57606593e-04, 5.81839655e-05, 1.14975404e-04,
 -2.61134352e-03, 2.11491800e-02, 9.51754668e-03, 1.23755855e-03,
 -2.01519523e-05, 4.35961848e-05,-6.85274885e-05, 3.80151041e-05,
  4.97446209e-02, 1.86439583e-02, 1.28057696e-03,-1.92807365e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2536497 , -0.24675369,  0.05874338, -0.24675369,  0.2995214 ,
        0.19268574,  0.05874338,  0.19268574,  1.06303311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040057058893001857
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83003356e-01, -1.83474240e-01,  6.45020520e-03, -1.83470290e-01,
        9.83024518e-01,  1.20388299e-03, -6.56159138e-03, -2.16840434e-19,
       -9.99978473e-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([ 0.13056791, -0.08219946,  0.13160871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29599594,   6.92048759,   2.31049959,   6.92048759,
        13.02441525, -17.15795792,   2.31049959, -17.15795792,
        58.68809985,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.95003824442384e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.61735646e-01,  1.98025646e-01, -1.89341991e-01,  1.94295998e-01,
        9.80196839e-01,  3.82520823e-02,  1.93167315e-01, -6.93889390e-18,
       -9.81165831e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328301, -0.05400421,  0.29657887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004657497246535328
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63769429e-01, -8.95745973e-01, -2.55560079e-01, -9.61580473e-02,
       -2.36779610e-01,  9.66793177e-01, -9.26512511e-01,  3.76263960e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488817, -0.03623   ,  0.30475767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044676443655049247
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24251500e-13,  2.71800155e-14,  1.00000000e+00,  3.37715769e-27,
        1.00000000e+00, -2.71800155e-14, -1.00000000e+00,  0.00000000e+00,
       -1.24251500e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05293906, -0.06117181,  0.06198996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.53110288e-05, 6.42397131e-06, 1.81321832e-05, 1.44684778e-05,
 -2.70339573e-03, 2.33284405e-02, 1.04650020e-02, 1.29403205e-03,
 -2.21219163e-05, 2.88452546e-05, 3.03287667e-06, 2.41891932e-05,
  5.28337638e-02, 2.03010438e-02, 1.32560358e-02, 4.34051101e-05,
 -2.19449301e-06, 1.63879508e-06,-9.80999930e+00,-6.49493365e-02,
 -9.36504219e-03,-5.36960356e-03]


--- Step 1642 ---
qpos:
[ 0.00986162, 0.00809252,-0.00562371, 0.03350807, 0.00608803,-0.01823115,
 -0.01639216, 0.0378292 , 0.01296673, 0.00593495,-0.01168666, 0.03405869,
  0.81361606,-0.01439747, 1.14880312, 0.0461173 , 0.09462011,-0.06385612,
  0.14249453, 0.94316448,-0.03292136, 0.0288568 , 0.32943017]

qacc:
[-6.64272911e-01,-9.06281236e-01, 4.10404054e+00,-7.89319989e+00,
  5.18827492e-02, 5.35426951e-01,-1.48415321e+00,-4.26039677e+00,
 -5.33124728e+00, 1.35709767e+00,-6.50083815e+00, 1.59810256e+01,
  2.06180521e+00, 1.56822021e+00, 9.62778515e+00,-2.18399369e+01,
 -9.01250581e-03,-3.15005540e-02, 2.14674392e-03, 9.23662878e-01,
 -2.03633060e-01, 2.09875815e+00]

qfrc_actuator:
[-4.44881454e-06, 2.55096447e-04, 6.53349232e-05, 1.04139438e-04,
 -2.61760463e-03, 2.11767463e-02, 9.53561597e-03, 1.28646886e-03,
 -5.06923045e-05, 8.45048270e-05,-5.31022556e-05, 6.90372248e-05,
  4.97457154e-02, 1.85976028e-02, 1.31035646e-03,-1.95803132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25298082, -0.24723137,  0.05362782, -0.24723137,  0.29736537,
        0.20461869,  0.05362782,  0.20461869,  1.19630021,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039802495891311723
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98304712, -0.18323926,  0.00646056, -0.18323531,  0.98306835,
        0.00120422, -0.00657183,  0.        , -0.99997841])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13057064, -0.08219673,  0.13160891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29679596,   6.72098022,   2.84106601,   6.72098022,
        17.21407512, -23.46085476,   2.84106601, -23.46085476,
        62.79706948,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.072860659717e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62785750e-01,  1.93721071e-01, -1.88456220e-01,  1.90113269e-01,
        9.81056648e-01,  3.72128774e-02,  1.92095146e-01, -1.38777878e-17,
       -9.81376307e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328342, -0.05400451,  0.29657913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004655120687909718
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.65308374e-01, -8.95310283e-01, -2.54890739e-01, -9.62943368e-02,
       -2.36001461e-01,  9.66969861e-01, -9.25892646e-01,  3.77786722e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488784, -0.03623027,  0.3047589 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004461099549549902
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24433787e-13, -3.88855585e-15,  1.00000000e+00,  4.83867732e-28,
        1.00000000e+00,  3.88855585e-15, -1.00000000e+00,  0.00000000e+00,
        1.24433787e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05293958, -0.06117108,  0.06198998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.92573257e-06, 5.43775374e-06, 1.12097552e-05,-9.65344224e-06,
 -2.69157675e-03, 2.34329132e-02, 1.05502869e-02, 1.37197671e-03,
 -3.11610349e-05, 5.87025948e-05, 2.25968299e-05, 3.28347440e-05,
  5.24911813e-02, 2.00588125e-02, 1.29836618e-02, 3.56399379e-05,
 -3.64899854e-06, 2.49828619e-06,-9.80999890e+00,-6.49486367e-02,
 -9.36574815e-03,-5.36894490e-03]


--- Step 1643 ---
qpos:
[ 0.0098612 , 0.00809249,-0.00562378, 0.03350881, 0.00608959,-0.01826095,
 -0.016406  , 0.0378273 , 0.01296542, 0.0059356 ,-0.01168661, 0.03405921,
  0.81363292,-0.01439002, 1.1487714 , 0.04611649, 0.09462118,-0.06385498,
  0.14249503, 0.94315481,-0.03291051, 0.02885538, 0.32945906]

qacc:
[-3.02969604e-01, 7.20279063e-01,-3.06548713e-01,-6.91071667e+00,
  6.31487753e-01,-1.86356798e-01, 7.32764550e-01,-5.55887034e+00,
 -3.17009052e+00, 3.84694065e-01, 1.05059291e+00,-6.91994854e+00,
  1.91437705e+00, 1.39562541e+00, 9.18263224e+00,-2.44615269e+01,
 -8.20752934e-03,-2.47668150e-02,-6.66148178e-04, 7.57442584e-01,
 -2.17829663e-01, 1.77967909e+00]

qfrc_actuator:
[-5.99868236e-06, 2.53665315e-04, 3.38320342e-05, 7.95284380e-05,
 -2.62196083e-03, 2.12053551e-02, 9.55229780e-03, 1.29894296e-03,
 -6.82731012e-05, 1.08768422e-04,-6.17456864e-05, 5.14569151e-05,
  4.97562879e-02, 1.85659871e-02, 1.31854443e-03,-2.04691468e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25229165, -0.24697823,  0.05150567, -0.24697823,  0.2944107 ,
        0.20196781,  0.05150567,  0.20196781,  1.22076079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039537191897817664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98309413, -0.18298649,  0.00647198, -0.18298252,  0.98311543,
        0.00120462, -0.00658313,  0.        , -0.99997833])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13057345, -0.08219378,  0.13160913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.228748267592744e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96271122,  0.19402831, -0.18852089,  0.19041183,  0.98099593,
        0.03728699,  0.19217295,  0.        , -0.98136107])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132839 , -0.05400511,  0.29657943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004652147680928443
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36729105, -0.89474785, -0.25401489, -0.0964613 , -0.23498678,
        0.96720031, -0.92509054,  0.37974662,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488743, -0.03623106,  0.30476028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000445339369825104
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49298198e-13, -3.50575591e-14,  1.00000000e+00, -8.73978632e-27,
        1.00000000e+00,  3.50575591e-14, -1.00000000e+00,  0.00000000e+00,
       -2.49298198e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0529398 , -0.06117053,  0.06199   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65991794e-06, 3.51084777e-06,-2.93379840e-05,-2.41809919e-05,
 -2.69632075e-03, 2.35006772e-02, 1.06113913e-02, 1.40681361e-03,
 -1.84476399e-05, 6.31432659e-05, 7.39660930e-06,-1.36452552e-05,
  5.21952729e-02, 1.98523868e-02, 1.27144299e-02,-2.90762687e-05,
 -5.20716158e-06, 3.40898166e-06,-9.80999845e+00,-6.49476880e-02,
 -9.36650312e-03,-5.36819712e-03]


--- Step 1644 ---
qpos:
[ 0.0098611 , 0.00809213,-0.00562373, 0.03350927, 0.00609082,-0.01829164,
 -0.01642005, 0.03782516, 0.0129646 , 0.00593645,-0.01168676, 0.03405888,
  0.81365295,-0.01438064, 1.14874176, 0.04611394, 0.09462221,-0.06385391,
  0.14249554, 0.94314453,-0.0328988 , 0.02885429, 0.32948975]

qacc:
[ 2.90425087e+00,-1.30739347e+00, 5.18173928e+00,-9.89032239e+00,
 -2.80213518e+00,-1.11610356e+00, 3.31904726e+00,-6.59525993e+00,
  4.29467823e+00,-9.52718798e-01, 7.39293532e+00,-2.20397286e+01,
  9.25066603e-01, 1.07629460e+00, 8.27675360e+00,-2.45133430e+01,
 -1.11950642e-02,-1.85658577e-02, 2.74919654e-03, 4.19595734e-01,
 -7.89040728e-03, 9.74215834e-01]

qfrc_actuator:
[ 1.10131307e-05, 2.17209393e-04, 3.30154728e-05, 6.47409258e-05,
 -2.64299638e-03, 2.12171450e-02, 9.56818241e-03, 1.28965156e-03,
 -4.25775116e-05, 8.72395371e-05,-8.46299885e-05, 5.38875654e-06,
  4.97617210e-02, 1.85598764e-02, 1.30310105e-03,-2.15240422e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25158789, -0.24627058,  0.05145164, -0.24627058,  0.29052907,
        0.18638993,  0.05145164,  0.18638993,  1.14373361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003926303149663168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.983144  , -0.18271791,  0.00648412, -0.18271394,  0.98316538,
        0.00120505, -0.00659515,  0.        , -0.99997825])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13057634, -0.08219065,  0.13160937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.409172671175452e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.61860986e-01,  1.97513639e-01, -1.89240075e-01,  1.93798466e-01,
        9.80300139e-01,  3.81286245e-02,  1.93042996e-01, -6.93889390e-18,
       -9.81190298e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328443, -0.05400597,  0.29657976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004648764087159143
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.69636772e-01, -8.94078109e-01, -2.52968361e-01, -9.66499929e-02,
       -2.33777182e-01,  9.67474552e-01, -9.24136048e-01,  3.82063561e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488692, -0.03623228,  0.30476176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004444824165094542
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.74684300e-07,  5.74684197e-07,  1.00000000e+00,  3.30261986e-13,
        1.00000000e+00, -5.74684197e-07, -1.00000000e+00,  0.00000000e+00,
       -5.74684300e-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([ 0.05336008, -0.06176127,  0.06199001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69679518e-05,-4.15880897e-05,-4.54148487e-06,-1.61240533e-05,
 -2.72107222e-03, 2.35518873e-02, 1.06559088e-02, 1.41579435e-03,
  2.51957318e-05, 1.46884129e-05,-9.41237400e-06,-4.33741216e-05,
  5.19197786e-02, 1.96867199e-02, 1.25189173e-02,-7.01886399e-05,
 -6.74893894e-06, 4.31212938e-06,-9.80999798e+00,-6.49465346e-02,
 -9.36729387e-03,-5.36736396e-03]


--- Step 1645 ---
qpos:
[ 0.00986156, 0.00809149,-0.00562344, 0.03350953, 0.00608795,-0.01831528,
 -0.01642878, 0.03782598, 0.01296409, 0.00593688,-0.01168665, 0.03405874,
  0.81359903,-0.01441448, 1.14867306, 0.04612106, 0.09462406,-0.06385016,
  0.14249552, 0.94315134,-0.03291632, 0.02884483, 0.32946933]

qacc:
[ 4.83448737e+00,-1.50070254e+00, 5.64932498e+00,-9.28661943e+00,
 -3.50736999e+01, 6.10495958e-01,-1.04226989e+00, 3.84416145e+01,
  2.78313269e+00,-8.86371942e-01, 1.54168164e+00, 1.67358120e+00,
 -2.50953143e+01,-1.93117585e+01,-8.63689729e+01, 2.19499896e+02,
  2.07264323e-01, 6.70957239e-01,-1.32072878e-01,-1.41444887e+01,
  1.46630025e+00,-2.74824901e+01]

qfrc_actuator:
[ 3.88125962e-05, 2.13434399e-04, 5.02000086e-05, 5.58507624e-05,
 -2.62040868e-03, 2.12192741e-02, 9.58345042e-03, 1.33833832e-03,
 -2.71261456e-05, 3.83525488e-05,-8.04308733e-05, 1.38989627e-05,
  4.97534371e-02, 1.85335486e-02, 1.30544132e-03,-2.08937877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25086893, -0.24626938,  0.04781853, -0.24626938,  0.28361804,
        0.16866062,  0.04781853,  0.16866062,  1.11948502,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000389794889274158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98319451, -0.1824454 ,  0.00649851, -0.18244141,  0.98321599,
        0.00120586, -0.00660944,  0.        , -0.99997816])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1305793 , -0.08218747,  0.13160963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.605549835646837e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96080369,  0.20177335, -0.19011518,  0.19793567,  0.97943224,
        0.03916573,  0.19410754,  0.        , -0.98098026])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328498, -0.05400698,  0.29658011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046455933400030443
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.72226691e-01, -8.93331535e-01, -2.51805599e-01, -9.68494644e-02,
       -2.32435456e-01,  9.67777836e-01, -9.23075009e-01,  3.84619979e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488632, -0.03623371,  0.3047632 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.4200042 , -6.36083517,  8.25325775, -6.36083517, 45.41441933,
       26.97040527,  8.25325775, 26.97040527, 31.20625703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044447821279895163
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12903517e-06, -1.12903539e-06,  1.00000000e+00, -1.27472066e-12,
        1.00000000e+00,  1.12903539e-06, -1.00000000e+00,  2.01948392e-28,
       -1.12903517e-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([ 0.08651684, -0.10839039,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82702566e-05,-2.86425254e-05, 7.47884213e-06,-1.11442202e-05,
 -2.68206594e-03, 2.35997353e-02, 1.06816630e-02, 1.47683481e-03,
  1.61773362e-05,-4.44983307e-05, 4.56379491e-06, 7.96779353e-06,
  5.17531348e-02, 1.95638333e-02, 1.24177034e-02, 7.91352181e-05,
 -7.66410019e-06, 4.80767301e-06,-9.80999776e+00,-6.49452050e-02,
 -9.36798262e-03,-5.36650812e-03]


--- Step 1646 ---
qpos:
[ 0.009862  , 0.00809108,-0.00562344, 0.03350966, 0.00608582,-0.01833602,
 -0.01643744, 0.03782662, 0.01296378, 0.00593653,-0.01168631, 0.03405945,
  0.81355722,-0.01444125, 1.14859994, 0.04612239, 0.09462571,-0.06384706,
  0.14249564, 0.9431546 ,-0.03292754, 0.02883763, 0.3294595 ]

qacc:
[-1.48999765e-01, 8.66112859e-01,-2.08812769e+00, 7.61784600e-02,
  6.23400527e+00, 3.28637076e+00,-5.45393654e+00, 2.75870976e-01,
  1.68984034e+00, 4.33719160e-02,-5.23352975e+00, 2.00520359e+01,
  4.33820310e+00, 2.84897727e+00, 1.08193803e+01,-4.75771616e+01,
 -5.26299785e-02,-1.63924336e-01, 3.25935856e-02, 3.13235429e+00,
 -9.79406046e-02, 5.70354421e+00]

qfrc_actuator:
[ 3.72278746e-05, 2.47094142e-04, 4.24847244e-05, 5.05317155e-05,
 -2.60324590e-03, 2.12257812e-02, 9.57515992e-03, 1.36544816e-03,
 -1.78423179e-05,-2.64079867e-05,-7.81101290e-05, 5.44509472e-05,
  4.97544013e-02, 1.85572179e-02, 1.29012441e-03,-2.04244803e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2504604 , -0.0270249 ,  0.24899812, -0.0270249 ,  0.78381878,
        0.05788781,  0.24899812,  0.05788781,  0.25674322,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003881678024311076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98321807, -0.18231873,  0.0064889 , -0.18231476,  0.98323948,
        0.00120321, -0.00659951,  0.        , -0.99997822])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13058158, -0.08218602,  0.13160958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29799032, -5.08743468, -5.23246319, -5.08743468,  8.90161899,
       -1.55918079, -5.23246319, -1.55918079,  8.8139552 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.249582946817636e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97848341,  0.1145344 , -0.17161609,  0.11281239,  0.99341928,
        0.01978615,  0.17275292,  0.        , -0.98496519])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328414, -0.05400437,  0.29657957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.30510651, -0.74924046,  1.06861674, -0.74924046,  6.24887985,
        3.46623335,  1.06861674,  3.46623335,  3.73539059,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046657524433664304
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.65849803e-01, -8.95135105e-01, -2.54729397e-01, -9.63717755e-02,
       -2.35795561e-01,  9.67012376e-01, -9.25670785e-01,  3.78330011e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.104886  , -0.03622752,  0.30475948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.42607417, -5.94098998,  8.56782707, -5.94098998, 18.32832156,
        5.47947247,  8.56782707,  5.47947247, 14.22557791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044496133228108525
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.74265002e-13, -9.74648441e-14,  1.00000000e+00, -3.64776800e-26,
        1.00000000e+00,  9.74648441e-14, -1.00000000e+00,  0.00000000e+00,
       -3.74265002e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05294465, -0.06116653,  0.06199   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.87451766e-07, 1.87373972e-05,-1.30944716e-05,-6.50564671e-06,
 -2.45973183e-03, 2.32549530e-02, 1.04079283e-02, 1.35606859e-03,
  9.72907312e-06,-8.83726913e-05,-6.04026468e-06, 3.89563748e-05,
  5.54518359e-02, 2.17491500e-02, 1.43562484e-02,-3.56404062e-04,
 -5.99877734e-06, 1.92697216e-06,-9.80999745e+00,-6.49469394e-02,
 -9.36872706e-03,-5.36658614e-03]


--- Step 1647 ---
qpos:
[ 0.00986242, 0.00809091,-0.00562415, 0.03350974, 0.00608459,-0.01835498,
 -0.01644598, 0.03782712, 0.01296358, 0.00593563,-0.01168598, 0.03406028,
  0.81352647,-0.01446166, 1.14852739, 0.04612026, 0.09462719,-0.06384447,
  0.14249585, 0.94315484,-0.03293353, 0.02883214, 0.3294587 ]

qacc:
[-2.20185640e-01, 2.21301210e+00,-7.24679648e+00, 7.49709905e+00,
  7.78408753e+00, 1.69728449e+00,-2.04702755e+00,-1.97024425e+00,
  1.00921856e+00,-4.61907813e-01, 8.48188834e-02, 2.42276992e+00,
  3.93604720e+00, 2.58846551e+00, 1.12441900e+01,-3.83165268e+01,
 -3.86387702e-02,-1.25904813e-01, 2.49547656e-02, 2.57127179e+00,
 -1.59480680e-01, 4.86856061e+00]

qfrc_actuator:
[ 3.61104155e-05, 2.49567537e-04, 2.53379018e-06, 4.73704267e-05,
 -2.59253397e-03, 2.12539940e-02, 9.55585887e-03, 1.34605293e-03,
 -1.22599056e-05,-4.68980192e-05,-7.69935992e-05, 6.02409589e-05,
  4.97558311e-02, 1.85778927e-02, 1.26250234e-03,-2.15338052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 2.50105299e-01, -2.50102636e-01,  1.15428891e-03, -2.50102636e-01,
        2.50158122e-01,  1.14451860e-02,  1.15428891e-03,  1.14451860e-02,
        2.72996208e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.00038674400562681565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83248359e-01, -1.82155704e-01,  6.47796238e-03, -1.82151751e-01,
        9.83269698e-01,  1.20007542e-03, -6.58818470e-03,  2.16840434e-19,
       -9.99978298e-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([ 0.13058358, -0.08218411,  0.13160951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29655888,  7.24042747,  0.90331696,  7.24042747,  7.71760443,
       -3.37483951,  0.90331696, -3.37483951, 34.3471754 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.036855170589656e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97847743,  0.11455068, -0.17163935,  0.11282796,  0.99341741,
        0.01979169,  0.17277667,  0.        , -0.98496103])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328366, -0.05400237,  0.29657927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004677736154697128
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36192939, -0.89621192, -0.25653715, -0.09606315, -0.2378722 ,
        0.96653437, -0.92724268,  0.37446096,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488577, -0.03622289,  0.3047575 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004458061925981388
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.73555721e-13, -2.21798709e-13,  1.00000000e+00, -8.28541768e-26,
        1.00000000e+00,  2.21798709e-13, -1.00000000e+00,  0.00000000e+00,
       -3.73555721e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05294845, -0.06116395,  0.06198999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13126925e-06, 9.98090939e-06,-3.79141481e-05,-2.93744172e-06,
 -2.48571249e-03, 2.31389799e-02, 1.03857055e-02, 1.34528733e-03,
  5.82610117e-06,-6.94770353e-05,-1.65360449e-05, 2.55011978e-06,
  5.48477446e-02, 2.14171208e-02, 1.45512893e-02,-1.78244523e-04,
 -1.97159633e-06, 5.60989822e-07,-9.80999894e+00,-6.49486271e-02,
 -9.36819040e-03,-5.36655237e-03]


--- Step 1648 ---
qpos:
[ 0.00986316, 0.00809068,-0.00562525, 0.03351016, 0.00608448,-0.01837341,
 -0.01645417, 0.03782755, 0.0129631 , 0.00593479,-0.01168591, 0.03406111,
  0.81350567,-0.01447639, 1.14846068, 0.04611729, 0.09462857,-0.06384225,
  0.14249614, 0.94315245,-0.03293518, 0.02882793, 0.32946574]

qacc:
[ 2.87215799e+00, 1.65836799e+00,-7.43524286e+00, 1.37645095e+01,
  9.48109573e+00,-4.52065231e-01, 2.90172383e+00,-5.08064091e+00,
 -2.44547228e+00, 8.57548497e-01,-2.94370035e+00, 3.37655199e+00,
  3.46564993e+00, 2.38816436e+00, 1.10887345e+01,-2.64184926e+01,
 -2.85907059e-02,-9.38117740e-02, 1.87101977e-02, 2.09993403e+00,
 -2.01584706e-01, 4.20549304e+00]

qfrc_actuator:
[ 5.30387610e-05, 2.33216891e-04,-2.07307049e-05, 6.32156017e-05,
 -2.56841225e-03, 2.12774396e-02, 9.56537610e-03, 1.31655173e-03,
 -2.66508411e-05,-5.24662328e-06,-7.64555495e-05, 6.33117510e-05,
  4.97625237e-02, 1.85768859e-02, 1.27513897e-03,-2.12824114e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24978456, -0.24955021,  0.01081769, -0.24955021,  0.2542859 ,
        0.10384009,  0.01081769,  0.10384009,  2.64524198,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038545026696033114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98328509, -0.18195774,  0.0064658 , -0.18195381,  0.98330635,
        0.00119648, -0.00657557,  0.        , -0.99997838])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13058541, -0.08218177,  0.13160942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29583191,  7.19181574,  1.22757876,  7.19181574,  8.2121526 ,
       -5.36829878,  1.22757876, -5.36829878, 38.74620975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.924377125692766e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97847485,  0.11455028, -0.17165429,  0.11282726,  0.99341745,
        0.01979334,  0.1727917 ,  0.        , -0.98495839])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328347, -0.05400092,  0.29657914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004683847413104903
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35985287, -0.89676785, -0.25751375, -0.09590137, -0.23899008,
        0.96627464, -0.92806726,  0.37241262,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488558, -0.03621957,  0.30475676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004462149162555995
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.88764116e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.88764116e-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([ 0.05295127, -0.06116193,  0.06198998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69024818e-05,-1.87144607e-05,-2.59644909e-05, 1.49056231e-05,
 -2.50722248e-03, 2.30742978e-02, 1.03895518e-02, 1.32319786e-03,
 -1.42513631e-05,-4.78657553e-07,-1.57573608e-05,-4.29902144e-07,
  5.43008127e-02, 2.10979129e-02, 1.45368080e-02, 2.07711363e-05,
 -3.91431150e-07, 1.83949866e-07,-9.80999960e+00,-6.49496202e-02,
 -9.36816427e-03,-5.36636567e-03]


--- Step 1649 ---
qpos:
[ 0.00986411, 0.00809013,-0.00562599, 0.03351108, 0.00608559,-0.01839219,
 -0.01646175, 0.03782798, 0.01296245, 0.00593438,-0.01168635, 0.03406193,
  0.81349361,-0.01448613, 1.14840351, 0.04611548, 0.09462986,-0.06384032,
  0.14249648, 0.94314783,-0.03293328, 0.02882468, 0.32947944]

qacc:
[ 1.74734317e+00,-3.63163244e-01,-1.45161276e+00, 9.93902244e+00,
  1.05862561e+01,-2.17898207e+00, 7.05154774e+00,-7.61036464e+00,
 -1.50997041e+00, 1.96915980e+00,-6.18669441e+00, 6.63151594e+00,
  2.97650265e+00, 2.19145214e+00, 1.04942720e+01,-1.63969247e+01,
 -2.18851006e-02,-6.92317459e-02, 1.38071122e-02, 1.69467536e+00,
 -2.13664031e-01, 3.57907305e+00]

qfrc_actuator:
[ 6.27001669e-05, 2.23543353e-04, 1.48778988e-06, 9.01143701e-05,
 -2.55455741e-03, 2.12808107e-02, 9.60965730e-03, 1.31647703e-03,
 -3.49280080e-05, 3.77951710e-05,-9.37459858e-05, 6.48207421e-05,
  4.97720772e-02, 1.85965180e-02, 1.30610978e-03,-2.02270438e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2494764 , -0.24824276,  0.02477915, -0.24824276,  0.2722494 ,
        0.22814476,  0.02477915,  0.22814476,  2.53507902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038420024528303576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98332796, -0.1817264 ,  0.00645299, -0.18172248,  0.98334913,
        0.00119254, -0.00656226,  0.        , -0.99997847])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13058716, -0.08217903,  0.13160932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29562476,  7.11422496,  1.61676956,  7.11422496,  9.16502193,
       -8.22585506,  1.61676956, -8.22585506, 43.49162013,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.89172685835281e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78475150e-01,  1.14535380e-01, -1.71662537e-01,  1.12812423e-01,
        9.93419170e-01,  1.97916796e-02,  1.72799702e-01,  3.46944695e-18,
       -9.84956985e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328349, -0.05399997,  0.29657915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004686037415102617
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35907163, -0.89696823, -0.2579061 , -0.09584935, -0.23943363,
        0.96616999, -0.92837518,  0.37164436,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048854 , -0.03621736,  0.30475688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044627980897976594
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48772856e-13, -9.71768967e-14,  1.00000000e+00, -2.41749741e-26,
        1.00000000e+00,  9.71768967e-14, -1.00000000e+00,  0.00000000e+00,
       -2.48772856e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0529533 , -0.06116035,  0.06198997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.01386530e-05,-2.48394155e-05, 1.56837738e-05, 2.54897775e-05,
 -2.54875347e-03, 2.30520042e-02, 1.04165683e-02, 1.32683341e-03,
 -8.68419724e-06, 3.95221272e-05,-1.93377151e-05, 9.35306388e-07,
  5.38134016e-02, 2.08337705e-02, 1.42768106e-02, 1.68456642e-04,
 -3.68524940e-07, 4.61770294e-07,-9.80999975e+00,-6.49500515e-02,
 -9.36847063e-03,-5.36603828e-03]


--- Step 1650 ---
qpos:
[ 0.00986481, 0.0080897 ,-0.00562664, 0.03351263, 0.00608756,-0.01841199,
 -0.01646923, 0.03782825, 0.01296137, 0.00593416,-0.01168665, 0.03406241,
  0.8134896 ,-0.01449125, 1.1483515 , 0.04611287, 0.09463108,-0.06383859,
  0.14249686, 0.9431413 ,-0.0329284 , 0.02882208, 0.32949886]

qacc:
[-2.07477592e+00, 1.19105532e+00,-6.67497739e+00, 1.72751304e+01,
  7.26317031e+00,-1.97001276e+00, 5.72862421e+00,-8.01924474e+00,
 -3.86185790e+00,-8.60364441e-01, 4.91138403e+00,-1.13187936e+01,
  2.76142882e+00, 2.00582679e+00, 1.00249946e+01,-2.41260372e+01,
 -1.68116888e-02,-5.35252824e-02, 8.86449789e-03, 1.40335228e+00,
 -2.46557238e-01, 3.06535089e+00]

qfrc_actuator:
[ 5.02486982e-05, 2.53644668e-04, 1.48977947e-05, 1.23330775e-04,
 -2.52967971e-03, 2.12905446e-02, 9.63888350e-03, 1.29850102e-03,
 -5.72866688e-05, 4.57751765e-05,-8.58896443e-05, 4.76439008e-05,
  4.97777714e-02, 1.86269525e-02, 1.30493273e-03,-2.11913364e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24916732, -0.24245667,  0.05743794, -0.24245667,  0.33502708,
        0.36243071,  0.05743794,  0.36243071,  1.77905765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038293958754816426
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83376409e-01, -1.81464497e-01,  6.44000569e-03, -1.81460606e-01,
        9.83397497e-01,  1.18836218e-03, -6.54873102e-03, -2.16840434e-19,
       -9.99978557e-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([ 0.13058888, -0.08217592,  0.13160922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29581478,   6.99598275,   2.07005768,   6.99598275,
        10.86719851, -12.0698757 ,   2.07005768, -12.0698757 ,
        48.08725887,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.9216881969434983e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97847783,  0.11450808, -0.17166547,  0.11278548,  0.99342232,
        0.01978724,  0.17280211,  0.        , -0.98495656])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328368, -0.05399945,  0.29657926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004685819262078889
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35915484, -0.89693511, -0.25790542, -0.09587129, -0.2394241 ,
        0.96617017, -0.92834072,  0.37173042,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488524, -0.03621609,  0.30475754])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004460761530115376
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.73329649e-13, -2.52775283e-13,  1.00000000e+00, -9.43685078e-26,
        1.00000000e+00,  2.52775283e-13, -1.00000000e+00,  0.00000000e+00,
       -3.73329649e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05295473, -0.06115913,  0.06198998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21706869e-05, 2.05696526e-05, 1.11042188e-05, 3.31909299e-05,
 -2.58558934e-03, 2.30793885e-02, 1.04151506e-02, 1.30850971e-03,
 -2.25925599e-05, 2.61396854e-05, 1.36783651e-05,-1.61337537e-05,
  5.33819914e-02, 2.06148874e-02, 1.38002388e-02, 1.40118931e-05,
 -1.29255508e-06, 1.14616050e-06,-9.80999958e+00,-6.49500282e-02,
 -9.36898948e-03,-5.36558595e-03]


--- Step 1651 ---
qpos:
[ 0.00986536, 0.00808949,-0.00562716, 0.0335142 , 0.00608989,-0.01843198,
 -0.01647738, 0.03782807, 0.01295968, 0.0059338 ,-0.01168612, 0.03406233,
  0.81349299,-0.0144921 , 1.14830265, 0.04610857, 0.09463224,-0.06383703,
  0.14249726, 0.9431331 ,-0.03292099, 0.02881992, 0.32952326]

qacc:
[-1.35766999e+00, 5.98882781e-03, 3.32527290e-01,-3.29410889e-01,
  3.11065728e+00, 6.96716868e-01,-9.58198387e-01,-5.51104884e+00,
 -5.28806925e+00,-3.62438563e+00, 1.50437014e+01,-2.59734728e+01,
  2.54889546e+00, 1.84811905e+00, 9.70900060e+00,-2.72887288e+01,
 -1.30359316e-02,-4.03378114e-02, 4.86244289e-03, 1.16664516e+00,
 -2.72637831e-01, 2.66818163e+00]

qfrc_actuator:
[ 4.26370442e-05, 2.71815112e-04, 2.31519489e-05, 1.24513113e-04,
 -2.51604690e-03, 2.13404367e-02, 9.64161164e-03, 1.30546479e-03,
 -8.77564563e-05, 3.27867286e-05,-4.56374615e-05, 1.96025482e-05,
  4.97755723e-02, 1.86089840e-02, 1.33244919e-03,-2.22871424e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24702172, -0.24081608,  0.05502129, -0.24081608,  0.3026475 ,
        0.2434618 ,  0.05502129,  0.2434618 ,  1.31260042,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037398943105067733
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83427957e-01, -1.81179989e-01,  6.57760905e-03, -1.81175936e-01,
        9.83449954e-01,  1.21178625e-03, -6.68830074e-03,  2.16840434e-19,
       -9.99977633e-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([ 0.13059078, -0.08217252,  0.13161091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29632479,   6.86916521,   2.45986274,   6.86916521,
        12.96468645, -15.82889651,   2.45986274, -15.82889651,
        51.49850869,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.0009835257155733e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9784825 ,  0.11447012, -0.17166417,  0.11274814,  0.99342669,
        0.01978044,  0.17280004,  0.        , -0.98495693])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328399, -0.05399932,  0.29657945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004683725572758396
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.60002799e-01, -8.96695004e-01, -2.57557864e-01, -9.59589304e-02,
       -2.39014512e-01,  9.66262877e-01, -9.28003162e-01,  3.72572318e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488502, -0.03621558,  0.30475862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044566762134637394
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24557290e-13, -1.28449705e-13,  1.00000000e+00,  1.59993472e-26,
        1.00000000e+00,  1.28449705e-13, -1.00000000e+00,  0.00000000e+00,
        1.24557290e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05295567, -0.06115818,  0.06198999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.95131903e-06, 3.34025763e-05, 1.50281586e-05, 3.09329398e-06,
 -2.61428298e-03, 2.31819842e-02, 1.04140058e-02, 1.32405510e-03,
 -3.11036437e-05, 3.76211514e-06, 4.67829651e-05,-2.67611037e-05,
  5.29776059e-02, 2.03659816e-02, 1.35706891e-02,-5.46718705e-05,
 -2.75949139e-06, 2.07028005e-06,-9.80999921e+00,-6.49496313e-02,
 -9.36965081e-03,-5.36501360e-03]


--- Step 1652 ---
qpos:
[ 0.00986582, 0.00808908,-0.00562734, 0.03351512, 0.00609242,-0.01845282,
 -0.01648634, 0.03782741, 0.01295798, 0.00593335,-0.0116851 , 0.03406228,
  0.81350278,-0.01448926, 1.14826152, 0.04610504, 0.09463337,-0.06383557,
  0.14249767, 0.94312345,-0.03291151, 0.02881802, 0.32955199]

qacc:
[-8.21728374e-01,-2.59400340e+00, 1.15832279e+01,-2.32012460e+01,
  1.68151942e+00, 1.40048672e-01,-1.32861768e-01,-6.19569281e+00,
 -4.67053351e-02,-1.45334646e+00, 4.88318766e+00,-5.12883920e+00,
  2.11177273e+00, 1.71937837e+00, 9.03813862e+00,-1.51611640e+01,
 -1.09585896e-02,-2.65942129e-02, 2.46473672e-03, 9.27883954e-01,
 -2.60736024e-01, 2.31204181e+00]

qfrc_actuator:
[ 3.79420417e-05, 2.29403611e-04, 2.82412560e-05, 8.90760962e-05,
 -2.52677134e-03, 2.13784693e-02, 9.66465615e-03, 1.32773289e-03,
 -8.72467700e-05, 2.52195444e-05,-2.21905850e-05, 2.08992114e-05,
  4.97737305e-02, 1.85782319e-02, 1.33989476e-03,-2.13196095e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24675358, -0.24127463,  0.05170957, -0.24127463,  0.28869415,
        0.1956929 ,  0.05170957,  0.1956929 ,  1.15984833,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003728456669222414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83485540e-01, -1.80867572e-01,  6.56609142e-03, -1.80863541e-01,
        9.83507459e-01,  1.20750788e-03, -6.67619890e-03,  2.16840434e-19,
       -9.99977714e-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([ 0.1305926 , -0.0821688 ,  0.13161083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29710078,   6.71292159,   2.86083266,   6.71292159,
        15.83884239, -20.04313027,   2.86083266, -20.04313027,
        54.32815012,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.1186892278374215e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78488849e-01,  1.14422869e-01, -1.71659485e-01,  1.12701711e-01,
        9.93432135e-01,  1.97716282e-02,  1.72794376e-01,  3.46944695e-18,
       -9.84957920e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328438, -0.05399954,  0.2965797 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046802703543571153
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36148291, -0.89628176, -0.25692238, -0.09609889, -0.23827319,
        0.96643204, -0.92741313,  0.37403862,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048847 , -0.03621573,  0.30476   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004451055295559142
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.28611915e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.28611915e-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([ 0.05295624, -0.06115745,  0.06199   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.90973865e-06,-2.04901380e-05, 1.39518840e-05,-3.34271445e-05,
 -2.64328805e-03, 2.32295194e-02, 1.04703622e-02, 1.36852292e-03,
 -3.74498859e-07, 3.04412785e-06, 2.90580901e-05, 2.55645765e-06,
  5.26052962e-02, 2.01218885e-02, 1.34206383e-02, 1.26362300e-04,
 -4.53173085e-06, 3.14225627e-06,-9.80999873e+00,-6.49489259e-02,
 -9.37041364e-03,-5.36432547e-03]


--- Step 1653 ---
qpos:
[ 0.00986622, 0.00808816,-0.00562697, 0.03351529, 0.00609513,-0.01847566,
 -0.01649581, 0.03782636, 0.01295664, 0.00593311,-0.01168452, 0.0340633 ,
  0.81351811,-0.01448316, 1.14823009, 0.04610357, 0.09463445,-0.06383417,
  0.14249808, 0.94311249,-0.03290035, 0.02881626, 0.32958461]

qacc:
[-4.98081632e-01,-3.73220222e+00, 1.55181477e+01,-2.90262760e+01,
  1.56868162e+00,-2.02006148e+00, 5.04264977e+00,-9.64194408e+00,
  3.18340614e+00, 3.71963426e+00,-1.74105367e+01, 3.66043487e+01,
  1.72687191e+00, 1.66520401e+00, 8.05386699e+00,-7.40216856e+00,
 -9.41203405e-03,-1.46623613e-02, 2.17549416e-04, 7.43179012e-01,
 -2.62764687e-01, 2.07887699e+00]

qfrc_actuator:
[ 3.49994723e-05, 1.86495675e-04, 4.89058798e-05, 5.00807042e-05,
 -2.53433593e-03, 2.13923856e-02, 9.68254951e-03, 1.28838443e-03,
 -6.85047676e-05, 3.86709766e-05,-4.43333717e-05, 7.49402734e-05,
  4.97719274e-02, 1.86096877e-02, 1.30282026e-03,-2.00194426e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24647202, -0.24059195,  0.05351606, -0.24059195,  0.2878629 ,
        0.18608083,  0.05351606,  0.18608083,  1.08303482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037163839697654596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98354717, -0.18053253,  0.00655528, -0.18052852,  0.98356901,
        0.00120321, -0.00666479,  0.        , -0.99997779])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1305945 , -0.08216481,  0.13161076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29809502,   6.45404234,   3.4069823 ,   6.45404234,
        20.96891345, -25.89741691,   3.4069823 , -25.89741691,
        56.35705998,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.264722438298134e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78496606e-01,  1.14367494e-01, -1.71652175e-01,  1.12647339e-01,
        9.93438512e-01,  1.97610913e-02,  1.72785908e-01,  3.46944695e-18,
       -9.84959405e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328484, -0.05400007,  0.29657998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046763731870146937
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36326633, -0.89578383, -0.25614236, -0.09625919, -0.23736697,
        0.96663907, -0.92669938,  0.37580348,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488431, -0.03621643,  0.30476152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004444297207365083
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24904228e-13, -1.28807485e-13,  1.00000000e+00, -1.60885995e-26,
        1.00000000e+00,  1.28807485e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24904228e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05295651, -0.06115689,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.08746174e-06,-5.29047778e-05, 1.69984877e-05,-4.00419083e-05,
 -2.66074228e-03, 2.32871098e-02, 1.05289784e-02, 1.35309247e-03,
  1.87307293e-05, 2.12646502e-05,-1.78546856e-05, 5.52251816e-05,
  5.22836384e-02, 1.99686543e-02, 1.29988357e-02, 2.18311449e-04,
 -6.41487632e-06, 4.27462429e-06,-9.80999822e+00,-6.49479676e-02,
 -9.37123592e-03,-5.36353514e-03]


--- Step 1654 ---
qpos:
[ 0.00986658, 0.0080868 ,-0.00562633, 0.03351501, 0.00609723,-0.01850052,
 -0.01650619, 0.03782478, 0.01295589, 0.00593328,-0.01168457, 0.0340646 ,
  0.8135364 ,-0.01447504, 1.1482056 , 0.04610329, 0.09463549,-0.0638328 ,
  0.1424985 , 0.94310073,-0.03288831, 0.02881476, 0.32961961]

qacc:
[-3.20692237e-01,-2.27651628e+00, 9.17524412e+00,-1.71495489e+01,
 -5.17161032e+00,-1.19971146e+00, 2.60603138e+00,-8.64727844e+00,
  5.07264791e+00, 2.88949036e+00,-1.07038834e+01, 1.62901611e+01,
  6.70096351e-01, 1.40048610e+00, 6.69844290e+00,-8.54374736e+00,
 -1.21615631e-02,-8.44950274e-03, 3.74013167e-03, 4.06421235e-01,
 -4.41407374e-02, 1.27092547e+00]

qfrc_actuator:
[ 3.31108408e-05, 1.61419041e-04, 6.08301624e-05, 2.70660175e-05,
 -2.57557253e-03, 2.14110739e-02, 9.67963419e-03, 1.24768441e-03,
 -3.91915887e-05, 6.44625744e-05,-7.53410251e-05, 8.85567450e-05,
  4.97646694e-02, 1.86241606e-02, 1.33444066e-03,-1.97784983e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24615635, -0.23992376,  0.05504125, -0.23992376,  0.27949898,
        0.1453399 ,  0.05504125,  0.1453399 ,  0.87969024,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003702772200006738
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98361231, -0.18017761,  0.00654658, -0.18017362,  0.98363409,
        0.00119917, -0.00665551,  0.        , -0.99997785])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13059657, -0.0821606 ,  0.13161072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29926744,   6.14941347,   3.93243171,   6.14941347,
        27.39372963, -31.42309023,   3.93243171, -31.42309023,
        56.43771118,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.430704853192133e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97850558,  0.11430475, -0.17164284,  0.11258575,  0.99344573,
        0.01974903,  0.17277525,  0.        , -0.98496127])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328533, -0.05400086,  0.29658029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004672574819266064
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.65127102e-01, -8.95262673e-01, -2.55317343e-01, -9.64188620e-02,
       -2.36411397e-01,  9.66857308e-01, -9.25951188e-01,  3.77643215e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488389, -0.03621761,  0.30476308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044367261379754625
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.03352335e-08,  7.03352778e-08,  1.00000000e+00,  4.94704819e-15,
        1.00000000e+00, -7.03352778e-08, -1.00000000e+00,  0.00000000e+00,
       -7.03352335e-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([ 0.05337687, -0.06174734,  0.06199003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99158455e-06,-5.28397903e-05, 1.70997646e-06,-2.54720316e-05,
 -2.71104589e-03, 2.34068786e-02, 1.05524005e-02, 1.33243277e-03,
  2.98514588e-05, 3.63633341e-05,-2.69120549e-05, 1.49807076e-05,
  5.19998451e-02, 1.98197530e-02, 1.25456910e-02, 1.38993813e-04,
 -8.36259148e-06, 5.46033154e-06,-9.80999768e+00,-6.49468072e-02,
 -9.37210473e-03,-5.36265099e-03]


--- Step 1655 ---
qpos:
[ 0.00986622, 0.00808534,-0.00562631, 0.03351515, 0.0060953 ,-0.01851813,
 -0.01651078, 0.03782623, 0.01295549, 0.00593406,-0.01168534, 0.03406501,
  0.81348068,-0.01451048, 1.14813894, 0.04611256, 0.09463729,-0.06382873,
  0.14249836, 0.94310627,-0.03290603, 0.02880468, 0.32960286]

qacc:
[-6.29544715e+00, 2.49332201e+00,-1.08507954e+01, 1.93221711e+01,
 -3.44406440e+01,-3.12441709e-01, 2.39356976e+00, 3.51183725e+01,
  3.10860011e+00, 9.29442414e-01, 1.61175820e+00,-1.64608141e+01,
 -2.47627184e+01,-1.99913154e+01,-9.07199839e+01, 2.27978925e+02,
  1.91428223e-01, 6.76058734e-01,-1.40339904e-01,-1.44146481e+01,
  1.45284694e+00,-2.78206161e+01]

qfrc_actuator:
[-3.64812801e-06, 1.64943495e-04, 3.20656889e-05, 4.91494374e-05,
 -2.60079307e-03, 2.14334435e-02, 9.68257794e-03, 1.24195646e-03,
 -2.16498220e-05, 9.73678236e-05,-1.11298581e-04, 4.27782258e-05,
  4.97594959e-02, 1.86106405e-02, 1.36989773e-03,-2.01724074e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24579742, -0.23603807,  0.06857407, -0.23603807,  0.43581516,
        0.65405803,  0.06857407,  0.65405803,  2.49712357,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036871944813727056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83678570e-01, -1.79815665e-01,  6.54194681e-03, -1.79811688e-01,
        9.83700324e-01,  1.19583626e-03, -6.65034528e-03, -2.16840434e-19,
       -9.99977886e-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([ 0.13059884, -0.0821563 ,  0.13161074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.30057927,  7.22501768, -1.04765315,  7.22501768,  8.71761452,
        9.77241827, -1.04765315,  9.77241827, 74.69492165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.609288762410938e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97851533,  0.11423742, -0.17163207,  0.11251968,  0.99345348,
        0.01973601,  0.17276306,  0.        , -0.98496341])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328584, -0.05400178,  0.29658062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.30572109,  1.24238852, -0.40171922,  1.24238852,  2.14166639,
        2.58531031, -0.40171922,  2.58531031,  9.30125545,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046693884063180003
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36699107, -0.89473784, -0.25448332, -0.09657255, -0.23544745,
        0.96707716, -0.92519798,  0.37948479,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488343, -0.03621902,  0.30476454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.41715471, -6.30535014,  8.29214519, -6.30535014, 39.70258383,
       22.26865069,  8.29214519, 22.26865069, 27.35024459,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044425105672186993
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08683953, -0.10877881,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.68294212e-05,-2.67213386e-05,-4.03410894e-05, 1.93848464e-05,
 -2.70600583e-03, 2.35312698e-02, 1.06009162e-02, 1.35265404e-03,
  1.84041951e-05, 4.83220470e-05,-3.12491573e-05,-4.48643773e-05,
  5.18464819e-02, 1.97056008e-02, 1.22349650e-02, 4.09765003e-05,
 -9.63946918e-06, 6.20664837e-06,-9.80999740e+00,-6.49454621e-02,
 -9.37287231e-03,-5.36173755e-03]


--- Step 1656 ---
qpos:
[ 0.00986577, 0.00808413,-0.00562682, 0.03351552, 0.00609387,-0.01853252,
 -0.01651486, 0.03782759, 0.01295565, 0.00593517,-0.01168568, 0.03406516,
  0.81343564,-0.01453937, 1.14806491, 0.04611488, 0.09463889,-0.06382536,
  0.1424984 , 0.94310865,-0.03291779, 0.02879714, 0.32959554]

qacc:
[-8.37791364e-01, 2.27778492e+00,-8.56890964e+00, 1.29931369e+01,
  4.19731989e+00, 2.63462424e+00,-2.89037201e+00,-1.69881233e+00,
  4.92072726e+00,-1.26843226e+00, 6.23725997e+00,-1.15469481e+01,
  3.64352776e+00, 2.96114453e+00, 1.00487871e+01,-5.11422911e+01,
 -5.16672495e-02,-1.73513285e-01, 4.29073405e-02, 3.04191459e+00,
  1.10752703e-01, 5.08943947e+00]

qfrc_actuator:
[-7.37897999e-06, 2.03195872e-04, 1.51632699e-05, 6.20822652e-05,
 -2.59498144e-03, 2.14495594e-02, 9.68270856e-03, 1.25388397e-03,
  6.57238544e-06, 1.34199065e-04,-7.88784865e-05, 3.34415988e-05,
  4.97677203e-02, 1.86605854e-02, 1.36389412e-03,-2.03256956e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24562698, -0.02960171,  0.24383673, -0.02960171,  0.74678935,
        0.06084096,  0.24383673,  0.06084096,  0.25301305,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000367975945506484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9837175 , -0.17960362,  0.00651301, -0.17959968,  0.98373906,
        0.0011891 , -0.00662067,  0.        , -0.99997808])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13060037, -0.08215378,  0.13161044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29790843, -5.19217325, -5.12843098, -5.19217325,  8.41022309,
       -1.12613983, -5.12843098, -1.12613983,  8.43804528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.237703014996937e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97850598,  0.11426555, -0.17166663,  0.11254668,  0.99345024,
        0.01974491,  0.17279842,  0.        , -0.98495721])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328489, -0.05399906,  0.29658001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.30924283, -0.74214216,  1.07858324, -0.74214216,  6.22487856,
        3.38230781,  1.07858324,  3.38230781,  3.63651173,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004690109083523801
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.59717065e-01, -8.96742877e-01, -2.57790315e-01, -9.59754609e-02,
       -2.39258349e-01,  9.66200887e-01, -9.28112248e-01,  3.72300491e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048832 , -0.03621273,  0.30476077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.41886331, -5.93687764,  8.56190379, -5.93687764, 18.45448275,
        5.57194877,  8.56190379,  5.57194877, 14.28248744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044438729077930274
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13045813e-06,  1.13045801e-06,  1.00000000e+00,  1.27793545e-12,
        1.00000000e+00, -1.13045801e-06, -1.00000000e+00,  4.03896783e-28,
       -1.13045813e-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([ 0.05338181, -0.06174364,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.78410062e-06, 1.58475196e-05,-2.67018044e-05, 1.07737455e-05,
 -2.49854297e-03, 2.31855494e-02, 1.03119687e-02, 1.21375870e-03,
  2.87670679e-05, 5.54609934e-05, 3.69981971e-05,-9.22196551e-06,
  5.55554436e-02, 2.19337904e-02, 1.43383831e-02,-4.52247051e-04,
 -5.04655437e-06, 1.58703176e-06,-9.80999740e+00,-6.49470895e-02,
 -9.37329730e-03,-5.36175732e-03]


--- Step 1657 ---
qpos:
[ 0.00986528, 0.00808274,-0.00562684, 0.03351567, 0.00609326,-0.01854552,
 -0.01651884, 0.03782874, 0.01295615, 0.00593618,-0.01168491, 0.0340659 ,
  0.81340215,-0.0145615 , 1.14799453, 0.04611536, 0.09464035,-0.06382251,
  0.14249854, 0.94310795,-0.03292408, 0.02879133, 0.32959742]

qacc:
[-3.43674691e-01,-2.07130544e+00, 7.95270136e+00,-1.23140929e+01,
  7.03689139e+00, 1.14995776e+00,-5.34669645e-01,-4.31937888e+00,
  3.00572904e+00,-2.05167668e+00, 4.62187598e+00, 3.84585515e+00,
  3.98755416e+00, 2.93943653e+00, 1.09072509e+01,-3.05065134e+01,
 -3.46239995e-02,-1.31075015e-01, 2.84063996e-02, 2.67878523e+00,
 -1.93362069e-01, 4.95843606e+00]

qfrc_actuator:
[-9.38177401e-06, 1.90982494e-04, 4.10582387e-05, 5.18144956e-05,
 -2.59121810e-03, 2.14630538e-02, 9.68410640e-03, 1.26054389e-03,
  2.31059357e-05, 1.20140264e-04,-2.40404833e-05, 6.34369400e-05,
  4.97790250e-02, 1.86804318e-02, 1.36868068e-03,-1.98526890e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24553253, -0.23737378,  0.06276873, -0.23737378,  0.37966407,
        0.507248  ,  0.06276873,  0.507248  ,  2.1638027 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036756289702179114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83760805e-01, -1.79367330e-01,  6.48377782e-03, -1.79363434e-01,
        9.83782172e-01,  1.18214982e-03, -6.59066408e-03,  2.16840434e-19,
       -9.99978281e-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([ 0.1306016 , -0.08215096,  0.13161013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29629311,  7.23899948,  0.91256761,  7.23899948,  7.7219421 ,
       -3.37648713,  0.91256761, -3.37648713, 34.08048776,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.996104783947038e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78500478e-01,  1.14276461e-01, -1.71690726e-01,  1.12556934e-01,
        9.93448987e-01,  1.97495884e-02,  1.72822891e-01,  3.46944695e-18,
       -9.84952917e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328433, -0.0539969 ,  0.29657965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004702671514871106
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35507435, -0.89798098, -0.2599084 , -0.09557128, -0.24169921,
        0.96563328, -0.92993996,  0.36771138,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488305, -0.03620786,  0.30475872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044535792207141267
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.28539029e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.28539029e-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([ 0.05296537, -0.06115028,  0.06199   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12863749e-06,-8.35641918e-06, 2.62725822e-05,-1.02995233e-05,
 -2.51953678e-03, 2.30386267e-02, 1.02877339e-02, 1.22452350e-03,
  1.73727003e-05, 2.41761834e-05, 7.05216480e-05, 3.34694130e-05,
  5.50324379e-02, 2.16269623e-02, 1.47130576e-02,-5.71134178e-05,
 -1.70258344e-06, 5.76708697e-07,-9.80999882e+00,-6.49488582e-02,
 -9.37289322e-03,-5.36173114e-03]


--- Step 1658 ---
qpos:
[ 0.00986477, 0.00808107,-0.00562647, 0.03351606, 0.00609339,-0.01855838,
 -0.01652322, 0.03782954, 0.0129565 , 0.00593699,-0.01168389, 0.03406706,
  0.81337898,-0.01457754, 1.14793141, 0.04611586, 0.09464171,-0.06382004,
  0.14249878, 0.94310454,-0.03292583, 0.02878681, 0.32960741]

qacc:
[ -0.15866284, -0.93818652,  1.7553531 ,  2.0899109 ,  6.28455358,
   0.53498886, -0.21172899, -5.24843451, -1.30911801, -0.05883984,
  -1.9586024 ,  9.08033162,  3.46330715,  2.77689436, 10.5755019 ,
 -21.57759797, -0.02474284, -0.09593343,  0.02169596,  2.19368888,
  -0.23563648,  4.35116673]

qfrc_actuator:
[-1.03622919e-05, 1.66560153e-04, 5.62992796e-05, 6.34743364e-05,
 -2.57145916e-03, 2.14755072e-02, 9.68648693e-03, 1.26420876e-03,
  1.48713395e-05, 7.58607260e-05,-2.76202856e-05, 8.07869665e-05,
  4.97757381e-02, 1.87148793e-02, 1.39519191e-03,-1.93821530e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24548324, -0.2378185 ,  0.06086362, -0.2378185 ,  0.33871576,
        0.36429674,  0.06086362,  0.36429674,  1.66893626,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003673470366356165
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98381022, -0.1790972 ,  0.00645396, -0.17909334,  0.98383139,
        0.00117488, -0.00656003,  0.        , -0.99997848])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13060268, -0.08214771,  0.13160981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29542623,  7.19855069,  1.18495231,  7.19855069,  8.11254288,
       -4.96395979,  1.18495231, -4.96395979, 37.45133712,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.860176353857637e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97849846,  0.11427043, -0.17170626,  0.11255068,  0.99344968,
        0.01975032,  0.17283841,  0.        , -0.98495019])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328407, -0.05399532,  0.29657948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047092767193992216
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.52276802e-01, -8.98708791e-01, -2.61196408e-01, -9.53224912e-02,
       -2.43181385e-01,  9.65285676e-01, -9.31028827e-01,  3.64945644e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488296, -0.03620439,  0.30475795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044585704064339926
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49008746e-13,  2.72353316e-14,  1.00000000e+00,  6.78183575e-27,
        1.00000000e+00, -2.72353316e-14, -1.00000000e+00,  0.00000000e+00,
       -2.49008746e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05296822, -0.06114826,  0.06198998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04033483e-06,-2.40588621e-05, 1.64110426e-05, 1.20132861e-05,
 -2.54103482e-03, 2.29816027e-02, 1.02859213e-02, 1.23893919e-03,
 -7.73245882e-06,-1.47984225e-05, 1.12355176e-05, 2.14711637e-05,
  5.44516009e-02, 2.13231806e-02, 1.45582398e-02, 8.27899543e-05,
 -3.79921713e-07, 3.53253215e-07,-9.80999953e+00,-6.49498964e-02,
 -9.37290582e-03,-5.36153551e-03]


--- Step 1659 ---
qpos:
[ 0.00986425, 0.00807944,-0.00562661, 0.03351696, 0.00609419,-0.01857216,
 -0.01652824, 0.03782993, 0.01295709, 0.00593773,-0.01168285, 0.03406739,
  0.81336486,-0.01458817, 1.14787832, 0.04611798, 0.09464299,-0.06381784,
  0.14249908, 0.94309874,-0.03292382, 0.02878323, 0.3296245 ]

qacc:
[-8.54633473e-02, 2.51371844e+00,-1.09740260e+01, 2.03954979e+01,
  5.79861686e+00,-2.83836364e-01, 9.51045880e-01,-6.33124615e+00,
  2.14519471e+00,-1.88840430e+00, 1.01192091e+01,-2.45722167e+01,
  2.92328102e+00, 2.63939252e+00, 9.86109656e+00,-1.30938516e+01,
 -1.79696308e-02,-6.79220942e-02, 1.62943438e-02, 1.78349578e+00,
 -2.56146112e-01, 3.81544093e+00]

qfrc_actuator:
[-1.07341946e-05, 1.70503866e-04, 2.95652538e-05, 8.79180909e-05,
 -2.56009684e-03, 2.14880451e-02, 9.70765203e-03, 1.28404787e-03,
  2.76337385e-05, 6.68376613e-05,-3.03205997e-05, 3.72180540e-05,
  4.97740433e-02, 1.87383164e-02, 1.41830486e-03,-1.82143482e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24545141, -0.23854689,  0.05780811, -0.23854689,  0.31395554,
        0.28268431,  0.05780811,  0.28268431,  1.4119566 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003672075260489924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98386553, -0.17879416,  0.0064246 , -0.17879035,  0.9838865 ,
        0.00116749, -0.00652982,  0.        , -0.99997868])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13060376, -0.08214407,  0.13160949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29510557,  7.12447169,  1.56858806,  7.12447169,  8.98834373,
       -7.69062803,  1.56858806, -7.69062803, 42.22566708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.8086594253402624e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97849939,  0.11424942, -0.17171489,  0.11252982,  0.9934521 ,
        0.01974763,  0.17284668,  0.        , -0.98494874])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328404, -0.05399425,  0.29657946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004711845428775503
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35080257, -0.89908347, -0.26189018, -0.09519425, -0.24397647,
        0.96509768, -0.93159842,  0.36348919,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488292, -0.03620209,  0.30475805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004459921033016512
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24466668e-13, -3.88958339e-15,  1.00000000e+00, -4.84123486e-28,
        1.00000000e+00,  3.88958339e-15, -1.00000000e+00,  0.00000000e+00,
       -1.24466668e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05297029, -0.06114668,  0.06198998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.06241117e-07,-5.54866212e-06,-2.92517923e-05, 2.42166022e-05,
 -2.56649493e-03, 2.29881161e-02, 1.03267689e-02, 1.27617678e-03,
  1.25399379e-05,-1.41029805e-05,-3.65364185e-06,-4.34027506e-05,
  5.39341860e-02, 2.10427773e-02, 1.42197765e-02, 1.98602297e-04,
 -6.60391000e-07, 8.17869478e-07,-9.80999966e+00,-6.49503540e-02,
 -9.37326770e-03,-5.36118660e-03]


--- Step 1660 ---
qpos:
[ 0.00986373, 0.00807767,-0.00562703, 0.03351849, 0.00609547,-0.01858714,
 -0.0165344 , 0.03782976, 0.01295818, 0.00593868,-0.01168254, 0.03406721,
  0.81335886,-0.01459387, 1.14783223, 0.04612046, 0.09464423,-0.06381585,
  0.14249942, 0.94309089,-0.03291868, 0.02878031, 0.32964774]

qacc:
[-7.36637762e-03, 1.88096290e+00,-9.69252015e+00, 2.13195763e+01,
  3.96004163e+00, 4.55349819e-01,-1.53811296e+00,-5.49335915e+00,
  4.31070285e+00, 1.27092257e+00,-1.99270762e+00,-5.77610082e+00,
  2.59568349e+00, 2.45712297e+00, 9.22312365e+00,-1.73357706e+01,
 -1.34242181e-02,-5.01316590e-02, 1.12685306e-02, 1.46507058e+00,
 -2.74905709e-01, 3.29223975e+00]

qfrc_actuator:
[-1.07450839e-05, 1.55736655e-04, 1.38855914e-05, 1.19679202e-04,
 -2.55400914e-03, 2.15016384e-02, 9.70499186e-03, 1.29604147e-03,
  5.26605315e-05, 7.89234700e-05,-6.78767353e-05, 1.14477890e-05,
  4.97783719e-02, 1.87178793e-02, 1.40158781e-03,-1.84195045e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24541484, -0.23918205,  0.05495805, -0.23918205,  0.29532925,
        0.21723176,  0.05495805,  0.21723176,  1.19082576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036704713141402247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83926386e-01, -1.78459938e-01,  6.39665105e-03, -1.78456167e-01,
        9.83947179e-01,  1.16016995e-03, -6.50101061e-03, -2.16840434e-19,
       -9.99978868e-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([ 0.13060491, -0.08214006,  0.1316092 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29519831,   7.00915943,   2.02277098,   7.00915943,
        10.60406456, -11.46564355,   2.02277098, -11.46564355,
        47.02511546,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.823629410105085e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97850285,  0.11421518, -0.17171801,  0.11249605,  0.99345604,
        0.01974199,  0.17284913,  0.        , -0.98494831])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328419, -0.05399363,  0.29657955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000471188738851392
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35022518, -0.89922439, -0.26217897, -0.0951501 , -0.24430365,
        0.96501927, -0.93182015,  0.3629204 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488289, -0.03620077,  0.30475872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004458407196240022
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24508931e-13, -6.61453694e-14,  1.00000000e+00, -8.23568921e-27,
        1.00000000e+00,  6.61453694e-14, -1.00000000e+00,  0.00000000e+00,
       -1.24508931e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05297173, -0.06114546,  0.06198998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91094252e-08,-2.28147297e-05,-1.95715461e-05, 3.09846317e-05,
 -2.59433253e-03, 2.30485836e-02, 1.03564808e-02, 1.30875631e-03,
  2.53837439e-05, 1.55125382e-06,-4.24424073e-05,-2.73508658e-05,
  5.34859645e-02, 2.07519081e-02, 1.37027734e-02, 9.72687524e-05,
 -1.96156728e-06, 1.74121433e-06,-9.80999944e+00,-6.49503387e-02,
 -9.37386032e-03,-5.36069895e-03]


--- Step 1661 ---
qpos:
[ 0.00986425, 0.00807584,-0.00562737, 0.03352002, 0.00609731,-0.01860285,
 -0.01654188, 0.03782897, 0.01295921, 0.00594012,-0.01168317, 0.03406704,
  0.81336031,-0.014595  , 1.14778973, 0.04612176, 0.09464542,-0.063814  ,
  0.14249979, 0.94308125,-0.03291089, 0.02877784, 0.32967631]

qacc:
[ 9.11797357e+00,-3.19324222e-01, 1.03909424e+00,-1.27223958e+00,
  4.89386482e+00, 1.44457452e+00,-3.96296244e+00,-4.06550137e+00,
 -5.08316130e-01, 3.30314808e+00,-1.09272782e+01, 1.23780231e+01,
  2.36666631e+00, 2.29580878e+00, 8.81908729e+00,-2.32345083e+01,
 -1.01593416e-02,-3.72892554e-02, 6.93738978e-03, 1.21626214e+00,
 -2.94022430e-01, 2.85709497e+00]

qfrc_actuator:
[ 4.27140175e-05, 1.65425692e-04, 2.25574971e-05, 1.19984677e-04,
 -2.53339132e-03, 2.15164978e-02, 9.68879317e-03, 1.32139696e-03,
  4.91937583e-05, 1.21171681e-04,-1.07847434e-04, 1.41157338e-05,
  4.97647684e-02, 1.87226906e-02, 1.40349026e-03,-1.94422803e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24536525, -0.24001318,  0.05096843, -0.24001318,  0.28748773,
        0.19835711,  0.05096843,  0.19835711,  1.17944005,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003668294847746998
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98399219, -0.17809768,  0.00637043, -0.17809394,  0.98401281,
        0.00115299, -0.00647393,  0.        , -0.99997904])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13060619, -0.08213571,  0.13160893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29561935,   6.87478232,   2.44201348,   6.87478232,
        12.786794  , -15.45881325,   2.44201348, -15.45881325,
        50.81543476,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.890871417962602e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78508408e-01,  1.14169461e-01, -1.71716711e-01,  1.12451062e-01,
        9.93461290e-01,  1.97338381e-02,  1.72846907e-01,  3.46944695e-18,
       -9.84948703e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328447, -0.0539934 ,  0.29657972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047100991986296514
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3503817 , -0.89917573, -0.26213674, -0.09517616, -0.24424817,
        0.96503074, -0.93175864,  0.36307828,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488282, -0.03620024,  0.30475982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004454683091468098
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.89415687e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.89415687e-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([ 0.05297269, -0.06114451,  0.06198999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.34558294e-05,-5.71699374e-06, 2.64334204e-06,-7.44743999e-07,
 -2.59695678e-03, 2.31234804e-02, 1.03976535e-02, 1.36231562e-03,
 -2.73855737e-06, 3.31512765e-05,-4.58384666e-05, 7.30400122e-07,
  5.30659053e-02, 2.05101866e-02, 1.33554254e-02,-2.26586530e-05,
 -3.84987428e-06, 2.93078066e-06,-9.80999901e+00,-6.49499336e-02,
 -9.37460735e-03,-5.36008230e-03]


--- Step 1662 ---
qpos:
[ 0.00986541, 0.00807437,-0.00562777, 0.03352079, 0.00609959,-0.01862115,
 -0.01654989, 0.03782781, 0.0129602 , 0.00594219,-0.01168415, 0.03406651,
  0.81336859,-0.01459197, 1.14774832, 0.04612071, 0.09464658,-0.06381229,
  0.14250018, 0.94307017,-0.03290091, 0.02877563, 0.32970919]

qacc:
[ 5.57638434e+00,-8.98921222e-01, 7.02112812e+00,-2.00564518e+01,
  3.67311605e+00,-2.74015409e+00, 6.36071892e+00,-1.00756199e+01,
 -4.57515431e-01, 1.04635302e+00,-9.18821333e-01,-5.48775064e+00,
  2.22833255e+00, 2.01740332e+00, 8.69147798e+00,-2.81554578e+01,
 -9.09579714e-03,-3.23664409e-02, 3.31540075e-03, 9.94159998e-01,
 -2.81502131e-01, 2.30071657e+00]

qfrc_actuator:
[ 7.39583983e-05, 2.07514067e-04, 2.78549351e-05, 8.40600651e-05,
 -2.53985737e-03, 2.15143841e-02, 9.73611883e-03, 1.31954458e-03,
  4.67328651e-05, 1.81163680e-04,-1.13259349e-04,-1.98127290e-06,
  4.97668043e-02, 1.87232888e-02, 1.38466458e-03,-2.09417373e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24531333, -0.24013394,  0.05014302, -0.24013394,  0.28448761,
        0.18760488,  0.05014302,  0.18760488,  1.14374943,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003666013583238163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98406282, -0.17770795,  0.00634492, -0.17770425,  0.98408327,
        0.00114578, -0.00644754,  0.        , -0.99997921])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13060756, -0.08213104,  0.13160867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29631189,   6.72093151,   2.83993781,   6.72093151,
        15.58152163, -19.60758684,   2.83993781, -19.60758684,
        53.699176  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.998997758659796e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97851575,  0.11411376, -0.1717119 ,  0.11239632,  0.99346769,
        0.01972353,  0.17284095,  0.        , -0.98494975])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328484, -0.05399353,  0.29657995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047069101316369043
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35117748, -0.89896143, -0.26180665, -0.09526335, -0.24385982,
        0.96512034, -0.93145009,  0.36386911,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488265, -0.03620038,  0.30476123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004449285228828592
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24764200e-13, -6.62809813e-14,  1.00000000e+00,  8.26949361e-27,
        1.00000000e+00,  6.62809813e-14, -1.00000000e+00,  0.00000000e+00,
        1.24764200e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05297327, -0.06114377,  0.06199001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.27711473e-05, 3.94894615e-05, 4.43564894e-06,-3.60935077e-05,
 -2.63220231e-03, 2.31586825e-02, 1.05113734e-02, 1.39142307e-03,
 -2.52147897e-06, 6.90513691e-05,-4.19266740e-06,-1.62492076e-05,
  5.26960818e-02, 2.02823392e-02, 1.31578212e-02,-1.13678141e-04,
 -6.05119151e-06, 4.27077040e-06,-9.80999846e+00,-6.49492057e-02,
 -9.37546196e-03,-5.35934299e-03]


--- Step 1663 ---
qpos:
[ 0.00986555, 0.00807334,-0.00562849, 0.03352149, 0.00610142,-0.01864261,
 -0.01655849, 0.03782624, 0.0129608 , 0.00594444,-0.01168481, 0.03406648,
  0.81338111,-0.01458618, 1.14770845, 0.04611778, 0.09464768,-0.06381067,
  0.14250059, 0.94305824,-0.03288967, 0.02877382, 0.3297446 ]

qacc:
[-8.91303887e+00, 1.31059563e+00,-3.42664742e+00, 2.09331419e+00,
 -3.68368177e+00,-3.33074972e+00, 7.53498872e+00,-1.12071203e+01,
 -3.34988768e+00, 3.88033122e-01,-3.19948813e+00, 1.14263587e+01,
  1.17456915e+00, 1.63645655e+00, 7.92107043e+00,-2.44491432e+01,
 -1.22251607e-02,-2.53741684e-02, 6.11745038e-03, 6.05195222e-01,
 -5.08152819e-02, 1.36270328e+00]

qfrc_actuator:
[ 2.08501909e-05, 2.33139634e-04, 1.34777335e-05, 8.03931093e-05,
 -2.58040738e-03, 2.15397478e-02, 9.76803276e-03, 1.26586579e-03,
  2.71402740e-05, 1.80440020e-04,-9.81532327e-05, 2.43061633e-05,
  4.97833352e-02, 1.87199399e-02, 1.31621717e-03,-2.18230755e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24522525, -0.23934047,  0.05340002, -0.23934047,  0.27895424,
        0.15117433,  0.05340002,  0.15117433,  0.92279303,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003662138204739655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84136035e-01, -1.77302804e-01,  6.32300369e-03, -1.77299144e-01,
        9.84156347e-01,  1.13913433e-03, -6.42479593e-03, -2.16840434e-19,
       -9.99979361e-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([ 0.13060916, -0.08212619,  0.13160846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29723432,   6.58235838,   3.14995029,   6.58235838,
        18.31417282, -23.02177207,   3.14995029, -23.02177207,
        55.40515368,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.138604843435349e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97852451,  0.11405004, -0.17170433,  0.11233374,  0.99347501,
        0.0197115 ,  0.17283206,  0.        , -0.98495131])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328529, -0.05399399,  0.29658023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047026447378002137
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.52549616e-01, -8.98595822e-01, -2.61216992e-01, -9.54043802e-02,
       -2.43171382e-01,  9.65280106e-01, -9.30917167e-01,  3.65230376e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488233, -0.03620107,  0.30476288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000444255901758986
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98395563e-07,  9.98395687e-07,  1.00000000e+00,  9.96793823e-13,
        1.00000000e+00, -9.98395687e-07, -1.00000000e+00,  0.00000000e+00,
       -9.98395563e-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([ 0.05339388, -0.06173377,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.21545187e-05, 4.71419939e-05,-6.90490007e-06,-2.52292085e-06,
 -2.69407030e-03, 2.33145998e-02, 1.05698496e-02, 1.35652845e-03,
 -1.96338512e-05, 3.62675519e-05, 2.82802872e-05, 2.87842721e-05,
  5.23704356e-02, 2.00708852e-02, 1.30355537e-02,-8.39020738e-05,
 -8.21731600e-06, 5.56361069e-06,-9.80999786e+00,-6.49482040e-02,
 -9.37637568e-03,-5.35849244e-03]


--- Step 1664 ---
qpos:
[ 0.00986471, 0.00807251,-0.00562928, 0.03352215, 0.00610326,-0.01866468,
 -0.01656812, 0.03782411, 0.01296081, 0.00594643,-0.0116853 , 0.03406684,
  0.81339732,-0.01457789, 1.14767476, 0.04611548, 0.09464875,-0.06380911,
  0.14250101, 0.94304543,-0.03287735, 0.02877224, 0.32978257]

qacc:
[-8.62312546e+00, 4.36338185e-01,-1.00658816e+00, 3.80964531e-01,
 -2.45679115e-02, 9.06887947e-01,-2.00636622e+00,-5.75794966e+00,
 -5.12593736e+00, 4.42105940e-04,-2.13079346e+00, 8.72450555e+00,
  8.97407670e-01, 1.66361379e+00, 7.26413565e+00,-1.21214882e+01,
 -1.02478263e-02,-1.28179383e-02, 3.11833732e-03, 4.93645536e-01,
 -1.02192865e-01, 1.37014315e+00]

qfrc_actuator:
[-2.82160963e-05, 2.30904544e-04, 5.32631053e-06, 7.79664351e-05,
 -2.56970664e-03, 2.16186966e-02, 9.75546922e-03, 1.25227706e-03,
 -2.37931125e-06, 1.25739976e-04,-1.06776268e-04, 3.97802246e-05,
  4.97872495e-02, 1.87317112e-02, 1.30845633e-03,-2.09087137e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24507803, -0.23926074,  0.05308049, -0.23926074,  0.28129983,
        0.16327007,  0.05308049,  0.16327007,  0.98101917,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036556459128985185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98420892, -0.17689835,  0.00630746, -0.17689472,  0.98422913,
        0.00113366, -0.00640853,  0.        , -0.99997947])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13061103, -0.08212136,  0.13160833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29834253,   6.14663976,   3.93505063,   6.14663976,
        27.86251948, -32.12171827,   3.93505063, -32.12171827,
        57.47320669,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.300301777829153e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78534164e-01,  1.13981554e-01, -1.71694774e-01,  1.12266501e-01,
        9.93482866e-01,  1.96984144e-02,  1.72821072e-01,  3.46944695e-18,
       -9.84953236e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328578, -0.05399465,  0.29658054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046982347080493233
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.54303944e-01, -8.98127249e-01, -2.60453759e-01, -9.55785617e-02,
       -2.42282684e-01,  9.65486323e-01, -9.30233010e-01,  3.66969408e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048819 , -0.03620205,  0.30476457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044350654817867165
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.55361887e-07, -5.55362144e-07,  1.00000000e+00,  3.08426968e-13,
        1.00000000e+00,  5.55362144e-07, -1.00000000e+00,  5.04870979e-29,
        5.55361887e-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([ 0.05339397, -0.06173334,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.05315090e-05, 2.26179480e-05, 6.69476919e-07,-6.90091342e-07,
 -2.66163035e-03, 2.35519775e-02, 1.05871333e-02, 1.36301289e-03,
 -3.00608868e-05,-2.74228115e-05, 3.33034933e-06, 1.85643433e-05,
  5.21632882e-02, 1.99445069e-02, 1.29519934e-02, 1.01443907e-04,
 -9.64502771e-06, 6.36165879e-06,-9.80999753e+00,-6.49469631e-02,
 -9.37719013e-03,-5.35760024e-03]


--- Step 1665 ---
qpos:
[ 0.00986432, 0.00807171,-0.00562981, 0.03352277, 0.00610121,-0.01867883,
 -0.01657251, 0.03782482, 0.01296117, 0.00594842,-0.01168622, 0.03406704,
  0.81333947,-0.01461291, 1.14760234, 0.04612395, 0.09465058,-0.06380489,
  0.14250089, 0.94304995,-0.03289463, 0.02876235, 0.3297688 ]

qacc:
[ 3.98254189e+00,-7.92956153e-01, 3.02295926e+00,-4.08801458e+00,
 -3.32463715e+01, 1.72976732e+00,-2.91160432e+00, 3.79162976e+01,
  2.93961199e+00, 8.81016303e-01,-2.45178771e+00, 3.95487615e-01,
 -2.50344750e+01,-1.94939839e+01,-8.93044502e+01, 2.30420931e+02,
  1.89995459e-01, 6.63311524e-01,-1.36561467e-01,-1.42905561e+01,
  1.56734601e+00,-2.78208704e+01]

qfrc_actuator:
[-3.47293473e-06, 2.29776106e-04, 1.85557652e-05, 7.62662666e-05,
 -2.54626862e-03, 2.16575117e-02, 9.75240663e-03, 1.28082543e-03,
  1.57576884e-05, 1.27795497e-04,-1.29599910e-04, 3.09366818e-05,
  4.97834887e-02, 1.87339562e-02, 1.34728445e-03,-2.01771049e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24492705, -0.23988275,  0.04945226, -0.23988275,  0.2753687 ,
        0.1476662 ,  0.04945226,  0.1476662 ,  0.96122544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003648968734868729
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98428383, -0.17648156,  0.00629339, -0.17647795,  0.98430395,
        0.00112838, -0.00639375,  0.        , -0.99997956])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13061299, -0.0821164 ,  0.13160823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29960289,  7.14493973, -1.49467005,  7.14493973,  9.75951731,
       11.75907708, -1.49467005, 11.75907708, 63.5112712 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.477053684416871e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78544654e-01,  1.13908194e-01, -1.71683672e-01,  1.12194497e-01,
        9.93491280e-01,  1.96842965e-02,  1.72808433e-01, -3.46944695e-18,
       -9.84955454e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132863 , -0.05399548,  0.29658087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.30993928,  1.24891758, -0.39515291,  1.24891758,  2.11171725,
        2.53409395, -0.39515291,  2.53409395,  9.3191793 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004694183785819999
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.56152780e-01, -8.97631163e-01, -2.59641083e-01, -9.57558215e-02,
       -2.41338589e-01,  9.65705187e-01, -9.29508483e-01,  3.68800732e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488141, -0.03620332,  0.30476621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.42228942, -6.28986511,  8.31033776, -6.28986511, 37.497048  ,
       20.49213693,  8.31033776, 20.49213693, 25.93222185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004446602200719463
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.24839481e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.24839481e-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([ 0.08687311, -0.10875321,  0.06199001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33147082e-05, 1.16512583e-05, 1.79805289e-05,-7.16800295e-07,
 -2.63817602e-03, 2.36225227e-02, 1.06362511e-02, 1.42015995e-03,
  1.72778940e-05,-1.18731449e-05,-2.74525517e-05,-9.54503781e-06,
  5.19745095e-02, 1.98214850e-02, 1.26818809e-02, 1.43549928e-04,
 -1.11586460e-05, 7.25076943e-06,-9.80999717e+00,-6.49455969e-02,
 -9.37801050e-03,-5.35666383e-03]


--- Step 1666 ---
qpos:
[ 0.00986458, 0.00807134,-0.00563062, 0.03352336, 0.00610003,-0.01868992,
 -0.01657683, 0.03782534, 0.01296242, 0.0059505 ,-0.01168718, 0.03406676,
  0.8132928 ,-0.014641  , 1.14752366, 0.04612595, 0.09465221,-0.06380136,
  0.14250093, 0.9430512 ,-0.03290581, 0.02875491, 0.32976475]

qacc:
[ 5.63373362e+00, 1.24364658e+00,-3.48485277e+00, 2.98048500e+00,
  7.42086536e+00, 3.45117730e+00,-5.60623143e+00,-1.40620898e-01,
  7.95079271e+00,-8.32766946e-01, 5.14491096e+00,-1.35616106e+01,
  3.73678059e+00, 3.25222383e+00, 1.02517581e+01,-4.94536749e+01,
 -4.96527291e-02,-1.70838612e-01, 4.17875651e-02, 3.08030737e+00,
  3.48972563e-02, 5.25796909e+00]

qfrc_actuator:
[ 2.90084937e-05, 2.64906583e-04, 8.79202521e-06, 7.50184130e-05,
 -2.54680182e-03, 2.16462075e-02, 9.73142314e-03, 1.29595761e-03,
  6.18024992e-05, 1.45972197e-04,-1.24917603e-04, 7.89171572e-06,
  4.97873141e-02, 1.87930489e-02, 1.37528073e-03,-2.03692541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24491088, -0.01981137,  0.24410827, -0.01981137,  0.76356222,
        0.04209278,  0.24410827,  0.04209278,  0.24832705,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000364825248674161
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98433117, -0.17621866,  0.00625496, -0.17621511,  0.98435105,
        0.00111976, -0.0063544 ,  0.        , -0.99997981])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13061419, -0.08211325,  0.13160781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.297068  ,  2.09158809, -6.99088411,  2.09158809, 73.57773111,
       19.83037385, -6.99088411, 19.83037385, 13.23007634,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.113785607971828e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97853618,  0.11393037, -0.17171723,  0.11221566,  0.99348874,
        0.01969203,  0.17284266,  0.        , -0.98494945])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328539, -0.05399267,  0.29658029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.31345134, -0.73441297,  1.08894077, -0.73441297,  6.20402075,
        3.29834063,  1.08894077,  3.29834063,  3.53794709,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004714617561480444
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.49025421e-01, -8.99495322e-01, -2.62848668e-01, -9.50843095e-02,
       -2.45047743e-01,  9.64837073e-01, -9.32276906e-01,  3.61745449e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048812 , -0.03619692,  0.30476262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.41596146, -5.93747452,  8.55795826, -5.93747452, 18.49490958,
        5.60513935,  8.55795826,  5.60513935, 14.30478296,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004441558650451638
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.77735977e-07,  3.77736011e-07,  1.00000000e+00,  1.42684481e-13,
        1.00000000e+00, -3.77736011e-07, -1.00000000e+00,  0.00000000e+00,
       -3.77735977e-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([ 0.05339881, -0.0617297 ,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.31519955e-05, 4.53724645e-05,-5.15362293e-06,-1.39739676e-07,
 -2.44411468e-03, 2.32159526e-02, 1.03531238e-02, 1.29278712e-03,
  4.65387158e-05, 5.40267027e-06,-1.49516909e-06,-2.46928692e-05,
  5.56816324e-02, 2.20468361e-02, 1.46481050e-02,-4.14166254e-04,
 -4.16087478e-06, 1.38222124e-06,-9.80999753e+00,-6.49470959e-02,
 -9.37807178e-03,-5.35667849e-03]


--- Step 1667 ---
qpos:
[ 0.00986488, 0.00807144,-0.00563131, 0.03352354, 0.0061    ,-0.01869961,
 -0.01658136, 0.03782558, 0.01296388, 0.00595237,-0.01168795, 0.03406587,
  0.81325794,-0.01466212, 1.14745089, 0.04612718, 0.0946537 ,-0.06379835,
  0.14250109, 0.94304937,-0.0329115 , 0.02874913, 0.32976993]

qacc:
[  0.36819433, -0.52796474,  4.50067655,-11.98951129,  9.78718784,
   1.8203326 , -2.68411239, -2.82772262,  1.74633304, -1.99311849,
   9.25200764,-19.75087247,  4.0038378 ,  3.13716839, 10.99723941,
 -25.96051841, -0.03374292, -0.13073556,  0.02781985,  2.68040264,
  -0.22729259,  4.9597635 ]

qfrc_actuator:
[ 3.02555550e-05, 3.03635932e-04, 2.11759524e-05, 5.63054695e-05,
 -2.56492658e-03, 2.16597658e-02, 9.72051946e-03, 1.30494706e-03,
  7.06313164e-05, 1.20499142e-04,-1.21708398e-04,-2.32811006e-05,
  4.97906856e-02, 1.88355849e-02, 1.41122598e-03,-1.92110353e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24497536, -0.2384808 ,  0.05603423, -0.2384808 ,  0.35735774,
        0.47829762,  0.05603423,  0.47829762,  2.28060248,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003651107395632039
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84383338e-01, -1.75928402e-01,  6.21622751e-03, -1.75924894e-01,
        9.84402965e-01,  1.11093832e-03, -6.31471839e-03,  2.16840434e-19,
       -9.99980062e-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([ 0.13061512, -0.08210975,  0.13160738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29554947,  7.23908461,  0.90592272,  7.23908461,  7.71176588,
       -3.32591927,  0.90592272, -3.32591927, 33.87244227,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.87979136675627e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97853162,  0.11393472, -0.17174038,  0.11221947,  0.99348824,
        0.01969544,  0.17286604,  0.        , -0.98494534])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328487, -0.05399044,  0.29657995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004726749983407532
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.44462738e-01, -9.00648625e-01, -2.64910318e-01, -9.46326695e-02,
       -2.47431070e-01,  9.64273055e-01, -9.34018244e-01,  3.57225307e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488106, -0.03619199,  0.30476075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044507035145419094
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49448884e-13, -9.74409703e-14,  1.00000000e+00, -2.43065413e-26,
        1.00000000e+00,  9.74409703e-14, -1.00000000e+00,  0.00000000e+00,
       -2.49448884e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05298221, -0.06113671,  0.06199   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.20952796e-06, 6.30639923e-05, 2.11276342e-05,-1.69497886e-05,
 -2.50592500e-03, 2.30762696e-02, 1.03389696e-02, 1.31163176e-03,
  1.01601734e-05,-2.38619265e-05, 3.27362620e-06,-3.14771608e-05,
  5.51258976e-02, 2.17434431e-02, 1.49982963e-02, 2.55849265e-05,
 -1.23417100e-06, 5.60335037e-07,-9.80999891e+00,-6.49487811e-02,
 -9.37773398e-03,-5.35662937e-03]


--- Step 1668 ---
qpos:
[ 0.00986485, 0.00807163,-0.00563137, 0.03352317, 0.0061002 ,-0.01871048,
 -0.01658702, 0.03782528, 0.01296474, 0.00595369,-0.01168852, 0.03406501,
  0.81323344,-0.0146771 , 1.14738723, 0.04612934, 0.09465509,-0.06379573,
  0.14250133, 0.94304494,-0.03291272, 0.02874462, 0.32978287]

qacc:
[-2.89348122e+00,-2.74927109e+00, 1.23203453e+01,-2.29808142e+01,
  1.95648805e+00, 5.23881362e-01,-1.85147117e+00,-4.72606221e+00,
 -5.21327450e+00,-1.26998819e+00, 3.36825986e+00,-2.89442483e+00,
  3.44470066e+00, 2.84737376e+00, 1.05442335e+01,-1.75162456e+01,
 -2.51774580e-02,-9.90095571e-02, 2.14995744e-02, 2.16432818e+00,
 -2.29847956e-01, 4.17365026e+00]

qfrc_actuator:
[ 1.31057989e-05, 2.91036224e-04, 4.65601554e-05, 2.74917168e-05,
 -2.59423028e-03, 2.16887029e-02, 9.73366883e-03, 1.31041420e-03,
  3.97228899e-05, 6.90780037e-05,-1.19579678e-04,-2.35189488e-05,
  4.97986520e-02, 1.88298600e-02, 1.42444163e-03,-1.83388393e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24509564, -0.23919893,  0.05343917, -0.23919893,  0.29395183,
        0.21868507,  0.05343917,  0.21868507,  1.22395131,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036564234786865045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84441455e-01, -1.75604287e-01,  6.17704118e-03, -1.75600830e-01,
        9.84460834e-01,  1.10183653e-03, -6.27454233e-03,  2.16840434e-19,
       -9.99980315e-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([ 0.13061591, -0.08210585,  0.13160694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29474882,  7.19931831,  1.17608508,  7.19931831,  8.09279291,
       -4.88516821,  1.17608508, -4.88516821, 37.19894671,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.750506898966613e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97853051,  0.11392214, -0.17175505,  0.11220679,  0.99348968,
        0.01969492,  0.17288055,  0.        , -0.9849428 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328464, -0.0539888 ,  0.2965798 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004732988279431712
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.41656216e-01, -9.01340326e-01, -2.66189118e-01, -9.43492085e-02,
       -2.48907359e-01,  9.63920823e-01, -9.35077140e-01,  3.54444274e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.104881  , -0.0361885 ,  0.30476013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044552804767047927
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.89363472e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.89363472e-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([ 0.05298501, -0.06113472,  0.06198999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70646130e-05, 2.63076482e-05, 4.04327067e-05,-2.57095162e-05,
 -2.59263966e-03, 2.30364622e-02, 1.03628536e-02, 1.33118951e-03,
 -3.06217959e-05,-6.54862500e-05,-3.49588523e-06,-1.76038980e-06,
  5.45436053e-02, 2.13890925e-02, 1.47172101e-02, 1.51851919e-04,
 -4.03878176e-07, 5.78570933e-07,-9.80999953e+00,-6.49497468e-02,
 -9.37783777e-03,-5.35640317e-03]


--- Step 1669 ---
qpos:
[ 0.0098653 , 0.00807178,-0.0056313 , 0.03352251, 0.00610048,-0.01872338,
 -0.0165938 , 0.03782446, 0.01296522, 0.00595467,-0.01168941, 0.03406451,
  0.81321835,-0.01468652, 1.14732879, 0.04613067, 0.09465641,-0.06379343,
  0.14250163, 0.94303832,-0.03291022, 0.02874104, 0.32980235]

qacc:
[ 4.25914146e+00,-1.06426972e+00, 4.92257783e+00,-1.01423836e+01,
  6.96739129e-01,-6.73689931e-01, 7.05272554e-01,-6.52672349e+00,
 -3.32093576e+00, 1.23424443e+00,-6.54352906e+00, 1.35101841e+01,
  3.14340129e+00, 2.57124588e+00, 1.01830886e+01,-2.45312028e+01,
 -1.89112085e-02,-7.75363731e-02, 1.54628903e-02, 1.77664996e+00,
 -2.50335766e-01, 3.51588808e+00]

qfrc_actuator:
[ 3.85330856e-05, 2.65594590e-04, 4.36941345e-05, 1.06841944e-05,
 -2.61203044e-03, 2.16933570e-02, 9.74450429e-03, 1.31413391e-03,
  2.11904979e-05, 5.57888788e-05,-1.35955640e-04,-5.57927096e-06,
  4.98037541e-02, 1.88287456e-02, 1.40754305e-03,-1.92499866e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2452078 , -0.23972662,  0.05155591, -0.23972662,  0.28533632,
        0.18659113,  0.05155591,  0.18659113,  1.11282629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036613696037201616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98450357, -0.17525698,  0.00614161, -0.17525357,  0.98452272,
        0.00109328, -0.00623816,  0.        , -0.99998054])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13061684, -0.08210167,  0.13160655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29447077,  7.1290966 ,  1.54443694,  7.1290966 ,  8.91383752,
       -7.47497139,  1.54443694, -7.47497139, 41.79882099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.704548487214443e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78532251e-01,  1.13895239e-01, -1.71762942e-01,  1.12180147e-01,
        9.93492765e-01,  1.96911161e-02,  1.72887965e-01,  3.46944695e-18,
       -9.84941497e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328464, -0.05398768,  0.2965798 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047352796404164904
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3401124 , -0.90171218, -0.2669058 , -0.09419513, -0.24973183,
        0.96372262, -0.9356553 ,  0.35291524,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.104881  , -0.0361862 ,  0.30476035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044562755195240444
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24568490e-13,  2.72493572e-14,  1.00000000e+00,  3.39441128e-27,
        1.00000000e+00, -2.72493572e-14, -1.00000000e+00,  0.00000000e+00,
       -1.24568490e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05298703, -0.06113317,  0.06198999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49492639e-05,-3.49114140e-06, 6.65867530e-06,-1.47803654e-05,
 -2.62197314e-03, 2.30998428e-02, 1.04305696e-02, 1.36168052e-03,
 -1.94220235e-05,-5.07538738e-05,-3.03990478e-05, 1.49798442e-05,
  5.40304544e-02, 2.10819069e-02, 1.42468263e-02, 1.42848677e-05,
 -1.05752957e-06, 1.21574394e-06,-9.80999960e+00,-6.49501381e-02,
 -9.37827851e-03,-5.35602568e-03]


--- Step 1670 ---
qpos:
[ 0.00986605, 0.00807177,-0.00563121, 0.03352237, 0.0061015 ,-0.01874085,
 -0.01660292, 0.03782292, 0.01296617, 0.0059555 ,-0.01169063, 0.03406455,
  0.81321174,-0.014691  , 1.1472733 , 0.04613008, 0.09465766,-0.06379139,
  0.14250198, 0.94303003,-0.03290473, 0.02873817, 0.32982687]

qacc:
[ 2.64633054e+00, 8.22965070e-01,-5.43666192e+00, 1.45225841e+01,
  6.36693029e+00,-9.77262251e-01,-2.22785333e+00,-3.14939888e+00,
  4.07072331e+00, 1.80369132e+00,-8.99118945e+00, 1.89359039e+01,
  2.91325065e+00, 2.15842136e+00, 1.00902903e+01,-2.91188106e+01,
 -1.60428044e-02,-6.67738288e-02, 1.06529077e-02, 1.42750521e+00,
 -2.23461585e-01, 2.70966908e+00]

qfrc_actuator:
[ 5.33175032e-05, 2.50298448e-04, 4.18600580e-05, 3.65442893e-05,
 -2.62287161e-03, 2.16847843e-02, 9.73663101e-03, 1.28150520e-03,
  4.56093023e-05, 6.53768285e-05,-1.45221723e-04, 2.29230359e-05,
  4.98015252e-02, 1.88462506e-02, 1.39389921e-03,-2.05071136e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2592371 , -0.25339689,  0.05471642, -0.25339689,  0.30827608,
        0.22710412,  0.05471642,  0.22710412,  1.31097761,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004207880501479495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84568765e-01, -1.74891496e-01,  6.10828425e-03, -1.74888130e-01,
        9.84587713e-01,  1.08500945e-03, -6.20390054e-03,  2.16840434e-19,
       -9.99980756e-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([ 0.13061797, -0.08209728,  0.13160619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29459429,   7.04265624,   1.90055225,   7.04265624,
        10.10978436, -10.43192363,   1.90055225, -10.43192363,
        45.95096484,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.725034544852384e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97853635,  0.11385625, -0.17176542,  0.11214171,  0.99349723,
        0.01968457,  0.17288968,  0.        , -0.9849412 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328482, -0.05398701,  0.2965799 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004734561746671886
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.33964971, -0.90181599, -0.26714415, -0.09415744, -0.25000075,
        0.96365658, -0.93582715,  0.35245928,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488095, -0.03618485,  0.3047612 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004454481803776167
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.89433284e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.89433284e-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([ 0.05298844, -0.06113196,  0.06198999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54939452e-05,-1.65037549e-05,-2.24906716e-06, 2.56530710e-05,
 -2.63689095e-03, 2.31939209e-02, 1.04785526e-02, 1.35540283e-03,
  2.38517188e-05,-2.44602115e-05,-2.29743352e-05, 2.55689451e-05,
  5.35580019e-02, 2.08207833e-02, 1.39726519e-02,-6.96052194e-05,
 -2.54826528e-06, 2.20026216e-06,-9.80999934e+00,-6.49500585e-02,
 -9.37893093e-03,-5.35550918e-03]


--- Step 1671 ---
qpos:
[ 0.00986663, 0.00807169,-0.0056309 , 0.03352251, 0.00610292,-0.01876287,
 -0.01661433, 0.03782064, 0.01296775, 0.00595571,-0.0116915 , 0.03406529,
  0.81321254,-0.0146912 , 1.14722492, 0.04612978, 0.09465886,-0.06378955,
  0.14250235, 0.94302032,-0.03289682, 0.02873578, 0.32985563]

qacc:
[-1.51368381e+00,-1.50632202e-01,-7.89436690e-01, 5.38038936e+00,
  3.36093818e+00,-1.14548516e+00,-1.57602517e+00,-4.11383875e+00,
  5.56696979e+00,-3.69540422e-01,-2.86801834e+00, 1.49448458e+01,
  2.48143052e+00, 1.94300219e+00, 9.57221718e+00,-1.83401324e+01,
 -1.34394793e-02,-5.00735693e-02, 7.11778583e-03, 1.13538260e+00,
 -2.13410795e-01, 2.27025571e+00]

qfrc_actuator:
[ 4.39532543e-05, 2.58973054e-04, 5.84716436e-05, 5.18060322e-05,
 -2.63023278e-03, 2.17071131e-02, 9.73695959e-03, 1.26297910e-03,
  7.73563102e-05, 1.76225676e-05,-1.32350012e-04, 5.74395832e-05,
  4.98052930e-02, 1.88555834e-02, 1.38222580e-03,-1.98273108e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25875326, -0.2529713 ,  0.0543946 , -0.2529713 ,  0.29841859,
        0.18447029,  0.0543946 ,  0.18447029,  1.11666356,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041910697190169756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98463359, -0.17452721,  0.0060782 , -0.17452389,  0.98465235,
        0.00107735, -0.00617294,  0.        , -0.99998095])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13061957, -0.08209293,  0.13160588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29503913,   6.94396522,   2.23583159,   6.94396522,
        11.6566271 , -13.54606281,   2.23583159, -13.54606281,
        49.36591306,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.797896654618057e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97854228,  0.11380801, -0.17176365,  0.11209425,  0.99350276,
        0.01967592,  0.17288694,  0.        , -0.98494168])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328512, -0.05398676,  0.29658009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047316277050872356
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.34012045, -0.90168998, -0.26697052, -0.09422195, -0.24979087,
        0.9637047 , -0.93564967,  0.35293016,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048808 , -0.03618428,  0.3047625 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044505620463522466
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49456813e-13, -1.59808271e-13,  1.00000000e+00, -3.98652620e-26,
        1.00000000e+00,  1.59808271e-13, -1.00000000e+00,  0.00000000e+00,
       -2.49456813e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05298937, -0.06113103,  0.06199   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.92958416e-06, 8.30479623e-08, 1.38111312e-05, 1.49753518e-05,
 -2.68146772e-03, 2.34448746e-02, 1.05962939e-02, 1.37304320e-03,
  3.24177241e-05,-6.50871990e-05, 5.87848702e-06, 3.31710507e-05,
  5.31372808e-02, 2.05833418e-02, 1.38148074e-02, 9.45714027e-05,
 -4.29519859e-06, 3.23593359e-06,-9.80999893e+00,-6.49495899e-02,
 -9.37969689e-03,-5.35487414e-03]


--- Step 1672 ---
qpos:
[ 0.00986744, 0.00807188,-0.00563024, 0.03352244, 0.00610475,-0.01878815,
 -0.01662747, 0.0378178 , 0.012969  , 0.00595561,-0.01169257, 0.03406643,
  0.81321758,-0.01468869, 1.14718787, 0.04613239, 0.09466   ,-0.06378784,
  0.14250276, 0.94300965,-0.03288752, 0.02873397, 0.32988721]

qacc:
[ 2.00685685e+00,-1.04514472e+00, 5.15998974e+00,-9.64722189e+00,
  3.57570524e+00,-6.22743952e-01,-1.66879281e+00,-2.80512243e+00,
 -2.82987632e+00, 9.97198533e-01,-5.87279753e+00, 1.34647052e+01,
  1.09079160e+00, 1.71798115e+00, 7.95132808e+00,-3.49570601e+00,
 -1.46563000e-02,-3.06471046e-02, 1.02102649e-02, 6.94526717e-01,
  6.58823990e-03, 1.51858858e+00]

qfrc_actuator:
[ 5.59592606e-05, 2.99756861e-04, 8.59257389e-05, 4.29833636e-05,
 -2.61769924e-03, 2.17143078e-02, 9.74309688e-03, 1.28872188e-03,
  5.98901218e-05, 7.01456785e-06,-1.42241647e-04, 7.74327749e-05,
  4.98071251e-02, 1.88586975e-02, 1.38190543e-03,-1.78222539e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25812763, -0.2529948 ,  0.05122011, -0.2529948 ,  0.29545961,
        0.1843963 ,  0.05122011,  0.1843963 ,  1.16892815,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041691450315156696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84697880e-01, -1.74164824e-01,  6.05793436e-03, -1.74161528e-01,
        9.84716515e-01,  1.07145463e-03, -6.15195771e-03, -2.16840434e-19,
       -9.99981077e-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([ 0.13062164, -0.08208862,  0.13160571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29574445,   6.77541635,   2.7058493 ,   6.77541635,
        14.58385022, -18.24933521,   2.7058493 , -18.24933521,
        52.99187545,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.910626321384802e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78549686e-01,  1.13751970e-01, -1.71758553e-01,  1.12039181e-01,
        9.93509179e-01,  1.96655191e-02,  1.72880690e-01,  3.46944695e-18,
       -9.84942773e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328552, -0.05398687,  0.29658033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047276037352617914
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.41171241e-01, -9.01421424e-01, -2.66536303e-01, -9.43475555e-02,
       -2.49279240e-01,  9.63824880e-01, -9.35254363e-01,  3.53976379e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488058, -0.03618438,  0.30476404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044449020955989257
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19170040e-06,  1.19170041e-06,  1.00000000e+00,  1.42014985e-12,
        1.00000000e+00, -1.19170041e-06, -1.00000000e+00,  4.03896783e-28,
       -1.19170040e-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([ 0.0534103 , -0.06172054,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17503505e-05, 4.43188070e-05, 2.96871365e-05,-8.05037870e-06,
 -2.68856007e-03, 2.36812507e-02, 1.07174671e-02, 1.43563004e-03,
 -1.65691365e-05,-4.43520488e-05,-2.14579751e-05, 1.80517352e-05,
  5.27689456e-02, 2.03725600e-02, 1.34599610e-02, 2.80708584e-04,
 -6.14086767e-06, 4.30631261e-06,-9.80999845e+00,-6.49488145e-02,
 -9.38052000e-03,-5.35413651e-03]


--- Step 1673 ---
qpos:
[ 0.00986804, 0.00807227,-0.00562924, 0.03352261, 0.00610715,-0.01881564,
 -0.01664206, 0.03781447, 0.01296969, 0.00595544,-0.01169385, 0.03406708,
  0.81322638,-0.01468371, 1.14715862, 0.04613647, 0.09466109,-0.06378621,
  0.1425032 , 0.94299816,-0.03287707, 0.02873254, 0.32992122]

qacc:
[-1.81232254e+00,-1.63586758e-01,-9.21853789e-02, 3.73461640e+00,
  4.79086696e+00, 1.03826835e-01,-2.55938605e+00,-2.00032085e+00,
 -4.96632516e+00,-5.16409416e-01, 3.83375941e+00,-1.20330381e+01,
  9.37114856e-01, 1.61829072e+00, 7.09842576e+00,-8.10012368e+00,
 -1.26837458e-02,-2.28693385e-02, 6.42444059e-03, 5.59926115e-01,
 -3.59078746e-02, 1.30628445e+00]

qfrc_actuator:
[ 4.49500487e-05, 3.06231954e-04, 1.01928501e-04, 5.56021269e-05,
 -2.59341156e-03, 2.16951781e-02, 9.73531660e-03, 1.32338885e-03,
  3.13485505e-05, 1.86359906e-05,-1.47623651e-04, 5.32211859e-05,
  4.98078139e-02, 1.88579416e-02, 1.40373805e-03,-1.75347502e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25740176, -0.25304893,  0.0471371 , -0.25304893,  0.29093507,
        0.18001885,  0.0471371 ,  0.18001885,  1.22380777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041434392477523893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9847615 , -0.17380515,  0.00604566, -0.17380187,  0.98478006,
        0.00106701, -0.00613909,  0.        , -0.99998116])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13062405, -0.08208437,  0.13160564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29665377,   6.28128062,   3.71304053,   6.28128062,
        24.68015783, -29.40734593,   3.71304053, -29.40734593,
        57.0445062 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.051305260655055e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97855814,  0.11369062, -0.171751  ,  0.11197893,  0.9935162 ,
        0.01965391,  0.17287187,  0.        , -0.98494432])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328599, -0.05398718,  0.29658063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004723942480504957
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.34240552, -0.90110789, -0.26601321, -0.09448889, -0.2486662 ,
        0.96396938, -0.93478891,  0.35520373,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488037, -0.03618487,  0.30476555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004438109831896312
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.40557905e-08, -9.40557277e-08,  1.00000000e+00,  8.84648582e-15,
        1.00000000e+00,  9.40557277e-08, -1.00000000e+00, -1.57772181e-30,
        9.40557905e-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([ 0.05341059, -0.06171998,  0.06199003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06611146e-05, 3.70327987e-05, 2.85242307e-05, 1.53859808e-05,
 -2.68518213e-03, 2.38255793e-02, 1.07964189e-02, 1.49822264e-03,
 -2.90291193e-05,-1.68271071e-05,-1.65485678e-05,-2.65023002e-05,
  5.25576164e-02, 2.02364876e-02, 1.29157547e-02, 1.64172190e-04,
 -7.52084888e-06, 5.06427792e-06,-9.80999816e+00,-6.49477895e-02,
 -9.38125598e-03,-5.35336807e-03]


--- Step 1674 ---
qpos:
[ 0.00986851, 0.00807267,-0.00562796, 0.03352331, 0.00610562,-0.01883851,
 -0.01665193, 0.03781402, 0.01296969, 0.0059549 ,-0.01169477, 0.0340671 ,
  0.81316259,-0.01472048, 1.14708549, 0.04614803, 0.09466301,-0.06378202,
  0.14250312, 0.94300402,-0.03289546, 0.02872272, 0.32990349]

qacc:
[-1.18746054e+00, 2.78744649e-01,-3.18634743e+00, 1.17669019e+01,
 -3.35171745e+01,-1.08917350e+00, 7.23857580e-01, 3.79707155e+01,
 -6.07271300e+00,-2.78580246e+00, 1.19152076e+01,-2.32500117e+01,
 -2.49463539e+01,-1.81161056e+01,-8.69175379e+01, 2.11095616e+02,
  2.09101059e-01, 6.43581894e-01,-1.30398549e-01,-1.39595720e+01,
  1.40026299e+00,-2.78109837e+01]

qfrc_actuator:
[ 3.82285196e-05, 2.92091225e-04, 1.10929751e-04, 8.07056702e-05,
 -2.56238191e-03, 2.16960291e-02, 9.75510856e-03, 1.32806399e-03,
 -3.46724645e-06,-9.79639239e-06,-1.32468217e-04, 2.09773545e-05,
  4.98130331e-02, 1.88540036e-02, 1.40681810e-03,-1.93401116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25661032, -0.25284932,  0.04377307, -0.25284932,  0.28409088,
        0.15873777,  0.04377307,  0.15873777,  1.17353792,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004115074582782127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98482516, -0.17344435,  0.00603883, -0.17344109,  0.98484367,
        0.00106352, -0.00613176,  0.        , -0.9999812 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13062669, -0.08208012,  0.13160564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29773455, -7.29144573, -0.30290065, -7.29144573,  7.28527569,
        0.29991064, -0.30290065,  0.29991064,  0.07826438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.212366849473655e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78567457e-01,  1.13624675e-01, -1.71741564e-01,  1.11914194e-01,
        9.93523746e-01,  1.96412813e-02,  1.72861056e-01,  3.46944695e-18,
       -9.84946219e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132865 , -0.05398767,  0.29658095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.31447678,  1.25749225, -0.38283475,  1.25749225,  2.02050012,
        2.31906552, -0.38283475,  2.31906552,  8.93188063,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047205481675393837
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.34379552, -0.90075502, -0.26541482, -0.09464286, -0.24796725,
        0.96413431, -0.93426301,  0.35658468,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488013, -0.03618568,  0.30476703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.41883722, -6.31998557,  8.28311242, -6.31998557, 40.25365662,
       22.76386202,  8.28311242, 22.76386202, 27.78758369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000444385211073442
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.24916739e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.24916739e-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([ 0.08690377, -0.10873022,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.01642478e-06, 1.30879170e-05, 2.06796755e-05, 2.79736687e-05,
 -2.68222355e-03, 2.39385365e-02, 1.08893525e-02, 1.52764534e-03,
 -3.56467364e-05,-4.23846659e-05, 8.74166676e-06,-3.40501793e-05,
  5.23748734e-02, 2.01082889e-02, 1.25295302e-02,-8.93939296e-05,
 -8.82048308e-06, 5.78743781e-06,-9.80999787e+00,-6.49466113e-02,
 -9.38197208e-03,-5.35256736e-03]


--- Step 1675 ---
qpos:
[ 0.00986923, 0.00807307,-0.00562648, 0.03352362, 0.00610505,-0.01886105,
 -0.01666189, 0.03781342, 0.01296893, 0.00595416,-0.0116956 , 0.03406706,
  0.8131127 ,-0.01474916, 1.14699857, 0.0461489 , 0.09466473,-0.06377857,
  0.14250318, 0.94300641,-0.03290716, 0.02871522, 0.32989613]

qacc:
[ 2.29262655e+00,-1.31793037e+00, 6.34338372e+00,-1.33540231e+01,
  8.20365679e+00, 3.91784544e-01,-1.78211174e-01,-2.35983365e+00,
 -6.70136490e+00,-6.24817746e-01, 2.07951982e+00,-2.94873230e+00,
  5.11596000e+00, 3.07928988e+00, 1.17978722e+01,-7.11762799e+01,
 -5.26907193e-02,-1.88084853e-01, 3.56652909e-02, 3.33571751e+00,
 -1.27803990e-01, 5.59388778e+00]

qfrc_actuator:
[ 5.18441916e-05, 2.83444925e-04, 1.15642818e-04, 5.96692813e-05,
 -2.54079309e-03, 2.17206661e-02, 9.78585528e-03, 1.32932583e-03,
 -4.16935821e-05,-8.65706025e-06,-1.23216309e-04, 1.97606147e-05,
  4.98223811e-02, 1.88914035e-02, 1.40301630e-03,-2.19346769e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25613638, -0.01424827,  0.25573977, -0.01424827,  0.84513311,
        0.03281534,  0.25573977,  0.03281534,  0.25796465,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040979171829712974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84858958e-01, -1.73253024e-01,  6.01848630e-03, -1.73249789e-01,
        9.84877347e-01,  1.05873179e-03, -6.11089931e-03, -2.16840434e-19,
       -9.99981328e-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([ 0.1306289 , -0.08207789,  0.13160547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29536005,  2.34184977,  6.90927043,  2.34184977, 20.29439186,
       -4.40593258,  6.90927043, -4.40593258,  8.78872065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.8496001883995366e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78557886e-01,  1.13654558e-01, -1.71776321e-01,  1.11942917e-01,
        9.93520328e-01,  1.96504905e-02,  1.72896634e-01,  3.46944695e-18,
       -9.84939975e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328564, -0.05398459,  0.2965804 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.3179854 , -0.74437572,  1.08765358, -0.74437572,  6.7693041 ,
        3.73081042,  1.08765358,  3.73081042,  3.87130271,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047407199377532083
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.33678903, -0.90247654, -0.26853163, -0.09388689, -0.25158396,
        0.96327087, -0.93688761,  0.34963066,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488013, -0.036179  ,  0.30476358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.42050856, -5.94669433,  8.5570921 , -5.94669433, 18.26194413,
        5.44935357,  8.5570921 ,  5.44935357, 14.20750064,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044451839519346614
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.74637935e-13, -9.75619623e-14,  1.00000000e+00, -3.65504121e-26,
        1.00000000e+00,  9.75619623e-14, -1.00000000e+00,  0.00000000e+00,
       -3.74637935e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05299539, -0.06112598,  0.06199001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34156337e-05, 4.10812418e-06, 1.09100486e-05,-1.92207174e-05,
 -2.46414614e-03, 2.37329295e-02, 1.06846399e-02, 1.38522771e-03,
 -3.92559758e-05,-2.21977534e-05, 4.14130127e-07,-3.38857814e-06,
  5.60140467e-02, 2.22343668e-02, 1.47205352e-02,-7.22849162e-04,
 -5.44634269e-06, 1.80131520e-06,-9.80999722e+00,-6.49484064e-02,
 -9.38264500e-03,-5.35266970e-03]


--- Step 1676 ---
qpos:
[ 0.00987012, 0.00807346,-0.00562493, 0.03352369, 0.00610557,-0.01888354,
 -0.01667185, 0.03781271, 0.0129684 , 0.00595346,-0.01169644, 0.03406734,
  0.81307506,-0.0147709 , 1.14691373, 0.04614665, 0.09466629,-0.0637757 ,
  0.14250336, 0.9430059 ,-0.03291343, 0.02870954, 0.32989748]

qacc:
[ 1.38446667e+00,-7.49298490e-01, 3.65632745e+00,-7.96953122e+00,
  9.35972000e+00,-2.29698627e-01, 1.36264352e+00,-3.37787212e+00,
  2.08483788e+00, 7.27679599e-01,-3.83308515e+00, 9.18294169e+00,
  4.40411900e+00, 2.73699782e+00, 1.23975331e+01,-3.91253095e+01,
 -3.93454903e-02,-1.43348767e-01, 2.84121767e-02, 2.68449221e+00,
 -1.43533704e-01, 4.69550539e+00]

qfrc_actuator:
[ 5.95670910e-05, 2.78091373e-04, 1.17768840e-04, 4.71560197e-05,
 -2.54594018e-03, 2.17620130e-02, 9.80834437e-03, 1.33040732e-03,
 -2.83611323e-05, 1.01913224e-05,-1.17396635e-04, 3.68253754e-05,
  4.98183838e-02, 1.89204632e-02, 1.42058686e-03,-2.14779814e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004080385628018503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98489575, -0.17304433,  0.00600191, -0.17304112,  0.98491404,
        0.0010545 , -0.00609384,  0.        , -0.99998143])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13063107, -0.08207544,  0.13160534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29396968,  7.25212116,  0.78021304,  7.25212116,  7.58747927,
       -2.72818696,  0.78021304, -2.72818696, 32.65261074,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.6202412374060467e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78552400e-01,  1.13665566e-01, -1.71800292e-01,  1.11953274e-01,
        9.93519068e-01,  1.96551612e-02,  1.72920981e-01, -3.46944695e-18,
       -9.84935701e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328515, -0.05398222,  0.29658008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004751241615476012
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.33269937, -0.9034443 , -0.27036923, -0.09343136, -0.25371263,
        0.96275671, -0.93839315,  0.34556952,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488006, -0.03617396,  0.30476204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044544381823954926
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24619871e-13, -6.62043065e-14,  1.00000000e+00, -8.25037215e-27,
        1.00000000e+00,  6.62043065e-14, -1.00000000e+00,  0.00000000e+00,
       -1.24619871e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05299934, -0.06112332,  0.06198999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.10406192e-06,-1.65640152e-06, 3.62941627e-06,-1.23394068e-05,
 -2.51733983e-03, 2.37584120e-02, 1.07121118e-02, 1.39351250e-03,
  1.22057994e-05, 6.39599080e-06, 1.18741753e-06, 1.60669387e-05,
  5.53149355e-02, 2.18594274e-02, 1.54297466e-02,-1.42367510e-04,
 -1.69567841e-06, 5.70321469e-07,-9.80999884e+00,-6.49501487e-02,
 -9.38213737e-03,-5.35264180e-03]


--- Step 1677 ---
qpos:
[ 0.0098704 , 0.00807385,-0.00562369, 0.03352432, 0.00610721,-0.01890614,
 -0.01668161, 0.03781191, 0.01296804, 0.00595309,-0.0116971 , 0.03406811,
  0.81304834,-0.01478655, 1.14683453, 0.04614305, 0.09466772,-0.06377328,
  0.14250362, 0.94300298,-0.03291529, 0.02870524, 0.329906  ]

qacc:
[-5.31040756e+00, 2.05071960e+00,-9.64719792e+00, 1.98583785e+01,
  9.52651682e+00,-8.57330696e-01, 3.15520879e+00,-4.75095143e+00,
  1.43540102e+00, 9.48442181e-01,-4.83720158e+00, 1.28713208e+01,
  3.91389270e+00, 2.37911441e+00, 1.23184698e+01,-3.12144314e+01,
 -3.01191608e-02,-1.12543887e-01, 2.17121721e-02, 2.16745529e+00,
 -1.57082004e-01, 3.86467509e+00]

qfrc_actuator:
[ 2.82479749e-05, 2.74737061e-04, 1.00623568e-04, 7.52721732e-05,
 -2.54989496e-03, 2.18135413e-02, 9.82581107e-03, 1.29590512e-03,
 -2.02934118e-05, 5.72636059e-05,-9.58061953e-05, 6.45215970e-05,
  4.98113525e-02, 1.89424244e-02, 1.40211583e-03,-2.17088700e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2551685 , -0.25482925,  0.01315352, -0.25482925,  0.26177587,
        0.12800769,  0.01315352,  0.12800769,  2.73512044,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040624703148182446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84935973e-01, -1.72815728e-01,  5.98769659e-03, -1.72812535e-01,
        9.84954174e-01,  1.05057491e-03, -6.07916261e-03,  2.16840434e-19,
       -9.99981522e-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([ 0.13063323, -0.08207276,  0.13160524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29326198,  7.20979026,  1.10027029,  7.20979026,  7.98977788,
       -4.56409091,  1.10027029, -4.56409091, 37.20058443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.497691907831739e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97855028,  0.11366064, -0.17181563,  0.11194812,  0.99351963,
        0.01965605,  0.17293632,  0.        , -0.98493301])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328497, -0.05398046,  0.29657996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047556007337109856
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.33054228, -0.90393837, -0.2713618 , -0.0931934 , -0.25485724,
        0.96247741, -0.93917879,  0.34342861,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488001, -0.03617031,  0.30476173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004459071308902246
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.89032459e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.89032459e-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([ 0.05300226, -0.06112123,  0.06198998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.10912599e-05,-4.09181488e-06,-1.74913652e-05, 2.79256118e-05,
 -2.57606129e-03, 2.38085720e-02, 1.07293299e-02, 1.36485079e-03,
  8.41315089e-06, 5.16199427e-05, 2.36301275e-05, 2.83263092e-05,
  5.46949535e-02, 2.15342755e-02, 1.53086204e-02,-9.27054196e-06,
 -3.73789753e-07, 3.15243735e-07,-9.80999955e+00,-6.49511750e-02,
 -9.38215252e-03,-5.35245770e-03]


--- Step 1678 ---
qpos:
[ 0.0098703 , 0.00807412,-0.00562254, 0.03352425, 0.00610937,-0.0189294 ,
 -0.01669187, 0.03781081, 0.01296778, 0.00595372,-0.01169805, 0.03406846,
  0.81303146,-0.01479678, 1.14676046, 0.04613794, 0.09466907,-0.06377121,
  0.14250395, 0.94299808,-0.03291352, 0.02870198, 0.32992048]

qacc:
[-3.31296962e+00,-1.34765253e+00, 7.51558030e+00,-1.93923505e+01,
  4.47724058e+00,-1.38462501e-01, 5.04981577e-01,-4.53481270e+00,
  8.44753350e-01, 1.28439012e+00,-8.98757170e-01,-6.60661078e+00,
  3.55276268e+00, 2.07280957e+00, 1.20980272e+01,-3.14797867e+01,
 -2.33272995e-02,-8.91422937e-02, 1.57952432e-02, 1.76317415e+00,
 -1.78308725e-01, 3.20335768e+00]

qfrc_actuator:
[ 9.70746518e-06, 2.54805743e-04, 9.00247571e-05, 3.82937476e-05,
 -2.55359115e-03, 2.18713181e-02, 9.84008469e-03, 1.27557053e-03,
 -1.54054035e-05, 1.38712317e-04,-1.00450130e-04, 4.50291604e-05,
  4.98021807e-02, 1.89582117e-02, 1.42020942e-03,-2.25349961e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25467806, -0.2477147 ,  0.05914679, -0.2477147 ,  0.33619759,
        0.34141474,  0.05914679,  0.34141474,  1.68456886,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040442952581078775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98497939, -0.17256852,  0.00597498, -0.17256534,  0.98499752,
        0.0010468 , -0.00606599,  0.        , -0.9999816 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13063538, -0.08206985,  0.13160515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29305117,  7.14979131,  1.43842958,  7.14979131,  8.6855821 ,
       -6.92164963,  1.43842958, -6.92164963, 41.69748166,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.460345836071834e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78550890e-01,  1.13642587e-01, -1.71824093e-01,  1.11930172e-01,
        9.93521697e-01,  1.96538581e-02,  1.72944480e-01, -3.46944695e-18,
       -9.84931575e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328501, -0.05397924,  0.29657998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047557823313762476
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.29824538e-01, -9.04091116e-01, -2.71726015e-01, -9.31257979e-02,
       -2.55269687e-01,  9.62374653e-01, -9.39437789e-01,  3.42719478e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487994, -0.03616782,  0.30476226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004460063580207646
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24462690e-13, -9.72364768e-14,  1.00000000e+00, -1.21023135e-26,
        1.00000000e+00,  9.72364768e-14, -1.00000000e+00,  0.00000000e+00,
       -1.24462690e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05300438, -0.0611196 ,  0.06198998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94308481e-05,-2.46779658e-05,-1.26517720e-05,-3.72192757e-05,
 -2.63545682e-03, 2.38728811e-02, 1.07346251e-02, 1.34867856e-03,
  5.14134049e-06, 1.16430803e-04, 9.91884368e-06,-1.59113267e-05,
  5.41401894e-02, 2.12460653e-02, 1.50467137e-02,-2.38389243e-05,
 -4.97948721e-07, 6.32862584e-07,-9.80999971e+00,-6.49516221e-02,
 -9.38248947e-03,-5.35213771e-03]


--- Step 1679 ---
qpos:
[ 0.00986998, 0.00807431,-0.00562125, 0.03352302, 0.00611181,-0.01895399,
 -0.01670286, 0.03780933, 0.01296826, 0.00595522,-0.01169929, 0.0340679 ,
  0.81302323,-0.01480225, 1.14669492, 0.04613315, 0.09467034,-0.06376941,
  0.14250432, 0.94299145,-0.03290878, 0.02869947, 0.3299401 ]

qacc:
[-1.94184685e+00,-2.87724801e+00, 1.50188098e+01,-3.52404309e+01,
  2.38027193e+00,-5.02831882e-01, 8.60303712e-01,-5.34490084e+00,
  6.57870110e+00, 6.35005293e-02, 5.26439253e+00,-2.11881571e+01,
  3.06470060e+00, 1.89651518e+00, 1.15090668e+01,-2.21381663e+01,
 -1.82181642e-02,-6.58641392e-02, 1.12988328e-02, 1.42158271e+00,
 -1.94315043e-01, 2.76542862e+00]

qfrc_actuator:
[-1.15090943e-06, 2.60574223e-04, 1.01015123e-04,-1.89508480e-05,
 -2.55698827e-03, 2.18801826e-02, 9.85304868e-03, 1.28174771e-03,
  2.30788528e-05, 1.68977159e-04,-1.20429719e-04,-2.06084117e-06,
  4.97967542e-02, 1.89862751e-02, 1.47073474e-03,-2.19359460e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25416695, -0.24762747,  0.05728417, -0.24762747,  0.3145377 ,
        0.26097012,  0.05728417,  0.26097012,  1.38228613,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004025197883308033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98502521, -0.17230714,  0.00596467, -0.17230399,  0.98504327,
        0.00104336, -0.00605524,  0.        , -0.99998167])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13063759, -0.08206678,  0.1316051 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29322219,  7.06828882,  1.79732664,  7.06828882,  9.79967953,
       -9.85706438,  1.79732664, -9.85706438, 46.05778311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.490674585306761e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78553728e-01,  1.13613626e-01, -1.71827078e-01,  1.11901599e-01,
        9.93525009e-01,  1.96491252e-02,  1.72946908e-01,  3.46944695e-18,
       -9.84931148e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328524, -0.05397851,  0.29658011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004753038807420583
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.33025298, -0.90397564, -0.27158979, -0.0931963 , -0.25509893,
        0.96241311, -0.93928027,  0.34315096,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487981, -0.03616628,  0.30476337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044582233048083564
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24514066e-13, -1.90662164e-13,  1.00000000e+00, -2.37401213e-26,
        1.00000000e+00,  1.90662164e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24514066e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05300587, -0.06111834,  0.06198999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14205138e-05,-1.22692127e-05, 3.03127793e-06,-5.94663779e-05,
 -2.66507849e-03, 2.39158929e-02, 1.07726793e-02, 1.37031489e-03,
  3.86723857e-05, 9.67288636e-05, 4.74409365e-06,-4.20673637e-05,
  5.36428547e-02, 2.10031031e-02, 1.48416376e-02, 1.12299322e-04,
 -1.42136938e-06, 1.26634916e-06,-9.80999957e+00,-6.49515997e-02,
 -9.38301903e-03,-5.35169500e-03]


--- Step 1680 ---
qpos:
[ 0.00986953, 0.00807462,-0.00561996, 0.03352145, 0.00611421,-0.0189805 ,
 -0.01671451, 0.03780746, 0.01296921, 0.00595655,-0.01169976, 0.03406684,
  0.81302292,-0.0148034 , 1.14663305, 0.04612646, 0.09467155,-0.06376783,
  0.14250471, 0.94298343,-0.03290158, 0.02869749, 0.32996393]

qacc:
[-1.12570842e+00,-5.30239764e-01, 3.57371125e+00,-9.61902659e+00,
 -3.53617338e-01,-1.47129849e+00, 3.15580474e+00,-7.21915898e+00,
  4.05785248e+00,-3.43047343e+00, 1.40114251e+01,-2.37671373e+01,
  2.86328636e+00, 1.63564760e+00, 1.11388312e+01,-3.12361978e+01,
 -1.51021667e-02,-5.43285179e-02, 6.91235962e-03, 1.16271478e+00,
 -2.06822898e-01, 2.26044377e+00]

qfrc_actuator:
[-7.40458720e-06, 2.81752271e-04, 1.07004869e-04,-3.43594836e-05,
 -2.57792255e-03, 2.18961335e-02, 9.88341483e-03, 1.28627838e-03,
  4.55242893e-05, 1.15004287e-04,-9.62431607e-05,-2.95442004e-05,
  4.97986528e-02, 1.90202007e-02, 1.43904013e-03,-2.35121676e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25361845, -0.24740119,  0.05581192, -0.24740119,  0.30270407,
        0.21758508,  0.05581192,  0.21758508,  1.21812225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004004523030023446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85073282e-01, -1.72032378e-01,  5.95730032e-03, -1.72029232e-01,
        9.85091296e-01,  1.04035894e-03, -6.04746011e-03,  2.16840434e-19,
       -9.99981714e-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([ 0.13063993, -0.08206355,  0.13160509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29369721,   6.936015  ,   2.25603966,   6.936015  ,
        11.87583056, -14.08740553,   2.25603966, -14.08740553,
        50.60430812,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.5735595427467486e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78558429e-01,  1.13575178e-01, -1.71825728e-01,  1.11863773e-01,
        9.93529405e-01,  1.96422346e-02,  1.72944784e-01, -3.46944695e-18,
       -9.84931521e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328559, -0.05397819,  0.29658033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047486866680369953
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.33144353, -0.903682  , -0.27111625, -0.09335623, -0.25453612,
        0.96254661, -0.93884493,  0.34434024,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487962, -0.03616556,  0.30476482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004454194068555517
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24626701e-13, -6.62079349e-14,  1.00000000e+00, -8.25127651e-27,
        1.00000000e+00,  6.62079349e-14, -1.00000000e+00,  0.00000000e+00,
       -1.24626701e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05300686, -0.06111735,  0.06198999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.58267620e-06, 1.23725681e-05, 1.75734891e-06,-1.69869221e-05,
 -2.69994533e-03, 2.39992106e-02, 1.08400482e-02, 1.39411022e-03,
  2.35833763e-05,-7.28013875e-07, 4.32929119e-05,-2.39936281e-05,
  5.32118792e-02, 2.07992122e-02, 1.43853327e-02,-6.16338597e-05,
 -2.79515588e-06, 2.09667820e-06,-9.80999924e+00,-6.49511998e-02,
 -9.38366399e-03,-5.35114196e-03]


--- Step 1681 ---
qpos:
[ 0.00986935, 0.00807493,-0.00561858, 0.03351972, 0.00611653,-0.01900881,
 -0.01672677, 0.03780521, 0.01297041, 0.0059573 ,-0.01169908, 0.03406549,
  0.81302964,-0.01480072, 1.14657758, 0.04611938, 0.09467271,-0.0637664 ,
  0.14250513, 0.94297416,-0.03289236, 0.02869585, 0.32999147]

qacc:
[ 2.40208826e+00,-6.06482712e-01, 2.84213338e+00,-5.82555477e+00,
 -6.04785539e-01,-1.46547417e+00, 3.44991209e+00,-7.96690699e+00,
  2.35379296e+00,-4.55803871e+00, 1.63350157e+01,-2.27240394e+01,
  2.49681523e+00, 1.50780695e+00, 1.05689871e+01,-2.33646980e+01,
 -1.26394597e-02,-3.92611300e-02, 3.64068247e-03, 9.39085067e-01,
 -2.20005159e-01, 1.98658863e+00]

qfrc_actuator:
[ 6.85206816e-06, 2.76512592e-04, 1.10089782e-04,-4.27688869e-05,
 -2.59141655e-03, 2.19529670e-02, 9.90669041e-03, 1.25446313e-03,
  5.83386073e-05, 6.44329150e-05,-4.65081163e-05,-4.53104030e-05,
  4.97993758e-02, 1.90561742e-02, 1.43270386e-03,-2.33544955e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25302239, -0.24645229,  0.05728523, -0.24645229,  0.30157488,
        0.2088823 ,  0.05728523,  0.2088823 ,  1.15167496,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003981840020364381
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85122629e-01, -1.71749699e-01,  5.95378042e-03, -1.71746562e-01,
        9.85140620e-01,  1.03798379e-03, -6.04358434e-03,  2.16840434e-19,
       -9.99981737e-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([ 0.13064246, -0.08206023,  0.13160512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29442789,   6.81278891,   2.60664258,   6.81278891,
        14.05890056, -17.67980187,   2.60664258, -17.67980187,
        53.5028183 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.697409669600364e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97856462,  0.11352899, -0.17182097,  0.11181839,  0.99353468,
        0.0196336 ,  0.17293907,  0.        , -0.98493252])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328603, -0.05397825,  0.2965806 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004743049036648415
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.33348076e-01, -9.03217704e-01, -2.70327281e-01, -9.35978691e-02,
       -2.53606541e-01,  9.62768488e-01, -9.38146310e-01,  3.46239081e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048793 , -0.03616548,  0.30476652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044485272651091645
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49570916e-13, -1.91077733e-13,  1.00000000e+00, -4.76874448e-26,
        1.00000000e+00,  1.91077733e-13, -1.00000000e+00,  0.00000000e+00,
       -2.49570916e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05300746, -0.0611166 ,  0.06199001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40720781e-05, 1.29061708e-06, 5.25493230e-06,-8.14871585e-06,
 -2.71130172e-03, 2.41532280e-02, 1.08967635e-02, 1.38125608e-03,
  1.34872150e-05,-4.30934306e-05, 5.40790841e-05,-1.47668699e-05,
  5.28169396e-02, 2.06189623e-02, 1.41964606e-02, 5.00060221e-05,
 -4.31827112e-06, 2.97418891e-06,-9.80999882e+00,-6.49504892e-02,
 -9.38438064e-03,-5.35048666e-03]


--- Step 1682 ---
qpos:
[ 0.00986969, 0.00807512,-0.00561686, 0.03351823, 0.00611884,-0.01903825,
 -0.01674009, 0.03780241, 0.01297177, 0.00595771,-0.01169784, 0.03406397,
  0.81304212,-0.01479482, 1.1465373 , 0.04611666, 0.09467383,-0.06376505,
  0.14250555, 0.94296368,-0.0328815 , 0.02869439, 0.33002262]

qacc:
[ 4.55055675e+00,-5.85566450e-01, 7.89916776e-01, 3.16122731e+00,
 -1.46028174e-01, 3.39622179e-01,-1.11258928e+00,-5.66976506e+00,
  1.29308757e+00,-2.39300466e+00, 8.62156701e+00,-1.22690943e+01,
  1.84062640e+00, 1.55871672e+00, 9.21143980e+00, 3.10315725e-01,
 -1.04774439e-02,-1.86035632e-02, 1.87849489e-03, 7.28168203e-01,
 -2.23687535e-01, 1.92959416e+00]

qfrc_actuator:
[ 3.30647107e-05, 2.73248207e-04, 1.29086827e-04,-2.92685568e-05,
 -2.60039995e-03, 2.19994661e-02, 9.90817665e-03, 1.25426566e-03,
  6.53868134e-05, 5.18995437e-05,-1.76185600e-05,-5.40561544e-05,
  4.97991879e-02, 1.90921419e-02, 1.49446281e-03,-2.00337737e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25238474, -0.24617391,  0.05564588, -0.24617391,  0.29343308,
        0.1815953 ,  0.05564588,  0.1815953 ,  1.05575112,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003957320974750997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98517357, -0.17145729,  0.00595327, -0.17145416,  0.98519155,
        0.00103607, -0.00604276,  0.        , -0.99998174])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13064515, -0.08205681,  0.1316052 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29537402,   6.61567877,   3.07494332,   6.61567877,
        17.86741769, -22.74553953,   3.07494332, -22.74553953,
        56.23194528,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.8518348005469866e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97857208,  0.11347594, -0.17181354,  0.11176631,  0.99354074,
        0.01962346,  0.17293054,  0.        , -0.98493402])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328654, -0.05397865,  0.29658092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004736929800609966
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.35688952e-01, -9.02645550e-01, -2.69339820e-01, -9.38838610e-02,
       -2.52447537e-01,  9.63045202e-01, -9.37282640e-01,  3.48570297e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487888, -0.03616597,  0.30476834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004441658876060961
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.90557565e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.90557565e-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([ 0.05300775, -0.06111602,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66120987e-05,-1.82423863e-06, 1.96127169e-05, 1.35784218e-05,
 -2.71668148e-03, 2.42906094e-02, 1.09294046e-02, 1.40084954e-03,
  7.41775398e-06,-2.61168844e-05, 2.61252935e-05,-9.00925809e-06,
  5.24652002e-02, 2.04634009e-02, 1.39392235e-02, 4.01681525e-04,
 -5.92798222e-06, 3.90353501e-06,-9.80999836e+00,-6.49495303e-02,
 -9.38514629e-03,-5.34973665e-03]


--- Step 1683 ---
qpos:
[ 0.00987035, 0.0080751 ,-0.00561487, 0.03351729, 0.00612133,-0.01906785,
 -0.01675397, 0.03779925, 0.01297285, 0.00595807,-0.01169689, 0.03406238,
  0.81305751,-0.014787  , 1.14650975, 0.04611779, 0.09467489,-0.06376372,
  0.14250599, 0.94295237,-0.03286982, 0.02869323, 0.3300562 ]

qacc:
[ 2.74797713e+00, 4.05896001e-02,-2.84300445e+00, 1.18734538e+01,
  1.48142417e+00, 5.96842409e-01,-8.79363551e-01,-4.52067957e+00,
 -2.39152760e+00, 6.38061072e-01,-2.09400547e+00, 1.45098035e+00,
  5.98233878e-01, 1.42346511e+00, 7.20534794e+00, 2.13357719e+00,
 -1.23911244e-02,-5.70997134e-03, 5.45315059e-03, 3.86766299e-01,
 -2.03250200e-02, 1.29829047e+00]

qfrc_actuator:
[ 4.83452428e-05, 2.53523228e-04, 1.39591898e-04,-2.97540332e-06,
 -2.58895211e-03, 2.20398196e-02, 9.91502600e-03, 1.27333964e-03,
  5.12358320e-05, 4.44123894e-05,-3.66318713e-05,-5.85913081e-05,
  4.97983148e-02, 1.90916824e-02, 1.48954161e-03,-1.84117351e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25171781, -0.24604446,  0.05314113, -0.24604446,  0.29378902,
        0.19479051,  0.05314113,  0.19479051,  1.15360161,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003931389244269629
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85227519e-01, -1.71146975e-01,  5.95389017e-03, -1.71143850e-01,
        9.85245509e-01,  1.03425013e-03, -6.04305233e-03,  2.16840434e-19,
       -9.99981741e-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([ 0.13064796, -0.08205317,  0.1316053 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29649509,   6.21463416,   3.82323984,   6.21463416,
        26.25836564, -30.82231128,   3.82323984, -30.82231128,
        57.39782186,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.0271129194929136e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97858068,  0.11341607, -0.17180407,  0.11170756,  0.99354758,
        0.01961189,  0.17291982,  0.        , -0.9849359 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328708, -0.05397931,  0.29658126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047315375091348236
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.33798253, -0.90208181, -0.26835839, -0.0941541 , -0.25129909,
        0.96331914, -0.93643089,  0.35085208,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487846, -0.03616698,  0.30477007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044339193581113606
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.97144426e-08, -9.97143136e-08,  1.00000000e+00,  9.94295720e-15,
        1.00000000e+00,  9.97143136e-08, -1.00000000e+00,  0.00000000e+00,
        9.97144426e-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([ 0.05342827, -0.06170549,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60346314e-05,-1.61277172e-05, 1.29931240e-05, 2.71556931e-05,
 -2.70445870e-03, 2.43887783e-02, 1.09893706e-02, 1.44688161e-03,
 -1.39476367e-05,-1.71007265e-05,-2.15168059e-05,-4.92614132e-06,
  5.21763596e-02, 2.03020312e-02, 1.31755181e-02, 3.45734198e-04,
 -7.67481302e-06, 4.94373283e-06,-9.80999788e+00,-6.49483777e-02,
 -9.38595036e-03,-5.34890241e-03]


--- Step 1684 ---
qpos:
[ 0.00987118, 0.00807506,-0.00561334, 0.03351635, 0.0061196 ,-0.01909098,
 -0.01676223, 0.03779912, 0.0129734 , 0.00595861,-0.01169691, 0.03406145,
  0.81300014,-0.01482067, 1.14643963, 0.04612713, 0.09467678,-0.06375978,
  0.14250592, 0.94295836,-0.03288713, 0.0286835 , 0.33003823]

qacc:
[ 1.54937869e+00, 1.29946011e+00,-4.69162574e+00, 5.53158146e+00,
 -3.59000717e+01,-8.42644037e-01, 2.70009093e+00, 3.60057875e+01,
 -4.63252469e+00, 4.28639832e+00,-1.77141316e+01, 3.05628743e+01,
 -2.52688188e+01,-1.75721934e+01,-8.71744289e+01, 2.14844437e+02,
  2.05142057e-01, 6.53262790e-01,-1.27827567e-01,-1.40551826e+01,
  1.34066528e+00,-2.77138041e+01]

qfrc_actuator:
[ 5.70650776e-05, 2.41828411e-04, 1.09426078e-04,-4.89662910e-06,
 -2.58318263e-03, 2.20404660e-02, 9.94278053e-03, 1.28627316e-03,
  2.47228642e-05, 5.75648439e-05,-8.37402456e-05,-2.51311879e-05,
  4.97970795e-02, 1.90693724e-02, 1.46559023e-03,-2.03064830e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25104851, -0.24616644,  0.04926905, -0.24616644,  0.28589797,
        0.17412082,  0.04926905,  0.17412082,  1.12102071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039050642966439477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98528404, -0.17082128,  0.00595461, -0.17081816,  0.98530203,
        0.00103235, -0.00604344,  0.        , -0.99998174])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13065078, -0.08204936,  0.1316054 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29775305,  7.22376617, -1.03653366,  7.22376617,  8.75299462,
       10.14180742, -1.03653366, 10.14180742, 77.97760462,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.215070162650217e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78590084e-01,  1.13351493e-01, -1.71793152e-01,  1.11644200e-01,
        9.93554950e-01,  1.95993289e-02,  1.72907549e-01,  3.46944695e-18,
       -9.84938059e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328765, -0.05398012,  0.29658162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.31567082,  1.25821824, -0.38454724,  1.25821824,  2.06874248,
        2.46401063, -0.38454724,  2.46401063,  9.37778327,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000472743376087894
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.40101609e-01, -9.01557508e-01, -2.67441500e-01, -9.43957343e-02,
       -2.50228698e-01,  9.63574099e-01, -9.35639001e-01,  3.52958438e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487806, -0.03616823,  0.30477162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.41470035, -6.31721626,  8.28002186, -6.31721626, 40.31100429,
       22.80928971,  8.28002186, 22.80928971, 27.81697516,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044405521547097315
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25009569e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.25009569e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08693512, -0.10870657,  0.06199003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.16759403e-06,-1.68828960e-05,-3.09796514e-05,-1.63734228e-06,
 -2.70744799e-03, 2.43988892e-02, 1.10459419e-02, 1.47849804e-03,
 -2.69125328e-05,-1.08776812e-06,-5.34713385e-05, 3.18884075e-05,
  5.20296175e-02, 2.01833916e-02, 1.25156528e-02,-3.56707045e-05,
 -8.91247496e-06, 5.66037848e-06,-9.80999763e+00,-6.49470551e-02,
 -9.38665933e-03,-5.34804646e-03]


--- Step 1685 ---
qpos:
[ 0.00987211, 0.00807516,-0.00561256, 0.03351539, 0.00611817,-0.01911155,
 -0.01676968, 0.03779904, 0.01297399, 0.00595923,-0.01169752, 0.03406127,
  0.81295377,-0.01484783, 1.14635665, 0.0461265 , 0.09467845,-0.06375655,
  0.14250601, 0.94296133,-0.03289862, 0.02867633, 0.33002921]

qacc:
[ 8.34968545e-01, 2.21520101e+00,-7.56864415e+00, 8.36668204e+00,
  2.52819408e+00, 1.20733415e+00, 4.13414022e-01,-2.79893396e+00,
  1.80746277e-01, 3.31021147e+00,-1.47765481e+01, 2.85090562e+01,
  3.96217281e+00, 2.62504859e+00, 1.10501807e+01,-6.64779583e+01,
 -5.56892559e-02,-1.78787108e-01, 4.00762175e-02, 2.98682871e+00,
  1.43011965e-01, 4.84427452e+00]

qfrc_actuator:
[ 6.18572956e-05, 2.52592288e-04, 7.32481698e-05,-5.67522277e-06,
 -2.61200911e-03, 2.20462267e-02, 9.95936323e-03, 1.29226120e-03,
  2.66583729e-05, 6.51297339e-05,-1.11427067e-04, 1.26699555e-05,
  4.98076590e-02, 1.90765940e-02, 1.49864858e-03,-2.25951432e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25066408, -0.02037962,  0.24983425, -0.02037962,  0.81576556,
        0.04609678,  0.24983425,  0.04609678,  0.25442431,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038898047271654135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85313303e-01, -1.70653020e-01,  5.93653723e-03, -1.70649923e-01,
        9.85331186e-01,  1.02817004e-03, -6.02491559e-03,  2.16840434e-19,
       -9.99981850e-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([ 0.13065297, -0.0820474 ,  0.13160525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29549174,  1.66903248,  7.1020089 ,  1.66903248, 21.5325301 ,
       -3.34582508,  7.1020089 , -3.34582508,  8.08178909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.870616131421567e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78580602e-01,  1.13382310e-01, -1.71826822e-01,  1.11673865e-01,
        9.93551434e-01,  1.96085691e-02,  1.72942050e-01, -3.46944695e-18,
       -9.84932001e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132868 , -0.05397734,  0.29658108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.31915053, -0.7336287 ,  1.09633346, -0.7336287 ,  6.66769109,
        3.57905964,  1.09633346,  3.57905964,  3.71413431,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047473776874153005
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.33617061e-01, -9.03121093e-01, -2.70318236e-01, -9.36700139e-02,
       -2.53570261e-01,  9.62771027e-01, -9.38043488e-01,  3.46517553e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048779 , -0.03616199,  0.30476821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.41369409, -5.94336707,  8.55110592, -5.94336707, 18.29134284,
        5.47528689,  8.55110592,  5.47528689, 14.21924159,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004439748730040104
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.42648346e-07,  9.42648186e-07,  1.00000000e+00,  8.88585753e-13,
        1.00000000e+00, -9.42648186e-07, -1.00000000e+00, -1.00974196e-28,
       -9.42648346e-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([ 0.0534332 , -0.06170177,  0.06199003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.04758614e-06,-5.16028161e-06,-4.35540433e-05,-2.60754456e-06,
 -2.52571307e-03, 2.40821913e-02, 1.07817572e-02, 1.33264422e-03,
  1.17250013e-06,-2.74689072e-06,-3.33967203e-05, 3.65272280e-05,
  5.56786643e-02, 2.22657421e-02, 1.46781612e-02,-6.75063179e-04,
 -5.24882631e-06, 1.63478653e-06,-9.80999752e+00,-6.49487037e-02,
 -9.38718331e-03,-5.34808179e-03]


--- Step 1686 ---
qpos:
[ 0.00987378, 0.00807525,-0.00561194, 0.03351441, 0.00611751,-0.01913033,
 -0.01677665, 0.03779888, 0.01297458, 0.00596006,-0.011698  , 0.03406147,
  0.81291908,-0.01486842, 1.14627736, 0.04612366, 0.09467996,-0.06375386,
  0.1425062 , 0.94296138,-0.03290482, 0.02867091, 0.33002893]

qacc:
[ 6.49030234e+00, 3.67897118e-01,-1.24230875e+00, 1.10036931e+00,
  6.51335042e+00, 8.72293549e-01, 6.29918258e-01,-4.06083896e+00,
  1.61292048e-01, 7.00173690e-01,-3.73926464e+00, 1.00796607e+01,
  4.20478424e+00, 2.56247369e+00, 1.20291975e+01,-3.43945506e+01,
 -3.87595005e-02,-1.35254689e-01, 2.63343233e-02, 2.60901842e+00,
 -1.49427576e-01, 4.70123952e+00]

qfrc_actuator:
[ 9.98070646e-05, 2.58930400e-04, 6.94255047e-05,-5.74938391e-06,
 -2.62891276e-03, 2.20918762e-02, 9.95405037e-03, 1.26035380e-03,
  2.75737535e-05, 1.04875412e-04,-9.19292813e-05, 3.49792495e-05,
  4.98204074e-02, 1.90701307e-02, 1.50086221e-03,-2.15981426e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003876743406729358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85345332e-01, -1.70468586e-01,  5.91927492e-03, -1.70465511e-01,
        9.85363111e-01,  1.02403918e-03, -6.00720166e-03, -2.16840434e-19,
       -9.99981957e-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([ 0.13065491, -0.08204523,  0.1316051 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29416681,  7.24758675,  0.82301624,  7.24758675,  7.64051901,
       -3.05002197,  0.82301624, -3.05002197, 34.15305212,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.6536400520258815e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97857482,  0.11339679, -0.17185018,  0.11168766,  0.99354978,
        0.01961377,  0.17296585,  0.        , -0.98492782])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328634, -0.05397513,  0.29658078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004758572526665425
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.29864866e-01, -9.03993160e-01, -2.72002826e-01, -9.32396410e-02,
       -2.55522810e-01,  9.62296453e-01, -9.39412337e-01,  3.42789236e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487773, -0.03615711,  0.3047665 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004448552091021879
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.50957142e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.50957142e-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([ 0.0530166 , -0.06110935,  0.06199001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.80927229e-05,-5.66766829e-06,-1.03524584e-05,-1.85319043e-06,
 -2.55752342e-03, 2.40003822e-02, 1.07361005e-02, 1.29850726e-03,
  9.48887657e-07, 3.28637618e-05, 1.60815477e-05, 2.17474514e-05,
  5.51411363e-02, 2.19341267e-02, 1.53251365e-02,-7.63714372e-05,
 -1.87642258e-06, 5.74901712e-07,-9.80999889e+00,-6.49504257e-02,
 -9.38676667e-03,-5.34807480e-03]


--- Step 1687 ---
qpos:
[ 0.00987624, 0.00807528,-0.00561107, 0.03351306, 0.00611731,-0.01914877,
 -0.01678378, 0.03779846, 0.01297484, 0.00596126,-0.01169862, 0.03406194,
  0.81289451,-0.01488332, 1.1462085 , 0.04612211, 0.09468136,-0.06375157,
  0.14250648, 0.94295889,-0.03290671, 0.02866682, 0.33003621]

qacc:
[  6.91258494, -1.50558227,  6.76879667,-13.34019085,  3.9610682 ,
   0.3385786 ,  0.5120026 , -4.8877173 , -2.98970864,  1.42808123,
  -5.46037551,  9.91200532,  3.52081685,  2.38490769, 11.41928378,
 -17.72974512, -0.02885339, -0.09824034,  0.02055844,  2.10063071,
  -0.17379404,  4.07585043]

qfrc_actuator:
[ 1.39217398e-04, 2.62700914e-04, 8.47284051e-05,-2.31391700e-05,
 -2.63924839e-03, 2.21079561e-02, 9.97112549e-03, 1.27682770e-03,
  1.01198690e-05, 1.28269120e-04,-9.78695823e-05, 4.80513184e-05,
  4.98286745e-02, 1.90705496e-02, 1.47289115e-03,-2.00876791e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25005511, -0.2425138 ,  0.06094761, -0.2425138 ,  0.3435726 ,
        0.37211115,  0.06094761,  0.37211115,  1.73070531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003865420267017689
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85382458e-01, -1.70254506e-01,  5.90035490e-03, -1.70251454e-01,
        9.85400123e-01,  1.01944579e-03, -5.98777569e-03, -2.16840434e-19,
       -9.99982073e-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([ 0.13065666, -0.0820427 ,  0.13160493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29350129,  7.21117306,  1.09276905,  7.21117306,  7.98990431,
       -4.59555723,  1.09276905, -4.59555723, 37.61954166,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.539609547372711e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78572374e-01,  1.13395265e-01, -1.71865128e-01,  1.11685852e-01,
        9.93549955e-01,  1.96152107e-02,  1.72980862e-01, -3.46944695e-18,
       -9.84925186e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328617, -0.05397351,  0.29658066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000476378110720598
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.32790232, -0.90443483, -0.27290605, -0.0930174 , -0.25656476,
        0.96204069, -0.94012118,  0.34084039,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048776 , -0.03615361,  0.304766  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044528048282492516
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.89579949e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.89579949e-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([ 0.05301944, -0.06110731,  0.06199   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.04933933e-05,-1.61711935e-06, 1.27835575e-05,-1.80282279e-05,
 -2.60608633e-03, 2.39279979e-02, 1.07300766e-02, 1.31906532e-03,
 -1.74148271e-05, 4.60024493e-05, 3.57731269e-06, 1.54589013e-05,
  5.45652898e-02, 2.16064890e-02, 1.51144593e-02, 1.85602595e-04,
 -3.83711156e-07, 2.21534971e-07,-9.80999959e+00,-6.49514309e-02,
 -9.38673660e-03,-5.34791140e-03]


--- Step 1688 ---
qpos:
[ 0.00987846, 0.00807555,-0.00561043, 0.03351152, 0.00611793,-0.0191673 ,
 -0.01679099, 0.03779783, 0.01297524, 0.00596279,-0.01169982, 0.03406225,
  0.81287876,-0.01489316, 1.14615172, 0.04612301, 0.09468267,-0.06374955,
  0.14250682, 0.94295411,-0.03290503, 0.0286637 , 0.33005029]

qacc:
[ -2.0861671 ,  0.52938128, -0.59148774, -2.70773567,  6.95087841,
  -0.3383382 ,  1.92925604, -5.50053289,  1.15408598,  1.73965696,
  -4.93667572,  2.97061515,  2.94052765,  2.3064242 , 10.41878144,
 -10.64434897, -0.02117131, -0.0679872 ,  0.01542714,  1.70697891,
  -0.21077417,  3.64246467]

qfrc_actuator:
[ 1.25903482e-04, 2.82731876e-04, 7.56639193e-05,-3.28192996e-05,
 -2.61014429e-03, 2.21070168e-02, 1.00020593e-02, 1.32253433e-03,
  1.74993349e-05, 1.23844151e-04,-1.36608624e-04, 3.77994911e-05,
  4.98286468e-02, 1.90733450e-02, 1.47400156e-03,-1.86504091e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24978097, -0.24329745,  0.05654097, -0.24329745,  0.33325852,
        0.35920633,  0.05654097,  0.35920633,  1.79545624,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003854357258209497
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98542439, -0.17001232,  0.00588133, -0.17000929,  0.98544194,
        0.00101467, -0.00596822,  0.        , -0.99998219])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13065837, -0.08203983,  0.13160476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29331439,  7.13930591,  1.49088763,  7.13930591,  8.83507919,
       -7.38293768,  1.49088763, -7.38293768, 42.64745471,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.506916331545487e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78572728e-01,  1.13379728e-01, -1.71873362e-01,  1.11670391e-01,
        9.93551729e-01,  1.96134277e-02,  1.72988841e-01, -3.46944695e-18,
       -9.84923784e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328621, -0.05397239,  0.29658068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004765279878569955
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.27111477e-01, -9.04603718e-01, -2.73295069e-01, -9.29360041e-02,
       -2.57007965e-01,  9.61930250e-01, -9.40404690e-01,  3.40057376e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487754, -0.03615125,  0.30476627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044535294496936273
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.49290599e-13,  1.20750134e-13,  1.00000000e+00, -3.01018732e-26,
        1.00000000e+00, -1.20750134e-13, -1.00000000e+00,  0.00000000e+00,
        2.49290599e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05302149, -0.06110572,  0.06199   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21613233e-05, 2.09925645e-05,-8.45954938e-06,-9.65919219e-06,
 -2.60023672e-03, 2.39104111e-02, 1.07685637e-02, 1.37744407e-03,
  6.90299942e-06, 2.26584871e-05,-2.82682108e-05,-7.85739690e-06,
  5.40591888e-02, 2.13248203e-02, 1.45953336e-02, 2.64886945e-04,
 -3.81040613e-07, 4.92203854e-07,-9.80999975e+00,-6.49518753e-02,
 -9.38702330e-03,-5.34761331e-03]


--- Step 1689 ---
qpos:
[ 0.00988085, 0.00807625,-0.0056103 , 0.03350987, 0.00611941,-0.01918656,
 -0.01679825, 0.03779698, 0.01297606, 0.00596444,-0.01170141, 0.03406244,
  0.81287111,-0.01489828, 1.14610097, 0.04612358, 0.09468392,-0.06374773,
  0.1425072 , 0.94294736,-0.03290033, 0.02866124, 0.33007026]

qacc:
[ 1.45341862e+00, 1.78156116e+00,-5.06048300e+00, 3.65651344e+00,
  7.38655442e+00,-1.29974614e+00, 4.11829154e+00,-7.19810345e+00,
  3.77125091e+00, 9.96477684e-01,-2.86125098e+00, 1.46054961e+00,
  2.72506585e+00, 2.14444153e+00, 9.81719853e+00,-2.15285691e+01,
 -1.59637524e-02,-5.16467047e-02, 1.01046133e-02, 1.42046618e+00,
 -2.52318116e-01, 3.16094889e+00]

qfrc_actuator:
[ 1.34921449e-04, 3.12259587e-04, 5.23534283e-05,-3.78886478e-05,
 -2.57566415e-03, 2.21139235e-02, 1.00235599e-02, 1.31483911e-03,
  3.94416418e-05, 1.20383974e-04,-1.59020568e-04, 3.16166467e-05,
  4.98233962e-02, 1.90936782e-02, 1.47605942e-03,-1.95815179e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24950898, -0.2430592 ,  0.05636447, -0.2430592 ,  0.32742235,
        0.33598404,  0.05636447,  0.33598404,  1.6983651 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038433272225931077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98547172, -0.16973844,  0.00586146, -0.16973544,  0.98548915,
        0.00100956, -0.00594776,  0.        , -0.99998231])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13066006, -0.08203658,  0.13160458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29349181,   7.02744871,   1.95191888,   7.02744871,
        10.40886819, -11.21621802,   1.95191888, -11.21621802,
        47.67498385,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.5379582335476764e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97857549,  0.11335155, -0.17187622,  0.11164259,  0.99355494,
        0.01960882,  0.17299116,  0.        , -0.98492338])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328643, -0.0539717 ,  0.29658081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047645069318624235
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.27100333e-01, -9.04594576e-01, -2.73338665e-01, -9.29488595e-02,
       -2.57049674e-01,  9.61917863e-01, -9.40407296e-01,  3.40050171e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487752, -0.03614984,  0.30476705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044514787050344007
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.89696007e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.89696007e-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([ 0.05302293, -0.06110449,  0.06199   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.67835056e-06, 3.90805926e-05,-2.03592377e-05,-4.64897539e-06,
 -2.60646708e-03, 2.39228773e-02, 1.07949352e-02, 1.38082772e-03,
  2.21515703e-05, 2.99642629e-06,-2.14896237e-05,-6.34444787e-06,
  5.36135286e-02, 2.10924300e-02, 1.39943933e-02, 5.00671512e-05,
 -1.33949740e-06, 1.19375328e-06,-9.80999960e+00,-6.49518653e-02,
 -9.38751607e-03,-5.34719079e-03]


--- Step 1690 ---
qpos:
[ 0.00988264, 0.00807706,-0.00561008, 0.03350816, 0.00612098,-0.01920593,
 -0.01680601, 0.0377957 , 0.0129768 , 0.00596579,-0.01170308, 0.0340626 ,
  0.81287093,-0.01489901, 1.14605403, 0.04612289, 0.09468511,-0.06374607,
  0.14250761, 0.94293886,-0.03289304, 0.02865922, 0.33009545]

qacc:
[-5.26686705e+00,-2.13935377e-01, 1.20062080e+00,-2.30500106e+00,
  7.93273017e-01, 3.79972291e-01, 2.33934306e-01,-6.75197651e+00,
 -7.71081046e-01,-2.40076174e-01, 4.60303451e-01,-8.27920667e-01,
  2.49745608e+00, 2.02312723e+00, 9.41907300e+00,-2.48645910e+01,
 -1.21278670e-02,-3.76107771e-02, 5.82809451e-03, 1.18543365e+00,
 -2.85001590e-01, 2.79436045e+00]

qfrc_actuator:
[ 1.03770448e-04, 3.11684549e-04, 5.63788179e-05,-4.02019024e-05,
 -2.57383898e-03, 2.21262085e-02, 1.00216354e-02, 1.32844290e-03,
  3.42663638e-05, 8.20708645e-05,-1.71601762e-04, 2.78949252e-05,
  4.98200832e-02, 1.91050918e-02, 1.50542465e-03,-2.04956143e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24485895, -0.23909231,  0.05282776, -0.23909231,  0.28931732,
        0.20121344,  0.05282776,  0.20121344,  1.15552766,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036459503364154544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85523955e-01, -1.69437564e-01,  5.78316841e-03, -1.69434647e-01,
        9.85540923e-01,  9.94262080e-04, -5.86801448e-03,  0.00000000e+00,
       -9.99982783e-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([ 0.13066179, -0.082033  ,  0.1316037 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29396421,   6.91525019,   2.31974754,   6.91525019,
        12.24053008, -14.74588937,   2.31974754, -14.74588937,
        51.25198661,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.619308665010705e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97858028,  0.11331236, -0.17187478,  0.11160403,  0.99355941,
        0.01960178,  0.17298893,  0.        , -0.98492377])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328677, -0.05397141,  0.29658102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004761852680265696
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.32781757, -0.90441852, -0.27306185, -0.09305073, -0.2567184 ,
        0.96199648, -0.94014744,  0.34076795,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487743, -0.03614921,  0.30476822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004447305161868892
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49639497e-13, -6.63104915e-14,  1.00000000e+00, -1.65537177e-26,
        1.00000000e+00,  6.63104915e-14, -1.00000000e+00,  0.00000000e+00,
       -2.49639497e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05302388, -0.06110353,  0.06199001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.08911240e-05, 1.68467951e-05, 9.42090703e-06,-1.43246054e-06,
 -2.64783511e-03, 2.39723615e-02, 1.07954303e-02, 1.40521618e-03,
 -4.53981160e-06,-4.13795096e-05,-1.48298427e-05,-4.46164617e-06,
  5.32047405e-02, 2.08677118e-02, 1.37233430e-02,-2.51492658e-05,
 -2.87983594e-06, 2.15889117e-06,-9.80999924e+00,-6.49514787e-02,
 -9.38815681e-03,-5.34664664e-03]


--- Step 1691 ---
qpos:
[ 0.00988335, 0.00807772,-0.00560939, 0.0335061 , 0.00612246,-0.01922558,
 -0.01681493, 0.03779381, 0.01297747, 0.00596687,-0.0117046 , 0.03406234,
  0.81287727,-0.01489584, 1.14601558, 0.04612347, 0.09468627,-0.06374449,
  0.14250802, 0.94292877,-0.03288361, 0.02865745, 0.33012535]

qacc:
[-9.43285593e+00,-2.22816677e+00, 9.17519771e+00,-1.59500304e+01,
 -8.27414746e-01, 1.62091078e+00,-3.69966824e+00,-4.91783078e+00,
 -5.85009999e-01,-1.62897905e+00, 7.04195036e+00,-1.42258825e+01,
  2.05252097e+00, 1.96542223e+00, 8.65480420e+00,-1.21524355e+01,
 -9.73307390e-03,-2.22073703e-02, 3.06166719e-03, 9.56706412e-01,
 -2.88586371e-01, 2.51541227e+00]

qfrc_actuator:
[ 4.92193940e-05, 2.93196358e-04, 7.63999993e-05,-5.86313986e-05,
 -2.59118301e-03, 2.21591492e-02, 1.00061358e-02, 1.33737306e-03,
  3.09193456e-05, 7.64758554e-05,-1.60676737e-04, 7.87175948e-06,
  4.98230240e-02, 1.91095917e-02, 1.54583026e-03,-1.92584521e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24474701, -0.23959375,  0.04995933, -0.23959375,  0.27742969,
        0.15673879,  0.04995933,  0.15673879,  0.99643103,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003640980242607024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85581058e-01, -1.69105493e-01,  5.77149749e-03, -1.69102593e-01,
        9.85597957e-01,  9.90253602e-04, -5.85583346e-03,  2.16840434e-19,
       -9.99982854e-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([ 0.13066353, -0.08202905,  0.13160362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29468382,   6.77021457,   2.71599093,   6.77021457,
        14.87131028, -18.88643523,   2.71599093, -18.88643523,
        54.37334574,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.7398140990694024e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97858681,  0.1132634 , -0.1718699 ,  0.11155593,  0.993565  ,
        0.01959265,  0.17298305,  0.        , -0.9849248 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132872 , -0.05397148,  0.29658129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004757828591683281
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.29134582e-01, -9.04103510e-01, -2.72520219e-01, -9.32243654e-02,
       -2.56079065e-01,  9.62150056e-01, -9.39669966e-01,  3.42082381e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487724, -0.03614923,  0.30476968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004441534851876011
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49963821e-13, -6.63966401e-14,  1.00000000e+00, -1.65967579e-26,
        1.00000000e+00,  6.63966401e-14, -1.00000000e+00,  0.00000000e+00,
       -2.49963821e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05302444, -0.06110279,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.54280647e-05,-7.22725968e-06, 2.46030542e-05,-1.74070693e-05,
 -2.66990577e-03, 2.40117546e-02, 1.08055185e-02, 1.43562333e-03,
 -3.48712459e-06,-3.20179130e-05, 4.01093744e-07,-2.23956380e-05,
  5.28340050e-02, 2.06523729e-02, 1.35736743e-02, 1.62033682e-04,
 -4.77309833e-06, 3.30280330e-06,-9.80999875e+00,-6.49507807e-02,
 -9.38890653e-03,-5.34598360e-03]


--- Step 1692 ---
qpos:
[ 0.00988409, 0.00807838,-0.00560851, 0.03350419, 0.00612364,-0.01924629,
 -0.01682424, 0.03779155, 0.01297809, 0.00596777,-0.01170549, 0.03406215,
  0.81288761,-0.01489004, 1.14598107, 0.04612347, 0.09468738,-0.06374298,
  0.14250846, 0.94291769,-0.03287294, 0.02865604, 0.33015819]

qacc:
[ 2.70158302e-01,-2.21361415e-01, 1.94538636e-01, 1.95695858e+00,
 -2.61985340e+00,-1.07783911e+00, 3.32676578e+00,-8.14488094e+00,
 -3.76534983e-01,-1.89224624e+00, 6.11283047e+00,-5.88087711e+00,
  1.06376568e+00, 1.63225821e+00, 7.56895309e+00,-1.80341569e+01,
 -1.23226907e-02,-1.71811581e-02, 5.71089919e-03, 5.90276380e-01,
 -6.92125564e-02, 1.57598227e+00]

qfrc_actuator:
[ 5.23555590e-05, 2.99682215e-04, 8.78506567e-05,-5.09025781e-05,
 -2.61987860e-03, 2.22046907e-02, 1.00366099e-02, 1.32610630e-03,
  2.86840731e-05, 9.05966055e-05,-1.18101769e-04, 1.39599612e-05,
  4.98242087e-02, 1.91086907e-02, 1.55502267e-03,-2.01238297e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24464656, -0.23949794,  0.04992671, -0.23949794,  0.27781504,
        0.15910888,  0.04992671,  0.15910888,  1.00789035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036365110909322663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85643033e-01, -1.68744303e-01,  5.75956421e-03, -1.68741422e-01,
        9.85659860e-01,  9.86033507e-04, -5.84335880e-03,  1.08420217e-19,
       -9.99982927e-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([ 0.13066532, -0.08202475,  0.13160354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29560903,   6.52536183,   3.26275407,   6.52536183,
        19.70568777, -24.81960102,   3.26275407, -24.81960102,
        56.93369816,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.8892368126089744e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97859483,  0.11320555, -0.17186233,  0.11149913,  0.99357159,
        0.01958165,  0.17297428,  0.        , -0.98492634])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328769, -0.05397185,  0.2965816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004753409435335083
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.33071842, -0.90372604, -0.27185394, -0.09342565, -0.25529632,
        0.96233852, -0.9390937 ,  0.3436612 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.104877  , -0.03614982,  0.30477127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004434466684671312
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00826744e-06,  1.00826703e-06,  1.00000000e+00,  1.01660281e-12,
        1.00000000e+00, -1.00826703e-06, -1.00000000e+00,  0.00000000e+00,
       -1.00826744e-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([ 0.05344517, -0.06169185,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55179852e-06, 6.73148725e-06, 1.23759895e-05, 7.93531850e-06,
 -2.69393910e-03, 2.40718802e-02, 1.08945336e-02, 1.45526780e-03,
 -2.34281772e-06,-4.68069335e-06, 3.52423625e-05, 4.29594834e-06,
  5.25097000e-02, 2.04568725e-02, 1.31596089e-02, 1.21394702e-05,
 -6.87012449e-06, 4.57060464e-06,-9.80999820e+00,-6.49498271e-02,
 -9.38973066e-03,-5.34521148e-03]


--- Step 1693 ---
qpos:
[ 0.00988521, 0.008079  ,-0.00560774, 0.03350241, 0.00612482,-0.0192675 ,
 -0.01683349, 0.03778906, 0.01297834, 0.00596832,-0.01170578, 0.0340624 ,
  0.81290187,-0.01488167, 1.14594602, 0.04612074, 0.09468845,-0.06374154,
  0.14250891, 0.94290578,-0.03286117, 0.02865484, 0.33019348]

qacc:
[ 3.29888255e+00, 5.44251213e-01,-2.58754199e+00, 5.12343209e+00,
  1.15923709e-01,-1.27977342e+00, 4.62637457e+00,-8.47997137e+00,
 -3.28657632e+00,-1.16965673e+00, 1.67183902e+00, 5.26485259e+00,
  1.11610321e+00, 1.48682274e+00, 7.43231943e+00,-2.71861786e+01,
 -1.09851492e-02,-1.62430496e-02, 2.10061054e-03, 5.01557131e-01,
 -1.10707795e-01, 1.30642264e+00]

qfrc_actuator:
[ 7.16751489e-05, 2.85555803e-04, 7.65066222e-05,-4.55840308e-05,
 -2.61962822e-03, 2.22231844e-02, 1.00765953e-02, 1.35596718e-03,
  9.36814285e-06, 6.33206158e-05,-9.25836119e-05, 3.54038933e-05,
  4.98243310e-02, 1.91219998e-02, 1.55091617e-03,-2.20597940e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24453814, -0.23994381,  0.04717914, -0.23994381,  0.27901391,
        0.17533695,  0.04717914,  0.17533695,  1.13626738,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003631677210111644
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85707111e-01, -1.68369930e-01,  5.74969984e-03, -1.68367065e-01,
        9.85723880e-01,  9.82097094e-04, -5.83297206e-03,  0.00000000e+00,
       -9.99982988e-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([ 0.1306672 , -0.0820203 ,  0.13160348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.0589736334989e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78603845e-01,  1.13142109e-01, -1.71852779e-01,  1.11436860e-01,
        9.93578816e-01,  1.95694449e-02,  1.72963409e-01,  3.46944695e-18,
       -9.84928251e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328823, -0.05397242,  0.29658194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004749079255008617
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.32545070e-01, -9.03289134e-01, -2.71076590e-01, -9.36517113e-02,
       -2.54385287e-01,  9.62557781e-01, -9.38425881e-01,  3.45480631e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487667, -0.03615071,  0.30477286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044266506081993667
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.74319481e-07, -4.74319810e-07,  1.00000000e+00,  2.24979126e-13,
        1.00000000e+00,  4.74319810e-07, -1.00000000e+00, -2.52435490e-29,
        4.74319481e-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([ 0.05344525, -0.06169143,  0.06199006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93626987e-05,-7.49738728e-06,-8.16925413e-06, 6.19027190e-06,
 -2.67830950e-03, 2.41443457e-02, 1.09537854e-02, 1.50310172e-03,
 -1.93838676e-05,-2.24501199e-05, 2.90417986e-05, 2.25469258e-05,
  5.23095865e-02, 2.03382422e-02, 1.29590963e-02,-1.52367212e-04,
 -8.35820768e-06, 5.42616192e-06,-9.80999787e+00,-6.49486456e-02,
 -9.39047601e-03,-5.34439598e-03]


--- Step 1694 ---
qpos:
[ 0.0098862 , 0.00807922,-0.00560694, 0.03350074, 0.00612168,-0.01928157,
 -0.01683723, 0.03778951, 0.0129787 , 0.0059687 ,-0.01170604, 0.03406258,
  0.81284297,-0.01491493, 1.14587144, 0.04612685, 0.09469037,-0.06373753,
  0.14250885, 0.9429111 ,-0.03287804, 0.02864547, 0.33017743]

qacc:
[-1.06074593e+00,-4.03568952e-01, 1.84563561e-01, 2.03175751e+00,
 -3.68738951e+01, 1.09580362e-01, 1.02049031e+00, 3.55575745e+01,
  9.85062567e-01,-5.04430410e-01, 1.76111352e+00,-2.95094919e+00,
 -2.55631353e+01,-1.74030491e+01,-8.45337439e+01, 2.12166193e+02,
  2.12716496e-01, 6.41252759e-01,-1.25965599e-01,-1.38342480e+01,
  1.47524324e+00,-2.75868849e+01]

qfrc_actuator:
[ 6.48413313e-05, 2.41348026e-04, 6.94652008e-05,-4.17603665e-05,
 -2.60220727e-03, 2.22253058e-02, 1.00865069e-02, 1.37502390e-03,
  1.56582647e-05, 4.69346169e-05,-9.52579605e-05, 3.01530305e-05,
  4.98130273e-02, 1.91073496e-02, 1.55506905e-03,-2.15963843e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2444401 , -0.24070077,  0.04259227, -0.24070077,  0.27181857,
        0.15472336,  0.04259227,  0.15472336,  1.11882497,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000362729710881641
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85773146e-01, -1.67983189e-01,  5.74044904e-03, -1.67980341e-01,
        9.85789860e-01,  9.78199287e-04, -5.82319750e-03,  2.16840434e-19,
       -9.99983045e-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([ 0.13066909, -0.0820157 ,  0.13160343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2979491 ,  7.19508037, -1.22101579,  7.19508037,  8.89763233,
        9.42645419, -1.22101579,  9.42645419, 62.84522057,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.243607704391234e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97861366,  0.11307405, -0.17184171,  0.11137007,  0.99358656,
        0.01955626,  0.17295092,  0.        , -0.98493044])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328879, -0.05397317,  0.29658229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.31865333,  1.25754595, -0.39676793,  1.25754595,  2.12356735,
        2.55115473, -0.39676793,  2.55115473,  9.40447399,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047445390762991085
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.34677193e-01, -9.02775386e-01, -2.70162506e-01, -9.39092698e-02,
       -2.53315670e-01,  9.62814738e-01, -9.37641843e-01,  3.47602898e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048762 , -0.03615185,  0.30477449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.40975289, -6.30762564,  8.28111189, -6.30762564, 39.2656085 ,
       21.97916622,  8.28111189, 21.97916622, 27.1510256 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044365991992942333
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50241903e-13, -1.25120951e-13,  1.00000000e+00, -3.13105049e-26,
        1.00000000e+00,  1.25120951e-13, -1.00000000e+00,  0.00000000e+00,
       -2.50241903e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0869662 , -0.10868313,  0.06199003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.28711894e-06,-4.98468815e-05,-9.39626120e-06, 3.34007634e-06,
 -2.66151156e-03, 2.41720346e-02, 1.09616363e-02, 1.53419827e-03,
  5.73070404e-06,-2.19983089e-05,-2.95702299e-06,-4.76958028e-06,
  5.21021922e-02, 2.01953297e-02, 1.29908811e-02, 3.03922558e-05,
 -9.72073180e-06, 6.21437833e-06,-9.80999753e+00,-6.49473269e-02,
 -9.39122118e-03,-5.34353314e-03]


--- Step 1695 ---
qpos:
[ 0.00988676, 0.00807884,-0.00560613, 0.03349951, 0.00611929,-0.01929264,
 -0.01684049, 0.03778986, 0.01297982, 0.00596888,-0.01170687, 0.03406308,
  0.81279513,-0.01494147, 1.14579413, 0.04612819, 0.09469207,-0.06373417,
  0.14250895, 0.94291307,-0.032889  , 0.02863847, 0.33017132]

qacc:
[-3.79958612e+00, 6.65979089e-02,-3.20031386e+00, 1.10856522e+01,
  6.34151513e+00, 2.45312031e+00,-2.64328312e+00,-1.79556257e+00,
  6.69162253e+00, 2.01922955e+00,-8.98301103e+00, 1.57456973e+01,
  3.72476448e+00, 3.08896217e+00, 1.03095595e+01,-4.21128214e+01,
 -5.47863779e-02,-1.61866772e-01, 3.85255663e-02, 2.98617787e+00,
  2.62695164e-02, 5.36188711e+00]

qfrc_actuator:
[ 4.26630488e-05, 1.97224833e-04, 6.48965776e-05,-2.11156244e-05,
 -2.60565577e-03, 2.22279283e-02, 1.00728833e-02, 1.36676759e-03,
  5.47272708e-05, 1.93054010e-05,-1.32290919e-04, 4.47279591e-05,
  4.98016647e-02, 1.91190846e-02, 1.57303139e-03,-2.03306138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24446796, -0.01778369,  0.24382027, -0.01778369,  0.79021131,
        0.03980526,  0.24382027,  0.03980526,  0.24737127,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003628542659536937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85812426e-01, -1.67753743e-01,  5.70453736e-03, -1.67750934e-01,
        9.85828931e-01,  9.70713542e-04, -5.78653880e-03,  1.08420217e-19,
       -9.99983258e-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([ 0.13067032, -0.08201295,  0.13160304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29576788,  1.37215994,  7.16557088,  1.37215994, 21.66794418,
       -2.75217773,  7.16557088, -2.75217773,  7.82279191,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.914314519752186e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97860483,  0.11310104, -0.1718742 ,  0.111396  ,  0.99358349,
        0.01956469,  0.17298415,  0.        , -0.98492461])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328801, -0.05397033,  0.29658179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.32206543, -0.73497286,  1.09894126, -0.73497286,  6.24365121,
        3.2915608 ,  1.09894126,  3.2915608 ,  3.52346413,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004763946029573525
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.28494758e-01, -9.04222486e-01, -2.72897215e-01, -9.31822032e-02,
       -2.56495550e-01,  9.62043195e-01, -9.39898011e-01,  3.41455310e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487605, -0.03614553,  0.30477121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.40370352, -5.9394703 ,  8.54164735, -5.9394703 , 18.29256183,
        5.4855507 ,  8.54164735,  5.4855507 , 14.21810421,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004431756335493092
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.70729106e-07,  4.70729145e-07,  1.00000000e+00,  2.21585910e-13,
        1.00000000e+00, -4.70729145e-07, -1.00000000e+00,  0.00000000e+00,
       -4.70729106e-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([ 0.05345005, -0.06168777,  0.06199005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23757560e-05,-7.38147066e-05,-1.59159375e-05, 1.82501364e-05,
 -2.44866031e-03, 2.38186128e-02, 1.06722175e-02, 1.37926558e-03,
  3.92255139e-05,-4.07539394e-05,-4.21078706e-05, 1.34362514e-05,
  5.57492046e-02, 2.22890008e-02, 1.49862369e-02,-2.84451527e-04,
 -4.57459278e-06, 1.46549519e-06,-9.80999765e+00,-6.49488866e-02,
 -9.39149591e-03,-5.34358237e-03]


--- Step 1696 ---
qpos:
[ 0.00988706, 0.00807815,-0.00560576, 0.03349852, 0.00611794,-0.01930226,
 -0.01684337, 0.03779009, 0.01298105, 0.00596834,-0.01170734, 0.03406342,
  0.81275938,-0.01496103, 1.14571786, 0.04612624, 0.09469361,-0.06373133,
  0.14250914, 0.94291195,-0.03289453, 0.02863308, 0.33017442]

qacc:
[-2.38134846e+00, 1.36290127e+00,-6.51309294e+00, 1.18114406e+01,
  8.89868483e+00, 5.87610434e-01, 1.19495478e+00,-5.04072337e+00,
  1.03458855e+00,-2.33403043e+00, 7.65469253e+00,-1.06716810e+01,
  4.27648530e+00, 2.88226483e+00, 1.13624054e+01,-3.77189923e+01,
 -3.82077810e-02,-1.30054600e-01, 2.42561908e-02, 2.63669092e+00,
 -2.49547118e-01, 4.94877696e+00]

qfrc_actuator:
[ 2.93918769e-05, 1.89016059e-04, 4.40691130e-05,-8.49419171e-06,
 -2.62496868e-03, 2.22143737e-02, 1.00657282e-02, 1.36172282e-03,
  5.95101415e-05,-3.27318627e-05,-1.18323786e-04, 3.53219268e-05,
  4.98066246e-02, 1.91504662e-02, 1.60804311e-03,-2.15006440e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036334226057278064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85857097e-01, -1.67492253e-01,  5.66828116e-03, -1.67489484e-01,
        9.85873392e-01,  9.62997062e-04, -5.74950212e-03,  1.08420217e-19,
       -9.99983471e-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([ 0.13067126, -0.08200981,  0.13160264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29448756,  7.24147665,  0.87781812,  7.24147665,  7.69284781,
       -3.28623477,  0.87781812, -3.28623477, 34.40396696,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7073395757205445e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78599906e-01,  1.13109721e-01, -1.71896527e-01,  1.11404098e-01,
        9.93582503e-01,  1.95687506e-02,  1.73006797e-01, -3.46944695e-18,
       -9.84920630e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132876 , -0.05396807,  0.29658152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047753355465781115
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.32458364, -0.90510709, -0.27463908, -0.09270823, -0.25851849,
        0.96154738, -0.94130263,  0.33756385,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.104876  , -0.03614068,  0.30476955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044400220351328845
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.75073485e-13, -9.76753866e-14,  1.00000000e+00, -3.66354476e-26,
        1.00000000e+00,  9.76753866e-14, -1.00000000e+00,  0.00000000e+00,
       -3.75073485e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05303332, -0.06109569,  0.06199003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39339372e-05,-5.19947010e-05,-3.74058054e-05, 9.26548141e-06,
 -2.50532987e-03, 2.36552847e-02, 1.06414817e-02, 1.37855897e-03,
  5.88458067e-06,-8.29297426e-05, 8.33523054e-07,-1.23489402e-05,
  5.52015570e-02, 2.19849762e-02, 1.51597291e-02,-1.62438765e-04,
 -1.38609616e-06, 5.04015187e-07,-9.80999898e+00,-6.49505250e-02,
 -9.39108645e-03,-5.34356209e-03]


--- Step 1697 ---
qpos:
[ 0.00988753, 0.0080775 ,-0.00560587, 0.033498  , 0.00611786,-0.01931435,
 -0.01684767, 0.03778986, 0.01298199, 0.00596712,-0.01170677, 0.03406324,
  0.81273441,-0.01497453, 1.14564535, 0.04612228, 0.09469504,-0.06372893,
  0.14250941, 0.94290846,-0.03289573, 0.02862893, 0.33018463]

qacc:
[ 1.59161119e+00, 2.32907928e+00,-1.01588268e+01, 1.88370161e+01,
  1.07982692e+01,-3.02843547e-01,-1.77267117e+00,-2.04769102e+00,
 -2.56860165e+00,-4.85729349e+00, 1.81805974e+01,-2.82174635e+01,
  3.87396969e+00, 2.36714436e+00, 1.15526271e+01,-3.25688981e+01,
 -3.04583525e-02,-1.08085506e-01, 1.84705339e-02, 2.10871873e+00,
 -2.09941759e-01, 3.83471504e+00]

qfrc_actuator:
[ 3.92274531e-05, 2.20059973e-04, 3.16944812e-05, 1.70730436e-05,
 -2.63664339e-03, 2.22092181e-02, 1.00801165e-02, 1.35868109e-03,
  4.40638990e-05,-4.55503268e-05,-5.67173339e-05, 1.18955419e-05,
  4.98155600e-02, 1.91551688e-02, 1.66901967e-03,-2.21752154e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25874729, -0.25264068,  0.05588243, -0.25264068,  0.36676541,
        0.48834258,  0.05588243,  0.48834258,  2.46651088,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004190861245784905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85865913e-01, -1.67441492e-01,  5.63448403e-03, -1.67438758e-01,
        9.85882015e-01,  9.56956714e-04, -5.71517072e-03,  1.08420217e-19,
       -9.99983668e-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([ 0.13067255, -0.08200916,  0.13160227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29385344,  7.21044267,  1.09991568,  7.21044267,  7.99294576,
       -4.58286501,  1.09991568, -4.58286501, 37.33659759,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.6003998613756805e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97859839,  0.11310148, -0.17191057,  0.1113957 ,  0.99358344,
        0.0195689 ,  0.17302077,  0.        , -0.98491818])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328746, -0.0539664 ,  0.29658142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004780382398241626
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.32246715, -0.90557088, -0.27560174, -0.09245304, -0.25963196,
        0.96127191, -0.94205487,  0.33545883,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487596, -0.03613722,  0.30476915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004443931474098356
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24914508e-13, -3.90357837e-15,  1.00000000e+00, -4.87613570e-28,
        1.00000000e+00,  3.90357837e-15, -1.00000000e+00,  0.00000000e+00,
       -1.24914508e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0530361 , -0.06109369,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.42357628e-06,-5.34439382e-06,-2.73951556e-05, 2.22287388e-05,
 -2.56920892e-03, 2.35780119e-02, 1.06372551e-02, 1.38193510e-03,
 -1.53095672e-05,-5.95197619e-05, 4.41639905e-05,-2.71901962e-05,
  5.46055449e-02, 2.16403683e-02, 1.51698664e-02,-6.55878569e-05,
 -3.20336008e-07, 3.74394028e-07,-9.80999960e+00,-6.49514515e-02,
 -9.39113123e-03,-5.34336190e-03]


--- Step 1698 ---
qpos:
[ 0.00988777, 0.00807695,-0.00560589, 0.03349705, 0.0061186 ,-0.01932975,
 -0.01685369, 0.03778907, 0.01298308, 0.00596537,-0.01170584, 0.03406384,
  0.81271872,-0.01498285, 1.14558368, 0.04612   , 0.09469637,-0.06372683,
  0.14250974, 0.94290292,-0.03289343, 0.02862571, 0.33020096]

qacc:
[-2.02561509e+00,-1.00852249e+00, 5.56834047e+00,-1.31512171e+01,
  7.08293596e+00,-7.02389035e-01,-1.49163112e+00,-2.96515831e+00,
  1.36207760e+00,-9.65477911e-02,-3.94765245e+00, 1.72687824e+01,
  3.22476179e+00, 2.16961216e+00, 1.08584118e+01,-1.48545435e+01,
 -2.35882666e-02,-7.86358517e-02, 1.40064357e-02, 1.68194853e+00,
 -2.08145219e-01, 3.28620310e+00]

qfrc_actuator:
[ 2.70764398e-05, 2.38916278e-04, 4.23493412e-05,-3.15832031e-06,
 -2.62662154e-03, 2.22302025e-02, 1.00913123e-02, 1.35722295e-03,
  5.23514611e-05,-7.00934151e-05,-3.83575336e-05, 5.14772531e-05,
  4.98265636e-02, 1.91597629e-02, 1.67605887e-03,-2.04216824e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25851822, -0.25271899,  0.0544498 , -0.25271899,  0.32271157,
        0.29794194,  0.0544498 ,  0.29794194,  1.64136234,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041828576387218275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85863519e-01, -1.67456435e-01,  5.60925519e-03, -1.67453724e-01,
        9.85879477e-01,  9.52759335e-04, -5.68959525e-03,  1.08420217e-19,
       -9.99983814e-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([ 0.13067425, -0.0820093 ,  0.131602  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2936963 ,  7.15595962,  1.41076138,  7.15595962,  8.6239681 ,
       -6.74768347,  1.41076138, -6.74768347, 41.5207109 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.573402029003407e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97859954,  0.11308018, -0.17191805,  0.11137458,  0.99358587,
        0.01956602,  0.17302787,  0.        , -0.98491693])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328753, -0.05396527,  0.29658146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004781013974313918
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.32174182, -0.90571914, -0.27596202, -0.0923756 , -0.26004189,
        0.96116854, -0.94231043,  0.33474028,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487589, -0.0361349 ,  0.30476962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044444658519901536
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49798977e-13, -9.75777255e-14,  1.00000000e+00, -2.43748160e-26,
        1.00000000e+00,  9.75777255e-14, -1.00000000e+00,  0.00000000e+00,
       -2.49798977e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05303811, -0.06109213,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18819617e-05, 1.11889209e-05, 6.95495644e-06,-2.09732439e-05,
 -2.62245829e-03, 2.37233843e-02, 1.07190797e-02, 1.40343619e-03,
  7.82763803e-06,-4.98336726e-05, 1.05739693e-05, 3.80326086e-05,
  5.40773930e-02, 2.13426793e-02, 1.49908004e-02, 2.11048073e-04,
 -6.82297325e-07, 8.01764550e-07,-9.80999969e+00,-6.49518167e-02,
 -9.39151609e-03,-5.34301652e-03]


--- Step 1699 ---
qpos:
[ 0.00988753, 0.00807652,-0.00560582, 0.03349586, 0.00612016,-0.01934839,
 -0.01686139, 0.03778772, 0.01298427, 0.00596319,-0.01170495, 0.03406493,
  0.81271109,-0.0149866 , 1.14553343, 0.04612003, 0.09469762,-0.06372496,
  0.1425101 , 0.94289558,-0.03288826, 0.02862316, 0.33022265]

qacc:
[-4.32040418e+00,-5.51584206e-01, 3.25768995e+00,-7.68431600e+00,
  6.91935474e+00,-7.45483822e-01,-1.21216664e+00,-3.39009755e+00,
  8.03437308e-01, 5.53459492e-01,-4.89809799e+00, 1.37792271e+01,
  2.72223796e+00, 2.03271569e+00, 9.85416173e+00,-1.01022907e+01,
 -1.83648999e-02,-5.59684365e-02, 9.88121405e-03, 1.35533089e+00,
 -2.21341034e-01, 2.87268477e+00]

qfrc_actuator:
[ 2.07431291e-06, 2.50400221e-04, 4.86947896e-05,-1.46621868e-05,
 -2.60365217e-03, 2.22154280e-02, 1.00837213e-02, 1.35699876e-03,
  5.67959474e-05,-1.01565871e-04,-4.56872116e-05, 7.45170095e-05,
  4.98332295e-02, 1.91627350e-02, 1.64996167e-03,-1.91930632e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25816717, -0.25268445,  0.05292312, -0.25268445,  0.31201179,
        0.25708423,  0.05292312,  0.25708423,  1.48563044,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000417053698881949
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85859065e-01, -1.67483213e-01,  5.59254508e-03, -1.67480518e-01,
        9.85874928e-01,  9.50077327e-04, -5.67267198e-03, -1.08420217e-19,
       -9.99983910e-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([ 0.13067633, -0.0820096 ,  0.13160184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29390144,   7.05463305,   1.85287634,   7.05463305,
        10.00541648, -10.32381016,   1.85287634, -10.32381016,
        46.60072979,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.60860660791587e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78602902e-01,  1.13047587e-01, -1.71920340e-01,  1.11342450e-01,
        9.93589575e-01,  1.95605713e-02,  1.73029533e-01, -3.46944695e-18,
       -9.84916636e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328776, -0.05396459,  0.2965816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004779206002066578
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.21861936e-01, -9.05679812e-01, -2.75951034e-01, -9.24061065e-02,
       -2.60019393e-01,  9.61171695e-01, -9.42266420e-01,  3.34864143e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487584, -0.03613356,  0.3047706 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004442356236882272
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49917604e-13, -9.76240639e-14,  1.00000000e+00, -2.43979721e-26,
        1.00000000e+00,  9.76240639e-14, -1.00000000e+00,  0.00000000e+00,
       -2.49917604e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05303951, -0.06109091,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.53341858e-05, 1.82963569e-05, 8.79669385e-06,-1.11881150e-05,
 -2.64097266e-03, 2.38743378e-02, 1.07980795e-02, 1.43120514e-03,
  4.64314048e-06,-5.54686640e-05,-1.49961609e-05, 2.20106070e-05,
  5.36200845e-02, 2.10864177e-02, 1.44234020e-02, 2.49823425e-04,
 -1.81767881e-06, 1.56260718e-06,-9.80999949e+00,-6.49517350e-02,
 -9.39208370e-03,-5.34254631e-03]


--- Step 1700 ---
qpos:
[ 0.00988732, 0.00807605,-0.00560563, 0.03349526, 0.00612207,-0.01937018,
 -0.01687097, 0.03778574, 0.01298515, 0.00596133,-0.01170476, 0.03406589,
  0.81271081,-0.01498617, 1.14548843, 0.04611952, 0.09469882,-0.06372328,
  0.14251049, 0.94288678,-0.03288072, 0.02862108, 0.3302487 ]

qacc:
[ 4.20001693e-01, 7.96743933e-01,-5.40791553e+00, 1.53607013e+01,
  2.98390550e+00,-2.32159626e-01,-2.54156880e+00,-3.14733012e+00,
 -2.67930192e+00, 2.10056740e+00,-6.28930328e+00, 4.84367214e+00,
  2.53408397e+00, 1.78474786e+00, 9.31660440e+00,-2.14415293e+01,
 -1.52098104e-02,-4.62647633e-02, 5.89953305e-03, 1.10754255e+00,
 -2.25616161e-01, 2.34343015e+00]

qfrc_actuator:
[ 5.22058420e-06, 2.39626172e-04, 5.24223394e-05, 1.45614773e-05,
 -2.60873225e-03, 2.22159629e-02, 1.00832582e-02, 1.37549286e-03,
  4.11828344e-05,-4.82962334e-05,-6.81625243e-05, 6.98581443e-05,
  4.98317423e-02, 1.91987815e-02, 1.65147363e-03,-2.02450488e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25770124, -0.25286767,  0.04967764, -0.25286767,  0.29512426,
        0.19048953,  0.04967764,  0.19048953,  1.22732544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004154080334422106
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85852817e-01, -1.67520299e-01,  5.58329531e-03, -1.67517613e-01,
        9.85868627e-01,  9.48722048e-04, -5.66332589e-03, -1.08420217e-19,
       -9.99983963e-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([ 0.13067877, -0.08201005,  0.13160179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29439397,   6.91568121,   2.31981395,   6.91568121,
        12.21712639, -14.67533556,   2.31981395, -14.67533556,
        51.04356725,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.691751759484751e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97860813,  0.11300505, -0.17191852,  0.1113006 ,  0.99359441,
        0.01955291,  0.17302686,  0.        , -0.98491711])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328811, -0.0539643 ,  0.29658181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047760159592048285
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.32253984, -0.9055177 , -0.2756914 , -0.09250644, -0.25970812,
        0.9612462 , -0.94202474,  0.33554343,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487577, -0.03613301,  0.30477188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044382076327664777
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50151213e-13, -6.64464161e-14,  1.00000000e+00, -1.66216516e-26,
        1.00000000e+00,  6.64464161e-14, -1.00000000e+00,  0.00000000e+00,
       -2.50151213e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05304044, -0.06108997,  0.06199003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43248331e-06, 8.04155634e-07, 8.21133545e-06, 3.00988483e-05,
 -2.68657853e-03, 2.40376668e-02, 1.08821000e-02, 1.47779174e-03,
 -1.55066116e-05, 2.01687574e-05,-3.50046554e-05,-7.12585006e-06,
  5.32154272e-02, 2.08940081e-02, 1.38553043e-02, 2.98892416e-05,
 -3.40147598e-06, 2.53032133e-06,-9.80999912e+00,-6.49512926e-02,
 -9.39276645e-03,-5.34196360e-03]


--- Step 1701 ---
qpos:
[ 0.00988716, 0.00807543,-0.00560506, 0.03349534, 0.0061243 ,-0.01939487,
 -0.01688212, 0.03778319, 0.01298549, 0.00596   ,-0.01170502, 0.03406674,
  0.81271695,-0.0149821 , 1.14545075, 0.04611971, 0.09469996,-0.06372173,
  0.14251089, 0.94287675,-0.03287127, 0.02861929, 0.33027846]

qacc:
[ 3.57882283e-01, 1.91856425e-01,-3.89956865e+00, 1.54353360e+01,
  2.75404929e+00,-6.17838016e-01,-9.97879449e-01,-4.04671006e+00,
 -4.76633821e+00, 1.77634960e+00,-4.83713234e+00, 3.29999392e+00,
  2.16770924e+00, 1.62441984e+00, 8.66727398e+00,-1.47078631e+01,
 -1.30317431e-02,-3.39234747e-02, 3.16925270e-03, 8.81189663e-01,
 -2.17989274e-01, 1.98028222e+00]

qfrc_actuator:
[ 7.16054610e-06, 2.33383439e-04, 7.22637699e-05, 4.97404185e-05,
 -2.61275335e-03, 2.22623989e-02, 1.01056946e-02, 1.38776598e-03,
  1.38910236e-05, 1.96455922e-06,-8.13097543e-05, 6.67592974e-05,
  4.98304637e-02, 1.92177372e-02, 1.66969460e-03,-1.96283266e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25712752, -0.25270375,  0.0474908 , -0.25270375,  0.29029295,
        0.1764769 ,  0.0474908 ,  0.1764769 ,  1.19618053,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004133650781154436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85845091e-01, -1.67565828e-01,  5.58128395e-03, -1.67563143e-01,
        9.85860889e-01,  9.48645470e-04, -5.66133012e-03,  1.08420217e-19,
       -9.99983975e-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([ 0.13068158, -0.0820106 ,  0.13160183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29512736,   6.79261974,   2.66067663,   6.79261974,
        14.41372333, -18.17354086,   2.66067663, -18.17354086,
        53.69157811,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.812181223785336e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97861487,  0.1129544 , -0.17191347,  0.11125084,  0.99360017,
        0.01954346,  0.17302077,  0.        , -0.98491818])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328854, -0.05396436,  0.29658208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047716251247134574
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.32378663, -0.90522792, -0.2751811 , -0.09267804, -0.25910504,
        0.96139241, -0.94158006,  0.33678925,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487562, -0.0361331 ,  0.30477342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004432535903428625
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50471299e-13, -1.29149263e-13,  1.00000000e+00, -3.23481837e-26,
        1.00000000e+00,  1.29149263e-13, -1.00000000e+00,  0.00000000e+00,
       -2.50471299e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.053041  , -0.06108925,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.00939093e-06,-2.78925776e-06, 2.20650955e-05, 3.60852363e-05,
 -2.70811348e-03, 2.42427373e-02, 1.09989125e-02, 1.52199147e-03,
 -2.77293323e-05, 5.40635915e-05,-1.35203706e-05,-3.58195311e-06,
  5.28470732e-02, 2.07043202e-02, 1.36117657e-02, 1.18401312e-04,
 -5.10784794e-06, 3.53096401e-06,-9.80999867e+00,-6.49505508e-02,
 -9.39352002e-03,-5.34127763e-03]


--- Step 1702 ---
qpos:
[ 0.00988668, 0.00807496,-0.00560464, 0.03349585, 0.00612659,-0.01942142,
 -0.01689454, 0.03778017, 0.0129855 , 0.00595887,-0.01170535, 0.03406756,
  0.81272678,-0.01497574, 1.14541982, 0.04612076, 0.09470104,-0.06372028,
  0.14251131, 0.94286596,-0.03286078, 0.02861791, 0.33031041]

qacc:
[-2.81994759e+00, 1.47936859e+00,-6.71962805e+00, 1.40421932e+01,
  4.95691921e-01, 1.18010972e-01,-1.97438988e+00,-2.86851279e+00,
 -2.90522896e+00, 3.61219913e-01,-8.02076375e-01, 2.74130698e-01,
  1.03284100e+00, 1.34709444e+00, 7.36938997e+00,-1.13057436e+01,
 -1.48047388e-02,-2.32822103e-02, 6.27289975e-03, 5.09921452e-01,
 -3.40840041e-03, 1.18299253e+00]

qfrc_actuator:
[-9.38664580e-06, 2.47727226e-04, 6.59666730e-05, 7.03954472e-05,
 -2.61625161e-03, 2.23196264e-02, 1.01068000e-02, 1.37873115e-03,
 -2.29705518e-06,-3.17640990e-06,-8.88175011e-05, 6.46240180e-05,
  4.98397805e-02, 1.92075410e-02, 1.66561106e-03,-1.92632215e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25646191, -0.25209145,  0.04714457, -0.25209145,  0.28823404,
        0.16989194,  0.04714457,  0.16989194,  1.16490807,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041097158096928726
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85836115e-01, -1.67618486e-01,  5.58547010e-03, -1.67615796e-01,
        9.85851938e-01,  9.49663946e-04, -5.66562776e-03,  0.00000000e+00,
       -9.99983950e-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([ 0.13068471, -0.08201126,  0.13160196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29606155,   6.59513236,   3.12037552,   6.59513236,
        18.22769036, -23.10476365,   3.12037552, -23.10476365,
        56.12959889,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.960255040453537e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97862284,  0.11289687, -0.17190591,  0.11119435,  0.99360671,
        0.01953252,  0.17301202,  0.        , -0.98491971])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328903, -0.05396472,  0.29658239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047667824765727703
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.25367920e-01, -9.04861965e-01, -2.74518743e-01, -9.28881945e-02,
       -2.58326003e-01,  9.61581749e-01, -9.41014081e-01,  3.38367404e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487539, -0.03613374,  0.30477507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004425739171390325
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.27158351e-08,  5.27157405e-08,  1.00000000e+00,  2.77895428e-15,
        1.00000000e+00, -5.27157405e-08, -1.00000000e+00,  0.00000000e+00,
       -5.27158351e-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([ 0.05346179, -0.06167801,  0.06199006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64919326e-05, 1.89051425e-05,-2.90649840e-06, 2.20011352e-05,
 -2.72774797e-03, 2.44458119e-02, 1.10785731e-02, 1.54101751e-03,
 -1.69610046e-05, 2.21858355e-05, 1.88853942e-06,-3.53104998e-07,
  5.25354622e-02, 2.05116278e-02, 1.32423791e-02, 1.20270467e-04,
 -6.82105166e-06, 4.53169028e-06,-9.80999820e+00,-6.49495688e-02,
 -9.39431198e-03,-5.34050041e-03]


--- Step 1703 ---
qpos:
[ 0.009886  , 0.00807475,-0.00560461, 0.03349626, 0.00612442,-0.01944172,
 -0.01690259, 0.03777989, 0.01298566, 0.00595725,-0.0117052 , 0.03406909,
  0.81266501,-0.01500964, 1.14534696, 0.04612941, 0.09470302,-0.0637163 ,
  0.14251125, 0.94287261,-0.03287862, 0.02860799, 0.33029051]

qacc:
[-1.72370098e+00, 1.19876956e+00,-3.38416598e+00, 2.13322260e+00,
 -3.79707689e+01, 1.77025168e+00,-5.78919425e+00, 4.15247749e+01,
  1.35213361e+00,-5.09895798e-01,-2.11303826e+00, 1.39926710e+01,
 -2.52671867e+01,-1.63945407e+01,-8.43669261e+01, 2.06427644e+02,
  2.23346427e-01, 6.29593758e-01,-1.21836478e-01,-1.37397659e+01,
  1.25494174e+00,-2.78694817e+01]

qfrc_actuator:
[-1.89294747e-05, 2.56422350e-04, 4.43548722e-05, 6.45831119e-05,
 -2.65480685e-03, 2.23656969e-02, 1.00954415e-02, 1.39255752e-03,
  5.93594027e-06,-5.91778319e-05,-7.54054169e-05, 9.85350540e-05,
  4.98501426e-02, 1.92152564e-02, 1.64260647e-03,-2.06512522e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25573685, -0.25188489,  0.04421924, -0.25188489,  0.28251997,
        0.15256397,  0.04421924,  0.15256397,  1.12478291,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004083352401143934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85826379e-01, -1.67675426e-01,  5.59488231e-03, -1.67672726e-01,
        9.85842255e-01,  9.51596740e-04, -5.67523078e-03, -1.08420217e-19,
       -9.99983896e-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([ 0.13068804, -0.08201198,  0.13160215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29715681,  -4.99653284,  -5.31819114,  -4.99653284,
        24.46186683, -16.12654284,  -5.31819114, -16.12654284,
        22.44832358,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.12705724946989e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9786316 ,  0.11283517, -0.17189655,  0.1111338 ,  0.99361372,
        0.01952064,  0.17300139,  0.        , -0.98492158])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328956, -0.05396527,  0.29658272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.32178133,  1.26818277, -0.37258336,  1.26818277,  2.01215832,
        2.3498747 , -0.37258336,  2.3498747 ,  9.32018105,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047623367153313135
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.32711281, -0.90445693, -0.27377889, -0.09311423, -0.257458  ,
        0.96179266, -0.9403866 ,  0.34010741,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487511, -0.03613466,  0.30477665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.4019353 , -6.3384457 ,  8.24768841, -6.3384457 , 42.40437776,
       24.59425401,  8.24768841, 24.59425401, 29.30290922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004430338792050792
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08699476, -0.10866179,  0.06199005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00059561e-05, 1.96159016e-05,-1.73028892e-05,-4.67483561e-06,
 -2.76925601e-03, 2.45859154e-02, 1.11312947e-02, 1.57875801e-03,
  7.75480308e-06,-4.31829023e-05, 1.82310941e-05, 3.49223678e-05,
  5.23609403e-02, 2.04046479e-02, 1.28822591e-02,-6.14307664e-05,
 -7.93778281e-06, 5.14151047e-06,-9.80999795e+00,-6.49483846e-02,
 -9.39500590e-03,-5.33969803e-03]


--- Step 1704 ---
qpos:
[ 0.00988556, 0.00807471,-0.0056048 , 0.03349625, 0.00612289,-0.01945969,
 -0.01691114, 0.03777932, 0.01298627, 0.00595525,-0.01170456, 0.03407066,
  0.81261621,-0.01503618, 1.14526808, 0.04613131, 0.09470476,-0.06371305,
  0.14251133, 0.94287587,-0.03289016, 0.02860049, 0.3302807 ]

qacc:
[ 2.05812678e+00, 2.41593707e-03, 2.08221848e+00,-9.07977920e+00,
  5.35339997e+00, 3.86282926e+00,-8.07589852e+00, 2.12765161e+00,
  3.90987755e+00,-1.80691750e+00, 5.55062240e+00,-5.43105196e+00,
  4.78842161e+00, 2.73280937e+00, 1.13882880e+01,-5.30317051e+01,
 -5.84931734e-02,-1.80908885e-01, 3.51651549e-02, 3.17632367e+00,
 -1.96841640e-02, 5.44173143e+00]

qfrc_actuator:
[-6.51481602e-06, 2.61575744e-04, 3.16015419e-05, 4.32372339e-05,
 -2.65664895e-03, 2.24154690e-02, 1.00892309e-02, 1.41707346e-03,
  2.84727085e-05,-7.40860752e-05,-4.99503668e-05, 1.00090372e-04,
  4.98624504e-02, 1.92576029e-02, 1.64434250e-03,-2.04991460e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25539407, -0.01252607,  0.25508671, -0.01252607,  0.8716231 ,
        0.03026001,  0.25508671,  0.03026001,  0.25688   ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004070781236006837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85833705e-01, -1.67632970e-01,  5.57609611e-03, -1.67630288e-01,
        9.85849475e-01,  9.48154433e-04, -5.65613337e-03, -1.08420217e-19,
       -9.99984004e-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([ 0.13069028, -0.0820115 ,  0.13160199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29492826,  3.61708366,  6.33503623,  3.61708366, 17.68676824,
       -5.93337642,  6.33503623, -5.93337642, 10.68267825,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7798690116165575e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97862152,  0.11286977, -0.17193118,  0.11116717,  0.99360979,
        0.01953064,  0.17303693,  0.        , -0.98491534])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328873, -0.05396229,  0.29658219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.32516866, -0.73913673,  1.09988584, -0.73913673,  7.06073304,
        3.85436938,  1.09988584,  3.85436938,  3.915352  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004781448204344115
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.32073387, -0.90588917, -0.27657655, -0.09230824, -0.26071781,
        0.96099189, -0.94266058,  0.33375294,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048751 , -0.03612827,  0.3047735 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.40499095, -5.94656404,  8.53827926, -5.94656404, 18.05877106,
        5.33054638,  8.53827926,  5.33054638, 14.11749957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004432787867249127
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25228531e-13, -1.29141922e-13,  1.00000000e+00, -1.61722532e-26,
        1.00000000e+00,  1.29141922e-13, -1.00000000e+00,  0.00000000e+00,
       -1.25228531e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05304656, -0.06108484,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21378829e-05, 1.23532995e-05,-1.09920055e-05,-2.11949301e-05,
 -2.54839715e-03, 2.43244385e-02, 1.09072675e-02, 1.46627238e-03,
  2.27352527e-05,-3.37371937e-05, 2.00025963e-05, 1.01479398e-06,
  5.59537743e-02, 2.24608462e-02, 1.49816690e-02,-4.26196736e-04,
 -5.98185050e-06, 1.86659447e-06,-9.80999736e+00,-6.49501450e-02,
 -9.39588463e-03,-5.33974992e-03]


--- Step 1705 ---
qpos:
[ 0.00988561, 0.00807483,-0.00560545, 0.03349635, 0.00612232,-0.01947731,
 -0.0169198 , 0.0377786 , 0.01298714, 0.00595349,-0.01170385, 0.03407184,
  0.8125789 ,-0.01505624, 1.14519453, 0.046132  , 0.09470633,-0.06371034,
  0.14251152, 0.94287614,-0.03289647, 0.02859483, 0.33027978]

qacc:
[ 4.34508723e+00, 1.72124405e+00,-6.30660531e+00, 8.82038310e+00,
  8.19928909e+00, 4.11292319e-01,-2.05449443e-01,-2.45992651e+00,
  2.32744079e+00,-6.68987268e-01, 4.49336132e+00,-1.15247362e+01,
  4.10458637e+00, 2.57499404e+00, 1.14496602e+01,-2.88371273e+01,
 -4.28913409e-02,-1.32742616e-01, 2.76622060e-02, 2.58620795e+00,
 -9.53214327e-02, 4.79510299e+00]

qfrc_actuator:
[ 1.87218632e-05, 2.64580799e-04, 6.41103574e-06, 4.84371990e-05,
 -2.62201677e-03, 2.24333618e-02, 1.00892207e-02, 1.39668074e-03,
  4.14876956e-05,-2.87436589e-05,-3.52272680e-05, 8.26228189e-05,
  4.98708916e-02, 1.92892080e-02, 1.62724573e-03,-1.96648933e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040591658223967914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85837696e-01, -1.67610025e-01,  5.56018637e-03, -1.67607359e-01,
        9.85853376e-01,  9.45316008e-04, -5.63997295e-03, -1.08420217e-19,
       -9.99984095e-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([ 0.13069241, -0.08201125,  0.13160185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29362404,  7.2542547 ,  0.75679609,  7.2542547 ,  7.57699525,
       -2.7162494 ,  0.75679609, -2.7162494 , 33.33018158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.560917306461813e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97861543,  0.11288592, -0.17195523,  0.11118259,  0.99360796,
        0.0195362 ,  0.17306145,  0.        , -0.98491103])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328828, -0.05395997,  0.29658189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047917937974135933
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.16887510e-01, -9.06721202e-01, -2.78278580e-01, -9.18094418e-02,
       -2.62697534e-01,  9.60500407e-01, -9.44009180e-01,  3.29919184e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487512, -0.03612345,  0.30477205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044419050078582656
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24971496e-13, -6.63911071e-14,  1.00000000e+00,  8.29699595e-27,
        1.00000000e+00,  6.63911071e-14, -1.00000000e+00,  0.00000000e+00,
        1.24971496e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05305055, -0.06108214,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55884609e-05, 6.74370395e-06,-2.47232147e-05, 4.93662004e-06,
 -2.54545691e-03, 2.42260799e-02, 1.09322626e-02, 1.46047623e-03,
  1.36432239e-05, 3.07230349e-05, 1.02652906e-05,-1.82027814e-05,
  5.53137202e-02, 2.21246901e-02, 1.52672228e-02,-4.93038123e-06,
 -2.04501259e-06, 5.76367983e-07,-9.80999887e+00,-6.49518912e-02,
 -9.39538249e-03,-5.33970759e-03]


--- Step 1706 ---
qpos:
[ 0.00988563, 0.008075  ,-0.00560641, 0.03349686, 0.00612292,-0.01949614,
 -0.01692805, 0.03777788, 0.01298816, 0.00595201,-0.01170328, 0.03407246,
  0.81255171,-0.01507059, 1.14513094, 0.04613393, 0.09470778,-0.06370801,
  0.14251179, 0.94287382,-0.0328985 , 0.02859056, 0.33028658]

qacc:
[ -0.38489984,  1.74559354, -7.84439749, 15.3507263 ,  9.97239498,
  -2.72697599,  7.38999065, -7.10036699,  1.30382339, -0.38153265,
   4.24663352,-13.84123574,  3.52561745,  2.38862512, 10.88534092,
 -16.86508091, -0.03212673, -0.0978508 ,  0.02115218,  2.09697546,
  -0.14153741,  4.14604495]

qfrc_actuator:
[ 1.57908025e-05, 2.66243107e-04,-8.16179849e-06, 6.92053379e-05,
 -2.60158713e-03, 2.23976858e-02, 1.00927376e-02, 1.33156657e-03,
  4.87899465e-05,-1.87339767e-05,-4.44679926e-05, 5.41529333e-05,
  4.98660274e-02, 1.93123095e-02, 1.61402223e-03,-1.84496846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25475249, -0.25450607,  0.01120214, -0.25450607,  0.25943121,
        0.10629792,  0.01120214,  0.10629792,  2.6697797 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040470627541132884
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85838754e-01, -1.67604217e-01,  5.54775114e-03, -1.67601563e-01,
        9.85854364e-01,  9.43168198e-04, -5.62735364e-03,  0.00000000e+00,
       -9.99984166e-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([ 0.13069459, -0.08201119,  0.13160176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29296288,  7.2113462 ,  1.08802277,  7.2113462 ,  7.99284724,
       -4.63878931,  1.08802277, -4.63878931, 38.03856547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4445831408479334e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97861274,  0.11288565, -0.17197076,  0.11118202,  0.99360799,
        0.01953792,  0.17307707,  0.        , -0.98490828])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328811, -0.05395823,  0.29658178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047964342819491244
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.31473565, -0.90717228, -0.27924885, -0.09153078, -0.26382198,
        0.96021877, -0.94475583,  0.32777494,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487519, -0.03611999,  0.30477172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004446468819202243
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24843226e-13, -3.90135082e-15,  1.00000000e+00,  4.87057222e-28,
        1.00000000e+00,  3.90135082e-15, -1.00000000e+00,  0.00000000e+00,
        1.24843226e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05305352, -0.06108002,  0.06199001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19860266e-06, 5.50049266e-07,-1.60490593e-05, 2.02976985e-05,
 -2.57313481e-03, 2.41741478e-02, 1.09412474e-02, 1.40296252e-03,
  7.69650675e-06, 2.85907592e-05,-2.24997637e-06,-2.71530795e-05,
  5.47341672e-02, 2.18242047e-02, 1.49891990e-02, 1.77756850e-04,
 -4.29375271e-07, 2.02319089e-07,-9.80999957e+00,-6.49529327e-02,
 -9.39535321e-03,-5.33952618e-03]


--- Step 1707 ---
qpos:
[ 0.00988526, 0.00807528,-0.00560728, 0.03349723, 0.00612423,-0.01951635,
 -0.01693657, 0.03777693, 0.01298891, 0.00595069,-0.01170302, 0.03407208,
  0.81253339,-0.01507993, 1.14507769, 0.04613754, 0.09470912,-0.06370597,
  0.14251213, 0.94286931,-0.03289704, 0.02858734, 0.33029987]

qacc:
[-3.33427222e+00,-3.51759794e-01, 2.05866586e+00,-4.62942416e+00,
  6.14412280e+00,-1.52987969e+00, 3.70298884e+00,-6.03891590e+00,
 -2.34514239e+00,-1.01687415e+00, 8.17176708e+00,-2.52304729e+01,
  3.04378363e+00, 2.16634179e+00, 1.01343553e+01,-1.34020312e+01,
 -2.47872501e-02,-7.35317963e-02, 1.58179784e-02, 1.69025014e+00,
 -1.60322794e-01, 3.49253343e+00]

qfrc_actuator:
[-3.69990760e-06, 2.84892936e-04, 1.40747820e-06, 6.34653283e-05,
 -2.60801958e-03, 2.24022802e-02, 1.01156578e-02, 1.32829138e-03,
  3.49215254e-05,-3.00621323e-05,-6.79088143e-05, 1.65021324e-06,
  4.98582153e-02, 1.93107354e-02, 1.62381664e-03,-1.75582138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25438787, -0.24778676,  0.05757526, -0.24778676,  0.33617151,
        0.35197246,  0.05757526,  0.35197246,  1.76917251,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040334719817877826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85837273e-01, -1.67613208e-01,  5.53934934e-03, -1.67610562e-01,
        9.85852835e-01,  9.41791797e-04, -5.61883999e-03,  0.00000000e+00,
       -9.99984214e-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([ 0.13069691, -0.08201132,  0.13160172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29276831,  7.14523208,  1.45949584,  7.14523208,  8.77724739,
       -7.26754214,  1.45949584, -7.26754214, 42.87236618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.409587085517491e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78612886e-01,  1.12871095e-01, -1.71979464e-01,  1.11167508e-01,
        9.93609640e-01,  1.95363547e-02,  1.73085543e-01, -3.46944695e-18,
       -9.84906795e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328817, -0.05395699,  0.29658181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047974086384233066
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.13747306e-01, -9.07370973e-01, -2.79715116e-01, -9.14086177e-02,
       -2.64357733e-01,  9.60083045e-01, -9.45096340e-01,  3.26791841e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487531, -0.03611764,  0.30477214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004447435783210413
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24816083e-13, -9.75125646e-14,  1.00000000e+00,  1.21711363e-26,
        1.00000000e+00,  9.75125646e-14, -1.00000000e+00,  0.00000000e+00,
        1.24816083e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05305567, -0.06107837,  0.06199001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95530163e-05, 1.65151118e-05, 8.41660868e-06,-5.87597339e-06,
 -2.63782864e-03, 2.42393838e-02, 1.09443002e-02, 1.39970847e-03,
 -1.36424130e-05, 3.08279350e-06,-1.87417630e-05,-5.18833041e-05,
  5.42201974e-02, 2.15374547e-02, 1.45020309e-02, 2.05021922e-04,
 -3.51785579e-07, 4.55783874e-07,-9.80999975e+00,-6.49534067e-02,
 -9.39563979e-03,-5.33921838e-03]


--- Step 1708 ---
qpos:
[ 0.00988535, 0.00807563,-0.00560776, 0.03349786, 0.00612584,-0.01953757,
 -0.01694597, 0.03777558, 0.01298915, 0.0059492 ,-0.01170294, 0.03407144,
  0.81252322,-0.01508466, 1.14502755, 0.04613941, 0.09471039,-0.06370418,
  0.14251251, 0.94286302,-0.03289268, 0.02858488, 0.3303185 ]

qacc:
[ 4.04007928e+00,-4.87422377e-01, 7.52091625e-01, 3.06712269e+00,
  2.43746347e+00, 2.50019247e-01,-1.08764892e+00,-3.92017601e+00,
 -4.54825408e+00,-2.22960866e-01, 1.53982494e+00,-5.44428739e+00,
  2.86908120e+00, 1.88676649e+00, 9.79953478e+00,-2.77542376e+01,
 -1.95772942e-02,-6.04633867e-02, 1.06966028e-02, 1.38984730e+00,
 -1.84803749e-01, 2.86433318e+00]

qfrc_actuator:
[ 2.04858889e-05, 2.95898912e-04, 2.51999400e-05, 7.77061311e-05,
 -2.61283610e-03, 2.24494604e-02, 1.01507384e-02, 1.38009366e-03,
  8.70547205e-06,-5.41714168e-05,-8.18948162e-05,-1.13404165e-05,
  4.98643600e-02, 1.92927611e-02, 1.56714242e-03,-1.93556930e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2539779 , -0.24851526,  0.05239215, -0.24851526,  0.30562821,
        0.24499644,  0.05239215,  0.24499644,  1.4160861 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004018093019985018
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85833653e-01, -1.67634645e-01,  5.53491655e-03, -1.67632003e-01,
        9.85849190e-01,  9.41161975e-04, -5.61436435e-03,  0.00000000e+00,
       -9.99984239e-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([ 0.1306994 , -0.08201159,  0.13160173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29292929,   7.0503331 ,   1.86537418,   7.0503331 ,
        10.10491774, -10.62813855,   1.86537418, -10.62813855,
        47.46284147,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.4385671363927475e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97861538,  0.11284444, -0.17198275,  0.1111412 ,  0.99361267,
        0.01953206,  0.17308833,  0.        , -0.98490631])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132884 , -0.05395619,  0.29658195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004796019369282131
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.13605016e-01, -9.07389881e-01, -2.79813326e-01, -9.14019665e-02,
       -2.64463944e-01,  9.60054427e-01, -9.45144208e-01,  3.26653372e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487543, -0.03611622,  0.30477305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004445589330983324
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49735849e-13, -3.51191037e-14,  1.00000000e+00, -8.77049918e-27,
        1.00000000e+00,  3.51191037e-14, -1.00000000e+00,  0.00000000e+00,
       -2.49735849e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05305718, -0.06107708,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.36343041e-05, 2.17214697e-05, 2.80444041e-05, 1.51267090e-05,
 -2.67857359e-03, 2.43568592e-02, 1.09935338e-02, 1.46262445e-03,
 -2.66038390e-05,-2.84366751e-05,-1.74381343e-05,-1.45127854e-05,
  5.37827500e-02, 2.12686229e-02, 1.39293743e-02,-5.84930266e-05,
 -1.19719623e-06, 1.08716360e-06,-9.80999962e+00,-6.49534227e-02,
 -9.39612500e-03,-5.33879833e-03]


--- Step 1709 ---
qpos:
[ 0.00988608, 0.00807588,-0.00560755, 0.03349831, 0.00612787,-0.01955909,
 -0.01695637, 0.03777377, 0.01298941, 0.0059474 ,-0.0117027 , 0.034071  ,
  0.8125203 ,-0.01508527, 1.14498169, 0.04614024, 0.09471159,-0.06370257,
  0.14251292, 0.94285516,-0.0328859 , 0.02858294, 0.33034176]

qacc:
[ 5.58641075e+00,-2.42244583e+00, 9.19067993e+00,-1.33018785e+01,
  3.63614395e+00, 1.45495670e+00,-3.85485356e+00,-2.18121554e+00,
  2.63339749e-01,-4.37925889e-01, 1.63457161e-01, 3.11986282e+00,
  2.51825814e+00, 1.74499959e+00, 9.38489698e+00,-2.37713870e+01,
 -1.54867540e-02,-4.41412166e-02, 6.92128469e-03, 1.13095955e+00,
 -2.05224676e-01, 2.48733457e+00]

qfrc_actuator:
[ 5.24378356e-05, 2.84573037e-04, 5.71847457e-05, 6.80903783e-05,
 -2.59878622e-03, 2.24868612e-02, 1.01583165e-02, 1.42971783e-03,
  1.09437799e-05,-6.79412159e-05,-7.24602946e-05,-9.79895508e-07,
  4.98679737e-02, 1.92811049e-02, 1.52412346e-03,-1.97210813e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25353146, -0.24910858,  0.04714995, -0.24910858,  0.2956134 ,
        0.2223326 ,  0.04714995,  0.2223326 ,  1.42818718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004001226741111423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85828277e-01, -1.67666291e-01,  5.53380153e-03, -1.67663649e-01,
        9.85843809e-01,  9.41155150e-04, -5.61326397e-03,  0.00000000e+00,
       -9.99984246e-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([ 0.13070206, -0.08201199,  0.13160178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29337929,   6.95365455,   2.20001587,   6.95365455,
        11.64921159, -13.76760663,   2.20001587, -13.76760663,
        50.80905645,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.518302381639673e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97861977,  0.11280789, -0.17198174,  0.11110524,  0.99361682,
        0.01952553,  0.17308658,  0.        , -0.98490661])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328875, -0.05395578,  0.29658216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004792549003154953
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.14311052e-01, -9.07227826e-01, -2.79546480e-01, -9.15129729e-02,
       -2.64143163e-01,  9.60132160e-01, -9.44898904e-01,  3.27362279e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487545, -0.03611554,  0.30477436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004441588660589746
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24980397e-13, -3.90563739e-15,  1.00000000e+00, -4.88128110e-28,
        1.00000000e+00,  3.90563739e-15, -1.00000000e+00,  0.00000000e+00,
       -1.24980397e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05305819, -0.06107609,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26303822e-05, 7.26165355e-06, 4.04482433e-05,-7.42235063e-06,
 -2.67887106e-03, 2.44455429e-02, 1.10450849e-02, 1.53298285e-03,
  1.46873086e-06,-3.38497728e-05, 9.29838383e-07, 8.26183023e-06,
  5.33793930e-02, 2.10267037e-02, 1.37318594e-02,-7.64482739e-06,
 -2.50863455e-06, 1.89607362e-06,-9.80999932e+00,-6.49530632e-02,
 -9.39673371e-03,-5.33827281e-03]


--- Step 1710 ---
qpos:
[ 0.00988718, 0.00807631,-0.00560731, 0.03349865, 0.00612995,-0.01958121,
 -0.01696815, 0.03777139, 0.0129897 , 0.00594567,-0.01170254, 0.034071  ,
  0.81252393,-0.01508218, 1.14494025, 0.04614025, 0.09471274,-0.06370109,
  0.14251334, 0.94284599,-0.03287713, 0.02858134, 0.33036893]

qacc:
[ 3.30946309e+00,-9.00310776e-02, 1.10716345e+00,-3.15769828e+00,
  3.92740307e-01, 1.90407958e+00,-5.56022483e+00,-1.59070906e+00,
  2.08735835e-01, 1.20882308e+00,-6.02685879e+00, 1.36925675e+01,
  2.26736661e+00, 1.56560546e+00, 9.00150218e+00,-2.20919881e+01,
 -1.30097913e-02,-3.41179825e-02, 3.65438443e-03, 9.18505556e-01,
 -2.12484305e-01, 2.09055898e+00]

qfrc_actuator:
[ 7.09383118e-05, 2.95487771e-04, 5.81301751e-05, 6.22482538e-05,
 -2.60917895e-03, 2.25003363e-02, 1.01321168e-02, 1.44273641e-03,
  1.21632209e-05,-3.97923290e-05,-6.69835054e-05, 2.30520120e-05,
  4.98538774e-02, 1.92718834e-02, 1.58494471e-03,-2.01149933e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25306945, -0.2492047 ,  0.04405868, -0.2492047 ,  0.28247131,
        0.16630276,  0.04405868,  0.16630276,  1.19371104,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039836393413353864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85821393e-01, -1.67706749e-01,  5.53420813e-03, -1.67704106e-01,
        9.85836927e-01,  9.41457990e-04, -5.61371559e-03,  0.00000000e+00,
       -9.99984243e-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([ 0.13070483, -0.08201249,  0.13160185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29406892,   6.79632179,   2.64829219,   6.79632179,
        14.4390555 , -18.33620481,   2.64829219, -18.33620481,
        54.35033738,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.6370930441164205e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78625759e-01,  1.12762688e-01, -1.71977324e-01,  1.11060823e-01,
        9.93621948e-01,  1.95171065e-02,  1.73081245e-01,  3.46944695e-18,
       -9.84907550e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132892 , -0.05395573,  0.29658244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004787840153966955
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.15621845e-01, -9.06935862e-01, -2.79016476e-01, -9.17056648e-02,
       -2.63515208e-01,  9.60286315e-01, -9.44443181e-01,  3.28674730e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487538, -0.03611548,  0.30477591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044359526516381254
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.60334584e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.60334584e-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([ 0.05305881, -0.06107532,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.94302467e-05, 2.30091948e-05, 7.16204491e-06,-4.27945498e-06,
 -2.71073105e-03, 2.44748919e-02, 1.10692441e-02, 1.56880094e-03,
  1.24344567e-06, 9.83085737e-06,-1.09533907e-06, 2.27787681e-05,
  5.30022784e-02, 2.08114660e-02, 1.35796300e-02, 4.73252136e-06,
 -4.08194084e-06, 2.82648297e-06,-9.80999892e+00,-6.49524012e-02,
 -9.39742029e-03,-5.33764887e-03]


--- Step 1711 ---
qpos:
[ 0.00988815, 0.00807703,-0.00560769, 0.0334993 , 0.00613206,-0.0196043 ,
 -0.01698087, 0.03776856, 0.01298966, 0.00594469,-0.0117029 , 0.03407053,
  0.81253373,-0.01507566, 1.14489893, 0.04613735, 0.09471385,-0.06369973,
  0.14251376, 0.94283577,-0.03286667, 0.02857994, 0.33039927]

qacc:
[-1.17804055e+00, 2.72452085e+00,-1.04363441e+01, 1.64497145e+01,
  2.84315942e-01, 4.37716143e-01,-1.50786036e+00,-4.03933348e+00,
 -2.95994369e+00, 1.47245053e+00,-1.86563629e+00,-5.84476568e+00,
  2.21354024e+00, 1.34177469e+00, 8.88104410e+00,-3.09606755e+01,
 -1.15169812e-02,-3.04140123e-02, 4.33607290e-04, 7.63244270e-01,
 -2.23522812e-01, 1.69591925e+00]

qfrc_actuator:
[ 6.36182931e-05, 3.01759278e-04, 2.30765236e-05, 7.64236747e-05,
 -2.61627687e-03, 2.25176360e-02, 1.01219423e-02, 1.43408592e-03,
 -4.98813152e-06, 3.10031299e-05,-8.14681461e-05, 1.70404786e-06,
  4.98396095e-02, 1.92806523e-02, 1.57475767e-03,-2.21216593e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25258277, -0.24884722,  0.04327952, -0.24884722,  0.28158822,
        0.16677466,  0.04327952,  0.16677466,  1.21149852,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003964963773100631
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85813233e-01, -1.67754624e-01,  5.53669271e-03, -1.67751978e-01,
        9.85828781e-01,  9.42157319e-04, -5.61628228e-03,  0.00000000e+00,
       -9.99984229e-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([ 0.13070774, -0.08201309,  0.13160195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29496281,   6.63275386,   3.03694889,   6.63275386,
        17.63031807, -22.57261152,   3.03694889, -22.57261152,
        56.5939736 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.7854955963804014e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78633049e-01,  1.12710200e-01, -1.71970249e-01,  1.11009288e-01,
        9.93627904e-01,  1.95071022e-02,  1.73073087e-01,  3.46944695e-18,
       -9.84908984e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132897 , -0.05395598,  0.29658275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047824396473481655
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.31737617, -0.90654655, -0.27829071, -0.09195536, -0.26265934,
        0.96049689, -0.9438308 ,  0.33042915,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487519, -0.03611595,  0.30477761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044291142110537696
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.65828373e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.65828373e-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([ 0.05305912, -0.06107473,  0.06199005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.76019327e-06, 2.04186867e-05,-2.95771950e-05, 1.53226355e-05,
 -2.72032240e-03, 2.45234904e-02, 1.11287991e-02, 1.58858107e-03,
 -1.71187934e-05, 7.71048877e-05,-1.17821637e-05,-2.05177324e-05,
  5.26606229e-02, 2.06353972e-02, 1.33487144e-02,-1.54327202e-04,
 -5.71358481e-06, 3.77791989e-06,-9.80999848e+00,-6.49514903e-02,
 -9.39815508e-03,-5.33693391e-03]


--- Step 1712 ---
qpos:
[ 0.00988799, 0.00807784,-0.00560813, 0.03349975, 0.00613414,-0.01962824,
 -0.0169938 , 0.03776552, 0.01298975, 0.00594452,-0.01170323, 0.03406942,
  0.81254712,-0.01506703, 1.14485948, 0.04613271, 0.0947149 ,-0.06369846,
  0.1425142 , 0.94282496,-0.03285537, 0.02857885, 0.33043134]

qacc:
[-9.91843837e+00,-8.18993025e-02, 1.32991258e+00,-4.69590262e+00,
 -3.41221802e-01,-1.03257898e+00, 2.96841974e+00,-5.84372387e+00,
  1.21346188e+00,-2.96423227e-01, 5.31914869e+00,-1.70608065e+01,
  1.13154194e+00, 1.06169968e+00, 8.01979167e+00,-2.40706710e+01,
 -1.37752593e-02,-2.16278001e-02, 3.86872021e-03, 4.18140147e-01,
 -9.30795060e-03, 9.31637896e-01]

qfrc_actuator:
[ 5.65864427e-06, 3.05061807e-04, 2.03150798e-05, 6.67357591e-05,
 -2.62140285e-03, 2.25555777e-02, 1.01392440e-02, 1.41254196e-03,
  2.69097948e-06, 9.11781353e-05,-7.19587596e-05,-2.83954685e-05,
  4.98356888e-02, 1.92812438e-02, 1.52219539e-03,-2.27640748e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25207151, -0.24811518,  0.04448485, -0.24811518,  0.28519889,
        0.1847687 ,  0.04448485,  0.1847687 ,  1.28262286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039451785661723547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85804027e-01, -1.67808558e-01,  5.54143684e-03, -1.67805907e-01,
        9.85819602e-01,  9.43276563e-04, -5.62114694e-03,  0.00000000e+00,
       -9.99984201e-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([ 0.1307108 , -0.08201376,  0.13160208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29603641,   6.5264831 ,   3.26146679,   6.5264831 ,
        19.86136917, -25.1443406 ,   3.26146679, -25.1443406 ,
        57.61208267,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.956343228632107e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97864138,  0.11265183, -0.17196111,  0.110952  ,  0.99363452,
        0.01949583,  0.17306273,  0.        , -0.9849108 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329025, -0.05395652,  0.29658309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004776330800220875
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.19598314e-01, -9.06050981e-01, -2.77359942e-01, -9.22636337e-02,
       -2.61564446e-01,  9.60766081e-01, -9.43050550e-01,  3.32649455e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487483, -0.03611685,  0.30477944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004421411449848437
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.00818345e-07,  3.00818155e-07,  1.00000000e+00,  9.04916196e-14,
        1.00000000e+00, -3.00818155e-07, -1.00000000e+00,  0.00000000e+00,
       -3.00818345e-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([ 0.05347973, -0.0616633 ,  0.06199007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.81465875e-05, 9.23934096e-06,-1.66257521e-06,-9.54018975e-06,
 -2.72719168e-03, 2.46103638e-02, 1.11935431e-02, 1.58953112e-03,
  7.21719741e-06, 1.00013970e-04, 2.32923760e-05,-2.75975609e-05,
  5.23484177e-02, 2.04640436e-02, 1.32916520e-02,-7.32193100e-05,
 -7.26035305e-06, 4.67505252e-06,-9.80999802e+00,-6.49503729e-02,
 -9.39892413e-03,-5.33613130e-03]


--- Step 1713 ---
qpos:
[ 0.00988749, 0.00807855,-0.00560797, 0.03350041, 0.00613165,-0.0196466 ,
 -0.01700142, 0.03776544, 0.01299029, 0.00594482,-0.0117031 , 0.03406867,
  0.81248845,-0.01509883, 1.14478175, 0.046137  , 0.09471685,-0.06369466,
  0.14251416, 0.94283143,-0.03287233, 0.02856935, 0.33041201]

qacc:
[-3.03792202e+00,-1.35136013e+00, 3.75822574e+00,-1.06303841e+00,
 -3.87999356e+01,-1.24701939e+00, 2.77934112e+00, 3.57805633e+01,
  3.84430934e+00, 1.29256086e-02,-6.27574622e-01, 5.58362475e+00,
 -2.55695064e+01,-1.62531166e+01,-8.29574077e+01, 2.09362637e+02,
  2.25306015e-01, 6.34387252e-01,-1.21840573e-01,-1.36958667e+01,
  1.29882280e+00,-2.76321334e+01]

qfrc_actuator:
[-1.06232856e-05, 3.06659514e-04, 5.43741741e-05, 7.86110822e-05,
 -2.62528378e-03, 2.25884360e-02, 1.01726666e-02, 1.40096674e-03,
  2.49289045e-05, 1.09114190e-04,-4.83739333e-05,-1.01211695e-05,
  4.98379861e-02, 1.92768817e-02, 1.55588631e-03,-2.24104223e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.2515439 , -0.24815952,  0.041124  , -0.24815952,  0.2792014 ,
        0.16689699,  0.041124  ,  0.16689699,  1.25867065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003924578204048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85794229e-01, -1.67865866e-01,  5.54877468e-03, -1.67863207e-01,
        9.85809845e-01,  9.44857539e-04, -5.62864603e-03,  1.08420217e-19,
       -9.99984159e-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([ 0.13071393, -0.08201447,  0.13160225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29725568,  7.27959481, -0.50738542,  7.27959481,  7.60566534,
        4.42483608, -0.50738542,  4.42483608, 70.78156614,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.1417823127114985e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78650329e-01,  1.12590195e-01, -1.71950522e-01,  1.10891534e-01,
        9.93641509e-01,  1.94838305e-02,  1.73050864e-01, -3.46944695e-18,
       -9.84912889e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329082, -0.05395724,  0.29658345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.32322154,  1.2633878 , -0.39340377,  1.2633878 ,  2.11459437,
        2.54143669, -0.39340377,  2.54143669,  9.48486194,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047704828589499154
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.22072837e-01, -9.05493749e-01, -2.76315325e-01, -9.25988069e-02,
       -2.60337511e-01,  9.61067033e-01, -9.42175434e-01,  3.35120055e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487437, -0.03611796,  0.30478121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.39432869, -6.34931925,  8.2297153 , -6.34931925, 43.89181403,
       25.84369214,  8.2297153 , 25.84369214, 30.33303204,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044242305070864296
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25470748e-13, -1.25470748e-13,  1.00000000e+00, -1.57429087e-26,
        1.00000000e+00,  1.25470748e-13, -1.00000000e+00,  0.00000000e+00,
       -1.25470748e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08702497, -0.10863907,  0.06199006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79370890e-05, 5.96698558e-06, 3.54298290e-05, 1.20286416e-05,
 -2.72902450e-03, 2.46872158e-02, 1.12373677e-02, 1.58909938e-03,
  2.24770780e-05, 7.75083769e-05, 4.61660612e-05, 2.28323429e-05,
  5.21712178e-02, 2.03540560e-02, 1.32322372e-02, 4.93877351e-05,
 -8.17112068e-06, 5.16349439e-06,-9.80999781e+00,-6.49490796e-02,
 -9.39959048e-03,-5.33530552e-03]


--- Step 1714 ---
qpos:
[ 0.00988748, 0.00807927,-0.00560794, 0.03350055, 0.00612975,-0.01966344,
 -0.01700855, 0.03776531, 0.01299108, 0.00594524,-0.01170243, 0.03406748,
  0.81244266,-0.01512335, 1.14469882, 0.04613486, 0.09471857,-0.06369153,
  0.14251424, 0.94283447,-0.03288306, 0.02856213, 0.33040289]

qacc:
[ 4.36645014e+00,-7.18747077e-01, 4.75832874e+00,-1.35329581e+01,
  4.90519553e+00, 5.17148630e-01, 1.21942934e+00,-3.80858054e+00,
  2.32554206e+00,-2.20305704e+00, 9.86582470e+00,-1.81289354e+01,
  4.76285890e+00, 2.68412344e+00, 1.16462181e+01,-5.21699916e+01,
 -5.71304050e-02,-1.71451460e-01, 3.29339866e-02, 3.11132523e+00,
 -7.64063093e-02, 5.51263571e+00]

qfrc_actuator:
[ 1.55246479e-05, 2.89643790e-04, 3.88902685e-05, 4.98438640e-05,
 -2.62388368e-03, 2.25943898e-02, 1.02103451e-02, 1.42778253e-03,
  3.77969305e-05, 8.39668380e-05,-3.45614504e-05,-3.45683347e-05,
  4.98506939e-02, 1.93289932e-02, 1.58629197e-03,-2.24464763e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25130746, -0.01792088,  0.25066767, -0.01792088,  0.8478619 ,
        0.04264923,  0.25066767,  0.04264923,  0.25435656,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003915285417048247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85801373e-01, -1.67824589e-01,  5.52809936e-03, -1.67821950e-01,
        9.85816873e-01,  9.41098724e-04, -5.60763313e-03, -1.08420217e-19,
       -9.99984277e-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([ 0.130716  , -0.082014  ,  0.13160206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29515902,  3.35451328,  6.47816223,  3.35451328, 18.37394604,
       -5.73680263,  6.47816223, -5.73680263, 10.26578247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.8172950075105786e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78640630e-01,  1.12623966e-01, -1.71983600e-01,  1.10924124e-01,
        9.93637682e-01,  1.94934990e-02,  1.73084821e-01, -3.46944695e-18,
       -9.84906922e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329005, -0.05395441,  0.29658296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.32645464, -0.73705448,  1.10282937, -0.73705448,  6.82367871,
        3.67396236,  1.10282937,  3.67396236,  3.78187565,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047886603324144025
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.31638107, -0.90673516, -0.27880885, -0.09185209, -0.26324432,
        0.96034662, -0.94417488,  0.32944466,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487422, -0.03611176,  0.3047782 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.39786752, -5.94360603,  8.53165847, -5.94360603, 18.07843758,
        5.35069268,  8.53165847,  5.35069268, 14.12544398,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004427074338421849
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.91844217e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.91844217e-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([ 0.05306417, -0.06107062,  0.06199006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56345153e-05,-5.87857883e-06,-9.48174016e-06,-2.70541163e-05,
 -2.49969464e-03, 2.44146130e-02, 1.10105026e-02, 1.46783125e-03,
  1.35321064e-05, 2.87089097e-05, 3.62951028e-05,-1.90841226e-05,
  5.57872768e-02, 2.24282976e-02, 1.51778734e-02,-4.00294999e-04,
 -5.54083980e-06, 1.71519598e-06,-9.80999761e+00,-6.49507309e-02,
 -9.40025057e-03,-5.33534440e-03]


--- Step 1715 ---
qpos:
[ 0.00988778, 0.00808016,-0.00560842, 0.03350001, 0.00612851,-0.01967964,
 -0.01701502, 0.03776519, 0.01299237, 0.0059459 ,-0.01170185, 0.0340657 ,
  0.8124085 ,-0.01514145, 1.14461773, 0.04612958, 0.09472012,-0.06368895,
  0.14251443, 0.94283464,-0.03288868, 0.02855665, 0.33040231]

qacc:
[ 2.72884405e+00, 2.29712492e-01, 2.36832455e+00,-1.34847037e+01,
  5.71624560e+00,-9.81842243e-01, 4.67587168e+00,-6.06824461e+00,
  4.33078621e+00,-6.69156205e-01, 5.38610051e+00,-1.58173495e+01,
  4.28436340e+00, 2.34237867e+00, 1.20910037e+01,-3.86032618e+01,
 -4.30029563e-02,-1.33771163e-01, 2.55138217e-02, 2.53042308e+00,
 -1.18343736e-01, 4.59723282e+00]

qfrc_actuator:
[ 3.09180271e-05, 2.96892546e-04, 1.19094447e-05, 1.50864307e-05,
 -2.64037921e-03, 2.26215396e-02, 1.02355025e-02, 1.40844001e-03,
  6.27946540e-05, 8.63916382e-05,-4.46119453e-05,-6.62621415e-05,
  4.98539453e-02, 1.93479485e-02, 1.62377893e-03,-2.31310401e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000390699199731602
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85805137e-01, -1.67803070e-01,  5.51017574e-03, -1.67800449e-01,
        9.85820536e-01,  9.37923659e-04, -5.58943087e-03,  0.00000000e+00,
       -9.99984379e-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([ 0.13071799, -0.08201375,  0.13160189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29394415,  7.25188114,  0.7822028 ,  7.25188114,  7.60225959,
       -2.85842358,  0.7822028 , -2.85842358, 33.7946777 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.6158919173821185e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9786349 ,  0.11263897, -0.17200641,  0.11093844,  0.99363598,
        0.01949871,  0.17310807,  0.        , -0.98490284])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328964, -0.05395224,  0.29658269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004798237423151187
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.13077133e-01, -9.07429591e-01, -2.80275303e-01, -9.14115962e-02,
       -2.64949364e-01,  9.59919660e-01, -9.45318268e-01,  3.26149308e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487411, -0.03610713,  0.30477685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004435638733062547
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.64848985e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.64848985e-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([ 0.05306802, -0.061068  ,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61208385e-05, 8.25733374e-07,-3.03091157e-05,-3.58669955e-05,
 -2.54501365e-03, 2.43665461e-02, 1.10109301e-02, 1.45053825e-03,
  2.53934998e-05, 2.51451280e-05,-3.19995712e-07,-2.95793829e-05,
  5.51462288e-02, 2.20836666e-02, 1.54770387e-02,-1.46686939e-04,
 -1.79119814e-06, 4.84186856e-07,-9.80999901e+00,-6.49523689e-02,
 -9.39979318e-03,-5.33527819e-03]


--- Step 1716 ---
qpos:
[ 0.00988793, 0.00808102,-0.00560894, 0.03349939, 0.00612828,-0.01969561,
 -0.01702093, 0.03776505, 0.01299429, 0.00594692,-0.01170177, 0.03406426,
  0.81238441,-0.015154  , 1.14454899, 0.04612654, 0.09472155,-0.06368674,
  0.14251469, 0.94283225,-0.0328901 , 0.02855249, 0.33040935]

qacc:
[ -1.42704412, -0.0901694 ,  0.62265384, -1.90359998,  8.58902831,
  -1.32803624,  5.2596484 , -6.71675314,  5.56123166,  2.51564396,
  -9.76729126, 16.21426895,  3.54908761,  2.24240035, 11.39951757,
 -13.52661317, -0.03193354, -0.09400345,  0.0197401 ,  2.0429015 ,
  -0.16321715,  4.09735362]

qfrc_actuator:
[ 2.20917277e-05, 3.00790448e-04, 1.39718838e-05, 1.26118729e-05,
 -2.61467769e-03, 2.26616832e-02, 1.02527954e-02, 1.36137315e-03,
  9.47346197e-05, 1.05183205e-04,-6.85725602e-05,-4.86990335e-05,
  4.98618239e-02, 1.93272069e-02, 1.68104632e-03,-2.06613891e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25090136, -0.2505588 ,  0.01310638, -0.2505588 ,  0.25759142,
        0.12789606,  0.01310638,  0.12789606,  2.69593   ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003899235379677292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85806085e-01, -1.67798007e-01,  5.49462814e-03, -1.67795401e-01,
        9.85821398e-01,  9.35248164e-04, -5.57365477e-03, -1.08420217e-19,
       -9.99984467e-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([ 0.13071996, -0.0820137 ,  0.13160176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29335241,  7.21314919,  1.07864184,  7.21314919,  7.98363841,
       -4.61611601,  1.07864184, -4.61611601, 38.16248083,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.5135914602084214e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97863241,  0.11263829, -0.17202098,  0.11093748,  0.99363606,
        0.01950025,  0.17312272,  0.        , -0.98490026])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328951, -0.05395065,  0.2965826 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048018602063717287
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.11523524e-01, -9.07742529e-01, -2.80992161e-01, -9.12105347e-02,
       -2.65776660e-01,  9.59710063e-01, -9.45850798e-01,  3.24601706e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.104874  , -0.03610381,  0.30477665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004439854685982514
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50058415e-13, -3.51644646e-14,  1.00000000e+00, -8.79317027e-27,
        1.00000000e+00,  3.51644646e-14, -1.00000000e+00,  0.00000000e+00,
       -2.50058415e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05307088, -0.06106594,  0.06199003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.36620517e-06,-3.45858984e-06,-2.74546916e-06,-4.18633025e-06,
 -2.55277985e-03, 2.43756116e-02, 1.09958957e-02, 1.40325138e-03,
  3.26741460e-05, 3.15051346e-05,-1.98397461e-05, 1.80543025e-05,
  5.45727027e-02, 2.17422466e-02, 1.54443171e-02, 2.57647193e-04,
 -3.62020643e-07, 1.65760080e-07,-9.80999963e+00,-6.49533216e-02,
 -9.39981944e-03,-5.33506969e-03]


--- Step 1717 ---
qpos:
[ 0.00988762, 0.00808183,-0.00560911, 0.03349838, 0.00612935,-0.01971083,
 -0.0170267 , 0.03776476, 0.01299658, 0.00594815,-0.01170198, 0.03406373,
  0.81236897,-0.01516168, 1.14449538, 0.04612751, 0.09472287,-0.06368478,
  0.14251501, 0.94282757,-0.03288808, 0.02854929, 0.33042318]

qacc:
[-3.95266423e+00,-1.80758894e+00, 7.98040354e+00,-1.52215283e+01,
  1.11523925e+01, 2.55756766e-01, 1.13683922e+00,-4.51399815e+00,
  3.22597318e+00, 3.00715666e+00,-1.41788963e+01, 3.03493964e+01,
  2.90774027e+00, 2.17528222e+00, 1.01545622e+01,-3.20034819e+00,
 -2.39390871e-02,-6.39162396e-02, 1.49191381e-02, 1.64721119e+00,
 -1.94134111e-01, 3.64394105e+00]

qfrc_actuator:
[-9.15937930e-07, 3.02791213e-04, 3.31851882e-05,-6.33084288e-06,
 -2.58201485e-03, 2.26565103e-02, 1.02474450e-02, 1.36870955e-03,
  1.12748552e-04, 1.15847097e-04,-8.26894742e-05,-2.28341836e-06,
  4.98775260e-02, 1.93342001e-02, 1.69058482e-03,-1.82932680e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25071522, -0.24901759,  0.02912666, -0.24901759,  0.28274446,
        0.27383315,  0.02912666,  0.27383315,  2.59184469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038918407055447507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85804547e-01, -1.67807510e-01,  5.48029727e-03, -1.67804917e-01,
        9.85819780e-01,  9.32863245e-04, -5.55912691e-03, -1.08420217e-19,
       -9.99984548e-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([ 0.13072197, -0.08201381,  0.13160163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29321389,  7.1403346 ,  1.48545973,  7.1403346 ,  8.86039002,
       -7.53313048,  1.48545973, -7.53313048, 43.50360122,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4892078204788325e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97863272,  0.11262346, -0.17202896,  0.11092272,  0.99363774,
        0.01949855,  0.17313046,  0.        , -0.9848989 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328958, -0.05394956,  0.29658264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048021116988417994
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.31099955, -0.90783852, -0.28126234, -0.09115219, -0.26608228,
        0.95963092, -0.94602884,  0.32408246,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487396, -0.03610163,  0.30477715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044406248591426223
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25007523e-13, -1.91417769e-13,  1.00000000e+00, -2.39286611e-26,
        1.00000000e+00,  1.91417769e-13, -1.00000000e+00,  0.00000000e+00,
       -1.25007523e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05307296, -0.06106434,  0.06199003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32490518e-05,-7.07250565e-07, 1.80132981e-05,-1.92664796e-05,
 -2.57041130e-03, 2.43593055e-02, 1.09626394e-02, 1.41184202e-03,
  1.89567408e-05, 2.49403333e-05,-9.43719257e-06, 4.74304466e-05,
  5.40847711e-02, 2.14715825e-02, 1.48372066e-02, 3.82622708e-04,
 -3.70053824e-07, 4.51518279e-07,-9.80999975e+00,-6.49537257e-02,
 -9.40014155e-03,-5.33473231e-03]


--- Step 1718 ---
qpos:
[ 0.00988738, 0.00808239,-0.00560869, 0.03349715, 0.00613077,-0.01972682,
 -0.01703339, 0.037764  , 0.01299873, 0.00594955,-0.01170233, 0.03406341,
  0.81236129,-0.01516493, 1.14445009, 0.04612944, 0.09472413,-0.06368303,
  0.14251538, 0.942821  ,-0.03288322, 0.02854678, 0.33044264]

qacc:
[ 6.51162935e-01,-2.45015895e+00, 9.17276438e+00,-1.36710647e+01,
  2.91850542e+00, 5.86113349e-01,-1.60616448e+00,-4.42432010e+00,
 -1.29560390e+00, 1.04081585e+00,-4.25207025e+00, 7.94702198e+00,
  2.63954341e+00, 1.94994877e+00, 9.35469680e+00,-1.49591963e+01,
 -1.89857208e-02,-5.04237096e-02, 1.02187840e-02, 1.34258807e+00,
 -2.07332240e-01, 3.01928508e+00]

qfrc_actuator:
[ 3.42704729e-06, 2.85955742e-04, 6.23383023e-05,-1.70584573e-05,
 -2.59913871e-03, 2.26235359e-02, 1.02287016e-02, 1.37332030e-03,
  1.04666829e-04, 1.21622714e-04,-9.08931578e-05, 7.47497559e-06,
  4.98710588e-02, 1.93562987e-02, 1.68144430e-03,-1.86756082e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25055219, -0.24465829,  0.0540252 , -0.24465829,  0.30606182,
        0.25138068,  0.0540252 ,  0.25138068,  1.38895365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003885344069835922
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85800826e-01, -1.67829859e-01,  5.46526531e-03, -1.67827280e-01,
        9.85815976e-01,  9.30431976e-04, -5.54390012e-03, -1.08420217e-19,
       -9.99984632e-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([ 0.13072397, -0.08201406,  0.1316015 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29341995,   7.02437596,   1.96268103,   7.02437596,
        10.52625909, -11.57023336,   1.96268103, -11.57023336,
        48.70293464,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.5254179643778496e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78635406e-01,  1.12595925e-01, -1.72031685e-01,  1.10895559e-01,
        9.93640859e-01,  1.94940320e-02,  1.73132660e-01, -3.46944695e-18,
       -9.84898514e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328982, -0.05394889,  0.29658278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048005210716536774
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.11091992e-01, -9.07807635e-01, -2.81259792e-01, -9.11783890e-02,
       -2.66070615e-01,  9.59631663e-01, -9.45995916e-01,  3.24178541e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487398, -0.03610038,  0.30477806])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044386869842628907
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25062099e-13, -6.64392402e-14,  1.00000000e+00, -8.30903086e-27,
        1.00000000e+00,  6.64392402e-14, -1.00000000e+00,  0.00000000e+00,
       -1.25062099e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05307441, -0.06106309,  0.06199003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.67826916e-06,-1.43675618e-05, 3.05552354e-05,-1.05077593e-05,
 -2.65299154e-03, 2.42892961e-02, 1.09368958e-02, 1.42410561e-03,
 -7.53219713e-06, 1.97785798e-05,-2.58246818e-06, 1.14223302e-05,
  5.36459398e-02, 2.12502940e-02, 1.40731464e-02, 1.44086535e-04,
 -1.32453271e-06, 1.15747471e-06,-9.80999957e+00,-6.49536868e-02,
 -9.40065999e-03,-5.33427791e-03]


--- Step 1719 ---
qpos:
[ 0.00988754, 0.0080826 ,-0.00560785, 0.03349618, 0.0061321 ,-0.01974448,
 -0.01704121, 0.0377627 , 0.01300042, 0.00595095,-0.01170265, 0.03406254,
  0.8123606 ,-0.01516419, 1.14441048, 0.04613121, 0.09472532,-0.06368143,
  0.14251577, 0.94281285,-0.03287601, 0.02854476, 0.33046679]

qacc:
[ 3.51801388e+00,-1.12347869e+00, 2.26036850e+00, 1.70645142e+00,
 -8.21408097e-01,-1.33319177e-01,-4.95579989e-01,-5.67514114e+00,
 -4.02857302e+00,-1.22628128e+00, 6.72803480e+00,-1.64425386e+01,
  2.38326927e+00, 1.75418508e+00, 8.81993350e+00,-1.88018090e+01,
 -1.55235012e-02,-3.94316418e-02, 6.37508603e-03, 1.09141596e+00,
 -2.14687595e-01, 2.51236206e+00]

qfrc_actuator:
[ 2.38377994e-05, 2.58024057e-04, 7.92994792e-05,-5.12331185e-06,
 -2.62794065e-03, 2.26461133e-02, 1.02384344e-02, 1.37667109e-03,
  8.12951342e-05, 1.06668280e-04,-9.55947974e-05,-2.21732342e-05,
  4.98563841e-02, 1.93859568e-02, 1.69311749e-03,-1.90960296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25036571, -0.24489432,  0.05205537, -0.24489432,  0.29073335,
        0.18990943,  0.05205537,  0.18990943,  1.14379401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003877890218636634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85795270e-01, -1.67862902e-01,  5.45261115e-03, -1.67860334e-01,
        9.85810350e-01,  9.28465735e-04, -5.53109546e-03, -1.08420217e-19,
       -9.99984703e-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([ 0.13072613, -0.08201445,  0.1316014 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29390469,   6.90982163,   2.33568206,   6.90982163,
        12.4134812 , -15.14562324,   2.33568206, -15.14562324,
        52.10032633,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.6091610716129466e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78640037e-01,  1.12557854e-01, -1.72030251e-01,  1.10858107e-01,
        9.93645173e-01,  1.94871936e-02,  1.73130465e-01,  3.46944695e-18,
       -9.84898899e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329017, -0.0539486 ,  0.296583  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000479740326497622
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.31178838, -0.90765121, -0.28099338, -0.09128851, -0.26575117,
        0.95970971, -0.945756  ,  0.3248778 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487397, -0.03609988,  0.3047793 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004434673651808052
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25175279e-13, -1.29087007e-13,  1.00000000e+00,  1.61585021e-26,
        1.00000000e+00,  1.29087007e-13, -1.00000000e+00,  0.00000000e+00,
        1.25175279e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05307538, -0.06106212,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05077713e-05,-3.01252424e-05, 1.73844701e-05, 1.21725885e-05,
 -2.69900237e-03, 2.43510525e-02, 1.09928882e-02, 1.45084394e-03,
 -2.35752232e-05,-3.98004568e-06,-5.48196452e-07,-2.86685894e-05,
  5.32430620e-02, 2.10587027e-02, 1.36689897e-02, 5.42070503e-05,
 -2.77166194e-06, 2.06353430e-06,-9.80999923e+00,-6.49532824e-02,
 -9.40130488e-03,-5.33371617e-03]


--- Step 1720 ---
qpos:
[ 0.00988794, 0.00808258,-0.00560711, 0.03349572, 0.00613386,-0.01976298,
 -0.01704989, 0.03776095, 0.01300181, 0.00595215,-0.01170325, 0.03406205,
  0.8123661 ,-0.01515983, 1.14437856, 0.04613406, 0.09472646,-0.06367993,
  0.14251617, 0.94280326,-0.03286684, 0.02854302, 0.33049522]

qacc:
[ 2.13662293e+00, 1.04473780e+00,-6.36115403e+00, 1.56629902e+01,
  3.65099069e+00, 3.53360080e-01,-9.25520822e-01,-4.99752836e+00,
 -2.58213941e+00, 1.31865076e+00,-6.70564145e+00, 1.39979812e+01,
  2.01751459e+00, 1.72609363e+00, 8.06718560e+00,-1.17827101e+01,
 -1.22967637e-02,-2.45526936e-02, 3.38250624e-03, 8.91700092e-01,
 -2.38185710e-01, 2.29123486e+00]

qfrc_actuator:
[ 3.57808268e-05, 2.41388902e-04, 7.11334276e-05, 2.00280351e-05,
 -2.61018953e-03, 2.26854885e-02, 1.02480880e-02, 1.39727162e-03,
  6.68722920e-05, 7.93890821e-05,-1.16055434e-04,-3.77113941e-06,
  4.98578782e-02, 1.94365618e-02, 1.73319626e-03,-1.82892113e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25013393, -0.24522642,  0.04930504, -0.24522642,  0.29253439,
        0.21088538,  0.04930504,  0.21088538,  1.29900566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003868591261904352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85788170e-01, -1.67904882e-01,  5.44376421e-03, -1.67902322e-01,
        9.85803201e-01,  9.27197828e-04, -5.52216122e-03,  2.16840434e-19,
       -9.99984753e-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([ 0.13072852, -0.08201494,  0.13160134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29462174,   6.76876796,   2.71942762,   6.76876796,
        14.98012132, -19.12952669,   2.71942762, -19.12952669,
        54.90880576,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.729572229632797e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78646252e-01,  1.12511005e-01, -1.72025543e-01,  1.10812077e-01,
        9.93650479e-01,  1.94784456e-02,  1.73124803e-01, -3.46944695e-18,
       -9.84899895e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132906 , -0.05394864,  0.29658327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004793215050346564
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.12991595e-01, -9.07388093e-01, -2.80505098e-01, -9.14679440e-02,
       -2.65173010e-01,  9.59852536e-01, -9.45341143e-01,  3.26083001e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487388, -0.03609999,  0.30478076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004429099585124274
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50665627e-13, -3.52498538e-14,  1.00000000e+00, -8.83592670e-27,
        1.00000000e+00,  3.52498538e-14, -1.00000000e+00,  0.00000000e+00,
       -2.50665627e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05307596, -0.06106138,  0.06199005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25142380e-05,-2.93775233e-05,-1.18376993e-05, 2.46977623e-05,
 -2.67647507e-03, 2.44752454e-02, 1.10598221e-02, 1.49815995e-03,
 -1.50891989e-05,-3.08943783e-05,-2.23501068e-05, 1.76554828e-05,
  5.28951502e-02, 2.09094307e-02, 1.34264508e-02, 1.43257156e-04,
 -4.42497079e-06, 3.04980219e-06,-9.80999880e+00,-6.49525807e-02,
 -9.40202525e-03,-5.33305597e-03]


--- Step 1721 ---
qpos:
[ 0.00988814, 0.00808227,-0.00560671, 0.0334956 , 0.0061361 ,-0.01978171,
 -0.01705905, 0.03775888, 0.01300302, 0.00595306,-0.01170408, 0.03406248,
  0.81237527,-0.01515307, 1.14435212, 0.04613733, 0.09472754,-0.0636785 ,
  0.1425166 , 0.94279268,-0.03285652, 0.02854167, 0.33052651]

qacc:
[-1.80152478e+00, 1.25034614e+00,-6.39841266e+00, 1.28499800e+01,
  4.13715539e+00, 3.46139727e-01,-3.30629326e-01,-4.32148690e+00,
 -1.61809414e+00, 2.17262568e+00,-1.21957582e+01, 2.87663763e+01,
  9.51112478e-01, 1.51645046e+00, 6.81896353e+00,-1.21095324e+01,
 -1.35836038e-02,-1.46757003e-02, 6.14154188e-03, 5.43457313e-01,
 -4.26575126e-02, 1.53334375e+00]

qfrc_actuator:
[ 2.48864402e-05, 2.13801585e-04, 4.82468956e-05, 3.49902616e-05,
 -2.58274631e-03, 2.26815015e-02, 1.02401139e-02, 1.41060669e-03,
  5.78368955e-05, 6.26578618e-05,-1.27926306e-04, 4.27379040e-05,
  4.98688940e-02, 1.94452617e-02, 1.75265114e-03,-1.83555832e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24988562, -0.24538154,  0.04723053, -0.24538154,  0.29237323,
        0.22074015,  0.04723053,  0.22074015,  1.39671914,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038585868611786705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85779683e-01, -1.67954941e-01,  5.43632233e-03, -1.67952387e-01,
        9.85794673e-01,  9.26214373e-04, -5.51465988e-03, -1.08420217e-19,
       -9.99984794e-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([ 0.13073105, -0.08201553,  0.13160131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2955333 ,   6.54659848,   3.21975999,   6.54659848,
        19.37592224, -24.56253144,   3.21975999, -24.56253144,
        57.23746428,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.877223207039184e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97865385,  0.11245608, -0.17201826,  0.11075814,  0.9936567 ,
        0.01946799,  0.17311639,  0.        , -0.98490137])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329109, -0.05394898,  0.29658357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000478866980272557
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.31446311, -0.9070679 , -0.27989423, -0.09168082, -0.26445304,
        0.96003084, -0.94483204,  0.32755522,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487372, -0.03610064,  0.30478233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004422236098944224
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19670445e-06,  1.19670449e-06,  1.00000000e+00,  1.43210159e-12,
        1.00000000e+00, -1.19670449e-06, -1.00000000e+00,  0.00000000e+00,
       -1.19670445e-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([ 0.05349677, -0.06164954,  0.06199007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05492617e-05,-4.54062255e-05,-2.95666980e-05, 1.37732649e-05,
 -2.67052209e-03, 2.45133287e-02, 1.10949830e-02, 1.53441860e-03,
 -9.47181213e-06,-3.79037941e-05,-2.03983490e-05, 4.47560900e-05,
  5.25966903e-02, 2.07373641e-02, 1.30616329e-02, 8.26808965e-05,
 -6.25843853e-06, 4.14612386e-06,-9.80999832e+00,-6.49516416e-02,
 -9.40280583e-03,-5.33230142e-03]


--- Step 1722 ---
qpos:
[ 0.00988786, 0.0080819 ,-0.00560695, 0.0334953 , 0.00613827,-0.01980155,
 -0.01706897, 0.03775639, 0.01300446, 0.00595382,-0.01170481, 0.03406309,
  0.81238776,-0.01514413, 1.14432974, 0.04614048, 0.09472858,-0.06367711,
  0.14251704, 0.94278134,-0.03284528, 0.02854056, 0.33056009]

qacc:
[-4.20546605e+00, 1.35842032e+00,-4.23073126e+00, 2.30784355e+00,
 -6.02816209e-01,-1.77109698e-01, 2.21844782e-01,-5.26044039e+00,
  2.00264200e+00,-1.48029242e-01,-4.91500556e-01, 3.36596154e+00,
  8.76944606e-01, 1.36447005e+00, 6.35098916e+00,-1.34992640e+01,
 -1.25220871e-02,-1.30158951e-02, 2.96965358e-03, 4.32278229e-01,
 -6.53881683e-02, 1.21958136e+00]

qfrc_actuator:
[ 6.40296789e-07, 2.15299308e-04, 1.68065460e-05, 2.60675470e-05,
 -2.60297449e-03, 2.26867407e-02, 1.02392777e-02, 1.40187907e-03,
  6.97945684e-05, 7.01792062e-05,-1.16824506e-04, 5.21618285e-05,
  4.98749759e-02, 1.94285840e-02, 1.75965447e-03,-1.85885312e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24963613, -0.24527777,  0.04644364, -0.24527777,  0.28126872,
        0.16705779,  0.04644364,  0.16705779,  1.13190041,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003848490191677958
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85770270e-01, -1.68010389e-01,  5.42990151e-03, -1.68007840e-01,
        9.85785225e-01,  9.25434708e-04, -5.50819932e-03,  0.00000000e+00,
       -9.99984830e-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([ 0.13073365, -0.08201619,  0.1316013 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.043642934399332e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9786624 ,  0.11239566, -0.17200907,  0.11069885,  0.99366353,
        0.01945636,  0.17310595,  0.        , -0.98490321])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329163, -0.05394949,  0.29658391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004784436278210418
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.31609382, -0.90671216, -0.27920918, -0.09191159, -0.26364754,
        0.9602303 , -0.9442653 ,  0.32918542,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048735 , -0.03610156,  0.30478386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004414648030003199
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.33147123e-07, -2.33147250e-07,  1.00000000e+00,  5.43576104e-14,
        1.00000000e+00,  2.33147250e-07, -1.00000000e+00, -1.26217745e-29,
        2.33147123e-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([ 0.05349687, -0.06164912,  0.06199008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.45613329e-05,-2.94085248e-05,-4.39852824e-05,-1.16228891e-05,
 -2.71508273e-03, 2.45310571e-02, 1.11182601e-02, 1.54193498e-03,
  1.16763038e-05,-1.59939469e-05, 2.30810909e-06, 7.96439060e-06,
  5.24197916e-02, 2.06004183e-02, 1.27952949e-02, 3.84725491e-05,
 -7.62644182e-06, 4.93166385e-06,-9.80999803e+00,-6.49504959e-02,
 -9.40351319e-03,-5.33151283e-03]


--- Step 1723 ---
qpos:
[ 0.00988764, 0.00808166,-0.005608  , 0.03349488, 0.00613583,-0.01981442,
 -0.01707393, 0.03775676, 0.01300568, 0.00595471,-0.01170551, 0.03406308,
  0.81232881,-0.01517515, 1.14426383, 0.04615126, 0.09473046,-0.06367318,
  0.14251699, 0.94278746,-0.0328626 , 0.02853068, 0.33054177]

qacc:
[ 4.65941002e-01, 2.19472431e+00,-7.04663007e+00, 6.15217372e+00,
 -3.92496897e+01, 1.27934249e+00,-3.11113264e+00, 3.92854841e+01,
 -1.87595499e+00,-1.19079838e+00, 7.10486668e+00,-1.79226782e+01,
 -2.52607507e+01,-1.61575393e+01,-8.67829869e+01, 2.11440074e+02,
  2.11776532e-01, 6.34915140e-01,-1.24435886e-01,-1.38838159e+01,
  1.19005560e+00,-2.79010928e+01]

qfrc_actuator:
[ 4.24263235e-06, 2.34141543e-04,-1.93285292e-05, 2.09364941e-05,
 -2.63369076e-03, 2.26984908e-02, 1.02254512e-02, 1.41563406e-03,
  5.85055510e-05, 9.22366255e-05,-1.09932047e-04, 2.19683181e-05,
  4.98673437e-02, 1.94136886e-02, 1.75379080e-03,-1.98053945e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24936183, -0.24562521,  0.04300675, -0.24562521,  0.2755017 ,
        0.14929308,  0.04300675,  0.14929308,  1.10202203,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003837337772669762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85760098e-01, -1.68070179e-01,  5.42622888e-03, -1.68067632e-01,
        9.85775033e-01,  9.25147449e-04, -5.50453065e-03,  0.00000000e+00,
       -9.99984850e-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([ 0.13073638, -0.08201691,  0.13160131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29780768,  7.20935475, -1.13278462,  7.20935475,  8.74466159,
        9.20817859, -1.13278462,  9.20817859, 65.90120385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2230414363616614e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78671702e-01,  1.12330898e-01, -1.71998457e-01,  1.10635298e-01,
        9.93670856e-01,  1.94438039e-02,  1.73093994e-01, -3.46944695e-18,
       -9.84905310e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329218, -0.05395016,  0.29658426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.32499391,  1.27321813, -0.36677575,  1.27321813,  1.99687017,
        2.33233804, -0.36677575,  2.33233804,  9.42142634,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004780466359180766
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.17845557e-01, -9.06328059e-01, -2.78466608e-01, -9.21544596e-02,
       -2.62775964e-01,  9.60445911e-01, -9.43653410e-01,  3.30935405e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487321, -0.03610272,  0.30478536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.39165674, -6.31653141,  8.25154292, -6.31653141, 40.59035527,
       23.11701335,  8.25154292, 23.11701335, 28.08766127,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044220809111086834
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51063481e-13, -1.25531740e-13,  1.00000000e+00, -3.15164356e-26,
        1.00000000e+00,  1.25531740e-13, -1.00000000e+00,  0.00000000e+00,
       -2.51063481e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08705534, -0.10861601,  0.06199007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89606105e-06,-7.17766072e-06,-4.80202812e-05,-8.13620474e-06,
 -2.74229215e-03, 2.45994219e-02, 1.11430343e-02, 1.57621641e-03,
 -1.09613596e-05, 1.39200417e-05, 4.14793849e-06,-3.06456549e-05,
  5.22455894e-02, 2.04760920e-02, 1.25864888e-02,-7.74305124e-05,
 -8.81906918e-06, 5.61793952e-06,-9.80999775e+00,-6.49492237e-02,
 -9.40420077e-03,-5.33069120e-03]


--- Step 1724 ---
qpos:
[ 0.00988746, 0.00808122,-0.00560883, 0.03349438, 0.00613364,-0.01982448,
 -0.0170788 , 0.03775697, 0.01300642, 0.00595537,-0.01170569, 0.03406272,
  0.81228103,-0.01519964, 1.14418278, 0.04615107, 0.09473212,-0.06366997,
  0.14251708, 0.94279054,-0.03287408, 0.02852335, 0.33053246]

qacc:
[ 4.03707948e-01,-1.04381960e+00, 3.67905538e+00,-5.32641064e+00,
  2.00610987e+00, 3.14538134e+00,-5.12553818e+00, 8.60299718e-02,
 -4.28492630e+00,-2.41303166e+00, 9.66582276e+00,-1.63605155e+01,
  4.11991867e+00, 2.47970466e+00, 1.06489594e+01,-7.00008770e+01,
 -5.67927510e-02,-1.79056032e-01, 3.74274872e-02, 2.99082349e+00,
  1.33381443e-01, 4.87905496e+00]

qfrc_actuator:
[ 6.45890519e-06, 2.27702712e-04,-4.60081583e-06, 1.80972244e-05,
 -2.63062694e-03, 2.27242602e-02, 1.02161570e-02, 1.42202688e-03,
  3.36178398e-05, 6.95314037e-05,-8.77883632e-05, 4.22638954e-06,
  4.98580935e-02, 1.94056291e-02, 1.73901874e-03,-2.27546488e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24931976, -0.01554864,  0.24883445, -0.01554864,  0.83198324,
        0.03640825,  0.24883445,  0.03640825,  0.25159477,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038356224077214246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85767045e-01, -1.68030504e-01,  5.39285445e-03, -1.68027990e-01,
        9.85781796e-01,  9.19233907e-04, -5.47063709e-03,  1.08420217e-19,
       -9.99985036e-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([ 0.13073792, -0.08201642,  0.13160095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29551488,  3.08890875,  6.60932523,  3.08890875, 19.05049799,
       -5.49376357,  6.60932523, -5.49376357,  9.86305903,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.874295756028411e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78662110e-01,  1.12362461e-01, -1.72032418e-01,  1.10665697e-01,
        9.93667287e-01,  1.94531772e-02,  1.73128793e-01, -3.46944695e-18,
       -9.84899193e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329133, -0.05394731,  0.29658371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.32859407, -0.73073923,  1.10958658, -0.73073923,  6.69345657,
        3.5331317 ,  1.10958658,  3.5331317 ,  3.65540479,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048006062919259026
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.11326684e-01, -9.07717151e-01, -2.81292143e-01, -9.12585725e-02,
       -2.66077325e-01,  9.59622181e-01, -9.45910973e-01,  3.24426311e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487315, -0.03609655,  0.30478211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.3898014 , -5.94028458,  8.52414173, -5.94028458, 18.1316617 ,
        5.39513008,  8.52414173,  5.39513008, 14.14954743,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044205870711222213
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.72498033e-07,  8.72498245e-07,  1.00000000e+00,  7.61253002e-13,
        1.00000000e+00, -8.72498245e-07, -1.00000000e+00, -1.00974196e-28,
       -8.72498033e-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([ 0.0535018 , -0.06164538,  0.06199007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30045181e-06,-2.06971771e-05, 7.06515567e-06,-4.96294599e-06,
 -2.50873984e-03, 2.42771859e-02, 1.08855892e-02, 1.43996530e-03,
 -2.51912092e-05,-1.54015264e-05, 2.44690552e-05,-1.75980410e-05,
  5.58089648e-02, 2.24667401e-02, 1.47494002e-02,-7.53164038e-04,
 -5.37623515e-06, 1.64322883e-06,-9.80999751e+00,-6.49508906e-02,
 -9.40481462e-03,-5.33071223e-03]


--- Step 1725 ---
qpos:
[ 0.00988697, 0.00808058,-0.00560919, 0.03349348, 0.00613216,-0.01983436,
 -0.01708328, 0.0377571 , 0.0130065 , 0.00595558,-0.01170523, 0.03406286,
  0.81224528,-0.01521748, 1.14410163, 0.04614686, 0.09473362,-0.06366731,
  0.14251727, 0.94279066,-0.03288022, 0.02851775, 0.33053199]

qacc:
[-2.76320733e+00,-2.41159430e+00, 9.89048882e+00,-1.73558397e+01,
  6.13790935e+00,-1.03420931e+00, 4.31809854e+00,-6.37011467e+00,
 -5.67771251e+00,-1.40397732e+00, 2.02355414e+00, 5.92171995e+00,
  4.44681451e+00, 2.42014495e+00, 1.19273643e+01,-4.21697472e+01,
 -3.93599618e-02,-1.36445211e-01, 2.39126733e-02, 2.63173128e+00,
 -1.71468590e-01, 4.75419048e+00]

qfrc_actuator:
[-9.92017032e-06, 2.24140523e-04, 2.21949984e-05,-1.10723549e-06,
 -2.62805415e-03, 2.27420526e-02, 1.02302302e-02, 1.37262049e-03,
  9.32433711e-07, 3.80219903e-05,-5.69769739e-05, 2.94400608e-05,
  4.98536594e-02, 1.94244336e-02, 1.72856583e-03,-2.28599677e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038362578898648656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85770991e-01, -1.68008347e-01,  5.36183974e-03, -1.68005862e-01,
        9.85785573e-01,  9.13823308e-04, -5.43915420e-03,  1.08420217e-19,
       -9.99985208e-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([ 0.13073929, -0.08201613,  0.13160062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29415907,  7.25883135,  0.7170243 ,  7.25883135,  7.55328052,
       -2.62322904,  0.7170243 , -2.62322904, 33.85054929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.6523341673224573e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78656218e-01,  1.12377557e-01, -1.72056071e-01,  1.10680089e-01,
        9.93665580e-01,  1.94584993e-02,  1.73152895e-01, -3.46944695e-18,
       -9.84894956e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329086, -0.05394503,  0.29658341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048114874073817526
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.07550639e-01, -9.08489085e-01, -2.82949089e-01, -9.07288123e-02,
       -2.68008339e-01,  9.59134930e-01, -9.47196330e-01,  3.20654195e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487305, -0.03609175,  0.30478059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004429489322938934
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25321786e-13, -6.65771987e-14,  1.00000000e+00,  8.34357344e-27,
        1.00000000e+00,  6.65771987e-14, -1.00000000e+00,  0.00000000e+00,
        1.25321786e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05308511, -0.06105413,  0.06199005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63184829e-05,-1.38612126e-05, 2.32351288e-05,-1.99395980e-05,
 -2.51819720e-03, 2.41544839e-02, 1.08955870e-02, 1.39878113e-03,
 -3.34052334e-05,-3.58493990e-05, 3.00320134e-05, 2.50586950e-05,
  5.52454226e-02, 2.21599582e-02, 1.54980421e-02,-2.15320772e-04,
 -1.93826313e-06, 5.69418587e-07,-9.80999888e+00,-6.49526250e-02,
 -9.40440436e-03,-5.33068813e-03]


--- Step 1726 ---
qpos:
[ 0.00988663, 0.00808008,-0.00560962, 0.03349201, 0.00613156,-0.01984419,
 -0.01708745, 0.03775712, 0.01300585, 0.00595568,-0.01170475, 0.03406295,
  0.8122201 ,-0.01522952, 1.14402801, 0.04614244, 0.094735  ,-0.06366505,
  0.14251753, 0.94278827,-0.03288201, 0.02851346, 0.33053901]

qacc:
[ 1.33157260e+00,-7.89426927e-01, 5.50900798e+00,-1.54327128e+01,
  7.54828393e+00,-1.01685633e+00, 4.13583194e+00,-6.43554965e+00,
 -6.48678156e+00,-2.54261331e-01, 9.12924247e-01,-1.65558757e+00,
  3.82253498e+00, 2.19308554e+00, 1.16739992e+01,-2.48721518e+01,
 -2.96902257e-02,-1.02173156e-01, 1.85109315e-02, 2.11932574e+00,
 -1.85262012e-01, 4.03453735e+00]

qfrc_actuator:
[-1.60731234e-06, 2.40133491e-04, 2.03755979e-05,-2.97862522e-05,
 -2.64410344e-03, 2.27388261e-02, 1.02402315e-02, 1.36072345e-03,
 -3.60764049e-05, 3.70637193e-05,-5.68246857e-05, 2.64585423e-05,
  4.98622880e-02, 1.95098601e-02, 1.71989455e-03,-2.19945210e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24936443, -0.24896683,  0.01407606, -0.24896683,  0.25706559,
        0.13621245,  0.01407606,  0.13621245,  2.65858895,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038374434378433237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85772019e-01, -1.68003203e-01,  5.33380760e-03, -1.68000744e-01,
        9.85786449e-01,  9.09017121e-04, -5.41071305e-03,  0.00000000e+00,
       -9.99985362e-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([ 0.1307407 , -0.08201604,  0.13160031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29346472,  7.22917831,  0.96623422,  7.22917831,  7.82876227,
       -4.00499319,  0.96623422, -4.00499319, 37.25805213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.533235873636609e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78653667e-01,  1.12376453e-01, -1.72071303e-01,  1.10678699e-01,
        9.93665705e-01,  1.94600282e-02,  1.73168202e-01,  3.46944695e-18,
       -9.84892265e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329068, -0.05394336,  0.29658328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004815833867105412
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.05646874e-01, -9.08863239e-01, -2.83809092e-01, -9.04652187e-02,
       -2.69004916e-01,  9.58880806e-01, -9.47837556e-01,  3.18753772e-01,
       -2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487295, -0.03608831,  0.30478031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044339417234516565
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25195942e-13,  2.73866124e-14,  1.00000000e+00,  3.42869274e-27,
        1.00000000e+00, -2.73866124e-14, -1.00000000e+00,  0.00000000e+00,
       -1.25195942e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05308797, -0.06105208,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.84556826e-06, 1.22121051e-05,-2.49590461e-06,-2.88521371e-05,
 -2.57020572e-03, 2.41431202e-02, 1.08862320e-02, 1.39074786e-03,
 -3.79719773e-05,-1.37527339e-05,-2.69348859e-06,-2.99142726e-06,
  5.46527328e-02, 2.19123012e-02, 1.54955616e-02, 7.29649566e-05,
 -3.99154109e-07, 2.07483049e-07,-9.80999958e+00,-6.49536377e-02,
 -9.40438867e-03,-5.33050131e-03]


--- Step 1727 ---
qpos:
[ 0.00988639, 0.00807988,-0.00561017, 0.03349019, 0.00613159,-0.01985436,
 -0.01709197, 0.03775685, 0.01300476, 0.0059558 ,-0.01170458, 0.03406267,
  0.81220442,-0.01523635, 1.14396061, 0.04613731, 0.09473629,-0.06366311,
  0.14251785, 0.94278372,-0.03288019, 0.02851015, 0.33055245]

qacc:
[ 8.86426922e-01, 1.43415641e-03, 2.04251522e+00,-8.12348316e+00,
  5.27294870e+00,-1.19030048e-01, 1.03827653e+00,-5.43854822e+00,
 -3.87047582e+00, 1.62421644e-01, 1.07003507e+00,-7.09403559e+00,
  3.43938173e+00, 1.97866226e+00, 1.12508063e+01,-2.62089763e+01,
 -2.24543065e-02,-7.80437819e-02, 1.32788311e-02, 1.73416149e+00,
 -2.15176632e-01, 3.44578153e+00]

qfrc_actuator:
[ 3.42556094e-06, 2.67596317e-04, 1.95010604e-05,-4.60599724e-05,
 -2.63627397e-03, 2.27407936e-02, 1.02477184e-02, 1.37139027e-03,
 -5.75782009e-05, 3.65139740e-05,-7.46850421e-05, 6.90575651e-06,
  4.98837792e-02, 1.95269539e-02, 1.69563192e-03,-2.25214657e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24940812, -0.24324287,  0.05511186, -0.24324287,  0.33462345,
        0.37610814,  0.05511186,  0.37610814,  1.90940682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038392235166243385
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85770587e-01, -1.68012438e-01,  5.30763937e-03, -1.68010003e-01,
        9.85784875e-01,  9.04608554e-04, -5.38417610e-03, -1.08420217e-19,
       -9.99985505e-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([ 0.13074215, -0.08201611,  0.13160003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29325064,  7.17060455,  1.33189164,  7.17060455,  8.49674856,
       -6.47936165,  1.33189164, -6.47936165, 42.17667409,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.495693870116501e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78653885e-01,  1.12361516e-01, -1.72079815e-01,  1.10663825e-01,
        9.93667394e-01,  1.94583710e-02,  1.73176473e-01,  3.46944695e-18,
       -9.84890811e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329072, -0.05394221,  0.2965833 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004816081453033256
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.30500383, -0.90897895, -0.28413013, -0.09038597, -0.2693702 ,
        0.95878573, -0.94805224,  0.31811469,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487286, -0.03608601,  0.30478082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044349481682467995
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.29079016e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.29079016e-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([ 0.05309005, -0.06105048,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.26427657e-06, 3.25702560e-05, 3.56586670e-07,-1.63932023e-05,
 -2.60661513e-03, 2.41429967e-02, 1.08785959e-02, 1.40665677e-03,
 -2.25848806e-05,-8.94957996e-06,-2.11424902e-05,-2.02935981e-05,
  5.41462379e-02, 2.16400139e-02, 1.50960674e-02, 3.11276837e-05,
 -3.71756029e-07, 4.68828947e-07,-9.80999974e+00,-6.49540858e-02,
 -9.40470158e-03,-5.33017579e-03]


--- Step 1728 ---
qpos:
[ 0.00988587, 0.0080801 ,-0.00561083, 0.03348851, 0.00613212,-0.01986643,
 -0.01709651, 0.03775637, 0.01300273, 0.00595615,-0.01170448, 0.03406212,
  0.81219726,-0.01523855, 1.14389939, 0.0461316 , 0.0947375 ,-0.0636614 ,
  0.1425182 , 0.94277736,-0.0328754 , 0.02850753, 0.33057129]

qacc:
[-2.49206504e+00, 1.19226159e+00,-4.05641247e+00, 6.48242787e+00,
  4.29962760e+00,-2.85894670e+00, 7.39082233e+00,-9.45225285e+00,
 -8.27083236e+00,-9.38966532e-02, 1.95314855e+00,-6.82556833e+00,
  3.08161899e+00, 1.74597201e+00, 1.07993250e+01,-2.46721971e+01,
 -1.77309858e-02,-6.00821552e-02, 8.92610479e-03, 1.40876722e+00,
 -2.26034056e-01, 2.90005444e+00]

qfrc_actuator:
[-1.12728359e-05, 3.01726969e-04, 1.92658464e-05,-3.71329706e-05,
 -2.63195837e-03, 2.27284882e-02, 1.02897256e-02, 1.36032858e-03,
 -1.05284862e-04, 7.16242399e-05,-6.75209790e-05,-4.48849373e-06,
  4.98967247e-02, 1.94835574e-02, 1.67783960e-03,-2.28128182e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24945356, -0.24323382,  0.05535692, -0.24323382,  0.32445576,
        0.32955356,  0.05535692,  0.32955356,  1.69748511,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003841073339689242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85767053e-01, -1.68033932e-01,  5.28349835e-03, -1.68031518e-01,
        9.85781212e-01,  9.00612622e-04, -5.35970689e-03,  1.08420217e-19,
       -9.99985637e-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([ 0.13074371, -0.08201633,  0.13159977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29340528,  7.09186005,  1.7027277 ,  7.09186005,  9.56743525,
       -9.47133375,  1.7027277 , -9.47133375, 46.74150578,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.522852529340099e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78656409e-01,  1.12334717e-01, -1.72082956e-01,  1.10637379e-01,
        9.93670424e-01,  1.94540259e-02,  1.73179106e-01,  3.46944695e-18,
       -9.84890348e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329092, -0.05394152,  0.29658342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048134228975699195
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.05363866e-01, -9.08891800e-01, -2.84022190e-01, -9.04552694e-02,
       -2.69233075e-01,  9.58817707e-01, -9.47929720e-01,  3.18479586e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487273, -0.03608465,  0.30478189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044332685210499156
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.75644861e-13,  2.73907711e-14,  1.00000000e+00,  1.02892024e-26,
        1.00000000e+00, -2.73907711e-14, -1.00000000e+00,  0.00000000e+00,
       -3.75644861e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05309151, -0.06104923,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45348271e-05, 5.17356918e-05, 5.98222368e-06, 1.00215357e-05,
 -2.63326690e-03, 2.41477811e-02, 1.09377902e-02, 1.41067755e-03,
 -4.83495530e-05, 2.48517039e-05, 2.00627793e-06,-1.29035159e-05,
  5.36835801e-02, 2.13360633e-02, 1.47690079e-02, 3.79654485e-05,
 -1.24811902e-06, 1.10992075e-06,-9.80999958e+00,-6.49540730e-02,
 -9.40522429e-03,-5.32972196e-03]


--- Step 1729 ---
qpos:
[ 0.00988552, 0.00808066,-0.00561118, 0.03348659, 0.00613296,-0.01988049,
 -0.01710146, 0.03775556, 0.01300049, 0.00595659,-0.0117043 , 0.03406178,
  0.81219766,-0.01523664, 1.14384586, 0.04612626, 0.09473867,-0.06365988,
  0.14251857, 0.94276943,-0.03286816, 0.02850538, 0.33059482]

qacc:
[ 1.52133557e+00,-9.55902920e-01, 5.07123934e+00,-1.00453482e+01,
  2.67818756e+00,-2.17782112e+00, 5.33168619e+00,-8.92486957e+00,
 -1.85576662e+00, 3.49180801e-01,-1.96980810e+00, 5.53279893e+00,
  2.69509208e+00, 1.60373295e+00, 1.01661572e+01,-1.91919832e+01,
 -1.41616545e-02,-4.35649810e-02, 5.47507944e-03, 1.14243356e+00,
 -2.36878647e-01, 2.51564821e+00]

qfrc_actuator:
[-1.96074156e-06, 3.21862598e-04, 3.72124581e-05,-4.89486215e-05,
 -2.62988046e-03, 2.27270744e-02, 1.03167650e-02, 1.35400566e-03,
 -1.14780158e-04, 7.46660155e-05,-6.32281641e-05, 6.81537040e-06,
  4.98936382e-02, 1.94733732e-02, 1.71696630e-03,-2.24287671e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24946811, -0.24334   ,  0.05495433, -0.24334   ,  0.30954799,
        0.26603615,  0.05495433,  0.26603615,  1.42748693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000384166521170522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85761731e-01, -1.68065789e-01,  5.26318556e-03, -1.68063393e-01,
        9.85775781e-01,  8.97325183e-04, -5.33913052e-03, -1.08420217e-19,
       -9.99985747e-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([ 0.13074547, -0.08201668,  0.13159957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29385457,   6.98793475,   2.09023502,   6.98793475,
        11.20298149, -13.06873324,   2.09023502, -13.06873324,
        50.98437464,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.600592677643406e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97866083,  0.1122979 , -0.17208184,  0.11060116,  0.99367458,
        0.01944744,  0.17317726,  0.        , -0.98489067])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329125, -0.05394125,  0.29658362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048088561832609975
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.30648688, -0.90865004, -0.28358577, -0.09063622, -0.26871168,
        0.95894688, -0.94754993,  0.31960778,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487252, -0.03608408,  0.30478333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044295308134177647
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25320612e-13, -3.52464221e-14,  1.00000000e+00, -4.41710319e-27,
        1.00000000e+00,  3.52464221e-14, -1.00000000e+00,  0.00000000e+00,
       -1.25320612e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05309249, -0.06104827,  0.06199005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.91568852e-06, 5.07317873e-05, 2.97269306e-05,-9.19124188e-06,
 -2.65623804e-03, 2.42419983e-02, 1.09664978e-02, 1.41458447e-03,
 -1.08593935e-05, 1.67646081e-05, 9.22272944e-06, 1.21889854e-05,
  5.32546801e-02, 2.10942814e-02, 1.45001588e-02, 1.05401487e-04,
 -2.61211439e-06, 1.95564816e-06,-9.80999924e+00,-6.49536843e-02,
 -9.40587918e-03,-5.32915173e-03]


--- Step 1730 ---
qpos:
[ 0.00988528, 0.00808134,-0.00561122, 0.03348492, 0.00613403,-0.01989602,
 -0.01710745, 0.03775423, 0.01299884, 0.00595687,-0.01170367, 0.03406193,
  0.81220447,-0.01523116, 1.14380396, 0.0461236 , 0.09473978,-0.06365845,
  0.14251896, 0.94276005,-0.03285891, 0.02850353, 0.33062264]

qacc:
[ 1.01079109e+00,-1.72002664e-01,-1.71111174e-01, 3.83742460e+00,
  2.02122497e+00,-1.14092926e-01,-2.01906092e-01,-6.11066872e+00,
  5.23546833e+00,-4.51561827e-01,-8.04134978e-01, 8.76206331e+00,
  2.15190332e+00, 1.58621026e+00, 9.05334634e+00,-6.82500044e+00,
 -1.13789038e-02,-2.54146833e-02, 3.20744086e-03, 9.08135534e-01,
 -2.39626694e-01, 2.29560828e+00]

qfrc_actuator:
[ 3.66246239e-06, 3.15770067e-04, 4.79279778e-05,-3.73714881e-05,
 -2.62915648e-03, 2.27330463e-02, 1.03174614e-02, 1.36848706e-03,
 -8.39487002e-05, 5.85006928e-05,-4.30246569e-05, 3.13543618e-05,
  4.98753863e-02, 1.94817844e-02, 1.72065070e-03,-2.05815265e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24944742, -0.24391123,  0.05226209, -0.24391123,  0.29491148,
        0.2121843 ,  0.05226209,  0.2121843 ,  1.23972808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003840823566161579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85754857e-01, -1.68106619e-01,  5.24656612e-03, -1.68104238e-01,
        9.85768819e-01,  8.94715346e-04, -5.32230886e-03, -1.08420217e-19,
       -9.99985836e-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([ 0.13074745, -0.08201714,  0.13159941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29454623,   6.84017385,   2.53425067,   6.84017385,
        13.82515883, -17.62671941,   2.53425067, -17.62671941,
        54.87067067,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.717078178663386e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97866684,  0.11225235, -0.17207738,  0.1105564 ,  0.99367973,
        0.01943895,  0.17317187,  0.        , -0.98489162])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329166, -0.05394134,  0.29658388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004803290945430109
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.30811668, -0.9083042 , -0.28292684, -0.09088803, -0.26793089,
        0.95914149, -0.94699708,  0.32124215,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487224, -0.03608417,  0.30478497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004424238386694368
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.88143085e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.88143085e-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([ 0.05309308, -0.06104753,  0.06199006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.89307752e-06, 2.80161837e-05, 2.45400656e-05, 1.46042274e-05,
 -2.67110917e-03, 2.43481592e-02, 1.09878177e-02, 1.44564595e-03,
  3.05292833e-05,-4.39154470e-06, 2.52156086e-05, 2.58130914e-05,
  5.28584228e-02, 2.08970672e-02, 1.41202354e-02, 2.71571435e-04,
 -4.23955897e-06, 2.92553277e-06,-9.80999880e+00,-6.49529910e-02,
 -9.40661945e-03,-5.32847480e-03]


--- Step 1731 ---
qpos:
[ 0.00988477, 0.008082  ,-0.00561133, 0.03348414, 0.00613532,-0.0199129 ,
 -0.01711413, 0.03775251, 0.01299792, 0.00595688,-0.01170215, 0.03406236,
  0.81221456,-0.0152236 , 1.14377637, 0.04612562, 0.09474085,-0.06365706,
  0.14251937, 0.94274965,-0.0328486 , 0.02850209, 0.33065343]

qacc:
[-2.41823287e+00, 1.98338832e+00,-1.08861518e+01, 2.64180242e+01,
  1.80861411e+00,-6.78805239e-01, 1.43848913e+00,-6.00605207e+00,
  6.42937755e+00,-2.30351294e+00, 6.50623649e+00,-2.94490851e+00,
  7.49207886e-01, 1.45881073e+00, 7.01234079e+00, 6.20519606e+00,
 -1.30192168e-02,-9.04872399e-03, 7.05875836e-03, 5.10260529e-01,
 -1.75593206e-02, 1.58885643e+00]

qfrc_actuator:
[-1.06909023e-05, 2.94006943e-04, 3.64385582e-05, 5.60196180e-06,
 -2.62929582e-03, 2.27614735e-02, 1.03386522e-02, 1.37802353e-03,
 -4.73937938e-05, 4.87885601e-05, 4.08581684e-06, 4.57202083e-05,
  4.98585181e-02, 1.94647526e-02, 1.71309090e-03,-1.78808175e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24940021, -0.24420834,  0.05062365, -0.24420834,  0.29192541,
        0.20514142,  0.05062365,  0.20514142,  1.2390018 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038389014316433413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85746583e-01, -1.68155566e-01,  5.23258627e-03, -1.68153197e-01,
        9.85760471e-01,  8.92598690e-04, -5.30817214e-03,  0.00000000e+00,
       -9.99985912e-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([ 0.13074963, -0.0820177 ,  0.13159929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29543707,   6.59229417,   3.12490952,   6.59229417,
        18.71450171, -24.08960412,   3.12490952, -24.08960412,
        58.11475062,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.861904480637453e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97867424,  0.11219871, -0.17207029,  0.11050373,  0.99368579,
        0.01942874,  0.17316368,  0.        , -0.98489306])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329213, -0.05394173,  0.29658417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004797704564631175
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.09928292e-01, -9.07920226e-01, -2.82179583e-01, -9.11600341e-02,
       -2.67048994e-01,  9.59361602e-01, -9.46379576e-01,  3.23056803e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487192, -0.03608483,  0.30478667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004417669004331326
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92580020e-07,  9.92579878e-07,  1.00000000e+00,  9.85214955e-13,
        1.00000000e+00, -9.92579878e-07, -1.00000000e+00, -2.01948392e-28,
       -9.92580020e-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([ 0.05351393, -0.0616354 ,  0.06199008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41790979e-05,-4.19235741e-07,-2.17830692e-06, 4.53093835e-05,
 -2.68315417e-03, 2.44505575e-02, 1.10612500e-02, 1.48141117e-03,
  3.74206171e-05,-5.86559008e-06, 5.01883703e-05, 1.55484968e-05,
  5.25211719e-02, 2.07018271e-02, 1.35324557e-02, 4.08320810e-04,
 -6.04614905e-06, 4.00508252e-06,-9.80999831e+00,-6.49520538e-02,
 -9.40741781e-03,-5.32770210e-03]


--- Step 1732 ---
qpos:
[ 0.00988444, 0.0080825 ,-0.00561117, 0.03348318, 0.00613698,-0.01993021,
 -0.01712157, 0.03775036, 0.01299675, 0.00595709,-0.0117002 , 0.03406259,
  0.81222775,-0.01521395, 1.14375541, 0.04612884, 0.09474187,-0.06365569,
  0.1425198 , 0.94273837,-0.03283735, 0.0285009 , 0.33068681]

qacc:
[ 1.56362644e+00,-1.31808042e+00, 5.15826043e+00,-8.54529288e+00,
  3.09060834e+00, 7.02759275e-01,-1.51428563e+00,-4.33518639e+00,
 -2.14242316e+00,-1.32893603e+00, 6.00312733e+00,-1.03909971e+01,
  7.39510567e-01, 1.40201960e+00, 6.14325102e+00,-7.25792663e+00,
 -1.13097079e-02,-6.87520414e-03, 3.46985643e-03, 4.31619501e-01,
 -6.99161619e-02, 1.38177068e+00]

qfrc_actuator:
[-1.18087681e-06, 2.80707353e-04, 4.73819762e-05,-4.34048398e-06,
 -2.61226976e-03, 2.28038507e-02, 1.03366940e-02, 1.38466408e-03,
 -6.10339655e-05, 7.86271075e-05, 3.12070711e-05, 3.62498220e-05,
  4.98531825e-02, 1.94857552e-02, 1.73007845e-03,-1.82493180e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24932674, -0.24447659,  0.04893891, -0.24447659,  0.29090737,
        0.207718  ,  0.04893891,  0.207718  ,  1.2869917 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038359068145144275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85737336e-01, -1.68210108e-01,  5.22158853e-03, -1.68207748e-01,
        9.85751165e-01,  8.91019965e-04, -5.29706554e-03,  0.00000000e+00,
       -9.99985970e-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([ 0.13075198, -0.08201833,  0.13159921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.0250926792165753e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97868262,  0.11213934, -0.1720613 ,  0.11044545,  0.99369249,
        0.01941731,  0.17315347,  0.        , -0.98489486])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329264, -0.05394229,  0.2965845 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004793296752436768
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.311614  , -0.90756215, -0.28147407, -0.09140695, -0.26621875,
        0.95956883, -0.94580203,  0.32474377,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487165, -0.0360858 ,  0.3047882 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044103135668760094
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.30671478e-07, -4.30671640e-07,  1.00000000e+00,  1.85477992e-13,
        1.00000000e+00,  4.30671640e-07, -1.00000000e+00,  0.00000000e+00,
        4.30671478e-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([ 0.05351403, -0.06163497,  0.06199009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.10230256e-06,-1.20664176e-05, 1.21526657e-05,-9.15272126e-06,
 -2.67673309e-03, 2.45614736e-02, 1.10937502e-02, 1.50736632e-03,
 -1.25795655e-05, 3.75828203e-05, 3.26080125e-05,-7.68879547e-06,
  5.23518319e-02, 2.06179541e-02, 1.28341883e-02, 1.37650836e-04,
 -7.41934293e-06, 4.79978259e-06,-9.80999803e+00,-6.49509133e-02,
 -9.40813077e-03,-5.32690346e-03]


--- Step 1733 ---
qpos:
[ 0.00988457, 0.00808272,-0.00561079, 0.03348213, 0.00613414,-0.01994009,
 -0.0171244 , 0.03775096, 0.01299508, 0.00595791,-0.01169866, 0.03406236,
  0.81216963,-0.01524417, 1.143691  , 0.04614044, 0.09474369,-0.06365176,
  0.14251972, 0.9427445 ,-0.03285485, 0.0284908 , 0.33066848]

qacc:
[ 4.06112678e+00,-1.17924940e+00, 4.02484551e+00,-5.70703372e+00,
 -3.82605970e+01, 2.65616371e+00,-6.70961847e+00, 4.12982784e+01,
 -4.41399230e+00, 9.89210087e-01,-4.20284241e-01,-7.29844887e+00,
 -2.51675208e+01,-1.61771526e+01,-8.89173607e+01, 2.19092904e+02,
  2.00686405e-01, 6.41818920e-01,-1.26272232e-01,-1.39996380e+01,
  1.15410873e+00,-2.78074525e+01]

qfrc_actuator:
[ 2.23049587e-05, 2.54861994e-04, 5.37224568e-05,-9.81540772e-06,
 -2.60293454e-03, 2.28542018e-02, 1.03212023e-02, 1.40751572e-03,
 -8.63575298e-05, 1.14076555e-04, 1.09438302e-05, 1.28484127e-05,
  4.98599904e-02, 1.95110031e-02, 1.69806131e-03,-1.93782059e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24925178, -0.24526272,  0.04441451, -0.24526272,  0.28214707,
        0.18165212,  0.04441451,  0.18165212,  1.25235852,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038328475881987983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85727252e-01, -1.68269492e-01,  5.21174509e-03, -1.68267140e-01,
        9.85741030e-01,  8.89663379e-04, -5.28713417e-03,  0.00000000e+00,
       -9.99986023e-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([ 0.13075442, -0.08201902,  0.13159914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29765892,  7.15635179, -1.42914475,  7.15635179,  9.65069674,
       11.78268778, -1.42914475, 11.78268778, 66.29872142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2012980847837735e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97869183,  0.11207498, -0.17205085,  0.1103823 ,  0.99369975,
        0.01940485,  0.17314169,  0.        , -0.98489693])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329318, -0.05394299,  0.29658483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.32659081,  1.28028218, -0.34744885,  1.28028218,  1.91796447,
        2.17909822, -0.34744885,  2.17909822,  9.35614863,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047894225840482656
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.13318010e-01, -9.07198608e-01, -2.80753469e-01, -9.16513429e-02,
       -2.65372459e-01,  9.59779917e-01, -9.45215243e-01,  3.26447766e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487134, -0.03608701,  0.30478967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.38861662, -6.30737227,  8.25472048, -6.30737227, 39.67808009,
       22.37986739,  8.25472048, 22.37986739, 27.48891156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044196326160891863
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51202559e-13, -1.25601280e-13,  1.00000000e+00, -3.15513629e-26,
        1.00000000e+00,  1.25601280e-13, -1.00000000e+00,  0.00000000e+00,
       -2.51202559e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08708546, -0.10859314,  0.06199007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37392681e-05,-3.04886929e-05, 5.02243129e-06,-5.74930734e-06,
 -2.68563346e-03, 2.46334459e-02, 1.11168485e-02, 1.55163344e-03,
 -2.56663140e-05, 6.28329729e-05,-8.77620916e-06,-2.08173167e-05,
  5.22036519e-02, 2.05390466e-02, 1.24710660e-02,-3.56204198e-05,
 -8.73471494e-06, 5.57170439e-06,-9.80999774e+00,-6.49496521e-02,
 -9.40883790e-03,-5.32607218e-03]


--- Step 1734 ---
qpos:
[ 0.00988463, 0.00808257,-0.00561058, 0.03348175, 0.00613194,-0.0199477 ,
 -0.01712752, 0.03775131, 0.01299416, 0.00595903,-0.01169784, 0.03406225,
  0.81212207,-0.01526804, 1.14361931, 0.04614525, 0.0947453 ,-0.06364849,
  0.1425198 , 0.94274731,-0.03286645, 0.02848325, 0.33065995]

qacc:
[-5.62131075e-01, 1.36087641e+00,-8.41925352e+00, 2.06150107e+01,
  5.41290294e+00, 3.27755590e+00,-6.28230111e+00, 7.12727890e-01,
  6.52127812e+00, 2.67161415e+00,-9.51707432e+00, 1.27125192e+01,
  3.67077248e+00, 2.76506236e+00, 9.65892228e+00,-4.96137691e+01,
 -5.23324646e-02,-1.64260174e-01, 3.89417679e-02, 3.00761143e+00,
  1.19548380e-01, 5.29477897e+00]

qfrc_actuator:
[ 1.83157136e-05, 2.21684665e-04, 3.94920960e-05, 2.28789881e-05,
 -2.59350178e-03, 2.28661576e-02, 1.03102734e-02, 1.41933690e-03,
 -4.73282134e-05, 9.91484151e-05,-3.70978825e-05, 1.69263561e-05,
  4.98753445e-02, 1.95089010e-02, 1.71014430e-03,-1.92644976e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24933635, -0.01593678,  0.24882651, -0.01593678,  0.83441153,
        0.03747275,  0.24882651,  0.03747275,  0.25173639,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038362986553115345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85734245e-01, -1.68229753e-01,  5.17189295e-03, -1.68227437e-01,
        9.85747813e-01,  8.82645907e-04, -5.24666947e-03,  1.08420217e-19,
       -9.99986236e-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([ 0.13075564, -0.08201852,  0.1315987 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29528773,  3.22004176,  6.54618623,  3.22004176, 18.58078048,
       -5.5512869 ,  6.54618623, -5.5512869 , 10.02594265,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.838010184708637e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78682154e-01,  1.12106512e-01, -1.72085362e-01,  1.10412662e-01,
        9.93696196e-01,  1.94142734e-02,  1.73177036e-01,  3.46944695e-18,
       -9.84890712e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329228, -0.05394016,  0.29658426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.3303272 , -0.72109818,  1.11793912, -0.72109818,  6.86952236,
        3.5729169 ,  1.11793912,  3.5729169 ,  3.63494634,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048102359538925116
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.06561391e-01, -9.08600192e-01, -2.83664952e-01, -9.06857807e-02,
       -2.68778523e-01,  9.58923456e-01, -9.47521083e-01,  3.19693286e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487125, -0.03608088,  0.30478635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.38519779, -5.93946321,  8.51910265, -5.93946321, 18.1792251 ,
        5.43394538,  8.51910265,  5.43394538, 14.17370932,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044168761349187445
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.09950510e-07,  7.09950559e-07,  1.00000000e+00,  5.04029761e-13,
        1.00000000e+00, -7.09950559e-07, -1.00000000e+00,  0.00000000e+00,
       -7.09950510e-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([ 0.05351897, -0.06163125,  0.06199008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.32438526e-06,-4.94379381e-05,-2.01143228e-05, 3.14497770e-05,
 -2.45153971e-03, 2.42746141e-02, 1.08755596e-02, 1.42607122e-03,
  3.83270387e-05, 1.74419445e-05,-3.68919371e-05, 6.05773640e-06,
  5.57849525e-02, 2.25308831e-02, 1.46561966e-02,-4.42513067e-04,
 -5.45369924e-06, 1.64881709e-06,-9.80999746e+00,-6.49513355e-02,
 -9.40949574e-03,-5.32607986e-03]


--- Step 1735 ---
qpos:
[ 0.00988465, 0.0080822 ,-0.0056106 , 0.0334814 , 0.00613071,-0.01995503,
 -0.01713075, 0.03775145, 0.01299406, 0.00596004,-0.01169689, 0.03406254,
  0.81208619,-0.01528528, 1.14354744, 0.04614632, 0.09474677,-0.06364574,
  0.14251998, 0.94274705,-0.03287265, 0.02847746, 0.33066058]

qacc:
[-4.26585025e-01, 4.08684493e-01,-1.96823544e+00, 2.98406801e+00,
  8.23958141e+00, 2.30295069e-01, 5.94852659e-01,-4.31869984e+00,
  7.21766535e+00, 3.06128056e-01,-2.96248221e+00, 9.60842397e+00,
  4.21393702e+00, 2.58691430e+00, 1.09301611e+01,-3.88427874e+01,
 -3.60723172e-02,-1.30801212e-01, 2.48038605e-02, 2.65477199e+00,
 -1.75533109e-01, 4.93011511e+00]

qfrc_actuator:
[ 1.59351726e-05, 2.19822225e-04, 3.09729431e-05, 2.44899962e-05,
 -2.60509993e-03, 2.28572600e-02, 1.02873852e-02, 1.37318383e-03,
 -6.23655698e-06, 8.95631963e-05,-3.03124325e-05, 3.70888767e-05,
  4.98750464e-02, 1.95133768e-02, 1.76830070e-03,-2.02399756e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003842025547085684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85737998e-01, -1.68208902e-01,  5.13460318e-03, -1.68206620e-01,
        9.85751371e-01,  8.76170184e-04, -5.20882175e-03,  2.16840434e-19,
       -9.99986434e-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([ 0.13075676, -0.08201823,  0.13159827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29386798,  7.25826776,  0.71976324,  7.25826776,  7.55840543,
       -2.66766008,  0.71976324, -2.66766008, 34.19520173,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.602886705963914e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97867638,  0.11211998, -0.17210942,  0.11042544,  0.99369468,
        0.01941935,  0.17320151,  0.        , -0.98488641])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329176, -0.05393789,  0.29658392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004822467235310962
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.02266518e-01, -9.09455875e-01, -2.85525766e-01, -9.00537225e-02,
       -2.70952561e-01,  9.58371033e-01, -9.48960104e-01,  3.15396133e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487121, -0.03607614,  0.30478466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004426071009701049
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.21499243e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.21499243e-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([ 0.05310225, -0.0610403 ,  0.06199006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49264264e-06,-3.23129337e-05,-2.01201889e-05,-5.90474857e-07,
 -2.49518111e-03, 2.41525078e-02, 1.08672742e-02, 1.39259090e-03,
  4.21927744e-05,-7.23189780e-06, 6.02890890e-06, 1.97455680e-05,
  5.52560691e-02, 2.22181793e-02, 1.50802328e-02,-2.00577371e-04,
 -1.85703119e-06, 5.59991583e-07,-9.80999885e+00,-6.49530998e-02,
 -9.40905718e-03,-5.32604266e-03]


--- Step 1736 ---
qpos:
[ 0.00988463, 0.00808203,-0.00561089, 0.03348069, 0.00613037,-0.01996275,
 -0.01713383, 0.03775143, 0.01299446, 0.00596112,-0.01169593, 0.03406305,
  0.81206103,-0.01529659, 1.14347531, 0.04614347, 0.09474813,-0.06364342,
  0.14252023, 0.94274433,-0.03287442, 0.02847301, 0.33066854]

qacc:
[-2.66725989e-01, 2.85032644e-01, 8.93782083e-01,-6.95266756e+00,
  7.57858184e+00,-1.27011084e+00, 4.37500331e+00,-6.83859487e+00,
  4.34069052e+00, 4.96294477e-01,-2.61911680e+00, 6.46425973e+00,
  3.96097930e+00, 2.15346070e+00, 1.13892433e+01,-4.06214137e+01,
 -2.77049541e-02,-1.08061217e-01, 1.83485758e-02, 2.16439672e+00,
 -1.86439638e-01, 3.94931286e+00]

qfrc_actuator:
[ 1.45295348e-05, 2.54474768e-04, 2.59972987e-05, 7.82476106e-06,
 -2.62990027e-03, 2.28724400e-02, 1.02927686e-02, 1.32781547e-03,
  1.79666940e-05, 1.01222672e-04,-2.66918279e-05, 4.88378696e-05,
  4.98702035e-02, 1.95544882e-02, 1.76318515e-03,-2.22273601e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24964373, -0.24924613,  0.01408402, -0.24924613,  0.25721733,
        0.13403079,  0.01408402,  0.13403079,  2.62159906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038487984786894245
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85738737e-01, -1.68205623e-01,  5.10004526e-03, -1.68203371e-01,
        9.85751931e-01,  8.70255753e-04, -5.17376137e-03,  0.00000000e+00,
       -9.99986616e-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([ 0.13075794, -0.08201814,  0.13159788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29311986,  7.23233107,  0.93967261,  7.23233107,  7.79739542,
       -3.88123241,  0.93967261, -3.88123241, 37.16560681,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.472558781285907e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97867404,  0.11211658, -0.17212494,  0.11042179,  0.99369506,
        0.01942051,  0.17321707,  0.        , -0.98488367])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329154, -0.0539362 ,  0.29658377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000482807999192632
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.29984204, -0.90992257, -0.2865932 , -0.08969519, -0.27219559,
        0.95805237, -0.94976288,  0.31297041,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487119, -0.03607274,  0.30478422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044307535641487095
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25286027e-13,  2.74063185e-14,  1.00000000e+00,  3.43362877e-27,
        1.00000000e+00, -2.74063185e-14, -1.00000000e+00,  0.00000000e+00,
       -1.25286027e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05310511, -0.06103825,  0.06199005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48587555e-06, 1.24145148e-05,-1.41436934e-05,-1.87558284e-05,
 -2.56839026e-03, 2.41541024e-02, 1.08785630e-02, 1.35803513e-03,
  2.54032058e-05, 9.67288416e-06, 3.52719530e-06, 1.20251807e-05,
  5.46676756e-02, 2.19281567e-02, 1.50854620e-02,-2.12194293e-04,
 -3.89492741e-07, 2.66939101e-07,-9.80999955e+00,-6.49541320e-02,
 -9.40905761e-03,-5.32584174e-03]


--- Step 1737 ---
qpos:
[ 0.00988426, 0.00808229,-0.00561119, 0.03348042, 0.00613062,-0.0199716 ,
 -0.01713719, 0.03775114, 0.01299479, 0.00596269,-0.01169594, 0.03406302,
  0.8120455 ,-0.01530265, 1.14340652, 0.04613846, 0.0947494 ,-0.06364143,
  0.14252054, 0.94273953,-0.03287255, 0.02846955, 0.33068272]

qacc:
[-3.18334732e+00, 1.48763502e+00,-6.31759782e+00, 1.36306953e+01,
  5.04672943e+00,-1.30283441e+00, 3.65195315e+00,-7.26248838e+00,
 -5.46621815e-01, 2.22859494e+00,-4.69947418e+00,-3.52298504e+00,
  3.54217433e+00, 1.91152308e+00, 1.13562243e+01,-3.27671335e+01,
 -2.10561981e-02,-8.30588818e-02, 1.33340594e-02, 1.76051038e+00,
 -2.05921832e-01, 3.34083081e+00]

qfrc_actuator:
[-4.04374264e-06, 3.10731607e-04, 4.10553708e-05, 3.38383655e-05,
 -2.62742409e-03, 2.28848687e-02, 1.03148869e-02, 1.31843963e-03,
  1.42826666e-05, 1.25505215e-04,-7.81684355e-05, 2.00419414e-05,
  4.98676244e-02, 1.95801238e-02, 1.75207491e-03,-2.28522433e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24982386, -0.24268171,  0.05930895, -0.24268171,  0.34830249,
        0.40295707,  0.05930895,  0.40295707,  1.89865276,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003856091751762815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85737051e-01, -1.68216459e-01,  5.06837238e-03, -1.68214235e-01,
        9.85750081e-01,  8.64908531e-04, -5.14164034e-03,  0.00000000e+00,
       -9.99986782e-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([ 0.13075921, -0.08201822,  0.13159753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29286339,  7.1902033 ,  1.21935757,  7.1902033 ,  8.26974523,
       -5.76039317,  1.21935757, -5.76039317, 41.26025661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.426732985876456e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97867444,  0.11209972, -0.17213366,  0.11040502,  0.99369696,
        0.01941853,  0.1732255 ,  0.        , -0.98488219])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329154, -0.05393505,  0.29658377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004828723085670975
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.98966899e-01, -9.10079811e-01, -2.87007893e-01, -8.95744149e-02,
       -2.72671881e-01,  9.57928217e-01, -9.50050113e-01,  3.12097392e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048711 , -0.03607046,  0.3047847 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044319597221753604
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.60479036e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.60479036e-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([ 0.05310719, -0.06103666,  0.06199005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86089245e-05, 5.94848026e-05, 1.52387247e-05, 2.56939053e-05,
 -2.61032999e-03, 2.41862463e-02, 1.08928800e-02, 1.35597904e-03,
 -2.95473566e-06, 3.08944323e-05,-4.86535968e-05,-2.80319968e-05,
  5.41289337e-02, 2.16574982e-02, 1.50887659e-02,-7.79877346e-05,
 -4.58244880e-07, 5.73136677e-07,-9.80999971e+00,-6.49545852e-02,
 -9.40940567e-03,-5.32549873e-03]


--- Step 1738 ---
qpos:
[ 0.00988401, 0.00808268,-0.0056109 , 0.03348046, 0.00613123,-0.01998149,
 -0.01714172, 0.03775029, 0.01299474, 0.00596441,-0.01169649, 0.03406301,
  0.81203826,-0.01530418, 1.14334838, 0.04613515, 0.09475061,-0.06363967,
  0.14252088, 0.94273287,-0.0328677 , 0.02846681, 0.33070243]

qacc:
[ 1.11668387e+00,-8.05831822e-01, 1.77868189e+00, 2.64591475e+00,
  3.04947956e+00, 7.70714069e-01,-2.40513578e+00,-4.49190185e+00,
 -3.46011661e+00, 1.76999751e+00,-6.09790930e+00, 7.16570089e+00,
  2.91243605e+00, 1.82710137e+00, 1.05698221e+01,-1.42324953e+01,
 -1.60230419e-02,-5.65601387e-02, 9.79192804e-03, 1.40936940e+00,
 -2.16244000e-01, 2.97310898e+00]

qfrc_actuator:
[ 2.93222550e-06, 3.08611311e-04, 6.79581733e-05, 4.92904724e-05,
 -2.62639285e-03, 2.29143011e-02, 1.03119192e-02, 1.33085591e-03,
 -5.77989377e-06, 1.21395060e-04,-1.08475864e-04, 2.08545666e-05,
  4.98714412e-02, 1.95770237e-02, 1.78498590e-03,-2.10638906e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24999617, -0.24350856,  0.05658325, -0.24350856,  0.31436408,
        0.2770102 ,  0.05658325,  0.2770102 ,  1.44212201,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003863046348580565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85733309e-01, -1.68239234e-01,  5.04025764e-03, -1.68237035e-01,
        9.85746195e-01,  8.60230647e-04, -5.11313933e-03, -1.08420217e-19,
       -9.99986928e-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([ 0.13076063, -0.08201844,  0.13159722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29298148,  7.11955087,  1.58100423,  7.11955087,  9.20233933,
       -8.59818717,  1.58100423, -8.59818717, 46.01218898,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.447909919275161e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9786771 ,  0.11207143, -0.17213693,  0.1103771 ,  0.99370015,
        0.01941394,  0.17322825,  0.        , -0.98488171])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329173, -0.05393437,  0.29658388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000482607461192745
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.99232084e-01, -9.10013897e-01, -2.86940528e-01, -8.96309368e-02,
       -2.72582395e-01,  9.57948398e-01, -9.49961291e-01,  3.12367644e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487093, -0.03606911,  0.30478578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004430451389849932
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50589145e-13, -6.65627416e-14,  1.00000000e+00, -1.66799005e-26,
        1.00000000e+00,  6.65627416e-14, -1.00000000e+00,  0.00000000e+00,
       -2.50589145e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05310865, -0.06103542,  0.06199005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.46438465e-06, 3.53820488e-05, 4.19582285e-05, 1.90299692e-05,
 -2.63886000e-03, 2.42727800e-02, 1.09042056e-02, 1.38263095e-03,
 -2.01276647e-05, 1.85820629e-06,-3.09062004e-05,-9.56061322e-08,
  5.36508666e-02, 2.13916915e-02, 1.49563320e-02, 2.08982040e-04,
 -1.38537631e-06, 1.23238961e-06,-9.80999954e+00,-6.49545711e-02,
 -9.40995780e-03,-5.32502742e-03]


--- Step 1739 ---
qpos:
[ 0.00988453, 0.00808272,-0.00561001, 0.03348039, 0.00613214,-0.01999246,
 -0.01714744, 0.03774888, 0.01299479, 0.00596567,-0.01169661, 0.03406302,
  0.81203862,-0.01530155, 1.14329464, 0.04613062, 0.09475177,-0.0636381 ,
  0.14252125, 0.94272465,-0.03286037, 0.02846457, 0.33072677]

qacc:
[ 6.83119602e+00,-2.39130823e+00, 8.28611619e+00,-1.07732814e+01,
  2.60388904e+00, 7.02713667e-01,-2.24566170e+00,-4.75138050e+00,
  9.48323820e-01,-1.77581053e+00, 5.39292932e+00,-5.44603066e+00,
  2.73048889e+00, 1.60274059e+00, 1.00858887e+01,-2.60163067e+01,
 -1.29862139e-02,-4.58920131e-02, 5.71901986e-03, 1.16141070e+00,
 -2.32452946e-01, 2.47688347e+00]

qfrc_actuator:
[ 4.26477920e-05, 2.53853613e-04, 8.36409266e-05, 4.06046113e-05,
 -2.62623405e-03, 2.29542839e-02, 1.03126529e-02, 1.33897526e-03,
  1.92222567e-07, 8.26508158e-05,-9.06037777e-05, 2.13362642e-05,
  4.98841964e-02, 1.95730577e-02, 1.73701411e-03,-2.24731546e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25015675, -0.24418656,  0.05432608, -0.24418656,  0.30645649,
        0.25305784,  0.05432608,  0.25305784,  1.38760893,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038695083998879906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85727747e-01, -1.68272564e-01,  5.01522202e-03, -1.68270386e-01,
        9.85740506e-01,  8.56132280e-04, -5.08777107e-03,  0.00000000e+00,
       -9.99987057e-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([ 0.13076224, -0.08201879,  0.13159695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29339279,   6.99149748,   2.07666594,   6.99149748,
        11.18480647, -13.10119665,   2.07666594, -13.10119665,
        51.40110477,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.520667947675926e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9786817 ,  0.11203283, -0.17213591,  0.11033912,  0.99370451,
        0.01940705,  0.17322645,  0.        , -0.98488202])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329203, -0.05393409,  0.29658407])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000482189949516692
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.00129460e-01, -9.09825938e-01, -2.86599146e-01, -8.97831994e-02,
       -2.72172827e-01,  9.58050588e-01, -9.49663774e-01,  3.13270994e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487074, -0.03606856,  0.30478717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004426827668431721
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50794273e-13, -3.52679446e-14,  1.00000000e+00, -8.84499850e-27,
        1.00000000e+00,  3.52679446e-14, -1.00000000e+00,  0.00000000e+00,
       -2.50794273e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05310962, -0.06103446,  0.06199006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.99080849e-05,-2.55035657e-05, 2.88097499e-05,-5.34938882e-06,
 -2.65671155e-03, 2.43646250e-02, 1.09636279e-02, 1.41833087e-03,
  5.40676105e-06,-4.41560461e-05, 1.44330885e-05,-5.11587095e-07,
  5.32495490e-02, 2.11611956e-02, 1.43762910e-02,-1.63594688e-05,
 -2.84203324e-06, 2.13891619e-06,-9.80999919e+00,-6.49541824e-02,
 -9.41063543e-03,-5.32444253e-03]


--- Step 1740 ---
qpos:
[ 0.00988484, 0.00808237,-0.00560883, 0.03348061, 0.00613357,-0.02000468,
 -0.01715385, 0.03774705, 0.01299491, 0.00596633,-0.01169608, 0.03406234,
  0.81204607,-0.01529507, 1.14324086, 0.04612275, 0.09475288,-0.06363668,
  0.14252162, 0.94271517,-0.03285095, 0.02846264, 0.33075491]

qacc:
[-1.89542814e+00,-7.46129018e-01, 7.38272253e-01, 3.84932276e+00,
  4.32187146e+00,-5.44300843e-01, 1.33725536e+00,-6.59246322e+00,
  6.56772014e-01,-4.02647401e+00, 1.60494231e+01,-2.83848726e+01,
  2.62652681e+00, 1.36515513e+00, 9.99449577e+00,-3.51827951e+01,
 -1.10236578e-02,-3.90459249e-02, 2.20826888e-03, 9.63632067e-01,
 -2.44071450e-01, 2.03903500e+00]

qfrc_actuator:
[ 3.02962160e-05, 2.21184256e-04, 9.23232090e-05, 5.32324875e-05,
 -2.60893778e-03, 2.29478161e-02, 1.03160891e-02, 1.34474656e-03,
  3.69244285e-06, 4.14138208e-05,-6.23422676e-05,-1.38929464e-05,
  4.98861006e-02, 1.95493744e-02, 1.67797441e-03,-2.47135232e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.25030381, -0.24470262,  0.05265576, -0.24470262,  0.30971894,
        0.27611483,  0.05265576,  0.27611483,  1.53346868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000387541065437968
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85720666e-01, -1.68314698e-01,  4.99305027e-03, -1.68312538e-01,
        9.85733312e-01,  8.52567054e-04, -5.06531555e-03,  1.08420217e-19,
       -9.99987171e-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([ 0.13076402, -0.08201925,  0.13159672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29404928,   6.88368302,   2.41206611,   6.88368302,
        13.08174954, -16.51724795,   2.41206611, -16.51724795,
        54.43185315,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.633764367853619e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97868788,  0.11198565, -0.17213147,  0.11029276,  0.99370982,
        0.01939827,  0.17322106,  0.        , -0.98488297])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329244, -0.05393418,  0.29658432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004816369074967196
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.30166113, -0.90951246, -0.2859854 , -0.09003091, -0.27144444,
        0.95823398, -0.94915489,  0.31480947,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487044, -0.03606865,  0.30478881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004421618272799077
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.74629414e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.74629414e-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([ 0.05311022, -0.06103372,  0.06199007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12254658e-05,-4.12090573e-05, 6.76439738e-06, 1.24239631e-05,
 -2.65480678e-03, 2.44133463e-02, 1.10264532e-02, 1.45217506e-03,
  3.64182816e-06,-6.30123244e-05, 2.08870292e-05,-3.66348307e-05,
  5.28716661e-02, 2.09292537e-02, 1.40990467e-02,-1.79416246e-04,
 -4.50988649e-06, 3.12612181e-06,-9.80999874e+00,-6.49534824e-02,
 -9.41139745e-03,-5.32375070e-03]


--- Step 1741 ---
qpos:
[ 0.00988466, 0.00808152,-0.00560745, 0.03348064, 0.00613558,-0.02001993,
 -0.01715965, 0.03774526, 0.01299507, 0.00596645,-0.01169523, 0.03406196,
  0.81205762,-0.01528633, 1.14319327, 0.04611495, 0.09475394,-0.06363537,
  0.14252202, 0.94270495,-0.03284043, 0.02846114, 0.33078519]

qacc:
[-4.32820795e+00,-1.56873270e+00, 5.41861571e+00,-8.47662031e+00,
  5.02533563e+00,-5.68266596e+00, 1.42596938e+01,-1.23371214e+01,
  3.80562824e-01,-9.76049595e-01, 1.23939156e+00, 3.64645391e+00,
  1.33767179e+00, 1.06041502e+00, 8.90111500e+00,-1.78975448e+01,
 -1.36646578e-02,-2.69799883e-02, 6.12777706e-03, 5.44688455e-01,
  2.25607758e-03, 1.15218369e+00]

qfrc_actuator:
[ 5.14016676e-06, 1.84213349e-04, 9.68935380e-05, 4.28073014e-05,
 -2.58168187e-03, 2.29140579e-02, 1.03211405e-02, 1.34919481e-03,
  5.70156168e-06, 1.67751340e-05,-4.59901627e-05, 1.15140409e-06,
  4.98919177e-02, 1.95302689e-02, 1.68709474e-03,-2.38758785e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71225444, -0.51886091, -0.48794441, -0.51886091,  0.39413501,
        0.3382757 , -0.48794441,  0.3382757 ,  0.35254535,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0462787710916778e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99290904e-01,  6.12929617e-03, -3.71499808e-02,  6.12506496e-03,
        9.99981216e-01,  2.27707512e-04,  3.71506786e-02, -2.71050543e-20,
       -9.99309675e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13141319, -0.08325265,  0.17461506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25055224, -0.24520722,  0.05147661, -0.24520722,  0.31744383,
        0.31863598,  0.05147661,  0.31863598,  1.76836467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003885345907388434
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85773226e-01, -1.68006989e-01,  4.97977334e-03, -1.68004845e-01,
        9.85785804e-01,  8.48700315e-04, -5.05157745e-03,  1.08420217e-19,
       -9.99987241e-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([ 0.13076526, -0.08201555,  0.1315966 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29491775,   6.77726799,   2.69897452,   6.77726799,
        15.13283515, -19.68142579,   2.69897452, -19.68142579,
        56.71602046,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.778155231387519e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78695335e-01,  1.11931435e-01, -1.72124359e-01,  1.10239526e-01,
        9.93715932e-01,  1.93879617e-02,  1.73212840e-01, -3.46944695e-18,
       -9.84884416e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132929 , -0.0539346 ,  0.29658461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048096324679460217
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.30381855, -0.90907102, -0.28510377, -0.09037049, -0.27040217,
        0.95849666, -0.94843422,  0.31697403,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486998, -0.03606927,  0.30479067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000441517082947544
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.11946090e-07,  8.11946188e-07,  1.00000000e+00,  6.59256532e-13,
        1.00000000e+00, -8.11946188e-07, -1.00000000e+00,  0.00000000e+00,
       -8.11946090e-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([ 0.0535311 , -0.06162129,  0.06199008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.54911612e-05,-5.80919003e-05,-2.68894049e-06,-1.17171113e-05,
 -2.65292725e-03, 2.44419445e-02, 1.10669206e-02, 1.47777831e-03,
  2.09382335e-06,-5.71577903e-05, 4.62895348e-06, 1.23524414e-05,
  5.25228260e-02, 2.07178650e-02, 1.41108395e-02, 7.17975076e-05,
 -6.20015815e-06, 4.10902986e-06,-9.80999824e+00,-6.49525243e-02,
 -9.41221573e-03,-5.32295719e-03]


--- Step 1742 ---
qpos:
[ 0.00988451, 0.00808032,-0.00560634, 0.03348056, 0.00613276,-0.02003104,
 -0.01716068, 0.03774628, 0.01299525, 0.00596602,-0.01169416, 0.03406177,
  0.81199775,-0.01531694, 1.14311362, 0.04611782, 0.09475594,-0.06363162,
  0.14252198, 0.94271189,-0.0328574 , 0.02845167, 0.33076455]

qacc:
[ 3.90676720e-01, 3.79233407e-02,-3.67354397e-01,-8.30638871e-01,
 -4.10282633e+01,-1.95730119e+00, 3.16152976e+00, 3.48185606e+01,
  2.18273584e-01,-9.73447683e-01, 1.60215628e+00, 1.75285425e+00,
 -2.59451134e+01,-1.48427167e+01,-7.89724190e+01, 2.08838446e+02,
  2.35475611e-01, 6.08328835e-01,-1.09916998e-01,-1.32667732e+01,
  1.37451406e+00,-2.73567931e+01]

qfrc_actuator:
[ 8.17091615e-06, 1.62663860e-04, 8.12112955e-05, 3.66456273e-05,
 -2.56648014e-03, 2.29017260e-02, 1.03261160e-02, 1.37031053e-03,
  6.81763592e-06,-1.54898329e-05,-3.67012869e-05, 1.01592714e-05,
  4.99054225e-02, 1.95139469e-02, 1.71524858e-03,-2.24549299e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71225907, -0.52968882,  0.47617511, -0.52968882,  0.39700703,
       -0.35068082,  0.47617511, -0.35068082,  0.32216789,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6333993366790864e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99290110e-01,  6.13129670e-03, -3.71710135e-02,  6.12705932e-03,
        9.99981203e-01,  2.27910797e-04,  3.71717122e-02,  2.71050543e-20,
       -9.99308893e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13141445, -0.08324899,  0.174614  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25062259, -0.24638948,  0.04586838, -0.24638948,  0.30145638,
        0.27306198,  0.04586838,  0.27306198,  1.71741953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038881517577235976
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85764634e-01, -1.68057802e-01,  4.96598351e-03, -1.68055670e-01,
        9.85777143e-01,  8.46613537e-04, -5.03763304e-03,  0.00000000e+00,
       -9.99987311e-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([ 0.13076744, -0.08201613,  0.13159648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29595544,   6.31571106,   3.65277424,   6.31571106,
        25.22807268, -31.0049469 ,   3.65277424, -31.0049469 ,
        60.90405535,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.94371817206114e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97870358,  0.1118732 , -0.17211534,  0.11018237,  0.99372249,
        0.01937673,  0.17320262,  0.        , -0.98488621])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329341, -0.05393522,  0.29658493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004803264953314349
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.06217592e-01, -9.08576340e-01, -2.84112339e-01, -9.07394797e-02,
       -2.69232554e-01,  9.58790998e-01, -9.47627107e-01,  3.19378876e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486944, -0.03607019,  0.30479245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.38091473, -6.35398774,  8.20915528, -6.35398774, 44.17786596,
       26.15925835,  8.20915528, 26.15925835, 30.62850431,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004413418071200702
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.85781948e-07, -6.85782286e-07,  1.00000000e+00, -4.70297112e-13,
        1.00000000e+00,  6.85782286e-07, -1.00000000e+00,  0.00000000e+00,
       -6.85781948e-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([ 0.08684116, -0.10819348,  0.06199009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28607995e-06,-5.50862902e-05,-2.84236290e-05,-8.97224677e-06,
 -2.66681816e-03, 2.45821026e-02, 1.10410213e-02, 1.49704373e-03,
  1.15611774e-06,-6.27545326e-05,-1.53047815e-06, 6.95767222e-06,
  5.23314736e-02, 2.05879216e-02, 1.38301387e-02, 2.10341945e-04,
 -7.25562453e-06, 4.67334868e-06,-9.80999799e+00,-6.49513504e-02,
 -9.41292862e-03,-5.32213741e-03]


--- Step 1743 ---
qpos:
[ 0.00988406, 0.00807884,-0.00560578, 0.03348077, 0.0061305 ,-0.020044  ,
 -0.01716112, 0.03774737, 0.01299545, 0.00596506,-0.01169325, 0.03406171,
  0.81195043,-0.01534058, 1.14303528, 0.04611747, 0.0947577 ,-0.06362855,
  0.14252208, 0.94271538,-0.03286827, 0.02844452, 0.33075412]

qacc:
[-2.71294023e+00, 1.77099062e+00,-8.00004529e+00, 1.39164704e+01,
  4.85089065e+00,-3.96727376e+00, 1.03044732e+01,-8.77175623e+00,
  1.09750859e-01, 1.05387575e-02,-1.61447970e+00, 4.55995881e+00,
  4.62350041e+00, 2.56035880e+00, 1.15147182e+01,-3.77369048e+01,
 -6.02551904e-02,-1.68244111e-01, 3.35940306e-02, 3.05532472e+00,
 -2.99501651e-02, 5.50315658e+00]

qfrc_actuator:
[-7.73323471e-06, 1.50433275e-04, 5.37627346e-05, 5.07968702e-05,
 -2.58884076e-03, 2.29140349e-02, 1.03266539e-02, 1.39863009e-03,
  7.39963517e-06,-5.20978541e-05,-4.94453229e-05, 1.55267752e-05,
  4.99142115e-02, 1.95222591e-02, 1.77934613e-03,-2.07901316e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71225743, -0.46129681, -0.54269319, -0.46129681,  0.38755323,
        0.27600312, -0.54269319,  0.27600312,  0.47765091,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2066573696883623e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99289676e-01,  6.12847639e-03, -3.71831415e-02,  6.12423819e-03,
        9.99981221e-01,  2.27880284e-04,  3.71838398e-02,  2.71050543e-20,
       -9.99308442e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13141498, -0.08324613,  0.17461582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2507513 , -0.02327131,  0.2496691 , -0.02327131,  0.78104026,
        0.04942751,  0.2496691 ,  0.04942751,  0.25535837,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003893275687071587
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85772631e-01, -1.68012012e-01,  4.92784210e-03, -1.68009913e-01,
        9.85784948e-01,  8.39875542e-04, -4.99890175e-03,  0.00000000e+00,
       -9.99987505e-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([ 0.13076867, -0.08201556,  0.13159606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2940072 ,  2.23886687,  6.94190292,  2.23886687, 23.31646403,
       -5.16748047,  6.94190292, -5.16748047,  8.96059646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.626621772531201e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78693582e-01,  1.11909660e-01, -1.72148483e-01,  1.10217611e-01,
        9.93718385e-01,  1.93868590e-02,  1.73236689e-01, -3.46944695e-18,
       -9.84880221e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329269, -0.05393234,  0.29658446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.33225546, -0.75398897,  1.0983648 , -0.75398897,  3.79454708,
        1.69027697,  1.0983648 ,  1.69027697,  2.49257139,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004820900044361742
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.30086969, -0.90963603, -0.28642577, -0.08994532, -0.27193669,
        0.95810243, -0.94941417,  0.31402664,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486933, -0.036064  ,  0.30478961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.39138614, -5.94720228,  8.52124938, -5.94720228, 18.0151667 ,
        5.32083537,  8.52124938,  5.32083537, 14.10493598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004421863101635032
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25537924e-13, -6.66920219e-14,  1.00000000e+00, -8.37237795e-27,
        1.00000000e+00,  6.66920219e-14, -1.00000000e+00,  0.00000000e+00,
       -1.25537924e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05311573, -0.06102934,  0.06199007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58540238e-05,-4.92589330e-05,-4.26373636e-05, 1.06329575e-05,
 -2.44786319e-03, 2.43875607e-02, 1.08034159e-02, 1.38441517e-03,
  5.92427513e-07,-7.17141061e-05,-2.56613245e-05, 2.75970858e-06,
  5.59114869e-02, 2.25647306e-02, 1.54988068e-02,-1.55832321e-04,
 -5.94066009e-06, 1.84321575e-06,-9.80999761e+00,-6.49530209e-02,
 -9.41381860e-03,-5.32218002e-03]


--- Step 1744 ---
qpos:
[ 0.00988343, 0.00807722,-0.00560534, 0.03348075, 0.00612882,-0.02005874,
 -0.01716106, 0.0377485 , 0.01299565, 0.00596392,-0.01169322, 0.03406206,
  0.8119144 ,-0.01535809, 1.14295925, 0.04611431, 0.09475928,-0.06362602,
  0.14252228, 0.94271612,-0.03287418, 0.02843918, 0.33075191]

qacc:
[-1.64416441e+00,-2.93183272e-01, 1.70080165e+00,-5.23517653e+00,
  4.96398421e+00,-3.71540652e+00, 9.64803880e+00,-8.44821205e+00,
  2.17326756e-02, 3.08051729e+00,-1.31140601e+01, 2.18972878e+01,
  4.22098686e+00, 2.12924469e+00, 1.18060734e+01,-3.65739683e+01,
 -4.61933046e-02,-1.35492930e-01, 2.62075672e-02, 2.47327081e+00,
 -5.97366200e-02, 4.43062800e+00]

qfrc_actuator:
[-1.69111017e-05, 1.61597458e-04, 5.51524312e-05, 4.12849290e-05,
 -2.60169315e-03, 2.29277199e-02, 1.03268041e-02, 1.41514871e-03,
  7.66294012e-06,-5.56095935e-05,-9.28695225e-05, 3.64441255e-05,
  4.99151849e-02, 1.95147650e-02, 1.78859991e-03,-2.20784504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71225717, -0.45460455, -0.54831103, -0.45460455,  0.4140952 ,
        0.24720602, -0.54831103,  0.24720602,  0.50729871,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.131535714236433e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99289191e-01,  6.12621922e-03, -3.71965412e-02,  6.12197953e-03,
        9.99981235e-01,  2.27878442e-04,  3.71972393e-02,  0.00000000e+00,
       -9.99307943e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1314157 , -0.08324334,  0.17461706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25084636, -0.25071984,  0.00796623, -0.25071984,  0.25326537,
        0.07613314,  0.00796623,  0.07613314,  2.64697302,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038970529744593606
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85777198e-01, -1.67986076e-01,  4.89840947e-03, -1.67984002e-01,
        9.85789368e-01,  8.34726577e-04, -4.96902242e-03,  1.08420217e-19,
       -9.99987654e-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([ 0.1307701 , -0.08201523,  0.13159574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29288606,  7.25210686,  0.77015142,  7.25210686,  7.59313504,
       -2.82728514,  0.77015142, -2.82728514, 33.91592838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4308088178167395e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97868753,  0.11192733, -0.17217138,  0.11023455,  0.99371639,
        0.01939254,  0.17326008,  0.        , -0.98487611])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329231, -0.0539301 ,  0.29658421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048304968779686215
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.29764319, -0.91025177, -0.28783718, -0.08945873, -0.27358249,
        0.95767936, -0.95047655,  0.31079629,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486932, -0.03605937,  0.3047883 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044303473777460023
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.65643043e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.65643043e-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([ 0.05311963, -0.06102668,  0.06199005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.64141482e-06,-2.46912610e-05,-1.36577012e-05,-1.28887157e-05,
 -2.48890763e-03, 2.44945771e-02, 1.07744971e-02, 1.39784726e-03,
  2.53924301e-07,-4.87719160e-05,-6.13018789e-05, 1.70102629e-05,
  5.52847953e-02, 2.22088641e-02, 1.54444414e-02,-1.23812542e-04,
 -2.01645948e-06, 5.38673204e-07,-9.80999900e+00,-6.49546775e-02,
 -9.41332629e-03,-5.32213015e-03]


--- Step 1745 ---
qpos:
[ 0.00988234, 0.00807573,-0.00560503, 0.03347989, 0.00612768,-0.0200751 ,
 -0.01716052, 0.03774965, 0.01299551, 0.00596282,-0.01169415, 0.0340623 ,
  0.8118886 ,-0.01537019, 1.14288457, 0.04610781, 0.09476071,-0.06362393,
  0.14252256, 0.94271466,-0.03287608, 0.02843525, 0.3307562 ]

qacc:
[-3.95784511e+00,-1.22167422e+00, 8.18512724e+00,-2.26952595e+01,
  4.60295358e+00,-3.39832765e+00, 8.92578026e+00,-8.12118882e+00,
 -3.05365374e+00, 2.49498627e+00,-8.25427086e+00, 7.57565994e+00,
  3.90424397e+00, 1.71851102e+00, 1.20220546e+01,-3.93844201e+01,
 -3.61522420e-02,-1.11347567e-01, 1.98744815e-02, 1.99984464e+00,
 -7.88914877e-02, 3.50944153e+00]

qfrc_actuator:
[-3.98032832e-05, 1.86788370e-04, 5.58900919e-05, 2.12735531e-07,
 -2.60907985e-03, 2.29606495e-02, 1.03265586e-02, 1.42458435e-03,
 -1.00156463e-05,-3.93894140e-05,-1.36157272e-04, 3.08483203e-05,
  4.99058042e-02, 1.95313465e-02, 1.77013537e-03,-2.38871115e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71225788, -0.44929773, -0.55266882, -0.44929773,  0.4455871 ,
        0.21679272, -0.55266882,  0.21679272,  0.53601403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.330323983932123e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99288655e-01,  6.12453891e-03, -3.72112067e-02,  6.12029703e-03,
        9.99981245e-01,  2.27905758e-04,  3.72119046e-02,  0.00000000e+00,
       -9.99307397e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13141658, -0.08324061,  0.17461783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25091181, -0.24971887,  0.02443809, -0.24971887,  0.27392109,
        0.23511864,  0.02443809,  0.23511864,  2.65345431,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003899649746658627
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85779002e-01, -1.67976139e-01,  4.87616895e-03, -1.67974084e-01,
        9.85791061e-01,  8.30886040e-04, -4.94645279e-03,  2.16840434e-19,
       -9.99987766e-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([ 0.13077169, -0.08201509,  0.13159551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29234882,  7.21519523,  1.05797403,  7.21519523,  7.95268913,
       -4.50340385,  1.05797403, -4.50340385, 38.0047643 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.3328809918330966e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78684651e-01,  1.11929886e-01, -1.72186103e-01,  1.10236777e-01,
        9.93716107e-01,  1.93946447e-02,  1.73274944e-01,  3.46944695e-18,
       -9.84873491e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132922 , -0.05392843,  0.29658413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004834183534985045
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.96112901e-01, -9.10530514e-01, -2.88533070e-01, -8.92334703e-02,
       -2.74387901e-01,  9.57469930e-01, -9.50975571e-01,  3.09266006e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486932, -0.03605603,  0.30478811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044344712225714844
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50361987e-13, -3.91190604e-15,  1.00000000e+00, -9.79392567e-28,
        1.00000000e+00,  3.91190604e-15, -1.00000000e+00,  0.00000000e+00,
       -2.50361987e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05312252, -0.06102459,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31696926e-05, 8.06231891e-06,-6.47576923e-06,-4.28504251e-05,
 -2.52517147e-03, 2.46170645e-02, 1.07487258e-02, 1.40532414e-03,
 -1.76901673e-05,-2.29456271e-05,-6.03116015e-05,-9.47402640e-06,
  5.47105509e-02, 2.19191471e-02, 1.53118038e-02,-1.63805435e-04,
 -4.36714158e-07, 1.34272737e-07,-9.80999963e+00,-6.49556565e-02,
 -9.41331009e-03,-5.32195445e-03]


--- Step 1746 ---
qpos:
[ 0.00988133, 0.00807449,-0.00560453, 0.03347851, 0.00612707,-0.0200931 ,
 -0.01715964, 0.03775079, 0.0129955 , 0.00596169,-0.01169534, 0.03406208,
  0.81187171,-0.01537772, 1.14281758, 0.04610116, 0.09476202,-0.06362219,
  0.1425229 , 0.94271143,-0.03287476, 0.0284324 , 0.3307658 ]

qacc:
[ 6.93063336e-01,-1.24572850e+00, 7.13325730e+00,-1.66471234e+01,
  4.54218536e+00,-3.17663670e+00, 8.22097283e+00,-7.77533989e+00,
  1.17115552e+00,-2.34441816e-01, 2.67065550e+00,-1.00236414e+01,
  3.38360458e+00, 1.44513919e+00, 1.16963810e+01,-2.46162229e+01,
 -2.89058663e-02,-8.64570208e-02, 1.51124366e-02, 1.58688145e+00,
 -8.47852743e-02, 2.85384501e+00]

qfrc_actuator:
[-3.50808115e-05, 2.20170523e-04, 7.40292453e-05,-2.35808608e-05,
 -2.61337628e-03, 2.30234226e-02, 1.03259185e-02, 1.42977438e-03,
 -2.60731721e-06,-2.92526110e-05,-1.43432747e-04, 9.71971191e-06,
  4.99112045e-02, 1.95428969e-02, 1.82025566e-03,-2.31509189e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7122595 , -0.48466665, -0.52193088, -0.48466665,  0.503402  ,
        0.19394573, -0.52193088,  0.19394573,  0.53216089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.736423659583603e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99288073e-01,  6.12339362e-03, -3.72270185e-02,  6.11914893e-03,
        9.99981252e-01,  2.27959961e-04,  3.72277164e-02,  0.00000000e+00,
       -9.99306808e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13141761, -0.08323797,  0.17461823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25095145, -0.24580193,  0.05057709, -0.24580193,  0.34556607,
        0.45982194,  0.05057709,  0.45982194,  2.48566112,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003901221160539874
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85778608e-01, -1.67978921e-01,  4.85990792e-03, -1.67976880e-01,
        9.85790587e-01,  8.28129322e-04, -4.92995976e-03,  0.00000000e+00,
       -9.99987848e-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([ 0.13077343, -0.08201511,  0.13159536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29224445,  7.16210715,  1.37151389,  7.16210715,  8.569682  ,
       -6.67083628,  1.37151389, -6.67083628, 42.12765117,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.313520727134278e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97868428,  0.11192052, -0.17219432,  0.11022739,  0.99371716,
        0.01939393,  0.17328302,  0.        , -0.98487207])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329231, -0.05392727,  0.29658419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004833478170404893
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.29599527, -0.91053621, -0.28863578, -0.08923266, -0.27449616,
        0.95743897, -0.95101227,  0.30915314,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486926, -0.03605373,  0.30478871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004435170167368663
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25161266e-13, -3.91128956e-15,  1.00000000e+00,  4.89541952e-28,
        1.00000000e+00,  3.91128956e-15, -1.00000000e+00,  0.00000000e+00,
        1.25161266e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05312463, -0.06102297,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.07178132e-06, 3.47643083e-05, 1.75420451e-05,-2.45004349e-05,
 -2.55625163e-03, 2.47610458e-02, 1.07250017e-02, 1.40956199e-03,
  6.89594166e-06,-1.55151219e-05,-1.97478065e-05,-2.43782985e-05,
  5.42049591e-02, 2.16607146e-02, 1.52957577e-02, 7.76772241e-05,
 -1.89500970e-07, 2.29898412e-07,-9.80999981e+00,-6.49560921e-02,
 -9.41357326e-03,-5.32166906e-03]


--- Step 1747 ---
qpos:
[ 0.00988073, 0.00807347,-0.00560303, 0.03347749, 0.00612687,-0.02011286,
 -0.01715849, 0.03775188, 0.01299558, 0.00596048,-0.01169636, 0.03406158,
  0.81186276,-0.01538122, 1.14275805, 0.04609444, 0.09476324,-0.06362073,
  0.14252328, 0.94270673,-0.03287083, 0.02843034, 0.33077976]

qacc:
[ 3.61838831e+00,-1.78459105e+00, 5.22056335e+00,-6.73979965e-01,
  3.56811701e+00,-3.18720607e+00, 8.16257788e+00,-8.10739522e+00,
  7.85581225e-01,-1.16038826e+00, 5.14280195e+00,-1.01349843e+01,
  3.04170695e+00, 1.20942154e+00, 1.11468688e+01,-2.31716586e+01,
 -2.34072249e-02,-6.80652443e-02, 1.04838704e-02, 1.27739226e+00,
 -1.09124448e-01, 2.35532343e+00]

qfrc_actuator:
[-1.41385877e-05, 2.58293274e-04, 1.37863250e-04,-1.48529989e-06,
 -2.61602606e-03, 2.30337634e-02, 1.03604771e-02, 1.43244177e-03,
  1.76027288e-06,-2.26984120e-05,-1.29409315e-04,-2.59948243e-06,
  4.99252231e-02, 1.95145793e-02, 1.80971808e-03,-2.32143379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226214, -0.52240981, -0.48415426, -0.52240981,  0.52500554,
        0.20205272, -0.48415426,  0.20205272,  0.49424418,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.289332463505218e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99287440e-01,  6.12277658e-03, -3.72441199e-02,  6.11852842e-03,
        9.99981256e-01,  2.28041700e-04,  3.72448181e-02,  0.00000000e+00,
       -9.99306171e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13141876, -0.08323538,  0.17461834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25096438, -0.24584998,  0.05040741, -0.24584998,  0.33212194,
        0.39582639,  0.05040741,  0.39582639,  2.18151203,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039017337003552594
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85776425e-01, -1.67992050e-01,  4.84883820e-03, -1.67990018e-01,
        9.85788350e-01,  8.26309492e-04, -4.91874163e-03,  0.00000000e+00,
       -9.99987903e-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([ 0.13077532, -0.08201526,  0.13159527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29247199,  7.07153929,  1.78142633,  7.07153929,  9.79689401,
       -9.94153867,  1.78142633, -9.94153867, 46.75634435,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.355585642557447e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78685918e-01,  1.11901427e-01, -1.72197402e-01,  1.10208536e-01,
        9.93719312e-01,  1.93909234e-02,  1.73285756e-01,  3.46944695e-18,
       -9.84871589e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329257, -0.05392654,  0.29658435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048302541929129314
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.29681129, -0.9103637 , -0.28834178, -0.08937925, -0.27413926,
        0.95752755, -0.95074413,  0.30997676,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486918, -0.03605231,  0.30478978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044331957849277903
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25217008e-13,  5.86954725e-14,  1.00000000e+00, -7.34967146e-27,
        1.00000000e+00, -5.86954725e-14, -1.00000000e+00,  0.00000000e+00,
        1.25217008e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0531261 , -0.0610217 ,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10743522e-05, 6.01834834e-05, 7.23405317e-05, 2.37201252e-05,
 -2.58534773e-03, 2.48540126e-02, 1.07423025e-02, 1.41291028e-03,
  4.55516390e-06,-7.18803320e-06, 7.57017425e-06,-1.41363991e-05,
  5.37733276e-02, 2.14031817e-02, 1.49021925e-02, 7.87538868e-05,
 -6.49774727e-07, 5.91615364e-07,-9.80999974e+00,-6.49560977e-02,
 -9.41398673e-03,-5.32129155e-03]


--- Step 1748 ---
qpos:
[ 0.0098797 , 0.00807289,-0.00560167, 0.03347679, 0.00612683,-0.02013468,
 -0.01715723, 0.03775284, 0.01299503, 0.00595931,-0.01169757, 0.0340613 ,
  0.81186095,-0.01538118, 1.14270576, 0.04608775, 0.09476439,-0.06361947,
  0.14252369, 0.94270081,-0.03286476, 0.02842885, 0.33079735]

qacc:
[-3.82154047e+00, 1.63436328e+00,-6.31737408e+00, 1.17482597e+01,
  1.37619691e+00,-3.27207833e+00, 8.23162792e+00,-8.94366123e+00,
 -5.62071907e+00, 1.03255048e+00,-4.46056741e+00, 8.33917253e+00,
  2.76566487e+00, 9.99173656e-01, 1.05604448e+01,-2.15470324e+01,
 -1.95943274e-02,-5.39663513e-02, 6.37730704e-03, 1.02933298e+00,
 -1.31941051e-01, 1.94841524e+00]

qfrc_actuator:
[-3.70842249e-05, 2.63696872e-04, 1.21703372e-04, 1.19615017e-05,
 -2.63553774e-03, 2.30311837e-02, 1.03628407e-02, 1.38037841e-03,
 -3.12099599e-05,-1.82318276e-05,-1.38443242e-04, 8.12523774e-06,
  4.99335273e-02, 1.94965783e-02, 1.78383295e-03,-2.32250951e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226583, -0.57438243, -0.42119763, -0.57438243,  0.55667548,
        0.21217679, -0.42119763,  0.21217679,  0.42292275,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.934622944402538e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99286747e-01,  6.12257352e-03, -3.72627244e-02,  6.11832126e-03,
        9.99981257e-01,  2.28148046e-04,  3.72634228e-02,  2.71050543e-20,
       -9.99305477e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13142005, -0.08323284,  0.17461822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25094755, -0.24496661,  0.05446131, -0.24496661,  0.32656549,
        0.34012899,  0.05446131,  0.34012899,  1.78084547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003901066677957459
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85772760e-01, -1.68013738e-01,  4.84248065e-03, -1.68011711e-01,
        9.85784654e-01,  8.25335709e-04, -4.91231085e-03, -1.08420217e-19,
       -9.99987935e-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([ 0.13077737, -0.08201552,  0.13159524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29296726,   6.9630291 ,   2.16877782,   6.9630291 ,
        11.49822017, -13.50129006,   2.16877782, -13.50129006,
        50.63990437,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.445365801223908e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78689186e-01,  1.11874293e-01, -1.72196458e-01,  1.10181841e-01,
        9.93722367e-01,  1.93860555e-02,  1.73284273e-01, -3.46944695e-18,
       -9.84871850e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329295, -0.05392619,  0.29658459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004825432529836927
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.98332766e-01, -9.10055033e-01, -2.87745370e-01, -8.96348015e-02,
       -2.73428237e-01,  9.57706950e-01, -9.50243739e-01,  3.11507363e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486903, -0.03605161,  0.30479114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044291793379051814
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.52492191e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.52492191e-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([ 0.05312709, -0.06102072,  0.06199005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23262140e-05, 5.50491104e-05, 5.99891105e-06, 1.89907937e-05,
 -2.62558990e-03, 2.49406284e-02, 1.07315910e-02, 1.36331031e-03,
 -3.28479563e-05, 1.46365483e-06,-1.00482758e-05, 1.04093897e-05,
  5.33844385e-02, 2.11842186e-02, 1.45046465e-02, 8.14746343e-05,
 -1.47003419e-06, 1.08756857e-06,-9.80999953e+00,-6.49557594e-02,
 -9.41448511e-03,-5.32083014e-03]


--- Step 1749 ---
qpos:
[ 0.00987874, 0.00807291,-0.00560111, 0.03347629, 0.00612673,-0.02015862,
 -0.01715598, 0.03775363, 0.01299408, 0.00595841,-0.01169873, 0.03406144,
  0.81186575,-0.01537794, 1.14265819, 0.04607997, 0.09476546,-0.0636184 ,
  0.1425241 , 0.94269392,-0.03285692, 0.02842772, 0.33081786]

qacc:
[ 6.50146813e-01, 3.44818236e+00,-1.19638799e+01, 1.61722935e+01,
 -4.44277191e-01,-3.13862107e+00, 7.90701123e+00,-9.54279976e+00,
 -3.44263810e+00, 1.11788802e+00,-5.29374937e+00, 1.24860332e+01,
  2.62982691e+00, 7.76922367e-01, 1.01629922e+01,-2.56169655e+01,
 -1.69734008e-02,-4.55672362e-02, 2.74042280e-03, 8.39379720e-01,
 -1.52516207e-01, 1.56913051e+00]

qfrc_actuator:
[-3.24250349e-05, 2.84656580e-04, 7.60373281e-05, 2.01161022e-05,
 -2.64732239e-03, 2.30573440e-02, 1.03281797e-02, 1.31331836e-03,
 -5.03861929e-05, 2.03921934e-05,-1.25513490e-04, 3.23007197e-05,
  4.99381893e-02, 1.95013889e-02, 1.80707297e-03,-2.40925645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227043, -0.59895714, -0.38546013, -0.59895714,  0.5826629 ,
        0.20139399, -0.38546013,  0.20139399,  0.39932919,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.614291087148268e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99285982e-01,  6.12252712e-03, -3.72832622e-02,  6.11827020e-03,
        9.99981257e-01,  2.28272062e-04,  3.72839610e-02,  0.00000000e+00,
       -9.99304711e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13142146, -0.08323034,  0.17461794])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2508924 , -0.24390397,  0.05880348, -0.24390397,  0.32732057,
        0.3170073 ,  0.05880348,  0.3170073 ,  1.56576936,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000389888017297155
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85767855e-01, -1.68042559e-01,  4.84087142e-03, -1.68040533e-01,
        9.85779741e-01,  8.25207081e-04, -4.91070288e-03,  0.00000000e+00,
       -9.99987942e-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([ 0.1307796 , -0.08201587,  0.13159527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29368524,   6.83690265,   2.54059177,   6.83690265,
        13.71048223, -17.26803059,   2.54059177, -17.26803059,
        53.76311237,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.5714937516770424e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78693768e-01,  1.11840493e-01, -1.72192371e-01,  1.10148647e-01,
        9.93726172e-01,  1.93796644e-02,  1.73279497e-01,  3.46944695e-18,
       -9.84872690e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329341, -0.05392619,  0.29658487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004819685103533664
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.00372444e-01, -9.09643512e-01, -2.86923469e-01, -8.99666871e-02,
       -2.72453798e-01,  9.57953508e-01, -9.49569582e-01,  3.13556390e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486882, -0.03605152,  0.30479268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004423647740755404
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.29408755e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.29408755e-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([ 0.05312769, -0.06101996,  0.06199007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.04186174e-06, 5.37985626e-05,-3.29046043e-05, 1.10916436e-05,
 -2.64523547e-03, 2.50700175e-02, 1.06914519e-02, 1.30220481e-03,
 -2.01144281e-05, 3.78567636e-05, 1.23837569e-05, 2.41003329e-05,
  5.30321122e-02, 2.10118488e-02, 1.41663178e-02,-6.30089847e-06,
 -2.44497364e-06, 1.63997355e-06,-9.80999925e+00,-6.49551454e-02,
 -9.41503362e-03,-5.32029056e-03]


--- Step 1750 ---
qpos:
[ 0.0098775 , 0.00807308,-0.00560067, 0.03347624, 0.00612653,-0.02018451,
 -0.01715474, 0.03775421, 0.0129936 , 0.00595791,-0.01169956, 0.03406219,
  0.81187651,-0.01537188, 1.14261529, 0.04607123, 0.09476647,-0.06361748,
  0.14252452, 0.94268624,-0.03284763, 0.02842682, 0.33084076]

qacc:
[-2.47733837e+00, 1.49721368e+00,-6.98170511e+00, 1.50006097e+01,
 -7.76042533e-01,-2.98626125e+00, 7.74066455e+00,-9.74158547e+00,
  4.11084670e+00, 8.02479552e-01,-4.61343369e+00, 1.40783519e+01,
  2.41434522e+00, 6.06066797e-01, 9.73285650e+00,-2.41787873e+01,
 -1.49923487e-02,-3.69321446e-02, 2.29886800e-04, 6.73130954e-01,
 -1.59507855e-01, 1.28198757e+00]

qfrc_actuator:
[-4.70468534e-05, 2.79110648e-04, 6.66512173e-05, 4.28464775e-05,
 -2.65432024e-03, 2.30661375e-02, 1.03246485e-02, 1.29063386e-03,
 -2.57726514e-05, 6.15234109e-05,-9.95633060e-05, 6.42409491e-05,
  4.99298059e-02, 1.95010602e-02, 1.84377861e-03,-2.45754155e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227568, -0.60154268, -0.3814224 , -0.60154268,  0.58905389,
        0.19433355, -0.3814224 ,  0.19433355,  0.40579152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.284448673766587e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99285136e-01,  6.12242402e-03, -3.73059404e-02,  6.11816199e-03,
        9.99981258e-01,  2.28407067e-04,  3.73066396e-02, -2.71050543e-20,
       -9.99303865e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.131423  , -0.08322791,  0.17461753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25079426, -0.24359471,  0.05966054, -0.24359471,  0.32653261,
        0.30924062,  0.05966054,  0.30924062,  1.51342758,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003894983751165206
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85761933e-01, -1.68077207e-01,  4.84393879e-03, -1.68075178e-01,
        9.85773834e-01,  8.25905167e-04, -4.91384395e-03, -1.08420217e-19,
       -9.99987927e-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([ 0.13078201, -0.0820163 ,  0.13159537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29459457,   6.71909961,   2.83986099,   6.71909961,
        15.94309651, -20.46232059,   2.83986099, -20.46232059,
        55.70836229,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.7250821751459865e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97869939,  0.11180135, -0.17218585,  0.11011024,  0.99373058,
        0.01937206,  0.17327217,  0.        , -0.98487398])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329393, -0.0539265 ,  0.29658519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048132772079415107
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.02863164e-01, -9.09138468e-01, -2.85904091e-01, -9.03616730e-02,
       -2.71248811e-01,  9.58258238e-01, -9.48740572e-01,  3.16055894e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048685 , -0.03605195,  0.30479434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004417037367678983
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25675077e-13, -9.81836541e-14,  1.00000000e+00, -1.23392383e-26,
        1.00000000e+00,  9.81836541e-14, -1.00000000e+00,  0.00000000e+00,
       -1.25675077e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05312799, -0.06101938,  0.06199008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44875618e-05, 1.82152365e-05,-1.94703294e-06, 2.41129709e-05,
 -2.64942111e-03, 2.51858641e-02, 1.06890827e-02, 1.28889941e-03,
  2.40494772e-05, 6.59276289e-05, 3.61527403e-05, 3.44649735e-05,
  5.26937073e-02, 2.08514656e-02, 1.39685542e-02,-4.72309190e-08,
 -3.43141691e-06, 2.18662025e-06,-9.80999894e+00,-6.49543078e-02,
 -9.41561427e-03,-5.31967594e-03]


--- Step 1751 ---
qpos:
[ 0.00987576, 0.008073  ,-0.00560016, 0.03347651, 0.0061265 ,-0.02021214,
 -0.01715341, 0.03775462, 0.0129941 , 0.00595781,-0.01170029, 0.03406263,
  0.81189222,-0.01536353, 1.14258339, 0.04606497, 0.09476744,-0.06361665,
  0.14252494, 0.94267781,-0.03283721, 0.02842605, 0.33086587]

qacc:
[-4.47016438e+00, 8.14649943e-02,-2.07599473e+00, 7.49239180e+00,
  1.37995146e+00,-2.88834603e+00, 7.70085450e+00,-9.55629366e+00,
  8.68968800e+00,-3.53833563e-01, 3.26155836e+00,-8.81869363e+00,
  1.91773697e+00, 5.86963173e-01, 8.70947565e+00,-6.96783633e+00,
 -1.32951052e-02,-2.24425534e-02,-9.09354290e-04, 5.06968278e-01,
 -1.53759061e-01, 1.17987892e+00]

qfrc_actuator:
[-7.29087874e-05, 2.40121047e-04, 6.09223488e-05, 5.62275971e-05,
 -2.64063218e-03, 2.31006971e-02, 1.03220332e-02, 1.27690903e-03,
  2.44131867e-05, 6.84087711e-05,-1.01617483e-04, 4.72467051e-05,
  4.99134143e-02, 1.94967485e-02, 1.88839734e-03,-2.25165730e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71228136, -0.5915095 , -0.39681388, -0.5915095 ,  0.59076673,
        0.18113545, -0.39681388,  0.18113545,  0.44227231,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.925018281677114e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99284217e-01,  6.12222560e-03, -3.73305739e-02,  6.11795807e-03,
        9.99981259e-01,  2.28550478e-04,  3.73312735e-02, -2.71050543e-20,
       -9.99302945e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13142465, -0.08322555,  0.17461703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25065724, -0.24346021,  0.05963372, -0.24346021,  0.33008604,
        0.32427542,  0.05963372,  0.32427542,  1.57454169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003889532356091339
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85755173e-01, -1.68116644e-01,  4.85109542e-03, -1.68114609e-01,
        9.85767109e-01,  8.27325112e-04, -4.92113743e-03,  1.08420217e-19,
       -9.99987891e-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([ 0.1307846 , -0.0820168 ,  0.13159552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29566858,   6.56309079,   3.18631751,   6.56309079,
        19.07570904, -24.26420934,   3.18631751, -24.26420934,
        57.27443196,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.8986567567088626e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97870583,  0.11175783, -0.17217748,  0.11006756,  0.99373547,
        0.01936348,  0.17326289,  0.        , -0.98487561])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329448, -0.05392709,  0.29658554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048066152173039176
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.05677210e-01, -9.08561977e-01, -2.84739490e-01, -9.07969170e-02,
       -2.69874965e-01,  9.58604936e-01, -9.47796056e-01,  3.18877150e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486807, -0.03605282,  0.30479604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044096833830743754
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25884664e-13, -9.83473940e-14,  1.00000000e+00, -1.23804287e-26,
        1.00000000e+00,  9.83473940e-14, -1.00000000e+00,  0.00000000e+00,
       -1.25884664e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05312807, -0.06101895,  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:
[-2.62702272e-05,-2.81846552e-05,-1.37685131e-06, 1.45632079e-05,
 -2.63098594e-03, 2.53191070e-02, 1.06868296e-02, 1.28517471e-03,
  5.08872587e-05, 5.27300446e-05, 1.72216454e-05,-1.22471975e-05,
  5.23789037e-02, 2.07060608e-02, 1.37803898e-02, 2.54039012e-04,
 -4.36685125e-06, 2.70604992e-06,-9.80999863e+00,-6.49532906e-02,
 -9.41621542e-03,-5.31899192e-03]


--- Step 1752 ---
qpos:
[ 0.00987509, 0.00807269,-0.00559941, 0.03347692, 0.00612655,-0.02024069,
 -0.01715169, 0.03775496, 0.01299486, 0.00595747,-0.01170043, 0.03406257,
  0.81191019,-0.01535415, 1.14256217, 0.04606161, 0.09476834,-0.06361587,
  0.14252537, 0.94266905,-0.03282645, 0.02842554, 0.33089193]

qacc:
[ 9.51631551e+00,-6.67345758e-01, 1.30367090e+00, 1.03028746e+00,
  7.50096450e-01,-2.46108755e+00, 7.32041971e+00,-8.55375003e+00,
  2.25033347e+00,-3.04703492e+00, 1.25039156e+01,-2.19720935e+01,
  7.70048661e-01, 3.89754277e-01, 6.99337224e+00,-1.57696595e+00,
 -1.52598610e-02,-1.31210070e-02, 3.02272346e-03, 1.90785998e-01,
  5.64256961e-02, 5.15037625e-01]

qfrc_actuator:
[-1.64103666e-05, 2.34667060e-04, 7.49826061e-05, 6.39636404e-05,
 -2.65025322e-03, 2.31512775e-02, 1.03198815e-02, 1.25086160e-03,
  3.59762046e-05, 1.90787850e-05,-8.48590162e-05, 1.92982831e-05,
  4.99133985e-02, 1.94894407e-02, 1.86246488e-03,-2.10935785e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71228739, -0.62695769, -0.33804939, -0.62695769,  0.62836516,
        0.15564497, -0.33804939,  0.15564497,  0.42362303,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.53640618097086e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99283235e-01,  6.12218509e-03, -3.73568554e-02,  6.11791158e-03,
        9.99981259e-01,  2.28709870e-04,  3.73575555e-02,  0.00000000e+00,
       -9.99301963e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13142639, -0.08322319,  0.17461645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25049143, -0.24277334,  0.06170136, -0.24277334,  0.34130158,
        0.35730629,  0.06170136,  0.35730629,  1.65636706,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003882917916962579
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85747661e-01, -1.68160389e-01,  4.86136085e-03, -1.68158344e-01,
        9.85759648e-01,  8.29297825e-04, -4.93158841e-03,  1.08420217e-19,
       -9.99987840e-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([ 0.13078733, -0.08201735,  0.13159571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29687624,   6.24201467,   3.77910779,   6.24201467,
        25.86816026, -30.67449615,   3.77910779, -30.67449615,
        57.96244749,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.084980751794088e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78712983e-01,  1.11710197e-01, -1.72167734e-01,  1.10020860e-01,
        9.93740827e-01,  1.93540317e-02,  1.73252149e-01,  3.46944695e-18,
       -9.84877502e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329504, -0.0539279 ,  0.29658589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004800631968473612
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.30847131, -0.90798311, -0.28357033, -0.09121766, -0.26849854,
        0.95895144, -0.94684993,  0.32167563,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486761, -0.03605408,  0.30479764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004401841713360977
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54964024e-07, -1.54964420e-07,  1.00000000e+00,  2.40139101e-14,
        1.00000000e+00,  1.54964420e-07, -1.00000000e+00, -3.15544362e-30,
        1.54964024e-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([ 0.05354857, -0.0616065 ,  0.06199011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.57392802e-05,-2.08825605e-05, 8.56984134e-06, 6.76397162e-06,
 -2.64852753e-03, 2.54573885e-02, 1.06807308e-02, 1.26786441e-03,
  1.30267137e-05,-1.67801734e-05, 2.93550549e-05,-2.53324251e-05,
  5.21317538e-02, 2.05837081e-02, 1.32048989e-02, 2.72546509e-04,
 -5.29311991e-06, 3.23623860e-06,-9.80999834e+00,-6.49521365e-02,
 -9.41683154e-03,-5.31824849e-03]


--- Step 1753 ---
qpos:
[ 0.00987511, 0.00807222,-0.00559854, 0.03347776, 0.006122  ,-0.02026252,
 -0.0171447 , 0.03775825, 0.01299507, 0.00595686,-0.01170004, 0.03406288,
  0.81185843,-0.01538371, 1.14250282, 0.04607078, 0.09476998,-0.0636124 ,
  0.14252526, 0.94267756,-0.03284478, 0.02841503, 0.33086678]

qacc:
[ 5.99150380e+00, 3.32464235e-01,-3.31957363e+00, 1.07365631e+01,
 -3.91304635e+01, 3.03954695e-01,-5.72915566e-01, 3.83215301e+01,
 -4.87574151e+00,-1.05205136e+00, 1.71377007e+00, 3.94899804e+00,
 -2.45431944e+01,-1.58788802e+01,-9.36672107e+01, 2.47080993e+02,
  1.86773756e-01, 6.74146332e-01,-1.32786348e-01,-1.43592349e+01,
  6.96543259e-01,-2.75716857e+01]

qfrc_actuator:
[ 1.71044198e-05, 2.31654448e-04, 8.29811009e-05, 8.61070188e-05,
 -2.65609696e-03, 2.31580938e-02, 1.03176695e-02, 1.27064919e-03,
  6.95272133e-06, 7.52001777e-06,-5.73590011e-05, 3.83596114e-05,
  4.99126196e-02, 1.94806981e-02, 1.82578940e-03,-1.98887048e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71229346, -0.51276324,  0.49440453, -0.51276324,  0.38833445,
       -0.33598857,  0.49440453, -0.33598857,  0.36382865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.09914696143128e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99282232e-01,  6.12222932e-03, -3.73836690e-02,  6.11794964e-03,
        9.99981259e-01,  2.28875684e-04,  3.73843696e-02,  0.00000000e+00,
       -9.99300960e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13142818, -0.08322085,  0.17461587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25030809,  0.02674657,  0.24887499,  0.02674657,  1.20852887,
       -0.10297991,  0.24887499, -0.10297991,  0.26137533,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003875581860954944
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85739801e-01, -1.68206085e-01,  4.87411222e-03, -1.68204029e-01,
        9.85751852e-01,  8.31705600e-04, -4.94456308e-03, -1.08420217e-19,
       -9.99987776e-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([ 0.13079012, -0.08201793,  0.13159593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.277389874391472e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9787205 ,  0.11166071, -0.17215713,  0.10997235,  0.99374639,
        0.01934416,  0.17324051,  0.        , -0.98487955])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132956 , -0.05392883,  0.29658625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.32776684,  1.2413042 , -0.47130528,  1.2413042 ,  2.9315709 ,
        4.22403228, -0.47130528,  4.22403228, 12.45284707,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047959950430123514
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.11098586e-01, -9.07432407e-01, -2.82460787e-01, -9.16033453e-02,
       -2.67194542e-01,  9.59278846e-01, -9.45952693e-01,  3.24304645e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486717, -0.03605551,  0.30479902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.37422949, -6.45080269,  8.12476351, -6.45080269, 54.07218108,
       34.69477765,  8.12476351, 34.69477765, 37.92077463,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044080098496504516
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51864915e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.51864915e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08714098, -0.10855107,  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:
[ 3.50950521e-05,-1.26070513e-05, 4.96686077e-06, 2.16726038e-05,
 -2.65861745e-03, 2.55113179e-02, 1.06593576e-02, 1.29145331e-03,
 -2.86604286e-05,-1.59431575e-05, 2.67790664e-05, 1.88656661e-05,
  5.20178153e-02, 2.05240133e-02, 1.26346037e-02, 2.48072297e-04,
 -5.70037607e-06, 3.43961311e-06,-9.80999827e+00,-6.49508773e-02,
 -9.41734183e-03,-5.31750867e-03]


--- Step 1754 ---
qpos:
[ 0.00987519, 0.00807193,-0.00559797, 0.03347851, 0.00611741,-0.02028416,
 -0.01713728, 0.03776156, 0.01299492, 0.00595632,-0.01169916, 0.03406337,
  0.81181589,-0.01540809, 1.14243905, 0.0460746 , 0.09477142,-0.0636096 ,
  0.14252532, 0.94268311,-0.03285763, 0.02840733, 0.33085035]

qacc:
[ 4.87284297e-01, 8.49102048e-01,-2.30385812e+00, 9.71555671e-01,
 -2.60025523e-01,-9.06857014e-01, 3.56618763e+00,-4.25278402e+00,
 -3.06101650e+00,-8.71094738e-01, 2.49762399e+00,-1.76701862e-01,
  3.40949732e+00, 1.90541158e+00, 9.55880454e+00,-4.31420852e+01,
 -5.19927403e-02,-1.68588227e-01, 4.06450703e-02, 2.87584676e+00,
  3.15796471e-01, 4.72298495e+00]

qfrc_actuator:
[ 1.90442902e-05, 2.47874361e-04, 6.96048434e-05, 8.10439176e-05,
 -2.63726791e-03, 2.31668829e-02, 1.03103766e-02, 1.33268286e-03,
 -1.02086832e-05, 3.64952161e-05,-2.35754675e-05, 4.94548212e-05,
  4.99177818e-02, 1.95283877e-02, 1.80265338e-03,-1.94551868e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227703, -0.67434883, -0.22932996, -0.67434883,  0.7092761 ,
        0.00882428, -0.22932996,  0.00882428,  0.68632907,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.443733004266675e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99281705e-01,  6.11767678e-03, -3.73984915e-02,  6.11339688e-03,
        9.99981287e-01,  2.28796164e-04,  3.73991913e-02,  0.00000000e+00,
       -9.99300406e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13142904, -0.08321911,  0.17461839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25015583, -0.04045569,  0.24686287, -0.04045569,  0.70891758,
        0.07518151,  0.24686287,  0.07518151,  0.26247652,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038694717306559176
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85748774e-01, -1.68154046e-01,  4.85504368e-03, -1.68152007e-01,
        9.85760730e-01,  8.28188032e-04, -4.92517457e-03,  1.08420217e-19,
       -9.99987871e-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([ 0.13079173, -0.08201733,  0.13159575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29560559, -3.85657567,  6.19295447, -3.85657567, 24.17770303,
       10.51308977,  6.19295447, 10.51308977, 13.84248502,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.8886916217811025e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9787089 ,  0.11170603, -0.17219367,  0.11001624,  0.9937413 ,
        0.01935622,  0.17327816,  0.        , -0.98487293])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329456, -0.05392627,  0.29658559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.33161115, -0.7518337 ,  1.09906066, -0.7518337 ,  3.56006284,
        1.52441549,  1.09906066,  1.52441549,  2.37441706,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048173425369471426
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.30436977, -0.90880799, -0.2853543 , -0.09062106, -0.27058252,
        0.9584221 , -0.94823355,  0.31757383,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486693, -0.03604972,  0.30479554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.37592447, -5.93916464,  8.50800399, -5.93916464, 18.11421163,
        5.40185002,  8.50800399,  5.40185002, 14.14678267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004409382290756632
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21719185e-06,  1.21719179e-06,  1.00000000e+00,  1.48155592e-12,
        1.00000000e+00, -1.21719179e-06, -1.00000000e+00,  0.00000000e+00,
       -1.21719185e-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([ 0.05355344, -0.06160284,  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:
[ 2.93464810e-06, 1.11414772e-05,-1.46269219e-05,-5.01393687e-06,
 -2.40964665e-03, 2.51847651e-02, 1.03883083e-02, 1.20537979e-03,
 -1.79849767e-05, 2.64072489e-05, 3.44447060e-05, 1.17067304e-05,
  5.55100341e-02, 2.25188765e-02, 1.45186213e-02,-3.34952105e-04,
 -7.99267685e-06, 2.47114141e-06,-9.80999720e+00,-6.49528414e-02,
 -9.41880744e-03,-5.31752456e-03]


--- Step 1755 ---
qpos:
[ 0.00987563, 0.00807202,-0.00559796, 0.03347883, 0.00611314,-0.02030628,
 -0.01712981, 0.03776476, 0.01299491, 0.00595595,-0.01169816, 0.03406366,
  0.81178358,-0.01542698, 1.14237456, 0.0460745 , 0.09477272,-0.06360733,
  0.14252549, 0.94268593,-0.03286549, 0.02840163, 0.33084204]

qacc:
[ 3.20272442e+00, 1.20209943e+00,-1.75699076e+00,-4.95515775e+00,
  2.61258126e+00,-9.93140003e-01, 3.06317850e+00,-4.59842716e+00,
  1.23368799e+00,-5.60426351e-01, 3.13659995e+00,-6.91960127e+00,
  3.89860412e+00, 1.78124145e+00, 1.06878344e+01,-3.91469778e+01,
 -3.63024602e-02,-1.34669470e-01, 2.75658473e-02, 2.52256486e+00,
  1.93654279e-02, 4.38362559e+00]

qfrc_actuator:
[ 3.78967557e-05, 2.75380574e-04, 4.37773290e-05, 6.00141280e-05,
 -2.64187046e-03, 2.31984522e-02, 1.03027828e-02, 1.36857684e-03,
 -2.48464678e-06, 3.62920084e-05,-2.17004802e-05, 3.80536809e-05,
  4.99325635e-02, 1.95813960e-02, 1.77532961e-03,-2.09534747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226782, -0.60766829, -0.37157058, -0.60766829,  0.76481065,
       -0.0859288 , -0.37157058, -0.0859288 ,  0.85279618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.241858997203999e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99281201e-01,  6.11309271e-03, -3.74127065e-02,  6.10881278e-03,
        9.99981315e-01,  2.28711617e-04,  3.74134056e-02,  0.00000000e+00,
       -9.99299873e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13143   , -0.08321745,  0.17462033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003863907149605525
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85754807e-01, -1.68119028e-01,  4.84280327e-03, -1.68117000e-01,
        9.85766703e-01,  8.25922988e-04, -4.91272758e-03,  0.00000000e+00,
       -9.99987932e-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([ 0.13079335, -0.08201694,  0.13159565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29403049,  7.26405409,  0.66060507,  7.26405409,  7.51761776,
       -2.45857944,  0.66060507, -2.45857944, 34.32872184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.6305767979019746e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97870096,  0.11173534, -0.17221976,  0.11004458,  0.993738  ,
        0.01936429,  0.173305  ,  0.        , -0.9848682 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329393, -0.05392421,  0.29658518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048306313352116075
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.00069561e-01, -9.09652548e-01, -2.87211596e-01, -8.99743316e-02,
       -2.72754690e-01,  9.57867161e-01, -9.49664614e-01,  3.13268450e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486681, -0.03604521,  0.30479357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044196480709550456
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51201681e-13,  5.88753940e-14,  1.00000000e+00,  1.47895979e-26,
        1.00000000e+00, -5.88753940e-14, -1.00000000e+00,  0.00000000e+00,
       -2.51201681e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05313679, -0.0610124 ,  0.06199007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89409775e-05, 3.05036023e-05,-2.55061415e-05,-2.11584336e-05,
 -2.41266514e-03, 2.52075955e-02, 1.03599092e-02, 1.24094648e-03,
  7.21946764e-06, 2.21815785e-05, 1.19727206e-05,-8.85105614e-06,
  5.50632818e-02, 2.23131486e-02, 1.47141580e-02,-2.16707711e-04,
 -3.65480755e-06, 1.07088776e-06,-9.80999863e+00,-6.49548012e-02,
 -9.41825146e-03,-5.31754302e-03]


--- Step 1756 ---
qpos:
[ 0.00987629, 0.00807233,-0.00559797, 0.03347923, 0.00610935,-0.02032908,
 -0.01712236, 0.03776783, 0.01299535, 0.00595559,-0.01169734, 0.03406384,
  0.81176048,-0.01544099, 1.14231281, 0.04607214, 0.09477391,-0.06360548,
  0.14252574, 0.94268639,-0.03286923, 0.02839744, 0.33084071]

qacc:
[ 1.94883215e+00, 5.14261613e-01,-1.75394547e+00, 2.97488350e+00,
  4.23144366e+00,-1.13569476e+00, 3.26151181e+00,-4.94076429e+00,
  3.84246314e+00, 3.23812980e-01,-7.02384475e-01,-7.40528324e-01,
  3.48531670e+00, 1.60744228e+00, 1.07720072e+01,-3.20307985e+01,
 -2.65048387e-02,-1.02289850e-01, 2.13221130e-02, 2.05981846e+00,
 -4.62890292e-02, 3.76185259e+00]

qfrc_actuator:
[ 4.88105269e-05, 2.91611402e-04, 4.63635414e-05, 6.52743476e-05,
 -2.62535156e-03, 2.32265254e-02, 1.02952083e-02, 1.33563809e-03,
  1.98207485e-05, 1.84764911e-05,-3.88029751e-05, 3.12180854e-05,
  4.99313923e-02, 1.96174667e-02, 1.76662107e-03,-2.16510168e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226291, -0.57662991, -0.41811051, -0.57662991,  0.79070884,
       -0.10818737, -0.41811051, -0.10818737,  0.86146765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.433089139646408e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99280679e-01,  6.10881417e-03, -3.74273446e-02,  6.10453388e-03,
        9.99981341e-01,  2.28640959e-04,  3.74280430e-02,  2.71050543e-20,
       -9.99299325e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13143107, -0.08321581,  0.17462173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038587790949793
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85758142e-01, -1.68099677e-01,  4.83572705e-03, -1.68097654e-01,
        9.85770003e-01,  8.24618474e-04, -4.90553277e-03,  0.00000000e+00,
       -9.99987968e-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([ 0.13079506, -0.08201672,  0.13159561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29315857,  7.23422635,  0.92527342,  7.23422635,  7.78371923,
       -3.83543585,  0.92527342, -3.83543585, 37.28041465,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.47942181916156e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97869622,  0.11174974, -0.17223734,  0.11005841,  0.99373638,
        0.0193688 ,  0.17332297,  0.        , -0.98486504])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329361, -0.05392267,  0.29658497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004837527858063001
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.97690296e-01, -9.10103646e-01, -2.88256553e-01, -8.96150494e-02,
       -2.73972596e-01,  9.57553215e-01, -9.50447069e-01,  3.10886425e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486672, -0.03604191,  0.30479277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044252184938937955
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25442735e-13, -1.29362821e-13,  1.00000000e+00, -1.62276261e-26,
        1.00000000e+00,  1.29362821e-13, -1.00000000e+00,  0.00000000e+00,
       -1.25442735e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0531397 , -0.06101035,  0.06199006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14655898e-05, 2.71142767e-05, 5.01044765e-06, 5.27122336e-06,
 -2.41143805e-03, 2.52601384e-02, 1.03499053e-02, 1.21327099e-03,
  2.25181153e-05,-3.31385984e-06,-1.13604407e-05,-5.64539510e-06,
  5.45509539e-02, 2.20752049e-02, 1.47423198e-02,-9.02871733e-05,
 -1.18777730e-06, 2.74419552e-07,-9.80999947e+00,-6.49560320e-02,
 -9.41805163e-03,-5.31744815e-03]


--- Step 1757 ---
qpos:
[ 0.00987708, 0.00807293,-0.00559771, 0.03347931, 0.00610628,-0.02035276,
 -0.01711497, 0.03777075, 0.01299639, 0.00595499,-0.01169662, 0.03406432,
  0.81174553,-0.01545069, 1.14225796, 0.0460697 , 0.09477502,-0.06360393,
  0.14252606, 0.9426848 ,-0.03286956, 0.0283944 , 0.33084547]

qacc:
[ 1.10646483e+00,-1.05481938e+00, 5.65259804e+00,-1.18001061e+01,
  6.08235003e+00,-1.29709547e+00, 3.54634037e+00,-5.34972742e+00,
  5.35967749e+00, 5.35407807e-01,-3.63250271e+00, 9.03638667e+00,
  3.01888097e+00, 1.49535060e+00, 1.03850044e+01,-2.16692623e+01,
 -1.95584828e-02,-7.46898298e-02, 1.61790034e-02, 1.67183831e+00,
 -9.44387551e-02, 3.27955045e+00]

qfrc_actuator:
[ 5.49591493e-05, 3.18851266e-04, 6.56905849e-05, 5.04725861e-05,
 -2.59647216e-03, 2.32529024e-02, 1.02699397e-02, 1.27921814e-03,
  5.05214684e-05,-9.83663585e-06,-4.92830458e-05, 4.48539193e-05,
  4.99203721e-02, 1.96240248e-02, 1.79542666e-03,-2.11589100e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226047, -0.54800083, -0.45498359, -0.54800083,  0.81348865,
       -0.12192336, -0.45498359, -0.12192336,  0.85910994,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9508521165703504e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99280128e-01,  6.10503101e-03, -3.74426846e-02,  6.10074986e-03,
        9.99981364e-01,  2.28593011e-04,  3.74433824e-02,  5.42101086e-20,
       -9.99298751e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13143226, -0.08321413,  0.17462269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24977356, -0.24724574,  0.03544537, -0.24724574,  0.29923503,
        0.34501368,  0.03544537,  0.34501368,  2.65638336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038540575884607036
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85759180e-01, -1.68093679e-01,  4.83262589e-03, -1.68091659e-01,
        9.85771026e-01,  8.24059384e-04, -4.90238175e-03, -1.08420217e-19,
       -9.99987983e-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([ 0.13079689, -0.08201667,  0.13159562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29279339,  7.1810127 ,  1.27196386,  7.1810127 ,  8.37631251,
       -6.11712707,  1.27196386, -6.11712707, 41.82771109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.414117870970061e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97869416,  0.11175128, -0.17224807,  0.11005971,  0.99373621,
        0.01937027,  0.17333379,  0.        , -0.98486314])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329353, -0.0539216 ,  0.29658492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004839955779616835
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.29675165, -0.91027148, -0.2886941 , -0.0894804 , -0.27447685,
        0.95742139, -0.95075324,  0.30994884,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486663, -0.03603961,  0.30479279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004427163839772902
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25387614e-13, -2.23346688e-13,  1.00000000e+00, -2.80049084e-26,
        1.00000000e+00,  2.23346688e-13, -1.00000000e+00,  0.00000000e+00,
       -1.25387614e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05314182, -0.06100874,  0.06199006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.48328426e-06, 4.36532734e-05, 2.57219336e-05,-1.33660714e-05,
 -2.40735292e-03, 2.53215817e-02, 1.03256008e-02, 1.16331164e-03,
  3.13400739e-05,-3.27426813e-05,-1.27654755e-05, 1.29885859e-05,
  5.40792538e-02, 2.18374929e-02, 1.46359413e-02, 7.22208937e-05,
 -2.08201960e-07, 4.58293277e-08,-9.80999982e+00,-6.49566982e-02,
 -9.41814442e-03,-5.31724954e-03]


--- Step 1758 ---
qpos:
[ 0.0098776 , 0.00807352,-0.00559708, 0.03347924, 0.00610398,-0.02037726,
 -0.01710764, 0.03777352, 0.01299813, 0.00595457,-0.01169677, 0.03406496,
  0.81173771,-0.01545666, 1.14221164, 0.04606816, 0.09477606,-0.0636026 ,
  0.14252643, 0.94268152,-0.03286715, 0.02839223, 0.33085524]

qacc:
[-2.41987409e+00,-1.33439751e+00, 5.37234813e+00,-8.49596469e+00,
  6.52257114e+00,-1.25243795e+00, 3.51365298e+00,-5.42313935e+00,
  6.16792419e+00, 3.00162128e+00,-1.10288953e+01, 1.50373828e+01,
  2.63339428e+00, 1.29120691e+00, 9.81835752e+00,-1.61760448e+01,
 -1.56503531e-02,-5.74086456e-02, 1.19436078e-02, 1.33538495e+00,
 -1.04531693e-01, 2.69609338e+00]

qfrc_actuator:
[ 4.05039328e-05, 2.99276913e-04, 7.70128345e-05, 4.17495988e-05,
 -2.59609740e-03, 2.32787296e-02, 1.02518634e-02, 1.26203923e-03,
  8.59127112e-05, 9.07027735e-06,-9.13063322e-05, 5.26683468e-05,
  4.99138582e-02, 1.96115024e-02, 1.85159206e-03,-2.04983153e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71225951, -0.54310193, -0.46081873, -0.54310193,  0.82679594,
       -0.13498791, -0.46081873, -0.13498791,  0.87135069,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.73758043391108e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99279536e-01,  6.10196030e-03, -3.74589696e-02,  6.09767758e-03,
        9.99981383e-01,  2.28577401e-04,  3.74596670e-02,  0.00000000e+00,
       -9.99298140e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13143356, -0.08321235,  0.17462329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24966607, -0.24644445,  0.03997849, -0.24644445,  0.30854355,
        0.36294592,  0.03997849,  0.36294592,  2.48701961,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038497043203125327
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85758234e-01, -1.68099227e-01,  4.83258252e-03, -1.68097207e-01,
        9.85770080e-01,  8.24079980e-04, -4.90234246e-03,  0.00000000e+00,
       -9.99987983e-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([ 0.13079884, -0.08201675,  0.13159567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29280772,  7.09657588,  1.68037353,  7.09657588,  9.49749261,
       -9.3108546 ,  1.68037353, -9.3108546 , 46.61453286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.416703942138783e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97869435,  0.11174151, -0.17225332,  0.11005   ,  0.99373731,
        0.01936915,  0.17333889,  0.        , -0.98486224])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329364, -0.05392093,  0.29658498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004839574566900641
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.96807271e-01, -9.10248316e-01, -2.88709971e-01, -8.95025408e-02,
       -2.74486325e-01,  9.57416603e-01, -9.50733790e-01,  3.10008485e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486655, -0.03603817,  0.30479334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044262512243692376
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.76240401e-13,  2.74341959e-14,  1.00000000e+00,  1.03218529e-26,
        1.00000000e+00, -2.74341959e-14, -1.00000000e+00,  0.00000000e+00,
       -3.76240401e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05314331, -0.06100749,  0.06199006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42579337e-05, 9.55220257e-06, 2.30337283e-05,-6.22508257e-06,
 -2.44263768e-03, 2.53921690e-02, 1.03109956e-02, 1.15361554e-03,
  3.62695422e-05,-1.45659030e-06,-4.99122102e-05, 6.21997193e-06,
  5.36652661e-02, 2.16097717e-02, 1.43477443e-02, 1.42729794e-04,
 -1.81079845e-07, 1.98981682e-07,-9.80999986e+00,-6.49569105e-02,
 -9.41842653e-03,-5.31695454e-03]


--- Step 1759 ---
qpos:
[ 0.00987759, 0.00807395,-0.00559649, 0.03347947, 0.00610245,-0.02040249,
 -0.01710032, 0.03777615, 0.01299925, 0.00595447,-0.01169752, 0.03406496,
  0.81173633,-0.01545931, 1.1421711 , 0.04606633, 0.09477706,-0.06360146,
  0.14252683, 0.94267685,-0.0328625 , 0.02839068, 0.33086914]

qacc:
[-4.57888837e+00, 5.29835406e-01,-3.40590802e+00, 8.61355704e+00,
  6.62835455e+00,-1.25243454e+00, 3.69169052e+00,-5.71690729e+00,
 -5.51462580e+00, 7.76990176e-01, 5.52048285e-01,-1.09034919e+01,
  2.40652590e+00, 1.09964061e+00, 9.32123141e+00,-2.03458478e+01,
 -1.28684728e-02,-4.58196679e-02, 7.99352995e-03, 1.08105884e+00,
 -1.23452757e-01, 2.21442693e+00]

qfrc_actuator:
[ 1.40389064e-05, 2.69546166e-04, 6.55788000e-05, 5.43823291e-05,
 -2.57765726e-03, 2.33222705e-02, 1.02736235e-02, 1.25071458e-03,
  5.27685218e-05, 3.82204479e-05,-1.15935272e-04, 2.15018546e-05,
  4.99258230e-02, 1.96041472e-02, 1.86519468e-03,-2.09888273e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7122595 , -0.52195744, -0.48463805, -0.52195744,  0.83157234,
       -0.12850048, -0.48463805, -0.12850048,  0.85065512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7366586324189995e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99278907e-01,  6.09965388e-03, -3.74761280e-02,  6.09536885e-03,
        9.99981397e-01,  2.28595662e-04,  3.74768252e-02,  0.00000000e+00,
       -9.99297497e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13143496, -0.08321047,  0.1746236 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24956707, -0.24585011,  0.04291203, -0.24585011,  0.31571306,
        0.3789613 ,  0.04291203,  0.3789613 ,  2.42069895,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003845687473430601
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85755661e-01, -1.68114247e-01,  4.83493722e-03, -1.68112225e-01,
        9.85767518e-01,  8.24557327e-04, -4.90474390e-03,  0.00000000e+00,
       -9.99987972e-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([ 0.13080091, -0.08201695,  0.13159575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29311847,   6.98486795,   2.09790293,   6.98486795,
        11.20203211, -13.01454194,   2.09790293, -13.01454194,
        50.62441643,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.472311564263346e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97869636,  0.11172243, -0.17225426,  0.11003119,  0.99373945,
        0.01936591,  0.17333946,  0.        , -0.98486214])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329389, -0.05392061,  0.29658513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048375127119887535
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.97561765e-01, -9.10091819e-01, -2.88426554e-01, -8.96339771e-02,
       -2.74145266e-01,  9.57502023e-01, -9.50485532e-01,  3.10768811e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486646, -0.03603744,  0.30479421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000442312048567442
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.76506709e-13, -3.92194488e-15,  1.00000000e+00, -1.47663856e-27,
        1.00000000e+00,  3.92194488e-15, -1.00000000e+00,  0.00000000e+00,
       -3.76506709e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05314431, -0.06100652,  0.06199007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.68710908e-05,-1.99331946e-05,-6.85344946e-06, 1.37157565e-05,
 -2.46244942e-03, 2.54774551e-02, 1.03357095e-02, 1.14990886e-03,
 -3.21133372e-05, 1.83258892e-05,-3.08567590e-05,-3.28360849e-05,
  5.33203210e-02, 2.14164312e-02, 1.39355490e-02, 4.88302676e-05,
 -7.10951962e-07, 5.71478925e-07,-9.80999974e+00,-6.49567587e-02,
 -9.41882548e-03,-5.31657589e-03]


--- Step 1760 ---
qpos:
[ 0.00987726, 0.00807432,-0.00559606, 0.03347984, 0.00610182,-0.02042854,
 -0.01709308, 0.0377786 , 0.01299962, 0.00595447,-0.01169799, 0.0340649 ,
  0.81174068,-0.01545898, 1.14213615, 0.04606433, 0.09477801,-0.06360045,
  0.14252725, 0.94267097,-0.03285598, 0.02838956, 0.33088664]

qacc:
[-2.78858356e+00, 6.58446682e-01,-3.07764940e+00, 5.88676002e+00,
  7.63441060e+00,-1.22440005e+00, 3.46558304e+00,-5.63684163e+00,
 -6.59424571e+00,-7.54496591e-01, 3.14349774e+00,-4.71290337e+00,
  2.12243473e+00, 1.02376657e+00, 8.73690202e+00,-1.86856768e+01,
 -1.06111586e-02,-3.31350000e-02, 4.86605783e-03, 8.75499424e-01,
 -1.47585508e-01, 1.92808893e+00]

qfrc_actuator:
[-1.52366127e-06, 2.69382522e-04, 5.85122377e-05, 6.16973486e-05,
 -2.53094379e-03, 2.33589178e-02, 1.02660027e-02, 1.26071407e-03,
  1.50553758e-05, 5.55592023e-05,-9.45523332e-05, 2.09377047e-05,
  4.99327045e-02, 1.96520578e-02, 1.83722315e-03,-2.10966356e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226025, -0.51615906, -0.49081003, -0.51615906,  0.86401777,
       -0.15959539, -0.49081003, -0.15959539,  0.88009831,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.902931990677697e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99278245e-01,  6.09812426e-03, -3.74940161e-02,  6.09383622e-03,
        9.99981406e-01,  2.28647420e-04,  3.74947132e-02, -2.71050543e-20,
       -9.99296826e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13143644, -0.08320851,  0.17462366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24947682, -0.24142691,  0.0628628 , -0.24142691,  0.40468961,
        0.5961005 ,  0.0628628 ,  0.5961005 ,  2.53882302,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003842019745400676
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85751753e-01, -1.68137041e-01,  4.83910641e-03, -1.68135015e-01,
        9.85763631e-01,  8.25383497e-04, -4.90899264e-03,  0.00000000e+00,
       -9.99987951e-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([ 0.13080308, -0.08201724,  0.13159585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29367181,   6.86233511,   2.47103325,   6.86233511,
        13.28789234, -16.64661933,   2.47103325, -16.64661933,
        53.52319139,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.569175453767062e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78699848e-01,  1.11695689e-01, -1.72251796e-01,  1.10004914e-01,
        9.93742458e-01,  1.93609350e-02,  1.73336456e-01, -3.46944695e-18,
       -9.84862667e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329425, -0.05392061,  0.29658536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004834236213892926
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.29890435, -0.90982143, -0.28789088, -0.08985605, -0.27350877,
        0.95766322, -0.9500432 ,  0.31211844,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486631, -0.03603729,  0.30479531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004418304792733335
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.7483537e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.7483537e-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([ 0.05314493, -0.06100577,  0.06199008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63374053e-05,-1.21707659e-05,-1.15649382e-05, 6.48901361e-06,
 -2.45461246e-03, 2.55510295e-02, 1.03286987e-02, 1.16744069e-03,
 -3.86180141e-05, 1.98103563e-05, 2.02439402e-05,-1.48205285e-06,
  5.30057615e-02, 2.12980986e-02, 1.36194934e-02, 5.22471163e-05,
 -1.51540038e-06, 1.04949334e-06,-9.80999951e+00,-6.49563134e-02,
 -9.41929303e-03,-5.31612011e-03]


--- Step 1761 ---
qpos:
[ 0.00987676, 0.00807458,-0.00559541, 0.03347993, 0.00610195,-0.02045541,
 -0.01708599, 0.03778085, 0.01300023, 0.00595505,-0.01169901, 0.03406517,
  0.81175013,-0.01545608, 1.14210759, 0.04606272, 0.09477893,-0.06359955,
  0.14252767, 0.94266415,-0.032848  , 0.02838873, 0.33090693]

qacc:
[-1.60867338e+00,-1.32861954e+00, 5.72174078e+00,-1.08622146e+01,
  6.44926531e+00,-1.06956280e+00, 3.05104022e+00,-5.55216303e+00,
  2.03495320e+00, 2.98612379e+00,-1.09245283e+01, 1.71071122e+01,
  1.91117488e+00, 8.25503185e-01, 8.21328502e+00,-1.51360766e+01,
 -1.02543894e-02,-2.77953154e-02, 2.22063959e-03, 6.86539171e-01,
 -1.39081901e-01, 1.50194756e+00]

qfrc_actuator:
[-1.05405751e-05, 2.69176081e-04, 7.19474139e-05, 4.80979035e-05,
 -2.53870619e-03, 2.33740740e-02, 1.02408337e-02, 1.28358844e-03,
  2.82347662e-05, 1.01414257e-04,-1.17203440e-04, 3.84120507e-05,
  4.99310412e-02, 1.96611308e-02, 1.85335131e-03,-2.07972190e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226167, -0.56299106, -0.43630007, -0.56299106,  0.81981723,
       -0.1387871 , -0.43630007, -0.1387871 ,  0.89134918,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.1970490898387466e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99277544e-01,  6.09748965e-03, -3.75128199e-02,  6.09319775e-03,
        9.99981410e-01,  2.28738284e-04,  3.75135173e-02,  0.00000000e+00,
       -9.99296120e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13143799, -0.08320646,  0.17462353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24939252, -0.24207007,  0.05998926, -0.24207007,  0.37607343,
        0.51118573,  0.05998926,  0.51118573,  2.31214105,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038385882530709214
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85746687e-01, -1.68166577e-01,  4.84482309e-03, -1.68164546e-01,
        9.85758592e-01,  8.26507951e-04, -4.91481700e-03,  1.08420217e-19,
       -9.99987922e-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([ 0.13080535, -0.08201762,  0.13159598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29442719,   6.68813283,   2.9116228 ,   6.68813283,
        16.49508604, -21.13434079,   2.9116228 , -21.13434079,
        55.84098979,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.6972930958415146e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97870457,  0.11166224, -0.17224667,  0.10997208,  0.99374622,
        0.01935449,  0.17333064,  0.        , -0.98486369])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329468, -0.05392089,  0.29658562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004830293894232943
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.30066301, -0.90946846, -0.28717395, -0.09013939, -0.27266054,
        0.95787845, -0.94946124,  0.3138843 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048661 , -0.03603762,  0.30479654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004412229153854669
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.93162598e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.93162598e-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([ 0.05314524, -0.0610052 ,  0.06199009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.48810269e-06,-9.14711158e-06, 9.71208001e-06,-1.43966907e-05,
 -2.50716830e-03, 2.56085932e-02, 1.03080171e-02, 1.19887083e-03,
  1.20873394e-05, 6.10447023e-05,-1.61092533e-05, 1.89977394e-05,
  5.27173239e-02, 2.11580658e-02, 1.33568053e-02, 9.11379812e-05,
 -2.47463872e-06, 1.59982000e-06,-9.80999924e+00,-6.49556327e-02,
 -9.41980720e-03,-5.31559097e-03]


--- Step 1762 ---
qpos:
[ 0.00987614, 0.00807503,-0.005595  , 0.0334795 , 0.00610254,-0.02048313,
 -0.01707907, 0.03778289, 0.01300099, 0.00595641,-0.01170067, 0.03406494,
  0.81176424,-0.01545091, 1.14208422, 0.04606107, 0.0947798 ,-0.06359876,
  0.1425281 , 0.94265661,-0.03283883, 0.02838808, 0.33092935]

qacc:
[-9.27834417e-01,-1.46049961e-01, 3.06960517e+00,-1.17686053e+01,
  3.93847679e+00,-1.13051743e+00, 3.32386909e+00,-6.26406431e+00,
  1.30987927e+00, 1.76978817e+00,-2.71834344e+00,-5.49830029e+00,
  1.81225607e+00, 6.14707737e-01, 7.76709420e+00,-1.61266817e+01,
 -1.01808097e-02,-2.53688239e-02,-3.14108885e-04, 5.44898948e-01,
 -1.37669258e-01, 1.13842161e+00]

qfrc_actuator:
[-1.56362154e-05, 2.86765976e-04, 6.18660880e-05, 2.23184032e-05,
 -2.56162086e-03, 2.33944039e-02, 1.02584925e-02, 1.27877466e-03,
  3.57596452e-05, 1.46093644e-04,-1.47810018e-04, 1.30841508e-05,
  4.99241021e-02, 1.96461174e-02, 1.89034062e-03,-2.09685052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226367, -0.60171307, -0.38113109, -0.60171307,  0.73799728,
       -0.0406271 , -0.38113109, -0.0406271 ,  0.77640396,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.5708363352187454e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99276801e-01,  6.09761118e-03, -3.75325873e-02,  6.09331467e-03,
        9.99981409e-01,  2.28863378e-04,  3.75332850e-02,  0.00000000e+00,
       -9.99295378e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13143962, -0.08320436,  0.17462325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24930818, -0.24189358,  0.06034952, -0.24189358,  0.35646332,
        0.42950033,  0.06034952,  0.42950033,  1.97083585,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038351497636979854
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85740707e-01, -1.68201414e-01,  4.85217383e-03, -1.68199376e-01,
        9.85752649e-01,  8.27938427e-04, -4.92230362e-03,  0.00000000e+00,
       -9.99987885e-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([ 0.13080773, -0.08201806,  0.13159612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29535193,   6.52942523,   3.2540384 ,   6.52942523,
        19.58097301, -24.65184311,   3.2540384 , -24.65184311,
        56.76076883,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.848299867852249e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78710235e-01,  1.11623571e-01, -1.72239524e-01,  1.09934159e-01,
        9.93750561e-01,  1.93468980e-02,  1.73322693e-01,  3.46944695e-18,
       -9.84865089e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329515, -0.0539214 ,  0.29658592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004826148686922762
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3026876 , -0.90906053, -0.2863375 , -0.09045841, -0.2716734 ,
        0.95812882, -0.94878738,  0.31591535,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486583, -0.03603836,  0.30479782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004405259613588369
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26011078e-13, -1.29948924e-13,  1.00000000e+00, -1.63750040e-26,
        1.00000000e+00,  1.29948924e-13, -1.00000000e+00,  0.00000000e+00,
       -1.26011078e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05314531, -0.06100477,  0.06199011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.37044664e-06, 1.38451394e-05,-1.12826211e-05,-2.61173635e-05,
 -2.56792816e-03, 2.56705274e-02, 1.03333952e-02, 1.20381726e-03,
  7.89047956e-06, 7.62987442e-05,-1.93194146e-05,-2.28995620e-05,
  5.24556719e-02, 2.10143465e-02, 1.30750407e-02, 5.47483854e-05,
 -3.39404920e-06, 2.11695384e-06,-9.80999897e+00,-6.49547615e-02,
 -9.42033977e-03,-5.31499811e-03]


--- Step 1763 ---
qpos:
[ 0.00987547, 0.00807555,-0.00559499, 0.03347914, 0.00610356,-0.02051071,
 -0.01707193, 0.03778483, 0.01300183, 0.00595805,-0.01170197, 0.0340644 ,
  0.81178064,-0.01544466, 1.14206488, 0.04605915, 0.09478062,-0.06359804,
  0.14252854, 0.94264882,-0.03282924, 0.02838774, 0.33095253]

qacc:
[-5.07505351e-01, 1.33385715e+00,-4.91120105e+00, 6.65463449e+00,
  3.68279546e+00,-6.21661917e-01, 2.85718655e+00,-4.89465429e+00,
  7.51309979e-01,-1.26228365e+00, 6.35028149e+00,-1.24710001e+01,
  8.33681862e-01, 3.57640168e-01, 6.69975801e+00,-1.48543483e+01,
 -1.25371893e-02,-1.93063493e-02, 3.21820565e-03, 2.38379785e-01,
  6.56169577e-02, 4.12304914e-01]

qfrc_actuator:
[-1.83851928e-05, 2.79272302e-04, 3.80426873e-05, 2.50836459e-05,
 -2.55812932e-03, 2.34182003e-02, 1.02486639e-02, 1.29295872e-03,
  3.98797320e-05, 1.54143348e-04,-1.29622528e-04,-1.71989844e-06,
  4.99138532e-02, 1.96691848e-02, 1.87048839e-03,-2.12419053e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226611, -0.62880479, -0.33455575, -0.62880479,  0.76082967,
       -0.09127626, -0.33455575, -0.09127626,  0.88382183,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.979736243810237e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99276016e-01,  6.09819397e-03, -3.75533686e-02,  6.09389229e-03,
        9.99981406e-01,  2.29011984e-04,  3.75540669e-02, -2.71050543e-20,
       -9.99294597e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1314413 , -0.08320226,  0.17462287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24921713, -0.24210222,  0.05912436, -0.24210222,  0.37546929,
        0.51697689,  0.05912436,  0.51697689,  2.36613226,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003831432078558849
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85734018e-01, -1.68240344e-01,  4.86135199e-03, -1.68238298e-01,
        9.85746005e-01,  8.29702102e-04, -4.93164767e-03,  1.08420217e-19,
       -9.99987839e-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([ 0.13081019, -0.08201855,  0.13159629])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29642037,   6.42155167,   3.46430719,   6.42155167,
        21.80050189, -26.88523384,   3.46430719, -26.88523384,
        57.13175795,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.015669165719587e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78716616e-01,  1.11580977e-01, -1.72230867e-01,  1.09892397e-01,
        9.93755345e-01,  1.93384504e-02,  1.73313148e-01,  3.46944695e-18,
       -9.84866769e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329565, -0.05392214,  0.29658624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048219438415098763
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.30491926, -0.90860745, -0.28540629, -0.09080266, -0.27057647,
        0.95840662, -0.94803962,  0.31815229,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486549, -0.03603946,  0.30479911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004397579499567407
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13726312e-06,  1.13726314e-06,  1.00000000e+00,  1.29336743e-12,
        1.00000000e+00, -1.13726314e-06, -1.00000000e+00, -2.01948392e-28,
       -1.13726312e-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([ 0.05356578, -0.0615921 ,  0.06199012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.89737210e-06,-3.22122852e-06,-2.32650347e-05, 2.45921969e-06,
 -2.58752844e-03, 2.57377844e-02, 1.03320011e-02, 1.22914910e-03,
  4.37528768e-06, 4.57202897e-05, 3.07804194e-05,-1.26474848e-05,
  5.22124193e-02, 2.09238654e-02, 1.27957308e-02, 2.97867019e-05,
 -4.20050793e-06, 2.56774011e-06,-9.80999871e+00,-6.49537398e-02,
 -9.42088128e-03,-5.31434747e-03]


--- Step 1764 ---
qpos:
[ 0.00987546, 0.00807588,-0.00559516, 0.03347884, 0.00610487,-0.02053822,
 -0.01706465, 0.03778665, 0.01300237, 0.00595983,-0.01170323, 0.03406373,
  0.81179912,-0.01543746, 1.14204927, 0.04605699, 0.09478139,-0.06359739,
  0.14252898, 0.94264086,-0.03281932, 0.02838759, 0.33097621]

qacc:
[ 5.80853104e+00, 3.81109212e-01,-1.96003289e+00, 3.35166713e+00,
  2.52661709e+00,-5.50000342e-01, 2.61156129e+00,-4.98618332e+00,
 -2.65555532e+00,-2.02120743e-01, 1.54123442e+00,-3.98674786e+00,
  7.94162874e-01, 2.50173334e-01, 6.25731165e+00,-1.39064780e+01,
 -1.21478511e-02,-1.73637535e-02, 8.04780009e-04, 1.75121060e-01,
  3.42189042e-02, 2.70733311e-01]

qfrc_actuator:
[ 1.57726961e-05, 2.56777512e-04, 2.39808678e-05, 2.68462717e-05,
 -2.55670196e-03, 2.34256771e-02, 1.02220284e-02, 1.28299578e-03,
  2.42112519e-05, 1.40391744e-04,-1.36159043e-04,-1.02017870e-05,
  4.99123159e-02, 1.96621193e-02, 1.84307898e-03,-2.13967448e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226896, -0.64432277, -0.30360374, -0.64432277,  0.74415706,
       -0.06767451, -0.30360374, -0.06767451,  0.85589113,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.40799137422081e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99275242e-01,  6.09920889e-03, -3.75737978e-02,  6.09490181e-03,
        9.99981400e-01,  2.29174704e-04,  3.75744967e-02,  0.00000000e+00,
       -9.99293829e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13144297, -0.08320018,  0.17462244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24913074, -0.24198374,  0.05924521, -0.24198374,  0.36601764,
        0.47741796,  0.05924521,  0.47741796,  2.19911745,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003827898979765579
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85727059e-01, -1.68280817e-01,  4.87150942e-03, -1.68278762e-01,
        9.85739097e-01,  8.31641544e-04, -4.94198661e-03, -1.08420217e-19,
       -9.99987788e-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([ 0.13081263, -0.08201907,  0.13159647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.192870976540995e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78723328e-01,  1.11536965e-01, -1.72221229e-01,  1.09849258e-01,
        9.93760286e-01,  1.93296447e-02,  1.73302588e-01,  3.46944695e-18,
       -9.84868627e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329618, -0.05392298,  0.29658657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000481828811405102
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.30725814, -0.90812746, -0.28442389, -0.09115644, -0.26942058,
        0.95869862, -0.9472502 ,  0.32049503,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048651 , -0.03604068,  0.30480029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004389637495152801
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95627400e-07, -1.95627596e-07,  1.00000000e+00,  3.82701178e-14,
        1.00000000e+00,  1.95627596e-07, -1.00000000e+00, -6.31088724e-30,
        1.95627400e-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([ 0.05356558, -0.06159188,  0.06199014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.40734750e-05,-2.90134232e-05,-1.75121735e-05, 8.67369265e-07,
 -2.60771953e-03, 2.57393642e-02, 1.02947941e-02, 1.22386871e-03,
 -1.55251017e-05, 1.75925030e-05, 6.25898355e-06,-5.70338554e-06,
  5.20965619e-02, 2.08624437e-02, 1.25676333e-02, 2.72683823e-05,
 -4.51478882e-06, 2.70701738e-06,-9.80999864e+00,-6.49526085e-02,
 -9.42132501e-03,-5.31369981e-03]


--- Step 1765 ---
qpos:
[ 0.00987655, 0.00807608,-0.00559523, 0.03347818, 0.00610137,-0.02055919,
 -0.01705247, 0.03779132, 0.01300238, 0.00596172,-0.01170423, 0.03406261,
  0.81174876,-0.01546806, 1.14199095, 0.0460646 , 0.09478297,-0.06359408,
  0.14252891, 0.94265009,-0.03283794, 0.02837727, 0.33094895]

qacc:
[ 9.65066306e+00,-1.18927931e+00, 5.43696777e+00,-1.15113576e+01,
 -4.10053640e+01, 9.22211967e-01,-2.65873696e+00, 3.92759084e+01,
 -4.71582441e+00,-1.49651863e+00, 7.48745560e+00,-1.58555678e+01,
 -2.46177852e+01,-1.47438082e+01,-9.20873409e+01, 2.31723832e+02,
  2.00024601e-01, 6.64439686e-01,-1.29567130e-01,-1.41286106e+01,
  5.19585782e-01,-2.74253957e+01]

qfrc_actuator:
[ 7.13786872e-05, 2.61011106e-04, 3.34786115e-05, 1.02409245e-05,
 -2.57430296e-03, 2.34233678e-02, 1.02208020e-02, 1.27636303e-03,
 -2.97774151e-06, 1.49102414e-04,-1.21849919e-04,-3.26968461e-05,
  4.99052893e-02, 1.96189319e-02, 1.85894773e-03,-2.13019892e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227206, -0.50210491,  0.50519516, -0.50210491,  0.38546129,
       -0.32481169,  0.50519516, -0.32481169,  0.38944723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.832918942378546e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99274474e-01,  6.10052029e-03, -3.75940089e-02,  6.09620765e-03,
        9.99981392e-01,  2.29347282e-04,  3.75947085e-02,  0.00000000e+00,
       -9.99293069e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13144464, -0.08319816,  0.17462198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24903983, -0.21559687, -0.12465483, -0.21559687,  0.5869744 ,
       -0.58447503, -0.12465483, -0.58447503,  1.25991911,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038241750195341267
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85719910e-01, -1.68322362e-01,  4.88266764e-03, -1.68320297e-01,
        9.85732003e-01,  8.33758211e-04, -4.95334191e-03,  0.00000000e+00,
       -9.99987732e-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([ 0.13081505, -0.0820196 ,  0.13159667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29887379,   7.1771428 ,   1.32747121,   7.1771428 ,
         9.6653849 , -12.7948448 ,   1.32747121, -12.7948448 ,
        76.47583771,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.375682763156816e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78730261e-01,  1.11492039e-01, -1.72210921e-01,  1.09805232e-01,
        9.93765327e-01,  1.93206043e-02,  1.73291336e-01, -3.46944695e-18,
       -9.84870607e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132967 , -0.05392392,  0.2965869 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.33120952,  1.24297998, -0.47657061,  1.24297998,  3.01054498,
        4.38000224, -0.47657061,  4.38000224, 12.7550257 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004815122020854139
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.30964656, -0.90763165, -0.28341452, -0.09151049, -0.26823427,
        0.9589975 , -0.94643797,  0.32288568,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486466, -0.03604204,  0.30480138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.35839884, -6.52169621,  8.04760244, -6.52169621, 61.33500793,
       41.31093212,  8.04760244, 41.31093212, 43.8363634 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043951509633069485
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52601795e-13, -1.26300898e-13,  1.00000000e+00, -3.19038335e-26,
        1.00000000e+00,  1.26300898e-13, -1.00000000e+00,  0.00000000e+00,
       -2.52601795e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08716688, -0.10853133,  0.06199013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.65664938e-05,-1.55685450e-05, 1.37517844e-06,-1.84387353e-05,
 -2.64015270e-03, 2.57341510e-02, 1.02867084e-02, 1.22335033e-03,
 -2.76199513e-05, 1.95450899e-05, 1.85132334e-05,-2.16345184e-05,
  5.19851036e-02, 2.07721141e-02, 1.23966844e-02, 4.92042411e-05,
 -4.73494058e-06, 2.80331042e-06,-9.80999859e+00,-6.49514314e-02,
 -9.42174142e-03,-5.31305250e-03]


--- Step 1766 ---
qpos:
[ 0.00987761, 0.00807607,-0.00559516, 0.03347734, 0.00609765,-0.02057994,
 -0.01704045, 0.0377958 , 0.01300205, 0.00596363,-0.01170474, 0.03406157,
  0.81170981,-0.01549262, 1.14192387, 0.0460644 , 0.09478434,-0.06359149,
  0.14252896, 0.94265628,-0.03285062, 0.02836951, 0.33093072]

qacc:
[-2.68615360e-01,-1.06474136e+00, 4.17016506e+00,-7.45639970e+00,
 -1.77018859e+00, 3.13797874e-01, 1.39882935e-01,-3.50551425e+00,
 -2.85141570e+00,-1.15296768e+00, 3.82303748e+00,-3.22909393e+00,
  4.54965410e+00, 1.67057068e+00, 1.05236060e+01,-5.58916086e+01,
 -5.05155468e-02,-1.79495604e-01, 3.17192574e-02, 3.04308574e+00,
  1.18299368e-01, 4.88983754e+00]

qfrc_actuator:
[ 6.81411661e-05, 2.45793341e-04, 3.91455327e-05, 7.48997534e-07,
 -2.59831772e-03, 2.34264436e-02, 1.02122594e-02, 1.28655356e-03,
 -1.89706534e-05, 1.53503796e-04,-9.52676630e-05,-2.77194511e-05,
  4.99172563e-02, 1.96101822e-02, 1.87287590e-03,-2.20442736e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226115, -0.68064535, -0.209852  , -0.68064535,  0.76826137,
       -0.18163413, -0.209852  , -0.18163413,  1.30138314,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.093512606359292e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99274165e-01,  6.09701255e-03, -3.76027928e-02,  6.09270037e-03,
        9.99981413e-01,  2.29268961e-04,  3.76034917e-02,  2.71050543e-20,
       -9.99292739e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13144541, -0.08319676,  0.17462459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24893363, -0.03867458,  0.24591102, -0.03867458,  0.696356  ,
        0.07036639,  0.24591102,  0.07036639,  0.2600002 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038198173426022184
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85729517e-01, -1.68266708e-01,  4.86151326e-03, -1.68264662e-01,
        9.85741505e-01,  8.29863438e-04, -4.93183378e-03, -1.08420217e-19,
       -9.99987838e-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([ 0.13081634, -0.08201895,  0.13159645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29622722, -5.12493729,  5.19326   , -5.12493729, 20.21241767,
       12.7462646 ,  5.19326   , 12.7462646 , 19.87480152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.985935983526035e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78718170e-01,  1.11541592e-01, -1.72247546e-01,  1.09853293e-01,
        9.93759766e-01,  1.93334105e-02,  1.73329160e-01,  3.46944695e-18,
       -9.84863951e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329565, -0.05392142,  0.29658623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.33510044, -0.74249676,  1.1095908 , -0.74249676,  3.49488872,
        1.44524973,  1.1095908 ,  1.44524973,  2.30220763,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004836539419538932
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.30302844, -0.90897157, -0.28625943, -0.09053337, -0.27156614,
        0.95815215, -0.94867143,  0.31626338,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486442, -0.03603632,  0.30479788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.36065952, -5.93431927,  8.49276871, -5.93431927, 17.95282311,
        5.30502175,  8.49276871,  5.30502175, 14.06754167,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043969917794327296
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26248021e-13, -3.55072560e-14,  1.00000000e+00, -4.48272082e-27,
        1.00000000e+00,  3.55072560e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26248021e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0531497 , -0.06100075,  0.06199013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63107968e-06,-2.44186856e-05, 1.97893873e-06,-1.04717518e-05,
 -2.42290373e-03, 2.54107617e-02, 1.00335600e-02, 1.09082024e-03,
 -1.67662727e-05, 1.81641474e-05, 3.21444339e-05, 6.03611444e-06,
  5.54399093e-02, 2.26536937e-02, 1.45477782e-02,-5.13232992e-04,
 -8.86451139e-06, 2.86336796e-06,-9.80999711e+00,-6.49535177e-02,
 -9.42347117e-03,-5.31311141e-03]


--- Step 1767 ---
qpos:
[ 0.00987759, 0.00807609,-0.00559543, 0.03347674, 0.00609416,-0.02060106,
 -0.01702877, 0.03780004, 0.01300154, 0.0059655 ,-0.01170572, 0.03406101,
  0.81168084,-0.01551196, 1.14186179, 0.0460631 , 0.09478557,-0.06358942,
  0.14252911, 0.94265973,-0.03285842, 0.02836373, 0.33092063]

qacc:
[-9.50059523e+00, 1.47681642e+00,-6.19166289e+00, 1.08163238e+01,
  1.91187419e+00,-1.80590151e-02, 3.33106310e-01,-3.53637603e+00,
 -1.67687230e+00, 2.24552917e+00,-1.01466130e+01, 1.93584224e+01,
  3.82461034e+00, 1.62731876e+00, 1.06276487e+01,-2.66603836e+01,
 -3.60538963e-02,-1.29168338e-01, 2.57889989e-02, 2.46963455e+00,
  2.69622925e-02, 4.38652510e+00]

qfrc_actuator:
[ 1.25359501e-05, 2.54547974e-04, 2.46792426e-05, 1.32540611e-05,
 -2.57561089e-03, 2.34542139e-02, 1.02024202e-02, 1.29099764e-03,
 -2.82421287e-05, 1.19860795e-04,-1.32661212e-04,-6.61144406e-06,
  4.99358737e-02, 1.96288865e-02, 1.87879456e-03,-2.08443133e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7122562 , -0.66595006, -0.25262504, -0.66595006,  0.80910305,
       -0.25529998, -0.25262504, -0.25529998,  1.38525772,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.818508354380195e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99273859e-01,  6.09329786e-03, -3.76115192e-02,  6.08898630e-03,
        9.99981436e-01,  2.29182444e-04,  3.76122174e-02,  0.00000000e+00,
       -9.99292410e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13144627, -0.0831955 ,  0.17462655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038160794791625624
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85736069e-01, -1.68228737e-01,  4.84700079e-03, -1.68226704e-01,
        9.85747986e-01,  8.27194003e-04, -4.91707907e-03, -1.08420217e-19,
       -9.99987911e-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([ 0.13081766, -0.08201851,  0.13159631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29460499,  7.2739752 ,  0.54822149,  7.2739752 ,  7.43983866,
       -1.92700602,  0.54822149, -1.92700602, 32.86272702,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7268050143869827e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97870978,  0.11157468, -0.17227376,  0.10988535,  0.99375605,
        0.01934216,  0.17335619,  0.        , -0.98485919])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329499, -0.05391952,  0.29658581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048489109734724305
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.99028895e-01, -9.09748816e-01, -2.87990994e-01, -8.99275799e-02,
       -2.73590649e-01,  9.57633117e-01, -9.49997237e-01,  3.12258306e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486421, -0.03603203,  0.30479604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044072614492061957
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.69129786e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.69129786e-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([ 0.05315357, -0.06099815,  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:
[-5.56597316e-05,-4.94294139e-06,-1.96287508e-05, 1.13249490e-05,
 -2.38984151e-03, 2.54284299e-02, 1.00316459e-02, 1.10524695e-03,
 -9.73792893e-06,-1.66549154e-05,-2.94871727e-05, 2.31158784e-05,
  5.48876079e-02, 2.23708909e-02, 1.49926968e-02,-2.81906090e-06,
 -4.08669521e-06, 1.20889871e-06,-9.80999867e+00,-6.49554455e-02,
 -9.42284888e-03,-5.31310619e-03]


--- Step 1768 ---
qpos:
[ 0.0098769 , 0.00807652,-0.00559581, 0.03347658, 0.00609127,-0.02062297,
 -0.01701758, 0.03780402, 0.01300161, 0.00596732,-0.01170712, 0.03406071,
  0.81166053,-0.01552673, 1.14181024, 0.04606363, 0.09478669,-0.06358771,
  0.14252935, 0.94266071,-0.03286219, 0.02835944, 0.33091782]

qacc:
[ -5.8604762 ,  1.79169538, -7.41346947, 14.80952319,  5.12047702,
  -0.24124487,  0.39910492, -3.44510055,  5.11282857,  1.64477287,
  -7.05853512, 12.23021615,  3.18771516,  1.61170279,  9.95526924,
 -12.41773104, -0.02575424, -0.09089647,  0.02059415,  2.00203494,
  -0.04177901,  3.92068286]

qfrc_actuator:
[-2.01694539e-05, 3.13034432e-04, 3.40556712e-05, 3.86059744e-05,
 -2.54297329e-03, 2.34972982e-02, 1.01920495e-02, 1.30985944e-03,
  2.01809869e-06, 1.16707185e-04,-1.54427361e-04, 5.98263650e-06,
  4.99475478e-02, 1.96802187e-02, 1.90028751e-03,-1.92248927e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71225428, -0.65347713, -0.2833263 , -0.65347713,  0.85710096,
       -0.33408121, -0.2833263 , -0.33408121,  1.4827949 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.387522596814466e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99273525e-01,  6.08980812e-03, -3.76209543e-02,  6.08549687e-03,
        9.99981457e-01,  2.29108641e-04,  3.76216519e-02,  0.00000000e+00,
       -9.99292055e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13144725, -0.08319422,  0.17462798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003812924884114238
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85739926e-01, -1.68206408e-01,  4.83761762e-03, -1.68204383e-01,
        9.85751796e-01,  8.25479889e-04, -4.90754126e-03,  1.08420217e-19,
       -9.99987958e-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([ 0.13081909, -0.08201826,  0.13159624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2936903 ,  7.23992556,  0.88396616,  7.23992556,  7.74621725,
       -3.70631993,  0.88396616, -3.70631993, 37.64946809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.572367547111897e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78704582e-01,  1.11592800e-01, -1.72291579e-01,  1.09902836e-01,
        9.93754017e-01,  1.93473430e-02,  1.73374473e-01,  3.46944695e-18,
       -9.84855975e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329464, -0.05391813,  0.29658558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048555394746564707
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.96730336e-01, -9.10181278e-01, -2.89000257e-01, -8.95775032e-02,
       -2.74767210e-01,  9.57329019e-01, -9.50750745e-01,  3.09956483e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048641 , -0.03602895,  0.30479527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044130909859230183
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25787461e-13, -3.93085817e-15,  1.00000000e+00,  4.94452671e-28,
        1.00000000e+00,  3.93085817e-15, -1.00000000e+00,  0.00000000e+00,
        1.25787461e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05315645, -0.06099612,  0.06199009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.42922594e-05, 5.21373985e-05, 6.33609311e-06, 2.46855769e-05,
 -2.36846769e-03, 2.54905708e-02, 1.00384013e-02, 1.13575149e-03,
  2.99826516e-05,-1.76273694e-05,-2.80478395e-05, 1.13095887e-05,
  5.43999971e-02, 2.21614960e-02, 1.47651403e-02, 2.14569670e-04,
 -1.43401152e-06, 3.29290451e-07,-9.80999949e+00,-6.49566847e-02,
 -9.42264262e-03,-5.31299509e-03]


--- Step 1769 ---
qpos:
[ 0.00987617, 0.00807738,-0.00559638, 0.03347637, 0.00608892,-0.02064552,
 -0.01700685, 0.03780775, 0.01300205, 0.00596876,-0.01170808, 0.0340602 ,
  0.81164819,-0.01553734, 1.14176212, 0.04606256, 0.09478773,-0.0635863 ,
  0.14252964, 0.94265974,-0.03286265, 0.02835631, 0.3309208 ]

qacc:
[-3.83904662e-01, 1.01870081e+00,-2.65628685e+00, 1.99108340e+00,
  4.59196980e+00,-7.10427883e-02, 1.21128909e-01,-3.38878316e+00,
  3.20633130e+00,-2.17633470e+00, 7.92711386e+00,-1.20058104e+01,
  3.04218134e+00, 1.30550779e+00, 9.81119198e+00,-2.71161272e+01,
 -1.99359750e-02,-7.63593289e-02, 1.52237803e-02, 1.63438517e+00,
 -7.11936587e-02, 3.11914228e+00]

qfrc_actuator:
[-2.13645660e-05, 3.29953836e-04, 2.21548473e-05, 3.58696456e-05,
 -2.55810213e-03, 2.35323902e-02, 1.01816359e-02, 1.31973482e-03,
  1.97958995e-05, 9.63645252e-05,-1.31163545e-04,-4.24780715e-06,
  4.99601416e-02, 1.97319363e-02, 1.91979685e-03,-2.09291671e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7122537 , -0.64252639, -0.30735188, -0.64252639,  0.90100174,
       -0.39458225, -0.30735188, -0.39458225,  1.53713724,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.906464604626425e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99273140e-01,  6.08691984e-03, -3.76316620e-02,  6.08260819e-03,
        9.99981475e-01,  2.29065154e-04,  3.76323592e-02,  2.71050543e-20,
       -9.99291652e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13144835, -0.08319283,  0.17462897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24870115, -0.24700834,  0.02896794, -0.24700834,  0.28117752,
        0.27692453,  0.02896794,  0.27692453,  2.61002433,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003810248031770474
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85741404e-01, -1.68197898e-01,  4.83226513e-03, -1.68195877e-01,
        9.85753249e-01,  8.24523621e-04, -4.90210419e-03, -1.08420217e-19,
       -9.99987985e-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([ 0.13082066, -0.08201817,  0.13159622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29328174,  7.17822823,  1.29034802,  7.17822823,  8.43852067,
       -6.37098388,  1.29034802, -6.37098388, 42.73517464,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.501173068865851e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78702110e-01,  1.11597392e-01, -1.72302648e-01,  1.09907138e-01,
        9.93753502e-01,  1.93493921e-02,  1.73385701e-01,  3.46944695e-18,
       -9.84853999e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329452, -0.05391718,  0.2965855 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048585738676946364
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.95560449e-01, -9.10394070e-01, -2.89528338e-01, -8.94022749e-02,
       -2.75379541e-01,  9.57169442e-01, -9.51131565e-01,  3.08785922e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486407, -0.0360269 ,  0.30479519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044153621262772724
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25722760e-13, -3.92883625e-15,  1.00000000e+00, -4.93944136e-28,
        1.00000000e+00,  3.92883625e-15, -1.00000000e+00,  0.00000000e+00,
       -1.25722760e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05315855, -0.06099453,  0.06199008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15614474e-06, 4.84211113e-05, 5.05300855e-07, 1.99334620e-07,
 -2.41370593e-03, 2.55659829e-02, 1.00521183e-02, 1.15840064e-03,
  1.86288195e-05,-3.55469312e-05, 1.65540461e-05,-1.17376370e-05,
  5.39796748e-02, 2.19848837e-02, 1.42596022e-02,-4.67548615e-05,
 -2.70457677e-07, 2.40911012e-08,-9.80999983e+00,-6.49573708e-02,
 -9.42272127e-03,-5.31278564e-03]


--- Step 1770 ---
qpos:
[ 0.00987578, 0.00807801,-0.00559651, 0.03347583, 0.0060871 ,-0.02066859,
 -0.01699656, 0.03781122, 0.013002  , 0.00596976,-0.0117087 , 0.03405959,
  0.81164304,-0.01554429, 1.14171731, 0.04605988, 0.09478871,-0.06358515,
  0.14252998, 0.9426572 ,-0.03286043, 0.02835405, 0.33092845]

qacc:
[ 2.96949747e+00,-2.24386960e+00, 8.99692060e+00,-1.53832703e+01,
  4.48074011e+00,-8.90506134e-03, 1.09237470e-01,-3.49804891e+00,
 -4.20157152e+00,-1.76011385e+00, 5.86737764e+00,-7.87796143e+00,
  2.78194472e+00, 1.07044188e+00, 9.69448452e+00,-2.70015645e+01,
 -1.58890166e-02,-6.17125999e-02, 1.10289064e-02, 1.31899308e+00,
 -8.80603447e-02, 2.51700036e+00]

qfrc_actuator:
[-4.01125731e-06, 2.86250638e-04, 3.31114215e-05, 1.65793161e-05,
 -2.56656462e-03, 2.35628442e-02, 1.01713772e-02, 1.30657262e-03,
 -5.43362632e-06, 6.60506133e-05,-1.17088410e-04,-1.00553778e-05,
  4.99623860e-02, 1.97647203e-02, 1.94370027e-03,-2.17603973e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71225359, -0.6300917 , -0.33209881, -0.6300917 ,  0.93410039,
       -0.42091035, -0.33209881, -0.42091035,  1.51084757,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0757705573885613e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99272709e-01,  6.08457125e-03, -3.76434711e-02,  6.08025855e-03,
        9.99981489e-01,  2.29048622e-04,  3.76441679e-02,  0.00000000e+00,
       -9.99291207e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13144956, -0.08319136,  0.17462961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24864435, -0.24566589,  0.03837035, -0.24566589,  0.3058423 ,
        0.36620943,  0.03837035,  0.36620943,  2.59329759,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003807904111854196
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85740985e-01, -1.68200416e-01,  4.83014905e-03, -1.68198397e-01,
        9.85752819e-01,  8.24175256e-04, -4.89995967e-03,  1.08420217e-19,
       -9.99987995e-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([ 0.13082235, -0.08201822,  0.13159623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.293258  ,  7.11221463,  1.61493507,  7.11221463,  9.30254191,
       -8.84893683,  1.61493507, -8.84893683, 46.26419811,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.496991293480713e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78701807e-01,  1.11591265e-01, -1.72308335e-01,  1.09900994e-01,
        9.93754190e-01,  1.93489550e-02,  1.73391304e-01,  3.46944695e-18,
       -9.84853012e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329459, -0.05391662,  0.29658554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048585565131253997
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.295476  , -0.91039904, -0.2895989 , -0.08940051, -0.2754543 ,
        0.9571481 , -0.95115797,  0.30870458,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486401, -0.03602565,  0.30479566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004414849177736546
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25737367e-13, -6.67979763e-14,  1.00000000e+00,  8.39900168e-27,
        1.00000000e+00,  6.67979763e-14, -1.00000000e+00,  0.00000000e+00,
        1.25737367e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05316004, -0.06099329,  0.06199009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73066686e-05,-1.65350789e-05, 2.10257885e-05,-1.71939880e-05,
 -2.44918596e-03, 2.56287880e-02, 1.00654263e-02, 1.15825635e-03,
 -2.47090911e-05,-4.73076351e-05, 8.36054416e-06,-6.98720964e-06,
  5.35834356e-02, 2.18100736e-02, 1.41123880e-02,-5.01356480e-05,
 -9.92730995e-08, 9.94652475e-08,-9.80999989e+00,-6.49576076e-02,
 -9.42299562e-03,-5.31248658e-03]


--- Step 1771 ---
qpos:
[ 0.00987559, 0.00807835,-0.00559587, 0.0334754 , 0.00608592,-0.02069222,
 -0.0169867 , 0.03781443, 0.01300165, 0.00597069,-0.0117093 , 0.03405923,
  0.81164411,-0.01554811, 1.14167883, 0.04605723, 0.09478964,-0.06358417,
  0.14253036, 0.94265332,-0.03285604, 0.02835244, 0.33094007]

qacc:
[ 1.88091237e+00,-2.31098793e+00, 7.20788480e+00,-6.34173147e+00,
  5.38418199e+00,-4.95469278e-02, 1.70924886e-01,-3.48117505e+00,
 -2.65474126e+00, 3.87308445e-01,-2.60342812e+00, 7.06047235e+00,
  2.37461976e+00, 9.48628227e-01, 9.17351071e+00,-1.86438213e+01,
 -1.28316306e-02,-4.51343664e-02, 7.91888398e-03, 1.04866100e+00,
 -1.00365135e-01, 2.13298180e+00]

qfrc_actuator:
[ 6.35674314e-06, 2.77657205e-04, 7.49713282e-05, 2.31766364e-05,
 -2.55347786e-03, 2.35729058e-02, 1.01613684e-02, 1.31519662e-03,
 -2.02651380e-05, 8.32341819e-05,-1.08606177e-04, 4.51899734e-06,
  4.99475528e-02, 1.97494687e-02, 1.91687114e-03,-2.13510439e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71225358, -0.62375369, -0.34385533, -0.62375369,  0.95223072,
       -0.43531862, -0.34385533, -0.43531862,  1.5019217 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.548964921771882e-08
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99272239e-01,  6.08274936e-03, -3.76562408e-02,  6.07843502e-03,
        9.99981500e-01,  2.29057712e-04,  3.76569375e-02,  0.00000000e+00,
       -9.99290726e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13145084, -0.08318983,  0.17462994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24859356, -0.24524164,  0.04068533, -0.24524164,  0.31164623,
        0.38006675,  0.04068533,  0.38006675,  2.53954693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003805805744920695
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85739034e-01, -1.68211839e-01,  4.83057781e-03, -1.68209820e-01,
        9.85750870e-01,  8.24306023e-04, -4.90040431e-03,  0.00000000e+00,
       -9.99987993e-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([ 0.13082415, -0.08201837,  0.13159628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29353684,   7.01671689,   1.99031749,   7.01671689,
        10.7256075 , -12.09951088,   1.99031749, -12.09951088,
        49.94946621,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.5457945955599025e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78703239e-01,  1.11576496e-01, -1.72309765e-01,  1.09886426e-01,
        9.93755848e-01,  1.93465225e-02,  1.73392454e-01,  3.46944695e-18,
       -9.84852810e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132948 , -0.05391642,  0.29658567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004856421895414903
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.96257430e-01, -9.10238923e-01, -2.89303713e-01, -8.95372228e-02,
       -2.75099481e-01,  9.57237359e-01, -9.50902004e-01,  3.09492131e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486389, -0.03602506,  0.30479651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004412177659728622
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51626999e-13, -1.29745171e-13,  1.00000000e+00, -3.26473882e-26,
        1.00000000e+00,  1.29745171e-13, -1.00000000e+00,  0.00000000e+00,
       -2.51626999e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05316104, -0.06099233,  0.06199009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08533904e-05,-1.42466997e-05, 4.04340211e-05, 6.28102504e-06,
 -2.46246962e-03, 2.56657114e-02, 1.00774770e-02, 1.17987513e-03,
 -1.55479901e-05,-7.88000760e-06,-5.03846841e-07, 1.27018791e-05,
  5.32093921e-02, 2.16117607e-02, 1.39214622e-02, 7.19826708e-05,
 -4.56958364e-07, 3.75415553e-07,-9.80999978e+00,-6.49574852e-02,
 -9.42338077e-03,-5.31210766e-03]


--- Step 1772 ---
qpos:
[ 0.00987553, 0.00807898,-0.00559553, 0.03347539, 0.00608534,-0.02071626,
 -0.01697721, 0.0378174 , 0.01300148, 0.00597171,-0.01171016, 0.03405905,
  0.81165054,-0.01554928, 1.14164703, 0.046055  , 0.09479053,-0.06358333,
  0.14253075, 0.94264838,-0.03284995, 0.0283513 , 0.33095487]

qacc:
[ 1.08693177e+00, 2.09422908e+00,-8.70819001e+00, 1.63349532e+01,
  5.21130049e+00,-4.91965698e-02, 3.72500043e-01,-3.60333539e+00,
  1.48165517e+00, 1.24516073e+00,-4.98166242e+00, 8.34633424e+00,
  2.05621313e+00, 7.75192523e-01, 8.56015980e+00,-1.57316368e+01,
 -1.13715829e-02,-3.52634461e-02, 5.26565264e-03, 8.20041175e-01,
 -9.47324145e-02, 1.70163958e+00]

qfrc_actuator:
[ 1.25243719e-05, 3.08049551e-04, 6.38684764e-05, 4.49966013e-05,
 -2.56328397e-03, 2.35887296e-02, 1.01694386e-02, 1.31924076e-03,
 -1.10910360e-05, 9.32218779e-05,-1.21039113e-04, 1.32523546e-05,
  4.99382784e-02, 1.97399644e-02, 1.87518823e-03,-2.10950747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71225359, -0.61903571, -0.35227825, -0.61903571,  0.93872898,
       -0.3979705 , -0.35227825, -0.3979705 ,  1.41158133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.307993787479013e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99271727e-01,  6.08156064e-03, -3.76700080e-02,  6.07724400e-03,
        9.99981507e-01,  2.29096675e-04,  3.76707046e-02, -2.71050543e-20,
       -9.99290207e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1314522 , -0.08318823,  0.17463005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24854672, -0.24508035,  0.04136537, -0.24508035,  0.31181201,
        0.37483234,  0.04136537,  0.37483234,  2.46934247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038038692922416937
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85735792e-01, -1.68230768e-01,  4.83301854e-03, -1.68228746e-01,
        9.85747639e-01,  8.24818024e-04, -4.90289638e-03,  0.00000000e+00,
       -9.99987981e-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([ 0.13082604, -0.08201861,  0.13159636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2940585 ,   6.86841943,   2.45521972,   6.86841943,
        13.22010201, -16.57796738,   2.45521972, -16.57796738,
        53.67053248,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.635327060276154e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9787061 ,  0.11155435, -0.17230785,  0.10986467,  0.99375833,
        0.01934242,  0.17339009,  0.        , -0.98485323])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329511, -0.05391653,  0.29658586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048532099662395374
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.29759953, -0.90997126, -0.28876776, -0.08976104, -0.2744627 ,
        0.95739918, -0.95046172,  0.31084164,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486372, -0.03602503,  0.30479755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044078433323950506
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25937215e-13, -1.61357056e-13,  1.00000000e+00, -2.03208583e-26,
        1.00000000e+00,  1.61357056e-13, -1.00000000e+00,  0.00000000e+00,
       -1.25937215e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05316166, -0.06099159,  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:
[ 6.46834046e-06, 3.10324550e-05,-8.85903323e-06, 2.27290753e-05,
 -2.50395552e-03, 2.57102125e-02, 1.01076691e-02, 1.19678018e-03,
  8.73113953e-06, 5.98923659e-06,-1.36859569e-05, 8.62609627e-06,
  5.28890530e-02, 2.14455737e-02, 1.35639807e-02, 9.58278980e-05,
 -1.09853051e-06, 7.65164865e-07,-9.80999959e+00,-6.49570779e-02,
 -9.42382791e-03,-5.31165855e-03]


--- Step 1773 ---
qpos:
[ 0.00987624, 0.00807973,-0.00559529, 0.033476  , 0.00608535,-0.0207406 ,
 -0.016968  , 0.03782015, 0.01300141, 0.0059726 ,-0.01171134, 0.03405866,
  0.81166166,-0.01554818, 1.14162243, 0.04605365, 0.09479137,-0.06358261,
  0.14253116, 0.94264258,-0.03284251, 0.0283505 , 0.33097219]

qacc:
[ 6.70294749e+00, 1.69013631e+00,-8.41381151e+00, 1.91487476e+01,
  4.93024223e+00,-6.37342724e-02, 6.05770017e-01,-3.85044456e+00,
  9.72937288e-01, 2.44831406e-01,-2.86207349e-01,-2.65893591e+00,
  1.80256078e+00, 6.30811433e-01, 7.92095134e+00,-1.23533007e+01,
 -1.04893592e-02,-2.77811851e-02, 2.88155293e-03, 6.39945190e-01,
 -9.46434421e-02, 1.35876266e+00]

qfrc_actuator:
[ 5.16781774e-05, 3.08105956e-04, 5.72506773e-05, 7.55893276e-05,
 -2.56930629e-03, 2.36080881e-02, 1.01706966e-02, 1.30286857e-03,
 -5.61704446e-06, 6.32380010e-05,-1.45741490e-04, 7.08670277e-07,
  4.99481697e-02, 1.97508885e-02, 1.90422062e-03,-2.05799982e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71225368, -0.61340701, -0.36199053, -0.61340701,  0.92208569,
       -0.35556849, -0.36199053, -0.35556849,  1.31477828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.5465313689402116e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99271183e-01,  6.08098444e-03, -3.76845439e-02,  6.07666487e-03,
        9.99981511e-01,  2.29163362e-04,  3.76852407e-02, -2.71050543e-20,
       -9.99289659e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13145361, -0.08318657,  0.17462997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24850304, -0.24163513,  0.05801917, -0.24163513,  0.38252508,
        0.55816778,  0.05801917,  0.55816778,  2.57313015,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038020614652891635
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85731520e-01, -1.68255683e-01,  4.83698193e-03, -1.68253657e-01,
        9.85743387e-01,  8.25620247e-04, -4.90693825e-03, -1.08420217e-19,
       -9.99987961e-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([ 0.130828  , -0.08201893,  0.13159645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29477971,   6.70575499,   2.87170002,   6.70575499,
        16.21471675, -20.82909497,   2.87170002, -20.82909497,
        55.93314955,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.75557803646256e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97871009,  0.11152632, -0.17230335,  0.10983715,  0.99376148,
        0.01933699,  0.17338502,  0.        , -0.98485412])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132955 , -0.05391689,  0.2965861 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048495128381792745
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.99325893e-01, -9.09628089e-01, -2.88063795e-01, -9.00417107e-02,
       -2.73629750e-01,  9.57611221e-01, -9.49892889e-01,  3.12575590e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048635 , -0.03602545,  0.30479869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044022612479351075
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52193807e-13, -9.85132060e-14,  1.00000000e+00, -2.48444205e-26,
        1.00000000e+00,  9.85132060e-14, -1.00000000e+00,  0.00000000e+00,
       -2.52193807e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05316198, -0.06099103,  0.06199011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.93459922e-05, 1.65296808e-05,-5.23828905e-07, 3.20559631e-05,
 -2.54064216e-03, 2.57509606e-02, 1.01269221e-02, 1.19234743e-03,
  5.72677661e-06,-2.91160626e-05,-2.48544406e-05,-1.25929983e-05,
  5.26305863e-02, 2.13238381e-02, 1.32596387e-02, 1.26749072e-04,
 -1.82897744e-06, 1.17920838e-06,-9.80999936e+00,-6.49564441e-02,
 -9.42430311e-03,-5.31115056e-03]


--- Step 1774 ---
qpos:
[ 0.00987741, 0.00808047,-0.0055948 , 0.0334773 , 0.00608591,-0.02076522,
 -0.01695911, 0.03782266, 0.01300175, 0.00597302,-0.01171181, 0.03405776,
  0.81167697,-0.0155451 , 1.14160393, 0.04605284, 0.09479217,-0.06358198,
  0.14253156, 0.9426361 ,-0.03283399, 0.02834991, 0.33099154]

qacc:
[ 4.07893231e+00, 7.08072013e-01,-5.52884063e+00, 1.72767909e+01,
  4.67278521e+00, 2.55747588e-02, 3.45807775e-01,-3.70308110e+00,
  3.64727789e+00,-3.64823825e+00, 1.43307757e+01,-2.41456671e+01,
  1.64561746e+00, 4.94241163e-01, 7.34331947e+00,-1.27035821e+01,
 -9.84800732e-03,-2.28020452e-02, 6.72382316e-04, 5.06546140e-01,
 -1.02584939e-01, 1.08844755e+00]

qfrc_actuator:
[ 7.44293001e-05, 3.07767680e-04, 7.09965963e-05, 1.11086005e-04,
 -2.55551799e-03, 2.36118625e-02, 1.01501885e-02, 1.32758920e-03,
  1.53798281e-05, 4.49808289e-05,-1.06650572e-04,-2.42923334e-05,
  4.99534513e-02, 1.97201403e-02, 1.97006864e-03,-2.04483986e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71225394, -0.62196925, -0.34707337, -0.62196925,  0.90757092,
       -0.35001577, -0.34707337, -0.35001577,  1.33949609,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.74751085112359e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99270613e-01,  6.08098793e-03, -3.76996625e-02,  6.07666488e-03,
        9.99981511e-01,  2.29255431e-04,  3.77003596e-02, -2.71050543e-20,
       -9.99289089e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13145507, -0.08318486,  0.17462974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24846162, -0.24238645,  0.05460754, -0.24238645,  0.36318902,
        0.50924045,  0.05460754,  0.50924045,  2.50882679,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003800346137899639
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85726425e-01, -1.68285382e-01,  4.84208356e-03, -1.68283351e-01,
        9.85738317e-01,  8.26641174e-04, -4.91213893e-03,  0.00000000e+00,
       -9.99987935e-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([ 0.13083003, -0.0820193 ,  0.13159656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29566673,   6.53288521,   3.24779369,   6.53288521,
        19.59157047, -24.73301429,   3.24779369, -24.73301429,
        57.04573053,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.898364595818396e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97871496,  0.11149357, -0.17229689,  0.10980504,  0.99376516,
        0.01933052,  0.17337787,  0.        , -0.98485538])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329593, -0.05391747,  0.29658638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004845767988611396
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3012858 , -0.90923705, -0.28725398, -0.09035354, -0.27267396,
        0.95785445, -0.94924344,  0.31454236,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486324, -0.03602626,  0.30479984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043957759251692097
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52565882e-13, -9.86585477e-14,  1.00000000e+00,  2.49177832e-26,
        1.00000000e+00,  9.86585477e-14, -1.00000000e+00,  0.00000000e+00,
        2.52565882e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05316206, -0.0609906 ,  0.06199013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38738261e-05, 1.01508659e-05, 1.81897246e-05, 3.68054287e-05,
 -2.55586631e-03, 2.57702661e-02, 1.01209779e-02, 1.22847935e-03,
  2.11525345e-05,-4.02281099e-05, 2.95836788e-05,-2.73524788e-05,
  5.24018116e-02, 2.11798989e-02, 1.29656882e-02, 9.57668063e-05,
 -2.54976364e-06, 1.57857976e-06,-9.80999914e+00,-6.49556333e-02,
 -9.42478924e-03,-5.31059161e-03]


--- Step 1775 ---
qpos:
[ 0.00987815, 0.00808142,-0.00559417, 0.03347797, 0.00608693,-0.02079016,
 -0.01695055, 0.03782492, 0.01300304, 0.00597328,-0.01171193, 0.03405689,
  0.81169602,-0.01554029, 1.14159074, 0.04605237, 0.09479294,-0.06358142,
  0.14253197, 0.94262906,-0.03282459, 0.02834944, 0.33101254]

qacc:
[-3.73940622e+00,-1.42302540e+00, 8.22699064e+00,-1.97729765e+01,
  3.94520159e+00,-2.16443381e-02, 5.03849964e-01,-4.00974277e+00,
  8.27082542e+00,-1.13873348e+00, 3.53884485e+00,-3.25107617e+00,
  1.49277975e+00, 3.78306662e-01, 6.75826699e+00,-1.23342739e+01,
 -9.48434185e-03,-1.83402842e-02,-1.17279652e-03, 3.97387604e-01,
 -1.09131775e-01, 8.82376626e-01]

qfrc_actuator:
[ 5.18283487e-05, 3.25034680e-04, 7.88967370e-05, 7.81829326e-05,
 -2.54779794e-03, 2.36418998e-02, 1.01522750e-02, 1.32380784e-03,
  6.30986251e-05, 5.18799286e-05,-8.34296190e-05,-2.08629672e-05,
  4.99505169e-02, 1.96815168e-02, 1.96198210e-03,-2.03694066e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71225447, -0.63026308, -0.33177533, -0.63026308,  0.85329751,
       -0.267935  , -0.33177533, -0.267935  ,  1.22124209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0600758642386326e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99270016e-01,  6.08154103e-03, -3.77153877e-02,  6.07721398e-03,
        9.99981507e-01,  2.29371919e-04,  3.77160852e-02,  0.00000000e+00,
       -9.99288495e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13145655, -0.08318312,  0.17462939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24841858, -0.24242804,  0.05422579, -0.24242804,  0.35265427,
        0.46600805,  0.05422579,  0.46600805,  2.33180774,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037985625167211254
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85720666e-01, -1.68318936e-01,  4.84823727e-03, -1.68316900e-01,
        9.85732588e-01,  8.27861580e-04, -4.91841025e-03,  1.08420217e-19,
       -9.99987905e-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([ 0.13083211, -0.08201972,  0.13159669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29669311,   6.38556963,   3.530755  ,   6.38556963,
        22.56881047, -27.62048593,   3.530755  , -27.62048593,
        57.24990035,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.057280944043036e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872051,  0.11145705, -0.17228894,  0.10976925,  0.99376925,
        0.01932322,  0.17336916,  0.        , -0.98485691])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329639, -0.05391826,  0.29658667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004842128021533855
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.03406682e-01, -9.08810896e-01, -2.86368890e-01, -9.06841374e-02,
       -2.71631236e-01,  9.58119439e-01, -9.48536121e-01,  3.16668956e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486293, -0.0360274 ,  0.30480098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043886724485700523
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26487342e-13, -1.30440071e-13,  1.00000000e+00,  1.64990179e-26,
        1.00000000e+00,  1.30440071e-13, -1.00000000e+00,  0.00000000e+00,
        1.26487342e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05316197, -0.06099029,  0.06199014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19225787e-05, 2.82473935e-05, 1.34913505e-05,-3.11292820e-05,
 -2.57565343e-03, 2.58153551e-02, 1.01393290e-02, 1.23656875e-03,
  4.83066533e-05,-1.06574384e-05, 1.76109236e-05, 2.19798431e-06,
  5.21892781e-02, 2.10420891e-02, 1.26530498e-02, 7.69554686e-05,
 -3.21635300e-06, 1.94742546e-06,-9.80999893e+00,-6.49546834e-02,
 -9.42528204e-03,-5.30998553e-03]


--- Step 1776 ---
qpos:
[ 0.00987828, 0.0080826 ,-0.00559343, 0.03347789, 0.00608825,-0.02081464,
 -0.01694193, 0.03782704, 0.01300385, 0.00597356,-0.01171214, 0.03405642,
  0.81171659,-0.01553485, 1.14158153, 0.04605197, 0.09479365,-0.06358091,
  0.14253238, 0.94262188,-0.032815  , 0.02834921, 0.33103398]

qacc:
[-5.45432806e+00,-1.50822048e+00, 8.96251963e+00,-2.21636638e+01,
  2.52691518e+00, 1.48223881e-01, 9.05554683e-01,-3.66974137e+00,
 -4.16179768e+00, 1.10629582e+00,-5.58732287e+00, 1.26226097e+01,
  5.81290051e-01, 1.46949193e-01, 5.67082317e+00,-1.13275953e+01,
 -1.18041191e-02,-1.33858197e-02, 2.20565483e-03, 1.27807927e-01,
  7.96985282e-02, 2.36549880e-01]

qfrc_actuator:
[ 2.04732651e-05, 3.34881672e-04, 8.32989531e-05, 4.08096147e-05,
 -2.56160594e-03, 2.36700850e-02, 1.01502977e-02, 1.28527736e-03,
  3.73954407e-05, 5.60169485e-05,-8.74123001e-05,-7.28898185e-07,
  4.99372171e-02, 1.96553847e-02, 1.90406014e-03,-2.04997593e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71225532, -0.6620079 , -0.26277971, -0.6620079 ,  0.78582894,
       -0.18535038, -0.26277971, -0.18535038,  1.17919933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4836699704896827e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99269392e-01,  6.08255819e-03, -3.77317516e-02,  6.07822666e-03,
        9.99981501e-01,  2.29509820e-04,  3.77324496e-02,  0.00000000e+00,
       -9.99287878e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13145807, -0.08318136,  0.17462896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24837039, -0.2413961 ,  0.05844462, -0.2413961 ,  0.38308827,
        0.55643057,  0.05844462,  0.55643057,  2.54661756,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003796563629659449
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85714362e-01, -1.68355638e-01,  4.85540321e-03, -1.68353595e-01,
        9.85726321e-01,  8.29271256e-04, -4.92571124e-03, -1.08420217e-19,
       -9.99987869e-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([ 0.13083424, -0.08202018,  0.13159683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2978348 ,   6.24614347,   3.77413361,   6.24614347,
        25.49281867, -30.11246857,   3.77413361, -30.11246857,
        57.13359009,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.22699330480254e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872661,  0.11141746, -0.1722799 ,  0.10973045,  0.99377369,
        0.01931525,  0.17335929,  0.        , -0.98485865])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329687, -0.05391921,  0.29658697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004838701139900873
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.3056205 , -0.90836208, -0.28543728, -0.09102225, -0.27053538,
        0.95839739, -0.94779273,  0.31888703,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486256, -0.03602881,  0.30480209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004381147536294494
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.26937770e-07,  3.26937538e-07,  1.00000000e+00,  1.06888230e-13,
        1.00000000e+00, -3.26937538e-07, -1.00000000e+00,  0.00000000e+00,
       -3.26937770e-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([ 0.05358234, -0.06157751,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.19728590e-05, 2.70426512e-05, 1.08018457e-05,-3.63061870e-05,
 -2.61268943e-03, 2.58600389e-02, 1.01537977e-02, 1.21040980e-03,
 -2.43340741e-05, 1.92412615e-06,-3.93921978e-06, 2.03293242e-05,
  5.19892329e-02, 2.09295957e-02, 1.23296980e-02, 4.66299163e-05,
 -3.81292279e-06, 2.28194856e-06,-9.80999874e+00,-6.49536245e-02,
 -9.42578082e-03,-5.30933549e-03]


--- Step 1777 ---
qpos:
[ 0.00987837, 0.00808383,-0.00559289, 0.03347809, 0.00608449,-0.02083229,
 -0.01692848, 0.03783204, 0.013004  , 0.00597369,-0.01171235, 0.03405655,
  0.81166937,-0.01556614, 1.14153116, 0.04606274, 0.09479513,-0.06357775,
  0.14253229, 0.94263194,-0.03283398, 0.02833843, 0.33100437]

qacc:
[-2.86996758e-01, 1.21262245e+00,-5.42005898e+00, 1.06389502e+01,
 -4.31827234e+01, 1.52304317e+00,-4.28978299e+00, 4.10171554e+01,
 -5.79060870e+00, 1.03673855e+00,-6.50469839e+00, 1.70284269e+01,
 -2.45227756e+01,-1.38241519e+01,-9.39890018e+01, 2.41753578e+02,
  1.89856415e-01, 6.62818599e-01,-1.24721238e-01,-1.42102409e+01,
  3.48626750e-01,-2.74917287e+01]

qfrc_actuator:
[ 1.97367115e-05, 3.22430983e-04, 6.78318288e-05, 5.43682954e-05,
 -2.57059729e-03, 2.36965163e-02, 1.01278742e-02, 1.27914260e-03,
  4.18043532e-06, 4.06267476e-05,-8.96625840e-05, 2.90523181e-05,
  4.99284141e-02, 1.96549018e-02, 1.92800706e-03,-1.95116061e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71225651, -0.49164651,  0.5153572 , -0.49164651,  0.37699438,
       -0.3198373 ,  0.5153572 , -0.3198373 ,  0.40713437,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9250215951000467e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99268785e-01,  6.08387313e-03, -3.77476012e-02,  6.07953703e-03,
        9.99981493e-01,  2.29655867e-04,  3.77482998e-02,  0.00000000e+00,
       -9.99287279e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13145956, -0.08317963,  0.17462849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24832393, -0.23064624, -0.09201678, -0.23064624,  0.35684454,
       -0.27201419, -0.09201678, -0.27201419,  0.93014577,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037946349166776913
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85707903e-01, -1.68393231e-01,  4.86304238e-03, -1.68391182e-01,
        9.85719899e-01,  8.30766853e-04, -4.93349316e-03,  0.00000000e+00,
       -9.99987830e-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([ 0.13083632, -0.08202065,  0.13159697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.402078985857155e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873292,  0.11137705, -0.17227021,  0.10969085,  0.99377822,
        0.01930707,  0.17334874,  0.        , -0.9848605 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329736, -0.05392024,  0.29658728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048359563028669737
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.30785063, -0.90790502, -0.28449335, -0.09135649, -0.26942617,
        0.95867801, -0.94703853,  0.32111994,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486217, -0.03603029,  0.30480307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.34241398, -6.57646068,  7.98221096, -6.57646068, 67.24962089,
       46.88525654,  7.98221096, 46.88525654, 48.97068973,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043820916574287765
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08550429e-06, -1.08550432e-06,  1.00000000e+00, -1.17831959e-12,
        1.00000000e+00,  1.08550432e-06, -1.00000000e+00,  0.00000000e+00,
       -1.08550429e-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([ 0.08692406, -0.10814244,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64143608e-06, 3.28463875e-06,-9.82785998e-06, 1.43818409e-05,
 -2.63657498e-03, 2.58645440e-02, 1.01285371e-02, 1.21107498e-03,
 -3.39061417e-05,-1.42691051e-05,-1.63254727e-06, 3.01251131e-05,
  5.19040797e-02, 2.08973524e-02, 1.21547093e-02, 1.42217919e-04,
 -3.97814940e-06, 2.34533234e-06,-9.80999872e+00,-6.49524906e-02,
 -9.42618697e-03,-5.30869723e-03]


--- Step 1778 ---
qpos:
[ 0.00987879, 0.00808502,-0.0055925 , 0.03347882, 0.00608058,-0.02085   ,
 -0.01691551, 0.03783675, 0.0130041 , 0.00597387,-0.01171351, 0.03405777,
  0.81163313,-0.01559154, 1.14147085, 0.04606535, 0.09479642,-0.06357528,
  0.14253233, 0.94263879,-0.03284698, 0.02833029, 0.33098427]

qacc:
[ 2.93698792e+00, 1.41666244e+00,-7.34109374e+00, 1.65821076e+01,
 -1.23739537e+00, 6.61678821e-01,-1.32431992e+00,-2.63687900e+00,
 -5.09964857e-01, 4.99402125e+00,-2.23188941e+01, 4.26821516e+01,
  4.33932664e+00, 1.70474162e+00, 9.82164056e+00,-5.59791393e+01,
 -4.65912810e-02,-1.70974672e-01, 3.14115019e-02, 3.06833469e+00,
  1.42115184e-01, 5.14583937e+00]

qfrc_actuator:
[ 3.70303188e-05, 3.14432143e-04, 5.84532863e-05, 8.00019187e-05,
 -2.57143654e-03, 2.37153346e-02, 1.01061436e-02, 1.30724889e-03,
  2.33861671e-06, 3.14270694e-05,-1.44195441e-04, 8.20101852e-05,
  4.99391449e-02, 1.97246699e-02, 1.96771448e-03,-2.08040172e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7122536 , -0.70515097, -0.10033588, -0.70515097,  0.73265016,
       -0.1433451 , -0.10033588, -0.1433451 ,  1.71966929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5102909782574153e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99268650e-01,  6.08011107e-03, -3.77517979e-02,  6.07577668e-03,
        9.99981516e-01,  2.29539367e-04,  3.77524957e-02,  0.00000000e+00,
       -9.99287120e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13146012, -0.08317856,  0.17463117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2482588 , -0.03984228,  0.24504086, -0.03984228,  0.69518426,
        0.0726676 ,  0.24504086,  0.0726676 ,  0.26007415,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003791928148062011
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85718234e-01, -1.68333475e-01,  4.83784537e-03, -1.68331448e-01,
        9.85730106e-01,  8.26160546e-04, -4.90788030e-03,  0.00000000e+00,
       -9.99987956e-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([ 0.13083724, -0.08201995,  0.13159669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2962571 , -5.67359406,  4.58755906, -5.67359406, 17.41078714,
       12.50899155,  4.58755906, 12.50899155, 22.7665626 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.990551475207364e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872006,  0.11143135, -0.17230816,  0.10974356,  0.99377213,
        0.01932086,  0.173388  ,  0.        , -0.98485359])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329621, -0.05391788,  0.29658655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.33904554, -0.73913614,  1.11656649, -0.73913614,  3.40745914,
        1.3692326 ,  1.11656649,  1.3692326 ,  2.24543965,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004858042025076836
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.00845755e-01, -9.09307650e-01, -2.87491617e-01, -9.03029377e-02,
       -2.72941036e-01,  9.57783154e-01, -9.49387809e-01,  3.14106334e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486196, -0.03602482,  0.30479951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.3517966 , -5.9313453 ,  8.48403416, -5.9313453 , 17.9164545 ,
        5.28859234,  8.48403416,  5.28859234, 14.04914939,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043897662677085114
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52911649e-13, -9.87936128e-14,  1.00000000e+00, -2.49860555e-26,
        1.00000000e+00,  9.87936128e-14, -1.00000000e+00,  0.00000000e+00,
       -2.52911649e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05316656, -0.06098656,  0.06199014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72432799e-05,-7.62820598e-06,-9.43414601e-06, 2.57098755e-05,
 -2.38324499e-03, 2.55421724e-02, 9.86543969e-03, 1.09578995e-03,
 -2.81152321e-06,-1.62392972e-05,-5.66370172e-05, 5.28775089e-05,
  5.53047552e-02, 2.28041773e-02, 1.42533611e-02,-5.45073399e-04,
 -1.00064709e-05, 3.24073261e-06,-9.80999700e+00,-6.49546359e-02,
 -9.42826528e-03,-5.30872587e-03]


--- Step 1779 ---
qpos:
[ 0.00987977, 0.00808618,-0.005592  , 0.03348051, 0.00607647,-0.02083633,
 -0.01691772, 0.03783633, 0.01300417, 0.00597384,-0.01171467, 0.03405924,
  0.81160777,-0.01561033, 1.14140336, 0.04606117, 0.09479764,-0.06357312,
  0.14253246, 0.94264139,-0.03285406, 0.02832387, 0.33097669]

qacc:
[ 4.81962308e+00, 1.64223887e+00,-1.00041469e+01, 2.66351131e+01,
 -2.64962704e+00, 7.33239071e+01,-1.79515342e+02, 9.15958733e+01,
 -1.99110937e-01, 2.06907299e-01,-2.15897523e+00, 6.52349286e+00,
  3.71375538e+00, 2.98563639e+00, 9.86972457e+00,-5.00894845e+01,
 -1.89164289e-02,-7.98439765e-02, 2.31416201e-02, 2.83032113e+00,
 -3.14893473e-01, 6.71351494e+00]

qfrc_actuator:
[ 6.47877682e-05, 3.26941819e-04, 7.05147084e-05, 1.30287483e-04,
 -2.57029059e-03, 2.37337529e-02, 1.00881961e-02, 1.34014278e-03,
  1.22736430e-06, 2.58094100e-05,-1.40366290e-04, 9.48885366e-05,
  4.99409697e-02, 1.97731609e-02, 1.97826998e-03,-2.38488614e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24820874, -0.24118003,  0.05864959, -0.24118003,  0.28730754,
        0.16078286,  0.05864959,  0.16078286,  0.90938327,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037898455543197506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85725372e-01, -1.68292198e-01,  4.81948678e-03, -1.68290186e-01,
        9.85737154e-01,  8.22817746e-04, -4.88922098e-03, -1.08420217e-19,
       -9.99988048e-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([ 0.13083824, -0.08201946,  0.1315965 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29452082,  7.27931131,  0.47080875,  7.27931131,  7.40271513,
       -1.67282381,  0.47080875, -1.67282381, 33.15853713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.71286282362568e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78711050e-01,  1.11468202e-01, -1.72335487e-01,  1.09779306e-01,
        9.93768001e-01,  1.93303939e-02,  1.73416216e-01,  3.46944695e-18,
       -9.84848626e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329546, -0.05391608,  0.29658608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048711073677974704
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.96497249e-01, -9.10142448e-01, -2.89361550e-01, -8.96292540e-02,
       -2.75130339e-01,  9.57219877e-01, -9.50818583e-01,  3.09748320e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486178, -0.03602072,  0.3047976 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004400616965910542
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52288039e-13, -3.54780055e-14,  1.00000000e+00, -8.95067643e-27,
        1.00000000e+00,  3.54780055e-14, -1.00000000e+00,  0.00000000e+00,
       -2.52288039e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05317047, -0.06098395,  0.06199012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82410776e-05, 7.35249310e-06, 1.01921514e-05, 5.01267239e-05,
 -2.37490004e-03, 2.55644648e-02, 9.87106286e-03, 1.14243010e-03,
 -1.19714821e-06,-2.41278747e-05,-4.66268232e-06, 1.12515997e-05,
  5.47577369e-02, 2.25588046e-02, 1.47624226e-02,-4.41774271e-04,
 -4.70942592e-06, 1.40254869e-06,-9.80999861e+00,-6.49566424e-02,
 -9.42758540e-03,-5.30869866e-03]


--- Step 1780 ---
qpos:
[ 0.00988072, 0.00808735,-0.00559106, 0.03348242, 0.00607349,-0.02082784,
 -0.01692039, 0.03783574, 0.01300492, 0.00597386,-0.0117153 , 0.03406009,
  0.81159131,-0.01562395, 1.14133993, 0.04605558, 0.09479878,-0.06357126,
  0.14253268, 0.94264097,-0.03285671, 0.02831892, 0.33097807]

qacc:
[-1.60149271e-01,-7.75951423e-01, 1.85625395e+00, 1.20218738e+00,
  9.56656523e+00,-5.91387584e+00, 1.18088913e+01,-1.00631480e+01,
  5.95824553e+00,-2.68296587e+00, 1.22453239e+01,-2.37725712e+01,
  3.02503755e+00, 2.30639795e+00, 1.02023280e+01,-2.71201593e+01,
 -1.73973207e-02,-7.15868533e-02, 2.01896673e-02, 2.14912995e+00,
 -1.44720538e-01, 4.80990899e+00]

qfrc_actuator:
[ 6.29705955e-05, 3.33994161e-04, 9.52353883e-05, 1.41446987e-04,
 -2.55009155e-03, 2.37205007e-02, 1.00874252e-02, 1.32762922e-03,
  3.60500914e-05, 5.80766164e-05,-1.02107692e-04, 6.63760348e-05,
  4.99370638e-02, 1.98058045e-02, 1.96611681e-03,-2.31329167e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71225358, -0.38000511, -0.60241288, -0.38000511,  0.3239106 ,
        0.24496873, -0.60241288,  0.24496873,  0.55772605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7130441020103867e-08
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99268952e-01,  6.07210709e-03, -3.77450779e-02,  6.06777995e-03,
        9.99981565e-01,  2.29196380e-04,  3.77457737e-02,  0.00000000e+00,
       -9.99287374e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13146024, -0.08317512,  0.17463356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24883851, -0.24412698,  0.04819359, -0.24412698,  0.34100874,
        0.46689284,  0.04819359,  0.46689284,  2.61390705,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003815906795909285
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85729233e-01, -1.68271308e-01,  4.75886371e-03, -1.68269347e-01,
        9.85740720e-01,  8.12363945e-04, -4.82770328e-03, -1.08420217e-19,
       -9.99988347e-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([ 0.13083755, -0.08201909,  0.13159574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29354203, -7.28156717, -0.41777383, -7.28156717,  7.3654824 ,
       -1.25388096, -0.41777383, -1.25388096, 29.14799504,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.546696193541813e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97870635,  0.11148146, -0.17235359,  0.109792  ,  0.99376651,
        0.01933475,  0.1734347 ,  0.        , -0.98484537])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329504, -0.05391485,  0.29658581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048773383115457904
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.29407434, -0.91059097, -0.29042101, -0.08925223, -0.27636643,
        0.95689897, -0.95160618,  0.30732016,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486154, -0.03601785,  0.30479697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044068311115180725
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51932283e-13, -1.61394119e-13,  1.00000000e+00, -4.06603890e-26,
        1.00000000e+00,  1.61394119e-13, -1.00000000e+00,  0.00000000e+00,
       -2.51932283e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05317338, -0.0609819 ,  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:
[-1.01703219e-06, 1.53722210e-05, 2.92037210e-05, 1.27939437e-05,
 -2.34491593e-03, 2.39812525e-02, 1.06296073e-02, 1.38703438e-03,
  3.47790177e-05, 1.83048645e-05, 3.31003922e-05,-2.94893815e-05,
  5.42094352e-02, 2.22610978e-02, 1.51101450e-02,-3.01534863e-05,
 -1.05902702e-06, 1.60957741e-07,-9.80999953e+00,-6.49578510e-02,
 -9.42726762e-03,-5.30847389e-03]


--- Step 1781 ---
qpos:
[ 0.00988027, 0.00808846,-0.00558973, 0.03348377, 0.00607185,-0.02082432,
 -0.01692349, 0.037835  , 0.01300643, 0.00597464,-0.01171606, 0.03406021,
  0.81158256,-0.01563303, 1.1412844 , 0.04605063, 0.09479988,-0.06356959,
  0.14253295, 0.94263796,-0.03285578, 0.02831507, 0.33098705]

qacc:
[-1.23487298e+01,-2.29068607e+00, 1.04728814e+01,-2.08058825e+01,
  1.14968144e+01,-5.72450865e+00, 1.14768104e+01,-9.73305139e+00,
  6.63116473e+00,-1.65871423e-01, 5.14966007e+00,-1.82877594e+01,
  2.51029507e+00, 2.17428040e+00, 9.67143876e+00,-1.69798152e+01,
 -1.24946322e-02,-5.00916481e-02, 1.57370767e-02, 1.72817290e+00,
 -1.58308521e-01, 4.07476720e+00]

qfrc_actuator:
[-9.50017505e-06, 3.20003291e-04, 1.09427434e-04, 1.11742523e-04,
 -2.51969491e-03, 2.36945106e-02, 1.00883089e-02, 1.33820791e-03,
  7.39910382e-05, 1.30655863e-04,-9.69685293e-05, 3.15452602e-05,
  4.99401579e-02, 1.98277297e-02, 1.92360872e-03,-2.23174576e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71225504, -0.3755272 , -0.60521613, -0.3755272 ,  0.35867345,
        0.21939188, -0.60521613,  0.21939188,  0.57612578,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.358452594385269e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99269190e-01,  6.06912399e-03, -3.77392644e-02,  6.06480031e-03,
        9.99981583e-01,  2.29048493e-04,  3.77399594e-02,  2.71050543e-20,
       -9.99287594e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13146003, -0.08317246,  0.17463354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24941202, -0.24801394,  0.02637129, -0.24801394,  0.27554306,
        0.24575446,  0.02637129,  0.24575446,  2.56065804,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038393824712110365
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85730143e-01, -1.68267413e-01,  4.70772887e-03, -1.68265494e-01,
        9.85741385e-01,  8.03615806e-04, -4.77582553e-03, -1.08420217e-19,
       -9.99988596e-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([ 0.13083737, -0.08201893,  0.13159512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29309782,  7.19489196,  1.19281409,  7.19489196,  8.33129633,
       -6.26227188,  1.19281409, -6.26227188, 45.06626813,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.468644037766134e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97870483,  0.11147788, -0.17236453,  0.10978826,  0.99376692,
        0.01933535,  0.17344563,  0.        , -0.98484345])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329487, -0.05391406,  0.2965857 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048795083710141023
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.92952469e-01, -9.10789609e-01, -2.90931503e-01, -8.90824635e-02,
       -2.76957495e-01,  9.56743884e-01, -9.51968049e-01,  3.06197378e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048613 , -0.03601597,  0.30479712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044093430670308353
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51788760e-13, -9.83549845e-14,  1.00000000e+00, -2.47646796e-26,
        1.00000000e+00,  9.83549845e-14, -1.00000000e+00,  0.00000000e+00,
       -2.51788760e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05317551, -0.0609803 ,  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:
[-7.25011332e-05, 1.12512924e-06, 2.13770859e-05,-2.77954240e-05,
 -2.37036039e-03, 2.42141417e-02, 1.06535293e-02, 1.40582749e-03,
  3.89354069e-05, 8.84080419e-05, 1.19814528e-05,-3.34768973e-05,
  5.37675063e-02, 2.20243232e-02, 1.48660306e-02, 1.22306141e-04,
 -1.74533992e-07, 9.48997617e-08,-9.80999978e+00,-6.49584695e-02,
 -9.42748255e-03,-5.30812529e-03]


--- Step 1782 ---
qpos:
[ 0.00987964, 0.0080895 ,-0.00558875, 0.03348481, 0.00607165,-0.02082543,
 -0.01692697, 0.03783412, 0.01300838, 0.00597584,-0.01171667, 0.03406027,
  0.81158045,-0.01563816, 1.14123649, 0.04604641, 0.09480093,-0.06356807,
  0.14253328, 0.94263285,-0.03285195, 0.02831208, 0.33100225]

qacc:
[-1.54665955e+00, 2.29099933e-01, 3.51902302e-01,-5.13250200e+00,
  1.24028451e+01,-5.33317882e+00, 1.06852950e+01,-8.96778985e+00,
  3.89914918e+00, 3.08828266e-02, 8.83461215e-01,-2.25922454e+00,
  2.10716275e+00, 1.98194183e+00, 9.03617986e+00,-1.53409185e+01,
 -9.79847639e-03,-3.70220747e-02, 1.19833826e-02, 1.37759787e+00,
 -1.51268071e-01, 3.34000101e+00]

qfrc_actuator:
[-1.64504897e-05, 2.93442911e-04, 8.16714899e-05, 9.37163566e-05,
 -2.48385373e-03, 2.36804950e-02, 1.01080847e-02, 1.39820114e-03,
  9.56997566e-05, 1.37930651e-04,-9.35013056e-05, 2.87991991e-05,
  4.99419133e-02, 1.98240463e-02, 1.87837321e-03,-2.19898077e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7122599 , -0.38120128, -0.60166415, -0.38120128,  0.41087569,
        0.19095046, -0.60166415,  0.19095046,  0.59127786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8267699537935788e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99269216e-01,  6.06748271e-03, -3.77388455e-02,  6.06316030e-03,
        9.99981593e-01,  2.28984008e-04,  3.77395402e-02,  0.00000000e+00,
       -9.99287610e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13146015, -0.08316956,  0.17463321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24992734, -0.24860306,  0.02569426, -0.24860306,  0.27286231,
        0.22190575,  0.02569426,  0.22190575,  2.39696158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038602709426862583
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85728559e-01, -1.68277884e-01,  4.66501325e-03, -1.68276000e-01,
        9.85739597e-01,  7.96375192e-04, -4.73250062e-03,  2.16840434e-19,
       -9.99988802e-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([ 0.1308377 , -0.08201897,  0.1315946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29305006,  7.10768764,  1.63381624,  7.10768764,  9.55634674,
       -9.84615376,  1.63381624, -9.84615376, 50.12735648,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4601464838294385e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97870595,  0.11145998, -0.17236975,  0.10977053,  0.99376892,
        0.01933279,  0.17345054,  0.        , -0.98484258])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132949 , -0.05391367,  0.29658571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004879207607676751
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.29271423, -0.91082305, -0.29106658, -0.08905517, -0.27710816,
        0.9567028 , -0.95204388,  0.3059615 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486107, -0.03601491,  0.30479775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004408921347546224
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25906422e-13, -3.93457569e-15,  1.00000000e+00,  4.95388348e-28,
        1.00000000e+00,  3.93457569e-15, -1.00000000e+00,  0.00000000e+00,
        1.25906422e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05317701, -0.06097906,  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:
[-9.02039556e-06,-2.27893138e-05,-2.58805289e-05,-1.77846498e-05,
 -2.40172483e-03, 2.44487676e-02, 1.06944964e-02, 1.47345349e-03,
  2.28489330e-05, 5.77519131e-05, 2.20457892e-05, 8.03910537e-07,
  5.33839465e-02, 2.17941788e-02, 1.44269248e-02, 1.23007032e-04,
 -5.93726769e-07, 5.79126815e-07,-9.80999968e+00,-6.49586088e-02,
 -9.42794896e-03,-5.30766678e-03]


--- Step 1783 ---
qpos:
[ 0.00988031, 0.00809041,-0.00558837, 0.03348565, 0.00607294,-0.02083065,
 -0.01693071, 0.03783314, 0.01301023, 0.00597691,-0.01171726, 0.03406072,
  0.81158375,-0.01564005, 1.14120152, 0.04604584, 0.09480195,-0.06356665,
  0.14253364, 0.94262605,-0.03284592, 0.02830974, 0.33102241]

qacc:
[ 1.13962330e+01, 1.08694529e+00,-3.30146287e+00, 9.29523180e-01,
  1.26514667e+01,-4.94842812e+00, 1.01685024e+01,-8.53754815e+00,
 -8.67781050e-01, 5.72382330e-01,-3.93024222e+00, 1.07498252e+01,
  1.59397011e+00, 1.78403116e+00, 8.04827727e+00,-4.22635535e-01,
 -9.07735761e-03,-2.60766173e-02, 9.21800544e-03, 1.05278577e+00,
 -1.15102380e-01, 2.65650228e+00]

qfrc_actuator:
[ 5.07466429e-05, 2.77139696e-04, 4.70804405e-05, 8.26719634e-05,
 -2.48089585e-03, 2.37108055e-02, 1.01038210e-02, 1.38137138e-03,
  8.99264645e-05, 8.83079124e-05,-1.09016515e-04, 4.49086118e-05,
  4.99373578e-02, 1.98215157e-02, 1.90047760e-03,-1.94728173e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226866, -0.40762837, -0.58409396, -0.40762837,  0.467143  ,
        0.17106866, -0.58409396,  0.17106866,  0.59288301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.365529480279874e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99269044e-01,  6.06729045e-03, -3.77434288e-02,  6.06296712e-03,
        9.99981594e-01,  2.29004560e-04,  3.77441235e-02,  0.00000000e+00,
       -9.99287437e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13146056, -0.08316647,  0.17463265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25038207, -0.24916987,  0.02460804, -0.24916987,  0.2706263 ,
        0.20498395,  0.02460804,  0.20498395,  2.32595701,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003878545172276589
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85724922e-01, -1.68300156e-01,  4.62990019e-03, -1.68298300e-01,
        9.85735795e-01,  7.90488617e-04, -4.69689770e-03,  0.00000000e+00,
       -9.99988970e-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([ 0.13083847, -0.08201916,  0.13159419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2933098 ,   6.98908444,   2.08448231,   6.98908444,
        11.46077097, -13.97312797,   2.08448231, -13.97312797,
        54.14396951,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.5061087361178094e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78709206e-01,  1.11430310e-01, -1.72370459e-01,  1.09741312e-01,
        9.93772251e-01,  1.93276616e-02,  1.73450667e-01, -3.46944695e-18,
       -9.84842559e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329508, -0.0539136 ,  0.29658583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048773528866015464
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.29313279, -0.91073488, -0.29092118, -0.08913384, -0.27693012,
        0.95674702, -0.95190773,  0.30638485,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486083, -0.03601452,  0.3047987 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044062019600564495
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25984128e-13, -6.69290681e-14,  1.00000000e+00, -8.43200029e-27,
        1.00000000e+00,  6.69290681e-14, -1.00000000e+00,  0.00000000e+00,
       -1.25984128e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05317802, -0.06097809,  0.06199011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.69294784e-05,-3.52077330e-05,-4.31263578e-05,-1.32688584e-05,
 -2.47132816e-03, 2.47102020e-02, 1.07095278e-02, 1.46341963e-03,
 -5.10139895e-06,-1.27616282e-05,-8.48674205e-07, 1.93606670e-05,
  5.30471604e-02, 2.15940156e-02, 1.40691285e-02, 3.38823268e-04,
 -1.71688031e-06, 1.34853575e-06,-9.80999940e+00,-6.49583608e-02,
 -9.42855907e-03,-5.30711481e-03]


--- Step 1784 ---
qpos:
[ 0.00988144, 0.00809091,-0.00558801, 0.033486  , 0.00607535,-0.02083988,
 -0.01693486, 0.03783198, 0.0130113 , 0.00597753,-0.01171784, 0.03406176,
  0.81159193,-0.01563903, 1.14117491, 0.04604693, 0.09480294,-0.06356534,
  0.14253402, 0.94261796,-0.03283811, 0.02830787, 0.33104637]

qacc:
[ 4.00064321e+00,-1.49090969e+00, 6.56329264e+00,-1.46261965e+01,
  9.52720910e+00,-4.51936910e+00, 9.10352656e+00,-8.39317225e+00,
 -6.78971872e+00, 5.74753713e-01,-5.34916945e+00, 1.56783372e+01,
  1.49817365e+00, 1.52893573e+00, 7.34528071e+00,-7.78392722e+00,
 -8.90040269e-03,-2.46258858e-02, 5.54477744e-03, 8.39311200e-01,
 -1.15275228e-01, 2.03899426e+00]

qfrc_actuator:
[ 7.22633462e-05, 2.49312254e-04, 4.42867496e-05, 5.80773389e-05,
 -2.48052561e-03, 2.37512997e-02, 1.00851646e-02, 1.35397948e-03,
  5.02765205e-05, 4.04278057e-05,-1.18104499e-04, 7.19107301e-05,
  4.99235626e-02, 1.98543186e-02, 1.94092941e-03,-1.92249751e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71228139, -0.51223841, -0.4949309 , -0.51223841,  0.54355517,
        0.17462651, -0.4949309 ,  0.17462651,  0.53154828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.928419214533104e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99268698e-01,  6.06857712e-03, -3.77523840e-02,  6.06425082e-03,
        9.99981586e-01,  2.29107473e-04,  3.77530792e-02,  0.00000000e+00,
       -9.99287098e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13146121, -0.08316322,  0.17463192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25077726, -0.24657633,  0.04570934, -0.24657633,  0.3141611 ,
        0.34192044,  0.04570934,  0.34192044,  2.09524694,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003894307794972837
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85719645e-01, -1.68331835e-01,  4.60151540e-03, -1.68330001e-01,
        9.85730386e-01,  7.85794518e-04, -4.66812779e-03, -1.08420217e-19,
       -9.99989104e-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([ 0.13083963, -0.08201948,  0.13159387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29381093,   6.8130129 ,   2.60432969,   6.8130129 ,
        14.63334076, -19.20045361,   2.60432969, -19.20045361,
        57.52283481,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.5931160854385894e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78714143e-01,  1.11391244e-01, -1.72367678e-01,  1.09702907e-01,
        9.93776630e-01,  1.93204886e-02,  1.73447104e-01, -3.46944695e-18,
       -9.84843187e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329537, -0.0539138 ,  0.29658601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004875157557910645
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.93845536e-01, -9.10593894e-01, -2.90643356e-01, -8.92573629e-02,
       -2.76598415e-01,  9.56831458e-01, -9.51676376e-01,  3.07102712e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486063, -0.03601468,  0.30479975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004401709325706077
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26112715e-13,  2.75871563e-14,  1.00000000e+00,  3.47909118e-27,
        1.00000000e+00, -2.75871563e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26112715e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05317864, -0.06097735,  0.06199012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.34101367e-05,-5.70110393e-05,-1.58575465e-05,-2.78614012e-05,
 -2.54500929e-03, 2.49565866e-02, 1.07040799e-02, 1.44143930e-03,
 -3.97972853e-05,-5.43909779e-05,-1.11632707e-05, 2.68011614e-05,
  5.27633403e-02, 2.14650491e-02, 1.34632163e-02, 1.80963730e-04,
 -3.09838898e-06, 2.19885757e-06,-9.80999907e+00,-6.49578069e-02,
 -9.42922706e-03,-5.30649169e-03]


--- Step 1785 ---
qpos:
[ 0.00988247, 0.0080911 ,-0.00558748, 0.03348638, 0.00607855,-0.02085283,
 -0.0169394 , 0.03783065, 0.01301155, 0.005978  ,-0.01171807, 0.03406304,
  0.81160463,-0.01563537, 1.14115227, 0.04604763, 0.09480389,-0.06356412,
  0.14253441, 0.94260892,-0.03282887, 0.02830633, 0.33107316]

qacc:
[-8.25913455e-01,-8.39741697e-01, 2.29988194e+00,-1.96277531e+00,
  6.84100222e+00,-4.22880203e+00, 8.68828614e+00,-8.42374146e+00,
 -7.27650803e+00,-6.30515949e-01, 9.17446950e-01, 2.98981926e+00,
  1.46680023e+00, 1.27305092e+00, 6.98004026e+00,-1.59824770e+01,
 -8.92332088e-03,-2.47490011e-02, 2.52085566e-03, 6.71730221e-01,
 -1.14316163e-01, 1.51869914e+00]

qfrc_actuator:
[ 6.66969578e-05, 2.50416125e-04, 6.02337724e-05, 6.12242855e-05,
 -2.48193363e-03, 2.37816964e-02, 1.01291377e-02, 1.37361338e-03,
  8.76673124e-06, 6.49845529e-05,-8.78265777e-05, 8.73506592e-05,
  4.99147269e-02, 1.98895996e-02, 1.96570642e-03,-1.99781632e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71229752, -0.55785959, -0.44290002, -0.55785959,  0.57222784,
        0.1764263 , -0.44290002,  0.1764263 ,  0.49007782,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.4511119116009676e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99268178e-01,  6.07097626e-03, -3.77657607e-02,  6.06664519e-03,
        9.99981571e-01,  2.29279262e-04,  3.77664567e-02,  2.71050543e-20,
       -9.99286593e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13146209, -0.0831599 ,  0.17463108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25109949, -0.24716627,  0.04426949, -0.24716627,  0.30208139,
        0.28464316,  0.04426949,  0.28464316,  1.84032476,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039070801681037707
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85713076e-01, -1.68370881e-01,  4.58009557e-03, -1.68369064e-01,
        9.85723717e-01,  7.82323397e-04, -4.64642931e-03, -2.16840434e-19,
       -9.99989205e-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([ 0.13084116, -0.0820199 ,  0.13159364])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29451184,   6.70842578,   2.86477339,   6.70842578,
        16.57228285, -21.72571085,   2.86477339, -21.72571085,
        58.16950231,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.711372272902251e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872037,  0.111345  , -0.17236221,  0.10965749,  0.99378181,
        0.01931175,  0.17344069,  0.        , -0.98484432])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329574, -0.05391424,  0.29658624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000487262137128094
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.94856410e-01, -9.10397756e-01, -2.90233739e-01, -8.94265750e-02,
       -2.76113222e-01,  9.56955786e-01, -9.51347773e-01,  3.08119156e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048604 , -0.03601529,  0.30480088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043959152136853474
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.55159518e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.55159518e-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([ 0.05317895, -0.06097679,  0.06199013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.91953300e-06,-3.52651446e-05, 1.24054627e-06,-3.90877888e-07,
 -2.60213223e-03, 2.51880142e-02, 1.07688003e-02, 1.46959875e-03,
 -4.26590954e-05,-7.04460503e-06, 1.85951794e-05, 1.32439445e-05,
  5.25101300e-02, 2.13547665e-02, 1.30700901e-02, 2.31047162e-05,
 -4.46576197e-06, 3.00020610e-06,-9.80999873e+00,-6.49570100e-02,
 -9.42991607e-03,-5.30580546e-03]


--- Step 1786 ---
qpos:
[ 0.00988342, 0.00809119,-0.0055866 , 0.03348674, 0.0060821 ,-0.02086937,
 -0.01694434, 0.03782912, 0.01301199, 0.00597873,-0.01171806, 0.03406307,
  0.81162127,-0.0156295 , 1.14113505, 0.04604882, 0.0948048 ,-0.06356299,
  0.14253481, 0.94259921,-0.03281856, 0.02830502, 0.33110194]

qacc:
[-6.43402040e-01,-1.11926031e+00, 3.85264270e+00,-4.48957082e+00,
  2.98004585e+00,-4.04467760e+00, 8.33743164e+00,-8.44102572e+00,
  1.67204196e+00,-2.92447168e+00, 1.62177811e+01,-3.84929015e+01,
  1.29709795e+00, 1.02349855e+00, 6.53205745e+00,-1.12467450e+01,
 -9.65895379e-03,-2.31446181e-02, 5.14759291e-04, 5.04655535e-01,
 -9.13998595e-02, 1.06550013e+00]

qfrc_actuator:
[ 6.30018220e-05, 2.68946408e-04, 8.72435547e-05, 6.29499297e-05,
 -2.52004411e-03, 2.38073419e-02, 1.01753163e-02, 1.40378766e-03,
  1.97640288e-05, 9.73744782e-05,-6.97741633e-05, 2.49378286e-05,
  4.99247014e-02, 1.98899662e-02, 1.93856790e-03,-1.95429589e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71231617, -0.61638228, -0.3570255 , -0.61638228,  0.61083104,
        0.17520775, -0.3570255 ,  0.17520775,  0.4098309 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.89266783560907e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99267498e-01,  6.07417270e-03, -3.77832296e-02,  6.06983533e-03,
        9.99981552e-01,  2.29506095e-04,  3.77839266e-02,  2.71050543e-20,
       -9.99285932e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13146317, -0.08315659,  0.17463018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25134414, -0.24777935,  0.04218139, -0.24777935,  0.28865965,
        0.21919649,  0.04218139,  0.21919649,  1.53893479,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039167296619035036
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85705513e-01, -1.68415555e-01,  4.56540082e-03, -1.68413749e-01,
        9.85716085e-01,  7.80026343e-04, -4.63155759e-03,  0.00000000e+00,
       -9.99989274e-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([ 0.13084302, -0.08202041,  0.1315935 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29538261,   6.62371006,   3.05762529,   6.62371006,
        18.18433732, -23.58865853,   3.05762529, -23.58865853,
        58.39531151,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.8532084536768525e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78727557e-01,  1.11293448e-01, -1.72354685e-01,  1.09606888e-01,
        9.93787587e-01,  1.93018583e-02,  1.73432117e-01,  3.46944695e-18,
       -9.84845826e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329616, -0.0539149 ,  0.2965865 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048696551081895616
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.29619728, -0.91013848, -0.28968107, -0.0896465 , -0.27546076,
        0.95712323, -0.95091045,  0.30946619,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048601 , -0.03601626,  0.30480208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004389199124901766
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52944328e-13, -3.55702962e-14,  1.00000000e+00, -8.99730467e-27,
        1.00000000e+00,  3.55702962e-14, -1.00000000e+00,  0.00000000e+00,
       -2.52944328e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05317904, -0.06097636,  0.06199014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.84883979e-06,-9.69419326e-07, 1.98545151e-05, 2.47374917e-07,
 -2.68018392e-03, 2.53999367e-02, 1.08341903e-02, 1.50878764e-03,
  9.78245950e-06, 3.28279757e-05, 1.93422424e-05,-6.18151552e-05,
  5.22941309e-02, 2.12229432e-02, 1.28454683e-02, 8.58639123e-05,
 -5.67274984e-06, 3.68730361e-06,-9.80999840e+00,-6.49560193e-02,
 -9.43060568e-03,-5.30506235e-03]


--- Step 1787 ---
qpos:
[ 0.00988467, 0.0080912 ,-0.00558539, 0.03348678, 0.00608571,-0.02088864,
 -0.01694937, 0.03782748, 0.0130129 , 0.00597981,-0.0117182 , 0.03406272,
  0.81163933,-0.01562269, 1.14112507, 0.04605181, 0.09480565,-0.06356194,
  0.14253522, 0.94258929,-0.03280797, 0.02830408, 0.33113131]

qacc:
[ 2.58420514e+00,-1.73829638e+00, 7.40489769e+00,-1.35399069e+01,
  6.12407152e-01,-3.54651075e+00, 7.86909578e+00,-7.49663758e+00,
  4.14900665e+00, 7.93623497e-02, 2.02358543e+00,-8.74390502e+00,
  2.52213054e-01, 7.51379026e-01, 5.23772661e+00,-2.79073220e+00,
 -1.27660316e-02,-1.66572691e-02, 4.19942509e-03, 1.84086439e-01,
  1.20268162e-01, 3.23866030e-01]

qfrc_actuator:
[ 7.81996259e-05, 2.62328641e-04, 1.02886975e-04, 4.60912380e-05,
 -2.54453650e-03, 2.38137565e-02, 1.01697348e-02, 1.38711775e-03,
  4.38258104e-05, 1.16359278e-04,-7.68484452e-05, 5.98197034e-06,
  4.99298752e-02, 1.98687545e-02, 1.90130805e-03,-1.84018791e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71233602, -0.65757983, -0.27388203, -0.65757983,  0.65216653,
        0.14446455, -0.27388203,  0.14446455,  0.3654824 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0206023519515745e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99266664e-01,  6.07771293e-03, -3.78046995e-02,  6.07336810e-03,
        9.99981531e-01,  2.29770355e-04,  3.78053978e-02,  0.00000000e+00,
       -9.99285120e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13146444, -0.08315333,  0.17462926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25150239, -0.24765104,  0.04384535, -0.24765104,  0.29132001,
        0.22490131,  0.04384535,  0.22490131,  1.52180928,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003922949599778572
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85697210e-01, -1.68464352e-01,  4.55758824e-03, -1.68462551e-01,
        9.85707747e-01,  7.78923724e-04, -4.62367092e-03,  1.08420217e-19,
       -9.99989311e-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([ 0.1308452 , -0.08202099,  0.13159346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2963937 ,   6.49532708,   3.32386629,   6.49532708,
        20.74719638, -26.28486085,   3.32386629, -26.28486085,
        58.66090525,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.0115768649642475e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78735426e-01,  1.11238210e-01, -1.72345661e-01,  1.09552686e-01,
        9.93793772e-01,  1.92911481e-02,  1.73421957e-01, -3.46944695e-18,
       -9.84847615e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329661, -0.05391574,  0.29658679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004866656509273711
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.97729235e-01, -9.09841669e-01, -2.89042279e-01, -8.98933129e-02,
       -2.74708266e-01,  9.57316333e-01, -9.50408594e-01,  3.11004027e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485975, -0.03601754,  0.30480329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004381780265302993
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.49375275e-07,  7.49375420e-07,  1.00000000e+00,  5.61563412e-13,
        1.00000000e+00, -7.49375420e-07, -1.00000000e+00,  1.00974196e-28,
       -7.49375275e-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([ 0.05359952, -0.06156325,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.50857251e-05,-3.06691178e-06, 1.78841115e-05,-1.62114781e-05,
 -2.72192542e-03, 2.55870832e-02, 1.08489929e-02, 1.50202654e-03,
  2.43554286e-05, 3.86668406e-05,-5.83758448e-08,-1.80849666e-05,
  5.21029369e-02, 2.10908679e-02, 1.25369018e-02, 1.75724526e-04,
 -6.62239384e-06, 4.21606038e-06,-9.80999813e+00,-6.49548780e-02,
 -9.43127409e-03,-5.30427421e-03]


--- Step 1788 ---
qpos:
[ 0.00988575, 0.00809138,-0.00558437, 0.03348662, 0.00608424,-0.02090172,
 -0.01694921, 0.03782887, 0.0130134 , 0.00598092,-0.01171857, 0.03406254,
  0.81158916,-0.01565264, 1.14107358, 0.04606556, 0.09480726,-0.06355834,
  0.14253514, 0.94259707,-0.03282604, 0.02829298, 0.33110831]

qacc:
[-1.52478993e+00, 3.75457641e-01,-1.58522566e-01,-3.10280481e+00,
 -4.32110117e+01,-2.34520407e-02,-6.49449260e-01, 3.98458256e+01,
 -3.59791795e+00, 1.06488009e+00,-4.47288198e+00, 7.80045362e+00,
 -2.48332104e+01,-1.35759897e+01,-9.32209924e+01, 2.38383802e+02,
  1.85764695e-01, 6.33993851e-01,-1.22408595e-01,-1.41645816e+01,
  5.63134077e-01,-2.81861152e+01]

qfrc_actuator:
[ 6.88899328e-05, 2.76159987e-04, 9.38316253e-05, 3.61573943e-05,
 -2.54296549e-03, 2.38091871e-02, 1.01684516e-02, 1.34232568e-03,
  2.21093032e-05, 9.15967311e-05,-9.87026985e-05, 1.27357824e-05,
  4.99375780e-02, 1.98349879e-02, 1.92685337e-03,-1.80950758e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71235579, -0.50291712,  0.50450486, -0.50291712,  0.37485668,
       -0.33643695,  0.50450486, -0.33643695,  0.37697765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1363997232577776e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99265724e-01,  6.08131954e-03, -3.78289735e-02,  6.07696654e-03,
        9.99981509e-01,  2.30054330e-04,  3.78296730e-02,  2.71050543e-20,
       -9.99284202e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13146583, -0.08315019,  0.17462839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25158015, -0.24777313,  0.04360102, -0.24777313,  0.28990392,
        0.21778389,  0.04360102,  0.21778389,  1.48918879,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003925999742149699
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85688613e-01, -1.68514685e-01,  4.55611678e-03, -1.68512885e-01,
        9.85699143e-01,  7.78911690e-04, -4.62221846e-03,  0.00000000e+00,
       -9.99989317e-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([ 0.13084758, -0.0820216 ,  0.1315935 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29750950e+00,  7.29747423e+00,  2.26893368e-02,  7.29747423e+00,
        7.29816301e+00, -2.10184611e-01,  2.26893368e-02, -2.10184611e-01,
        7.48982858e+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: -4.1793443889257895e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874359,  0.11118184, -0.17233569,  0.10949738,  0.99380008,
        0.01928013,  0.17341082,  0.        , -0.98484958])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329708, -0.05391665,  0.29658709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048644763697271306
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.29925687, -0.90954445, -0.28839939, -0.09013533, -0.27395224,
        0.9575102 , -0.94990576,  0.31253649,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485941, -0.03601893,  0.30480435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.34018328, -6.40770359,  8.11546209, -6.40770359, 51.4952187 ,
       32.4946707 ,  8.11546209, 32.4946707 , 35.99691309,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004380263168481965
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.81205776e-07, -7.81205851e-07,  1.00000000e+00, -6.10282524e-13,
        1.00000000e+00,  7.81205851e-07, -1.00000000e+00,  1.00974196e-28,
       -7.81205776e-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([ 0.08695314, -0.10812428,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.88228100e-06, 1.51025845e-05,-8.06333754e-06,-9.76569084e-06,
 -2.72370830e-03, 2.57190490e-02, 1.08525310e-02, 1.46242500e-03,
 -2.10067263e-05,-3.95252155e-06,-1.45105071e-05, 8.05465758e-06,
  5.20392971e-02, 2.10101429e-02, 1.22011408e-02, 1.16256330e-04,
 -6.91501704e-06, 4.32717821e-06,-9.80999811e+00,-6.49536247e-02,
 -9.43180904e-03,-5.30350435e-03]


--- Step 1789 ---
qpos:
[ 0.00988602, 0.00809186,-0.00558356, 0.03348667, 0.00608291,-0.02091592,
 -0.01694898, 0.03783019, 0.01301399, 0.00598159,-0.01171899, 0.03406248,
  0.8115495 ,-0.01567673, 1.14101353, 0.04607198, 0.09480866,-0.06355545,
  0.14253519, 0.94260178,-0.03283826, 0.0282846 , 0.33109442]

qacc:
[-7.11754269e+00, 1.42589449e+00,-5.40419105e+00, 9.19370686e+00,
  1.30311354e+00,-1.81839495e+00, 4.58202480e+00,-4.91166473e+00,
  7.22536361e-01,-2.04717277e-01,-6.36637104e-01, 3.21588881e+00,
  3.97531071e+00, 2.02326954e+00, 9.37994807e+00,-5.14418167e+01,
 -4.81287469e-02,-1.75274225e-01, 3.37394661e-02, 3.03296622e+00,
  2.11863910e-01, 4.92898378e+00]

qfrc_actuator:
[ 2.74716984e-05, 3.02033636e-04, 8.81092096e-05, 4.81333824e-05,
 -2.53837856e-03, 2.38257224e-02, 1.01645112e-02, 1.34859397e-03,
  2.68756745e-05, 4.07813061e-05,-1.11517514e-04, 1.67587523e-05,
  4.99423640e-02, 1.98487678e-02, 1.97822935e-03,-1.87405950e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71233622, -0.60940028, -0.36885524, -0.60940028,  0.71399064,
       -0.00273333, -0.36885524, -0.00273333,  0.71685206,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0218284732727802e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99265243e-01,  6.07984223e-03, -3.78418929e-02,  6.07548732e-03,
        9.99981518e-01,  2.30076991e-04,  3.78425923e-02,  0.00000000e+00,
       -9.99283713e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13146631, -0.08314795,  0.17463069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25159723, -0.04327625,  0.2478474 , -0.04327625,  0.75435501,
        0.08778577,  0.2478474 ,  0.08778577,  0.26692537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039266690438644167
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85697135e-01, -1.68465665e-01,  4.52521461e-03, -1.68463890e-01,
        9.85707522e-01,  7.73397048e-04, -4.59082893e-03,  0.00000000e+00,
       -9.99989462e-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([ 0.1308488 , -0.08202101,  0.13159316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29487196, -3.15985379,  6.57498904, -3.15985379, 24.95480113,
        8.48713113,  6.57498904,  8.48713113, 11.37367624,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7706812529074786e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78732380e-01,  1.11222861e-01, -1.72372863e-01,  1.09537039e-01,
        9.93795490e-01,  1.92914972e-02,  1.73449029e-01, -3.46944695e-18,
       -9.84842848e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329597, -0.05391415,  0.29658638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.3444449 , -0.74111271,  1.12173261, -0.74111271,  3.35322529,
        1.32717251,  1.12173261,  1.32717251,  2.22128883,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004887130271982312
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.91907510e-01, -9.10939247e-01, -2.91512768e-01, -8.89585068e-02,
       -2.77607777e-01,  9.56566938e-01, -9.52300577e-01,  3.05161614e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485927, -0.03601335,  0.30480091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.35211297, -5.93309483,  8.48319685, -5.93309483, 17.93527451,
        5.30361577,  8.48319685,  5.30361577, 14.06142868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004390024594761177
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26448383e-13, -1.30399895e-13,  1.00000000e+00, -1.64888559e-26,
        1.00000000e+00,  1.30399895e-13, -1.00000000e+00,  0.00000000e+00,
       -1.26448383e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05318388, -0.06097246,  0.06199014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.16668878e-05, 3.22103912e-05,-3.94819617e-06, 1.21519452e-05,
 -2.46460770e-03, 2.54270085e-02, 1.05896471e-02, 1.31795443e-03,
  4.17120844e-06,-5.57186915e-05,-1.51465360e-05, 3.50807231e-06,
  5.54554444e-02, 2.28627554e-02, 1.43280532e-02,-4.85791097e-04,
 -7.23283729e-06, 2.06285374e-06,-9.80999728e+00,-6.49554637e-02,
 -9.43312983e-03,-5.30343461e-03]


--- Step 1790 ---
qpos:
[ 0.00988613, 0.00809236,-0.00558301, 0.0334869 , 0.00608185,-0.02093134,
 -0.01694878, 0.03783142, 0.01301532, 0.00598223,-0.01171974, 0.03406278,
  0.81151956,-0.01569555, 1.14094945, 0.04607298, 0.09480993,-0.06355311,
  0.14253536, 0.94260393,-0.03284564, 0.02827835, 0.33108811]

qacc:
[-1.35486891e+00, 1.12404106e+00,-4.70247928e+00, 8.18799984e+00,
  2.24116861e+00,-1.73842155e+00, 4.24747863e+00,-4.89879596e+00,
  6.51697016e+00, 1.61323581e+00,-7.36272033e+00, 1.42112464e+01,
  3.70149108e+00, 1.72997720e+00, 1.03238107e+01,-4.49730933e+01,
 -3.51707518e-02,-1.38964549e-01, 2.65500849e-02, 2.48367242e+00,
  1.13979593e-01, 4.09949085e+00]

qfrc_actuator:
[ 2.07524252e-05, 2.81689554e-04, 6.67264458e-05, 5.51699069e-05,
 -2.53518708e-03, 2.38597509e-02, 1.01442576e-02, 1.33410994e-03,
  6.49580703e-05, 6.35399937e-05,-1.19017045e-04, 3.68716350e-05,
  4.99301183e-02, 1.98986556e-02, 1.98505075e-03,-2.08848919e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71232475, -0.59005539, -0.39905035, -0.59005539,  0.7465044 ,
       -0.05053971, -0.39905035, -0.05053971,  0.78705524,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.482765980443221e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99264723e-01,  6.07851543e-03, -3.78558580e-02,  6.07415825e-03,
        9.99981526e-01,  2.30111668e-04,  3.78565574e-02, -2.71050543e-20,
       -9.99283184e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13146694, -0.08314585,  0.17463239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003926876403794049
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85702558e-01, -1.68434523e-01,  4.50314005e-03, -1.68432766e-01,
        9.85712844e-01,  7.69477899e-04, -4.56840963e-03,  0.00000000e+00,
       -9.99989565e-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([ 0.13085016, -0.08202065,  0.13159294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29325692,  7.27955872,  0.44678995,  7.27955872,  7.38992903,
       -1.57508085,  0.44678995, -1.57508085, 32.95608465,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4968005472583264e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872494,  0.11124723, -0.17239939,  0.10956051,  0.99379276,
        0.01929875,  0.1734762 ,  0.        , -0.98483806])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329526, -0.05391221,  0.29658593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004900802379965875
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.87182079e-01, -9.11796319e-01, -2.93519891e-01, -8.81776149e-02,
       -2.79961845e-01,  9.55952966e-01, -9.53808766e-01,  3.00414444e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485917, -0.03600912,  0.30479907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044003974392654854
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52300625e-13, -3.54797754e-14,  1.00000000e+00, -8.95156951e-27,
        1.00000000e+00,  3.54797754e-14, -1.00000000e+00,  0.00000000e+00,
       -2.52300625e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05318781, -0.06096982,  0.06199012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.89784370e-06,-2.66867625e-06,-1.48087534e-05, 8.51540277e-06,
 -2.46895881e-03, 2.55176364e-02, 1.05657924e-02, 1.30650822e-03,
  3.81836737e-05,-1.13937936e-05,-2.07554516e-05, 1.72688666e-05,
  5.49176700e-02, 2.26196902e-02, 1.47646467e-02,-3.33666615e-04,
 -3.02118383e-06, 7.52523705e-07,-9.80999874e+00,-6.49573845e-02,
 -9.43268137e-03,-5.30334260e-03]


--- Step 1791 ---
qpos:
[ 0.00988616, 0.00809274,-0.00558285, 0.03348621, 0.00608108,-0.02094792,
 -0.01694859, 0.03783254, 0.01301674, 0.0059827 ,-0.01172026, 0.03406331,
  0.81149847,-0.01570971, 1.14088455, 0.04606997, 0.0948111 ,-0.06355122,
  0.1425356 , 0.94260398,-0.03284906, 0.02827376, 0.331088  ]

qacc:
[-7.27706686e-01,-9.51793411e-01, 7.05011518e+00,-2.22891819e+01,
  2.48548756e+00,-1.70114329e+00, 4.25621141e+00,-5.12203296e+00,
  9.00349373e-01,-3.87879652e-01, 1.23445786e-01, 3.44421534e+00,
  3.41080720e+00, 1.43625128e+00, 1.08318585e+01,-3.98756177e+01,
 -2.63518192e-02,-1.11026008e-01, 2.05266553e-02, 2.01940652e+00,
  5.08028966e-02, 3.35551107e+00]

qfrc_actuator:
[ 1.67674519e-05, 2.51511143e-04, 3.60755926e-05, 5.93337681e-06,
 -2.55075640e-03, 2.38515600e-02, 1.01320359e-02, 1.30723034e-03,
  6.90790013e-05, 5.92033860e-05,-1.05268660e-04, 4.85992398e-05,
  4.99286503e-02, 1.99329586e-02, 1.96503882e-03,-2.24980561e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71231887, -0.57026941, -0.42683834, -0.57026941,  0.76139915,
       -0.0655728 , -0.42683834, -0.0655728 ,  0.79992618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.082710857629718e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99264153e-01,  6.07744953e-03, -3.78710600e-02,  6.07308962e-03,
        9.99981532e-01,  2.30163706e-04,  3.78717594e-02,  0.00000000e+00,
       -9.99282608e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13146773, -0.08314383,  0.17463357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039266498580253426
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85705414e-01, -1.68418209e-01,  4.48820076e-03, -1.68416463e-01,
        9.85715632e-01,  7.66848685e-04, -4.55324093e-03,  0.00000000e+00,
       -9.99989634e-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([ 0.13085166, -0.08202046,  0.1315928 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2923468 ,  7.25728816,  0.71420617,  7.25728816,  7.57963571,
       -2.91923887,  0.71420617, -2.91923887, 36.95571107,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.332507713774987e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78720582e-01,  1.11257740e-01, -1.72417333e-01,  1.09570499e-01,
        9.93791585e-01,  1.93026013e-02,  1.73494459e-01, -3.46944695e-18,
       -9.84834845e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329487, -0.05391077,  0.29658568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004907808763808072
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.84505548e-01, -9.12263283e-01, -2.94673202e-01, -8.77316122e-02,
       -2.81310256e-01,  9.55598087e-01, -9.54651642e-01,  2.97725112e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485907, -0.03600602,  0.3047984 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000440621683330214
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51967406e-13, -6.69288422e-14,  1.00000000e+00, -1.68638867e-26,
        1.00000000e+00,  6.69288422e-14, -1.00000000e+00,  0.00000000e+00,
       -2.51967406e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05319074, -0.06096775,  0.06199011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.21288374e-06,-3.43931265e-05,-3.27440729e-05,-4.97000955e-05,
 -2.49759783e-03, 2.55707894e-02, 1.05548410e-02, 1.28425664e-03,
  5.20376828e-06,-1.42529857e-05, 9.43625067e-06, 1.08555356e-05,
  5.44305693e-02, 2.23910463e-02, 1.49471705e-02,-2.23968769e-04,
 -9.41757892e-07, 1.76805723e-07,-9.80999949e+00,-6.49586003e-02,
 -9.43263239e-03,-5.30316260e-03]


--- Step 1792 ---
qpos:
[ 0.0098858 , 0.00809277,-0.00558273, 0.03348529, 0.0060807 ,-0.02096568,
 -0.01694846, 0.03783356, 0.01301821, 0.00598283,-0.01172026, 0.03406397,
  0.81148527,-0.01571983, 1.14082362, 0.0460653 , 0.09481218,-0.06354967,
  0.14253591, 0.94260229,-0.03284925, 0.02827044, 0.33109309]

qacc:
[-3.44310927e+00,-8.39736013e-01, 3.34887803e+00,-7.14465920e+00,
  3.39276091e+00,-1.62845390e+00, 4.01996825e+00,-5.01949359e+00,
  3.63623141e-01,-1.66449384e+00, 4.71715903e+00,-2.98515220e+00,
  3.02586495e+00, 1.22880876e+00, 1.08137243e+01,-2.94759800e+01,
 -2.00793848e-02,-8.58233714e-02, 1.56771750e-02, 1.62869107e+00,
  3.35331556e-03, 2.80427950e+00]

qfrc_actuator:
[-3.33995425e-06, 2.33328319e-04, 3.56141534e-05,-5.02622075e-06,
 -2.54221033e-03, 2.38894818e-02, 1.01246378e-02, 1.30846525e-03,
  7.09196783e-05, 3.87657163e-05,-7.91856761e-05, 5.52947910e-05,
  4.99387021e-02, 1.99209067e-02, 1.99269356e-03,-2.27196879e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71231701, -0.56183066, -0.43788336, -0.56183066,  0.79350694,
       -0.10417156, -0.43788336, -0.10417156,  0.84597538,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.95235741499619e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99263537e-01,  6.07667340e-03, -3.78874419e-02,  6.07231026e-03,
        9.99981537e-01,  2.30233861e-04,  3.78881414e-02,  0.00000000e+00,
       -9.99281987e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13146865, -0.08314188,  0.17463435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25158106, -0.25043736,  0.0239616 , -0.25043736,  0.27427968,
        0.23723713,  0.0239616 ,  0.23723713,  2.73109126,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000392603533537723
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85706172e-01, -1.68414017e-01,  4.47898399e-03, -1.68412279e-01,
        9.85716348e-01,  7.65254313e-04, -4.54388729e-03,  0.00000000e+00,
       -9.99989676e-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([ 0.1308533 , -0.08202042,  0.13159273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29194085,  7.2211601 ,  1.01353252,  7.2211601 ,  7.95936602,
       -4.75523367,  1.01353252, -4.75523367, 41.17176505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.256542535942516e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97871873,  0.1112569 , -0.17242841,  0.10956945,  0.99379168,
        0.01930369,  0.17350559,  0.        , -0.98483288])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329475, -0.05390978,  0.29658559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000490999790372504
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.83428196e-01, -9.12440024e-01, -2.95163785e-01, -8.75587741e-02,
       -2.81877848e-01,  9.55446670e-01, -9.54987916e-01,  2.96644705e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485893, -0.03600385,  0.30479853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004408425337572852
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51841177e-13, -1.61335754e-13,  1.00000000e+00,  4.06309861e-26,
        1.00000000e+00,  1.61335754e-13, -1.00000000e+00,  0.00000000e+00,
        2.51841177e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05319287, -0.06096614,  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:
[-2.02372670e-05,-4.63247201e-05,-1.33229240e-05,-1.45330903e-05,
 -2.50356372e-03, 2.56674641e-02, 1.05485189e-02, 1.29061351e-03,
  1.98383594e-06,-2.59992628e-05, 2.46775160e-05, 6.62154308e-06,
  5.39978704e-02, 2.21463103e-02, 1.50175274e-02,-4.49156415e-05,
 -1.88076944e-07, 6.33706296e-08,-9.80999980e+00,-6.49592545e-02,
 -9.43283047e-03,-5.30290175e-03]


--- Step 1793 ---
qpos:
[ 0.0098852 , 0.00809242,-0.00558235, 0.03348457, 0.0060809 ,-0.02098469,
 -0.01694847, 0.03783444, 0.01301969, 0.00598296,-0.01172031, 0.03406436,
  0.8114789 ,-0.01572648, 1.1407712 , 0.04606138, 0.0948132 ,-0.06354837,
  0.14253626, 0.94259909,-0.03284683, 0.02826807, 0.33110265]

qacc:
[-2.07561329e+00,-8.04923849e-01, 1.27057431e+00, 2.15613925e+00,
  4.87678002e+00,-1.52605014e+00, 3.57682467e+00,-4.64415417e+00,
  9.06554026e-02,-4.07303178e-01, 2.60248577e+00,-7.23090612e+00,
  2.56478012e+00, 1.11678375e+00, 1.02314340e+01,-1.76598882e+01,
 -1.56646566e-02,-6.30246479e-02, 1.18396062e-02, 1.29938461e+00,
 -3.17458454e-02, 2.40489356e+00]

qfrc_actuator:
[-1.50242859e-05, 2.22608419e-04, 5.30599337e-05, 6.66292677e-06,
 -2.51941801e-03, 2.39377974e-02, 1.01024307e-02, 1.32662198e-03,
  7.14141869e-05, 4.44051315e-05,-8.16126720e-05, 4.12145616e-05,
  4.99447825e-02, 1.99330481e-02, 2.01126523e-03,-2.17588495e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71231819, -0.56588385, -0.43263457, -0.56588385,  0.84007597,
       -0.16710654, -0.43263457, -0.16710654,  0.93089271,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.035511958964821e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99262871e-01,  6.07629381e-03, -3.79050597e-02,  6.07192689e-03,
        9.99981539e-01,  2.30326532e-04,  3.79057595e-02,  0.00000000e+00,
       -9.99281318e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13146969, -0.08313995,  0.1746348 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25155531, -0.24909659,  0.03508508, -0.24909659,  0.29945358,
        0.34006748,  0.03508508,  0.34006748,  2.66596181,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039250258584362657
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85705185e-01, -1.68419918e-01,  4.47442055e-03, -1.68418182e-01,
        9.85715340e-01,  7.64502195e-04, -4.53926237e-03, -1.08420217e-19,
       -9.99989697e-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([ 0.13085507, -0.08202051,  0.13159272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29191007,  7.16146215,  1.3731032 ,  7.16146215,  8.70568036,
       -7.3735626 ,  1.3731032 , -7.3735626 , 45.74895356,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.2507096258436415e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97871892,  0.11124653, -0.17243402,  0.10955914,  0.99379284,
        0.0193025 ,  0.17351103,  0.        , -0.98483193])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329482, -0.05390918,  0.29658563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004909073867645964
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.83500065e-01, -9.12413582e-01, -2.95176503e-01, -8.75851102e-02,
       -2.81882983e-01,  9.55442741e-01, -9.54964168e-01,  2.96721146e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485876, -0.03600248,  0.3047992 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044077898615639544
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25938742e-13, -6.69049569e-14,  1.00000000e+00, -8.42592614e-27,
        1.00000000e+00,  6.69049569e-14, -1.00000000e+00,  0.00000000e+00,
       -1.25938742e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05319438, -0.06096488,  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:
[-1.22759966e-05,-4.00064564e-05, 5.73435963e-06, 8.96286986e-06,
 -2.50062789e-03, 2.57752641e-02, 1.05295172e-02, 1.31451529e-03,
  5.41111141e-07,-3.51931108e-06,-4.53045769e-06,-1.42132833e-05,
  5.36096052e-02, 2.19562609e-02, 1.48385085e-02, 1.34496338e-04,
 -2.10710686e-07, 2.26251064e-07,-9.80999984e+00,-6.49594618e-02,
 -9.43317078e-03,-5.30256744e-03]


--- Step 1794 ---
qpos:
[ 0.00988447, 0.00809205,-0.00558219, 0.03348398, 0.00608168,-0.02100477,
 -0.01694854, 0.03783522, 0.01302081, 0.00598341,-0.01172056, 0.03406489,
  0.81147825,-0.01573029, 1.14073029, 0.04605999, 0.09481417,-0.06354726,
  0.14253666, 0.94259468,-0.03284239, 0.02826644, 0.33111578]

qacc:
[-1.19817834e+00, 8.77222668e-01,-3.72900233e+00, 6.39805593e+00,
  5.00005562e+00,-1.48450520e+00, 3.67918068e+00,-4.63675571e+00,
 -3.09683135e+00, 1.30014513e+00,-4.62089496e+00, 7.18323208e+00,
  2.11163957e+00, 9.40812827e-01, 9.31502079e+00,-8.00059022e+00,
 -1.35130307e-02,-4.74669094e-02, 8.82230740e-03, 1.00463559e+00,
 -3.04437252e-02, 1.93140670e+00]

qfrc_actuator:
[-2.16522872e-05, 2.34298429e-04, 4.54658229e-05, 1.38409521e-05,
 -2.54166949e-03, 2.39396330e-02, 1.01069494e-02, 1.33723962e-03,
  5.33610924e-05, 8.32414546e-05,-8.30165972e-05, 5.05277463e-05,
  4.99429652e-02, 1.99054067e-02, 2.00253216e-03,-2.01060513e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7123218 , -0.57528402, -0.42006028, -0.57528402,  0.82411977,
       -0.15311038, -0.42006028, -0.15311038,  0.92201064,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.284114088733022e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99262149e-01,  6.07648540e-03, -3.79240661e-02,  6.07211396e-03,
        9.99981538e-01,  2.30449289e-04,  3.79247663e-02,  0.00000000e+00,
       -9.99280597e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13147085, -0.08313801,  0.17463498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2515182 , -0.249037  ,  0.03524171, -0.249037  ,  0.29766138,
        0.3260727 ,  0.03524171,  0.3260727 ,  2.55572438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003923570028350979
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85702711e-01, -1.68434415e-01,  4.47372332e-03, -1.68432681e-01,
        9.85712863e-01,  7.64450786e-04, -4.53856645e-03, -1.08420217e-19,
       -9.99989701e-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([ 0.13085698, -0.0820207 ,  0.13159277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.292169  ,   7.06375294,   1.81083494,   7.06375294,
        10.12653074, -11.05635344,   1.81083494, -11.05635344,
        50.42108565,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.299452317511963e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9787208 ,  0.11122793, -0.17243531,  0.1095408 ,  0.99379492,
        0.01929938,  0.17351197,  0.        , -0.98483176])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329503, -0.05390893,  0.29658576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004906469961911343
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.84313572e-01, -9.12257423e-01, -2.94876562e-01, -8.77386781e-02,
       -2.81521068e-01,  9.55535354e-01, -9.54708184e-01,  2.97543750e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485859, -0.03600178,  0.30480015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044049316582008
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26020460e-13, -1.29958599e-13,  1.00000000e+00, -1.63774424e-26,
        1.00000000e+00,  1.29958599e-13, -1.00000000e+00,  0.00000000e+00,
       -1.26020460e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05319539, -0.06096391,  0.06199011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.99147290e-06,-9.10598839e-06,-1.48393405e-05, 5.83868854e-06,
 -2.55147575e-03, 2.58401646e-02, 1.05413593e-02, 1.33162135e-03,
 -1.80377184e-05, 3.53232096e-05,-3.18100509e-06, 8.72821419e-06,
  5.32661045e-02, 2.17552513e-02, 1.44049955e-02, 2.62235397e-04,
 -6.86303830e-07, 5.58329480e-07,-9.80999972e+00,-6.49593148e-02,
 -9.43359138e-03,-5.30216730e-03]


--- Step 1795 ---
qpos:
[ 0.00988366, 0.00809175,-0.00558251, 0.03348418, 0.00608305,-0.02102595,
 -0.0169486 , 0.03783589, 0.01302171, 0.00598414,-0.01172056, 0.03406515,
  0.81148251,-0.01573163, 1.1407006 , 0.04606132, 0.09481509,-0.06354629,
  0.14253707, 0.94258922,-0.03283632, 0.02826533, 0.33113202]

qacc:
[-6.63737635e-01, 3.03813678e+00,-1.40235131e+01, 2.83456683e+01,
  5.00405010e+00,-1.71591504e+00, 4.41665691e+00,-5.40771340e+00,
 -1.97699540e+00,-8.96163129e-01, 4.86972980e+00,-1.01144040e+01,
  1.78805431e+00, 8.58070345e-01, 8.27097078e+00,-4.96372972e+00,
 -1.14779933e-02,-3.39422806e-02, 5.69037733e-03, 7.96514536e-01,
 -5.96204228e-02, 1.66802154e+00]

qfrc_actuator:
[-2.52536414e-05, 2.41475293e-04, 2.32302134e-05, 5.38086460e-05,
 -2.53793269e-03, 2.39494057e-02, 1.01452274e-02, 1.30785829e-03,
  4.22891241e-05, 1.06173386e-04,-6.58793270e-05, 3.80650883e-05,
  4.99522415e-02, 1.98708853e-02, 1.99814349e-03,-1.87689068e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71232736, -0.5754052 , -0.41990371, -0.5754052 ,  0.76715434,
       -0.07513086, -0.41990371, -0.07513086,  0.81528118,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.655289091132833e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99261380e-01,  6.07726280e-03, -3.79441966e-02,  6.07288616e-03,
        9.99981533e-01,  2.30601113e-04,  3.79448973e-02, -2.71050543e-20,
       -9.99279833e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13147209, -0.08313604,  0.17463495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25147092, -0.24541125,  0.05487205, -0.24541125,  0.36209887,
        0.49477545,  0.05487205,  0.49477545,  2.46431809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039217141261362553
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85699045e-01, -1.68455803e-01,  4.47611006e-03, -1.68454066e-01,
        9.85709208e-01,  7.64958581e-04, -4.54100462e-03,  0.00000000e+00,
       -9.99989690e-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([ 0.13085901, -0.08202097,  0.13159285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29265836,   6.93326107,   2.26114063,   6.93326107,
        12.2909901 , -15.32622001,   2.26114063, -15.32622001,
        54.28694211,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.3896510576541646e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872404,  0.11120268, -0.17243325,  0.10951598,  0.99379775,
        0.01929471,  0.1735094 ,  0.        , -0.98483221])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329536, -0.05390896,  0.29658597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004903237355378036
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.85558187e-01, -9.12025875e-01, -2.94389751e-01, -8.79634651e-02,
       -2.80940837e-01,  9.55685448e-01, -9.54315959e-01,  2.98799347e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485843, -0.03600164,  0.30480122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004400365577315185
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26151226e-13, -3.94222581e-15,  1.00000000e+00, -4.97316619e-28,
        1.00000000e+00,  3.94222581e-15, -1.00000000e+00,  0.00000000e+00,
       -1.26151226e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05319602, -0.06096316,  0.06199012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.80223767e-06,-7.17539972e-07,-2.57374043e-05, 3.91799193e-05,
 -2.57706401e-03, 2.59040959e-02, 1.05826856e-02, 1.30763905e-03,
 -1.15713240e-05, 4.23845946e-05, 2.43422587e-05,-1.08897685e-05,
  5.29897248e-02, 2.15785635e-02, 1.38259498e-02, 2.69839267e-04,
 -1.35936822e-06, 9.50680803e-07,-9.80999955e+00,-6.49588893e-02,
 -9.43404545e-03,-5.30171516e-03]


--- Step 1796 ---
qpos:
[ 0.00988316, 0.0080914 ,-0.00558281, 0.03348518, 0.00608489,-0.02104827,
 -0.01694871, 0.03783643, 0.01302213, 0.00598479,-0.01171988, 0.03406494,
  0.81149128,-0.01573073, 1.14067783, 0.04606353, 0.09481596,-0.06354543,
  0.14253749, 0.94258291,-0.0328289 , 0.02826458, 0.33115078]

qacc:
[ 2.70488856e+00, 1.53125265e+00,-8.93933113e+00, 2.28309106e+01,
  4.05590760e+00,-1.63870167e+00, 4.20794297e+00,-5.57256788e+00,
 -4.23897067e+00,-2.99093983e+00, 1.25254002e+01,-2.18316784e+01,
  1.67976882e+00, 7.23863537e-01, 7.56493045e+00,-1.16938169e+01,
 -1.04552523e-02,-2.82661286e-02, 2.66757034e-03, 6.43114475e-01,
 -8.49161457e-02, 1.35176526e+00]

qfrc_actuator:
[-9.29398767e-06, 2.45863463e-04, 2.80544724e-05, 9.49902807e-05,
 -2.53659036e-03, 2.39644088e-02, 1.01327074e-02, 1.30777595e-03,
  1.76678880e-05, 8.39652251e-05,-3.80013061e-05, 1.28895087e-05,
  4.99573880e-02, 1.99202451e-02, 2.00129963e-03,-1.88759779e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71233454, -0.59713933, -0.38838785, -0.59713933,  0.74757487,
       -0.05418137, -0.38838785, -0.05418137,  0.79563742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0114286924843714e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99260565e-01,  6.07862620e-03, -3.79654261e-02,  6.07424367e-03,
        9.99981525e-01,  2.30781898e-04,  3.79661275e-02, -2.71050543e-20,
       -9.99279027e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13147342, -0.08313402,  0.17463477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25141311, -0.24549033,  0.05424988, -0.24549033,  0.34866321,
        0.44007393,  0.05424988,  0.44007393,  2.24282547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039194424042144217
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85694356e-01, -1.68483106e-01,  4.48102688e-03, -1.68481365e-01,
        9.85704541e-01,  7.65926601e-04, -4.54601424e-03,  0.00000000e+00,
       -9.99989667e-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([ 0.13086116, -0.08202132,  0.13159296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29333675,   6.7846845 ,   2.67597033,   6.7846845 ,
        15.03640264, -19.63185412,   2.67597033, -19.63185412,
        57.06815485,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.5108431224659533e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78728383e-01,  1.11171631e-01, -1.72428596e-01,  1.09485507e-01,
        9.93801222e-01,  1.92887349e-02,  1.73504109e-01, -3.46944695e-18,
       -9.84833145e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329576, -0.05390922,  0.29658622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004899874027258975
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28705317, -0.91174985, -0.29379021, -0.08822687, -0.28022974,
        0.95586992, -0.95384302,  0.30030568,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485829, -0.03600196,  0.30480233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004394522637191367
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52637912e-13, -1.30266424e-13,  1.00000000e+00, -3.29102373e-26,
        1.00000000e+00,  1.30266424e-13, -1.00000000e+00,  0.00000000e+00,
       -2.52637912e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05319635, -0.06096259,  0.06199013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58517359e-05, 3.64964341e-07, 2.86951260e-06, 4.10241976e-05,
 -2.60505619e-03, 2.59753199e-02, 1.05699542e-02, 1.31283992e-03,
 -2.49335078e-05, 6.02664324e-06, 3.92466593e-05,-2.27305533e-05,
  5.27489103e-02, 2.15049098e-02, 1.32690518e-02, 1.22781034e-04,
 -2.13749004e-06, 1.38534997e-06,-9.80999933e+00,-6.49582463e-02,
 -9.43451747e-03,-5.30121405e-03]


--- Step 1797 ---
qpos:
[ 0.0098832 , 0.00809099,-0.00558329, 0.03348634, 0.00608697,-0.02107168,
 -0.01694896, 0.0378368 , 0.01302225, 0.00598515,-0.01171874, 0.03406481,
  0.81150431,-0.01572777, 1.1406581 , 0.0460648 , 0.0948168 ,-0.06354468,
  0.14253792, 0.94257599,-0.03282039, 0.02826406, 0.33117135]

qacc:
[ 4.73524807e+00, 7.33854450e-01,-3.41227676e+00, 6.47164983e+00,
  1.94412977e+00,-1.39509970e+00, 3.62091340e+00,-5.54628096e+00,
 -2.60336290e+00,-1.46007203e+00, 4.32690214e+00,-3.38721123e+00,
  1.69050194e+00, 5.05971578e-01, 7.27469867e+00,-1.90465419e+01,
 -1.03908199e-02,-2.79890387e-02,-1.19291865e-05, 5.17653012e-01,
 -9.45533629e-02, 9.73161645e-01]

qfrc_actuator:
[ 1.80499181e-05, 2.30909562e-04, 1.33036505e-05, 1.01064848e-04,
 -2.55456061e-03, 2.39830229e-02, 1.00897666e-02, 1.30759059e-03,
  3.01916788e-06, 5.26844959e-05,-2.19549469e-05, 1.59095047e-05,
  4.99545916e-02, 1.99659037e-02, 2.02494216e-03,-1.98418852e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71234288, -0.62704471, -0.33800489, -0.62704471,  0.73356114,
       -0.03936274, -0.33800489, -0.03936274,  0.78536608,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0621846187751729e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99259702e-01,  6.08046427e-03, -3.79878456e-02,  6.07607524e-03,
        9.99981514e-01,  2.30988008e-04,  3.79885479e-02, -2.71050543e-20,
       -9.99278175e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13147482, -0.08313198,  0.17463446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25133905, -0.24562578,  0.053285  , -0.24562578,  0.33435266,
        0.3826646 ,  0.053285  ,  0.3826646 ,  2.01529307,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039165291241025747
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85688828e-01, -1.68515246e-01,  4.48838726e-03, -1.68513499e-01,
        9.85699047e-01,  7.67335309e-04, -4.55350674e-03,  0.00000000e+00,
       -9.99989633e-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([ 0.13086342, -0.08202174,  0.13159311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29417547,   6.66923353,   2.95403451,   6.66923353,
        17.22811657, -22.42755551,   2.95403451, -22.42755551,
        57.92818282,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.655101481000205e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78733614e-01,  1.11135901e-01, -1.72421936e-01,  1.09450464e-01,
        9.93805218e-01,  1.92817133e-02,  1.73496711e-01,  3.46944695e-18,
       -9.84834449e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329622, -0.0539097 ,  0.2965865 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004896332020068064
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.88795901e-01, -9.11427755e-01, -2.93080833e-01, -8.85280151e-02,
       -2.79390704e-01,  9.56087666e-01, -9.53288895e-01,  3.02060064e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485811, -0.03600266,  0.30480348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043877706467525257
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26513338e-13, -6.72102110e-14,  1.00000000e+00, -8.50298816e-27,
        1.00000000e+00,  6.72102110e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26513338e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05319643, -0.06096216,  0.06199015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77950573e-05,-1.23781142e-05,-1.28973877e-05, 6.98657466e-06,
 -2.64679167e-03, 2.60516629e-02, 1.05299013e-02, 1.31935695e-03,
 -1.53532888e-05,-2.08160273e-05, 2.13252051e-05, 4.19239771e-06,
  5.25212141e-02, 2.14381296e-02, 1.29468146e-02,-1.71409057e-05,
 -2.90682694e-06, 1.80761346e-06,-9.80999911e+00,-6.49574277e-02,
 -9.43499931e-03,-5.30066431e-03]


--- Step 1798 ---
qpos:
[ 0.00988357, 0.00809057,-0.0055842 , 0.03348688, 0.00608917,-0.0210962 ,
 -0.01694935, 0.03783699, 0.01302254, 0.00598509,-0.0117173 , 0.03406509,
  0.81152103,-0.0157231 , 1.14064557, 0.04606737, 0.0948176 ,-0.06354402,
  0.14253833, 0.94256856,-0.03281102, 0.02826366, 0.33119346]

qacc:
[ 2.86069122e+00,-7.34594698e-02, 2.84114927e+00,-1.27941367e+01,
  1.13722947e+00,-1.48705418e+00, 3.91637264e+00,-6.03665787e+00,
  1.49863516e+00,-5.46047948e-01,-6.35497339e-01, 7.65961555e+00,
  1.44045657e+00, 4.26425215e-01, 6.64731453e+00,-7.86976897e+00,
 -9.98886999e-03,-2.02481826e-02,-1.52748381e-03, 3.94381294e-01,
 -9.93205003e-02, 8.23709137e-01]

qfrc_actuator:
[ 3.41164200e-05, 2.22138728e-04,-1.30001047e-05, 6.86473124e-05,
 -2.56630783e-03, 2.40041975e-02, 1.00996889e-02, 1.28968110e-03,
  1.21140458e-05, 1.61817135e-05,-1.30571994e-05, 3.54746943e-05,
  4.99522144e-02, 1.99553766e-02, 2.08228074e-03,-1.86455895e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.12351762e-01, -6.39408300e-01, -3.14009648e-01, -6.39408300e-01,
        7.12617881e-01, -5.41888700e-04, -3.14009648e-01, -5.41888700e-04,
        7.13455194e-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: -1.1137763668036948e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99258791e-01,  6.08252910e-03, -3.80114777e-02,  6.07813310e-03,
        9.99981501e-01,  2.31210196e-04,  3.80121808e-02,  2.71050543e-20,
       -9.99277276e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1314763 , -0.08312997,  0.17463406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25124135, -0.24526595,  0.05446862, -0.24526595,  0.32967105,
        0.35315996,  0.05446862,  0.35315996,  1.84148028,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039126805325183096
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85682674e-01, -1.68550976e-01,  4.49831345e-03, -1.68549221e-01,
        9.85692938e-01,  7.69200117e-04, -4.56360523e-03,  0.00000000e+00,
       -9.99989587e-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([ 0.13086578, -0.0820222 ,  0.13159329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29515257,   6.6022581 ,   3.10313375,   6.6022581 ,
        18.48922616, -23.81662186,   3.10313375, -23.81662186,
        57.9676332 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.816253887842456e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78739485e-01,  1.11096851e-01, -1.72413778e-01,  1.09412182e-01,
        9.93809584e-01,  1.92739416e-02,  1.73487740e-01,  3.46944695e-18,
       -9.84836029e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132967 , -0.05391039,  0.29658681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004892484138294329
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.29081922, -0.91105126, -0.29224952, -0.08887173, -0.27840905,
        0.9563421 , -0.95264159,  0.30409538,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485786, -0.03600367,  0.30480466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043804215901498134
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.73229699e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.73229699e-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([ 0.05319634, -0.06096184,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68558856e-05,-1.80300607e-05,-3.02007615e-05,-3.32599853e-05,
 -2.66989948e-03, 2.61275357e-02, 1.05469252e-02, 1.31000712e-03,
  8.65246840e-06,-4.35898948e-05, 7.35307311e-06, 1.94901601e-05,
  5.23056418e-02, 2.13247401e-02, 1.28528665e-02, 1.49563092e-04,
 -3.55437539e-06, 2.15650771e-06,-9.80999890e+00,-6.49564671e-02,
 -9.43548134e-03,-5.30006803e-03]


--- Step 1799 ---
qpos:
[ 0.00988412, 0.00809006,-0.00558543, 0.03348738, 0.00609133,-0.0211209 ,
 -0.01694945, 0.03783712, 0.01302259, 0.00598473,-0.01171604, 0.03406528,
  0.81153919,-0.01571782, 1.14063792, 0.04607051, 0.09481835,-0.06354342,
  0.14253876, 0.94256105,-0.03280149, 0.02826354, 0.33121579]

qacc:
[ 1.65951198e+00, 6.69826294e-01,-2.40477596e+00, 2.25617921e+00,
 -3.36694328e-01,-1.13642043e+00, 3.93382681e+00,-5.17076362e+00,
 -2.09695199e+00,-9.30105067e-02, 1.89096477e-01,-1.39042373e+00,
  5.30925368e-01, 1.69760441e-01, 5.50526552e+00,-8.81852322e+00,
 -1.24497374e-02,-1.62271440e-02, 2.16268979e-03, 1.16914169e-01,
  9.94184087e-02, 1.26698033e-01]

qfrc_actuator:
[ 4.34129798e-05, 2.17046317e-04,-2.81587945e-05, 6.71022400e-05,
 -2.59206967e-03, 2.40273860e-02, 1.01413818e-02, 1.31447599e-03,
 -3.97541093e-07,-5.43530039e-06,-2.62225656e-05, 2.90984136e-05,
  4.99553128e-02, 1.99461608e-02, 2.09011667e-03,-1.86560905e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71236079, -0.66398202, -0.25804218, -0.66398202,  0.71094563,
        0.0036414 , -0.25804218,  0.0036414 ,  0.7029909 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1638276155252008e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99257830e-01,  6.08472568e-03, -3.80363671e-02,  6.08032234e-03,
        9.99981488e-01,  2.31445144e-04,  3.80370712e-02,  0.00000000e+00,
       -9.99276329e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13147784, -0.08312798,  0.17463359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25111803, -0.2453863 ,  0.05334633, -0.2453863 ,  0.33507779,
        0.38620417,  0.05334633,  0.38620417,  2.02760794,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003907812935829167
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85675986e-01, -1.68589752e-01,  4.51065121e-03, -1.68587987e-01,
        9.85686307e-01,  7.71492477e-04, -4.57615286e-03,  1.08420217e-19,
       -9.99989529e-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([ 0.13086825, -0.0820227 ,  0.1315935 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29624265,   6.42436118,   3.45871946,   6.42436118,
        22.19431224, -27.6722588 ,   3.45871946, -27.6722588 ,
        58.69578155,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.988320593130666e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874587,  0.11105496, -0.17240453,  0.10937112,  0.99381427,
        0.01926555,  0.17347761,  0.        , -0.98483781])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132972 , -0.05391124,  0.29658713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004888940348995438
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.92893930e-01, -9.10662268e-01, -2.91388709e-01, -8.92176056e-02,
       -2.77394301e-01,  9.56604736e-01, -9.51973405e-01,  3.06180723e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485757, -0.03600497,  0.3048058 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004372606593008904
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.55214467e-07,  8.55214198e-07,  1.00000000e+00,  7.31391555e-13,
        1.00000000e+00, -8.55214198e-07, -1.00000000e+00,  0.00000000e+00,
       -8.55214467e-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([ 0.0536167 , -0.06154857,  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:
[ 9.77525712e-06,-2.28093572e-05,-2.37402690e-05,-4.00896038e-06,
 -2.70226912e-03, 2.62078029e-02, 1.05956415e-02, 1.34401070e-03,
 -1.22806449e-05,-4.36497291e-05,-2.06060099e-05,-7.61452579e-06,
  5.21242846e-02, 2.12296444e-02, 1.25004730e-02, 8.29992127e-05,
 -4.14351113e-06, 2.48191999e-06,-9.80999872e+00,-6.49553999e-02,
 -9.43596642e-03,-5.29943000e-03]


--- Step 1800 ---
qpos:
[ 0.00988513, 0.00808941,-0.00558687, 0.03348819, 0.00609335,-0.02114551,
 -0.01694921, 0.0378372 , 0.01302214, 0.0059842 ,-0.01171525, 0.0340647 ,
  0.811559  ,-0.01571187, 1.14062859, 0.04607102, 0.09481904,-0.06354289,
  0.14253918, 0.94255356,-0.0327918 , 0.02826359, 0.33123806]

qacc:
[ 3.96427760e+00, 1.06305546e+00,-5.39313180e+00, 1.13484199e+01,
 -1.18648483e+00,-9.05985319e-01, 3.61532147e+00,-5.06509209e+00,
 -4.36808820e+00,-4.98641603e-01, 4.68103796e+00,-1.70385949e+01,
  7.22129870e-01, 2.00438169e-02, 5.43942743e+00,-2.26922801e+01,
 -1.19331820e-02,-1.94706670e-02,-3.54795626e-04, 1.01576850e-01,
  5.52742124e-02,-2.81126882e-02]

qfrc_actuator:
[ 6.64066865e-05, 2.14257121e-04,-3.65703963e-05, 8.37537468e-05,
 -2.59061475e-03, 2.40335346e-02, 1.01662673e-02, 1.32933132e-03,
 -2.55335829e-05,-1.80866361e-05,-5.22726975e-05,-1.02490168e-05,
  4.99670910e-02, 1.99381557e-02, 2.05222386e-03,-2.08086038e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71236963, -0.65657393, -0.27637141, -0.65657393,  0.71677895,
       -0.01047519, -0.27637141, -0.01047519,  0.73725548,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2108688155395914e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99256873e-01,  6.08688132e-03, -3.80611514e-02,  6.08247067e-03,
        9.99981475e-01,  2.31678003e-04,  3.80618565e-02, -2.71050543e-20,
       -9.99275385e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13147938, -0.08312606,  0.17463312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25097973, -0.24559233,  0.05172267, -0.24559233,  0.33254441,
        0.38728972,  0.05172267,  0.38728972,  2.08992942,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003902341849070557
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85669185e-01, -1.68629138e-01,  4.52464142e-03, -1.68627361e-01,
        9.85679570e-01,  7.74071417e-04, -4.59037760e-03,  1.08420217e-19,
       -9.99989464e-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([ 0.1308707 , -0.08202321,  0.13159373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.16592027135859e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875241,  0.11101265, -0.17239463,  0.10932966,  0.99381899,
        0.01925701,  0.17346683,  0.        , -0.98483971])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329772, -0.05391216,  0.29658745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004886114469439572
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.94977454e-01, -9.10267640e-01, -2.90518716e-01, -8.95592224e-02,
       -2.76369807e-01,  9.56869310e-01, -9.51297770e-01,  3.08273503e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485726, -0.03600636,  0.30480679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004364674008314192
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72766018e-07, -4.72766288e-07,  1.00000000e+00,  2.23507836e-13,
        1.00000000e+00,  4.72766288e-07, -1.00000000e+00,  2.52435490e-29,
        4.72766018e-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([ 0.0536164 , -0.06154842,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32681726e-05,-2.05864360e-05,-1.61675526e-05, 1.47769354e-05,
 -2.69876459e-03, 2.62237789e-02, 1.06066310e-02, 1.36156584e-03,
 -2.54990092e-05,-4.16494466e-05,-3.78783405e-05,-4.20810183e-05,
  5.20636520e-02, 2.11912666e-02, 1.22187754e-02,-1.60186426e-04,
 -4.24426890e-06, 2.50077843e-06,-9.80999871e+00,-6.49542582e-02,
 -9.43634833e-03,-5.29880841e-03]


--- Step 1801 ---
qpos:
[ 0.00988606, 0.00808877,-0.00558762, 0.03348878, 0.00609031,-0.02116337,
 -0.01694387, 0.03784024, 0.01302139, 0.00598337,-0.0117145 , 0.03406399,
  0.81150958,-0.01573949, 1.14057666, 0.0460814 , 0.09482052,-0.0635397 ,
  0.14253908, 0.94256338,-0.0328107 , 0.0282529 , 0.33120915]

qacc:
[-6.57080252e-01,-2.37362650e+00, 9.45550884e+00,-1.45648226e+01,
 -4.29902182e+01, 8.02196143e-01,-2.24452582e+00, 4.00838544e+01,
 -2.61650182e+00,-5.23096384e-01, 1.87926364e+00,-3.92730144e+00,
 -2.78896512e+01,-7.74202556e+00,-9.19802981e+01, 2.32131493e+02,
  1.94142147e-01, 6.66350844e-01,-1.31920817e-01,-1.42414564e+01,
  2.66124304e-01,-2.75713165e+01]

qfrc_actuator:
[ 6.17752130e-05, 2.48422855e-04, 1.23412467e-05, 7.54737199e-05,
 -2.57271369e-03, 2.40470140e-02, 1.01631539e-02, 1.30273499e-03,
 -4.01394167e-05,-2.53599580e-05,-5.01907932e-05,-1.54164872e-05,
  4.99627046e-02, 1.98950649e-02, 2.04589223e-03,-1.99560536e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7123782 , -0.49841535,  0.50898412, -0.49841535,  0.37976303,
       -0.3257086 ,  0.50898412, -0.3257086 ,  0.39343275,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2547570552811384e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99255933e-01,  6.08889647e-03, -3.80855134e-02,  6.08447872e-03,
        9.99981462e-01,  2.31903047e-04,  3.80862194e-02,  0.00000000e+00,
       -9.99274457e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13148091, -0.08312425,  0.17463265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2508308 , -0.24561679,  0.05087711, -0.24561679,  0.33207248,
        0.39220627,  0.05087711,  0.39220627,  2.14426477,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038964349921976016
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85662360e-01, -1.68668619e-01,  4.53976678e-03, -1.68666830e-01,
        9.85672814e-01,  7.76846215e-04, -4.60575428e-03, -1.08420217e-19,
       -9.99989393e-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([ 0.13087313, -0.08202373,  0.13159397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29866855,   7.15525414,   1.43975721,   7.15525414,
         9.97543297, -13.30288852,   1.43975721, -13.30288852,
        73.41089045,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.346716671551617e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875901,  0.11097051, -0.17238431,  0.10928839,  0.9938237 ,
        0.01924846,  0.17345563,  0.        , -0.98484169])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329823, -0.05391316,  0.29658777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.34372957,  1.26552934, -0.45171301,  1.26552934,  1.96186461,
        1.73178105, -0.45171301,  1.73178105,  6.19552633,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004883298853736506
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.29723833, -0.90983361, -0.28957242, -0.08992475, -0.27525574,
        0.95715611, -0.95055926,  0.31054321,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485687, -0.03600779,  0.30480775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.33071602, -6.60284258,  7.94519749, -6.60284258, 70.25794451,
       49.80241922,  7.94519749, 49.80241922, 51.71893006,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004372486311074175
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53911149e-13, -1.26955575e-13,  1.00000000e+00, -3.22354359e-26,
        1.00000000e+00,  1.26955575e-13, -1.00000000e+00,  0.00000000e+00,
       -2.53911149e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08724511, -0.10847084,  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:
[-3.97233975e-06, 1.99904510e-05, 4.31997595e-05,-9.43232112e-06,
 -2.67382967e-03, 2.62336183e-02, 1.05872057e-02, 1.33747902e-03,
 -1.53428758e-05,-4.01903956e-05,-1.26438691e-05,-9.08015717e-06,
  5.19772953e-02, 2.11145602e-02, 1.22966507e-02, 5.65279156e-05,
 -4.25396529e-06, 2.47583094e-06,-9.80999871e+00,-6.49530947e-02,
 -9.43670584e-03,-5.29819484e-03]


--- Step 1802 ---
qpos:
[ 0.00988624, 0.00808803,-0.00558718, 0.03348924, 0.00608694,-0.02118099,
 -0.01693836, 0.03784323, 0.01302083, 0.00598217,-0.01171371, 0.03406323,
  0.8114687 ,-0.01576258, 1.14052339, 0.04608829, 0.0948218 ,-0.06353717,
  0.14253913, 0.94257029,-0.03282425, 0.02824503, 0.33118882]

qacc:
[ -6.56232273, -3.74933004, 13.73137523,-17.80595225, -2.7417528 ,
  -0.25788334,  1.62713239, -3.05238881,  1.55095023, -0.70683518,
   2.02273465, -2.71323857,  3.29550554,  1.40779164,  8.47213557,
 -32.71405419, -0.04951524, -0.16329269,  0.03684229,  2.81820524,
   0.34897179,  4.65530102]

qfrc_actuator:
[ 2.31646439e-05, 2.51421265e-04, 7.70874764e-05, 7.04105910e-05,
 -2.57546831e-03, 2.40759480e-02, 1.01383295e-02, 1.30154154e-03,
 -3.06737768e-05,-4.69695822e-05,-4.92107321e-05,-1.81517399e-05,
  4.99602643e-02, 1.98826553e-02, 2.06224047e-03,-1.75925159e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71234535, -0.70550678, -0.09846874, -0.70550678,  0.7184674 ,
       -0.04386313, -0.09846874, -0.04386313,  1.02661501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.076817289527124e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99255474e-01,  6.08585186e-03, -3.80980220e-02,  6.08143341e-03,
        9.99981481e-01,  2.31863212e-04,  3.80987275e-02,  0.00000000e+00,
       -9.99273980e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13148151, -0.0831231 ,  0.1746353 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25066701, -0.03798697,  0.24777195, -0.03798697,  0.72302926,
        0.07241987,  0.24777195,  0.07241987,  0.26177001,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038899212857265654
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85672396e-01, -1.68610454e-01,  4.52138736e-03, -1.68608680e-01,
        9.85682766e-01,  7.73426504e-04, -4.58706139e-03,  0.00000000e+00,
       -9.99989479e-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([ 0.13087438, -0.08202306,  0.13159379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29590963, -0.80828596,  7.25099794, -0.80828596, 30.47062885,
        2.58334099,  7.25099794,  2.58334099,  7.58388079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.936556979392067e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874637,  0.11102342, -0.17242198,  0.10933973,  0.99381779,
        0.01926196,  0.17349456,  0.        , -0.98483483])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132971 , -0.0539107 ,  0.29658706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.34782679, -0.77518461,  1.1025996 , -0.77518461,  3.9146094 ,
        1.80458108,  1.1025996 ,  1.80458108,  2.61654074,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004905152866789576
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.90425181e-01, -9.11109991e-01, -2.92458199e-01, -8.88206129e-02,
       -2.78644391e-01,  9.56278308e-01, -9.52766557e-01,  3.03703617e-01,
       -2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485665, -0.03600227,  0.30480429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.33100938, -5.92173106,  8.46539166, -5.92173106, 17.88604257,
        5.28491493,  8.46539166,  5.28491493, 14.02792573,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043727276958868287
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13513806e-06,  1.13513829e-06,  1.00000000e+00,  1.28853867e-12,
        1.00000000e+00, -1.13513829e-06, -1.00000000e+00,  0.00000000e+00,
       -1.13513806e-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([ 0.05362104, -0.06154494,  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:
[-3.87154407e-05, 2.27228716e-05, 7.38841317e-05,-2.89361270e-06,
 -2.42326926e-03, 2.59255833e-02, 1.03069703e-02, 1.18857796e-03,
  9.01438947e-06,-4.70700219e-05,-9.19080851e-06,-5.06947383e-06,
  5.54363459e-02, 2.27816061e-02, 1.44437919e-02,-2.00734231e-04,
 -9.67838214e-06, 3.11668275e-06,-9.80999702e+00,-6.49552383e-02,
 -9.43867854e-03,-5.29822947e-03]


--- Step 1803 ---
qpos:
[ 0.00988596, 0.00808718,-0.00558643, 0.0334897 , 0.00608374,-0.02119919,
 -0.01693311, 0.03784603, 0.01302003, 0.00598058,-0.01171319, 0.03406246,
  0.81143725,-0.01578078, 1.14047331, 0.04609367, 0.09482294,-0.06353513,
  0.14253927, 0.9425744 ,-0.03283292, 0.02823918, 0.33117677]

qacc:
[-4.05999764e+00,-9.98339709e-01, 3.35207725e+00,-3.76973635e+00,
  1.41759904e+00,-4.02837260e-01, 1.07344256e+00,-3.27437343e+00,
 -1.99992716e+00, 1.92502499e-01,-1.42017031e+00, 2.05200630e+00,
  3.67705337e+00, 1.42559335e+00, 9.19889807e+00,-2.55435914e+01,
 -3.37727498e-02,-1.25528522e-01, 2.50811152e-02, 2.47501626e+00,
  4.09399303e-02, 4.46533951e+00]

qfrc_actuator:
[ 3.77853136e-07, 2.18072339e-04, 7.95290624e-05, 6.72657776e-05,
 -2.57558059e-03, 2.40824596e-02, 1.01211309e-02, 1.33517139e-03,
 -4.26247199e-05,-7.69847881e-05,-6.67108592e-05,-1.94558871e-05,
  4.99598111e-02, 1.99349774e-02, 2.05806226e-03,-1.77787855e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71232419, -0.67258881, -0.23458482, -0.67258881,  0.79196772,
       -0.2283496 , -0.23458482, -0.2283496 ,  1.36703571,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.44538999821043e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99255033e-01,  6.08248467e-03, -3.81101237e-02,  6.07806586e-03,
        9.99981502e-01,  2.31808532e-04,  3.81108287e-02,  0.00000000e+00,
       -9.99273518e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1314822 , -0.08312202,  0.17463734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000388411824521342
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85679533e-01, -1.68569037e-01,  4.50979529e-03, -1.68567272e-01,
        9.85689850e-01,  7.71248530e-04, -4.57526807e-03,  0.00000000e+00,
       -9.99989533e-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([ 0.13087565, -0.08202259,  0.1315937 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29418205,  7.28153736,  0.42930809,  7.28153736,  7.38567473,
       -1.55181636,  0.42930809, -1.55181636, 33.61469392,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.656210460953334e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873735,  0.11106051, -0.17244929,  0.10937571,  0.99381365,
        0.01927153,  0.17352277,  0.        , -0.98482986])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329637, -0.05390869,  0.2965866 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004919073652249408
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.85874895e-01, -9.11927147e-01, -2.94388217e-01, -8.80605216e-02,
       -2.80908823e-01,  9.55685920e-01, -9.54212182e-01,  2.99130592e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485661, -0.03599799,  0.30480228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004383618795671951
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -3.5615577e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  3.5615577e-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([ 0.05320435, -0.06095542,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38829632e-05,-5.49781522e-06, 1.61389741e-05, 3.30129821e-07,
 -2.40723624e-03, 2.59206401e-02, 1.02815751e-02, 1.22503830e-03,
 -1.17137055e-05,-5.84153393e-05,-2.85247328e-05,-3.73576824e-06,
  5.50090308e-02, 2.26072248e-02, 1.45077408e-02,-4.47619987e-05,
 -4.87304825e-06, 1.52824484e-06,-9.80999847e+00,-6.49573083e-02,
 -9.43804400e-03,-5.29827159e-03]


--- Step 1804 ---
qpos:
[ 0.00988575, 0.00808635,-0.00558651, 0.03349052, 0.00608092,-0.02121819,
 -0.01692821, 0.03784864, 0.01301875, 0.00597882,-0.01171328, 0.03406203,
  0.81141442,-0.01579453, 1.14042577, 0.04609721, 0.09482399,-0.06353348,
  0.14253949, 0.94257609,-0.0328375 , 0.02823486, 0.33117185]

qacc:
[ 6.20933741e-01, 3.11830405e+00,-1.26108703e+01, 2.02574807e+01,
  3.20619635e+00,-4.83089701e-01, 1.00934803e+00,-3.27998227e+00,
 -4.25730401e+00, 2.21679453e+00,-9.60842626e+00, 1.64571318e+01,
  3.35218220e+00, 1.29619021e+00, 9.23710868e+00,-2.70651261e+01,
 -2.39998752e-02,-9.55653579e-02, 1.94880534e-02, 2.03548443e+00,
 -3.40216000e-02, 3.84161128e+00]

qfrc_actuator:
[ 4.85055014e-06, 1.98474234e-04, 2.72520084e-05, 8.29481597e-05,
 -2.55671529e-03, 2.40939882e-02, 1.01266179e-02, 1.35433189e-03,
 -6.70930914e-05,-7.63678480e-05,-9.50206962e-05,-2.17689646e-06,
  4.99548359e-02, 1.99884680e-02, 2.08914024e-03,-1.87906120e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71231107, -0.65298579, -0.28459907, -0.65298579,  0.8531745 ,
       -0.32319788, -0.28459907, -0.32319788,  1.45385822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.523307349261108e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99254560e-01,  6.07928389e-03, -3.81230557e-02,  6.07486440e-03,
        9.99981521e-01,  2.31765161e-04,  3.81237602e-02,  0.00000000e+00,
       -9.99273025e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13148302, -0.0831209 ,  0.17463885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038789297339246644
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85683931e-01, -1.68543492e-01,  4.50335977e-03, -1.68541733e-01,
        9.85694218e-01,  7.70027830e-04, -4.56871887e-03,  1.08420217e-19,
       -9.99989563e-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([ 0.13087704, -0.08202231,  0.13159366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29317312,  7.25945135,  0.70052856,  7.25945135,  7.56725612,
       -2.84027279,  0.70052856, -2.84027279, 36.72640856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4819987027875265e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873155,  0.11108233, -0.17246814,  0.10939682,  0.99381121,
        0.01927747,  0.17354216,  0.        , -0.98482644])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329597, -0.05390718,  0.29658633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004926855981041279
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28304438, -0.9124189 , -0.29559708, -0.08758084, -0.28232469,
        0.95531271, -0.95509972,  0.29628454,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485667, -0.03599489,  0.30480138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043899401857457054
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52901629e-13, -1.93627810e-13,  1.00000000e+00, -4.89687885e-26,
        1.00000000e+00,  1.93627810e-13, -1.00000000e+00,  0.00000000e+00,
       -2.52901629e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05320725, -0.06095339,  0.06199014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.79151710e-06,-1.93109206e-05,-5.14120811e-05, 1.60118726e-05,
 -2.39670658e-03, 2.59614356e-02, 1.03000733e-02, 1.25300382e-03,
 -2.48250707e-05,-3.80546890e-05,-4.40049321e-05, 1.37204893e-05,
  5.45322170e-02, 2.24164763e-02, 1.43800308e-02,-6.99949998e-05,
 -1.87271791e-06, 4.94871197e-07,-9.80999938e+00,-6.49586500e-02,
 -9.43774788e-03,-5.29820855e-03]


--- Step 1805 ---
qpos:
[ 0.00988594, 0.00808563,-0.00558702, 0.03349184, 0.00607857,-0.02123799,
 -0.01692364, 0.03785105, 0.01301719, 0.00597741,-0.01171399, 0.03406139,
  0.81139921,-0.01580438, 1.14038297, 0.04610003, 0.09482496,-0.06353212,
  0.14253978, 0.94257577,-0.03283876, 0.02823172, 0.33117291]

qacc:
[ 3.49391499e+00, 2.34318154e+00,-1.02362979e+01, 1.93378608e+01,
  4.04133947e+00,-5.68759765e-01, 1.28426774e+00,-3.52921060e+00,
 -2.52304531e+00, 1.75150155e+00,-4.71324966e+00, 1.91339424e+00,
  2.96173735e+00, 1.12587121e+00, 9.05138480e+00,-2.16931245e+01,
 -1.78427768e-02,-7.27271943e-02, 1.50443521e-02, 1.64489878e+00,
 -6.48840018e-02, 3.21844692e+00]

qfrc_actuator:
[ 2.53267641e-05, 2.22534324e-04, 1.41704871e-05, 1.09560723e-04,
 -2.56224588e-03, 2.41267398e-02, 1.01459180e-02, 1.34715176e-03,
 -8.09734812e-05,-2.19373928e-05,-1.11593523e-04,-9.58748105e-06,
  4.99522081e-02, 1.99878868e-02, 2.09338381e-03,-1.88682036e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71230341, -0.63366145, -0.32534491, -0.63366145,  0.88853896,
       -0.34324703, -0.32534491, -0.34324703,  1.3808321 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.934842837597724e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99254039e-01,  6.07645976e-03, -3.81371475e-02,  6.07203906e-03,
        9.99981538e-01,  2.31743120e-04,  3.81378516e-02,  0.00000000e+00,
       -9.99272488e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13148397, -0.08311969,  0.17463991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2502744 , -0.24936402,  0.02132757, -0.24936402,  0.2681566 ,
        0.20908042,  0.02132757,  0.20908042,  2.69486304,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003874231623352059
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85685988e-01, -1.68531522e-01,  4.50100248e-03, -1.68529765e-01,
        9.85696265e-01,  7.69568502e-04, -4.56631788e-03, -1.08420217e-19,
       -9.99989574e-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([ 0.13087857, -0.08202219,  0.13159367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29268012,  7.22083774,  1.0211198 ,  7.22083774,  7.96952683,
       -4.78631424,  1.0211198 , -4.78631424, 41.13905014,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.393606135520447e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78728460e-01,  1.11090952e-01, -1.72480149e-01,  1.09405067e-01,
        9.93810244e-01,  1.92803245e-02,  1.73554409e-01, -3.46944695e-18,
       -9.84824282e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329581, -0.0539061 ,  0.29658623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004930046326208511
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28159768, -0.91266123, -0.29623002, -0.0873377 , -0.28306245,
        0.95511663, -0.95554951,  0.29483067,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485674, -0.03599277,  0.30480131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000439271238037206
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26371013e-13, -6.71346005e-14,  1.00000000e+00, -8.48386746e-27,
        1.00000000e+00,  6.71346005e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26371013e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05320937, -0.0609518 ,  0.06199014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05814473e-05, 3.35853858e-06,-2.28398319e-05, 2.43179390e-05,
 -2.42109771e-03, 2.60350347e-02, 1.03373462e-02, 1.25579979e-03,
 -1.46038706e-05, 2.47014830e-05,-2.93564286e-05,-1.02909470e-05,
  5.40991120e-02, 2.21936359e-02, 1.42582067e-02, 1.46849151e-05,
 -4.52699003e-07, 6.24006916e-08,-9.80999980e+00,-6.49594281e-02,
 -9.43775501e-03,-5.29804670e-03]


--- Step 1806 ---
qpos:
[ 0.00988603, 0.0080853 ,-0.00558757, 0.03349305, 0.00607683,-0.02125863,
 -0.01691935, 0.03785328, 0.01301582, 0.00597604,-0.01171452, 0.03405996,
  0.81139054,-0.01581093, 1.14034826, 0.04610401, 0.09482588,-0.06353097,
  0.1425401 , 0.94257373,-0.03283734, 0.02822948, 0.33117906]

qacc:
[-8.96229942e-01, 4.16323474e-01,-2.98675737e-01,-1.70143125e+00,
  5.14455982e+00,-7.13403704e-01, 1.72530828e+00,-3.86388112e+00,
  1.68042003e+00,-2.07101496e+00, 1.07844296e+01,-2.47543157e+01,
  2.48507752e+00, 1.02285252e+00, 8.41309361e+00,-1.21926351e+01,
 -1.36874473e-02,-5.21114007e-02, 1.15189256e-02, 1.31022357e+00,
 -8.17196722e-02, 2.73856331e+00]

qfrc_actuator:
[ 1.95442109e-05, 2.72703393e-04, 2.45377692e-05, 1.06955977e-04,
 -2.56491049e-03, 2.41548005e-02, 1.01558658e-02, 1.32424303e-03,
 -7.07537585e-05,-2.44291214e-05,-1.03136163e-04,-4.91624917e-05,
  4.99454410e-02, 1.99713963e-02, 2.02798042e-03,-1.78566444e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71229953, -0.61815551, -0.35391295, -0.61815551,  0.89842091,
       -0.32508547, -0.35391295, -0.32508547,  1.28010405,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.619495814794152e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99253472e-01,  6.07411046e-03, -3.81523751e-02,  6.06968794e-03,
        9.99981552e-01,  2.31746016e-04,  3.81530789e-02,  0.00000000e+00,
       -9.99271906e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13148503, -0.08311838,  0.17464059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25016809, -0.24868469,  0.02720288, -0.24868469,  0.27887681,
        0.2624509 ,  0.02720288,  0.2624509 ,  2.64945547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003869964264908247
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85686095e-01, -1.68530874e-01,  4.50178315e-03, -1.68529117e-01,
        9.85696375e-01,  7.69698935e-04, -4.56710937e-03, -1.08420217e-19,
       -9.99989571e-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([ 0.13088024, -0.08202221,  0.13159373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29257023,  7.16054916,  1.38134584,  7.16054916,  8.72229455,
       -7.41133105,  1.38134584, -7.41133105, 45.71104512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.37358589282558e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872759,  0.11108847, -0.1724867 ,  0.1094025 ,  0.99381052,
        0.01928062,  0.17356095,  0.        , -0.98482313])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329584, -0.05390541,  0.29658624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000493013412901672
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.81180645e-01, -9.12723536e-01, -2.96434128e-01, -8.72742277e-02,
       -2.83295608e-01,  9.55053301e-01, -9.55678112e-01,  2.94413563e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485682, -0.03599145,  0.30480178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043926752490018595
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26372081e-13, -6.71351680e-14,  1.00000000e+00, -8.48401089e-27,
        1.00000000e+00,  6.71351680e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26372081e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05321087, -0.06095057,  0.06199014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.19252883e-06, 4.84072013e-05, 9.09983731e-06,-2.77885033e-06,
 -2.44753437e-03, 2.61042786e-02, 1.03637784e-02, 1.24267920e-03,
  9.80952738e-06, 4.86726167e-06, 9.61298483e-06,-3.97259994e-05,
  5.37107630e-02, 2.19828610e-02, 1.39572009e-02, 1.51518738e-04,
 -6.31372053e-08, 3.44654267e-08,-9.80999991e+00,-6.49597558e-02,
 -9.43796088e-03,-5.29779696e-03]


--- Step 1807 ---
qpos:
[ 0.0098857 , 0.0080855 ,-0.00558835, 0.03349387, 0.0060757 ,-0.02127998,
 -0.01691529, 0.03785533, 0.01301527, 0.00597428,-0.01171449, 0.03405845,
  0.81138771,-0.01581455, 1.14031906, 0.04610804, 0.09482676,-0.06352998,
  0.14254047, 0.94257028,-0.03283375, 0.0282279 , 0.33118936]

qacc:
[-3.65672699e+00, 5.66449599e-01, 6.71500576e-01,-7.47870596e+00,
  5.18656028e+00,-6.59808060e-01, 1.74042248e+00,-3.99138927e+00,
  7.26405929e+00,-2.27193144e+00, 7.70724442e+00,-9.82944970e+00,
  2.25324893e+00, 8.46196977e-01, 7.93084271e+00,-1.60518244e+01,
 -1.12400995e-02,-4.15655871e-02, 8.00904347e-03, 1.05405636e+00,
 -9.52986042e-02, 2.22509686e+00]

qfrc_actuator:
[-1.65245029e-06, 3.02702800e-04, 1.32488215e-05, 8.72170287e-05,
 -2.56617540e-03, 2.41626332e-02, 1.01425288e-02, 1.30971786e-03,
 -2.86822788e-05,-6.09025564e-05,-8.02025078e-05,-5.41099998e-05,
  4.99360140e-02, 1.99621330e-02, 2.00020219e-03,-1.81601764e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71229841, -0.60759759, -0.3717448 , -0.60759759,  0.9180643 ,
       -0.33631368, -0.3717448 , -0.33631368,  1.26198568,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.5262276322380894e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99252859e-01,  6.07236561e-03, -3.81687022e-02,  6.06794057e-03,
        9.99981563e-01,  2.31778588e-04,  3.81694060e-02,  0.00000000e+00,
       -9.99271283e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13148619, -0.08311693,  0.17464099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25007172, -0.24697399,  0.03923918, -0.24697399,  0.31025148,
        0.37877533,  0.03923918,  0.37877533,  2.63410846,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038660890151670366
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85684556e-01, -1.68539794e-01,  4.50492337e-03, -1.68538034e-01,
        9.85694850e-01,  7.70277795e-04, -4.57030223e-03, -1.08420217e-19,
       -9.99989556e-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([ 0.13088203, -0.08202234,  0.13159381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29275335,   7.06495003,   1.80851666,   7.06495003,
        10.11975716, -11.04365863,   1.80851666, -11.04365863,
        50.4346818 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.4068815011546654e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872855,  0.11107649, -0.17248893,  0.10939065,  0.99381186,
        0.01927876,  0.17356296,  0.        , -0.98482278])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329602, -0.05390504,  0.29658635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004928458145255415
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28143692, -0.91267036, -0.29635463, -0.08732809, -0.28319582,
        0.95507797, -0.95559775,  0.29467428,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048569 , -0.0359908 ,  0.30480258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004390432046106202
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26436648e-13, -1.30387794e-13,  1.00000000e+00, -1.64857956e-26,
        1.00000000e+00,  1.30387794e-13, -1.00000000e+00,  0.00000000e+00,
       -1.26436648e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05321189, -0.06094961,  0.06199014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.13265797e-05, 5.88433727e-05,-2.57358930e-07,-1.74043953e-05,
 -2.47905694e-03, 2.61540768e-02, 1.03643741e-02, 1.23744487e-03,
  4.23481029e-05,-3.34101958e-05, 2.37722435e-05,-5.17273418e-06,
  5.33743984e-02, 2.18080339e-02, 1.35251577e-02, 6.36402165e-05,
 -2.90571544e-07, 2.55767333e-07,-9.80999985e+00,-6.49597248e-02,
 -9.43828526e-03,-5.29747099e-03]


--- Step 1808 ---
qpos:
[ 0.00988547, 0.00808597,-0.00558917, 0.03349447, 0.00607518,-0.02130194,
 -0.01691149, 0.03785719, 0.01301488, 0.00597223,-0.01171394, 0.03405756,
  0.81139003,-0.01581565, 1.14029598, 0.04611258, 0.0948276 ,-0.06352913,
  0.14254085, 0.94256572,-0.03282841, 0.0282268 , 0.33120297]

qacc:
[ 8.15357665e-01,-1.00858847e-02, 1.48688605e+00,-5.47642821e+00,
  5.24625760e+00,-5.02959283e-01, 1.38143551e+00,-3.70321031e+00,
  1.45918482e+00,-5.43350861e-01,-1.29782842e+00, 1.16398892e+01,
  2.00742439e+00, 6.83383165e-01, 7.45271545e+00,-1.30638407e+01,
 -9.93913817e-03,-3.31104823e-02, 5.21406914e-03, 8.34741895e-01,
 -9.74402477e-02, 1.78309384e+00]

qfrc_actuator:
[ 3.76175745e-06, 3.02547841e-04, 6.93126281e-06, 7.52804053e-05,
 -2.56684763e-03, 2.41763013e-02, 1.01152969e-02, 1.33580080e-03,
 -2.14664433e-05,-6.40962025e-05,-4.90360176e-05,-2.09130769e-05,
  4.99407962e-02, 1.99562667e-02, 2.02689519e-03,-1.78261269e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71229938, -0.61454073, -0.36015287, -0.61454073,  0.92916655,
       -0.37004762, -0.36015287, -0.37004762,  1.34372384,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.60700779532245e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99252206e-01,  6.07123030e-03, -3.81859844e-02,  6.06680208e-03,
        9.99981570e-01,  2.31840178e-04,  3.81866882e-02, -2.71050543e-20,
       -9.99270622e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13148743, -0.08311538,  0.17464114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24998247, -0.24664946,  0.04068511, -0.24664946,  0.31341801,
        0.38457176,  0.04068511,  0.38457176,  2.58141102,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003862494109064394
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85681678e-01, -1.68556488e-01,  4.50992536e-03, -1.68554724e-01,
        9.85691996e-01,  7.71211683e-04, -4.57539007e-03, -1.08420217e-19,
       -9.99989533e-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([ 0.13088393, -0.08202256,  0.13159392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29317198,   6.96406782,   2.1661295 ,   6.96406782,
        11.77113888, -14.39658396,   2.1661295 , -14.39658396,
        53.57793341,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.481797796214591e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.978731  ,  0.11105677, -0.17248775,  0.10937126,  0.99381406,
        0.01927517,  0.17356139,  0.        , -0.98482305])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132963 , -0.05390496,  0.29658653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000492550004399228
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82258178e-01, -9.12519721e-01, -2.96037294e-01, -8.74801226e-02,
       -2.82816738e-01,  9.55176382e-01, -9.55341588e-01,  2.95503724e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485695, -0.03599069,  0.3048036 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043864979683255756
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.06200177e-13, -1.62142244e-13,  1.00000000e+00, -8.20764328e-26,
        1.00000000e+00,  1.62142244e-13, -1.00000000e+00,  0.00000000e+00,
       -5.06200177e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05321252, -0.06094887,  0.06199015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.82786949e-06, 3.19453420e-05, 5.20970363e-06,-9.76230889e-06,
 -2.51024030e-03, 2.62042110e-02, 1.03493827e-02, 1.27275396e-03,
  8.40131193e-06,-1.71081366e-05, 2.70357172e-05, 3.24923807e-05,
  5.30874146e-02, 2.16558601e-02, 1.32768799e-02, 9.46870730e-05,
 -8.43938999e-07, 6.03084307e-07,-9.80999969e+00,-6.49594043e-02,
 -9.43867947e-03,-5.29707649e-03]


--- Step 1809 ---
qpos:
[ 0.0098853 , 0.00808635,-0.00559017, 0.03349497, 0.00607524,-0.02132437,
 -0.01690794, 0.03785885, 0.01301459, 0.00597012,-0.01171337, 0.03405709,
  0.81139711,-0.01581446, 1.14027535, 0.04611592, 0.09482839,-0.06352839,
  0.14254124, 0.94256028,-0.03282166, 0.02822604, 0.33121918]

qacc:
[ 5.82371851e-01, 1.80658654e-01,-4.33475663e-01,-7.95528440e-01,
  4.87755968e+00,-2.94827907e-01, 9.46590730e-01,-3.49053054e+00,
  7.90155234e-01, 7.02189855e-01,-4.33423960e+00, 1.14088967e+01,
  1.93176246e+00, 4.95696156e-01, 7.17848961e+00,-1.99669529e+01,
 -9.13624836e-03,-2.94439192e-02, 2.45536325e-03, 6.75897648e-01,
 -1.07859784e-01, 1.39101841e+00]

qfrc_actuator:
[ 7.04739235e-06, 2.66600123e-04,-1.42635905e-05, 6.80126521e-05,
 -2.54966298e-03, 2.42114054e-02, 1.00975843e-02, 1.35081726e-03,
 -1.70808997e-05,-6.50173533e-05,-4.86222911e-05,-1.02145342e-06,
  4.99486296e-02, 1.99339187e-02, 2.01678268e-03,-1.88895556e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71230196, -0.61222829, -0.364075  , -0.61222829,  0.96810385,
       -0.4301563 , -0.364075  , -0.4301563 ,  1.43565252,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.818650483765551e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99251516e-01,  6.07071183e-03, -3.82041252e-02,  6.06627978e-03,
        9.99981573e-01,  2.31930509e-04,  3.82048292e-02,  0.00000000e+00,
       -9.99269929e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13148874, -0.08311375,  0.1746411 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2498967 , -0.24672149,  0.03970979, -0.24672149,  0.30989337,
        0.3727662 ,  0.03970979,  0.3727662 ,  2.56593609,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003859034255160518
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85677726e-01, -1.68579425e-01,  4.51648099e-03, -1.68577656e-01,
        9.85688073e-01,  7.72440888e-04, -4.58205909e-03, -1.08420217e-19,
       -9.99989502e-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([ 0.13088593, -0.08202286,  0.13159405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29378358,   6.83624421,   2.5426451 ,   6.83624421,
        14.03764064, -18.13176908,   2.5426451 , -18.13176908,
        56.04348973,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.588423269897894e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78734612e-01,  1.11030852e-01, -1.72483938e-01,  1.09345828e-01,
        9.93816960e-01,  1.92701870e-02,  1.73557048e-01,  3.46944695e-18,
       -9.84823817e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329667, -0.05390513,  0.29658675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004921866422835187
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.83473953e-01, -9.12300323e-01, -2.95551415e-01, -8.76989161e-02,
       -2.82240215e-01,  9.55326835e-01, -9.54961475e-01,  2.96729813e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485696, -0.03599103,  0.30480475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004381294274477948
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -3.9593859e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  3.9593859e-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([ 0.05321286, -0.06094831,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.43376101e-06,-1.74322143e-05,-1.42894026e-05,-5.90930480e-06,
 -2.52393131e-03, 2.62706209e-02, 1.03442916e-02, 1.29701733e-03,
  4.60982155e-06,-3.43962138e-06, 1.35284934e-06, 2.07311573e-05,
  5.28376616e-02, 2.15073396e-02, 1.29613268e-02,-3.68770717e-05,
 -1.52456573e-06, 9.93300766e-07,-9.80999949e+00,-6.49588540e-02,
 -9.43910897e-03,-5.29662229e-03]


--- Step 1810 ---
qpos:
[ 0.00988483, 0.0080866 ,-0.00559163, 0.03349507, 0.00607581,-0.02134709,
 -0.01690462, 0.03786033, 0.01301504, 0.00596816,-0.01171287, 0.03405684,
  0.81140857,-0.01581127, 1.14025603, 0.04611756, 0.09482916,-0.06352776,
  0.14254163, 0.94255418,-0.03281375, 0.02822551, 0.33123737]

qacc:
[-2.68122692e+00, 2.76777383e-01, 4.83767310e-01,-6.72776966e+00,
  4.29547066e+00,-1.81917216e-01, 8.84348778e-01,-3.63854248e+00,
  6.54418807e+00, 8.50037888e-01,-3.72662841e+00, 7.64445682e+00,
  1.83826280e+00, 3.20339245e-01, 7.01790322e+00,-2.18816340e+01,
 -8.80372846e-03,-2.62639535e-02, 2.76652118e-04, 5.40262762e-01,
 -1.10360709e-01, 1.06422749e+00]

qfrc_actuator:
[-8.70742440e-06, 2.44932682e-04,-4.42306544e-05, 4.57511888e-05,
 -2.53972079e-03, 2.42417208e-02, 1.00856954e-02, 1.32377013e-03,
  2.11201655e-05,-4.69429151e-05,-4.86177945e-05, 1.08583181e-05,
  4.99421658e-02, 1.99186693e-02, 2.00067353e-03,-1.98888730e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71230584, -0.60169919, -0.3812318 , -0.60169919,  0.99362277,
       -0.44400328, -0.3812318 , -0.44400328,  1.41307742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.125879955634283e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99250794e-01,  6.07076722e-03, -3.82229955e-02,  6.06633075e-03,
        9.99981573e-01,  2.32047184e-04,  3.82236999e-02,  0.00000000e+00,
       -9.99269207e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1314901 , -0.08311207,  0.1746409 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24981123, -0.246613  ,  0.03984575, -0.246613  ,  0.31017968,
        0.37363194,  0.03984575,  0.37363194,  2.56229129,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003855581285805244
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85672927e-01, -1.68607272e-01,  4.52435529e-03, -1.68605495e-01,
        9.85683310e-01,  7.73919161e-04, -4.59006990e-03,  0.00000000e+00,
       -9.99989466e-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([ 0.13088799, -0.08202321,  0.1315942 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2945591 ,   6.73743202,   2.79599754,   6.73743202,
        15.88367992, -20.69694865,   2.79599754, -20.69694865,
        57.16737992,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.719210134643447e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873913,  0.11100013, -0.17247808,  0.1093157 ,  0.99382039,
        0.01926413,  0.17355056,  0.        , -0.98482496])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329709, -0.05390553,  0.29658702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000491759142278708
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28508073, -0.91201046, -0.2948998 , -0.08798302, -0.28146915,
        0.95552818, -0.95445689,  0.29834885,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485688, -0.03599173,  0.304806  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043751763331956184
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.56843018e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.56843018e-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([ 0.05321296, -0.06094788,  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:
[-1.56625363e-05,-3.46221592e-05,-3.55262911e-05,-2.36177486e-05,
 -2.54271158e-03, 2.63251517e-02, 1.03456729e-02, 1.27961328e-03,
  3.83238020e-05, 1.73901041e-05, 1.96394070e-07, 1.21868832e-05,
  5.25929919e-02, 2.13781008e-02, 1.28227883e-02,-7.70841049e-05,
 -2.20926392e-06, 1.37270360e-06,-9.80999928e+00,-6.49581189e-02,
 -9.43955819e-03,-5.29611219e-03]


--- Step 1811 ---
qpos:
[ 0.00988486, 0.00808662,-0.00559287, 0.03349486, 0.00607704,-0.02137021,
 -0.01690157, 0.0378616 , 0.01301559, 0.00596635,-0.01171241, 0.03405707,
  0.81142383,-0.01580635, 1.14024316, 0.04612022, 0.09482989,-0.0635272 ,
  0.14254202, 0.94254745,-0.0328049 , 0.02822508, 0.33125744]

qacc:
[ 4.43899761e+00,-1.51195112e+00, 6.25132680e+00,-1.16865339e+01,
  5.65063944e+00,-1.91939095e-01, 7.72930360e-01,-3.58586851e+00,
  9.57614254e-01, 1.31272439e+00,-6.43526793e+00, 1.47846609e+01,
  1.52732003e+00, 3.45853125e-01, 6.39858017e+00,-8.61607898e+00,
 -7.99560584e-03,-1.56665876e-02,-1.03298076e-03, 4.21608385e-01,
 -1.24144789e-01, 1.00965241e+00]

qfrc_actuator:
[ 1.77156102e-05, 2.49670379e-04,-2.58441879e-05, 3.26004172e-05,
 -2.49878025e-03, 2.43046809e-02, 1.00596104e-02, 1.30706763e-03,
  2.56618408e-05,-3.53977689e-05,-4.87678805e-05, 3.57047665e-05,
  4.99482897e-02, 1.99780419e-02, 2.03423970e-03,-1.87095289e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71231078, -0.59767734, -0.38751574, -0.59767734,  1.0328729 ,
       -0.49441274, -0.38751574, -0.49441274,  1.47485862,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.50168820792411e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99250049e-01,  6.07132822e-03, -3.82423782e-02,  6.06688684e-03,
        9.99981569e-01,  2.32186310e-04,  3.82430831e-02,  0.00000000e+00,
       -9.99268466e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13149149, -0.08311039,  0.17464059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24972509, -0.24598381,  0.04306488, -0.24598381,  0.3216008 ,
        0.41054938,  0.04306488,  0.41054938,  2.59475644,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003852095456814547
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85667473e-01, -1.68638909e-01,  4.53325200e-03, -1.68637125e-01,
        9.85677898e-01,  7.75590761e-04, -4.59912109e-03,  0.00000000e+00,
       -9.99989424e-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([ 0.13089011, -0.08202362,  0.13159436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29547431,   6.63566197,   3.03182053,   6.63566197,
        17.89446837, -23.19772598,   3.03182053, -23.19772598,
        58.06769736,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.867841088882087e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78744331e-01,  1.10965762e-01, -1.72470679e-01,  1.09282011e-01,
        9.93824230e-01,  1.92572687e-02,  1.73542437e-01, -3.46944695e-18,
       -9.84826392e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329754, -0.05390613,  0.2965873 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004912859316027167
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28702053, -0.91165824, -0.29410622, -0.08832071, -0.2805315 ,
        0.95577274, -0.95384415,  0.30030207,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048567 , -0.03599274,  0.30480731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004368431487394159
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.57393983e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.57393983e-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([ 0.05321289, -0.06094756,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.59678328e-05,-2.29697526e-05, 6.05708517e-06,-1.63199965e-05,
 -2.52707687e-03, 2.64035934e-02, 1.03307529e-02, 1.27258968e-03,
  5.63080861e-06, 2.19132334e-05, 3.90448304e-06, 2.58379777e-05,
  5.23800875e-02, 2.13366534e-02, 1.27915781e-02, 1.26109230e-04,
 -2.82925735e-06, 1.71219071e-06,-9.80999907e+00,-6.49572365e-02,
 -9.44001719e-03,-5.29555100e-03]


--- Step 1812 ---
qpos:
[ 0.00988556, 0.00808632,-0.00559303, 0.0334948 , 0.00607874,-0.02139321,
 -0.01689855, 0.03786273, 0.0130162 , 0.00596498,-0.01171267, 0.03405796,
  0.81144098,-0.01580061, 1.14023343, 0.04612262, 0.09483058,-0.06352668,
  0.14254242, 0.94254044,-0.03279572, 0.02822487, 0.3312783 ]

qacc:
[ 5.84210125e+00,-3.19968256e+00, 1.01327255e+01,-9.11086865e+00,
  3.94130834e+00,-3.42525028e-02, 8.92221141e-01,-3.19625194e+00,
  4.11953546e-01, 3.90711996e+00,-1.58298143e+01, 2.78973221e+01,
  7.51445329e-01, 1.65442528e-01, 5.41974505e+00,-1.22774833e+01,
 -1.01198961e-02,-1.17327582e-02, 1.66431115e-03, 1.81363134e-01,
  3.72658259e-02, 4.22200479e-01]

qfrc_actuator:
[ 5.10055330e-05, 2.52629380e-04, 3.88164092e-05, 4.27278724e-05,
 -2.49286069e-03, 2.43519436e-02, 1.00429038e-02, 1.31441491e-03,
  2.80979741e-05,-1.00873654e-05,-8.45221283e-05, 6.79803882e-05,
  4.99512104e-02, 2.00284176e-02, 2.02786470e-03,-1.92614170e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71231668, -0.65807108, -0.27264905, -0.65807108,  0.84113392,
       -0.31091582, -0.27264905, -0.31091582,  1.46274918,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.928915673563459e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99249273e-01,  6.07255432e-03, -3.82624329e-02,  6.06810738e-03,
        9.99981562e-01,  2.32354986e-04,  3.82631384e-02,  2.71050543e-20,
       -9.99267698e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13149292, -0.08310866,  0.17464017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24963728, -0.24602779,  0.04229776, -0.24602779,  0.31897416,
        0.40330267,  0.04229776,  0.40330267,  2.59547484,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038485371484203485
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85661409e-01, -1.68674087e-01,  4.54294514e-03, -1.68672295e-01,
        9.85671879e-01,  7.77416035e-04, -4.60898321e-03,  0.00000000e+00,
       -9.99989379e-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([ 0.13089228, -0.08202407,  0.13159454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29650248,   6.40722399,   3.49090664,   6.40722399,
        22.6005997 , -28.08920112,   3.49090664, -28.08920112,
        58.85153433,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.028242324725786e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78750136e-01,  1.10927858e-01, -1.72462114e-01,  1.09244865e-01,
        9.93828461e-01,  1.92496529e-02,  1.73533080e-01, -3.46944695e-18,
       -9.84828041e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329801, -0.05390692,  0.2965876 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004908414555730612
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.89024814e-01, -9.11291660e-01, -2.93278310e-01, -8.86634994e-02,
       -2.79554916e-01,  9.56027109e-01, -9.53206924e-01,  3.02318638e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485648, -0.03599404,  0.30480857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000436113950500002
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18238414e-06,  1.18238417e-06,  1.00000000e+00,  1.39803229e-12,
        1.00000000e+00, -1.18238417e-06, -1.00000000e+00,  0.00000000e+00,
       -1.18238414e-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([ 0.05363325, -0.06153412,  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:
[ 3.40234090e-05,-9.31110281e-06, 6.01108246e-05, 9.03719319e-06,
 -2.55444514e-03, 2.64715336e-02, 1.03280249e-02, 1.29028092e-03,
  2.59738585e-06, 3.95414926e-05,-2.98373406e-05, 3.38550034e-05,
  5.21936995e-02, 2.13008849e-02, 1.24624026e-02, 1.96628945e-05,
 -3.46633919e-06, 2.07293340e-06,-9.80999887e+00,-6.49562422e-02,
 -9.44049356e-03,-5.29494175e-03]


--- Step 1813 ---
qpos:
[ 0.00988596, 0.00808583,-0.00559215, 0.03349484, 0.00608062,-0.02141573,
 -0.01689543, 0.03786376, 0.01301718, 0.00596441,-0.01171411, 0.03405921,
  0.81146   ,-0.01579417, 1.14022344, 0.04612308, 0.09483123,-0.06352623,
  0.14254281, 0.9425334 ,-0.03278632, 0.02822482, 0.33129928]

qacc:
[-2.56311560e+00,-2.91482379e+00, 9.62712904e+00,-9.37550615e+00,
  1.53508527e+00, 1.27583517e-01, 9.29431885e-01,-3.34761320e+00,
  3.19610655e+00, 5.11668032e+00,-1.82799942e+01, 2.59594507e+01,
  8.68660829e-01,-8.12762232e-02, 5.42277427e+00,-1.96190357e+01,
 -1.07356306e-02,-1.79938033e-02,-3.11963551e-04, 1.24840765e-01,
  3.67581855e-02, 6.59316482e-02]

qfrc_actuator:
[ 3.47993178e-05, 2.54731337e-04, 9.47772936e-05, 4.87432746e-05,
 -2.52577148e-03, 2.43361733e-02, 1.00671964e-02, 1.31844769e-03,
  4.70387868e-05, 4.08849220e-05,-1.40952808e-04, 8.66013353e-05,
  4.99469173e-02, 2.00025953e-02, 2.06150111e-03,-2.06656915e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71232317, -0.65544026, -0.27893076, -0.65544026,  0.82870891,
       -0.27348686, -0.27893076, -0.27348686,  1.3549712 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.377033136707688e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99248498e-01,  6.07424467e-03, -3.82824010e-02,  6.06979185e-03,
        9.99981552e-01,  2.32540961e-04,  3.82831073e-02,  0.00000000e+00,
       -9.99266933e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13149435, -0.08310692,  0.17463972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038449275853857923
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85655081e-01, -1.68710785e-01,  4.55332906e-03, -1.68708985e-01,
        9.85665598e-01,  7.79367488e-04, -4.61954751e-03,  0.00000000e+00,
       -9.99989330e-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([ 0.13089445, -0.08202454,  0.13159472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.195275520181139e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875624,  0.11088846, -0.1724528 ,  0.10920626,  0.99383286,
        0.01924169,  0.17352294,  0.        , -0.98482983])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329849, -0.05390779,  0.2965879 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004904509219665008
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.91086214e-01, -9.10910665e-01, -2.92421914e-01, -8.90106986e-02,
       -2.78545636e-01,  9.56289404e-01, -9.52547065e-01,  3.04391341e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485621, -0.03599544,  0.30480974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043537436716498915
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.04232960e-08, -9.04232545e-08,  1.00000000e+00,  8.17636871e-15,
        1.00000000e+00,  9.04232545e-08, -1.00000000e+00,  0.00000000e+00,
        9.04232960e-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([ 0.05363296, -0.06153397,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52417588e-05, 9.72199592e-06, 6.17573349e-05, 7.87171905e-06,
 -2.61058534e-03, 2.64506534e-02, 1.03541328e-02, 1.30095003e-03,
  1.90238251e-05, 6.84249209e-05,-5.07492294e-05, 1.99436448e-05,
  5.20946229e-02, 2.12338572e-02, 1.23394006e-02,-1.07382893e-04,
 -3.74560370e-06, 2.20919200e-06,-9.80999881e+00,-6.49551647e-02,
 -9.44089873e-03,-5.29433239e-03]


--- Step 1814 ---
qpos:
[ 0.00988582, 0.00808542,-0.00559093, 0.03349497, 0.0060773 ,-0.021432  ,
 -0.01688759, 0.0378676 , 0.01301769, 0.00596412,-0.01171608, 0.03406104,
  0.81140826,-0.01581844, 1.140168  , 0.04612991, 0.09483274,-0.06352316,
  0.14254268, 0.94254353,-0.03280488, 0.02821443, 0.3312695 ]

qacc:
[-4.74674736e+00,-6.85592144e-01, 2.22286779e+00,-1.32248626e+00,
 -4.40722665e+01, 9.42415070e-01,-3.08769804e+00, 3.94097590e+01,
 -4.15719596e+00, 3.07707749e+00,-1.28678445e+01, 2.35444854e+01,
 -3.12243929e+01,-1.91316637e+00,-8.53325630e+01, 2.03264398e+02,
  2.16020735e-01, 6.54930951e-01,-1.29852966e-01,-1.38917466e+01,
  3.54286962e-01,-2.73268956e+01]

qfrc_actuator:
[ 7.34093464e-06, 2.56292096e-04, 1.09627523e-04, 5.22743378e-05,
 -2.54637787e-03, 2.43176778e-02, 1.00804644e-02, 1.33827565e-03,
  2.22854717e-05, 3.57138490e-05,-1.73523666e-04, 1.14804920e-04,
  4.99595327e-02, 1.99663567e-02, 2.08205747e-03,-2.22085913e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71233004, -0.49829473,  0.50903482, -0.49829473,  0.38843453,
       -0.31706166,  0.50903482, -0.31706166,  0.40195805,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.829174116054327e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99247744e-01,  6.07611643e-03, -3.83017882e-02,  6.07165771e-03,
        9.99981540e-01,  2.32730421e-04,  3.83024953e-02,  2.71050543e-20,
       -9.99266190e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13149575, -0.08310525,  0.17463924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003841306539621147
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85648687e-01, -1.68747842e-01,  4.56412296e-03, -1.68746032e-01,
        9.85659255e-01,  7.81391636e-04, -4.63052819e-03,  0.00000000e+00,
       -9.99989279e-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([ 0.13089656, -0.08202501,  0.1315949 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29880671,   6.16768675,   3.90284762,   6.16768675,
        28.1317248 , -32.92234935,   3.90284762, -32.92234935,
        59.32613588,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.366237280790355e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78762447e-01,  1.10848894e-01, -1.72443021e-01,  1.09167504e-01,
        9.93837272e-01,  1.92336499e-02,  1.73512330e-01, -3.46944695e-18,
       -9.84831697e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329897, -0.05390874,  0.29658821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.34700011,  1.26243033, -0.46976479,  1.26243033,  1.73456876,
        1.04153915, -0.46976479,  1.04153915,  4.1459979 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004900761179487796
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.29329307, -0.91049753, -0.291502  , -0.08937715, -0.27746196,
        0.95657022, -0.95183554,  0.30660903,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485587, -0.03599691,  0.30481084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043583372866884407
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27367727e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.27367727e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08726832, -0.10845289,  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:
[-2.78914321e-05, 2.00921732e-05, 2.47326978e-05, 6.23722035e-06,
 -2.64026225e-03, 2.64088581e-02, 1.03626348e-02, 1.32633785e-03,
 -2.41905042e-05, 2.35087142e-05,-2.39768093e-05, 2.97692032e-05,
  5.20135696e-02, 2.11627140e-02, 1.23736161e-02,-1.64854244e-04,
 -3.81593785e-06, 2.22435237e-06,-9.80999879e+00,-6.49540481e-02,
 -9.44126745e-03,-5.29372521e-03]


--- Step 1815 ---
qpos:
[ 0.00988569, 0.00808538,-0.00559022, 0.03349551, 0.00607359,-0.02144814,
 -0.01688007, 0.0378712 , 0.01301755, 0.00596358,-0.01171789, 0.03406253,
  0.81136797,-0.01583708, 1.14010367, 0.046129  , 0.09483405,-0.06352079,
  0.14254268, 0.94255061,-0.03281759, 0.02820657, 0.33124876]

qacc:
[ 1.24134427e-01, 2.76044086e+00,-1.08399817e+01, 1.84222139e+01,
 -3.28972151e+00, 6.12814289e-01,-9.36910636e-01,-2.65473542e+00,
 -5.66428631e+00,-1.51910762e+00, 6.42222010e+00,-1.25460576e+01,
  4.86305867e+00, 9.92215556e-01, 1.00917848e+01,-5.47282236e+01,
 -5.19890029e-02,-1.76238566e-01, 2.99017241e-02, 2.99881643e+00,
  1.08800283e-01, 4.89174616e+00]

qfrc_actuator:
[ 9.00086803e-06, 2.75105325e-04, 8.23347793e-05, 7.20414446e-05,
 -2.55429617e-03, 2.43270905e-02, 1.00824591e-02, 1.34695222e-03,
 -1.02399759e-05,-2.94680409e-06,-1.74199648e-04, 9.51405317e-05,
  4.99727855e-02, 1.99904963e-02, 2.04025676e-03,-2.24897411e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71230646, -0.69650079, -0.14922181, -0.69650079,  0.76370686,
       -0.23991412, -0.14922181, -0.23991412,  1.83211848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.174367796410788e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99247441e-01,  6.07279804e-03, -3.83102142e-02,  6.06833980e-03,
        9.99981560e-01,  2.32654484e-04,  3.83109206e-02,  2.71050543e-20,
       -9.99265867e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13149627, -0.08310425,  0.17464176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24935957, -0.03626893,  0.24670784, -0.03626893,  0.71695314,
        0.0687417 ,  0.24670784,  0.0687417 ,  0.2594654 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003837245513764919
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85659018e-01, -1.68688083e-01,  4.54217784e-03, -1.68686292e-01,
        9.85669484e-01,  7.77351115e-04, -4.60821595e-03,  0.00000000e+00,
       -9.99989382e-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([ 0.13089759, -0.08202432,  0.13159467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29614859, -0.50789596,  7.27844941, -0.50789596, 31.49651831,
        1.68872095,  7.27844941,  1.68872095,  7.41398887,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.973767653460585e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874974,  0.11090369, -0.17247992,  0.10922072,  0.99383116,
        0.01924739,  0.17355052,  0.        , -0.98482497])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329792, -0.05390619,  0.29658754])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.35069688, -0.88496828,  1.02039855, -0.88496828,  3.67559825,
        2.01633367,  1.02039855,  2.01633367,  3.09941687,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004920331112406604
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.87072499e-01, -9.11633307e-01, -2.94132783e-01, -8.83454313e-02,
       -2.80551561e-01,  9.55764566e-01, -9.53826224e-01,  3.00359010e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485571, -0.03599144,  0.30480773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.3184792 , -5.91707206,  8.45335858, -5.91707206, 17.7654302 ,
        5.21261997,  8.45335858,  5.21261997, 13.96714117,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004362394384882645
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27249273e-13, -9.94134942e-14,  1.00000000e+00, -1.26502948e-26,
        1.00000000e+00,  9.94134942e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27249273e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05321703, -0.06094377,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.71074869e-07, 3.54162345e-05,-1.98888748e-05, 2.16043113e-05,
 -2.38834965e-03, 2.61062160e-02, 1.01288034e-02, 1.19454325e-03,
 -3.32077008e-05,-2.91687497e-05, 2.28065284e-06,-1.89050748e-05,
  5.55649943e-02, 2.27226196e-02, 1.46045099e-02,-5.11146896e-04,
 -9.89952115e-06, 3.27146342e-06,-9.80999712e+00,-6.49561721e-02,
 -9.44329480e-03,-5.29377251e-03]


--- Step 1816 ---
qpos:
[ 0.00988524, 0.00808571,-0.00558956, 0.0334959 , 0.00606997,-0.02146473,
 -0.01687304, 0.03787454, 0.01301737, 0.00596323,-0.01171982, 0.03406304,
  0.81133764,-0.01585088, 1.14004484, 0.04612738, 0.09483521,-0.06351893,
  0.14254277, 0.94255491,-0.03282548, 0.02820064, 0.33123624]

qacc:
[-2.85515764e+00, 3.78339035e-01,-1.04378989e-02,-2.66888306e+00,
  7.13332292e-01, 1.95961451e-01,-4.84765419e-01,-2.91993613e+00,
 -3.98434902e-01,-1.38473853e+00, 9.40923068e+00,-2.61763817e+01,
  4.07659390e+00, 1.02594628e+00, 1.01269703e+01,-2.39071372e+01,
 -3.69158951e-02,-1.24782940e-01, 2.46574451e-02, 2.43248867e+00,
  2.00296012e-02, 4.43022406e+00]

qfrc_actuator:
[-7.71538261e-06, 3.03936048e-04, 8.37320278e-05, 6.56906018e-05,
 -2.53958084e-03, 2.43568617e-02, 1.00808431e-02, 1.31534922e-03,
 -1.15604834e-05, 2.74806659e-05,-1.73987814e-04, 4.74508398e-05,
  4.99709182e-02, 2.00445643e-02, 2.04992703e-03,-2.10106552e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.712292  , -0.67873844, -0.21604174, -0.67873844,  0.82954626,
       -0.36837775, -0.21604174, -0.36837775,  1.86962456,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.967850133239437e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99247133e-01,  6.06909378e-03, -3.83188252e-02,  6.06463626e-03,
        9.99981583e-01,  2.32564827e-04,  3.83195309e-02,  0.00000000e+00,
       -9.99265537e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1314969 , -0.08310338,  0.17464365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003833643116841392
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85666287e-01, -1.68646012e-01,  4.52703468e-03, -1.68644233e-01,
        9.85676683e-01,  7.74560623e-04, -4.59281908e-03,  0.00000000e+00,
       -9.99989453e-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([ 0.13089866, -0.08202383,  0.13159452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29449656,  7.28247458,  0.41862166,  7.28247458,  7.37727695,
       -1.4400738 ,  0.41862166, -1.4400738 , 32.34647495,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7088348957912664e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9787407 ,  0.11094197, -0.17250655,  0.10925789,  0.99382689,
        0.01925709,  0.17357807,  0.        , -0.98482011])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329725, -0.05390422,  0.29658711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004930740924934789
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28334364, -0.91228544, -0.29572225, -0.08771412, -0.28241438,
        0.95527397, -0.95499875,  0.29660982,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485559, -0.03598737,  0.30480625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004373405604869429
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53857777e-13, -9.91631941e-14,  1.00000000e+00, -2.51733480e-26,
        1.00000000e+00,  9.91631941e-14, -1.00000000e+00,  0.00000000e+00,
       -2.53857777e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05322092, -0.06094118,  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:
[-1.66798815e-05, 4.54457581e-05, 7.00185776e-06,-5.10358137e-06,
 -2.35432895e-03, 2.61296271e-02, 1.01433880e-02, 1.17448828e-03,
 -2.27717249e-06, 1.38024382e-05,-6.16116151e-06,-4.92254292e-05,
  5.49908221e-02, 2.24955392e-02, 1.50601286e-02, 2.38303055e-05,
 -4.80799876e-06, 1.47930714e-06,-9.80999867e+00,-6.49581210e-02,
 -9.44264460e-03,-5.29375321e-03]


--- Step 1817 ---
qpos:
[ 0.00988459, 0.00808625,-0.00558882, 0.03349588, 0.00606661,-0.02148196,
 -0.01686655, 0.03787761, 0.01301717, 0.00596309,-0.01172182, 0.03406331,
  0.81131619,-0.01586043, 1.13999237, 0.04612557, 0.09483626,-0.06351744,
  0.14254294, 0.94255685,-0.0328294 , 0.0281962 , 0.33123071]

qacc:
[-1.72717408e+00,-8.45114848e-01, 5.14542012e+00,-1.25927657e+01,
  2.19813739e+00, 1.11905593e-01,-4.44131952e-01,-3.02156130e+00,
 -1.35812303e-01,-4.72450594e-02, 1.56060831e+00,-5.71802602e+00,
  3.64190746e+00, 8.81769898e-01, 9.88527432e+00,-2.11612294e+01,
 -2.70252608e-02,-9.46744213e-02, 1.94245242e-02, 1.97953396e+00,
 -3.39414273e-02, 3.76334783e+00]

qfrc_actuator:
[-1.73702950e-05, 3.03121317e-04, 8.43460521e-05, 4.40571344e-05,
 -2.54710714e-03, 2.43816392e-02, 1.00595958e-02, 1.29520622e-03,
 -1.22533189e-05, 4.57636924e-05,-1.73008154e-04, 3.69683680e-05,
  4.99756780e-02, 2.00796300e-02, 2.09483129e-03,-2.10001392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71228348, -0.66361877, -0.2587622 , -0.66361877,  0.89602892,
       -0.47123158, -0.2587622 , -0.47123158,  1.92079892,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.146683145905023e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99246789e-01,  6.06547413e-03, -3.83283784e-02,  6.06101704e-03,
        9.99981605e-01,  2.32484064e-04,  3.83290834e-02,  0.00000000e+00,
       -9.99265171e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13149764, -0.08310247,  0.17464501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038305261972440747
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85670831e-01, -1.68619713e-01,  4.51710578e-03, -1.68617943e-01,
        9.85681182e-01,  7.72737773e-04, -4.58272499e-03,  0.00000000e+00,
       -9.99989499e-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([ 0.13089985, -0.08202353,  0.13159444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29353902,  7.25617873,  0.73727987,  7.25617873,  7.60279426,
       -3.04363563,  0.73727987, -3.04363563, 37.2484654 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.546172710273686e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873485,  0.11096509, -0.17252491,  0.10928028,  0.9938243 ,
        0.01926321,  0.17359699,  0.        , -0.98481678])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329687, -0.05390276,  0.29658686])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004935455546529548
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28120159, -0.91264761, -0.29664795, -0.08734976, -0.28349608,
        0.95498691, -0.95566505,  0.29445596,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485556, -0.0359845 ,  0.30480581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004380067931051973
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.96049446e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.96049446e-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([ 0.05322382, -0.06093915,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01161565e-05, 2.58014045e-05, 1.06759943e-05,-1.95454158e-05,
 -2.36609904e-03, 2.61780038e-02, 1.01463022e-02, 1.16740577e-03,
 -7.53436475e-07, 2.26520730e-05, 1.39417209e-06,-1.10581831e-05,
  5.44977537e-02, 2.22892137e-02, 1.48316659e-02, 6.05046887e-05,
 -1.85127817e-06, 4.60729804e-07,-9.80999949e+00,-6.49593901e-02,
 -9.44241348e-03,-5.29362887e-03]


--- Step 1818 ---
qpos:
[ 0.00988521, 0.00808681,-0.00558827, 0.03349599, 0.00606346,-0.02149968,
 -0.01686057, 0.0378804 , 0.01301697, 0.00596281,-0.01172312, 0.0340638 ,
  0.8113028 ,-0.01586621, 1.1399432 , 0.0461221 , 0.09483722,-0.06351627,
  0.14254317, 0.94255691,-0.03283009, 0.02819292, 0.33123075]

qacc:
[ 1.11295215e+01, 8.28282433e-01,-3.50731460e+00, 6.11353075e+00,
  1.80306247e+00, 1.91162986e-01,-4.72193049e-01,-3.11926869e+00,
 -3.44130417e-02,-1.68705639e+00, 4.88529285e+00,-2.30138396e+00,
  3.38313036e+00, 6.20203836e-01, 9.81243540e+00,-2.74595568e+01,
 -2.08882241e-02,-7.75265176e-02, 1.47596694e-02, 1.60261852e+00,
 -5.46268050e-02, 3.00527268e+00]

qfrc_actuator:
[ 4.82242241e-05, 2.84544862e-04, 6.66064995e-05, 4.90858291e-05,
 -2.58593982e-03, 2.44037750e-02, 1.00445786e-02, 1.28206054e-03,
 -1.25813793e-05, 3.89176028e-05,-1.36079658e-04, 4.84637176e-05,
  4.99788258e-02, 2.01374347e-02, 2.08071292e-03,-2.22280964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7122788 , -0.65242952, -0.28579155, -0.65242952,  0.93593992,
       -0.51059284, -0.28579155, -0.51059284,  1.87790403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.6451763804662925e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99246398e-01,  6.06211371e-03, -3.83391071e-02,  6.05765659e-03,
        9.99981625e-01,  2.32420297e-04,  3.83398115e-02,  0.00000000e+00,
       -9.99264759e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1314985 , -0.08310147,  0.17464594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003827807828894436
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85673078e-01, -1.68606736e-01,  4.51128354e-03, -1.68604970e-01,
        9.85683402e-01,  7.71680635e-04, -4.57680786e-03,  0.00000000e+00,
       -9.99989526e-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([ 0.13090116, -0.08202338,  0.1315944 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29308153,  7.21418402,  1.06985376,  7.21418402,  8.05294813,
       -5.12389423,  1.06985376, -5.12389423, 41.84426722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.465748014838625e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873163,  0.11097526, -0.17253661,  0.10929007,  0.99382317,
        0.0192663 ,  0.17360896,  0.        , -0.98481467])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329673, -0.05390175,  0.29658677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004936176945937768
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80276336e-01, -9.12796213e-01, -2.97066069e-01, -8.71969266e-02,
       -2.83980537e-01,  9.54856927e-01, -9.55950768e-01,  2.93527049e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485557, -0.03598263,  0.30480609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004383257388129447
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.30601216e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.30601216e-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([ 0.05322595, -0.06093756,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.53132293e-05,-2.81001172e-06,-1.17851437e-05, 6.12103194e-06,
 -2.41791680e-03, 2.62322587e-02, 1.01586476e-02, 1.16817100e-03,
 -3.43620863e-07, 5.66230039e-06, 4.14209119e-05, 1.23032491e-05,
  5.40562833e-02, 2.21339304e-02, 1.45004245e-02,-5.22309424e-05,
 -4.54595009e-07, 3.83463391e-08,-9.80999985e+00,-6.49601110e-02,
 -9.44248015e-03,-5.29340852e-03]


--- Step 1819 ---
qpos:
[ 0.00988627, 0.00808689,-0.00558742, 0.03349618, 0.00606055,-0.02151781,
 -0.01685504, 0.03788293, 0.01301711, 0.00596254,-0.01172373, 0.03406474,
  0.81129638,-0.01586885, 1.13990082, 0.04611879, 0.09483812,-0.06351533,
  0.14254345, 0.94255545,-0.03282822, 0.02819054, 0.3312353 ]

qacc:
[ 3.84863826e+00,-1.28017475e+00, 3.27640405e+00,-1.86122786e+00,
  1.93407666e+00, 1.89087050e-01,-3.63165222e-01,-3.11651689e+00,
  3.03379747e+00,-9.77747832e-01, 1.56110727e+00, 5.29398771e+00,
  2.94754963e+00, 4.39016017e-01, 9.42018043e+00,-1.85909238e+01,
 -1.67510140e-02,-5.98355799e-02, 1.13642025e-02, 1.26701542e+00,
 -5.59161362e-02, 2.43025935e+00]

qfrc_actuator:
[ 6.88181319e-05, 2.37660632e-04, 7.36157979e-05, 5.19808482e-05,
 -2.62586117e-03, 2.44244417e-02, 1.00334791e-02, 1.29097487e-03,
  5.05984597e-06, 5.27531025e-05,-9.60658564e-05, 7.27956562e-05,
  4.99754361e-02, 2.01544205e-02, 2.06850751e-03,-2.16983006e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227666, -0.65203475, -0.28668576, -0.65203475,  0.92323246,
       -0.47979542, -0.28668576, -0.47979542,  1.80351778,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.400879090980621e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99245967e-01,  6.05896619e-03, -3.83508364e-02,  6.05450866e-03,
        9.99981644e-01,  2.32370686e-04,  3.83515404e-02,  0.00000000e+00,
       -9.99264309e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13149946, -0.08310043,  0.17464652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038253997730342747
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85673487e-01, -1.68604413e-01,  4.50870088e-03, -1.68602649e-01,
        9.85683799e-01,  7.71227918e-04, -4.57418584e-03, -1.08420217e-19,
       -9.99989538e-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([ 0.13090259, -0.08202337,  0.13159441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2930006 ,  7.15760384,  1.39877269,  7.15760384,  8.766357  ,
       -7.53925312,  1.39877269, -7.53925312, 45.87181133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4513254911891454e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873052,  0.11097513, -0.17254301,  0.10928981,  0.99382318,
        0.01926699,  0.1736154 ,  0.        , -0.98481353])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329677, -0.05390115,  0.29658679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004933861668602569
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28040538, -0.91276291, -0.29704662, -0.08723081, -0.28394978,
        0.95486298, -0.95590983,  0.29366033,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485554, -0.03598155,  0.30480689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004383713303789949
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.72724174e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.72724174e-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([ 0.05322747, -0.06093632,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.24516346e-05,-5.06336450e-05, 5.17269165e-06, 2.48043048e-06,
 -2.46850303e-03, 2.62782288e-02, 1.01730132e-02, 1.19089103e-03,
  1.76291295e-05, 2.61084999e-05, 4.67281074e-05, 2.62495726e-05,
  5.36503072e-02, 2.19628308e-02, 1.43238508e-02, 8.42153087e-05,
 -4.80425795e-08,-3.17340737e-09,-9.80999993e+00,-6.49603914e-02,
 -9.44273699e-03,-5.29310373e-03]


--- Step 1820 ---
qpos:
[ 0.00988688, 0.00808659,-0.00558677, 0.03349644, 0.00605801,-0.02153644,
 -0.01685   , 0.0378852 , 0.0130178 , 0.00596252,-0.01172415, 0.03406528,
  0.81129601,-0.01586882, 1.13986745, 0.04611699, 0.09483897,-0.06351457,
  0.14254376, 0.94255267,-0.03282428, 0.02818882, 0.33124376]

qacc:
[-3.95405362e+00, 1.45526252e-01,-1.48651209e+00, 3.04499904e+00,
  3.21322402e+00, 1.53499332e-01,-4.18904133e-01,-2.96691119e+00,
  4.88458630e+00,-1.05329991e+00, 5.88772571e+00,-1.32835770e+01,
  2.53489040e+00, 3.71797432e-01, 8.69836900e+00,-1.12597979e+01,
 -1.32278385e-02,-4.27203808e-02, 8.33241167e-03, 1.01089038e+00,
 -7.77121225e-02, 2.09730019e+00]

qfrc_actuator:
[ 4.49838799e-05, 2.09777962e-04, 5.95513998e-05, 5.35855783e-05,
 -2.61327858e-03, 2.44620912e-02, 1.00248807e-02, 1.31322057e-03,
  3.31362011e-05, 6.11513721e-05,-8.99828922e-05, 5.12362318e-05,
  4.99785822e-02, 2.01105252e-02, 2.11560139e-03,-2.06581173e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227633, -0.64896388, -0.29357017, -0.64896388,  0.94944134,
       -0.52427511, -0.29357017, -0.52427511,  1.87123473,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.361399349955936e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99245501e-01,  6.05604702e-03, -3.83634280e-02,  6.05158872e-03,
        9.99981662e-01,  2.32334985e-04,  3.83641316e-02,  2.71050543e-20,
       -9.99263826e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13150048, -0.08309933,  0.17464682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24901722, -0.24619222,  0.03740276, -0.24619222,  0.30489584,
        0.36780392,  0.03740276,  0.36780392,  2.66997412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000382324820021556
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85672414e-01, -1.68610687e-01,  4.50863112e-03, -1.68608923e-01,
        9.85682726e-01,  7.71245523e-04, -4.57412005e-03,  0.00000000e+00,
       -9.99989539e-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([ 0.1309041 , -0.08202345,  0.13159445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29321015,   7.0657167 ,   1.8073632 ,   7.0657167 ,
        10.10814555, -11.00472565,   1.8073632 , -11.00472565,
        50.31515176,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.488547316615388e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78731090e-01,  1.10966629e-01, -1.72545240e-01,  1.09281398e-01,
        9.93824133e-01,  1.92657464e-02,  1.73617478e-01, -3.46944695e-18,
       -9.84813166e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329695, -0.05390088,  0.2965869 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004929841710409885
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28125559, -0.91260607, -0.29672453, -0.08739126, -0.28356342,
        0.95496312, -0.95564536,  0.29451984,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485549, -0.03598112,  0.30480799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043820286020399
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53358233e-13, -1.30637839e-13,  1.00000000e+00, -3.30981721e-26,
        1.00000000e+00,  1.30637839e-13, -1.00000000e+00,  0.00000000e+00,
       -2.53358233e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05322851, -0.06093537,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32137456e-05,-5.50315401e-05,-2.38139165e-05,-3.41415011e-07,
 -2.46735654e-03, 2.63368980e-02, 1.01872723e-02, 1.22619871e-03,
  2.85823137e-05, 3.37964599e-05, 1.81471721e-05,-1.83138397e-05,
  5.33045714e-02, 2.17618322e-02, 1.40324670e-02, 1.79947241e-04,
 -1.83317320e-07, 1.60680815e-07,-9.80999985e+00,-6.49603244e-02,
 -9.44309748e-03,-5.29272935e-03]


--- Step 1821 ---
qpos:
[ 0.00988789, 0.00808631,-0.00558675, 0.03349669, 0.00605597,-0.02155564,
 -0.01684548, 0.0378872 , 0.01301848, 0.00596263,-0.01172466, 0.03406491,
  0.81130094,-0.01586645, 1.13984192, 0.04611636, 0.09483977,-0.06351392,
  0.14254409, 0.94254874,-0.03281863, 0.02818756, 0.3312556 ]

qacc:
[ 3.48430523e+00, 1.81302416e+00,-6.41366627e+00, 7.36651683e+00,
  4.24917607e+00, 1.32674261e-01,-4.24594673e-01,-2.97702847e+00,
 -1.25689160e-01,-1.42245484e+00, 9.22806257e+00,-2.50879466e+01,
  2.22938190e+00, 3.17130315e-01, 7.94189427e+00,-1.11233170e+01,
 -1.07341779e-02,-3.05028094e-02, 5.55640478e-03, 8.12987586e-01,
 -1.00124430e-01, 1.81415416e+00]

qfrc_actuator:
[ 6.62159015e-05, 2.28905784e-04, 3.32117496e-05, 5.44122934e-05,
 -2.58718841e-03, 2.45101921e-02, 1.00180009e-02, 1.30806653e-03,
  3.16186722e-05, 4.83049018e-05,-1.04033680e-04, 2.81868360e-06,
  4.99748312e-02, 2.00825718e-02, 2.13392081e-03,-2.02133193e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7122774 , -0.63833221, -0.31602386, -0.63833221,  1.00369384,
       -0.58862804, -0.31602386, -0.58862804,  1.90123899,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.485959364373516e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99244995e-01,  6.05350673e-03, -3.83770165e-02,  6.04904714e-03,
        9.99981677e-01,  2.32319784e-04,  3.83777196e-02,  0.00000000e+00,
       -9.99263304e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13150158, -0.08309814,  0.17464689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24896875, -0.24605545,  0.03797569, -0.24605545,  0.30583825,
        0.36847387,  0.03797569,  0.36847387,  2.63641708,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038212593651719016
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85670072e-01, -1.68624328e-01,  4.51056765e-03, -1.68622562e-01,
        9.85680392e-01,  7.71641034e-04, -4.57609554e-03,  0.00000000e+00,
       -9.99989530e-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([ 0.13090571, -0.08202363,  0.13159451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29365089,   6.93377492,   2.26276571,   6.93377492,
        12.30931857, -15.36947044,   2.26276571, -15.36947044,
        54.3901965 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.56556192854007e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78733065e-01,  1.10950859e-01, -1.72544181e-01,  1.09265894e-01,
        9.93825894e-01,  1.92628560e-02,  1.73616105e-01,  3.46944695e-18,
       -9.84813408e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329722, -0.05390091,  0.29658707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004925073358631325
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28255382, -0.9123721 , -0.2962102 , -0.08762782, -0.28295203,
        0.95512278, -0.95524065,  0.29582984,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485542, -0.03598124,  0.30480923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004378684518040188
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.3073761e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.3073761e-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([ 0.05322916, -0.06093463,  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:
[ 2.05526412e-05,-1.65873328e-05,-4.06564867e-05,-2.36257463e-06,
 -2.46023582e-03, 2.64109547e-02, 1.02050807e-02, 1.23422847e-03,
 -6.93663602e-07, 9.03308169e-06,-5.46471057e-06,-4.66990921e-05,
  5.29987540e-02, 2.16002209e-02, 1.36008704e-02, 1.49557011e-04,
 -6.23508695e-07, 4.45977220e-07,-9.80999969e+00,-6.49599812e-02,
 -9.44351730e-03,-5.29229233e-03]


--- Step 1822 ---
qpos:
[ 0.00988845, 0.00808593,-0.00558706, 0.03349694, 0.00605435,-0.02157519,
 -0.01684139, 0.03788894, 0.01301879, 0.00596291,-0.01172536, 0.03406396,
  0.81131071,-0.01586201, 1.13981935, 0.04611466, 0.09484053,-0.06351339,
  0.14254443, 0.94254394,-0.03281161, 0.02818664, 0.33127003]

qacc:
[-3.89873912e+00, 7.60153997e-01,-2.91905210e+00, 3.53841474e+00,
  3.54517935e+00, 2.21575969e-01,-3.93283733e-01,-3.09538660e+00,
 -3.24717667e+00,-4.56004095e-01, 4.37657865e+00,-1.41571478e+01,
  2.11688362e+00, 1.36410899e-01, 7.57662503e+00,-2.02781878e+01,
 -9.76448523e-03,-2.74024240e-02, 2.98574100e-03, 6.52205596e-01,
 -1.01670331e-01, 1.39375540e+00]

qfrc_actuator:
[ 4.28073277e-05, 2.22726605e-04, 1.77883526e-05, 5.48103214e-05,
 -2.58877276e-03, 2.45470656e-02, 1.00301228e-02, 1.30433585e-03,
  1.26914948e-05, 5.82176956e-05,-1.12196463e-04,-2.55290983e-05,
  4.99667906e-02, 2.00634492e-02, 2.10280251e-03,-2.13712113e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227966, -0.62634256, -0.3391715 , -0.62634256,  1.0361925 ,
       -0.59816463, -0.3391715 , -0.59816463,  1.81690068,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.740768882502875e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99244444e-01,  6.05146726e-03, -3.83916748e-02,  6.04700576e-03,
        9.99981690e-01,  2.32330217e-04,  3.83923777e-02,  0.00000000e+00,
       -9.99262741e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13150274, -0.08309686,  0.17464677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24892226, -0.24570841,  0.0398707 , -0.24570841,  0.31115644,
        0.38352625,  0.0398707 ,  0.38352625,  2.61245286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038193503331316377
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85666638e-01, -1.68644307e-01,  4.51411028e-03, -1.68642539e-01,
        9.85676974e-01,  7.72341266e-04, -4.57970552e-03,  1.08420217e-19,
       -9.99989513e-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([ 0.13090742, -0.08202388,  0.1315946 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29428126,   6.78264051,   2.68371512,   6.78264051,
        15.09541417, -19.71605691,   2.68371512, -19.71605691,
        57.12331311,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.672892223523292e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873621,  0.11092875, -0.17254054,  0.1092442 ,  0.99382836,
        0.01925856,  0.17361201,  0.        , -0.98481413])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329757, -0.0539012 ,  0.29658729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004919988216772392
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28416712, -0.91208241, -0.29555833, -0.08791562, -0.28218004,
        0.95532469, -0.95473551,  0.29745606,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485533, -0.03598182,  0.30481054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043740806728224946
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26909299e-13,  2.77614092e-14,  1.00000000e+00,  3.52318098e-27,
        1.00000000e+00, -2.77614092e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26909299e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05322952, -0.06093407,  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:
[-2.28262475e-05,-2.39410552e-05,-2.39383040e-05,-1.76645674e-06,
 -2.48689276e-03, 2.64763894e-02, 1.02429828e-02, 1.24395046e-03,
 -1.89418079e-05, 1.18387129e-05,-8.57946521e-06,-2.90567276e-05,
  5.27253395e-02, 2.14641337e-02, 1.31786148e-02,-2.50072631e-05,
 -1.23414779e-06, 8.03214273e-07,-9.80999948e+00,-6.49594156e-02,
 -9.44397597e-03,-5.29179646e-03]


--- Step 1823 ---
qpos:
[ 0.00988838, 0.00808542,-0.00558757, 0.03349719, 0.00605313,-0.02159501,
 -0.01683771, 0.03789043, 0.01301853, 0.00596363,-0.01172576, 0.0340626 ,
  0.81132492,-0.01585571, 1.13979738, 0.04611078, 0.09484126,-0.06351295,
  0.14254478, 0.94253843,-0.03280345, 0.02818593, 0.33128657]

qacc:
[-5.52962321e+00, 4.13884087e-01,-1.67327753e+00, 2.00123982e+00,
  3.40101712e+00, 2.39288887e-01,-3.27771675e-01,-3.16573345e+00,
 -5.05157028e+00,-1.08695502e+00, 6.42528642e+00,-1.41987380e+01,
  1.99677908e+00, 2.55570129e-02, 7.38682784e+00,-2.47142724e+01,
 -8.79973530e-03,-2.30871213e-02, 9.11422487e-04, 5.28201653e-01,
 -1.11492573e-01, 1.12534507e+00]

qfrc_actuator:
[ 1.10500539e-05, 2.19240517e-04, 8.84871365e-06, 5.49463353e-05,
 -2.57157436e-03, 2.45594699e-02, 1.00537780e-02, 1.31930874e-03,
 -1.63214412e-05, 1.17211807e-04,-8.12024078e-05,-4.18128299e-05,
  4.99666794e-02, 2.00667067e-02, 2.05815437e-03,-2.27627801e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71228296, -0.60981565, -0.36806506, -0.60981565,  1.08645658,
       -0.61993639, -0.36806506, -0.61993639,  1.73940276,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.0932584658830625e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99243860e-01,  6.04984595e-03, -3.84071271e-02,  6.04538205e-03,
        9.99981700e-01,  2.32361455e-04,  3.84078300e-02, -2.71050543e-20,
       -9.99262147e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13150394, -0.08309552,  0.17464651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24887646, -0.24508965,  0.04324993, -0.24508965,  0.32362762,
        0.42360145,  0.04324993,  0.42360145,  2.64935031,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003817467843218802
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85662358e-01, -1.68669192e-01,  4.51891405e-03, -1.68667419e-01,
        9.85672716e-01,  7.73280592e-04, -4.58459890e-03,  0.00000000e+00,
       -9.99989491e-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([ 0.1309092 , -0.08202419,  0.1315947 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29507274,   6.67907246,   2.9339525 ,   6.67907246,
        17.09935066, -22.3192034 ,   2.9339525 , -22.3192034 ,
        58.10420366,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.803344506301349e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78740259e-01,  1.10901811e-01, -1.72534905e-01,  1.09217792e-01,
        9.93831368e-01,  1.92531994e-02,  1.73605816e-01, -3.46944695e-18,
       -9.84815222e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329797, -0.05390172,  0.29658754])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004914504691250439
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28613196, -0.91172774, -0.29475589, -0.08826026, -0.28123151,
        0.95557258, -0.95411667,  0.29943509,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485514, -0.03598275,  0.30481192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043685599729774427
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.81209036e-13, -9.92731865e-14,  1.00000000e+00, -3.78438358e-26,
        1.00000000e+00,  9.92731865e-14, -1.00000000e+00,  0.00000000e+00,
       -3.81209036e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05322964, -0.06093364,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.24134393e-05,-2.18872934e-05,-1.68866058e-05,-1.75070155e-06,
 -2.49062705e-03, 2.65072008e-02, 1.02887975e-02, 1.27185463e-03,
 -2.95456659e-05, 6.25914740e-05, 3.13854724e-05,-1.66348505e-05,
  5.24836073e-02, 2.13636153e-02, 1.29857568e-02,-1.10235186e-04,
 -1.85521710e-06, 1.15171044e-06,-9.80999927e+00,-6.49586688e-02,
 -9.44445243e-03,-5.29124752e-03]


--- Step 1824 ---
qpos:
[ 0.00988828, 0.00808467,-0.00558758, 0.03349706, 0.00605231,-0.02161506,
 -0.0168344 , 0.03789166, 0.01301758, 0.00596425,-0.01172502, 0.03406142,
  0.81134331,-0.01584769, 1.13977437, 0.04610394, 0.09484196,-0.06351258,
  0.14254512, 0.94253234,-0.03279434, 0.02818533, 0.33130485]

qacc:
[-2.90533006e-01,-2.50406032e+00, 1.00796209e+01,-1.72913436e+01,
  3.37549597e+00, 2.28550929e-01,-2.08191736e-01,-3.36374405e+00,
 -6.03523836e+00,-2.93518406e+00, 9.56160156e+00,-8.34268713e+00,
  1.92326301e+00,-5.92191632e-02, 7.34439915e+00,-2.80937665e+01,
 -8.01245738e-03,-1.96121794e-02,-9.52656138e-04, 4.36622259e-01,
 -1.27105892e-01, 9.35386303e-01]

qfrc_actuator:
[ 1.01524619e-05, 2.17425454e-04, 3.93173080e-05, 3.71778788e-05,
 -2.54325682e-03, 2.45572532e-02, 1.00667392e-02, 1.31009507e-03,
 -5.10321990e-05, 9.88012216e-05,-2.71251172e-05,-3.30483196e-05,
  4.99818387e-02, 2.00827775e-02, 2.03212424e-03,-2.44567895e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71228721, -0.58389212, -0.40794982, -0.58389212,  1.16077064,
       -0.64190723, -0.40794982, -0.64190723,  1.63103887,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.518866055760657e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99243247e-01,  6.04862588e-03, -3.84232548e-02,  6.04415913e-03,
        9.99981707e-01,  2.32412145e-04,  3.84239577e-02,  2.71050543e-20,
       -9.99261527e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13150518, -0.08309415,  0.17464612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24883019, -0.24516742,  0.04253705, -0.24516742,  0.32043417,
        0.41269824,  0.04253705,  0.41269824,  2.62746652,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000381556445089376
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85657392e-01, -1.68698053e-01,  4.52470945e-03, -1.68696275e-01,
        9.85667777e-01,  7.74408671e-04, -4.59050154e-03,  1.08420217e-19,
       -9.99989464e-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([ 0.13091104, -0.08202455,  0.13159482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29600226,   6.55837422,   3.19677597,   6.55837422,
        19.53707133, -25.11327424,   3.19677597, -25.11327424,
        58.81736366,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.9510231133705416e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78745016e-01,  1.10870972e-01, -1.72527740e-01,  1.09187573e-01,
        9.93834809e-01,  1.92469795e-02,  1.73598005e-01, -3.46944695e-18,
       -9.84816599e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132984 , -0.05390244,  0.29658781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004908688679681402
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28842498, -0.9113095 , -0.2938129 , -0.08865599, -0.28011807,
        0.95586295, -0.9533893 ,  0.30174302,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485484, -0.03598397,  0.30481333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004362393523818092
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27249298e-13, -1.31225838e-13,  1.00000000e+00, -1.66983958e-26,
        1.00000000e+00,  1.31225838e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27249298e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05322959, -0.06093332,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82587681e-06,-1.76050362e-05, 2.38197854e-05,-1.93216161e-05,
 -2.48239510e-03, 2.65193321e-02, 1.03220666e-02, 1.27524182e-03,
 -3.55277003e-05, 2.23314131e-05, 7.02965512e-05, 1.22123901e-05,
  5.22768283e-02, 2.12866095e-02, 1.29303877e-02,-1.70772760e-04,
 -2.45298446e-06, 1.48475079e-06,-9.80999907e+00,-6.49577778e-02,
 -9.44494298e-03,-5.29064835e-03]


--- Step 1825 ---
qpos:
[ 0.00988817, 0.00808372,-0.0055875 , 0.03349674, 0.00605181,-0.02163497,
 -0.01683122, 0.03789273, 0.01301691, 0.00596449,-0.01172396, 0.03406045,
  0.81136369,-0.01583904, 1.13975597, 0.04609724, 0.09484261,-0.06351226,
  0.14254547, 0.94252595,-0.03278489, 0.02818495, 0.33132401]

qacc:
[-8.34130980e-02,-8.93651494e-01, 3.59908471e+00,-6.84667700e+00,
  2.64694872e+00, 1.75596976e-01, 3.67792851e-01,-3.19812354e+00,
  2.49217882e+00,-9.56187758e-01, 1.81131685e+00, 1.54407136e+00,
  9.24325310e-01,-1.55033958e-01, 6.35964677e+00,-1.23981626e+01,
 -9.76102137e-03,-9.30921255e-03, 2.22951529e-03, 1.75435320e-01,
  3.78873084e-02, 4.71184599e-01]

qfrc_actuator:
[ 9.67560163e-06, 1.99024533e-04, 3.95464102e-05, 2.67973299e-05,
 -2.54393076e-03, 2.45818377e-02, 1.00556697e-02, 1.30422333e-03,
 -3.55580340e-05, 3.43135377e-05,-3.11584580e-05,-2.74201435e-05,
  4.99900465e-02, 2.00526833e-02, 2.03336885e-03,-2.36527755e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71229234, -0.64905481, -0.29340797, -0.64905481,  0.88239361,
       -0.37628509, -0.29340797, -0.37628509,  1.54468161,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.998516559559979e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99242609e-01,  6.04780409e-03, -3.84399946e-02,  6.04333406e-03,
        9.99981712e-01,  2.32481808e-04,  3.84406976e-02,  0.00000000e+00,
       -9.99260883e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13150645, -0.08309275,  0.17464563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24878246, -0.24520365,  0.04204616, -0.24520365,  0.31931719,
        0.41134256,  0.04204616,  0.41134256,  2.64763901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003813599363162675
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85651854e-01, -1.68730231e-01,  4.53128049e-03, -1.68728448e-01,
        9.85662269e-01,  7.75685576e-04, -4.59719382e-03, -1.08420217e-19,
       -9.99989433e-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([ 0.13091292, -0.08202495,  0.13159495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29705095,   6.45147331,   3.40961062,   6.45147331,
        21.76555667, -27.37649218,   3.40961062, -27.37649218,
        59.09730861,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.111232119654084e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875034,  0.1108369 , -0.1725194 ,  0.1091542 ,  0.99383861,
        0.01924006,  0.17358895,  0.        , -0.98481819])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329885, -0.05390337,  0.2965881 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004902588424519832
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.29102036, -0.91082959, -0.29273984, -0.08909638, -0.27885203,
        0.95619213, -0.95255918,  0.30435343,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048544 , -0.03598543,  0.30481478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043556862904546
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06950050e-06,  1.06950033e-06,  1.00000000e+00,  1.14383114e-12,
        1.00000000e+00, -1.06950033e-06, -1.00000000e+00,  0.00000000e+00,
       -1.06950050e-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([ 0.05364993, -0.0615197 ,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.32783794e-07,-2.41263428e-05,-1.13293021e-06,-1.06847831e-05,
 -2.50300509e-03, 2.65562379e-02, 1.03301804e-02, 1.28200803e-03,
  1.44712235e-05,-3.69997206e-05, 9.64767632e-06, 9.25591947e-06,
  5.20759997e-02, 2.11708367e-02, 1.29845293e-02, 5.79700889e-05,
 -3.01588839e-06, 1.80196283e-06,-9.80999886e+00,-6.49567699e-02,
 -9.44545029e-03,-5.28999907e-03]


--- Step 1826 ---
qpos:
[ 0.00988806, 0.00808266,-0.00558772, 0.03349632, 0.00605174,-0.02165481,
 -0.01682815, 0.03789364, 0.01301643, 0.00596479,-0.01172392, 0.03405958,
  0.81138535,-0.0158301 , 1.13974997, 0.04609487, 0.09484323,-0.06351193,
  0.14254583, 0.94251925,-0.03277528, 0.02818472, 0.33134403]

qacc:
[-4.97796227e-02, 4.67524460e-01,-1.44399239e+00, 1.85056997e-01,
  3.70540574e+00, 9.57864543e-02, 4.42595042e-01,-3.02589742e+00,
  1.64010341e+00, 3.13357382e+00,-1.15215522e+01, 1.50237887e+01,
  5.21572537e-01,-8.18851023e-02, 5.21294805e+00, 8.33010338e+00,
 -9.55695782e-03,-4.20641834e-04, 1.31103779e-03, 8.56789796e-02,
  3.01576589e-02, 4.62839843e-01]

qfrc_actuator:
[ 9.44016314e-06, 1.88481359e-04, 2.18469109e-05, 2.08094170e-05,
 -2.54432040e-03, 2.46044586e-02, 1.00300707e-02, 1.31812657e-03,
 -2.61739179e-05, 3.12545772e-05,-8.74472404e-05,-2.37773219e-05,
  4.99781521e-02, 2.00307863e-02, 2.06115715e-03,-2.04815518e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71229816, -0.66124312, -0.26481354, -0.66124312,  0.84553701,
       -0.33269926, -0.26481354, -0.33269926,  1.54305289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.505583960605898e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99241969e-01,  6.04729475e-03, -3.84566989e-02,  6.04282121e-03,
        9.99981715e-01,  2.32563246e-04,  3.84574021e-02,  2.71050543e-20,
       -9.99260240e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13150772, -0.08309134,  0.1746451 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038116507884594116
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85646027e-01, -1.68764072e-01,  4.53842989e-03, -1.68762283e-01,
        9.85656476e-01,  7.77069830e-04, -4.60447428e-03, -1.08420217e-19,
       -9.99989399e-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([ 0.1309148 , -0.08202537,  0.13159508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.2779604112559136e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78755995e-01,  1.10801136e-01, -1.72510321e-01,  1.09119167e-01,
        9.93842597e-01,  1.92327634e-02,  1.73579118e-01,  3.46944695e-18,
       -9.84819928e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329931, -0.05390438,  0.29658839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048973141995766
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.93619133e-01, -9.10342327e-01, -2.91658452e-01, -8.95289963e-02,
       -2.77577397e-01,  9.56522528e-01, -9.51720738e-01,  3.06965204e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485392, -0.035987  ,  0.30481608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043488412733479773
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.21667774e-07, -2.21667973e-07,  1.00000000e+00,  4.91366461e-14,
        1.00000000e+00,  2.21667973e-07, -1.00000000e+00,  6.31088724e-30,
        2.21667774e-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([ 0.05364967, -0.06151955,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55572122e-07,-2.46925182e-05,-2.31814048e-05,-7.26623015e-06,
 -2.51902879e-03, 2.65719357e-02, 1.03106112e-02, 1.30436714e-03,
  9.78341125e-06,-2.13757888e-05,-6.24371303e-05, 2.56974982e-06,
  5.19644011e-02, 2.11170185e-02, 1.27815229e-02, 3.67947590e-04,
 -3.30206515e-06, 1.94478646e-06,-9.80999880e+00,-6.49556827e-02,
 -9.44589186e-03,-5.28935044e-03]


--- Step 1827 ---
qpos:
[ 0.00988759, 0.00808171,-0.00558799, 0.03349578, 0.00604677,-0.02166802,
 -0.01682033, 0.03789739, 0.01301641, 0.0059652 ,-0.01172409, 0.03405906,
  0.81133743,-0.01585375, 1.13970042, 0.04610223, 0.09484459,-0.0635089 ,
  0.14254564, 0.94252959,-0.03279428, 0.02817366, 0.33131366]

qacc:
[-3.04863570e+00, 6.13849173e-02, 4.69841902e-01,-2.43867705e+00,
 -4.15378539e+01, 1.37548583e+00,-4.05358718e+00, 4.05524880e+01,
  4.04767918e+00, 1.42908646e+00,-6.33264809e+00, 1.24402561e+01,
 -2.88204283e+01,-5.96472199e+00,-9.28625560e+01, 2.33327125e+02,
  1.84933768e-01, 6.78547914e-01,-1.35005279e-01,-1.42918192e+01,
  2.29172512e-01,-2.71488035e+01]

qfrc_actuator:
[-8.40435199e-06, 2.18154472e-04, 2.92473186e-05, 1.74495329e-05,
 -2.50928388e-03, 2.46081735e-02, 1.00135586e-02, 1.30844700e-03,
 -2.71252396e-06, 6.47611821e-05,-8.51283426e-05,-3.56107166e-06,
  4.99648414e-02, 2.00494008e-02, 2.07205119e-03,-2.16132469e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71230459, -0.49441424,  0.51276933, -0.49441424,  0.38588318,
       -0.31473683,  0.51276933, -0.31473683,  0.40883407,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.028298762327276e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99241324e-01,  6.04722236e-03, -3.84734590e-02,  6.04274497e-03,
        9.99981715e-01,  2.32661816e-04,  3.84741625e-02,  0.00000000e+00,
       -9.99259595e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13150898, -0.08308985,  0.17464455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003809720008909251
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85639927e-01, -1.68799490e-01,  4.54595161e-03, -1.68797694e-01,
        9.85650411e-01,  7.78525837e-04, -4.61213384e-03, -1.08420217e-19,
       -9.99989364e-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([ 0.13091668, -0.08202581,  0.13159522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.446481178393926e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97876192,  0.11076364, -0.17250076,  0.10908244,  0.99384678,
        0.01922511,  0.17356877,  0.        , -0.98482175])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329976, -0.05390545,  0.29658868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.34565255,  1.26821351, -0.44990585,  1.26821351,  1.83186524,
        1.37055674, -0.44990585,  1.37055674,  5.20903543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004893583228475747
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.95894660e-01, -9.09911542e-01, -2.90701455e-01, -8.98994219e-02,
       -2.76451497e-01,  9.56813808e-01, -9.50980780e-01,  3.09249989e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485351, -0.03598868,  0.30481714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.30978678, -6.52689689,  7.98068421, -6.52689689, 64.24425677,
       44.109592  ,  7.98068421, 44.109592  , 46.38423242,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004355197963688412
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54919072e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.54919072e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08728982, -0.10843556,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78555078e-05, 1.08072563e-05,-7.90698359e-07,-5.35764025e-06,
 -2.50585691e-03, 2.65730132e-02, 1.03004014e-02, 1.30264871e-03,
  2.37352842e-05, 8.75843853e-06,-9.70104311e-06, 1.71906279e-05,
  5.18876507e-02, 2.11208302e-02, 1.21728568e-02, 3.84475627e-05,
 -3.57149574e-06, 2.08839041e-06,-9.80999876e+00,-6.49545667e-02,
 -9.44631060e-03,-5.28870732e-03]


--- Step 1828 ---
qpos:
[ 0.00988726, 0.00808109,-0.00558832, 0.03349518, 0.00604181,-0.02168174,
 -0.01681315, 0.03790082, 0.01301701, 0.00596611,-0.01172447, 0.03405872,
  0.81130072,-0.01587168, 1.13963992, 0.04610103, 0.09484578,-0.06350652,
  0.14254559, 0.94253658,-0.03280717, 0.02816518, 0.33129324]

qacc:
[ 1.17281302e+00, 4.64960833e-01,-7.23730580e-01,-6.02004424e-01,
  9.30048234e-02, 4.88097886e-01,-1.35801084e+00,-2.74107065e+00,
  5.49162285e+00, 1.61211632e+00,-5.62635796e+00, 8.94200820e+00,
  4.65201883e+00, 1.26188032e+00, 9.51364493e+00,-5.71239992e+01,
 -4.24979551e-02,-1.65848111e-01, 3.18900865e-02, 3.11527842e+00,
  8.13290386e-02, 5.36949656e+00]

qfrc_actuator:
[-9.64924034e-07, 2.54032055e-04, 3.38301688e-05, 1.57170876e-05,
 -2.50108696e-03, 2.46294690e-02, 1.00154201e-02, 1.26393125e-03,
  2.88482035e-05, 1.20145068e-04,-8.35369562e-05, 8.57741361e-06,
  4.99676634e-02, 2.01073364e-02, 2.10402561e-03,-2.29126385e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71228517, -0.687211  , -0.18732645, -0.687211  ,  0.83446612,
       -0.4482234 , -0.18732645, -0.4482234 ,  2.3566021 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.3176121301699276e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99241147e-01,  6.04225612e-03, -3.84788485e-02,  6.03778116e-03,
        9.99981745e-01,  2.32503302e-04,  3.84795509e-02,  2.71050543e-20,
       -9.99259388e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13150932, -0.08308894,  0.17464711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24862209, -0.03667157,  0.2459027 , -0.03667157,  0.7008577 ,
        0.06744208,  0.2459027 ,  0.06744208,  0.25867976,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003806984635569682
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85650462e-01, -1.68738659e-01,  4.52020611e-03, -1.68736885e-01,
        9.85660826e-01,  7.73829596e-04, -4.58596506e-03,  0.00000000e+00,
       -9.99989484e-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([ 0.13091743, -0.08202509,  0.13159493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29642204, -1.53797407,  7.13248978, -1.53797407, 32.08275762,
        5.34466119,  7.13248978,  5.34466119,  8.44888781,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.015926044125068e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78748809e-01,  1.10819517e-01, -1.72539280e-01,  1.09136692e-01,
        9.93840548e-01,  1.92392227e-02,  1.73608614e-01, -3.46944695e-18,
       -9.84814728e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329855, -0.05390304,  0.29658791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.34963456, -0.80500185,  1.08327534, -0.80500185,  3.88946626,
        1.88739571,  1.08327534,  1.88739571,  2.75219307,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004914725524150901
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.88980345e-01, -9.11194387e-01, -2.93624164e-01, -8.87642571e-02,
       -2.79885792e-01,  9.55920943e-01, -9.53211029e-01,  3.02305695e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485325, -0.03598337,  0.30481378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.3146442 , -5.91468296,  8.45034973, -5.91468296, 17.8969413 ,
        5.30710383,  8.45034973,  5.30710383, 14.02926402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043592222444785445
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27341870e-13, -3.97943344e-15,  1.00000000e+00, -5.06748495e-28,
        1.00000000e+00,  3.97943344e-15, -1.00000000e+00,  0.00000000e+00,
       -1.27341870e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05323383, -0.06092954,  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:
[ 6.93815690e-06, 4.15624875e-05, 6.54928940e-06,-1.39618506e-06,
 -2.25264909e-03, 2.62636397e-02, 1.00644188e-02, 1.11619976e-03,
  3.22391423e-05, 5.90110448e-05, 2.79785415e-06, 1.25123926e-05,
  5.53695246e-02, 2.28087903e-02, 1.43827304e-02,-5.77717769e-04,
 -1.03793019e-05, 3.32518732e-06,-9.80999700e+00,-6.49567186e-02,
 -9.44852621e-03,-5.28870569e-03]


--- Step 1829 ---
qpos:
[ 0.00988703, 0.00808077,-0.0055883 , 0.03349419, 0.00603708,-0.02169617,
 -0.01680667, 0.03790393, 0.0130173 , 0.00596754,-0.01172541, 0.03405821,
  0.81127394,-0.0158847 , 1.13958067, 0.04609707, 0.09484685,-0.06350464,
  0.14254564, 0.94254071,-0.03281507, 0.02815871, 0.33128125]

qacc:
[ 8.09130612e-01,-1.37163569e+00, 7.07935695e+00,-1.45010903e+01,
  1.88762495e+00, 3.15364237e-01,-1.14291886e+00,-2.82123984e+00,
 -2.80729997e+00, 1.93308565e+00,-5.13148148e+00, 2.60021339e+00,
  4.05298301e+00, 1.08993152e+00, 1.01060017e+01,-3.29192965e+01,
 -3.02497375e-02,-1.24824945e-01, 2.62213925e-02, 2.51862721e+00,
  2.72083583e-02, 4.54919500e+00]

qfrc_actuator:
[ 3.54950445e-06, 2.75601144e-04, 5.44981056e-05,-2.79227776e-06,
 -2.52969890e-03, 2.46302802e-02, 9.99630045e-03, 1.25379262e-03,
  1.16612742e-05, 1.34961133e-04,-1.17814896e-04,-1.87447534e-06,
  4.99700721e-02, 2.01458323e-02, 2.15793526e-03,-2.27485545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227419, -0.67458103, -0.22863716, -0.67458103,  0.89741287,
       -0.54624123, -0.22863716, -0.54624123,  2.32392812,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.103215550883666e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99240925e-01,  6.03730193e-03, -3.84853823e-02,  6.03282911e-03,
        9.99981775e-01,  2.32352107e-04,  3.84860837e-02,  0.00000000e+00,
       -9.99259136e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13150981, -0.08308803,  0.174649  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003804791504460963
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85657673e-01, -1.68697032e-01,  4.50138195e-03, -1.68695273e-01,
        9.85667952e-01,  7.70411348e-04, -4.56683404e-03, -1.08420217e-19,
       -9.99989572e-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([ 0.13091831, -0.08202459,  0.13159474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29456579,  7.28419128,  0.38890546,  7.28419128,  7.36659573,
       -1.34911926,  0.38890546, -1.34911926, 32.56354182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7203185885041845e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78739639e-01,  1.10857131e-01, -1.72567135e-01,  1.09173173e-01,
        9.93836353e-01,  1.92489412e-02,  1.73637374e-01, -3.46944695e-18,
       -9.84809658e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329774, -0.05390122,  0.2965874 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004926507225275733
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28469025, -0.91195593, -0.29544515, -0.08804051, -0.28202253,
        0.9553597 , -0.95456814,  0.29799273,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485302, -0.03597945,  0.30481209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004371255405389435
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26991324e-13, -1.30959803e-13,  1.00000000e+00, -1.66307588e-26,
        1.00000000e+00,  1.30959803e-13, -1.00000000e+00,  0.00000000e+00,
       -1.26991324e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05323774, -0.06092695,  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:
[ 4.72881325e-06, 4.61351819e-05, 3.00240966e-05,-1.65256806e-05,
 -2.28187681e-03, 2.62898558e-02, 1.00776260e-02, 1.12195179e-03,
 -1.62481579e-05, 4.89148403e-05,-2.13172334e-05,-7.58440820e-06,
  5.48109812e-02, 2.25612824e-02, 1.49860318e-02,-1.33431294e-04,
 -4.81435843e-06, 1.38192699e-06,-9.80999864e+00,-6.49587344e-02,
 -9.44784295e-03,-5.28863351e-03]


--- Step 1830 ---
qpos:
[ 0.00988685, 0.00808059,-0.00558795, 0.033493  , 0.00603275,-0.02171148,
 -0.01680097, 0.03790669, 0.01301704, 0.00596893,-0.01172624, 0.03405726,
  0.81125606,-0.01589341, 1.13952441, 0.04609117, 0.09484783,-0.06350315,
  0.14254577, 0.94254244,-0.03281887, 0.02815381, 0.33127638]

qacc:
[ 5.00929259e-01,-1.14359588e+00, 5.15104419e+00,-9.11054758e+00,
  3.35660386e+00, 3.29108415e-01,-1.41363956e+00,-2.60282736e+00,
 -4.85454122e+00,-1.30783252e+00, 6.45330255e+00,-1.42631388e+01,
  3.65080469e+00, 9.09448120e-01, 1.01758906e+01,-2.94233283e+01,
 -2.15884245e-02,-9.55842939e-02, 2.07177164e-02, 2.05198909e+00,
 -2.66256915e-02, 3.84010882e+00]

qfrc_actuator:
[ 6.29807731e-06, 2.70739991e-04, 6.66835686e-05,-1.32712869e-05,
 -2.52735445e-03, 2.46369732e-02, 9.94714562e-03, 1.26441371e-03,
 -1.63298925e-05, 1.07456602e-04,-1.19907874e-04,-2.55889319e-05,
  4.99772718e-02, 2.01179422e-02, 2.12843668e-03,-2.35052737e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226823, -0.66807505, -0.24698535, -0.66807505,  0.97441312,
       -0.70908037, -0.24698535, -0.70908037,  2.63027231,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.302603613632478e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99240648e-01,  6.03257083e-03, -3.84933282e-02,  6.02809967e-03,
        9.99981804e-01,  2.32217954e-04,  3.84940286e-02, -2.71050543e-20,
       -9.99258830e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13151044, -0.08308707,  0.17465034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003803072934333191
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85662093e-01, -1.68671563e-01,  4.48801570e-03, -1.68669814e-01,
        9.85672311e-01,  7.68004349e-04, -4.55325329e-03, -1.08420217e-19,
       -9.99989634e-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([ 0.13091934, -0.08202429,  0.13159461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29346765,  7.26164097,  0.68061802,  7.26164097,  7.55493674,
       -2.78966264,  0.68061802, -2.78966264, 37.05690035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.5337478947114936e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78733742e-01,  1.10879185e-01, -1.72586407e-01,  1.09194505e-01,
        9.93833893e-01,  1.92549684e-02,  1.73657196e-01, -3.46944695e-18,
       -9.84806163e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329726, -0.05389991,  0.29658709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004932122374972626
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82211839e-01, -9.12380902e-01, -2.96508966e-01, -8.76185404e-02,
       -2.83267645e-01,  9.55030069e-01, -9.55342593e-01,  2.95500475e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485284, -0.03597672,  0.3048115 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043787557150400114
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26773803e-13, -3.96168133e-15,  1.00000000e+00,  5.02237406e-28,
        1.00000000e+00,  3.96168133e-15, -1.00000000e+00,  0.00000000e+00,
        1.26773803e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05324067, -0.06092493,  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:
[ 2.90006960e-06, 2.64477511e-05, 2.48473162e-05,-7.78212951e-06,
 -2.29071227e-03, 2.63329836e-02, 1.00632217e-02, 1.14878658e-03,
 -2.84312910e-05,-4.92392619e-06, 5.11922485e-06,-2.25026637e-05,
  5.43221972e-02, 2.22885683e-02, 1.48948662e-02,-7.03872725e-05,
 -1.79669522e-06, 3.85911418e-07,-9.80999948e+00,-6.49600447e-02,
 -9.44765219e-03,-5.28845422e-03]


--- Step 1831 ---
qpos:
[ 0.00988704, 0.00808038,-0.00558767, 0.03349244, 0.00602906,-0.02172785,
 -0.01679606, 0.03790912, 0.01301679, 0.00596995,-0.01172607, 0.03405602,
  0.81124582,-0.01589843, 1.13947618, 0.04608597, 0.09484875,-0.06350193,
  0.14254597, 0.94254205,-0.03281933, 0.0281501 , 0.33127776]

qacc:
[ 3.32940322e+00, 1.41453977e+00,-7.73665152e+00, 1.86537205e+01,
  5.52675827e+00, 1.07528708e-01,-1.01713083e+00,-2.72153273e+00,
  1.39396292e-01,-3.85655422e+00, 1.42757256e+01,-2.06635842e+01,
  3.05746327e+00, 8.71682623e-01, 9.63450855e+00,-1.66537615e+01,
 -1.52077620e-02,-6.67798627e-02, 1.66732116e-02, 1.64967700e+00,
 -6.17932990e-02, 3.36041547e+00]

qfrc_actuator:
[ 2.57385329e-05, 2.50061624e-04, 5.59034705e-05, 1.65350174e-05,
 -2.50669880e-03, 2.46653894e-02, 9.96910223e-03, 1.26988597e-03,
 -1.49355496e-05, 9.04255944e-05,-6.76526804e-05,-3.91732101e-05,
  4.99870802e-02, 2.01021004e-02, 2.09662420e-03,-2.25038263e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226526, -0.64797329, -0.29572354, -0.64797329,  1.0736324 ,
       -0.79180797, -0.29572354, -0.79180797,  2.44723165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.841400278319245e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99240304e-01,  6.02823584e-03, -3.85029315e-02,  6.02376567e-03,
        9.99981830e-01,  2.32108969e-04,  3.85036311e-02,  0.00000000e+00,
       -9.99258460e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1315112 , -0.08308602,  0.17465123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003801654391619052
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85664168e-01, -1.68659676e-01,  4.47911303e-03, -1.68657935e-01,
        9.85674345e-01,  7.66425299e-04, -4.54421184e-03, -1.08420217e-19,
       -9.99989675e-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([ 0.13092054, -0.08202415,  0.13159453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29291014,  7.22391842,  1.00077018,  7.22391842,  7.95107418,
       -4.75086435,  1.00077018, -4.75086435, 41.58635457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4351314685636954e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873056,  0.11088806, -0.17259878,  0.10920299,  0.9938329 ,
        0.01925791,  0.17366982,  0.        , -0.98480394])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329703, -0.05389905,  0.29658694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004933342950586002
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28113663, -0.91255669, -0.29698904, -0.0874397 , -0.28382528,
        0.95488089, -0.95567594,  0.29442062,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485267, -0.03597495,  0.30481169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043826309510278105
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.79985118e-13, -3.56236048e-14,  1.00000000e+00, -1.35364396e-26,
        1.00000000e+00,  3.56236048e-14, -1.00000000e+00,  0.00000000e+00,
       -3.79985118e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05324281, -0.06092335,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95320871e-05,-1.08271914e-06,-2.52508853e-06, 3.16500540e-05,
 -2.28989602e-03, 2.64055478e-02, 1.01245513e-02, 1.17139455e-03,
  5.88580321e-07,-1.97406771e-05, 5.10864443e-05,-1.40541322e-05,
  5.38867282e-02, 2.20569274e-02, 1.47147600e-02, 1.27126042e-04,
 -4.17206017e-07, 7.95589433e-09,-9.80999984e+00,-6.49607849e-02,
 -9.44777453e-03,-5.28817691e-03]


--- Step 1832 ---
qpos:
[ 0.00988713, 0.0080799 ,-0.00558739, 0.03349262, 0.00602613,-0.02174526,
 -0.01679184, 0.03791124, 0.01301656, 0.00597078,-0.01172562, 0.03405534,
  0.81124225,-0.01590023, 1.13943499, 0.0460812 , 0.09484963,-0.06350089,
  0.14254622, 0.94253986,-0.03281707, 0.0281473 , 0.33128443]

qacc:
[-9.88850102e-01, 1.17853426e+00,-7.81722334e+00, 2.07420001e+01,
  6.36294740e+00,-9.00465680e-02,-3.64955967e-01,-3.15897438e+00,
  1.74462947e-01, 1.13502757e-01,-3.13665485e+00, 1.25471020e+01,
  2.65371057e+00, 7.78856302e-01, 9.05557980e+00,-1.67382586e+01,
 -1.11304449e-02,-4.87615376e-02, 1.29252533e-02, 1.32896501e+00,
 -8.29752734e-02, 2.84562295e+00]

qfrc_actuator:
[ 1.93430172e-05, 2.20001597e-04, 4.93574802e-05, 5.20210222e-05,
 -2.49322327e-03, 2.46718689e-02, 1.00162917e-02, 1.25464597e-03,
 -1.40056030e-05, 8.00246977e-05,-5.47108731e-05,-1.11444588e-05,
  4.99822694e-02, 2.01101420e-02, 2.10014229e-03,-2.24190188e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226419, -0.61380421, -0.36133733, -0.61380421,  1.15991541,
       -0.76042573, -0.36133733, -0.76042573,  2.0040004 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.661180202488433e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99239885e-01,  6.02455221e-03, -3.85143818e-02,  6.02008211e-03,
        9.99981852e-01,  2.32036115e-04,  3.85150808e-02,  2.71050543e-20,
       -9.99258019e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1315121 , -0.08308481,  0.17465174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24846461, -0.24633173,  0.03248601, -0.24633173,  0.29045252,
        0.31838177,  0.03248601,  0.31838177,  2.6626585 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038004700286087094
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85664211e-01, -1.68659565e-01,  4.47374702e-03, -1.68657828e-01,
        9.85674364e-01,  7.65506595e-04, -4.53876775e-03,  0.00000000e+00,
       -9.99989700e-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([ 0.13092191, -0.08202416,  0.13159451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29274949,  7.15280232,  1.42183478,  7.15280232,  8.85991991,
       -7.88394009,  1.42183478, -7.88394009, 46.95436542,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.406182571232755e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872966,  0.11088528, -0.17260563,  0.10920013,  0.99383321,
        0.01925818,  0.17367665,  0.        , -0.98480273])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.113297  , -0.05389857,  0.29658691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000493197496008429
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80992557e-01, -9.12571820e-01, -2.97078872e-01, -8.74238829e-02,
       -2.83924146e-01,  9.54852944e-01, -9.55719754e-01,  2.94278359e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485252, -0.03597399,  0.30481236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004383603576239292
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.79900807e-13,  2.77011005e-14,  1.00000000e+00,  1.05236704e-26,
        1.00000000e+00, -2.77011005e-14, -1.00000000e+00,  0.00000000e+00,
       -3.79900807e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05324434, -0.06092212,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.84014774e-06,-2.98191709e-05,-5.98622975e-06, 3.59684552e-05,
 -2.30903444e-03, 2.64654917e-02, 1.02113606e-02, 1.17293073e-03,
  9.41453412e-07,-1.15263193e-05, 1.46589117e-05, 2.86768642e-05,
  5.34996939e-02, 2.18805494e-02, 1.43175602e-02, 1.00346347e-04,
 -6.97212635e-08, 3.39254658e-08,-9.80999989e+00,-6.49610703e-02,
 -9.44809077e-03,-5.28781294e-03]


--- Step 1833 ---
qpos:
[ 0.00988679, 0.00807876,-0.00558669, 0.03349324, 0.00602402,-0.02176366,
 -0.01678826, 0.03791305, 0.01301599, 0.00597161,-0.01172564, 0.03405537,
  0.81124464,-0.01589916, 1.13939881, 0.04607601, 0.09485047,-0.06350001,
  0.1425465 , 0.94253617,-0.03281257, 0.02814518, 0.33129558]

qacc:
[-3.67632896e+00,-1.11103031e+00, 8.18099402e-01, 6.71460819e+00,
  6.97316396e+00,-1.75015061e-01,-8.43164636e-03,-3.54261923e+00,
 -2.93467261e+00, 2.81050381e+00,-1.30118376e+01, 2.61141708e+01,
  2.38067525e+00, 6.74393648e-01, 8.59990845e+00,-1.94714834e+01,
 -8.52316498e-03,-3.65294660e-02, 9.32124404e-03, 1.07856987e+00,
 -1.06014867e-01, 2.39962592e+00]

qfrc_actuator:
[-2.21311308e-06, 1.66813053e-04, 6.30742511e-05, 7.28011774e-05,
 -2.46666238e-03, 2.46655868e-02, 1.00078288e-02, 1.20933785e-03,
 -3.11183734e-05, 7.35648022e-05,-8.28022752e-05, 2.33609417e-05,
  4.99738254e-02, 2.00960031e-02, 2.09803014e-03,-2.28841274e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226447, -0.58238208, -0.41006315, -0.58238208,  1.24279528,
       -0.75347329, -0.41006315, -0.75347329,  1.78236634,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.710441632380726e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99239394e-01,  6.02161818e-03, -3.85275589e-02,  6.01714719e-03,
        9.99981870e-01,  2.32002455e-04,  3.85282574e-02, -5.42101086e-20,
       -9.99257511e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13151311, -0.08308345,  0.17465196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24844085, -0.24564282,  0.03718146, -0.24564282,  0.30244566,
        0.35678779,  0.03718146,  0.35678779,  2.6055929 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037994857911912637
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85662545e-01, -1.68669372e-01,  4.47113342e-03, -1.68667637e-01,
        9.85672685e-01,  7.65105170e-04, -4.53612389e-03,  2.16840434e-19,
       -9.99989712e-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([ 0.13092345, -0.08202428,  0.13159451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29289461,   7.05662306,   1.8412992 ,   7.05662306,
        10.30216846, -11.53278689,   1.8412992 , -11.53278689,
        51.49132248,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.432344072874207e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78730670e-01,  1.10872591e-01, -1.72608066e-01,  1.09187588e-01,
        9.93834628e-01,  1.92562253e-02,  1.73678860e-01,  3.46944695e-18,
       -9.84802342e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329711, -0.05389843,  0.29658698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000492892276937552
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28156357, -0.9124644 , -0.29686811, -0.08753338, -0.28366985,
        0.95491849, -0.95554166,  0.29485613,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485236, -0.03597368,  0.30481333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004382280180236786
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53343688e-13, -3.95849513e-15,  1.00000000e+00, -1.00285976e-27,
        1.00000000e+00,  3.95849513e-15, -1.00000000e+00,  0.00000000e+00,
       -2.53343688e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05324539, -0.06092116,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.17329901e-05,-6.95475422e-05, 8.06644348e-06, 1.99955519e-05,
 -2.32000230e-03, 2.65115664e-02, 1.02376679e-02, 1.14329374e-03,
 -1.70888671e-05,-8.68276722e-06,-2.76882739e-05, 3.50753382e-05,
  5.31578329e-02, 2.17054683e-02, 1.39643434e-02, 3.30768916e-05,
 -3.69215699e-07, 3.16535200e-07,-9.80999976e+00,-6.49609879e-02,
 -9.44852892e-03,-5.28737193e-03]


--- Step 1834 ---
qpos:
[ 0.00988655, 0.00807735,-0.00558596, 0.03349408, 0.00602286,-0.02178303,
 -0.01678529, 0.03791456, 0.01301557, 0.00597197,-0.01172519, 0.03405512,
  0.81125204,-0.01589571, 1.13937239, 0.04607298, 0.09485128,-0.06349922,
  0.14254682, 0.94253117,-0.03280629, 0.02814354, 0.33131055]

qacc:
[ 7.86218039e-01,-1.03534849e-02,-1.40944923e+00, 5.35388165e+00,
  8.03896180e+00,-2.31347776e-01, 1.81279604e-01,-3.59762521e+00,
  1.29472537e+00,-2.53815819e+00, 9.31007271e+00,-1.45579300e+01,
  1.94774705e+00, 6.28251527e-01, 7.80411323e+00,-6.48168592e+00,
 -7.23221918e-03,-2.35092692e-02, 6.76074709e-03, 8.44228310e-01,
 -1.08180704e-01, 2.05207606e+00]

qfrc_actuator:
[ 2.99347392e-06, 1.71259996e-04, 7.07771126e-05, 8.47527277e-05,
 -2.45037501e-03, 2.46875275e-02, 9.98395190e-03, 1.19936711e-03,
 -2.32084693e-05, 3.38442921e-05,-6.38581973e-05, 8.11726187e-06,
  4.99736775e-02, 2.00853744e-02, 2.13507488e-03,-2.11871383e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226588, -0.58111952, -0.41185287, -0.58111952,  1.22747374,
       -0.72695219, -0.41185287, -0.72695219,  1.73798682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.943302003189246e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99238836e-01,  6.01950558e-03, -3.85423708e-02,  6.01503272e-03,
        9.99981883e-01,  2.32010220e-04,  3.85430691e-02,  0.00000000e+00,
       -9.99256940e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13151422, -0.08308193,  0.17465194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24841975, -0.24470955,  0.04277391, -0.24470955,  0.31919142,
        0.40488475,  0.04277391,  0.40488475,  2.56476566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003798610981362057
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85659440e-01, -1.68687522e-01,  4.47073531e-03, -1.68685787e-01,
        9.85669579e-01,  7.65121778e-04, -4.53573429e-03, -1.08420217e-19,
       -9.99989714e-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([ 0.13092515, -0.0820245 ,  0.13159455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2932852 ,   6.94369661,   2.23093844,   6.94369661,
        12.21498885, -15.31858357,   2.23093844, -15.31858357,
        54.97169483,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.501781168457526e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78733243e-01,  1.10851520e-01, -1.72607008e-01,  1.09166865e-01,
        9.93836979e-01,  1.92524022e-02,  1.73677386e-01,  3.46944695e-18,
       -9.84802602e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329734, -0.05389858,  0.29658713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004924713375851932
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28271656, -0.91225611, -0.29641211, -0.08774381, -0.28312747,
        0.95506014, -0.95518185,  0.29601965,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485215, -0.03597389,  0.30481451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043791755495542484
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26761649e-13, -1.62413362e-13,  1.00000000e+00,  2.05877856e-26,
        1.00000000e+00,  1.62413362e-13, -1.00000000e+00,  0.00000000e+00,
        1.26761649e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05324605, -0.06092043,  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:
[ 4.56475278e-06,-3.18961698e-05,-4.97280024e-06, 9.64016697e-06,
 -2.34483665e-03, 2.65839287e-02, 1.02459677e-02, 1.14875819e-03,
  7.42341639e-06,-4.88299838e-05, 1.49442928e-05,-1.58923850e-05,
  5.28600815e-02, 2.15515193e-02, 1.37513404e-02, 2.23774082e-04,
 -1.03367075e-06, 7.45231903e-07,-9.80999954e+00,-6.49606075e-02,
 -9.44904163e-03,-5.28685944e-03]


--- Step 1835 ---
qpos:
[ 0.00988671, 0.00807621,-0.00558566, 0.03349468, 0.00602266,-0.02180322,
 -0.01678283, 0.0379158 , 0.0130156 , 0.00597181,-0.01172419, 0.03405504,
  0.8112637 ,-0.01589026, 1.13935607, 0.0460726 , 0.09485207,-0.06349849,
  0.14254715, 0.94252512,-0.03279862, 0.02814226, 0.33132864]

qacc:
[ 3.56815722e+00, 1.05673379e+00,-2.21075735e+00,-1.55785778e+00,
  8.22755016e+00,-2.19071526e-01, 3.37755252e-01,-3.62061857e+00,
  3.92180458e+00,-1.87117360e+00, 4.97100674e+00,-2.58961049e+00,
  1.63633574e+00, 5.34140656e-01, 6.90477812e+00,-2.57097965e+00,
 -6.88421155e-03,-1.65737882e-02, 4.49051645e-03, 6.53864171e-01,
 -1.00962989e-01, 1.67087998e+00]

qfrc_actuator:
[ 2.39157102e-05, 2.10159114e-04, 5.73300533e-05, 7.37023307e-05,
 -2.44070630e-03, 2.47267776e-02, 9.98654873e-03, 1.21070992e-03,
 -6.28745443e-07, 1.01560650e-05,-3.52046488e-05, 1.69908398e-05,
  4.99677253e-02, 2.00761863e-02, 2.19500671e-03,-1.98148044e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226834, -0.58276694, -0.40952276, -0.58276694,  1.19056636,
       -0.68063682, -0.40952276, -0.68063682,  1.68084121,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.319512082782157e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99238211e-01,  6.01833992e-03, -3.85587558e-02,  6.01386413e-03,
        9.99981890e-01,  2.32063902e-04,  3.85594541e-02, -2.71050543e-20,
       -9.99256308e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13151542, -0.08308025,  0.17465172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24839936, -0.24421389,  0.04540727, -0.24421389,  0.32728725,
        0.42428262,  0.04540727,  0.42428262,  2.53031805,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037977654557556825
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85655114e-01, -1.68712762e-01,  4.47212954e-03, -1.68711026e-01,
        9.85665260e-01,  7.65478260e-04, -4.53716868e-03, -1.08420217e-19,
       -9.99989707e-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([ 0.13092699, -0.08202481,  0.13159462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29387288,   6.7626245 ,   2.73267111,   6.7626245 ,
        15.60130517, -20.55865596,   2.73267111, -20.55865596,
        58.17100556,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.603725283534413e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873712,  0.11082322, -0.17260323,  0.10913908,  0.99384014,
        0.019247  ,  0.17367303,  0.        , -0.98480337])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329766, -0.05389897,  0.29658733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004920357341343384
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.84132714e-01, -9.12002115e-01, -2.95839050e-01, -8.79964677e-02,
       -2.82448872e-01,  9.55237801e-01, -9.54738300e-01,  2.97447101e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485194, -0.03597456,  0.30481575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004374705337669843
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26891178e-13, -1.30856527e-13,  1.00000000e+00, -1.66045388e-26,
        1.00000000e+00,  1.30856527e-13, -1.00000000e+00,  0.00000000e+00,
       -1.26891178e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05324641, -0.06091987,  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:
[ 2.10445123e-05, 2.04914429e-05,-2.03084994e-05,-1.24021397e-05,
 -2.38256932e-03, 2.66725036e-02, 1.02788033e-02, 1.17493347e-03,
  2.27752932e-05,-4.86047074e-05, 1.98484085e-05, 6.98715304e-06,
  5.26031594e-02, 2.14230186e-02, 1.33240764e-02, 2.52739622e-04,
 -1.88534653e-06, 1.25187954e-06,-9.80999928e+00,-6.49599912e-02,
 -9.44959407e-03,-5.28628575e-03]


--- Step 1836 ---
qpos:
[ 0.00988712, 0.00807506,-0.00558544, 0.03349515, 0.00602322,-0.02182386,
 -0.01678079, 0.03791678, 0.01301589, 0.00597143,-0.01172298, 0.03405539,
  0.81127946,-0.01588296, 1.1393403 , 0.04607023, 0.09485282,-0.06349786,
  0.14254749, 0.94251834,-0.03278981, 0.02814122, 0.33134886]

qacc:
[ 2.18926605e+00,-2.31368723e-02, 5.76301419e-01,-2.56333196e+00,
  6.36988913e+00, 2.74368114e-02, 1.21379604e-01,-3.62263472e+00,
  2.38858210e+00,-2.28893727e-02,-2.19583222e+00, 9.56453390e+00,
  1.73787330e+00, 2.60219115e-01, 6.73730308e+00,-2.25009363e+01,
 -7.32683100e-03,-2.17255039e-02, 1.69805474e-03, 5.32286648e-01,
 -9.70107036e-02, 1.14607501e+00]

qfrc_actuator:
[ 3.61593275e-05, 1.98282613e-04, 4.94006133e-05, 6.69820026e-05,
 -2.43541028e-03, 2.47411443e-02, 9.98743355e-03, 1.21718467e-03,
  1.26440718e-05, 1.40692902e-05,-1.87372217e-05, 4.00017195e-05,
  4.99581789e-02, 2.00495449e-02, 2.19905317e-03,-2.20236351e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227184, -0.57364454, -0.42221216, -0.57364454,  1.22037834,
       -0.6903461 , -0.42221216, -0.6903461 ,  1.65022037,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.803614347070195e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99237528e-01,  6.01814351e-03, -3.85764768e-02,  6.01366375e-03,
        9.99981891e-01,  2.32162978e-04,  3.85771754e-02,  2.71050543e-20,
       -9.99255624e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1315167 , -0.08307843,  0.17465134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24837837, -0.24359174,  0.04852709, -0.24359174,  0.34094779,
        0.46467127,  0.04852709,  0.46467127,  2.58089148,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003796894714891351
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85649794e-01, -1.68743767e-01,  4.47495754e-03, -1.68742027e-01,
        9.85659952e-01,  7.66107204e-04, -4.54006225e-03,  0.00000000e+00,
       -9.99989694e-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([ 0.13092895, -0.0820252 ,  0.1315947 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29462208,   6.58353667,   3.14142584,   6.58353667,
        19.16716587, -24.88148101,   3.14142584, -24.88148101,
        59.43914211,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.729629746350442e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874202,  0.11078901, -0.17259735,  0.10910551,  0.99384395,
        0.01924033,  0.17366645,  0.        , -0.98480453])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329803, -0.05389957,  0.29658756])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004916281063356076
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28566514, -0.91172746, -0.29520918, -0.08826469, -0.28170517,
        0.95543265, -0.95425613,  0.29899035,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485173, -0.0359756 ,  0.30481696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043692173210342633
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27050561e-13, -3.57329703e-14,  1.00000000e+00,  4.53989393e-27,
        1.00000000e+00,  3.57329703e-14, -1.00000000e+00,  0.00000000e+00,
        1.27050561e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05324653, -0.06091944,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28548514e-05,-5.10089151e-06,-6.61963182e-06,-6.78665019e-06,
 -2.42578853e-03, 2.67285784e-02, 1.03057419e-02, 1.19514744e-03,
  1.39026384e-05,-1.88650793e-05, 9.10360857e-06, 2.17480909e-05,
  5.23811011e-02, 2.12964823e-02, 1.28233791e-02,-9.99678380e-05,
 -2.76685157e-06, 1.76090934e-06,-9.80999903e+00,-6.49591876e-02,
 -9.45016093e-03,-5.28566072e-03]


--- Step 1837 ---
qpos:
[ 0.00988767, 0.00807379,-0.00558498, 0.03349518, 0.00602434,-0.02184463,
 -0.01677908, 0.03791751, 0.01301634, 0.00597129,-0.01172175, 0.03405563,
  0.81129899,-0.01587407, 1.13932474, 0.04606572, 0.09485355,-0.06349731,
  0.14254783, 0.94251112,-0.03278015, 0.02814036, 0.33137044]

qacc:
[ 1.27212203e+00,-1.77440232e+00, 7.93691292e+00,-1.58365617e+01,
  4.72518813e+00, 2.47785206e-01,-8.70377427e-02,-3.55026162e+00,
  1.37355338e+00, 6.30672399e-02, 7.31745274e-01,-2.94980229e+00,
  1.70016613e+00, 1.29032521e-02, 6.75952541e+00,-2.33472100e+01,
 -8.19823381e-03,-2.35596102e-02,-2.05698463e-04, 4.08263695e-01,
 -7.88064645e-02, 7.23282455e-01]

qfrc_actuator:
[ 4.31912141e-05, 1.91622918e-04, 6.23653628e-05, 4.50831884e-05,
 -2.45066003e-03, 2.47582919e-02, 9.96964823e-03, 1.22083574e-03,
  2.03281903e-05, 5.22086927e-05,-9.47757963e-06, 3.56523186e-05,
  4.99569885e-02, 2.00295182e-02, 2.20201873e-03,-2.31501056e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227632, -0.58102277, -0.41200741, -0.58102277,  1.18937105,
       -0.67281048, -0.41200741, -0.67281048,  1.66108987,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.3609894174491266e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99236807e-01,  6.01869802e-03, -3.85950676e-02,  6.01421353e-03,
        9.99981887e-01,  2.32296264e-04,  3.85957666e-02,  2.71050543e-20,
       -9.99254906e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13151802, -0.08307656,  0.17465085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2483544 , -0.24353203,  0.04870375, -0.24353203,  0.3421422 ,
        0.46896455,  0.04870375,  0.46896455,  2.59330488,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003795899843557477
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85643775e-01, -1.68778811e-01,  4.47901913e-03, -1.68777069e-01,
        9.85653952e-01,  7.66966462e-04, -4.54421059e-03,  1.08420217e-19,
       -9.99989675e-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([ 0.13093099, -0.08202563,  0.1315948 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29551327,   6.58003666,   3.1508144 ,   6.58003666,
        19.12602404, -24.70637265,   3.1508144 , -24.70637265,
        58.89132866,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.874040224872007e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874766,  0.11075082, -0.17258989,  0.10906807,  0.99384821,
        0.01923279,  0.1736582 ,  0.        , -0.98480599])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329844, -0.05390036,  0.29658782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004911798685888252
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.87536863e-01, -9.11389334e-01, -2.94435111e-01, -8.85879203e-02,
       -2.80792121e-01,  9.55671473e-01, -9.53663847e-01,  3.00874172e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485141, -0.03597692,  0.30481822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004363026873028253
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.96394496e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.96394496e-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([ 0.05324647, -0.06091913,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.40022681e-06,-1.11291275e-05, 1.08699258e-05,-2.24780927e-05,
 -2.47862309e-03, 2.67689720e-02, 1.03091671e-02, 1.21191709e-03,
  8.07154521e-06, 3.04069643e-05, 7.22578152e-06,-4.42277127e-06,
  5.21751086e-02, 2.11831496e-02, 1.27989286e-02,-1.13751587e-04,
 -3.49555024e-06, 2.16789192e-06,-9.80999880e+00,-6.49582298e-02,
 -9.45072581e-03,-5.28498869e-03]


--- Step 1838 ---
qpos:
[ 0.00988796, 0.00807282,-0.00558483, 0.03349494, 0.00602587,-0.02186507,
 -0.01677741, 0.03791808, 0.01301619, 0.00597184,-0.01172096, 0.03405613,
  0.81132013,-0.01586469, 1.13931434, 0.04606182, 0.09485423,-0.06349682,
  0.14254818, 0.94250374,-0.03277025, 0.02813976, 0.33139246]

qacc:
[-2.34111982e+00, 7.07831340e-01,-7.63660985e-01,-3.78040334e+00,
  3.49974447e+00, 1.94842985e-01, 5.79779907e-01,-3.47386735e+00,
 -5.31557399e+00, 2.65227285e+00,-9.23762759e+00, 1.39549567e+01,
  7.26628491e-01,-1.04968668e-01, 5.73588004e+00,-9.02773695e+00,
 -1.02658421e-02,-1.37493669e-02, 2.89411535e-03, 1.45378212e-01,
  8.61513650e-02, 2.45693033e-01]

qfrc_actuator:
[ 2.93494531e-05, 2.23715240e-04, 5.20550177e-05, 3.21942274e-05,
 -2.46059171e-03, 2.47769575e-02, 9.95849176e-03, 1.20512977e-03,
 -1.08406224e-05, 1.10508258e-04,-2.21658792e-05, 5.07716274e-05,
  4.99553671e-02, 2.00485124e-02, 2.20434773e-03,-2.21972281e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71228172, -0.64639339, -0.29920032, -0.64639339,  0.89027631,
       -0.38454012, -0.29920032, -0.38454012,  1.54304351,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.963198340322718e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99236064e-01,  6.01981013e-03, -3.86141078e-02,  6.01532037e-03,
        9.99981881e-01,  2.32453809e-04,  3.86148075e-02,  0.00000000e+00,
       -9.99254170e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13151936, -0.08307472,  0.17465027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003794735496762836
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85637300e-01, -1.68816488e-01,  4.48409569e-03, -1.68814741e-01,
        9.85647500e-01,  7.68012182e-04, -4.54939083e-03,  0.00000000e+00,
       -9.99989651e-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([ 0.13093305, -0.0820261 ,  0.13159491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29652536,   6.5165985 ,   3.28225933,   6.5165985 ,
        20.38352122, -25.98292486,   3.28225933, -25.98292486,
        58.88303087,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.0317384124239334e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875378,  0.11071018, -0.17258128,  0.10902823,  0.99385273,
        0.01922468,  0.17364874,  0.        , -0.98480765])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329887, -0.05390133,  0.29658809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000490705613580916
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28970189, -0.91099385, -0.29353539, -0.08895645, -0.27973161,
        0.95594821, -0.95297406,  0.30305187,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485099, -0.03597847,  0.30481951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004356319326144317
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.95558794e-07,  5.95558788e-07,  1.00000000e+00,  3.54690274e-13,
        1.00000000e+00, -5.95558788e-07, -1.00000000e+00,  0.00000000e+00,
       -5.95558794e-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([ 0.05366679, -0.0615053 ,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.36307635e-05, 2.71923289e-05,-1.20396395e-05,-1.34259362e-05,
 -2.51646114e-03, 2.67943528e-02, 1.03147444e-02, 1.20858944e-03,
 -3.09280211e-05, 7.66007566e-05,-5.68350973e-06, 1.65830854e-05,
  5.19846929e-02, 2.11234157e-02, 1.27915809e-02, 8.94982748e-05,
 -4.02287928e-06, 2.45329516e-06,-9.80999861e+00,-6.49571532e-02,
 -9.45127669e-03,-5.28427821e-03]


--- Step 1839 ---
qpos:
[ 0.00988808, 0.00807222,-0.00558516, 0.03349454, 0.00602227,-0.0218786 ,
 -0.01677083, 0.03792149, 0.01301532, 0.00597293,-0.01172059, 0.03405682,
  0.81127169,-0.01588799, 1.13926499, 0.04606884, 0.09485568,-0.06349372,
  0.14254802, 0.94251349,-0.0327886 , 0.02812885, 0.33136383]

qacc:
[-1.49617478e+00, 1.51917356e+00,-4.07205447e+00, 1.96385485e+00,
 -4.34904627e+01, 1.34450901e+00,-3.39108946e+00, 3.94512200e+01,
 -6.32982057e+00, 2.31896585e+00,-8.01120547e+00, 1.16126624e+01,
 -2.88815904e+01,-5.94006141e+00,-8.96835158e+01, 2.32067619e+02,
  1.91740133e-01, 6.53880824e-01,-1.25956457e-01,-1.40311675e+01,
  4.05837893e-01,-2.72737875e+01]

qfrc_actuator:
[ 2.10875075e-05, 2.43178161e-04, 2.82451075e-05, 2.47261818e-05,
 -2.46741112e-03, 2.48138904e-02, 9.95114914e-03, 1.17781892e-03,
 -4.68730792e-05, 1.27106405e-04,-4.75928219e-05, 5.94853955e-05,
  4.99482200e-02, 2.00736073e-02, 2.19518882e-03,-2.12585768e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71228789, -0.49775895,  0.50949982, -0.49775895,  0.39135609,
       -0.31353628,  0.50949982, -0.31353628,  0.40597672,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.5844269202809086e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99235331e-01,  6.02133543e-03, -3.86328587e-02,  6.01684017e-03,
        9.99981872e-01,  2.32625618e-04,  3.86335590e-02,  2.71050543e-20,
       -9.99253445e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13152068, -0.0830729 ,  0.17464965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24829724, -0.22006472, -0.11499146, -0.22006472,  0.64233745,
       -0.75409384, -0.11499146, -0.75409384,  1.69144314,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003793525791635991
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85630660e-01, -1.68855097e-01,  4.48990365e-03, -1.68853345e-01,
        9.85640886e-01,  7.69187973e-04, -4.55531392e-03, -1.08420217e-19,
       -9.99989625e-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([ 0.13093509, -0.08202658,  0.13159504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29762639,   7.21612433,   1.08761231,   7.21612433,
         8.90961667, -10.69528379,   1.08761231, -10.69528379,
        78.25903129,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.1965280272530935e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97876012,  0.11066869, -0.17257194,  0.10898757,  0.99385735,
        0.01921635,  0.17363854,  0.        , -0.98480945])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329931, -0.05390238,  0.29658838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.34744114,  1.2736065 , -0.43991377,  1.2736065 ,  1.84358999,
        1.43641423, -0.43991377,  1.43641423,  5.50604364,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004903105249413042
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.2918803 , -0.91059153, -0.29262425, -0.08932106, -0.27865875,
        0.95622751, -0.95227498,  0.30524148,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485054, -0.03598011,  0.30482065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.3107207 , -6.54308236,  7.96862815, -6.54308236, 65.15941086,
       45.03654712,  7.96862815, 45.03654712, 47.29046572,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043559722636797
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.23709755e-07, -8.23709680e-07,  1.00000000e+00, -6.78497699e-13,
        1.00000000e+00,  8.23709680e-07, -1.00000000e+00,  1.00974196e-28,
       -8.23709755e-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([ 0.08705477, -0.10805961,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.63679172e-06, 3.16350584e-05,-2.01299287e-05,-6.97778585e-06,
 -2.54395332e-03, 2.68157950e-02, 1.03093543e-02, 1.18918881e-03,
 -3.68826616e-05, 5.89288060e-05,-9.74625296e-06, 1.21196286e-05,
  5.18968692e-02, 2.11232579e-02, 1.25241895e-02, 1.52394009e-04,
 -4.20207564e-06, 2.52134565e-06,-9.80999859e+00,-6.49560018e-02,
 -9.45174164e-03,-5.28358034e-03]


--- Step 1840 ---
qpos:
[ 0.00988845, 0.00807157,-0.00558562, 0.03349409, 0.0060187 ,-0.02189243,
 -0.01676476, 0.03792462, 0.01301472, 0.00597441,-0.01172044, 0.03405728,
  0.81123404,-0.01590579, 1.13921032, 0.04607013, 0.09485695,-0.06349127,
  0.142548  , 0.94251998,-0.03280104, 0.02812054, 0.33134485]

qacc:
[ 2.14830115e+00, 1.78233978e-01,-4.96352508e-01,-2.33414138e-01,
  3.16669501e-01, 4.51694371e-01,-9.73666115e-01,-2.95440392e+00,
  2.31465791e+00, 6.44352630e-01,-5.67072772e-01,-3.46324415e+00,
  4.41606879e+00, 1.28148272e+00, 9.32651780e+00,-4.43400984e+01,
 -4.55480964e-02,-1.64619400e-01, 3.24475737e-02, 3.03155472e+00,
  1.33295098e-01, 5.21009190e+00]

qfrc_actuator:
[ 3.39351050e-05, 2.19370722e-04, 1.43784573e-05, 2.04937483e-05,
 -2.46698219e-03, 2.48373180e-02, 9.95891995e-03, 1.19386890e-03,
 -3.22096342e-05, 1.36297561e-04,-6.27441130e-05, 4.65674020e-05,
  4.99494338e-02, 2.01175871e-02, 2.19357333e-03,-2.09665321e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7122737 , -0.69075544, -0.17375481, -0.69075544,  0.8028193 ,
       -0.35996052, -0.17375481, -0.35996052,  2.14328266,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.041897505899467e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99235084e-01,  6.01773449e-03, -3.86398041e-02,  6.01324031e-03,
        9.99981893e-01,  2.32528292e-04,  3.86405038e-02,  0.00000000e+00,
       -9.99253177e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13152108, -0.08307175,  0.17465211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24825295, -0.03602434,  0.24562527, -0.03602434,  0.70262106,
        0.06663936,  0.24562527,  0.06663936,  0.25802653,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037916847415934963
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85640706e-01, -1.68797150e-01,  4.46323264e-03, -1.68795419e-01,
        9.85650811e-01,  7.64348734e-04, -4.52820876e-03, -1.08420217e-19,
       -9.99989748e-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([ 0.13093596, -0.0820259 ,  0.13159475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29495978, -2.62851707,  6.80494939, -2.62851707, 30.63233268,
        9.01442163,  6.80494939,  9.01442163, 10.77691971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7850024825091186e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874755,  0.11072123, -0.17260949,  0.10903855,  0.9938515 ,
        0.01922977,  0.17367735,  0.        , -0.98480261])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329817, -0.05389996,  0.29658765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.35136727, -0.80045373,  1.08879169, -0.80045373,  3.64410434,
        1.68556571,  1.08879169,  1.68556571,  2.59055505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004923861123934898
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28518896, -0.91180051, -0.29544386, -0.08819431, -0.28197312,
        0.9553601 , -0.95440506,  0.29851463,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485033, -0.03597484,  0.30481741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.32318785, -5.92080518,  8.45649297, -5.92080518, 17.89891587,
        5.30413847,  8.45649297,  5.30413847, 14.03687515,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004366283057488374
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54271885e-13, -3.57569839e-14,  1.00000000e+00, -9.09199570e-27,
        1.00000000e+00,  3.57569839e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54271885e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05325109, -0.06091543,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26159952e-05,-1.05508654e-05,-1.00407008e-05,-3.70580989e-06,
 -2.28687823e-03, 2.64942517e-02, 1.00718636e-02, 1.06326162e-03,
  1.36395080e-05, 4.05893771e-05,-3.77816981e-06,-1.04974792e-05,
  5.53778218e-02, 2.28015132e-02, 1.44708768e-02,-3.64316851e-04,
 -9.42148794e-06, 2.93594037e-06,-9.80999721e+00,-6.49580191e-02,
 -9.45370661e-03,-5.28354987e-03]


--- Step 1841 ---
qpos:
[ 0.00988897, 0.00807076,-0.0055862 , 0.03349395, 0.00601542,-0.02190688,
 -0.01675933, 0.03792744, 0.01301429, 0.00597605,-0.01172011, 0.03405757,
  0.81120609,-0.01591874, 1.13915547, 0.04606806, 0.09485809,-0.06348933,
  0.14254808, 0.94252368,-0.03280859, 0.02811425, 0.33133412]

qacc:
[ 1.32587396e+00, 7.71124879e-01,-4.37862780e+00, 1.01029717e+01,
  2.37287812e+00, 3.05589017e-01,-1.01001592e+00,-2.78501972e+00,
  1.58862549e+00,-6.16132572e-01, 3.18533538e+00,-6.34456704e+00,
  3.94726980e+00, 1.12881010e+00, 9.80469025e+00,-3.49324208e+01,
 -3.23832362e-02,-1.24904153e-01, 2.62347408e-02, 2.47462439e+00,
  5.03407155e-02, 4.45559606e+00]

qfrc_actuator:
[ 4.13497685e-05, 2.05375633e-04, 6.32034995e-06, 3.59219690e-05,
 -2.46532262e-03, 2.48215820e-02, 9.96146564e-03, 1.23792657e-03,
 -2.33289098e-05, 1.40991966e-04,-5.40043847e-05, 3.87773384e-05,
  4.99562605e-02, 2.01478029e-02, 2.16290492e-03,-2.20047804e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226612, -0.67996202, -0.21207233, -0.67996202,  0.86844972,
       -0.50076746, -0.21207233, -0.50076746,  2.31786388,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.980861634834728e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99234805e-01,  6.01417196e-03, -3.86475644e-02,  6.00967863e-03,
        9.99981915e-01,  2.32437302e-04,  3.86482634e-02,  2.71050543e-20,
       -9.99252877e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1315216 , -0.08307062,  0.17465391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003790390722151473
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85647523e-01, -1.68757860e-01,  4.44344905e-03, -1.68756145e-01,
        9.85657539e-01,  7.60778386e-04, -4.50810639e-03,  0.00000000e+00,
       -9.99989838e-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([ 0.13093693, -0.08202543,  0.13159454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29330701,  7.28250323,  0.39682965,  7.28250323,  7.36895907,
       -1.38834475,  0.39682965, -1.38834475, 32.77180951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.505618109407392e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873885,  0.11075604, -0.17263653,  0.10907229,  0.99384762,
        0.0192389 ,  0.17370523,  0.        , -0.98479769])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329743, -0.0538981 ,  0.29658718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004935913251507052
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80908535e-01, -9.12541344e-01, -2.97251897e-01, -8.74535759e-02,
       -2.84096045e-01,  9.54799094e-01, -9.55741737e-01,  2.94206956e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048502 , -0.03597095,  0.30481573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043776633147205035
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.53610875e-13, -1.62469467e-13,  1.00000000e+00,  4.12040237e-26,
        1.00000000e+00,  1.62469467e-13, -1.00000000e+00,  0.00000000e+00,
        2.53610875e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05325498, -0.06091284,  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:
[ 7.77359787e-06,-2.20948702e-05,-1.15893150e-05, 1.45594648e-05,
 -2.28714983e-03, 2.64939451e-02, 1.01002649e-02, 1.12169822e-03,
  9.28809324e-06, 2.61085057e-05, 1.62741619e-05,-6.39101822e-06,
  5.48448902e-02, 2.25575085e-02, 1.47074654e-02,-1.81384094e-04,
 -4.29516021e-06, 1.19234494e-06,-9.80999873e+00,-6.49599768e-02,
 -9.45310469e-03,-5.28346894e-03]


--- Step 1842 ---
qpos:
[ 0.00988888, 0.0080698 ,-0.00558633, 0.03349395, 0.00601253,-0.02192205,
 -0.01675455, 0.03792995, 0.01301363, 0.00597751,-0.01171951, 0.03405781,
  0.81118681,-0.01592747, 1.13910344, 0.04606404, 0.09485913,-0.06348777,
  0.14254825, 0.94252505,-0.03281216, 0.02810954, 0.33133026]

qacc:
[-5.29139945e+00,-1.17556798e+00, 3.31272739e+00,-1.46037214e+00,
  3.27676974e+00, 2.51932883e-01,-9.74371926e-01,-2.76402214e+00,
 -2.05232022e+00,-1.14367244e+00, 3.96483415e+00,-5.26086411e+00,
  3.53035060e+00, 9.25622408e-01, 9.93082856e+00,-2.89122968e+01,
 -2.36656978e-02,-9.64713656e-02, 2.08768106e-02, 2.00400135e+00,
  4.42599572e-03, 3.70676100e+00]

qfrc_actuator:
[ 9.99532466e-06, 2.15150956e-04, 3.72967080e-05, 4.50474627e-05,
 -2.48093503e-03, 2.48005452e-02, 9.94344532e-03, 1.24566314e-03,
 -3.56919121e-05, 1.07544112e-04,-4.90006390e-05, 3.40801804e-05,
  4.99501866e-02, 2.01504515e-02, 2.16779105e-03,-2.25992225e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226231, -0.66983982, -0.2421409 , -0.66983982,  0.9241599 ,
       -0.58617709, -0.2421409 , -0.58617709,  2.33381722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.321939662682724e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99234476e-01,  6.01088982e-03, -3.86565798e-02,  6.00639685e-03,
        9.99981934e-01,  2.32364640e-04,  3.86572782e-02,  2.71050543e-20,
       -9.99252528e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13152226, -0.08306944,  0.17465517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000378952945032815
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85651601e-01, -1.68734417e-01,  4.42916469e-03, -1.68732714e-01,
        9.85661553e-01,  7.58224283e-04, -4.49359588e-03, -1.08420217e-19,
       -9.99989904e-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([ 0.13093804, -0.08202515,  0.1315944 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29235179,  7.26023485,  0.68365528,  7.26023485,  7.55686312,
       -2.80903899,  0.68365528, -2.80903899, 37.12358909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.333431254856945e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873336,  0.11077561, -0.17265507,  0.10909119,  0.99384544,
        0.01924441,  0.17372427,  0.        , -0.98479433])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329701, -0.05389675,  0.29658691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004941748575333244
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.78444836e-01, -9.12952910e-01, -2.98304304e-01, -8.70233971e-02,
       -2.85328558e-01,  9.54470818e-01, -9.56501647e-01,  2.91726924e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485012, -0.03596821,  0.30481515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043845443476946133
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53212862e-13, -6.72596666e-14,  1.00000000e+00, -1.70310127e-26,
        1.00000000e+00,  6.72596666e-14, -1.00000000e+00,  0.00000000e+00,
       -2.53212862e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05325789, -0.06091081,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.11376313e-05,-4.31280967e-06, 2.55044339e-05, 8.06407057e-06,
 -2.31680721e-03, 2.65046155e-02, 1.01138914e-02, 1.14467874e-03,
 -1.20846658e-05,-1.58223396e-05, 1.21555493e-05,-3.14517117e-06,
  5.43533034e-02, 2.23178194e-02, 1.47222553e-02,-7.21739207e-05,
 -1.53273862e-06, 3.06760214e-07,-9.80999952e+00,-6.49612347e-02,
 -9.45295209e-03,-5.28328801e-03]


--- Step 1843 ---
qpos:
[ 0.00988808, 0.00806884,-0.00558611, 0.03349371, 0.00601018,-0.02193803,
 -0.01675042, 0.03793216, 0.01301318, 0.00597825,-0.01171856, 0.03405841,
  0.81117495,-0.01593265, 1.13906002, 0.04606108, 0.0948601 ,-0.06348649,
  0.14254848, 0.94252444,-0.03281253, 0.02810606, 0.33133226]

qacc:
[ -6.30812196, -1.42461973,  6.16447659,-11.02586914,  4.66802578,
   0.11465633, -0.71510417, -2.80638444,  1.80478245, -1.1648981 ,
   1.26629164,  4.86113037,  2.97734067,  0.81897429,  9.43717291,
 -14.72830864, -0.01759692, -0.0701186 ,  0.01668187,  1.59888155,
  -0.02333817,  3.14807961]

qfrc_actuator:
[-2.61722794e-05, 2.21490314e-04, 5.56557903e-05, 3.26820148e-05,
 -2.48937689e-03, 2.47944165e-02, 9.93111439e-03, 1.24948429e-03,
 -2.49529968e-05, 3.37462072e-05,-4.64100034e-05, 4.89525597e-05,
  4.99520948e-02, 2.01352471e-02, 2.18309482e-03,-2.13304483e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226066, -0.66228104, -0.26210507, -0.66228104,  0.94958022,
       -0.59965358, -0.26210507, -0.59965358,  2.22745147,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9920120991642747e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99234092e-01,  6.00799449e-03, -3.86669599e-02,  6.00350127e-03,
        9.99981952e-01,  2.32315075e-04,  3.86676578e-02, -2.71050543e-20,
       -9.99252126e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13152305, -0.08306819,  0.174656  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003788983488330623
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85653409e-01, -1.68724113e-01,  4.41929538e-03, -1.68722417e-01,
        9.85663317e-01,  7.56487211e-04, -4.48357497e-03,  0.00000000e+00,
       -9.99989949e-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([ 0.1309393 , -0.08202503,  0.13159431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29189346,  7.22246227,  1.00386701,  7.22246227,  7.95566515,
       -4.7755987 ,  1.00386701, -4.7755987 , 41.65060925,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.247557092116621e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873051,  0.11078246, -0.17266681,  0.10909771,  0.99384468,
        0.01924693,  0.17373621,  0.        , -0.98479223])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329683, -0.05389583,  0.29658679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004943245848742523
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27736274, -0.91312537, -0.29878416, -0.0868383 , -0.28588648,
        0.95432071, -0.95683281,  0.29063892,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485004, -0.03596641,  0.30481533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004387828151291018
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53023361e-13, -9.88372502e-14,  1.00000000e+00, -2.50081332e-26,
        1.00000000e+00,  9.88372502e-14, -1.00000000e+00,  0.00000000e+00,
       -2.53023361e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05326002, -0.06090923,  0.06199015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.70544374e-05, 9.56707442e-06, 2.09024851e-05,-1.15071540e-05,
 -2.34462037e-03, 2.65345135e-02, 1.01344243e-02, 1.16388663e-03,
  1.03948188e-05,-8.03365125e-05, 6.85861333e-07, 1.45489203e-05,
  5.39223105e-02, 2.20915712e-02, 1.45974797e-02, 1.51971693e-04,
 -3.29726082e-07, 1.33952074e-09,-9.80999984e+00,-6.49619336e-02,
 -9.45309103e-03,-5.28301851e-03]


--- Step 1844 ---
qpos:
[ 0.00988753, 0.00806803,-0.005586  , 0.03349333, 0.00600853,-0.02195488,
 -0.01674692, 0.03793409, 0.0130132 , 0.00597795,-0.01171738, 0.03405922,
  0.81116955,-0.01593473, 1.13902457, 0.0460591 , 0.09486102,-0.06348541,
  0.14254876, 0.94252214,-0.03281028, 0.0281035 , 0.33133925]

qacc:
[ 2.29694843e+00, 1.84212560e-01, 1.52533242e-01,-2.37029974e+00,
  5.84293863e+00,-2.10633799e-03,-4.51081486e-01,-2.92940550e+00,
  4.22498814e+00,-1.60188270e+00, 2.77999222e+00, 1.43481862e+00,
  2.57226524e+00, 7.41816764e-01, 8.73374191e+00,-1.36208580e+01,
 -1.32598466e-02,-5.08947205e-02, 1.27560541e-02, 1.28595884e+00,
 -5.58590159e-02, 2.69012949e+00]

qfrc_actuator:
[-1.16128216e-05, 2.25669935e-04, 4.86325916e-05, 2.55094905e-05,
 -2.47608261e-03, 2.47976150e-02, 9.94020350e-03, 1.25107034e-03,
 -6.96314858e-07,-4.58976359e-05,-4.54326696e-05, 5.74264022e-05,
  4.99745687e-02, 2.01438139e-02, 2.12414014e-03,-2.09187361e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226037, -0.64649427, -0.29893142, -0.64649427,  1.01087707,
       -0.64581365, -0.29893142, -0.64581365,  2.10895139,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.929888393757878e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99233648e-01,  6.00564971e-03, -3.86787945e-02,  6.00115549e-03,
        9.99981966e-01,  2.32295480e-04,  3.86794921e-02, -2.71050543e-20,
       -9.99251668e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13152394, -0.08306683,  0.17465647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003788674033160901
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85653305e-01, -1.68724890e-01,  4.41293461e-03, -1.68723199e-01,
        9.85663184e-01,  7.55401964e-04, -4.47712229e-03,  0.00000000e+00,
       -9.99989978e-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([ 0.13094069, -0.08202505,  0.13159427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29180041,  7.15539636,  1.4038006 ,  7.15539636,  8.81000168,
       -7.73851492,  1.4038006 , -7.73851492, 46.73624976,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.229843991612053e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872985,  0.11077844, -0.17267312,  0.10909363,  0.99384513,
        0.01924692,  0.17374249,  0.        , -0.98479112])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329685, -0.05389529,  0.2965868 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000494224073850562
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27718467, -0.91314607, -0.29888612, -0.08681507, -0.2860001 ,
        0.95428879, -0.95688652,  0.29046204,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484999, -0.0359654 ,  0.30481596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043882479946154296
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26499576e-13, -1.30452688e-13,  1.00000000e+00, -1.65022098e-26,
        1.00000000e+00,  1.30452688e-13, -1.00000000e+00,  0.00000000e+00,
       -1.26499576e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05326153, -0.06090799,  0.06199015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35095793e-05, 1.33763749e-05,-2.85913933e-06,-6.25941088e-06,
 -2.35889117e-03, 2.65786851e-02, 1.01759837e-02, 1.18042233e-03,
  2.45268839e-05,-1.23839949e-04,-1.50509575e-05, 5.33244546e-06,
  5.35734455e-02, 2.19223785e-02, 1.41090474e-02, 1.40547299e-04,
 -7.66296786e-08, 5.61842862e-08,-9.80999989e+00,-6.49621890e-02,
 -9.45340225e-03,-5.28267321e-03]


--- Step 1845 ---
qpos:
[ 0.00988682, 0.00806737,-0.00558574, 0.0334932 , 0.00600744,-0.02197231,
 -0.01674391, 0.03793574, 0.01301317, 0.00597719,-0.01171694, 0.03405978,
  0.81116993,-0.01593412, 1.13899388, 0.04605666, 0.09486189,-0.06348451,
  0.14254908, 0.94251853,-0.03280595, 0.02810164, 0.33135009]

qacc:
[-1.45942821e+00, 2.82123239e-01,-1.70700080e+00, 5.50619670e+00,
  4.81876913e+00, 4.89493267e-02,-1.70943529e-01,-3.27249727e+00,
 -4.96297264e-01, 9.41666580e-01,-3.16660470e+00, 2.84376582e-01,
  2.37429584e+00, 5.02819848e-01, 8.36196285e+00,-1.91815023e+01,
 -1.14618629e-02,-4.35328615e-02, 9.10556415e-03, 1.02303945e+00,
 -5.73224523e-02, 2.06960458e+00]

qfrc_actuator:
[-2.05694354e-05, 2.46176204e-04, 6.21873286e-05, 3.91885631e-05,
 -2.50336351e-03, 2.48245485e-02, 9.94463429e-03, 1.21592273e-03,
 -4.19015132e-06,-5.74383575e-05,-8.09722627e-05, 4.42995651e-05,
  4.99878982e-02, 2.01479246e-02, 2.08428792e-03,-2.15572900e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226111, -0.63300519, -0.32652766, -0.63300519,  1.02164588,
       -0.59977207, -0.32652766, -0.59977207,  1.87497681,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0843267070662374e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99233142e-01,  6.00399377e-03, -3.86921297e-02,  5.99949769e-03,
        9.99981976e-01,  2.32311493e-04,  3.86928271e-02,  2.71050543e-20,
       -9.99251152e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13152494, -0.08306534,  0.17465666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24817683, -0.24526565,  0.03790117, -0.24526565,  0.30525318,
        0.36935192,  0.03790117,  0.36935192,  2.63832309,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003788516938016891
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85651576e-01, -1.68735081e-01,  4.40937609e-03, -1.68733392e-01,
        9.85661439e-01,  7.54839747e-04, -4.47351993e-03,  0.00000000e+00,
       -9.99989994e-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([ 0.13094223, -0.08202517,  0.13159427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29198909,   7.0598484 ,   1.82527956,   7.0598484 ,
        10.22560618, -11.34669578,   1.82527956, -11.34669578,
        51.17893861,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.265662023302073e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873101,  0.11076507, -0.17267513,  0.10908043,  0.99384662,
        0.01924479,  0.17374425,  0.        , -0.98479081])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329701, -0.05389507,  0.2965869 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004939645924201403
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.77678470e-01, -9.13055009e-01, -2.98705906e-01, -8.69121552e-02,
       -2.85782252e-01,  9.54345211e-01, -9.56734521e-01,  2.90962292e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484995, -0.03596503,  0.30481688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043864149693861876
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26552439e-13, -6.72309832e-14,  1.00000000e+00, -8.50824489e-27,
        1.00000000e+00,  6.72309832e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26552439e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05326256, -0.06090704,  0.06199015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.56412390e-06, 2.71631809e-05, 1.57582068e-05, 1.40334808e-05,
 -2.42065815e-03, 2.66497555e-02, 1.02120830e-02, 1.15989093e-03,
 -2.83908238e-06,-8.36691167e-05,-6.28024759e-05,-1.88555783e-05,
  5.32635510e-02, 2.17715013e-02, 1.36717122e-02, 2.79264368e-05,
 -3.96086523e-07, 3.33108088e-07,-9.80999977e+00,-6.49620885e-02,
 -9.45381642e-03,-5.28225892e-03]


--- Step 1846 ---
qpos:
[ 0.00988601, 0.00806701,-0.00558563, 0.03349288, 0.00600667,-0.0219899 ,
 -0.01674127, 0.03793714, 0.01301309, 0.00597642,-0.01171695, 0.03406045,
  0.81117557,-0.01593124, 1.13896566, 0.04605265, 0.09486272,-0.06348378,
  0.14254942, 0.94251405,-0.0328    , 0.02810033, 0.33136355]

qacc:
[-9.02642786e-01, 4.61986809e-01,-3.41913033e-01,-2.67016488e+00,
  2.61983774e+00, 2.77785302e-01,-2.43397238e-01,-3.38973530e+00,
 -3.82491071e-01, 1.47900524e+00,-5.71751490e+00, 8.24129708e+00,
  2.30086047e+00, 1.65411736e-01, 8.31506068e+00,-2.39537470e+01,
 -1.11915865e-02,-4.25743042e-02, 5.86442993e-03, 8.02173639e-01,
 -4.18384367e-02, 1.41098248e+00]

qfrc_actuator:
[-2.55590569e-05, 2.58644437e-04, 5.23685179e-05, 2.95529789e-05,
 -2.55514469e-03, 2.48657862e-02, 9.92863669e-03, 1.19433593e-03,
 -6.24054639e-06,-1.05231799e-05,-8.42750768e-05, 5.41048790e-05,
  4.99902450e-02, 2.01307853e-02, 2.11980782e-03,-2.26379976e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226276, -0.63459837, -0.32342411, -0.63459837,  0.99107174,
       -0.54705794, -0.32342411, -0.54705794,  1.78565855,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.406253128591453e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99232590e-01,  6.00290617e-03, -3.87065475e-02,  5.99840756e-03,
        9.99981982e-01,  2.32355960e-04,  3.87072450e-02,  0.00000000e+00,
       -9.99250594e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13152601, -0.08306378,  0.17465661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2481757 , -0.24424418,  0.04399956, -0.24424418,  0.32575308,
        0.43063665,  0.04399956,  0.43063665,  2.63866537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037884699922501383
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85648592e-01, -1.68752549e-01,  4.40800109e-03, -1.68750861e-01,
        9.85658449e-01,  7.54684769e-04, -4.47213850e-03,  1.08420217e-19,
       -9.99990000e-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([ 0.13094388, -0.08202539,  0.1315943 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29240555,   6.96711205,   2.15372431,   6.96711205,
        11.74958359, -14.41858588,   2.15372431, -14.41858588,
        53.93528508,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.343357781926562e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78733578e-01,  1.10744538e-01, -1.72673767e-01,  1.09060238e-01,
        9.93848906e-01,  1.92410300e-02,  1.73742473e-01,  3.46944695e-18,
       -9.84791121e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329729, -0.05389514,  0.29658707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004935850637590243
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.78767915e-01, -9.12863491e-01, -2.98276207e-01, -8.71153626e-02,
       -2.85271115e-01,  9.54479599e-01, -9.56399165e-01,  2.92062727e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484985, -0.03596517,  0.304818  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043828570526875665
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26655172e-13, -3.95797411e-15,  1.00000000e+00, -5.01297891e-28,
        1.00000000e+00,  3.95797411e-15, -1.00000000e+00,  0.00000000e+00,
       -1.26655172e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05326321, -0.0609063 ,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.22352758e-06, 3.15346935e-05,-1.77552200e-06,-7.65158316e-06,
 -2.50089081e-03, 2.67208870e-02, 1.02211227e-02, 1.15187437e-03,
 -2.15882706e-06,-1.36333811e-05,-2.89707266e-05, 3.67951881e-06,
  5.29774338e-02, 2.16201390e-02, 1.34695653e-02,-5.69609745e-05,
 -9.74420286e-07, 6.91483989e-07,-9.80999959e+00,-6.49617018e-02,
 -9.45428269e-03,-5.28178597e-03]


--- Step 1847 ---
qpos:
[ 0.00988549, 0.00806657,-0.00558545, 0.03349215, 0.00600612,-0.02200753,
 -0.01673898, 0.03793828, 0.01301299, 0.00597519,-0.01171633, 0.03406155,
  0.81118616,-0.0159263 , 1.13893702, 0.04604565, 0.09486351,-0.0634832 ,
  0.14254977, 0.9425089 ,-0.03279272, 0.02809941, 0.33137899]

qacc:
[ 2.56266373e+00,-1.16650409e+00, 5.79231380e+00,-1.31852358e+01,
  1.92922461e+00, 4.08647553e-01,-4.45819274e-01,-3.41082807e+00,
 -1.81610125e-01,-1.46167434e+00, 2.44951354e+00, 4.52926606e+00,
  2.25296672e+00,-2.33384253e-02, 8.33309297e+00,-3.02207545e+01,
 -1.01481415e-02,-3.81078143e-02, 2.98589418e-03, 6.52184640e-01,
 -6.15198011e-02, 1.06689793e+00]

qfrc_actuator:
[-1.04140699e-05, 2.30590089e-04, 4.65269815e-05, 6.24906527e-06,
 -2.55058413e-03, 2.48976593e-02, 9.91819616e-03, 1.18097352e-03,
 -7.41579220e-06,-3.53238026e-05,-5.04745036e-05, 7.74128316e-05,
  4.99911657e-02, 2.01357358e-02, 2.11004762e-03,-2.45036565e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226531, -0.62417771, -0.3431094 , -0.62417771,  1.0437212 ,
       -0.60297789, -0.3431094 , -0.60297789,  1.80919055,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.849761176036141e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99232016e-01,  6.00212824e-03, -3.87214821e-02,  5.99762673e-03,
        9.99981987e-01,  2.32415487e-04,  3.87221796e-02,  0.00000000e+00,
       -9.99250015e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13152712, -0.08306221,  0.17465639])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003788477624643022
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85644734e-01, -1.68775071e-01,  4.40834421e-03, -1.68773383e-01,
        9.85654592e-01,  7.54847198e-04, -4.47250410e-03,  1.08420217e-19,
       -9.99989998e-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([ 0.13094557, -0.08202566,  0.13159435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29301293,   6.89026102,   2.39005036,   6.89026102,
        13.09079587, -16.71439167,   2.39005036, -16.71439167,
        55.47882669,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.453527210989553e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78737140e-01,  1.10719208e-01, -1.72669824e-01,  1.09035380e-01,
        9.93851728e-01,  1.92361351e-02,  1.73738012e-01, -3.46944695e-18,
       -9.84791909e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329764, -0.05389546,  0.29658729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004931125386329177
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28040503, -0.91257712, -0.29761723, -0.08741454, -0.28449027,
        0.95468528, -0.95589315,  0.29371463,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484967, -0.03596572,  0.30481925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000437802297570386
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.73598546e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.73598546e-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([ 0.05326355, -0.06090574,  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:
[ 1.50086624e-05,-1.11012554e-05, 1.93685449e-07,-2.21613187e-05,
 -2.51183135e-03, 2.67612227e-02, 1.02288511e-02, 1.15106200e-03,
 -1.24265768e-06,-3.82256209e-05, 2.75510481e-05, 2.17933023e-05,
  5.27151810e-02, 2.15112413e-02, 1.33368687e-02,-1.64964805e-04,
 -1.55251415e-06, 1.01034414e-06,-9.80999940e+00,-6.49610895e-02,
 -9.45475863e-03,-5.28126618e-03]


--- Step 1848 ---
qpos:
[ 0.00988515, 0.00806604,-0.00558505, 0.03349113, 0.00600604,-0.02202542,
 -0.01673707, 0.03793917, 0.01301254, 0.00597385,-0.01171571, 0.03406292,
  0.81120085,-0.01591972, 1.13891589, 0.0460398 , 0.09486427,-0.0634827 ,
  0.14255014, 0.94250307,-0.03278437, 0.02809874, 0.33139646]

qacc:
[ 1.63653551e+00,-1.34194502e+00, 5.81105597e+00,-1.10156044e+01,
  3.92158550e+00, 1.74880808e-01,-6.56632079e-02,-3.56589170e+00,
 -3.15179690e+00, 4.07438392e-01,-2.75880728e+00, 7.41746681e+00,
  1.78406747e+00, 6.30940551e-02, 7.59553957e+00,-1.05849517e+01,
 -8.54239819e-03,-2.13326398e-02, 1.61499955e-03, 5.02687622e-01,
 -8.33183354e-02, 1.09197774e+00]

qfrc_actuator:
[-1.29366305e-06, 2.31735026e-04, 6.06661599e-05,-7.18351988e-06,
 -2.51226130e-03, 2.49238556e-02, 9.92898090e-03, 1.17265301e-03,
 -2.58198654e-05,-3.16760826e-05,-4.85683457e-05, 9.06909889e-05,
  4.99910697e-02, 2.01355035e-02, 2.09991931e-03,-2.29142532e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226878, -0.61131636, -0.36553949, -0.61131636,  1.07287909,
       -0.60307296, -0.36553949, -0.60307296,  1.7208284 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.383152737619264e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99231425e-01,  6.00157882e-03, -3.87368069e-02,  5.99707416e-03,
        9.99981990e-01,  2.32486187e-04,  3.87375045e-02,  0.00000000e+00,
       -9.99249421e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13152826, -0.08306069,  0.17465603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037884593199622314
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85640206e-01, -1.68801469e-01,  4.41008671e-03, -1.68799779e-01,
        9.85650072e-01,  7.55267141e-04, -4.47429248e-03,  0.00000000e+00,
       -9.99989990e-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([ 0.13094729, -0.08202599,  0.13159441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29378522,   6.80144214,   2.63432868,   6.80144214,
        14.735023  , -19.21216154,   2.63432868, -19.21216154,
        56.89670908,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.5887038058641515e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874146,  0.1106903 , -0.17266388,  0.10900704,  0.99385495,
        0.01923039,  0.17373147,  0.        , -0.98479306])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329805, -0.05389601,  0.29658755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004925574991324818
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82563766e-01, -9.12196858e-01, -2.96739970e-01, -8.78027471e-02,
       -2.83452443e-01,  9.54958318e-01, -9.55221647e-01,  2.95891204e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484937, -0.03596661,  0.30482061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043722676758904677
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53923846e-13, -9.91890024e-14,  1.00000000e+00, -2.51864530e-26,
        1.00000000e+00,  9.91890024e-14, -1.00000000e+00,  0.00000000e+00,
       -2.53923846e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05326367, -0.06090531,  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:
[ 9.54642174e-06,-5.95008492e-06, 1.11078496e-05,-1.43311876e-05,
 -2.48494788e-03, 2.67898432e-02, 1.02575309e-02, 1.15564840e-03,
 -1.84578224e-05,-1.10690257e-05,-1.83752196e-06, 1.30163878e-05,
  5.24676663e-02, 2.14084230e-02, 1.33482049e-02, 1.43450020e-04,
 -2.09739111e-06, 1.29973004e-06,-9.80999921e+00,-6.49603016e-02,
 -9.45523910e-03,-5.28070113e-03]


--- Step 1849 ---
qpos:
[ 0.00988562, 0.00806575,-0.00558522, 0.03349066, 0.00600647,-0.02204358,
 -0.01673552, 0.0379398 , 0.01301186, 0.00597274,-0.01171493, 0.03406404,
  0.81121914,-0.0159117 , 1.1389011 , 0.04603474, 0.09486499,-0.06348227,
  0.1425505 , 0.94249665,-0.03277517, 0.02809821, 0.33141567]

qacc:
[ 7.01403731e+00, 3.04696447e+00,-1.27524910e+01, 2.30575882e+01,
  4.29880745e+00, 1.37916936e-01, 6.62301848e-02,-3.66935717e+00,
 -1.91099180e+00,-6.74425665e-01, 3.90152561e+00,-8.67354467e+00,
  1.57973764e+00, 2.16794085e-02, 6.89075061e+00,-1.06042474e+01,
 -8.02069302e-03,-1.53693583e-02,-2.67917491e-05, 3.94012630e-01,
 -9.35475126e-02, 9.30752712e-01]

qfrc_actuator:
[ 3.97067401e-05, 2.50437798e-04, 3.33453345e-05, 2.08404557e-05,
 -2.48951256e-03, 2.49468930e-02, 9.93491754e-03, 1.16746049e-03,
 -3.64643303e-05, 6.61260485e-06,-2.99224631e-05, 8.01972808e-05,
  4.99796100e-02, 2.01317371e-02, 2.12615241e-03,-2.26541045e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227328, -0.60030752, -0.38335898, -0.60030752,  1.09937727,
       -0.60617188, -0.38335898, -0.60617188,  1.66148683,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.9892253850694945e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99230806e-01,  6.00149237e-03, -3.87527820e-02,  5.99698406e-03,
        9.99981991e-01,  2.32578714e-04,  3.87534799e-02,  0.00000000e+00,
       -9.99248802e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13152943, -0.08305912,  0.17465555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24817453, -0.24270968,  0.05179391, -0.24270968,  0.35553785,
        0.5031116 ,  0.05179391,  0.5031116 ,  2.60578863,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003788421234791088
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85635013e-01, -1.68831713e-01,  4.41285812e-03, -1.68830021e-01,
        9.85644892e-01,  7.55881153e-04, -4.47712778e-03,  0.00000000e+00,
       -9.99989978e-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([ 0.13094907, -0.08202636,  0.13159449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29469202,   6.54843823,   3.21410773,   6.54843823,
        19.86167457, -25.60402939,   3.21410773, -25.60402939,
        59.46046201,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.7411656524115974e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78746473e-01,  1.10657589e-01, -1.72656419e-01,  1.08974985e-01,
        9.93858591e-01,  1.92238044e-02,  1.73723326e-01,  3.46944695e-18,
       -9.84794499e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132985 , -0.05389676,  0.29658783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004920321847293195
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.84851795e-01, -9.11790204e-01, -2.95800742e-01, -8.82066496e-02,
       -2.82343170e-01,  9.55249664e-01, -9.54504605e-01,  2.98196174e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484903, -0.03596781,  0.30482192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043658370329636986
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54297862e-13, -9.93351025e-14,  1.00000000e+00, -2.52607042e-26,
        1.00000000e+00,  9.93351025e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54297862e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0532636, -0.060905 ,  0.0619902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.12719202e-05, 1.70769097e-05,-2.76739499e-05, 2.78766307e-05,
 -2.48537277e-03, 2.68269496e-02, 1.02827519e-02, 1.16335809e-03,
 -1.11767840e-05, 3.23072501e-05, 1.65890776e-05,-1.07790827e-05,
  5.22511363e-02, 2.13218300e-02, 1.29994715e-02, 1.12712950e-04,
 -2.70591900e-06, 1.63430058e-06,-9.80999901e+00,-6.49593818e-02,
 -9.45573188e-03,-5.28009416e-03]


--- Step 1850 ---
qpos:
[ 0.00988657, 0.00806541,-0.0055859 , 0.03349056, 0.00600748,-0.02206203,
 -0.01673436, 0.03794017, 0.01301141, 0.00597173,-0.01171359, 0.03406467,
  0.81124061,-0.01590244, 1.13889218, 0.04603049, 0.09486568,-0.06348188,
  0.14255085, 0.94248971,-0.03276527, 0.02809774, 0.33143643]

qacc:
[ 4.26854656e+00, 2.10305779e+00,-9.17915657e+00, 1.64787176e+01,
  4.95733698e+00, 1.37123547e-01, 1.95862656e-02,-3.68454694e+00,
  1.97193379e+00,-2.42482178e+00, 1.09080463e+01,-2.03614678e+01,
  1.39151177e+00, 1.19437203e-02, 6.20036384e+00,-9.18822127e+00,
 -7.63187580e-03,-9.98915062e-03,-1.42572309e-03, 3.08721992e-01,
 -1.05767524e-01, 8.26578425e-01]

qfrc_actuator:
[ 6.36393909e-05, 2.26124999e-04,-3.86164691e-07, 3.75116988e-05,
 -2.45858552e-03, 2.49503809e-02, 9.90257275e-03, 1.14649130e-03,
 -2.46981415e-05, 1.21417635e-05,-1.39495424e-06, 5.58506199e-05,
  4.99665555e-02, 2.01431660e-02, 2.13675630e-03,-2.23050898e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227882, -0.59294091, -0.3946672 , -0.59294091,  1.14020374,
       -0.6429067 , -0.3946672 , -0.6429067 ,  1.6781703 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.647945768343053e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99230160e-01,  6.00191333e-03, -3.87693784e-02,  5.99740084e-03,
        9.99981988e-01,  2.32694640e-04,  3.87700767e-02, -2.71050543e-20,
       -9.99248158e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13153063, -0.08305751,  0.17465498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24817224, -0.24257875,  0.05239286, -0.24257875,  0.35744158,
        0.50591668,  0.05239286,  0.50591668,  2.59056466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003788325712187276
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85629256e-01, -1.68865227e-01,  4.41643081e-03, -1.68863532e-01,
        9.85639151e-01,  7.56647694e-04, -4.48077860e-03,  0.00000000e+00,
       -9.99989961e-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([ 0.1309509 , -0.08202677,  0.13159458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29571168,   6.39142611,   3.51810762,   6.39142611,
        23.15689019, -28.81536361,   3.51810762, -28.81536361,
        59.64523789,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.9054606972331265e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78752057e-01,  1.10621623e-01, -1.72647811e-01,  1.08939749e-01,
        9.93862594e-01,  1.92165207e-02,  1.73713964e-01, -3.46944695e-18,
       -9.84796151e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329896, -0.05389768,  0.29658813])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004915468551215946
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.2872036 , -0.91136771, -0.29482704, -0.08861424, -0.28119477,
        0.95555063, -0.95376182,  0.30056346,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484865, -0.03596928,  0.30482318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043589533608817677
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54699450e-13, -1.31329404e-13,  1.00000000e+00, -3.34495270e-26,
        1.00000000e+00,  1.31329404e-13, -1.00000000e+00,  0.00000000e+00,
       -2.54699450e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05326339, -0.06090476,  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:
[ 2.51156015e-05,-1.92587557e-05,-3.26437031e-05, 1.69883281e-05,
 -2.47984330e-03, 2.68440663e-02, 1.02686954e-02, 1.15510321e-03,
  1.14570515e-05, 2.65826958e-05, 3.68723007e-05,-2.25994492e-05,
  5.20581676e-02, 2.12616559e-02, 1.26931704e-02, 1.07510935e-04,
 -3.27905318e-06, 1.95396479e-06,-9.80999882e+00,-6.49583537e-02,
 -9.45623037e-03,-5.27944769e-03]


--- Step 1851 ---
qpos:
[ 0.00988746, 0.00806479,-0.00558628, 0.03348995, 0.00600908,-0.02208047,
 -0.01673335, 0.03794037, 0.01301179, 0.00597131,-0.01171267, 0.03406501,
  0.81126317,-0.01589277, 1.13889357, 0.04602977, 0.09486633,-0.06348148,
  0.14255122, 0.94248245,-0.03275523, 0.0280974 , 0.33145809]

qacc:
[-5.56622094e-01,-2.26362216e+00, 9.69609660e+00,-1.88656393e+01,
  4.99441462e+00, 6.60396561e-02, 5.39389152e-01,-3.37749243e+00,
  7.31236338e+00, 1.32737619e+00,-2.39889769e+00,-2.39337977e+00,
  3.54399270e-01, 1.54785452e-01, 4.53368389e+00, 6.24832545e+00,
 -1.05508929e-02, 9.77463197e-04, 2.65608848e-03, 6.96213402e-02,
  2.99278243e-02, 4.80255246e-01]

qfrc_actuator:
[ 5.95717171e-05, 2.11702196e-04, 1.54533922e-05, 1.18245081e-05,
 -2.44078502e-03, 2.49600375e-02, 9.86518237e-03, 1.13391805e-03,
  1.79141765e-05, 5.13071483e-05,-2.06498700e-05, 4.12859613e-05,
  4.99684306e-02, 2.01278158e-02, 2.16442572e-03,-1.99531793e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71228541, -0.6589434 , -0.27045167, -0.6589434 ,  0.87072046,
       -0.38601993, -0.27045167, -0.38601993,  1.65280572,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.342151320583371e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99229483e-01,  6.00291934e-03, -3.87866637e-02,  5.99840207e-03,
        9.99981982e-01,  2.32837409e-04,  3.87873626e-02, -5.42101086e-20,
       -9.99247487e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13153186, -0.08305584,  0.17465434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24816684, -0.24232885,  0.05351175, -0.24232885,  0.36124673,
        0.51208418,  0.05351175,  0.51208418,  2.56714863,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003788100814976508
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85622999e-01, -1.68901630e-01,  4.42069084e-03, -1.68899931e-01,
        9.85632913e-01,  7.57545614e-04, -4.48512908e-03,  1.08420217e-19,
       -9.99989942e-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([ 0.13095278, -0.08202721,  0.13159468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29682395,   5.98189436,   4.17858584,   5.98189436,
        27.70380053, -29.2138017 ,   4.17858584, -29.2138017 ,
        49.11812003,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.077090718194281e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875812,  0.11058273, -0.17263837,  0.10890165,  0.99386692,
        0.01920863,  0.1737037 ,  0.        , -0.98479796])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329942, -0.05389875,  0.29658842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004911111836928497
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28954805, -0.91094178, -0.29384859, -0.08901304, -0.28004227,
        0.95585198, -0.95301553,  0.30292143,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484823, -0.03597097,  0.30482435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004351803660699056
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.45578241e-08, -5.45580199e-08,  1.00000000e+00,  2.97656685e-15,
        1.00000000e+00,  5.45580199e-08, -1.00000000e+00,  0.00000000e+00,
        5.45578241e-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([ 0.05368358, -0.06149081,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.35645228e-06,-3.11814031e-05, 8.43866797e-06,-2.73100261e-05,
 -2.49132613e-03, 2.68694681e-02, 1.02508949e-02, 1.15564046e-03,
  4.29450062e-05, 6.07004644e-05,-1.00105094e-05,-1.25923025e-05,
  5.19016441e-02, 2.11837162e-02, 1.24274078e-02, 3.02576788e-04,
 -3.82424222e-06, 2.26630511e-06,-9.80999865e+00,-6.49572411e-02,
 -9.45673867e-03,-5.27876285e-03]


--- Step 1852 ---
qpos:
[ 0.00988795, 0.0080641 ,-0.00558602, 0.03348933, 0.00600571,-0.02209162,
 -0.01672733, 0.03794346, 0.01301337, 0.00597138,-0.01171199, 0.03406517,
  0.81121688,-0.01591617, 1.13885109, 0.04604007, 0.09486765,-0.06347836,
  0.14255103, 0.94249243,-0.03277426, 0.02808587, 0.33142879]

qacc:
[-3.49385484e+00,-1.87559136e+00, 6.60841149e+00,-7.75164033e+00,
 -4.20449346e+01, 1.66480644e+00,-4.07470180e+00, 4.07363601e+01,
  1.05191934e+01, 9.20285644e-01,-1.62657918e+00,-1.39206095e+00,
 -2.78056610e+01,-7.38444625e+00,-9.73260924e+01, 2.48083775e+02,
  1.68004760e-01, 6.82595530e-01,-1.38520492e-01,-1.45540615e+01,
  1.35933778e-01,-2.74615721e+01]

qfrc_actuator:
[ 3.90617372e-05, 2.38975185e-04, 6.04371008e-05, 1.47182028e-05,
 -2.46660415e-03, 2.49731930e-02, 9.87793777e-03, 1.14415591e-03,
  7.83336000e-05, 7.46228141e-05,-3.23199426e-05, 3.25876219e-05,
  4.99740098e-02, 2.00967479e-02, 2.15911761e-03,-2.01581169e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71229287, -0.49590518,  0.51131125, -0.49590518,  0.38934078,
       -0.31322138,  0.51131125, -0.31322138,  0.40850901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.0463185948995635e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99228797e-01,  6.00451470e-03, -3.88040755e-02,  5.99999217e-03,
        9.99981973e-01,  2.33003842e-04,  3.88047751e-02,  0.00000000e+00,
       -9.99246811e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13153308, -0.08305411,  0.17465368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24816027, -0.23295141,  0.08554041, -0.23295141,  0.53775799,
        0.78865879,  0.08554041,  0.78865879,  2.39590748,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003787827302243855
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85616459e-01, -1.68939667e-01,  4.42541068e-03, -1.68937965e-01,
        9.85626394e-01,  7.58530223e-04, -4.48994741e-03,  0.00000000e+00,
       -9.99989920e-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([ 0.13095467, -0.08202768,  0.13159478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29798925, -7.23926796, -0.92392995, -7.23926796,  7.18316764,
        0.89966172, -0.92392995,  0.89966172,  0.24887015,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.249428096857969e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97876446,  0.11054203, -0.17262849,  0.10886178,  0.99387145,
        0.01920037,  0.17369297,  0.        , -0.98479985])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329989, -0.05389987,  0.29658872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.34839383,  1.2784368 , -0.42867852,  1.2784368 ,  1.85937733,
        1.52389282, -0.42867852,  1.52389282,  5.89305978,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004908160054408771
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.91599281e-01, -9.10566140e-01, -2.92983214e-01, -8.93547989e-02,
       -2.79024879e-01,  9.56117585e-01, -9.52357905e-01,  3.04982657e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484786, -0.03597276,  0.30482532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.31197799, -6.48871021,  8.01458234, -6.48871021, 60.30667844,
       40.4763604 ,  8.01458234, 40.4763604 , 43.08216636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004357014235574358
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27406403e-13, -1.27406403e-13,  1.00000000e+00, -1.62323916e-26,
        1.00000000e+00,  1.27406403e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27406403e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0873353 , -0.10839883,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.06132091e-05, 1.04333903e-05, 3.86495179e-05, 1.32154343e-06,
 -2.54663704e-03, 2.68822124e-02, 1.02712491e-02, 1.17480711e-03,
  6.16619056e-05, 5.46721604e-05,-8.08359137e-07,-6.69212038e-06,
  5.18522239e-02, 2.11325304e-02, 1.19067216e-02, 1.05302930e-04,
 -4.11889240e-06, 2.42753611e-06,-9.80999861e+00,-6.49560773e-02,
 -9.45718358e-03,-5.27808284e-03]


--- Step 1853 ---
qpos:
[ 0.00988853, 0.00806351,-0.00558587, 0.03348912, 0.00600237,-0.02210322,
 -0.01672184, 0.03794627, 0.01301567, 0.00597199,-0.01171148, 0.03406486,
  0.81118063,-0.01593441, 1.13880435, 0.04604546, 0.09486881,-0.06347588,
  0.14255098, 0.94249914,-0.03278735, 0.02807709, 0.33140916]

qacc:
[ 8.31464009e-01, 1.27417167e+00,-6.09248720e+00, 1.33343030e+01,
  1.53237994e-01, 3.34767456e-01,-8.34930128e-01,-2.91237832e+00,
  6.24893066e+00, 2.39426736e-01, 2.12085720e+00,-1.02220432e+01,
  4.06656087e+00, 1.28099450e+00, 8.45855726e+00,-3.89675564e+01,
 -4.00918116e-02,-1.63217503e-01, 3.45969104e-02, 3.06400393e+00,
  1.99710255e-01, 5.22716546e+00]

qfrc_actuator:
[ 4.45531875e-05, 2.37904642e-04, 5.14404438e-05, 3.44614029e-05,
 -2.47777116e-03, 2.49989318e-02, 9.89792712e-03, 1.16507396e-03,
  1.13234654e-04, 1.06042837e-04,-3.94542929e-05, 9.65872315e-06,
  4.99774161e-02, 2.01073021e-02, 2.12255107e-03,-1.87906545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227695, -0.69804355, -0.14168156, -0.69804355,  0.76648871,
       -0.26709307, -0.14168156, -0.26709307,  2.028204  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.4347766462868615e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99228618e-01,  6.00115203e-03, -3.88092029e-02,  5.99663084e-03,
        9.99981993e-01,  2.32904121e-04,  3.88099018e-02,  0.00000000e+00,
       -9.99246612e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13153332, -0.08305298,  0.17465621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24813248, -0.03728331,  0.24531548, -0.03728331,  0.6938813 ,
        0.06774538,  0.24531548,  0.06774538,  0.25842849,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003786669226471338
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85626740e-01, -1.68880440e-01,  4.39608262e-03, -1.68878760e-01,
        9.85636544e-01,  7.53231372e-04, -4.46014573e-03, -1.08420217e-19,
       -9.99990054e-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([ 0.13095534, -0.08202698,  0.13159445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29505464, -2.24131131,  6.94221476, -2.24131131, 32.23508747,
        8.05195166,  6.94221476,  8.05195166,  9.89464726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.800411216194928e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875146,  0.11059573, -0.17266776,  0.10891387,  0.99386548,
        0.01921419,  0.17373353,  0.        , -0.9847927 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132986 , -0.05389752,  0.2965879 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.35271182, -0.77213373,  1.11069292, -0.77213373,  3.80970226,
        1.70805553,  1.11069292,  1.70805553,  2.54012128,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004930923612079728
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28414797, -0.91190863, -0.29611245, -0.08809033, -0.28270599,
        0.95515309, -0.9547251 ,  0.29748946,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484761, -0.03596755,  0.30482179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.31845867, -5.91899425,  8.45198771, -5.91899425, 17.93829312,
        5.3362307 ,  8.45198771,  5.3362307 , 14.05546348,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004362377410218471
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.94138811e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.94138811e-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([ 0.05326786, -0.06090118,  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:
[ 4.90825182e-06, 1.28188978e-05,-2.02862041e-06, 2.15563843e-05,
 -2.30956757e-03, 2.65442043e-02, 1.00406844e-02, 1.05073921e-03,
  3.66741181e-05, 6.15548180e-05, 3.81760429e-06,-2.07485186e-05,
  5.52984082e-02, 2.27965658e-02, 1.40646678e-02,-3.08717680e-04,
 -9.99452873e-06, 3.04957082e-06,-9.80999701e+00,-6.49581790e-02,
 -9.45932118e-03,-5.27802764e-03]


--- Step 1854 ---
qpos:
[ 0.00988918, 0.00806297,-0.00558635, 0.0334892 , 0.00599938,-0.02211563,
 -0.01671698, 0.03794879, 0.01301767, 0.00597306,-0.01171102, 0.03406395,
  0.81115308,-0.01594823, 1.13876363, 0.04605096, 0.09486986,-0.06347388,
  0.14255104, 0.94250299,-0.0327956 , 0.02807047, 0.33139797]

qacc:
[  0.51698216,  2.40188184, -9.65465782, 15.49691577,  3.02081623,
   0.05208181, -0.51793704, -2.94902446, -2.54991811, -0.5020008 ,
   5.26524872,-16.15316253,  3.40597852,  1.2365452 ,  8.46513974,
 -16.90863703, -0.0277413 , -0.11834654,  0.02871085,  2.47619145,
   0.11481171,  4.55412485]

qfrc_actuator:
[ 4.75572336e-05, 2.19683888e-04, 1.05392641e-05, 4.61426434e-05,
 -2.48314491e-03, 2.50370295e-02, 9.90804934e-03, 1.17667229e-03,
  9.73259095e-05, 1.24322803e-04,-4.38354635e-05,-2.14527401e-05,
  4.99695710e-02, 2.01533416e-02, 2.14512925e-03,-1.74296725e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226841, -0.68952583, -0.17855086, -0.68952583,  0.80216478,
       -0.34716088, -0.17855086, -0.34716088,  2.05293064,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.328412966267523e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99228401e-01,  5.99780829e-03, -3.88153074e-02,  5.99328819e-03,
        9.99982013e-01,  2.32810960e-04,  3.88160056e-02,  2.71050543e-20,
       -9.99246375e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13153371, -0.08305186,  0.17465807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003786115283053944
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85633786e-01, -1.68839891e-01,  4.37384201e-03, -1.68838229e-01,
        9.85643491e-01,  7.49235415e-04, -4.43754973e-03,  0.00000000e+00,
       -9.99990154e-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([ 0.13095613, -0.0820265 ,  0.13159421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2932169 ,  7.28605784,  0.32306953,  7.28605784,  7.34278233,
       -1.11782941,  0.32306953, -1.11782941, 32.50317618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.489739896674699e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78742382e-01,  1.10631648e-01, -1.72696233e-01,  1.08948666e-01,
        9.93861479e-01,  1.92236738e-02,  1.73762880e-01,  3.46944695e-18,
       -9.84787521e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329774, -0.0538957 ,  0.29658735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004944993098897046
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27916218, -0.91276666, -0.2982038 , -0.08721533, -0.28516485,
        0.95450222, -0.95627505,  0.29246887,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484748, -0.0359637 ,  0.30481983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004374614913086605
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26893801e-13, -6.74123315e-14,  1.00000000e+00,  8.55420695e-27,
        1.00000000e+00,  6.74123315e-14, -1.00000000e+00,  0.00000000e+00,
        1.26893801e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05327179, -0.06089858,  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:
[ 3.14929568e-06,-1.05277169e-05,-3.77524578e-05, 1.25810314e-05,
 -2.31589965e-03, 2.66046546e-02, 1.00777641e-02, 1.07659070e-03,
 -1.48416871e-05, 5.25936187e-05, 8.07433733e-06,-2.87482724e-05,
  5.47883542e-02, 2.25850237e-02, 1.43005503e-02, 7.32388030e-05,
 -4.66193143e-06, 1.27893408e-06,-9.80999859e+00,-6.49602523e-02,
 -9.45869868e-03,-5.27794158e-03]


--- Step 1855 ---
qpos:
[ 0.00988986, 0.00806242,-0.00558703, 0.03348939, 0.00599697,-0.02212906,
 -0.01671283, 0.03795099, 0.01301947, 0.00597392,-0.01171005, 0.03406271,
  0.81113335,-0.01595805, 1.13872797, 0.04605616, 0.09487084,-0.06347224,
  0.1425512 , 0.94250438,-0.03279983, 0.02806552, 0.33139402]

qacc:
[ 2.66490283e-01, 7.90867051e-01,-3.33058653e+00, 5.69450164e+00,
  4.92894832e+00,-9.99715064e-03,-6.43376531e-01,-2.79569813e+00,
 -1.78628146e+00,-2.37888083e+00, 9.43558854e+00,-1.56442265e+01,
  3.04386354e+00, 1.14575043e+00, 8.26513699e+00,-1.82514661e+01,
 -1.91221982e-02,-8.87986579e-02, 2.28296826e-02, 2.02544776e+00,
  3.54335943e-02, 3.90750752e+00]

qfrc_actuator:
[ 4.90647693e-05, 2.26687648e-04, 4.31846179e-06, 5.29527305e-05,
 -2.46763566e-03, 2.50653385e-02, 9.89479669e-03, 1.20055330e-03,
  8.71526452e-05, 8.13324426e-05,-2.88600735e-05,-3.93840162e-05,
  4.99653859e-02, 2.02193440e-02, 2.15449144e-03,-1.77008759e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7122641 , -0.68168369, -0.20646427, -0.68168369,  0.85400039,
       -0.46797113, -0.20646427, -0.46797113,  2.25736575,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.6469692745915336e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99228127e-01,  5.99482103e-03, -3.88228444e-02,  5.99030142e-03,
        9.99982031e-01,  2.32740186e-04,  3.88235420e-02, -2.71050543e-20,
       -9.99246082e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13153425, -0.08305064,  0.17465939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003786107936058172
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85638047e-01, -1.68815450e-01,  4.35715918e-03, -1.68813801e-01,
        9.85647677e-01,  7.46266446e-04, -4.42060513e-03,  0.00000000e+00,
       -9.99990229e-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([ 0.13095708, -0.0820262 ,  0.13159404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29212123,  7.26558413,  0.62154587,  7.26558413,  7.50994368,
       -2.54624386,  0.62154587, -2.54624386, 37.05653574,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.2905137775189604e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9787366 ,  0.11065192, -0.172716  ,  0.10896824,  0.99385922,
        0.01922944,  0.17378317,  0.        , -0.98478394])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329721, -0.05389435,  0.29658702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004953365999631304
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27585075, -0.91331819, -0.29959347, -0.08662189, -0.28679766,
        0.95406695, -0.95728941,  0.28913143,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484748, -0.03596098,  0.3048189 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043821595728814333
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53350661e-13,  2.77102286e-14,  1.00000000e+00,  7.02040472e-27,
        1.00000000e+00, -2.77102286e-14, -1.00000000e+00,  0.00000000e+00,
       -2.53350661e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05327474, -0.06089655,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59675997e-06,-6.11868331e-06,-1.25990469e-05, 5.29945054e-06,
 -2.31824507e-03, 2.66739882e-02, 1.00956319e-02, 1.11512466e-03,
 -1.05722276e-05,-1.31847390e-05, 2.58258763e-05,-1.59579493e-05,
  5.43491419e-02, 2.24300805e-02, 1.40099702e-02, 4.08801904e-05,
 -1.72330870e-06, 3.56778550e-07,-9.80999942e+00,-6.49616151e-02,
 -9.45851714e-03,-5.27777137e-03]


--- Step 1856 ---
qpos:
[ 0.00989055, 0.00806203,-0.00558789, 0.03348998, 0.00599531,-0.02214363,
 -0.01670946, 0.03795288, 0.01302078, 0.00597464,-0.01170889, 0.03406163,
  0.81112072,-0.01596427, 1.13869576, 0.04606035, 0.09487176,-0.06347086,
  0.14255142, 0.94250367,-0.03280073, 0.02806183, 0.33139625]

qacc:
[ 1.03645469e-01, 1.55350949e+00,-6.95394443e+00, 1.41292226e+01,
  6.30579747e+00, 3.56189054e-03,-8.45620214e-01,-2.64340616e+00,
 -4.22173550e+00,-3.67689078e-01, 4.08597935e-01, 2.06170450e+00,
  2.76851767e+00, 1.02469423e+00, 8.11480098e+00,-2.11257068e+01,
 -1.33416326e-02,-6.75411093e-02, 1.75943233e-02, 1.65907010e+00,
 -2.46878733e-02, 3.32162433e+00]

qfrc_actuator:
[ 4.96800833e-05, 2.48863973e-04, 9.76229313e-07, 7.46439913e-05,
 -2.43996453e-03, 2.50705605e-02, 9.86785961e-03, 1.21418481e-03,
  6.27001031e-05, 7.30726188e-05,-2.05752583e-05,-3.17036920e-05,
  4.99631627e-02, 2.02249766e-02, 2.15579414e-03,-1.84152392e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226228, -0.67294401, -0.23337506, -0.67294401,  0.92611107,
       -0.61663942, -0.23337506, -0.61663942,  2.49036066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.316667688478877e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99227781e-01,  5.99241508e-03, -3.88321192e-02,  5.98789513e-03,
        9.99982045e-01,  2.32702355e-04,  3.88328165e-02,  2.71050543e-20,
       -9.99245722e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13153493, -0.08304928,  0.17466027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003786477974081213
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85639933e-01, -1.68804752e-01,  4.34499001e-03, -1.68803112e-01,
        9.85649510e-01,  7.44133646e-04, -4.40825057e-03,  0.00000000e+00,
       -9.99990284e-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([ 0.13095821, -0.08202607,  0.13159392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29154791,  7.22974908,  0.94731153,  7.22974908,  7.87854393,
       -4.47987151,  0.94731153, -4.47987151, 41.48130078,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.181275905833574e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78733584e-01,  1.10658714e-01, -1.72728751e-01,  1.08974671e-01,
        9.93858465e-01,  1.92320558e-02,  1.73796126e-01, -3.46944695e-18,
       -9.84781654e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329696, -0.0538934 ,  0.29658685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004957520192829168
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27387146, -0.91363916, -0.30042953, -0.08626413, -0.28777839,
        0.95380401, -0.95788983,  0.28713599,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484756, -0.03595919,  0.30481871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043859392681343257
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53132330e-13,  5.93278898e-14,  1.00000000e+00,  1.50178069e-26,
        1.00000000e+00, -5.93278898e-14, -1.00000000e+00,  0.00000000e+00,
       -2.53132330e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05327689, -0.06089496,  0.06199015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.61334356e-07, 1.64048808e-05,-5.96145691e-06, 2.10983854e-05,
 -2.31968247e-03, 2.67309589e-02, 1.01044456e-02, 1.14423278e-03,
 -2.47545500e-05,-1.10197718e-05, 8.17381221e-06, 7.69773927e-06,
  5.39558148e-02, 2.22363145e-02, 1.37593412e-02,-1.57945196e-05,
 -3.92024096e-07, 2.18953514e-08,-9.80999979e+00,-6.49624038e-02,
 -9.45862450e-03,-5.27751988e-03]


--- Step 1857 ---
qpos:
[ 0.00989089, 0.00806182,-0.00558882, 0.03349082, 0.00599429,-0.02215909,
 -0.0167068 , 0.03795444, 0.01302145, 0.00597555,-0.01170781, 0.03406131,
  0.81111468,-0.01596723, 1.13866256, 0.04606126, 0.09487263,-0.06346972,
  0.1425517 , 0.94250134,-0.0327989 , 0.02805913, 0.3314033 ]

qacc:
[-3.01410712e+00, 9.32961781e-01,-4.00363172e+00, 8.18166112e+00,
  5.43883750e+00, 1.46309932e-01,-9.19128065e-01,-2.73833596e+00,
 -5.70910390e+00, 2.04629908e+00,-1.01685673e+01, 2.34211477e+01,
  2.68889117e+00, 7.30981332e-01, 8.35289443e+00,-3.15310904e+01,
 -1.04437507e-02,-5.86042940e-02, 1.28789044e-02, 1.35340084e+00,
 -4.81362849e-02, 2.59847491e+00]

qfrc_actuator:
[ 3.20133218e-05, 2.62236173e-04,-5.71544462e-07, 8.71782368e-05,
 -2.44089691e-03, 2.50802020e-02, 9.86856990e-03, 1.20405170e-03,
  3.00377218e-05, 1.03415585e-04,-1.61772666e-05, 8.74978167e-06,
  4.99619006e-02, 2.01754165e-02, 2.14689668e-03,-2.06297585e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226205, -0.65827047, -0.27202428, -0.65827047,  1.00848092,
       -0.71681889, -0.27202428, -0.71681889,  2.44688924,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.271505195389166e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99227356e-01,  5.99075281e-03, -3.88433082e-02,  5.98623151e-03,
        9.99982055e-01,  2.32704833e-04,  3.88440052e-02, -2.71050543e-20,
       -9.99245287e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13153575, -0.08304777,  0.17466077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24814115, -0.24554036,  0.0358324 , -0.24554036,  0.29987605,
        0.35451176,  0.0358324 ,  0.35451176,  2.67742184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037870305328424874
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85639808e-01, -1.68805698e-01,  4.33658291e-03, -1.68804065e-01,
        9.85649347e-01,  7.42698110e-04, -4.39972179e-03,  0.00000000e+00,
       -9.99990321e-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([ 0.13095953, -0.08202609,  0.13159386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29135848,  7.17603809,  1.29166013,  7.17603809,  8.53845062,
       -6.928433  ,  1.29166013, -6.928433  , 45.78344933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.144346146148263e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78732861e-01,  1.10654004e-01, -1.72735860e-01,  1.08969896e-01,
        9.93858990e-01,  1.92320187e-02,  1.73803187e-01,  3.46944695e-18,
       -9.84780408e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329691, -0.05389281,  0.29658682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004958512975159693
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.2729791 , -0.91377887, -0.30081652, -0.08610482, -0.28823001,
        0.95368203, -0.95815884,  0.28623702,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484762, -0.03595815,  0.30481908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043867291566515587
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26543375e-13, -6.72261679e-14,  1.00000000e+00, -8.50702617e-27,
        1.00000000e+00,  6.72261679e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26543375e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05327842, -0.06089372,  0.06199015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76408239e-05, 2.22396432e-05, 1.84926714e-06, 1.34428992e-05,
 -2.35784932e-03, 2.67978373e-02, 1.01443093e-02, 1.15028316e-03,
 -3.33672532e-05, 2.61571977e-05, 3.37763315e-06, 4.04133681e-05,
  5.35998115e-02, 2.20061950e-02, 1.35779947e-02,-1.86226807e-04,
 -9.60413781e-08, 7.68916930e-08,-9.80999987e+00,-6.49627291e-02,
 -9.45891866e-03,-5.27718988e-03]


--- Step 1858 ---
qpos:
[ 0.00989137, 0.00806162,-0.00558968, 0.03349147, 0.00599399,-0.02217541,
 -0.0167048 , 0.03795571, 0.01302207, 0.00597623,-0.01170651, 0.03406152,
  0.8111145 ,-0.01596736, 1.13863158, 0.0460605 , 0.09487348,-0.06346876,
  0.14255202, 0.94249763,-0.03279485, 0.02805715, 0.33141441]

qacc:
[ 1.14841220e+00,-5.79874861e-01, 2.91098964e+00,-6.35482099e+00,
  6.02984406e+00, 7.38466353e-02,-6.44381907e-01,-2.91711706e+00,
 -4.42021060e-01, 1.44136384e-01,-3.13175211e+00, 1.19083081e+01,
  2.37340652e+00, 6.24308209e-01, 8.24706965e+00,-2.42454430e+01,
 -8.15022382e-03,-4.40376623e-02, 9.50787406e-03, 1.08709369e+00,
 -6.95363243e-02, 2.18215453e+00]

qfrc_actuator:
[ 3.92331347e-05, 2.52486941e-04,-1.08602816e-06, 7.64646634e-05,
 -2.42368195e-03, 2.50927083e-02, 9.88611210e-03, 1.19753471e-03,
  2.83146658e-05, 6.78924177e-05,-1.39244370e-05, 3.26869641e-05,
  4.99663300e-02, 2.01981699e-02, 2.12682975e-03,-2.10548308e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.712263  , -0.64051293, -0.31154736, -0.64051293,  1.07976517,
       -0.75555092, -0.31154736, -0.75555092,  2.26560671,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4499476206622232e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99226864e-01,  5.98973228e-03, -3.88561016e-02,  5.98520878e-03,
        9.99982061e-01,  2.32741822e-04,  3.88567987e-02,  0.00000000e+00,
       -9.99244789e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13153667, -0.08304618,  0.17466097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003787626081548057
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85638100e-01, -1.68815804e-01,  4.33129823e-03, -1.68814175e-01,
        9.85647617e-01,  7.41838750e-04, -4.39436789e-03,  0.00000000e+00,
       -9.99990345e-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([ 0.13096099, -0.08202621,  0.13159383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29146731,  7.11847891,  1.57884563,  7.11847891,  9.34453737,
       -9.25659587,  1.57884563, -9.25659587, 49.02631545,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.165615308676838e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78733942e-01,  1.10640353e-01, -1.72738482e-01,  1.08956405e-01,
        9.93860510e-01,  1.92299084e-02,  1.73805559e-01,  3.46944695e-18,
       -9.84779989e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329703, -0.05389255,  0.29658689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004956820390379012
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27310226, -0.91375166, -0.30078739, -0.0861345 , -0.28819074,
        0.95369122, -0.95812108,  0.2863634 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484761, -0.03595771,  0.30481988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043851890184204434
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -3.5602824e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  3.5602824e-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([ 0.05327946, -0.06089276,  0.06199015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.72581789e-06, 3.65497298e-06, 4.78422980e-06,-9.43359602e-06,
 -2.37276547e-03, 2.68555687e-02, 1.01975882e-02, 1.15960133e-03,
 -2.66028856e-06,-1.85206320e-05, 9.44966508e-06, 2.59592997e-05,
  5.32743673e-02, 2.18662607e-02, 1.36082937e-02,-6.48258527e-05,
 -3.90768363e-07, 3.41176065e-07,-9.80999978e+00,-6.49626787e-02,
 -9.45932695e-03,-5.27678836e-03]


--- Step 1859 ---
qpos:
[ 0.00989193, 0.00806117,-0.00559012, 0.033492  , 0.00599444,-0.02219249,
 -0.01670337, 0.03795669, 0.01302231, 0.00597664,-0.01170566, 0.03406206,
  0.81111926,-0.01596518, 1.13860842, 0.04606102, 0.0948743 ,-0.06346792,
  0.14255236, 0.94249279,-0.03278907, 0.02805573, 0.33142887]

qacc:
[ 7.44751682e-01,-1.76354786e+00, 6.30550152e+00,-8.88237284e+00,
  6.41463299e+00,-1.25700551e-03,-2.98684979e-01,-3.00792941e+00,
 -3.26823317e+00, 1.63069021e+00,-7.75718202e+00, 1.45576246e+01,
  1.96013703e+00, 5.41208626e-01, 7.66798731e+00,-1.01547120e+01,
 -7.27205604e-03,-3.13220845e-02, 7.03730634e-03, 8.42540099e-01,
 -6.67819030e-02, 1.80213037e+00]

qfrc_actuator:
[ 4.32958616e-05, 2.28950570e-04, 1.66555019e-05, 6.98924303e-05,
 -2.43141056e-03, 2.51072559e-02, 9.89623486e-03, 1.21105491e-03,
  9.31236292e-06, 2.86887256e-05,-4.87343228e-05, 4.66566099e-05,
  4.99686782e-02, 2.02456863e-02, 2.15839158e-03,-1.96991073e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226504, -0.63788023, -0.3169074 , -0.63788023,  1.04717719,
       -0.67412069, -0.3169074 , -0.67412069,  2.06915434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.8062124416461733e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99226310e-01,  5.98942315e-03, -3.88704140e-02,  5.98489654e-03,
        9.99982063e-01,  2.32815533e-04,  3.88711112e-02, -2.71050543e-20,
       -9.99244233e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13153769, -0.08304449,  0.17466093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003788203449886688
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85635068e-01, -1.68833576e-01,  4.32853141e-03, -1.68831948e-01,
        9.85644573e-01,  7.41445200e-04, -4.39157434e-03,  1.08420217e-19,
       -9.99990357e-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([ 0.13096259, -0.08202643,  0.13159384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29181395,   7.01733473,   1.98180828,   7.01733473,
        10.9420717 , -12.92510514,   1.98180828, -12.92510514,
        53.05799117,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.2324280189884455e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78736502e-01,  1.10619157e-01, -1.72737554e-01,  1.08935559e-01,
        9.93862869e-01,  1.92260756e-02,  1.73804213e-01, -3.46944695e-18,
       -9.84780227e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329727, -0.05389259,  0.29658704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004953520368744347
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27394476, -0.91360681, -0.3004611 , -0.08629719, -0.28780144,
        0.95379407, -0.95786589,  0.28721583,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484751, -0.03595777,  0.30482095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004381835931950018
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26684687e-13, -6.73012398e-14,  1.00000000e+00,  8.52603648e-27,
        1.00000000e+00,  6.73012398e-14, -1.00000000e+00,  0.00000000e+00,
        1.26684687e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05328012, -0.06089203,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.25719093e-06,-2.08919916e-05, 1.87694755e-05,-6.43315277e-06,
 -2.41610859e-03, 2.69136255e-02, 1.02409332e-02, 1.18838169e-03,
 -1.90823179e-05,-4.65354275e-05,-3.65963569e-05, 1.40034956e-05,
  5.29840649e-02, 2.17724989e-02, 1.35295918e-02, 1.54256040e-04,
 -9.96769239e-07, 7.21846023e-07,-9.80999960e+00,-6.49623303e-02,
 -9.45979601e-03,-5.27632241e-03]


--- Step 1860 ---
qpos:
[ 0.00989184, 0.00806067,-0.00559038, 0.03349208, 0.00599551,-0.02220998,
 -0.01670238, 0.03795742, 0.01302233, 0.00597678,-0.01170549, 0.03406244,
  0.81112849,-0.01596093, 1.13859183, 0.04606238, 0.09487508,-0.06346719,
  0.14255272, 0.94248712,-0.03278194, 0.02805468, 0.33144579]

qacc:
[-5.65875062e+00,-1.45755137e+00, 6.96516829e+00,-1.48079804e+01,
  5.25958744e+00, 1.79867485e-01,-3.85298210e-01,-2.95557120e+00,
 -2.03611632e+00, 1.19204251e+00,-4.06210147e+00, 2.45969208e+00,
  1.80209736e+00, 4.34305510e-01, 7.08073037e+00,-1.07830099e+01,
 -8.62987332e-03,-2.89538920e-02, 4.89654134e-03, 6.52154207e-01,
 -7.28620925e-02, 1.31866713e+00]

qfrc_actuator:
[ 9.95459239e-06, 2.32915715e-04, 2.72232879e-05, 4.80587457e-05,
 -2.45443553e-03, 2.51232691e-02, 9.86656952e-03, 1.20118618e-03,
 -1.96528599e-06, 5.16555746e-06,-8.74354148e-05, 3.68643392e-05,
  4.99696490e-02, 2.02186746e-02, 2.18306578e-03,-1.94279124e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226821, -0.64649831, -0.29894136, -0.64649831,  1.00108741,
       -0.62460789, -0.29894136, -0.62460789,  2.06306139,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2999537424331706e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99225699e-01,  5.98987070e-03, -3.88860470e-02,  5.98534010e-03,
        9.99982061e-01,  2.32926572e-04,  3.88867446e-02, -2.71050543e-20,
       -9.99243624e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13153878, -0.08304271,  0.1746607 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2481822 , -0.24411345,  0.04475524, -0.24411345,  0.32839642,
        0.43752128,  0.04475524,  0.43752128,  2.63460306,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003788740696931056
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85630948e-01, -1.68857649e-01,  4.32774718e-03, -1.68856022e-01,
        9.85640449e-01,  7.41419669e-04, -4.39079705e-03, -1.08420217e-19,
       -9.99990360e-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([ 0.13096431, -0.08202672,  0.13159387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29235286,   6.08083914,   4.02514666,   6.08083914,
        26.78658652, -29.45018133,   4.02514666, -29.45018133,
        51.7831082 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.333628506591903e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874026,  0.11059169, -0.17273387,  0.10890859,  0.99386593,
        0.01922083,  0.17379998,  0.        , -0.98478097])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132976 , -0.05389286,  0.29658725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004949759306381836
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75163516e-01, -9.13400546e-01, -2.99974136e-01, -8.65267242e-02,
       -2.87223968e-01,  9.53947335e-01, -9.57495778e-01,  2.88447282e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048474 , -0.03595828,  0.30482209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004377091701007335
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26821997e-13,  2.77423119e-14,  1.00000000e+00,  3.51833541e-27,
        1.00000000e+00, -2.77423119e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26821997e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05328047, -0.06089146,  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:
[-3.32259877e-05,-4.09637645e-06, 8.34988473e-06,-2.22042116e-05,
 -2.47701288e-03, 2.69680530e-02, 1.02397240e-02, 1.19238506e-03,
 -1.18331396e-05,-5.65369857e-05,-5.23513817e-05,-1.27832897e-05,
  5.27380241e-02, 2.16295420e-02, 1.31635306e-02, 1.18042907e-04,
 -1.73236970e-06, 1.14544339e-06,-9.80999938e+00,-6.49617477e-02,
 -9.46029047e-03,-5.27580389e-03]


--- Step 1861 ---
qpos:
[ 0.00989136, 0.00806032,-0.00559114, 0.03349158, 0.00599702,-0.02222767,
 -0.01670184, 0.0379579 , 0.01302256, 0.00597583,-0.01170488, 0.03406238,
  0.81114195,-0.01595488, 1.13857398, 0.04606073, 0.09487583,-0.06346659,
  0.14255309, 0.94248091,-0.03277371, 0.02805393, 0.33146433]

qacc:
[-3.51967953e+00, 4.19473142e-01, 1.30051711e+00,-1.07853094e+01,
  3.66714040e+00, 4.13307853e-01,-7.62669095e-01,-2.87757085e+00,
  1.87958657e+00,-3.57338349e+00, 1.25147156e+01,-2.00079712e+01,
  1.89900264e+00, 4.57854566e-02, 7.17554832e+00,-2.79501515e+01,
 -7.71327408e-03,-3.08742500e-02, 1.37223737e-03, 5.34232658e-01,
 -6.25307467e-02, 8.74516104e-01]

qfrc_actuator:
[-9.62851622e-06, 2.35526741e-04,-1.94517487e-06, 1.74331832e-05,
 -2.45130006e-03, 2.51223708e-02, 9.84864837e-03, 1.21287675e-03,
  9.15178854e-06,-7.98512714e-05,-7.48132121e-05, 1.31848230e-05,
  4.99696574e-02, 2.01995263e-02, 2.17680959e-03,-2.19386541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7122725 , -0.63793665, -0.31681059, -0.63793665,  1.05617578,
       -0.69249108, -0.31681059, -0.69249108,  2.1066875 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.889408979386396e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99225050e-01,  5.99093912e-03, -3.89025458e-02,  5.98640387e-03,
        9.99982054e-01,  2.33066966e-04,  3.89032440e-02,  2.71050543e-20,
       -9.99242982e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13153992, -0.0830409 ,  0.17466033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037891946245176126
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85626020e-01, -1.68886388e-01,  4.32849246e-03, -1.68884759e-01,
        9.85635525e-01,  7.41677261e-04, -4.39157514e-03,  0.00000000e+00,
       -9.99990357e-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([ 0.1309661 , -0.08202708,  0.13159393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29304748,   6.69811083,   2.8851088 ,   6.69811083,
        15.52555908, -19.11271943,   2.8851088 , -19.11271943,
        51.66541666,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.4596870813854266e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78744884e-01,  1.10559666e-01, -1.72728147e-01,  1.08877180e-01,
        9.93869489e-01,  1.92145613e-02,  1.73793591e-01,  3.46944695e-18,
       -9.84782102e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329798, -0.05389335,  0.29658749])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004945781673420546
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.76660330e-01, -9.13147636e-01, -2.99366759e-01, -8.68038967e-02,
       -2.86505742e-01,  9.54138115e-01, -9.57039260e-01,  2.89958367e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484726, -0.03595916,  0.30482327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043713293609068393
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53978351e-13,  2.77788822e-14,  1.00000000e+00,  7.05523470e-27,
        1.00000000e+00, -2.77788822e-14, -1.00000000e+00,  0.00000000e+00,
       -2.53978351e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05328059, -0.06089104,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.05287304e-05, 1.10331532e-06,-2.97443284e-05,-3.09414474e-05,
 -2.50495523e-03, 2.69885426e-02, 1.02445495e-02, 1.21678376e-03,
  1.07643168e-05,-1.28005929e-04,-5.95043019e-06,-2.81634358e-05,
  5.25142819e-02, 2.15068993e-02, 1.28290600e-02,-1.75543469e-04,
 -2.41611659e-06, 1.52239879e-06,-9.80999917e+00,-6.49609820e-02,
 -9.46078811e-03,-5.27523880e-03]


--- Step 1862 ---
qpos:
[ 0.00989133, 0.00805987,-0.00559218, 0.03349109, 0.00599869,-0.02224519,
 -0.01670163, 0.03795813, 0.01302292, 0.00597364,-0.01170375, 0.03406274,
  0.81115958,-0.01594721, 1.13855088, 0.04605396, 0.09487655,-0.06346613,
  0.14255346, 0.94247443,-0.03276461, 0.02805339, 0.33148369]

qacc:
[ 4.01975400e+00, 6.26791640e-01,-2.47398457e+00, 3.05422265e+00,
  1.37466222e+00, 6.74819555e-01,-1.06688415e+00,-2.72386319e+00,
  1.19423568e+00,-2.22198638e+00, 3.73025081e+00, 3.71938015e+00,
  2.02405069e+00,-2.57683504e-01, 7.65726983e+00,-3.82174395e+01,
 -8.47671141e-03,-3.48680838e-02,-8.19565207e-04, 4.29635463e-01,
 -5.77364754e-02, 4.44694588e-01]

qfrc_actuator:
[ 1.45601276e-05, 2.19382586e-04,-1.88381280e-05, 1.73622809e-05,
 -2.46803465e-03, 2.51467753e-02, 9.87344144e-03, 1.25536277e-03,
  1.56052768e-05,-1.47589224e-04,-4.99990276e-05, 3.47697142e-05,
  4.99742753e-02, 2.02022899e-02, 2.17376656e-03,-2.50181831e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227791, -0.63540601, -0.32186801, -0.63540601,  1.07115519,
       -0.70846675, -0.32186801, -0.70846675,  2.11087613,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.544295323478933e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99224374e-01,  5.99244106e-03, -3.89196710e-02,  5.98790068e-03,
        9.99982045e-01,  2.33228022e-04,  3.89203698e-02,  0.00000000e+00,
       -9.99242315e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13154109, -0.08303911,  0.17465985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003789427067596381
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85620539e-01, -1.68918319e-01,  4.33068683e-03, -1.68916688e-01,
        9.85630053e-01,  7.42197680e-04, -4.39382587e-03,  1.08420217e-19,
       -9.99990347e-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([ 0.13096793, -0.08202747,  0.131594  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29388571,   6.73789803,   2.79311633,   6.73789803,
        16.00067567, -21.00358737,   2.79311633, -21.00358737,
        57.96131697,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.605917990682877e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875012,  0.11052471, -0.17272082,  0.10884291,  0.99387338,
        0.0192076 ,  0.17378554,  0.        , -0.98478352])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329841, -0.05389405,  0.29658776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004941106773209572
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27861176, -0.91281498, -0.29857041, -0.08716084, -0.28556484,
        0.95438761, -0.95644052,  0.29192726,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484699, -0.03596031,  0.30482453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004364870362942863
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54354181e-13, -3.57685566e-14,  1.00000000e+00, -9.09788192e-27,
        1.00000000e+00,  3.57685566e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54354181e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05328052, -0.06089072,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.36086149e-05,-2.29803350e-05,-2.13836973e-05,-1.65042504e-06,
 -2.54339004e-03, 2.70232718e-02, 1.02911974e-02, 1.27227346e-03,
  6.71382894e-06,-1.41723815e-04,-3.33029967e-06, 1.53458630e-05,
  5.23075944e-02, 2.14195612e-02, 1.28893674e-02,-3.32877377e-04,
 -2.96109651e-06, 1.80755045e-06,-9.80999899e+00,-6.49600670e-02,
 -9.46127898e-03,-5.27463341e-03]


--- Step 1863 ---
qpos:
[ 0.00989091, 0.00805933,-0.00559317, 0.03349057, 0.00600041,-0.02226236,
 -0.01670165, 0.03795814, 0.013023  , 0.00597084,-0.01170287, 0.03406368,
  0.81118081,-0.01593834, 1.13852936, 0.04604542, 0.09487723,-0.06346579,
  0.14255382, 0.94246782,-0.0327549 , 0.02805299, 0.33150348]

qacc:
[-3.50692879e+00,-2.95010381e-01, 1.01068202e+00,-1.46560681e+00,
  3.81516891e-01, 6.48114767e-01,-7.27296193e-01,-2.90532841e+00,
 -2.37910354e+00, 1.06781089e+00,-7.39440792e+00, 1.81410710e+01,
  1.79025299e+00,-4.11568354e-01, 7.61918166e+00,-2.34164991e+01,
 -9.06428216e-03,-2.93991591e-02,-1.69546712e-03, 3.04796765e-01,
 -3.96364977e-02, 2.38644167e-01]

qfrc_actuator:
[-6.69692704e-06, 2.27699148e-04,-1.06371123e-05, 1.75170982e-05,
 -2.49659470e-03, 2.51683297e-02, 9.90619583e-03, 1.26315683e-03,
  1.50254151e-06,-1.51100994e-04,-5.36250129e-05, 6.50728150e-05,
  4.99761861e-02, 2.01821542e-02, 2.19435882e-03,-2.50328267e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71228437, -0.63333379, -0.3259407 , -0.63333379,  1.02279251,
       -0.60334687, -0.3259407 , -0.60334687,  1.88464474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.23736533895023e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99223690e-01,  5.99410664e-03, -3.89369784e-02,  5.98956096e-03,
        9.99982035e-01,  2.33396594e-04,  3.89376779e-02,  0.00000000e+00,
       -9.99241641e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13154226, -0.08303744,  0.17465927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037893999793828177
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85614746e-01, -1.68952027e-01,  4.33408808e-03, -1.68950394e-01,
        9.85624276e-01,  7.42933171e-04, -4.39730249e-03,  0.00000000e+00,
       -9.99990332e-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([ 0.13096977, -0.08202789,  0.13159409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29485284,   6.71498338,   2.8502414 ,   6.71498338,
        16.40337883, -21.4590949 ,   2.8502414 , -21.4590949 ,
        57.85108491,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.767555502269268e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78755726e-01,  1.10488402e-01, -1.72712312e-01,  1.08807338e-01,
        9.93877413e-01,  1.92002627e-02,  1.73776272e-01, -3.46944695e-18,
       -9.84785158e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329887, -0.05389494,  0.29658805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004935547372443081
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.81090028e-01, -9.12386248e-01, -2.97556266e-01, -8.76083836e-02,
       -2.84366845e-01,  9.54704283e-01, -9.55674195e-01,  2.94426277e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484655, -0.03596167,  0.30482589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043579727780776456
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54756760e-13, -9.95143593e-14,  1.00000000e+00, -2.53519557e-26,
        1.00000000e+00,  9.95143593e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54756760e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05328031, -0.06089048,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.05889161e-05,-8.98390060e-06, 7.80963423e-07,-1.59843487e-06,
 -2.58014123e-03, 2.70373120e-02, 1.03414182e-02, 1.29231842e-03,
 -1.39675789e-05,-8.27257518e-05,-3.27680342e-05, 2.44145395e-05,
  5.21010794e-02, 2.13182176e-02, 1.31727856e-02,-7.81066875e-05,
 -3.30488243e-06, 1.97392130e-06,-9.80999883e+00,-6.49590349e-02,
 -9.46175496e-03,-5.27399195e-03]


--- Step 1864 ---
qpos:
[ 0.00989023, 0.00805892,-0.00559419, 0.03349038, 0.0060021 ,-0.02227891,
 -0.01670164, 0.03795802, 0.01302327, 0.00596828,-0.01170301, 0.03406457,
  0.8112034 ,-0.01592932, 1.13851464, 0.04603808, 0.09487787,-0.06346551,
  0.14255418, 0.94246125,-0.03274514, 0.02805284, 0.33152312]

qacc:
[-2.20853495e+00, 9.25529293e-01,-4.43121909e+00, 1.00594554e+01,
 -2.24508216e-01, 4.67263655e-01, 7.88636145e-02,-2.81090648e+00,
  1.49867906e+00, 3.07732064e+00,-1.02919109e+01, 1.09013588e+01,
  7.47629967e-01,-4.52463011e-01, 6.38014419e+00,-7.79348440e+00,
 -1.04758061e-02,-1.56171994e-02, 1.88643426e-03, 6.02550252e-02,
  1.13113435e-01,-7.27434680e-02]

qfrc_actuator:
[-1.90408354e-05, 2.50705252e-04,-5.35158695e-06, 3.55854712e-05,
 -2.49669301e-03, 2.52056731e-02, 9.92599219e-03, 1.26795758e-03,
  1.09210510e-05,-9.84589837e-05,-9.15080586e-05, 6.47840585e-05,
  4.99763741e-02, 2.01658050e-02, 2.21805524e-03,-2.37541372e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71229183, -0.67520468, -0.22684419, -0.67520468,  0.8152763 ,
       -0.3065346 , -0.22684419, -0.3065346 ,  1.62469605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.952200527787764e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99223010e-01,  5.99581876e-03, -3.89541595e-02,  5.99126776e-03,
        9.99982025e-01,  2.33566279e-04,  3.89548597e-02,  0.00000000e+00,
       -9.99240971e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13154342, -0.08303588,  0.17465863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003789205224685839
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85608771e-01, -1.68986773e-01,  4.33830029e-03, -1.68985136e-01,
        9.85618319e-01,  7.43812640e-04, -4.40160273e-03,  0.00000000e+00,
       -9.99990313e-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([ 0.13097157, -0.08202832,  0.13159419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29592673,   6.56883053,   3.17506101,   6.56883053,
        19.39821205, -25.03821536,   3.17506101, -25.03821536,
        59.09707107,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.939231507291136e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78761544e-01,  1.10451431e-01, -1.72702988e-01,  1.08771126e-01,
        9.93881523e-01,  1.91927223e-02,  1.73766172e-01,  3.46944695e-18,
       -9.84786940e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329934, -0.05389599,  0.29658835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004929969361967046
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.83813115e-01, -9.11907989e-01, -2.96435381e-01, -8.80917151e-02,
       -2.83043786e-01,  9.55052912e-01, -9.54824573e-01,  2.97170043e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484601, -0.03596325,  0.30482721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004350823550606234
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.49293011e-08, -5.49293061e-08,  1.00000000e+00,  3.01722839e-15,
        1.00000000e+00,  5.49293061e-08, -1.00000000e+00,  0.00000000e+00,
        5.49293011e-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([ 0.05370049, -0.06147633,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29307748e-05, 1.81014326e-05, 3.49094672e-06, 1.76848217e-05,
 -2.58256645e-03, 2.70577141e-02, 1.03726652e-02, 1.30794749e-03,
  8.98511272e-06, 7.43755504e-07,-5.81411331e-05,-4.48960061e-06,
  5.19214462e-02, 2.12417471e-02, 1.31179782e-02, 1.38457623e-04,
 -3.51950289e-06, 2.07279156e-06,-9.80999872e+00,-6.49579210e-02,
 -9.46221460e-03,-5.27332449e-03]


--- Step 1865 ---
qpos:
[ 0.0098901 , 0.00805866,-0.00559519, 0.03349109, 0.0059986 ,-0.02228871,
 -0.01669676, 0.03796077, 0.01302329, 0.00596613,-0.01170349, 0.03406503,
  0.81115531,-0.0159497 , 1.13846234, 0.04604215, 0.09487928,-0.06346254,
  0.14255402, 0.94247182,-0.03276385, 0.02804186, 0.33149216]

qacc:
[ 4.79850003e+00, 2.02285204e+00,-1.07550906e+01, 2.62790178e+01,
 -4.39708010e+01, 1.28718137e+00,-3.58580346e+00, 4.02031261e+01,
 -2.08201981e+00, 6.33175641e-01, 3.12964366e-01,-7.39508062e+00,
 -3.20940675e+01, 1.53623654e-01,-8.88864273e+01, 2.32694856e+02,
  1.93373851e-01, 6.73099300e-01,-1.32942897e-01,-1.42140966e+01,
  2.04842847e-01,-2.72625607e+01]

qfrc_actuator:
[ 9.47977320e-06, 2.64593812e-04,-1.75840510e-06, 8.18112139e-05,
 -2.47966095e-03, 2.52343199e-02, 9.93784279e-03, 1.23545540e-03,
 -1.38999846e-06,-4.82493599e-05,-9.58177618e-05, 4.65320410e-05,
  4.99862519e-02, 2.01523024e-02, 2.24308739e-03,-2.26097339e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71230014, -0.49713346,  0.51012725, -0.49713346,  0.39239502,
       -0.31175661,  0.51012725, -0.31175661,  0.4084845 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.670596916853461e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99222356e-01,  5.99750565e-03, -3.89706770e-02,  5.99294951e-03,
        9.99982015e-01,  2.33731059e-04,  3.89713779e-02,  2.71050543e-20,
       -9.99240327e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13154454, -0.08303438,  0.17465798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000378899267771377
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85602815e-01, -1.69021387e-01,  4.34303534e-03, -1.69019746e-01,
        9.85612384e-01,  7.44781486e-04, -4.40643342e-03,  0.00000000e+00,
       -9.99990292e-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([ 0.13097332, -0.08202874,  0.13159429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.115194537081807e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97876741,  0.11041476, -0.17269321,  0.10873522,  0.9938856 ,
        0.01918519,  0.17375562,  0.        , -0.9847888 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329981, -0.05389711,  0.29658865])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.35167031,  1.2763907 , -0.44479142,  1.2763907 ,  1.64464569,
        0.84073352, -0.44479142,  0.84073352,  3.76427179,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004925454893617909
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28648072, -0.91143249, -0.29532966, -0.08855627, -0.28173994,
        0.95539541, -0.95398458,  0.29985565,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484547, -0.03596489,  0.30482833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043556963430357865
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.27444952e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.27444952e-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([ 0.08735886, -0.10837989,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.81600163e-05, 2.55146364e-05, 8.39243051e-06, 4.74706692e-05,
 -2.56426460e-03, 2.70555529e-02, 1.03829123e-02, 1.28187171e-03,
 -1.20609211e-05, 3.85196403e-05,-1.14432109e-05,-2.03154247e-05,
  5.18634649e-02, 2.12208515e-02, 1.28032952e-02, 1.92858682e-04,
 -3.48896889e-06, 2.02158397e-06,-9.80999875e+00,-6.49567660e-02,
 -9.46259609e-03,-5.27267938e-03]


--- Step 1866 ---
qpos:
[ 0.00988997, 0.00805851,-0.00559582, 0.03349198, 0.005995  ,-0.02229889,
 -0.0166924 , 0.03796324, 0.01302248, 0.00596379,-0.01170327, 0.03406528,
  0.81111742,-0.01596512, 1.13841165, 0.04604392, 0.09488051,-0.0634602 ,
  0.14255399, 0.94247908,-0.03277672, 0.02803354, 0.33147096]

qacc:
[-9.18033428e-03,-5.41866896e-01, 1.36469600e+00, 1.11278312e+00,
 -8.10324821e-01, 3.77535541e-01,-9.06279019e-01,-2.79532619e+00,
 -7.33972444e+00,-2.67639407e+00, 1.01330736e+01,-1.49635680e+01,
  4.24620560e+00, 9.66114824e-01, 9.18330256e+00,-2.89565763e+01,
 -4.51137943e-02,-1.59476740e-01, 3.32994713e-02, 3.00327967e+00,
  1.70728939e-01, 5.26939502e+00]

qfrc_actuator:
[ 8.56335985e-06, 2.72940519e-04, 1.85475753e-05, 9.09675222e-05,
 -2.46492348e-03, 2.52336263e-02, 9.90457471e-03, 1.17763324e-03,
 -4.41520352e-05,-7.07637307e-05,-6.24968021e-05, 3.56491398e-05,
  4.99924010e-02, 2.01522346e-02, 2.25669305e-03,-1.98774508e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71228391, -0.69933395, -0.13520505, -0.69933395,  0.76403924,
       -0.26769901, -0.13520505, -0.26769901,  2.09692898,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.191196238510239e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99222185e-01,  5.99400422e-03, -3.89755891e-02,  5.98944959e-03,
        9.99982036e-01,  2.33624042e-04,  3.89762893e-02,  0.00000000e+00,
       -9.99240136e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13154473, -0.08303349,  0.17466042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24817093, -0.03527049,  0.24565179, -0.03527049,  0.69764665,
        0.06453537,  0.24565179,  0.06453537,  0.25743687,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037882712226414405
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85613575e-01, -1.68959374e-01,  4.31402874e-03, -1.68957755e-01,
        9.85623016e-01,  7.39527772e-04, -4.37695617e-03,  0.00000000e+00,
       -9.99990421e-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([ 0.13097391, -0.082028  ,  0.13159396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2944288 , -0.1146375 ,  7.29352794, -0.1146375 , 33.17034748,
        0.40670997,  7.29352794,  0.40670997,  7.30082135,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.697560779253655e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875421,  0.11047199, -0.17273137,  0.10879081,  0.99387924,
        0.01919949,  0.17379513,  0.        , -0.98478183])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329865, -0.0538947 ,  0.29658791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.35561824, -0.86359143,  1.04494529, -0.86359143,  3.93406016,
        2.13094443,  1.04494529,  2.13094443,  3.11672991,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004946111607235174
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80049501e-01, -9.12552113e-01, -2.98028385e-01, -8.74360566e-02,
       -2.84913767e-01,  9.54557008e-01, -9.55995404e-01,  2.93381640e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484515, -0.03595962,  0.30482507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.31643912, -5.91962651,  8.44907913, -5.91962651, 17.82421267,
        5.26012536,  8.44907913,  5.26012536, 14.0018085 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043607074776555454
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.81895494e-13, -3.58027026e-14,  1.00000000e+00, -1.36728908e-26,
        1.00000000e+00,  3.58027026e-14, -1.00000000e+00,  0.00000000e+00,
       -3.81895494e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05328477, -0.06088689,  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:
[-1.05828894e-07, 2.64122213e-05, 2.82647130e-05, 1.14640119e-05,
 -2.28977344e-03, 2.67178187e-02, 1.01063187e-02, 1.08097710e-03,
 -4.30973314e-05,-4.12993868e-06, 3.91955406e-05,-1.00181547e-05,
  5.54038569e-02, 2.26908576e-02, 1.46968114e-02,-1.03860673e-04,
 -1.05357046e-05, 3.39957364e-06,-9.80999710e+00,-6.49588834e-02,
 -9.46482485e-03,-5.27266540e-03]


--- Step 1867 ---
qpos:
[ 0.00988982, 0.00805858,-0.00559595, 0.03349295, 0.00599169,-0.02230995,
 -0.01668875, 0.03796539, 0.01302186, 0.00596128,-0.01170262, 0.03406575,
  0.81108874,-0.01597606, 1.13836388, 0.04604404, 0.09488162,-0.06345834,
  0.14255406, 0.94248341,-0.0327847 , 0.02802727, 0.33145837]

qacc:
[ -0.07378232, -0.95356445,  3.4823454 , -3.06979906,  2.43432961,
   0.16071218, -0.92610466, -2.77257336,  1.63048376, -0.94262009,
   2.0608737 ,  1.37247332,  3.78336437,  0.93451018,  9.20490659,
 -26.1578555 , -0.03126688, -0.11740915,  0.02677989,  2.46971558,
   0.05736717,  4.6481225 ]

qfrc_actuator:
[ 8.06778715e-06, 2.95698121e-04, 4.85079794e-05, 9.59941493e-05,
 -2.43683264e-03, 2.52197611e-02, 9.88318251e-03, 1.17762473e-03,
 -3.34775372e-05,-8.32225420e-05,-4.30214798e-05, 4.69063186e-05,
  4.99862515e-02, 2.01553857e-02, 2.19203349e-03,-2.05392329e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227495, -0.68656335, -0.18964801, -0.68656335,  0.84095536,
       -0.46584857, -0.18964801, -0.46584857,  2.39873903,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.196213317265809e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99221980e-01,  5.99040814e-03, -3.89814064e-02,  5.98585488e-03,
        9.99982057e-01,  2.33518724e-04,  3.89821058e-02,  0.00000000e+00,
       -9.99239909e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13154507, -0.08303258,  0.17466222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003788116567956013
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85621075e-01, -1.68916176e-01,  4.29196736e-03, -1.68914575e-01,
        9.85630420e-01,  7.35552291e-04, -4.35454027e-03,  0.00000000e+00,
       -9.99990519e-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([ 0.13097462, -0.08202748,  0.13159372])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29278338,  7.28466729,  0.34396503,  7.28466729,  7.349634  ,
       -1.20401135,  0.34396503, -1.20401135, 32.791951  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.412311193254789e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874491,  0.11051123, -0.17275897,  0.10882889,  0.99387488,
        0.01920947,  0.17382366,  0.        , -0.98477679])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329789, -0.05389283,  0.29658743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004958625653789832
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75792632e-01, -9.13263003e-01, -2.99815130e-01, -8.66740419e-02,
       -2.87013454e-01,  9.53997321e-01, -9.57301433e-01,  2.89091621e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484501, -0.03595575,  0.30482329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043723909267610883
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.74466204e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.74466204e-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([ 0.05328869, -0.06088429,  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:
[-4.90038426e-07, 4.38684806e-05, 3.93013857e-05, 7.35926719e-06,
 -2.25695643e-03, 2.67234969e-02, 1.01110545e-02, 1.09488537e-03,
  9.43972893e-06,-7.03741245e-06, 2.31284272e-05, 1.22471475e-05,
  5.48871707e-02, 2.24462447e-02, 1.45527836e-02,-5.50586102e-05,
 -5.02647189e-06, 1.49474097e-06,-9.80999865e+00,-6.49609029e-02,
 -9.46414893e-03,-5.27260926e-03]


--- Step 1868 ---
qpos:
[ 0.00988968, 0.00805876,-0.00559564, 0.033494  , 0.00598881,-0.02232201,
 -0.01668586, 0.03796721, 0.01302171, 0.00595891,-0.01170155, 0.03406632,
  0.81106856,-0.0159829 , 1.1383156 , 0.04604073, 0.09488264,-0.06345684,
  0.14255422, 0.94248529,-0.03278862, 0.02802258, 0.33145304]

qacc:
[-2.98560155e-02,-9.21414872e-01, 3.21170481e+00,-2.77903343e+00,
  3.59202362e+00, 1.31164561e-01,-1.00104988e+00,-2.75862633e+00,
  4.20565614e+00,-7.77098820e-01, 2.62480309e+00,-1.75085153e+00,
  3.55064301e+00, 7.65091875e-01, 9.48009642e+00,-3.45163740e+01,
 -2.20759552e-02,-9.19704875e-02, 2.08686894e-02, 2.03589619e+00,
 -1.50635446e-02, 3.91340479e+00]

qfrc_actuator:
[ 7.83318376e-06, 2.91442680e-04, 6.62326880e-05, 9.85730139e-05,
 -2.41882735e-03, 2.52341450e-02, 9.90481591e-03, 1.19470173e-03,
 -9.17969272e-06,-5.40882699e-05,-1.41003184e-05, 5.33326533e-05,
  4.99884233e-02, 2.01589658e-02, 2.18675363e-03,-2.27021438e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227039, -0.6658572 , -0.25290968, -0.6658572 ,  0.97881562,
       -0.70175668, -0.25290968, -0.70175668,  2.5598459 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.609702277548992e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99221711e-01,  5.98709968e-03, -3.89888076e-02,  5.98254721e-03,
        9.99982077e-01,  2.33434062e-04,  3.89895064e-02,  0.00000000e+00,
       -9.99239620e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13154555, -0.08303157,  0.17466347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003788386499523269
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85625732e-01, -1.68889423e-01,  4.27548800e-03, -1.68887835e-01,
        9.85635005e-01,  7.32608624e-04, -4.33780049e-03,  0.00000000e+00,
       -9.99990592e-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([ 0.1309755 , -0.08202716,  0.13159355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29182463,  7.2648269 ,  0.62689429,  7.2648269 ,  7.51449926,
       -2.58048715,  0.62689429, -2.58048715, 37.19605686,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.234462962201954e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873893,  0.11053447, -0.17277801,  0.1088514 ,  0.99387229,
        0.01921567,  0.17384327,  0.        , -0.98477333])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329745, -0.05389144,  0.29658715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004965139444688737
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27321445, -0.91367949, -0.30090472, -0.08620684, -0.28829157,
        0.95365421, -0.95808259,  0.28649215,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484496, -0.03595302,  0.30482258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043795246728615955
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26751544e-13, -6.73367575e-14,  1.00000000e+00, -8.53503795e-27,
        1.00000000e+00,  6.73367575e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26751544e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05329162, -0.06088225,  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:
[-2.35418313e-07, 2.87069385e-05, 3.18802670e-05, 5.95973658e-06,
 -2.25336212e-03, 2.67821125e-02, 1.01681494e-02, 1.12781736e-03,
  2.45550771e-05, 3.05846273e-05, 3.07596006e-05, 7.16589755e-06,
  5.44292461e-02, 2.22260560e-02, 1.44019170e-02,-1.88622050e-04,
 -1.89989118e-06, 4.44199858e-07,-9.80999948e+00,-6.49622155e-02,
 -9.46391956e-03,-5.27245605e-03]


--- Step 1869 ---
qpos:
[ 0.00988953, 0.00805889,-0.00559497, 0.03349475, 0.00598645,-0.02233505,
 -0.01668372, 0.03796871, 0.01302185, 0.00595672,-0.01170042, 0.03406663,
  0.81105579,-0.01598629, 1.13827365, 0.04603741, 0.09488359,-0.06345562,
  0.14255445, 0.94248512,-0.03278927, 0.02801912, 0.33145375]

qacc:
[-1.61900823e-03,-1.66840461e+00, 7.09726479e+00,-1.27327713e+01,
  4.47021331e+00, 1.06050592e-01,-9.24945782e-01,-2.69022572e+00,
  2.57003897e+00,-4.81045404e-01, 3.14622863e+00,-7.81843242e+00,
  3.06803811e+00, 6.22088429e-01, 9.29335552e+00,-1.91342826e+01,
 -1.66016957e-02,-6.88863738e-02, 1.65714392e-02, 1.62525131e+00,
 -3.45204890e-02, 3.24813248e+00]

qfrc_actuator:
[ 7.75403192e-06, 2.70993991e-04, 7.64813598e-05, 8.19080944e-05,
 -2.44263058e-03, 2.52659534e-02, 9.88159677e-03, 1.20441870e-03,
  5.17267207e-06,-5.34931792e-05,-1.51693261e-05, 3.91529252e-05,
  4.99899935e-02, 2.01791456e-02, 2.23860971e-03,-2.18357990e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226862, -0.66412193, -0.25742698, -0.66412193,  0.98502919,
       -0.70368023, -0.25742698, -0.70368023,  2.52765518,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.359474846329452e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99221370e-01,  5.98421535e-03, -3.89979763e-02,  5.97966293e-03,
        9.99982094e-01,  2.33376467e-04,  3.89986746e-02, -2.71050543e-20,
       -9.99239262e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13154618, -0.08303044,  0.17466427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037889199721825433
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85628001e-01, -1.68876479e-01,  4.26356469e-03, -1.68874899e-01,
        9.85637223e-01,  7.30507915e-04, -4.32569367e-03, -1.08420217e-19,
       -9.99990644e-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([ 0.13097655, -0.082027  ,  0.13159343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29135663,  7.23234058,  0.92581379,  7.23234058,  7.85133832,
       -4.37450642,  0.92581379, -4.37450642, 41.46444921,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.1439819639405563e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78735684e-01,  1.10544225e-01, -1.72790147e-01,  1.08860763e-01,
        9.93871206e-01,  1.92187406e-02,  1.73855672e-01, -3.46944695e-18,
       -9.84771144e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329726, -0.05389048,  0.29658702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004966889809656661
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.72086192e-01, -9.13853451e-01, -3.01398364e-01, -8.60057457e-02,
       -2.88866726e-01,  9.53498310e-01, -9.58421679e-01,  2.85355715e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048449 , -0.03595122,  0.3048227 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043830222317989276
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53300797e-13, -3.56204246e-14,  1.00000000e+00, -9.02268194e-27,
        1.00000000e+00,  3.56204246e-14, -1.00000000e+00,  0.00000000e+00,
       -2.53300797e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05329377, -0.06088065,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.84745702e-08, 2.43296614e-06, 2.03033201e-05,-1.42191467e-05,
 -2.29840882e-03, 2.68643992e-02, 1.01833931e-02, 1.15412117e-03,
  1.50531487e-05, 2.44392519e-05, 9.29807702e-06,-1.16647555e-05,
  5.40055113e-02, 2.20414393e-02, 1.44806809e-02, 6.95206326e-05,
 -4.49545882e-07, 2.52273221e-08,-9.80999984e+00,-6.49629570e-02,
 -9.46400209e-03,-5.27220904e-03]


--- Step 1870 ---
qpos:
[ 0.00988973, 0.00805895,-0.00559411, 0.03349496, 0.00598473,-0.02234904,
 -0.01668224, 0.03796992, 0.01302182, 0.00595473,-0.01170013, 0.03406683,
  0.81104913,-0.01598691, 1.13824381, 0.04603722, 0.09488449,-0.06345459,
  0.14255472, 0.94248324,-0.03278736, 0.0280166 , 0.3314595 ]

qacc:
[ 3.03590969e+00,-1.74670599e+00, 8.33400225e+00,-1.78436785e+01,
  5.41144971e+00, 4.40121579e-03,-6.12112608e-01,-2.64626887e+00,
 -1.55863505e+00, 2.38518562e+00,-7.66651303e+00, 6.97395460e+00,
  2.47664188e+00, 5.42023534e-01, 8.37615921e+00,-3.46905316e+00,
 -1.31328474e-02,-4.81934959e-02, 1.33376580e-02, 1.26629038e+00,
 -3.40734070e-02, 2.70750146e+00]

qfrc_actuator:
[ 2.55194737e-05, 2.58701986e-04, 8.21503804e-05, 5.40340143e-05,
 -2.47403988e-03, 2.52730921e-02, 9.86725218e-03, 1.22759343e-03,
 -4.20103968e-06,-7.01267853e-05,-6.95629986e-05, 3.06741441e-05,
  4.99803438e-02, 2.01905400e-02, 2.21230837e-03,-1.95273768e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71226876, -0.6678617 , -0.2475632 , -0.6678617 ,  0.93499674,
       -0.60086267, -0.2475632 , -0.60086267,  2.33324139,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.37988645260088e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99220959e-01,  5.98185871e-03, -3.90088666e-02,  5.97730554e-03,
        9.99982109e-01,  2.33349704e-04,  3.90095646e-02,  0.00000000e+00,
       -9.99238837e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13154693, -0.08302918,  0.17466472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037896154152516947
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85628299e-01, -1.68874950e-01,  4.25531849e-03, -1.68873377e-01,
        9.85637485e-01,  7.29088241e-04, -4.31732616e-03,  0.00000000e+00,
       -9.99990680e-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([ 0.13097777, -0.08202698,  0.13159337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29124855,  7.17414541,  1.30151569,  7.17414541,  8.57645064,
       -7.08422243,  1.30151569, -7.08422243, 46.34052172,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.122713069839759e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873468,  0.11054274, -0.17279679,  0.10885917,  0.99387137,
        0.01921922,  0.17386232,  0.        , -0.98476997])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329728, -0.05388989,  0.29658703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004965816098183102
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27192184, -0.91387122, -0.30149279, -0.08598342, -0.2889719 ,
        0.95346845, -0.95847033,  0.28519227,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484486, -0.03595019,  0.30482332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004383631413360789
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26632798e-13, -3.95727494e-15,  1.00000000e+00,  5.01120800e-28,
        1.00000000e+00,  3.95727494e-15, -1.00000000e+00,  0.00000000e+00,
        1.26632798e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0532953 , -0.06087941,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77625813e-05,-7.36065629e-06, 8.16942185e-06,-2.73475056e-05,
 -2.35624321e-03, 2.69210788e-02, 1.02062288e-02, 1.19331701e-03,
 -8.94289620e-06,-1.47542440e-06,-4.85926618e-05,-7.33573769e-06,
  5.36254649e-02, 2.18802899e-02, 1.41388727e-02, 3.01213697e-04,
 -5.64667211e-08, 1.33824406e-08,-9.80999991e+00,-6.49632474e-02,
 -9.46427857e-03,-5.27188280e-03]


--- Step 1871 ---
qpos:
[ 0.00989013, 0.00805895,-0.00559314, 0.03349415, 0.00598375,-0.02236391,
 -0.01668136, 0.03797086, 0.01302168, 0.00595312,-0.01170034, 0.03406688,
  0.81104768,-0.01598512, 1.13822504, 0.04604   , 0.09488535,-0.0634537 ,
  0.14255504, 0.94247992,-0.0327834 , 0.0280148 , 0.33146948]

qacc:
[ 1.85854840e+00,-2.48521972e+00, 1.30596151e+01,-3.08735446e+01,
  6.21203825e+00,-7.24415820e-02,-3.38998925e-01,-2.68319526e+00,
 -1.01007237e+00, 1.59304680e+00,-4.30713758e+00, 2.21231688e+00,
  2.07322079e+00, 5.30740643e-01, 7.30396124e+00,-1.90823585e+00,
 -1.09451920e-02,-3.39522165e-02, 1.03373485e-02, 9.98957303e-01,
 -5.54410098e-02, 2.27991224e+00]

qfrc_actuator:
[ 3.58929520e-05, 2.51349173e-04, 8.50925029e-05, 2.04045112e-06,
 -2.47482991e-03, 2.52835346e-02, 9.87620532e-03, 1.24118906e-03,
 -9.70855700e-06,-2.61690100e-05,-8.40578506e-05, 2.55712352e-05,
  4.99851152e-02, 2.01959543e-02, 2.16499334e-03,-1.81602797e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227043, -0.66317224, -0.25986872, -0.66317224,  0.94128009,
       -0.58442142, -0.25986872, -0.58442142,  2.20368528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.615117086212003e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99220482e-01,  5.98014065e-03, -3.90213627e-02,  5.97558587e-03,
        9.99982119e-01,  2.33357410e-04,  3.90220605e-02, -2.71050543e-20,
       -9.99238349e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13154778, -0.08302777,  0.17466489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24822245, -0.2451818 ,  0.0387333 , -0.2451818 ,  0.30851306,
        0.38163958,  0.0387333 ,  0.38163958,  2.66400098,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003790416085320744
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85626963e-01, -1.68882879e-01,  4.24999831e-03, -1.68881309e-01,
        9.85636126e-01,  7.28211893e-04, -4.31193439e-03,  1.08420217e-19,
       -9.99990704e-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([ 0.13097914, -0.08202708,  0.13159334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29141261,   6.11858557,   3.96580489,   6.11858557,
        27.74734087, -31.5601375 ,   3.96580489, -31.5601375 ,
        55.98352114,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.154942450512237e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9787355 ,  0.11053181, -0.17279911,  0.10884837,  0.99387259,
        0.01921755,  0.17386444,  0.        , -0.98476959])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329744, -0.05388962,  0.29658712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004963510040873094
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27229337, -0.91380446, -0.3013598 , -0.08605912, -0.28881059,
        0.9535105 , -0.95835805,  0.28556935,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484489, -0.03594982,  0.30482417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043819577368889306
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26681165e-13, -3.56290777e-14,  1.00000000e+00, -4.51353309e-27,
        1.00000000e+00,  3.56290777e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26681165e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05329634, -0.06087845,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.08766776e-05,-1.09603307e-05, 1.46954924e-06,-5.25618738e-05,
 -2.38900577e-03, 2.69791073e-02, 1.02485777e-02, 1.22148133e-03,
 -5.76593627e-06, 3.28460879e-05,-2.10188023e-05,-6.98643963e-06,
  5.33246523e-02, 2.17467078e-02, 1.34866799e-02, 2.81903819e-04,
 -2.74171015e-07, 2.37249468e-07,-9.80999982e+00,-6.49631839e-02,
 -9.46465960e-03,-5.27149418e-03]


--- Step 1872 ---
qpos:
[ 0.00989032, 0.00805903,-0.00559222, 0.03349272, 0.00598352,-0.02237952,
 -0.01668105, 0.03797154, 0.01302147, 0.00595199,-0.01170001, 0.03406679,
  0.81105118,-0.01598092, 1.13821319, 0.04604399, 0.09488616,-0.06345292,
  0.14255539, 0.94247541,-0.03277774, 0.02801344, 0.33148298]

qacc:
[-1.96654499e+00,-1.04279879e+00, 6.52288862e+00,-1.73252395e+01,
  6.37634311e+00, 8.14369172e-02,-6.04203392e-01,-2.44521111e+00,
 -5.65556494e-01,-1.20285586e+00, 5.81370496e+00,-9.57590240e+00,
  1.93679531e+00, 6.39730626e-01, 6.52579615e+00,-8.08955932e+00,
 -1.11446007e-02,-2.84143011e-02, 7.89462923e-03, 8.09191689e-01,
 -1.10839203e-01, 1.87843542e+00]

qfrc_actuator:
[ 2.40743497e-05, 2.64725035e-04, 8.64066217e-05,-2.82185270e-05,
 -2.45759857e-03, 2.52962875e-02, 9.84607935e-03, 1.24913196e-03,
 -1.28883501e-05, 3.61249859e-05,-3.91132758e-05, 2.25790843e-05,
  4.99930751e-02, 2.01970494e-02, 2.19526566e-03,-1.80791137e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227351, -0.66757368, -0.24835244, -0.66757368,  0.94896785,
       -0.63623658, -0.24835244, -0.63623658,  2.42248337,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.0188947459248975e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99219941e-01,  5.97915552e-03, -3.90353503e-02,  5.97459823e-03,
        9.99982125e-01,  2.33402603e-04,  3.90360481e-02, -2.71050543e-20,
       -9.99237803e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13154873, -0.08302621,  0.17466483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24824286, -0.24490789,  0.04055417, -0.24490789,  0.31364665,
        0.3949755 ,  0.04055417,  0.3949755 ,  2.63351191,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037912651132918616
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85624259e-01, -1.68898734e-01,  4.24698702e-03, -1.68897166e-01,
        9.85633409e-01,  7.27766251e-04, -4.30889110e-03,  0.00000000e+00,
       -9.99990717e-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([ 0.13098065, -0.08202727,  0.13159334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29179036,   6.10727006,   3.98389998,   6.10727006,
        23.62831561, -25.04369389,   3.98389998, -25.04369389,
        45.68346756,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.227924995108727e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873783,  0.11051289, -0.17279805,  0.10882976,  0.99387469,
        0.0192141 ,  0.17386301,  0.        , -0.98476985])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329771, -0.0538896 ,  0.29658729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004960613068104105
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27301584, -0.91368269, -0.30107522, -0.08619785, -0.28847222,
        0.95360039, -0.95814001,  0.28630005,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484494, -0.03594997,  0.30482516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004378506087859002
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.56571647e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.56571647e-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([ 0.05329699, -0.06087771,  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:
[-1.15112476e-05, 5.29099170e-06,-2.59785125e-06,-3.17016720e-05,
 -2.40846753e-03, 2.70370611e-02, 1.02485729e-02, 1.24291606e-03,
 -3.33638566e-06, 7.60787392e-05, 4.89198995e-05,-2.44362567e-06,
  5.30723664e-02, 2.16278075e-02, 1.29635438e-02, 1.41245249e-04,
 -8.25868160e-07, 5.91435737e-07,-9.80999965e+00,-6.49628405e-02,
 -9.46509644e-03,-5.27105024e-03]


--- Step 1873 ---
qpos:
[ 0.00989036, 0.00805917,-0.00559136, 0.03349197, 0.00598404,-0.02239564,
 -0.01668122, 0.03797197, 0.01302088, 0.00595097,-0.01169898, 0.03406669,
  0.81105932,-0.01597435, 1.13820779, 0.04604919, 0.09488692,-0.06345223,
  0.14255577, 0.94246994,-0.03277068, 0.02801234, 0.33149934]

qacc:
[-1.25684393e+00, 1.65356908e+00,-8.71052970e+00, 2.07022132e+01,
  6.30359499e+00, 1.56165740e-01,-5.37074644e-01,-2.49819233e+00,
 -3.33402050e+00,-1.76184885e+00, 6.53564108e+00,-7.76496247e+00,
  1.74080537e+00, 7.71970508e-01, 5.79443338e+00,-6.53008458e+00,
 -1.20098829e-02,-2.35017140e-02, 6.18296681e-03, 6.41111755e-01,
 -1.47834738e-01, 1.53596997e+00]

qfrc_actuator:
[ 1.70436842e-05, 2.72666209e-04, 8.68538859e-05, 7.83214605e-06,
 -2.44762021e-03, 2.53106180e-02, 9.82822150e-03, 1.21827748e-03,
 -3.24261917e-05, 2.04162888e-05,-1.26078980e-05, 2.09099957e-05,
  4.99921316e-02, 2.01945790e-02, 2.21880762e-03,-1.75210240e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227793, -0.66759573, -0.24830584, -0.66759573,  0.94967889,
       -0.63827686, -0.24830584, -0.63827686,  2.42835076,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.546563922891704e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99219346e-01,  5.97892301e-03, -3.90506341e-02,  5.97436232e-03,
        9.99982126e-01,  2.33484908e-04,  3.90513321e-02,  0.00000000e+00,
       -9.99237206e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13154975, -0.08302455,  0.17466459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003792069195784421
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85620425e-01, -1.68921142e-01,  4.24577015e-03, -1.68919575e-01,
        9.85629569e-01,  7.27657088e-04, -4.30767327e-03,  0.00000000e+00,
       -9.99990722e-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([ 0.13098228, -0.08202754,  0.13159337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29233592,   6.0997967 ,   3.99632873,   6.0997967 ,
        20.44758472, -20.07951517,   3.99632873, -20.07951517,
        37.94070564,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.3304937930058596e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78741347e-01,  1.10487373e-01, -1.72794433e-01,  1.08804714e-01,
        9.93877528e-01,  1.92092107e-02,  1.73858879e-01,  3.46944695e-18,
       -9.84770577e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329805, -0.05388982,  0.29658751])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004957176345155763
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27403836, -0.91351282, -0.30066146, -0.08638996, -0.28798279,
        0.95373093, -0.95783075,  0.28733299,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484498, -0.03595056,  0.30482627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004373710493999483
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.80760121e-13, -3.56962613e-14,  1.00000000e+00, -1.35917128e-26,
        1.00000000e+00,  3.56962613e-14, -1.00000000e+00,  0.00000000e+00,
       -3.80760121e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05329734, -0.06087715,  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:
[-7.35628142e-06, 8.98963122e-06, 1.15093418e-07, 3.55719200e-05,
 -2.43616427e-03, 2.70883185e-02, 1.02593841e-02, 1.22514814e-03,
 -1.96112769e-05, 3.68706806e-05, 4.81706488e-05, 3.23825488e-06,
  5.28236526e-02, 2.15045879e-02, 1.26412166e-02, 1.36770580e-04,
 -1.53241500e-06, 1.00731217e-06,-9.80999943e+00,-6.49622745e-02,
 -9.46557308e-03,-5.27054551e-03]


--- Step 1874 ---
qpos:
[ 0.00989032, 0.0080591 ,-0.00559015, 0.03349236, 0.00598513,-0.0224121 ,
 -0.01668181, 0.03797216, 0.01302006, 0.00594986,-0.01169802, 0.03406666,
  0.8110716 ,-0.01596586, 1.1382014 , 0.04605195, 0.09488765,-0.06345164,
  0.14255615, 0.94246378,-0.03276251, 0.02801145, 0.33151772]

qacc:
[-7.27068443e-01, 1.09129065e+00,-9.03137393e+00, 2.81735393e+01,
  4.88643222e+00, 2.09475592e-01,-3.65051779e-01,-3.01659412e+00,
 -2.01735785e+00, 1.81397906e-01,-1.08898908e+00, 2.33658981e+00,
  1.76497404e+00, 2.67538862e-01, 5.87912973e+00,-2.28158011e+01,
 -8.99692139e-03,-2.40228874e-02, 1.88684964e-03, 5.22939336e-01,
 -1.02928909e-01, 1.08399450e+00]

qfrc_actuator:
[ 1.28945089e-05, 2.59596374e-04, 1.04566118e-04, 6.48515122e-05,
 -2.44228660e-03, 2.53259725e-02, 9.83561758e-03, 1.16423102e-03,
 -4.36841328e-05,-2.41823658e-05,-3.30343066e-05, 1.99480016e-05,
  4.99910215e-02, 2.02067963e-02, 2.17419542e-03,-1.96996827e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71228363, -0.63746072, -0.31779207, -0.63746072,  1.06009669,
       -0.69767996, -0.31779207, -0.69767996,  2.11176336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.162146372681859e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99218706e-01,  5.97943473e-03, -3.90669132e-02,  5.97486984e-03,
        9.99982123e-01,  2.33602234e-04,  3.90676116e-02, -2.71050543e-20,
       -9.99236569e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13155082, -0.08302279,  0.17466423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003792821367527646
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85615663e-01, -1.68948924e-01,  4.24580732e-03, -1.68947356e-01,
        9.85624808e-01,  7.27786650e-04, -4.30773179e-03,  1.08420217e-19,
       -9.99990722e-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([ 0.130984  , -0.08202788,  0.13159341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29300999,   6.10236012,   3.99364442,   6.10236012,
        23.83737579, -25.28008691,   3.99364442, -25.28008691,
        45.92143503,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.453002154852804e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874581,  0.11045647, -0.17278894,  0.1087744 ,  0.99388096,
        0.01920316,  0.17385275,  0.        , -0.98477166])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329843, -0.05389026,  0.29658775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004953505873552513
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75228418e-01, -9.13315876e-01, -3.00172332e-01, -8.66099761e-02,
       -2.87405882e-01,  9.53884988e-01, -9.57469598e-01,  2.88534174e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484499, -0.03595157,  0.30482746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043679205997208814
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.94603927e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.94603927e-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([ 0.05329746, -0.06087672,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.35826232e-06,-6.51058376e-06, 2.08044030e-05, 5.81006301e-05,
 -2.46808295e-03, 2.71299532e-02, 1.02910866e-02, 1.18329166e-03,
 -1.18067782e-05,-1.38752731e-05,-6.76490478e-06, 2.34860088e-06,
  5.25904122e-02, 2.13980051e-02, 1.22743313e-02,-1.42063471e-04,
 -2.27768746e-06, 1.43968707e-06,-9.80999919e+00,-6.49615339e-02,
 -9.46607926e-03,-5.26997800e-03]


--- Step 1875 ---
qpos:
[ 0.00989057, 0.00805895,-0.00558869, 0.03349273, 0.00598666,-0.02242875,
 -0.01668278, 0.0379721 , 0.01301911, 0.00594848,-0.01169722, 0.03406734,
  0.81108759,-0.01595588, 1.1381925 , 0.04605144, 0.09488835,-0.06345114,
  0.14255653, 0.94245717,-0.03275347, 0.02801075, 0.33153746]

qacc:
[ 2.60153221e+00,-8.61031190e-01, 2.94838881e+00,-3.54712189e+00,
  3.69379156e+00, 2.80402134e-01,-3.05811578e-01,-3.26301526e+00,
 -1.13118517e+00, 1.55653362e+00,-9.07014440e+00, 2.18227379e+01,
  1.74116336e+00,-1.11350463e-01, 6.13622705e+00,-2.69780214e+01,
 -7.57623050e-03,-2.34961537e-02,-9.58944749e-04, 4.15748930e-01,
 -7.30600323e-02, 7.34701988e-01]

qfrc_actuator:
[ 2.82256507e-05, 2.51894677e-04, 1.14497325e-04, 6.27248713e-05,
 -2.43987066e-03, 2.53419764e-02, 9.84054904e-03, 1.14963168e-03,
 -4.99735789e-05,-5.04393799e-05,-4.56374732e-05, 5.48520396e-05,
  4.99896903e-02, 2.01918321e-02, 2.12640852e-03,-2.15358141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71229064, -0.61971949, -0.35114913, -0.61971949,  1.10642693,
       -0.69558464, -0.35114913, -0.69558464,  1.93988121,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.843389361461441e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99218033e-01,  5.98052368e-03, -3.90839601e-02,  5.97595397e-03,
        9.99982117e-01,  2.33746729e-04,  3.90846591e-02, -2.71050543e-20,
       -9.99235903e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13155193, -0.08302102,  0.17466376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000379342137738802
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85610234e-01, -1.68980559e-01,  4.24707036e-03, -1.68978990e-01,
        9.85619384e-01,  7.28143475e-04, -4.30903696e-03,  0.00000000e+00,
       -9.99990716e-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([ 0.13098577, -0.08202827,  0.13159348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29380923,   6.10367068,   3.99310121,   6.10367068,
        27.01198312, -30.14029284,   3.99310121, -30.14029284,
        53.36487329,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.592824955515286e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78750954e-01,  1.10421829e-01, -1.72781915e-01,  1.08740439e-01,
        9.93884812e-01,  1.91962841e-02,  1.73845010e-01,  3.46944695e-18,
       -9.84773026e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329885, -0.05389089,  0.29658801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004949204887597646
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27678375, -0.91305632, -0.29953116, -0.08689501, -0.28664991,
        0.95408652, -0.9569953 ,  0.29010341,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484487, -0.03595284,  0.30482874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004361447326758916
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.09107616e-13, -9.94350812e-14,  1.00000000e+00, -5.06231571e-26,
        1.00000000e+00,  9.94350812e-14, -1.00000000e+00,  0.00000000e+00,
       -5.09107616e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0532974 , -0.0608764 ,  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:
[ 1.52003182e-05,-4.56953866e-06, 1.31448619e-05,-5.58267105e-07,
 -2.49456031e-03, 2.71637287e-02, 1.03174697e-02, 1.18124347e-03,
 -6.63225991e-06,-3.52905019e-05,-1.62197720e-05, 3.41218255e-05,
  5.23825021e-02, 2.12872372e-02, 1.22761511e-02,-2.03310299e-04,
 -2.91084545e-06, 1.79186976e-06,-9.80999899e+00,-6.49606419e-02,
 -9.46659006e-03,-5.26936209e-03]


--- Step 1876 ---
qpos:
[ 0.009891  , 0.0080591 ,-0.00558757, 0.03349341, 0.0059885 ,-0.02244503,
 -0.01668373, 0.03797191, 0.01301844, 0.0059472 ,-0.01169648, 0.03406871,
  0.81110529,-0.01594518, 1.13819054, 0.04605272, 0.094889  ,-0.0634507 ,
  0.14255693, 0.94245036,-0.03274419, 0.02801026, 0.33155777]

qacc:
[ 1.57633639e+00, 2.01168023e+00,-7.87938011e+00, 1.35217162e+01,
  2.60181858e+00, 1.67534118e-01, 6.16909190e-01,-3.06295368e+00,
  2.42800948e+00, 1.75292596e+00,-9.01582767e+00, 2.11905536e+01,
  6.58144441e-01, 1.55622151e-01, 4.80712706e+00,-1.97962512e+00,
 -1.25378285e-02,-1.26735227e-02, 4.30823187e-03, 1.35014479e-01,
  5.08778060e-02, 3.01894788e-01]

qfrc_actuator:
[ 3.71462209e-05, 2.82897480e-04, 1.01968408e-04, 7.90629829e-05,
 -2.45704843e-03, 2.53405909e-02, 9.86187049e-03, 1.15879934e-03,
 -3.55382812e-05,-1.22179884e-05,-3.56695665e-05, 9.28500184e-05,
  4.99934417e-02, 2.01602048e-02, 2.13014656e-03,-1.94203194e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71229893, -0.67802819, -0.21828315, -0.67802819,  0.81187147,
       -0.30929089, -0.21828315, -0.30929089,  1.67301413,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.569823693818827e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99217335e-01,  5.98204933e-03, -3.91015574e-02,  5.97747434e-03,
        9.99982107e-01,  2.33911631e-04,  3.91022571e-02,  2.71050543e-20,
       -9.99235214e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13155306, -0.08301926,  0.17466319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037938050729799936
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85604341e-01, -1.69014869e-01,  4.24946698e-03, -1.69013298e-01,
        9.85613501e-01,  7.28706640e-04, -4.31149429e-03,  0.00000000e+00,
       -9.99990705e-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([ 0.13098758, -0.08202869,  0.13159355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29472554,   6.10635125,   3.99067601,   6.10635125,
        21.22577093, -21.31665317,   3.99067601, -21.31665317,
        39.9125004 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.746680902469438e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78756592e-01,  1.10384700e-01, -1.72773698e-01,  1.08704050e-01,
        9.93888936e-01,  1.91888371e-02,  1.73836021e-01, -3.46944695e-18,
       -9.84774613e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329929, -0.0538917 ,  0.29658829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00049443542745848
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.78715875e-01, -9.12729815e-01, -2.98733571e-01, -8.72457295e-02,
       -2.85709519e-01,  9.54336552e-01, -9.56402449e-01,  2.92051975e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484462, -0.03595433,  0.30483007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004354407702596725
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16421879e-06,  1.16421847e-06,  1.00000000e+00,  1.35540502e-12,
        1.00000000e+00, -1.16421847e-06, -1.00000000e+00,  0.00000000e+00,
       -1.16421879e-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([ 0.0537176 , -0.06146198,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.35045158e-06, 3.11310095e-05,-1.18901347e-05, 1.65818103e-05,
 -2.53359726e-03, 2.71719417e-02, 1.03575558e-02, 1.20289556e-03,
  1.42302572e-05, 1.66326260e-05, 1.86569376e-06, 3.65884497e-05,
  5.22009128e-02, 2.11803300e-02, 1.24052337e-02, 1.71972885e-04,
 -3.40185329e-06, 2.05513286e-06,-9.80999881e+00,-6.49596307e-02,
 -9.46709360e-03,-5.26870891e-03]


--- Step 1877 ---
qpos:
[ 0.00989085, 0.0080593 ,-0.00558682, 0.03349466, 0.00599043,-0.02246073,
 -0.0166846 , 0.0379716 , 0.01301794, 0.00594641,-0.01169609, 0.03407016,
  0.81112451,-0.01593402, 1.13819158, 0.04605395, 0.0948896 ,-0.06345032,
  0.14255733, 0.94244355,-0.03273479, 0.02800994, 0.33157808]

qacc:
[-5.15407802e+00, 2.26229453e+00,-1.03716132e+01, 2.07790642e+01,
  7.26960025e-01, 2.90988684e-01, 5.52579368e-01,-3.13480368e+00,
  1.54475650e+00, 1.74578419e+00,-5.58787266e+00, 6.97976945e+00,
  7.20099244e-01,-1.50774316e-01, 4.55005778e+00,-9.52368661e+00,
 -1.16577630e-02,-1.63962102e-02, 1.45738294e-03, 8.45748626e-02,
  6.11537413e-02, 8.48012213e-03]

qfrc_actuator:
[ 6.71094885e-06, 2.65746634e-04, 7.64618846e-05, 1.06163540e-04,
 -2.48602802e-03, 2.53638063e-02, 9.87503253e-03, 1.16445004e-03,
 -2.67743682e-05, 2.89137306e-05,-4.77003363e-05, 9.69234770e-05,
  4.99896364e-02, 2.01365269e-02, 2.17469219e-03,-1.99421431e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71230822, -0.67650244, -0.22299653, -0.67650244,  0.80833719,
       -0.29132217, -0.22299653, -0.29132217,  1.59608951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.309355243233853e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99216651e-01,  5.98388274e-03, -3.91187739e-02,  5.97930232e-03,
        9.99982096e-01,  2.34086347e-04,  3.91194743e-02, -2.71050543e-20,
       -9.99234540e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13155417, -0.08301752,  0.17466261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003794196667931186
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85598252e-01, -1.69050297e-01,  4.25237623e-03, -1.69048723e-01,
        9.85607426e-01,  7.29362873e-04, -4.31447260e-03,  0.00000000e+00,
       -9.99990693e-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([ 0.13098936, -0.08202912,  0.13159363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29570834,   6.10909983,   3.98826522,   6.10909983,
        22.55600433, -23.37524377,   3.98826522, -23.37524377,
        43.10117513,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.904934243785385e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97876246,  0.1103465 , -0.17276487,  0.10866662,  0.99389318,
        0.01918113,  0.17382639,  0.        , -0.98477631])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329973, -0.05389259,  0.29658857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004940415946618878
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28055981, -0.91241584, -0.29796564, -0.08757515, -0.2848054 ,
        0.9545766 , -0.95583303,  0.29391022,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484438, -0.03595594,  0.30483126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004347207862191582
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06739069e-07, -1.06738817e-07,  1.00000000e+00,  1.13932019e-14,
        1.00000000e+00,  1.06738817e-07, -1.00000000e+00, -1.57772181e-30,
        1.06739069e-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([ 0.05371732, -0.06146182,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.01599836e-05,-1.50591607e-06,-1.99838634e-05, 2.83410874e-05,
 -2.57797218e-03, 2.71776088e-02, 1.03700170e-02, 1.21482493e-03,
  9.16958544e-06, 5.24234180e-05,-7.09747007e-06, 5.56026818e-06,
  5.21111326e-02, 2.11211421e-02, 1.21032604e-02, 3.02222784e-05,
 -3.59815653e-06, 2.14557972e-06,-9.80999878e+00,-6.49585560e-02,
 -9.46752456e-03,-5.26806096e-03]


--- Step 1878 ---
qpos:
[ 0.00989068, 0.00805948,-0.00558629, 0.03349518, 0.00598706,-0.02246956,
 -0.01668055, 0.03797418, 0.01301722, 0.00594608,-0.01169585, 0.03407129,
  0.81107493,-0.01595487, 1.13814588, 0.04606353, 0.09489096,-0.06344727,
  0.14255719, 0.94245401,-0.03275384, 0.02799864, 0.33154743]

qacc:
[-1.69727841e-01,-9.09364871e-01, 6.25003561e+00,-1.83844232e+01,
 -4.47531441e+01, 1.36130610e+00,-3.67586208e+00, 4.04616350e+01,
 -2.08894793e+00, 4.00765056e-01, 8.14605147e-01,-6.42513561e+00,
 -2.85299462e+01,-5.71262371e+00,-9.34275360e+01, 2.28409851e+02,
  1.91648669e-01, 6.67400272e-01,-1.35603806e-01,-1.42320412e+01,
  1.34536553e-01,-2.74539534e+01]

qfrc_actuator:
[ 6.61494404e-06, 2.55349232e-04, 6.10761402e-05, 6.83241947e-05,
 -2.50423802e-03, 2.54014289e-02, 9.88323105e-03, 1.20353875e-03,
 -3.91778709e-05, 5.36168416e-05,-5.48695838e-05, 8.09943896e-05,
  4.99759280e-02, 2.01353241e-02, 2.19056819e-03,-2.09700057e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71231838, -0.49609572,  0.51116193, -0.49609572,  0.39226999,
       -0.31061514,  0.51116193, -0.31061514,  0.41085845,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.048745277325605e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99215990e-01,  5.98580291e-03, -3.91353411e-02,  5.98121714e-03,
        9.99982085e-01,  2.34260636e-04,  3.91360422e-02, -2.71050543e-20,
       -9.99233892e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13155525, -0.08301585,  0.17466201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003794574819991381
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85592134e-01, -1.69085879e-01,  4.25568988e-03, -1.69084303e-01,
        9.85601322e-01,  7.30089387e-04, -4.31786138e-03,  0.00000000e+00,
       -9.99990678e-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([ 0.13099108, -0.08202956,  0.13159371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29675049,   6.15511011,   3.91882473,   6.15511011,
        22.14931341, -23.32820844,   3.91882473, -23.32820844,
        43.93724896,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -4.065980097792032e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78768394e-01,  1.10308316e-01, -1.72755627e-01,  1.08629212e-01,
        9.93897417e-01,  1.91733896e-02,  1.73816356e-01, -3.46944695e-18,
       -9.84778084e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330017, -0.05389355,  0.29658885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.35386611,  1.28131338, -0.43725219,  1.28131338,  1.83397094,
        1.40688774, -0.43725219,  1.40688774,  5.47657639,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004936968363225719
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82425864e-01, -9.12094831e-01, -2.97184541e-01, -8.79041028e-02,
       -2.83886456e-01,  9.54820061e-01, -9.55253108e-01,  2.95789621e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048441 , -0.03595762,  0.30483235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043519687635826254
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55108225e-13, -1.27554112e-13,  1.00000000e+00, -3.25401031e-26,
        1.00000000e+00,  1.27554112e-13, -1.00000000e+00,  0.00000000e+00,
       -2.55108225e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08738145, -0.10836178,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.57815111e-07,-1.41818439e-05,-1.71900746e-05,-3.80473316e-05,
 -2.60051681e-03, 2.71872586e-02, 1.03744740e-02, 1.25984225e-03,
 -1.21263286e-05, 5.28131131e-05, 2.97805040e-06,-1.38227394e-05,
  5.20218103e-02, 2.10961950e-02, 1.19687983e-02,-7.03483412e-05,
 -3.62168934e-06, 2.13414859e-06,-9.80999878e+00,-6.49574518e-02,
 -9.46791750e-03,-5.26742312e-03]


--- Step 1879 ---
qpos:
[ 0.00989085, 0.00805958,-0.00558538, 0.03349522, 0.00598322,-0.02247846,
 -0.01667698, 0.03797649, 0.01301634, 0.00594623,-0.01169542, 0.03407185,
  0.81103615,-0.01597055, 1.13808793, 0.04606387, 0.09489216,-0.06344494,
  0.14255718, 0.94246144,-0.032767  , 0.02799009, 0.33152574]

qacc:
[ 3.03803079e+00,-2.15563437e+00, 9.60384546e+00,-1.86311282e+01,
 -4.03789982e+00, 7.07971751e-01,-1.51761758e+00,-2.29278067e+00,
 -1.25995406e+00,-1.07245226e+00, 7.13007901e+00,-1.76320927e+01,
  4.72507448e+00, 6.66786929e-01, 9.70142501e+00,-6.05518312e+01,
 -4.40460845e-02,-1.78013649e-01, 3.10921238e-02, 3.06211123e+00,
  2.17064048e-01, 4.84926012e+00]

qfrc_actuator:
[ 2.43894589e-05, 2.66805044e-04, 8.72663476e-05, 4.58434223e-05,
 -2.51064440e-03, 2.53878994e-02, 9.88357837e-03, 1.25973754e-03,
 -4.61864934e-05, 8.60421860e-05,-4.14198109e-05, 5.34236018e-05,
  4.99678775e-02, 2.01621574e-02, 2.17230836e-03,-2.23852287e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71229889, -0.70656256, -0.09021673, -0.70656256,  0.73748719,
       -0.19727061, -0.09021673, -0.19727061,  2.25728981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.5668970596683665e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99215823e-01,  5.98244015e-03, -3.91401157e-02,  5.97785584e-03,
        9.99982105e-01,  2.34157590e-04,  3.91408161e-02,  0.00000000e+00,
       -9.99233705e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13155539, -0.08301484,  0.17466452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24831668, -0.03684469,  0.245568  , -0.03684469,  0.70844746,
        0.06903739,  0.245568  ,  0.06903739,  0.25867496,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037943336651235815
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85602836e-01, -1.69024254e-01,  4.22511914e-03, -1.69022701e-01,
        9.85611892e-01,  7.24572844e-04, -4.28679805e-03,  0.00000000e+00,
       -9.99990812e-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([ 0.13099163, -0.08202882,  0.13159337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29402377, -0.92962454,  7.23454082, -0.92962454, 32.63808055,
        3.25666242,  7.23454082,  3.25666242,  7.71249861,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.629435587678672e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875514,  0.11036479, -0.17279463,  0.10868404,  0.99389115,
        0.01918766,  0.1738567 ,  0.        , -0.98477096])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329895, -0.05389106,  0.29658808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.35796944, -0.8150593 ,  1.08616727, -0.8150593 ,  3.67674086,
        1.74000476,  1.08616727,  1.74000476,  2.66366801,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004958320311785626
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75398437e-01, -9.13284286e-01, -3.00112504e-01, -8.66444951e-02,
       -2.87332988e-01,  9.53903813e-01, -9.57417585e-01,  2.88706715e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484393, -0.03595238,  0.30482914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.31200936, -5.91863339,  8.44436593, -5.91863339, 17.80171528,
        5.24951475,  8.44436593,  5.24951475, 13.99138015,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043570402269456354
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.82216929e-13, -3.58328371e-14,  1.00000000e+00, -1.36959170e-26,
        1.00000000e+00,  3.58328371e-14, -1.00000000e+00,  0.00000000e+00,
       -3.82216929e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05330164, -0.06087257,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77433431e-05,-1.66968302e-06, 1.98178198e-05,-2.44264395e-05,
 -2.34243037e-03, 2.68299326e-02, 1.01288560e-02, 1.17194374e-03,
 -7.33498684e-06, 6.19813518e-05, 2.42456566e-05,-2.54755150e-05,
  5.54539886e-02, 2.27244997e-02, 1.42883708e-02,-6.29084552e-04,
 -1.05541480e-05, 3.33364069e-06,-9.80999699e+00,-6.49595931e-02,
 -9.47020297e-03,-5.26739596e-03]


--- Step 1880 ---
qpos:
[ 0.00989055, 0.00805954,-0.00558416, 0.03349534, 0.00597923,-0.02248786,
 -0.01667406, 0.0379785 , 0.01301608, 0.00594657,-0.01169445, 0.03407209,
  0.81100714,-0.01598169, 1.13802793, 0.04605969, 0.09489322,-0.06344313,
  0.14255726, 0.94246621,-0.03277527, 0.02798369, 0.33151188]

qacc:
[-4.18324452e+00,-9.01856585e-01, 2.57290167e+00,-1.46736110e+00,
 -1.33062080e+00, 5.20674195e-01,-1.56437956e+00,-2.19643564e+00,
  5.40365367e+00,-1.96776834e+00, 8.74805851e+00,-1.53886221e+01,
  4.22161927e+00, 5.72482745e-01, 1.04718950e+01,-4.13559264e+01,
 -3.08105142e-02,-1.33622850e-01, 2.52237601e-02, 2.50325944e+00,
  1.09894936e-01, 4.23442180e+00]

qfrc_actuator:
[-7.27508066e-07, 2.55930468e-04, 1.02395584e-04, 5.03884612e-05,
 -2.51266722e-03, 2.53833815e-02, 9.86489396e-03, 1.27494020e-03,
 -1.44515664e-05, 8.74065972e-05,-1.58792180e-05, 3.69988797e-05,
  4.99638597e-02, 2.01814219e-02, 2.16409941e-03,-2.33577803e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71228767, -0.7011762 , -0.12532223, -0.7011762 ,  0.77195744,
       -0.33385161, -0.12532223, -0.33385161,  2.58018299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.562912564162535e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99215638e-01,  5.97860234e-03, -3.91454382e-02,  5.97401972e-03,
        9.99982128e-01,  2.34039191e-04,  3.91461378e-02, -2.71050543e-20,
       -9.99233496e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13155565, -0.08301396,  0.17466637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003794482703315504
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85610495e-01, -1.68980162e-01,  4.20195547e-03, -1.68978626e-01,
        9.85619452e-01,  7.20406963e-04, -4.26326354e-03,  1.08420217e-19,
       -9.99990912e-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([ 0.13099225, -0.08202829,  0.13159311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29233743,  7.28891143,  0.22350691,  7.28891143,  7.31554577,
       -0.75686058,  0.22350691, -0.75686058, 31.9747503 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.330774065135177e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78745620e-01,  1.10404926e-01, -1.72822924e-01,  1.08722996e-01,
        9.93886690e-01,  1.91978647e-02,  1.73885943e-01,  3.46944695e-18,
       -9.84765799e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329815, -0.05388914,  0.29658757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004970054766602977
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.71093124e-01, -9.13978231e-01, -3.01914410e-01, -8.58532600e-02,
       -2.89450390e-01,  9.53335035e-01, -9.58716713e-01,  2.84362910e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484378, -0.03594846,  0.30482757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043688425319392266
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27061460e-13,  9.13254247e-14,  1.00000000e+00,  1.16039418e-26,
        1.00000000e+00, -9.13254247e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27061460e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05330559, -0.06086996,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46130749e-05,-8.77005286e-06, 1.63673210e-05, 4.68067322e-06,
 -2.32068837e-03, 2.68291378e-02, 1.01342003e-02, 1.20047744e-03,
  3.15491440e-05, 3.99243660e-05, 4.04399003e-05,-1.34279344e-05,
  5.49096386e-02, 2.24850904e-02, 1.48933997e-02,-2.63927915e-04,
 -5.26210672e-06, 1.55797577e-06,-9.80999859e+00,-6.49616607e-02,
 -9.46956721e-03,-5.26733527e-03]


--- Step 1881 ---
qpos:
[ 0.00988995, 0.00805939,-0.00558328, 0.03349521, 0.00597546,-0.02249816,
 -0.01667186, 0.0379802 , 0.0130169 , 0.00594704,-0.01169367, 0.03407253,
  0.81098648,-0.01598902, 1.13797696, 0.04605656, 0.09489421,-0.0634417 ,
  0.14255743, 0.94246861,-0.03277956, 0.02797895, 0.33150505]

qacc:
[ -2.6285292 ,  0.34278887, -0.34914821, -3.36132349,  1.87859483,
   0.21254204, -1.17273337, -2.35577016,  9.42378567,  1.15969145,
  -4.77754772,  8.62244052,  3.49596998,  0.6068456 , 10.0616541 ,
 -16.03248804, -0.02146055, -0.09313771,  0.02078023,  2.01337636,
   0.04026307,  3.78725338]

qfrc_actuator:
[-1.53890837e-05, 2.31760962e-04, 7.52857859e-05, 3.52609888e-05,
 -2.51218926e-03, 2.54024881e-02, 9.85289981e-03, 1.24793066e-03,
  3.98309216e-05, 7.02191420e-05,-3.67835379e-05, 4.49982358e-05,
  4.99672921e-02, 2.02124695e-02, 2.18274864e-03,-2.14121261e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7122817 , -0.69138812, -0.1712533 , -0.69138812,  0.8271759 ,
       -0.46385373, -0.1712533 , -0.46385373,  2.58496356,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.960956908434619e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99215408e-01,  5.97460857e-03, -3.91519104e-02,  5.97002749e-03,
        9.99982152e-01,  2.33921515e-04,  3.91526092e-02,  0.00000000e+00,
       -9.99233243e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13155603, -0.0830131 ,  0.17466767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003794946979671849
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85615528e-01, -1.68951232e-01,  4.18469404e-03, -1.68949709e-01,
        9.85624412e-01,  7.17321128e-04, -4.24572889e-03,  1.08420217e-19,
       -9.99990987e-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([ 0.130993  , -0.08202794,  0.13159293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29135612,  7.2747879 ,  0.4912586 ,  7.2747879 ,  7.42399722,
       -1.96421178,  0.4912586 , -1.96421178, 36.37832591,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.143881900291482e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873925,  0.11043069, -0.17284256,  0.10874797,  0.99388383,
        0.01920458,  0.1739062 ,  0.        , -0.98476222])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329768, -0.05388773,  0.29658726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004975174406665629
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.68744963e-01, -9.14341431e-01, -3.02912351e-01, -8.54193024e-02,
       -2.90619055e-01,  9.53018419e-01, -9.59416327e-01,  2.81993461e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484365, -0.03594568,  0.30482711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004376112219439121
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26850383e-13,  2.77485213e-14,  1.00000000e+00,  3.51991057e-27,
        1.00000000e+00, -2.77485213e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26850383e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05330853, -0.06086791,  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:
[-1.53678561e-05,-2.55128456e-05,-2.67562955e-05,-1.48477059e-05,
 -2.31241956e-03, 2.68738587e-02, 1.01544936e-02, 1.18837853e-03,
  5.51942401e-05, 1.29021769e-05,-8.15861602e-06, 1.08432540e-05,
  5.44248583e-02, 2.22895034e-02, 1.50163281e-02, 1.56757319e-04,
 -2.18692639e-06, 5.43325009e-07,-9.80999945e+00,-6.49630165e-02,
 -9.46934954e-03,-5.26718546e-03]


--- Step 1882 ---
qpos:
[ 0.00988883, 0.00805891,-0.00558262, 0.03349458, 0.0059722 ,-0.02250957,
 -0.01667041, 0.0379816 , 0.01301766, 0.00594764,-0.01169372, 0.0340738 ,
  0.81097284,-0.01599313, 1.13793961, 0.04605708, 0.09489513,-0.06344053,
  0.14255767, 0.9424689 ,-0.03278063, 0.02797548, 0.33150442]

qacc:
[-4.52945320e+00,-8.84439293e-01, 4.66071381e+00,-1.28319376e+01,
  4.36827229e+00,-2.89056487e-02,-7.65277639e-01,-2.45120965e+00,
 -4.25020242e-01, 4.15086349e+00,-1.80792841e+01, 3.36580453e+01,
  2.84578963e+00, 6.34528413e-01, 9.00895945e+00,-2.47792525e+00,
 -1.52391904e-02,-6.29931612e-02, 1.68979947e-02, 1.60718397e+00,
 -4.69880941e-03, 3.34095550e+00]

qfrc_actuator:
[-4.15184951e-05, 1.99626782e-04, 5.88833848e-05, 8.63359358e-06,
 -2.51052710e-03, 2.54363604e-02, 9.86301436e-03, 1.24898247e-03,
  3.59266732e-05, 5.96331440e-05,-8.50188347e-05, 8.50020887e-05,
  4.99802955e-02, 2.02317355e-02, 2.18995905e-03,-1.89958644e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227926, -0.68199593, -0.20548306, -0.68199593,  0.87225068,
       -0.53094331, -0.20548306, -0.53094331,  2.47447403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.69607724894968e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99215114e-01,  5.97083701e-03, -3.91600046e-02,  5.96625693e-03,
        9.99982174e-01,  2.33822173e-04,  3.91607027e-02,  0.00000000e+00,
       -9.99232925e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13155656, -0.08301214,  0.17466852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037956835467788406
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85618247e-01, -1.68935685e-01,  4.17208709e-03, -1.68934172e-01,
        9.85627077e-01,  7.15092358e-04, -4.23292662e-03,  0.00000000e+00,
       -9.99991041e-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([ 0.13099391, -0.08202775,  0.1315928 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29086431,  7.24165703,  0.84563928,  7.24165703,  7.76071627,
       -4.02359127,  0.84563928, -4.02359127, 41.74700745,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0458874278035132e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78735572e-01,  1.10443422e-01, -1.72855228e-01,  1.08760256e-01,
        9.93882413e-01,  1.92082310e-02,  1.73919194e-01,  3.46944695e-18,
       -9.84759927e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329747, -0.05388675,  0.29658713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00049764591808326
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26761917, -0.91450832, -0.30340486, -0.08521379, -0.29119258,
        0.95286174, -0.95974923,  0.28085834,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484361, -0.03594386,  0.30482732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004379723890479692
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26745778e-13, -3.96080557e-15,  1.00000000e+00, -5.02015383e-28,
        1.00000000e+00,  3.96080557e-15, -1.00000000e+00,  0.00000000e+00,
       -1.26745778e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0533107 , -0.06086631,  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:
[-2.65748491e-05,-5.25722998e-05,-2.54885630e-05,-2.89359553e-05,
 -2.32189559e-03, 2.69528112e-02, 1.02011247e-02, 1.20492317e-03,
 -2.32860540e-06,-4.59710854e-06,-4.62169707e-05, 4.04795925e-05,
  5.40199926e-02, 2.21178257e-02, 1.45726285e-02, 3.45966282e-04,
 -6.08976621e-07, 6.85107345e-08,-9.80999983e+00,-6.49638080e-02,
 -9.46940628e-03,-5.26695561e-03]


--- Step 1883 ---
qpos:
[ 0.00988706, 0.00805846,-0.00558207, 0.03349358, 0.00596951,-0.02252202,
 -0.01666968, 0.03798271, 0.01301769, 0.00594836,-0.01169437, 0.03407552,
  0.81096553,-0.01599434, 1.13790927, 0.04605823, 0.094896  ,-0.06343955,
  0.14255795, 0.94246745,-0.03277906, 0.02797298, 0.33150891]

qacc:
[-5.70679764e+00,-4.04468843e-01, 3.08064556e+00,-9.33291793e+00,
  4.79656809e+00, 3.36266361e-02,-8.86470350e-01,-2.30388667e+00,
 -6.54875997e+00, 2.81482747e+00,-1.16868910e+01, 2.03935334e+01,
  2.62352487e+00, 4.93681549e-01, 8.38275183e+00,-1.44529356e+01,
 -1.15548710e-02,-4.97683749e-02, 1.26064103e-02, 1.30699411e+00,
 -4.18916125e-02, 2.75160340e+00]

qfrc_actuator:
[-7.41916496e-05, 2.33996581e-04, 6.66557133e-05,-6.78682382e-06,
 -2.50853720e-03, 2.54619136e-02, 9.86894524e-03, 1.28474039e-03,
 -2.20094532e-06, 7.07275881e-05,-1.13450245e-04, 1.07997988e-04,
  4.99935352e-02, 2.02430117e-02, 2.17359172e-03,-1.95228434e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71227937, -0.67539863, -0.22622688, -0.67539863,  0.92161025,
       -0.62495572, -0.22622688, -0.62495572,  2.57807991,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.709245751831932e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99214743e-01,  5.96758106e-03, -3.91699492e-02,  5.96300116e-03,
        9.99982194e-01,  2.33754010e-04,  3.91706467e-02,  0.00000000e+00,
       -9.99232536e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13155721, -0.083011  ,  0.17466901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037966305406864575
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85618947e-01, -1.68931817e-01,  4.16316855e-03, -1.68930310e-01,
        9.85627740e-01,  7.13546909e-04, -4.22387518e-03,  1.08420217e-19,
       -9.99991079e-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([ 0.130995  , -0.08202769,  0.13159272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2907263 ,  7.1792774 ,  1.26990792,  7.1792774 ,  8.54274063,
       -7.07811804,  1.26990792, -7.07811804, 47.30604713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.017816437402876e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78734190e-01,  1.10444531e-01, -1.72862345e-01,  1.08761208e-01,
        9.93882290e-01,  1.92092170e-02,  1.73926376e-01,  3.46944695e-18,
       -9.84758659e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329747, -0.05388612,  0.29658712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004975691397567062
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26724536, -0.9145588 , -0.30358214, -0.08514952, -0.29139607,
        0.95280527, -0.95985909,  0.28048266,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484366, -0.03594284,  0.30482792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004380405115130409
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.90047399e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.90047399e-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([ 0.05331224, -0.06086506,  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:
[-3.34454218e-05,-1.52863412e-06,-7.22620241e-06,-1.91159424e-05,
 -2.34572842e-03, 2.70343100e-02, 1.02442120e-02, 1.25582097e-03,
 -3.81931513e-05, 6.89665859e-07,-3.36813510e-05, 2.19838615e-05,
  5.36821692e-02, 2.19684776e-02, 1.38763382e-02, 1.11180243e-04,
 -6.43899442e-08,-1.29985108e-08,-9.80999993e+00,-6.49641497e-02,
 -9.46964277e-03,-5.26665534e-03]


--- Step 1884 ---
qpos:
[ 0.00988595, 0.00805848,-0.00558168, 0.03349234, 0.00596736,-0.02253537,
 -0.01666961, 0.03798352, 0.01301726, 0.00594903,-0.01169528, 0.03407682,
  0.81096399,-0.01599296, 1.13788174, 0.04605802, 0.09489684,-0.06343873,
  0.14255828, 0.9424646 ,-0.03277532, 0.02797121, 0.33151752]

qacc:
[ 5.74635443e+00, 5.95979557e-01,-2.81385039e-01,-3.75395493e+00,
  4.56273227e+00, 6.05039619e-02,-7.54532161e-01,-2.43845845e+00,
 -4.02734603e+00,-2.21181761e-01, 2.52383159e+00,-9.53477772e+00,
  2.46704521e+00, 3.22807681e-01, 8.14906398e+00,-2.26514355e+01,
 -9.29941899e-03,-4.12220962e-02, 8.94120686e-03, 1.06144688e+00,
 -6.47798945e-02, 2.21439632e+00]

qfrc_actuator:
[-3.94402799e-05, 2.90283231e-04, 7.11615802e-05,-1.54173296e-05,
 -2.50660794e-03, 2.54473490e-02, 9.89040263e-03, 1.28817969e-03,
 -2.46422899e-05, 5.92678203e-05,-1.29882281e-04, 8.53279012e-05,
  5.00014007e-02, 2.02307713e-02, 2.17513667e-03,-2.07350044e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71228153, -0.65885632, -0.27065351, -0.65885632,  1.00317085,
       -0.70811668, -0.27065351, -0.70811668,  2.4360617 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.942874323696188e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99214300e-01,  5.96489140e-03, -3.91816665e-02,  5.96031082e-03,
        9.99982210e-01,  2.33718544e-04,  3.91823636e-02, -2.71050543e-20,
       -9.99232076e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13155798, -0.08300972,  0.17466921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003797636677647723
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85617986e-01, -1.68937567e-01,  4.15731945e-03, -1.68936064e-01,
        9.85626754e-01,  7.12569368e-04, -4.21794501e-03, -1.08420217e-19,
       -9.99991104e-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([ 0.13099625, -0.08202776,  0.13159269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2908618 ,  7.10753709,  1.62467915,  7.10753709,  9.5726202 ,
       -9.9820832 ,  1.62467915, -9.9820832 , 50.95980821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.045380844768726e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873467,  0.11043606, -0.17286504,  0.10875282,  0.99388323,
        0.01920802,  0.17392892,  0.        , -0.98475821])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329761, -0.05388581,  0.29658721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004973167556528972
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26758708, -0.91449843, -0.30346298, -0.08522155, -0.29125087,
        0.95284323, -0.95975749,  0.28083013,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484372, -0.03594244,  0.30482882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043787909966104543
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53545562e-13, -6.73480399e-14,  1.00000000e+00, -1.70757966e-26,
        1.00000000e+00,  6.73480399e-14, -1.00000000e+00,  0.00000000e+00,
       -2.53545562e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05331328, -0.0608641 ,  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:
[ 3.38001047e-05, 5.31259138e-05, 2.64283753e-06,-9.31434143e-06,
 -2.37215627e-03, 2.70724586e-02, 1.03022336e-02, 1.27413754e-03,
 -2.35243359e-05,-1.71247560e-05,-1.96805443e-05,-2.33804095e-05,
  5.33738163e-02, 2.18113262e-02, 1.35279624e-02,-4.12360833e-05,
 -1.75391397e-07, 1.57310328e-07,-9.80999986e+00,-6.49641260e-02,
 -9.46999406e-03,-5.26628882e-03]


--- Step 1885 ---
qpos:
[ 0.0098856 , 0.00805877,-0.00558093, 0.03349101, 0.00596589,-0.02254947,
 -0.01667005, 0.0379841 , 0.0130169 , 0.00594929,-0.01169622, 0.03407752,
  0.81096766,-0.01598901, 1.13786492, 0.04606072, 0.09489763,-0.06343803,
  0.14255863, 0.94246051,-0.03276983, 0.02796986, 0.33152979]

qacc:
[ 6.76215038e+00,-8.87320017e-01, 4.11822320e+00,-6.72805812e+00,
  5.72959051e+00,-7.26741189e-02,-1.69356704e-01,-2.61668317e+00,
  7.03571772e-01,-1.70683809e+00, 7.81544270e+00,-1.77953847e+01,
  1.96531530e+00, 7.85579083e-01, 7.01154220e+00,-1.63238652e+00,
 -1.14681060e-02,-2.70664518e-02, 8.75766637e-03, 8.20975739e-01,
 -1.35074378e-01, 1.96747003e+00]

qfrc_actuator:
[-7.85742723e-07, 3.06016714e-04, 9.15625368e-05,-1.99650533e-05,
 -2.50491434e-03, 2.54444914e-02, 9.90364610e-03, 1.25458160e-03,
 -1.99075077e-05, 1.66483465e-05,-1.39221717e-04, 5.37133676e-05,
  5.00058635e-02, 2.02213151e-02, 2.18222900e-03,-1.82579203e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71228547, -0.66059943, -0.26638128, -0.66059943,  0.96309351,
       -0.6219793 , -0.26638128, -0.6219793 ,  2.25473307,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.348103822208425e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99213792e-01,  5.96274053e-03, -3.91949423e-02,  5.95815850e-03,
        9.99982223e-01,  2.33713426e-04,  3.91956391e-02, -2.71050543e-20,
       -9.99231556e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13155885, -0.08300833,  0.17466917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003798597500197946
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85615684e-01, -1.68951078e-01,  4.15401098e-03, -1.68949578e-01,
        9.85624438e-01,  7.12060909e-04, -4.21459820e-03, -1.08420217e-19,
       -9.99991119e-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([ 0.13099765, -0.08202792,  0.13159268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29121953,   6.15655616,   3.90623841,   6.15655616,
        20.58111417, -20.94597771,   3.90623841, -20.94597771,
        40.30382005,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.1169778697053974e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873664,  0.1104199 , -0.17286423,  0.10873693,  0.99388503,
        0.01920509,  0.17392779,  0.        , -0.98475841])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329788, -0.05388578,  0.29658737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004969183696395908
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26859233, -0.91433387, -0.3030705 , -0.08541987, -0.29078373,
        0.95296814, -0.95945902,  0.28184817,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048437 , -0.03594253,  0.30482995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043754054539053844
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.30835588e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.30835588e-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([ 0.05331395, -0.06086335,  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:
[ 3.96361310e-05, 4.56015859e-05, 3.13759081e-05,-2.36038319e-06,
 -2.39744160e-03, 2.71150685e-02, 1.03486288e-02, 1.25479943e-03,
  4.06334577e-06,-5.72889147e-05,-1.61092644e-05,-3.34858004e-05,
  5.30895788e-02, 2.16719617e-02, 1.33951591e-02, 2.74040341e-04,
 -6.31689643e-07, 4.55936252e-07,-9.80999970e+00,-6.49638079e-02,
 -9.47041080e-03,-5.26586079e-03]


--- Step 1886 ---
qpos:
[ 0.00988573, 0.008059  ,-0.00557976, 0.03348966, 0.0059651 ,-0.0225642 ,
 -0.01667094, 0.03798444, 0.01301696, 0.00594931,-0.01169763, 0.03407819,
  0.81097607,-0.01598267, 1.13785421, 0.04606431, 0.09489838,-0.06343741,
  0.14255901, 0.9424554 ,-0.0327629 , 0.02796877, 0.33154512]

qacc:
[ 4.10761775e+00,-1.24687652e+00, 4.34719779e+00,-5.03858617e+00,
  5.79491852e+00,-9.64575281e-02, 1.17794194e-01,-3.05348974e+00,
  3.54357156e+00, 9.62336359e-01,-3.76100229e+00, 4.19213557e+00,
  1.79645211e+00, 7.34272492e-01, 6.28897035e+00,-9.00665075e+00,
 -1.04020080e-02,-2.16579416e-02, 5.82156712e-03, 6.63702922e-01,
 -1.50876351e-01, 1.62864630e+00]

qfrc_actuator:
[ 2.20820401e-05, 2.79670632e-04, 1.03284418e-04,-2.20940536e-05,
 -2.48596297e-03, 2.54488611e-02, 9.89431912e-03, 1.18107822e-03,
  7.79417114e-07, 8.97109948e-06,-1.62190504e-04, 5.25757215e-05,
  5.00028021e-02, 2.02125218e-02, 2.16520779e-03,-1.83976160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71229105, -0.63958202, -0.31351776, -0.63958202,  1.04032659,
       -0.66919853, -0.31351776, -0.66919853,  2.07746841,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.881391686088804e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99213231e-01,  5.96126603e-03, -3.92094666e-02,  5.95668173e-03,
        9.99982231e-01,  2.33742214e-04,  3.92101633e-02,  0.00000000e+00,
       -9.99230986e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13155979, -0.08300682,  0.17466896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24844401, -0.24469799,  0.04298048, -0.24469799,  0.32250446,
        0.4216436 ,  0.04298048,  0.4216436 ,  2.64896044,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003799616783487528
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85612203e-01, -1.68971427e-01,  4.15228206e-03, -1.68969927e-01,
        9.85620950e-01,  7.11852791e-04, -4.21285897e-03,  1.08420217e-19,
       -9.99991126e-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([ 0.13099916, -0.08202816,  0.1315927 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2917366 ,   6.14890584,   3.91923203,   6.14890584,
        19.9695354 , -19.89027198,   3.91923203, -19.89027198,
        38.49769953,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.217640114365283e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78739834e-01,  1.10396824e-01, -1.72860862e-01,  1.08714276e-01,
        9.93887590e-01,  1.92006525e-02,  1.73923957e-01, -3.46944695e-18,
       -9.84759086e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329821, -0.05388601,  0.29658758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004965037163345809
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.69780108e-01, -9.14141811e-01, -3.02594519e-01, -8.56492729e-02,
       -2.90219994e-01,  9.53119382e-01, -9.59105258e-01,  2.83049650e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048437 , -0.03594312,  0.30483116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043706460984511974
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.57212891e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.57212891e-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([ 0.0533143 , -0.06086278,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40103499e-05, 5.53324065e-06, 2.49138595e-05, 8.63820320e-07,
 -2.41234999e-03, 2.71571055e-02, 1.03647967e-02, 1.19335531e-03,
  2.07844765e-05,-4.44756862e-05,-3.79393347e-05,-4.80203351e-06,
  5.28261532e-02, 2.15347855e-02, 1.28425067e-02, 1.15018120e-04,
 -1.29726226e-06, 8.53451773e-07,-9.80999948e+00,-6.49632677e-02,
 -9.47087692e-03,-5.26536594e-03]


--- Step 1887 ---
qpos:
[ 0.00988613, 0.00805927,-0.00557847, 0.03348866, 0.00596495,-0.02257953,
 -0.01667224, 0.03798453, 0.01301691, 0.00594966,-0.0116999 , 0.03407914,
  0.81098862,-0.01597442, 1.13784476, 0.04606644, 0.0948991 ,-0.06343686,
  0.1425594 , 0.94244947,-0.03275478, 0.0279679 , 0.33156283]

qacc:
[ 2.40310190e+00, 3.69749166e-01,-2.70183457e+00, 8.35598541e+00,
  5.41167114e+00,-1.52535694e-01, 4.18393355e-01,-3.59222847e+00,
 -8.92761699e-01, 3.39581610e+00,-1.26954333e+01, 1.87153776e+01,
  1.73673152e+00, 3.16954863e-01, 6.21423946e+00,-1.91315406e+01,
 -7.12709978e-03,-1.86502966e-02, 1.74888820e-03, 5.46095019e-01,
 -1.18348290e-01, 1.28320275e+00]

qfrc_actuator:
[ 3.54731681e-05, 2.81554244e-04, 1.09603487e-04,-5.07839562e-06,
 -2.45693554e-03, 2.54577553e-02, 9.90709639e-03, 1.13698413e-03,
 -4.82419614e-06, 5.77499410e-05,-1.92872246e-04, 6.93961320e-05,
  4.99950815e-02, 2.01855285e-02, 2.20830914e-03,-1.97437761e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71229823, -0.60095814, -0.38238473, -0.60095814,  1.15042467,
       -0.68856214, -0.38238473, -0.68856214,  1.79444663,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.511243108023807e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99212623e-01,  5.96047566e-03, -3.92250690e-02,  5.95588832e-03,
        9.99982236e-01,  2.33804222e-04,  3.92257658e-02,  0.00000000e+00,
       -9.99230373e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13156079, -0.0830052 ,  0.17466861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24846875, -0.24339537,  0.04995412, -0.24339537,  0.34827459,
        0.48629177,  0.04995412,  0.48629177,  2.61786601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003800641579294973
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85607745e-01, -1.68997441e-01,  4.15176735e-03, -1.68995941e-01,
        9.85616490e-01,  7.11877352e-04, -4.21235581e-03,  1.08420217e-19,
       -9.99991128e-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([ 0.13100077, -0.08202847,  0.13159274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29238559,   6.14678379,   3.92376561,   6.14678379,
        23.29830159, -25.07410351,   3.92376561, -25.07410351,
        46.57227851,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.3396752881026345e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874402,  0.11036802, -0.17285553,  0.10868603,  0.99389079,
        0.01919499,  0.17391804,  0.        , -0.98476013])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329859, -0.05388646,  0.29658782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004960671851069079
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27116343, -0.91391851, -0.30203205, -0.08591234, -0.28955557,
        0.95329777, -0.95869154,  0.28444777,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484366, -0.03594411,  0.30483243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043648727269780807
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27177021e-13, -1.94739814e-13,  1.00000000e+00, -2.47664295e-26,
        1.00000000e+00,  1.94739814e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27177021e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05331442, -0.06086235,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40744042e-05, 1.01499910e-05, 1.05459750e-05, 1.81304280e-05,
 -2.41756886e-03, 2.71982329e-02, 1.04000142e-02, 1.16124106e-03,
 -5.02783964e-06, 1.58867361e-05,-4.46938680e-05, 1.35091049e-05,
  5.25818785e-02, 2.13884365e-02, 1.25806963e-02,-6.38830760e-05,
 -2.03265034e-06, 1.28095431e-06,-9.80999924e+00,-6.49625451e-02,
 -9.47137784e-03,-5.26480692e-03]


--- Step 1888 ---
qpos:
[ 0.00988703, 0.00805989,-0.00557724, 0.03348784, 0.00596544,-0.02259533,
 -0.01667392, 0.03798438, 0.0130168 , 0.00595026,-0.01170285, 0.03407993,
  0.811005  ,-0.0159644 , 1.13783859, 0.04606821, 0.09489979,-0.06343638,
  0.14255979, 0.9424429 ,-0.03274572, 0.02796714, 0.33158248]

qacc:
[ 4.39936255e+00, 1.03180380e+00,-3.77983440e+00, 6.80822535e+00,
  5.35175242e+00,-5.11052668e-02, 2.82212878e-01,-3.44554566e+00,
 -6.11905642e-01, 1.92190191e+00,-5.68922887e+00, 3.85975912e+00,
  1.57630177e+00, 3.20312743e-01, 5.86123605e+00,-1.35982002e+01,
 -8.02235028e-03,-1.56665165e-02, 5.33551126e-04, 4.27152197e-01,
 -1.30656892e-01, 1.02938865e+00]

qfrc_actuator:
[ 6.09374186e-05, 3.18064996e-04, 1.12798474e-04, 5.32884571e-06,
 -2.43984378e-03, 2.54695875e-02, 9.89778173e-03, 1.14614633e-03,
 -8.10917645e-06, 6.89399227e-05,-2.27609948e-04, 6.11860128e-05,
  4.99791215e-02, 2.01648770e-02, 2.25574452e-03,-1.96636552e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71230701, -0.60343671, -0.37847776, -0.60343671,  1.16277235,
       -0.71821213, -0.37847776, -0.71821213,  1.85740881,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.216668848396504e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99211972e-01,  5.96032419e-03, -3.92416922e-02,  5.95573308e-03,
        9.99982237e-01,  2.33897362e-04,  3.92423892e-02,  0.00000000e+00,
       -9.99229721e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13156184, -0.0830035 ,  0.17466813])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24849085, -0.24289076,  0.05245745, -0.24289076,  0.3586732 ,
        0.51017103,  0.05245745,  0.51017103,  2.61070676,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003801557099428101
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85602513e-01, -1.69027937e-01,  4.15245169e-03, -1.69026437e-01,
        9.85611260e-01,  7.12126954e-04, -4.21307249e-03,  1.08420217e-19,
       -9.99991125e-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([ 0.13100247, -0.08202884,  0.13159279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2931616 ,   6.13865345,   3.93791061,   6.13865345,
        21.83643333, -22.67093238,   3.93791061, -22.67093238,
        42.63398344,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.479959921641559e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.978749  ,  0.11033472, -0.17284859,  0.10865339,  0.99389449,
        0.01918836,  0.1739104 ,  0.        , -0.98476148])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329901, -0.05388711,  0.29658808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004955938456401889
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.72844256e-01, -9.13645255e-01, -3.01344254e-01, -8.62283374e-02,
       -2.88743888e-01,  9.53515412e-01, -9.58186144e-01,  2.86145617e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484351, -0.03594539,  0.30483376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043583873167758747
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27366265e-13, -3.58217619e-14,  1.00000000e+00, -4.56248401e-27,
        1.00000000e+00,  3.58217619e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27366265e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05331436, -0.06086203,  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:
[ 2.58656229e-05, 4.51231449e-05, 7.20081911e-06, 1.15580242e-05,
 -2.43245903e-03, 2.72408238e-02, 1.04117887e-02, 1.18288044e-03,
 -3.42216430e-06, 1.14310008e-05,-3.64730763e-05,-8.81036727e-06,
  5.23584357e-02, 2.12715557e-02, 1.25647965e-02, 1.67868244e-05,
 -2.73493448e-06, 1.67833894e-06,-9.80999902e+00,-6.49616671e-02,
 -9.47189385e-03,-5.26419585e-03]


--- Step 1889 ---
qpos:
[ 0.00988822, 0.00806058,-0.00557586, 0.03348717, 0.00596631,-0.02261139,
 -0.01667597, 0.03798399, 0.0130163 , 0.00595094,-0.01170588, 0.03408026,
  0.81102479,-0.01595313, 1.13782841, 0.04606592, 0.09490046,-0.06343598,
  0.14256017, 0.94243598,-0.03273594, 0.02796653, 0.33160316]

qacc:
[ 2.62314948e+00,-3.26323196e-02,-4.32390540e-01, 2.82833099e+00,
  3.27839927e+00, 1.63801920e-01,-5.56596590e-02,-3.40371278e+00,
 -3.37661982e+00,-6.52708831e-01, 4.47035933e+00,-1.25414260e+01,
  1.71072677e+00,-3.40502276e-01, 6.33005876e+00,-3.08807732e+01,
 -5.66079781e-03,-2.08549490e-02,-3.23606646e-03, 3.46844695e-01,
 -6.29763538e-02, 5.60824054e-01]

qfrc_actuator:
[ 7.55546889e-05, 3.04001707e-04, 1.14265414e-04, 1.17917487e-05,
 -2.44791501e-03, 2.54655321e-02, 9.89309467e-03, 1.18735186e-03,
 -2.77476950e-05, 7.52580842e-05,-2.29110477e-04, 3.82842536e-05,
  4.99634235e-02, 2.01651722e-02, 2.24697126e-03,-2.26384782e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71231727, -0.58925728, -0.40021463, -0.58925728,  1.20932583,
       -0.73177215, -0.40021463, -0.73177215,  1.78974432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.97061974411312e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99211283e-01,  5.96080475e-03, -3.92591599e-02,  5.95620918e-03,
        9.99982234e-01,  2.34020344e-04,  3.92598574e-02,  0.00000000e+00,
       -9.99229035e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13156293, -0.08300176,  0.17466756])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003802303730906155
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85596655e-01, -1.69062051e-01,  4.15409218e-03, -1.69060550e-01,
        9.85605409e-01,  7.12556303e-04, -4.21476196e-03, -1.08420217e-19,
       -9.99991118e-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([ 0.13100424, -0.08202925,  0.13159286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2940396 ,   6.42331571,   3.45601345,   6.42331571,
        17.74982096, -19.43302178,   3.45601345, -19.43302178,
        43.41208019,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.632122667705872e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875459,  0.11029782, -0.17284049,  0.10861722,  0.99389858,
        0.01918096,  0.17390153,  0.        , -0.98476305])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329944, -0.05388794,  0.29658836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004951218340085833
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.74671395e-01, -9.13345820e-01, -3.00591148e-01, -8.65672580e-02,
       -2.87856124e-01,  9.53753093e-01, -9.57633403e-01,  2.87990044e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484329, -0.03594693,  0.30483509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043514218559775886
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55140288e-13, -3.58791030e-14,  1.00000000e+00, -9.15420466e-27,
        1.00000000e+00,  3.58791030e-14, -1.00000000e+00,  0.00000000e+00,
       -2.55140288e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05331416, -0.0608618 ,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53660916e-05, 1.31236717e-05, 1.20527869e-05, 8.86703928e-06,
 -2.47216687e-03, 2.72605775e-02, 1.04263500e-02, 1.23606711e-03,
 -1.97309258e-05, 4.80842155e-06,-3.91080127e-06,-2.38416974e-05,
  5.21515008e-02, 2.11834771e-02, 1.23928074e-02,-2.62770094e-04,
 -3.37445192e-06, 2.04457555e-06,-9.80999881e+00,-6.49606713e-02,
 -9.47242137e-03,-5.26353485e-03]


--- Step 1890 ---
qpos:
[ 0.00988924, 0.008061  ,-0.00557404, 0.03348695, 0.00596723,-0.02262706,
 -0.01667806, 0.03798344, 0.01301488, 0.00595191,-0.01170875, 0.03408026,
  0.81104635,-0.01594152, 1.13781397, 0.04605948, 0.09490109,-0.06343567,
  0.14256054, 0.94242911,-0.03272599, 0.02796617, 0.33162369]

qacc:
[-1.54905755e+00,-6.57859668e-01,-3.44920312e-02, 7.26815960e+00,
  3.86371549e-01, 3.33693088e-01, 1.98400519e-01,-3.05150824e+00,
 -8.10693642e+00,-7.00940592e-01, 4.43609859e+00,-1.04786925e+01,
  1.06948206e+00,-6.07222906e-01, 6.17387682e+00,-3.08468294e+01,
 -8.57161370e-03,-2.04987020e-02,-2.47251646e-04, 1.21844495e-01,
  9.75526877e-02,-7.28902413e-02]

qfrc_actuator:
[ 6.59140123e-05, 2.77503207e-04, 1.32256261e-04, 3.35961832e-05,
 -2.47109254e-03, 2.54874291e-02, 9.90907195e-03, 1.23013261e-03,
 -7.46074786e-05, 1.14234715e-04,-2.11005182e-04, 2.46947235e-05,
  4.99584339e-02, 2.01600999e-02, 2.25294152e-03,-2.47448053e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71232887, -0.65214567, -0.28656316, -0.65214567,  0.91032347,
       -0.4505859 , -0.28656316, -0.4505859 ,  1.73774903,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.75339277727379e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99210566e-01,  5.96167300e-03, -3.92772492e-02,  5.95707252e-03,
        9.99982229e-01,  2.34162277e-04,  3.92779472e-02,  0.00000000e+00,
       -9.99228324e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13156405, -0.08300005,  0.17466691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003802704101148995
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85590434e-01, -1.69098245e-01,  4.15694227e-03, -1.69096741e-01,
        9.85599200e-01,  7.13202326e-04, -4.21768024e-03, -1.08420217e-19,
       -9.99991106e-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([ 0.13100605, -0.0820297 ,  0.13159294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29502811,   6.63265614,   3.03731917,   6.63265614,
        18.79288753, -25.10811131,   3.03731917, -25.10811131,
        62.12412547,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.79610954365403e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78760567e-01,  1.10259052e-01, -1.72831406e-01,  1.08579232e-01,
        9.93902883e-01,  1.91731277e-02,  1.73891644e-01,  3.46944695e-18,
       -9.84764792e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329989, -0.05388892,  0.29658864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004945987418601366
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.2768889 , -0.91297661, -0.29967691, -0.08697449, -0.28677811,
        0.95404075, -0.95695767,  0.29022754,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484293, -0.03594864,  0.30483645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043441716856426317
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38006720e-07,  2.38006387e-07,  1.00000000e+00,  5.66471195e-14,
        1.00000000e+00, -2.38006387e-07, -1.00000000e+00,  0.00000000e+00,
       -2.38006720e-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([ 0.05373425, -0.06144727,  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:
[-9.20261188e-06,-1.63277779e-05, 2.24685562e-05, 2.29524129e-05,
 -2.51475138e-03, 2.72960066e-02, 1.04607230e-02, 1.29114679e-03,
 -4.74186748e-05, 3.98375623e-05, 1.78189169e-05,-1.39775633e-05,
  5.19760045e-02, 2.11161365e-02, 1.25990919e-02,-2.69771189e-04,
 -3.78326322e-06, 2.26080623e-06,-9.80999865e+00,-6.49595673e-02,
 -9.47293188e-03,-5.26284148e-03]


--- Step 1891 ---
qpos:
[ 0.00988979, 0.00806121,-0.00557251, 0.0334867 , 0.00596291,-0.02263633,
 -0.01667535, 0.0379857 , 0.0130136 , 0.00595298,-0.01171159, 0.03408013,
  0.81099757,-0.0159609 , 1.13776216, 0.04606367, 0.09490254,-0.06343274,
  0.14256042, 0.94243921,-0.03274391, 0.02795567, 0.33159411]

qacc:
[-4.11427796e+00, 4.60213352e-01,-1.89674393e+00, 1.89515912e+00,
 -4.43371895e+01, 8.95115831e-01,-2.65039038e+00, 3.87737829e+01,
  1.22456537e+00,-2.04812148e-01, 1.46372362e+00,-3.81204265e+00,
 -3.07164808e+01,-2.62251877e+00,-8.63295814e+01, 2.23997990e+02,
  2.03704959e-01, 6.52352662e-01,-1.25926069e-01,-1.38350305e+01,
  4.21569460e-01,-2.69827302e+01]

qfrc_actuator:
[ 4.20763200e-05, 2.43834872e-04, 1.06548585e-04, 2.87443096e-05,
 -2.44988965e-03, 2.55243549e-02, 9.91952590e-03, 1.20285384e-03,
 -6.60978772e-05, 1.01553470e-04,-2.16842376e-04, 1.67317638e-05,
  4.99598937e-02, 2.01344434e-02, 2.30520561e-03,-2.25850189e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71234144, -0.50041028,  0.50697127, -0.50041028,  0.39815254,
       -0.3101228 ,  0.50697127, -0.3101228 ,  0.4062321 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0535866169317121e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99209863e-01,  5.96258788e-03, -3.92949999e-02,  5.95798253e-03,
        9.99982224e-01,  2.34304055e-04,  3.92956985e-02,  0.00000000e+00,
       -9.99227626e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13156514, -0.08299844,  0.17466623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000380283800198566
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85584220e-01, -1.69134361e-01,  4.16080916e-03, -1.69132854e-01,
        9.85593003e-01,  7.14022723e-04, -4.22163017e-03, -1.08420217e-19,
       -9.99991089e-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([ 0.13100782, -0.08203014,  0.13159303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.9672960022894537e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78766600e-01,  1.10220637e-01, -1.72821742e-01,  1.08541606e-01,
        9.93907144e-01,  1.91652938e-02,  1.73881175e-01, -3.46944695e-18,
       -9.84766641e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330035, -0.05388999,  0.29658894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.35458278,  1.2821122 , -0.43713019,  1.2821122 ,  1.72835785,
        1.09629028, -0.43713019,  1.09629028,  4.57002564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004940712875802778
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27942862, -0.91254593, -0.29862948, -0.08743538, -0.28554268,
        0.95436913, -0.95617713,  0.29278883,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484243, -0.03595035,  0.30483776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043465776726007613
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21906298e-06, -1.21906287e-06,  1.00000000e+00, -1.48611441e-12,
        1.00000000e+00,  1.21906287e-06, -1.00000000e+00,  0.00000000e+00,
       -1.21906298e-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([ 0.087153  , -0.10799587,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.41106162e-05,-3.72169101e-05,-2.55454239e-05,-4.33178408e-06,
 -2.49587808e-03, 2.73141381e-02, 1.04738318e-02, 1.27155746e-03,
  7.17565127e-06, 1.26551114e-05, 4.12544525e-06,-5.90538484e-06,
  5.18887982e-02, 2.10724695e-02, 1.28645899e-02, 1.53259703e-04,
 -3.76975326e-06, 2.21356986e-06,-9.80999866e+00,-6.49583979e-02,
 -9.47335219e-03,-5.26216286e-03]


--- Step 1892 ---
qpos:
[ 0.00989006, 0.00806127,-0.00557187, 0.03348642, 0.00595862,-0.0226462 ,
 -0.01667326, 0.03798767, 0.01301278, 0.00595364,-0.01171397, 0.0340803 ,
  0.81095953,-0.01597507, 1.13770848, 0.04606377, 0.0949038 ,-0.06343045,
  0.14256041, 0.94244601,-0.03275599, 0.02794768, 0.33157426]

qacc:
[-2.57119915e+00, 2.27558628e+00,-8.29369113e+00, 9.44530285e+00,
  2.54708714e-01, 3.06508739e-01,-9.89090129e-01,-2.76265587e+00,
  4.03960404e+00,-1.23861159e+00, 2.41818375e+00, 2.11533274e+00,
  4.52265473e+00, 9.31880768e-01, 9.47291319e+00,-3.74664648e+01,
 -4.57786305e-02,-1.57908963e-01, 2.99788316e-02, 2.97525083e+00,
  1.03002164e-01, 5.25470899e+00]

qfrc_actuator:
[ 2.78340939e-05, 2.23682126e-04, 5.51803981e-05, 2.59558107e-05,
 -2.43229223e-03, 2.55463808e-02, 9.90407715e-03, 1.18389290e-03,
 -4.28116355e-05, 5.79519047e-05,-2.01469433e-04, 2.98345078e-05,
  4.99716500e-02, 2.01631527e-02, 2.32979514e-03,-2.11921622e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71232078, -0.68695936, -0.18838185, -0.68695936,  0.84975675,
       -0.5011785 , -0.18838185, -0.5011785 ,  2.53993459,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.214322751195983e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99209631e-01,  5.95826593e-03, -3.93015555e-02,  5.95366238e-03,
        9.99982249e-01,  2.34173276e-04,  3.93022532e-02, -2.71050543e-20,
       -9.99227368e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13156535, -0.08299746,  0.17466856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24851077, -0.03481492,  0.24606   , -0.03481492,  0.70841375,
        0.06507146,  0.24606   ,  0.06507146,  0.2577177 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038023816405840746
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85594541e-01, -1.69074899e-01,  4.13264656e-03, -1.69073412e-01,
        9.85603205e-01,  7.08933164e-04, -4.19301250e-03,  0.00000000e+00,
       -9.99991209e-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([ 0.13100848, -0.08202943,  0.13159272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29370938, -0.6435852 ,  7.26525943, -0.6435852 , 32.90116688,
        2.26840911,  7.26525943,  2.26840911,  7.49465396,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.575657004014726e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78753993e-01,  1.10275303e-01, -1.72858261e-01,  1.08594703e-01,
        9.93901080e-01,  1.91789680e-02,  1.73918979e-01,  3.46944695e-18,
       -9.84759965e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329929, -0.05388757,  0.29658826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.3583272 , -0.85052012,  1.05908844, -0.85052012,  3.64525548,
        1.8365591 ,  1.05908844,  1.8365591 ,  2.8332092 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004960171973482272
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.2734028 , -0.91354424, -0.30114419, -0.08634177, -0.28850116,
        0.95357862, -0.95801671,  0.28671239,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048422 , -0.03594519,  0.30483476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.30714226, -5.91560713,  8.44054346, -5.91560713, 17.8329729 ,
        5.27452498,  8.44054346,  5.27452498, 14.00382574,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004353004008397776
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55047554e-13, -9.96279508e-14,  1.00000000e+00, -2.54098651e-26,
        1.00000000e+00,  9.96279508e-14, -1.00000000e+00,  0.00000000e+00,
       -2.55047554e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05331847, -0.06085827,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.49431031e-05,-4.64621488e-05,-6.23714482e-05,-5.35388365e-06,
 -2.21610091e-03, 2.70166129e-02, 1.02181182e-02, 1.11197727e-03,
  2.34951538e-05,-3.59324445e-05, 1.83102157e-05, 1.36765503e-05,
  5.54178329e-02, 2.26514824e-02, 1.47582935e-02,-2.38708875e-04,
 -9.63479782e-06, 3.10567743e-06,-9.80999734e+00,-6.49604020e-02,
 -9.47533021e-03,-5.26215004e-03]


--- Step 1893 ---
qpos:
[ 0.00989049, 0.00806145,-0.00557233, 0.03348644, 0.00595466,-0.02265702,
 -0.01667187, 0.03798932, 0.0130119 , 0.00595384,-0.01171578, 0.03408061,
  0.81093089,-0.01598477, 1.13766072, 0.0460636 , 0.09490494,-0.06342862,
  0.1425605 , 0.94244995,-0.03276331, 0.02794164, 0.33156284]

qacc:
[  1.47084289,  3.830305  ,-14.66206249, 21.40188019,  2.87175153,
   0.08247349, -0.7920304 , -2.76034537, -0.49616623, -1.89347604,
   5.18779022, -3.03710727,  3.88820518,  0.85827277,  9.41077825,
 -20.48246484, -0.03272748, -0.11572673,  0.02461359,  2.40834639,
   0.03332983,  4.54532369]

qfrc_actuator:
[ 3.71109142e-05, 2.47160024e-04, 6.89193330e-06, 4.21587569e-05,
 -2.43778803e-03, 2.55461573e-02, 9.89433989e-03, 1.18966228e-03,
 -4.65378902e-05, 3.17674393e-05,-1.73816012e-04, 3.74599864e-05,
  4.99741675e-02, 2.01829271e-02, 2.34125663e-03,-2.03322600e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71230878, -0.67448093, -0.22903989, -0.67448093,  0.92941941,
       -0.63935142, -0.22903989, -0.63935142,  2.59508271,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.351594655873705e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99209351e-01,  5.95397482e-03, -3.93093314e-02,  5.94937277e-03,
        9.99982275e-01,  2.34050918e-04,  3.93100282e-02,  2.71050543e-20,
       -9.99227062e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13156571, -0.08299647,  0.17467024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038022408967516494
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85601606e-01, -1.69034225e-01,  4.11156739e-03, -1.69032755e-01,
        9.85610182e-01,  7.05142482e-04, -4.17159590e-03,  0.00000000e+00,
       -9.99991299e-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([ 0.13100927, -0.08202894,  0.13159249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29223613,  7.28497433,  0.32535637,  7.28497433,  7.343064  ,
       -1.13807411,  0.32535637, -1.13807411, 32.77457293,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.311972278811911e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78745222e-01,  1.10312025e-01, -1.72884493e-01,  1.08630337e-01,
        9.93897005e-01,  1.91883448e-02,  1.73946085e-01, -3.46944695e-18,
       -9.84755178e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329861, -0.0538857 ,  0.29658782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004971209718876031
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26957307, -0.91415224, -0.30274748, -0.08563117, -0.29038481,
        0.95307081, -0.95916509,  0.28284685,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484209, -0.03594143,  0.30483326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043638879972043854
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.81617158e-13, -9.93794683e-14,  1.00000000e+00, -3.79249103e-26,
        1.00000000e+00,  9.93794683e-14, -1.00000000e+00,  0.00000000e+00,
       -3.81617158e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05332228, -0.06085572,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.83682187e-06,-1.56322567e-05,-6.57603238e-05, 1.19493972e-05,
 -2.22315383e-03, 2.70469598e-02, 1.02392897e-02, 1.13273240e-03,
 -3.07256745e-06,-4.19007637e-05, 2.29776050e-05, 6.98767312e-06,
  5.48833374e-02, 2.24112585e-02, 1.48645266e-02, 5.23241912e-05,
 -4.43138293e-06, 1.28760705e-06,-9.80999881e+00,-6.49622997e-02,
 -9.47470979e-03,-5.26207781e-03]


--- Step 1894 ---
qpos:
[ 0.00989103, 0.00806174,-0.00557344, 0.03348628, 0.00595112,-0.02266881,
 -0.01667121, 0.03799066, 0.01301098, 0.00595368,-0.01171726, 0.03408102,
  0.81091084,-0.01599043, 1.13761494, 0.04606123, 0.09490597,-0.06342715,
  0.14256067, 0.94245153,-0.03276667, 0.02793712, 0.33155841]

qacc:
[ 9.22276501e-01, 1.56210072e+00,-4.61634668e+00, 2.45067202e+00,
  3.49803674e+00, 8.87972753e-02,-8.29737588e-01,-2.84442312e+00,
 -3.14739998e-01,-1.21930548e+00, 3.30107214e+00,-2.03305226e+00,
  3.62844175e+00, 6.54770976e-01, 9.48013783e+00,-2.91591850e+01,
 -2.38501736e-02,-9.17318036e-02, 1.91424854e-02, 1.97281499e+00,
 -2.25323837e-02, 3.76516904e+00]

qfrc_actuator:
[ 4.24007167e-05, 2.61099142e-04,-2.12380560e-05, 3.39448440e-05,
 -2.43970848e-03, 2.55509128e-02, 9.88836422e-03, 1.17489577e-03,
 -4.83855292e-05, 1.62609363e-05,-1.56842089e-04, 4.18138750e-05,
  4.99762020e-02, 2.02137365e-02, 2.34953360e-03,-2.19444056e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71230262, -0.65269934, -0.28523429, -0.65269934,  1.07960624,
       -0.84049791, -0.28523429, -0.84049791,  2.63560726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.872214824219211e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99209004e-01,  5.95002310e-03, -3.93187497e-02,  5.94542190e-03,
        9.99982298e-01,  2.33951610e-04,  3.93194457e-02, -2.71050543e-20,
       -9.99226692e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13156621, -0.08299539,  0.17467139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038023557681055725
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85605883e-01, -1.69009661e-01,  4.09612957e-03, -1.69008202e-01,
        9.85614394e-01,  7.02389774e-04, -4.15591492e-03,  2.16840434e-19,
       -9.99991364e-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([ 0.13101024, -0.08202864,  0.13159233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29139389,  7.26539672,  0.61517096,  7.26539672,  7.50696201,
       -2.5459393 ,  0.61517096, -2.5459393 , 37.35987924,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.1512819460820096e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873968,  0.1103331 , -0.17290244,  0.10865074,  0.99389467,
        0.01919405,  0.17396455,  0.        , -0.98475192])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329823, -0.05388432,  0.29658758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004976639085847437
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.67270940e-01, -9.14506030e-01, -3.03718562e-01, -8.51998331e-02,
       -2.91523504e-01,  9.52761793e-01, -9.59847505e-01,  2.80522311e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484209, -0.03593882,  0.30483276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004370422594145301
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.81046570e-13, -2.58000281e-13,  1.00000000e+00, -9.83101222e-26,
        1.00000000e+00,  2.58000281e-13, -1.00000000e+00,  0.00000000e+00,
       -3.81046570e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05332513, -0.06085373,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.53815402e-06,-7.87382740e-06,-3.90426041e-05,-1.09263460e-05,
 -2.24207626e-03, 2.70990420e-02, 1.02686485e-02, 1.13352539e-03,
 -1.95199431e-06,-3.38823135e-05, 1.14082263e-05, 3.49214461e-06,
  5.44156437e-02, 2.22182303e-02, 1.45780348e-02,-9.55902749e-05,
 -1.59360814e-06, 3.44091814e-07,-9.80999956e+00,-6.49635179e-02,
 -9.47453753e-03,-5.26190623e-03]


--- Step 1895 ---
qpos:
[ 0.00989163, 0.00806187,-0.00557453, 0.03348566, 0.0059481 ,-0.02268158,
 -0.01667124, 0.03799168, 0.01301005, 0.0059532 ,-0.01171824, 0.03408181,
  0.81089843,-0.01599256, 1.13757246, 0.04605735, 0.09490694,-0.06342597,
  0.14256089, 0.94245111,-0.03276682, 0.02793376, 0.33155986]

qacc:
[ 5.24297249e-01,-1.20320971e+00, 5.91246099e+00,-1.37155987e+01,
  4.35782882e+00,-3.31674195e-02,-4.59418122e-01,-3.14569518e+00,
 -1.11320805e-01,-1.03477428e+00, 1.43493828e+00, 4.63114929e+00,
  3.23322744e+00, 5.29559691e-01, 9.34424912e+00,-2.58210952e+01,
 -1.76429637e-02,-6.94920198e-02, 1.48994457e-02, 1.59598060e+00,
 -5.58973321e-02, 3.16435359e+00]

qfrc_actuator:
[ 4.52937471e-05, 2.51535289e-04,-1.95338837e-05, 1.14372679e-05,
 -2.43969377e-03, 2.55590621e-02, 9.90270504e-03, 1.14794283e-03,
 -4.91039499e-05, 7.22785170e-06,-1.28518124e-04, 6.19620399e-05,
  4.99883317e-02, 2.02498129e-02, 2.30278309e-03,-2.25339284e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71230057, -0.62483132, -0.34199111, -0.62483132,  1.20080105,
       -0.89250973, -0.34199111, -0.89250973,  2.34295123,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.705692662041968e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99208587e-01,  5.94648474e-03, -3.93298659e-02,  5.94188367e-03,
        9.99982320e-01,  2.33878582e-04,  3.93305612e-02, -2.71050543e-20,
       -9.99226254e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13156685, -0.08299422,  0.17467212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003802602088170623
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85607855e-01, -1.68998422e-01,  4.08528520e-03, -1.68996970e-01,
        9.85616322e-01,  7.00482262e-04, -4.14490417e-03,  0.00000000e+00,
       -9.99991410e-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([ 0.13101137, -0.0820285 ,  0.13159223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29100425,  7.23408442,  0.90926654,  7.23408442,  7.83257617,
       -4.30872222,  0.90926654, -4.30872222, 41.57100768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.074091077092814e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78736767e-01,  1.10341220e-01, -1.72913722e-01,  1.08658504e-01,
        9.93893764e-01,  1.91967308e-02,  1.73976061e-01, -3.46944695e-18,
       -9.84749882e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329809, -0.05388338,  0.29658749])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004977646091327367
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.66295876e-01, -9.14648464e-01, -3.04145844e-01, -8.50205937e-02,
       -2.92020878e-01,  9.52625480e-01, -9.60134368e-01,  2.79538897e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484209, -0.03593715,  0.30483302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043734911779409746
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.80779215e-13, -3.96645015e-15,  1.00000000e+00, -1.51034178e-27,
        1.00000000e+00,  3.96645015e-15, -1.00000000e+00,  0.00000000e+00,
       -3.80779215e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05332721, -0.06085217,  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:
[ 3.05035761e-06,-2.24967713e-05,-5.09982871e-06,-2.44066230e-05,
 -2.26276567e-03, 2.71560899e-02, 1.03195990e-02, 1.12267568e-03,
 -7.88255407e-07,-2.54557612e-05, 2.28684676e-05, 1.91614927e-05,
  5.39978177e-02, 2.20522748e-02, 1.44331515e-02,-4.40606897e-05,
 -3.42057883e-07, 1.54592659e-09,-9.80999987e+00,-6.49641854e-02,
 -9.47466191e-03,-5.26164182e-03]


--- Step 1896 ---
qpos:
[ 0.00989226, 0.00806202,-0.00557566, 0.03348441, 0.00594585,-0.02269548,
 -0.01667189, 0.03799241, 0.01301015, 0.00595245,-0.01171858, 0.03408247,
  0.81089238,-0.01599178, 1.13754069, 0.04605588, 0.09490786,-0.06342496,
  0.14256117, 0.94244892,-0.03276438, 0.02793128, 0.33156655]

qacc:
[ 2.60351089e-01,-1.12792906e+00, 6.72135873e+00,-1.75432755e+01,
  6.50990731e+00,-3.69502387e-01, 3.43873945e-01,-3.50150257e+00,
  9.11344167e+00,-2.41269902e+00, 8.64206065e+00,-1.17192377e+01,
  2.58172495e+00, 5.65683677e-01, 8.47393802e+00,-6.82714148e+00,
 -1.29885644e-02,-4.42844310e-02, 1.19902866e-02, 1.26146931e+00,
 -7.54357952e-02, 2.81556591e+00]

qfrc_actuator:
[ 4.67538857e-05, 2.63592006e-04,-1.80889946e-05,-1.92989886e-05,
 -2.42103241e-03, 2.55696526e-02, 9.94724039e-03, 1.14930522e-03,
  4.10555178e-06, 2.20483794e-06,-9.36745004e-05, 5.57535196e-05,
  4.99849917e-02, 2.02346880e-02, 2.29738686e-03,-2.03776894e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71230165, -0.60180759, -0.38105285, -0.60180759,  1.21236674,
       -0.78976698, -0.38105285, -0.78976698,  1.95960306,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.793887655564412e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99208102e-01,  5.94346109e-03, -3.93426575e-02,  5.93885937e-03,
        9.99982337e-01,  2.33835684e-04,  3.93433524e-02,  0.00000000e+00,
       -9.99225751e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13156761, -0.08299293,  0.1746725 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038029273878049523
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85607900e-01, -1.68998332e-01,  4.07810593e-03, -1.68996885e-01,
        9.85616337e-01,  6.99250888e-04, -4.13762006e-03, -1.08420217e-19,
       -9.99991440e-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([ 0.13101267, -0.0820285 ,  0.13159218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29095159,  7.18031242,  1.26534132,  7.18031242,  8.50263835,
       -6.87584398,  1.26534132, -6.87584398, 46.30865138,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.063508214465971e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78736033e-01,  1.10338401e-01, -1.72919680e-01,  1.08655612e-01,
        9.93894077e-01,  1.91968958e-02,  1.73982001e-01,  3.46944695e-18,
       -9.84748833e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329814, -0.05388282,  0.29658751])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000497562991609125
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.66335355e-01, -9.14633217e-01, -3.04157127e-01, -8.50366743e-02,
       -2.92027947e-01,  9.52621878e-01, -9.60121994e-01,  2.79581396e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484206, -0.03593623,  0.30483379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004373809659284078
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53834325e-13, -3.56954520e-14,  1.00000000e+00, -9.06073099e-27,
        1.00000000e+00,  3.56954520e-14, -1.00000000e+00,  0.00000000e+00,
       -2.53834325e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05332869, -0.06085095,  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:
[ 1.54123937e-06,-2.61435439e-06,-4.66287437e-06,-3.23484706e-05,
 -2.26988028e-03, 2.72164883e-02, 1.03987716e-02, 1.13980854e-03,
  5.31740883e-05,-1.36889328e-05, 3.30796548e-05,-6.13386971e-06,
  5.36123074e-02, 2.18607144e-02, 1.42634664e-02, 2.47289573e-04,
 -5.73271408e-08, 3.20386059e-08,-9.80999990e+00,-6.49644125e-02,
 -9.47496799e-03,-5.26129407e-03]


--- Step 1897 ---
qpos:
[ 0.0098929 , 0.00806238,-0.00557689, 0.03348279, 0.00594428,-0.02271028,
 -0.01667308, 0.03799286, 0.01301054, 0.00595128,-0.01171837, 0.03408308,
  0.81089206,-0.01598842, 1.1375144 , 0.0460544 , 0.09490873,-0.0634241 ,
  0.14256147, 0.94244533,-0.03275986, 0.02792946, 0.33157734]

qacc:
[ 1.03083322e-01,-2.59367389e-01, 2.92080280e+00,-9.49681352e+00,
  5.83496374e+00,-2.47916212e-01, 3.04531246e-01,-3.48788843e+00,
  2.59350417e+00,-2.19892977e+00, 7.21304545e+00,-8.61240674e+00,
  2.42578416e+00, 3.53403181e-01, 8.02908811e+00,-1.64902456e+01,
 -1.09867386e-02,-3.82268168e-02, 8.39728922e-03, 1.01460965e+00,
 -8.19596575e-02, 2.20045994e+00]

qfrc_actuator:
[ 4.73599959e-05, 2.88503316e-04,-1.67388517e-05,-3.68644043e-05,
 -2.42714833e-03, 2.56000020e-02, 9.95684217e-03, 1.16775729e-03,
  1.76188467e-05,-3.58661281e-05,-7.30168950e-05, 5.18440817e-05,
  4.99881889e-02, 2.02235538e-02, 2.33199525e-03,-2.10452599e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7123054 , -0.59379883, -0.39342334, -0.59379883,  1.23644276,
       -0.79108716, -0.39342334, -0.79108716,  1.90630326,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.091757414012422e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99207542e-01,  5.94120575e-03, -3.93572027e-02,  5.93660238e-03,
        9.99982351e-01,  2.33833366e-04,  3.93578973e-02, -2.71050543e-20,
       -9.99225178e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13156848, -0.08299148,  0.17467259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24853405, -0.24477545,  0.04305989, -0.24477545,  0.32181816,
        0.41658604,  0.04305989,  0.41658604,  2.61663184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038033449755675726
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85606253e-01, -1.69008041e-01,  4.07375150e-03, -1.69006598e-01,
        9.85614672e-01,  6.98545570e-04, -4.13320907e-03, -1.08420217e-19,
       -9.99991458e-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([ 0.13101413, -0.08202861,  0.13159217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29115614,   7.07663658,   1.75561172,   7.07663658,
        10.05226589, -11.12966498,   1.75561172, -11.12966498,
        52.15335057,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.104410456568067e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78737155e-01,  1.10325727e-01, -1.72921413e-01,  1.08643102e-01,
        9.93895484e-01,  1.91948559e-02,  1.73983498e-01,  3.46944695e-18,
       -9.84748568e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329832, -0.05388257,  0.29658763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004972351712945304
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26690773, -0.91453729, -0.30394377, -0.08515356, -0.29177163,
        0.95268997, -0.95995267,  0.28016222,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484207, -0.03593596,  0.30483481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004371941397251222
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26971398e-13, -6.74535553e-14,  1.00000000e+00, -8.56467224e-27,
        1.00000000e+00,  6.74535553e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26971398e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0533297 , -0.06085001,  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:
[ 6.51564062e-07, 2.11090574e-05,-8.69861641e-07,-1.84635726e-05,
 -2.31446228e-03, 2.73040252e-02, 1.04396167e-02, 1.17276289e-03,
  1.50163172e-05,-3.91075514e-05, 2.17013484e-05,-3.47217027e-06,
  5.32981429e-02, 2.17039788e-02, 1.37633158e-02, 6.04485746e-05,
 -3.72334706e-07, 3.08283768e-07,-9.80999977e+00,-6.49642914e-02,
 -9.47538147e-03,-5.26087489e-03]


--- Step 1898 ---
qpos:
[ 0.00989355, 0.0080627 ,-0.00557775, 0.03348131, 0.00594333,-0.02272577,
 -0.01667478, 0.03799304, 0.01301005, 0.00595034,-0.01171874, 0.03408397,
  0.81089718,-0.01598269, 1.13748822, 0.04605031, 0.09490956,-0.06342338,
  0.1425618 , 0.94244067,-0.0327536 , 0.02792812, 0.33159131]

qacc:
[ 3.32815673e-02,-7.49920656e-01, 1.99204710e+00,-8.16986707e-03,
  5.12427578e+00,-7.24155061e-02, 9.68733950e-02,-3.60530412e+00,
 -7.72617348e+00, 2.51506887e+00,-9.71402681e+00, 1.53991613e+01,
  2.39713683e+00, 1.49822972e-01, 7.97766289e+00,-2.78330265e+01,
 -9.65028441e-03,-3.49722456e-02, 4.94971401e-03, 8.31869693e-01,
 -1.00250569e-01, 1.71175287e+00]

qfrc_actuator:
[ 4.74591532e-05, 2.85430970e-04, 2.36760948e-06,-2.87724561e-05,
 -2.41285352e-03, 2.56424192e-02, 9.92789671e-03, 1.12555186e-03,
 -2.78629014e-05,-4.72262756e-06,-9.65361417e-05, 6.70374613e-05,
  5.00057856e-02, 2.02317379e-02, 2.28950137e-03,-2.30376102e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71231143, -0.57488794, -0.42058463, -0.57488794,  1.34580347,
       -0.86590643, -0.42058463, -0.86590643,  1.89590001,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.549576045538705e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99206922e-01,  5.93963929e-03, -3.93731779e-02,  5.93503339e-03,
        9.99982360e-01,  2.33866600e-04,  3.93738724e-02,  0.00000000e+00,
       -9.99224548e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13156945, -0.08298991,  0.17467245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038037449651027707
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85603277e-01, -1.69025447e-01,  4.07173508e-03, -1.69024005e-01,
        9.85611687e-01,  6.98273824e-04, -4.13117573e-03,  1.08420217e-19,
       -9.99991467e-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([ 0.13101573, -0.08202882,  0.13159219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29157119,   6.9925949 ,   2.06654952,   6.9925949 ,
        11.43694881, -14.02673689,   2.06654952, -14.02673689,
        54.75391739,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.185784665375696e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873973,  0.11030538, -0.17291983,  0.1086231 ,  0.99389774,
        0.0191911 ,  0.17398151,  0.        , -0.98474892])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329862, -0.05388261,  0.29658781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004967975530601267
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.68007527e-01, -9.14359502e-01, -3.03510571e-01, -8.53701943e-02,
       -2.91256926e-01,  9.52828071e-01, -9.59626956e-01,  2.81275851e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484204, -0.0359362 ,  0.30483601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043683993091296613
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27074352e-13, -6.75082496e-14,  1.00000000e+00,  8.57856709e-27,
        1.00000000e+00,  6.75082496e-14, -1.00000000e+00,  0.00000000e+00,
        1.27074352e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05333033, -0.06084929,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26326175e-07, 7.76430348e-06, 2.27339637e-05, 8.61247104e-06,
 -2.33465551e-03, 2.73916268e-02, 1.04377785e-02, 1.14423508e-03,
 -4.50726840e-05, 1.36534636e-05,-2.90347236e-05, 1.42010056e-05,
  5.30285656e-02, 2.15833097e-02, 1.34473033e-02,-1.38537531e-04,
 -9.80040691e-07, 6.87951192e-07,-9.80999958e+00,-6.49638863e-02,
 -9.47585531e-03,-5.26039244e-03]


--- Step 1899 ---
qpos:
[ 0.00989453, 0.00806309,-0.00557814, 0.03348026, 0.00594301,-0.02274187,
 -0.01667693, 0.03799294, 0.01300937, 0.00595019,-0.01171997, 0.03408464,
  0.81090699,-0.01597502, 1.13746664, 0.04604594, 0.09491036,-0.06342277,
  0.14256214, 0.94243512,-0.03274597, 0.02792711, 0.33160794]

qacc:
[ 3.00673702e+00,-3.64776528e-01,-4.23389387e-01, 7.12953986e+00,
  5.46336651e+00,-1.21155461e-01, 3.90082055e-01,-3.88989225e+00,
 -1.77114424e+00, 2.98312553e+00,-8.15780923e+00, 5.04692860e+00,
  2.07252466e+00, 7.06529989e-02, 7.56583959e+00,-1.67622209e+01,
 -8.79300239e-03,-2.52920287e-02, 2.88637080e-03, 6.47491956e-01,
 -1.00397360e-01, 1.42365756e+00]

qfrc_actuator:
[ 6.50118424e-05, 3.01229852e-04, 3.17134083e-05,-5.66034477e-06,
 -2.40425715e-03, 2.56744817e-02, 9.91151697e-03, 1.08257399e-03,
 -3.66799644e-05, 6.74621627e-05,-1.27906703e-04, 5.78706765e-05,
  5.00052149e-02, 2.02151856e-02, 2.23831212e-03,-2.26032876e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7123195 , -0.56544612, -0.43320868, -0.56544612,  1.32923341,
       -0.80522758, -0.43320868, -0.80522758,  1.76334371,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.126732714141693e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99206251e-01,  5.93867817e-03, -3.93903568e-02,  5.93406899e-03,
        9.99982366e-01,  2.33930777e-04,  3.93910515e-02,  0.00000000e+00,
       -9.99223871e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13157049, -0.08298828,  0.17467214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003804009763034224
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85599256e-01, -1.69048892e-01,  4.07170232e-03, -1.69047449e-01,
        9.85607666e-01,  6.98367910e-04, -4.13115934e-03,  0.00000000e+00,
       -9.99991467e-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([ 0.13101743, -0.08202911,  0.13159223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29216593,   6.91702527,   2.30877574,   6.91702527,
        12.76080782, -16.38389278,   2.30877574, -16.38389278,
        56.37783439,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.2988792978730914e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78743428e-01,  1.10279111e-01, -1.72915643e-01,  1.08597327e-01,
        9.93900658e-01,  1.91860054e-02,  1.73976787e-01, -3.46944695e-18,
       -9.84749754e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329898, -0.05388291,  0.29658804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004962462544669402
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26967059, -0.91409115, -0.30284507, -0.08569255, -0.29046846,
        0.9530398 , -0.95913219,  0.28295837,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484189, -0.03593685,  0.30483739])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043636157878763904
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.75822541e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.75822541e-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([ 0.05333066, -0.06084873,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75578631e-05, 2.52054630e-05, 3.40565978e-05, 2.44033998e-05,
 -2.35636386e-03, 2.74589118e-02, 1.04471932e-02, 1.11532199e-03,
 -1.00960850e-05, 7.44502837e-05,-3.16204578e-05,-9.30714691e-06,
  5.27566685e-02, 2.14482672e-02, 1.33907977e-02, 3.54358019e-05,
 -1.68229343e-06, 1.09023615e-06,-9.80999935e+00,-6.49632519e-02,
 -9.47636206e-03,-5.25984933e-03]


--- Step 1900 ---
qpos:
[ 0.00989503, 0.00806378,-0.00557826, 0.03347948, 0.00594337,-0.02275831,
 -0.01667939, 0.03799262, 0.01300894, 0.00595059,-0.01172156, 0.03408519,
  0.81092106,-0.01596541, 1.13745595, 0.04604475, 0.09491111,-0.06342223,
  0.1425625 , 0.94242882,-0.0327373 , 0.02792622, 0.33162676]

qacc:
[-4.27314950e+00, 2.03864941e-01,-1.25580834e+00, 5.20814809e+00,
  5.61501834e+00,-3.36635377e-02, 4.27832825e-01,-3.62141582e+00,
  2.12729778e+00, 1.49671524e+00,-3.76826281e+00, 1.87191947e+00,
  1.68964520e+00, 4.20124718e-01, 6.43387474e+00, 7.68812094e-01,
 -1.22023274e-02,-1.87626243e-02, 3.42754489e-03, 4.74670108e-01,
 -1.41048534e-01, 1.17189838e+00]

qfrc_actuator:
[ 3.94391865e-05, 3.28271285e-04, 4.91903270e-05, 8.36572442e-06,
 -2.41711494e-03, 2.56827710e-02, 9.90281666e-03, 1.09249277e-03,
 -2.38270435e-05, 9.26032494e-05,-1.45725031e-04, 5.22369884e-05,
  4.99989397e-02, 2.01832582e-02, 2.27736290e-03,-2.01932187e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71232949, -0.59628292, -0.38969216, -0.59628292,  1.21602803,
       -0.77072845, -0.38969216, -0.77072845,  1.89165066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.79364281653894e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99205534e-01,  5.93836241e-03, -3.94085899e-02,  5.93374920e-03,
        9.99982368e-01,  2.34026615e-04,  3.94092848e-02, -2.71050543e-20,
       -9.99223152e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13157158, -0.08298659,  0.17467167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003804133334368303
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85594370e-01, -1.69077341e-01,  4.07322326e-03, -1.69075897e-01,
        9.85602787e-01,  6.98749807e-04, -4.13272295e-03,  1.08420217e-19,
       -9.99991460e-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([ 0.13101923, -0.08202946,  0.1315923 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29291073,   6.15094874,   3.91821088,   6.15094874,
        21.03505069, -21.57290688,   3.91821088, -21.57290688,
        41.15883791,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.435237343059257e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874804,  0.11024788, -0.17290947,  0.10856671,  0.99390412,
        0.01917982,  0.17396997,  0.        , -0.98475096])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132994 , -0.05388343,  0.2965883 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004956675625245459
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.71631646e-01, -9.13772921e-01, -3.02051814e-01, -8.60668858e-02,
       -2.89530291e-01,  9.53291509e-01, -9.58545116e-01,  2.84940801e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484167, -0.03593786,  0.30483881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043579197344252585
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.98062282e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.98062282e-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([ 0.05333077, -0.06084832,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50666420e-05, 4.92130372e-05, 2.77230605e-05, 1.67608686e-05,
 -2.40152819e-03, 2.74982054e-02, 1.04610625e-02, 1.13880801e-03,
  1.25919930e-05, 5.98561781e-05,-6.64226427e-06,-3.71654429e-06,
  5.25155294e-02, 2.13185010e-02, 1.32006755e-02, 2.90617953e-04,
 -2.40820100e-06, 1.49712150e-06,-9.80999911e+00,-6.49624388e-02,
 -9.47688395e-03,-5.25925390e-03]


--- Step 1901 ---
qpos:
[ 0.00989488, 0.00806489,-0.00557846, 0.03347854, 0.00594434,-0.02277479,
 -0.01668209, 0.0379921 , 0.01300866, 0.00595148,-0.01172308, 0.034086  ,
  0.81093916,-0.01595378, 1.13745608, 0.04604712, 0.0949118 ,-0.06342176,
  0.14256286, 0.94242196,-0.03272779, 0.02792529, 0.33164729]

qacc:
[-5.75945458e+00, 4.59870918e-01,-1.44665489e-01,-2.83381056e+00,
  5.27212094e+00, 1.60137855e-01, 1.57271456e-01,-3.17906558e+00,
  1.37792833e+00, 9.72419725e-01,-3.64142972e+00, 7.60900918e+00,
  1.45768200e+00, 7.21620761e-01, 5.20526806e+00, 4.95282342e+00,
 -1.51845375e-02,-1.68880438e-02, 3.49583561e-03, 3.49507210e-01,
 -1.78073166e-01, 9.13418910e-01]

qfrc_actuator:
[ 6.43592672e-06, 3.44036768e-04, 4.18077888e-05,-8.19725718e-07,
 -2.42536907e-03, 2.56945189e-02, 9.88102221e-03, 1.11646402e-03,
 -1.60870604e-05, 1.24942168e-04,-1.37811601e-04, 6.64606942e-05,
  4.99944379e-02, 2.01768564e-02, 2.32721899e-03,-1.84064467e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71234109, -0.62749683, -0.33716104, -0.62749683,  1.12415616,
       -0.76643685, -0.33716104, -0.76643685,  2.13877129,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0515384201787814e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99204787e-01,  5.93871011e-03, -3.94274763e-02,  5.93409221e-03,
        9.99982366e-01,  2.34152481e-04,  3.94281716e-02,  0.00000000e+00,
       -9.99222407e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13157271, -0.08298485,  0.17467112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038041868957021163
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85588773e-01, -1.69109907e-01,  4.07562668e-03, -1.69108461e-01,
        9.85597199e-01,  6.99300737e-04, -4.13518492e-03, -1.08420217e-19,
       -9.99991450e-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([ 0.13102109, -0.08202985,  0.13159238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29375758,   6.13737805,   3.94100118,   6.13737805,
        17.27287291, -15.54062041,   3.94100118, -15.54062041,
        31.49539016,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.583953777815054e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875334,  0.11021254, -0.17290198,  0.10853206,  0.99390804,
        0.01917277,  0.17396175,  0.        , -0.98475241])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329984, -0.05388415,  0.29658858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004951473188421177
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27353146, -0.91346323, -0.30127308, -0.08642306, -0.28861137,
        0.9535379 , -0.95797265,  0.28685956,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484146, -0.03593923,  0.30484017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004351567960388797
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27565861e-13, -1.31552294e-13,  1.00000000e+00, -1.67815816e-26,
        1.00000000e+00,  1.31552294e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27565861e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0533307 , -0.060848  ,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.37039803e-05, 4.96983718e-05, 6.77309748e-06,-5.78978025e-06,
 -2.44298953e-03, 2.75273183e-02, 1.04554451e-02, 1.17429355e-03,
  8.11899416e-06, 6.42849762e-05, 1.93422210e-05, 1.64873922e-05,
  5.22980498e-02, 2.12155906e-02, 1.27060838e-02, 3.10373878e-04,
 -3.09514719e-06, 1.89283101e-06,-9.80999889e+00,-6.49614976e-02,
 -9.47741875e-03,-5.25860430e-03]


--- Step 1902 ---
qpos:
[ 0.00989467, 0.00806634,-0.00557903, 0.03347821, 0.00594567,-0.0227908 ,
 -0.01668468, 0.03799147, 0.01300813, 0.00595248,-0.01172433, 0.03408665,
  0.81095909,-0.0159412 , 1.13746302, 0.04605152, 0.09491242,-0.06342133,
  0.14256325, 0.9424149 ,-0.03271808, 0.02792449, 0.33166835]

qacc:
[-4.52535135e-01, 2.77949738e+00,-1.18419288e+01, 2.28578372e+01,
  2.95943606e+00, 1.14191797e-01, 9.29636579e-01,-3.22587702e+00,
 -2.18885093e+00,-9.32992628e-01, 4.21914571e+00,-7.40446133e+00,
  5.92366633e-01, 4.33450101e-01, 3.91816650e+00, 8.70839741e-01,
 -1.56228372e-02,-1.24318642e-02, 5.29398404e-03, 1.04771196e-01,
  2.10892743e-02, 2.86417914e-01]

qfrc_actuator:
[ 4.84237525e-06, 3.52804411e-04, 1.97548811e-05, 2.96470447e-05,
 -2.44883903e-03, 2.56904380e-02, 9.88691607e-03, 1.11342298e-03,
 -2.91782636e-05, 1.08204187e-04,-1.32490675e-04, 5.67669698e-05,
  4.99908676e-02, 2.01671424e-02, 2.31393686e-03,-1.78977840e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71235397, -0.67193636, -0.2365369 , -0.67193636,  0.8426014 ,
       -0.36999718, -0.2365369 , -0.36999718,  1.76341432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.126219119950446e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99204024e-01,  5.93968114e-03, -3.94466430e-02,  5.93505799e-03,
        9.99982360e-01,  2.34304614e-04,  3.94473388e-02,  2.71050543e-20,
       -9.99221651e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13157384, -0.08298308,  0.17467051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003804198764528175
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85582616e-01, -1.69145714e-01,  4.07841873e-03, -1.69144266e-01,
        9.85591055e-01,  6.99932335e-04, -4.13804357e-03,  0.00000000e+00,
       -9.99991438e-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([ 0.13102296, -0.08203029,  0.13159246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29466496,   6.15009751,   3.92280991,   6.15009751,
        17.43007614, -15.89008097,   3.92280991, -15.89008097,
        32.2067942 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.7367064617310414e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875914,  0.11017399, -0.17289371,  0.10849428,  0.99391232,
        0.01916506,  0.17395268,  0.        , -0.98475401])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330026, -0.05388506,  0.29658885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004946997845290095
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75240962e-01, -9.13184036e-01, -3.00561689e-01, -8.67374206e-02,
       -2.87774128e-01,  9.53762377e-01, -9.57454455e-01,  2.88584420e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484126, -0.03594096,  0.30484148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043447231767418664
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.09880579e-07,  5.09880534e-07,  1.00000000e+00,  2.59978182e-13,
        1.00000000e+00, -5.09880534e-07, -1.00000000e+00,  0.00000000e+00,
       -5.09880579e-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([ 0.05375084, -0.06143322,  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:
[-2.53959734e-06, 3.76634317e-05,-1.11600838e-05, 3.27195935e-05,
 -2.49765440e-03, 2.75263420e-02, 1.04731154e-02, 1.18125432e-03,
 -1.28380680e-05, 2.38983710e-05, 2.15575862e-05,-5.94954879e-06,
  5.20931431e-02, 2.11041313e-02, 1.21514646e-02, 1.83344054e-04,
 -3.69090084e-06, 2.25120664e-06,-9.80999867e+00,-6.49604630e-02,
 -9.47797157e-03,-5.25789668e-03]


--- Step 1903 ---
qpos:
[ 0.00989445, 0.00806785,-0.00557975, 0.03347863, 0.00594177,-0.02279951,
 -0.01668213, 0.03799377, 0.01300744, 0.00595336,-0.01172533, 0.03408722,
  0.81091157,-0.01596299, 1.13742521, 0.04606651, 0.09491374,-0.06341826,
  0.14256311, 0.94242504,-0.03273695, 0.02791281, 0.33163867]

qacc:
[-1.59993954e-01, 1.99075668e+00,-1.01099464e+01, 2.30463366e+01,
 -4.41465463e+01, 1.37917158e+00,-3.13686450e+00, 4.00707025e+01,
 -1.33085986e+00,-1.01532345e+00, 3.71550608e+00,-5.44265254e+00,
 -2.57197336e+01,-1.05673522e+01,-9.74937102e+01, 2.46517109e+02,
  1.73212592e-01, 6.63173380e-01,-1.33013245e-01,-1.42782609e+01,
  2.05023379e-01,-2.73395402e+01]

qfrc_actuator:
[ 3.99847382e-06, 3.39519811e-04, 6.97679973e-06, 6.54389082e-05,
 -2.44590927e-03, 2.56763555e-02, 9.90917886e-03, 1.12966374e-03,
 -3.66715223e-05, 7.99294654e-05,-1.28971344e-04, 5.07804184e-05,
  4.99825835e-02, 2.01379653e-02, 2.30002471e-03,-1.79773660e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71236776, -0.4970506 ,  0.51030238, -0.4970506 ,  0.39285372,
       -0.31121673,  0.51030238, -0.31121673,  0.40923286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2010603903338485e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99203283e-01,  5.94100240e-03, -3.94652299e-02,  5.93637386e-03,
        9.99982352e-01,  2.34467163e-04,  3.94659264e-02,  0.00000000e+00,
       -9.99220917e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13157495, -0.08298133,  0.1746699 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24855614, -0.21989424, -0.11587354, -0.21989424,  0.46410978,
       -0.40905804, -0.11587354, -0.40905804,  1.0248292 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003804258647229156
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85576274e-01, -1.69182592e-01,  4.08148749e-03, -1.69181141e-01,
        9.85584725e-01,  7.00616208e-04, -4.14118379e-03,  0.00000000e+00,
       -9.99991425e-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([ 0.13102479, -0.08203075,  0.13159254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29561508,   6.02510972,   4.11388531,   6.02510972,
        18.58262458, -16.53071623,   4.11388531, -16.53071623,
        31.50615368,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.8901948595448616e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78765134e-01,  1.10134407e-01, -1.72885004e-01,  1.08455484e-01,
        9.93916703e-01,  1.91571258e-02,  1.73943151e-01, -3.46944695e-18,
       -9.84755696e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330067, -0.05388604,  0.29658911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.35510892,  1.29333497, -0.40448096,  1.29333497,  2.11639802,
        2.43423527, -0.40448096,  2.43423527,  9.13861893,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004943457773687481
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27680377, -0.91292786, -0.29990398, -0.08702014, -0.28700156,
        0.95396939, -0.95697814,  0.29016001,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484105, -0.03594283,  0.30484265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.2971124 , -6.54884433,  7.94626716, -6.54884433, 65.95461127,
       45.86962517,  7.94626716, 45.86962517, 48.10014984,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043446634710465307
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.75459114e-07, -8.75458986e-07,  1.00000000e+00, -7.66428548e-13,
        1.00000000e+00,  8.75458986e-07, -1.00000000e+00, -1.00974196e-28,
       -8.75459114e-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([ 0.08717582, -0.10798108,  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:
[-9.07987097e-07, 6.82834049e-06,-5.24990564e-06, 3.76553741e-05,
 -2.51224322e-03, 2.74891398e-02, 1.04903242e-02, 1.20270826e-03,
 -7.84840655e-06,-1.07422767e-05, 1.09064365e-05,-4.33285688e-06,
  5.19935253e-02, 2.10276625e-02, 1.17972584e-02, 7.40764861e-05,
 -3.88026884e-06, 2.34806583e-06,-9.80999863e+00,-6.49593578e-02,
 -9.47845106e-03,-5.25718783e-03]


--- Step 1904 ---
qpos:
[ 0.00989456, 0.00806916,-0.00558048, 0.03347949, 0.0059379 ,-0.02280888,
 -0.01668017, 0.03799578, 0.01300668, 0.00595402,-0.01172623, 0.03408808,
  0.81087445,-0.01597953, 1.13737699, 0.04607348, 0.09491491,-0.06341584,
  0.14256309, 0.94243188,-0.03274982, 0.02790393, 0.33161872]

qacc:
[ 2.95719700e+00, 7.07862800e-01,-4.79339989e+00, 1.27274089e+01,
  2.02588767e-01, 1.61265740e-01,-6.27926215e-01,-2.98869954e+00,
 -7.36364972e-01, 4.05451435e-02,-1.75026986e+00, 6.72196997e+00,
  4.34433768e+00, 1.09537911e+00, 8.77019796e+00,-5.33298467e+01,
 -3.80990409e-02,-1.64342760e-01, 3.19622942e-02, 3.10072811e+00,
  2.09189618e-01, 5.26385798e+00]

qfrc_actuator:
[ 2.13449034e-05, 3.13164315e-04,-3.14424088e-07, 8.63072240e-05,
 -2.42170656e-03, 2.56847617e-02, 9.91842722e-03, 1.15448238e-03,
 -4.08033587e-05, 6.26974121e-05,-1.26601547e-04, 6.47628683e-05,
  4.99829665e-02, 2.01675541e-02, 2.30078054e-03,-1.88588281e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71234091, -0.68423335, -0.19812694, -0.68423335,  0.85287329,
       -0.48533   , -0.19812694, -0.48533   ,  2.3884329 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0504075885811818e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99203063e-01,  5.93710783e-03, -3.94713797e-02,  5.93248089e-03,
        9.99982375e-01,  2.34349968e-04,  3.94720754e-02,  0.00000000e+00,
       -9.99220674e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13157508, -0.08298025,  0.17467242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24853845, -0.03685572,  0.24579059, -0.03685572,  0.70464115,
        0.06839153,  0.24579059,  0.06839153,  0.2587936 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000380352686531651
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85586673e-01, -1.69122731e-01,  4.05116157e-03, -1.69121302e-01,
        9.85594999e-01,  6.95157247e-04, -4.11037147e-03,  0.00000000e+00,
       -9.99991552e-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([ 0.13102539, -0.08203003,  0.1315922 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29293967, -2.60439025,  6.81205699, -2.60439025, 30.83401484,
        9.00023982,  6.81205699,  9.00023982, 10.73391746,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.440426901719852e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875203,  0.11018898, -0.17292442,  0.10850844,  0.99391065,
        0.01917111,  0.17398387,  0.        , -0.9847485 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329939, -0.05388364,  0.2965883 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.35941176, -0.74569963,  1.13663204, -0.74569963,  3.58337949,
        1.45905787,  1.13663204,  1.45905787,  2.31664232,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004965775530284944
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.69299352e-01, -9.14147330e-01, -3.03005807e-01, -8.56245899e-02,
       -2.90656066e-01,  9.52988710e-01, -9.59242560e-01,  2.82583990e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484096, -0.03593779,  0.30483942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.30983167, -5.91836878,  8.44189197, -5.91836878, 17.90507687,
        5.32480896,  8.44189197,  5.32480896, 14.04290279,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043552351908010545
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.31441523e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.31441523e-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([ 0.05333535, -0.0608443 ,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73174729e-05,-2.20545315e-05,-5.23433835e-06, 2.17095546e-05,
 -2.22689521e-03, 2.71328071e-02, 1.02423179e-02, 1.08107736e-03,
 -4.35708711e-06,-2.11980322e-05, 1.34418676e-06, 1.38143421e-05,
  5.53666163e-02, 2.27763309e-02, 1.40358463e-02,-5.44148548e-04,
 -1.01301293e-05, 3.05838308e-06,-9.80999706e+00,-6.49614155e-02,
 -9.48068275e-03,-5.25710380e-03]


--- Step 1905 ---
qpos:
[ 0.00989419, 0.00807039,-0.00558134, 0.03348093, 0.00593423,-0.02281913,
 -0.01667889, 0.03799747, 0.01300587, 0.00595434,-0.01172756, 0.03408916,
  0.81084689,-0.01599139, 1.13732444, 0.04607506, 0.09491597,-0.06341393,
  0.14256318, 0.94243593,-0.03275773, 0.02789724, 0.33160699]

qacc:
[-4.24044486e+00, 1.44199810e+00,-7.75376843e+00, 1.80899890e+01,
  1.67494865e+00, 1.06021419e-01,-7.07098796e-01,-3.04856516e+00,
 -3.88940096e-01, 1.17559786e+00,-5.78678549e+00, 1.04924784e+01,
  4.00459999e+00, 8.91606626e-01, 9.76125488e+00,-4.36870363e+01,
 -2.64668600e-02,-1.27686918e-01, 2.56674644e-02, 2.54043914e+00,
  1.10555764e-01, 4.43908724e+00]

qfrc_actuator:
[-3.99961112e-06, 3.14692848e-04,-4.38564549e-06, 1.15967503e-04,
 -2.42340384e-03, 2.57117114e-02, 9.90579192e-03, 1.13323930e-03,
 -4.29252931e-05, 1.67083440e-05,-1.60385138e-04, 7.26359529e-05,
  4.99946223e-02, 2.01887668e-02, 2.31418416e-03,-2.07875490e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71232505, -0.66537205, -0.25433642, -0.66537205,  0.98318521,
       -0.70859996, -0.25433642, -0.70859996,  2.5661005 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.503106884266901e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99202793e-01,  5.93323773e-03, -3.94787884e-02,  5.92861207e-03,
        9.99982398e-01,  2.34241160e-04,  3.94794833e-02,  0.00000000e+00,
       -9.99220381e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13157537, -0.08297918,  0.17467426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038032509295437574
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85593809e-01, -1.69081688e-01,  4.02829297e-03, -1.69080276e-01,
        9.85602041e-01,  6.91060435e-04, -4.08713944e-03, -1.08420217e-19,
       -9.99991648e-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([ 0.13102614, -0.08202954,  0.13159195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29129443,  7.28908508,  0.17948028,  7.28908508,  7.30653777,
       -0.61906546,  0.17948028, -0.61906546, 32.4328905 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.131759154713439e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874287,  0.11022566, -0.17295291,  0.10854398,  0.99390659,
        0.01918072,  0.17401324,  0.        , -0.98474331])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329854, -0.05388179,  0.29658776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004978777689605728
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26445726, -0.91489456, -0.30500871, -0.08469765, -0.293013  ,
        0.95234956, -0.96067095,  0.27768927,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048409 , -0.03593405,  0.30483778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004367139124541314
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54222042e-13, -1.31083240e-13,  1.00000000e+00, -3.33242490e-26,
        1.00000000e+00,  1.31083240e-13, -1.00000000e+00,  0.00000000e+00,
       -2.54222042e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05333928, -0.06084169,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.48631005e-05,-1.09906925e-05,-8.52996624e-06, 2.89526704e-05,
 -2.22983109e-03, 2.71935757e-02, 1.02592536e-02, 1.07444435e-03,
 -2.25245284e-06,-5.69929392e-05,-3.75185251e-05, 7.27868048e-06,
  5.48579886e-02, 2.25348487e-02, 1.45710194e-02,-3.35038200e-04,
 -4.71445782e-06, 1.27307440e-06,-9.80999864e+00,-6.49634788e-02,
 -9.48006852e-03,-5.25699193e-03]


--- Step 1906 ---
qpos:
[ 0.00989317, 0.00807171,-0.00558235, 0.03348304, 0.00593091,-0.02283033,
 -0.01667829, 0.03799885, 0.0130047 , 0.00595398,-0.01172885, 0.03409033,
  0.81082776,-0.01599926, 1.13727567, 0.04607516, 0.09491695,-0.06341241,
  0.14256335, 0.94243763,-0.03276161, 0.02789225, 0.33160219]

qacc:
[-5.67336317e+00, 1.91864014e+00,-9.46839373e+00, 2.11767734e+01,
  3.00070054e+00, 5.80682556e-03,-5.24087703e-01,-3.13536447e+00,
 -3.18825760e+00,-7.84529707e-01, 1.11429722e+00, 9.71344908e-01,
  3.49394163e+00, 7.41982239e-01, 9.91471191e+00,-2.68347090e+01,
 -1.88153888e-02,-9.61393695e-02, 2.07615851e-02, 2.04639982e+00,
  5.60157659e-02, 3.73783748e+00]

qfrc_actuator:
[-3.65210698e-05, 3.32923173e-04,-6.41004172e-06, 1.50588841e-04,
 -2.44082504e-03, 2.57502526e-02, 9.89810814e-03, 1.12000658e-03,
 -6.16012258e-05,-2.85511753e-05,-1.62114381e-04, 7.67987575e-05,
  5.00127427e-02, 2.02034298e-02, 2.34032842e-03,-2.04986165e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71231658, -0.65269215, -0.28528557, -0.65269215,  1.0522952 ,
       -0.77782197, -0.28528557, -0.77782197,  2.49186082,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.921789210115447e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99202461e-01,  5.92956588e-03, -3.94877462e-02,  5.92494098e-03,
        9.99982420e-01,  2.34149309e-04,  3.94884404e-02, -2.71050543e-20,
       -9.99220027e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13157582, -0.08297807,  0.17467554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038033113704307006
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85598208e-01, -1.69056444e-01,  4.01142170e-03, -1.69055044e-01,
        9.85606371e-01,  6.88060375e-04, -4.07000382e-03, -1.08420217e-19,
       -9.99991718e-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([ 0.13102705, -0.08202923,  0.13159178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29034098,  7.27743456,  0.43361017,  7.27743456,  7.39425244,
       -1.7439833 ,  0.43361017, -1.7439833 , 36.56023668,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.938011854613342e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873697,  0.11024719, -0.17297256,  0.10856479,  0.9939042 ,
        0.0191867 ,  0.17403344,  0.        , -0.98473974])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329804, -0.05388043,  0.29658743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004984989363831399
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.61656173e-01, -9.15309109e-01, -3.06178515e-01, -8.41551227e-02,
       -2.94386138e-01,  9.51974116e-01, -9.61485290e-01,  2.74856395e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484084, -0.03593141,  0.30483726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043744231069203776
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26899364e-13, -6.74152874e-14,  1.00000000e+00, -8.55495713e-27,
        1.00000000e+00,  6.74152874e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26899364e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05334222, -0.06083964,  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:
[-3.32378112e-05, 1.15177846e-05,-4.34968861e-06, 3.44157964e-05,
 -2.25719115e-03, 2.72758354e-02, 1.02858184e-02, 1.07709247e-03,
 -1.87587965e-05,-8.45696812e-05,-1.78623003e-05, 5.63828545e-07,
  5.43977348e-02, 2.23156835e-02, 1.48141324e-02,-3.69000700e-05,
 -1.77001988e-06, 3.52907993e-07,-9.80999948e+00,-6.49648129e-02,
 -9.47991305e-03,-5.25679035e-03]


--- Step 1907 ---
qpos:
[ 0.00989177, 0.00807284,-0.00558326, 0.03348557, 0.00592804,-0.0228425 ,
 -0.01667836, 0.03799992, 0.01300365, 0.00595318,-0.01173025, 0.03409152,
  0.8108162 ,-0.01600359, 1.13722976, 0.04607339, 0.09491788,-0.06341118,
  0.14256358, 0.94243736,-0.03276218, 0.02788858, 0.3316032 ]

qacc:
[-3.34526441e+00, 3.33774977e-01,-3.29687983e+00, 1.04715189e+01,
  3.78484166e+00,-7.99403200e-02,-2.73452956e-01,-3.34100464e+00,
  1.14786665e+00,-2.49304731e-01,-5.08220222e-02, 9.10614690e-01,
  3.16655950e+00, 5.95545845e-01, 9.83306480e+00,-2.84592879e+01,
 -1.33876186e-02,-7.41347486e-02, 1.61538821e-02, 1.66456199e+00,
  3.47986601e-03, 3.13376861e+00]

qfrc_actuator:
[-5.52399915e-05, 3.07774656e-04,-7.13318024e-06, 1.70116004e-04,
 -2.43241142e-03, 2.57784288e-02, 9.92917856e-03, 1.11170582e-03,
 -5.43663953e-05,-3.74077851e-05,-1.62655893e-04, 7.87700387e-05,
  5.00238489e-02, 2.02129808e-02, 2.32028712e-03,-2.15595215e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71231327, -0.62498501, -0.34173664, -0.62498501,  1.18879283,
       -0.87140959, -0.34173664, -0.87140959,  2.30599059,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.684723798049565e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99202062e-01,  5.92624873e-03, -3.94983437e-02,  5.92162393e-03,
        9.99982440e-01,  2.34081120e-04,  3.94990373e-02, -2.71050543e-20,
       -9.99219609e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13157641, -0.08297687,  0.17467636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003803631437690184
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85600318e-01, -1.69044429e-01,  3.99933146e-03, -1.69043037e-01,
        9.85608432e-01,  6.85936401e-04, -4.05772853e-03,  0.00000000e+00,
       -9.99991767e-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([ 0.13102813, -0.08202909,  0.13159167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2898654 ,  7.25160544,  0.74589274,  7.25160544,  7.64986104,
       -3.49989511,  0.74589274, -3.49989511, 41.31601573,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8364093885618428e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873376,  0.1102559 , -0.17298514,  0.10857312,  0.99390323,
        0.01918963,  0.17404626,  0.        , -0.98473748])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329781, -0.05387952,  0.29658728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000498682248715255
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.2602852 , -0.91550363, -0.30676493, -0.08389116, -0.29507117,
        0.95178531, -0.96188039,  0.2734705 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048408 , -0.03592969,  0.30483746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043780009778321416
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26795657e-13, -6.73601930e-14,  1.00000000e+00,  8.54097996e-27,
        1.00000000e+00,  6.73601930e-14, -1.00000000e+00,  0.00000000e+00,
        1.26795657e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05334438, -0.06083805,  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:
[-1.96666788e-05,-1.81804567e-05, 2.30508856e-06, 2.05362179e-05,
 -2.26654547e-03, 2.73520729e-02, 1.03514001e-02, 1.08461841e-03,
  6.67056868e-06,-5.97985574e-05,-2.01745731e-05,-2.25823518e-06,
  5.39877476e-02, 2.21258161e-02, 1.46067853e-02,-6.90372149e-05,
 -4.22783405e-07, 7.54078597e-09,-9.80999983e+00,-6.49655705e-02,
 -9.48004656e-03,-5.25651037e-03]


--- Step 1908 ---
qpos:
[ 0.00989016, 0.00807356,-0.00558371, 0.03348763, 0.00592561,-0.02285555,
 -0.01667907, 0.03800067, 0.01300305, 0.00595261,-0.01173226, 0.03409268,
  0.81081161,-0.01600476, 1.13718384, 0.04606828, 0.09491877,-0.0634102 ,
  0.14256387, 0.9424355 ,-0.03276002, 0.02788591, 0.33160893]

qacc:
[-1.85441185e+00,-2.77169188e+00, 1.10922452e+01,-1.96769887e+01,
  3.69590692e+00,-1.95640128e-02,-3.05533105e-01,-3.41074790e+00,
  3.83820703e+00, 1.92551010e+00,-6.27335849e+00, 6.43154884e+00,
  2.99724758e+00, 3.91012353e-01, 9.95909666e+00,-3.50644902e+01,
 -1.01414946e-02,-6.08730557e-02, 1.18499241e-02, 1.35970698e+00,
 -3.53172594e-02, 2.54095508e+00]

qfrc_actuator:
[-6.56829328e-05, 2.74592876e-04, 1.04871393e-05, 1.45065516e-04,
 -2.42648426e-03, 2.57830336e-02, 9.93049468e-03, 1.10648683e-03,
 -3.19334868e-05, 1.11212883e-05,-1.80110777e-04, 7.94630045e-05,
  5.00305203e-02, 2.02183270e-02, 2.30443453e-03,-2.35978649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71231387, -0.60142345, -0.38168165, -0.60142345,  1.32341764,
       -0.96292849, -0.38168165, -0.96292849,  2.22961963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.72801389168698e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99201595e-01,  5.92337878e-03, -3.95105759e-02,  5.91875336e-03,
        9.99982457e-01,  2.34040213e-04,  3.95112690e-02,  0.00000000e+00,
       -9.99219125e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13157712, -0.08297559,  0.17467681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038041231476774876
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85600517e-01, -1.69043464e-01,  3.99107773e-03, -1.69042078e-01,
        9.85608597e-01,  6.84516762e-04, -4.04935360e-03,  0.00000000e+00,
       -9.99991801e-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([ 0.13102936, -0.08202907,  0.1315916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28973885,  7.20912099,  1.08114154,  7.20912099,  8.15793415,
       -5.78918184,  1.08114154, -5.78918184, 45.89237402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.808753579596112e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873277,  0.11025384, -0.17299205,  0.10857095,  0.99390346,
        0.01919003,  0.17405317,  0.        , -0.98473626])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329779, -0.05387898,  0.29658727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004985457952716987
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26007212, -0.91552537, -0.30688073, -0.08385741, -0.29520115,
        0.95174798, -0.96194097,  0.27325734,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484072, -0.03592872,  0.30483817])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004378632912779151
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26777358e-13, -6.73504714e-14,  1.00000000e+00, -8.53851483e-27,
        1.00000000e+00,  6.73504714e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26777358e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05334591, -0.06083681,  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:
[-1.10136951e-05,-4.20307051e-05, 1.48532778e-05,-2.53551593e-05,
 -2.28301571e-03, 2.74057267e-02, 1.03860447e-02, 1.09503812e-03,
  2.25988171e-05, 1.08671463e-05,-3.23482026e-05,-2.60980875e-06,
  5.36160531e-02, 2.19546026e-02, 1.44484927e-02,-1.78467721e-04,
 -6.43889954e-08, 2.19845802e-08,-9.80999989e+00,-6.49658638e-02,
 -9.48035603e-03,-5.25615723e-03]


--- Step 1909 ---
qpos:
[ 0.00988913, 0.00807425,-0.00558407, 0.033489  , 0.00592379,-0.0228695 ,
 -0.01668041, 0.03800112, 0.01300272, 0.00595227,-0.01173427, 0.03409379,
  0.81081281,-0.0160034 , 1.1371484 , 0.04606522, 0.09491963,-0.06340938,
  0.14256418, 0.94243226,-0.03275572, 0.027884  , 0.33161872]

qacc:
[ 5.06420772e+00,-1.73789760e+00, 9.00595960e+00,-2.09749246e+01,
  5.13065464e+00,-8.68691407e-02,-1.86102213e-01,-3.31811900e+00,
  2.40113628e+00, 2.05476627e-01,-1.27254517e-01,-7.76933389e-01,
  2.40684356e+00, 3.58036388e-01, 9.23679812e+00,-9.97629034e+00,
 -8.38066929e-03,-4.07190979e-02, 9.22055589e-03, 1.05348507e+00,
 -4.27944761e-02, 2.18291105e+00]

qfrc_actuator:
[-3.56704972e-05, 2.90146768e-04, 2.09700303e-05, 1.11742589e-04,
 -2.43997041e-03, 2.57915407e-02, 9.87869401e-03, 1.10324131e-03,
 -1.84953770e-05, 4.03271889e-05,-1.71661186e-04, 7.94396312e-05,
  5.00236598e-02, 2.02200963e-02, 2.31787952e-03,-2.12299465e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71231759, -0.61383599, -0.3613886 , -0.61383599,  1.24876919,
       -0.91118895, -0.3613886 , -0.91118895,  2.26001601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.993201729758376e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99201066e-01,  5.92094568e-03, -3.95243219e-02,  5.91631895e-03,
        9.99982471e-01,  2.34025465e-04,  3.95250147e-02,  2.71050543e-20,
       -9.99218581e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13157794, -0.08297423,  0.17467696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038046518600950887
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85599162e-01, -1.69051480e-01,  3.98599726e-03, -1.69050097e-01,
        9.85607223e-01,  6.83678772e-04, -4.04420460e-03,  0.00000000e+00,
       -9.99991822e-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([ 0.13103074, -0.08202917,  0.13159158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28988347,  7.15351515,  1.40343226,  7.15351515,  8.92422437,
       -8.33049285,  1.40343226, -8.33049285, 49.7517169 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8403383456197935e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873357,  0.11024306, -0.17299444,  0.10856029,  0.99390466,
        0.0191884 ,  0.17405537,  0.        , -0.98473587])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329793, -0.0538788 ,  0.29658736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004981566790326694
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26087569, -0.91539594, -0.30658465, -0.08402694, -0.29484508,
        0.9518434 , -0.96170856,  0.27407418,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484055, -0.03592836,  0.30483926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004376962048117522
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.73761819e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.73761819e-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([ 0.05334695, -0.06083584,  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:
[ 2.96822215e-05,-5.99245779e-06, 2.74736412e-06,-3.51079837e-05,
 -2.31837934e-03, 2.74584994e-02, 1.03663689e-02, 1.10741066e-03,
  1.40820435e-05, 2.85366348e-05, 6.64572420e-06,-7.25563562e-07,
  5.32602781e-02, 2.17976982e-02, 1.44631641e-02, 2.25002823e-04,
 -2.81170254e-07, 2.42518356e-07,-9.80999980e+00,-6.49657817e-02,
 -9.48077159e-03,-5.25573499e-03]


--- Step 1910 ---
qpos:
[ 0.00988846, 0.00807506,-0.00558465, 0.03348962, 0.00592268,-0.02288409,
 -0.01668221, 0.03800133, 0.01300255, 0.00595212,-0.01173588, 0.03409452,
  0.81081936,-0.01599934, 1.13712846, 0.04606722, 0.09492044,-0.06340868,
  0.14256454, 0.94242782,-0.03274971, 0.02788249, 0.33163206]

qacc:
[ 3.21498365e+00,-7.44276003e-01, 6.07832014e+00,-1.88496867e+01,
  6.08141292e+00,-5.63618451e-02, 1.57280323e-02,-3.07433458e+00,
  1.44911762e+00,-1.64028280e+00, 7.82090514e+00,-1.51601563e+01,
  1.90318770e+00, 1.00200751e+00, 7.53471982e+00, 6.80414822e+00,
 -1.28420735e-02,-2.85362708e-02, 9.77468896e-03, 8.06159529e-01,
 -1.39274197e-01, 1.90698863e+00]

qfrc_actuator:
[-1.75950734e-05, 2.99225042e-04, 9.59157088e-06, 7.38585338e-05,
 -2.44769644e-03, 2.58027733e-02, 9.86627369e-03, 1.10129264e-03,
 -1.04641726e-05, 5.78534521e-05,-1.48034283e-04, 6.12542416e-05,
  5.00085363e-02, 2.02013479e-02, 2.34263360e-03,-1.80339356e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71232399, -0.64333312, -0.30582342, -0.64333312,  1.10183678,
       -0.81938289, -0.30582342, -0.81938289,  2.43598582,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.432166459673308e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99200472e-01,  5.91911881e-03, -3.95395998e-02,  5.91448992e-03,
        9.99982482e-01,  2.34043689e-04,  3.95402925e-02, -2.71050543e-20,
       -9.99217977e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13157885, -0.08297277,  0.17467687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000380514719893544
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85596486e-01, -1.69067140e-01,  3.98348888e-03, -1.69065759e-01,
        9.85604536e-01,  6.83313688e-04, -4.04167060e-03,  0.00000000e+00,
       -9.99991832e-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([ 0.13103226, -0.08202935,  0.13159159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29024069,   6.22134258,   3.8003297 ,   6.22134258,
        17.88522182, -17.34454968,   3.8003297 , -17.34454968,
        35.6841944 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.916882931050712e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78735835e-01,  1.10224694e-01, -1.72993301e-01,  1.08542239e-01,
        9.93906694e-01,  1.91850339e-02,  1.74053865e-01, -3.46944695e-18,
       -9.84736133e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132982 , -0.0538789 ,  0.29658752])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000497699717808042
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62155023e-01, -9.15196591e-01, -3.06088130e-01, -8.42881016e-02,
       -2.94254073e-01,  9.52003181e-01, -9.61337745e-01,  2.75372003e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484038, -0.03592853,  0.30484046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004373495126733379
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.7765126e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.7765126e-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([ 0.05334761, -0.0608351 ,  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:
[ 1.89182750e-05, 4.78021072e-06,-1.34996756e-05,-3.87339083e-05,
 -2.35645892e-03, 2.75157385e-02, 1.03853011e-02, 1.12048597e-03,
  8.43827178e-06, 3.48630450e-05, 3.03390222e-05,-1.67445642e-05,
  5.29559325e-02, 2.16527552e-02, 1.39645330e-02, 4.42637225e-04,
 -8.18894049e-07, 5.84606721e-07,-9.80999961e+00,-6.49654084e-02,
 -9.48123976e-03,-5.25525676e-03]


--- Step 1911 ---
qpos:
[ 0.00988767, 0.00807572,-0.00558501, 0.03349013, 0.00592232,-0.02289911,
 -0.01668434, 0.03800132, 0.01300213, 0.0059526 ,-0.01173709, 0.03409463,
  0.81083077,-0.01599258, 1.13712063, 0.0460731 , 0.09492119,-0.06340806,
  0.14256493, 0.94242237,-0.0327423 , 0.02788116, 0.3316484 ]

qacc:
[-1.06685944e+00,-1.06588677e+00, 3.94882341e+00,-6.05708605e+00,
  6.29518914e+00,-7.86415349e-02, 3.44675445e-01,-3.21132193e+00,
 -2.17716206e+00,-1.57063066e+00, 9.45454402e+00,-2.13891711e+01,
  1.60582610e+00, 1.23841421e+00, 6.14943411e+00, 4.43003202e+00,
 -1.38640165e-02,-2.18143281e-02, 8.22320127e-03, 6.31571837e-01,
 -1.79502493e-01, 1.60400373e+00]

qfrc_actuator:
[-2.44559500e-05, 2.86513758e-04, 2.08895870e-05, 6.90862643e-05,
 -2.43456900e-03, 2.58334797e-02, 9.89532538e-03, 1.08243738e-03,
 -2.34294140e-05, 1.21568310e-04,-1.15701105e-04, 3.25249183e-05,
  5.00042639e-02, 2.01868555e-02, 2.37867043e-03,-1.65097843e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71233263, -0.64040542, -0.31192734, -0.64040542,  1.09165745,
       -0.77877646, -0.31192734, -0.77877646,  2.31120711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.993897590268683e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99199831e-01,  5.91801059e-03, -3.95559737e-02,  5.91337873e-03,
        9.99982488e-01,  2.34096771e-04,  3.95566664e-02,  0.00000000e+00,
       -9.99217329e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13157983, -0.0829712 ,  0.17467662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038057179728445174
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85592664e-01, -1.69089444e-01,  3.98247028e-03, -1.69088063e-01,
        9.85600710e-01,  6.83231735e-04, -4.04065281e-03,  0.00000000e+00,
       -9.99991837e-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([ 0.13103388, -0.08202962,  0.13159162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29074336,   6.20579567,   3.82662238,   6.20579567,
        15.76111201, -13.73675579,   3.82662238, -13.73675579,
        29.56822234,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.0212992533541925e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9787393 ,  0.11019964, -0.17298968,  0.10851765,  0.99390947,
        0.01918022,  0.17404973,  0.        , -0.98473686])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329852, -0.05387925,  0.29658773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004972729458673846
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.63476903e-01, -9.14992817e-01, -3.05561885e-01, -8.45524555e-02,
       -2.93630632e-01,  9.52172219e-01, -9.60953071e-01,  2.76711395e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484027, -0.03592924,  0.30484168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004368644168396829
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.94571696e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.94571696e-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([ 0.05334796, -0.06083453,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.32016451e-06,-1.45019235e-05, 9.27841681e-06,-5.79092274e-06,
 -2.37930550e-03, 2.75785749e-02, 1.04378071e-02, 1.11405866e-03,
 -1.27157189e-05, 8.87846279e-05, 4.27104199e-05,-2.65096144e-05,
  5.26845042e-02, 2.15031913e-02, 1.32262154e-02, 3.41850966e-04,
 -1.53679055e-06, 1.01260209e-06,-9.80999938e+00,-6.49648182e-02,
 -9.48175338e-03,-5.25471111e-03]


--- Step 1912 ---
qpos:
[ 0.0098868 , 0.0080763 ,-0.005585  , 0.0334909 , 0.00592263,-0.02291437,
 -0.01668676, 0.0380011 , 0.01300191, 0.00595353,-0.01173756, 0.03409439,
  0.81084662,-0.01598331, 1.13711931, 0.04608036, 0.09492188,-0.06340752,
  0.14256535, 0.94241613,-0.03273375, 0.02787991, 0.33166706]

qacc:
[-6.54205081e-01,-5.90287112e-01, 8.55832602e-01, 3.14951830e+00,
  5.64629746e+00, 8.73465078e-03, 3.74735111e-01,-3.35888767e+00,
  1.71299047e+00,-2.20566763e+00, 1.01674955e+01,-1.76564055e+01,
  1.48593487e+00, 1.14212886e+00, 5.39626934e+00,-4.99745531e+00,
 -1.32536357e-02,-2.02798270e-02, 5.41359614e-03, 5.02079226e-01,
 -1.76727361e-01, 1.23822887e+00]

qfrc_actuator:
[-2.81827715e-05, 2.96473760e-04, 4.54290602e-05, 8.38360238e-05,
 -2.42699516e-03, 2.58759242e-02, 9.89606381e-03, 1.05350630e-03,
 -1.31413251e-05, 1.41474499e-04,-7.83049375e-05, 1.56198556e-05,
  4.99957009e-02, 2.02093476e-02, 2.39459414e-03,-1.65297116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71234325, -0.63260105, -0.32748864, -0.63260105,  1.12078945,
       -0.78898459, -0.32748864, -0.78898459,  2.23640367,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.064385873817977e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99199154e-01,  5.91764631e-03, -3.95731204e-02,  5.91301073e-03,
        9.99982491e-01,  2.34183831e-04,  3.95738134e-02,  2.71050543e-20,
       -9.99216650e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13158085, -0.08296953,  0.17467625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003806406942195873
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85587881e-01, -1.69117328e-01,  3.98230258e-03, -1.69115948e-01,
        9.85595926e-01,  6.83318950e-04, -4.04050228e-03,  1.08420217e-19,
       -9.99991837e-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([ 0.13103558, -0.08202996,  0.13159166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29135353,   6.20115774,   3.83529386,   6.20115774,
        15.3124588 , -12.96905552,   3.83529386, -12.96905552,
        28.26058351,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.1433738562207745e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78743709e-01,  1.10168930e-01, -1.72984272e-01,  1.08487524e-01,
        9.93912877e-01,  1.91742080e-02,  1.74043698e-01, -3.46944695e-18,
       -9.84737930e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329888, -0.05387984,  0.29658795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000496881844582915
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.64768061e-01, -9.14795151e-01, -3.05037219e-01, -8.48059269e-02,
       -2.93011365e-01,  9.52340430e-01, -9.60575780e-01,  2.78018293e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484017, -0.03593041,  0.30484291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004362758138462819
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54477326e-13, -3.57858740e-14,  1.00000000e+00, -9.10669351e-27,
        1.00000000e+00,  3.57858740e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54477326e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05334807, -0.0608341 ,  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:
[-3.91388945e-06, 3.49846147e-06, 2.24827690e-05, 1.43352681e-05,
 -2.40896800e-03, 2.76432316e-02, 1.04557760e-02, 1.09600757e-03,
  9.95732793e-06, 7.72318446e-05, 6.00873407e-05,-1.21367146e-05,
  5.24325479e-02, 2.13908554e-02, 1.26364111e-02, 1.45977524e-04,
 -2.31435299e-06, 1.47310565e-06,-9.80999912e+00,-6.49640569e-02,
 -9.48230467e-03,-5.25409588e-03]


--- Step 1913 ---
qpos:
[ 0.00988624, 0.00807676,-0.00558466, 0.03349185, 0.00592331,-0.02292956,
 -0.01668938, 0.03800067, 0.01300182, 0.00595467,-0.01173746, 0.03409468,
  0.81086649,-0.015972  , 1.13711686, 0.04608522, 0.09492254,-0.06340709,
  0.14256576, 0.94240947,-0.03272434, 0.02787877, 0.33168701]

qacc:
[ 2.70641565e+00,-7.45945068e-01, 1.65028827e+00, 1.01792899e+00,
  3.12132539e+00, 2.49079458e-01, 1.18501052e-01,-3.43688006e+00,
  1.11556679e+00,-2.13147671e-01,-1.07402990e+00, 9.20793269e+00,
  1.58084312e+00, 5.58631068e-01, 5.56497027e+00,-2.19674039e+01,
 -1.13291518e-02,-2.58722363e-02, 1.37032045e-03, 3.97310104e-01,
 -1.11986128e-01, 6.91741963e-01]

qfrc_actuator:
[-1.22741050e-05, 2.84508867e-04, 5.99268546e-05, 9.22192660e-05,
 -2.45848007e-03, 2.58898854e-02, 9.87988382e-03, 1.05411396e-03,
 -6.99547073e-06, 1.35029965e-04,-5.61263560e-05, 4.12850667e-05,
  4.99950782e-02, 2.02353755e-02, 2.36656490e-03,-1.87093083e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71235563, -0.62554865, -0.34079234, -0.62554865,  1.13171942,
       -0.76977215, -0.34079234, -0.76977215,  2.12532731,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.135483344234112e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99198453e-01,  5.91794955e-03, -3.95907794e-02,  5.91330959e-03,
        9.99982489e-01,  2.34300338e-04,  3.95914727e-02,  0.00000000e+00,
       -9.99215950e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13158191, -0.0829678 ,  0.17467578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003807162973537138
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85582349e-01, -1.69149555e-01,  3.98272862e-03, -1.69148174e-01,
        9.85590396e-01,  6.83526115e-04, -4.04095722e-03,  0.00000000e+00,
       -9.99991835e-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([ 0.13103733, -0.08203035,  0.13159171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29205125,   6.21136327,   3.82007562,   6.21136327,
        16.52179327, -15.00736798,   3.82007562, -15.00736798,
        31.6937185 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.277375976951404e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78748841e-01,  1.10133883e-01, -1.72977552e-01,  1.08453157e-01,
        9.93916761e-01,  1.91672886e-02,  1.74036256e-01,  3.46944695e-18,
       -9.84739246e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329925, -0.05388063,  0.29658819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004964997368152713
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.66110162e-01, -9.14589876e-01, -3.04484383e-01, -8.50655272e-02,
       -2.92360387e-01,  9.52517328e-01, -9.60181877e-01,  2.79375665e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484003, -0.03593195,  0.30484417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043561412873903416
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.98224796e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.98224796e-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([ 0.053348  , -0.06083378,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57948718e-05,-4.77163689e-06, 1.84779425e-05, 9.58733340e-06,
 -2.47386148e-03, 2.76697133e-02, 1.04534986e-02, 1.10710898e-03,
  6.45632691e-06, 4.86106356e-05, 4.51071926e-05, 3.08166500e-05,
  5.22097956e-02, 2.12907935e-02, 1.22835449e-02,-1.41035130e-04,
 -3.03099582e-06, 1.89653811e-06,-9.80999887e+00,-6.49631554e-02,
 -9.48288017e-03,-5.25341639e-03]


--- Step 1914 ---
qpos:
[ 0.00988622, 0.00807698,-0.00558403, 0.03349257, 0.00592423,-0.02294458,
 -0.01669221, 0.03800003, 0.01300145, 0.00595604,-0.0117373 , 0.03409532,
  0.81088991,-0.01595905, 1.13711307, 0.04608752, 0.09492315,-0.06340675,
  0.14256618, 0.94240256,-0.03271428, 0.0278777 , 0.33170774]

qacc:
[ 4.75112451e+00,-1.58902102e+00, 6.18012605e+00,-1.04800142e+01,
  2.06173939e+00, 3.45461659e-01,-4.12103671e-02,-3.34438377e+00,
 -2.37946709e+00, 8.48671445e-01,-4.01418724e+00, 9.62763655e+00,
  1.52643840e+00, 2.08937323e-01, 5.72417911e+00,-2.30003514e+01,
 -9.93774740e-03,-2.47047797e-02,-1.03925536e-03, 3.07845315e-01,
 -8.06944749e-02, 4.17314964e-01]

qfrc_actuator:
[ 1.50632757e-05, 2.59471187e-04, 6.82844467e-05, 7.90081746e-05,
 -2.46011144e-03, 2.58865431e-02, 9.88910567e-03, 1.09028105e-03,
 -2.10969767e-05, 1.30577668e-04,-6.09540013e-05, 5.62482468e-05,
  4.99937729e-02, 2.01919816e-02, 2.34457011e-03,-2.00220877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71236951, -0.62084222, -0.34932115, -0.62084222,  1.14784856,
       -0.77396911, -0.34932115, -0.77396911,  2.08793093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2102603460005203e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99197743e-01,  5.91862246e-03, -3.96085799e-02,  5.91397779e-03,
        9.99982485e-01,  2.34432337e-04,  3.96092737e-02,  0.00000000e+00,
       -9.99215245e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13158296, -0.08296611,  0.17467524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003807846270983132
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85576376e-01, -1.69184324e-01,  3.98385738e-03, -1.69182942e-01,
        9.85584428e-01,  6.83864515e-04, -4.04212695e-03, -1.08420217e-19,
       -9.99991831e-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([ 0.13103908, -0.08203077,  0.13159177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29283635,   6.21328335,   3.81845151,   6.21328335,
        17.40242372, -16.45005329,   3.81845151, -16.45005329,
        34.05992817,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.421865263913768e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875441,  0.11009651, -0.17296981,  0.10841652,  0.9939209 ,
        0.01915985,  0.17402774,  0.        , -0.98474075])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329963, -0.05388161,  0.29658843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004960734794109375
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.67740240e-01, -9.14337750e-01, -3.03811855e-01, -8.53783169e-02,
       -2.91568493e-01,  9.52732049e-01, -9.59700842e-01,  2.81023652e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483975, -0.03593374,  0.30484549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000434906774935892
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27639196e-13, -1.31627921e-13,  1.00000000e+00, -1.68008821e-26,
        1.00000000e+00,  1.31627921e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27639196e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05334779, -0.06083355,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77825957e-05,-2.34936829e-05, 9.96792929e-06,-1.25941086e-05,
 -2.49399311e-03, 2.76634415e-02, 1.04735279e-02, 1.15376623e-03,
 -1.39003524e-05, 3.33277053e-05, 1.18199005e-05, 1.92030126e-05,
  5.20080904e-02, 2.11450071e-02, 1.23174911e-02,-1.52228057e-04,
 -3.50598895e-06, 2.16334778e-06,-9.80999868e+00,-6.49621317e-02,
 -9.48344868e-03,-5.25269038e-03]


--- Step 1915 ---
qpos:
[ 0.00988619, 0.00807722,-0.00558364, 0.03349244, 0.00592525,-0.02295909,
 -0.016695  , 0.03799927, 0.01300092, 0.00595741,-0.01173702, 0.03409546,
  0.81091486,-0.01594551, 1.13711178, 0.04608939, 0.09492372,-0.06340648,
  0.1425666 , 0.94239565,-0.03270412, 0.02787683, 0.33172845]

qacc:
[-1.59155798e-01,-1.05790520e+00, 7.43342932e+00,-2.18426412e+01,
  8.74862231e-01, 3.18393211e-01, 3.70965321e-01,-2.97886975e+00,
 -1.45499158e+00,-1.33578647e+00, 6.84499511e+00,-1.55335481e+01,
  6.34664089e-01, 4.70361344e-02, 4.92708547e+00,-1.19420301e+01,
 -1.11645445e-02,-1.57455488e-02, 1.86399451e-03, 7.77572614e-02,
  8.08471511e-02,-3.44653199e-03]

qfrc_actuator:
[ 1.33968107e-05, 2.62256759e-04, 5.51269644e-05, 3.54291694e-05,
 -2.46160618e-03, 2.58904452e-02, 9.87813422e-03, 1.13011296e-03,
 -2.92488479e-05, 1.09468905e-04,-6.39477167e-05, 2.92639943e-05,
  4.99866284e-02, 2.01597910e-02, 2.35288477e-03,-1.97384074e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7123847 , -0.67527222, -0.22693477, -0.67527222,  0.85236417,
       -0.41652609, -0.22693477, -0.41652609,  1.95180913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2870602404065592e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99197031e-01,  5.91954003e-03, -3.96264101e-02,  5.91489045e-03,
        9.99982479e-01,  2.34574231e-04,  3.96271044e-02,  0.00000000e+00,
       -9.99214538e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13158402, -0.0829645 ,  0.17467465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003808376045066178
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85570123e-01, -1.69220706e-01,  3.98568586e-03, -1.69219322e-01,
        9.85578182e-01,  6.84329853e-04, -4.04400780e-03,  0.00000000e+00,
       -9.99991823e-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([ 0.13104083, -0.08203122,  0.13159184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29370206,   6.22529856,   3.80049307,   6.22529856,
        17.33448886, -16.44704898,   3.80049307, -16.44704898,
        34.23436173,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.5743943838700995e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97876027,  0.1100578 , -0.1729613 ,  0.10837858,  0.99392519,
        0.01915208,  0.17401843,  0.        , -0.9847424 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330002, -0.05388275,  0.29658868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004956179701415839
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26963964, -0.91403997, -0.30302706, -0.08573941, -0.29064437,
        0.95298195, -0.9591367 ,  0.28294307,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483935, -0.03593573,  0.30484683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004341705498307326
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51594267e-07,  2.51593827e-07,  1.00000000e+00,  6.32995644e-14,
        1.00000000e+00, -2.51593827e-07, -1.00000000e+00, -1.26217745e-29,
       -2.51594267e-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([ 0.0537678 , -0.06141863,  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:
[-8.84467754e-07,-8.83999419e-06,-1.72310747e-05,-4.44906189e-05,
 -2.50773092e-03, 2.76595103e-02, 1.04726690e-02, 1.20399901e-03,
 -8.53200495e-06, 7.33798998e-07, 5.99162942e-06,-2.47776711e-05,
  5.18230315e-02, 2.10311917e-02, 1.23926423e-02, 4.25801558e-06,
 -3.83010412e-06, 2.33949890e-06,-9.80999854e+00,-6.49610196e-02,
 -9.48401157e-03,-5.25192911e-03]


--- Step 1916 ---
qpos:
[ 0.00988579, 0.00807739,-0.00558312, 0.03349212, 0.00592095,-0.02296695,
 -0.01669286, 0.03800135, 0.01300029, 0.00595877,-0.01173648, 0.03409527,
  0.81086966,-0.01596288, 1.13706774, 0.04610025, 0.09492508,-0.06340358,
  0.1425665 , 0.9424058 ,-0.03272204, 0.02786565, 0.33169879]

qacc:
[-3.19200159e+00,-8.24980393e-01, 3.56516514e+00,-6.90573086e+00,
 -4.50555398e+01, 9.65575336e-01,-2.53701860e+00, 3.88079863e+01,
 -8.14973571e-01,-1.43864924e+00, 6.52512472e+00,-1.27109972e+01,
 -3.04752151e+01,-2.81091426e+00,-8.93008030e+01, 2.22821072e+02,
  1.98583624e-01, 6.56714405e-01,-1.30208765e-01,-1.39580124e+01,
  3.78690572e-01,-2.71184581e+01]

qfrc_actuator:
[-5.33079750e-06, 2.63809641e-04, 6.49689311e-05, 2.76000749e-05,
 -2.48072899e-03, 2.58982856e-02, 9.89039978e-03, 1.11888768e-03,
 -3.38273145e-05, 1.14005687e-04,-4.81738433e-05, 1.33111352e-05,
  4.99866875e-02, 2.01702088e-02, 2.35246016e-03,-1.99282308e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71240078, -0.50090083,  0.50657007, -0.50090083,  0.40081675,
       -0.30809697,  0.50657007, -0.30809697,  0.40775185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3637101612573776e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99196339e-01,  5.92056198e-03, -3.96436980e-02,  5.91590754e-03,
        9.99982473e-01,  2.34717085e-04,  3.96443929e-02, -2.71050543e-20,
       -9.99213852e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13158504, -0.08296295,  0.17467404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003808814697359406
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85563846e-01, -1.69257202e-01,  3.98810469e-03, -1.69255817e-01,
        9.85571915e-01,  6.84897197e-04, -4.04648776e-03,  1.08420217e-19,
       -9.99991813e-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([ 0.13104253, -0.08203166,  0.13159191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29462692,   6.22314513,   3.80579119,   6.22314513,
        17.71384496, -17.03727368,   3.80579119, -17.03727368,
        35.15359805,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.730428413009442e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9787662 ,  0.11001914, -0.17295235,  0.1083407 ,  0.99392947,
        0.01914428,  0.17400867,  0.        , -0.98474412])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1133004 , -0.05388397,  0.29658893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.35679768,  1.29013603, -0.42005829,  1.29013603,  1.71352312,
        1.09562018, -0.42005829,  1.09562018,  4.72180459,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004952244534778566
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.71593757e-01, -9.13729901e-01, -3.02215982e-01, -8.61063518e-02,
       -2.89689827e-01,  9.53239477e-01, -9.58552308e-01,  2.84916606e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048389 , -0.03593777,  0.30484803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043439328627423613
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21331703e-06, -1.21331694e-06,  1.00000000e+00, -1.47213811e-12,
        1.00000000e+00,  1.21331694e-06, -1.00000000e+00,  4.03896783e-28,
       -1.21331703e-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([ 0.08720068, -0.10796488,  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:
[-1.87545083e-05,-8.86983355e-06, 4.34718572e-06,-9.67107516e-06,
 -2.53207097e-03, 2.76424488e-02, 1.04834663e-02, 1.19912105e-03,
 -4.81528186e-06, 5.06504025e-06, 1.57863520e-05,-1.62000872e-05,
  5.17472045e-02, 2.10115981e-02, 1.22678489e-02, 6.29264503e-06,
 -3.84366332e-06, 2.31893544e-06,-9.80999855e+00,-6.49598553e-02,
 -9.48449827e-03,-5.25118137e-03]


--- Step 1917 ---
qpos:
[ 0.00988516, 0.00807724,-0.00558216, 0.0334924 , 0.0059164 ,-0.02297526,
 -0.01669125, 0.03800314, 0.01299996, 0.00596008,-0.01173546, 0.03409522,
  0.81083459,-0.01597548, 1.13701721, 0.04610476, 0.09492628,-0.06340134,
  0.14256652, 0.94241282,-0.0327342 , 0.02785718, 0.33167835]

qacc:
[-1.92162819e+00,-4.07627385e-01,-1.67242246e+00, 1.16234030e+01,
 -2.01064605e+00, 2.83698210e-01,-6.47910887e-01,-3.16684606e+00,
  2.61073007e+00,-1.11220798e+00, 3.21279971e+00,-1.35724837e+00,
  4.41112253e+00, 5.84986108e-01, 9.44216637e+00,-4.72787831e+01,
 -4.14974748e-02,-1.63824629e-01, 2.90816893e-02, 2.98103935e+00,
  2.22026415e-01, 4.98275643e+00]

qfrc_actuator:
[-1.61884184e-05, 2.46976846e-04, 8.83500894e-05, 5.86468406e-05,
 -2.46952744e-03, 2.59021415e-02, 9.92945458e-03, 1.10961455e-03,
 -1.85149888e-05, 1.16185617e-04,-2.13350291e-05, 2.17682943e-05,
  4.99868115e-02, 2.01486913e-02, 2.37207613e-03,-1.96068385e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71237274, -0.68259906, -0.20379758, -0.68259906,  0.85767861,
       -0.48668709, -0.20379758, -0.48668709,  2.34248113,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2269988100450748e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99196138e-01,  5.91625759e-03, -3.96494162e-02,  5.91160519e-03,
        9.99982499e-01,  2.34580265e-04,  3.96501102e-02,  0.00000000e+00,
       -9.99213625e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13158516, -0.08296203,  0.17467645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24866345, -0.03366538,  0.24637401, -0.03366538,  0.70062618,
        0.06175773,  0.24637401,  0.06175773,  0.25710223,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003808692371843449
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85574192e-01, -1.69197655e-01,  3.95801966e-03, -1.69196290e-01,
        9.85582139e-01,  6.79484355e-04, -4.01592065e-03,  0.00000000e+00,
       -9.99991936e-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([ 0.13104308, -0.08203095,  0.13159157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2922468 ,  0.26625976,  7.28738425,  0.26625976, 33.56133494,
       -0.95979585,  7.28738425, -0.95979585,  7.32731495,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.3139580357172864e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78753364e-01,  1.10074004e-01, -1.72990075e-01,  1.08393969e-01,
        9.93923394e-01,  1.91581266e-02,  1.74047694e-01, -3.46944695e-18,
       -9.84737224e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329923, -0.05388169,  0.29658818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36088596, -0.84497507,  1.06678383, -0.84497507,  3.83558317,
        1.96015104,  1.06678383,  1.96015104,  2.91347676,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000497336890728077
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26502907, -0.91475816, -0.30492147, -0.08485402, -0.29287694,
        0.9523775 , -0.96049955,  0.27828154,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483863, -0.03593288,  0.30484493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.30430198, -5.91606336,  8.43675492, -5.91606336, 17.83253676,
        5.27898635,  8.43675492,  5.27898635, 14.00605911,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004350645246456314
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55185831e-13,  9.17074082e-14,  1.00000000e+00,  2.34024312e-26,
        1.00000000e+00, -9.17074082e-14, -1.00000000e+00,  0.00000000e+00,
       -2.55185831e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05335213, -0.06083001,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13957900e-05,-2.13257124e-05, 2.17437789e-05, 3.06289351e-05,
 -2.25420198e-03, 2.73139025e-02, 1.02763008e-02, 1.04769974e-03,
  1.51821025e-05, 7.51987312e-06, 2.92465949e-05, 8.90135255e-06,
  5.52542126e-02, 2.25357079e-02, 1.44252412e-02,-4.10388710e-04,
 -9.75042824e-06, 2.98996743e-06,-9.80999736e+00,-6.49617920e-02,
 -9.48657945e-03,-5.25108701e-03]


--- Step 1918 ---
qpos:
[ 0.00988442, 0.00807712,-0.00558131, 0.03349305, 0.00591197,-0.02298444,
 -0.01669029, 0.03800462, 0.01299981, 0.00596113,-0.0117343 , 0.03409568,
  0.81080865,-0.01598386, 1.1369657 , 0.04610547, 0.09492736,-0.06339958,
  0.14256663, 0.94241709,-0.03274159, 0.02785083, 0.33166602]

qacc:
[-1.10632856e+00, 1.08779511e+00,-5.38214453e+00, 1.18776471e+01,
  8.72496681e-01, 3.52000916e-02,-4.77158746e-01,-3.27952072e+00,
  1.64798763e+00, 3.05395608e-01,-3.65312433e+00, 1.21739218e+01,
  3.94349118e+00, 5.33957900e-01, 9.91434237e+00,-3.70654504e+01,
 -2.85823295e-02,-1.21597170e-01, 2.35739095e-02, 2.44486354e+00,
  1.07044802e-01, 4.37851972e+00]

qfrc_actuator:
[-2.23214241e-05, 2.54869273e-04, 8.39730202e-05, 7.67989341e-05,
 -2.44309450e-03, 2.59080448e-02, 9.95255583e-03, 1.10350582e-03,
 -9.37197174e-06, 8.15044497e-05,-2.36779143e-05, 4.45237935e-05,
  4.99876020e-02, 2.01202124e-02, 2.32743161e-03,-2.08141978e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71235599, -0.65501019, -0.28002269, -0.65501019,  1.0283591 ,
       -0.73917315, -0.28002269, -0.73917315,  2.44137994,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.137526566444767e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99195899e-01,  5.91171639e-03, -3.96561028e-02,  5.90706600e-03,
        9.99982526e-01,  2.34439730e-04,  3.96567958e-02,  0.00000000e+00,
       -9.99213360e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13158541, -0.08296116,  0.1746782 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003808914571780085
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85581434e-01, -1.69155994e-01,  3.93531723e-03, -1.69154646e-01,
        9.85589291e-01,  6.75415717e-04, -3.99285713e-03,  0.00000000e+00,
       -9.99992029e-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([ 0.13104375, -0.08203044,  0.13159132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29079707,  7.28936445,  0.14452626,  7.28936445,  7.30073129,
       -0.50104491,  0.14452626, -0.50104491, 32.5616298 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0322437753818944e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78744290e-01,  1.10111953e-01, -1.73017260e-01,  1.08430793e-01,
        9.93919191e-01,  1.91678243e-02,  1.74075782e-01,  3.46944695e-18,
       -9.84732259e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329846, -0.05387994,  0.29658769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004985558411512044
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26091487, -0.91537238, -0.30662165, -0.08405075, -0.29487677,
        0.95183148, -0.96169585,  0.27411876,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483843, -0.03592929,  0.30484334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004361690556104886
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.76120846e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.76120846e-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([ 0.05335596, -0.06082745,  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:
[-6.46786001e-06, 1.76221408e-06,-5.05348185e-06, 1.85848288e-05,
 -2.21593034e-03, 2.73424041e-02, 1.03256144e-02, 1.05596392e-03,
  9.58079647e-06,-2.41081655e-05, 3.09267204e-06, 2.42571015e-05,
  5.47489699e-02, 2.22692761e-02, 1.47061790e-02,-2.13731343e-04,
 -4.65994569e-06, 1.30465146e-06,-9.80999880e+00,-6.49637529e-02,
 -9.48602758e-03,-5.25097094e-03]


--- Step 1919 ---
qpos:
[ 0.00988326, 0.0080773 ,-0.00558036, 0.03349352, 0.00590789,-0.02299477,
 -0.01669011, 0.03800575, 0.01299943, 0.00596245,-0.0117342 , 0.03409641,
  0.81079106,-0.01598841, 1.13691415, 0.04610277, 0.09492836,-0.06339819,
  0.14256681, 0.94241896,-0.03274498, 0.02784609, 0.33166076]

qacc:
[-3.62647326e+00,-2.56490734e-01, 2.29041440e+00,-5.88572241e+00,
  3.03528351e+00,-8.32794626e-02,-4.72066269e-01,-3.35758509e+00,
 -2.09790598e+00, 3.87942456e+00,-1.45503321e+01, 2.10193447e+01,
  3.59367354e+00, 4.68726966e-01, 1.01280871e+01,-3.57717336e+01,
 -1.96280454e-02,-9.10273435e-02, 1.85041693e-02, 2.01154088e+00,
  1.70829008e-02, 3.81083643e+00]

qfrc_actuator:
[-4.33793583e-05, 2.95146531e-04, 9.88239729e-05, 6.94574751e-05,
 -2.40776866e-03, 2.59157853e-02, 9.94867866e-03, 1.08168622e-03,
 -2.16925382e-05, 9.59259612e-05,-7.88867325e-05, 5.77001697e-05,
  4.99991683e-02, 2.01216911e-02, 2.28124906e-03,-2.24062814e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71234724, -0.61979137, -0.35113709, -0.61979137,  1.28811061,
       -1.01627877, -0.35113709, -1.01627877,  2.50617884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0878297258886388e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99195599e-01,  5.90727862e-03, -3.96643246e-02,  5.90262979e-03,
        9.99982552e-01,  2.34312305e-04,  3.96650167e-02, -2.71050543e-20,
       -9.99213034e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13158582, -0.08296023,  0.17467942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003809405897465901
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85585979e-01, -1.69129901e-01,  3.91851307e-03, -1.69128564e-01,
        9.85593769e-01,  6.72424835e-04, -3.97578921e-03, -1.08420217e-19,
       -9.99992097e-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([ 0.13104458, -0.08203012,  0.13159115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28997356,  7.27851136,  0.40864023,  7.27851136,  7.38376555,
       -1.67057972,  0.40864023, -1.67057972, 37.04556889,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8598358230072355e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873841,  0.11013492, -0.17303591,  0.10845303,  0.99391665,
        0.01917394,  0.17409499,  0.        , -0.98472886])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329802, -0.05387868,  0.29658741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004991349136824679
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25863408, -0.91569944, -0.30757594, -0.08360237, -0.29599595,
        0.95152354, -0.9623508 ,  0.27181049,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483828, -0.03592677,  0.30484282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004368320008571458
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.81229977e-13, -1.62816969e-13,  1.00000000e+00, -6.20707095e-26,
        1.00000000e+00,  1.62816969e-13, -1.00000000e+00,  0.00000000e+00,
       -3.81229977e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05335882, -0.06082544,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12427727e-05, 4.10083423e-05, 1.52266130e-05,-7.08174801e-06,
 -2.18579770e-03, 2.73942859e-02, 1.03548305e-02, 1.04993225e-03,
 -1.20531671e-05, 2.56852908e-06,-5.89958511e-05, 1.27159850e-05,
  5.43036614e-02, 2.20594206e-02, 1.47100574e-02,-1.82661509e-04,
 -1.77494432e-06, 3.78832988e-07,-9.80999956e+00,-6.49650117e-02,
 -9.48588213e-03,-5.25076932e-03]


--- Step 1920 ---
qpos:
[ 0.00988185, 0.00807777,-0.00557952, 0.03349391, 0.00590427,-0.02300627,
 -0.01669071, 0.03800654, 0.0129996 , 0.0059639 ,-0.01173531, 0.03409699,
  0.81078099,-0.01598962, 1.13686469, 0.04609769, 0.09492931,-0.06339707,
  0.14256705, 0.94241883,-0.03274509, 0.0278426 , 0.33166142]

qacc:
[-2.14436141e+00, 5.47175273e-01,-1.09526751e+00,-2.09412373e-01,
  3.96293505e+00,-5.79491273e-02,-5.80937884e-01,-3.31219555e+00,
  4.75726913e+00, 3.22221537e+00,-1.05308531e+01, 9.49445087e+00,
  3.27083284e+00, 3.25099713e-01, 1.01959401e+01,-3.13999459e+01,
 -1.43008114e-02,-7.01232259e-02, 1.41794579e-02, 1.63437126e+00,
 -2.89145177e-02, 3.18822228e+00]

qfrc_actuator:
[-5.53019905e-05, 3.01304275e-04, 8.95387244e-05, 6.49769607e-05,
 -2.40290954e-03, 2.59074972e-02, 9.91123233e-03, 1.06834494e-03,
  6.71272302e-06, 8.61479297e-05,-1.46926240e-04, 4.73849963e-05,
  5.00062913e-02, 2.01043559e-02, 2.28735233e-03,-2.33302886e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71234437, -0.60186125, -0.38104795, -0.60186125,  1.45208459,
       -1.16841192, -0.38104795, -1.16841192,  2.55783876,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0710560393146408e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99195221e-01,  5.90319962e-03, -3.96744591e-02,  5.89855163e-03,
        9.99982576e-01,  2.34210333e-04,  3.96751504e-02, -2.71050543e-20,
       -9.99212631e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13158637, -0.0829592 ,  0.17468018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003810024635970464
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85588194e-01, -1.69117267e-01,  3.90653478e-03, -1.69115939e-01,
        9.85595936e-01,  6.70317786e-04, -3.96362712e-03,  1.08420217e-19,
       -9.99992145e-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([ 0.13104559, -0.08202996,  0.13159103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2895896 ,  7.25458808,  0.71349026,  7.25458808,  7.62300261,
       -3.39005891,  0.71349026, -3.39005891, 41.7588494 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7757805868538335e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873522,  0.11014476, -0.17304767,  0.10846249,  0.99391556,
        0.01917697,  0.17410701,  0.        , -0.98472674])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329784, -0.05387784,  0.29658729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004992423826231778
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.57801861e-01, -9.15810365e-01, -3.07944113e-01, -8.34435507e-02,
       -2.96423262e-01,  9.51404448e-01, -9.62587853e-01,  2.70969787e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483812, -0.03592515,  0.30484306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004371411243777462
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26986797e-13,  9.12717604e-14,  1.00000000e+00,  1.15903085e-26,
        1.00000000e+00, -9.12717604e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26986797e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05336092, -0.06082387,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25155042e-05, 3.19091763e-05, 8.03699054e-07,-2.33670722e-06,
 -2.19891453e-03, 2.74437493e-02, 1.03558272e-02, 1.05368604e-03,
  2.80698092e-05,-2.00387600e-05,-7.43536187e-05,-1.20031837e-05,
  5.38938998e-02, 2.18510941e-02, 1.47192345e-02,-1.04393688e-04,
 -4.07190724e-07, 3.42204696e-09,-9.80999987e+00,-6.49657038e-02,
 -9.48601352e-03,-5.25048223e-03]


--- Step 1921 ---
qpos:
[ 0.00988066, 0.00807855,-0.00557939, 0.03349463, 0.00590127,-0.02301895,
 -0.01669211, 0.03800698, 0.01300045, 0.00596467,-0.01173636, 0.03409745,
  0.81077751,-0.01598798, 1.13682181, 0.04609255, 0.09493021,-0.06339616,
  0.14256734, 0.94241699,-0.03274256, 0.02784004, 0.3316671 ]

qacc:
[ 1.83958431e+00, 3.06489611e+00,-1.17003817e+01, 1.82369508e+01,
  5.14979893e+00,-7.61868633e-02,-5.58722256e-01,-3.26388092e+00,
  6.03448479e+00,-1.28692327e+00, 3.71646984e+00,-5.15999001e+00,
  2.84255535e+00, 2.48392808e-01, 9.79022612e+00,-2.03382298e+01,
 -1.08754999e-02,-5.10193023e-02, 1.07917458e-02, 1.30744752e+00,
 -5.55589520e-02, 2.70178797e+00]

qfrc_actuator:
[-4.39952255e-05, 3.04645768e-04, 4.81967425e-05, 7.99286363e-05,
 -2.39883140e-03, 2.59078278e-02, 9.87173033e-03, 1.06023461e-03,
  4.11147807e-05, 2.63576397e-05,-1.51073241e-04, 4.10670570e-05,
  5.00051950e-02, 2.00924267e-02, 2.30333300e-03,-2.27849132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71234601, -0.5948339 , -0.39193044, -0.5948339 ,  1.51839975,
       -1.22334999, -0.39193044, -1.22334999,  2.56902767,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0806709631443588e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99194762e-01,  5.89958909e-03, -3.96865569e-02,  5.89494111e-03,
        9.99982597e-01,  2.34138453e-04,  3.96872476e-02,  0.00000000e+00,
       -9.99212151e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13158706, -0.08295805,  0.17468057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038106195181643006
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85588466e-01, -1.69115868e-01,  3.89857365e-03, -1.69114545e-01,
        9.85596176e-01,  6.68946049e-04, -3.95554868e-03,  0.00000000e+00,
       -9.99992177e-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([ 0.13104679, -0.08202994,  0.13159097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28952946,  7.2142014 ,  1.04524539,  7.2142014 ,  8.11124967,
       -5.67144818,  1.04524539, -5.67144818, 46.43341837,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7623830506253195e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873425,  0.1101436 , -0.17305391,  0.10846122,  0.99391568,
        0.01917746,  0.17411327,  0.        , -0.98472563])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329786, -0.05387738,  0.2965873 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00049902381611266
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25807861, -0.91575967, -0.30786304, -0.08350883, -0.29632065,
        0.95143069, -0.96250803,  0.27125319,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483792, -0.03592428,  0.30484383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043717022499814573
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26978344e-13,  2.77765128e-14,  1.00000000e+00,  3.52701559e-27,
        1.00000000e+00, -2.77765128e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26978344e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0533624 , -0.06082265,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09589946e-05, 2.12238717e-05,-3.47466858e-05, 1.62983799e-05,
 -2.21830121e-03, 2.75030951e-02, 1.03561211e-02, 1.06304321e-03,
  3.52000150e-05,-8.68995071e-05,-1.78658943e-05,-9.98600020e-06,
  5.35161866e-02, 2.16716022e-02, 1.46313454e-02, 6.95342171e-05,
 -4.59004966e-08, 6.35810079e-09,-9.80999991e+00,-6.49659412e-02,
 -9.48632818e-03,-5.25011628e-03]


--- Step 1922 ---
qpos:
[ 0.00987961, 0.00807954,-0.00557949, 0.03349584, 0.00589905,-0.02303282,
 -0.01669424, 0.0380071 , 0.01300136, 0.00596498,-0.01173729, 0.03409814,
  0.81077953,-0.01598403, 1.13679129, 0.04609052, 0.09493108,-0.06339539,
  0.14256766, 0.94241368,-0.03273791, 0.02783818, 0.33167713]

qacc:
[ 1.25842058e+00, 1.94336112e+00,-8.61492305e+00, 1.74369828e+01,
  6.56558911e+00,-2.00465626e-01,-1.85029810e-01,-3.43090399e+00,
  5.46866871e-01,-4.83229445e-01,-1.27773800e-01, 4.26234834e+00,
  2.31707266e+00, 2.48931347e-01, 8.80593710e+00,-4.43268009e+00,
 -8.74887904e-03,-3.30863750e-02, 8.21681207e-03, 1.02350169e+00,
 -6.82300937e-02, 2.33667246e+00]

qfrc_actuator:
[-3.68622683e-05, 3.23901578e-04, 4.15172343e-05, 1.06169896e-04,
 -2.39554994e-03, 2.59315636e-02, 9.84906244e-03, 1.03764624e-03,
  4.32523846e-05, 2.60914934e-05,-1.35417678e-04, 5.49090064e-05,
  5.00043071e-02, 2.01006632e-02, 2.36736798e-03,-2.04840163e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71235131, -0.58983426, -0.39942449, -0.58983426,  1.47131347,
       -1.12076724, -0.39942449, -1.12076724,  2.36739983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1111939139879859e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99194221e-01,  5.89658727e-03, -3.97006283e-02,  5.89193836e-03,
        9.99982615e-01,  2.34102290e-04,  3.97013185e-02, -2.71050543e-20,
       -9.99211592e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13158787, -0.08295678,  0.17468067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003811085240690125
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85587098e-01, -1.69123946e-01,  3.89394534e-03, -1.69122626e-01,
        9.85594790e-01,  6.68184743e-04, -3.95085828e-03,  0.00000000e+00,
       -9.99992195e-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([ 0.13104817, -0.08203004,  0.13159095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28971872,  7.14572337,  1.44174773,  7.14572337,  9.08803512,
       -8.91298202,  1.44174773, -8.91298202, 51.46506428,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.804328658325839e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78735105e-01,  1.10133055e-01, -1.73055785e-01,  1.08450809e-01,
        9.93916853e-01,  1.91758116e-02,  1.74114952e-01,  3.46944695e-18,
       -9.84725334e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329803, -0.05387725,  0.29658741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004986234708546981
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25908955, -0.91560271, -0.30748054, -0.08372091, -0.2958633 ,
        0.95155437, -0.96221797,  0.27228034,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048377 , -0.03592403,  0.30484489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004369794571393443
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.95470833e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.95470833e-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([ 0.05336341, -0.06082171,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.45057925e-06, 2.46215911e-05,-6.02254875e-06, 2.62618779e-05,
 -2.24550281e-03, 2.75865241e-02, 1.03731545e-02, 1.05775195e-03,
  3.11040354e-06,-5.29805345e-05,-4.83867579e-06, 9.30382948e-06,
  5.31861696e-02, 2.15377185e-02, 1.43675083e-02, 3.02625847e-04,
 -2.85677194e-07, 2.40503272e-07,-9.80999979e+00,-6.49658168e-02,
 -9.48675132e-03,-5.24968035e-03]


--- Step 1923 ---
qpos:
[ 0.00987901, 0.00808067,-0.00557936, 0.03349735, 0.00589767,-0.0230476 ,
 -0.01669694, 0.03800692, 0.01300195, 0.00596505,-0.01173811, 0.03409863,
  0.81078657,-0.01597772, 1.13677386, 0.04609242, 0.0949319 ,-0.06339471,
  0.142568  , 0.9424091 ,-0.03273157, 0.02783673, 0.33169089]

qacc:
[ 3.85387978e+00, 1.21099881e-01,-1.41259736e+00, 5.92071796e+00,
  7.13463035e+00,-2.21007470e-01, 2.23604827e-01,-3.56626443e+00,
 -2.86221204e+00,-1.05592632e+00, 4.18526019e+00,-7.82845109e+00,
  1.92973665e+00, 6.38125264e-01, 7.37470015e+00, 2.17781940e+00,
 -1.11037788e-02,-2.36062675e-02, 7.57417734e-03, 7.97625254e-01,
 -1.33731509e-01, 1.99356576e+00]

qfrc_actuator:
[-1.44979116e-05, 3.34923929e-04, 5.54357358e-05, 1.21129479e-04,
 -2.39315764e-03, 2.59520594e-02, 9.85450585e-03, 1.00649200e-03,
  2.63812466e-05, 2.60792609e-05,-1.25729216e-04, 4.50450343e-05,
  5.00034044e-02, 2.01026344e-02, 2.39024289e-03,-1.84038637e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71235976, -0.59526792, -0.39129596, -0.59526792,  1.38773578,
       -1.0274312 , -0.39129596, -1.0274312 ,  2.27536295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1582448628358694e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99193599e-01,  5.89436133e-03, -3.97166111e-02,  5.88971042e-03,
        9.99982628e-01,  2.34108123e-04,  3.97173010e-02, -2.71050543e-20,
       -9.99210957e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13158879, -0.08295535,  0.17468054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24872904, -0.24291174,  0.0534792 , -0.24291174,  0.36313525,
        0.51965268,  0.0534792 ,  0.51965268,  2.60908098,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003811398313487829
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85584325e-01, -1.69140152e-01,  3.89199092e-03, -1.69138833e-01,
        9.85592009e-01,  6.67915251e-04, -3.94888643e-03, -1.08420217e-19,
       -9.99992203e-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([ 0.13104971, -0.08203023,  0.13159097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29010641,   6.26798665,   3.72263277,   6.26798665,
        19.60006591, -20.72690666,   3.72263277, -20.72690666,
        42.18905628,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.8883466526107765e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873749,  0.11011431, -0.17305424,  0.10843239,  0.99391893,
        0.01917234,  0.17411303,  0.        , -0.98472567])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329832, -0.05387739,  0.29658759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004981773635270163
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26044481, -0.91539633, -0.30694959, -0.08399838, -0.29523266,
        0.95172577, -0.96182783,  0.27365531,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483753, -0.03592432,  0.30484606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043661751485765676
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27139085e-13, -1.31112181e-13,  1.00000000e+00,  1.66694827e-26,
        1.00000000e+00,  1.31112181e-13, -1.00000000e+00,  0.00000000e+00,
        1.27139085e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05336404, -0.06082098,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25810715e-05, 2.46404011e-05, 1.91588171e-05, 1.63125699e-05,
 -2.28195793e-03, 2.76665601e-02, 1.04154177e-02, 1.04304117e-03,
 -1.68012272e-05,-3.02380020e-05,-1.52283081e-06,-1.21208353e-05,
  5.29101400e-02, 2.14237596e-02, 1.37729628e-02, 3.55592397e-04,
 -8.75947194e-07, 6.15458741e-07,-9.80999958e+00,-6.49654075e-02,
 -9.48723429e-03,-5.24918496e-03]


--- Step 1924 ---
qpos:
[ 0.00987833, 0.008082  ,-0.00557937, 0.03349903, 0.00589698,-0.02306299,
 -0.01670014, 0.03800648, 0.01300198, 0.00596481,-0.0117388 , 0.03409899,
  0.81079827,-0.01596927, 1.13676013, 0.04609383, 0.09493268,-0.06339412,
  0.14256837, 0.9424036 ,-0.03272385, 0.02783558, 0.33170736]

qacc:
[-6.41379467e-01, 1.03655830e+00,-4.04685415e+00, 7.23289413e+00,
  5.86185229e+00, 2.00432228e-02,-1.16646080e-01,-3.36732767e+00,
 -4.84254568e+00,-1.01704950e+00, 3.55987583e+00,-5.61001173e+00,
  1.92709415e+00, 3.64755532e-01, 6.93168745e+00,-1.64181453e+01,
 -1.01702952e-02,-2.48801442e-02, 4.20327496e-03, 6.43939304e-01,
 -1.21950758e-01, 1.45875245e+00]

qfrc_actuator:
[-1.88518235e-05, 3.41013898e-04, 4.58495628e-05, 1.29333363e-04,
 -2.39167688e-03, 2.60063193e-02, 9.85919093e-03, 1.04129763e-03,
 -1.53237501e-06, 8.44347690e-06,-1.19651050e-04, 3.90596124e-05,
  5.00076636e-02, 2.01176280e-02, 2.37193406e-03,-1.98499247e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71237087, -0.59266309, -0.3952502 , -0.59266309,  1.43966537,
       -1.09055126, -0.3952502 , -1.09055126,  2.34761225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.21734432285722e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99192913e-01,  5.89297858e-03, -3.97340707e-02,  5.88832467e-03,
        9.99982636e-01,  2.34156093e-04,  3.97347606e-02,  0.00000000e+00,
       -9.99210263e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13158979, -0.08295377,  0.17468024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.248735  , -0.24132241,  0.06027105, -0.24132241,  0.39344079,
        0.57939509,  0.06027105,  0.57939509,  2.56860549,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038116440462191174
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85580358e-01, -1.69163270e-01,  3.89179917e-03, -1.69161951e-01,
        9.85588042e-01,  6.67976321e-04, -3.94870778e-03,  1.08420217e-19,
       -9.99992204e-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([ 0.1310514 , -0.08203051,  0.13159102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29064121,   6.25960337,   3.73775533,   6.25960337,
        20.10163889, -21.45452477,   3.73775533, -21.45452477,
        43.22044502,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.0003760600297575e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9787411 ,  0.11008854, -0.17305018,  0.1084071 ,  0.99392178,
        0.01916734,  0.17410845,  0.        , -0.98472648])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329867, -0.05387778,  0.29658781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004977418605683488
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26189167, -0.91517743, -0.30637072, -0.08428922, -0.29454769,
        0.95191228, -0.96140942,  0.27512165,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483739, -0.0359251 ,  0.30484725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004361250739009642
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.81847923e-13, -2.26722204e-13,  1.00000000e+00, -8.65734029e-26,
        1.00000000e+00,  2.26722204e-13, -1.00000000e+00,  0.00000000e+00,
       -3.81847923e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05336437, -0.06082042,  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:
[-3.70738982e-06, 2.44899286e-05,-1.59048717e-06, 1.02331688e-05,
 -2.32268825e-03, 2.77669375e-02, 1.04486638e-02, 1.09217439e-03,
 -2.84017179e-05,-3.53767575e-05,-7.65666578e-07,-7.56838354e-06,
  5.26631621e-02, 2.13205698e-02, 1.31006501e-02, 1.41029872e-05,
 -1.64752349e-06, 1.07308129e-06,-9.80999933e+00,-6.49647790e-02,
 -9.48776132e-03,-5.24862456e-03]


--- Step 1925 ---
qpos:
[ 0.00987691, 0.00808325,-0.00557962, 0.03350084, 0.00589674,-0.02307867,
 -0.0167038 , 0.03800576, 0.01300237, 0.00596438,-0.01173974, 0.03409964,
  0.81081431,-0.01595905, 1.13674431, 0.0460918 , 0.09493343,-0.06339366,
  0.14256874, 0.94239754,-0.03271505, 0.02783466, 0.33172553]

qacc:
[-6.46760980e+00, 8.48867369e-01,-3.74768293e+00, 6.48981369e+00,
  3.73001718e+00, 3.33619951e-01,-6.10071937e-01,-3.07983151e+00,
  3.11684193e+00, 1.05415922e+00,-5.33566527e+00, 1.08224957e+01,
  2.01764617e+00,-9.00552699e-02, 7.21832612e+00,-2.99160388e+01,
 -9.17484735e-03,-2.90469341e-02, 8.62151020e-04, 5.16480396e-01,
 -8.54635751e-02, 9.10642641e-01]

qfrc_actuator:
[-5.66539626e-05, 3.08499809e-04, 2.24304857e-05, 1.33474366e-04,
 -2.40868320e-03, 2.60631591e-02, 9.86358860e-03, 1.09803093e-03,
  1.75422929e-05,-1.86164286e-06,-1.33565677e-04, 5.31451019e-05,
  5.00095472e-02, 2.01574723e-02, 2.39319738e-03,-2.23179229e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71238425, -0.59468503, -0.39222576, -0.59468503,  1.4666099 ,
       -1.14354218, -0.39222576, -1.14354218,  2.44620056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2848800403467724e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99192177e-01,  5.89228905e-03, -3.97526579e-02,  5.88763133e-03,
        9.99982640e-01,  2.34238217e-04,  3.97533480e-02,  2.71050543e-20,
       -9.99209523e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13159085, -0.08295213,  0.1746798 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003811700336646747
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85575504e-01, -1.69191517e-01,  3.89317208e-03, -1.69190197e-01,
        9.85583193e-01,  6.68326832e-04, -3.95012021e-03,  1.08420217e-19,
       -9.99992198e-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([ 0.13105317, -0.08203085,  0.13159108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29130667,   6.25797873,   3.74177165,   6.25797873,
        22.0619859 , -24.70343066,   3.74177165, -24.70343066,
        48.60690744,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.1341681801133736e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78745634e-01,  1.10057667e-01, -1.73044198e-01,  1.08376828e-01,
        9.93925203e-01,  1.91612413e-02,  1.74101832e-01, -3.46944695e-18,
       -9.84727654e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329907, -0.05387838,  0.29658806])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004972621267029772
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.63624354e-01, -9.14914015e-01, -3.05670650e-01, -8.46329902e-02,
       -2.93720621e-01,  9.52137308e-01, -9.60905540e-01,  2.76876404e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483719, -0.03592625,  0.30484854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004355387167721131
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27453999e-13, -1.31436937e-13,  1.00000000e+00, -1.67521632e-26,
        1.00000000e+00,  1.31436937e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27453999e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05336448, -0.06082   ,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.79041317e-05,-1.87603510e-05,-1.82205921e-05, 5.32813990e-06,
 -2.37439718e-03, 2.78554044e-02, 1.04786734e-02, 1.16274183e-03,
  1.82539786e-05,-3.05644264e-05,-2.15670674e-05, 1.23981170e-05,
  5.24327659e-02, 2.12536613e-02, 1.29367391e-02,-2.07651918e-04,
 -2.38332754e-06, 1.49224281e-06,-9.80999909e+00,-6.49639673e-02,
 -9.48830542e-03,-5.24800687e-03]


--- Step 1926 ---
qpos:
[ 0.00987539, 0.00808404,-0.0055797 , 0.03350271, 0.00589689,-0.02309447,
 -0.01670785, 0.03800479, 0.01300333, 0.00596373,-0.01174053, 0.03409974,
  0.81083443,-0.01594719, 1.13672848, 0.04608739, 0.09493413,-0.06339329,
  0.14256911, 0.94239105,-0.03270538, 0.02783387, 0.331745  ]

qacc:
[-8.37724463e-01,-9.82541158e-01, 2.42426106e+00,-1.47388423e+00,
  3.31634637e+00, 4.14735823e-01,-6.60710834e-01,-2.97744885e+00,
  5.02346461e+00,-1.87065223e+00, 8.56737681e+00,-1.81976039e+01,
  1.88061445e+00,-8.05641816e-02, 7.11643109e+00,-2.50419457e+01,
 -9.91161823e-03,-2.52715871e-02,-1.77263115e-04, 4.03837972e-01,
 -1.03782111e-01, 6.98379549e-01]

qfrc_actuator:
[-6.05740984e-05, 2.70798569e-04, 2.63809812e-05, 1.35152970e-04,
 -2.40130242e-03, 2.60681971e-02, 9.86796086e-03, 1.11476506e-03,
  4.63714051e-05,-7.75847335e-06,-1.23627445e-04, 2.56604143e-05,
  5.00045394e-02, 2.01939778e-02, 2.36935798e-03,-2.32373929e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71239951, -0.59399276, -0.39330099, -0.59399276,  1.4815085 ,
       -1.16156627, -0.39330099, -1.16156627,  2.4666843 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3578237479177276e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99191410e-01,  5.89204134e-03, -3.97719767e-02,  5.88737929e-03,
        9.99982642e-01,  2.34342199e-04,  3.97726671e-02,  2.71050543e-20,
       -9.99208754e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13159194, -0.08295052,  0.17467925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003811445219760159
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85570073e-01, -1.69223082e-01,  3.89604489e-03, -1.69221760e-01,
        9.85577774e-01,  6.68948452e-04, -3.95305677e-03,  0.00000000e+00,
       -9.99992187e-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([ 0.131055  , -0.08203124,  0.13159116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29209604,   6.24508922,   3.76477426,   6.24508922,
        20.62888212, -22.12335008,   3.76477426, -22.12335008,
        43.9907891 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.2857908777194164e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875077,  0.11002371, -0.17303672,  0.10834355,  0.99392896,
        0.01915443,  0.17409364,  0.        , -0.9847291 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132995 , -0.05387919,  0.29658833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004967090978578986
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26578725, -0.91458075, -0.30479369, -0.08505745, -0.29268486,
        0.9524184 , -0.96027203,  0.27906564,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483685, -0.03592767,  0.3048499 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004348890981387826
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55288769e-13, -1.63544368e-13,  1.00000000e+00, -4.17510403e-26,
        1.00000000e+00,  1.63544368e-13, -1.00000000e+00,  0.00000000e+00,
       -2.55288769e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0533644 , -0.06081969,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.01011521e-06,-5.17823613e-05,-1.99714463e-06, 3.43574995e-07,
 -2.38913378e-03, 2.78750837e-02, 1.05058614e-02, 1.19290217e-03,
  2.93354618e-05,-2.68794308e-05, 1.41166316e-06,-2.92984444e-05,
  5.22104401e-02, 2.12011874e-02, 1.30181848e-02,-1.27655451e-04,
 -2.94162537e-06, 1.79448338e-06,-9.80999888e+00,-6.49630057e-02,
 -9.48884232e-03,-5.24734423e-03]


--- Step 1927 ---
qpos:
[ 0.00987385, 0.0080846 ,-0.00557976, 0.03350388, 0.00589736,-0.02311015,
 -0.01671203, 0.03800365, 0.01300462, 0.00596296,-0.01174067, 0.03409912,
  0.8108565 ,-0.01593479, 1.13671364, 0.04608133, 0.0949348 ,-0.06339298,
  0.14256948, 0.94238435,-0.0326954 , 0.02783333, 0.33176507]

qacc:
[-3.09897335e-01,-1.79797152e+00, 8.92220339e+00,-2.09111893e+01,
  2.66869103e+00, 1.55043505e-01, 4.29697710e-01,-3.38055944e+00,
  2.99518934e+00,-3.47421609e+00, 1.51802574e+01,-2.86026804e+01,
  1.00370927e+00,-3.48578250e-01, 6.41777214e+00,-2.04152185e+01,
 -9.04230622e-03,-1.37908900e-02, 1.52582858e-03, 1.77773831e-01,
  6.38421271e-02, 3.21655603e-01]

qfrc_actuator:
[-6.22624949e-05, 2.65882168e-04, 2.86744803e-05, 9.98762619e-05,
 -2.37941749e-03, 2.60598623e-02, 9.89019488e-03, 1.08983918e-03,
  6.29433006e-05, 6.84552896e-06,-8.19372694e-05,-8.29070542e-06,
  4.99952640e-02, 2.01923961e-02, 2.33432099e-03,-2.39347151e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71241634, -0.62817857, -0.33604871, -0.62817857,  1.08341697,
       -0.69351447, -0.33604871, -0.69351447,  2.00880855,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4339779642030412e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99190619e-01,  5.89218671e-03, -3.97918146e-02,  5.88751989e-03,
        9.99982641e-01,  2.34464871e-04,  3.97925053e-02,  0.00000000e+00,
       -9.99207965e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13159305, -0.08294894,  0.17467862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003810896360565576
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85564194e-01, -1.69257227e-01,  3.90004445e-03, -1.69255902e-01,
        9.85571911e-01,  6.69774272e-04, -3.95713839e-03,  0.00000000e+00,
       -9.99992170e-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([ 0.13105686, -0.08203166,  0.13159126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29298739,   6.25409782,   3.75152309,   6.25409782,
        23.35690564, -26.7798741 ,   3.75152309, -26.7798741 ,
        51.937242  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.44896545912572e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875636,  0.10998742, -0.17302817,  0.10830799,  0.99393298,
        0.01914709,  0.17408434,  0.        , -0.98473075])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329995, -0.05388019,  0.29658862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004961252922159337
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26822551, -0.91419938, -0.30380022, -0.08552945, -0.29151207,
        0.95273576, -0.95955187,  0.28153191,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483639, -0.03592934,  0.3048513 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004341920195903012
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.59974477e-07,  5.59974080e-07,  1.00000000e+00,  3.13571192e-13,
        1.00000000e+00, -5.59974080e-07, -1.00000000e+00,  5.04870979e-29,
       -5.59974477e-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([ 0.05378446, -0.06140452,  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:
[-1.85194060e-06,-3.43002631e-05,-8.64779858e-06,-3.75633394e-05,
 -2.38692500e-03, 2.78735715e-02, 1.05481017e-02, 1.18065744e-03,
  1.73946907e-05,-1.34531261e-06, 3.53145129e-05,-3.56224171e-05,
  5.19970440e-02, 2.11171806e-02, 1.29834808e-02,-7.85033176e-05,
 -3.41592097e-06, 2.05600173e-06,-9.80999870e+00,-6.49619371e-02,
 -9.48938364e-03,-5.24663746e-03]


--- Step 1928 ---
qpos:
[ 0.00987194, 0.00808516,-0.0055799 , 0.03350424, 0.00589277,-0.02311969,
 -0.01671144, 0.03800524, 0.01300576, 0.00596244,-0.01174022, 0.03409839,
  0.81080653,-0.01595214, 1.13666058, 0.04608426, 0.09493631,-0.06339008,
  0.14256934, 0.94239428,-0.0327129 , 0.02782324, 0.33173598]

qacc:
[-3.10412179e+00,-1.41918349e+00, 8.45049549e+00,-2.21924246e+01,
 -4.26950650e+01, 4.80306801e-01,-1.36469393e+00, 3.64351045e+01,
 -1.36260936e+00,-1.52276806e+00, 6.35117181e+00,-9.25871133e+00,
 -3.29713838e+01, 6.70006101e-01,-8.25107281e+01, 2.09083913e+02,
  2.09683376e-01, 6.49107377e-01,-1.27616956e-01,-1.35811723e+01,
  6.32037688e-01,-2.64548344e+01]

qfrc_actuator:
[-8.03868895e-05, 2.80602014e-04, 3.00649368e-05, 6.09117623e-05,
 -2.34891042e-03, 2.60610560e-02, 9.90528452e-03, 1.07544851e-03,
  5.44123389e-05, 5.14992692e-05,-3.95044190e-05,-1.02260568e-05,
  4.99887993e-02, 2.01506651e-02, 2.38834053e-03,-2.34313262e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71243453, -0.51004847,  0.4974068 , -0.51004847,  0.41400549,
       -0.30601366,  0.4974068 , -0.30601366,  0.39864349,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5119559227346993e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99189826e-01,  5.89264828e-03, -3.98116548e-02,  5.88797643e-03,
        9.99982638e-01,  2.34600152e-04,  3.98123460e-02,  0.00000000e+00,
       -9.99207174e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13159415, -0.08294738,  0.17467795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2486995 ,  0.23195643,  0.08970873,  0.23195643,  0.38911588,
       -0.36306926,  0.08970873, -0.36306926,  1.18747383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038101799113757364
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85558104e-01, -1.69292574e-01,  3.90499248e-03, -1.69291245e-01,
        9.85565840e-01,  6.70768205e-04, -3.96218327e-03,  0.00000000e+00,
       -9.99992151e-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([ 0.13105871, -0.08203209,  0.13159137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29396945,  6.98065675,  2.11481008,  6.98065675,  9.78484898,
       -8.2220031 ,  2.11481008, -8.2220031 , 34.43351357,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.6202016186651395e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97876222,  0.10995   , -0.17301885,  0.10827134,  0.99393712,
        0.01913946,  0.17407424,  0.        , -0.98473253])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330041, -0.05388129,  0.29658891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.35749077,  1.28527432, -0.4368651 ,  1.28527432,  1.63682791,
        0.82182085, -0.4368651 ,  0.82182085,  3.77532005,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004955840423143116
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27081514, -0.91378731, -0.30274068, -0.08602359, -0.29026171,
        0.95307297, -0.95878001,  0.28414943,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483586, -0.03593108,  0.30485259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.29351714, -6.57370544,  7.92104109, -6.57370544, 68.12467669,
       47.9943234 ,  7.92104109, 47.9943234 , 50.12420871,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043416662192881703
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.64174920e-07, -8.64175103e-07,  1.00000000e+00, -7.46798450e-13,
        1.00000000e+00,  8.64175103e-07, -1.00000000e+00,  0.00000000e+00,
       -8.64174920e-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([ 0.08722273, -0.10795054,  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:
[-1.81891478e-05,-7.87497330e-06,-8.06631657e-06,-4.14679434e-05,
 -2.37224063e-03, 2.78690833e-02, 1.05698494e-02, 1.17519278e-03,
 -8.03964872e-06, 4.97107026e-05, 4.52848616e-05,-1.46149886e-06,
  5.18934530e-02, 2.10486838e-02, 1.29882953e-02, 5.45256862e-05,
 -3.63562319e-06, 2.15177238e-06,-9.80999865e+00,-6.49607901e-02,
 -9.48985845e-03,-5.24593664e-03]


--- Step 1929 ---
qpos:
[ 0.00986984, 0.00808575,-0.00557954, 0.03350444, 0.00588839,-0.02313003,
 -0.01671158, 0.0380065 , 0.01300645, 0.00596222,-0.01173956, 0.03409767,
  0.81076779,-0.01596412, 1.13660378, 0.04608201, 0.09493764,-0.0633878 ,
  0.14256933, 0.94240083,-0.03272449, 0.02781557, 0.33171685]

qacc:
[-1.76300449e+00,-1.68706376e+00, 6.80561077e+00,-1.05712354e+01,
  1.80170251e+00, 2.96356986e-01,-1.18876159e+00,-2.82027154e+00,
 -4.00877974e+00,-1.67821749e-01, 1.20398808e+00,-1.77159005e+00,
  4.79061733e+00, 8.47064542e-01, 1.00300366e+01,-4.34304079e+01,
 -4.62196266e-02,-1.56758282e-01, 3.01896079e-02, 2.99577545e+00,
  3.71887733e-02, 5.37198315e+00]

qfrc_actuator:
[-9.02883161e-05, 3.06963371e-04, 6.65086991e-05, 5.56199930e-05,
 -2.32573597e-03, 2.60796622e-02, 9.89348427e-03, 1.10004063e-03,
  3.11790051e-05, 6.05960777e-05,-3.23312988e-05,-1.10350808e-05,
  4.99959350e-02, 2.01859175e-02, 2.43005257e-03,-2.26623947e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71240626, -0.66325856, -0.26002069, -0.66325856,  1.14534083,
       -1.10432581, -0.26002069, -1.10432581,  3.52931112,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3888388580640626e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99189497e-01,  5.88805965e-03, -3.98205973e-02,  5.88338934e-03,
        9.99982665e-01,  2.34470116e-04,  3.98212875e-02,  0.00000000e+00,
       -9.99206818e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1315944 , -0.08294635,  0.17468017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2486732 , -0.03210241,  0.24659237, -0.03210241,  0.70123063,
        0.05891579,  0.24659237,  0.05891579,  0.2563431 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038090949553599204
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85568250e-01, -1.69234092e-01,  3.87890741e-03, -1.69232782e-01,
        9.85575883e-01,  6.66050566e-04, -3.93567606e-03,  0.00000000e+00,
       -9.99992255e-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([ 0.13105949, -0.0820314 ,  0.13159109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29190763,  0.29562706,  7.28591254,  0.29562706, 33.25850209,
       -1.05359869,  7.28591254, -1.05359869,  7.33465756,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.250245983972063e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874992,  0.11000378, -0.17305423,  0.10832359,  0.99393117,
        0.01915285,  0.17411088,  0.        , -0.98472605])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329943, -0.05387882,  0.29658829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36116341, -0.91797766,  1.00502878, -0.91797766,  3.58784838,
        2.03381942,  1.00502878,  2.03381942,  3.21882245,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004974794997952222
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26527536, -0.91464753, -0.30503915, -0.08496901, -0.29296613,
        0.95233981, -0.96042139,  0.27855116,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483562, -0.03592588,  0.30484964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.30420863, -5.91514025,  8.43728815, -5.91514025, 17.90376727,
        5.32783216,  8.43728815,  5.32783216, 14.03939864,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004350567681617873
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.82785572e-13, -9.96837426e-14,  1.00000000e+00, -3.81574984e-26,
        1.00000000e+00,  9.96837426e-14, -1.00000000e+00,  0.00000000e+00,
       -3.82785572e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05336885, -0.06081607,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04220396e-05, 1.84947102e-05, 3.23857896e-05,-6.71600650e-06,
 -2.09622339e-03, 2.75813833e-02, 1.03194728e-02, 1.06294847e-03,
 -2.34476033e-05, 4.62026890e-05, 2.29724858e-05, 2.86194257e-06,
  5.55024829e-02, 2.25715249e-02, 1.49422451e-02,-3.17977926e-04,
 -9.25564224e-06, 3.02710995e-06,-9.80999745e+00,-6.49627504e-02,
 -9.49173216e-03,-5.24594399e-03]


--- Step 1930 ---
qpos:
[ 0.00986832, 0.00808634,-0.00557875, 0.03350492, 0.00588455,-0.02314145,
 -0.01671247, 0.03800743, 0.01300719, 0.00596163,-0.01173847, 0.03409701,
  0.81073857,-0.01597164, 1.13655667, 0.04608123, 0.09493883,-0.06338597,
  0.14256941, 0.94240447,-0.03273131, 0.02780978, 0.33170632]

qacc:
[ 5.16839972e+00,-6.45314156e-01, 1.05272130e+00, 3.26976171e+00,
  4.53595465e+00, 3.01711923e-02,-8.03526126e-01,-2.80414925e+00,
  5.62607810e-01,-1.55729058e+00, 4.52841901e+00,-3.71671478e+00,
  3.94942190e+00, 7.94789722e-01, 9.69266423e+00,-1.33970124e+01,
 -3.36038587e-02,-1.11958539e-01, 2.52359429e-02, 2.39185432e+00,
 -4.20766836e-04, 4.63398621e+00]

qfrc_actuator:
[-5.97601303e-05, 3.04769030e-04, 8.79348644e-05, 7.02212966e-05,
 -2.34571471e-03, 2.61131959e-02, 9.88689829e-03, 1.11449297e-03,
  3.49915151e-05,-5.05781033e-06,-2.84175028e-05,-1.12304839e-05,
  5.00063305e-02, 2.02086335e-02, 2.44134865e-03,-2.02080533e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71238958, -0.65564067, -0.27862921, -0.65564067,  1.17750107,
       -1.09445097, -0.27862921, -1.09445097,  3.28773541,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.310831217696393e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99189105e-01,  5.88368474e-03, -3.98310701e-02,  5.87901545e-03,
        9.99982691e-01,  2.34357516e-04,  3.98317596e-02, -5.42101086e-20,
       -9.99206401e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13159481, -0.08294531,  0.17468176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038082075103734704
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85575070e-01, -1.69194806e-01,  3.85995225e-03, -1.69193508e-01,
        9.85582629e-01,  6.62637360e-04, -3.91641668e-03, -1.08420217e-19,
       -9.99992331e-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([ 0.13106043, -0.08203093,  0.13159089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29067046,  7.28300703,  0.33419207,  7.28300703,  7.34373368,
       -1.15640016,  0.33419207, -1.15640016, 32.49195848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0063827206687456e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78741484e-01,  1.10039197e-01, -1.73079409e-01,  1.08357958e-01,
        9.93927248e-01,  1.91618846e-02,  1.74136899e-01,  3.46944695e-18,
       -9.84721453e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329882, -0.05387694,  0.2965879 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004985010675732067
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26192416, -0.91514529, -0.30643895, -0.08432039, -0.29460975,
        0.95189031, -0.96139784,  0.27516212,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483547, -0.0359221 ,  0.30484823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000436109836997281
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54574176e-13, -3.57994935e-14,  1.00000000e+00, -9.11362657e-27,
        1.00000000e+00,  3.57994935e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54574176e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05337262, -0.06081354,  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:
[ 3.02344039e-05, 1.45269368e-05, 2.89939923e-05, 1.63819354e-05,
 -2.12691478e-03, 2.76553021e-02, 1.03495780e-02, 1.09409994e-03,
  3.16096845e-06,-3.49537844e-05, 1.63839887e-05, 2.63678781e-06,
  5.49514332e-02, 2.23256229e-02, 1.51413478e-02, 1.87352560e-04,
 -4.10289219e-06, 1.19183018e-06,-9.80999891e+00,-6.49645616e-02,
 -9.49110887e-03,-5.24587217e-03]


--- Step 1931 ---
qpos:
[ 0.00986787, 0.00808673,-0.00557783, 0.03350528, 0.00588133,-0.02315393,
 -0.01671411, 0.03800804, 0.01300798, 0.00596055,-0.01173724, 0.03409708,
  0.81071777,-0.01597529, 1.13651669, 0.04608084, 0.09493992,-0.06338448,
  0.14256958, 0.9424057 ,-0.03273425, 0.02780546, 0.33170292]

qacc:
[ 9.37559828e+00,-8.93410237e-01, 3.31413303e+00,-5.54255847e+00,
  5.24005603e+00,-1.67971205e-02,-6.47320275e-01,-2.90619541e+00,
  3.63770294e-01, 4.43815706e-01,-5.62692810e+00, 1.84110373e+01,
  3.53585440e+00, 6.15358326e-01, 9.26501289e+00,-1.73268080e+01,
 -2.49459444e-02,-8.63910136e-02, 2.00086485e-02, 1.93351714e+00,
 -3.45339754e-02, 3.83369461e+00]

qfrc_actuator:
[-5.68313908e-06, 2.67715652e-04, 8.24584106e-05, 6.08624211e-05,
 -2.35648892e-03, 2.61207714e-02, 9.88376176e-03, 1.10523374e-03,
  3.69436634e-05,-4.39873957e-05,-2.67632076e-05, 2.43775826e-05,
  5.00131059e-02, 2.02226068e-02, 2.43332265e-03,-2.03389783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71238132, -0.63629973, -0.32032766, -0.63629973,  1.3087355 ,
       -1.18459955, -0.32032766, -1.18459955,  3.06547308,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.270407869923333e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99188637e-01,  5.87984634e-03, -3.98433720e-02,  5.87517721e-03,
        9.99982714e-01,  2.34276955e-04,  3.98440608e-02,  0.00000000e+00,
       -9.99205910e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13159538, -0.08294415,  0.17468282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003807519916597334
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85579052e-01, -1.69171911e-01,  3.84660933e-03, -1.69170623e-01,
        9.85586559e-01,  6.60254797e-04, -3.90286302e-03,  2.16840434e-19,
       -9.99992384e-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([ 0.13106156, -0.08203065,  0.13159076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28998839,  7.26263051,  0.63097452,  7.26263051,  7.51630618,
       -2.60495858,  0.63097452, -2.60495858, 37.27353155,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8630334811682328e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78736292e-01,  1.10058620e-01, -1.73096420e-01,  1.08376743e-01,
        9.93925098e-01,  1.91671918e-02,  1.74154391e-01, -3.46944695e-18,
       -9.84718360e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329851, -0.05387554,  0.29658769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004989957592749454
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59928916e-01, -9.15432437e-01, -3.07279045e-01, -8.39313537e-02,
       -2.95594214e-01,  9.51619456e-01, -9.61973225e-01,  2.73143760e-01,
       -2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483547, -0.03591952,  0.30484778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004367304350944845
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27106212e-13, -3.97206912e-15,  1.00000000e+00,  5.04874660e-28,
        1.00000000e+00,  3.97206912e-15, -1.00000000e+00,  0.00000000e+00,
        1.27106212e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05337544, -0.06081155,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.49388537e-05,-2.22549642e-05, 1.64526398e-06,-7.41949219e-06,
 -2.16455708e-03, 2.77168382e-02, 1.03845718e-02, 1.10112047e-03,
  2.02814850e-06,-5.49650628e-05,-3.46027199e-06, 3.47287213e-05,
  5.44823320e-02, 2.21173503e-02, 1.46504209e-02, 1.00324509e-04,
 -1.37797824e-06, 2.81605093e-07,-9.80999961e+00,-6.49657065e-02,
 -9.49095143e-03,-5.24569496e-03]


--- Step 1932 ---
qpos:
[ 0.00986772, 0.0080868 ,-0.00557659, 0.03350518, 0.00587861,-0.02316727,
 -0.01671647, 0.03800832, 0.01300844, 0.00595946,-0.01173676, 0.03409793,
  0.81070502,-0.01597529, 1.13647237, 0.04607508, 0.09494093,-0.0633833 ,
  0.1425698 , 0.94240504,-0.03273396, 0.02780226, 0.33170509]

qacc:
[ 2.70943219e+00,-2.28029886e+00, 9.42859685e+00,-1.76030257e+01,
  4.19352746e+00, 2.06457222e-01,-1.02155308e+00,-2.86675443e+00,
 -2.90819004e+00, 3.70900985e+00,-1.64470840e+01, 3.09416594e+01,
  3.56657060e+00, 2.91150822e-01, 9.70377587e+00,-4.35137830e+01,
 -1.90271872e-02,-7.63586531e-02, 1.45318792e-02, 1.60340080e+00,
 -7.35074623e-02, 3.00732204e+00]

qfrc_actuator:
[ 8.55005502e-06, 2.45445555e-04, 9.64819554e-05, 3.74282238e-05,
 -2.34428598e-03, 2.61309454e-02, 9.88297488e-03, 1.09962474e-03,
  2.00241521e-05,-3.11039545e-05,-6.18542980e-05, 6.30267373e-05,
  5.00174654e-02, 2.02301183e-02, 2.37630296e-03,-2.45014098e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71237935, -0.60295512, -0.37938036, -0.60295512,  1.67038021,
       -1.52256571, -0.37938036, -1.52256571,  3.13221679,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2605481924879057e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99188094e-01,  5.87662763e-03, -3.98574716e-02,  5.87195775e-03,
        9.99982732e-01,  2.34231563e-04,  3.98581599e-02,  0.00000000e+00,
       -9.99205348e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13159608, -0.08294287,  0.17468347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003806948893197019
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85580695e-01, -1.69162539e-01,  3.83778627e-03, -1.69161257e-01,
        9.85588167e-01,  6.58702784e-04, -3.89390457e-03, -1.08420217e-19,
       -9.99992419e-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([ 0.13106286, -0.08203054,  0.1315907 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28970089,  7.22944364,  0.9353522 ,  7.22944364,  7.86552484,
       -4.45060886,  0.9353522 , -4.45060886, 41.68896344,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.800403967642707e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78733747e-01,  1.10064782e-01, -1.73106891e-01,  1.08382605e-01,
        9.93924415e-01,  1.91694378e-02,  1.74165045e-01, -3.46944695e-18,
       -9.84716475e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329843, -0.05387457,  0.29658763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000499101318821345
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59042894e-01, -9.15554243e-01, -3.07664115e-01, -8.37610288e-02,
       -2.96042729e-01,  9.51495030e-01, -9.62227036e-01,  2.72248289e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483553, -0.03591789,  0.30484802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004370060393690117
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54052101e-13,  2.77869485e-14,  1.00000000e+00,  7.05933266e-27,
        1.00000000e+00, -2.77869485e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54052101e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0533775 , -0.06081   ,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57886855e-05,-3.46984146e-05, 9.35451992e-06,-2.44812542e-05,
 -2.18338523e-03, 2.77806464e-02, 1.04207410e-02, 1.11152074e-03,
 -1.68845272e-05,-1.70516589e-05,-4.56704271e-05, 3.68494771e-05,
  5.40656106e-02, 2.19306706e-02, 1.42372635e-02,-3.35119205e-04,
 -2.51295894e-07,-1.02014644e-08,-9.80999988e+00,-6.49663131e-02,
 -9.49109207e-03,-5.24542498e-03]


--- Step 1933 ---
qpos:
[ 0.00986741, 0.00808691,-0.00557533, 0.03350477, 0.00587645,-0.02318144,
 -0.01671951, 0.03800829, 0.01300834, 0.00595857,-0.01173683, 0.03409884,
  0.81069938,-0.01597224, 1.13642965, 0.04606684, 0.09494188,-0.06338235,
  0.14257007, 0.94240281,-0.03273105, 0.02779992, 0.3317119 ]

qacc:
[-1.51883961e+00,-5.96828956e-01, 3.50583377e+00,-8.84749635e+00,
  4.71456273e+00, 1.42505173e-01,-7.80170780e-01,-2.93769921e+00,
 -4.87120439e+00, 1.91978656e+00,-6.76614085e+00, 8.71810174e+00,
  3.15956161e+00, 1.44222564e-01, 9.76837155e+00,-3.09738960e+01,
 -1.48648206e-02,-5.81243744e-02, 1.10337204e-02, 1.28154481e+00,
 -8.40475064e-02, 2.49192129e+00]

qfrc_actuator:
[-7.89462132e-07, 2.67756150e-04, 1.04204101e-04, 2.36817705e-05,
 -2.33617419e-03, 2.61429083e-02, 9.90163908e-03, 1.11409662e-03,
 -7.86648412e-06,-5.19224333e-06,-8.26459669e-05, 6.76647689e-05,
  5.00201049e-02, 2.01791874e-02, 2.37054964e-03,-2.49908422e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71238221, -0.58490454, -0.40666337, -0.58490454,  1.72871415,
       -1.46179177, -0.40666337, -1.46179177,  2.81487953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2747951602905861e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99187484e-01,  5.87390531e-03, -3.98731678e-02,  5.86923392e-03,
        9.99982748e-01,  2.34215253e-04,  3.98738557e-02, -2.71050543e-20,
       -9.99204722e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13159689, -0.08294154,  0.17468378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038063174551458933
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85580490e-01, -1.69163851e-01,  3.83277720e-03, -1.69162572e-01,
        9.85587942e-01,  6.57848299e-04, -3.88882315e-03, -1.08420217e-19,
       -9.99992438e-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([ 0.13106431, -0.08203056,  0.13159068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28971612,  7.19260061,  1.18594163,  7.19260061,  8.31438832,
       -6.21451992,  1.18594163, -6.21451992, 44.98007009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.80375650895535e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873329,  0.11006063, -0.17311212,  0.10837841,  0.99392488,
        0.01916928,  0.17417022,  0.        , -0.98471556])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329853, -0.05387401,  0.29658769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004988223424677216
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25938883, -0.91549381, -0.30755247, -0.08383927, -0.29590454,
        0.95153112, -0.96212702,  0.27260152,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483548, -0.035917  ,  0.30484888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043701169755715197
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27024406e-13, -3.57256141e-14,  1.00000000e+00, -4.53802491e-27,
        1.00000000e+00,  3.57256141e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27024406e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05337895, -0.0608088 ,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.90261327e-06, 3.77945597e-06, 8.44212408e-07,-1.53894732e-05,
 -2.20013188e-03, 2.78365103e-02, 1.04760958e-02, 1.14251999e-03,
 -2.83789910e-05, 8.54910914e-06,-2.86577833e-05, 3.04460901e-06,
  5.36654375e-02, 2.16977977e-02, 1.44492028e-02,-1.15428670e-04,
 -6.89599805e-08, 5.57529240e-08,-9.80999989e+00,-6.49664782e-02,
 -9.49141777e-03,-5.24506597e-03]


--- Step 1934 ---
qpos:
[ 0.00986698, 0.00808752,-0.00557452, 0.03350418, 0.00587508,-0.02319654,
 -0.01672313, 0.03800798, 0.01300792, 0.00595796,-0.01173694, 0.03409942,
  0.81069948,-0.01596681, 1.13640024, 0.04606219, 0.09494279,-0.06338154,
  0.14257037, 0.94239917,-0.03272611, 0.02779821, 0.33172287]

qacc:
[-0.98506494, 1.49598998,-3.55233024, 0.56376839, 6.68720908,-0.19674018,
  0.08922982,-3.36294566,-2.94361852,-0.17489287, 2.62836163,-8.70412557,
  2.44340641, 0.19275443, 8.72133599,-2.10714251,-0.01181707,-0.0346951 ,
  0.00879848, 0.98520004,-0.08487672, 2.23690679]

qfrc_actuator:
[-6.16275251e-06, 3.16577875e-04, 9.05775532e-05, 1.57795026e-05,
 -2.33077750e-03, 2.61029889e-02, 9.89670451e-03, 1.08747423e-03,
 -2.42324239e-05, 2.83492116e-05,-7.70189269e-05, 5.22852494e-05,
  5.00161817e-02, 2.01278161e-02, 2.41115555e-03,-2.16860953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71238904, -0.57465616, -0.4210326 , -0.57465616,  1.55073169,
       -1.14423151, -0.4210326 , -1.14423151,  2.27412011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3082263118098404e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99186810e-01,  5.87174092e-03, -3.98903596e-02,  5.86706722e-03,
        9.99982761e-01,  2.34229895e-04,  3.98910473e-02,  0.00000000e+00,
       -9.99204035e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1315978 , -0.08294015,  0.17468381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038055910135058915
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85578757e-01, -1.69173987e-01,  3.83083359e-03, -1.69172709e-01,
        9.85586202e-01,  6.57555259e-04, -3.88685797e-03,  0.00000000e+00,
       -9.99992446e-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([ 0.13106589, -0.08203069,  0.1315907 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28996954,  7.12137845,  1.55872537,  7.12137845,  9.32759586,
       -9.30934241,  1.55872537, -9.30934241, 49.82174048,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8589681318063318e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873453,  0.11004789, -0.1731132 ,  0.10836585,  0.99392629,
        0.01916716,  0.17417106,  0.        , -0.98471541])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329876, -0.05387379,  0.29658784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004983177056646361
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.60578431e-01, -9.15308898e-01, -3.07096895e-01, -8.40860101e-02,
       -2.95360874e-01,  9.51678253e-01, -9.61783980e-01,  2.73809379e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483535, -0.03591674,  0.30485011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043680583982219634
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27084270e-13,  2.77996840e-14,  1.00000000e+00,  3.53290255e-27,
        1.00000000e+00, -2.77996840e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27084270e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05337994, -0.06080786,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.62655972e-06, 5.04303033e-05,-1.32886902e-05,-8.01232674e-06,
 -2.22267152e-03, 2.78382830e-02, 1.05050608e-02, 1.13158739e-03,
 -1.71712961e-05, 3.25538439e-05, 3.97868027e-06,-1.59441781e-05,
  5.33060379e-02, 2.14931753e-02, 1.44107623e-02, 3.39530921e-04,
 -3.98371406e-07, 3.18124934e-07,-9.80999975e+00,-6.49662940e-02,
 -9.49184649e-03,-5.24463017e-03]


--- Step 1935 ---
qpos:
[ 0.00986718, 0.00808866,-0.00557425, 0.03350419, 0.00587451,-0.02321239,
 -0.01672725, 0.0380074 , 0.01300729, 0.00595766,-0.01173704, 0.03409979,
  0.81070471,-0.01595918, 1.13638079, 0.04605986, 0.09494365,-0.06338084,
  0.1425707 , 0.94239437,-0.03271952, 0.02779693, 0.33173726]

qacc:
[ 5.49051121e+00, 3.46630775e+00,-1.39429485e+01, 2.49575461e+01,
  6.74273430e+00,-1.79805182e-01, 2.79924122e-01,-3.45705683e+00,
 -1.70346476e+00,-6.65169268e-02, 1.66156391e+00,-5.34772692e+00,
  2.16592094e+00, 2.53022480e-01, 7.65476635e+00,-5.56054828e+00,
 -1.16181918e-02,-2.71185331e-02, 6.61183096e-03, 7.77953650e-01,
 -1.12669807e-01, 1.83214246e+00]

qfrc_actuator:
[ 2.63548405e-05, 3.45320472e-04, 6.45835304e-05, 4.68967888e-05,
 -2.32746630e-03, 2.60678852e-02, 9.87779138e-03, 1.07179704e-03,
 -3.36805605e-05, 4.85463491e-05,-7.35636032e-05, 4.30344887e-05,
  5.00188406e-02, 2.01111500e-02, 2.39857847e-03,-2.09489088e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71239937, -0.57177092, -0.42495986, -0.57177092,  1.52043672,
       -1.08719035, -0.42495986, -1.08719035,  2.17518182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3571710858621405e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99186071e-01,  5.87036719e-03, -3.99090688e-02,  5.86569020e-03,
        9.99982769e-01,  2.34284925e-04,  3.99097564e-02,  2.71050543e-20,
       -9.99203288e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1315988 , -0.08293862,  0.17468362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003804823192466234
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85575677e-01, -1.69191921e-01,  3.83121161e-03, -1.69190643e-01,
        9.85583124e-01,  6.57691915e-04, -3.88725367e-03,  0.00000000e+00,
       -9.99992445e-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([ 0.13106762, -0.08203091,  0.13159075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29041181,   6.24901236,   3.75498987,   6.24901236,
        23.42235078, -26.84659334,   3.75498987, -26.84659334,
        51.96821374,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.9528447920260533e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873723,  0.11002732, -0.17311103,  0.10834564,  0.99392856,
        0.01916329,  0.17416849,  0.        , -0.98471587])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132991 , -0.05387385,  0.29658804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004977858739769081
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62040389e-01, -9.15084676e-01, -3.06520588e-01, -8.43826132e-02,
       -2.94676849e-01,  9.51864029e-01, -9.61360707e-01,  2.75291829e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483525, -0.03591703,  0.30485141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004364342167370583
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27192482e-13, -1.31167247e-13,  1.00000000e+00, -1.66834877e-26,
        1.00000000e+00,  1.31167247e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27192482e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05338055, -0.06080714,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.23730848e-05, 5.38241184e-05,-1.75056164e-05, 3.26610319e-05,
 -2.25894357e-03, 2.78504453e-02, 1.05156210e-02, 1.13016756e-03,
 -9.92628943e-06, 3.85546739e-05, 1.01255040e-05,-8.02740002e-06,
  5.30221463e-02, 2.13576976e-02, 1.37332229e-02, 2.33667902e-04,
 -1.03864841e-06, 7.12487635e-07,-9.80999954e+00,-6.49658390e-02,
 -9.49233056e-03,-5.24413233e-03]


--- Step 1936 ---
qpos:
[ 0.00986812, 0.00808996,-0.00557443, 0.03350426, 0.00587463,-0.02322862,
 -0.01673167, 0.03800661, 0.01300691, 0.00595747,-0.01173701, 0.03410007,
  0.81071478,-0.01594934, 1.13636846, 0.04605874, 0.09494446,-0.06338024,
  0.14257105, 0.94238869,-0.03271162, 0.02779588, 0.33175428]

qacc:
[ 6.41740753e+00, 1.58351226e+00,-5.61495095e+00, 7.34323234e+00,
  5.80915133e+00,-7.66873655e-02, 4.64612952e-01,-3.47283632e+00,
  2.08223359e+00,-3.96934425e-01, 2.02977809e+00,-3.96280548e+00,
  1.97588685e+00, 4.10720958e-01, 6.77588710e+00,-8.53339688e+00,
 -1.35091097e-02,-2.50665696e-02, 5.42244687e-03, 6.04236794e-01,
 -1.43980545e-01, 1.40566792e+00]

qfrc_actuator:
[ 6.31598629e-05, 3.26295556e-04, 3.14594459e-05, 4.74466987e-05,
 -2.34348231e-03, 2.60891227e-02, 9.90388812e-03, 1.08053134e-03,
 -2.12325737e-05, 4.28498549e-05,-7.14673628e-05, 3.74524582e-05,
  5.00252960e-02, 2.01500358e-02, 2.36989192e-03,-2.06886340e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71241263, -0.58058979, -0.41285258, -0.58058979,  1.42100123,
       -0.99647992, -0.41285258, -0.99647992,  2.11375079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4175311457271787e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99185278e-01,  5.86979080e-03, -3.99290211e-02,  5.86510959e-03,
        9.99982773e-01,  2.34379039e-04,  3.99297090e-02, -2.71050543e-20,
       -9.99202491e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13159987, -0.08293699,  0.17468326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003803983784766225
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85571493e-01, -1.69216245e-01,  3.83334934e-03, -1.69214965e-01,
        9.85578948e-01,  6.58156290e-04, -3.88943915e-03,  0.00000000e+00,
       -9.99992436e-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([ 0.13106946, -0.08203121,  0.13159083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29100683,   6.23199309,   3.78431536,   6.23199309,
        19.44682583, -20.01814669,   3.78431536, -20.01814669,
        40.25679851,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.074608434587052e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78741078e-01,  1.10000310e-01, -1.73106422e-01,  1.08319151e-01,
        9.93931553e-01,  1.91580194e-02,  1.74163322e-01,  3.46944695e-18,
       -9.84716780e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132995 , -0.05387416,  0.29658829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004972443535627175
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26369816, -0.91483086, -0.30585582, -0.08471326, -0.29389019,
        0.95207784, -0.96087822,  0.27697121,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483516, -0.03591779,  0.30485276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000435937776440104
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54674654e-13, -6.76479550e-14,  1.00000000e+00, -1.72282196e-26,
        1.00000000e+00,  6.76479550e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54674654e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05338088, -0.06080659,  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:
[ 3.77416249e-05, 8.82389177e-06,-2.30498858e-05, 2.88180688e-06,
 -2.31487368e-03, 2.79100137e-02, 1.05664605e-02, 1.15206476e-03,
  1.21782377e-05, 1.76167121e-05, 1.10330727e-05,-3.73539555e-06,
  5.27717961e-02, 2.12863928e-02, 1.32072217e-02, 1.44284152e-04,
 -1.80014938e-06, 1.15334502e-06,-9.80999930e+00,-6.49651683e-02,
 -9.49284780e-03,-5.24357464e-03]


--- Step 1937 ---
qpos:
[ 0.0098688 , 0.00809118,-0.0055746 , 0.03350435, 0.00587539,-0.02324488,
 -0.01673625, 0.03800564, 0.01300702, 0.00595718,-0.01173683, 0.03410031,
  0.8107295 ,-0.0159371 , 1.13636483, 0.04605999, 0.0949452 ,-0.06337973,
  0.14257142, 0.94238229,-0.03270266, 0.02779482, 0.33177343]

qacc:
[-2.24164688e+00,-1.00423074e-01, 1.46728997e-01, 8.22718377e-02,
  5.43960326e+00, 8.10046327e-03, 6.40105131e-01,-3.37110452e+00,
  4.37961579e+00,-6.39483433e-01, 2.24368814e+00,-3.11306969e+00,
  1.70215910e+00, 8.50292389e-01, 5.66402556e+00,-1.24550178e+00,
 -1.68706909e-02,-2.15448658e-02, 5.61745885e-03, 4.55830548e-01,
 -1.99732468e-01, 1.13748544e+00]

qfrc_actuator:
[ 4.89233901e-05, 3.14256276e-04, 2.96740675e-05, 4.77077925e-05,
 -2.35355099e-03, 2.61440874e-02, 9.93926004e-03, 1.08622270e-03,
  4.00067237e-06, 2.16873457e-05,-7.02955693e-05, 3.40491535e-05,
  5.00338718e-02, 2.02213654e-02, 2.36339044e-03,-1.92926608e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71242827, -0.60093955, -0.3826561 , -0.60093955,  1.30571928,
       -0.93172964, -0.3826561 , -0.93172964,  2.17565646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4855625716646939e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99184452e-01,  5.86990163e-03, -3.99496638e-02,  5.86521549e-03,
        9.99982772e-01,  2.34504637e-04,  3.99503520e-02, -2.71050543e-20,
       -9.99201666e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13160098, -0.08293529,  0.17468279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038031316651419947
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85566455e-01, -1.69245512e-01,  3.83657834e-03, -1.69244230e-01,
        9.85573922e-01,  6.58827969e-04, -3.89273524e-03,  0.00000000e+00,
       -9.99992423e-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([ 0.13107136, -0.08203158,  0.13159092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29171933,   6.21081001,   3.82034158,   6.21081001,
        15.59905501, -13.50541111,   3.82034158, -13.50541111,
        29.24775149,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.214328904258465e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78745790e-01,  1.09968389e-01, -1.73100066e-01,  1.08287854e-01,
        9.93935085e-01,  1.91516887e-02,  1.74156309e-01, -3.46944695e-18,
       -9.84718021e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329993, -0.0538747 ,  0.29658856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004966993216756884
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26548766, -0.91455579, -0.30512948, -0.08506478, -0.2930324 ,
        0.95231087, -0.96035425,  0.27878256,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483502, -0.03591894,  0.30485415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004353504504745198
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27509116e-13, -6.77392180e-14,  1.00000000e+00, -8.63736783e-27,
        1.00000000e+00,  6.77392180e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27509116e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05338097, -0.06080618,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31612564e-05,-1.17778488e-05,-2.71775942e-06,-1.06650887e-07,
 -2.35933948e-03, 2.79843650e-02, 1.06178759e-02, 1.16881296e-03,
  2.55847496e-05,-9.18334438e-06, 6.04076321e-06,-2.34018723e-06,
  5.25388201e-02, 2.12471523e-02, 1.28445651e-02, 2.22807420e-04,
 -2.53494471e-06, 1.57454420e-06,-9.80999905e+00,-6.49643311e-02,
 -9.49338502e-03,-5.24295626e-03]


--- Step 1938 ---
qpos:
[ 0.00986896, 0.00809229,-0.00557477, 0.03350409, 0.00587669,-0.023261  ,
 -0.01674096, 0.03800449, 0.01300709, 0.00595696,-0.011737  , 0.03410086,
  0.81074848,-0.01592268, 1.13636581, 0.04606177, 0.09494587,-0.0633793 ,
  0.14257181, 0.94237538,-0.03269287, 0.02779371, 0.3317941 ]

qacc:
[-4.56615066e+00,-8.48657617e-01, 4.29558594e+00,-1.01751487e+01,
  4.62064699e+00, 1.85413737e-01, 3.10168769e-01,-3.16985571e+00,
 -3.93501847e-01, 1.69254644e+00,-7.21624736e+00, 1.31327422e+01,
  1.61519175e+00, 6.78866956e-01, 5.14759635e+00,-8.19475163e+00,
 -1.56661500e-02,-2.12280377e-02, 2.99418134e-03, 3.57572642e-01,
 -1.80803659e-01, 8.15218667e-01]

qfrc_actuator:
[ 2.25102467e-05, 3.06602970e-04, 2.86726387e-05, 3.00720527e-05,
 -2.34253020e-03, 2.62190867e-02, 9.94464752e-03, 1.10788218e-03,
  1.04450768e-06, 2.69222858e-05,-8.75026092e-05, 4.96903107e-05,
  5.00435613e-02, 2.02045651e-02, 2.38577990e-03,-1.95393870e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71244576, -0.60472721, -0.37667487, -0.60472721,  1.33083213,
       -0.99277942, -0.37667487, -0.99277942,  2.30628906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5581307408801694e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99183615e-01,  5.87065621e-03, -3.99704749e-02,  5.86596458e-03,
        9.99982768e-01,  2.34656960e-04,  3.99711637e-02,  0.00000000e+00,
       -9.99200834e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1316021 , -0.08293357,  0.17468224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003802401748014397
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85560725e-01, -1.69278794e-01,  3.84010772e-03, -1.69277509e-01,
        9.85568207e-01,  6.59567545e-04, -3.89633887e-03,  1.08420217e-19,
       -9.99992409e-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([ 0.13107328, -0.08203199,  0.13159101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29250534,   6.20272667,   3.83494668,   6.20272667,
        15.45642428, -13.20450113,   3.83494668, -13.20450113,
        28.64975439,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.3617075703667056e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78751139e-01,  1.09932485e-01, -1.73092623e-01,  1.08252658e-01,
        9.93939057e-01,  1.91445361e-02,  1.74148125e-01,  3.46944695e-18,
       -9.84719468e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330035, -0.05387545,  0.29658883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004961891802662554
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.67203574e-01, -9.14291333e-01, -3.04423405e-01, -8.53961969e-02,
       -2.92200443e-01,  9.52536819e-01, -9.59848811e-01,  2.80517843e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483487, -0.0359205 ,  0.30485555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043469864632900146
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.99063464e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.99063464e-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([ 0.05338089, -0.06080587,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67957992e-05,-1.48543294e-05,-3.78521839e-06,-1.82386342e-05,
 -2.38053461e-03, 2.80611754e-02, 1.06307751e-02, 1.19919008e-03,
 -2.23298579e-06, 1.26440680e-06,-1.84409461e-05, 1.54097675e-05,
  5.23155158e-02, 2.11098825e-02, 1.24323584e-02, 8.00817157e-05,
 -3.22083267e-06, 1.98306965e-06,-9.80999881e+00,-6.49633746e-02,
 -9.49394991e-03,-5.24227014e-03]


--- Step 1939 ---
qpos:
[ 0.00986846, 0.00809332,-0.00557494, 0.03350328, 0.0058783 ,-0.02327667,
 -0.01674558, 0.03800323, 0.01300678, 0.0059569 ,-0.01173711, 0.03410086,
  0.81076941,-0.01590752, 1.1363672 , 0.04606219, 0.0949465 ,-0.06337893,
  0.1425722 , 0.94236834,-0.03268283, 0.02779281, 0.33181516]

qacc:
[-5.81612342e+00,-1.24439060e+00, 6.63576082e+00,-1.62063389e+01,
  2.55599294e+00, 1.15061201e-01, 9.26809159e-01,-3.39535548e+00,
 -3.35119528e+00,-1.04792497e+00, 6.36068570e+00,-1.60211050e+01,
  8.88428294e-01,-5.07687536e-02, 4.71496435e+00,-1.56771112e+01,
 -1.22524156e-02,-1.60320201e-02, 2.46420254e-03, 1.41152373e-01,
  5.46416272e-02, 2.09579436e-01]

qfrc_actuator:
[-1.08417246e-05, 3.01625293e-04, 2.81346293e-05, 2.04648169e-06,
 -2.33676942e-03, 2.62527009e-02, 9.94984320e-03, 1.10368608e-03,
 -1.84835719e-05, 4.78591042e-05,-7.98050979e-05, 2.31610688e-05,
  5.00484618e-02, 2.01341580e-02, 2.40425486e-03,-2.07629526e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71246474, -0.63980601, -0.31345538, -0.63980601,  1.01086301,
       -0.60907235, -0.31345538, -0.60907235,  1.95566608,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6332629997199816e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99182775e-01,  5.87195801e-03, -3.99912853e-02,  5.86726045e-03,
        9.99982760e-01,  2.34831196e-04,  3.99919748e-02, -2.71050543e-20,
       -9.99200001e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13160323, -0.08293185,  0.17468164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038017204725334215
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85554490e-01, -1.69315006e-01,  3.84384834e-03, -1.69313719e-01,
        9.85561986e-01,  6.60355427e-04, -3.90015889e-03,  1.08420217e-19,
       -9.99992394e-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([ 0.13107521, -0.08203244,  0.13159111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29335101,   6.22464567,   3.80088874,   6.22464567,
        18.36654571, -18.13436759,   3.80088874, -18.13436759,
        36.99167176,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.513345657422695e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875694,  0.10989376, -0.17308442,  0.1082147 ,  0.99394334,
        0.0191368 ,  0.17413912,  0.        , -0.98472106])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330076, -0.05387639,  0.2965891 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004956941507749388
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26892379, -0.91402467, -0.30370858, -0.08572362, -0.29135951,
        0.95276497, -0.95933907,  0.28225617,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483464, -0.03592237,  0.30485696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000434003624341672
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11167940e-07,  2.11167792e-07,  1.00000000e+00,  4.45918676e-14,
        1.00000000e+00, -2.11167792e-07, -1.00000000e+00, -6.31088724e-30,
       -2.11167940e-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([ 0.0538009 , -0.06139052,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.41229902e-05,-1.48954049e-05,-4.71319768e-06,-2.91484872e-05,
 -2.40215738e-03, 2.80887293e-02, 1.06428881e-02, 1.20368500e-03,
 -1.95917621e-05, 1.85031431e-05, 6.22388746e-06,-2.68134495e-05,
  5.21076594e-02, 2.09306318e-02, 1.22200432e-02,-6.92278218e-05,
 -3.77498146e-06, 2.31620156e-06,-9.80999859e+00,-6.49623165e-02,
 -9.49453319e-03,-5.24152390e-03]


--- Step 1940 ---
qpos:
[ 0.00986756, 0.00809415,-0.00557484, 0.03350282, 0.00587474,-0.02328563,
 -0.01674516, 0.03800481, 0.01300624, 0.00595665,-0.01173615, 0.03410053,
  0.81072095,-0.01592589, 1.13632306, 0.04607033, 0.09494792,-0.06337597,
  0.14257208, 0.94237814,-0.03270058, 0.02778198, 0.33178649]

qacc:
[-3.46355096e+00,-2.68485773e-01,-8.99152992e-01, 6.75100165e+00,
 -4.37036351e+01, 6.86295016e-01,-1.39496288e+00, 3.72774878e+01,
 -1.99934798e+00,-3.94560911e+00, 1.51492048e+01,-2.26573584e+01,
 -2.79366358e+01,-7.68711525e+00,-8.98303454e+01, 2.18288549e+02,
  1.98354788e-01, 6.49689065e-01,-1.28722311e-01,-1.37732117e+01,
  5.06232527e-01,-2.67749515e+01]

qfrc_actuator:
[-3.02537580e-05, 2.98279920e-04, 4.56328291e-05, 2.13951249e-05,
 -2.33413920e-03, 2.62611199e-02, 9.95476234e-03, 1.08398971e-03,
 -2.98473653e-05, 4.25957410e-05,-2.19144041e-05, 7.56918803e-06,
  5.00452179e-02, 2.01209039e-02, 2.38863843e-03,-2.16680784e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71248494, -0.50767806,  0.49989777, -0.50767806,  0.41068928,
       -0.30649273,  0.49989777, -0.30649273,  0.40122203,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7095629235764457e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99181953e-01,  5.87356281e-03, -4.00115700e-02,  5.86885920e-03,
        9.99982750e-01,  2.35014524e-04,  4.00122602e-02, -2.71050543e-20,
       -9.99199189e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13160432, -0.08293018,  0.17468102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24847881, -0.23744953, -0.0732082 , -0.23744953,  0.36059773,
       -0.36365577, -0.0732082 , -0.36365577,  1.42798998,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038010582914245667
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85548110e-01, -1.69352046e-01,  3.84808111e-03, -1.69350755e-01,
        9.85555622e-01,  6.61231487e-04, -3.90447888e-03, -1.08420217e-19,
       -9.99992377e-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([ 0.13107709, -0.0820329 ,  0.13159121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29426374,  7.12610759,  1.55720074,  7.12610759,  8.71779947,
       -6.51442588,  1.55720074, -6.51442588, 37.10577003,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.669951028744623e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78762924e-01,  1.09854330e-01, -1.73075604e-01,  1.08176060e-01,
        9.93947698e-01,  1.91288783e-02,  1.74129489e-01, -3.46944695e-18,
       -9.84722764e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330118, -0.05387742,  0.29658936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.3568183 ,  1.28800773, -0.4266052 ,  1.28800773,  1.9414453 ,
        1.76510763, -0.4266052 ,  1.76510763,  6.68603667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004952351631416842
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.2707682 , -0.91373504, -0.30294034, -0.08607114, -0.29045587,
        0.95300952, -0.958789  ,  0.28411909,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483433, -0.03592432,  0.30485829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.29487263, -6.57401495,  7.92254567, -6.57401495, 67.94525467,
       47.83746145,  7.92254567, 47.83746145, 49.98971309,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000434279671406064
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24069771e-06, -1.24069792e-06,  1.00000000e+00, -1.53933107e-12,
        1.00000000e+00,  1.24069792e-06, -1.00000000e+00, -2.01948392e-28,
       -1.24069771e-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([ 0.08724599, -0.10793534,  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:
[-2.03909494e-05,-1.39413314e-05, 1.28259966e-05, 1.79813954e-05,
 -2.41468405e-03, 2.80755420e-02, 1.06439778e-02, 1.18987549e-03,
 -1.19136568e-05, 5.21583127e-06, 6.15540547e-05,-1.51043439e-05,
  5.20072227e-02, 2.08796523e-02, 1.21837462e-02,-9.13543762e-05,
 -3.92985809e-06, 2.37926131e-06,-9.80999855e+00,-6.49611745e-02,
 -9.49503938e-03,-5.24078198e-03]


--- Step 1941 ---
qpos:
[ 0.00986643, 0.0080948 ,-0.00557479, 0.03350262, 0.00587117,-0.02329513,
 -0.01674528, 0.03800609, 0.01300556, 0.00595606,-0.0117347 , 0.03410075,
  0.81068334,-0.01593904, 1.13627182, 0.04607183, 0.09494917,-0.06337366,
  0.14257208, 0.94238472,-0.03271247, 0.02777374, 0.33176731]

qacc:
[-1.98112813e+00, 4.21200177e-01,-2.94880357e+00, 7.61752544e+00,
 -1.94000345e-02, 1.95875099e-01,-4.69675106e-01,-3.39769143e+00,
 -1.13871952e+00,-6.71866801e-01,-6.13479362e-01, 9.80372983e+00,
  4.65496117e+00, 8.02792599e-01, 9.47182128e+00,-4.86901265e+01,
 -4.31097473e-02,-1.62975960e-01, 2.95770311e-02, 3.00588047e+00,
  1.41622113e-01, 5.13026818e+00]

qfrc_actuator:
[-4.13035155e-05, 2.78300483e-04, 3.81768446e-05, 3.29739737e-05,
 -2.32802680e-03, 2.62834821e-02, 9.95451884e-03, 1.05208919e-03,
 -3.63095937e-05, 4.15123512e-06,-5.95592528e-06, 3.40606611e-05,
  5.00381114e-02, 2.01581761e-02, 2.38864250e-03,-2.12249332e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71245079, -0.65267132, -0.28566812, -0.65267132,  1.08809281,
       -0.85823638, -0.28566812, -0.85823638,  2.67327958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5784113757362345e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99181632e-01,  5.86999599e-03, -4.00201070e-02,  5.86529323e-03,
        9.99982771e-01,  2.34921915e-04,  4.00207965e-02,  0.00000000e+00,
       -9.99198847e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13160452, -0.0829291 ,  0.17468335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24845522, -0.03255478,  0.24631318, -0.03255478,  0.70011813,
        0.05969549,  0.24631318,  0.05969549,  0.25634506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003800080902330915
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85558154e-01, -1.69294211e-01,  3.82028985e-03, -1.69292939e-01,
        9.85565558e-01,  6.56225200e-04, -3.87624123e-03,  1.08420217e-19,
       -9.99992487e-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([ 0.13107782, -0.08203221,  0.13159091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29200051, -1.3791002 ,  7.16040181, -1.3791002 , 33.83942283,
        5.11305878,  7.16040181,  5.11305878,  8.27678049,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.2678174300962025e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78750466e-01,  1.09907217e-01, -1.73112475e-01,  1.08227398e-01,
        9.93941851e-01,  1.91422771e-02,  1.74167608e-01,  3.46944695e-18,
       -9.84716022e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330007, -0.05387501,  0.29658866])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36070242, -0.79361172,  1.10530155, -0.79361172,  3.65083061,
        1.64432283,  1.10530155,  1.64432283,  2.54133395,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004972424952215826
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.64342154e-01, -9.14732665e-01, -3.05593484e-01, -8.48397994e-02,
       -2.93580629e-01,  9.52162078e-01, -9.60690082e-01,  2.77623064e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483421, -0.03591933,  0.30485535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.30247475, -5.91565209,  8.43481157, -5.91565209, 17.89333075,
        5.32375417,  8.43481157,  5.32375417, 14.03622472,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043491264836734156
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27637473e-13, -3.58980392e-14,  1.00000000e+00, -4.58193499e-27,
        1.00000000e+00,  3.58980392e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27637473e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05338538, -0.06080224,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16395091e-05,-2.43902893e-05,-8.14208911e-06, 1.17751334e-05,
 -2.14964020e-03, 2.77626421e-02, 1.03915524e-02, 1.01629428e-03,
 -6.80079671e-06,-2.34675534e-05, 2.40873543e-05, 2.85502960e-05,
  5.54695085e-02, 2.25941809e-02, 1.44613088e-02,-4.33248755e-04,
 -9.25023404e-06, 2.85554662e-06,-9.80999740e+00,-6.49631021e-02,
 -9.49698816e-03,-5.24071862e-03]


--- Step 1942 ---
qpos:
[ 0.00986518, 0.0080954 ,-0.00557488, 0.03350255, 0.00586805,-0.02330563,
 -0.016746  , 0.03800707, 0.01300516, 0.00595495,-0.01173315, 0.034101  ,
  0.81065484,-0.01594787, 1.13622928, 0.0460745 , 0.09495029,-0.0633718 ,
  0.14257218, 0.94238842,-0.03271962, 0.02776754, 0.33175662]

qacc:
[ -1.0919913 ,  0.60720297, -2.7872761 ,  5.26171808,  3.78455622,
  -0.26127973,  0.21800095, -3.54354631,  2.41227368, -0.92078646,
   2.14986604, -1.46402972,  3.74025602,  0.86095344,  9.1740859 ,
 -13.66427878, -0.03018417, -0.11264106,  0.02512443,  2.40712274,
   0.07202588,  4.57677751]

qfrc_actuator:
[-4.73475695e-05, 2.83922569e-04, 3.37131980e-05, 3.98469096e-05,
 -2.32293088e-03, 2.63010170e-02, 9.99025012e-03, 1.06812035e-03,
 -2.20852084e-05,-5.39883051e-05,-1.50153673e-05, 3.17749493e-05,
  5.00346157e-02, 2.01826653e-02, 2.38022114e-03,-1.86172780e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71243029, -0.63226591, -0.32832413, -0.63226591,  1.16701861,
       -0.87541753, -0.32832413, -0.87541753,  2.39825417,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4941128898998357e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99181268e-01,  5.86642754e-03, -4.00297153e-02,  5.86172538e-03,
        9.99982792e-01,  2.34835465e-04,  4.00304041e-02,  2.71050543e-20,
       -9.99198462e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13160486, -0.08292805,  0.17468503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037994686949410083
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85565010e-01, -1.69254763e-01,  3.79965467e-03, -1.69253505e-01,
        9.85572334e-01,  6.52524049e-04, -3.85527733e-03, -1.08420217e-19,
       -9.99992568e-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([ 0.13107868, -0.08203173,  0.13159069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29062866,  7.28718746,  0.22397585,  7.28718746,  7.31435839,
       -0.77206093,  0.22397585, -0.77206093, 32.41009024,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9977942460332498e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78741810e-01,  1.09942655e-01, -1.73138910e-01,  1.08261763e-01,
        9.93937932e-01,  1.91514488e-02,  1.74194891e-01,  3.46944695e-18,
       -9.84711196e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329937, -0.05387316,  0.29658821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004983532805797564
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26033384, -0.91532574, -0.30725411, -0.08405457, -0.29553328,
        0.95162751, -0.96185296,  0.27356695,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483413, -0.03591568,  0.30485394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043600435797065684
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.54635763e-13,  5.96802570e-14,  1.00000000e+00, -1.51967278e-26,
        1.00000000e+00, -5.96802570e-14, -1.00000000e+00,  0.00000000e+00,
        2.54635763e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0533892 , -0.06079968,  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:
[-6.38640134e-06,-9.21839795e-06,-1.01032842e-05, 5.77483938e-06,
 -2.14447512e-03, 2.78071388e-02, 1.04543821e-02, 1.04714060e-03,
  1.40204021e-05,-6.50645736e-05,-9.96335873e-06,-1.90462313e-06,
  5.49235444e-02, 2.23576545e-02, 1.48087271e-02, 1.60266650e-04,
 -4.22873479e-06, 1.16042190e-06,-9.80999885e+00,-6.49650002e-02,
 -9.49642993e-03,-5.24060944e-03]


--- Step 1943 ---
qpos:
[ 0.00986421, 0.00809589,-0.00557476, 0.03350288, 0.00586564,-0.02331735,
 -0.01674736, 0.03800778, 0.01300528, 0.00595338,-0.01173141, 0.03410086,
  0.81063413,-0.01595299, 1.13619764, 0.04607969, 0.09495134,-0.06337026,
  0.14257236, 0.94238963,-0.03272291, 0.02776291, 0.33175325]

qacc:
[  2.4838264 ,  0.10068046, -2.29747922,  9.14095664,  6.00595688,
  -0.42809758,  0.38339313, -3.38668897,  4.57284572, -1.93395858,
   7.66132524,-14.36543024,  3.14026311,  0.8163953 ,  8.38189064,
  -6.13524132, -0.02158889, -0.0804238 ,  0.02047641,  1.93456808,
   0.01954767,  3.94158723]

qfrc_actuator:
[-3.26471321e-05, 2.87082533e-04, 4.89105739e-05, 6.16752623e-05,
 -2.31889389e-03, 2.62985899e-02, 9.99458397e-03, 1.11302408e-03,
  4.19909735e-06,-7.03545533e-05,-3.37594014e-06, 1.25356065e-05,
  5.00437038e-02, 2.01805411e-02, 2.33894947e-03,-1.70704560e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71241988, -0.62434097, -0.34313326, -0.62434097,  1.21781511,
       -0.91958135, -0.34313326, -0.91958135,  2.38562493,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4494487891143453e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99180837e-01,  5.86330654e-03, -4.00409282e-02,  5.85860425e-03,
        9.99982811e-01,  2.34776272e-04,  4.00416165e-02,  0.00000000e+00,
       -9.99198013e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13160536, -0.08292688,  0.17468617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003799242581711603
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85569065e-01, -1.69231483e-01,  3.78457621e-03, -1.69230235e-01,
        9.85576332e-01,  6.49842556e-04, -3.83996256e-03,  1.08420217e-19,
       -9.99992627e-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([ 0.13107971, -0.08203146,  0.13159054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28985059,  7.27079587,  0.52673424,  7.27079587,  7.44823378,
       -2.18624837,  0.52673424, -2.18624837, 37.46781199,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8331872521857896e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873641,  0.10996231, -0.17315695,  0.10828076,  0.99393576,
        0.01915691,  0.17421342,  0.        , -0.98470792])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329897, -0.05387178,  0.29658795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004989355205352047
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25779757, -0.9156891 , -0.30830809, -0.08355114, -0.2967711 ,
        0.95128656, -0.96257967,  0.27099886,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048342 , -0.03591317,  0.30485347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004366542172638682
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27128398e-13,  2.78093371e-14,  1.00000000e+00,  3.53535648e-27,
        1.00000000e+00, -2.78093371e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27128398e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05339205, -0.06079768,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45136436e-05,-3.85329795e-06, 1.22443768e-05, 2.11956959e-05,
 -2.16284796e-03, 2.78554236e-02, 1.04888182e-02, 1.10662283e-03,
  2.66587004e-05,-5.48649230e-05,-3.10002647e-06,-2.24115613e-05,
  5.44770010e-02, 2.21393433e-02, 1.43333469e-02, 2.56159083e-04,
 -1.46956438e-06, 2.81796997e-07,-9.80999957e+00,-6.49662163e-02,
 -9.49629471e-03,-5.24041042e-03]


--- Step 1944 ---
qpos:
[ 0.00986309, 0.00809621,-0.0055744 , 0.03350349, 0.005864  ,-0.02333024,
 -0.01674934, 0.03800819, 0.01300502, 0.00595195,-0.01173037, 0.03410048,
  0.81062039,-0.01595483, 1.13617281, 0.04608558, 0.09495231,-0.06336897,
  0.1425726 , 0.94238879,-0.03272306, 0.0277595 , 0.33175591]

qacc:
[ -1.40434464, -0.34181313, -0.26050717,  4.65387588,  6.51260789,
  -0.39914665,  0.35113297, -3.39917795, -3.33269674,  1.64054444,
  -4.54964305,  1.33814103,  2.85699478,  0.64886362,  7.89825043,
 -13.17905447, -0.01610557, -0.06280683,  0.0157206 ,  1.56880545,
  -0.02103065,  3.24867789]

qfrc_actuator:
[-4.13617375e-05, 2.71088755e-04, 5.78500845e-05, 7.43906095e-05,
 -2.31593426e-03, 2.62670421e-02, 9.96260151e-03, 1.10435114e-03,
 -1.58931914e-05,-4.37708838e-05,-3.27056705e-05, 1.28222605e-06,
  5.00494816e-02, 2.01613418e-02, 2.34669211e-03,-1.72434297e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71241711, -0.61025867, -0.36759011, -0.61025867,  1.31011455,
       -0.99227383, -0.36759011, -0.99227383,  2.35975118,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4373255255605956e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99180328e-01,  5.86089547e-03, -4.00539871e-02,  5.85619204e-03,
        9.99982825e-01,  2.34756264e-04,  4.00546750e-02,  0.00000000e+00,
       -9.99197489e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13160601, -0.08292554,  0.17468689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000379928906970933
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85570731e-01, -1.69222019e-01,  3.77396896e-03, -1.69220778e-01,
        9.85577957e-01,  6.47983898e-04, -3.82919376e-03,  0.00000000e+00,
       -9.99992669e-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([ 0.13108094, -0.08203134,  0.13159045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28948561,  7.23746343,  0.86932366,  7.23746343,  7.79681423,
       -4.22371154,  0.86932366, -4.22371154, 42.45355555,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.752572119905732e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873374,  0.10996828, -0.17316826,  0.10828641,  0.9939351 ,
        0.01915921,  0.17422492,  0.        , -0.98470588])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329883, -0.0538708 ,  0.29658786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004991740127056082
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25629985, -0.91589867, -0.30893368, -0.08325205, -0.29750482,
        0.95108358, -0.96300544,  0.26948194,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483437, -0.0359116 ,  0.30485361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043694897995982807
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27042638e-13, -3.57307420e-14,  1.00000000e+00,  4.53932774e-27,
        1.00000000e+00,  3.57307420e-14, -1.00000000e+00,  0.00000000e+00,
        1.27042638e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05339413, -0.06079612,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.30557948e-06,-1.47231146e-05, 1.03773922e-05, 1.33838423e-05,
 -2.19543551e-03, 2.78849637e-02, 1.04887101e-02, 1.11222653e-03,
 -1.93558332e-05,-5.65133390e-06,-4.18225214e-05,-1.41491236e-05,
  5.40931909e-02, 2.19350675e-02, 1.37969641e-02, 1.12911254e-04,
 -2.83533783e-07,-6.00283294e-09,-9.80999985e+00,-6.49668851e-02,
 -9.49643930e-03,-5.24013210e-03]


--- Step 1945 ---
qpos:
[ 0.00986152, 0.00809629,-0.00557361, 0.03350424, 0.00586302,-0.02334403,
 -0.01675182, 0.03800834, 0.01300418, 0.00595098,-0.01173045, 0.0340996 ,
  0.81061301,-0.01595374, 1.13615107, 0.04609039, 0.09495324,-0.06336789,
  0.14257289, 0.94238634,-0.03272065, 0.02775702, 0.33176331]

qacc:
[-3.84761962e+00,-1.22328313e+00, 3.34737384e+00,-1.47369679e+00,
  5.56513184e+00,-3.59852496e-01, 6.54095411e-01,-3.78676408e+00,
 -5.17832497e+00, 2.74874046e+00,-6.82530793e+00,-2.29664694e-01,
  2.69487512e+00, 4.24501878e-01, 7.75167248e+00,-2.06688104e+01,
 -1.31690739e-02,-5.34524299e-02, 1.16433050e-02, 1.26569987e+00,
 -4.14742063e-02, 2.54492992e+00]

qfrc_actuator:
[-6.37948776e-05, 2.61477751e-04, 8.06835591e-05, 8.16165591e-05,
 -2.33171813e-03, 2.62539756e-02, 9.96233473e-03, 1.06364674e-03,
 -4.53716575e-05,-9.57622675e-06,-8.58038980e-05,-2.29226918e-05,
  5.00477408e-02, 2.01485856e-02, 2.36784055e-03,-1.82625428e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71242027, -0.58863451, -0.4013129 , -0.58863451,  1.33839911,
       -0.91816823, -0.4013129 , -0.91816823,  2.05916369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4511418229479285e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99179742e-01,  5.85925435e-03, -4.00688490e-02,  5.85454875e-03,
        9.99982834e-01,  2.34777608e-04,  4.00695368e-02,  0.00000000e+00,
       -9.99196894e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13160679, -0.08292404,  0.17468725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037994448437316165
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85570429e-01, -1.69223931e-01,  3.76706632e-03, -1.69222695e-01,
        9.85577628e-01,  6.46806249e-04, -3.82219138e-03,  0.00000000e+00,
       -9.99992695e-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([ 0.13108235, -0.08203137,  0.13159041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28942568,   6.30120508,   3.6647703 ,   6.30120508,
        25.16818359, -30.74073155,   3.6647703 , -30.74073155,
        60.14503124,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.7391078283021534e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78733286e-01,  1.09962950e-01, -1.73174204e-01,  1.08281050e-01,
        9.93935687e-01,  1.91589322e-02,  1.74230794e-01, -3.46944695e-18,
       -9.84704844e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329887, -0.05387018,  0.29658788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004991470720086138
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55693355e-01, -9.15980166e-01, -3.09194508e-01, -8.31325753e-02,
       -2.97809031e-01,  9.50998820e-01, -9.63176974e-01,  2.68868214e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483457, -0.03591076,  0.3048542 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043696316831014215
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27038513e-13, -1.31008467e-13,  1.00000000e+00, -1.66431208e-26,
        1.00000000e+00,  1.31008467e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27038513e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0533956 , -0.0607949 ,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26773618e-05,-1.51433406e-05, 2.15257145e-05, 7.21229493e-06,
 -2.24976935e-03, 2.79312026e-02, 1.05200288e-02, 1.08583138e-03,
 -3.00318926e-05, 2.18222110e-05,-5.99004064e-05,-2.61669859e-05,
  5.37430082e-02, 2.17580067e-02, 1.34776221e-02,-2.34981877e-05,
 -9.40241701e-08, 8.31430777e-08,-9.80999988e+00,-6.49671126e-02,
 -9.49675921e-03,-5.23978102e-03]


--- Step 1946 ---
qpos:
[ 0.00986003, 0.00809633,-0.00557231, 0.03350469, 0.00586249,-0.02335842,
 -0.01675468, 0.03800824, 0.01300367, 0.00595026,-0.01173091, 0.03409842,
  0.81061167,-0.01595002, 1.13612619, 0.04609094, 0.09495412,-0.06336702,
  0.14257321, 0.94238271,-0.03271614, 0.02775524, 0.33177423]

qacc:
[ 7.88756139e-01,-2.09379325e+00, 8.62587188e+00,-1.45042757e+01,
  3.82157040e+00,-2.66445836e-01, 8.90709570e-01,-4.26214840e+00,
  3.00060465e+00, 7.29188519e-01,-8.16570391e-01,-4.11758883e+00,
  2.71927598e+00, 1.00589631e-01, 8.10646677e+00,-3.53254752e+01,
 -1.10513083e-02,-5.01062737e-02, 7.56228676e-03, 1.03602809e+00,
 -5.53933384e-02, 1.89799695e+00]

qfrc_actuator:
[-5.86101329e-05, 2.73567049e-04, 1.11558495e-04, 6.78174742e-05,
 -2.34119178e-03, 2.62699506e-02, 9.98122040e-03, 1.02157167e-03,
 -2.68658186e-05, 1.10510413e-05,-9.92029913e-05,-3.68016918e-05,
  5.00519442e-02, 2.01564984e-02, 2.33853890e-03,-2.11945820e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71242818, -0.55645803, -0.44486893, -0.55645803,  1.39191958,
       -0.84993224, -0.44486893, -0.84993224,  1.77555395,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4851793927005324e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99179095e-01,  5.85827127e-03, -4.00851156e-02,  5.85356264e-03,
        9.99982840e-01,  2.34833511e-04,  4.00858035e-02, -2.71050543e-20,
       -9.99196241e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13160767, -0.08292245,  0.17468734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003799645263779122
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85568579e-01, -1.69234791e-01,  3.76312067e-03, -1.69233557e-01,
        9.85575764e-01,  6.46171469e-04, -3.81819522e-03,  0.00000000e+00,
       -9.99992711e-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([ 0.13108389, -0.0820315 ,  0.1315904 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2896038 ,  7.12611299,  1.53519944,  7.12611299,  9.23517497,
       -9.03098297,  1.53519944, -9.03098297, 49.20976312,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.778935080209138e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78734573e-01,  1.09948807e-01, -1.73175906e-01,  1.08267095e-01,
        9.93937251e-01,  1.91566262e-02,  1.74232233e-01, -3.46944695e-18,
       -9.84704590e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329907, -0.05386987,  0.296588  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004989064787013657
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55887965e-01, -9.15947710e-01, -3.09129652e-01, -8.31765531e-02,
       -2.97729412e-01,  9.51019904e-01, -9.63121493e-01,  2.69066887e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483473, -0.03591052,  0.30485514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004367592232567552
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54195668e-13, -6.75207243e-14,  1.00000000e+00, -1.71634756e-26,
        1.00000000e+00,  6.75207243e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54195668e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0533966 , -0.06079396,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.53096679e-06, 8.35960818e-06, 3.06382336e-05,-1.35652243e-05,
 -2.29218903e-03, 2.79930000e-02, 1.05641046e-02, 1.05713700e-03,
  1.76599888e-05, 1.93608529e-05,-1.71601408e-05,-1.55202020e-05,
  5.34291169e-02, 2.16198209e-02, 1.32942063e-02,-2.62536197e-04,
 -4.41368735e-07, 3.63498021e-07,-9.80999976e+00,-6.49669861e-02,
 -9.49717773e-03,-5.23936472e-03]


--- Step 1947 ---
qpos:
[ 0.00985863, 0.00809661,-0.00557128, 0.03350465, 0.00586242,-0.02337332,
 -0.01675788, 0.03800788, 0.01300305, 0.00594935,-0.0117311 , 0.03409744,
  0.81061581,-0.01594402, 1.13610115, 0.04608868, 0.09495496,-0.0633663 ,
  0.14257355, 0.9423781 ,-0.03270994, 0.02775398, 0.33178801]

qacc:
[ 6.30128938e-01, 6.80354016e-02, 2.28299905e+00,-1.05565776e+01,
  3.85119546e+00,-2.50697514e-01, 9.35317177e-01,-4.29567184e+00,
 -1.03771620e+00,-5.77255392e-01, 8.22681821e-01, 2.40878280e+00,
  2.49841496e+00,-3.08530627e-02, 8.19024033e+00,-2.91646688e+01,
 -9.48889293e-03,-4.00818644e-02, 4.84969276e-03, 8.30395447e-01,
 -7.16490774e-02, 1.54272977e+00]

qfrc_actuator:
[-5.49595793e-05, 2.80828107e-04, 9.37492906e-05, 4.17814562e-05,
 -2.32918400e-03, 2.62856397e-02, 9.99391666e-03, 1.03202681e-03,
 -3.35205629e-05,-1.19446540e-05,-8.90859551e-05,-2.67177017e-05,
  5.00541882e-02, 2.01581725e-02, 2.32202400e-03,-2.22203997e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71244003, -0.54316709, -0.46102093, -0.54316709,  1.4327486 ,
       -0.84865543, -0.46102093, -0.84865543,  1.71231156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5347267043711014e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99178407e-01,  5.85774028e-03, -4.01023385e-02,  5.85302802e-03,
        9.99982843e-01,  2.34913114e-04,  4.01030266e-02,  0.00000000e+00,
       -9.99195550e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13160862, -0.08292083,  0.1746872 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037998327980280736
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85565561e-01, -1.69252402e-01,  3.76155368e-03, -1.69251169e-01,
        9.85572739e-01,  6.45971595e-04, -3.81661701e-03,  0.00000000e+00,
       -9.99992717e-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([ 0.13108552, -0.08203172,  0.13159043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28998199,   7.08377816,   1.72160519,   7.08377816,
         9.95489237, -10.96513535,   1.72160519, -10.96513535,
        52.40751919,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.861653517257225e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873718,  0.10992818, -0.17317426,  0.10824682,  0.99393953,
        0.01915281,  0.17423017,  0.        , -0.98470495])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329937, -0.05386987,  0.29658819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004984564817590725
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.2569299 , -0.91579288, -0.30872387, -0.08339405, -0.29724714,
        0.95115171, -0.96282525,  0.27012505,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483474, -0.03591075,  0.30485638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043638978275606366
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.75778862e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.75778862e-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([ 0.05339722, -0.06079324,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78033883e-06, 1.76717446e-05,-1.27936098e-05,-2.48856615e-05,
 -2.30281510e-03, 2.80385124e-02, 1.05955904e-02, 1.08037368e-03,
 -6.14763509e-06,-1.63402991e-05, 1.14807175e-05, 1.00223082e-05,
  5.31293018e-02, 2.14893942e-02, 1.34357234e-02,-1.52409417e-04,
 -9.99048990e-07, 6.98470425e-07,-9.80999958e+00,-6.49665735e-02,
 -9.49764428e-03,-5.23888852e-03]


--- Step 1948 ---
qpos:
[ 0.00985727, 0.00809708,-0.00557079, 0.03350466, 0.00586292,-0.02338861,
 -0.01676141, 0.0380073 , 0.01300202, 0.00594822,-0.01173115, 0.03409694,
  0.81062519,-0.01593562, 1.13608161, 0.04608662, 0.09495575,-0.06336571,
  0.14257391, 0.94237265,-0.03270234, 0.02775296, 0.33180432]

qacc:
[ 4.60550841e-01, 1.84897055e+00,-6.43744394e+00, 8.07778661e+00,
  4.80095903e+00,-5.21577120e-02, 3.98916975e-01,-3.58559931e+00,
 -3.68365744e+00, 3.28100792e-01,-3.60559449e+00, 1.18945005e+01,
  2.16537593e+00, 4.17889182e-01, 7.45261275e+00,-1.44212610e+01,
 -1.24328151e-02,-3.05145340e-02, 4.94343183e-03, 6.49842956e-01,
 -1.50768658e-01, 1.35638120e+00]

qfrc_actuator:
[-5.22500430e-05, 2.84937504e-04, 6.50696629e-05, 4.42262258e-05,
 -2.30447197e-03, 2.63190776e-02, 9.98526500e-03, 1.07409576e-03,
 -5.49465320e-05,-2.52559800e-05,-8.30958668e-05,-2.64395820e-06,
  5.00444382e-02, 2.01554121e-02, 2.31302455e-03,-2.13897779e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71245524, -0.57060883, -0.42661226, -0.57060883,  1.50236984,
       -1.05653843, -0.42661226, -1.05653843,  2.12561235,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5960864421966664e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99177682e-01,  5.85766493e-03, -4.01204211e-02,  5.85294848e-03,
        9.99982844e-01,  2.35016016e-04,  4.01211094e-02,  0.00000000e+00,
       -9.99194824e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13160963, -0.0829192 ,  0.17468687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037999448572720746
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85561592e-01, -1.69275506e-01,  3.76191644e-03, -1.69274273e-01,
        9.85568771e-01,  6.46124681e-04, -3.81700044e-03, -1.08420217e-19,
       -9.99992715e-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([ 0.13108724, -0.082032  ,  0.13159048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29053011,   6.26268957,   3.73236502,   6.26268957,
        19.01766721, -19.67744812,   3.73236502, -19.67744812,
        40.30813376,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.9774508696412914e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874085,  0.10990227, -0.17316999,  0.1082214 ,  0.9939424 ,
        0.01914776,  0.17422538,  0.        , -0.9847058 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329975, -0.05387012,  0.29658843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004978832510871794
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25858485, -0.91554772, -0.30806858, -0.08373436, -0.29647059,
        0.95136415, -0.96235255,  0.27180428,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483464, -0.03591138,  0.30485778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004358956109032225
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.09398579e-13, -2.26841555e-13,  1.00000000e+00, -1.15552766e-25,
        1.00000000e+00,  2.26841555e-13, -1.00000000e+00,  0.00000000e+00,
       -5.09398579e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05339755, -0.06079268,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82306303e-06, 1.02664823e-05,-2.74798163e-05, 2.27236062e-06,
 -2.30091431e-03, 2.80984782e-02, 1.06042217e-02, 1.13491375e-03,
 -2.16105859e-05,-1.96144625e-05, 4.39042872e-06, 2.39705774e-05,
  5.28457350e-02, 2.13727382e-02, 1.34347351e-02, 7.13376127e-05,
 -1.64125312e-06, 1.05633949e-06,-9.80999937e+00,-6.49659356e-02,
 -9.49813393e-03,-5.23835768e-03]


--- Step 1949 ---
qpos:
[ 0.00985596, 0.00809751,-0.00557   , 0.03350467, 0.00586393,-0.02340417,
 -0.01676529, 0.03800648, 0.01300107, 0.0059473 ,-0.0117316 , 0.03409707,
  0.81063934,-0.01592508, 1.13606466, 0.04608347, 0.0949565 ,-0.06336523,
  0.14257428, 0.94236656,-0.03269361, 0.02775207, 0.33182257]

qacc:
[ 3.88073010e-01,-8.74542739e-01, 2.99660062e+00,-3.33717652e+00,
  4.35486338e+00, 9.75286077e-02, 1.08870769e-01,-3.35880574e+00,
  8.27273363e-01, 2.66355039e+00,-1.17157462e+01, 2.29371278e+01,
  2.02493499e+00, 2.78778161e-01, 7.08397984e+00,-1.93423492e+01,
 -1.17267740e-02,-2.69830248e-02, 2.59278809e-03, 5.15529092e-01,
 -1.45917856e-01, 1.03524087e+00]

qfrc_actuator:
[-5.01158988e-05, 2.87091806e-04, 8.34834811e-05, 4.56554649e-05,
 -2.29018520e-03, 2.63454959e-02, 9.98169590e-03, 1.09971224e-03,
 -4.93818021e-05, 2.84001149e-06,-9.73188606e-05, 2.94613616e-05,
  5.00326418e-02, 2.01312047e-02, 2.26009962e-03,-2.23045658e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71247309, -0.57103837, -0.42606699, -0.57103837,  1.56313671,
       -1.14010611, -0.42606699, -1.14010611,  2.2405059 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6652103479668105e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99176923e-01,  5.85815785e-03, -4.01392416e-02,  5.85343657e-03,
        9.99982841e-01,  2.35146048e-04,  4.01399304e-02, -2.71050543e-20,
       -9.99194068e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13161068, -0.08291754,  0.17468642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003799959969350878
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85556789e-01, -1.69303430e-01,  3.76356668e-03, -1.69302196e-01,
        9.85563975e-01,  6.46517896e-04, -3.81869343e-03,  0.00000000e+00,
       -9.99992709e-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([ 0.13108902, -0.08203235,  0.13159055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29120243,   6.2508931 ,   3.75339423,   6.2508931 ,
        18.80399366, -19.17337293,   3.75339423, -19.17337293,
        39.22248843,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.1135914668248246e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874536,  0.10987167, -0.17316389,  0.1081914 ,  0.99394578,
        0.01914169,  0.17421865,  0.        , -0.98470699])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330018, -0.05387063,  0.29658869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004972795711754713
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.2604809 , -0.91526559, -0.30730865, -0.08411854, -0.29557179,
        0.95160989, -0.96180756,  0.27372655,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483447, -0.03591242,  0.30485925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043530888304832427
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55042584e-13, -9.96260095e-14,  1.00000000e+00, -2.54088749e-26,
        1.00000000e+00,  9.96260095e-14, -1.00000000e+00,  0.00000000e+00,
       -2.55042584e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05339765, -0.06079226,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21716070e-06, 2.29862629e-06, 1.72184272e-05, 9.60565241e-07,
 -2.31507324e-03, 2.81452468e-02, 1.06180515e-02, 1.17225728e-03,
  4.93871715e-06, 1.90932871e-05,-1.68897493e-05, 3.18876336e-05,
  5.25720086e-02, 2.12284205e-02, 1.31074520e-02,-2.99707624e-05,
 -2.33378904e-06, 1.44946661e-06,-9.80999912e+00,-6.49651300e-02,
 -9.49865371e-03,-5.23776189e-03]


--- Step 1950 ---
qpos:
[ 0.00985469, 0.00809784,-0.00556924, 0.03350473, 0.00586537,-0.02341972,
 -0.0167694 , 0.03800545, 0.01299986, 0.00594654,-0.01173195, 0.03409755,
  0.8106579 ,-0.01591256, 1.13605252, 0.04608046, 0.09495719,-0.06336484,
  0.14257466, 0.94236   ,-0.032684  , 0.0277512 , 0.33184221]

qacc:
[ 3.14838058e-01, 6.79966064e-02,-5.92999833e-01, 1.46758502e+00,
  3.55754826e+00, 2.59093640e-01,-4.61367450e-02,-3.16210486e+00,
 -2.38495203e+00, 6.60770876e-01,-3.54679543e+00, 9.41217799e+00,
  1.84198503e+00, 3.05049698e-01, 6.60178692e+00,-1.29181525e+01,
 -1.31448125e-02,-2.48005733e-02, 1.58440219e-03, 3.88745515e-01,
 -1.51668728e-01, 7.43041034e-01]

qfrc_actuator:
[-4.83372120e-05, 2.70493367e-04, 7.62881431e-05, 4.65033006e-05,
 -2.30008125e-03, 2.63854796e-02, 9.98130152e-03, 1.11554747e-03,
 -6.34756225e-05, 1.99375237e-05,-8.76824594e-05, 4.83026291e-05,
  5.00354489e-02, 2.01111807e-02, 2.30337533e-03,-2.19466279e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7124931 , -0.58745904, -0.40316037, -0.58745904,  1.49835397,
       -1.1451053 , -0.40316037, -1.1451053 ,  2.381066  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7394282702972377e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99176137e-01,  5.85916657e-03, -4.01586546e-02,  5.85443991e-03,
        9.99982835e-01,  2.35300285e-04,  4.01593439e-02,  0.00000000e+00,
       -9.99193288e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13161177, -0.08291589,  0.17468587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037997997606335575
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85551342e-01, -1.69335075e-01,  3.76630471e-03, -1.69333839e-01,
        9.85558538e-01,  6.47112744e-04, -3.82149265e-03,  0.00000000e+00,
       -9.99992698e-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([ 0.13109085, -0.08203274,  0.13159063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2919814 ,   6.24043025,   3.77227028,   6.24043025,
        17.17899286, -16.35598745,   3.77227028, -16.35598745,
        34.34953329,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.264210819206244e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875051,  0.10983753, -0.17315642,  0.10815794,  0.99394955,
        0.01913485,  0.17421048,  0.        , -0.98470844])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330062, -0.05387135,  0.29658897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004966492526609021
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62614753e-01, -9.14944807e-01, -3.06446556e-01, -8.45450285e-02,
       -2.94553272e-01,  9.51887865e-01, -9.61189695e-01,  2.75888330e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048342 , -0.03591381,  0.30486077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004346578472671364
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27712295e-13, -1.31703304e-13,  1.00000000e+00, -1.68201313e-26,
        1.00000000e+00,  1.31703304e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27712295e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05339758, -0.06079195,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83977544e-06,-1.17348388e-05,-4.57954781e-06, 1.55819453e-06,
 -2.35078797e-03, 2.81989220e-02, 1.06344520e-02, 1.19965905e-03,
 -1.39507619e-05, 2.56891596e-05, 1.26177871e-05, 1.96981006e-05,
  5.23365479e-02, 2.11011786e-02, 1.30210709e-02, 6.06006156e-05,
 -2.95307027e-06, 1.79960641e-06,-9.80999890e+00,-6.49641836e-02,
 -9.49918985e-03,-5.23710737e-03]


--- Step 1951 ---
qpos:
[ 0.00985345, 0.00809813,-0.00556885, 0.03350482, 0.00586717,-0.02343481,
 -0.01677344, 0.03800433, 0.01299883, 0.00594576,-0.01173179, 0.0340979 ,
  0.81067891,-0.01589876, 1.13605189, 0.04608147, 0.09495781,-0.06336451,
  0.14257506, 0.9423532 ,-0.03267411, 0.02775037, 0.33186256]

qacc:
[ 2.63226066e-01, 1.03142406e+00,-3.89606247e+00, 5.02921582e+00,
  3.09977321e+00, 1.74188463e-01, 6.83144433e-01,-2.85213884e+00,
  1.64874202e+00,-1.72169813e+00, 6.60981609e+00,-9.59108776e+00,
  7.60330681e-01, 6.38774023e-01, 4.83844904e+00, 7.76002894e+00,
 -1.71034159e-02,-1.30958169e-02, 5.98198195e-03, 1.29449794e-01,
 -3.60763504e-02, 3.82525254e-01]

qfrc_actuator:
[-4.67817792e-05, 2.60450772e-04, 5.39352952e-05, 4.69614817e-05,
 -2.30684674e-03, 2.64156886e-02, 9.98286003e-03, 1.14333705e-03,
 -5.35305643e-05, 1.26521961e-05,-6.40702024e-05, 4.14496997e-05,
  5.00309008e-02, 2.01107184e-02, 2.39875408e-03,-1.90577840e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71251472, -0.66871515, -0.24596193, -0.66871515,  0.93133056,
       -0.59491105, -0.24596193, -0.59491105,  2.32994403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8162314989560066e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99175338e-01,  5.86059709e-03, -4.01783098e-02,  5.85586465e-03,
        9.99982827e-01,  2.35472929e-04,  4.01789998e-02, -2.71050543e-20,
       -9.99192498e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13161286, -0.08291427,  0.17468525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037994893536986854
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85545423e-01, -1.69369444e-01,  3.76973850e-03, -1.69368205e-01,
        9.85552632e-01,  6.47838069e-04, -3.82499967e-03, -1.08420217e-19,
       -9.99992685e-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([ 0.13109269, -0.08203316,  0.13159072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29284094,   6.23987141,   3.77485546,   6.23987141,
        14.7032074 , -12.24940513,   3.77485546, -12.24940513,
        27.54122229,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.422691876422957e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875611,  0.10980087, -0.17314805,  0.10812202,  0.99395361,
        0.01912746,  0.17420134,  0.        , -0.98471006])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330106, -0.05387228,  0.29658925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004960338531366279
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26482982, -0.91460818, -0.30554385, -0.08498109, -0.29348809,
        0.95217801, -0.96054327,  0.27813058,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483386, -0.03591552,  0.30486228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004339608262451385
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21431752e-07,  4.21431918e-07,  1.00000000e+00,  1.77604791e-13,
        1.00000000e+00, -4.21431918e-07, -1.00000000e+00,  0.00000000e+00,
       -4.21431752e-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([ 0.05381754, -0.0613764 ,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60202306e-06,-1.75005393e-05,-2.52986852e-05,-1.75203036e-07,
 -2.37866363e-03, 2.82295293e-02, 1.06485847e-02, 1.23793179e-03,
  9.55348449e-06, 1.05523364e-05, 3.11654480e-05,-4.93039112e-06,
  5.21113280e-02, 2.10012308e-02, 1.28767186e-02, 3.42398435e-04,
 -3.45191217e-06, 2.08763811e-06,-9.80999869e+00,-6.49631319e-02,
 -9.49973693e-03,-5.23639785e-03]


--- Step 1952 ---
qpos:
[ 0.00985223, 0.00809833,-0.00556872, 0.03350457, 0.00586382,-0.02344253,
 -0.01677222, 0.03800616, 0.01299827, 0.00594506,-0.0117316 , 0.03409749,
  0.81063285,-0.01591966, 1.13601192, 0.04609606, 0.0949591 ,-0.0633615 ,
  0.14257492, 0.94236345,-0.03269282, 0.02773866, 0.3318326 ]

qacc:
[ 2.41768018e-01,-1.19735231e-01, 1.71044469e+00,-7.19204560e+00,
 -4.34714949e+01, 1.23822372e+00,-2.63724915e+00, 3.98745261e+01,
  4.14967149e+00,-1.51443505e+00, 8.77178568e+00,-2.19910647e+01,
 -2.51953231e+01,-1.13655838e+01,-9.85520860e+01, 2.61761845e+02,
  1.66368058e-01, 6.68757558e-01,-1.35064971e-01,-1.43055570e+01,
  1.98555529e-01,-2.71090994e+01]

qfrc_actuator:
[-4.53700320e-05, 2.54339782e-04, 4.05920619e-05, 2.94304391e-05,
 -2.31184827e-03, 2.64040607e-02, 9.98535687e-03, 1.17827217e-03,
 -2.95105074e-05, 8.61589660e-06,-6.80231548e-05, 1.76823150e-06,
  5.00272829e-02, 2.00863998e-02, 2.40212451e-03,-1.75301833e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71253729, -0.49847971,  0.50914375, -0.49847971,  0.39990092,
       -0.30608819,  0.50914375, -0.30608819,  0.41286013,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8930490382425672e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99174560e-01,  5.86239514e-03, -4.01974106e-02,  5.85765674e-03,
        9.99982816e-01,  2.35657154e-04,  4.01981014e-02,  0.00000000e+00,
       -9.99191730e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13161392, -0.08291267,  0.17468464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24843537,  0.23615364,  0.07714658,  0.23615364,  0.34437934,
       -0.29369438,  0.07714658, -0.29369438,  1.14746414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003799258598369476
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85539261e-01, -1.69405218e-01,  3.77327012e-03, -1.69403976e-01,
        9.85546484e-01,  6.48585994e-04, -3.82860695e-03,  0.00000000e+00,
       -9.99992671e-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([ 0.13109449, -0.08203361,  0.13159081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29373632,  7.2401481 ,  0.88252192,  7.2401481 ,  7.74485354,
       -3.7009341 ,  0.88252192, -3.7009341 , 37.6559407 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.580296274462417e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78761925e-01,  1.09762834e-01, -1.73139294e-01,  1.08084752e-01,
        9.93957806e-01,  1.91197851e-02,  1.74191795e-01,  3.46944695e-18,
       -9.84711744e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330148, -0.05387332,  0.29658952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.35743402,  1.29986916, -0.3911103 ,  1.29986916,  2.17989797,
        2.7334886 , -0.3911103 ,  2.7334886 , 10.44228191,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004955546190342338
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26675145, -0.91431465, -0.30474972, -0.08535243, -0.29255317,
        0.95243247, -0.95997845,  0.28007387,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483355, -0.03591744,  0.30486362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.29193578, -6.54666046,  7.94135876, -6.54666046, 65.48964565,
       45.50363171,  7.94135876, 45.50363171, 47.80400836,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004340346623153588
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91830828e-07, -9.91830872e-07,  1.00000000e+00, -9.83728436e-13,
        1.00000000e+00,  9.91830872e-07, -1.00000000e+00,  2.01948392e-28,
       -9.91830828e-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([ 0.08726912, -0.10792038,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45099064e-06,-2.11413827e-05,-2.00870831e-05,-1.91612223e-05,
 -2.40205082e-03, 2.81950259e-02, 1.06470436e-02, 1.27782011e-03,
  2.42919667e-05, 8.11688619e-06, 1.89994707e-06,-3.82469143e-05,
  5.19850980e-02, 2.09127211e-02, 1.23044361e-02, 2.94034272e-04,
 -3.70060802e-06, 2.22976300e-06,-9.80999862e+00,-6.49620214e-02,
 -9.50023813e-03,-5.23567287e-03]


--- Step 1953 ---
qpos:
[ 0.00985139, 0.00809837,-0.00556898, 0.03350344, 0.00586055,-0.02345106,
 -0.01677166, 0.0380077 , 0.012998  , 0.00594456,-0.01173151, 0.03409661,
  0.81059705,-0.01593549, 1.13596563, 0.04610454, 0.09496025,-0.06335914,
  0.14257491, 0.94237038,-0.03270554, 0.02772976, 0.33181241]

qacc:
[ 3.24874568e+00,-9.35899149e-01, 6.73297276e+00,-2.11990821e+01,
  6.85452886e-01, 1.42314530e-01,-8.35421411e-01,-2.61224970e+00,
  2.56331381e+00,-4.64131337e-01, 4.02873940e+00,-1.22507574e+01,
  4.30244959e+00, 9.89554914e-01, 9.02505837e+00,-4.54275826e+01,
 -3.55737208e-02,-1.61687060e-01, 3.19838265e-02, 3.09848622e+00,
  2.24642605e-01, 5.28354033e+00]

qfrc_actuator:
[-2.63014351e-05, 2.32892328e-04, 1.49308851e-05,-1.62855816e-05,
 -2.31041777e-03, 2.63957523e-02, 9.96546638e-03, 1.19672432e-03,
 -1.51586740e-05, 2.41663885e-05,-7.04850557e-05,-2.14231687e-05,
  5.00357187e-02, 2.01009975e-02, 2.40238395e-03,-1.76411553e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71249434, -0.68559866, -0.19391408, -0.68559866,  0.91197201,
       -0.70526916, -0.19391408, -0.70526916,  3.20602964,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.743957959619614e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99174318e-01,  5.85904738e-03, -4.02039075e-02,  5.85431015e-03,
        9.99982836e-01,  2.35560642e-04,  4.02045976e-02,  0.00000000e+00,
       -9.99191468e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.131614  , -0.08291169,  0.17468715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24841173, -0.03776876,  0.24552375, -0.03776876,  0.71258136,
        0.07140291,  0.24552375,  0.07140291,  0.2593956 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003798278599487552
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85549721e-01, -1.69345016e-01,  3.74332919e-03, -1.69343795e-01,
        9.85556830e-01,  6.43204048e-04, -3.79818705e-03,  1.08420217e-19,
       -9.99992787e-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([ 0.13109505, -0.08203289,  0.13159048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29128608, -2.31085982,  6.91540162, -2.31085982, 30.60633956,
        7.79098935,  6.91540162,  7.79098935,  9.89473347,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.1301154838776414e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78748765e-01,  1.09818064e-01, -1.73178659e-01,  1.08138347e-01,
        9.93951706e-01,  1.91338724e-02,  1.74232469e-01, -3.46944695e-18,
       -9.84704548e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330018, -0.05387098,  0.2965887 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.361766  , -0.74037988,  1.14291043, -0.74037988,  3.46782151,
        1.36430737,  1.14291043,  1.36430737,  2.2455673 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004977889067584142
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59415446e-01, -9.15417913e-01, -3.07755863e-01, -8.39091238e-02,
       -2.96096151e-01,  9.51465359e-01, -9.62113759e-01,  2.72648335e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048334 , -0.03591248,  0.30486045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.30343197, -5.9177054 ,  8.43454048, -5.9177054 , 17.93706825,
        5.35578799,  8.43454048,  5.35578799, 14.06107301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004349922237225634
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27614123e-13, -3.58914722e-14,  1.00000000e+00, -4.58025875e-27,
        1.00000000e+00,  3.58914722e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27614123e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05340219, -0.06078826,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91034472e-05,-3.82441633e-05,-3.31674047e-05,-4.76898917e-05,
 -2.14296793e-03, 2.78187175e-02, 1.03647813e-02, 1.14834479e-03,
  1.50445802e-05, 1.88734882e-05,-1.86926121e-06,-2.35212822e-05,
  5.53475746e-02, 2.26632238e-02, 1.42721044e-02,-3.96248865e-04,
 -1.02052699e-05, 3.06873693e-06,-9.80999712e+00,-6.49640575e-02,
 -9.50249530e-03,-5.23557216e-03]


--- Step 1954 ---
qpos:
[ 0.00985112, 0.00809811,-0.00556923, 0.03350176, 0.0058576 ,-0.02346066,
 -0.01677185, 0.03800893, 0.01299826, 0.00594375,-0.01173125, 0.03409585,
  0.81057056,-0.01594682, 1.13591804, 0.04610915, 0.0949613 ,-0.06335728,
  0.142575  , 0.94237448,-0.03271332, 0.02772308, 0.33180055]

qacc:
[ 5.09564200e+00,-1.56376295e+00, 7.27509988e+00,-1.65053285e+01,
  2.59229532e+00, 4.76474906e-02,-8.80656467e-01,-2.58871502e+00,
  4.58096252e+00,-6.34341729e-01, 1.12499431e+00, 9.76340514e-01,
  3.88705419e+00, 8.44377422e-01, 9.65833569e+00,-3.68387284e+01,
 -2.43007810e-02,-1.23362092e-01, 2.59672880e-02, 2.53185165e+00,
  1.24430741e-01, 4.49841538e+00]

qfrc_actuator:
[ 3.00687274e-06, 2.20102831e-04, 1.76238429e-05,-4.27340823e-05,
 -2.30830183e-03, 2.63946735e-02, 9.95370109e-03, 1.18960402e-03,
  1.11358365e-05,-1.96779442e-05,-7.19421001e-05,-1.69467374e-05,
  5.00361883e-02, 2.01485428e-02, 2.40454725e-03,-1.89476311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.712468  , -0.66795274, -0.24789069, -0.66795274,  1.09224881,
       -1.02333664, -0.24789069, -1.02333664,  3.46989513,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6458249731738273e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99174016e-01,  5.85578115e-03, -4.02118776e-02,  5.85104469e-03,
        9.99982855e-01,  2.35475993e-04,  4.02125671e-02, -2.71050543e-20,
       -9.99191148e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13161425, -0.08291069,  0.17468898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003797718398501535
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85556908e-01, -1.69303677e-01,  3.72096168e-03, -1.69302471e-01,
        9.85563932e-01,  6.39200030e-04, -3.77546454e-03,  1.08420217e-19,
       -9.99992873e-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([ 0.13109578, -0.08203239,  0.13159023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28980139,  7.2889264 ,  0.11294332,  7.2889264 ,  7.2958124 ,
       -0.38792749,  0.11294332, -0.38792749, 32.3251463 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.822454538403383e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873956,  0.1098553 , -0.17320705,  0.10817445,  0.99394759,
        0.01914358,  0.17426176,  0.        , -0.98469937])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329933, -0.05386919,  0.29658816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004991217213056469
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25462789, -0.91610024, -0.3097176 , -0.08294107, -0.29840538,
        0.95082859, -0.9634757 ,  0.26779579,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483332, -0.03590885,  0.3048588 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043617531977510615
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27267979e-13,  2.78398703e-14,  1.00000000e+00,  3.54312402e-27,
        1.00000000e+00, -2.78398703e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27267979e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0534061 , -0.06078566,  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:
[ 2.98429226e-05,-4.30573492e-05,-1.09369122e-05,-3.01606820e-05,
 -2.14494953e-03, 2.78588756e-02, 1.03858882e-02, 1.15597372e-03,
  2.67281250e-05,-3.46608947e-05, 1.40328424e-06, 4.76497345e-06,
  5.48344338e-02, 2.24569213e-02, 1.45911859e-02,-2.20813108e-04,
 -4.75319579e-06, 1.27982192e-06,-9.80999868e+00,-6.49661114e-02,
 -9.50188624e-03,-5.23544897e-03]


--- Step 1955 ---
qpos:
[ 0.00985087, 0.0080975 ,-0.00556919, 0.0335001 , 0.00585509,-0.02347143,
 -0.01677282, 0.03800982, 0.01299883, 0.00594224,-0.01173082, 0.03409554,
  0.81055254,-0.01595411, 1.13587006, 0.04611022, 0.09496228,-0.06335579,
  0.14257517, 0.94237619,-0.03271702, 0.02771811, 0.33179575]

qacc:
[ 9.01064019e-02,-1.20468419e+00, 3.52933319e+00,-3.28984502e+00,
  3.85733848e+00,-4.91225965e-02,-6.90148547e-01,-2.89289063e+00,
  2.77584456e+00,-4.86920929e-01,-1.51102099e+00, 9.58555432e+00,
  3.54883686e+00, 7.06014551e-01, 1.00137807e+01,-3.61290688e+01,
 -1.64682465e-02,-9.47665915e-02, 2.06496722e-02, 2.07220122e+00,
  4.72845703e-02, 3.81111410e+00]

qfrc_actuator:
[ 2.59645411e-06, 2.12721237e-04, 3.70879218e-05,-3.98501546e-05,
 -2.28828048e-03, 2.64162550e-02, 9.96492337e-03, 1.13177381e-03,
  2.64990183e-05,-8.09744060e-05,-7.30174326e-05, 3.72250597e-06,
  5.00262695e-02, 2.01966523e-02, 2.42893176e-03,-2.06143684e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71245369, -0.62911045, -0.33438047, -0.62911045,  1.42868848,
       -1.34753919, -0.33438047, -1.34753919,  3.24774224,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.589959557318535e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99173640e-01,  5.85282192e-03, -4.02216607e-02,  5.84808555e-03,
        9.99982872e-01,  2.35414249e-04,  4.02223496e-02,  0.00000000e+00,
       -9.99190754e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13161466, -0.08290963,  0.17469024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003797447274714231
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85561328e-01, -1.69278305e-01,  3.70472040e-03, -1.69277109e-01,
        9.85568291e-01,  6.36311859e-04, -3.75896875e-03,  0.00000000e+00,
       -9.99992935e-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([ 0.13109669, -0.08203209,  0.13159007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28895343,  7.27959431,  0.36925434,  7.27959431,  7.36418424,
       -1.48312343,  0.36925434, -1.48312343, 36.52770797,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6305882058635147e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873365,  0.10987716, -0.17322659,  0.10819558,  0.99394517,
        0.01914959,  0.17428183,  0.        , -0.98469581])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329883, -0.05386788,  0.29658783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004998014599382056
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.2517841 , -0.91648862, -0.31089126, -0.08235872, -0.29978395,
        0.95044549, -0.96427268,  0.26491167,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483327, -0.0359063 ,  0.30485821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043689386883664916
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.81175992e-13, -3.57352492e-14,  1.00000000e+00, -1.36214191e-26,
        1.00000000e+00,  3.57352492e-14, -1.00000000e+00,  0.00000000e+00,
       -3.81175992e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05340902, -0.06078363,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.27947495e-07,-3.49836021e-05, 8.18822778e-06, 7.71507590e-08,
 -2.14031176e-03, 2.79338649e-02, 1.04348826e-02, 1.11394597e-03,
  1.61080931e-05,-8.01465537e-05,-7.88977092e-06, 1.93270756e-05,
  5.43591026e-02, 2.22801328e-02, 1.46815011e-02,-1.93804812e-04,
 -1.77377754e-06, 3.51443900e-07,-9.80999949e+00,-6.49674357e-02,
 -9.50173135e-03,-5.23524036e-03]


--- Step 1956 ---
qpos:
[ 0.00985027, 0.00809667,-0.00556897, 0.03349848, 0.00585311,-0.02348329,
 -0.0167745 , 0.0380104 , 0.01299957, 0.00594039,-0.01172997, 0.03409577,
  0.81054198,-0.01595797, 1.13582569, 0.04610972, 0.09496322,-0.06335459,
  0.14257541, 0.94237591,-0.03271741, 0.02771447, 0.33179681]

qacc:
[-3.04113060e+00,-7.09087856e-01, 1.96585048e+00,-1.45290426e+00,
  4.40342698e+00,-1.33158235e-01,-2.89929551e-01,-3.27188414e+00,
  1.59824675e+00,-4.97932709e-01,-1.14748386e+00, 1.00110996e+01,
  3.13257466e+00, 5.44682837e-01, 9.99286894e+00,-2.73887874e+01,
 -1.19103938e-02,-7.23833705e-02, 1.63174658e-02, 1.66497627e+00,
  1.16176822e-02, 3.15648654e+00]

qfrc_actuator:
[-1.53056945e-05, 2.08741433e-04, 4.85781609e-05,-3.74734182e-05,
 -2.29329396e-03, 2.64697193e-02, 9.97251523e-03, 1.07916333e-03,
  3.53015979e-05,-6.34777187e-05,-3.84391407e-05, 3.37275758e-05,
  5.00098582e-02, 2.01905161e-02, 2.45596318e-03,-2.08873041e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71244842, -0.60221617, -0.38068155, -0.60221617,  1.53041172,
       -1.29397058, -0.38068155, -1.29397058,  2.75943496,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5688991403448532e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99173182e-01,  5.85031925e-03, -4.02333943e-02,  5.84558214e-03,
        9.99982887e-01,  2.35382229e-04,  4.02340828e-02,  2.71050543e-20,
       -9.99190281e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13161523, -0.08290847,  0.17469104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003797352006562077
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85563414e-01, -1.69266401e-01,  3.69344394e-03, -1.69265213e-01,
        9.85570335e-01,  6.34329120e-04, -3.74751939e-03,  0.00000000e+00,
       -9.99992978e-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([ 0.13109779, -0.08203195,  0.13158996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28854317,  7.25838993,  0.66229697,  7.25838993,  7.5695317 ,
       -3.07947101,  0.66229697, -3.07947101, 41.03775619,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5325318607156668e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78730474e-01,  1.09885929e-01, -1.73238975e-01,  1.08203968e-01,
        9.93944205e-01,  1.91525093e-02,  1.74294467e-01,  3.46944695e-18,
       -9.84693576e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132986 , -0.05386702,  0.29658769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004999977421851342
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50494392e-01, -9.16655850e-01, -3.11439579e-01, -8.20968778e-02,
       -3.00424223e-01,  9.50265957e-01, -9.64630842e-01,  2.63604511e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048332 , -0.03590465,  0.30485839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004372396082222285
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53916389e-13, -3.57069922e-14,  1.00000000e+00, -9.06659052e-27,
        1.00000000e+00,  3.57069922e-14, -1.00000000e+00,  0.00000000e+00,
       -2.53916389e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05341116, -0.06078204,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79002833e-05,-2.18219232e-05, 5.28565857e-06, 1.16744198e-06,
 -2.16819531e-03, 2.80462597e-02, 1.04816894e-02, 1.07784894e-03,
  9.22760076e-06,-2.80655068e-05, 1.77332515e-05, 2.66762037e-05,
  5.39194262e-02, 2.20727351e-02, 1.47294539e-02,-4.36888649e-05,
 -4.08017931e-07, 8.99794808e-10,-9.80999984e+00,-6.49681744e-02,
 -9.50186801e-03,-5.23495019e-03]


--- Step 1957 ---
qpos:
[ 0.00984946, 0.00809597,-0.00556902, 0.03349655, 0.00585159,-0.02349601,
 -0.01677677, 0.03801068, 0.01300042, 0.00593871,-0.01172921, 0.03409598,
  0.81053796,-0.01595895, 1.13578654, 0.04610851, 0.09496412,-0.06335362,
  0.1425757 , 0.94237406,-0.03271518, 0.02771188, 0.33180249]

qacc:
[-1.85374487e+00, 2.60734893e-01, 6.36341280e-01,-5.76787741e+00,
  3.87657852e+00,-1.08176672e-01,-3.38156936e-02,-3.45827685e+00,
  8.68671582e-01, 3.97369255e-01,-1.02199744e+00, 6.85931372e-01,
  2.79692274e+00, 3.19483617e-01, 9.73780660e+00,-2.30863888e+01,
 -9.79821102e-03,-5.81776664e-02, 1.24673918e-02, 1.31946316e+00,
  5.26246097e-04, 2.48796761e+00]

qfrc_actuator:
[-2.55974617e-05, 2.24565042e-04, 3.75222821e-05,-5.31760550e-05,
 -2.33132850e-03, 2.64716924e-02, 9.96041361e-03, 1.06531046e-03,
  4.01764219e-05,-3.42811839e-05,-3.60274145e-05, 3.35658560e-05,
  5.00106403e-02, 2.01685615e-02, 2.42565121e-03,-2.10396705e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7124502 , -0.59771496, -0.38771395, -0.59771496,  1.45341511,
       -1.14230044, -0.38771395, -1.14230044,  2.47346516,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5760319556933915e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99172649e-01,  5.84833771e-03, -4.02469249e-02,  5.84359901e-03,
        9.99982898e-01,  2.35381634e-04,  4.02476132e-02, -2.71050543e-20,
       -9.99189737e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13161593, -0.0829072 ,  0.17469147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003797384814498769
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85563577e-01, -1.69265612e-01,  3.68611391e-03, -1.69264429e-01,
        9.85570471e-01,  6.33067190e-04, -3.74008152e-03, -1.08420217e-19,
       -9.99993006e-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([ 0.13109907, -0.08203194,  0.13158991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28844826,  7.2205589 ,  0.99247531,  7.2205589 ,  8.01702587,
       -5.30062313,  0.99247531, -5.30062313, 45.85208935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5092982646592835e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872952,  0.10988383, -0.17324567,  0.10820177,  0.99394444,
        0.01915288,  0.17430116,  0.        , -0.98469239])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329859, -0.05386653,  0.29658768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004998793231793906
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.2503432 , -0.9166668 , -0.31152891, -0.08207339, -0.30052325,
        0.95023667, -0.96467209,  0.26345352,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048331 , -0.03590373,  0.30485906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004372888760850041
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26943891e-13, -3.57029692e-14,  1.00000000e+00, -4.53227382e-27,
        1.00000000e+00,  3.57029692e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26943891e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05341267, -0.06078081,  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:
[-1.08069434e-05, 4.78903126e-06,-1.48600994e-05,-1.64263194e-05,
 -2.23232885e-03, 2.81032875e-02, 1.05050637e-02, 1.07994500e-03,
  5.12054288e-06, 1.83705260e-05,-2.66679929e-07,-2.30197188e-07,
  5.35471236e-02, 2.18788081e-02, 1.45187344e-02, 1.95617175e-05,
 -6.08269074e-08, 2.14720869e-08,-9.80999990e+00,-6.49684479e-02,
 -9.50218409e-03,-5.23458909e-03]


--- Step 1958 ---
qpos:
[ 0.00984853, 0.00809522,-0.00556916, 0.03349445, 0.00585053,-0.0235093 ,
 -0.0167795 , 0.03801071, 0.01300097, 0.00593764,-0.01172947, 0.03409584,
  0.81054007,-0.01595706, 1.13575484, 0.04610797, 0.09496497,-0.06335285,
  0.14257604, 0.94237095,-0.03271082, 0.02770996, 0.33181193]

qacc:
[-1.02940414e+00,-1.28484887e-01, 1.08061811e+00,-3.75787515e+00,
  3.81907462e+00, 3.63314081e-03,-4.54108277e-02,-3.18285199e+00,
 -2.62359903e+00, 2.98725605e+00,-8.00586660e+00, 3.25154104e+00,
  2.46551353e+00, 6.20294964e-01, 8.94762174e+00,-1.54477572e+01,
 -1.20712835e-02,-4.72671061e-02, 1.09987799e-02, 1.04087162e+00,
 -7.67784952e-02, 2.02730732e+00]

qfrc_actuator:
[-3.13215490e-05, 2.16518616e-04, 3.10696022e-05,-6.16349667e-05,
 -2.35381684e-03, 2.64429729e-02, 9.95440997e-03, 1.09256685e-03,
  2.49503126e-05, 1.56587630e-06,-8.80954016e-05, 1.56450916e-05,
  5.00162270e-02, 2.01540530e-02, 2.41391834e-03,-2.04119217e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71245755, -0.61698623, -0.3562636 , -0.61698623,  1.36182579,
       -1.12459218, -0.3562636 , -1.12459218,  2.66005446,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6052111086016418e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99172054e-01,  5.84681506e-03, -4.02618969e-02,  5.84207407e-03,
        9.99982907e-01,  2.35407889e-04,  4.02625851e-02,  2.71050543e-20,
       -9.99189133e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13161674, -0.08290586,  0.17469161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037974836770746464
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85562222e-01, -1.69273598e-01,  3.68193845e-03, -1.69272416e-01,
        9.85569099e-01,  6.32380791e-04, -3.73585013e-03,  0.00000000e+00,
       -9.99993022e-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([ 0.13110048, -0.08203204,  0.1315899 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28859453,   6.33900344,   3.59731087,   6.33900344,
        18.5271969 , -19.80410971,   3.59731087, -19.80410971,
        42.18641796,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.5450127154597007e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78730330e-01,  1.09873179e-01, -1.73247871e-01,  1.08191245e-01,
        9.93945614e-01,  1.91512434e-02,  1.74303169e-01,  3.46944695e-18,
       -9.84692036e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329874, -0.05386637,  0.29658777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004995603687294191
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25104737, -0.91656157, -0.31127175, -0.08222901, -0.30021408,
        0.95032094, -0.96447582,  0.26417114,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483297, -0.03590343,  0.30486003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004371063134843145
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.77805741e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.77805741e-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([ 0.0534137 , -0.06077985,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.02636750e-06,-9.11255124e-06,-7.84761426e-06,-9.08093513e-06,
 -2.27779804e-03, 2.81179214e-02, 1.05284977e-02, 1.12188909e-03,
 -1.50786456e-05, 4.61111108e-05,-4.83031942e-05,-1.71456844e-05,
  5.32257585e-02, 2.17203093e-02, 1.42474586e-02, 1.17827738e-04,
 -2.78092159e-07, 2.37615952e-07,-9.80999980e+00,-6.49683527e-02,
 -9.50259574e-03,-5.23416959e-03]


--- Step 1959 ---
qpos:
[ 0.00984788, 0.00809429,-0.00556963, 0.033493  , 0.00584993,-0.02352298,
 -0.01678264, 0.0380105 , 0.013001  , 0.00593709,-0.01173014, 0.03409581,
  0.81054791,-0.01595234, 1.13572987, 0.04610799, 0.09496576,-0.06335222,
  0.14257641, 0.94236678,-0.03270472, 0.02770845, 0.33182448]

qacc:
[ 2.48229572e+00, 2.00220234e+00,-1.02038287e+01, 2.19710718e+01,
  3.96567132e+00, 1.42918387e-01,-2.81815830e-01,-2.83466030e+00,
 -4.69868502e+00, 2.01942686e+00,-6.62869922e+00, 8.63723599e+00,
  2.21769370e+00, 7.98163228e-01, 8.18377943e+00,-1.43087884e+01,
 -1.30200081e-02,-3.87423003e-02, 8.90875427e-03, 8.29685270e-01,
 -1.31930875e-01, 1.66811751e+00]

qfrc_actuator:
[-1.65613767e-05, 1.94260917e-04, 9.55849114e-06,-3.02671085e-05,
 -2.34940200e-03, 2.64669036e-02, 9.95217441e-03, 1.12681439e-03,
 -1.98335794e-06, 4.08803190e-05,-1.00863217e-04, 2.29044700e-05,
  5.00244983e-02, 2.01428692e-02, 2.41826852e-03,-2.02145935e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71246924, -0.62934823, -0.3339659 , -0.62934823,  1.35912221,
       -1.21859719, -0.3339659 , -1.21859719,  3.00887732,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6505510057742945e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99171416e-01,  5.84574473e-03, -4.02778982e-02,  5.84100084e-03,
        9.99982913e-01,  2.35458334e-04,  4.02785864e-02, -2.71050543e-20,
       -9.99188488e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13161762, -0.08290447,  0.17469152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037976528472950447
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85559627e-01, -1.69288746e-01,  3.67996952e-03, -1.69287566e-01,
        9.85566497e-01,  6.32100856e-04, -3.73386223e-03, -1.08420217e-19,
       -9.99993029e-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([ 0.13110199, -0.08203222,  0.13158992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28892001,   6.31992484,   3.63137784,   6.31992484,
        16.18376943, -15.48028936,   3.63137784, -15.48028936,
        34.23028207,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.6227381925073722e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873251,  0.10985554, -0.17324673,  0.10817391,  0.99394756,
        0.01914801,  0.17430168,  0.        , -0.9846923 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329901, -0.05386651,  0.29658794])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004991310753176863
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25227803, -0.91638479, -0.3107969 , -0.08249256, -0.29964928,
        0.95047635, -0.96413213,  0.26542273,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483281, -0.03590368,  0.30486118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043674486062154905
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.97193793e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.97193793e-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([ 0.05341435, -0.06077911,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45889119e-05,-2.93294461e-05,-2.46579180e-05, 3.05362078e-05,
 -2.29602956e-03, 2.81708500e-02, 1.05494720e-02, 1.16887661e-03,
 -2.73471820e-05, 5.44261131e-05,-9.76881898e-06, 7.23447162e-06,
  5.29278050e-02, 2.15655301e-02, 1.38794538e-02, 1.04597748e-04,
 -7.76056539e-07, 5.53656534e-07,-9.80999962e+00,-6.49679733e-02,
 -9.50306531e-03,-5.23368545e-03]


--- Step 1960 ---
qpos:
[ 0.00984707, 0.00809353,-0.0055708 , 0.03349191, 0.00584973,-0.02353701,
 -0.01678619, 0.03801005, 0.0130007 , 0.00593685,-0.01173033, 0.03409548,
  0.81056093,-0.01594521, 1.13570546, 0.04610556, 0.09496652,-0.06335174,
  0.14257679, 0.94236182,-0.03269719, 0.02770726, 0.33183942]

qacc:
[-1.45683120e+00, 2.91795417e+00,-1.16338513e+01, 1.89775512e+01,
  3.35107092e+00, 2.06477779e-01,-3.68861825e-01,-2.93421109e+00,
 -2.83263744e+00,-1.50010378e+00, 7.19195828e+00,-1.32554568e+01,
  2.15410771e+00, 4.16310638e-01, 8.12880896e+00,-2.74061556e+01,
 -9.98847642e-03,-3.40957976e-02, 4.76134483e-03, 6.79243583e-01,
 -1.12786106e-01, 1.27958805e+00]

qfrc_actuator:
[-2.53698140e-05, 2.16893264e-04,-2.07115273e-05,-1.12484105e-05,
 -2.32904397e-03, 2.64869709e-02, 9.97008976e-03, 1.12983475e-03,
 -1.78331800e-05, 6.43809130e-05,-7.25125412e-05, 9.45929801e-06,
  5.00341944e-02, 2.01325723e-02, 2.41076220e-03,-2.22299729e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7124844 , -0.60096351, -0.38272298, -0.60096351,  1.5569952 ,
       -1.32607709, -0.38272298, -1.32607709,  2.79473185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7075742877573433e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99170742e-01,  5.84514430e-03, -4.02947061e-02,  5.84039694e-03,
        9.99982917e-01,  2.35532395e-04,  4.02953944e-02,  2.71050543e-20,
       -9.99187811e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13161855, -0.08290304,  0.17469127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003797852343232573
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85556011e-01, -1.69309805e-01,  3.67957194e-03, -1.69308625e-01,
        9.85562880e-01,  6.32113508e-04, -3.73347253e-03,  0.00000000e+00,
       -9.99993031e-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([ 0.13110358, -0.08203248,  0.13158996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28938522,   6.31221584,   3.64569171,   6.31221584,
        17.51241993, -17.70034521,   3.64569171, -17.70034521,
        37.93607958,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.7299792118658037e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873578,  0.10983216, -0.1732431 ,  0.10815096,  0.99395015,
        0.01914348,  0.17429757,  0.        , -0.98469303])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329934, -0.05386693,  0.29658814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004986369214415199
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25385919, -0.91615915, -0.31017403, -0.0828255 , -0.29891113,
        0.95067979, -0.96368846,  0.26702912,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483261, -0.03590443,  0.30486247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004362482580976962
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54493400e-13, -9.94114844e-14,  1.00000000e+00, -2.52995667e-26,
        1.00000000e+00,  9.94114844e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54493400e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05341469, -0.06077855,  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:
[-8.39957628e-06, 2.49578265e-06,-3.82891684e-05, 1.75089544e-05,
 -2.29919622e-03, 2.82111287e-02, 1.05882698e-02, 1.18372713e-03,
 -1.66104909e-05, 5.22463629e-05, 3.86554215e-05,-1.13060904e-05,
  5.26504974e-02, 2.14136160e-02, 1.35357540e-02,-1.25024368e-04,
 -1.39843784e-06, 9.18270838e-07,-9.80999939e+00,-6.49673716e-02,
 -9.50357719e-03,-5.23313279e-03]


--- Step 1961 ---
qpos:
[ 0.00984582, 0.00809295,-0.0055718 , 0.0334903 , 0.0058499 ,-0.02355127,
 -0.01679011, 0.03800936, 0.01300021, 0.00593687,-0.01172985, 0.03409465,
  0.81057865,-0.01593594, 1.13568257, 0.04610123, 0.09496724,-0.06335137,
  0.14257719, 0.94235622,-0.03268851, 0.02770628, 0.33185625]

qacc:
[-3.89580635e+00,-1.27730087e+00, 7.11361050e+00,-1.64912864e+01,
  3.09374497e+00, 2.08835691e-01,-2.49062323e-01,-2.97399389e+00,
 -1.63590956e+00,-2.60010492e+00, 1.19393373e+01,-2.20849296e+01,
  1.97841157e+00, 3.23596306e-01, 7.96801519e+00,-2.47321765e+01,
 -9.51144167e-03,-2.83248160e-02, 2.64804090e-03, 5.39924501e-01,
 -1.18904626e-01, 1.01871072e+00]

qfrc_actuator:
[-4.79859728e-05, 2.48431986e-04,-2.48451718e-06,-3.51275562e-05,
 -2.31698820e-03, 2.64870726e-02, 1.00002652e-02, 1.14972719e-03,
 -2.70286506e-05, 7.83909834e-05,-3.79539688e-05,-1.60541640e-05,
  5.00339385e-02, 2.01398494e-02, 2.44971413e-03,-2.30597990e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71250256, -0.58623089, -0.4049608 , -0.58623089,  1.61410528,
       -1.30518153, -0.4049608 , -1.30518153,  2.60191439,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.773465794434525e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99170034e-01,  5.84494119e-03, -4.03122722e-02,  5.84018985e-03,
        9.99982918e-01,  2.35626885e-04,  4.03129608e-02,  2.71050543e-20,
       -9.99187102e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13161952, -0.08290161,  0.17469088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037979484067503987
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85551603e-01, -1.69335441e-01,  3.68064074e-03, -1.69334260e-01,
        9.85558475e-01,  6.32395682e-04, -3.73457368e-03,  1.08420217e-19,
       -9.99993026e-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([ 0.13110523, -0.08203279,  0.13159002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28998106,   6.29931892,   3.66911502,   6.29931892,
        17.3200408 , -17.22010476,   3.66911502, -17.22010476,
        36.85431225,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.861453618102888e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873989,  0.1098044 , -0.17323747,  0.10812375,  0.99395321,
        0.01913796,  0.17429137,  0.        , -0.98469412])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329972, -0.0538676 ,  0.29658838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004980625291508254
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55894299e-01, -9.15866590e-01, -3.09364667e-01, -8.32485381e-02,
       -2.97953315e-01,  9.50943480e-01, -9.63113591e-01,  2.69095172e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483228, -0.03590555,  0.30486386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043565290515534816
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.76921897e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.76921897e-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([ 0.0534148 , -0.06077812,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28499540e-05, 2.58188974e-05, 1.46586452e-05,-2.47489562e-05,
 -2.30703161e-03, 2.82288431e-02, 1.06395397e-02, 1.21589192e-03,
 -9.65149086e-06, 5.07315395e-05, 4.97267623e-05,-2.21548123e-05,
  5.23917865e-02, 2.13003065e-02, 1.35477559e-02,-8.57622590e-05,
 -2.01400037e-06, 1.26291274e-06,-9.80999916e+00,-6.49665834e-02,
 -9.50410924e-03,-5.23252203e-03]


--- Step 1962 ---
qpos:
[ 0.00984465, 0.00809238,-0.00557226, 0.03348876, 0.0058503 ,-0.02356558,
 -0.0167943 , 0.03800847, 0.01299996, 0.00593698,-0.01172885, 0.03409389,
  0.81060066,-0.01592484, 1.1356601 , 0.04609447, 0.09496792,-0.0633511 ,
  0.14257759, 0.94235019,-0.03267892, 0.02770542, 0.33187439]

qacc:
[ 7.51427641e-01,-1.36747530e+00, 4.59413791e+00,-4.27342291e+00,
  1.95112125e+00, 2.60044698e-01,-9.63520575e-02,-3.17685178e+00,
  2.11295918e+00,-1.14097022e+00, 3.90570579e+00,-3.40582819e+00,
  1.88150152e+00, 1.01087324e-01, 7.89947508e+00,-2.68664774e+01,
 -9.27751331e-03,-2.65366800e-02, 4.66349550e-04, 4.21850054e-01,
 -1.03515451e-01, 7.02406040e-01]

qfrc_actuator:
[-4.30352765e-05, 2.49719988e-04, 2.65042328e-05,-3.07492487e-05,
 -2.32779505e-03, 2.65107396e-02, 1.00201556e-02, 1.14432156e-03,
 -1.44848687e-05, 6.88796659e-05,-1.78191562e-05,-1.29669230e-05,
  5.00328923e-02, 2.01569753e-02, 2.42589476e-03,-2.44165383e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71252326, -0.57272293, -0.42388422, -0.57272293,  1.5980975 ,
       -1.19652644, -0.42388422, -1.19652644,  2.32918671,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8456617745120157e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99169300e-01,  5.84510497e-03, -4.03304442e-02,  5.84034922e-03,
        9.99982917e-01,  2.35739707e-04,  4.03311332e-02,  0.00000000e+00,
       -9.99186369e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13162053, -0.08290019,  0.17469039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037979164956101753
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85546560e-01, -1.69364740e-01,  3.68285242e-03, -1.69363557e-01,
        9.85553441e-01,  6.32888402e-04, -3.73683686e-03,  0.00000000e+00,
       -9.99993018e-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([ 0.13110692, -0.08203315,  0.13159009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29069048,   6.29418567,   3.67931983,   6.29418567,
        17.59409857, -17.62596527,   3.67931983, -17.62596527,
        37.44330104,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.0104858456571225e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874466,  0.10977318, -0.17323034,  0.10809315,  0.99395666,
        0.01913166,  0.17428359,  0.        , -0.9846955 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330013, -0.05386848,  0.29658865])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004974510098655762
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25825396, -0.9155231 , -0.30841911, -0.08373236, -0.29683538,
        0.95125057, -0.96244157,  0.27148889,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483184, -0.035907  ,  0.30486531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043498718893456023
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.77957877e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.77957877e-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([ 0.05341472, -0.0607778 ,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.31229076e-06, 1.77256951e-05, 3.52953943e-05, 5.51848837e-06,
 -2.33620574e-03, 2.82652827e-02, 1.06777567e-02, 1.22206407e-03,
  1.22864625e-05, 2.81706539e-05, 3.59680982e-05, 6.55161085e-06,
  5.21551792e-02, 2.12102042e-02, 1.34480122e-02,-1.25849258e-04,
 -2.58843071e-06, 1.58303178e-06,-9.80999894e+00,-6.49656499e-02,
 -9.50465478e-03,-5.23185781e-03]


--- Step 1963 ---
qpos:
[ 0.00984355, 0.00809206,-0.00557276, 0.03348799, 0.0058508 ,-0.02357968,
 -0.01679866, 0.03800737, 0.0130002 , 0.00593676,-0.01172764, 0.03409325,
  0.81062657,-0.01591215, 1.13563959, 0.04608612, 0.09496856,-0.06335093,
  0.14257799, 0.9423439 ,-0.03266866, 0.02770462, 0.33189335]

qacc:
[ 5.92741263e-01, 2.02407344e+00,-9.95844269e+00, 2.30586333e+01,
  8.37199469e-01, 3.44275567e-01,-4.65282093e-03,-3.25414588e+00,
  4.38925821e+00,-8.07694126e-01, 1.71740835e+00, 2.71189994e-01,
  1.73583961e+00, 2.34094421e-02, 7.63439707e+00,-2.26279924e+01,
 -1.05558014e-02,-2.48488662e-02,-6.10148510e-04, 3.12319984e-01,
 -1.00534918e-01, 4.43667097e-01]

qfrc_actuator:
[-3.96472977e-05, 2.68470184e-04, 2.60033477e-05, 7.95697108e-06,
 -2.35233116e-03, 2.65484392e-02, 1.00339303e-02, 1.14156768e-03,
  1.07511569e-05, 9.81271574e-06,-2.41944200e-05,-1.08587735e-05,
  5.00365671e-02, 2.01439653e-02, 2.36978289e-03,-2.50114528e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71254603, -0.57684307, -0.41829883, -0.57684307,  1.51300315,
       -1.10384755, -0.41829883, -1.10384755,  2.23477549,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9219784024058546e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99168551e-01,  5.84550056e-03, -4.03489284e-02,  5.84074011e-03,
        9.99982915e-01,  2.35863713e-04,  4.03496177e-02,  2.71050543e-20,
       -9.99185623e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13162154, -0.08289881,  0.1746898 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003797750578608264
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85541069e-01, -1.69396623e-01,  3.68595237e-03, -1.69395438e-01,
        9.85547961e-01,  6.33543885e-04, -3.74000304e-03, -2.16840434e-19,
       -9.99993006e-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([ 0.13110864, -0.08203354,  0.13159018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29150145,   6.2885208 ,   3.6905961 ,   6.2885208 ,
        16.85214873, -16.29068248,   3.6905961 , -16.29068248,
        35.04969897,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.172259383677502e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78749880e-01,  1.09739599e-01, -1.73222088e-01,  1.08060263e-01,
        9.93960372e-01,  1.91248294e-02,  1.74274642e-01, -3.46944695e-18,
       -9.84697085e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330055, -0.05386957,  0.29658892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004968160024927488
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.60905998e-01, -9.15130583e-01, -3.07350087e-01, -8.42683636e-02,
       -2.95572189e-01,  9.51596513e-01, -9.61679210e-01,  2.74177126e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483128, -0.0359087 ,  0.30486676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004342754928258058
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27824738e-13, -1.31819261e-13,  1.00000000e+00, -1.68497626e-26,
        1.00000000e+00,  1.31819261e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27824738e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05341451, -0.06077757,  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:
[ 3.51795467e-06, 3.62244548e-05, 7.71522107e-06, 4.08001715e-05,
 -2.37234526e-03, 2.83055425e-02, 1.07053791e-02, 1.23017372e-03,
  2.55945995e-05,-3.56140670e-05, 4.08851341e-06, 4.68597661e-06,
  5.19449890e-02, 2.11057637e-02, 1.33712278e-02,-6.38617749e-05,
 -3.04150057e-06, 1.83279490e-06,-9.80999875e+00,-6.49645993e-02,
 -9.50520118e-03,-5.23114830e-03]


--- Step 1964 ---
qpos:
[ 0.0098425 , 0.00809199,-0.00557325, 0.03348768, 0.00585144,-0.02359324,
 -0.0168029 , 0.03800618, 0.01300075, 0.00593612,-0.01172694, 0.03409236,
  0.81065443,-0.01589853, 1.13563005, 0.0460812 , 0.09496914,-0.06335081,
  0.14257841, 0.94233745,-0.03265825, 0.02770386, 0.33191275]

qacc:
[ 4.28434385e-01, 1.25721579e+00,-5.98678730e+00, 1.38771229e+01,
  1.22240522e+00, 1.73700543e-01, 7.95340820e-01,-2.99239843e+00,
  2.63721589e+00, 3.39172858e-01,-9.72041284e-01,-2.24159527e+00,
  6.03171484e-01, 4.50306819e-01, 5.84492116e+00, 3.06396534e+00,
 -1.46801640e-02,-1.00143999e-02, 4.30147449e-03, 6.90550786e-02,
 -4.64659399e-03, 2.35062008e-01]

qfrc_actuator:
[-3.72148723e-05, 2.79695997e-04, 2.59290494e-05, 3.10321000e-05,
 -2.34956052e-03, 2.65765721e-02, 1.00440402e-02, 1.15822275e-03,
  2.54954487e-05,-4.30908592e-05,-6.41380534e-05,-2.71626466e-05,
  5.00323024e-02, 2.01123699e-02, 2.41130924e-03,-2.21300247e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71257037, -0.65753794, -0.27459132, -0.65753794,  0.97908278,
       -0.63819213, -0.27459132, -0.63819213,  2.24078891,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.00035514657263e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99167804e-01,  5.84599629e-03, -4.03673712e-02,  5.84123109e-03,
        9.99982912e-01,  2.35991535e-04,  4.03680610e-02,  0.00000000e+00,
       -9.99184878e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13162255, -0.08289749,  0.17468916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037974935777708164
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85535282e-01, -1.69430207e-01,  3.68959136e-03, -1.69429019e-01,
        9.85542188e-01,  6.34298799e-04, -3.74371732e-03,  0.00000000e+00,
       -9.99992992e-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([ 0.13111035, -0.08203396,  0.13159027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29239461,   6.2841086 ,   3.69986461,   6.2841086 ,
        14.44795363, -12.15350148,   3.69986461, -12.15350148,
        27.93475081,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.341339633247779e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9787554 ,  0.10970459, -0.1732131 ,  0.10802597,  0.99396424,
        0.01911766,  0.17426493,  0.        , -0.9846988 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330098, -0.05387083,  0.29658919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004961885784658282
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26372841, -0.91470527, -0.30620514, -0.08482975, -0.29422016,
        0.95196555, -0.96085963,  0.27703567,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483061, -0.03591065,  0.30486819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043353821426185334
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.90554127e-08, -5.90554977e-08,  1.00000000e+00,  3.48754678e-15,
        1.00000000e+00,  5.90554977e-08, -1.00000000e+00,  3.94430453e-31,
        5.90554127e-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([ 0.05383433, -0.0613619 ,  0.06199027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54496283e-06, 3.48486620e-05, 9.78259379e-06, 2.56920458e-05,
 -2.37458577e-03, 2.83237619e-02, 1.07241233e-02, 1.25662790e-03,
  1.54594269e-05,-7.17687804e-05,-4.66452907e-05,-1.75991992e-05,
  5.17455835e-02, 2.09940093e-02, 1.33151225e-02, 3.03714424e-04,
 -3.36184343e-06, 2.01213208e-06,-9.80999860e+00,-6.49634637e-02,
 -9.50574611e-03,-5.23039871e-03]


--- Step 1965 ---
qpos:
[ 0.00984217, 0.00809173,-0.00557325, 0.03348768, 0.00584717,-0.02359997,
 -0.01680203, 0.03800787, 0.01300147, 0.00593544,-0.01172689, 0.03409089,
  0.81061131,-0.0159154 , 1.13558383, 0.04608925, 0.09497044,-0.06334794,
  0.14257825, 0.94234775,-0.0326764 , 0.02769255, 0.33188265]

qacc:
[ 6.40291288e+00,-1.00801917e+00, 1.95430451e+00, 2.62230241e+00,
 -4.15117131e+01, 7.22978915e-01,-1.46741485e+00, 3.78312991e+01,
  1.49562799e+00, 5.89041209e-01, 2.43034043e-01,-9.08705652e+00,
 -3.14095140e+01,-1.55759887e+00,-9.23538830e+01, 2.46643921e+02,
  1.78597806e-01, 6.86307269e-01,-1.42709305e-01,-1.42488704e+01,
  3.40603107e-01,-2.66713950e+01]

qfrc_actuator:
[ 1.41134614e-07, 2.50808636e-04, 4.38279764e-05, 4.47196122e-05,
 -2.33049116e-03, 2.65808038e-02, 1.00517293e-02, 1.13324155e-03,
  3.39424101e-05,-2.10618843e-05,-8.80787639e-05,-5.41906339e-05,
  5.00339614e-02, 2.01051598e-02, 2.47858294e-03,-2.05795266e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71259565, -0.50990011,  0.49778956, -0.50990011,  0.41362699,
       -0.30624218,  0.49778956, -0.30624218,  0.39890301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.078602538669708e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99167081e-01,  5.84663750e-03, -4.03851591e-02,  5.84186757e-03,
        9.99982908e-01,  2.36121421e-04,  4.03858494e-02,  0.00000000e+00,
       -9.99184159e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13162353, -0.0828962 ,  0.17468852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24839001, -0.23414886, -0.08289696, -0.23414886,  0.37791165,
       -0.36584387, -0.08289696, -0.36584387,  1.28174421,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003797377401960712
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85529344e-01, -1.69464664e-01,  3.69317309e-03, -1.69463475e-01,
        9.85536264e-01,  6.35047498e-04, -3.74737412e-03, -1.08420217e-19,
       -9.99992979e-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([ 0.13111201, -0.08203438,  0.13159035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29332489,  7.16298485,  1.37267476,  7.16298485,  8.33976979,
       -5.46062998,  1.37267476, -5.46062998, 35.78835578,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.5087608743307754e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97876105,  0.10966872, -0.17320386,  0.10799085,  0.99396819,
        0.01911032,  0.17425494,  0.        , -0.98470057])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330139, -0.05387218,  0.29658945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.35772985,  1.29323075, -0.41350278,  1.29323075,  1.64254129,
        0.89074836, -0.41350278,  0.89074836,  4.14354706,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000495707938469539
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.66261583e-01, -9.14318502e-01, -3.05166259e-01, -8.53240878e-02,
       -2.92995299e-01,  9.52299089e-01, -9.60116956e-01,  2.79598696e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482998, -0.03591275,  0.30486942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.29222473, -6.60283627,  7.89508981, -6.60283627, 70.77568656,
       50.58364188,  7.89508981, 50.58364188, 52.59643069,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043405877969851514
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55777115e-13, -1.27888558e-13,  1.00000000e+00, -3.27109663e-26,
        1.00000000e+00,  1.27888558e-13, -1.00000000e+00,  0.00000000e+00,
       -2.55777115e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0875333 , -0.10823938,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.74400116e-05,-6.26474082e-06, 2.71994966e-05, 1.60213811e-05,
 -2.36278893e-03, 2.83018181e-02, 1.07259707e-02, 1.23635529e-03,
  8.86245183e-06,-2.84693351e-05,-4.51182050e-05,-3.20585853e-05,
  5.16499835e-02, 2.09401834e-02, 1.28344008e-02, 2.87732063e-04,
 -3.50781519e-06, 2.09159816e-06,-9.80999856e+00,-6.49622911e-02,
 -9.50624735e-03,-5.22964409e-03]


--- Step 1966 ---
qpos:
[ 0.00984264, 0.00809154,-0.00557335, 0.0334875 , 0.00584289,-0.02360756,
 -0.01680179, 0.03800925, 0.01300229, 0.00593484,-0.01172647, 0.03408938,
  0.81057826,-0.01592751, 1.13553333, 0.04609196, 0.09497159,-0.0633457 ,
  0.14257823, 0.94235476,-0.03268864, 0.02768396, 0.33186225]

qacc:
[ 6.97307648e+00,-3.70642848e-02, 9.39766542e-01,-3.77026659e+00,
 -1.26712886e-02, 1.77155859e-02,-4.02633983e-01,-3.27823535e+00,
  8.49913210e-01,-1.05306868e+00, 4.15744624e+00,-5.79048192e+00,
  4.33280093e+00, 6.73017487e-01, 9.66359374e+00,-4.32949417e+01,
 -3.59678456e-02,-1.58676736e-01, 3.19728156e-02, 3.05043521e+00,
  1.92569796e-01, 5.24020285e+00]

qfrc_actuator:
[ 4.00006546e-05, 2.51439720e-04, 3.65196454e-05, 3.50014766e-05,
 -2.31438407e-03, 2.65819363e-02, 1.00351694e-02, 1.09810230e-03,
  3.86191360e-05, 2.79561465e-05,-4.88139993e-05,-5.17255608e-05,
  5.00509938e-02, 2.01258810e-02, 2.52791724e-03,-2.02918279e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71255097, -0.65006202, -0.29180174, -0.65006202,  1.14645548,
       -0.96663179, -0.29180174, -0.96663179,  2.86596724,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9381552546791514e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99166870e-01,  5.84236178e-03, -4.03910085e-02,  5.83759396e-03,
        9.99982933e-01,  2.35982912e-04,  4.03916979e-02,  5.42101086e-20,
       -9.99183922e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13162358, -0.08289535,  0.17469092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24837705, -0.03353621,  0.24610258, -0.03353621,  0.69181793,
        0.06042735,  0.24610258,  0.06042735,  0.25661144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037968399267308063
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85539810e-01, -1.69404433e-01,  3.66344607e-03, -1.69403263e-01,
        9.85546619e-01,  6.29705378e-04, -3.71717178e-03,  1.08420217e-19,
       -9.99993091e-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([ 0.13111249, -0.08203365,  0.13159002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29103078,  1.68835024,  7.09285579,  1.68835024, 30.26257435,
       -5.46803887,  7.09285579, -5.46803887,  8.5926172 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.079408856361166e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874805,  0.10972443, -0.17324205,  0.10804494,  0.99396205,
        0.01912436,  0.17429443,  0.        , -0.98469358])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330015, -0.05386998,  0.29658867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36201804, -0.8467596 ,  1.06681362, -0.8467596 ,  4.25459322,
        2.29591726,  1.06681362,  2.29591726,  3.18435134,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004979181882276705
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25968937, -0.91530324, -0.30786588, -0.0840309 , -0.29617598,
        0.95142977, -0.96202923,  0.27294645,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482954, -0.03590783,  0.30486611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.29747971, -5.91359865,  8.43015061, -5.91359865, 17.96007506,
        5.37517248,  8.43015061,  5.37517248, 14.06806628,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043449694566026487
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.83278767e-13, -1.95631871e-13,  1.00000000e+00, -7.49815423e-26,
        1.00000000e+00,  1.95631871e-13, -1.00000000e+00,  0.00000000e+00,
       -3.83278767e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05341883, -0.06077404,  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:
[ 4.09230865e-05, 3.45612011e-06,-4.69621886e-06,-8.73460196e-06,
 -2.10048883e-03, 2.79615924e-02, 1.04536522e-02, 1.05757853e-03,
  4.91945923e-06, 2.24372197e-05, 2.67287986e-05,-9.35449634e-07,
  5.52162487e-02, 2.24860626e-02, 1.47182560e-02,-3.31936093e-04,
 -1.00331697e-05, 3.07935242e-06,-9.80999729e+00,-6.49642737e-02,
 -9.50841264e-03,-5.22955087e-03]


--- Step 1967 ---
qpos:
[ 0.00984359, 0.00809176,-0.00557397, 0.03348719, 0.00583892,-0.02361633,
 -0.0168023 , 0.0380103 , 0.01300281, 0.00593389,-0.01172488, 0.03408859,
  0.81055416,-0.01593548, 1.13548542, 0.04609261, 0.09497264,-0.06334393,
  0.1425783 , 0.94235892,-0.03269601, 0.02767751, 0.33185024]

qacc:
[ 4.13681351e+00, 1.77610898e+00,-4.99250406e+00, 3.29736081e+00,
  2.60473969e+00,-1.32052766e-01,-4.28204657e-01,-3.13417026e+00,
 -2.55093477e+00,-2.20984189e+00, 4.10456313e+00, 6.98312004e+00,
  3.80800783e+00, 5.99274677e-01, 9.92408833e+00,-2.94340112e+01,
 -2.45526888e-02,-1.17610227e-01, 2.61619461e-02, 2.48273544e+00,
  9.90650279e-02, 4.53230328e+00]

qfrc_actuator:
[ 6.32510700e-05, 2.87368477e-04, 1.44726053e-05, 2.93440163e-05,
 -2.30300778e-03, 2.65861633e-02, 1.00255200e-02, 1.11215776e-03,
  2.32890400e-05, 4.29399555e-06, 9.85387779e-06,-1.40997918e-05,
  5.00618594e-02, 2.01047946e-02, 2.55956686e-03,-2.04531107e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71252372, -0.62942237, -0.33394241, -0.62942237,  1.36880131,
       -1.23696714, -0.33394241, -1.23696714,  3.04398795,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8472598337695036e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99166598e-01,  5.83808484e-03, -4.03983491e-02,  5.83331878e-03,
        9.99982958e-01,  2.35853009e-04,  4.03990376e-02,  2.71050543e-20,
       -9.99183626e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13162379, -0.08289448,  0.17469265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003796686223547981
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85547030e-01, -1.69362907e-01,  3.64113676e-03, -1.69361752e-01,
        9.85553756e-01,  6.25712706e-04, -3.69450853e-03,  1.08420217e-19,
       -9.99993175e-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([ 0.13111315, -0.08203315,  0.13158977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28964847,  7.28836085,  0.13700706,  7.28836085,  7.29849783,
       -0.47075869,  0.13700706, -0.47075869, 32.33258616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7888338717350068e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873895,  0.10976228, -0.17326949,  0.10808167,  0.99395787,
        0.01913407,  0.17432278,  0.        , -0.98468856])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329934, -0.05386833,  0.29658815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000499236057613198
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25552697, -0.91589681, -0.30957875, -0.08319266, -0.29819119,
        0.95087381, -0.96321594,  0.26872859,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482922, -0.03590425,  0.30486432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043565660722220956
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27419510e-13,  2.78730177e-14,  1.00000000e+00,  3.55156625e-27,
        1.00000000e+00, -2.78730177e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27419510e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05342267, -0.06077149,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.44188714e-05, 3.65384873e-05,-2.22121170e-05,-5.84260199e-06,
 -2.08906919e-03, 2.80088388e-02, 1.04759563e-02, 1.08704199e-03,
 -1.51852138e-05,-5.60991231e-06, 6.65683347e-05, 3.94975797e-05,
  5.47235238e-02, 2.22269418e-02, 1.49649010e-02,-8.11338704e-05,
 -4.67761937e-06, 1.29070261e-06,-9.80999879e+00,-6.49662505e-02,
 -9.50781912e-03,-5.22942692e-03]


--- Step 1968 ---
qpos:
[ 0.00984446, 0.00809194,-0.00557444, 0.03348718, 0.0058355 ,-0.02362645,
 -0.01680362, 0.03801102, 0.01300314, 0.00593242,-0.01172241, 0.0340883 ,
  0.8105379 ,-0.01593986, 1.13544345, 0.04609295, 0.09497363,-0.06334251,
  0.14257846, 0.94236063,-0.03269941, 0.02767271, 0.33184546]

qacc:
[-6.34409593e-01, 1.14241595e-01,-1.71374807e+00, 6.53276686e+00,
  4.64567064e+00,-2.37511788e-01,-3.83917216e-01,-2.98525082e+00,
 -1.61290349e+00,-2.10691063e+00, 4.41630111e+00, 3.18270670e+00,
  3.30251749e+00, 5.39395945e-01, 9.65991905e+00,-2.12458461e+01,
 -1.68969345e-02,-8.60953156e-02, 2.11786257e-02, 2.00813801e+00,
  3.60237781e-02, 3.89082771e+00]

qfrc_actuator:
[ 5.87862702e-05, 2.73080834e-04, 1.95696845e-05, 4.39035125e-05,
 -2.29477956e-03, 2.65929167e-02, 1.00203888e-02, 1.13811900e-03,
  1.40597026e-05,-4.48125325e-05, 4.37211588e-05, 8.35018187e-06,
  5.00634369e-02, 2.01105939e-02, 2.54818733e-03,-2.01850821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71250937, -0.61433503, -0.36091838, -0.61433503,  1.53400192,
       -1.39829856, -0.36091838, -1.39829856,  3.09261477,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7975303817247337e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99166246e-01,  5.83411625e-03, -4.04076251e-02,  5.82935124e-03,
        9.99982981e-01,  2.35746794e-04,  4.04083128e-02,  0.00000000e+00,
       -9.99183251e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13162418, -0.08289352,  0.17469383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003796786600954407
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85551467e-01, -1.69337431e-01,  3.62483925e-03, -1.69336286e-01,
        9.85558133e-01,  6.22815588e-04, -3.67795580e-03,  0.00000000e+00,
       -9.99993236e-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([ 0.131114  , -0.08203284,  0.13158961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28886807,  7.27809732,  0.3961025 ,  7.27809732,  7.3760804 ,
       -1.6024636 ,  0.3961025 , -1.6024636 , 36.73297888,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.61048988819903e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78733118e-01,  1.09784588e-01, -1.73288279e-01,  1.08103252e-01,
        9.93955404e-01,  1.91400763e-02,  1.74342107e-01,  3.46944695e-18,
       -9.84685142e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329887, -0.05386714,  0.29658785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004999341518311417
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53113392e-01, -9.16227905e-01, -3.10580162e-01, -8.27018365e-02,
       -2.99366737e-01,  9.50547191e-01, -9.63895231e-01,  2.66281774e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.104829  , -0.03590177,  0.30486357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000436359171020792
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54428713e-13, -9.93862162e-14,  1.00000000e+00, -2.52867071e-26,
        1.00000000e+00,  9.93862162e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54428713e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05342553, -0.0607695 ,  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:
[-3.75518967e-06, 1.31189575e-06, 9.71019991e-06, 1.52433816e-05,
 -2.09629388e-03, 2.80750536e-02, 1.05086432e-02, 1.12933786e-03,
 -9.66880118e-06,-3.67866165e-05, 4.22697429e-05, 2.52825334e-05,
  5.42773486e-02, 2.20255246e-02, 1.48253009e-02, 4.88850653e-05,
 -1.72505003e-06, 3.49476551e-07,-9.80999955e+00,-6.49675156e-02,
 -9.50766976e-03,-5.22921468e-03]


--- Step 1969 ---
qpos:
[ 0.00984458, 0.00809183,-0.00557442, 0.033487  , 0.00583274,-0.02363787,
 -0.01680564, 0.03801144, 0.01300336, 0.0059312 ,-0.01172065, 0.03408829,
  0.81052836,-0.01594123, 1.13540993, 0.04609438, 0.09497456,-0.06334134,
  0.14257869, 0.94236028,-0.03269961, 0.0276692 , 0.33184672]

qacc:
[-6.55850569e+00,-2.10980700e+00, 7.67592334e+00,-1.11055569e+01,
  5.60931245e+00,-3.62171762e-01, 5.97393516e-02,-3.18365051e+00,
 -1.02728210e+00, 2.87402419e+00,-1.09307063e+01, 1.67093579e+01,
  2.81049770e+00, 4.44614076e-01, 9.07030853e+00,-1.37909801e+01,
 -1.23268269e-02,-6.30173772e-02, 1.69796896e-02, 1.60068670e+00,
  7.05275694e-03, 3.25586244e+00]

qfrc_actuator:
[ 2.02971733e-05, 2.46708801e-04, 4.04770723e-05, 3.47185306e-05,
 -2.30655812e-03, 2.66195828e-02, 1.00360677e-02, 1.13584968e-03,
  8.50142027e-06,-2.01169193e-05, 9.27237740e-06, 2.16365833e-05,
  5.00592193e-02, 2.00959215e-02, 2.51592011e-03,-1.93135589e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71250483, -0.60000215, -0.38426626, -0.60000215,  1.51956788,
       -1.26016676, -0.38426626, -1.26016676,  2.68015814,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7815249047678765e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99165804e-01,  5.83069743e-03, -4.04190523e-02,  5.82593251e-03,
        9.99983001e-01,  2.35675271e-04,  4.04197394e-02, -2.71050543e-20,
       -9.99182788e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13162473, -0.08289242,  0.17469457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037970143005577336
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85553535e-01, -1.69325641e-01,  3.61344854e-03, -1.69324503e-01,
        9.85560159e-01,  6.20813946e-04, -3.66639064e-03,  0.00000000e+00,
       -9.99993279e-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([ 0.13111506, -0.0820327 ,  0.1315895 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28850051,  7.25411757,  0.70711948,  7.25411757,  7.61412372,
       -3.34046668,  0.70711948, -3.34046668, 41.55730335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5221155694411727e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873003,  0.10979345, -0.1733001 ,  0.10811174,  0.99395442,
        0.01914295,  0.17435418,  0.        , -0.98468301])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329866, -0.05386636,  0.29658772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005002117900726337
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25197627, -0.91637748, -0.31106313, -0.08247203, -0.29993105,
        0.95038925, -0.9642128 ,  0.26512955,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482885, -0.03590021,  0.30486353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004366943344397134
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54233439e-13, -2.26426657e-13,  1.00000000e+00, -5.75652276e-26,
        1.00000000e+00,  2.26426657e-13, -1.00000000e+00,  0.00000000e+00,
       -2.54233439e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05342762, -0.06076794,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.85967398e-05,-2.29844290e-05, 2.29044783e-05,-8.49544570e-06,
 -2.13560932e-03, 2.81697865e-02, 1.05644179e-02, 1.14344345e-03,
 -5.85091073e-06, 1.39619392e-05,-3.59765428e-05, 1.36634043e-05,
  5.38809082e-02, 2.18316027e-02, 1.44963565e-02, 1.52301341e-04,
 -3.77937294e-07,-4.09515689e-09,-9.80999986e+00,-6.49682130e-02,
 -9.50780810e-03,-5.22892252e-03]


--- Step 1970 ---
qpos:
[ 0.00984424, 0.00809162,-0.00557418, 0.0334867 , 0.00583063,-0.02365033,
 -0.01680822, 0.0380116 , 0.01300282, 0.00593044,-0.01172027, 0.03408847,
  0.81052494,-0.01593981, 1.13538212, 0.04609575, 0.09497546,-0.06334037,
  0.14257898, 0.94235827,-0.03269722, 0.02766664, 0.33185288]

qacc:
[-4.04951418e+00,-9.22325084e-01, 3.60310345e+00,-5.83783143e+00,
  5.35816738e+00,-3.80327244e-01, 4.77027689e-01,-3.42228928e+00,
 -6.72221977e+00, 4.87250507e+00,-1.72683124e+01, 2.23170555e+01,
  2.54545088e+00, 4.58643770e-01, 8.53334728e+00,-1.77788015e+01,
 -1.10416247e-02,-5.08201768e-02, 1.36314259e-02, 1.28423733e+00,
 -4.05922192e-02, 2.63808322e+00]

qfrc_actuator:
[-2.39524026e-06, 2.48856149e-04, 5.27081301e-05, 2.93769315e-05,
 -2.31292240e-03, 2.66409301e-02, 1.00822172e-02, 1.13450104e-03,
 -3.03582260e-05,-4.97028160e-06,-6.49425533e-05, 2.94428165e-05,
  5.00513438e-02, 2.00681081e-02, 2.51328776e-03,-1.96905910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71250801, -0.58308604, -0.40948544, -0.58308604,  1.51601232,
       -1.14414848, -0.40948544, -1.14414848,  2.34171613,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.792753598153759e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99165276e-01,  5.82794232e-03, -4.04324878e-02,  5.82317649e-03,
        9.99983017e-01,  2.35642209e-04,  4.04331745e-02,  2.71050543e-20,
       -9.99182245e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13162542, -0.08289116,  0.17469494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003797326208974792
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85553631e-01, -1.69325244e-01,  3.60596671e-03, -1.69324111e-01,
        9.85560227e-01,  6.19527022e-04, -3.65879893e-03,  0.00000000e+00,
       -9.99993307e-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([ 0.13111632, -0.08203269,  0.13158945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2884306 ,   6.37053442,   3.54083491,   6.37053442,
        21.30897151, -25.22521966,   3.54083491, -25.22521966,
        52.6726787 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.5049524438515513e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872919,  0.10979101, -0.17330639,  0.10810922,  0.99395469,
        0.01914321,  0.17436045,  0.        , -0.98468189])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329867, -0.05386592,  0.29658772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005002243423844546
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51740225e-01, -9.16403184e-01, -3.11178507e-01, -8.24286058e-02,
       -3.00062641e-01,  9.50351480e-01, -9.64278167e-01,  2.64891706e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482875, -0.03589939,  0.30486394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043673682355097054
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.78040771e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.78040771e-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([ 0.0534291 , -0.06076673,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38003152e-05,-6.34831707e-06, 1.00131705e-05,-5.69721767e-06,
 -2.17521044e-03, 2.82565044e-02, 1.06462884e-02, 1.15725376e-03,
 -3.90222360e-05, 1.61303533e-05,-7.52954357e-05, 7.42479610e-06,
  5.35373188e-02, 2.16533012e-02, 1.40720747e-02, 5.98109356e-05,
 -5.79566846e-08, 2.62987596e-08,-9.80999990e+00,-6.49684600e-02,
 -9.50812241e-03,-5.22856268e-03]


--- Step 1971 ---
qpos:
[ 0.00984432, 0.00809128,-0.00557408, 0.03348707, 0.00582915,-0.02366354,
 -0.01681124, 0.03801151, 0.01300182, 0.00592962,-0.01172061, 0.03408807,
  0.81052733,-0.01593554, 1.13536055, 0.04609756, 0.0949763 ,-0.06333957,
  0.14257931, 0.94235489,-0.03269271, 0.02766469, 0.33186309]

qacc:
[ 3.68648224e+00, 1.55143463e+00,-8.59994358e+00, 2.03507609e+01,
  5.38818404e+00,-2.64435815e-01, 4.92376542e-01,-3.35323031e+00,
 -4.07919789e+00, 7.28935180e-01,-2.38747496e-01,-8.64557726e+00,
  2.27816926e+00, 7.45519420e-01, 7.80831413e+00,-1.40526906e+01,
 -1.26364452e-02,-4.14883337e-02, 1.16060090e-02, 1.02377253e+00,
 -1.14350690e-01, 2.16926185e+00]

qfrc_actuator:
[ 1.99081549e-05, 2.32528324e-04, 4.20764932e-05, 6.18621893e-05,
 -2.31627422e-03, 2.66593429e-02, 1.00757653e-02, 1.11603710e-03,
 -5.30032830e-05,-3.13494400e-05,-1.08785872e-04,-1.55964208e-06,
  5.00517371e-02, 2.00669288e-02, 2.49642432e-03,-1.93893471e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71251732, -0.58997984, -0.39950559, -0.58997984,  1.50995967,
       -1.17764288, -0.39950559, -1.17764288,  2.45163081,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8252374555687034e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99164680e-01,  5.82582125e-03, -4.04475115e-02,  5.82105361e-03,
        9.99983030e-01,  2.35643971e-04,  4.04481979e-02,  2.71050543e-20,
       -9.99181637e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13162622, -0.08288977,  0.17469504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003797715188514772
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85552129e-01, -1.69334082e-01,  3.60145068e-03, -1.69332952e-01,
        9.85558709e-01,  6.18784391e-04, -3.65422236e-03,  0.00000000e+00,
       -9.99993323e-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([ 0.13111773, -0.0820328 ,  0.13158943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28858524,   6.35298729,   3.57253793,   6.35298729,
        17.01512786, -17.2965558 ,   3.57253793, -17.2965558 ,
        38.04677487,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.5427597887477536e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873014,  0.1097794 , -0.17330836,  0.10809776,  0.99395598,
        0.01914138,  0.1743622 ,  0.        , -0.98468158])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329882, -0.05386579,  0.29658782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005000371522265995
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25223579, -0.91632896, -0.31099572, -0.08253716, -0.29984322,
        0.95041131, -0.96413937,  0.26539646,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482866, -0.03589918,  0.30486469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043654982241522755
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54317599e-13, -3.57634123e-14,  1.00000000e+00, -9.09526513e-27,
        1.00000000e+00,  3.57634123e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54317599e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0534301 , -0.06076579,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16233747e-05,-1.80556138e-05,-1.09052399e-05, 3.24504261e-05,
 -2.21030949e-03, 2.83271873e-02, 1.06676962e-02, 1.15214797e-03,
 -2.37478915e-05,-3.25862218e-05,-4.95234654e-05,-3.27698410e-05,
  5.32318387e-02, 2.15124612e-02, 1.37705333e-02, 9.30868541e-05,
 -3.23804956e-07, 2.71719943e-07,-9.80999978e+00,-6.49683476e-02,
 -9.50854041e-03,-5.22813738e-03]


--- Step 1972 ---
qpos:
[ 0.00984501, 0.00809091,-0.00557473, 0.0334882 , 0.00582832,-0.02367724,
 -0.01681463, 0.03801121, 0.0130009 , 0.00592905,-0.01172166, 0.03408725,
  0.81053522,-0.01592839, 1.13534701, 0.04610102, 0.09497708,-0.06333891,
  0.14257968, 0.94235039,-0.03268646, 0.02766306, 0.33187663]

qacc:
[ 5.34261439e+00, 3.59912191e+00,-1.60972537e+01, 3.04509842e+01,
  5.55697301e+00,-8.71903611e-02, 2.61579598e-01,-3.07039339e+00,
  6.82366080e-01, 1.48894505e+00,-3.10542830e+00,-2.99151046e+00,
  1.99218059e+00, 1.06275731e+00, 6.88660532e+00,-6.94267151e+00,
 -1.47569827e-02,-3.38578491e-02, 9.97012623e-03, 8.06256279e-01,
 -1.75533490e-01, 1.78915400e+00]

qfrc_actuator:
[ 5.07586750e-05, 2.22954741e-04, 2.37142949e-07, 9.85635729e-05,
 -2.31807626e-03, 2.66761253e-02, 1.00378613e-02, 1.10513587e-03,
 -4.81607143e-05, 6.44182174e-06,-1.34530368e-04,-1.96512779e-05,
  5.00515734e-02, 2.00450612e-02, 2.48674567e-03,-1.83309260e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71253143, -0.61267005, -0.36378077, -0.61267005,  1.46684342,
       -1.27039251, -0.36378077, -1.27039251,  2.85209323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.87342047217702e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99164033e-01,  5.82433804e-03, -4.04637269e-02,  5.81956779e-03,
        9.99983038e-01,  2.35678421e-04,  4.04644132e-02,  0.00000000e+00,
       -9.99180980e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1316271 , -0.08288829,  0.17469493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003798177058810417
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85549312e-01, -1.69350528e-01,  3.59901217e-03, -1.69349399e-01,
        9.85555883e-01,  6.18427248e-04, -3.65175859e-03,  0.00000000e+00,
       -9.99993332e-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([ 0.13111926, -0.082033  ,  0.13158945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28890771,   6.33685764,   3.60172333,   6.33685764,
        14.40502529, -12.52006885,   3.60172333, -12.52006885,
        29.31666686,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.619843504585952e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78732518e-01,  1.09760264e-01, -1.73307079e-01,  1.08078943e-01,
        9.93958090e-01,  1.91378599e-02,  1.74360549e-01, -3.46944695e-18,
       -9.84681877e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329908, -0.05386594,  0.29658798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004997215422288447
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53209175e-01, -9.16189594e-01, -3.10615101e-01, -8.27434334e-02,
       -2.99391492e-01,  9.50535775e-01, -9.63866504e-01,  2.66385739e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482854, -0.03589953,  0.30486568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043618613001281115
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54529649e-13, -1.31241850e-13,  1.00000000e+00, -3.34049420e-26,
        1.00000000e+00,  1.31241850e-13, -1.00000000e+00,  0.00000000e+00,
       -2.54529649e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05343073, -0.06076506,  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:
[ 3.14603022e-05,-2.05146729e-05,-4.57882560e-05, 3.61807466e-05,
 -2.24404522e-03, 2.83820836e-02, 1.06520230e-02, 1.15324003e-03,
  4.15651391e-06, 7.95814594e-06,-3.96947361e-05,-2.18350139e-05,
  5.29412013e-02, 2.13485495e-02, 1.34490700e-02, 1.76630278e-04,
 -8.93323859e-07, 6.34193175e-07,-9.80999958e+00,-6.49679552e-02,
 -9.50902659e-03,-5.22764019e-03]


--- Step 1973 ---
qpos:
[ 0.00984572, 0.00809038,-0.00557554, 0.03348939, 0.00582814,-0.02369122,
 -0.01681832, 0.03801071, 0.01300004, 0.00592888,-0.01172318, 0.0340862 ,
  0.81054826,-0.01591836, 1.13534101, 0.04610615, 0.0949778 ,-0.06333836,
  0.14258008, 0.94234498,-0.0326788 , 0.02766155, 0.33189287]

qacc:
[ 0.17038883, 0.38442085,-1.94179521, 3.4196616 , 5.38199716, 0.06712486,
  0.07068778,-2.81025695, 0.54760278, 1.32244835,-2.89706172,-0.94691563,
  1.7576647 , 1.24545504, 6.00195381,-4.90555133,-0.01592592,-0.02878823,
  0.00809292, 0.63245191,-0.20707271, 1.43970724]

qfrc_actuator:
[ 5.08729651e-05, 2.17371370e-04,-6.40915825e-06, 1.01926193e-04,
 -2.31922418e-03, 2.66919759e-02, 1.00166956e-02, 1.11660010e-03,
 -4.49356420e-05, 4.69445807e-05,-1.49128412e-04,-2.99371477e-05,
  5.00455683e-02, 2.00450950e-02, 2.48099168e-03,-1.75419637e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71254925, -0.63098048, -0.3310439 , -0.63098048,  1.39851277,
       -1.30746885, -0.3310439 , -1.30746885,  3.20462754,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.932548784584808e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99163345e-01,  5.82351302e-03, -4.04808080e-02,  5.81873942e-03,
        9.99983043e-01,  2.35744510e-04,  4.04814944e-02, -2.71050543e-20,
       -9.99180288e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13162804, -0.08288675,  0.17469467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037986936649501805
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85545408e-01, -1.69373265e-01,  3.59793934e-03, -1.69372136e-01,
        9.85551976e-01,  6.18328355e-04, -3.65068452e-03, -1.08420217e-19,
       -9.99993336e-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([ 0.13112087, -0.08203327,  0.13158948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28935353,   6.32443588,   3.62438762,   6.32443588,
        13.09544376, -10.1314344 ,   3.62438762, -10.1314344 ,
        24.96836967,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.7228085960682133e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78736003e-01,  1.09734898e-01, -1.73303460e-01,  1.08054045e-01,
        9.93960891e-01,  1.91329836e-02,  1.74356417e-01,  3.46944695e-18,
       -9.84682609e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132994 , -0.05386636,  0.29658818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004993448662247903
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25440582, -0.91602016, -0.31013666, -0.08299278, -0.29882595,
        0.95069199, -0.9635299 ,  0.26760068,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482841, -0.03590039,  0.30486683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004356894081541801
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.82229750e-13, -3.58340391e-14,  1.00000000e+00, -1.36968358e-26,
        1.00000000e+00,  3.58340391e-14, -1.00000000e+00,  0.00000000e+00,
       -3.82229750e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05343105, -0.06076451,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00541364e-06,-2.49360036e-05,-1.52642361e-05, 1.60176927e-06,
 -2.27814021e-03, 2.84233464e-02, 1.06495068e-02, 1.17567829e-03,
  3.34547233e-06, 3.58511208e-05,-1.85792411e-05,-1.17381133e-05,
  5.26601457e-02, 2.12037449e-02, 1.30416660e-02, 1.73837527e-04,
 -1.59721277e-06, 1.05541285e-06,-9.80999933e+00,-6.49673469e-02,
 -9.50956475e-03,-5.22706586e-03]


--- Step 1974 ---
qpos:
[ 0.00984608, 0.00808961,-0.00557581, 0.03348988, 0.00582854,-0.02370525,
 -0.01682224, 0.03801003, 0.01299854, 0.00592877,-0.01172423, 0.03408535,
  0.8105661 ,-0.01590555, 1.13534158, 0.04611276, 0.09497845,-0.06333791,
  0.14258051, 0.94233887,-0.03267   , 0.02766002, 0.33191121]

qacc:
[-3.03959160e+00,-3.28466536e+00, 1.41878832e+01,-2.69576883e+01,
  4.93939712e+00, 2.10187682e-01,-1.14466104e-01,-2.56506672e+00,
 -5.65451786e+00,-7.95823181e-01, 2.06598738e+00, 7.66644469e-01,
  1.57241227e+00, 1.32438004e+00, 5.24961993e+00,-4.31756945e+00,
 -1.64561628e-02,-2.56167147e-02, 6.13212759e-03, 4.94133345e-01,
 -2.19198182e-01, 1.12437160e+00]

qfrc_actuator:
[ 3.28926680e-05, 2.14326527e-04, 2.55328356e-05, 6.79248724e-05,
 -2.32022270e-03, 2.67072346e-02, 1.00056511e-02, 1.14155078e-03,
 -7.82026668e-05, 5.33178202e-05,-1.21495847e-04,-1.77833953e-05,
  5.00518692e-02, 2.00571350e-02, 2.49865166e-03,-1.69217151e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71256993, -0.64539778, -0.30202253, -0.64539778,  1.32531002,
       -1.30937614, -0.30202253, -1.30937614,  3.51060111,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9989503701141263e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99162631e-01,  5.82332576e-03, -4.04984538e-02,  5.81854815e-03,
        9.99983044e-01,  2.35839688e-04,  4.04991405e-02,  2.71050543e-20,
       -9.99179573e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13162901, -0.08288516,  0.1746943 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003799248034765203
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85540627e-01, -1.69401088e-01,  3.59771522e-03, -1.69399959e-01,
        9.85547194e-01,  6.18394408e-04, -3.65047482e-03,  0.00000000e+00,
       -9.99993337e-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([ 0.13112254, -0.08203361,  0.13158952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28989037,  6.31505293,  3.64178638,  6.31505293, 12.32775202,
       -8.73592233,  3.64178638, -8.73592233, 22.4384483 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8418354211459617e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874034,  0.10970452, -0.17329818,  0.10802425,  0.99396424,
        0.01912704,  0.17435052,  0.        , -0.98468365])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329973, -0.05386702,  0.29658839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004989414404236556
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25569412, -0.91583858, -0.30961299, -0.08325726, -0.29820871,
        0.95086266, -0.963166  ,  0.26890752,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482826, -0.03590173,  0.30486809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004350953086008774
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.82751665e-13, -9.96749127e-14,  1.00000000e+00, -3.81507388e-26,
        1.00000000e+00,  9.96749127e-14, -1.00000000e+00,  0.00000000e+00,
       -3.82751665e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05343115, -0.06076409,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79575426e-05,-2.00496674e-05, 2.49787226e-05,-3.55666726e-05,
 -2.31106044e-03, 2.84524407e-02, 1.06536449e-02, 1.21058895e-03,
 -3.31604639e-05, 2.21050989e-05, 3.23644682e-05, 1.28246368e-05,
  5.24089518e-02, 2.10720469e-02, 1.26827258e-02, 1.51631680e-04,
 -2.31735993e-06, 1.48432447e-06,-9.80999906e+00,-6.49665696e-02,
 -9.51014425e-03,-5.22641395e-03]


--- Step 1975 ---
qpos:
[ 0.00984623, 0.00808918,-0.00557649, 0.0334896 , 0.00582949,-0.02371925,
 -0.01682641, 0.03800916, 0.012997  , 0.00592881,-0.0117247 , 0.03408497,
  0.81058837,-0.01589013, 1.135346  , 0.04611966, 0.09497904,-0.06333755,
  0.14258095, 0.94233221,-0.03266027, 0.02765842, 0.33193119]

qacc:
[-1.93773165e+00, 3.71210690e-02, 3.77463927e+00,-1.66491280e+01,
  4.62304829e+00, 3.29294230e-01,-3.59973503e-01,-2.44924239e+00,
 -3.55458391e-01,-4.11596677e-01,-2.32297264e-01, 7.42627166e+00,
  1.45625179e+00, 1.23422002e+00, 4.75879843e+00,-8.45758891e+00,
 -1.53301884e-02,-2.29112494e-02, 3.62497481e-03, 3.95234901e-01,
 -2.12587616e-01, 8.77454779e-01]

qfrc_actuator:
[ 2.21688573e-05, 2.48464515e-04, 8.97234252e-06, 2.99934320e-05,
 -2.30358207e-03, 2.67220359e-02, 9.98298553e-03, 1.13914936e-03,
 -7.94237393e-05, 7.49099105e-05,-8.70243698e-05, 7.47516152e-06,
  5.00547480e-02, 2.00753125e-02, 2.48756889e-03,-1.71173611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71259276, -0.64538552, -0.30210258, -0.64538552,  1.38682716,
       -1.44037538, -0.30210258, -1.44037538,  3.78968468,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0697855325581116e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99161902e-01,  5.82372413e-03, -4.05163951e-02,  5.81894195e-03,
        9.99983042e-01,  2.35960309e-04,  4.05170822e-02, -2.71050543e-20,
       -9.99178846e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13163   , -0.08288357,  0.17469385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003799822542225031
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85535154e-01, -1.69432921e-01,  3.59797019e-03, -1.69431792e-01,
        9.85541722e-01,  6.18557881e-04, -3.65075380e-03, -1.08420217e-19,
       -9.99993336e-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([ 0.13112423, -0.082034  ,  0.13158957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2904931 ,  6.31028212,  3.65125037,  6.31028212, 12.10758605,
       -8.32515231,  3.65125037, -8.32515231, 21.67845733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.969775432908937e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874532,  0.10967026, -0.17329177,  0.10799065,  0.99396802,
        0.01912029,  0.17434341,  0.        , -0.98468491])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330007, -0.05386789,  0.2965886 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004985315824516976
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25699987, -0.91565503, -0.30907431, -0.08352144, -0.29757536,
        0.95103789, -0.96279553,  0.27023094,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482805, -0.03590348,  0.30486942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004344329788578266
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.79515251e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.79515251e-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([ 0.05343107, -0.06076378,  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:
[-1.12393322e-05, 2.65843753e-05,-1.88446621e-05,-3.86166658e-05,
 -2.32372932e-03, 2.84706611e-02, 1.06431170e-02, 1.21724547e-03,
 -2.15936788e-06, 4.11901187e-05, 4.34828643e-05, 2.75807839e-05,
  5.21716763e-02, 2.09505596e-02, 1.23428999e-02, 5.86862825e-05,
 -2.97868496e-06, 1.88383556e-06,-9.80999880e+00,-6.49656595e-02,
 -9.51075830e-03,-5.22568703e-03]


--- Step 1976 ---
qpos:
[ 0.00984624, 0.00808912,-0.00557774, 0.03348923, 0.00583076,-0.02373294,
 -0.0168306 , 0.03800817, 0.01299649, 0.00592902,-0.011725  , 0.03408493,
  0.81061284,-0.01587346, 1.13534856, 0.04612418, 0.09497959,-0.06333726,
  0.14258141, 0.94232537,-0.03265019, 0.02765699, 0.33195173]

qacc:
[-1.16291558e+00, 1.86296509e+00,-5.50351707e+00, 4.39353321e+00,
  2.62344684e+00, 1.97314153e-01, 4.30527867e-01,-2.82190364e+00,
  9.07987455e+00, 3.79138256e-01,-2.48066879e+00, 7.87006408e+00,
  7.54109914e-01, 5.40915768e-01, 4.43459718e+00,-1.95367534e+01,
 -1.17861552e-02,-1.72792224e-02, 3.13135246e-03, 1.82772547e-01,
  1.78757473e-02, 2.95544722e-01]

qfrc_actuator:
[ 1.58082810e-05, 2.68911943e-04,-1.81961399e-05, 2.55576746e-05,
 -2.29430777e-03, 2.67187501e-02, 9.98895441e-03, 1.12041329e-03,
 -2.62564728e-05, 6.99984264e-05,-8.42476934e-05, 2.24945622e-05,
  5.00447826e-02, 2.00962411e-02, 2.44327218e-03,-1.90393812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71261724, -0.66467289, -0.25696944, -0.66467289,  1.0147284 ,
       -0.78143572, -0.25696944, -0.78143572,  2.73386592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1431620793187396e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99161160e-01,  5.82467088e-03, -4.05345554e-02,  5.81988364e-03,
        9.99983036e-01,  2.36104450e-04,  4.05352431e-02,  0.00000000e+00,
       -9.99178109e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13163099, -0.082882  ,  0.17469335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003800349848609185
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85529135e-01, -1.69467918e-01,  3.59858138e-03, -1.69466788e-01,
        9.85535705e-01,  6.18794520e-04, -3.65139625e-03,  0.00000000e+00,
       -9.99993334e-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([ 0.13112594, -0.08203442,  0.13158962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29114704,   6.33722378,   3.60560952,   6.33722378,
        13.21141082, -10.40546298,   3.60560952, -10.40546298,
        25.57980173,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.1026028975770585e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875077,  0.10963297, -0.17328457,  0.10795408,  0.99397214,
        0.01911291,  0.17433544,  0.        , -0.98468632])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330039, -0.05386897,  0.29658881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004981125193357516
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25834531, -0.91546558, -0.30851331, -0.08379025, -0.29691692,
        0.95122002, -0.96241202,  0.27159364,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482777, -0.03590558,  0.30487082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043372167857400377
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.01775511e-07,  4.01775365e-07,  1.00000000e+00,  1.61423502e-13,
        1.00000000e+00, -4.01775365e-07, -1.00000000e+00,  0.00000000e+00,
       -4.01775511e-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([ 0.05385093, -0.06134786,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.66703937e-06, 2.97859423e-05,-2.53203101e-05,-4.69663518e-06,
 -2.34190027e-03, 2.84666473e-02, 1.06615501e-02, 1.20779271e-03,
  5.31169400e-05, 2.82850590e-05, 1.75993349e-05, 1.88273597e-05,
  5.19402954e-02, 2.08409939e-02, 1.21062995e-02,-1.48344991e-04,
 -3.55888261e-06, 2.24013265e-06,-9.80999856e+00,-6.49646421e-02,
 -9.51140426e-03,-5.22489054e-03]


--- Step 1977 ---
qpos:
[ 0.00984618, 0.00808908,-0.00557892, 0.03348915, 0.00582685,-0.02374021,
 -0.01682983, 0.03800999, 0.01299628, 0.00592918,-0.01172511, 0.03408475,
  0.81056727,-0.01588973, 1.13530524, 0.04613616, 0.09498094,-0.06333437,
  0.14258133, 0.94233527,-0.03266778, 0.0276458 , 0.33192282]

qacc:
[-6.66956727e-01, 4.74079786e-01,-2.91810380e+00, 7.96850401e+00,
 -4.36039194e+01, 4.72530988e-01,-1.10788142e+00, 3.69312851e+01,
  2.61319743e+00,-8.73247369e-01, 3.60927499e+00,-6.27057425e+00,
 -2.88466877e+01,-6.28492391e+00,-8.94784336e+01, 2.16445227e+02,
  2.02396456e-01, 6.51432115e-01,-1.32414218e-01,-1.37061572e+01,
  5.67286237e-01,-2.66140373e+01]

qfrc_actuator:
[ 1.20642502e-05, 2.63228372e-04,-1.59084606e-05, 4.08592106e-05,
 -2.30718822e-03, 2.67220632e-02, 1.00119728e-02, 1.12739753e-03,
 -1.25240188e-05, 4.91205734e-05,-8.25700880e-05, 1.35702867e-05,
  5.00431301e-02, 2.00658736e-02, 2.47528601e-03,-1.98413424e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71264303, -0.50924304,  0.49852946, -0.50924304,  0.41680272,
       -0.30219803,  0.49852946, -0.30219803,  0.40395066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2178197179576124e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99160428e-01,  5.82592910e-03, -4.05524148e-02,  5.82113660e-03,
        9.99983029e-01,  2.36259503e-04,  4.05531030e-02,  0.00000000e+00,
       -9.99177385e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13163196, -0.08288047,  0.17469282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24847301,  0.22634909,  0.10249354,  0.22634909,  0.47012462,
       -0.48950049,  0.10249354, -0.48950049,  1.32949716,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038008182266853485
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85522916e-01, -1.69504051e-01,  3.59979599e-03, -1.69502920e-01,
        9.85529491e-01,  6.19139264e-04, -3.65265172e-03, -1.08420217e-19,
       -9.99993329e-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([ 0.13112762, -0.08203486,  0.13158968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29185919,  7.02866423,  1.9414143 ,  7.02866423,  8.15706576,
       -3.13237956,  1.9414143 , -3.13237956, 18.63227432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.241044380246068e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875645,  0.10959468, -0.17327671,  0.10791655,  0.99397636,
        0.01910529,  0.17432679,  0.        , -0.98468785])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330072, -0.05387015,  0.29658902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36158308,  1.2956934 , -0.41843411,  1.2956934 ,  1.85654543,
        1.53266532, -0.41843411,  1.53266532,  6.10752582,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004976950333051965
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59891243e-01, -9.15244535e-01, -3.07870074e-01, -8.40974847e-02,
       -2.96161435e-01,  9.51428409e-01, -9.61968895e-01,  2.73159011e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482738, -0.03590777,  0.30487218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.28912543, -6.56663325,  7.9212013 , -6.56663325, 67.12864527,
       47.11965604,  7.9212013 , 47.11965604, 49.3510667 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043379995655169886
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01552204e-06, -1.01552197e-06,  1.00000000e+00, -1.03128494e-12,
        1.00000000e+00,  1.01552197e-06, -1.00000000e+00,  2.01948392e-28,
       -1.01552204e-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([ 0.08731497, -0.10789039,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.92083795e-06, 5.55654992e-06, 5.17563873e-06, 1.56144566e-05,
 -2.37036341e-03, 2.84546590e-02, 1.06855701e-02, 1.22115521e-03,
  1.52509819e-05,-6.05558906e-07, 1.03377814e-05,-6.73884216e-06,
  5.18292105e-02, 2.07477504e-02, 1.22310832e-02,-1.09603903e-04,
 -3.77183772e-06, 2.34459249e-06,-9.80999849e+00,-6.49635316e-02,
 -9.51198637e-03,-5.22408751e-03]


--- Step 1978 ---
qpos:
[ 0.00984607, 0.00808902,-0.00558005, 0.03348926, 0.00582283,-0.0237482 ,
 -0.01682968, 0.03801149, 0.01299623, 0.00592952,-0.01172495, 0.03408374,
  0.81053203,-0.01590121, 1.13525501, 0.04614145, 0.09498214,-0.06333213,
  0.14258137, 0.94234204,-0.03267959, 0.02763734, 0.33190314]

qacc:
[-3.87361991e-01, 2.01633225e-01,-1.53220140e+00, 4.68402060e+00,
 -9.28801482e-01, 1.71945242e-01,-6.71403765e-01,-3.16247628e+00,
  1.46995523e+00,-2.24133311e+00, 1.18100261e+01,-2.67034524e+01,
  4.55813797e+00, 4.73292941e-01, 9.86339306e+00,-4.96605227e+01,
 -3.82137298e-02,-1.63953639e-01, 2.81805904e-02, 3.00767233e+00,
  2.24238097e-01, 4.99033165e+00]

qfrc_actuator:
[ 9.88848649e-06, 2.59827343e-04,-1.40950224e-05, 4.98925567e-05,
 -2.32800029e-03, 2.67231142e-02, 1.00047436e-02, 1.09366999e-03,
 -4.37699202e-06, 7.20592588e-05,-6.38804824e-05,-2.71343453e-05,
  5.00582129e-02, 2.00561718e-02, 2.51450866e-03,-1.93500676e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71259854, -0.66099112, -0.26624692, -0.66099112,  1.11092613,
       -0.98889779, -0.26624692, -0.98889779,  3.16766035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.087360134591501e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99160187e-01,  5.82202012e-03, -4.05589096e-02,  5.81722931e-03,
        9.99983052e-01,  2.36138790e-04,  4.05595970e-02,  0.00000000e+00,
       -9.99177121e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13163206, -0.08287949,  0.17469521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24847409, -0.0320934 ,  0.24639275, -0.0320934 ,  0.70136001,
        0.05898976,  0.24639275,  0.05898976,  0.25615769,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038008629199892647
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85533035e-01, -1.69445846e-01,  3.56956569e-03, -1.69444735e-01,
        9.85539500e-01,  6.13722819e-04, -3.62194077e-03,  1.08420217e-19,
       -9.99993441e-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([ 0.13112819, -0.08203416,  0.13158934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28982297, -0.09330208,  7.28922586, -0.09330208, 34.29285489,
        0.34563876,  7.28922586,  0.34563876,  7.29424714,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8271667101599334e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78743841e-01,  1.09648140e-01, -1.73314105e-01,  1.07968441e-01,
        9.93970465e-01,  1.91188469e-02,  1.74365447e-01,  3.46944695e-18,
       -9.84681010e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329955, -0.05386786,  0.29658828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36565538, -0.82172035,  1.09077509, -0.82172035,  3.61033484,
        1.69099827,  1.09077509,  1.69099827,  2.63954557,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004997753087678609
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53371294e-01, -9.16173927e-01, -3.10529101e-01, -8.27710395e-02,
       -2.99294633e-01,  9.50563874e-01, -9.63821530e-01,  2.66548415e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482717, -0.03590297,  0.30486928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.29863477, -5.91563988,  8.43012947, -5.91563988, 17.90121407,
        5.33492652,  8.43012947,  5.33492652, 14.04229069,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043459314194524423
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27731310e-13, -6.78572583e-14,  1.00000000e+00, -8.66749648e-27,
        1.00000000e+00,  6.78572583e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27731310e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05343552, -0.06076015,  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:
[-2.28502221e-06, 1.45893201e-06, 4.15373444e-06, 9.75752179e-06,
 -2.13246400e-03, 2.81353896e-02, 1.04302895e-02, 1.04693601e-03,
  8.58054770e-06, 2.44470547e-05, 1.96035999e-05,-4.05044587e-05,
  5.53461616e-02, 2.23853535e-02, 1.45649692e-02,-4.33489276e-04,
 -9.34774526e-06, 2.80503872e-06,-9.80999746e+00,-6.49653980e-02,
 -9.51402389e-03,-5.22397008e-03]


--- Step 1979 ---
qpos:
[ 0.0098456 , 0.00808905,-0.00558089, 0.0334891 , 0.00581885,-0.02375707,
 -0.01683022, 0.03801267, 0.01299628, 0.00593012,-0.01172437, 0.03408257,
  0.81050621,-0.0159085 , 1.13520234, 0.046142  , 0.09498324,-0.06333041,
  0.1425815 , 0.94234619,-0.03268662, 0.02763104, 0.33189121]

qacc:
[-3.24187818e+00,-1.25028566e+00, 5.75384304e+00,-1.09066721e+01,
  3.18434550e-01, 1.02977567e-01,-6.70500948e-01,-3.22620749e+00,
  8.70681121e-01,-1.13246148e+00, 5.23841762e+00,-8.86359500e+00,
  4.17836100e+00, 2.85275450e-01, 1.05924013e+01,-4.26052867e+01,
 -2.69968115e-02,-1.27378324e-01, 2.27534172e-02, 2.45295817e+00,
  1.31478687e-01, 4.18813091e+00]

qfrc_actuator:
[-9.10027422e-06, 2.75569666e-04, 5.16064125e-06, 3.74038499e-05,
 -2.33881402e-03, 2.67273685e-02, 1.00007223e-02, 1.07301616e-03,
  4.30047867e-07, 1.03340617e-04,-3.51414165e-05,-3.29037273e-05,
  5.00573209e-02, 2.00698270e-02, 2.50826868e-03,-2.11666649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71257157, -0.63463081, -0.32404009, -0.63463081,  1.35733573,
       -1.2627672 , -0.32404009, -1.2627672 ,  3.18569445,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0041253470546588e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99159892e-01,  5.81800169e-03, -4.05667431e-02,  5.81321233e-03,
        9.99983075e-01,  2.36021374e-04,  4.05674297e-02,  2.71050543e-20,
       -9.99176803e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13163231, -0.08287856,  0.17469693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038010780892448276
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85540041e-01, -1.69405564e-01,  3.54707829e-03, -1.69404467e-01,
        9.85546425e-01,  6.09707248e-04, -3.59909813e-03, -1.08420217e-19,
       -9.99993523e-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([ 0.1311289 , -0.08203368,  0.1315891 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28861757,  7.28851669,  0.03834727,  7.28851669,  7.28930892,
       -0.13140181,  0.03834727, -0.13140181, 32.26364734,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.550593428771331e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78735006e-01,  1.09684669e-01, -1.73340883e-01,  1.08003874e-01,
        9.93966435e-01,  1.91282489e-02,  1.74393095e-01,  3.46944695e-18,
       -9.84676113e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132988 , -0.05386611,  0.29658781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005009493312433687
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24933738, -0.91671958, -0.31217958, -0.08193278, -0.30123597,
        0.95002311, -0.9649445 ,  0.26245401,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482702, -0.03589947,  0.30486785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000435660644874325
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.82254986e-13, -3.58364049e-14,  1.00000000e+00, -1.36986445e-26,
        1.00000000e+00,  3.58364049e-14, -1.00000000e+00,  0.00000000e+00,
       -3.82254986e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05343932, -0.0607576 ,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90526157e-05, 1.78488470e-05, 2.04200353e-05,-1.20900517e-05,
 -2.13781616e-03, 2.81756045e-02, 1.04576685e-02, 1.04177064e-03,
  5.06138684e-06, 4.72569754e-05, 3.47980981e-05,-4.83101136e-06,
  5.48282154e-02, 2.21599583e-02, 1.49050969e-02,-2.80514091e-04,
 -4.36779425e-06, 1.17910002e-06,-9.80999887e+00,-6.49673180e-02,
 -9.51350383e-03,-5.22383265e-03]


--- Step 1980 ---
qpos:
[ 0.00984524, 0.00808923,-0.00558149, 0.03348845, 0.0058152 ,-0.0237671 ,
 -0.01683157, 0.03801351, 0.01299639, 0.00593096,-0.01172371, 0.03408172,
  0.81048877,-0.01591213, 1.13515221, 0.04614023, 0.09498426,-0.06332905,
  0.1425817 , 0.94234803,-0.03268972, 0.0276264 , 0.33188607]

qacc:
[ 1.06608796e+00,-1.46567335e+00, 7.61581526e+00,-1.67103583e+01,
  2.80732848e+00, 4.34625523e-03,-8.05351649e-01,-2.99425724e+00,
  5.03651649e-01, 7.48031635e-01,-3.55456423e+00, 8.71590821e+00,
  3.69205922e+00, 2.51162208e-01, 1.06559986e+01,-3.20941266e+01,
 -1.85803175e-02,-9.35256484e-02, 1.82455735e-02, 1.99791238e+00,
  4.82776960e-02, 3.66523363e+00]

qfrc_actuator:
[-2.32789380e-06, 2.84954295e-04, 1.68723335e-05, 1.23807850e-05,
 -2.30822754e-03, 2.67517455e-02, 9.99894173e-03, 1.09585247e-03,
  3.23497773e-06, 1.03946870e-04,-3.61338054e-05,-1.80499421e-05,
  5.00518816e-02, 2.00784192e-02, 2.51720437e-03,-2.16977785e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71255768, -0.6122053 , -0.36461366, -0.6122053 ,  1.6947814 ,
       -1.64920472, -0.36461366, -1.64920472,  3.4816582 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.959871672881931e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99159534e-01,  5.81402140e-03, -4.05761432e-02,  5.80923310e-03,
        9.99983098e-01,  2.35914552e-04,  4.05768290e-02,  0.00000000e+00,
       -9.99176421e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13163271, -0.08287763,  0.1746981 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038013898581168876
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85544450e-01, -1.69380256e-01,  3.53083299e-03, -1.69379169e-01,
        9.85550774e-01,  6.06821495e-04, -3.58259877e-03,  0.00000000e+00,
       -9.99993582e-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([ 0.13112977, -0.08203337,  0.13158893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28795734,  7.28262518,  0.27873393,  7.28262518,  7.3306245 ,
       -1.1147868 ,  0.27873393, -1.1147868 , 36.41456673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3855145300568904e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78729282e-01,  1.09706947e-01, -1.73359104e-01,  1.08025446e-01,
        9.93963976e-01,  1.91341925e-02,  1.74411858e-01,  3.46944695e-18,
       -9.84672790e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329839, -0.05386485,  0.29658754])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005014610470117358
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24722596, -0.91699198, -0.31305755, -0.08149223, -0.30226486,
        0.94973416, -0.96552491,  0.26031069,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482688, -0.03589704,  0.30486748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004362887824810452
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27234881e-13, -3.97609002e-15,  1.00000000e+00, -5.05897340e-28,
        1.00000000e+00,  3.97609002e-15, -1.00000000e+00,  0.00000000e+00,
       -1.27234881e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05344215, -0.06075561,  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:
[ 6.23626293e-06, 2.30698230e-05, 1.75064260e-05,-2.37839576e-05,
 -2.10915657e-03, 2.82441181e-02, 1.04905853e-02, 1.08094297e-03,
  2.96638370e-06, 3.39890853e-05, 1.28764924e-05, 1.79886059e-05,
  5.43523751e-02, 2.19588619e-02, 1.50372523e-02,-9.61716811e-05,
 -1.65683077e-06, 3.35150855e-07,-9.80999960e+00,-6.49685349e-02,
 -9.51339850e-03,-5.22361418e-03]


--- Step 1981 ---
qpos:
[ 0.00984566, 0.00808953,-0.00558249, 0.03348754, 0.00581224,-0.02377859,
 -0.0168338 , 0.038014  , 0.01299653, 0.00593206,-0.01172276, 0.03408069,
  0.81047858,-0.01591258, 1.13510953, 0.04613873, 0.09498523,-0.06332795,
  0.14258196, 0.94234777,-0.03268958, 0.02762301, 0.33188709]

qacc:
[ 6.77480778e+00, 7.51781469e-01,-1.40191714e+00,-2.34068995e+00,
  5.85041298e+00,-2.14619503e-01,-5.95561567e-01,-2.94163091e+00,
  2.93673748e-01,-8.63969399e-01, 4.31442342e+00,-8.06103880e+00,
  3.10778665e+00, 3.30241398e-01, 1.00772966e+01,-1.94821935e+01,
 -1.24373861e-02,-6.29232448e-02, 1.46305468e-02, 1.61692136e+00,
 -1.76626767e-02, 3.31493508e+00]

qfrc_actuator:
[ 3.73106098e-05, 2.72670371e-04,-1.15001535e-05,-2.07188406e-06,
 -2.25311128e-03, 2.67710827e-02, 1.00166512e-02, 1.10942607e-03,
  4.84003889e-06, 1.21588487e-04,-1.92817368e-05,-2.67378421e-05,
  5.00541187e-02, 2.00828233e-02, 2.52423340e-03,-2.09302457e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71255392, -0.57912683, -0.41514481, -0.57912683,  2.06436723,
       -1.88577896, -0.41514481, -1.88577896,  3.34321473,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.947745510970545e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99159093e-01,  5.81037381e-03, -4.05875148e-02,  5.80558583e-03,
        9.99983120e-01,  2.35832614e-04,  4.05882000e-02, -2.71050543e-20,
       -9.99175959e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13163326, -0.08287662,  0.17469883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003801680564301502
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85546606e-01, -1.69367941e-01,  3.51970992e-03, -1.69366861e-01,
        9.85552891e-01,  6.04864566e-04, -3.57130495e-03,  0.00000000e+00,
       -9.99993623e-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([ 0.13113082, -0.08203321,  0.13158883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28766998,  7.26438188,  0.58214231,  7.26438188,  7.50655716,
       -2.73142836,  0.58214231, -2.73142836, 41.37235728,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.309975179859056e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872619,  0.10971665, -0.17337043,  0.10803477,  0.99396291,
        0.01913716,  0.17442345,  0.        , -0.98467074])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329824, -0.05386403,  0.29658744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005015251481800888
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46518052e-01, -9.17075098e-01, -3.13372168e-01, -8.13494354e-02,
       -3.02629121e-01,  9.49630394e-01, -9.65717929e-01,  2.59593684e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482675, -0.03589551,  0.30486781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043656401558549163
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54309330e-13, -3.97358329e-15,  1.00000000e+00, -1.01051930e-27,
        1.00000000e+00,  3.97358329e-15, -1.00000000e+00,  0.00000000e+00,
       -2.54309330e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05344421, -0.06075405,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.98247023e-05, 3.21933207e-06,-2.22672133e-05,-1.33190494e-05,
 -2.07071250e-03, 2.83220847e-02, 1.05488277e-02, 1.11175405e-03,
  1.70313709e-06, 4.00442950e-05, 2.60656659e-05,-6.43727375e-06,
  5.39352645e-02, 2.17798906e-02, 1.49183071e-02, 9.70312287e-05,
 -3.73737376e-07,-4.22737858e-09,-9.80999989e+00,-6.49691900e-02,
 -9.51354975e-03,-5.22331771e-03]


--- Step 1982 ---
qpos:
[ 0.0098462 , 0.00809006,-0.00558416, 0.03348648, 0.00581008,-0.02379151,
 -0.01683686, 0.03801415, 0.01299635, 0.00593298,-0.01172117, 0.03408028,
  0.81047496,-0.01591014, 1.13507069, 0.04613588, 0.09498616,-0.06332704,
  0.14258226, 0.94234575,-0.03268676, 0.02762056, 0.33189331]

qacc:
[ 1.08896806e+00, 1.82139318e+00,-5.40996509e+00, 3.58054317e+00,
  6.62899741e+00,-2.41000355e-01,-4.60971944e-01,-2.93061811e+00,
 -2.84726319e+00,-7.36139512e-01,-3.30387075e-01, 1.02270965e+01,
  2.82690475e+00, 2.92124378e-01, 9.67364391e+00,-2.57741627e+01,
 -9.41617515e-03,-4.78855061e-02, 1.10897304e-02, 1.31607194e+00,
 -6.39226351e-02, 2.79507439e+00]

qfrc_actuator:
[ 4.27097452e-05, 2.82849907e-04,-4.56390759e-05,-1.02327829e-05,
 -2.21927620e-03, 2.67704126e-02, 1.00464487e-02, 1.13533729e-03,
 -1.20258260e-05, 9.60811856e-05, 8.02464765e-06, 4.07457698e-06,
  5.00660877e-02, 2.01014973e-02, 2.49230468e-03,-2.20631048e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71255838, -0.54568911, -0.45821702, -0.54568911,  2.33165891,
       -1.9281814 , -0.45821702, -1.9281814 ,  3.00882314,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.96212509026031e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99158553e-01,  5.80741896e-03, -4.06012314e-02,  5.80263017e-03,
        9.99983137e-01,  2.35792337e-04,  4.06019161e-02, -2.71050543e-20,
       -9.99175402e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13163396, -0.08287545,  0.1746992 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038018655178300776
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85546751e-01, -1.69367240e-01,  3.51278506e-03, -1.69366165e-01,
        9.85553011e-01,  6.03671953e-04, -3.56427814e-03, -1.08420217e-19,
       -9.99993648e-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([ 0.13113209, -0.0820332 ,  0.13158878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2876524 ,   6.41922413,   3.4501361 ,   6.41922413,
        22.77218812, -28.8100824 ,   3.4501361 , -28.8100824 ,
        60.8908642 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.305272661709338e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78725364e-01,  1.09714833e-01, -1.73376232e-01,  1.08032873e-01,
        9.93963106e-01,  1.91374752e-02,  1.74429243e-01,  3.46944695e-18,
       -9.84669711e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329829, -0.05386357,  0.29658747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005013252138785062
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24674344, -0.91703608, -0.31330896, -0.0814056 , -0.30254856,
        0.94965125, -0.96565563,  0.25982532,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482664, -0.03589472,  0.30486857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004365564322889315
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54313748e-13, -9.93413078e-14,  1.00000000e+00, -2.52638603e-26,
        1.00000000e+00,  9.93413078e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54313748e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05344567, -0.06075284,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.53657606e-06, 6.82454269e-06,-3.66692350e-05,-9.05077897e-06,
 -2.07157126e-03, 2.83952679e-02, 1.06227243e-02, 1.15515432e-03,
 -1.68000342e-05, 1.94661168e-06, 3.85442385e-05, 3.33027137e-05,
  5.35846717e-02, 2.16400023e-02, 1.45147881e-02,-2.97539643e-05,
 -4.49360217e-08, 1.57736140e-08,-9.80999991e+00,-6.49693953e-02,
 -9.51386813e-03,-5.22294698e-03]


--- Step 1983 ---
qpos:
[ 0.00984681, 0.00809023,-0.00558547, 0.03348568, 0.00580857,-0.02380545,
 -0.0168406 , 0.038014  , 0.01299596, 0.00593362,-0.01172   , 0.03408103,
  0.81047752,-0.01590501, 1.13503332, 0.04613055, 0.09498705,-0.0633263 ,
  0.1425826 , 0.94234236,-0.03268176, 0.02761877, 0.33190356]

qacc:
[ 5.54457833e-01,-9.32946164e-01, 1.53310913e+00, 2.67035468e+00,
  5.54749187e+00,-1.06055739e-01,-3.45723221e-01,-3.02945095e+00,
 -1.76991542e+00, 3.19751003e+00,-1.67857598e+01, 3.75918284e+01,
  2.69009995e+00, 2.25289275e-01, 9.55600022e+00,-3.05011880e+01,
 -9.56811767e-03,-4.28028231e-02, 8.19305798e-03, 1.05860627e+00,
 -9.36875611e-02, 2.16721793e+00]

qfrc_actuator:
[ 4.56552191e-05, 2.53109163e-04,-2.95517078e-05, 3.14286534e-06,
 -2.23408493e-03, 2.67582703e-02, 1.00482992e-02, 1.13327068e-03,
 -2.18755115e-05, 4.50055405e-05,-2.98740638e-05, 5.78552926e-05,
  5.00677193e-02, 2.01455006e-02, 2.49031483e-03,-2.36109727e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71256946, -0.53514223, -0.47050827, -0.53514223,  2.28288512,
       -1.78603073, -0.47050827, -1.78603073,  2.74394815,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.99747806009871e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99157917e-01,  5.80524907e-03, -4.06171921e-02,  5.80045831e-03,
        9.99983149e-01,  2.35796890e-04,  4.06178766e-02,  0.00000000e+00,
       -9.99174754e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1316348 , -0.08287412,  0.17469927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038018526792646043
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85545204e-01, -1.69376312e-01,  3.50932417e-03, -1.69375238e-01,
        9.85551452e-01,  6.03110456e-04, -3.56077215e-03,  0.00000000e+00,
       -9.99993660e-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([ 0.13113356, -0.08203331,  0.13158878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2878457 ,   6.4051951 ,   3.47651704,   6.4051951 ,
        20.53883145, -24.41384525,   3.47651704, -24.41384525,
        52.26833632,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.3564557337530975e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872641,  0.10970328, -0.17337763,  0.10802148,  0.99396438,
        0.01913559,  0.17443043,  0.        , -0.9846695 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132985 , -0.05386344,  0.2965876 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005009220388814614
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47766334e-01, -9.16891849e-01, -3.12923603e-01, -8.16316123e-02,
       -3.02088499e-01,  9.49778300e-01, -9.65374603e-01,  2.60867546e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482648, -0.03589453,  0.30486965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043632672146060036
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.81671453e-13, -9.93936075e-14,  1.00000000e+00, -3.79357026e-26,
        1.00000000e+00,  9.93936075e-14, -1.00000000e+00,  0.00000000e+00,
       -3.81671453e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05344665, -0.0607519 ,  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:
[ 3.13618011e-06,-3.38835551e-05, 1.26823873e-05, 1.22277371e-05,
 -2.12568743e-03, 2.84542824e-02, 1.06664054e-02, 1.16984096e-03,
 -1.03250104e-05,-4.06557820e-05,-3.16249109e-05, 5.58418233e-05,
  5.32581446e-02, 2.15395416e-02, 1.43209971e-02,-1.16968898e-04,
 -3.40612616e-07, 2.77867380e-07,-9.80999977e+00,-6.49692349e-02,
 -9.51429894e-03,-5.22250445e-03]


--- Step 1984 ---
qpos:
[ 0.00984779, 0.00808993,-0.00558594, 0.03348502, 0.00580749,-0.02381986,
 -0.01684478, 0.0380136 , 0.01299581, 0.00593444,-0.01171971, 0.03408169,
  0.8104859 ,-0.0158973 , 1.13500007, 0.04612417, 0.09498789,-0.06332573,
  0.14258296, 0.942338  ,-0.03267506, 0.02761741, 0.33191672]

qacc:
[ 3.33078849e+00,-2.68156046e+00, 8.03289511e+00,-6.49111628e+00,
  3.67225240e+00, 9.77241042e-02,-1.79044989e-01,-3.12629898e+00,
  1.98799896e+00, 2.51063799e+00,-8.28805559e+00, 8.20615405e+00,
  2.48867479e+00, 2.94504497e-01, 9.21101377e+00,-2.35296121e+01,
 -1.26167171e-02,-4.07797508e-02, 6.64296652e-03, 8.18213256e-01,
 -1.18171862e-01, 1.55878160e+00]

qfrc_actuator:
[ 6.48960878e-05, 2.35414742e-04, 1.59185138e-05, 1.13329722e-05,
 -2.29601902e-03, 2.67571838e-02, 1.00335601e-02, 1.11451953e-03,
 -9.75837462e-06, 6.75253071e-05,-7.05783826e-05, 5.36294813e-05,
  5.00576212e-02, 2.01682261e-02, 2.49571379e-03,-2.37934037e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71258578, -0.56070907, -0.43975429, -0.56070907,  1.93692345,
       -1.56109278, -0.43975429, -1.56109278,  2.70305844,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0483986801602045e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99157207e-01,  5.80373636e-03, -4.06348639e-02,  5.79894267e-03,
        9.99983158e-01,  2.35838009e-04,  4.06355483e-02, -2.71050543e-20,
       -9.99174035e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13163573, -0.08287272,  0.17469911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003801609645021258
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85542336e-01, -1.69393016e-01,  3.50860208e-03, -1.69391943e-01,
        9.85548581e-01,  6.03047581e-04, -3.56004985e-03,  0.00000000e+00,
       -9.99993663e-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([ 0.13113518, -0.08203352,  0.13158882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28821149,   6.39588957,   3.49437024,   6.39588957,
        17.00932733, -17.79295813,   3.49437024, -17.79295813,
        39.85539456,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.4503813720036264e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9787289 ,  0.10968422, -0.17337564,  0.10800276,  0.99396648,
        0.01913201,  0.17442805,  0.        , -0.98466992])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329882, -0.05386361,  0.2965878 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005003591889601732
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24947588, -0.91665439, -0.31226033, -0.08200179, -0.30130088,
        0.94999657, -0.96490284,  0.26260714,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482622, -0.03589485,  0.30487096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043592756871577154
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54680618e-13, -6.76495391e-14,  1.00000000e+00, -1.72290264e-26,
        1.00000000e+00,  6.76495391e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54680618e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05344726, -0.06075118,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93183426e-05,-3.34883957e-05, 4.04706183e-05, 7.41902431e-06,
 -2.22052853e-03, 2.85054683e-02, 1.06857789e-02, 1.16626927e-03,
  1.18117991e-05,-4.39805326e-06,-5.10882213e-05,-5.98077831e-06,
  5.29392446e-02, 2.14270029e-02, 1.42544124e-02,-1.10679436e-05,
 -9.32275823e-07, 6.43914547e-07,-9.80999955e+00,-6.49687815e-02,
 -9.51479456e-03,-5.22199314e-03]


--- Step 1985 ---
qpos:
[ 0.00984865, 0.00808981,-0.00558611, 0.03348442, 0.00580677,-0.02383444,
 -0.01684928, 0.03801297, 0.0129958 , 0.00593518,-0.01171956, 0.03408194,
  0.81049964,-0.01588721, 1.13497283, 0.04611785, 0.09498868,-0.06332529,
  0.14258335, 0.9423329 ,-0.03266701, 0.02761629, 0.3319321 ]

qacc:
[-1.06740013e+00,-4.90175979e-01, 1.86328111e+00,-1.51383998e+00,
  2.96757263e+00, 1.64042756e-01, 1.12725297e-02,-3.27557650e+00,
  1.28498272e+00,-5.52292015e-01, 3.57126374e+00,-1.04995545e+01,
  2.23329764e+00, 3.47741977e-01, 8.61286082e+00,-1.73877431e+01,
 -1.36717251e-02,-3.48302322e-02, 4.94579799e-03, 6.33248714e-01,
 -1.37173437e-01, 1.19781267e+00]

qfrc_actuator:
[ 5.80700144e-05, 2.78457964e-04, 4.28825899e-05, 1.64215867e-05,
 -2.31525902e-03, 2.67625703e-02, 1.00266536e-02, 1.08582802e-03,
 -2.56347724e-06, 6.28491325e-05,-7.68423771e-05, 3.31216341e-05,
  5.00562711e-02, 2.01417308e-02, 2.51590439e-03,-2.35159598e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71260601, -0.56458594, -0.43479886, -0.56458594,  1.81860911,
       -1.43614407, -0.43479886, -1.43614407,  2.57743784,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.109822698000943e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99156458e-01,  5.80265916e-03, -4.06534358e-02,  5.79786199e-03,
        9.99983164e-01,  2.35902003e-04,  4.06541202e-02,  0.00000000e+00,
       -9.99173280e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13163672, -0.08287131,  0.17469879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003801214946929989
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85538503e-01, -1.69415292e-01,  3.50975979e-03, -1.69414217e-01,
        9.85544752e-01,  6.03328236e-04, -3.56123837e-03,  1.08420217e-19,
       -9.99993659e-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([ 0.13113688, -0.08203379,  0.13158888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28871464,   6.38349864,   3.51799747,   6.38349864,
        15.50139519, -14.90212416,   3.51799747, -14.90212416,
        34.32900961,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.573970313148405e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78732422e-01,  1.09659828e-01, -1.73371184e-01,  1.07978830e-01,
        9.93969176e-01,  1.91272071e-02,  1.74423100e-01, -3.46944695e-18,
       -9.84670799e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132992 , -0.05386406,  0.29658804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004997114535278133
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51625145e-01, -9.16354634e-01, -3.11414470e-01, -8.24601069e-02,
       -3.00298689e-01,  9.50274186e-01, -9.64305510e-01,  2.64792150e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482589, -0.03589563,  0.30487242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043540344027984124
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27493598e-13,  2.78892246e-14,  1.00000000e+00,  3.55569759e-27,
        1.00000000e+00, -2.78892246e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27493598e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05344758, -0.06075063,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.28774359e-06, 3.30154779e-05, 2.52965358e-05, 5.20042068e-06,
 -2.26157343e-03, 2.85344342e-02, 1.07011268e-02, 1.15022130e-03,
  7.53445291e-06,-1.79757685e-05,-1.36871155e-05,-2.25848118e-05,
  5.26462475e-02, 2.12718180e-02, 1.40687060e-02, 6.95485424e-05,
 -1.56638628e-06, 1.00602880e-06,-9.80999931e+00,-6.49681033e-02,
 -9.51531977e-03,-5.22141638e-03]


--- Step 1986 ---
qpos:
[ 0.00984942, 0.00809006,-0.00558636, 0.03348458, 0.00580639,-0.0238492 ,
 -0.01685408, 0.03801211, 0.01299622, 0.00593526,-0.01171845, 0.03408263,
  0.81051815,-0.0158751 , 1.134949  , 0.04611045, 0.09498943,-0.06332497,
  0.14258374, 0.94232719,-0.03265785, 0.02761532, 0.33194929]

qacc:
[-7.84274650e-01, 2.29003244e+00,-1.06595522e+01, 2.36520544e+01,
  2.84279871e+00, 1.35891089e-01, 1.56900729e-01,-3.55688845e+00,
  3.83935494e+00,-2.66177171e+00, 6.35460453e+00, 2.22274927e-01,
  2.07781201e+00, 1.43068094e-01, 8.25609009e+00,-2.17103237e+01,
 -1.14645062e-02,-2.83859799e-02, 2.06715408e-03, 5.10285906e-01,
 -1.30075547e-01, 9.68595054e-01]

qfrc_actuator:
[ 5.37041640e-05, 3.04222387e-04, 4.11925011e-05, 5.51861131e-05,
 -2.29122092e-03, 2.67717457e-02, 1.00244949e-02, 1.05124689e-03,
  1.94219102e-05, 2.42917819e-05,-2.73109415e-05, 5.64735882e-05,
  5.00600036e-02, 2.01203735e-02, 2.54465242e-03,-2.43897662e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71262929, -0.5338641 , -0.47204832, -0.5338641 ,  1.93014971,
       -1.37695744, -0.47204832, -1.37695744,  2.26990239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1783422219748684e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99155686e-01,  5.80193420e-03, -4.06725010e-02,  5.79713312e-03,
        9.99983169e-01,  2.35983147e-04,  4.06731856e-02, -2.71050543e-20,
       -9.99172504e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13163774, -0.08286991,  0.17469835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038007231186428
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85533923e-01, -1.69441883e-01,  3.51217584e-03, -1.69440807e-01,
        9.85540181e-01,  6.03841121e-04, -3.56370639e-03,  0.00000000e+00,
       -9.99993650e-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([ 0.13113862, -0.08203412,  0.13158896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28932978,   6.37348315,   3.53737773,   6.37348315,
        16.07569418, -15.83086389,   3.53737773, -15.83086389,
        35.81264619,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.7174227235514938e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78736716e-01,  1.09631346e-01, -1.73364959e-01,  1.07950917e-01,
        9.93972318e-01,  1.91214921e-02,  1.74416285e-01,  3.46944695e-18,
       -9.84672006e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329962, -0.05386477,  0.2965883 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004990380024910667
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54014781e-01, -9.16017954e-01, -3.10463524e-01, -8.29618600e-02,
       -2.99173745e-01,  9.50585293e-01, -9.63635730e-01,  2.67219346e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482549, -0.03589685,  0.30487393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000434789123174531
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27673735e-13,  1.23683931e-13,  1.00000000e+00, -1.57911894e-26,
        1.00000000e+00, -1.23683931e-13, -1.00000000e+00,  0.00000000e+00,
        1.27673735e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05344767, -0.06075021,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.53404757e-06, 4.96778185e-05, 8.42937651e-06, 4.11578156e-05,
 -2.25516772e-03, 2.85532490e-02, 1.07148280e-02, 1.12697524e-03,
  2.21973096e-05,-5.24309634e-05, 4.33398901e-05, 2.16656760e-05,
  5.23827137e-02, 2.11314092e-02, 1.37976318e-02,-2.08930650e-05,
 -2.17318986e-06, 1.34805804e-06,-9.80999907e+00,-6.49672547e-02,
 -9.51586478e-03,-5.22077758e-03]


--- Step 1987 ---
qpos:
[ 0.00985048, 0.00809049,-0.00558654, 0.03348522, 0.00580627,-0.02386398,
 -0.01685911, 0.03801104, 0.01299725, 0.00593543,-0.01171673, 0.03408317,
  0.81054101,-0.01586118, 1.13492808, 0.04610184, 0.09499012,-0.06332474,
  0.14258413, 0.94232103,-0.03264783, 0.02761443, 0.33196782]

qacc:
[ 2.51511145e+00, 1.01524352e+00,-5.29143786e+00, 1.32957162e+01,
  2.21165939e+00, 1.81394129e-01, 2.28117411e-01,-3.58080529e+00,
  5.33631833e+00,-1.91342696e+00, 7.57535122e+00,-1.10913160e+01,
  1.91810080e+00, 5.48031130e-02, 7.89108885e+00,-2.14968676e+01,
 -1.14288577e-02,-2.49505725e-02, 4.56144042e-04, 3.94966283e-01,
 -1.27303954e-01, 7.17739868e-01]

qfrc_actuator:
[ 6.85820557e-05, 3.01608295e-04, 4.03306100e-05, 7.79259069e-05,
 -2.29460012e-03, 2.67832579e-02, 1.00430530e-02, 1.06648676e-03,
  4.99377462e-05, 7.25319390e-05, 1.91407476e-05, 5.21928695e-05,
  5.00559925e-02, 2.01192434e-02, 2.53062021e-03,-2.50554431e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71265516, -0.52924891, -0.47725566, -0.52924891,  1.89578951,
       -1.31202753, -0.47725566, -1.31202753,  2.16761776,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.25205981814473e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99154893e-01,  5.80154670e-03, -4.06920411e-02,  5.79674132e-03,
        9.99983171e-01,  2.36080750e-04,  4.06927259e-02,  0.00000000e+00,
       -9.99171708e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13163878, -0.08286853,  0.1746978 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038000914897698364
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85528736e-01, -1.69471975e-01,  3.51564455e-03, -1.69470897e-01,
        9.85535007e-01,  6.04548010e-04, -3.56724472e-03,  0.00000000e+00,
       -9.99993637e-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([ 0.1311404 , -0.08203449,  0.13158905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29004822,   6.36150346,   3.56034785,   6.36150346,
        15.80507227, -15.21434341,   3.56034785, -15.21434341,
        34.47449822,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.8758947359239123e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874162,  0.10959956, -0.17335736,  0.10791978,  0.99397582,
        0.01911504,  0.17440802,  0.        , -0.98467347])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330006, -0.05386569,  0.29658858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004983482325462085
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.56639154e-01, -9.15642603e-01, -3.09410678e-01, -8.35045894e-02,
       -2.97929440e-01,  9.50928510e-01, -9.62893207e-01,  2.69882700e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482499, -0.0358984 ,  0.30487546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004341121643987589
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27872831e-13,  2.79721817e-14,  1.00000000e+00,  3.57688205e-27,
        1.00000000e+00, -2.79721817e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27872831e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05344758, -0.0607499 ,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47634312e-05, 2.86605642e-05, 1.18610997e-05, 2.59609436e-05,
 -2.27543956e-03, 2.85739631e-02, 1.07487731e-02, 1.15387936e-03,
  3.11273511e-05, 2.87930191e-05, 4.16934377e-05,-4.61142210e-06,
  5.21396685e-02, 2.10283234e-02, 1.36135259e-02,-3.30114606e-05,
 -2.73879282e-06, 1.66555502e-06,-9.80999885e+00,-6.49662685e-02,
 -9.51642621e-03,-5.22008387e-03]


--- Step 1988 ---
qpos:
[ 0.00985101, 0.00809114,-0.0055864 , 0.03348541, 0.00580623,-0.02387826,
 -0.01686402, 0.03800984, 0.01299829, 0.00593646,-0.01171564, 0.0340833 ,
  0.81056616,-0.01584645, 1.13491305, 0.04609386, 0.09499076,-0.06332459,
  0.14258454, 0.94231474,-0.03263754, 0.0276137 , 0.33198676]

qacc:
[-4.55647873e+00,-1.49223801e+00, 7.64711048e+00,-1.60403130e+01,
  6.78257650e-01, 8.72139095e-02, 1.13180584e+00,-3.72567937e+00,
  7.54951203e-02, 2.03687541e+00,-3.85241473e+00,-2.97820065e+00,
  9.98310526e-01,-4.01940811e-02, 6.75518307e+00,-1.10544972e+01,
 -1.34256229e-02,-1.68393889e-02, 3.12418984e-03, 1.43529023e-01,
  3.09463131e-02, 2.21908957e-01]

qfrc_actuator:
[ 4.14085681e-05, 3.17511776e-04, 5.75950861e-05, 5.55244764e-05,
 -2.33224272e-03, 2.67960853e-02, 1.00563404e-02, 1.05843839e-03,
  4.97209552e-05, 1.36864011e-04,-7.30436823e-06, 3.17403901e-05,
  5.00418768e-02, 2.00941681e-02, 2.51747098e-03,-2.43479923e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71268305, -0.61166874, -0.36575741, -0.61166874,  1.20040699,
       -0.81563757, -0.36575741, -0.81563757,  2.07670188,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.328915808465234e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99154087e-01,  5.80142200e-03, -4.07118311e-02,  5.79661206e-03,
        9.99983172e-01,  2.36190487e-04,  4.07125162e-02,  0.00000000e+00,
       -9.99170902e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13163983, -0.08286719,  0.17469718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003799325863039952
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85523093e-01, -1.69504700e-01,  3.51987076e-03, -1.69503619e-01,
        9.85529379e-01,  6.05395081e-04, -3.57155335e-03, -1.08420217e-19,
       -9.99993622e-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([ 0.1311422 , -0.08203489,  0.13158915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29085539,   6.37435807,   3.53894498,   6.37435807,
        15.19216649, -14.23186473,   3.53894498, -14.23186473,
        32.92533188,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.0440824025570062e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874697,  0.10956536, -0.17334878,  0.10788628,  0.99397959,
        0.01910806,  0.17439873,  0.        , -0.98467512])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1133005 , -0.05386682,  0.29658887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004976612636708496
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25943208, -0.91523608, -0.30828219, -0.08407307, -0.29659674,
        0.95129496, -0.96209496,  0.27271466,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482441, -0.03590024,  0.30487699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043339204989786373
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.69944204e-07,  2.69944167e-07,  1.00000000e+00,  7.28698634e-14,
        1.00000000e+00, -2.69944167e-07, -1.00000000e+00,  0.00000000e+00,
       -2.69944204e-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([ 0.05386738, -0.06133381,  0.06199027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67457264e-05, 3.54801567e-05, 2.55378239e-05,-2.02604250e-05,
 -2.32623700e-03, 2.85882140e-02, 1.07739763e-02, 1.15670142e-03,
  6.78938849e-07, 8.88346005e-05,-1.55452917e-05,-1.78723327e-05,
  5.19084928e-02, 2.09131463e-02, 1.34552125e-02, 9.82742748e-05,
 -3.20722764e-06, 1.93133327e-06,-9.80999865e+00,-6.49651748e-02,
 -9.51699596e-03,-5.21934068e-03]


--- Step 1989 ---
qpos:
[ 0.00985088, 0.00809226,-0.00558642, 0.03348498, 0.00580113,-0.0238858 ,
 -0.01686379, 0.0380115 , 0.01299897, 0.00593813,-0.01171513, 0.03408356,
  0.81052119,-0.01586425, 1.13486491, 0.04609982, 0.09499215,-0.06332176,
  0.14258441, 0.94232505,-0.03265524, 0.02760291, 0.33195664]

qacc:
[-5.93487796e+00,-2.05286967e-01, 4.23874460e+00,-1.49816414e+01,
 -4.26470902e+01, 4.59298617e-01,-5.80171561e-01, 3.65145759e+01,
 -3.15281227e+00, 2.76494365e+00,-9.13772793e+00, 1.17518457e+01,
 -2.93405307e+01,-5.38029221e+00,-9.01483684e+01, 2.46257594e+02,
  1.86748943e-01, 6.66890236e-01,-1.34178387e-01,-1.39097041e+01,
  4.76640853e-01,-2.64175707e+01]

qfrc_actuator:
[ 7.44881528e-06, 3.44409755e-04, 4.99578384e-05, 2.45221800e-05,
 -2.31935595e-03, 2.68091995e-02, 1.00662112e-02, 1.07191103e-03,
  3.14148509e-05, 1.56781840e-04,-4.09858092e-05, 3.74196263e-05,
  5.00430300e-02, 2.00549885e-02, 2.52578147e-03,-2.12325296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7127122 , -0.51277711,  0.49499325, -0.51277711,  0.41913108,
       -0.30412875,  0.49499325, -0.30412875,  0.39765687,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4066060861268312e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99153306e-01,  5.80137837e-03, -4.07310151e-02,  5.79656392e-03,
        9.99983172e-01,  2.36300006e-04,  4.07317005e-02,  0.00000000e+00,
       -9.99170120e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13164085, -0.08286589,  0.17469655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037986097936498417
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85517297e-01, -1.69538303e-01,  3.52446218e-03, -1.69537219e-01,
        9.85523599e-01,  6.06308504e-04, -3.57623317e-03,  0.00000000e+00,
       -9.99993605e-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([ 0.13114394, -0.0820353 ,  0.13158926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.29172842,   6.35141904,   3.58172856,   6.35141904,
        15.55774293, -14.65798457,   3.58172856, -14.65798457,
        33.284486  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -3.2160710498826226e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9787525 ,  0.1095304 , -0.17333964,  0.10785205,  0.99398345,
        0.01910088,  0.17438886,  0.        , -0.98467686])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330094, -0.05386805,  0.29658915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36035446,  1.29795128, -0.40729194,  1.29795128,  1.7721243 ,
        1.31222139, -0.40729194,  1.31222139,  5.54212005,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004970634295249574
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26218848, -0.91482781, -0.30716002, -0.08462476, -0.29527264,
        0.95165788, -0.96129904,  0.27550707,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482379, -0.03590221,  0.30487837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043361657983954503
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20636870e-06, -1.20636878e-06,  1.00000000e+00, -1.45532554e-12,
        1.00000000e+00,  1.20636878e-06, -1.00000000e+00, -4.03896783e-28,
       -1.20636870e-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([ 0.0873367 , -0.1078762 ,  0.06199027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.47118193e-05, 5.11090148e-05, 2.12694318e-06,-2.89938232e-05,
 -2.31739971e-03, 2.85772829e-02, 1.07783754e-02, 1.17614868e-03,
 -1.82500237e-05, 6.55707551e-05,-1.78889035e-05, 8.59556668e-06,
  5.17952970e-02, 2.08329353e-02, 1.31691382e-02, 3.78157945e-04,
 -3.36086176e-06, 2.00047700e-06,-9.80999861e+00,-6.49640120e-02,
 -9.51749847e-03,-5.21859643e-03]


--- Step 1990 ---
qpos:
[ 0.00985068, 0.0080936 ,-0.00558644, 0.03348421, 0.00579629,-0.02389446,
 -0.01686425, 0.03801284, 0.01299978, 0.00593992,-0.0117148 , 0.03408357,
  0.81048644,-0.01587716, 1.13481614, 0.04610223, 0.09499339,-0.06331954,
  0.14258441, 0.94233191,-0.03266706, 0.02759474, 0.33193667]

qacc:
[-5.40380879e-01,-4.26201786e-01, 3.39735479e+00,-9.55135321e+00,
  2.19199727e+00,-1.78783580e-01,-2.10885446e-01,-3.23904574e+00,
  1.05436669e+00, 1.54554987e-01, 6.92648591e-01,-4.65469186e+00,
  4.30059726e+00, 8.49092988e-01, 9.65297478e+00,-3.53923231e+01,
 -3.83641759e-02,-1.49336308e-01, 3.14907198e-02, 3.01419689e+00,
  1.40913096e-01, 5.47597094e+00]

qfrc_actuator:
[ 5.28545217e-06, 3.42067197e-04, 4.54751607e-05, 6.45863497e-06,
 -2.27103987e-03, 2.68160336e-02, 1.00866993e-02, 1.11312956e-03,
  3.81230400e-05, 1.32171377e-04,-6.10421966e-05, 2.28983759e-05,
  5.00491272e-02, 2.00581229e-02, 2.52896361e-03,-2.00032447e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71266317, -0.62896571, -0.33509839, -0.62896571,  1.40622563,
       -1.30178779, -0.33509839, -1.30178779,  3.15606455,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.274403089224669e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99153038e-01,  5.79627873e-03, -4.07383075e-02,  5.79146679e-03,
        9.99983201e-01,  2.36134552e-04,  4.07389918e-02,  2.71050543e-20,
       -9.99169823e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13164097, -0.08286507,  0.17469887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24839662, -0.0326905 ,  0.24623609, -0.0326905 ,  0.6999197 ,
        0.05994456,  0.24623609,  0.05994456,  0.25635491,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037976518877886706
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85527741e-01, -1.69478155e-01,  3.49664236e-03, -1.69477088e-01,
        9.85533944e-01,  6.01302978e-04, -3.54796746e-03, -1.08420217e-19,
       -9.99993706e-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([ 0.13114453, -0.08203458,  0.13158895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28977352,  0.84155197,  7.24103502,  0.84155197, 32.10951433,
       -2.88454645,  7.24103502, -2.88454645,  7.62501506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.816356955515659e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78739717e-01,  1.09586287e-01, -1.73376505e-01,  1.07906341e-01,
        9.93977286e-01,  1.91148105e-02,  1.74427029e-01, -3.46944695e-18,
       -9.84670103e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329983, -0.05386579,  0.29658844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36437552, -0.807153  ,  1.10001119, -0.807153  ,  3.85207624,
        1.82539515,  1.10001119,  1.82539515,  2.70379205,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004991236833208663
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25615871, -0.91570094, -0.30963609, -0.08341542, -0.29818849,
        0.95085514, -0.96302886,  0.26939825,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482346, -0.03589728,  0.30487529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.29496389, -5.91357786,  8.42709193, -5.91357786, 17.94950302,
        5.37145121,  8.42709193,  5.37145121, 14.06429442,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043428728024839935
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27821269e-13, -3.99441465e-15,  1.00000000e+00, -5.10571150e-28,
        1.00000000e+00,  3.99441465e-15, -1.00000000e+00,  0.00000000e+00,
       -1.27821269e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05345204, -0.06074627,  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:
[-3.13682821e-06, 2.53837742e-05, 5.32301749e-06,-1.63641910e-05,
 -2.01592783e-03, 2.82469970e-02, 1.05412595e-02, 1.07496969e-03,
  6.21855936e-06, 8.65892679e-06,-8.44265132e-06,-1.21674949e-05,
  5.53074187e-02, 2.24631904e-02, 1.48291054e-02,-1.95351744e-04,
 -9.83519432e-06, 3.11138886e-06,-9.80999742e+00,-6.49659656e-02,
 -9.51957946e-03,-5.21853378e-03]


--- Step 1991 ---
qpos:
[ 0.00985011, 0.00809486,-0.00558641, 0.03348396, 0.00579193,-0.02390441,
 -0.01686545, 0.03801387, 0.013001  , 0.00594151,-0.011714  , 0.03408341,
  0.81046068,-0.01588584, 1.13477166, 0.04610348, 0.09499452,-0.06331776,
  0.1425845 , 0.94233585,-0.03267406, 0.02758864, 0.33192531]

qacc:
[ -3.23887589,  0.82215686, -5.24805716, 14.13057011,  4.07441482,
  -0.30580885, -0.08499726, -3.16548421,  3.70580474, -1.97365362,
   7.37518307,-11.0255034 ,  3.76108449,  0.72753227,  9.71358261,
 -25.0527903 , -0.02706567, -0.11175887,  0.02580923,  2.4397397 ,
   0.07144769,  4.63848457]

qfrc_actuator:
[-1.36491068e-05, 3.22244605e-04, 4.27931364e-05, 3.16416232e-05,
 -2.27577488e-03, 2.68420271e-02, 1.00995976e-02, 1.13751164e-03,
  5.95059922e-05, 1.16614441e-04,-3.75972214e-05, 1.43244913e-05,
  5.00428336e-02, 2.00622305e-02, 2.55396511e-03,-1.99641936e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71263351, -0.60879104, -0.37043217, -0.60879104,  1.58429429,
       -1.43254102, -0.37043217, -1.43254102,  3.06695967,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1905502679223155e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99152694e-01,  5.79143873e-03, -4.07474249e-02,  5.78662866e-03,
        9.99983229e-01,  2.35990172e-04,  4.07481083e-02,  2.71050543e-20,
       -9.99169451e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13164127, -0.08286417,  0.17470054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037970088517128746
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85534811e-01, -1.69437460e-01,  3.47617448e-03, -1.69436406e-01,
        9.85540941e-01,  5.97635419e-04, -3.52717409e-03,  0.00000000e+00,
       -9.99993780e-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([ 0.13114532, -0.08203409,  0.13158873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28861716,  7.28688455,  0.1589138 ,  7.28688455,  7.3006858 ,
       -0.55339936,  0.1589138 , -0.55339936, 32.66437021,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5504942348466632e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9787309 ,  0.10962339, -0.17340281,  0.10794234,  0.9939732 ,
        0.01912426,  0.17445421,  0.        , -0.98466529])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329911, -0.05386407,  0.29658799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005003453859330384
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52313305e-01, -9.16231948e-01, -3.11218594e-01, -8.26280363e-02,
       -3.00049364e-01,  9.50338354e-01, -9.64111303e-01,  2.65498392e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482327, -0.0358937 ,  0.30487366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043537618216198115
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.82504741e-13, -9.96106096e-14,  1.00000000e+00, -3.81015304e-26,
        1.00000000e+00,  9.96106096e-14, -1.00000000e+00,  0.00000000e+00,
       -3.82504741e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05345583, -0.06074373,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90186710e-05,-5.27643698e-06, 2.63741210e-06, 2.61353512e-05,
 -2.03367735e-03, 2.83296230e-02, 1.05892726e-02, 1.11498698e-03,
  2.15696066e-05,-1.30442958e-05, 2.37484146e-05,-8.73660275e-06,
  5.47903787e-02, 2.22227359e-02, 1.48861210e-02,-1.41922354e-05,
 -4.42528937e-06, 1.24884311e-06,-9.80999887e+00,-6.49678617e-02,
 -9.51895735e-03,-5.21842574e-03]


--- Step 1992 ---
qpos:
[ 0.00984932, 0.00809596,-0.00558638, 0.03348471, 0.00578816,-0.02391566,
 -0.01686737, 0.03801459, 0.01300178, 0.00594302,-0.01171266, 0.03408312,
  0.81044295,-0.01589082, 1.13473113, 0.04610346, 0.09499557,-0.06331632,
  0.14258468, 0.94233736,-0.03267714, 0.02758413, 0.33192111]

qacc:
[-1.94968319e+00, 1.88687938e+00,-1.12811105e+01, 2.88520512e+01,
  4.97811431e+00,-3.29259585e-01,-2.79715041e-02,-3.19320627e+00,
 -3.87947741e+00,-1.82291192e+00, 6.87428725e+00,-9.77876111e+00,
  3.38938718e+00, 5.67287257e-01, 9.62236116e+00,-2.53859309e+01,
 -1.94650977e-02,-8.60126794e-02, 2.04827041e-02, 1.97859358e+00,
  1.80766176e-02, 3.86022842e+00]

qfrc_actuator:
[-2.45609573e-05, 3.09895803e-04, 4.11414360e-05, 8.20495035e-05,
 -2.27716245e-03, 2.68446264e-02, 1.00905025e-02, 1.13416310e-03,
  3.60891289e-05, 1.24520982e-04,-6.38571984e-06, 9.35148050e-06,
  5.00448250e-02, 2.00656329e-02, 2.55435925e-03,-2.06489147e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71261842, -0.58576984, -0.40583089, -0.58576984,  1.76842333,
       -1.523932  , -0.40583089, -1.523932  ,  2.91223762,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1466296328141625e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99152265e-01,  5.78708119e-03, -4.07585651e-02,  5.78227210e-03,
        9.99983255e-01,  2.35877075e-04,  4.07592476e-02, -2.71050543e-20,
       -9.99168997e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13164174, -0.08286314,  0.17470167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003796593559859283
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85539042e-01, -1.69413143e-01,  3.46161364e-03, -1.69412098e-01,
        9.85545122e-01,  5.95044137e-04, -3.51238474e-03, -1.08420217e-19,
       -9.99993832e-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([ 0.13114631, -0.0820338 ,  0.13158859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28798506,  7.27601862,  0.41746778,  7.27601862,  7.38589467,
       -1.70646013,  0.41746778, -1.70646013, 37.02976689,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.392675873887157e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78725383e-01,  1.09644494e-01, -1.73420612e-01,  1.07962771e-01,
        9.93970867e-01,  1.91299523e-02,  1.74472530e-01,  3.46944695e-18,
       -9.84662042e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329873, -0.05386282,  0.29658774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005009819813945231
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50076792e-01, -9.16529280e-01, -3.12146884e-01, -8.21662209e-02,
       -3.01138489e-01,  9.50033853e-01, -9.64733285e-01,  2.63229348e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482319, -0.03589123,  0.30487302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004360162854807059
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.31292974e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.31292974e-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([ 0.05345867, -0.06074174,  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:
[-1.14607124e-05,-1.36848629e-05,-1.52567765e-06, 5.07802865e-05,
 -2.05923213e-03, 2.83971554e-02, 1.06169694e-02, 1.12722582e-03,
 -2.28030785e-05, 5.08803504e-06, 3.11126340e-05,-4.88601020e-06,
  5.43426213e-02, 2.20149296e-02, 1.46735487e-02,-2.44021571e-05,
 -1.55007413e-06, 3.14872425e-07,-9.80999960e+00,-6.49690608e-02,
 -9.51880205e-03,-5.21822648e-03]


--- Step 1993 ---
qpos:
[ 0.00984875, 0.00809711,-0.00558641, 0.03348535, 0.00578493,-0.02392805,
 -0.01686998, 0.038015  , 0.01300228, 0.00594446,-0.01171124, 0.03408315,
  0.81043265,-0.01589247, 1.13469054, 0.04610012, 0.09499656,-0.06331517,
  0.14258493, 0.94233692,-0.03267699, 0.02758085, 0.33192265]

qacc:
[ 1.92682190e+00,-2.74824678e-02, 6.79587843e-01,-2.63552136e+00,
  4.58651405e+00,-2.25500844e-01,-6.96509999e-02,-3.35744416e+00,
 -2.51409772e+00, 3.02919678e-01,-2.55304089e+00, 7.94223962e+00,
  3.23052716e+00, 3.20748178e-01, 9.80430649e+00,-3.46756216e+01,
 -1.46770255e-02,-7.12625002e-02, 1.54201608e-02, 1.61376712e+00,
 -2.15174739e-02, 3.09654668e+00]

qfrc_actuator:
[-1.29056892e-05, 3.19893882e-04, 4.01432671e-05, 7.58823068e-05,
 -2.27684206e-03, 2.68514672e-02, 1.00685000e-02, 1.09654651e-03,
  2.19922925e-05, 1.10956215e-04,-6.26166817e-06, 2.43074129e-05,
  5.00462239e-02, 2.00496869e-02, 2.53986326e-03,-2.28272138e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71261451, -0.55561403, -0.44622023, -0.55561403,  1.98339216,
       -1.58231709, -0.44622023, -1.58231709,  2.68284698,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1350993169262252e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99151750e-01,  5.78331318e-03, -4.07717321e-02,  5.77850412e-03,
        9.99983277e-01,  2.35799639e-04,  4.07724140e-02, -2.71050543e-20,
       -9.99168459e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13164236, -0.08286197,  0.17470236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000379628427923373
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85540920e-01, -1.69402417e-01,  3.45186766e-03, -1.69401378e-01,
        9.85546965e-01,  5.93330146e-04, -3.50248926e-03,  0.00000000e+00,
       -9.99993866e-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([ 0.13114751, -0.08203367,  0.13158851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28771436,  7.25364162,  0.70389191,  7.25364162,  7.60949476,
       -3.31596326,  0.70389191, -3.31596326, 41.45888281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3218018305893748e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78722567e-01,  1.09652258e-01, -1.73431600e-01,  1.07970198e-01,
        9.93970011e-01,  1.91325355e-02,  1.74483735e-01, -3.46944695e-18,
       -9.84660056e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132986 , -0.05386198,  0.29658765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005011897602122048
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24912153, -0.91664964, -0.31255705, -0.08197155, -0.3016166 ,
        0.94989899, -0.96499696,  0.26226107,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482314, -0.03588966,  0.30487311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043629780552308095
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27232249e-13, -1.31208257e-13,  1.00000000e+00, -1.66939217e-26,
        1.00000000e+00,  1.31208257e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27232249e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05346073, -0.06074018,  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:
[ 1.13182558e-05, 4.16295915e-06,-2.26949957e-06,-5.82164870e-06,
 -2.08843702e-03, 2.84694272e-02, 1.06315462e-02, 1.10512369e-03,
 -1.47381846e-05,-4.57736215e-06, 4.80723963e-06, 1.61507316e-05,
  5.39421474e-02, 2.18136006e-02, 1.44616970e-02,-1.77993969e-04,
 -3.08700176e-07,-9.34181861e-09,-9.80999988e+00,-6.49697015e-02,
 -9.51894058e-03,-5.21794464e-03]


--- Step 1994 ---
qpos:
[ 0.00984832, 0.0080985 ,-0.00558706, 0.03348523, 0.00578231,-0.02394144,
 -0.0168732 , 0.03801511, 0.01300295, 0.00594571,-0.01171057, 0.03408344,
  0.810429  ,-0.01589118, 1.13465366, 0.0460954 , 0.0949975 ,-0.06331424,
  0.14258522, 0.94233485,-0.03267422, 0.02757849, 0.33192899]

qacc:
[ 1.23803455e+00, 5.22161880e-01, 1.78517858e+00,-1.40083278e+01,
  5.08641705e+00,-2.52516187e-01, 1.97740931e-01,-3.59550957e+00,
  1.49486060e+00, 2.39979189e+00,-9.98329092e+00, 1.57199083e+01,
  2.86522523e+00, 3.10096675e-01, 9.57365572e+00,-2.57238418e+01,
 -1.22599414e-02,-5.44680656e-02, 1.20121038e-02, 1.29236135e+00,
 -6.07358222e-02, 2.57942214e+00]

qfrc_actuator:
[-5.81618988e-06, 3.25401802e-04, 4.08169312e-06, 3.64913870e-05,
 -2.27568684e-03, 2.68789565e-02, 1.00567545e-02, 1.05624631e-03,
  3.12605724e-05, 6.67823852e-05,-6.00706033e-05, 3.30777307e-05,
  5.00417079e-02, 2.00742919e-02, 2.52730492e-03,-2.30358127e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71261931, -0.53915285, -0.46598335, -0.53915285,  1.99913274,
       -1.48852398, -0.46598335, -1.48852398,  2.43487387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.149234626593796e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99151157e-01,  5.78008853e-03, -4.07867147e-02,  5.77527862e-03,
        9.99983295e-01,  2.35754760e-04,  4.07873961e-02,  2.71050543e-20,
       -9.99167848e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13164312, -0.08286072,  0.1747027 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037959496703665645
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85540905e-01, -1.69402621e-01,  3.44610039e-03, -1.69401586e-01,
        9.85546930e-01,  5.92339564e-04, -3.49663754e-03,  0.00000000e+00,
       -9.99993887e-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([ 0.13114887, -0.08203367,  0.13158848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28771119,   6.43447453,   3.42173523,   6.43447453,
        21.50708191, -26.73911699,   3.42173523, -26.73911699,
        57.56985039,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.3209600700038943e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872191,  0.10964935, -0.17343715,  0.10796723,  0.99397033,
        0.01913263,  0.17448926,  0.        , -0.98465908])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329866, -0.05386152,  0.29658769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000501048476366363
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24931453, -0.91661451, -0.31250616, -0.08202025, -0.30155062,
        0.94991573, -0.96494297,  0.26245963,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482304, -0.03588881,  0.30487374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004362971941153787
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27232428e-13, -1.31208441e-13,  1.00000000e+00, -1.66939685e-26,
        1.00000000e+00,  1.31208441e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27232428e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05346219, -0.06073897,  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:
[ 7.41001444e-06, 7.08059145e-06,-3.56970416e-05,-3.94086484e-05,
 -2.11449466e-03, 2.85539497e-02, 1.06542757e-02, 1.08037786e-03,
  8.85290379e-06,-4.51206994e-05,-5.36359597e-05, 9.04907126e-06,
  5.35667233e-02, 2.16720522e-02, 1.44533522e-02,-3.30961783e-05,
 -5.39748778e-08, 3.29939580e-08,-9.80999990e+00,-6.49698921e-02,
 -9.51925769e-03,-5.21758646e-03]


--- Step 1995 ---
qpos:
[ 0.00984798, 0.00810016,-0.00558821, 0.03348463, 0.00578041,-0.02395565,
 -0.01687697, 0.03801495, 0.01300337, 0.00594667,-0.0117108 , 0.03408385,
  0.81043173,-0.01588679, 1.13462358, 0.04609109, 0.09499839,-0.06331348,
  0.14258555, 0.94233138,-0.03266928, 0.02757666, 0.33193947]

qacc:
[ 7.54512550e-01, 7.16499098e-01,-2.15242307e-02,-7.73634995e+00,
  6.00939361e+00,-1.13840394e-01,-1.92668578e-02,-3.20473853e+00,
 -2.12520356e+00, 2.37321653e+00,-9.53311037e+00, 1.33383594e+01,
  2.50763513e+00, 7.94750341e-01, 8.72316025e+00,-1.60743437e+01,
 -1.43087189e-02,-4.20672958e-02, 1.08022542e-02, 1.03283533e+00,
 -1.58015673e-01, 2.22130629e+00]

qfrc_actuator:
[-1.47809077e-06, 3.45755232e-04,-1.69164527e-05, 1.33559975e-05,
 -2.25655507e-03, 2.69014144e-02, 1.00513613e-02, 1.06770427e-03,
  1.86985523e-05, 3.98880270e-05,-1.09918408e-04, 3.80738144e-05,
  5.00440956e-02, 2.01045245e-02, 2.52622294e-03,-2.24236843e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7126311 , -0.55316698, -0.4492765 , -0.55316698,  2.16724928,
       -1.7909834 , -0.4492765 , -1.7909834 ,  2.91776065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.183587258910268e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99150494e-01,  5.77746653e-03, -4.08033162e-02,  5.77265488e-03,
        9.99983310e-01,  2.35743728e-04,  4.08039972e-02, -2.71050543e-20,
       -9.99167170e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13164398, -0.08285936,  0.17470276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037955696935954627
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85539319e-01, -1.69411905e-01,  3.44343890e-03, -1.69410871e-01,
        9.85545335e-01,  5.91915483e-04, -3.49394267e-03,  0.00000000e+00,
       -9.99993896e-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([ 0.13115039, -0.08203378,  0.13158849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28791405,   6.39990238,   3.48639366,   6.39990238,
        16.18585654, -16.3337732 ,   3.48639366, -16.3337732 ,
        37.2714914 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.374288703408375e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872301,  0.10963752, -0.17343842,  0.10795556,  0.99397164,
        0.01913069,  0.17449031,  0.        , -0.98465889])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329888, -0.05386139,  0.29658782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005006931026895043
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50303759e-01, -9.16472268e-01, -3.12132359e-01, -8.22365542e-02,
       -3.01104232e-01,  9.50038626e-01, -9.64668429e-01,  2.63466929e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048229 , -0.03588859,  0.30487471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004360760001251157
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54593930e-13, -1.63099236e-13,  1.00000000e+00, -4.15240754e-26,
        1.00000000e+00,  1.63099236e-13, -1.00000000e+00,  0.00000000e+00,
       -2.54593930e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05346318, -0.06073803,  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:
[ 4.55104792e-06, 1.52118493e-05,-2.53039547e-05,-2.48356775e-05,
 -2.12553951e-03, 2.86274662e-02, 1.06795574e-02, 1.10670665e-03,
 -1.23196401e-05,-6.28658095e-05,-6.54839166e-05, 1.37773492e-06,
  5.32360700e-02, 2.15550113e-02, 1.42673637e-02, 9.74356223e-05,
 -3.49355722e-07, 2.82620012e-07,-9.80999977e+00,-6.49697269e-02,
 -9.51967738e-03,-5.21715714e-03]


--- Step 1996 ---
qpos:
[ 0.00984735, 0.00810208,-0.00558938, 0.03348373, 0.00577935,-0.02397042,
 -0.01688119, 0.03801456, 0.01300365, 0.00594752,-0.01171147, 0.03408427,
  0.81044054,-0.01587905, 1.13460578, 0.04609036, 0.0949992 ,-0.06331284,
  0.14258593, 0.94232668,-0.03266255, 0.02757501, 0.33195362]

qacc:
[-2.55398668,-0.18566995, 2.47526435,-7.92852308, 7.17575222, 0.00936582,
 -0.16876821,-2.66563293,-1.36602528, 1.09954971,-4.17448736, 5.0626216 ,
  2.05554326, 1.47184544, 7.28402238, 0.80466242,-0.01800237,-0.03095547,
  0.01064854, 0.80590619,-0.2535345 , 1.95857005]

qfrc_actuator:
[-1.65454239e-05, 3.74902243e-04,-1.10112976e-05, 3.97965504e-09,
 -2.24474109e-03, 2.69210585e-02, 1.00499616e-02, 1.11031177e-03,
  1.11333689e-05, 5.90409929e-05,-1.21450919e-04, 4.08311076e-05,
  5.00557374e-02, 2.01012982e-02, 2.55291844e-03,-1.99113517e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71264828, -0.59526141, -0.39183086, -0.59526141,  2.12056682,
       -2.13888102, -0.39183086, -2.13888102,  3.96199253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2326961121669257e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99149772e-01,  5.77555681e-03, -4.08212762e-02,  5.77074251e-03,
        9.99983321e-01,  2.35769532e-04,  4.08219570e-02, -2.71050543e-20,
       -9.99166436e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13164493, -0.08285792,  0.17470262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003795148992671698
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85536383e-01, -1.69428995e-01,  3.44293065e-03, -1.69427961e-01,
        9.85542397e-01,  5.91889583e-04, -3.49343738e-03, -1.08420217e-19,
       -9.99993898e-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([ 0.13115204, -0.08203399,  0.13158853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28826955,   6.36489505,   3.55063149,   6.36489505,
        12.94825521, -10.14614295,   3.55063149, -10.14614295,
        25.47633979,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.4649583484401333e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872553,  0.10961798, -0.17343654,  0.10793636,  0.99397379,
        0.01912703,  0.17448804,  0.        , -0.98465929])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329918, -0.05386157,  0.29658801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005002211373451785
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.2517346 , -0.9162703 , -0.3115741 , -0.08254281, -0.30044151,
        0.95022186, -0.96426987,  0.26492192,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482272, -0.03588895,  0.30487592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004356850294825465
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54822395e-13, -1.31392797e-13,  1.00000000e+00, -3.34818272e-26,
        1.00000000e+00,  1.31392797e-13, -1.00000000e+00,  0.00000000e+00,
       -2.54822395e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05346379, -0.06073731,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.49342565e-05, 3.13199185e-05, 5.06704667e-06,-1.40589567e-05,
 -2.14938570e-03, 2.86882472e-02, 1.07057699e-02, 1.16298825e-03,
 -7.93180589e-06,-2.95053892e-05,-3.25447253e-05,-2.17754556e-06,
  5.29290487e-02, 2.13968451e-02, 1.39546516e-02, 3.28085859e-04,
 -9.62852221e-07, 6.67703066e-07,-9.80999954e+00,-6.49692847e-02,
 -9.52017558e-03,-5.21664516e-03]


--- Step 1997 ---
qpos:
[ 0.00984689, 0.00810425,-0.00559052, 0.03348301, 0.00577918,-0.02398542,
 -0.01688567, 0.03801399, 0.01300383, 0.00594811,-0.01171198, 0.03408434,
  0.81045503,-0.0158678 , 1.13460291, 0.04609509, 0.09499993,-0.06331229,
  0.14258634, 0.94232093,-0.03265436, 0.0275733 , 0.33197088]

qacc:
[ 1.48161571e+00, 6.16135521e-01,-2.52149773e+00, 5.56032980e+00,
  7.47304781e+00, 5.91342285e-02, 9.11710279e-02,-2.58044680e+00,
 -8.07681883e-01,-1.47442639e+00, 6.22002137e+00,-1.22056933e+01,
  1.61676959e+00, 2.03682642e+00, 5.54659186e+00, 1.25917109e+01,
 -2.13735178e-02,-2.36839340e-02, 1.02790751e-02, 6.10812654e-01,
 -3.10703074e-01, 1.66267955e+00]

qfrc_actuator:
[-7.40738291e-06, 3.91461376e-04,-6.97961922e-06, 1.02911425e-05,
 -2.25549419e-03, 2.69213402e-02, 1.00333222e-02, 1.10066535e-03,
  6.57683524e-06, 5.25173319e-05,-1.10080695e-04, 2.45631174e-05,
  5.00620767e-02, 2.00942571e-02, 2.53695797e-03,-1.68248135e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71266947, -0.63110738, -0.3310608 , -0.63110738,  1.71593447,
       -1.9125428 , -0.3310608 , -1.9125428 ,  4.3585855 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2918256487790706e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99149003e-01,  5.77449782e-03, -4.08402461e-02,  5.76967993e-03,
        9.99983327e-01,  2.35835844e-04,  4.08409270e-02,  2.71050543e-20,
       -9.99165661e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13164594, -0.08285639,  0.17470233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003794766979448841
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85532263e-01, -1.69452941e-01,  3.44359070e-03, -1.69451907e-01,
        9.85538280e-01,  5.92089201e-04, -3.49412171e-03,  0.00000000e+00,
       -9.99993896e-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([ 0.13115378, -0.08203428,  0.13158859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28872787,  6.34411085,  3.58856676,  6.34411085, 11.24629277,
       -6.99645071,  3.58856676, -6.99645071, 19.65752628,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.577138948797486e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78729210e-01,  1.09591564e-01, -1.73432473e-01,  1.07910441e-01,
        9.93976705e-01,  1.91219129e-02,  1.74483439e-01, -3.46944695e-18,
       -9.84660109e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329952, -0.05386203,  0.29658822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004997360945728448
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25319517, -0.91606563, -0.3109919 , -0.08284996, -0.29975298,
        0.95041256, -0.96386103,  0.26640554,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482256, -0.03588991,  0.30487724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004351656903171103
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55126507e-13, -9.96587917e-14,  1.00000000e+00, -2.54255994e-26,
        1.00000000e+00,  9.96587917e-14, -1.00000000e+00,  0.00000000e+00,
       -2.55126507e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05346411, -0.06073676,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.71915248e-06, 3.44606461e-05, 1.06334539e-05, 1.15320622e-05,
 -2.20272379e-03, 2.87173869e-02, 1.07116272e-02, 1.16490841e-03,
 -4.78882092e-06,-2.98644307e-05, 1.18938689e-06,-1.87017105e-05,
  5.26312466e-02, 2.12221451e-02, 1.33246031e-02, 4.57688121e-04,
 -1.76313145e-06, 1.15501438e-06,-9.80999925e+00,-6.49686331e-02,
 -9.52074729e-03,-5.21603813e-03]


--- Step 1998 ---
qpos:
[ 0.00984758, 0.00810654,-0.00559184, 0.0334828 , 0.00577971,-0.02400038,
 -0.01689035, 0.03801325, 0.01300361, 0.0059482 ,-0.01171171, 0.03408455,
  0.8104746 ,-0.0158534 , 1.13460597, 0.04610109, 0.09500058,-0.06331185,
  0.14258679, 0.94231446,-0.03264503, 0.0275715 , 0.33199031]

qacc:
[ 1.00645318e+01, 1.67737789e+00,-7.92598113e+00, 1.69208059e+01,
  5.85765041e+00, 2.48799379e-01,-1.23938620e-01,-2.53011184e+00,
 -3.49290089e+00,-2.55805243e+00, 7.59848925e+00,-6.11795869e+00,
  1.54695565e+00, 1.67899857e+00, 4.90229797e+00,-4.46059659e+00,
 -1.89189544e-02,-2.53727201e-02, 6.33664042e-03, 4.82464516e-01,
 -2.54496892e-01, 1.15391192e+00]

qfrc_actuator:
[ 5.14157129e-05, 3.82625625e-04,-2.18792840e-05, 3.43889057e-05,
 -2.26241091e-03, 2.69453949e-02, 1.00252887e-02, 1.11296556e-03,
 -1.39266496e-05, 3.07655808e-05,-6.76417664e-05, 3.27302655e-05,
  5.00597262e-02, 2.00834181e-02, 2.52135350e-03,-1.73323635e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71269356, -0.63073998, -0.33181197, -0.63073998,  1.69486685,
       -1.86700908, -0.33181197, -1.86700908,  4.26168326,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3572128463925113e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99148208e-01,  5.77432498e-03, -4.08597045e-02,  5.76950264e-03,
        9.99983328e-01,  2.35941146e-04,  4.08603857e-02, -2.71050543e-20,
       -9.99164866e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13164697, -0.08285477,  0.17470195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037945652158589017
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85527143e-01, -1.69482699e-01,  3.44451329e-03, -1.69481664e-01,
        9.85533163e-01,  5.92354910e-04, -3.49507598e-03,  1.08420217e-19,
       -9.99993892e-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([ 0.13115557, -0.08203465,  0.13158865])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28924538,  6.34454455,  3.58885116,  6.34454455, 11.29052571,
       -7.07365679,  3.58885116, -7.07365679, 19.79439777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.698191596783395e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873379,  0.10955929, -0.17342703,  0.10787878,  0.99398026,
        0.01911561,  0.17447734,  0.        , -0.98466119])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329986, -0.05386276,  0.29658844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004993012714161108
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25440919, -0.91589788, -0.31049481, -0.08309994, -0.29916789,
        0.95057507, -0.96351978,  0.26763714,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482243, -0.03589144,  0.30487862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043455240965857567
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27743283e-13, -6.78636188e-14,  1.00000000e+00, -8.66912143e-27,
        1.00000000e+00,  6.78636188e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27743283e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05346419, -0.06073634,  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:
[ 5.90770588e-05, 1.30663400e-05,-6.08300014e-06, 2.61658296e-05,
 -2.25399159e-03, 2.87532559e-02, 1.07170501e-02, 1.18622240e-03,
 -2.06479375e-05,-3.90244329e-05, 3.57688920e-05, 6.56442746e-06,
  5.23450387e-02, 2.10351644e-02, 1.25629297e-02, 1.34279476e-04,
 -2.62495035e-06, 1.69081350e-06,-9.80999892e+00,-6.49678236e-02,
 -9.52138547e-03,-5.21533076e-03]


--- Step 1999 ---
qpos:
[ 0.00984863, 0.00810878,-0.00559349, 0.03348257, 0.00578085,-0.02401529,
 -0.01689526, 0.03801233, 0.01300349, 0.00594788,-0.01171066, 0.0340852 ,
  0.81049866,-0.0158363 , 1.13461085, 0.04610641, 0.09500117,-0.0633115 ,
  0.14258724, 0.94230747,-0.03263479, 0.02756962, 0.33201133]

qacc:
[ 3.10416932e+00, 8.19540899e-01,-2.93922568e+00, 3.15029062e+00,
  5.17508993e+00, 3.32668023e-01,-3.07070703e-01,-2.52167368e+00,
  9.19079610e-01,-1.85788053e+00, 3.99878583e+00, 2.51919357e+00,
  1.46352043e+00, 1.31490901e+00, 4.73143939e+00,-1.27090448e+01,
 -1.54945737e-02,-2.34037486e-02, 2.90662139e-03, 3.89645670e-01,
 -2.07195976e-01, 8.47631461e-01]

qfrc_actuator:
[ 6.79930264e-05, 3.58585413e-04,-4.79373580e-05, 3.08751341e-05,
 -2.23168403e-03, 2.69835501e-02, 1.00402193e-02, 1.12074594e-03,
 -8.14784376e-06, 1.79756141e-05,-2.50038684e-05, 5.52158936e-05,
  5.00520117e-02, 2.00692735e-02, 2.56481804e-03,-1.82011009e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71271979, -0.61183277, -0.3655546 , -0.61183277,  1.92621179,
       -2.03103497, -0.3655546 , -2.03103497,  4.11208546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4264344475528496e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99147402e-01,  5.77484721e-03, -4.08793407e-02,  5.77001980e-03,
        9.99983325e-01,  2.36075883e-04,  4.08800224e-02,  2.71050543e-20,
       -9.99164062e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13164801, -0.08285315,  0.17470151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003794437336184956
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85521314e-01, -1.69516566e-01,  3.44568487e-03, -1.69515529e-01,
        9.85527338e-01,  5.92678298e-04, -3.49628543e-03, -1.08420217e-19,
       -9.99993888e-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([ 0.13115739, -0.08203506,  0.13158871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2898145 ,  6.34372181,  3.59146058,  6.34372181, 11.56336651,
       -7.54852362,  3.59146058, -7.54852362, 20.62303446,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.825319663745759e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78738994e-01,  1.09523007e-01, -1.73420569e-01,  1.07843194e-01,
        9.93984261e-01,  1.91084938e-02,  1.74470135e-01,  3.46944695e-18,
       -9.84662466e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330018, -0.05386371,  0.29658864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004988605490054741
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55615108e-01, -9.15732096e-01, -3.09992976e-01, -8.33445360e-02,
       -2.98578856e-01,  9.50738847e-01, -9.63179425e-01,  2.68859434e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482224, -0.0358934 ,  0.30488008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043387535020929235
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.79874492e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.79874492e-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([ 0.05346411, -0.06073603,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82583383e-05,-1.69172756e-05,-2.32169059e-05,-2.65936620e-06,
 -2.25805029e-03, 2.87905827e-02, 1.07425422e-02, 1.20267084e-03,
  5.17717322e-06,-2.69577397e-05, 3.92056728e-05, 2.21781506e-05,
  5.20836213e-02, 2.08638546e-02, 1.23095960e-02,-1.62137276e-05,
 -3.34188281e-06, 2.13416357e-06,-9.80999863e+00,-6.49668740e-02,
 -9.52205852e-03,-5.21454002e-03]


--- Step 2000 ---
qpos:
[ 0.00984951, 0.00811093,-0.00559516, 0.03348228, 0.00578239,-0.02402974,
 -0.01690011, 0.03801129, 0.01300344, 0.00594739,-0.01170944, 0.03408611,
  0.81052502,-0.01581777, 1.13461724, 0.04611108, 0.09500171,-0.06331121,
  0.14258771, 0.94230029,-0.03262422, 0.02756788, 0.33203289]

qacc:
[-1.34954985e+00,-2.07152297e-01, 8.17740634e-01,-1.74096449e+00,
  3.33742743e+00, 1.84393970e-01, 6.34493487e-01,-2.89705512e+00,
  6.22625174e-01,-1.15581479e-01,-1.04705342e+00, 5.62929344e+00,
  6.64690532e-01, 8.12558086e-01, 4.16669323e+00,-1.13601753e+01,
 -1.36766147e-02,-1.66761188e-02, 3.43668262e-03, 1.63396467e-01,
  3.40295713e-03, 2.97078004e-01]

qfrc_actuator:
[ 5.95566926e-05, 3.61049353e-04,-4.49570405e-05, 2.88723611e-05,
 -2.23182638e-03, 2.70123648e-02, 1.00512781e-02, 1.10814096e-03,
 -4.69368224e-06, 1.06830141e-05,-1.80650577e-05, 6.81915150e-05,
  5.00462736e-02, 2.00523223e-02, 2.59062295e-03,-1.85619640e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71274777, -0.65321954, -0.28515541, -0.65321954,  1.14680058,
       -0.99430614, -0.28515541, -0.99430614,  2.99045377,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.498125951893656e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99146585e-01,  5.77598379e-03, -4.08991376e-02,  5.77115074e-03,
        9.99983319e-01,  2.36236697e-04,  4.08998199e-02,  0.00000000e+00,
       -9.99163252e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13164905, -0.08285155,  0.17470101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037942736526792376
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85514956e-01, -1.69553497e-01,  3.44719242e-03, -1.69552459e-01,
        9.85520985e-01,  5.93070608e-04, -3.49783767e-03,  0.00000000e+00,
       -9.99993883e-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([ 0.13115921, -0.08203552,  0.13158878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29043285,  6.37149257,  3.54323208,  6.37149257, 11.94774427,
       -8.3748466 ,  3.54323208, -8.3748466 , 22.35020645,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.957235190387402e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78744662e-01,  1.09483812e-01, -1.73413323e-01,  1.07804756e-01,
        9.93988579e-01,  1.91007744e-02,  1.74462088e-01,  3.46944695e-18,
       -9.84663892e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330048, -0.05386487,  0.29658884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004984001341730174
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25692373, -0.91555132, -0.30944462, -0.08360733, -0.29793588,
        0.95091746, -0.9628084 ,  0.2701851 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482194, -0.03589569,  0.3048816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043315634312459934
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.79560463e-08,  5.79560443e-08,  1.00000000e+00,  3.35890319e-15,
        1.00000000e+00, -5.79560443e-08, -1.00000000e+00, -3.94430453e-31,
       -5.79560463e-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([ 0.05388386, -0.06131975,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.92634491e-06,-1.19641951e-05,-3.47385283e-06,-3.58450461e-06,
 -2.28893816e-03, 2.88167304e-02, 1.07651476e-02, 1.19924452e-03,
  3.58957679e-06,-1.33192610e-05, 6.95643931e-06, 1.36051978e-05,
  5.18529574e-02, 2.07112993e-02, 1.22443886e-02,-1.80882639e-05,
 -3.93538128e-06, 2.49976780e-06,-9.80999838e+00,-6.49658116e-02,
 -9.52275848e-03,-5.21368086e-03]


--- Step 2001 ---
qpos:
[ 0.00985064, 0.0081127 ,-0.00559612, 0.0334823 , 0.00577901,-0.02403736,
 -0.01689979, 0.03801311, 0.01300344, 0.00594673,-0.01170892, 0.0340869 ,
  0.81048124,-0.0158332 , 1.13457678, 0.04612427, 0.09500299,-0.06330825,
  0.1425876 , 0.94230985,-0.03264189, 0.02755609, 0.33200501]

qacc:
[ 2.10947974e+00,-1.82810485e+00, 4.47788967e+00, 6.06237110e-02,
 -4.14399168e+01, 5.35722195e-01,-6.67633178e-01, 3.64764121e+01,
  3.49965645e-01, 1.45635373e+00,-4.96969049e+00, 3.91693659e+00,
 -2.80638342e+01,-8.03955672e+00,-9.41782647e+01, 2.30684870e+02,
  1.86371538e-01, 6.70613370e-01,-1.44340764e-01,-1.40167884e+01,
  5.28416118e-01,-2.66337043e+01]

qfrc_actuator:
[ 7.19842826e-05, 3.43967872e-04,-6.99327957e-06, 4.55735195e-05,
 -2.25051792e-03, 2.70351696e-02, 1.00775670e-02, 1.10105450e-03,
 -2.64366498e-06,-2.89097848e-05,-6.77484327e-05, 5.76936334e-05,
  5.00470841e-02, 2.00338797e-02, 2.56851412e-03,-1.93258782e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71277699, -0.51523356,  0.49252961, -0.51523356,  0.42475428,
       -0.30129958,  0.49252961, -0.30129958,  0.39758851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5708820873895196e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99145786e-01,  5.77751675e-03, -4.09184268e-02,  5.77267786e-03,
        9.99983310e-01,  2.36410842e-04,  4.09191097e-02,  0.00000000e+00,
       -9.99162462e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13165006, -0.08284998,  0.17470049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24831251,  0.22629473,  0.10222424,  0.22629473,  0.46706701,
       -0.48425883,  0.10222424, -0.48425883,  1.32032067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003794160200843399
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85508400e-01, -1.69591559e-01,  3.44902757e-03, -1.69590520e-01,
        9.85514436e-01,  5.93523486e-04, -3.49972304e-03,  0.00000000e+00,
       -9.99993876e-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([ 0.13116099, -0.08203599,  0.13158885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29109687,  7.04524899,  1.87738121,  7.04524899,  7.913153  ,
       -2.33439019,  1.87738121, -2.33439019, 16.05136358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0926151219194056e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875054,  0.1094436 , -0.17340552,  0.10776533,  0.99399301,
        0.01909281,  0.17445346,  0.        , -0.98466542])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330079, -0.05386613,  0.29658904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36213456,  1.2968281 , -0.41671026,  1.2968281 ,  1.8981109 ,
        1.66799151, -0.41671026,  1.66799151,  6.55302722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004979779314987216
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.58309040e-01, -9.15358263e-01, -3.08861928e-01, -8.38831360e-02,
       -2.97252940e-01,  9.51106886e-01, -9.62413663e-01,  2.71587814e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482155, -0.0358981 ,  0.30488305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.28649679, -6.53270399,  7.9458036 , -6.53270399, 64.07793864,
       44.22505068,  7.9458036 , 44.22505068, 46.64646484,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004335802037369607
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28029718e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.28029718e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08759548, -0.10818921,  0.06199027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21928159e-05,-2.47064770e-05, 3.49348530e-05, 1.59982304e-05,
 -2.32746030e-03, 2.88178833e-02, 1.07884898e-02, 1.19753748e-03,
  2.14644941e-06,-4.50187459e-05,-5.11179179e-05,-1.05670344e-05,
  5.17393284e-02, 2.06209844e-02, 1.21467908e-02,-6.23292495e-05,
 -4.15553089e-06, 2.61402396e-06,-9.80999831e+00,-6.49646616e-02,
 -9.52339469e-03,-5.21281260e-03]


--- Step 2002 ---
qpos:
[ 0.00985156, 0.00811407,-0.00559654, 0.03348254, 0.00577562,-0.02404583,
 -0.01690014, 0.0380146 , 0.01300346, 0.00594576,-0.01170894, 0.03408721,
  0.81044779,-0.01584381, 1.13452507, 0.04612861, 0.09500414,-0.06330595,
  0.14258761, 0.94231627,-0.03265364, 0.02754715, 0.33198636]

qacc:
[-1.77382265e+00,-1.56827202e+00, 3.90973528e+00,-7.31351865e-01,
 -3.19610925e-02, 9.04617541e-02,-6.05500238e-01,-3.25807827e+00,
  2.05692430e-01, 1.09133496e-01, 9.96080972e-01,-8.05118517e+00,
  4.57361566e+00, 4.69202264e-01, 1.00018304e+01,-5.94819656e+01,
 -3.27520011e-02,-1.67070759e-01, 2.97541233e-02, 3.08284329e+00,
  2.56101527e-01, 5.00346263e+00]

qfrc_actuator:
[ 6.10954811e-05, 3.15482271e-04, 1.57462223e-05, 5.53990713e-05,
 -2.22192098e-03, 2.70300413e-02, 1.00901113e-02, 1.09436910e-03,
 -1.43619074e-06,-5.22954851e-05,-9.73435213e-05, 3.34089671e-05,
  5.00476079e-02, 2.00316121e-02, 2.57521234e-03,-2.04207279e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7127219 , -0.62600491, -0.34072036, -0.62600491,  1.50862465,
       -1.46231072, -0.34072036, -1.46231072,  3.39942281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4319226384252736e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99145507e-01,  5.77413461e-03, -4.09257161e-02,  5.76929684e-03,
        9.99983330e-01,  2.36314533e-04,  4.09263983e-02,  0.00000000e+00,
       -9.99162164e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13165016, -0.0828489 ,  0.17470291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24830158, -0.03220965,  0.2462036 , -0.03220965,  0.6944115 ,
        0.05836245,  0.2462036 ,  0.05836245,  0.25593686,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003793706184650567
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85518216e-01, -1.69535125e-01,  3.41853540e-03, -1.69534105e-01,
        9.85524145e-01,  5.88074711e-04, -3.46874850e-03,  1.08420217e-19,
       -9.99993984e-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([ 0.1311616 , -0.08203531,  0.13158851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28904805,  0.57836891,  7.26606571,  0.57836891, 33.65722661,
       -2.09887102,  7.26606571, -2.09887102,  7.45611532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6526882209153403e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873799,  0.10949497, -0.17344394,  0.10781514,  0.99398735,
        0.01910612,  0.1744931 ,  0.        , -0.9846584 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329951, -0.0538639 ,  0.29658823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36641272, -0.79977674,  1.10789931, -0.79977674,  3.7949949 ,
        1.7531589 ,  1.10789931,  1.7531589 ,  2.63199316,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005001600183174526
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51266908e-01, -9.16347239e-01, -3.11725326e-01, -8.24337462e-02,
       -3.00628269e-01,  9.50172259e-01, -9.64401171e-01,  2.64443532e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048213 , -0.03589341,  0.30488007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.2926412 , -5.91259278,  8.42494566, -5.91259278, 17.97926244,
        5.39443969,  8.42494566,  5.39443969, 14.07843715,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043409353640530557
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.99429615e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.99429615e-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([ 0.05346859, -0.06073239,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05567583e-05,-3.44521875e-05, 2.24810896e-05, 1.02843337e-05,
 -2.05275579e-03, 2.84709454e-02, 1.05427011e-02, 1.04856298e-03,
  1.25386764e-06,-5.95552829e-05,-4.55561383e-05,-2.81896675e-05,
  5.52466576e-02, 2.23172007e-02, 1.44964210e-02,-5.97903075e-04,
 -9.03600549e-06, 2.54004101e-06,-9.80999744e+00,-6.49664726e-02,
 -9.52540003e-03,-5.21262985e-03]


--- Step 2003 ---
qpos:
[ 0.00985235, 0.00811539,-0.0055974 , 0.03348361, 0.00577248,-0.02405541,
 -0.01690121, 0.03801577, 0.01300349, 0.00594461,-0.01170886, 0.03408717,
  0.81042346,-0.01585032, 1.1344731 , 0.04612927, 0.0950052 ,-0.06330415,
  0.14258772, 0.94231999,-0.03266056, 0.02754046, 0.33197567]

qacc:
[-1.22111381e+00, 2.83409196e+00,-1.36890435e+01, 2.87231446e+01,
  2.06977841e+00,-1.47735020e-01,-2.23482893e-01,-3.45677048e+00,
  1.29339528e-01,-1.20887847e+00, 5.47744621e+00,-1.16365531e+01,
  3.99446911e+00, 3.74166775e-01, 1.06013674e+01,-3.79165298e+01,
 -2.22074611e-02,-1.24587298e-01, 2.46696089e-02, 2.49564244e+00,
  1.62911323e-01, 4.29809955e+00]

qfrc_actuator:
[ 5.43166026e-05, 3.15839246e-04,-6.26135531e-06, 9.65753264e-05,
 -2.22115909e-03, 2.70131143e-02, 1.00981843e-02, 1.07220126e-03,
 -7.33778550e-07,-3.02449781e-05,-7.92689005e-05, 1.89951532e-05,
  5.00485689e-02, 2.00316060e-02, 2.58702657e-03,-2.08642944e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71268808, -0.59082197, -0.39856455, -0.59082197,  1.75138366,
       -1.53973596, -0.39856455, -1.53973596,  2.99515357,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3425044294523294e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99145166e-01,  5.77074909e-03, -4.09345350e-02,  5.76591207e-03,
        9.99983349e-01,  2.36226864e-04,  4.09352166e-02, -2.71050543e-20,
       -9.99161803e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13165043, -0.08284787,  0.17470465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003793434594088808
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85524910e-01, -1.69496661e-01,  3.39602515e-03, -1.69495654e-01,
        9.85530762e-01,  5.84065912e-04, -3.44588448e-03,  0.00000000e+00,
       -9.99994063e-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([ 0.13116238, -0.08203485,  0.13158827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28784780e+00,  7.28778256e+00, -3.08361185e-02,  7.28778256e+00,
        7.28828993e+00,  1.04494239e-01, -3.08361185e-02,  1.04494239e-01,
        3.19839291e+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: -2.357004461979515e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872926,  0.10952941, -0.17347144,  0.10784851,  0.99398355,
        0.01911523,  0.17452144,  0.        , -0.98465337])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329869, -0.05386222,  0.29658771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005013837987402657
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24694413, -0.9169208 , -0.31348819, -0.0815235 , -0.30270244,
        0.9495921 , -0.96559438,  0.26005285,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482106, -0.03588999,  0.30487862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004352205944284787
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55094322e-13, -1.63419800e-13,  1.00000000e+00, -4.16874631e-26,
        1.00000000e+00,  1.63419800e-13, -1.00000000e+00,  0.00000000e+00,
       -2.55094322e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05347242, -0.06072984,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.09695925e-06,-1.38761265e-05,-2.60114848e-05, 4.06755487e-05,
 -2.05184251e-03, 2.84971500e-02, 1.05845973e-02, 1.04250780e-03,
  7.17242667e-07,-2.18359332e-05,-8.02770577e-07,-1.90893220e-05,
  5.47312820e-02, 2.20764347e-02, 1.50720361e-02,-1.99056013e-04,
 -4.12208351e-06, 1.00436218e-06,-9.80999887e+00,-6.49684239e-02,
 -9.52493732e-03,-5.21244023e-03]


--- Step 2004 ---
qpos:
[ 0.00985339, 0.00811659,-0.00559822, 0.03348513, 0.00576963,-0.02406602,
 -0.01690289, 0.03801664, 0.01300353, 0.00594332,-0.0117086 , 0.0340866 ,
  0.81040713,-0.0158534 , 1.13442518, 0.04612835, 0.0950062 ,-0.06330274,
  0.14258791, 0.9423215 ,-0.03266358, 0.02753554, 0.3319715 ]

qacc:
[ 2.26255437e+00, 6.67916733e-01,-4.58046168e+00, 1.26152094e+01,
  2.45528485e+00,-2.71111039e-01, 2.47623046e-01,-3.69327472e+00,
  7.91042179e-02,-1.80631710e+00, 8.38359206e+00,-1.77151910e+01,
  3.53209771e+00, 1.82628609e-01, 1.06349633e+01,-2.87796493e+01,
 -1.59344365e-02,-9.61705842e-02, 2.00119206e-02, 2.00067367e+00,
  1.12188280e-01, 3.52661020e+00]

qfrc_actuator:
[ 6.77711837e-05, 3.15555609e-04,-1.11463305e-06, 1.20358563e-04,
 -2.25509869e-03, 2.70074518e-02, 1.01216333e-02, 1.07638177e-03,
 -3.33644565e-07,-3.42054195e-05,-6.85070729e-05,-7.17584783e-06,
  5.00495286e-02, 1.99962431e-02, 2.56937065e-03,-2.11110360e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71267036, -0.57235695, -0.4246252 , -0.57235695,  1.70750549,
       -1.34094913, -0.4246252 , -1.34094913,  2.52015034,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2942678156975584e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99144748e-01,  5.76760893e-03, -4.09451681e-02,  5.76277203e-03,
        9.99983367e-01,  2.36159645e-04,  4.09458491e-02,  0.00000000e+00,
       -9.99161367e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13165087, -0.08284681,  0.17470584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037933153425015817
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85528949e-01, -1.69473501e-01,  3.37988322e-03, -1.69472504e-01,
        9.85534744e-01,  5.81207964e-04, -3.42949169e-03,  0.00000000e+00,
       -9.99994119e-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([ 0.13116334, -0.08203457,  0.13158811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28718954,  7.28414649,  0.21057374,  7.28414649,  7.31155563,
       -0.84286935,  0.21057374, -0.84286935, 36.44364501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1778220914499666e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872373,  0.10954921, -0.17349014,  0.10786762,  0.99398137,
        0.01912079,  0.17454063,  0.        , -0.98464997])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329822, -0.05386102,  0.2965874 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005019636374812034
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24454599, -0.91722491, -0.31447692, -0.08101432, -0.30386249,
        0.94926512, -0.96624735,  0.25761611,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482086, -0.03588763,  0.30487819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004358905641317218
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27351119e-13, -3.97972248e-15,  1.00000000e+00, -5.06822112e-28,
        1.00000000e+00,  3.97972248e-15, -1.00000000e+00,  0.00000000e+00,
       -1.27351119e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05347527, -0.06072784,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32433785e-05,-1.17183967e-05, 4.75728556e-07, 2.30770274e-05,
 -2.09808210e-03, 2.85470832e-02, 1.06437126e-02, 1.06299484e-03,
  4.10165922e-07,-1.71139722e-05, 5.50468582e-06,-2.75035788e-05,
  5.42759815e-02, 2.18361516e-02, 1.50680616e-02,-3.97998450e-05,
 -1.47134269e-06, 2.31991609e-07,-9.80999959e+00,-6.49696567e-02,
 -9.52488389e-03,-5.21217519e-03]


--- Step 2005 ---
qpos:
[ 0.00985458, 0.00811782,-0.00559872, 0.0334862 , 0.00576707,-0.02407754,
 -0.01690512, 0.03801722, 0.01300323, 0.00594216,-0.01170863, 0.03408571,
  0.81039797,-0.01585353, 1.13438066, 0.04612556, 0.09500715,-0.06330163,
  0.14258816, 0.94232122,-0.03266346, 0.027532  , 0.33197261]

qacc:
[ 1.35000095e+00,-1.75909996e+00, 8.28020834e+00,-1.67299456e+01,
  2.36487498e+00,-2.55452909e-01, 3.55692946e-01,-3.71987576e+00,
 -3.00824880e+00, 3.31023339e-01, 4.09144375e-01,-5.48637378e+00,
  3.24357036e+00,-2.29516037e-02, 1.05812831e+01,-2.99507669e+01,
 -1.19005411e-02,-7.69406507e-02, 1.55439285e-02, 1.61195052e+00,
  6.60298228e-02, 2.84479557e+00]

qfrc_actuator:
[ 7.52731148e-05, 3.32735571e-04, 2.00276837e-05, 9.82349801e-05,
 -2.27449787e-03, 2.70089165e-02, 1.01367422e-02, 1.09647600e-03,
 -1.78671367e-05,-1.82208183e-05,-8.00182155e-05,-2.23330735e-05,
  5.00502605e-02, 1.99564431e-02, 2.57626130e-03,-2.21335555e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.712665  , -0.55739361, -0.44407632, -0.55739361,  1.74900324,
       -1.30078612, -0.44407632, -1.30078612,  2.34537957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2794886131234178e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99144261e-01,  5.76475968e-03, -4.09574448e-02,  5.75992226e-03,
        9.99983384e-01,  2.36113749e-04,  4.09581253e-02,  0.00000000e+00,
       -9.99160864e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13165144, -0.08284568,  0.17470658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003793333175232559
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85530817e-01, -1.69462855e-01,  3.36877940e-03, -1.69461865e-01,
        9.85536575e-01,  5.79261076e-04, -3.41821855e-03,  1.08420217e-19,
       -9.99994158e-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([ 0.13116446, -0.08203444,  0.13158801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28689296,  7.27090076,  0.48250507,  7.27090076,  7.43549832,
       -2.23934398,  0.48250507, -2.23934398, 41.03171488,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0920694224143378e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9787208 ,  0.10955694, -0.17350181,  0.10787501,  0.99398052,
        0.01912344,  0.17455253,  0.        , -0.98464786])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329802, -0.05386024,  0.29658728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005021058364138062
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24357777, -0.91734015, -0.31489193, -0.08081177, -0.30434583,
        0.94912753, -0.96650883,  0.25663334,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048207 , -0.03588614,  0.30487844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043619435050508415
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27262426e-13,  5.96542622e-14,  1.00000000e+00, -7.59174612e-27,
        1.00000000e+00, -5.96542622e-14, -1.00000000e+00,  0.00000000e+00,
        1.27262426e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05347735, -0.06072628,  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:
[ 7.87093297e-06, 1.16783222e-05, 1.95693200e-05,-2.21651436e-05,
 -2.13205840e-03, 2.86005258e-02, 1.06896385e-02, 1.09812141e-03,
 -1.75308325e-05, 6.41825145e-06,-1.53063725e-05,-1.62318690e-05,
  5.38768541e-02, 2.16245755e-02, 1.48736725e-02,-6.28214517e-05,
 -3.19934924e-07,-2.39632403e-08,-9.80999987e+00,-6.49703203e-02,
 -9.52508830e-03,-5.21184660e-03]


--- Step 2006 ---
qpos:
[ 0.00985585, 0.00811916,-0.00559955, 0.03348703, 0.00576487,-0.02408993,
 -0.01690789, 0.03801752, 0.01300272, 0.00594096,-0.01170821, 0.03408497,
  0.81039541,-0.01585091, 1.13434031, 0.04612139, 0.09500806,-0.06330076,
  0.14258846, 0.94231942,-0.03266075, 0.02752946, 0.33197817]

qacc:
[ 6.96210975e-01, 5.59739676e-01,-8.00001971e-01,-2.85518535e+00,
  3.09967045e+00,-2.23551727e-01, 3.16669339e-01,-3.70197296e+00,
 -1.81352940e+00,-9.78715877e-01, 2.82828083e+00,-1.05504614e+00,
  2.93838480e+00, 6.18619514e-02, 1.02292322e+01,-2.70558308e+01,
 -1.03307099e-02,-5.96749180e-02, 1.22414157e-02, 1.30286467e+00,
 -8.75791517e-03, 2.40345248e+00]

qfrc_actuator:
[ 7.92050601e-05, 3.24772296e-04,-2.77633944e-06, 8.48081580e-05,
 -2.26752606e-03, 2.69971979e-02, 1.01115247e-02, 1.07296503e-03,
 -2.80626087e-05,-8.24570223e-06,-5.12397656e-05,-1.31332632e-05,
  5.00506420e-02, 1.99841011e-02, 2.57116290e-03,-2.27246639e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7126693 , -0.54295764, -0.46162164, -0.54295764,  1.90001598,
       -1.39655268, -0.46162164, -1.39655268,  2.3552893 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2913583828641372e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99143713e-01,  5.76219068e-03, -4.09711830e-02,  5.75735217e-03,
        9.99983398e-01,  2.36087688e-04,  4.09718632e-02, -2.71050543e-20,
       -9.99160301e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13165214, -0.08284452,  0.17470696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037934054936048677
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85530936e-01, -1.69462307e-01,  3.36174730e-03, -1.69461321e-01,
        9.85536669e-01,  5.78049980e-04, -3.41108292e-03, -1.08420217e-19,
       -9.99994182e-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([ 0.13116573, -0.08203443,  0.13158796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28685579,   6.5040455 ,   3.28567488,   6.5040455 ,
        19.41109461, -24.00012291,   3.28567488, -24.00012291,
        54.79547946,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.0810722025355847e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78719941e-01,  1.09554956e-01, -1.73507894e-01,  1.07872935e-01,
        9.93980740e-01,  1.91237606e-02,  1.74558607e-01,  3.46944695e-18,
       -9.84646786e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329804, -0.05385982,  0.29658729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005019289406194335
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43767136e-01, -9.17306446e-01, -3.14843561e-01, -8.08608043e-02,
       -3.04282760e-01,  9.49143578e-01, -9.66456990e-01,  2.56828515e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482051, -0.03588537,  0.30487915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004362083898637875
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54516660e-13, -6.76059878e-14,  1.00000000e+00, -1.72068502e-26,
        1.00000000e+00,  6.76059878e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54516660e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05347883, -0.06072507,  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:
[ 4.15680001e-06, 1.61761050e-06,-1.87607894e-05,-1.26852687e-05,
 -2.13912821e-03, 2.86348440e-02, 1.06921300e-02, 1.08886750e-03,
 -1.06941212e-05, 9.74419810e-06, 2.76735574e-05, 8.63465419e-06,
  5.35186184e-02, 2.15046088e-02, 1.46991904e-02,-2.80842214e-05,
 -5.02875593e-08, 1.85644469e-08,-9.80999990e+00,-6.49705302e-02,
 -9.52543687e-03,-5.21146119e-03]


--- Step 2007 ---
qpos:
[ 0.00985682, 0.00812033,-0.00560054, 0.03348772, 0.00576311,-0.02410301,
 -0.01691116, 0.03801755, 0.01300209, 0.00593951,-0.01170734, 0.03408437,
  0.81039912,-0.01584547, 1.13430616, 0.04611708, 0.09500892,-0.06330008,
  0.1425888 , 0.94231635,-0.03265589, 0.02752756, 0.33198753]

qacc:
[-2.70056844e+00,-6.94536424e-02, 5.53654436e-01,-2.69147833e+00,
  3.74166499e+00,-7.65644724e-02, 7.15561035e-02,-3.41527317e+00,
 -1.02135462e+00,-1.33359473e+00, 3.67273796e+00,-1.76999025e+00,
  2.61383799e+00, 4.32614062e-01, 9.48423841e+00,-2.00367348e+01,
 -1.21698682e-02,-4.71104308e-02, 1.04684593e-02, 1.04142284e+00,
 -1.01039811e-01, 2.03904869e+00]

qfrc_actuator:
[ 6.32533614e-05, 3.01645096e-04,-1.59298319e-05, 7.65616291e-05,
 -2.26268388e-03, 2.69956436e-02, 1.00800748e-02, 1.05890869e-03,
 -3.38518600e-05,-3.72654837e-05,-3.44021165e-05,-7.40163124e-06,
  5.00506067e-02, 1.99979993e-02, 2.54802828e-03,-2.25217879e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71268125, -0.55271956, -0.44990627, -0.55271956,  2.04711221,
       -1.63937721, -0.44990627, -1.63937721,  2.7266915 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3240381742467973e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99143104e-01,  5.75998911e-03, -4.09863303e-02,  5.75514887e-03,
        9.99983411e-01,  2.36084732e-04,  4.09870102e-02,  2.71050543e-20,
       -9.99159679e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13165294, -0.08284329,  0.17470705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003793456145336954
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85529580e-01, -1.69470268e-01,  3.35793203e-03, -1.69469284e-01,
        9.85535300e-01,  5.77421875e-04, -3.40721639e-03,  1.08420217e-19,
       -9.99994195e-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([ 0.13116713, -0.08203453,  0.13158796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28701494,   6.47416597,   3.34451219,   6.47416597,
        15.56492013, -16.02402056,   3.34451219, -16.02402056,
        38.30563974,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.1277577564593506e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78720785e-01,  1.09544729e-01, -1.73509588e-01,  1.07862836e-01,
        9.93981867e-01,  1.91221403e-02,  1.74560113e-01,  3.46944695e-18,
       -9.84646519e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329823, -0.05385974,  0.2965874 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005015360942599271
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24481841, -0.91716208, -0.3144482 , -0.08109635, -0.30381088,
        0.94927463, -0.96617148,  0.2579005 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482029, -0.0358852 ,  0.30488019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043599577288415403
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.81961166e-13, -9.94690536e-14,  1.00000000e+00, -3.79933157e-26,
        1.00000000e+00,  9.94690536e-14, -1.00000000e+00,  0.00000000e+00,
       -3.81961166e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05347982, -0.06072412,  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:
[-1.58349686e-05,-2.66846650e-05,-1.55781773e-05,-9.07661664e-06,
 -2.15269043e-03, 2.86772046e-02, 1.06879319e-02, 1.08900505e-03,
 -6.09481659e-06,-1.74496896e-05, 2.25684283e-05, 7.27847319e-06,
  5.31886360e-02, 2.13810310e-02, 1.44684651e-02, 6.13754138e-05,
 -2.80445717e-07, 2.34505114e-07,-9.80999978e+00,-6.49703805e-02,
 -9.52586928e-03,-5.21101546e-03]


--- Step 2008 ---
qpos:
[ 0.00985759, 0.00812114,-0.00560103, 0.03348829, 0.00576186,-0.02411655,
 -0.0169148 , 0.03801734, 0.01300106, 0.00593813,-0.01170691, 0.03408387,
  0.81040867,-0.01583715, 1.13428111, 0.04611443, 0.09500972,-0.06329955,
  0.14258918, 0.94231218,-0.03264928, 0.02752599, 0.33200015]

qacc:
[-1.72117128e+00,-2.12603107e+00, 7.40135574e+00,-1.00626455e+01,
  4.25025238e+00,-8.38781908e-02, 3.75432867e-01,-3.44904650e+00,
 -3.61976414e+00, 1.57009509e+00,-5.84618851e+00, 8.15466723e+00,
  2.22386890e+00, 8.60891466e-01, 8.41327205e+00,-1.00323349e+01,
 -1.43820254e-02,-3.59704998e-02, 9.36402980e-03, 8.17740002e-01,
 -1.72537203e-01, 1.75164254e+00]

qfrc_actuator:
[ 5.34800563e-05, 2.87396741e-04, 1.21727951e-05, 7.14253383e-05,
 -2.25934311e-03, 2.70358641e-02, 1.01160725e-02, 1.05062493e-03,
 -5.47564301e-05,-3.61924908e-05,-6.04335951e-05,-3.80788299e-06,
  5.00554396e-02, 2.00202245e-02, 2.56167066e-03,-2.13169059e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71269909, -0.55646052, -0.44529953, -0.55646052,  1.98919992,
       -1.59515621, -0.44529953, -1.59515621,  2.70605724,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3719709746836218e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99142444e-01,  5.75823137e-03, -4.10026701e-02,  5.75338875e-03,
        9.99983421e-01,  2.36106776e-04,  4.10033499e-02,  0.00000000e+00,
       -9.99159009e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13165381, -0.08284202,  0.17470693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003793457731000584
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85526975e-01, -1.69485446e-01,  3.35644825e-03, -1.69484463e-01,
        9.85532690e-01,  5.77219949e-04, -3.40571985e-03,  0.00000000e+00,
       -9.99994201e-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([ 0.13116865, -0.08203471,  0.13158798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28732343,   6.44413277,   3.40268065,   6.44413277,
        13.31531727, -11.41605594,   3.40268065, -11.41605594,
        28.90750696,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.21544285957156e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78722997e-01,  1.09527480e-01, -1.73507999e-01,  1.07845889e-01,
        9.93983768e-01,  1.91189176e-02,  1.74558181e-01, -3.46944695e-18,
       -9.84646861e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329852, -0.05385996,  0.29658758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005010163630386142
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24640871, -0.91694747, -0.31383131, -0.0814455 , -0.30307874,
        0.94947876, -0.96573774,  0.25951998,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482003, -0.03588559,  0.30488144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000435609234601092
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54866733e-13, -9.95573176e-14,  1.00000000e+00, -2.53738483e-26,
        1.00000000e+00,  9.95573176e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54866733e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05348043, -0.0607234 ,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02356183e-05,-3.28185581e-05, 2.03537232e-05,-6.99689718e-06,
 -2.17157400e-03, 2.87525565e-02, 1.07491834e-02, 1.09424404e-03,
 -2.10889329e-05,-3.67180015e-06,-2.65966681e-05, 3.77121395e-06,
  5.28802729e-02, 2.12622100e-02, 1.41725302e-02, 1.88597786e-04,
 -7.94063078e-07, 5.58936404e-07,-9.80999958e+00,-6.49699498e-02,
 -9.52636419e-03,-5.21049932e-03]


--- Step 2009 ---
qpos:
[ 0.00985892, 0.00812153,-0.0056006 , 0.03348911, 0.00576111,-0.02413046,
 -0.01691873, 0.03801692, 0.01299943, 0.00593701,-0.01170719, 0.0340834 ,
  0.81042357,-0.01582611, 1.13426078, 0.04611148, 0.09501047,-0.06329913,
  0.14258958, 0.9423071 ,-0.03264123, 0.0275246 , 0.33201546]

qacc:
[ 5.00764098e+00,-2.61179738e+00, 7.42598336e+00,-4.16385637e+00,
  4.21815604e+00,-8.64329667e-02, 5.18012171e-01,-3.51744053e+00,
 -5.19548712e+00, 2.38819780e+00,-8.18365106e+00, 9.80913573e+00,
  2.02465372e+00, 8.51469307e-01, 7.77147582e+00,-1.71831143e+01,
 -1.32487362e-02,-2.93930973e-02, 6.61524708e-03, 6.58846577e-01,
 -1.85175057e-01, 1.44220941e+00]

qfrc_actuator:
[ 8.29331852e-05, 2.78745235e-04, 6.44377325e-05, 8.59443852e-05,
 -2.23938867e-03, 2.70656917e-02, 1.01570950e-02, 1.06362714e-03,
 -8.43913802e-05,-1.72902135e-05,-9.37023535e-05,-1.50711291e-06,
  5.00523539e-02, 2.00640053e-02, 2.53831181e-03,-2.20134177e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71272152, -0.53589442, -0.46988205, -0.53589442,  2.07626602,
       -1.55510493, -0.46988205, -1.55510493,  2.48629866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.43092696447509e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99141747e-01,  5.75697781e-03, -4.10198343e-02,  5.75213219e-03,
        9.99983428e-01,  2.36154189e-04,  4.10205140e-02,  2.71050543e-20,
       -9.99158304e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13165474, -0.0828407 ,  0.17470665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037935138164058133
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85523302e-01, -1.69506801e-01,  3.35635240e-03, -1.69505818e-01,
        9.85529018e-01,  5.77278345e-04, -3.40563529e-03,  0.00000000e+00,
       -9.99994201e-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([ 0.13117024, -0.08203497,  0.13158803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28774489,   6.4251412 ,   3.43930024,   6.4251412 ,
        13.022331  , -10.71308782,   3.43930024, -10.71308782,
        27.30143869,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.3299025083739368e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872631,  0.10950416, -0.17350404,  0.10782301,  0.99398634,
        0.01911436,  0.17455375,  0.        , -0.98464765])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329886, -0.05386046,  0.2965878 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005004533602103264
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48225616e-01, -9.16702530e-01, -3.13114221e-01, -8.18381634e-02,
       -3.02230095e-01,  9.49715476e-01, -9.65239120e-01,  2.61368401e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481975, -0.03588652,  0.30488281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043509099067017
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.3157219e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.3157219e-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([ 0.05348075, -0.06072284,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91473513e-05,-2.31301093e-05, 4.77452506e-05, 1.36790799e-05,
 -2.17686006e-03, 2.88060557e-02, 1.08085239e-02, 1.11886711e-03,
 -3.02387852e-05, 1.15521512e-05,-3.71605826e-05, 1.30053375e-06,
  5.25848327e-02, 2.11616115e-02, 1.36947486e-02, 3.68595684e-05,
 -1.45621925e-06, 9.52307490e-07,-9.80999932e+00,-6.49693026e-02,
 -9.52691159e-03,-5.20990593e-03]


--- Step 2010 ---
qpos:
[ 0.00986095, 0.00812196,-0.00559995, 0.03348974, 0.00576086,-0.0241446 ,
 -0.01692294, 0.0380163 , 0.01299781, 0.00593606,-0.0117079 , 0.03408331,
  0.81044336,-0.01581253, 1.13424512, 0.04610844, 0.09501116,-0.06329881,
  0.14259001, 0.9423013 ,-0.032632  , 0.02752327, 0.33203296]

qacc:
[ 6.03571842e+00,-9.56012407e-01, 4.24966129e+00,-7.84309385e+00,
  4.21743594e+00, 1.40038613e-02, 3.50324581e-01,-3.28945663e+00,
  2.85021574e-03, 2.19262237e+00,-9.05907256e+00, 1.60213928e+01,
  1.79754143e+00, 8.88243506e-01, 7.17246162e+00,-1.51505051e+01,
 -1.33888028e-02,-2.42580919e-02, 4.65245190e-03, 5.17023587e-01,
 -1.94341129e-01, 1.16757757e+00]

qfrc_actuator:
[ 1.17483809e-04, 2.91397153e-04, 7.73171643e-05, 7.64223971e-05,
 -2.22741682e-03, 2.70893682e-02, 1.01657133e-02, 1.08947963e-03,
 -8.34174694e-05,-5.65280204e-06,-1.13132853e-04, 1.77865036e-05,
  5.00443512e-02, 2.00487239e-02, 2.50879654e-03,-2.20628013e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71274772, -0.54070492, -0.46437862, -0.54070492,  2.15090559,
       -1.67453669, -0.46437862, -1.67453669,  2.66251498,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.498004435256132e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99141019e-01,  5.75622471e-03, -4.10376639e-02,  5.75137550e-03,
        9.99983433e-01,  2.36225928e-04,  4.10383437e-02, -2.71050543e-20,
       -9.99157572e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13165571, -0.08283934,  0.17470625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003793597619175349
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85518750e-01, -1.69533249e-01,  3.35725036e-03, -1.69532266e-01,
        9.85524468e-01,  5.77525553e-04, -3.40656216e-03, -1.08420217e-19,
       -9.99994198e-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([ 0.13117189, -0.0820353 ,  0.13158808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28826371,  6.40922828,  3.46995399,  6.40922828, 12.52778913,
       -9.67774059,  3.46995399, -9.67774059, 25.16367325,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.463495833756844e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78730496e-01,  1.09475835e-01, -1.73498293e-01,  1.07795246e-01,
        9.93989457e-01,  1.91087243e-02,  1.74547418e-01,  3.46944695e-18,
       -9.84648769e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329923, -0.05386121,  0.29658804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004998493024310997
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50272968e-01, -9.16424465e-01, -3.12297361e-01, -8.22746010e-02,
       -3.01264886e-01,  9.49984399e-01, -9.64673173e-01,  2.63449556e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481939, -0.03588788,  0.30488429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043447561706305704
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55531722e-13, -3.99268315e-15,  1.00000000e+00, -1.02025720e-27,
        1.00000000e+00,  3.99268315e-15, -1.00000000e+00,  0.00000000e+00,
       -2.55531722e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05348084, -0.06072243,  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:
[ 3.53686508e-05, 1.01508220e-05, 1.44413967e-05,-8.60011307e-06,
 -2.18994004e-03, 2.88484046e-02, 1.08325326e-02, 1.15564391e-03,
  1.15934718e-07, 1.05064431e-05,-2.15594105e-05, 1.85333644e-05,
  5.23093798e-02, 2.10103371e-02, 1.34298659e-02, 4.62013213e-05,
 -2.15433859e-06, 1.36049959e-06,-9.80999905e+00,-6.49684786e-02,
 -9.52749831e-03,-5.20923895e-03]


--- Step 2011 ---
qpos:
[ 0.00986233, 0.00812257,-0.00560002, 0.03348995, 0.00576112,-0.02415882,
 -0.01692738, 0.03801548, 0.0129969 , 0.00593523,-0.0117083 , 0.0340834 ,
  0.81046767,-0.01579649, 1.13423625, 0.04610658, 0.0950118 ,-0.06329857,
  0.14259044, 0.9422949 ,-0.03262185, 0.02752186, 0.33205224]

qacc:
[-5.60821038e+00, 1.39403327e+00,-2.85272900e+00,-3.36544220e+00,
  4.24308219e+00, 1.45137986e-01, 1.21318790e-01,-2.95235171e+00,
  6.28555786e+00,-3.29403398e-01, 6.21694286e-01, 2.00237326e+00,
  1.55570251e+00, 1.03444950e+00, 6.40243369e+00,-7.91772215e+00,
 -1.46186481e-02,-2.01824683e-02, 3.50115410e-03, 3.95268385e-01,
 -2.11150056e-01, 9.46608777e-01]

qfrc_actuator:
[ 8.37351801e-05, 2.81041057e-04, 3.13967762e-05, 5.28161452e-05,
 -2.22043496e-03, 2.71271266e-02, 1.01727313e-02, 1.12311759e-03,
 -4.66804046e-05, 1.93651909e-05,-8.87410166e-05, 2.91786045e-05,
  5.00492248e-02, 2.00325968e-02, 2.53933057e-03,-2.11920186e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71277679, -0.55975526, -0.44127633, -0.55975526,  2.18078126,
       -1.86215115, -0.44127633, -1.86215115,  3.07489965,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5703954479270063e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99140267e-01,  5.75597212e-03, -4.10560020e-02,  5.75111879e-03,
        9.99983434e-01,  2.36321117e-04,  4.10566821e-02,  0.00000000e+00,
       -9.99156819e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13165671, -0.08283796,  0.17470577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037936611776044534
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85513482e-01, -1.69563839e-01,  3.35883974e-03, -1.69562854e-01,
        9.85519206e-01,  5.77906302e-04, -3.40819309e-03,  0.00000000e+00,
       -9.99994192e-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([ 0.1311736 , -0.08203567,  0.13158815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28886219,  6.39241863,  3.50207028,  6.39241863, 11.83833247,
       -8.30426468,  3.50207028, -8.30426468, 22.44684934,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6091011130794157e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873536,  0.10944346, -0.17349126,  0.10776352,  0.99399302,
        0.01910223,  0.17453972,  0.        , -0.98465013])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329962, -0.05386218,  0.29658828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004992357354729371
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52443736e-01, -9.16126547e-01, -3.11423041e-01, -8.27308890e-02,
       -3.00233093e-01,  9.50271377e-01, -9.64068338e-01,  2.65654361e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481896, -0.03588962,  0.30488581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043379173076532607
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27967288e-13, -1.95949909e-13,  1.00000000e+00, -2.50751784e-26,
        1.00000000e+00,  1.95949909e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27967288e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05348076, -0.06072211,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27397670e-05,-2.08380605e-06,-4.23600059e-05,-2.28446806e-05,
 -2.20801185e-03, 2.88985887e-02, 1.08533538e-02, 1.19961963e-03,
  3.67403457e-05, 2.72721787e-05, 2.45658457e-05, 1.14607187e-05,
  5.20700167e-02, 2.08668099e-02, 1.32268350e-02, 1.38416680e-04,
 -2.81953664e-06, 1.75314105e-06,-9.80999878e+00,-6.49675153e-02,
 -9.52811566e-03,-5.20850213e-03]


--- Step 2012 ---
qpos:
[ 0.00986296, 0.00812324,-0.00560092, 0.03349025, 0.00576169,-0.02417282,
 -0.01693183, 0.03801454, 0.01299679, 0.00593446,-0.01170837, 0.03408363,
  0.81049435,-0.01577924, 1.13422939, 0.04610379, 0.09501239,-0.06329838,
  0.14259089, 0.94228825,-0.03261132, 0.02752061, 0.33207225]

qacc:
[-6.69386577e+00, 2.57803753e+00,-9.41864193e+00, 1.21429904e+01,
  2.70346587e+00, 5.48866766e-02, 7.63076313e-01,-3.11963370e+00,
  6.97831174e+00,-5.75927936e-01, 1.53364464e+00, 3.94127810e-01,
  8.53496973e-01, 4.35696592e-01, 5.78455868e+00,-1.59484854e+01,
 -1.19014005e-02,-1.45270039e-02, 3.11931288e-03, 1.85678055e-01,
 -2.78145723e-04, 3.94623755e-01]

qfrc_actuator:
[ 4.55607321e-05, 2.74478518e-04,-1.34493978e-05, 5.65691381e-05,
 -2.21665077e-03, 2.71377617e-02, 1.01788556e-02, 1.14373953e-03,
 -6.95053214e-06, 1.68768882e-05,-7.41318610e-05, 3.58670054e-05,
  5.00563559e-02, 2.00150288e-02, 2.57890761e-03,-2.22669615e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71280789, -0.61308458, -0.36362396, -0.61308458,  1.41313716,
       -1.18078324, -0.36362396, -1.18078324,  2.70365577,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6456216275585486e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99139499e-01,  5.75622332e-03, -4.10746446e-02,  5.75136538e-03,
        9.99983433e-01,  2.36438745e-04,  4.10753251e-02, -5.42101086e-20,
       -9.99156053e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13165772, -0.08283657,  0.17470522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037936967311604425
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85507631e-01, -1.69597803e-01,  3.36077647e-03, -1.69596817e-01,
        9.85513361e-01,  5.78358779e-04, -3.41017849e-03,  0.00000000e+00,
       -9.99994185e-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([ 0.13117533, -0.08203608,  0.13158822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28951819,   6.41613853,   3.45980373,   6.41613853,
        12.68481192, -10.00546698,   3.45980373, -10.00546698,
        25.84446155,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.7598648886162483e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78740741e-01,  1.09407800e-01, -1.73483412e-01,  1.07728571e-01,
        9.93996948e-01,  1.90950671e-02,  1.74531132e-01, -3.46944695e-18,
       -9.84651656e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329999, -0.05386336,  0.29658852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004986541035481204
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25457358, -0.91583155, -0.31055573, -0.08317169, -0.29921118,
        0.95055517, -0.96347017,  0.26781568,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481847, -0.03589173,  0.30488733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043306285887707326
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77314629e-08, -1.77314119e-08,  1.00000000e+00,  3.14403873e-16,
        1.00000000e+00,  1.77314119e-08, -1.00000000e+00,  0.00000000e+00,
        1.77314629e-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([ 0.05390045, -0.06130565,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.91072191e-05,-1.74943122e-05,-5.12911937e-05, 1.75286648e-06,
 -2.22944287e-03, 2.89135586e-02, 1.08711772e-02, 1.22972913e-03,
  4.07792306e-05, 1.83722371e-05, 2.36765438e-05, 8.93093571e-06,
  5.18514340e-02, 2.07260061e-02, 1.29275631e-02,-2.82864548e-05,
 -3.42235727e-06, 2.12038283e-06,-9.80999853e+00,-6.49664468e-02,
 -9.52876334e-03,-5.20769667e-03]


--- Step 2013 ---
qpos:
[ 0.00986347, 0.00812376,-0.00560203, 0.03349058, 0.00575748,-0.02418028,
 -0.01693118, 0.03801641, 0.0129968 , 0.00593357,-0.01170816, 0.03408432,
  0.81044985,-0.01579479, 1.13418236, 0.04611181, 0.09501373,-0.0632955 ,
  0.14259077, 0.94229808,-0.03262887, 0.02750948, 0.33204354]

qacc:
[-1.03726806e+00, 4.74191546e-01,-2.06594016e+00, 2.95556549e+00,
 -4.03329474e+01, 2.30374729e-01,-2.92580074e-02, 3.55555924e+01,
  1.17656604e+00, 1.37763968e-02,-2.17380520e+00, 9.62123421e+00,
 -2.98481697e+01,-5.21522223e+00,-9.11233345e+01, 2.34577975e+02,
  1.87642298e-01, 6.75743565e-01,-1.43721006e-01,-1.39296637e+01,
  5.82548634e-01,-2.62395785e+01]

qfrc_actuator:
[ 4.06141275e-05, 2.70241534e-04,-2.17484096e-05, 5.86500596e-05,
 -2.21480397e-03, 2.71318554e-02, 1.01843169e-02, 1.12106158e-03,
 -1.29428349e-06,-2.09408998e-06,-6.55393332e-05, 5.74534182e-05,
  5.00488945e-02, 2.00146223e-02, 2.55485959e-03,-2.11198992e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71284048, -0.51958052,  0.48803447, -0.51958052,  0.42969945,
       -0.30144298,  0.48803447, -0.30144298,  0.39191254,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.722240093280396e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99138738e-01,  5.75679568e-03, -4.10930761e-02,  5.75193288e-03,
        9.99983430e-01,  2.36568363e-04,  4.10937570e-02,  0.00000000e+00,
       -9.99155295e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13165872, -0.0828352 ,  0.17470464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24830135,  0.22653929,  0.10165386,  0.22653929,  0.46413192,
       -0.48098622,  0.10165386, -0.48098622,  1.32019652,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003793696593857045
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85501527e-01, -1.69633219e-01,  3.36324659e-03, -1.69632231e-01,
        9.85507266e-01,  5.78908309e-04, -3.41270603e-03,  1.08420217e-19,
       -9.99994177e-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([ 0.13117704, -0.08203651,  0.1315883 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.29023434,  7.01180793,  1.99551154,  7.01180793,  8.04664521,
       -2.65786872,  1.99551154, -2.65786872, 16.62942613,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.915539733279214e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78746387e-01,  1.09370760e-01, -1.73474917e-01,  1.07692279e-01,
        9.94001025e-01,  1.90875894e-02,  1.74521869e-01,  3.46944695e-18,
       -9.84653298e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330036, -0.05386465,  0.29658876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36240878,  1.29684167, -0.41756362,  1.29684167,  1.76015357,
        1.23528963, -0.41756362,  1.23528963,  5.19889018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000498118462543046
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.56779533e-01, -9.15521394e-01, -3.09652787e-01, -8.36225724e-02,
       -2.98147805e-01,  9.50849700e-01, -9.62845542e-01,  2.70052704e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481791, -0.03589395,  0.30488877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.28606971, -6.55091201,  7.93024476, -6.55091201, 65.83804231,
       45.88964091,  7.93024476, 45.88964091, 48.19397908,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004335444798570509
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28040268e-13, -1.28040268e-13,  1.00000000e+00, -1.63943101e-26,
        1.00000000e+00,  1.28040268e-13, -1.00000000e+00,  0.00000000e+00,
       -1.28040268e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08761618, -0.10817243,  0.06199027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.06618229e-06,-2.45696095e-05,-1.81663781e-05,-4.07903527e-07,
 -2.24366479e-03, 2.88971029e-02, 1.08773990e-02, 1.21350984e-03,
  6.81799384e-06,-3.38175464e-06, 1.56202550e-05, 2.33663489e-05,
  5.17255112e-02, 2.06651827e-02, 1.28026811e-02, 1.33108362e-04,
 -3.69000223e-06, 2.26107262e-06,-9.80999845e+00,-6.49652878e-02,
 -9.52935273e-03,-5.20688081e-03]


--- Step 2014 ---
qpos:
[ 0.00986391, 0.00812406,-0.00560297, 0.03349125, 0.00575348,-0.02418894,
 -0.01693126, 0.03801795, 0.01299654, 0.00593302,-0.01170859, 0.03408561,
  0.81041561,-0.01580553, 1.13413035, 0.04611401, 0.09501494,-0.06329324,
  0.14259077, 0.94230459,-0.03264049, 0.02750108, 0.33202463]

qacc:
[-5.48633856e-01,-6.17229891e-02,-1.67186916e+00, 7.59989880e+00,
  1.81099858e+00,-2.02425557e-01,-1.92093328e-01,-3.40485558e+00,
 -2.46344123e+00, 3.45353098e+00,-1.42280124e+01, 2.54532806e+01,
  4.43499770e+00, 6.24651952e-01, 1.01092791e+01,-4.63748951e+01,
 -3.40151197e-02,-1.55800288e-01, 3.13845931e-02, 3.05431458e+00,
  1.82606036e-01, 5.30038273e+00]

qfrc_actuator:
[ 3.75134408e-05, 2.67574907e-04,-8.39939655e-06, 7.75056436e-05,
 -2.19138082e-03, 2.71273806e-02, 1.01842709e-02, 1.10502181e-03,
 -1.57393685e-05, 2.24513698e-05,-9.61338834e-05, 8.76141390e-05,
  5.00445371e-02, 2.00225213e-02, 2.50168656e-03,-2.07061809e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71278498, -0.59825067, -0.38750299, -0.59825067,  1.74341657,
       -1.5911517 , -0.38750299, -1.5911517 ,  3.16930168,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5904139933439054e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99138483e-01,  5.75258160e-03, -4.10998847e-02,  5.74772075e-03,
        9.99983454e-01,  2.36434353e-04,  4.11005648e-02,  2.71050543e-20,
       -9.99155015e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13165883, -0.08283422,  0.17470697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24829446, -0.03172707,  0.24625907, -0.03172707,  0.69336756,
        0.0573415 ,  0.24625907,  0.0573415 ,  0.25568212,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003793410365930062
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85511574e-01, -1.69575420e-01,  3.33376604e-03, -1.69574450e-01,
        9.85517213e-01,  5.73632576e-04, -3.38275780e-03,  1.08420217e-19,
       -9.99994278e-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([ 0.13117762, -0.08203582,  0.13158797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28841901,  1.83409826,  7.05387378,  1.83409826, 30.06110145,
       -5.92119146,  7.05387378, -5.92119146,  8.82800524,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.50209622962825e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873386,  0.10942384, -0.17351212,  0.1077438 ,  0.99399518,
        0.01910106,  0.17456032,  0.        , -0.98464648])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329919, -0.0538624 ,  0.29658802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36653898, -0.8295701 ,  1.08592921, -0.8295701 ,  3.96272473,
        1.98329509,  1.08592921,  1.98329509,  2.88163066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005002241310740486
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25046811, -0.91639533, -0.31222639, -0.08231802, -0.30117946,
        0.95000773, -0.96461882,  0.2636485 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481756, -0.0358891 ,  0.30488574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.29091027, -5.91152198,  8.4235825 , -5.91152198, 18.01035554,
        5.41737086,  8.4235825 ,  5.41737086, 14.09272582,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004339490452661826
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55841795e-13, -6.79579767e-14,  1.00000000e+00, -1.73864907e-26,
        1.00000000e+00,  6.79579767e-14, -1.00000000e+00,  0.00000000e+00,
       -2.55841795e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05348518, -0.0607185 ,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.28192731e-06,-2.01864977e-05, 6.02813352e-06, 1.71670015e-05,
 -1.98057576e-03, 2.85664022e-02, 1.06222826e-02, 1.05697317e-03,
 -1.42565333e-05, 2.69127949e-05,-2.85545154e-05, 3.10107177e-05,
  5.52798527e-02, 2.23130383e-02, 1.47587780e-02,-3.66153376e-04,
 -9.24754638e-06, 2.77623014e-06,-9.80999747e+00,-6.49671610e-02,
 -9.53134447e-03,-5.20676871e-03]


--- Step 2015 ---
qpos:
[ 0.00986397, 0.00812433,-0.00560353, 0.03349211, 0.00574991,-0.02419895,
 -0.01693212, 0.03801916, 0.01299646, 0.00593334,-0.01171024, 0.03408721,
  0.81039044,-0.01581215, 1.13408065, 0.04611385, 0.09501604,-0.06329144,
  0.14259087, 0.94230826,-0.03264728, 0.02749481, 0.33201405]

qacc:
[-3.37272806e+00,-7.10715232e-01, 1.68270672e+00, 9.32072453e-01,
  3.64449200e+00,-2.99870737e-01,-1.20207632e-01,-3.39290333e+00,
  1.47267003e+00, 5.22423999e+00,-1.82881327e+01, 2.51243320e+01,
  3.90557734e+00, 4.94155289e-01, 1.04197566e+01,-3.17740323e+01,
 -2.36459395e-02,-1.17240294e-01, 2.56753855e-02, 2.47223907e+00,
  1.04748565e-01, 4.49106947e+00]

qfrc_actuator:
[ 1.77606553e-05, 2.83735986e-04, 1.76311257e-05, 8.83389832e-05,
 -2.19360842e-03, 2.71466278e-02, 1.01669630e-02, 1.09497769e-03,
 -6.38325520e-06, 9.04619265e-05,-1.49444239e-04, 1.04832184e-04,
  5.00426018e-02, 2.00109181e-02, 2.51985631e-03,-2.09643576e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71275145, -0.57471321, -0.42156774, -0.57471321,  1.98387371,
       -1.73289055, -0.42156774, -1.73289055,  3.07515966,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5074088644353387e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99138146e-01,  5.74858217e-03, -4.11086177e-02,  5.74372264e-03,
        9.99983477e-01,  2.36320172e-04,  4.11092970e-02,  2.71050543e-20,
       -9.99154656e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13165912, -0.08283321,  0.17470864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000379329424232552
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85518339e-01, -1.69536527e-01,  3.31205992e-03, -1.69535570e-01,
        9.85523904e-01,  5.69763082e-04, -3.36070988e-03, -1.08420217e-19,
       -9.99994353e-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([ 0.13117841, -0.08203535,  0.13158774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28736815,  7.28720305,  0.04905391,  7.28720305,  7.28849723,
       -0.16772964,  0.04905391, -0.16772964, 32.20444392,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.227869297544577e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872525,  0.10945883, -0.17353859,  0.10777772,  0.99399133,
        0.01911016,  0.17458763,  0.        , -0.98464164])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329845, -0.0538607 ,  0.29658755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000501434701285892
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24656453, -0.91690821, -0.31382363, -0.08149479, -0.30305753,
        0.9494813 , -0.96569381,  0.2596834 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048173 , -0.03588557,  0.30488419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004350404879386316
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.82799896e-13, -1.63487456e-13,  1.00000000e+00, -6.25829811e-26,
        1.00000000e+00,  1.63487456e-13, -1.00000000e+00,  0.00000000e+00,
       -3.82799896e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05348896, -0.06071597,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98544375e-05, 6.84931368e-06, 2.32026921e-05, 1.05109528e-05,
 -1.99356805e-03, 2.86455924e-02, 1.06417425e-02, 1.06327781e-03,
  8.95818189e-06, 7.85074759e-05,-5.01864114e-05, 1.79868062e-05,
  5.47653420e-02, 2.20610588e-02, 1.50271605e-02,-1.00390118e-04,
 -4.11570002e-06, 1.08128105e-06,-9.80999890e+00,-6.49690551e-02,
 -9.53079597e-03,-5.20662542e-03]


--- Step 2016 ---
qpos:
[ 0.00986345, 0.00812445,-0.00560343, 0.03349274, 0.00574696,-0.02421033,
 -0.01693374, 0.03802004, 0.01299648, 0.0059341 ,-0.01171185, 0.03408899,
  0.81037311,-0.0158153 , 1.13404014, 0.04611484, 0.09501709,-0.06329   ,
  0.14259106, 0.94230955,-0.03265017, 0.0274902 , 0.3320105 ]

qacc:
[ -5.08485319, -2.52351105,  9.72228524,-14.70826979,  5.19034206,
  -0.37485049,  0.04516223, -3.39281374,  0.98643431,  0.81484064,
  -2.79147724,  5.29766627,  3.33349868,  0.41612022, 10.00559258,
 -15.48422244, -0.0170285 , -0.08622862,  0.02086527,  1.97734846,
   0.05466244,  3.79189148]

qfrc_actuator:
[-1.16357593e-05, 2.75602235e-04, 5.10055778e-05, 7.66320298e-05,
 -2.21153010e-03, 2.71807391e-02, 1.01396350e-02, 1.08866777e-03,
 -8.38878895e-07, 1.12854294e-04,-1.44536722e-04, 1.14327336e-04,
  5.00471825e-02, 2.00396318e-02, 2.58035505e-03,-1.95067078e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71273458, -0.5709456 , -0.42662831, -0.5709456 ,  1.97729403,
       -1.69232709, -0.42662831, -1.69232709,  2.977532  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4646056156243847e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99137720e-01,  5.74501468e-03, -4.11194726e-02,  5.74015560e-03,
        9.99983497e-01,  2.36235872e-04,  4.11201512e-02,  0.00000000e+00,
       -9.99154209e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13165959, -0.08283212,  0.17470976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003793268076963703
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85522342e-01, -1.69513555e-01,  3.29663530e-03, -1.69512607e-01,
        9.85527856e-01,  5.67030516e-04, -3.34504527e-03,  0.00000000e+00,
       -9.99994405e-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([ 0.1311794 , -0.08203507,  0.13158758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28680514,   6.54071037,   3.21195221,   6.54071037,
        21.27474151, -28.48455849,   3.21195221, -28.48455849,
        65.29179247,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.0659925062142234e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78719900e-01,  1.09478417e-01, -1.73556427e-01,  1.07796652e-01,
        9.93989173e-01,  1.91155833e-02,  1.74605953e-01, -3.46944695e-18,
       -9.84638391e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329804, -0.05385948,  0.29658729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005020280462020578
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.44409570e-01, -9.17179304e-01, -3.14715881e-01, -8.10374148e-02,
       -3.04103639e-01,  9.49185922e-01, -9.66279928e-01,  2.57493885e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481713, -0.03588314,  0.30488366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004356780408261013
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54826482e-13, -9.95415946e-14,  1.00000000e+00, -2.53658344e-26,
        1.00000000e+00,  9.95415946e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54826482e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05349178, -0.06071399,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99614968e-05, 9.27833153e-07, 3.80131086e-05,-1.04065044e-05,
 -2.03312996e-03, 2.87474038e-02, 1.06533949e-02, 1.07362864e-03,
  5.82735086e-06, 5.67049774e-05, 1.55762759e-05, 1.14721032e-05,
  5.43161240e-02, 2.18835251e-02, 1.49733167e-02, 1.63651652e-04,
 -1.41168661e-06, 2.48010570e-07,-9.80999961e+00,-6.49702416e-02,
 -9.53069356e-03,-5.20639584e-03]


--- Step 2017 ---
qpos:
[ 0.00986361, 0.00812443,-0.00560314, 0.03349291, 0.0057447 ,-0.02422282,
 -0.01693601, 0.03802063, 0.01299623, 0.00593481,-0.01171291, 0.03409089,
  0.81036328,-0.01581482, 1.13400821, 0.04611698, 0.09501806,-0.06328882,
  0.14259132, 0.94230882,-0.03264983, 0.02748672, 0.33201289]

qacc:
[  6.03125479, -1.65885583,  7.56435193,-15.65596892,  5.88732492,
  -0.2430711 , -0.03337132, -3.16080342, -2.42921102, -1.36477414,
   4.27779817, -3.02522725,  2.97131076,  0.89694058,  9.07999361,
 -13.5513058 , -0.01739081, -0.06844121,  0.01828133,  1.59521909,
  -0.07464316,  3.1924791 ]

qfrc_actuator:
[ 2.45428403e-05, 2.53004716e-04, 5.28339437e-05, 5.17426157e-05,
 -2.20371947e-03, 2.72065839e-02, 1.01420919e-02, 1.08472169e-03,
 -1.53429386e-05, 9.02278129e-05,-1.23212197e-04, 1.19215257e-04,
  5.00554571e-02, 2.00382892e-02, 2.60696403e-03,-1.89980337e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71273063, -0.57602961, -0.41973187, -0.57602961,  2.14142235,
       -1.96070111, -0.41973187, -1.96070111,  3.40354824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4544635148393343e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99137203e-01,  5.74206235e-03, -4.11324590e-02,  5.73720270e-03,
        9.99983514e-01,  2.36189038e-04,  4.11331371e-02, -2.71050543e-20,
       -9.99153674e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13166023, -0.0828309 ,  0.17471045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037932770641378917
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85524030e-01, -1.69503942e-01,  3.28625282e-03, -1.69502999e-01,
        9.85529509e-01,  5.65211696e-04, -3.33450474e-03,  0.00000000e+00,
       -9.99994441e-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([ 0.1311806 , -0.08203496,  0.13158749])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2865666 ,   6.50727839,   3.27862482,   6.50727839,
        15.24390361, -15.79339208,   3.27862482, -15.79339208,
        38.6326354 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.9934414141769922e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78717232e-01,  1.09484914e-01, -1.73567376e-01,  1.07802833e-01,
        9.93988457e-01,  1.91179375e-02,  1.74617094e-01,  3.46944695e-18,
       -9.84636415e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132979 , -0.05385866,  0.29658719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005022388185320603
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24343262, -0.91729651, -0.31513119, -0.08083174, -0.30458807,
        0.94904812, -0.96654373,  0.25650187,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481705, -0.03588162,  0.30488376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043595213327432547
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54666267e-13,  2.78541230e-14,  1.00000000e+00,  7.09350552e-27,
        1.00000000e+00, -2.78541230e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54666267e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05349383, -0.06071244,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.53235636e-05,-1.46882522e-05, 6.33957674e-06,-2.37375198e-05,
 -2.05612941e-03, 2.88424540e-02, 1.06938931e-02, 1.08585969e-03,
 -1.43186559e-05, 1.27819826e-05, 3.53588736e-05, 8.07784157e-06,
  5.39323096e-02, 2.17089666e-02, 1.45407122e-02, 1.57116990e-04,
 -2.66387487e-07,-1.96736842e-08,-9.80999988e+00,-6.49708686e-02,
 -9.53086634e-03,-5.20609208e-03]


--- Step 2018 ---
qpos:
[ 0.00986421, 0.00812425,-0.00560278, 0.0334928 , 0.0057431 ,-0.02423608,
 -0.01693881, 0.03802096, 0.0129958 , 0.00593546,-0.0117136 , 0.0340925 ,
  0.81036048,-0.01581078, 1.13398326, 0.04611974, 0.09501896,-0.06328788,
  0.14259164, 0.94230648,-0.03264685, 0.02748399, 0.33202004]

qacc:
[  3.79616767, -0.9847947 ,  4.38739859, -9.29818849,  5.48767632,
  -0.08952187, -0.08092535, -2.98934902, -1.49816762, -1.6680602 ,
   7.03007079,-12.47548277,  2.69211228,  1.06831339,  8.38895453,
 -14.50810446, -0.01729872, -0.05734087,  0.01516127,  1.27708748,
  -0.13525061,  2.56335567]

qfrc_actuator:
[ 4.57728373e-05, 2.39533310e-04, 5.37009592e-05, 3.70149142e-05,
 -2.21630414e-03, 2.72099956e-02, 1.01448679e-02, 1.10004607e-03,
 -2.37774248e-05, 7.63909094e-05,-1.10333190e-04, 1.03562593e-04,
  5.00550451e-02, 2.00173613e-02, 2.63426776e-03,-1.88858825e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71273644, -0.58543443, -0.40652153, -0.58543443,  2.13010933,
       -2.04116838, -0.40652153, -2.04116838,  3.65223697,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4693504364601057e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99136608e-01,  5.73980814e-03, -4.11472044e-02,  5.73494691e-03,
        9.99983527e-01,  2.36180949e-04,  4.11478823e-02, -2.71050543e-20,
       -9.99153067e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13166098, -0.08282956,  0.1747108 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003793336636337206
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85523774e-01, -1.69505565e-01,  3.27952359e-03, -1.69504626e-01,
        9.85529230e-01,  5.64059878e-04, -3.32767765e-03,  0.00000000e+00,
       -9.99994463e-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([ 0.13118198, -0.08203498,  0.13158745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28654586,   6.48804954,   3.31646858,   6.48804954,
        13.36478054, -11.89092758,   3.31646858, -11.89092758,
        30.54891827,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.9870090783807268e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97871673,  0.10948037, -0.17357305,  0.10779825,  0.99398896,
        0.01911776,  0.17462272,  0.        , -0.98463542])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329795, -0.05385821,  0.29658722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005021737827234547
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24328491, -0.91730893, -0.3152091 , -0.08080487, -0.30467581,
        0.94902225, -0.96658317,  0.25635323,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481701, -0.03588093,  0.30488436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004359400403429331
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.31315937e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.31315937e-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([ 0.05349528, -0.06071124,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22317381e-05,-2.13843157e-05,-2.21276711e-06,-1.56022700e-05,
 -2.10367031e-03, 2.89015886e-02, 1.07296230e-02, 1.11588245e-03,
 -8.83723694e-06, 9.37198485e-07, 2.01539539e-05,-1.37272545e-05,
  5.35570443e-02, 2.15064838e-02, 1.41400878e-02, 1.10598236e-04,
 -8.23102914e-08, 6.66228750e-08,-9.80999987e+00,-6.49710502e-02,
 -9.53122286e-03,-5.20570019e-03]


--- Step 2019 ---
qpos:
[ 0.00986436, 0.00812384,-0.00560211, 0.0334925 , 0.00574213,-0.02424992,
 -0.0169421 , 0.03802105, 0.01299597, 0.00593589,-0.01171401, 0.03409359,
  0.81036421,-0.01580337, 1.1339625 , 0.0461219 , 0.0950198 ,-0.06328712,
  0.14259201, 0.94230285,-0.03264171, 0.02748178, 0.33203103]

qacc:
[-3.84448225e+00,-1.56956450e+00, 5.95158663e+00,-9.51438797e+00,
  5.31176473e+00, 7.61968461e-02,-3.81514923e-01,-2.64245150e+00,
  5.22084523e+00,-2.16173153e+00, 9.47638909e+00,-1.87593058e+01,
  2.48078345e+00, 1.06680752e+00, 7.93379897e+00,-1.89298801e+01,
 -1.59959277e-02,-4.82225497e-02, 1.16978910e-02, 1.03001205e+00,
 -1.66062646e-01, 2.06073814e+00]

qfrc_actuator:
[ 2.25081666e-05, 2.31622384e-04, 7.17964284e-05, 2.83959679e-05,
 -2.20585313e-03, 2.72178092e-02, 1.01479705e-02, 1.14476955e-03,
  6.93984722e-06, 5.01141639e-05,-1.02543545e-04, 7.59433233e-05,
  5.00545191e-02, 2.00010556e-02, 2.62986766e-03,-1.95434377e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71274969, -0.58915891, -0.40112828, -0.58915891,  2.33036486,
       -2.37587935, -0.40112828, -2.37587935,  4.20233285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.5029767559229904e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99135957e-01,  5.73820495e-03, -4.11632490e-02,  5.73334128e-03,
        9.99983536e-01,  2.36207048e-04,  4.11639267e-02,  2.71050543e-20,
       -9.99152406e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13166183, -0.08282816,  0.1747109 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003793434141019239
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85521951e-01, -1.69516241e-01,  3.27546267e-03, -1.69515305e-01,
        9.85527394e-01,  5.63397957e-04, -3.32356330e-03,  0.00000000e+00,
       -9.99994477e-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([ 0.13118347, -0.08203511,  0.13158745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28668398,   6.47125846,   3.34941448,   6.47125846,
        12.69818501, -10.45532647,   3.34941448, -10.45532647,
        27.48696685,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.0294676130907317e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97871794,  0.10946697, -0.17357471,  0.10778502,  0.99399043,
        0.01911557,  0.17462413,  0.        , -0.98463517])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329812, -0.05385811,  0.29658732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005019079559177382
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24375722, -0.91724389, -0.31503343, -0.08091165, -0.3044657 ,
        0.94908058, -0.96645524,  0.25683512,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481697, -0.03588093,  0.30488532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004357059385619033
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27405083e-13, -1.31386492e-13,  1.00000000e+00, -1.67393069e-26,
        1.00000000e+00,  1.31386492e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27405083e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05349625, -0.06071031,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26377469e-05,-2.09863137e-05, 1.28625994e-05,-9.91668831e-06,
 -2.12581418e-03, 2.89485098e-02, 1.07593339e-02, 1.17365009e-03,
  3.04678261e-05,-2.22013531e-05, 9.98749051e-06,-2.71521868e-05,
  5.32050418e-02, 2.13122149e-02, 1.37868368e-02, 1.41519720e-05,
 -4.40329347e-07, 3.59431461e-07,-9.80999971e+00,-6.49708829e-02,
 -9.53169974e-03,-5.20521957e-03]


--- Step 2020 ---
qpos:
[ 0.00986424, 0.00812344,-0.00560132, 0.03349208, 0.00574184,-0.02426433,
 -0.0169459 , 0.03802088, 0.01299651, 0.0059361 ,-0.01171429, 0.03409436,
  0.81037394,-0.01579284, 1.13394407, 0.04612266, 0.09502058,-0.06328653,
  0.14259241, 0.94229815,-0.03263477, 0.02747989, 0.33204522]

qacc:
[-2.45345377e+00,-5.51749905e-01, 2.48886584e+00,-4.72909451e+00,
  5.64630696e+00, 1.67583996e-01,-6.19907977e-01,-2.46722667e+00,
  3.23413771e+00,-1.34658565e+00, 5.73307445e+00,-1.14147939e+01,
  2.27226383e+00, 9.98895656e-01, 7.62683780e+00,-2.17850358e+01,
 -1.38836623e-02,-3.88054780e-02, 8.35665725e-03, 8.37173087e-01,
 -1.82281394e-01, 1.71412751e+00]

qfrc_actuator:
[ 8.75092621e-06, 2.44930175e-04, 8.21934388e-05, 2.34560249e-05,
 -2.16406821e-03, 2.72461436e-02, 1.01514436e-02, 1.15396482e-03,
  2.49477006e-05, 3.43021699e-05,-9.78777635e-05, 5.92466789e-05,
  5.00590421e-02, 1.99862831e-02, 2.61709808e-03,-2.04755566e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71276872, -0.57095707, -0.42666998, -0.57095707,  2.84385232,
       -2.85175262, -0.42666998, -2.85175262,  4.52889916,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.550496594734891e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99135257e-01,  5.73723222e-03, -4.11803746e-02,  5.73236532e-03,
        9.99983542e-01,  2.36265260e-04,  4.11810523e-02,  2.71050543e-20,
       -9.99151701e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13166275, -0.08282672,  0.1747108 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003793485257994153
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85518863e-01, -1.69534228e-01,  3.27348604e-03, -1.69533292e-01,
        9.85524300e-01,  5.63119477e-04, -3.32156807e-03,  0.00000000e+00,
       -9.99994484e-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([ 0.13118507, -0.08203533,  0.13158747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28694872,  6.45535504,  3.38053441,  6.45535504, 12.51855619,
       -9.99010202,  3.38053441, -9.99010202, 26.3637122 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1084582975474173e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78720482e-01,  1.09446468e-01, -1.73573297e-01,  1.07764877e-01,
        9.93992691e-01,  1.91117948e-02,  1.74622307e-01,  3.46944695e-18,
       -9.84635491e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329837, -0.05385833,  0.29658748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000501486670047554
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.44748329e-01, -9.17113120e-01, -3.14645485e-01, -8.11295885e-02,
       -3.04006203e-01,  9.49209260e-01, -9.66186445e-01,  2.57844438e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481686, -0.03588153,  0.30488657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004353020150387882
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.96275813e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.96275813e-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([ 0.05349685, -0.06070959,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44089845e-05, 3.80336599e-06, 7.30146249e-06,-5.58620802e-06,
 -2.11559230e-03, 2.90069024e-02, 1.07875857e-02, 1.19520030e-03,
  1.88680390e-05,-2.73298957e-05, 3.66777233e-07,-1.78346744e-05,
  5.28828847e-02, 2.11285570e-02, 1.35655510e-02,-4.87848427e-05,
 -1.05682492e-06, 7.50629018e-07,-9.80999947e+00,-6.49704382e-02,
 -9.53225285e-03,-5.20465332e-03]


--- Step 2021 ---
qpos:
[ 0.00986429, 0.00812341,-0.00560061, 0.03349192, 0.00574221,-0.02427906,
 -0.01695007, 0.0380205 , 0.01299656, 0.00593604,-0.0117142 , 0.03409491,
  0.81038913,-0.01577933, 1.1339323 , 0.04612439, 0.09502131,-0.06328605,
  0.14259284, 0.94229255,-0.03262639, 0.02747813, 0.33206208]

qacc:
[ 1.57553747e+00, 1.22624163e+00,-4.74337642e+00, 9.01569012e+00,
  5.67680977e+00, 1.34811321e-01,-2.04070655e-01,-2.74640222e+00,
 -4.18787411e+00,-1.81762848e+00, 6.88450213e+00,-1.10251857e+01,
  1.91846000e+00, 1.20562868e+00, 6.87688962e+00,-9.85775235e+00,
 -1.49805557e-02,-3.02248576e-02, 6.90392843e-03, 6.49411000e-01,
 -2.09301407e-01, 1.42785967e+00]

qfrc_actuator:
[ 1.84669461e-05, 2.88575877e-04, 8.80466565e-05, 3.84827450e-05,
 -2.15703323e-03, 2.72514836e-02, 1.01553533e-02, 1.10644017e-03,
 -1.86865847e-07, 2.48679700e-05,-7.72939556e-05, 4.91179761e-05,
  5.00557562e-02, 1.99713363e-02, 2.61529903e-03,-1.94317440e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7127924 , -0.56669203, -0.43235766, -0.56669203,  2.60072307,
       -2.47451444, -0.43235766, -2.47451444,  3.95614332,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6084174040014452e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99134509e-01,  5.73692980e-03, -4.11985609e-02,  5.73205886e-03,
        9.99983544e-01,  2.36357141e-04,  4.11992389e-02, -2.71050543e-20,
       -9.99150951e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13166373, -0.08282524,  0.17471054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003793397330076668
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85514722e-01, -1.69558302e-01,  3.27322404e-03, -1.69557367e-01,
        9.85520158e-01,  5.63156731e-04, -3.32131617e-03, -1.08420217e-19,
       -9.99994484e-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([ 0.13118676, -0.08203562,  0.13158752])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28732157,  6.44111601,  3.40838381,  6.44111601, 11.6454552 ,
       -8.23593992,  3.40838381, -8.23593992, 22.85148554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.214925844942271e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78724108e-01,  1.09420061e-01, -1.73569498e-01,  1.07738960e-01,
        9.93995599e-01,  1.91067095e-02,  1.74617974e-01,  3.46944695e-18,
       -9.84636259e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329869, -0.05385883,  0.29658768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005009513529832762
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24617231, -0.91692586, -0.31407988, -0.08143885, -0.3033379 ,
        0.94939656, -0.96579859,  0.25929345,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481666, -0.03588263,  0.30488803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004347699648496739
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55358722e-13,  1.23689381e-13,  1.00000000e+00, -3.15851622e-26,
        1.00000000e+00, -1.23689381e-13, -1.00000000e+00,  0.00000000e+00,
        2.55358722e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05349716, -0.06070904,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.30730003e-06, 4.70430486e-05, 7.34199096e-06, 1.53342996e-05,
 -2.14211464e-03, 2.90404294e-02, 1.08171749e-02, 1.16022053e-03,
 -2.46065354e-05,-2.54034376e-05, 1.43655331e-05,-1.16365355e-05,
  5.25798972e-02, 2.09574589e-02, 1.34469891e-02, 1.25556835e-04,
 -1.79074573e-06, 1.18891369e-06,-9.80999919e+00,-6.49697698e-02,
 -9.53285925e-03,-5.20400598e-03]


--- Step 2022 ---
qpos:
[ 0.00986481, 0.00812395,-0.00559995, 0.03349191, 0.00574304,-0.02429376,
 -0.01695437, 0.03801994, 0.01299666, 0.00593619,-0.01171433, 0.03409497,
  0.81040915,-0.01576323, 1.13392541, 0.04612637, 0.09502197,-0.06328569,
  0.14259329, 0.94228633,-0.03261691, 0.02747643, 0.33208079]

qacc:
[ 4.03058305e+00, 1.20708235e+00,-3.87842537e+00, 6.21854831e+00,
  3.83082473e+00, 2.74502020e-02, 6.94675169e-01,-3.57677592e+00,
  3.68102107e-01,-9.37975318e-02, 2.84512844e+00,-1.11988919e+01,
  1.72529575e+00, 9.96494522e-01, 6.38959764e+00,-1.19796426e+01,
 -1.45087925e-02,-2.83705796e-02, 4.38623482e-03, 4.94285396e-01,
 -1.73387938e-01, 9.91896021e-01]

qfrc_actuator:
[ 4.19183928e-05, 3.32305462e-04, 9.13195073e-05, 4.74107800e-05,
 -2.18887289e-03, 2.72430252e-02, 1.01950947e-02, 1.04270604e-03,
  2.74906074e-06, 5.49024872e-05,-8.29504810e-05, 2.51978570e-05,
  5.00529424e-02, 1.99729307e-02, 2.59298051e-03,-1.95282584e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71281967, -0.5425484 , -0.46233442, -0.5425484 ,  2.05840624,
       -1.5790428 , -0.46233442, -1.5790428 ,  2.56582284,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6735695846640864e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99133728e-01,  5.73730136e-03, -4.12174467e-02,  5.73242564e-03,
        9.99983542e-01,  2.36480805e-04,  4.12181251e-02,  0.00000000e+00,
       -9.99150172e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13166474, -0.08282374,  0.17471017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000379326526430876
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85509706e-01, -1.69587440e-01,  3.27397320e-03, -1.69586504e-01,
        9.85515145e-01,  5.63385288e-04, -3.32209324e-03,  0.00000000e+00,
       -9.99994482e-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([ 0.13118851, -0.08203598,  0.13158758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2877775 ,  6.44355178,  3.40475276,  6.44355178, 11.47977225,
       -7.93342048,  3.40475276, -7.93342048, 22.30190901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.338526515016549e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872859,  0.10938871, -0.17356401,  0.10770821,  0.99399905,
        0.01910056,  0.17461184,  0.        , -0.98463735])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329902, -0.05385959,  0.2965879 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000500388157196175
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24774678, -0.91671874, -0.31344584, -0.08177622, -0.30259039,
        0.94960608, -0.96536738,  0.26089426,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048164 , -0.03588419,  0.30488958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043414386862515586
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  5.9936012e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -5.9936012e-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([ 0.05349724, -0.06070863,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37315085e-05, 7.22063138e-05, 1.44170733e-05, 1.14948204e-05,
 -2.20769092e-03, 2.90490523e-02, 1.08756464e-02, 1.10752382e-03,
  2.22753185e-06, 1.82891778e-05,-9.53752202e-06,-2.47384314e-05,
  5.23038077e-02, 2.08098968e-02, 1.30919172e-02, 6.76570242e-05,
 -2.54830683e-06, 1.64070261e-06,-9.80999890e+00,-6.49689291e-02,
 -9.53350678e-03,-5.20327945e-03]


--- Step 2023 ---
qpos:
[ 0.0098656 , 0.00812475,-0.00559944, 0.03349239, 0.00574405,-0.02430794,
 -0.01695845, 0.03801928, 0.0129968 , 0.00593675,-0.01171466, 0.03409471,
  0.81043185,-0.01574574, 1.13392204, 0.0461282 , 0.09502258,-0.06328542,
  0.14259375, 0.94227989,-0.03260698, 0.02747496, 0.33210016]

qacc:
[ 2.42498385e+00, 1.77019357e+00,-7.89269412e+00, 1.65148125e+01,
  1.46543456e+00,-1.07027558e-01, 1.76515166e+00,-4.05631595e+00,
  2.86236815e-01, 4.16970596e-01, 5.88560160e-01,-5.97509699e+00,
  9.38872466e-01, 5.49914063e-01, 5.63816044e+00,-1.22106715e+01,
 -1.39157050e-02,-2.25218305e-02, 4.90846827e-03, 2.41129496e-01,
  2.33029123e-02, 3.59843644e-01]

qfrc_actuator:
[ 5.55061589e-05, 3.22483209e-04, 7.52991998e-05, 7.04318496e-05,
 -2.22633527e-03, 2.72438151e-02, 1.02207386e-02, 1.02255044e-03,
  4.44474520e-06, 9.04798843e-05,-8.61539415e-05, 1.11198986e-05,
  5.00502730e-02, 1.99658922e-02, 2.61685493e-03,-1.97731484e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71284977, -0.60360278, -0.37923407, -0.60360278,  1.27574394,
       -0.89592289, -0.37923407, -0.89592289,  2.13883332,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.743676907570023e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99132939e-01,  5.73812791e-03, -4.12364355e-02,  5.73324699e-03,
        9.99983537e-01,  2.36623837e-04,  4.12371144e-02,  0.00000000e+00,
       -9.99149388e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13166576, -0.08282226,  0.17470972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037932040756829296
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85504074e-01, -1.69620144e-01,  3.27523630e-03, -1.69619207e-01,
        9.85509516e-01,  5.63714550e-04, -3.32339389e-03,  0.00000000e+00,
       -9.99994478e-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([ 0.13119028, -0.08203638,  0.13158764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28830438,  6.47120545,  3.35304051,  6.47120545, 11.65813649,
       -8.43356389,  3.35304051, -8.43356389, 23.56467336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4736623592496253e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873366,  0.10935396, -0.1735573 ,  0.10767414,  0.99400287,
        0.01909369,  0.17460442,  0.        , -0.98463866])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329937, -0.05386057,  0.29658812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004998133729932196
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24945288, -0.91649302, -0.31275198, -0.08213731, -0.30177353,
        0.94983483, -0.96489726,  0.26262764,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481607, -0.03588613,  0.30489117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043344276173289554
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.05670021e-07,  9.05669995e-07,  1.00000000e+00,  8.20238163e-13,
        1.00000000e+00, -9.05669995e-07, -1.00000000e+00, -1.00974196e-28,
       -9.05670021e-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([ 0.05391697, -0.06129189,  0.06199027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42856784e-05, 3.40062198e-05, 1.05291379e-06, 2.68340274e-05,
 -2.26792387e-03, 2.90490494e-02, 1.09080473e-02, 1.09632454e-03,
  1.76716771e-06, 4.27714643e-05,-1.45664048e-06,-1.41058997e-05,
  5.20600259e-02, 2.06729769e-02, 1.28722004e-02, 3.04180021e-05,
 -3.16711177e-06, 2.00586656e-06,-9.80999865e+00,-6.49679472e-02,
 -9.53416858e-03,-5.20248792e-03]


--- Step 2024 ---
qpos:
[ 0.00986656, 0.00812551,-0.00559949, 0.03349323, 0.0057452 ,-0.02432154,
 -0.01696234, 0.03801854, 0.01299626, 0.00593705,-0.01171422, 0.0340943 ,
  0.81045702,-0.01572692, 1.13392453, 0.04613123, 0.09502313,-0.06328522,
  0.14259423, 0.9422733 ,-0.0325967 , 0.0274736 , 0.33211999]

qacc:
[ 1.36232538e+00, 2.24521227e+00,-9.56000877e+00, 1.64842796e+01,
  1.19846190e+00, 2.22748970e-02, 1.40233034e+00,-3.70366217e+00,
 -5.86589416e+00,-2.80954363e+00, 1.01965928e+01,-1.38985096e+01,
  8.05933375e-01, 6.18275116e-01, 5.01395003e+00,-4.97257824e+00,
 -1.45222165e-02,-1.95650026e-02, 3.31628844e-03, 1.68185902e-01,
 -1.45316429e-02, 2.42234888e-01]

qfrc_actuator:
[ 6.31747325e-05, 2.80597696e-04, 3.00589004e-05, 8.37518832e-05,
 -2.23156703e-03, 2.72496447e-02, 1.02021206e-02, 1.04627774e-03,
 -3.01171295e-05, 5.81104116e-05,-5.23232349e-05, 2.96298504e-06,
  5.00423838e-02, 1.99183295e-02, 2.64176236e-03,-1.88613457e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71288187, -0.62270755, -0.34703871, -0.62270755,  1.23155804,
       -0.93068457, -0.34703871, -0.93068457,  2.3828521 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.81651720288713e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99132180e-01,  5.73912874e-03, -4.12546795e-02,  5.73424265e-03,
        9.99983531e-01,  2.36769816e-04,  4.12553589e-02,  5.42101086e-20,
       -9.99148635e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13166676, -0.08282083,  0.17470923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003793327701370085
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85498204e-01, -1.69654215e-01,  3.27683336e-03, -1.69653277e-01,
        9.85503652e-01,  5.64106068e-04, -3.32503421e-03,  1.08420217e-19,
       -9.99994472e-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([ 0.13119199, -0.0820368 ,  0.13158771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28889485,  6.46380471,  3.36856302,  6.46380471, 11.24538851,
       -7.59196197,  3.36856302, -7.59196197, 21.85681573,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.616813069253593e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873902,  0.10931801, -0.17354974,  0.1076389 ,  0.99400683,
        0.0190865 ,  0.17459612,  0.        , -0.98464013])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329972, -0.05386167,  0.29658835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004992788057749427
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51264777e-01, -9.16250720e-01, -3.12010625e-01, -8.25166244e-02,
       -3.00901374e-01,  9.50078613e-01, -9.64394638e-01,  2.64467354e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481568, -0.03588823,  0.30489269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043271153871666265
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.06436204e-07, -4.06436576e-07,  1.00000000e+00,  1.65190539e-13,
        1.00000000e+00,  4.06436576e-07, -1.00000000e+00,  0.00000000e+00,
        4.06436204e-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([ 0.05391678, -0.06129168,  0.06199029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.08311191e-06,-2.15355674e-05,-3.71756908e-05, 1.53311453e-05,
 -2.28186866e-03, 2.90291579e-02, 1.08786613e-02, 1.12459909e-03,
 -3.44947071e-05,-9.37140536e-06, 4.19961656e-05,-6.64891346e-06,
  5.19182946e-02, 2.05553853e-02, 1.27210282e-02, 1.29110296e-04,
 -3.41781075e-06, 2.12797198e-06,-9.80999856e+00,-6.49668613e-02,
 -9.53476188e-03,-5.20168851e-03]


--- Step 2025 ---
qpos:
[ 0.00986759, 0.00812602,-0.00559999, 0.03349423, 0.00574147,-0.02432893,
 -0.01696123, 0.03802055, 0.01299601, 0.00593703,-0.011713  , 0.03409416,
  0.81041162,-0.01574342, 1.13387998, 0.04614165, 0.09502449,-0.06328236,
  0.14259414, 0.94228313,-0.0326141 , 0.02746268, 0.3320913 ]

qacc:
[ 7.34344611e-01, 1.24530488e+00,-5.64671389e+00, 9.49664319e+00,
 -4.10123324e+01, 2.25482799e-04, 4.06710106e-01, 3.45923402e+01,
  2.49248871e+00,-2.03406022e+00, 5.52238867e+00,-1.97757172e+00,
 -2.74600564e+01,-9.88811791e+00,-9.10768326e+01, 2.19275319e+02,
  2.02143029e-01, 6.66568778e-01,-1.42637752e-01,-1.36928244e+01,
  6.65681717e-01,-2.61172992e+01]

qfrc_actuator:
[ 6.73010165e-05, 2.55192366e-04, 3.28109123e-06, 9.12042761e-05,
 -2.19974599e-03, 2.72404857e-02, 1.01746333e-02, 1.07861873e-03,
 -1.47324055e-05, 3.87179846e-05,-1.49199059e-05, 1.60754119e-05,
  5.00419364e-02, 1.98637108e-02, 2.60304198e-03,-2.08190136e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71291521, -0.52273245,  0.48476682, -0.52273245,  0.4357274 ,
       -0.29889641,  0.48476682, -0.29889641,  0.39061003,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8902089959472853e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99131452e-01,  5.74027237e-03, -4.12721523e-02,  5.73538117e-03,
        9.99983525e-01,  2.36917299e-04,  4.12728323e-02,  0.00000000e+00,
       -9.99147914e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13166772, -0.08281946,  0.17470871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2482989 ,  0.22665275,  0.10139464,  0.22665275,  0.46038016,
       -0.47407634,  0.10139464, -0.47407634,  1.30802653,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037935949128159165
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85492167e-01, -1.69689247e-01,  3.27852862e-03, -1.69688308e-01,
        9.85497620e-01,  5.64517906e-04, -3.32677477e-03,  1.08420217e-19,
       -9.99994466e-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([ 0.13119364, -0.08203723,  0.13158777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28953088,  7.0111527 ,  1.99524391,  7.0111527 ,  7.85661194,
       -1.99268465,  1.99524391, -1.99268465, 14.29169052,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7626991957760754e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78744550e-01,  1.09281264e-01, -1.73541669e-01,  1.07602889e-01,
        9.94010868e-01,  1.90791203e-02,  1.74587296e-01, -3.46944695e-18,
       -9.84641699e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11330007, -0.05386289,  0.29658857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36375553,  1.29579078, -0.42515337,  1.29579078,  2.06382604,
        2.13368866, -0.42515337,  2.13368866,  7.86685373,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004988073056603153
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25303286, -0.91601255, -0.31128022, -0.08288184, -0.30004328,
        0.95031817, -0.96390091,  0.2662612 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481525, -0.03589051,  0.30489411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.28538442, -6.59575005,  7.8920982 , -6.59575005, 69.76972499,
       49.71350229,  7.8920982 , 49.71350229, 51.83299656,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004334871464393153
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.56114405e-13, -1.28057202e-13,  1.00000000e+00, -3.27972942e-26,
        1.00000000e+00,  1.28057202e-13, -1.00000000e+00,  0.00000000e+00,
       -2.56114405e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08763754, -0.10815519,  0.06199027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.34741606e-06,-4.44992855e-05,-3.52859951e-05, 5.53774180e-06,
 -2.25718481e-03, 2.89917778e-02, 1.08415513e-02, 1.16151318e-03,
  1.44008795e-05,-1.62721729e-05, 4.04031518e-05, 1.40350058e-05,
  5.17942508e-02, 2.04339119e-02, 1.23887008e-02,-1.26980828e-04,
 -3.59645716e-06, 2.22052992e-06,-9.80999849e+00,-6.49657329e-02,
 -9.53534186e-03,-5.20087754e-03]


--- Step 2026 ---
qpos:
[ 0.00986833, 0.00812622,-0.00560081, 0.03349566, 0.00573763,-0.02433704,
 -0.01696063, 0.03802229, 0.01299663, 0.00593678,-0.01171189, 0.03409456,
  0.81037559,-0.01575557, 1.13382453, 0.04614335, 0.09502571,-0.06328014,
  0.14259418, 0.94228994,-0.03262594, 0.02745461, 0.33207147]

qacc:
[-2.66730241e+00, 1.38121904e+00,-7.31861764e+00, 1.54511023e+01,
 -9.94916403e-01,-6.89810429e-02, 2.44293445e-02,-3.34854331e+00,
  7.70636614e+00, 1.11204922e+00,-6.77144633e+00, 1.67089699e+01,
  4.15477140e+00, 3.98513390e-01, 1.00970115e+01,-5.90162145e+01,
 -3.66646516e-02,-1.60406413e-01, 3.23866653e-02, 2.92178164e+00,
  3.11459281e-01, 4.79623601e+00]

qfrc_actuator:
[ 5.15588508e-05, 2.39896764e-04,-1.23245778e-05, 1.12924465e-04,
 -2.17623642e-03, 2.72342222e-02, 1.01724532e-02, 1.09556475e-03,
  2.99381746e-05, 9.53154665e-06,-2.89291014e-05, 4.15973372e-05,
  5.00471130e-02, 1.98764875e-02, 2.53602240e-03,-2.17244980e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71285815, -0.66137689, -0.26598375, -0.66137689,  1.12841591,
       -1.03329733, -0.26598375, -1.03329733,  3.28218417,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7628748161229147e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99131214e-01,  5.73654645e-03, -4.12784313e-02,  5.73165693e-03,
        9.99983546e-01,  2.36799535e-04,  4.12791105e-02, -2.71050543e-20,
       -9.99147654e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13166783, -0.08281849,  0.17471104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2483017 , -0.03104018,  0.24635389, -0.03104018,  0.69316278,
        0.05605176,  0.24635389,  0.05605176,  0.25536413,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003793711282100814
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85502209e-01, -1.69631486e-01,  3.24882490e-03, -1.69630564e-01,
        9.85507564e-01,  5.59207270e-04, -3.29660067e-03, -1.08420217e-19,
       -9.99994566e-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([ 0.1311942 , -0.08203653,  0.13158744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28785695,  1.20229696,  7.18799979,  1.20229696, 32.60154327,
       -4.23408028,  7.18799979, -4.23408028,  7.99606814,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3594006325142014e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873212,  0.10933434, -0.17357836,  0.10765441,  0.99400503,
        0.01909253,  0.17462524,  0.        , -0.98463497])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329894, -0.05386061,  0.29658785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36782334, -0.78634211,  1.11919917, -0.78634211,  3.843783  ,
        1.73959327,  1.11919917,  1.73959327,  2.59005034,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005008761321497968
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24678449, -0.91685063, -0.31381896, -0.08156614, -0.30303351,
        0.94948284, -0.9656316 ,  0.25991464,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481502, -0.0358857 ,  0.3048912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.28573258, -5.90827255,  8.41953741, -5.90827255, 18.00805342,
        5.41901223,  8.41953741,  5.41901223, 14.08843571,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043351627637904265
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00715309e-06,  1.00715311e-06,  1.00000000e+00,  1.01435737e-12,
        1.00000000e+00, -1.00715311e-06, -1.00000000e+00,  0.00000000e+00,
       -1.00715309e-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([ 0.05392132, -0.06128826,  0.06199027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56339401e-05,-4.72480799e-05,-2.89556913e-05, 1.86975811e-05,
 -1.98985266e-03, 2.86753129e-02, 1.05897217e-02, 1.04066053e-03,
  4.50731723e-05,-2.93477067e-05,-1.19228267e-05, 2.64926680e-05,
  5.53279158e-02, 2.22132827e-02, 1.46750452e-02,-5.86342778e-04,
 -9.16697328e-06, 2.78713470e-06,-9.80999751e+00,-6.49675960e-02,
 -9.53731634e-03,-5.20078031e-03]


--- Step 2027 ---
qpos:
[ 0.00986852, 0.00812655,-0.00560228, 0.03349661, 0.00573406,-0.02434642,
 -0.01696079, 0.03802371, 0.01299709, 0.00593618,-0.01171115, 0.0340953 ,
  0.81034888,-0.0157636 , 1.1337755 , 0.04614462, 0.09502682,-0.0632784 ,
  0.14259431, 0.94229398,-0.03263297, 0.02744864, 0.33205981]

qacc:
[-4.75799319e+00, 1.02475156e+00,-1.35445427e+00,-5.99364793e+00,
  2.36346529e+00,-2.50917522e-01,-1.72979070e-01,-3.38984544e+00,
 -1.40505652e+00, 1.28782827e+00,-6.65689317e+00, 1.33119258e+01,
  4.03373473e+00, 4.02625371e-01, 1.06820383e+01,-2.38635025e+01,
 -2.48252075e-02,-1.19265302e-01, 2.36565288e-02, 2.45936712e+00,
  9.10257528e-02, 4.41418350e+00]

qfrc_actuator:
[ 2.42499180e-05, 2.66334307e-04,-3.89173254e-05, 8.96229402e-05,
 -2.21377980e-03, 2.72341310e-02, 1.01889624e-02, 1.10519645e-03,
  2.04616771e-05,-2.54923040e-05,-5.54674049e-05, 5.64160901e-05,
  5.00510103e-02, 1.98864109e-02, 2.53567581e-03,-1.97369711e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71282326, -0.58973379, -0.40041361, -0.58973379,  1.84329019,
       -1.66496475, -0.40041361, -1.66496475,  3.16500255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6820245854255022e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99130927e-01,  5.73270264e-03, -4.12859269e-02,  5.72781462e-03,
        9.99983568e-01,  2.36683831e-04,  4.12866053e-02, -5.42101086e-20,
       -9.99147345e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13166809, -0.08281757,  0.17471273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003793956581302298
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85509255e-01, -1.69590961e-01,  3.22701705e-03, -1.69590052e-01,
        9.85514539e-01,  5.55316945e-04, -3.27444896e-03, -1.08420217e-19,
       -9.99994639e-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([ 0.13119489, -0.08203604,  0.1315872 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28689869e+00,  7.28683654e+00, -3.00951322e-02,  7.28683654e+00,
        7.28732735e+00,  1.03791215e-01, -3.00951322e-02,  1.03791215e-01,
        3.24175281e+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: -2.093758356086243e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78723368e-01,  1.09371139e-01, -1.73604504e-01,  1.07690125e-01,
        9.94000983e-01,  1.91019151e-02,  1.74652246e-01, -3.46944695e-18,
       -9.84630181e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329824, -0.05385883,  0.29658741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005020230314154724
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24309363, -0.9173181 , -0.31532996, -0.08077571, -0.30480857,
        0.9489821 , -0.96663373,  0.25616251,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481482, -0.03588207,  0.30488977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043456604810092336
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.83217820e-13, -9.97963073e-14,  1.00000000e+00, -3.82437234e-26,
        1.00000000e+00,  9.97963073e-14, -1.00000000e+00,  0.00000000e+00,
       -3.83217820e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05350524, -0.06070222,  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:
[-2.77705288e-05,-5.17237698e-06,-3.92679477e-05,-2.59654116e-05,
 -2.02151093e-03, 2.87109798e-02, 1.06317247e-02, 1.06375329e-03,
 -8.20576859e-06,-5.27497092e-05,-3.31644018e-05, 1.36596214e-05,
  5.48634726e-02, 2.20062229e-02, 1.52206417e-02, 4.82211163e-05,
 -4.38533349e-06, 1.24642429e-06,-9.80999886e+00,-6.49695028e-02,
 -9.53679273e-03,-5.20068682e-03]


--- Step 2028 ---
qpos:
[ 0.00986873, 0.0081271 ,-0.00560389, 0.03349723, 0.0057309 ,-0.02435704,
 -0.01696164, 0.03802481, 0.01299743, 0.0059356 ,-0.01171064, 0.03409651,
  0.81033038,-0.01576802, 1.13373548, 0.0461469 , 0.09502786,-0.06327702,
  0.14259452, 0.94229569,-0.03263609, 0.02744426, 0.33205502]

qacc:
[ 1.30419565e-01, 1.49337107e-02, 1.76733834e+00,-7.44357229e+00,
  3.39930340e+00,-3.34084789e-01, 1.24642657e-01,-3.45589068e+00,
 -1.03670225e+00, 1.59546022e+00,-7.62629938e+00, 1.59836291e+01,
  3.51713362e+00, 3.95071641e-01, 1.01347537e+01,-1.63861155e+01,
 -1.89621861e-02,-9.03479120e-02, 1.94702240e-02, 1.97339733e+00,
  2.77089743e-02, 3.69680049e+00]

qfrc_actuator:
[ 2.58637231e-05, 2.99732335e-04,-3.61430659e-05, 7.55475834e-05,
 -2.23504862e-03, 2.72385994e-02, 1.01993895e-02, 1.11060942e-03,
  1.46869288e-05, 7.19210829e-06,-5.37084639e-05, 8.25613330e-05,
  5.00591331e-02, 1.98753489e-02, 2.57949218e-03,-1.89019552e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71280567, -0.57717838, -0.41827865, -0.57717838,  1.86208721,
       -1.5858817 , -0.41827865, -1.5858817 ,  2.9011474 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6403219635565944e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99130553e-01,  5.72913904e-03, -4.12954647e-02,  5.72425180e-03,
        9.99983588e-01,  2.36591342e-04,  4.12961424e-02,  0.00000000e+00,
       -9.99146950e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13166853, -0.08281658,  0.17471387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037942417975512615
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85513580e-01, -1.69566121e-01,  3.21148230e-03, -1.69565221e-01,
        9.85518813e-01,  5.52560325e-04, -3.25867173e-03,  0.00000000e+00,
       -9.99994691e-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([ 0.1311958 , -0.08203574,  0.13158705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28639277,   6.59542693,   3.09707333,   6.59542693,
        18.56064123, -24.00927393,   3.09707333, -24.00927393,
        58.41576396,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.93885932882361e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78717821e-01,  1.09392824e-01, -1.73622112e-01,  1.07711125e-01,
        9.93998597e-01,  1.91076861e-02,  1.74670379e-01, -3.46944695e-18,
       -9.84626964e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329787, -0.05385754,  0.29658717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005025845125306701
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24102946, -0.9175685 , -0.31618484, -0.08033103, -0.30581004,
        0.94869761, -0.96718753,  0.25406352,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481473, -0.03587957,  0.3048893 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004351632004053474
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.10255933e-13, -1.63441354e-13,  1.00000000e+00, -8.33969204e-26,
        1.00000000e+00,  1.63441354e-13, -1.00000000e+00,  0.00000000e+00,
       -5.10255933e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05350803, -0.06070025,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.23697292e-07, 2.12742251e-05,-4.01694335e-06,-1.61594728e-05,
 -2.05682670e-03, 2.87798853e-02, 1.06803624e-02, 1.08574663e-03,
 -6.02661143e-06,-3.06872258e-06,-1.27518365e-05, 2.30015930e-05,
  5.44057222e-02, 2.17888969e-02, 1.49442012e-02, 1.53796501e-04,
 -1.59085285e-06, 3.42058817e-07,-9.80999960e+00,-6.49706931e-02,
 -9.53663554e-03,-5.20050236e-03]


--- Step 2029 ---
qpos:
[ 0.0098693 , 0.00812733,-0.00560502, 0.03349839, 0.00572831,-0.02436876,
 -0.01696311, 0.03802563, 0.0129977 , 0.00593549,-0.01171034, 0.03409726,
  0.81031962,-0.0157687 , 1.13370392, 0.04615026, 0.09502882,-0.06327591,
  0.1425948 , 0.94229538,-0.03263596, 0.02744097, 0.33205618]

qacc:
[  3.20440891, -0.68652781, -0.47647116,  9.33202746,  4.76612182,
  -0.34162782,  0.28224301, -3.40942033, -0.65178305,  0.28714518,
   1.79603526, -9.61093738,  3.08454413,  0.89485597,  9.15893808,
 -14.04013895, -0.01804763, -0.06885736,  0.01703977,  1.59798827,
  -0.09941818,  3.2047467 ]

qfrc_actuator:
[ 4.44915695e-05, 2.66161584e-04,-1.59910407e-05, 1.02558972e-04,
 -2.21128270e-03, 2.72462663e-02, 1.02241562e-02, 1.09584941e-03,
  1.11548472e-05, 6.25390844e-05,-5.27208183e-05, 6.19836635e-05,
  5.00589032e-02, 1.98860600e-02, 2.60141137e-03,-1.84160911e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71280143, -0.561963  , -0.43850139, -0.561963  ,  2.08817137,
       -1.76261019, -0.43850139, -1.76261019,  2.97168072,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6301782568212158e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99130097e-01,  5.72597846e-03, -4.13069262e-02,  5.72109120e-03,
        9.99983606e-01,  2.36526447e-04,  4.13076034e-02,  2.71050543e-20,
       -9.99146477e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13166911, -0.0828155 ,  0.17471459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037945557136429616
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85515639e-01, -1.69554356e-01,  3.20087241e-03, -1.69553461e-01,
        9.85520837e-01,  5.50695468e-04, -3.24789927e-03,  0.00000000e+00,
       -9.99994726e-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([ 0.13119689, -0.0820356 ,  0.13158695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28618454,   6.55733653,   3.17644816,   6.55733653,
        14.29508867, -14.46891017,   3.17644816, -14.46891017,
        37.15524219,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.871378984919885e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9787149 ,  0.10940179, -0.17363295,  0.10771974,  0.99399761,
        0.01911046,  0.17468145,  0.        , -0.984625  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329776, -0.05385667,  0.29658709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005027519552326886
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24013785, -0.91767068, -0.31656648, -0.08014123, -0.30625433,
        0.94857033, -0.96742503,  0.25315766,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481473, -0.03587803,  0.30488947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000435407576946073
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.95222717e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.95222717e-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([ 0.05351005, -0.06069872,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86593572e-05,-2.31991151e-05, 2.35034833e-05, 2.74704492e-05,
 -2.05325186e-03, 2.88495432e-02, 1.07399320e-02, 1.08649115e-03,
 -3.70599980e-06, 5.19941879e-05,-4.22241052e-07,-2.07049078e-05,
  5.39945833e-02, 2.16187771e-02, 1.45170290e-02, 1.52179192e-04,
 -3.42600463e-07, 1.59693158e-09,-9.80999989e+00,-6.49713290e-02,
 -9.53675960e-03,-5.20023682e-03]


--- Step 2030 ---
qpos:
[ 0.00987009, 0.0081272 ,-0.00560552, 0.03349952, 0.00572638,-0.02438132,
 -0.01696507, 0.03802619, 0.01299793, 0.00593574,-0.01171001, 0.03409742,
  0.81031621,-0.01576543, 1.13368284, 0.0461561 , 0.09502971,-0.06327502,
  0.14259514, 0.94229335,-0.03263313, 0.02743831, 0.33206245]

qacc:
[ 1.94592064e+00,-2.28843652e+00, 7.62080793e+00,-8.96610470e+00,
  5.62310243e+00,-2.44810083e-01, 3.15811810e-01,-3.19696021e+00,
 -3.96635783e-01,-8.26888054e-01, 6.17717578e+00,-1.68668575e+01,
  2.62682858e+00, 1.51586583e+00, 7.90111553e+00,-5.29019223e+00,
 -1.99314272e-02,-5.34331279e-02, 1.55456925e-02, 1.27362309e+00,
 -2.08186471e-01, 2.73931711e+00]

qfrc_actuator:
[ 5.52219543e-05, 2.46123546e-04, 1.40103318e-05, 1.00222751e-04,
 -2.21407766e-03, 2.72562220e-02, 1.02222212e-02, 1.08683818e-03,
  8.97051376e-06, 7.77513837e-05,-5.21241916e-05, 3.18527071e-05,
  5.00534088e-02, 1.99260228e-02, 2.58328635e-03,-1.69018234e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71280747, -0.58032134, -0.41391018, -0.58032134,  2.11037662,
       -1.959457  , -0.41391018, -1.959457  ,  3.46005738,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.644625873959715e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99129567e-01,  5.72338311e-03, -4.13201108e-02,  5.71849495e-03,
        9.99983621e-01,  2.36494698e-04,  4.13207876e-02,  2.71050543e-20,
       -9.99145932e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13166982, -0.08281432,  0.17471497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037949298382292806
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85515745e-01, -1.69553874e-01,  3.19382144e-03, -1.69552984e-01,
        9.85520920e-01,  5.49480776e-04, -3.24074444e-03, -1.08420217e-19,
       -9.99994749e-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([ 0.13119814, -0.08203559,  0.1315869 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2861769 ,  6.52027464,  3.25182908,  6.52027464, 11.80267761,
       -9.05608023,  3.25182908, -9.05608023, 25.44461289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.868853720683356e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97871414,  0.10939968, -0.17363857,  0.10771755,  0.99399784,
        0.01911071,  0.17468707,  0.        , -0.984624  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329782, -0.05385619,  0.29658713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005026400447773109
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24006459, -0.91767276, -0.31661601, -0.08013071, -0.30630829,
        0.9485538 , -0.96744409,  0.25308484,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481477, -0.03587731,  0.30489015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043537334414195383
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.82507234e-13, -9.96112589e-14,  1.00000000e+00, -3.81020271e-26,
        1.00000000e+00,  9.96112589e-14, -1.00000000e+00,  0.00000000e+00,
       -3.82507234e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05351148, -0.06069752,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12520363e-05,-2.69719431e-05, 2.90611359e-05,-1.98396263e-06,
 -2.08435322e-03, 2.89153775e-02, 1.07689395e-02, 1.09179354e-03,
 -2.27053502e-06, 4.33114393e-05, 1.05646689e-05,-2.83223106e-05,
  5.36020751e-02, 2.14719533e-02, 1.40757132e-02, 2.49560254e-04,
 -4.58369442e-08, 2.01624317e-08,-9.80999991e+00,-6.49715235e-02,
 -9.53707156e-03,-5.19987718e-03]


--- Step 2031 ---
qpos:
[ 0.009871  , 0.008127  ,-0.00560573, 0.03350025, 0.00572504,-0.02439444,
 -0.01696749, 0.03802652, 0.01299847, 0.00593579,-0.01170944, 0.03409762,
  0.81031966,-0.01575843, 1.13366578, 0.04616142, 0.09503052,-0.06327432,
  0.14259553, 0.94228997,-0.0326281 , 0.02743607, 0.33207271]

qacc:
[ 1.08514012e+00,-1.76591460e+00, 7.81802473e+00,-1.50944700e+01,
  4.90922858e+00, 1.31686195e-02,-1.35185083e-01,-2.91567411e+00,
  2.80365224e+00,-8.80518429e-01, 2.54812539e+00,-2.04357705e+00,
  2.48716404e+00, 1.40705455e+00, 7.44257145e+00,-1.75505956e+01,
 -1.80716458e-02,-4.75748271e-02, 1.15547678e-02, 1.03264774e+00,
 -2.19054156e-01, 2.14014160e+00]

qfrc_actuator:
[ 6.12126780e-05, 2.52118812e-04, 3.18396469e-05, 8.06392661e-05,
 -2.21538488e-03, 2.73032177e-02, 1.02043857e-02, 1.09910549e-03,
  2.53484622e-05, 3.33018732e-05,-5.19128401e-05, 3.18247100e-05,
  5.00498381e-02, 1.99463295e-02, 2.55130139e-03,-1.79843407e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71282124, -0.58292071, -0.41026525, -0.58292071,  2.35582779,
       -2.33444715, -0.41026525, -2.33444715,  4.0296939 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.677277413080515e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99128978e-01,  5.72145491e-03, -4.13346111e-02,  5.71656496e-03,
        9.99983632e-01,  2.36497984e-04,  4.13352877e-02, -2.71050543e-20,
       -9.99145332e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13167062, -0.08281303,  0.1747151 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003795429279267144
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85514187e-01, -1.69563017e-01,  3.18907651e-03, -1.69562129e-01,
        9.85519347e-01,  5.48694896e-04, -3.23593496e-03,  0.00000000e+00,
       -9.99994764e-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([ 0.13119954, -0.0820357 ,  0.13158689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28630602,  6.50752988,  3.27754637,  6.50752988, 11.44973683,
       -8.26644304,  3.27754637, -8.26644304, 23.69923171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9110362176778102e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78715123e-01,  1.09388041e-01, -1.73640330e-01,  1.07706060e-01,
        9.93999123e-01,  1.91088453e-02,  1.74688615e-01,  3.46944695e-18,
       -9.84623729e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.113298  , -0.05385606,  0.29658723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00050236006981688
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40433262e-01, -9.17622949e-01, -3.16480601e-01, -8.02156281e-02,
       -3.06146083e-01,  9.48598982e-01, -9.67345491e-01,  2.53461437e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481483, -0.03587736,  0.30489117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043512256998155807
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27575895e-13, -3.98674671e-15,  1.00000000e+00, -5.08612780e-28,
        1.00000000e+00,  3.98674671e-15, -1.00000000e+00,  0.00000000e+00,
       -1.27575895e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05351244, -0.06069659,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.30151304e-06,-3.16016533e-06, 1.57721966e-05,-1.97741141e-05,
 -2.11906251e-03, 2.90041925e-02, 1.07757720e-02, 1.11649612e-03,
  1.63304502e-05,-1.92744998e-05, 9.47228117e-06, 1.64084785e-06,
  5.32311260e-02, 2.12950292e-02, 1.35203907e-02, 1.71051386e-05,
 -3.47184430e-07, 2.87581112e-07,-9.80999975e+00,-6.49713758e-02,
 -9.53752578e-03,-5.19941236e-03]


--- Step 2032 ---
qpos:
[ 0.00987198, 0.00812647,-0.00560506, 0.03350108, 0.00572417,-0.02440803,
 -0.01697038, 0.03802659, 0.01299921, 0.00593555,-0.01170821, 0.03409745,
  0.81032936,-0.01574818, 1.13364745, 0.04616358, 0.09503128,-0.06327379,
  0.14259595, 0.94228558,-0.03262127, 0.02743414, 0.33208598]

qacc:
[ 6.02656358e-01,-2.65329040e+00, 8.44528702e+00,-7.93381972e+00,
  3.98822506e+00, 1.85605346e-01,-4.85118971e-01,-2.76866944e+00,
  1.71424340e+00,-2.95026986e+00, 1.15388167e+01,-1.87290474e+01,
  2.41814426e+00, 9.75149009e-01, 7.63233752e+00,-2.95721297e+01,
 -1.42363479e-02,-4.28078505e-02, 7.12030811e-03, 8.44240728e-01,
 -1.84718561e-01, 1.61976990e+00]

qfrc_actuator:
[ 6.43684508e-05, 2.38091181e-04, 7.79411231e-05, 8.65871373e-05,
 -2.19822965e-03, 2.73370113e-02, 1.02126811e-02, 1.12423535e-03,
  3.47670167e-05, 2.44938643e-05,-1.66564444e-05, 1.39511549e-05,
  5.00472009e-02, 1.99357172e-02, 2.54848533e-03,-2.02497680e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71284093, -0.55895533, -0.44239251, -0.55895533,  2.76707079,
       -2.59548411, -0.44239251, -2.59548411,  3.99219047,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7232842080305252e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99128343e-01,  5.72010960e-03, -4.13501457e-02,  5.71521712e-03,
        9.99983640e-01,  2.36531235e-04,  4.13508222e-02,  2.71050543e-20,
       -9.99144689e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13167149, -0.08281169,  0.17471504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037959329319833525
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85511319e-01, -1.69579738e-01,  3.18617133e-03, -1.69578852e-01,
        9.85516470e-01,  5.48250705e-04, -3.23299653e-03,  0.00000000e+00,
       -9.99994774e-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([ 0.13120102, -0.0820359 ,  0.1315869 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28654563,  6.50364919,  3.28577152,  6.50364919, 11.82825018,
       -8.98956393,  3.28577152, -8.98956393, 25.07992229,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.986938208540525e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78717463e-01,  1.09369015e-01, -1.73639129e-01,  1.07687358e-01,
        9.94001217e-01,  1.91053494e-02,  1.74687038e-01, -3.46944695e-18,
       -9.84624009e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329824, -0.05385626,  0.29658739])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005019204037087735
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.41277665e-01, -9.17515143e-01, -3.16150362e-01, -8.04040158e-02,
       -3.05755206e-01,  9.48709096e-01, -9.67119580e-01,  2.54322074e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481483, -0.03587804,  0.30489251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043470771772806394
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.17826814e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.17826814e-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([ 0.05351303, -0.06069588,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33510871e-06,-1.33767221e-05, 4.67090598e-05, 5.97214213e-06,
 -2.13108969e-03, 2.90672501e-02, 1.08072498e-02, 1.15387273e-03,
  9.87632306e-06,-1.75607420e-05, 3.24907838e-05,-1.83422567e-05,
  5.28853857e-02, 2.10973536e-02, 1.33171689e-02,-1.83408433e-04,
 -9.35706496e-07, 6.70670406e-07,-9.80999951e+00,-6.49709509e-02,
 -9.53807393e-03,-5.19884931e-03]


--- Step 2033 ---
qpos:
[ 0.00987264, 0.00812602,-0.00560368, 0.03350193, 0.00572368,-0.02442183,
 -0.01697369, 0.03802642, 0.01300005, 0.0059353 ,-0.01170669, 0.03409775,
  0.81034486,-0.01573496, 1.13363036, 0.04616382, 0.09503198,-0.06327341,
  0.14259638, 0.94228044,-0.03261299, 0.02743239, 0.33210154]

qacc:
[-2.74220501e+00,-1.84768393e+00, 6.60573919e+00,-7.34309600e+00,
  3.21610795e+00, 3.64855839e-01,-7.26611303e-01,-2.57993787e+00,
  9.52610231e-01, 1.01815151e-01,-2.40306631e+00, 1.00932667e+01,
  2.24100013e+00, 8.72842770e-01, 7.58844123e+00,-2.39990377e+01,
 -1.40480890e-02,-3.80729349e-02, 4.73884535e-03, 6.68874799e-01,
 -1.83782211e-01, 1.22164720e+00]

qfrc_actuator:
[ 4.80791580e-05, 2.65578074e-04, 1.22565010e-04, 8.97673356e-05,
 -2.20562657e-03, 2.73629932e-02, 1.02013433e-02, 1.13943506e-03,
  4.00083707e-05, 3.72178000e-05, 3.61345858e-06, 3.90205839e-05,
  5.00449321e-02, 1.99410482e-02, 2.58480488e-03,-2.08885464e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71286535, -0.56613838, -0.43320242, -0.56613838,  2.86714864,
       -2.8153639 , -0.43320242, -2.8153639 ,  4.39217434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7792687312878284e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99127667e-01,  5.71923820e-03, -4.13666036e-02,  5.71434258e-03,
        9.99983645e-01,  2.36589329e-04,  4.13672802e-02, -2.71050543e-20,
       -9.99144008e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13167241, -0.08281036,  0.17471482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003796281900192748
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85507448e-01, -1.69602260e-01,  3.18498648e-03, -1.69601374e-01,
        9.85512594e-01,  5.48121766e-04, -3.23180698e-03, -1.08420217e-19,
       -9.99994778e-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([ 0.13120259, -0.08203617,  0.13158693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28688762,  6.49462756,  3.30432201,  6.49462756, 11.52338407,
       -8.32681153,  3.30432201, -8.32681153, 23.65319193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0904924140375124e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78720840e-01,  1.09344454e-01, -1.73635562e-01,  1.07663253e-01,
        9.94003919e-01,  1.91006145e-02,  1.74682975e-01,  3.46944695e-18,
       -9.84624730e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329855, -0.05385676,  0.29658758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005013295074904735
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24267704, -0.91733666, -0.31559673, -0.08071305, -0.30510113,
        0.94889341, -0.96674363,  0.25574742,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481467, -0.0358792 ,  0.30489408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004341704894189058
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27855653e-13, -1.95778968e-13,  1.00000000e+00, -2.50314477e-26,
        1.00000000e+00,  1.95778968e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27855653e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05351334, -0.06069534,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62002687e-05, 2.99181646e-05, 4.78156089e-05, 4.33681601e-06,
 -2.16221385e-03, 2.91164934e-02, 1.08195779e-02, 1.18168540e-03,
  5.51590268e-06, 8.82931879e-06, 1.99988953e-05, 2.50819357e-05,
  5.25708497e-02, 2.09398023e-02, 1.34173310e-02,-8.88681879e-05,
 -1.59841069e-06, 1.06773015e-06,-9.80999923e+00,-6.49702965e-02,
 -9.53867428e-03,-5.19820340e-03]


--- Step 2034 ---
qpos:
[ 0.00987311, 0.00812596,-0.00560241, 0.03350214, 0.00572344,-0.02443569,
 -0.01697736, 0.03802602, 0.01300026, 0.00593511,-0.01170551, 0.03409838,
  0.81036561,-0.0157192 , 1.13361376, 0.04616174, 0.09503263,-0.06327318,
  0.14259682, 0.94227477,-0.03260355, 0.02743076, 0.3321187 ]

qacc:
[-1.77033853e+00,-4.79089676e-01, 5.20489183e+00,-1.64952786e+01,
  2.01286800e+00, 4.57582395e-01,-7.24876771e-01,-2.81573515e+00,
 -5.58405178e+00, 1.74188283e+00,-7.46066875e+00, 1.36620517e+01,
  2.14385327e+00, 5.43317054e-01, 7.67098433e+00,-2.59235270e+01,
 -1.23106223e-02,-3.49402487e-02, 1.84710613e-03, 5.33793735e-01,
 -1.53604088e-01, 8.60361646e-01]

qfrc_actuator:
[ 3.82293610e-05, 2.82216187e-04, 1.12854689e-04, 5.58131183e-05,
 -2.21010052e-03, 2.73664846e-02, 1.01783580e-02, 1.09550728e-03,
  7.24621033e-06, 2.72179221e-05,-2.05176678e-05, 5.36597880e-05,
  5.00480258e-02, 1.99549327e-02, 2.64442475e-03,-2.21488801e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71289328, -0.54300773, -0.46190846, -0.54300773,  2.90680689,
       -2.57910857, -0.46190846, -2.57910857,  3.74482715,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8419457290078793e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99126962e-01,  5.71874942e-03, -4.13836971e-02,  5.71385016e-03,
        9.99983648e-01,  2.36666863e-04,  4.13843738e-02, -2.71050543e-20,
       -9.99143300e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13167336, -0.08280907,  0.17471448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037964431898972623
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85502808e-01, -1.69629214e-01,  3.18512915e-03, -1.69628328e-01,
        9.85507955e-01,  5.48236014e-04, -3.23196696e-03,  0.00000000e+00,
       -9.99994777e-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([ 0.13120421, -0.0820365 ,  0.13158697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28731689,  6.49427669,  3.30595791,  6.49427669, 11.71179617,
       -8.69151799,  3.30595791, -8.69151799, 24.36107408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2136200716100837e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872499,  0.10931575, -0.17363025,  0.10763511,  0.99400708,
        0.01909496,  0.17467707,  0.        , -0.98462578])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329888, -0.05385753,  0.29658779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005006553450044451
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24445512, -0.91710831, -0.31488734, -0.08110154, -0.304264  ,
        0.94912905, -0.96626303,  0.25755731,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481439, -0.03588079,  0.30489579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000433545363936097
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.56080013e-13, -1.64051258e-13,  1.00000000e+00, -4.20102484e-26,
        1.00000000e+00,  1.64051258e-13, -1.00000000e+00,  0.00000000e+00,
       -2.56080013e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05351341, -0.06069492,  0.06199027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03031645e-05, 4.34222297e-05, 2.49628820e-06,-3.09368000e-05,
 -2.18584262e-03, 2.91316249e-02, 1.08174984e-02, 1.14976615e-03,
 -3.26033359e-05, 1.38722509e-07,-1.89911299e-05, 1.61940943e-05,
  5.22842314e-02, 2.08052028e-02, 1.34147795e-02,-1.18862070e-04,
 -2.22948287e-06, 1.43805959e-06,-9.80999897e+00,-6.49694623e-02,
 -9.53930737e-03,-5.19748199e-03]


--- Step 2035 ---
qpos:
[ 0.00987414, 0.00812596,-0.0056014 , 0.03350199, 0.00572333,-0.02444941,
 -0.01698117, 0.03802542, 0.01299939, 0.00593491,-0.01170458, 0.03409884,
  0.81038943,-0.01570223, 1.13359676, 0.04615701, 0.09503325,-0.06327303,
  0.14259727, 0.94226883,-0.03259353, 0.02742944, 0.33213664]

qacc:
[ 4.97799701e+00, 5.46202605e-02, 1.40126715e+00,-7.15171197e+00,
  1.09986100e+00, 1.61424334e-01, 4.68764447e-01,-3.58580500e+00,
 -9.54285388e+00, 3.44269638e-01,-4.75187273e-01,-2.14515289e+00,
  1.38069125e+00,-3.24456104e-02, 7.35256145e+00,-2.67131854e+01,
 -8.95222731e-03,-2.33292254e-02, 1.75589894e-03, 3.07021024e-01,
  3.69305408e-02, 4.28349811e-01]

qfrc_actuator:
[ 6.77600798e-05, 2.56478257e-04, 8.88378366e-05, 3.57449429e-05,
 -2.19507843e-03, 2.73564038e-02, 1.01840100e-02, 1.03395342e-03,
 -4.76202292e-05, 2.12545706e-05,-3.52611719e-05, 4.42399360e-05,
  5.00541762e-02, 1.99376887e-02, 2.68076763e-03,-2.35929501e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7129239 , -0.57099982, -0.42687199, -0.57099982,  1.81025874,
       -1.46783583, -0.42687199, -1.46783583,  2.6763556 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9091143020020102e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99126237e-01,  5.71850055e-03, -4.14012144e-02,  5.71359736e-03,
        9.99983649e-01,  2.36756739e-04,  4.14018914e-02, -2.71050543e-20,
       -9.99142574e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13167433, -0.08280784,  0.17471404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003796373977971604
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85497614e-01, -1.69659361e-01,  3.18641400e-03, -1.69658475e-01,
        9.85502766e-01,  5.48557531e-04, -3.23328773e-03,  0.00000000e+00,
       -9.99994773e-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([ 0.13120585, -0.08203687,  0.13158704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28782802,   6.5241631 ,   3.24772737,   6.5241631 ,
        12.70307677, -10.87836573,   3.24772737, -10.87836573,
        29.14071907,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -2.3518204345752702e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872969,  0.1092842 , -0.17362359,  0.10760418,  0.99401055,
        0.01908865,  0.17466977,  0.        , -0.98462707])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329923, -0.05385854,  0.29658802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004999258152914028
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46580856e-01, -9.16831651e-01, -3.14034401e-01, -8.15609067e-02,
       -3.03258015e-01,  9.49411605e-01, -9.65684058e-01,  2.59719656e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481397, -0.03588273,  0.30489757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004328524170277961
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.13986451e-07,  7.13986382e-07,  1.00000000e+00,  5.09776603e-13,
        1.00000000e+00, -7.13986382e-07, -1.00000000e+00,  1.00974196e-28,
       -7.13986451e-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([ 0.0539331 , -0.06127802,  0.06199029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.92523591e-05,-2.28411355e-06,-1.58249288e-05,-1.87260221e-05,
 -2.18283225e-03, 2.91248553e-02, 1.08418070e-02, 1.10032344e-03,
 -5.57923039e-05,-9.13363265e-06,-1.65051322e-05,-9.75801798e-06,
  5.20271816e-02, 2.06609595e-02, 1.34269071e-02,-1.47259846e-04,
 -2.75485069e-06, 1.74126488e-06,-9.80999873e+00,-6.49684812e-02,
 -9.53995655e-03,-5.19669753e-03]


--- Step 2036 ---
qpos:
[ 0.00987517, 0.00812584,-0.00560062, 0.03350197, 0.00572343,-0.02446294,
 -0.01698506, 0.03802466, 0.01299855, 0.00593474,-0.01170413, 0.03409919,
  0.81041607,-0.01568399, 1.13358693, 0.04615362, 0.09503382,-0.06327295,
  0.14259773, 0.94226261,-0.03258307, 0.02742822, 0.33215539]

qacc:
[ 3.80167152e-03, 7.50029476e-01,-3.43247690e+00, 6.08964343e+00,
  1.83293021e+00, 1.65308559e-01, 5.02154868e-01,-3.43615700e+00,
  3.26065956e-01, 1.18647173e+00,-3.75022795e+00, 2.73430975e+00,
  1.07579619e+00, 3.29672969e-01, 6.51527881e+00,-7.45009315e+00,
 -1.15279541e-02,-1.58874793e-02, 1.76062618e-03, 2.14339561e-01,
 -3.27830701e-02, 4.35340895e-01]

qfrc_actuator:
[ 6.69725353e-05, 2.40998325e-04, 7.41762671e-05, 4.17279369e-05,
 -2.18609862e-03, 2.73912691e-02, 1.01890023e-02, 1.03287638e-03,
 -4.40347434e-05, 1.77563341e-05,-6.20866377e-05, 3.85077858e-05,
  5.00408663e-02, 1.99020695e-02, 2.69255637e-03,-2.19392080e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71295686, -0.58742094, -0.4040348 , -0.58742094,  1.75093769,
       -1.50910684, -0.4040348 , -1.50910684,  2.90702767,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9797212873929817e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99125512e-01,  5.71838299e-03, -4.14187286e-02,  5.71347575e-03,
        9.99983650e-01,  2.36852026e-04,  4.14194058e-02,  0.00000000e+00,
       -9.99141848e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1316753 , -0.08280666,  0.17471353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003796160480842882
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85492136e-01, -1.69691136e-01,  3.18879435e-03, -1.69690247e-01,
        9.85497295e-01,  5.49073181e-04, -3.23572106e-03,  1.08420217e-19,
       -9.99994765e-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([ 0.13120749, -0.08203725,  0.13158711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28842395,  6.50410204,  3.2890394 ,  6.50410204, 11.7246167 ,
       -8.77260707,  3.2890394 , -8.77260707, 24.63632544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.503312607552859e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873475,  0.10925123, -0.17361584,  0.10757188,  0.99401417,
        0.01908196,  0.17466133,  0.        , -0.98462857])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329961, -0.0538597 ,  0.29658826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004992046092883456
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24902331, -0.91650764, -0.31305134, -0.08208288, -0.30209856,
        0.9497362 , -0.96501284,  0.26220261,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481342, -0.03588481,  0.30489928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043212994857810415
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.05979515e-07, -6.05979676e-07,  1.00000000e+00,  3.67211270e-13,
        1.00000000e+00,  6.05979676e-07, -1.00000000e+00,  0.00000000e+00,
        6.05979515e-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([ 0.05393291, -0.06127781,  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:
[ 4.55091607e-08,-2.08331357e-05,-1.77441290e-05, 4.96977600e-06,
 -2.18042328e-03, 2.91535032e-02, 1.08536100e-02, 1.10862685e-03,
  1.99793313e-06,-1.24604301e-05,-3.10909855e-05,-6.88505014e-06,
  5.18609848e-02, 2.05640981e-02, 1.34596517e-02, 1.50664509e-04,
 -3.04068249e-06, 1.87815495e-06,-9.80999863e+00,-6.49673876e-02,
 -9.54055019e-03,-5.19590564e-03]


--- Step 2037 ---
qpos:
[ 0.00987549, 0.00812542,-0.00559993, 0.03350204, 0.00571879,-0.02446989,
 -0.01698387, 0.03802669, 0.01299811, 0.00593429,-0.01170418, 0.03409952,
  0.81037279,-0.01570111, 1.133541  , 0.04616411, 0.09503512,-0.06327014,
  0.1425976 , 0.94227278,-0.03260077, 0.027417  , 0.33212574]

qacc:
[-6.20071617e+00, 5.34670171e-02,-1.13331078e+00, 3.01344194e+00,
 -3.98944822e+01, 2.93118897e-01,-1.12475025e-01, 3.54056580e+01,
  3.45620335e+00, 9.34872687e-01,-3.75024268e+00, 4.21271101e+00,
 -2.69987651e+01,-1.03157052e+01,-9.45407565e+01, 2.54871766e+02,
  1.81381720e-01, 6.83687587e-01,-1.46894896e-01,-1.40009865e+01,
  5.32529542e-01,-2.60791677e+01]

qfrc_actuator:
[ 3.05814011e-05, 2.14071826e-04, 6.52033529e-05, 4.52488271e-05,
 -2.19863645e-03, 2.74352325e-02, 1.01758589e-02, 1.06814333e-03,
 -2.38200650e-05,-1.97947267e-05,-9.58192950e-05, 3.49877868e-05,
  5.00317691e-02, 1.98726418e-02, 2.69427015e-03,-1.93437389e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71299137, -0.51963941,  0.48819216, -0.51963941,  0.43289719,
       -0.29813665,  0.48819216, -0.29813665,  0.39565004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0518964694893584e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99124790e-01,  5.71848375e-03, -4.14361365e-02,  5.71357229e-03,
        9.99983649e-01,  2.36955747e-04,  4.14368140e-02, -2.71050543e-20,
       -9.99141126e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13167626, -0.0828055 ,  0.17471299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24835431,  0.22658137,  0.10168945,  0.22658137,  0.46177524,
       -0.47553806,  0.10168945, -0.47553806,  1.30793386,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037958961813415655
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85486379e-01, -1.69724513e-01,  3.19168778e-03, -1.69723623e-01,
        9.85491547e-01,  5.49682699e-04, -3.23867596e-03,  0.00000000e+00,
       -9.99994755e-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([ 0.13120912, -0.08203766,  0.13158719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28907885,  6.99878362,  2.03658988,  6.99878362,  7.85421981,
       -1.94211871,  2.03658988, -1.94211871, 13.96321033,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6598414413512473e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97874009,  0.10921675, -0.17360744,  0.10753811,  0.99401796,
        0.01907495,  0.17465222,  0.        , -0.98463019])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329999, -0.05386099,  0.2965885 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36328886,  1.30183551, -0.40469841,  1.30183551,  2.01504483,
        2.09657133, -0.40469841,  2.09657133,  8.10754821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000498568859348781
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25141982, -0.91618527, -0.31207792, -0.08258727, -0.30095178,
        0.95005651, -0.96434818,  0.2646367 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481284, -0.03588707,  0.30490085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.28087964, -6.57511484,  7.9034392 , -6.57511484, 68.12192772,
       48.11975189,  7.9034392 , 48.11975189, 50.31318541,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004331098949147405
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28168744e-13, -1.28168744e-13,  1.00000000e+00, -1.64272269e-26,
        1.00000000e+00,  1.28168744e-13, -1.00000000e+00,  0.00000000e+00,
       -1.28168744e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08765756, -0.1081391 ,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.63970406e-05,-4.20371473e-05,-1.52986587e-05, 2.10929347e-06,
 -2.20388538e-03, 2.91880959e-02, 1.08452642e-02, 1.15243362e-03,
  2.02686457e-05,-5.12379972e-05,-4.03791284e-05,-5.26533480e-06,
  5.17109828e-02, 2.04709910e-02, 1.31026635e-02, 3.43094675e-04,
 -3.32533734e-06, 2.03386005e-06,-9.80999852e+00,-6.49662446e-02,
 -9.54113995e-03,-5.19509662e-03]


--- Step 2038 ---
qpos:
[ 0.00987572, 0.00812485,-0.00559942, 0.03350214, 0.00571409,-0.02447765,
 -0.01698323, 0.03802844, 0.01299757, 0.00593338,-0.0117043 , 0.03410014,
  0.8103386 ,-0.01571403, 1.13349003, 0.04616877, 0.09503628,-0.06326795,
  0.1425976 , 0.94227985,-0.03261287, 0.02740869, 0.33210519]

qacc:
[-8.26607650e-01, 3.62979831e-01,-1.69458451e+00, 2.56111660e+00,
 -4.96630339e-01,-9.48570275e-02,-2.35448853e-02,-3.38167398e+00,
 -8.66691472e-01, 2.16949850e-01,-2.89886062e+00, 8.46771158e+00,
  3.97677778e+00, 4.57432034e-01, 1.00051336e+01,-4.61271957e+01,
 -3.31507318e-02,-1.56431733e-01, 3.44892850e-02, 2.95163264e+00,
  3.31949292e-01, 4.93230292e+00]

qfrc_actuator:
[ 2.67935380e-05, 2.16022826e-04, 5.96026142e-05, 4.72810634e-05,
 -2.20145574e-03, 2.74426922e-02, 1.01821913e-02, 1.06905915e-03,
 -2.95039786e-05,-4.19770057e-05,-9.79916180e-05, 5.05173994e-05,
  5.00476225e-02, 1.98830481e-02, 2.66162021e-03,-1.95093727e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71292608, -0.66220825, -0.26409057, -0.66220825,  1.15678456,
       -1.11297708, -0.26409057, -1.11297708,  3.50372092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9138340923819457e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99124578e-01,  5.71384603e-03, -4.14418852e-02,  5.70893719e-03,
        9.99983676e-01,  2.36796417e-04,  4.14425617e-02, -2.71050543e-20,
       -9.99140888e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13167632, -0.08280468,  0.17471536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24834136, -0.03214734,  0.24625186, -0.03214734,  0.68791858,
        0.05738531,  0.24625186,  0.05738531,  0.25583282,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037953586296436004
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85496689e-01, -1.69665186e-01,  3.16234500e-03, -1.69664312e-01,
        9.85501763e-01,  5.44433172e-04, -3.20886792e-03,  0.00000000e+00,
       -9.99994852e-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([ 0.13120961, -0.08203695,  0.13158686])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28740999,  1.37502992,  7.15651011,  1.37502992, 32.99216435,
       -4.93883272,  7.15651011, -4.93883272,  8.23634217,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2394287525661787e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97872729,  0.10927173, -0.17364501,  0.10759149,  0.99401192,
        0.0190888 ,  0.17469107,  0.        , -0.98462329])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329878, -0.05385879,  0.29658774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.3674587 , -0.75898345,  1.13749173, -0.75898345,  3.96206679,
        1.73123421,  1.13749173,  1.73123421,  2.52261269,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000500691054558928
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24502573, -0.91703   , -0.31467185, -0.0812291 , -0.30400692,
        0.94920052, -0.96610777,  0.25813906,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481252, -0.0358823 ,  0.30489784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.27980996, -5.90522598,  8.4144399 , -5.90522598, 18.06172009,
        5.46131869,  8.4144399 ,  5.46131869, 14.11254527,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004330202212606671
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.38013832e-07,  8.38013588e-07,  1.00000000e+00,  7.02266978e-13,
        1.00000000e+00, -8.38013588e-07, -1.00000000e+00,  0.00000000e+00,
       -8.38013832e-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([ 0.05393748, -0.06127438,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.83839317e-06,-2.46328820e-05,-1.60975182e-05,-2.56682341e-07,
 -1.96943468e-03, 2.88669789e-02, 1.05970124e-02, 1.01347512e-03,
 -5.12523578e-06,-5.93793102e-05,-1.79078951e-05, 1.18338033e-05,
  5.52232530e-02, 2.22496936e-02, 1.48754688e-02,-3.66947938e-04,
 -9.69906401e-06, 2.94593730e-06,-9.80999743e+00,-6.49681545e-02,
 -9.54326062e-03,-5.19498382e-03]


--- Step 2039 ---
qpos:
[ 0.00987625, 0.00812427,-0.0055988 , 0.03350222, 0.00570968,-0.02448683,
 -0.0169835 , 0.03802981, 0.01299731, 0.00593258,-0.0117047 , 0.03410053,
  0.81031404,-0.01572261, 1.13343781, 0.04616913, 0.09503736,-0.06326624,
  0.14259771, 0.94228408,-0.03261997, 0.02740251, 0.33209298]

qacc:
[ 2.61225936e+00,-3.81498797e-01, 1.39718552e+00,-1.83994029e+00,
  2.38303021e+00,-9.91500177e-02,-7.78373463e-01,-3.23485965e+00,
  2.45823255e+00, 4.52944992e-01,-4.64743096e-01,-3.04727313e+00,
  4.21117673e+00, 4.04804563e-01, 1.10419903e+01,-4.15986866e+01,
 -2.11674043e-02,-1.22069612e-01, 2.46309478e-02, 2.54104289e+00,
  7.73648534e-02, 4.50274421e+00]

qfrc_actuator:
[ 4.22373390e-05, 2.35265362e-04, 7.39005050e-05, 4.84456638e-05,
 -2.18347994e-03, 2.74330073e-02, 1.02038227e-02, 1.06907820e-03,
 -1.48860997e-05,-1.38882599e-06,-9.91991107e-05, 4.16573352e-05,
  5.00525476e-02, 1.99096908e-02, 2.63348647e-03,-2.11902242e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71288551, -0.55390006, -0.44877664, -0.55390006,  2.69082402,
       -2.44125955, -0.44877664, -2.44125955,  3.72599647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.824661537099761e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99124309e-01,  5.70914946e-03, -4.14490027e-02,  5.70424298e-03,
        9.99983703e-01,  2.36642408e-04,  4.14496782e-02,  2.71050543e-20,
       -9.99140593e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13167654, -0.08280387,  0.17471709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003795103823050861
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85503934e-01, -1.69623500e-01,  3.14079964e-03, -1.69622639e-01,
        9.85508939e-01,  5.40587109e-04, -3.18698240e-03,  0.00000000e+00,
       -9.99994922e-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([ 0.13121026, -0.08203644,  0.13158663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28645999,  7.28618458, -0.06335208,  7.28618458,  7.28835726,
        0.21820709, -0.06335208,  0.21820709, 32.38266975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9601471337094165e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78718259e-01,  1.09309930e-01, -1.73671844e-01,  1.07628565e-01,
        9.94007716e-01,  1.90985008e-02,  1.74718809e-01,  3.46944695e-18,
       -9.84618372e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329802, -0.05385709,  0.29658725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005019446213628355
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.41066202e-01, -9.17524532e-01, -3.16284397e-01, -8.03713901e-02,
       -3.05902369e-01,  9.48664419e-01, -9.67175024e-01,  2.54111145e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481229, -0.03587874,  0.30489624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043412858873306814
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.31863868e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.31863868e-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([ 0.05352149, -0.06068851,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52992876e-05, 2.14365165e-06, 7.21859200e-06,-4.52825454e-07,
 -1.94853022e-03, 2.88981643e-02, 1.06466173e-02, 1.02764120e-03,
  1.44488118e-05, 4.22062018e-06,-1.52588088e-05,-1.17929148e-05,
  5.47728583e-02, 2.20664360e-02, 1.51008687e-02,-2.43767733e-04,
 -4.66413281e-06, 1.32633415e-06,-9.80999882e+00,-6.49701149e-02,
 -9.54270742e-03,-5.19488123e-03]


--- Step 2040 ---
qpos:
[ 0.00987662, 0.0081237 ,-0.00559776, 0.03350229, 0.00570567,-0.02449745,
 -0.01698472, 0.03803081, 0.01299723, 0.00593206,-0.01170555, 0.03410115,
  0.81029817,-0.01572738, 1.13338573, 0.04616577, 0.09503838,-0.06326492,
  0.14259789, 0.94228595,-0.03262299, 0.02739799, 0.33208777]

qacc:
[-1.42648402e+00,-1.17298854e+00, 4.26226147e+00,-5.14603463e+00,
  3.46200748e+00,-7.56540025e-02,-9.15587624e-01,-3.05951501e+00,
  1.53790922e+00, 2.07708689e+00,-7.83358605e+00, 1.22546514e+01,
  3.83803078e+00, 2.49024947e-01, 1.13344951e+01,-3.96300548e+01,
 -1.45083357e-02,-9.43066696e-02, 1.95686859e-02, 2.06779116e+00,
  1.73802976e-02, 3.77134284e+00]

qfrc_actuator:
[ 3.33613052e-05, 2.47050588e-04, 9.99112991e-05, 4.91217099e-05,
 -2.17109846e-03, 2.74494698e-02, 1.01997070e-02, 1.08651915e-03,
 -6.17999659e-06, 2.32177157e-05,-1.17349642e-04, 5.40702527e-05,
  5.00611931e-02, 1.99265049e-02, 2.63453054e-03,-2.28844430e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71286412, -0.52050679, -0.48708104, -0.52050679,  3.26707478,
       -2.72949241, -0.48708104, -2.72949241,  3.62966694,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7764866072889333e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99123943e-01,  5.70473569e-03, -4.14584476e-02,  5.69983077e-03,
        9.99983728e-01,  2.36513335e-04,  4.14591223e-02, -2.71050543e-20,
       -9.99140201e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13167695, -0.082803  ,  0.17471826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003794875579630797
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85508403e-01, -1.69597811e-01,  3.12568551e-03, -1.69596958e-01,
        9.85513360e-01,  5.37901811e-04, -3.17163180e-03,  0.00000000e+00,
       -9.99994970e-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([ 0.13121113, -0.08203613,  0.13158647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28596151,  7.2835814 ,  0.18621816,  7.2835814 ,  7.30450711,
       -0.72537703,  0.18621816, -0.72537703, 35.65775195,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.796287202444455e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9787125 ,  0.10933274, -0.17368993,  0.10765066,  0.99400521,
        0.01910452,  0.17473744,  0.        , -0.98461506])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132976 , -0.05385589,  0.29658699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005025247951393568
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39015803e-01, -9.17767706e-01, -3.17133857e-01, -7.99257055e-02,
       -3.06896994e-01,  9.48380787e-01, -9.67720687e-01,  2.52025143e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048121 , -0.03587628,  0.30489571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043477367341360207
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.83034815e-13, -1.31668218e-13,  1.00000000e+00, -5.04335115e-26,
        1.00000000e+00,  1.31668218e-13, -1.00000000e+00,  0.00000000e+00,
       -3.83034815e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0535243 , -0.06068653,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.43846526e-06, 1.44729794e-05, 2.73251938e-05, 1.00783881e-06,
 -1.95032842e-03, 2.89857648e-02, 1.06882809e-02, 1.06394750e-03,
  9.11651591e-06, 2.33464791e-05,-1.95538561e-05, 1.18374767e-05,
  5.43004304e-02, 2.18663972e-02, 1.51650862e-02,-1.97663447e-04,
 -1.70563071e-06, 3.65664559e-07,-9.80999959e+00,-6.49713307e-02,
 -9.54253851e-03,-5.19467987e-03]


--- Step 2041 ---
qpos:
[ 0.00987653, 0.00812324,-0.00559641, 0.03350201, 0.00570222,-0.02450929,
 -0.01698678, 0.03803145, 0.01299656, 0.005932  ,-0.01170649, 0.03410221,
  0.81029032,-0.01572844, 1.13334108, 0.04616247, 0.09503934,-0.06326388,
  0.14259814, 0.9422858 ,-0.03262266, 0.0273946 , 0.3320885 ]

qacc:
[-3.97701232e+00,-1.38215378e+00, 6.60007899e+00,-1.30962124e+01,
  4.64556612e+00, 4.52660021e-02,-1.04016778e+00,-2.70831623e+00,
 -5.15637192e+00, 1.76133492e+00,-7.22720365e+00, 1.45991187e+01,
  3.30740560e+00, 6.66221825e-01, 1.06667252e+01,-2.15914518e+01,
 -1.49451789e-02,-7.20406403e-02, 1.70913882e-02, 1.64946818e+00,
 -8.59852097e-02, 3.19666086e+00]

qfrc_actuator:
[ 1.02357645e-05, 2.54341145e-04, 1.14849342e-04, 3.17541267e-05,
 -2.18006793e-03, 2.74822165e-02, 1.01805325e-02, 1.09681289e-03,
 -3.65347750e-05, 7.35302970e-05,-1.09879304e-04, 7.88866999e-05,
  5.00718083e-02, 1.99007085e-02, 2.61572102e-03,-2.19123927e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71285756, -0.54134282, -0.46380368, -0.54134282,  3.62337119,
       -3.39709607, -0.46380368, -3.39709607,  4.6778834 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7615335497167857e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99123475e-01,  5.70073289e-03, -4.14702734e-02,  5.69582861e-03,
        9.99983751e-01,  2.36414793e-04,  4.14709473e-02, -2.71050543e-20,
       -9.99139710e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13167753, -0.08280204,  0.17471898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037945437415876743
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85510556e-01, -1.69585480e-01,  3.11589181e-03, -1.69584632e-01,
        9.85515482e-01,  5.36176262e-04, -3.16168733e-03,  1.08420217e-19,
       -9.99995002e-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([ 0.13121222, -0.08203598,  0.13158639])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28575977,   6.59110945,   3.10476595,   6.59110945,
        14.91050694, -16.18658019,   3.10476595, -16.18658019,
        41.64826027,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.7255451309517688e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78709436e-01,  1.09342623e-01, -1.73700984e-01,  1.07660174e-01,
        9.94004120e-01,  1.91074873e-02,  1.74748756e-01, -3.46944695e-18,
       -9.84613057e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329746, -0.05385514,  0.29658689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005026135861672066
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38477390e-01, -9.17822039e-01, -3.17381851e-01, -7.98150050e-02,
       -3.07182038e-01,  9.48297823e-01, -9.67862645e-01,  2.51479424e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481189, -0.03587474,  0.30489593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004350553114212258
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27595618e-13,  2.79115414e-14,  1.00000000e+00,  3.56139037e-27,
        1.00000000e+00, -2.79115414e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27595618e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05352635, -0.06068499,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33613374e-05, 2.10757239e-05, 2.13223149e-05,-1.57832754e-05,
 -1.97989214e-03, 2.90911756e-02, 1.07161210e-02, 1.09318728e-03,
 -3.00896066e-05, 5.98666487e-05, 1.03081100e-05, 2.53720479e-05,
  5.38765290e-02, 2.16500475e-02, 1.51402862e-02, 8.59366419e-05,
 -3.68501969e-07,-1.37937339e-09,-9.80999990e+00,-6.49719690e-02,
 -9.54266952e-03,-5.19439014e-03]


--- Step 2042 ---
qpos:
[ 0.00987651, 0.00812296,-0.00559522, 0.0335019 , 0.00569931,-0.02452208,
 -0.01698958, 0.03803178, 0.01299588, 0.0059329 ,-0.01170759, 0.0341035 ,
  0.81028987,-0.01572599, 1.13330224, 0.04615865, 0.09504024,-0.06326308,
  0.14259845, 0.94228402,-0.03261961, 0.02739201, 0.33209405]

qacc:
[ 5.92713570e-01, 9.69459607e-01,-3.79086776e+00, 6.67534118e+00,
  4.52256968e+00, 1.57737658e-01,-1.03941722e+00,-2.60487986e+00,
 -1.44758953e-01, 2.20868193e+00,-6.99880902e+00, 1.05243104e+01,
  2.99277232e+00, 7.59111084e-01, 1.00933155e+01,-2.30431127e+01,
 -1.43214588e-02,-5.88993051e-02, 1.38038496e-02, 1.32454562e+00,
 -1.35530525e-01, 2.59670882e+00]

qfrc_actuator:
[ 1.44214177e-05, 2.58831837e-04, 1.05344565e-04, 3.94010553e-05,
 -2.18440089e-03, 2.74718245e-02, 1.01703636e-02, 1.10293903e-03,
 -3.63769246e-05, 1.56721310e-04,-1.04973466e-04, 9.30889383e-05,
  5.00673756e-02, 1.98656826e-02, 2.61629319e-03,-2.23815514e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7128622 , -0.51579645, -0.49206356, -0.51579645,  3.93386506,
       -3.37635617, -0.49206356, -3.37635617,  4.25206459,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.772114174696267e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99122918e-01,  5.69728180e-03, -4.14841640e-02,  5.69237720e-03,
        9.99983770e-01,  2.36350808e-04,  4.14848373e-02,  0.00000000e+00,
       -9.99139134e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13167824, -0.08280099,  0.17471935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037941252708417587
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85510755e-01, -1.69584434e-01,  3.11005415e-03, -1.69583589e-01,
        9.85515662e-01,  5.35168330e-04, -3.15576329e-03,  0.00000000e+00,
       -9.99995021e-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([ 0.1312135 , -0.08203597,  0.13158636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28575531,   6.569353  ,   3.15052878,   6.569353  ,
        13.49160265, -12.94017754,   3.15052878, -12.94017754,
        34.2680811 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.7239485752946942e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78708557e-01,  1.09341491e-01, -1.73706647e-01,  1.07658950e-01,
        9.94004245e-01,  1.91079101e-02,  1.74754432e-01,  3.46944695e-18,
       -9.84612050e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329751, -0.05385479,  0.29658692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005024075851458656
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38866964e-01, -9.17764380e-01, -3.17255600e-01, -7.99100286e-02,
       -3.07026877e-01,  9.48340068e-01, -9.67758731e-01,  2.51879017e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481169, -0.03587402,  0.30489666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043505085391805365
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.82790775e-13,  2.79118274e-14,  1.00000000e+00,  1.06843900e-26,
        1.00000000e+00, -2.79118274e-14, -1.00000000e+00,  0.00000000e+00,
       -3.82790775e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0535278 , -0.06068379,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52733713e-06, 1.99981344e-05,-3.07987594e-06, 8.98024150e-06,
 -2.01185931e-03, 2.91420327e-02, 1.07486455e-02, 1.11673330e-03,
 -6.78945289e-07, 1.19883269e-04, 1.94291611e-05, 1.76191449e-05,
  5.34712628e-02, 2.14298554e-02, 1.47703517e-02, 3.58070722e-05,
 -3.66658309e-08, 6.43659446e-09,-9.80999991e+00,-6.49721522e-02,
 -9.54299872e-03,-5.19400666e-03]


--- Step 2043 ---
qpos:
[ 0.00987688, 0.00812281,-0.00559411, 0.03350188, 0.0056969 ,-0.02453557,
 -0.01699302, 0.03803181, 0.0129959 , 0.00593435,-0.01170872, 0.03410465,
  0.81029618,-0.01572029, 1.13326849, 0.04615411, 0.09504109,-0.06326248,
  0.1425988 , 0.94228093,-0.03261434, 0.02738995, 0.3321035 ]

qacc:
[ 3.46172230e+00, 6.24249504e-01,-2.40878923e+00, 4.15887274e+00,
  4.21648651e+00, 2.17359684e-01,-8.76792920e-01,-2.75085521e+00,
  6.12162986e+00, 5.26412337e-01,-2.64919905e-01,-2.47856775e+00,
  2.70263451e+00, 7.68879449e-01, 9.59617563e+00,-2.27932593e+01,
 -1.36782822e-02,-4.84161140e-02, 1.06933804e-02, 1.05860562e+00,
 -1.60368034e-01, 2.09157835e+00]

qfrc_actuator:
[ 3.46529504e-05, 2.61528148e-04, 9.92482211e-05, 4.39375395e-05,
 -2.18615857e-03, 2.74712711e-02, 1.01658305e-02, 1.07117101e-03,
 -4.95910605e-07, 1.52440267e-04,-1.19242708e-04, 8.32041463e-05,
  5.00643328e-02, 1.98415796e-02, 2.62837307e-03,-2.28220834e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71287545, -0.52253354, -0.48492278, -0.52253354,  3.77068982,
       -3.2949794 , -0.48492278, -3.2949794 ,  4.26341448,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8020915598790822e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99122288e-01,  5.69436807e-03, -4.14997423e-02,  5.68946229e-03,
        9.99983787e-01,  2.36318638e-04,  4.15004151e-02,  0.00000000e+00,
       -9.99138487e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13167906, -0.08279987,  0.17471944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037935941240613036
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85509363e-01, -1.69592573e-01,  3.10724428e-03, -1.69591730e-01,
        9.85514261e-01,  5.34711240e-04, -3.15291660e-03,  0.00000000e+00,
       -9.99995030e-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([ 0.13121493, -0.08203607,  0.13158637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28589857,   6.55203609,   3.1867132 ,   6.55203609,
        12.77223081, -11.28016376,   3.1867132 , -11.28016376,
        30.47845949,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.7745196735972044e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78709415e-01,  1.09331417e-01, -1.73708155e-01,  1.07649005e-01,
        9.94005353e-01,  1.91062942e-02,  1.74755754e-01, -3.46944695e-18,
       -9.84611815e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329769, -0.0538548 ,  0.29658703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005019883115614151
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39974201e-01, -9.17619605e-01, -3.16838513e-01, -8.01631128e-02,
       -3.06529801e-01,  9.48479497e-01, -9.67463828e-01,  2.53009371e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481146, -0.03587402,  0.30489775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043482413038439804
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55326912e-13, -6.78212110e-14,  1.00000000e+00, -1.73165804e-26,
        1.00000000e+00,  6.78212110e-14, -1.00000000e+00,  0.00000000e+00,
       -2.55326912e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05352877, -0.06068286,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03384344e-05, 1.36255993e-05,-2.04470670e-06, 5.45970490e-06,
 -2.04052842e-03, 2.91892844e-02, 1.07814450e-02, 1.10101684e-03,
  3.59040219e-05, 6.75013797e-05, 1.34953162e-05,-3.73479537e-06,
  5.30982483e-02, 2.12299769e-02, 1.44929615e-02, 1.84854827e-05,
 -2.89479615e-07, 2.41518567e-07,-9.80999976e+00,-6.49719758e-02,
 -9.54345601e-03,-5.19353203e-03]


--- Step 2044 ---
qpos:
[ 0.00987749, 0.0081226 ,-0.00559299, 0.03350159, 0.00569511,-0.02454951,
 -0.01699694, 0.03803158, 0.01299634, 0.00593588,-0.01170949, 0.03410536,
  0.81030878,-0.01571121, 1.13324709, 0.04615289, 0.09504187,-0.06326201,
  0.14259919, 0.94227668,-0.03260726, 0.02738811, 0.33211641]

qacc:
[ 2.10519459e+00,-7.14031166e-01, 3.58738806e+00,-8.33720927e+00,
  5.23013242e+00, 2.00774859e-01,-5.15049068e-01,-2.80072035e+00,
  3.79491127e+00,-1.85768957e+00, 8.63129509e+00,-1.69131732e+01,
  2.17279146e+00, 1.39319570e+00, 8.19592294e+00,-2.27233764e+00,
 -1.70878185e-02,-3.50332732e-02, 1.02083897e-02, 8.19066998e-01,
 -2.42215313e-01, 1.85189301e+00]

qfrc_actuator:
[ 4.64053333e-05, 2.45380233e-04, 9.52071438e-05, 2.88549648e-05,
 -2.18655009e-03, 2.74945098e-02, 1.01648670e-02, 1.03452587e-03,
  2.06081322e-05, 1.31215880e-04,-1.09572186e-04, 5.91451390e-05,
  5.00619142e-02, 1.98406350e-02, 2.65253777e-03,-2.02236064e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71289539, -0.54415008, -0.46056545, -0.54415008,  3.54123051,
       -3.34162878, -0.46056545, -3.34162878,  4.66097172,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8466382517201048e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99121599e-01,  5.69195554e-03, -4.15166570e-02,  5.68704784e-03,
        9.99983801e-01,  2.36314794e-04,  4.15173296e-02,  5.42101086e-20,
       -9.99137784e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13167996, -0.08279871,  0.17471933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037929436126092164
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85506687e-01, -1.69608131e-01,  3.10672795e-03, -1.69607288e-01,
        9.85511584e-01,  5.34672884e-04, -3.15240125e-03,  1.08420217e-19,
       -9.99995031e-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([ 0.13121648, -0.08203625,  0.13158641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28616225,  6.51822821,  3.25589639,  6.51822821, 11.09527158,
       -7.62574754,  3.25589639, -7.62574754, 22.55272996,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8640089726099673e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97871164,  0.10931415, -0.17370648,  0.10763204,  0.99400725,
        0.01910306,  0.17475374,  0.        , -0.98461217])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329797, -0.05385513,  0.29658721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005014259958964517
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24162228, -0.91740737, -0.31619993, -0.08053288, -0.30577254,
        0.94869258, -0.96702282,  0.25468975,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481117, -0.03587461,  0.30489908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043442731448842253
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.1841923e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.1841923e-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([ 0.05352937, -0.06068214,  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:
[ 1.23358261e-05,-8.71818663e-06,-1.30171486e-06,-1.44661853e-05,
 -2.06601788e-03, 2.92482481e-02, 1.08123686e-02, 1.07935632e-03,
  2.21513991e-05, 1.91212184e-05, 2.51390485e-05,-2.07768495e-05,
  5.27574513e-02, 2.10660927e-02, 1.42627525e-02, 3.13853631e-04,
 -8.32661852e-07, 5.89630543e-07,-9.80999952e+00,-6.49715143e-02,
 -9.54399284e-03,-5.19297181e-03]


--- Step 2045 ---
qpos:
[ 0.00987893, 0.00812244,-0.00559196, 0.03350112, 0.00569396,-0.02456375,
 -0.01700127, 0.03803112, 0.01299669, 0.00593784,-0.0117108 , 0.0341058 ,
  0.81032712,-0.01569888, 1.13323393, 0.04615329, 0.09504258,-0.06326166,
  0.14259961, 0.94227147,-0.0325987 , 0.02738631, 0.3321322 ]

qacc:
[ 7.24448911,-0.05296378, 1.0396304 ,-4.08014012, 5.3256508 , 0.24665529,
 -0.48751228,-2.71319249,-0.86272339, 1.55649936,-3.55686046,-0.62530006,
  1.90808824, 1.49746979, 7.19124096,-7.56728092,-0.01655678,-0.02839513,
  0.00784064, 0.65321772,-0.2557381 , 1.53627527]

qfrc_actuator:
[ 8.85728073e-05, 2.53564463e-04, 9.23184701e-05, 2.00869902e-05,
 -2.16869048e-03, 2.75142980e-02, 1.01838938e-02, 1.04828874e-03,
  1.50813794e-05, 1.53326385e-04,-1.39195710e-04, 4.46912069e-05,
  5.00596705e-02, 1.98876753e-02, 2.66181443e-03,-1.99221489e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71292036, -0.5369922 , -0.46892943, -0.5369922 ,  3.74787287,
       -3.47546075, -0.46892943, -3.47546075,  4.69282691,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9014286812336194e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99120867e-01,  5.69016461e-03, -4.15344966e-02,  5.68525424e-03,
        9.99983811e-01,  2.36341949e-04,  4.15351690e-02,  2.71050543e-20,
       -9.99137043e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1316809 , -0.08279748,  0.17471907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037923332526142427
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85502885e-01, -1.69630211e-01,  3.10741177e-03, -1.69629367e-01,
        9.85507784e-01,  5.34862252e-04, -3.15310728e-03,  0.00000000e+00,
       -9.99995029e-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([ 0.13121811, -0.08203652,  0.13158646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28651233,  6.49588145,  3.30102804,  6.49588145, 10.72525177,
       -6.76687489,  3.30102804, -6.76687489, 20.6026116 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9765632794804567e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97871498,  0.10929043, -0.1737026 ,  0.10760878,  0.99400986,
        0.01909843,  0.17474937,  0.        , -0.98461295])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329828, -0.05385577,  0.29658741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005008482473411068
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24334708, -0.9171861 , -0.31551839, -0.08091359, -0.30496696,
        0.94891946, -0.96655843,  0.2564465 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481088, -0.0358758 ,  0.30490053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043390253070954565
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55869221e-13, -3.59816092e-14,  1.00000000e+00, -9.20658631e-27,
        1.00000000e+00,  3.59816092e-14, -1.00000000e+00,  0.00000000e+00,
       -2.55869221e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05352968, -0.0606816 ,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.25161293e-05, 2.41770184e-06,-5.36154282e-06,-9.47017202e-06,
 -2.07927663e-03, 2.92910515e-02, 1.08554209e-02, 1.10594807e-03,
 -4.88639125e-06, 3.70667283e-05,-2.33072698e-05,-1.31732296e-05,
  5.24412184e-02, 2.09444990e-02, 1.36550898e-02, 1.78708107e-04,
 -1.55044719e-06, 1.02830072e-06,-9.80999922e+00,-6.49708402e-02,
 -9.54460046e-03,-5.19231781e-03]


--- Step 2046 ---
qpos:
[ 0.00988052, 0.00812239,-0.00559132, 0.0335009 , 0.00569341,-0.02457813,
 -0.01700594, 0.03803043, 0.01299663, 0.0059394 ,-0.01171184, 0.0341061 ,
  0.81035073,-0.01568344, 1.13322735, 0.0461548 , 0.09504323,-0.0632614 ,
  0.14260006, 0.94226547,-0.03258893, 0.02738446, 0.33215031]

qacc:
[ 1.29661906e+00, 1.75276866e+00,-7.11098880e+00, 1.20678695e+01,
  5.10989285e+00, 3.20308768e-01,-4.98833257e-01,-2.58569720e+00,
 -3.61738920e+00,-1.54887462e+00, 5.30527680e+00,-7.65096981e+00,
  1.67464042e+00, 1.55647698e+00, 6.40060793e+00,-8.30398310e+00,
 -1.64274909e-02,-2.40603691e-02, 5.77491989e-03, 5.14260211e-01,
 -2.57783298e-01, 1.23923270e+00]

qfrc_actuator:
[ 9.50492149e-05, 2.58508564e-04, 7.24799571e-05, 3.28792654e-05,
 -2.15789334e-03, 2.75498076e-02, 1.01972891e-02, 1.07462765e-03,
 -6.07042945e-06, 9.45370655e-05,-1.38359262e-04, 3.60095727e-05,
  5.00626794e-02, 1.99267648e-02, 2.67273567e-03,-1.95751737e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7129492 , -0.46937887, -0.53663771, -0.46937887,  4.16937834,
       -3.02322177, -0.53663771, -3.02322177,  3.35725911,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.963456041862003e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99120102e-01,  5.68900688e-03, -4.15530568e-02,  5.68409312e-03,
        9.99983817e-01,  2.36399451e-04,  4.15537292e-02,  0.00000000e+00,
       -9.99136271e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13168188, -0.08279622,  0.17471871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003791751522215299
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85498147e-01, -1.69657706e-01,  3.10885708e-03, -1.69656862e-01,
        9.85503051e-01,  5.35200334e-04, -3.15458899e-03,  0.00000000e+00,
       -9.99995024e-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([ 0.1312198 , -0.08203686,  0.13158653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28693345,  6.47928505,  3.33440615,  6.47928505, 10.40887763,
       -6.06643743,  3.33440615, -6.06643743, 19.07499272,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1039823195509137e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9787192 ,  0.10926137, -0.1736971 ,  0.10758028,  0.99401305,
        0.01909269,  0.17474328,  0.        , -0.98461403])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329861, -0.05385667,  0.29658762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005002598814675532
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.45134651e-01, -9.16956328e-01, -3.14801676e-01, -8.13024196e-02,
       -3.04121705e-01,  9.49157471e-01, -9.66073972e-01,  2.58265523e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481055, -0.0358775 ,  0.30490207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004332837942391671
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28117303e-13, -4.00366572e-15,  1.00000000e+00, -5.12938855e-28,
        1.00000000e+00,  4.00366572e-15, -1.00000000e+00,  0.00000000e+00,
       -1.28117303e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05352976, -0.06068118,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.68876035e-06, 4.78792363e-06,-2.03393873e-05, 1.25231311e-05,
 -2.10017586e-03, 2.93425649e-02, 1.08896667e-02, 1.14419501e-03,
 -2.12713230e-05,-4.34975300e-05, 5.15846411e-06,-8.15811977e-06,
  5.21569504e-02, 2.08204730e-02, 1.32546158e-02, 1.31817821e-04,
 -2.31403391e-06, 1.49208315e-06,-9.80999891e+00,-6.49699925e-02,
 -9.54526408e-03,-5.19157371e-03]


--- Step 2047 ---
qpos:
[ 0.00988149, 0.0081223 ,-0.00559118, 0.03350156, 0.00569343,-0.02459243,
 -0.01701074, 0.03802959, 0.01299666, 0.00594072,-0.01171261, 0.03410629,
  0.81037747,-0.01566601, 1.13322456, 0.04615633, 0.09504382,-0.0632612 ,
  0.14260052, 0.94225898,-0.03257852, 0.0273827 , 0.3321699 ]

qacc:
[-5.49039756e+00, 3.15683128e+00,-1.50255062e+01, 3.09928392e+01,
  4.74359350e+00, 1.35972310e-01, 3.29593631e-01,-2.92693789e+00,
  8.20764709e-01,-1.35568359e+00, 4.89221096e+00,-7.32465607e+00,
  8.64304359e-01, 1.18829592e+00, 5.48640372e+00,-1.10846011e+01,
 -1.40331202e-02,-1.41130362e-02, 5.55393046e-03, 2.90178091e-01,
 -7.74580184e-02, 7.86279800e-01]

qfrc_actuator:
[ 6.27046362e-05, 2.43671274e-04, 4.27982114e-05, 7.59943305e-05,
 -2.13380894e-03, 2.75591915e-02, 1.01896450e-02, 1.05532816e-03,
 -7.36118444e-07, 9.43819177e-05,-1.19854269e-04, 3.07532220e-05,
  5.00580244e-02, 1.99244201e-02, 2.65786599e-03,-1.99121506e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71298092, -0.59980902, -0.385449  , -0.59980902,  2.0949885 ,
       -2.15058443, -0.385449  , -2.15058443,  4.05957139,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0302198959999587e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99119314e-01,  5.68845677e-03, -4.15720881e-02,  5.68353898e-03,
        9.99983821e-01,  2.36484852e-04,  4.15727607e-02,  5.42101086e-20,
       -9.99135479e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13168288, -0.08279492,  0.17471826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037912015192995206
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85492652e-01, -1.69689590e-01,  3.11069761e-03, -1.69688744e-01,
        9.85497561e-01,  5.35620808e-04, -3.15647418e-03,  0.00000000e+00,
       -9.99995018e-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([ 0.13122154, -0.08203725,  0.1315866 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2874109 ,  6.49951545,  3.29585446,  6.49951545, 10.60315665,
       -6.53874162,  3.29585446, -6.53874162, 20.18198885,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2396807171936705e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9787241 ,  0.10922799, -0.17369049,  0.10754755,  0.99401672,
        0.01908606,  0.17473598,  0.        , -0.98461532])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329893, -0.05385781,  0.29658783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004996773365752558
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24693371, -0.9167241 , -0.31407112, -0.08168821, -0.30326177,
        0.94939946, -0.96558313,  0.26009464,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481015, -0.03587963,  0.30490366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043259464429565536
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.18239925e-07,  4.18239838e-07,  1.00000000e+00,  1.74924599e-13,
        1.00000000e+00, -4.18239838e-07, -1.00000000e+00,  0.00000000e+00,
       -4.18239925e-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([ 0.05394939, -0.06126411,  0.06199029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.21240199e-05,-1.58323402e-05,-3.07729822e-05, 4.28587650e-05,
 -2.10650457e-03, 2.93591167e-02, 1.08992369e-02, 1.13575340e-03,
  4.71858448e-06,-2.38159643e-05, 9.86722716e-06,-7.10164881e-06,
  5.18889403e-02, 2.06621985e-02, 1.29102454e-02, 4.33637678e-05,
 -3.04211802e-06, 1.94007066e-06,-9.80999860e+00,-6.49690066e-02,
 -9.54597281e-03,-5.19074464e-03]


--- Step 2048 ---
qpos:
[ 0.00988206, 0.00812199,-0.00559107, 0.03350306, 0.00568873,-0.0246004 ,
 -0.01701049, 0.03803148, 0.01299675, 0.00594205,-0.01171381, 0.03410642,
  0.81033284,-0.01568233, 1.13318019, 0.04616723, 0.09504519,-0.06325835,
  0.14260043, 0.94226864,-0.03259563, 0.02737182, 0.33214171]

qacc:
[-3.46305585e+00, 1.55821776e+00,-9.51227855e+00, 2.43253995e+01,
 -3.96123939e+01,-5.54280431e-02, 9.20403657e-01, 3.35016918e+01,
  5.43967524e-01, 1.15331866e+00,-3.88575650e+00, 3.75336736e+00,
 -2.93122815e+01,-6.62394849e+00,-8.88397484e+01, 2.23468309e+02,
  1.93267435e-01, 6.61145683e-01,-1.40218436e-01,-1.35628024e+01,
  8.32246619e-01,-2.57102181e+01]

qfrc_actuator:
[ 4.32863958e-05, 2.34836003e-04, 4.29886462e-05, 1.18828448e-04,
 -2.11970428e-03, 2.75349868e-02, 1.01870572e-02, 1.00867561e-03,
  2.39755537e-06, 9.39080940e-05,-1.44116916e-04, 2.76019458e-05,
  5.00487742e-02, 1.99148509e-02, 2.62753704e-03,-1.99431543e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71301492, -0.5259083 ,  0.48146727, -0.5259083 ,  0.44167794,
       -0.29638229,  0.48146727, -0.29638229,  0.38927556,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.100163911018574e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99118519e-01,  5.68847057e-03, -4.15911691e-02,  5.68354825e-03,
        9.99983821e-01,  2.36593970e-04,  4.15918421e-02,  2.71050543e-20,
       -9.99134685e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13168389, -0.0827936 ,  0.17471777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2482296 ,  0.22619766,  0.10223773,  0.22619766,  0.46242282,
       -0.47389552,  0.10223773, -0.47389552,  1.29670804,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003790713603292268
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85486677e-01, -1.69724242e-01,  3.11294688e-03, -1.69723395e-01,
        9.85491594e-01,  5.36120807e-04, -3.15877568e-03, -1.08420217e-19,
       -9.99995011e-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([ 0.13122329, -0.08203767,  0.13158668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28794092,  7.05193475,  1.83964644,  7.05193475,  7.59949491,
       -1.194283  ,  1.83964644, -1.194283  , 11.86599766,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3812622069938745e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78729458e-01,  1.09191821e-01, -1.73683027e-01,  1.07512099e-01,
        9.94020697e-01,  1.90788442e-02,  1.74727777e-01,  3.46944695e-18,
       -9.84616780e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329926, -0.05385909,  0.29658804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36440699,  1.30252476, -0.40624584,  1.30252476,  1.81356872,
        1.44012376, -0.40624584,  1.44012376,  5.98180041,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004991397252116801
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24875986, -0.91648616, -0.31332354, -0.08207509, -0.30238274,
        0.94964644, -0.96508145,  0.26194998,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480968, -0.03588198,  0.3049052 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.27582205, -6.48385482,  7.97195995, -6.48385482, 59.70775426,
       40.20460139,  7.97195995, 40.20460139, 42.97553458,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004326855936417826
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02372038e-06, -1.02372027e-06,  1.00000000e+00, -1.04800330e-12,
        1.00000000e+00,  1.02372027e-06, -1.00000000e+00,  0.00000000e+00,
       -1.02372038e-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([ 0.08744571, -0.10780526,  0.06199029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03395486e-05,-2.22228128e-05,-5.38892675e-06, 4.19246823e-05,
 -2.12062097e-03, 2.93314225e-02, 1.09034294e-02, 1.09713210e-03,
  3.26281478e-06,-1.20954480e-05,-2.82194993e-05,-3.97052867e-06,
  5.17234443e-02, 2.05531018e-02, 1.26906702e-02, 3.85948670e-05,
 -3.53947536e-06, 2.22967654e-06,-9.80999842e+00,-6.49679094e-02,
 -9.54665161e-03,-5.18988309e-03]


--- Step 2049 ---
qpos:
[ 0.00988239, 0.00812133,-0.00559057, 0.03350436, 0.00568439,-0.02460979,
 -0.01701109, 0.03803301, 0.01299688, 0.00594219,-0.01171394, 0.03410657,
  0.81029871,-0.01569371, 1.13313088, 0.04617221, 0.09504642,-0.06325612,
  0.14260046, 0.94227491,-0.03260678, 0.02736363, 0.33212351]

qacc:
[-2.06463816e+00,-1.98407882e+00, 7.25043784e+00,-1.11005278e+01,
  2.98971007e+00,-2.39407286e-01,-3.20632002e-01,-3.58653374e+00,
  3.86589850e-01,-4.58174254e+00, 1.39965457e+01,-1.46452647e+01,
  4.53001735e+00, 6.66797760e-01, 1.04069706e+01,-4.73344199e+01,
 -3.18162977e-02,-1.52385722e-01, 3.04568785e-02, 3.06256294e+00,
  1.61444074e-01, 5.38638808e+00]

qfrc_actuator:
[ 3.16445413e-05, 2.12029379e-04, 6.08317530e-05, 1.07916367e-04,
 -2.12428733e-03, 2.75198590e-02, 1.02001268e-02, 1.01379333e-03,
  4.20250161e-06,-1.34328562e-05,-1.04669026e-04, 2.56862744e-05,
  5.00593364e-02, 1.99181325e-02, 2.62915963e-03,-1.93513620e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71295338, -0.54670184, -0.45762388, -0.54670184,  2.60287815,
       -2.25780473, -0.45762388, -2.25780473,  3.41024709,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9723413672758855e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99118225e-01,  5.68377708e-03, -4.15988857e-02,  5.67885700e-03,
        9.99983847e-01,  2.36442613e-04,  4.15995577e-02, -2.71050543e-20,
       -9.99134364e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13168403, -0.08279263,  0.17472007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24821447, -0.02844145,  0.24657961, -0.02844145,  0.68561838,
        0.05045187,  0.24657961,  0.05045187,  0.25403378,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003790083832251857
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85496535e-01, -1.69667511e-01,  3.08473373e-03, -1.69666680e-01,
        9.85501363e-01,  5.31079015e-04, -3.13011615e-03,  1.08420217e-19,
       -9.99995101e-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([ 0.13122393, -0.08203699,  0.13158636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28653296,  1.86970374,  7.04256846,  1.86970374, 31.37834836,
       -6.39604111,  7.04256846, -6.39604111,  8.9845927 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9829966943479705e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97871719,  0.10924396, -0.17371936,  0.10756271,  0.99401497,
        0.01909206,  0.17476534,  0.        , -0.98461011])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329814, -0.05385685,  0.29658733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36844858, -0.8235255 ,  1.09291229, -0.8235255 ,  3.83330907,
        1.85730868,  1.09291229,  1.85730868,  2.76795803,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005011934328426399
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.42607170e-01, -9.17280051e-01, -3.15814928e-01, -8.07517764e-02,
       -3.05316589e-01,  9.48820811e-01, -9.66757939e-01,  2.55693348e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480944, -0.03587723,  0.30490234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.28489452, -5.90880978,  8.41813651, -5.90880978, 18.08676016,
        5.47624048,  8.41813651,  5.47624048, 14.12874563,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004334461505395709
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.56138628e-13, -1.00054152e-13,  1.00000000e+00, -2.56277332e-26,
        1.00000000e+00,  1.00054152e-13, -1.00000000e+00,  0.00000000e+00,
       -2.56138628e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05353435, -0.06067746,  0.06199027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22300875e-05,-3.45529127e-05, 1.40386868e-05,-1.12370279e-05,
 -1.88949745e-03, 2.90003780e-02, 1.06640688e-02, 9.65634201e-04,
  1.89778548e-06,-1.20136951e-04, 3.33344690e-05,-3.48833652e-06,
  5.53026158e-02, 2.22440863e-02, 1.47720336e-02,-3.69921889e-04,
 -8.86995088e-06, 2.66243780e-06,-9.80999760e+00,-6.49697145e-02,
 -9.54857890e-03,-5.18976881e-03]


--- Step 2050 ---
qpos:
[ 0.00988292, 0.00812028,-0.00558976, 0.03350484, 0.00568047,-0.02462053,
 -0.01701246, 0.03803419, 0.01299738, 0.00594147,-0.01171387, 0.03410636,
  0.810274  ,-0.01570081, 1.13308059, 0.04617305, 0.09504757,-0.06325436,
  0.14260059, 0.94227839,-0.03261308, 0.02735756, 0.33211353]

qacc:
[ 1.79484614e+00,-3.07742384e+00, 1.36481278e+01,-2.79961294e+01,
  3.51083096e+00,-3.64547456e-01, 1.28109463e-01,-3.80281045e+00,
  3.23479094e+00,-2.36814410e+00, 8.26989450e+00,-1.39719848e+01,
  4.09850626e+00, 4.43413223e-01, 1.09709396e+01,-4.07718497e+01,
 -2.23859712e-02,-1.18734890e-01, 2.47432607e-02, 2.48013011e+00,
  9.58846005e-02, 4.44357189e+00]

qfrc_actuator:
[ 4.24215306e-05, 1.81067177e-04, 7.10980913e-05, 6.54640039e-05,
 -2.14326715e-03, 2.75331355e-02, 1.02442262e-02, 1.03422526e-03,
  2.29631796e-05,-5.94238092e-05,-9.93539331e-05, 6.71906141e-06,
  5.00823125e-02, 1.99394409e-02, 2.60554634e-03,-2.09335850e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71291672, -0.50929963, -0.49886284, -0.50929963,  2.58273009,
       -1.90893203, -0.49886284, -1.90893203,  2.66178582,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.893517472174304e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99117834e-01,  5.67943843e-03, -4.16088639e-02,  5.67451975e-03,
        9.99983872e-01,  2.36318792e-04,  4.16095350e-02,  0.00000000e+00,
       -9.99133948e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13168438, -0.0827916 ,  0.1747217 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003789554926890007
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85503063e-01, -1.69629955e-01,  3.06437948e-03, -1.69629135e-01,
        9.85507828e-01,  5.27454515e-04, -3.10944205e-03,  1.08420217e-19,
       -9.99995166e-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([ 0.13122481, -0.08203654,  0.13158615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28575597e+00,  7.28570574e+00, -2.70537842e-02,  7.28570574e+00,
        7.28609836e+00,  9.22082821e-02, -2.70537842e-02,  9.22082821e-02,
        3.21178609e+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: -1.724183908393526e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97870888,  0.1092777 , -0.17374497,  0.10759541,  0.99401126,
        0.01910084,  0.17479176,  0.        , -0.98460542])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329745, -0.05385516,  0.29658689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005023583753317901
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.23884884, -0.9177389 , -0.31734293, -0.07992842, -0.30711233,
        0.94831085, -0.96776169,  0.25186767,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480927, -0.03587381,  0.30490093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043447532142842915
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27765948e-13, -6.78756598e-14,  1.00000000e+00, -8.67219800e-27,
        1.00000000e+00,  6.78756598e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27765948e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05353807, -0.06067496,  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:
[ 1.04176875e-05,-4.78564123e-05, 4.46826219e-06,-4.36680972e-05,
 -1.92626119e-03, 2.90845510e-02, 1.07509115e-02, 1.00434106e-03,
  1.87718332e-05,-1.06438725e-04,-1.55157569e-05,-2.30304645e-05,
  5.48002791e-02, 2.20185001e-02, 1.49965222e-02,-2.32620688e-04,
 -3.81769782e-06, 9.87247365e-07,-9.80999899e+00,-6.49715396e-02,
 -9.54804285e-03,-5.18961773e-03]


--- Step 2051 ---
qpos:
[ 0.00988358, 0.00811884,-0.00558884, 0.03350516, 0.005677  ,-0.02463254,
 -0.01701449, 0.03803506, 0.01299844, 0.00594028,-0.01171474, 0.03410596,
  0.81025775,-0.01570422, 1.13303158, 0.04617076, 0.09504865,-0.06325297,
  0.14260079, 0.94227955,-0.03261542, 0.02735315, 0.33211035]

qacc:
[ 1.10591416e+00,-1.10790237e+00, 3.89493646e+00,-6.49559191e+00,
  3.85081420e+00,-4.81857125e-01, 6.31209839e-01,-4.16111422e+00,
  4.95494042e+00, 1.55175644e+00,-5.62758308e+00, 4.06998688e+00,
  3.72154228e+00, 2.53243336e-01, 1.12029903e+01,-3.67280380e+01,
 -1.60116030e-02,-9.26602166e-02, 1.95906980e-02, 2.00678779e+00,
  4.23985672e-02, 3.66456959e+00]

qfrc_actuator:
[ 4.85520420e-05, 1.63155524e-04, 7.67500989e-05, 5.80435135e-05,
 -2.15333642e-03, 2.75462118e-02, 1.02716916e-02, 1.02846275e-03,
  5.15544638e-05,-8.62190583e-05,-1.49557381e-04,-4.36988240e-06,
  5.00858274e-02, 1.99525067e-02, 2.61987057e-03,-2.22164048e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71289911, -0.4742585 , -0.53226311, -0.4742585 ,  2.47905191,
       -1.57368218, -0.53226311, -1.57368218,  2.11508562,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8548764600336826e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99117352e-01,  5.67551634e-03, -4.16209618e-02,  5.67059819e-03,
        9.99983894e-01,  2.36224253e-04,  4.16216321e-02,  0.00000000e+00,
       -9.99133444e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13168491, -0.0827905 ,  0.17472278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037891139655888697
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85506857e-01, -1.69608168e-01,  3.05028032e-03, -1.69607356e-01,
        9.85511577e-01,  5.24958277e-04, -3.09512379e-03,  1.08420217e-19,
       -9.99995210e-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([ 0.13122589, -0.08203628,  0.13158602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28536577,  7.28273015,  0.19594884,  7.28273015,  7.30630405,
       -0.77820239,  0.19594884, -0.77820239, 36.20841539,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5782597237164965e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78703792e-01,  1.09296216e-01, -1.73761976e-01,  1.07613308e-01,
        9.94009224e-01,  1.91059861e-02,  1.74809219e-01, -3.46944695e-18,
       -9.84602324e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132971 , -0.05385396,  0.29658666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005028779335428518
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.23694294, -0.91795969, -0.31813211, -0.07950999, -0.30803604,
        0.94804639, -0.96826453,  0.24992758,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480913, -0.03587146,  0.30490054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004350553541132979
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27595605e-13, -1.31582968e-13,  1.00000000e+00, -1.67894084e-26,
        1.00000000e+00,  1.31582968e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27595605e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354084, -0.06067299,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.41469797e-06,-4.55918104e-05,-5.19310232e-06,-1.01675637e-05,
 -1.95720156e-03, 2.91658580e-02, 1.08167617e-02, 1.01567272e-03,
  2.90870551e-05,-9.04742505e-05,-7.48894795e-05,-1.66340242e-05,
  5.43328410e-02, 2.18181019e-02, 1.50607481e-02,-1.53109103e-04,
 -1.25139066e-06, 2.03877829e-07,-9.80999966e+00,-6.49726573e-02,
 -9.54796470e-03,-5.18937776e-03]


--- Step 2052 ---
qpos:
[ 0.00988397, 0.00811725,-0.005588  , 0.03350607, 0.00567408,-0.0246456 ,
 -0.01701712, 0.03803562, 0.01299984, 0.00593864,-0.01171571, 0.03410502,
  0.81024943,-0.01570399, 1.13298726, 0.04616717, 0.09504968,-0.06325187,
  0.14260106, 0.94227879,-0.03261451, 0.02734988, 0.33211288]

qacc:
[-2.42600937e+00, 1.19136387e+00,-7.01708627e+00, 1.73492201e+01,
  4.56306026e+00,-3.60142251e-01, 5.18688016e-01,-4.00567926e+00,
  2.94475681e+00,-1.41614066e+00, 6.44115172e+00,-1.52090067e+01,
  3.31736043e+00, 5.85407142e-01, 1.07708274e+01,-2.78173237e+01,
 -1.56025954e-02,-7.29773032e-02, 1.65889621e-02, 1.61615796e+00,
 -6.45386660e-02, 3.07733839e+00]

qfrc_actuator:
[ 3.41387218e-05, 1.70956839e-04, 7.97129599e-05, 8.90604397e-05,
 -2.14051393e-03, 2.75951236e-02, 1.02716286e-02, 1.00709859e-03,
  6.79450032e-05,-8.37828657e-05,-1.43270641e-04,-2.84974797e-05,
  5.00827391e-02, 1.99417372e-02, 2.65678986e-03,-2.24256174e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71289641, -0.46540958, -0.54001409, -0.46540958,  2.75703469,
       -1.76173464, -0.54001409, -1.76173464,  2.23124229,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8489028564564415e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99116788e-01,  5.67205105e-03, -4.16349857e-02,  5.66713259e-03,
        9.99983914e-01,  2.36159563e-04,  4.16356555e-02,  0.00000000e+00,
       -9.99132860e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13168559, -0.08278932,  0.17472342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003788741121187129
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85508403e-01, -1.69599350e-01,  3.04114442e-03, -1.69598543e-01,
        9.85513095e-01,  5.23357955e-04, -3.08584882e-03,  0.00000000e+00,
       -9.99995239e-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([ 0.13122717, -0.08203617,  0.13158595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28522729,   6.61861307,   3.04442074,   6.61861307,
        14.9854433 , -16.74037681,   3.04442074, -16.74037681,
        43.67903948,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.52311100635577e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78701333e-01,  1.09302165e-01, -1.73772085e-01,  1.07618966e-01,
        9.94008570e-01,  1.91081503e-02,  1.74819504e-01, -3.46944695e-18,
       -9.84600498e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329701, -0.0538532 ,  0.2965866 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005029366285858412
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.36479963e-01, -9.18004334e-01, -3.18347718e-01, -7.94144727e-02,
       -3.08283329e-01,  9.47974014e-01, -9.68385548e-01,  2.49458275e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480898, -0.03586999,  0.30490085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043527710532118014
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27530602e-13, -3.58679818e-14,  1.00000000e+00, -4.57426531e-27,
        1.00000000e+00,  3.58679818e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27530602e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354285, -0.06067146,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42422994e-05,-1.91618056e-05,-7.44180281e-06, 2.86857138e-05,
 -1.96726230e-03, 2.92784387e-02, 1.08500411e-02, 1.01032955e-03,
  1.71847283e-05,-6.42716966e-05,-2.21764160e-05,-3.09150627e-05,
  5.39069662e-02, 2.16223568e-02, 1.50349562e-02,-1.75912617e-05,
 -2.10501653e-07,-2.95384458e-08,-9.80999990e+00,-6.49732109e-02,
 -9.54816105e-03,-5.18905821e-03]


--- Step 2053 ---
qpos:
[ 0.00988417, 0.00811544,-0.00558712, 0.03350734, 0.00567181,-0.02465958,
 -0.0170203 , 0.0380359 , 0.01300073, 0.00593694,-0.01171713, 0.03410413,
  0.8102485 ,-0.01570014, 1.13294877, 0.04616307, 0.09505064,-0.063251  ,
  0.14260139, 0.94227637,-0.0326109 , 0.02734737, 0.33212029]

qacc:
[-1.53539751e+00, 3.52413211e-01,-3.18478132e+00, 9.53741167e+00,
  5.48226565e+00,-2.51130083e-01, 3.25394015e-01,-3.70676916e+00,
 -4.45006782e+00, 1.24830331e+00,-4.71396998e+00, 6.09545478e+00,
  2.92230279e+00, 9.15199908e-01, 1.00631330e+01,-2.28779484e+01,
 -1.55182420e-02,-5.65950387e-02, 1.39411602e-02, 1.30036113e+00,
 -1.48377226e-01, 2.62149221e+00]

qfrc_actuator:
[ 2.55032796e-05, 1.58620254e-04, 8.11961307e-05, 1.06956411e-04,
 -2.11422431e-03, 2.76125775e-02, 1.02730002e-02, 1.01198935e-03,
  4.15149594e-05,-6.36436916e-05,-1.56802515e-04,-2.45252731e-05,
  5.00807573e-02, 1.99507486e-02, 2.64300256e-03,-2.25289897e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71290513, -0.45772863, -0.54655121, -0.45772863,  3.17535378,
       -2.06226468, -0.54655121, -2.06226468,  2.4400216 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8681381111453416e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99116151e-01,  5.66912741e-03, -4.16506626e-02,  5.66420778e-03,
        9.99983930e-01,  2.36126707e-04,  4.16513319e-02, -2.71050543e-20,
       -9.99132207e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13168639, -0.08278806,  0.17472371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003788417815865312
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85508066e-01, -1.69601406e-01,  3.03570640e-03, -1.69600601e-01,
        9.85512741e-01,  5.22428632e-04, -3.08033197e-03,  0.00000000e+00,
       -9.99995256e-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([ 0.13122861, -0.0820362 ,  0.13158593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28525982,   6.5822735 ,   3.1222886 ,   6.5822735 ,
        13.04601441, -12.14457315,   3.1222886 , -12.14457315,
        32.88792256,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.5362447743738634e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78701000e-01,  1.09297530e-01, -1.73776875e-01,  1.07614310e-01,
        9.94009079e-01,  1.91078567e-02,  1.74824233e-01, -3.46944695e-18,
       -9.84599659e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329712, -0.05385284,  0.29658666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005026864584370694
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.23701299, -0.91793039, -0.31816449, -0.0795425 , -0.30806108,
        0.94803553, -0.96824472,  0.25000433,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048088 , -0.03586931,  0.30490166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043521751985779733
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55096124e-13,  5.97881541e-14,  1.00000000e+00, -1.52517264e-26,
        1.00000000e+00, -5.97881541e-14, -1.00000000e+00,  0.00000000e+00,
        2.55096124e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354426, -0.06067027,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.04480122e-06,-2.33203426e-05,-2.39211022e-06, 1.73758403e-05,
 -1.96809826e-03, 2.93492615e-02, 1.08814493e-02, 1.03038197e-03,
 -2.59681881e-05,-2.16241822e-05,-3.05756106e-05,-1.43541123e-07,
  5.35083258e-02, 2.14491622e-02, 1.47870715e-02, 3.72838269e-05,
 -8.04251647e-08, 6.98094960e-08,-9.80999987e+00,-6.49733175e-02,
 -9.54853270e-03,-5.18865124e-03]


--- Step 2054 ---
qpos:
[ 0.00988428, 0.00811335,-0.00558613, 0.03350814, 0.00567022,-0.02467424,
 -0.01702393, 0.03803592, 0.01300164, 0.00593489,-0.01171868, 0.03410433,
  0.81025439,-0.0156928 , 1.13291863, 0.04616   , 0.09505153,-0.0632503 ,
  0.14260177, 0.94227259,-0.03260511, 0.02734531, 0.33213175]

qacc:
[-9.14391806e-01,-1.64958711e+00, 7.35939569e+00,-1.56192381e+01,
  5.70413840e+00,-1.99553527e-01, 4.60622614e-01,-3.57586188e+00,
  1.91164339e-01, 2.20744776e+00,-1.31959232e+01, 3.27916311e+01,
  2.51815651e+00, 1.19095642e+00, 9.17002755e+00,-1.42974982e+01,
 -1.64377670e-02,-4.47668490e-02, 1.17620652e-02, 1.02686105e+00,
 -1.98296891e-01, 2.17172093e+00]

qfrc_actuator:
[ 2.03441838e-05, 1.34313864e-04, 8.17064031e-05, 8.14626240e-05,
 -2.11568611e-03, 2.75936904e-02, 1.02931879e-02, 1.03273904e-03,
  4.33555342e-05,-8.63457790e-05,-1.64087328e-04, 3.14537315e-05,
  5.00738761e-02, 1.99347008e-02, 2.67308171e-03,-2.16839446e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71292267, -0.46689108, -0.53876846, -0.46689108,  3.14443101,
       -2.10711953, -0.53876846, -2.10711953,  2.53893028,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9064640469394183e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99115449e-01,  5.66685479e-03, -4.16678199e-02,  5.66193308e-03,
        9.99983943e-01,  2.36129276e-04,  4.16684889e-02,  0.00000000e+00,
       -9.99131491e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1316873 , -0.08278673,  0.17472374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003788101091915635
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85506129e-01, -1.69612706e-01,  3.03300572e-03, -1.69611902e-01,
        9.85510797e-01,  5.21999666e-04, -3.07759766e-03,  0.00000000e+00,
       -9.99995264e-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([ 0.13123019, -0.08203633,  0.13158594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28542024,  6.55350423,  3.18259806,  6.55350423, 11.80954622,
       -9.31593566,  3.18259806, -9.31593566, 26.46849726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5994314655447405e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78702400e-01,  1.09283838e-01, -1.73777604e-01,  1.07600821e-01,
        9.94010585e-01,  1.91055144e-02,  1.74824702e-01, -3.46944695e-18,
       -9.84599575e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329735, -0.05385284,  0.29658681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005022339224145385
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38222211e-01, -9.17775832e-01, -3.17706940e-01, -7.98204294e-02,
       -3.07516502e-01,  9.48188958e-01, -9.67925037e-01,  2.51239175e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480859, -0.03586934,  0.30490283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043493910188824314
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27629710e-13, -6.78032832e-14,  1.00000000e+00, -8.65371334e-27,
        1.00000000e+00,  6.78032832e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27629710e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0535452 , -0.06066935,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.42100016e-06,-3.70485017e-05,-3.99225231e-06,-2.62381372e-05,
 -2.00215750e-03, 2.93769511e-02, 1.09298888e-02, 1.06554461e-03,
  1.08911936e-06,-4.10422680e-05,-1.54820301e-05, 5.40018878e-05,
  5.31315851e-02, 2.12525871e-02, 1.45265546e-02, 1.47382189e-04,
 -4.90123824e-07, 3.83595448e-07,-9.80999968e+00,-6.49730731e-02,
 -9.54902444e-03,-5.18815151e-03]


--- Step 2055 ---
qpos:
[ 0.00988432, 0.00811138,-0.0055856 , 0.0335086 , 0.00566933,-0.02468929,
 -0.01702793, 0.03803572, 0.01300292, 0.00593271,-0.01171984, 0.03410514,
  0.81026661,-0.01568194, 1.13289913, 0.04615947, 0.09505235,-0.06324976,
  0.14260218, 0.9422677 ,-0.03259755, 0.02734343, 0.33214654]

qacc:
[-5.68346768e-01, 7.69802533e-01,-1.13906839e+00,-3.84778408e+00,
  5.95167816e+00, 3.94976446e-02, 3.42561369e-02,-3.07366443e+00,
  3.17481563e+00,-2.93476833e-02,-2.70919183e+00, 1.26512079e+01,
  2.14955362e+00, 1.53863526e+00, 8.00878635e+00,-5.25792629e+00,
 -1.85747853e-02,-3.65451501e-02, 1.01040073e-02, 8.01549847e-01,
 -2.48161920e-01, 1.78460252e+00]

qfrc_actuator:
[ 1.72706532e-05, 1.56244761e-04, 6.38045228e-05, 6.61377173e-05,
 -2.11633334e-03, 2.76241275e-02, 1.02715044e-02, 1.04532874e-03,
  6.18343130e-05,-6.34363501e-05,-1.32247395e-04, 6.42961243e-05,
  5.00744940e-02, 1.99200325e-02, 2.71306662e-03,-2.01056347e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71294696, -0.50214381, -0.50610767, -0.50214381,  3.57706995,
       -2.84169102, -0.50610767, -2.84169102,  3.53238171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9587032434105033e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99114696e-01,  5.66525968e-03, -4.16860807e-02,  5.66033504e-03,
        9.99983952e-01,  2.36166262e-04,  4.16867496e-02,  0.00000000e+00,
       -9.99130730e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13168828, -0.08278532,  0.17472358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003787814363952223
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85502869e-01, -1.69631662e-01,  3.03216978e-03, -1.69630859e-01,
        9.85507534e-01,  5.21915846e-04, -3.07675961e-03,  1.08420217e-19,
       -9.99995267e-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([ 0.13123188, -0.08203656,  0.13158598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.285682  ,  6.52428298,  3.24266769,  6.52428298, 10.78798407,
       -7.04667021,  3.24266769, -7.04667021, 21.46365979,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6974868368343466e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97870517,  0.10926262, -0.17377532,  0.10757998,  0.99401292,
        0.01910151,  0.17482199,  0.        , -0.98460006])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329766, -0.05385316,  0.296587  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000501677579709832
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.23980475, -0.91757629, -0.31709215, -0.0801778 , -0.30678812,
        0.94839473, -0.96750463,  0.25285331,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480835, -0.03586999,  0.30490421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043449347692677
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27760609e-13,  2.79476332e-14,  1.00000000e+00,  3.57060664e-27,
        1.00000000e+00, -2.79476332e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27760609e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354578, -0.06066864,  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:
[-3.23419507e-06,-6.75662014e-07,-2.69430390e-05,-1.75603773e-05,
 -2.03672357e-03, 2.94415030e-02, 1.09301049e-02, 1.09066478e-03,
  1.84857538e-05,-8.30232549e-07, 2.33662709e-05, 3.16066483e-05,
  5.27920558e-02, 2.10626319e-02, 1.41496724e-02, 2.54040737e-04,
 -1.18113328e-06, 8.15668569e-07,-9.80999941e+00,-6.49725543e-02,
 -9.54959954e-03,-5.18755919e-03]


--- Step 2056 ---
qpos:
[ 0.00988467, 0.0081097 ,-0.00558543, 0.03350885, 0.0056691 ,-0.02470451,
 -0.01703223, 0.0380353 , 0.01300405, 0.00593133,-0.01172128, 0.03410557,
  0.81028463,-0.01566778, 1.13288799, 0.04616067, 0.0950531 ,-0.06324934,
  0.14260263, 0.94226192,-0.03258856, 0.02734159, 0.33216395]

qacc:
[ 2.68360651, 0.92192622,-1.82423555,-1.56689837, 5.43141056, 0.16825568,
 -0.0395081 ,-3.01989085,-1.20322082, 1.03983657,-0.57746576,-6.12351583,
  1.9006405 , 1.55095202, 7.090375  ,-6.95644237,-0.01839191,-0.03168779,
  0.00747137, 0.62771743,-0.24875896, 1.39496371]

qfrc_actuator:
[ 3.32009077e-05, 1.87872415e-04, 5.31262537e-05, 5.69512666e-05,
 -2.11679293e-03, 2.76486534e-02, 1.02603201e-02, 1.03534870e-03,
  5.44443828e-05, 2.22698260e-05,-1.30665437e-04, 4.78098426e-05,
  5.00794075e-02, 1.99047848e-02, 2.71055543e-03,-1.95268224e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7129761 , -0.51089645, -0.49731252, -0.51089645,  3.58000894,
       -2.9453449 , -0.49731252, -2.9453449 ,  3.73877213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.02016740053352e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99113906e-01,  5.66437190e-03, -4.17051195e-02,  5.65944353e-03,
        9.99983957e-01,  2.36237097e-04,  4.17057886e-02,  0.00000000e+00,
       -9.99129935e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1316893 , -0.08278388,  0.17472328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003787539634077033
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85498519e-01, -1.69656929e-01,  3.03250895e-03, -1.69656126e-01,
        9.85503184e-01,  5.22054280e-04, -3.07711735e-03, -1.08420217e-19,
       -9.99995266e-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([ 0.13123364, -0.08203687,  0.13158603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28602234,  6.51049689,  3.27101695,  6.51049689, 10.42419667,
       -6.24609243,  3.27101695, -6.24609243, 19.71798647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.817075737097199e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97870902,  0.10923521, -0.17377091,  0.10755309,  0.99401593,
        0.01909618,  0.17481703,  0.        , -0.98460094])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.113298  , -0.05385378,  0.29658722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005010923251888419
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.41493774e-01, -9.17364096e-01, -3.16423564e-01, -8.05533101e-02,
       -3.05998425e-01,  9.48618010e-01, -9.67053215e-01,  2.54574309e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480809, -0.03587124,  0.30490572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004339239258228239
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27928302e-13, -6.79619107e-14,  1.00000000e+00, -8.69425187e-27,
        1.00000000e+00,  6.79619107e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27928302e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354606, -0.0606681 ,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58453041e-05, 2.49947722e-05,-1.47279478e-05,-1.04870796e-05,
 -2.07258968e-03, 2.94867202e-02, 1.09379861e-02, 1.09216596e-03,
 -6.87496132e-06, 9.15240662e-05, 5.41986840e-06,-1.50931483e-05,
  5.24796354e-02, 2.08717417e-02, 1.36151299e-02, 1.84985792e-04,
 -1.98254632e-06, 1.30132778e-06,-9.80999909e+00,-6.49718241e-02,
 -9.55023913e-03,-5.18687204e-03]


--- Step 2057 ---
qpos:
[ 0.0098852 , 0.00810814,-0.00558535, 0.03350899, 0.00566936,-0.02471974,
 -0.01703668, 0.03803469, 0.01300475, 0.00593078,-0.01172277, 0.03410578,
  0.81030765,-0.01565083, 1.1328812 , 0.04616177, 0.09505378,-0.06324903,
  0.14260309, 0.94225551,-0.03257845, 0.02733978, 0.33218328]

qacc:
[ 1.64763129e+00, 2.31178894e-01,-1.29347628e-01,-1.67179305e+00,
  4.21493073e+00, 1.77947321e-02, 7.19425932e-01,-3.76709996e+00,
 -3.90727339e+00, 8.11524804e-01,-3.57318164e-01,-3.99664225e+00,
  1.72918903e+00, 1.18597890e+00, 6.66219271e+00,-1.40592329e+01,
 -1.54258938e-02,-2.78410916e-02, 3.95645886e-03, 4.93124827e-01,
 -1.97731784e-01, 1.02758535e+00]

qfrc_actuator:
[ 4.24353959e-05, 1.89595043e-04, 4.68618908e-05, 5.14696746e-05,
 -2.11736159e-03, 2.76340525e-02, 1.02910138e-02, 9.94149556e-04,
  3.18830194e-05, 7.37674197e-05,-1.28978210e-04, 3.79724394e-05,
  5.00813950e-02, 1.98702362e-02, 2.69302151e-03,-2.00822916e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71300879, -0.47397846, -0.53265932, -0.47397846,  2.82990625,
       -1.8836877 , -0.53265932, -1.8836877 ,  2.38917848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.087667864335651e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99113093e-01,  5.66412996e-03, -4.17246236e-02,  5.65919719e-03,
        9.99983959e-01,  2.36337481e-04,  4.17252929e-02,  0.00000000e+00,
       -9.99129121e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13169035, -0.08278242,  0.17472288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037872663085414276
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85493310e-01, -1.69687164e-01,  3.03359184e-03, -1.69686360e-01,
        9.85497979e-01,  5.22336531e-04, -3.07823244e-03, -1.08420217e-19,
       -9.99995262e-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([ 0.13123545, -0.08203724,  0.1315861 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28642808,  6.51448397,  3.263975  ,  6.51448397, 10.58187803,
       -6.57730403,  3.263975  , -6.57730403, 20.41390048,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9500714691707396e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78713664e-01,  1.09202977e-01, -1.73764994e-01,  1.07521481e-01,
        9.94019472e-01,  1.90898217e-02,  1.74810452e-01,  3.46944695e-18,
       -9.84602105e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329835, -0.05385467,  0.29658744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005004970510792155
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24323658, -0.91714489, -0.31572333, -0.08093519, -0.30517326,
        0.94885129, -0.96658443,  0.25634847,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480778, -0.035873  ,  0.30490732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004332658258539013
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.64157102e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.64157102e-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([ 0.05354613, -0.06066768,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.70079746e-06, 1.22709553e-05,-3.26208142e-06,-5.12213229e-06,
 -2.10548485e-03, 2.94810424e-02, 1.09838712e-02, 1.06164296e-03,
 -2.27301820e-05, 1.03217974e-04, 2.07712370e-05,-6.01567919e-06,
  5.21925804e-02, 2.06716483e-02, 1.31802146e-02, 4.32443628e-05,
 -2.75945214e-06, 1.77115047e-06,-9.80999877e+00,-6.49709248e-02,
 -9.55092443e-03,-5.18609683e-03]


--- Step 2058 ---
qpos:
[ 0.00988515, 0.00810668,-0.00558533, 0.03350872, 0.00566999,-0.02473468,
 -0.01704109, 0.03803395, 0.01300517, 0.00593101,-0.01172398, 0.0341062 ,
  0.81033367,-0.01563221, 1.13287669, 0.04616201, 0.09505441,-0.0632488 ,
  0.14260356, 0.94224879,-0.0325678 , 0.02733813, 0.33220354]

qacc:
[-5.11991760e+00,-5.81777312e-01, 4.00601564e+00,-1.11388172e+01,
  3.09366724e+00, 5.44793571e-03, 1.11174144e+00,-3.74504374e+00,
 -2.43118710e+00, 6.53987480e-01,-1.70739478e+00, 4.25853032e+00,
  9.95083459e-01, 7.61249137e-01, 5.98305180e+00,-1.60510990e+01,
 -1.39503936e-02,-2.05441754e-02, 4.05326411e-03, 2.65422904e-01,
 -1.94410206e-02, 5.02019189e-01]

qfrc_actuator:
[ 1.21433743e-05, 1.91175353e-04, 4.31376581e-05, 3.04369404e-05,
 -2.11810947e-03, 2.76313867e-02, 1.02757970e-02, 1.00529326e-03,
  1.83332757e-05, 1.22141507e-04,-1.09580747e-04, 4.98709122e-05,
  5.00814878e-02, 1.98588044e-02, 2.69848853e-03,-2.07744867e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71304444, -0.55746006, -0.44460168, -0.55746006,  1.95782868,
       -1.56076222, -0.44460168, -1.56076222,  2.66999298,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.159630640476295e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99112271e-01,  5.66438923e-03, -4.17442859e-02,  5.65945158e-03,
        9.99983957e-01,  2.36459677e-04,  4.17449557e-02,  0.00000000e+00,
       -9.99128299e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13169141, -0.08278098,  0.17472239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003787033319789932
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85487463e-01, -1.69721089e-01,  3.03516401e-03, -1.69720284e-01,
        9.85492137e-01,  5.22714815e-04, -3.07984599e-03,  0.00000000e+00,
       -9.99995257e-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([ 0.13123728, -0.08203766,  0.13158617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2868968 ,  6.5368231 ,  3.22006347,  6.5368231 , 10.77766707,
       -7.08636584,  3.22006347, -7.08636584, 21.67242689,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.093201320267847e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97871891,  0.10916721, -0.17375792,  0.10748642,  0.9940234 ,
        0.01908272,  0.17480264,  0.        , -0.98460349])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132987 , -0.05385579,  0.29658767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000499888657461794
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.45105354e-01, -9.16907921e-01, -3.14965443e-01, -8.13396492e-02,
       -3.04281271e-01,  9.49103140e-01, -9.66078272e-01,  2.58249440e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480738, -0.03587514,  0.30490898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043254063609898325
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.83149263e-07,  5.83149090e-07,  1.00000000e+00,  3.40062962e-13,
        1.00000000e+00, -5.83149090e-07, -1.00000000e+00,  0.00000000e+00,
       -5.83149263e-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([ 0.05396567, -0.06125043,  0.06199029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.00061772e-05, 7.60588183e-06,-1.75237214e-06,-2.07169694e-05,
 -2.13131773e-03, 2.94792666e-02, 1.09765286e-02, 1.08240010e-03,
 -1.41636295e-05, 1.10157926e-04, 4.30935215e-05, 1.69284722e-05,
  5.19420987e-02, 2.05203494e-02, 1.29684715e-02,-2.13770668e-05,
 -3.42353875e-06, 2.16858806e-06,-9.80999849e+00,-6.49698847e-02,
 -9.55163306e-03,-5.18525087e-03]


--- Step 2059 ---
qpos:
[ 0.0098844 , 0.00810537,-0.0055851 , 0.03350783, 0.00566568,-0.02474327,
 -0.0170404 , 0.03803594, 0.01300508, 0.00593178,-0.01172482, 0.03410678,
  0.81028886,-0.01564862, 1.13283117, 0.04617141, 0.09505586,-0.06324598,
  0.14260349, 0.94225833,-0.03258443, 0.02732749, 0.33217572]

qacc:
[-6.20490080e+00,-1.65685382e+00, 8.85050005e+00,-2.00835980e+01,
 -4.15743542e+01,-1.77149748e-01, 1.39160349e+00, 3.29620851e+01,
 -4.48912152e+00, 4.68414003e-02, 1.96613349e-01, 1.64744563e+00,
 -2.79856518e+01,-9.07254199e+00,-8.75150030e+01, 2.19832137e+02,
  2.04865127e-01, 6.49880971e-01,-1.37556961e-01,-1.34212883e+01,
  8.50673409e-01,-2.58756707e+01]

qfrc_actuator:
[-2.34157870e-05, 2.10406233e-04, 5.86753674e-05, 4.19907090e-07,
 -2.15453744e-03, 2.76533380e-02, 1.02684139e-02, 1.03011251e-03,
 -7.55162149e-06, 1.32855201e-04,-9.76334868e-05, 5.67180456e-05,
  5.00857710e-02, 1.98434946e-02, 2.73908752e-03,-2.06529943e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71308211, -0.52863751,  0.4785692 , -0.52863751,  0.44584047,
       -0.29520069,  0.4785692 , -0.29520069,  0.38699728,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.233931486828324e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99111459e-01,  5.66501657e-03, -4.17636221e-02,  5.66007379e-03,
        9.99983954e-01,  2.36595407e-04,  4.17642922e-02,  0.00000000e+00,
       -9.99127491e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13169245, -0.08277957,  0.17472187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24813617,  0.22628207,  0.10182331,  0.22628207,  0.46121751,
       -0.47353092,  0.10182331, -0.47353092,  1.30046453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003786823074911786
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85481294e-01, -1.69756867e-01,  3.03728733e-03, -1.69756061e-01,
        9.85485975e-01,  5.23194034e-04, -3.08201985e-03,  1.08420217e-19,
       -9.99995251e-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([ 0.13123908, -0.0820381 ,  0.13158625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28742515,  7.03251199,  1.91058639,  7.03251199,  7.62211604,
       -1.23193474,  1.91058639, -1.23193474, 11.82194703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2436035258413346e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9787245 ,  0.10912973, -0.17374999,  0.10744968,  0.99402752,
        0.01907522,  0.17479395,  0.        , -0.98460504])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329906, -0.05385705,  0.2965879 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36474067,  1.30043956, -0.41397349,  1.30043956,  2.00050344,
        1.99715944, -0.41397349,  1.99715944,  7.63853653,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000499309793737769
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24709804, -0.91665176, -0.31415299, -0.08176622, -0.30332554,
        0.94937237, -0.96553449,  0.26027516,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048069 , -0.03587746,  0.30491057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.27353373, -6.52599049,  7.93454116, -6.52599049, 63.68553021,
       43.93022534,  7.93454116, 43.93022534, 46.405205  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043249335422511484
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.85880310e-07, -8.85880586e-07,  1.00000000e+00, -7.84784168e-13,
        1.00000000e+00,  8.85880586e-07, -1.00000000e+00,  1.00974196e-28,
       -8.85880310e-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([ 0.087467  , -0.1077915 ,  0.06199029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.64058259e-05, 2.22774257e-05, 1.61949023e-05,-3.01498679e-05,
 -2.18616133e-03, 2.94871605e-02, 1.09677002e-02, 1.11412841e-03,
 -2.62519160e-05, 8.19425844e-05, 4.06065329e-05, 1.33901451e-05,
  5.17967940e-02, 2.04211951e-02, 1.28944429e-02, 3.39888906e-05,
 -3.77475344e-06, 2.35762938e-06,-9.80999836e+00,-6.49687375e-02,
 -9.55228951e-03,-5.18438615e-03]


--- Step 2060 ---
qpos:
[ 0.00988391, 0.00810431,-0.00558503, 0.03350695, 0.00566141,-0.02475287,
 -0.01704042, 0.03803759, 0.01300468, 0.00593264,-0.01172525, 0.0341075 ,
  0.81025483,-0.01566014, 1.13278043, 0.04617457, 0.09505716,-0.06324379,
  0.14260353, 0.94226469,-0.03259523, 0.02731952, 0.33215726]

qacc:
[ 2.35401143e+00, 7.93874422e-01,-2.39776365e+00, 2.60965952e+00,
  4.52442630e-01,-7.11448712e-02,-2.38325760e-01,-3.81998673e+00,
 -2.70835457e+00,-7.47897838e-01, 2.28548030e+00,-7.06171487e-01,
  4.76060647e+00, 4.19470197e-01, 1.09892881e+01,-4.99627243e+01,
 -3.69164058e-02,-1.60761363e-01, 2.91610503e-02, 3.00749723e+00,
  1.84512620e-01, 5.06643346e+00]

qfrc_actuator:
[-8.51965590e-06, 2.22374597e-04, 5.00234692e-05, 8.92185085e-07,
 -2.15394487e-03, 2.76483844e-02, 1.02606437e-02, 1.00706159e-03,
 -2.27399010e-05, 1.03143897e-04,-9.03472982e-05, 6.04947769e-05,
  5.00831272e-02, 1.98441416e-02, 2.76197538e-03,-2.03175950e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71302223, -0.54867993, -0.45535813, -0.54867993,  2.36778033,
       -1.99388681, -0.45535813, -1.99388681,  3.11553932,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.11499201998409e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99111153e-01,  5.66070130e-03, -4.17715148e-02,  5.65576042e-03,
        9.99983978e-01,  2.36459857e-04,  4.17721841e-02,  0.00000000e+00,
       -9.99127161e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13169265, -0.08277858,  0.1747241 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24813274, -0.02725735,  0.24663109, -0.02725735,  0.68812442,
        0.04862731,  0.24663109,  0.04862731,  0.25350697,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037866801011521766
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85491049e-01, -1.69700734e-01,  3.00888082e-03, -1.69699943e-01,
        9.85495642e-01,  5.18124347e-04, -3.05316502e-03,  1.08420217e-19,
       -9.99995339e-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([ 0.13123977, -0.08203742,  0.13158593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28616898,  1.24251258,  7.17944433,  1.24251258, 33.62249099,
       -4.55790306,  7.17944433, -4.55790306,  8.07498377,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.866236669647769e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78712447e-01,  1.09181309e-01, -1.73785467e-01,  1.07499756e-01,
        9.94021852e-01,  1.90882371e-02,  1.74830631e-01, -3.46944695e-18,
       -9.84598523e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329802, -0.05385481,  0.29658724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36861591, -0.79897646,  1.11119131, -0.79897646,  3.72048089,
        1.69105424,  1.11119131,  1.69105424,  2.58452943,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005012783377936809
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24131029, -0.9173867 , -0.31649801, -0.08051315, -0.30608597,
        0.94859318, -0.96710236,  0.25438754,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480669, -0.03587275,  0.30490783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.28326432, -5.90917612,  8.41588751, -5.90917612, 18.00235175,
        5.41992119,  8.41588751,  5.41992119, 14.08883667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043330967724741765
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.8023986e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.8023986e-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([ 0.05355068, -0.06066396,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38713349e-05, 2.65156728e-05,-3.08191006e-06, 1.40648639e-06,
 -1.93808310e-03, 2.91652164e-02, 1.07046401e-02, 9.54328979e-04,
 -1.59063757e-05, 2.50439813e-05, 2.96775368e-05, 8.95372059e-06,
  5.53356133e-02, 2.21738805e-02, 1.49692997e-02,-3.90296142e-04,
 -8.55621478e-06, 2.57256429e-06,-9.80999774e+00,-6.49704753e-02,
 -9.55409491e-03,-5.18426518e-03]


--- Step 2061 ---
qpos:
[ 0.00988396, 0.00810317,-0.00558523, 0.03350681, 0.00565739,-0.02476363,
 -0.01704116, 0.03803889, 0.01300479, 0.00593353,-0.01172523, 0.03410861,
  0.81023039,-0.01566742, 1.13272986, 0.046174  , 0.09505835,-0.0632421 ,
  0.14260367, 0.94226835,-0.03260127, 0.02731364, 0.33214676]

qacc:
[ 4.61975699e+00, 2.21804398e+00,-1.12583518e+01, 2.48204006e+01,
  2.00711667e+00,-2.38189685e-01, 7.61218376e-02,-4.05904781e+00,
  4.50719100e+00,-4.20580947e-01,-1.12706653e-01, 6.16179092e+00,
  4.24578833e+00, 2.77025358e-01, 1.13878360e+01,-3.98108566e+01,
 -2.60933063e-02,-1.22063255e-01, 2.36899400e-02, 2.43917118e+00,
  1.02375924e-01, 4.29432559e+00]

qfrc_actuator:
[ 1.82031594e-05, 1.94328347e-04, 2.71500415e-05, 3.70307255e-05,
 -2.15191681e-03, 2.76498582e-02, 1.02564106e-02, 9.75024973e-04,
  3.99789667e-06, 1.02670884e-04,-6.82973181e-05, 8.01468672e-05,
  5.00715327e-02, 1.98461949e-02, 2.74053498e-03,-2.15118445e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71298676, -0.50500949, -0.50330462, -0.50500949,  2.59315724,
       -1.88653926, -0.50330462, -1.88653926,  2.60591639,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0423535937356353e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99110776e-01,  5.65643996e-03, -4.17811212e-02,  5.65150053e-03,
        9.99984002e-01,  2.36336184e-04,  4.17817896e-02,  0.00000000e+00,
       -9.99126760e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13169302, -0.08277761,  0.17472568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003786552054549657
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85497647e-01, -1.69662775e-01,  2.98836562e-03, -1.69661995e-01,
        9.85502178e-01,  5.14473144e-04, -3.03232777e-03,  0.00000000e+00,
       -9.99995402e-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([ 0.13124065, -0.08203696,  0.13158572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28548731,  7.28539896, -0.03587814,  7.28539896,  7.286084  ,
        0.12116445, -0.03587814,  0.12116445, 31.88908763,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6251194264910227e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78704182e-01,  1.09215672e-01, -1.73810416e-01,  1.07533089e-01,
        9.94018077e-01,  1.90970584e-02,  1.74856393e-01,  3.46944695e-18,
       -9.84593948e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132974 , -0.05385314,  0.29658684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000502357765894697
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.37910017e-01, -9.17795195e-01, -3.17884891e-01, -7.97654903e-02,
       -3.07714592e-01,  9.48129314e-01, -9.68006348e-01,  2.50925705e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480654, -0.03586936,  0.30490651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004342962405334827
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27818632e-13, -3.59489902e-14,  1.00000000e+00, -4.59495074e-27,
        1.00000000e+00,  3.59489902e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27818632e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0535544 , -0.06066144,  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:
[ 2.71308167e-05,-1.37488251e-05,-1.77136418e-05, 3.71992253e-05,
 -1.93877388e-03, 2.92175465e-02, 1.07357620e-02, 9.39442160e-04,
  2.62952661e-05, 2.00109964e-05, 3.11818307e-05, 2.19244000e-05,
  5.47852301e-02, 2.19310701e-02, 1.52091292e-02,-1.97923842e-04,
 -3.79194286e-06, 1.00439810e-06,-9.80999906e+00,-6.49722475e-02,
 -9.55360866e-03,-5.18411359e-03]


--- Step 2062 ---
qpos:
[ 0.00988432, 0.00810177,-0.00558534, 0.03350711, 0.00565384,-0.02477567,
 -0.01704266, 0.03803984, 0.01300419, 0.00593465,-0.01172498, 0.03410958,
  0.81021453,-0.01567092, 1.13268391, 0.04617197, 0.09505947,-0.06324077,
  0.14260389, 0.94226969,-0.0326034 , 0.02730935, 0.33214313]

qacc:
[ 2.81791675e+00, 2.62017794e-01,-3.23762212e+00, 1.07079928e+01,
  4.00642841e+00,-2.69123567e-01,-5.19568618e-02,-3.73071545e+00,
 -6.28999464e+00,-6.10840535e-01, 3.18440037e+00,-5.99344205e+00,
  3.70630040e+00, 3.73849729e-01, 1.11171611e+01,-2.92314255e+01,
 -1.97984406e-02,-9.06338626e-02, 1.94763104e-02, 1.97021122e+00,
  1.49691469e-02, 3.70000833e+00]

qfrc_actuator:
[ 3.39036859e-05, 1.78005803e-04, 3.14297860e-05, 5.83143927e-05,
 -2.13148122e-03, 2.76557451e-02, 1.02545982e-02, 1.00874851e-03,
 -3.35682161e-05, 1.19766592e-04,-5.53442351e-05, 7.35078066e-05,
  5.00702632e-02, 1.98478043e-02, 2.72415718e-03,-2.16711111e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71297027, -0.4873455 , -0.52040462, -0.4873455 ,  3.01265002,
       -2.15359076, -0.52040462, -2.15359076,  2.72975246,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0079711525394997e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99110318e-01,  5.65241698e-03, -4.17926101e-02,  5.64747835e-03,
        9.99984025e-01,  2.36233033e-04,  4.17932778e-02,  0.00000000e+00,
       -9.99126279e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13169356, -0.08277661,  0.17472673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037864238519099986
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85501590e-01, -1.69640120e-01,  2.97415886e-03, -1.69639348e-01,
        9.85506078e-01,  5.11956931e-04, -3.01790006e-03,  0.00000000e+00,
       -9.99995446e-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([ 0.13124171, -0.08203669,  0.13158558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28515618,   6.66683172,   2.9371509 ,   6.66683172,
        16.9909584 , -22.03051605,   2.9371509 , -22.03051605,
        57.29067105,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.4940032790564586e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97869906,  0.10923536, -0.1738269 ,  0.10755215,  0.99401591,
        0.01910235,  0.17487336,  0.        , -0.98459094])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132971 , -0.05385196,  0.29658664])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005028088394912374
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.23630306, -0.91797739, -0.31855672, -0.07941304, -0.30849951,
        0.9479038 , -0.96842885,  0.24929013,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480641, -0.03586705,  0.30490619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004348437513050918
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.98395448e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.98395448e-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([ 0.05355716, -0.06065947,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64717461e-05,-2.60225008e-05, 5.60043660e-07, 2.08077930e-05,
 -1.93028910e-03, 2.92819741e-02, 1.07701486e-02, 9.90519877e-04,
 -3.68108190e-05, 3.56410070e-05, 2.16717334e-05,-4.28154313e-06,
  5.43039938e-02, 2.17213480e-02, 1.51859085e-02,-2.67589020e-05,
 -1.28270035e-06, 2.27817332e-07,-9.80999970e+00,-6.49733257e-02,
 -9.55353799e-03,-5.18387589e-03]


--- Step 2063 ---
qpos:
[ 0.00988452, 0.00810045,-0.00558521, 0.03350692, 0.00565092,-0.02478886,
 -0.01704493, 0.03804047, 0.01300279, 0.00593576,-0.01172472, 0.03411052,
  0.81020673,-0.01567059, 1.13264353, 0.04616918, 0.09506051,-0.06323972,
  0.14260417, 0.94226903,-0.0326023 , 0.02730612, 0.33214536]

qacc:
[-1.39386111e+00,-1.57951815e+00, 7.83250109e+00,-1.67272520e+01,
  5.28262493e+00,-7.48516228e-02,-5.58823687e-01,-3.09252694e+00,
 -6.94748467e+00,-8.84835869e-02, 4.85088388e-01,-1.19200022e+00,
  3.28664621e+00, 7.86053183e-01, 1.04560246e+01,-2.48302524e+01,
 -1.87400399e-02,-7.04699646e-02, 1.66788675e-02, 1.59252528e+00,
 -9.99538191e-02, 3.15460160e+00]

qfrc_actuator:
[ 2.52343204e-05, 2.04424361e-04, 5.17307568e-05, 3.52020284e-05,
 -2.10033445e-03, 2.76826137e-02, 1.02545702e-02, 1.04655933e-03,
 -7.31893703e-05, 9.39342082e-05,-6.55682613e-05, 6.92109740e-05,
  5.00642836e-02, 1.98478928e-02, 2.73171253e-03,-2.19273364e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71296857, -0.48575871, -0.52188376, -0.48575871,  4.05500656,
       -3.1107005 , -0.52188376, -3.1107005 ,  3.60834488,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0044146286844372e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99109772e-01,  5.64886985e-03, -4.18061409e-02,  5.64393112e-03,
        9.99984045e-01,  2.36161217e-04,  4.18068079e-02,  2.71050543e-20,
       -9.99125713e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13169424, -0.08277552,  0.17472734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003786221551767989
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85503262e-01, -1.69630566e-01,  2.96500397e-03, -1.69629799e-01,
        9.85507722e-01,  5.10351457e-04, -3.00860551e-03,  0.00000000e+00,
       -9.99995474e-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([ 0.13124297, -0.08203657,  0.13158551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28504996,   6.62136723,   3.03800081,   6.62136723,
        13.70990253, -14.00306024,   3.03800081, -14.00306024,
        37.80492477,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.449429149912315e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97869655,  0.10924232, -0.17383665,  0.10755881,  0.99401515,
        0.01910466,  0.17488331,  0.        , -0.98458917])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329704, -0.05385122,  0.29658661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005028396307872905
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35974208e-01, -9.18005978e-01, -3.18718053e-01, -7.93472324e-02,
       -3.08683031e-01,  9.47849568e-01, -9.68514424e-01,  2.48957446e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480631, -0.03586566,  0.30490654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043504048244868976
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.31587466e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.31587466e-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([ 0.05355917, -0.06065793,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.20557459e-06, 1.29295098e-05, 1.57303793e-05,-2.38011976e-05,
 -1.92297973e-03, 2.93732361e-02, 1.08085192e-02, 1.04558041e-03,
 -4.06517428e-05,-1.66918460e-06,-3.58215906e-07,-2.10683918e-06,
  5.38692418e-02, 2.15318684e-02, 1.49632417e-02, 2.07331161e-05,
 -2.14105049e-07,-3.09772752e-08,-9.80999992e+00,-6.49738511e-02,
 -9.55373065e-03,-5.18355407e-03]


--- Step 2064 ---
qpos:
[ 0.00988427, 0.00809907,-0.00558451, 0.03350645, 0.00564849,-0.02480292,
 -0.01704785, 0.03804078, 0.01300128, 0.0059365 ,-0.01172467, 0.03411146,
  0.81020637,-0.01566684, 1.13260276, 0.04616267, 0.09506149,-0.06323891,
  0.1426045 , 0.94226684,-0.03259855, 0.02730372, 0.33215214]

qacc:
[-3.93132325e+00,-2.22302764e+00, 9.02342615e+00,-1.47818908e+01,
  4.10263672e+00, 3.14424937e-02,-4.43233876e-01,-3.32094317e+00,
 -1.04683779e+00, 1.16476698e-01,-1.11061384e+00, 1.74184826e+00,
  3.15583418e+00, 4.94354862e-01, 1.05524195e+01,-3.79576364e+01,
 -1.52379913e-02,-6.12085318e-02, 1.20126738e-02, 1.29459916e+00,
 -1.08708702e-01, 2.44988995e+00]

qfrc_actuator:
[ 2.29470189e-06, 2.03010427e-04, 8.14673221e-05, 2.17040321e-05,
 -2.09860893e-03, 2.77402085e-02, 1.02736726e-02, 1.03368977e-03,
 -7.81776855e-05, 4.24932772e-05,-8.95591471e-05, 6.62814275e-05,
  5.00552153e-02, 1.98632772e-02, 2.71076952e-03,-2.45506538e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71297813, -0.45017068, -0.55288712, -0.45017068,  3.92631143,
       -2.616354  , -0.55288712, -2.616354  ,  2.8432608 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.02439672089455e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99109142e-01,  5.64595046e-03, -4.18215879e-02,  5.64101063e-03,
        9.99984061e-01,  2.36126377e-04,  4.18222545e-02,  0.00000000e+00,
       -9.99125067e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13169505, -0.08277435,  0.17472763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000378588352467868
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85503004e-01, -1.69632159e-01,  2.95971870e-03, -1.69631394e-01,
        9.85507448e-01,  5.09446654e-04, -3.00324336e-03,  1.08420217e-19,
       -9.99995490e-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([ 0.13124441, -0.08203659,  0.13158549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28509715,   6.61139066,   3.0597637 ,   6.61139066,
        13.82758046, -14.13668416,   3.0597637 , -14.13668416,
        37.83096625,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.4693963571696611e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97869617,  0.10923839, -0.17384123,  0.10755485,  0.99401558,
        0.01910446,  0.17488783,  0.        , -0.98458836])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329717, -0.05385089,  0.29658668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005025773623978585
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.23654689, -0.91792839, -0.31851693, -0.07948394, -0.30844017,
        0.94791717, -0.9683635 ,  0.24954384,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480618, -0.03586508,  0.30490737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043496150976203574
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27623134e-13,  5.98233443e-14,  1.00000000e+00, -7.63484271e-27,
        1.00000000e+00, -5.98233443e-14, -1.00000000e+00,  0.00000000e+00,
        1.27623134e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356058, -0.06065674,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31644452e-05, 8.08903427e-06, 3.35357419e-05,-1.28595370e-05,
 -1.95269184e-03, 2.94889295e-02, 1.08661014e-02, 1.04933398e-03,
 -6.14034742e-06,-5.26024203e-05,-2.44705176e-05,-3.05819057e-06,
  5.34569729e-02, 2.13562469e-02, 1.46644421e-02,-2.03041073e-04,
 -6.70745827e-08, 5.73428073e-08,-9.80999988e+00,-6.49739374e-02,
 -9.55410565e-03,-5.18313812e-03]


--- Step 2065 ---
qpos:
[ 0.00988444, 0.00809768,-0.00558347, 0.03350617, 0.00564656,-0.02481759,
 -0.01705131, 0.03804079, 0.01299972, 0.0059373 ,-0.01172504, 0.03411163,
  0.81021292,-0.01565983, 1.13256612, 0.0461548 , 0.09506241,-0.0632383 ,
  0.14260487, 0.94226338,-0.03259264, 0.02730182, 0.33216268]

qacc:
[ 3.66894207e+00,-5.77405048e-01, 1.20011910e+00, 1.66719497e+00,
  4.17938900e+00, 1.04966996e-01,-3.45120607e-01,-3.35462126e+00,
 -4.42305522e-01,-3.61705004e-01, 4.62517448e+00,-1.73186760e+01,
  2.80294219e+00, 6.84001943e-01, 1.01343250e+01,-2.67986381e+01,
 -1.55997452e-02,-4.91456424e-02, 9.67675700e-03, 1.02881240e+00,
 -1.59648669e-01, 2.01900961e+00]

qfrc_actuator:
[ 2.44052365e-05, 2.02747353e-04, 9.86923887e-05, 3.17163922e-05,
 -2.09689489e-03, 2.77631494e-02, 1.02689410e-02, 1.00828070e-03,
 -8.04939068e-05, 6.48036718e-05,-1.03846586e-04, 2.86411475e-05,
  5.00600370e-02, 1.98689520e-02, 2.72632084e-03,-2.46561444e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7129966 , -0.44601488, -0.55626871, -0.44601488,  3.98821517,
       -2.62606221, -0.55626871, -2.62606221,  2.81856684,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0626728546887276e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99108446e-01,  5.64351888e-03, -4.18385456e-02,  5.63857717e-03,
        9.99984075e-01,  2.36120382e-04,  4.18392119e-02,  0.00000000e+00,
       -9.99124357e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13169596, -0.08277313,  0.17472765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003785370069938235
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85501237e-01, -1.69642464e-01,  2.95756341e-03, -1.69641700e-01,
        9.85505674e-01,  5.09107514e-04, -3.00106178e-03, -1.08420217e-19,
       -9.99995497e-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([ 0.13124598, -0.08203672,  0.13158551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28527148,   6.58490204,   3.11676845,   6.58490204,
        12.57624775, -11.17842441,   3.11676845, -11.17842441,
        30.90230657,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.5409244544762825e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97869747,  0.10922605, -0.17384171,  0.10754269,  0.99401694,
        0.01910233,  0.17488808,  0.        , -0.98458832])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329743, -0.05385092,  0.29658684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005020586000526947
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38012029e-01, -9.17742822e-01, -3.17959726e-01, -7.98205913e-02,
       -3.07777616e-01,  9.48104220e-01, -9.67976729e-01,  2.51039942e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480595, -0.03586514,  0.30490861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004346695342945378
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55417722e-13,  2.79363134e-14,  1.00000000e+00,  7.13542954e-27,
        1.00000000e+00, -2.79363134e-14, -1.00000000e+00,  0.00000000e+00,
       -2.55417722e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356153, -0.06065581,  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:
[ 2.14563053e-05, 1.06721623e-05, 2.25917126e-05, 1.12726124e-05,
 -1.97540813e-03, 2.95553855e-02, 1.08942004e-02, 1.03972059e-03,
 -2.50540818e-06,-1.23274078e-05,-2.82855304e-05,-4.08045512e-05,
  5.30898879e-02, 2.11905127e-02, 1.46999621e-02,-2.78497053e-05,
 -4.28012493e-07, 3.35207653e-07,-9.80999970e+00,-6.49736701e-02,
 -9.55459052e-03,-5.18263840e-03]


--- Step 2066 ---
qpos:
[ 0.00988488, 0.0080965 ,-0.00558228, 0.03350566, 0.00564513,-0.0248326 ,
 -0.01705525, 0.03804055, 0.01299883, 0.00593808,-0.01172535, 0.03411132,
  0.81022589,-0.0156496 , 1.13253685, 0.04614744, 0.09506326,-0.06323786,
  0.14260527, 0.9422589 ,-0.032585  , 0.02730018, 0.33217627]

qacc:
[ 2.31220191e+00,-6.43777939e-01, 3.68249575e+00,-8.17387360e+00,
  4.14665410e+00, 2.94252943e-01,-6.03008199e-01,-2.95498989e+00,
  5.93196285e+00,-1.17033259e+00, 6.17938527e+00,-1.45679230e+01,
  2.44326052e+00, 9.73844905e-01, 9.27591094e+00,-1.67438619e+01,
 -1.75923031e-02,-4.05969767e-02, 8.18400756e-03, 8.01510260e-01,
 -2.06767920e-01, 1.63258116e+00]

qfrc_actuator:
[ 3.73536688e-05, 2.20902856e-04, 1.08404386e-04, 1.99639939e-05,
 -2.11314506e-03, 2.77476493e-02, 1.02500657e-02, 1.02870833e-03,
 -4.57243362e-05, 7.78478115e-05,-9.42682786e-05, 6.45098584e-06,
  5.00623217e-02, 1.98675926e-02, 2.69414228e-03,-2.39696333e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71302194, -0.4767289 , -0.53021679, -0.4767289 ,  4.40928361,
       -3.32338547, -0.53021679, -3.32338547,  3.7011467 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.114421960933297e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99107698e-01,  5.64158443e-03, -4.18566701e-02,  5.63664013e-03,
        9.99984086e-01,  2.36141696e-04,  4.18573362e-02,  0.00000000e+00,
       -9.99123598e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13169694, -0.08277189,  0.17472747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037847223536968363
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85498226e-01, -1.69659953e-01,  2.95765157e-03, -1.69659189e-01,
        9.85502664e-01,  5.09176732e-04, -3.00116040e-03,  1.08420217e-19,
       -9.99995497e-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([ 0.13124765, -0.08203693,  0.13158556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28555152,  6.55451891,  3.18080851,  6.55451891, 11.42267911,
       -8.52515359,  3.18080851, -8.52515359, 24.85287135,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.649338023284586e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97870008,  0.10920677, -0.17383911,  0.10752376,  0.99401906,
        0.01909864,  0.17488509,  0.        , -0.98458885])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329777, -0.05385128,  0.29658706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005014006108944946
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40023394e-01, -9.17489112e-01, -3.17178970e-01, -8.02753338e-02,
       -3.06852359e-01,  9.48365700e-01, -9.67442319e-01,  2.53091602e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480563, -0.03586578,  0.30491007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043421580638891566
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27842309e-13, -6.79162266e-14,  1.00000000e+00, -8.68256721e-27,
        1.00000000e+00,  6.79162266e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27842309e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0535621 , -0.0606551 ,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35654783e-05, 2.93188102e-05, 1.50926688e-05,-1.02935633e-05,
 -2.01655073e-03, 2.95714373e-02, 1.09029494e-02, 1.07476985e-03,
  3.46990476e-05,-1.47116998e-06, 2.12945037e-06,-2.44927455e-05,
  5.27470402e-02, 2.10257906e-02, 1.44626571e-02, 1.09367814e-04,
 -1.04027382e-06, 7.12427792e-07,-9.80999944e+00,-6.49731276e-02,
 -9.55514666e-03,-5.18205447e-03]


--- Step 2067 ---
qpos:
[ 0.00988512, 0.00809554,-0.00558098, 0.03350501, 0.00564413,-0.02484761,
 -0.0170595 , 0.03804008, 0.01299871, 0.00593867,-0.01172522, 0.03411109,
  0.81024483,-0.0156362 , 1.1325173 , 0.04614212, 0.09506403,-0.06323755,
  0.1426057 , 0.94225362,-0.03257597, 0.02729857, 0.33219227]

qacc:
[-1.69298567e+00,-2.73697662e-01, 1.97309163e+00,-4.64773475e+00,
  3.73583750e+00, 4.31117428e-01,-5.94025319e-01,-2.78112487e+00,
  6.77852441e+00,-1.35181390e+00, 4.07267848e+00,-3.21759046e+00,
  2.09498723e+00, 1.26415701e+00, 8.16785136e+00,-7.82921114e+00,
 -1.98385018e-02,-3.44356487e-02, 6.96113383e-03, 6.11333077e-01,
 -2.40728391e-01, 1.28996206e+00]

qfrc_actuator:
[ 2.70389410e-05, 2.32146592e-04, 1.13664443e-04, 1.32605782e-05,
 -2.14036925e-03, 2.77800641e-02, 1.02405914e-02, 1.04122151e-03,
 -7.15936179e-06, 6.76064828e-05,-7.06810430e-05, 1.13019888e-05,
  5.00575525e-02, 1.98785134e-02, 2.67016413e-03,-2.26437891e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7130522 , -0.33396061, -0.63001092, -0.33396061,  5.31941446,
       -2.44177284, -0.63001092, -2.44177284,  2.00740429,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.1750922330910004e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99106913e-01,  5.64014357e-03, -4.18755982e-02,  5.63519606e-03,
        9.99984094e-01,  2.36188143e-04,  4.18762643e-02, -2.71050543e-20,
       -9.99122805e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13169796, -0.08277064,  0.17472715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037839532737242145
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85494205e-01, -1.69683276e-01,  2.95924623e-03, -1.69682511e-01,
        9.85498648e-01,  5.09523373e-04, -3.00279076e-03,  0.00000000e+00,
       -9.99995492e-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([ 0.13124939, -0.08203722,  0.13158563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28591832,  6.53101043,  3.22962979,  6.53101043, 10.55906434,
       -6.61900965,  3.22962979, -6.61900965, 20.67098839,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7813791804541974e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78703707e-01,  1.09181869e-01, -1.73834327e-01,  1.07499354e-01,
        9.94021790e-01,  1.90937030e-02,  1.74879796e-01, -3.46944695e-18,
       -9.84589791e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329815, -0.05385194,  0.2965873 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005006890595424734
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24228847, -0.91720155, -0.31628723, -0.0807797 , -0.30579773,
        0.94866347, -0.96683553,  0.25539981,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480525, -0.03586698,  0.30491167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043364281506719227
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28011233e-13, -1.96017200e-13,  1.00000000e+00, -2.50924033e-26,
        1.00000000e+00,  1.96017200e-13, -1.00000000e+00,  0.00000000e+00,
       -1.28011233e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356239, -0.06065455,  0.06199027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.91555074e-06, 3.03489686e-05, 1.28190865e-05,-5.12472440e-06,
 -2.06848584e-03, 2.96214834e-02, 1.09168773e-02, 1.10051330e-03,
  3.95538157e-05,-1.16887267e-05, 2.26909897e-05, 4.38295247e-06,
  5.24209464e-02, 2.08759860e-02, 1.40700784e-02, 2.16160437e-04,
 -1.73998212e-06, 1.12730771e-06,-9.80999914e+00,-6.49723733e-02,
 -9.55575559e-03,-5.18138490e-03]


--- Step 2068 ---
qpos:
[ 0.00988558, 0.00809491,-0.00558024, 0.03350431, 0.00564362,-0.02486242,
 -0.01706396, 0.03803941, 0.01299871, 0.00593937,-0.01172518, 0.03411057,
  0.81026919,-0.01561966, 1.13251051, 0.04614078, 0.09506471,-0.06323735,
  0.14260616, 0.94224765,-0.03256584, 0.02729683, 0.33221035]

qacc:
[ 1.90390653e+00, 1.89081968e+00,-5.90758943e+00, 5.76413985e+00,
  4.05270832e+00, 4.43033018e-01,-3.70939020e-01,-2.84446506e+00,
  1.03580887e+00,-1.95591851e-01, 2.13093777e+00,-7.06861018e+00,
  1.69073574e+00, 1.60368512e+00, 6.76898900e+00, 3.65494658e+00,
 -2.11701145e-02,-2.63140344e-02, 6.07295394e-03, 4.59483444e-01,
 -2.71624864e-01, 1.10523881e+00]

qfrc_actuator:
[ 3.86224747e-05, 2.39147121e-04, 8.07355207e-05, 9.57948606e-06,
 -2.13882160e-03, 2.78587740e-02, 1.02545541e-02, 1.01354792e-03,
 -2.18655470e-06, 7.90993471e-05,-7.46006863e-05,-3.49617838e-06,
  5.00590131e-02, 1.98600476e-02, 2.73051766e-03,-2.02414221e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71308583, -0.38021064, -0.60326716, -0.38021064,  5.621951  ,
       -3.09382457, -0.60326716, -3.09382457,  2.66297652,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.241176625025745e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99106111e-01,  5.63914777e-03, -4.18948460e-02,  5.63419659e-03,
        9.99984100e-01,  2.36254984e-04,  4.18955121e-02,  2.71050543e-20,
       -9.99121998e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.131699  , -0.08276941,  0.17472673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037831666380509516
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85489383e-01, -1.69711237e-01,  2.96158415e-03, -1.69710471e-01,
        9.85493834e-01,  5.10012435e-04, -3.00517776e-03, -1.08420217e-19,
       -9.99995484e-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([ 0.13125115, -0.08203756,  0.13158571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28635244,  6.50898571,  3.27475752,  6.50898571,  9.93813393,
       -5.27074378,  3.27475752, -5.27074378, 17.76260776,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.925973939696653e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97870809,  0.10915254, -0.17382809,  0.10747061,  0.99402501,
        0.01908783,  0.17487295,  0.        , -0.98459101])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329854, -0.05385288,  0.29658754])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004999858012832339
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.2445735 , -0.91690903, -0.31537538, -0.08128045, -0.30472138,
        0.948967  , -0.96621804,  0.25772603,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480483, -0.03586869,  0.30491333])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004329855939101679
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.56411077e-13, -1.32211962e-13,  1.00000000e+00, -3.39006115e-26,
        1.00000000e+00,  1.32211962e-13, -1.00000000e+00,  0.00000000e+00,
       -2.56411077e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356246, -0.06065414,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13131717e-05, 2.64172673e-05,-2.52606062e-05,-2.03572304e-06,
 -2.08921501e-03, 2.97006893e-02, 1.09471650e-02, 1.08415584e-03,
  6.09387934e-06, 9.82242611e-06,-3.39722654e-06,-1.44314564e-05,
  5.21243794e-02, 2.06984891e-02, 1.36451772e-02, 3.55018694e-04,
 -2.42140920e-06, 1.53631264e-06,-9.80999884e+00,-6.49714583e-02,
 -9.55640799e-03,-5.18062959e-03]


--- Step 2069 ---
qpos:
[ 0.00988652, 0.00809472,-0.00558023, 0.03350324, 0.00564346,-0.02487686,
 -0.01706845, 0.03803859, 0.01299877, 0.00594074,-0.01172571, 0.0341095 ,
  0.81029672,-0.01560129, 1.13250695, 0.04613905, 0.09506533,-0.06323722,
  0.14260663, 0.94224131,-0.03255516, 0.0272952 , 0.33222951]

qacc:
[ 4.18174031e+00, 1.83413130e+00,-4.09044181e+00,-1.68738410e+00,
  2.92115297e+00, 2.49115164e-01, 4.48722117e-01,-3.25986858e+00,
  4.94297175e-01, 1.35006280e+00,-1.19302345e+00,-7.99340973e+00,
  1.00219395e+00, 9.15051397e-01, 5.95995940e+00,-1.39657426e+01,
 -1.60187695e-02,-1.85747833e-02, 4.63823098e-03, 2.55155908e-01,
 -5.42534711e-02, 5.80318226e-01]

qfrc_actuator:
[ 6.30096348e-05, 2.61146875e-04, 4.32583274e-05,-1.00770038e-05,
 -2.12022677e-03, 2.78762964e-02, 1.02825970e-02, 1.01508243e-03,
  7.26470242e-07, 1.38904544e-04,-9.46683675e-05,-2.97465919e-05,
  5.00640452e-02, 1.98404708e-02, 2.72900455e-03,-2.16590149e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71312179, -0.5749229 , -0.42190799, -0.5749229 ,  2.27845526,
       -2.13303869, -0.42190799, -2.13303869,  3.61975742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.310386746043401e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99105307e-01,  5.63863478e-03, -4.19141022e-02,  5.63367949e-03,
        9.99984103e-01,  2.36342072e-04,  4.19147686e-02, -2.71050543e-20,
       -9.99121190e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13170003, -0.08276818,  0.17472626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003782497927711843
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85483880e-01, -1.69743152e-01,  2.96397682e-03, -1.69742385e-01,
        9.85488337e-01,  5.10523311e-04, -3.00762242e-03,  0.00000000e+00,
       -9.99995477e-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([ 0.13125292, -0.08203795,  0.13158579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28683256,  6.53484939,  3.22392186,  6.53484939, 10.45056824,
       -6.41285276,  3.22392186, -6.41285276, 20.28560509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.074170151571611e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78713051e-01,  1.09119369e-01, -1.73820966e-01,  1.07438100e-01,
        9.94028653e-01,  1.90811743e-02,  1.74865146e-01, -3.46944695e-18,
       -9.84592393e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132989 , -0.05385406,  0.29658778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004993510967169937
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24664199, -0.91664322, -0.31453608, -0.08172575, -0.30373318,
        0.94924552, -0.96565451,  0.2598295 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480441, -0.0358709 ,  0.30491498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043226618459293376
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.41755113e-07,  4.41755115e-07,  1.00000000e+00,  1.95147581e-13,
        1.00000000e+00, -4.41755115e-07, -1.00000000e+00,  0.00000000e+00,
       -4.41755113e-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([ 0.05398193, -0.06123671,  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:
[ 2.47211628e-05, 3.14852928e-05,-3.52027596e-05,-1.94373656e-05,
 -2.09478233e-03, 2.97086757e-02, 1.09859862e-02, 1.09561036e-03,
  3.09257201e-06, 6.39551345e-05,-1.89643062e-05,-2.62286563e-05,
  5.18581975e-02, 2.05217792e-02, 1.30056883e-02, 1.38200255e-05,
 -3.08337760e-06, 1.94851058e-06,-9.80999855e+00,-6.49704255e-02,
 -9.55710878e-03,-5.17978824e-03]


--- Step 2070 ---
qpos:
[ 0.00988774, 0.00809497,-0.00558075, 0.03350226, 0.00563855,-0.02488524,
 -0.01706796, 0.03804045, 0.01299921, 0.00594227,-0.01172611, 0.03410917,
  0.81025241,-0.01561733, 1.13246096, 0.0461452 , 0.09506677,-0.06323447,
  0.14260655, 0.94225097,-0.0325716 , 0.02728484, 0.33220135]

qacc:
[ 2.47740690e+00, 2.26992869e+00,-7.71037779e+00, 1.00597483e+01,
 -3.99197914e+01,-3.25590686e-01, 1.58943311e+00, 3.22324092e+01,
  3.34284690e+00, 1.37116228e+00,-7.72806677e+00, 2.02882813e+01,
 -2.92377618e+01,-7.30758196e+00,-8.56639214e+01, 2.10521989e+02,
  2.06414188e-01, 6.54703458e-01,-1.38107512e-01,-1.33205809e+01,
  9.47346114e-01,-2.54590339e+01]

qfrc_actuator:
[ 7.69780329e-05, 2.91910025e-04, 2.12083235e-05,-3.45672780e-06,
 -2.09146197e-03, 2.78746074e-02, 1.02657280e-02, 1.01642012e-03,
  2.01676459e-05, 1.38337126e-04,-8.83950766e-05, 8.52478166e-06,
  5.00605767e-02, 1.98025261e-02, 2.72272508e-03,-2.25002214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71315971, -0.531051  ,  0.4760059 , -0.531051  ,  0.45172158,
       -0.29167072,  0.4760059 , -0.29167072,  0.38776033,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.381831777007237e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99104514e-01,  5.63846984e-03, -4.19330102e-02,  5.63351022e-03,
        9.99984104e-01,  2.36441772e-04,  4.19336768e-02,  2.71050543e-20,
       -9.99120397e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13170104, -0.08276697,  0.17472574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24801883,  0.22623189,  0.10164876,  0.22623189,  0.45973177,
       -0.47119334,  0.10164876, -0.47119334,  1.29671791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003781927412632857
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85478011e-01, -1.69777172e-01,  2.96667130e-03, -1.69776403e-01,
        9.85482477e-01,  5.11092865e-04, -3.01037448e-03,  1.08420217e-19,
       -9.99995469e-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([ 0.13125466, -0.08203837,  0.13158588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28736494,  7.02980684,  1.92028737,  7.02980684,  7.63040748,
       -1.25581347,  1.92028737, -1.25581347, 11.88465922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.226979853445186e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97871837,  0.10908417, -0.17381309,  0.10740361,  0.99403252,
        0.01907408,  0.17485655,  0.        , -0.98459392])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329926, -0.05385538,  0.29658801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36366253,  1.29652473, -0.42260989,  1.29652473,  1.88604646,
        1.60262148, -0.42260989,  1.60262148,  6.28034437,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000498759808975733
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24875629, -0.91636788, -0.31367215, -0.08217519, -0.30271679,
        0.94953135, -0.96507385,  0.26197797,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048039 , -0.03587331,  0.30491656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.27178814, -6.53625411,  7.9238257 , -6.53625411, 64.57924635,
       44.79747037,  7.9238257 , 44.79747037, 47.22460121,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043234659880860433
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03810174e-06, -1.03810149e-06,  1.00000000e+00, -1.07765496e-12,
        1.00000000e+00,  1.03810149e-06, -1.00000000e+00,  2.01948392e-28,
       -1.03810174e-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([ 0.08748754, -0.10777816,  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:
[ 1.46867368e-05, 4.02800667e-05,-2.05520437e-05, 6.37476172e-06,
 -2.08343163e-03, 2.96889051e-02, 1.09705761e-02, 1.10446545e-03,
  1.95568305e-05, 3.01157267e-05, 1.62331793e-05, 3.98458854e-05,
  5.16965276e-02, 2.03919725e-02, 1.28382154e-02,-5.02596373e-05,
 -3.46038025e-06, 2.16231608e-06,-9.80999841e+00,-6.49692859e-02,
 -9.55777024e-03,-5.17892045e-03]


--- Step 2071 ---
qpos:
[ 0.00988843, 0.00809541,-0.00558147, 0.03350138, 0.00563397,-0.02489502,
 -0.01706845, 0.03804192, 0.01299987, 0.00594351,-0.01172648, 0.03410936,
  0.81021903,-0.01562829, 1.13240822, 0.04614435, 0.09506808,-0.06323233,
  0.14260659, 0.94225726,-0.03258213, 0.02727704, 0.33218311]

qacc:
[-4.67411223e+00, 1.01248563e+00,-3.63152536e+00, 5.43805107e+00,
  2.80116450e+00, 4.31188781e-02,-1.18239411e+00,-3.09675567e+00,
  2.03057631e+00, 5.82028743e-01,-4.86071333e+00, 1.41262481e+01,
  4.78542951e+00, 5.51191880e-01, 1.10361026e+01,-5.34668136e+01,
 -3.54137240e-02,-1.52246107e-01, 2.89803930e-02, 3.02243744e+00,
  1.12351217e-01, 5.35092032e+00]

qfrc_actuator:
[ 4.91928801e-05, 2.92255198e-04, 8.50548929e-06, 8.41978537e-07,
 -2.03387838e-03, 2.78733136e-02, 1.02346687e-02, 1.03262258e-03,
  3.14289912e-05, 8.40281368e-05,-1.02302348e-04, 3.11733207e-05,
  5.00479929e-02, 1.97713081e-02, 2.77083570e-03,-2.25443266e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7130977 , -0.42656394, -0.57144688, -0.42656394,  1.52599747,
       -0.60679959, -0.57144688, -0.60679959,  1.16605114,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.2641908625287994e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99104211e-01,  5.63355656e-03, -4.19408923e-02,  5.62859940e-03,
        9.99984131e-01,  2.36280139e-04,  4.19415579e-02,  0.00000000e+00,
       -9.99120066e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13170123, -0.08276608,  0.17472794])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24800817, -0.02660442,  0.24657708, -0.02660442,  0.68450585,
        0.04709589,  0.24657708,  0.04709589,  0.25308958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037814821211569895
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85487832e-01, -1.69720633e-01,  2.93938760e-03, -1.69719878e-01,
        9.85492216e-01,  5.06218837e-04, -2.98265938e-03,  0.00000000e+00,
       -9.99995552e-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([ 0.13125534, -0.08203769,  0.13158558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28615202,  1.64214369,  7.09868829,  1.64214369, 32.05257404,
       -5.7292308 ,  7.09868829, -5.7292308 ,  8.61149832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8606187708113705e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97870635,  0.10913649, -0.17384793,  0.10745443,  0.99402677,
        0.01908717,  0.17489261,  0.        , -0.98458752])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329825, -0.05385317,  0.29658737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36743222, -0.83715437,  1.08122312, -0.83715437,  3.68920753,
        1.79767184,  1.08122312,  1.79767184,  2.75930853,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005006776116899449
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43230741e-01, -9.17078847e-01, -3.15919603e-01, -8.09891399e-02,
       -3.05362006e-01,  9.48785964e-01, -9.66581381e-01,  2.56359970e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480367, -0.03586863,  0.30491383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.27979917, -5.90661392,  8.4134525 , -5.90661392, 18.05659646,
        5.45965395,  8.4134525 ,  5.45965395, 14.11271651,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043301931654161907
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28195554e-13, -6.81038881e-14,  1.00000000e+00,  8.73061568e-27,
        1.00000000e+00,  6.81038881e-14, -1.00000000e+00,  0.00000000e+00,
        1.28195554e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356696, -0.06065044,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73521582e-05, 1.88984420e-05,-6.68962933e-06, 5.43968165e-06,
 -1.78808748e-03, 2.93851834e-02, 1.06905480e-02, 9.86677098e-04,
  1.18298062e-05,-3.24492598e-05,-4.32129698e-06, 2.52737326e-05,
  5.52760818e-02, 2.20811577e-02, 1.50081671e-02,-4.49035187e-04,
 -8.59921168e-06, 2.65181668e-06,-9.80999779e+00,-6.49710271e-02,
 -9.55957550e-03,-5.17881944e-03]


--- Step 2072 ---
qpos:
[ 0.00988879, 0.00809579,-0.00558223, 0.03350059, 0.00563008,-0.02490651,
 -0.01706997, 0.03804298, 0.01300067, 0.00594446,-0.01172718, 0.03410917,
  0.81019518,-0.01563493, 1.1323587 , 0.04614134, 0.09506928,-0.06323063,
  0.14260672, 0.94226061,-0.03258782, 0.02727125, 0.33217354]

qacc:
[-2.96664290e+00, 1.92137820e-01,-1.12873667e+00, 2.60199310e+00,
  5.80616354e+00,-1.78859034e-01,-9.67292013e-01,-2.96443458e+00,
  1.13829565e+00,-2.46642939e-01, 1.96522330e+00,-7.98502314e+00,
  4.08037627e+00, 5.35271767e-01, 1.11446799e+01,-3.23283733e+01,
 -2.43413841e-02,-1.09275572e-01, 2.40023121e-02, 2.44303464e+00,
  3.87333376e-02, 4.67004134e+00]

qfrc_actuator:
[ 3.25634946e-05, 2.74420479e-04, 1.29139840e-06, 3.71549298e-06,
 -1.99769591e-03, 2.78595443e-02, 1.02345651e-02, 1.05974975e-03,
  3.77802362e-05, 5.11205503e-05,-1.28279128e-04, 8.86307514e-06,
  5.00410535e-02, 1.97716746e-02, 2.79664035e-03,-2.23478054e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71306125, -0.04420164, -0.71168993, -0.04420164,  4.67249775,
       -0.24591268, -0.71168993, -0.24591268,  0.72833439,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.193001632285904e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99103806e-01,  5.62897644e-03, -4.19511557e-02,  5.62402089e-03,
        9.99984157e-01,  2.36145808e-04,  4.19518203e-02, -2.71050543e-20,
       -9.99119635e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13170162, -0.08276515,  0.17472947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037809433888368293
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85494338e-01, -1.69683182e-01,  2.92003831e-03, -1.69682437e-01,
        9.85498664e-01,  5.02772263e-04, -2.96300585e-03, -1.08420217e-19,
       -9.99995610e-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([ 0.13125625, -0.08203724,  0.13158538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28549631e+00,  7.28549447e+00,  5.17944202e-03,  7.28549447e+00,
        7.28550892e+00, -1.77379383e-02,  5.17944202e-03, -1.77379383e-02,
        3.22359931e+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: -1.628536263600028e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78698226e-01,  1.09170518e-01, -1.73872312e-01,  1.07487441e-01,
        9.94023037e-01,  1.90958657e-02,  1.74917789e-01,  3.46944695e-18,
       -9.84583042e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329765, -0.05385154,  0.29658699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005017008521216127
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40069635e-01, -9.17463956e-01, -3.17216738e-01, -8.03014291e-02,
       -3.06884570e-01,  9.48353068e-01, -9.67428680e-01,  2.53143732e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480348, -0.03586527,  0.30491255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043398938961333733
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55818011e-13, -1.31906162e-13,  1.00000000e+00, -3.37439720e-26,
        1.00000000e+00,  1.31906162e-13, -1.00000000e+00,  0.00000000e+00,
       -2.55818011e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05357063, -0.06064796,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74025240e-05,-8.43254202e-06,-3.94041486e-06, 3.56134869e-06,
 -1.76860598e-03, 2.94421417e-02, 1.07393588e-02, 1.03371337e-03,
  6.67889624e-06,-5.08977526e-05,-3.23478243e-05,-2.33611930e-05,
  5.47221731e-02, 2.18282224e-02, 1.53731582e-02,-7.87558591e-05,
 -3.66888991e-06, 9.77519349e-07,-9.80999911e+00,-6.49727513e-02,
 -9.55905641e-03,-5.17866756e-03]


--- Step 2073 ---
qpos:
[ 0.00988894, 0.00809588,-0.00558241, 0.03350016, 0.00562704,-0.02491951,
 -0.0170724 , 0.03804369, 0.01300154, 0.00594482,-0.01172779, 0.03410871,
  0.81017991,-0.01563751, 1.13231865, 0.04613951, 0.09507041,-0.06322925,
  0.14260694, 0.94226145,-0.03258958, 0.02726691, 0.33217132]

qacc:
[ -1.75159419, -1.19194222,  2.14467354,  3.59240733,  7.21255492,
  -0.20314416, -0.68314776, -2.91650164,  0.63071485, -1.56939722,
   5.56157647, -9.74326855,  3.46293457,  0.88679088, 10.3508605 ,
 -16.12699252, -0.02125402, -0.08161463,  0.02068625,  1.95148258,
  -0.05796467,  3.96071855]

qfrc_actuator:
[ 2.26466908e-05, 2.63605312e-04, 3.27930551e-05, 2.34637958e-05,
 -2.01035016e-03, 2.78746499e-02, 1.02357322e-02, 1.05808408e-03,
  4.11933991e-05, 1.34222964e-05,-1.25627042e-04,-4.20919028e-06,
  5.00478860e-02, 1.98429689e-02, 2.78710193e-03,-2.09623099e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71304479, -0.46466263, -0.54085258, -0.46466263,  4.7912601 ,
       -3.5037167 , -0.54085258, -3.5037167 ,  3.72319257,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.160340887925018e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99103282e-01,  5.62508624e-03, -4.19641515e-02,  5.62013104e-03,
        9.99984179e-01,  2.36055706e-04,  4.19648154e-02, -2.71050543e-20,
       -9.99119089e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1317022 , -0.08276408,  0.17473048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003780263466521299
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85497983e-01, -1.69662233e-01,  2.90713062e-03, -1.69661494e-01,
        9.85502271e-01,  5.00486184e-04, -2.94989743e-03,  1.08420217e-19,
       -9.99995649e-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([ 0.13125742, -0.08203698,  0.13158526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28518115,   6.63219864,   3.01459874,   6.63219864,
        15.01263317, -17.00060316,   3.01459874, -17.00060316,
        44.68696728,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.5042889223984352e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97869339,  0.10918843, -0.17388827,  0.10750476,  0.99402107,
        0.01910079,  0.17493419,  0.        , -0.98458013])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329737, -0.05385039,  0.2965868 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005021414365198303
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38535082e-01, -9.17641239e-01, -3.17860931e-01, -7.99683544e-02,
       -3.07637179e-01,  9.48137347e-01, -9.67835770e-01,  2.51582836e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480334, -0.03586302,  0.30491223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004345215164712618
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27752365e-13, -1.63682717e-13,  1.00000000e+00, -2.09108542e-26,
        1.00000000e+00,  1.63682717e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27752365e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05357335, -0.06064601,  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:
[-1.04158201e-05,-1.62022744e-05, 2.94042506e-05, 1.93232175e-05,
 -1.81581913e-03, 2.95426460e-02, 1.07924529e-02, 1.05188788e-03,
  3.58976107e-06,-7.38640603e-05,-1.26557610e-05,-1.68274890e-05,
  5.42529202e-02, 2.16834627e-02, 1.52028512e-02, 1.67463717e-04,
 -1.11051612e-06, 1.71201501e-07,-9.80999973e+00,-6.49737852e-02,
 -9.55898222e-03,-5.17841677e-03]


--- Step 2074 ---
qpos:
[ 0.00988828, 0.00809569,-0.00558213, 0.03349929, 0.00562478,-0.02493362,
 -0.01707556, 0.0380441 , 0.01300245, 0.00594461,-0.01172788, 0.03410945,
  0.81017274,-0.01563606, 1.13228323, 0.04613666, 0.09507145,-0.06322816,
  0.14260722, 0.94226031,-0.03258812, 0.02726357, 0.33217499]

qacc:
[-7.08866342e+00,-2.59105293e+00, 1.05680037e+01,-1.87786389e+01,
  6.44650109e+00,-5.96668431e-02,-6.53991321e-01,-2.64137292e+00,
  3.26927330e-01, 2.82840104e-01,-7.15138874e+00, 2.74644307e+01,
  3.19956506e+00, 1.04598364e+00, 9.81515342e+00,-2.45982237e+01,
 -2.00553242e-02,-6.93629505e-02, 1.70945642e-02, 1.57387122e+00,
 -1.28666237e-01, 3.16326829e+00]

qfrc_actuator:
[-1.87484446e-05, 2.39493451e-04, 5.14276411e-05,-2.45528385e-07,
 -2.03499753e-03, 2.77655485e-02, 1.02379496e-02, 1.12802571e-03,
  4.28515215e-05, 8.76234516e-06,-8.83443589e-05, 5.92945215e-05,
  5.00627233e-02, 1.99020862e-02, 2.73970364e-03,-2.20834512e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71304367, -0.45613279, -0.548064  , -0.45613279,  4.74784701,
       -3.3580131 , -0.548064  , -3.3580131 ,  3.50779004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.158097098301141e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99102652e-01,  5.62205314e-03, -4.19795630e-02,  5.61709698e-03,
        9.99984196e-01,  2.36015064e-04,  4.19802265e-02,  0.00000000e+00,
       -9.99118442e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13170295, -0.08276286,  0.17473106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037795037803111395
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85499216e-01, -1.69655210e-01,  2.89906646e-03, -1.69654476e-01,
        9.85503480e-01,  4.99076603e-04, -2.94171103e-03,  0.00000000e+00,
       -9.99995673e-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([ 0.13125881, -0.0820369 ,  0.13158521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.2850796 ,   6.60046163,   3.08322736,   6.60046163,
        13.05277638, -12.34727667,   3.08322736, -12.34727667,
        33.71768295,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.462002091765972e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78691255e-01,  1.09192611e-01, -1.73897672e-01,  1.07508690e-01,
        9.94020610e-01,  1.91025626e-02,  1.74943729e-01, -3.46944695e-18,
       -9.84578433e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329733, -0.05384968,  0.29658677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000502217292751707
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38038446e-01, -9.17692654e-01, -3.18084722e-01, -7.98643649e-02,
       -3.07895394e-01,  9.48062292e-01, -9.67966622e-01,  2.51078909e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480328, -0.03586173,  0.30491254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004347055994133181
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55396532e-13, -1.63613403e-13,  1.00000000e+00, -4.17862957e-26,
        1.00000000e+00,  1.63613403e-13, -1.00000000e+00,  0.00000000e+00,
       -2.55396532e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05357533, -0.06064449,  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:
[-4.16995707e-05,-2.62748558e-05, 1.95802138e-05,-2.30086116e-05,
 -1.88338869e-03, 2.95094787e-02, 1.08403096e-02, 1.13974306e-03,
  1.73602650e-06,-4.93012396e-05, 1.98889386e-05, 5.95745958e-05,
  5.38385633e-02, 2.15391072e-02, 1.46832703e-02,-2.74174829e-06,
 -1.44683459e-07,-3.55145458e-08,-9.80999991e+00,-6.49742711e-02,
 -9.55920860e-03,-5.17806693e-03]


--- Step 2075 ---
qpos:
[ 0.00988783, 0.00809499,-0.00558179, 0.03349855, 0.00562318,-0.02494853,
 -0.01707934, 0.03804423, 0.01300302, 0.00594378,-0.01172731, 0.03411302,
  0.81017305,-0.01563091, 1.1322505 , 0.04613193, 0.09507242,-0.0632273 ,
  0.14260756, 0.94225761,-0.03258405, 0.02726095, 0.33218326]

qacc:
[ 1.75688183e+00,-5.82876546e-01, 5.92514785e-01, 1.82308580e+00,
  5.55758871e+00, 9.57986450e-02,-7.62686434e-01,-2.27605054e+00,
 -2.88704688e+00, 3.11467640e+00,-2.42113306e+01, 7.24321355e+01,
  2.95553798e+00, 9.61687254e-01, 9.57652842e+00,-2.79048163e+01,
 -1.82474594e-02,-5.94762203e-02, 1.32838657e-02, 1.26148220e+00,
 -1.50641136e-01, 2.47216584e+00]

qfrc_actuator:
[-7.33133856e-06, 1.89774978e-04, 4.44630696e-05, 3.89423188e-06,
 -2.04934057e-03, 2.77064036e-02, 1.02409897e-02, 1.22327195e-03,
  2.57119918e-05,-1.13627148e-05,-4.84902711e-05, 2.02897527e-04,
  5.00714460e-02, 1.98635596e-02, 2.70163839e-03,-2.32712292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71305407, -0.28827164, -0.65218522, -0.28827164,  5.0848069 ,
       -1.93235344, -0.65218522, -1.93235344,  1.56717139,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.178794533249187e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99101939e-01,  5.61978640e-03, -4.19968286e-02,  5.61482816e-03,
        9.99984209e-01,  2.36016933e-04,  4.19974918e-02, -2.71050543e-20,
       -9.99117716e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13170382, -0.08276155,  0.17473133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037786410426776884
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85498515e-01, -1.69659357e-01,  2.89468146e-03, -1.69658625e-01,
        9.85502766e-01,  4.98334263e-04, -2.93726365e-03, -1.08420217e-19,
       -9.99995686e-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([ 0.13126038, -0.08203696,  0.1315852 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  7.28512666,   6.58260153,   3.1212862 ,   6.58260153,
        12.40299067, -10.79326193,   3.1212862 , -10.79326193,
        30.0474554 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.4817494106511024e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97869124,  0.10918585, -0.17390202,  0.10750195,  0.99402135,
        0.01910184,  0.17494798,  0.        , -0.98457768])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329745, -0.05384938,  0.29658684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005019944351332731
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38425221e-01, -9.17638117e-01, -3.17952356e-01, -7.99570991e-02,
       -3.07734566e-01,  9.48106692e-01, -9.67863770e-01,  2.51475095e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480319, -0.03586126,  0.30491337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043461785422631294
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27724047e-13, -9.97844117e-14,  1.00000000e+00,  1.27448689e-26,
        1.00000000e+00,  9.97844117e-14, -1.00000000e+00,  0.00000000e+00,
        1.27724047e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05357672, -0.06064331,  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:
[ 1.02205422e-05,-6.13596552e-05,-1.07731887e-05, 3.24711267e-06,
 -1.93610585e-03, 2.95067622e-02, 1.08804562e-02, 1.25039892e-03,
 -1.71112822e-05,-4.10228250e-05, 3.41840882e-05, 1.43336995e-04,
  5.34420982e-02, 2.12997092e-02, 1.44144493e-02,-7.06430095e-05,
 -1.37772258e-07, 1.27183946e-07,-9.80999983e+00,-6.49743230e-02,
 -9.55963023e-03,-5.17761722e-03]


--- Step 2076 ---
qpos:
[ 0.00988785, 0.00809397,-0.00558138, 0.03349922, 0.00562219,-0.02496392,
 -0.0170836 , 0.03804414, 0.01300338, 0.0059421 ,-0.01172645, 0.0341204 ,
  0.81018023,-0.01562228, 1.13222374, 0.04612711, 0.09507331,-0.06322663,
  0.14260794, 0.94225368,-0.03257787, 0.02725877, 0.33219519]

qacc:
[ 4.26292269e+00, 2.28744807e+00,-1.47620337e+01, 3.93819052e+01,
  5.14587952e+00, 2.31783251e-01,-7.98360799e-01,-2.00918039e+00,
 -1.81776755e+00, 5.95385885e+00,-3.89713509e+01, 1.05237418e+02,
  2.61515785e+00, 1.07158396e+00, 9.01692027e+00,-1.88662006e+01,
 -1.83724216e-02,-4.93659486e-02, 1.06528651e-02, 9.94310463e-01,
 -1.82579687e-01, 1.96896676e+00]

qfrc_actuator:
[ 1.73354413e-05, 1.96026839e-04, 5.78626230e-05, 7.76122404e-05,
 -2.05770244e-03, 2.77306183e-02, 1.02269406e-02, 1.28052585e-03,
  1.53990534e-05,-7.59872218e-05,-4.29616100e-05, 3.92455750e-04,
  5.00656136e-02, 1.98184046e-02, 2.72243843e-03,-2.28885466e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71307324, -0.28491081, -0.65368132, -0.28491081,  5.67258742,
       -2.16163309, -0.65368132, -2.16163309,  1.65523359,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.216589406061776e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99101163e-01,  5.61818066e-03, -4.20155037e-02,  5.61321942e-03,
        9.99984218e-01,  2.36054415e-04,  4.20161668e-02,  2.71050543e-20,
       -9.99116931e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13170478, -0.08276019,  0.17473134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037776296005525054
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85496294e-01, -1.69672287e-01,  2.89317608e-03, -1.69671556e-01,
        9.85500540e-01,  4.98114189e-04, -2.93574277e-03,  0.00000000e+00,
       -9.99995691e-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([ 0.13126207, -0.08203712,  0.13158523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28529107,  6.56442066,  3.15972266,  6.56442066, 11.51719288,
       -8.7919057 ,  3.15972266, -8.7919057 , 25.55074458,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5487555968611785e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97869286,  0.10917058, -0.17390248,  0.10748692,  0.99402303,
        0.01909919,  0.17494814,  0.        , -0.98457765])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329768, -0.05384943,  0.29658699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005015456744368953
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39544521e-01, -9.17494837e-01, -3.17524245e-01, -8.02121602e-02,
       -3.07225740e-01,  9.48250154e-01, -9.67566242e-01,  2.52617434e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480303, -0.03586147,  0.30491458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004343206157775975
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55622916e-13, -1.63758431e-13,  1.00000000e+00, -4.18604077e-26,
        1.00000000e+00,  1.63758431e-13, -1.00000000e+00,  0.00000000e+00,
       -2.55622916e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05357765, -0.06064239,  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:
[ 2.49388592e-05,-3.01192740e-05,-4.83865682e-07, 7.07812174e-05,
 -1.97756371e-03, 2.95714760e-02, 1.08972508e-02, 1.32105644e-03,
 -1.08223388e-05,-7.43497461e-05, 6.22106357e-06, 1.91766097e-04,
  5.30626889e-02, 2.10689394e-02, 1.43012319e-02, 6.17408207e-05,
 -6.11483864e-07, 4.71074275e-07,-9.80999962e+00,-6.49740315e-02,
 -9.56016604e-03,-5.17707538e-03]


--- Step 2077 ---
qpos:
[ 0.00988783, 0.0080937 ,-0.00558192, 0.03350173, 0.0056218 ,-0.02497958,
 -0.01708826, 0.03804384, 0.01300361, 0.00594003,-0.01172601, 0.03413206,
  0.81019372,-0.01561032, 1.13220386, 0.04612291, 0.09507413,-0.06322613,
  0.14260835, 0.94224874,-0.03256999, 0.02725682, 0.33221014]

qacc:
[-4.81299465e-01, 7.43178629e+00,-3.28535687e+01, 6.57424783e+01,
  5.08260028e+00, 3.17285063e-01,-7.92066484e-01,-1.90201994e+00,
 -1.11969947e+00, 9.42932701e+00,-5.24194540e+01, 1.27351914e+02,
  2.29931345e+00, 1.20461336e+00, 8.25314434e+00,-1.42473350e+01,
 -1.82127611e-02,-4.01203031e-02, 8.32854521e-03, 7.85811938e-01,
 -2.11691120e-01, 1.61266990e+00]

qfrc_actuator:
[ 1.40813319e-05, 2.89143589e-04, 3.01931671e-05, 1.73984562e-04,
 -2.04493893e-03, 2.77870956e-02, 1.02205037e-02, 1.29729940e-03,
  9.19244163e-06,-7.80781578e-05,-5.79099009e-05, 6.07460479e-04,
  5.00721362e-02, 1.98212709e-02, 2.73023304e-03,-2.24616516e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71309903, -0.32746205, -0.63346573, -0.32746205,  6.02402911,
       -2.7454177 , -0.63346573, -2.7454177 ,  2.13230776,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.26675187949045e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99100343e-01,  5.61718724e-03, -4.20351370e-02,  5.61222224e-03,
        9.99984223e-01,  2.36122961e-04,  4.20358002e-02,  5.42101086e-20,
       -9.99116105e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13170579, -0.08275882,  0.17473118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003776523591472581
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85492857e-01, -1.69692236e-01,  2.89368479e-03, -1.69691504e-01,
        9.85497106e-01,  4.98262084e-04, -2.93626919e-03, -1.08420217e-19,
       -9.99995689e-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([ 0.13126385, -0.08203737,  0.13158529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2855511 ,  6.54412606,  3.20213505,  6.54412606, 10.93488181,
       -7.45804904,  3.20213505, -7.45804904, 22.5273858 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6491807543327745e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78695751e-01,  1.09148546e-01, -1.73900036e-01,  1.07465275e-01,
        9.94025450e-01,  1.90950202e-02,  1.74945255e-01,  3.46944695e-18,
       -9.84578162e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329799, -0.05384981,  0.29658718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005009737434021723
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.41103646e-01, -9.17297589e-01, -3.16913497e-01, -8.05615914e-02,
       -3.06502846e-01,  9.48454446e-01, -9.67149865e-01,  2.54206880e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048028 , -0.03586229,  0.30491603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004338651059887094
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27945646e-13, -3.99830144e-15,  1.00000000e+00,  5.11565260e-28,
        1.00000000e+00,  3.99830144e-15, -1.00000000e+00,  0.00000000e+00,
        1.27945646e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05357821, -0.06064169,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55433246e-06, 7.92462243e-05,-3.14970330e-05, 9.64413314e-05,
 -1.99545583e-03, 2.96524825e-02, 1.09150808e-02, 1.34927538e-03,
 -6.55141656e-06,-3.41331031e-05,-2.29109421e-05, 2.15751913e-04,
  5.27256733e-02, 2.08973606e-02, 1.40106864e-02, 1.08774436e-04,
 -1.29283848e-06, 8.92560975e-07,-9.80999934e+00,-6.49734728e-02,
 -9.56077218e-03,-5.17644518e-03]


--- Step 2078 ---
qpos:
[ 0.00988707, 0.00809871,-0.00558779, 0.03350544, 0.00562192,-0.02499522,
 -0.01709324, 0.03804336, 0.01300377, 0.00593858,-0.01172596, 0.03414746,
  0.81021298,-0.01559532, 1.13218954, 0.04611886, 0.09507488,-0.06322577,
  0.14260878, 0.94224304,-0.03256073, 0.02725498, 0.33222735]

qacc:
[-6.67791082e+00, 2.43573442e+01,-8.17410794e+01, 1.07043422e+02,
  4.20014292e+00, 5.31320749e-01,-1.09437362e+00,-1.63837478e+00,
 -7.00412430e-01, 9.62093611e+00,-4.88891869e+01, 1.13705937e+02,
  2.11025597e+00, 1.08313553e+00, 7.71102979e+00,-1.51420981e+01,
 -1.74660111e-02,-3.58312867e-02, 5.42712566e-03, 6.18409771e-01,
 -2.05051332e-01, 1.21166641e+00]

qfrc_actuator:
[-2.33369122e-05, 7.70738547e-04,-1.63152076e-04, 2.47447589e-04,
 -2.03749067e-03, 2.79339175e-02, 1.01832326e-02, 1.34310995e-03,
  5.45076381e-06, 2.82454434e-05,-4.90589035e-05, 8.00243740e-04,
  5.00752230e-02, 1.97984595e-02, 2.74590619e-03,-2.25474084e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.325763799011592e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99099491e-01,  5.61679884e-03, -4.20554256e-02,  5.61182939e-03,
        9.99984226e-01,  2.36220592e-04,  4.20560890e-02,  0.00000000e+00,
       -9.99115251e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13170685, -0.08275744,  0.17473087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003775379389989529
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85488425e-01, -1.69717941e-01,  2.89550321e-03, -1.69717209e-01,
        9.85492679e-01,  4.98652962e-04, -2.93812757e-03, -1.08420217e-19,
       -9.99995684e-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([ 0.13126568, -0.08203769,  0.13158537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28589153,  6.53760258,  3.21620395,  6.53760258, 10.70069249,
       -6.94129225,  3.21620395, -6.94129225, 21.39550982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7720678881265307e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78699639e-01,  1.09120958e-01, -1.73895468e-01,  1.07438211e-01,
        9.94028479e-01,  1.90896342e-02,  1.74940127e-01,  3.46944695e-18,
       -9.84579074e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329834, -0.05385049,  0.2965874 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005003425616353935
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.2429095 , -0.91706893, -0.31619543, -0.08096063, -0.30565491,
        0.94869408, -0.96666455,  0.25604618,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480251, -0.03586365,  0.30491761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043329240256780033
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28114758e-13, -1.32118344e-13,  1.00000000e+00, -1.69263097e-26,
        1.00000000e+00,  1.32118344e-13, -1.00000000e+00,  0.00000000e+00,
       -1.28114758e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05357849, -0.06064115,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.74651852e-05, 5.23546284e-04,-1.77514335e-04, 7.76423804e-05,
 -2.01829330e-03, 2.98131118e-02, 1.08976556e-02, 1.40533923e-03,
 -3.95169543e-06, 9.17915985e-05, 6.43671818e-06, 1.94704795e-04,
  5.24130476e-02, 2.07081300e-02, 1.36832144e-02, 6.98227297e-05,
 -2.04850620e-06, 1.34488344e-06,-9.80999903e+00,-6.49727059e-02,
 -9.56143034e-03,-5.17572883e-03]


--- Step 2079 ---
qpos:
[ 0.00988449, 0.00811921,-0.00560636, 0.03351023, 0.00562236,-0.02501044,
 -0.01709846, 0.03804274, 0.01300422, 0.0059399 ,-0.01172627, 0.03416442,
  0.8102376 ,-0.01557755, 1.13218213, 0.0461158 , 0.09507556,-0.06322555,
  0.14260923, 0.94223685,-0.03255041, 0.02725312, 0.33224608]

qacc:
[-1.67250055e+01, 5.82242059e+01,-1.82352899e+02, 2.09718546e+02,
  2.72704280e+00, 9.52194152e-01,-2.01740521e+00,-2.44764704e-01,
  2.55368549e+00, 7.85660131e+00,-2.92830730e+01, 5.47904183e+01,
  1.96017287e+00, 9.87962446e-01, 7.14244563e+00,-1.02798453e+01,
 -1.83291614e-02,-3.46544863e-02, 2.96566951e-03, 4.72799839e-01,
 -2.00557091e-01, 8.16200026e-01]

qfrc_actuator:
[-1.16057290e-04, 2.11968025e-03,-5.93162042e-04, 3.42580665e-04,
 -2.05112180e-03, 2.81525314e-02, 1.00387901e-02, 1.65494568e-03,
  2.09417963e-05, 3.23035721e-04,-8.02067742e-06, 8.89761477e-04,
  5.00760702e-02, 1.97769580e-02, 2.80345706e-03,-2.18734679e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.3908714828127776e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99098623e-01,  5.61691094e-03, -4.20760322e-02,  5.61193651e-03,
        9.99984225e-01,  2.36341054e-04,  4.20766959e-02, -2.71050543e-20,
       -9.99114384e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13170792, -0.08275609,  0.17473046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037742196478310157
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85483237e-01, -1.69748020e-01,  2.89817721e-03, -1.69747286e-01,
        9.85487498e-01,  4.99204551e-04, -2.94085640e-03, -1.08420217e-19,
       -9.99995676e-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([ 0.13126754, -0.08203806,  0.13158546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.2863031 ,  6.54159239,  3.20901571,  6.54159239, 10.31508704,
       -6.17418915,  3.20901571, -6.17418915, 19.87241438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9100914760076518e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78704261e-01,  1.09089234e-01, -1.73889354e-01,  1.07407108e-01,
        9.94031961e-01,  1.90833467e-02,  1.74933363e-01, -3.46944695e-18,
       -9.84580275e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132987 , -0.05385144,  0.29658763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004996790708330167
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24489924, -0.91681518, -0.31539543, -0.08139445, -0.30471171,
        0.94896034, -0.96612593,  0.2580711 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480214, -0.03586548,  0.30491929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043263749070722446
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.81639935e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.81639935e-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([ 0.05357855, -0.06064074,  0.06199029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.36117486e-05, 1.60823987e-03,-3.41037127e-04, 1.12932431e-04,
 -2.05697600e-03, 3.00318896e-02, 1.07698371e-02, 1.72665315e-03,
  1.54008231e-05, 3.55810674e-04, 6.75104855e-05, 9.74324018e-05,
  5.21255299e-02, 2.05348380e-02, 1.34627292e-02, 1.29655940e-04,
 -2.74256052e-06, 1.75670605e-06,-9.80999873e+00,-6.49717707e-02,
 -9.56212046e-03,-5.17493441e-03]


--- Step 2080 ---
qpos:
[ 0.00987942, 0.00817446,-0.00564859, 0.03351471, 0.00562276,-0.02502418,
 -0.01710364, 0.03804208, 0.01300486, 0.00594924,-0.01173187, 0.03418439,
  0.81026614,-0.01555774, 1.13218278, 0.04611467, 0.09507615,-0.06322548,
  0.14260969, 0.9422306 ,-0.0325396 , 0.02725129, 0.332265  ]

qacc:
[-2.31652599e+01, 1.11508099e+02,-3.29564960e+02, 3.36436934e+02,
 -4.05344074e-01, 1.76815336e+00,-3.32251735e+00, 1.58268687e+00,
  1.26649814e+00, 3.16108364e+01,-1.10060855e+02, 1.64817731e+02,
  1.37924058e+00, 7.84653070e-01, 6.08810818e+00,-4.03731065e+00,
 -2.23082068e-02,-3.60438329e-02, 2.97640665e-03, 2.30696452e-01,
 -7.15229581e-02, 9.99222287e-02]

qfrc_actuator:
[-2.40567663e-04, 5.02411405e-03,-1.35094462e-03, 4.14856255e-04,
 -2.09517882e-03, 2.89463801e-02, 9.77683195e-03, 2.00215040e-03,
  2.98765536e-05, 9.94790668e-04,-1.78341537e-04, 1.06002300e-03,
  5.00860541e-02, 1.98085326e-02, 2.83255618e-03,-2.07527348e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.459682857729119e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99097760e-01,  5.61734903e-03, -4.20964556e-02,  5.61236938e-03,
        9.99984223e-01,  2.36474215e-04,  4.20971198e-02, -2.71050543e-20,
       -9.99113523e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13170897, -0.08275481,  0.17472996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037731376071405224
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85477525e-01, -1.69781126e-01,  2.90116771e-03, -1.69780391e-01,
        9.85481795e-01,  4.99820010e-04, -2.94390796e-03, -1.08420217e-19,
       -9.99995667e-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([ 0.13126938, -0.08203847,  0.13158555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28677292,  6.58613145,  3.11768057,  6.58613145,  9.72670162,
       -5.15437381,  3.11768057, -5.15437381, 18.17543926,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.056345173879831e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97870937,  0.10905479, -0.17388222,  0.10737335,  0.99403574,
        0.01907647,  0.17492552,  0.        , -0.98458167])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329905, -0.05385263,  0.29658786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004990201416447601
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24695039, -0.9165515 , -0.31456137, -0.08183524, -0.30372989,
        0.94923714, -0.96556641,  0.26015669,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048017 , -0.03586774,  0.30492099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000431932153827271
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.42045949e-08, -7.42048896e-08,  1.00000000e+00,  5.50634377e-15,
        1.00000000e+00,  7.42048896e-08, -1.00000000e+00,  7.88860905e-31,
        7.42045949e-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([ 0.05399796, -0.06122313,  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:
[-1.26654000e-04, 3.73760632e-03,-4.63700735e-04, 1.31578875e-04,
 -2.11734524e-03, 3.08051089e-02, 1.05201984e-02, 2.08067870e-03,
  9.49710118e-06, 8.88770637e-04,-8.51881016e-05, 1.89700595e-04,
  5.18675653e-02, 2.04267975e-02, 1.31469185e-02, 1.92056540e-04,
 -3.28687595e-06, 2.08432918e-06,-9.80999847e+00,-6.49707059e-02,
 -9.56283020e-03,-5.17406846e-03]


--- Step 2081 ---
qpos:
[ 0.00986908, 0.00828183,-0.00571726, 0.03351897, 0.0056168 ,-0.02503004,
 -0.01710427, 0.03804446, 0.01300593, 0.00597875,-0.01175266, 0.0342095 ,
  0.81023088,-0.01556836, 1.13213882, 0.04612408, 0.09507752,-0.06322283,
  0.14260963, 0.94224254,-0.03255717, 0.02723724, 0.33223057]

qacc:
[-4.79269523e+01, 1.42420234e+02,-4.06739112e+02, 4.06521404e+02,
 -5.34309123e+01, 4.06092219e+00,-1.19884945e+01, 5.11822230e+01,
  3.03782133e+00, 7.96269135e+01,-2.66926956e+02, 3.65172828e+02,
 -2.55480078e+01,-6.96556481e+00,-9.70901378e+01, 2.45509122e+02,
  1.94996903e-01, 6.42314573e-01,-1.29279681e-01,-1.43785162e+01,
 -4.21720097e-01,-2.87383213e+01]

qfrc_actuator:
[-5.07031373e-04, 8.90739411e-03,-2.18283270e-03, 5.09868109e-04,
 -2.44129223e-03, 3.11315493e-02, 9.37316593e-03, 2.10423919e-03,
  5.26298971e-05, 2.66748018e-03,-7.01177259e-04, 1.36541199e-03,
  5.00961318e-02, 1.98538468e-02, 2.82292711e-03,-2.09749147e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71324098, -0.43733606,  0.5634269 , -0.43733606,  0.41993699,
       -0.22766469,  0.5634269 , -0.22766469,  0.53652599,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.530044273797428e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99096961e-01,  5.61774202e-03, -4.21153567e-02,  5.61275754e-03,
        9.99984220e-01,  2.36596942e-04,  4.21160213e-02, -2.71050543e-20,
       -9.99112727e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13170994, -0.08275369,  0.17472945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24779326, -0.22964638, -0.09308084, -0.22964638,  0.51506976,
       -0.6594169 , -0.09308084, -0.6594169 ,  1.87468768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003772486686271968
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85471713e-01, -1.69814817e-01,  2.90364463e-03, -1.69814080e-01,
        9.85475991e-01,  5.00348955e-04, -2.94643873e-03,  0.00000000e+00,
       -9.99995659e-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([ 0.13127108, -0.08203889,  0.13158563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28728103,  6.62282635,  3.04017038,  6.62282635,  9.51006683,
       -4.84220373,  3.04017038, -4.84220373, 17.83572746,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2035989332166034e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97871458,  0.10902016, -0.1738746 ,  0.10733942,  0.99403954,
        0.0190695 ,  0.17491719,  0.        , -0.98458315])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329938, -0.053854  ,  0.29658808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36299038,  1.28678283, -0.44936924,  1.28678283,  2.18736343,
        2.36061795, -0.44936924,  2.36061795,  8.12269355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000498416213853722
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48938093e-01, -9.16294118e-01, -3.13743391e-01, -8.22559651e-02,
       -3.02768677e-01,  9.49507812e-01, -9.65020094e-01,  2.62175929e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480122, -0.03587031,  0.30492262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004325012127443656
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.56698245e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.56698245e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08773434, -0.10807734,  0.06199029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.68887168e-04, 5.88168662e-03,-1.12542474e-04, 2.41658350e-04,
 -2.46118334e-03, 3.29168084e-02, 1.01146073e-02, 2.18448275e-03,
  2.33568001e-05, 2.15991411e-03,-3.43268389e-04, 3.44167245e-04,
  5.16821529e-02, 2.03705295e-02, 1.27335773e-02, 7.37477366e-05,
 -3.40533572e-06, 2.15025785e-06,-9.80999837e+00,-6.49695498e-02,
 -9.56348890e-03,-5.17317017e-03]


--- Step 2082 ---
qpos:
[ 0.00985112, 0.0084539 ,-0.00580733, 0.03353197, 0.005604  ,-0.02502667,
 -0.0171038 , 0.03804699, 0.01300138, 0.00604899,-0.01179701, 0.03424529,
  0.81020625,-0.01557599, 1.13208686, 0.04612491, 0.0950785 ,-0.06322159,
  0.1426097 , 0.94225566,-0.03257118, 0.02722688, 0.33219285]

qacc:
[-6.85984762e+01, 1.63460474e+02,-4.95407964e+02, 6.33013550e+02,
 -5.75399611e+01, 9.51961177e+00,-1.66991528e+01, 1.06191104e+01,
 -5.08216747e+01, 1.41749467e+02,-4.72240299e+02, 6.64546543e+02,
  5.99936857e+00,-2.55801109e+00, 1.38877102e+01,-6.63046594e+01,
 -9.83985589e-02,-3.51470573e-01, 3.37694228e-02, 2.35700822e+00,
  1.18365056e+00,-1.63781588e+00]

qfrc_actuator:
[-0.0008904 , 0.01334672,-0.0027629 , 0.00106238,-0.00312208, 0.03538721,
  0.00891547, 0.00225149,-0.0002362 , 0.00609705,-0.00135251, 0.00201484,
  0.05013885, 0.02001005, 0.00275723,-0.00219193, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.71315253, -0.38230378,  0.60202189, -0.38230378,  1.7409208 ,
        0.6526668 ,  0.60202189,  0.6526668 ,  1.12761751,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.3684239941773615e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99096721e-01,  5.61178323e-03, -4.21218513e-02,  5.60680251e-03,
        9.99984254e-01,  2.36382421e-04,  4.21225146e-02,  2.71050543e-20,
       -9.99112453e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13170989, -0.08275358,  0.17473218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24775238, -0.00309094,  0.2477331 , -0.00309094,  0.99678227,
        0.00934557,  0.2477331 ,  0.00934557,  0.24786899,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037707715676003705
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85483443e-01, -1.69747297e-01,  2.87044645e-03, -1.69746576e-01,
        9.85487623e-01,  4.94425819e-04, -2.91271690e-03,  0.00000000e+00,
       -9.99995758e-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([ 0.1312715 , -0.08203808,  0.13158525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28576315,  6.81771594,  2.56925944,  6.81771594,  8.67018335,
       -3.67365922,  2.56925944, -3.67365922, 17.03408384,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7267543139534774e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9786997 ,  0.10908527, -0.17391749,  0.10740266,  0.9940324 ,
        0.01908573,  0.17496159,  0.        , -0.98457526])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329792, -0.05385213,  0.29658716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.3670268 , -0.77588633,  1.12550552, -0.77588633,  3.13620802,
        1.2196151 ,  1.12550552,  1.2196151 ,  2.20778917,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005004718051128222
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.41927182e-01, -9.17198369e-01, -3.16572884e-01, -8.07402006e-02,
       -3.06103595e-01,  9.48568189e-01, -9.66929293e-01,  2.55044587e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480076, -0.03586631,  0.30492007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.27990827, -5.91948763,  8.40453332, -5.91948763, 17.37251386,
        4.99546963,  8.40453332,  4.99546963, 13.79832144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004330284648016436
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.84578538e-13, -1.00150661e-13,  1.00000000e+00, -3.85157947e-26,
        1.00000000e+00,  1.00150661e-13, -1.00000000e+00,  0.00000000e+00,
       -3.84578538e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05358381, -0.06063659,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.89251916e-04, 7.71236453e-03, 6.28939867e-04, 8.05278124e-04,
 -2.82394820e-03, 3.67788104e-02, 9.42997058e-03, 2.18021621e-03,
 -2.87340216e-04, 4.58037942e-03,-2.35709507e-04, 7.36734645e-04,
  5.49147135e-02, 2.20479188e-02, 1.48996075e-02,-5.48131718e-04,
 -1.21349341e-05, 3.26523669e-06,-9.80999763e+00,-6.49712102e-02,
 -9.56637031e-03,-5.17270777e-03]


--- Step 2083 ---
qpos:
[ 0.00982593, 0.00870878,-0.00591647, 0.03355792, 0.00558051,-0.02500947,
 -0.01710156, 0.03804993, 0.01298651, 0.00617508,-0.01186258, 0.03430955,
  0.81019304,-0.01557957, 1.13204023, 0.04612377, 0.09507893,-0.06322193,
  0.14260996, 0.94227233,-0.0325837 , 0.02721901, 0.33214496]

qacc:
[-6.55495167e+01, 1.89553735e+02,-5.71455953e+02, 7.64656957e+02,
 -9.00416092e+01, 1.43543046e+01,-2.60585589e+01, 1.96923176e+01,
 -9.25129666e+01, 1.91840554e+02,-6.96768440e+02, 1.18175649e+03,
  5.67981820e+00,-1.15766574e+00, 1.35994419e+01,-3.66269091e+01,
 -1.35283817e-01,-3.92659868e-01, 4.56942667e-02, 1.31087682e+00,
  1.04349945e+00,-5.31740879e+00]

qfrc_actuator:
[-0.00125069, 0.01900938,-0.00311534, 0.00184501,-0.00371661, 0.04045458,
  0.00856897, 0.002463  ,-0.00075937, 0.01026809,-0.00185345, 0.0035732 ,
  0.05019674, 0.02024705, 0.00270414,-0.00211951, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.71308199, -0.31053914,  0.64191227, -0.31053914,  1.4429722 ,
        0.3531004 ,  0.64191227,  0.3531004 ,  0.88390205,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.233696210246871e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99096955e-01,  5.59899853e-03, -4.21180022e-02,  5.59403007e-03,
        9.99984325e-01,  2.35822329e-04,  4.21186624e-02,  0.00000000e+00,
       -9.99112615e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13170937, -0.08275516,  0.1747345 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24772876, -0.24606115, -0.02869581, -0.24606115,  0.27643008,
       -0.24610833, -0.02869581, -0.24610833,  2.35806092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037697799841000817
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85495688e-01, -1.69676630e-01,  2.84426964e-03, -1.69675924e-01,
        9.85499793e-01,  4.89706941e-04, -2.88611897e-03, -5.42101086e-20,
       -9.99995835e-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([ 0.13127094, -0.0820372 ,  0.13158493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 7.28489338,  6.70399833,  2.85062762,  6.70399833,  7.45029948,
       -0.38899583,  2.85062762, -0.38899583,  8.19971907,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3810981670331737e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78685587e-01,  1.09158367e-01, -1.73951066e-01,  1.07473945e-01,
        9.94024371e-01,  1.91023629e-02,  1.74996782e-01,  3.46944695e-18,
       -9.84569005e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329686, -0.05385081,  0.29658649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005014913186756841
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38088124e-01, -9.17664024e-01, -3.18130138e-01, -7.98937221e-02,
       -3.07934698e-01,  9.48047053e-01, -9.67951981e-01,  2.51135345e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480035, -0.03586355,  0.30491893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004343392388639067
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27805978e-13,  9.18605467e-14,  1.00000000e+00,  1.17403270e-26,
        1.00000000e+00, -9.18605467e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27805978e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05358811, -0.06063374,  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:
[-3.69202888e-04, 1.01346069e-02, 1.34503495e-03, 1.15035355e-03,
 -3.07675382e-03, 4.13842296e-02, 9.02760533e-03, 2.38385576e-03,
 -5.29572905e-04, 6.71306697e-03, 4.41266990e-04, 1.76069710e-03,
  5.44411142e-02, 2.21356586e-02, 1.52473222e-02,-4.61284908e-05,
 -1.20625336e-05, 4.48454340e-06,-9.80999864e+00,-6.49736100e-02,
 -9.56670841e-03,-5.17249504e-03]


--- Step 2084 ---
qpos:
[ 0.00979554, 0.00905738,-0.00603713, 0.03360002, 0.00554428,-0.02497562,
 -0.01709734, 0.03805333, 0.01296512, 0.00637027,-0.01194482, 0.0344158 ,
  0.81019181,-0.01557814, 1.13200327, 0.0461231 , 0.09507878,-0.06322379,
  0.14261042, 0.94229338,-0.03259573, 0.0272127 , 0.33208458]

qacc:
[-4.74433987e+01, 1.89433841e+02,-5.63718507e+02, 7.92483968e+02,
 -1.07171615e+02, 1.76296407e+01,-3.25345701e+01, 2.47457991e+01,
 -5.89208112e+01, 2.24415450e+02,-8.44691944e+02, 1.54671100e+03,
  5.40313570e+00, 2.39252631e-02, 1.27064712e+01,-2.40649126e+01,
 -1.45925050e-01,-3.83823457e-01, 4.85820987e-02, 7.28531885e-01,
  7.97467904e-01,-6.57995080e+00]

qfrc_actuator:
[-0.0015057 , 0.02481172,-0.00323619, 0.00275801,-0.00405752, 0.04561015,
  0.00839463, 0.00251748,-0.00107887, 0.01499461,-0.00216832, 0.00579687,
  0.05024199, 0.02045926, 0.00276421,-0.00203891, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.71301321, -0.24134342,  0.67092562, -0.24134342,  1.49234678,
        0.28033962,  0.67092562,  0.28033962,  0.81385616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.096676547491178e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99097905e-01,  5.57553094e-03, -4.20985787e-02,  5.57058786e-03,
        9.99984457e-01,  2.34725576e-04,  4.20992330e-02,  0.00000000e+00,
       -9.99113434e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13170806, -0.08275915,  0.17473682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003769485153245738
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85510523e-01, -1.69590823e-01,  2.82161193e-03, -1.69590128e-01,
        9.85514562e-01,  4.85552935e-04, -2.86308497e-03,  5.42101086e-20,
       -9.99995901e-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([ 0.13126888, -0.0820361 ,  0.1315846 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.28433355, 6.66237106, 2.94522107, 6.66237106, 7.0772487 ,
       0.4684457 , 2.94522107, 0.4684457 , 6.22466469, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.1026670680115342e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78669925e-01,  1.09252895e-01, -1.73979832e-01,  1.07566417e-01,
        9.94013986e-01,  1.91222666e-02,  1.75027550e-01, -3.46944695e-18,
       -9.84563536e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329595, -0.05385005,  0.29658592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005017391135349312
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.2362861 , -0.91787264, -0.31887097, -0.07949454, -0.30880303,
        0.94779813, -0.9684263 ,  0.24930002,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480004, -0.03586214,  0.30491889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043526393432175015
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27534461e-13, -3.98545190e-15,  1.00000000e+00,  5.08282460e-28,
        1.00000000e+00,  3.98545190e-15, -1.00000000e+00,  0.00000000e+00,
        1.27534461e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05359137, -0.0606315 ,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.62791966e-04, 1.17887589e-02, 2.17633987e-03, 1.41584556e-03,
 -2.88284933e-03, 4.58477446e-02, 8.76500592e-03, 2.41816619e-03,
 -3.31955945e-04, 8.64291591e-03, 1.18620986e-03, 2.56062667e-03,
  5.39152653e-02, 2.21449827e-02, 1.50422977e-02, 1.33219671e-04,
 -1.69195761e-05, 8.39524556e-06,-9.80999892e+00,-6.49757386e-02,
 -9.56738341e-03,-5.17242357e-03]


--- Step 2085 ---
qpos:
[ 0.00975059, 0.00949657,-0.00615817, 0.0336796 , 0.00549394,-0.02492391,
 -0.01709152, 0.03805709, 0.01294006, 0.00664775,-0.01204011, 0.03457314,
  0.81020284,-0.01557126, 1.13197219, 0.04612117, 0.09507807,-0.06322709,
  0.14261105, 0.94231894,-0.03260772, 0.02720732, 0.33201133]

qacc:
[-1.29315970e+02, 1.98215403e+02,-6.90768649e+02, 1.27270245e+03,
 -1.18869906e+02, 2.00878273e+01,-3.84881376e+01, 2.85421472e+01,
 -3.40605574e+01, 2.50383564e+02,-9.50498351e+02, 1.79457623e+03,
  5.34510792e+00, 4.89977902e-01, 1.23069793e+01,-3.08407894e+01,
 -1.40998573e-01,-3.57881739e-01, 4.40621332e-02, 4.24338261e-01,
  5.81203313e-01,-6.80062874e+00]

qfrc_actuator:
[-0.00224703, 0.02958867,-0.00311151, 0.00468173,-0.00429319, 0.05093454,
  0.00832266, 0.00253077,-0.00125811, 0.02032062,-0.00233209, 0.00846584,
  0.05026321, 0.02056526, 0.00280107,-0.00215033, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.71294365, -0.19753395,  0.6850321 , -0.19753395,  1.56426297,
        0.24548407,  0.6850321 ,  0.24548407,  0.78373075,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9516246888827775e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99099708e-01,  5.53934948e-03, -4.20605477e-02,  5.53444736e-03,
        9.99984658e-01,  2.32991648e-04,  4.20611930e-02, -2.71050543e-20,
       -9.99115036e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13170577, -0.08276567,  0.1747393 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037714979092690455
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85528719e-01, -1.69485454e-01,  2.79735222e-03, -1.69484771e-01,
        9.85532689e-01,  4.81070305e-04, -2.83841647e-03, -5.42101086e-20,
       -9.99995972e-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([ 0.13126505, -0.08203471,  0.1315842 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.28393632, 6.65438277, 2.96224885, 6.65438277, 6.92399576,
       0.80856888, 2.96224885, 0.80856888, 5.46757075, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -8.515366447204545e-06
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97865173,  0.10937334, -0.1740065 ,  0.10768444,  0.99400074,
        0.01914654,  0.17505671,  0.        , -0.98455835])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329507, -0.05384984,  0.29658537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00050140048145997
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.23581945, -0.91792242, -0.31907307, -0.07939353, -0.30903769,
        0.94773012, -0.96854832,  0.24882554,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10479981, -0.03586205,  0.30491978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004359037104314095
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54694557e-13, -6.76532417e-14,  1.00000000e+00, -1.72309124e-26,
        1.00000000e+00,  6.76532417e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54694557e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05359382, -0.06062975,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.45837142e-04, 1.18682359e-02, 2.87414468e-03, 2.53115754e-03,
 -2.48204509e-03, 5.03385584e-02, 8.59367903e-03, 2.40817605e-03,
 -1.85259074e-04, 1.05073905e-02, 1.85464724e-03, 3.12974515e-03,
  5.33372319e-02, 2.20009101e-02, 1.45956164e-02,-1.46232705e-06,
 -2.50791023e-05, 1.45759916e-05,-9.80999883e+00,-6.49778342e-02,
 -9.56810525e-03,-5.17246124e-03]


--- Step 2086 ---
qpos:
[ 0.00967914, 0.01002355,-0.0062773 , 0.03382288, 0.00542866,-0.02485426,
 -0.01708483, 0.03806105, 0.01291306, 0.00701127,-0.01213999, 0.03478428,
  0.8102258 ,-0.01555894, 1.13194259, 0.04611585, 0.09507684,-0.06323167,
  0.14261183, 0.94234877,-0.03261988, 0.02720249, 0.33192585]

qacc:
[-2.33705659e+02, 2.42301467e+02,-9.63672842e+02, 1.99741306e+03,
 -1.25880287e+02, 2.19143997e+01,-4.41600413e+01, 3.25504247e+01,
 -1.86950017e+01, 2.37257236e+02,-9.08038602e+02, 1.78294779e+03,
  5.15514459e+00, 6.29852260e-01, 1.22497096e+01,-4.00163931e+01,
 -1.28458017e-01,-3.20883455e-01, 3.80699254e-02, 2.46601253e-01,
  4.24185053e-01,-6.46262946e+00]

qfrc_actuator:
[-0.00358824, 0.03401782,-0.00297031, 0.00789421,-0.004477  , 0.05585529,
  0.00820518, 0.00271456,-0.00135343, 0.02520213,-0.00231339, 0.01121632,
  0.0502163 , 0.02055183, 0.00276007,-0.00237543, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.71287484, -0.15616938,  0.69555853, -0.15616938,  1.63643068,
        0.20736019,  0.69555853,  0.20736019,  0.75943212,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8007389871863768e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99102403e-01,  5.48906838e-03, -4.20030711e-02,  5.48422403e-03,
        9.99984935e-01,  2.30561203e-04,  4.20037039e-02,  0.00000000e+00,
       -9.99117455e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13170246, -0.08277461,  0.17474198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003777186557341826
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85550458e-01, -1.69359484e-01,  2.76772107e-03, -1.69358816e-01,
        9.85554344e-01,  4.75610316e-04, -2.80828864e-03, -5.42101086e-20,
       -9.99996057e-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([ 0.13125938, -0.082033  ,  0.13158369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.28364687, 6.65518792, 2.95972726, 6.65518792, 6.84555468,
       0.98508597, 2.95972726, 0.98508597, 5.06860079, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -6.0619827173542415e-06
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78630651e-01,  1.09520362e-01, -1.74032580e-01,  1.07828621e-01,
        9.93984552e-01,  1.91754602e-02,  1.75085800e-01, -3.46944695e-18,
       -9.84553179e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329412, -0.05385018,  0.29658478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005005612555859959
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.23643507, -0.91784562, -0.31883831, -0.07953559, -0.30875874,
        0.94780912, -0.96838657,  0.24945431,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10479953, -0.03586319,  0.30492146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004363403899137336
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54439665e-13, -9.93904940e-14,  1.00000000e+00, -2.52888840e-26,
        1.00000000e+00,  9.93904940e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54439665e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05359565, -0.06062837,  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:
[-1.35982556e-03, 1.17533388e-02, 3.03051768e-03, 3.86890675e-03,
 -1.96002618e-03, 5.43643560e-02, 8.39536477e-03, 2.57388233e-03,
 -9.63114656e-05, 1.12650765e-02, 2.52332984e-03, 3.32508004e-03,
  5.26776785e-02, 2.17146760e-02, 1.42618185e-02,-1.63338463e-04,
 -3.55744209e-05, 2.25032970e-05,-9.80999862e+00,-6.49799650e-02,
 -9.56882211e-03,-5.17257179e-03]


--- Step 2087 ---
qpos:
[ 0.00957696, 0.01063923,-0.00639811, 0.03403577, 0.00534759,-0.02476736,
 -0.0170783 , 0.03806525, 0.01288515, 0.00746476,-0.01224179, 0.03504604,
  0.81025973,-0.0155409 , 1.13191685, 0.04610871, 0.09507511,-0.06323742,
  0.14261279, 0.94238289,-0.03263274, 0.02719782, 0.33182809]

qacc:
[-2.70856884e+02, 2.65770270e+02,-1.07040732e+03, 2.21124816e+03,
 -1.32934086e+02, 2.40134912e+01,-5.31169383e+01, 4.44212635e+01,
 -9.63419483e+00, 2.28445090e+02,-8.55620451e+02, 1.66817947e+03,
  4.20973310e+00, 1.76706217e+00, 1.11002109e+01,-3.08131012e+01,
 -1.27520645e-01,-2.90434729e-01, 4.53749930e-02,-6.83245228e-02,
  3.36560993e-01,-6.50544779e+00]

qfrc_actuator:
[-0.00512961, 0.03847115,-0.00305211, 0.01137716,-0.00456995, 0.06073966,
  0.00802497, 0.00404806,-0.00139866, 0.03008208,-0.00225947, 0.01377952,
  0.05009615, 0.02028704, 0.00277906,-0.00243533, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.71280926, -0.1029826 ,  0.70533087, -0.1029826 ,  1.56720578,
        0.1247471 ,  0.70533087,  0.1247471 ,  0.7310231 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6489055938248655e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99105963e-01,  5.42385890e-03, -4.19268009e-02,  5.41908948e-03,
        9.99985291e-01,  2.27408397e-04,  4.19274176e-02,  0.00000000e+00,
       -9.99120659e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13169813, -0.08278576,  0.17474485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003787471725997094
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85575603e-01, -1.69213699e-01,  2.73032807e-03, -1.69213050e-01,
        9.85579385e-01,  4.68768847e-04, -2.77027717e-03, -5.42101086e-20,
       -9.99996163e-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([ 0.13125191, -0.08203099,  0.13158302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.28345177, 6.60528672, 3.06901564, 6.60528672, 6.68941457,
       1.27851613, 3.06901564, 1.27851613, 4.53176632, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -3.5553314968409042e-06
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97860669,  0.10969254, -0.1740589 ,  0.10799756,  0.99396557,
        0.01920888,  0.17511562,  0.        , -0.98454788])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329307, -0.05385105,  0.29658414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004992972068721149
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38008119e-01, -9.17654585e-01, -3.18217218e-01, -7.98911995e-02,
       -3.08025314e-01,  9.48017828e-01, -9.67971865e-01,  2.51058695e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10479912, -0.03586542,  0.30492381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004366326426448325
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.75402987e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.75402987e-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([ 0.05359697, -0.06062728,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57787568e-03, 1.17994205e-02, 2.84818366e-03, 4.16558757e-03,
 -1.30570376e-03, 5.83492738e-02, 8.17058354e-03, 3.89719018e-03,
 -4.31791254e-05, 1.18305464e-02, 2.80310894e-03, 3.19689939e-03,
  5.19612527e-02, 2.11774962e-02, 1.42067720e-02,-5.41705783e-05,
 -4.74084197e-05, 3.14667838e-05,-9.80999836e+00,-6.49821500e-02,
 -9.56952589e-03,-5.17272903e-03]


--- Step 2088 ---
qpos:
[ 0.00942222, 0.01134068,-0.00652041, 0.03431705, 0.00524271,-0.02475706,
 -0.01709481, 0.03809046, 0.01285693, 0.00801243,-0.01234443, 0.03536414,
  0.81030575,-0.01551502, 1.13190008, 0.04610309, 0.09507271,-0.06324447,
  0.14261402, 0.94242262,-0.03264738, 0.02719255, 0.33171422]

qacc:
[-4.61843993e+02, 2.59246502e+02,-1.04701219e+03, 2.16808114e+03,
 -1.99730606e+02, 6.74122899e+00,-2.58929253e+02, 7.14840129e+02,
 -4.26696378e+00, 2.42682174e+02,-9.22543604e+02, 1.82938245e+03,
  3.51867406e+00, 4.46652468e+00, 8.63096626e+00,-1.10104231e+01,
 -1.65231375e-01,-3.27380610e-01, 6.54412298e-02,-6.22632992e-01,
  2.01284968e-01,-8.55383199e+00]

qfrc_actuator:
[-0.00778813, 0.04254791,-0.00321163, 0.01477797,-0.00454833, 0.06580874,
  0.00786107, 0.00679912,-0.00141408, 0.03520677,-0.00213198, 0.01663808,
  0.04994768, 0.01983348, 0.00279118,-0.00228979, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.71274396, -0.10931284,  0.70431148, -0.10931284,  0.32470855,
       -0.06022513,  0.70431148, -0.06022513,  0.70339671,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4885019712871553e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99110312e-01,  5.34288755e-03, -4.18334503e-02,  5.33821024e-03,
        9.99985727e-01,  2.23514611e-04,  4.18340474e-02, -2.71050543e-20,
       -9.99124573e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13169281, -0.082799  ,  0.17474801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24849033, -0.06046713, -0.2410211 , -0.06046713,  0.06509517,
        0.04601   , -0.2410211 ,  0.04601   ,  0.23694739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003801535346181987
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85604187e-01, -1.69047846e-01,  2.68565035e-03, -1.69047218e-01,
        9.85607846e-01,  4.60632905e-04, -2.72486705e-03,  0.00000000e+00,
       -9.99996288e-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([ 0.13124275, -0.08202866,  0.13158222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.28335488, 6.52791756, 3.23010072, 6.52791756, 6.42017564,
       1.74445424, 3.23010072, 1.74445424, 3.7578755 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -8.175884228743275e-07
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78579627e-01,  1.09889816e-01, -1.74086593e-01,  1.08191165e-01,
        9.93943775e-01,  1.92469073e-02,  1.75147325e-01, -3.46944695e-18,
       -9.84542236e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329186, -0.0538524 ,  0.29658339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004977730135041872
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40110415e-01, -9.17398357e-01, -3.17375557e-01, -8.03597830e-02,
       -3.07033466e-01,  9.48299929e-01, -9.67413714e-01,  2.53200920e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10479856, -0.03586862,  0.30492664])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004367979375764358
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.81259707e-13, -9.92863820e-14,  1.00000000e+00, -3.78538969e-26,
        1.00000000e+00,  9.92863820e-14, -1.00000000e+00,  0.00000000e+00,
       -3.81259707e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0535979 , -0.06062644,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70153656e-03, 1.14203482e-02, 2.76666188e-03, 4.08455782e-03,
 -4.95126656e-04, 6.25522776e-02, 8.01365040e-03, 6.63573915e-03,
 -1.13768774e-05, 1.24404713e-02, 3.02236506e-03, 3.52336801e-03,
  5.12638710e-02, 2.04377749e-02, 1.40267850e-02, 1.82839384e-04,
 -6.13680617e-05, 4.17476406e-05,-9.80999796e+00,-6.49844712e-02,
 -9.57040979e-03,-5.17292988e-03]


--- Step 2089 ---
qpos:
[ 0.00920778, 0.01212966,-0.00664715, 0.03467587, 0.0050984 ,-0.02493888,
 -0.01716809, 0.03815666, 0.01282912, 0.00865128,-0.01244207, 0.0357516 ,
  0.81035273,-0.01548674, 1.13199975, 0.04607589, 0.09507407,-0.06325739,
  0.1426139 , 0.94246849,-0.03262828, 0.02720297, 0.33158488]

qacc:
[-5.24037080e+02, 2.88765739e+02,-1.18724496e+03, 2.46967714e+03,
 -3.30047452e+02,-1.04112262e+01,-5.03258799e+02, 1.44334464e+03,
  2.27537368e+00, 2.49214628e+02,-1.00652910e+03, 2.13151314e+03,
 -7.10160727e+00, 1.15067044e+01, 2.37893885e+02,-5.81218286e+02,
  9.39284013e-01,-1.46623712e+00,-3.36336037e-01, 1.88075985e+01,
  1.96507296e+00,-7.59586646e+00]

qfrc_actuator:
[-0.01078103, 0.04705854,-0.0033818 , 0.01867095,-0.00447911, 0.07095133,
  0.00778317, 0.01091243,-0.0013941 , 0.03981679,-0.00183641, 0.02012721,
  0.04978173, 0.01936875, 0.00273466,-0.0023254 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.71249024, 0.03757031, 0.71149899, 0.03757031, 0.25797285,
       0.02400054, 0.71149899, 0.02400054, 0.71122291, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.7290475793653647e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99110607e-01,  5.23809325e-03, -4.18396531e-02,  5.23350632e-03,
        9.99986281e-01,  2.19163011e-04,  4.18402271e-02,  0.00000000e+00,
       -9.99124314e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13169078, -0.08281743,  0.17475462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2464031 , -0.04915414, -0.24145053, -0.04915414,  0.04360475,
        0.04128539, -0.24145053,  0.04128539,  0.23799829,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037134193365037204
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85634907e-01, -1.68866544e-01,  2.81427911e-03, -1.68865856e-01,
        9.85638925e-01,  4.82161952e-04, -2.85528406e-03,  0.00000000e+00,
       -9.99995924e-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([ 0.13123976, -0.08202656,  0.13158375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004960973880649345
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24208077, -0.91715921, -0.31656891, -0.08079033, -0.30608626,
        0.94856951, -0.96688666,  0.25520615,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10479787, -0.03587294,  0.30492996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043686257975851517
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54135528e-13,  2.77960734e-14,  1.00000000e+00,  7.06396980e-27,
        1.00000000e+00, -2.77960734e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54135528e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05359851, -0.06062577,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06838379e-03, 1.16184586e-02, 2.66383532e-03, 4.55580192e-03,
  7.65201551e-04, 7.15243726e-02, 9.08804640e-03, 9.69869266e-03,
  2.54161587e-05, 1.23226316e-02, 3.35351915e-03, 4.19367376e-03,
  5.04941563e-02, 1.95803664e-02, 1.35216347e-02, 7.13003083e-05,
 -8.29832430e-05, 5.68015164e-05,-9.80999734e+00,-6.49870684e-02,
 -9.57199207e-03,-5.17315865e-03]


--- Step 2090 ---
qpos:
[ 0.00896941, 0.01300848,-0.00678094, 0.03511604, 0.00493556,-0.02532542,
 -0.01728561, 0.03828853, 0.01280215, 0.00937875,-0.01253092, 0.03621449,
  0.81041692,-0.01544415, 1.13212776, 0.04606487, 0.09507343,-0.06327105,
  0.14261452, 0.94252283,-0.03262069, 0.02720744, 0.33143078]

qacc:
[-2.10990098e+02, 3.06292238e+02,-1.26245001e+03, 2.61431190e+03,
 -1.53649150e+02,-1.15911162e+01,-6.27978607e+02, 1.98506127e+03,
  6.19669829e+00, 2.47728434e+02,-1.03179918e+03, 2.25769537e+03,
  2.92932329e+00, 1.12349967e+01,-6.93418977e+00, 8.53211779e+01,
 -5.00679853e-01,-1.87060360e-01, 1.87088106e-01,-5.93248797e+00,
 -6.08809456e-01,-1.33235771e+01]

qfrc_actuator:
[-0.0119226 , 0.05170464,-0.00367907, 0.02275173,-0.00437395, 0.07631971,
  0.00776428, 0.01547742,-0.00135349, 0.04422533,-0.00139222, 0.02390587,
  0.04960585, 0.0189529 , 0.00270152,-0.00228743, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.71225983, 0.04439631, 0.71087484, 0.04439631, 0.18547226,
       0.0328995 , 0.71087484, 0.0328995 , 0.71020516, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -2.8114841912046263e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99100647e-01,  5.09385581e-03, -4.20945304e-02,  5.08934066e-03,
        9.99987026e-01,  2.14426250e-04,  4.20950765e-02,  0.00000000e+00,
       -9.99113609e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13169888, -0.08284791,  0.1747604 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24010834, -0.03188704, -0.23798157, -0.03188704,  0.03473019,
        0.02751853, -0.23798157,  0.02751853,  0.23642114,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034247425350743044
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85663815e-01, -1.68688347e-01,  3.32949304e-03, -1.68687385e-01,
        9.85669438e-01,  5.69812411e-04, -3.37790025e-03,  1.08420217e-19,
       -9.99994295e-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([ 0.13125374, -0.08202531,  0.13159057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.28374481, 6.39084281, 3.49429057, 6.39084281, 5.95172506,
       2.4361823 , 3.49429057, 2.4361823 , 2.82811701, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -6.9892151423674175e-06
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78521451e-01,  1.10394072e-01, -1.74094568e-01,  1.08687276e-01,
        9.93887895e-01,  1.93371993e-02,  1.75165196e-01, -3.46944695e-18,
       -9.84539057e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329342, -0.05385694,  0.2965844 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.33775935,  0.13391142, -1.33104013,  0.13391142,  2.92454723,
        0.15964133, -1.33104013,  0.15964133,  1.35382032,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048510550366495317
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.26742071, -0.91360488, -0.30628791, -0.08604305, -0.29395387,
        0.95193892, -0.95973056,  0.28092213,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480288, -0.03588564,  0.30494552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043602720870972167
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.76340799e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.76340799e-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([ 0.05359853, -0.06062525,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22778396e-03, 1.18604542e-02, 2.58022366e-03, 4.75736257e-03,
  2.84174917e-03, 8.65067226e-02, 1.19100037e-02, 1.22146080e-02,
  4.73262451e-05, 1.21488916e-02, 3.54048858e-03, 4.50228159e-03,
  5.02702597e-02, 1.90447232e-02, 7.66495969e-03, 1.18797624e-03,
 -8.44934598e-05, 9.71904442e-05,-9.81000014e+00,-6.49867723e-02,
 -9.55591074e-03,-5.17268757e-03]


--- Step 2091 ---
qpos:
[ 0.00874259, 0.01397808,-0.00692194, 0.03564504, 0.00484608,-0.02526031,
 -0.01788468, 0.03844442, 0.01277558, 0.01020576,-0.0126158 , 0.03676835,
  0.81048509,-0.01539281, 1.13226255, 0.04606076, 0.09507194,-0.06328355,
  0.14261584, 0.94257483,-0.03261894, 0.02720862, 0.33128294]

qacc:
[ 9.91131957e+01, 3.22854967e+02,-1.35232673e+03, 2.83443475e+03,
  5.93946663e+02, 1.98975097e+03,-6.33161346e+03, 7.18378598e+03,
  1.88662099e+00, 3.07544689e+02,-1.28972435e+03, 2.78409289e+03,
 -3.06371214e+00, 1.12156067e+01,-1.05533706e+01, 5.21472154e+01,
 -2.11259437e-01, 2.91916562e-01, 1.70802921e-01,-3.42439004e+00,
 -6.49710421e-01, 3.20274040e+00]

qfrc_actuator:
[-0.01129066, 0.05639471,-0.00397723, 0.02721215,-0.00407482, 0.08310241,
  0.00793303, 0.02048536,-0.0013366 , 0.05004132,-0.00086466, 0.02853453,
  0.04935329, 0.01866002, 0.00268615,-0.00221669, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.23032704, -0.00084627, -0.23032549, -0.00084627,  0.01490635,
        0.00079151, -0.23032549,  0.00079151,  0.23032413,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002885118625742598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85693580e-01, -1.68493427e-01,  4.25804286e-03, -1.68491855e-01,
        9.85702777e-01,  7.27858589e-04, -4.31980406e-03, -1.08420217e-19,
       -9.99990670e-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([ 0.13128388, -0.08202494,  0.13160305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.28451373, 5.89565269, 4.27848334, 5.89565269, 5.60320415,
       2.31680635, 4.27848334, 2.31680635, 4.0920073 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.1993606063855493e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97848535,  0.11071538, -0.17409341,  0.10900352,  0.99385215,
        0.01939405,  0.17517033,  0.        , -0.98453814])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329477, -0.05386012,  0.29658526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.32219405,  0.16517932,  1.3118357 ,  0.16517932,  3.85139953,
       -0.31846401,  1.3118357 , -0.31846401,  1.36229333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004764674239163773
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28582133, -0.91058337, -0.29857009, -0.08941618, -0.28486637,
        0.95438771, -0.95410215,  0.29948136,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480697, -0.03589871,  0.30495909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043536341647487653
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.3148986e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.3148986e-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([ 0.05359844, -0.06062483,  0.06199023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.98042548e-04, 1.20284847e-02, 2.62480972e-03, 5.14796872e-03,
  4.06751121e-03, 1.03540160e-01, 1.42966443e-02, 1.39398066e-02,
  2.44582860e-05, 1.35075542e-02, 3.62038341e-03, 5.35692859e-03,
  4.91573174e-02, 1.80356469e-02, 6.23011055e-03, 4.49243216e-04,
 -1.28656532e-04, 1.22429941e-04,-9.81000239e+00,-6.49863395e-02,
 -9.56064049e-03,-5.17242080e-03]


--- Step 2092 ---
qpos:
[ 0.00853434, 0.01504174,-0.00706964, 0.03628501, 0.00476577,-0.02517011,
 -0.01859594, 0.03864775, 0.01274911, 0.01114218,-0.01269784, 0.03741319,
  0.81055669,-0.01533103, 1.13239148, 0.04605845, 0.09506921,-0.06329615,
  0.14261805, 0.94263215,-0.03262674, 0.02720692, 0.33111918]

qacc:
[ 1.60355630e+02, 3.71134958e+02,-1.61184066e+03, 3.47400401e+03,
  7.30450812e+01, 4.43769696e+02,-1.73465627e+03, 2.71590666e+03,
 -7.79365398e-01, 3.23813327e+02,-1.32876534e+03, 2.81768715e+03,
 -4.48208555e+00, 1.40574674e+01,-1.36734150e+01, 3.61638655e+01,
 -3.08613640e-01,-2.54256143e-02, 2.24846700e-01,-4.67250566e+00,
  4.07608791e-01,-8.55612609e+00]

qfrc_actuator:
[-0.01034837, 0.06155361,-0.00411313, 0.03281898,-0.0037083 , 0.0899462 ,
  0.00913092, 0.02664433,-0.00133382, 0.05628261,-0.00042779, 0.03314817,
  0.04902866, 0.01838749, 0.00267171,-0.00228326, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.22568733, -0.00404453, -0.22565108, -0.00404453,  0.04632953,
        0.00321478, -0.22565108,  0.00321478,  0.22562971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025720071381906404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85726965e-01, -1.68283768e-01,  4.78778754e-03, -1.68281783e-01,
        9.85738593e-01,  8.17363685e-04, -4.85705599e-03,  0.00000000e+00,
       -9.99988204e-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([ 0.13129628, -0.08202356,  0.13161021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.2850406 , 5.81984102, 4.38192504, 5.81984102, 5.23334795,
       2.72494963, 4.38192504, 2.72494963, 3.66590666, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.4454352516907577e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78449034e-01,  1.11021592e-01, -1.74102541e-01,  1.09304691e-01,
        9.93817994e-01,  1.94493774e-02,  1.75185539e-01,  3.46944695e-18,
       -9.84535437e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329518, -0.05386332,  0.29658554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.31131157,  0.25232198,  1.28680677,  0.25232198,  4.42089155,
       -0.6097383 ,  1.28680677, -0.6097383 ,  1.43087138,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004702190595497586
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.29870639, -0.90824802, -0.29301881, -0.0915448 , -0.27835153,
        0.95610668, -0.94994423,  0.31241953,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480999, -0.03591065,  0.30496992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043443646347200715
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.83332127e-13, -9.98260748e-14,  1.00000000e+00, -3.82665416e-26,
        1.00000000e+00,  9.98260748e-14, -1.00000000e+00,  0.00000000e+00,
       -3.83332127e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05359813, -0.06062453,  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:
[ 9.60304783e-04, 1.26144108e-02, 2.83950574e-03, 6.31025238e-03,
  7.65360148e-04, 8.78054847e-02, 3.95782088e-02, 1.88988175e-02,
  1.04689572e-05, 1.47418919e-02, 3.84832890e-03, 5.41908180e-03,
  4.86339473e-02, 1.73248780e-02, 5.87411899e-03, 3.66406286e-05,
 -1.22058051e-04, 1.07749773e-04,-9.81000229e+00,-6.49861184e-02,
 -9.56470370e-03,-5.17217644e-03]


--- Step 2093 ---
qpos:
[ 0.00833894, 0.01620384,-0.00722082, 0.03703605, 0.00469013,-0.0251434 ,
 -0.01939101, 0.03891759, 0.01272363, 0.01218592,-0.01277323, 0.03813758,
  0.81062964,-0.01525957, 1.13251405, 0.04605793, 0.09506515,-0.06330957,
  0.14262118, 0.94269895,-0.03264574, 0.02720308, 0.33092738]

qacc:
[ 1.10248424e+02, 3.68289369e+02,-1.59352524e+03, 3.44881629e+03,
  3.78334614e+01, 2.86762688e+02,-1.42517928e+03, 2.75648605e+03,
  7.10241959e+00, 2.86858555e+02,-1.15285285e+03, 2.43964454e+03,
 -5.53717838e+00, 1.42762508e+01,-1.43837066e+01, 3.76289872e+01,
 -3.35769787e-01,-2.04992553e-01, 2.31980139e-01,-5.09920174e+00,
  1.17727663e+00,-1.49804050e+01]

qfrc_actuator:
[-0.00971084, 0.06695421,-0.00409608, 0.03841689,-0.00342625, 0.09611391,
  0.01069854, 0.03243126,-0.00128612, 0.0615577 ,-0.00013456, 0.0371128 ,
  0.0487033 , 0.01782019, 0.00265872,-0.00219909, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.22123091, -0.00383077, -0.22119774, -0.00383077,  0.04853716,
        0.00299076, -0.22119774,  0.00299076,  0.22117912,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022165226132453487
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85763798e-01, -1.68049986e-01,  5.37928133e-03, -1.68047484e-01,
        9.85778475e-01,  9.17029716e-04, -5.45688658e-03,  0.00000000e+00,
       -9.99985111e-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([ 0.13130994, -0.08202211,  0.13161825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.28494   , 5.81504804, 4.38811659, 5.81504804, 5.11204003,
       2.87948542, 4.38811659, 2.87948542, 3.46910109, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.4017942678867739e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78406684e-01,  1.11357002e-01, -1.74126328e-01,  1.09634310e-01,
        9.93780468e-01,  1.95115386e-02,  1.75216090e-01, -3.46944695e-18,
       -9.84530000e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329454, -0.0538665 ,  0.29658516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.30384753, -0.35417457, -1.2548222 , -0.35417457, 11.9826073 ,
       -3.01408847, -1.2548222 , -3.01408847,  2.15457641,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046582852747758483
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.06803368e-01, -9.06697393e-01, -2.89433120e-01, -9.27697653e-02,
       -2.74162910e-01,  9.57198239e-01, -9.47240975e-01,  3.20522287e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481196, -0.03592159,  0.30497866])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004331994949402229
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28142234e-13, -1.64182238e-13,  1.00000000e+00, -2.10386788e-26,
        1.00000000e+00,  1.64182238e-13, -1.00000000e+00,  0.00000000e+00,
       -1.28142234e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05359761, -0.06062431,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.65765538e-04, 1.32744180e-02, 3.17884716e-03, 6.35601687e-03,
  5.89710803e-04, 9.27234243e-02, 4.67617529e-02, 2.23148677e-02,
  5.57738621e-05, 1.45114892e-02, 3.98837648e-03, 4.83161450e-03,
  4.81371818e-02, 1.62342798e-02, 6.15121475e-03, 3.01559808e-05,
 -1.58463072e-04, 1.26037155e-04,-9.80999950e+00,-6.49884084e-02,
 -9.57023747e-03,-5.17226269e-03]


--- Step 2094 ---
qpos:
[ 0.00815608, 0.01746721,-0.00737146, 0.03787696, 0.00461554,-0.02517203,
 -0.02024486, 0.03925681, 0.01269934, 0.01333318,-0.012844  , 0.03894068,
  0.81070053,-0.01518119, 1.13263389, 0.04606071, 0.09505984,-0.0633241 ,
  0.14262515, 0.94277677,-0.03267611, 0.0271981 , 0.33070304]

qacc:
[ 1.07466554e+02, 3.17103729e+02,-1.31606265e+03, 2.79584453e+03,
  7.89462869e+00, 2.33606700e+02,-1.23201829e+03, 2.56698131e+03,
  8.80771356e+00, 2.85771972e+02,-1.15268547e+03, 2.43085029e+03,
 -6.27638086e+00, 1.23100604e+01,-1.35318759e+01, 4.24530640e+01,
 -3.10717580e-01,-2.77869342e-01, 2.05945988e-01,-4.92126371e+00,
  1.72416684e+00,-1.73290075e+01]

qfrc_actuator:
[-9.08034390e-03, 7.22625530e-02,-3.98777940e-03, 4.29175425e-02,
 -3.21182244e-03, 1.01830242e-01, 1.20429292e-02, 3.73888046e-02,
 -1.23015473e-03, 6.64066925e-02,-3.89702224e-05, 4.10181186e-02,
  4.83456103e-02, 1.68240742e-02, 2.69479228e-03,-1.98968451e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21644859, -0.00039312, -0.21644824, -0.00039312,  0.05389495,
        0.00029523, -0.21644824,  0.00029523,  0.21644806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017366139394946794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98580519, -0.16777973,  0.00617249, -0.16777644,  0.98582451,
        0.00105051, -0.00626125,  0.        , -0.9999804 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13133032, -0.08202078,  0.13162909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.28428785, 5.8451057 , 4.34690566, 5.8451057 , 5.1039526 ,
       2.93180735, 4.34690566, 2.93180735, 3.34200678, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.0767609340546464e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78355289e-01,  1.11745965e-01, -1.74165918e-01,  1.10016310e-01,
        9.93736806e-01,  1.95850033e-02,  1.75263628e-01,  3.46944695e-18,
       -9.84521539e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329288, -0.05386956,  0.29658415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000462929732145756
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.10885655e-01, -9.05908795e-01, -2.87540198e-01, -9.33337401e-02,
       -2.71970915e-01,  9.57768570e-01, -9.45853542e-01,  3.24593712e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481305, -0.03593162,  0.30498566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004316643772849932
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28597944e-13, -6.83176575e-14,  1.00000000e+00,  8.78551027e-27,
        1.00000000e+00,  6.83176575e-14, -1.00000000e+00,  0.00000000e+00,
        1.28597944e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05359689, -0.06062416,  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:
[ 6.50218885e-04, 1.36193854e-02, 3.44845536e-03, 5.29922655e-03,
  5.69994814e-04, 1.01622370e-01, 5.23049942e-02, 2.39477332e-02,
  6.56375851e-05, 1.39561768e-02, 3.73855332e-03, 4.75539567e-03,
  4.77121814e-02, 1.47529768e-02, 6.50336951e-03, 1.49118687e-04,
 -2.28878281e-04, 1.68347599e-04,-9.80999270e+00,-6.49933288e-02,
 -9.57801237e-03,-5.17286487e-03]


--- Step 2095 ---
qpos:
[ 0.0079911 , 0.01882274,-0.00751464, 0.03879938, 0.00454405,-0.02525689,
 -0.02116343, 0.03967405, 0.01267736, 0.01458012,-0.01291307, 0.0398126 ,
  0.81076627,-0.01509849, 1.13275134, 0.04606661, 0.09505333,-0.06334009,
  0.14262986, 0.94286751,-0.03271838, 0.02719283, 0.33044048]

qacc:
[ 1.53939932e+02, 2.68429315e+02,-1.12492605e+03, 2.45604836e+03,
  2.50398115e+01, 2.66644923e+02,-1.38803527e+03, 2.88234748e+03,
  1.86764890e+01, 2.68470153e+02,-1.05659567e+03, 2.17104796e+03,
 -6.85789851e+00, 1.03599216e+01,-1.25247312e+01, 3.96097435e+01,
 -3.00944670e-01,-3.63690637e-01, 1.88996330e-01,-4.92811352e+00,
  2.28162087e+00,-2.03191978e+01]

qfrc_actuator:
[-0.00817486, 0.07635491,-0.00380961, 0.04694966,-0.00289418, 0.10734624,
  0.01315536, 0.04290216,-0.00111656, 0.07097865,-0.0001336 , 0.04441305,
  0.04792618, 0.01572934, 0.00272824,-0.00183163, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21233751,  0.00212501, -0.21232688,  0.00212501,  0.05147087,
       -0.00160999, -0.21232688, -0.00160999,  0.2123214 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011503898362884392
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98585249, -0.16746324,  0.00713682, -0.16745885,  0.98587832,
        0.00121227, -0.00723904,  0.        , -0.9999738 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13135579, -0.08201937,  0.13164231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.28356026, 5.89641385, 4.27581029, 5.89641385, 5.12711926,
       2.97376817, 4.27581029, 2.97376817, 3.18268425, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -5.1035055443486355e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97829396,  0.11219758, -0.17422008,  0.11045967,  0.99368592,
        0.01967128,  0.17532711,  0.        , -0.98451024])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329037, -0.05387238,  0.29658262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000461239315100424
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.31183618, -0.90575768, -0.28698647, -0.09342262, -0.27135484,
        0.95793464, -0.94553182,  0.3255297 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481351, -0.03594069,  0.30499111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004298801175472572
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29131702e-13, -6.86012167e-14,  1.00000000e+00,  8.85859187e-27,
        1.00000000e+00,  6.86012167e-14, -1.00000000e+00,  0.00000000e+00,
        1.29131702e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05359602, -0.06062406,  0.06199035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.24608594e-04, 1.26027967e-02, 3.58481640e-03, 4.83379201e-03,
  8.35672186e-04, 1.09914892e-01, 5.63661752e-02, 2.59929150e-02,
  1.23717817e-04, 1.33097718e-02, 3.39877736e-03, 4.21066647e-03,
  4.73957611e-02, 1.33112691e-02, 6.67081737e-03, 1.41943194e-04,
 -3.24817836e-04, 2.28327371e-04,-9.80998138e+00,-6.50009799e-02,
 -9.58781261e-03,-5.17410338e-03]


--- Step 2096 ---
qpos:
[ 0.00784957, 0.02025758,-0.00764692, 0.03980643, 0.00447252,-0.02540233,
 -0.02214903, 0.04017   , 0.01265804, 0.01592207,-0.01298115, 0.04074491,
  0.81082086,-0.01501586, 1.13293685, 0.04605962, 0.09504853,-0.06336073,
  0.14263426, 0.94297187,-0.03274851, 0.02719812, 0.33013913]

qacc:
[ 2.02125097e+02, 2.48153519e+02,-1.09051871e+03, 2.47959286e+03,
 -1.32042550e+00, 2.68760751e+02,-1.40681746e+03, 2.92004542e+03,
  2.16285119e+01, 2.46953129e+02,-9.53310376e+02, 1.92660380e+03,
 -1.23035257e+01, 1.28091396e+01, 1.40298851e+02,-3.43188240e+02,
  4.29226395e-01,-1.16393388e+00,-7.99961303e-02, 8.21369051e+00,
  3.41922501e+00,-2.01991969e+01]

qfrc_actuator:
[-0.00699047, 0.07949102,-0.0035789 , 0.05111688,-0.00253484, 0.11281834,
  0.01424684, 0.04846409,-0.00098774, 0.07532905,-0.00025254, 0.04739141,
  0.04754461, 0.01484154, 0.00271759,-0.00179428, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20969521,  0.00840823, -0.20952657,  0.00840823,  0.05278646,
       -0.0062967 , -0.20952657, -0.0062967 ,  0.20944253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.517655155494399e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85906680e-01, -1.67091061e-01,  8.28227781e-03, -1.67085166e-01,
        9.85941467e-01,  1.40362753e-03, -8.40037475e-03, -2.16840434e-19,
       -9.99964716e-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([ 0.13138648, -0.08201779,  0.13165809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004604996271165327
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.31050708, -0.90607895, -0.28741309, -0.09317516, -0.27189092,
        0.95780672, -0.94599352,  0.32418553,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481354, -0.03594873,  0.30499523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042788759385425923
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59466047e-13, -6.89206687e-14,  1.00000000e+00, -1.78825734e-26,
        1.00000000e+00,  6.89206687e-14, -1.00000000e+00,  0.00000000e+00,
       -2.59466047e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05359501, -0.06062401,  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:
[ 1.21077468e-03, 1.10827173e-02, 3.42667803e-03, 4.92056022e-03,
  1.03962618e-03, 1.18211601e-01, 6.07048527e-02, 2.76556585e-02,
  1.40737190e-04, 1.26294671e-02, 3.17891146e-03, 3.74363753e-03,
  4.72715418e-02, 1.22055330e-02, 6.77769743e-03, 2.28765831e-05,
 -4.56587843e-04, 3.13117590e-04,-9.80996410e+00,-6.50119513e-02,
 -9.60043033e-03,-5.17611892e-03]


--- Step 2097 ---
qpos:
[ 0.00773326, 0.02176392,-0.00777028, 0.04089983, 0.00442617,-0.02472209,
 -0.02253543, 0.04106261, 0.01264084, 0.01735714,-0.0130471 , 0.04173164,
  0.81085509,-0.01495327, 1.13323756, 0.04604202, 0.09504851,-0.06338194,
  0.14263639, 0.94305934,-0.0327426 , 0.02721828, 0.32988811]

qacc:
[ 2.16974787e+02, 2.46848793e+02,-1.10819682e+03, 2.53605430e+03,
  2.14801510e+02, 2.32102120e+02,-9.19817653e+02, 6.21955342e+03,
  1.70830536e+01, 2.28983049e+02,-8.67599412e+02, 1.73709612e+03,
 -7.03151327e+00,-1.04872018e+01, 2.02475030e+02,-4.60847140e+02,
  1.19357250e+00,-1.42246771e-01,-5.67640034e-01, 1.84911715e+01,
  4.71886735e-01, 2.72467852e+01]

qfrc_actuator:
[-0.00572246, 0.0824554 ,-0.00337635, 0.05538269,-0.00223734, 0.11848621,
  0.01535394, 0.05281608,-0.00088656, 0.07988414,-0.00019075, 0.05010071,
  0.04729833, 0.01413384, 0.00267954,-0.0018146 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.28600916,  0.07672156, -1.28371857,  0.07672156,  3.26137644,
        0.11805802, -1.28371857,  0.11805802,  1.29306491,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045496854748834767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.32431474, -0.90316891, -0.28125766, -0.09505308, -0.26470887,
        0.95963229, -0.94116144,  0.3379573 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481711, -0.03596083,  0.30500621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042515064143569536
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.3464845e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.3464845e-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([ 0.05359367, -0.06062398,  0.06199046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30186727e-03, 1.00288491e-02, 3.06676326e-03, 4.94982556e-03,
  1.33924651e-03, 1.26924378e-01, 6.51752470e-02, 2.80733663e-02,
  1.13696140e-04, 1.23847267e-02, 3.17462506e-03, 3.42837935e-03,
  4.75825951e-02, 1.15002609e-02, 3.33288939e-03, 6.45952716e-04,
 -5.69007785e-04, 4.37393201e-04,-9.80996178e+00,-6.50244770e-02,
 -9.58780456e-03,-5.17827905e-03]


--- Step 2098 ---
qpos:
[ 0.0076433 , 0.0233424 ,-0.00788853, 0.04206427, 0.00435747,-0.02382869,
 -0.02299031, 0.04193084, 0.01262508, 0.01888311,-0.01310758, 0.04276902,
  0.81088934,-0.01488966, 1.13355624, 0.04603928, 0.09504743,-0.06340088,
  0.14263875, 0.94314117,-0.03274475, 0.02723319, 0.32965266]

qacc:
[ 2.25988523e+02, 2.26837659e+02,-9.70941608e+02, 2.13929871e+03,
 -1.92382221e+02, 4.22949947e+02,-9.95673847e+02, 5.24974665e+02,
  1.12095732e+01, 2.08994651e+02,-7.84669148e+02, 1.58523503e+03,
 -5.91290965e-01, 1.46676024e+00,-1.83220859e+01, 1.02783190e+02,
 -2.63713885e-01, 5.69881285e-01, 5.88724735e-02,-4.97121208e+00,
 -1.33034643e+00, 8.08057034e+00]

qfrc_actuator:
[-4.39768750e-03, 8.59497059e-02,-3.19307926e-03, 5.89087176e-02,
 -2.03765636e-03, 1.23267499e-01, 1.57777256e-02, 5.60926706e-02,
 -8.20246501e-04, 8.43838976e-02, 6.67052867e-05, 5.26303903e-02,
  4.71344478e-02, 1.36961908e-02, 2.58640244e-03,-1.99091481e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20922952, -0.10022538,  0.18366237, -0.10022538,  0.9638764 ,
        0.4118142 ,  0.18366237,  0.4118142 ,  0.43395838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.466858337531681e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98604964, -0.16621103,  0.0089439 , -0.16620419,  0.98609021,
        0.00150754, -0.00907006,  0.        , -0.99995887])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13137361, -0.08200845,  0.13166686])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.28390045, 5.99123099, 4.14250614, 5.99123099, 5.55549929,
       2.49975505, 4.14250614, 2.49975505, 3.66855037, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -8.25104998808453e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78086429e-01,  1.13852552e-01, -1.74311601e-01,  1.12086460e-01,
        9.93497658e-01,  1.99757094e-02,  1.75452453e-01, -3.46944695e-18,
       -9.84487906e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329044, -0.05387949,  0.29658271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.26898161,  0.0188376 , -1.26884178,  0.0188376 ,  5.68240476,
        0.06552298, -1.26884178,  0.06552298,  1.26995438,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004440831727967892
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.35881827, -0.89479941, -0.26567551, -0.09888283, -0.24658804,
        0.96406251, -0.92815496,  0.37219398,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482558, -0.03597718,  0.3050244 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004221872579493746
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.94454002e-13, -2.01335897e-13,  1.00000000e+00, -7.94177505e-26,
        1.00000000e+00,  2.01335897e-13, -1.00000000e+00,  0.00000000e+00,
       -3.94454002e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05359222, -0.06062397,  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:
[ 1.36072905e-03, 9.89341594e-03, 2.78530934e-03, 4.15261496e-03,
  2.79907914e-04, 9.04000320e-02, 3.56337203e-02, 1.15145056e-02,
  7.82934077e-05, 1.21746127e-02, 3.30705670e-03, 3.23164719e-03,
  4.84364113e-02, 1.20630370e-02,-2.52514613e-03, 9.99223341e-04,
 -3.57229408e-04, 3.41831710e-04,-9.80997993e+00,-6.50214651e-02,
 -9.54983847e-03,-5.17922213e-03]


--- Step 2099 ---
qpos:
[ 0.0075788 , 0.02499876,-0.00800475, 0.04328233, 0.00428775,-0.02291164,
 -0.02351918, 0.04280623, 0.01261   , 0.02049785,-0.01316217, 0.04385469,
  0.81092357,-0.01482349, 1.13386741, 0.04603996, 0.09504517,-0.06341859,
  0.14264153, 0.94322274,-0.0327563 , 0.02724372, 0.32941717]

qacc:
[ 2.17163590e+02, 2.07171871e+02,-8.16353870e+02, 1.68426420e+03,
 -1.11644018e+01, 2.52471194e+02,-8.85048848e+02, 1.10925831e+03,
  4.56007094e+00, 2.00125711e+02,-7.47120269e+02, 1.50759020e+03,
 -1.34014445e+00, 3.47023464e+00,-2.13273266e+01, 5.87468073e+01,
 -2.96418667e-01, 3.03866619e-01, 1.02506201e-01,-5.15894733e+00,
 -5.08189365e-01,-1.72843255e-01]

qfrc_actuator:
[-0.00312109, 0.09014102,-0.00300337, 0.06159885,-0.00208999, 0.12802987,
  0.01623729, 0.05930595,-0.00079277, 0.08870891, 0.0003131 , 0.0550343 ,
  0.04701891, 0.01356733, 0.00256069,-0.00214002, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21022532,  0.0312471 , -0.20789013,  0.0312471 ,  0.11394157,
       -0.01447201, -0.20789013, -0.01447201,  0.2080501 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.5626517746005e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86088647e-01, -1.66029953e-01,  7.95208227e-03, -1.66024554e-01,
        9.86120710e-01,  1.33886636e-03, -8.06400493e-03,  2.16840434e-19,
       -9.99967485e-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([ 0.13131072, -0.08200329,  0.13165281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.28545358, 5.84360916, 4.35086955, 5.84360916, 5.20549282,
       2.79357439, 4.35086955, 2.79357439, 3.5334319 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.6122525696491406e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97803069,  0.11433682, -0.17430736,  0.1125631 ,  0.99344204,
        0.02006131,  0.17545801,  0.        , -0.98448692])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329302, -0.05388151,  0.29658433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.25734798, -0.17728049, -1.24478736, -0.17728049,  6.71799534,
       -0.77769608, -1.24478736, -0.77769608,  1.36810613,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043632947186114163
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.38404963, -0.8877386 , -0.25382288, -0.10078109, -0.23295757,
        0.96725071, -0.91779576,  0.39705283,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483293, -0.03599161,  0.30503858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004195987850728472
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32295786e-13, -3.72081899e-14,  1.00000000e+00, -4.92248674e-27,
        1.00000000e+00,  3.72081899e-14, -1.00000000e+00,  0.00000000e+00,
       -1.32295786e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05359091, -0.060624  ,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31409358e-03, 1.04195004e-02, 2.70042770e-03, 3.28531660e-03,
  1.34466127e-03, 8.44753948e-02, 3.95103777e-02, 1.59438850e-02,
  3.86780710e-05, 1.18978241e-02, 3.26086221e-03, 3.09728861e-03,
  4.83193214e-02, 1.18826852e-02,-3.45532713e-03, 1.05883987e-04,
 -3.21743764e-04, 2.90805498e-04,-9.80998226e+00,-6.50191170e-02,
 -9.55746861e-03,-5.18060260e-03]


--- Step 2100 ---
qpos:
[ 0.00753035, 0.02674243,-0.0081216 , 0.04458139, 0.00421562,-0.02207858,
 -0.02417205, 0.04372339, 0.01259546, 0.02220783,-0.01321722, 0.0450058 ,
  0.81095801,-0.01475343, 1.13416524, 0.04604165, 0.09504131,-0.06343665,
  0.14264498, 0.94331296,-0.03278115, 0.02725069, 0.32915566]

qacc:
[ 1.35735589e+02, 2.83599147e+02,-1.18592528e+03, 2.52418070e+03,
 -2.25465943e+01, 3.20893754e+02,-1.48149160e+03, 2.46322715e+03,
  3.15417240e+00, 2.61673286e+02,-1.02649108e+03, 2.08888073e+03,
 -2.01143449e+00, 5.33755439e+00,-2.26277126e+01, 5.08640103e+01,
 -3.99203730e-01,-8.56163906e-02, 1.69344668e-01,-6.36373657e+00,
  8.17973019e-01,-1.39432790e+01]

qfrc_actuator:
[-0.00232685, 0.0954083 ,-0.00266676, 0.06574698,-0.00306928, 0.13419883,
  0.01676897, 0.06462526,-0.00077066, 0.09396001, 0.00047924, 0.05835676,
  0.04697498, 0.01353302, 0.00255576,-0.0021608 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21278853,  0.00150766, -0.21278319,  0.00150766,  0.05604986,
       -0.00111056, -0.21278319, -0.00111056,  0.21278066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012296135025311928
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86166728e-01, -1.65609581e-01,  6.97507504e-03, -1.65605438e-01,
        9.86191395e-01,  1.17131346e-03, -7.07273971e-03, -2.16840434e-19,
       -9.99974988e-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([ 0.13124796, -0.08199537,  0.13163911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.28670571, 5.83756786, 4.36106427, 5.83756786, 5.02311486,
       3.02996342, 4.36106427, 3.02996342, 3.23090282, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -2.036066750674903e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77972303e-01,  1.14817575e-01, -1.74318956e-01,  1.13035961e-01,
        9.93386594e-01,  2.01481275e-02,  1.75479473e-01, -3.46944695e-18,
       -9.84483090e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1132943 , -0.05388331,  0.29658513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.24920809, -0.29214393, -1.21456691, -0.29214393,  7.7438737 ,
       -1.56218414, -1.21456691, -1.56218414,  1.62496559,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004307407346394064
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.40174865, -0.88229925, -0.24524693, -0.10163138, -0.22319749,
        0.96946065, -0.9100929 ,  0.41440429,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483914, -0.03600432,  0.30504976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004172429687121365
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.66085496e-13, -2.70243082e-13,  1.00000000e+00, -7.19077647e-26,
        1.00000000e+00,  2.70243082e-13, -1.00000000e+00,  0.00000000e+00,
       -2.66085496e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05358968, -0.06062404,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.30458149e-04, 1.17319008e-02, 2.91445545e-03, 4.74572183e-03,
  4.16454621e-04, 8.94328729e-02, 4.37354039e-02, 2.09022062e-02,
  3.23934116e-05, 1.26504311e-02, 3.11187647e-03, 3.99942862e-03,
  4.82766389e-02, 1.17195530e-02,-3.09106257e-03,-8.74035998e-05,
 -3.32225032e-04, 2.80494199e-04,-9.80998013e+00,-6.50202617e-02,
 -9.56482927e-03,-5.18217088e-03]


--- Step 2101 ---
qpos:
[ 0.00748548, 0.02858424,-0.00823644, 0.04597322, 0.00410683,-0.02151303,
 -0.0248688 , 0.04471745, 0.01258107, 0.02402063,-0.01327534, 0.04622931,
  0.81099486,-0.01467786, 1.13444851, 0.04604369, 0.09503532,-0.06345683,
  0.14264929, 0.94342183,-0.0328236 , 0.02725452, 0.32883896]

qacc:
[ 2.89992183e+01, 3.14896401e+02,-1.32601329e+03, 2.85511158e+03,
 -3.05568262e+02,-7.23811338e+01,-5.78578839e+02, 2.17484745e+03,
 -5.91973542e-01, 2.93320338e+02,-1.15414720e+03, 2.33547476e+03,
 -1.42218170e+00, 6.33183764e+00,-2.24131098e+01, 4.75180779e+01,
 -5.34337627e-01,-5.30519511e-01, 2.16124046e-01,-7.75997030e+00,
  2.07010928e+00,-2.93861058e+01]

qfrc_actuator:
[-0.00216009, 0.10138709,-0.00213363, 0.07049031,-0.00453195, 0.14102588,
  0.01742352, 0.07099321,-0.00076966, 0.09972478, 0.00056571, 0.0620341 ,
  0.04696335, 0.01349982, 0.00248955,-0.0021568 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.71225785, 0.06068931, 0.70966756, 0.06068931, 0.04733984,
       0.05686242, 0.70966756, 0.05686242, 0.70739509, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -2.322811038988837e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98921754e-01,  4.21110381e-03, -4.62341422e-02,  4.20660050e-03,
        9.99991133e-01,  1.94698499e-04,  4.62345521e-02,  0.00000000e+00,
       -9.98930611e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13155854, -0.08320239,  0.17480743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.21562365, -0.01633391, -0.21500409, -0.01633391,  0.06038639,
        0.01179341, -0.21500409,  0.01179341,  0.2147277 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016373422827332276
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98624922, -0.16514605,  0.00626549, -0.16514272,  0.98626912,
        0.00104913, -0.00635272,  0.        , -0.99997982])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13119509, -0.08198769,  0.13162919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.28684154, 5.96791484, 4.1811544 , 5.96791484, 5.09385038,
       3.13013663, 4.1811544 , 3.13013663, 2.81908286, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -2.0768416614313057e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97790438,  0.11534686, -0.17435056,  0.11355615,  0.99332528,
        0.02024592,  0.17552212,  0.        , -0.98447549])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329421, -0.05388487,  0.29658509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.24347635, -0.48238034, -1.14609888, -0.48238034,  4.15413179,
       -1.22506267, -1.14609888, -1.22506267,  1.75909167,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004267205392088466
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.41311657, -0.87859791, -0.23958382, -0.10194513, -0.21681235,
        0.97087568, -0.90495408,  0.42550923,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048443 , -0.03601563,  0.30505864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004150116973031387
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.67516080e-13, -1.33758040e-13,  1.00000000e+00, -3.57824266e-26,
        1.00000000e+00,  1.33758040e-13, -1.00000000e+00,  0.00000000e+00,
       -2.67516080e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05358849, -0.06062408,  0.06199069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89102892e-04, 1.32805701e-02, 3.45776713e-03, 5.43260567e-03,
 -9.25832974e-04, 1.00434408e-01, 5.05852544e-02, 2.51792097e-02,
  1.16495450e-05, 1.35892696e-02, 3.19927173e-03, 4.39859863e-03,
  4.82542105e-02, 1.14901187e-02,-2.49537201e-03,-1.35401057e-04,
 -4.26333955e-04, 3.34239948e-04,-9.80996911e+00,-6.50266989e-02,
 -9.57591931e-03,-5.18429472e-03]


--- Step 2102 ---
qpos:
[ 0.00743698, 0.03052537,-0.00834195, 0.04742854, 0.00395698,-0.02114953,
 -0.02559004, 0.04578684, 0.01256691, 0.02593989,-0.01333445, 0.04750974,
  0.81103448,-0.01459723, 1.13472137, 0.04604757, 0.09502728,-0.0634795 ,
  0.14265437, 0.94355035,-0.03288277, 0.02725587, 0.32846398]

qacc:
[-3.19790850e+01, 2.35910079e+02,-9.18420316e+02, 1.92841076e+03,
 -3.43335722e+02,-4.31947292e+01,-5.50395862e+02, 2.04032928e+03,
  2.63468048e-01, 2.60469165e+02,-9.64706372e+02, 1.87228113e+03,
 -9.15933367e-01, 5.47784929e+00,-2.07823913e+01, 5.06371863e+01,
 -5.09278200e-01,-6.20525151e-01, 1.90718603e-01,-7.17772543e+00,
  2.26271588e+00,-3.09891635e+01]

qfrc_actuator:
[-0.00234604, 0.10653985,-0.00160925, 0.0736648 ,-0.00561032, 0.14739974,
  0.01810353, 0.07555964,-0.00076339, 0.10536153, 0.00062494, 0.06489708,
  0.04701883, 0.01344637, 0.00246704,-0.00201341, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.71236502, 0.07268772, 0.70864689, 0.07268772, 0.07883873,
       0.0649824 , 0.70864689, 0.0649824 , 0.70569961, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.1865700701292776e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98916132e-01,  4.10239952e-03, -4.63651949e-02,  4.09798754e-03,
        9.99991585e-01,  1.90210154e-04,  4.63655850e-02, -2.71050543e-20,
       -9.98924538e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1315303 , -0.08323951,  0.17481057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.21650289, -0.01317632, -0.21610157, -0.01317632,  0.06484156,
        0.00924722, -0.21610157,  0.00924722,  0.21593907,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001742927053120894
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98634203, -0.16459681,  0.00610641, -0.16459366,  0.98636093,
        0.00101899, -0.00619085,  0.        , -0.99998084])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13116255, -0.08198035,  0.13162682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.28566865, 6.04862006, 4.06142377, 6.04862006, 5.18491489,
       3.12862239, 4.06142377, 3.12862239, 2.62625628, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.6926244373036808e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97781896,  0.11598301, -0.17440764,  0.11418097,  0.9932512 ,
        0.02036577,  0.17559269,  0.        , -0.9844629 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11329259, -0.05388628,  0.29658409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.23921032, -0.51922065, -1.12518982, -0.51922065,  9.10993979,
       -3.63196076, -1.12518982, -3.63196076,  2.91518445,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00042368120238371967
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.19325453e-01, -8.76522191e-01, -2.36378962e-01, -1.02010600e-01,
       -2.13234264e-01,  9.71660942e-01, -9.02086471e-01,  4.31555325e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048486 , -0.03602611,  0.30506603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004129307128665771
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34432120e-13, -1.34432120e-13,  1.00000000e+00, -1.80719949e-26,
        1.00000000e+00,  1.34432120e-13, -1.00000000e+00,  0.00000000e+00,
       -1.34432120e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05358734, -0.06062414,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82093951e-04, 1.34582306e-02, 3.85822975e-03, 3.96187268e-03,
 -1.70668065e-04, 1.20169109e-01, 5.34584004e-02, 2.58988225e-02,
  1.69747932e-05, 1.40175561e-02, 3.38919602e-03, 3.63486637e-03,
  4.81887850e-02, 1.11603409e-02,-1.79541096e-03,-1.08815970e-05,
 -6.47465308e-04, 4.78265131e-04,-9.80994398e+00,-6.50401273e-02,
 -9.59577918e-03,-5.18732463e-03]


--- Step 2103 ---
qpos:
[ 0.00738411, 0.03256317,-0.0084376 , 0.04894597, 0.00376626,-0.02088932,
 -0.0263103 , 0.0469185 , 0.01255271, 0.0279615 ,-0.0133909 , 0.04884505,
  0.81107897,-0.01450993, 1.13498355, 0.04605052, 0.09501759,-0.0635046 ,
  0.14266003, 0.94369588,-0.03295449, 0.02725516, 0.32803848]

qacc:
[-3.81523941e+01, 2.28051825e+02,-8.89594699e+02, 1.87665343e+03,
 -3.42757145e+02,-1.07091647e+01,-4.21633078e+02, 1.57201024e+03,
 -1.87110861e+00, 2.40615175e+02,-8.93133949e+02, 1.76242575e+03,
 -5.70792654e-01, 6.77753712e+00,-1.28623910e+01, 2.23838581e+01,
 -4.13795469e-01,-6.10328193e-01, 1.46390133e-01,-5.29120966e+00,
  1.68985672e+00,-2.68386460e+01]

qfrc_actuator:
[-0.00256031, 0.11124534,-0.00116924, 0.07676004,-0.00635029, 0.15283313,
  0.01883247, 0.07866091,-0.00077185, 0.11032635, 0.00070247, 0.06763078,
  0.04719966, 0.01337902, 0.00246557,-0.00207205, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.71226987, 0.11648989, 0.70267949, 0.11648989, 0.12909957,
       0.09667771, 0.70267949, 0.09667771, 0.69624268, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -4.536657427434956e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98900085e-01,  3.95264476e-03, -4.67225487e-02,  3.94832803e-03,
        9.99992188e-01,  1.84679080e-04,  4.67229137e-02, -2.71050543e-20,
       -9.98907888e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13151024, -0.08329036,  0.17482424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.21472926, -0.00344476, -0.21470162, -0.00344476,  0.08001327,
        0.00216144, -0.21470162,  0.00216144,  0.21469458,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015215563920264972
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98642908, -0.16406395,  0.00637858, -0.16406052,  0.98644971,
        0.00106087, -0.0064662 ,  0.        , -0.99997909])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13114476, -0.08197423,  0.13163032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([7.28398388, 6.2743676 , 3.6998287 , 6.2743676 , 5.51833057,
       2.99428942, 3.6998287 , 2.99428942, 2.20610756, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -8.853651253920002e-06
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98641724,  0.04405266, -0.15824158,  0.04349653,  0.99902921,
        0.00697774,  0.15839535,  0.        , -0.98737577])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([34, 43], dtype=int32)
  geom1: 34
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11328953, -0.05388757,  0.2965822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.23586583, -0.65024064, -1.05097643, -0.65024064,  9.78304494,
       -5.28815206, -1.05097643, -5.28815206,  4.50765315,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000421269488952628
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42151841, -0.87580751, -0.23512431, -0.10196786, -0.21186315,
        0.97196531, -0.90106869,  0.43367639,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485225, -0.03603609,  0.30507239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004110354221923823
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.70103978e-13, -1.35051989e-13,  1.00000000e+00, -3.64780794e-26,
        1.00000000e+00,  1.35051989e-13, -1.00000000e+00,  0.00000000e+00,
       -2.70103978e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05358625, -0.06062418,  0.06199078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21513315e-04, 1.31260243e-02, 3.80758032e-03, 3.87506801e-03,
  1.14216044e-03, 1.35697899e-01, 5.54137637e-02, 2.52316488e-02,
  2.90952977e-06, 1.35876668e-02, 3.49156004e-03, 3.51524900e-03,
  4.82311079e-02, 1.08386491e-02,-1.28140283e-03,-1.62084279e-04,
 -9.27274519e-04, 6.62139372e-04,-9.80991070e+00,-6.50578681e-02,
 -9.62081270e-03,-5.19118653e-03]


--- Step 2104 ---
qpos:
[ 0.00733136, 0.03469466,-0.00852351, 0.05052554, 0.00359454,-0.02037603,
 -0.0272514 , 0.04807445, 0.01253867, 0.03007557,-0.01344237, 0.05023756,
  0.81111864,-0.01442385, 1.13528103, 0.04603983, 0.09500903,-0.06353274,
  0.14266542, 0.94384976,-0.03301775, 0.02726109, 0.32758859]

qacc:
[-1.65334331e-01, 2.24463636e+02,-8.82736786e+02, 1.87281036e+03,
  1.49352791e+02, 9.99645182e+02,-3.18194530e+03, 3.76653981e+03,
 -8.88902903e-02, 2.25851574e+02,-8.69270451e+02, 1.78232217e+03,
 -5.22070049e+00, 4.61021450e+00, 9.37386223e+01,-2.51533704e+02,
  2.81635477e-01,-7.58865480e-01,-7.02357882e-02, 5.55060503e+00,
  2.03561733e+00,-1.26491301e+01]

qfrc_actuator:
[-0.00254082, 0.11576964,-0.00074863, 0.07985473,-0.00681774, 0.15811036,
  0.01957511, 0.08130984,-0.00077123, 0.11433472, 0.0007167 , 0.0704437 ,
  0.04743944, 0.01333518, 0.00247181,-0.00232089, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21331357,  0.02550689, -0.2117831 ,  0.02550689,  0.05231765,
       -0.01939015, -0.2117831 , -0.01939015,  0.21097825,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013155014144835948
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98537724, -0.17023657,  0.00715565, -0.17023208,  0.98540322,
        0.0012362 , -0.00726165,  0.        , -0.99997363])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1311474 , -0.08204879,  0.1316402 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004189411386509651
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.42146607, -0.87587556, -0.23496459, -0.10188189, -0.21172727,
        0.97200393, -0.9011029 ,  0.43360531,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048555 , -0.03604624,  0.30507872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004093069654340642
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.35622298e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.35622298e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05358521, -0.06062423,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06224646e-05, 1.27411436e-02, 3.70893490e-03, 3.85644113e-03,
  2.71799177e-03, 1.46135965e-01, 5.61102026e-02, 2.47658091e-02,
  1.17742479e-05, 1.24029750e-02, 3.34658131e-03, 3.57689617e-03,
  4.82269414e-02, 1.04597881e-02,-7.46150651e-04,-3.66212542e-04,
 -1.20492095e-03, 8.47137704e-04,-9.80987989e+00,-6.50765907e-02,
 -9.64446340e-03,-5.19553919e-03]


--- Step 2105 ---
qpos:
[ 0.00728428, 0.03691291,-0.00859705, 0.05214879, 0.00340005,-0.01978993,
 -0.02821702, 0.04926082, 0.01252523, 0.03227591,-0.0134907 , 0.05167861,
  0.81115972,-0.01433363, 1.13562126, 0.0460276 , 0.09500074,-0.06356313,
  0.14267084, 0.94401121,-0.03307784, 0.02726973, 0.32711628]

qacc:
[ 4.61194995e+01, 1.69829179e+02,-6.23480507e+02, 1.29511686e+03,
 -1.93999671e+02, 2.27240100e+02,-7.98329235e+02, 1.30870227e+03,
  3.81323899e+00, 2.05022482e+02,-7.70309627e+02, 1.54103145e+03,
 -3.80516527e+00, 8.31467424e+00, 6.81813095e+01,-1.46082166e+02,
  6.81713404e-02,-5.62153827e-01, 9.21574188e-03, 2.37159978e+00,
  1.02711849e+00,-1.17324552e+01]

qfrc_actuator:
[-0.00224181, 0.1195992 ,-0.00034348, 0.08198331,-0.00718294, 0.16324513,
  0.02051189, 0.08389571,-0.00074758, 0.11812873, 0.00065408, 0.07281832,
  0.04774191, 0.01325744, 0.00248957,-0.00226245, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21157956,  0.03930731, -0.20789624,  0.03930731,  0.12429272,
       -0.01650348, -0.20789624, -0.01650348,  0.20845922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010024455751294556
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98430755, -0.17627673,  0.00807163, -0.1762708 ,  0.98434065,
        0.00144548, -0.00820004,  0.        , -0.99996638])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13113771, -0.08212135,  0.13165141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.22601264,  0.07125427, -1.22394028,  0.07125427,  3.5303449 ,
        0.13415158, -1.22394028,  0.13415158,  1.23382256,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041401113208633015
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43283752, -0.87185696, -0.22916615, -0.10190364, -0.20526269,
        0.97338732, -0.89569377,  0.44467142,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486093, -0.03605912,  0.3050897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004071647467183137
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.72671697e-13, -1.36335849e-13,  1.00000000e+00, -3.71749272e-26,
        1.00000000e+00,  1.36335849e-13, -1.00000000e+00,  0.00000000e+00,
       -2.72671697e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05358402, -0.06062429,  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:
[ 2.96553623e-04, 1.18064491e-02, 3.59981375e-03, 2.86967353e-03,
  1.40301584e-03, 1.38606851e-01, 6.80916005e-02, 2.61355846e-02,
  3.49671970e-05, 1.14953096e-02, 3.00801732e-03, 3.08365226e-03,
  4.87704536e-02, 1.04418996e-02,-2.49864732e-03, 3.73185591e-04,
 -1.31180752e-03, 9.68410597e-04,-9.80987919e+00,-6.50933170e-02,
 -9.63074392e-03,-5.19969574e-03]


--- Step 2106 ---
qpos:
[ 0.00724963, 0.03920715,-0.00865769, 0.05380616, 0.00319136,-0.01916587,
 -0.02920553, 0.05048364, 0.01251232, 0.03455809,-0.01353657, 0.0531557 ,
  0.81120582,-0.01423627, 1.13599805, 0.04601716, 0.09499217,-0.0635953 ,
  0.14267648, 0.94418012,-0.0331385 , 0.02727876, 0.32662152]

qacc:
[ 1.01539934e+02, 1.34397222e+02,-4.77710629e+02, 9.91585278e+02,
 -1.21245465e+02, 1.88870218e+02,-7.54141103e+02, 1.39242236e+03,
  3.25181691e+00, 1.75295196e+02,-6.20035258e+02, 1.17874335e+03,
 -2.64895420e+00, 9.92138735e+00, 4.89301243e+01,-9.20402928e+01,
 -7.04852075e-02,-4.46865677e-01, 5.53673563e-02, 2.25425928e-01,
  5.43411244e-01,-1.18188357e+01]

qfrc_actuator:
[-1.60316230e-03, 1.22590830e-01,-2.51337279e-05, 8.36146166e-02,
 -7.38161145e-03, 1.68764020e-01, 2.14749135e-02, 8.64989204e-02,
 -7.28374446e-04, 1.21852085e-01, 6.16210069e-04, 7.45784383e-02,
  4.81188961e-02, 1.31544579e-02, 2.44305603e-03,-2.22156918e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21119133,  0.04620727, -0.20607442,  0.04620727,  0.11793427,
       -0.02091067, -0.20607442, -0.02091067,  0.20650261,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.170402375023828e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83173565e-01, -1.82501719e-01,  7.92866457e-03, -1.82495784e-01,
        9.83205534e-01,  1.47171152e-03, -8.06409677e-03,  2.16840434e-19,
       -9.99967485e-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([ 0.13112326, -0.08219593,  0.13164979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.21777422, -0.2989859 ,  1.18050052, -0.2989859 ,  4.47063487,
        0.82385348,  1.18050052,  0.82385348,  1.42643196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004077585158909502
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.44958059, -0.86557965, -0.22056556, -0.10166581, -0.19573766,
        0.97537215, -0.88743527,  0.46093236,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486779, -0.03607418,  0.30510346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040475840530725116
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37146383e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.37146383e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05358273, -0.06062435,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.44155248e-04, 1.03776998e-02, 3.27106151e-03, 2.30901127e-03,
  2.34244730e-03, 1.40472327e-01, 7.02825128e-02, 2.72163806e-02,
  3.12052932e-05, 1.08227664e-02, 2.78535587e-03, 2.40862066e-03,
  4.90768970e-02, 1.01300164e-02,-4.68900198e-03, 4.89872722e-04,
 -1.42663670e-03, 1.07723278e-03,-9.80987581e+00,-6.51070919e-02,
 -9.62523110e-03,-5.20387803e-03]


--- Step 2107 ---
qpos:
[ 0.00723137, 0.04157131,-0.00871044, 0.05549915, 0.00297587,-0.01852008,
 -0.03022491, 0.05174872, 0.0124999 , 0.03691617,-0.01357899, 0.05466263,
  0.81125873,-0.01413046, 1.13640235, 0.04600976, 0.09498288,-0.06362906,
  0.14268249, 0.94435728,-0.03320292, 0.02728664, 0.32610174]

qacc:
[ 1.33027043e+02, 1.43368633e+02,-5.27743999e+02, 1.07998995e+03,
 -5.87793468e+01, 2.01489499e+02,-8.54951774e+02, 1.61841485e+03,
  2.92553171e+00, 1.51986039e+02,-5.22204936e+02, 9.76658955e+02,
 -1.73668008e+00, 1.01603918e+01, 3.17255399e+01,-5.13669234e+01,
 -1.80438238e-01,-3.96267971e-01, 9.22545019e-02,-1.48683604e+00,
  3.71880672e-01,-1.32300925e+01]

qfrc_actuator:
[-7.69752436e-04, 1.25552830e-01, 1.46885475e-04, 8.53479380e-02,
 -7.49758182e-03, 1.74430343e-01, 2.24263565e-02, 8.95736436e-02,
 -7.12008728e-04, 1.25254435e-01, 6.28105163e-04, 7.60339528e-02,
  4.85029291e-02, 1.29961933e-02, 2.40493698e-03,-2.15843397e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21045409,  0.04739887, -0.205047  ,  0.04739887,  0.10695171,
       -0.02392571, -0.205047  , -0.02392571,  0.2049234 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.267411435727857e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82915041e-01, -1.83884564e-01,  8.03050023e-03, -1.83878427e-01,
        9.82947846e-01,  1.50230253e-03, -8.16981314e-03, -2.16840434e-19,
       -9.99966627e-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([ 0.13109551, -0.08221244,  0.13165107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.2090851 , -0.86195402,  0.84789271, -0.86195402,  5.78737467,
        4.65421514,  0.84789271,  4.65421514,  5.94048495,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040097156543787325
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.68223103e-01, -8.58097864e-01, -2.10796542e-01, -1.00968579e-01,
       -1.85041963e-01,  9.77529958e-01, -8.77822574e-01,  4.78985937e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487542, -0.0360909 ,  0.30511877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004022042370056822
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.76034642e-13, -2.07025981e-13,  1.00000000e+00, -5.71463426e-26,
        1.00000000e+00,  2.07025981e-13, -1.00000000e+00,  0.00000000e+00,
       -2.76034642e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05358139, -0.06062441,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.48704052e-04, 9.45428173e-03, 2.76857389e-03, 2.32722335e-03,
  2.93661929e-03, 1.44226990e-01, 7.23796701e-02, 2.84662647e-02,
  2.83302698e-05, 1.00476820e-02, 2.64434521e-03, 2.05407683e-03,
  4.92095113e-02, 9.61377745e-03,-6.56247969e-03, 4.61745917e-04,
 -1.55657797e-03, 1.18401830e-03,-9.80986986e+00,-6.51198202e-02,
 -9.62642187e-03,-5.20811799e-03]


--- Step 2108 ---
qpos:
[ 0.00722826, 0.04400287,-0.00875937, 0.05722679, 0.00275356,-0.0178559 ,
 -0.03126857, 0.0530578 , 0.01248827, 0.03934508,-0.01361964, 0.05620249,
  0.81131392,-0.01402285, 1.13682357, 0.046009  , 0.09497254,-0.06366429,
  0.14268898, 0.9445423 ,-0.03327188, 0.02729143, 0.32555799]

qacc:
[ 1.21676700e+02, 1.49406318e+02,-5.49849394e+02, 1.09330157e+03,
 -5.86404960e+01, 1.82144826e+02,-7.99739300e+02, 1.58518775e+03,
  5.51519533e+00, 1.56295830e+02,-5.60320779e+02, 1.07453556e+03,
  1.59514991e-01, 1.73061998e+00, 4.95625256e+00, 1.90326880e+01,
 -2.61682473e-01,-3.66949136e-01, 1.20866036e-01,-2.19268917e+00,
 -4.21859540e-01,-1.27128722e+01]

qfrc_actuator:
[-5.94914521e-06, 1.28685768e-01, 2.30961111e-04, 8.70563118e-02,
 -7.56564708e-03, 1.79618084e-01, 2.33702492e-02, 9.25025775e-02,
 -6.79757357e-04, 1.28455144e-01, 5.79132274e-04, 7.76535367e-02,
  4.88109629e-02, 1.29070936e-02, 2.37667687e-03,-1.92414070e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21001202,  0.05047096, -0.20385713,  0.05047096,  0.11056403,
       -0.02462134, -0.20385713, -0.02462134,  0.20391627,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.827798599142321e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98298664, -0.18349129,  0.00825924, -0.18348481,  0.98302134,
        0.00154167, -0.00840189,  0.        , -0.9999647 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13106255, -0.08220768,  0.1316539 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.20052828, -0.85964479,  0.83802087, -0.85964479,  1.82021855,
        0.63568049,  0.83802087,  0.63568049,  1.85261158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039408357875530864
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.48641671, -0.85028484, -0.20103352, -0.09982403, -0.17449825,
        0.97958436, -0.86800573,  0.49655418,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10488339, -0.03610884,  0.30513485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003995867758626037
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.77842785e-13, -6.94606961e-14,  1.00000000e+00, -1.92991532e-26,
        1.00000000e+00,  6.94606961e-14, -1.00000000e+00,  0.00000000e+00,
       -2.77842785e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05358004, -0.06062448,  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:
[ 7.84893933e-04, 9.00315850e-03, 2.42761185e-03, 2.24540811e-03,
  3.20874292e-03, 1.48313649e-01, 7.48692575e-02, 2.92801231e-02,
  4.41351893e-05, 9.36544100e-03, 2.39273958e-03, 2.17289940e-03,
  4.91766827e-02, 9.10019179e-03,-7.97370159e-03, 5.42120321e-04,
 -1.71727096e-03, 1.30283337e-03,-9.80985987e+00,-6.51330440e-02,
 -9.63431538e-03,-5.21248112e-03]


--- Step 2109 ---
qpos:
[ 0.00723351, 0.04650117,-0.00880706, 0.05900299, 0.0025245 ,-0.01715207,
 -0.03233515, 0.05440772, 0.01247761, 0.04185431,-0.01366663, 0.05778763,
  0.8113748 ,-0.01391119, 1.13725181, 0.04601219, 0.09496114,-0.06370077,
  0.14269594, 0.94473424,-0.03334544, 0.02729284, 0.32499292]

qacc:
[ 6.58905101e+01, 1.84486957e+02,-7.34722200e+02, 1.52325652e+03,
 -5.85066222e+01, 1.99938917e+02,-8.09065227e+02, 1.52190409e+03,
  6.54039525e+00, 2.16857740e+02,-8.10007647e+02, 1.54333349e+03,
  1.48051800e+00, 2.56611255e+00,-1.56106974e+00, 2.05523052e+01,
 -2.66361502e-01,-3.12406715e-01, 1.15566521e-01,-2.30998268e+00,
 -5.92463788e-01,-1.13137804e+01]

qfrc_actuator:
[ 0.00040898, 0.13207333, 0.00031643, 0.08949981,-0.00747797, 0.18630634,
  0.02431535, 0.09507686,-0.00063848, 0.13314283, 0.00051169, 0.07997788,
  0.04911084, 0.0130758 , 0.00233832,-0.0018405 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20964354,  0.05666545, -0.20184014,  0.05666545,  0.11869029,
       -0.0255346 , -0.20184014, -0.0255346 ,  0.20247485,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.265581277351256e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98306942, -0.18303626,  0.00849939, -0.18302942,  0.98310616,
        0.00158243, -0.00864545,  0.        , -0.99996263])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13102804, -0.08220223,  0.1316569 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.19116911, -0.87040974,  0.81318555, -0.87040974,  1.79825749,
        0.64980943,  0.81318555,  0.64980943,  1.88670588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003863024934446975
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50101886, -0.8436427 , -0.19299508, -0.09854688, -0.16593858,
        0.98119972, -0.85980731,  0.51061863,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489232, -0.03612847,  0.30515341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039696142168160753
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.19520499e-13, -1.39840166e-13,  1.00000000e+00, -5.86658164e-26,
        1.00000000e+00,  1.39840166e-13, -1.00000000e+00,  0.00000000e+00,
       -4.19520499e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0535787 , -0.06062456,  0.0619911 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.33902540e-04, 8.92895760e-03, 2.29006927e-03, 2.94756821e-03,
  3.63697707e-03, 1.54067604e-01, 7.70291934e-02, 2.96522174e-02,
  5.36388657e-05, 1.04213901e-02, 2.20553993e-03, 2.84178671e-03,
  4.93622183e-02, 9.17713238e-03,-8.86554974e-03, 2.92076747e-04,
 -1.88026849e-03, 1.41528481e-03,-9.80985382e+00,-6.51442983e-02,
 -9.64549290e-03,-5.21671321e-03]


--- Step 2110 ---
qpos:
[ 0.00723665, 0.04907219,-0.0088575 , 0.06083645, 0.00229203,-0.0164035 ,
 -0.03342533, 0.05579738, 0.01246769, 0.04445349,-0.01372055, 0.05942625,
  0.81144527,-0.01379193, 1.13768048, 0.04601746, 0.09494868,-0.0637383 ,
  0.14270333, 0.94493224,-0.03342354, 0.0272908 , 0.3244089 ]

qacc:
[-1.77864051e+01, 2.21548996e+02,-8.91617017e+02, 1.83166656e+03,
 -3.04283937e+01, 2.06136548e+02,-8.16795092e+02, 1.50773774e+03,
  4.36243674e+00, 2.48116060e+02,-9.37568942e+02, 1.80654886e+03,
  2.16920297e+00, 5.27267957e+00,-5.66825795e+00, 2.07626496e+01,
 -2.61916523e-01,-2.63265333e-01, 1.09275956e-01,-2.35080279e+00,
 -6.58638928e-01,-1.00545682e+01]

qfrc_actuator:
[ 0.00029577, 0.13620872, 0.0003683 , 0.09240986,-0.00715217, 0.19304968,
  0.02526954, 0.09765469,-0.00061003, 0.13852508, 0.00051157, 0.08273506,
  0.04942141, 0.01348498, 0.00232613,-0.00181172, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20940407,  0.06324229, -0.19962585,  0.06324229,  0.12328687,
       -0.02728229, -0.19962585, -0.02728229,  0.20076093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.81438776242756e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98316348, -0.18252042,  0.00870997, -0.18251326,  0.98320206,
        0.00161691, -0.00885878,  0.        , -0.99996076])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13099038, -0.08219598,  0.13165952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.18128597, -0.87102505,  0.79796735, -0.87102505,  1.89986359,
        0.78436681,  0.79796735,  0.78436681,  2.03746529,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003777855346828138
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.02026690e-01, -8.43221957e-01, -1.92213248e-01, -9.83297172e-02,
       -1.65158105e-01,  9.81353182e-01, -8.59244126e-01,  5.11565764e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490177, -0.03614954,  0.30517387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039436459738392826
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.03804951e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.03804951e-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([ 0.05357739, -0.06062463,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05124363e-04, 9.63431552e-03, 2.24758396e-03, 3.41958335e-03,
  4.30035536e-03, 1.58812612e-01, 7.91310810e-02, 3.01858653e-02,
  4.17069311e-05, 1.16935422e-02, 2.49009057e-03, 3.32612509e-03,
  4.93884504e-02, 9.38219204e-03,-9.23754560e-03, 1.21334086e-04,
 -2.03262535e-03, 1.51717416e-03,-9.80984901e+00,-6.51552680e-02,
 -9.65758767e-03,-5.22081093e-03]


--- Step 2111 ---
qpos:
[ 0.00723104, 0.05171735,-0.00891049, 0.06272085, 0.00205601,-0.01561347,
 -0.03452878, 0.05722499, 0.012458  , 0.04714215,-0.01377542, 0.06110946,
  0.81153052,-0.01365918, 1.13810609, 0.04602312, 0.09493528,-0.06377657,
  0.1427111 , 0.94513482,-0.03350585, 0.02728551, 0.32381017]

qacc:
[-6.97651489e+01, 2.09994197e+02,-8.20920479e+02, 1.65031626e+03,
 -3.10730725e+01, 1.69394512e+02,-6.84594098e+02, 1.33090229e+03,
  5.45890294e-01, 2.12459668e+02,-7.73841342e+02, 1.47986197e+03,
  2.08228175e+00, 1.09724035e+01,-5.50471803e+00, 1.30041649e+01,
 -2.36476359e-01,-1.83031469e-01, 9.53104448e-02,-2.23831373e+00,
 -6.64743211e-01,-7.80434929e+00]

qfrc_actuator:
[-1.44954001e-04, 1.40085534e-01, 2.96969392e-04, 9.49681423e-02,
 -6.70186484e-03, 1.98739950e-01, 2.62922821e-02, 9.99176286e-02,
 -6.07185848e-04, 1.43181664e-01, 5.37235163e-04, 8.49800249e-02,
  4.96419827e-02, 1.42995618e-02, 2.28739342e-03,-1.83331191e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20927498,  0.07214442, -0.19644643,  0.07214442,  0.13673154,
       -0.02664138, -0.19644643, -0.02664138,  0.19949101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.54058313664939e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98333589, -0.18158239,  0.00885279, -0.18157503,  0.98337574,
        0.00163469, -0.00900245,  0.        , -0.99995948])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13094844, -0.08218458,  0.13166129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1713217 , -0.86650918,  0.78813474, -0.86650918,  2.57335738,
        1.54145824,  0.78813474,  1.54145824,  2.86606709,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036886205305506405
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50306597, -0.84278662, -0.1914036 , -0.09810241, -0.16435101,
        0.98151142, -0.85866207,  0.51254215,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491121, -0.03617178,  0.30519543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039181712000702085
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.83352352e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.83352352e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05357611, -0.06062472,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.49333971e-04, 9.77873348e-03, 2.28025266e-03, 3.10545829e-03,
  4.92165589e-03, 1.62248357e-01, 8.13344655e-02, 3.04599764e-02,
  1.64557407e-05, 1.17555040e-02, 2.82933570e-03, 2.88733324e-03,
  4.91296292e-02, 9.81495338e-03,-9.30519329e-03,-6.36609674e-06,
 -2.17414644e-03, 1.60934486e-03,-9.80984479e+00,-6.51663157e-02,
 -9.67026679e-03,-5.22477355e-03]


--- Step 2112 ---
qpos:
[ 0.00720936, 0.05442909,-0.00896546, 0.06465135, 0.00181521,-0.01477425,
 -0.03563905, 0.05868677, 0.01244861, 0.04991485,-0.013827  , 0.0628219 ,
  0.81163508,-0.01350704, 1.13852775, 0.04602862, 0.09492106,-0.06381517,
  0.1427192 , 0.94534007,-0.03359183, 0.02727716, 0.32320224]

qacc:
[-1.25156552e+02, 1.88531815e+02,-7.38215840e+02, 1.48813576e+03,
 -4.16700935e+01, 1.53787492e+02,-5.98119771e+02, 1.16291106e+03,
  1.09693845e+00, 1.61887089e+02,-5.39172778e+02, 9.76833716e+02,
  1.40128160e+00, 1.72713908e+01,-5.13601724e+00, 1.00688267e+01,
 -2.05324830e-01,-8.43743691e-02, 8.04114118e-02,-2.06102097e+00,
 -7.38622602e-01,-4.88219787e+00]

qfrc_actuator:
[-9.52216957e-04, 1.42906815e-01,-7.13952523e-06, 9.72277555e-02,
 -6.33515701e-03, 2.04529375e-01, 2.73730298e-02, 1.01835496e-01,
 -6.01749670e-04, 1.47083293e-01, 5.75141942e-04, 8.64080748e-02,
  4.97811087e-02, 1.55082449e-02, 2.21171020e-03,-1.84875509e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.20922488,  0.08110235, -0.19286643,  0.08110235,  0.15312791,
       -0.02358936, -0.19286643, -0.02358936,  0.19930531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.6765286806455135e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84060870e-01, -1.77615401e-01,  8.77347370e-03, -1.77608343e-01,
        9.84099979e-01,  1.58348144e-03, -8.91522598e-03,  2.16840434e-19,
       -9.99960259e-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([ 0.13089672, -0.08213668,  0.13166034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.16199242, -1.06942528,  0.45448428, -1.06942528,  1.70956052,
        1.28845636,  0.45448428,  1.28845636,  4.19379761,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003601757253847091
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50412942, -0.84234146, -0.19056338, -0.09786194, -0.16351588,
        0.98167489, -0.8580656 ,  0.5135401 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491991, -0.03619472,  0.3052167 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003893322398012683
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.85160824e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.85160824e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05357486, -0.0606248 ,  0.06199127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.26926927e-04, 8.79440369e-03, 2.06951185e-03, 2.80770543e-03,
  5.46511823e-03, 1.65945788e-01, 8.30797029e-02, 3.04774737e-02,
  1.85977566e-05, 1.10831373e-02, 2.87982615e-03, 2.07594041e-03,
  4.85296369e-02, 1.03478068e-02,-9.23683319e-03,-4.25632598e-05,
 -2.28892985e-03, 1.68114927e-03,-9.80984137e+00,-6.51774133e-02,
 -9.68224773e-03,-5.22860377e-03]


--- Step 2113 ---
qpos:
[ 0.0071646 , 0.05719911,-0.00902344, 0.06661629, 0.00168957,-0.01282241,
 -0.03598568, 0.06054536, 0.01243987, 0.05276787,-0.01387598, 0.06455851,
  0.8117313 ,-0.01337621, 1.13899242, 0.04602549, 0.0949101 ,-0.06385311,
  0.14272529, 0.94552793,-0.03365127, 0.02727667, 0.32264612]

qacc:
[-1.76936674e+02, 1.56570114e+02,-5.90876119e+02, 1.14688192e+03,
  9.84891103e+02, 1.50015946e+02,-7.98107387e+01, 4.90990209e+03,
  4.08225171e+00, 1.48518416e+02,-4.77317553e+02, 8.31425715e+02,
  6.31716430e+00,-2.51874226e+01, 8.89880706e+01,-2.20504410e+02,
  8.13329254e-01, 1.65036202e-01,-5.01400683e-01, 1.28210432e+01,
 -1.20380153e+00, 2.77929877e+01]

qfrc_actuator:
[-0.00211062, 0.14516144,-0.00043272, 0.09888433,-0.00605145, 0.20982141,
  0.02845192, 0.10365919,-0.00057715, 0.15085665, 0.00059879, 0.08759205,
  0.04989706, 0.0164805 , 0.00216731,-0.00182463, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.1538946 , -0.61438431,  0.97673162, -0.61438431,  1.6151068 ,
        0.29011198,  0.97673162,  0.29011198,  1.33638101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003523550011992626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50520754, -0.84189241, -0.18969058, -0.09760524, -0.16265218,
        0.98184392, -0.85746053,  0.51454975,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049272 , -0.03621793,  0.30523632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003869186190183366
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.05357365, -0.0606249 ,  0.06199132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19079494e-03, 7.61846660e-03, 1.70763492e-03, 2.14917399e-03,
  5.98809740e-03, 1.68758059e-01, 8.44990487e-02, 3.05899283e-02,
  3.79040957e-05, 1.05513962e-02, 2.70373452e-03, 1.78872386e-03,
  4.76802374e-02, 1.03477849e-02,-9.09153689e-03,-1.32479163e-05,
 -2.36460370e-03, 1.72361539e-03,-9.80983966e+00,-6.51881357e-02,
 -9.69262496e-03,-5.23228097e-03]


--- Step 2114 ---
qpos:
[ 0.00709408, 0.06002599,-0.00908912, 0.06860546, 0.0014997 ,-0.01095842,
 -0.03638341, 0.06238308, 0.01243169, 0.05569779,-0.0139232 , 0.0663258 ,
  0.81182701,-0.01325937, 1.13947745, 0.04602348, 0.09489929,-0.06389331,
  0.14273068, 0.94572025,-0.03370323, 0.02727633, 0.32207655]

qacc:
[-1.94594846e+02, 1.46863447e+02,-5.15901307e+02, 9.03955784e+02,
 -5.49264925e+02,-1.51463358e+01,-2.45090403e+01,-1.92333473e+02,
  3.17574536e+00, 1.59690097e+02,-5.51132010e+02, 1.02159318e+03,
  8.77537463e+00,-2.10655698e+01, 2.59705484e+01,-4.87409543e+01,
  4.07162507e-02,-5.66359188e-01,-1.75210529e-01, 3.81710762e+00,
 -9.70147589e-01,-6.97266554e+00]

qfrc_actuator:
[-0.00339525, 0.14778559,-0.00092936, 0.10006578,-0.00591781, 0.21332358,
  0.02877972, 0.1052276 ,-0.00055929, 0.15455866, 0.00063102, 0.08912001,
  0.05000089, 0.01707758, 0.0021376 ,-0.0019635 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.71462502,  0.60717365,  0.37686745,  0.60717365,  1.30547287,
       -0.95191889,  0.37686745, -0.95191889,  2.24826784,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.4658817307946105e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98807696e-01,  1.68755741e-03, -4.87887086e-02,  1.68554773e-03,
        9.99998576e-01,  8.23338640e-05,  4.87887780e-02,  0.00000000e+00,
       -9.98809118e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13107793, -0.08403165,  0.17493776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2180551 ,  0.05008881,  0.21222426,  0.05008881,  0.65688849,
       -0.10357272,  0.21222426, -0.10357272,  0.24250016,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019135092497485503
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97882038, -0.20439854,  0.01148514, -0.20438447,  0.97888776,
        0.00239818, -0.01173285,  0.        , -0.99993117])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1305274 , -0.08244663,  0.11171218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14347968, -0.54424236,  1.00565702, -0.54424236,  0.95675032,
       -0.10105436,  1.00565702, -0.10105436,  1.08879099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034187900071192586
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.06200597e-01, -8.41478939e-01, -1.88876018e-01, -9.73615697e-02,
       -1.61848309e-01,  9.82000942e-01, -8.56902375e-01,  5.15478729e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493735, -0.03624388,  0.30526109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038485264489045157
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44240015e-13, -7.21200074e-14,  1.00000000e+00, -1.04025909e-26,
        1.00000000e+00,  7.21200074e-14, -1.00000000e+00,  0.00000000e+00,
       -1.44240015e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05357261, -0.06062499,  0.06199137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32962936e-03, 7.22526397e-03, 1.32564658e-03, 1.59815781e-03,
  3.63320952e-04, 1.16559019e-01, 4.66243750e-02, 1.23098841e-02,
  3.18627335e-05, 1.01310397e-02, 2.56981839e-03, 2.09799238e-03,
  4.82010138e-02, 1.20086158e-02,-1.12803570e-02, 2.77812719e-04,
 -1.91127295e-03, 1.47551847e-03,-9.80989762e+00,-6.51877127e-02,
 -9.62774888e-03,-5.23451633e-03]


--- Step 2115 ---
qpos:
[ 0.00699957, 0.06290719,-0.00916741, 0.07060761, 0.00125524,-0.00919868,
 -0.036835  , 0.0642026 , 0.01242398, 0.05869566,-0.01396557, 0.06812983,
  0.81192605,-0.01315324, 1.13997428, 0.04601804, 0.09488922,-0.06393425,
  0.14273512, 0.94590817,-0.03374325, 0.02727603, 0.32152005]

qacc:
[-1.78672359e+02, 1.34007383e+02,-4.27530497e+02, 6.30689454e+02,
 -4.68460447e+02,-2.37839775e+01,-3.67311683e+01,-1.17040675e+02,
  2.77144230e+00, 1.51644152e+02,-5.65089480e+02, 1.14166088e+03,
  9.54653805e+00,-1.86795469e+01, 2.70826323e+01,-7.09449434e+01,
  1.83793042e-01,-1.81344559e-01,-2.37860017e-01, 5.40045944e+00,
 -2.06574846e+00, 7.04934494e+00]

qfrc_actuator:
[-0.00458393, 0.15018351,-0.00171127, 0.10067455,-0.00556337, 0.2171286 ,
  0.02797673, 0.10651124,-0.00054564, 0.15749679, 0.00070369, 0.09092695,
  0.05005978, 0.017575  , 0.00207458,-0.00224196, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.72431615,  0.66971538, -0.27588983,  0.66971538,  1.32804265,
        1.46553034, -0.27588983,  1.46553034,  4.28185283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001225290445941274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98878462e-01,  1.49801510e-03, -4.73241485e-02,  1.49633669e-03,
        9.99998878e-01,  7.08923684e-05,  4.73242016e-02,  1.35525272e-20,
       -9.98879582e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1309867 , -0.08407892,  0.17491432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25114125,  0.00891485,  0.25098298,  0.00891485,  1.03904181,
       -0.02798602,  0.25098298, -0.02798602,  0.25213531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039087302827464166
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97885812, -0.20401009,  0.01471974, -0.20398702,  0.97896879,
        0.00306749, -0.01503596,  0.        , -0.99988695])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13032392, -0.08243086,  0.11175076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1303538 , -0.47210157,  1.02704422, -0.47210157,  0.91393122,
       -0.099483  ,  1.02704422, -0.099483  ,  1.08462444,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003279352410225875
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.07218578e-01, -8.41049456e-01, -1.88056182e-01, -9.71183481e-02,
       -1.61037741e-01,  9.82158273e-01, -8.56327823e-01,  5.16432628e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049504 , -0.03627384,  0.30529303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038328331504912383
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44830597e-13, -7.24152984e-14,  1.00000000e+00, -1.04879509e-26,
        1.00000000e+00,  7.24152984e-14, -1.00000000e+00,  0.00000000e+00,
       -1.44830597e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05357174, -0.06062507,  0.0619914 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23898322e-03, 6.67466516e-03, 8.92447742e-04, 9.84522675e-04,
  3.92917764e-03, 1.24689743e-01, 4.83550890e-02, 1.46297001e-02,
  2.75803532e-05, 9.11484214e-03, 2.51664086e-03, 2.36008183e-03,
  4.82854573e-02, 1.32034858e-02,-1.23701881e-02,-5.85398064e-05,
 -1.97008306e-03, 1.55478049e-03,-9.80991669e+00,-6.51937733e-02,
 -9.61483459e-03,-5.23667934e-03]


--- Step 2116 ---
qpos:
[ 6.85361607e-03, 6.58343888e-02,-9.25654152e-03, 7.26136274e-02,
  9.65874045e-04,-7.55222408e-03,-3.73431639e-02, 6.60037817e-02,
  1.24167007e-02, 6.17546834e-02,-1.40028258e-02, 6.99663186e-02,
  8.12024893e-01,-1.30584757e-02, 1.14048086e+00, 4.60103777e-02,
  9.48800407e-02,-6.39744400e-02, 1.42738584e-01, 9.46087602e-01,
 -3.37740731e-02, 2.72766184e-02, 3.20988392e-01]

qacc:
[-3.75767713e+02, 9.97878411e+01,-2.82567941e+02, 3.31319057e+02,
 -3.86855611e+02,-2.86004662e+01,-3.64931030e+01,-1.08636317e+02,
  2.44899777e+00, 1.33178270e+02,-4.94210768e+02, 1.00142850e+03,
  7.40506519e+00,-1.73910669e+01, 2.05050781e+01,-5.21520096e+01,
  2.21079633e-01, 1.84336249e-01,-2.42727673e-01, 4.00710759e+00,
 -1.36221875e+00, 1.32579551e+01]

qfrc_actuator:
[-0.00719774, 0.15192841,-0.00247885, 0.10081701,-0.00518467, 0.22075857,
  0.02650071, 0.10725689,-0.00053465, 0.16011457, 0.00077909, 0.09251015,
  0.05006473, 0.01790844, 0.0020289 ,-0.0023693 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00018538880188226847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98939850e-01,  1.25391432e-03, -4.60174312e-02,  1.25258596e-03,
        9.99999214e-01,  5.77019612e-05,  4.60174674e-02,  0.00000000e+00,
       -9.98940635e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13090088, -0.08412885,  0.17489158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.31845977, -0.21635833,  0.23367863, -0.21635833,  1.61564643,
        1.20103898,  0.23367863,  1.20103898,  1.43047756,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005753702416431363
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79039431e-01, -2.02892761e-01,  1.77853985e-02, -2.02859291e-01,
        9.79200964e-01,  3.68517673e-03, -1.81631751e-02, -4.33680869e-19,
       -9.99835036e-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([ 0.13013187, -0.08240728,  0.11178671])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11564126, -0.39458778,  1.0435305 , -0.39458778,  1.02013973,
       -0.03611177,  1.0435305 , -0.03611177,  1.1019864 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003111834993449002
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50821502, -0.84062684, -0.18725386, -0.09687886, -0.16024511,
        0.98231156, -0.85576398,  0.51736643,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496561, -0.03630718,  0.30533079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038222540154358997
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.9046291e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.9046291e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05357107, -0.06062514,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66198347e-03, 5.59625303e-03, 7.17986951e-04, 4.67567295e-04,
  7.03661866e-03, 1.33469610e-01, 4.95523475e-02, 1.62780225e-02,
  2.46536128e-05, 8.22391079e-03, 2.31104290e-03, 2.09581413e-03,
  4.81243818e-02, 1.40717871e-02,-1.30157670e-02,-1.68975374e-05,
 -1.84070768e-03, 1.49270560e-03,-9.80994800e+00,-6.51923641e-02,
 -9.59189569e-03,-5.23789590e-03]


--- Step 2117 ---
qpos:
[ 6.64088028e-03, 6.88005566e-02,-9.35338906e-03, 7.46214404e-02,
  6.41348005e-04,-6.02913164e-03,-3.79100355e-02, 6.77868468e-02,
  1.24094601e-02, 6.48753472e-02,-1.40410477e-02, 7.18294102e-02,
  8.12123054e-01,-1.29729859e-02, 1.14099231e+00, 4.60050750e-02,
  9.48716232e-02,-6.40130149e-02, 1.42741244e-01, 9.46255253e-01,
 -3.37964913e-02, 2.72766519e-02, 3.20491463e-01]

qacc:
[-4.79217352e+02, 7.76549140e+01,-2.07996985e+02, 2.20544405e+02,
 -3.03553410e+02,-3.56423098e+01,-3.19945148e+01,-9.80032127e+01,
 -5.71768471e-01, 1.38751340e+02,-4.88459468e+02, 9.03759449e+02,
  6.02145089e+00,-1.43433877e+01,-4.57782972e-01, 1.09491280e+01,
  1.91681748e-01, 4.04853212e-01,-2.01736611e-01, 3.21643914e+00,
 -2.03642267e+00, 1.84226631e+01]

qfrc_actuator:
[-0.01055855, 0.15351663,-0.00300374, 0.10087886,-0.00486801, 0.22305603,
  0.02563927, 0.10784693,-0.00054315, 0.16312333, 0.00067638, 0.09382441,
  0.05002155, 0.01804191, 0.00197208,-0.00228154, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.76210439,  0.6989617 ,  0.30373615,  0.6989617 ,  1.11993817,
       -0.82345189,  0.30373615, -0.82345189,  2.65704291,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024343062603827164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98991905e-01,  9.64900652e-04, -4.48803077e-02,  9.63928390e-04,
        9.99999534e-01,  4.33050583e-05,  4.48803286e-02, -6.77626358e-21,
       -9.98992370e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13082102, -0.08417885,  0.1748695 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.38802733, -0.34510515,  0.17739123, -0.34510515,  0.79180682,
        0.7855314 ,  0.17739123,  0.7855314 ,  1.91623666,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007445885954089883
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97920283, -0.20182825,  0.02066834, -0.20178331,  0.97942093,
        0.0042591 , -0.02110262,  0.        , -0.99977731])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12995437, -0.08238526,  0.11182024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10117966, -0.34639048,  1.04528   , -0.34639048,  0.91467732,
       -0.06180414,  1.04528   , -0.06180414,  1.08069868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002933566145513217
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.50916842, -0.84022109, -0.18648334, -0.09664679, -0.1594849 ,
        0.98245812, -0.85522331,  0.51825967,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498176, -0.03634159,  0.30537049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038167967511243406
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45439107e-13, -1.45439107e-13,  1.00000000e+00, -2.11525339e-26,
        1.00000000e+00,  1.45439107e-13, -1.00000000e+00,  0.00000000e+00,
       -1.45439107e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05357059, -0.06062519,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.45801473e-03, 4.77653062e-03, 6.98262419e-04, 3.24665143e-04,
  9.59922205e-03, 1.41372813e-01, 5.15017414e-02, 1.77787614e-02,
  4.99196713e-06, 8.06057083e-03, 1.91361259e-03, 1.77623173e-03,
  4.80906022e-02, 1.47718148e-02,-1.35691916e-02, 1.79914376e-04,
 -1.65404716e-03, 1.37179692e-03,-9.80996721e+00,-6.51917954e-02,
 -9.57427829e-03,-5.23873562e-03]


--- Step 2118 ---
qpos:
[ 6.40425327e-03, 7.18176262e-02,-9.46818963e-03, 7.66651329e-02,
  2.87992731e-04,-4.63057320e-03,-3.85348681e-02, 6.95526305e-02,
  1.23955055e-02, 6.80730405e-02,-1.40862541e-02, 7.37302979e-02,
  8.12223054e-01,-1.28928295e-02, 1.14150434e+00, 4.60062980e-02,
  9.48637231e-02,-6.40497048e-02, 1.42743316e-01, 9.46410484e-01,
 -3.38115654e-02, 2.72746246e-02, 3.20031356e-01]

qacc:
[-1.69366822e+02, 1.91461179e+02,-7.35211971e+02, 1.34452325e+03,
 -2.49467325e+02,-3.76671218e+01,-3.07146887e+01,-8.49951597e+01,
 -5.01219310e+01, 1.98957498e+02,-7.20459027e+02, 1.32677288e+03,
  5.61935997e+00,-1.03835372e+01,-1.92891909e+01, 6.78408643e+01,
  1.29338466e-01, 4.71231992e-01,-1.46977800e-01, 2.43239455e+00,
 -2.60473206e+00, 1.94768181e+01]

qfrc_actuator:
[-0.01166875, 0.15702327,-0.00352385, 0.10277467,-0.00498868, 0.22576332,
  0.02495832, 0.10916735,-0.00090043, 0.16818801, 0.0007904 , 0.09582231,
  0.05000813, 0.01812887, 0.00194061,-0.00197963, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.78844933,  0.68683262,  0.38718638,  0.68683262,  1.09185129,
       -0.53820686,  0.38718638, -0.53820686,  1.74317825,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029635240308955647
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99034625e-01,  6.40728951e-04, -4.39250300e-02,  6.40110538e-04,
        9.99999795e-01,  2.81440442e-05,  4.39250390e-02,  0.00000000e+00,
       -9.99034830e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13074761, -0.08422747,  0.17484852])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43212932, -0.40340822,  0.15491145, -0.40340822,  0.63258998,
        0.52202388,  0.15491145,  0.52202388,  1.79154283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008975625279849554
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97935333, -0.2008022 ,  0.02335666, -0.20074512,  0.97963181,
        0.00478758, -0.02384228,  0.        , -0.99971573])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12979295, -0.08236475,  0.11188051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.08741803, -0.32009479,  1.03923881, -0.32009479,  0.81936076,
       -0.08256402,  1.03923881, -0.08256402,  1.06198758,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002748837815591267
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51006052, -0.83984146, -0.18575409, -0.09642397, -0.15876713,
        0.98259626, -0.85471673,  0.51909471,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10499851, -0.03637654,  0.30541133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038158053765548205
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45476893e-13, -2.18215340e-13,  1.00000000e+00, -3.17452898e-26,
        1.00000000e+00,  2.18215340e-13, -1.00000000e+00,  0.00000000e+00,
       -1.45476893e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05357026, -0.06062524,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23641210e-03, 6.22506456e-03, 5.26127824e-04, 2.12002688e-03,
  1.12364247e-02, 1.50195752e-01, 5.37408634e-02, 1.99988528e-02,
 -3.44263054e-04, 9.92710796e-03, 2.03581971e-03, 2.43269123e-03,
  4.81112390e-02, 1.53216321e-02,-1.38535894e-02, 3.61627790e-04,
 -1.42324682e-03, 1.20256694e-03,-9.80998636e+00,-6.51879484e-02,
 -9.56051899e-03,-5.23900539e-03]


--- Step 2119 ---
qpos:
[ 6.17297350e-03, 7.48992994e-02,-9.60197093e-03, 7.87654887e-02,
 -9.12268416e-05,-3.34926434e-03,-3.92144020e-02, 7.13023335e-02,
  1.23727664e-02, 7.13589421e-02,-1.41262415e-02, 7.56692028e-02,
  8.12332821e-01,-1.28127344e-02, 1.14201238e+00, 4.60107894e-02,
  9.48561592e-02,-6.40845717e-02, 1.42744966e-01, 9.46554928e-01,
 -3.38215655e-02, 2.72705275e-02, 3.19603174e-01]

qacc:
[ 3.56824748e+01, 2.54722887e+02,-1.02248631e+03, 1.98249617e+03,
 -2.24267959e+02,-3.47322811e+01,-3.23633785e+01,-7.30581878e+01,
 -6.38633110e+01, 1.80119017e+02,-6.32754540e+02, 1.21519998e+03,
  8.07687575e+00,-7.57649811e+00,-1.62613641e+01, 4.73093087e+01,
  8.40784818e-02, 4.55764213e-01,-1.05550439e-01, 1.45209980e+00,
 -2.18398812e+00, 1.68680280e+01]

qfrc_actuator:
[-0.01133826, 0.16154693,-0.00395675, 0.10573605,-0.00547052, 0.22949488,
  0.02456817, 0.11103892,-0.00135372, 0.17396687, 0.00160895, 0.09785351,
  0.050023  , 0.01813443, 0.00192457,-0.00187391, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.81838509,  0.66175397,  0.48149335,  0.66175397,  1.18445855,
       -0.50312339,  0.48149335, -0.50312339,  1.50986692,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003438737691601207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99068476e-01,  2.87724466e-04, -4.31520379e-02,  2.87456456e-04,
        9.99999959e-01,  1.24158976e-05,  4.31520397e-02, -1.69406589e-21,
       -9.99068517e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13068064, -0.08427443,  0.17482917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.41859046,  0.14095658, -0.41859046,  0.58701048,
        0.43156086,  0.14095658,  0.43156086,  1.72326718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001034863728114758
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97972052, -0.19869358,  0.02585656, -0.19862442,  0.98006166,
        0.00524205, -0.02638259,  0.        , -0.99965192])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12964379, -0.08233242,  0.11188526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.07451662, -0.31885022,  1.02611914, -0.31885022,  0.97131859,
       -0.03206715,  1.02611914, -0.03206715,  1.06455226,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025592746592024344
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51088702, -0.83949118, -0.18506488, -0.09620913, -0.15809115,
        0.98272631, -0.85424718,  0.51986705,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10501559, -0.03641205,  0.30545312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003818506008334971
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45374005e-13, -1.45374005e-13,  1.00000000e+00, -2.11336014e-26,
        1.00000000e+00,  1.45374005e-13, -1.00000000e+00,  0.00000000e+00,
       -1.45374005e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05357005, -0.06062527,  0.06199144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.80109674e-04, 8.09258944e-03, 9.52871075e-04, 3.27635211e-03,
  1.21961655e-02, 1.60106458e-01, 5.62354910e-02, 2.27288383e-02,
 -4.51178071e-04, 1.17355241e-02, 3.16270453e-03, 2.56265380e-03,
  4.80340671e-02, 1.55929187e-02,-1.39088638e-02, 1.38811712e-04,
 -1.20111465e-03, 1.03001212e-03,-9.81000455e+00,-6.51823842e-02,
 -9.55130546e-03,-5.23864765e-03]


--- Step 2120 ---
qpos:
[ 5.94519480e-03, 7.80358711e-02,-9.73891866e-03, 8.09011215e-02,
 -4.93235512e-04,-2.17780229e-03,-3.99449912e-02, 7.30371698e-02,
  1.23480508e-02, 7.47260116e-02,-1.41446446e-02, 7.76614127e-02,
  8.12458409e-01,-1.27292719e-02, 1.14251278e+00, 4.60146557e-02,
  9.48488517e-02,-6.41175565e-02, 1.42746308e-01, 9.46689583e-01,
 -3.38284186e-02, 2.72647281e-02, 3.19203864e-01]

qacc:
[ 2.29845107e+01, 1.53802739e+02,-5.91376537e+02, 1.16442887e+03,
 -1.97919279e+02,-3.26910767e+01,-3.06598448e+01,-6.49331279e+01,
 -1.43945071e+01, 1.56385406e+02,-6.26166970e+02, 1.45192662e+03,
  1.03041934e+01,-6.29083123e+00,-9.93416435e+00, 1.72160703e+01,
  6.40773249e-02, 4.70520637e-01,-7.68979106e-02, 6.58166337e-01,
 -1.66336815e+00, 1.52427427e+01]

qfrc_actuator:
[-0.01115718, 0.16398384,-0.0042226 , 0.1074731 ,-0.00566343, 0.23276511,
  0.02446119, 0.11267881,-0.00145156, 0.17819722, 0.00280529, 0.10056395,
  0.04996353, 0.01783947, 0.00186492,-0.00195625, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.85082031,  0.65407406,  0.54413448,  0.65407406,  1.25555694,
       -0.48651158,  0.54413448, -0.48651158,  1.43562906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000386009017934291
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99094300e-01, -9.11442177e-05, -4.25508156e-02, -9.10616687e-05,
        9.99999996e-01, -3.87826082e-06,  4.25508158e-02,  8.47032947e-22,
       -9.99094304e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13061964, -0.08432003,  0.17481176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.42155742,  0.13181834, -0.42155742,  0.58223744,
        0.44948526,  0.13181834,  0.44948526,  1.87914812,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011564908592438185
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97972718, -0.19834674,  0.02816433, -0.19826484,  0.98013191,
        0.00569954, -0.02873524,  0.        , -0.99958706])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12951376, -0.08232177,  0.11191168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.06302907, -0.34004746,  1.00717353, -0.34004746,  1.31841229,
        0.08622388,  1.00717353,  0.08622388,  1.09214045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023738829359845422
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5116565 , -0.83916791, -0.18440405, -0.09599784, -0.15744608,
        0.98285052, -0.85381031,  0.52058425,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10503206, -0.0364475 ,  0.30549398])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003824168385574839
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45158753e-13, -1.45158753e-13,  1.00000000e+00, -2.10710634e-26,
        1.00000000e+00,  1.45158753e-13, -1.00000000e+00,  0.00000000e+00,
       -1.45158753e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356994, -0.0606253 ,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.84163977e-04, 7.18607082e-03, 1.59741209e-03, 2.16891973e-03,
  1.32965988e-02, 1.69196539e-01, 5.88523795e-02, 2.51675271e-02,
 -9.86970911e-05, 1.14331914e-02, 4.05605931e-03, 3.36046717e-03,
  4.74863406e-02, 1.53002478e-02,-1.37783887e-02,-1.09251265e-04,
 -1.02690784e-03, 8.89671872e-04,-9.81001626e+00,-6.51786386e-02,
 -9.54690007e-03,-5.23786277e-03]


--- Step 2121 ---
qpos:
[ 5.71605017e-03, 8.12089564e-02,-9.87165814e-03, 8.30560828e-02,
 -9.14380925e-04,-1.11301267e-03,-4.07229892e-02, 7.47586705e-02,
  1.23301003e-02, 7.81599678e-02,-1.41377919e-02, 7.97272083e-02,
  8.12599795e-01,-1.26415334e-02, 1.14300419e+00, 4.60213571e-02,
  9.48415721e-02,-6.41484233e-02, 1.42747551e-01, 9.46814780e-01,
 -3.38344348e-02, 2.72565523e-02, 3.18832375e-01]

qacc:
[-9.45143376e+00, 7.62080762e+01,-2.82875219e+02, 5.82592323e+02,
 -1.66327801e+02,-3.55907353e+01,-2.08052134e+01,-5.63251053e+01,
  4.62471556e+01, 1.68747520e+02,-7.83088663e+02, 1.96360335e+03,
  9.90994333e+00,-5.17690598e+00,-2.23530497e+01, 5.78490013e+01,
  6.99362157e-03, 5.29515907e-01,-2.49544977e-02,-5.22336083e-01,
 -1.60001419e+00, 1.46490760e+01]

qfrc_actuator:
[-0.01122581, 0.16460224,-0.0044852 , 0.10833227,-0.00558695, 0.23483939,
  0.02438257, 0.11406064,-0.00110863, 0.18079562, 0.00380155, 0.10420176,
  0.04982129, 0.01714777, 0.00183815,-0.00181155, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.31798156,  1.30926854, -0.1512987 ,  1.30926854,  1.30660006,
       -0.09849023, -0.1512987 , -0.09849023,  0.46569295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6645843909348487e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89618296e-01, -4.88114926e-04, -1.43719832e-01, -4.83047519e-04,
        9.99999881e-01, -7.01518035e-05,  1.43719849e-01,  0.00000000e+00,
       -9.89618414e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13032218, -0.08354334,  0.17888658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.88470559,  0.61616302,  0.63485992,  0.61616302,  1.19468181,
       -0.30084728,  0.63485992, -0.30084728,  1.17669279,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00042299045289356845
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99112845e-01, -4.92797975e-04, -4.21103380e-02, -4.92360847e-04,
        9.99999879e-01, -2.07518918e-05,  4.21103431e-02,  3.38813179e-21,
       -9.99112966e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13056423, -0.08436424,  0.17479643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.424926  ,  0.12051816, -0.424926  ,  0.57521766,
        0.47080847,  0.12051816,  0.47080847,  2.10167465,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012635073640454456
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9797051 , -0.19814097,  0.03029964, -0.19804627,  0.98017353,
        0.00612504, -0.03091253,  0.        , -0.99952209])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12939764, -0.08231361,  0.11193549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.0533163 , -0.38259506,  0.98137467, -0.38259506,  1.45399292,
        0.15620629,  0.98137467,  0.15620629,  1.1142143 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022018099539080526
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51237434, -0.83887029, -0.1837639 , -0.09578712, -0.15682474,
        0.98297041, -0.8534034 ,  0.52125103,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10504701, -0.03648217,  0.30553195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003832108398172662
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.05356989, -0.06062531,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.93048158e-05, 4.94425227e-03, 1.45379068e-03, 1.25272427e-03,
  1.45126644e-02, 1.76725154e-01, 6.13172845e-02, 2.72878446e-02,
  3.54216181e-04, 9.84772130e-03, 3.92977547e-03, 4.32091457e-03,
  4.65533358e-02, 1.44394604e-02,-1.34327567e-02, 6.44190672e-05,
 -8.84777307e-04, 7.71034979e-04,-9.81002249e+00,-6.51766934e-02,
 -9.54576723e-03,-5.23679519e-03]


--- Step 2122 ---
qpos:
[ 5.48527937e-03, 8.43994517e-02,-9.99822900e-03, 8.52184688e-02,
 -1.35062668e-03,-1.49022504e-04,-4.15448738e-02, 7.64678746e-02,
  1.23255314e-02, 8.16468018e-02,-1.41090976e-02, 8.18392856e-02,
  8.12756001e-01,-1.25504456e-02, 1.14348633e+00, 4.60308014e-02,
  9.48344140e-02,-6.41769319e-02, 1.42748688e-01, 9.46930094e-01,
 -3.38402705e-02, 2.72466831e-02, 3.18489956e-01]

qacc:
[-1.06798989e+01, 2.10419348e+01,-7.28209644e+01, 1.78242763e+02,
 -1.31313605e+02,-3.55944706e+01,-1.40372483e+01,-5.49147017e+01,
  8.98505917e+01, 1.03652159e+02,-4.63125342e+02, 1.18830757e+03,
  9.81511463e+00,-5.97617624e+00,-2.24967481e+01, 5.77282704e+01,
  3.03544166e-02, 5.89514583e-01,-2.62142926e-02,-7.47926617e-01,
 -1.18755602e+00, 1.53119393e+01]

qfrc_actuator:
[-0.01129878, 0.16407269,-0.00473421, 0.10857778,-0.00523685, 0.23646766,
  0.02435549, 0.11493699,-0.00043819, 0.18218363, 0.00436365, 0.10638386,
  0.04966077, 0.01630453, 0.00181021,-0.00167585, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([1.32080899, 1.32067415, 0.01887236, 1.32067415, 1.32063256,
       0.01234653, 0.01887236, 0.01234653, 0.45680758, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -4.6942852280033364e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89655003e-01, -9.04921910e-04, -1.43464824e-01, -8.95560862e-04,
        9.99999591e-01, -1.29824515e-04,  1.43464883e-01,  2.71050543e-20,
       -9.89655408e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13027132, -0.08357892,  0.1789111 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.91851259,  0.63622996,  0.66247778,  0.63622996,  1.25727033,
       -0.32533593,  0.66247778, -0.32533593,  1.23095849,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045469162685910896
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99124584e-01, -9.13580716e-04, -4.18237990e-02, -9.12781335e-04,
        9.99999583e-01, -3.82094322e-05,  4.18238164e-02,  0.00000000e+00,
       -9.99125001e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13051415, -0.08440687,  0.17478363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.42579085,  0.11742606, -0.42579085,  0.57713483,
        0.49114118,  0.11742606,  0.49114118,  2.22258076,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013570950422092656
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79659291e-01, -1.98056256e-01,  3.22706072e-02, -1.97948889e-01,
        9.80190655e-01,  6.52056374e-03, -3.29227861e-02,  8.67361738e-19,
       -9.99457898e-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([ 0.12929481, -0.08230766,  0.11195668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.04534097, -0.43046384,  0.95259573, -0.43046384,  1.92144976,
        0.39590053,  0.95259573,  0.39590053,  1.22424253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020473314760817204
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51304176, -0.83859806, -0.18314327, -0.0955767 , -0.15622596,
        0.98308623, -0.85302594,  0.52186852,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10506014, -0.03651557,  0.30556617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038415600922682425
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.44501582e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.44501582e-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([ 0.05356988, -0.06062532,  0.06199139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.37257887e-05, 2.47232466e-03, 9.54501867e-04, 5.20177083e-04,
  1.58197255e-02, 1.83653483e-01, 6.36532459e-02, 2.88265099e-02,
  6.97437932e-04, 7.76318871e-03, 3.18458059e-03, 2.81124460e-03,
  4.56032750e-02, 1.33816114e-02,-1.30209655e-02, 5.60842496e-05,
 -7.62510184e-04, 6.61448744e-04,-9.81002585e+00,-6.51753821e-02,
 -9.54828805e-03,-5.23549328e-03]


--- Step 2123 ---
qpos:
[ 5.26136011e-03, 8.75952520e-02,-1.01212355e-02, 8.73775192e-02,
 -1.79741074e-03, 7.19032723e-04,-4.24072654e-02, 7.81656494e-02,
  1.23327168e-02, 8.51737298e-02,-1.40659285e-02, 8.39640929e-02,
  8.12926901e-01,-1.24554789e-02, 1.14395858e+00, 4.60409663e-02,
  9.48275609e-02,-6.42027532e-02, 1.42749668e-01, 9.47034573e-01,
 -3.38462094e-02, 2.72361226e-02, 3.18179423e-01]

qacc:
[ 4.37882551e+01,-9.87693655e+00, 5.92216145e+01,-1.26085288e+02,
 -9.15992070e+01,-3.68906278e+01,-3.88489645e+00,-5.88690565e+01,
  7.71425869e+01, 3.85221555e+01,-1.14287451e+02, 2.81689817e+02,
  9.24695032e+00,-4.91110900e+00,-1.72716186e+01, 3.81830647e+01,
  7.62516364e-02, 6.71869258e-01,-3.96260106e-02,-7.76627408e-01,
 -7.02769800e-01, 1.68091190e+01]

qfrc_actuator:
[-1.09297252e-02, 1.63355947e-01,-4.96096268e-03, 1.08317245e-01,
 -4.59469677e-03, 2.38237925e-01, 2.46055709e-02, 1.15212567e-01,
  1.35406879e-04, 1.82868163e-01, 4.51656210e-03, 1.06873778e-01,
  4.95154201e-02, 1.56536300e-02, 1.74996426e-03,-1.65311229e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([1.32544715, 1.31817137, 0.13868806, 1.31817137, 1.31616943,
       0.08818078, 0.13868806, 0.08818078, 0.48732613, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -7.312963219060734e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89689705e-01, -1.33670213e-03, -1.43221861e-01, -1.32292152e-03,
        9.99999107e-01, -1.91445139e-04,  1.43221989e-01,  0.00000000e+00,
       -9.89690589e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13022534, -0.08361299,  0.17893277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.95132512,  0.67871269,  0.66660976,  0.67871269,  1.337569  ,
       -0.39325651,  0.66660976, -0.39325651,  1.35172158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048166761104301536
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99130024e-01, -1.34945249e-03, -4.16818173e-02, -1.34827972e-03,
        9.99999089e-01, -5.62476833e-05,  4.16818553e-02,  0.00000000e+00,
       -9.99130934e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13046916, -0.08444727,  0.1747731 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.42977937,  0.10186473, -0.42977937,  0.55476135,
        0.47707732,  0.10186473,  0.47707732,  2.45453209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014495529346104559
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79978013e-01, -1.96163807e-01,  3.41006626e-02, -1.96045152e-01,
        9.80571140e-01,  6.82185670e-03, -3.47763270e-02,  8.67361738e-19,
       -9.99395121e-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([ 0.12919976, -0.08228138,  0.11196412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.03904716, -0.47077259,  0.92627866, -0.47077259,  4.42225492,
        1.71948417,  0.92627866,  1.71948417,  1.91295914,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019149758349216802
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.13656643e-01, -8.38352152e-01, -1.82544577e-01, -9.53676421e-02,
       -1.55651969e-01,  9.83197578e-01, -8.52679228e-01,  5.22434814e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10507116, -0.03654709,  0.3055956 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038522222528489247
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.20508159e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.20508159e-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([ 0.0535699 , -0.06062533,  0.06199136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.56793313e-04, 7.67659900e-04, 3.79155471e-04,-1.23241596e-04,
  1.72170151e-02, 1.90434353e-01, 6.60920033e-02, 2.97127728e-02,
  6.12839493e-04, 5.67337811e-03, 2.19988340e-03, 9.74362738e-04,
  4.47172279e-02, 1.25623387e-02,-1.26275164e-02,-6.05800393e-05,
 -6.46595544e-04, 5.57041984e-04,-9.81002607e+00,-6.51754286e-02,
 -9.55133123e-03,-5.23407577e-03]


--- Step 2124 ---
qpos:
[ 0.00504512, 0.09078733,-0.01024323, 0.08954025,-0.00224955, 0.00149477,
 -0.04330692, 0.07985283, 0.0123487 , 0.0887347 ,-0.01402027, 0.08610245,
  0.81310811,-0.01235848, 1.14441644, 0.0460506 , 0.09482119,-0.06422554,
  0.14275046, 0.94712666,-0.03385175, 0.02722536, 0.31790553]

qacc:
[ 4.80849300e+01,-2.89044782e-01,-2.17072602e+01, 8.64268667e+01,
 -4.63290863e+01,-3.95403703e+01, 8.81704973e+00,-6.47789432e+01,
  5.61772769e+01, 6.57042096e+01,-2.26091806e+02, 4.30835776e+02,
  7.24763494e+00,-4.90726318e+00,-2.00366946e+01, 3.83819224e+01,
  1.19790025e-01, 7.57930006e-01,-4.74818290e-02,-5.51556399e-01,
 -6.11690151e-01, 1.93211248e+01]

qfrc_actuator:
[-0.01053408, 0.16254978,-0.00515646, 0.10845323,-0.00350954, 0.23980929,
  0.02505387, 0.11530925, 0.0005584 , 0.18386786, 0.00433382, 0.10748184,
  0.04933605, 0.01525828, 0.001708  ,-0.00173273, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([1.33114738, 1.30352702, 0.26976037, 1.30352702, 1.29696873,
       0.16515693, 0.26976037, 0.16515693, 0.5330816 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -9.58395750146764e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89722283e-01, -1.77893938e-03, -1.42991741e-01, -1.76065873e-03,
        9.99998418e-01, -2.54374042e-04,  1.42991968e-01, -5.42101086e-20,
       -9.89723849e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13018403, -0.08364452,  0.17895192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.98253928,  0.7445443 ,  0.64112184,  0.7445443 ,  1.39165741,
       -0.47511494,  0.64112184, -0.47511494,  1.53429731,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005046045680249893
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99129558e-01, -1.79584813e-03, -4.16761587e-02, -1.79428784e-03,
        9.99998387e-01, -7.48441724e-05,  4.16762259e-02,  0.00000000e+00,
       -9.99131169e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13042908, -0.08448457,  0.17476439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.43180201,  0.092918  , -0.43180201,  0.53916804,
        0.45301058,  0.092918  ,  0.45301058,  2.5468851 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001527347876118345
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9799965 , -0.19577258,  0.03577639, -0.19564226,  0.98064932,
        0.00714224, -0.03648235,  0.        , -0.9993343 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12912013, -0.0822733 ,  0.11197949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00018110269930339402
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.14214343e-01, -8.38135139e-01, -1.81970046e-01, -9.51603988e-02,
       -1.55105114e-01,  9.83304074e-01, -8.52366182e-01,  5.22945401e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10507958, -0.03657596,  0.30561878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003863856873442262
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.87335443e-13, -2.15501582e-13,  1.00000000e+00, -6.19212424e-26,
        1.00000000e+00,  2.15501582e-13, -1.00000000e+00,  0.00000000e+00,
       -2.87335443e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356993, -0.06062533,  0.06199134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.99585351e-04,-4.21476863e-04,-3.48584622e-05, 1.67889562e-04,
  1.88291955e-02, 1.96777081e-01, 6.85616434e-02, 3.03771201e-02,
  4.59143691e-04, 4.53622974e-03, 1.24717532e-03, 9.33086588e-04,
  4.38034888e-02, 1.19720427e-02,-1.21840407e-02,-1.78458329e-04,
 -5.31833223e-04, 4.54828612e-04,-9.81002344e+00,-6.51767559e-02,
 -9.55414604e-03,-5.23267446e-03]


--- Step 2125 ---
qpos:
[ 0.00482558, 0.09396419,-0.01036183, 0.09171721,-0.002702  , 0.00218138,
 -0.04424074, 0.08153026, 0.01237057, 0.09232946,-0.0139819 , 0.08826407,
  0.81329451,-0.0122617 , 1.14485684, 0.0460605 , 0.0948154 ,-0.06424506,
  0.14275106, 0.94720506,-0.03385621, 0.02721442, 0.31767234]

qacc:
[-1.99107483e+01,-3.43552687e-01,-8.76838850e+01, 3.38868759e+02,
 -2.35249313e+00,-4.22967041e+01, 2.10474406e+01,-6.94837713e+01,
  3.64163917e+01, 1.12620726e+02,-4.34407633e+02, 8.21724914e+02,
  5.04673949e+00,-5.14030688e+00,-2.69468976e+01, 5.61109771e+01,
  1.45979928e-01, 8.17150957e-01,-4.60365250e-02,-3.02261260e-01,
 -7.55984943e-01, 2.14666466e+01]

qfrc_actuator:
[-0.01071187, 0.16114654,-0.00522558, 0.10912323,-0.00235484, 0.24083451,
  0.02559855, 0.11553312, 0.00083603, 0.18543722, 0.00390262, 0.1086342 ,
  0.04913614, 0.01510532, 0.00165646,-0.00174853, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([1.33744006, 1.27248536, 0.41173647, 1.27248536, 1.25873611,
       0.24323718, 0.41173647, 0.24323718, 0.58570739, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00011570255808889123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89752422e-01, -2.22649751e-03, -1.42776698e-01, -2.20368676e-03,
        9.99997521e-01, -3.17892749e-04,  1.42777051e-01,  0.00000000e+00,
       -9.89754875e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13014728, -0.08367239,  0.17896886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.01033429,  0.80721914,  0.60759578,  0.80721914,  1.4148539 ,
       -0.53742305,  0.60759578, -0.53742305,  1.7243257 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005241856226606854
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99123471e-01, -2.24757815e-03, -4.17999673e-02, -2.24561376e-03,
        9.99997474e-01, -9.39489306e-05,  4.18000729e-02,  0.00000000e+00,
       -9.99125995e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13039382, -0.08451778,  0.17475705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.43342261,  0.08503865, -0.43342261,  0.52400087,
        0.41953888,  0.08503865,  0.41953888,  2.57998014,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015947803792797925
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98000174, -0.19545898,  0.03731457, -0.19531744,  0.98071188,
        0.00743691, -0.03804845,  0.        , -0.9992759 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12905196, -0.08226672,  0.11199282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00017359222378302025
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.14706591e-01, -8.37950325e-01, -1.81428714e-01, -9.49584762e-02,
       -1.54593874e-01,  9.83404099e-01, -8.52091552e-01,  5.23392765e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508544, -0.03660179,  0.30563559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038760660600942187
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43215184e-13, -1.43215184e-13,  1.00000000e+00, -2.05105888e-26,
        1.00000000e+00,  1.43215184e-13, -1.00000000e+00,  0.00000000e+00,
       -1.43215184e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356995, -0.06062532,  0.06199131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72332414e-04,-1.75639332e-03,-1.94912338e-04, 6.42414535e-04,
  2.02515698e-02, 2.02396710e-01, 7.09668889e-02, 3.11272603e-02,
  3.08191145e-04, 4.27022531e-03, 6.44699070e-04, 1.39487111e-03,
  4.30885701e-02, 1.17162301e-02,-1.15253442e-02,-1.69701322e-04,
 -4.13367412e-04, 3.51327623e-04,-9.81002010e+00,-6.51783427e-02,
 -9.55610999e-03,-5.23130202e-03]


--- Step 2126 ---
qpos:
[ 0.004602  , 0.09711672,-0.01047549, 0.09390546,-0.00315153, 0.00278448,
 -0.04520512, 0.08319879, 0.01239518, 0.0959569 ,-0.01395693, 0.09044268,
  0.81348119,-0.01216779, 1.14527623, 0.04606956, 0.09481028,-0.06426141,
  0.14275148, 0.94727001,-0.03385922, 0.02720378, 0.31747919]

qacc:
[-2.38335477e+01,-2.27346192e+01,-1.29296751e+01, 2.17621479e+02,
  2.60704990e+01,-4.32044884e+01, 3.13387827e+01,-7.46512442e+01,
  1.60875399e+01, 1.15409227e+02,-4.20044189e+02, 7.09735914e+02,
  3.14740765e+00,-5.96729833e+00,-2.87596518e+01, 5.49770177e+01,
  1.67837423e-01, 7.94046800e-01,-4.59248894e-02,-3.95822093e-02,
 -5.83047300e-01, 2.11209597e+01]

qfrc_actuator:
[-0.01090628, 0.15936253,-0.00520388, 0.10964006,-0.00165836, 0.24158352,
  0.02631938, 0.11558815, 0.00095482, 0.1868912 , 0.00313585, 0.10945891,
  0.04896127, 0.01501047, 0.00159465,-0.00183314, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([1.34402311, 1.24961858, 0.49482472, 1.24961858, 1.23231413,
       0.2821072 , 0.49482472, 0.2821072 , 0.63159628, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00013320983344303406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89779761e-01, -2.67439310e-03, -1.42579353e-01, -2.64706963e-03,
        9.99996424e-01, -3.81314601e-04,  1.42579863e-01,  5.42101086e-20,
       -9.89783301e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13011496, -0.08369579,  0.17898386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.03435558,  0.86952812,  0.56018954,  0.86952812,  1.41798788,
       -0.59547537,  0.56018954, -0.59547537,  1.95865447,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005409479395172965
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99111988e-01, -2.69960885e-03, -4.20469617e-02, -2.69722140e-03,
        9.99996356e-01, -1.13510764e-04,  4.20471149e-02, -1.35525272e-20,
       -9.99115629e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13036327, -0.08454615,  0.17475077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.43478577,  0.07776929, -0.43478577,  0.51110766,
        0.38811525,  0.07776929,  0.38811525,  2.61152729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016518157751740932
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97999784, -0.19522441,  0.03862214, -0.19507298,  0.9807586 ,
        0.00768791, -0.03937987,  0.        , -0.99922431])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12899485, -0.08226158,  0.11200428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016871107525479026
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51512621, -0.83780043, -0.18092935, -0.09476545, -0.15412637,
        0.9834961 , -0.85185944,  0.52377046,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508905, -0.03662456,  0.30564657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003888393830638326
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.14141701e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.14141701e-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([ 0.05356996, -0.06062531,  0.06199128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11899967e-04,-2.89595945e-03,-3.82900126e-04, 4.35888717e-04,
  2.09641390e-02, 2.07584205e-01, 7.33951068e-02, 3.16666406e-02,
  1.43888377e-04, 3.90029862e-03, 1.95653123e-04, 1.04391159e-03,
  4.26535042e-02, 1.16312661e-02,-1.07224128e-02,-2.69897327e-04,
 -2.98446974e-04, 2.52223071e-04,-9.81001702e+00,-6.51797247e-02,
 -9.55739350e-03,-5.22991973e-03]


--- Step 2127 ---
qpos:
[ 0.00439017, 0.10024259,-0.01058681, 0.09610699,-0.00359733, 0.00331276,
 -0.04619601, 0.08485929, 0.0124148 , 0.09962389,-0.01395074, 0.09264696,
  0.81366235,-0.01208089, 1.14567046, 0.04607414, 0.0948059 ,-0.06427504,
  0.14275171, 0.94732369,-0.03386101, 0.02719457, 0.31731956]

qacc:
[ 6.92715088e+01,-1.46514780e+01,-5.47897958e+01, 2.99683035e+02,
  3.29586964e+01,-4.13093993e+01, 3.75977338e+01,-7.89357455e+01,
 -3.06425284e+01, 1.57341773e+02,-5.92515654e+02, 1.03460819e+03,
  1.53601506e+00,-8.44597948e+00,-2.38925522e+01, 2.90425107e+01,
  1.85880735e-01, 6.79092825e-01,-4.91276172e-02, 1.59750551e-01,
  6.75105501e-02, 1.77095072e+01]

qfrc_actuator:
[-0.01027422, 0.15789784,-0.00514837, 0.11029301,-0.0015595 , 0.24253414,
  0.02717373, 0.11572246, 0.00067731, 0.18943522, 0.00240756, 0.11079411,
  0.04871647, 0.01452716, 0.00153295,-0.00211782, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([1.35071061, 1.25217734, 0.50642974, 1.25217734, 1.23886481,
       0.27654534, 0.50642974, 0.27654534, 0.66693598, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0001487701096060782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89804402e-01, -3.11940612e-03, -1.42399137e-01, -3.08761694e-03,
        9.99995135e-01, -4.44202900e-04,  1.42399830e-01,  0.00000000e+00,
       -9.89809218e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13008683, -0.08371458,  0.17899713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.05512084,  0.92214608,  0.51276368,  0.92214608,  1.42022517,
       -0.65659785,  0.51276368, -0.65659785,  2.23593601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005553459144543606
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99095418e-01, -3.14868711e-03, -4.24079195e-02, -3.14585446e-03,
        9.99995043e-01, -1.33529931e-04,  4.24081297e-02,  2.71050543e-20,
       -9.99100371e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13033717, -0.08456963,  0.17474527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.43450721,  0.07931088, -0.43450721,  0.51974453,
        0.4276449 ,  0.07931088,  0.4276449 ,  2.78455261,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016988157031576736
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98000256, -0.19506337,  0.03930995, -0.19490664,  0.98079064,
        0.00781811, -0.04007986,  0.        , -0.99919648])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12894805, -0.08225778,  0.11201405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001661286214000243
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51547453, -0.83768386, -0.18047648, -0.09458417, -0.1537062 ,
        0.9835793 , -0.85166886,  0.52408029,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10509075, -0.03664431,  0.30565245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003900379209709759
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.42322447e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.42322447e-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([ 0.05356993, -0.06062529,  0.06199126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.12475030e-04,-3.26070160e-03,-6.14456606e-04, 5.12800809e-04,
  2.09165929e-02, 2.12695548e-01, 7.57780417e-02, 3.22425842e-02,
 -2.58673993e-04, 4.67463197e-03, 9.00511748e-05, 1.51612208e-03,
  4.23950939e-02, 1.12895743e-02,-9.74192690e-03,-5.14453136e-04,
 -2.03370061e-04, 1.71385818e-04,-9.81001378e+00,-6.51812991e-02,
 -9.55828106e-03,-5.22856361e-03]


--- Step 2128 ---
qpos:
[ 0.00419859, 0.10334136,-0.01069748, 0.09832368,-0.00403903, 0.00377459,
 -0.04720974, 0.08651255, 0.01242504, 0.10333387,-0.01395802, 0.09487663,
  0.81383311,-0.01200503, 1.14604361, 0.04607509, 0.09480228,-0.06428635,
  0.14275173, 0.94736821,-0.03386221, 0.02718761, 0.31718709]

qacc:
[ 1.16536297e+02,-6.74113718e+00,-9.19468609e+01, 3.72634752e+02,
  3.63682823e+01,-3.88649301e+01, 4.15666429e+01,-8.11692773e+01,
 -5.53680625e+01, 1.46558171e+02,-5.46176361e+02, 9.72322816e+02,
  4.20036966e-01,-1.12038379e+01,-2.04086349e+01, 2.56292056e+01,
  1.87001629e-01, 5.79288490e-01,-5.09760473e-02, 1.11082765e-01,
  6.34989716e-01, 1.43616320e+01]

qfrc_actuator:
[-9.23146522e-03, 1.56583528e-01,-5.10744377e-03, 1.11056644e-01,
 -1.55487856e-03, 2.43559442e-01, 2.81341014e-02, 1.16191068e-01,
  1.86400507e-04, 1.92151754e-01, 1.96161278e-03, 1.12118318e-01,
  4.84195684e-02, 1.34787589e-02, 1.42983954e-03,-2.25225884e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([1.3573825 , 1.25160059, 0.52534103, 1.25160059, 1.24378474,
       0.27064138, 0.52534103, 0.27064138, 0.71259199, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00016269938612754377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89827031e-01, -3.56075406e-03, -1.42231394e-01, -3.52455296e-03,
        9.99993660e-01, -5.06454224e-04,  1.42232296e-01, -1.08420217e-19,
       -9.89833306e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13006245, -0.08372942,  0.17900892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.07306892,  0.95252758,  0.49413372,  0.95252758,  1.45839093,
       -0.74277433,  0.49413372, -0.74277433,  2.50489398,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005677398551235604
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99074190e-01, -3.59401932e-03, -4.28701073e-02, -3.59071513e-03,
        9.99993541e-01, -1.54076989e-04,  4.28703842e-02,  0.00000000e+00,
       -9.99080642e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13031506, -0.08458897,  0.17474035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.4337052 ,  0.08358548, -0.4337052 ,  0.54586821,
        0.54057554,  0.08358548,  0.54057554,  3.24660437,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017390507230098872
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80088161e-01, -1.94531809e-01,  3.98066907e-02, -1.94371557e-01,
        9.80896210e-01,  7.89448209e-03, -4.05819599e-02,  8.67361738e-19,
       -9.99176213e-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([ 0.12890942, -0.0822501 ,  0.11202176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016544453422049472
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51576331, -0.83759338, -0.18007091, -0.09441735, -0.15333264,
        0.98365363, -0.85151252,  0.52433427,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10509097, -0.03666108,  0.30565406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003911603438246647
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.83828113e-13, -1.41914057e-13,  1.00000000e+00, -4.02791990e-26,
        1.00000000e+00,  1.41914057e-13, -1.00000000e+00,  0.00000000e+00,
       -2.83828113e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356984, -0.06062527,  0.06199123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05725426e-03,-3.35764911e-03,-7.29984359e-04, 6.01397767e-04,
  2.07353299e-02, 2.17450471e-01, 7.80653782e-02, 3.31103421e-02,
 -4.87968744e-04, 5.27720166e-03, 5.35363821e-04, 1.54371935e-03,
  4.23734659e-02, 1.05904373e-02,-8.59411463e-03,-4.26656785e-04,
 -1.38022250e-04, 1.16856848e-04,-9.81001018e+00,-6.51833025e-02,
 -9.55900954e-03,-5.22736424e-03]


--- Step 2129 ---
qpos:
[ 0.00402087, 0.10641082,-0.01080647, 0.10055472,-0.00447499, 0.00417543,
 -0.04824344, 0.08815927, 0.01242919, 0.10708173,-0.01397087, 0.09711674,
  0.81399048,-0.01194233, 1.14639962, 0.04607451, 0.09479938,-0.06429546,
  0.14275156, 0.9474042 ,-0.03386304, 0.02718301, 0.31707989]

qacc:
[ 7.82250094e+01,-1.41652751e+01,-6.60605665e+01, 3.32234111e+02,
  5.05897182e+01,-3.82195813e+01, 4.66899854e+01,-8.24976429e+01,
 -3.51441287e+01, 8.70690633e+01,-2.81381417e+02, 4.41714556e+02,
 -4.47946133e-01,-1.24142055e+01,-2.09430980e+01, 3.59294737e+01,
  1.83062682e-01, 5.49510097e-01,-4.75856183e-02, 5.99700468e-02,
  7.52990985e-01, 1.33662655e+01]

qfrc_actuator:
[-8.54132862e-03, 1.55086529e-01,-5.03900684e-03, 1.11772965e-01,
 -9.51829600e-04, 2.44668856e-01, 2.91472744e-02, 1.16898189e-01,
 -1.24369586e-04, 1.93922876e-01, 1.63403209e-03, 1.12627089e-01,
  4.81612813e-02, 1.24176877e-02, 1.41426007e-03,-2.27786800e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([1.3639405 , 1.22917748, 0.59114837, 1.22917748, 1.22862118,
       0.28137008, 0.59114837, 0.28137008, 0.77888643, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00017520909425945884
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89848211e-01, -3.99804807e-03, -1.42072290e-01, -3.95749235e-03,
        9.99992008e-01, -5.68016383e-04,  1.42073425e-01,  1.08420217e-19,
       -9.89856122e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13004139, -0.08374095,  0.1790194 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.08851453,  0.98038591,  0.47297711,  0.98038591,  1.48428168,
       -0.82034529,  0.47297711, -0.82034529,  2.78892444,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005783801860534186
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99048693e-01, -4.03520929e-03, -4.34214972e-02, -4.03140339e-03,
        9.99991859e-01, -1.75216255e-04,  4.34218507e-02,  0.00000000e+00,
       -9.99056827e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1302965 , -0.08460486,  0.17473587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.43340519,  0.08512741, -0.43340519,  0.57206866,
        0.66380995,  0.08512741,  0.66380995,  3.82131072,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017685759530853766
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80084492e-01, -1.94465104e-01,  4.02207992e-02, -1.94301559e-01,
        9.80909437e-01,  7.97376559e-03, -4.10035807e-02,  1.73472348e-18,
       -9.99159000e-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([ 0.12887982, -0.08224816,  0.11202867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016636638749328197
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51600392, -0.83752245, -0.17971118, -0.09426638, -0.15300313,
        0.98371942, -0.85138347,  0.52454379,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10509013, -0.03667494,  0.30565198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003921962395900952
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41539224e-13, -7.07696118e-14,  1.00000000e+00, -1.00166759e-26,
        1.00000000e+00,  7.07696118e-14, -1.00000000e+00,  0.00000000e+00,
       -1.41539224e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356971, -0.06062524,  0.06199121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.24145152e-04,-3.61356615e-03,-7.33392648e-04, 5.47705651e-04,
  2.11328658e-02, 2.21873876e-01, 8.02232710e-02, 3.41772012e-02,
 -3.17339443e-04, 4.76036913e-03, 8.33537885e-04, 7.69841850e-04,
  4.26353105e-02, 1.00798512e-02,-7.56315932e-03,-2.72259448e-04,
 -9.49189223e-05, 8.11459082e-05,-9.81000669e+00,-6.51853383e-02,
 -9.55973641e-03,-5.22643187e-03]


--- Step 2130 ---
qpos:
[ 0.00385369, 0.10945058,-0.01091327, 0.10279335,-0.00490269, 0.00451893,
 -0.04929469, 0.08980013, 0.01243012, 0.11086665,-0.01398731, 0.0993701 ,
  0.81413342,-0.01189301, 1.14674253, 0.04607566, 0.09479718,-0.06430233,
  0.14275123, 0.94743135,-0.03386342, 0.02718036, 0.31699893]

qacc:
[ 5.82760130e+01,-2.99074994e+01, 1.75882505e+01, 1.31979021e+02,
  7.26283570e+01,-3.88147938e+01, 5.29558493e+01,-8.37942973e+01,
 -1.82111767e+01, 8.61351374e+01,-2.91365388e+02, 4.97280566e+02,
 -1.10844983e+00,-1.20320074e+01,-2.48350417e+01, 5.83163084e+01,
  1.72574330e-01, 5.61082509e-01,-4.03042293e-02, 1.79247781e-02,
  5.25297105e-01, 1.38742971e+01]

qfrc_actuator:
[-8.01121881e-03, 1.53652727e-01,-4.91985307e-03, 1.12153867e-01,
  6.02618098e-05, 2.45920868e-01, 3.01628855e-02, 1.17502065e-01,
 -2.91078022e-04, 1.95931299e-01, 1.51697933e-03, 1.13308227e-01,
  4.79161532e-02, 1.17106033e-02, 1.44628025e-03,-2.13230238e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([1.3703346 , 1.18254754, 0.6923859 , 1.18254754, 1.19519897,
       0.29911962, 0.6923859 , 0.29911962, 0.85945884, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.000186506089292714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89868028e-01, -4.42967705e-03, -1.41921334e-01, -4.38483871e-03,
        9.99990189e-01, -6.28671843e-04,  1.41922726e-01,  1.08420217e-19,
       -9.89877740e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1300234 , -0.08374928,  0.17902871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10177969,  1.00750972,  0.44591776,  1.00750972,  1.49292664,
       -0.88376016,  0.44591776, -0.88376016,  3.09855358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005875075619781802
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99019159e-01, -4.47062853e-03, -4.40537514e-02, -4.46628819e-03,
        9.99990007e-01, -1.96949926e-04,  4.40541917e-02,  2.71050543e-20,
       -9.99029143e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1302812 , -0.08461741,  0.17473174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.43542036,  0.07413396, -0.43542036,  0.55175871,
        0.64650257,  0.07413396,  0.64650257,  4.23887146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017903662697464177
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80074993e-01, -1.94451174e-01,  4.05185139e-02, -1.94285210e-01,
        9.80912198e-01,  8.03218942e-03, -4.13069732e-02, -1.73472348e-18,
       -9.99146503e-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([ 0.12885759, -0.08224715,  0.11203436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016868735214771842
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51619966, -0.83746903, -0.1793977 , -0.09413217, -0.15271761,
        0.98377663, -0.85127965,  0.52471226,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508855, -0.036686  ,  0.30564664])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039313709260306584
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82400986e-13, -7.06002464e-14,  1.00000000e+00, -1.99375792e-26,
        1.00000000e+00,  7.06002464e-14, -1.00000000e+00,  0.00000000e+00,
       -2.82400986e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356951, -0.0606252 ,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.50591399e-04,-3.69555543e-03,-7.37462952e-04, 2.00256210e-04,
  2.18581431e-02, 2.26169028e-01, 8.22409349e-02, 3.51053942e-02,
 -1.66521923e-04, 4.73584022e-03, 9.46863908e-04, 9.15202625e-04,
  4.30585958e-02, 1.00296867e-02,-6.68007344e-03,-5.13099206e-05,
 -6.22282130e-05, 5.38951206e-05,-9.81000384e+00,-6.51869422e-02,
 -9.56030510e-03,-5.22578230e-03]


--- Step 2131 ---
qpos:
[ 0.00369502, 0.11246048,-0.01101838, 0.10503485,-0.0053201 , 0.00480898,
 -0.05036115, 0.09143574, 0.01242995, 0.1146899 ,-0.01400473, 0.10164317,
  0.81426173,-0.01185655, 1.14707266, 0.04607975, 0.09479561,-0.06430701,
  0.14275077, 0.94744974,-0.03386321, 0.02717925, 0.31694409]

qacc:
[ 4.61739186e+01,-3.83755230e+01, 6.73974502e+01, 1.52705868e+00,
  9.04683935e+01,-3.89428500e+01, 5.81307662e+01,-8.45164518e+01,
 -6.36959970e+00, 9.37957965e+01,-3.43403729e+02, 6.55692170e+02,
 -1.58456650e+00,-1.11112498e+01,-2.79366074e+01, 6.99422379e+01,
  1.58874824e-01, 5.47595435e-01,-3.22013341e-02, 2.06851580e-02,
  3.09929953e-01, 1.37944948e+01]

qfrc_actuator:
[-0.00757934, 0.15221572,-0.00482471, 0.11229902, 0.00099342, 0.24729693,
  0.03120328, 0.11815246,-0.00035405, 0.19820978, 0.00161525, 0.11433435,
  0.04768482, 0.01132792, 0.00139527,-0.00197546, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([1.37654736, 1.13475533, 0.77923872, 1.13475533, 1.1695516 ,
       0.30143465, 0.77923872, 0.30143465, 0.93758744, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0001967792179754871
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89886244e-01, -4.85314539e-03, -1.41780361e-01, -4.80411844e-03,
        9.99988223e-01, -6.88088808e-04,  1.41782031e-01,  0.00000000e+00,
       -9.89897902e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13000828, -0.08375417,  0.17903698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11316973,  1.0283447 ,  0.42620892,  1.0283447 ,  1.50635371,
       -0.94866307,  0.42620892, -0.94866307,  3.40207688,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005953419773367926
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98985727e-01, -4.89775770e-03, -4.47608031e-02, -4.89284872e-03,
        9.99988006e-01, -2.19230198e-04,  4.47613400e-02,  0.00000000e+00,
       -9.98997709e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13026896, -0.08462643,  0.1747279 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.43694104,  0.0645698 , -0.43694104,  0.52971687,
        0.59569953,  0.0645698 ,  0.59569953,  4.47275944,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018092245035868442
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9803115 , -0.19322384,  0.04066831, -0.19305778,  0.9811547 ,
        0.00800902, -0.04144943,  0.        , -0.9991406 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12883937, -0.08223239,  0.11203846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00017225223117923989
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16348717e-01, -8.37434211e-01, -1.79131081e-01, -9.40147727e-02,
       -1.52476775e-01,  9.83825216e-01, -8.51202223e-01,  5.24837856e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508642, -0.03669444,  0.30563841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003939794195581964
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40898607e-13, -7.04493033e-14,  1.00000000e+00, -9.92620867e-27,
        1.00000000e+00,  7.04493033e-14, -1.00000000e+00,  0.00000000e+00,
       -1.40898607e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356927, -0.06062517,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.45391834e-04,-3.75934022e-03,-7.90577496e-04,-4.58297744e-05,
  2.23785881e-02, 2.30407963e-01, 8.41635635e-02, 3.60473573e-02,
 -5.64085143e-05, 5.02059223e-03, 1.17567084e-03, 1.26575820e-03,
  4.35488051e-02, 1.03153880e-02,-6.08237766e-03, 1.70537903e-05,
 -3.54580364e-05, 3.12008811e-05,-9.81000190e+00,-6.51879180e-02,
 -9.56070299e-03,-5.22536179e-03]


--- Step 2132 ---
qpos:
[ 0.00354193, 0.1154393 ,-0.01112181, 0.10728303,-0.00572645, 0.00505087,
 -0.05144029, 0.09306677, 0.01242858, 0.11854674,-0.01401936, 0.10393682,
  0.81437538,-0.01183238, 1.14738638, 0.0460848 , 0.09479462,-0.06430977,
  0.14275022, 0.94746043,-0.03386237, 0.02717957, 0.3169122 ]

qacc:
[ 2.97093310e+01,-3.21239561e+01, 2.67814432e+01, 1.08772947e+02,
  9.71451719e+01,-3.76870528e+01, 6.09712618e+01,-8.38191106e+01,
 -6.51690112e+00, 7.87561045e+01,-3.02503691e+02, 6.27265229e+02,
 -1.94966048e+00,-1.02793415e+01,-2.72940627e+01, 5.99600702e+01,
  1.44839894e-01, 4.78500796e-01,-2.34228363e-02, 8.06393230e-02,
  3.01424790e-01, 1.21220116e+01]

qfrc_actuator:
[-0.00729737, 0.15070003,-0.00472659, 0.11264171, 0.00167859, 0.24878423,
  0.03228099, 0.11916979,-0.0004266 , 0.19978209, 0.00171728, 0.11536041,
  0.04747829, 0.01114468, 0.00133749,-0.00197351, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([1.38256397, 1.10587058, 0.82977912, 1.10587058, 1.16926156,
       0.28427428, 0.82977912, 0.28427428, 1.00370343, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00020616688268571513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89902719e-01, -5.26643145e-03, -1.41650524e-01, -5.21332711e-03,
        9.99986132e-01, -7.46003120e-04,  1.41652488e-01,  0.00000000e+00,
       -9.89916447e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12999584, -0.08375562,  0.1790443 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12292077,  1.04029545,  0.42277231,  1.04029545,  1.53798898,
       -1.02133834,  0.42277231, -1.02133834,  3.63607879,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000602050465780883
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98948542e-01, -5.31455659e-03, -4.55364208e-02, -5.30904353e-03,
        9.99985878e-01, -2.42009303e-04,  4.55370639e-02,  2.71050543e-20,
       -9.98962650e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13025958, -0.08463192,  0.17472431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.43844393,  0.05341961, -0.43844393,  0.50485766,
        0.51848241,  0.05341961,  0.51848241,  4.69715483,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00181724805055272
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98030606, -0.19323088,  0.04076587, -0.19306402,  0.98115331,
        0.00802854, -0.04154893,  0.        , -0.99913647])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12883026, -0.08223215,  0.11204207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00017686864757041832
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51645124, -0.8374181 , -0.1789107 , -0.09391393, -0.15228005,
        0.98386532, -0.85115116,  0.52492067,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508389, -0.0367005 ,  0.30562772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003947181306342279
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40634916e-13, -7.03174581e-14,  1.00000000e+00, -9.88908983e-27,
        1.00000000e+00,  7.03174581e-14, -1.00000000e+00,  0.00000000e+00,
       -1.40634916e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356896, -0.06062512,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91316054e-04,-3.89414490e-03,-8.15468097e-04, 1.42450962e-04,
  2.25490989e-02, 2.34565880e-01, 8.60071770e-02, 3.73247516e-02,
 -6.10261688e-05, 4.53459208e-03, 1.27804001e-03, 1.29246062e-03,
  4.40733760e-02, 1.07739416e-02,-5.50745773e-03,-1.29252393e-04,
 -1.61737451e-05, 1.46081248e-05,-9.81000076e+00,-6.51883759e-02,
 -9.56095525e-03,-5.22511799e-03]


--- Step 2133 ---
qpos:
[ 0.00339358, 0.11838562,-0.01122356, 0.1095385 ,-0.00612186, 0.00525101,
 -0.05252945, 0.09469385, 0.0124239 , 0.12242944,-0.01402772, 0.10624959,
  0.81447473,-0.01182009, 1.14768517, 0.04609089, 0.09479413,-0.06431099,
  0.14274959, 0.94746498,-0.03386112, 0.02718133, 0.31689857]

qacc:
[ 2.47732148e+01,-3.27270600e+01, 2.37161171e+01, 1.23299377e+02,
  9.60517714e+01,-3.53108173e+01, 6.21577823e+01,-8.30229304e+01,
 -1.70323901e+01, 5.58171616e+01,-2.29433190e+02, 5.29238530e+02,
 -2.04563988e+00,-9.74799172e+00,-2.53338020e+01, 5.63113206e+01,
  1.24827955e-01, 3.87540836e-01,-1.71605240e-02, 7.13240624e-02,
  3.82806840e-01, 9.65396892e+00]

qfrc_actuator:
[-0.00705254, 0.14907932,-0.00464511, 0.1130092 , 0.00210358, 0.25060291,
  0.03336687, 0.12008917,-0.00061089, 0.20070706, 0.00188918, 0.11628892,
  0.04731911, 0.01106796, 0.0013084 ,-0.00190393, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([1.38835949, 1.08609941, 0.86482954, 1.08609941, 1.18710631,
       0.25274456, 0.86482954, 0.25274456, 1.07094929, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0002147567331675459
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89917629e-01, -5.66877590e-03, -1.41530749e-01, -5.61171136e-03,
        9.99983932e-01, -8.02318992e-04,  1.41533023e-01,  0.00000000e+00,
       -9.89933535e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1299858 , -0.0837541 ,  0.17905077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13119643,  1.04355319,  0.43658   ,  1.04355319,  1.61108483,
       -1.14707284,  0.43658   , -1.14707284,  3.87303416,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006077471818518
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98907825e-01, -5.72025837e-03, -4.63727892e-02, -5.71410433e-03,
        9.99983639e-01, -2.65268676e-04,  4.63735479e-02, -5.42101086e-20,
       -9.98924168e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13025275, -0.08463433,  0.17472096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018192668877116355
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9802964 , -0.19327708,  0.04077904, -0.19311007,  0.98114421,
        0.00803313, -0.04156274,  0.        , -0.9991359 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12882684, -0.08223256,  0.11204481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00018227723678828194
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51651286, -0.83741787, -0.17873384, -0.09382922, -0.1521245 ,
        0.98389746, -0.85112311,  0.52496615,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508111, -0.03670446,  0.30561521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039533579505215966
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80830382e-13, -7.02075956e-14,  1.00000000e+00, -1.97164259e-26,
        1.00000000e+00,  7.02075956e-14, -1.00000000e+00,  0.00000000e+00,
       -2.80830382e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0535686 , -0.06062508,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47491825e-04,-4.07055022e-03,-8.56117805e-04, 1.64390075e-04,
  2.24211494e-02, 2.38792963e-01, 8.77330312e-02, 3.84713300e-02,
 -1.73112301e-04, 3.63654779e-03, 1.26062140e-03, 1.17804334e-03,
  4.46466068e-02, 1.13120454e-02,-4.72191135e-03,-1.08959090e-04,
 -5.39578187e-06, 5.18964872e-06,-9.81000015e+00,-6.51884831e-02,
 -9.56106170e-03,-5.22503527e-03]


--- Step 2134 ---
qpos:
[ 0.00324914, 0.12129891,-0.01132433, 0.1117942 ,-0.00650768, 0.00541712,
 -0.05362584, 0.09631755, 0.01241256, 0.12633265,-0.01402518, 0.1085753 ,
  0.81455958,-0.01181995, 1.14796721, 0.04609517, 0.09479408,-0.06431115,
  0.14274891, 0.94746562,-0.03385972, 0.02718487, 0.31689652]

qacc:
[ 2.00782353e+01,-4.59605521e+01, 9.94699744e+01,-7.25571048e+01,
  8.42247636e+01,-3.17460565e+01, 6.18598865e+01,-8.30995696e+01,
 -3.30237506e+01, 2.32330676e+01,-9.75862136e+01, 2.87616161e+02,
 -2.08579649e+00,-9.94225605e+00,-1.94231322e+01, 3.17077484e+01,
  1.11372370e-01, 2.61798510e-01,-1.44528905e-02, 1.31756208e-01,
  6.82309440e-01, 6.14253847e+00]

qfrc_actuator:
[-0.00684915, 0.14742718,-0.00460979, 0.11301548, 0.00226164, 0.2526865 ,
  0.03442457, 0.12064918,-0.00096614, 0.20155747, 0.00236471, 0.11692135,
  0.04721015, 0.0110774 , 0.00131827,-0.00202501, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([1.39389914, 1.0962562 , 0.86091646, 1.0962562 , 1.2382858 ,
       0.19815173, 0.86091646, 0.19815173, 1.14158073, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00022260068694629527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89931269e-01, -6.06029762e-03, -1.41419074e-01, -5.99938828e-03,
        9.99981636e-01, -8.57057415e-04,  1.41421671e-01, -1.08420217e-19,
       -9.89949449e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12997782, -0.08375024,  0.17905647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13811331,  1.05283361,  0.43225374,  1.05283361,  1.65678407,
       -1.26331819,  0.43225374, -1.26331819,  4.21515752,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000612512210759232
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98863865e-01, -6.11498241e-03, -4.72608239e-02, -6.10814917e-03,
        9.99981303e-01, -2.89004510e-04,  4.72617075e-02,  0.00000000e+00,
       -9.98882541e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1302481 , -0.08463431,  0.17471786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018161017640807885
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80283810e-01, -1.93353735e-01,  4.07183747e-02, -1.93187149e-01,
        9.81129111e-01,  8.02447887e-03, -4.15015458e-02, -1.73472348e-18,
       -9.99138440e-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([ 0.12882826, -0.0822335 ,  0.1120468 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00018824661565160753
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16541887e-01, -8.37429569e-01, -1.78595064e-01, -9.37592302e-02,
       -1.52004617e-01,  9.83922661e-01, -8.51113204e-01,  5.24982203e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10507823, -0.03670664,  0.30560138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003958327327126393
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40238911e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.40238911e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356819, -0.06062503,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04304658e-04,-4.20690533e-03,-9.42560961e-04,-2.05243090e-04,
  2.20322984e-02, 2.42965197e-01, 8.92983952e-02, 3.92270381e-02,
 -3.49694330e-04, 3.05031395e-03, 1.37229520e-03, 8.40617321e-04,
  4.52522793e-02, 1.19147189e-02,-3.97113366e-03,-2.83280971e-04,
 -9.79217275e-07, 1.12048203e-06,-9.80999991e+00,-6.51883242e-02,
 -9.56102298e-03,-5.22511624e-03]


--- Step 2135 ---
qpos:
[ 0.00310134, 0.12417712,-0.01142306, 0.11404656,-0.00688578, 0.00555693,
 -0.05472682, 0.09793836, 0.01239289, 0.1302543 ,-0.01401209, 0.11091848,
  0.81463017,-0.01183226, 1.14823468, 0.04609652, 0.09479442,-0.06431076,
  0.14274818, 0.94746454,-0.03385852, 0.02719052, 0.3168994 ]

qacc:
[-1.62448611e+01,-5.88427056e+01, 1.56416247e+02,-1.90877314e+02,
  6.77627684e+01,-2.78050107e+01, 6.06252999e+01,-8.32447452e+01,
 -4.01888184e+01, 3.07798283e+01,-1.47445985e+02, 4.17708467e+02,
 -1.87077081e+00,-1.03360059e+01,-1.28214777e+01, 1.32762423e+01,
  9.45625258e-02, 1.39025464e-01,-1.27922596e-02, 1.40892427e-01,
  9.68717586e-01, 2.63583169e+00]

qfrc_actuator:
[-0.00702673, 0.1456277 ,-0.00453112, 0.1128447 , 0.0021855 , 0.25456524,
  0.03543107, 0.12106559,-0.00140154, 0.20248243, 0.00289101, 0.11780073,
  0.04714783, 0.01105479, 0.00132027,-0.00215155, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([1.39917153, 1.11652431, 0.84324044, 1.11652431, 1.29826636,
       0.13360729, 0.84324044, 0.13360729, 1.22226376, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0002297679900708768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89944200e-01, -6.44233066e-03, -1.41311629e-01, -6.37768022e-03,
        9.99979248e-01, -9.10395133e-04,  1.41314562e-01,  0.00000000e+00,
       -9.89964744e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12997151, -0.08374496,  0.17906152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1438164 ,  1.05760435,  0.43564778,  1.05760435,  1.72260575,
       -1.40510331,  0.43564778, -1.40510331,  4.55492841,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006164443765915835
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98817035e-01, -6.50007303e-03, -4.81900440e-02, -6.49252083e-03,
        9.99978874e-01, -3.13245423e-04,  4.81910621e-02, -5.42101086e-20,
       -9.98838136e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024521, -0.0846328 ,  0.17471499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018087290438169885
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98027008, -0.19344908,  0.04059577, -0.19328341,  0.98111032,
        0.00800442, -0.04137738,  0.        , -0.99914359])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12883352, -0.0822348 ,  0.11204816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001945058828103176
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51655026, -0.83744709, -0.17848867, -0.09370306, -0.15191426,
        0.98394197, -0.85111431,  0.52498041,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10507546, -0.03670733,  0.30558685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003962034265936748
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40107701e-13, -1.40107701e-13,  1.00000000e+00, -1.96301679e-26,
        1.00000000e+00,  1.40107701e-13, -1.00000000e+00,  0.00000000e+00,
       -1.40107701e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356771, -0.06062497,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78449406e-04,-4.46297007e-03,-9.50379136e-04,-3.98218195e-04,
  2.14765370e-02, 2.46549116e-01, 9.06735769e-02, 3.98110080e-02,
 -4.38818974e-04, 2.80474768e-03, 1.30371668e-03, 1.05969447e-03,
  4.59141328e-02, 1.24999029e-02,-3.13659288e-03,-3.20598377e-04,
 -9.22115436e-08, 7.98781210e-08,-9.80999988e+00,-6.51879710e-02,
 -9.56074561e-03,-5.22540532e-03]


--- Step 2136 ---
qpos:
[ 0.00294089, 0.12701893,-0.01152003, 0.11630177,-0.00725818, 0.0056777 ,
 -0.05583008, 0.09955672, 0.01236597, 0.13420002,-0.01399718, 0.11330158,
  0.81468781,-0.01185674, 1.14849514, 0.04609703, 0.09479502,-0.06431023,
  0.14274741, 0.94746365,-0.03385798, 0.02719827, 0.31690144]

qacc:
[-6.08944285e+01,-4.70559300e+01, 8.61784828e+01,-1.30991003e+01,
  5.00739592e+01,-2.37884133e+01, 5.84682016e+01,-8.27604200e+01,
 -3.40812760e+01, 1.08472810e+02,-5.07200619e+02, 1.17200355e+03,
 -1.25613106e+00,-1.05448831e+01,-8.00009862e+00, 1.25715191e+01,
  6.76472427e-02, 3.53663421e-02,-1.11380680e-02, 3.59320089e-02,
  1.11056881e+00,-3.98808721e-01]

qfrc_actuator:
[-0.00767574, 0.14384384,-0.0044279 , 0.1129972 , 0.00191362, 0.25648671,
  0.03642487, 0.12157422,-0.00177418, 0.20415608, 0.00315972, 0.11984821,
  0.04713529, 0.01101811, 0.00128067,-0.00210198, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([1.40416205, 1.13513561, 0.82652175, 1.13513561, 1.35795142,
       0.06346516, 0.82652175, 0.06346516, 1.31699972, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00023630898908320926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89956968e-01, -6.81673437e-03, -1.41204579e-01, -6.74843049e-03,
        9.99976766e-01, -9.62576475e-04,  1.41207860e-01,  1.08420217e-19,
       -9.89979970e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12996647, -0.08373916,  0.17906601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14842233,  1.04511068,  0.47604361,  1.04511068,  1.89273945,
       -1.6340809 ,  0.47604361, -1.6340809 ,  4.73589912,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006196227166890968
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98767726e-01, -6.87740428e-03, -4.91500799e-02, -6.86909189e-03,
        9.99976350e-01, -3.38032965e-04,  4.91512423e-02,  5.42101086e-20,
       -9.98791347e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024366, -0.08463069,  0.17471233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018002857078856741
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98027681, -0.19344591,  0.04044819, -0.19328145,  0.98111094,
        0.00797518, -0.04122693,  0.        , -0.99914981])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12884136, -0.08223508,  0.11204931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020082915538359672
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16549873e-01, -8.37464543e-01, -1.78407872e-01, -9.36591734e-02,
       -1.51846397e-01,  9.83956621e-01, -8.51119374e-01,  5.24972201e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10507296, -0.03670682,  0.30557211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003964537734408302
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80038456e-13, -2.10028842e-13,  1.00000000e+00, -5.88161525e-26,
        1.00000000e+00,  2.10028842e-13, -1.00000000e+00,  0.00000000e+00,
       -2.80038456e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356718, -0.06062491,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.68561946e-04,-4.59920086e-03,-9.85857290e-04,-8.97554089e-05,
  2.08188103e-02, 2.49789504e-01, 9.19049290e-02, 4.04625143e-02,
 -3.81019209e-04, 3.41055176e-03, 9.94188008e-04, 2.21910002e-03,
  4.66142120e-02, 1.30856747e-02,-2.45277320e-03,-1.25821950e-04,
 -1.75913654e-07,-7.81672434e-08,-9.80999988e+00,-6.51875033e-02,
 -9.56016514e-03,-5.22594692e-03]


--- Step 2137 ---
qpos:
[ 0.00276722, 0.12982413,-0.0116158 , 0.11855976,-0.00762738, 0.00578632,
 -0.05693351, 0.10117296, 0.01233432, 0.13817537,-0.01398468, 0.11572691,
  0.8147332 ,-0.01189337, 1.14874557, 0.04609271, 0.09479584,-0.06430999,
  0.1427466 , 0.94746483,-0.03385829, 0.02720838, 0.31689701]

qacc:
[-6.23694493e+01,-4.59107495e+01, 8.20094673e+01,-9.14646839e+00,
  2.82086777e+01,-1.98215315e+01, 5.61411517e+01,-8.29936915e+01,
 -2.18987664e+01, 1.32322901e+02,-5.91109732e+02, 1.29786305e+03,
 -8.23293097e-01,-1.08591702e+01,-4.05120057e-01,-2.05170560e+01,
  5.46419471e-02,-7.25836642e-02,-9.38715098e-03, 9.26231460e-02,
  1.33510384e+00,-3.36391321e+00]

qfrc_actuator:
[-0.00833067, 0.1420847 ,-0.00434599, 0.11314356, 0.0016475 , 0.25857909,
  0.03744606, 0.12183713,-0.00201816, 0.20610616, 0.00320737, 0.12199904,
  0.047169  , 0.01106646, 0.00124259,-0.00239149, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.40882715,  1.18644467,  0.75969927,  1.18644467,  1.42576885,
       -0.02645835,  0.75969927, -0.02645835,  1.45014793,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002422273025826432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98996997, -0.00718551, -0.14109512, -0.00711362,  0.99997418,
       -0.00101387,  0.14109876,  0.        , -0.98999553])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12996233, -0.08373362,  0.17907002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15197764,  1.04728509,  0.47984   ,  1.04728509,  1.96066084,
       -1.76500888,  0.47984   , -1.76500888,  5.00423566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006220779117452818
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98716326e-01, -7.24899116e-03, -5.01313543e-02, -7.23987604e-03,
        9.99973726e-01, -3.63411293e-04,  5.01326715e-02,  5.42101086e-20,
       -9.98742567e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024303, -0.08462878,  0.17470994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017878004229194152
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80285159e-01, -1.93448970e-01,  4.02306313e-02, -1.93286266e-01,
        9.81110338e-01,  7.93241480e-03, -4.10052057e-02,  8.67361738e-19,
       -9.99158933e-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([ 0.12885115, -0.08223552,  0.11204973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020706097400781005
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16550956e-01, -8.37477355e-01, -1.78344582e-01, -9.36250523e-02,
       -1.51793081e-01,  9.83968094e-01, -8.51122470e-01,  5.24967180e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10507093, -0.03670545,  0.30555747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003966135593541503
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.05356661, -0.06062485,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.99368324e-04,-4.64352415e-03,-1.02850417e-03,-9.67970201e-05,
  2.02676533e-02, 2.52838589e-01, 9.30476954e-02, 4.08468361e-02,
 -2.49727903e-04, 4.01060147e-03, 8.99826914e-04, 2.36010408e-03,
  4.72954125e-02, 1.37434892e-02,-2.14509591e-03,-3.74575703e-04,
 -2.04117084e-07,-1.24201934e-07,-9.80999971e+00,-6.51870747e-02,
 -9.55925836e-03,-5.22676118e-03]


--- Step 2138 ---
qpos:
[ 0.00258337, 0.132592  ,-0.01171101, 0.12081568,-0.00799486, 0.00588731,
 -0.05803565, 0.10278736, 0.01230119, 0.14218117,-0.01397446, 0.11817705,
  0.81476845,-0.01194092, 1.14899024, 0.04608436, 0.09479681,-0.06431023,
  0.14274576, 0.94746876,-0.03385946, 0.02722054, 0.31688408]

qacc:
[-4.70069549e+01,-5.50692642e+01, 1.33465788e+02,-1.42328764e+02,
  1.50770129e+01,-1.73424742e+01, 5.49252563e+01,-8.28995239e+01,
 -6.79542590e+00, 9.73799821e+01,-3.92193031e+02, 7.98829807e+02,
 -2.03823493e-01,-1.01828507e+01, 3.50739627e+00,-2.50788927e+01,
  3.57324272e-02,-1.19193571e-01,-5.32745571e-03, 8.24570699e-02,
  1.21762946e+00,-4.44232649e+00]

qfrc_actuator:
[-0.00882376, 0.14021314,-0.00433026, 0.11303661, 0.00158032, 0.26043747,
  0.03846475, 0.12214851,-0.00209578, 0.2077276 , 0.00310814, 0.12323496,
  0.04723618, 0.01115291, 0.0012379 ,-0.00254282, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.41317318,  1.20949492,  0.73087651,  1.20949492,  1.46272719,
       -0.08200472,  0.73087651, -0.08200472,  1.54887913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024758280900281715
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98998369, -0.00755112, -0.14097969, -0.0074757 ,  0.99997149,
       -0.00106459,  0.14098371,  0.        , -0.99001192])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12995873, -0.08372913,  0.17907364])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15460649,  1.04420973,  0.49268873,  1.04420973,  2.0307218 ,
       -1.8568481 ,  0.49268873, -1.8568481 ,  5.09003006,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006238944577784192
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98663217e-01, -7.61732714e-03, -5.11248943e-02, -7.60736513e-03,
        9.99970988e-01, -3.89446344e-04,  5.11263776e-02,  5.42101086e-20,
       -9.98692192e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024295, -0.08462785,  0.17470778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017737946912731754
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80297019e-01, -1.93440136e-01,  3.99833502e-02, -1.93279435e-01,
        9.81112080e-01,  7.88328352e-03, -4.07530913e-02, -8.67361738e-19,
       -9.99169248e-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([ 0.12886198, -0.0822359 ,  0.11204987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.04952025, -0.07970053,  1.04648965, -0.07970053, 10.96391611,
        0.75507928,  1.04648965,  0.75507928,  1.10702701,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021299444616708506
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51656357, -0.83748039, -0.17829377, -0.09359979, -0.15174896,
        0.9839773 , -0.85111759,  0.52497509,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10506943, -0.03670348,  0.3055434 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039668312288941576
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.79876546e-13, -1.39938273e-13,  1.00000000e+00, -3.91654406e-26,
        1.00000000e+00,  1.39938273e-13, -1.00000000e+00,  0.00000000e+00,
       -2.79876546e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.053566  , -0.06062478,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.39711344e-04,-4.78843968e-03,-1.10886134e-03,-3.53475819e-04,
  2.00401982e-02, 2.55310180e-01, 9.40830355e-02, 4.12625254e-02,
 -7.66334735e-05, 4.00301643e-03, 8.69682012e-04, 1.47014256e-03,
  4.79741482e-02, 1.44381424e-02,-1.65319016e-03,-2.85523058e-04,
 -4.78937774e-07, 2.90801042e-07,-9.80999910e+00,-6.51868416e-02,
 -9.55799957e-03,-5.22787990e-03]


--- Step 2139 ---
qpos:
[ 0.00239271, 0.13532262,-0.01180863, 0.12306794,-0.00836099, 0.00598287,
 -0.05913567, 0.10440013, 0.01227163, 0.14621294,-0.01396785, 0.12064923,
  0.81479725,-0.0119967 , 1.14923869, 0.04607708, 0.0947978 ,-0.06431091,
  0.14274493, 0.94747509,-0.03386137, 0.02723386, 0.31686381]

qacc:
[-3.07292351e+01,-4.98734044e+01, 1.21700101e+02,-1.53031666e+02,
  1.20536316e+01,-1.62875714e+01, 5.43823810e+01,-8.12913594e+01,
  1.51230272e+01, 8.94008592e+01,-3.60777677e+02, 7.25183017e+02,
  6.72736006e-01,-8.37810612e+00, 2.10938455e+00, 3.26652599e-01,
  6.75921200e-03,-1.10671828e-01, 1.28484827e-03,-2.81552813e-02,
  7.53404184e-01,-3.84841375e+00]

qfrc_actuator:
[-0.00914647, 0.13836052,-0.00446061, 0.11285244, 0.00168598, 0.26194274,
  0.03946278, 0.12291562,-0.00191519, 0.20876637, 0.0028151 , 0.12431302,
  0.04735566, 0.01124811, 0.00124256,-0.00236156, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.41720473,  1.18861377,  0.77179437,  1.18861377,  1.47291795,
       -0.085802  ,  0.77179437, -0.085802  ,  1.54934542,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025242339459632517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98999823, -0.00791507, -0.14085755, -0.00783615,  0.99996868,
       -0.00111493,  0.14086196,  0.        , -0.99002925])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12995546, -0.08372599,  0.17907695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15640973,  1.01982116,  0.54520479,  1.01982116,  2.18872944,
       -1.93098357,  0.54520479, -1.93098357,  4.76836978,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006251410984455288
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98608668e-01, -7.98390989e-03, -5.21247038e-02, -7.97305574e-03,
        9.99968128e-01, -4.16172203e-04,  5.21263652e-02,  0.00000000e+00,
       -9.98640497e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024319, -0.08462822,  0.17470586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017588504419918647
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80312862e-01, -1.93415304e-01,  3.97141351e-02, -1.93256783e-01,
        9.81116976e-01,  7.82915974e-03, -4.04784915e-02, -8.67361738e-19,
       -9.99180410e-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([ 0.1288733 , -0.08223614,  0.11204981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.05243653, -0.07181467,  1.04998347, -0.07181467, 11.16884955,
        0.69192221,  1.04998347,  0.69192221,  1.09976124,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002185406238956993
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16591333e-01, -8.37472484e-01, -1.78250476e-01, -9.35813427e-02,
       -1.51709474e-01,  9.83985146e-01, -8.51102771e-01,  5.24999118e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10506855, -0.0367012 ,  0.30553011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039667681520789977
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39940498e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.39940498e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356535, -0.06062471,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.61606544e-04,-4.87663877e-03,-1.30313031e-03,-4.44543762e-04,
  2.00605269e-02, 2.57202074e-01, 9.50245937e-02, 4.21206890e-02,
  1.90803965e-04, 3.37076905e-03, 6.39444495e-04, 1.29341734e-03,
  4.86004812e-02, 1.50800802e-02,-1.36483611e-03, 9.68865213e-05,
 -1.64041471e-06, 1.66712894e-06,-9.80999811e+00,-6.51868232e-02,
 -9.55646669e-03,-5.22926694e-03]


--- Step 2140 ---
qpos:
[ 0.00219871, 0.13801578,-0.0119097 , 0.12531591,-0.00872593, 0.00607448,
 -0.06023295, 0.10601148, 0.01225043, 0.15026318,-0.01396567, 0.12313968,
  0.81482248,-0.01205832, 1.14949119, 0.04607152, 0.09479875,-0.06431198,
  0.14274413, 0.94748338,-0.0338638 , 0.02724765, 0.31683759]

qacc:
[-1.46678419e+01,-4.86132462e+01, 1.19395318e+02,-1.59889119e+02,
  1.05285924e+01,-1.56485001e+01, 5.41835775e+01,-7.99267128e+01,
  3.47189729e+01, 7.40850045e+01,-3.04875220e+02, 6.11436245e+02,
  1.25468946e+00,-6.63654325e+00, 6.31360382e-01, 6.08972497e+00,
 -1.13286416e-02,-9.83828697e-02, 6.80715151e-03,-5.80325009e-02,
  3.77090174e-01,-3.12390282e+00]

qfrc_actuator:
[-0.00929526, 0.13653408,-0.00462259, 0.11264209, 0.00191276, 0.26346778,
  0.04044708, 0.12360163,-0.00149536, 0.2091993 , 0.00239026, 0.12518269,
  0.04752252, 0.01135023, 0.00119893,-0.0022683 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.42089049,  1.17115074,  0.80457178,  1.17115074,  1.48012745,
       -0.08622649,  0.80457178, -0.08622649,  1.54640349,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025674775835682204
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90013302e-01, -8.27768287e-03, -1.40730742e-01, -8.19529692e-03,
        9.99965739e-01, -1.16496437e-03,  1.40735564e-01, -2.16840434e-19,
       -9.90047222e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1299524 , -0.08372411,  0.17907997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15740969,  1.00340672,  0.57686406,  1.00340672,  2.26908661,
       -1.93366888,  0.57686406, -1.93366888,  4.52086475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006258326186755211
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98552819e-01, -8.34908333e-03, -5.31277763e-02, -8.33729129e-03,
        9.99965146e-01, -4.43583692e-04,  5.31296281e-02,  0.00000000e+00,
       -9.98587624e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024361, -0.08462977,  0.17470424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017432536830776766
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98033207, -0.19337661,  0.03942742, -0.1932204 ,  0.9811246 ,
        0.00777102, -0.04018594,  0.        , -0.99919222])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12888489, -0.08223625,  0.11204961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022371607561791915
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51663209, -0.83745604, -0.17820962, -0.09356657, -0.15167058,
        0.98399255, -0.85107966,  0.52503659,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10506826, -0.03669894,  0.30551758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003966293182352809
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39957257e-13, -1.39957257e-13,  1.00000000e+00, -1.95880336e-26,
        1.00000000e+00,  1.39957257e-13, -1.00000000e+00,  0.00000000e+00,
       -1.39957257e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356468, -0.06062464,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78599582e-04,-4.94226499e-03,-1.37950613e-03,-4.82830079e-04,
  2.02191968e-02, 2.59004860e-01, 9.59110904e-02, 4.28862214e-02,
  4.44843176e-04, 2.35554291e-03, 3.42358789e-04, 1.04651932e-03,
  4.90894697e-02, 1.55951762e-02,-1.60248348e-03, 1.34672812e-04,
 -3.33602861e-06, 3.52194617e-06,-9.80999720e+00,-6.51868852e-02,
 -9.55481504e-03,-5.23081596e-03]


--- Step 2141 ---
qpos:
[ 0.00200352, 0.1406729 ,-0.01201566, 0.1275567 ,-0.00908965, 0.00616353,
 -0.06132687, 0.10762153, 0.01223875, 0.15432804,-0.01396849, 0.12564286,
  0.81484586,-0.01212418, 1.14974661, 0.04606767, 0.09479961,-0.06431336,
  0.14274336, 0.94749308,-0.03386657, 0.02726145, 0.3168071 ]

qacc:
[-5.03863666e+00,-4.86784506e+01, 1.34353218e+02,-2.23109995e+02,
  1.07179125e+01,-1.52875834e+01, 5.49708221e+01,-8.03778491e+01,
  3.85369971e+01, 5.91971287e+01,-2.35972113e+02, 4.50933527e+02,
  1.52930703e+00,-5.39108672e+00,-1.01131695e+00, 9.43654232e+00,
 -1.99866809e-02,-7.59319589e-02, 8.34002467e-03,-7.57674631e-02,
  1.17235633e-01,-2.25606447e+00]

qfrc_actuator:
[-0.00934044, 0.13488052,-0.00481929, 0.11229387, 0.0022296 , 0.26521841,
  0.04145718, 0.12372461,-0.00102696, 0.20972743, 0.00204838, 0.12579801,
  0.04769116, 0.01143965, 0.00113681,-0.0021934 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.42423065,  1.15233582,  0.83699169,  1.15233582,  1.50388488,
       -0.10966468,  0.83699169, -0.10966468,  1.57521248,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002605875268397144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99002865, -0.00863914, -0.14060099, -0.00855331,  0.99996268,
       -0.00121472,  0.14060624,  0.        , -0.9900656 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12994946, -0.08372336,  0.17908273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15767182,  1.00589789,  0.57303881,  1.00589789,  2.28392416,
       -1.97699499,  0.57303881, -1.97699499,  4.62803901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006260139200717678
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98495774e-01, -8.71302059e-03, -5.41319976e-02, -8.70024449e-03,
        9.99962041e-01, -4.71671114e-04,  5.41340525e-02,  5.42101086e-20,
       -9.98533677e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024412, -0.08463235,  0.17470293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017272240594311066
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98035395, -0.19332666,  0.0391271 , -0.19317287,  0.98113445,
        0.00770976, -0.03987945,  0.        , -0.9992045 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12889659, -0.08223626,  0.11204931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022851688772045328
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51668327, -0.83743308, -0.17816913, -0.09355388, -0.15163084,
        0.98399988, -0.85104998,  0.52508469,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10506847, -0.03669692,  0.30550587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003965580943093294
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39982394e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.39982394e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.053564  , -0.06062456,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.52527676e-05,-4.82198664e-03,-1.43796645e-03,-6.26742584e-04,
  2.04765986e-02, 2.60958552e-01, 9.67924172e-02, 4.30793406e-02,
  5.08146894e-04, 1.81070538e-03, 1.70467860e-04, 7.33676825e-04,
  4.94363773e-02, 1.59777475e-02,-1.87188759e-03, 1.23000380e-04,
 -5.14770797e-06, 5.41846913e-06,-9.80999651e+00,-6.51869522e-02,
 -9.55313017e-03,-5.23243830e-03]


--- Step 2142 ---
qpos:
[ 0.0018094 , 0.14329888,-0.01213034, 0.12978635,-0.00945225, 0.00625153,
 -0.06241676, 0.10923037, 0.01223546, 0.15840667,-0.01397647, 0.12816313,
  0.81486797,-0.01219355, 1.15000178, 0.04606407, 0.09480041,-0.06431498,
  0.14274262, 0.94750382,-0.03386952, 0.02727516, 0.31677346]

qacc:
[ 4.74627355e+00,-3.95741719e+01, 1.27792939e+02,-2.81968178e+02,
  9.98396172e+00,-1.49486031e+01, 5.63031362e+01,-8.23524837e+01,
  3.29652083e+01, 6.74637242e+01,-2.85257012e+02, 5.75967926e+02,
  1.52176396e+00,-4.72100456e+00,-1.32440373e+00, 3.75904626e+00,
 -1.84182889e-02,-5.97792180e-02, 7.15098702e-03,-4.13116183e-02,
  2.05647069e-02,-1.65817887e+00]

qfrc_actuator:
[-0.00927099, 0.13366378,-0.00514054, 0.11176101, 0.00256447, 0.26706908,
  0.04249878, 0.12336818,-0.00062269, 0.21052214, 0.00182963, 0.12666727,
  0.04789811, 0.01152219, 0.0011328 ,-0.00221894, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.42727961,  1.14229887,  0.85573383,  1.14229887,  1.54785026,
       -0.1609469 ,  0.85573383, -0.1609469 ,  1.64212383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002640298722993315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90044069e-01, -8.99940241e-03, -1.40469756e-01, -8.91016580e-03,
        9.99959505e-01, -1.26419505e-03,  1.40475444e-01,  4.33680869e-19,
       -9.90084163e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1299466 , -0.0837235 ,  0.17908527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15734356,  1.02872073,  0.53026199,  1.02872073,  2.20513618,
       -2.03274235,  0.53026199, -2.03274235,  5.10091152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006257868788661674
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98437641e-01, -9.07569914e-03, -5.51353656e-02, -9.06189286e-03,
        9.99958815e-01, -5.00412600e-04,  5.51376365e-02,  0.00000000e+00,
       -9.98478763e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024468, -0.08463574,  0.17470189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001710990019426121
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9803777 , -0.19326855,  0.03881809, -0.19311722,  0.9811459 ,
        0.00764648, -0.03956403,  0.        , -0.99921704])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12890827, -0.08223619,  0.11204895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002329679116463059
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51674186, -0.83740552, -0.17812871, -0.09354257, -0.15159032,
        0.9840072 , -0.85101565,  0.52514033,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1050691 , -0.0366952 ,  0.30549493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039647889009325477
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.20031073e-13, -1.40010358e-13,  1.00000000e+00, -5.88087008e-26,
        1.00000000e+00,  1.40010358e-13, -1.00000000e+00,  0.00000000e+00,
       -4.20031073e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356331, -0.06062448,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.56742907e-05,-4.33467072e-03,-1.54930824e-03,-8.10919438e-04,
  2.07509026e-02, 2.62943390e-01, 9.76740055e-02, 4.27863364e-02,
  4.48374218e-04, 1.72341539e-03, 1.49042456e-04, 9.52281773e-04,
  4.97352640e-02, 1.62737468e-02,-2.02665311e-03, 1.11284598e-05,
 -6.67716740e-06, 6.96676026e-06,-9.80999610e+00,-6.51869762e-02,
 -9.55146484e-03,-5.23407571e-03]


--- Step 2143 ---
qpos:
[ 0.00161774, 0.14589841,-0.01225627, 0.1320089 ,-0.00981386, 0.00633989,
 -0.06350199, 0.11083807, 0.01224039, 0.16249514,-0.01398671, 0.13069945,
  0.81488887,-0.01226612, 1.15025334, 0.04605892, 0.09480115,-0.06431679,
  0.14274191, 0.94751537,-0.03387253, 0.02728879, 0.31673741]

qacc:
[ 1.04491164e+01,-1.81147588e+01, 4.35462983e+01,-1.28339924e+02,
  8.68637375e+00,-1.47067312e+01, 5.78358207e+01,-8.47160672e+01,
  3.14442734e+01, 5.20391997e+01,-2.33369931e+02, 5.04237660e+02,
  1.38710001e+00,-4.31420838e+00,-7.68170201e-01,-5.37306997e+00,
 -1.30616682e-02,-4.89642953e-02, 6.02908006e-03, 7.96364571e-03,
  3.93240088e-03,-1.26968528e+00]

qfrc_actuator:
[-9.13457156e-03, 1.32754145e-01,-5.54847519e-03, 1.11443749e-01,
  2.87424246e-03, 2.68606475e-01, 4.35217815e-02, 1.22831062e-01,
 -2.24076951e-04, 2.10939240e-01, 1.68690504e-03, 1.27466395e-01,
  4.81227507e-02, 1.15305654e-02, 1.12121531e-03,-2.33950596e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.43013691,  1.13254413,  0.87328996,  1.13254413,  1.6001596 ,
       -0.22049744,  0.87328996, -0.22049744,  1.71609357,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026720369787204887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90059474e-01, -9.35856603e-03, -1.40337650e-01, -9.26594273e-03,
        9.99956208e-01, -1.31341668e-03,  1.40343796e-01,  2.16840434e-19,
       -9.90102833e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12994375, -0.08372429,  0.17908768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15663218,  1.05955163,  0.46384087,  1.05955163,  2.04234147,
       -2.0232256 ,  0.46384087, -2.0232256 ,  5.7782861 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006252949185333249
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98378547e-01, -9.43720231e-03, -5.61357002e-02, -9.42231991e-03,
        9.99955469e-01, -5.29787551e-04,  5.61382001e-02,  0.00000000e+00,
       -9.98423008e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024522, -0.08463971,  0.17470104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016917955139691145
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80294375e-01, -1.93759197e-01,  3.84748144e-02, -1.93610134e-01,
        9.81049119e-01,  7.59885413e-03, -3.92180306e-02,  8.67361738e-19,
       -9.99230677e-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([ 0.12892105, -0.08224247,  0.11204824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023708910730400475
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51680584, -0.83737442, -0.17808929, -0.09353277, -0.15155005,
        0.98401433, -0.85097787,  0.52520154,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10507006, -0.03669376,  0.30548473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003963962254792397
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.20118667e-13, -7.00197778e-14,  1.00000000e+00, -2.94166157e-26,
        1.00000000e+00,  7.00197778e-14, -1.00000000e+00,  0.00000000e+00,
       -4.20118667e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356262, -0.0606244 ,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29761451e-04,-3.78462099e-03,-1.55493760e-03,-5.81818504e-04,
  2.10042741e-02, 2.64539072e-01, 9.85036959e-02, 4.23082679e-02,
  4.39903990e-04, 1.30157653e-03, 2.11888153e-04, 8.81909064e-04,
  5.00231872e-02, 1.64594985e-02,-2.03056727e-03,-1.23737583e-04,
 -7.91525806e-06, 8.19964058e-06,-9.80999585e+00,-6.51869728e-02,
 -9.54981812e-03,-5.23570656e-03]


--- Step 2144 ---
qpos:
[ 0.00142935, 0.14847599,-0.01239402, 0.13422721,-0.01017426, 0.00642907,
 -0.06458219, 0.11244466, 0.01225273, 0.16658975,-0.01399639, 0.13324218,
  0.81490899,-0.01234127, 1.15050115, 0.04605237, 0.09480185,-0.0643187 ,
  0.14274121, 0.94752724,-0.03387546, 0.02730221, 0.31670046]

qacc:
[ 1.35378334e+01,-4.69467835e+00,-7.55697015e+00,-3.06133020e+01,
  1.08288154e+01,-1.50280560e+01, 5.97550737e+01,-8.70055848e+01,
  2.76506395e+01, 1.96190503e+01,-8.49545199e+01, 1.89556044e+02,
  1.29415462e+00,-3.64387574e+00,-1.44119874e+00,-3.27532911e+00,
 -1.10766324e-02,-2.45975054e-02, 5.89726522e-03, 2.24797043e-02,
 -1.02769856e-01,-4.82102226e-01]

qfrc_actuator:
[-8.95978195e-03, 1.32107566e-01,-5.96690103e-03, 1.11274018e-01,
  3.22191932e-03, 2.69937176e-01, 4.45313707e-02, 1.22221447e-01,
  1.32458817e-04, 2.11128188e-01, 1.65998599e-03, 1.27773850e-01,
  4.83154290e-02, 1.15310331e-02, 1.06279851e-03,-2.40884867e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.43290955,  1.10623011,  0.91076052,  1.10623011,  1.64239056,
       -0.25444032,  0.91076052, -0.25444032,  1.74195846,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002702370751175895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90074840e-01, -9.71677235e-03, -1.40204831e-01, -9.62078602e-03,
        9.99952791e-01, -1.36240275e-03,  1.40211451e-01, -2.16840434e-19,
       -9.90121583e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12994086, -0.08372556,  0.17909002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15574036,  1.08716163,  0.39219302,  1.08716163,  1.84210861,
       -1.90261732,  0.39219302, -1.90261732,  6.42980808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000624678278547278
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98318615e-01, -9.79767823e-03, -5.71309754e-02, -9.78167407e-03,
        9.99952002e-01, -5.59777783e-04,  5.71337178e-02,  0.00000000e+00,
       -9.98366535e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024569, -0.08464411,  0.17470029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016758419722439427
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80317207e-01, -1.93704955e-01,  3.81649715e-02, -1.93558328e-01,
        9.81059830e-01,  7.53546711e-03, -3.89017778e-02, -8.67361738e-19,
       -9.99243039e-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([ 0.12893228, -0.08224243,  0.11204796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002408988952629166
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51687393, -0.83734032, -0.17805204, -0.09352489, -0.15151114,
        0.98402107, -0.85093739,  0.52526714,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10507128, -0.03669255,  0.30547523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039630576968306686
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40071519e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.40071519e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356193, -0.06062432,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72775479e-04,-3.20421080e-03,-1.44416816e-03,-4.06399366e-04,
  2.13029423e-02, 2.65858079e-01, 9.92884164e-02, 4.17542920e-02,
  3.97943456e-04, 8.47287759e-04, 2.45836045e-04, 3.72995931e-04,
  5.02759540e-02, 1.66215036e-02,-1.91320996e-03,-1.16260446e-04,
 -8.92920533e-06, 9.21217415e-06,-9.80999567e+00,-6.51869537e-02,
 -9.54817960e-03,-5.23732718e-03]


--- Step 2145 ---
qpos:
[ 0.00124434, 0.15103777,-0.01254366, 0.13644388,-0.01053287, 0.0065191 ,
 -0.06565719, 0.1140502 , 0.01226862, 0.17069693,-0.01400954, 0.13579285,
  0.81492993,-0.01241755, 1.1507511 , 0.04604839, 0.09480245,-0.06432058,
  0.14274055, 0.9475388 ,-0.03387825, 0.02731493, 0.31666447]

qacc:
[ 1.37022915e+01, 8.92019736e+00,-5.50495331e+01, 5.67260524e+01,
  1.55900333e+01,-1.54035980e+01, 6.08625746e+01,-8.73679455e+01,
  1.27140845e+01, 4.24420176e+01,-1.60091051e+02, 2.91749838e+02,
  1.50536522e+00,-2.45202637e+00,-4.73079052e+00, 2.09012549e+01,
 -2.19973174e-02, 6.61800061e-03, 7.19503554e-03,-6.33645080e-02,
 -3.62558694e-01, 4.91737812e-01]

qfrc_actuator:
[-0.00878151, 0.13190893,-0.00633329, 0.11124604, 0.00357395, 0.27164032,
  0.04551293, 0.12231437, 0.00028373, 0.21229843, 0.00168288, 0.12821557,
  0.04853154, 0.01161618, 0.00104566,-0.00219846, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.43567956,  1.06288551,  0.96511667,  1.06288551,  1.6832818 ,
       -0.272685  ,  0.96511667, -0.272685  ,  1.73598826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027322350500450106
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90090044e-01, -1.00737768e-02, -1.40072212e-01, -9.97445225e-03,
        9.99949258e-01, -1.41112780e-03,  1.40079320e-01,  2.16840434e-19,
       -9.90140285e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12993791, -0.08372704,  0.17909236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15481577,  1.0867715 ,  0.39054729,  1.0867715 ,  1.86475318,
       -1.97553476,  0.39054729, -1.97553476,  6.6521139 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006240391156016018
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98257914e-01, -1.01568817e-02, -5.81203519e-02, -1.01397105e-02,
        9.99948418e-01, -5.90351989e-04,  5.81233500e-02,  1.08420217e-19,
       -9.98309409e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024607, -0.0846487 ,  0.17469959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001660296893700997
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98034009, -0.19364885,  0.03786064, -0.1935046 ,  0.98107091,
        0.00747313, -0.03859114,  0.        , -0.99925508])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12894318, -0.08224234,  0.11204778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002444440665603082
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16943462e-01, -8.37304702e-01, -1.78017674e-01, -9.35188219e-02,
       -1.51474494e-01,  9.84027290e-01, -8.50895814e-01,  5.25334477e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10507271, -0.03669155,  0.30546634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039620860696788773
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40105869e-13, -7.00529346e-14,  1.00000000e+00, -9.81482728e-27,
        1.00000000e+00,  7.00529346e-14, -1.00000000e+00,  0.00000000e+00,
       -1.40105869e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05356122, -0.06062423,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79223413e-04,-2.40037522e-03,-1.25219656e-03,-2.32518804e-04,
  2.15936768e-02, 2.67525669e-01, 1.00026773e-01, 4.19013412e-02,
  1.90612504e-04, 1.55967134e-03, 1.88416319e-04, 4.79102048e-04,
  5.05308716e-02, 1.68369964e-02,-1.74765103e-03, 1.62905776e-04,
 -9.28906181e-06, 9.57623287e-06,-9.80999569e+00,-6.51868473e-02,
 -9.54657669e-03,-5.23891555e-03]


--- Step 2146 ---
qpos:
[ 1.06273369e-03, 1.53585404e-01,-1.27023088e-02, 1.38662710e-01,
 -1.08895505e-02, 6.61007655e-03,-6.67268358e-02, 1.15654762e-01,
  1.22845402e-02, 1.74817627e-01,-1.40236659e-02, 1.38358071e-01,
  8.14952767e-01,-1.24937080e-02, 1.15100052e+00, 4.60461350e-02,
  9.48029609e-02,-6.43224178e-02, 1.42739926e-01, 9.47549871e-01,
 -3.38807580e-02, 2.73267612e-02, 3.16630044e-01]

qacc:
[ 1.35814065e+01, 1.08273568e+01,-7.45632351e+01, 1.35805161e+02,
  1.70829124e+01,-1.54960420e+01, 6.10923934e+01,-8.66576957e+01,
  1.24699483e-02, 5.03086524e+01,-2.13741787e+02, 4.53960399e+02,
  1.54035098e+00,-1.33576908e+00,-6.06098282e+00, 1.98838760e+01,
 -2.55171272e-02, 1.13881947e-02, 9.53808719e-03,-3.78114573e-02,
 -4.87855736e-01, 8.10574298e-01]

qfrc_actuator:
[-8.60257485e-03, 1.31537883e-01,-6.64590344e-03, 1.11390979e-01,
  3.90979449e-03, 2.73406799e-01, 4.65109901e-02, 1.22864707e-01,
  2.59499309e-04, 2.13320711e-01, 1.77496342e-03, 1.28982294e-01,
  4.87616048e-02, 1.17694579e-02, 1.02093536e-03,-2.14318930e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.43846063,  1.04631283,  0.98711623,  1.04631283,  1.71510584,
       -0.29323541,  0.98711623, -0.29323541,  1.74928114,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027617904440123485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90104828e-01, -1.04290359e-02, -1.39941646e-01, -1.03264004e-02,
        9.99945616e-01, -1.45953582e-03,  1.39949257e-01, -2.16840434e-19,
       -9.90158677e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12993491, -0.08372848,  0.17909469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15389133,  1.08217729,  0.40044664,  1.08217729,  1.90540233,
       -2.03090268,  0.40044664, -2.03090268,  6.64225499,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006234001802400396
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98196479e-01, -1.05142674e-02, -5.91036256e-02, -1.04958849e-02,
        9.99944724e-01, -6.21465677e-04,  5.91068928e-02, -1.08420217e-19,
       -9.98251659e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024637, -0.08465321,  0.17469894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016451749831329359
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98036231, -0.1935943 ,  0.0375632 , -0.19345235,  0.98108167,
        0.00741225, -0.03828753,  0.        , -0.99926676])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12895376, -0.08224224,  0.11204772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024780448984064007
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51701107, -0.83726999, -0.1779846 , -0.09351311, -0.15143916,
        0.98403327, -0.85085537,  0.52539999,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10507431, -0.03669083,  0.30545788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039612747658590575
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -7.0067282e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  7.0067282e-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([ 0.05356053, -0.06062414,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80813269e-04,-2.07552262e-03,-1.00251853e-03,-1.51982751e-05,
  2.18409309e-02, 2.69255619e-01, 1.00772233e-01, 4.25028711e-02,
  2.24063295e-06, 1.80233807e-03, 4.01176317e-04, 8.34570545e-04,
  5.07194595e-02, 1.70483064e-02,-1.88394709e-03, 8.84839913e-05,
 -8.76034387e-06, 9.01912924e-06,-9.80999605e+00,-6.51866124e-02,
 -9.54508925e-03,-5.24041938e-03]


--- Step 2147 ---
qpos:
[ 8.85184043e-04, 1.56114339e-01,-1.28653509e-02, 1.40878506e-01,
 -1.12442866e-02, 6.70222458e-03,-6.77909401e-02, 1.17258384e-01,
  1.22980200e-02, 1.78944073e-01,-1.40305646e-02, 1.40937176e-01,
  8.14977819e-01,-1.25689607e-02, 1.15124349e+00, 4.60424947e-02,
  9.48033863e-02,-6.43242299e-02, 1.42739348e-01, 9.47560417e-01,
 -3.38827750e-02, 2.73377477e-02, 3.16597317e-01]

qacc:
[ 1.60021761e+01,-1.86679364e+01, 4.32988135e+01,-7.45085934e+01,
  1.70453289e+01,-1.56513926e+01, 6.18756730e+01,-8.71188421e+01,
 -8.31394822e+00, 1.57938608e+01,-1.03010950e+02, 3.25146783e+02,
  1.30108301e+00,-4.01172339e-01,-5.41395033e+00, 4.96878652e+00,
 -2.03704541e-02, 6.45585256e-03, 1.16815151e-02, 6.71661434e-02,
 -4.99477769e-01, 8.79260064e-01]

qfrc_actuator:
[-8.38910595e-03, 1.30446713e-01,-6.92438200e-03, 1.11228207e-01,
  4.25280753e-03, 2.74980058e-01, 4.75522271e-02, 1.22944233e-01,
  1.14306070e-04, 2.13396101e-01, 2.06723647e-03, 1.29667950e-01,
  4.89626258e-02, 1.20160910e-02, 9.70521719e-04,-2.28768012e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.44126211,  1.04066265,  0.99712472,  1.04066265,  1.73920974,
       -0.31095706,  0.99712472, -0.31095706,  1.76579663,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002791143255342863
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99011911, -0.01078238, -0.13981373, -0.01067646,  0.99994187,
       -0.00150761,  0.13982186,  0.        , -0.99017667])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12993184, -0.08372983,  0.17909702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15298652,  1.09530811,  0.36010839,  1.09530811,  1.7705289 ,
       -1.87832107,  0.36010839, -1.87832107,  6.86610048,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006227749335752165
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98134348e-01, -1.08696641e-02, -6.00805552e-02, -1.08500260e-02,
        9.99940923e-01, -6.53094035e-04,  6.00841048e-02,  0.00000000e+00,
       -9.98193318e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024658, -0.08465758,  0.17469835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001630498152309359
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98038361, -0.19354243,  0.0372733 , -0.1934027 ,  0.98109191,
        0.007353  , -0.03799165,  0.        , -0.99927806])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12896403, -0.08224215,  0.11204778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002509821726968984
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17075658e-01, -8.37236937e-01, -1.77952455e-01, -9.35073453e-02,
       -1.51404929e-01,  9.84039087e-01, -8.50816749e-01,  5.25462520e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10507601, -0.03669045,  0.30544987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003960611575927059
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.05355983, -0.06062406,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15795728e-04,-2.55252382e-03,-8.62811504e-04,-2.96121965e-04,
  2.20867683e-02, 2.70786969e-01, 1.01553991e-01, 4.26300811e-02,
 -1.31220193e-04, 1.04981885e-03, 6.89779628e-04, 7.78083020e-04,
  5.08251429e-02, 1.72908938e-02,-1.91282383e-03,-1.42981266e-04,
 -7.94978824e-06, 8.19234239e-06,-9.80999653e+00,-6.51863338e-02,
 -9.54371017e-03,-5.24180895e-03]


--- Step 2148 ---
qpos:
[ 7.12083106e-04, 1.58619174e-01,-1.30298080e-02, 1.43083702e-01,
 -1.15968838e-02, 6.79594236e-03,-6.88492262e-02, 1.18861109e-01,
  1.23056179e-02, 1.83078825e-01,-1.40333154e-02, 1.43531315e-01,
  8.15006274e-01,-1.26419294e-02, 1.15148330e+00, 4.60394579e-02,
  9.48037076e-02,-6.43259917e-02, 1.42738824e-01, 9.47570234e-01,
 -3.38841878e-02, 2.73476446e-02, 3.16566927e-01]

qacc:
[ 1.73085539e+01,-4.95683938e+01, 1.74330179e+02,-3.35227585e+02,
  1.87780460e+01,-1.57987060e+01, 6.29835624e+01,-8.82071479e+01,
 -1.96219503e+01, 3.01228409e+01,-1.53772532e+02, 3.98087923e+02,
  1.23554027e+00, 9.72181306e-01,-6.53650577e+00, 1.60038391e+01,
 -2.60162500e-02, 1.25554130e-02, 1.37565478e-02, 6.94956148e-02,
 -6.41473085e-01, 1.21230679e+00]

qfrc_actuator:
[-8.15693375e-03, 1.28951427e-01,-7.11237945e-03, 1.10672109e-01,
  4.58159343e-03, 2.76987116e-01, 4.85637800e-02, 1.22670610e-01,
 -2.07522676e-04, 2.14077398e-01, 2.36529112e-03, 1.30441827e-01,
  4.91248234e-02, 1.25841852e-02, 9.90458234e-04,-2.21231626e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.44412627,  1.01659597,  1.02568675,  1.01659597,  1.77096036,
       -0.32393733,  1.02568675, -0.32393733,  1.7651925 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002820731919019983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99013293, -0.01113381, -0.13968829, -0.01102463,  0.99993802,
       -0.00155536,  0.13969695,  0.        , -0.9901943 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12992871, -0.08373108,  0.17909937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15216772,  1.10434752,  0.32849202,  1.10434752,  1.68094551,
       -1.77768228,  0.32849202, -1.77768228,  7.12850483,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006222092282420368
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98071566e-01, -1.12230758e-02, -6.10507272e-02, -1.12021383e-02,
        9.99937019e-01, -6.85220092e-04,  6.10545724e-02, -1.08420217e-19,
       -9.98134429e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024669, -0.08466183,  0.17469778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016163199653591732
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80403930e-01, -1.93493449e-01,  3.69921632e-02, -1.93355861e-01,
        9.81101567e-01,  7.29561697e-03, -3.77047234e-02, -8.67361738e-19,
       -9.99288924e-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([ 0.12897394, -0.08224206,  0.11204798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002539515916890341
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51713706, -0.83720552, -0.17792185, -0.09350184, -0.15137236,
        0.98404462, -0.85078004,  0.52552196,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10507773, -0.03669039,  0.30544239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039598991229085334
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.20549738e-13, -7.00916229e-14,  1.00000000e+00, -2.94770136e-26,
        1.00000000e+00,  7.00916229e-14, -1.00000000e+00,  0.00000000e+00,
       -4.20549738e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05355913, -0.06062397,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.36781002e-04,-3.20573467e-03,-8.62988227e-04,-7.10364720e-04,
  2.23185755e-02, 2.72741065e-01, 1.02296207e-01, 4.24019068e-02,
 -3.17520590e-04, 1.29188591e-03, 5.73661115e-04, 8.43035354e-04,
  5.08764503e-02, 1.78152373e-02,-1.57519757e-03, 3.62257485e-07,
 -7.10746332e-06, 7.37679085e-06,-9.80999700e+00,-6.51860351e-02,
 -9.54242242e-03,-5.24307620e-03]


--- Step 2149 ---
qpos:
[ 5.42963893e-04, 1.61095915e-01,-1.31933961e-02, 1.45274228e-01,
 -1.19472196e-02, 6.89161204e-03,-6.99014424e-02, 1.20462993e-01,
  1.23055462e-02, 1.87224035e-01,-1.40351132e-02, 1.46136645e-01,
  8.15039858e-01,-1.27106333e-02, 1.15172119e+00, 4.60380206e-02,
  9.48038918e-02,-6.43277135e-02, 1.42738372e-01, 9.47579198e-01,
 -3.38848024e-02, 2.73561322e-02, 3.16539296e-01]

qacc:
[ 1.52964492e+01,-6.95084761e+01, 2.54508488e+02,-4.85263312e+02,
  1.98378840e+01,-1.58755348e+01, 6.37516494e+01,-8.86756757e+01,
 -2.49391202e+01, 3.40342749e+01,-1.47521263e+02, 3.29251587e+02,
  1.19342987e+00, 2.88307311e+00,-7.67008624e+00, 2.27256787e+01,
 -3.42760524e-02, 1.00107036e-02, 1.77675284e-02, 1.02886736e-01,
 -8.29133948e-01, 1.42983526e+00]

qfrc_actuator:
[-0.00795106, 0.12736858,-0.00714079, 0.1099243 , 0.00488312, 0.27918257,
  0.04957278, 0.12261149,-0.00061316, 0.21479783, 0.00247172, 0.1310134 ,
  0.04925821, 0.01352094, 0.00100461,-0.00211299, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.44707007,  1.00101736,  1.04497657,  1.00101736,  1.77958277,
       -0.31852483,  1.04497657, -0.31852483,  1.75219546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028507141975681033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90146178e-01, -1.14831249e-02, -1.39566058e-01, -1.13707219e-02,
        9.99934067e-01, -1.60276015e-03,  1.39575260e-01,  4.33680869e-19,
       -9.90211466e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12992549, -0.08373215,  0.17910176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15146508,  1.10643725,  0.31885488,  1.10643725,  1.64447637,
       -1.71076588,  0.31885488, -1.71076588,  7.08788067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006217238501108944
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98008199e-01, -1.15743039e-02, -6.20134677e-02, -1.15520240e-02,
        9.99933016e-01, -7.17810806e-04,  6.20176219e-02,  0.00000000e+00,
       -9.98075055e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024669, -0.08466586,  0.17469724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016026980202004139
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80422982e-01, -1.93448538e-01,  3.67211108e-02, -1.93312993e-01,
        9.81110423e-01,  7.24041355e-03, -3.74281120e-02, -8.67361738e-19,
       -9.99299323e-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([ 0.12898347, -0.08224199,  0.11204833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025674087049797425
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51719414, -0.83717684, -0.17789085, -0.09349534, -0.15133994,
        0.98405023, -0.85074605,  0.52557698,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10507944, -0.03669074,  0.3054354 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039591802258916176
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00, -7.010435e-14,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  7.010435e-14, -1.000000e+00,  0.000000e+00,
        0.000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05355843, -0.06062388,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11915353e-04,-3.67531437e-03,-8.52188750e-04,-9.37903687e-04,
  2.25131468e-02, 2.74863449e-01, 1.03022019e-01, 4.23861561e-02,
 -4.15019414e-04, 1.44484319e-03, 4.19822234e-04, 6.48272092e-04,
  5.08394155e-02, 1.86394213e-02,-1.40731175e-03, 6.84586764e-05,
 -6.03991561e-06, 6.33360269e-06,-9.80999757e+00,-6.51856726e-02,
 -9.54128630e-03,-5.24418851e-03]


--- Step 2150 ---
qpos:
[ 3.76816538e-04, 1.63540921e-01,-1.33545838e-02, 1.47451014e-01,
 -1.22948311e-02, 6.98871693e-03,-7.09475301e-02, 1.22064096e-01,
  1.22987968e-02, 1.91371376e-01,-1.40332872e-02, 1.48750910e-01,
  8.15080613e-01,-1.27725878e-02, 1.15195707e+00, 4.60387620e-02,
  9.48039093e-02,-6.43293647e-02, 1.42738014e-01, 9.47586927e-01,
 -3.38842930e-02, 2.73627908e-02, 3.16515636e-01]

qacc:
[ 1.13185279e+01,-7.66766596e+01, 2.69145619e+02,-4.83487038e+02,
  2.38714978e+01,-1.65946058e+01, 6.50565507e+01,-8.86180648e+01,
 -2.10596502e+01, 1.09757556e+01,-7.20386237e+01, 2.17450277e+02,
  1.07913319e+00, 5.32004669e+00,-9.48744691e+00, 2.90250566e+01,
 -4.16734804e-02, 1.76424226e-02, 2.36163647e-02, 1.67787775e-01,
 -1.09484934e+00, 2.06076064e+00]

qfrc_actuator:
[-0.00779778, 0.12564031,-0.00707518, 0.10922955, 0.00522056, 0.28081546,
  0.05055992, 0.12277015,-0.00095843, 0.21447112, 0.00248247, 0.13142591,
  0.04935274, 0.01462275, 0.00095138,-0.00200052, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.45008738,  0.98470895,  1.06447249,  0.98470895,  1.72939094,
       -0.25837466,  1.06447249, -0.25837466,  1.68910139,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028810084356017485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99015876, -0.01183021, -0.13944772, -0.0117146 ,  0.99993002,
       -0.00164981,  0.13945748,  0.        , -0.99022806])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12992216, -0.08373308,  0.17910418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15087255,  1.10645139,  0.31665907,  1.10645139,  1.60597519,
       -1.5901927 ,  0.31665907, -1.5901927 ,  6.70722981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006213145902108423
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97944312e-01, -1.19232271e-02, -6.29681446e-02, -1.18995626e-02,
        9.99928916e-01, -7.50836862e-04,  6.29726210e-02,  1.08420217e-19,
       -9.98015255e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024655, -0.0846697 ,  0.17469675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015896783514147094
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9804406 , -0.19340849,  0.03646081, -0.19327489,  0.98111832,
        0.00718754, -0.03716251,  0.        , -0.99930924])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12899257, -0.08224193,  0.11204883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002593465740322465
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17246192e-01, -8.37151873e-01, -1.77857018e-01, -9.34863804e-02,
       -1.51305702e-01,  9.84056340e-01, -8.50715389e-01,  5.25626604e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1050811 , -0.03669166,  0.30542892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039584581844448463
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40234275e-13, -1.40234275e-13,  1.00000000e+00, -1.96656518e-26,
        1.00000000e+00,  1.40234275e-13, -1.00000000e+00,  0.00000000e+00,
       -1.40234275e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05355773, -0.06062378,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57903113e-04,-4.08971219e-03,-8.61202472e-04,-9.08799841e-04,
  2.27375240e-02, 2.76404017e-01, 1.03713286e-01, 4.25854125e-02,
 -3.62475439e-04, 4.42785255e-04, 3.29929653e-04, 4.86587223e-04,
  5.06772801e-02, 1.95295400e-02,-1.36896784e-03, 9.98992562e-05,
 -4.86793683e-06, 5.19172910e-06,-9.80999820e+00,-6.51852499e-02,
 -9.54034034e-03,-5.24509907e-03]


--- Step 2151 ---
qpos:
[ 2.13639571e-04, 1.65951422e-01,-1.35133481e-02, 1.49613760e-01,
 -1.26391831e-02, 7.08643424e-03,-7.19874609e-02, 1.23664472e-01,
  1.22881062e-02, 1.95511618e-01,-1.40287187e-02, 1.51374242e-01,
  8.15130119e-01,-1.28254741e-02, 1.15218872e+00, 4.60409704e-02,
  9.48037544e-02,-6.43309202e-02, 1.42737774e-01, 9.47593050e-01,
 -3.38822733e-02, 2.73673361e-02, 3.16497128e-01]

qacc:
[ 1.11427588e+01,-8.10049117e+01, 2.80448956e+02,-4.97744892e+02,
  2.85337142e+01,-1.76434296e+01, 6.69682435e+01,-8.89706193e+01,
 -1.20435473e+01, 1.48652291e+00,-5.64408821e+01, 2.12248016e+02,
  7.38292155e-01, 7.79566452e+00,-1.05717775e+01, 2.81605571e+01,
 -4.31141789e-02, 2.39425082e-02, 2.94036725e-02, 2.83500535e-01,
 -1.30558417e+00, 2.67975523e+00]

qfrc_actuator:
[-0.00764114, 0.1237864 ,-0.00700828, 0.10851831, 0.00557819, 0.28198628,
  0.05154921, 0.1227757 ,-0.00115889, 0.21352026, 0.0023795 , 0.13182953,
  0.04939162, 0.01581939, 0.00091106,-0.00195239, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.45316145,  0.9754303 ,  1.07713227,  0.9754303 ,  1.65639848,
       -0.18404755,  1.07713227, -0.18404755,  1.61983138,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029114327226828474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99017053, -0.01217459, -0.13933452, -0.01205582,  0.99992589,
       -0.00169647,  0.13934484,  0.        , -0.99024392])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12991874, -0.08373378,  0.17910662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15036545,  1.11325979,  0.28981599,  1.11325979,  1.50010992,
       -1.34346091,  0.28981599, -1.34346091,  6.31095382,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006209643725384457
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97879906e-01, -1.22693831e-02, -6.39152157e-02, -1.22442925e-02,
        9.99924728e-01, -7.84259301e-04,  6.39200271e-02,  0.00000000e+00,
       -9.97955024e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024628, -0.08467324,  0.17469633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015771956164389097
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80456358e-01, -1.93375596e-01,  3.62106298e-02, -1.93243848e-01,
        9.81124803e-01,  7.13696373e-03, -3.69072617e-02,  8.67361738e-19,
       -9.99318695e-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([ 0.12900129, -0.08224192,  0.11204949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026176768285289813
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51729108, -0.83713235, -0.17781837, -0.09347351, -0.15126822,
        0.98406332, -0.85068951,  0.52566849,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508263, -0.03669329,  0.305423  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039576662927567896
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80524668e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.80524668e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05355702, -0.06062369,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57897888e-04,-4.44647747e-03,-9.45118475e-04,-9.42543725e-04,
  2.29589339e-02, 2.77508224e-01, 1.04403695e-01, 4.26285768e-02,
 -2.14788625e-04,-7.67100296e-04,-7.26801223e-06, 4.28737163e-04,
  5.03574161e-02, 2.03901626e-02,-1.31368939e-03, 3.80280276e-05,
 -3.41747017e-06, 3.78125232e-06,-9.80999890e+00,-6.51847331e-02,
 -9.53964876e-03,-5.24574281e-03]


--- Step 2152 ---
qpos:
[ 5.44389402e-05, 1.68327807e-01,-1.36708255e-02, 1.51755836e-01,
 -1.29800843e-02, 7.18457091e-03,-7.30210652e-02, 1.25264164e-01,
  1.22778699e-02, 1.99647276e-01,-1.40285149e-02, 1.54001930e-01,
  8.15188666e-01,-1.28682008e-02, 1.15241408e+00, 4.60435233e-02,
  9.48034454e-02,-6.43324038e-02, 1.42737657e-01, 9.47597568e-01,
 -3.38785659e-02, 2.73698251e-02, 3.16483782e-01]

qacc:
[ 1.45667640e+01,-9.08363213e+01, 3.43609419e+02,-6.72400828e+02,
  3.01966805e+01,-1.82703734e+01, 6.86393538e+01,-8.99704419e+01,
  1.34140676e+00, 1.49969456e+01,-8.01202166e+01, 1.64332732e+02,
  2.18793042e-01, 9.28422758e+00,-1.01600587e+01, 2.24212155e+01,
 -3.85066385e-02, 1.79555961e-02, 3.09779131e-02, 3.76395204e-01,
 -1.30685755e+00, 2.68833128e+00]

qfrc_actuator:
[-0.00743041, 0.12212112,-0.00694159, 0.10748343, 0.00587529, 0.28314638,
  0.05259057, 0.12258313,-0.0011305 , 0.21339272, 0.00217223, 0.13204658,
  0.04941803, 0.01674836, 0.00091604,-0.00196078, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.45629052,  0.97318075,  1.08337496,  0.97318075,  1.61839284,
       -0.14561428,  1.08337496, -0.14561428,  1.58709381,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002941960219100719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90181340e-01, -1.25157497e-02, -1.39227404e-01, -1.23938326e-02,
        9.99921675e-01, -1.74267183e-03,  1.39238309e-01, -2.16840434e-19,
       -9.90258902e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12991527, -0.08373418,  0.17910908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14993913,  1.12450278,  0.24052759,  1.12450278,  1.37935802,
       -1.07256792,  0.24052759, -1.07256792,  6.164356  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006206699732516415
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97814962e-01, -1.26122376e-02, -6.48554742e-02, -1.25856804e-02,
        9.99920463e-01, -8.18037715e-04,  6.48606330e-02,  0.00000000e+00,
       -9.97894332e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024594, -0.08467642,  0.17469602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015651582026593505
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98046986, -0.19335208,  0.0359697 , -0.1932221 ,  0.98112944,
        0.00708858, -0.03666153,  0.        , -0.99932774])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12900974, -0.08224199,  0.11205029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002639943883177867
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51732676, -0.83711978, -0.17777373, -0.09345573, -0.15122674,
        0.98407139, -0.85066976,  0.52570044,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508394, -0.03669574,  0.30541772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003956617909315202
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40299499e-13, -7.01497497e-14,  1.00000000e+00, -9.84197478e-27,
        1.00000000e+00,  7.01497497e-14, -1.00000000e+00,  0.00000000e+00,
       -1.40299499e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0535563 , -0.06062359,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12148137e-04,-4.47479528e-03,-1.02998599e-03,-1.28478924e-03,
  2.30930636e-02, 2.78642768e-01, 1.05144663e-01, 4.24708798e-02,
  2.45445557e-05,-6.91935609e-04,-4.04626500e-04, 1.77914744e-04,
  4.99460626e-02, 2.08670126e-02,-1.10146361e-03,-4.47751424e-05,
 -1.92217928e-06, 2.33388836e-06,-9.80999953e+00,-6.51841385e-02,
 -9.53926189e-03,-5.24606659e-03]


--- Step 2153 ---
qpos:
[-1.00484697e-04, 1.70671496e-01,-1.38270323e-02, 1.53872622e-01,
 -1.33175575e-02, 7.28304050e-03,-7.40482243e-02, 1.26863206e-01,
  1.22715366e-02, 2.03785330e-01,-1.40365999e-02, 1.56637454e-01,
  8.15255425e-01,-1.29007681e-02, 1.15262947e+00, 4.60440851e-02,
  9.48030223e-02,-6.43338598e-02, 1.42737658e-01, 9.47600693e-01,
 -3.38731443e-02, 2.73705699e-02, 3.16474942e-01]

qacc:
[ 1.53876181e+01,-9.83256895e+01, 3.92034773e+02,-8.00421441e+02,
  2.99946320e+01,-1.86366441e+01, 6.96406551e+01,-9.05082344e+01,
  1.12841868e+01, 4.22225738e+01,-1.77996822e+02, 3.22016523e+02,
 -4.07946415e-01, 9.83677368e+00,-8.49950024e+00, 8.78805336e+00,
 -2.85258215e-02, 6.91730628e-03, 2.93841048e-02, 4.50854668e-01,
 -1.15488511e+00, 2.34911146e+00]

qfrc_actuator:
[-0.00720717, 0.12065344,-0.0068216 , 0.10623111, 0.0062056 , 0.28433552,
  0.05364278, 0.1226625 ,-0.00093211, 0.21411454, 0.00197939, 0.13249008,
  0.04944725, 0.01726349, 0.00086332,-0.00210907, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.45949205,  0.97986558,  1.08165636,  0.97986558,  1.60730089,
       -0.13389909,  1.08165636, -0.13389909,  1.58079038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002972749035914187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99019124, -0.01285349, -0.13912621, -0.01272846,  0.99991739,
       -0.0017884 ,  0.1391377 ,  0.        , -0.99027304])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12991177, -0.08373432,  0.17911155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14961638,  1.13330463,  0.19297259,  1.13330463,  1.29281942,
       -0.84101412,  0.19297259, -0.84101412,  6.08879042,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006204471049954598
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97749503e-01, -1.29516001e-02, -6.57889438e-02, -1.29235365e-02,
        9.99916125e-01, -8.52143564e-04,  6.57944623e-02,  0.00000000e+00,
       -9.97833197e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024554, -0.08467926,  0.17469578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015535610377024989
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80481110e-01, -1.93337989e-01,  3.57381316e-02, -1.93209685e-01,
        9.81132214e-01,  7.04241323e-03, -3.64253982e-02,  8.67361738e-19,
       -9.99336375e-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([ 0.12901793, -0.08224213,  0.11205123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026602371569036434
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5173533 , -0.83711427, -0.17772241, -0.09343266, -0.15118067,
        0.98408066, -0.85065616,  0.52572245,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508499, -0.03669904,  0.30541308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003955147411591753
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.05355556, -0.0606235 ,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28644836e-04,-4.32385387e-03,-1.00431427e-03,-1.51289491e-03,
  2.32508284e-02, 2.79815907e-01, 1.05887934e-01, 4.25829224e-02,
  2.13505407e-04, 1.07133592e-04,-4.32062515e-04, 3.89001789e-04,
  4.95230790e-02, 2.08752317e-02,-8.44232081e-04,-2.11321695e-04,
 -8.34533141e-07, 1.28416975e-06,-9.80999988e+00,-6.51835139e-02,
 -9.53918615e-03,-5.24606649e-03]


--- Step 2154 ---
qpos:
[-2.53312780e-04, 1.72985077e-01,-1.39832138e-02, 1.55975800e-01,
 -1.36513870e-02, 7.38138025e-03,-7.50689740e-02, 1.28461644e-01,
  1.22711817e-02, 2.07927249e-01,-1.40509713e-02, 1.59293416e-01,
  8.15329690e-01,-1.29233074e-02, 1.15283665e+00, 4.60434917e-02,
  9.48024993e-02,-6.43352673e-02, 1.42737767e-01, 9.47602443e-01,
 -3.38661422e-02, 2.73697145e-02, 3.16470525e-01]

qacc:
[ 7.50314544e+00,-6.75936783e+01, 2.39252372e+02,-4.48536502e+02,
  3.18653227e+01,-1.90448139e+01, 6.99996782e+01,-8.96185672e+01,
  1.68991421e+01, 6.42482025e+01,-3.05675918e+02, 6.60118884e+02,
 -8.96398864e-01, 1.01619535e+01,-8.41592921e+00, 1.23071637e+01,
 -2.49801320e-02, 1.21281539e-02, 2.69894457e-02, 4.11893894e-01,
 -1.06437525e+00, 2.30796100e+00]

qfrc_actuator:
[-0.00710258, 0.11947631,-0.00668789, 0.10558906, 0.00657222, 0.28548874,
  0.05466336, 0.12336684,-0.00063537, 0.2147195 , 0.00183639, 0.13356129,
  0.04946193, 0.01754399, 0.00078719,-0.00214381, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.4627927 ,  0.97395907,  1.09140561,  0.97395907,  1.60931602,
       -0.1307559 ,  1.09140561, -0.1307559 ,  1.57947791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030040344458158935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90200348e-01, -1.31878297e-02, -1.39030036e-01, -1.30597293e-02,
        9.99913037e-01, -1.83366391e-03,  1.39042128e-01,  2.16840434e-19,
       -9.90286467e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12990824, -0.08373425,  0.17911404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14942884,  1.1326769 ,  0.19552415,  1.1326769 ,  1.29394081,
       -0.83716193,  0.19552415, -0.83716193,  5.99913146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006203176131004445
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97683553e-01, -1.32874936e-02, -6.67155929e-02, -1.32578843e-02,
        9.99911717e-01, -8.86561283e-04,  6.67214832e-02,  0.00000000e+00,
       -9.97771639e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024508, -0.08468184,  0.17469558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015424155424934882
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80490341e-01, -1.93332097e-01,  3.55160622e-02, -1.93205387e-01,
        9.81133375e-01,  6.99843156e-03, -3.61990154e-02,  8.67361738e-19,
       -9.99344601e-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([ 0.12902585, -0.08224234,  0.11205231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002678522562803056
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51737194, -0.83711495, -0.17766495, -0.09340483, -0.15113031,
        0.98409103, -0.85064788,  0.52573585,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508575, -0.03670309,  0.30540911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039530961206857285
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80848983e-13, -1.40424491e-13,  1.00000000e+00, -3.94380756e-26,
        1.00000000e+00,  1.40424491e-13, -1.00000000e+00,  0.00000000e+00,
       -2.80848983e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05355479, -0.0606234 ,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11540651e-04,-3.95208296e-03,-9.63689982e-04,-8.99594223e-04,
  2.34460434e-02, 2.80957361e-01, 1.06593550e-01, 4.33183132e-02,
  3.27899415e-04, 4.40598638e-04,-2.13315168e-04, 1.05394009e-03,
  4.91270249e-02, 2.06486160e-02,-4.26257732e-04,-1.47497118e-04,
 -2.26340869e-07, 7.02693400e-07,-9.80999996e+00,-6.51828517e-02,
 -9.53938638e-03,-5.24577362e-03]


--- Step 2155 ---
qpos:
[-4.06494409e-04, 1.75272554e-01,-1.41405519e-02, 1.58073977e-01,
 -1.39814467e-02, 7.47957222e-03,-7.60832844e-02, 1.30059531e-01,
  1.22763663e-02, 2.12078242e-01,-1.40712532e-02, 1.61970597e-01,
  8.15410450e-01,-1.29364365e-02, 1.15303999e+00, 4.60441820e-02,
  9.48018743e-02,-6.43366006e-02, 1.42737967e-01, 9.47602940e-01,
 -3.38579023e-02, 2.73674009e-02, 3.16470120e-01]

qacc:
[-1.06441075e+00,-4.14423641e+01, 1.18256074e+02,-1.82111715e+02,
  3.29513246e+01,-1.90376566e+01, 6.97096496e+01,-8.84205193e+01,
  1.52317707e+01, 7.16600648e+01,-3.25227283e+02, 6.88243539e+02,
 -1.29882382e+00, 9.95792660e+00,-9.30213480e+00, 2.48415867e+01,
 -2.55240050e-02, 1.85341171e-02, 2.26814851e-02, 2.79548234e-01,
 -9.37549722e-01, 2.09123596e+00]

qfrc_actuator:
[-0.00712198, 0.11859052,-0.00658072, 0.10538263, 0.00688803, 0.28685151,
  0.05568015, 0.12419783,-0.000372  , 0.21574898, 0.00176011, 0.13467385,
  0.04943039, 0.01762652, 0.00076113,-0.00202171, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.46618803,  0.95693903,  1.11084429,  0.95693903,  1.64353972,
       -0.15277997,  1.11084429, -0.15277997,  1.59780064,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003035749376955042
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90208705e-01, -1.35185620e-02, -1.38938727e-01, -1.33874211e-02,
        9.99908620e-01, -1.87842344e-03,  1.38951424e-01,  2.16840434e-19,
       -9.90299198e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12990472, -0.08373395,  0.17911656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14936359,  1.12794164,  0.22087171,  1.12794164,  1.33857213,
       -0.96624503,  0.22087171, -0.96624503,  6.08375739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006202725618700219
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97617104e-01, -1.36197032e-02, -6.76359192e-02, -1.35885092e-02,
        9.99907248e-01, -9.21266593e-04,  6.76421932e-02,  0.00000000e+00,
       -9.97709644e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024459, -0.08468413,  0.17469543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001531665417585736
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98049762, -0.19333426,  0.0353028 , -0.19320907,  0.98113295,
        0.00695649, -0.03598167,  0.        , -0.99935245])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12903353, -0.08224261,  0.11205353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002695282624762128
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51738283, -0.83712173, -0.17760125, -0.09337222, -0.15107559,
        0.98410253, -0.85064483,  0.52574078,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508622, -0.0367078 ,  0.30540568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000395049724016841
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.81033743e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.81033743e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.053554  , -0.0606233 ,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02205597e-05,-3.41717628e-03,-8.86903758e-04,-4.34612591e-04,
  2.35796703e-02, 2.82331443e-01, 1.07297108e-01, 4.41779823e-02,
  3.04834575e-04, 1.12523799e-03,-2.78704037e-05, 1.13000985e-03,
  4.87201015e-02, 2.02304010e-02,-4.55498422e-05, 3.14124289e-05,
  4.20925607e-08, 4.11078964e-07,-9.80999984e+00,-6.51821369e-02,
 -9.53985651e-03,-5.24521210e-03]


--- Step 2156 ---
qpos:
[-5.59903824e-04, 1.77537764e-01,-1.42983047e-02, 1.60165051e-01,
 -1.43081931e-02, 7.57836855e-03,-7.70909935e-02, 1.31656894e-01,
  1.22850441e-02, 2.16241650e-01,-1.40955230e-02, 1.64659447e-01,
  8.15495706e-01,-1.29415894e-02, 1.15323581e+00, 4.60437591e-02,
  9.48011815e-02,-6.43379358e-02, 1.42738236e-01, 9.47602745e-01,
 -3.38487295e-02, 2.73641257e-02, 3.16471968e-01]

qacc:
[-6.38673801e-01,-4.27260530e+01, 1.38820445e+02,-2.42403269e+02,
  2.89683907e+01,-1.84293479e+01, 6.88836528e+01,-8.79512128e+01,
  9.32803426e+00, 5.12589376e+01,-2.06754264e+02, 4.01738450e+02,
 -1.83562078e+00, 9.07577714e+00,-7.50087487e+00, 1.06293121e+01,
 -1.69106147e-02,-4.70915860e-04, 1.71840458e-02, 2.47333069e-01,
 -6.31908328e-01, 1.17359355e+00]

qfrc_actuator:
[-7.12539253e-03, 1.17869829e-01,-6.45277981e-03, 1.05061591e-01,
  7.18952734e-03, 2.88517624e-01, 5.66920914e-02, 1.24732202e-01,
 -2.19378941e-04, 2.16777889e-01, 1.70824498e-03, 1.35287431e-01,
  4.93709198e-02, 1.76046398e-02, 7.17078048e-04,-2.12701616e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.46966049,  0.95912369,  1.11354556,  0.95912369,  1.71242091,
       -0.20909541,  1.11354556, -0.20909541,  1.64975942,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030677099668890707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90216337e-01, -1.38455591e-02, -1.38852102e-01, -1.37114131e-02,
        9.99904146e-01, -1.92266928e-03,  1.38865413e-01, -2.16840434e-19,
       -9.90311263e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12990118, -0.08373342,  0.17911908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14939314,  1.12985678,  0.21101715,  1.12985678,  1.33061044,
       -0.97029835,  0.21101715, -0.97029835,  6.34469688,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006202929648214348
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97550179e-01, -1.39481035e-02, -6.85499113e-02, -1.39152868e-02,
        9.99902720e-01, -9.56234280e-04,  6.85565805e-02,  0.00000000e+00,
       -9.97647230e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024406, -0.08468612,  0.17469532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015212979639163654
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9805031 , -0.1933437 ,  0.03509809, -0.19321995,  0.98113109,
        0.0069165 , -0.03577309,  0.        , -0.99935994])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12904099, -0.08224293,  0.11205489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000271121745822362
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17386700e-01, -8.37134271e-01, -1.77530886e-01, -9.33347197e-02,
       -1.51016044e-01,  9.84115229e-01, -8.50646597e-01,  5.25737926e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508643, -0.03671308,  0.30540259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003947543834114803
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.81244002e-13, -7.03110004e-14,  1.00000000e+00, -1.97745471e-26,
        1.00000000e+00,  7.03110004e-14, -1.00000000e+00,  0.00000000e+00,
       -2.81244002e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0535532 , -0.0606232 ,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32791749e-05,-2.91633786e-03,-7.29899568e-04,-5.14584137e-04,
  2.36926783e-02, 2.84009686e-01, 1.07994243e-01, 4.47383591e-02,
  1.93013189e-04, 1.54881613e-03, 1.63211767e-04, 6.68010870e-04,
  4.83357620e-02, 1.97385014e-02, 9.81175577e-05,-1.39022572e-04,
  1.69672450e-08, 3.65546354e-07,-9.80999958e+00,-6.51813881e-02,
 -9.54055470e-03,-5.24441832e-03]


--- Step 2157 ---
qpos:
[-7.14007957e-04, 1.79782705e-01,-1.44562842e-02, 1.62250745e-01,
 -1.46319037e-02, 7.67827451e-03,-7.80919782e-02, 1.33253736e-01,
  1.22961577e-02, 2.20412732e-01,-1.41193570e-02, 1.67356495e-01,
  8.15583837e-01,-1.29400593e-02, 1.15342496e+00, 4.60422543e-02,
  9.48004438e-02,-6.43392989e-02, 1.42738553e-01, 9.47602178e-01,
 -3.38388998e-02, 2.73602276e-02, 3.16475052e-01]

qacc:
[-2.19485971e+00,-3.70914294e+01, 1.15447687e+02,-1.91409967e+02,
  2.65449522e+01,-1.80841233e+01, 6.86095172e+01,-8.81599726e+01,
  6.37441256e+00, 2.55996499e+01,-1.10240434e+02, 2.43173936e+02,
 -2.22960027e+00, 8.22186196e+00,-6.33686381e+00, 8.38515678e+00,
 -1.12495627e-02,-6.96628154e-03, 1.22181285e-02, 1.89442060e-01,
 -4.14910247e-01, 6.42955116e-01]

qfrc_actuator:
[-7.15470207e-03, 1.17112773e-01,-6.36592603e-03, 1.04817918e-01,
  7.49913619e-03, 2.90045493e-01, 5.76806250e-02, 1.24946774e-01,
 -1.15619992e-04, 2.17053868e-01, 1.68922854e-03, 1.35691456e-01,
  4.93159502e-02, 1.75177745e-02, 7.31934690e-04,-2.17161193e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.47322902,  0.95371168,  1.12287033,  0.95371168,  1.77745532,
       -0.25839509,  1.12287033, -0.25839509,  1.6926973 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031000709286935267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90223474e-01, -1.41692756e-02, -1.38768522e-01, -1.40321580e-02,
        9.99899611e-01, -1.96644684e-03,  1.38782454e-01,  2.16840434e-19,
       -9.90322892e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12989761, -0.08373279,  0.17912163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14953877,  1.13456981,  0.18490732,  1.13456981,  1.29627547,
       -0.90035935,  0.18490732, -0.90035935,  6.67403891,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006203935159882966
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97482857e-01, -1.42731514e-02, -6.94566576e-02, -1.42386742e-02,
        9.99898133e-01, -9.91466384e-04,  6.94637336e-02,  0.00000000e+00,
       -9.97584477e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024347, -0.08468799,  0.17469523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015114176704233225
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80507425e-01, -1.93357135e-01,  3.49028276e-02, -1.93234748e-01,
        9.81128441e-01,  6.87851914e-03, -3.55741676e-02,  8.67361738e-19,
       -9.99367039e-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([ 0.1290481 , -0.08224328,  0.11205638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002726239984437236
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17386665e-01, -8.37150342e-01, -1.77455189e-01, -9.32936225e-02,
       -1.50952456e-01,  9.84128882e-01, -8.50651126e-01,  5.25730598e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1050864 , -0.03671875,  0.30539984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003944243084975513
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.81479361e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.81479361e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05355238, -0.0606231 ,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.84450615e-05,-2.64282565e-03,-6.50780403e-04,-4.11955376e-04,
  2.38366209e-02, 2.85511986e-01, 1.08659785e-01, 4.49776097e-02,
  1.34931285e-04, 1.05208934e-03, 2.90915036e-04, 4.73986269e-04,
  4.80559056e-02, 1.92531241e-02, 4.85245904e-04,-1.28856930e-04,
 -1.06459912e-07, 4.60553274e-07,-9.80999934e+00,-6.51805785e-02,
 -9.54136795e-03,-5.24346121e-03]


--- Step 2158 ---
qpos:
[-8.68458849e-04, 1.82007876e-01,-1.46143067e-02, 1.64331190e-01,
 -1.49524861e-02, 7.77919907e-03,-7.90862134e-02, 1.34850053e-01,
  1.23087596e-02, 2.24583404e-01,-1.41403112e-02, 1.70070106e-01,
  8.15673793e-01,-1.29327231e-02, 1.15361043e+00, 4.60412309e-02,
  9.47996698e-02,-6.43406488e-02, 1.42738905e-01, 9.47601215e-01,
 -3.38286166e-02, 2.73558274e-02, 3.16479415e-01]

qacc:
[-1.02121634e+00,-3.66744656e+01, 1.14354454e+02,-1.88678760e+02,
  2.73409722e+01,-1.82755418e+01, 6.91361929e+01,-8.87282189e+01,
  3.84426697e+00, 2.51329122e+01,-1.58489724e+02, 4.35859047e+02,
 -2.47461321e+00, 7.62854567e+00,-6.64129178e+00, 1.58731214e+01,
 -9.06854653e-03, 3.28874127e-03, 8.65286649e-03, 1.11259729e-01,
 -3.25874706e-01, 6.66005663e-01]

qfrc_actuator:
[-7.16348720e-03, 1.16252045e-01,-6.32149643e-03, 1.04568522e-01,
  7.83031690e-03, 2.91258886e-01, 5.86878569e-02, 1.25005176e-01,
 -5.92716582e-05, 2.16682587e-01, 1.70484342e-03, 1.36501127e-01,
  4.92689888e-02, 1.73722704e-02, 7.61028465e-04,-2.10835527e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.47691455,  0.93678017,  1.14180537,  0.93678017,  1.81606897,
       -0.27825508,  1.14180537, -0.27825508,  1.7052055 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003132995058254972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99023025, -0.01448999, -0.13868701, -0.01434993,  0.99989501,
       -0.00200978,  0.13870157,  0.        , -0.99033422])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12989397, -0.08373213,  0.17912422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14982415,  1.14002982,  0.14975847,  1.14002982,  1.2500236 ,
       -0.76276395,  0.14975847, -0.76276395,  6.95633143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006205905748754615
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9974152 , -0.01459512, -0.07035553, -0.01455895,  0.99989349,
       -0.00102696,  0.07036303,  0.        , -0.99752145])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024279, -0.0846898 ,  0.17469512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015020949809831771
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98051093, -0.19337264,  0.03471786, -0.19325154,  0.98112538,
        0.00684264, -0.03538575,  0.        , -0.99937373])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12905479, -0.08224362,  0.11205803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002740536232725
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51738454, -0.83716868, -0.17737485, -0.09324963, -0.1508852 ,
        0.98414337, -0.85065724,  0.5257207 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508618, -0.03672468,  0.30539733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039406645530010165
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40867487e-13, -2.11301230e-13,  1.00000000e+00, -2.97654733e-26,
        1.00000000e+00,  2.11301230e-13, -1.00000000e+00,  0.00000000e+00,
       -1.40867487e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05355155, -0.06062299,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96348927e-05,-2.57208397e-03,-6.23211371e-04,-4.01211914e-04,
  2.40160091e-02, 2.86674431e-01, 1.09337777e-01, 4.50604701e-02,
  8.24499847e-05, 1.45028604e-04, 2.32020083e-04, 8.59102495e-04,
  4.78650692e-02, 1.87736286e-02, 8.44116878e-04,-1.23754026e-05,
 -2.10654420e-07, 5.59702066e-07,-9.80999916e+00,-6.51797109e-02,
 -9.54225628e-03,-5.24239375e-03]


--- Step 2159 ---
qpos:
[-1.02131144e-03, 1.84015467e-01,-1.48944069e-02, 1.66379214e-01,
 -1.52696296e-02, 7.88117223e-03,-8.00734869e-02, 1.36445910e-01,
  1.23216065e-02, 2.28751079e-01,-1.41590177e-02, 1.72807975e-01,
  8.15771744e-01,-1.29149110e-02, 1.15379123e+00, 4.60414075e-02,
  9.47987022e-02,-6.43420413e-02, 1.42739309e-01, 9.47599437e-01,
 -3.38171885e-02, 2.73495825e-02, 3.16486500e-01]

qacc:
[ 5.12536864e+00,-1.31134841e+01,-2.33328664e+02, 2.51327644e+01,
  3.00325887e+01,-1.86821137e+01, 7.03470188e+01,-8.90917877e+01,
  6.47691543e-01, 3.91298263e+01,-2.44807667e+02, 6.55458138e+02,
 -8.35184803e-01, 1.05258241e+01,-1.02930551e+01, 2.64968490e+01,
 -4.83945917e-02,-1.06592106e-02, 1.28161511e-02, 1.99518217e-01,
 -1.09007110e+00, 1.40338717e+00]

qfrc_actuator:
[-7.10676987e-03, 1.15585260e-01,-6.24935654e-03, 1.04104682e-01,
  8.15538132e-03, 2.92318746e-01, 5.96680879e-02, 1.24970091e-01,
 -6.69015311e-05, 2.16513800e-01, 1.80962924e-03, 1.37720070e-01,
  4.92268235e-02, 1.71897866e-02, 7.29399957e-04,-2.05252807e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.51907252,  0.20023017,  0.47889891,  0.20023017,  1.08011718,
       -0.23457574,  0.47889891, -0.23457574,  0.61714988,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016845850187725467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65988176e-01, -6.42284944e-01,  2.70585437e-02,  2.07341163e-02,
        1.73856609e-02,  9.99633851e-01, -6.42520202e-01,  7.66268745e-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([ 0.10940701, -0.03977669,  0.13150838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.48073152,  0.9742032 ,  1.1151206 ,  0.9742032 ,  1.66672508,
       -0.16248962,  1.1151206 , -0.16248962,  1.62268739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003166577900638368
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99023669, -0.0148076 , -0.13860751, -0.01466464,  0.99989036,
       -0.00205267,  0.13862271,  0.        , -0.99034527])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12989027, -0.08373137,  0.17912685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15026317,  1.14002313,  0.15314247,  1.14002313,  1.23684221,
       -0.64451168,  0.15314247, -0.64451168,  5.94813693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006208937365372561
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99734723, -0.01491393, -0.0712466 , -0.01487602,  0.99988878,
       -0.00106269,  0.07125453,  0.        , -0.99745817])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024202, -0.08469148,  0.17469499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014933205286942052
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98051362, -0.19339028,  0.03454342, -0.19327038,  0.98112191,
        0.0068089 , -0.03520808,  0.        , -0.99938   ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12906109, -0.08224397,  0.11205983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000275451129031285
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17380228e-01, -8.37189223e-01, -1.77290451e-01, -9.32030433e-02,
       -1.50814776e-01,  9.84158573e-01, -8.50664971e-01,  5.25708196e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1050858 , -0.03673078,  0.30539496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003936924656384039
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41001305e-13, -7.05006523e-14,  1.00000000e+00, -9.94068394e-27,
        1.00000000e+00,  7.05006523e-14, -1.00000000e+00,  0.00000000e+00,
       -1.41001305e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05355071, -0.06062289,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.73219651e-05,-2.33166792e-03,-5.76865645e-04,-6.11397802e-04,
  2.41846584e-02, 2.87687779e-01, 1.09987435e-01, 4.50501279e-02,
  1.35028838e-05,-1.55189688e-04, 1.40141587e-04, 1.23532772e-03,
  4.77316594e-02, 1.83008972e-02, 9.92667075e-04, 1.85384564e-05,
 -3.45100232e-07, 6.63651536e-07,-9.80999899e+00,-6.51788163e-02,
 -9.54322101e-03,-5.24124337e-03]


--- Step 2160 ---
qpos:
[-0.00117078, 0.1857901 ,-0.01527242, 0.16840206,-0.01558329, 0.00798441,
 -0.08105369, 0.1380413 , 0.01233422, 0.23291839,-0.01417512, 0.17556405,
  0.81587786,-0.01288661, 1.15396782, 0.04604348, 0.09479752,-0.06434347,
  0.14273974, 0.94759689,-0.03380473, 0.02734145, 0.31649617]

qacc:
[ 1.10990953e+01,-8.60368990e+01,-3.36036580e+01,-7.54433315e+01,
  3.04403780e+01,-1.87173420e+01, 7.09026823e+01,-9.00673465e+01,
 -5.50420912e-01, 2.92996806e+01,-1.79840350e+02, 4.85154554e+02,
 -6.91160969e-01, 1.03995262e+01,-1.17246986e+01, 3.24805051e+01,
 -5.25796598e-02,-1.00008433e-02, 7.44317191e-03, 1.41649044e-01,
 -1.09063573e+00, 1.32739810e+00]

qfrc_actuator:
[-7.03031004e-03, 1.15151796e-01,-6.03853852e-03, 1.03434932e-01,
  8.45746148e-03, 2.93357060e-01, 6.06114536e-02, 1.24790294e-01,
 -9.45178915e-05, 2.16824315e-01, 2.05616107e-03, 1.38655427e-01,
  4.91869147e-02, 1.69781228e-02, 7.41446848e-04,-1.94881189e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.57659078, -0.26979431, -0.50957625, -0.26979431,  0.47976847,
        0.05126242, -0.50957625,  0.05126242,  0.54944998,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003416755454216002
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65979068e-01, -6.42296636e-01,  2.70388388e-02,  2.07187597e-02,
        1.73733072e-02,  9.99634384e-01, -6.42531556e-01,  7.66259225e-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([ 0.10923722, -0.03973847,  0.13161393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.48449864,  0.98141496,  1.11380469,  0.98141496,  1.65616308,
       -0.15125995,  1.11380469, -0.15125995,  1.61777944,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003199224737724434
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99024239, -0.01512181, -0.13853283, -0.01497597,  0.99988566,
       -0.00209511,  0.13854867,  0.        , -0.99035563])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12988649, -0.08373066,  0.17912944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1506368 ,  1.14488633,  0.11489277,  1.14488633,  1.19840457,
       -0.47599741,  0.11489277, -0.47599741,  5.89386766,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006211517689961531
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97278992e-01, -1.52292645e-02, -7.21296232e-02, -1.51895871e-02,
        9.99884028e-01, -1.09860852e-03,  7.21379892e-02, -2.16840434e-19,
       -9.97394661e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024113, -0.08469314,  0.17469496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014850378132980067
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80515001e-01, -1.93412893e-01,  3.43771202e-02, -1.93294128e-01,
        9.81117451e-01,  6.77694424e-03, -3.50387410e-02, -8.67361738e-19,
       -9.99385955e-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([ 0.12906697, -0.08224434,  0.11206176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002766519580101461
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17371063e-01, -8.37214711e-01, -1.77196815e-01, -9.31505717e-02,
       -1.50737129e-01,  9.84175436e-01, -8.50676292e-01,  5.25689876e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508517, -0.03673765,  0.30539314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039335972303694566
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.05602887e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.05602887e-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([ 0.05354987, -0.06062279,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.63328797e-05, 8.04068778e-03, 5.71352011e-03, 3.32717611e-04,
  2.43147961e-02, 2.88677963e-01, 1.10589516e-01, 4.48917054e-02,
 -1.31099252e-05, 1.53556862e-04, 2.21687405e-04, 9.43185615e-04,
  4.72919637e-02, 1.75653436e-02, 1.23465465e-03, 6.13982775e-05,
 -7.05671389e-07, 9.99064680e-07,-9.80999845e+00,-6.51779436e-02,
 -9.54449049e-03,-5.23982698e-03]


--- Step 2161 ---
qpos:
[-0.00131488, 0.18734228,-0.01573368, 0.17040387,-0.01589378, 0.00808946,
 -0.08202666, 0.13963619, 0.01234666, 0.23708401,-0.01418615, 0.17833171,
  0.81599107,-0.01284878, 1.15413628, 0.04604529, 0.09479616,-0.064345  ,
  0.14274018, 0.94759392,-0.03379139, 0.02733175, 0.31650731]

qacc:
[ 1.73628613e+01,-1.04635391e+02, 3.52291440e+01,-1.03251805e+02,
  2.76428990e+01,-1.84441730e+01, 7.11634410e+01,-9.15707888e+01,
 -3.56135755e-01, 7.16183232e+00,-7.63778364e+01, 2.66483338e+02,
 -8.02569001e-01, 9.56328124e+00,-1.09968238e+01, 2.14920946e+01,
 -4.66668018e-02,-2.34819501e-02, 6.98464768e-04, 1.40436228e-01,
 -9.00281970e-01, 7.50611851e-01]

qfrc_actuator:
[-6.90892133e-03, 1.14676686e-01,-5.70209518e-03, 1.02576352e-01,
  8.74432743e-03, 2.94541588e-01, 6.16008140e-02, 1.24435097e-01,
 -1.15991019e-04, 2.16817384e-01, 2.33322542e-03, 1.39239451e-01,
  4.91533827e-02, 1.67802506e-02, 7.15916070e-04,-2.01281790e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.68061641, -0.32116932, -0.60007413, -0.32116932,  0.61691686,
        0.03409302, -0.60007413,  0.03409302,  0.66236927,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004914265214828492
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65966531e-01, -6.42312591e-01,  2.70149796e-02,  2.07001251e-02,
        1.73583968e-02,  9.99635029e-01, -6.42547102e-01,  7.66246189e-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([ 0.1090907 , -0.03970622,  0.13170724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.48818988,  1.00136811,  1.10089556,  1.00136811,  1.6656865 ,
       -0.16144988,  1.10089556, -0.16144988,  1.63504374,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003230750232842081
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90247349e-01, -1.54325571e-02, -1.38463075e-01, -1.52838689e-02,
        9.99880911e-01, -2.13709382e-03,  1.38479566e-01,  4.33680869e-19,
       -9.90365291e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12988261, -0.08373001,  0.179132  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15092186,  1.15005283,  0.04471682,  1.15005283,  1.15811688,
       -0.18504582,  0.04471682, -0.18504582,  5.91003584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006213486412250591
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97210535e-01, -1.55410752e-02, -7.30042774e-02, -1.54995958e-02,
        9.99879230e-01, -1.13470200e-03,  7.30130952e-02,  2.16840434e-19,
       -9.97330982e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13024011, -0.08469478,  0.17469501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014772647465948593
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98051514, -0.19344022,  0.03421908, -0.19332253,  0.98111206,
        0.00674678, -0.03487785,  0.        , -0.99939158])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12907241, -0.08224475,  0.11206381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000277670687041213
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17357260e-01, -8.37245072e-01, -1.77093631e-01, -9.30920887e-02,
       -1.50651974e-01,  9.84194008e-01, -8.50691089e-01,  5.25665931e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508427, -0.03674526,  0.3053918 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003930972566025398
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.41214802e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.41214802e-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([ 0.05354906, -0.06062269,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81529863e-05, 1.91495509e-02, 1.09251458e-02, 7.26577717e-04,
  2.44273117e-02, 2.89803647e-01, 1.11231894e-01, 4.45582195e-02,
 -9.48973618e-06, 1.31664932e-05, 3.15842828e-04, 6.02048557e-04,
  4.68503119e-02, 1.68426229e-02, 1.41599742e-03,-9.82896237e-05,
 -1.16598275e-06, 1.43459082e-06,-9.80999780e+00,-6.51770648e-02,
 -9.54601722e-03,-5.23814168e-03]


--- Step 2162 ---
qpos:
[-0.0014516 , 0.18868549,-0.0162659 , 0.17238805,-0.01620132, 0.00819674,
 -0.08299233, 0.14123053, 0.01235869, 0.24124341,-0.01419047, 0.18111091,
  0.81611041,-0.01280241, 1.15429607, 0.04604646, 0.09479462,-0.06434664,
  0.14274059, 0.94759076,-0.03377736, 0.02732072, 0.31651922]

qacc:
[ 2.35031830e+01,-1.14115538e+02, 8.04751462e+01,-1.18731809e+02,
  2.57653125e+01,-1.82565948e+01, 7.14597247e+01,-9.31248273e+01,
 -8.79829189e-01,-3.41725682e+00,-4.72342441e+01, 2.37748515e+02,
 -8.57610766e-01, 8.68984561e+00,-1.06854911e+01, 1.91978245e+01,
 -4.30386241e-02,-2.83269020e-02,-5.70826152e-03, 1.02651999e-01,
 -7.52301817e-01, 3.84353792e-01]

qfrc_actuator:
[-6.74616820e-03, 1.14223778e-01,-5.21251885e-03, 1.01574897e-01,
  9.05649624e-03, 2.95848283e-01, 6.25970401e-02, 1.24045893e-01,
 -1.51502816e-04, 2.16355178e-01, 2.60734838e-03, 1.39807305e-01,
  4.91288051e-02, 1.66406848e-02, 6.73668779e-04,-2.05178693e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.81020662, -0.39183077, -0.70915683, -0.39183077,  0.77950142,
        0.01696556, -0.70915683,  0.01696556,  0.80083263,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006192044020454355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76595205, -0.64233101,  0.02698763,  0.02067876,  0.01734131,
        0.99963577, -0.64256505,  0.76623114,  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([ 0.10896587, -0.03967948,  0.13178912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.49181812,  1.01871448,  1.08983582,  1.01871448,  1.67647636,
       -0.17260768,  1.08983582, -0.17260768,  1.65316163,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003261304179881081
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90251722e-01, -1.57401653e-02, -1.38397160e-01, -1.55886570e-02,
        9.99876116e-01, -2.17866408e-03,  1.38414307e-01,  4.33680869e-19,
       -9.90374414e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12987861, -0.08372951,  0.17913453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15114119,  1.15087218, -0.02488504,  1.15087218,  1.15336238,
        0.10272433, -0.02488504,  0.10272433,  5.90189021,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006215001329858135
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97141932e-01, -1.58496860e-02, -7.38698539e-02, -1.58063720e-02,
        9.99874386e-01, -1.17096108e-03,  7.38791342e-02,  2.16840434e-19,
       -9.97267203e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13023892, -0.08469651,  0.17469512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014700828144464785
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98051441, -0.19347019,  0.0340701 , -0.1933535 ,  0.98110615,
        0.00671849, -0.03472621,  0.        , -0.99939686])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12907732, -0.08224516,  0.112066  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027849369493996456
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51734079, -0.83727883, -0.1769821 , -0.0930286 , -0.1505601 ,
        0.98421407, -0.85070805,  0.52563848,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508308, -0.03675351,  0.30539097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039291676472384685
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.06398355e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.06398355e-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([ 0.05354826, -0.0606226 ,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30150053e-04, 2.97652967e-02, 1.55602163e-02, 7.70950250e-04,
  2.45811760e-02, 2.91023194e-01, 1.11873586e-01, 4.41924872e-02,
 -2.32380743e-05,-5.15589870e-04, 2.83745516e-04, 5.76481057e-04,
  4.64712273e-02, 1.62264988e-02, 1.77675974e-03,-1.24876781e-04,
 -1.49268716e-06, 1.78954111e-06,-9.80999722e+00,-6.51761293e-02,
 -9.54772971e-03,-5.23622852e-03]


--- Step 2163 ---
qpos:
[-0.00157906, 0.18984589,-0.01686187, 0.17435633,-0.01650592, 0.00830644,
 -0.08395066, 0.14282428, 0.01237014, 0.24539719,-0.01419284, 0.18390912,
  0.8162356 ,-0.012748  , 1.15445202, 0.04604978, 0.0947929 ,-0.06434836,
  0.14274097, 0.94758742,-0.03376287, 0.02730836, 0.31653184]

qacc:
[ 2.91052975e+01,-9.61487295e+01, 5.92335163e+01,-9.83215252e+01,
  2.56616295e+01,-1.81015982e+01, 7.14534924e+01,-9.38550759e+01,
 -1.28730280e+00, 2.57288748e+01,-1.80162208e+02, 5.03069002e+02,
 -7.90219255e-01, 8.17622103e+00,-1.19682647e+01, 3.40533648e+01,
 -4.57689089e-02,-2.10269993e-02,-8.25594980e-03, 4.69722268e-04,
 -7.10634365e-01, 3.45468158e-01]

qfrc_actuator:
[-6.54499347e-03, 1.14072699e-01,-4.64555945e-03, 1.01043055e-01,
  9.40054814e-03, 2.97422433e-01, 6.35589024e-02, 1.23920577e-01,
 -1.95128412e-04, 2.16175327e-01, 2.73402108e-03, 1.40769166e-01,
  4.91254078e-02, 1.64977642e-02, 6.96294431e-04,-1.87997435e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.91611984, -0.45343539, -0.79603512, -0.45343539,  0.91002341,
        0.00347263, -0.79603512,  0.00347263,  0.91414177,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007266477287530343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65936572e-01, -6.42350738e-01,  2.69573155e-02,  2.06551002e-02,
        1.73223467e-02,  9.99636586e-01, -6.42584262e-01,  7.66215026e-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([ 0.10886101, -0.03965774,  0.13186047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.49539177,  1.0184909 ,  1.09493051,  1.0184909 ,  1.69867015,
       -0.18908705,  1.09493051, -0.18908705,  1.67127822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003290990976178613
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9902556 , -0.01604485, -0.1383344 , -0.01589055,  0.99987127,
       -0.00221984,  0.13835221,  0.        , -0.99038309])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12987446, -0.0837292 ,  0.17913704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15131117,  1.15018705, -0.05086401,  1.15018705,  1.16072961,
        0.21297908, -0.05086401,  0.21297908,  5.96740339,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006216175370262415
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99707324, -0.01615531, -0.07472587, -0.01611013,  0.99986949,
       -0.00120738,  0.07473563,  0.        , -0.99720338])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13023755, -0.08469838,  0.17469525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014635449357170982
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80513068e-01, -1.93501481e-01,  3.39308104e-02, -1.93385725e-01,
        9.81099983e-01,  6.69214371e-03, -3.45844572e-02,  8.67361738e-19,
       -9.99401779e-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([ 0.12908167, -0.08224556,  0.11206834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002791324253157629
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51732289, -0.83731507, -0.17686297, -0.09296074, -0.15046199,
        0.98423549, -0.85072636,  0.52560886,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10508162, -0.03676229,  0.30539056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003928349312019297
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41309102e-13, -1.41309102e-13,  1.00000000e+00, -1.99682622e-26,
        1.00000000e+00,  1.41309102e-13, -1.00000000e+00,  0.00000000e+00,
       -1.41309102e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354749, -0.0606225 ,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.02947392e-04, 4.00156824e-02, 1.96614031e-02, 1.11501392e-03,
  2.47776796e-02, 2.92490351e-01, 1.12476365e-01, 4.40930978e-02,
 -3.29999204e-05,-5.36262813e-04, 2.24625093e-05, 9.46459678e-04,
  4.61608650e-02, 1.56555971e-02, 2.22987686e-03, 7.81067462e-05,
 -1.69057063e-06, 2.04358742e-06,-9.80999674e+00,-6.51751483e-02,
 -9.54960207e-03,-5.23412351e-03]


--- Step 2164 ---
qpos:
[-0.00169616, 0.19084943,-0.01751608, 0.17630999,-0.01680815, 0.00841902,
 -0.08490158, 0.14441742, 0.01238122, 0.24954528,-0.01419805, 0.18672786,
  0.81636621,-0.01268591, 1.15459893, 0.04605188, 0.09479103,-0.06435028,
  0.14274132, 0.94758432,-0.0337478 , 0.02729498, 0.31654388]

qacc:
[ 3.21947929e+01,-7.46815249e+01, 2.71222587e+01,-7.21892166e+01,
  2.06430626e+01,-1.77345393e+01, 7.10996656e+01,-9.43487528e+01,
 -8.09942911e-01, 4.21473263e+01,-2.44803915e+02, 6.00586704e+02,
 -8.18620635e-01, 7.83354345e+00,-9.50150095e+00, 1.42338864e+01,
 -3.73357393e-02,-4.79922531e-02,-6.53503169e-03, 1.19580006e-01,
 -5.66829778e-01,-3.22529444e-01]

qfrc_actuator:
[-6.37886371e-03, 1.14053649e-01,-4.02873641e-03, 1.01046839e-01,
  9.70930233e-03, 2.98960676e-01, 6.45327011e-02, 1.23989353e-01,
 -2.25532897e-04, 2.15900500e-01, 2.57901481e-03, 1.41795587e-01,
  4.91398507e-02, 1.63499118e-02, 6.51204635e-04,-2.01028668e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.99066566, -0.50105466, -0.85461259, -0.50105466,  1.05440101,
       -0.03736768, -0.85461259, -0.03736768,  1.01257413,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008161980922571501
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65920180e-01, -6.42371671e-01,  2.69242283e-02,  2.06292884e-02,
        1.73016338e-02,  9.99637477e-01, -6.42604630e-01,  7.66197944e-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([ 0.10877361, -0.03964032,  0.13192254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.49889996,  1.04949229,  1.07017149,  1.04949229,  1.69920441,
       -0.19643391,  1.07017149, -0.19643391,  1.69153813,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003319752029453684
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99025898, -0.01634662, -0.1382749 , -0.01618955,  0.99986639,
       -0.00226063,  0.13829338,  0.        , -0.99039131])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12987016, -0.08372904,  0.17913953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15142485,  1.1484998 , -0.08202063,  1.1484998 ,  1.17487325,
        0.32833803, -0.08202063,  0.32833803,  5.74900197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006216960587856504
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97004510e-01, -1.64579674e-02, -7.55720951e-02, -1.64108904e-02,
        9.99864558e-01, -1.24393156e-03,  7.55823321e-02,  2.16840434e-19,
       -9.97139564e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13023599, -0.08470035,  0.1746954 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014576661156957577
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98051113, -0.19353394,  0.03380151, -0.19341905,  0.98109358,
        0.0066678 , -0.03445289,  0.        , -0.99940632])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12908542, -0.08224596,  0.11207082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796428515347766
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51730365, -0.83735383, -0.17673564, -0.09288821, -0.15035714,
        0.98425836, -0.85074597,  0.5255771 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10507992, -0.03677157,  0.30539044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039286867730897734
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.06484818e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.06484818e-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([ 0.05354675, -0.06062241,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.04538997e-04, 4.90987816e-02, 2.34555030e-02, 1.90873670e-03,
  2.49394204e-02, 2.93910688e-01, 1.13089662e-01, 4.41894201e-02,
 -2.09188592e-05,-6.80598895e-04,-2.82735565e-04, 1.00842557e-03,
  4.58835968e-02, 1.51046137e-02, 2.37326733e-03,-1.60340548e-04,
 -1.87788207e-06, 2.27351678e-06,-9.80999627e+00,-6.51741739e-02,
 -9.55163787e-03,-5.23184292e-03]


--- Step 2165 ---
qpos:
[-0.00180224, 0.19171864,-0.0182234 , 0.17825023,-0.01710859, 0.0085345 ,
 -0.08584507, 0.14600993, 0.01239241, 0.25368495,-0.01420761, 0.18956789,
  0.81650241,-0.01261602, 1.15473306, 0.04604958, 0.09478906,-0.0643525 ,
  0.14274167, 0.94758177,-0.03373182, 0.02728084, 0.31655445]

qacc:
[ 3.39756734e+01,-5.67336352e+01, 1.26871004e+00,-5.02412768e+01,
  1.57305909e+01,-1.78298230e+01, 7.16568282e+01,-9.54867732e+01,
  2.47735238e-01, 4.41900073e+01,-2.60127939e+02, 6.32197910e+02,
 -7.97830054e-01, 7.94477645e+00,-5.37784592e+00,-8.23672774e+00,
 -2.59431976e-02,-7.71474133e-02,-2.43914917e-03, 3.42827957e-01,
 -4.90836933e-01,-7.84669109e-01]

qfrc_actuator:
[-6.22080919e-03, 1.14267500e-01,-3.34426790e-03, 1.01412590e-01,
  1.00140322e-02, 3.00245183e-01, 6.55106634e-02, 1.23890800e-01,
 -2.30235576e-04, 2.15375726e-01, 2.31227879e-03, 1.42851598e-01,
  4.91381959e-02, 1.62317628e-02, 6.08698454e-04,-2.28386565e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.03506296, -0.53947403, -0.88335899, -0.53947403,  1.20141325,
       -0.10159139, -0.88335899, -0.10159139,  1.09710559,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008901828606432429
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76590461, -0.64239172,  0.0268888 ,  0.0206017 ,  0.01727939,
        0.99963843, -0.64262407,  0.76618164,  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([ 0.10870126, -0.03962656,  0.13197652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50235742,  1.09307356,  1.03066387,  1.09307356,  1.65507535,
       -0.16196545,  1.03066387, -0.16196545,  1.67413034,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033477371533697245
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90262032e-01, -1.66460435e-02, -1.38217285e-01, -1.64862291e-02,
        9.99861445e-01, -2.30108976e-03,  1.38236439e-01, -4.33680869e-19,
       -9.90399256e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12986568, -0.08372923,  0.17914202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15149987,  1.14417829, -0.12964562,  1.14417829,  1.20407503,
        0.46399836, -0.12964562,  0.46399836,  5.24648478,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006217478817847951
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96935793e-01, -1.67582276e-02, -7.64080244e-02, -1.67092234e-02,
        9.99859571e-01, -1.28064290e-03,  7.64187558e-02,  2.16840434e-19,
       -9.97075811e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13023422, -0.08470263,  0.17469556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014525193809406729
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98050905, -0.19356522,  0.03368246, -0.19345111,  0.98108741,
        0.00664544, -0.03433176,  0.        , -0.99941049])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12908851, -0.08224632,  0.11207344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002799681256205671
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51728544, -0.83739358, -0.1766006 , -0.09281168, -0.15024568,
        0.9842826 , -0.8507654 ,  0.52554565,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10507797, -0.03678133,  0.30539075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039298948036393944
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41253530e-13, -2.11880295e-13,  1.00000000e+00, -2.99288395e-26,
        1.00000000e+00,  2.11880295e-13, -1.00000000e+00,  0.00000000e+00,
       -1.41253530e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354604, -0.06062233,  0.06199119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.68239135e-04, 5.71230171e-02, 2.70432743e-02, 3.00106307e-03,
  2.51260253e-02, 2.95055307e-01, 1.13703846e-01, 4.41196489e-02,
  5.95757999e-06,-1.07118184e-03,-4.59454861e-04, 1.02264112e-03,
  4.56108426e-02, 1.46019436e-02, 2.77972592e-03,-3.73908407e-04,
 -1.75824311e-06, 2.28498444e-06,-9.80999599e+00,-6.51731113e-02,
 -9.55378547e-03,-5.22941074e-03]


--- Step 2166 ---
qpos:
[-0.0018967 , 0.19247328,-0.01897893, 0.18017819,-0.01740743, 0.00865284,
 -0.0867811 , 0.14760177, 0.01240435, 0.25782043,-0.01422387, 0.19242371,
  0.81664479,-0.01253807, 1.15486041, 0.04604538, 0.09478698,-0.06435504,
  0.14274201, 0.94757972,-0.03371484, 0.02726588, 0.31656365]

qacc:
[ 3.55592054e+01,-4.19936890e+01,-1.81670273e+01,-3.37276981e+01,
  1.40821774e+01,-1.79856192e+01, 7.22087358e+01,-9.64434996e+01,
  1.53823542e+00, 4.51861574e+01,-2.33016794e+02, 5.12421567e+02,
 -6.49882785e-01, 8.11325323e+00,-4.10918841e+00, 2.28644611e-01,
 -2.63395567e-02,-7.81426041e-02, 1.47601532e-04, 3.66669502e-01,
 -5.28482372e-01,-7.25620687e-01]

qfrc_actuator:
[-6.01914980e-03, 1.14963087e-01,-2.63655031e-03, 1.01787128e-01,
  1.03159691e-02, 3.01660299e-01, 6.64526165e-02, 1.23745381e-01,
 -2.02096906e-04, 2.15540363e-01, 2.10541152e-03, 1.43667876e-01,
  4.91266716e-02, 1.61104881e-02, 6.32314743e-04,-2.30242377e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.05595634, -0.5675947 , -0.89043813, -0.5675947 ,  1.35679123,
       -0.1917621 , -0.89043813, -0.1917621 ,  1.17819184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009506326930347161
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65891082e-01, -6.42409421e-01,  2.68512008e-02,  2.05725128e-02,
        1.72556860e-02,  9.99639442e-01, -6.42641130e-01,  7.66167330e-01,
        3.46944695e-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([ 0.10864187, -0.03961592,  0.13202349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50579207,  1.10953838,  1.01800508,  1.10953838,  1.63249153,
       -0.13809156,  1.01800508, -0.13809156,  1.65630004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003375193395620721
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99026494, -0.01694369, -0.13816028, -0.01678116,  0.99985645,
       -0.00234128,  0.13818012,  0.        , -0.99040712])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12986104, -0.08372994,  0.17914451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15156625,  1.14157836, -0.15133957,  1.14157836,  1.21883956,
        0.50745325, -0.15133957,  0.50745325,  4.97936661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006217937322929722
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99686711, -0.01705666, -0.07723358, -0.0170057 ,  0.99985452,
       -0.00131754,  0.07724481,  0.        , -0.99701216])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13023225, -0.08470539,  0.17469571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001448142855083271
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98050717, -0.19359368,  0.03357356, -0.19348029,  0.98108179,
        0.00662496, -0.03422096,  0.        , -0.99941429])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12909092, -0.08224663,  0.11207622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002800348637665758
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17269963e-01, -8.37433280e-01, -1.76457607e-01, -9.27313378e-02,
       -1.50127233e-01,  9.84308241e-01, -8.50783571e-01,  5.25516237e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10507578, -0.03679164,  0.30539168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003931532366995838
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82389389e-13, -1.41194695e-13,  1.00000000e+00, -3.98718836e-26,
        1.00000000e+00,  1.41194695e-13, -1.00000000e+00,  0.00000000e+00,
       -2.82389389e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354533, -0.06062225,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32089761e-03, 6.45073763e-02, 3.04002118e-02, 4.04196077e-03,
  2.53381659e-02, 2.96328174e-01, 1.14279807e-01, 4.40044470e-02,
  4.16062874e-05,-6.35472211e-04,-5.01154864e-04, 7.60593541e-04,
  4.53195882e-02, 1.40896125e-02, 3.43999407e-03,-1.72633249e-04,
 -1.42864635e-06, 2.18711773e-06,-9.80999580e+00,-6.51719302e-02,
 -9.55604871e-03,-5.22683197e-03]


--- Step 2167 ---
qpos:
[-0.00197928, 0.1931261 ,-0.01977656, 0.18209539,-0.01770486, 0.00877413,
 -0.08770968, 0.14919292, 0.01241711, 0.26195805,-0.01424709, 0.19528397,
  0.8167936 ,-0.01245204, 1.1549852 , 0.04604134, 0.09478478,-0.06435788,
  0.14274236, 0.94757819,-0.03369699, 0.02725004, 0.3165715 ]

qacc:
[ 3.62252163e+01,-3.90816269e+01,-1.05901515e+01,-3.37436674e+01,
  1.23718814e+01,-1.78550470e+01, 7.20537954e+01,-9.67696673e+01,
  1.66580937e+00, 3.12238480e+01,-1.24870540e+02, 2.08026173e+02,
 -5.24744338e-01, 8.04271381e+00,-4.07274594e+00, 9.15804660e+00,
 -3.00699600e-02,-7.44558236e-02, 9.61514537e-04, 3.02458008e-01,
 -5.39132266e-01,-7.29818886e-01]

qfrc_actuator:
[-5.83183274e-03, 1.15857437e-01,-1.89852543e-03, 1.01993651e-01,
  1.05979493e-02, 3.03170429e-01, 6.73699730e-02, 1.23785156e-01,
 -1.72676774e-04, 2.16206540e-01, 1.95630498e-03, 1.43928972e-01,
  4.91249494e-02, 1.60017029e-02, 6.36940190e-04,-2.23973427e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06137471, -0.58417307, -0.8861479 , -0.58417307,  1.54181283,
       -0.31671803, -0.8861479 , -0.31671803,  1.27016395,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000999355853576465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65879443e-01, -6.42424963e-01,  2.68112907e-02,  2.05416009e-02,
        1.72304366e-02,  9.99640513e-01, -6.42655990e-01,  7.66154866e-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([ 0.1085936 , -0.03960792,  0.13206437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50919967,  1.11776353,  1.01404553,  1.11776353,  1.63331711,
       -0.13681234,  1.01404553, -0.13681234,  1.66000537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003402103194247818
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99026769, -0.01723976, -0.13810395, -0.01707451,  0.99985138,
       -0.00238123,  0.13812447,  0.        , -0.99041488])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12985624, -0.08373118,  0.179147  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15162027,  1.14141725, -0.15295725,  1.14141725,  1.21864295,
        0.50014521, -0.15295725,  0.50014521,  4.88386808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006218310489206893
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96798496e-01, -1.73534526e-02, -7.80488013e-02, -1.73005006e-02,
        9.99849418e-01, -1.35462016e-03,  7.80605559e-02,  2.16840434e-19,
       -9.96948619e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13023009, -0.08470865,  0.17469584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014445308340043598
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98050544, -0.19361955,  0.0334747 , -0.19350681,  0.98107669,
        0.00660637, -0.03412037,  0.        , -0.99941773])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12909266, -0.08224689,  0.11207913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027987281161805664
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51725708, -0.83747341, -0.17630485, -0.09264618, -0.15000029,
        0.98433561, -0.85080068,  0.52548854,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1050734 , -0.03680257,  0.30539319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003933507329278718
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41123803e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.41123803e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354462, -0.06062216,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71687062e-03, 7.11082745e-02, 3.35451362e-02, 4.85894201e-03,
  2.55398505e-02, 2.97698900e-01, 1.14830360e-01, 4.40757511e-02,
  4.71083764e-05, 9.02510048e-05,-3.67536904e-04, 2.17357958e-04,
  4.50093227e-02, 1.35762364e-02, 3.78081555e-03,-1.59880730e-05,
 -1.12568652e-06, 2.13822440e-06,-9.80999557e+00,-6.51706856e-02,
 -9.55845213e-03,-5.22409635e-03]


--- Step 2168 ---
qpos:
[-0.00204989, 0.19368645,-0.02060988, 0.1840035 ,-0.018001  , 0.00889834,
 -0.08863085, 0.15078334, 0.0124304 , 0.26609971,-0.01427559, 0.19814862,
  0.81694912,-0.01235783, 1.15510956, 0.04603858, 0.09478246,-0.06436099,
  0.14274272, 0.94757712,-0.03367833, 0.02723325, 0.31657814]

qacc:
[ 3.63896228e+01,-4.12384995e+01, 8.00504460e+00,-4.06414563e+01,
  1.12889527e+01,-1.78674720e+01, 7.21629283e+01,-9.73370928e+01,
  1.04171672e+00, 2.89455413e+01,-1.12897471e+02, 1.91252958e+02,
 -4.05806407e-01, 8.03408440e+00,-4.34317357e+00, 1.46456239e+01,
 -3.26225641e-02,-6.94095762e-02, 1.67096645e-03, 2.60243069e-01,
 -5.62053208e-01,-6.45738936e-01]

qfrc_actuator:
[-5.67578601e-03, 1.16637825e-01,-1.09364841e-03, 1.02227012e-01,
  1.08852626e-02, 3.04629807e-01, 6.82696005e-02, 1.23723308e-01,
 -1.60625499e-04, 2.16760695e-01, 1.82705503e-03, 1.44181548e-01,
  4.91288631e-02, 1.59326738e-02, 6.40686532e-04,-2.14734283e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06137564, -0.59611538, -0.87815984, -0.59611538,  1.73675489,
       -0.45846319, -0.87815984, -0.45846319,  1.37259115,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010376512829309386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65869696e-01, -6.42438345e-01,  2.67690390e-02,  2.05089453e-02,
        1.72036221e-02,  9.99641645e-01, -6.42668648e-01,  7.66144248e-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([ 0.10855515, -0.03960221,  0.13209988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.51255878,  1.12603885,  1.00988641,  1.12603885,  1.62765942,
       -0.12833899,  1.00988641, -0.12833899,  1.65565872,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034283164002815156
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90270254e-01, -1.75344245e-02, -1.38048423e-01, -1.73664890e-02,
        9.99846260e-01, -2.42097185e-03,  1.38069650e-01, -4.33680869e-19,
       -9.90422522e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12985128, -0.08373294,  0.1791495 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15164002,  1.14056948, -0.15929846,  1.14056948,  1.22194543,
        0.50338342, -0.15929846,  0.50338342,  4.75584165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006218446910327788
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99672997, -0.0176488 , -0.07885361, -0.01759383,  0.99984425,
       -0.00139189,  0.07886589,  0.        , -0.99688523])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13022773, -0.08471239,  0.17469599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014416839517704077
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98050387, -0.19364282,  0.03338577, -0.19353067,  0.9810721 ,
        0.00658964, -0.03402988,  0.        , -0.99942082])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12909372, -0.0822471 ,  0.1120822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000279525675474583
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51724679, -0.83751419, -0.17614124, -0.09255561, -0.14986392,
        0.9843649 , -0.85081679,  0.52546245,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10507084, -0.03681414,  0.30539517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003935871705391669
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.05195131e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.05195131e-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([ 0.05354392, -0.06062209,  0.06199118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15696114e-03, 7.69612293e-02, 3.64522891e-02, 5.62616375e-03,
  2.57567121e-02, 2.99013458e-01, 1.15363629e-01, 4.40466995e-02,
  3.07132993e-05, 3.88500865e-04,-2.00247414e-04, 2.33573421e-04,
  4.46919341e-02, 1.31016732e-02, 3.90959136e-03, 6.78371647e-05,
 -8.17161985e-07, 2.08710763e-06,-9.80999536e+00,-6.51693841e-02,
 -9.56098899e-03,-5.22120343e-03]


--- Step 2169 ---
qpos:
[-0.00210859, 0.19415926,-0.02147155, 0.18590445,-0.01829586, 0.00902542,
 -0.08954466, 0.152373  , 0.01244371, 0.27024477,-0.01430708, 0.20102368,
  0.81711143,-0.01225552, 1.15523637, 0.04603899, 0.09477998,-0.06436433,
  0.14274307, 0.94757639,-0.03365903, 0.02721542, 0.3165839 ]

qacc:
[ 3.61963120e+01,-5.12018145e+01, 4.47326129e+01,-5.88124939e+01,
  1.12142739e+01,-1.78568929e+01, 7.22185333e+01,-9.79851272e+01,
 -8.05509697e-03, 3.39132442e+01,-1.56372323e+02, 3.33391949e+02,
 -2.90964790e-01, 7.86548860e+00,-5.78538664e+00, 2.58556115e+01,
 -3.73914340e-02,-5.72582370e-02, 5.23646782e-04, 1.58444736e-01,
 -5.85668953e-01,-4.79084133e-01]

qfrc_actuator:
[-5.61435110e-03, 1.17292453e-01,-2.38233173e-04, 1.02212833e-01,
  1.11753368e-02, 3.06075343e-01, 6.91378922e-02, 1.23565289e-01,
 -1.76787653e-04, 2.17138342e-01, 1.76407086e-03, 1.44729079e-01,
  4.91359027e-02, 1.59196772e-02, 6.43806564e-04,-1.94955465e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06137564, -0.60581511, -0.87149659, -0.60581511,  1.94416259,
       -0.61366353, -0.87149659, -0.61366353,  1.48795979,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010665568584018856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65861621e-01, -6.42449831e-01,  2.67243778e-02,  2.04744880e-02,
        1.71752063e-02,  9.99642840e-01, -6.42679371e-01,  7.66135253e-01,
       -3.46944695e-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([ 0.10852546, -0.03959851,  0.13213058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.51585425,  1.1278868 ,  1.01276131,  1.1278868 ,  1.6295965 ,
       -0.12667189,  1.01276131, -0.12667189,  1.65692555,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034537378945165227
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99027261, -0.01782782, -0.13799392, -0.01765721,  0.99984107,
       -0.00246052,  0.13801585,  0.        , -0.99043002])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12984615, -0.08373519,  0.17915198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15161137,  1.13972759, -0.16501444,  1.13972759,  1.22598468,
        0.51368424, -0.16501444,  0.51368424,  4.69954397,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006218248973343426
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96661548e-01, -1.79428409e-02, -7.96480615e-02, -1.78858189e-02,
        9.99839014e-01, -1.42934260e-03,  7.96608858e-02, -4.33680869e-19,
       -9.96822022e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13022516, -0.08471658,  0.17469617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014395884520031147
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80502422e-01, -1.93663808e-01,  3.33066168e-02, -1.93552172e-01,
        9.81067953e-01,  6.57475991e-03, -3.39493474e-02, -8.67361738e-19,
       -9.99423555e-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([ 0.12909411, -0.08224727,  0.1120854 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002790254072009363
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51723878, -0.83755592, -0.17596624, -0.09245928, -0.14971773,
        0.9843962 , -0.85083214,  0.5254376 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10506811, -0.03682636,  0.30539755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003938660112793452
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40939176e-13, -1.40939176e-13,  1.00000000e+00, -1.98638514e-26,
        1.00000000e+00,  1.40939176e-13, -1.00000000e+00,  0.00000000e+00,
       -1.40939176e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354323, -0.06062201,  0.06199117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69556975e-03, 8.22248382e-02, 3.90909141e-02, 6.06345489e-03,
  2.59825694e-02, 3.00315875e-01, 1.15867066e-01, 4.39230997e-02,
  7.28639731e-07, 4.14011665e-04,-5.12950583e-05, 5.47267845e-04,
  4.43642828e-02, 1.26783506e-02, 3.93174632e-03, 2.00854985e-04,
 -5.41766449e-07, 2.05989143e-06,-9.80999513e+00,-6.51680459e-02,
 -9.56367380e-03,-5.21815101e-03]


--- Step 2170 ---
qpos:
[-0.00215576, 0.19454968,-0.02235466, 0.18779999,-0.01858968, 0.00915548,
 -0.09045119, 0.15396184, 0.01245637, 0.27439022,-0.01433819, 0.20391008,
  0.81727987,-0.01214571, 1.15536331, 0.04604159, 0.09477735,-0.06436789,
  0.14274342, 0.94757611,-0.03363926, 0.02719667, 0.31658847]

qacc:
[ 3.49946462e+01,-6.00876002e+01, 7.87823081e+01,-7.69038386e+01,
  9.28104088e+00,-1.75743228e+01, 7.16315423e+01,-9.82163499e+01,
 -1.26177748e+00, 2.24436169e+01,-1.25166235e+02, 3.15150270e+02,
 -3.33606874e-01, 7.30912952e+00,-6.25710486e+00, 2.25387360e+01,
 -3.68955663e-02,-5.53303100e-02,-2.39468012e-03, 9.15864134e-02,
 -4.98700802e-01,-6.49509237e-01]

qfrc_actuator:
[-5.57891483e-03, 1.18027950e-01, 6.18944130e-04, 1.01785543e-01,
  1.14665622e-02, 3.07635717e-01, 7.00377265e-02, 1.23633943e-01,
 -2.27319306e-04, 2.17178333e-01, 1.79392192e-03, 1.45303782e-01,
  4.91392420e-02, 1.59903628e-02, 6.14352599e-04,-1.86844927e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06137564, -0.61238417, -0.86689323, -0.61238417,  2.13967908,
       -0.76172698, -0.86689323, -0.76172698,  1.59946906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010867992007941914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65854774e-01, -6.42459951e-01,  2.66772637e-02,  2.04381838e-02,
        1.71451756e-02,  9.99644098e-01, -6.42688685e-01,  7.66127440e-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([ 0.10850383, -0.03959666,  0.1321569 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.51906357,  1.13901526,  1.00508625,  1.13901526,  1.6446166 ,
       -0.14228313,  1.00508625, -0.14228313,  1.68030611,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034782206053337114
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90274701e-01, -1.81199534e-02, -1.37940873e-01, -1.79466779e-02,
        9.99835820e-01, -2.49989263e-03,  1.37963524e-01, -4.33680869e-19,
       -9.90437311e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12984085, -0.08373786,  0.17915445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15151394,  1.1385537 , -0.17227835,  1.1385537 ,  1.23239487,
        0.53452618, -0.17227835,  0.53452618,  4.68409217,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006217575975978788
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96593254e-01, -1.82355697e-02, -8.04322642e-02, -1.81764682e-02,
        9.99833718e-01, -1.46697209e-03,  8.04456409e-02,  2.16840434e-19,
       -9.96758997e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13022239, -0.08472114,  0.17469639])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014382212968551
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98050097, -0.19368309,  0.03323709, -0.19357191,  0.98106415,
        0.00656171, -0.03387861,  0.        , -0.99942596])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12909384, -0.0822474 ,  0.11208874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002784238326908921
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17232420e-01, -8.37599054e-01, -1.75779545e-01, -9.23569178e-02,
       -1.49561520e-01,  9.84429556e-01, -8.50847121e-01,  5.25413339e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1050652 , -0.0368392 ,  0.30540019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003942036964412754
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40818444e-13, -1.40818444e-13,  1.00000000e+00, -1.98298342e-26,
        1.00000000e+00,  1.40818444e-13, -1.00000000e+00,  0.00000000e+00,
       -1.40818444e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354255, -0.06062194,  0.06199116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.25727482e-03, 8.73262367e-02, 4.13661834e-02, 5.99100287e-03,
  2.62099856e-02, 3.01735091e-01, 1.16404483e-01, 4.40282902e-02,
 -3.72568427e-05, 1.34787433e-04, 7.59717536e-05, 5.86816133e-04,
  4.40281132e-02, 1.23423383e-02, 3.77731799e-03, 1.23096140e-04,
 -3.33321547e-07, 2.04865786e-06,-9.80999486e+00,-6.51667051e-02,
 -9.56651705e-03,-5.21493959e-03]


--- Step 2171 ---
qpos:
[-0.00219219, 0.19486514,-0.02325363, 0.18969145,-0.01888307, 0.0092889 ,
 -0.09135053, 0.1555498 , 0.01246857, 0.27852946,-0.01436582, 0.20680164,
  0.81745325,-0.01202946, 1.15548444, 0.0460428 , 0.09477461,-0.06437175,
  0.14274375, 0.94757668,-0.03361917, 0.02717734, 0.31659057]

qacc:
[ 3.26033750e+01,-6.31207318e+01, 9.82570914e+01,-8.76659763e+01,
  3.78812535e+00,-1.69438117e+01, 7.03890273e+01,-9.81515589e+01,
 -8.30987726e-01,-7.44071722e+00,-6.42995419e+00, 9.28905288e+01,
 -4.98562866e-01, 6.45108369e+00,-4.21388324e+00, 2.58047862e+00,
 -2.92486317e-02,-7.28218295e-02,-5.21858687e-03, 1.17382387e-01,
 -2.94055451e-01,-1.30493399e+00]

qfrc_actuator:
[-5.54570177e-03, 1.18770833e-01, 1.49936067e-03, 1.01253514e-01,
  1.17226851e-02, 3.09299247e-01, 7.09358746e-02, 1.23892217e-01,
 -2.62311347e-04, 2.16555823e-01, 1.84180523e-03, 1.45534645e-01,
  4.91401759e-02, 1.60908740e-02, 5.65473577e-04,-2.01741969e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06137564, -0.63333238, -0.85170907, -0.63333238,  2.36142053,
       -0.9667157 , -0.85170907, -0.9667157 ,  1.78022715,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010991061488828879
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65849588e-01, -6.42468175e-01,  2.66280294e-02,  2.04002990e-02,
        1.71137298e-02,  9.99645411e-01, -6.42696068e-01,  7.66121246e-01,
        3.46944695e-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([ 0.10848955, -0.03959647,  0.13217927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.52217585,  1.16738176,  0.97685166,  1.16738176,  1.66541711,
       -0.17117976,  0.97685166, -0.17117976,  1.72674338,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035017105087823503
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99027655, -0.01841104, -0.13788901, -0.01823511,  0.9998305 ,
       -0.00253911,  0.13791239,  0.        , -0.99044443])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12983538, -0.08374096,  0.17915691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15133867,  1.13659365, -0.18367252,  1.13659365,  1.24257891,
        0.56460858, -0.18367252,  0.56460858,  4.64522301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006216365315006305
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99652511, -0.01852721, -0.0812062 , -0.018466  ,  0.99982836,
       -0.00150478,  0.08122014,  0.        , -0.99669619])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13021941, -0.08472608,  0.17469665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014375845361651095
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98049965, -0.19370006,  0.03317711, -0.19358927,  0.9810608 ,
        0.00655047, -0.03381759,  0.        , -0.99942802])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1290929 , -0.08224749,  0.11209222])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002777364818047941
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51722824, -0.83764302, -0.17558224, -0.09224921, -0.14939614,
        0.98446477, -0.85086135,  0.5253903 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10506209, -0.03685256,  0.30540304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003946109476952453
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.81346230e-13, -2.11009673e-13,  1.00000000e+00, -5.93667759e-26,
        1.00000000e+00,  2.11009673e-13, -1.00000000e+00,  0.00000000e+00,
       -2.81346230e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354189, -0.06062186,  0.06199115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.80132526e-03, 9.21810823e-02, 4.33202666e-02, 5.72618334e-03,
  2.64134330e-02, 3.03252071e-01, 1.16944378e-01, 4.43256715e-02,
 -2.65815420e-05,-6.55724507e-04, 5.34916573e-05, 2.36328669e-04,
  4.37225326e-02, 1.20664672e-02, 3.71866138e-03,-1.36080273e-04,
 -6.16812848e-08, 1.96156012e-06,-9.80999472e+00,-6.51653302e-02,
 -9.56947426e-03,-5.21159171e-03]


--- Step 2172 ---
qpos:
[-0.00221839, 0.19512516,-0.02416786, 0.19157856,-0.01917653, 0.00942587,
 -0.09224284, 0.15713687, 0.0124811 , 0.2826661 ,-0.01439429, 0.20971274,
  0.81763114,-0.01190717, 1.15560163, 0.04604318, 0.09477175,-0.06437591,
  0.14274407, 0.94757828,-0.03359887, 0.02715755, 0.31658961]

qacc:
[ 3.09001487e+01,-3.95657102e+01, 5.28411887e+01,-6.24210730e+01,
 -4.27635132e-01,-1.62918169e+01, 6.85094602e+01,-9.65590984e+01,
  6.32692642e-01, 3.84956836e+01,-2.21022153e+02, 5.52485520e+02,
 -5.77104165e-01, 6.16337719e+00,-3.19817853e+00, 3.04548650e+00,
 -2.86197730e-02,-7.83454280e-02,-1.92162012e-03, 7.80296726e-02,
 -2.08911241e-01,-1.62284692e+00]

qfrc_actuator:
[-5.58865959e-03, 1.19472645e-01, 2.36120534e-03, 1.01547114e-01,
  1.19757118e-02, 3.10952081e-01, 7.18124285e-02, 1.24672959e-01,
 -2.52406484e-04, 2.16820434e-01, 1.95051071e-03, 1.46555001e-01,
  4.91395547e-02, 1.61185647e-02, 5.53402575e-04,-2.03543245e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06137564, -0.67558545, -0.81859791, -0.67558545,  2.61621574,
       -1.28320307, -0.81859791, -1.28320307,  2.12039779,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011043271274583514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65847758e-01, -6.42472454e-01,  2.65773738e-02,  2.03614146e-02,
        1.70812644e-02,  9.99646759e-01, -6.42699482e-01,  7.66118382e-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([ 0.1084818 , -0.03959776,  0.13219814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.52519902,  1.17530027,  0.97206036,  1.17530027,  1.69741828,
       -0.20822712,  0.97206036, -0.20822712,  1.7769626 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035242950108955486
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90278350e-01, -1.87017183e-02, -1.37836990e-01, -1.85231463e-02,
        9.99825108e-01, -2.57823948e-03,  1.37861101e-01, -8.67361738e-19,
       -9.90451572e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12982973, -0.08374462,  0.17915936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15109387,  1.14273621, -0.13845956,  1.14273621,  1.20377083,
        0.43475418, -0.13845956,  0.43475418,  4.73921273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000621467448033562
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96457154e-01, -1.88184070e-02, -8.19695555e-02, -1.87550575e-02,
        9.99822918e-01, -1.54280966e-03,  8.19840734e-02, -2.16840434e-19,
       -9.96633640e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1302162 , -0.08473155,  0.17469693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014377309171718685
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98049892, -0.19371238,  0.03312677, -0.19360191,  0.98105836,
        0.00654096, -0.03376636,  0.        , -0.99942975])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12909124, -0.08224751,  0.11209584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027692900804201446
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51722849, -0.83768607, -0.17537598, -0.09213744, -0.14922274,
        0.98450153, -0.8508733 ,  0.52537094,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10505876, -0.03686633,  0.30540617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003950800719654257
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40506078e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.40506078e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354125, -0.06062179,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.38200184e-03, 9.66252040e-02, 4.49774789e-02, 6.22121774e-03,
  2.66454838e-02, 3.04738800e-01, 1.17466576e-01, 4.51484393e-02,
  1.93285761e-05,-2.29689376e-04,-6.33653930e-05, 9.84773477e-04,
  4.34760002e-02, 1.17697755e-02, 3.99474376e-03,-8.47560789e-05,
  4.30789365e-07, 1.72944116e-06,-9.80999494e+00,-6.51638484e-02,
 -9.57246316e-03,-5.20815068e-03]


--- Step 2173 ---
qpos:
[-0.00223462, 0.19534368,-0.02509638, 0.1934613 ,-0.01947004, 0.00956589,
 -0.09312838, 0.15872301, 0.01249453, 0.28680753,-0.01442329, 0.21264841,
  0.81781396,-0.01177856, 1.1557203 , 0.04604581, 0.09476876,-0.06438033,
  0.1427444 , 0.9475807 ,-0.03357848, 0.02713714, 0.3165863 ]

qacc:
[ 3.01027150e+01,-2.39118739e+01, 2.39246483e+01,-4.58977915e+01,
 -2.93136380e-01,-1.62092745e+01, 6.73354824e+01,-9.47956759e+01,
  1.60775924e+00, 5.75233199e+01,-2.94801341e+02, 7.04298001e+02,
 -5.16100337e-01, 6.38283913e+00,-4.49337910e+00, 1.92134551e+01,
 -3.34598192e-02,-6.18459060e-02, 3.05625447e-03,-3.87002075e-03,
 -2.88223688e-01,-1.24560564e+00]

qfrc_actuator:
[-5.64558740e-03, 1.20213555e-01, 3.21765873e-03, 1.02195974e-01,
  1.22627049e-02, 3.12419452e-01, 7.27088193e-02, 1.25519020e-01,
 -2.16174885e-04, 2.17829224e-01, 2.22290722e-03, 1.47855073e-01,
  4.91272074e-02, 1.60471272e-02, 5.42153940e-04,-1.85062177e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06137564, -0.74096266, -0.75992932, -0.74096266,  3.09111992,
       -1.979085  , -0.75992932, -1.979085  ,  2.99106574,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011040703055900955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65850098e-01, -6.42471805e-01,  2.65255915e-02,  2.03217774e-02,
        1.70479433e-02,  9.99648135e-01, -6.42697948e-01,  7.66119669e-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([ 0.10847899, -0.03960013,  0.13221433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.52811425,  1.16464401,  0.98931162,  1.16464401,  1.71581866,
       -0.22097063,  0.98931162, -0.22097063,  1.78824677,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035458603771940133
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99028015, -0.01899247, -0.13778429, -0.01881125,  0.99981963,
       -0.00261734,  0.13780915,  0.        , -0.9904588 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12982388, -0.08374891,  0.1791618 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15075849,  1.14832172, -0.07484864,  1.14832172,  1.16621764,
        0.23717309, -0.07484864,  0.23717309,  4.78944895,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006212358117836437
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9963894 , -0.01910963, -0.08272233, -0.01904411,  0.99981739,
       -0.00158108,  0.08273744,  0.        , -0.99657138])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13021276, -0.08473761,  0.17469726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014386690714756928
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80499013e-01, -1.93718926e-01,  3.30856919e-02, -1.93608732e-01,
        9.81057072e-01,  6.53308037e-03, -3.37245333e-02, -8.67361738e-19,
       -9.99431166e-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([ 0.12908884, -0.08224746,  0.1120996 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002760250538152769
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51723424, -0.83772765, -0.17516028, -0.09202155, -0.14904079,
        0.98453993, -0.85088235,  0.52535629,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10505524, -0.03688047,  0.30540953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000395596140915791
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40322782e-13, -7.01613912e-14,  1.00000000e+00, -9.84524164e-27,
        1.00000000e+00,  7.01613912e-14, -1.00000000e+00,  0.00000000e+00,
       -1.40322782e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05354061, -0.06062173,  0.06199113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.95017331e-03, 1.00135740e-01, 4.66006214e-02, 7.08505433e-03,
  2.69358352e-02, 3.06031200e-01, 1.18016814e-01, 4.60376887e-02,
  5.16709880e-05, 7.60693862e-04, 1.99683072e-04, 1.29322130e-03,
  4.32376547e-02, 1.13939158e-02, 4.17805440e-03, 1.40453660e-04,
  9.53709894e-07, 1.47265486e-06,-9.80999536e+00,-6.51623248e-02,
 -9.57549280e-03,-5.20463859e-03]


--- Step 2174 ---
qpos:
[-0.00224149, 0.19552036,-0.02603436, 0.19534099,-0.01976374, 0.00970833,
 -0.09400741, 0.16030821, 0.01250765, 0.29095205,-0.01444772, 0.21559366,
  0.81800141,-0.0116438 , 1.15583657, 0.04604844, 0.09476566,-0.06438499,
  0.14274475, 0.94758384,-0.0335578 , 0.02711621, 0.31658087]

qacc:
[ 2.82973545e+01,-3.50863653e+01, 5.74209998e+01,-6.34925469e+01,
 -1.48568612e+00,-1.64393005e+01, 6.71333257e+01,-9.44759096e+01,
 -5.23271749e-01, 1.07587725e+01,-7.12288223e+01, 2.23101415e+02,
 -5.83901282e-01, 6.27570555e+00,-3.35615366e+00, 6.92072204e+00,
 -2.56274369e-02,-6.24689901e-02, 4.46092676e-03, 9.22223807e-02,
 -2.60459183e-01,-1.12962670e+00]

qfrc_actuator:
[-5.69699282e-03, 1.20844122e-01, 4.14701445e-03, 1.02509420e-01,
  1.25700893e-02, 3.13650344e-01, 7.35790612e-02, 1.25925323e-01,
 -2.53596887e-04, 2.18053240e-01, 2.46926562e-03, 1.48333732e-01,
  4.91023005e-02, 1.59312810e-02, 5.47030436e-04,-1.90191854e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06137564, -0.78381135, -0.71565216, -0.78381135,  3.56705214,
       -2.74431883, -0.71565216, -2.74431883,  4.06706524,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010995251903074908
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76585563, -0.64246741,  0.02647245,  0.02028118,  0.01701365,
        0.99964954, -0.64269264,  0.76612412,  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([ 0.10847993, -0.03960328,  0.13222843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.53089067,  1.18071381,  0.97444401,  1.18071381,  1.70037803,
       -0.20536436,  0.97444401, -0.20536436,  1.77972645,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003566208610426918
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90281854e-01, -1.92832665e-02, -1.37731641e-01, -1.90994203e-02,
        9.99814061e-01, -2.65640987e-03,  1.37757255e-01,  4.33680869e-19,
       -9.90466021e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12981785, -0.08375372,  0.17916422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15030079,  1.14812976, -0.07063977,  1.14812976,  1.16337717,
        0.21253434, -0.07063977,  0.21253434,  4.6046863 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006209197203948282
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99632181, -0.01940088, -0.08346528, -0.01933316,  0.99981179,
       -0.0016196 ,  0.08348099,  0.        , -0.99650937])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13020911, -0.08474414,  0.17469768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014403142619669412
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9804997 , -0.19372106,  0.03305292, -0.19361108,  0.98105665,
        0.00652668, -0.03369114,  0.        , -0.99943229])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12908578, -0.08224734,  0.11210347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002750881986609853
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17244185e-01, -8.37768756e-01, -1.74934173e-01, -9.19007818e-02,
       -1.48849626e-01,  9.84580131e-01, -8.50889358e-01,  5.25344935e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10505156, -0.03689501,  0.30541298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003961528263177888
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40125597e-13, -7.00627984e-14,  1.00000000e+00, -9.81759145e-27,
        1.00000000e+00,  7.00627984e-14, -1.00000000e+00,  0.00000000e+00,
       -1.40125597e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05353999, -0.06062166,  0.06199112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.50067851e-03, 1.02839653e-01, 4.82483535e-02, 7.61476530e-03,
  2.72457999e-02, 3.07111068e-01, 1.18554076e-01, 4.64877305e-02,
 -1.73379880e-05, 5.96895785e-04, 4.20672317e-04, 5.28753204e-04,
  4.29673146e-02, 1.09602890e-02, 4.10657826e-03,-2.43055018e-05,
  1.29527334e-06, 1.29790728e-06,-9.80999563e+00,-6.51608770e-02,
 -9.57864121e-03,-5.20104599e-03]


--- Step 2175 ---
qpos:
[-0.00223968, 0.19565569,-0.02697734, 0.19721882,-0.02005775, 0.00985237,
 -0.09488015, 0.16189239, 0.01251988, 0.29509419,-0.01446868, 0.21855469,
  0.81819313,-0.01150315, 1.15594694, 0.04604855, 0.09476252,-0.06438992,
  0.14274512, 0.94758765,-0.03353657, 0.02709496, 0.31657355]

qacc:
[ 2.62621284e+01,-4.44491517e+01, 8.66162748e+01,-7.91295056e+01,
 -2.42410762e+00,-1.69678179e+01, 6.76411900e+01,-9.48734888e+01,
 -1.54462624e+00, 1.91092566e+01,-1.36280469e+02, 3.97573126e+02,
 -6.84738854e-01, 6.10874706e+00,-9.36887708e-01,-9.05045817e+00,
 -1.35225515e-02,-6.57144251e-02, 4.77924416e-03, 2.49920493e-01,
 -2.15792072e-01,-9.94289737e-01]

qfrc_actuator:
[-0.00576621, 0.12130116, 0.00513876, 0.10274631, 0.01288987, 0.31466774,
  0.0744489 , 0.12613919,-0.00031662, 0.21766416, 0.00253536, 0.14910583,
  0.04908568, 0.01580418, 0.00058851,-0.00207576, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.06137564, -0.78561332, -0.71367357, -0.78561332,  3.76510587,
       -2.97627174, -0.71367357, -2.97627174,  4.33766161,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010908922432842033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65864056e-01, -6.42459597e-01,  2.64180543e-02,  2.02397023e-02,
        1.69784583e-02,  9.99650982e-01, -6.42683905e-01,  7.66131450e-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([ 0.10848448, -0.03960718,  0.13224058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.5335474 ,  1.20530858,  0.9481555 ,  1.20530858,  1.66779331,
       -0.17065528,  0.9481555 , -0.17065528,  1.75048679,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035855090541984355
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90283499e-01, -1.95742589e-02, -1.37678757e-01, -1.93877802e-02,
        9.99808406e-01, -2.69547606e-03,  1.37705140e-01,  4.33680869e-19,
       -9.90473268e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12981169, -0.08375904,  0.17916661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14973933,  1.14591705, -0.09367305,  1.14591705,  1.17093343,
        0.2592708 , -0.09367305,  0.2592708 ,  4.32143962,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006205320035960794
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99625433, -0.01969228, -0.08419927, -0.01962232,  0.99980609,
       -0.0016584 ,  0.0842156 ,  0.        , -0.99644756])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13020528, -0.08475114,  0.17469817])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014425980155288367
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80500919e-01, -1.93719188e-01,  3.30276217e-02, -1.93609380e-01,
        9.81057020e-01,  6.52162303e-03, -3.36653436e-02,  8.67361738e-19,
       -9.99433162e-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([ 0.12908212, -0.08224717,  0.11210747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002740939948506963
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17257974e-01, -8.37809314e-01, -1.74699003e-01, -9.17757910e-02,
       -1.48650415e-01,  9.84621886e-01, -8.50894466e-01,  5.25336661e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10504769, -0.03690993,  0.30541661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003967287858199775
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39922167e-13, -2.79844333e-13,  1.00000000e+00, -3.91564254e-26,
        1.00000000e+00,  2.79844333e-13, -1.00000000e+00,  0.00000000e+00,
       -1.39922167e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05353936, -0.0606216 ,  0.06199111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.03803939e-03, 1.05389127e-01, 4.97180857e-02, 8.00163250e-03,
  2.75750783e-02, 3.08008739e-01, 1.19102993e-01, 4.67475031e-02,
 -5.22409194e-05,-9.47300488e-05, 2.07403059e-04, 8.07835504e-04,
  4.27192228e-02, 1.05232844e-02, 4.26541181e-03,-1.98155921e-04,
  1.57720099e-06, 1.21659973e-06,-9.80999587e+00,-6.51594427e-02,
 -9.58187411e-03,-5.19737626e-03]


--- Step 2176 ---
qpos:
[-0.00222963, 0.19575442,-0.02792235, 0.19909547,-0.02035175, 0.00999693,
 -0.09574684, 0.16347552, 0.0125324 , 0.2992304 ,-0.01448975, 0.2215362 ,
  0.81838907,-0.01135671, 1.15605366, 0.04604709, 0.09475933,-0.06439504,
  0.1427455 , 0.94759174,-0.03351464, 0.02707337, 0.31656546]

qacc:
[ 2.50066466e+01,-4.50786419e+01, 9.51789733e+01,-8.43900219e+01,
  1.34306618e-01,-1.78172095e+01, 6.87846764e+01,-9.55795437e+01,
  5.17362991e-01, 3.38793027e+01,-2.14327889e+02, 5.61829771e+02,
 -6.89710045e-01, 6.05358447e+00,-5.20755362e-01,-5.69813082e+00,
 -8.68281644e-03,-4.81721410e-02, 4.44297158e-03, 2.90390648e-01,
 -2.67112719e-01,-4.07721438e-01]

qfrc_actuator:
[-5.81367079e-03, 1.21723598e-01, 6.09624240e-03, 1.02937287e-01,
  1.31995146e-02, 3.15521409e-01, 7.53516431e-02, 1.26202527e-01,
 -3.05537107e-04, 2.17159986e-01, 2.43929190e-03, 1.50114972e-01,
  4.90739073e-02, 1.56681297e-02, 5.35175854e-04,-2.12533814e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06137564, -0.79749524, -0.70037104, -0.79749524,  3.94175529,
       -3.27981733, -0.70037104, -3.27981733,  4.79602281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001078430204412505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76587506, -0.64244876,  0.02636258,  0.02019746,  0.01694249,
        0.99965245, -0.64267212,  0.76614134,  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([ 0.10849243, -0.0396118 ,  0.13225093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.53612215,  1.21313712,  0.94232139,  1.21313712,  1.6379198 ,
       -0.13105349,  0.94232139, -0.13105349,  1.70483938,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003604057634763551
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99028515, -0.01986555, -0.13762517, -0.01967644,  0.99980266,
       -0.00273454,  0.13765234,  0.        , -0.99048061])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12980545, -0.08376486,  0.17916899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14910977,  1.14332567, -0.11515066,  1.14332567,  1.17899813,
        0.29676022, -0.11515066,  0.29676022,  4.09562838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006200973124918768
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99618689, -0.01998394, -0.08492536, -0.01991172,  0.9998003 ,
       -0.00169748,  0.08494233,  0.        , -0.99638587])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13020134, -0.0847586 ,  0.17469868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014454397557143981
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98050262, -0.19371379,  0.03300892, -0.19360411,  0.98105809,
        0.00651774, -0.03364625,  0.        , -0.9994338 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12907798, -0.08224695,  0.11211157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027300703787600585
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51727526, -0.83784924, -0.17445616, -0.09164727, -0.14844436,
        0.98466494, -0.85089781,  0.52533125,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10504362, -0.03692519,  0.30542051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039729783700383214
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.05353873, -0.06062153,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.51887276e-03, 1.07881259e-01, 5.09306029e-02, 8.28286767e-03,
  2.78996987e-02, 3.08784215e-01, 1.19696625e-01, 4.68593884e-02,
  1.67458705e-05,-6.28309139e-04,-1.13793454e-04, 1.01385279e-03,
  4.24949158e-02, 1.00906725e-02, 4.50446294e-03,-1.22243383e-04,
  1.82659100e-06, 1.25911388e-06,-9.80999605e+00,-6.51579877e-02,
 -9.58517340e-03,-5.19363367e-03]


--- Step 2177 ---
qpos:
[-0.00221175, 0.19581945,-0.02886615, 0.20097165,-0.02064542, 0.01014119,
 -0.09660767, 0.16505756, 0.01254551, 0.30335831,-0.01451267, 0.22452334,
  0.81858895,-0.0112048 , 1.15615918, 0.04604547, 0.09475612,-0.06440027,
  0.1427459 , 0.94759582,-0.03349205, 0.02705138, 0.31655754]

qacc:
[ 2.37376820e+01,-4.87605189e+01, 1.10689561e+02,-9.41333999e+01,
  3.08588999e+00,-1.84492013e+01, 6.96346265e+01,-9.61712653e+01,
  1.01213152e+00, 5.55194016e+00,-5.81641614e+01, 1.61072251e+02,
 -7.16139902e-01, 5.77522423e+00,-1.16067217e+00, 1.80158876e+00,
 -7.34433801e-03,-2.75089896e-02, 2.58809363e-03, 2.46749194e-01,
 -2.92056026e-01, 8.21030635e-02]

qfrc_actuator:
[-5.81561150e-03, 1.22172557e-01, 7.04995661e-03, 1.02923276e-01,
  1.34851555e-02, 3.16437043e-01, 7.62363343e-02, 1.26247005e-01,
 -2.86314445e-04, 2.16555754e-01, 2.24811973e-03, 1.50367684e-01,
  4.90542333e-02, 1.55421963e-02, 4.67578343e-04,-2.10030445e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06137564, -0.81642544, -0.67820922, -0.81642544,  4.26068655,
       -3.85131715, -0.67820922, -3.85131715,  5.69757517,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010626919093334997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76588714, -0.64243668,  0.0263059 ,  0.02015432,  0.01690573,
        0.99965394, -0.64265908,  0.76615228,  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([ 0.10850328, -0.03961701,  0.13225979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.53863354,  1.21482116,  0.94424716,  1.21482116,  1.62386349,
       -0.10965259,  0.94424716, -0.10965259,  1.67970707,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003622003997045308
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99028673, -0.02015685, -0.13757144, -0.01996512,  0.99979683,
       -0.00277357,  0.13759939,  0.        , -0.99048796])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12979918, -0.08377102,  0.17917134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14842977,  1.14087101, -0.13154573,  1.14087101,  1.18598025,
        0.32566809, -0.13154573,  0.32566809,  3.97288695,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006196278551642742
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96119399e-01, -2.02755749e-02, -8.56448687e-02, -2.02010462e-02,
        9.99794429e-01, -1.73685599e-03,  8.56624784e-02,  2.16840434e-19,
       -9.96324214e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13019734, -0.08476638,  0.17469921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014487109867804158
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98050441, -0.19370692,  0.03299581, -0.19359734,  0.98105944,
        0.00651491, -0.03363284,  0.        , -0.99943426])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12907348, -0.08224671,  0.11211577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002718561864993752
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17294101e-01, -8.37889610e-01, -1.74206241e-01, -9.15152028e-02,
       -1.48232190e-01,  9.84709188e-01, -8.50900570e-01,  5.25326774e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10503938, -0.0369408 ,  0.30542461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003978550004531539
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39526087e-13, -6.97630433e-14,  1.00000000e+00, -9.73376442e-27,
        1.00000000e+00,  6.97630433e-14, -1.00000000e+00,  0.00000000e+00,
       -1.39526087e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05353808, -0.06062147,  0.06199108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.93294239e-03, 1.10163282e-01, 5.19915973e-02, 8.32641774e-03,
  2.81855656e-02, 3.09675303e-01, 1.20283760e-01, 4.69546721e-02,
  3.43400610e-05,-1.08366773e-03,-3.51045799e-04, 2.27965510e-04,
  4.22639836e-02, 9.67218710e-03, 4.61734216e-03,-1.95446779e-05,
  1.98411868e-06, 1.37402153e-06,-9.80999598e+00,-6.51565634e-02,
 -9.58858970e-03,-5.18980813e-03]


--- Step 2178 ---
qpos:
[-0.00218648, 0.195853  ,-0.02980549, 0.20284811,-0.02093836, 0.01028454,
 -0.09746282, 0.16663847, 0.01255843, 0.30747316,-0.01453576, 0.22750362,
  0.81879216,-0.01104804, 1.15626744, 0.0460463 , 0.09475287,-0.06440551,
  0.1427463 , 0.9475996 ,-0.03346905, 0.02702895, 0.31655055]

qacc:
[ 2.25324167e+01,-5.34204590e+01, 1.28405961e+02,-1.05796387e+02,
  6.52186249e+00,-1.88101080e+01, 6.98349968e+01,-9.61060362e+01,
 -2.87824449e-01,-3.06243039e+01, 1.11499606e+02,-2.15959287e+02,
 -7.77856672e-01, 5.25222084e+00,-3.17474571e+00, 1.73022992e+01,
 -9.75808024e-03,-2.34598114e-03, 1.05162300e-05, 1.07588474e-01,
 -2.89004028e-01, 4.89008744e-01]

qfrc_actuator:
[-5.82861462e-03, 1.22649167e-01, 8.03448451e-03, 1.02750504e-01,
  1.37560535e-02, 3.17301698e-01, 7.70724539e-02, 1.26458155e-01,
 -3.15885250e-04, 2.15647698e-01, 2.12594047e-03, 1.49995680e-01,
  4.90243690e-02, 1.53670854e-02, 4.81869804e-04,-1.92477265e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.06137564, -0.82874584, -0.66309772, -0.82874584,  4.52751622,
       -4.33201549, -0.66309772, -4.33201549,  6.47556983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010440915463173737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65899026e-01, -6.42424877e-01,  2.62480188e-02,  2.01102608e-02,
        1.68681920e-02,  9.99655461e-01, -6.42646294e-01,  7.66162999e-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([ 0.10851668, -0.03962271,  0.13226735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.54108506,  1.20719833,  0.95792241,  1.20719833,  1.62782082,
       -0.10930663,  0.95792241, -0.10930663,  1.67883607,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003639386102020311
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99028816, -0.02044782, -0.13751818, -0.02025347,  0.99979092,
       -0.00281254,  0.13754694,  0.        , -0.99049525])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12979292, -0.08377737,  0.17917366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14770265,  1.14026602, -0.13044067,  1.14026602,  1.18470201,
        0.32343526, -0.13044067,  0.32343526,  3.9750587 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006191259287816531
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99605179, -0.02056683, -0.08635878, -0.02048996,  0.99978848,
       -0.0017765 ,  0.08637705,  0.        , -0.99626252])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13019334, -0.08477432,  0.17469975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001452304580239757
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98050599, -0.19370033,  0.03298753, -0.1935908 ,  0.98106074,
        0.00651305, -0.03362435,  0.        , -0.99943454])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12906873, -0.08224646,  0.11212006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002706882374944944
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51731281, -0.83793129, -0.17394999, -0.09137969, -0.1480147 ,
        0.98475449, -0.85090376,  0.52532161,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10503497, -0.0369567 ,  0.30542881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039840881648808835
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.78664271e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.78664271e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05353743, -0.06062141,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.33633562e-03, 1.12329013e-01, 5.29216417e-02, 8.17427555e-03,
  2.84396420e-02, 3.10555885e-01, 1.20831371e-01, 4.72186054e-02,
 -1.20012526e-05,-1.72381806e-03,-4.31855181e-04,-4.39485171e-04,
  4.20378125e-02, 9.22101665e-03, 4.68942052e-03, 1.63169248e-04,
  2.05990988e-06, 1.49240516e-06,-9.80999570e+00,-6.51551623e-02,
 -9.59212508e-03,-5.18589784e-03]


--- Step 2179 ---
qpos:
[-0.00215418, 0.19586472,-0.03074008, 0.2047246 ,-0.02123022, 0.01042627,
 -0.09831244, 0.16821823, 0.01257115, 0.31156989,-0.0145577 , 0.23047657,
  0.81899824,-0.01088682, 1.15637839, 0.04604988, 0.09474959,-0.06441071,
  0.14274669, 0.94760292,-0.03344567, 0.02700609, 0.31654505]

qacc:
[ 2.13589307e+01,-4.19113139e+01, 1.06925926e+02,-9.60987878e+01,
  9.44260225e+00,-1.93320148e+01, 7.04271537e+01,-9.62181773e+01,
 -2.61204207e-01,-4.18903182e+01, 1.43611729e+02,-2.53556377e+02,
 -8.44623172e-01, 4.94548228e+00,-4.22601001e+00, 2.08560427e+01,
 -7.26486507e-03, 1.10178709e-02, 1.66790504e-04, 8.17339592e-02,
 -2.79695128e-01, 7.77313812e-01]

qfrc_actuator:
[-0.00586872, 0.12310038, 0.0089805 , 0.10296125, 0.01401757, 0.31797674,
  0.07791278, 0.12666326,-0.00033868, 0.21452992, 0.00209748, 0.14961414,
  0.04899896, 0.01514315, 0.00047575,-0.00178574, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.06137564, -0.838309  , -0.65096564, -0.838309  ,  4.76341935,
       -4.76746604, -0.65096564, -4.76746604,  7.20088512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010229892108364308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65909657e-01, -6.42414610e-01,  2.61890448e-02,  2.00653246e-02,
        1.68299975e-02,  9.99657008e-01, -6.42635029e-01,  7.66172448e-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([ 0.10853234, -0.03962883,  0.13227381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.54345906,  1.20353556,  0.96631674,  1.20353556,  1.61966211,
       -0.09490996,  0.96631674, -0.09490996,  1.66166824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000365609206962186
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90289351e-01, -2.07380636e-02, -1.37466123e-01, -2.05411011e-02,
        9.99784943e-01, -2.85139442e-03,  1.37495692e-01, -4.33680869e-19,
       -9.90502365e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1297867 , -0.08378375,  0.17917595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1469109 ,  1.13899279, -0.1345364 ,  1.13899279,  1.1853125 ,
        0.32511012, -0.1345364 ,  0.32511012,  3.89931156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006185794664362426
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95984013e-01, -2.08573179e-02, -8.70678972e-02, -2.07780752e-02,
        9.99782462e-01, -1.81639795e-03,  8.70868418e-02,  2.16840434e-19,
       -9.96200724e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13018936, -0.08478225,  0.1747003 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001456120726115528
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80507105e-01, -1.93695425e-01,  3.29833255e-02, -1.93585926e-01,
        9.81061712e-01,  6.51204625e-03, -3.36200313e-02,  8.67361738e-19,
       -9.99434687e-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([ 0.12906383, -0.08224623,  0.11212442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026957769672008403
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51732994, -0.83797505, -0.1736881 , -0.09124085, -0.14779264,
        0.98480071, -0.85090825,  0.52531434,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1050304 , -0.03697282,  0.30543291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039897904313060395
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000e+00, -6.95665e-14,  1.00000e+00,  0.00000e+00,
        1.00000e+00,  6.95665e-14, -1.00000e+00,  0.00000e+00,
        0.00000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05353678, -0.06062136,  0.06199106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.74605193e-03, 1.14359993e-01, 5.36507151e-02, 8.36943083e-03,
  2.86644603e-02, 3.11278167e-01, 1.21392550e-01, 4.74780611e-02,
 -1.21810826e-05,-2.33569101e-03,-5.02641546e-04,-4.91804526e-04,
  4.18466024e-02, 8.75212647e-03, 4.54376142e-03, 1.79778083e-04,
  2.03024511e-06, 1.56429213e-06,-9.80999530e+00,-6.51538023e-02,
 -9.59577556e-03,-5.18191240e-03]


--- Step 2180 ---
qpos:
[-0.00211548, 0.19586313,-0.03167023, 0.20660079,-0.02152096, 0.01056569,
 -0.09915657, 0.16979683, 0.01258434, 0.31564966,-0.01458051, 0.23344053,
  0.81920686,-0.01072133, 1.15648556, 0.04605218, 0.09474634,-0.06441591,
  0.1427471 , 0.94760579,-0.03342153, 0.02698305, 0.31654097]

qacc:
[ 1.94596873e+01,-3.05344991e+01, 8.40782045e+01,-8.48593786e+01,
  9.90679635e+00,-2.01634242e+01, 7.21519390e+01,-9.77227142e+01,
  7.90032083e-01,-3.81605437e+01, 1.39265325e+02,-2.74972249e+02,
 -9.15045658e-01, 4.79585458e+00,-1.56719477e+00,-2.33975449e+00,
  7.35326552e-03,-2.44731790e-03, 1.01682847e-03, 3.06957054e-01,
 -2.22045986e-01, 7.47419955e-01]

qfrc_actuator:
[-0.00590992, 0.12361029, 0.00990135, 0.10342   , 0.01429059, 0.31859232,
  0.07877126, 0.12654566,-0.00032182, 0.21384691, 0.00210625, 0.14917682,
  0.04898146, 0.01494162, 0.00046793,-0.00193619, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010002109880818929
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65918290e-01, -6.42406760e-01,  2.61290693e-02,  2.00195672e-02,
        1.67912236e-02,  9.99658578e-01, -6.42626167e-01,  7.66179881e-01,
        3.46944695e-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([ 0.10854947, -0.03963516,  0.13227957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.54575599,  1.22510234,  0.94259527,  1.22510234,  1.58520154,
       -0.05126786,  0.94259527, -0.05126786,  1.61238944,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003672138997249924
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99029026, -0.02102724, -0.1374156 , -0.02082768,  0.9997789 ,
       -0.00289011,  0.13744599,  0.        , -0.99050926])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12978055, -0.08379007,  0.17917819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14605353,  1.13175339, -0.18047983,  1.13175339,  1.20863361,
        0.39242732, -0.18047983,  0.39242732,  3.60688786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006179878001870177
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99591601, -0.0211467 , -0.08777308, -0.02106504,  0.99977638,
       -0.00185653,  0.08779271,  0.        , -0.99613877])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13018543, -0.08479009,  0.17470088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014600693456472554
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98050757, -0.19369323,  0.03298239, -0.19358374,  0.98106214,
        0.00651178, -0.03361906,  0.        , -0.99943472])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12905884, -0.08224603,  0.11212886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026854991868495356
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51734449, -0.83802125, -0.17342164, -0.0910991 , -0.14756701,
        0.98484767, -0.85091459,  0.52530407,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10502569, -0.03698909,  0.30543684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039956280057824867
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.77859456e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.77859456e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05353613, -0.0606213 ,  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:
[-8.13778405e-03, 1.15967148e-01, 5.43410662e-02, 8.82460878e-03,
  2.88838825e-02, 3.11975744e-01, 1.21979461e-01, 4.74157544e-02,
  2.71634930e-05,-2.25884183e-03,-6.01599028e-04,-5.76683078e-04,
  4.16859830e-02, 8.32448956e-03, 4.39908380e-03,-1.09108992e-04,
  1.91430545e-06, 1.66392926e-06,-9.80999478e+00,-6.51524676e-02,
 -9.59951822e-03,-5.17785911e-03]


--- Step 2181 ---
qpos:
[-0.00207076, 0.19585314,-0.03259547, 0.20847663,-0.02181017, 0.01070223,
 -0.09999523, 0.17137424, 0.01259819, 0.31972053,-0.01460814, 0.23640555,
  0.81941828,-0.01055147, 1.15659285, 0.04605519, 0.09474312,-0.06442108,
  0.1427475 , 0.94760798,-0.03339655, 0.02695974, 0.31653903]

qacc:
[ 1.82995985e+01,-2.54320793e+01, 7.55668999e+01,-8.17412069e+01,
  1.33785900e+01,-2.09051676e+01, 7.37330968e+01,-9.89994643e+01,
  1.02699826e+00, 3.82145343e+00,-3.45527829e+01, 6.53778523e+01,
 -8.42135523e-01, 4.86027730e+00,-1.85658374e+00, 7.05998446e+00,
  7.43171020e-03, 8.75217750e-03, 1.50515351e-03, 3.15297255e-01,
 -2.90453833e-01, 1.13326002e+00]

qfrc_actuator:
[-5.93620436e-03, 1.24404191e-01, 1.08410072e-02, 1.03797075e-01,
  1.45700176e-02, 3.19368864e-01, 7.96029543e-02, 1.26305939e-01,
 -2.99514438e-04, 2.14123226e-01, 2.13889479e-03, 1.49296475e-01,
  4.89633139e-02, 1.48229601e-02, 4.75570546e-04,-1.84908457e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009764480122450262
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65925031e-01, -6.42401193e-01,  2.60682678e-02,  1.99731263e-02,
        1.67519792e-02,  9.99660165e-01, -6.42619578e-01,  7.66185407e-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([ 0.10856742, -0.03964156,  0.13228497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.54802845,  1.22613756,  0.94497554,  1.22613756,  1.56530422,
       -0.02241588,  0.94497554, -0.02241588,  1.57711382,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036879037636441725
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99029101, -0.02131531, -0.13736586, -0.02111315,  0.9997728 ,
       -0.00292866,  0.13739707,  0.        , -0.99051605])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12977452, -0.08379636,  0.17918039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14517849,  1.1267159 , -0.2048049 ,  1.1267159 ,  1.22144808,
        0.41959037, -0.2048049 ,  0.41959037,  3.45351754,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006173840310122039
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95847734e-01, -2.14349096e-02, -8.84750500e-02, -2.13508116e-02,
        9.99770246e-01, -1.89689052e-03,  8.84953822e-02, -2.16840434e-19,
       -9.96076587e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1301816 , -0.08479789,  0.17470142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001464105382978614
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98050743, -0.19369364,  0.03298418, -0.19358414,  0.98106206,
        0.00651215, -0.03362089,  0.        , -0.99943466])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12905384, -0.08224586,  0.11213336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000267527960264547
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5173567 , -0.8380694 , -0.1731523 , -0.09095538, -0.14733919,
        0.98489506, -0.85092253,  0.5252912 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10502081, -0.0370055 ,  0.30544082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004001249965104037
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38734525e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.38734525e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05353547, -0.06062125,  0.06199103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.48354357e-03, 1.17433582e-01, 5.50649995e-02, 9.21454671e-03,
  2.91070776e-02, 3.12869040e-01, 1.22541583e-01, 4.72325464e-02,
  3.85671857e-05,-1.27970280e-03,-5.76595358e-04,-2.13894813e-05,
  4.15415156e-02, 7.98971575e-03, 4.59350840e-03, 4.16910751e-05,
  1.80642634e-06, 1.91078488e-06,-9.80999422e+00,-6.51510524e-02,
 -9.60329956e-03,-5.17374217e-03]


--- Step 2182 ---
qpos:
[-0.00202052, 0.19583787,-0.03351509, 0.21035215,-0.02209759, 0.01083567,
 -0.10082833, 0.17295047, 0.01261248, 0.32378403,-0.01463881, 0.23938458,
  0.81963264,-0.01037722, 1.15670192, 0.04605984, 0.09473992,-0.0644262 ,
  0.14274792, 0.94760941,-0.03337072, 0.0269361 , 0.3165395 ]

qacc:
[ 1.68062231e+01,-2.32020160e+01, 7.33813372e+01,-8.21058080e+01,
  1.56858348e+01,-2.13982808e+01, 7.50722517e+01,-1.00312489e+02,
  6.78250242e-01, 2.69783379e+01,-1.65776196e+02, 4.08585742e+02,
 -7.56987190e-01, 4.80110194e+00,-2.18925966e+00, 1.17520685e+01,
  6.69861576e-03, 1.30356619e-02, 1.45049167e-03, 3.09251579e-01,
 -3.19862471e-01, 1.26815087e+00]

qfrc_actuator:
[-6.02673248e-03, 1.25244619e-01, 1.17719524e-02, 1.04160833e-01,
  1.48169394e-02, 3.20207961e-01, 8.04519003e-02, 1.26028920e-01,
 -2.92063068e-04, 2.14157222e-01, 2.15468319e-03, 1.50045652e-01,
  4.89606417e-02, 1.46989448e-02, 4.49653731e-04,-1.74520097e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009521360752254149
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76592889, -0.6423991 ,  0.02600643,  0.01992582,  0.01671216,
        0.99966178, -0.64261645,  0.76618803,  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([ 0.10858578, -0.03964792,  0.13229021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.55027813e+00,  1.22819468e+00,  9.45991599e-01,  1.22819468e+00,
        1.55048948e+00, -2.74397030e-04,  9.45991599e-01, -2.74397030e-04,
        1.55063439e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.00037034030129668176
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90291509e-01, -2.16018554e-02, -1.37317470e-01, -2.13971269e-02,
        9.99766653e-01, -2.96700447e-03,  1.37349520e-01,  4.33680869e-19,
       -9.90522644e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12976863, -0.08380255,  0.17918255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14428766,  1.12134193, -0.22800554,  1.12134193,  1.23448541,
        0.4435968 , -0.22800554,  0.4435968 ,  3.32591752,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000616769455836596
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95779143e-01, -2.17215606e-02, -8.91743888e-02, -2.16349816e-02,
        9.99764059e-01, -1.93746402e-03,  8.91954337e-02,  2.16840434e-19,
       -9.96014144e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13017792, -0.08480556,  0.17470192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014681596084018791
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80506426e-01, -1.93698025e-01,  3.29882271e-02, -1.93588493e-01,
        9.81061198e-01,  6.51310485e-03, -3.36250452e-02,  8.67361738e-19,
       -9.99434518e-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([ 0.12904891, -0.08224572,  0.11213792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026653564368469917
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17365288e-01, -8.38120391e-01, -1.72879637e-01, -9.08092418e-02,
       -1.47108975e-01,  9.84942958e-01, -8.50932923e-01,  5.25274366e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10501579, -0.03702211,  0.30544478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000400665837155062
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.92736267e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.92736267e-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([ 0.0535348 , -0.06062119,  0.06199102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.87432001e-03, 1.18700884e-01, 5.57574223e-02, 9.59421111e-03,
  2.92776816e-02, 3.13853428e-01, 1.23121251e-01, 4.70126344e-02,
  2.57796356e-05,-9.45423978e-04,-3.69312651e-04, 6.61290050e-04,
  4.13992044e-02, 7.64391433e-03, 4.55900554e-03, 1.09006657e-04,
  1.54815465e-06, 2.24966018e-06,-9.80999343e+00,-6.51496195e-02,
 -9.60718869e-03,-5.16954611e-03]


--- Step 2183 ---
qpos:
[-0.00196556, 0.19581853,-0.03442805, 0.21222754,-0.02238326, 0.01096586,
 -0.10165575, 0.17452549, 0.01262702, 0.3278359 ,-0.01466859, 0.24236805,
  0.81984956,-0.01019903, 1.15680866, 0.04606325, 0.0947368 ,-0.06443133,
  0.14274832, 0.94761023,-0.03334379, 0.02691239, 0.31654188]

qacc:
[ 1.44121922e+01,-2.41027893e+01, 7.81342194e+01,-8.61491079e+01,
  1.53046500e+01,-2.19675708e+01, 7.69044115e+01,-1.02559781e+02,
  4.21128919e-01,-8.91212006e+00,-8.28102005e+00, 8.97160933e+01,
 -7.33911839e-01, 4.34899277e+00, 4.54431587e-01,-6.30930319e+00,
  1.74394730e-02,-3.58502803e-03,-9.98417509e-04, 4.69147251e-01,
 -2.32892634e-01, 1.00955560e+00]

qfrc_actuator:
[-6.17546773e-03, 1.26024442e-01, 1.26594896e-02, 1.04427933e-01,
  1.50789840e-02, 3.21032708e-01, 8.12911765e-02, 1.25623487e-01,
 -2.93569289e-04, 2.13444279e-01, 2.14274419e-03, 1.50253778e-01,
  4.89511622e-02, 1.44811933e-02, 4.72687814e-04,-1.86323784e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009275662994164024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76592951, -0.6424009 ,  0.02594346,  0.01987756,  0.01667172,
        0.99966341, -0.6426172 ,  0.7661874 ,  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([ 0.10860429, -0.03965418,  0.13229545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.55249827, 1.25119552, 0.91910862, 1.25119552, 1.52996588,
       0.03067365, 0.91910862, 0.03067365, 1.51074179, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003718595404199953
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99029174, -0.02188663, -0.13727071, -0.02167934,  0.99976046,
       -0.00300511,  0.1373036 ,  0.        , -0.99052901])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1297629 , -0.0838086 ,  0.17918466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14337527,  1.10871577, -0.27938567,  1.10871577,  1.26704059,
        0.4907542 , -0.27938567,  0.4907542 ,  3.09088717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006161401037924651
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99571024, -0.02200638, -0.08987124, -0.02191729,  0.99975783,
       -0.00197822,  0.08989301,  0.        , -0.99595143])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13017438, -0.08481307,  0.1747024 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014722068592073801
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98050447, -0.19370686,  0.03299435, -0.19359729,  0.98105945,
        0.00651462, -0.03363135,  0.        , -0.99943431])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12904406, -0.08224564,  0.11214254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000265582876436666
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17369780e-01, -8.38174538e-01, -1.72603460e-01, -9.06605017e-02,
       -1.46876233e-01,  9.84991394e-01, -8.50946053e-01,  5.25253097e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10501064, -0.03703892,  0.30544871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004011879669723467
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.3836694e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.3836694e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05353412, -0.06062114,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.29842049e-03, 1.19751684e-01, 5.63706219e-02, 9.87484579e-03,
  2.94500481e-02, 3.14834584e-01, 1.23687496e-01, 4.66645696e-02,
  1.49220754e-05,-1.43333968e-03,-2.79053747e-04, 1.54947731e-04,
  4.12429725e-02, 7.20382870e-03, 4.49103571e-03,-9.13047754e-05,
  1.16579883e-06, 2.66841421e-06,-9.80999253e+00,-6.51481294e-02,
 -9.61116902e-03,-5.16526354e-03]


--- Step 2184 ---
qpos:
[-0.00190667, 0.19579326,-0.03533222, 0.21410333,-0.02266714, 0.01109274,
 -0.10247738, 0.17609927, 0.01264111, 0.33187593,-0.01469859, 0.24534273,
  0.82006859,-0.01001754, 1.15691364, 0.04606513, 0.09473376,-0.0644365 ,
  0.14274871, 0.94761055,-0.03331574, 0.02688874, 0.3165459 ]

qacc:
[ 1.20577766e+01,-3.14539944e+01, 9.84795081e+01,-9.91645159e+01,
  1.57190944e+01,-2.24055934e+01, 7.84436950e+01,-1.04652688e+02,
 -6.48939168e-01,-3.26866005e+01, 1.28536650e+02,-2.65039067e+02,
 -6.82110913e-01, 3.72803370e+00, 2.12152144e+00,-1.09827964e+01,
  2.23493178e-02,-8.45930606e-03,-5.01276808e-03, 5.12524610e-01,
 -1.66842699e-01, 8.79633539e-01]

qfrc_actuator:
[-0.00630728, 0.12687531, 0.0135532 , 0.10435294, 0.01534943, 0.32195675,
  0.08210455, 0.12521251,-0.00033595, 0.21285846, 0.00211144, 0.14980395,
  0.0489322 , 0.01429466, 0.00053072,-0.00193468, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009028865431588599
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65927591e-01, -6.42405767e-01,  2.58796377e-02,  1.98285698e-02,
        1.66307987e-02,  9.99665066e-01, -6.42621002e-01,  7.66184212e-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([ 0.1086228 , -0.03966033,  0.13230074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.55472778, 1.26890378, 0.89836611, 1.26890378, 1.51881627,
       0.05072347, 0.89836611, 0.05072347, 1.48308304, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00037337501016353577
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90291817e-01, -2.21696651e-02, -1.37224721e-01, -2.19598352e-02,
        9.99754223e-01, -3.04297400e-03,  1.37258456e-01, -4.33680869e-19,
       -9.90535268e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12975734, -0.0838146 ,  0.17918674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14247721,  1.09553025, -0.32414141,  1.09553025,  1.29827604,
        0.52656748, -0.32414141,  0.52656748,  2.92216531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006155207294823643
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95641024e-01, -2.22894178e-02, -9.05656271e-02, -2.21977736e-02,
        9.99751560e-01, -2.01915674e-03,  9.05881328e-02, -4.33680869e-19,
       -9.95888443e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.130171  , -0.08482051,  0.1747028 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014762666437167663
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98050175, -0.19371923,  0.03300265, -0.19360959,  0.98105701,
        0.00651669, -0.03363989,  0.        , -0.99943402])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12903929, -0.0822456 ,  0.11214721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002646068930885505
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51737116, -0.83823103, -0.17232476, -0.09050987, -0.14664169,
        0.98504019, -0.85096125,  0.52522848,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500538, -0.03705593,  0.30545275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004016762861811518
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.90993633e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.90993633e-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([ 0.05353342, -0.06062109,  0.061991  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.66570585e-03, 1.20812814e-01, 5.69381478e-02, 9.80437441e-03,
  2.96330413e-02, 3.15922539e-01, 1.24221477e-01, 4.63121229e-02,
 -2.78110217e-05,-1.58117695e-03,-4.05012208e-04,-5.30331787e-04,
  4.10968913e-02, 6.81743818e-03, 4.66285252e-03,-1.01065674e-04,
  8.15728312e-07, 3.17016538e-06,-9.80999172e+00,-6.51464755e-02,
 -9.61517942e-03,-5.16090540e-03]


--- Step 2185 ---
qpos:
[-0.00184439, 0.19576243,-0.03622594, 0.2159798 ,-0.0229488 , 0.01121594,
 -0.10329317, 0.17767178, 0.01265453, 0.3359082 ,-0.01473112, 0.24831795,
  0.82028959,-0.00983311, 1.15702025, 0.04606738, 0.09473081,-0.06444164,
  0.14274907, 0.94761013,-0.03328667, 0.02686507, 0.31655221]

qacc:
[ 1.04305954e+01,-3.48965407e+01, 1.10180617e+02,-1.08386549e+02,
  1.92654695e+01,-2.30279488e+01, 8.00765648e+01,-1.06418945e+02,
 -9.79104501e-01,-2.13542671e+00,-9.25505160e+00, 2.74775996e+01,
 -5.83006940e-01, 3.32067890e+00, 1.37020475e+00,-1.08405063e+00,
  1.97269225e-02, 7.76800966e-03,-8.32238317e-03, 4.35606239e-01,
 -1.99694529e-01, 1.20744965e+00]

qfrc_actuator:
[-0.00639453, 0.12782557, 0.01442806, 0.10405447, 0.01564192, 0.32285298,
  0.08297101, 0.12485199,-0.00038449, 0.21292185, 0.00215806, 0.14987617,
  0.04891815, 0.01419693, 0.00052991,-0.00187086, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008780487022675953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65923467e-01, -6.42413278e-01,  2.58151815e-02,  1.97790450e-02,
        1.65895441e-02,  9.99666733e-01, -6.42627445e-01,  7.66178809e-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([ 0.1086414 , -0.03966641,  0.13230609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.55698317, 1.27308673, 0.89635193, 1.27308673, 1.50877008,
       0.06847696, 0.89635193, 0.06847696, 1.4597255 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00037489782720219033
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9902918 , -0.02245092, -0.1371791 , -0.02223857,  0.99974795,
       -0.00308057,  0.13721368,  0.        , -0.99054147])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12975196, -0.08382057,  0.17918879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14160875,  1.08411486, -0.35772266,  1.08411486,  1.32329803,
        0.55062783, -0.35772266,  0.55062783,  2.81034233,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000614921846433046
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99557151, -0.02257062, -0.09125751, -0.02247639,  0.99974525,
       -0.00206026,  0.09128076,  0.        , -0.9958252 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1301678 , -0.08482794,  0.17470309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014803486934157897
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80498346e-01, -1.93734661e-01,  3.30132558e-02, -1.93624940e-01,
        9.81053964e-01,  6.51932733e-03, -3.36508052e-02, -8.67361738e-19,
       -9.99433651e-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([ 0.12903461, -0.08224559,  0.11215195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026359451456006304
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51736991, -0.83828949, -0.17204392, -0.09035765, -0.14640562,
        0.98508928, -0.85097818,  0.52520104,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10500003, -0.03707313,  0.30545693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004021356984245661
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38040844e-13, -1.38040844e-13,  1.00000000e+00, -1.90552746e-26,
        1.00000000e+00,  1.38040844e-13, -1.00000000e+00,  0.00000000e+00,
       -1.38040844e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05353271, -0.06062104,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.94882129e-03, 1.22067105e-01, 5.73797306e-02, 9.48435107e-03,
  2.98356812e-02, 3.16986208e-01, 1.24802925e-01, 4.60115787e-02,
 -4.10365737e-05,-1.06894664e-03,-3.96280718e-04,-3.21879051e-05,
  4.09778700e-02, 6.55125407e-03, 4.74816031e-03, 3.87056994e-05,
  4.58987160e-07, 3.69719006e-06,-9.80999097e+00,-6.51446683e-02,
 -9.61922012e-03,-5.15648325e-03]


--- Step 2186 ---
qpos:
[-0.00177927, 0.19572727,-0.03710794, 0.21785712,-0.0232278 , 0.0113349 ,
 -0.1041031 , 0.17924301, 0.01266776, 0.33993671,-0.01476618, 0.25130291,
  0.82051227,-0.00964611, 1.15712832, 0.04607004, 0.09472794,-0.06444669,
  0.14274938, 0.94760878,-0.03325658, 0.02684136, 0.31656143]

qacc:
[ 8.80793567e+00,-3.65049025e+01, 1.17508028e+02,-1.15543131e+02,
  2.32445964e+01,-2.38667446e+01, 8.19990519e+01,-1.08220053e+02,
 -2.59914021e-01, 2.16344947e+01,-1.22492327e+02, 2.89822268e+02,
 -5.26781429e-01, 2.90213787e+00, 9.95941452e-01,-1.62639184e-01,
  2.14243793e-02, 2.08853152e-02,-1.15472122e-02, 4.22742033e-01,
 -2.16096669e-01, 1.54583544e+00]

qfrc_actuator:
[-0.00643832, 0.1287842 , 0.01528645, 0.10365697, 0.01594651, 0.32352115,
  0.08381369, 0.12459326,-0.00040083, 0.21325118, 0.00223607, 0.1504156 ,
  0.04889633, 0.01409825, 0.00052016,-0.00185144, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008531782296547331
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65916285e-01, -6.42424454e-01,  2.57500368e-02,  1.97289144e-02,
        1.65479405e-02,  9.99668413e-01, -6.42637545e-01,  7.66170338e-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([ 0.10866001, -0.0396724 ,  0.13231156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.55925695, 1.2801833 , 0.8901758 , 1.2801833 , 1.49608523,
       0.09084877, 0.8901758 , 0.09084877, 1.42860514, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003764227650877586
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99029162, -0.02273   , -0.13713448, -0.02251514,  0.99974164,
       -0.00311787,  0.13716991,  0.        , -0.99054753])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12974676, -0.0838264 ,  0.17919081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14076392,  1.07069175, -0.39365148,  1.07069175,  1.34820691,
        0.56422371, -0.39365148,  0.56422371,  2.67539466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006143393359945004
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99550169, -0.02284958, -0.09194717, -0.02275274,  0.99973891,
       -0.0021015 ,  0.09197118,  0.        , -0.99576167])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13016478, -0.08483521,  0.17470327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001484403456830363
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98049403, -0.1937543 ,  0.03302603, -0.19364448,  0.98105009,
        0.00652254, -0.03366396,  0.        , -0.99943321])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12903005, -0.08224562,  0.11215675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002625850547491395
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51736488, -0.83835058, -0.17176116, -0.09020374, -0.14616833,
        0.98513862, -0.85099757,  0.52516962,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10499463, -0.03709049,  0.30546112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004025875197066209
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37885922e-13, -1.37885922e-13,  1.00000000e+00, -1.90125274e-26,
        1.00000000e+00,  1.37885922e-13, -1.00000000e+00,  0.00000000e+00,
       -1.37885922e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05353199, -0.06062099,  0.06199098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01612156e-02, 1.23310677e-01, 5.77227540e-02, 9.05054899e-03,
  3.00298634e-02, 3.17839102e-01, 1.25358053e-01, 4.58139765e-02,
 -1.10391903e-05,-4.93285669e-04,-2.40971136e-04, 4.66773192e-04,
  4.08581312e-02, 6.30193481e-03, 4.65459665e-03, 3.87928775e-05,
 -1.31976486e-07, 4.31640914e-06,-9.80999005e+00,-6.51428079e-02,
 -9.62335093e-03,-5.15199638e-03]


--- Step 2187 ---
qpos:
[-0.00171214, 0.19568591,-0.03797598, 0.21973578,-0.02350397, 0.01144922,
 -0.10490711, 0.18081293, 0.01268121, 0.34396198,-0.01480181, 0.25429238,
  0.82073578,-0.00945752, 1.15723422, 0.0460707 , 0.09472519,-0.06445168,
  0.14274962, 0.94760656,-0.03322537, 0.02681786, 0.31657334]

qacc:
[ 6.28251158e+00,-4.41655278e+01, 1.39077989e+02,-1.30507732e+02,
  2.45623781e+01,-2.46058344e+01, 8.40574264e+01,-1.10623983e+02,
  3.14588183e-01, 6.42544767e+00,-4.68824400e+01, 1.24883667e+02,
 -4.87827102e-01, 1.94284447e+00, 2.93019004e+00,-1.47673485e+01,
  3.12291094e-02, 1.49485084e-02,-1.75998367e-02, 5.13560218e-01,
 -1.10260513e-01, 1.42358540e+00]

qfrc_actuator:
[-0.00649235, 0.12967783, 0.01614725, 0.10300432, 0.01620375, 0.32403681,
  0.08460426, 0.12430738,-0.00039806, 0.21329534, 0.00228066, 0.15065785,
  0.04887514, 0.01389169, 0.00051567,-0.00200088, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008284581851532096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76590518, -0.64244033,  0.0256842 ,  0.01967815,  0.01650601,
        0.99967011, -0.64265234,  0.76615793,  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([ 0.10867849, -0.03967828,  0.13231722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.56155723, 1.3016228 , 0.86269293, 1.3016228 , 1.48579325,
       0.11431197, 0.86269293, 0.11431197, 1.38908444, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003779551184901828
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99029121, -0.02300642, -0.1370913 , -0.02278909,  0.99973532,
       -0.00315482,  0.1371276 ,  0.        , -0.99055339])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12974178, -0.08383198,  0.17919278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13994981,  1.05003267, -0.44375326,  1.05003267,  1.38216874,
        0.57315138, -0.44375326,  0.57315138,  2.49617123,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006137780792589598
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95431522e-01, -2.31258408e-02, -9.26352055e-02, -2.30263491e-02,
        9.99732562e-01, -2.14284010e-03,  9.26599863e-02, -4.33680869e-19,
       -9.95697809e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13016199, -0.08484225,  0.17470332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014883612504576927
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9804886 , -0.19377934,  0.03304058, -0.19366941,  0.98104514,
        0.00652629, -0.03367896,  0.        , -0.9994327 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12902568, -0.08224571,  0.1121616 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002615897400015551
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51735489, -0.83841478, -0.1714776 , -0.09004857, -0.14593088,
        0.98518802, -0.85102008,  0.52513315,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498915, -0.03710799,  0.30546529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004030434558720819
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75459881e-13, -6.88649703e-14,  1.00000000e+00, -1.89695365e-26,
        1.00000000e+00,  6.88649703e-14, -1.00000000e+00,  0.00000000e+00,
       -2.75459881e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05353127, -0.06062094,  0.06199097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03568798e-02, 1.24427841e-01, 5.80036331e-02, 8.35323206e-03,
  3.01536426e-02, 3.18569300e-01, 1.25860549e-01, 4.55903709e-02,
  1.31624196e-05,-4.03202919e-04,-1.19503394e-04, 2.09019411e-04,
  4.07534075e-02, 5.96399985e-03, 4.57474596e-03,-1.31838519e-04,
 -1.01733359e-06, 5.10546658e-06,-9.80998894e+00,-6.51408961e-02,
 -9.62757968e-03,-5.14744504e-03]


--- Step 2188 ---
qpos:
[-0.00164382, 0.19563675,-0.03882779, 0.22161624,-0.02377709, 0.01155857,
 -0.1057051 , 0.18238149, 0.01269514, 0.34797975,-0.01483526, 0.25728368,
  0.82095931,-0.00926841, 1.15733753, 0.04606867, 0.0947226 ,-0.06445661,
  0.14274976, 0.9476035 ,-0.03319305, 0.02679475, 0.31658786]

qacc:
[ 3.85551131e+00,-5.16563451e+01, 1.60696461e+02,-1.46106015e+02,
  2.65807391e+01,-2.53275491e+01, 8.60809426e+01,-1.13002292e+02,
  6.81330645e-01,-1.22810735e+01, 2.19511090e+01, 1.12251592e+01,
 -3.99838732e-01, 8.68441156e-01, 4.33407023e+00,-2.06630051e+01,
  3.75504664e-02, 1.64152919e-02,-2.38196829e-02, 5.37512748e-01,
 -2.35604511e-02, 1.40042175e+00]

qfrc_actuator:
[-0.00655282, 0.13048281, 0.01700258, 0.10214451, 0.01646688, 0.32455178,
  0.08539664, 0.1240235 ,-0.00038417, 0.21279658, 0.00233976, 0.15074087,
  0.04886498, 0.01365586, 0.00048798,-0.00214286, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008038530812571722
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76589047, -0.64246051,  0.02561805,  0.01962706,  0.01646399,
        0.9996718 , -0.64267143,  0.76614191,  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([ 0.10869692, -0.03968408,  0.13232307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.56391763, 1.31965835, 0.83924977, 1.31965835, 1.47874388,
       0.13392943, 0.83924977, 0.13392943, 1.35332348, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003795168205451375
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90290674e-01, -2.32800504e-02, -1.37048972e-01, -2.30602666e-02,
        9.99728983e-01, -3.19137191e-03,  1.37086125e-01,  4.33680869e-19,
       -9.90559132e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12973704, -0.08383734,  0.17919472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13919504,  1.02816941, -0.49054358,  1.02816941,  1.41404588,
        0.5760818 , -0.49054358,  0.5760818 ,  2.34665083,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006132577875332801
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99536099, -0.02339924, -0.0933219 , -0.02329707,  0.9997262 ,
       -0.00218426,  0.09334745,  0.        , -0.99563359])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13015945, -0.08484908,  0.1747032 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014922070459249027
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98048212, -0.19380933,  0.0330568 , -0.19369928,  0.98103922,
        0.00653054, -0.0336957 ,  0.        , -0.99943214])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12902154, -0.08224586,  0.1121665 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000260568760909169
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17340428e-01, -8.38481440e-01, -1.71195084e-01, -8.98932182e-02,
       -1.45694771e-01,  9.85237151e-01, -8.51045293e-01,  5.25092286e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10498363, -0.03712554,  0.30546951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004035063150759771
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37571952e-13, -1.37571952e-13,  1.00000000e+00, -1.89260419e-26,
        1.00000000e+00,  1.37571952e-13, -1.00000000e+00,  0.00000000e+00,
       -1.37571952e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05353055, -0.06062089,  0.06199095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05168379e-02, 1.25550796e-01, 5.81679816e-02, 7.42468014e-03,
  3.02756669e-02, 3.19317258e-01, 1.26361009e-01, 4.53704798e-02,
  2.84572234e-05,-8.81314684e-04,-8.02645830e-05, 5.27067496e-05,
  4.07021616e-02, 5.64534388e-03, 4.65319004e-03,-1.73974725e-04,
 -1.95955496e-06, 5.96093486e-06,-9.80998791e+00,-6.51388169e-02,
 -9.63182832e-03,-5.14284790e-03]


--- Step 2189 ---
qpos:
[-0.00157504, 0.1955815 ,-0.0396621 , 0.22349858,-0.02404691, 0.01166277,
 -0.10649702, 0.18394867, 0.0127094 , 0.35198382,-0.01486584, 0.2602815 ,
  0.82118212,-0.00907978, 1.15744031, 0.04606481, 0.09472015,-0.06446144,
  0.1427498 , 0.94759959,-0.03315979, 0.02677212, 0.31660495]

qacc:
[ 1.62783189e+00,-5.26874538e+01, 1.67192004e+02,-1.54059548e+02,
  2.86620629e+01,-2.57892749e+01, 8.74760871e+01,-1.14697166e+02,
  4.91492238e-01,-1.29404188e+01,-6.15894614e+00, 1.20758928e+02,
 -3.10982366e-01,-1.43040797e-01, 4.75359958e+00,-1.77236686e+01,
  3.84423006e-02, 2.27370978e-02,-2.74438743e-02, 4.70746210e-01,
  4.78398246e-02, 1.36296601e+00]

qfrc_actuator:
[-0.0066349 , 0.13120317, 0.0178645 , 0.10135469, 0.01671441, 0.32505079,
  0.08618767, 0.1238479 ,-0.00038168, 0.21181785, 0.00236954, 0.15104877,
  0.04885083, 0.01338515, 0.00049442,-0.00220787, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007793598409541701
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76587222, -0.64248489,  0.02555192,  0.01957589,  0.01642208,
        0.9996735 , -0.64269473,  0.76612237,  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([ 0.10871536, -0.03968982,  0.13232912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.56635891, 1.33020355, 0.82706634, 1.33020355, 1.47639566,
       0.14469145, 0.82706634, 0.14469145, 1.33364592, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003811208113674546
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90290056e-01, -2.35506528e-02, -1.37007193e-01, -2.33284475e-02,
        9.99722645e-01, -3.22750400e-03,  1.37045203e-01,  4.33680869e-19,
       -9.90564795e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12973256, -0.08384245,  0.17919663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13851635,  1.01045817, -0.52458913,  1.01045817,  1.43932908,
        0.57942238, -0.52458913,  0.57942238,  2.25459375,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006127899907668155
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99529008, -0.02366956, -0.09400752, -0.02356468,  0.99971984,
       -0.00222574,  0.09403386,  0.        , -0.995569  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13015718, -0.08485569,  0.17470285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014959169717111644
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80474635e-01, -1.93844171e-01,  3.30745768e-02, -1.93733975e-01,
        9.81032332e-01,  6.53527281e-03, -3.37140538e-02, -8.67361738e-19,
       -9.99431520e-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([ 0.12901766, -0.08224607,  0.11217146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025951436100266957
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51732159, -0.8385502 , -0.17091497, -0.08973843, -0.14546113,
        0.98528578, -0.85107308,  0.52504725,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10497808, -0.03714309,  0.30547378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004039880005393265
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.74815842e-13, -1.37407921e-13,  1.00000000e+00, -3.77618735e-26,
        1.00000000e+00,  1.37407921e-13, -1.00000000e+00,  0.00000000e+00,
       -2.74815842e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05352983, -0.06062084,  0.06199094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06579953e-02, 1.26667991e-01, 5.82240194e-02, 6.54281427e-03,
  3.03703960e-02, 3.20066940e-01, 1.26856226e-01, 4.52605814e-02,
  1.96075364e-05,-1.62653947e-03,-2.08394838e-04, 2.55869587e-04,
  4.06877611e-02, 5.34516585e-03, 4.78744081e-03,-1.04911523e-04,
 -3.00942995e-06, 6.86597569e-06,-9.80998693e+00,-6.51365788e-02,
 -9.63608695e-03,-5.13822416e-03]


--- Step 2190 ---
qpos:
[-0.0015063 , 0.19552805,-0.04048   , 0.22538211,-0.0243131 , 0.01176181,
 -0.1072828 , 0.18551448, 0.01272355, 0.35597403,-0.01489685, 0.2632956 ,
  0.82140379,-0.00889227, 1.15754665, 0.04606162, 0.09471784,-0.06446613,
  0.14274973, 0.9475948 ,-0.03312595, 0.02674988, 0.31662471]

qacc:
[ 2.78812692e-03,-4.06626718e+01, 1.42428925e+02,-1.45653557e+02,
  3.15150195e+01,-2.59493366e+01, 8.80012901e+01,-1.15273122e+02,
 -1.09567918e-01, 1.55601533e+01,-1.45842382e+02, 4.25360575e+02,
 -2.43725585e-01,-7.72886084e-01, 3.22141479e+00,-3.66289310e+00,
  3.13112394e-02, 3.79442022e-02,-2.61900230e-02, 2.90013304e-01,
  6.17138315e-02, 1.42538861e+00]

qfrc_actuator:
[-0.0067652 , 0.1320517 , 0.01870488, 0.10089009, 0.01696888, 0.32556015,
  0.0869754 , 0.1237911 ,-0.00040384, 0.21121719, 0.00238017, 0.15187675,
  0.04882372, 0.01311206, 0.00051058,-0.00211997, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007551906107886472
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76585054, -0.64251335,  0.0254861 ,  0.01952489,  0.01638048,
        0.99967518, -0.64272213,  0.76609939,  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([ 0.10873363, -0.03969548,  0.13233545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.56887433, 1.32704018, 0.83685783, 1.32704018, 1.47730763,
       0.14520112, 0.83685783, 0.14520112, 1.33862289, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003827617335616807
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99028937, -0.02381799, -0.13696594, -0.02359339,  0.99971631,
       -0.00326318,  0.13700481,  0.        , -0.99057038])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12972835, -0.08384728,  0.1791985 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13790488,  1.00168015, -0.53987442,  1.00168015,  1.45713846,
        0.5923043 , -0.53987442,  0.5923043 ,  2.23686314,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006123685605466712
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95218788e-01, -2.39365488e-02, -9.46921585e-02, -2.38289306e-02,
        9.99713480e-01, -2.26725309e-03,  9.47192975e-02, -4.33680869e-19,
       -9.95504020e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1301552 , -0.08486204,  0.17470228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014994732239304509
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98046617, -0.19388371,  0.03309376, -0.19377336,  0.98102452,
        0.00654045, -0.03373388,  0.        , -0.99943085])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12901404, -0.08224632,  0.11217646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002584518275788803
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17298486e-01, -8.38620871e-01, -1.70637954e-01, -8.95846219e-02,
       -1.45230531e-01,  9.85333795e-01, -8.51103326e-01,  5.24998218e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10497253, -0.03716058,  0.30547801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004045021981342878
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.05352912, -0.0606208 ,  0.06199093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08108076e-02, 1.27828522e-01, 5.81960079e-02, 5.98183893e-03,
  3.04599635e-02, 3.20835633e-01, 1.27344332e-01, 4.52706093e-02,
 -6.80493663e-06,-1.68204081e-03,-3.89407333e-04, 7.44409337e-04,
  4.06971321e-02, 5.09315709e-03, 4.82756803e-03, 7.36433476e-05,
 -4.13881837e-06, 7.75349677e-06,-9.80998606e+00,-6.51341917e-02,
 -9.64032651e-03,-5.13359332e-03]


--- Step 2191 ---
qpos:
[-0.00143812, 0.19547862,-0.04128125, 0.22726665,-0.02457528, 0.01185553,
 -0.10806244, 0.1870789 , 0.01273729, 0.3599553 ,-0.01492996, 0.26631716,
  0.82162396,-0.0087063 , 1.15765667, 0.04605977, 0.09471562,-0.0644706 ,
  0.14274956, 0.94758904,-0.03309178, 0.02672796, 0.31664738]

qacc:
[-1.56361858e+00,-3.87910409e+01, 1.40683259e+02,-1.48835762e+02,
  3.47086140e+01,-2.61516284e+01, 8.84304355e+01,-1.15542832e+02,
 -5.44362300e-01, 9.05329471e+00,-7.83969935e+01, 2.10752654e+02,
 -1.93427258e-01,-1.23677516e+00, 1.40429445e+00, 2.97014324e+00,
  2.55894923e-02, 5.16506314e-02,-2.43758950e-02, 1.49469827e-01,
  5.95193058e-02, 1.53821788e+00]

qfrc_actuator:
[-0.00688859, 0.13288291, 0.01952643, 0.10038978, 0.01724361, 0.32597127,
  0.08774092, 0.12384162,-0.00044049, 0.21118631, 0.00241695, 0.15227655,
  0.04878887, 0.01287387, 0.00044703,-0.0020486 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007319521425024201
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65825227e-01, -6.42546115e-01,  2.54207104e-02,  1.94741145e-02,
        1.63392589e-02,  9.99676842e-01, -6.42753826e-01,  7.66072790e-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([ 0.10875117, -0.03970092,  0.13234235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.57142039, 1.3224094 , 0.84887891, 1.3224094 , 1.47813917,
       0.14531632, 0.84887891, 0.14531632, 1.3450422 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003844106514080502
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90288548e-01, -2.40817274e-02, -1.36925752e-01, -2.38547769e-02,
        9.99709993e-01, -3.29836517e-03,  1.36965472e-01, -4.33680869e-19,
       -9.90575822e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1297244 , -0.08385176,  0.17920032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13731918,  0.99478095, -0.55127649,  0.99478095,  1.47155436,
        0.6031289 , -0.55127649,  0.6031289 ,  2.22566804,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000611964927599548
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95147136e-01, -2.41998780e-02, -9.53757970e-02, -2.40894942e-02,
        9.99707140e-01, -2.30875880e-03,  9.54037369e-02, -4.33680869e-19,
       -9.95438661e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13015348, -0.08486807,  0.17470153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015028522508291088
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80456691e-01, -1.93928167e-01,  3.31140833e-02, -1.93817656e-01,
        9.81015732e-01,  6.54602498e-03, -3.37548952e-02,  8.67361738e-19,
       -9.99430141e-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([ 0.12901069, -0.08224663,  0.11218151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025744567521945443
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51727079, -0.83869364, -0.17036405, -0.08943173, -0.14500301,
        0.98538119, -0.85113624,  0.52494485,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496703, -0.03717795,  0.30548205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040506145772005453
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37043775e-13, -6.85218874e-14,  1.00000000e+00, -9.39049812e-27,
        1.00000000e+00,  6.85218874e-14, -1.00000000e+00,  0.00000000e+00,
       -1.37043775e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05352842, -0.06062075,  0.06199092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09310753e-02, 1.28576714e-01, 5.82033074e-02, 5.42020291e-03,
  3.05531882e-02, 3.21507271e-01, 1.27807728e-01, 4.53881326e-02,
 -2.61241455e-05,-1.15919323e-03,-3.79800736e-04, 3.17476254e-04,
  4.07199064e-02, 4.90725564e-03, 4.58448350e-03, 1.11156677e-04,
 -5.39722239e-06, 8.61628011e-06,-9.80998528e+00,-6.51317194e-02,
 -9.64454004e-03,-5.12896852e-03]


--- Step 2192 ---
qpos:
[-0.0013709 , 0.19543052,-0.0420641 , 0.22915254,-0.02483291, 0.01194362,
 -0.10883596, 0.18864195, 0.0127507 , 0.36393017,-0.01496476, 0.26934321,
  0.82184232,-0.00852222, 1.15777216, 0.04606106, 0.09471348,-0.06447479,
  0.1427493 , 0.9475821 ,-0.03305755, 0.0267062 , 0.31667356]

qacc:
[-2.73675464e+00,-4.64140513e+01, 1.61137830e+02,-1.63478593e+02,
  3.95451650e+01,-2.65022050e+01, 8.90143956e+01,-1.15729091e+02,
 -4.14422779e-01, 5.21790500e+00,-4.82954403e+01, 1.29278283e+02,
 -1.47953737e-01,-1.62033787e+00,-1.46653218e+00, 1.68173752e+01,
  1.89344572e-02, 7.28521907e-02,-2.30467243e-02,-8.68951447e-03,
  2.45177299e-02, 1.85489764e+00]

qfrc_actuator:
[-0.00697181, 0.13345227, 0.02032987, 0.09974349, 0.01752868, 0.32623689,
  0.0885084 , 0.12388609,-0.00046772, 0.21119613, 0.00245354, 0.15252826,
  0.0487548 , 0.01263974, 0.00043136,-0.00186382, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007098473896229332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76579598, -0.64258354,  0.02535578,  0.0194236 ,  0.01629845,
        0.99967849, -0.6427902 ,  0.76604227,  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([ 0.10876778, -0.03970609,  0.13234991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.57395996, 1.31188733, 0.86965602, 1.31188733, 1.47666145,
       0.14677606, 0.86965602, 0.14677606, 1.35254638, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00038604352117667466
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99028753, -0.0243415 , -0.13688716, -0.02411223,  0.9997037 ,
       -0.00333303,  0.13692773,  0.        , -0.99058104])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1297207 , -0.08385583,  0.17920208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13672431,  0.98778415, -0.56251635,  0.98778415,  1.4889725 ,
        0.61855122, -0.56251635,  0.61855122,  2.22290624,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006115550087075147
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95075123e-01, -2.44591789e-02, -9.60585620e-02, -2.43460041e-02,
        9.99700830e-01, -2.35021667e-03,  9.60873085e-02,  4.33680869e-19,
       -9.95372910e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13015203, -0.0848737 ,  0.17470064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015060189801948593
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80446131e-01, -1.93977955e-01,  3.31351445e-02, -1.93867272e-01,
        9.81005888e-01,  6.55193576e-03, -3.37767029e-02, -8.67361738e-19,
       -9.99429404e-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([ 0.12900762, -0.082247  ,  0.1121866 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025653235314487593
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.517238  , -0.83876867, -0.17009402, -0.08928009, -0.14477928,
        0.98542784, -0.85117208,  0.52488674,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10496154, -0.03719512,  0.30548578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004056729150792304
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36837213e-13, -1.36837213e-13,  1.00000000e+00, -1.87244230e-26,
        1.00000000e+00,  1.36837213e-13, -1.00000000e+00,  0.00000000e+00,
       -1.36837213e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05352774, -0.06062071,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09858129e-02, 1.28952512e-01, 5.81797302e-02, 4.72138307e-03,
  3.06381569e-02, 3.22040633e-01, 1.28272595e-01, 4.54995871e-02,
 -2.01871531e-05,-8.41846137e-04,-2.85657265e-04, 1.83291793e-04,
  4.07616944e-02, 4.74693148e-03, 4.38216154e-03, 2.28781388e-04,
 -6.83082619e-06, 9.52186109e-06,-9.80998453e+00,-6.51292038e-02,
 -9.64873167e-03,-5.12435919e-03]


--- Step 2193 ---
qpos:
[-0.00130507, 0.19538635,-0.04282869, 0.23103953,-0.02508556, 0.01202556,
 -0.10960331, 0.19020363, 0.01276362, 0.36789603,-0.01499983, 0.27238634,
  0.82205871,-0.00834023, 1.15788944, 0.04606369, 0.09471145,-0.06447868,
  0.14274895, 0.94757389,-0.03302305, 0.02668466, 0.31670354]

qacc:
[-4.13720316e+00,-4.31407173e+01, 1.55549184e+02,-1.64194816e+02,
  4.29954970e+01,-2.72698687e+01, 9.07340799e+01,-1.16952894e+02,
 -6.22042709e-01, 2.31707523e+01,-1.66430735e+02, 4.54435246e+02,
 -8.78327096e-02,-1.88474213e+00,-1.42547899e+00, 8.73444567e+00,
  2.51635489e-02, 7.25476921e-02,-2.22672769e-02, 8.61909280e-02,
  2.29078807e-02, 2.01184493e+00]

qfrc_actuator:
[-0.00703031, 0.13386557, 0.02109628, 0.0993284 , 0.01781778, 0.32648869,
  0.08931013, 0.12390972,-0.00050699, 0.21080534, 0.00247266, 0.15340121,
  0.04872126, 0.01244452, 0.00043349,-0.00184412, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000688757601548616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65761966e-01, -6.42626613e-01,  2.52912537e-02,  1.93732772e-02,
        1.62580332e-02,  9.99680125e-01, -6.42832239e-01,  7.66006993e-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([ 0.10878364, -0.03971104,  0.13235807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.57645776, 1.31575257, 0.86833995, 1.31575257, 1.46853871,
       0.1635244 , 0.86833995, 0.1635244 , 1.32867733, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00038763815679666115
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99028622, -0.02459674, -0.13685103, -0.02436519,  0.99969745,
       -0.00336711,  0.13689245,  0.        , -0.99058592])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12971728, -0.08385936,  0.17920377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13608886,  0.97413213, -0.58460626,  0.97413213,  1.49720852,
        0.60173536, -0.58460626,  0.60173536,  2.13876329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006111171533861128
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99500273, -0.02471389, -0.09674081, -0.0245979 ,  0.99969457,
       -0.00239157,  0.09677036,  0.        , -0.99530674])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13015086, -0.0848788 ,  0.17469965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001509206097844342
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98051991, -0.19359492,  0.03319211, -0.19348409,  0.98108155,
        0.00654973, -0.03383216,  0.        , -0.99942753])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12900388, -0.08224233,  0.11219215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000255765337834101
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.17198943e-01, -8.38846541e-01, -1.69828542e-01, -8.91298763e-02,
       -1.44560018e-01,  9.85473625e-01, -8.51211559e-01,  5.24822715e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495608, -0.03721204,  0.3054891 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040634886428485284
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36609589e-13, -2.04914383e-13,  1.00000000e+00, -2.79932696e-26,
        1.00000000e+00,  2.04914383e-13, -1.00000000e+00,  0.00000000e+00,
       -1.36609589e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05352708, -0.06062067,  0.06199089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09962399e-02, 1.29305372e-01, 5.80315472e-02, 4.23592994e-03,
  3.06990249e-02, 3.22576757e-01, 1.28772962e-01, 4.55900889e-02,
 -3.11318661e-05,-1.05091399e-03,-2.30688066e-04, 8.18473657e-04,
  4.08186638e-02, 4.64317515e-03, 4.10839555e-03, 9.04408274e-05,
 -8.64902674e-06, 1.06255504e-05,-9.80998370e+00,-6.51267208e-02,
 -9.65292985e-03,-5.11976894e-03]


--- Step 2194 ---
qpos:
[-0.00124124, 0.19534965,-0.04357594, 0.23292713,-0.0253332 , 0.01210126,
 -0.11036429, 0.19176395, 0.0127759 , 0.37184939,-0.01503364, 0.27544603,
  0.82227306,-0.00816054, 1.15800394, 0.04606455, 0.09470955,-0.06448237,
  0.14274851, 0.94756457,-0.03298796, 0.02666358, 0.31673685]

qacc:
[-6.02754603e+00,-3.68429184e+01, 1.41897471e+02,-1.59998894e+02,
  4.34763269e+01,-2.79220199e+01, 9.28234624e+01,-1.19009603e+02,
 -7.83136986e-01, 1.32055785e+01,-1.35617554e+02, 4.15441125e+02,
  4.45583084e-02,-2.21200204e+00, 1.16130307e+00,-1.01545610e+01,
  3.61419251e-02, 5.17342447e-02,-2.18389375e-02, 2.92824647e-01,
  7.42779812e-02, 1.76651754e+00]

qfrc_actuator:
[-0.00707315, 0.13423538, 0.0218865 , 0.09922928, 0.01805382, 0.32684146,
  0.09009441, 0.12376162,-0.00055317, 0.21009059, 0.00249833, 0.1542242 ,
  0.04868813, 0.01222034, 0.00036654,-0.00199392, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006688995514063604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65722790e-01, -6.42675812e-01,  2.52271357e-02,  1.93231424e-02,
        1.62180314e-02,  9.99681745e-01, -6.42880412e-01,  7.65966563e-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([ 0.10879855, -0.03971572,  0.13236692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.57894476, 1.33084279, 0.84966112, 1.33084279, 1.46137404,
       0.18415358, 0.84966112, 0.18415358, 1.29050097, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003892148427645381
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90284623e-01, -2.48470609e-02, -1.36817355e-01, -2.46132613e-02,
        9.99691264e-01, -3.40055904e-03,  1.36859609e-01,  4.33680869e-19,
       -9.90590454e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12971415, -0.08386234,  0.17920538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13543961,  0.95641948, -0.6119517 ,  0.95641948,  1.49836444,
        0.56721532, -0.6119517 ,  0.56721532,  2.0219406 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006106698314453412
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99492994, -0.02496362, -0.09742298, -0.02484479,  0.99968836,
       -0.00243279,  0.09745335,  0.        , -0.99524009])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13014999, -0.08488334,  0.17469853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001511873517593732
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80510776e-01, -1.93637617e-01,  3.32128286e-02, -1.93526624e-01,
        9.81073123e-01,  6.55532480e-03, -3.38535710e-02, -8.67361738e-19,
       -9.99426804e-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([ 0.12900147, -0.08224261,  0.1121973 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025510648046946446
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51715312, -0.8389273 , -0.16956898, -0.08898173, -0.14434642,
        0.98551832, -0.8512549 ,  0.52475242,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10495062, -0.03722869,  0.30549209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004070737399888419
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.36366328e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.36366328e-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([ 0.05352644, -0.06062063,  0.06199088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09685646e-02, 1.29484942e-01, 5.79140094e-02, 4.08004462e-03,
  3.06867650e-02, 3.23239272e-01, 1.29253453e-01, 4.55085704e-02,
 -4.03136317e-05,-1.45301408e-03,-2.38396812e-04, 7.74294239e-04,
  4.08850103e-02, 4.52023618e-03, 3.94994605e-03,-1.26445346e-04,
 -1.08019609e-05, 1.20008709e-05,-9.80998274e+00,-6.51242102e-02,
 -9.65714651e-03,-5.11519671e-03]


--- Step 2195 ---
qpos:
[-0.00117993, 0.19532046,-0.04430589, 0.23481522,-0.02557569, 0.01217081,
 -0.11111866, 0.19332292, 0.01278802, 0.37578805,-0.01506526, 0.27850626,
  0.8224856 ,-0.00798325, 1.15811682, 0.04606372, 0.09470782,-0.0644859 ,
  0.14274799, 0.94755423,-0.03295212, 0.02664298, 0.31677324]

qacc:
[-7.59332002e+00,-3.69776838e+01, 1.42943494e+02,-1.63096524e+02,
  4.45224616e+01,-2.83965453e+01, 9.45965765e+01,-1.20893278e+02,
 -1.65959906e-01,-2.44338353e+01, 5.64285862e+01,-3.90403789e+01,
  2.27286539e-01,-2.44683612e+00, 2.69064226e+00,-1.30090938e+01,
  3.92518532e-02, 4.16560338e-02,-2.09244875e-02, 3.74317184e-01,
  7.99985490e-02, 1.63812374e+00]

qfrc_actuator:
[-0.00712318, 0.13455622, 0.02268465, 0.09914225, 0.01829148, 0.32725737,
  0.09083004, 0.12347551,-0.00056766, 0.20924181, 0.00254425, 0.15422979,
  0.04866597, 0.01199758, 0.00033837,-0.00206534, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000650511644545732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76567911, -0.64273035,  0.02516354,  0.0192733 ,  0.01617849,
        0.99968335, -0.64293393,  0.76592164,  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([ 0.10881227, -0.0397201 ,  0.13237658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.5814725 , 1.33956896, 0.84060113, 1.33956896, 1.45651765,
       0.19912611, 0.84060113, 0.19912611, 1.26414821, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00039080621928190573
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90282866e-01, -2.50924007e-02, -1.36785297e-01, -2.48564009e-02,
        9.99685136e-01, -3.43335251e-03,  1.36828379e-01,  4.33680869e-19,
       -9.90594768e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12971133, -0.08386487,  0.17920693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13482075,  0.94103222, -0.63425271,  0.94103222,  1.50089263,
        0.54313593, -0.63425271,  0.54313593,  1.94066423,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006102434784767334
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99485675, -0.0252083 , -0.09810497, -0.02508662,  0.99968222,
       -0.00247385,  0.09813616,  0.        , -0.995173  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13014943, -0.08488745,  0.17469725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001514267552342299
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98050053, -0.19368587,  0.03323383, -0.1935747 ,  0.9810636 ,
        0.00656117, -0.03387531,  0.        , -0.99942607])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12899942, -0.08224295,  0.11220249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025447231377183474
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5171015 , -0.83901019, -0.16931607, -0.08883623, -0.14413901,
        0.9855618 , -0.85130145,  0.52467689,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10494518, -0.03724512,  0.30549497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004078199193198878
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.72233643e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.72233643e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0535258 , -0.06062059,  0.06199086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.09179535e-02, 1.29438212e-01, 5.78506759e-02, 3.96013955e-03,
  3.06733082e-02, 3.23969531e-01, 1.29674687e-01, 4.52884704e-02,
 -1.06393640e-05,-1.81455983e-03,-3.03103354e-04,-6.09685997e-05,
  4.09650072e-02, 4.40922230e-03, 4.05880649e-03,-1.10281416e-04,
 -1.28987666e-05, 1.33933740e-05,-9.80998182e+00,-6.51215393e-02,
 -9.66133577e-03,-5.11064127e-03]


--- Step 2196 ---
qpos:
[-1.12160745e-03, 1.95299028e-01,-4.50187004e-02, 2.36703613e-01,
 -2.58129074e-02, 1.22342801e-02,-1.11866147e-01, 1.94880547e-01,
  1.28000834e-02, 3.79710630e-01,-1.50954131e-02, 2.81558257e-01,
  8.22696664e-01,-7.80839151e-03, 1.15822870e+00, 4.60608708e-02,
  9.47062538e-02,-6.44892920e-02, 1.42747384e-01, 9.47542925e-01,
 -3.29153216e-02, 2.66229337e-02, 3.16812573e-01]

qacc:
[-9.09165844e+00,-3.64949126e+01, 1.42429365e+02,-1.65400357e+02,
  4.55906601e+01,-2.90262679e+01, 9.69401514e+01,-1.23504965e+02,
 -3.14517438e-02,-4.17771353e+01, 1.49603533e+02,-2.73621418e+02,
  4.78844793e-01,-2.68032261e+00, 4.53072396e+00,-1.81678819e+01,
  4.31435859e-02, 3.12436532e-02,-2.16211238e-02, 4.82520906e-01,
  6.96580722e-02, 1.56745961e+00]

qfrc_actuator:
[-7.19397376e-03, 1.34826917e-01, 2.34096258e-02, 9.89736096e-02,
  1.85279903e-02, 3.27749073e-01, 9.15691976e-02, 1.23000611e-01,
 -5.81099061e-04, 2.08390843e-01, 2.58313930e-03, 1.53807608e-01,
  4.86557762e-02, 1.18299528e-02, 2.85540934e-04,-2.16009430e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006335871355865536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76563126, -0.64278981,  0.02510046,  0.01922375,  0.0161394 ,
        0.99968493, -0.64299239,  0.76587256,  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([ 0.1088248 , -0.03972419,  0.13238703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.58405808, 1.35149043, 0.82626487, 1.35149043, 1.45045602,
       0.21852788, 0.82626487, 0.21852788, 1.22662024, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00039242255616421843
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90280992e-01, -2.53326415e-02, -1.36754574e-01, -2.50944867e-02,
        9.99679077e-01, -3.46546674e-03,  1.36798476e-01, -4.33680869e-19,
       -9.90598898e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12970881, -0.08386701,  0.17920843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13424696,  0.92206695, -0.6605367 ,  0.92206695,  1.49949257,
        0.50985949, -0.6605367 ,  0.50985949,  1.84597818,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006098482081819792
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.94783214e-01, -2.54478140e-02, -9.87864667e-02, -2.53232591e-02,
        9.99676152e-01, -2.51471401e-03,  9.88184689e-02, -4.33680869e-19,
       -9.95105477e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1301492 , -0.08489119,  0.17469578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001516426041015335
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80489243e-01, -1.93739307e-01,  3.32554648e-02, -1.93627966e-01,
        9.81053047e-01,  6.56732143e-03, -3.38977234e-02, -8.67361738e-19,
       -9.99425307e-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([ 0.12899771, -0.08224335,  0.11220772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002538372624482745
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51704458, -0.83909503, -0.16906929, -0.08869317, -0.1439373 ,
        0.98560417, -0.85135094,  0.52459658,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493979, -0.03726138,  0.30549781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040857575182939865
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.35865016e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.35865016e-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([ 0.05352516, -0.06062055,  0.06199084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08628265e-02, 1.29339156e-01, 5.77149528e-02, 3.76496799e-03,
  3.06525677e-02, 3.24771858e-01, 1.30088136e-01, 4.48789915e-02,
 -4.01571486e-06,-2.06660802e-03,-4.20827566e-04,-5.22482463e-04,
  4.10464096e-02, 4.35838848e-03, 4.08425883e-03,-1.20678039e-04,
 -1.50109912e-05, 1.48054295e-05,-9.80998089e+00,-6.51187214e-02,
 -9.66549955e-03,-5.10609742e-03]


--- Step 2197 ---
qpos:
[-1.06683631e-03, 1.95284647e-01,-4.57142808e-02, 2.38592229e-01,
 -2.60448096e-02, 1.22917267e-02,-1.12606408e-01, 1.96436830e-01,
  1.28124053e-02, 3.83617155e-01,-1.51258497e-02, 2.84604461e-01,
  8.22906551e-01,-7.63617045e-03, 1.15833897e+00, 4.60546833e-02,
  9.47048962e-02,-6.44926281e-02, 1.42746675e-01, 9.47530737e-01,
 -3.28772469e-02, 2.66035569e-02, 3.16854602e-01]

qacc:
[-1.08177950e+01,-3.78338579e+01, 1.46136926e+02,-1.69993363e+02,
  4.59907545e+01,-2.98675828e+01, 1.00054550e+02,-1.27166713e+02,
  3.40242727e-01,-3.20023794e+01, 1.05531640e+02,-1.87482692e+02,
  7.97942722e-01,-3.13996197e+00, 7.61683037e+00,-3.03396413e+01,
  5.14896038e-02, 1.52082519e-02,-2.53672718e-02, 6.62617581e-01,
  8.39451987e-02, 1.44697910e+00]

qfrc_actuator:
[-7.27573462e-03, 1.35135267e-01, 2.41016981e-02, 9.86494603e-02,
  1.87616203e-02, 3.28306399e-01, 9.22898062e-02, 1.22341961e-01,
 -5.76205509e-04, 2.07687823e-01, 2.59989675e-03, 1.53527860e-01,
  4.86527905e-02, 1.16608906e-02, 2.44542700e-04,-2.33887066e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006181312956236271
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65579447e-01, -6.42853964e-01,  2.50377977e-02,  1.91744344e-02,
        1.61006950e-02,  9.99686505e-01, -6.43055558e-01,  7.65819528e-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([ 0.10883615, -0.03972801,  0.13239827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.58673062, 1.37147022, 0.79798716, 1.37147022, 1.44587402,
       0.24208489, 0.79798716, 0.24208489, 1.17066852, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003940812449214605
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99027905, -0.02556766, -0.13672493, -0.0253274 ,  0.99967309,
       -0.00349688,  0.13676964,  0.        , -0.99060288])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1297066 , -0.08386881,  0.17920989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13374424,  0.89740289, -0.69285212,  0.89740289,  1.49058694,
        0.4621934 , -0.69285212,  0.4621934 ,  1.73239102,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006095019122177328
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99470937, -0.02568205, -0.09946712, -0.0255546 ,  0.99967016,
       -0.00255536,  0.09949993,  0.        , -0.99503757])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13014929, -0.08489462,  0.17469411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015183928189909054
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98047692, -0.19379774,  0.0332783 , -0.19368621,  0.98104151,
        0.00657389, -0.0339214 ,  0.        , -0.9994245 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12899633, -0.08224381,  0.112213  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025316665011951577
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16982660e-01, -8.39181719e-01, -1.68828234e-01, -8.85523956e-02,
       -1.43740898e-01,  9.85645488e-01, -8.51403196e-01,  5.24511770e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10493448, -0.03727756,  0.3055007 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004093342315981685
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.71226528e-13, -6.78066320e-14,  1.00000000e+00, -1.83909574e-26,
        1.00000000e+00,  6.78066320e-14, -1.00000000e+00,  0.00000000e+00,
       -2.71226528e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05352452, -0.06062051,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07945711e-02, 1.29264093e-01, 5.75544846e-02, 3.42298401e-03,
  3.06226986e-02, 3.25636140e-01, 1.30469041e-01, 4.42854401e-02,
  1.54939151e-05,-2.10238173e-03,-5.24726638e-04,-4.03583872e-04,
  4.11172345e-02, 4.30774613e-03, 4.09097283e-03,-1.99355263e-04,
 -1.72108278e-05, 1.62861069e-05,-9.80997990e+00,-6.51157473e-02,
 -9.66966245e-03,-5.10155697e-03]


--- Step 2198 ---
qpos:
[-1.01605958e-03, 1.95274010e-01,-4.63914843e-02, 2.40481316e-01,
 -2.62712511e-02, 1.23435484e-02,-1.13339155e-01, 1.97991756e-01,
  1.28252138e-02, 3.87507483e-01,-1.51569380e-02, 2.87644814e-01,
  8.23115354e-01,-7.46694303e-03, 1.15845184e+00, 4.60471339e-02,
  9.47037241e-02,-6.44958916e-02, 1.42745857e-01, 9.47517710e-01,
 -3.28380620e-02, 2.65847953e-02, 3.16899194e-01]

qacc:
[-1.21645567e+01,-4.48505271e+01, 1.63672998e+02,-1.82195190e+02,
  4.72125032e+01,-3.01334017e+01, 1.01781224e+02,-1.29684659e+02,
  6.10025289e-01,-3.12765819e+01, 1.02882817e+02,-1.85054489e+02,
  1.03803275e+00,-3.65240804e+00, 7.83326930e+00,-2.21040258e+01,
  4.63749857e-02, 1.81571313e-02,-2.75062827e-02, 5.75543841e-01,
  8.46329757e-02, 1.37199230e+00]

qfrc_actuator:
[-7.32681635e-03, 1.35410564e-01, 2.47493319e-02, 9.79834323e-02,
  1.90091215e-02, 3.29154009e-01, 9.30316933e-02, 1.21680119e-01,
 -5.60599570e-04, 2.06991225e-01, 2.60454509e-03, 1.53245670e-01,
  4.86488326e-02, 1.15099015e-02, 2.53341730e-04,-2.35289353e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006040826104551739
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65523990e-01, -6.42922423e-01,  2.49755665e-02,  1.91253612e-02,
        1.60623622e-02,  9.99688062e-01, -6.43123038e-01,  7.65762860e-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([ 0.10884637, -0.03973158,  0.13241027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.58954654, 1.37929858, 0.79005927, 1.37929858, 1.44591628,
       0.2507521 , 0.79005927, 0.2507521 , 1.15177938, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003958159158319935
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90277107e-01, -2.57974121e-02, -1.36695811e-01, -2.55550915e-02,
        9.99667191e-01, -3.52757216e-03,  1.36741319e-01,  4.33680869e-19,
       -9.90606790e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12970471, -0.08387034,  0.17921132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13336171,  0.87733666, -0.71748808,  0.87733666,  1.49914773,
        0.44727918, -0.71748808,  0.44727918,  1.68028985,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006092384231478234
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99463526, -0.02591094, -0.10014652, -0.0257806 ,  0.99966426,
       -0.00259576,  0.10018016,  0.        , -0.99496931])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13014971, -0.08489782,  0.17469217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015202258348496955
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98046361, -0.19386082,  0.03330317, -0.19374908,  0.98102904,
        0.00658103, -0.03394718,  0.        , -0.99942363])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12899525, -0.08224431,  0.11221833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002524014451462516
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51691627, -0.83926994, -0.16859283, -0.08841395, -0.14354969,
        0.98568578, -0.85145789,  0.52442298,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492929, -0.03729373,  0.30550377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004100901911915644
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.35363275e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.35363275e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05352388, -0.06062048,  0.06199081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06677410e-02, 1.29191420e-01, 5.73449332e-02, 2.74334545e-03,
  3.06043448e-02, 3.26787963e-01, 1.30854152e-01, 4.36890090e-02,
  3.00586535e-05,-2.13147526e-03,-5.52480749e-04,-4.08549085e-04,
  4.11727057e-02, 4.28570770e-03, 4.17832526e-03,-4.67936604e-05,
 -1.94614787e-05, 1.78022738e-05,-9.80997882e+00,-6.51125617e-02,
 -9.67383843e-03,-5.09701301e-03]


--- Step 2199 ---
qpos:
[-9.69741149e-04, 1.95269825e-01,-4.70511863e-02, 2.42370435e-01,
 -2.64925604e-02, 1.23911691e-02,-1.14064196e-01, 1.99545334e-01,
  1.28380865e-02, 3.91387082e-01,-1.51922299e-02, 2.90687476e-01,
  8.23322697e-01,-7.30102376e-03, 1.15856823e+00, 4.60392034e-02,
  9.47026652e-02,-6.44990943e-02, 1.42744956e-01, 9.47504296e-01,
 -3.27984879e-02, 2.65665551e-02, 3.16944926e-01]

qacc:
[-1.36302263e+01,-3.97227047e+01, 1.52422500e+02,-1.79157693e+02,
  4.43575279e+01,-2.87722987e+01, 9.96344085e+01,-1.28773543e+02,
  8.11527281e-02, 2.12958522e+00,-3.66343620e+01, 8.76725231e+01,
  9.79422841e-01,-3.90198362e+00, 6.23442036e+00,-1.45261219e+01,
  2.82999709e-02, 1.51959767e-02,-2.07083867e-02, 2.45514864e-01,
  1.71810597e-01, 6.14722684e-01]

qfrc_actuator:
[-7.35762680e-03, 1.35648760e-01, 2.53977675e-02, 9.76090142e-02,
  1.92449224e-02, 3.30532853e-01, 9.37831684e-02, 1.21531736e-01,
 -5.74403930e-04, 2.06961891e-01, 2.58465515e-03, 1.53408204e-01,
  4.86336737e-02, 1.14244238e-02, 2.06485654e-04,-2.35747025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000591219701492228
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65465073e-01, -6.42994966e-01,  2.49137697e-02,  1.90765419e-02,
        1.60244024e-02,  9.99689604e-01, -6.43194611e-01,  7.65702744e-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([ 0.1088557 , -0.03973497,  0.13242294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.59248999, 1.37473695, 0.80381755, 1.37473695, 1.46168541,
       0.22370982, 0.80381755, 0.22370982, 1.20988805, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00039761508560678347
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90275158e-01, -2.60217541e-02, -1.36667402e-01, -2.57774255e-02,
        9.99661377e-01, -3.55753020e-03,  1.36713697e-01, -4.33680869e-19,
       -9.90610602e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1297031 , -0.08387159,  0.17921272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13308664,  0.87503372, -0.71986201,  0.87503372,  1.53452731,
        0.48797426, -0.71986201,  0.48797426,  1.72624745,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006090489584270598
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.94560966e-01, -2.61343736e-02, -1.00824000e-01, -2.60011088e-02,
        9.99658439e-01, -2.63587240e-03,  1.00858449e-01,  4.33680869e-19,
       -9.94900786e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13015043, -0.08490078,  0.17468997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015219780981815547
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80449333e-01, -1.93928250e-01,  3.33307628e-02, -1.93816287e-01,
        9.81015715e-01,  6.58886133e-03, -3.39757685e-02, -8.67361738e-19,
       -9.99422657e-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([ 0.12899441, -0.08224486,  0.11222372])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025157446486991005
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51684563, -0.83935972, -0.1683623 , -0.08827746, -0.14336302,
        0.98572518, -0.85151494,  0.52433035,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10492424, -0.03730988,  0.30550693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041086282491632764
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.35108722e-13, -6.75543610e-14,  1.00000000e+00, -9.12718339e-27,
        1.00000000e+00,  6.75543610e-14, -1.00000000e+00,  0.00000000e+00,
       -1.35108722e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05352324, -0.06062044,  0.06199079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04984953e-02, 1.29246518e-01, 5.70784571e-02, 2.34290906e-03,
  3.05671053e-02, 3.28451268e-01, 1.31234398e-01, 4.36064804e-02,
  3.60166914e-06,-1.48553479e-03,-5.86208585e-04, 3.40779456e-05,
  4.12122899e-02, 4.34696305e-03, 3.99945220e-03, 1.62421562e-05,
 -2.16911445e-05, 1.92616275e-05,-9.80997782e+00,-6.51091987e-02,
 -9.67796395e-03,-5.09246544e-03]


--- Step 2200 ---
qpos:
[-9.28391922e-04, 1.95275641e-01,-4.76949351e-02, 2.44258981e-01,
 -2.67094678e-02, 1.24364987e-02,-1.14781576e-01, 2.01097579e-01,
  1.28512207e-02, 3.95261269e-01,-1.52318508e-02, 2.93742023e-01,
  8.23527709e-01,-7.13876274e-03, 1.15868737e+00, 4.60314054e-02,
  9.47016217e-02,-6.45022651e-02, 1.42744026e-01, 9.47491220e-01,
 -3.27595849e-02, 2.65487671e-02, 3.16989527e-01]

qacc:
[-1.52534929e+01,-3.19584717e+01, 1.34124344e+02,-1.71658953e+02,
  3.80448198e+01,-2.61211839e+01, 9.38100552e+01,-1.24141215e+02,
  3.00502826e-01, 2.86326016e+01,-1.57558764e+02, 3.60501864e+02,
  6.12100286e-01,-3.93170895e+00, 3.55133899e+00,-6.77055002e+00,
  3.87044889e-03, 7.98274798e-03,-7.19493447e-03,-2.25732345e-01,
  3.34584482e-01,-5.90390907e-01]

qfrc_actuator:
[-7.39196546e-03, 1.35967007e-01, 2.60579614e-02, 9.74808229e-02,
  1.94540948e-02, 3.31876211e-01, 9.44839407e-02, 1.22206789e-01,
 -5.70121588e-04, 2.07298419e-01, 2.60711277e-03, 1.54062538e-01,
  4.86171929e-02, 1.13442596e-02, 2.27249530e-04,-2.35681552e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005796882996204781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65404605e-01, -6.43069307e-01,  2.48527008e-02,  1.90282491e-02,
        1.59869471e-02,  9.99691124e-01, -6.43267997e-01,  7.65641093e-01,
       -3.46944695e-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([ 0.10886393, -0.03973818,  0.13243633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.59544152, 1.35655472, 0.83975768, 1.35655472, 1.49929023,
       0.15532396, 0.83975768, 0.15532396, 1.34452932, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003994050031598601
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99027321, -0.02624101, -0.13663963, -0.02599472,  0.99965565,
       -0.0035868 ,  0.13668669,  0.        , -0.99061433])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12970169, -0.0838727 ,  0.17921407])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1328161 ,  0.89450544, -0.69507721,  0.89450544,  1.5898955 ,
        0.58822243, -0.69507721,  0.58822243,  1.8898085 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006088626259768514
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99448665, -0.02635266, -0.10149795, -0.02621648,  0.99965271,
       -0.00267567,  0.10153321,  0.        , -0.99483215])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13015136, -0.08490361,  0.17468763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015237786902479998
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80434570e-01, -1.93997575e-01,  3.33615699e-02, -1.93885362e-01,
        9.81002009e-01,  6.59740104e-03, -3.40076469e-02, -8.67361738e-19,
       -9.99421573e-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([ 0.12899363, -0.08224543,  0.11222918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025075156382405023
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51677307, -0.83944982, -0.16813565, -0.08814279, -0.14317977,
        0.98576387, -0.85157292,  0.52423616,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1049193 , -0.03732594,  0.30551002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041166128747126274
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34846664e-13, -2.02269996e-13,  1.00000000e+00, -2.72754341e-26,
        1.00000000e+00,  2.02269996e-13, -1.00000000e+00,  0.00000000e+00,
       -1.34846664e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05352261, -0.0606204 ,  0.06199077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03096220e-02, 1.29245906e-01, 5.68672432e-02, 2.21057835e-03,
  3.05196729e-02, 3.30007958e-01, 1.31554299e-01, 4.43470197e-02,
  1.63795882e-05,-7.46384529e-04,-3.99671077e-04, 5.60583889e-04,
  4.12693592e-02, 4.42933003e-03, 3.84174573e-03, 3.54468415e-05,
 -2.27076469e-05, 1.98366370e-05,-9.80997756e+00,-6.51055983e-02,
 -9.68179915e-03,-5.08793964e-03]


--- Step 2201 ---
qpos:
[-8.92358214e-04, 1.95289781e-01,-4.83227438e-02, 2.46146915e-01,
 -2.69224718e-02, 1.24810018e-02,-1.15491487e-01, 2.02648495e-01,
  1.28645494e-02, 3.99127133e-01,-1.52704200e-02, 2.96808011e-01,
  8.23729653e-01,-6.98044668e-03, 1.15881142e+00, 4.60261942e-02,
  9.47005002e-02,-6.45053738e-02, 1.42743110e-01, 9.47478899e-01,
 -3.27223167e-02, 2.65312689e-02, 3.17031667e-01]

qacc:
[-1.63231036e+01,-3.41916684e+01, 1.38983513e+02,-1.75730475e+02,
  3.37244069e+01,-2.36833591e+01, 8.79362255e+01,-1.19104285e+02,
  2.40957391e-01, 8.95332895e+00,-9.19158360e+01, 2.83242145e+02,
  2.82619156e-01,-3.92653383e+00,-6.64098852e-01, 1.26464406e+01,
 -1.95218751e-02, 1.55263720e-02, 3.51308588e-03,-6.83497959e-01,
  4.26681536e-01,-1.30272180e+00]

qfrc_actuator:
[-7.46163209e-03, 1.36202886e-01, 2.67020053e-02, 9.72524232e-02,
  1.96459673e-02, 3.32967263e-01, 9.52045126e-02, 1.23021376e-01,
 -5.72962726e-04, 2.06948056e-01, 2.69229101e-03, 1.54646398e-01,
  4.86107014e-02, 1.12156990e-02, 2.77876617e-04,-2.19360924e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005696581304363362
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76534563, -0.6431418 ,  0.02479291,  0.01898098,  0.01595026,
        0.99969261, -0.64333956,  0.76558097,  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([ 0.10887087, -0.03974116,  0.13245055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.59821276, 1.32413601, 0.8949569 , 1.32413601, 1.55078931,
       0.0701655 , 0.8949569 , 0.0701655 , 1.4943992 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0004010728296718384
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90271288e-01, -2.64559105e-02, -1.36612084e-01, -2.62077018e-02,
        9.99649981e-01, -3.61546254e-03,  1.36659917e-01,  4.33680869e-19,
       -9.90618023e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12970037, -0.08387389,  0.17921534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13238822,  0.91976861, -0.66055189,  0.91976861,  1.64653903,
        0.71591616, -0.66055189,  0.71591616,  2.12924739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006085679341681812
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.94412502e-01, -2.65665465e-02, -1.02166502e-01, -2.64274336e-02,
        9.99647047e-01, -2.71516946e-03,  1.02202575e-01,  4.33680869e-19,
       -9.94763607e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13015235, -0.08490649,  0.17468534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015257761178643242
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80420077e-01, -1.94064965e-01,  3.33955445e-02, -1.93952481e-01,
        9.80988679e-01,  6.60650355e-03, -3.40427420e-02,  8.67361738e-19,
       -9.99420378e-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([ 0.1289927 , -0.08224597,  0.1122347 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000250020930693825
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51670238, -0.83953815, -0.16791173, -0.08800995, -0.14299859,
        0.98580203, -0.85162956,  0.52414416,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10491444, -0.03734173,  0.30551282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041248040246430473
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34578882e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.34578882e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05352198, -0.06062036,  0.06199075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01305800e-02, 1.28984925e-01, 5.67170130e-02, 2.00824328e-03,
  3.04914421e-02, 3.31216850e-01, 1.31896235e-01, 4.52262945e-02,
  1.20872958e-05,-9.59262797e-04,-1.43870931e-04, 5.37822782e-04,
  4.13799237e-02, 4.48086371e-03, 3.75259292e-03, 1.91528330e-04,
 -2.16886026e-05, 1.89670928e-05,-9.80997847e+00,-6.51017905e-02,
 -9.68516467e-03,-5.08348787e-03]


--- Step 2202 ---
qpos:
[-8.61773645e-04, 1.95312981e-01,-4.89355275e-02, 2.48033900e-01,
 -2.71318094e-02, 1.25254890e-02,-1.16194101e-01, 2.04198064e-01,
  1.28774381e-02, 4.02980233e-01,-1.53066138e-02, 2.99880159e-01,
  8.23928271e-01,-6.82608988e-03, 1.15894115e+00, 4.60251299e-02,
  9.46992524e-02,-6.45083859e-02, 1.42742230e-01, 9.47467426e-01,
 -3.26871158e-02, 2.65139193e-02, 3.17071034e-01]

qacc:
[-1.67569362e+01,-3.13472272e+01, 1.31669130e+02,-1.73345041e+02,
  3.16623059e+01,-2.21873243e+01, 8.42414219e+01,-1.16098419e+02,
 -4.72373942e-01,-1.11352604e+01,-8.77785702e+00, 1.15989583e+02,
  1.50542599e-01,-3.84708788e+00,-4.23912133e+00, 2.68191948e+01,
 -3.15610201e-02, 2.41443030e-02, 9.08644095e-03,-9.05144352e-01,
  4.32245714e-01,-1.47304012e+00]

qfrc_actuator:
[-7.55016150e-03, 1.36387022e-01, 2.73477437e-02, 9.72127033e-02,
  1.98439504e-02, 3.33959641e-01, 9.58808330e-02, 1.23387633e-01,
 -6.15620870e-04, 2.06101871e-01, 2.72268929e-03, 1.54935129e-01,
  4.86050280e-02, 1.10598506e-02, 2.66241319e-04,-1.97088466e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005609652596086657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65289935e-01, -6.43210313e-01,  2.47347533e-02,  1.89350509e-02,
        1.59145175e-02,  9.99694049e-01, -6.43407164e-01,  7.65524148e-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([ 0.10887662, -0.03974397,  0.1324655 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.60064331e+00, 1.29308154e+00, 9.43397642e-01, 1.29308154e+00,
       1.60036016e+00, 3.88102373e-04, 9.43397642e-01, 3.88102373e-04,
       1.60011135e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       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: -0.00040252559820915776
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90269366e-01, -2.66669423e-02, -1.36584982e-01, -2.64168505e-02,
        9.99644374e-01, -3.64359958e-03,  1.36633572e-01, -4.33680869e-19,
       -9.90621657e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12969905, -0.08387524,  0.1792165 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13167151,  0.93681353, -0.6348707 ,  0.93681353,  1.68564573,
        0.8174429 , -0.6348707 ,  0.8174429 ,  2.33788808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006080743400573383
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99433864, -0.02677652, -0.10282841, -0.02663448,  0.99964144,
       -0.00275437,  0.10286529,  0.        , -0.9946953 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13015328, -0.08490948,  0.17468326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015280575337880175
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80406319e-01, -1.94128085e-01,  3.34325787e-02, -1.94015311e-01,
        9.80976191e-01,  6.61606524e-03, -3.40809278e-02, -8.67361738e-19,
       -9.99419076e-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([ 0.12899144, -0.08224647,  0.11224029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024949057899441437
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16635670e-01, -8.39623617e-01, -1.67689491e-01, -8.78787476e-02,
       -1.42818385e-01,  9.85839863e-01, -8.51683574e-01,  5.24056380e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490962, -0.03735711,  0.3055151 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004133267095014076
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34303325e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.34303325e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05352136, -0.06062032,  0.06199074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.95312039e-03, 1.28755653e-01, 5.65688548e-02, 1.99647898e-03,
  3.04942537e-02, 3.32253787e-01, 1.32203397e-01, 4.56570205e-02,
 -2.87040809e-05,-1.52183462e-03,-2.11696986e-04, 2.42182155e-04,
  4.15281707e-02, 4.51953929e-03, 3.49305592e-03, 2.84380716e-04,
 -1.94553568e-05, 1.72245175e-05,-9.80998016e+00,-6.50980148e-02,
 -9.68816683e-03,-5.07915845e-03]


--- Step 2203 ---
qpos:
[-8.36862256e-04, 1.95347496e-01,-4.95350160e-02, 2.49919357e-01,
 -2.73377397e-02, 1.25700517e-02,-1.16889466e-01, 2.05746245e-01,
  1.28902159e-02, 4.06818152e-01,-1.53418144e-02, 3.02956551e-01,
  8.24123627e-01,-6.67560531e-03, 1.15907166e+00, 4.60254840e-02,
  9.46979227e-02,-6.45113600e-02, 1.42741383e-01, 9.47456817e-01,
 -3.26535624e-02, 2.64968659e-02, 3.17107618e-01]

qacc:
[-1.74862636e+01,-2.47409244e+01, 1.14916495e+02,-1.65742434e+02,
  2.94278749e+01,-2.20026971e+01, 8.39374283e+01,-1.16486136e+02,
 -9.72802633e-02,-1.43231545e+01, 5.46247495e+00, 7.40350304e+01,
  2.11461356e-01,-3.84894763e+00,-3.24061253e+00, 1.27873240e+01,
 -2.05007173e-02, 9.49536445e-03, 8.12189760e-03,-6.82508172e-01,
  4.35550476e-01,-1.47224622e+00]

qfrc_actuator:
[-7.61224350e-03, 1.36713571e-01, 2.79535326e-02, 9.72335149e-02,
  2.00265228e-02, 3.34821325e-01, 9.65455400e-02, 1.23219151e-01,
 -6.28354633e-04, 2.05232252e-01, 2.71847532e-03, 1.55136248e-01,
  4.85946533e-02, 1.09424796e-02, 2.91563646e-04,-1.96358078e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005536204762634529
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65237924e-01, -6.43274360e-01,  2.46782679e-02,  1.88904997e-02,
        1.58797333e-02,  9.99695445e-01, -6.43470332e-01,  7.65471052e-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([ 0.10888119, -0.03974661,  0.13248119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.60267562,  1.29722131,  0.94116207,  1.29722131,  1.60936275,
       -0.009217  ,  0.94116207, -0.009217  ,  1.61537958,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040373324408219573
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90267388e-01, -2.68743407e-02, -1.36558666e-01, -2.66223987e-02,
        9.99638820e-01, -3.67125010e-03,  1.36608006e-01, -4.33680869e-19,
       -9.90625183e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12969767, -0.08387677,  0.17921755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13062614,  0.93162534, -0.64061666,  0.93162534,  1.69317691,
        0.81809696, -0.64061666,  0.81809696,  2.32035457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006073544779088307
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.94265151e-01, -2.69828339e-02, -1.03483021e-01, -2.68378631e-02,
        9.99635897e-01, -2.79328220e-03,  1.03520713e-01,  4.33680869e-19,
       -9.94627298e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13015411, -0.08491255,  0.17468145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015306688881559134
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80393409e-01, -1.94186306e-01,  3.34730124e-02, -1.94073223e-01,
        9.80964667e-01,  6.62613125e-03, -3.41225464e-02, -8.67361738e-19,
       -9.99417656e-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([ 0.12898977, -0.08224691,  0.11224594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002492106768122776
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51657338, -0.83970602, -0.16746866, -0.0877491 , -0.14263887,
        0.9858774 , -0.85173473,  0.52397324,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490481, -0.03737202,  0.30551672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004142042589971723
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.34018784e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.34018784e-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([ 0.05352075, -0.06062029,  0.06199072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.74257120e-03, 1.28631449e-01, 5.64262455e-02, 2.06204009e-03,
  3.04935042e-02, 3.33119430e-01, 1.32507494e-01, 4.55538670e-02,
 -7.75181384e-06,-1.88532149e-03,-3.80133803e-04, 1.23085599e-04,
  4.16846095e-02, 4.59749116e-03, 3.23190540e-03, 8.37658776e-05,
 -1.70181882e-05, 1.53238145e-05,-9.80998203e+00,-6.50944525e-02,
 -9.69100904e-03,-5.07497312e-03]


--- Step 2204 ---
qpos:
[-8.17905976e-04, 1.95390259e-01,-5.01212293e-02, 2.51803310e-01,
 -2.75404518e-02, 1.26145026e-02,-1.17577608e-01, 2.07292979e-01,
  1.29032270e-02, 4.10640201e-01,-1.53769334e-02, 3.06035851e-01,
  8.24315753e-01,-6.52912151e-03, 1.15919982e+00, 4.60249836e-02,
  9.46965696e-02,-6.45143514e-02, 1.42740550e-01, 9.47447020e-01,
 -3.26211383e-02, 2.64803019e-02, 3.17141608e-01]

qacc:
[-1.83460813e+01,-2.86555563e+01, 1.22829557e+02,-1.70685830e+02,
  2.77996729e+01,-2.22653436e+01, 8.47480258e+01,-1.18031713e+02,
  2.83954234e-01,-1.53682615e+01, 1.30885325e+01, 4.63181524e+01,
  3.37454219e-01,-4.08652047e+00,-9.96723521e-01,-1.79770523e+00,
 -5.82458053e-03,-4.32025353e-03, 3.65476329e-03,-4.09736414e-01,
  4.42438783e-01,-1.36513711e+00]

qfrc_actuator:
[-7.69155860e-03, 1.37048679e-01, 2.85133190e-02, 9.69543049e-02,
  2.02163940e-02, 3.35675518e-01, 9.72359134e-02, 1.22872428e-01,
 -6.23286803e-04, 2.04480364e-01, 2.72943123e-03, 1.55284254e-01,
  4.85709202e-02, 1.07786813e-02, 3.12668540e-04,-2.04895432e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000547729841499939
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65189626e-01, -6.43333913e-01,  2.46234217e-02,  1.88473014e-02,
        1.58458868e-02,  9.99696798e-01, -6.43529032e-01,  7.65421704e-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([ 0.10888445, -0.03974906,  0.13249766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.60440257, 1.31347589, 0.92135156, 1.31347589, 1.6032059 ,
       0.00170598, 0.92135156, 0.00170598, 1.60197053, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00040475440528518937
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99026544, -0.02707836, -0.13653251, -0.0268246 ,  0.99963331,
       -0.00369843,  0.13658259,  0.        , -0.99062869])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12969625, -0.08387849,  0.17921851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12933638,  0.91649848, -0.65987211,  0.91649848,  1.69664171,
        0.78793218, -0.65987211,  0.78793218,  2.2236979 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006064664162103141
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99419204, -0.02718574, -0.10413031, -0.02703784,  0.9996304 ,
       -0.00283191,  0.10416881,  0.        , -0.99455963])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13015485, -0.08491576,  0.17467985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015336482951778805
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98038131, -0.19423966,  0.03351771, -0.19412625,  0.9809541 ,
        0.00663687, -0.03416848,  0.        , -0.99941609])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12898771, -0.0822473 ,  0.11225166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000249094341591365
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51651562, -0.83978508, -0.16725018, -0.08762152, -0.14246084,
        0.98591449, -0.85178288,  0.52389495,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10490002, -0.0373865 ,  0.30551791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041509169779938015
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.67464522e-13, -1.33732261e-13,  1.00000000e+00, -3.57686352e-26,
        1.00000000e+00,  1.33732261e-13, -1.00000000e+00,  0.00000000e+00,
       -2.67464522e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05352014, -0.06062025,  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:
[-9.53809756e-03, 1.28402543e-01, 5.63238484e-02, 1.85653158e-03,
  3.05130075e-02, 3.33972919e-01, 1.32839573e-01, 4.52745930e-02,
  1.44117605e-05,-2.00955442e-03,-4.64056206e-04, 4.68841579e-05,
  4.18243784e-02, 4.62468754e-03, 3.21174092e-03,-7.31116653e-05,
 -1.48381952e-05, 1.36234864e-05,-9.80998365e+00,-6.50910817e-02,
 -9.69384794e-03,-5.07092863e-03]


--- Step 2205 ---
qpos:
[-8.04903366e-04, 1.95434797e-01,-5.06926205e-02, 2.53686286e-01,
 -2.77397837e-02, 1.26587607e-02,-1.18258652e-01, 2.08838213e-01,
  1.29158844e-02, 4.14443611e-01,-1.54099654e-02, 3.09112281e-01,
  8.24504722e-01,-6.38675635e-03, 1.15933020e+00, 4.60264942e-02,
  9.46951789e-02,-6.45172915e-02, 1.42739723e-01, 9.47437779e-01,
 -3.25899114e-02, 2.64640865e-02, 3.17173777e-01]

qacc:
[-1.82922884e+01,-4.03808239e+01, 1.49881457e+02,-1.85729920e+02,
  2.91772483e+01,-2.21281098e+01, 8.43198546e+01,-1.18240757e+02,
 -3.52262328e-01,-3.61082281e+01, 1.03345232e+02,-1.37621725e+02,
  4.30537603e-01,-4.26043215e+00,-2.89874594e+00, 1.46764477e+01,
 -9.39827529e-03, 1.28200798e-02, 1.32581179e-03,-4.78704663e-01,
  3.77361638e-01,-9.60557476e-01]

qfrc_actuator:
[-7.76090975e-03, 1.37192185e-01, 2.90934636e-02, 9.64246571e-02,
  2.04272233e-02, 3.36649641e-01, 9.79565659e-02, 1.22561395e-01,
 -6.61095788e-04, 2.03486327e-01, 2.80326129e-03, 1.55133740e-01,
  4.85339609e-02, 1.05531987e-02, 2.67586851e-04,-1.88643391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005430531837306905
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65144800e-01, -6.43389260e-01,  2.45702010e-02,  1.88054388e-02,
        1.58129773e-02,  9.99698107e-01, -6.43583553e-01,  7.65375862e-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([ 0.10888667, -0.03975138,  0.13251478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.60593861,  1.30182079,  0.94037304,  1.30182079,  1.61870589,
       -0.01767459,  0.94037304, -0.01767459,  1.63040672,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004056588352029419
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9902636 , -0.0272792 , -0.13650583, -0.02702366,  0.99962785,
       -0.00372516,  0.13655665,  0.        , -0.99063226])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12969481, -0.08388042,  0.17921941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12790162,  0.90888254, -0.66790312,  0.90888254,  1.73092639,
        0.82059609, -0.66790312,  0.82059609,  2.24456874,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006054786484095587
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9941193 , -0.02738542, -0.10477048, -0.02723459,  0.99962495,
       -0.00287026,  0.10480979,  0.        , -0.99449229])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13015553, -0.08491914,  0.17467836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015370120158117219
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98036992, -0.19428854,  0.03356745, -0.19417475,  0.98094442,
        0.00664846, -0.03421952,  0.        , -0.99941434])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12898528, -0.08224764,  0.11225747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024905300791202325
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51646223, -0.83986075, -0.16703496, -0.08749649, -0.14228507,
        0.98595097, -0.85182811,  0.52382141,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10489527, -0.03740062,  0.30551888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004159742069022032
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33448542e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.33448542e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05351953, -0.06062021,  0.06199068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.30959499e-03, 1.28135016e-01, 5.62425655e-02, 1.39925701e-03,
  3.05629259e-02, 3.34955626e-01, 1.33203161e-01, 4.50338587e-02,
 -2.36619406e-05,-2.34076008e-03,-4.39257949e-04,-2.61024597e-04,
  4.19493356e-02, 4.59666843e-03, 3.28169132e-03, 1.31570965e-04,
 -1.30299881e-05, 1.22103620e-05,-9.80998498e+00,-6.50878528e-02,
 -9.69669772e-03,-5.06701294e-03]


--- Step 2206 ---
qpos:
[-7.97959593e-04, 1.95478396e-01,-5.12485473e-02, 2.55568444e-01,
 -2.79356994e-02, 1.27026034e-02,-1.18932678e-01, 2.10381882e-01,
  1.29279430e-02, 4.18225463e-01,-1.54407480e-02, 3.12186579e-01,
  8.24690330e-01,-6.24880398e-03, 1.15946087e+00, 4.60289955e-02,
  9.46937784e-02,-6.45201752e-02, 1.42738883e-01, 9.47428964e-01,
 -3.25596724e-02, 2.64482956e-02, 3.17204531e-01]

qacc:
[-1.85979464e+01,-4.53910342e+01, 1.61775604e+02,-1.93499447e+02,
  2.94769270e+01,-2.23063660e+01, 8.47846066e+01,-1.19447620e+02,
 -6.08517224e-01,-3.89365445e+01, 1.04943589e+02,-1.25112441e+02,
  5.10553780e-01,-4.62154535e+00,-2.71679918e+00, 9.81138552e+00,
 -2.47623841e-03, 1.40939064e-02,-3.21201070e-03,-3.75006078e-01,
  3.75201820e-01,-7.44019681e-01]

qfrc_actuator:
[-7.76864401e-03, 1.37348171e-01, 2.96612136e-02, 9.57270701e-02,
  2.06314255e-02, 3.37660343e-01, 9.86748684e-02, 1.22183645e-01,
 -7.06384561e-04, 2.02320615e-01, 2.87727261e-03, 1.55021760e-01,
  4.84998272e-02, 1.03811869e-02, 2.19745954e-04,-1.86174314e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005391528100551288
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65102396e-01, -6.43441660e-01,  2.45184285e-02,  1.87647495e-02,
        1.57809224e-02,  9.99699378e-01, -6.43635151e-01,  7.65332472e-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([ 0.1088883 , -0.0397537 ,  0.13253234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.60729639,  1.30816288,  0.93386914,  1.30816288,  1.62099151,
       -0.01918411,  0.93386914, -0.01918411,  1.63416947,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004064553124711313
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99026179, -0.0274767 , -0.13647935, -0.0272194 ,  0.99962244,
       -0.00375142,  0.1365309 ,  0.        , -0.99063581])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12969336, -0.08388244,  0.17922026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12633799,  0.89244175, -0.68715719,  0.89244175,  1.75430289,
        0.81556608, -0.68715719,  0.81556608,  2.18555011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006044023023697579
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99404693, -0.02758172, -0.10540374, -0.02742796,  0.99961955,
       -0.00290832,  0.10544385,  0.        , -0.99442526])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13015615, -0.08492256,  0.17467699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015407305452167796
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80359007e-01, -1.94334115e-01,  3.36224601e-02, -1.94219926e-01,
        9.80935396e-01,  6.66097997e-03, -3.42759169e-02,  8.67361738e-19,
       -9.99412408e-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([ 0.1289825 , -0.08224794,  0.11226336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002491271815501904
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16411794e-01, -8.39933937e-01, -1.66822785e-01, -8.73736295e-02,
       -1.42111542e-01,  9.85986896e-01, -8.51871298e-01,  5.23751174e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048906 , -0.0374144 ,  0.30551953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004168713193912349
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33161359e-13, -6.65806793e-14,  1.00000000e+00, -8.86597371e-27,
        1.00000000e+00,  6.65806793e-14, -1.00000000e+00,  0.00000000e+00,
       -1.33161359e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05351892, -0.06062017,  0.06199066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.01956057e-03, 1.28203291e-01, 5.60713609e-02, 7.47760954e-04,
  3.05981140e-02, 3.35978886e-01, 1.33570532e-01, 4.47291173e-02,
 -3.98008824e-05,-2.70441414e-03,-5.14289026e-04,-2.41361578e-04,
  4.20734755e-02, 4.62813547e-03, 3.11972937e-03, 5.51163554e-05,
 -1.17506515e-05, 1.11564738e-05,-9.80998608e+00,-6.50848354e-02,
 -9.69952887e-03,-5.06321328e-03]


--- Step 2207 ---
qpos:
[-7.97115263e-04, 1.95522226e-01,-5.17896235e-02, 2.57449498e-01,
 -2.81281291e-02, 1.27456237e-02,-1.19599740e-01, 2.11923921e-01,
  1.29395532e-02, 4.21988213e-01,-1.54732076e-02, 3.15260209e-01,
  8.24872559e-01,-6.11547731e-03, 1.15959090e+00, 4.60316601e-02,
  9.46924073e-02,-6.45230101e-02, 1.42738012e-01, 9.47420422e-01,
 -3.25300820e-02, 2.64330287e-02, 3.17234350e-01]

qacc:
[-1.87378598e+01,-4.27100056e+01, 1.55654589e+02,-1.92206739e+02,
  3.00725611e+01,-2.27965574e+01, 8.60101070e+01,-1.21318967e+02,
 -4.55377384e-01,-2.18855361e+01, 4.39186199e+01,-3.78550019e+01,
  6.38314825e-01,-4.93197485e+00,-1.56779333e+00, 3.81573344e+00,
  7.38149514e-03, 1.22186442e-02,-7.64649236e-03,-2.07337337e-01,
  3.62643808e-01,-4.85945104e-01]

qfrc_actuator:
[-7.77242678e-03, 1.37531403e-01, 3.01972030e-02, 9.50887240e-02,
  2.08302634e-02, 3.38551271e-01, 9.93534970e-02, 1.21695519e-01,
 -7.38021973e-04, 2.01577097e-01, 2.86163227e-03, 1.55004322e-01,
  4.84728465e-02, 1.02254465e-02, 2.28928952e-04,-1.86627621e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005358534967864182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65061870e-01, -6.43491761e-01,  2.44681091e-02,  1.87252234e-02,
        1.57497419e-02,  9.99700611e-01, -6.43684473e-01,  7.65290990e-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([ 0.10888956, -0.03975606,  0.13255026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.60854082,  1.32114427,  0.91759543,  1.32114427,  1.61223302,
       -0.005316  ,  0.91759543, -0.005316  ,  1.61619473,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040718285066485184
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90260024e-01, -2.76708049e-02, -1.36452964e-01, -2.74117882e-02,
        9.99617090e-01, -3.77720968e-03,  1.36505233e-01, -4.33680869e-19,
       -9.90639350e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1296919 , -0.08388447,  0.17922108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1247018 ,  0.87253999, -0.7096676 ,  0.87253999,  1.76201155,
        0.78357564, -0.7096676 ,  0.78357564,  2.08811211,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006032761533133905
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99397491, -0.02777461, -0.10603039, -0.02761792,  0.99961421,
       -0.00294609,  0.10607131,  0.        , -0.99435853])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13015674, -0.08492598,  0.17467566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015447898414500305
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98034841, -0.19437706,  0.03368311, -0.19426243,  0.98092689,
        0.00667453, -0.03433805,  0.        , -0.99941028])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12897943, -0.0822482 ,  0.11226935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002492821231622702
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51636363, -0.84000482, -0.16661482, -0.08725346, -0.1419413 ,
        0.98602206, -0.85191281,  0.52368365,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.104886  , -0.03742782,  0.30551993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000417786986941282
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32869508e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.32869508e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05351832, -0.06062013,  0.06199064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.72032538e-03, 1.28434473e-01, 5.58361187e-02, 1.47451460e-04,
  3.06261434e-02, 3.36893449e-01, 1.33902196e-01, 4.43171926e-02,
 -3.00549476e-05,-2.49899260e-03,-6.86764282e-04,-1.63897319e-04,
  4.22149035e-02, 4.69064368e-03, 3.11261540e-03, 4.60593818e-07,
 -1.07976930e-05, 1.03346083e-05,-9.80998699e+00,-6.50819532e-02,
 -9.70234095e-03,-5.05952556e-03]


--- Step 2208 ---
qpos:
[-8.02406262e-04, 1.95567962e-01,-5.23168587e-02, 2.59329066e-01,
 -2.83171768e-02, 1.27877837e-02,-1.20259894e-01, 2.13464281e-01,
  1.29511409e-02, 4.25741147e-01,-1.55113854e-02, 3.18344847e-01,
  8.25051417e-01,-5.98688457e-03, 1.15971994e+00, 4.60339998e-02,
  9.46910814e-02,-6.45258175e-02, 1.42737110e-01, 9.47412172e-01,
 -3.25010081e-02, 2.64183467e-02, 3.17263189e-01]

qacc:
[-1.88693343e+01,-3.84643337e+01, 1.45329494e+02,-1.88162484e+02,
  2.91697706e+01,-2.27715921e+01, 8.60448432e+01,-1.22020343e+02,
 -2.52665018e-02, 2.48177968e+01,-1.48054451e+02, 3.39547254e+02,
  7.06455379e-01,-5.08833111e+00,-6.32799153e-01,-2.47067354e-01,
  1.12770431e-02, 6.86038721e-03,-7.97097213e-03,-1.34169703e-01,
  3.71121043e-01,-5.08312755e-01]

qfrc_actuator:
[-7.75362187e-03, 1.37747939e-01, 3.07795747e-02, 9.46818158e-02,
  2.09889411e-02, 3.39477424e-01, 1.00058826e-01, 1.21479159e-01,
 -7.43626804e-04, 2.01891932e-01, 2.88399071e-03, 1.55628834e-01,
  4.84502802e-02, 1.00636944e-02, 2.29791657e-04,-1.88791246e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005332389497873526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76502258, -0.64354033,  0.0244192 ,  0.01868681,  0.01571943,
        0.99970181, -0.64373229,  0.76525077,  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([ 0.10889037, -0.03975844,  0.13256856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.60975203,  1.3276675 ,  0.91027501,  1.3276675 ,  1.61721769,
       -0.01088893,  0.91027501, -0.01088893,  1.62563391,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040788873588222296
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90258323e-01, -2.78614622e-02, -1.36426508e-01, -2.76007597e-02,
        9.99611794e-01, -3.80251817e-03,  1.36479490e-01,  4.33680869e-19,
       -9.90642897e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12969047, -0.08388648,  0.17922187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12306011,  0.8616638 , -0.72027737,  0.8616638 ,  1.77278487,
        0.7772621 , -0.72027737,  0.7772621 ,  2.05289442,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006021463501461145
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93903215e-01, -2.79640133e-02, -1.06650892e-01, -2.78043961e-02,
        9.99608931e-01, -2.98355375e-03,  1.06692617e-01, -4.33680869e-19,
       -9.94292052e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13015734, -0.08492938,  0.17467433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001549165758291255
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98033796, -0.1944182 ,  0.03374967, -0.19430309,  0.98091874,
        0.00668919, -0.03440619,  0.        , -0.99940793])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12897611, -0.08224845,  0.11227543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002494736074447527
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51631699, -0.84007372, -0.16641188, -0.08713628, -0.14177512,
        0.98605633, -0.85195307,  0.52361815,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048815 , -0.03744094,  0.30552017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004187183261001731
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.05351771, -0.06062009,  0.06199061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.39648562e-03, 1.28640216e-01, 5.56777923e-02,-2.07070345e-04,
  3.06105117e-02, 3.37863525e-01, 1.34263196e-01, 4.41802941e-02,
 -1.91039732e-06,-1.35715171e-03,-6.24589777e-04, 4.82433028e-04,
  4.23616356e-02, 4.75786274e-03, 3.14253045e-03,-2.99276476e-05,
 -1.02029272e-05, 9.77943836e-06,-9.80998766e+00,-6.50791675e-02,
 -9.70514736e-03,-5.05594014e-03]


--- Step 2209 ---
qpos:
[-8.13976808e-04, 1.95615624e-01,-5.28308653e-02, 2.61206932e-01,
 -2.85030640e-02, 1.28289613e-02,-1.20913199e-01, 2.15002908e-01,
  1.29627677e-02, 4.29490618e-01,-1.55533003e-02, 3.21448044e-01,
  8.25226827e-01,-5.86317754e-03, 1.15984450e+00, 4.60334687e-02,
  9.46898363e-02,-6.45286527e-02, 1.42736171e-01, 9.47404301e-01,
 -3.24721740e-02, 2.64044131e-02, 3.17290806e-01]

qacc:
[-1.93221414e+01,-3.71587114e+01, 1.41615451e+02,-1.87205830e+02,
  2.72666687e+01,-2.28561496e+01, 8.63320715e+01,-1.22990852e+02,
  3.49532772e-02, 4.27081723e+01,-2.28147325e+02, 5.33625009e+02,
  7.65971767e-01,-5.28875077e+00, 1.90925635e+00,-1.66380277e+01,
  2.02136445e-02,-6.94451420e-03,-9.19934380e-03, 2.73602779e-02,
  4.07419387e-01,-6.29776112e-01]

qfrc_actuator:
[-7.71878870e-03, 1.38053703e-01, 3.13493398e-02, 9.42015610e-02,
  2.11754903e-02, 3.40460584e-01, 1.00724188e-01, 1.21337795e-01,
 -7.51611347e-04, 2.02449575e-01, 2.98711840e-03, 1.56627108e-01,
  4.84411353e-02, 9.95355172e-03, 2.15065876e-04,-2.07916148e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005313993849658838
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76498459, -0.64358729,  0.02437171,  0.01864952,  0.01568998,
        0.99970297, -0.64377851,  0.76521188,  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([ 0.10889065, -0.03976082,  0.13258728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.61095616,  1.34590844,  0.8852741 ,  1.34590844,  1.61715906,
       -0.00943045,  0.8852741 , -0.00943045,  1.62529355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040858832430189283
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99025672, -0.02804877, -0.13639973, -0.02778642,  0.99960656,
       -0.00382735,  0.13645341,  0.        , -0.99064649])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12968907, -0.08388848,  0.17922265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1214337 ,  0.84979179, -0.73175642,  0.84979179,  1.76780706,
        0.75063608, -0.73175642,  0.75063608,  1.99315053,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006010271933587158
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99383184, -0.02815004, -0.10726534, -0.02798749,  0.99960371,
       -0.00302072,  0.10730787,  0.        , -0.99422584])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13015795, -0.08493277,  0.17467295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015538598075389965
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98032767, -0.19445749,  0.03382219, -0.19434186,  0.98091095,
        0.00670497, -0.03448039,  0.        , -0.99940537])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12897255, -0.08224867,  0.1122816 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002496776081837945
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16271999e-01, -8.40140524e-01, -1.66214085e-01, -8.70221836e-02,
       -1.41613070e-01,  9.86089691e-01, -8.51991997e-01,  5.23554809e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487712, -0.03745377,  0.30552032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004196577459382178
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.64554398e-13, -6.61385996e-14,  1.00000000e+00, -1.74972574e-26,
        1.00000000e+00,  6.61385996e-14, -1.00000000e+00,  0.00000000e+00,
       -2.64554398e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05351711, -0.06062005,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.05484031e-03, 1.28851371e-01, 5.55571629e-02,-6.15950410e-04,
  3.06279647e-02, 3.38892459e-01, 1.34586947e-01, 4.41208096e-02,
  2.39520959e-06,-4.35945607e-04,-2.79237417e-04, 9.18656336e-04,
  4.25214237e-02, 4.88218522e-03, 3.17495795e-03,-2.05516394e-04,
 -9.62715999e-06, 9.25183115e-06,-9.80998828e+00,-6.50764148e-02,
 -9.70788015e-03,-5.05245203e-03]


--- Step 2210 ---
qpos:
[-8.31616317e-04, 1.95666325e-01,-5.33326384e-02, 2.63082752e-01,
 -2.86856342e-02, 1.28688602e-02,-1.21559765e-01, 2.16539754e-01,
  1.29741599e-02, 4.33235327e-01,-1.55941684e-02, 3.24562477e-01,
  8.25399251e-01,-5.74411959e-03, 1.15996864e+00, 4.60321087e-02,
  9.46886622e-02,-6.45314744e-02, 1.42735198e-01, 9.47396594e-01,
 -3.24435380e-02, 2.63910854e-02, 3.17317854e-01]

qacc:
[-1.86854447e+01,-3.36215667e+01, 1.32584341e+02,-1.83428023e+02,
  2.85993428e+01,-2.30222116e+01, 8.65511260e+01,-1.23611349e+02,
 -2.33109985e-01, 1.31499202e+01,-9.83807244e+01, 2.81462483e+02,
  8.88083996e-01,-5.14390132e+00, 1.72148853e+00,-7.28618597e+00,
  1.77422063e-02, 3.38024633e-03,-8.25894281e-03, 1.25481730e-02,
  3.25504918e-01,-2.88859303e-01]

qfrc_actuator:
[-7.70724548e-03, 1.38305703e-01, 3.18888644e-02, 9.38556356e-02,
  2.13953837e-02, 3.41371898e-01, 1.01345112e-01, 1.21011371e-01,
 -7.78828800e-04, 2.02333855e-01, 3.08575577e-03, 1.57198589e-01,
  4.84348455e-02, 9.82316206e-03, 2.17965255e-04,-2.06770758e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005303074727353014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64948236e-01, -6.43632236e-01,  2.43257388e-02,  1.86134390e-02,
        1.56614641e-02,  9.99704085e-01, -6.43822752e-01,  7.65174662e-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([ 0.10889041, -0.0397632 ,  0.13260639])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.61220154,  1.34515411,  0.88868117,  1.34515411,  1.62121255,
       -0.01363954,  0.88868117, -0.01363954,  1.63284705,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040930961419057406
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99025531, -0.02823296, -0.13637196, -0.02796898,  0.99960137,
       -0.00385172,  0.13642635,  0.        , -0.99065022])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12968772, -0.08389054,  0.17922344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11985948,  0.84195495, -0.73837465,  0.84195495,  1.776217  ,
        0.74843233, -0.73837465,  0.74843233,  1.97328301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005999440449501531
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99376077, -0.0283329 , -0.10787392, -0.02816743,  0.99959854,
       -0.00305761,  0.10791724,  0.        , -0.99415988])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1301586 , -0.08493623,  0.17467151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015588766586924247
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98031759, -0.19449463,  0.03390069, -0.19437844,  0.98090358,
        0.00672187, -0.03456068,  0.        , -0.9994026 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12896877, -0.08224886,  0.11228787])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000249832362156754
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16229170e-01, -8.40204798e-01, -1.66022110e-01, -8.69116129e-02,
       -1.41455692e-01,  9.86122030e-01, -8.52029234e-01,  5.23494206e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10487287, -0.03746635,  0.30552054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042058933172889335
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.95952634e-13, -1.31984211e-13,  1.00000000e+00, -5.22594961e-26,
        1.00000000e+00,  1.31984211e-13, -1.00000000e+00,  0.00000000e+00,
       -3.95952634e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0535165 , -0.06062001,  0.06199057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.72929022e-03, 1.29007420e-01, 5.54367619e-02,-8.79676406e-04,
  3.06898301e-02, 3.39855618e-01, 1.34869107e-01, 4.38789375e-02,
 -1.56552361e-05,-5.05040130e-04,-3.72025694e-05, 5.50546897e-04,
  4.26878593e-02, 4.99390485e-03, 3.39931079e-03,-5.10752101e-05,
 -9.00431871e-06, 8.71905955e-06,-9.80998886e+00,-6.50736407e-02,
 -9.71053221e-03,-5.04906066e-03]


--- Step 2211 ---
qpos:
[-8.55088142e-04, 1.95721909e-01,-5.38236320e-02, 2.64956059e-01,
 -2.88647954e-02, 1.29072108e-02,-1.22199710e-01, 2.18074775e-01,
  1.29850840e-02, 4.36972607e-01,-1.56335631e-02, 3.27687229e-01,
  8.25569055e-01,-5.62940964e-03, 1.16009271e+00, 4.60300912e-02,
  9.46875548e-02,-6.45342635e-02, 1.42734201e-01, 9.47388925e-01,
 -3.24150362e-02, 2.63782732e-02, 3.17344727e-01]

qacc:
[-1.79760847e+01,-2.80992436e+01, 1.18432893e+02,-1.76612569e+02,
  2.93776783e+01,-2.31252984e+01, 8.65628173e+01,-1.23896965e+02,
 -4.64238831e-01, 6.61572792e+00,-7.67798456e+01, 2.46543990e+02,
  9.56060910e-01,-4.91843014e+00, 1.73201031e+00,-6.55305392e+00,
  1.66660288e-02, 8.13586321e-03,-6.20633516e-03, 2.10684213e-02,
  2.67793463e-01,-8.15427117e-02]

qfrc_actuator:
[-7.68962237e-03, 1.38559068e-01, 3.23881957e-02, 9.36445903e-02,
  2.15983575e-02, 3.42152031e-01, 1.01954497e-01, 1.20823189e-01,
 -8.17328092e-04, 2.01887813e-01, 3.12515217e-03, 1.57709174e-01,
  4.84250257e-02, 9.70009454e-03, 1.72652566e-04,-2.09529911e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005300158183243979
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64912637e-01, -6.43676231e-01,  2.42810114e-02,  1.85783298e-02,
        1.56337191e-02,  9.99705173e-01, -6.43866060e-01,  7.65138221e-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([ 0.10888962, -0.03976556,  0.13262591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.61348617,  1.3445966 ,  0.89185067,  1.3445966 ,  1.6260058 ,
       -0.01887518,  0.89185067, -0.01887518,  1.64194329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041005124375442217
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99025402, -0.02841386, -0.13634379, -0.0281483 ,  0.99959624,
       -0.00387562,  0.13639887,  0.        , -0.990654  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12968643, -0.08389258,  0.17922422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1183361 ,  0.83745935, -0.74117304,  0.83745935,  1.77886175,
        0.746335  , -0.74117304,  0.746335  ,  1.961628  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005988959608216245
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93689980e-01, -2.85124483e-02, -1.08477024e-01, -2.83440578e-02,
        9.99593437e-01, -3.09420354e-03,  1.08521145e-01,  4.33680869e-19,
       -9.94094141e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1301593 , -0.08493967,  0.17466999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015641692133523818
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98030753, -0.19453067,  0.03398483, -0.19441388,  0.98089644,
        0.00673985, -0.0346467 ,  0.        , -0.99939962])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12896481, -0.08224903,  0.11229422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024996517615579264
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51618734, -0.8402674 , -0.16583525, -0.08680399, -0.14130251,
        0.98615347, -0.85206555,  0.5234351 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486875, -0.03747871,  0.30552076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004215164252631687
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.05351589, -0.06061997,  0.06199055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.40820765e-03, 1.29109068e-01, 5.53257540e-02,-9.91362192e-04,
  3.07269490e-02, 3.40702373e-01, 1.35145243e-01, 4.37778035e-02,
 -3.12807719e-05,-8.39232617e-04,-9.34958631e-05, 4.87754692e-04,
  4.28276525e-02, 5.10124124e-03, 3.37286917e-03,-3.77669753e-05,
 -8.72288125e-06, 8.42735977e-06,-9.80998925e+00,-6.50709274e-02,
 -9.71315485e-03,-5.04574976e-03]


--- Step 2212 ---
qpos:
[-8.84176009e-04, 1.95785740e-01,-5.43060706e-02, 2.66826155e-01,
 -2.90405899e-02, 1.29438428e-02,-1.22833129e-01, 2.19607942e-01,
  1.29956547e-02, 4.40699532e-01,-1.56719965e-02, 3.30824356e-01,
  8.25736584e-01,-5.51870017e-03, 1.16021564e+00, 4.60266292e-02,
  9.46865172e-02,-6.45370343e-02, 1.42733191e-01, 9.47381283e-01,
 -3.23865596e-02, 2.63659524e-02, 3.17371473e-01]

qacc:
[-1.73453767e+01,-1.89147383e+01, 9.51471371e+01,-1.64754292e+02,
  2.90081097e+01,-2.31269289e+01, 8.63643034e+01,-1.23906279e+02,
 -3.40835417e-01, 8.24415111e+00,-9.57332347e+01, 3.01044309e+02,
  9.87409439e-01,-4.62134013e+00, 2.53302985e+00,-1.16453973e+01,
  1.74809588e-02, 4.58107408e-03,-3.27511595e-03, 6.81705745e-02,
  2.38507955e-01,-5.73920738e-02]

qfrc_actuator:
[-7.66616038e-03, 1.38987718e-01, 3.28599715e-02, 9.35867695e-02,
  2.17720083e-02, 3.42836484e-01, 1.02572133e-01, 1.20789719e-01,
 -8.44516468e-04, 2.01265902e-01, 3.12815859e-03, 1.58321664e-01,
  4.84238139e-02, 9.60073147e-03, 1.46327940e-04,-2.18166309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005306112482142821
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64877258e-01, -6.43719917e-01,  2.42373318e-02,  1.85440315e-02,
        1.56066379e-02,  9.99706233e-01, -6.43909077e-01,  7.65102020e-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([ 0.10888818, -0.03976789,  0.13264588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.61480528,  1.34672394,  0.8910279 ,  1.34672394,  1.6307048 ,
       -0.02403097,  0.8910279 , -0.02403097,  1.65112635,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041081025894539367
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9902528 , -0.02859139, -0.13631555, -0.02832428,  0.99959118,
       -0.00389904,  0.1363713 ,  0.        , -0.9906578 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12968521, -0.08389455,  0.17922499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11685854,  0.83629959, -0.740254  ,  0.83629959,  1.77267374,
        0.74090514, -0.740254  ,  0.74090514,  1.95389375,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005978794652611798
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99361944, -0.02868859, -0.10907505, -0.02851728,  0.9995884 ,
       -0.0031305 ,  0.10911996,  0.        , -0.99402859])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13016007, -0.08494307,  0.17466841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015696969618593927
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80297359e-01, -1.94566288e-01,  3.40741463e-02, -1.94448858e-01,
        9.80889372e-01,  6.75884595e-03, -3.47380115e-02, -8.67361738e-19,
       -9.99396453e-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([ 0.12896071, -0.0822492 ,  0.11230066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025008093172617713
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16145802e-01, -8.40328785e-01, -1.65653384e-01, -8.66991308e-02,
       -1.41153478e-01,  9.86184038e-01, -8.52101386e-01,  5.23376756e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486478, -0.03749089,  0.30552099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004224341512968077
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.57039104e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.57039104e-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([ 0.05351527, -0.06061993,  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:
[-7.09314045e-03, 1.29293453e-01, 5.52597221e-02,-9.26473009e-04,
  3.07301510e-02, 3.41466911e-01, 1.35435363e-01, 4.38334415e-02,
 -2.38992789e-05,-1.21550678e-03,-2.07353800e-04, 5.72758714e-04,
  4.29577911e-02, 5.21731328e-03, 3.34756931e-03,-9.18070185e-05,
 -8.64629932e-06, 8.28290225e-06,-9.80998950e+00,-6.50682443e-02,
 -9.71574449e-03,-5.04250541e-03]


--- Step 2213 ---
qpos:
[-9.18620207e-04, 1.95857308e-01,-5.47809692e-02, 2.68692791e-01,
 -2.92131044e-02, 1.29791402e-02,-1.23460176e-01, 2.21139236e-01,
  1.30065336e-02, 4.44413583e-01,-1.57100709e-02, 3.33970104e-01,
  8.25902120e-01,-5.41163595e-03, 1.16034135e+00, 4.60242967e-02,
  9.46854951e-02,-6.45397579e-02, 1.42732191e-01, 9.47373746e-01,
 -3.23584975e-02, 2.63539201e-02, 3.17397833e-01]

qacc:
[-1.65452169e+01,-1.72698033e+01, 8.93663253e+01,-1.61380167e+02,
  2.82465005e+01,-2.22442413e+01, 8.40321531e+01,-1.21955569e+02,
  3.25988505e-01,-8.72136130e-01,-5.39259064e+01, 2.01583599e+02,
  9.24389199e-01,-4.21679225e+00, 5.58984507e-01, 3.70966033e+00,
  3.85582905e-03, 1.18004486e-02, 2.73767081e-03,-1.43755367e-01,
  2.07290881e-01,-2.00256033e-01]

qfrc_actuator:
[-7.63707841e-03, 1.39533975e-01, 3.33486320e-02, 9.34805652e-02,
  2.18912386e-02, 3.43553081e-01, 1.03209920e-01, 1.20991857e-01,
 -8.29340396e-04, 2.00508861e-01, 3.09150111e-03, 1.58740578e-01,
  4.84171786e-02, 9.49923013e-03, 1.74101391e-04,-2.07145634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005322613409697193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76484204, -0.64376337,  0.02419458,  0.01851045,  0.01558014,
        0.99970727, -0.64395187,  0.765066  ,  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([ 0.1088859 , -0.03977011,  0.13266634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.61615441,  1.3267531 ,  0.92286581,  1.3267531 ,  1.66608469,
       -0.071782  ,  0.92286581, -0.071782  ,  1.71935142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004115839283363087
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90251652e-01, -2.87655791e-02, -1.36287225e-01, -2.84969547e-02,
        9.99586185e-01, -3.92200394e-03,  1.36343646e-01,  4.33680869e-19,
       -9.90661602e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12968408, -0.08389649,  0.17922575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11542076,  0.84644967, -0.72642028,  0.84644967,  1.80611524,
        0.80482076, -0.72642028,  0.80482076,  2.05322534,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005968903990686606
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93549141e-01, -2.88613671e-02, -1.09668256e-01, -2.86871368e-02,
        9.99583424e-01, -3.16649487e-03,  1.09713960e-01, -4.33680869e-19,
       -9.93963202e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1301609 , -0.08494643,  0.17466678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015754368632667954
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80287078e-01, -1.94601596e-01,  3.41681768e-02, -1.94483494e-01,
        9.80882367e-01,  6.77877591e-03, -3.48341228e-02,  8.67361738e-19,
       -9.99393108e-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([ 0.12895649, -0.08224936,  0.11230718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002501655217250503
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16104498e-01, -8.40389040e-01, -1.65476308e-01, -8.65969124e-02,
       -1.41008452e-01,  9.86213766e-01, -8.52136798e-01,  5.23319098e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10486093, -0.03750291,  0.30552127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042332879059718553
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.05351463, -0.06061989,  0.06199051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.78329556e-03, 1.29426967e-01, 5.53216282e-02,-8.75119353e-04,
  3.06810417e-02, 3.42272099e-01, 1.35750472e-01, 4.41262289e-02,
  2.00413447e-05,-1.58008153e-03,-3.35052380e-04, 3.61562226e-04,
  4.30652060e-02, 5.31393670e-03, 3.42997229e-03, 9.00821301e-05,
 -8.61091565e-06, 8.18306557e-06,-9.80998969e+00,-6.50655502e-02,
 -9.71828762e-03,-5.03931727e-03]


--- Step 2214 ---
qpos:
[-9.58354712e-04, 1.95932664e-01,-5.52481074e-02, 2.70556150e-01,
 -2.93825740e-02, 1.30133427e-02,-1.24081010e-01, 2.22668628e-01,
  1.30179864e-02, 4.48112875e-01,-1.57470329e-02, 3.37112595e-01,
  8.26065506e-01,-5.30815941e-03, 1.16046714e+00, 4.60218385e-02,
  9.46844774e-02,-6.45424567e-02, 1.42731212e-01, 9.47366483e-01,
 -3.23309803e-02, 2.63421975e-02, 3.17423288e-01]

qacc:
[-1.63118015e+01,-2.26909926e+01, 1.00289230e+02,-1.66275621e+02,
  2.62213189e+01,-2.15477311e+01, 8.21369843e+01,-1.20510204e+02,
  5.89911322e-01,-2.90148945e+01, 8.68286438e+01,-1.28401802e+02,
  8.16766497e-01,-4.09020117e+00, 3.64127188e-01,-1.40011321e+00,
  1.08541129e-03, 6.21403008e-03, 5.02317774e-03,-1.92621800e-01,
  2.44207053e-01,-4.74048643e-01]

qfrc_actuator:
[-7.63814302e-03, 1.40023739e-01, 3.38272639e-02, 9.31693384e-02,
  2.20298147e-02, 3.44253764e-01, 1.03821835e-01, 1.21282861e-01,
 -8.07018657e-04, 1.99695156e-01, 3.10227353e-03, 1.58562828e-01,
  4.84020199e-02, 9.41544343e-03, 1.64786443e-04,-2.11159274e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005348624996757051
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76480733, -0.64380618,  0.02415265,  0.01847751,  0.01555416,
        0.99970828, -0.64399405,  0.7650305 ,  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([ 0.10888286, -0.03977226,  0.13268726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.61743117,  1.32161203,  0.93242975,  1.32161203,  1.69535796,
       -0.11045227,  0.93242975, -0.11045227,  1.77398457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041231367338969186
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99025051, -0.02893652, -0.13625931, -0.02866641,  0.99958125,
       -0.00394452,  0.13631639,  0.        , -0.99066535])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12968299, -0.08389842,  0.17922647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11393974,  0.85306661, -0.71633729,  0.85306661,  1.82277295,
        0.84413021, -0.71633729,  0.84413021,  2.11919146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005958716344425209
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93479105e-01, -2.90308677e-02, -1.10256417e-01, -2.88537218e-02,
        9.99578516e-01, -3.20218911e-03,  1.10302908e-01,  4.33680869e-19,
       -9.93898017e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13016176, -0.08494975,  0.17466518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015813848305342244
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9802768 , -0.19463614,  0.03426623, -0.19451733,  0.98087551,
        0.00679948, -0.03493433,  0.        , -0.99938961])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12895212, -0.08224951,  0.11231377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025028601557265445
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51606377, -0.84044825, -0.16530252, -0.08649658, -0.14086612,
        0.98624291, -0.85217165,  0.52326234,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485719, -0.03751478,  0.30552145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004242056864711824
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.30859046e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.30859046e-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([ 0.05351399, -0.06061985,  0.06199049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.51661097e-03, 1.29529114e-01, 5.54240979e-02,-1.01632568e-03,
  3.06556189e-02, 3.43042151e-01, 1.36047255e-01, 4.45087740e-02,
  3.78234819e-05,-1.87475893e-03,-3.85004895e-04,-2.58586768e-04,
  4.31500112e-02, 5.41062034e-03, 3.27909404e-03,-7.08672493e-06,
 -8.37138427e-06, 7.93448103e-06,-9.80999002e+00,-6.50628776e-02,
 -9.72072167e-03,-5.03618480e-03]


--- Step 2215 ---
qpos:
[-1.00314969e-03, 1.96010166e-01,-5.57078262e-02, 2.72416200e-01,
 -2.95490314e-02, 1.30463728e-02,-1.24695784e-01, 2.24196084e-01,
  1.30296066e-02, 4.51795662e-01,-1.57822189e-02, 3.40242624e-01,
  8.26226808e-01,-5.20812749e-03, 1.16059288e+00, 4.60192869e-02,
  9.46834613e-02,-6.45451236e-02, 1.42730256e-01, 9.47359462e-01,
 -3.23040083e-02, 2.63307573e-02, 3.17447937e-01]

qacc:
[-1.55898423e+01,-2.39670579e+01, 1.01806872e+02,-1.66536636e+02,
  2.59292751e+01,-2.12852286e+01, 8.11902403e+01,-1.19827407e+02,
  1.90382552e-01,-5.14018396e+01, 1.97219124e+02,-3.84835958e+02,
  7.77338839e-01,-3.92386462e+00, 8.69675077e-02,-6.86889129e-01,
  4.08181842e-04, 7.95448438e-03, 5.69557096e-03,-1.98887746e-01,
  2.30126727e-01,-4.22616005e-01]

qfrc_actuator:
[-7.63746643e-03, 1.40356192e-01, 3.42611367e-02, 9.28960714e-02,
  2.21966738e-02, 3.44962944e-01, 1.04451342e-01, 1.21379427e-01,
 -8.16303709e-04, 1.98818982e-01, 3.15835969e-03, 1.57928993e-01,
  4.83871589e-02, 9.30818076e-03, 1.59990648e-04,-2.11686324e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005380930954527934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64773818e-01, -6.43847525e-01,  2.41116498e-02,  1.84453210e-02,
        1.55287407e-02,  9.99709272e-01, -6.44034764e-01,  7.64996224e-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([ 0.10887937, -0.03977441,  0.13270847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.6185951 ,  1.31668354,  0.94137907,  1.31668354,  1.71336505,
       -0.13255237,  0.94137907, -0.13255237,  1.80399282,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041297688825212936
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99024941, -0.02910445, -0.13623154, -0.02883288,  0.99957638,
       -0.00396662,  0.13628928,  0.        , -0.99066908])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12968195, -0.0839004 ,  0.17922716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11238117,  0.85533797, -0.71118831,  0.85533797,  1.83111302,
        0.8644105 , -0.71118831,  0.8644105 ,  2.15199768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005947995625972529
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93409348e-01, -2.91973265e-02, -1.10839452e-01, -2.90172681e-02,
        9.99573667e-01, -3.23759597e-03,  1.10886727e-01,  4.33680869e-19,
       -9.93833051e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13016264, -0.0849531 ,  0.17466365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015875468499503122
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9802667 , -0.19466909,  0.03436785, -0.19454956,  0.98086897,
        0.00682085, -0.03503817,  0.        , -0.99938597])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12894756, -0.08224965,  0.11232043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000250437092005553
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16024523e-01, -8.40505838e-01, -1.65132156e-01, -8.63983664e-02,
       -1.40726512e-01,  9.86271449e-01, -8.52205383e-01,  5.23207402e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10485354, -0.03752645,  0.30552155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004250603079109655
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.61191884e-13,  6.52979709e-14,  1.00000000e+00,  1.70553000e-26,
        1.00000000e+00, -6.52979709e-14, -1.00000000e+00,  0.00000000e+00,
       -2.61191884e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05351334, -0.0606198 ,  0.06199047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.25150650e-03, 1.29671135e-01, 5.54706528e-02,-1.12881592e-03,
  3.06702281e-02, 3.43808691e-01, 1.36369532e-01, 4.46983389e-02,
  1.05901558e-05,-2.13720977e-03,-4.27141548e-04,-7.40762076e-04,
  4.32430148e-02, 5.48099066e-03, 3.26796217e-03,-6.63108451e-06,
 -7.87140616e-06, 7.51303041e-06,-9.80999048e+00,-6.50602159e-02,
 -9.72305165e-03,-5.03311866e-03]


--- Step 2216 ---
qpos:
[-1.05262338e-03, 1.96086822e-01,-5.61597559e-02, 2.74273125e-01,
 -2.97122782e-02, 1.30781675e-02,-1.25304652e-01, 2.25721567e-01,
  1.30410137e-02, 4.55460701e-01,-1.58166722e-02, 3.43360743e-01,
  8.26386336e-01,-5.11125990e-03, 1.16072228e+00, 4.60192166e-02,
  9.46824168e-02,-6.45476977e-02, 1.42729322e-01, 9.47352492e-01,
 -3.22777302e-02, 2.63194015e-02, 3.17472349e-01]

qacc:
[-1.43833316e+01,-2.85427871e+01, 1.11540162e+02,-1.71166916e+02,
  2.76147107e+01,-2.10197524e+01, 8.02694197e+01,-1.19240856e+02,
 -1.80881292e-01,-4.90366296e+01, 1.84391983e+02,-3.60772347e+02,
  8.00280067e-01,-3.67117140e+00,-2.22735569e+00, 1.53614379e+01,
 -7.09041233e-03, 2.32160912e-02, 5.75266640e-03,-3.11364443e-01,
  1.53304877e-01,-1.28600434e-01]

qfrc_actuator:
[-7.58060094e-03, 1.40629891e-01, 3.46831437e-02, 9.24693982e-02,
  2.23615650e-02, 3.45748748e-01, 1.05053567e-01, 1.21218103e-01,
 -8.44375852e-04, 1.97930730e-01, 3.18726751e-03, 1.57333811e-01,
  4.83831996e-02, 9.24138242e-03, 1.57914783e-04,-1.94142259e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005418056969893229
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64741378e-01, -6.43887557e-01,  2.40715448e-02,  1.84138420e-02,
        1.55038606e-02,  9.99710238e-01, -6.44074185e-01,  7.64963035e-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([ 0.10887557, -0.0397766 ,  0.13272992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.61963919,  1.29951152,  0.96669587,  1.29951152,  1.74020588,
       -0.16207559,  0.96669587, -0.16207559,  1.83751444,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041357016801722897
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99024834, -0.0292694 , -0.13620403, -0.0289964 ,  0.99957156,
       -0.00398832,  0.13626241,  0.        , -0.99067278])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12968094, -0.08390242,  0.17922779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11073938,  0.85625588, -0.70750819,  0.85625588,  1.85957781,
        0.90627546, -0.70750819,  0.90627546,  2.2075517 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005936702880058815
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93339854e-01, -2.93607765e-02, -1.11417593e-01, -2.91778086e-02,
        9.99568879e-01, -3.27271798e-03,  1.11465648e-01, -4.33680869e-19,
       -9.93768288e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13016353, -0.08495646,  0.17466219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015939011653685368
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98025675, -0.19470063,  0.03447273, -0.19458034,  0.98086272,
        0.00684281, -0.03514531,  0.        , -0.99938221])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12894284, -0.08224976,  0.11232715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025062222768217085
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51598656, -0.84056193, -0.16496519, -0.08630222, -0.14058962,
        0.98629939, -0.85223811,  0.52315409,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484998, -0.03753793,  0.30552157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004258917061260997
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30341001e-13, -6.51705004e-14,  1.00000000e+00, -8.49438825e-27,
        1.00000000e+00,  6.51705004e-14, -1.00000000e+00,  0.00000000e+00,
       -1.30341001e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05351267, -0.06061976,  0.06199045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.94171867e-03, 1.29836420e-01, 5.55223014e-02,-1.39303870e-03,
  3.06845138e-02, 3.44655699e-01, 1.36672183e-01, 4.46316970e-02,
 -1.50735814e-05,-2.32381493e-03,-5.29434585e-04,-7.23820741e-04,
  4.33435534e-02, 5.58473589e-03, 3.26579193e-03, 1.72917572e-04,
 -7.42945377e-06, 7.13276210e-06,-9.80999092e+00,-6.50576150e-02,
 -9.72533733e-03,-5.03011835e-03]


--- Step 2217 ---
qpos:
[-1.10654239e-03, 1.96163846e-01,-5.66047942e-02, 2.76126639e-01,
 -2.98723955e-02, 1.31089826e-02,-1.25907748e-01, 2.27245039e-01,
  1.30527333e-02, 4.59112708e-01,-1.58536503e-02, 3.46482452e-01,
  8.26543893e-01,-5.01759536e-03, 1.16085456e+00, 4.60217213e-02,
  9.46813294e-02,-6.45501751e-02, 1.42728413e-01, 9.47345653e-01,
 -3.22523090e-02, 2.63081151e-02, 3.17496277e-01]

qacc:
[-1.36725962e+01,-2.50307139e+01, 1.02567403e+02,-1.66742199e+02,
  2.69048711e+01,-2.03833555e+01, 7.86456965e+01,-1.18234987e+02,
  3.09899605e-01,-3.09029862e+00,-2.69573837e+01, 9.69706678e+01,
  7.16544266e-01,-3.65116772e+00,-3.62829963e+00, 1.86432329e+01,
 -1.07335881e-02, 2.41663799e-02, 6.01581948e-03,-3.86387677e-01,
  1.74964004e-01,-2.60290852e-01]

qfrc_actuator:
[-7.50613230e-03, 1.41154514e-01, 3.51301989e-02, 9.20583358e-02,
  2.24883667e-02, 3.46563307e-01, 1.05637153e-01, 1.21222405e-01,
 -8.30148829e-04, 1.97770933e-01, 3.25345917e-03, 1.57565121e-01,
  4.83645252e-02, 9.14670236e-03, 1.51813902e-04,-1.81986612e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000545779007392405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64709234e-01, -6.43927206e-01,  2.40320962e-02,  1.83828751e-02,
        1.54793912e-02,  9.99711187e-01, -6.44113234e-01,  7.64930155e-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([ 0.10887167, -0.03977886,  0.1327515 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.62053048,  1.28712114,  0.98460053,  1.28712114,  1.77930871,
       -0.20756318,  0.98460053, -0.20756318,  1.89186788,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004140753965549963
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99024718, -0.02943116, -0.13617754, -0.02915675,  0.99956681,
       -0.0040096 ,  0.13623655,  0.        , -0.99067634])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12967998, -0.08390439,  0.17922838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10899115,  0.85876867, -0.70169633,  0.85876867,  1.89369288,
        0.96035455, -0.70169633,  0.96035455,  2.2843178 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005924678184698479
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99327061, -0.02952102, -0.11199105, -0.02933515,  0.99956416,
       -0.00330753,  0.11203989,  0.        , -0.99370371])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13016443, -0.08495974,  0.17466083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016004119378945792
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80246797e-01, -1.94731618e-01,  3.45805292e-02, -1.94610560e-01,
        9.80856563e-01,  6.86534877e-03, -3.52554394e-02, -8.67361738e-19,
       -9.99378334e-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([ 0.12893798, -0.08224987,  0.11233393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000250890375515603
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51594882, -0.8406173 , -0.16480098, -0.0862076 , -0.14045502,
        0.98632684, -0.85227053,  0.52310127,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484649, -0.03754922,  0.30552136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004267176911721404
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.60177407e-13, -1.30088704e-13,  1.00000000e+00, -3.38461416e-26,
        1.00000000e+00,  1.30088704e-13, -1.00000000e+00,  0.00000000e+00,
       -2.60177407e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.053512  , -0.06061972,  0.06199044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.63342379e-03, 1.30402176e-01, 5.55804373e-02,-1.65090764e-03,
  3.06507778e-02, 3.45534593e-01, 1.36963764e-01, 4.47325529e-02,
  2.06041524e-05,-1.71898883e-03,-5.41960717e-04, 9.20397125e-05,
  4.34138767e-02, 5.64668159e-03, 3.07457608e-03, 1.69825768e-04,
 -7.21571234e-06, 6.89329954e-06,-9.80999126e+00,-6.50551347e-02,
 -9.72761093e-03,-5.02717355e-03]


--- Step 2218 ---
qpos:
[-0.00116477, 0.19624389,-0.05704451, 0.27797625,-0.03002968, 0.01313914,
 -0.12650526, 0.22876647, 0.013065  , 0.46275477,-0.01589378, 0.34962282,
  0.82669901,-0.0049273 , 1.16098661, 0.04602536, 0.0946802 ,-0.06455259,
  0.14272754, 0.94733917,-0.03222787, 0.026297  , 0.31751901]

qacc:
[-1.32788328e+01,-1.81796284e+01, 8.53530690e+01,-1.57835622e+02,
  2.43581256e+01,-1.95085208e+01, 7.62784649e+01,-1.16347836e+02,
  5.26774046e-01, 3.25362992e+01,-2.03251162e+02, 5.10591128e+02,
  5.30984564e-01,-3.66725609e+00,-3.88397982e+00, 1.28237700e+01,
 -1.08888951e-02, 1.55548569e-02, 8.06356633e-03,-4.16762061e-01,
  2.53136246e-01,-6.31219452e-01]

qfrc_actuator:
[-7.47272159e-03, 1.41828816e-01, 3.55900651e-02, 9.18179503e-02,
  2.26088643e-02, 3.47288841e-01, 1.06260585e-01, 1.21664209e-01,
 -8.08735350e-04, 1.97713292e-01, 3.27397508e-03, 1.58547880e-01,
  4.83371034e-02, 9.00109243e-03, 1.43234763e-04,-1.80273713e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005500661192770611
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64677716e-01, -6.43966076e-01,  2.39933855e-02,  1.83524906e-02,
        1.54553757e-02,  9.99712117e-01, -6.44151516e-01,  7.64897917e-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([ 0.10886761, -0.03978118,  0.13277322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.62124115,  1.27711718,  0.99869644,  1.27711718,  1.83042497,
       -0.26750095,  0.99869644, -0.26750095,  1.96331713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004144774379600546
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99024596, -0.02958982, -0.13615207, -0.02931404,  0.99956213,
       -0.00403048,  0.13621172,  0.        , -0.99067975])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12967903, -0.08390634,  0.1792289 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10711517,  0.86878172, -0.6862378 ,  0.86878172,  1.91654414,
        1.02474258, -0.6862378 ,  1.02474258,  2.40444625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000591177493656509
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99320165, -0.02967814, -0.11255972, -0.02948937,  0.99955951,
       -0.00334204,  0.11260932,  0.        , -0.99363934])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13016532, -0.08496295,  0.17465959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016070870405336083
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98023692, -0.19476164,  0.03469113, -0.19463979,  0.9808506 ,
        0.00688841, -0.03536841,  0.        , -0.99937434])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12893295, -0.08224997,  0.11234076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025125350732291236
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5159117 , -0.84067171, -0.16463959, -0.08611463, -0.14032272,
        0.98635379, -0.85230241,  0.52304934,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10484306, -0.03756028,  0.30552091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004275447151110279
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29837066e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.29837066e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05351133, -0.06061967,  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:
[-5.37786211e-03, 1.31056844e-01, 5.56961997e-02,-1.72376360e-03,
  3.06147988e-02, 3.46311647e-01, 1.37301913e-01, 4.52727521e-02,
  3.69936826e-05,-1.24684072e-03,-4.36878769e-04, 8.84454732e-04,
  4.34853486e-02, 5.65968687e-03, 2.91871236e-03, 5.75852072e-05,
 -6.87122762e-06, 6.55973838e-06,-9.80999169e+00,-6.50527285e-02,
 -9.72981396e-03,-5.02429070e-03]


--- Step 2219 ---
qpos:
[-0.00122704, 0.19632929,-0.05748054, 0.27982147,-0.03018425, 0.01316865,
 -0.12709747, 0.23028585, 0.01307795, 0.46638135,-0.01593234, 0.3527745 ,
  0.8268515 ,-0.00484023, 1.16111668, 0.04602956, 0.09467902,-0.06455494,
  0.1427267 , 0.94733309,-0.03220452, 0.02628605, 0.31754043]

qacc:
[-1.24666326e+01,-1.15608737e+01, 6.83794806e+01,-1.48798935e+02,
  2.32843732e+01,-1.87596342e+01, 7.37252714e+01,-1.13795988e+02,
  6.54764752e-01,-2.41461676e+00,-6.30977495e+01, 2.53080838e+02,
  3.41303132e-01,-3.39151848e+00,-4.74436646e+00, 1.21418566e+01,
 -1.30249945e-02, 1.66166499e-02, 1.13764613e-02,-4.63235234e-01,
  2.63944686e-01,-6.97730664e-01]

qfrc_actuator:
[-7.42679797e-03, 1.42696644e-01, 3.60386820e-02, 9.16285704e-02,
  2.27778817e-02, 3.47890017e-01, 1.06870296e-01, 1.22369346e-01,
 -7.83373525e-04, 1.96724924e-01, 3.26872637e-03, 1.59095124e-01,
  4.83258496e-02, 8.91513287e-03, 8.00887008e-05,-1.79459169e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005548017821032127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76464778, -0.64400303,  0.02395567,  0.01832291,  0.01543195,
        0.99971302, -0.64418789,  0.76486728,  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([ 0.10886324, -0.03978353,  0.13279514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.62174896,  1.2585083 ,  1.02285215,  1.2585083 ,  1.89300853,
       -0.3337554 ,  1.02285215, -0.3337554 ,  2.03239867,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004147642771505734
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90244718e-01, -2.97456733e-02, -1.36127119e-01, -2.94685357e-02,
        9.99557500e-01, -4.05098538e-03,  1.36187382e-01,  8.67361738e-19,
       -9.90683096e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1296781 , -0.08390834,  0.17922936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10509182,  0.88701678, -0.6591124 ,  0.88701678,  1.92355245,
        1.10146359, -0.6591124 ,  1.10146359,  2.58741363,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005897857944483843
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99313298, -0.02983243, -0.11312344, -0.02964077,  0.99955491,
       -0.00337625,  0.11317381,  0.        , -0.9935752 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13016618, -0.08496616,  0.17465848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016139453910319014
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98022736, -0.19478958,  0.03480427, -0.19466691,  0.98084505,
        0.00691191, -0.03548397,  0.        , -0.99937025])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12892773, -0.08225005,  0.11234765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002516991949283459
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15876431e-01, -8.40724314e-01, -1.64481414e-01, -8.60237122e-02,
       -1.40192926e-01,  9.86380182e-01, -8.52332933e-01,  5.22999590e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483968, -0.03757107,  0.30552025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042836338514233574
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.29588926e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.29588926e-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([ 0.05351065, -0.06061963,  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:
[-5.11658371e-03, 1.31772454e-01, 5.58792986e-02,-1.72097892e-03,
  3.06421477e-02, 3.46948072e-01, 1.37635513e-01, 4.60776946e-02,
  4.52939587e-05,-1.85867163e-03,-3.25647653e-04, 4.87915343e-04,
  4.35964099e-02, 5.74056987e-03, 2.86501333e-03, 8.61494946e-06,
 -6.22586587e-06, 6.02102578e-06,-9.80999229e+00,-6.50503747e-02,
 -9.73190971e-03,-5.02148757e-03]


--- Step 2220 ---
qpos:
[-0.00129293, 0.19641947,-0.05791353, 0.28166215,-0.03033597, 0.01319729,
 -0.12768471, 0.23180313, 0.01309111, 0.46998564,-0.01596625, 0.35592386,
  0.82700138,-0.00475614, 1.16124675, 0.04603608, 0.09467776,-0.06455716,
  0.14272593, 0.94732724,-0.03218239, 0.02627511, 0.31756105]

qacc:
[-1.11916186e+01,-1.08429515e+01, 6.52740107e+01,-1.46720010e+02,
  2.45027466e+01,-1.81952343e+01, 7.13764162e+01,-1.11170664e+02,
  2.38443084e-01,-4.69028250e+01, 1.31756348e+02,-1.55686747e+02,
  2.00699641e-01,-3.03726450e+00,-7.09180077e+00, 2.46101971e+01,
 -1.87879671e-02, 3.10941502e-02, 1.34675042e-02,-5.65948565e-01,
  2.10252905e-01,-4.35158809e-01]

qfrc_actuator:
[-7.33640832e-03, 1.43765795e-01, 3.65155560e-02, 9.13120702e-02,
  2.29572490e-02, 3.48399081e-01, 1.07487581e-01, 1.23073548e-01,
 -7.91490953e-04, 1.95205385e-01, 3.33331239e-03, 1.58937124e-01,
  4.83084239e-02, 8.81291542e-03, 3.22993529e-05,-1.64970883e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005601021279160332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76461959, -0.64403786,  0.023919  ,  0.01829417,  0.01540915,
        0.9997139 , -0.64422217,  0.76483841,  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([ 0.10885844, -0.03978585,  0.13281731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.62202786,  1.22708712,  1.06076934,  1.22708712,  1.96947825,
       -0.40192705,  1.06076934, -0.40192705,  2.08697297,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041492166559579474
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90243465e-01, -2.98988409e-02, -1.36102678e-01, -2.96203743e-02,
        9.99552930e-01, -4.07113242e-03,  1.36163553e-01, -8.67361738e-19,
       -9.90686372e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12967716, -0.0839104 ,  0.17922976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10289869,  0.90705335, -0.62740717,  0.90705335,  1.92822907,
        1.19319434, -0.62740717,  1.19319434,  2.82792029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005882772796078727
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93064572e-01, -2.99840198e-02, -1.13682513e-01, -2.97894618e-02,
        9.99550378e-01, -3.41019201e-03,  1.13733650e-01, -4.33680869e-19,
       -9.93511277e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13016701, -0.08496938,  0.17465754])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016209602228020082
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80218173e-01, -1.94815229e-01,  3.49193365e-02, -1.94691729e-01,
        9.80839960e-01,  6.93570695e-03, -3.56014619e-02,  8.67361738e-19,
       -9.99366067e-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([ 0.12892231, -0.0822501 ,  0.11235459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002522317684298562
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15843217e-01, -8.40774948e-01, -1.64326696e-01, -8.59350146e-02,
       -1.40065828e-01,  9.86405970e-01, -8.52361982e-01,  5.22952246e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483631, -0.03758154,  0.30551937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004291652193169765
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29346808e-13, -1.94020212e-13,  1.00000000e+00, -2.50958951e-26,
        1.00000000e+00,  1.94020212e-13, -1.00000000e+00,  0.00000000e+00,
       -1.29346808e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05350996, -0.06061959,  0.06199038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.82439671e-03, 1.32571641e-01, 5.61719985e-02,-1.82091401e-03,
  3.06860455e-02, 3.47492056e-01, 1.37991095e-01, 4.68828576e-02,
  1.38948888e-05,-2.72444778e-03,-3.80977237e-04,-2.46519642e-04,
  4.37106315e-02, 5.79838822e-03, 2.91342825e-03, 1.24314558e-04,
 -5.54869930e-06, 5.45619966e-06,-9.80999292e+00,-6.50481321e-02,
 -9.73393830e-03,-5.01877072e-03]


--- Step 2221 ---
qpos:
[-0.0013622 , 0.19651339,-0.058344  , 0.28349821,-0.03048492, 0.013225  ,
 -0.12826727, 0.23331832, 0.01310381, 0.47356432,-0.01599769, 0.35907031,
  0.82714841,-0.00467502, 1.16137509, 0.04604431, 0.09467643,-0.06455927,
  0.14272521, 0.94732164,-0.03216149, 0.02626422, 0.31758076]

qacc:
[-1.04131675e+01,-1.09078668e+01, 6.38882981e+01,-1.45231162e+02,
  2.37860667e+01,-1.75696262e+01, 6.91065512e+01,-1.08792857e+02,
 -3.82690529e-01,-4.63237624e+01, 1.25709150e+02,-1.53587928e+02,
  2.75426218e-02,-2.88201981e+00,-7.78701952e+00, 2.33949723e+01,
 -1.75631847e-02, 2.97452672e-02, 1.43280788e-02,-5.59167226e-01,
  2.31659642e-01,-4.84069588e-01]

qfrc_actuator:
[-7.25364109e-03, 1.44794414e-01, 3.69907998e-02, 9.10277124e-02,
  2.31060929e-02, 3.48853360e-01, 1.08072118e-01, 1.23849046e-01,
 -8.37260077e-04, 1.93717450e-01, 3.36508129e-03, 1.58773408e-01,
  4.82980386e-02, 8.70198642e-03, 2.55728224e-05,-1.58452823e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005658992558599748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76459246, -0.6440714 ,  0.02388321,  0.01826613,  0.01538688,
        0.99971476, -0.64425517,  0.76481062,  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([ 0.10885326, -0.03978816,  0.13283968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.62204453,  1.20886255,  1.08151737,  1.20886255,  2.04023674,
       -0.46743299,  1.08151737, -0.46743299,  2.14451625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041493106986096294
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99024211, -0.03004918, -0.1360794 , -0.0297694 ,  0.99954842,
       -0.00409092,  0.13614087,  0.        , -0.99068949])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12967624, -0.08391245,  0.17923007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10050947,  0.92495862, -0.59629913,  0.92495862,  1.91248813,
        1.25951326, -0.59629913,  1.25951326,  3.05422293,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005866338029220672
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92996382e-01, -3.01327573e-02, -1.14237479e-01, -2.99353124e-02,
        9.99545905e-01, -3.44385405e-03,  1.14289377e-01,  4.33680869e-19,
       -9.93447502e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1301678 , -0.08497253,  0.1746568 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016280697643037921
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80209220e-01, -1.94839408e-01,  3.50355507e-02, -1.94715068e-01,
        9.80835157e-01,  6.95968727e-03, -3.57201212e-02, -8.67361738e-19,
       -9.99361833e-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([ 0.12891676, -0.08225015,  0.11236156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025289134006819023
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51581109, -0.84082424, -0.16417525, -0.08584828, -0.13994137,
        0.98643119, -0.85239016,  0.52290631,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10483296, -0.03759168,  0.30551819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004299564102758363
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.45543942e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.45543942e-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([ 0.05350927, -0.06061954,  0.06199036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.56046262e-03, 1.33359902e-01, 5.64951960e-02,-1.88160872e-03,
  3.06922037e-02, 3.47992350e-01, 1.38330428e-01, 4.77603763e-02,
 -3.22246789e-05,-3.21728948e-03,-6.22779410e-04,-3.04209546e-04,
  4.38304373e-02, 5.83512721e-03, 2.90453064e-03, 7.31802563e-05,
 -5.07555106e-06, 5.01582566e-06,-9.80999346e+00,-6.50460650e-02,
 -9.73594281e-03,-5.01613553e-03]


--- Step 2222 ---
qpos:
[-0.00143485, 0.19661217,-0.05877334, 0.28532929,-0.03063154, 0.0132517 ,
 -0.1288453 , 0.23483138, 0.01311608, 0.47711959,-0.01603049, 0.3622167 ,
  0.82729207,-0.004597  , 1.16149391, 0.0460493 , 0.09467509,-0.06456136,
  0.14272454, 0.94731656,-0.03214143, 0.02625373, 0.31759881]

qacc:
[-1.04248555e+01,-6.29728782e+00, 5.11758125e+01,-1.37679685e+02,
  2.00277122e+01,-1.72061416e+01, 6.77962722e+01,-1.07576831e+02,
 -3.76757750e-01,-2.72366354e+01, 5.23300671e+01,-3.34309747e+01,
 -1.76519478e-01,-2.87537404e+00,-4.31295750e+00,-5.49971280e+00,
 -1.89652233e-03, 2.69858914e-03, 1.38279312e-02,-3.02357610e-01,
  3.41336664e-01,-8.73107661e-01]

qfrc_actuator:
[-7.15649446e-03, 1.45762330e-01, 3.73933637e-02, 9.08533032e-02,
  2.32533162e-02, 3.49346192e-01, 1.08617540e-01, 1.24543905e-01,
 -8.69530546e-04, 1.92740030e-01, 3.35973376e-03, 1.58785285e-01,
  4.82919948e-02, 8.65801088e-03, 1.70092286e-05,-1.85153430e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005720882131055766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64566512e-01, -6.44103488e-01,  2.38483924e-02,  1.82388696e-02,
        1.53652028e-02,  9.99715587e-01, -6.44286731e-01,  7.64784027e-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([ 0.10884782, -0.03979046,  0.1328622 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.62179837,  1.22970065,  1.05738653,  1.22970065,  2.04623603,
       -0.49360498,  1.05738653, -0.49360498,  2.19584235,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041479217168937207
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99024068, -0.03019677, -0.13605713, -0.02991571,  0.99954397,
       -0.00411036,  0.13611921,  0.        , -0.99069247])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12967533, -0.08391449,  0.17923031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.0979216 ,  0.93151127, -0.58113561,  0.93151127,  1.86720514,
        1.2330965 , -0.58113561,  1.2330965 ,  3.07447109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005848535429972085
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92928375e-01, -3.02787267e-02, -1.14788679e-01, -3.00783980e-02,
        9.99541494e-01, -3.47724937e-03,  1.14841334e-01, -4.33680869e-19,
       -9.93383847e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13016857, -0.08497562,  0.17465626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016352495840328382
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98020055, -0.19486199,  0.03515245, -0.1947368 ,  0.98083067,
        0.00698375, -0.03583947,  0.        , -0.99935756])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12891107, -0.08225017,  0.11236857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002536672778650886
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51578024, -0.84087201, -0.16402747, -0.08576373, -0.13981986,
        0.98645577, -0.85241735,  0.522862  ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482961, -0.03760148,  0.30551672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043073080975641886
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.57753334e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.57753334e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05350857, -0.0606195 ,  0.06199035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.29468453e-03, 1.34138826e-01, 5.67719934e-02,-1.82805526e-03,
  3.07008602e-02, 3.48534453e-01, 1.38644368e-01, 4.85582034e-02,
 -3.12377750e-05,-3.03293347e-03,-7.91964050e-04,-1.57971498e-04,
  4.39677257e-02, 5.93772725e-03, 2.97933137e-03,-2.80020191e-04,
 -4.59332882e-06, 4.57045789e-06,-9.80999400e+00,-6.50441276e-02,
 -9.73789552e-03,-5.01358603e-03]


--- Step 2223 ---
qpos:
[-0.00151071, 0.19671254,-0.05920138, 0.28715558,-0.03077598, 0.01327728,
 -0.12941899, 0.2363423 , 0.01312751, 0.48065528,-0.01606555, 0.36536265,
  0.82743249,-0.00452199, 1.16160503, 0.04605136, 0.09467377,-0.06456347,
  0.14272393, 0.94731199,-0.03212201, 0.0262437 , 0.31761522]

qacc:
[-9.90839935e+00,-1.07276774e+01, 5.98127568e+01,-1.40575279e+02,
  1.86860700e+01,-1.69454845e+01, 6.67316729e+01,-1.06541702e+02,
 -7.34867301e-01,-2.04248083e+01, 3.70036066e+01,-2.61857736e+01,
 -2.28138908e-01,-2.70783687e+00,-2.60553805e+00,-7.55545094e+00,
  3.09954594e-03,-3.90483809e-03, 1.29585404e-02,-1.97414761e-01,
  3.37202092e-01,-8.56682138e-01]

qfrc_actuator:
[-7.04937087e-03, 1.46637952e-01, 3.78237198e-02, 9.06050518e-02,
  2.33988983e-02, 3.49915854e-01, 1.09191053e-01, 1.25013718e-01,
 -9.29040130e-04, 1.92147972e-01, 3.38821680e-03, 1.58794332e-01,
  4.82780525e-02, 8.60228358e-03, 5.07141008e-05,-1.97627588e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005786922924347766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64542787e-01, -6.44132889e-01,  2.38148590e-02,  1.82126441e-02,
        1.53442858e-02,  9.99716386e-01, -6.44315626e-01,  7.64759684e-01,
       -3.46944695e-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([ 0.10884208, -0.03979277,  0.13288487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.62136826,  1.23553846,  1.04989512,  1.23553846,  2.06146254,
       -0.51791212,  1.04989512, -0.51791212,  2.23085803,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004145492736731667
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90239351e-01, -3.03420489e-02, -1.36034509e-01, -3.00597311e-02,
        9.99539574e-01, -4.12946704e-03,  1.36097172e-01, -8.67361738e-19,
       -9.90695493e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12967445, -0.08391667,  0.17923049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.09519181,  0.93787617, -0.56553814,  0.93787617,  1.83447225,
        1.22600662, -0.56553814,  1.22600662,  3.12837456,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005829754363297166
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99286052, -0.03042236, -0.11533635, -0.03021915,  0.99953713,
       -0.00351043,  0.11538976,  0.        , -0.99332029])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13016934, -0.0849788 ,  0.17465585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016425169275811299
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98019237, -0.19488189,  0.03527003, -0.19475585,  0.98082672,
        0.00700785, -0.03595949,  0.        , -0.99935325])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12890527, -0.08225017,  0.11237562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025445237085080743
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15752136e-01, -8.40917095e-01, -1.63884637e-01, -8.56823183e-02,
       -1.39702235e-01,  9.86479511e-01, -8.52442535e-01,  5.22820930e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482626, -0.03761093,  0.30551526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004314534997189451
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28660797e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.28660797e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05350784, -0.06061946,  0.06199033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.01899802e-03, 1.34769357e-01, 5.71463831e-02,-1.83026605e-03,
  3.07298505e-02, 3.49156581e-01, 1.38995207e-01, 4.91321466e-02,
 -5.83359699e-05,-2.57218750e-03,-7.35502294e-04,-1.55806939e-04,
  4.41220725e-02, 6.03608979e-03, 3.48690502e-03,-2.42841698e-04,
 -3.93377320e-06, 4.03242023e-06,-9.80999457e+00,-6.50422211e-02,
 -9.73977112e-03,-5.01113316e-03]


--- Step 2224 ---
qpos:
[-0.00158972, 0.19680978,-0.05962709, 0.28897755,-0.03091841, 0.01330162,
 -0.12998844, 0.23785103, 0.01313829, 0.4841739 ,-0.01610182, 0.36850746,
  0.82756971,-0.00445002, 1.16170856, 0.04604983, 0.09467248,-0.06456563,
  0.14272335, 0.94730794,-0.03210297, 0.02623422, 0.31763001]

qacc:
[-9.65216484e+00,-1.87993109e+01, 7.75893987e+01,-1.48249888e+02,
  1.72879171e+01,-1.68702555e+01, 6.63490021e+01,-1.06384204e+02,
 -5.69001021e-01,-2.14536497e+01, 4.77848835e+01,-5.08565717e+01,
 -2.18586148e-01,-2.71440790e+00,-4.06059728e-01,-1.49779475e+01,
  9.84472039e-03,-1.22437268e-02, 9.89230739e-03,-6.54281685e-02,
  3.42496505e-01,-8.48982328e-01]

qfrc_actuator:
[-6.93507027e-03, 1.47424026e-01, 3.82701134e-02, 9.01545168e-02,
  2.35249665e-02, 3.50532133e-01, 1.09779780e-01, 1.25225108e-01,
 -9.68819245e-04, 1.91632887e-01, 3.45619746e-03, 1.58766580e-01,
  4.82648077e-02, 8.54065230e-03, 5.67014673e-05,-2.15670603e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005854544698882417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64521255e-01, -6.44159638e-01,  2.37825744e-02,  1.81874279e-02,
        1.53241089e-02,  9.99717155e-01, -6.44341887e-01,  7.64737558e-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([ 0.10883628, -0.03979513,  0.13290757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.62078794,  1.25245383,  1.02874339,  1.25245383,  2.04787296,
       -0.51995889,  1.02874339, -0.51995889,  2.25381704,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004142211320986068
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90238149e-01, -3.04851793e-02, -1.36011254e-01, -3.02016247e-02,
        9.99535219e-01, -4.14825550e-03,  1.36074499e-01, -8.67361738e-19,
       -9.90698607e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12967362, -0.08391901,  0.17923061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.09234518,  0.93458092, -0.56548784,  0.93458092,  1.81687004,
        1.19742117, -0.56548784,  1.19742117,  3.07132137,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005810166560780718
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99279278, -0.03056383, -0.11588079, -0.03035773,  0.99953282,
       -0.00354342,  0.11593495,  0.        , -0.99325681])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13017013, -0.0849821 ,  0.17465556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016498602221649945
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80184666e-01, -1.94899194e-01,  3.53881947e-02, -1.94772296e-01,
        9.80823279e-01,  7.03198097e-03, -3.60800925e-02,  8.67361738e-19,
       -9.99348901e-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([ 0.12889938, -0.08225015,  0.11238269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002552227267044573
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15726820e-01, -8.40959587e-01, -1.63746208e-01, -8.56037477e-02,
       -1.39588033e-01,  9.86502498e-01, -8.52465745e-01,  5.22783085e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10482295, -0.0376201 ,  0.30551385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004321165174874658
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28463387e-13, -1.32477867e-13,  1.00000000e+00, -1.70185555e-26,
        1.00000000e+00,  1.32477867e-13, -1.00000000e+00,  0.00000000e+00,
       -1.28463387e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05350709, -0.06061942,  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:
[-3.74410482e-03, 1.35474195e-01, 5.75273298e-02,-2.04462937e-03,
  3.07471458e-02, 3.49831281e-01, 1.39369514e-01, 4.94487558e-02,
 -4.60556656e-05,-2.22528154e-03,-5.94144585e-04,-1.71559796e-04,
  4.42714159e-02, 6.12378438e-03, 3.87605466e-03,-2.77605951e-04,
 -3.35245124e-06, 3.56820442e-06,-9.80999507e+00,-6.50403785e-02,
 -9.74159184e-03,-5.00877077e-03]


--- Step 2225 ---
qpos:
[-0.00167189, 0.19690196,-0.06005007, 0.29079537,-0.03105907, 0.01332456,
 -0.13055365, 0.23935756, 0.01314914, 0.48767589,-0.01613825, 0.37165546,
  0.82770376,-0.00438119, 1.16180209, 0.04604229, 0.09467129,-0.0645679 ,
  0.1427228 , 0.94730446,-0.03208392, 0.02622548, 0.31764305]

qacc:
[-9.71105083e+00,-2.20748909e+01, 8.46779413e+01,-1.50980240e+02,
  1.52590641e+01,-1.70642363e+01, 6.69108678e+01,-1.07415678e+02,
  8.64665627e-02,-1.52028502e+01, 1.05542316e+01, 5.28473890e+01,
 -1.54529077e-01,-2.86676755e+00, 3.31461495e+00,-3.32179641e+01,
  2.14451025e-02,-2.76332851e-02, 5.21865483e-03, 1.51163407e-01,
  3.69345607e-01,-9.03664075e-01]

qfrc_actuator:
[-6.83299932e-03, 1.48124935e-01, 3.86890854e-02, 8.96373328e-02,
  2.36563723e-02, 3.51265715e-01, 1.10340492e-01, 1.25104805e-01,
 -9.61100179e-04, 1.91009544e-01, 3.52996065e-03, 1.58948400e-01,
  4.82467672e-02, 8.49445684e-03, 3.71803547e-06,-2.49298309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005920402153791472
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76450191, -0.64418374,  0.02375153,  0.01816322,  0.01530467,
        0.99971789, -0.64436552,  0.76471765,  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([ 0.10883077, -0.03979764,  0.13293016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.62010359,  1.2875432 ,  0.98334539,  1.2875432 ,  1.99178247,
       -0.48665771,  0.98334539, -0.48665771,  2.25730883,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041383355640126605
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99023713, -0.03062632, -0.13598699, -0.03034155,  0.9995309 ,
       -0.00416674,  0.13605081,  0.        , -0.99070186])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12967283, -0.08392153,  0.17923069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.08941701,  0.92001278, -0.58344315,  0.92001278,  1.8054953 ,
        1.12916087, -0.58344315,  1.12916087,  2.86995454,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005790013922005726
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99272513, -0.03070327, -0.1164222 , -0.03049429,  0.99952854,
       -0.00357623,  0.11647711,  0.        , -0.99319338])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13017095, -0.08498557,  0.17465533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016572760117666765
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80177429e-01, -1.94913982e-01,  3.55070140e-02, -1.94786219e-01,
        9.80820340e-01,  7.05614802e-03, -3.62013435e-02,  8.67361738e-19,
       -9.99344517e-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([ 0.1288934, -0.0822501,  0.1123898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025593906562084996
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15704357e-01, -8.40999462e-01, -1.63612108e-01, -8.55279881e-02,
       -1.39477185e-01,  9.86524748e-01, -8.52486938e-01,  5.22748525e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048197 , -0.03762903,  0.30551259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043271662435472036
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.56570458e-13, -1.32294142e-13,  1.00000000e+00, -3.39427687e-26,
        1.00000000e+00,  1.32294142e-13, -1.00000000e+00,  0.00000000e+00,
       -2.56570458e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05350631, -0.06061937,  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:
[-3.48492002e-03, 1.36329022e-01, 5.78301358e-02,-2.34814968e-03,
  3.07779445e-02, 3.50629402e-01, 1.39720904e-01, 4.94351331e-02,
  4.68512731e-06,-2.11058898e-03,-5.00162534e-04, 5.68728463e-05,
  4.44130864e-02, 6.22799365e-03, 4.20004752e-03,-4.34906740e-04,
 -2.84251268e-06, 3.17886231e-06,-9.80999549e+00,-6.50385667e-02,
 -9.74335474e-03,-5.00649281e-03]


--- Step 2226 ---
qpos:
[-0.00175691, 0.19699106,-0.06047104, 0.29260881,-0.03119786, 0.01334624,
 -0.1311147 , 0.24086183, 0.01316042, 0.49116558,-0.01617677, 0.37481747,
  0.82783523,-0.00431529, 1.16189345, 0.04603272, 0.09467014,-0.06457023,
  0.14272226, 0.94730136,-0.03206497, 0.02621727, 0.3176549 ]

qacc:
[-8.69405146e+00,-1.79207286e+01, 7.47227076e+01,-1.45672214e+02,
  1.59946513e+01,-1.68264679e+01, 6.64388196e+01,-1.07522232e+02,
  3.79098596e-01, 1.71544469e+01,-1.34945027e+02, 3.66470674e+02,
 -2.71795569e-03,-2.72400245e+00, 2.87343701e+00,-1.48492176e+01,
  1.38859300e-02,-1.49475078e-02, 3.69489315e-03, 6.02465916e-02,
  2.76955942e-01,-6.20331584e-01]

qfrc_actuator:
[-0.00673698, 0.14876018, 0.03907252, 0.08931248, 0.02380817, 0.35226561,
  0.11086497, 0.12480415,-0.0009431 , 0.19086022, 0.00360665, 0.15969592,
  0.04822596, 0.00842335, 0.        ,-0.00249285, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005983099481077101
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64484931e-01, -6.44204988e-01,  2.37217841e-02,  1.81400511e-02,
        1.52859931e-02,  9.99718599e-01, -6.44386319e-01,  7.64700119e-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([ 0.10882567, -0.03980032,  0.13295257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.61939136,  1.28485331,  0.98568775,  1.28485331,  2.01107861,
       -0.51056804,  0.98568775, -0.51056804,  2.28492163,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041342948231392013
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99023638, -0.03076571, -0.13596099, -0.03047976,  0.99952662,
       -0.00418492,  0.13602538,  0.        , -0.99070535])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12967213, -0.08392428,  0.17923076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.08646603,  0.91680156, -0.58299516,  0.91680156,  1.81705479,
        1.14890305, -0.58299516,  1.14890305,  2.89319821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005769699739260751
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99265755, -0.03084094, -0.11696077, -0.03062906,  0.99952431,
       -0.0036089 ,  0.11701643,  0.        , -0.99312998])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13017183, -0.08498927,  0.1746551 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016647751137958042
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80170662e-01, -1.94926147e-01,  3.56268221e-02, -1.94797512e-01,
        9.80817922e-01,  7.08041627e-03, -3.63235839e-02, -8.67361738e-19,
       -9.99340081e-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([ 0.12888737, -0.08225003,  0.11239695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002565286762116293
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51568508, -0.84103643, -0.16348281, -0.08545534, -0.13937005,
        0.98654618, -0.85250589,  0.52271762,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481654, -0.0376378 ,  0.30551165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043324574184296083
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28128556e-13, -6.80682953e-14,  1.00000000e+00,  8.72149238e-27,
        1.00000000e+00,  6.80682953e-14, -1.00000000e+00,  0.00000000e+00,
        1.28128556e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0535055 , -0.06061933,  0.06199029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.23049614e-03, 1.37215604e-01, 5.80772528e-02,-2.46898753e-03,
  3.08410202e-02, 3.51701368e-01, 1.40037102e-01, 4.92431330e-02,
  2.89062607e-05,-1.54292944e-03,-4.54141918e-04, 6.35202621e-04,
  4.45511085e-02, 6.31311446e-03, 4.69483898e-03,-1.34821534e-04,
 -2.38165691e-06, 2.86976185e-06,-9.80999584e+00,-6.50367282e-02,
 -9.74505094e-03,-5.00429362e-03]


--- Step 2227 ---
qpos:
[-0.00184447, 0.19707607,-0.06088983, 0.29441797,-0.03133467, 0.01336663,
 -0.13167156, 0.24236381, 0.01317229, 0.49465094,-0.01621882, 0.3779883 ,
  0.82796472,-0.00425198, 1.16198539, 0.04602253, 0.09466904,-0.06457259,
  0.14272173, 0.94729844,-0.03204604, 0.02620942, 0.31766616]

qacc:
[-7.78434036e+00,-1.95907497e+01, 7.82371656e+01,-1.46785619e+02,
  1.71081400e+01,-1.69158011e+01, 6.68691165e+01,-1.08530556e+02,
  5.16892522e-01, 2.14105861e+01,-1.15589774e+02, 2.60285130e+02,
  1.98748327e-01,-2.57933152e+00, 2.65461905e+00,-8.20763307e+00,
  1.10403434e-02,-7.18608179e-03, 1.06676889e-03, 6.13269680e-02,
  1.83609189e-01,-3.03980953e-01]

qfrc_actuator:
[-0.00660816, 0.14932057, 0.03945202, 0.08894516, 0.02395364, 0.35333695,
  0.11143707, 0.12427194,-0.00091932, 0.1912994 , 0.00366931, 0.1601849 ,
  0.04821421, 0.00837382, 0.        ,-0.00248773, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006043911486332265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76446956, -0.64422428,  0.02369303,  0.01811768,  0.01526791,
        0.99971928, -0.64440518,  0.76468423,  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([ 0.10882086, -0.03980314,  0.13297485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.61863114,  1.29115277,  0.97616151,  1.29115277,  1.99826802,
       -0.50213946,  0.97616151, -0.50213946,  2.28280274,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004129973887860486
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9902358 , -0.03090327, -0.135934  , -0.03061615,  0.99952238,
       -0.00420281,  0.13599896,  0.        , -0.99070898])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12967148, -0.08392718,  0.17923079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.08348042,  0.9056357 , -0.59477204,  0.9056357 ,  1.82919375,
        1.13546801, -0.59477204,  1.13546801,  2.81241234,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005749141680237529
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99259006, -0.03097674, -0.11749641, -0.03076197,  0.99952011,
       -0.0036414 ,  0.11755283,  0.        , -0.99306663])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13017275, -0.08499311,  0.17465487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016723524835051962
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80164197e-01, -1.94936511e-01,  3.57477684e-02, -1.94806993e-01,
        9.80815863e-01,  7.10484559e-03, -3.64469721e-02, -8.67361738e-19,
       -9.99335588e-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([ 0.12888129, -0.08224993,  0.11240414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025704657630314993
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51566797, -0.84107143, -0.16335663, -0.08538475, -0.13926533,
        0.98656708, -0.85252331,  0.52268921,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481352, -0.03764645,  0.30551089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004337276492879377
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27986194e-13,  5.99935286e-14,  1.00000000e+00,  7.67834342e-27,
        1.00000000e+00, -5.99935286e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27986194e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05350467, -0.06061929,  0.06199028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.95999828e-03, 1.37927863e-01, 5.83569018e-02,-2.62028486e-03,
  3.08934137e-02, 3.52838526e-01, 1.40403355e-01, 4.88213124e-02,
  4.15613735e-05,-6.03374111e-04,-3.26239382e-04, 4.13209653e-04,
  4.46687202e-02, 6.40845150e-03, 4.80146033e-03,-2.85480288e-05,
 -2.08233552e-06, 2.66551833e-06,-9.80999610e+00,-6.50349194e-02,
 -9.74670357e-03,-5.00215643e-03]


--- Step 2228 ---
qpos:
[-0.00193422, 0.19715404,-0.06130528, 0.29622326,-0.03146915, 0.01338569,
 -0.13222425, 0.24386346, 0.0131846 , 0.49813309,-0.01626199, 0.38115431,
  0.82809303,-0.00419081, 1.16208265, 0.04601476, 0.09466796,-0.06457491,
  0.14272119, 0.94729541,-0.03202718, 0.02620165, 0.31767771]

qacc:
[-6.64219458e+00,-2.57735217e+01, 9.28632185e+01,-1.53674523e+02,
  1.98736177e+01,-1.70188025e+01, 6.72668840e+01,-1.09407740e+02,
  3.81809716e-01,-1.06177499e+01, 4.91059792e+01,-1.20755307e+02,
  4.41819187e-01,-2.34401875e+00, 5.07075564e-01, 9.48459976e+00,
  2.41311846e-03, 1.04641704e-02,-1.29930174e-03,-3.01518406e-02,
  4.76226925e-02, 1.60795653e-01]

qfrc_actuator:
[-0.00652982, 0.14987379, 0.03988142, 0.08842973, 0.0240767 , 0.35430967,
  0.11205383, 0.12367274,-0.00091015, 0.19132529, 0.0036726 , 0.15995029,
  0.04820261, 0.00835585, 0.        ,-0.00230268, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006102097914002852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76445499, -0.6442426 ,  0.02366494,  0.01809585,  0.01525023,
        0.99971995, -0.64442308,  0.76466914,  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([ 0.10881641, -0.0398061 ,  0.13299697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.61783538,  1.28413459,  0.98406792,  1.28413459,  2.00135745,
       -0.50046744,  0.98406792, -0.50046744,  2.27090773,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004125442146028268
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99023532, -0.03103885, -0.13590658, -0.03075058,  0.99951818,
       -0.00422042,  0.13597209,  0.        , -0.99071267])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1296709 , -0.08393016,  0.17923081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.08047389,  0.89599451, -0.60383578,  0.89599451,  1.85058126,
        1.14271462, -0.60383578,  1.14271462,  2.77607733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005728433423142109
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92522671e-01, -3.11105491e-02, -1.18029152e-01, -3.08928790e-02,
        9.99515950e-01, -3.67373001e-03,  1.18086312e-01, -4.33680869e-19,
       -9.93003335e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13017373, -0.08499703,  0.17465464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016800041471760497
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80157835e-01, -1.94946021e-01,  3.58701462e-02, -1.94815607e-01,
        9.80813973e-01,  7.12952960e-03, -3.65718140e-02, -8.67361738e-19,
       -9.99331027e-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([ 0.12887515, -0.08224983,  0.11241136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002575035174613565
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51565194, -0.84110526, -0.16323298, -0.0853157 , -0.13916263,
        0.98658755, -0.85253991,  0.52266212,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10481064, -0.03765504,  0.30551026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043417993984155856
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.31848272e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.31848272e-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([ 0.05350383, -0.06061924,  0.06199027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75456980e-03, 1.38684297e-01, 5.86766938e-02,-2.92491633e-03,
  3.09168241e-02, 3.53877895e-01, 1.40814105e-01, 4.83344244e-02,
  3.07713369e-05,-4.74569956e-04,-1.84848240e-04,-2.72044959e-04,
  4.47559776e-02, 6.51925478e-03, 4.77093862e-03, 1.87096343e-04,
 -1.95056239e-06, 2.57421609e-06,-9.80999623e+00,-6.50331343e-02,
 -9.74834528e-03,-5.00006099e-03]


--- Step 2229 ---
qpos:
[-0.0020257 , 0.19722421,-0.06171673, 0.29802486,-0.03160089, 0.01340344,
 -0.13277282, 0.24536076, 0.01319668, 0.50160906,-0.01630489, 0.38431608,
  0.82822079,-0.00413134, 1.16218982, 0.0460129 , 0.09466683,-0.06457709,
  0.14272064, 0.94729199,-0.03200863, 0.02619363, 0.31769045]

qacc:
[-5.27353580e+00,-2.82429277e+01, 9.93152635e+01,-1.56959605e+02,
  2.34762321e+01,-1.69371455e+01, 6.71380573e+01,-1.09782691e+02,
 -1.90912405e-01,-1.72117530e+01, 6.44224204e+01,-1.25703173e+02,
  6.32807619e-01,-2.10046715e+00,-3.34115290e+00, 3.27976730e+01,
 -9.85054235e-03, 3.32237789e-02,-2.55391673e-03,-2.01635382e-01,
 -8.25785481e-02, 6.11904111e-01]

qfrc_actuator:
[-6.51661425e-03, 1.50374039e-01, 4.03209931e-02, 8.79155059e-02,
  2.42206911e-02, 3.55259288e-01, 1.12624702e-01, 1.23069800e-01,
 -9.45344792e-04, 1.90944031e-01, 3.65700584e-03, 1.59735432e-01,
  4.81910891e-02, 8.32187633e-03, 1.62761733e-05,-1.94144885e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006155795686696743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64440007e-01, -6.44261410e-01,  2.36370727e-02,  1.80741739e-02,
        1.52327097e-02,  9.99720605e-01, -6.44441464e-01,  7.64653647e-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([ 0.10881249, -0.03980924,  0.13301886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.61698377,  1.26381148,  1.00867093,  1.26381148,  2.0347136 ,
       -0.52339345,  1.00867093, -0.52339345,  2.27276816,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004120582233528516
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90234810e-01, -3.11721373e-02, -1.35879796e-01, -3.08827435e-02,
        9.99514031e-01, -4.23772305e-03,  1.35945861e-01, -8.67361738e-19,
       -9.90716268e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12967037, -0.0839331 ,  0.17923079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.07743553,  0.89065699, -0.60629814,  0.89065699,  1.88571794,
        1.18737356, -0.60629814,  1.18737356,  2.82169713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005707498831317105
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92455384e-01, -3.12420399e-02, -1.18559039e-01, -3.10214739e-02,
        9.99511848e-01, -3.70583524e-03,  1.18616942e-01, -4.33680869e-19,
       -9.92940089e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13017475, -0.08500088,  0.17465441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016877087908133644
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9801513 , -0.19495605,  0.03599404, -0.19482473,  0.98081198,
        0.00715454, -0.0366982 ,  0.        , -0.99932639])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.128869  , -0.08224974,  0.11241863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025794547261672726
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15635349e-01, -8.41139114e-01, -1.63110937e-01, -8.52474212e-02,
       -1.39061335e-01,  9.86607735e-01, -8.52556780e-01,  5.22634611e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1048079 , -0.03766363,  0.30550965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043463275387067846
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55439337e-13, -1.63640825e-13,  1.00000000e+00, -4.18003039e-26,
        1.00000000e+00,  1.63640825e-13, -1.00000000e+00,  0.00000000e+00,
       -2.55439337e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05350298, -0.0606192 ,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63233196e-03, 1.39534968e-01, 5.89500557e-02,-3.24830627e-03,
  3.09448948e-02, 3.54896625e-01, 1.41179294e-01, 4.78455597e-02,
 -1.65567502e-05,-8.08726504e-04,-1.83220338e-04,-2.55939808e-04,
  4.48041183e-02, 6.59115274e-03, 4.51924252e-03, 4.27474955e-04,
 -2.02554583e-06, 2.59424112e-06,-9.80999623e+00,-6.50314004e-02,
 -9.75001345e-03,-4.99798178e-03]


--- Step 2230 ---
qpos:
[-0.00211871, 0.19728828,-0.06212443, 0.29982267,-0.03172977, 0.01341991,
 -0.13331726, 0.24685566, 0.01320847, 0.50507819,-0.01634857, 0.38748069,
  0.82834804,-0.0040735 , 1.16230316, 0.04601553, 0.09466566,-0.06457914,
  0.14272007, 0.94728816,-0.03199032, 0.02618539, 0.3177044 ]

qacc:
[-4.60275038e+00,-2.55195854e+01, 9.33901817e+01,-1.54098824e+02,
  2.44986750e+01,-1.69401027e+01, 6.73897907e+01,-1.10681420e+02,
 -2.41610935e-01,-1.32805646e+00,-1.83928000e+01, 6.85885995e+01,
  7.04721140e-01,-2.14753697e+00,-4.51664919e+00, 2.88657324e+01,
 -8.79219561e-03, 3.26224253e-02,-4.37569981e-03,-1.80770679e-01,
 -8.47038359e-02, 6.34831731e-01]

qfrc_actuator:
[-0.0064888 , 0.15084608, 0.04072916, 0.08749213, 0.02435814, 0.35619556,
  0.11318418, 0.12251885,-0.00097115, 0.1906778 , 0.0036469 , 0.15988883,
  0.04817961, 0.00824322, 0.        ,-0.00176303, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006204707666672407
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76442342, -0.64428212,  0.02360902,  0.01805232,  0.01521511,
        0.99972127, -0.64446176,  0.76463654,  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([ 0.10880914, -0.03981256,  0.1330405 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.61603089,  1.26678927,  1.00339464,  1.26678927,  2.03102035,
       -0.52392565,  1.00339464, -0.52392565,  2.27748887,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004115132059904565
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9902341 , -0.0313027 , -0.13585492, -0.0310122 ,  0.99950995,
       -0.00425471,  0.13592153,  0.        , -0.99071961])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966989, -0.08393585,  0.17923073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.07433448,  0.87874256, -0.61806641,  0.87874256,  1.90706286,
        1.18394052, -0.61806641,  1.18394052,  2.75761462,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005686124187282412
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92388217e-01, -3.13707931e-02, -1.19086103e-01, -3.11473357e-02,
        9.99507816e-01, -3.73766511e-03,  1.19144744e-01, -4.33680869e-19,
       -9.92876896e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1301758 , -0.08500452,  0.17465422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016954399068994036
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98014433, -0.1949679 ,  0.03611936, -0.19483565,  0.98080962,
        0.0071799 , -0.03682606,  0.        , -0.99932169])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12886283, -0.08224967,  0.11242594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002584414473103387
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15616520e-01, -8.41174161e-01, -1.62989675e-01, -8.51792045e-02,
       -1.38960920e-01,  9.86627775e-01, -8.52574986e-01,  5.22604911e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480529, -0.03767221,  0.30550888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043512021824827773
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55153169e-13, -1.31563353e-13,  1.00000000e+00, -3.35688063e-26,
        1.00000000e+00,  1.31563353e-13, -1.00000000e+00,  0.00000000e+00,
       -2.55153169e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05350214, -0.06061916,  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:
[-2.51751073e-03, 1.40395620e-01, 5.91580911e-02,-3.49069606e-03,
  3.09452081e-02, 3.55901157e-01, 1.41535345e-01, 4.74104880e-02,
 -2.08394361e-05,-8.78797311e-04,-2.45222188e-04, 9.91771293e-05,
  4.48199604e-02, 6.59659817e-03, 4.00521333e-03, 3.09205838e-04,
 -2.29306212e-06, 2.70572616e-06,-9.80999614e+00,-6.50297513e-02,
 -9.75172610e-03,-4.99589844e-03]


--- Step 2231 ---
qpos:
[-0.00221328, 0.19734907,-0.06252932, 0.30161634,-0.03185608, 0.01343548,
 -0.13385755, 0.24834811, 0.01322053, 0.5085417 ,-0.01639299, 0.39064564,
  0.82847425,-0.00401765, 1.16241675, 0.04601929, 0.09466449,-0.06458115,
  0.14271949, 0.94728423,-0.0319722 , 0.02617716, 0.31771861]

qacc:
[-4.72745289e+00,-1.99063781e+01, 8.01832207e+01,-1.47385381e+02,
  2.19310914e+01,-1.65795806e+01, 6.69652819e+01,-1.11189763e+02,
  2.33874525e-01,-4.64917529e+00, 4.63011086e+00, 5.99045779e+00,
  6.47090123e-01,-2.46396662e+00,-3.15406715e+00, 1.13563930e+01,
 -1.42160283e-03, 1.26491212e-02,-5.14146848e-03,-8.51799210e-02,
  3.57042040e-02, 1.36255059e-01]

qfrc_actuator:
[-0.006434  , 0.15133811, 0.04109939, 0.08719586, 0.02445493, 0.35710654,
  0.11369966, 0.12223085,-0.00095568, 0.19059023, 0.00367652, 0.1599205 ,
  0.04816284, 0.00812061, 0.        ,-0.00178398, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006250071461299836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76440516, -0.64430482,  0.02358077,  0.01803027,  0.01519743,
        0.99972194, -0.64448402,  0.76461778,  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([ 0.10880623, -0.03981602,  0.13306196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.61499359,  1.2848109 ,  0.97850153,  1.2848109 ,  2.02486833,
       -0.53818162,  0.97850153, -0.53818162,  2.32164717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004109184022049308
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90233210e-01, -3.14304162e-02, -1.35831953e-01, -3.11388263e-02,
        9.99505942e-01, -4.27136511e-03,  1.35899094e-01, -8.67361738e-19,
       -9.90722684e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966945, -0.08393841,  0.17923063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.07118496,  0.86885776, -0.62651689,  0.86885776,  1.91557524,
        1.17100602, -0.62651689,  1.17100602,  2.69514385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005664406264665092
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99232119, -0.03149669, -0.1196103 , -0.03127035,  0.99950386,
       -0.0037692 ,  0.11966967,  0.        , -0.99281376])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13017688, -0.08500795,  0.17465406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001703206265593851
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98013691, -0.19498163,  0.03624631, -0.19484844,  0.98080689,
        0.00720566, -0.0369556 ,  0.        , -0.99931691])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12885665, -0.08224961,  0.1124333 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025897325374978764
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51559538, -0.8412103 , -0.16287001, -0.08511147, -0.13886208,
        0.98664754, -0.85259454,  0.52257302,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480277, -0.03768077,  0.30550797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004356472533028344
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27422245e-13,  2.78736162e-14,  1.00000000e+00,  3.55171876e-27,
        1.00000000e+00, -2.78736162e-14, -1.00000000e+00,  0.00000000e+00,
       -1.27422245e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05350131, -0.06061912,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38675974e-03, 1.41191601e-01, 5.93415875e-02,-3.59965730e-03,
  3.08988166e-02, 3.56878005e-01, 1.41847327e-01, 4.72403485e-02,
  1.90997338e-05,-7.36810323e-04,-2.15098400e-04,-2.02132950e-05,
  4.48295973e-02, 6.55492841e-03, 3.69435409e-03, 6.35874192e-05,
 -2.59027012e-06, 2.85022492e-06,-9.80999603e+00,-6.50281382e-02,
 -9.75345366e-03,-4.99380880e-03]


--- Step 2232 ---
qpos:
[-0.0023096 , 0.19740554,-0.0629312 , 0.303406  ,-0.03198042, 0.0134508 ,
 -0.1343938 , 0.2498381 , 0.01323262, 0.51199981,-0.01643611, 0.39380188,
  0.82859866,-0.00396427, 1.16252572, 0.04602121, 0.09466333,-0.06458319,
  0.14271889, 0.94728071,-0.03195439, 0.02616923, 0.31773157]

qacc:
[-5.34571403e+00,-2.15704929e+01, 8.36203923e+01,-1.48260154e+02,
  1.69202412e+01,-1.55037189e+01, 6.45324218e+01,-1.09659746e+02,
  3.23045578e-02,-2.78398694e+01, 1.19299667e+02,-2.51366540e+02,
  4.35899598e-01,-2.75478526e+00,-1.31955353e+00,-5.47026145e+00,
  1.73985601e-03,-1.01683190e-02,-2.42535632e-03,-8.13694306e-02,
  2.04926979e-01,-6.53866793e-01]

qfrc_actuator:
[-0.00638011, 0.15177076, 0.0415173 , 0.0869422 , 0.02454424, 0.35794924,
  0.11418707, 0.12266971,-0.00096913, 0.1904516 , 0.00378352, 0.15948994,
  0.04815362, 0.0080259 , 0.        ,-0.00194076, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006293632816051766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76438655, -0.64432792,  0.0235527 ,  0.01800836,  0.01517987,
        0.9997226 , -0.64450671,  0.76459865,  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([ 0.10880356, -0.03981958,  0.13308331])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.61390178,  1.29650954,  0.96111497,  1.29650954,  2.07001275,
       -0.6152773 ,  0.96111497, -0.6152773 ,  2.44388874,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000410290657813123
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99023226, -0.03155559, -0.13580984, -0.03126293,  0.999502  ,
       -0.0042877 ,  0.13587751,  0.        , -0.99072564])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966904, -0.0839409 ,  0.17923051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.06800798,  0.87660376, -0.61008762,  0.87660376,  1.91381174,
        1.21529225, -0.61008762,  1.21529225,  2.81419938,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005642488696154952
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99225433, -0.03162003, -0.12013123, -0.03139081,  0.99949996,
       -0.00380045,  0.12019133,  0.        , -0.99275075])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13017798, -0.0850113 ,  0.17465389])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017110622599810332
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98012933, -0.19499574,  0.03637527, -0.19486159,  0.98080409,
        0.00723185, -0.0370872 ,  0.        , -0.99931203])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1288504 , -0.08224956,  0.11244069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002594865895663932
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51557368, -0.84124627, -0.16275287, -0.08504501, -0.13876542,
        0.98666687, -0.85261429,  0.52254079,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10480031, -0.03768926,  0.30550707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043619813640387306
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54522643e-13, -2.58499559e-13,  1.00000000e+00, -6.57939909e-26,
        1.00000000e+00,  2.58499559e-13, -1.00000000e+00,  0.00000000e+00,
       -2.54522643e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05350049, -0.06061907,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25525832e-03, 1.41787661e-01, 5.96191510e-02,-3.64977451e-03,
  3.08599641e-02, 3.57768273e-01, 1.42130157e-01, 4.77989873e-02,
  1.80800509e-06,-7.06880049e-04,-1.08814118e-04,-4.77952826e-04,
  4.48719919e-02, 6.55874364e-03, 3.67992267e-03,-1.50349741e-04,
 -2.64766769e-06, 2.85898642e-06,-9.80999605e+00,-6.50264908e-02,
 -9.75512971e-03,-4.99173234e-03]


--- Step 2233 ---
qpos:
[-0.00240771, 0.19745451,-0.06332887, 0.30519208,-0.03210304, 0.01346614,
 -0.13492625, 0.2513256 , 0.01324468, 0.51544809,-0.01647575, 0.39695105,
  0.8287208 ,-0.00391365, 1.16263135, 0.04602198, 0.09466216,-0.06458527,
  0.14271829, 0.94727773,-0.03193719, 0.02616162, 0.31774279]

qacc:
[-5.40294678e+00,-2.81764217e+01, 9.91733795e+01,-1.55384427e+02,
  1.46945736e+01,-1.45323121e+01, 6.16826725e+01,-1.07128499e+02,
 -1.06002196e-02,-3.64380878e+01, 1.34976165e+02,-2.39564517e+02,
  2.54305733e-01,-2.84941858e+00,-1.58781668e+00,-1.83447847e+00,
 -2.68419234e-03,-9.30128834e-03, 5.05943098e-04,-2.03441977e-01,
  2.69335183e-01,-9.19986179e-01]

qfrc_actuator:
[-0.00632595, 0.15222339, 0.04198025, 0.08648487, 0.02464638, 0.35853764,
  0.11474485, 0.12347468,-0.00098206, 0.18980504, 0.00389969, 0.15912826,
  0.04814903, 0.00793146, 0.        ,-0.00198123, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006334436583048877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64369616e-01, -6.44349010e-01,  2.35253589e-02,  1.79870477e-02,
        1.51627382e-02,  9.99723240e-01, -6.44527390e-01,  7.64581221e-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([ 0.10880121, -0.03982325,  0.13310452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.61273683,  1.28665997,  0.9723303 ,  1.28665997,  2.15703486,
       -0.72025575,  0.9723303 , -0.72025575,  2.56583295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040961893643730557
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90231415e-01, -3.16788132e-02, -1.35787325e-01, -3.13851082e-02,
        9.99498100e-01, -4.30374137e-03,  1.35855511e-01,  8.67361738e-19,
       -9.90728661e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966863, -0.08394353,  0.17923036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.06478334,  0.8939209 , -0.57850583,  0.8939209 ,  1.90550222,
        1.29909871, -0.57850583,  1.29909871,  3.07218143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000562023096759928
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99218771, -0.0317414 , -0.12064837, -0.0315093 ,  0.99949611,
       -0.00383148,  0.12070919,  0.        , -0.99268791])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13017906, -0.08501478,  0.17465374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017190702238152249
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98012205, -0.19500783,  0.03650626, -0.1948727 ,  0.98080169,
        0.00725835, -0.03722083,  0.        , -0.99930706])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12884401, -0.08224949,  0.11244814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025994911611694103
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15554143e-01, -8.41280325e-01, -1.62638679e-01, -8.49805011e-02,
       -1.38671029e-01,  9.86685695e-01, -8.52632535e-01,  5.22511014e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1047979 , -0.03769762,  0.30550627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004367513746132423
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.26397085e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.26397085e-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([ 0.05349967, -0.06061903,  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:
[-2.11324683e-03, 1.42455669e-01, 5.99320196e-02,-3.90925964e-03,
  3.08632863e-02, 3.58371379e-01, 1.42488328e-01, 4.87252104e-02,
 -2.74418261e-06,-1.19471168e-03,-9.59149853e-05,-4.13388648e-04,
  4.49578892e-02, 6.58708504e-03, 3.90810822e-03,-9.91250143e-05,
 -2.29345084e-06, 2.60415178e-06,-9.80999632e+00,-6.50247917e-02,
 -9.75668689e-03,-4.98970377e-03]


--- Step 2234 ---
qpos:
[-0.00250631, 0.19749494,-0.06372355, 0.30697435,-0.03222341, 0.01348018,
 -0.13545539, 0.25281053, 0.01325694, 0.51887882,-0.01651107, 0.40010249,
  0.8288394 ,-0.0038666 , 1.16273223, 0.04602119, 0.09466101,-0.06458726,
  0.14271769, 0.94727482,-0.0319206 , 0.02615443, 0.31775374]

qacc:
[-1.42263586e+00,-2.66090104e+01, 9.25300332e+01,-1.50066347e+02,
  1.92085186e+01,-1.50718430e+01, 6.13673049e+01,-1.06207784e+02,
  1.92105909e-01,-3.06364751e+01, 6.62661734e+01,-2.09164023e+01,
 -1.37242853e-01,-3.27562407e+00,-2.33654281e+00,-2.14975071e+00,
  6.45901147e-03, 2.32039131e-02,-2.90037762e-03,-2.17923751e-01,
  2.99727579e-01,-1.36596195e-01]

qfrc_actuator:
[-0.00628864, 0.15267515, 0.04234355, 0.08578223, 0.02473792, 0.3589378 ,
  0.11527246, 0.12395   ,-0.00097686, 0.18852301, 0.00396541, 0.15921805,
  0.04813135, 0.00782069, 0.        ,-0.00207615, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006370423857419897
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64355038e-01, -6.44367266e-01,  2.34989899e-02,  1.79665326e-02,
        1.51461623e-02,  9.99723861e-01, -6.44545250e-01,  7.64566165e-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([ 0.10879938, -0.03982711,  0.13312551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20922093, -0.20889355, -0.01169969, -0.20889355,  0.20994902,
       -0.01299968, -0.01169969, -0.01299968,  0.44132528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2101467616038726e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.73012666, -0.68286756,  0.02463662,  0.01799332,  0.01682866,
        0.99969647, -0.68307489,  0.73034834,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10317639, -0.03311265,  0.11868825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.61145098,  1.27709196,  0.98275652,  1.27709196,  2.19652211,
       -0.76029985,  0.98275652, -0.76029985,  2.59946053,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004088751847127271
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99023069, -0.03180034, -0.13576424, -0.0315056 ,  0.99949424,
       -0.00431953,  0.13583294,  0.        , -0.99073176])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966821, -0.08394633,  0.17923018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.06146943,  0.88364714, -0.58811996,  0.88364714,  1.96390223,
        1.35590054, -0.58811996,  1.35590054,  3.09870284,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005597344124073825
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92121322e-01, -3.18610535e-02, -1.21161693e-01, -3.16260869e-02,
        9.99492308e-01, -3.86230005e-03,  1.21223237e-01,  8.67361738e-19,
       -9.92625270e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13018011, -0.08501841,  0.17465364])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017272230851164531
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98011527, -0.19501708,  0.03663871, -0.19488097,  0.98079985,
        0.00728505, -0.03735595,  0.        , -0.99930202])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12883746, -0.08224939,  0.11245562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002603975578768365
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15537600e-01, -8.41312013e-01, -1.62527167e-01, -8.49179284e-02,
       -1.38578589e-01,  9.86704069e-01, -8.52648772e-01,  5.22484518e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10479555, -0.03770578,  0.30550547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004373045574394274
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26939338e-13,  5.95028149e-14,  1.00000000e+00, -7.55324796e-27,
        1.00000000e+00, -5.95028149e-14, -1.00000000e+00,  0.00000000e+00,
        1.26939338e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05349884, -0.06061899,  0.0619902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98663116e-03, 1.43281310e-01, 6.00849990e-02,-4.43575008e-03,
  3.08690150e-02, 3.58773447e-01, 1.42829073e-01, 4.93230698e-02,
  1.38705777e-05,-2.09663874e-03,-2.42247590e-04, 2.01303815e-05,
  4.50535750e-02, 6.61331656e-03, 4.07389076e-03,-1.37402706e-04,
 -1.81866258e-06, 2.25645961e-06,-9.80999671e+00,-6.50231297e-02,
 -9.75815414e-03,-4.98774535e-03]


--- Step 2235 ---
qpos:
[-0.00260549, 0.19752864,-0.06411564, 0.30875268,-0.03234183, 0.01349289,
 -0.13598127, 0.25429289, 0.01326937, 0.52229204,-0.01654662, 0.40326617,
  0.82895425,-0.00382329, 1.16282479, 0.04601603, 0.09465993,-0.06458923,
  0.14271707, 0.94727217,-0.03190433, 0.02614789, 0.31776382]

qacc:
[-1.70477130e+00,-2.34408824e+01, 8.52870766e+01,-1.45979884e+02,
  1.66827555e+01,-1.49649713e+01, 6.10214514e+01,-1.06122603e+02,
  1.53928471e-01, 1.52454595e+00,-8.22328803e+01, 2.85606574e+02,
 -1.77753470e-01,-3.40581853e+00, 8.29852084e-01,-2.09525805e+01,
  1.69714645e-02, 2.29043500e-03,-2.75831149e-03,-3.35010029e-02,
  3.70653260e-01,-4.45675318e-01]

qfrc_actuator:
[-0.00624427, 0.15305943, 0.04271761, 0.08544888, 0.02483965, 0.35947485,
  0.11578094, 0.12417533,-0.00097877, 0.18768797, 0.00396311, 0.15983851,
  0.04811134, 0.0077553 , 0.        ,-0.00234488, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006400919349272657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7643408 , -0.64438508,  0.02347384,  0.01794696,  0.01513036,
        0.99972445, -0.64456268,  0.76455147,  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([ 0.10879821, -0.03983112,  0.1331462 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20933866, -0.20863755, -0.01711867, -0.20863755,  0.21105789,
       -0.02095342, -0.01711867, -0.02095342,  0.46471294,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2606656490153468e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72995807, -0.68303567,  0.02496981,  0.0182326 ,  0.01706059,
        0.99968821, -0.6832487 ,  0.73018574,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10315725, -0.03311426,  0.11870802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.61012577,  1.30288516,  0.94604188,  1.30288516,  2.15550062,
       -0.75108811,  0.94604188, -0.75108811,  2.64452136,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040810610685644225
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90230003e-01, -3.19196364e-02, -1.35741217e-01, -3.16238960e-02,
        9.99490439e-01, -4.33501927e-03,  1.35810421e-01,  8.67361738e-19,
       -9.90734843e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966785, -0.08394903,  0.17922998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.05812848,  0.87842742, -0.58991623,  0.87842742,  1.93597488,
        1.30717601, -0.58991623,  1.30717601,  3.00460697,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005574256441647304
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99205497, -0.03197846, -0.12167298, -0.03174063,  0.99948856,
       -0.00389291,  0.12173524,  0.        , -0.99256261])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1301812 , -0.08502193,  0.17465356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017353677529332997
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80108539e-01, -1.95025862e-01,  3.67717944e-02, -1.94888747e-01,
        9.80798100e-01,  7.31185237e-03, -3.74917064e-02, -8.67361738e-19,
       -9.99296939e-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([ 0.12883091, -0.08224929,  0.11246314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002608789569092538
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51552141, -0.84134238, -0.1624213 , -0.08485845, -0.13849087,
        0.9867215 , -0.85266448,  0.52245888,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10479323, -0.0377136 ,  0.30550455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004378588674638223
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.90458116e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.90458116e-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([ 0.05349802, -0.06061895,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91790429e-03, 1.44092722e-01, 6.03105788e-02,-4.58179905e-03,
  3.08583827e-02, 3.59377500e-01, 1.43174258e-01, 4.96742336e-02,
  1.14796968e-05,-2.16448849e-03,-4.97651459e-04, 5.18177792e-04,
  4.52106686e-02, 6.72538990e-03, 4.30852954e-03,-3.28362806e-04,
 -1.72934761e-06, 2.10939972e-06,-9.80999695e+00,-6.50215773e-02,
 -9.75962097e-03,-4.98587401e-03]


--- Step 2236 ---
qpos:
[-0.00270486, 0.19755872,-0.06450595, 0.31052681,-0.03245802, 0.01350397,
 -0.13650401, 0.25577265, 0.01328189, 0.52569081,-0.01658372, 0.40644156,
  0.82906645,-0.00378291, 1.16291642, 0.04601042, 0.09465889,-0.06459115,
  0.14271646, 0.94726947,-0.0318883 , 0.02614171, 0.31777397]

qacc:
[-5.53340589e-01,-1.75850226e+01, 7.16446400e+01,-1.38493089e+02,
  1.91116166e+01,-1.50597735e+01, 6.07901728e+01,-1.05578916e+02,
  8.84921988e-02, 8.14479691e+00,-9.75448944e+01, 2.90848822e+02,
 -2.90015216e-03,-2.75683773e+00,-6.33427305e-02,-1.92117553e+00,
  1.02816232e-02, 1.52844610e-02, 8.37151859e-04,-5.96137034e-02,
  2.06050755e-01, 4.35643938e-02]

qfrc_actuator:
[-0.00614213, 0.15329832, 0.04313283, 0.08558731, 0.02498239, 0.35998807,
  0.11632994, 0.12423397,-0.00098499, 0.18727013, 0.00399385, 0.16044694,
  0.04810072, 0.00770098, 0.        ,-0.00227064, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006427118224879508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64327712e-01, -6.44401460e-01,  2.34501076e-02,  1.79284972e-02,
        1.51154402e-02,  9.99725008e-01, -6.44578714e-01,  7.64537953e-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([ 0.10879756, -0.03983526,  0.13316665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20964063, -0.20825542, -0.02405981, -0.20825542,  0.21311789,
       -0.03009825, -0.02405981, -0.03009825,  0.47016321,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2509324898156016e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.29792758e-01, -6.83200313e-01,  2.52955058e-02,  1.84663859e-02,
        1.72874291e-02,  9.99680017e-01, -6.83418995e-01,  7.30026354e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10313871, -0.03311595,  0.11872757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.60880607,  1.28889745,  0.96280856,  1.28889745,  2.17199265,
       -0.75392948,  0.96280856, -0.75392948,  2.6180802 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040733762434934937
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99022949, -0.03203701, -0.13571728, -0.03174028,  0.99948668,
       -0.00435021,  0.13578698,  0.        , -0.99073806])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966755, -0.08395173,  0.17922976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.05479227,  0.88505932, -0.57380898,  0.88505932,  1.90162972,
        1.30618621, -0.57380898,  1.30618621,  3.0694911 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005551186379188829
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91988640e-01, -3.20939219e-02, -1.22182316e-01, -3.18532149e-02,
        9.99484857e-01, -3.92333079e-03,  1.22245290e-01,  4.33680869e-19,
       -9.92499919e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13018235, -0.08502547,  0.17465346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017435181425483112
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80102033e-01, -1.95033306e-01,  3.69054738e-02, -1.94895186e-01,
        9.80796620e-01,  7.33872487e-03, -3.76280597e-02,  8.67361738e-19,
       -9.99291814e-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([ 0.12882437, -0.08224917,  0.11247069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026132003047127416
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51550676, -0.84137061, -0.16232151, -0.08480249, -0.13840812,
        0.98673792, -0.8526789 ,  0.52243534,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10479096, -0.03772111,  0.30550371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004383885321414399
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.79876392e-13, -9.89261436e-14,  1.00000000e+00, -3.75797065e-26,
        1.00000000e+00,  9.89261436e-14, -1.00000000e+00,  0.00000000e+00,
       -3.79876392e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05349717, -0.06061891,  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:
[-1.78699913e-03, 1.44668339e-01, 6.05963089e-02,-4.24945486e-03,
  3.09035878e-02, 3.59959481e-01, 1.43563345e-01, 4.98599138e-02,
  6.39306232e-06,-1.81619977e-03,-4.92328994e-04, 5.05034660e-04,
  4.53879110e-02, 6.85735147e-03, 4.72318657e-03,-3.60402540e-05,
 -1.54038789e-06, 1.93682725e-06,-9.80999721e+00,-6.50200087e-02,
 -9.76098678e-03,-4.98409408e-03]


--- Step 2237 ---
qpos:
[-0.00280395, 0.19758564,-0.06489462, 0.31229671,-0.0325715 , 0.01351294,
 -0.13702373, 0.25724981, 0.01329421, 0.52907535,-0.01662095, 0.40962719,
  0.82917717,-0.00374452, 1.16301186, 0.0460073 , 0.09465787,-0.06459294,
  0.14271585, 0.94726634,-0.0318724 , 0.02613556, 0.31778541]

qacc:
[ 8.84578364e-01,-1.66920522e+01, 6.93024990e+01,-1.36315012e+02,
  2.30595013e+01,-1.54055052e+01, 6.11218147e+01,-1.05463150e+02,
 -1.52682930e-01, 1.58459789e+00,-6.89314882e+01, 2.38197793e+02,
  1.87075783e-01,-2.00762731e+00,-1.96876892e+00, 1.49379917e+01,
  3.82279957e-03, 3.21311743e-02, 3.15908884e-03,-7.79767001e-02,
  1.77739369e-02, 6.75253059e-01]

qfrc_actuator:
[-0.00602323, 0.15341402, 0.04350152, 0.08572661, 0.02513092, 0.36038131,
  0.11683105, 0.12408711,-0.00101154, 0.18671598, 0.00404582, 0.16097279,
  0.04809579, 0.00768951, 0.        ,-0.00208156, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000645112890088624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76431452, -0.64441794,  0.02342721,  0.01791068,  0.01510106,
        0.99972555, -0.64459486,  0.76452434,  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([ 0.10879722, -0.03983945,  0.13318697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.21012079, -0.20892718, -0.02236461, -0.20892718,  0.21338227,
       -0.03046837, -0.02236461, -0.03046837,  0.49475218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.213549061832415e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.29628148e-01, -6.83364132e-01,  2.56169661e-02,  1.86969953e-02,
        1.75114625e-02,  9.99671832e-01, -6.83588464e-01,  7.29867667e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10312054, -0.03311769,  0.118747  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.60747162,  1.27219587,  0.98258978,  1.27219587,  2.17484675,
       -0.73460187,  0.98258978, -0.73460187,  2.55858823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040655790099810446
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99022903, -0.03215216, -0.13569344, -0.03185448,  0.99948299,
       -0.00436509,  0.13576364,  0.        , -0.99074126])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966732, -0.08395436,  0.17922952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.05144711,  0.88861228, -0.56205805,  0.88861228,  1.86875963,
        1.29216891, -0.56205805,  1.29216891,  3.09436271,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005528038230732973
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99192229, -0.03220714, -0.12269013, -0.03196357,  0.99948122,
       -0.00395355,  0.12275382,  0.        , -0.99243715])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13018357, -0.08502892,  0.17465335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017516248399724029
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80095471e-01, -1.95040918e-01,  3.70392674e-02, -1.94901788e-01,
        9.80795106e-01,  7.36562882e-03, -3.77645312e-02, -8.67361738e-19,
       -9.99286666e-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([ 0.1288179 , -0.08224906,  0.11247826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002617609543154254
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15491955e-01, -8.41398135e-01, -1.62225836e-01, -8.47487243e-02,
       -1.38328868e-01,  9.86753656e-01, -8.52693203e-01,  5.22412004e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10478879, -0.03772843,  0.30550286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043889572486267847
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26479134e-13,  5.92870941e-14,  1.00000000e+00,  7.49858032e-27,
        1.00000000e+00, -5.92870941e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26479134e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05349632, -0.06061887,  0.06199016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65850827e-03, 1.44964433e-01, 6.08773104e-02,-3.90222337e-03,
  3.09402617e-02, 3.60436821e-01, 1.43910332e-01, 4.98404934e-02,
 -1.54488031e-05,-1.75678843e-03,-3.99288067e-04, 4.36643953e-04,
  4.55155335e-02, 6.99227085e-03, 4.76787517e-03, 1.75392000e-04,
 -1.55617164e-06, 1.89490430e-06,-9.80999730e+00,-6.50184956e-02,
 -9.76234200e-03,-4.98237133e-03]


--- Step 2238 ---
qpos:
[-0.00290264, 0.19760716,-0.06528095, 0.3140627 ,-0.03268218, 0.0135195 ,
 -0.13754038, 0.25872435, 0.01330631, 0.53244558,-0.01665809, 0.41281902,
  0.82928675,-0.00370779, 1.16310713, 0.04600429, 0.09465689,-0.06459464,
  0.14271526, 0.94726273,-0.03185627, 0.0261295 , 0.31779828]

qacc:
[ 1.27561526e+00,-2.09183837e+01, 7.87870584e+01,-1.39863882e+02,
  2.39236566e+01,-1.58851398e+01, 6.23168618e+01,-1.06688999e+02,
 -1.60500590e-01,-7.00437256e+00,-2.42626705e+01, 1.30800715e+02,
  2.80248974e-01,-1.80647103e+00,-6.55951111e-01, 1.79518276e+00,
  1.15393912e-02, 2.26223612e-02, 1.30496891e-03, 9.60068005e-02,
 -7.29748900e-03, 7.60581873e-01]

qfrc_actuator:
[-0.00593018, 0.1535811 , 0.04387721, 0.08561958, 0.02524606, 0.36084572,
  0.11730227, 0.12369373,-0.00103227, 0.18608564, 0.00407422, 0.16128608,
  0.04808892, 0.00768622, 0.        ,-0.00212814, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006473260596362393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76429957, -0.6444365 ,  0.02340452,  0.01789296,  0.01508686,
        0.99972608, -0.64461307,  0.76450899,  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([ 0.10879713, -0.03984369,  0.13320717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.21077452, -0.21034864, -0.01339209, -0.21034864,  0.21214825,
       -0.02157722, -0.01339209, -0.02157722,  0.54968646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.1507678698659e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.29462609e-01, -6.83528883e-01,  2.59339292e-02,  1.89241967e-02,
        1.77325539e-02,  9.99663659e-01, -6.83758859e-01,  7.29708040e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10310271, -0.03311948,  0.11876631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.60610866,  1.29117271,  0.95522671,  1.29117271,  2.10260446,
       -0.67110961,  0.95522671, -0.67110961,  2.51324244,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004057587416224202
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90228456e-01, -3.22646392e-02, -1.35670920e-01, -3.19660066e-02,
        9.99479361e-01, -4.37965351e-03,  1.35741593e-01, -8.67361738e-19,
       -9.90744276e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966719, -0.08395678,  0.17922925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.04808506,  0.87523221, -0.57658553,  0.87523221,  1.84718159,
        1.21299442, -0.57658553,  1.21299442,  2.88935878,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005504755944113757
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99185587, -0.03231767, -0.123197  , -0.03207122,  0.99947765,
       -0.00398352,  0.12326139,  0.        , -0.99237424])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13018487, -0.08503215,  0.17465327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017596234599149918
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98008849, -0.19505063,  0.03717265, -0.19491049,  0.98079318,
        0.00739254, -0.0379006 ,  0.        , -0.99928151])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12881155, -0.08224897,  0.11248586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002622342529035668
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15474808e-01, -8.41426531e-01, -1.62133016e-01, -8.46961072e-02,
       -1.38252249e-01,  9.86768912e-01, -8.52708796e-01,  5.22386551e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10478672, -0.03773565,  0.30550193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043938785920200063
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52674943e-13, -6.71167818e-14,  1.00000000e+00, -1.69587291e-26,
        1.00000000e+00,  6.71167818e-14, -1.00000000e+00,  0.00000000e+00,
       -2.52674943e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05349546, -0.06061883,  0.06199015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57935995e-03, 1.45289987e-01, 6.11709948e-02,-3.80133052e-03,
  3.09202876e-02, 3.61009106e-01, 1.44232630e-01, 4.95749483e-02,
 -1.63733438e-05,-1.78285687e-03,-4.01401385e-04, 2.28403486e-04,
  4.55829306e-02, 7.08764080e-03, 4.57558411e-03, 3.70400697e-06,
 -1.83715458e-06, 2.02031191e-06,-9.80999722e+00,-6.50170422e-02,
 -9.76373840e-03,-4.98066468e-03]


--- Step 2239 ---
qpos:
[-0.0030009 , 0.19762119,-0.06566407, 0.31582507,-0.03279008, 0.01352367,
 -0.13805397, 0.26019625, 0.01331848, 0.5358003 ,-0.01669404, 0.41600969,
  0.82939509,-0.00367279, 1.16320044, 0.04600016, 0.09465598,-0.06459628,
  0.14271466, 0.94725874,-0.03183983, 0.02612363, 0.31781231]

qacc:
[ 1.37493342e+00,-2.54335576e+01, 8.94745192e+01,-1.44542311e+02,
  2.37555375e+01,-1.59159500e+01, 6.24996761e+01,-1.07134609e+02,
  7.29392718e-02,-2.60061930e+01, 6.63089630e+01,-7.23635748e+01,
  2.71171263e-01,-1.87701266e+00, 4.54766963e-01,-5.90696237e+00,
  1.51579801e-02, 1.49514647e-02,-6.94236729e-04, 1.53970971e-01,
  2.84726044e-02, 6.19732930e-01]

qfrc_actuator:
[-0.0058351 , 0.1538535 , 0.04425576, 0.08524188, 0.02535773, 0.36142498,
  0.11778984, 0.12354406,-0.00103167, 0.1853088 , 0.00412381, 0.16122326,
  0.04807559, 0.00767054, 0.        ,-0.0022082 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006491975340245092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76428268, -0.64445735,  0.02338189,  0.01787526,  0.01507275,
        0.99972661, -0.64463359,  0.76449168,  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([ 0.10879745, -0.03984799,  0.13322717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.21158983, -0.21154914, -0.00414931, -0.21154914,  0.21174219,
       -0.00776821, -0.00414931, -0.00776821,  0.60764536,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010046030161410394
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.29297043e-01, -6.83693726e-01,  2.62433200e-02,  1.91457697e-02,
        1.79485750e-02,  9.99655585e-01, -6.83929282e-01,  7.29548310e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1030854 , -0.03312135,  0.11878544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.60476577,  1.30552525,  0.9332079 ,  1.30552525,  2.07367837,
       -0.65599235,  0.9332079 , -0.65599235,  2.52247616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004049685827403355
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99022782, -0.03237433, -0.13564945, -0.03207478,  0.99947581,
       -0.00439386,  0.13572059,  0.        , -0.99074715])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966718, -0.08395902,  0.17922895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.04474465,  0.86581998, -0.58467696,  0.86581998,  1.84284974,
        1.18187543, -0.58467696,  1.18187543,  2.79492712,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005481605502994125
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99178935, -0.03242539, -0.12370319, -0.03217607,  0.99947416,
       -0.00401323,  0.12376827,  0.        , -0.99231115])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13018628, -0.08503519,  0.17465316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017675055290842891
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80081023e-01, -1.95062753e-01,  3.73056501e-02, -1.94921598e-01,
        9.80790764e-01,  7.41946508e-03, -3.80362984e-02, -8.67361738e-19,
       -9.99276358e-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([ 0.12880537, -0.08224891,  0.11249347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002626793770233548
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51545513, -0.84145581, -0.16204359, -0.0846449 , -0.13817875,
        0.9867836 , -0.85272578,  0.52235883,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10478472, -0.03774283,  0.30550108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043985481792965797
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26203349e-13, -1.30147204e-13,  1.00000000e+00, -1.64250130e-26,
        1.00000000e+00,  1.30147204e-13, -1.00000000e+00,  0.00000000e+00,
       -1.26203349e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05349459, -0.06061879,  0.06199014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50425542e-03, 1.45832954e-01, 6.14335458e-02,-3.98571629e-03,
  3.08917505e-02, 3.61711150e-01, 1.44569842e-01, 4.95540178e-02,
  4.58181498e-06,-1.95213953e-03,-3.92526853e-04,-1.52881657e-04,
  4.56267992e-02, 7.15425053e-03, 4.58238419e-03,-8.24619482e-05,
 -2.20703295e-06, 2.23171057e-06,-9.80999705e+00,-6.50155605e-02,
 -9.76514981e-03,-4.97895759e-03]


--- Step 2240 ---
qpos:
[-0.00309869, 0.19762718,-0.06604334, 0.31758403,-0.03289532, 0.01352615,
 -0.13856461, 0.26166552, 0.01333074, 0.5391401 ,-0.01673062, 0.41920229,
  0.82950177,-0.00363979, 1.16329493, 0.0459971 , 0.09465507,-0.06459783,
  0.14271407, 0.94725459,-0.03182365, 0.02611788, 0.31782678]

qacc:
[ 1.54302287e+00,-2.75468343e+01, 9.51143615e+01,-1.47295801e+02,
  2.25994120e+01,-1.46874994e+01, 5.95463288e+01,-1.04752224e+02,
  8.15500802e-02,-1.41772248e+01, 1.51451267e+01, 2.68661933e+01,
  1.05384229e-01,-1.96692667e+00,-1.55028271e+00, 7.81502835e+00,
  2.05076747e-03, 2.03174364e-02, 1.39843246e-03,-1.11426285e-01,
  8.82666842e-02, 2.27178134e-01]

qfrc_actuator:
[-0.00575676, 0.1541756 , 0.04465196, 0.0847918 , 0.02546622, 0.36219837,
  0.11826822, 0.12403875,-0.00103622, 0.1846818 , 0.00413172, 0.16133021,
  0.04806375, 0.00764818, 0.        ,-0.0021119 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006505934344122328
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76426421, -0.64448007,  0.02335944,  0.01785766,  0.0150588 ,
        0.99972713, -0.64465598,  0.76447281,  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([ 0.10879832, -0.0398524 ,  0.13324694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.21255082, -0.2125267 ,  0.00320244, -0.2125267 ,  0.21265196,
        0.00671173,  0.00320244,  0.00671173,  0.6579687 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001188555689588999
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.29132753e-01, -6.83857374e-01,  2.65428102e-02,  1.93600533e-02,
        1.81578939e-02,  9.99647678e-01, -6.84098397e-01,  7.29389733e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10306873, -0.03312331,  0.1188043 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.60345411,  1.28508396,  0.95897044,  1.28508396,  2.19527275,
       -0.79307621,  0.95897044, -0.79307621,  2.66622882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004041941403287899
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90227162e-01, -3.24812658e-02, -1.35628669e-01, -3.21808120e-02,
        9.99472344e-01, -4.40771661e-03,  1.35700272e-01, -8.67361738e-19,
       -9.90749936e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966728, -0.08396112,  0.17922864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.04143375,  0.88056652, -0.55604574,  0.88056652,  1.86679562,
        1.30706158, -0.55604574,  1.30706158,  3.11132583,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005458640844716419
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91722734e-01, -3.25303233e-02, -1.24208687e-01, -3.22781444e-02,
        9.99470749e-01, -4.04268833e-03,  1.24274459e-01,  8.67361738e-19,
       -9.92247882e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13018781, -0.08503809,  0.17465301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017752790151812404
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98007315, -0.19507688,  0.03743827, -0.19493471,  0.98078795,
        0.0074464 , -0.03817163,  0.        , -0.9992712 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12879934, -0.08224887,  0.1125011 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026307285373196825
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15433433e-01, -8.41485621e-01, -1.61957794e-01, -8.45953155e-02,
       -1.38108507e-01,  9.86797686e-01, -8.52743812e-01,  5.22329389e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1047828 , -0.03774996,  0.30550036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044029560660964473
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26077005e-13, -6.69784087e-14,  1.00000000e+00, -8.44443714e-27,
        1.00000000e+00,  6.69784087e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26077005e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0534937 , -0.06061875,  0.06199013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44715472e-03, 1.46530093e-01, 6.16699326e-02,-4.25832922e-03,
  3.08609806e-02, 3.62607134e-01, 1.44897567e-01, 5.01783486e-02,
  5.83770817e-06,-1.90981712e-03,-4.80321640e-04, 2.78701254e-06,
  4.56770490e-02, 7.21811844e-03, 4.67802637e-03, 6.95462894e-05,
 -2.54384819e-06, 2.42822295e-06,-9.80999690e+00,-6.50140190e-02,
 -9.76654289e-03,-4.97725305e-03]


--- Step 2241 ---
qpos:
[-0.00319602, 0.19762617,-0.06641858, 0.31933958,-0.03299819, 0.01352798,
 -0.1390724 , 0.26313213, 0.01334305, 0.54246538,-0.01676835, 0.42239704,
  0.82960629,-0.00360909, 1.16339239, 0.04599679, 0.09465411,-0.0645993 ,
  0.14271349, 0.94725058,-0.03180831, 0.02611217, 0.31784071]

qacc:
[ 1.50320060e+00,-2.66222212e+01, 9.37462205e+01,-1.46811824e+02,
  2.02360198e+01,-1.30822377e+01, 5.58420939e+01,-1.01876360e+02,
  4.96368102e-02,-1.17852768e+01, 6.76023462e+00, 3.87743619e+01,
 -6.54321391e-02,-2.10566080e+00,-4.00115155e+00, 2.02796532e+01,
 -1.13528815e-02, 2.18696803e-02, 3.69591705e-03,-3.78705178e-01,
  1.64275114e-01,-2.87963457e-01]

qfrc_actuator:
[-0.00570643, 0.1545133 , 0.04505683, 0.08440605, 0.02555407, 0.363195  ,
  0.11877548, 0.12467258,-0.0010439 , 0.18407929, 0.00411598, 0.16144763,
  0.04804758, 0.00764051, 0.        ,-0.00194701, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006514830714257596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64245138e-01, -6.44503479e-01,  2.33374076e-02,  1.78403592e-02,
        1.50451380e-02,  9.99727646e-01, -6.44679060e-01,  7.64453340e-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([ 0.10879973, -0.03985692,  0.13326646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.21364497, -0.21359032,  0.00483211, -0.21359032,  0.21389276,
        0.01095285,  0.00483211,  0.01095285,  0.69778616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013667535635807703
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.28970907e-01, -6.84018596e-01,  2.68323741e-02,  1.95670653e-02,
        1.83604536e-02,  9.99639947e-01, -6.84264968e-01,  7.29233470e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1030527 , -0.03312534,  0.1188229 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.60207606,  1.25617803,  0.99431608,  1.25617803,  2.3930804 ,
       -0.99932233,  0.99431608, -0.99932233,  2.86457878,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040337764041413016
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90226466e-01, -3.25855695e-02, -1.35608727e-01, -3.22842379e-02,
        9.99468949e-01, -4.42123549e-03,  1.35680780e-01, -8.67361738e-19,
       -9.90752606e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966745, -0.08396312,  0.17922829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.03807313,  0.90213916, -0.51355698,  0.90213916,  1.87997658,
        1.47892851, -0.51355698,  1.47892851,  3.63603083,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000543531133262287
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99165609, -0.03263261, -0.12471289, -0.03237757,  0.99946741,
       -0.00407188,  0.12477934,  0.        , -0.99218452])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1301894 , -0.08504087,  0.17465288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017829757582215134
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98006515, -0.19509174,  0.03757026, -0.19494855,  0.980785  ,
        0.00747325, -0.03830632,  0.        , -0.99926604])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12879339, -0.08224884,  0.11250875])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002634880164973366
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5154109 , -0.8415154 , -0.16187473, -0.08454706, -0.13804065,
        0.98681132, -0.85276222,  0.52229934,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10478095, -0.03775697,  0.30549957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004407294519306465
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51905794e-13, -1.92865373e-13,  1.00000000e+00, -4.85839050e-26,
        1.00000000e+00,  1.92865373e-13, -1.00000000e+00,  0.00000000e+00,
       -2.51905794e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05349281, -0.06061871,  0.06199012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42063385e-03, 1.47270311e-01, 6.18827101e-02,-4.47596088e-03,
  3.08162515e-02, 3.63690346e-01, 1.45259956e-01, 5.09421943e-02,
  3.05235276e-06,-1.87253222e-03,-5.00377279e-04, 1.53588495e-05,
  4.57438530e-02, 7.30991878e-03, 4.61775396e-03, 1.80687179e-04,
 -2.63678958e-06, 2.44523019e-06,-9.80999694e+00,-6.50124670e-02,
 -9.76785190e-03,-4.97557543e-03]


--- Step 2242 ---
qpos:
[-0.00329306, 0.1976196 ,-0.06679004, 0.3210916 ,-0.03309912, 0.0135299 ,
 -0.13957737, 0.26459607, 0.01335537, 0.54577525,-0.01680578, 0.42558302,
  0.82970802,-0.00358108, 1.16348784, 0.04599654, 0.09465313,-0.06460075,
  0.14271292, 0.94724707,-0.03179385, 0.02610672, 0.31785306]

qacc:
[ 9.16427434e-01,-2.42976036e+01, 8.86670882e+01,-1.44252884e+02,
  1.64213601e+01,-1.21145467e+01, 5.39220992e+01,-1.00921351e+02,
  2.40259991e-02,-3.81903669e+01, 1.36227555e+02,-2.57474777e+02,
 -1.93481626e-01,-2.38967445e+00,-3.15325591e+00, 6.62466775e+00,
 -8.10479408e-03, 4.55258630e-03, 3.38061495e-03,-3.51538871e-01,
  2.80691534e-01,-8.31759989e-01]

qfrc_actuator:
[-0.00558433, 0.15486256, 0.04544744, 0.08407802, 0.0256465 , 0.36441398,
  0.11931676, 0.12485838,-0.00105347, 0.18331952, 0.00412231, 0.16100225,
  0.04803423, 0.00762501, 0.        ,-0.00200939, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006519350968038147
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76422677, -0.64452603,  0.02331606,  0.0178236 ,  0.0150319 ,
        0.99972814, -0.6447013 ,  0.76443459,  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([ 0.1088016 , -0.03986154,  0.13328578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.21486764, -0.21486163,  0.00160713, -0.21486163,  0.21489658,
        0.00386888,  0.00160713,  0.00386888,  0.73210791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001540098540963113
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72881222, -0.68417658,  0.02711394,  0.01976824,  0.01855755,
        0.99963235, -0.68442821,  0.72908026,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10303719, -0.03312741,  0.11884129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.60054255,  1.26368689,  0.98225857,  1.26368689,  2.46947675,
       -1.11789379,  0.98225857, -1.11789379,  3.03872571,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004024655596727484
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99022573, -0.03268752, -0.1355896 , -0.03238533,  0.99946562,
       -0.00443446,  0.13566209,  0.        , -0.99075516])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966763, -0.08396509,  0.17922789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.034591  ,  0.90438072, -0.50246796,  0.90438072,  1.89364706,
        1.54619556, -0.50246796,  1.54619556,  3.81755342,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005411116031619993
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99158954, -0.03273254, -0.12521489, -0.03247464,  0.99946415,
       -0.0041008 ,  0.12528202,  0.        , -0.99212117])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13019097, -0.0850436 ,  0.17465287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017906607104198138
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98005732, -0.19510566,  0.03770175, -0.19496146,  0.98078223,
        0.00749996, -0.03844049,  0.        , -0.99926089])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1287874 , -0.0822488 ,  0.11251641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002639856353352258
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15389125e-01, -8.41544334e-01, -1.61793643e-01, -8.45000044e-02,
       -1.37974390e-01,  9.86824613e-01, -8.52780041e-01,  5.22270238e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10477915, -0.03776376,  0.30549856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044117461303182226
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.77477418e-13, -1.29757862e-13,  1.00000000e+00, -4.89806628e-26,
        1.00000000e+00,  1.29757862e-13, -1.00000000e+00,  0.00000000e+00,
       -3.77477418e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05349192, -0.06061867,  0.06199011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32173198e-03, 1.47971023e-01, 6.20733312e-02,-4.63601796e-03,
  3.07898820e-02, 3.64944509e-01, 1.45661734e-01, 5.12583179e-02,
  2.53396711e-07,-2.01181523e-03,-4.72339588e-04,-5.46171903e-04,
  4.58388509e-02, 7.40914552e-03, 4.46705694e-03,-2.02159447e-05,
 -2.41469859e-06, 2.24299550e-06,-9.80999719e+00,-6.50109662e-02,
 -9.76905153e-03,-4.97395489e-03]


--- Step 2243 ---
qpos:
[-0.00338985, 0.19760928,-0.06715802, 0.32283997,-0.03319831, 0.01353244,
 -0.14007956, 0.26605731, 0.01336719, 0.5490679 ,-0.01684182, 0.42875164,
  0.82980693,-0.00355589, 1.16358324, 0.0459975 , 0.0946521 ,-0.06460219,
  0.14271237, 0.94724412,-0.03178038, 0.02610151, 0.31786364]

qacc:
[ 8.50167010e-01,-2.13062487e+01, 8.21343867e+01,-1.41285008e+02,
  1.49346577e+01,-1.13602766e+01, 5.23742443e+01,-1.00239569e+02,
 -3.63116574e-01,-6.03459497e+01, 2.40717606e+02,-4.92022522e+02,
 -1.69670692e-01,-2.51433320e+00,-3.82817762e+00, 1.31302807e+01,
 -1.10537372e-02, 4.07635490e-03, 2.68188417e-03,-4.00014881e-01,
  2.89722757e-01,-9.39569934e-01]

qfrc_actuator:
[-0.00543691, 0.15537987, 0.04584586, 0.08373284, 0.02574118, 0.36569487,
  0.11989507, 0.12481195,-0.00109965, 0.18240108, 0.00415865, 0.16012274,
  0.04803336, 0.00757062, 0.        ,-0.00192248, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.84357648, -0.78510705,  0.30859067, -0.78510705,  1.96501058,
        2.85311867,  0.30859067,  2.85311867,  8.1023946 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006520415453657194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64210515e-01, -6.44546038e-01,  2.32957812e-02,  1.78077137e-02,
        1.50192795e-02,  9.99728616e-01, -6.44721005e-01,  7.64417965e-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([ 0.10880382, -0.03986624,  0.13330495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2162195 , -0.21619399, -0.00332133, -0.21619399,  0.21634701,
       -0.00829969, -0.00332133, -0.00829969,  0.75646766,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017096919116720276
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.28657245e-01, -6.84330634e-01,  2.73898297e-02,  1.99652883e-02,
        1.87507343e-02,  9.99624828e-01, -6.84587472e-01,  7.28930719e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10302207, -0.03312951,  0.11885954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.59887449,  1.25691648,  0.98821081,  1.25691648,  2.5745756 ,
       -1.24100525,  0.98821081, -1.24100525,  3.17732307,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040146927585627446
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90225054e-01, -3.27875560e-02, -1.35570342e-01, -3.24845249e-02,
        9.99462344e-01, -4.44741136e-03,  1.35643271e-01,  8.67361738e-19,
       -9.90757742e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966779, -0.08396717,  0.17922745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.03100322,  0.90592681, -0.49220347,  0.90592681,  1.92050244,
        1.63717088, -0.49220347,  1.63717088,  4.04430379,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005386161890504978
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91523150e-01, -3.28305375e-02, -1.25713957e-01, -3.25697953e-02,
        9.99460933e-01, -4.12948286e-03,  1.25781762e-01,  8.67361738e-19,
       -9.92057936e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13019249, -0.0850464 ,  0.17465295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017984153986947912
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80049993e-01, -1.95116981e-01,  3.78335173e-02, -1.94971757e-01,
        9.80779977e-01,  7.52662355e-03, -3.85749283e-02,  8.67361738e-19,
       -9.99255710e-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([ 0.12878128, -0.08224874,  0.1125241 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026452200722823624
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15369972e-01, -8.41571126e-01, -1.61715277e-01, -8.44548379e-02,
       -1.37910156e-01,  9.86837458e-01, -8.52796090e-01,  5.22244031e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10477739, -0.03777028,  0.30549743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004416222766110284
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51396518e-13, -1.29626329e-13,  1.00000000e+00, -3.25876078e-26,
        1.00000000e+00,  1.29626329e-13, -1.00000000e+00,  0.00000000e+00,
       -2.51396518e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05349103, -0.06061863,  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:
[-1.18808876e-03, 1.48767432e-01, 6.22828872e-02,-4.80820565e-03,
  3.07881478e-02, 3.66223512e-01, 1.46101320e-01, 5.13433512e-02,
 -3.73243101e-05,-2.26462839e-03,-4.86013917e-04,-9.96191249e-04,
  4.59771557e-02, 7.48887452e-03, 4.56522593e-03, 6.38445348e-05,
 -1.95866625e-06, 1.89395909e-06,-9.80999756e+00,-6.50095163e-02,
 -9.77015168e-03,-4.97241683e-03]


--- Step 2244 ---
qpos:
[-0.00348643, 0.19760274,-0.06752495, 0.32458378,-0.03329606, 0.01353628,
 -0.14057901, 0.26751583, 0.01337879, 0.55234497,-0.0168794 , 0.43192288,
  0.82990315,-0.00353337, 1.16367903, 0.04600005, 0.09465101,-0.06460364,
  0.14271183, 0.94724188,-0.03176799, 0.02609651, 0.31787198]

qacc:
[ 6.40739860e-01,-6.56174680e+00, 4.78467107e+01,-1.24881307e+02,
  1.21715683e+01,-1.03694375e+01, 5.02499534e+01,-9.89313496e+01,
 -1.65407849e-01,-1.12020873e+01, 1.19440020e+00, 5.24636913e+01,
 -1.60421784e-01,-2.39452716e+00,-4.25512038e+00, 1.56402238e+01,
 -1.45754063e-02,-2.81052770e-03, 4.97028766e-03,-4.32106318e-01,
  2.96526068e-01,-1.18344798e+00]

qfrc_actuator:
[-0.00536315, 0.15624695, 0.04621228, 0.08368071, 0.02581885, 0.3669236 ,
  0.12044127, 0.12501784,-0.00111403, 0.18189249, 0.00419405, 0.16029079,
  0.04802943, 0.0075651 , 0.        ,-0.00183594, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.84346163, -0.77215177,  0.33942476, -0.77215177,  2.19582136,
        3.07646082,  0.33942476,  3.07646082,  7.84205154,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006519275893396478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76419664, -0.64456318,  0.02327659,  0.01779271,  0.0150073 ,
        0.99972906, -0.64473786,  0.76440375,  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([ 0.10880626, -0.03987099,  0.13332402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.21770816, -0.21571215, -0.02941272, -0.21571215,  0.22696442,
       -0.0678852 , -0.02941272, -0.0678852 ,  0.71557652,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001876912771582046
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.28505333e-01, -6.84481385e-01,  2.76625071e-02,  2.01599987e-02,
        1.89417198e-02,  9.99617320e-01, -6.84743423e-01,  7.28784224e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1030072 , -0.03313161,  0.11887771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.59707855,  1.2462348 ,  0.99877862,  1.2462348 ,  2.7203895 ,
       -1.40162112,  0.99877862, -1.40162112,  3.34596363,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040039170454479663
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90224453e-01, -3.28858585e-02, -1.35550926e-01, -3.25820044e-02,
        9.99459114e-01, -4.46012099e-03,  1.35624283e-01, -8.67361738e-19,
       -9.90760341e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966789, -0.08396935,  0.17922697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.0273174 ,  0.91863057, -0.45989011,  0.91863057,  1.88383962,
        1.71090327, -0.45989011,  1.71090327,  4.44484693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005360498443578863
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99145699, -0.03292679, -0.12620963, -0.03266321,  0.99945777,
       -0.00415793,  0.1262781 ,  0.        , -0.99199488])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13019394, -0.08504928,  0.17465313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018062871529565228
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80043201e-01, -1.95125325e-01,  3.79661908e-02, -1.94979074e-01,
        9.80778317e-01,  7.55335349e-03, -3.87102672e-02, -8.67361738e-19,
       -9.99250477e-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([ 0.128775  , -0.08224865,  0.11253183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026510832414941083
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15353784e-01, -8.41595664e-01, -1.61639152e-01, -8.44113640e-02,
       -1.37847514e-01,  9.86849930e-01, -8.52810178e-01,  5.22221027e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1047757 , -0.03777655,  0.30549613])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004420809883030341
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51135664e-13, -6.67079107e-14,  1.00000000e+00, -1.67527354e-26,
        1.00000000e+00,  6.67079107e-14, -1.00000000e+00,  0.00000000e+00,
       -2.51135664e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05349015, -0.06061859,  0.06199009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12723546e-03, 1.49822972e-01, 6.24768678e-02,-4.67967266e-03,
  3.07780944e-02, 3.67423947e-01, 1.46511052e-01, 5.16822204e-02,
 -1.76983234e-05,-2.01617623e-03,-5.55116079e-04, 3.18093750e-05,
  4.61146696e-02, 7.62365778e-03, 4.56667848e-03, 8.91610536e-05,
 -1.49748916e-06, 1.54259903e-06,-9.80999794e+00,-6.50081701e-02,
 -9.77118527e-03,-4.97096678e-03]


--- Step 2245 ---
qpos:
[-0.00358291, 0.19760564,-0.06789322, 0.32632224,-0.03339284, 0.0135421 ,
 -0.14107579, 0.2689716 , 0.01339049, 0.55560963,-0.01691888, 0.43510925,
  0.82999665,-0.0035135 , 1.16377376, 0.04600327, 0.09464987,-0.06460515,
  0.14271132, 0.94724056,-0.03175665, 0.02609179, 0.31787742]

qacc:
[ 2.11560609e-01, 5.91100731e+00, 1.77987599e+01,-1.10057700e+02,
  8.28637631e+00,-9.39415185e+00, 4.81863521e+01,-9.77958336e+01,
  8.83500117e-02, 1.82755083e+01,-1.40119418e+02, 3.81072515e+02,
 -1.83092677e-01,-2.36000849e+00,-3.66416511e+00, 1.04176714e+01,
 -1.39762711e-02,-1.59073172e-02, 6.82688902e-03,-4.05060624e-01,
  3.38345458e-01,-1.52801492e+00]

qfrc_actuator:
[-0.00529815, 0.15733564, 0.046525  , 0.0837535 , 0.02586819, 0.36810233,
  0.12091387, 0.12519869,-0.00110941, 0.18168832, 0.00426674, 0.1610921 ,
  0.04801842, 0.00753663, 0.        ,-0.00182149, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.84361037, -0.71508739,  0.4475807 , -0.71508739,  3.19600422,
        3.75835505,  0.4475807 ,  3.75835505,  6.84823101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000652075167363616
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64185773e-01, -6.44576719e-01,  2.32584919e-02,  1.77786180e-02,
        1.49959390e-02,  9.99729485e-01, -6.44751134e-01,  7.64392553e-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([ 0.10880841, -0.03987566,  0.1333432 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.21938586, -0.21381631, -0.04911964, -0.21381631,  0.24376977,
       -0.10614244, -0.04911964, -0.10614244,  0.68142072,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020469245429818986
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72835347, -0.68463167,  0.02794107,  0.02035892,  0.01913681,
        0.99960957, -0.68489907,  0.72863795,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10299202, -0.03313365,  0.11889607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.59515235,  1.24621699,  0.99571795,  1.24621699,  2.84734831,
       -1.56721879,  0.99571795, -1.56721879,  3.55664624,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039923025742986555
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99022394, -0.03298275, -0.13553115, -0.03267808,  0.99945592,
       -0.00447262,  0.13560493,  0.        , -0.99076299])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966791, -0.0839717 ,  0.17922647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.02353303,  0.92970117, -0.42810699,  0.92970117,  1.82851288,
        1.74813941, -0.42810699,  1.74813941,  4.81989067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000533411869243346
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91391125e-01, -3.30216235e-02, -1.26701265e-01, -3.27552079e-02,
        9.99454637e-01, -4.18616443e-03,  1.26770400e-01,  8.67361738e-19,
       -9.91932087e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13019527, -0.08505229,  0.17465343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001814338584696796
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80037076e-01, -1.95129930e-01,  3.81003834e-02, -1.94982639e-01,
        9.80777401e-01,  7.58023701e-03, -3.88471262e-02,  8.67361738e-19,
       -9.99245166e-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([ 0.12876847, -0.08224852,  0.11253959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026574103759191456
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15341365e-01, -8.41617591e-01, -1.61564561e-01, -8.43693337e-02,
       -1.37785787e-01,  9.86862145e-01, -8.52821841e-01,  5.22201979e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10477406, -0.03778257,  0.30549469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004425475731702072
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.76306331e-13, -1.29355301e-13,  1.00000000e+00, -4.86772189e-26,
        1.00000000e+00,  1.29355301e-13, -1.00000000e+00,  0.00000000e+00,
       -3.76306331e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05348926, -0.06061856,  0.06199008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07278434e-03, 1.50724151e-01, 6.27373058e-02,-4.38233988e-03,
  3.07559146e-02, 3.68539991e-01, 1.46849629e-01, 5.19969947e-02,
  7.53267237e-06,-1.54449894e-03,-4.40321072e-04, 6.93812992e-04,
  4.62383965e-02, 7.72872413e-03, 4.54457271e-03, 2.37706726e-05,
 -1.00662300e-06, 1.18072282e-06,-9.80999833e+00,-6.50069337e-02,
 -9.77214858e-03,-4.96960659e-03]


--- Step 2246 ---
qpos:
[-0.00367925, 0.19761654,-0.06826323, 0.32805532,-0.03348871, 0.01354978,
 -0.14157004, 0.27042458, 0.01340232, 0.5588636 ,-0.01695855, 0.43829928,
  0.83008777,-0.00349601, 1.16386771, 0.04600726, 0.09464868,-0.06460671,
  0.14271084, 0.94724003,-0.03174619, 0.02608732, 0.31788042]

qacc:
[ 3.83199740e-01, 5.03967785e+00, 1.82784228e+01,-1.09341532e+02,
  7.72147841e+00,-9.21468020e+00, 4.75394520e+01,-9.76029659e+01,
  1.05094992e-01,-6.46240487e+00,-1.00195504e+01, 7.41533580e+01,
 -1.07980888e-01,-2.16154395e+00,-3.50812631e+00, 1.05050384e+01,
 -1.14929588e-02,-1.43488129e-02, 6.73082720e-03,-3.29466736e-01,
  2.81621501e-01,-1.28801297e+00]

qfrc_actuator:
[-0.00522061, 0.15835484, 0.04686075, 0.0837796 , 0.02597143, 0.3691256 ,
  0.12137679, 0.12506385,-0.00111139, 0.18136806, 0.00432729, 0.1612834 ,
  0.0480086 , 0.0074777 , 0.        ,-0.00177901, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.8443592 , -0.6594569 ,  0.52731306, -0.6594569 ,  4.05400424,
        4.01397714,  0.52731306,  4.01397714,  5.86423283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006528183759443274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64178805e-01, -6.44585589e-01,  2.32415859e-02,  1.77655262e-02,
        1.49852392e-02,  9.99729878e-01, -6.44759753e-01,  7.64385283e-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([ 0.10880991, -0.03988018,  0.13336265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.22130808, -0.21627455, -0.04693173, -0.21627455,  0.24541922,
       -0.11111091, -0.04693173, -0.11111091,  0.73333829,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022232807122951327
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.28199911e-01, -6.84783068e-01,  2.82318865e-02,  2.05666551e-02,
        1.93404270e-02,  9.99601401e-01, -6.85056131e-01,  7.28490286e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10297617, -0.03313557,  0.11891479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.59311307,  1.24999518,  0.98768481,  1.24999518,  2.86396471,
       -1.60836577,  0.98768481, -1.60836577,  3.62863031,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003979941208452528
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90223570e-01, -3.30786746e-02, -1.35510450e-01, -3.27732183e-02,
        9.99452751e-01, -4.48496046e-03,  1.35584648e-01,  8.67361738e-19,
       -9.90765766e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966782, -0.08397431,  0.17922596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.01966436,  0.93056459, -0.41685124,  0.93056459,  1.79695579,
        1.73519903, -0.41685124,  1.73519903,  4.89326386,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005307118413844292
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99132563, -0.03311549, -0.12718826, -0.03284625,  0.99945153,
       -0.00421421,  0.12725806,  0.        , -0.99186964])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13019645, -0.08505555,  0.17465384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001822638199423767
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9800318 , -0.19512975,  0.03823678, -0.19498141,  0.98077744,
        0.00760737, -0.03898619,  0.        , -0.99923975])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12876163, -0.08224834,  0.1125474 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002663939117925204
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15333904e-01, -8.41636240e-01, -1.61491198e-01, -8.43287763e-02,
       -1.37724597e-01,  9.86874153e-01, -8.52830361e-01,  5.22188065e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1047725 , -0.03778837,  0.30549317])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004430110109050339
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25304225e-13,  5.87363553e-14,  1.00000000e+00, -7.35991346e-27,
        1.00000000e+00, -5.87363553e-14, -1.00000000e+00,  0.00000000e+00,
        1.25304225e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05348837, -0.06061852,  0.06199007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.99714295e-04, 1.51272480e-01, 6.31413667e-02,-4.09132852e-03,
  3.08104708e-02, 3.69466941e-01, 1.47181263e-01, 5.19973923e-02,
  9.13175143e-06,-1.34621277e-03,-3.19500569e-04, 1.20221490e-04,
  4.63648458e-02, 7.80220133e-03, 4.59604681e-03, 3.21118633e-05,
 -5.12959341e-07, 8.34791281e-07,-9.80999873e+00,-6.50058025e-02,
 -9.77303701e-03,-4.96834284e-03]


--- Step 2247 ---
qpos:
[-0.00377541, 0.19763316,-0.0686351 , 0.32978313,-0.03358376, 0.01355882,
 -0.14206191, 0.27187473, 0.01341447, 0.56210611,-0.01699811, 0.44149189,
  0.83017694,-0.00348043, 1.16395675, 0.04600928, 0.09464748,-0.06460837,
  0.14271039, 0.94724013,-0.03173612, 0.02608316, 0.31788147]

qacc:
[ 4.93255705e-01, 2.57762873e+00, 2.22254211e+01,-1.09547512e+02,
  7.07406525e+00,-9.55009079e+00, 4.78958050e+01,-9.80011667e+01,
  2.48570895e-01,-1.03556938e+01, 5.90423087e+00, 4.25168318e+01,
 -7.62910532e-02,-1.76648579e+00,-1.34236685e+00,-5.95108847e+00,
 -8.20426661e-04,-2.18019308e-02, 7.58592975e-03,-1.02533875e-01,
  2.32931755e-01,-1.02947041e+00]

qfrc_actuator:
[-0.00513564, 0.15911697, 0.047229  , 0.08401064, 0.02610668, 0.3699484 ,
  0.12179746, 0.12490049,-0.00109963, 0.18083937, 0.00434409, 0.16141593,
  0.04801021, 0.00747226, 0.        ,-0.00193311, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.84558084, -0.67397088,  0.51065665, -0.67397088,  3.88950911,
        4.01741372,  0.51065665,  4.01741372,  6.14781256,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006540316107731197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64175127e-01, -6.44590524e-01,  2.32256702e-02,  1.77532684e-02,
        1.49750865e-02,  9.99730248e-01, -6.44764451e-01,  7.64381320e-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([ 0.1088109 , -0.03988457,  0.13338228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.22348521, -0.21966877, -0.04112506, -0.21966877,  0.24406569,
       -0.10993023, -0.04112506, -0.10993023,  0.81067553,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024045266112245075
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.28045032e-01, -6.84935287e-01,  2.85321722e-02,  2.07811668e-02,
        1.95506511e-02,  9.99592875e-01, -6.85214255e-01,  7.28341558e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10295979, -0.03313741,  0.1189338 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.59100326,  1.27606932,  0.95023075,  1.27606932,  2.71264644,
       -1.50625987,  0.95023075, -1.50625987,  3.61376668,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003967081116292473
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99022333, -0.03317371, -0.13548898, -0.03286747,  0.9994496 ,
       -0.00449715,  0.13556359,  0.        , -0.99076865])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966763, -0.08397713,  0.17922544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.01574744,  0.92519649, -0.41923063,  0.92519649,  1.75054333,
        1.62161474, -0.41923063,  1.62161474,  4.59447514,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005279745998674734
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91260487e-01, -3.32084539e-02, -1.27670852e-01, -3.29363944e-02,
        9.99448447e-01, -4.24209134e-03,  1.27741308e-01,  8.67361738e-19,
       -9.91807521e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13019751, -0.08505899,  0.17465435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001831176639763675
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98002721, -0.19512555,  0.03837558, -0.19497612,  0.98077827,
        0.00763481, -0.03912768,  0.        , -0.99923422])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12875451, -0.08224812,  0.11255525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026705095729048024
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51533062, -0.8416521 , -0.161419  , -0.08428953, -0.13766397,
        0.98688596, -0.85283622,  0.52217849,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10477101, -0.03779398,  0.30549162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000443466980922555
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50350775e-13, -3.91173086e-15,  1.00000000e+00, -9.79304854e-28,
        1.00000000e+00,  3.91173086e-15, -1.00000000e+00,  0.00000000e+00,
       -2.50350775e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05348747, -0.06061848,  0.06199006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.21974712e-04, 1.51634907e-01, 6.35969705e-02,-3.59404469e-03,
  3.09003470e-02, 3.70198245e-01, 1.47477716e-01, 5.19714952e-02,
  2.34068728e-05,-1.44201503e-03,-3.27154050e-04, 6.19246082e-05,
  4.64848969e-02, 7.91526811e-03, 4.63284852e-03,-1.60738297e-04,
 -1.99894446e-07, 6.18203157e-07,-9.80999904e+00,-6.50047895e-02,
 -9.77390001e-03,-4.96716031e-03]


--- Step 2248 ---
qpos:
[-0.00387118, 0.19765115,-0.06900792, 0.33150608,-0.03367777, 0.01356871,
 -0.14255157, 0.273322  , 0.01342663, 0.56533329,-0.01703583, 0.44468941,
  0.83026482,-0.00346625, 1.16404475, 0.04601128, 0.09464628,-0.06461006,
  0.14270997, 0.94724056,-0.03172628, 0.02607915, 0.3178815 ]

qacc:
[ 1.17541412e+00,-4.74960898e+00, 3.81126858e+01,-1.15804229e+02,
  8.74952993e+00,-9.79143123e+00, 4.79393844e+01,-9.80327715e+01,
  2.65351815e-02,-1.57731414e+01, 9.45838020e+00, 7.57657869e+01,
  3.03175312e-02,-1.37060638e+00,-1.53363348e+00, 3.04801109e+00,
 -9.99805378e-04,-1.04764334e-02, 7.08612039e-03,-6.22867504e-02,
  1.20661143e-01,-5.29334995e-01]

qfrc_actuator:
[-0.0050463 , 0.15972394, 0.04761756, 0.08410041, 0.0262076 , 0.37063293,
  0.12220967, 0.1247212 ,-0.00111537, 0.17994214, 0.00438769, 0.1616548 ,
  0.04799742, 0.00746391, 0.        ,-0.00188317, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.84709159, -0.69038541,  0.49084839, -0.69038541,  3.68569061,
        3.99253091,  0.49084839,  3.99253091,  6.46264453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006555333037723713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7641741 , -0.64459229,  0.02321054,  0.01774167,  0.01496537,
        0.9997306 , -0.64476599,  0.76438002,  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([ 0.10881155, -0.03988888,  0.13340203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.22591577, -0.22456005, -0.02471272, -0.22456005,  0.2344739 ,
       -0.07776618, -0.02471272, -0.07776618,  0.93256301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025885977536311026
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.27889568e-01, -6.85087691e-01,  2.88380440e-02,  2.09996452e-02,
        1.97648092e-02,  9.99584097e-01, -6.85372740e-01,  7.28192425e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1029431 , -0.03313919,  0.11895299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.58889833,  1.27697144,  0.94548498,  1.27697144,  2.67855411,
       -1.47168843,  0.94548498, -1.47168843,  3.57655982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003954177748444727
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90223245e-01, -3.32679234e-02, -1.35466489e-01, -3.29609160e-02,
        9.99446469e-01, -4.50918474e-03,  1.35541515e-01, -8.67361738e-19,
       -9.90771668e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966736, -0.08398016,  0.17922494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.01184294,  0.92431563, -0.4116634 ,  0.92431563,  1.71289462,
        1.5740846 , -0.4116634 ,  1.5740846 ,  4.54616486,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000525242347339443
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9911956 , -0.03330059, -0.12814971, -0.03302572,  0.99944538,
       -0.00426983,  0.12822083,  0.        , -0.99174564])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13019847, -0.08506264,  0.17465489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018399171066728576
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80023143e-01, -1.95118185e-01,  3.85166490e-02, -1.94967667e-01,
        9.80779738e-01,  7.66257535e-03, -3.92714567e-02, -8.67361738e-19,
       -9.99228579e-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([ 0.12874717, -0.08224787,  0.11256315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002676446667620511
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15330779e-01, -8.41665487e-01, -1.61348677e-01, -8.42518521e-02,
       -1.37604581e-01,  9.86897464e-01, -8.52839852e-01,  5.22172564e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10476957, -0.03779949,  0.30549024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004438891816704593
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25056328e-13, -3.51720923e-14,  1.00000000e+00, -4.39849273e-27,
        1.00000000e+00,  3.51720923e-14, -1.00000000e+00,  0.00000000e+00,
       -1.25056328e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05348656, -0.06061844,  0.06199005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.41498560e-04, 1.51956417e-01, 6.40789144e-02,-3.24320480e-03,
  3.09597222e-02, 3.70817459e-01, 1.47773300e-01, 5.19317595e-02,
  5.57276889e-07,-1.86731878e-03,-3.22534095e-04, 1.63147447e-04,
  4.65701461e-02, 8.00190867e-03, 4.87691566e-03,-1.25870368e-05,
 -2.39055107e-08, 5.25776040e-07,-9.80999923e+00,-6.50038338e-02,
 -9.77474196e-03,-4.96603626e-03]


--- Step 2249 ---
qpos:
[-0.00396632, 0.19766511,-0.0693801 , 0.33322481,-0.03377043, 0.01357874,
 -0.14303924, 0.27476635, 0.01343849, 0.56854528,-0.01707279, 0.44788589,
  0.83035171,-0.00345324, 1.16413358, 0.04601442, 0.09464509,-0.06461174,
  0.14270957, 0.94724098,-0.03171653, 0.02607518, 0.31788154]

qacc:
[ 1.95220049e+00,-1.49795565e+01, 6.14842230e+01,-1.26107760e+02,
  1.14923351e+01,-1.02108278e+01, 4.82537298e+01,-9.81584769e+01,
 -2.10981681e-01,-2.41691834e+01, 5.99587185e+01,-6.38387975e+01,
  7.63797083e-02,-1.17011816e+00,-2.23441667e+00, 9.53707626e+00,
 -6.88143090e-05, 4.46071211e-03, 4.81313884e-03,-4.04012160e-02,
  3.61482708e-02,-8.42027313e-05]

qfrc_actuator:
[-0.00495462, 0.16016888, 0.04800041, 0.08389406, 0.02630514, 0.37116346,
  0.1226693 , 0.12458677,-0.00114745, 0.17922278, 0.00442783, 0.16159908,
  0.04797067, 0.00743633, 0.        ,-0.00180074, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006570236073442922
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64174428e-01, -6.44592427e-01,  2.31958251e-02,  1.77304269e-02,
        1.49558772e-02,  9.99730941e-01, -6.44765907e-01,  7.64380092e-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([ 0.10881218, -0.03989317,  0.13342174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.28572018e-01, -2.28571423e-01, -5.21446633e-04, -2.28571423e-01,
        2.28576399e-01, -1.92013082e-03, -5.21446633e-04, -1.92013082e-03,
        1.07024403e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0002772180226968787
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.27734667e-01, -6.85239318e-01,  2.91432742e-02,  2.12175833e-02,
        1.99786034e-02,  9.99575245e-01, -6.85530501e-01,  7.28043908e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10292645, -0.03314097,  0.11897217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.58681629,  1.27735441,  0.94146251,  1.27735441,  2.63797296,
       -1.4261849 ,  0.94146251, -1.4261849 ,  3.52183075,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003941342139826924
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90223233e-01, -3.33611221e-02, -1.35443657e-01, -3.30533569e-02,
        9.99443363e-01, -4.52106898e-03,  1.35519092e-01,  8.67361738e-19,
       -9.90774735e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966705, -0.08398328,  0.17922445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.0079672 ,  0.91910599, -0.41381402,  0.91910599,  1.70485018,
        1.5478193 , -0.41381402,  1.5478193 ,  4.44576756,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005225264411981546
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9911309 , -0.0333917 , -0.12862553, -0.03311401,  0.99944234,
       -0.00429742,  0.1286973 ,  0.        , -0.99168392])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13019938, -0.08506637,  0.17465547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018487993861834337
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80019303e-01, -1.95109207e-01,  3.86595838e-02, -1.94957577e-01,
        9.80781524e-01,  7.69064319e-03, -3.94171208e-02,  8.67361738e-19,
       -9.99222843e-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([ 0.1287397, -0.0822476,  0.1125711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026819311499662004
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51533269, -0.84167757, -0.16127952, -0.08421509, -0.137546  ,
        0.98690877, -0.85284233,  0.52216852,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10476822, -0.03780496,  0.30548897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044428222020753694
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24945696e-13, -1.28850249e-13,  1.00000000e+00,  1.60992840e-26,
        1.00000000e+00,  1.28850249e-13, -1.00000000e+00,  0.00000000e+00,
        1.24945696e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05348563, -0.0606184 ,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.69293491e-04, 1.52333853e-01, 6.45105855e-02,-3.20968370e-03,
  3.10058242e-02, 3.71307928e-01, 1.48125240e-01, 5.19388961e-02,
 -2.34491346e-05,-1.92097466e-03,-4.08567966e-04,-1.46093565e-04,
  4.66079223e-02, 8.04484048e-03, 4.92729059e-03, 7.01298248e-05,
  4.62205819e-08, 4.93252772e-07,-9.80999932e+00,-6.50029252e-02,
 -9.77558868e-03,-4.96494345e-03]


--- Step 2250 ---
qpos:
[-0.0040608 , 0.19767126,-0.06975024, 0.33493983,-0.03386162, 0.01358817,
 -0.14352505, 0.27620775, 0.01345005, 0.57174666,-0.01711135, 0.45107561,
  0.83043749,-0.00344142, 1.16421863, 0.04601583, 0.09464393,-0.06461342,
  0.14270917, 0.94724129,-0.03170656, 0.02607141, 0.31788193]

qacc:
[ 2.10305774e+00,-2.27515874e+01, 7.96179893e+01,-1.34081716e+02,
  1.24504499e+01,-1.08723711e+01, 4.93219373e+01,-9.90168653e+01,
 -2.15617762e-01,-2.26572996e+01, 8.32007977e+01,-1.74819907e+02,
  3.73216700e-02,-1.17789195e+00,-3.84927348e-01,-6.83151357e+00,
  1.10122083e-02, 8.37792864e-04, 1.81803802e-03, 1.32633477e-01,
  4.73873233e-02, 1.93929805e-01]

qfrc_actuator:
[-0.00484418, 0.16046817, 0.04836084, 0.0834936 , 0.02638216, 0.37160194,
  0.1231567 , 0.12440944,-0.00117125, 0.17904221, 0.00446624, 0.16128184,
  0.0479622 , 0.00745078, 0.        ,-0.00194849, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006581617565898972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76417476, -0.64459256,  0.02318126,  0.0177193 ,  0.01494648,
        0.99973128, -0.64476582,  0.76438016,  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([ 0.10881316, -0.03989754,  0.13344127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.23140383, -0.23068765,  0.01819177, -0.23068765,  0.23725501,
        0.07419808,  0.01819177,  0.07419808,  1.17230079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002951535485165704
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.27581793e-01, -6.85388913e-01,  2.94410070e-02,  2.14300302e-02,
        2.01872906e-02,  9.99566520e-01, -6.85686144e-01,  7.27897322e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10291023, -0.03314278,  0.11899117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.58477333,  1.30438361,  0.90004995,  1.30438361,  2.47649982,
       -1.29232096,  0.90004995, -1.29232096,  3.4576497 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003928676558391508
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99022321, -0.03345298, -0.13542116, -0.03314447,  0.99944029,
       -0.00453278,  0.135497  ,  0.        , -0.99077776])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966673, -0.08398638,  0.17922396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.00413407,  0.90311632, -0.43893752,  0.90311632,  1.71957989,
        1.47203367, -0.43893752,  1.47203367,  4.03285133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005198365516505152
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91066291e-01, -3.34814622e-02, -1.29099183e-01, -3.32009630e-02,
        9.99439339e-01, -4.32485420e-03,  1.29171605e-01, -8.67361738e-19,
       -9.91622255e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13020026, -0.08507007,  0.17465605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018577416540290323
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9800154 , -0.19510022,  0.03880374, -0.19494746,  0.98078331,
        0.00771895, -0.03956403,  0.        , -0.99921704])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12873217, -0.08224733,  0.11257908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002687158699920545
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51533456, -0.84168942, -0.1612117 , -0.08417903, -0.13748855,
        0.98691985, -0.85284476,  0.52216455,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10476694, -0.0378104 ,  0.30548777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000444656086918932
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24840642e-13,  8.97292112e-14,  1.00000000e+00,  1.12018523e-26,
        1.00000000e+00, -8.97292112e-14, -1.00000000e+00,  0.00000000e+00,
       -1.24840642e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0534847 , -0.06061836,  0.06199003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.90260901e-04, 1.52834462e-01, 6.48393080e-02,-3.40170669e-03,
  3.10152168e-02, 3.71741126e-01, 1.48515215e-01, 5.19051980e-02,
 -2.32587401e-05,-1.44151847e-03,-4.41771075e-04,-4.18765047e-04,
  4.66484892e-02, 8.11746561e-03, 4.88377110e-03,-1.34864290e-04,
  4.51968203e-08, 4.83359584e-07,-9.80999934e+00,-6.50020479e-02,
 -9.77645478e-03,-4.96386294e-03]


--- Step 2251 ---
qpos:
[-0.00415449, 0.19766633,-0.07011673, 0.33665168,-0.0339511 , 0.01359643,
 -0.1440091 , 0.27764618, 0.0134616 , 0.57493792,-0.0171506 , 0.45426267,
  0.83052214,-0.00343088, 1.16430148, 0.04601615, 0.09464284,-0.06461506,
  0.14270877, 0.9472413 ,-0.03169626, 0.02606781, 0.31788322]

qacc:
[ 2.49631314e+00,-3.04073234e+01, 9.82532504e+01,-1.42930696e+02,
  1.46117274e+01,-1.13803200e+01, 5.01046704e+01,-9.95293000e+01,
  7.66811558e-03,-1.65680317e+01, 4.84351113e+01,-7.94257060e+01,
  5.23274749e-02,-1.26164431e+00, 2.33177052e-02,-4.89217276e+00,
  1.41058718e-02, 8.79192128e-03,-1.53675051e-03, 1.64516409e-01,
  2.72758094e-02, 4.82014879e-01]

qfrc_actuator:
[-0.00474052, 0.16066772, 0.04872394, 0.08288909, 0.02644622, 0.37191488,
  0.1236601 , 0.12429634,-0.00117222, 0.17872484, 0.00450567, 0.16116886,
  0.04795941, 0.00743768, 0.        ,-0.00198342, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006587195068539316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64174602e-01, -6.44593261e-01,  2.31668877e-02,  1.77082999e-02,
        1.49372287e-02,  9.99731612e-01, -6.44766309e-01,  7.64379753e-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([ 0.10881473, -0.03990203,  0.13346051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.23436401, -0.23155911,  0.03615063, -0.23155911,  0.2589977 ,
        0.15778857,  0.03615063,  0.15778857,  1.24506232,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031241875262745023
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.27432298e-01, -6.85535239e-01,  2.97268801e-02,  2.16338536e-02,
        2.03878340e-02,  9.99558059e-01, -6.85838339e-01,  7.27753923e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10289472, -0.03314468,  0.11900984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.58282062,  1.31492696,  0.88107219,  1.31492696,  2.39977657,
       -1.21923879,  0.88107219, -1.21923879,  3.40243309,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003916504096799872
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99022322, -0.03354339, -0.1353987 , -0.03323414,  0.99943726,
       -0.00454429,  0.13547493,  0.        , -0.99078077])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966645, -0.08398942,  0.1792235 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.00038306,  0.88934995, -0.45806434,  0.88934995,  1.74315518,
        1.44212131, -0.45806434,  1.44212131,  3.80031837,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005172004573010498
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99100166, -0.03356976, -0.12957156, -0.03328645,  0.99943638,
       -0.00435214,  0.12964463,  0.        , -0.99156052])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13020118, -0.08507372,  0.17465659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001864551453669873
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9799356 , -0.19547054,  0.03895495, -0.19531627,  0.98070957,
        0.00776432, -0.03972119,  0.        , -0.9992108 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12872557, -0.08225144,  0.11258716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026916293811491613
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15335849e-01, -8.41701099e-01, -1.61146590e-01, -8.41443409e-02,
       -1.37433451e-01,  9.86930482e-01, -8.52847403e-01,  5.22160231e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10476572, -0.03781582,  0.30548677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004449994568828941
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.89825976e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.89825976e-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([ 0.05348375, -0.06061832,  0.06199003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.19893846e-04, 1.53425449e-01, 6.51013082e-02,-3.82354986e-03,
  3.10060113e-02, 3.72086012e-01, 1.48927844e-01, 5.19376094e-02,
 -3.60026058e-07,-1.32799819e-03,-3.55761061e-04,-2.01847849e-04,
  4.67017397e-02, 8.16355502e-03, 5.07088994e-03,-8.37523975e-05,
  1.06195404e-08, 5.13921629e-07,-9.80999930e+00,-6.50011432e-02,
 -9.77731754e-03,-4.96278891e-03]


--- Step 2252 ---
qpos:
[-0.00424668, 0.19764733,-0.07047835, 0.33836059,-0.03403836, 0.01360288,
 -0.14449156, 0.27908161, 0.01347297, 0.57811689,-0.0171886 , 0.4574467 ,
  0.8306059 ,-0.0034215 , 1.16438645, 0.04601808, 0.09464178,-0.06461658,
  0.14270836, 0.94724069,-0.03168573, 0.02606422, 0.31788636]

qacc:
[ 4.73207302e+00,-3.71815666e+01, 1.15472421e+02,-1.54893863e+02,
  1.87324276e+01,-1.17705586e+01, 5.03472452e+01,-9.93485059e+01,
 -1.23996654e-01,-2.55374216e+01, 7.69065839e+01,-1.13174558e+02,
  1.09203227e-01,-1.18130183e+00,-1.77976712e+00, 1.07146638e+01,
  9.18974537e-03, 2.97101843e-02,-3.50299832e-03, 7.42631916e-02,
 -5.67411169e-02, 9.71506553e-01]

qfrc_actuator:
[-0.00462357, 0.16081383, 0.0490862 , 0.08214535, 0.02655492, 0.37211779,
  0.12413695, 0.12431174,-0.00119518, 0.17809837, 0.0045632 , 0.16101726,
  0.04794943, 0.00739086, 0.        ,-0.00184407, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.85009247, -0.76058844,  0.37968727, -0.76058844,  2.11317851,
        2.53021028,  0.37968727,  2.53021028,  5.91860233,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006585207659975253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64173228e-01, -6.44595402e-01,  2.31526641e-02,  1.76973900e-02,
        1.49281024e-02,  9.99731941e-01, -6.44768238e-01,  7.64378126e-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([ 0.1088171 , -0.03990669,  0.1334794 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2374026 , -0.23517246,  0.03246398, -0.23517246,  0.25141621,
        0.10151603,  0.03246398,  0.10151603,  0.97279523,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032882426402771887
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.27286973e-01, -6.85677627e-01,  2.99975024e-02,  2.18266153e-02,
        2.05778768e-02,  9.99549974e-01, -6.85986339e-01,  7.27614419e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10288012, -0.03314667,  0.11902811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.58097056,  1.30551878,  0.89167743,  1.30551878,  2.40354331,
       -1.20434155,  0.89167743, -1.20434155,  3.34426574,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003904911035316208
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99022325, -0.03363209, -0.13537653, -0.03332213,  0.99943428,
       -0.00455557,  0.13545316,  0.        , -0.99078375])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966622, -0.08399233,  0.17922305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.996724  ,  0.88526495, -0.45800077,  0.88526495,  1.74358436,
        1.44359866, -0.45800077,  1.44359866,  3.78704092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005146252087861368
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99093692, -0.03365633, -0.13004332, -0.0333702 ,  0.99943347,
       -0.00437926,  0.13011703,  0.        , -0.99149864])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13020217, -0.08507726,  0.17465706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001873456641229867
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79932525e-01, -1.95457082e-01,  3.90995639e-02, -1.95301680e-01,
        9.80712256e-01,  7.79258810e-03, -3.98685381e-02, -8.67361738e-19,
       -9.99204934e-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([ 0.12871819, -0.08225111,  0.11259518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026954665320557005
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5153356 , -0.84171314, -0.16108445, -0.08411099, -0.137381  ,
        0.98694063, -0.85285084,  0.52215462,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10476456, -0.03782121,  0.30548592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044532084449276643
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24654284e-13, -1.28549731e-13,  1.00000000e+00, -1.60242747e-26,
        1.00000000e+00,  1.28549731e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24654284e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05348279, -0.06061828,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.42066333e-04, 1.54126941e-01, 6.52820449e-02,-4.41122425e-03,
  3.10286810e-02, 3.72349684e-01, 1.49318952e-01, 5.20996896e-02,
 -1.46848706e-05,-1.54676427e-03,-2.96465685e-04,-2.28474953e-04,
  4.67483468e-02, 8.18067048e-03, 5.17951871e-03, 1.10049233e-04,
 -7.20877366e-08, 5.61561103e-07,-9.80999922e+00,-6.50002024e-02,
 -9.77818582e-03,-4.96171624e-03]


--- Step 2253 ---
qpos:
[-0.00433639, 0.19761595,-0.07083583, 0.34006602,-0.03412316, 0.0136072 ,
 -0.1449725 , 0.28051404, 0.01348369, 0.58128868,-0.01722855, 0.46063465,
  0.83068919,-0.00341287, 1.16447323, 0.0460217 , 0.09464074,-0.06461797,
  0.14270793, 0.94723938,-0.03167493, 0.02606054, 0.31789165]

qacc:
[ 7.68854010e+00,-3.40108352e+01, 1.09581633e+02,-1.58270114e+02,
  2.09455972e+01,-1.20228219e+01, 5.05881136e+01,-9.91758369e+01,
 -4.72449629e-01, 3.50671237e+00,-3.88759990e+01, 1.04808604e+02,
  1.66661688e-01,-8.55958061e-01,-2.45895760e+00, 1.24179961e+01,
  7.46726923e-03, 3.29721977e-02,-2.31722918e-03, 8.05329072e-02,
 -1.15823986e-01, 1.13822782e+00]

qfrc_actuator:
[-0.00448192, 0.16097079, 0.04948079, 0.0817274 , 0.02667147, 0.37236231,
  0.12461509, 0.12436995,-0.0012489 , 0.17818027, 0.00462992, 0.16125226,
  0.04793515, 0.00737747, 0.        ,-0.0017622 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.84895905, -0.75423353,  0.38969636, -0.75423353,  1.73865177,
        1.72194599,  0.38969636,  1.72194599,  4.18168045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006573916844596343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64169357e-01, -6.44600505e-01,  2.31383520e-02,  1.76863547e-02,
        1.49189876e-02,  9.99732272e-01, -6.44773128e-01,  7.64374001e-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([ 0.10882044, -0.03991153,  0.13349785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24045642, -0.24026478,  0.00959814, -0.24026478,  0.24113014,
        0.01686487,  0.00959814,  0.01686487,  0.66262526,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034417114233994007
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72714626, -0.6858158 ,  0.03024914,  0.02200562,  0.02075484,
        0.99954239, -0.68612978,  0.72747916,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10286663, -0.03314879,  0.11904586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.57919307,  1.30320089,  0.89191826,  1.30320089,  2.37491948,
       -1.16265292,  0.89191826, -1.16265292,  3.27797017,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003893716625509582
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99022316, -0.0337186 , -0.13535562, -0.03340794,  0.99943137,
       -0.0045666 ,  0.13543263,  0.        , -0.99078656])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966609, -0.08399497,  0.17922259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99313216,  0.88522862, -0.45020194,  0.88522862,  1.70304428,
        1.39589476, -0.45020194,  1.39589476,  3.73786933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005120935264890639
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99087201, -0.03374069, -0.13051527, -0.03345176,  0.99943062,
       -0.00440618,  0.13058962,  0.        , -0.99143651])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13020325, -0.08508053,  0.17465747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001882210949329648
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97992896, -0.19544612,  0.03924336, -0.19528959,  0.98071444,
        0.00782079, -0.04001508,  0.        , -0.99919908])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.128711  , -0.08225082,  0.11260322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026992318722274066
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.15332105e-01, -8.41726661e-01, -1.61024998e-01, -8.40785489e-02,
       -1.37331161e-01,  9.86950328e-01, -8.52856154e-01,  5.22145938e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10476348, -0.03782658,  0.30548509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004456420451076498
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24564439e-13, -1.28457077e-13,  1.00000000e+00, -1.60011838e-26,
        1.00000000e+00,  1.28457077e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24564439e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05348182, -0.06061824,  0.06199001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.75542511e-04, 1.54988887e-01, 6.54341139e-02,-4.68501799e-03,
  3.10348374e-02, 3.72686801e-01, 1.49720137e-01, 5.23056978e-02,
 -5.04136319e-05,-9.48741658e-04,-3.25341240e-04, 1.50990476e-04,
  4.67785253e-02, 8.22540848e-03, 5.07154194e-03, 1.10701382e-04,
 -2.50296883e-07, 6.29836118e-07,-9.80999908e+00,-6.49992492e-02,
 -9.77908734e-03,-4.96063257e-03]


--- Step 2254 ---
qpos:
[-0.00442327, 0.19757844,-0.07118979, 0.34176771,-0.03420451, 0.01360809,
 -0.14545224, 0.28194346, 0.01349428, 0.58445676,-0.01727108, 0.46383358,
  0.83077146,-0.00340474, 1.1645569 , 0.04602564, 0.09463974,-0.06461906,
  0.14270751, 0.94723669,-0.03166391, 0.02605659, 0.3179011 ]

qacc:
[ 8.75993786e+00,-2.46338920e+01, 8.93470792e+01,-1.46838195e+02,
  2.91870265e+01,-1.28137871e+01, 5.09671004e+01,-9.81728213e+01,
 -8.97257130e-02, 2.34285280e+01,-1.26105898e+02, 2.94352988e+02,
 -2.58011541e-01,-3.21400633e-01,-5.57788391e+00, 1.28381124e+01,
  5.98785863e-03, 7.45822825e-02, 5.03945105e-04,-2.18817763e-02,
 -2.06621206e-01, 2.18739040e+00]

qfrc_actuator:
[-0.00430927, 0.16112045, 0.0498403 , 0.08159542, 0.02673834, 0.3726506 ,
  0.12511119, 0.12468583,-0.00124952, 0.17838522, 0.00465159, 0.16183772,
  0.04792893, 0.00738419, 0.        ,-0.0018043 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.84698181, -0.74873864,  0.3959402 , -0.74873864,  1.89948139,
        1.9903185 ,  0.3959402 ,  1.9903185 ,  4.61075314,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006554241358143756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64162559e-01, -6.44609088e-01,  2.31237409e-02,  1.76750231e-02,
        1.49097602e-02,  9.99732611e-01, -6.44781496e-01,  7.64366942e-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([ 0.10882463, -0.03991651,  0.1335159 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24351194, -0.24350583,  0.00172423, -0.24350583,  0.24353746,
        0.00360491,  0.00172423,  0.00360491,  0.7526183 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035854040338349834
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.27009247e-01, -6.85950684e-01,  3.04830120e-02,  2.21717351e-02,
        2.09195645e-02,  9.99535285e-01, -6.86269604e-01,  7.27347256e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10285417, -0.03315098,  0.11906315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.57746732,  1.26175833,  0.94676769,  1.26175833,  2.47973677,
       -1.20245547,  0.94676769, -1.20245547,  3.17998102,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038827950723613417
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99022293, -0.03380266, -0.13533634, -0.03349131,  0.99942853,
       -0.00457734,  0.13541372,  0.        , -0.99078914])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966605, -0.08399733,  0.17922213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.98958937,  0.88434921, -0.44408739,  0.88434921,  1.72817657,
        1.47081186, -0.44408739,  1.47081186,  3.91854283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005095926824501836
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90806857e-01, -3.38225904e-02, -1.30987800e-01, -3.35308391e-02,
        9.99427853e-01, -4.43288297e-03,  1.31062787e-01, -8.67361738e-19,
       -9.91374070e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13020444, -0.08508353,  0.17465784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001890771960575764
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97992484, -0.19543819,  0.03938569, -0.19528052,  0.98071602,
        0.00784883, -0.04016014,  0.        , -0.99919326])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12870404, -0.08225055,  0.11261126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002702927801578297
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51532477, -0.84174204, -0.16096807, -0.08404684, -0.13728383,
        0.98695961, -0.85286371,  0.5221336 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10476245, -0.03783194,  0.30548427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004459530014825832
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.69329565e-07,  8.69329477e-07,  1.00000000e+00,  7.55733815e-13,
        1.00000000e+00, -8.69329477e-07, -1.00000000e+00,  0.00000000e+00,
       -8.69329565e-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([ 0.05388717, -0.06122028,  0.06199   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.26508177e-04, 1.55759443e-01, 6.55874427e-02,-4.64574948e-03,
  3.09781981e-02, 3.73084407e-01, 1.50142484e-01, 5.27693486e-02,
 -9.50803248e-06,-4.82101470e-04,-2.38832493e-04, 5.32205526e-04,
  4.67961464e-02, 8.26964466e-03, 4.97943647e-03,-1.61600480e-05,
 -5.10160083e-07, 7.54656757e-07,-9.80999891e+00,-6.49982697e-02,
 -9.78001823e-03,-4.95952398e-03]


--- Step 2255 ---
qpos:
[-0.00450693, 0.19753585,-0.07154105, 0.34346522,-0.03428262, 0.01360587,
 -0.14593072, 0.2833699 , 0.01350511, 0.58761745,-0.01731277, 0.46703851,
  0.8308524 ,-0.00339731, 1.16463487, 0.04602798, 0.09463878,-0.06461996,
  0.14270709, 0.94723303,-0.03165263, 0.02605261, 0.31791345]

qacc:
[ 9.90663332e+00,-2.18236035e+01, 8.31398825e+01,-1.47633453e+02,
  2.74550420e+01,-1.25693209e+01, 5.05650034e+01,-9.77005976e+01,
  1.79737305e-01,-4.56204338e-01,-3.27200202e+01, 1.27674643e+02,
 -3.63862652e-01,-4.05310606e-01,-3.57735406e+00, 2.90327491e-01,
  1.20545693e-02, 4.88513394e-02, 1.21246426e-03, 7.18000804e-02,
 -8.69843315e-02, 1.52664133e+00]

qfrc_actuator:
[-0.00417264, 0.16138871, 0.05015997, 0.08131712, 0.02680893, 0.37294953,
  0.12558227, 0.12499775,-0.0012363 , 0.17790003, 0.00464765, 0.16212778,
  0.04793827, 0.00736752, 0.        ,-0.00192009, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.84469383, -0.74397378,  0.40001335, -0.74397378,  1.69638054,
        1.58402858,  0.40001335,  1.58402858,  3.79078482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006531506121085622
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64150113e-01, -6.44624383e-01,  2.31086570e-02,  1.76631996e-02,
        1.49003828e-02,  9.99732959e-01, -6.44796570e-01,  7.64354227e-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([ 0.10882922, -0.03992148,  0.13353378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24666784, -0.24657125, -0.0069022 , -0.24657125,  0.24695706,
       -0.01033224, -0.0069022 , -0.01033224,  0.61577247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003724787069654453
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.26869701e-01, -6.86088494e-01,  3.07085610e-02,  2.23316546e-02,
        2.10787315e-02,  9.99528381e-01, -6.86412219e-01,  7.27212668e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10284224, -0.03315322,  0.11908023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.57582328,  1.27670001,  0.92371863,  1.27670001,  2.44012839,
       -1.19458275,  0.92371863, -1.19458275,  3.22689294,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038723415328791705
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99022238, -0.03388329, -0.13532021, -0.03357127,  0.9994258 ,
       -0.00458773,  0.13539796,  0.        , -0.9907913 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966618, -0.08399909,  0.17922165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.98612334,  0.88301115, -0.43901087,  0.88301115,  1.69588783,
        1.42759554, -0.43901087,  1.42759554,  3.8575392 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005071423216427668
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90741303e-01, -3.39010451e-02, -1.31462504e-01, -3.36064828e-02,
        9.99425194e-01, -4.45927949e-03,  1.31538113e-01, -8.67361738e-19,
       -9.91311114e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13020579, -0.0850859 ,  0.17465818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018989874344275276
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79919593e-01, -1.95436223e-01,  3.95256088e-02, -1.95277433e-01,
        9.80716413e-01,  7.87662528e-03, -4.03027911e-02,  8.67361738e-19,
       -9.99187512e-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([ 0.12869749, -0.08225035,  0.11261929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002707096306904495
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51530996, -0.84176094, -0.16091665, -0.08401686, -0.13724189,
        0.986968  , -0.85287561,  0.52211415,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10476137, -0.03783715,  0.30548335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044628508240252067
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.49045415e-07, -4.49045515e-07,  1.00000000e+00,  2.01641829e-13,
        1.00000000e+00,  4.49045515e-07, -1.00000000e+00,  0.00000000e+00,
        4.49045415e-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([ 0.05388625, -0.0612203 ,  0.06199   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.31593647e-04, 1.56336613e-01, 6.57321953e-02,-4.73959026e-03,
  3.08765403e-02, 3.73556425e-01, 1.50556189e-01, 5.32294357e-02,
  1.83593745e-05,-8.78425882e-04,-1.45746421e-04, 2.66156795e-04,
  4.68563944e-02, 8.27823520e-03, 5.13331760e-03,-1.48569648e-04,
 -1.15036489e-06, 1.09502692e-06,-9.80999860e+00,-6.49973152e-02,
 -9.78103814e-03,-4.95838155e-03]


--- Step 2256 ---
qpos:
[-0.00456331, 0.19754729,-0.07185292, 0.34515889,-0.03430153, 0.01360004,
 -0.14641159, 0.28479119, 0.01351596, 0.59076946,-0.01735353, 0.47024133,
  0.83085393,-0.00343567, 1.16453628, 0.04606227, 0.09462474,-0.06461256,
  0.14270441, 0.94718776,-0.03168545, 0.0260477 , 0.31804543]

qacc:
[ 8.36934487e+01,-4.38167784e+01, 2.68223754e+02,-4.10620278e+02,
  4.99866670e+02,-8.28547679e+00, 4.17885622e+01,-1.18334537e+02,
  1.44955939e-02,-1.80887588e+01, 5.42423243e+01,-7.90496695e+01,
 -1.88610308e+01,-3.08126185e+01,-3.57635908e+02, 8.72112594e+02,
 -3.26988411e+00, 2.07250930e+00,-5.66965568e-01,-2.32539980e+01,
  5.21717347e+00, 6.26840453e+01]

qfrc_actuator:
[-0.00409463, 0.16172952, 0.05052616, 0.08105948, 0.02691609, 0.37322042,
  0.12607331, 0.12516644,-0.0012506 , 0.17741423, 0.00466146, 0.16201038,
  0.04794636, 0.00739047, 0.        ,-0.0020428 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.84211451, -0.71942039,  0.43771126, -0.71942039,  2.80217331,
        3.22154445,  0.43771126,  3.22154445,  6.13703148,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006505915765113737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76413374, -0.64464434,  0.02309345,  0.01765119,  0.01489103,
        0.99973331, -0.6448163 ,  0.76433758,  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([ 0.10883415, -0.03992641,  0.13355151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24992276, -0.22026383, -0.11808993, -0.22026383,  0.61783657,
       -0.68624062, -0.11808993, -0.68624062,  1.52991327,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038600860779633645
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.26728973e-01, -6.86227768e-01,  3.09265383e-02,  2.24859674e-02,
        2.12328059e-02,  9.99521660e-01, -6.86556175e-01,  7.27076763e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10283078, -0.03315547,  0.11909713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.57424905,  1.1097129 ,  1.11660081,  1.1097129 ,  2.79188042,
       -1.21012025,  1.11660081, -1.21012025,  2.77690451,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000386228656546674
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90221656e-01, -3.39607011e-02, -1.35306109e-01, -3.36480309e-02,
        9.99423169e-01, -4.59774244e-03,  1.35384203e-01, -8.67361738e-19,
       -9.90793176e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966645, -0.08400044,  0.17922116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.98271932, -0.65563445, -0.73203875, -0.65563445,  6.34214598,
       -4.80005294, -0.73203875, -4.80005294,  5.28178145,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005047321425133361
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99067538, -0.03397626, -0.13193902, -0.03367889,  0.99942264,
       -0.00448538,  0.13201524,  0.        , -0.99124769])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13020729, -0.08508787,  0.17465847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.42543162,  0.11872097,  0.42543162,  0.49473523,
       -0.19009882,  0.11872097, -0.19009882,  1.12289737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019068985211739787
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79913609e-01, -1.95438406e-01,  3.96629345e-02, -1.95278509e-01,
        9.80715978e-01,  7.90408320e-03, -4.04428350e-02,  1.73472348e-18,
       -9.99181854e-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([ 0.12869129, -0.08225019,  0.11262732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.08476428,  0.1594895 , -1.0729756 ,  0.1594895 ,  0.75747266,
       -0.04864936, -1.0729756 , -0.04864936,  1.07753293,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002711256028277273
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51528999, -0.84178201, -0.16087039, -0.08398881, -0.13720482,
        0.98697554, -0.85289044,  0.52208993,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10476027, -0.03784222,  0.30548246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004481752644687059
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23860364e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.23860364e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861748 , -0.10906134,  0.06198996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.14209373e-04, 1.56933792e-01, 6.59647800e-02,-4.79085913e-03,
  3.08216365e-02, 3.73985809e-01, 1.50986392e-01, 5.35452011e-02,
  3.62342702e-07,-1.09137970e-03,-2.06311261e-04,-1.59273896e-04,
  4.69310736e-02, 8.33572632e-03, 5.41669303e-03,-1.91602941e-04,
 -1.73104583e-06, 1.44272990e-06,-9.80999838e+00,-6.49962897e-02,
 -9.78203211e-03,-4.95722306e-03]


--- Step 2257 ---
qpos:
[-0.00462133, 0.19755931,-0.07217156, 0.34684569,-0.03432476, 0.01359981,
 -0.14688868, 0.28620977, 0.01352675, 0.59391289,-0.01739381, 0.47343877,
  0.83086394,-0.00346979, 1.16441048, 0.04606793, 0.09461382,-0.06460823,
  0.14270225, 0.94715578,-0.03170683, 0.02604601, 0.31813865]

qacc:
[-5.12172975e+00, 6.30032088e+00, 5.67845202e+00,-1.08976741e+02,
 -3.64967795e+01,-7.39921716e+00, 4.78805694e+01,-1.00826180e+02,
 -3.11470119e-02,-2.29918756e+01, 8.27176970e+01,-1.55732704e+02,
  3.27076059e+00, 1.23106334e+00, 4.62720260e+01,-2.20577715e+02,
  7.79205157e-01,-7.66483571e-01, 1.31502494e-01, 6.64473396e+00,
  1.47225162e-01,-2.02674829e+01]

qfrc_actuator:
[-0.00405939, 0.16198578, 0.05086475, 0.08083332, 0.02695242, 0.37360048,
  0.12657947, 0.12541234,-0.00126352, 0.17705658, 0.00470324, 0.16174299,
  0.04795012, 0.0074648 , 0.        ,-0.00209606, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.83766893, -0.7255053 ,  0.41872579, -0.7255053 ,  1.65103992,
        1.40928738,  0.41872579,  1.40928738,  3.27947095,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006461902919403816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63953122e-01, -6.44857632e-01,  2.31140780e-02,  1.76627910e-02,
        1.49092729e-02,  9.99732834e-01, -6.45029963e-01,  7.64157279e-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([ 0.10883094, -0.03993128,  0.1335716 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25256767, -0.24987143, -0.03680621, -0.24987143,  0.26012627,
       -0.05131411, -0.03680621, -0.05131411,  0.60093087,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003964382069571697
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72646381, -0.68649935,  0.03112843,  0.02262464,  0.02138001,
        0.99951539, -0.68683219,  0.72681603,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10281133, -0.03315946,  0.11911618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.56048377,  1.51471879,  0.37514876,  1.51471879,  1.68810543,
       -0.51529138,  0.37514876, -0.51529138,  3.64104917,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003772413103325899
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99020924, -0.03397902, -0.13539235, -0.03366578,  0.99942255,
       -0.00460316,  0.13547058,  0.        , -0.99078137])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966475, -0.0839872 ,  0.17921681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.96874573,  0.83984191, -0.48283936,  0.83984191,  1.48493994,
        0.89785872, -0.48283936,  0.89785872,  2.53046467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004947436436670728
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99061044, -0.03399278, -0.13242145, -0.03369308,  0.99942208,
       -0.00450398,  0.13249803,  0.        , -0.99118327])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13020622, -0.08507361,  0.17466263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.38677599,  0.21328634,  0.38677599,  0.5461271 ,
       -0.18939431,  0.21328634, -0.18939431,  0.78513614,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019035538881743174
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97987317, -0.19563554,  0.0396901 , -0.19547525,  0.98067667,
        0.00791779, -0.04047216,  0.        , -0.99918067])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12868473, -0.08225255,  0.11263415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.08615523,  0.85642891, -0.66802897,  0.85642891,  2.66321994,
        2.02183419, -0.66802897,  2.02183419,  3.6781944 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002731039670029384
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.51504613, -0.84189587, -0.16105538, -0.08404817, -0.13738537,
        0.98694537, -0.85303188,  0.5218588 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10475626, -0.0378362 ,  0.30547236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.49383477,  5.89421476, -8.68209655,  5.89421476, 14.70186639,
        2.85680331, -8.68209655,  2.85680331, 12.4332986 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004502848401352483
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23280080e-13,  1.19427578e-13,  1.00000000e+00, -1.47230414e-26,
        1.00000000e+00, -1.19427578e-13, -1.00000000e+00,  0.00000000e+00,
        1.23280080e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05346682, -0.06062673,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84292076e-03, 1.54488802e-01, 6.43341545e-02,-4.82766176e-03,
  2.78976144e-02, 3.74548896e-01, 1.51614870e-01, 5.40464957e-02,
 -4.56766382e-06,-1.11101578e-03,-2.43150578e-04,-3.28312491e-04,
  5.09046668e-02, 1.06996550e-02, 1.42464824e-02,-1.84229685e-03,
 -7.31086688e-05, 1.05591740e-04,-9.81000701e+00,-6.49978450e-02,
 -9.76449809e-03,-4.95903603e-03]


--- Step 2258 ---
qpos:
[-0.00468087, 0.19756217,-0.07249372, 0.34852677,-0.03435249, 0.01360537,
 -0.14736226, 0.2876256 , 0.0135377 , 0.59704414,-0.01743213, 0.47663525,
  0.83088242,-0.00350043, 1.16429767, 0.04606473, 0.09460533,-0.06460633,
  0.14270054, 0.94713454,-0.03171955, 0.02604683, 0.31820056]

qacc:
[-4.62906242e+00,-1.30453731e+01, 5.07952414e+01,-1.30365238e+02,
 -3.79870236e+01,-6.51264733e+00, 4.52721019e+01,-9.87887459e+01,
  1.27516039e-01,-2.33293816e+01, 6.19611386e+01,-6.72132952e+01,
  2.95145521e+00, 1.16330745e+00, 4.58943109e+01,-1.32887898e+02,
  6.07401093e-01,-6.06827921e-01, 1.12357853e-01, 5.07921633e+00,
  1.66907088e-01,-1.63833418e+01]

qfrc_actuator:
[-0.00401405, 0.16225864, 0.0511639 , 0.08066612, 0.02696836, 0.37405603,
  0.12705398, 0.12570418,-0.00125781, 0.17633537, 0.00476189, 0.16169152,
  0.04795688, 0.00752051, 0.        ,-0.00202433, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.834175  , -0.72586394,  0.41105898, -0.72586394,  1.5510881 ,
        1.26595303,  0.41105898,  1.26595303,  3.06964413,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006427388682970194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63825536e-01, -6.45008158e-01,  2.31306360e-02,  1.76724987e-02,
        1.49234417e-02,  9.99732451e-01, -6.45180776e-01,  7.64029951e-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([ 0.10882836, -0.03993591,  0.13359157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25569653, -0.25540029, -0.01230465, -0.25540029,  0.25658652,
       -0.01847309, -0.01230465, -0.01847309,  0.63913142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040818771300321594
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72623456, -0.68673185,  0.03134848,  0.02277754,  0.02153859,
        0.99950852, -0.68706953,  0.72659167,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10279234, -0.03316272,  0.11913528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.54996045,  1.504519  ,  0.37255871,  1.504519  ,  1.68934089,
       -0.56286568,  0.37255871, -0.56286568,  3.82300387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037012207778633674
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99020109, -0.03400177, -0.13544621, -0.03368806,  0.99942177,
       -0.00460807,  0.13552458,  0.        , -0.99077399])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966329, -0.08397923,  0.17921342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.95767188,  0.85323507, -0.43488546,  0.85323507,  1.41589345,
        0.89901996, -0.43488546,  0.89901996,  2.72152797,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004865232992933763
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99054637, -0.03401362, -0.13289455, -0.03371158,  0.99942137,
       -0.00452284,  0.13297149,  0.        , -0.99111986])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13020551, -0.08506508,  0.17466568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019034139759361835
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79843789e-01, -1.95771554e-01,  3.97447910e-02, -1.95610701e-01,
        9.80649529e-01,  7.93443455e-03, -4.05290471e-02,  8.67361738e-19,
       -9.99178361e-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([ 0.12867749, -0.08225418,  0.11264131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.08644636, -0.1718029 ,  1.07277651, -0.1718029 ,  2.33679556,
        0.2002408 ,  1.07277651,  0.2002408 ,  1.1185145 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027351564268437246
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.49846349, -0.85013493, -0.16971959, -0.08584442, -0.14640859,
        0.9854924 , -0.86264992,  0.50580146,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10475327, -0.03783279,  0.30546746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.52864966, -8.28652909,  6.49506732, -8.28652909, 43.58064878,
       42.16836234,  6.49506732, 42.16836234, 64.32783972,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004529714519377753
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.45097791e-13, -1.57015773e-13,  1.00000000e+00, -3.84842191e-26,
        1.00000000e+00,  1.57015773e-13, -1.00000000e+00,  0.00000000e+00,
       -2.45097791e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05345696, -0.06063349,  0.06198985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71519840e-03, 1.54732622e-01, 6.49716163e-02,-4.65397874e-03,
  2.81298284e-02, 3.74726781e-01, 1.51902626e-01, 5.44716717e-02,
  1.23016278e-05,-1.49931004e-03,-2.40163830e-04,-1.17721358e-04,
  5.04876032e-02, 1.05442039e-02, 1.56094994e-02,-3.38079388e-04,
 -3.67322168e-05, 5.07775420e-05,-9.81000442e+00,-6.50001744e-02,
 -9.77230806e-03,-4.96046636e-03]


--- Step 2259 ---
qpos:
[-0.00474199, 0.19755524,-0.07281825, 0.35020253,-0.03438481, 0.01361628,
 -0.14783265, 0.28903861, 0.0135488 , 0.60015767,-0.01746772, 0.47983606,
  0.83090921,-0.00352788, 1.16420828, 0.04605806, 0.09459876,-0.06460637,
  0.1426992 , 0.9471219 ,-0.03172548, 0.02604967, 0.31823735]

qacc:
[-4.80090506e+00,-1.63145254e+01, 5.95182555e+01,-1.33352381e+02,
 -3.87130829e+01,-6.33319052e+00, 4.40737421e+01,-9.78793650e+01,
  1.24220807e-01,-2.24891198e+01, 3.08151310e+01, 4.62580656e+01,
  2.82186751e+00, 1.08330229e+00, 4.50193258e+01,-1.07410439e+02,
  4.79769909e-01,-4.85517833e-01, 9.39704060e-02, 4.00202592e+00,
  1.62551515e-01,-1.31441240e+01]

qfrc_actuator:
[-0.00397987, 0.16249772, 0.05147438, 0.08058916, 0.02699171, 0.37455445,
  0.12747276, 0.12582942,-0.00125886, 0.17517229, 0.00479348, 0.16189159,
  0.0479758 , 0.0075641 , 0.        ,-0.00206347, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.83070262, -0.72101075,  0.41256558, -0.72101075,  1.55185097,
        1.26029833,  0.41256558,  1.26029833,  3.03323402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006393148779057921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63740806e-01, -6.45107998e-01,  2.31441537e-02,  1.76808706e-02,
        1.49344790e-02,  9.99732138e-01, -6.45280844e-01,  7.63945438e-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([ 0.108827  , -0.03994053,  0.13361111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25906954, -0.25903291, -0.00435687, -0.25903291,  0.25918938,
       -0.00712441, -0.00435687, -0.00712441,  0.68264321,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00042020730198904187
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72604009, -0.68692733,  0.03156945,  0.02293212,  0.02169674,
        0.99950156, -0.6872699 ,  0.72640215,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10277447, -0.03316547,  0.11915404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.54185248,  1.5000617 ,  0.35654449,  1.5000617 ,  1.67041644,
       -0.54089708,  0.35654449, -0.54089708,  3.81752636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003644800001253737
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90196324e-01, -3.40290932e-02, -1.35474208e-01, -3.37150093e-02,
        9.99420843e-01, -4.61273594e-03,  1.35552714e-01, -8.67361738e-19,
       -9.90770136e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966195, -0.08397546,  0.17921079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.94880206,  0.85836329, -0.40427444,  0.85836329,  1.34836438,
        0.84835841, -0.40427444,  0.84835841,  2.750053  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004797068485981327
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99048316, -0.03403895, -0.13335841, -0.03373456,  0.99942051,
       -0.00454201,  0.13343574,  0.        , -0.99105747])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13020501, -0.0850611 ,  0.17466792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001905870573246995
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97982331, -0.19585811,  0.03982305, -0.19569654,  0.98063225,
        0.00795371, -0.04060957,  0.        , -0.99917509])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12866956, -0.08225521,  0.11264875])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.08627246, -0.20913492,  1.06595049, -0.20913492,  2.988661  ,
        0.37324049,  1.06595049,  0.37324049,  1.15950065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027326983598245934
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.67097966e-01, -8.64511245e-01, -1.85579628e-01, -8.82162512e-02,
       -1.63271833e-01,  9.82629229e-01, -8.79793944e-01,  4.75355253e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10475131, -0.03783164,  0.30546598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004548341582558957
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22047015e-13, -6.48374766e-14,  1.00000000e+00, -7.91322046e-27,
        1.00000000e+00,  6.48374766e-14, -1.00000000e+00,  0.00000000e+00,
       -1.22047015e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05344883, -0.06063882,  0.06198981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60523453e-03, 1.55429785e-01, 6.54589086e-02,-4.44787406e-03,
  2.83782924e-02, 3.74938160e-01, 1.52148280e-01, 5.47324545e-02,
  1.13427259e-05,-2.14804993e-03,-3.38678621e-04, 1.23017461e-04,
  5.00827223e-02, 1.04141195e-02, 1.49622296e-02, 6.61834395e-05,
 -1.62853292e-05, 2.11837520e-05,-9.81000258e+00,-6.50015296e-02,
 -9.77600400e-03,-4.96152525e-03]


--- Step 2260 ---
qpos:
[-0.00480427, 0.19753682,-0.0731439 , 0.35187327,-0.03442149, 0.01363191,
 -0.1483002 , 0.29044874, 0.01355978, 0.60325104,-0.01750177, 0.48304465,
  0.8309439 ,-0.00355238, 1.16414682, 0.0460512 , 0.09459368,-0.06460791,
  0.14269818, 0.94711595,-0.03172618, 0.02605397, 0.31825465]

qacc:
[-3.49463696e+00,-2.13110414e+01, 7.26028363e+01,-1.41083593e+02,
 -3.67618241e+01,-6.33952262e+00, 4.31825910e+01,-9.72204085e+01,
 -7.54841943e-02,-1.58794141e+01,-8.16342668e+00, 1.38456472e+02,
  2.64086743e+00, 1.04130926e+00, 4.17785653e+01,-8.63751402e+01,
  3.73229114e-01,-3.73127149e-01, 7.70888536e-02, 3.06679330e+00,
  7.75279312e-02,-1.02052497e+01]

qfrc_actuator:
[-0.00400498, 0.16268532, 0.05180965, 0.08040845, 0.02703916, 0.37511221,
  0.12787476, 0.12571386,-0.00128177, 0.17405627, 0.00482503, 0.16227318,
  0.0479804 , 0.00758158, 0.        ,-0.00201119, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.82703608, -0.71767886,  0.41100576, -0.71767886,  1.47566062,
        1.13259755,  0.41100576,  1.13259755,  2.80472447,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006357055530513334
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63690466e-01, -6.45167189e-01,  2.31553593e-02,  1.76882697e-02,
        1.49430846e-02,  9.99731879e-01, -6.45340218e-01,  7.63895282e-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([ 0.10882678, -0.03994522,  0.13363022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.26262404, -0.26261441,  0.00224922, -0.26261441,  0.26265324,
        0.00340982,  0.00224922,  0.00340982,  0.66074847,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004322182160644725
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72587499, -0.68709174,  0.03178731,  0.02308528,  0.02185184,
        0.99949466, -0.68743914,  0.72624199,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10275771, -0.03316787,  0.11917242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.53559637,  1.49198579,  0.36336571,  1.49198579,  1.6713741 ,
       -0.55750565,  0.36336571, -0.55750565,  3.82472407,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003600282293245161
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99019426, -0.03406106, -0.13548129, -0.03374665,  0.99941975,
       -0.00461732,  0.13555995,  0.        , -0.99076915])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12966067, -0.08397505,  0.1792088 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.94161747,  0.86183673, -0.37931637,  0.86183673,  1.30304659,
        0.82119547, -0.37931637,  0.82119547,  2.80743838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047402516137742953
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90420713e-01, -3.40688534e-02, -1.33813771e-01, -3.37620974e-02,
        9.99419488e-01, -4.56152977e-03,  1.33891496e-01, -8.67361738e-19,
       -9.90995998e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13020464, -0.08506077,  0.17466952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019104323698617722
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79809939e-01, -1.95905000e-01,  3.99213403e-02, -1.95742595e-01,
        9.80622879e-01,  7.97532911e-03, -4.07101865e-02,  1.73472348e-18,
       -9.99170997e-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([ 0.12866101, -0.08225577,  0.11265642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.08563655, -0.23532581,  1.05982474, -0.23532581,  3.74971981,
        0.59153888,  1.05982474,  0.59153888,  1.21698314,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027236845975031366
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49208370e-01, -8.72026817e-01, -1.94373533e-01, -8.90118894e-02,
       -1.72794542e-01,  9.80927586e-01, -8.88981847e-01,  4.57942437e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1047502 , -0.03783237,  0.30546687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004560254196436936
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21728195e-13,  2.66280427e-14,  1.00000000e+00,  3.24138357e-27,
        1.00000000e+00, -2.66280427e-14, -1.00000000e+00,  0.00000000e+00,
       -1.21728195e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05344206, -0.06064302,  0.06198978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55146036e-03, 1.56107648e-01, 6.59127143e-02,-4.36499437e-03,
  2.86552029e-02, 3.75230123e-01, 1.52392855e-01, 5.47555280e-02,
 -1.10295509e-05,-2.47247741e-03,-4.74433388e-04, 2.80721205e-04,
  4.96722559e-02, 1.02728119e-02, 1.37928411e-02, 2.92216425e-04,
 -5.84873970e-06, 6.66039164e-06,-9.81000129e+00,-6.50021347e-02,
 -9.77740685e-03,-4.96230041e-03]


--- Step 2261 ---
qpos:
[-0.00486746, 0.19750899,-0.07347018, 0.35353906,-0.03446216, 0.01365146,
 -0.14876523, 0.29185591, 0.01357058, 0.60632652,-0.01753622, 0.48626054,
  0.83098606,-0.00357403, 1.16411278, 0.04604507, 0.09458976,-0.06461056,
  0.1426974 , 0.94711504,-0.03172279, 0.02605922, 0.31825726]

qacc:
[-2.75838659e+00,-1.98110693e+01, 7.09251507e+01,-1.40502800e+02,
 -3.36544848e+01,-6.64373071e+00, 4.29949648e+01,-9.71360903e+01,
 -1.08325002e-01,-8.43371966e+00,-2.80893159e+01, 1.50548180e+02,
  2.46931676e+00, 1.04718105e+00, 3.82572912e+01,-7.51464711e+01,
  2.89738697e-01,-2.80420480e-01, 6.18899088e-02, 2.35607310e+00,
 -2.96933189e-02,-7.68724098e+00]

qfrc_actuator:
[-0.0040832 , 0.16293641, 0.05212399, 0.08023833, 0.02706716, 0.37566857,
  0.12830127, 0.1254195 ,-0.00129983, 0.17336859, 0.00487441, 0.16265201,
  0.04797084, 0.00761783, 0.        ,-0.00197696, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.82292808, -0.71189426,  0.41281616, -0.71189426,  1.46844589,
        1.11318417,  0.41281616,  1.11318417,  2.74259472,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000631668463791698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63666825e-01, -6.45194840e-01,  2.31645832e-02,  1.76947718e-02,
        1.49496811e-02,  9.99731665e-01, -6.45368015e-01,  7.63871799e-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([ 0.10882776, -0.03995002,  0.13364885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.26627072, -0.26625497,  0.00289604, -0.26625497,  0.26631908,
        0.00444605,  0.00289604,  0.00444605,  0.67503023,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044390907558566705
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72573489, -0.68722999,  0.03199703,  0.02323325,  0.02200058,
        0.99948796, -0.68758205,  0.72610669,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10274215, -0.03317003,  0.11919033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.53075985,  1.48395921,  0.37562057,  1.48395921,  1.67372505,
       -0.56481069,  0.37562057, -0.56481069,  3.76215   ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003565253974605994
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90194250e-01, -3.40974266e-02, -1.35472183e-01, -3.37827199e-02,
        9.99418514e-01, -4.62194040e-03,  1.35551004e-01,  8.67361738e-19,
       -9.90770370e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12965941, -0.08397722,  0.1792073 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.93572488,  0.86123123, -0.3658713 ,  0.86123123,  1.27333964,
        0.79471765, -0.3658713 ,  0.79471765,  2.80642547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004692528486040872
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99035893, -0.0341031 , -0.1342616 , -0.03379396,  0.99941832,
       -0.0045814 ,  0.13433975,  0.        , -0.99093533])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13020434, -0.08506323,  0.17467064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019166905900234903
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79802042e-01, -1.95921008e-01,  4.00364407e-02, -1.95757649e-01,
        9.80619681e-01,  7.99900303e-03, -4.08276944e-02, -1.73472348e-18,
       -9.99166202e-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([ 0.12865192, -0.08225595,  0.1126643 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.08460293, -0.27609158,  1.04887413, -0.27609158,  4.82839392,
        0.98546541,  1.04887413,  0.98546541,  1.34400364,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002708948732901852
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.41477349e-01, -8.75124855e-01, -1.98126824e-01, -8.92375145e-02,
       -1.76892353e-01,  9.80176393e-01, -8.92823844e-01,  4.50406021e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10474977, -0.03783463,  0.30546931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045668939149172416
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43102434e-13, -9.49618881e-14,  1.00000000e+00, -2.30854661e-26,
        1.00000000e+00,  9.49618881e-14, -1.00000000e+00,  0.00000000e+00,
       -2.43102434e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05343638, -0.06064632,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57173112e-03, 1.56934555e-01, 6.62839258e-02,-4.28708919e-03,
  2.89011618e-02, 3.75552014e-01, 1.52679456e-01, 5.46034155e-02,
 -1.42565182e-05,-2.24560723e-03,-5.33467983e-04, 2.64062418e-04,
  4.92677453e-02, 1.01616697e-02, 1.23974823e-02, 3.36183853e-04,
 -1.45451937e-06, 1.01927760e-06,-9.81000040e+00,-6.50021664e-02,
 -9.77753461e-03,-4.96284736e-03]


--- Step 2262 ---
qpos:
[-0.00493204, 0.19747668,-0.07379676, 0.3552001 ,-0.03450653, 0.01367429,
 -0.14922813, 0.29326005, 0.01358123, 0.60938951,-0.01757435, 0.48949199,
  0.83103467,-0.0035932 , 1.16410204, 0.04603893, 0.09458672,-0.06461403,
  0.14269683, 0.94711794,-0.03171642, 0.02606507, 0.31824878]

qacc:
[-4.21091366e+00,-1.38941881e+01, 5.86414550e+01,-1.29603120e+02,
 -3.11889400e+01,-6.55474464e+00, 4.17244732e+01,-9.58595196e+01,
 -1.02378849e-01, 2.35564475e+01,-1.56833935e+02, 3.97395635e+02,
  2.09031479e+00, 9.81010906e-01, 3.44340771e+01,-7.05598287e+01,
  2.22300439e-01,-2.04072474e-01, 5.14957437e-02, 1.71889338e+00,
 -6.20938670e-02,-5.81458459e+00]

qfrc_actuator:
[-0.00413982, 0.16324587, 0.05246125, 0.08028952, 0.02706712, 0.37636502,
  0.12874169, 0.12560494,-0.00131489, 0.17321   , 0.0048648 , 0.16347034,
  0.04796318, 0.00762879, 0.        ,-0.00202542, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.81844717, -0.70332103,  0.41856337, -0.70332103,  1.66274756,
        1.41869612,  0.41856337,  1.41869612,  3.20231278,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000627272253685144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7636633 , -0.64519875,  0.02317195,  0.01770032,  0.01495453,
        0.99973149, -0.64537203,  0.7638684 ,  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([ 0.10882972, -0.03995491,  0.1336671 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.27001587, -0.26996249,  0.00536848, -0.26996249,  0.27025211,
        0.0118796 ,  0.00536848,  0.0118796 ,  0.86740026,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004553124079202917
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72561381, -0.68734838,  0.03219938,  0.02337643,  0.02214367,
        0.99948147, -0.68770498,  0.72599026,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10272758, -0.03317201,  0.11920786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.52702458,  1.475405  ,  0.39368028,  1.475405  ,  1.69330582,
       -0.6231762 ,  0.39368028, -0.6231762 ,  3.86251694,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035378237327270064
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90195775e-01, -3.41377999e-02, -1.35450871e-01, -3.38228194e-02,
        9.99417135e-01, -4.62669146e-03,  1.35529866e-01,  8.67361738e-19,
       -9.90773261e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12965815, -0.08398132,  0.17920621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.93083553,  0.86829641, -0.33543423,  0.86829641,  1.23261026,
        0.7811663 , -0.33543423,  0.7811663 ,  2.95294247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046521303415343016
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90297662e-01, -3.41413126e-02, -1.34703047e-01, -3.38297843e-02,
        9.99417015e-01, -4.60162151e-03,  1.34781623e-01, -8.67361738e-19,
       -9.90875327e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1302041 , -0.08506778,  0.1746714 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019243038931207438
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97979824, -0.19591362,  0.04016551, -0.19574922,  0.98062116,
        0.00802447, -0.04095925,  0.        , -0.99916082])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12864241, -0.08225585,  0.11267236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.08329244, -0.3324026 ,  1.03103396, -0.3324026 ,  6.19911155,
        1.64932644,  1.03103396,  1.64932644,  1.61503089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026901127482865066
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.441319  , -0.87518443, -0.19821644, -0.08924751, -0.17698769,
        0.98015827, -0.89290113,  0.45025279,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10474983, -0.03783813,  0.30547275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045694650054789454
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.45377502e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.45377502e-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([ 0.05343155, -0.06064893,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58248385e-03, 1.57716438e-01, 6.66534813e-02,-3.99109937e-03,
  2.91007275e-02, 3.76054558e-01, 1.52996339e-01, 5.49347428e-02,
 -1.24477984e-05,-1.60186677e-03,-5.53539232e-04, 7.10433160e-04,
  4.88869061e-02, 1.00310980e-02, 1.10273507e-02, 2.51602405e-04,
 -2.82053764e-07,-6.18927539e-09,-9.80999981e+00,-6.50017288e-02,
 -9.77706988e-03,-4.96319933e-03]


--- Step 2263 ---
qpos:
[-0.00499871, 0.19744671,-0.07412373, 0.35685655,-0.03455412, 0.01369968,
 -0.14968935, 0.29466113, 0.01359198, 0.61244332,-0.01761522, 0.49273581,
  0.83108861,-0.00361022, 1.16411154, 0.0460329 , 0.09458436,-0.06461802,
  0.14269643, 0.94712353,-0.03170804, 0.02607119, 0.31823248]

qacc:
[-6.44623519e+00,-4.38362547e+00, 3.73574865e+01,-1.11383297e+02,
 -2.71001109e+01,-6.39796713e+00, 3.99616663e+01,-9.37627140e+01,
  7.28587484e-02, 1.91634439e+01,-1.24805438e+02, 3.15238532e+02,
  1.61293446e+00, 1.01224060e+00, 2.95148739e+01,-5.98775996e+01,
  1.66170870e-01,-1.29809256e-01, 4.42319257e-02, 1.13295392e+00,
 -1.07289693e-01,-4.09542129e+00]

qfrc_actuator:
[-0.00409387, 0.16371344, 0.05277665, 0.08051081, 0.02708707, 0.37712684,
  0.12920757, 0.12611499,-0.00131033, 0.17310431, 0.00485874, 0.16411515,
  0.04794584, 0.00762379, 0.        ,-0.00205203, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.81392983, -0.69121129,  0.42977753, -0.69121129,  2.30268836,
        2.39437066,  0.42977753,  2.39437066,  4.66479666,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006228471279183799
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76367498, -0.64518471,  0.02317778,  0.01770504,  0.01495796,
        0.99973136, -0.64535808,  0.76388019,  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([ 0.10883222, -0.03995984,  0.13368514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.27397559, -0.27389609,  0.00659974, -0.27389609,  0.27463895,
        0.02753004,  0.00659974,  0.02753004,  1.41650184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004667654254874051
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.25504972e-01, -6.87453803e-01,  3.24006733e-02,  2.35191981e-02,
        2.22856669e-02,  9.99474960e-01, -6.87814933e-01,  7.25886091e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10271357, -0.03317385,  0.11922523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.5241342 ,  1.46043807,  0.43601115,  1.46043807,  1.75112834,
       -0.76032661,  0.43601115, -0.76032661,  4.07088085,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003516366143662185
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90198417e-01, -3.41818807e-02, -1.35420435e-01, -3.38666348e-02,
        9.99415629e-01, -4.63163173e-03,  1.35499617e-01,  8.67361738e-19,
       -9.90777399e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1296569 , -0.08398682,  0.17920544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.92671761,  0.88024981, -0.28976855,  0.88024981,  1.17933917,
        0.76740585, -0.28976855,  0.76740585,  3.25791906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004617523754172221
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90236807e-01, -3.41832059e-02, -1.35139090e-01, -3.38692625e-02,
        9.99415583e-01, -4.62218863e-03,  1.35218114e-01, -8.67361738e-19,
       -9.90815857e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.13020387, -0.08507386,  0.17467189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019329951789388501
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97979751, -0.19588841,  0.04030594, -0.19572287,  0.98062619,
        0.00805145, -0.04110225,  0.        , -0.99915495])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12863256, -0.08225554,  0.11268056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.0818452 , -0.41342871,  0.99973284, -0.41342871,  7.9435508 ,
        2.83758418,  0.99973284,  2.83758418,  2.25529747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026691080046875603
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.46725356e-01, -8.73023913e-01, -1.95616215e-01, -8.91082476e-02,
       -1.74141965e-01,  9.80680527e-01, -8.90222543e-01,  4.55525875e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10475022, -0.03784255,  0.30547678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004568890328261882
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.41713418e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.41713418e-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([ 0.0534274 , -0.06065098,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46732716e-03, 1.58409098e-01, 6.69842093e-02,-3.53473729e-03,
  2.93056970e-02, 3.76653509e-01, 1.53357446e-01, 5.55936258e-02,
  7.83903934e-06,-1.17547044e-03,-4.05988319e-04, 5.70982260e-04,
  4.85471484e-02, 9.90232533e-03, 9.86217712e-03, 2.25723459e-04,
 -5.77380438e-07, 1.03359229e-06,-9.80999945e+00,-6.50009352e-02,
 -9.77638582e-03,-4.96339859e-03]


--- Step 2264 ---
qpos:
[-0.00506703, 0.19742339,-0.07445146, 0.35850843,-0.03460303, 0.01372491,
 -0.15014897, 0.29605917, 0.01360308, 0.61548729,-0.01765542, 0.49598497,
  0.83114956,-0.00362331, 1.16413856, 0.04602716, 0.09458253,-0.06462218,
  0.14269617, 0.94712964,-0.03169719, 0.02607681, 0.31821492]

qacc:
[-5.10411983e+00, 2.25261488e+00, 2.20570299e+01,-9.91619612e+01,
 -1.11176318e+01,-9.57772524e+00, 4.59098112e+01,-9.67328249e+01,
  2.41063600e-01,-4.52229427e+00,-2.02018857e+01, 1.06050742e+02,
  1.85450952e+00, 2.41137535e+00, 2.50263822e+01,-4.99952784e+01,
  1.34632534e-01,-4.28094831e-02, 3.35709500e-02, 1.12032848e+00,
 -6.10611661e-01,-6.58686149e-01]

qfrc_actuator:
[-0.00403837, 0.16434187, 0.05309692, 0.08085363, 0.02712   , 0.37773202,
  0.12968833, 0.12623524,-0.00129421, 0.17271252, 0.00492635, 0.1643865 ,
  0.04792255, 0.00762632, 0.        ,-0.00206566, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.80988703, -0.60771901,  0.53534531, -0.60771901,  2.74765462,
        2.19973571,  0.53534531,  2.19973571,  3.30700653,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006188918980483773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76369737, -0.64515805,  0.02318227,  0.017709  ,  0.01496025,
        0.99973125, -0.64533148,  0.76390266,  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([ 0.10883473, -0.0399647 ,  0.13370323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.78360440e-01, -2.78360135e-01, -4.12316275e-04, -2.78360135e-01,
        2.78364448e-01, -2.70606365e-03, -4.12316275e-04, -2.70606365e-03,
        2.10525957e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0004787909591170788
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72540055, -0.68755407,  0.03261039,  0.02366818,  0.02243334,
        0.99946814, -0.68791995,  0.72578657,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10269954, -0.03317556,  0.11924273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.5218873 ,  1.43006309,  0.52063473,  1.43006309,  1.76105378,
       -0.65693497,  0.52063473, -0.65693497,  3.3263356 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034995429693532055
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90201791e-01, -3.42291754e-02, -1.35383811e-01, -3.39136638e-02,
        9.99414010e-01, -4.63679332e-03,  1.35463191e-01,  8.67361738e-19,
       -9.90782380e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12965563, -0.08399324,  0.17920492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.92379996,  0.85144371, -0.35839919,  0.85144371,  1.23816874,
        0.74684131, -0.35839919,  0.74684131,  2.69805992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045926726500905275
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99020179, -0.03422918, -0.13538381, -0.03391366,  0.99941401,
       -0.00463679,  0.13546319,  0.        , -0.99078238])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12980263, -0.08437162,  0.17742274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019425089945173956
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79798958e-01, -1.95850366e-01,  4.04553488e-02, -1.95683634e-01,
        9.80633792e-01,  8.07966737e-03, -4.12542879e-02,  1.73472348e-18,
       -9.99148679e-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([ 0.12862248, -0.08225506,  0.11268887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026480872092385377
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55759560e-01, -8.69319989e-01, -1.91222331e-01, -8.87898673e-02,
       -1.69358612e-01,  9.81546749e-01, -8.85663357e-01,  4.64327920e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10475079, -0.03784759,  0.30548096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004565945802685045
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43152913e-13, -3.79926427e-15,  1.00000000e+00, -9.23802177e-28,
        1.00000000e+00,  3.79926427e-15, -1.00000000e+00,  0.00000000e+00,
       -2.43152913e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0534238 , -0.0606526 ,  0.06198977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30675951e-03, 1.58922186e-01, 6.73252679e-02,-2.96506711e-03,
  2.94994294e-02, 3.77132445e-01, 1.53755967e-01, 5.58651679e-02,
  2.67656328e-05,-1.19868395e-03,-2.32046812e-04, 2.16499613e-04,
  4.82580707e-02, 9.79826386e-03, 8.84972400e-03, 2.05895883e-04,
 -1.38267348e-06, 2.66118336e-06,-9.80999927e+00,-6.49998964e-02,
 -9.77571706e-03,-4.96347968e-03]


--- Step 2265 ---
qpos:
[-0.00513653, 0.1974064 ,-0.07478039, 0.36015566,-0.03465263, 0.01374892,
 -0.15060721, 0.29745413, 0.01361446, 0.61851752,-0.01769293, 0.49923855,
  0.83121733,-0.00363226, 1.1641786 , 0.04602025, 0.09458113,-0.0646264 ,
  0.14269601, 0.94713561,-0.03168409, 0.02608182, 0.31819803]

qacc:
[-3.64344242e+00, 2.89526024e+00, 1.94707481e+01,-9.69657207e+01,
 -5.70129133e+00,-1.04755855e+01, 4.71222318e+01,-9.71793447e+01,
  2.09548719e-01,-1.70598717e+01, 1.91762501e+01, 5.52427778e+01,
  1.68545596e+00, 2.69273935e+00, 2.27841932e+01,-5.17519266e+01,
  1.07117229e-01,-1.26468837e-02, 2.65605404e-02, 9.52377156e-01,
 -6.62760782e-01, 3.63985654e-01]

qfrc_actuator:
[-0.00399451, 0.16488404, 0.05347389, 0.0813422 , 0.02717787, 0.37820939,
  0.13017743, 0.12603404,-0.00128918, 0.17186935, 0.00500035, 0.16459564,
  0.04790601, 0.00763071, 0.        ,-0.00217823, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.80666302, -0.59305818,  0.54679725, -0.59305818,  3.99432578,
        3.45734997,  0.54679725,  3.45734997,  4.55651667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006157406807002728
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76372156, -0.64512935,  0.02318399,  0.01771087,  0.01496069,
        0.99973122, -0.6453028 ,  0.76392689,  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([ 0.10883691, -0.03996939,  0.13372153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 2.83337071e-01, -2.83333616e-01,  1.39912135e-03, -2.83333616e-01,
        2.83384785e-01,  9.66247045e-03,  1.39912135e-03,  9.66247045e-03,
        2.24006705e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0004916829850347333
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.25290340e-01, -6.87659781e-01,  3.28321305e-02,  2.38256720e-02,
        2.25895141e-02,  9.99460880e-01, -6.88030711e-01,  7.25681569e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1026852 , -0.0331772 ,  0.11926051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.52028071,  1.42131941,  0.53954107,  1.42131941,  1.75722464,
       -0.6241842 ,  0.53954107, -0.6241842 ,  3.16457652,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003487436210343528
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99020534, -0.03427779, -0.13534558, -0.03396201,  0.99941234,
       -0.00464208,  0.13542516,  0.        , -0.99078758])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12965446, -0.0839998 ,  0.17920462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.92236545,  0.84997067, -0.35820088,  0.84997067,  1.21954986,
        0.70518541, -0.35820088,  0.70518541,  2.59569167,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004580351301091499
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99020534, -0.03427779, -0.13534558, -0.03396201,  0.99941234,
       -0.00464208,  0.13542516,  0.        , -0.99078758])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12980207, -0.08437914,  0.17741902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019525193958637433
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79800647e-01, -1.95809425e-01,  4.06123286e-02, -1.95641435e-01,
        9.80641968e-01,  8.10925596e-03, -4.14140226e-02,  1.73472348e-18,
       -9.99142071e-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([ 0.12861252, -0.08225453,  0.11269728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002627862555511077
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.46678877, -0.8646343 , -0.18578422, -0.08825852, -0.16348153,
        0.98259057, -0.87995379,  0.47505928,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10475142, -0.03785329,  0.30548524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004561234034402978
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21702046e-13,  2.66223225e-14,  1.00000000e+00,  3.23999110e-27,
        1.00000000e+00, -2.66223225e-14, -1.00000000e+00,  0.00000000e+00,
       -1.21702046e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05342063, -0.06065387,  0.06198978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18019602e-03, 1.59133573e-01, 6.77410278e-02,-2.25037485e-03,
  2.96235280e-02, 3.77618579e-01, 1.54167464e-01, 5.58139920e-02,
  2.25344994e-05,-1.64115581e-03,-2.20978556e-04, 1.51994195e-04,
  4.78904052e-02, 9.60617115e-03, 7.97350575e-03, 7.92771388e-05,
 -1.41778917e-06, 3.27002435e-06,-9.80999923e+00,-6.49984857e-02,
 -9.77536731e-03,-4.96334298e-03]


--- Step 2266 ---
qpos:
[-0.0052061 , 0.19739476,-0.07511066, 0.36179827,-0.03470138, 0.01376967,
 -0.15106442, 0.29884599, 0.01362581, 0.62152838,-0.01772641, 0.50248912,
  0.83129096,-0.00363701, 1.16422584, 0.04601093, 0.09458008,-0.06463038,
  0.14269594, 0.94714019,-0.03166899, 0.02608593, 0.31818559]

qacc:
[-2.78917429e-01, 2.03696251e+00, 2.05895218e+01,-9.68797174e+01,
  7.14444747e+00,-1.21993010e+01, 4.94444712e+01,-9.78682994e+01,
 -5.68475496e-03,-4.23843418e+01, 1.21508623e+02,-1.51236189e+02,
  1.13010779e+00, 3.14582739e+00, 1.79572066e+01,-4.72973666e+01,
  8.70893650e-02, 5.75274424e-02, 2.07654212e-02, 7.29133442e-01,
 -7.90393703e-01, 2.33493922e+00]

qfrc_actuator:
[-0.00392193, 0.1653011 , 0.0538146 , 0.08183137, 0.02723284, 0.37862897,
  0.1306711 , 0.12562347,-0.00130865, 0.17055016, 0.00505814, 0.16441119,
  0.04789327, 0.00761668, 0.        ,-0.00236657, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.80416572, -0.60970467,  0.52434981, -0.60970467,  3.95425909,
        3.6628728 ,  0.52434981,  3.6628728 ,  5.06328935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006133013460574153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76374491, -0.64510175,  0.02318291,  0.01771059,  0.01495935,
        0.99973124, -0.64527518,  0.76395023,  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([ 0.1088388 , -0.03997391,  0.13374   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.28890812, -0.28885657,  0.00545726, -0.28885657,  0.28965497,
        0.03953149,  0.00545726,  0.03953149,  2.38133897,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00050531288229783
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72517291, -0.68777253,  0.03306363,  0.02398997,  0.0227527 ,
        0.99945325, -0.68814878,  0.72556961,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10267061, -0.0331788 ,  0.11927855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.5191936 ,  1.39220188,  0.60804862,  1.39220188,  1.806764  ,
       -0.65842768,  0.60804862, -0.65842768,  3.0267445 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034792069173902174
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99020887, -0.03432708, -0.13530721, -0.03401102,  0.99941065,
       -0.00464744,  0.135387  ,  0.        , -0.99079279])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12965343, -0.08400626,  0.17920449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.92138212,  0.84247966, -0.37305901,  0.84247966,  1.23928589,
        0.71792252, -0.37305901,  0.71792252,  2.54266752,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004571865649003656
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90208872e-01, -3.43270812e-02, -1.35307213e-01, -3.40110247e-02,
        9.99410652e-01, -4.64744063e-03,  1.35387003e-01, -8.67361738e-19,
       -9.90792793e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12980167, -0.08438662,  0.17741517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019628136736523074
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97980205, -0.19576872,  0.04077445, -0.19559942,  0.9806501 ,
        0.00813987, -0.041579  ,  0.        , -0.99913522])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12860279, -0.08225399,  0.11270577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002608899339150945
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.47914033, -0.85916709, -0.17960084, -0.08747641, -0.1568577 ,
        0.98373957, -0.87336843,  0.48706014,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10475202, -0.03785956,  0.30548954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004555169785151144
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55003247e-07, -1.55003510e-07,  1.00000000e+00,  2.40260473e-14,
        1.00000000e+00,  1.55003510e-07, -1.00000000e+00,  0.00000000e+00,
        1.55003247e-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([ 0.05382548, -0.06125813,  0.06198979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04883047e-03, 1.59235454e-01, 6.81422310e-02,-1.53163947e-03,
  2.97126567e-02, 3.78100845e-01, 1.54593593e-01, 5.55547911e-02,
 -3.58927022e-06,-2.36359345e-03,-3.27815354e-04,-2.59775811e-04,
  4.75373631e-02, 9.38538247e-03, 7.32128773e-03,-5.08475550e-05,
 -1.17856119e-06, 3.44459344e-06,-9.80999914e+00,-6.49968359e-02,
 -9.77527725e-03,-4.96299215e-03]


--- Step 2267 ---
qpos:
[-0.00525005, 0.19744038,-0.07540365, 0.363437  ,-0.03469421, 0.01379007,
 -0.15152353, 0.3002326 , 0.01363705, 0.62451666,-0.01775689, 0.50572909,
  0.83129682,-0.003677  , 1.16411311, 0.04603301, 0.09456638,-0.06462602,
  0.14269398, 0.94710007,-0.03169345, 0.02609056, 0.31830217]

qacc:
[ 7.85733290e+01,-3.36586646e+01, 2.38043581e+02,-3.79202835e+02,
  4.70808987e+02,-5.43097544e+00, 3.82693744e+01,-1.19418263e+02,
 -5.75883461e-02,-5.83014525e+01, 1.96146823e+02,-3.32609498e+02,
 -1.80357216e+01,-2.13038696e+01,-3.31244770e+02, 8.15825665e+02,
 -3.16211587e+00, 2.08531319e+00,-4.72079039e-01,-2.10477431e+01,
  5.07356014e+00, 6.77081423e+01]

qfrc_actuator:
[-0.00385051, 0.16564154, 0.05413419, 0.08207419, 0.02726707, 0.3790164 ,
  0.13114958, 0.12498202,-0.00132484, 0.16918726, 0.00510379, 0.16385423,
  0.04788799, 0.00760764, 0.        ,-0.0024744 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006115256537093805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76376229, -0.64508131,  0.02317889,  0.01770792,  0.01495628,
        0.99973133, -0.64525467,  0.76396754,  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([ 0.10884045, -0.03997826,  0.13375861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.29484419, -0.18037619, -0.23323278, -0.18037619,  0.1423335 ,
        0.11794782, -0.23323278,  0.11794782,  0.2036264 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000519565005515499
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72504472, -0.68789613,  0.03330271,  0.02415935,  0.02292152,
        0.99944531, -0.68827791,  0.72544712,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1026559 , -0.0331804 ,  0.11929678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.51859514, -1.41250556,  0.55763719, -1.41250556,  1.82467801,
        0.77531369,  0.55763719,  0.77531369,  3.48247941,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034746637563352065
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99021207, -0.03437553, -0.13527147, -0.03405919,  0.99940899,
       -0.00465278,  0.13535146,  0.        , -0.99079765])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12965262, -0.0840121 ,  0.1792045 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.92082403, -0.27090027, -0.88007383, -0.27090027,  7.11794362,
       -1.90756881, -0.88007383, -1.90756881,  1.50800308,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045670352000597815
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99021207, -0.03437553, -0.13527147, -0.03405919,  0.99940899,
       -0.00465278,  0.13535146,  0.        , -0.99079765])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12980151, -0.08439352,  0.17741117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.41669488,  0.14646537,  0.41669488,  0.54933021,
       -0.30624778,  0.14646537, -0.30624778,  1.31296303,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019731047191650073
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97980213, -0.19573382,  0.04093968, -0.19556318,  0.98065706,
        0.00817134, -0.04174719,  0.        , -0.99912821])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12859356, -0.08225348,  0.11271431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.07667255,  0.18370256, -1.06088507,  0.18370256,  0.84496567,
       -0.0401223 , -1.06088507, -0.0401223 ,  1.06972498,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002592210711963
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.49174216, -0.85334347, -0.17318942, -0.08647125, -0.15005765,
        0.98488853, -0.8664366 ,  0.49928712,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10475246, -0.03786617,  0.30549365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045673084999926783
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21540183e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.21540183e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861359 , -0.10907541,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.73488625e-04, 1.59309382e-01, 6.85295624e-02,-1.05982453e-03,
  2.97049070e-02, 3.78653181e-01, 1.55022966e-01, 5.50665993e-02,
 -1.00767784e-05,-2.84753238e-03,-5.13314282e-04,-6.72463053e-04,
  4.72390226e-02, 9.16658623e-03, 6.96024366e-03,-3.84663124e-05,
 -6.54702804e-07, 2.84970749e-06,-9.80999891e+00,-6.49949902e-02,
 -9.77559622e-03,-4.96242292e-03]


--- Step 2268 ---
qpos:
[-0.00529729, 0.19749028,-0.07570563, 0.36506921,-0.03469082, 0.01381111,
 -0.15197975, 0.30161625, 0.01364816, 0.62748303,-0.01778748, 0.50895376,
  0.83131962,-0.00370716, 1.16398512, 0.04602826, 0.09455594,-0.06462429,
  0.14269246, 0.94707112,-0.03170509, 0.02609636, 0.31838664]

qacc:
[-1.02245803e+01, 1.79325939e+01,-2.96808648e+01,-6.87954355e+01,
 -3.17822796e+01,-1.17460076e+01, 5.47285737e+01,-1.06077106e+02,
 -6.53551011e-02,-5.78094508e+01, 2.11368798e+02,-4.14620877e+02,
  5.49460516e+00, 4.69457690e+00, 5.84452996e+01,-2.37523971e+02,
  8.16654410e-01,-6.57082686e-01, 1.10695756e-01, 6.85885911e+00,
 -1.11708771e+00,-1.68007585e+01]

qfrc_actuator:
[-0.0037877 , 0.16595298, 0.05443852, 0.08201053, 0.02726893, 0.37941842,
  0.13160369, 0.12420543,-0.00133899, 0.1681109 , 0.00508831, 0.16308255,
  0.04789359, 0.00763936, 0.        ,-0.00247801, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.79903141, -0.19820493,  0.77405813, -0.19820493,  6.63321981,
        1.49389928,  0.77405813,  1.49389928,  1.18155849,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006082898629107486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63602640e-01, -6.45269156e-01,  2.32104306e-02,  1.77283221e-02,
        1.49810108e-02,  9.99730602e-01, -6.45443037e-01,  7.63808409e-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([ 0.1088339 , -0.0399825 ,  0.13377968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.29961057, -0.2948081 , -0.05342917, -0.2948081 ,  0.36744654,
       -0.37430102, -0.05342917, -0.37430102,  2.36490497,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005309278932610798
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.24781633e-01, -6.88162350e-01,  3.35285777e-02,  2.43145679e-02,
        2.30860848e-02,  9.99437759e-01, -6.88549480e-01,  7.25189364e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10263314, -0.03318387,  0.11931726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50923316,  1.48535385,  0.26741104,  1.48535385,  1.54017928,
       -0.17189246,  0.26741104, -0.17189246,  2.46402221,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003402366075665577
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99020381, -0.03436813, -0.13533387, -0.03405157,  0.99940924,
       -0.00465392,  0.13541386,  0.        , -0.99078912])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12964984, -0.08400205,  0.17920127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.91274285,  0.77170843, -0.48740703,  0.77170843,  1.21499829,
        0.4785591 , -0.48740703,  0.4785591 ,  1.67044242,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004495888514144791
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90203805e-01, -3.43681277e-02, -1.35333867e-01, -3.40515671e-02,
        9.99409241e-01, -4.65392097e-03,  1.35413864e-01,  8.67361738e-19,
       -9.90789123e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12979899, -0.08438342,  0.1774094 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.14502786, -0.41719738, -0.14502786,  3.19521932,
       -0.95719444, -0.41719738, -0.95719444,  0.77443009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019731695995375605
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79764774e-01, -1.95903729e-01,  4.10209305e-02, -1.95732250e-01,
        9.80623133e-01,  8.19494563e-03, -4.18314938e-02, -1.73472348e-18,
       -9.99124680e-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([ 0.12858388, -0.08225554,  0.11272194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.0779312 ,  1.0471354 ,  0.25581855,  1.0471354 ,  1.57703715,
       -2.04297736,  0.25581855, -2.04297736,  9.44039709,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002611192535847921
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.43009019, -0.87954184, -0.20354013, -0.08941232, -0.18284973,
        0.9790666 , -0.8983473 ,  0.43928593,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10474952, -0.03786216,  0.30548773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.57947934,  5.93240499, -8.75967774,  5.93240499, 15.00825784,
        2.99934637, -8.75967774,  2.99934637, 12.61075697,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00045683662232276614
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.44305926e-07,  2.44306133e-07,  1.00000000e+00,  5.96854360e-14,
        1.00000000e+00, -2.44306133e-07, -1.00000000e+00,  2.52435490e-29,
       -2.44305926e-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([ 0.05380923, -0.06126867,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19222772e-03, 1.56756982e-01, 6.69695594e-02,-9.32586171e-04,
  2.69101041e-02, 3.79073519e-01, 1.55573721e-01, 5.45502726e-02,
 -1.05771909e-05,-2.88413767e-03,-7.08672733e-04,-9.20569625e-04,
  5.06327062e-02, 1.09607384e-02, 1.49614417e-02,-1.61151415e-03,
 -5.63196299e-05, 7.29884245e-05,-9.81001120e+00,-6.49933069e-02,
 -9.76474453e-03,-4.96474624e-03]


--- Step 2269 ---
qpos:
[-0.00534756, 0.19753021,-0.07601198, 0.36669661,-0.03469066, 0.0138323 ,
 -0.15243319, 0.30299687, 0.01365916, 0.630429  ,-0.01781998, 0.51216705,
  0.83135751,-0.00372987, 1.16387845, 0.04601516, 0.09454809,-0.06462453,
  0.14269127, 0.94705066,-0.03170672, 0.02610307, 0.31844678]

qacc:
[-9.24374841e+00,-1.00713905e+01, 3.52651802e+01,-9.87146100e+01,
 -2.71933164e+01,-1.21577767e+01, 5.55043690e+01,-1.07251923e+02,
 -6.05893595e-02,-4.33850059e+01, 1.51145193e+02,-2.97741995e+02,
  4.96279226e+00, 3.25533114e+00, 5.66718811e+01,-1.52775135e+02,
  6.45773180e-01,-4.93759900e-01, 7.99304369e-02, 5.33371592e+00,
 -8.92200611e-01,-1.27263937e+01]

qfrc_actuator:
[-0.00374689, 0.1662771 , 0.05480057, 0.08167841, 0.02727096, 0.37975736,
  0.13203916, 0.12354285,-0.00135184, 0.16726808, 0.00505582, 0.16252828,
  0.04788989, 0.00764681, 0.        ,-0.00242667, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.79722044, -0.2757075 ,  0.74802794, -0.2757075 ,  6.17545911,
        1.98230663,  0.74802794,  1.98230663,  1.52785733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006065232146864128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7634871 , -0.64540504,  0.02323336,  0.01774316,  0.01499898,
        0.99973007, -0.6455793 ,  0.76369324,  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([ 0.10882787, -0.0399864 ,  0.13380072])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.30518468, -0.30375118,  0.02954505, -0.30375118,  0.33085523,
        0.26391766,  0.02954505,  0.26391766,  3.01850938,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005441399744355675
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.24541342e-01, -6.88403185e-01,  3.37771814e-02,  2.44869369e-02,
        2.32655949e-02,  9.99429388e-01, -6.88796220e-01,  7.24955010e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10261083, -0.0331867 ,  0.11933789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50259673,  1.4811223 ,  0.25312775,  1.4811223 ,  1.52978094,
       -0.15906257,  0.25312775, -0.15906257,  2.43331699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033496611511904127
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90198986e-01, -3.43645973e-02, -1.35370018e-01, -3.40478993e-02,
        9.99409363e-01, -4.65468539e-03,  1.35450020e-01,  8.67361738e-19,
       -9.90784180e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12964755, -0.08399643,  0.17919897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.9070027 ,  0.75507157, -0.50251449,  0.75507157,  1.22239605,
        0.47390585, -0.50251449,  0.47390585,  1.61908731,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044439383578313325
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90198986e-01, -3.43645973e-02, -1.35370018e-01, -3.40478993e-02,
        9.99409363e-01, -4.65468539e-03,  1.35450020e-01,  8.67361738e-19,
       -9.90784180e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12979707, -0.08437806,  0.17740701])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00197596838862213
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97973645, -0.19602321,  0.04112651, -0.19585074,  0.98059926,
        0.00822125, -0.04194018,  0.        , -0.99912012])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12857421, -0.08225698,  0.11272986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.07836603,  0.15403231, -1.06730845,  0.15403231, 11.00205341,
        1.43217127, -1.06730845,  1.43217127,  1.28505478,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000261770894265434
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.92642691e-01, -8.92755698e-01, -2.20950178e-01, -8.89529359e-02,
       -2.02253199e-01,  9.75285096e-01, -9.15379207e-01,  4.02592732e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10474731, -0.03786118,  0.30548646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.59499685, -8.06050243,  6.87620962, -8.06050243, 42.77899367,
       37.72706172,  6.87620962, 37.72706172, 54.81980814,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000458003340400103
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13256476e-06,  1.13256478e-06,  1.00000000e+00,  1.28270296e-12,
        1.00000000e+00, -1.13256478e-06, -1.00000000e+00, -2.01948392e-28,
       -1.13256476e-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([ 0.05379798, -0.0612763 ,  0.06198973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98647902e-03, 1.56865925e-01, 6.77811686e-02,-9.41672140e-04,
  2.71013404e-02, 3.79382295e-01, 1.55866791e-01, 5.40337119e-02,
 -9.56916007e-06,-2.71967963e-03,-7.64498020e-04,-7.15929898e-04,
  4.97819611e-02, 1.04773438e-02, 1.57266132e-02,-2.18386012e-04,
 -3.19886750e-05, 3.48908297e-05,-9.81000619e+00,-6.49955462e-02,
 -9.76984198e-03,-4.96631042e-03]


--- Step 2270 ---
qpos:
[-0.00540059, 0.1975547 ,-0.07631997, 0.36832006,-0.0346932 , 0.01385278,
 -0.15288393, 0.30437441, 0.01366984, 0.63335665,-0.01785307, 0.51537551,
  0.83140851,-0.00374694, 1.16380142, 0.04599825, 0.09454232,-0.06462628,
  0.14269028, 0.9470365 ,-0.03170018, 0.02611053, 0.31848894]

qacc:
[-8.36365010e+00,-2.30001683e+01, 6.68338593e+01,-1.13878046e+02,
 -2.25711565e+01,-1.32002077e+01, 5.77447393e+01,-1.09588689e+02,
 -1.98101062e-01,-3.17125086e+01, 9.25680468e+01,-1.46453496e+02,
  4.53729428e+00, 1.98983570e+00, 5.51570053e+01,-1.29667369e+02,
  5.19480076e-01,-3.74240307e-01, 5.23034738e-02, 4.31998172e+00,
 -7.37881677e-01,-9.39804234e+00]

qfrc_actuator:
[-0.00371824, 0.16651482, 0.05510746, 0.08107961, 0.02727406, 0.38005866,
  0.13248015, 0.12282564,-0.00138164, 0.16667914, 0.00515699, 0.16231969,
  0.04789082, 0.00765589, 0.        ,-0.00250988, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.79566456, -0.41566587,  0.67845705, -0.41566587,  4.99726872,
        2.57416954,  0.67845705,  2.57416954,  2.37276429,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006050057543725917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.763405  , -0.64550156,  0.02324956,  0.01775363,  0.01501168,
        0.99972969, -0.6456761 ,  0.76361141,  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([ 0.10882323, -0.03999027,  0.13382132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3109838 , -0.30419035,  0.06464634, -0.30419035,  0.43704889,
        0.59319341,  0.06464634,  0.59319341,  3.10222763,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005578151588335033
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.24325484e-01, -6.88618042e-01,  3.40262518e-02,  2.46603612e-02,
        2.34446668e-02,  9.99420939e-01, -6.89017024e-01,  7.24745155e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10258994, -0.03318915,  0.11935814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.49803765,  1.48043647,  0.22896433,  1.48043647,  1.51748412,
       -0.12573692,  0.22896433, -0.12573692,  2.31102679,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033127170759887756
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90196810e-01, -3.43643709e-02, -1.35385994e-01, -3.40475999e-02,
        9.99409371e-01, -4.65520401e-03,  1.35466004e-01,  8.67361738e-19,
       -9.90781995e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12964566, -0.0839941 ,  0.17919743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.90304813,  0.73470069, -0.52508172,  0.73470069,  1.21432973,
        0.43554898, -0.52508172,  0.43554898,  1.51247353,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004407433821102958
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99019681, -0.03436437, -0.13538599, -0.0340476 ,  0.99940937,
       -0.0046552 ,  0.135466  ,  0.        , -0.990782  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12979563, -0.08437624,  0.17740412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001980868882217233
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97971494, -0.19610433,  0.0412521 , -0.19593072,  0.98058304,
        0.0082499 , -0.04206895,  0.        , -0.99911471])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12856461, -0.08225792,  0.11273801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.07793896, -0.23563345,  1.05186942, -0.23563345,  3.18795061,
        0.47267211,  1.05186942,  0.47267211,  1.18382412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002611308985387097
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.37279017, -0.89898625, -0.2298939 , -0.08806083, -0.21235936,
        0.9732157 , -0.92372765,  0.38304989,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10474589, -0.03786272,  0.30548811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.602189  , -8.62893562,  6.1601852 , -8.62893562, 46.32179763,
       50.03456768,  6.1601852 , 50.03456768, 80.68856619,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004585420275144886
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.19152604e-07,  8.19152669e-07,  1.00000000e+00,  6.71011042e-13,
        1.00000000e+00, -8.19152669e-07, -1.00000000e+00,  1.00974196e-28,
       -8.19152604e-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([ 0.05378873, -0.06128234,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80676945e-03, 1.57600493e-01, 6.83061709e-02,-1.30217197e-03,
  2.72664511e-02, 3.79677192e-01, 1.56171087e-01, 5.34655907e-02,
 -2.62029886e-05,-2.37635160e-03,-5.96808169e-04,-3.61184915e-04,
  4.90286638e-02, 1.01140495e-02, 1.46622340e-02, 1.16810124e-04,
 -1.84607554e-05, 1.55146515e-05,-9.81000283e+00,-6.49960749e-02,
 -9.77185360e-03,-4.96726324e-03]


--- Step 2271 ---
qpos:
[-0.0054558 , 0.19756563,-0.0766287 , 0.36993975,-0.03469767, 0.01387211,
 -0.15333208, 0.30574882, 0.01368022, 0.63627218,-0.01788904, 0.51859033,
  0.83147109,-0.00375932, 1.16375892, 0.04598196, 0.09453815,-0.06462905,
  0.14268944, 0.94702675,-0.03168742, 0.02611826, 0.31851856]

qacc:
[-6.63375116e+00,-2.26454228e+01, 6.84862788e+01,-1.15364413e+02,
 -1.61377505e+01,-1.35323507e+01, 5.82643209e+01,-1.10241230e+02,
 -1.93733066e-01, 4.08061422e+00,-5.67666466e+01, 1.59775288e+02,
  4.02222380e+00, 1.56023613e+00, 4.90524235e+01,-9.77573978e+01,
  4.00506100e-01,-2.57127644e-01, 3.74805342e-02, 3.22692972e+00,
 -7.26044839e-01,-6.55418239e+00]

qfrc_actuator:
[-0.00364268, 0.16690547, 0.05536251, 0.08051713, 0.02733181, 0.38056899,
  0.13294118, 0.12204144,-0.00140361, 0.16663918, 0.00523128, 0.16268931,
  0.04788884, 0.00768254, 0.        ,-0.00240874, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.79380574, -0.54053961,  0.58132992, -0.54053961,  3.44028888,
        2.46078676,  0.58132992,  2.46078676,  3.08192592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000603193206794421
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76334764, -0.645569  ,  0.02326037,  0.01776055,  0.01502024,
        0.99972944, -0.64574371,  0.76355423,  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([ 0.10882026, -0.03999425,  0.13384134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.31672696, -0.31025616,  0.06369522, -0.31025616,  0.43557065,
        0.57888152,  0.06369522,  0.57888152,  3.13642903,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005713067386208158
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72413162, -0.68881002,  0.03426592,  0.02482761,  0.02361658,
        0.99941275, -0.68921476,  0.72455711,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10257077, -0.03319141,  0.1193778 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.4951194 ,  1.47383752,  0.25136623,  1.47383752,  1.51900803,
       -0.1400664 ,  0.25136623, -0.1400664 ,  2.31637179,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003288742370472967
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99019668, -0.03436689, -0.13538631, -0.03405009,  0.99940928,
       -0.00465556,  0.13546633,  0.        , -0.99078195])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12964414, -0.08399418,  0.1791965 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.90050452,  0.72765932, -0.53049062,  0.72765932,  1.22435999,
        0.4442236 , -0.53049062,  0.4442236 ,  1.50983375,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043836359222441815
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90196680e-01, -3.43668852e-02, -1.35386308e-01, -3.40500896e-02,
        9.99409284e-01, -4.65555583e-03,  1.35466330e-01, -8.67361738e-19,
       -9.90781950e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12979463, -0.08437703,  0.17740083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001987365768794405
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79698406e-01, -1.96157001e-01,  4.13940086e-02, -1.95982144e-01,
        9.80572502e-01,  8.28059585e-03, -4.22141234e-02,  1.73472348e-18,
       -9.99108587e-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([ 0.12855514, -0.0822585 ,  0.11274636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.07676082, -0.25125502,  1.04703618, -0.25125502,  3.98276705,
        0.69734807,  1.04703618,  0.69734807,  1.24410194,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025935477796085356
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.66511874e-01, -9.00845988e-01, -2.32691966e-01, -8.76914566e-02,
       -2.15535982e-01,  9.72550486e-01, -9.26271696e-01,  3.76856399e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10474513, -0.03786633,  0.30549174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045861197704946774
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.83946464e-07, -4.83946864e-07,  1.00000000e+00,  2.34204373e-13,
        1.00000000e+00,  4.83946864e-07, -1.00000000e+00,  0.00000000e+00,
        4.83946464e-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([ 0.05378106, -0.06128713,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59349513e-03, 1.58763241e-01, 6.86431023e-02,-1.67056632e-03,
  2.74588494e-02, 3.80225076e-01, 1.56498913e-01, 5.28335735e-02,
 -2.46393779e-05,-1.58683053e-03,-5.21373505e-04, 2.43534997e-04,
  4.83716096e-02, 9.85939267e-03, 1.31821329e-02, 4.08421550e-04,
 -1.13272410e-05, 6.50215639e-06,-9.81000046e+00,-6.49953574e-02,
 -9.77237370e-03,-4.96772365e-03]


--- Step 2272 ---
qpos:
[-0.00548592, 0.19761888,-0.07689704, 0.37155702,-0.03464693, 0.0138906 ,
 -0.15377983, 0.30711795, 0.01369103, 0.63917901,-0.01792751, 0.52181646,
  0.8314834 ,-0.00379946, 1.16357559, 0.04600366, 0.09452245,-0.06462409,
  0.14268709, 0.94697289,-0.03170894, 0.02613111, 0.31867547]

qacc:
[ 7.69268700e+01,-5.87822393e+01, 2.92197226e+02,-3.99021717e+02,
  4.64217765e+02,-1.19933562e+01, 6.05546489e+01,-1.43760966e+02,
  2.80040648e-01, 1.69920360e+01,-1.11532625e+02, 2.82622154e+02,
 -1.00863841e+01,-2.11511974e+01,-3.23223543e+02, 8.28065750e+02,
 -2.88187163e+00, 1.93135780e+00,-3.78653156e-01,-1.77841756e+01,
  6.44298817e+00, 6.69291706e+01]

qfrc_actuator:
[-0.00357394, 0.16742766, 0.05571048, 0.08019088, 0.02735165, 0.38127645,
  0.13337774, 0.12139583,-0.0013675 , 0.16659243, 0.00525646, 0.16329009,
  0.04788477, 0.00771841, 0.        ,-0.00225315, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.7916495 , -0.58030685,  0.53847273, -0.58030685,  3.14030382,
        2.53112202,  0.53847273,  2.53112202,  3.5194152 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006010910747654524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76330757, -0.64561615,  0.02326654,  0.01776434,  0.01502532,
        0.9997293 , -0.64579097,  0.76351426,  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([ 0.1088187 , -0.03999834,  0.13386085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.32238642, -0.20468282, -0.24907418, -0.20468282,  0.21100511,
        0.09153032, -0.24907418,  0.09153032,  0.24716913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005845705794196402
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72395376, -0.68898545,  0.03449628,  0.02498858,  0.02378159,
        0.99940483, -0.68939576,  0.7243849 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10255311, -0.03319353,  0.11939693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.4934497 , -1.4566188 ,  0.32962657, -1.4566188 ,  1.58081365,
        0.38606104,  0.32962657,  0.38606104,  3.19945221,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003274907397206246
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90197956e-01, -3.43713609e-02, -1.35375836e-01, -3.40545731e-02,
        9.99409130e-01, -4.65580267e-03,  1.35455872e-01, -8.67361738e-19,
       -9.90783380e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12964293, -0.0839959 ,  0.17919605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.89903597, -0.14412395, -0.88740856, -0.14412395,  2.9401486 ,
       -0.33149693, -0.88740856, -0.33149693,  0.95287436,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004369780556650234
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99019796, -0.03437136, -0.13537584, -0.03405457,  0.99940913,
       -0.0046558 ,  0.13545587,  0.        , -0.99078338])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.129794  , -0.08437962,  0.17739722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.39442082,  0.19879374,  0.39442082,  0.65216494,
       -0.41760462,  0.19879374, -0.41760462,  1.27024331,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001995061758146235
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79685347e-01, -1.96189483e-01,  4.15488580e-02, -1.96013283e-01,
        9.80566003e-01,  8.31300387e-03, -4.23723216e-02,  1.73472348e-18,
       -9.99101890e-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([ 0.12854586, -0.08225881,  0.11275486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.07512034,  0.31220122, -1.02879257,  0.31220122,  1.5906625 ,
        0.15644834, -1.02879257,  0.15644834,  1.12259673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025685524121371616
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.36973525, -0.89989332, -0.23127441, -0.08789321, -0.21392203,
        0.97288856, -0.92497061,  0.38003864,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10474488, -0.03787156,  0.30549649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.62931322,  3.9472727 , -9.86921161,  3.9472727 , 85.7797616 ,
       30.05704258, -9.86921161, 30.05704258, 22.65087568,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004605619307189446
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20529179e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.20529179e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611915, -0.10908152,  0.06198968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41526580e-03, 1.59962719e-01, 6.90282841e-02,-1.81060567e-03,
  2.75751464e-02, 3.80990951e-01, 1.56807491e-01, 5.23422333e-02,
  3.40481799e-05,-1.11342567e-03,-3.80336891e-04, 5.20677916e-04,
  4.77888590e-02, 9.66075618e-03, 1.14562964e-02, 5.33410071e-04,
 -7.73800653e-06, 3.12984601e-06,-9.80999873e+00,-6.49937850e-02,
 -9.77220676e-03,-4.96777828e-03]


--- Step 2273 ---
qpos:
[-0.00549182, 0.19773784,-0.07713319, 0.37316922,-0.03454279, 0.01391114,
 -0.15422537, 0.30848249, 0.01370187, 0.64207751,-0.01796551, 0.52504263,
  0.83139497,-0.00384072, 1.16327316, 0.04602674, 0.09449719,-0.06461386,
  0.14268405, 0.94688027,-0.03175016, 0.02614838, 0.31894505]

qacc:
[ 7.39800001e+01,-1.08655364e+01, 1.78283532e+02,-3.39904432e+02,
  4.48917206e+02,-1.18696572e+01, 6.27565727e+01,-1.38915875e+02,
  2.23342510e-02,-1.22191095e+01, 2.70723569e+01,-1.97815387e+01,
 -7.20848459e+01, 6.04628524e+01,-1.75514086e+02, 3.68970208e+02,
 -2.39179241e+00, 1.31749087e+00,-1.71360497e-01,-1.07028513e+01,
  3.95322798e+00, 5.93375477e+01]

qfrc_actuator:
[-0.00353571, 0.16787181, 0.05602012, 0.08009528, 0.02727463, 0.38196032,
  0.1338008 , 0.12071253,-0.00138592, 0.16631226, 0.00532397, 0.1632942 ,
  0.04788992, 0.00777266, 0.        ,-0.00213801, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.78739418,  0.13208558, -0.77623643,  0.13208558,  2.83275327,
        0.34804143, -0.77623643,  0.34804143,  0.84661744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005969435653103483
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63092764e-01, -6.45868363e-01,  2.33129032e-02,  1.77947440e-02,
        1.50611600e-02,  9.99728217e-01, -6.46043946e-01,  7.63300216e-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([ 0.10881012, -0.04000248,  0.1338824 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.32649187, -0.2020788 , -0.25643927, -0.2020788 ,  0.2083193 ,
        0.09312214, -0.25643927,  0.09312214,  0.25310993,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005941842572110799
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72364983, -0.68929425,  0.03470407,  0.02512873,  0.02393573,
        0.99939763, -0.6897097 ,  0.72408599,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10252862, -0.03319757,  0.11941787])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.48539159, -1.48439104,  0.05451087, -1.48439104,  1.48580097,
        0.01114775,  0.05451087,  0.01114775,  1.78895715,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032068926425622257
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90189517e-01, -3.43207646e-02, -1.35450381e-01, -3.40040942e-02,
        9.99410869e-01, -4.65150098e-03,  1.35530226e-01,  8.67361738e-19,
       -9.90773212e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12964003, -0.08398176,  0.17919299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.89208355, -0.17513689, -0.87472289, -0.17513689,  2.74271205,
       -0.37053257, -0.87472289, -0.37053257,  0.96627153,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043030025206232137
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90189517e-01, -3.43207646e-02, -1.35450381e-01, -3.40040942e-02,
        9.99410869e-01, -4.65150098e-03,  1.35530226e-01,  8.67361738e-19,
       -9.90773212e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12979135, -0.08436545,  0.17739539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.38953945,  0.20819642,  0.38953945,  0.73972444,
       -0.55763512,  0.20819642, -0.55763512,  1.4850321 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001993741328976392
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79634794e-01, -1.96421933e-01,  4.16424596e-02, -1.96244712e-01,
        9.80519466e-01,  8.34199901e-03, -4.24697939e-02,  1.73472348e-18,
       -9.99097751e-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([ 0.12853622, -0.08226161,  0.11276271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.0785231 ,  0.35061599, -1.01994143,  0.35061599,  0.48394819,
       -0.20439161, -1.01994143, -0.20439161,  1.00826126,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000262005776427565
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.30622202, -0.91620488, -0.25845057, -0.08192676, -0.24512181,
        0.96602448, -0.94842821,  0.31699199,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10474019, -0.0378661 ,  0.30548865])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046073444805864533
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05159818e-06, -1.05159802e-06,  1.00000000e+00, -1.10585857e-12,
        1.00000000e+00,  1.05159802e-06, -1.00000000e+00,  2.01948392e-28,
       -1.05159818e-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([ 0.08579463, -0.10860783,  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:
[-2.63208180e-03, 1.58289876e-01, 6.73179536e-02,-1.78817723e-03,
  2.47375776e-02, 3.81718256e-01, 1.57213261e-01, 5.19210733e-02,
  1.73781227e-06,-1.04267055e-03,-2.15263788e-04,-4.70018712e-05,
  5.03072529e-02, 1.11039482e-02, 1.85012300e-02,-1.25002647e-03,
 -1.09784727e-04, 1.18146557e-04,-9.81002294e+00,-6.49871969e-02,
 -9.75742895e-03,-4.97084142e-03]


--- Step 2274 ---
qpos:
[-0.00550626, 0.19785378,-0.07738733, 0.37477249,-0.03445165, 0.01394308,
 -0.15466419, 0.30984417, 0.01371239, 0.64496908,-0.018004  , 0.52826564,
  0.83134509,-0.00386858, 1.16299299, 0.0460219 , 0.09447798,-0.0646095 ,
  0.14268149, 0.94681612,-0.03177128, 0.02616717, 0.3191318 ]

qacc:
[-2.62332874e+01, 2.83392921e+01,-7.02348668e+01,-5.24173422e+01,
 -1.09253388e+02,-7.57801877e+00, 6.01228543e+01,-1.22924091e+02,
 -1.95500471e-01,-1.38141309e+01, 4.55993937e+01,-8.48419200e+01,
  1.79289163e+01,-2.17903136e+00, 1.16478932e+02,-3.61638355e+02,
  1.51347103e+00,-1.46471430e+00, 1.20302706e-01, 1.12912524e+01,
 -1.54350608e+00,-4.34672408e+01]

qfrc_actuator:
[-0.00354269, 0.16822882, 0.05624556, 0.07999966, 0.02717247, 0.38255647,
  0.13424926, 0.11986599,-0.00141907, 0.16610816, 0.00534389, 0.16314235,
  0.04789631, 0.00780462, 0.        ,-0.00207899, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.78293527, -0.53976525,  0.56713412, -0.53976525,  2.79823619,
        1.91804613,  0.56713412,  1.91804613,  2.60841994,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005925984904523748
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.62723408e-01, -6.46301835e-01,  2.33867907e-02,  1.78425328e-02,
        1.51190609e-02,  9.99726492e-01, -6.46478652e-01,  7.62932076e-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([ 0.1087931 , -0.04000619,  0.13390665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.32998815, -0.32396284, -0.06277145, -0.32396284,  0.38006174,
       -0.25842931, -0.06277145, -0.25842931,  1.66373929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006023727541728345
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72321671, -0.68973805,  0.03491443,  0.0252661 ,  0.0240965 ,
        0.99939031, -0.69015883,  0.72365792,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10249575, -0.0332031 ,  0.11944138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.47323841,  1.44939871, -0.2639598 ,  1.44939871,  1.47655002,
        0.018184  , -0.2639598 ,  0.018184  ,  1.57308644,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031001554330755267
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99017337, -0.03421696, -0.13559461, -0.03390057,  0.99941443,
       -0.00464235,  0.13567405,  0.        , -0.99075353])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12963569, -0.08395527,  0.17918809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.88161643,  0.65967944, -0.58486798,  0.65967944,  1.03624859,
        0.17441143, -0.58486798,  0.17441143,  1.07833711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004198581490400334
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99017337, -0.03421696, -0.13559461, -0.03390057,  0.99941443,
       -0.00464235,  0.13567405,  0.        , -0.99075353])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12978703, -0.08433824,  0.17739487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.25014907,  0.36402222,  0.25014907,  2.01783577,
       -1.08309964,  0.36402222, -1.08309964,  1.18597148,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019858622732246956
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79550061e-01, -1.96832454e-01,  4.16972796e-02, -1.96654364e-01,
        9.80437140e-01,  8.37114134e-03, -4.25292738e-02,  1.73472348e-18,
       -9.99095221e-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([ 0.12852599, -0.08226658,  0.11277016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.08449835, -0.51178946,  0.95614236, -0.51178946,  5.68249068,
        2.46114396,  0.95614236,  2.46114396,  2.40186236,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027074519302387544
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92873017e-01, -9.33471133e-01, -3.02376657e-01, -6.11844318e-02,
       -2.96121779e-01,  9.53188521e-01, -9.79314283e-01,  2.02345090e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10473713, -0.03785558,  0.30548418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.64966932,  5.94310627, -8.8371344 ,  5.94310627, 14.37451367,
        2.50501405, -8.8371344 ,  2.50501405, 12.33432908,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004620658285214019
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40273778e-13, -3.37885001e-14,  1.00000000e+00, -8.11849058e-27,
        1.00000000e+00,  3.37885001e-14, -1.00000000e+00,  0.00000000e+00,
       -2.40273778e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05331867, -0.06071888,  0.06198964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.85034914e-03, 1.55357099e-01, 6.59325434e-02,-1.63353645e-03,
  2.19652343e-02, 3.82213559e-01, 1.57552341e-01, 5.13016875e-02,
 -2.52491209e-05,-9.15505298e-04,-2.47263471e-04,-2.06392219e-04,
  5.53527980e-02, 1.11936362e-02, 2.44611479e-02,-1.25896176e-03,
 -3.20606614e-04, 3.61326400e-04,-9.81006339e+00,-6.49769968e-02,
 -9.72731251e-03,-4.97585882e-03]


--- Step 2275 ---
qpos:
[-0.00552905, 0.19794999,-0.0776532 , 0.37636901,-0.03437337, 0.01398534,
 -0.15509703, 0.31120279, 0.01372282, 0.64785203,-0.01804186, 0.5314918 ,
  0.83132816,-0.00388693, 1.16277135, 0.04600845, 0.0944635 ,-0.06460973,
  0.1426793 , 0.94677465,-0.03177705, 0.02618703, 0.31925259]

qacc:
[-2.54980845e+01,-6.35789158e+00, 1.15948078e+01,-9.05897575e+01,
 -1.08130672e+02,-7.43006979e+00, 5.83369879e+01,-1.22637332e+02,
 -5.97954188e-02,-7.05609337e+00,-1.49422718e+00, 5.35781914e+01,
  1.55756482e+01,-3.43769908e+00, 1.11808911e+02,-2.67202188e+02,
  1.18291763e+00,-1.15058781e+00, 9.08866841e-02, 8.65854458e+00,
 -1.18787425e+00,-3.46277457e+01]

qfrc_actuator:
[-0.00355374, 0.16855823, 0.05645775, 0.07959039, 0.02710027, 0.38310758,
  0.13468985, 0.11922343,-0.00142524, 0.16570312, 0.00538927, 0.16330841,
  0.04789986, 0.00782691, 0.        ,-0.00204264, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.78021039, -0.58262736,  0.51891581, -0.58262736,  2.32758907,
        1.73736306,  0.51891581,  1.73736306,  2.73088376,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005899432972425418
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.62467512e-01, -6.46601591e-01,  2.34451757e-02,  1.78810999e-02,
        1.51638561e-02,  9.99725124e-01, -6.46779375e-01,  7.62677153e-01,
       -3.46944695e-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([ 0.10877793, -0.04000962,  0.13393042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.33462701, -0.33461775,  0.00249033, -0.33461775,  0.33471486,
        0.01180374,  0.00249033,  0.01180374,  1.9206563 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006132483476467589
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7228594 , -0.69010029,  0.03515518,  0.02542797,  0.0242756 ,
        0.99938187, -0.69052712,  0.7233065 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1024644 , -0.03320724,  0.11946471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.4647649 ,  1.43851246, -0.27607629,  1.43851246,  1.46840935,
        0.01898966, -0.27607629,  0.01898966,  1.5637117 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030225130170359615
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99016458, -0.0341263 , -0.13568164, -0.03381035,  0.99941753,
       -0.00463301,  0.13576071,  0.        , -0.99074166])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12963171, -0.08393988,  0.1791847 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.87429381,  0.6603267 , -0.57302557,  0.6603267 ,  1.02610167,
        0.17493598, -0.57302557,  0.17493598,  1.07588149,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000412255362043557
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90164577e-01, -3.41263031e-02, -1.35681635e-01, -3.38103500e-02,
        9.99417528e-01, -4.63301120e-03,  1.35760712e-01, -8.67361738e-19,
       -9.90741656e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1297832 , -0.08432261,  0.17739358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.4140338 ,  0.15382698,  0.4140338 ,  0.73197402,
       -0.78132558,  0.15382698, -0.78132558,  2.54466714,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00199173745589106
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9799009 , -0.19507135,  0.04173006, -0.19489471,  0.98078905,
        0.00829979, -0.04254744,  0.        , -0.99909445])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12850962, -0.08224658,  0.11277734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.08746018,  0.32225874, -1.03861395,  0.32225874,  6.89671465,
        1.80248207, -1.03861395,  1.80248207,  1.64673015,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002749429237785198
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26090768e-01, -9.37006972e-01, -3.25759193e-01, -4.34450330e-02,
       -3.22849162e-01,  9.45452774e-01, -9.91066924e-01,  1.33365486e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10473564, -0.03785104,  0.30548698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.6659148 , -7.06776735,  7.98801623, -7.06776735, 28.33546787,
       15.63395551,  7.98801623, 15.63395551, 24.49878109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046325875431130203
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39655055e-13, -9.36152560e-14,  1.00000000e+00, -2.24353694e-26,
        1.00000000e+00,  9.36152560e-14, -1.00000000e+00,  0.00000000e+00,
       -2.39655055e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05329541, -0.06073448,  0.06198962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.43489507e-03, 1.55832912e-01, 6.70421071e-02,-1.59906002e-03,
  2.25430947e-02, 3.82195593e-01, 1.57659404e-01, 5.08000611e-02,
 -8.58428299e-06,-1.05789680e-03,-2.04863867e-04, 1.12238963e-04,
  5.34281980e-02, 1.05460285e-02, 2.33542870e-02, 1.74605224e-04,
 -1.59517944e-04, 1.60082665e-04,-9.81003386e+00,-6.49858554e-02,
 -9.74843002e-03,-4.97970292e-03]


--- Step 2276 ---
qpos:
[-0.00555802, 0.19801773,-0.07792816, 0.37795915,-0.03430806, 0.01403792,
 -0.15552453, 0.31255824, 0.01373298, 0.65072274,-0.01807801, 0.53472202,
  0.83133936,-0.0038978 , 1.16261687, 0.04599393, 0.09445261,-0.06461357,
  0.14267742, 0.94675153,-0.03177183, 0.02620729, 0.31932001]

qacc:
[-1.87580611e+01,-2.42692843e+01, 5.65221227e+01,-1.24347203e+02,
 -1.08885835e+02,-5.94396889e+00, 5.35922350e+01,-1.19274741e+02,
 -1.58229871e-01,-1.31150952e+01, 9.90365099e+00, 5.76672406e+01,
  1.32579096e+01,-3.30309744e+00, 1.01855841e+02,-2.13610022e+02,
  8.98752179e-01,-8.98922258e-01, 7.96011535e-02, 6.26035406e+00,
 -9.60338101e-01,-2.80455517e+01]

qfrc_actuator:
[-0.00354624, 0.16878249, 0.05669846, 0.07897656, 0.02701561, 0.38361043,
  0.13512374, 0.11904188,-0.0014508 , 0.16493342, 0.00541353, 0.1635004 ,
  0.04790082, 0.00785966, 0.        ,-0.00197478, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.77752661, -0.61198843,  0.4796017 , -0.61198843,  1.39216499,
        0.78429991,  0.4796017 ,  0.78429991,  1.77832053,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005873280419624505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76230207, -0.64679495,  0.02349144,  0.01791251,  0.01519834,
        0.99972404, -0.64697349,  0.76251249,  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([ 0.10876552, -0.0400132 ,  0.13395323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.33957089, -0.33801396,  0.0324801 , -0.33801396,  0.34648726,
        0.07197725,  0.0324801 ,  0.07197725,  1.08862385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006248660545326988
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.22573601e-01, -6.90387227e-01,  3.53958687e-02,  2.55921571e-02,
        2.44521781e-02,  9.99373370e-01, -6.90820116e-01,  7.23026671e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10243563, -0.03321046,  0.11948719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.45895602,  1.43321948, -0.27282702,  1.43321948,  1.46572944,
        0.03558225, -0.27282702,  0.03558225,  1.6458773 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029676248321195
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99016156, -0.0340486 , -0.13572314, -0.03373318,  0.99942018,
       -0.00462386,  0.13580188,  0.        , -0.99073601])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12962794, -0.08393328,  0.17918252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.86925678,  0.67794257, -0.54405993,  0.67794257,  1.034387  ,
        0.20576558, -0.54405993,  0.20576558,  1.12565729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040687347505817745
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90161563e-01, -3.40486043e-02, -1.35723142e-01, -3.37331785e-02,
        9.99420178e-01, -4.62386459e-03,  1.35801883e-01, -8.67361738e-19,
       -9.90736014e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12977969, -0.08431613,  0.17739169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.39813865,  0.19123898,  0.39813865,  0.96325949,
       -1.08585853,  0.19123898, -1.08585853,  2.70232504,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001994275287953269
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97985482, -0.19527376,  0.04186522, -0.19509577,  0.98074877,
        0.00833565, -0.042687  ,  0.        , -0.99908849])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12849675, -0.08224906,  0.1127857 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.08699865,  0.35610823, -1.02701168,  0.35610823,  9.30253847,
        2.84867387, -1.02701168,  2.84867387,  2.07475393,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002742943969599941
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.09071196, -0.93695938, -0.33745883, -0.03251911, -0.33588833,
        0.94134029, -0.99534609,  0.09636469,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10473566, -0.03785144,  0.30549467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.67219793, -7.30474138,  7.78052454, -7.30474138, 33.17516172,
       21.12689573,  7.78052454, 21.12689573, 30.50717289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004637184136318667
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.61862889e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.61862889e-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([ 0.05327661, -0.06074679,  0.06198961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.00993851e-03, 1.57039912e-01, 6.78681982e-02,-1.87837374e-03,
  2.31019327e-02, 3.82183134e-01, 1.57795279e-01, 5.07692499e-02,
 -2.16982507e-05,-1.48020534e-03,-2.38985387e-04, 1.40788493e-04,
  5.17813764e-02, 1.01025742e-02, 2.04320385e-02, 6.74098021e-04,
 -7.15290474e-05, 5.80854732e-05,-9.81001561e+00,-6.49903250e-02,
 -9.75628677e-03,-4.98249757e-03]


--- Step 2277 ---
qpos:
[-0.00559087, 0.19805393,-0.07821068, 0.37954274,-0.03425581, 0.01410138,
 -0.15594733, 0.31391042, 0.01374268, 0.65357852,-0.01811264, 0.53794759,
  0.83137446,-0.00390239, 1.16252687, 0.04598143, 0.09444437,-0.06462015,
  0.14267586, 0.94674338,-0.03175953, 0.02622721, 0.31934377]

qacc:
[-1.17369466e+01,-3.27038925e+01, 8.08024330e+01,-1.49460870e+02,
 -1.09770850e+02,-3.65956888e+00, 4.69524572e+01,-1.13798825e+02,
 -2.84060151e-01,-3.26853036e+01, 1.00908276e+02,-1.55027752e+02,
  1.10968639e+01,-2.63384386e+00, 8.86897691e+01,-1.73034749e+02,
  6.59154594e-01,-6.87638182e-01, 7.88831753e-02, 4.10179514e+00,
 -7.95384790e-01,-2.29660123e+01]

qfrc_actuator:
[-0.00356195, 0.1690313 , 0.05695832, 0.07827783, 0.02692871, 0.38413346,
  0.13553411, 0.1191738 ,-0.00148779, 0.16400527, 0.00540601, 0.1632442 ,
  0.04789947, 0.00787918, 0.        ,-0.00189211, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.77374976, -0.61939961,  0.4637163 , -0.61939961,  1.09770763,
        0.43272015,  0.4637163 ,  0.43272015,  1.35174689,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005836471259789173
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76220984, -0.6469023 ,  0.02352805,  0.01793828,  0.01522456,
        0.99972318, -0.64708143,  0.7624209 ,  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([ 0.1087563 , -0.04001716,  0.1339748 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34424175, -0.34217662,  0.03765021, -0.34217662,  0.34888633,
        0.04221137,  0.03765021,  0.04221137,  0.72787159,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006358822610346698
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72235534, -0.69060429,  0.03561576,  0.02574357,  0.02461201,
        0.99936556, -0.69104271,  0.72281392,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10241001, -0.03321307,  0.11950838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.45500165,  1.43215506, -0.25683006,  1.43215506,  1.46702918,
        0.06706883, -0.25683006,  0.06706883,  1.82899587,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029294388039927035
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90162985e-01, -3.39839062e-02, -1.35728982e-01, -3.36690539e-02,
        9.99422380e-01, -4.61526685e-03,  1.35807427e-01,  8.67361738e-19,
       -9.90735254e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1296242 , -0.08393372,  0.17918125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.86581566,  0.70844518, -0.49773706,  0.70844518,  1.05377153,
        0.26752364, -0.49773706,  0.26752364,  1.24659067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004031219491612866
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90162985e-01, -3.39839062e-02, -1.35728982e-01, -3.36690539e-02,
        9.99422380e-01, -4.61526685e-03,  1.35807427e-01, -8.67361738e-19,
       -9.90735254e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12977628, -0.08431696,  0.17738941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019935446447605265
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97938417, -0.19758557,  0.04203092, -0.19740387,  0.98028564,
        0.00847172, -0.04287619,  0.        , -0.99908039])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12848767, -0.08227571,  0.1127944 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.08376385,  0.33127827, -1.03189088,  0.33127827,  7.93498299,
        2.19951556, -1.03189088,  2.19951556,  1.78989638,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002696908319858168
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.07698501, -0.93657572, -0.3419053 , -0.0280096 , -0.34075607,
        0.93973441, -0.99663874,  0.08192209,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1047369 , -0.03785578,  0.30550552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.67118995, -7.61003129,  7.48075656, -7.61003129, 38.73383608,
       28.5475959 ,  7.48075656, 28.5475959 , 39.71211601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004636447360124446
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.61223931e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.61223931e-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([ 0.05326134, -0.0607565 ,  0.06198961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71713883e-03, 1.58709664e-01, 6.85816734e-02,-2.26048138e-03,
  2.36630368e-02, 3.82190638e-01, 1.57940070e-01, 5.10581421e-02,
 -3.83290348e-05,-1.87929164e-03,-3.59436305e-04,-3.24130421e-04,
  5.03732599e-02, 9.74822461e-03, 1.70770471e-02, 8.10879692e-04,
 -2.63467788e-05, 1.30378312e-05,-9.81000455e+00,-6.49920227e-02,
 -9.75690837e-03,-4.98449653e-03]


--- Step 2278 ---
qpos:
[-0.00560078, 0.19812218,-0.07845232, 0.38112504,-0.03415233, 0.01415959,
 -0.15637095, 0.31525712, 0.01375198, 0.65641893,-0.01814523, 0.54115527,
  0.83139249,-0.00392485, 1.16230791, 0.04600752, 0.09442613,-0.06461901,
  0.14267336, 0.94669071,-0.03177519, 0.02625127, 0.31949635]

qacc:
[ 7.00877588e+01,-7.12887920e+01, 3.12224507e+02,-3.91681112e+02,
  4.30265016e+02,-1.46683377e+01, 6.24462103e+01,-1.43497533e+02,
 -2.43910856e-01,-5.98271991e+01, 2.36368999e+02,-4.77886474e+02,
  8.51466701e+00,-2.82371784e+01,-3.08550188e+02, 7.99884453e+02,
 -2.49805921e+00, 1.93064745e+00,-2.35058184e-01,-1.49667182e+01,
  4.96712243e+00, 6.77828679e+01]

qfrc_actuator:
[-0.00353815, 0.16932705, 0.05717852, 0.07747761, 0.02688127, 0.38473491,
  0.13594664, 0.11942415,-0.0015136 , 0.1632204 , 0.00548544, 0.16233563,
  0.04790676, 0.0079067 , 0.        ,-0.00189197, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.76825986, -0.47909604,  0.60057489, -0.47909604,  3.05076222,
        1.82081847,  0.60057489,  1.82081847,  2.22077968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005782948417011732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.62177483e-01, -6.46939375e-01,  2.35569508e-02,  1.79595613e-02,
        1.52441493e-02,  9.99722497e-01, -6.47118952e-01,  7.62389049e-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([ 0.1087503 , -0.04002161,  0.133995  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34831163, -0.23710156, -0.25515454, -0.23710156,  0.33346292,
        0.01379812, -0.25515454,  0.01379812,  0.33548977,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006455247350584679
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72219956, -0.69075748,  0.03580359,  0.02587393,  0.02474747,
        0.99935885, -0.69120065,  0.7226629 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10238767, -0.03321523,  0.11952812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.45226867,  0.95980655,  1.08988792,  0.95980655,  5.5319037 ,
       -3.59271844,  1.08988792, -3.59271844,  4.61618546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002902641646336521
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90167695e-01, -3.39322716e-02, -1.35707544e-01, -3.36179986e-02,
        9.99424135e-01, -4.60751855e-03,  1.35785738e-01, -8.67361738e-19,
       -9.90738226e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12962033, -0.0839398 ,  0.17918064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.86342886, -0.15661724, -0.84910567, -0.15661724,  2.49728476,
       -0.30136414, -0.84910567, -0.30136414,  0.91901537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040048293773817733
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99016769, -0.03393227, -0.13570754, -0.033618  ,  0.99942413,
       -0.00460752,  0.13578574,  0.        , -0.99073823])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12977278, -0.08432362,  0.17738691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.38129888,  0.22293025,  0.38129888,  0.76273037,
       -0.5491124 ,  0.22293025, -0.5491124 ,  1.38088556,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020029040346079704
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97936579, -0.19763664,  0.04221859, -0.19745326,  0.98027535,
        0.00851183, -0.04306809,  0.        , -0.99907214])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12847225, -0.0822764 ,  0.11280336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.07878398,  0.33175422, -1.02650573,  0.33175422,  2.28137733,
        0.38866361, -1.02650573,  0.38866361,  1.20439535,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002623952673079195
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.07855619, -0.9366072 , -0.3414614 , -0.02853923, -0.34026666,
        0.9398958 , -0.9965011 ,  0.08357968,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10473899, -0.03786312,  0.30551815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.67783907,  5.80118606, -8.96451268,  5.80118606, 37.7466481 ,
       17.51698093, -8.96451268, 17.51698093, 22.01356576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046413029461197543
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15791407e-06, -1.15791406e-06,  1.00000000e+00, -1.34076499e-12,
        1.00000000e+00,  1.15791406e-06, -1.00000000e+00,  0.00000000e+00,
       -1.15791407e-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([ 0.08576016, -0.1086223 ,  0.0619896 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49927154e-03, 1.60581270e-01, 6.91795337e-02,-2.73631790e-03,
  2.42688002e-02, 3.82247001e-01, 1.58118926e-01, 5.14693388e-02,
 -3.37244167e-05,-2.00055814e-03,-3.83150156e-04,-1.00539650e-03,
  4.91861846e-02, 9.46142982e-03, 1.38543732e-02, 7.10611606e-04,
 -6.98925581e-06, 3.50408286e-08,-9.80999840e+00,-6.49920072e-02,
 -9.75409585e-03,-4.98590676e-03]


--- Step 2279 ---
qpos:
[-0.0055888 , 0.19824187,-0.0786614 , 0.38270336,-0.0340009 , 0.01420913,
 -0.15679192, 0.31659977, 0.01376098, 0.65924397,-0.01817616, 0.5443367 ,
  0.83139663,-0.00396123, 1.16194336, 0.04603966, 0.09440055,-0.06461269,
  0.14267059, 0.94659756,-0.03180235, 0.02628739, 0.31976655]

qacc:
[ 6.66686994e+01,-2.84027754e+01, 2.08632201e+02,-3.40035276e+02,
  4.02864379e+02,-2.55318801e+01, 8.85957083e+01,-1.46810572e+02,
 -1.76160224e-01,-7.45741106e+01, 3.13996518e+02,-6.73270131e+02,
  6.98179948e+00,-2.26488469e+01,-2.34441709e+02, 5.05436999e+02,
 -1.83500985e+00, 1.29457957e+00,-6.78650901e-02,-5.70399589e+00,
  6.20163680e+00, 6.21831134e+01]

qfrc_actuator:
[-0.00349817, 0.16945798, 0.05738278, 0.0767204 , 0.02678067, 0.38525317,
  0.1363641 , 0.11974906,-0.00153256, 0.16247468, 0.00556267, 0.16101522,
  0.04790076, 0.00796068, 0.        ,-0.00190773, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.76113542,  0.06566189, -0.75829786,  0.06566189,  2.85148343,
        0.18100566, -0.75829786,  0.18100566,  0.77680892,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005713437888331479
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76196811, -0.64718368,  0.02361967,  0.01800246,  0.01529053,
        0.99972102, -0.64736429,  0.76218074,  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([ 0.10873844, -0.040026  ,  0.13401699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35100043, -0.22895965, -0.26604281, -0.22895965,  0.30795788,
        0.03704294, -0.26604281,  0.03704294,  0.31912083,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006519229003249174
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72191455, -0.69104674,  0.03596914,  0.02598346,  0.02487245,
        0.9993529 , -0.69149421,  0.722382  ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10235978, -0.03321927,  0.11954939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.44559021, -1.42591285, -0.23770484, -1.42591285,  1.47864582,
       -0.19828972, -0.23770484, -0.19828972,  2.63506478,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028356954745020497
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90162851e-01, -3.38295237e-02, -1.35768524e-01, -3.35159216e-02,
        9.99427618e-01, -4.59561495e-03,  1.35846280e-01,  8.67361738e-19,
       -9.90729927e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12961526, -0.08392947,  0.17917805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.85763527, -0.28320375, -0.80952696, -0.28320375,  1.47089725,
       -0.21454269, -0.80952696, -0.21454269,  0.93269057,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000393946560787147
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90162851e-01, -3.38295237e-02, -1.35768524e-01, -3.35159216e-02,
        9.99427618e-01, -4.59561495e-03,  1.35846280e-01,  8.67361738e-19,
       -9.90729927e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12976786, -0.08431318,  0.17738566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.38614952,  0.21441846,  0.38614952,  0.96209646,
       -0.93721482,  0.21441846, -0.93721482,  2.12953092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020048534666882744
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97930733, -0.19789533,  0.04236265, -0.19771043,  0.98022316,
        0.00855251, -0.04321735,  0.        , -0.99906569])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12845737, -0.08227957,  0.11281185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.08304317,  0.60338955, -0.89939066,  0.60338955,  8.49866578,
        4.97504518, -0.89939066,  4.97504518,  4.42073656,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002686510232698463
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.02957701, -0.93381131, -0.35654122, -0.01128722, -0.35636251,
        0.93427959, -0.99949877,  0.03165756,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10473511, -0.03786046,  0.30551575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.68189844, -4.41687537,  9.72595323, -4.41687537, 95.53102788,
       38.53278138,  9.72595323, 38.53278138, 28.18090227,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046442621069528814
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.97273571e-07, -6.97273702e-07,  1.00000000e+00, -4.86190525e-13,
        1.00000000e+00,  6.97273702e-07, -1.00000000e+00, -1.00974196e-28,
       -6.97273571e-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([ 0.0857517 , -0.10862629,  0.06198959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.60648736e-03, 1.59107568e-01, 6.73391697e-02,-3.43134885e-03,
  2.16066481e-02, 3.83027946e-01, 1.58578736e-01, 5.20658803e-02,
 -2.52178582e-05,-2.05986040e-03,-4.35109194e-04,-1.43667697e-03,
  5.00333085e-02, 1.04092217e-02, 2.03068344e-02,-1.23395727e-03,
 -1.05694487e-04, 9.71393283e-05,-9.81002775e+00,-6.49810868e-02,
 -9.74334686e-03,-4.98981053e-03]


--- Step 2280 ---
qpos:
[-0.00558315, 0.19834014,-0.07889502, 0.384269  ,-0.03387144, 0.01427635,
 -0.15720565, 0.31793933, 0.01376956, 0.66205518,-0.01820922, 0.54750858,
  0.83142855,-0.00399331, 1.16161456, 0.04603676, 0.09438132,-0.06461315,
  0.1426682 , 0.94654025,-0.03181168, 0.02632402, 0.31993221]

qacc:
[-1.93759112e+01, 1.52103825e+01,-4.42442461e+01,-1.15509471e+02,
 -1.84581005e+02,-1.16900103e+00, 5.04658187e+01,-1.23022524e+02,
 -2.61869371e-01,-3.04574680e+01, 1.10930360e+02,-2.33158318e+02,
  1.46274273e+01,-7.26353740e+00, 1.57999296e+02,-4.77807546e+02,
  1.58964663e+00,-1.69483267e+00, 9.48131206e-02, 1.04619211e+01,
 -1.41364570e+00,-5.49664551e+01]

qfrc_actuator:
[-0.00347435, 0.1694933 , 0.05762268, 0.07629398, 0.02664871, 0.38565602,
  0.13674586, 0.12024376,-0.00156511, 0.16197159, 0.00553161, 0.16056389,
  0.04788178, 0.00798046, 0.        ,-0.00188041, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.7542267 , -0.59202398,  0.46729597, -0.59202398,  0.87018073,
        0.14690383,  0.46729597,  0.14690383,  0.94034128,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005645951554081743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.61597201e-01, -6.47616514e-01,  2.37182190e-02,  1.80688123e-02,
        1.53646326e-02,  9.99718683e-01, -6.47798750e-01,  7.61811512e-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([ 0.1087197 , -0.04002988,  0.13404129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35310156, -0.35303923, -0.00663467, -0.35303923,  0.35312931,
       -0.00147659, -0.00663467, -0.00147659,  0.43167263,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006569405650204569
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.21495064e-01, -6.91475514e-01,  3.61453474e-02,  2.60957421e-02,
        2.50099656e-02,  9.99346543e-01, -6.91927659e-01,  7.21966838e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1023252 , -0.03322486,  0.11957295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.43775714,  1.33468804, -0.53455909,  1.33468804,  1.42182027,
       -0.0397912 , -0.53455909, -0.0397912 ,  1.3384064 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002754353953680452
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99015265, -0.03367906, -0.1358803 , -0.03336633,  0.9994327 ,
       -0.00457892,  0.13595743,  0.        , -0.99071468])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12960975, -0.08390513,  0.17917467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.85084247,  0.64540304, -0.55442567,  0.64540304,  0.92907526,
        0.09107024, -0.55442567,  0.09107024,  0.9568567 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003860352824909008
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90152647e-01, -3.36790558e-02, -1.35880304e-01, -3.33663350e-02,
        9.99432700e-01, -4.57891796e-03,  1.35957433e-01, -8.67361738e-19,
       -9.90714680e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12976241, -0.08428846,  0.17738482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002001275454336713
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97921032, -0.19834599,  0.04249738, -0.19815946,  0.98013207,
        0.00860005, -0.04335883,  0.        , -0.99905956])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12844337, -0.08228501,  0.11282027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.09403141, -0.47168343,  0.98712688, -0.47168343,  3.00456324,
        0.9129183 ,  0.98712688,  0.9129183 ,  1.53025541,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028396397461716863
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93980606e-02, -9.25691416e-01, -3.76222269e-01,  1.59977947e-02,
       -3.75881985e-01,  9.26529440e-01, -9.99095523e-01, -4.25221897e-02,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10472674, -0.03785052,  0.30550407])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.67413143,  5.97562926, -8.84471235,  5.97562926, 13.32135587,
        1.78850721, -8.84471235,  1.78850721, 11.88247553,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046385967179456676
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.64750042e-07,  2.64749783e-07,  1.00000000e+00,  7.00925162e-14,
        1.00000000e+00, -2.64749783e-07, -1.00000000e+00,  2.52435490e-29,
       -2.64750042e-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([ 0.05360476, -0.06140825,  0.0619896 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.67783643e-03, 1.56566005e-01, 6.59486192e-02,-3.66181432e-03,
  1.90768581e-02, 3.83864200e-01, 1.58829229e-01, 5.27610866e-02,
 -3.55986588e-05,-1.87696722e-03,-5.75599817e-04,-5.80368121e-04,
  5.07086135e-02, 1.11256808e-02, 2.75928790e-02,-1.50724956e-03,
 -3.35768972e-04, 3.15824484e-04,-9.81007948e+00,-6.49611026e-02,
 -9.72435052e-03,-4.99582696e-03]


--- Step 2281 ---
qpos:
[-0.00555744, 0.19847458,-0.07909334, 0.38583237,-0.03369814, 0.01433418,
 -0.15761622, 0.31927543, 0.0137782 , 0.66485573,-0.01824578, 0.55069212,
  0.83145271,-0.00403346, 1.16119418, 0.04605456, 0.09435539,-0.06460878,
  0.14266581, 0.94644339,-0.03182902, 0.02637128, 0.32021303]

qacc:
[ 6.10808712e+01,-5.25009076e+01, 2.57880269e+02,-3.51101103e+02,
  3.68163492e+02,-2.66679080e+01, 8.89599287e+01,-1.37534565e+02,
  4.67762125e-02, 1.76280556e+01,-1.16912573e+02, 2.91408745e+02,
  5.78050887e+00,-1.53005878e+01,-1.98682721e+02, 4.96860662e+02,
 -1.67910104e+00, 1.20814901e+00, 6.79385370e-04,-4.23384994e+00,
  4.99809202e+00, 6.08972919e+01]

qfrc_actuator:
[-3.49403135e-03, 1.69541289e-01, 5.78747882e-02, 7.62893521e-02,
  2.65486953e-02, 3.86073280e-01, 1.37136074e-01, 1.20485925e-01,
 -1.55230455e-03, 1.61849504e-01, 5.52748497e-03, 1.61195883e-01,
  4.78624132e-02, 7.94933445e-03, 7.38478102e-05,-1.98385739e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.74730641,  0.4458267 , -0.59975447,  0.4458267 ,  3.76111158,
        2.24030811, -0.59975447,  2.24030811,  2.4126365 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005578247587265998
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76136968, -0.64788098,  0.02380014,  0.01812584,  0.01542403,
        0.99971674, -0.64806456,  0.7615854 ,  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([ 0.1087045 , -0.04003383,  0.13406422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35562702, -0.24151161, -0.26104161, -0.24151161,  0.37463189,
       -0.017583  , -0.26104161, -0.017583  ,  0.37189454,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006629948988063315
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7211902 , -0.6917842 ,  0.0363225 ,  0.02621273,  0.02514392,
        0.99934012, -0.692241  ,  0.72166641,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10229393, -0.03322886,  0.1195953 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.43241864, -1.42210766, -0.1715604 , -1.42210766,  1.43956154,
       -0.05920927, -0.1715604 , -0.05920927,  1.92321932,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002697032624402884
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90150732e-01, -3.35506591e-02, -1.35926017e-01, -3.32389226e-02,
        9.99437018e-01, -4.56297634e-03,  1.36002584e-01, -8.67361738e-19,
       -9.90708482e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12960428, -0.08389466,  0.17917263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.8461881 , -0.3692297 , -0.76138277, -0.3692297 ,  1.29572284,
       -0.21800017, -0.76138277, -0.21800017,  0.95190646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038045085179249093
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90150732e-01, -3.35506591e-02, -1.35926017e-01, -3.32389226e-02,
        9.99437018e-01, -4.56297634e-03,  1.36002584e-01,  8.67361738e-19,
       -9.90708482e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1297571 , -0.08427802,  0.17738345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.3925081 ,  0.20254413,  0.3925081 ,  1.19685528,
       -1.46343401,  0.20254413, -1.46343401,  3.27765934,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020036871887268858
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97914498, -0.19863123,  0.0426702 , -0.19844289,  0.9800743 ,
        0.00864795, -0.04353772,  0.        , -0.99905178])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12842706, -0.08228852,  0.11282912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.09774675,  1.07381161, -0.2279837 ,  1.07381161,  1.52607211,
        2.01742815, -0.2279837 ,  2.01742815, 10.59990744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002888978197381549
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.06864697, -0.92072319, -0.38413071,  0.02856062, -0.38306748,
        0.92327872, -0.99723211, -0.07435129,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10472123, -0.03784716,  0.30550184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.672785  ,  5.8562072 , -8.92262163,  5.8562072 , 23.94762145,
        8.71270755, -8.92262163,  8.71270755, 16.39121874,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004637613132215389
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.86996094e-07, -6.86996430e-07,  1.00000000e+00, -4.71963864e-13,
        1.00000000e+00,  6.86996430e-07, -1.00000000e+00,  1.00974196e-28,
       -6.86996094e-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([ 0.08573411, -0.10863537,  0.0619896 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.38129759e-03, 1.57680804e-01, 6.74260272e-02,-3.03532938e-03,
  2.00757244e-02, 3.83397365e-01, 1.58858614e-01, 5.31555736e-02,
  5.59982852e-06,-1.38827465e-03,-4.99663573e-04, 5.23424186e-04,
  4.93007786e-02, 1.08796385e-02, 2.58856447e-02, 1.42432967e-04,
 -1.31356303e-04, 9.92121408e-05,-9.81003549e+00,-6.49736438e-02,
 -9.73717605e-03,-5.00082366e-03]


--- Step 2282 ---
qpos:
[-0.0055124 , 0.19866846,-0.07926727, 0.38738984,-0.03348238, 0.01438279,
 -0.15802142, 0.32060859, 0.01378723, 0.66764685,-0.01828337, 0.55388325,
  0.83146099,-0.00407199, 1.16067623, 0.04607281, 0.09432437,-0.06460113,
  0.14266368, 0.94631247,-0.03184732, 0.0264321 , 0.32059288]

qacc:
[ 5.85677861e+01, 6.58452064e-01, 1.29222796e+02,-2.90688696e+02,
  3.56723329e+02,-3.12569370e+01, 1.03284577e+02,-1.45367979e+02,
  2.39858413e-01, 4.78923871e+00,-5.75357475e+01, 1.72720821e+02,
 -8.42582967e+00, 6.85799891e+00,-1.45104494e+02, 2.99277190e+02,
 -1.26923497e+00, 8.18337852e-01, 6.57302494e-02,-1.30864817e-01,
  5.44712659e+00, 5.25144348e+01]

qfrc_actuator:
[-3.58141413e-03, 1.69583365e-01, 5.80487063e-02, 7.68165126e-02,
  2.63930678e-02, 3.86465902e-01, 1.37568037e-01, 1.20329651e-01,
 -1.53037347e-03, 1.61603323e-01, 5.55948648e-03, 1.61590617e-01,
  4.78556703e-02, 7.96929965e-03, 7.67927196e-05,-2.11872115e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.73986355, -0.01753153, -0.73965581, -0.01753153,  3.9842114 ,
       -0.07689844, -0.73965581, -0.07689844,  0.74168622,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005505286229247519
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76098389, -0.64832993,  0.02391256,  0.01820227,  0.01550766,
        0.99971405, -0.64851537,  0.76120156,  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([ 0.10868364, -0.0400375 ,  0.13408901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35727593, -0.22875638, -0.27443872, -0.22875638,  0.33202661,
        0.02104639, -0.27443872,  0.02104639,  0.33973287,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000666962978761599
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7207595 , -0.69222399,  0.03649242,  0.02631979,  0.02527777,
        0.99933393, -0.69268537,  0.72123989,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10225726, -0.03323448,  0.11961937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.42631493, -1.39805236, -0.28253122, -1.39805236,  1.43033976,
       -0.01991608, -0.28253122, -0.01991608,  1.5248659 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026294704234783615
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99014354, -0.03337864, -0.13602074, -0.03306807,  0.99944278,
       -0.00454272,  0.13609657,  0.        , -0.99069558])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12959851, -0.08387073,  0.17916999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.8408751 , -0.33344565, -0.77193583, -0.33344565,  1.15528968,
       -0.13581462, -0.77193583, -0.13581462,  0.89954162,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037390348182422996
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90143538e-01, -3.33786351e-02, -1.36020737e-01, -3.30680661e-02,
        9.99442778e-01, -4.54271787e-03,  1.36096573e-01, -8.67361738e-19,
       -9.90695575e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12975143, -0.0842539 ,  0.17738234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00200146375301709
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97904157, -0.19910383,  0.04284001, -0.19891349,  0.9799784 ,
        0.00870388, -0.04371526,  0.        , -0.99904403])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12841177, -0.0822942 ,  0.11283797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10856865,  0.75746114, -0.80943009,  0.75746114,  2.2358996 ,
        1.05495138, -0.80943009,  1.05495138,  2.09578753,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003026490693622227
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.11558066, -0.91092992, -0.39604015,  0.04985071, -0.39289019,
        0.9182332 , -0.99204638, -0.12587288,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10471212, -0.03783812,  0.30549146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.66068888, -5.41222842,  9.18466499, -5.41222842, 59.02111216,
       28.49724598,  9.18466499, 28.49724598, 27.45320171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046287570918908394
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39853378e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.39853378e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08605288, -0.10912027,  0.06198962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.47221461e-03, 1.55908864e-01, 6.58332843e-02,-2.39766319e-03,
  1.77284145e-02, 3.84258686e-01, 1.59133702e-01, 5.31703953e-02,
  3.09118037e-05,-1.18073531e-03,-3.18334044e-04, 3.30659530e-04,
  4.96818464e-02, 1.13028880e-02, 3.04755022e-02,-1.02554813e-03,
 -3.79508089e-04, 3.14092536e-04,-9.81008874e+00,-6.49504484e-02,
 -9.72369104e-03,-5.00735726e-03]


--- Step 2283 ---
qpos:
[-0.00544891, 0.19892259,-0.0794227 , 0.38894006,-0.03322523, 0.01442256,
 -0.15842016, 0.32193903, 0.01379638, 0.67042841,-0.01832083, 0.5570738 ,
  0.83145783,-0.00410491, 1.16007624, 0.04608773, 0.09428966,-0.06459139,
  0.14266204, 0.94615316,-0.03186185, 0.02650651, 0.32105516]

qacc:
[ 5.57632380e+01, 1.52368270e+01, 8.50327953e+01,-2.63572695e+02,
  3.47680920e+02,-3.31910620e+01, 1.09954208e+02,-1.49824398e+02,
  8.77220888e-02,-1.40372936e+01, 3.30348653e+01,-3.30030687e+01,
 -8.82043354e+00, 1.14199645e+01,-1.10572763e+02, 2.12077574e+02,
 -9.24457316e-01, 5.23189248e-01, 1.21177368e-01, 2.42319229e+00,
  4.88761327e+00, 4.38201499e+01]

qfrc_actuator:
[-3.62795305e-03, 1.69584165e-01, 5.82079888e-02, 7.76672807e-02,
  2.61879053e-02, 3.86776328e-01, 1.38003827e-01, 1.20059436e-01,
 -1.53880250e-03, 1.61179190e-01, 5.57658843e-03, 1.61558349e-01,
  4.78575100e-02, 7.99572873e-03, 9.71480453e-05,-2.13620330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.33919692e-01, -5.31954070e-03, -7.33900414e-01, -5.31954070e-03,
        7.10330198e+00, -4.61672833e-02, -7.33900414e-01, -4.61672833e-02,
        7.34254327e-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: -0.0005446892067733409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.60461796e-01, -6.48936987e-01,  2.40550170e-02,  1.82982163e-02,
        1.56147086e-02,  9.99710636e-01, -6.49124820e-01,  7.60681910e-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([ 0.10865588, -0.04004038,  0.13411625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35896862, -0.22503261, -0.27967624, -0.22503261,  0.33145278,
        0.02213975, -0.27967624,  0.02213975,  0.34115457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006710499323481921
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72020266, -0.69279274,  0.03669261,  0.02644393,  0.02543751,
        0.9993266 , -0.69325958,  0.72068797,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10221382, -0.03324126,  0.119646  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.42048288, -1.35956055, -0.4115419 , -1.35956055,  1.43278933,
       -0.04065531, -0.4115419 , -0.04065531,  1.55479086,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025627410563937173
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90133447e-01, -3.31644211e-02, -1.36146530e-01, -3.28552760e-02,
        9.99449909e-01, -4.51770601e-03,  1.36221464e-01, -8.67361738e-19,
       -9.90678410e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12959274, -0.08383569,  0.17916728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.83580467, -0.27655485, -0.78872483, -0.27655485,  1.14319185,
       -0.10778083, -0.78872483, -0.10778083,  0.87359644,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003674735143026878
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90133447e-01, -3.31644211e-02, -1.36146530e-01, -3.28552760e-02,
        9.99449909e-01, -4.51770601e-03,  1.36221464e-01,  8.67361738e-19,
       -9.90678410e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12974576, -0.08421864,  0.17738116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019962822141116384
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97890424, -0.19973872,  0.04302237, -0.1995461 ,  0.97984919,
        0.00876995, -0.04390713,  0.        , -0.99903562])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12839741, -0.08230176,  0.11284698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12480477,  0.79405071, -0.79666131,  0.79405071,  2.26508622,
        1.13654483, -0.79666131,  1.13654483,  2.25762523,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003217661051479806
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66117354e-01, -8.97774517e-01, -4.07928844e-01,  7.42201990e-02,
       -4.01120062e-01,  9.13013723e-01, -9.83308897e-01, -1.81943984e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10470053, -0.03782481,  0.30547671])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004611137732394577
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40769868e-13, -1.20384934e-13,  1.00000000e+00, -2.89850647e-26,
        1.00000000e+00,  1.20384934e-13, -1.00000000e+00,  0.00000000e+00,
       -2.40769868e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08604655, -0.10912522,  0.06198966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.48621142e-03, 1.52930481e-01, 6.47694848e-02,-1.25507933e-03,
  1.53997765e-02, 3.85030227e-01, 1.59302210e-01, 5.30447510e-02,
  1.05635599e-05,-1.21318750e-03,-2.75467777e-04,-8.62827515e-05,
  5.04787594e-02, 1.12497209e-02, 3.53835196e-02,-1.06362944e-03,
 -7.10057979e-04, 5.77237277e-04,-9.81015199e+00,-6.49205514e-02,
 -9.71434756e-03,-5.01544536e-03]


--- Step 2284 ---
qpos:
[-0.00536806, 0.19922637,-0.07956188, 0.3904831 ,-0.03292813, 0.01445414,
 -0.15881147, 0.32326694, 0.01380578, 0.67320075,-0.01835876, 0.56026495,
  0.83145208,-0.00413487, 1.15940867, 0.04609759, 0.09425239,-0.06458052,
  0.14266105, 0.94597049,-0.03186904, 0.026594  , 0.32158506]

qacc:
[ 5.23348896e+01, 7.62145390e+00, 9.17607194e+01,-2.58267292e+02,
  3.35456795e+02,-3.45593711e+01, 1.15240365e+02,-1.53448584e+02,
  1.55573931e-01,-9.73361400e+00, 1.51530604e+01, 1.15131123e+00,
 -8.75443353e-01, 2.20825559e+00,-8.45753151e+01, 1.50904782e+02,
 -6.38085768e-01, 2.83041629e-01, 1.62307113e-01, 4.30146130e+00,
  4.23839332e+00, 3.60415233e+01]

qfrc_actuator:
[-3.69234888e-03, 1.69535602e-01, 5.83901355e-02, 7.82010949e-02,
  2.59016025e-02, 3.87058496e-01, 1.38420925e-01, 1.19686309e-01,
 -1.52984747e-03, 1.60811968e-01, 5.58400333e-03, 1.61594560e-01,
  4.78486938e-02, 8.00363473e-03, 1.19414478e-04,-2.23942024e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005408006198279451
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.59825869e-01, -6.49675210e-01,  2.42233286e-02,  1.84109140e-02,
        1.57419152e-02,  9.99706572e-01, -6.49865899e-01,  7.60048889e-01,
       -3.46944695e-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([ 0.10862157, -0.04004234,  0.13414587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3609874 , -0.22556536, -0.28183714, -0.22556536,  0.35265714,
        0.00666704, -0.28183714,  0.00666704,  0.35565151,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006759435221680625
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71953307, -0.69347551,  0.03693062,  0.02659095,  0.02562797,
        0.99931783, -0.6939489 ,  0.72002425,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10216392, -0.03324888,  0.11967518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.41544913, -1.29717812, -0.5664143 , -1.29717812,  1.45121082,
       -0.08189992, -0.5664143 , -0.08189992,  1.60301286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002503300578932486
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90121907e-01, -3.29091345e-02, -1.36292324e-01, -3.26017138e-02,
        9.99458348e-01, -4.48769318e-03,  1.36366187e-01,  8.67361738e-19,
       -9.90658500e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12958715, -0.0837918 ,  0.17916481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.83144148, -0.22683436, -0.79990068, -0.22683436,  1.13397056,
       -0.08579064, -0.79990068, -0.08579064,  0.85576983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003617902381861359
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90121907e-01, -3.29091345e-02, -1.36292324e-01, -3.26017138e-02,
        9.99458348e-01, -4.48769318e-03,  1.36366187e-01, -8.67361738e-19,
       -9.90658500e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1297403 , -0.08417459,  0.17737972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001989765640698504
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873774, -0.20050939,  0.04322526, -0.20031413,  0.97969178,
        0.00884673, -0.04412128,  0.        , -0.99902618])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1283839 , -0.08231087,  0.11285625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14554839,  0.84133485, -0.77745533,  0.84133485,  3.59747086,
        2.65338439, -0.77745533,  2.65338439,  4.01694781,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00034399918719118513
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.21297268, -0.88307722, -0.41811155,  0.09802594, -0.40645809,
        0.90839569, -0.97212836, -0.23444925,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10468721, -0.03780872,  0.30545975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004586250316655077
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.42076413e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.42076413e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08604141, -0.1091298 ,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.47460947e-03, 1.49859052e-01, 6.40226384e-02,-3.62187280e-04,
  1.30436867e-02, 3.85754622e-01, 1.59397674e-01, 5.28054334e-02,
  1.98768118e-05,-1.18140897e-03,-3.00136605e-04,-2.62017479e-05,
  5.10431024e-02, 1.09776617e-02, 3.95196290e-02,-9.97465553e-04,
 -1.07750567e-03, 8.44687861e-04,-9.81021449e+00,-6.48874595e-02,
 -9.71231068e-03,-5.02479850e-03]


--- Step 2285 ---
qpos:
[-0.00526964, 0.19959538,-0.07966859, 0.39202231,-0.03258909, 0.01452356,
 -0.15919281, 0.32459289, 0.01381558, 0.67596867,-0.01839966, 0.56346194,
  0.83115859,-0.00422217, 1.15897814, 0.04604816, 0.09420569,-0.06456896,
  0.14266056, 0.94576813,-0.03188238, 0.02665111, 0.32217367]

qacc:
[ 5.30055535e+01,-9.77234762e+00, 1.68216953e+02,-3.08126443e+02,
  3.51428028e+02, 1.83262965e+01, 1.34836257e+01,-8.63374242e+01,
  2.50789641e-01, 1.33337727e+01,-7.20358373e+01, 1.58342251e+02,
 -2.02458368e+02, 1.34060660e+02, 5.42462781e+02,-1.36018255e+03,
 -2.35871627e+00, 1.71938154e-01, 1.27777901e-01,-8.88984613e+00,
 -1.40498570e+01, 3.03744186e+01]

qfrc_actuator:
[-3.80923749e-03, 1.69337414e-01, 5.85453511e-02, 7.82990377e-02,
  2.55870146e-02, 3.87344349e-01, 1.38805486e-01, 1.19163569e-01,
 -1.51062543e-03, 1.60997208e-01, 5.58615785e-03, 1.61919458e-01,
  4.78437509e-02, 8.05409077e-03, 1.65782116e-04,-2.33777335e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005385282388450216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.59096157e-01, -6.50520575e-01,  2.44132165e-02,  1.85375039e-02,
        1.58860345e-02,  9.99701953e-01, -6.50714519e-01,  7.59322471e-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([ 0.10858183, -0.04004346,  0.13417746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36324755, -0.24614262, -0.26713777, -0.24614262,  0.46615617,
       -0.09482073, -0.26713777, -0.09482073,  0.45061603,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006814492138406145
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71876951, -0.69425258,  0.03719863,  0.02675576,  0.02584313,
        0.99930789, -0.69473341,  0.71926732,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10210868, -0.03325714,  0.11970648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.41153208, -1.38980878,  0.24668678, -1.38980878,  1.50334613,
        0.51727126,  0.24668678,  0.51727126,  4.3257869 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024557774136068695
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99011001, -0.03261425, -0.13644953, -0.03230889,  0.99946801,
       -0.00445257,  0.13652216,  0.        , -0.99063702])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12958187, -0.08374105,  0.17916281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.82807423, -0.78914997,  0.2508969 , -0.78914997,  1.10180491,
        0.86096942,  0.2508969 ,  0.86096942,  3.53609496,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035730430600450436
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99011001, -0.03261425, -0.13644953, -0.03230889,  0.99946801,
       -0.00445257,  0.13652216,  0.        , -0.99063702])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1297352 , -0.08412383,  0.17737787])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.34129114,  0.28036955,  0.34129114,  2.16317934,
       -2.09555691,  0.28036955, -2.09555691,  2.9925874 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019765111944772215
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97854075, -0.20141496,  0.04347434, -0.20121648,  0.979506  ,
        0.00893959, -0.04438395,  0.        , -0.99901455])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12837122, -0.08232149,  0.11286606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.03525253,  0.1694553 , -1.02128972,  0.1694553 ,  0.11888876,
       -0.15204568, -1.02128972, -0.15204568,  1.01002467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018297979128219753
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.73797752e-01, -7.35732036e-01, -6.85197910e-02, -4.62772439e-02,
       -5.05309654e-02,  9.97649757e-01, -7.37465258e-01,  6.75385070e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10465941, -0.03778133,  0.3054536 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000455542862828201
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21857142e-13, -1.21857142e-13,  1.00000000e+00, -1.48491630e-26,
        1.00000000e+00,  1.21857142e-13, -1.00000000e+00,  0.00000000e+00,
       -1.21857142e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0860372 , -0.10913411,  0.06198979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.46023823e-03, 1.47166542e-01, 6.33608469e-02, 9.16502112e-05,
  1.07319086e-02, 3.86450521e-01, 1.59411318e-01, 5.24069628e-02,
  3.38357597e-05,-6.13370625e-04,-2.99665673e-04, 2.64300189e-04,
  5.11684250e-02, 1.08803394e-02, 4.29575642e-02,-8.40504188e-04,
 -1.45144799e-03, 1.09034567e-03,-9.81026932e+00,-6.48532239e-02,
 -9.71853004e-03,-5.03512561e-03]


--- Step 2286 ---
qpos:
[-0.00515129, 0.20002726,-0.07974498, 0.39355599,-0.03220477, 0.01461905,
 -0.15957055, 0.32591534, 0.01382571, 0.67873435,-0.01844164, 0.56666302,
  0.83075791,-0.00435672, 1.158662  , 0.04601893, 0.09415022,-0.0645557 ,
  0.14265988, 0.94554804,-0.03190872, 0.02668167, 0.32281391]

qacc:
[ 5.98691819e+01,-1.01161054e+01, 1.71422124e+02,-3.33801917e+02,
  3.79471458e+02, 1.71837831e+01, 1.40425586e+00,-8.25444971e+01,
  2.04006022e-01, 7.76291770e+00,-4.35341450e+01, 1.02887778e+02,
 -5.57651241e+01, 7.46381802e+00, 1.10777416e+02,-1.35636957e+02,
 -2.19239228e+00, 4.26525884e-01,-4.95669558e-02,-1.13910955e+01,
 -1.10478990e+01, 2.66743643e+01]

qfrc_actuator:
[-3.94704475e-03, 1.68996252e-01, 5.86616750e-02, 7.82414897e-02,
  2.52374875e-02, 3.87607408e-01, 1.39165033e-01, 1.18640275e-01,
 -1.50325688e-03, 1.61175511e-01, 5.64109056e-03, 1.62145791e-01,
  4.78775410e-02, 8.18918955e-03, 2.22929961e-04,-2.19940983e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005349566574653232
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75828476, -0.65146093,  0.02455368,  0.01862429,  0.01600058,
        0.99969851, -0.65165739,  0.75851344,  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([ 0.1085335 , -0.04004469,  0.1342117 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36522782, -0.23314748, -0.28112917, -0.23314748,  0.37915027,
       -0.01154624, -0.28112917, -0.01154624,  0.3748034 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006862986209091016
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.17930634e-01, -6.95108897e-01,  3.74062235e-02,  2.68738816e-02,
        2.60196088e-02,  9.99300142e-01, -6.95595715e-01,  7.18433435e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10204466, -0.03326621,  0.11973966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.40265085, -1.39013969,  0.18692528, -1.39013969,  1.40964663,
        0.05202671,  0.18692528,  0.05202671,  1.78956689,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023435198640785787
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99008576, -0.03227742, -0.13670537, -0.03197408,  0.99947895,
       -0.0044148 ,  0.13677664,  0.        , -0.99060191])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12957329, -0.08369036,  0.17915814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.82027637, -0.74260868,  0.34840447, -0.74260868,  1.0117194 ,
        0.40805234,  0.34840447,  0.40805234,  1.69002184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003465592333180107
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99008576, -0.03227742, -0.13670537, -0.03197408,  0.99947895,
       -0.0044148 ,  0.13677664,  0.        , -0.99060191])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12972636, -0.08407187,  0.17737859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023090636585758047
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97875644, -0.20033982,  0.04358656, -0.20014146,  0.97972647,
        0.00891282, -0.0444885 ,  0.        , -0.9990099 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12834896, -0.0823095 ,  0.11287433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.02251479,  0.0066395 , -1.02249323,  0.0066395 ,  0.13431003,
       -0.00576751, -1.02249323, -0.00576751,  1.02247734,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001503935256905959
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67401434, -0.73552712, -0.06858949, -0.04633943, -0.05056852,
        0.99764497, -0.7372634 ,  0.67560542,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10461325, -0.03773558,  0.30555076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004528589379936415
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.45158687e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.45158687e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08603378, -0.10913771,  0.06198985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.47897803e-03, 1.43549063e-01, 6.18473638e-02, 2.21871675e-04,
  8.28570697e-03, 3.84820561e-01, 1.59273700e-01, 5.19798193e-02,
  2.76566405e-05,-2.91972680e-04,-1.21840506e-04, 1.93694791e-04,
  6.55993767e-02, 1.38908391e-02, 3.11659416e-02, 2.26386332e-03,
 -1.80186471e-03, 1.50568983e-03,-9.81024256e+00,-6.48874455e-02,
 -9.67772476e-03,-5.04417498e-03]


--- Step 2287 ---
qpos:
[-0.00501272, 0.20051905,-0.07979226, 0.39508354,-0.03177568, 0.01474485,
 -0.15994413, 0.32723453, 0.01383606, 0.68149276,-0.01848071, 0.56986527,
  0.83029424,-0.00451976, 1.15839881, 0.0460058 , 0.09408656,-0.06454084,
  0.14265893, 0.94531338,-0.03194908, 0.02668519, 0.32349615]

qacc:
[ 6.05907008e+01,-1.18163463e+01, 1.74110311e+02,-3.42202275e+02,
  3.75213749e+02, 2.15534999e+01,-6.92409105e+00,-7.47868306e+01,
  1.41057117e-01,-1.53705316e+01, 3.59841943e+01,-1.42900879e+01,
 -3.12261656e+01, 1.88494688e+00, 3.10850159e+01, 8.31765949e+00,
 -2.04900950e+00, 3.99833412e-01,-6.76197848e-02,-1.17868246e+01,
 -1.09984012e+01, 2.15890899e+01]

qfrc_actuator:
[-4.07126518e-03, 1.68669840e-01, 5.87438337e-02, 7.80406225e-02,
  2.48113705e-02, 3.87853426e-01, 1.39529690e-01, 1.18474013e-01,
 -1.50308720e-03, 1.60603628e-01, 5.70924906e-03, 1.62188125e-01,
  4.79340040e-02, 8.35241741e-03, 2.30468109e-04,-2.04581390e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005310153622069797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.57400793e-01, -6.52484549e-01,  2.46566782e-02,  1.86806669e-02,
        1.60929942e-02,  9.99695978e-01, -6.52682979e-01,  7.57631130e-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([ 0.10847718, -0.04004566,  0.13424853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36725282, -0.23299852, -0.28387731, -0.23299852,  0.38055313,
       -0.01091652, -0.28387731, -0.01091652,  0.3762128 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006912842797307514
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71702154, -0.69603726,  0.03757979,  0.02696457,  0.02617543,
        0.99929363, -0.69652927,  0.71752838,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10197245, -0.03327576,  0.11977492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.38954054, -1.35570215,  0.30478615, -1.35570215,  1.38011226,
       -0.04193743,  0.30478615, -0.04193743,  1.20300103,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021645770863881357
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99004985, -0.03189536, -0.13705466, -0.03159407,  0.99949121,
       -0.00437363,  0.13712442,  0.        , -0.99055383])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12956196, -0.08363865,  0.17915063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.80853144, -0.69371366,  0.41531247, -0.69371366,  0.9501515 ,
        0.23655387,  0.41531247,  0.23655387,  1.20365719,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003293345301248716
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99004985, -0.03189536, -0.13705466, -0.03159407,  0.99949121,
       -0.00437363,  0.13712442,  0.        , -0.99055383])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12971434, -0.08401767,  0.17738173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023064538936904667
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79805984e-01, -1.95168590e-01,  4.34678678e-02, -1.94976814e-01,
        9.80769709e-01,  8.64990263e-03, -4.43201573e-02, -1.73472348e-18,
       -9.99017379e-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([ 0.12831374, -0.08225068,  0.11287998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.00802183, -0.02074385, -1.00780837, -0.02074385,  0.13790714,
        0.01790969, -1.00780837,  0.01790969,  1.00765319,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.97849493724175e-05
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67430988, -0.73524588, -0.06869995, -0.04643476, -0.05063097,
        0.99763737, -0.73698711,  0.6759068 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10455181, -0.03767817,  0.30570335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045056125725256857
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23204449e-13, -1.23204449e-13,  1.00000000e+00, -1.51793361e-26,
        1.00000000e+00,  1.23204449e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23204449e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08603097, -0.10914072,  0.0619899 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06011465e-02, 1.40061667e-01, 6.04067224e-02, 2.93687178e-04,
  5.59553378e-03, 3.83761104e-01, 1.59458329e-01, 5.19859139e-02,
  1.80531127e-05,-8.29408839e-04,-2.42988390e-05, 2.64263707e-05,
  7.10137462e-02, 1.64185516e-02, 2.54560134e-02, 1.40754774e-03,
 -2.12147013e-03, 1.92846979e-03,-9.81021072e+00,-6.49225301e-02,
 -9.62182050e-03,-5.05101772e-03]


--- Step 2288 ---
qpos:
[-0.00485407, 0.20106824,-0.07981198, 0.39660442,-0.03130299, 0.01490498,
 -0.16031343, 0.32855066, 0.01384611, 0.68423973,-0.01851719, 0.57306632,
  0.82978517,-0.0046995 , 1.15816019, 0.04600066, 0.09401526,-0.06452462,
  0.14265775, 0.94506735,-0.03200362, 0.02666063, 0.32421085]

qacc:
[ 5.99561739e+01,-1.18397700e+01, 1.71501332e+02,-3.44205713e+02,
  3.65111641e+02, 2.66743963e+01,-1.81377485e+01,-6.42204334e+01,
 -1.75097580e-01,-2.44126861e+01, 6.70749311e+01,-7.46159351e+01,
 -2.47158890e+01, 6.74766683e+00, 1.34506699e+01, 8.61617338e+00,
 -1.90929386e+00, 3.37605696e-01,-5.90337841e-02,-1.18605394e+01,
 -1.13443455e+01, 1.65421747e+01]

qfrc_actuator:
[-4.19560402e-03, 1.68276837e-01, 5.87768228e-02, 7.78275940e-02,
  2.43926970e-02, 3.88039047e-01, 1.39895423e-01, 1.18505383e-01,
 -1.54276111e-03, 1.59765086e-01, 5.72851568e-03, 1.62103599e-01,
  4.79879760e-02, 8.47941291e-03, 2.62909722e-04,-1.97581552e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005269795733013767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.56457163e-01, -6.53575853e-01,  2.47217566e-02,  1.87066672e-02,
        1.61624829e-02,  9.99694371e-01, -6.53775666e-01,  7.56688429e-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([ 0.1084133 , -0.04004626,  0.13428784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36946906, -0.23471991, -0.2853313 , -0.23471991,  0.39923299,
       -0.02448448, -0.2853313 , -0.02448448,  0.38961054,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006967742120076935
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71605152, -0.69702727,  0.03772548,  0.02703263,  0.02631442,
        0.99928814, -0.69752381,  0.71656161,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10189248, -0.03328553,  0.11981224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.37371016, -1.31495937,  0.39744366, -1.31495937,  1.33227926,
       -0.1370759 ,  0.39744366, -0.1370759 ,  0.92018867,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019216630084772975
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99000253, -0.03146859, -0.13749441, -0.03116942,  0.99950474,
       -0.0043289 ,  0.13756254,  0.        , -0.99049308])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12954774, -0.08358642,  0.17914044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7939559 , -0.63261835,  0.47974993, -0.63261835,  0.89136181,
        0.1284435 ,  0.47974993,  0.1284435 ,  0.96332688,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003059048849022102
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90002533e-01, -3.14685921e-02, -1.37494407e-01, -3.11694228e-02,
        9.99504741e-01, -4.32889933e-03,  1.37562536e-01, -8.67361738e-19,
       -9.90493084e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12969902, -0.08396179,  0.17738727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002300306020329567
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80902093e-01, -1.89646993e-01,  4.31868283e-02, -1.89463451e-01,
        9.81852340e-01,  8.34163324e-03, -4.39850541e-02,  3.46944695e-18,
       -9.99032189e-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([ 0.12827434, -0.08218791,  0.1128838 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99819315, -0.02291285, -0.99793014, -0.02291285,  0.13057936,
        0.01992073, -0.99793014,  0.01992073,  0.99773576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4384529099342465e-05
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.74651709e-01, -7.34919591e-01, -6.88350639e-02, -4.65501079e-02,
       -5.07085149e-02,  9.97628054e-01, -7.36666925e-01,  6.76255751e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10447478, -0.03761051,  0.30590126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044865124830892333
  efc_address: 18
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23728957e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.23728957e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602866, -0.10914319,  0.06198994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17389002e-02, 1.36653562e-01, 5.89763573e-02, 3.83542200e-04,
  2.93779867e-03, 3.82428255e-01, 1.59616316e-01, 5.21779534e-02,
 -2.57428030e-05,-1.38178836e-03,-1.75744004e-04,-1.21144114e-04,
  7.42163100e-02, 1.79726684e-02, 2.28430168e-02, 6.73081259e-04,
 -2.40456523e-03, 2.33703353e-03,-9.81015456e+00,-6.49671238e-02,
 -9.56008013e-03,-5.05573319e-03]


--- Step 2289 ---
qpos:
[-0.00466224, 0.20166925,-0.07981247, 0.39811141,-0.03077719, 0.01508705,
 -0.16067701, 0.32986442, 0.013856  , 0.68697757,-0.0185545 , 0.57626688,
  0.82989775,-0.00496171, 1.15816245, 0.04594708, 0.09393553,-0.06449983,
  0.14265298, 0.94481461,-0.03212108, 0.02661024, 0.3249392 ]

qacc:
[ 9.86444774e+01,-9.84915761e+00, 1.81328911e+02,-4.54257874e+02,
  4.45440328e+02, 8.29973226e+00, 2.01017531e+01,-8.08468852e+01,
 -9.30613975e-02,-1.07018465e+01, 2.20905825e+01,-2.09060319e+01,
  5.31226066e+02,-5.46568517e+02, 4.65782512e+02,-1.19507804e+03,
 -2.10606682e+00, 2.14324301e+00,-8.94704770e-01,-3.42076239e+01,
 -2.13876672e+00, 6.28764437e+00]

qfrc_actuator:
[-4.38122205e-03, 1.67786921e-01, 5.88057250e-02, 7.79475498e-02,
  2.39440225e-02, 3.88261053e-01, 1.40313272e-01, 1.18514420e-01,
 -1.55265227e-03, 1.59465974e-01, 5.73536493e-03, 1.62086879e-01,
  4.80411370e-02, 8.67303100e-03, 3.64199552e-04,-1.98981199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005230522422522687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.55466770e-01, -6.54719447e-01,  2.47468209e-02,  1.87011281e-02,
        1.62071883e-02,  9.99693751e-01, -6.54920016e-01,  7.55698202e-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([ 0.10834225, -0.04004641,  0.13432956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.37199945, -0.2074015 , -0.30881744, -0.2074015 ,  0.15089699,
        0.1484922 , -0.30881744,  0.1484922 ,  0.27227223,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007030889148545783
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71502982, -0.69806874,  0.03784686,  0.02708104,  0.02643865,
        0.99928355, -0.69856923,  0.71554247,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10180513, -0.03329533,  0.11985156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.35688979, -1.31795449,  0.32271637, -1.31795449,  1.29618917,
       -0.24789773,  0.32271637, -0.24789773,  0.34449019,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001617158397413288
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98994396, -0.03099834, -0.13802197, -0.03070137,  0.99951944,
       -0.00428051,  0.13808833,  0.        , -0.99041992])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1295305 , -0.08353446,  0.17912775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.77777195, -0.75791641,  0.17461938, -0.75791641,  0.75605533,
       -0.09425864,  0.17461938, -0.09425864,  0.36865258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027651178101612017
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98994396, -0.03099834, -0.13802197, -0.03070137,  0.99951944,
       -0.00428051,  0.13808833,  0.        , -0.99041992])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12968025, -0.08390508,  0.17739515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023199352672555367
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98174069, -0.18530085,  0.04299792, -0.18512338,  0.98268184,
        0.00810797, -0.04375569,  0.        , -0.99904226])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12823276, -0.08213885,  0.11288874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004471149227391752
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48308202e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.48308202e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08602673, -0.10914521,  0.06198997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29312995e-02, 1.33271599e-01, 5.76185748e-02, 8.32526478e-04,
  3.09995773e-04, 3.80929687e-01, 1.59819641e-01, 5.23378252e-02,
 -1.37906656e-05,-1.18602575e-03,-3.22862957e-04,-8.22872132e-05,
  7.65381149e-02, 1.90039448e-02, 2.17182904e-02, 2.60083089e-04,
 -2.64409643e-03, 2.71625222e-03,-9.81007201e+00,-6.50211179e-02,
 -9.49608221e-03,-5.05818342e-03]


--- Step 2290 ---
qpos:
[-0.00449453, 0.20224449,-0.07986417, 0.39960151,-0.03029205, 0.01531266,
 -0.16103931, 0.33117585, 0.01386579, 0.68970798,-0.018592  , 0.57947204,
  0.83032228,-0.00509467, 1.15826594, 0.04592123, 0.09386729,-0.06448561,
  0.14265091, 0.9446537 ,-0.03224607, 0.02655913, 0.32539852]

qacc:
[-7.18136458e+01, 7.40300987e+01,-2.40997967e+02, 3.90223186e+01,
 -3.41917242e+02, 4.86842848e+01,-7.88356122e+01,-3.28593457e-01,
 -5.85860342e-02,-5.82278517e-01,-2.55783150e+01, 9.57868639e+01,
  1.50876930e+02,-1.21159563e+01, 5.86763731e+01,-3.90540376e+00,
  2.87088780e+00,-2.64101568e+00, 6.74648140e-01, 1.38093518e+00,
  3.98471997e+00,-1.42122202e+02]

qfrc_actuator:
[-0.00457149, 0.16723923, 0.05884723, 0.07834819, 0.02341487, 0.38848579,
  0.14072374, 0.11856384,-0.00156245, 0.15935077, 0.0058259 , 0.1623414 ,
  0.04804606, 0.00899682, 0.00042254,-0.00192996, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.71152059, -0.6814096 ,  0.20479873, -0.6814096 ,  0.9762652 ,
        0.88086247,  0.20479873,  0.88086247,  3.64234029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005225552353526073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75445377, -0.65588555,  0.024772  ,  0.01869507,  0.01625258,
        0.99969313, -0.65608689,  0.75468536,  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([ 0.10826578, -0.04004468,  0.1343735 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.37598091, -0.30596264,  0.21851431, -0.30596264,  1.19639439,
        1.14873889,  0.21851431,  1.14873889,  1.98443938,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007131366567990317
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.13972876e-01, -6.99139284e-01,  3.80393876e-02,  2.71787618e-02,
        2.66140924e-02,  9.99276241e-01, -6.99645659e-01,  7.14489994e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10171225, -0.03330375,  0.11989359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.33976279, -0.76358478,  1.10086448, -0.76358478,  0.77665929,
       -0.39058146,  1.10086448, -0.39058146,  1.06884655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012218455987230803
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98987109, -0.03047507, -0.13865962, -0.03018041,  0.99953553,
       -0.00422763,  0.13872405,  0.        , -0.99033107])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12951012, -0.08347519,  0.17911109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.75987912, -0.17103464,  0.7403806 , -0.17103464,  0.6579347 ,
       -0.02355009,  0.7403806 , -0.02355009,  0.75443884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023825072173857298
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98987109, -0.03047507, -0.13865962, -0.03018041,  0.99953553,
       -0.00422763,  0.13872405,  0.        , -0.99033107])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1296578 , -0.08383964,  0.1774062 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002274913562743733
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98161385, -0.18600042,  0.04287302, -0.18582327,  0.98254966,
        0.00811603, -0.04363446,  0.        , -0.99904756])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12819931, -0.08214761,  0.11289445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.48213295,  6.01865449, -8.5820108 ,  6.01865449, 15.19911834,
        3.3080715 , -8.5820108 ,  3.3080715 , 12.80211831,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044937451655464866
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.70589447e-13, -3.86030674e-15,  1.00000000e+00, -1.43058894e-27,
        1.00000000e+00,  3.86030674e-15, -1.00000000e+00,  0.00000000e+00,
       -3.70589447e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05261541, -0.06119292,  0.06198992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47839518e-02, 1.30108617e-01, 5.66887754e-02, 1.92310318e-03,
 -2.87547261e-03, 3.80051807e-01, 1.59943767e-01, 5.25028965e-02,
 -8.88544096e-06,-9.20864650e-04,-2.15611787e-04, 1.92566404e-04,
  4.54528871e-02, 2.34490398e-02, 9.75036102e-03, 2.74684770e-03,
 -2.57054242e-03, 3.09474263e-03,-9.81005415e+00,-6.50428725e-02,
 -9.32017038e-03,-5.06088065e-03]


--- Step 2291 ---
qpos:
[-0.00435445, 0.20275691,-0.07995768, 0.40107833,-0.02985302, 0.01558424,
 -0.16140104, 0.33248393, 0.01387509, 0.69242828,-0.01862749, 0.58269062,
  0.83094363,-0.00511746, 1.15841667, 0.04591078, 0.09380935,-0.06448091,
  0.14265057, 0.94457104,-0.03237552, 0.02651641, 0.32562901]

qacc:
[-8.16175402e+01, 6.98234907e+00,-8.94096046e+01,-3.07500368e+01,
 -3.87600451e+02, 5.19490496e+01,-8.14626133e+01,-1.59854325e+01,
 -2.93900583e-01, 6.40672947e+00,-8.17151733e+01, 2.74922980e+02,
  7.57712100e+01, 3.63431877e+01, 2.06758177e+01, 2.32954571e+01,
  2.57700096e+00,-2.37971202e+00, 4.31012315e-01, 3.55463439e+00,
  7.34068967e+00,-1.20744229e+02]

qfrc_actuator:
[-0.0047205 , 0.16673149, 0.05888803, 0.07892581, 0.02290997, 0.38852201,
  0.14107867, 0.11851413,-0.00160768, 0.15883304, 0.00593085, 0.16302005,
  0.04800624, 0.00913122, 0.00043237,-0.00184709, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.71408134, -0.70107907,  0.13564769, -0.70107907,  0.792326  ,
        0.40439831,  0.13564769,  0.40439831,  2.8041662 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005250974708114329
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75381249, -0.65662178,  0.02479056,  0.01869318,  0.01628302,
        0.99969267, -0.65682364,  0.75404423,  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([ 0.10819567, -0.04004259,  0.1344155 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.38228809, -0.11282075,  0.36526109, -0.11282075,  0.97259579,
        0.18233248,  0.36526109,  0.18233248,  0.4386064 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007293815399298275
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.13194823e-01, -6.99916752e-01,  3.83364615e-02,  2.73614796e-02,
        2.68520709e-02,  9.99264888e-01, -7.00431648e-01,  7.13719487e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10162432, -0.03330773,  0.11993487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.3279657 , -1.02880897,  0.83966958, -1.02880897,  1.10691116,
       -0.27084807,  0.83966958, -0.27084807,  0.99610787,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.394664832855732e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98981403, -0.02999267, -0.13917119, -0.02970053,  0.99955012,
       -0.00417599,  0.13923383,  0.        , -0.99025953])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12948874, -0.08344573,  0.17909557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.74562669, -0.16210295,  0.72779241, -0.16210295,  0.7687666 ,
        0.00515401,  0.72779241,  0.00515401,  0.74677465,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002011559951179867
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98981403, -0.02999267, -0.13917119, -0.02970053,  0.99955012,
       -0.00417599,  0.13923383,  0.        , -0.99025953])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12963436, -0.08380444,  0.17741729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.41711412,  0.14526714,  0.41711412,  0.60297391,
       -0.46311484,  0.14526714, -0.46311484,  1.77145528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002254914368400367
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98159404, -0.18613607,  0.04273756, -0.1859599 ,  0.98252398,
        0.0080965 , -0.04349773,  0.        , -0.99905353])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12815992, -0.08214996,  0.11290007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.59306526, -6.57171356,  8.30816541, -6.57171356, 19.219353  ,
        6.82334659,  8.30816541,  6.82334659, 15.99029522,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004578584432689131
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.25029636e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.25029636e-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([ 0.05255869, -0.06123439,  0.06198973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37282179e-02, 1.30865542e-01, 5.92804729e-02, 3.34174157e-03,
 -1.34646499e-03, 3.77904485e-01, 1.60233197e-01, 5.25671067e-02,
 -4.23482003e-05,-1.14281188e-03,-1.25359254e-04, 6.36183082e-04,
  2.98196976e-02, 1.71274404e-02, 4.69050649e-03, 1.44151309e-03,
 -9.49331551e-04, 1.39707417e-03,-9.80998378e+00,-6.50262757e-02,
 -9.44823545e-03,-5.06466374e-03]


--- Step 2292 ---
qpos:
[-0.00424403, 0.20319833,-0.08008847, 0.40254348,-0.02946341, 0.01589972,
 -0.16176372, 0.33378774, 0.0138839 , 0.69513723,-0.01866188, 0.58592037,
  0.83169581,-0.00506402, 1.15858959, 0.04590622, 0.09376056,-0.0644845 ,
  0.14265133, 0.94455408,-0.0325074 , 0.02648738, 0.32566744]

qacc:
[-8.71776236e+01,-1.30350528e+01,-4.08008476e+01,-5.08498166e+01,
 -4.15484339e+02, 5.18731657e+01,-8.13866199e+01,-2.73052784e+01,
 -2.85577862e-01, 3.00532290e+00,-6.51607552e+01, 2.28561209e+02,
  4.84624066e+01, 2.85968345e+01, 1.34450309e+01,-2.84408076e+00,
  2.28545090e+00,-2.07430380e+00, 2.74799603e-01, 4.69769884e+00,
  9.09860253e+00,-1.01208671e+02]

qfrc_actuator:
[-0.00481386, 0.16625956, 0.05893949, 0.07943523, 0.02247684, 0.38847855,
  0.14143596, 0.11851343,-0.00163825, 0.15820371, 0.00595355, 0.16356973,
  0.04794402, 0.00913713, 0.00039301,-0.00189119, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.7160625 , -0.69060013,  0.18925371, -0.69060013,  0.85078322,
        0.4916054 ,  0.18925371,  0.4916054 ,  2.50996528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005270620409120421
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75348844, -0.65699255,  0.02481859,  0.01870628,  0.01631065,
        0.99969197, -0.65719498,  0.75372061,  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([ 0.10813423, -0.04004121,  0.13445436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3890232 , -0.14511439,  0.36094441, -0.14511439,  1.06424757,
        0.27146776,  0.36094441,  0.27146776,  0.49816432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007472756039586514
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.12684510e-01, -7.00417796e-01,  3.86742796e-02,  2.75831958e-02,
        2.71084343e-02,  9.99251870e-01, -7.00942192e-01,  7.13218090e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10154398, -0.03330858,  0.11997379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.32100172, -1.280379  ,  0.32507717, -1.280379  ,  1.30928552,
       -0.04614654,  0.32507717, -0.04614654,  1.13924469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.831861516966293e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89773169e-01, -2.95565037e-02, -1.39554604e-01, -2.92670208e-02,
        9.99563111e-01, -4.12654903e-03,  1.39615601e-01,  8.67361738e-19,
       -9.90205779e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12946627, -0.08344088,  0.17908181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73483049, -0.14522879,  0.72033634, -0.14522879,  0.85672735,
        0.02457593,  0.72033634,  0.02457593,  0.7397853 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016654366272990704
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98977317, -0.0295565 , -0.1395546 , -0.02926702,  0.99956311,
       -0.00412655,  0.1396156 ,  0.        , -0.99020578])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1296099 , -0.08379445,  0.17742802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.41159168,  0.16024674,  0.41159168,  0.97430291,
       -1.36801901,  0.16024674, -1.36801901,  3.95542529,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002248970785235869
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98153487, -0.18645982,  0.04268524, -0.18628376,  0.98246259,
        0.00810116, -0.04344719,  0.        , -0.99905573])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12811614, -0.0821545 ,  0.11290667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.68873576, -6.71519275,  8.31596407, -6.71519275, 21.27782301,
        8.55075387,  8.31596407,  8.55075387, 17.59352274,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046492373816267585
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19398402e-13, -3.73120005e-15,  1.00000000e+00,  4.45499322e-28,
        1.00000000e+00,  3.73120005e-15, -1.00000000e+00,  0.00000000e+00,
        1.19398402e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05251378, -0.06126711,  0.06198958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24404548e-02, 1.33513223e-01, 6.14144557e-02, 4.51103376e-03,
  5.25651642e-04, 3.75554579e-01, 1.60559868e-01, 5.27317925e-02,
 -4.14713376e-05,-1.34211882e-03,-2.26882275e-04, 5.11204885e-04,
  1.99215833e-02, 1.16296467e-02, 2.27401691e-03, 6.23599218e-04,
 -2.05804147e-04, 4.86078932e-04,-9.80994461e+00,-6.50192801e-02,
 -9.56334563e-03,-5.06969397e-03]


--- Step 2293 ---
qpos:
[-0.00416404, 0.20356543,-0.08025215, 0.40399832,-0.02912475, 0.01625371,
 -0.16212945, 0.33508656, 0.01389213, 0.69783332,-0.0186955 , 0.58914343,
  0.83253554,-0.00495988, 1.15877277, 0.04590593, 0.0937198 ,-0.06449502,
  0.14265277, 0.94459141,-0.0326409 , 0.02647499, 0.32554679]

qacc:
[-8.90888699e+01,-2.66826828e+01,-4.55715902e+00,-6.61349676e+01,
 -4.28696208e+02, 4.91818603e+01,-7.90075124e+01,-3.50822964e+01,
 -3.41209523e-01,-3.15826398e+01, 1.06061109e+02,-1.86975026e+02,
  3.29187840e+01, 1.82932391e+01, 1.22044154e+00, 1.53710825e+01,
  2.00923558e+00,-1.73234786e+00, 1.72150757e-01, 4.92793901e+00,
  9.98722426e+00,-8.37218026e+01]

qfrc_actuator:
[-4.87848700e-03, 1.65789184e-01, 5.90273050e-02, 7.95523841e-02,
  2.20907576e-02, 3.88335441e-01, 1.41795991e-01, 1.18828403e-01,
 -1.67757378e-03, 1.57406191e-01, 5.90925260e-03, 1.63204519e-01,
  4.78672233e-02, 9.07355954e-03, 3.72623378e-04,-1.83060111e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71616701, -0.67392161,  0.2423321 , -0.67392161,  0.91375073,
        0.54947711,  0.2423321 ,  0.54947711,  2.24425389,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005271656186345596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75343106, -0.65705656,  0.02486576,  0.01874043,  0.01634327,
        0.9996908 , -0.65725979,  0.7536641 ,  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([ 0.10808171, -0.04004099,  0.13448983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.39540806, -0.16977943,  0.3571029 , -0.16977943,  1.17847748,
        0.37229907,  0.3571029 ,  0.37229907,  0.57241228,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000764904052659754
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.12412565e-01, -7.00674748e-01,  3.90286302e-02,  2.78256871e-02,
        2.73672269e-02,  9.99238093e-01, -7.01209004e-01,  7.12955771e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10147173, -0.03330717,  0.12000992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.3179514 , -1.28799567, -0.27939769, -1.28799567,  1.3172495 ,
        0.00323571, -0.27939769,  0.00323571,  1.30303508,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.601547792292151e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98974797, -0.02916979, -0.13981444, -0.02888303,  0.99957447,
       -0.00408009,  0.13987396,  0.        , -0.99016932])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12944276, -0.08345603,  0.1790701 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.72697369, -0.13723353,  0.71390314, -0.13723353,  0.89569052,
        0.03243242,  0.71390314,  0.03243242,  0.73320817,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013513179499901714
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98974797, -0.02916979, -0.13981444, -0.02888303,  0.99957447,
       -0.00408009,  0.13987396,  0.        , -0.99016932])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12958456, -0.08380517,  0.17743814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.41836606,  0.14162123,  0.41836606,  0.69922286,
       -0.76079399,  0.14162123, -0.76079399,  2.68916272,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002257927229424247
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81512142e-01, -1.86576301e-01,  4.26989336e-02, -1.86400001e-01,
        9.82440473e-01,  8.10899929e-03, -4.34621076e-02, -1.73472348e-18,
       -9.99055076e-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([ 0.12806753, -0.08215667,  0.11291405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.76779484, -6.86208508,  8.2980235 , -6.86208508, 23.63541226,
       10.64092981,  8.2980235 , 10.64092981, 19.56735605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047059659943116117
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35918200e-13, -1.17959100e-13,  1.00000000e+00, -2.78286984e-26,
        1.00000000e+00,  1.17959100e-13, -1.00000000e+00,  0.00000000e+00,
       -2.35918200e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05247809, -0.06129293,  0.06198945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10227512e-02, 1.36575255e-01, 6.33594688e-02, 5.20876713e-03,
  2.61006356e-03, 3.73206370e-01, 1.60965815e-01, 5.32567354e-02,
 -5.00096334e-05,-1.64620165e-03,-3.50255353e-04,-4.17017443e-04,
  1.33071787e-02, 7.75694612e-03, 1.12947230e-03, 3.85790771e-04,
 -3.76091514e-05, 1.28356109e-04,-9.80990268e+00,-6.50311664e-02,
 -9.65538976e-03,-5.07640730e-03]


--- Step 2294 ---
qpos:
[-0.00411418, 0.20385   ,-0.08044422, 0.40544403,-0.02883647, 0.01665035,
 -0.16250057, 0.33637812, 0.0139001 , 0.70051265,-0.01872725, 0.59235012,
  0.83343389,-0.00482324, 1.15896127, 0.04590745, 0.09368736,-0.06451118,
  0.14265382, 0.94467091,-0.03277019, 0.02648662, 0.32530209]

qacc:
[-8.79307193e+01,-4.74554055e+01, 4.81750931e+01,-9.67111127e+01,
 -4.23997367e+02, 5.67333893e+01,-8.88120115e+01,-6.29308980e+01,
 -1.45412749e-01,-5.79048455e+01, 2.18963519e+02,-4.29188818e+02,
  2.30746929e+01, 9.96728658e+00, 1.52815398e+00, 4.21822342e+00,
  2.07884278e+00,-1.40997918e+00,-9.88665811e-02, 8.23324038e+00,
  1.21280636e+01,-6.50053663e+01]

qfrc_actuator:
[-4.94876005e-03, 1.65440210e-01, 5.91829558e-02, 7.94019779e-02,
  2.17364742e-02, 3.88049364e-01, 1.42160126e-01, 1.19264229e-01,
 -1.68636146e-03, 1.56318524e-01, 5.89566270e-03, 1.62357029e-01,
  4.77808600e-02, 8.92784000e-03, 3.79871341e-04,-1.81443721e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.71373408, -0.49802106,  0.51126448, -0.49802106,  1.75349333,
        1.01282608,  0.51126448,  1.01282608,  1.70032466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005247529242443371
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.53594586e-01, -6.56866263e-01,  2.49381855e-02,  1.87991282e-02,
        1.63861489e-02,  9.99688995e-01, -6.57070615e-01,  7.53829030e-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([ 0.10803806, -0.04004213,  0.13452186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.40103143, -0.20038617,  0.34737817, -0.20038617,  1.28363866,
        0.50913471,  0.34737817,  0.50913471,  0.69472737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007811151860650419
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.12348189e-01, -7.00720245e-01,  3.93852334e-02,  2.80777852e-02,
        2.76194603e-02,  9.99224101e-01, -7.01264355e-01,  7.12901328e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10140771, -0.03330421,  0.12004309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.72145535, -0.2330825 ,  0.68276671, -0.2330825 ,  3.55151078,
        0.96612266,  0.68276671,  0.96612266,  1.05126974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010720855882763413
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89737356e-01, -2.88340090e-02, -1.39959162e-01, -2.85499665e-02,
        9.99584214e-01, -4.03726237e-03,  1.40017379e-01, -8.67361738e-19,
       -9.90149046e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12955856, -0.08383248,  0.17744748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.42089609,  0.13391495,  0.42089609,  0.64082097,
       -0.62588258,  0.13391495, -0.62588258,  2.4088418 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022795231414753083
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98151893, -0.18652171,  0.04278144, -0.18634478,  0.98245084,
        0.00812221, -0.04354563,  0.        , -0.99905144])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1280149 , -0.0821569 ,  0.11292225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.82949663, -7.01908522,  8.24684424, -7.01908522, 26.43534526,
       13.28250882,  8.24684424, 13.28250882, 22.1345557 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004749246361404058
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.33768253e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.33768253e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05244957, -0.06131331,  0.06198935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.57237522e-03, 1.39927006e-01, 6.51543429e-02, 5.57060890e-03,
  4.80406136e-03, 3.70983292e-01, 1.61479530e-01, 5.39398784e-02,
 -2.31318565e-05,-2.16590542e-03,-4.26110606e-04,-9.34189484e-04,
  8.84639879e-03, 5.07698920e-03, 6.10290156e-04, 1.85565537e-04,
 -2.17057842e-04, 1.31932223e-04,-9.80984451e+00,-6.50617270e-02,
 -9.72283096e-03,-5.08500565e-03]


--- Step 2295 ---
qpos:
[-0.00409356, 0.20405899,-0.08066183, 0.40688116,-0.02859743, 0.01708077,
 -0.16288036, 0.33766148, 0.01390814, 0.70317229,-0.01875635, 0.59554367,
  0.83437121,-0.00466581, 1.1591526 , 0.04590629, 0.0936623 ,-0.06453175,
  0.14265433, 0.94478358,-0.03289496, 0.02652212, 0.32495921]

qacc:
[-8.51347600e+01,-4.50175374e+01, 5.02854965e+01,-9.80616884e+01,
 -4.14846360e+02, 5.23115830e+01,-8.60869083e+01,-7.01979203e+01,
  6.13754527e-02,-5.78417665e+01, 2.03363878e+02,-3.66428798e+02,
  1.56980121e+01, 5.61889622e+00, 1.17269382e+01,-3.62424292e+01,
  1.84516325e+00,-1.10119619e+00,-1.35442999e-01, 7.85989778e+00,
  1.17103137e+01,-5.13168473e+01]

qfrc_actuator:
[-4.99278630e-03, 1.65184272e-01, 5.93879571e-02, 7.92005044e-02,
  2.14743137e-02, 3.87764491e-01, 1.42512543e-01, 1.19581532e-01,
 -1.67691067e-03, 1.55225589e-01, 5.98784982e-03, 1.61694099e-01,
  4.77041871e-02, 8.78399676e-03, 3.50518536e-04,-2.00171941e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.70867423, -0.37875348,  0.59896992, -0.37875348,  1.98761136,
        0.80872489,  0.59896992,  0.80872489,  1.22006447,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005197254261914069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.53930207e-01, -6.56476895e-01,  2.50465515e-02,  1.88892776e-02,
        1.64476422e-02,  9.99686286e-01, -6.56682906e-01,  7.54166800e-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([ 0.10800381, -0.04004466,  0.13455028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.40567791, -0.27239639,  0.30062398, -0.27239639,  2.14844155,
        1.5791239 ,  0.30062398,  1.5791239 ,  1.83652731,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007951216850022692
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71245531, -0.70059129,  0.03974007,  0.0283354 ,  0.02786355,
        0.99921005, -0.70114516,  0.71301856,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10135279, -0.03330031,  0.1200731 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71804441, -0.69333835, -0.18673432, -0.69333835,  1.10055005,
       -1.42023081, -0.18673432, -1.42023081,  5.99131443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.522973465975711e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98974172, -0.02854857, -0.13998684, -0.02826723,  0.99959241,
       -0.00399805,  0.14004392,  0.        , -0.99014529])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12953208, -0.08387101,  0.17745528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.42468222,  0.12137439,  0.42468222,  0.64733849,
       -0.71956575,  0.12137439, -0.71956575,  2.9594066 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023108955393354733
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98148972, -0.1866223 ,  0.04301209, -0.18644336,  0.98243174,
        0.00817056, -0.04378126,  0.        , -0.99904114])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12795923, -0.08215882,  0.11293214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.87576094, -7.26486747,  8.09344653, -7.26486747, 30.36926302,
       17.49782476,  8.09344653, 17.49782476, 26.58221893,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004781147239718425
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.32208499e-13, -1.16104250e-13,  1.00000000e+00, -2.69603935e-26,
        1.00000000e+00,  1.16104250e-13, -1.00000000e+00,  0.00000000e+00,
       -2.32208499e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05242669, -0.0613294 ,  0.06198928])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.11008267e-03, 1.43786300e-01, 6.67743144e-02, 5.82310619e-03,
  7.06017426e-03, 3.68553774e-01, 1.62098823e-01, 5.46166942e-02,
  6.02293212e-06,-2.49514503e-03,-4.51204540e-04,-7.82427847e-04,
  5.84112965e-03, 3.30718614e-03, 3.04464101e-04,-9.54884658e-05,
 -5.48066279e-04, 3.38969724e-04,-9.80977489e+00,-6.51080587e-02,
 -9.75943746e-03,-5.09588203e-03]


--- Step 2296 ---
qpos:
[-0.00409822, 0.2042167 ,-0.08089925, 0.40831115,-0.02840157, 0.01753406,
 -0.16327118, 0.338937  , 0.01391612, 0.70581246,-0.0187847 , 0.5987262 ,
  0.83518291,-0.00458309, 1.15938951, 0.04589829, 0.09364183,-0.06455554,
  0.14265505, 0.94491475,-0.03300904, 0.02656374, 0.32456259]

qacc:
[-7.35714350e+01,-2.62610300e+01, 2.42685422e+01,-7.55676560e+01,
 -3.63837659e+02, 4.51004567e+01,-8.29163261e+01,-5.53624448e+01,
 -3.03404468e-02,-4.82884495e+01, 1.64517210e+02,-2.98085277e+02,
 -4.90810228e+01,-2.50888960e+01, 8.97607274e+01,-2.12351889e+02,
  1.14705667e+00,-8.04330313e-01, 5.31172950e-02, 7.06145882e+00,
  1.78729680e+00,-2.81516805e+01]

qfrc_actuator:
[-5.02766522e-03, 1.64939202e-01, 5.95955736e-02, 7.90779886e-02,
  2.12332049e-02, 3.87507641e-01, 1.42881105e-01, 1.19671806e-01,
 -1.69225796e-03, 1.54298906e-01, 6.03545073e-03, 1.61145220e-01,
  4.76170101e-02, 8.60449520e-03, 3.20539811e-04,-1.98774710e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.7013    , -0.54220164,  0.44479104, -0.54220164,  1.27817207,
        0.70320883,  0.44479104,  0.70320883,  1.55851372,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005123732721072034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.54401664e-01, -6.55929511e-01,  2.51913937e-02,  1.90104624e-02,
        1.65290241e-02,  9.99682646e-01, -6.56137738e-01,  7.54641152e-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([ 0.10797821, -0.0400485 ,  0.13457541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.40943157, -0.36075562,  0.1936223 , -0.36075562,  1.2601728 ,
        1.58509467,  0.1936223 ,  1.58509467,  3.36276808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008069371386486416
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.12702149e-01, -7.00320031e-01,  4.00936531e-02,  2.85978275e-02,
        2.81009836e-02,  9.99195926e-01, -7.00883593e-01,  7.13275675e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10130634, -0.03329584,  0.12010021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7160366 ,  0.22874801,  0.67851511,  0.22874801,  2.32125998,
       -0.54116945,  0.67851511, -0.54116945,  0.89848122,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.897435779223502e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89759448e-01, -2.83122976e-02, -1.39909434e-01, -2.80336020e-02,
        9.99599127e-01, -3.96274609e-03,  1.39965542e-01,  8.67361738e-19,
       -9.90156375e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12950546, -0.08391769,  0.17746149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.42264685,  0.1282824 ,  0.42264685,  0.70810549,
       -0.87776075,  0.1282824 , -0.87776075,  3.33360917,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002356216284087946
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9815216 , -0.18638259,  0.04332305, -0.1862013 ,  0.98247724,
        0.00821868, -0.04409573,  0.        , -0.99902731])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12790055, -0.08215678,  0.11294294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.00013992, -0.47352307, -0.88094027, -0.47352307,  3.75553244,
       -1.48107877, -0.88094027, -1.48107877,  1.79624948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.415391491960138e-05
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67163636, -0.73764031, -0.0692197 , -0.04660225, -0.05118201,
        0.99760144, -0.73941384,  0.67325119,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10382859, -0.03731003,  0.3058004 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.90676711, -7.50243411,  7.91650499, -7.50243411, 34.30232101,
       22.17185512,  7.91650499, 22.17185512, 31.91892871,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004802269754628219
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15593572e-13, -1.15593572e-13,  1.00000000e+00, -1.33618738e-26,
        1.00000000e+00,  1.15593572e-13, -1.00000000e+00,  0.00000000e+00,
       -1.15593572e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05240821, -0.0613421 ,  0.06198923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.68365896e-03, 1.47311748e-01, 6.82559644e-02, 6.12610805e-03,
  9.28180041e-03, 3.66593650e-01, 1.62897136e-01, 5.51143621e-02,
 -6.82233122e-06,-2.51064896e-03,-5.59995185e-04,-6.78188088e-04,
  3.80823684e-03, 2.08720635e-03, 1.23469723e-04, 5.03489038e-05,
 -9.35451257e-04, 6.46946393e-04,-9.80968655e+00,-6.51642103e-02,
 -9.77299095e-03,-5.10877412e-03]


--- Step 2297 ---
qpos:
[-0.00412362, 0.20432601,-0.08115208, 0.40973486,-0.02824397, 0.01799913,
 -0.16367587, 0.34020446, 0.01392441, 0.70843388,-0.01881342, 0.60189526,
  0.83589422,-0.00455655, 1.15967221, 0.04588947, 0.09362481,-0.06458124,
  0.14265609, 0.94505646,-0.03311303, 0.02660741, 0.32413557]

qacc:
[-6.02845350e+01,-3.27777426e+01, 4.89019302e+01,-9.22988709e+01,
 -3.22579203e+02, 3.79022881e+01,-7.76764994e+01,-5.16984272e+01,
  1.96601009e-01,-4.89188505e+01, 1.75375449e+02,-3.42487697e+02,
 -4.19094277e+01,-1.42575137e+01, 7.17960645e+01,-1.49201239e+02,
  8.62736847e-01,-4.78755449e-01, 7.87558641e-02, 5.67226388e+00,
 -3.03595968e-01,-1.59066226e+01]

qfrc_actuator:
[-5.03156121e-03, 1.64830858e-01, 5.98447465e-02, 7.88983416e-02,
  2.10361013e-02, 3.87193996e-01, 1.43282940e-01, 1.19522255e-01,
 -1.66910792e-03, 1.53444124e-01, 6.03940778e-03, 1.60472627e-01,
  4.75369399e-02, 8.47302652e-03, 2.06350170e-04,-1.98981030e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.6918186 , -0.53215814,  0.44206412, -0.53215814,  0.97931301,
        0.34608666,  0.44206412,  0.34608666,  1.10843878,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005028725768781066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75494745, -0.65529565,  0.02533703,  0.01913427,  0.01660858,
        0.99967897, -0.65550609,  0.75518989,  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([ 0.10795852, -0.04005355,  0.13459817])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.41246119, -0.36090959,  0.19967099, -0.36090959,  0.92918824,
        0.93399522,  0.19967099,  0.93399522,  2.10067758,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008168677219620741
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71302937, -0.69996838,  0.04041505,  0.02884068,  0.02831239,
        0.99918298, -0.70054074,  0.71361241,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10126591, -0.03329144,  0.1201249 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71477034,  0.2803921 ,  0.65747769,  0.2803921 ,  1.7551281 ,
       -0.44367756,  0.65747769, -0.44367756,  0.90398388,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.630349446406e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89783561e-01, -2.81189730e-02, -1.39777771e-01, -2.78427067e-02,
        9.99604584e-01, -3.93196213e-03,  1.39833063e-01, -4.33680869e-19,
       -9.90175093e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12947872, -0.08397022,  0.17746666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002409142942830906
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98155958, -0.1860951 ,  0.04369679, -0.18591097,  0.98253174,
        0.00827633, -0.04447367,  0.        , -0.99901056])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12784073, -0.08215412,  0.11295447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.0095786 ,  0.05703918,  1.00796601,  0.05703918,  3.55262619,
       -0.14390697,  1.00796601, -0.14390697,  1.01772207,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001064553835009855
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.71035032e-01, -7.38190657e-01, -6.91848186e-02, -4.65369460e-02,
       -5.11942553e-02,  9.97603860e-01, -7.39963714e-01,  6.72646788e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10381079, -0.03732367,  0.30563473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.92565151, -7.73809939,  7.7130849 , -7.73809939, 40.50108173,
       29.67134701,  7.7130849 , 29.67134701, 40.69322638,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048150351126646784
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15287116e-13, -5.76435581e-14,  1.00000000e+00, -6.64555958e-27,
        1.00000000e+00,  5.76435581e-14, -1.00000000e+00,  0.00000000e+00,
       -1.15287116e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05239322, -0.06135214,  0.0619892 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.42379820e-03, 1.49761544e-01, 6.94933935e-02, 6.30129442e-03,
  1.12433931e-02, 3.65121823e-01, 1.63847052e-01, 5.53535040e-02,
  2.62664093e-05,-2.46455447e-03,-6.15939942e-04,-8.03590277e-04,
  1.00120260e-02, 5.69113725e-03,-2.26108743e-03, 3.92833712e-04,
 -1.17338342e-03, 8.49649572e-04,-9.80966927e+00,-6.51943790e-02,
 -9.76500982e-03,-5.12030464e-03]


--- Step 2298 ---
qpos:
[-0.00416598, 0.20439459,-0.08141696, 0.4111529 ,-0.02811977, 0.01846908,
 -0.1640954 , 0.341464  , 0.01393301, 0.7110395 ,-0.01884423, 0.60506652,
  0.83652617,-0.00457046, 1.15999854, 0.0458848 , 0.09361034,-0.06460777,
  0.14265749, 0.94520218,-0.03320741, 0.02664989, 0.32369721]

qacc:
[-4.91873440e+01,-3.08212249e+01, 5.38163339e+01,-9.68605343e+01,
 -2.81725641e+02, 3.17559210e+01,-6.97035267e+01,-5.03617188e+01,
  1.96621977e-01,-1.09154832e+01, 2.91084989e+00, 4.09996689e+01,
 -3.60118930e+01,-4.93395203e+00, 5.34846640e+01,-8.99358041e+01,
  6.39228659e-01,-2.09644959e-01, 9.33571280e-02, 4.57396097e+00,
 -1.98558310e+00,-5.89723314e+00]

qfrc_actuator:
[-5.02903635e-03, 1.64786668e-01, 6.01401400e-02, 7.88284279e-02,
  2.08777534e-02, 3.86901478e-01, 1.43711997e-01, 1.19125655e-01,
 -1.65871961e-03, 1.52994599e-01, 6.07123560e-03, 1.60620301e-01,
  4.74687118e-02, 8.45274572e-03, 7.72538017e-05,-1.77399635e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.68037569, -0.52108223,  0.43747501, -0.52108223,  0.8988214 ,
        0.26019356,  0.43747501,  0.26019356,  0.99029565,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004911741348889076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75553504, -0.65461264,  0.02547742,  0.01925533,  0.01668325,
        0.9996754 , -0.65482519,  0.75578037,  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([ 0.10794416, -0.04005971,  0.13461878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.41475642, -0.36034054,  0.20537181, -0.36034054,  0.84812923,
        0.76038575,  0.20537181,  0.76038575,  1.74891136,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008246672051412699
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71341112, -0.69956314,  0.0406939 ,  0.02905555,  0.02849156,
        0.99917166, -0.7001431 ,  0.71400255,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10123109, -0.03328735,  0.12014727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71395919,  0.312054  ,  0.64215265,  0.312054  ,  1.4970183 ,
       -0.38052748,  0.64215265, -0.38052748,  0.89887648,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.637426105585265e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9898114 , -0.02796364, -0.13961167, -0.02768956,  0.99960894,
       -0.00390558,  0.13966628,  0.        , -0.99019863])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1294522 , -0.08402613,  0.17747094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002404514736129222
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98071806, -0.19035239,  0.04424982, -0.19015892,  0.98171583,
        0.00857994, -0.04507397,  0.        , -0.99898365])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12779138, -0.08220328,  0.11296804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.02326243,  0.00761202,  1.02323412,  0.00761202,  4.27786171,
       -0.02421154,  1.02323412, -0.02421154,  1.02344255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015252076401958776
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67050757, -0.73866837, -0.06919998, -0.0465106 , -0.05123866,
        0.99760281, -0.74044336,  0.67211877,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380134, -0.03733992,  0.30548904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.93435841, -8.10164964,  7.34325997, -8.10164964, 46.61157898,
       39.36185597,  7.34325997, 39.36185597, 54.36138777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004820895684467391
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30293932e-13, -1.15146966e-13,  1.00000000e+00, -2.65176476e-26,
        1.00000000e+00,  1.15146966e-13, -1.00000000e+00,  0.00000000e+00,
       -2.30293932e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05238099, -0.06136008,  0.06198919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.38389806e-03, 1.52133033e-01, 7.05584109e-02, 6.54292352e-03,
  1.29978811e-02, 3.64225571e-01, 1.64966397e-01, 5.53570853e-02,
  2.72748271e-05,-2.04889708e-03,-5.89126294e-04, 1.41765882e-05,
  1.49659613e-02, 8.48097957e-03,-4.67702251e-03, 6.50650059e-04,
 -1.30837926e-03, 9.76450795e-04,-9.80967483e+00,-6.52126980e-02,
 -9.74997187e-03,-5.13103992e-03]


--- Step 2299 ---
qpos:
[-0.00422216, 0.20443105,-0.08169117, 0.41256574,-0.02802416, 0.01893694,
 -0.16453085, 0.34271564, 0.01394145, 0.71363222,-0.01887649, 0.60824757,
  0.83709493,-0.0046125 , 1.1603624 , 0.04588649, 0.09359779,-0.06463431,
  0.14265928, 0.94534687,-0.03329243, 0.02668902, 0.32326244]

qacc:
[-4.00773695e+01,-2.59993552e+01, 5.10041169e+01,-9.60138789e+01,
 -2.41426077e+02, 2.57633568e+01,-6.20111054e+01,-5.00066165e+01,
 -9.89864004e-02, 5.25026240e+00,-7.03029030e+01, 2.14444382e+02,
 -3.14786811e+01, 2.37175201e+00, 3.77561904e+01,-4.80941079e+01,
  4.77770366e-01, 1.35613622e-03, 9.43893784e-02, 3.80956092e+00,
 -3.14262186e+00, 1.92884500e+00]

qfrc_actuator:
[-5.00040828e-03, 1.64757163e-01, 6.04305487e-02, 7.88617649e-02,
  2.07175924e-02, 3.86694839e-01, 1.44110635e-01, 1.18566169e-01,
 -1.69162823e-03, 1.52704006e-01, 6.13942515e-03, 1.61143333e-01,
  4.74146364e-02, 8.45265447e-03, 3.89503334e-05,-1.50311190e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.66789423, -0.50987287,  0.43140742, -0.50987287,  0.875075  ,
        0.24486331,  0.43140742,  0.24486331,  0.95729389,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047766842752153195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75613794, -0.65391105,  0.02560774,  0.01936933,  0.01675067,
        0.99967207, -0.65412556,  0.75638598,  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([ 0.10793425, -0.04006679,  0.1346376 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.41645036, -0.35890302,  0.21123334, -0.35890302,  0.84042865,
        0.72037439,  0.21123334,  0.72037439,  1.64042637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008305984301558803
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.13822345e-01, -6.99129749e-01,  4.09298653e-02,  2.92411559e-02,
        2.86392855e-02,  9.99162022e-01, -6.99716095e-01,  7.14421014e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10120114, -0.03328375,  0.1201676 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71343778,  0.34711404,  0.62330194,  0.34711404,  1.30685135,
       -0.33046934,  0.62330194, -0.33046934,  0.89747466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.865379160029858e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98984082, -0.02784143, -0.13942739, -0.02756927,  0.99961235,
       -0.00388336,  0.13948146,  0.        , -0.99022468])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12942609, -0.08408328,  0.17747442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024288588820020503
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97975551, -0.19508622,  0.04495008, -0.19488123,  0.9807861 ,
        0.00894093, -0.04583066,  0.        , -0.99894922])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12774348, -0.08225794,  0.11298334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.03966204, -0.06417657,  1.03767939, -0.06417657,  5.75298655,
        0.29150139,  1.03767939,  0.29150139,  1.0576903 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000192837253378493
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.70038560e-01, -7.39089076e-01, -6.92507434e-02, -4.65123312e-02,
       -5.13056382e-02,  9.97599286e-01, -7.40867688e-01,  6.71651002e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379731, -0.03735778,  0.30536197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.93482212, -8.59268676,  6.76284476, -8.59268676, 51.96466879,
       52.1314081 ,  6.76284476, 52.1314081 , 77.17157247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004821207369902353
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15139522e-13, -5.75697610e-14,  1.00000000e+00, -6.62855477e-27,
        1.00000000e+00,  5.75697610e-14, -1.00000000e+00,  0.00000000e+00,
       -1.15139522e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05237094, -0.06136635,  0.06198919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.50797054e-03, 1.54137905e-01, 7.14501538e-02, 6.85757792e-03,
  1.45073406e-02, 3.63760267e-01, 1.66103232e-01, 5.51912649e-02,
 -1.55671153e-05,-1.62100809e-03,-4.38325959e-04, 4.23516601e-04,
  1.88821251e-02, 1.05047355e-02,-6.89735649e-03, 7.13851850e-04,
 -1.34299661e-03, 1.02164255e-03,-9.80969932e+00,-6.52204278e-02,
 -9.73175787e-03,-5.14077072e-03]


--- Step 2300 ---
qpos:
[-0.00428951, 0.2044401 ,-0.08197219, 0.41397389,-0.02795304, 0.01939736,
 -0.1649828 , 0.34395937, 0.01394982, 0.71621449,-0.01890839, 0.61142935,
  0.83761074,-0.00467481, 1.16074388, 0.04588626, 0.09358686,-0.06466032,
  0.14266135, 0.94548686,-0.03336745, 0.02672438, 0.32284208]

qacc:
[-3.24007113e+01,-2.58118569e+01, 5.70516642e+01,-1.00159537e+02,
 -2.06838176e+02, 2.03261644e+01,-5.30277908e+01,-5.37947173e+01,
 -3.19840235e-02,-1.33894764e+01, 2.51336738e+01,-6.25516582e+00,
 -2.84717898e+01, 6.86469265e+00, 3.33639101e+01,-7.55602936e+01,
  4.07434249e-01, 1.29915514e-01, 6.96650514e-02, 3.85029959e+00,
 -3.58202207e+00, 7.64620850e+00]

qfrc_actuator:
[-4.93471846e-03, 1.64779649e-01, 6.07200856e-02, 7.87813144e-02,
  2.06359186e-02, 3.86473722e-01, 1.44515805e-01, 1.17858822e-01,
 -1.69688959e-03, 1.52441203e-01, 6.24736698e-03, 1.61190754e-01,
  4.73757792e-02, 8.50405346e-03, 4.34491152e-05,-1.84214863e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.65509756, -0.49194544,  0.4325997 , -0.49194544,  0.85648755,
        0.22901746,  0.4325997 ,  0.22901746,  0.91553255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004628982483675427
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75673551, -0.65321482,  0.02572485,  0.01947335,  0.01680942,
        0.99966906, -0.65343106,  0.75698603,  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([ 0.1079279 , -0.04007455,  0.13465501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.41770885, -0.35925102,  0.21311824, -0.35925102,  0.81528487,
        0.67018946,  0.21311824,  0.67018946,  1.54743971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008351121779433432
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71424148, -0.69868994,  0.04112751,  0.02939985,  0.02875971,
        0.99915391, -0.6992816 ,  0.71484631,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10117521, -0.0332807 ,  0.12018628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71310148,  0.42597535,  0.57189049,  0.42597535,  1.19204021,
       -0.35673979,  0.57189049, -0.35673979,  0.97882082,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.271487793934175e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98987023, -0.02774755, -0.1392372 , -0.02747705,  0.99961496,
       -0.00386498,  0.13929083,  0.        , -0.99025152])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12940062, -0.08414001,  0.17747716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024525092558799165
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78784478e-01, -1.99758144e-01,  4.55810173e-02, -1.99541891e-01,
        9.79845235e-01,  9.29246692e-03, -4.65185886e-02,  1.73472348e-18,
       -9.98917424e-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([ 0.12769758, -0.08231173,  0.11299782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.05756587, -0.22560143,  1.0332229 , -0.22560143,  2.66215526,
        0.35035776,  1.0332229 ,  0.35035776,  1.13406554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022790488744502672
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66961612, -0.73946479, -0.06932582, -0.04653364, -0.05138764,
        0.99759407, -0.74124818,  0.67123106,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379654, -0.03737652,  0.30525202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048171384652670457
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30473555e-13, -1.15236777e-13,  1.00000000e+00, -2.65590297e-26,
        1.00000000e+00,  1.15236777e-13, -1.00000000e+00,  0.00000000e+00,
       -2.30473555e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05236261, -0.06137132,  0.0619892 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75153864e-03, 1.55765239e-01, 7.22067154e-02, 7.03447029e-03,
  1.58556577e-02, 3.63628501e-01, 1.67301755e-01, 5.48755638e-02,
 -5.90047313e-06,-1.30815446e-03,-2.80342674e-04,-2.23024928e-05,
  2.20036381e-02, 1.19649270e-02,-8.77283842e-03, 5.60484896e-05,
 -1.29563502e-03, 9.97646792e-04,-9.80973618e+00,-6.52203601e-02,
 -9.71252316e-03,-5.14939066e-03]


--- Step 2301 ---
qpos:
[-0.00436527, 0.20442691,-0.08225751, 0.41537787,-0.027903  , 0.01985914,
 -0.16544537, 0.34519653, 0.01395836, 0.71878881,-0.01894142, 0.61461914,
  0.83808332,-0.00474987, 1.161138  , 0.04588432, 0.0935773 ,-0.06468524,
  0.14266363, 0.94561862,-0.03343209, 0.02675515, 0.3224467 ]

qacc:
[-2.43514257e+01,-2.49075217e+01, 6.13833317e+01,-1.02594913e+02,
 -1.78110074e+02, 1.85153940e+01,-3.55743164e+01,-6.25431058e+01,
  1.03074122e-01, 7.59139788e+00,-6.39517616e+01, 1.79048467e+02,
 -2.58354674e+01, 1.14402014e+01, 2.52904149e+01,-5.80550626e+01,
  3.39321177e-01, 2.73832759e-01, 5.52999243e-02, 3.69224884e+00,
 -4.14475670e+00, 1.31966823e+01]

qfrc_actuator:
[-4.86165570e-03, 1.64841476e-01, 6.10458054e-02, 7.87229311e-02,
  2.05909146e-02, 3.86250118e-01, 1.44985092e-01, 1.17154697e-01,
 -1.68560339e-03, 1.52304286e-01, 6.28916814e-03, 1.61614805e-01,
  4.73367550e-02, 8.58972580e-03, 6.34183117e-05,-1.97330749e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.64241534, -0.48194828,  0.42476267, -0.48194828,  0.85784956,
        0.24443803,  0.42476267,  0.24443803,  0.91976195,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004472184300638056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.57312851e-01, -6.52541310e-01,  2.58279724e-02,  1.95663827e-02,
        1.68594432e-02,  9.99666402e-01, -6.52759069e-01,  7.57565573e-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([ 0.10792458, -0.04008282,  0.13467125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.41862379, -0.35807597,  0.21685819, -0.35807597,  0.82663179,
        0.67370229,  0.21685819,  0.67370229,  1.53104016,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008384562293615594
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71465351, -0.69825889,  0.04129014,  0.02953333,  0.02885582,
        0.9991472 , -0.69885488,  0.71526349,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10115283, -0.03327827,  0.12020353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71289592,  0.48902884,  0.51872092,  0.48902884,  1.42136103,
       -0.6679119 ,  0.51872092, -0.6679119 ,  1.34257591,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8478138849921734e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89898853e-01, -2.76778953e-02, -1.39047456e-01, -2.74088173e-02,
        9.99616894e-01, -3.85001591e-03,  1.39100747e-01,  4.33680869e-19,
       -9.90278235e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12937602, -0.08419505,  0.1774791 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021440617707689444
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97792146, -0.20380757,  0.04617459, -0.20358076,  0.97901097,
        0.00961249, -0.04716453,  0.        , -0.99888713])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12765272, -0.0823583 ,  0.11301187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.076014  , -0.24132819,  1.04860233, -0.24132819,  3.13384063,
        0.47359381,  1.04860233,  0.47359381,  1.18500817,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025822074003941823
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66923275, -0.73980313, -0.06941797, -0.04656912, -0.05147982,
        0.99758766, -0.7415921 ,  0.67085107,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379808, -0.03739592,  0.30515757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000480939052895632
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15422424e-13, -1.73133636e-13,  1.00000000e+00,  1.99835039e-26,
        1.00000000e+00,  1.73133636e-13, -1.00000000e+00,  0.00000000e+00,
        1.15422424e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05235564, -0.06137526,  0.06198922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.11957474e-03, 1.57197969e-01, 7.28730914e-02, 7.20849496e-03,
  1.70351452e-02, 3.63763030e-01, 1.68593012e-01, 5.45641094e-02,
  1.47181722e-05,-9.92557314e-04,-2.78737686e-04, 3.61894429e-04,
  2.46121669e-02, 1.30651528e-02,-9.63892822e-03, 2.02900531e-05,
 -1.19031668e-03, 9.27300047e-04,-9.80977845e+00,-6.52160437e-02,
 -9.69196334e-03,-5.15689723e-03]


--- Step 2302 ---
qpos:
[-0.00444643, 0.20439606,-0.08254461, 0.41677817,-0.02786896, 0.02031441,
 -0.16591994, 0.34642704, 0.01396728, 0.7213569 ,-0.0189764 , 0.61782385,
  0.83852189,-0.00483062, 1.16154965, 0.0458876 , 0.09356877,-0.06470849,
  0.14266611, 0.94573922,-0.03348672, 0.0267802 , 0.32208507]

qacc:
[-1.55832697e+01,-2.48121465e+01, 6.75794191e+01,-1.07031377e+02,
 -1.35250047e+02, 1.19093548e+01,-2.70334256e+01,-6.37807432e+01,
  2.23374202e-01, 2.49446064e+01,-1.40790996e+02, 3.47293337e+02,
 -2.33410127e+01, 1.57327466e+01, 1.15798246e+01, 3.67814722e-01,
  2.59036384e-01, 4.15034312e-01, 4.89622671e-02, 3.17408509e+00,
 -4.73675226e+00, 1.77959549e+01]

qfrc_actuator:
[-4.78246832e-03, 1.64950446e-01, 6.13401818e-02, 7.85193652e-02,
  2.05565413e-02, 3.86143447e-01, 1.45440303e-01, 1.16507591e-01,
 -1.66459917e-03, 1.52209073e-01, 6.27488480e-03, 1.62381531e-01,
  4.72986622e-02, 8.67879860e-03, 6.58548198e-05,-1.62414340e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.63025188, -0.47616908,  0.41289277, -0.47616908,  0.85264441,
        0.25647445,  0.41289277,  0.25647445,  0.92603135,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043107071132713823
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.57855505e-01, -6.51907511e-01,  2.59158495e-02,  1.96470681e-02,
        1.69004133e-02,  9.99664128e-01, -6.52126542e-01,  7.58110133e-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([ 0.10792372, -0.04009142,  0.1346866 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.41930411, -0.3571165 ,  0.21973562, -0.3571165 ,  0.82461916,
        0.65872201,  0.21973562,  0.65872201,  1.4898656 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008409791263355717
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71504316, -0.69785204,  0.04142237,  0.02964422,  0.02893151,
        0.99914173, -0.6984515 ,  0.71565739,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10113349, -0.0332765 ,  0.12021964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71281396,  0.51993406,  0.48761903,  0.51993406,  1.25685675,
       -0.58009707,  0.48761903, -0.58009707,  1.33135468,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.660074142351207e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89925808e-01, -2.76290737e-02, -1.38865150e-01, -2.73611784e-02,
        9.99618244e-01, -3.83818071e-03,  1.38918183e-01,  4.33680869e-19,
       -9.90303862e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12935189, -0.0842467 ,  0.1774802 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002176981839340047
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77972575e-01, -2.03458486e-01,  4.66292433e-02, -2.03227615e-01,
        9.79083574e-01,  9.68979105e-03, -4.76253964e-02,  1.73472348e-18,
       -9.98865267e-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([ 0.12759892, -0.08235452,  0.11302432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.0942455 , -0.32584205,  1.04460527, -0.32584205,  4.03150385,
        0.91621428,  1.04460527,  0.91621428,  1.38003875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002842514303033863
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66888129, -0.74011131, -0.06952027, -0.04661359, -0.05157753,
        0.99758054, -0.74190632,  0.67050355,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380084, -0.03741561,  0.30507714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047986409786790474
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15680984e-13, -1.15680984e-13,  1.00000000e+00,  1.33820902e-26,
        1.00000000e+00,  1.15680984e-13, -1.00000000e+00,  0.00000000e+00,
        1.15680984e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05234975, -0.06137838,  0.06198924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61994882e-03, 1.58419830e-01, 7.33825622e-02, 7.21108733e-03,
  1.80545428e-02, 3.63573585e-01, 1.69575985e-01, 5.42428592e-02,
  3.31655817e-05,-7.59697204e-04,-2.58067327e-04, 7.24704608e-04,
  2.67354098e-02, 1.37931465e-02,-1.02745560e-02, 4.53157448e-04,
 -1.03670692e-03, 8.15697022e-04,-9.80982405e+00,-6.52080222e-02,
 -9.67168822e-03,-5.16322742e-03]


--- Step 2303 ---
qpos:
[-0.00453092, 0.204354  ,-0.08283217, 0.41817499,-0.02784665, 0.02075652,
 -0.16640761, 0.34765083, 0.01397634, 0.72391841,-0.01901198, 0.62103446,
  0.83893217,-0.00491241, 1.1619693 , 0.04589391, 0.09356113,-0.0647298 ,
  0.14266873, 0.94584699,-0.03353139, 0.0267994 , 0.3217622 ]

qacc:
[-9.66611002e+00,-1.96265755e+01, 6.05621561e+01,-1.03268446e+02,
 -9.92666653e+01, 6.09409712e+00,-1.88674923e+01,-6.61189691e+01,
  7.73251337e-02, 3.94178791e+00,-4.25903861e+01, 1.27498057e+02,
 -2.17411437e+01, 1.85125297e+01, 4.07342426e+00, 6.14183089e+00,
  2.22102454e-01, 4.86961390e-01, 3.41682402e-02, 3.03501058e+00,
 -4.84666266e+00, 2.04295677e+01]

qfrc_actuator:
[-4.69926134e-03, 1.65074275e-01, 6.15972218e-02, 7.84074022e-02,
  2.05318978e-02, 3.86025522e-01, 1.45874960e-01, 1.15986162e-01,
 -1.67354862e-03, 1.51909566e-01, 6.24597009e-03, 1.62669143e-01,
  4.72671808e-02, 8.80346715e-03, 3.02476402e-05,-1.57885913e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.61886937, -0.46638115,  0.40680207, -0.46638115,  0.88572033,
        0.30593319,  0.40680207,  0.30593319,  0.96960867,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00041483372969123466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.58351510e-01, -6.51327615e-01,  2.59870358e-02,  1.97139656e-02,
        1.69317923e-02,  9.99662280e-01, -6.51547656e-01,  7.58607707e-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([ 0.10792482, -0.04010015,  0.13470128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.41984009, -0.35685087,  0.22118579, -0.35685087,  0.86483867,
        0.71794001,  0.22118579,  0.71794001,  1.57813109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008429897238508131
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7153978 , -0.69748219,  0.04152801,  0.02973469,  0.02899005,
        0.99913734, -0.6980844 ,  0.71601548,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10111671, -0.03327539,  0.12023483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71281834,  0.57002047,  0.4280031 ,  0.57002047,  1.09149344,
       -0.50432476,  0.4280031 , -0.50432476,  1.38448505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.670428863506147e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89950158e-01, -2.75960253e-02, -1.38698034e-01, -2.73290977e-02,
        9.99619157e-01, -3.82897270e-03,  1.38750876e-01, -4.33680869e-19,
       -9.90327317e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12932854, -0.08429395,  0.17748047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002223198913965015
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97807914, -0.2028416 ,  0.04707943, -0.20260702,  0.97921156,
        0.0097524 , -0.04807892,  0.        , -0.99884354])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12754667, -0.08234757,  0.11303669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11167033, -0.62676724,  0.91813602, -0.62676724,  5.46891518,
        2.97448121,  0.91813602,  2.97448121,  3.14220539,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030643327259458633
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.68554963e-01, -7.40396142e-01, -6.96262487e-02, -4.66622164e-02,
       -5.16764169e-02,  9.97573148e-01, -7.42197345e-01,  6.70181394e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380359, -0.03743509,  0.30500933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004785808970350497
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15991155e-13, -5.79955777e-14,  1.00000000e+00,  6.72697407e-27,
        1.00000000e+00,  5.79955777e-14, -1.00000000e+00,  0.00000000e+00,
        1.15991155e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0523447 , -0.06138085,  0.06198927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26716238e-03, 1.59428723e-01, 7.37303004e-02, 7.28132354e-03,
  1.88297244e-02, 3.63768085e-01, 1.70608615e-01, 5.40511526e-02,
  1.10648073e-05,-8.15955804e-04,-2.11130364e-04, 2.62779305e-04,
  2.84046933e-02, 1.42047327e-02,-1.11937562e-02, 2.35999700e-04,
 -8.55200169e-04, 6.76718957e-04,-9.80986940e+00,-6.51976252e-02,
 -9.65377723e-03,-5.16834325e-03]


--- Step 2304 ---
qpos:
[-0.00461787, 0.20431076,-0.08312014, 0.41956833,-0.02783238, 0.02118042,
 -0.16690887, 0.34886792, 0.01398521, 0.72647043,-0.01904566, 0.6242409 ,
  0.83931845,-0.00499177, 1.16238883, 0.04590078, 0.09355429,-0.06474903,
  0.14267143, 0.94594105,-0.03356616, 0.02681298, 0.32148079]

qacc:
[-7.12633103e+00,-6.72175055e+00, 3.41272903e+01,-8.59783224e+01,
 -6.79831864e+01, 1.01139720e+00,-1.07044535e+01,-6.86561017e+01,
 -9.85210440e-02,-2.54250223e+01, 8.23580409e+01,-1.29923130e+02,
 -2.05587689e+01, 2.05948260e+01,-4.22886444e-01, 4.41194892e+00,
  2.01209729e-01, 5.22301069e-01, 2.04249195e-02, 2.99163498e+00,
 -4.75892468e+00, 2.18544402e+01]

qfrc_actuator:
[-4.59577860e-03, 1.65225374e-01, 6.18489882e-02, 7.87067136e-02,
  2.04974778e-02, 3.85856830e-01, 1.46356428e-01, 1.15738158e-01,
 -1.70036981e-03, 1.51295041e-01, 6.27871337e-03, 1.62441567e-01,
  4.72297229e-02, 8.92936398e-03, 3.99529330e-06,-1.64479975e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.60853712, -0.460917  ,  0.39733229, -0.460917  ,  1.02824451,
        0.48687276,  0.39733229,  0.48687276,  1.17332367,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000399013683693505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.58794114e-01, -6.50809748e-01,  2.60415969e-02,  1.97669142e-02,
        1.69538749e-02,  9.99660860e-01, -6.51030538e-01,  7.59051539e-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([ 0.10792725, -0.04010882,  0.13471558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.42036107, -0.35336425,  0.22767769, -0.35336425,  1.09156615,
        1.04173528,  0.22767769,  1.04173528,  2.03717299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008449642993154528
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71570758, -0.69715912,  0.04161525,  0.02981017,  0.0290376 ,
        0.99913371, -0.69776358,  0.71632813,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10110187, -0.0332749 ,  0.12024943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71289812,  0.61607939,  0.3587059 ,  0.61607939,  0.95700602,
       -0.41925667,  0.3587059 , -0.41925667,  1.43297378,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8526861531201506e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89971512e-01, -2.75745195e-02, -1.38549813e-01, -2.73083728e-02,
        9.99619751e-01, -3.82189779e-03,  1.38602516e-01,  4.33680869e-19,
       -9.90348092e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12930625, -0.08433628,  0.17747991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002261502264915375
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97815946, -0.20234194,  0.0475584 , -0.2021032 ,  0.97931493,
        0.00982632, -0.04856293,  0.        , -0.99882012])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12749762, -0.08234186,  0.11304937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12785559, -0.80302679,  0.79196352, -0.80302679,  5.55175792,
        4.48570166,  0.79196352,  4.48570166,  5.67621988,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032517917199913687
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.68249533e-01, -7.40661910e-01, -6.97316065e-02, -4.67118199e-02,
       -5.17735726e-02,  9.97565789e-01, -7.42469237e-01,  6.69880162e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038058 , -0.03745416,  0.3049528 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004771406153338126
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16341283e-13, -5.81706414e-14,  1.00000000e+00, -6.76764703e-27,
        1.00000000e+00,  5.81706414e-14, -1.00000000e+00,  0.00000000e+00,
       -1.16341283e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05234034, -0.06138282,  0.0619893 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.96274058e-04, 1.60142254e-01, 7.40057958e-02, 7.75214703e-03,
  1.93821079e-02, 3.64244167e-01, 1.71742468e-01, 5.41369062e-02,
 -1.62162253e-05,-1.16995823e-03,-1.70129432e-04,-2.62658963e-04,
  2.97807154e-02, 1.43845171e-02,-1.16278289e-02, 1.64111190e-05,
 -6.71745225e-04, 5.34240560e-04,-9.80990983e+00,-6.51873951e-02,
 -9.63817875e-03,-5.17229223e-03]


--- Step 2305 ---
qpos:
[-0.00470661, 0.20427202,-0.08340835, 0.4209583 ,-0.02782301, 0.02158227,
 -0.16742389, 0.3500784 , 0.01399405, 0.729011  ,-0.01907724, 0.62744192,
  0.83968404,-0.00506616, 1.16280245, 0.04590601, 0.09354821,-0.06476614,
  0.14267416, 0.9460212 ,-0.03359117, 0.02682141, 0.32124154]

qacc:
[-5.22134466e+00, 4.63343240e-01, 1.91531852e+01,-7.44314369e+01,
 -4.14739172e+01,-3.39562796e+00,-2.92047879e+00,-7.12271378e+01,
 -8.43097663e-03,-3.08946883e+01, 1.01259414e+02,-1.63896136e+02,
 -1.95735077e+01, 2.20265290e+01,-2.42007916e+00,-1.08506931e+00,
  1.89087866e-01, 5.25821213e-01, 7.16350973e-03, 2.99219561e+00,
 -4.53273115e+00, 2.22177287e+01]

qfrc_actuator:
[-0.00453294, 0.1653518 , 0.06209773, 0.07916543, 0.02045819, 0.38570349,
  0.14688948, 0.11571013,-0.00170215, 0.15063907, 0.0063462 , 0.16216111,
  0.04719464, 0.00903519, 0.        ,-0.00179396, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.59958442, -0.46757201,  0.37533703, -0.46757201,  1.22291632,
        0.77650892,  0.37533703,  0.77650892,  1.56691193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003843535422772691
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.59179737e-01, -6.50358326e-01,  2.60801607e-02,  1.98062665e-02,
        1.69672210e-02,  9.99659855e-01, -6.50579617e-01,  7.59438056e-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([ 0.10793022, -0.04011723,  0.13472987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.42106533, -0.34642191,  0.23934885, -0.34642191,  1.54071444,
        1.62052579,  0.23934885,  1.62052579,  2.76653572,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008476666763657823
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71596266, -0.69689222,  0.04169778,  0.02988004,  0.02908416,
        0.99913027, -0.69749886,  0.71658589,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10108812, -0.03327496,  0.12026389])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71305802,  0.65459493,  0.28276706,  0.65459493,  0.85025026,
       -0.31759481,  0.28276706, -0.31759481,  1.44827788,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.186617034805004e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98998972, -0.02756089, -0.13842233, -0.02729536,  0.99962013,
       -0.00381649,  0.13847494,  0.        , -0.99036594])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12928522, -0.08437345,  0.17747854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022997191865362318
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97822658, -0.20190393,  0.04803707, -0.20166093,  0.97940533,
        0.00990282, -0.04904718,  0.        , -0.99879646])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12745208, -0.08233675,  0.11306201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14250529, -0.89413564,  0.71122414, -0.89413564,  5.39550699,
        5.34678194,  0.71122414,  5.34678194,  7.86436414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003408733521622958
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.67961860e-01, -7.40911794e-01, -6.98331334e-02, -4.67600256e-02,
       -5.18668153e-02,  9.97558687e-01, -7.42725019e-01,  6.69596555e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380721, -0.03747276,  0.30490627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004755718925600616
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16725046e-13,  5.83625232e-14,  1.00000000e+00,  6.81236823e-27,
        1.00000000e+00, -5.83625232e-14, -1.00000000e+00,  0.00000000e+00,
       -1.16725046e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0523365 , -0.06138438,  0.06198934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.10621057e-04, 1.60330295e-01, 7.42760632e-02, 8.38321409e-03,
  1.97445765e-02, 3.64988527e-01, 1.72953742e-01, 5.44412794e-02,
 -2.90671478e-06,-1.41964538e-03,-2.18884628e-04,-3.38404445e-04,
  3.09453438e-02, 1.43702753e-02,-1.16338495e-02,-1.62169626e-04,
 -5.01577611e-04, 4.01392101e-04,-9.80994338e+00,-6.51783977e-02,
 -9.62516854e-03,-5.17513165e-03]


--- Step 2306 ---
qpos:
[-0.00479594, 0.20423583,-0.08369559, 0.4223453 ,-0.02781587, 0.02195927,
 -0.16795248, 0.35128242, 0.0140031 , 0.73154136,-0.01910856, 0.6306391 ,
  0.84003188,-0.00513355, 1.16320749, 0.04590861, 0.09354284,-0.06478122,
  0.14267687, 0.94608769,-0.03360665, 0.02682514, 0.32104375]

qacc:
[-1.73166836e+00,-4.63457225e+00, 3.17144939e+01,-7.96220726e+01,
 -1.88359288e+01,-7.16030001e+00, 4.41835561e+00,-7.37360037e+01,
  1.23831095e-01,-2.13185412e+01, 6.61275380e+01,-1.08374368e+02,
 -1.85969322e+01, 2.29958258e+01,-3.30625064e+00,-3.75619477e+00,
  1.77752683e-01, 5.09635703e-01,-4.94304517e-03, 2.96555047e+00,
 -4.26115426e+00, 2.18555319e+01]

qfrc_actuator:
[-0.00449418, 0.1654582 , 0.06239791, 0.07945479, 0.0204338 , 0.38553499,
  0.14742357, 0.11578117,-0.00168899, 0.15024803, 0.00639807, 0.16197612,
  0.04715622, 0.0091432 , 0.        ,-0.00195558, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.59205522, -0.47873396,  0.34834348, -0.47873396,  1.22268223,
        0.86668068,  0.34834348,  0.86668068,  1.78314818,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037124616425757476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.59507561e-01, -6.49974508e-01,  2.61037147e-02,  1.98327269e-02,
        1.69725327e-02,  9.99659240e-01, -6.50196069e-01,  7.59766459e-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([ 0.10793324, -0.04012525,  0.13474436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.42204788, -0.33967373,  0.25049185, -0.33967373,  1.80813901,
        1.87957708,  0.25049185,  1.87957708,  2.97080527,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008515042961879536
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71615867, -0.69668565,  0.04178355,  0.02994981,  0.02913544,
        0.99912669, -0.69729461,  0.71678465,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10107493, -0.03327554,  0.12027849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71331123,  0.68200817,  0.20899227,  0.68200817,  0.77971605,
       -0.21670003,  0.20899227, -0.21670003,  1.42047227,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.653295230428825e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90004834e-01, -2.75520228e-02, -1.38315999e-01, -2.72869947e-02,
        9.99620371e-01, -3.81233283e-03,  1.38368527e-01, -4.33680869e-19,
       -9.90380811e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12926563, -0.08440544,  0.17747637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023368594014994333
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78280659e-01, -2.01529237e-01,  4.85068929e-02, -2.01281958e-01,
        9.79482499e-01,  9.98032852e-03, -4.95229807e-02, -1.73472348e-18,
       -9.98772984e-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([ 0.12741039, -0.08233229,  0.11307451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003538639898414236
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6676895 , -0.74114825, -0.06992849, -0.0468051 , -0.05195456,
        0.99755201, -0.74296703,  0.66932801,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380776, -0.03749092,  0.30486857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004738942326449891
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.85691357e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.85691357e-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([ 0.05233308, -0.06138563,  0.06198938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.82313913e-04, 1.60213926e-01, 7.45898699e-02, 8.83936272e-03,
  1.99652762e-02, 3.65911553e-01, 1.74173725e-01, 5.48403203e-02,
  1.76446287e-05,-1.30587708e-03,-2.92906438e-04,-2.55238772e-04,
  3.19404646e-02, 1.42306037e-02,-1.13460037e-02,-2.44299125e-04,
 -3.54619914e-04, 2.86573960e-04,-9.80996928e+00,-6.51711259e-02,
 -9.61492856e-03,-5.17693081e-03]


--- Step 2307 ---
qpos:
[-0.00488473, 0.20420206,-0.08398125, 0.42372951,-0.02780869, 0.02230976,
 -0.16849419, 0.35248017, 0.01401215, 0.7340645 ,-0.01914125, 0.63384618,
  0.84036464,-0.00519234, 1.16360477, 0.04590933, 0.09353812,-0.06479436,
  0.14267953, 0.9461411 ,-0.0336131 , 0.02682458, 0.32088568]

qacc:
[ 1.57038208e+00,-6.09689007e+00, 3.58809506e+01,-8.13635162e+01,
  3.33089400e-01,-1.01467240e+01, 1.08856997e+01,-7.57275565e+01,
  6.45658790e-04, 1.26671770e+01,-8.49442502e+01, 2.23154128e+02,
 -1.76200857e+01, 2.36286072e+01,-4.44106202e+00, 1.89820368e+00,
  1.61631222e-01, 4.83783476e-01,-1.32164696e-02, 2.82648489e+00,
 -3.97242936e+00, 2.09377714e+01]

qfrc_actuator:
[-0.00439933, 0.16560599, 0.06271008, 0.07974998, 0.0203999 , 0.38542226,
  0.1479636 , 0.11594965,-0.00170258, 0.15021457, 0.0064593 , 0.16250584,
  0.04711628, 0.00919527, 0.        ,-0.00203425, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.58566879, -0.4786495 ,  0.33749458, -0.4786495 ,  1.2436401 ,
        0.93316356,  0.33749458,  0.93316356,  1.90912199,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035950071113205657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75977864, -0.64965723,  0.02611331,  0.0198471 ,  0.01697049,
        0.99965899, -0.64987885,  0.76003782,  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([ 0.10793637, -0.04013289,  0.13475901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.4232381 , -0.41448061, -0.08565225, -0.41448061,  0.5940669 ,
       -0.8266593 , -0.08565225, -0.8266593 ,  4.42353316,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008562665062096354
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71629841, -0.69653679,  0.04186992,  0.03001768,  0.02918954,
        0.99912307, -0.69714814,  0.7169271 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10106235, -0.0332766 ,  0.12029316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71367432,  0.69714809,  0.15269439,  0.69714809,  0.74501965,
       -0.1431116 ,  0.15269439, -0.1431116 ,  1.36707077,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.233230255298138e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99001696, -0.02754528, -0.1382305 , -0.02728065,  0.99962056,
       -0.00380904,  0.13828297,  0.        , -0.99039276])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12924756, -0.08443247,  0.17747344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023720007706463844
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97827726, -0.20141829,  0.04903338, -0.20116576,  0.97950532,
        0.01008287, -0.05005933,  0.        , -0.99874625])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1273732 , -0.08233076,  0.11308763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036445844117842865
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66743029, -0.74137345, -0.07001584, -0.04684566, -0.05203559,
        0.99754588, -0.74319734,  0.66907228,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380747, -0.03750874,  0.30483867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047213008212559915
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35151935e-13, -5.87879838e-14,  1.00000000e+00, -1.38241082e-26,
        1.00000000e+00,  5.87879838e-14, -1.00000000e+00,  0.00000000e+00,
       -2.35151935e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05232999, -0.06138663,  0.06198942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.57586252e-04, 1.60236149e-01, 7.48541506e-02, 9.28051451e-03,
  2.00427478e-02, 3.67030580e-01, 1.75391499e-01, 5.53297081e-02,
 -3.04881084e-07,-8.96239100e-04,-2.66428549e-04, 4.63228334e-04,
  3.27871700e-02, 1.39344467e-02,-1.09249897e-02,-1.92652193e-04,
 -2.34996480e-04, 1.93051350e-04,-9.80998780e+00,-6.51655742e-02,
 -9.60754672e-03,-5.17775514e-03]


--- Step 2308 ---
qpos:
[-0.00497195, 0.20417165,-0.08426537, 0.4251109 ,-0.02779963, 0.02263277,
 -0.16904833, 0.35367188, 0.01402073, 0.7365789 ,-0.01917424, 0.63707544,
  0.84068466,-0.00524122, 1.16399333, 0.04590754, 0.093534  ,-0.06480574,
  0.1426821 , 0.94618226,-0.03361093, 0.0268202 , 0.32076489]

qacc:
[ 4.56823197e+00,-4.87764304e+00, 3.34773177e+01,-8.02978480e+01,
  1.59549428e+01,-1.27742293e+01, 1.73455652e+01,-7.81080144e+01,
 -2.67880088e-01, 3.04621945e+01,-1.84275831e+02, 4.86477280e+02,
 -1.66855576e+01, 2.39969151e+01,-3.99775804e+00,-1.78562347e+00,
  1.51430374e-01, 4.42733077e-01,-2.07653662e-02, 2.76333908e+00,
 -3.65455129e+00, 1.96498761e+01]

qfrc_actuator:
[-0.00427172, 0.16575998, 0.06299295, 0.08010293, 0.02039442, 0.3852836 ,
  0.14849443, 0.11603697,-0.00174986, 0.14982866, 0.00647444, 0.1636297 ,
  0.04708647, 0.00924486, 0.        ,-0.00216938, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.58024692, -0.46362233,  0.34891378, -0.46362233,  1.31098829,
        0.97097919,  0.34891378,  0.97097919,  1.87044431,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003490255702699627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75999542, -0.64940375,  0.02610998,  0.01985023,  0.0169617 ,
        0.99965908, -0.64962522,  0.76025461,  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([ 0.10793957, -0.04014016,  0.13477382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008618657805015207
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.16384713e-01, -6.96442819e-01,  4.19564375e-02,  3.00834407e-02,
        2.92460124e-02,  9.99119441e-01, -6.97056618e-01,  7.17016088e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10105032, -0.03327811,  0.12030792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71416247,  0.70805037,  0.09323471,  0.70805037,  0.72421333,
       -0.07632904,  0.09323471, -0.07632904,  1.29382651,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.9053675938379676e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90026263e-01, -2.75384290e-02, -1.38165236e-01, -2.72741118e-02,
        9.99620746e-01, -3.80629712e-03,  1.38217656e-01,  4.33680869e-19,
       -9.90401878e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12923107, -0.08445481,  0.17746979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024048853463236046
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97831024, -0.2011528 ,  0.04946338, -0.20089618,  0.97955988,
        0.01015731, -0.05049551,  0.        , -0.99872429])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12733961, -0.08232742,  0.11309962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003729364079788351
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.67182260e-01, -7.41589306e-01, -7.00937364e-02, -4.68806046e-02,
       -5.21089320e-02,  9.97540409e-01, -7.43417810e-01,  6.68827302e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380634, -0.03752626,  0.30481564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004703047270617766
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18032306e-13,  5.90161528e-14,  1.00000000e+00, -6.96581257e-27,
        1.00000000e+00, -5.90161528e-14, -1.00000000e+00,  0.00000000e+00,
        1.18032306e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05232716, -0.06138743,  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:
[-4.56781423e-04, 1.60271172e-01, 7.50594567e-02, 9.77083889e-03,
  2.00354722e-02, 3.68208684e-01, 1.76577894e-01, 5.57280332e-02,
 -4.16951949e-05,-9.87742218e-04,-2.03090874e-04, 1.08883951e-03,
  3.35104364e-02, 1.35547177e-02,-1.05447797e-02,-2.35663307e-04,
 -1.43386841e-04, 1.21122211e-04,-9.80999959e+00,-6.51615532e-02,
 -9.60302750e-03,-5.17767093e-03]


--- Step 2309 ---
qpos:
[-0.00505664, 0.20414132,-0.08454681, 0.42648982,-0.02778693, 0.02292786,
 -0.16961399, 0.3548578 , 0.01402861, 0.73908178,-0.01920572, 0.6403215 ,
  0.8409938 ,-0.00527962, 1.16437666, 0.045905  , 0.09353045,-0.06481546,
  0.14268455, 0.9462119 ,-0.03360061, 0.02681242, 0.32067917]

qacc:
[ 7.38415477e+00,-1.15605499e+01, 4.93310178e+01,-8.84441391e+01,
  3.08491142e+01,-1.52934543e+01, 2.43362047e+01,-8.14843715e+01,
 -3.91453974e-01, 1.18770821e+01,-1.09886608e+02, 3.42526088e+02,
 -1.56837677e+01, 2.36645458e+01,-4.19826877e+00, 6.27563690e+00,
  1.42076200e-01, 4.12136858e-01,-3.18388399e-02, 2.64403523e+00,
 -3.34607959e+00, 1.84925208e+01]

qfrc_actuator:
[-0.00417896, 0.16586252, 0.06334641, 0.08026092, 0.02040413, 0.38510544,
  0.14900653, 0.11566956,-0.00179913, 0.14912918, 0.0064969 , 0.16445473,
  0.04705243, 0.00930597, 0.        ,-0.00215948, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.57566875, -0.4678633 ,  0.33540787, -0.4678633 ,  1.25772337,
        0.95140382,  0.33540787,  0.95140382,  1.90279005,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033978319702249686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.60161321e-01, -6.49210157e-01,  2.60947955e-02,  1.98430113e-02,
        1.69467772e-02,  9.99659473e-01, -6.49431306e-01,  7.60420264e-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([ 0.10794272, -0.04014702,  0.13478884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008682796678419944
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71642056, -0.69640068,  0.04204381,  0.0301477 ,  0.02930525,
        0.99911577, -0.697017  ,  0.7170546 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10103868, -0.03327999,  0.1203228 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71478966,  0.71425776,  0.02756992,  0.71425776,  0.71554041,
       -0.01944999,  0.02756992, -0.01944999,  1.21868329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.651848145566553e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90032964e-01, -2.75296406e-02, -1.38118964e-01, -2.72655856e-02,
        9.99620988e-01, -3.80380714e-03,  1.38171333e-01, -4.33680869e-19,
       -9.90408341e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12921618, -0.08447287,  0.17746549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024349984460593724
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97833221, -0.20094626,  0.04986679, -0.20068573,  0.97960227,
        0.0102292 , -0.05090514,  0.        , -0.99870349])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12731008, -0.08232469,  0.11311127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037954047998679834
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66694368, -0.74179752, -0.07016102, -0.04690905, -0.05217384,
        0.99753568, -0.74363006,  0.66859131,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380446, -0.03754364,  0.30479867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046843377549493637
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.37007467e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.37007467e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05232454, -0.06138807,  0.0619895 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.42458400e-04, 1.60207807e-01, 7.53365438e-02, 1.00680556e-02,
  1.99512205e-02, 3.69396126e-01, 1.77711459e-01, 5.56602800e-02,
 -6.16537737e-05,-1.31543762e-03,-1.86082889e-04, 8.02136655e-04,
  3.41130250e-02, 1.31214523e-02,-1.01166360e-02,-1.02330275e-04,
 -7.75818554e-05, 6.93442149e-05,-9.81000567e+00,-6.51587690e-02,
 -9.60099741e-03,-5.17673982e-03]


--- Step 2310 ---
qpos:
[-0.00513806, 0.20410909,-0.08482497, 0.42786644,-0.02776932, 0.02319521,
 -0.17019004, 0.35603818, 0.0140361 , 0.74157231,-0.01923494, 0.64357152,
  0.84129316,-0.00530772, 1.16475494, 0.04590115, 0.09352747,-0.06482373,
  0.14268681, 0.94623103,-0.03358255, 0.0268019 , 0.32062549]

qacc:
[ 9.57392033e+00,-1.54050862e+01, 5.83819158e+01,-9.33811031e+01,
  4.16903593e+01,-1.75820892e+01, 3.16717235e+01,-8.57939031e+01,
 -2.19898095e-01,-1.51120902e+01, 1.81287617e+01, 4.51808830e+01,
 -1.47267852e+01, 2.26439124e+01,-2.30425173e+00,-1.01071196e-01,
  1.41560208e-01, 3.64889890e-01,-4.53731222e-02, 2.61708012e+00,
 -2.94002103e+00, 1.68998957e+01]

qfrc_actuator:
[-0.0041087 , 0.16593613, 0.06366944, 0.08028495, 0.02036719, 0.38493276,
  0.14954697, 0.11517349,-0.00181368, 0.14846086, 0.00657532, 0.16463539,
  0.04702147, 0.00924519, 0.        ,-0.00222307, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.57171345, -0.46026597,  0.33913346, -0.46026597,  1.25739347,
        0.93059286,  0.33913346,  0.93059286,  1.83469771,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003314781475427671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76027939, -0.64907293,  0.02606883,  0.01982633,  0.01692633,
        0.99966015, -0.64929359,  0.76053786,  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([ 0.10794599, -0.04015353,  0.13480395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008829386922781952
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7170436 , -0.69574483,  0.0422801 ,  0.03034381,  0.02944249,
        0.9991058 , -0.69636752,  0.71768536,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1010203 , -0.0332744 ,  0.12033946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71556845,  0.71388355, -0.04907626,  0.71388355,  0.71749287,
        0.02799341, -0.04907626,  0.02799341,  1.12277212,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.458467499453594e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99003726, -0.02751718, -0.13809066, -0.02725336,  0.99962133,
       -0.00380131,  0.13814297,  0.        , -0.9904123 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12920286, -0.08448696,  0.17746058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024621262729391164
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97834406, -0.20079535,  0.05024078, -0.20053111,  0.97963321,
        0.01029785, -0.05128529,  0.        , -0.99868404])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12728455, -0.08232256,  0.11312255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003845031547512193
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66671318, -0.74199938, -0.07021722, -0.04693059, -0.05223005,
        0.99753172, -0.74383537,  0.66836288,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1038019 , -0.03756093,  0.30478696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046655264004988317
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18981539e-13, -1.78472309e-13,  1.00000000e+00, -2.12349100e-26,
        1.00000000e+00,  1.78472309e-13, -1.00000000e+00,  0.00000000e+00,
       -1.18981539e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05232208, -0.06138858,  0.06198954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.98556449e-04, 1.60279297e-01, 7.55264487e-02, 1.02135323e-02,
  1.97324631e-02, 3.70612566e-01, 1.78828480e-01, 5.54520351e-02,
 -3.57312321e-05,-1.47355908e-03,-2.03262116e-04, 1.40276607e-04,
  3.46253323e-02, 1.25372691e-02,-9.86261202e-03,-1.30056098e-04,
 -3.36036646e-05, 3.43981203e-05,-9.81000699e+00,-6.51568806e-02,
 -9.60120831e-03,-5.17502489e-03]


--- Step 2311 ---
qpos:
[-0.00521567, 0.20407512,-0.08509955, 0.42924081,-0.02774576, 0.02343567,
 -0.17077522, 0.35721328, 0.01404355, 0.74405168,-0.0192638 , 0.64681769,
  0.84158411,-0.00532562, 1.16513203, 0.04589769, 0.093525  ,-0.0648307 ,
  0.14268886, 0.9462407 ,-0.0335574 , 0.02678903, 0.32060066]

qacc:
[ 1.11031174e+01,-1.59897274e+01, 6.05405836e+01,-9.52230217e+01,
  5.05219522e+01,-1.92865199e+01, 3.80671215e+01,-8.93972727e+01,
 -1.57099385e-02,-2.27815480e+01, 6.92084194e+01,-1.10115595e+02,
 -1.36771326e+01, 2.16516086e+01,-1.82432205e+00, 6.34441131e+00,
  1.30309006e-01, 3.22935041e-01,-5.29289590e-02, 2.43600560e+00,
 -2.60321487e+00, 1.52269862e+01]

qfrc_actuator:
[-0.0040537 , 0.16595883, 0.06391931, 0.08024717, 0.02033504, 0.38480987,
  0.15014339, 0.11472658,-0.00180742, 0.1479587 , 0.0065972 , 0.16443555,
  0.04699264, 0.00921379, 0.        ,-0.00215239, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.56822963, -0.44783386,  0.34975669, -0.44783386,  1.3107009 ,
        0.95067165,  0.34975669,  0.95067165,  1.78548426,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032389642650622596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.60353796e-01, -6.48987184e-01,  2.60334410e-02,  1.98013369e-02,
        1.69010978e-02,  9.99661073e-01, -6.49207219e-01,  7.60611588e-01,
        3.46944695e-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([ 0.10794948, -0.04015973,  0.13481911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008884923990618944
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71619402, -0.69661286,  0.04238696,  0.0303846 ,  0.02955386,
        0.99910127, -0.69723949,  0.71683826,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1010191 , -0.03328667,  0.12035463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71651085,  0.70890464, -0.104125  ,  0.70890464,  0.72345676,
        0.04728916, -0.104125  ,  0.04728916,  1.03846525,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.31483807603544e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90039464e-01, -2.74997962e-02, -1.38078313e-01, -2.72361840e-02,
        9.99621809e-01, -3.79856205e-03,  1.38130553e-01,  4.33680869e-19,
       -9.90414030e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12919109, -0.08449749,  0.17745511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024862082119780048
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97834686, -0.20069547,  0.05058399, -0.20042775,  0.97965368,
        0.01036282, -0.05163456,  0.        , -0.99866605])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12726286, -0.08232098,  0.11313344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003880326565934289
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66648994, -0.74219561, -0.0702626 , -0.04694534, -0.0522778 ,
        0.99752853, -0.74403447,  0.66814123,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1037989 , -0.03757829,  0.30477978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046469042420914375
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.38916700e-13, -1.79187525e-13,  1.00000000e+00, -4.28108920e-26,
        1.00000000e+00,  1.79187525e-13, -1.00000000e+00,  0.00000000e+00,
       -2.38916700e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05231977, -0.06138899,  0.06198958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.07257831e-04, 1.60398960e-01, 7.56138735e-02, 1.02885343e-02,
  1.94545837e-02, 3.71870607e-01, 1.79944906e-01, 5.52805281e-02,
 -3.77045313e-06,-1.42321478e-03,-3.15003827e-04,-2.60564473e-04,
  3.50847711e-02, 1.19918824e-02,-9.61780578e-03, 4.39292118e-06,
 -8.54798284e-06, 1.42107536e-05,-9.81000456e+00,-6.51555721e-02,
 -9.60326677e-03,-5.17260501e-03]


--- Step 2312 ---
qpos:
[-0.0052889 , 0.20404093,-0.08537057, 0.43061282,-0.02771528, 0.02365073,
 -0.17136827, 0.35838342, 0.01405126, 0.74652208,-0.01929401, 0.65005846,
  0.84186827,-0.00533311, 1.16551469, 0.04589891, 0.09352295,-0.06483648,
  0.14269071, 0.94624186,-0.0335262 , 0.02677387, 0.32060176]

qacc:
[ 1.27694624e+01,-1.40758601e+01, 5.70088470e+01,-9.43652067e+01,
  5.86259036e+01,-2.01091581e+01, 4.25222577e+01,-9.13484543e+01,
  1.48290375e-01,-1.81247432e+01, 6.17387442e+01,-1.24886273e+02,
 -1.26245117e+01, 2.09443040e+01,-4.88865454e+00, 3.14207666e+01,
  1.02737245e-01, 2.98475938e-01,-5.16823698e-02, 2.00203251e+00,
 -2.37211867e+00, 1.36709004e+01]

qfrc_actuator:
[-0.00397418, 0.16602258, 0.06415916, 0.0802442 , 0.02030275, 0.38478035,
  0.15075854, 0.11434661,-0.00178887, 0.14768425, 0.00658615, 0.16417341,
  0.04697064, 0.00930251, 0.        ,-0.00182479, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.56514992, -0.43507199,  0.36070319, -0.43507199,  1.37073647,
        0.97168018,  0.36070319,  0.97168018,  1.73716846,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003169699877331852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.60388891e-01, -6.48947817e-01,  2.59897212e-02,  1.97689730e-02,
        1.68716719e-02,  9.99662210e-01, -6.49167099e-01,  7.60645829e-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([ 0.10795315, -0.04016561,  0.13483432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008948544549821974
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.15484627e-01, -6.97335634e-01,  4.24824991e-02,  3.04230406e-02,
        2.96513293e-02,  9.99097211e-01, -6.97965750e-01,  7.16131142e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10101638, -0.03329705,  0.12036969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71762117,  0.70602228, -0.1285017 ,  0.70602228,  0.72685112,
        0.05071175, -0.1285017 ,  0.05071175,  0.99624492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.207783588389713e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90039820e-01, -2.74764579e-02, -1.38080408e-01, -2.72130617e-02,
        9.99622451e-01, -3.79539346e-03,  1.38132560e-01,  4.33680869e-19,
       -9.90413750e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12918081, -0.08450487,  0.17744915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025072821334804984
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97834173, -0.20064174,  0.05089561, -0.20037078,  0.97966468,
        0.01042375, -0.05195207,  0.        , -0.99864958])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12724478, -0.0823199 ,  0.11314395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003903174677946066
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66627294, -0.74238713, -0.07029733, -0.04695337, -0.05231726,
        0.99752608, -0.74422829,  0.66792534,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379554, -0.03759576,  0.30477649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000462879112527681
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.99629036e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.99629036e-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([ 0.05231759, -0.06138933,  0.06198962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.17656489e-04, 1.60551527e-01, 7.56750657e-02, 1.03963703e-02,
  1.91244961e-02, 3.73181302e-01, 1.81017812e-01, 5.51621022e-02,
  2.23929839e-05,-1.20452617e-03,-3.63832877e-04,-3.33004078e-04,
  3.54831330e-02, 1.15711890e-02,-9.56584712e-03, 3.10587317e-04,
  1.54894740e-06, 5.39957922e-06,-9.80999945e+00,-6.51544828e-02,
 -9.60690500e-03,-5.16954796e-03]


--- Step 2313 ---
qpos:
[-0.00535751, 0.20400851,-0.08563856, 0.43198228,-0.02767746, 0.02384232,
 -0.17196793, 0.35954887, 0.01405903, 0.74898571,-0.01932509, 0.65329196,
  0.84214656,-0.00533033, 1.16590223, 0.04590482, 0.09352124,-0.06484125,
  0.14269235, 0.94623577,-0.03348983, 0.02675673, 0.32062498]

qacc:
[ 1.34973150e+01,-1.04517945e+01, 4.88156684e+01,-9.08734654e+01,
  6.22516641e+01,-2.04498060e+01, 4.61836934e+01,-9.31320343e+01,
  3.91125752e-02,-1.99728839e+01, 7.72339910e+01,-1.66869404e+02,
 -1.17448826e+01, 1.99899319e+01,-5.93351049e+00, 3.34690152e+01,
  8.53174179e-02, 2.52703771e-01,-5.06768128e-02, 1.71109887e+00,
 -2.04085406e+00, 1.16644365e+01]

qfrc_actuator:
[-0.00388205, 0.16612789, 0.06440934, 0.08038736, 0.02024928, 0.38478063,
  0.15133408, 0.11413287,-0.00179872, 0.14758422, 0.00662792, 0.16382372,
  0.04694226, 0.00933473, 0.        ,-0.00159603, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.56245173, -0.41433965,  0.38036115, -0.41433965,  1.46611772,
        0.98439246,  0.38036115,  0.98439246,  1.63478214,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031071630406844143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.60388673e-01, -6.48950124e-01,  2.59384215e-02,  1.97299202e-02,
        1.68384073e-02,  9.99663543e-01, -6.49168542e-01,  7.60644598e-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([ 0.10795682, -0.04017115,  0.13484964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009019307527498932
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.14895071e-01, -6.97934719e-01,  4.25695489e-02,  3.04603728e-02,
        2.97377232e-02,  9.99093506e-01, -6.98567966e-01,  7.15543707e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10101224, -0.03330576,  0.12038472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71889177,  0.70249722, -0.15265332,  0.70249722,  0.73009074,
        0.05153665, -0.15265332,  0.05153665,  0.95605892,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.120424825726195e-05
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90038423e-01, -2.74462218e-02, -1.38096440e-01, -2.71830545e-02,
        9.99623281e-01, -3.79165390e-03,  1.38148483e-01, -4.33680869e-19,
       -9.90411529e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12917188, -0.08450945,  0.17744277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025254563414112232
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97832966, -0.20062946,  0.05117521, -0.20035554,  0.9796672 ,
        0.01048035, -0.05223734,  0.        , -0.9986347 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12723005, -0.08231926,  0.11315407])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039153690427248583
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.666061  , -0.74257502, -0.07032128, -0.0469545 , -0.05234842,
        0.99752439, -0.74441791,  0.66771399,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1037917 , -0.03761324,  0.30477651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004611549915452401
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20374174e-13,  6.01870870e-14,  1.00000000e+00,  7.24497089e-27,
        1.00000000e+00, -6.01870870e-14, -1.00000000e+00,  0.00000000e+00,
       -1.20374174e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05231553, -0.0613896 ,  0.06198966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.44184545e-04, 1.60669203e-01, 7.57481162e-02, 1.06548910e-02,
  1.87253883e-02, 3.74448141e-01, 1.81989137e-01, 5.51950455e-02,
  5.42289431e-06,-9.20456058e-04,-2.74852912e-04,-4.15482883e-04,
  3.57942260e-02, 1.10828350e-02,-9.85167761e-03, 3.03260275e-04,
  5.36830003e-07, 4.84820614e-06,-9.80999263e+00,-6.51534223e-02,
 -9.61179797e-03,-5.16591063e-03]


--- Step 2314 ---
qpos:
[-0.0054214 , 0.20397763,-0.08590406, 0.43334902,-0.0276323 , 0.02401242,
 -0.17257298, 0.36070991, 0.01406679, 0.75144404,-0.01935635, 0.65651622,
  0.84241917,-0.005318  , 1.16628949, 0.04591222, 0.09351986,-0.06484524,
  0.14269379, 0.9462238 ,-0.0334489 , 0.02673819, 0.32066611]

qacc:
[ 1.37250338e+01,-9.55567657e+00, 4.58413516e+01,-8.94809470e+01,
  6.22371603e+01,-2.06220079e+01, 4.94412710e+01,-9.49306690e+01,
 -2.94466157e-03,-2.35630043e+01, 9.74325052e+01,-2.13692378e+02,
 -1.10435600e+01, 1.86651943e+01,-3.98927528e+00, 1.54629740e+01,
  8.10439311e-02, 1.92286068e-01,-5.23476699e-02, 1.59398118e+00,
 -1.61887695e+00, 9.45096167e+00]

qfrc_actuator:
[-0.00387311, 0.166203  , 0.06466483, 0.08053061, 0.02021542, 0.38477149,
  0.15188772, 0.11426911,-0.00180778, 0.14750143, 0.00668369, 0.16337228,
  0.0469102 , 0.00931128, 0.        ,-0.00158821, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.56011915, -0.39641128,  0.39571651, -0.39641128,  1.48757748,
        0.92908669,  0.39571651,  0.92908669,  1.49083707,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003051613314968257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.60358325e-01, -6.48987991e-01,  2.58805821e-02,  1.96851098e-02,
        1.68018149e-02,  9.99665042e-01, -6.49205448e-01,  7.60613099e-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([ 0.10796035, -0.04017636,  0.1348651 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009202989703705463
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71439774, -0.6984382 ,  0.04266089,  0.03050462,  0.02982315,
        0.99908961, -0.69907463,  0.71504871,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10100684, -0.03331308,  0.1203999 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7203113 ,  0.69702561, -0.18166911,  0.69702561,  0.73339701,
        0.0502071 , -0.18166911,  0.0502071 ,  0.91294523,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010039457991191143
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90035510e-01, -2.74086702e-02, -1.38124775e-01, -2.71457551e-02,
        9.99624312e-01, -3.78723922e-03,  1.38176686e-01, -4.33680869e-19,
       -9.90407595e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12916419, -0.0845117 ,  0.17743606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025409263769310417
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97831188, -0.20065274,  0.05142326, -0.20037612,  0.97966243,
        0.01053242, -0.0524908 ,  0.        , -0.99862141])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12721831, -0.08231901,  0.1131638 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003918442779811902
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66585341, -0.7427599 , -0.07033466, -0.04694885, -0.05237147,
        0.99752345, -0.74460395,  0.66750652,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10378743, -0.03763076,  0.30477933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045953335109227833
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.03994804e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.03994804e-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([ 0.05231358, -0.06138982,  0.0619897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06665459e-03, 1.60658422e-01, 7.58534690e-02, 1.09243852e-02,
  1.83244645e-02, 3.75609455e-01, 1.82875098e-01, 5.55636457e-02,
 -1.19126119e-06,-7.29800700e-04,-1.95498867e-04,-5.05580212e-04,
  3.60552899e-02, 1.05466601e-02,-1.01034516e-02, 7.54089328e-05,
 -7.81080756e-06, 1.00227448e-05,-9.80998507e+00,-6.51521570e-02,
 -9.61743868e-03,-5.16176449e-03]


--- Step 2315 ---
qpos:
[-0.00548073, 0.20394604,-0.08616666, 0.43471321,-0.02757992, 0.02416314,
 -0.17318232, 0.36186678, 0.0140749 , 0.75389553,-0.01938652, 0.65972521,
  0.84268623,-0.00529694, 1.1666755 , 0.04592023, 0.09351876,-0.06484866,
  0.14269502, 0.94620721,-0.03340417, 0.02671865, 0.32072135]

qacc:
[ 1.33404235e+01,-1.33145488e+01, 5.41849355e+01,-9.37524442e+01,
  6.12971381e+01,-2.03885710e+01, 5.15405042e+01,-9.57784198e+01,
  2.07950621e-01,-4.01638586e+01, 1.68307612e+02,-3.61704282e+02,
 -1.03685554e+01, 1.73130215e+01,-2.83484002e+00, 9.19908321e+00,
  7.10188319e-02, 1.45039653e-01,-5.14216132e-02, 1.37255551e+00,
 -1.25207762e+00, 7.45266905e+00]

qfrc_actuator:
[-0.00384502, 0.16625948, 0.06492283, 0.0804798 , 0.02020814, 0.38479962,
  0.15250067, 0.11465246,-0.00178081, 0.14711072, 0.00671201, 0.16259836,
  0.04688146, 0.00930431, 0.        ,-0.00156962, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.55807466, -0.39849646,  0.3907018 , -0.39849646,  1.43333713,
        0.8927243 ,  0.3907018 ,  0.8927243 ,  1.46860916,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00030017231231960163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76030359, -0.64905463,  0.02581753,  0.01963571,  0.01676258,
        0.99966667, -0.64927105,  0.7605571 ,  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([ 0.10796373, -0.04018125,  0.13488069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000928133235043848
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71397026, -0.69886987,  0.04274777,  0.03054856,  0.02990246,
        0.9990859 , -0.69950929,  0.7146235 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10100046, -0.03331935,  0.12041512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.72186914,  0.69387205, -0.1990895 ,  0.69387205,  0.73555578,
        0.04770104, -0.1990895 ,  0.04770104,  0.88811809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010956422789027494
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99003145, -0.02736381, -0.1381628 , -0.02710119,  0.99962554,
       -0.00378208,  0.13821455,  0.        , -0.99040231])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12915762, -0.08451216,  0.17742907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025539272665119784
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78289657e-01, -2.00705182e-01,  5.16408406e-02, -2.00426137e-01,
        9.79651688e-01,  1.05798668e-02, -5.27134708e-02,  1.73472348e-18,
       -9.98609679e-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([ 0.12720924, -0.08231909,  0.11317317])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039137249934770535
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66565005, -0.74294182, -0.07033821, -0.04693689, -0.05238695,
        0.9975232 , -0.74478651,  0.66730282,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10378297, -0.03764843,  0.3047845 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004580125813829772
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.42400115e-13, -1.21200058e-13,  1.00000000e+00, -2.93789079e-26,
        1.00000000e+00,  1.21200058e-13, -1.00000000e+00,  0.00000000e+00,
       -2.42400115e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05231172, -0.06139   ,  0.06198973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27392424e-03, 1.60639015e-01, 7.59873766e-02, 1.10067785e-02,
  1.79501937e-02, 3.76709961e-01, 1.83759911e-01, 5.61663419e-02,
  3.19356476e-05,-9.18590191e-04,-1.77834008e-04,-8.20331564e-04,
  3.63108296e-02, 1.00625462e-02,-1.00975598e-02, 1.74336100e-05,
 -1.97373702e-05, 1.81179947e-05,-9.80997765e+00,-6.51504037e-02,
 -9.62345097e-03,-5.15719435e-03]


--- Step 2316 ---
qpos:
[-0.00553568, 0.20391336,-0.08642641, 0.43607483,-0.02752062, 0.02429689,
 -0.1737949 , 0.36301972, 0.01408318, 0.75634154,-0.01941831, 0.66293515,
  0.842948  ,-0.00526776, 1.16706072, 0.04592897, 0.09351788,-0.06485167,
  0.14269606, 0.94618722,-0.03335655, 0.02669839, 0.32078696]

qacc:
[ 1.27646509e+01,-1.36875336e+01, 5.48081004e+01,-9.41350868e+01,
  5.85365498e+01,-1.95324327e+01, 5.21109257e+01,-9.54550956e+01,
  9.26982449e-02,-1.01141454e+00,-8.68137029e+00, 2.57690730e+01,
 -9.74735444e+00, 1.61694362e+01,-2.53323510e+00, 8.98344838e+00,
  5.45423398e-02, 1.03013014e-01,-4.54841651e-02, 1.06048213e+00,
 -9.31672086e-01, 5.47791613e+00]

qfrc_actuator:
[-0.00377168, 0.16627093, 0.06519868, 0.08054426, 0.02017848, 0.38490987,
  0.15313249, 0.11518558,-0.00178584, 0.14701821, 0.00670491, 0.16267035,
  0.04684958, 0.00930421, 0.        ,-0.00152654, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.55620351, -0.39373212,  0.39285795, -0.39373212,  1.41055646,
        0.85625402,  0.39285795,  0.85625402,  1.41436283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002955025723706983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76022963, -0.64914392,  0.02575044,  0.01958274,  0.01672129,
        0.9996684 , -0.64935925,  0.7604818 ,  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([ 0.10796711, -0.0401859 ,  0.13489631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009363201269662031
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71360454, -0.6992385 ,  0.0428263 ,  0.03058911,  0.0299733 ,
        0.99908253, -0.69988061,  0.71425985,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10099336, -0.03332471,  0.12043029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.72354849,  0.69499178, -0.20126807,  0.69499178,  0.7369431 ,
        0.04625245, -0.20126807,  0.04625245,  0.8832612 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011862278276706005
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90026511e-01, -2.73117729e-02, -1.38208449e-01, -2.70494697e-02,
        9.99626964e-01, -3.77612641e-03,  1.38260025e-01, -4.33680869e-19,
       -9.90395964e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12915204, -0.08451129,  0.17742187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00256469773793214
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78264149e-01, -2.00780951e-01,  5.18291902e-02, -2.00499750e-01,
        9.79636162e-01,  1.06226316e-02, -5.29065711e-02, -1.73472348e-18,
       -9.98599467e-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([ 0.12720251, -0.08231943,  0.1131822 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.19587501, -0.61349256,  1.02652029, -0.61349256,  9.78637949,
        5.13405395,  1.02652029,  5.13405395,  4.26420586,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003902482358063063
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.65450803e-01, -7.43120809e-01, -7.03327230e-02, -4.69191582e-02,
       -5.23954628e-02,  9.97523588e-01, -7.44965652e-01,  6.67102824e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10377847, -0.03766627,  0.30479159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004565960684992376
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43152121e-13, -6.07880302e-14,  1.00000000e+00, -1.47807385e-26,
        1.00000000e+00,  6.07880302e-14, -1.00000000e+00,  0.00000000e+00,
       -2.43152121e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05230994, -0.06139015,  0.06198976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42904324e-03, 1.60687728e-01, 7.61190238e-02, 1.11971299e-02,
  1.75590439e-02, 3.77788621e-01, 1.84608486e-01, 5.69063505e-02,
  1.44897894e-05,-7.33147280e-04,-2.59131923e-04, 1.26121781e-05,
  3.65556807e-02, 9.62524158e-03,-1.00430081e-02, 2.78229586e-05,
 -3.24621223e-05, 2.69169532e-05,-9.80997095e+00,-6.51480397e-02,
 -9.62956714e-03,-5.15228047e-03]


--- Step 2317 ---
qpos:
[-0.00558678, 0.20387969,-0.08668377, 0.43743377,-0.0274552 , 0.02441587,
 -0.17440972, 0.36416896, 0.01409152, 0.75878476,-0.01945283, 0.66616041,
  0.84320447,-0.0052313 , 1.16743941, 0.04593403, 0.09351722,-0.06485453,
  0.14269693, 0.94616519,-0.03330636, 0.02667801, 0.32085887]

qacc:
[ 1.12200581e+01,-1.25161500e+01, 5.13582127e+01,-9.21438430e+01,
  5.19758866e+01,-1.90156445e+01, 5.35075196e+01,-9.61037173e+01,
  3.12053268e-02, 3.19815636e+01,-1.56896318e+02, 3.58350788e+02,
 -9.16568341e+00, 1.48820651e+01, 2.21768371e+00,-2.00719800e+01,
  5.67073433e-02, 3.63011455e-02,-4.46611275e-02, 1.07325588e+00,
 -5.49856069e-01, 3.34033326e+00]

qfrc_actuator:
[-0.00369056, 0.16627377, 0.06546638, 0.08067893, 0.02011507, 0.38493269,
  0.15377632, 0.11591652,-0.00179226, 0.14719476, 0.00669659, 0.16347055,
  0.04683728, 0.00928762, 0.        ,-0.00178865, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.55444894, -0.3770097 ,  0.40654312, -0.3770097 ,  1.42020621,
        0.80286413,  0.40654312,  0.80286413,  1.29898882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029102907463595523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.60141531e-01, -6.49249856e-01,  2.56803128e-02,  1.95271122e-02,
        1.66784398e-02,  9.99670206e-01, -6.49464045e-01,  7.60392303e-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([ 0.10797051, -0.04019036,  0.13491197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009447029875553676
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.13284779e-01, -6.99560302e-01,  4.28976428e-02,  3.06264282e-02,
        3.00371380e-02,  9.99079472e-01, -7.00204860e-01,  7.13941982e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10098575, -0.03332938,  0.12044539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.72532441,  0.69223898, -0.21656568,  0.69223898,  0.73752245,
        0.03899027, -0.21656568,  0.03899027,  0.84995445,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012746718898757052
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99002093, -0.02725287, -0.13826001, -0.02699094,  0.99962857,
       -0.00376938,  0.13831138,  0.        , -0.99038879])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1291473 , -0.08450953,  0.17741453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002573495114979833
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97823648, -0.20087426,  0.0519897 , -0.20059117,  0.97961703,
        0.01066069, -0.05307145,  0.        , -0.99859072])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12719776, -0.08231998,  0.1131909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.19388338, -0.62972356,  1.01430063, -0.62972356,  9.60809469,
        5.22392172,  1.01430063,  5.22392172,  4.4371295 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038858668187227317
  efc_address: 12
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66525549, -0.74329697, -0.07031885, -0.04689609, -0.0523975 ,
        0.99752457, -0.74514152,  0.66690638,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10377398, -0.03768427,  0.30480025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004552825689490836
  efc_address: 15
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21926810e-13, -6.09634049e-14,  1.00000000e+00, -7.43307349e-27,
        1.00000000e+00,  6.09634049e-14, -1.00000000e+00,  0.00000000e+00,
       -1.21926810e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05230824, -0.06139027,  0.06198979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56645263e-03, 1.60747034e-01, 7.62451426e-02, 1.14582889e-02,
  1.71503616e-02, 3.78659133e-01, 1.85418000e-01, 5.78319955e-02,
  5.39757799e-06,-3.45883471e-04,-2.05491597e-04, 7.62978164e-04,
  3.68079674e-02, 9.20307145e-03,-1.00107923e-02,-2.72033762e-04,
 -4.37058148e-05, 3.47406549e-05,-9.80996551e+00,-6.51450077e-02,
 -9.63550200e-03,-5.14709801e-03]


--- Step 2318 ---
qpos:
[-0.00563461, 0.20384085,-0.08693795, 0.43879031,-0.02738442, 0.02451916,
 -0.17502496, 0.36531498, 0.01409987, 0.76122505,-0.0194881 , 0.66939176,
  0.84345489,-0.00518968, 1.16781173, 0.04593323, 0.09351686,-0.06485746,
  0.14269756, 0.94614209,-0.03325366, 0.02665829, 0.32093407]

qacc:
[ 9.59812585e+00,-1.95274047e+01, 6.69298781e+01,-1.00001120e+02,
  4.54289508e+01,-2.39260753e+01, 6.71605077e+01,-1.02588835e+02,
  4.21224160e-03, 9.43106821e+00,-5.43095823e+01, 1.35823902e+02,
 -8.41634049e+00, 1.22938197e+01, 8.97428017e+00,-4.35577728e+01,
  7.41584135e-02,-1.57991895e-02,-6.00416644e-02, 1.23141944e+00,
 -1.26502464e-01, 1.77565562e+00]

qfrc_actuator:
[-0.00364151, 0.16616526, 0.06576401, 0.08060833, 0.02004718, 0.38485441,
  0.15440988, 0.11651894,-0.00179949, 0.1471062 , 0.00667153, 0.16376979,
  0.04683161, 0.00925871, 0.        ,-0.00208777, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.55276866, -0.37467441,  0.40641392, -0.37467441,  1.36296338,
        0.74692133,  0.40641392,  0.74692133,  1.24135803,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028665483452944664
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.60044862e-01, -6.49365862e-01,  2.56083089e-02,  1.94698487e-02,
        1.66346168e-02,  9.99672053e-01, -6.49578889e-01,  7.60294198e-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([ 0.1079739 , -0.04019467,  0.13492763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009531389041723493
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71298702, -0.69985971,  0.04296401,  0.03066109,  0.03009657,
        0.99907662, -0.70050654,  0.71364598,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10097793, -0.03333368,  0.12046046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.31763758, 1.30447738, 0.18576208, 1.30447738, 1.2975296 ,
       0.1412043 , 0.18576208, 0.1412043 , 0.32605843, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -6.495776901155293e-06
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90015107e-01, -2.71878915e-02, -1.38314524e-01, -2.69263768e-02,
        9.99630341e-01, -3.76187086e-03,  1.38365672e-01,  4.33680869e-19,
       -9.90381210e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12899497, -0.0841287 ,  0.17915837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7271796 ,  0.67125053, -0.27966568,  0.67125053,  0.69941719,
       -0.06663503, -0.27966568, -0.06663503,  0.56724293,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013605629062363235
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99001511, -0.02718789, -0.13831452, -0.02692638,  0.99963034,
       -0.00376187,  0.13836567,  0.        , -0.99038121])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1291433 , -0.08450742,  0.17740709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002580586236225265
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78207797e-01, -2.00979036e-01,  5.21242100e-02, -2.00694319e-01,
        9.79595543e-01,  1.06940804e-02, -5.32099297e-02, -1.73472348e-18,
       -9.98583348e-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([ 0.12719464, -0.08232067,  0.11319929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.19136199, -0.46879108,  1.09525262, -0.46879108,  8.50704785,
        3.13126691,  1.09525262,  3.13126691,  2.53160987,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038646556783417763
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66506412, -0.74347024, -0.07029741, -0.04686823, -0.05239365,
        0.99752608, -0.74531409,  0.66671352,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1037698 , -0.03770263,  0.30481021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000454049829339373
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.11289198e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.11289198e-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([ 0.05230659, -0.06139038,  0.06198982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70946050e-03, 1.60689013e-01, 7.64235366e-02, 1.15196081e-02,
  1.67759143e-02, 3.79320253e-01, 1.86166279e-01, 5.86181354e-02,
  5.98717756e-07,-3.56542655e-04,-1.13497901e-04, 2.94065667e-04,
  3.70668689e-02, 8.80915624e-03,-9.69174236e-03,-3.89256948e-04,
 -5.17047123e-05, 4.02448763e-05,-9.80996155e+00,-6.51411452e-02,
 -9.64113624e-03,-5.14172472e-03]


--- Step 2319 ---
qpos:
[-0.0056795 , 0.20379738,-0.08718896, 0.44014443,-0.02730891, 0.02460959,
 -0.17563978, 0.36645796, 0.0141082 , 0.76366019,-0.01952219, 0.67262787,
  0.84369984,-0.00514344, 1.16818436, 0.04593   , 0.09351669,-0.06486051,
  0.14269799, 0.94611877,-0.03319951, 0.02663916, 0.32101001]

qacc:
[ 8.61111195e+00,-1.88899878e+01, 6.57932004e+01,-9.97129596e+01,
  4.02113843e+01,-2.22714369e+01, 6.58365876e+01,-1.01408628e+02,
 -8.63699451e-03,-1.22146232e+00,-1.83772741e+01, 8.48855477e+01,
 -7.71903074e+00, 1.12111660e+01, 8.41830801e+00,-2.74240582e+01,
  4.70922662e-02,-3.12777921e-02,-4.89716124e-02, 7.68854839e-01,
  2.97776507e-02, 4.08698175e-01]

qfrc_actuator:
[-0.00361266, 0.1660833 , 0.06600686, 0.0805041 , 0.01997492, 0.38488204,
  0.15500088, 0.11690325,-0.00180717, 0.14678881, 0.00670656, 0.16400234,
  0.04680887, 0.00920386, 0.        ,-0.00212138, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.55103898, -0.37083676,  0.40758319, -0.37083676,  1.32472428,
        0.70393223,  0.40758319,  0.70393223,  1.19150687,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028205525582729253
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75994371, -0.64948709,  0.02553582,  0.01941211,  0.01659059,
        0.99967391, -0.64969895,  0.76019161,  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([ 0.10797759, -0.04019892,  0.13494316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009612875041862445
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.12713014e-01, -7.00135199e-01,  4.30216509e-02,  3.06905056e-02,
        3.01488857e-02,  9.99074140e-01, -7.00784027e-01,  7.13373498e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10097022, -0.03333767,  0.12047534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.31788542, 1.30437631, 0.18821378, 1.30437631, 1.29730038,
       0.14266034, 0.18821378, 0.14266034, 0.32920766, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.4541233922579849e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99000943, -0.02711762, -0.13836894, -0.02685657,  0.99963225,
       -0.00375362,  0.13841985,  0.        , -0.99037364])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12899048, -0.08412412,  0.17916326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.72908336,  0.6763965 , -0.27212189,  0.6763965 ,  0.70387907,
       -0.06264874, -0.27212189, -0.06264874,  0.57336128,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014430246371578212
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90009429e-01, -2.71176157e-02, -1.38368943e-01, -2.68565717e-02,
        9.99632250e-01, -3.75361621e-03,  1.38419847e-01, -4.33680869e-19,
       -9.90373640e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12914007, -0.0845054 ,  0.1773996 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002585982833398247
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78179042e-01, -2.01091097e-01,  5.22315213e-02, -2.00805033e-01,
        9.79572545e-01,  1.07223237e-02, -5.33207281e-02, -1.73472348e-18,
       -9.98577438e-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([ 0.1271931 , -0.08232146,  0.11320738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.18842876, -0.34179119,  1.13821865, -0.34179119,  7.58899044,
        1.92199941,  1.13821865,  1.92199941,  1.76557837,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038397279513919874
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66487723, -0.74363992, -0.07027047, -0.04683702, -0.05238543,
        0.99752797, -0.74548277,  0.6665249 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10376636, -0.03772154,  0.30482112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045291123268088873
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22565190e-13, -1.22565190e-13,  1.00000000e+00, -1.50222258e-26,
        1.00000000e+00,  1.22565190e-13, -1.00000000e+00,  0.00000000e+00,
       -1.22565190e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.052305  , -0.06139046,  0.06198985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84429756e-03, 1.60867713e-01, 7.65088313e-02, 1.15330804e-02,
  1.64361813e-02, 3.80132340e-01, 1.86782238e-01, 5.91622568e-02,
 -2.00140991e-06,-5.89897429e-04,-5.96533502e-05, 2.19961145e-04,
  3.73458877e-02, 8.49553980e-03,-9.38080112e-03,-1.31760733e-04,
 -5.67999339e-05, 4.34959620e-05,-9.80995886e+00,-6.51364562e-02,
 -9.64652059e-03,-5.13624667e-03]


--- Step 2320 ---
qpos:
[-0.00572178, 0.2037523 ,-0.08743761, 0.44149583,-0.02722928, 0.0246895 ,
 -0.1762533 , 0.36759808, 0.0141161 , 0.76608702,-0.01955361, 0.67587082,
  0.84394004,-0.00509295, 1.16855981, 0.0459254 , 0.09351665,-0.06486376,
  0.14269825, 0.94609585,-0.03314445, 0.02662059, 0.32108477]

qacc:
[ 7.63278155e+00,-1.32955234e+01, 5.30346676e+01,-9.37539327e+01,
  3.49981832e+01,-2.11806526e+01, 6.57886995e+01,-1.01536724e+02,
 -2.32457358e-01,-5.66733195e+00,-1.46180478e+01, 1.10570698e+02,
 -6.93936165e+00, 1.02080947e+01, 8.90579054e+00,-2.38279555e+01,
  3.21837077e-02,-5.05271690e-02,-4.26615752e-02, 5.40245144e-01,
  1.39215526e-01,-6.00854258e-01]

qfrc_actuator:
[-0.00357916, 0.1661253 , 0.06621556, 0.08052271, 0.01989852, 0.38490568,
  0.15561889, 0.11692699,-0.00185061, 0.14624875, 0.00679377, 0.16433579,
  0.04679203, 0.00914968, 0.        ,-0.00215655, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.54925386, -0.34558596,  0.42690766, -0.34558596,  1.3579631 ,
        0.65465811,  0.42690766,  0.65465811,  1.07920607,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027719995512310685
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75984158, -0.64960941,  0.02546333,  0.01935437,  0.01654658,
        0.99967576, -0.64982011,  0.76008804,  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([ 0.10798153, -0.04020314,  0.13495858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009691203545197737
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.12450785e-01, -7.00398918e-01,  4.30724350e-02,  3.07154956e-02,
        3.01959101e-02,  9.99071952e-01, -7.01049525e-01,  7.13112588e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10096271, -0.0333415 ,  0.12049006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.31829631, 1.30516578, 0.18560025, 1.30516578, 1.29805555,
       0.14233576, 0.18560025, 0.14233576, 0.31737224, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -2.217917389106459e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90003950e-01, -2.70426548e-02, -1.38422805e-01, -2.67821298e-02,
        9.99634281e-01, -3.74468965e-03,  1.38473448e-01,  4.33680869e-19,
       -9.90366147e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12898661, -0.08411994,  0.17916781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73099969,  0.67747489, -0.27456934,  0.67747489,  0.70471858,
       -0.06484625, -0.27456934, -0.06484625,  0.57099746,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015211633619741807
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99000395, -0.02704265, -0.13842281, -0.02678213,  0.99963428,
       -0.00374469,  0.13847345,  0.        , -0.99036615])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12913745, -0.08450371,  0.17739211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002589955878130773
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97815095, -0.20120626,  0.05231403, -0.20091912,  0.9795489 ,
        0.01074567, -0.05340624,  0.        , -0.99857287])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12719277, -0.08232232,  0.11321519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.18519778, -0.44902406,  1.09684602, -0.44902406,  8.49974417,
        2.99441056,  1.09684602,  2.99441056,  2.41104203,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038119492793294013
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66469441, -0.74380634, -0.07023862, -0.04680281, -0.05237328,
        0.99753022, -0.74564793,  0.66634013,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10376349, -0.03774084,  0.30483273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004518734149530218
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.45693371e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.45693371e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05230347, -0.06139053,  0.06198987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95754525e-03, 1.61143438e-01, 7.65594956e-02, 1.16707325e-02,
  1.61230095e-02, 3.80800910e-01, 1.87381982e-01, 5.93361497e-02,
 -3.89726702e-05,-9.33943439e-04,-5.02441606e-05, 3.12621675e-04,
  3.76032208e-02, 8.21005562e-03,-9.40313769e-03,-4.69896157e-05,
 -5.84695837e-05, 4.44509001e-05,-9.80995771e+00,-6.51312080e-02,
 -9.65130201e-03,-5.13071276e-03]


--- Step 2321 ---
qpos:
[-0.00576167, 0.20370708,-0.08768443, 0.44284432,-0.02714595, 0.02476077,
 -0.17686473, 0.36873547, 0.01412336, 0.76850258,-0.01958191, 0.67911592,
  0.84417648,-0.00503843, 1.16894097, 0.04592072, 0.0935167 ,-0.06486725,
  0.14269835, 0.94607364,-0.03308877, 0.02660254, 0.32115746]

qacc:
[ 6.98350344e+00,-1.02566327e+01, 4.58618054e+01,-9.03766328e+01,
  3.14214033e+01,-2.06282286e+01, 6.67934088e+01,-1.02690812e+02,
 -3.50085764e-01,-1.93911774e+01, 3.99652853e+01,-1.69575033e+00,
 -6.07572527e+00, 9.24485709e+00, 9.15741119e+00,-1.86701305e+01,
  2.30475204e-02,-5.94272073e-02,-3.99830727e-02, 4.17968361e-01,
  1.72532796e-01,-1.06995527e+00]

qfrc_actuator:
[-0.00350821, 0.166205  , 0.06647433, 0.08068731, 0.01983611, 0.3849297 ,
  0.15623433, 0.11655792,-0.00189732, 0.1455093 , 0.00687481, 0.164424  ,
  0.04678419, 0.00911218, 0.        ,-0.00212173, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.54747169, -0.32617275,  0.43970057, -0.32617275,  1.36462193,
        0.60616736,  0.43970057,  0.60616736,  0.99713059,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000272236885320667
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.59741066e-01, -6.49729792e-01,  2.53911628e-02,  1.92969306e-02,
        1.65027155e-02,  9.99677592e-01, -6.49939337e-01,  7.59986091e-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([ 0.1079855 , -0.04020731,  0.13497396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009767666421366338
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.12177061e-01, -7.00674221e-01,  4.31215737e-02,  3.07387879e-02,
        3.02423055e-02,  9.99069832e-01, -7.01326572e-01,  7.12840122e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10095541, -0.03334543,  0.12050476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.31884056, 1.30601507, 0.18348045, 1.30601507, 1.2986636 ,
       0.14361975, 0.18348045, 0.14361975, 0.29655423, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -2.9379845146272144e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89998742e-01, -2.69636198e-02, -1.38475463e-01, -2.67036587e-02,
        9.99636416e-01, -3.73515780e-03,  1.38525829e-01, -4.33680869e-19,
       -9.90358821e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12898322, -0.08411637,  0.17917204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73290466,  0.67497953, -0.28557289,  0.67497953,  0.70290314,
       -0.07091155, -0.28557289, -0.07091155,  0.56529827,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015947097253127905
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89998742e-01, -2.69636198e-02, -1.38475463e-01, -2.67036587e-02,
        9.99636416e-01, -3.73515780e-03,  1.38525829e-01, -4.33680869e-19,
       -9.90358821e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1291353 , -0.08450256,  0.17738468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025927661656073237
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.978124  , -0.20132145,  0.05237473, -0.20103346,  0.97952523,
        0.01076456, -0.05346951,  0.        , -0.99856948])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12719333, -0.08232321,  0.11322275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.18174582, -0.51141497,  1.06535342, -0.51141497,  8.60018704,
        3.56116743,  1.06535342,  3.56116743,  2.89125771,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037818899502868467
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66451511, -0.74396997, -0.07020225, -0.04676584, -0.05235754,
        0.99753278, -0.74581005,  0.66615867,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10376114, -0.03776047,  0.30484487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000450936873450436
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46203646e-13, -1.84652735e-13,  1.00000000e+00, -4.54621766e-26,
        1.00000000e+00,  1.84652735e-13, -1.00000000e+00,  0.00000000e+00,
       -2.46203646e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05230199, -0.0613906 ,  0.06198989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01692223e-03, 1.61305378e-01, 7.67008191e-02, 1.19694420e-02,
  1.58545530e-02, 3.81351991e-01, 1.87936481e-01, 5.91089849e-02,
 -5.88683338e-05,-1.31899505e-03,-1.21266190e-04, 5.73609699e-05,
  3.78320687e-02, 7.95915567e-03,-9.55199198e-03, 5.49689043e-05,
 -5.75971885e-05, 4.37433475e-05,-9.80995760e+00,-6.51255685e-02,
 -9.65564085e-03,-5.12516379e-03]


--- Step 2322 ---
qpos:
[-0.00579923, 0.20366372,-0.08793002, 0.4441897 ,-0.02705916, 0.02482518,
 -0.1774734 , 0.36987026, 0.01413063, 0.77090576,-0.01960845, 0.68235841,
  0.84440904,-0.00498185, 1.16933309, 0.04591997, 0.09351675,-0.06487095,
  0.14269833, 0.94605217,-0.03303284, 0.02658457, 0.32122794]

qacc:
[ 6.81906209e+00,-6.42441451e+00, 3.69587962e+01,-8.60161898e+01,
  2.94465157e+01,-1.98571911e+01, 6.69567942e+01,-1.02970427e+02,
  1.87851651e-02,-2.58856800e+01, 7.34592906e+01,-9.56695201e+01,
 -4.82407847e+00, 6.33239512e+00, 4.70251673e+00, 7.91440688e+00,
  6.56358681e-06,-5.43380117e-02,-3.15974164e-02, 1.73836173e-01,
  2.01212710e-02,-1.16307149e+00]

qfrc_actuator:
[-0.00339786, 0.16628874, 0.06670947, 0.08094076, 0.01976311, 0.38504508,
  0.15684691, 0.11598967,-0.00187461, 0.14479852, 0.00691513, 0.16427827,
  0.04676584, 0.00901221, 0.        ,-0.00185038, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.54571596, -0.31129529,  0.44821998, -0.31129529,  1.35735645,
        0.56369612,  0.44821998,  0.56369612,  0.9372111 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026722774759675987
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.59643370e-01, -6.49846812e-01,  2.53194006e-02,  1.92398829e-02,
        1.64590083e-02,  9.99679413e-01, -6.50055211e-01,  7.59886980e-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([ 0.10798939, -0.04021141,  0.13498936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009842827963995543
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.11881636e-01, -7.00971311e-01,  4.31712657e-02,  3.07615106e-02,
        3.02900585e-02,  9.99067686e-01, -7.01625446e-01,  7.12545952e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10094833, -0.03334955,  0.12051949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.31949215, 1.3038999 , 0.20224878, 1.3038999 , 1.29464529,
       0.16018796, 0.20224878, 0.16018796, 0.28675874, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -3.6156453527222244e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98999383, -0.02688093, -0.13852668, -0.02662157,  0.99963864,
       -0.00372507,  0.13857675,  0.        , -0.9903517 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12898022, -0.08411348,  0.17917598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73478551,  0.67828615, -0.28255555,  0.67828615,  0.70464436,
       -0.07235506, -0.28255555, -0.07235506,  0.56109423,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016638227133020374
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98999383, -0.02688093, -0.13852668, -0.02662157,  0.99963864,
       -0.00372507,  0.13857675,  0.        , -0.9903517 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12913353, -0.08450202,  0.17737732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002594643663280751
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78098340e-01, -2.01435094e-01,  5.24169913e-02, -2.01146458e-01,
        9.79501865e-01,  1.07795829e-02, -5.35139270e-02, -1.73472348e-18,
       -9.98567103e-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([ 0.12719458, -0.0823241 ,  0.11323012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1781331 , -0.91380058,  0.74361691, -0.91380058,  3.67576855,
        3.06924266,  0.74361691,  3.06924266,  4.94980063,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037499981460399287
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66433859, -0.74413142, -0.07016166, -0.04672625, -0.05233847,
        0.99753563, -0.74596977,  0.66597981,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10375926, -0.03778044,  0.30485741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045010674895928915
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23328858e-13, -6.16644289e-14,  1.00000000e+00,  7.60500358e-27,
        1.00000000e+00,  6.16644289e-14, -1.00000000e+00,  0.00000000e+00,
        1.23328858e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05230057, -0.06139065,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02595535e-03, 1.61397741e-01, 7.68454559e-02, 1.23662985e-02,
  1.55965967e-02, 3.81902008e-01, 1.88448565e-01, 5.86760074e-02,
  1.50958369e-06,-1.52775447e-03,-2.55800651e-04,-1.98130712e-04,
  3.80021133e-02, 7.65765991e-03,-9.84474335e-03, 3.28313543e-04,
 -5.55554451e-05, 4.23225212e-05,-9.80995796e+00,-6.51197320e-02,
 -9.65973665e-03,-5.11961922e-03]


--- Step 2323 ---
qpos:
[-0.0058347 , 0.20362121,-0.08817425, 0.44553205,-0.02696921, 0.0248839 ,
 -0.17807863, 0.37100254, 0.0141379 , 0.77329816,-0.01963567, 0.68559251,
  0.84463648,-0.00492698, 1.16973393, 0.0459229 , 0.09351678,-0.06487496,
  0.14269818, 0.94603143,-0.03297618, 0.02656638, 0.32129633]

qacc:
[ 6.06921165e+00,-7.95767608e+00, 4.01053123e+01,-8.70109182e+01,
  2.67763738e+01,-1.99696273e+01, 6.91109987e+01,-1.05020653e+02,
 -3.13028597e-04,-2.77097546e+01, 9.86793843e+01,-1.96783125e+02,
 -3.04427355e+00, 1.18296456e+00, 1.90231661e+00, 1.24538062e+01,
 -5.11352409e-03,-7.40735296e-02,-3.02943139e-02, 3.48933642e-01,
 -1.96276548e-01,-1.09970159e+00]

qfrc_actuator:
[-0.00333578, 0.16637297, 0.06698356, 0.08112464, 0.01966476, 0.3851459 ,
  0.15743852, 0.1153384 ,-0.00188166, 0.14434135, 0.00689562, 0.16385403,
  0.04674135, 0.00896385, 0.        ,-0.00168963, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.54401481, -0.31167966,  0.4458788 , -0.31167966,  1.2987064 ,
        0.52754698,  0.4458788 ,  0.52754698,  0.91278243,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026225436779581536
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7595487 , -0.64996026,  0.02524747,  0.0191828 ,  0.01641509,
        0.99968123, -0.65016751,  0.7597909 ,  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([ 0.10799306, -0.04021543,  0.13500481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009917618530111499
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71155807, -0.70129657,  0.04322313,  0.03078454,  0.03034059,
        0.99906544, -0.70195258,  0.71222368,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1009414 , -0.03335393,  0.12053432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.32022203, 1.3047476 , 0.20154382, 1.3047476 , 1.29486329,
       0.1641666 , 0.20154382, 0.1641666 , 0.25744587, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -4.247710663091591e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98998906, -0.02679481, -0.13857742, -0.0265361 ,  0.99964095,
       -0.00371449,  0.13862719,  0.        , -0.99034464])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12897752, -0.08411128,  0.17917963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73661849,  0.6755435 , -0.29367971,  0.6755435 ,  0.69983284,
       -0.08461702, -0.29367971, -0.08461702,  0.54197623,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017282309457756774
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89989059e-01, -2.67948086e-02, -1.38577417e-01, -2.65360950e-02,
        9.99640955e-01, -3.71448904e-03,  1.38627190e-01, -4.33680869e-19,
       -9.90344638e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12913203, -0.0845021 ,  0.17737007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002595785286142252
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78073935e-01, -2.01546683e-01,  5.24434224e-02, -2.01257583e-01,
        9.79478910e-01,  1.07912460e-02, -5.35421660e-02,  1.73472348e-18,
       -9.98565589e-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([ 0.12719629, -0.08232499,  0.11323731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.17419708, -0.90103975,  0.75290515, -0.90103975,  2.33221147,
        1.38585451,  0.75290515,  1.38585451,  2.83271943,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003714733819746955
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.64164949e-01, -7.44290454e-01, -7.01187644e-02, -4.66853345e-02,
       -5.23174986e-02,  9.97538650e-01, -7.46126933e-01,  6.65803725e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10375762, -0.0378006 ,  0.30487085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000449396574513955
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23523752e-13, -1.23523752e-13,  1.00000000e+00, -1.52581174e-26,
        1.00000000e+00,  1.23523752e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23523752e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0522992 , -0.0613907 ,  0.06198993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08070369e-03, 1.61391030e-01, 7.70588926e-02, 1.27038697e-02,
  1.53248799e-02, 3.82347541e-01, 1.88905896e-01, 5.81536641e-02,
 -1.26056437e-06,-1.42618721e-03,-3.81471642e-04,-4.93788428e-04,
  3.81718472e-02, 7.50490381e-03,-1.04003418e-02, 2.91049201e-04,
 -5.31375805e-05, 4.08423347e-05,-9.80995841e+00,-6.51139265e-02,
 -9.66368489e-03,-5.11406020e-03]


--- Step 2324 ---
qpos:
[-0.00586862, 0.20357629,-0.08841659, 0.44687158,-0.02687673, 0.02493776,
 -0.17867965, 0.37213237, 0.01414514, 0.77568108,-0.01966324, 0.6888155 ,
  0.84486095,-0.00487274, 1.1701371 , 0.04592415, 0.09351689,-0.06487939,
  0.14269786, 0.94601172,-0.03291823, 0.02654859, 0.32136178]

qacc:
[ 4.55235395e+00,-1.31778813e+01, 5.14593498e+01,-9.24039832e+01,
  2.15200170e+01,-2.07081019e+01, 7.30255780e+01,-1.09346479e+02,
 -8.62987613e-03,-3.19098065e+01, 1.22563150e+02,-2.56296876e+02,
 -2.13251160e+00, 1.39443609e+00, 8.69949724e+00,-2.51235189e+01,
  2.23923126e-02,-1.06530132e-01,-4.32004853e-02, 7.32106764e-01,
  1.75886531e-02,-1.53353544e+00]

qfrc_actuator:
[-0.00333886, 0.16644   , 0.06724488, 0.08107265, 0.01955013, 0.38523958,
  0.15801575, 0.11467375,-0.00188879, 0.14402194, 0.00693073, 0.16330503,
  0.04671874, 0.00894942, 0.        ,-0.00186285, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.54232249, -0.30883938,  0.44579358, -0.30883938,  1.24083251,
        0.48391771,  0.44579358,  0.48391771,  0.87757372,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000257182477153475
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75945691, -0.65007034,  0.02517449,  0.019125  ,  0.01637038,
        0.99968307, -0.65027643,  0.75969768,  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([ 0.10799657, -0.04021942,  0.13502028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009990886197616643
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7112116 , -0.70164481,  0.04327375,  0.03080565,  0.03039127,
        0.99906325, -0.70230269,  0.71187845,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10093461, -0.03335854,  0.12054918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.32100939, 1.31135499, 0.1594174 , 1.31135499, 1.30455714,
       0.13533495, 0.1594174 , 0.13533495, 0.20775477, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -4.837253543754732e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9899844 , -0.02670557, -0.13862789, -0.02644753,  0.99964334,
       -0.00370346,  0.13867735,  0.        , -0.99033762])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12897505, -0.08410986,  0.17918302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73839754,  0.65865748, -0.33376825,  0.65865748,  0.68512138,
       -0.10513504, -0.33376825, -0.10513504,  0.53092428,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017882656223237078
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89984405e-01, -2.67055700e-02, -1.38627888e-01, -2.64475305e-02,
        9.99643343e-01, -3.70345763e-03,  1.38677348e-01, -4.33680869e-19,
       -9.90337616e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12913075, -0.08450288,  0.17736294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025963675139300565
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97805061, -0.2016564 ,  0.05245667, -0.20136698,  0.97945633,
        0.0108001 , -0.05355693,  0.        , -0.9985648 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12719833, -0.08232589,  0.11324435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.16954933, -0.90368289,  0.74243039, -0.90368289,  2.51452572,
        1.63709913,  0.74243039,  1.63709913,  3.16221894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003672373109768432
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66399508, -0.7444459 , -0.07007729, -0.04664565, -0.05229732,
        0.99754156, -0.74628059,  0.6656315 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10375627, -0.03782102,  0.30488638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044880724387356963
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23685952e-13, -1.23685952e-13,  1.00000000e+00, -1.52982147e-26,
        1.00000000e+00,  1.23685952e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23685952e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05229788, -0.06139074,  0.06198994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18760811e-03, 1.61417621e-01, 7.72525724e-02, 1.28013634e-02,
  1.50526605e-02, 3.82728055e-01, 1.89314304e-01, 5.76128100e-02,
 -2.60838153e-06,-1.26755364e-03,-3.30588051e-04,-6.25111129e-04,
  3.84049355e-02, 7.57593119e-03,-1.08442041e-02,-6.85048543e-05,
 -5.10983070e-05, 3.98267194e-05,-9.80995821e+00,-6.51081676e-02,
 -9.66779269e-03,-5.10843581e-03]


--- Step 2325 ---
qpos:
[-0.00590145, 0.20352815,-0.088657  , 0.44820833,-0.02678228, 0.02498722,
 -0.1792758 , 0.37325979, 0.01415274, 0.77805907,-0.01969404, 0.69204826,
  0.84508401,-0.0048189 , 1.17054021, 0.04592018, 0.0935172 ,-0.06488435,
  0.14269732, 0.94599317,-0.03285837, 0.02653167, 0.32142389]

qacc:
[ 3.21273786e+00,-1.43165980e+01, 5.37903589e+01,-9.35162137e+01,
  1.68380202e+01,-2.17608038e+01, 7.74635530e+01,-1.13997187e+02,
  1.92706108e-01, 2.02335181e+01,-1.03822903e+02, 2.32357478e+02,
 -1.17911998e+00, 8.18519842e-01, 1.57222568e+01,-5.49831879e+01,
  4.65438617e-02,-1.33211947e-01,-5.38302031e-02, 1.10654512e+00,
  1.46154490e-01,-1.73049305e+00]

qfrc_actuator:
[-0.00332806, 0.16649964, 0.06747973, 0.08100441, 0.01946059, 0.38536593,
  0.15865325, 0.11401977,-0.00186045, 0.14421425, 0.00694527, 0.16384117,
  0.04669193, 0.00891945, 0.        ,-0.00216155, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.5405714 , -0.29077828,  0.45570322, -0.29077828,  1.21320248,
        0.42919713,  0.45570322,  0.42919713,  0.81443649,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025179571822808364
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75936918, -0.65017565,  0.02510115,  0.01906704,  0.0163253 ,
        0.99968492, -0.65038057,  0.75960852,  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([ 0.10800017, -0.04022344,  0.13503567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001006041431038032
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71084913, -0.70200921,  0.04331954,  0.03082259,  0.03043929,
        0.99906127, -0.70266882,  0.71151706,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10092817, -0.03336336,  0.12056393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.32185517, 1.31631539, 0.12089201, 1.31631539, 1.31205326,
       0.10672668, 0.12089201, 0.10672668, 0.15977699, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -5.3986997818456876e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89980138e-01, -2.66138381e-02, -1.38675990e-01, -2.63565068e-02,
        9.99645789e-01, -3.69200810e-03,  1.38725128e-01, -4.33680869e-19,
       -9.90330924e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12897281, -0.08410931,  0.17918623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.74015298,  0.64147077, -0.36924475,  0.64147077,  0.66791935,
       -0.12548795, -0.36924475, -0.12548795,  0.52214894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018453470603311582
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89980138e-01, -2.66138381e-02, -1.38675990e-01, -2.63565068e-02,
        9.99645789e-01, -3.69200810e-03,  1.38725128e-01, -4.33680869e-19,
       -9.90330924e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12912968, -0.08450446,  0.17735589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002596585020678738
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78028409e-01, -2.01762979e-01,  5.24607565e-02, -2.01473350e-01,
        9.79434378e-01,  1.08068889e-02, -5.35622985e-02, -1.73472348e-18,
       -9.98564510e-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([ 0.12720059, -0.08232676,  0.11325131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.16446058, -0.90385176,  0.73418012, -0.90385176,  2.57718412,
        1.73920898,  0.73418012,  1.73920898,  3.30560695,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036250646663655716
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6638274 , -0.74459929, -0.07003627, -0.04660644, -0.05227732,
        0.99754445, -0.7464322 ,  0.66546148,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10375556, -0.03784205,  0.3049033 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044832727407802253
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23818368e-13, -1.23818368e-13,  1.00000000e+00, -1.53309882e-26,
        1.00000000e+00,  1.23818368e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23818368e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05229661, -0.06139077,  0.06198995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25423376e-03, 1.61599359e-01, 7.73940267e-02, 1.28718421e-02,
  1.48366971e-02, 3.83100545e-01, 1.89746121e-01, 5.70800661e-02,
  3.22426876e-05,-6.61650616e-04,-3.17218269e-04, 4.64673950e-04,
  3.85265485e-02, 7.57702075e-03,-1.09687586e-02,-2.84463253e-04,
 -4.84980438e-05, 3.83973540e-05,-9.80995814e+00,-6.51020740e-02,
 -9.67193811e-03,-5.10276103e-03]


--- Step 2326 ---
qpos:
[-0.00593335, 0.20347776,-0.08889545, 0.44954229,-0.026686  , 0.02503275,
 -0.17986652, 0.37438487, 0.0141609 , 0.78043596,-0.01972778, 0.69529704,
  0.84530495,-0.00476894, 1.17094892, 0.04591439, 0.09351765,-0.06488985,
  0.14269659, 0.9459755 ,-0.0327962 , 0.02651512, 0.32148362]

qacc:
[ 2.72974760e+00,-1.31201302e+01, 5.14333240e+01,-9.20783346e+01,
  1.56081268e+01,-2.24625358e+01, 8.04776951e+01,-1.16727147e+02,
  3.02272471e-01, 3.58734953e+01,-1.67237456e+02, 3.71573440e+02,
  6.17664036e-01,-3.98352125e+00, 1.37125852e+01,-3.61890166e+01,
  3.57549194e-02,-1.34683188e-01,-4.92548790e-02, 1.19751857e+00,
 -1.68895795e-01,-1.22206239e+00]

qfrc_actuator:
[-0.00329136, 0.16657436, 0.06773339, 0.08101627, 0.01936791, 0.38542459,
  0.15928902, 0.11324887,-0.00182894, 0.14455308, 0.0069505 , 0.16467465,
  0.04665724, 0.00888017, 0.        ,-0.00217628, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.53875446, -0.28151141,  0.45935574, -0.28151141,  1.17700202,
        0.39114341,  0.45935574,  0.39114341,  0.77846265,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024604707790707624
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.59286087e-01, -6.50275515e-01,  2.50278457e-02,  1.90092496e-02,
        1.62800949e-02,  9.99686754e-01, -6.50479275e-01,  7.59524004e-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([ 0.10800393, -0.04022753,  0.13505095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010125612267024413
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71046764, -0.70239279,  0.04336016,  0.03083499,  0.03048453,
        0.99905951, -0.703054  ,  0.71113646,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10092219, -0.03336845,  0.12057857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.32276803, 1.31707651, 0.12257534, 1.31707651, 1.31245175,
       0.11084877, 0.12257534, 0.11084877, 0.13169394, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -5.944855748961875e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98997647, -0.02652017, -0.1387201 , -0.02626358,  0.99964828,
       -0.00368017,  0.13876891,  0.        , -0.99032479])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12897079, -0.08410967,  0.17918931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.74191667,  0.63790953, -0.37882949,  0.63790953,  0.65968301,
       -0.13847294, -0.37882949, -0.13847294,  0.50874262,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019007361000348733
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98997647, -0.02652017, -0.1387201 , -0.02626358,  0.99964828,
       -0.00368017,  0.13876891,  0.        , -0.99032479])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12912883, -0.08450693,  0.1773489 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002596592051159016
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97800727, -0.20186588,  0.05245905, -0.20157611,  0.97941317,
        0.01081228, -0.05356171,  0.        , -0.99856454])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12720299, -0.0823276 ,  0.1132582 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15908303, -0.8795354 ,  0.75491122, -0.8795354 ,  1.94935782,
        0.92073694,  0.75491122,  0.92073694,  2.23181941,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035739703026496883
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.63660737e-01, -7.44751669e-01, -6.99955505e-02, -4.65675146e-02,
       -5.22574748e-02,  9.97547304e-01, -7.46582810e-01,  6.65292497e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10375575, -0.03786402,  0.30492121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044794423801271244
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23924244e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.23924244e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05229539, -0.0613908 ,  0.06198996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27186881e-03, 1.61837127e-01, 7.75517460e-02, 1.30209044e-02,
  1.46453783e-02, 3.83380973e-01, 1.90141566e-01, 5.64282993e-02,
  5.12152452e-05,-1.35134407e-04,-1.68032993e-04, 8.07892482e-04,
  3.85624105e-02, 7.55674907e-03,-1.09730398e-02,-4.06307645e-05,
 -4.58993093e-05, 3.70558391e-05,-9.80995787e+00,-6.50956551e-02,
 -9.67613318e-03,-5.09704916e-03]


--- Step 2327 ---
qpos:
[-0.00596441, 0.20342559,-0.08913168, 0.45087353,-0.02658789, 0.02507458,
 -0.18045133, 0.37550766, 0.01416914, 0.78280918,-0.01976016, 0.6985457 ,
  0.84552338,-0.00472611, 1.1713674 , 0.04591012, 0.09351818,-0.06489587,
  0.14269568, 0.94595826,-0.03273132, 0.02649834, 0.32154232]

qacc:
[ 2.47807486e+00,-1.31071149e+01, 5.19327625e+01,-9.20408818e+01,
  1.57599850e+01,-2.32918323e+01, 8.36267570e+01,-1.19498399e+02,
  5.20786909e-02,-8.73624048e+00, 2.34729202e+01,-2.14274756e+01,
  2.57093418e+00,-8.71078654e+00, 9.51267106e+00,-1.30307508e+01,
  2.23264575e-02,-1.29791204e-01,-4.42871476e-02, 1.26390792e+00,
 -5.34903615e-01,-5.29589445e-01]

qfrc_actuator:
[-0.00327488, 0.16662293, 0.06794429, 0.08093529, 0.01927269, 0.38544394,
  0.15988577, 0.11228445,-0.00184913, 0.14426786, 0.00696889, 0.16464674,
  0.04662859, 0.00880344, 0.        ,-0.00203969, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.53689032, -0.27975556,  0.45824452, -0.27975556,  1.13307153,
        0.36396509,  0.45824452,  0.36396509,  0.75908884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023996804390833952
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.59206298e-01, -6.50371529e-01,  2.49533948e-02,  1.89506754e-02,
        1.62340325e-02,  9.99688616e-01, -6.50574108e-01,  7.59442776e-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([ 0.10800776, -0.04023167,  0.13506615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010187006664129977
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.10067232e-01, -7.02795419e-01,  4.33949886e-02,  3.08424132e-02,
        3.05265554e-02,  9.99057994e-01, -7.03458081e-01,  7.10736750e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10091658, -0.03337382,  0.1205931 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.32374082, 1.31727587, 0.13066759, 1.31727587, 1.31176742,
       0.12070528, 0.13066759, 0.12070528, 0.10689625, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -6.475716446099325e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98997325, -0.0264247 , -0.1387613 , -0.02616889,  0.99965081,
       -0.00366801,  0.13880977,  0.        , -0.99031906])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12896898, -0.08411094,  0.17919228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.74368472,  0.63578455, -0.38580432,  0.63578455,  0.65232099,
       -0.15056246, -0.38580432, -0.15056246,  0.49556597,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019544592450248524
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98997325, -0.0264247 , -0.1387613 , -0.02616889,  0.99965081,
       -0.00366801,  0.13880977,  0.        , -0.99031906])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12912816, -0.08451026,  0.17734198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025964728170962763
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97798681, -0.20196655,  0.05245289, -0.20167669,  0.97939242,
        0.01081663, -0.05355656,  0.        , -0.99856482])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12720548, -0.08232843,  0.11326505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15307607, -0.84727126,  0.78212265, -0.84727126,  1.61012323,
        0.4951179 ,  0.78212265,  0.4951179 ,  1.6894359 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035154914555155105
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.63495614e-01, -7.44902253e-01, -6.99585798e-02, -4.65312172e-02,
       -5.22402978e-02,  9.97549897e-01, -7.46731823e-01,  6.65125240e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10375678, -0.03788691,  0.30494129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044766125858972106
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.2400258e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.2400258e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0522942 , -0.06139083,  0.06198996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.30151715e-03, 1.61999801e-01, 7.76652529e-02, 1.30773266e-02,
  1.44588420e-02, 3.83600370e-01, 1.90470996e-01, 5.55798473e-02,
  8.19656172e-06,-4.23597556e-04,-2.03792105e-05,-2.23618557e-05,
  3.86399666e-02, 7.67393860e-03,-1.12614685e-02, 1.85663065e-04,
 -4.45146150e-05, 3.68446665e-05,-9.80995661e+00,-6.50892121e-02,
 -9.68055346e-03,-5.09123453e-03]


--- Step 2328 ---
qpos:
[-0.00599487, 0.20337174,-0.08936564, 0.45220205,-0.02648811, 0.02511276,
 -0.18102966, 0.3766282 , 0.01417693, 0.78517646,-0.01979051, 0.7017817 ,
  0.84574153,-0.00468988, 1.17179321, 0.0459053 , 0.09351886,-0.06490244,
  0.14269458, 0.94594134,-0.03266326, 0.02648145, 0.32160042]

qacc:
[ 1.81025617e+00,-1.30386307e+01, 5.18960402e+01,-9.20453501e+01,
  1.41811930e+01,-2.45830957e+01, 8.80908230e+01,-1.23828629e+02,
 -2.42788642e-01,-3.64751563e+01, 1.47595103e+02,-3.02219462e+02,
  3.94968171e+00,-9.44254959e+00, 1.21153219e+01,-2.75156537e+01,
  3.42549513e-02,-1.37362803e-01,-4.95908538e-02, 1.49633859e+00,
 -5.58906734e-01,-2.92901395e-01]

qfrc_actuator:
[-0.00325307, 0.16672729, 0.06811073, 0.08072864, 0.01917521, 0.38552979,
  0.16052745, 0.11136457,-0.00190011, 0.14380648, 0.00699207, 0.16398745,
  0.04660899, 0.00872679, 0.        ,-0.00209895, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.53498764, -0.26615244,  0.46408475, -0.26615244,  1.10067688,
        0.32442257,  0.46408475,  0.32442257,  0.72104387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023355911940096364
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75912801, -0.65046585,  0.02487643,  0.01889024,  0.01618628,
        0.99969053, -0.65066721,  0.75936301,  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([ 0.10801161, -0.04023589,  0.13508129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010244879391886582
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.09653020e-01, -7.03211983e-01,  4.34223146e-02,  3.08438685e-02,
        3.05639197e-02,  9.99056806e-01, -7.03875875e-01,  7.10322992e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10091119, -0.0333794 ,  0.12060753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.32476478, 1.31975285, 0.11512666, 1.31975285, 1.31523495,
       0.10924514, 0.11512666, 0.10924514, 0.0724347 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -6.990419796530772e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98997027, -0.02632742, -0.13880107, -0.0260724 ,  0.99965337,
       -0.00365554,  0.1388492 ,  0.        , -0.99031354])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12896735, -0.08411304,  0.17919513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.74545064,  0.62496025, -0.40635127,  0.62496025,  0.63794447,
       -0.16534238, -0.40635127, -0.16534238,  0.49115732,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002006461514502003
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89970267e-01, -2.63274198e-02, -1.38801069e-01, -2.60724002e-02,
        9.99653373e-01, -3.65554111e-03,  1.38849198e-01,  4.33680869e-19,
       -9.90313536e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12912767, -0.08451438,  0.17733513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025962901892281256
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77966589e-01, -2.02066938e-01,  5.24433320e-02, -2.01777028e-01,
        9.79371713e-01,  1.08202671e-02, -5.35479341e-02, -1.73472348e-18,
       -9.98565280e-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([ 0.12720804, -0.08232926,  0.11327186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14614347, -0.82657872,  0.79398518, -0.82657872,  1.5608874 ,
        0.43176941,  0.79398518,  0.43176941,  1.59563726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003446053684374793
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66333231, -0.7450505 , -0.06992855, -0.0464997 , -0.05222816,
        0.997552  , -0.74687886,  0.66496013,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10375848, -0.03791072,  0.30496468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044748637653450885
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24051042e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.24051042e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05229306, -0.06139085,  0.06198997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32150333e-03, 1.62196025e-01, 7.77213799e-02, 1.30046655e-02,
  1.42691687e-02, 3.83873499e-01, 1.90820556e-01, 5.47731355e-02,
 -4.21429662e-05,-7.60540165e-04,-8.25362601e-05,-6.77246251e-04,
  3.87456679e-02, 7.95315262e-03,-1.17577056e-02, 4.84567222e-05,
 -4.46218712e-05, 3.79032537e-05,-9.80995418e+00,-6.50827730e-02,
 -9.68535930e-03,-5.08523093e-03]


--- Step 2329 ---
qpos:
[-0.00602488, 0.20331598,-0.08959701, 0.45352796,-0.02638679, 0.02514756,
 -0.18160106, 0.37774651, 0.01418421, 0.78753708,-0.01981955, 0.70500163,
  0.84596044,-0.00466109, 1.17222812, 0.04590139, 0.09351964,-0.06490955,
  0.14269329, 0.94592455,-0.0325919 , 0.02646415, 0.32165846]

qacc:
[ 1.32213444e+00,-1.40543418e+01, 5.46301533e+01,-9.32535238e+01,
  1.32838339e+01,-2.53236869e+01, 9.10297247e+01,-1.26646110e+02,
 -2.73599684e-01,-4.16894322e+01, 1.73151615e+02,-3.69978454e+02,
  5.34139114e+00,-1.14308524e+01, 1.01578744e+01,-1.71677744e+01,
  2.69279612e-02,-1.35037317e-01,-4.60571782e-02, 1.50638044e+00,
 -7.23332886e-01,-1.15133473e-02]

qfrc_actuator:
[-0.00322817, 0.1668302 , 0.06830282, 0.08050094, 0.01904031, 0.38563924,
  0.16113991, 0.1104723 ,-0.00193354, 0.14343843, 0.00703465, 0.16317495,
  0.0465894 , 0.00870578, 0.        ,-0.00202574, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.53306154, -0.26612601,  0.46187828, -0.26612601,  1.05398562,
        0.30014714,  0.46187828,  0.30014714,  0.70600096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022684293976507592
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.59050645e-01, -6.50559170e-01,  2.47968529e-02,  1.88278566e-02,
        1.61367819e-02,  9.99692511e-01, -6.50759272e-01,  7.59284117e-01,
        3.46944695e-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([ 0.10801547, -0.04024016,  0.13509638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010299441923330177
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70922373, -0.70364371,  0.0434423 ,  0.03083943,  0.03059679,
        0.99905594, -0.70430862,  0.70989391,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10090604, -0.0333852 ,  0.12062186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.32584987, 1.32081014, 0.11549218, 1.32081014, 1.31610871,
       0.11140344, 0.11549218, 0.11140344, 0.05179999, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -7.496681864712475e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98996757, -0.0262285 , -0.13883902, -0.0259743 ,  0.99965597,
       -0.00364279,  0.1388868 ,  0.        , -0.99030826])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12896591, -0.08411593,  0.1791979 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.74723692,  0.62166621, -0.41460118,  0.62166621,  0.63059469,
       -0.17489708, -0.41460118, -0.17489708,  0.48499067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020575090656942843
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89967571e-01, -2.62285045e-02, -1.38839020e-01, -2.59743048e-02,
        9.99655974e-01, -3.64279309e-03,  1.38886801e-01, -4.33680869e-19,
       -9.90308263e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12912736, -0.08451925,  0.17732833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025961260251716025
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97794635, -0.2021677 ,  0.05243245, -0.20187775,  0.97935092,
        0.01082365, -0.05353796,  0.        , -0.99856582])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12721064, -0.08233009,  0.11327867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.13847082, -0.79264472,  0.81720876, -0.79264472,  1.4408544 ,
        0.29329439,  0.81720876,  0.29329439,  1.42294923,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033666058258787407
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66316916, -0.74519792, -0.06990509, -0.04647259, -0.05222088,
        0.99755365, -0.74702541,  0.66479549,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10376095, -0.03793564,  0.30499109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044741444175794287
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48141973e-13, -6.20354933e-14,  1.00000000e+00, -1.53936097e-26,
        1.00000000e+00,  6.20354933e-14, -1.00000000e+00,  0.00000000e+00,
       -2.48141973e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05229196, -0.06139087,  0.06198997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32694271e-03, 1.62384655e-01, 7.78012183e-02, 1.29107983e-02,
  1.40515121e-02, 3.84168469e-01, 1.91113194e-01, 5.39925622e-02,
 -4.75964939e-05,-8.90572744e-04,-1.58892033e-04,-8.58545023e-04,
  3.87404358e-02, 8.26239195e-03,-1.21331130e-02, 1.47207086e-04,
 -4.54414804e-05, 3.95653964e-05,-9.80995113e+00,-6.50760535e-02,
 -9.69047612e-03,-5.07900984e-03]


--- Step 2330 ---
qpos:
[-0.00605454, 0.2032576 ,-0.08982513, 0.45485144,-0.02628389, 0.02517925,
 -0.18216519, 0.37886264, 0.01419087, 0.78988875,-0.01984699, 0.7082115 ,
  0.84618037,-0.00464121, 1.17267444, 0.04590149, 0.09352046,-0.06491716,
  0.14269185, 0.94590764,-0.03251724, 0.0264459 , 0.32171725]

qacc:
[ 1.07453310e+00,-1.64165377e+01, 6.07219662e+01,-9.59383035e+01,
  1.35189886e+01,-2.57421860e+01, 9.28434169e+01,-1.28245410e+02,
 -3.27819045e-01,-3.45415578e+01, 1.28554443e+02,-2.47161378e+02,
  6.67898835e+00,-1.40295600e+01, 4.12305901e+00, 8.63371162e+00,
  8.09475847e-03,-1.24280596e-01,-3.68065652e-02, 1.39009021e+00,
 -9.92484011e-01, 3.98154859e-01]

qfrc_actuator:
[-0.00320149, 0.16686212, 0.06852682, 0.08027934, 0.01891791, 0.38572852,
  0.16167852, 0.10959746,-0.00197395, 0.14291644, 0.00708879, 0.16266955,
  0.04658569, 0.00868611, 0.        ,-0.00178552, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.5311131 , -0.27839462,  0.45230252, -0.27839462,  0.99750283,
        0.28706537,  0.45230252,  0.28706537,  0.70780338,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021979327585670255
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.58973458e-01, -6.50652369e-01,  2.47140415e-02,  1.87630325e-02,
        1.60851627e-02,  9.99694561e-01, -6.50851164e-01,  7.59205349e-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([ 0.10801935, -0.04024452,  0.13511142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010350618042932274
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70878353, -0.70408642,  0.04345366,  0.03082836,  0.03062406,
        0.99905544, -0.7047521 ,  0.70945365,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10090107, -0.0333912 ,  0.12063608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.32699155, 1.32072844, 0.12877481, 1.32072844, 1.31478164,
       0.12522619, 0.12877481, 0.12522619, 0.04265806, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -7.994082989470328e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98996507, -0.02612806, -0.13887581, -0.0258747 ,  0.9996586 ,
       -0.0036298 ,  0.13892324,  0.        , -0.99030315])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12896465, -0.0841196 ,  0.17920059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.74904034,  0.62419101, -0.41406162,  0.62419101,  0.62894801,
       -0.1810372 , -0.41406162, -0.1810372 ,  0.47612978,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021075774032968411
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98996507, -0.02612806, -0.13887581, -0.0258747 ,  0.9996586 ,
       -0.0036298 ,  0.13892324,  0.        , -0.99030315])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12912722, -0.08452485,  0.17732161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002596038670620078
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77925885e-01, -2.02269582e-01,  5.24211722e-02, -2.01979603e-01,
        9.79329881e-01,  1.08270040e-02, -5.35275939e-02,  1.73472348e-18,
       -9.98566371e-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([ 0.12721325, -0.08233094,  0.11328547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1300793 , -0.75047749,  0.844904  , -0.75047749,  1.2939887 ,
        0.14559088,  0.844904  ,  0.14559088,  1.25939894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032763408437499477
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6630054 , -0.74534513, -0.06988906, -0.0464504 , -0.05221916,
        0.99755477, -0.74717214,  0.66463057,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10376408, -0.0379617 ,  0.30502081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044744634204557654
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24062141e-13,  6.20310706e-14,  1.00000000e+00,  7.69570743e-27,
        1.00000000e+00, -6.20310706e-14, -1.00000000e+00,  0.00000000e+00,
       -1.24062141e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0522909 , -0.06139089,  0.06198997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32215114e-03, 1.62513735e-01, 7.78962673e-02, 1.28182499e-02,
  1.38517100e-02, 3.84429657e-01, 1.91308977e-01, 5.32274694e-02,
 -5.71624980e-05,-1.13831636e-03,-1.88038717e-04,-5.62314242e-04,
  3.86992975e-02, 8.61427611e-03,-1.25960631e-02, 3.39709447e-04,
 -4.68610497e-05, 4.18045120e-05,-9.80994749e+00,-6.50691158e-02,
 -9.69588427e-03,-5.07253363e-03]


--- Step 2331 ---
qpos:
[-0.00608405, 0.20319653,-0.09004977, 0.45617257,-0.02617959, 0.02520792,
 -0.18272172, 0.3799766 , 0.01419721, 0.79222987,-0.01987246, 0.71141221,
  0.84640365,-0.00462888, 1.17312879, 0.04590381, 0.09352132,-0.06492526,
  0.14269026, 0.94589061,-0.03243925, 0.0264268 , 0.32177674]

qacc:
[ 5.00796242e-01,-1.69828900e+01, 6.23377820e+01,-9.66919877e+01,
  1.20700642e+01,-2.64771052e+01, 9.54814424e+01,-1.30885427e+02,
 -1.66741911e-01,-3.59493081e+01, 1.27945333e+02,-2.33178716e+02,
  7.60692923e+00,-1.35792713e+01, 4.50175551e+00, 1.62807147e-02,
  1.28057668e-02,-1.25223766e-01,-3.64657881e-02, 1.42915281e+00,
 -9.45523112e-01, 3.84578935e-01]

qfrc_actuator:
[-0.00317383, 0.16688846, 0.06873276, 0.0800445 , 0.01882012, 0.38578902,
  0.16218748, 0.10882269,-0.00198274, 0.14234255, 0.00716678, 0.16220682,
  0.0465755 , 0.00863621, 0.        ,-0.00171484, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.52913347, -0.2746475 ,  0.45227312, -0.2746475 ,  0.95802145,
        0.26044664,  0.45227312,  0.26044664,  0.68729236,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002123406191666271
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.58895362e-01, -6.50746755e-01,  2.46270166e-02,  1.86949987e-02,
        1.60308131e-02,  9.99696709e-01, -6.50944180e-01,  7.59125598e-01,
       -3.46944695e-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([ 0.10802325, -0.04024898,  0.1351264 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001039802117492129
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.08342214e-01, -7.04530398e-01,  4.34537270e-02,  3.08092103e-02,
        3.06434161e-02,  9.99055441e-01, -7.05196498e-01,  7.09011918e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10089619, -0.03339729,  0.12065014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.32817311, 1.32238695, 0.12384084, 1.32238695, 1.3167615 ,
       0.12185446, 0.12384084, 0.12185446, 0.026997  , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -8.47744336417132e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89962553e-01, -2.60260587e-02, -1.38912880e-01, -2.57735539e-02,
        9.99661265e-01, -3.61657982e-03,  1.38959950e-01, -4.33680869e-19,
       -9.90298002e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12896355, -0.084124  ,  0.17920318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.75084026,  0.62038828, -0.42294145,  0.62038828,  0.62233257,
       -0.18850047, -0.42294145, -0.18850047,  0.47433986,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000215618004775511
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98996255, -0.02602606, -0.13891288, -0.02577355,  0.99966126,
       -0.00361658,  0.13895995,  0.        , -0.990298  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12912723, -0.08453112,  0.17731496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025960565412473146
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97790497, -0.20237369,  0.05240958, -0.20208368,  0.97930837,
        0.01083042, -0.05351693,  0.        , -0.99856694])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12721583, -0.08233181,  0.11329227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12091043, -0.72144793,  0.85787707, -0.72144793,  1.26032756,
        0.11724547,  0.85787707,  0.11724547,  1.21951022,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003173309905217187
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6628408 , -0.74549217, -0.06988197, -0.04643414, -0.05222414,
        0.99755527, -0.74731917,  0.66446524,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10376764, -0.03798881,  0.30505449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044758529601686414
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24023626e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.24023626e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05228988, -0.06139091,  0.06198997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31195315e-03, 1.62673768e-01, 7.79401430e-02, 1.27023950e-02,
  1.36751234e-02, 3.84648172e-01, 1.91458311e-01, 5.25604471e-02,
 -3.00450196e-05,-1.32254792e-03,-2.07540203e-04,-5.22804414e-04,
  3.86380664e-02, 9.01114447e-03,-1.31749576e-02, 2.08345815e-04,
 -4.90357598e-05, 4.47105190e-05,-9.80994314e+00,-6.50620627e-02,
 -9.70166779e-03,-5.06574825e-03]


--- Step 2332 ---
qpos:
[-0.00611359, 0.20313341,-0.09027091, 0.45749132,-0.02607407, 0.02523365,
 -0.18327031, 0.38108841, 0.01420357, 0.79456005,-0.01989737, 0.71459984,
  0.84663187,-0.00462333, 1.17358966, 0.04590761, 0.09352225,-0.06493388,
  0.14268854, 0.9458735 ,-0.03235792, 0.02640693, 0.32183685]

qacc:
[-6.40707394e-02,-1.61948184e+01, 6.08334399e+01,-9.59481145e+01,
  1.04723363e+01,-2.71261922e+01, 9.78828152e+01,-1.33332271e+02,
  1.56296561e-02,-3.97596973e+01, 1.50679886e+02,-3.04919961e+02,
  8.35589839e+00,-1.35457188e+01, 4.41665610e+00,-3.04931590e+00,
  1.54812138e-02,-1.26173939e-01,-3.50318536e-02, 1.44362559e+00,
 -9.07342744e-01, 3.38742579e-01]

qfrc_actuator:
[-0.00314552, 0.16696581, 0.06894409, 0.07982038, 0.01871888, 0.38590444,
  0.1627109 , 0.10805557,-0.00197261, 0.14176045, 0.00716933, 0.16154202,
  0.04654519, 0.00858811, 0.        ,-0.00165694, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.52713845, -0.2672105 ,  0.45439355, -0.2672105 ,  0.92328707,
        0.232959  ,  0.45439355,  0.232959  ,  0.66413223,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020450147494031356
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.58816399e-01, -6.50842270e-01,  2.45359537e-02,  1.86238908e-02,
        1.59738448e-02,  9.99698948e-01, -6.51038266e-01,  7.59044910e-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([ 0.1080272 , -0.04025354,  0.13514132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010441820471124787
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70789857, -0.70497682,  0.04344305,  0.03078233,  0.03065528,
        0.99905591, -0.70564301,  0.70856753,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10089141, -0.0334035 ,  0.12066407])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.32939609, 1.32395423, 0.12016308, 1.32395423, 1.31855922,
       0.11940041, 0.12016308, 0.11940041, 0.01384502, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -8.949550080886135e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89960068e-01, -2.59226674e-02, -1.38949915e-01, -2.56710323e-02,
        9.99663951e-01, -3.60316326e-03,  1.38996625e-01,  4.33680869e-19,
       -9.90292855e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1289626 , -0.08412911,  0.17920568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.75264346,  0.61755959, -0.43022358,  0.61755959,  0.6167995 ,
       -0.19499567, -0.43022358, -0.19499567,  0.47273912,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022035926511675813
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98996007, -0.02592267, -0.13894991, -0.02567103,  0.99966395,
       -0.00360316,  0.13899662,  0.        , -0.99029285])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12912737, -0.08453806,  0.1773084 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002596220927472737
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97788356, -0.20247994,  0.05239862, -0.20218988,  0.97928641,
        0.01083408, -0.05350694,  0.        , -0.99856748])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12721836, -0.08233269,  0.11329909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.11126584, -0.69048332,  0.87071497, -0.69048332,  1.21226876,
        0.08009605,  0.87071497,  0.08009605,  1.1747826 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003059435138135101
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66267364, -0.74564071, -0.06988259, -0.04642284, -0.05223501,
        0.99755522, -0.7474681 ,  0.6642977 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10377165, -0.03801706,  0.30509154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044781980077887584
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23958680e-13, -6.19793398e-14,  1.00000000e+00,  7.68287713e-27,
        1.00000000e+00,  6.19793398e-14, -1.00000000e+00,  0.00000000e+00,
        1.23958680e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0522889 , -0.06139092,  0.06198996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.29123053e-03, 1.62888127e-01, 7.79784052e-02, 1.25943872e-02,
  1.35037232e-02, 3.84918185e-01, 1.91605011e-01, 5.19003783e-02,
  1.20157951e-06,-1.43513770e-03,-3.20689707e-04,-7.31016233e-04,
  3.84402755e-02, 9.34053999e-03,-1.35860283e-02, 1.53096218e-04,
 -5.12681232e-05, 4.77205066e-05,-9.80993865e+00,-6.50546713e-02,
 -9.70771069e-03,-5.05865070e-03]


--- Step 2333 ---
qpos:
[-0.00614333, 0.20306928,-0.0904888 , 0.4588076 ,-0.02596752, 0.02525621,
 -0.18381067, 0.38219808, 0.01421003, 0.79687838,-0.01992285, 0.71777763,
  0.84686673,-0.00462341, 1.17405515, 0.04591147, 0.09352327,-0.06494299,
  0.14268667, 0.94585632,-0.03227323, 0.02638652, 0.32189752]

qacc:
[-5.51925737e-01,-1.43854920e+01, 5.67495301e+01,-9.39496205e+01,
  8.95613074e+00,-2.81598123e+01, 1.00987215e+02,-1.36084761e+02,
  5.94046008e-02,-3.19608564e+01, 1.14008733e+02,-2.26713615e+02,
  8.91074919e+00,-1.29649786e+01, 5.95743434e+00,-1.25362753e+01,
  2.37878216e-02,-1.26414211e-01,-3.53242700e-02, 1.49667511e+00,
 -8.13392999e-01, 3.08628487e-01]

qfrc_actuator:
[-0.00309895, 0.16705645, 0.06915726, 0.07967466, 0.01865071, 0.38596515,
  0.16323963, 0.10741815,-0.00196908, 0.14114253, 0.00712723, 0.16104762,
  0.04651319, 0.00854335, 0.        ,-0.00167787, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.52515363, -0.25369486,  0.45981002, -0.25369486,  0.89339917,
        0.20317522,  0.45981002,  0.20317522,  0.6372532 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001963354012135862
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.58736690e-01, -6.50938763e-01,  2.44409935e-02,  1.85498198e-02,
        1.59143441e-02,  9.99701274e-01, -6.51133274e-01,  7.58963411e-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([ 0.10803113, -0.0402582 ,  0.13515621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.35205084,  0.26673384, -0.35205084,  2.04733975,
        2.1192349 ,  0.26673384,  2.1192349 ,  3.23877573,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010482610441211132
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70744781, -0.70543038,  0.04342315,  0.03074862,  0.03066093,
        0.99905677, -0.70609639,  0.70811573,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10088674, -0.03340986,  0.1206779 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.33066063, 1.3269921 , 0.09874056, 1.3269921 , 1.32362817,
       0.09451061, 0.09874056, 0.09451061, 0.06051563, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -9.412072484966769e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89957641e-01, -2.58180770e-02, -1.38986677e-01, -2.55673253e-02,
        9.99666658e-01, -3.58956530e-03,  1.39033023e-01,  4.33680869e-19,
       -9.90287745e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1289618 , -0.08413495,  0.17920811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.75445349,  0.61325899, -0.43944679,  0.61325899,  0.60757793,
       -0.20496851, -0.43944679, -0.20496851,  0.46841481,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002249980733463342
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89957641e-01, -2.58180770e-02, -1.38986677e-01, -2.55673253e-02,
        9.99666658e-01, -3.58956530e-03,  1.39033023e-01,  4.33680869e-19,
       -9.90287745e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12912765, -0.08454567,  0.17730192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002596568794304904
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77861663e-01, -2.02588139e-01,  5.23890680e-02, -2.02298020e-01,
        9.79264033e-01,  1.08381432e-02, -5.34984092e-02, -1.73472348e-18,
       -9.98567935e-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([ 0.12722082, -0.08233359,  0.11330592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10137089, -0.66232667,  0.8799666 , -0.66232667,  1.18258549,
        0.061128  ,  0.8799666 ,  0.061128  ,  1.14738025,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029360225682153107
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.62502727e-01, -7.45791855e-01, -6.98902397e-02, -4.64159760e-02,
       -5.22513424e-02,  9.97554687e-01, -7.47620019e-01,  6.64126725e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10377609, -0.03804651,  0.30513157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004481382217170482
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47741204e-13, -1.85805903e-13,  1.00000000e+00, -4.60317780e-26,
        1.00000000e+00,  1.85805903e-13, -1.00000000e+00,  0.00000000e+00,
       -2.47741204e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05228795, -0.06139094,  0.06198995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24261333e-03, 1.63083189e-01, 7.80176981e-02, 1.25654671e-02,
  1.33749058e-02, 3.85128561e-01, 1.91740906e-01, 5.13694206e-02,
  8.88630624e-06,-1.56323500e-03,-4.07623964e-04,-5.72564628e-04,
  3.81619137e-02, 9.63560676e-03,-1.39207818e-02, 5.55207438e-05,
 -5.34594695e-05, 5.07813199e-05,-9.80993407e+00,-6.50469318e-02,
 -9.71397891e-03,-5.05124870e-03]


--- Step 2334 ---
qpos:
[-0.00617352, 0.2030083 ,-0.09070488, 0.46012098,-0.02586047, 0.02527596,
 -0.18434255, 0.38330563, 0.01421638, 0.7991901 ,-0.01995125, 0.72095541,
  0.84711043,-0.00462711, 1.17452274, 0.04591322, 0.0935244 ,-0.06495267,
  0.14268469, 0.94583946,-0.0321854 , 0.02636577, 0.32195756]

qacc:
[-1.30630203e+00,-5.87245986e+00, 3.65077095e+01,-8.35221969e+01,
  4.53603689e+00,-2.82840765e+01, 1.01993790e+02,-1.37223678e+02,
 -5.28401151e-02,-7.46274424e-01,-8.55416905e+00, 1.34731542e+01,
  9.22887606e+00,-1.13745919e+01, 8.78464879e+00,-2.77876049e+01,
  2.55477461e-02,-1.39141284e-01,-2.82803382e-02, 1.44180581e+00,
 -6.52336427e-01,-3.14174793e-01]

qfrc_actuator:
[-0.00305899, 0.16711934, 0.06942361, 0.08007409, 0.01854882, 0.38606547,
  0.16373257, 0.10707244,-0.00198736, 0.14125402, 0.00714801, 0.16108349,
  0.04649051, 0.00853765, 0.        ,-0.00181627, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.52321023, -0.21978398,  0.47480938, -0.21978398,  0.86079633,
        0.15626485,  0.47480938,  0.15626485,  0.59554349,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018793853763183027
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75865632, -0.65103612,  0.02434249,  0.01847306,  0.01585254,
        0.99970368, -0.65122909,  0.7588812 ,  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([ 0.108035  , -0.04026293,  0.13517109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.34768569,  0.27239932, -0.34768569,  2.09772803,
        2.11374255,  0.27239932,  2.11374255,  3.13962996,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010521289493009116
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.706983  , -0.70589786,  0.04339641,  0.03070946,  0.03066232,
        0.99905793, -0.70656349,  0.70764965,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10088216, -0.03341644,  0.12069167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.33197191, 1.32823437, 0.09971261, 1.32823437, 1.32462291,
       0.09789325, 0.09971261, 0.09789325, 0.02797257, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -9.868042046409895e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89955336e-01, -2.57124691e-02, -1.39022666e-01, -2.54626144e-02,
        9.99669380e-01, -3.57579823e-03,  1.39068645e-01, -4.33680869e-19,
       -9.90282743e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12896118, -0.08414147,  0.17921047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.75627967,  0.61461551, -0.4406889 ,  0.61461551,  0.60610082,
       -0.20944992, -0.4406889 , -0.20944992,  0.46416619,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002295635332414948
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89955336e-01, -2.57124691e-02, -1.39022666e-01, -2.54626144e-02,
        9.99669380e-01, -3.57579823e-03,  1.39068645e-01, -4.33680869e-19,
       -9.90282743e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1291281 , -0.08455393,  0.17729551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025971111172190704
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97783926, -0.20269819,  0.0523815 , -0.20240799,  0.97924126,
        0.01084272, -0.05349193,  0.        , -0.99856828])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12722322, -0.08233451,  0.11331277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.0914744 , -0.63852566,  0.8852126 , -0.63852566,  1.17269736,
        0.05858813,  0.8852126 ,  0.05858813,  1.13373546,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028049984353238524
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66232678, -0.74594683, -0.06990388, -0.04641275, -0.05227245,
        0.99755373, -0.74777609,  0.66395099,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10378102, -0.03807722,  0.30517397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044852446987936334
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23763930e-13, -3.86762282e-15,  1.00000000e+00,  4.78672201e-28,
        1.00000000e+00,  3.86762282e-15, -1.00000000e+00,  0.00000000e+00,
        1.23763930e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05228702, -0.06139095,  0.06198994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19238267e-03, 1.63199081e-01, 7.81217272e-02, 1.30860523e-02,
  1.32214342e-02, 3.85390334e-01, 1.91825447e-01, 5.11293530e-02,
 -9.43605967e-06,-9.16160596e-04,-3.75284988e-04,-4.59352980e-05,
  3.78072152e-02, 9.91234991e-03,-1.41609431e-02,-8.75743733e-05,
 -5.56968991e-05, 5.39047233e-05,-9.80992944e+00,-6.50388117e-02,
 -9.72047019e-03,-5.04356046e-03]


--- Step 2335 ---
qpos:
[-0.00620437, 0.20295328,-0.09092028, 0.46143114,-0.02575339, 0.02529369,
 -0.18486586, 0.38441108, 0.0142226 , 0.80150103,-0.01998265, 0.72413069,
  0.84736285,-0.00463463, 1.17499382, 0.04591493, 0.09352553,-0.06496292,
  0.14268267, 0.94582319,-0.03209488, 0.0263443 , 0.32201612]

qacc:
[-1.95213002e+00, 3.08929614e-01, 2.13221915e+01,-7.47681303e+01,
  4.86659245e-01,-2.73802408e+01, 1.00263670e+02,-1.35881565e+02,
 -7.63540430e-02, 2.56292632e+00,-3.13031672e+00,-2.82405319e+01,
  9.33244146e+00,-1.16660780e+01, 4.59163405e+00,-1.01351561e+01,
  2.38619629e-03,-1.44821316e-01,-9.65603889e-03, 1.18811613e+00,
 -7.57728296e-01,-7.70150281e-01]

qfrc_actuator:
[-0.00302266, 0.16716182, 0.06973978, 0.08076654, 0.01840905, 0.38627923,
  0.16425374, 0.10686708,-0.00200081, 0.14169613, 0.00717359, 0.16098784,
  0.04647297, 0.00857339, 0.        ,-0.00179223, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.52137044, -0.20478978,  0.47946666, -0.20478978,  0.80486639,
        0.12108678,  0.47946666,  0.12108678,  0.57308902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001795723041396889
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.58576922e-01, -6.51132419e-01,  2.42410064e-02,  1.83940732e-02,
        1.57887448e-02,  9.99706144e-01, -6.51323815e-01,  7.58799900e-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([ 0.10803853, -0.04026768,  0.13518608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.32695168,  0.29696688, -0.32695168,  2.37739026,
        2.13115242,  0.29696688,  2.13115242,  2.78802151,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010560367117096827
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70647709, -0.70640582,  0.04336989,  0.03066869,  0.03066559,
        0.99905908, -0.70707111,  0.70714245,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10087768, -0.03342351,  0.12070556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.33332248, 1.32975067, 0.09752939, 1.32975067, 1.32637369,
       0.09474229, 0.09752939, 0.09474229, 0.04157201, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00010315842099813345
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89953273e-01, -2.56063672e-02, -1.39056936e-01, -2.53574216e-02,
        9.99672103e-01, -3.56191089e-03,  1.39102547e-01,  4.33680869e-19,
       -9.90277982e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1289607 , -0.08414883,  0.17921276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.75811326,  0.62655607, -0.42680581,  0.62655607,  0.61768414,
       -0.20615164, -0.42680581, -0.20615164,  0.45548017,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023403848458822252
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89953273e-01, -2.56063672e-02, -1.39056936e-01, -2.53574216e-02,
        9.99672103e-01, -3.56191089e-03,  1.39102547e-01,  4.33680869e-19,
       -9.90277982e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12912869, -0.08456297,  0.17728918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00259787907688827
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77816715e-01, -2.02808359e-01,  5.23759566e-02, -2.02518042e-01,
        9.79218448e-01,  1.08477141e-02, -5.34875100e-02, -1.73472348e-18,
       -9.98568519e-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([ 0.12722548, -0.08233543,  0.11331966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.08182855, -0.6040829 ,  0.89746134, -0.6040829 ,  1.07782815,
       -0.00269268,  0.89746134, -0.00269268,  1.0800161 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00026688651199894653
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66214417, -0.74610727, -0.06992163, -0.04641179, -0.05229704,
        0.99755249, -0.74793786,  0.66376876,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10378647, -0.03810929,  0.305218  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044894486360394503
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47296075e-13, -9.66000291e-14,  1.00000000e+00, -2.38888080e-26,
        1.00000000e+00,  9.66000291e-14, -1.00000000e+00,  0.00000000e+00,
       -2.47296075e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05228611, -0.06139096,  0.06198994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.13349775e-03, 1.63086399e-01, 7.83481570e-02, 1.39221595e-02,
  1.30563647e-02, 3.85748264e-01, 1.91926014e-01, 5.10286886e-02,
 -1.30179653e-05,-1.99932096e-04,-2.20029694e-04,-1.41983225e-04,
  3.73483009e-02, 1.01300962e-02,-1.42752192e-02, 3.97033072e-05,
 -5.64607929e-05, 5.62406346e-05,-9.80992561e+00,-6.50301312e-02,
 -9.72680800e-03,-5.03561371e-03]


--- Step 2336 ---
qpos:
[-0.00623596, 0.20290255,-0.09113531, 0.46273811,-0.02564657, 0.02530925,
 -0.18538046, 0.38551445, 0.01422908, 0.80381086,-0.0200139 , 0.72730031,
  0.84762515,-0.0046448 , 1.17546704, 0.04591547, 0.09352671,-0.06497375,
  0.14268062, 0.94580754,-0.03200164, 0.02632231, 0.32207318]

qacc:
[-2.17821830e+00,-1.04101953e+00, 2.29015635e+01,-7.44937740e+01,
 -1.86830283e+00,-2.80029364e+01, 1.02072014e+02,-1.37472989e+02,
  1.38326977e-01,-1.21503263e+01, 5.41270653e+01,-1.23577871e+02,
  9.44850256e+00,-1.06902187e+01, 5.99442579e+00,-1.79376780e+01,
  9.83602161e-03,-1.43693929e-01,-9.71772619e-03, 1.22741107e+00,
 -6.69845356e-01,-7.81877106e-01]

qfrc_actuator:
[-0.00297038, 0.16717024, 0.06997973, 0.0811747 , 0.01831785, 0.38649036,
  0.16484165, 0.10648046,-0.00197578, 0.1417476 , 0.00722105, 0.16070923,
  0.04645822, 0.00861789, 0.        ,-0.00186723, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.51965387, -0.2020744 ,  0.47875472, -0.2020744 ,  0.72900869,
        0.08836518,  0.47875472,  0.08836518,  0.55695134,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017134682184060144
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75849964, -0.65122635,  0.02413609,  0.01831255,  0.01572264,
        0.99970868, -0.65141611,  0.75872066,  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([ 0.10804152, -0.04027243,  0.13520125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.31265978,  0.31197852, -0.31265978,  2.58163381,
        2.14462053,  0.31197852,  2.14462053,  2.59098993,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010699562352982507
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70591592, -0.70696807,  0.04334584,  0.0306273 ,  0.03067295,
        0.99906013, -0.70763316,  0.70658001,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10087325, -0.03343121,  0.12071965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.33467466, 1.32959055, 0.11638473, 1.32959055, 1.32489247,
       0.11175267, 0.11638473, 0.11175267, 0.05800129, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00010744727648376115
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89951366e-01, -2.55002447e-02, -1.39090011e-01, -2.52522137e-02,
        9.99674816e-01, -3.54798307e-03,  1.39135256e-01,  4.33680869e-19,
       -9.90273387e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12896033, -0.08415718,  0.17921494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.75990763,  0.62626272, -0.43041214,  0.62626272,  0.61390407,
       -0.21243962, -0.43041214, -0.21243962,  0.45080154,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023831797787458777
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98995137, -0.02550024, -0.13909001, -0.02525221,  0.99967482,
       -0.00354798,  0.13913526,  0.        , -0.99027339])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12912935, -0.08457294,  0.17728298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025988960266175075
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77794344e-01, -2.02917385e-01,  5.23713273e-02, -2.02626951e-01,
        9.79195861e-01,  1.08528367e-02, -5.34840162e-02,  1.73472348e-18,
       -9.98568706e-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([ 0.12722751, -0.08233633,  0.11332655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.07240594, -0.57606005,  0.90454923, -0.57606005,  1.04597854,
       -0.01683022,  0.90454923, -0.01683022,  1.06168765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025264954914954824
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66195498, -0.74627306, -0.06994368, -0.04641324, -0.05232523,
        0.99755094, -0.74810522,  0.66358013,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379225, -0.03814262,  0.30526407])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044937198474169493
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.56255844e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.56255844e-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([ 0.0522852 , -0.06139097,  0.06198993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04805735e-03, 1.62798636e-01, 7.85549767e-02, 1.44887261e-02,
  1.29638732e-02, 3.86062493e-01, 1.92089464e-01, 5.07454928e-02,
  2.38703026e-05,-1.64521864e-04,-3.93821762e-05,-2.96792932e-04,
  3.68981503e-02, 1.03664401e-02,-1.44597152e-02,-3.54643241e-05,
 -5.58137516e-05, 5.79479101e-05,-9.80992237e+00,-6.50210945e-02,
 -9.73299796e-03,-5.02740203e-03]


--- Step 2337 ---
qpos:
[-0.0062685 , 0.20285696,-0.09135063, 0.46404174,-0.02554039, 0.02532281,
 -0.18588619, 0.38661573, 0.01423605, 0.80611763,-0.02004275, 0.73047099,
  0.84789715,-0.00465779, 1.17594219, 0.0459151 , 0.09352791,-0.06498517,
  0.14267854, 0.94579261,-0.03190579, 0.02629977, 0.32212837]

qacc:
[-2.81822054e+00, 1.59281791e+00, 1.58589267e+01,-7.00466876e+01,
 -5.12459325e+00,-2.80488512e+01, 1.02571742e+02,-1.38087756e+02,
  2.65795359e-01,-8.63215268e+00, 2.08629128e+01,-4.11643973e+00,
  9.44616845e+00,-1.08432378e+01, 4.90547960e+00,-1.45869731e+01,
  6.70023152e-03,-1.47657517e-01,-4.99109474e-03, 1.18520372e+00,
 -6.59781763e-01,-9.70228460e-01]

qfrc_actuator:
[-0.00294369, 0.167193  , 0.07013848, 0.08157332, 0.0182028 , 0.38671864,
  0.165395  , 0.10612795,-0.00194575, 0.14160082, 0.00735069, 0.16076885,
  0.04643939, 0.00859699, 0.        ,-0.00191175, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.51803162, -0.19099306,  0.48153755, -0.19099306,  0.67566354,
        0.06252182,  0.48153755,  0.06252182,  0.54282975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016314405669210971
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.58424504e-01, -6.51317835e-01,  2.40280985e-02,  1.82287616e-02,
        1.56544488e-02,  9.99711284e-01, -6.51505936e-01,  7.58643537e-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([ 0.10804413, -0.04027721,  0.13521652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.31561551,  0.30898799, -0.31561551,  2.53353494,
        2.13671701,  0.30898799,  2.13671701,  2.62423394,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010735297031033702
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70530964, -0.70757437,  0.04332218,  0.03058426,  0.03068247,
        0.99906115, -0.7082393 ,  0.70597244,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10086893, -0.03343944,  0.12073386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.33603109, 1.33087129, 0.11730597, 1.33087129, 1.3260086 ,
       0.11370817, 0.11730597, 0.11370817, 0.04597787, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00011157671035947983
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98994967, -0.02539438, -0.13912144, -0.02514727,  0.99967751,
       -0.00353404,  0.13916632,  0.        , -0.99026902])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12896007, -0.08416649,  0.17921702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.76167016,  0.6302304 , -0.42772781,  0.6302304 ,  0.61572192,
       -0.21504569, -0.42772781, -0.21504569,  0.44481367,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002424306719896611
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89949671e-01, -2.53943816e-02, -1.39121436e-01, -2.51472694e-02,
        9.99677511e-01, -3.53404253e-03,  1.39166316e-01,  4.33680869e-19,
       -9.90269022e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1291301 , -0.08458382,  0.17727689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026001680787205326
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97777213, -0.20302522,  0.05236811, -0.20273465,  0.97917351,
        0.01085819, -0.05348196,  0.        , -0.99856882])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12722931, -0.08233722,  0.11333347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.06336118, -0.54834524,  0.91107327, -0.54834524,  0.98195915,
       -0.04899322,  0.91107327, -0.04899322,  1.03387376,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023794982209174239
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.61758324e-01, -7.46445087e-01, -6.99689457e-02, -4.64162906e-02,
       -5.23562921e-02,  9.97549170e-01, -7.48278991e-01,  6.63384166e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379841, -0.03817724,  0.30531167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044979081498891516
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23415484e-13, -1.27272218e-13,  1.00000000e+00,  1.57073624e-26,
        1.00000000e+00,  1.27272218e-13, -1.00000000e+00,  0.00000000e+00,
        1.23415484e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05228429, -0.06139098,  0.06198992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98425400e-03, 1.62608857e-01, 7.86956081e-02, 1.50452716e-02,
  1.28615906e-02, 3.86403059e-01, 1.92209931e-01, 5.04961313e-02,
  4.59576451e-05,-3.12184249e-04, 6.63783548e-05, 4.50622656e-05,
  3.63854232e-02, 1.04795154e-02,-1.45759836e-02,-2.38714832e-05,
 -5.51842149e-05, 5.97169310e-05,-9.80991918e+00,-6.50117442e-02,
 -9.73935155e-03,-5.01894561e-03]


--- Step 2338 ---
qpos:
[-0.00630222, 0.20281888,-0.09156711, 0.46534183,-0.02543528, 0.02533531,
 -0.18638307, 0.38771496, 0.01424326, 0.80841919,-0.02006926, 0.73364243,
  0.84817592,-0.00467602, 1.17642265, 0.04591906, 0.09352899,-0.0649972 ,
  0.14267652, 0.94577855,-0.03180766, 0.02627591, 0.32218128]

qacc:
[-3.48627138e+00, 6.67338358e+00, 3.34101266e+00,-6.22694648e+01,
 -8.75022359e+00,-2.68463002e+01, 9.99859129e+01,-1.35939387e+02,
  1.37441650e-01,-1.18102862e+01, 2.86997832e+01,-1.36182265e+01,
  8.96440559e+00,-1.27170067e+01,-5.95285944e+00, 3.06091489e+01,
 -2.85626210e-02,-1.53531120e-01, 1.46589860e-02, 9.10172328e-01,
 -9.69553352e-01,-1.21603147e+00]

qfrc_actuator:
[-0.00294959, 0.16725733, 0.07033778, 0.08221619, 0.01805618, 0.38685138,
  0.16585298, 0.10579673,-0.00194857, 0.14123098, 0.00742083, 0.16079614,
  0.04641778, 0.00859134, 0.        ,-0.00163597, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.51650681, -0.18680304,  0.48154326, -0.18680304,  0.61131192,
        0.03677734,  0.48154326,  0.03677734,  0.53077369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015499308069672876
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75835201, -0.65140632,  0.02391704,  0.01814272,  0.01558417,
        0.99971395, -0.65159271,  0.75856901,  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([ 0.10804632, -0.04028201,  0.1352319 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.30866308,  0.31593327, -0.30866308,  2.62350969,
        2.13161578,  0.31593327,  2.13161578,  2.52424971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010771529187530988
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.04653919e-01, -7.08228764e-01,  4.32997947e-02,  3.05400128e-02,
        3.06949481e-02,  9.99062124e-01, -7.08893618e-01,  7.05315417e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10086473, -0.03344826,  0.12074821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.33737912, 1.32835961, 0.15506019, 1.32835961, 1.31944712,
       0.1536187 , 0.15506019, 0.1536187 , 0.02136836, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00011552732303128672
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89948202e-01, -2.52891622e-02, -1.39151053e-01, -2.50429700e-02,
        9.99680178e-01, -3.52013938e-03,  1.39195571e-01, -4.33680869e-19,
       -9.90264911e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12895991, -0.08417683,  0.179219  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7633882 ,  0.64725458, -0.4047506 ,  0.64725458,  0.63233434,
       -0.20957402, -0.4047506 , -0.20957402,  0.42824912,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024635732380837535
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9899482 , -0.02528916, -0.13915105, -0.02504297,  0.99968018,
       -0.00352014,  0.13919557,  0.        , -0.99026491])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12913094, -0.08459566,  0.17727093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00260081362311448
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97727928, -0.20537328,  0.05241206, -0.20507857,  0.97868371,
        0.01099848, -0.05355362,  0.        , -0.99856498])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12723609, -0.08236343,  0.11334093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.05472047, -0.50678948,  0.92498632, -0.50678948,  0.84552128,
       -0.11461785,  0.92498632, -0.11461785,  0.99192265,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022276906817757298
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66155434, -0.7466232 , -0.06999757, -0.04642106, -0.05239031,
        0.99754716, -0.74845905,  0.66318101,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10380493, -0.03821316,  0.30536088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004501881564548671
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.69919669e-13, -1.27159886e-13,  1.00000000e+00, -4.70389429e-26,
        1.00000000e+00,  1.27159886e-13, -1.00000000e+00,  0.00000000e+00,
       -3.69919669e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05228337, -0.06139099,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94229756e-03, 1.62417942e-01, 7.89099295e-02, 1.58532483e-02,
  1.27471248e-02, 3.86638235e-01, 1.92228519e-01, 5.02677474e-02,
  2.33606117e-05,-5.83564377e-04, 8.09731339e-07, 1.84514559e-05,
  3.58789151e-02, 1.06159516e-02,-1.46818193e-02, 2.95195021e-04,
 -5.40412463e-05, 6.13322123e-05,-9.80991622e+00,-6.50020666e-02,
 -9.74573957e-03,-5.01024852e-03]


--- Step 2339 ---
qpos:
[-0.00631006, 0.20281688,-0.09173128, 0.46664359,-0.02529241, 0.02536113,
 -0.18686186, 0.38881418, 0.01425041, 0.81071408,-0.02009435, 0.73680872,
  0.84838864,-0.00475254, 1.1767179 , 0.04596541, 0.09351724,-0.06499935,
  0.14267283, 0.94572045,-0.03176386, 0.0262638 , 0.32235711]

qacc:
[ 7.59397618e+01,-9.02380843e+01, 3.70196028e+02,-4.00377537e+02,
  3.17329245e+02,-2.94555234e+01, 1.26743286e+02,-1.48517951e+02,
 -3.32871292e-02,-2.20370782e+01, 7.62934229e+01,-1.33494889e+02,
  9.44902377e-01,-5.98163125e+01,-4.03603807e+02, 1.01074266e+03,
 -3.21064549e+00, 2.47298730e+00,-4.18877865e-01,-2.61157701e+01,
  1.29328986e+01, 6.47011169e+01]

qfrc_actuator:
[-0.00290343, 0.16728888, 0.07059791, 0.08298938, 0.01796232, 0.38696216,
  0.1663212 , 0.10533706,-0.00197105, 0.14078393, 0.00743661, 0.16051988,
  0.04638908, 0.00863388, 0.        ,-0.00142142, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.51508443,  0.21236287,  0.46926963,  0.21236287,  2.07671346,
       -0.70669823,  0.46926963, -0.70669823,  0.83489303,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014694024939877542
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.58282763e-01, -6.51491159e-01,  2.38016993e-02,  1.80535329e-02,
        1.55109909e-02,  9.99716699e-01, -6.51675779e-01,  7.58497646e-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([ 0.10804791, -0.04028684,  0.13524747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.29779345,  0.32619901, -0.29779345,  2.75064886,
        2.10789706,  0.32619901,  2.10789706,  2.36602661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010809110883182435
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.03940261e-01, -7.08939349e-01,  4.32794132e-02,  3.04946947e-02,
        3.07112552e-02,  9.99063007e-01, -7.09604243e-01,  7.04600467e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10086054, -0.03345776,  0.12076276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.3386573 , -1.33696296,  0.06733065, -1.33696296,  1.33670044,
       -0.03885671,  0.06733065, -0.03885671,  0.56709209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011914600555292649
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89946753e-01, -2.51850075e-02, -1.39180248e-01, -2.49397271e-02,
        9.99682807e-01, -3.50636778e-03,  1.39224409e-01,  4.33680869e-19,
       -9.90260857e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12895977, -0.08418837,  0.17922081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7649902 , -0.69883617, -0.31118805, -0.69883617,  0.67380084,
        0.20478429, -0.31118805,  0.20478429,  0.30510536,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024994911691488783
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98994675, -0.02518501, -0.13918025, -0.02493973,  0.99968281,
       -0.00350637,  0.13922441,  0.        , -0.99026086])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12913178, -0.08460862,  0.17726515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.27076775,  0.34895782,  0.27076775,  2.93982761,
       -1.93838934,  0.34895782, -1.93838934,  1.94574573,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026026340926575647
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77255710e-01, -2.05486090e-01,  5.24093915e-02, -2.05191228e-01,
        9.78660036e-01,  1.10042308e-02, -5.35521934e-02,  1.73472348e-18,
       -9.98565052e-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([ 0.12723728, -0.08236439,  0.11334786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.04628315,  0.36792037, -0.97946058,  0.36792037,  2.53644613,
        0.55975843, -0.97946058,  0.55975843,  1.2565484 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020662969246968758
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66134521, -0.74680523, -0.07003179, -0.04642919, -0.05242884,
        0.99754476, -0.74864333,  0.66297297,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10381156, -0.03825018,  0.30541327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.61517137, -7.28034081,  7.72518613, -7.28034081, 58.96287261,
       45.5636585 ,  7.72518613, 45.5636585 , 53.55510279,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004595111006418101
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.4160962e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.4160962e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08541193, -0.10953156,  0.0619897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.83723418e-03, 1.62075030e-01, 7.92285915e-02, 1.68015032e-02,
  1.27069249e-02, 3.86805180e-01, 1.92256849e-01, 4.99096034e-02,
 -6.84764012e-06,-8.25373939e-04,-1.16243564e-04,-2.97162640e-04,
  3.55127921e-02, 1.09216253e-02,-1.49568026e-02, 2.91242534e-04,
 -5.18705201e-05, 6.26651592e-05,-9.80991342e+00,-6.49922186e-02,
 -9.75212093e-03,-5.00125816e-03]


--- Step 2340 ---
qpos:
[-0.00629164, 0.202886  ,-0.0918577 , 0.46794271,-0.02511133, 0.02539277,
 -0.18732271, 0.38991334, 0.01425759, 0.81300118,-0.02011783, 0.73996615,
  0.84853063,-0.00487088, 1.17682062, 0.04601686, 0.09349598,-0.06499447,
  0.1426684 , 0.94562303,-0.0317536 , 0.02626939, 0.32264333]

qacc:
[ 7.67520492e+01,-1.33425352e+01, 1.83809372e+02,-3.04044603e+02,
  3.21161176e+02,-3.85835234e+01, 1.44915599e+02,-1.60316304e+02,
  2.33270237e-02,-3.06560751e+01, 1.12950636e+02,-2.14403915e+02,
 -1.62687796e+01,-2.86219717e+01,-3.00088169e+02, 6.36370028e+02,
 -2.37408043e+00, 1.75319579e+00,-1.85098626e-01,-1.50815588e+01,
  1.25430028e+01, 5.83716167e+01]

qfrc_actuator:
[-0.00287037, 0.16726922, 0.07078828, 0.08362394, 0.01784394, 0.38711683,
  0.16680055, 0.10506539,-0.0019696 , 0.14034735, 0.00749076, 0.1600671 ,
  0.04636245, 0.00870724, 0.        ,-0.00140768, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.5134809 ,  0.26221691,  0.44148038,  0.26221691,  1.37862182,
       -0.51384975,  0.44148038, -0.51384975,  0.81868154,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013724352614987622
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75804216, -0.65177284,  0.02375383,  0.01801149,  0.01548647,
        0.99971784, -0.6519568 ,  0.75825612,  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([ 0.10804271, -0.04029157,  0.13526531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.40722831, -0.17103169, -0.40722831,  1.0717802 ,
       -1.50026056, -0.17103169, -1.50026056,  4.01382288,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001084068306837395
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.04272329e-01, -7.08614166e-01,  4.32024311e-02,  3.04547111e-02,
        3.06424644e-02,  9.99066339e-01, -7.09276390e-01,  7.04930495e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1008361 , -0.03345528,  0.12077897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.33770315, -1.32055527,  0.21350295, -1.32055527,  1.31310058,
       -0.15217145,  0.21350295, -0.15217145,  0.39649458,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011645593913341403
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98993504, -0.02504319, -0.13928914, -0.0247989 ,  0.99968637,
       -0.00348934,  0.13933284,  0.        , -0.99024561])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12895715, -0.08418112,  0.17921983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.76385251, -0.63550988, -0.42378986, -0.63550988,  0.59843038,
        0.24806491, -0.42378986,  0.24806491,  0.39185753,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000247405111999891
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98993504, -0.02504319, -0.13928914, -0.0247989 ,  0.99968637,
       -0.00348934,  0.13933284,  0.        , -0.99024561])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12912971, -0.0846018 ,  0.17726168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.34587237,  0.27469808, -0.34587237,  1.73741282,
        1.63144944,  0.27469808,  1.63144944,  2.49584435,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002597524600429315
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.977185  , -0.205828  ,  0.05238608, -0.20553287,  0.97858818,
        0.01101845, -0.0535323 ,  0.        , -0.99856612])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12723564, -0.08236805,  0.11335464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.04036131,  0.64184582, -0.81877079,  0.64184582,  1.3281401 ,
        0.2255938 , -0.81877079,  0.2255938 ,  1.21720743,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019434785183606624
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66118541, -0.74693842, -0.07012026, -0.04647689, -0.05250475,
        0.99753855, -0.74878151,  0.6628169 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10379676, -0.03825888,  0.30544959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.72235884,  7.93054739, -7.21632852,  7.93054739, 52.19424517,
       45.57646718, -7.21632852, 45.57646718, 60.80964797,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004673542007314624
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08541529, -0.10952459,  0.06198952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.09800205e-03, 1.60251661e-01, 7.68033923e-02, 1.73501661e-02,
  1.07003556e-02, 3.86296207e-01, 1.91834718e-01, 4.96365398e-02,
  2.94127774e-06,-9.83635614e-04,-1.49859326e-04,-4.92601405e-04,
  3.87833544e-02, 1.39074397e-02,-5.70071979e-03,-1.81571242e-03,
 -2.21263996e-04, 1.59798938e-04,-9.80995072e+00,-6.49942457e-02,
 -9.76046624e-03,-4.99638221e-03]


--- Step 2341 ---
qpos:
[-0.0062469 , 0.20303359,-0.0919508 , 0.46923769,-0.02489144, 0.02543385,
 -0.18776553, 0.3910125 , 0.01426481, 0.81528066,-0.02014064, 0.74310846,
  0.8485513 ,-0.00499446, 1.17681329, 0.04605269, 0.09346617,-0.06498416,
  0.1426636 , 0.94549205,-0.03176948, 0.02628613, 0.32302403]

qacc:
[ 7.67170371e+01, 5.45506636e+00, 1.37549503e+02,-2.84549488e+02,
  3.25881690e+02,-3.41246542e+01, 1.35757765e+02,-1.53497340e+02,
  2.92203015e-02,-3.92331738e+01, 1.58403747e+02,-3.37156692e+02,
 -8.72819611e+01, 6.98480218e+01,-1.09776171e+02, 1.60454742e+02,
 -2.14177182e+00, 1.35962426e+00,-9.18928188e-02,-1.23330529e+01,
  8.42700533e+00, 4.99243627e+01]

qfrc_actuator:
[-0.00289142, 0.16716935, 0.07093041, 0.08414346, 0.0176598 , 0.38722899,
  0.16727948, 0.10495984,-0.00197163, 0.13997411, 0.00751393, 0.15930113,
  0.04636115, 0.00885919, 0.        ,-0.00142308, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.51221171,  0.2789777 ,  0.4295722 ,  0.2789777 ,  1.3040215 ,
       -0.5142262 ,  0.4295722 , -0.5142262 ,  0.84616638,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012901032271534976
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.57647868e-01, -6.52230610e-01,  2.37684560e-02,  1.80132089e-02,
        1.55068954e-02,  9.99717490e-01, -6.52414923e-01,  7.57861972e-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([ 0.10802879, -0.04029535,  0.13528633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.43628501, -0.06886305, -0.43628501,  0.49177875,
       -0.3173634 , -0.06886305, -0.3173634 ,  2.45235673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001078829172113657
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70520543, -0.70768925,  0.04314189,  0.03045225,  0.03055951,
        0.99906896, -0.70834875,  0.70586262,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10079424, -0.03344528,  0.12079838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.33566184, -1.30711992,  0.27464535, -1.30711992,  1.28611544,
       -0.23580623,  0.27464535, -0.23580623,  0.21338899,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001104686076900807
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98991736, -0.02486336, -0.1394469 , -0.02462029,  0.99969086,
       -0.00346819,  0.13949002,  0.        , -0.99022348])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12895307, -0.08415808,  0.17921738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.76134031, -0.65921475, -0.3808871 , -0.65921475,  0.62983017,
        0.22760925, -0.3808871 ,  0.22760925,  0.36740894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002416676221713793
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89917358e-01, -2.48633629e-02, -1.39446898e-01, -2.46202856e-02,
        9.99690859e-01, -3.46819098e-03,  1.39490020e-01,  4.33680869e-19,
       -9.90223477e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12912596, -0.08457868,  0.17725949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.31986733,  0.30458435, -0.31986733,  2.29387411,
        1.94512422,  0.30458435,  1.94512422,  2.48441003,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025881240822235425
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77560566e-01, -2.04073010e-01,  5.22450577e-02, -2.03782187e-01,
        9.78955671e-01,  1.08910000e-02, -5.33681547e-02,  1.73472348e-18,
       -9.98574905e-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([ 0.12722681, -0.08234808,  0.11336014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.03600671,  0.50097554, -0.90682601,  0.50097554,  0.4267252 ,
       -0.33659724, -0.90682601, -0.33659724,  0.85005375,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001847085287705944
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6610785 , -0.7470212 , -0.07024629, -0.04655331, -0.05260542,
        0.99752968, -0.74887115,  0.66271562,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10376884, -0.03824763,  0.30547511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.79568077,  7.68583643, -7.58120319,  7.68583643, 63.1873525 ,
       53.11476412, -7.58120319, 53.11476412, 64.64351717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004725632051390677
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.34936409e-13, -1.17468205e-13,  1.00000000e+00, -2.75975581e-26,
        1.00000000e+00,  1.17468205e-13, -1.00000000e+00,  0.00000000e+00,
       -2.34936409e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08541782, -0.10951973,  0.06198941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.43300390e-03, 1.56592866e-01, 7.50562205e-02, 1.79997543e-02,
  8.60533699e-03, 3.86119090e-01, 1.91419053e-01, 4.95329031e-02,
  3.99448382e-06,-1.02150748e-03,-2.22420489e-04,-8.16515275e-04,
  4.23141640e-02, 1.61496712e-02, 3.92471619e-03,-2.08665701e-03,
 -4.67373000e-04, 3.87176419e-04,-9.81000690e+00,-6.49788437e-02,
 -9.74462669e-03,-4.99627240e-03]


--- Step 2342 ---
qpos:
[-0.00617605, 0.20325782,-0.09201338, 0.47052771,-0.02463246, 0.02548762,
 -0.18819054, 0.39211166, 0.01427206, 0.81755382,-0.02016435, 0.74623538,
  0.84844758,-0.00512365, 1.17673468, 0.04607322, 0.0934286 ,-0.06496964,
  0.14265866, 0.94533259,-0.03180603, 0.0263086 , 0.32348499]

qacc:
[ 7.60313122e+01, 9.20033581e+00, 1.24232306e+02,-2.80371888e+02,
  3.28288098e+02,-2.95445880e+01, 1.25795016e+02,-1.46521291e+02,
  1.80991910e-02,-3.37038163e+01, 1.42642135e+02,-3.25992387e+02,
 -9.14809761e+01, 7.40185495e+01,-5.31335501e+01, 4.61648959e+01,
 -1.93642363e+00, 1.05305302e+00,-3.29952536e-02,-1.03547285e+01,
  5.14603782e+00, 4.23551448e+01]

qfrc_actuator:
[-0.00293773, 0.16700331, 0.07101518, 0.08450775, 0.01747359, 0.38732744,
  0.16775091, 0.10502492,-0.00197576, 0.13976609, 0.00750105, 0.15853459,
  0.04636086, 0.00900293, 0.        ,-0.00177458, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.51130485,  0.29046873,  0.42078566,  0.29046873,  1.28042923,
       -0.53092727,  0.42078566, -0.53092727,  0.87780443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012276544422493824
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75712179, -0.65283908,  0.02382722,  0.01804523,  0.01555976,
        0.99971609, -0.65302448,  0.7573368 ,  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([ 0.10800578, -0.04029805,  0.1353107 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.40112099, -0.18490182, -0.40112099,  0.9039111 ,
       -1.0027381 , -0.18490182, -1.0027381 ,  2.61699913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010846811345581809
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.06540419e-01, -7.06358704e-01,  4.31047289e-02,  3.04835659e-02,
        3.04757258e-02,  9.99070559e-01, -7.07015833e-01,  7.07197718e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10073689, -0.0334299 ,  0.12082118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.33274315, -1.29066853,  0.33223341, -1.29066853,  1.25006749,
       -0.32118045,  0.33223341, -0.32118045,  0.08501346,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010126283369594243
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89893652e-01, -2.46449692e-02, -1.39653798e-01, -2.44033107e-02,
        9.99696267e-01, -3.44280924e-03,  1.39696228e-01, -4.33680869e-19,
       -9.90194407e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12894744, -0.08412268,  0.17921355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.75761114, -0.6802279 , -0.33356354, -0.6802279 ,  0.65791713,
        0.20330353, -0.33356354,  0.20330353,  0.34301927,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023282352383008294
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89893652e-01, -2.46449692e-02, -1.39653798e-01, -2.44033107e-02,
        9.99696267e-01, -3.44280924e-03,  1.39696228e-01, -8.67361738e-19,
       -9.90194407e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12912043, -0.08454265,  0.17725859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.28162365,  0.34025703, -0.28162365,  2.95796306,
        2.08266989,  0.34025703,  2.08266989,  2.16546869,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025747234058554596
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97743941, -0.20464936,  0.0522574 , -0.2043575 ,  0.97883535,
        0.01092568, -0.05338733,  0.        , -0.99857388])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1272209 , -0.08235449,  0.11336744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.03075242,  0.37615295, -0.95966635,  0.37615295,  0.31095106,
       -0.28213494, -0.95966635, -0.28213494,  0.92016618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017225381974670168
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66106259, -0.74702359, -0.07037055, -0.04663495, -0.0526991 ,
        0.99752092, -0.74888012,  0.66270549,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10372974, -0.0382189 ,  0.30550736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004756349893151046
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16709562e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.16709562e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0854197 , -0.10951655,  0.06198934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.79547477e-03, 1.52497250e-01, 7.34717223e-02, 1.85681525e-02,
  6.47928915e-03, 3.85746957e-01, 1.90991765e-01, 4.95963061e-02,
  2.35221766e-06,-9.02945194e-04,-2.84625003e-04,-8.27660677e-04,
  4.83779254e-02, 1.65562365e-02, 9.42647927e-03,-1.65729578e-03,
 -7.51439770e-04, 6.85177824e-04,-9.81007194e+00,-6.49585899e-02,
 -9.71258131e-03,-4.99949833e-03]


--- Step 2343 ---
qpos:
[-0.00607958, 0.20355586,-0.09204856, 0.471812  ,-0.02433298, 0.02554553,
 -0.18860659, 0.39320883, 0.01427951, 0.81982493,-0.02019115, 0.74935678,
  0.84822958,-0.00526181, 1.17660705, 0.04608156, 0.09338402,-0.06495195,
  0.14265378, 0.94514945,-0.03185895, 0.02633178, 0.3240126 ]

qacc:
[ 7.44597040e+01, 1.24463458e+01, 1.10699802e+02,-2.74423531e+02,
  3.39780751e+02,-2.10632294e+01, 8.80476125e+01,-1.26599639e+02,
  1.00448919e-01,-4.28455453e+00, 2.54622877e+01,-9.25773516e+01,
 -8.21530924e+01, 6.31361643e+01,-3.03571477e+01, 1.27647382e+01,
 -1.75246402e+00, 7.92223926e-01, 1.27580229e-02,-8.87442471e+00,
  2.23568099e+00, 3.51355828e+01]

qfrc_actuator:
[-0.00302727, 0.16676801, 0.07105502, 0.08492339, 0.01723481, 0.38741065,
  0.16819308, 0.1055652 ,-0.0019634 , 0.14003174, 0.00748559, 0.15828884,
  0.0463658 , 0.00909097, 0.        ,-0.00212652, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.51070903,  0.30153026,  0.41219318,  0.30153026,  1.25992242,
       -0.5480695 ,  0.41219318, -0.5480695 ,  0.91163644,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011847186906937447
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75648345, -0.65357543,  0.02391543,  0.0180968 ,  0.01563501,
        0.99971399, -0.65376241,  0.75669988,  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([ 0.10797401, -0.04029965,  0.13533826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.41331615, -0.15574496, -0.41331615,  0.82009208,
       -1.00421383, -0.15574496, -1.00421383,  3.10666998,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010936090016685084
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70815309, -0.70474277,  0.04309089,  0.03054332,  0.03039623,
        0.99907116, -0.70539797,  0.70881147,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10066595, -0.03341049,  0.12084725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.3292374 , -1.28484267,  0.34066312, -1.28484267,  1.24337075,
       -0.32385403,  0.34066312, -0.32385403,  0.10779178,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.889748874528823e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98986385, -0.02438771, -0.13990997, -0.0241477 ,  0.99970258,
       -0.0034131 ,  0.13995159,  0.        , -0.99015835])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12894019, -0.08407769,  0.17920839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.75286707, -0.72249052, -0.21169856, -0.72249052,  0.71674192,
        0.1232889 , -0.21169856,  0.1232889 ,  0.33210342,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022093872971763043
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98986385, -0.02438771, -0.13990997, -0.0241477 ,  0.99970258,
       -0.0034131 ,  0.13995159,  0.        , -0.99015835])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12911304, -0.08449648,  0.17725897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029421326614563897
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97738597, -0.20491219,  0.05222703, -0.20462027,  0.97878036,
        0.01093397, -0.05335929,  0.        , -0.99857538])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1272115 , -0.08235737,  0.1133743 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.02388197,  0.27496561, -0.98626984,  0.27496561,  0.24724926,
       -0.21652014, -0.98626984, -0.21652014,  0.96351756,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015425918507455593
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66113998, -0.74694353, -0.07049323, -0.04672212, -0.05278578,
        0.99751226, -0.74880637,  0.66278882,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1036806 , -0.03817524,  0.30555528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004769983258979399
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.32751975e-13, -1.16375988e-13,  1.00000000e+00, -2.70867410e-26,
        1.00000000e+00,  1.16375988e-13, -1.00000000e+00,  0.00000000e+00,
       -2.32751975e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08542105, -0.1095147 ,  0.06198931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.19184318e-03, 1.48420656e-01, 7.19821584e-02, 1.92287490e-02,
  4.28553212e-03, 3.85196323e-01, 1.90544734e-01, 5.01349444e-02,
  1.80588230e-05,-3.75801868e-04,-2.70949488e-04,-3.04821997e-04,
  5.46024700e-02, 1.69275393e-02, 1.29911331e-02,-1.24386274e-03,
 -1.05193471e-03, 1.01879589e-03,-9.81013408e+00,-6.49406674e-02,
 -9.67159567e-03,-5.00499795e-03]


--- Step 2344 ---
qpos:
[-0.00595821, 0.20392355,-0.09205914, 0.4730899 ,-0.02399384, 0.02561363,
 -0.18901281, 0.39430428, 0.01428713, 0.82209699,-0.0202196 , 0.75247297,
  0.84791404,-0.00541002, 1.17644556, 0.04608394, 0.09333308,-0.06493191,
  0.14264908, 0.94494705,-0.03192525, 0.02635119, 0.32459431]

qacc:
[ 7.21697353e+01, 1.34471448e+01, 1.02010751e+02,-2.70118118e+02,
  3.32680602e+02,-1.51902463e+01, 7.76923606e+01,-1.18051599e+02,
  9.60785230e-02,-3.67765914e+00, 2.75068017e+01,-9.26440265e+01,
 -6.85795534e+01, 5.03793466e+01,-2.76851412e+01, 3.38489377e+01,
 -1.59310925e+00, 5.87858411e-01, 4.52315565e-02,-7.95660609e+00,
 -2.23493181e-01, 2.84464023e+01]

qfrc_actuator:
[-0.00309946, 0.16644558, 0.07107654, 0.08542587, 0.0169297 , 0.38747044,
  0.16861943, 0.10598428,-0.00195907, 0.14040233, 0.0075244 , 0.15805007,
  0.04637747, 0.00922218, 0.        ,-0.0022272 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.51038053,  0.31462665,  0.40186858,  0.31462665,  1.25475109,
       -0.58277464,  0.40186858, -0.58277464,  0.96664022,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011603269533598041
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75575145, -0.6544179 ,  0.02402005,  0.01815843,  0.01572369,
        0.99971148, -0.65460677,  0.75596956,  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([ 0.10793389, -0.04030019,  0.13536887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.29845491, -0.32559392,  0.29845491,  1.42854138,
        0.90459849, -0.32559392,  0.90459849,  1.27088436,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010923225601185207
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70994614, -0.70293153,  0.04317123,  0.03067785,  0.03037474,
        0.99906769, -0.70358749,  0.71060864,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1005833 , -0.03338789,  0.12087727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.32537153, -1.27791858,  0.35147376, -1.27791858,  1.23532447,
       -0.32740085,  0.35147376, -0.32740085,  0.13497932,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.277940064738555e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98982781, -0.02409022, -0.14021613, -0.02385209,  0.99970979,
       -0.00337882,  0.14025684,  0.        , -0.99011515])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12893175, -0.08402603,  0.17920156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.74711406, -0.73491963, -0.13443422, -0.73491963,  0.73236057,
        0.08065379, -0.13443422,  0.08065379,  0.3061991 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020540455585276894
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98982781, -0.02409022, -0.14021613, -0.02385209,  0.99970979,
       -0.00337882,  0.14025684,  0.        , -0.99011515])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12910422, -0.08444299,  0.17726066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029031371386439558
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78323035e-01, -2.00464915e-01,  5.19408992e-02, -2.00182982e-01,
        9.79700882e-01,  1.06280683e-02, -5.30170995e-02, -1.73472348e-18,
       -9.98593605e-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([ 0.12718961, -0.08230705,  0.11337831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.0156371 ,  0.19846457, -0.99605749,  0.19846457,  0.2124213 ,
       -0.16004084, -0.99605749, -0.16004084,  0.98374894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012903651568084055
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66130304, -0.74678735, -0.07061824, -0.04681694, -0.0528688 ,
        0.99750342, -0.74865644,  0.66295817,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10362212, -0.03811905,  0.30562454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047702413781014474
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16369690e-13, -1.16369690e-13,  1.00000000e+00, -1.35419048e-26,
        1.00000000e+00,  1.16369690e-13, -1.00000000e+00,  0.00000000e+00,
       -1.16369690e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.085422  , -0.10951388,  0.06198931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.54686932e-03, 1.44395506e-01, 7.06280722e-02, 2.00152593e-02,
  1.95579329e-03, 3.85049722e-01, 1.90525190e-01, 5.06525298e-02,
  1.74598894e-05, 4.36092009e-05,-9.30421405e-05,-2.67546969e-04,
  6.03289421e-02, 1.75106022e-02, 1.54419043e-02,-7.35670119e-04,
 -1.34802874e-03, 1.36030087e-03,-9.81018363e+00,-6.49300530e-02,
 -9.62653234e-03,-5.01188244e-03]


--- Step 2345 ---
qpos:
[-0.00581285, 0.20435558,-0.09204749, 0.47436094,-0.02361591, 0.02569583,
 -0.18940958, 0.395398  , 0.0142947 , 0.82436842,-0.02024619, 0.75557132,
  0.84751633,-0.00556751, 1.17626056, 0.0460839 , 0.09327633,-0.06491019,
  0.14264464, 0.94472923,-0.03200257, 0.02636316, 0.32521917]

qacc:
[ 6.93456700e+01, 1.20627527e+01, 9.88517248e+01,-2.67990320e+02,
  3.25240936e+02,-9.36097364e+00, 6.46484073e+01,-1.08845946e+02,
 -2.59447559e-02,-3.81273356e+01, 1.72721754e+02,-3.88771941e+02,
 -5.73118337e+01, 4.13323746e+01,-2.38681816e+01, 4.10528259e+01,
 -1.44935456e+00, 4.19598233e-01, 6.66195599e-02,-7.22277410e+00,
 -2.21077038e+00, 2.26257489e+01]

qfrc_actuator:
[-0.0031885 , 0.16609876, 0.07107893, 0.08585912, 0.01660494, 0.38761497,
  0.16897857, 0.10602936,-0.00197739, 0.14033663, 0.00759556, 0.15714278,
  0.04640109, 0.00936623, 0.        ,-0.00221397, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.51028266,  0.32840342,  0.39056317,  0.32840342,  1.26007505,
       -0.63045981,  0.39056317, -0.63045981,  1.04040218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011529544238564576
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75494297, -0.65534636,  0.02413005,  0.01822212,  0.01581815,
        0.99970883, -0.65553723,  0.75516285,  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([ 0.10788595, -0.04029971,  0.13540231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.33413023, -0.28886626,  0.33413023,  1.44173462,
        1.15675122, -0.28886626,  1.15675122,  1.77969488,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010876625909465832
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71172756, -0.70112011,  0.04329517,  0.03084328,  0.0303836 ,
        0.99906232, -0.70177815,  0.71239556,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10049169, -0.03336452,  0.12091047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.32170384, -1.26607417,  0.37941694, -1.26607417,  1.21433382,
       -0.35828238,  0.37941694, -0.35828238,  0.12615344,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.302655889363847e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98978536, -0.02375331, -0.1405728 , -0.02351732,  0.99971785,
       -0.00334001,  0.14061248,  0.        , -0.99006471])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12892188, -0.08396967,  0.17919317])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.74072507, -0.73911593, -0.04879828, -0.73911593,  0.73875309,
        0.02986824, -0.04879828,  0.02986824,  0.28833014,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018635202394621077
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98978536, -0.02375331, -0.1405728 , -0.02351732,  0.99971785,
       -0.00334001,  0.14061248,  0.        , -0.99006471])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12909371, -0.08438419,  0.17726368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002911514027781101
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97933085, -0.19556557,  0.05162542, -0.19529441,  0.98069063,
        0.01029494, -0.05264191,  0.        , -0.99861345])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12716471, -0.08225166,  0.11338203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.0071309 ,  0.14236477, -0.99701801,  0.14236477,  0.18971889,
       -0.11671873, -0.99701801, -0.11671873,  0.99046457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.574967312973773e-05
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66153917, -0.74656594, -0.07074765, -0.04691991, -0.05295047,
        0.99749425, -0.74844135,  0.66320099,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10355461, -0.03805237,  0.30571804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004760079103540704
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.16618128e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.16618128e-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([ 0.08542264, -0.10951387,  0.06198933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.88272627e-03, 1.40550858e-01, 6.93941945e-02, 2.07645139e-02,
 -3.52068803e-04, 3.84683980e-01, 1.90394389e-01, 5.07814723e-02,
 -5.41263762e-06,-1.22557560e-04, 4.52484808e-05,-9.15094720e-04,
  6.52302929e-02, 1.81612495e-02, 1.71353066e-02,-4.24183412e-04,
 -1.62263331e-03, 1.69064661e-03,-9.81021497e+00,-6.49292382e-02,
 -9.57985158e-03,-5.01941999e-03]


--- Step 2346 ---
qpos:
[-0.00564428, 0.20484592,-0.09201584, 0.47562471,-0.02320046, 0.02579706,
 -0.18979609, 0.39649025, 0.01430177, 0.82663655,-0.02027124, 0.75864741,
  0.84705   ,-0.00573283, 1.17605929, 0.04608326, 0.09321432,-0.06488732,
  0.14264052, 0.94449924,-0.03208905, 0.02636495, 0.32587785]

qacc:
[ 6.68827205e+01, 9.50522965e+00, 9.81952271e+01,-2.66713344e+02,
  3.14543137e+02,-4.81280320e+00, 5.69672507e+01,-1.02352255e+02,
 -2.55807646e-01,-4.86776421e+01, 2.14772984e+02,-4.81723577e+02,
 -4.78861366e+01, 3.45144397e+01,-1.92467387e+01, 3.91167851e+01,
 -1.31596069e+00, 2.86787316e-01, 7.87498397e-02,-6.62656371e+00,
 -3.69772697e+00, 1.76732723e+01]

qfrc_actuator:
[-0.00333222, 0.165697  , 0.07108012, 0.08623611, 0.01623563, 0.38782013,
  0.16931159, 0.10602827,-0.00202688, 0.13999262, 0.00759451, 0.15600886,
  0.04643934, 0.00950347, 0.        ,-0.00215131, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.51038043,  0.33809315,  0.3823365 ,  0.33809315,  1.26357269,
       -0.66603409,  0.3823365 , -0.66603409,  1.09934215,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011603188561534773
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.54072987e-01, -6.56343297e-01,  2.42364672e-02,  1.82814353e-02,
        1.59121169e-02,  9.99706254e-01, -6.56536152e-01,  7.54294558e-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([ 0.10783078, -0.04029827,  0.13543834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.36355373, -0.25082945,  0.36355373,  1.41917958,
        1.4167848 , -0.25082945,  1.4167848 ,  2.49518276,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010946033787266412
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.10864918e-01, -7.01982411e-01,  4.34943920e-02,  3.09479243e-02,
        3.05612191e-02,  9.99053671e-01, -7.02647347e-01,  7.11538267e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10042224, -0.03337174,  0.12094703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -2.9698861028480254e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98973638, -0.02337788, -0.14098006, -0.02314426,  0.9997267 ,
       -0.00329672,  0.1410186 ,  0.        , -0.99000695])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12891043, -0.08391033,  0.17918331])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.73408582, -0.73396116,  0.01352792, -0.73396116,  0.73392413,
       -0.00877279,  0.01352792, -0.00877279,  0.25811545,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016384900513152708
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89736377e-01, -2.33778752e-02, -1.40980063e-01, -2.31442588e-02,
        9.99726700e-01, -3.29671531e-03,  1.41018603e-01,  4.33680869e-19,
       -9.90006946e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1290814 , -0.08432176,  0.17726804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002865657066549146
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80386189e-01, -1.90298259e-01,  5.12785839e-02, -1.90038487e-01,
        9.81726323e-01,  9.93986310e-03, -5.22330742e-02, -1.73472348e-18,
       -9.98634921e-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([ 0.12713659, -0.08219216,  0.11338546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.00010765,  0.10107052, -0.99498747,  0.10107052,  0.17403544,
       -0.08391216, -0.99498747, -0.08391216,  0.99158388,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.3885793493116824e-05
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66183678, -0.74628941, -0.07088155, -0.04703031, -0.05303154,
        0.99748474, -0.74817125,  0.66350567,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10347837, -0.03797697,  0.30583763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047420520371416197
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17061455e-13, -1.17061455e-13,  1.00000000e+00, -1.37033843e-26,
        1.00000000e+00,  1.17061455e-13, -1.00000000e+00,  0.00000000e+00,
       -1.17061455e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08542302, -0.10951445,  0.06198937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12281665e-02, 1.36914456e-01, 6.82767131e-02, 2.14811706e-02,
 -2.66086533e-03, 3.84184020e-01, 1.90256501e-01, 5.08651437e-02,
 -4.74108234e-05,-4.88173212e-04,-6.42573071e-05,-1.15731690e-03,
  6.93782784e-02, 1.87664858e-02, 1.83116993e-02,-2.40751662e-04,
 -1.86799072e-03, 1.99829189e-03,-9.81022594e+00,-6.49386977e-02,
 -9.53378689e-03,-5.02700987e-03]


--- Step 2347 ---
qpos:
[-0.00549369, 0.20533087,-0.09204059, 0.47687192,-0.02281299, 0.02591643,
 -0.19017851, 0.39757887, 0.01430851, 0.82889924,-0.02029576, 0.76170317,
  0.84671692,-0.00584096, 1.17594036, 0.04606269, 0.09316437,-0.06487719,
  0.14263772, 0.94433859,-0.03214038, 0.02636112, 0.32633835]

qacc:
[-5.22237642e+01, 1.14896745e+02,-3.46152850e+02, 1.28469278e+02,
 -2.34772035e+02, 7.30712159e+00, 2.32202389e+01,-1.00000497e+02,
 -1.71858036e-01,-4.52847362e+01, 1.94563917e+02,-4.35828316e+02,
  5.98553086e+01, 2.50197741e+00, 1.79428735e+02,-4.56795197e+02,
  3.01483671e+00,-3.18500799e+00, 3.28880847e-01, 1.94094636e+01,
 -6.12060129e+00,-1.04514294e+02]

qfrc_actuator:
[-0.00351756, 0.16524258, 0.07102068, 0.08656475, 0.01584311, 0.38803333,
  0.1696776 , 0.10584013,-0.00204136, 0.13959103, 0.00756748, 0.15498131,
  0.04648279, 0.00963888, 0.        ,-0.00207759, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.51064126, 0.15580819, 0.48629035, 0.15580819, 0.05364876,
       0.14642111, 0.48629035, 0.14642111, 0.46372771, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00011797299783471267
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.53154261e-01, -6.57393785e-01,  2.43324997e-02,  1.83315534e-02,
        1.60007715e-02,  9.99703921e-01, -6.57588483e-01,  7.53377321e-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([ 0.10776904, -0.04029595,  0.13547672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.39445671, -0.19872251,  0.39445671,  1.22113461,
        1.54717575, -0.19872251,  1.54717575,  3.512772  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011027901085579994
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70994371, -0.70290105,  0.04370401,  0.03105706,  0.03074897,
        0.99904452, -0.7035733 ,  0.71062269,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10034602, -0.03337879,  0.12098596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.31758891,  1.29881851, -0.22161007,  1.29881851,  1.28175075,
       -0.21004132, -0.22161007, -0.21004132,  0.08657289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9920268766434303e-06
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89680808e-01, -2.29651704e-02, -1.41437260e-01, -2.27341842e-02,
        9.99736266e-01, -3.24898764e-03,  1.41474572e-01, -4.33680869e-19,
       -9.89941890e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([16, 43], dtype=int32)
  geom1: 16
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12889722, -0.08384927,  0.17917213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.72764018,  0.72738765, -0.01916876,  0.72738765,  0.72725693,
       -0.01454314, -0.01916876, -0.01454314,  0.1757789 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013810008728837154
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89680808e-01, -2.29651704e-02, -1.41437260e-01, -2.27341842e-02,
        9.99736266e-01, -3.24898764e-03,  1.41474572e-01,  4.33680869e-19,
       -9.89941890e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12906708, -0.08425699,  0.17727373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028982664942372844
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80823576e-01, -1.88096224e-01,  5.10384542e-02, -1.87842078e-01,
        9.82150605e-01,  9.77461141e-03, -5.19660162e-02,  3.46944695e-18,
       -9.98648854e-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([ 0.12711233, -0.0821673 ,  0.11339016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99689364, -0.52166254, -0.84950876, -0.52166254,  0.69429631,
        0.18581762, -0.84950876,  0.18581762,  0.88278759,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.237614924170497e-06
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66218567, -0.74596676, -0.07101926, -0.04714699, -0.05311212,
        0.99747494, -0.74785514,  0.66386195,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1033937 , -0.03789428,  0.3059841 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.8477074 ,  6.2312917 , -8.87940086,  6.2312917 , 13.01649312,
        1.52198743, -8.87940086,  1.52198743, 11.91579158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047618588184845934
  efc_address: 19
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.33149085e-13, -9.10738612e-14,  1.00000000e+00, -2.12337874e-26,
        1.00000000e+00,  9.10738612e-14, -1.00000000e+00,  0.00000000e+00,
       -2.33149085e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05192814, -0.06164217,  0.06198932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25764902e-02, 1.33524415e-01, 6.72093440e-02, 2.21695878e-02,
 -4.92966308e-03, 3.83443923e-01, 1.90109876e-01, 5.07486022e-02,
 -3.23537047e-05,-7.78939781e-04,-1.83549103e-04,-1.07223980e-03,
  7.28530844e-02, 1.92968580e-02, 1.91257956e-02,-1.37163585e-04,
 -2.08074769e-03, 2.27664287e-03,-9.81021739e+00,-6.49574220e-02,
 -9.48979723e-03,-5.03418922e-03]


--- Step 2348 ---
qpos:
[-0.00535973, 0.20574809,-0.09211041, 0.47810609,-0.02245624, 0.02606389,
 -0.19055735, 0.39866343, 0.0143152 , 0.83115508,-0.02032005, 0.76473613,
  0.84692883,-0.00602105, 1.17598358, 0.04602193, 0.09312527,-0.06487416,
  0.14263563, 0.94424255,-0.03219381, 0.02637453, 0.32660979]

qacc:
[-4.77274038e+01, 9.79172014e+00,-1.09109820e+02,-2.99355198e+00,
 -2.57744574e+02, 2.04383959e+01,-2.35234625e+00,-9.05762728e+01,
 -1.64963546e-02,-5.07092259e+01, 2.16541494e+02,-4.86258053e+02,
  4.69889437e+02,-4.75372245e+02, 2.68350836e+02,-6.62978723e+02,
  2.71054568e+00,-1.77454221e+00, 1.79824056e-01, 5.34824324e+00,
  1.06720721e+01,-9.95670632e+01]

qfrc_actuator:
[-0.00369596, 0.16479693, 0.07101099, 0.08698309, 0.0154694 , 0.38819139,
  0.17006547, 0.105507  ,-0.00203478, 0.13917613, 0.00754299, 0.15382927,
  0.04651898, 0.00972907, 0.        ,-0.00203092, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.51123145,  0.22326448,  0.45990278,  0.22326448,  0.84690745,
       -0.16295733,  0.45990278, -0.16295733,  0.59034074,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012224512633798388
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75251133, -0.65812776,  0.02438343,  0.01835426,  0.01605219,
        0.99970268, -0.65832349,  0.75273514,  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([ 0.10771149, -0.04029335,  0.13551356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.1168118 ,  0.42595978, -0.1168118 ,  1.26693058,
        0.22630841,  0.42595978,  0.22630841,  0.50374724,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011161779433134836
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70918975, -0.70364582,  0.04395978,  0.03120599,  0.03096205,
        0.9990333 , -0.70432669,  0.70987598,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10027372, -0.03338293,  0.12102381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7230745 ,  0.30517603,  0.65551837,  0.30517603,  0.87228314,
       -0.06946396,  0.65551837, -0.06946396,  0.75541339,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011614142538273502
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98963998, -0.02258057, -0.14178447, -0.02235233,  0.99974503,
       -0.00320239,  0.14182063,  0.        , -0.98989237])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12905346, -0.08422028,  0.17727843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.40491743,  0.17643302,  0.40491743,  0.79770426,
       -0.81706873,  0.17643302, -0.81706873,  2.3168759 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002867535390172039
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9807408 , -0.18855894,  0.05092163, -0.18830529,  0.98206188,
        0.00977711, -0.05185175,  0.        , -0.99865479])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12709233, -0.0821725 ,  0.11339624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.89400106, -6.7975809 ,  8.51305779, -6.7975809 , 19.30927629,
        6.71950263,  8.51305779,  6.71950263, 16.25944833,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047935977651743233
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.31605378e-13, -3.61883404e-15,  1.00000000e+00,  8.38141427e-28,
        1.00000000e+00,  3.61883404e-15, -1.00000000e+00,  0.00000000e+00,
        2.31605378e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05187656, -0.06167885,  0.06198925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18569999e-02, 1.33328441e-01, 7.00115034e-02, 2.34133254e-02,
 -3.90393034e-03, 3.82693097e-01, 1.90294135e-01, 5.05952881e-02,
 -4.26643211e-06,-9.74179884e-04,-2.50106481e-04,-1.20849369e-03,
  6.62227265e-02, 1.65268803e-02, 1.50181819e-02, 9.09372997e-04,
 -1.04853042e-03, 1.11272134e-03,-9.81008329e+00,-6.49902613e-02,
 -9.60759741e-03,-5.03852615e-03]


--- Step 2349 ---
qpos:
[-0.00524536, 0.20608468,-0.09222037, 0.47932893,-0.02213539, 0.02623751,
 -0.19093211, 0.39974352, 0.01432212, 0.83340174,-0.02034304, 0.76774153,
  0.84741118,-0.00608866, 1.17609718, 0.04600285, 0.09309581,-0.06487774,
  0.14263365, 0.94420352,-0.0322493 , 0.02641029, 0.32671422]

qacc:
[-5.59727931e+01,-1.71133224e+01,-4.57254802e+01,-3.13269813e+01,
 -3.01253688e+02, 1.62194100e+01, 1.04917916e+01,-1.08125932e+02,
  1.26718925e-01,-6.52440523e+01, 2.72990997e+02,-5.96734036e+02,
  1.33109684e+02,-1.21934307e+01, 3.21352057e+01, 2.45656662e+01,
  2.41205554e+00,-1.65135228e+00, 2.63069141e-02, 5.80262608e+00,
  1.28255923e+01,-8.78204689e+01]

qfrc_actuator:
[-0.00384661, 0.16442105, 0.07106015, 0.08717432, 0.0151209 , 0.38824589,
  0.17046534, 0.10514204,-0.00201573, 0.13859704, 0.00755563, 0.15243562,
  0.04649831, 0.00995165, 0.        ,-0.00188574, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.51185055,  0.24837914,  0.44754753,  0.24837914,  0.79223519,
       -0.15560737,  0.44754753, -0.15560737,  0.59820926,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012656261545602126
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.52130962e-01, -6.58559582e-01,  2.44600260e-02,  1.84026488e-02,
        1.61132054e-02,  9.99700809e-01, -6.58756676e-01,  7.52356060e-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([ 0.10766311, -0.0402909 ,  0.13554704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.13494498,  0.42056698, -0.13494498,  1.57505055,
        0.3636563 ,  0.42056698,  0.3636563 ,  0.55837061,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00113110907480879
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70864382, -0.70417602,  0.04427266,  0.03140434,  0.03120635,
        0.99901948, -0.70486716,  0.70933934,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10021035, -0.03338436,  0.12105909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.72003995,  0.151593  , -0.70390133,  0.151593  ,  0.25192476,
       -0.10081382, -0.70390133, -0.10081382,  0.69832856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.870640939088729e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98961594, -0.02222679, -0.14200798, -0.02200142,  0.99975295,
       -0.00315716,  0.14204307,  0.        , -0.98986048])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12903992, -0.08420205,  0.177282  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.39198858,  0.20354775,  0.39198858,  0.96962964,
       -1.01670383,  0.20354775, -1.01670383,  2.39963605,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028525707277391476
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98068308, -0.18886856,  0.05088573, -0.18861482,  0.98200238,
        0.00978685, -0.05181833,  0.        , -0.99865653])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12706934, -0.08217594,  0.11340325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.92159083, -6.85665635,  8.50102406, -6.85665635, 21.19620366,
        8.28717679,  8.50102406,  8.28717679, 17.60576476,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004812296494057927
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.46058174e-13, -3.24429538e-14,  1.00000000e+00, -1.12271493e-26,
        1.00000000e+00,  3.24429538e-14, -1.00000000e+00,  0.00000000e+00,
       -3.46058174e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05183534, -0.06170781,  0.06198921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.11772415e-02, 1.36321483e-01, 7.23069789e-02, 2.42532894e-02,
 -2.71686981e-03, 3.81339791e-01, 1.90515586e-01, 5.04316018e-02,
  2.14757246e-05,-1.26443209e-03,-2.63780782e-04,-1.46177388e-03,
  3.89511020e-02, 2.03485800e-02, 6.91773807e-03, 2.06553644e-03,
 -3.17087512e-04, 3.82683553e-04,-9.81006436e+00,-6.49787689e-02,
 -9.64816222e-03,-5.04426294e-03]


--- Step 2350 ---
qpos:
[-0.0051528 , 0.20633889,-0.09236694, 0.48054137,-0.02185438, 0.02643255,
 -0.19130252, 0.40081875, 0.01432929, 0.8356361 ,-0.0203633 , 0.77071503,
  0.8480626 ,-0.0060601 , 1.17624406, 0.0459965 , 0.09307507,-0.06488732,
  0.14263124, 0.94421422,-0.03230627, 0.0264721 , 0.32667269]

qacc:
[-6.21276493e+01,-2.71904210e+01,-1.75266296e+01,-4.54405735e+01,
 -3.34102072e+02, 9.06867810e+00, 2.83205109e+01,-1.27858621e+02,
  1.38560626e-01,-8.10488965e+01, 3.31281323e+02,-7.03110348e+02,
  6.58110559e+01, 3.13406393e+01, 8.42901511e+00, 3.68734698e+01,
  2.18123028e+00,-1.50212678e+00,-1.08325633e-01, 6.28678565e+00,
  1.42366269e+01,-7.66344569e+01]

qfrc_actuator:
[-0.00397099, 0.16418026, 0.07115771, 0.08709076, 0.0147695 , 0.38831771,
  0.17081721, 0.10474223,-0.00200721, 0.13781801, 0.00762489, 0.15082211,
  0.04645394, 0.01006251, 0.        ,-0.001733  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.5122257 , 0.14892862, 0.49009737, 0.14892862, 0.30180282,
       0.06394237, 0.49009737, 0.06394237, 0.49279518, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0001291041724508363
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.51982876e-01, -6.58724480e-01,  2.45725957e-02,  1.84837524e-02,
        1.61914594e-02,  9.99698048e-01, -6.58923444e-01,  7.52210008e-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([ 0.10762446, -0.04028924,  0.13557675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.14876986,  0.4158777 , -0.14876986,  1.74526628,
        0.4663232 ,  0.4158777 ,  0.4663232 ,  0.60850171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011452766199526014
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.08302302e-01, -7.04498057e-01,  4.46131960e-02,  3.16311234e-02,
        3.14612347e-02,  9.99004336e-01, -7.05200199e-01,  7.09008236e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1001565 , -0.03338378,  0.12109118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71811332,  0.11686991, -0.70853946,  0.11686991,  0.19127904,
       -0.08689859, -0.70853946, -0.08689859,  0.70377985,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.573165803726534e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89608820e-01, -2.19089579e-02, -1.42106933e-01, -2.16865034e-02,
        9.99759970e-01, -3.11416229e-03,  1.42141051e-01, -4.33680869e-19,
       -9.89846413e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12902648, -0.08419989,  0.17728446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.39278212,  0.20201221,  0.39278212,  1.20847157,
       -1.49089785,  0.20201221, -1.49089785,  3.34051108,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028510672379410255
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98064589, -0.18904934,  0.0509311 , -0.18879489,  0.98196759,
        0.0098053 , -0.05186638,  0.        , -0.99865403])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12704345, -0.08217793,  0.11341118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.93214683, -6.98088037,  8.41303415, -6.98088037, 23.58332595,
       10.49756441,  8.41303415, 10.49756441, 19.64270713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048194085748405613
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15182497e-13, -6.11907014e-14,  1.00000000e+00,  7.04809776e-27,
        1.00000000e+00,  6.11907014e-14, -1.00000000e+00,  0.00000000e+00,
        1.15182497e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05180224, -0.06173069,  0.06198919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03223125e-02, 1.40097874e-01, 7.44066876e-02, 2.47338136e-02,
 -1.27283358e-03, 3.80099259e-01, 1.90663185e-01, 5.02530760e-02,
  2.31440979e-05,-1.63664623e-03,-2.74345648e-04,-1.69746766e-03,
  2.53891293e-02, 1.48411017e-02, 3.38707519e-03, 1.13131202e-03,
 -1.47019222e-05, 5.57367683e-05,-9.81001824e+00,-6.49872288e-02,
 -9.67411060e-03,-5.05253295e-03]


--- Step 2351 ---
qpos:
[-0.00508068, 0.20652236,-0.0925393 , 0.48174711,-0.0216084 , 0.02664389,
 -0.19167102, 0.40188927, 0.01433645, 0.83785593,-0.02038128, 0.77365287,
  0.84866172,-0.00606098, 1.17647817, 0.0459838 , 0.09305936,-0.06490277,
  0.14262936, 0.94425651,-0.03234991, 0.02653496, 0.32654099]

qacc:
[-5.80498471e+01,-3.46123341e+01, 1.58115846e+01,-3.92849774e+01,
 -2.93773841e+02, 8.98942224e+00, 1.82420260e+01,-1.08588495e+02,
  1.23648286e-02,-8.94075112e+01, 3.64623195e+02,-7.78802000e+02,
 -2.58013156e+01,-2.48891960e+00, 1.49343342e+02,-3.32556852e+02,
  1.25622214e+00,-1.46500374e+00, 1.32464529e-01, 8.16032669e+00,
 -6.46666150e-01,-4.75343563e+01]

qfrc_actuator:
[-0.00410506, 0.16394803, 0.07136786, 0.0870412 , 0.01447016, 0.38842971,
  0.17113838, 0.1042172 ,-0.00202286, 0.13694355, 0.00767291, 0.14902106,
  0.04640006, 0.01004215, 0.        ,-0.00166421, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.51223672, 0.26661641, 0.43738101, 0.26661641, 0.30559389,
       0.12596425, 0.43738101, 0.12596425, 0.4354521 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00012917803082850403
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75203791, -0.65865582,  0.0247284 ,  0.01860238,  0.01629249,
        0.99969421, -0.6588573 ,  0.75226795,  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([ 0.10759539, -0.04028862,  0.13560267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.15396903,  0.413981  , -0.15396903,  1.94865094,
        0.56047475,  0.413981  ,  0.56047475,  0.65013965,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011576216936607583
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70815064, -0.70462782,  0.04497004,  0.03187782,  0.03171923,
        0.99898834, -0.70534139,  0.70886778,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10011204, -0.03338172,  0.12111997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71699194,  0.6848136 , -0.21238593,  0.6848136 ,  0.65831771,
       -0.18918821, -0.21238593, -0.18918821,  0.10697669,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.71475276270176e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98961844, -0.02163094, -0.14208252, -0.02141139,  0.99976602,
       -0.0030741 ,  0.14211577,  0.        , -0.98985004])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12901334, -0.08421144,  0.17728579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.39339826,  0.20080971,  0.39339826,  1.28726223,
       -1.65653409,  0.20080971, -1.65653409,  3.68693589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028611349993465044
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98062533, -0.18912247,  0.05105544, -0.18886666,  0.98195351,
        0.00983319, -0.05199375,  0.        , -0.99864741])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12701512, -0.08217874,  0.11342002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99705959, -0.49556889, -0.86518166, -0.49556889,  1.32897614,
       -0.19011905, -0.86518166, -0.19011905,  1.10595821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2660041547481463e-05
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66142529, -0.74660439, -0.07140357, -0.04734898, -0.05344664,
        0.99744751, -0.74851497,  0.66311789,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10322669, -0.03780661,  0.30593255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.92794711,  6.95829327, -8.42627929,  6.95829327, 57.94528581,
       38.82620314, -8.42627929, 38.82620314, 42.99003509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048165817978543246
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.30500191e-13,  1.11648530e-13,  1.00000000e+00, -2.57350075e-26,
        1.00000000e+00, -1.11648530e-13, -1.00000000e+00,  0.00000000e+00,
        2.30500191e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05177551, -0.06174877,  0.0619892 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.36593245e-03, 1.43974261e-01, 7.64437646e-02, 2.52016375e-02,
  4.19682987e-04, 3.79135566e-01, 1.90766791e-01, 4.99697786e-02,
 -2.97836717e-07,-1.94850921e-03,-3.78131177e-04,-1.90314135e-03,
  1.68855695e-02, 1.00153149e-02, 1.70870442e-03, 5.60138932e-04,
 -2.27402510e-05, 3.04100258e-05,-9.80993382e+00,-6.50169750e-02,
 -9.68481040e-03,-5.06368690e-03]


--- Step 2352 ---
qpos:
[-0.00502756, 0.20664969,-0.09273406, 0.48294678,-0.02139543, 0.02686709,
 -0.19203919, 0.402955  , 0.01434354, 0.8400637 ,-0.02039988, 0.77655516,
  0.84922371,-0.00608009, 1.17679844, 0.04597158, 0.09304727,-0.06492261,
  0.14262803, 0.94432232,-0.03238307, 0.02659592, 0.32634237]

qacc:
[-5.39343432e+01,-2.35078375e+01, 1.61940354e+00,-3.06246640e+01,
 -2.76922278e+02, 7.18701159e+00, 1.66300711e+01,-1.03415214e+02,
 -3.34647525e-02,-7.80648646e+01, 3.30314074e+02,-7.46008795e+02,
 -2.10990757e+01, 3.51810016e+00, 1.27010972e+02,-2.56892936e+02,
  9.04144964e-01,-1.10075165e+00, 1.38643148e-01, 5.91649258e+00,
 -1.83313373e+00,-3.53302967e+01]

qfrc_actuator:
[-0.00418433, 0.16377776, 0.07161386, 0.08742083, 0.01423092, 0.38847361,
  0.17151284, 0.10390286,-0.00203512, 0.1364983 , 0.00768979, 0.14724825,
  0.04634899, 0.01003019, 0.        ,-0.00161404, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00012469867641961763
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.52219067e-01, -6.58443503e-01,  2.48722521e-02,  1.87151720e-02,
        1.63820408e-02,  9.99690638e-01, -6.58647264e-01,  7.52451847e-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([ 0.10757363, -0.0402897 ,  0.13562539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.28058763, -0.34111188,  0.28058763,  2.56426005,
        1.74596074, -0.34111188,  1.74596074,  1.87785722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011662112875074526
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.08137818e-01, -7.04622587e-01,  4.52530664e-02,  3.20782701e-02,
        3.19190320e-02,  9.98975555e-01, -7.05345174e-01,  7.08864010e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.100075  , -0.03337934,  0.12114507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71619748,  0.70440388, -0.12943723,  0.70440388,  0.69307489,
       -0.12583427, -0.12943723, -0.12583427,  0.0314011 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.041858657308287e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98963591, -0.02138777, -0.14199764, -0.02117095,  0.99977126,
       -0.00303771,  0.14203013,  0.        , -0.98986234])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12900014, -0.08423552,  0.17728673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.33705878,  0.28544371,  0.33705878,  1.94433911,
       -1.7743686 ,  0.28544371, -1.7743686 ,  2.53690329,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002879341085076469
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98061411, -0.18913946,  0.05120766, -0.1888821 ,  0.98195024,
        0.00986342, -0.05214893,  0.        , -0.99863932])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1269851 , -0.08217893,  0.11342918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99981457, -0.01118594,  0.999752  , -0.01118594,  2.22452795,
        0.01370297,  0.999752  ,  0.01370297,  0.99996789,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.138629463062438e-05
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66097583, -0.74699894, -0.07143897, -0.04734039, -0.05350153,
        0.99744497, -0.74891243,  0.66266897,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10322021, -0.03782085,  0.30580873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.9129439 , -7.27771657,  8.1318624 , -7.27771657, 30.82310055,
       17.81885498,  8.1318624 , 17.81885498, 26.86016111,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048064533234411233
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.19102113e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.19102113e-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([ 0.05175386, -0.06176304,  0.06198922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.42367004e-03, 1.47333615e-01, 7.79756646e-02, 2.59140625e-02,
  1.93169474e-03, 3.78358779e-01, 1.91045335e-01, 4.98881099e-02,
 -8.17093472e-06,-1.71968171e-03,-4.89680746e-04,-1.89315588e-03,
  1.94544304e-02, 1.14787726e-02,-2.65401351e-03, 9.27920602e-04,
 -1.44534567e-04, 1.29088591e-04,-9.80989674e+00,-6.50408186e-02,
 -9.67968050e-03,-5.07324693e-03]


--- Step 2353 ---
qpos:
[-0.00499205, 0.20673228,-0.09294885, 0.4841409 ,-0.02121376, 0.02709564,
 -0.19240815, 0.40401599, 0.01435034, 0.84226222,-0.02041946, 0.77941992,
  0.84974947,-0.00610777, 1.17718565, 0.04596019, 0.09303773,-0.06494588,
  0.14262725, 0.94440531,-0.0324069 , 0.02665268, 0.32609515]

qacc:
[-4.99751910e+01,-1.42101855e+01,-1.17214153e+01,-2.11326753e+01,
 -2.62520327e+02, 1.96005444e+00, 2.24458654e+01,-1.01128940e+02,
 -1.39291645e-01,-7.69729819e+01, 3.35973296e+02,-7.77338886e+02,
 -2.60639338e+01, 1.63780461e+01, 9.80313049e+01,-1.95647758e+02,
  6.38506290e-01,-8.53611113e-01, 1.38653011e-01, 4.63460177e+00,
 -2.94863245e+00,-2.56899782e+01]

qfrc_actuator:
[-0.00420624, 0.16365834, 0.07179956, 0.08788248, 0.01400425, 0.38847456,
  0.17188459, 0.1036814 ,-0.00206301, 0.13627841, 0.00772549, 0.14538227,
  0.04630545, 0.01005935, 0.        ,-0.00177462, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00011639486350773261
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7524938 , -0.6581246 ,  0.02500185,  0.01881962,  0.01645948,
        0.9996874 , -0.65833039,  0.7527291 ,  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([ 0.10755774, -0.04029226,  0.13564547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.30011988,  0.32405985, -0.30011988,  1.90081779,
        1.35133797,  0.32405985,  1.35133797,  1.69319389,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001187157572689001
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70731044, -0.70543795,  0.04548899,  0.03220818,  0.03212292,
        0.99896484, -0.70616895,  0.70804337,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10005454, -0.03338771,  0.12116734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71559031,  0.68787155, -0.19723646,  0.68787155,  0.68648867,
       -0.10149334, -0.19723646, -0.10149334,  0.36162744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.479640236642094e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89658650e-01, -2.11774007e-02, -1.41870627e-01, -2.09630991e-02,
        9.99775734e-01, -3.00512508e-03,  1.41902451e-01,  4.33680869e-19,
       -9.89880646e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12898686, -0.08426925,  0.17728745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.29494649,  0.32877545,  0.29494649,  2.64785218,
       -1.9791651 ,  0.32877545, -1.9791651 ,  2.21720747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002903788411466449
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98061008, -0.18911527,  0.05137391, -0.18885627,  0.98195489,
        0.00989413, -0.05231799,  0.        , -0.99863048])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12695394, -0.08217869,  0.11343851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.00508259,  0.23447632,  0.97734941,  0.23447632,  1.36938337,
       -0.08739956,  0.97734941, -0.08739956,  1.02605065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.572732410855553e-05
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66055395, -0.74736712, -0.07149036, -0.04734438, -0.05356661,
        0.99744129, -0.74928432,  0.66224845,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10322209, -0.03784215,  0.30569947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.89038047, -7.47492695,  7.91996552, -7.47492695, 36.15565518,
       23.84556881,  7.91996552, 23.84556881, 33.39601946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047911320190613393
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.1224159e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.1224159e-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([ 0.05173625, -0.06177432,  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:
[-7.49581857e-03, 1.50016048e-01, 7.92805705e-02, 2.66771447e-02,
  3.35576247e-03, 3.77760760e-01, 1.91399717e-01, 4.99047121e-02,
 -2.75873424e-05,-1.38850946e-03,-4.37693453e-04,-1.98161923e-03,
  2.12716825e-02, 1.24232804e-02,-6.96669880e-03, 7.42302782e-04,
 -2.82841049e-04, 2.56329932e-04,-9.80987979e+00,-6.50561583e-02,
 -9.66869901e-03,-5.08171511e-03]


--- Step 2354 ---
qpos:
[-0.0049733 , 0.20677313,-0.09317904, 0.48533072,-0.02106163, 0.02732803,
 -0.19277744, 0.40507242, 0.01435704, 0.84444996,-0.02043836, 0.78224215,
  0.85023513,-0.00614029, 1.17761823, 0.04594783, 0.09303009,-0.06497186,
  0.14262693, 0.94449971,-0.03242043, 0.02670373, 0.32581608]

qacc:
[-4.74937149e+01,-2.04789075e+01, 1.07961589e+01,-2.96703793e+01,
 -2.47686584e+02,-8.45989340e-01, 2.87323830e+01,-1.03541204e+02,
 -4.48461283e-02,-9.23217539e+01, 3.96721331e+02,-8.94483667e+02,
 -3.06968739e+01, 2.34593904e+01, 7.19638738e+01,-1.49982530e+02,
  4.73689357e-01,-6.81109444e-01, 1.12284798e-01, 4.55041133e+00,
 -4.01386367e+00,-1.68550622e+01]

qfrc_actuator:
[-0.00427628, 0.16352724, 0.07199116, 0.08793369, 0.01379661, 0.38852252,
  0.17225569, 0.10321573,-0.00206455, 0.13569869, 0.00773757, 0.14324582,
  0.04625702, 0.01011082, 0.        ,-0.00206219, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001047557447106535
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75283643, -0.65772834,  0.02511456,  0.01891312,  0.01652377,
        0.99968458, -0.65793587,  0.75307396,  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([ 0.1075466 , -0.04029618,  0.13566339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.32234916,  0.30195654, -0.32234916,  1.93142862,
        1.59035206,  0.30195654,  1.59035206,  2.13944264,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011832014221330703
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70480487, -0.70792785,  0.04569753,  0.03224152,  0.03238439,
        0.99895532, -0.70866818,  0.70554193,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10005908, -0.03341684,  0.12118742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71507271,  0.70343881, -0.12846327,  0.70343881,  0.69520127,
       -0.10881198, -0.12846327, -0.10881198,  0.11924037,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.957845238412431e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98968473, -0.02099808, -0.14171529, -0.02078606,  0.99977952,
       -0.00297641,  0.14174654,  0.        , -0.98990298])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12897367, -0.08431065,  0.1772881 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.25240162,  0.36246401,  0.25240162,  3.24430092,
       -1.95159922,  0.36246401, -1.95159922,  1.8006813 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002852805846883145
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98038349, -0.19022908,  0.05158604, -0.18996628,  0.98173973,
        0.00999569, -0.05254553,  0.        , -0.99861853])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12692494, -0.08219134,  0.11344835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.0117691 , 0.13132146, 1.00321054, 0.13132146, 0.70752037,
       0.03982652, 1.00321054, 0.03982652, 1.00655576, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00011516085452123153
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66015903, -0.74771045, -0.07154819, -0.04735454, -0.05363478,
        0.99743714, -0.74963165,  0.66185527,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10322977, -0.03786886,  0.30560636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.86263313, -7.74932781,  7.61214274, -7.74932781, 42.13166133,
       31.83255463,  7.61214274, 31.83255463, 43.26886999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004772142264661827
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.49039275e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.49039275e-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([ 0.05172185, -0.06178323,  0.0619893 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.68551226e-03, 1.52118706e-01, 8.04722021e-02, 2.70039662e-02,
  4.71323335e-03, 3.77534798e-01, 1.91809663e-01, 4.96735592e-02,
 -1.05463079e-05,-1.55657052e-03,-3.91753726e-04,-2.24104597e-03,
  2.30373018e-02, 1.29059019e-02,-1.03199397e-02, 4.11529187e-04,
 -4.04895290e-04, 3.74355419e-04,-9.80987958e+00,-6.50636585e-02,
 -9.65588461e-03,-5.08894529e-03]


--- Step 2355 ---
qpos:
[-0.00497038, 0.20677664,-0.09342069, 0.48651725,-0.02093687, 0.0275591 ,
 -0.19314793, 0.40612418, 0.01436406, 0.84662586,-0.02045748, 0.78502182,
  0.85068052,-0.0061771 , 1.17808335, 0.04593547, 0.09302384,-0.06500001,
  0.14262695, 0.9446009 ,-0.03242273, 0.02674795, 0.32551874]

qacc:
[-4.48820738e+01,-2.35266135e+01, 2.55952239e+01,-3.52028800e+01,
 -2.29619969e+02,-5.30084278e+00, 3.50219263e+01,-1.05835750e+02,
  1.77815058e-01,-9.13508711e+01, 3.91339395e+02,-8.87949664e+02,
 -3.04900883e+01, 2.34905116e+01, 5.00908128e+01,-1.01004247e+02,
  3.48275805e-01,-5.41146710e-01, 8.60958733e-02, 4.54059315e+00,
 -4.84404658e+00,-9.70051301e+00]

qfrc_actuator:
[-0.004298  , 0.16345728, 0.07218967, 0.08777511, 0.01359339, 0.38843829,
  0.17267953, 0.10272952,-0.00203258, 0.1350503 , 0.00769871, 0.14110911,
  0.04620733, 0.01012211, 0.        ,-0.0021937 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -8.985027125499045e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.53223559e-01, -6.57281408e-01,  2.52075557e-02,  1.89929601e-02,
        1.65737242e-02,  9.99682239e-01, -6.57490333e-01,  7.53462980e-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([ 0.10753969, -0.04030142,  0.13567937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.36410255,  0.25003213, -0.36410255,  1.65055433,
        1.76038152,  0.25003213,  1.76038152,  3.00519431,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011817484114230563
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7023147 , -0.71066426,  0.04135666,  0.02907026,  0.02941587,
        0.99914445, -0.71127279,  0.70291608,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10006947, -0.03344903,  0.12115302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71462907,  0.70507603, -0.11645815,  0.70507603,  0.69678181,
       -0.10805322, -0.11645815, -0.10805322,  0.06043929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.470539960642353e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89712740e-01, -2.08480414e-02, -1.41541696e-01, -2.06380577e-02,
        9.99782656e-01, -2.95150863e-03,  1.41572466e-01,  4.33680869e-19,
       -9.89927895e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12896056, -0.08435787,  0.17728867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002881766806106347
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79572194e-01, -1.94286299e-01,  5.18762970e-02, -1.94014427e-01,
        9.80944868e-01,  1.02746384e-02, -5.28840087e-02,  1.73472348e-18,
       -9.98600662e-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([ 0.12690225, -0.08223729,  0.11345908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.01862123, 0.045046  , 1.01762472, 0.045046  , 0.53430975,
       0.02143845, 1.01762472, 0.02143845, 1.01767224, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00013873965261263535
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65979404, -0.74802677, -0.07160851, -0.04736847, -0.05370295,
        0.99743282, -0.74995203,  0.66149221,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10324178, -0.03790008,  0.3055322 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.83167906, -8.14523411,  7.14005831, -8.14523411, 48.16648479,
       42.59079125,  7.14005831, 42.59079125, 59.4183923 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004750761705865497
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16846844e-13, -1.20498308e-13,  1.00000000e+00, -1.40798470e-26,
        1.00000000e+00,  1.20498308e-13, -1.00000000e+00,  0.00000000e+00,
       -1.16846844e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05171001, -0.06179027,  0.06198935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.86951448e-03, 1.54133828e-01, 8.14401200e-02, 2.70583535e-02,
  5.98672950e-03, 3.77251963e-01, 1.92249351e-01, 4.94136635e-02,
  3.10723106e-05,-1.71775512e-03,-4.78593822e-04,-2.25120608e-03,
  2.49937415e-02, 1.31613284e-02,-1.25949943e-02, 3.27090123e-04,
 -4.87368878e-04, 4.61572313e-04,-9.80989395e+00,-6.50636142e-02,
 -9.64181941e-03,-5.09470998e-03]


--- Step 2356 ---
qpos:
[-0.00498228, 0.20674769,-0.09367   , 0.4877014 ,-0.02083694, 0.02778401,
 -0.19352051, 0.40717117, 0.01437126, 0.84879009,-0.02047726, 0.78776014,
  0.8510866 ,-0.00621845, 1.17857307, 0.04592685, 0.09301857,-0.06502982,
  0.14262724, 0.94470474,-0.03241283, 0.02678414, 0.32521528]

qacc:
[-4.19228578e+01,-2.57296937e+01, 3.86693805e+01,-4.06008364e+01,
 -2.08017702e+02,-9.33722263e+00, 4.04217822e+01,-1.07534800e+02,
  1.04388682e-01,-8.76837558e+01, 3.75977178e+02,-8.57577252e+02,
 -2.89006501e+01, 2.15670034e+01, 2.68406231e+01,-3.70095065e+01,
  2.44953244e-01,-4.14399163e-01, 6.73316597e-02, 4.58090814e+00,
 -5.71738922e+00,-3.28295192e+00]

qfrc_actuator:
[-0.00428494, 0.16345406, 0.07239457, 0.08745586, 0.01345574, 0.38833161,
  0.1731005 , 0.10233945,-0.00203415, 0.13452588, 0.00768318, 0.13904254,
  0.0461743 , 0.01014617, 0.        ,-0.00207238, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -7.19100543735768e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75363629, -0.65680539,  0.02527869,  0.01905703,  0.01660849,
        0.99968044, -0.65701535,  0.7538772 ,  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([ 0.10753643, -0.04030792,  0.13569366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.39088877,  0.20565189, -0.39088877,  1.37636672,
        1.77657547,  0.20565189,  1.77657547,  3.81847696,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011740393700517197
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.99882983e-01, -7.13050109e-01,  4.15132822e-02,  2.90795077e-02,
        2.96265900e-02,  9.99137952e-01, -7.13665323e-01,  7.00486836e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10008266, -0.03347915,  0.12116937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.9955540371338786e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98974158, -0.02072512, -0.14135794, -0.02051692,  0.99978521,
       -0.00293029,  0.14138831,  0.        , -0.98995421])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12894776, -0.08440949,  0.17728918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029145420113300628
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97869416, -0.19857999,  0.05218944, -0.19829825,  0.98008468,
        0.01057437, -0.05324993,  0.        , -0.99858122])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12688048, -0.08228598,  0.11347007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.02445809, -0.02276296,  1.02420517, -0.02276296,  0.4383041 ,
       -0.01302727,  1.02420517, -0.01302727,  1.02416856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015585671594010547
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65945915, -0.74831606, -0.07167076, -0.0473858 , -0.05377066,
        0.99742834, -0.75024544,  0.66115942,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10325696, -0.03793515,  0.30547878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047281085337375073
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.21075636e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.21075636e-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([ 0.05170022, -0.06179584,  0.0619894 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.06417164e-03, 1.55998083e-01, 8.22187593e-02, 2.69020133e-02,
  7.21825331e-03, 3.77204765e-01, 1.92729728e-01, 4.92550879e-02,
  1.75071378e-05,-1.70026730e-03,-4.97487556e-04,-2.18930159e-03,
  2.69740513e-02, 1.34007594e-02,-1.42302862e-02, 4.47050874e-04,
 -5.26475711e-04, 5.13243928e-04,-9.80991781e+00,-6.50574810e-02,
 -9.62778137e-03,-5.09889711e-03]


--- Step 2357 ---
qpos:
[-0.00500766, 0.20669114,-0.0939241 , 0.48888384,-0.02075927, 0.02800147,
 -0.19389506, 0.40821336, 0.01437838, 0.85094374,-0.02049657, 0.79045842,
  0.85145927,-0.00626348, 1.17907919, 0.04592208, 0.09301406,-0.06506085,
  0.14262768, 0.94480771,-0.03238963, 0.02681192, 0.32491603]

qacc:
[-3.81924219e+01,-2.60003701e+01, 4.60249037e+01,-4.38765440e+01,
 -1.86711329e+02,-1.12741669e+01, 4.47933718e+01,-1.10894749e+02,
 -3.75992047e-02,-8.69203035e+01, 3.71495231e+02,-8.36771709e+02,
 -2.44120126e+01, 1.82621384e+01, 1.41864312e+01,-1.09785554e+01,
  1.91605203e-01,-3.04225031e-01, 3.95359529e-02, 4.84067083e+00,
 -6.19251915e+00, 2.16804166e+00]

qfrc_actuator:
[-0.00428122, 0.16353645, 0.07263959, 0.08709387, 0.01338356, 0.38832336,
  0.17346786, 0.10195576,-0.00205584, 0.13416915, 0.00777093, 0.13705164,
  0.04614199, 0.01019763, 0.        ,-0.00196288, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -5.125353221446911e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75405771, -0.65631973,  0.02532549,  0.01910301,  0.01662695,
        0.99967926, -0.6565303 ,  0.75429965,  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([ 0.10753623, -0.04031556,  0.13570654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011780160768998693
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69756823, -0.71525711,  0.04249508,  0.02967002,  0.03042239,
        0.99909668, -0.7159038 ,  0.69819893,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10009808, -0.03350827,  0.1211941 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.515033287755708e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89770213e-01, -2.06267638e-02, -1.41171747e-01, -2.04201009e-02,
        9.99787246e-01, -2.91253593e-03,  1.41201788e-01, -4.33680869e-19,
       -9.89980836e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12893545, -0.08446428,  0.17728962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028959867031337393
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97777083, -0.20299711,  0.0525012 , -0.2027051 ,  0.97917934,
        0.01088421, -0.05361755,  0.        , -0.99856154])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12686001, -0.08233612,  0.11348103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.02825378, -0.0748003 ,  1.02552949, -0.0748003 ,  0.40549403,
       -0.04542299,  1.02552949, -0.04542299,  1.0249407 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001659601989461199
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65915367, -0.74857898, -0.07173528, -0.04740671, -0.05383823,
        0.99742371, -0.75051252,  0.66085623,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10327425, -0.03797357,  0.30544774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004705094682566635
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17980944e-13, -3.31821405e-14,  1.00000000e+00, -3.91486026e-27,
        1.00000000e+00,  3.31821405e-14, -1.00000000e+00,  0.00000000e+00,
       -1.17980944e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05169208, -0.06180024,  0.06198945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.32000870e-03, 1.57705165e-01, 8.28480676e-02, 2.66568865e-02,
  8.38662372e-03, 3.77498672e-01, 1.93200829e-01, 4.91081456e-02,
 -9.16282143e-06,-1.52382273e-03,-3.90650310e-04,-2.11212784e-03,
  2.89072802e-02, 1.36808301e-02,-1.54687700e-02, 3.66965068e-04,
 -5.21263539e-04, 5.27121691e-04,-9.80994777e+00,-6.50461923e-02,
 -9.61489941e-03,-5.10136756e-03]


--- Step 2358 ---
qpos:
[-0.00504545, 0.2066138 ,-0.09418062, 0.49006499,-0.0207011 , 0.02820787,
 -0.19427242, 0.40925053, 0.01438533, 0.85308865,-0.02051638, 0.79312105,
  0.85180427,-0.0063113 , 1.17959606, 0.04592179, 0.09301019,-0.06509274,
  0.14262819, 0.94490698,-0.03235212, 0.02683114, 0.32462938]

qacc:
[-3.51282383e+01,-2.26941079e+01, 4.53544212e+01,-4.40729128e+01,
 -1.63476277e+02,-1.41053051e+01, 4.87365924e+01,-1.14178246e+02,
 -7.67064246e-02,-7.40223646e+01, 3.20389100e+02,-7.35184501e+02,
 -2.01675019e+01, 1.51921662e+01, 3.56489446e+00, 1.34201532e+01,
  1.58454405e-01,-2.16300597e-01, 1.38619569e-02, 5.14545693e+00,
 -6.52386068e+00, 6.61120093e+00]

qfrc_actuator:
[-0.00422523, 0.16366056, 0.07287335, 0.08679529, 0.01332256, 0.38825365,
  0.17382153, 0.10152458,-0.00207164, 0.13391663, 0.00781328, 0.13528112,
  0.04609501, 0.01024872, 0.        ,-0.00179106, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -2.82920406527287e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75447353, -0.65584086,  0.02534691,  0.01912971,  0.01662888,
        0.99967872, -0.65605164,  0.754716  ,  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([ 0.10753857, -0.04032421,  0.13571826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011641088235391447
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.95399069e-01, -7.17267828e-01,  4.41248053e-02,  3.07142634e-02,
        3.16801589e-02,  9.99026026e-01, -7.17967109e-01,  6.96077029e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10011474, -0.03353608,  0.12122537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.0459896174193245e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98979794, -0.02055043, -0.14098838, -0.02034507,  0.99978882,
       -0.00289798,  0.14101816,  0.        , -0.99000701])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1289237 , -0.08452097,  0.17728993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002929371044148095
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76824766e-01, -2.07422139e-01,  5.28150753e-02, -2.07119617e-01,
        9.78251530e-01,  1.11985676e-02, -5.39892591e-02,  1.73472348e-18,
       -9.98541516e-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([ 0.12684082, -0.08238639,  0.113492  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.0295009 , -0.11372351,  1.02320041, -0.11372351,  0.37941865,
       -0.07225333,  1.02320041, -0.07225333,  1.02147031,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016913420653817313
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65887319, -0.74881951, -0.07180152, -0.04743052, -0.05390551,
        0.99741894, -0.75075726,  0.66057819,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10329296, -0.03801515,  0.30543873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004682385304526082
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.37106294e-13, -1.81534506e-13,  1.00000000e+00, -4.30429739e-26,
        1.00000000e+00,  1.81534506e-13, -1.00000000e+00,  0.00000000e+00,
       -2.37106294e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05168526, -0.06180371,  0.0619895 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58931435e-03, 1.59211475e-01, 8.33217403e-02, 2.64425206e-02,
  9.43916486e-03, 3.77795655e-01, 1.93652983e-01, 4.89147827e-02,
 -1.61682233e-05,-1.29711132e-03,-3.85757652e-04,-1.88063815e-03,
  3.05293818e-02, 1.39161527e-02,-1.62980072e-02, 3.44907266e-04,
 -4.78900675e-04, 5.09559447e-04,-9.80997816e+00,-6.50316892e-02,
 -9.60370941e-03,-5.10206997e-03]


--- Step 2359 ---
qpos:
[-0.00509448, 0.20651895,-0.09443699, 0.49124539,-0.02066146, 0.02841562,
 -0.19464562, 0.41028415, 0.01439193, 0.85522532,-0.02053695, 0.79575206,
  0.85213112,-0.00635923, 1.18011619, 0.04592374, 0.09300685,-0.0651251 ,
  0.14262868, 0.94500048,-0.03230045, 0.02684209, 0.32436133]

qacc:
[-3.18527454e+01,-2.43539330e+01, 5.50126525e+01,-4.96446917e+01,
 -1.55218575e+02,-1.37578601e+01, 6.48571214e+01,-1.23231738e+02,
 -1.69878550e-01,-6.53285224e+01, 2.81910836e+02,-6.48572065e+02,
 -1.42662654e+01, 1.23960006e+01,-1.01762577e+00, 1.26561942e+01,
  1.32930137e-01,-1.17702543e-01,-1.34753288e-03, 5.00190591e+00,
 -6.42910235e+00, 9.77699395e+00]

qfrc_actuator:
[-0.00415133, 0.16377844, 0.07313542, 0.08641074, 0.01325663, 0.38817141,
  0.17420411, 0.10097828,-0.00210156, 0.13360474, 0.0078114 , 0.13370774,
  0.04606123, 0.01026468, 0.        ,-0.00176156, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.6012735855920463e-06
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.54872130e-01, -6.55382207e-01,  2.53422538e-02,  1.91363071e-02,
        1.66141982e-02,  9.99678834e-01, -6.55592761e-01,  7.55114648e-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([ 0.1075428 , -0.0403337 ,  0.13572914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001150355767392552
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.93376687e-01, -7.19131611e-01,  4.55905180e-02,  3.16443057e-02,
        3.28197082e-02,  9.98960212e-01, -7.19880134e-01,  6.94098402e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10013183, -0.033563  ,  0.12125404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71327706,  0.67547332, -0.22912869,  0.67547332,  0.64270566,
       -0.20804508, -0.22912869, -0.20804508,  0.0999584 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.593881590114614e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89824242e-01, -2.04933811e-02, -1.40811902e-01, -2.02891064e-02,
        9.99789989e-01, -2.88631814e-03,  1.40841481e-01, -4.33680869e-19,
       -9.90032160e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12891271, -0.08457859,  0.17729003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.07994992,  0.43439008,  0.07994992,  4.67148763,
       -0.77849909,  0.43439008, -0.77849909,  0.58496975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025646383409200775
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97669167, -0.20801868,  0.05293034, -0.20771388,  0.97812485,
        0.01125674, -0.05411409,  0.        , -0.99853476])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12681423, -0.0823934 ,  0.11350069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.02809323, -0.15061173,  1.01700137, -0.15061173,  0.38135171,
       -0.09577849,  1.01700137, -0.09577849,  1.01390901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000165546661005521
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65861344, -0.74904151, -0.07186894, -0.04745657, -0.05397239,
        0.99741408, -0.75098349,  0.66032098,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10331263, -0.03805979,  0.30545117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004660466453507567
  efc_address: 16
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19110719e-13, -1.22832929e-13,  1.00000000e+00, -1.46307186e-26,
        1.00000000e+00,  1.22832929e-13, -1.00000000e+00,  0.00000000e+00,
       -1.19110719e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05167952, -0.06180646,  0.06198955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.89506105e-03, 1.60372277e-01, 8.37066729e-02, 2.61209139e-02,
  1.03483924e-02, 3.78261214e-01, 1.94175285e-01, 4.86174416e-02,
 -3.36868903e-05,-1.22112620e-03,-3.76809636e-04,-1.67045927e-03,
  3.18789499e-02, 1.40731853e-02,-1.68445044e-02, 1.47668301e-04,
 -4.09927374e-04, 4.69110617e-04,-9.81000494e+00,-6.50153874e-02,
 -9.59495607e-03,-5.10097659e-03]


--- Step 2360 ---
qpos:
[-0.00515344, 0.20640949,-0.09469108, 0.49242548,-0.02063756, 0.02861869,
 -0.19501582, 0.41131399, 0.01439803, 0.85735455,-0.02055854, 0.7983537 ,
  0.85244689,-0.0064056 , 1.1806356 , 0.04592717, 0.09300403,-0.06515761,
  0.1426291 , 0.94508638,-0.0322344 , 0.0268452 , 0.32411729]

qacc:
[-2.81273872e+01,-2.55615268e+01, 6.28358586e+01,-5.45619861e+01,
 -1.31958116e+02,-1.88107750e+01, 7.20166651e+01,-1.27143494e+02,
 -2.58341195e-01,-5.95611130e+01, 2.58276982e+02,-5.98778133e+02,
 -9.67923621e+00, 9.85017430e+00,-4.83153639e+00, 1.68473614e+01,
  1.27653579e-01,-3.64808186e-02,-2.11976493e-02, 5.07748563e+00,
 -6.32028025e+00, 1.26441751e+01]

qfrc_actuator:
[-0.00409838, 0.16389761, 0.07341288, 0.08597459, 0.01321233, 0.3880914 ,
  0.1745982 , 0.10077177,-0.0021397 , 0.13334901, 0.0078012 , 0.13224509,
  0.04604082, 0.01027574, 0.        ,-0.00172823, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011444097581554552
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.91524338e-01, -7.20881000e-01,  4.60941889e-02,  3.19091697e-02,
        3.32637811e-02,  9.98937098e-01, -7.21648041e-01,  6.92260142e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10014896, -0.03358895,  0.12127098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71308706,  0.66907366, -0.24664466,  0.66907366,  0.63273912,
       -0.21796007, -0.24664466, -0.21796007,  0.12182614,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.24356638466559e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89848789e-01, -2.04546283e-02, -1.40644882e-01, -2.02512260e-02,
        9.99790782e-01, -2.87744080e-03,  1.40674313e-01, -8.67361738e-19,
       -9.90055926e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12890195, -0.08463579,  0.17728987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002582096922665407
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76750879e-01, -2.07722522e-01,  5.30007090e-02, -2.07417387e-01,
        9.78187791e-01,  1.12549360e-02, -5.41825501e-02, -1.73472348e-18,
       -9.98531047e-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([ 0.1267858 , -0.08239023,  0.11350884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.02451789, -0.17793977,  1.00894715, -0.17793977,  0.3758087 ,
       -0.11440754,  1.00894715, -0.11440754,  1.00434076,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015602150881806044
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.58367270e-01, -7.49251514e-01, -7.19354330e-02, -4.74829492e-02,
       -5.40377281e-02,  9.97409291e-01, -7.51197649e-01,  6.60077338e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1033327 , -0.03810729,  0.30548248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004639554890591008
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.73898686e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.73898686e-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([ 0.05167464, -0.06180864,  0.06198959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27952702e-03, 1.61371072e-01, 8.39786923e-02, 2.57205137e-02,
  1.12300003e-02, 3.78107625e-01, 1.94361242e-01, 4.85867373e-02,
 -5.04423077e-05,-1.11327544e-03,-3.62135906e-04,-1.55210515e-03,
  3.27652703e-02, 1.40908691e-02,-1.70177526e-02, 6.65786278e-05,
 -3.29171447e-04, 4.16002799e-04,-9.81002418e+00,-6.49990670e-02,
 -9.58998405e-03,-5.09817668e-03]


--- Step 2361 ---
qpos:
[-0.00522125, 0.2062939 ,-0.0949426 , 0.49360506,-0.02062698, 0.02881192,
 -0.19538371, 0.41233995, 0.01440365, 0.85947907,-0.02058245, 0.80093567,
  0.85275838,-0.00644822, 1.18115096, 0.0459306 , 0.09300172,-0.06519006,
  0.14262936, 0.94516353,-0.03215389, 0.02684111, 0.32390057]

qacc:
[-2.50893572e+01,-1.56568776e+01, 4.46626626e+01,-4.71598625e+01,
 -1.11432929e+02,-2.36899844e+01, 7.98487979e+01,-1.31238943e+02,
 -2.35085974e-01,-3.50389625e+01, 1.57073319e+02,-3.85743288e+02,
 -5.76816523e+00, 8.41246865e+00,-5.59038449e+00, 1.18533648e+01,
  1.30657576e-01, 1.43205711e-02,-3.62171872e-02, 5.16353048e+00,
 -6.07017510e+00, 1.44050694e+01]

qfrc_actuator:
[-0.00405482, 0.16403941, 0.07366186, 0.08591566, 0.0132034 , 0.38803599,
  0.17498093, 0.10096604,-0.00216471, 0.13337798, 0.00778658, 0.13128537,
  0.04602313, 0.01035325, 0.        ,-0.00176374, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011281851627275407
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.89845243e-01, -7.22495798e-01,  4.59713216e-02,  3.17466614e-02,
        3.32492391e-02,  9.98942760e-01, -7.23260458e-01,  6.90575347e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10016546, -0.03361382,  0.12128023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71296083,  0.66264273, -0.26309269,  0.66264273,  0.62221017,
       -0.22857065, -0.26309269, -0.22857065,  0.13726759,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.988122198282345e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89871331e-01, -2.04314308e-02, -1.40489516e-01, -2.02287102e-02,
        9.99791257e-01, -2.87100112e-03,  1.40518848e-01, -4.33680869e-19,
       -9.90078004e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1288917 , -0.08469186,  0.17728939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002600858862788285
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97631998, -0.20967839,  0.05323781, -0.20936736,  0.97777041,
        0.01141661, -0.05444817,  0.        , -0.9985166 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12676365, -0.08241245,  0.11351884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.01941963, -0.19668334,  1.00026599, -0.19668334,  0.36957751,
       -0.12777913,  1.00026599, -0.12777913,  0.99429429,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014121446304179777
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65812937, -0.74945432, -0.07199973, -0.04750843, -0.05410092,
        0.99740465, -0.75140448,  0.65984189,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1033529 , -0.03815755,  0.30553058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004619830301427763
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40316841e-13, -1.23913371e-13,  1.00000000e+00, -2.97784699e-26,
        1.00000000e+00,  1.23913371e-13, -1.00000000e+00,  0.00000000e+00,
       -2.40316841e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05167045, -0.06181035,  0.06198964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73910256e-03, 1.62248147e-01, 8.41153960e-02, 2.56759084e-02,
  1.20086364e-02, 3.78281245e-01, 1.94593256e-01, 4.89678634e-02,
 -4.54984242e-05,-7.61244371e-04,-3.39478631e-04,-1.04237725e-03,
  3.33004455e-02, 1.40914890e-02,-1.69920871e-02,-4.46767151e-05,
 -2.43123986e-04, 3.55995397e-04,-9.81003443e+00,-6.49833404e-02,
 -9.58885063e-03,-5.09372169e-03]


--- Step 2362 ---
qpos:
[-0.00529674, 0.20617875,-0.09519168, 0.49478389,-0.0206273 , 0.02899058,
 -0.19574967, 0.41336194, 0.01440892, 0.86160045,-0.02060744, 0.80350343,
  0.85307136,-0.00648539, 1.18165981, 0.04593238, 0.09299999,-0.06522229,
  0.14262942, 0.94523102,-0.0320587 , 0.02683057, 0.32371388]

qacc:
[-2.18688444e+01,-7.15749926e+00, 2.80978059e+01,-4.01686782e+01,
 -9.12225443e+01,-2.87865492e+01, 8.89854515e+01,-1.36371165e+02,
 -1.80652539e-01,-2.66030726e+01, 1.18105770e+02,-2.82990714e+02,
 -2.35095739e+00, 6.96745867e+00,-4.31511906e+00, 1.71435298e+00,
  1.44860720e-01, 5.45913595e-02,-5.23129588e-02, 5.33238181e+00,
 -5.77473989e+00, 1.58510844e+01]

qfrc_actuator:
[-0.00396075, 0.16415666, 0.07389257, 0.08613663, 0.01320179, 0.38812664,
  0.17532083, 0.10106512,-0.00218169, 0.13345378, 0.00782427, 0.13059393,
  0.04600154, 0.01041454, 0.        ,-0.0018752 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011129580150272135
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68830685, -0.72397212,  0.04580459,  0.03156074,  0.03319609,
        0.99895042, -0.72473278,  0.68903004,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10018081, -0.03363746,  0.12128883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71288358,  0.65411239, -0.28344308,  0.65411239,  0.60815234,
       -0.24169229, -0.28344308, -0.24169229,  0.15512109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8203486907667245e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89891800e-01, -2.04213716e-02, -1.40346686e-01, -2.02191647e-02,
        9.99791462e-01, -2.86666963e-03,  1.40375959e-01,  4.33680869e-19,
       -9.90098273e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12888223, -0.08474636,  0.17728853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026215409990785776
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76393311e-01, -2.09306476e-01,  5.33563670e-02, -2.08994655e-01,
        9.77850090e-01,  1.14208029e-02, -5.45649763e-02, -1.73472348e-18,
       -9.98510222e-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([ 0.1267374 , -0.0824083 ,  0.11352746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.01356653, -0.2117098 ,  0.99120939, -0.2117098 ,  0.36234843,
       -0.13909196,  0.99120939, -0.13909196,  0.98385824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012181741105800911
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.57894643e-01, -7.49654581e-01, -7.20600236e-02, -4.75314712e-02,
       -5.41609291e-02,  9.97400297e-01, -7.51608540e-01,  6.59609432e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10337311, -0.03821058,  0.30559331])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000460124292700842
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.61931453e-13, -3.39310737e-14,  1.00000000e+00, -1.22807228e-26,
        1.00000000e+00,  3.39310737e-14, -1.00000000e+00,  0.00000000e+00,
       -3.61931453e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05166682, -0.06181171,  0.06198968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20257890e-03, 1.62677143e-01, 8.42195069e-02, 2.59207332e-02,
  1.26725774e-02, 3.78858649e-01, 1.94817613e-01, 4.92596681e-02,
 -3.50896560e-05,-4.96680182e-04,-1.98454831e-04,-7.50158295e-04,
  3.34929384e-02, 1.39661191e-02,-1.67994479e-02,-1.59270779e-04,
 -1.62158734e-04, 2.98020226e-04,-9.81003488e+00,-6.49687593e-02,
 -9.59157273e-03,-5.08768524e-03]


--- Step 2363 ---
qpos:
[-0.00535058, 0.20615723,-0.09538237, 0.49596432,-0.02059052, 0.02915777,
 -0.196106  , 0.41438188, 0.01441376, 0.86371857,-0.02063204, 0.80605218,
  0.85331938,-0.00658334, 1.18199289, 0.04596891, 0.09298666,-0.06524104,
  0.14262766, 0.94523401,-0.03200995, 0.02683586, 0.32370953]

qacc:
[ 6.17408659e+01,-3.15001024e+01, 2.70432292e+02,-3.52273130e+02,
  3.11643811e+02,-4.20270405e+01, 1.32227286e+02,-1.55513194e+02,
 -2.19168229e-01,-3.92612753e+01, 1.71502128e+02,-3.91345956e+02,
  2.03589580e+00,-6.22342974e+01,-3.66609429e+02, 9.01523216e+02,
 -2.90068629e+00, 3.36963867e+00,-4.54818300e-01,-2.28712866e+01,
  1.29365508e+01, 9.62441316e+01]

qfrc_actuator:
[-0.00383399, 0.16429056, 0.07414691, 0.08645497, 0.01317199, 0.38827808,
  0.17565225, 0.10117971,-0.00221153, 0.13334494, 0.00785752, 0.12963981,
  0.04596658, 0.01040966, 0.        ,-0.00181751, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010990502564212424
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.86883828e-01, -7.25334916e-01,  4.56055467e-02,  3.13583400e-02,
        3.31137494e-02,  9.98959526e-01, -7.26090395e-01,  6.87599258e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10019471, -0.03366   ,  0.1212971 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71284716, -0.60339897, -0.37955336, -0.60339897,  0.52855918,
        0.29297377, -0.37955336,  0.29297377,  0.24708902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.73767837809505e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89910207e-01, -2.04220727e-02, -1.40216690e-01, -2.02202352e-02,
        9.99791448e-01, -2.86411276e-03,  1.40245939e-01, -4.33680869e-19,
       -9.90116698e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12887379, -0.08479892,  0.17728727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026425252986403505
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97645434, -0.20899   ,  0.05347999, -0.20867725,  0.97791778,
        0.01142916, -0.05468761,  0.        , -0.99850351])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12671319, -0.08240473,  0.11353609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.0077293 ,  0.14996678, -0.99650806,  0.14996678,  2.76891766,
        0.26504526, -0.99650806,  0.26504526,  1.04761657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.847895029652774e-05
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65765875, -0.74985625, -0.07211498, -0.04755085, -0.05421703,
        0.99739633, -0.75181373,  0.65937555,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10339332, -0.03826644,  0.30566863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.66423712,  5.23451364, -9.29116894,  5.23451364, 58.83428609,
       27.13832675, -9.29116894, 27.13832675, 25.95358796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046313585731939944
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19859325e-13, -1.19859325e-13,  1.00000000e+00, -1.43662578e-26,
        1.00000000e+00,  1.19859325e-13, -1.00000000e+00,  0.00000000e+00,
       -1.19859325e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08494528, -0.10984407,  0.06198961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.90840271e-04, 1.62793467e-01, 8.43540802e-02, 2.62748401e-02,
  1.31882201e-02, 3.79734503e-01, 1.95052586e-01, 4.95702352e-02,
 -4.29011925e-05,-4.96124758e-04,-1.24620273e-04,-9.93050564e-04,
  3.33829833e-02, 1.36900968e-02,-1.64844456e-02,-2.06956751e-05,
 -9.12154445e-05, 2.46168611e-04,-9.81002515e+00,-6.49554829e-02,
 -9.59821458e-03,-5.08014145e-03]


--- Step 2364 ---
qpos:
[-0.00538208, 0.2062471 ,-0.09552361, 0.49714329,-0.02051409, 0.02930689,
 -0.19645079, 0.41540006, 0.0144184 , 0.86583161,-0.02065454, 0.80857977,
  0.85348389,-0.00671886, 1.18215193, 0.04600735, 0.09296438,-0.06524938,
  0.14262473, 0.94517901,-0.03199086, 0.02686408, 0.32386965]

qacc:
[ 6.35285881e+01, 1.01578910e+01, 1.69870479e+02,-3.09957577e+02,
  3.33222695e+02,-5.45672474e+01, 1.62414851e+02,-1.75137192e+02,
 -9.07273169e-02,-5.01690035e+01, 2.09715144e+02,-4.51485602e+02,
 -3.09019111e+01,-1.12056516e+01,-2.62016723e+02, 5.45311942e+02,
 -2.24005012e+00, 2.60410876e+00,-2.92946780e-01,-1.34345915e+01,
  1.37831133e+01, 8.70889565e+01]

qfrc_actuator:
[-0.0037494 , 0.16434108, 0.07434076, 0.08706048, 0.01315265, 0.38848648,
  0.17598785, 0.10148082,-0.00221334, 0.13303793, 0.00794035, 0.12857407,
  0.04595084, 0.01050014, 0.        ,-0.00185387, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.23993015, -0.37083723,  0.23993015,  1.39811739,
        0.618807  , -0.37083723,  0.618807  ,  0.8420518 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010894104571109382
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6864757 , -0.72573183,  0.04543604,  0.03122298,  0.03300847,
        0.99896725, -0.7264821 ,  0.68718539,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1001834 , -0.03367004,  0.12130992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71267989, -0.53531074, -0.47048383, -0.53531074,  0.43570961,
        0.31513339, -0.47048383,  0.31513339,  0.35412498,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3203409755623927e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98991607, -0.02038577, -0.14018058, -0.0201844 ,  0.99979219,
       -0.00285828,  0.14020971,  0.        , -0.99012183])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12886439, -0.08482243,  0.17728704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.40189856,  0.18320557, -0.40189856,  0.85995266,
        0.91755217,  0.18320557,  0.91755217,  2.45452289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026544431809033676
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9764426 , -0.20900979,  0.05361676, -0.20869541,  0.97791355,
        0.01145953, -0.05482771,  0.        , -0.99849583])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12669029, -0.08240492,  0.11354487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.00429141,  0.85491683, -0.52698999,  0.85491683,  0.98034458,
       -0.03884808, -0.52698999, -0.03884808,  0.94126957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.151592653838384e-05
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.57471479e-01, -7.50009703e-01, -7.22267307e-02, -4.76113650e-02,
       -5.43126004e-02,  9.97388239e-01, -7.51973678e-01,  6.59193134e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10339205, -0.03829248,  0.30572028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.73896665, -5.18792563,  9.40270347, -5.18792563, 72.1217647 ,
       33.86785429,  9.40270347, 33.86785429, 29.42549758,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046854490342888855
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.36951254e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.36951254e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08492824, -0.10985258,  0.06198949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68871352e-03, 1.58164536e-01, 8.16289422e-02, 2.67989332e-02,
  1.13137202e-02, 3.80512072e-01, 1.94906428e-01, 4.99726520e-02,
 -1.87450718e-05,-6.87278365e-04,-7.37504047e-05,-1.10773197e-03,
  3.66096398e-02, 1.68179751e-02,-7.70071834e-03,-1.79616307e-03,
 -4.71771033e-06, 1.45648605e-05,-9.80998625e+00,-6.49718040e-02,
 -9.65750084e-03,-5.07714980e-03]


--- Step 2365 ---
qpos:
[-0.0053904 , 0.20644854,-0.09562092, 0.49831897,-0.02039637, 0.02944063,
 -0.19678286, 0.41641673, 0.01442314, 0.8679389 ,-0.02067604, 0.81108371,
  0.85352982,-0.006849  , 1.18219812, 0.04603189, 0.09293418,-0.06524928,
  0.14262091, 0.94507439,-0.03199521, 0.02691124, 0.32417047]

qacc:
[ 6.57803511e+01, 2.19062516e+01, 1.36226432e+02,-3.01392622e+02,
  3.46807579e+02,-5.37982281e+01, 1.63644377e+02,-1.75520708e+02,
  5.69409287e-02,-5.24443465e+01, 2.22096802e+02,-4.92801596e+02,
 -9.24065272e+01, 8.36239599e+01,-1.18705595e+02, 1.86438077e+02,
 -1.97606962e+00, 2.10778681e+00,-2.21281246e-01,-1.06970731e+01,
  1.11638107e+01, 7.45144777e+01]

qfrc_actuator:
[-0.0037172 , 0.16430411, 0.0744484 , 0.0878052 , 0.01312218, 0.38874023,
  0.17633796, 0.10230268,-0.00219843, 0.13270392, 0.00796227, 0.1273801 ,
  0.0459453 , 0.01066668, 0.        ,-0.00198098, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.30830632, -0.31628143,  0.30830632,  1.38171693,
        0.91632761, -0.31628143,  0.91632761,  1.33490844,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010847500277685821
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68672346, -0.7255031 ,  0.04534468,  0.03117132,  0.03293158,
        0.9989714 , -0.72625012,  0.68743055,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10014992, -0.03367125,  0.12132818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71250368, -0.54400854, -0.46012629, -0.54400854,  0.45501904,
        0.30442477, -0.46012629,  0.30442477,  0.35258146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7774362832611168e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89914032e-01, -2.03100317e-02, -1.40205964e-01, -2.01093333e-02,
        9.99793730e-01, -2.84817507e-03,  1.40234891e-01,  4.33680869e-19,
       -9.90118263e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12885499, -0.08482108,  0.17728712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.39505422,  0.197532  , -0.39505422,  1.00770783,
        1.13201517,  0.197532  ,  1.13201517,  2.70566055,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002657885957206374
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76364140e-01, -2.09333812e-01,  5.37812418e-02, -2.09016957e-01,
        9.77844239e-01,  1.15133187e-02, -5.49998043e-02,  1.73472348e-18,
       -9.98486365e-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([ 0.12666923, -0.0824085 ,  0.11355396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.00225204,  0.68617476, -0.7305295 ,  0.68617476,  0.61511509,
       -0.36363159, -0.7305295 , -0.36363159,  0.66069866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.946030548055879e-05
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65734693, -0.75010495, -0.0723711 , -0.04769799, -0.05442864,
        0.99737777, -0.75207707,  0.65907517,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10337715, -0.03829585,  0.30575376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.7858058 , -5.27747031,  9.40648255, -5.27747031, 48.00643918,
       20.88249106,  9.40648255, 20.88249106, 22.50184589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004718687997818799
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.17641072e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.17641072e-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([ 0.08491468, -0.10985992,  0.06198942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77397857e-03, 1.52554931e-01, 7.92630199e-02, 2.76144483e-02,
  9.30038268e-03, 3.81665285e-01, 1.94679613e-01, 5.08804604e-02,
  9.72368530e-06,-8.13793977e-04,-1.70086293e-04,-1.24325848e-03,
  4.07747571e-02, 1.88616896e-02, 9.99193827e-04,-2.01954439e-03,
 -1.58071698e-04, 9.29434655e-05,-9.81001107e+00,-6.49591034e-02,
 -9.66858998e-03,-5.07885532e-03]


--- Step 2366 ---
qpos:
[-0.00537529, 0.20675177,-0.09567866, 0.4994903 ,-0.02023689, 0.02956397,
 -0.19710187, 0.41743205, 0.01442823, 0.87003956,-0.02069711, 0.81356434,
  0.85345873,-0.00697418, 1.18216629, 0.04604571, 0.09289688,-0.06524248,
  0.1426165 , 0.94492858,-0.03201865, 0.02697117, 0.32458796]

qacc:
[ 6.64387663e+01, 1.90818021e+01, 1.32024696e+02,-3.01800653e+02,
  3.50804123e+02,-4.82138739e+01, 1.52875713e+02,-1.67583401e+02,
  1.79260289e-01,-5.14302944e+01, 2.16167301e+02,-4.81605385e+02,
 -9.24685334e+01, 8.39387650e+01,-7.68555161e+01, 1.14829096e+02,
 -1.77759927e+00, 1.67690436e+00,-1.47899056e-01,-9.17954679e+00,
  7.81586200e+00, 6.17572167e+01]

qfrc_actuator:
[-0.00372621, 0.16416992, 0.07454329, 0.08840508, 0.01296103, 0.38884822,
  0.17670873, 0.10370372,-0.00217368, 0.13233863, 0.00796568, 0.12620892,
  0.04594673, 0.01085094, 0.        ,-0.00212973, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.3600862 , -0.25578244,  0.3600862 ,  1.18049097,
        1.04007683, -0.25578244,  1.04007683,  1.90588884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001085394671718654
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68742282, -0.72484085,  0.04533892,  0.03119909,  0.03289733,
        0.99897166, -0.725587  ,  0.68813045,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10009701, -0.03366583,  0.12135185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71235012, -0.56804519, -0.42984574, -0.56804519,  0.49532878,
        0.28679575, -0.42984574,  0.28679575,  0.33334684,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1044338500421977e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98990512, -0.02019327, -0.14028574, -0.0199935 ,  0.9997961 ,
       -0.00283341,  0.14031435,  0.        , -0.99010701])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12884551, -0.08479916,  0.17728756])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.38048097,  0.22432335, -0.38048097,  1.28312395,
        1.42718553,  0.22432335,  1.42718553,  2.86237466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026542564777449393
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97622832, -0.20991873,  0.05396655, -0.20959872,  0.97771884,
        0.01158676, -0.05519639,  0.        , -0.99847552])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12664953, -0.08241497,  0.11356329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.000705  ,  0.53743293, -0.84414237,  0.53743293,  0.45550282,
       -0.34710923, -0.84414237, -0.34710923,  0.77971392,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.8647760790457186e-05
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65731174, -0.75012302, -0.07250331, -0.04778304, -0.05452992,
        0.99736817, -0.75210242,  0.65904624,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10335121, -0.03827971,  0.30578084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.80871016, -5.23530652,  9.4562033 , -5.23530652, 60.62918735,
       27.58247266,  9.4562033 , 27.58247266, 26.07939484,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004734760836108687
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.34483443e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.34483443e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08490384, -0.10986639,  0.06198938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.94237822e-03, 1.46834878e-01, 7.71580201e-02, 2.83766359e-02,
  7.07526952e-03, 3.82539591e-01, 1.94414627e-01, 5.23548274e-02,
  3.34413603e-05,-9.38645028e-04,-2.28971836e-04,-1.23059198e-03,
  4.67027661e-02, 1.87776088e-02, 6.64074682e-03,-1.47324458e-03,
 -4.70969115e-04, 3.54779296e-04,-9.81008404e+00,-6.49266836e-02,
 -9.65396850e-03,-5.08437570e-03]


--- Step 2367 ---
qpos:
[-0.00533682, 0.2071457 ,-0.09570155, 0.50065637,-0.02003606, 0.02968306,
 -0.19740811, 0.41844605, 0.01443383, 0.87213369,-0.02071809, 0.81601996,
  0.85328185,-0.00709767, 1.18207903, 0.04605446, 0.09285313,-0.06523046,
  0.14261177, 0.94474968,-0.03205803, 0.02703695, 0.32509894]

qacc:
[ 6.60784221e+01, 1.56736266e+01, 1.27003840e+02,-2.98079201e+02,
  3.47206147e+02,-3.97152348e+01, 1.34450689e+02,-1.54367127e+02,
  2.67306849e-01,-5.34220825e+01, 2.26889057e+02,-5.12268077e+02,
 -8.21639377e+01, 7.22681077e+01,-6.12463823e+01, 1.07117665e+02,
 -1.61224677e+00, 1.30503382e+00,-7.87013501e-02,-8.37340179e+00,
  4.30318071e+00, 4.94198501e+01]

qfrc_actuator:
[-0.00373397, 0.16387154, 0.07461734, 0.08902694, 0.01277549, 0.38895868,
  0.1770687 , 0.10532845,-0.00214332, 0.13204654, 0.00797589, 0.12495399,
  0.04595647, 0.01100858, 0.        ,-0.00211155, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.39297909, -0.20162879,  0.39297909,  0.98228574,
        1.0536407 , -0.20162879,  1.0536407 ,  2.49525585,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001091262737772402
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.88441938e-01, -7.23868684e-01,  4.54073322e-02,  3.12925884e-02,
        3.29028833e-02,  9.98968555e-01, -7.24616085e-01,  6.89152761e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10002744, -0.03365536,  0.1213804 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71225922, -0.60119498, -0.38193951, -0.60119498,  0.5478075 ,
        0.25885655, -0.38193951,  0.25885655,  0.30480397,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.6691567435686718e-06
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98988962, -0.02003502, -0.14041776, -0.01983644,  0.99979928,
       -0.00281384,  0.14044595,  0.        , -0.99008835])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([18, 43], dtype=int32)
  geom1: 18
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12883568, -0.0847609 ,  0.17728854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.35946239,  0.25665838, -0.35946239,  1.71528412,
        1.78373501,  0.25665838,  1.78373501,  2.93989279,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026454159177166977
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9760446 , -0.21072064,  0.05416406, -0.21039693,  0.97754632,
        0.01167565, -0.05540818,  0.        , -0.99846379])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12663052, -0.08242383,  0.11357277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99926707,  0.41185606, -0.91044454,  0.41185606,  0.35073866,
       -0.29337356, -0.91044454, -0.29337356,  0.86655423,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.6353190219606615e-05
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65736474, -0.75006491, -0.07262388, -0.04786678, -0.05461685,
        0.9973594 , -0.75205078,  0.65910517,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1033154 , -0.038247  ,  0.30581046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.81159194, -5.14106711,  9.51104354, -5.14106711, 78.54496431,
       36.61236659,  9.51104354, 36.61236659, 30.60191598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004736774787407333
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.17191874e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.17191874e-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([ 0.08489517, -0.10987217,  0.06198938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.12326439e-03, 1.41435488e-01, 7.52494506e-02, 2.92129748e-02,
  4.80143107e-03, 3.83166490e-01, 1.94121210e-01, 5.40457554e-02,
  5.06569560e-05,-9.45593573e-04,-2.53210884e-04,-1.31992344e-03,
  5.25622230e-02, 1.86891855e-02, 1.05415661e-02,-9.19378310e-04,
 -8.60925200e-04, 7.14807817e-04,-9.81017603e+00,-6.48886465e-02,
 -9.62318275e-03,-5.09280837e-03]


--- Step 2368 ---
qpos:
[-0.00527359, 0.20762687,-0.09569084, 0.50181625,-0.01979147, 0.02984397,
 -0.19770514, 0.41945533, 0.0144397 , 0.87422296,-0.02074034, 0.81844445,
  0.85299962,-0.00723645, 1.18194961, 0.04606397, 0.09280396,-0.06521394,
  0.14260658, 0.94453787,-0.03210808, 0.02711525, 0.32570239]

qacc:
[ 6.98557631e+01, 1.28868752e+01, 1.33610893e+02,-3.14570290e+02,
  3.66537650e+02, 2.14496913e+01, 1.99454640e+01,-1.36088372e+02,
  1.42555279e-01,-5.83334143e+01, 2.60414233e+02,-6.18567756e+02,
 -7.03963574e+01, 4.65244271e+01,-6.04248601e+01, 1.30217857e+02,
 -1.35329071e+00, 1.12286793e+00,-1.16396574e-01,-4.78084298e+00,
  6.60972718e+00, 4.90827441e+01]

qfrc_actuator:
[-0.00378578, 0.16342725, 0.07465001, 0.0897534 , 0.01257678, 0.3891574 ,
  0.17741728, 0.10669735,-0.00214541, 0.13190744, 0.00793709, 0.12339358,
  0.04597439, 0.01109829, 0.        ,-0.00190583, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.42023692, -0.13596935,  0.42023692,  0.79067079,
        1.07859745, -0.13596935,  1.07859745,  3.77527922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011022152235557396
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.89673620e-01, -7.22687235e-01,  4.55352471e-02,  3.14370673e-02,
        3.29419114e-02,  9.98962733e-01, -7.23437633e-01,  6.90389738e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09994388, -0.03364117,  0.12141323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.32971833,  0.29389208, -0.32971833,  2.35909876,
        2.15115034,  0.29389208,  2.15115034,  2.85506768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002619996407506934
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97568886, -0.21230401,  0.0543899 , -0.21197491,  0.97720367,
        0.01181657, -0.05565871,  0.        , -0.99844985])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12661298, -0.08244144,  0.11358259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99790576,  0.37299382, -0.92557632,  0.37299382,  0.35042255,
       -0.26092633, -0.92557632, -0.26092633,  0.89275624,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0387257085337792e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.57497445e-01, -7.49937652e-01, -7.27367021e-02, -4.79512100e-02,
       -5.46928632e-02,  9.97351178e-01, -7.51929379e-01,  6.59243665e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10327022, -0.03820035,  0.30584987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004727368053373121
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17425067e-13, -1.17425067e-13,  1.00000000e+00, -1.37886465e-26,
        1.00000000e+00,  1.17425067e-13, -1.00000000e+00,  0.00000000e+00,
       -1.17425067e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0848882 , -0.10987742,  0.0619894 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.34468107e-03, 1.36440849e-01, 7.35333593e-02, 3.01992458e-02,
  2.53512926e-03, 3.83575213e-01, 1.93831695e-01, 5.54785970e-02,
  2.66677755e-05,-8.03887230e-04,-3.08987482e-04,-1.62830309e-03,
  5.78703770e-02, 1.86970275e-02, 1.33124506e-02,-4.60114090e-04,
 -1.26085788e-03, 1.11018033e-03,-9.81026308e+00,-6.48565543e-02,
 -9.58194096e-03,-5.10324092e-03]


--- Step 2369 ---
qpos:
[-0.00518603, 0.20818516,-0.09565158, 0.50296906,-0.01950423, 0.03004048,
 -0.19799424, 0.42046003, 0.01444553, 0.87630678,-0.02076269, 0.82083692,
  0.85262374,-0.00738563, 1.18178912, 0.04607181, 0.09274996,-0.06519412,
  0.1426012 , 0.94430011,-0.03216645, 0.02719962, 0.32637831]

qacc:
[ 6.84200678e+01, 1.17553550e+01, 1.22343865e+02,-3.04746868e+02,
  3.57246441e+02, 1.71313995e+01, 2.29234613e+01,-1.30161878e+02,
 -1.63644824e-02,-6.39235367e+01, 2.79880482e+02,-6.46716193e+02,
 -6.52687725e+01, 4.68392018e+01,-3.69152472e+01, 7.12453233e+01,
 -1.20773937e+00, 8.26633228e-01,-4.74423237e-02,-4.34027901e+00,
  3.40524744e+00, 3.84402817e+01]

qfrc_actuator:
[-0.00391027, 0.16288037, 0.07468067, 0.09047465, 0.0123157 , 0.3893647 ,
  0.17772196, 0.10765039,-0.00216692, 0.13166578, 0.00794123, 0.12179025,
  0.04599567, 0.01121681, 0.        ,-0.00187542, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.4297576 , -0.10195654,  0.4297576 ,  0.59190803,
        0.63320078, -0.10195654,  0.63320078,  3.11069462,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011132858190841734
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.91075487e-01, -7.21336896e-01,  4.56919479e-02,  3.16095989e-02,
        3.29937473e-02,  9.98955578e-01, -7.22091064e-01,  6.91798016e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09984717, -0.03362385,  0.12144987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002625917910426476
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97613234, -0.21020786,  0.05457387, -0.2098801 ,  0.97765672,
        0.01173403, -0.0558211 ,  0.        , -0.99844079])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12658247, -0.08241723,  0.11359194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99703073,  0.30235161, -0.95008093,  0.30235161,  0.29609739,
       -0.22306344, -0.95008093, -0.22306344,  0.92604352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1585522017108153e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6577094 , -0.74973992, -0.07285871, -0.04804756, -0.05477065,
        0.99734227, -0.75173784,  0.65946207,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1032191 , -0.0381418 ,  0.30589635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047093006658791015
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.17875573e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.17875573e-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([ 0.08488259, -0.10988222,  0.06198944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.70923285e-03, 1.31513229e-01, 7.18763521e-02, 3.12272416e-02,
  8.60846470e-05, 3.81687037e-01, 1.93675170e-01, 5.66658782e-02,
 -4.52877800e-06,-8.48947030e-04,-2.53811272e-04,-1.67508735e-03,
  6.31596430e-02, 1.95839458e-02, 1.54200802e-02,-4.68171046e-04,
 -1.74647321e-03, 1.55028825e-03,-9.81037430e+00,-6.48107641e-02,
 -9.54386824e-03,-5.11566858e-03]


--- Step 2370 ---
qpos:
[-0.00506097, 0.20883159,-0.09557957, 0.50410944,-0.01915926, 0.03026188,
 -0.19828151, 0.421457  , 0.01445141, 0.87838556,-0.02078475, 0.82319876,
  0.85279264,-0.00756049, 1.18181762, 0.04602857, 0.0926909 ,-0.06516318,
  0.1425914 , 0.94403511,-0.03228042, 0.02730563, 0.32712398]

qacc:
[ 1.05131549e+02, 5.55957544e+00, 1.81995871e+02,-4.53314069e+02,
  4.83767932e+02, 1.40024428e+01, 2.57835352e+01,-1.67445074e+02,
  2.77882148e-02,-6.18803110e+01, 2.70096262e+02,-6.20064710e+02,
  4.34686803e+02,-3.97924730e+02, 4.05504673e+02,-1.07567861e+03,
 -1.26590641e+00, 2.78061412e+00,-1.10505489e+00,-2.41062990e+01,
  1.85437266e+01, 3.69671263e+01]

qfrc_actuator:
[-0.00401683, 0.1623004 , 0.07466624, 0.09130265, 0.01203633, 0.38958439,
  0.17796239, 0.1082669 ,-0.00216439, 0.13150715, 0.00798822, 0.12026329,
  0.0460217 , 0.01137159, 0.        ,-0.00198357, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.44053164,  0.03191558, -0.44053164,  0.44691898,
        0.07222775,  0.03191558,  0.07222775,  1.43864796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011326855139164648
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.92572186e-01, -7.19881068e-01,  4.59892892e-02,  3.18846387e-02,
        3.31418850e-02,  9.98941933e-01, -7.20643557e-01,  6.93305750e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09973976, -0.03360402,  0.1214912 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00299013939363853
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97693331, -0.20640904,  0.05474146, -0.20608575,  0.97846579,
        0.0115478 , -0.05594622,  0.        , -0.99843378])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12654448, -0.08237356,  0.11360113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004684405978093581
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18502007e-13, -1.18502007e-13,  1.00000000e+00, -1.40427258e-26,
        1.00000000e+00,  1.18502007e-13, -1.00000000e+00,  0.00000000e+00,
       -1.18502007e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08487806, -0.10988664,  0.06198949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.03487492e-03, 1.27055314e-01, 7.04259300e-02, 3.24049846e-02,
 -2.32546469e-03, 3.80120821e-01, 1.93518110e-01, 5.75094106e-02,
  4.14459245e-06,-7.81137955e-04,-2.14740590e-04,-1.59948920e-03,
  6.78693461e-02, 2.02629598e-02, 1.69740458e-02,-4.93065389e-04,
 -2.18885324e-03, 1.96243570e-03,-9.81046410e+00,-6.47769500e-02,
 -9.50361877e-03,-5.12960162e-03]


--- Step 2371 ---
qpos:
[-0.00490794, 0.20954564,-0.09548931, 0.5052387 ,-0.01877009, 0.03049512,
 -0.19856736, 0.42244908, 0.01445751, 0.88045907,-0.0208062 , 0.82552843,
  0.85280951,-0.00768897, 1.18180303, 0.04603086, 0.0926267 ,-0.06512908,
  0.14258116, 0.94375942,-0.0324147 , 0.02739754, 0.32789759]

qacc:
[ 7.79596032e+01, 1.98811519e+01, 9.14543235e+01,-3.20371464e+02,
  3.70569683e+02, 3.27892953e+00, 2.82668563e+01,-1.13702237e+02,
  1.22948572e-01,-6.57636372e+01, 2.86038495e+02,-6.52859282e+02,
 -1.46790027e+02, 1.68669583e+02,-1.91086206e+02, 5.98795203e+02,
 -1.28481072e+00, 7.90154605e-01,-1.11970607e-01,-1.24507469e+01,
 -3.63423324e+00, 1.44327747e+01]

qfrc_actuator:
[-0.0041533 , 0.16174748, 0.07457362, 0.09202535, 0.01167833, 0.38979024,
  0.17827371, 0.1084912 ,-0.00214748, 0.13127584, 0.00802506, 0.11865153,
  0.04600714, 0.01154979, 0.        ,-0.00210704, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.42166891,  0.13146125, -0.42166891,  0.50286033,
        0.19621914,  0.13146125,  0.19621914,  1.07106954,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011542557938233138
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69427479, -0.71832878,  0.04456767,  0.03097299,  0.03204608,
        0.99900637, -0.71904325,  0.69496533,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09962039, -0.03357995,  0.12151595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.40905043,  0.16662677, -0.40905043,  0.721834  ,
        0.687732  ,  0.16662677,  0.687732  ,  2.12999277,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030071579508143876
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97844025, -0.19911251,  0.0548533 , -0.19880035,  0.97997664,
        0.01114514, -0.05597409,  0.        , -0.99843222])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12649632, -0.08229028,  0.11360968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99709339,  0.69311487, -0.71678937,  0.69311487,  0.56469635,
       -0.4181156 , -0.71678937, -0.4181156 ,  0.59278753,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.381224982783567e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65786371, -0.74957425, -0.07316948, -0.04826492, -0.05499337,
        0.99731952, -0.75158887,  0.65963184,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10308351, -0.03799458,  0.30585977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004650277375853329
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08487439, -0.10989099,  0.06198957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10503186e-02, 1.22069923e-01, 6.86857243e-02, 3.37457347e-02,
 -5.56994094e-03, 3.79075352e-01, 1.93736257e-01, 5.81184014e-02,
  2.27686561e-05,-8.05501685e-04,-2.04367188e-04,-1.67908945e-03,
  4.06124631e-02, 2.17247942e-02, 7.53344145e-03, 1.94021702e-03,
 -2.41061216e-03, 2.44265508e-03,-9.81068878e+00,-6.46736072e-02,
 -9.35200150e-03,-5.15016169e-03]


--- Step 2372 ---
qpos:
[-0.00472871, 0.21031115,-0.09538738, 0.50635655,-0.01833988, 0.03073378,
 -0.19885289, 0.4234366 , 0.01446384, 0.88252587,-0.02082738, 0.82782498,
  0.85267544,-0.00779507, 1.18172973, 0.04603763, 0.09255874,-0.06509337,
  0.14257103, 0.94347801,-0.03256082, 0.0274731 , 0.32868566]

qacc:
[ 7.26963272e+01, 1.59892711e+01, 7.69378093e+01,-2.93156156e+02,
  3.44181980e+02,-1.51454202e+00, 3.18180549e+01,-1.05401201e+02,
  1.22398143e-01,-6.83937984e+01, 2.94331358e+02,-6.70302059e+02,
 -1.31289337e+02, 1.33885462e+02,-9.14780682e+01, 2.13524455e+02,
 -9.41353849e-01, 4.00634364e-01, 2.96985490e-02,-8.55251032e+00,
 -5.93666934e+00, 7.33435045e+00]

qfrc_actuator:
[-0.00433092, 0.16116055, 0.07445323, 0.09272405, 0.01128134, 0.38991986,
  0.17859175, 0.10839165,-0.00213992, 0.13086113, 0.00800212, 0.11698495,
  0.04599536, 0.01166254, 0.        ,-0.00222711, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.43416526,  0.08116195,  0.43416526,  0.53495849,
       -0.49894773,  0.08116195, -0.49894773,  3.11074189,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011705839012303876
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.95929110e-01, -7.16857161e-01,  4.24085403e-02,  2.95399132e-02,
        3.04282405e-02,  9.99100353e-01, -7.17502660e-01,  6.96555764e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09949402, -0.03355517,  0.12153469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003051573481863626
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97977296, -0.19241404,  0.05497067, -0.19211191,  0.98131383,
        0.01077854, -0.05601742,  0.        , -0.99842979])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.126448  , -0.08221384,  0.11361836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99782747,  0.47257932, -0.87882219,  0.47257932,  0.34072796,
       -0.35334979, -0.87882219, -0.35334979,  0.80781656,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9203176833760886e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.57850367e-01, -7.49573374e-01, -7.32983749e-02, -4.83494201e-02,
       -5.50907011e-02,  9.97310056e-01, -7.51595123e-01,  6.59624720e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10299475, -0.03790286,  0.30579386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046107092278015806
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20836440e-06, -1.20836435e-06,  1.00000000e+00, -1.46014447e-12,
        1.00000000e+00,  1.20836435e-06, -1.00000000e+00, -2.01948392e-28,
       -1.20836440e-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([ 0.08445427, -0.10930433,  0.06198965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.26296479e-02, 1.18074122e-01, 6.76417354e-02, 3.49961834e-02,
 -8.17709848e-03, 3.78605386e-01, 1.93982327e-01, 5.82610745e-02,
  2.26121773e-05,-1.00264207e-03,-2.70053622e-04,-1.73612915e-03,
  4.82018225e-02, 1.95212293e-02, 9.68772172e-03,-4.56424433e-04,
 -2.55398960e-03, 2.76825745e-03,-9.81070375e+00,-6.46867685e-02,
 -9.25921030e-03,-5.17109961e-03]


--- Step 2373 ---
qpos:
[-0.00456414, 0.21099249,-0.09535604, 0.50745768,-0.01794118, 0.0309606 ,
 -0.19914063, 0.42442161, 0.01447035, 0.88458292,-0.02084727, 0.83009085,
  0.85262183,-0.00784139, 1.18167684, 0.04602834, 0.09250281,-0.06507211,
  0.14256449, 0.94328574,-0.03268063, 0.02752848, 0.32922054]

qacc:
[-4.07839671e+01, 5.00882589e+01,-2.63918942e+02, 1.19508295e+02,
 -2.64294398e+02,-1.24871833e+01, 3.21998489e+01,-5.89774612e+01,
  9.44071589e-02,-7.08086481e+01, 2.91265369e+02,-6.34851279e+02,
  2.02180865e+01, 3.80801943e+01, 7.87154884e+01,-2.31605777e+02,
  3.00986920e+00,-3.61071150e+00, 8.97632975e-01, 1.40174830e+01,
 -1.09457161e+01,-1.34055886e+02]

qfrc_actuator:
[-0.0044894 , 0.1604713 , 0.07429774, 0.09348408, 0.01088194, 0.3900232 ,
  0.17886108, 0.10801065,-0.00213806, 0.13023344, 0.00801443, 0.1154413 ,
  0.04600127, 0.01174144, 0.        ,-0.00216252, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.40860121, -0.16772532, -0.40860121,  0.55617424,
       -0.27890802, -0.16772532, -0.27890802,  1.12114333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012024865662968289
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69748221, -0.71531294,  0.04296466,  0.02999478,  0.03076158,
        0.99907659, -0.71597408,  0.69812687,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09936271, -0.03352876,  0.12158687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003011437598024998
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79647160e-01, -1.92964820e-01,  5.52812771e-02, -1.92658321e-01,
        9.81205676e-01,  1.08716673e-02, -5.63401522e-02,  1.73472348e-18,
       -9.98411632e-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([ 0.12641514, -0.082219  ,  0.11362925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.9980201 , -0.13895758, -0.988299  , -0.13895758,  1.08270627,
       -0.01190711, -0.988299  , -0.01190711,  0.99969428,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.2037677921528794e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.57950793e-01, -7.49475639e-01, -7.33963241e-02, -4.84217703e-02,
       -5.51575249e-02,  9.97302853e-01, -7.51502552e-01,  6.59730183e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1028988 , -0.03780199,  0.30576595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.70889834,  6.2029214 , -8.7295057 ,  6.2029214 , 13.13030628,
        1.72057888, -8.7295057 ,  1.72057888, 11.93148939,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004663844089364405
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19024457e-13, -3.71951429e-15,  1.00000000e+00,  4.42713171e-28,
        1.00000000e+00,  3.71951429e-15, -1.00000000e+00,  0.00000000e+00,
        1.19024457e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05108772, -0.0622169 ,  0.06198953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41017963e-02, 1.14780855e-01, 6.68913884e-02, 3.63230535e-02,
 -1.06287222e-02, 3.78430858e-01, 1.94233465e-01, 5.81056900e-02,
  1.68100804e-05,-1.33950686e-03,-2.83065221e-04,-1.62289093e-03,
  5.57550007e-02, 1.84833346e-02, 1.26228999e-02,-6.15725753e-04,
 -2.64801460e-03, 2.99558623e-03,-9.81067749e+00,-6.47193513e-02,
 -9.19027905e-03,-5.19091853e-03]


--- Step 2374 ---
qpos:
[-0.00441891, 0.21156237,-0.09538504, 0.5085459 ,-0.01758147, 0.0311851 ,
 -0.19942698, 0.42540442, 0.01447678, 0.88662689,-0.02086529, 0.83233059,
  0.85264438,-0.00783525, 1.18167105, 0.0460119 , 0.0924569 ,-0.06506397,
  0.14256057, 0.94317246,-0.03278016, 0.02757333, 0.32953132]

qacc:
[-5.32462068e+01,-5.95539399e+00,-1.33716156e+02, 6.75879107e+01,
 -3.26942502e+02,-8.96722908e+00, 3.64205133e+01,-6.91564992e+01,
 -2.62818166e-02,-6.86883717e+01, 2.67777420e+02,-5.55050624e+02,
  2.10870690e+01, 3.09139972e+01, 9.10144654e+01,-2.17788036e+02,
  2.50394768e+00,-3.28206475e+00, 6.54705674e-01, 1.22143914e+01,
 -5.72847183e+00,-1.18590070e+02]

qfrc_actuator:
[-0.00467703, 0.15985348, 0.07425199, 0.09411328, 0.01048398, 0.39014359,
  0.17913911, 0.10744282,-0.0021574 , 0.12941265, 0.00804674, 0.11412424,
  0.04600772, 0.01178919, 0.        ,-0.00219918, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.15564329,  0.41335445, -0.15564329,  1.0541854 ,
        0.23062866,  0.41335445,  0.23062866,  0.52852649,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012312056702813141
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69761336, -0.71515079,  0.04353105,  0.03039666,  0.0311608 ,
        0.99905207, -0.71582934,  0.69827527,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09926176, -0.03351898,  0.12163479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.40286017,  0.18108125,  0.40286017,  0.75314018,
       -0.69290658,  0.18108125, -0.69290658,  1.98322886,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029841519995158455
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79335527e-01, -1.94472685e-01,  5.55184632e-02, -1.94160943e-01,
        9.80907934e-01,  1.10069704e-02, -5.65990561e-02,  3.46944695e-18,
       -9.98396989e-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([ 0.126385  , -0.08223515,  0.11363934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99803479, -0.37286772,  0.92576623, -0.37286772,  3.79043313,
        1.12468481,  0.92576623,  1.12468481,  1.45102028,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.22435284857202e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65799092, -0.74943619, -0.07343937, -0.04845328, -0.05518714,
        0.99729968, -0.75146539,  0.65977252,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10282332, -0.03772896,  0.30575142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.7686281 , -6.67405794,  8.45105329, -6.67405794, 20.78467684,
        7.90998322,  8.45105329,  7.90998322, 17.01538628,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047065561925289934
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17944308e-13, -3.68575962e-15,  1.00000000e+00, -4.34714367e-28,
        1.00000000e+00,  3.68575962e-15, -1.00000000e+00,  0.00000000e+00,
       -1.17944308e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05102459, -0.06226257,  0.06198944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35575687e-02, 1.18344141e-01, 7.03637355e-02, 3.77855519e-02,
 -9.45069870e-03, 3.79135629e-01, 1.94620756e-01, 5.76621733e-02,
 -7.32286402e-06,-1.71773267e-03,-3.27569701e-04,-1.40511790e-03,
  5.17376589e-02, 1.55426931e-02, 1.16043063e-02, 1.50987661e-04,
 -1.15031521e-03, 1.41218771e-03,-9.81033634e+00,-6.48484051e-02,
 -9.33509711e-03,-5.20703365e-03]


--- Step 2375 ---
qpos:
[-0.00429599, 0.21202156,-0.09546762, 0.50962334,-0.01726574, 0.03141167,
 -0.19970987, 0.42638538, 0.01448308, 0.88865583,-0.02088246, 0.83454532,
  0.85273058,-0.00778661, 1.18173321, 0.04599233, 0.092419  ,-0.06506741,
  0.14255867, 0.9431277 ,-0.03286475, 0.02761225, 0.3296477 ]

qacc:
[-6.11405519e+01,-1.93651488e+01,-9.37337524e+01, 5.57466089e+01,
 -3.68980323e+02,-8.06290911e+00, 4.02549587e+01,-7.32258650e+01,
 -6.05066332e-02,-6.64288743e+01, 2.54202458e+02,-5.26698712e+02,
  1.72996856e+01, 2.53938057e+01, 1.09761737e+02,-2.38454432e+02,
  2.00203191e+00,-2.89281947e+00, 5.06120262e-01, 9.86793806e+00,
 -3.01587198e+00,-1.02861401e+02]

qfrc_actuator:
[-0.0048716 , 0.15941047, 0.07430787, 0.09464909, 0.0100892 , 0.39021618,
  0.17938413, 0.10676357,-0.00217153, 0.1285365 , 0.00803671, 0.11286211,
  0.04599602, 0.01178392, 0.        ,-0.00212154, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.17713465,  0.40461098, -0.17713465,  1.14873984,
        0.30954101,  0.40461098,  0.30954101,  0.5772002 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001252330006486455
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69674934, -0.71596104,  0.04404705,  0.03071957,  0.03156661,
        0.99902946, -0.71665659,  0.69742622,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09918782, -0.03352192,  0.12167714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.40397903,  0.17857121,  0.40397903,  0.77725033,
       -0.75914173,  0.17857121, -0.75914173,  2.15908144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002973968984852488
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97924876, -0.19486989,  0.05565611, -0.19455591,  0.9808291 ,
        0.01105768, -0.05674394,  0.        , -0.99838876])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12635187, -0.08223902,  0.11364836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99803808, -0.146373  ,  0.98724615, -0.146373  ,  1.83660876,
        0.12432979,  0.98724615,  0.12432979,  1.01647171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.22894547281984e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65797398, -0.74945154, -0.07343455, -0.04844883, -0.05518463,
        0.99730004, -0.75148051,  0.65975529,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10276669, -0.03768012,  0.30574126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.80548092, -6.76195323,  8.42819117, -6.76195323, 23.39598965,
       10.10138823,  8.42819117, 10.10138823, 18.90984322,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047325018670837937
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.56588685e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.56588685e-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([ 0.05097423, -0.06229863,  0.06198938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27860425e-02, 1.23450609e-01, 7.34284274e-02, 3.89639362e-02,
 -7.89651945e-03, 3.79317675e-01, 1.94795151e-01, 5.70902840e-02,
 -1.41686589e-05,-1.98385128e-03,-4.43006612e-04,-1.35892853e-03,
  4.79182150e-02, 1.29141856e-02, 9.25012707e-03, 5.86182240e-04,
 -3.22174524e-04, 4.96536369e-04,-9.81013496e+00,-6.49248817e-02,
 -9.42953508e-03,-5.21986377e-03]


--- Step 2376 ---
qpos:
[-0.00419694, 0.21237729,-0.09559731, 0.51069175,-0.01699681, 0.03164115,
 -0.19998829, 0.42736481, 0.01448923, 0.89066865,-0.020899  , 0.83673199,
  0.85287123,-0.00770244, 1.18187486, 0.04597528, 0.09238729,-0.06508064,
  0.14255842, 0.94314115,-0.03293954, 0.02764721, 0.32959884]

qacc:
[-6.52034935e+01,-2.41567658e+01,-7.04501753e+01, 4.93287389e+01,
 -3.92570073e+02,-9.03338520e+00, 4.40006498e+01,-7.34316182e+01,
 -6.08815156e-02,-7.26784986e+01, 2.80111443e+02,-5.86510529e+02,
  1.46075848e+01, 2.14415446e+01, 1.09773390e+02,-2.13658304e+02,
  1.54804801e+00,-2.44929463e+00, 4.11272219e-01, 7.20723660e+00,
 -1.57169864e+00,-8.74417365e+01]

qfrc_actuator:
[-0.00498861, 0.15909842, 0.07440657, 0.09498989, 0.00978793, 0.39029213,
  0.17969548, 0.10608902,-0.00218245, 0.12766983, 0.00803705, 0.11144696,
  0.04598779, 0.01170029, 0.        ,-0.00185223, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.18369429,  0.40167541, -0.18369429,  1.29628853,
        0.39082691,  0.40167541,  0.39082691,  0.62041929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012652747837603223
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69515062, -0.71748602,  0.04449078,  0.03095845,  0.03195315,
        0.9990098 , -0.71819718,  0.69583965,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09913702, -0.03353499,  0.12171383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.39947983,  0.18842132,  0.39947983,  0.85889601,
       -0.88454368,  0.18842132, -0.88454368,  2.31704383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002974355605247526
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79198898e-01, -1.95099203e-01,  5.57298757e-02, -1.94783988e-01,
        9.80783514e-01,  1.10858861e-02, -5.68217909e-02,  1.73472348e-18,
       -9.98384337e-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([ 0.12631712, -0.08224125,  0.11365673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99807218, -0.06648357,  0.99585542, -0.06648357,  8.90777924,
        0.52805414,  0.99585542,  0.52805414,  1.03332521,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.276169074438442e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.57909312e-01, -7.49512567e-01, -7.33910694e-02, -4.84152323e-02,
       -5.51562721e-02,  9.97303239e-01, -7.51539289e-01,  6.59688334e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10272631, -0.03765152,  0.30573271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.82319961, -6.84707045,  8.38208065, -6.84707045, 27.32897514,
       13.48307332,  8.38208065, 13.48307332, 21.83711808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047448682221952476
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.16991977e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.16991977e-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([ 0.05093392, -0.0623271 ,  0.06198935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17881577e-02, 1.28655048e-01, 7.61991540e-02, 3.98414515e-02,
 -5.99850101e-03, 3.79282767e-01, 1.94931880e-01, 5.65062939e-02,
 -1.44286338e-05,-2.14271742e-03,-4.97020003e-04,-1.52299993e-03,
  4.47275699e-02, 1.07052755e-02, 5.85057061e-03, 1.01166939e-03,
 -3.13584118e-06, 9.34071491e-05,-9.81001260e+00,-6.49764082e-02,
 -9.48564249e-03,-5.23049915e-03]


--- Step 2377 ---
qpos:
[-0.00412251, 0.21263689,-0.09576742, 0.51175285,-0.01677588, 0.03187265,
 -0.20026204, 0.42834279, 0.01449527, 0.89266461,-0.02091503, 0.83888755,
  0.85305826,-0.00758854, 1.18209109, 0.04595925, 0.09236039,-0.06510199,
  0.14255948, 0.94320282,-0.03300775, 0.02767946, 0.32941277]

qacc:
[-6.70992827e+01,-2.95199525e+01,-4.48969423e+01, 3.98407837e+01,
 -4.02719896e+02,-1.04210904e+01, 4.68771983e+01,-7.40453351e+01,
 -5.11082872e-02,-7.86711561e+01, 3.05658558e+02,-6.45749306e+02,
  1.24012424e+01, 1.79756596e+01, 1.07027600e+02,-2.14562125e+02,
  1.20326527e+00,-2.02763136e+00, 3.26567385e-01, 5.34673202e+00,
 -7.68898928e-01,-7.26065457e+01]

qfrc_actuator:
[-0.00506637, 0.15888423, 0.07456368, 0.09507421, 0.00956319, 0.3904217 ,
  0.18002647, 0.10550647,-0.00219138, 0.12679819, 0.00804349, 0.10988207,
  0.04598549, 0.01161288, 0.        ,-0.00186285, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.20299763, -0.39227375,  0.20299763,  3.43384933,
        1.54841358, -0.39227375,  1.54841358,  1.24297431,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012708919405512076
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.93025351e-01, -7.19516572e-01,  4.48527192e-02,  3.11153857e-02,
        3.23047859e-02,  9.98993610e-01, -7.20241415e-01,  6.93723507e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09910557, -0.03355597,  0.12174513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.38936339,  0.20852549,  0.38936339,  1.01793908,
       -1.07599198,  0.20852549, -1.07599198,  2.45080213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029832965725497375
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79180388e-01, -1.95188211e-01,  5.57434263e-02, -1.94872688e-01,
        9.80765804e-01,  1.10938407e-02, -5.68366332e-02, -3.46944695e-18,
       -9.98383492e-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([ 0.12628066, -0.08224216,  0.11366449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.9981639 , -0.11704654,  0.99127759, -0.11704654,  6.51711183,
        0.65165779,  0.99127759,  0.65165779,  1.07510934,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.399921165201789e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65780382, -0.74961256, -0.07331533, -0.04835724, -0.05510639,
        0.99730881, -0.75163536,  0.65957887,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10269903, -0.03763924,  0.30572409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.8257004 , -6.93704031,  8.31103248, -6.93704031, 33.21456441,
       18.68750393,  8.31103248, 18.68750393, 26.42375857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047466080008010114
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.33898191e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.33898191e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05090153, -0.06234959,  0.06198935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06728500e-02, 1.33599403e-01, 7.87067987e-02, 4.03747588e-02,
 -3.88346145e-03, 3.79260157e-01, 1.95037542e-01, 5.59984726e-02,
 -1.26372138e-05,-2.25132044e-03,-5.33384741e-04,-1.68314083e-03,
  4.20041697e-02, 8.84040761e-03, 1.87236181e-03, 8.74513433e-04,
 -3.48804654e-05, 4.22042107e-05,-9.80993625e+00,-6.50150478e-02,
 -9.51657773e-03,-5.23964642e-03]


--- Step 2378 ---
qpos:
[-0.00407257, 0.21281026,-0.09597147, 0.5128083 ,-0.01660245, 0.03210341,
 -0.20053178, 0.42931931, 0.01450138, 0.89464229,-0.02093032, 0.84101153,
  0.85327482,-0.00746828, 1.18237076, 0.0459456 , 0.09233706,-0.06513007,
  0.14256166, 0.94330247,-0.0330691 , 0.0277074 , 0.32911881]

qacc:
[-6.66076223e+01,-3.11021637e+01,-2.75825787e+01, 3.55363593e+01,
 -3.98482768e+02,-1.23021365e+01, 4.83674795e+01,-7.29260920e+01,
  4.86813466e-02,-8.19838655e+01, 3.15112080e+02,-6.58446378e+02,
  1.58487604e+01,-6.75090252e+00, 8.57359436e+01,-1.65569561e+02,
  8.91670044e-01,-1.68348582e+00, 2.80989184e-01, 4.64407898e+00,
 -1.90829950e+00,-5.71084585e+01]

qfrc_actuator:
[-0.00514577, 0.1587628 , 0.07471474, 0.09495328, 0.00936877, 0.39056538,
  0.18027851, 0.10490863,-0.00218132, 0.12582423, 0.00805346, 0.10829486,
  0.04596955, 0.01153254, 0.        ,-0.00186343, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.20786882, -0.38971436,  0.20786882,  3.06789503,
        1.40078732, -0.38971436,  1.40078732,  1.18884888,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001283883877572209
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69054961, -0.72178656,  0.04653392,  0.03216883,  0.03362398,
        0.99891671, -0.72256931,  0.69129849,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09908997, -0.03358207,  0.12178765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.37565732,  0.2323108 ,  0.37565732,  1.25532326,
       -1.31568874,  0.2323108 , -1.31568874,  2.56921584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030037955741502795
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97940716, -0.19406757,  0.05567222, -0.1937548 ,  0.98098816,
        0.01101356, -0.05675117,  0.        , -0.99838835])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12624031, -0.08222971,  0.11367136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99833173, -0.8268385 ,  0.55946791, -0.8268385 ,  1.11814297,
        0.17706921,  0.55946791,  0.17706921,  1.2600226 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.615384369882044e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65766352, -0.74974569, -0.07321265, -0.04827885, -0.05503857,
        0.99731635, -0.75176316,  0.6594332 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10268225, -0.03764007,  0.3057144 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.81652242, -7.04815306,  8.20491899, -7.04815306, 41.80612779,
       26.62055313,  8.20491899, 26.62055313, 33.68399169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047402162029817896
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17106792e-13, -5.85533959e-14,  1.00000000e+00, -6.85700035e-27,
        1.00000000e+00,  5.85533959e-14, -1.00000000e+00,  0.00000000e+00,
       -1.17106792e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05087542, -0.06236735,  0.06198936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.52118463e-03, 1.38274046e-01, 8.08755788e-02, 4.06174809e-02,
 -1.67767736e-03, 3.79294817e-01, 1.95054534e-01, 5.54704926e-02,
  7.17639557e-06,-2.42573631e-03,-5.60183172e-04,-1.71358487e-03,
  3.96702934e-02, 7.27270908e-03,-1.86178902e-03, 8.21394688e-04,
 -2.79060332e-04, 2.02651212e-04,-9.80988816e+00,-6.50460789e-02,
 -9.53289982e-03,-5.24773270e-03]


--- Step 2379 ---
qpos:
[-0.00404674, 0.21291148,-0.0962043 , 0.51385924,-0.01647518, 0.03233078,
 -0.20079837, 0.43029419, 0.01450742, 0.89660798,-0.02094833, 0.84310509,
  0.85351154,-0.00735485, 1.18269948, 0.04593347, 0.09231642,-0.06516368,
  0.14256477, 0.94343089,-0.03312232, 0.02772986, 0.32874324]

qacc:
[-6.55025295e+01,-2.45942446e+01,-2.86581485e+01, 3.83944008e+01,
 -3.87286879e+02,-1.37083240e+01, 4.89946245e+01,-7.31080820e+01,
 -2.83222449e-02,-6.22653187e+01, 2.57325208e+02,-5.95447066e+02,
  1.82172049e+01,-2.11917984e+01, 6.66817975e+01,-1.30773559e+02,
  6.72018159e-01,-1.38453782e+00, 2.32788708e-01, 4.54049884e+00,
 -2.97168124e+00,-4.32097318e+01]

qfrc_actuator:
[-0.0052342 , 0.15877886, 0.0748541 , 0.09492351, 0.009229  , 0.39082603,
  0.18053522, 0.10435547,-0.00219554, 0.12564918, 0.00806512, 0.10679592,
  0.04594527, 0.01141467, 0.        ,-0.00194851, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.23013483, -0.37699429,  0.23013483,  2.54371126,
        1.28317373, -0.37699429,  1.28317373,  1.22499509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001280176978568327
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.87873259e-01, -7.24110298e-01,  4.99465310e-02,  3.43998177e-02,
        3.62119939e-02,  9.98751893e-01, -7.25015195e-01,  6.88732871e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09908694, -0.03361117,  0.12184663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.35311669,  0.26532119,  0.35311669,  1.65466529,
       -1.61435709,  0.26532119, -1.61435709,  2.59023843,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030263664246634047
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79408086e-01, -1.94090397e-01,  5.55762445e-02, -1.93778667e-01,
        9.80983648e-01,  1.09959176e-02, -5.66535891e-02,  1.73472348e-18,
       -9.98393896e-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([ 0.12620159, -0.0822304 ,  0.11367801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99840205, -0.75077509,  0.65813633, -0.75077509,  0.92268256,
       -0.08637771,  0.65813633, -0.08637771,  0.89986588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.701915016699703e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65750097, -0.74989872, -0.07310532, -0.04819578, -0.05496867,
        0.99732423, -0.75191066,  0.65926501,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1026736 , -0.03765144,  0.30571017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.79850477, -7.19392486,  8.05326955, -7.19392486, 55.90418584,
       40.29256422,  8.05326955, 40.29256422, 46.79154806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047276138514272537
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17418962e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.17418962e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05085428, -0.06238138,  0.06198939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.38530550e-03, 1.42595555e-01, 8.27100809e-02, 4.08684505e-02,
  5.57473288e-04, 3.79585715e-01, 1.95109136e-01, 5.49887750e-02,
 -7.26839821e-06,-1.72916429e-03,-5.96724002e-04,-1.63234268e-03,
  3.81712524e-02, 6.83582616e-03,-5.04002831e-03, 6.15594231e-04,
 -6.06573431e-04, 4.53756595e-04,-9.80986824e+00,-6.50683189e-02,
 -9.53914429e-03,-5.25450020e-03]


--- Step 2380 ---
qpos:
[-0.00404424, 0.21295548,-0.09646174, 0.5149065 ,-0.01639197, 0.0325516 ,
 -0.20106292, 0.43126719, 0.01451318, 0.89856996,-0.02097044, 0.84516644,
  0.85376402,-0.00725462, 1.18306561, 0.04592321, 0.09229781,-0.06520176,
  0.14256864, 0.94357992,-0.0331658 , 0.02774577, 0.32830952]

qacc:
[-6.34337176e+01,-1.49439594e+01,-3.80318888e+01, 4.47571210e+01,
 -3.69615149e+02,-1.52921053e+01, 4.95363900e+01,-7.36226431e+01,
 -1.39777783e-01,-5.07641504e+01, 2.36774793e+02,-6.03601736e+02,
  1.97495584e+01,-2.86242875e+01, 4.80914999e+01,-9.12945385e+01,
  5.08920436e-01,-1.11511239e+00, 1.90727712e-01, 4.66353573e+00,
 -4.00968555e+00,-3.07875923e+01]

qfrc_actuator:
[-0.00526538, 0.15896882, 0.07506588, 0.09519808, 0.00910417, 0.39105329,
  0.18081175, 0.1038654 ,-0.00222419, 0.12607876, 0.00808095, 0.10521941,
  0.04591577, 0.01128491, 0.        ,-0.00197786, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.24450026, -0.36784012,  0.24450026,  2.50700981,
        1.37280337, -0.36784012,  1.37280337,  1.3541772 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012634760161992734
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.85107665e-01, -7.26721639e-01,  5.00314579e-02,  3.43199161e-02,
        3.64045346e-02,  9.98747642e-01, -7.27632895e-01,  6.85966741e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09909437, -0.03364487,  0.12186409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.32548425,  0.2985745 ,  0.32548425,  2.18791858,
       -1.90361575,  0.2985745 , -1.90361575,  2.51686995,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030543282026085066
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97939846, -0.19417918,  0.05543553, -0.19386887,  0.98096608,
        0.01097329, -0.05651116,  0.        , -0.99840197])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12616263, -0.08223207,  0.1136842 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99825094, -0.67891052,  0.73183704, -0.67891052,  0.78914345,
       -0.19398482,  0.73183704, -0.19398482,  0.81829512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.513323889010766e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65732315, -0.75006427, -0.07300594, -0.04811689, -0.05490566,
        0.99733151, -0.75207117,  0.65908191,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10267125, -0.03767162,  0.30571569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.77387434, -7.36383976,  7.86449186, -7.36383976, 35.63071316,
       23.27445705,  7.86449186, 23.27445705, 32.56668375,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004710268466480011
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35702706e-13, -5.89256766e-14,  1.00000000e+00, -1.38889414e-26,
        1.00000000e+00,  5.89256766e-14, -1.00000000e+00,  0.00000000e+00,
       -2.35702706e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05083709, -0.06239246,  0.06198943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.21154026e-03, 1.46389100e-01, 8.43603464e-02, 4.13670701e-02,
  2.74079313e-03, 3.79975242e-01, 1.95226830e-01, 5.45786944e-02,
 -2.88856802e-05,-7.42283462e-04,-4.56220102e-04,-1.68646930e-03,
  3.71350519e-02, 7.04666574e-03,-7.49960890e-03, 5.09252268e-04,
 -9.25303082e-04, 7.13609086e-04,-9.80987315e+00,-6.50810797e-02,
 -9.53753923e-03,-5.25977827e-03]


--- Step 2381 ---
qpos:
[-0.00406409, 0.21295206,-0.09673946, 0.51595108,-0.01635063, 0.03276696,
 -0.20132478, 0.43223838, 0.01451864, 0.90053001,-0.02099363, 0.84719253,
  0.85403039,-0.00716993, 1.18346035, 0.04591651, 0.09228076,-0.06524338,
  0.14257313, 0.94374261,-0.03319794, 0.02775426, 0.3278376 ]

qacc:
[-6.07417167e+01,-1.20012041e+01,-3.40205170e+01, 4.46865425e+01,
 -3.51334427e+02,-1.54827683e+01, 5.18467669e+01,-7.60877649e+01,
 -1.45005234e-01,-6.20409674e+01, 2.83770946e+02,-6.84230092e+02,
  2.04302525e+01,-3.15700205e+01, 2.99215155e+01,-4.68447910e+01,
  3.86716414e-01,-8.86255259e-01, 1.53352940e-01, 4.88723806e+00,
 -4.92532988e+00,-2.02335238e+01]

qfrc_actuator:
[-0.00525333, 0.15920605, 0.07534619, 0.09554971, 0.00900467, 0.39106973,
  0.18108227, 0.10323654,-0.00224351, 0.12622854, 0.0081195 , 0.10346829,
  0.04589345, 0.01119264, 0.        ,-0.00188598, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.24224481, -0.36932937,  0.24224481,  3.06517818,
        1.72076024, -0.36932937,  1.72076024,  1.57034066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012475591875604605
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.82307562e-01, -7.29344168e-01,  5.01345728e-02,  3.42502688e-02,
        3.66113982e-02,  9.98742472e-01, -7.30262494e-01,  6.83166663e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09910931, -0.03368039,  0.12187932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.28824998,  0.33466204,  0.28824998,  2.83739062,
       -2.06346004,  0.33466204, -2.06346004,  2.2189787 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030020344851084723
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97830494, -0.19961512,  0.05543681, -0.1992954 ,  0.97987438,
        0.01129331, -0.05657543,  0.        , -0.99839833])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12613598, -0.08229416,  0.11369202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99784904, -0.6084082 ,  0.79091225, -0.6084082 ,  0.67605128,
       -0.2475425 ,  0.79091225, -0.2475425 ,  0.8074273 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9534217771494162e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65713335, -0.75023886, -0.0729206 , -0.04804647, -0.05485391,
        0.99733775, -0.75224151,  0.65888747,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10267363, -0.03769933,  0.30573378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.74436825, -7.63188024,  7.562794  , -7.63188024, 41.13428678,
       30.66753089,  7.562794  , 30.66753089, 41.6920475 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004689307911435042
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18378132e-13, -1.18378132e-13,  1.00000000e+00, -1.40133822e-26,
        1.00000000e+00,  1.18378132e-13, -1.00000000e+00,  0.00000000e+00,
       -1.18378132e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05082303, -0.06240123,  0.06198948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.03247220e-03, 1.49486843e-01, 8.58710382e-02, 4.19007972e-02,
  4.84411719e-03, 3.80311719e-01, 1.95393382e-01, 5.40418296e-02,
 -3.02918150e-05,-4.48489853e-04,-2.23507066e-04,-1.82596784e-03,
  3.63261339e-02, 7.61422752e-03,-9.37728860e-03, 5.05441623e-04,
 -1.17883550e-03, 9.32180494e-04,-9.80989876e+00,-6.50844714e-02,
 -9.52971752e-03,-5.26340712e-03]


--- Step 2382 ---
qpos:
[-0.00410525, 0.21291005,-0.09703392, 0.51699373,-0.01634859, 0.03297654,
 -0.20158415, 0.43320748, 0.01452402, 0.90248853,-0.02101623, 0.84918209,
  0.85431334,-0.00709738, 1.18387179, 0.04590849, 0.09226509,-0.06528778,
  0.142578  , 0.94391309,-0.0332167 , 0.02775576, 0.3273444 ]

qacc:
[-5.79137542e+01,-8.75699152e+00,-3.20039248e+01, 4.42591639e+01,
 -3.29642253e+02,-1.57977890e+01, 5.33792860e+01,-8.13450021e+01,
 -3.13101962e-02,-6.81537867e+01, 3.07223962e+02,-7.20409793e+02,
  2.05068583e+01,-2.86241621e+01, 2.70907159e+01,-6.23802215e+01,
  3.47801008e-01,-6.95594762e-01, 9.48918818e-02, 5.59692906e+00,
 -5.24010899e+00,-1.12464469e+01]

qfrc_actuator:
[-0.005207  , 0.15944921, 0.07565538, 0.09601907, 0.00900682, 0.391121  ,
  0.18129444, 0.10254285,-0.00223936, 0.12626341, 0.00818805, 0.1016461 ,
  0.04588037, 0.01114823, 0.        ,-0.00209659, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012250424452668657
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.79529927e-01, -7.31933789e-01,  5.01199259e-02,  3.41008473e-02,
        3.67306301e-02,  9.98743207e-01, -7.32854836e-01,  6.80385030e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09912962, -0.03371733,  0.12189119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029825188215159442
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76787877e-01, -2.06893779e-01,  5.55014227e-02, -2.06560602e-01,
        9.78363411e-01,  1.17368444e-02, -5.67288413e-02,  1.73472348e-18,
       -9.98389623e-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([ 0.12611377, -0.08237732,  0.11370061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99730677, -0.55973439,  0.82542001, -0.55973439,  0.60869758,
       -0.26352393,  0.82542001, -0.26352393,  0.81860574,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9578270202301283e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.56932957e-01, -7.50421045e-01, -7.28515315e-02, -4.79860807e-02,
       -5.48149769e-02,  9.97342797e-01, -7.52420379e-01,  6.58683212e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10267946, -0.03773363,  0.30576633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.71140838, -8.00010356,  7.12268296, -8.00010356, 46.70296532,
       40.42524208,  7.12268296, 40.42524208, 56.11650714,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004665655739095331
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.05081146, -0.06240816,  0.06198953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.86850196e-03, 1.52101470e-01, 8.71956118e-02, 4.25028308e-02,
  6.94007755e-03, 3.80629601e-01, 1.95469408e-01, 5.34366621e-02,
 -7.51880906e-06,-3.58743777e-04,-1.12606322e-04,-1.88356742e-03,
  3.56199924e-02, 8.34642495e-03,-1.08158062e-02, 1.15284536e-04,
 -1.34377492e-03, 1.08732761e-03,-9.80993949e+00,-6.50796378e-02,
 -9.51740290e-03,-5.26526674e-03]


--- Step 2383 ---
qpos:
[-0.00416588, 0.21283778,-0.09734174, 0.51803518,-0.01638367, 0.03319535,
 -0.20183557, 0.43417533, 0.0145294 , 0.90444538,-0.02103781, 0.85113607,
  0.85461178,-0.00703657, 1.18429626, 0.04590307, 0.09225057,-0.06533418,
  0.14258313, 0.94408556,-0.03322013, 0.02774947, 0.32684683]

qacc:
[-5.29794157e+01,-5.65361779e+00,-3.03139968e+01, 4.44209838e+01,
 -3.11573272e+02,-9.46787851e+00, 5.57526050e+01,-8.78399089e+01,
  6.55834348e-03,-6.78868351e+01, 3.03696687e+02,-7.05181661e+02,
  1.98148818e+01,-2.78371121e+01, 9.92659267e+00,-1.01174181e+01,
  2.88214534e-01,-4.98020820e-01, 6.58658616e-02, 6.05314447e+00,
 -6.14306486e+00,-2.30253613e+00]

qfrc_actuator:
[-0.00514995, 0.15961731, 0.07593322, 0.09655939, 0.00903087, 0.39130218,
  0.18147075, 0.10207755,-0.00223897, 0.1262297 , 0.00825564, 0.09986763,
  0.04585612, 0.01109985, 0.        ,-0.00198818, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012096625491230303
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67682656, -0.73444549,  0.04995634,  0.03385405,  0.03673608,
        0.9987514 , -0.73536366,  0.6776727 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0991539 , -0.03375469,  0.12189968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.21707478,  0.38466254,  0.21707478,  3.74615419,
       -1.86479465,  0.38466254, -1.86479465,  1.49403692,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026270203772447123
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75334202e-01, -2.13626569e-01,  5.55597342e-02, -2.13280803e-01,
        9.76915395e-01,  1.21495019e-02, -5.68726161e-02, -1.73472348e-18,
       -9.98381443e-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([ 0.12609105, -0.08245458,  0.11370914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99691498, -0.49921648,  0.86291504, -0.49921648,  0.51744832,
       -0.27738265,  0.86291504, -0.27738265,  0.83644265,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.453616609821708e-06
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65671995, -0.7506129 , -0.07279549, -0.04793342, -0.05478659,
        0.99734689, -0.75260966,  0.65846693,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10268814, -0.03777415,  0.30581263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046400019714575025
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39272102e-13, -5.98180255e-14,  1.00000000e+00, -1.43127847e-26,
        1.00000000e+00,  5.98180255e-14, -1.00000000e+00,  0.00000000e+00,
       -2.39272102e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05080187, -0.06241365,  0.06198959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.74609469e-03, 1.54202081e-01, 8.83117216e-02, 4.31385076e-02,
  8.92860847e-03, 3.81092646e-01, 1.95519789e-01, 5.30738065e-02,
  1.17913383e-07,-3.57234386e-04,-8.46410237e-05,-1.83484955e-03,
  3.47675829e-02, 8.90482775e-03,-1.16594438e-02, 2.87272388e-04,
 -1.41509602e-03, 1.17704737e-03,-9.80998713e+00,-6.50694916e-02,
 -9.50065687e-03,-5.26537751e-03]


--- Step 2384 ---
qpos:
[-0.00424842, 0.21272634,-0.09766979, 0.51907252,-0.01645871, 0.03343077,
 -0.20208095, 0.43513771, 0.01453463, 0.90639838,-0.02105731, 0.8530544 ,
  0.85519161,-0.00700174, 1.18456693, 0.04593236, 0.09224271,-0.06538237,
  0.14258582, 0.94426338,-0.03320531, 0.02777405, 0.32633216]

qacc:
[-5.96233012e+01,-3.87930663e+00,-4.22065288e+01, 2.45742583e+01,
 -3.35551847e+02,-1.67448424e+00, 5.86907449e+01,-1.61652399e+02,
 -7.16268910e-02,-7.36901026e+01, 3.19159504e+02,-7.17894122e+02,
  2.50246524e+02,-2.45917025e+02,-3.49426581e+02, 8.54388222e+02,
  1.66453077e+00,-4.49078499e-01,-6.09725754e-01, 1.39836258e+01,
  1.18000240e+01,-8.18360459e+00]

qfrc_actuator:
[-0.00513304, 0.15980075, 0.07623107, 0.0970003 , 0.0090461 , 0.39145985,
  0.18167233, 0.10190904,-0.00225865, 0.12594255, 0.00832195, 0.09807581,
  0.04582466, 0.01101804, 0.        ,-0.00176274, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011797289307735439
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67424145, -0.73683715,  0.04969385,  0.0335471 ,  0.03666157,
        0.9987645 , -0.73774864,  0.67507551,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09918052, -0.03379194,  0.12190573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026368767545263748
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9754785 , -0.21304356,  0.0552642 , -0.21270248,  0.9770427 ,
        0.01205032, -0.05656273,  0.        , -0.99839905])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1260498 , -0.08244935,  0.11371368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004612867117764763
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20339801e-13, -1.20339801e-13,  1.00000000e+00, -1.44816678e-26,
        1.00000000e+00,  1.20339801e-13, -1.00000000e+00,  0.00000000e+00,
       -1.20339801e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05079385, -0.06241799,  0.06198965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75503604e-03, 1.55902898e-01, 8.92803907e-02, 4.36383215e-02,
  1.08001399e-02, 3.80782362e-01, 1.95322236e-01, 5.29654908e-02,
 -1.61237249e-05,-6.02428706e-04,-8.07680833e-05,-1.84617986e-03,
  3.39629438e-02, 9.41082234e-03,-1.23199232e-02, 3.81430640e-04,
 -1.38442041e-03, 1.18866497e-03,-9.81003976e+00,-6.50535132e-02,
 -9.48200381e-03,-5.26357801e-03]


--- Step 2385 ---
qpos:
[-0.00435106, 0.21257659,-0.09801465, 0.52010633,-0.01656975, 0.03367694,
 -0.20232344, 0.43609304, 0.01453949, 0.90834454,-0.02107424, 0.85493766,
  0.85591084,-0.00690673, 1.18478265, 0.04594318, 0.09224143,-0.0654316 ,
  0.1425859 , 0.94444101,-0.03316984, 0.0278285 , 0.32581668]

qacc:
[-5.47645808e+01,-1.09311011e+01,-1.84829555e+01, 7.43946998e+00,
 -3.02367799e+02,-3.58366356e+00, 6.04140219e+01,-1.79983747e+02,
 -1.68331115e-01,-7.79293899e+01, 3.26719803e+02,-7.15164130e+02,
  7.03140455e+01,-6.78121204e+00,-2.87184888e+01,-2.49629694e+01,
  1.64386141e+00,-2.58149694e-01,-6.53353540e-01, 1.46338799e+01,
  1.07460625e+01, 4.27838882e-01]

qfrc_actuator:
[-0.00507674, 0.15996113, 0.07662415, 0.09754472, 0.00909148, 0.39155683,
  0.18192332, 0.10199436,-0.0022902 , 0.1254352 , 0.00838605, 0.09630804,
  0.04577504, 0.0109706 , 0.        ,-0.00192632, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.26771157,  0.35130791,  0.26771157,  2.94212799,
       -1.90544299,  0.35130791, -1.90544299,  1.89371485,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011598493178019721
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.73359153e-01, -7.37665500e-01,  4.93666075e-02,  3.32820370e-02,
        3.64604986e-02,  9.98780726e-01, -7.38566014e-01,  6.74181164e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09919328, -0.03381159,  0.12190918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002656011949767654
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75136088e-01, -2.14599669e-01,  5.52864606e-02, -2.14255588e-01,
        9.76702095e-01,  1.21474667e-02, -5.66052442e-02, -1.73472348e-18,
       -9.98396638e-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([ 0.12601319, -0.08246808,  0.11372177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045810815476422795
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21174772e-13, -6.05873860e-14,  1.00000000e+00, -7.34166269e-27,
        1.00000000e+00,  6.05873860e-14, -1.00000000e+00,  0.00000000e+00,
       -1.21174772e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05078692, -0.06242142,  0.06198972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60346709e-03, 1.58027280e-01, 9.06881451e-02, 4.43866764e-02,
  1.28434300e-02, 3.80040633e-01, 1.95269641e-01, 5.33224472e-02,
 -3.62183105e-05,-9.57869237e-04,-1.31207874e-04,-1.83014921e-03,
  1.98483091e-02, 1.06650262e-02,-4.64581923e-03,-1.52210160e-03,
 -1.45789297e-03, 1.39531915e-03,-9.80997813e+00,-6.50914554e-02,
 -9.43175258e-03,-5.26454218e-03]


--- Step 2386 ---
qpos:
[-0.00446874, 0.21240604,-0.09836672, 0.52113935,-0.01670726, 0.03391786,
 -0.20256675, 0.43704228, 0.01454419, 0.91028229,-0.0210906 , 0.85678709,
  0.85658847,-0.00681494, 1.1850828 , 0.04592468, 0.09224275,-0.0654808 ,
  0.14258512, 0.94460715,-0.03311147, 0.02788414, 0.32533589]

qacc:
[-4.09991410e+01,-9.08956954e+00,-3.12097696e+00, 1.29419859e+01,
 -2.22173009e+02,-1.29999899e+01, 5.96526837e+01,-1.47095664e+02,
 -7.84482312e-02,-7.22703024e+01, 3.02408591e+02,-6.76242615e+02,
 -3.69283367e+01, 3.17465038e+01, 2.15939992e+02,-5.68697626e+02,
  6.50135236e-01, 6.04686381e-03,-2.14804304e-01, 1.03319190e+01,
 -3.58179580e+00, 1.85994853e+01]

qfrc_actuator:
[-0.00495434, 0.160158  , 0.07702578, 0.09829435, 0.00922023, 0.39166987,
  0.18218691, 0.10204045,-0.00229311, 0.124889  , 0.00835872, 0.09460388,
  0.04571717, 0.01088579, 0.        ,-0.00203546, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011285718196257075
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.74159576e-01, -7.36960182e-01,  4.89750584e-02,  3.30566725e-02,
        3.61360311e-02,  9.98800002e-01, -7.37845596e-01,  6.74969538e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0991922 , -0.03381373,  0.12191014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026853392521814126
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97533437, -0.21368198,  0.05534322, -0.21333881,  0.97690328,
        0.01210545, -0.05665169,  0.        , -0.998394  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12597094, -0.08245869,  0.11373015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.99715455, 0.16066435, 0.98412609, 0.16066435, 0.38387012,
       0.10012228, 0.98412609, 0.10012228, 0.980809  , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.5683523072284216e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.55515306e-01, -7.51674682e-01, -7.26970133e-02, -4.77804285e-02,
       -5.47894734e-02,  9.97354072e-01, -7.53668836e-01,  6.57254354e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10275657, -0.03795487,  0.30578924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004545767470559292
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.44232252e-13, -6.10580629e-14,  1.00000000e+00, -1.49123482e-26,
        1.00000000e+00,  6.10580629e-14, -1.00000000e+00,  0.00000000e+00,
       -2.44232252e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05078085, -0.06242414,  0.0619898 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.75325250e-04, 1.60146923e-01, 9.19336918e-02, 4.53121346e-02,
  1.47723225e-02, 3.79607915e-01, 1.95385928e-01, 5.37187663e-02,
 -1.77750874e-05,-1.20282842e-03,-2.98042772e-04,-1.77909241e-03,
  1.28203643e-02, 7.57040499e-03,-1.91409987e-03,-7.11648594e-04,
 -1.44544083e-03, 1.52643849e-03,-9.80990517e+00,-6.51221103e-02,
 -9.37634854e-03,-5.26690886e-03]


--- Step 2387 ---
qpos:
[-0.00459683, 0.21222919,-0.09872374, 0.52217222,-0.01686477, 0.03414536,
 -0.20281332, 0.43798535, 0.01454897, 0.91221033,-0.02110609, 0.85860392,
  0.85719673,-0.00673532, 1.18545102, 0.0459059 , 0.09224542,-0.06552932,
  0.14258394, 0.94475661,-0.03302931, 0.02793214, 0.32490586]

qacc:
[-2.84632250e+01, 4.80069734e+00,-2.70694235e+01, 3.17545480e+01,
 -1.67889179e+02,-1.73290709e+01, 5.96981400e+01,-1.38874057e+02,
  5.08355735e-02,-7.27123967e+01, 2.98690230e+02,-6.56738220e+02,
 -4.99533731e+01, 3.37826672e+01, 1.04574614e+02,-2.12840974e+02,
  3.37764118e-01, 1.69096576e-01,-9.90770688e-02, 9.00926776e+00,
 -8.08628061e+00, 2.68860840e+01]

qfrc_actuator:
[-0.00480705, 0.16042783, 0.07735864, 0.09925452, 0.00938611, 0.391751  ,
  0.18244289, 0.1019051 ,-0.00227888, 0.12435931, 0.00838404, 0.09296842,
  0.04564433, 0.01081787, 0.        ,-0.00211146, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.34369983,  0.27741153,  0.34369983,  1.52271289,
       -1.33934116,  0.27741153, -1.33934116,  2.10106691,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010998025841330325
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67492508, -0.73628688,  0.04855684,  0.03281093,  0.03579399,
        0.99882042, -0.73715642,  0.67572214,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09919421, -0.03381679,  0.12190993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027195955855780396
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75513924e-01, -2.12827481e-01,  5.54711349e-02, -2.12484229e-01,
        9.77089793e-01,  1.20825967e-02, -5.67717884e-02, -1.73472348e-18,
       -9.98387181e-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([ 0.12593065, -0.08244989,  0.11373925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.9981742 , 0.01468763, 0.99806614, 0.01468763, 0.19873721,
       0.01176458, 0.99806614, 0.01176458, 0.99800107, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -3.413545798421711e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65500386, -0.75212549, -0.07264432, -0.04770836, -0.05478238,
        0.99735791, -0.75411793,  0.65673902,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10279721, -0.03803239,  0.30573368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004509338274995972
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.69307964e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.69307964e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05077556, -0.06242628,  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:
[ 4.24457745e-04, 1.61465153e-01, 9.26308359e-02, 4.63107019e-02,
  1.62615456e-02, 3.79943788e-01, 1.95681288e-01, 5.38862613e-02,
  8.59987011e-06,-1.35302691e-03,-3.11328889e-04,-1.72211132e-03,
  1.48325199e-02, 7.66521220e-03,-6.13907614e-03, 6.77364173e-04,
 -1.20281399e-03, 1.38362856e-03,-9.80993058e+00,-6.50992682e-02,
 -9.34576144e-03,-5.26762478e-03]


--- Step 2388 ---
qpos:
[-0.00470754, 0.21202912,-0.09910175, 0.52320706,-0.01703721, 0.03435444,
 -0.20306483, 0.43892202, 0.01455354, 0.91413107,-0.02112189, 0.86039101,
  0.85774347,-0.00667067, 1.18586151, 0.04588943, 0.09224889,-0.06557689,
  0.14258252, 0.94488671,-0.03292245, 0.02796867, 0.32453501]

qacc:
[ 4.74843209e+01, 2.89417531e+01,-1.47452312e+02, 2.01776991e+02,
 -1.25178251e+02,-1.98058627e+01, 5.97870591e+01,-1.36543997e+02,
 -9.66668710e-02,-6.11848046e+01, 2.57886731e+02,-5.86414154e+02,
 -4.03323669e+01, 2.22055615e+01, 5.78861188e+01,-1.06469246e+02,
  1.99483277e-01, 2.39658470e-01,-5.94446025e-02, 8.66227062e+00,
 -1.01366842e+01, 3.12585694e+01]

qfrc_actuator:
[-0.00467894, 0.160682  , 0.07768639, 0.10071351, 0.0095074 , 0.39189425,
  0.18275032, 0.10184092,-0.00230781, 0.12419925, 0.0084404 , 0.09149301,
  0.04558247, 0.01071705, 0.        ,-0.0022559 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.44168624, 0.35404653, 0.26407913, 0.35404653, 0.42215769,
       0.02618159, 0.26407913, 0.02618159, 0.406585  , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0010724985720866951
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67563064, -0.73566924,  0.04810423,  0.03253836,  0.03542982,
        0.99884232, -0.73652189,  0.67641371,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09919791, -0.03382081,  0.12190898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002756316408174214
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75670265e-01, -2.12066317e-01,  5.56364150e-02, -2.11722366e-01,
        9.77255277e-01,  1.20732115e-02, -5.69313016e-02, -1.73472348e-18,
       -9.98378098e-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([ 0.12589327, -0.08244204,  0.11374868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99892166, -0.07395022,  0.99618063, -0.07395022,  0.189096  ,
       -0.06011639,  0.99618063, -0.06011639,  0.99445899,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.287211591969084e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65454449, -0.75252959, -0.07259975, -0.04764549, -0.05477801,
        0.99736116, -0.75452065,  0.6562763 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10283998, -0.03811235,  0.30570819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004473031525787513
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.24101856e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.24101856e-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([ 0.05077091, -0.06242796,  0.06198996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07385640e-03, 1.62042966e-01, 9.32106284e-02, 4.77762822e-02,
  1.73831924e-02, 3.80750525e-01, 1.96149868e-01, 5.41284544e-02,
 -2.12939178e-05,-1.06695647e-03,-3.09543952e-04,-1.56593359e-03,
  1.82411938e-02, 8.17266822e-03,-9.54583685e-03, 5.46600202e-04,
 -8.97252617e-04, 1.15442030e-03,-9.80997243e+00,-6.50616806e-02,
 -9.33123713e-03,-5.26622926e-03]


--- Step 2389 ---
qpos:
[-0.00479528, 0.2118007 ,-0.09949934, 0.52424596,-0.01722009, 0.0345418 ,
 -0.20332252, 0.43985209, 0.01455786, 0.91604744,-0.02113972, 0.86214877,
  0.85824007,-0.00662056, 1.18629694, 0.04587755, 0.09225282,-0.06562338,
  0.14258095, 0.9449959 ,-0.03279013, 0.02799149, 0.32422836]

qacc:
[ 6.28995794e+01, 2.20013332e+01,-1.39947493e+02, 2.28418774e+02,
 -8.75046089e+01,-2.12066893e+01, 5.92628204e+01,-1.35391298e+02,
 -1.24096064e-01,-5.19784667e+01, 2.31154335e+02,-5.58881820e+02,
 -3.05973660e+01, 1.37190492e+01, 2.47067247e+01,-2.90689889e+01,
  1.14940015e-01, 2.69348881e-01,-3.87188365e-02, 8.55946832e+00,
 -1.13742555e+01, 3.38572258e+01]

qfrc_actuator:
[-0.00460373, 0.16099948, 0.07808235, 0.10218568, 0.0096581 , 0.39213841,
  0.18303834, 0.10176888,-0.00232687, 0.12419142, 0.00840972, 0.09003504,
  0.04553965, 0.01060419, 0.        ,-0.00219533, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.44168624, 0.3650678 , 0.24862067, 0.3650678 , 0.40805887,
       0.0493775 , 0.24862067, 0.0493775 , 0.36918166, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0010420620032130779
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6762973 , -0.73509177,  0.04756104,  0.03220185,  0.03500134,
        0.99886833, -0.73592459,  0.67706351,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09920523, -0.0338254 ,  0.12190591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002793702914412788
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97580118, -0.21141438,  0.05582126, -0.2110693 ,  0.97739652,
        0.01207434, -0.0571122 ,  0.        , -0.99836777])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12585937, -0.08243534,  0.1137582 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99872974, -0.1308943 ,  0.99011503, -0.1308943 ,  0.18830069,
       -0.10713962,  0.99011503, -0.10713962,  0.98456576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.0808764293553765e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65413135, -0.75289194, -0.07256656, -0.04759354, -0.0547792 ,
        0.99736357, -0.75488213,  0.65586048,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10288321, -0.03819453,  0.30571636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000443755134821297
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.75282314e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.75282314e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0507668 , -0.06242928,  0.06199004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.80652822e-04, 1.63531441e-01, 9.46609444e-02, 4.91487194e-02,
  1.82800705e-02, 3.81908862e-01, 1.96682966e-01, 5.43740937e-02,
 -2.65360036e-05,-7.50338490e-04,-3.34958321e-04,-1.53568151e-03,
  2.12756898e-02, 8.80856755e-03,-1.16644867e-02, 4.90776081e-04,
 -5.98772980e-04, 9.13421203e-04,-9.81000247e+00,-6.50217645e-02,
 -9.32973459e-03,-5.26240934e-03]


--- Step 2390 ---
qpos:
[-0.00486647, 0.21155118,-0.09990513, 0.52529023,-0.01740924, 0.03470531,
 -0.20358736, 0.4407753 , 0.01456212, 0.91796066,-0.02115882, 0.86387662,
  0.85869829,-0.00658255, 1.18674592, 0.04587276, 0.09225703,-0.06566872,
  0.14257925, 0.94508323,-0.03263182, 0.02799953, 0.32398901]

qacc:
[ 4.54375677e+01, 3.48479789e+00,-6.81840935e+01, 1.66620463e+02,
 -5.25178792e+01,-2.18542989e+01, 5.83763079e+01,-1.35433186e+02,
 -2.15261905e-02,-5.33997890e+01, 2.38977808e+02,-5.73309876e+02,
 -2.22431078e+01, 8.36386534e+00,-2.29694928e-01, 3.25919377e+01,
  7.19019190e-02, 2.85826843e-01,-3.40389171e-02, 8.58186120e+00,
 -1.19928953e+01, 3.54614807e+01]

qfrc_actuator:
[-0.00451954, 0.16131609, 0.07850845, 0.10311257, 0.00984569, 0.39243602,
  0.18328244, 0.10162388,-0.00232213, 0.12418616, 0.00839966, 0.08854576,
  0.04550411, 0.01054291, 0.        ,-0.00194396, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.44168624, 0.37151685, 0.23887646, 0.37151685, 0.4362538 ,
       0.0084489 , 0.23887646, 0.0084489 , 0.42854594, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0010077853296007343
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.76926054e-01, -7.34554563e-01,  4.69117461e-02,  3.17907836e-02,
        3.44972173e-02,  9.98899038e-01, -7.35364171e-01,  6.77672145e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09921644, -0.03383052,  0.12190046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028303318280702384
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97590554, -0.2108812 ,  0.0560134 , -0.2105347 ,  0.9775117 ,
        0.01208392, -0.05730203,  0.        , -0.99835689])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12582931, -0.0824299 ,  0.11376769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99773047, -0.16601686,  0.98382137, -0.16601686,  0.18744461,
       -0.13673327,  0.98382137, -0.13673327,  0.97465715,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7665747364194023e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65375588, -0.75322008, -0.07254496, -0.04755199, -0.05478668,
        0.99736514, -0.75520995,  0.65548298,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10292582, -0.0382791 ,  0.30575923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004403328279188601
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.78199042e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.78199042e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05076313, -0.06243032,  0.06199012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.82722194e-04, 1.65275497e-01, 9.60704610e-02, 4.98724184e-02,
  1.89895888e-02, 3.83286718e-01, 1.97234901e-01, 5.45578149e-02,
 -5.38039008e-06,-5.75992713e-04,-2.53694891e-04,-1.55689743e-03,
  2.37465630e-02, 9.47326016e-03,-1.29173104e-02, 5.11452756e-04,
 -3.41100504e-04, 6.94681719e-04,-9.81000833e+00,-6.49847247e-02,
 -9.34073177e-03,-5.25596134e-03]


--- Step 2391 ---
qpos:
[-0.00492709, 0.21129206,-0.10030999, 0.52634037,-0.01760097, 0.03484382,
 -0.20386002, 0.44169139, 0.01456622, 0.91987179,-0.02117888, 0.86557688,
  0.85913254,-0.00655242, 1.18719842, 0.04587309, 0.09226157,-0.06571291,
  0.14257734, 0.94514842,-0.03244724, 0.02799325, 0.32381788]

qacc:
[ 2.91256383e+01,-5.00494024e+00,-2.02769931e+01, 1.13131388e+02,
 -2.14698291e+01,-2.20751459e+01, 5.79854166e+01,-1.37756953e+02,
 -7.32215884e-02,-4.87905183e+01, 2.20009408e+02,-5.28579099e+02,
 -1.33752107e+01, 4.36125790e+00,-9.53983186e+00, 4.25144244e+01,
  8.09619321e-02, 2.88086123e-01,-5.06733245e-02, 8.78086387e+00,
 -1.18272173e+01, 3.59543424e+01]

qfrc_actuator:
[-0.00441497, 0.16165403, 0.07893136, 0.10365607, 0.01005541, 0.39268776,
  0.18353912, 0.10149125,-0.00233871, 0.12421847, 0.00840203, 0.08717428,
  0.04547369, 0.01049819, 0.        ,-0.00179549, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44089382,  0.37433211,  0.23294385,  0.37433211,  0.47354136,
       -0.05246338,  0.23294385, -0.05246338,  0.52520052,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009707829809092813
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67750115, -0.73407107,  0.04617205,  0.03131501,  0.03392975,
        0.9989335 , -0.73485479,  0.67822448,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09923041, -0.03383631,  0.12189328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028651198640307677
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97598268, -0.21047269,  0.05620547, -0.21012455,  0.97759974,
        0.01210078, -0.05749333,  0.        , -0.99834589])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12580334, -0.08242577,  0.11377704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99689705, -0.19307311,  0.97802173, -0.19307311,  0.18920603,
       -0.1594478 ,  0.97802173, -0.1594478 ,  0.96542016,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.681811699882674e-06
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65340925, -0.75352192, -0.07253322, -0.04751904, -0.05479972,
        0.997366  , -0.75551194,  0.65513487,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10296719, -0.03836634,  0.30583623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043706695170223075
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54016695e-13, -9.92252714e-14,  1.00000000e+00, -2.52048755e-26,
        1.00000000e+00,  9.92252714e-14, -1.00000000e+00,  0.00000000e+00,
       -2.54016695e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05075983, -0.06243114,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50432545e-03, 1.66680235e-01, 9.69093066e-02, 5.01463868e-02,
  1.95129526e-02, 3.84725799e-01, 1.97848178e-01, 5.47657994e-02,
 -1.59908741e-05,-4.26146722e-04,-1.97987393e-04,-1.43152474e-03,
  2.56353061e-02, 1.00332555e-02,-1.36020233e-02, 3.03353332e-04,
 -1.43859442e-04, 5.17775583e-04,-9.80998230e+00,-6.49537498e-02,
 -9.36402766e-03,-5.24677605e-03]


--- Step 2392 ---
qpos:
[-0.00499007, 0.21102339,-0.10071486, 0.52739234,-0.01779913, 0.03497053,
 -0.20414035, 0.44259636, 0.01457017, 0.92178029,-0.02119834, 0.86724953,
  0.85977587,-0.0064997 , 1.18748204, 0.04590713, 0.09227233,-0.06575664,
  0.14257242, 0.94520039,-0.03223482, 0.02801391, 0.3236856 ]

qacc:
[-6.46383065e+00,-9.25741836e+00, 8.40095282e+00, 2.68285256e+01,
 -5.41594429e+01,-1.18147846e+01, 6.20689035e+01,-2.15401393e+02,
 -7.34521268e-02,-5.36889497e+01, 2.35171010e+02,-5.41773500e+02,
  1.60675965e+02,-1.23353452e+02,-3.61947326e+02, 8.80680885e+02,
  1.55457234e+00, 1.17162944e-01,-7.53107812e-01, 1.67534952e+01,
  7.78032863e+00, 2.13324316e+01]

qfrc_actuator:
[-0.00433432, 0.16196621, 0.07932874, 0.10386039, 0.01027724, 0.39292267,
  0.18378914, 0.10119154,-0.0023502 , 0.12413152, 0.00844755, 0.08579435,
  0.04542512, 0.01049954, 0.        ,-0.0017096 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43749062,  0.36942987,  0.23434934,  0.36942987,  0.60118013,
       -0.25804125,  0.23434934, -0.25804125,  0.84426857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009325228950784354
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67800547, -0.73365558,  0.04536602,  0.03079011,  0.03331734,
        0.99897043, -0.7344117 ,  0.67870424,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09924581, -0.03384285,  0.12188519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002897352149989428
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97603251, -0.21019063,  0.05639543, -0.20984064,  0.97766042,
        0.01212465, -0.05768407,  0.        , -0.99833489])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12578161, -0.08242298,  0.11378622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004339723761472569
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.79543232e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.79543232e-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([ 0.05075683, -0.06243177,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95120184e-03, 1.67484415e-01, 9.72659522e-02, 5.00564707e-02,
  1.98635265e-02, 3.86206755e-01, 1.98489054e-01, 5.48209069e-02,
 -1.62977896e-05,-4.47029334e-04,-1.14894939e-04,-1.43063263e-03,
  2.67851134e-02, 1.04280862e-02,-1.37861334e-02, 1.31902674e-04,
 -2.02688206e-05, 3.96480496e-04,-9.80992069e+00,-6.49306479e-02,
 -9.39876017e-03,-5.23485704e-03]


--- Step 2393 ---
qpos:
[-0.00499813, 0.2108057 ,-0.10107926, 0.52845249,-0.01795409, 0.03509485,
 -0.20442243, 0.44349302, 0.01457416, 0.92368652,-0.02121767, 0.86889334,
  0.86053167,-0.0063906 , 1.18770293, 0.04592412, 0.09227494,-0.06578408,
  0.14256611, 0.94517854,-0.03207491, 0.0280959 , 0.32375818]

qacc:
[ 1.51722003e+02,-2.77379544e+01, 1.57098776e+02,-9.52793096e+01,
  3.62771660e+02,-1.14339175e+01, 6.60484094e+01,-1.87020933e+02,
  2.57814759e-02,-5.41471406e+01, 2.39861193e+02,-5.60634205e+02,
  5.23235079e+01, 5.18672326e+00,-4.34602831e+01, 1.22397632e+01,
 -2.03727604e+00, 4.07012997e+00,-3.47550620e-01,-1.89415793e+01,
  3.52130395e+01, 1.09012702e+02]

qfrc_actuator:
[-0.00424157, 0.16224896, 0.07971136, 0.10396941, 0.01049347, 0.3932508 ,
  0.18407363, 0.10070965,-0.00234083, 0.12406312, 0.00846454, 0.08434941,
  0.0453562 , 0.01044795, 0.        ,-0.00169191, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.43192484, 0.38653064, 0.19275149, 0.38653064, 0.40507021,
       0.05385244, 0.19275149, 0.05385244, 0.32393284, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0008964492136305708
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67843645, -0.73330284,  0.04461984,  0.0303019 ,  0.03275247,
        0.99900404, -0.73403391,  0.67911281,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09926359, -0.03384962,  0.12187748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029317782395968813
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97605921, -0.2099779 ,  0.05672474, -0.2096242 ,  0.97770613,
        0.01218254, -0.05801819,  0.        , -0.99831553])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12576346, -0.08242072,  0.1137968 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000453286764433361
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22463649e-13, -1.22463649e-13,  1.00000000e+00, -1.49973453e-26,
        1.00000000e+00,  1.22463649e-13, -1.00000000e+00,  0.00000000e+00,
       -1.22463649e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08404166, -0.11047179,  0.06198983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73927221e-03, 1.68256673e-01, 9.76542753e-02, 5.00732597e-02,
  2.04018735e-02, 3.87121618e-01, 1.99156342e-01, 5.48930670e-02,
  4.38690181e-06,-4.23346825e-04,-1.37824950e-04,-1.49376607e-03,
  1.62623638e-02, 9.24649804e-03,-5.35883549e-03,-1.54031272e-03,
 -3.98400503e-05, 4.25143615e-04,-9.80981511e+00,-6.49216299e-02,
 -9.41429067e-03,-5.22243294e-03]


--- Step 2394 ---
qpos:
[-0.00495047, 0.21066181,-0.10140274, 0.52951854,-0.01805932, 0.03522225,
 -0.20470457, 0.44438103, 0.01457841, 0.92559061,-0.02123747, 0.87050813,
  0.86135898,-0.00624076, 1.18789731, 0.04593156, 0.09226972,-0.06579629,
  0.14255782, 0.94508957,-0.03196685, 0.02823464, 0.32401642]

qacc:
[ 1.54019761e+02,-3.26434126e+00, 1.21751579e+02,-1.14190618e+02,
  4.17316326e+02,-9.35576766e+00, 6.99639032e+01,-2.01600136e+02,
  1.34959824e-01,-5.26067799e+01, 2.35274372e+02,-5.58355794e+02,
  2.93057241e+01, 1.14540961e+01,-1.14146534e+01,-1.94374527e+01,
 -1.95531501e+00, 3.80908950e+00,-4.92803826e-01,-1.90062505e+01,
  3.31773615e+01, 9.87906308e+01]

qfrc_actuator:
[-0.00418015, 0.16256385, 0.08004466, 0.10419169, 0.01065925, 0.39354141,
  0.1843582 , 0.10020887,-0.00231908, 0.12398882, 0.00844687, 0.08289548,
  0.0452869 , 0.01030403, 0.        ,-0.00176662, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.42438487, 0.3948877 , 0.15545489, 0.3948877 , 0.40768155,
       0.04242992, 0.15545489, 0.04242992, 0.31660407, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0008609839833150434
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67863197, -0.73315644,  0.04404863,  0.02992185,  0.03232591,
        0.99902939, -0.73386874,  0.6792913 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09927573, -0.03385716,  0.12187465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.42128774,  0.1326777 , -0.42128774,  0.66910868,
        0.72212805,  0.1326777 ,  0.72212805,  2.734639  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029527777552014905
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75996427e-01, -2.10140025e-01,  5.72026670e-02, -2.09780029e-01,
        9.77671299e-01,  1.22951036e-02, -5.85090992e-02,  3.46944695e-18,
       -9.98286875e-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([ 0.12574724, -0.08242248,  0.11380897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.74169123, -4.89522433,  9.56141774, -4.89522433, 44.15239838,
       17.10550787,  9.56141774, 17.10550787, 19.49931489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004687396301503305
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18426409e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.18426409e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08402968, -0.1104715 ,  0.06198948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.42266660e-03, 1.66032694e-01, 9.59692605e-02, 4.98859612e-02,
  1.84068860e-02, 3.87528384e-01, 1.99528209e-01, 5.48066626e-02,
  2.72756348e-05,-4.22469404e-04,-1.72274171e-04,-1.50410079e-03,
  1.05687353e-02, 6.28189392e-03,-2.23743231e-03,-7.66330960e-04,
 -2.37327323e-04, 1.20899509e-04,-9.80979714e+00,-6.49141032e-02,
 -9.55285679e-03,-5.21721107e-03]


--- Step 2395 ---
qpos:
[-0.00485712, 0.21059558,-0.10168614, 0.53059148,-0.01811944, 0.03534945,
 -0.2049849 , 0.44526292, 0.01458278, 0.92749093,-0.02125712, 0.87209411,
  0.86194906,-0.00617476, 1.18803675, 0.04594486, 0.09225544,-0.0657992 ,
  0.14254997, 0.94494929,-0.03188998, 0.02839457, 0.32441888]

qacc:
[ 1.26463155e+02, 5.73654179e+00, 9.45552885e+01,-7.67283670e+01,
  3.78717481e+02,-1.43161474e+01, 7.15850414e+01,-1.62568284e+02,
  5.60076483e-02,-5.60317214e+01, 2.43215234e+02,-5.61333376e+02,
 -1.26694512e+02, 3.21221412e+01,-9.23777645e+01, 2.19821854e+02,
 -2.26812160e+00, 2.32403127e+00, 1.06960132e-01,-1.41608227e+01,
  1.34888596e+01, 7.63619006e+01]

qfrc_actuator:
[-0.00419578, 0.16285484, 0.08034948, 0.10439217, 0.01075323, 0.39373397,
  0.18462409, 0.09980692,-0.00232564, 0.12373421, 0.00842673, 0.08144788,
  0.04521699, 0.01015105, 0.        ,-0.00186196, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.41580101, 0.39630716, 0.12582178, 0.39630716, 0.40782618,
       0.02511874, 0.12582178, 0.02511874, 0.33668325, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.000828306001639889
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67858989, -0.73321761,  0.04367717,  0.02966719,  0.03205546,
        0.9990457 , -0.73391799,  0.67923809,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09928018, -0.03386499,  0.12187766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.41990694,  0.136985  , -0.41990694,  0.70800651,
        0.81636482,  0.136985  ,  0.81636482,  2.94413002,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002961622177170715
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75851712e-01, -2.10641929e-01,  5.78222670e-02, -2.10273125e-01,
        9.77563286e-01,  1.24593405e-02, -5.91493848e-02, -1.73472348e-18,
       -9.98249142e-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([ 0.12573217, -0.08242783,  0.11382266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99790066,  0.93329817, -0.35321419,  0.93329817,  0.91682436,
       -0.21422799, -0.35321419, -0.21422799,  0.43184586,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0311528509827457e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65139429, -0.7552826 , -0.07234417, -0.04724838, -0.05478384,
        0.99737973, -0.75726684,  0.6531056 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10311516, -0.03868606,  0.30575545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.89807843, -4.74605683,  9.81035464, -4.74605683, 55.99774422,
       21.81833224,  9.81035464, 21.81833224, 21.45335891,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047963712717405405
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15735726e-13, -1.15735726e-13,  1.00000000e+00,  1.33947583e-26,
        1.00000000e+00,  1.15735726e-13, -1.00000000e+00,  0.00000000e+00,
        1.15735726e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0840201 , -0.1104721 ,  0.06198924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.22283315e-03, 1.62641262e-01, 9.42311121e-02, 4.97902441e-02,
  1.60148110e-02, 3.87563608e-01, 1.99797259e-01, 5.48352489e-02,
  1.06106476e-05,-6.09189366e-04,-1.78772197e-04,-1.49899804e-03,
  6.92392043e-03, 4.08966045e-03,-9.23464941e-04,-3.87296881e-04,
 -6.43060988e-04, 1.11075612e-04,-9.80992473e+00,-6.48253965e-02,
 -9.62299470e-03,-5.22209361e-03]


--- Step 2396 ---
qpos:
[-0.00472131, 0.21060717,-0.10192818, 0.53167095,-0.01813263, 0.03547931,
 -0.20526207, 0.44613894, 0.01458682, 0.92938533,-0.02127608, 0.87365268,
  0.86232993,-0.00617776, 1.18811446, 0.04595595, 0.09223296,-0.06579464,
  0.14254259, 0.94476338,-0.03183685, 0.02857243, 0.32494951]

qacc:
[ 1.17527052e+02, 1.95026699e+00, 1.08974101e+02,-9.63516907e+01,
  3.93903170e+02,-1.37528631e+01, 7.38312822e+01,-1.64157897e+02,
 -1.49058725e-01,-5.78797626e+01, 2.42535422e+02,-5.42250639e+02,
 -1.14895869e+02, 3.54809888e+01,-7.85075386e+01, 1.55679167e+02,
 -2.04878445e+00, 1.86819327e+00, 1.19838318e-01,-1.08535007e+01,
  1.09228571e+01, 6.79049669e+01]

qfrc_actuator:
[-0.00426993, 0.16304482, 0.08065719, 0.10448746, 0.0108066 , 0.39386975,
  0.18491242, 0.09953621,-0.00236689, 0.12333841, 0.00842241, 0.08006873,
  0.04517195, 0.01010092, 0.        ,-0.00207001, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.40623795, 0.39409851, 0.0985679 , 0.39409851, 0.40253514,
       0.01480475, 0.0985679 , 0.01480475, 0.34704494, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0007968537360675067
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.78364899e-01, -7.33442437e-01,  4.33964947e-02,  2.94664182e-02,
        3.18588441e-02,  9.99057928e-01, -7.34134043e-01,  6.79004570e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09927555, -0.03387332,  0.12188536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.35948899,  0.25662112, -0.35948899,  1.58108372,
        1.59613074,  0.25662112,  1.59613074,  2.67763408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002959870673748668
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.975647  , -0.21141147,  0.05846476, -0.21103291,  0.97739715,
        0.01264596, -0.05981679,  0.        , -0.99820937])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12571747, -0.08243611,  0.1138366 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.00383531,  0.83572007, -0.55610907,  0.83572007,  0.80744605,
       -0.29513354, -0.55610907, -0.29513354,  0.56030896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.89832744113793e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.50946742e-01, -7.55671439e-01, -7.23119359e-02, -4.71947719e-02,
       -5.47874947e-02,  9.97382065e-01, -7.57654930e-01,  6.52655351e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10312651, -0.03870982,  0.30559883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.005109  , -5.07201843,  9.76662957, -5.07201843, 69.64043319,
       30.45057078,  9.76662957, 30.45057078, 26.81873796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048679416769989436
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14034134e-13, -1.14034134e-13,  1.00000000e+00,  1.30037837e-26,
        1.00000000e+00,  1.14034134e-13, -1.00000000e+00,  0.00000000e+00,
        1.14034134e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0840124 , -0.11047348,  0.06198908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.58183086e-03, 1.58951953e-01, 9.25375176e-02, 4.95402571e-02,
  1.38125343e-02, 3.87705912e-01, 1.99994852e-01, 5.48689568e-02,
 -3.25981966e-05,-8.54694499e-04,-2.00233389e-04,-1.43653501e-03,
  1.87364267e-02, 8.22531969e-03, 1.83875840e-03,-8.84110344e-04,
 -1.12461241e-03, 3.49163434e-04,-9.81008647e+00,-6.47311282e-02,
 -9.64083019e-03,-5.23366352e-03]


--- Step 2397 ---
qpos:
[-0.00454361, 0.21069225,-0.10213261, 0.5327566 ,-0.01809782, 0.0356145 ,
 -0.20553486, 0.44700939, 0.01459083, 0.93127715,-0.0212962 , 0.87518413,
  0.86252912,-0.00623602, 1.1881342 , 0.04596389, 0.09220305,-0.06578416,
  0.14253574, 0.9445374 ,-0.03180158, 0.02876431, 0.32559233]

qacc:
[ 1.15983084e+02, 5.67432735e+00, 8.97365290e+01,-7.73518394e+01,
  4.02877451e+02,-1.30267480e+01, 7.51291289e+01,-1.64143219e+02,
 -1.57605388e-02,-4.79197715e+01, 2.14351934e+02,-5.15202730e+02,
 -1.02844384e+02, 3.76663311e+01,-7.05495313e+01, 1.34817189e+02,
 -1.85575489e+00, 1.47871180e+00, 1.31269925e-01,-8.40436342e+00,
  8.31690586e+00, 5.94770087e+01]

qfrc_actuator:
[-0.00441196, 0.16314299, 0.08091382, 0.10465926, 0.01079799, 0.39411073,
  0.1851944 , 0.09938195,-0.00235756, 0.12344738, 0.00844475, 0.07872302,
  0.04513718, 0.01013119, 0.        ,-0.00218021, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.39611725, 0.38931468, 0.0730955 , 0.38931468, 0.39365988,
       0.01308819, 0.0730955 , 0.01308819, 0.32640811, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0007669097122659482
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.77969494e-01, -7.33819684e-01,  4.31976430e-02,  2.93140475e-02,
        3.17288982e-02,  9.99066546e-01, -7.34505311e-01,  6.78602939e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09926168, -0.03388206,  0.12189768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.34015639,  0.28174521, -0.34015639,  1.98672525,
        1.86535521,  0.28174521,  1.86535521,  2.69376533,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00294983293967239
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97538785, -0.21241973,  0.05913028, -0.21203048,  0.97717852,
        0.01285378, -0.06051124,  0.        , -0.99816752])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12570276, -0.08244698,  0.11385079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.01353701,  0.74332289, -0.68900533,  0.74332289,  0.7160618 ,
       -0.32092659, -0.68900533, -0.32092659,  0.66731025,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001217111973470819
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.50657561e-01, -7.55918094e-01, -7.23365262e-02, -4.71899321e-02,
       -5.48241128e-02,  9.97380282e-01, -7.57903588e-01,  6.52366578e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1031288 , -0.03871204,  0.30545905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.06800473, -5.02199952,  9.86307505, -5.02199952, 93.17982533,
       41.80902215,  9.86307505, 41.80902215, 32.3559791 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004908925489155169
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13082082e-13, -2.26164163e-13,  1.00000000e+00,  2.55751143e-26,
        1.00000000e+00,  2.26164163e-13, -1.00000000e+00,  0.00000000e+00,
        1.13082082e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0840062 , -0.1104755 ,  0.06198898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18465323e-02, 1.55160009e-01, 9.07270496e-02, 4.93838391e-02,
  1.14576139e-02, 3.87811146e-01, 2.00118797e-01, 5.50063625e-02,
 -4.13000683e-06,-4.87860018e-04,-2.22430557e-04,-1.41006257e-03,
  2.91584712e-02, 1.17027677e-02, 4.93436282e-03,-8.81803185e-04,
 -1.70696674e-03, 7.23529384e-04,-9.81026566e+00,-6.46290549e-02,
 -9.63612771e-03,-5.24904500e-03]


--- Step 2398 ---
qpos:
[-0.00432538, 0.210845  ,-0.10230272, 0.53384818,-0.01801461, 0.0357575 ,
 -0.20580223, 0.44787456, 0.01459505, 0.93316922,-0.02131792, 0.8766887 ,
  0.86257372,-0.00633731, 1.18810295, 0.04597102, 0.09216644,-0.0657691 ,
  0.14252946, 0.94427681,-0.03177964, 0.02896605, 0.32633161]

qacc:
[ 1.12139108e+02, 6.46181795e+00, 7.75956509e+01,-6.28936822e+01,
  4.06230162e+02,-1.20871416e+01, 7.52547312e+01,-1.62560100e+02,
  1.10960987e-01,-4.26142194e+01, 2.00800918e+02,-5.01816150e+02,
 -9.00287711e+01, 3.77917406e+01,-6.79406490e+01, 1.39336777e+02,
 -1.67887156e+00, 1.14680664e+00, 1.40901888e-01,-6.62234340e+00,
  5.78712534e+00, 5.11529356e+01]

qfrc_actuator:
[-0.00459339, 0.16317703, 0.08112699, 0.10483919, 0.01073235, 0.39444657,
  0.18545231, 0.09938837,-0.00233579, 0.12369848, 0.00844914, 0.07739029,
  0.04511896, 0.01020581, 0.        ,-0.00212334, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.38589839, 0.38261824, 0.05020809, 0.38261824, 0.38464652,
       0.00954008, 0.05020809, 0.00954008, 0.31319678, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0007388944238753229
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67742265, -0.7343324 ,  0.04306356,  0.02919932,  0.03165233,
        0.99907233, -0.73501425,  0.67805166,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09923904, -0.03389107,  0.12191417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.31612708,  0.30846458, -0.31612708,  2.50307141,
        2.11259159,  0.30846458,  2.11259159,  2.60675625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029338494821478413
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97507989, -0.21363778,  0.05981719, -0.21323692,  0.97691294,
        0.01308122, -0.06123083,  0.        , -0.99812363])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12568764, -0.08246009,  0.11386522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.02519362,  0.65811429, -0.78607095,  0.65811429,  0.64250213,
       -0.32039696, -0.78607095, -0.32039696,  0.75695089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015787046751558829
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65050606, -0.75604184, -0.07240584, -0.04722439, -0.0548859 ,
        0.99737525, -0.75803148,  0.65221797,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1031231 , -0.03869652,  0.30533849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004925194332241617
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12708550e-13, -1.12708550e-13,  1.00000000e+00,  1.27032173e-26,
        1.00000000e+00,  1.12708550e-13, -1.00000000e+00,  0.00000000e+00,
        1.12708550e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08400118, -0.11047805,  0.06198895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41235366e-02, 1.51517027e-01, 8.90587142e-02, 4.92527942e-02,
  8.99199012e-03, 3.87876411e-01, 2.00157245e-01, 5.52900723e-02,
  2.28757610e-05,-1.45769678e-04,-1.69713505e-04,-1.38551059e-03,
  3.82228803e-02, 1.45400683e-02, 7.83686935e-03,-6.65966092e-04,
 -2.34434536e-03, 1.17752447e-03,-9.81044616e+00,-6.45285878e-02,
 -9.61753392e-03,-5.26744471e-03]


--- Step 2399 ---
qpos:
[-0.00406803, 0.21105812,-0.1024425 , 0.53494551,-0.01788313, 0.0359102 ,
 -0.20606329, 0.44873475, 0.01459937, 0.9350586 ,-0.02133835, 0.87816677,
  0.86248719,-0.00646983, 1.18802774, 0.04597838, 0.09212376,-0.06575059,
  0.14252377, 0.94398677,-0.03176734, 0.02917362, 0.32715244]

qacc:
[ 1.08103090e+02, 7.31748879e+00, 6.22533934e+01,-4.22288953e+01,
  4.05069820e+02,-1.14710736e+01, 7.54483542e+01,-1.60337169e+02,
  4.50504126e-02,-5.35745561e+01, 2.31090405e+02,-5.22142365e+02,
 -7.98957090e+01, 3.99058294e+01,-6.11108318e+01, 1.29594629e+02,
 -1.51277815e+00, 8.61828125e-01, 1.49135369e-01,-5.24989714e+00,
  3.45669701e+00, 4.32632388e+01]

qfrc_actuator:
[-0.00476061, 0.16313125, 0.08130235, 0.10505731, 0.01064839, 0.39474596,
  0.18569301, 0.09935113,-0.00234231, 0.12346496, 0.00847917, 0.07605822,
  0.04511476, 0.01031693, 0.        ,-0.00202057, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.37445167, 0.37326536, 0.02978287, 0.37326536, 0.3739637 ,
       0.00611565, 0.02978287, 0.00611565, 0.29780495, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0007092602333568283
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.77883585e-01, -7.33915498e-01,  4.29172201e-02,  2.91197090e-02,
        3.15266606e-02,  9.99078632e-01, -7.34592328e-01,  6.78508741e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09919494, -0.03388777,  0.12193369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029142033150615886
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74728739e-01, -2.15036937e-01,  6.05227373e-02, -2.14623605e-01,
        9.76605916e-01,  1.33263826e-02, -6.19725278e-02,  1.73472348e-18,
       -9.98077856e-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([ 0.12567179, -0.0824751 ,  0.11387988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.03702912,  0.573681  , -0.86389786,  0.573681  ,  0.56913799,
       -0.31070832, -0.86389786, -0.31070832,  0.8306998 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018702303581705028
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65047177, -0.75606143, -0.07250923, -0.04728969, -0.05496612,
        0.99736774, -0.75805683,  0.6521885 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10311014, -0.03866651,  0.30523882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004921769042016411
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.12786989e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.12786989e-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([ 0.08399709, -0.11048102,  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:
[-1.63184477e-02, 1.48082639e-01, 8.75168371e-02, 4.91730023e-02,
  6.48786483e-03, 3.87781557e-01, 2.00126511e-01, 5.55152754e-02,
  8.43899747e-06,-4.29463279e-04,-6.97563812e-05,-1.37188659e-03,
  4.59474528e-02, 1.68043006e-02, 1.03881132e-02,-5.22440724e-04,
 -2.99383455e-03, 1.66615343e-03,-9.81061437e+00,-6.44371795e-02,
 -9.59026944e-03,-5.28814002e-03]


--- Step 2400 ---
qpos:
[-0.00377112, 0.21132   ,-0.1025609 , 0.53604853,-0.01770404, 0.03607379,
 -0.20631726, 0.44959029, 0.01460352, 0.93694321,-0.02135653, 0.87961893,
  0.86228809,-0.00662239, 1.18791466, 0.04598318, 0.09207567,-0.06572965,
  0.14251872, 0.9436721 ,-0.03176148, 0.02938317, 0.32804086]

qacc:
[ 1.09194806e+02, 1.58433822e+01, 1.27222735e+01, 1.85045640e+01,
  3.99542980e+02,-1.14292125e+01, 7.62239689e+01,-1.57575608e+02,
 -6.87504769e-02,-5.78975120e+01, 2.40485175e+02,-5.21808670e+02,
 -7.33864476e+01, 4.46576190e+01,-4.38657754e+01, 8.18856845e+01,
 -1.35589574e+00, 6.07763442e-01, 1.61226648e-01,-4.09841183e+00,
  1.27245321e+00, 3.58625096e+01]

qfrc_actuator:
[-0.0050406 , 0.16298232, 0.08140978, 0.10554465, 0.01051646, 0.39501846,
  0.18597357, 0.09923622,-0.00236574, 0.1231388 , 0.00855785, 0.07475465,
  0.04511712, 0.01045533, 0.        ,-0.00208626, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.36479607, 0.3646653 , 0.00976695, 0.3646653 , 0.36472399,
       0.00269115, 0.00976695, 0.00269115, 0.26431763, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0006852392085391796
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68237956, -0.72975678,  0.04258148,  0.02908311,  0.03110234,
        0.999093  , -0.73041927,  0.68299904,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09909476, -0.03383911,  0.12195383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00289300896257431
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9743398 , -0.21658992,  0.06124347, -0.21616331,  0.97626267,
        0.01358724, -0.06273257,  0.        , -0.99803037])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1256549 , -0.08249168,  0.11389471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.04736747,  0.48412563, -0.92876315,  0.48412563,  0.4856051 ,
       -0.29282337, -0.92876315, -0.29282337,  0.89473081,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020878725966124614
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.50536940e-01, -7.55993162e-01, -7.26362743e-02, -4.73777280e-02,
       -5.50579624e-02,  9.97358497e-01, -7.57995409e-01,  6.52259887e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10309049, -0.03862481,  0.30516147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004902961483322643
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13219636e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.13219636e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08399375, -0.1104843 ,  0.061989  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85555359e-02, 1.44907061e-01, 8.61051174e-02, 4.93701655e-02,
  3.94252050e-03, 3.87564338e-01, 2.00090955e-01, 5.56476301e-02,
 -1.59119654e-05,-6.58899596e-04,-6.49842874e-05,-1.34899903e-03,
  5.25063811e-02, 1.85063145e-02, 1.25863789e-02,-5.99722107e-04,
 -3.62255517e-03, 2.15566319e-03,-9.81076041e+00,-6.43596175e-02,
 -9.55807965e-03,-5.31045812e-03]


--- Step 2401 ---
qpos:
[-0.00343549, 0.21161644,-0.10266457, 0.53715773,-0.01747843, 0.03624882,
 -0.20656351, 0.45044153, 0.01460748, 0.93882156,-0.02137239, 0.88104676,
  0.86199569,-0.00678674, 1.18777014, 0.04598494, 0.09202272,-0.06570713,
  0.14251436, 0.94333744,-0.0317597 , 0.02959083, 0.32898355]

qacc:
[ 1.06643152e+02, 1.59389664e+01,-1.45182692e+01, 6.73175901e+01,
  3.90369170e+02,-1.17780855e+01, 7.70800929e+01,-1.53778125e+02,
 -9.04354691e-02,-5.72335637e+01, 2.32238986e+02,-4.94282851e+02,
 -6.42045865e+01, 4.43819613e+01,-3.33405787e+01, 5.79118219e+01,
 -1.21549964e+00, 3.92509465e-01, 1.72376515e-01,-3.34308072e+00,
 -7.89404546e-01, 2.88008584e+01]

qfrc_actuator:
[-0.00536886, 0.16275895, 0.08156203, 0.10622681, 0.0103371 , 0.39521651,
  0.18627474, 0.09920066,-0.00238138, 0.1227602 , 0.00864648, 0.07353147,
  0.04513178, 0.01061143, 0.        ,-0.00216157, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.35078321,  0.35070424, -0.00744332,  0.35070424,  0.35073396,
       -0.00232091, -0.00744332, -0.00232091,  0.24142998,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006514051030902246
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.87094682e-01, -7.25346532e-01,  4.21106394e-02,  2.89596850e-02,
        3.05719249e-02,  9.99112954e-01, -7.25990519e-01,  6.87704708e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09898469, -0.03378658,  0.12197469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00287214318069015
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73918291e-01, -2.18271111e-01,  6.19748718e-02, -2.17830519e-01,
        9.75888171e-01,  1.38615515e-02, -6.35061205e-02,  1.73472348e-18,
       -9.97981449e-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([ 0.1256368 , -0.08250953,  0.11390969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.05466565,  0.39511848, -0.97785532,  0.39511848,  0.4167565 ,
       -0.25775765, -0.97785532, -0.25775765,  0.95051444,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022266871753995573
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65068748, -0.75585007, -0.0727769 , -0.04748092, -0.05515468,
        0.99734825, -0.75785973,  0.65241753,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10306467, -0.03857386,  0.30510813])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004872468815699804
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13928182e-13, -1.13928182e-13,  1.00000000e+00,  1.29796306e-26,
        1.00000000e+00,  1.13928182e-13, -1.00000000e+00,  0.00000000e+00,
        1.13928182e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08399101, -0.11048778,  0.06198906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08641090e-02, 1.42235904e-01, 8.51846895e-02, 4.97659249e-02,
  1.38258437e-03, 3.87213260e-01, 2.00036972e-01, 5.58428977e-02,
 -2.06398090e-05,-8.36507614e-04,-9.88931844e-05,-1.27517146e-03,
  5.81496901e-02, 1.96684207e-02, 1.44800390e-02,-5.47111057e-04,
 -4.20641842e-03, 2.62126379e-03,-9.81087693e+00,-6.42990951e-02,
 -9.52396763e-03,-5.33376659e-03]


--- Step 2402 ---
qpos:
[-0.00306291, 0.21193478,-0.10275862, 0.53827369,-0.01720775, 0.03643531,
 -0.2068015 , 0.45128887, 0.01461144, 0.94069099,-0.02138637, 0.88244981,
  0.86162818,-0.00695641, 1.18760075, 0.04598418, 0.0919654 ,-0.06568377,
  0.14251073, 0.94298715,-0.03176031, 0.02979289, 0.32996803]

qacc:
[ 1.01608962e+02, 1.40414055e+01,-3.24598411e+01, 1.06182768e+02,
  3.78253432e+02,-1.24768331e+01, 7.81637971e+01,-1.49376382e+02,
  4.94916005e-03,-6.02643904e+01, 2.38796541e+02,-5.03287881e+02,
 -5.45725880e+01, 4.20567784e+01,-2.56918112e+01, 4.41572911e+01,
 -1.09027717e+00, 2.13459257e-01, 1.80453414e-01,-2.91831004e+00,
 -2.68520873e+00, 2.21605980e+01]

qfrc_actuator:
[-0.00572329, 0.16245011, 0.08172151, 0.10700535, 0.01011133, 0.39536499,
  0.18656707, 0.09903668,-0.00237447, 0.12214052, 0.0086691 , 0.07227653,
  0.04515082, 0.0107779 , 0.        ,-0.00220563, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.33905055,  0.3383438 , -0.0218803 ,  0.3383438 ,  0.33858517,
       -0.00719639, -0.0218803 , -0.00719639,  0.22776996,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000623641509874706
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69200763, -0.72069121,  0.04158884,  0.02880472,  0.02999867,
        0.99913481, -0.72131528,  0.69260686,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09886645, -0.03373076,  0.1219967 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002853183409453127
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73469421e-01, -2.20056051e-01,  6.27106121e-02, -2.19600862e-01,
        9.75487229e-01,  1.41466226e-02, -6.42864512e-02, -1.73472348e-18,
       -9.97931487e-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([ 0.12561732, -0.08252838,  0.11392473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.05781584,  0.30995218, -1.01138716,  0.30995218,  0.35909831,
       -0.21413068, -1.01138716, -0.21413068,  0.99219283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002283493743216147
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65090876, -0.75564534, -0.07292396, -0.04759356, -0.05525176,
        0.9973375 , -0.75766262,  0.65264643,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10303299, -0.03851576,  0.30507993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004833381022852079
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14849525e-13, -1.14849525e-13,  1.00000000e+00,  1.31904133e-26,
        1.00000000e+00,  1.14849525e-13, -1.00000000e+00,  0.00000000e+00,
        1.14849525e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08398874, -0.11049138,  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:
[-2.31559522e-02, 1.40187291e-01, 8.46035098e-02, 5.02328707e-02,
 -1.16912836e-03, 3.86785084e-01, 1.99942230e-01, 5.58918504e-02,
 -5.74678091e-07,-1.18001585e-03,-2.01433432e-04,-1.31182171e-03,
  6.28348812e-02, 2.04283680e-02, 1.60520403e-02,-4.39350998e-04,
 -4.72218885e-03, 3.04514133e-03,-9.81095975e+00,-6.42576836e-02,
 -9.48853472e-03,-5.35750524e-03]


--- Step 2403 ---
qpos:
[-0.0026563 , 0.2122678 ,-0.1028466 , 0.53939701,-0.01689357, 0.03663337,
 -0.20703068, 0.45213265, 0.01461527, 0.94254895,-0.02139954, 0.88382793,
  0.86120198,-0.00712688, 1.18741272, 0.04598238, 0.09190415,-0.0656601 ,
  0.14250782, 0.942625  ,-0.03176226, 0.02998616, 0.33098353]

qacc:
[ 9.33771274e+01, 1.51533672e+01,-5.11097944e+01, 1.40648656e+02,
  3.64986692e+02,-1.31561324e+01, 7.93356450e+01,-1.45301424e+02,
 -5.01247804e-02,-6.10564114e+01, 2.37481119e+02,-5.01922131e+02,
 -4.49186207e+01, 3.79071859e+01,-2.15122769e+01, 4.16525005e+01,
 -9.83156669e-01, 7.55026945e-02, 1.79862601e-01,-2.73261174e+00,
 -4.23267539e+00, 1.64151403e+01]

qfrc_actuator:
[-0.00614266, 0.16214208, 0.08174253, 0.10762561, 0.00984055, 0.39553238,
  0.18681495, 0.09858395,-0.00238965, 0.12138133, 0.00863389, 0.07101272,
  0.04517952, 0.01094884, 0.        ,-0.002177  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.32211647,  0.32039928, -0.03321628,  0.32039928,  0.32099189,
       -0.0108476 , -0.03321628, -0.0108476 ,  0.21748218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000583938329235502
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69711895, -0.71602905,  0.03643574,  0.02541692,  0.02610638,
        0.999336  , -0.71650481,  0.69758215,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0987424 , -0.03367377,  0.12196527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0028386813784092284
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73637525e-01, -2.19133515e-01,  6.33282845e-02, -2.18671449e-01,
        9.75694882e-01,  1.42230423e-02, -6.49058283e-02,  1.73472348e-18,
       -9.97891394e-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([ 0.12558938, -0.08251666,  0.11393848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.05629285,  0.23331082, -1.03020418,  0.23331082,  0.31446597,
       -0.16800188, -1.03020418, -0.16800188,  1.01824539,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022562469865486766
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65118694, -0.75539132, -0.07307205, -0.04771111, -0.05534595,
        0.99732666, -0.75741614,  0.65293245,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10299557, -0.03845227,  0.30507758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047882887468446433
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.15931086e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.15931086e-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([ 0.08398686, -0.11049502,  0.06198925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.54247641e-02, 1.38771431e-01, 8.41386280e-02, 5.05126629e-02,
 -3.69362747e-03, 3.86373185e-01, 1.99775870e-01, 5.56331317e-02,
 -1.24218183e-05,-1.53086084e-03,-3.39703185e-04,-1.33538497e-03,
  6.66200282e-02, 2.08695178e-02, 1.72957153e-02,-2.84781301e-04,
 -5.15332162e-03, 3.41579731e-03,-9.81100748e+00,-6.42359207e-02,
 -9.45173780e-03,-5.38115390e-03]


--- Step 2404 ---
qpos:
[-0.00222275, 0.21261919,-0.10292172, 0.54052799,-0.01653587, 0.03682357,
 -0.20725808, 0.4529718 , 0.01461898, 0.94439467,-0.02141237, 0.88518205,
  0.86073261,-0.00729523, 1.18721174, 0.04598285, 0.09183932,-0.06563652,
  0.14250557, 0.94225421,-0.03176515, 0.03016808, 0.33202089]

qacc:
[ 7.37862361e+01, 2.41670020e+00,-1.98121328e+00, 9.14031153e+01,
  3.65391608e+02,-2.14694967e+01, 7.65279941e+01,-1.36961592e+02,
 -5.73525378e-02,-5.91261814e+01, 2.27741798e+02,-4.81412401e+02,
 -3.47435831e+01, 3.17671101e+01,-2.37025765e+01, 6.02059917e+01,
 -8.93706233e-01,-2.14691751e-02, 1.68618358e-01,-2.78372165e+00,
 -5.41611815e+00, 1.15455977e+01]

qfrc_actuator:
[-0.00657734, 0.16186851, 0.08180445, 0.10795234, 0.00954407, 0.39577742,
  0.1869968 , 0.09801244,-0.00240023, 0.12073985, 0.00863529, 0.0698069 ,
  0.04522591, 0.01110232, 0.        ,-0.00198095, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.30907632,  0.306008  , -0.04344275,  0.306008  ,  0.30760234,
       -0.0103826 , -0.04344275, -0.0103826 ,  0.23594196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005533237808303872
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70238164, -0.71089487,  0.0358958 ,  0.02522881,  0.02553459,
        0.99935554, -0.71135331,  0.70283459,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09861291, -0.0336114 ,  0.12198917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0032474631387740447
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75097637e-01, -2.12445982e-01,  6.36498418e-02, -2.11994821e-01,
        9.77172812e-01,  1.38380366e-02, -6.51367302e-02,  1.73472348e-18,
       -9.97876348e-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([ 0.12554545, -0.08244013,  0.11394892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.05028309,  0.16675052, -1.03696135,  0.16675052,  0.28308578,
       -0.12337061, -1.03696135, -0.12337061,  1.03044425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002144617679477791
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.51509538e-01, -7.55099005e-01, -7.32175903e-02, -4.78303355e-02,
       -5.54353185e-02,  9.97315990e-01, -7.57131152e-01,  6.53262902e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10295246, -0.03838478,  0.30510122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047393851679794485
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17127326e-13, -1.17127326e-13,  1.00000000e+00,  1.37188105e-26,
        1.00000000e+00,  1.17127326e-13, -1.00000000e+00,  0.00000000e+00,
        1.17127326e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08398528, -0.11049863,  0.06198936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75627801e-02, 1.37750802e-01, 8.38927742e-02, 5.04687448e-02,
 -6.16472342e-03, 3.86033367e-01, 1.99515506e-01, 5.52372557e-02,
 -1.39751181e-05,-1.63510817e-03,-3.88640137e-04,-1.29305350e-03,
  6.96010031e-02, 2.10667215e-02, 1.82298171e-02,-3.62264165e-05,
 -5.49782695e-03, 3.73125754e-03,-9.81102322e+00,-6.42316629e-02,
 -9.41359463e-03,-5.40424470e-03]


--- Step 2405 ---
qpos:
[-0.00176839, 0.2129932 ,-0.10298008, 0.5416668 ,-0.01613683, 0.03701121,
 -0.2074814 , 0.45380705, 0.01462257, 0.94622819,-0.02142408, 0.8865122 ,
  0.86023143,-0.00745886, 1.18700251, 0.04598592, 0.09177126,-0.06561336,
  0.14250399, 0.94187796,-0.03176881, 0.03033595, 0.33307113]

qacc:
[ 5.68789602e+01,-2.04790848e+00, 2.03500424e+01, 6.67262505e+01,
  3.46935384e+02,-1.94874320e+01, 7.66628630e+01,-1.32253072e+02,
 -4.76215787e-02,-6.10979272e+01, 2.34082984e+02,-4.86355137e+02,
 -2.77732685e+01, 2.82012896e+01,-1.81973433e+01, 5.01277671e+01,
 -8.10786972e-01,-1.06618231e-01, 1.64893352e-01,-2.97982949e+00,
 -6.61147035e+00, 6.73539991e+00]

qfrc_actuator:
[-0.00699223, 0.16155279, 0.08191718, 0.10824171, 0.00923249, 0.39604836,
  0.18719581, 0.09749642,-0.00240798, 0.12019211, 0.00871208, 0.06860942,
  0.0452783 , 0.01124273, 0.        ,-0.00179385, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.28939242,  0.28508842, -0.04972488,  0.28508842,  0.28808536,
       -0.00749375, -0.04972488, -0.00749375,  0.24642841,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005064802659321442
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.05228569e-01, -7.07846242e-01,  4.00794654e-02,  2.82879135e-02,
        2.83929128e-02,  9.99196495e-01, -7.08415457e-01,  7.05795679e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09850769, -0.03357386,  0.12207011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0031974884069230327
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97696084, -0.20364333,  0.06385064, -0.20320979,  0.97904514,
        0.01328106, -0.06521726,  0.        , -0.99787109])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12549677, -0.08234004,  0.11395804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.04069422,  0.10972076, -1.03489411,  0.10972076,  0.25162295,
       -0.08365831, -1.03489411, -0.08365831,  1.03182466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019506225131984452
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65186475, -0.75477869, -0.07335856, -0.04794905, -0.05551907,
        0.99730563, -0.75681784,  0.65362586,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1029036 , -0.03831433,  0.30515023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046885263447599135
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18397866e-13, -1.18397866e-13,  1.00000000e+00,  1.40180546e-26,
        1.00000000e+00,  1.18397866e-13, -1.00000000e+00,  0.00000000e+00,
        1.18397866e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08398394, -0.11050216,  0.06198947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.93263952e-02, 1.36502196e-01, 8.33564095e-02, 5.03723700e-02,
 -8.65273763e-03, 3.86691076e-01, 1.99624465e-01, 5.49511996e-02,
 -1.19956081e-05,-1.60697837e-03,-3.37956723e-04,-1.28842976e-03,
  7.18125384e-02, 2.11050796e-02, 1.88795240e-02, 3.80334673e-05,
 -5.75842702e-03, 3.99378214e-03,-9.81101209e+00,-6.42418904e-02,
 -9.37364015e-03,-5.42640525e-03]


--- Step 2406 ---
qpos:
[-0.00129292, 0.21337796,-0.1030332 , 0.54281371,-0.01569872, 0.037196  ,
 -0.20770033, 0.45463884, 0.01462642, 0.94805139,-0.02143584, 0.88782032,
  0.8597084 ,-0.00761476, 1.1867893 , 0.04598998, 0.09170024,-0.06559099,
  0.1425031 , 0.94149979,-0.03177326, 0.03048639, 0.33412451]

qacc:
[ 5.75234071e+01, 1.35165002e+01,-5.48529060e+01, 1.58434994e+02,
  3.28040437e+02,-1.99277994e+01, 7.59917275e+01,-1.24535189e+02,
  1.28925843e-01,-5.20565978e+01, 2.03002112e+02,-4.36399396e+02,
 -2.22874805e+01, 2.63068366e+01,-7.22982260e+00, 2.02986146e+01,
 -7.36756634e-01,-1.95021617e-01, 1.72620496e-01,-3.35148925e+00,
 -8.09466115e+00, 1.50945347e+00]

qfrc_actuator:
[-0.00741764, 0.16116467, 0.08201587, 0.10898478, 0.00886113, 0.39629719,
  0.18741986, 0.09706809,-0.00237849, 0.11982973, 0.00876216, 0.06751528,
  0.04533482, 0.01142509, 0.        ,-0.00170214, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.27391202,  0.26893033, -0.05200265,  0.26893033,  0.27178808,
       -0.01098392, -0.05200265, -0.01098392,  0.21710898,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004665861522194061
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.03948729e-01, -7.09135276e-01,  3.97912877e-02,  2.80332284e-02,
        2.82397713e-02,  9.99208013e-01, -7.09697347e-01,  7.04506690e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09844761, -0.03358683,  0.12209959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0032207470330614905
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76906979e-01, -2.03747374e-01,  6.43409875e-02, -2.03306899e-01,
        9.79023497e-01,  1.33901865e-02, -6.57195539e-02,  1.73472348e-18,
       -9.97838133e-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([ 0.12546846, -0.08233984,  0.11397047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.02882393,  0.0590156 , -1.02712991,  0.0590156 ,  0.22138418,
       -0.04639291, -1.02712991, -0.04639291,  1.02615835,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001674196102429154
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65224392, -0.75443797, -0.073493  , -0.04806534, -0.05559625,
        0.99729573, -0.7564837 ,  0.65401255,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1028489 , -0.03824175,  0.30522462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046371012241883114
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.39421779e-13, -1.79566334e-13,  1.00000000e+00,  4.29920912e-26,
        1.00000000e+00,  1.79566334e-13, -1.00000000e+00,  0.00000000e+00,
        2.39421779e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0839828 , -0.11050556,  0.06198959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.07941380e-02, 1.34967167e-01, 8.26116325e-02, 5.07216959e-02,
 -1.10906846e-02, 3.87062341e-01, 1.99643416e-01, 5.47164996e-02,
  2.62268382e-05,-1.39547125e-03,-3.52974560e-04,-1.18253612e-03,
  7.34591031e-02, 2.10540786e-02, 1.92953322e-02, 5.22130535e-08,
 -5.92794478e-03, 4.19942583e-03,-9.81097431e+00,-6.42663538e-02,
 -9.33160781e-03,-5.44731347e-03]


--- Step 2407 ---
qpos:
[-7.96803790e-04, 2.13759925e-01,-1.03090115e-01, 5.43969502e-01,
 -1.52243011e-02, 3.73810938e-02,-2.07913269e-01, 4.55467929e-01,
  1.46305858e-02, 9.49867567e-01,-2.14498491e-02, 8.89107761e-01,
  8.59173184e-01,-7.76091037e-03, 1.18657588e+00, 4.59936135e-02,
  9.16265385e-02,-6.55696924e-02, 1.42502942e-01, 9.41123082e-01,
 -3.17787531e-02, 3.06160755e-02, 3.35171763e-01]

qacc:
[ 5.60837135e+01, 2.12344327e+01,-1.07812399e+02, 2.36247141e+02,
  3.04750047e+02,-1.88262725e+01, 7.51864546e+01,-1.16362814e+02,
  1.55075201e-01,-3.93816689e+01, 1.63653399e+02,-3.87335298e+02,
 -1.63402314e+01, 2.31132238e+01, 2.19012043e+00,-5.34333282e+00,
 -6.72273750e-01,-2.70243231e-01, 1.82085110e-01,-3.84039166e+00,
 -9.52646178e+00,-3.47226729e+00]

qfrc_actuator:
[-0.00787574, 0.16080696, 0.08209318, 0.10999664, 0.00840411, 0.39660505,
  0.18763921, 0.09669347,-0.0023625 , 0.11970583, 0.00872592, 0.06649078,
  0.04537808, 0.01157449, 0.        ,-0.00168483, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.26059618,  0.25501295, -0.0536541 ,  0.25501295,  0.25780531,
       -0.01326475, -0.0536541 , -0.01326475,  0.19755007,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004254443981600494
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70397549, -0.70913203,  0.03937353,  0.02773951,  0.0279427 ,
        0.99922456, -0.70968234,  0.70452181,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09837018, -0.03358405,  0.12212829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0031705206812852015
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97671089, -0.20455849,  0.06474309, -0.20411055,  0.97885434,
        0.01352985, -0.0661417 ,  0.        , -0.99781024])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12544154, -0.08234746,  0.11398192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.01630431,  0.01282599, -1.01622337,  0.01282599,  0.19753953,
       -0.01033382, -1.01622337, -0.01033382,  1.01617388,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013127280548766036
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.52639503e-01, -7.54083549e-01, -7.36184804e-02, -4.81770580e-02,
       -5.56655346e-02,  9.97286478e-01, -7.56135339e-01,  6.54415273e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10278812, -0.03816782,  0.30532525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045861984357079
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.08398181, -0.11050882,  0.0619897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.23097144e-02, 1.34056731e-01, 8.24210862e-02, 5.13256961e-02,
 -1.35016399e-02, 3.87506107e-01, 1.99641181e-01, 5.45125315e-02,
  3.24726570e-05,-1.03902521e-03,-3.96028817e-04,-1.10425274e-03,
  7.45942814e-02, 2.08201627e-02, 1.94977552e-02,-3.06278891e-05,
 -5.99305743e-03, 4.34164852e-03,-9.81090691e+00,-6.43066702e-02,
 -9.28698693e-03,-5.46661375e-03]


--- Step 2408 ---
qpos:
[-2.85406370e-04, 2.14139168e-01,-1.03147124e-01, 5.45134944e-01,
 -1.47166293e-02, 3.75685999e-02,-2.08118982e-01, 4.56295025e-01,
  1.46343320e-02, 9.51677027e-01,-2.14651661e-02, 8.90375610e-01,
  8.58633183e-01,-7.89615835e-03, 1.18636521e+00, 4.59941430e-02,
  9.15504050e-02,-6.55497247e-02, 1.42503540e-01, 9.40751296e-01,
 -3.17858386e-02, 3.07216719e-02, 3.36203568e-01]

qacc:
[ 4.14393723e+01, 1.28013092e+01,-8.14078259e+01, 2.20020088e+02,
  2.79149223e+02,-1.81669621e+01, 7.41335431e+01,-1.07071546e+02,
 -1.97519090e-01,-3.96245544e+01, 1.62406205e+02,-3.73105758e+02,
 -1.16045569e+01, 2.01880717e+01, 1.44465374e+01,-4.24717172e+01,
 -6.07449143e-01,-3.31722034e-01, 1.89905534e-01,-4.47262622e+00,
 -1.08961253e+01,-8.50143525e+00]

qfrc_actuator:
[-0.00834368, 0.16056548, 0.08212911, 0.11068644, 0.0079006 , 0.39683983,
  0.18783466, 0.09636948,-0.00242576, 0.11945956, 0.00869339, 0.06551554,
  0.04539734, 0.01169898, 0.        ,-0.00181767, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.24895105,  0.24281849, -0.05491634,  0.24281849,  0.24660306,
       -0.01038187, -0.05491634, -0.01038187,  0.2030465 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003820532578718184
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.02802540e-01, -7.10317114e-01,  3.89639210e-02,  2.74047533e-02,
        2.76977731e-02,  9.99240618e-01, -7.10856926e-01,  7.03336641e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09830674, -0.03359526,  0.12215721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003122855751138745
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76429928e-01, -2.05781653e-01,  6.51038116e-02, -2.05325760e-01,
        9.78597931e-01,  1.36901679e-02, -6.65276407e-02,  1.73472348e-18,
       -9.97784582e-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([ 0.12541483, -0.08235962,  0.11399294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.00520947, -0.02483632, -1.0049026 , -0.02483632,  0.17763607,
        0.0204536 , -1.0049026 ,  0.0204536 ,  1.00470396,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.638306791937526e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65304417, -0.75372188, -0.07373354, -0.04828269, -0.05572627,
        0.99727798, -0.75577913,  0.65482663,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10272094, -0.0380932 ,  0.30545296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045366235858890214
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22362259e-13, -1.22362259e-13,  1.00000000e+00,  1.49725225e-26,
        1.00000000e+00,  1.22362259e-13, -1.00000000e+00,  0.00000000e+00,
        1.22362259e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08398093, -0.11051189,  0.06198981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.38114173e-02, 1.33938452e-01, 8.26406367e-02, 5.15684255e-02,
 -1.58203557e-02, 3.87720259e-01, 1.99535997e-01, 5.43223505e-02,
 -4.35322029e-05,-9.69635829e-04,-3.24631746e-04,-1.04329936e-03,
  7.52226208e-02, 2.04595006e-02, 1.95128160e-02,-1.41802609e-04,
 -5.95597034e-03, 4.42151165e-03,-9.81081201e+00,-6.43611675e-02,
 -9.24002428e-03,-5.48389711e-03]


--- Step 2409 ---
qpos:
[ 2.35281976e-04, 2.14519611e-01,-1.03199070e-01, 5.46310454e-01,
 -1.41788838e-02, 3.77597109e-02,-2.08316481e-01, 4.57120843e-01,
  1.46376853e-02, 9.53478556e-01,-2.14799339e-02, 8.91622639e-01,
  8.58096379e-01,-8.01984731e-03, 1.18615997e+00, 4.59904493e-02,
  9.14720768e-02,-6.55312498e-02, 1.42504909e-01, 9.40387718e-01,
 -3.17954346e-02, 3.08000868e-02, 3.37211128e-01]

qacc:
[ 2.51584893e+01, 4.96241327e+00,-4.90465384e+01, 1.89271259e+02,
  2.52480655e+02,-1.80403972e+01, 7.32460168e+01,-9.70704811e+01,
 -1.84128716e-01,-4.83856719e+01, 1.91843661e+02,-4.13042884e+02,
 -5.96390591e+00, 1.59738693e+01, 2.14451007e+01,-6.19525199e+01,
 -5.48694457e-01,-3.73171522e-01, 1.92866096e-01,-5.24721320e+00,
 -1.21042487e+01,-1.32549845e+01]

qfrc_actuator:
[-0.00885593, 0.16028829, 0.08219128, 0.11117869, 0.00737547, 0.3969575 ,
  0.18804762, 0.09614723,-0.00244722, 0.11905362, 0.00871629, 0.06447051,
  0.04543925, 0.01180348, 0.        ,-0.00200223, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.23903229,  0.23242675, -0.05580538,  0.23242675,  0.23754309,
       -0.00620243, -0.05580538, -0.00620243,  0.21319945,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003371455500524319
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70166175, -0.71146977,  0.03849098,  0.02702768,  0.02740548,
        0.99925895, -0.71199739,  0.70218211,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09824272, -0.03360594,  0.12218558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003079094281027226
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76153706e-01, -2.06995474e-01,  6.53973624e-02, -2.06532501e-01,
        9.78341900e-01,  1.38366332e-02, -6.68451002e-02,  1.73472348e-18,
       -9.97763365e-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([ 0.1253871 , -0.08237158,  0.11400326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99805081, -0.05764806, -0.99638453, -0.05764806,  0.16338757,
        0.04829131, -0.99638453,  0.04829131,  0.99525681,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.2466561859399905e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.53452319e-01, -7.53357881e-01, -7.38374570e-02, -4.83813245e-02,
       -5.57782887e-02,  9.97270289e-01, -7.55419959e-01,  6.55240937e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10264702, -0.03801836,  0.30560868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004488976144401968
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23661052e-13, -6.18305260e-14,  1.00000000e+00,  7.64602789e-27,
        1.00000000e+00,  6.18305260e-14, -1.00000000e+00,  0.00000000e+00,
        1.23661052e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08398015, -0.11051479,  0.06198992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.50893147e-02, 1.33781457e-01, 8.27013650e-02, 5.15756658e-02,
 -1.80081388e-02, 3.87710917e-01, 1.99385968e-01, 5.41978460e-02,
 -4.10647275e-05,-1.07457672e-03,-2.45367800e-04,-1.10734843e-03,
  7.55027659e-02, 2.00208585e-02, 1.93800121e-02,-1.69838896e-04,
 -5.81515090e-03, 4.43669013e-03,-9.81069193e+00,-6.44278808e-02,
 -9.19089979e-03,-5.49876544e-03]


--- Step 2410 ---
qpos:
[ 7.75825862e-04, 2.14904753e-01,-1.03243988e-01, 5.47493118e-01,
 -1.36017797e-02, 3.79654049e-02,-2.08503384e-01, 4.57944480e-01,
  1.46410708e-02, 9.55272023e-01,-2.14942731e-02, 8.92846801e-01,
  8.58180601e-01,-8.21499767e-03, 1.18616620e+00, 4.59401912e-02,
  9.13905613e-02,-6.55066942e-02, 1.42503281e-01, 9.40028132e-01,
 -3.18520171e-02, 3.08654095e-02, 3.38200957e-01]

qacc:
[ 5.35840202e+01,-6.43344458e-01,-1.38744144e+01, 1.09580031e+02,
  3.30258675e+02,-1.17202375e+01, 7.47024664e+01,-1.23527582e+02,
  2.06187953e-02,-5.18082317e+01, 2.07259937e+02,-4.50747300e+02,
  5.25777782e+02,-5.16877504e+02, 4.18492018e+02,-1.08711941e+03,
 -7.96813058e-01, 1.52014951e+00,-7.49377173e-01,-2.39636563e+01,
  1.98666148e+00,-9.94211701e+00]

qfrc_actuator:
[-0.00941263, 0.15989807, 0.08226407, 0.11160138, 0.00682725, 0.39710927,
  0.18826723, 0.0958441 ,-0.00242569, 0.11866229, 0.0087356 , 0.06332167,
  0.04550485, 0.01194422, 0.        ,-0.0020202 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.23086979,  0.22324835, -0.05883055,  0.22324835,  0.22864958,
       -0.00842518, -0.05883055, -0.00842518,  0.19889818,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029188551987688587
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70055673, -0.71258593,  0.0379679 ,  0.02661786,  0.02707491,
        0.99927896, -0.71310011,  0.70106222,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0981776 , -0.03361597,  0.12221376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030396570351515083
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97588485, -0.20818933,  0.06561982, -0.20772027,  0.97808854,
        0.01396739, -0.06708986,  0.        , -0.99774694])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12535816, -0.08238323,  0.11401282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044436549591531094
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.49844561e-13, -6.24611404e-14,  1.00000000e+00,  1.56055762e-26,
        1.00000000e+00,  6.24611404e-14, -1.00000000e+00,  0.00000000e+00,
        2.49844561e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08397943, -0.1105175 ,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.61120818e-02, 1.33315050e-01, 8.25148342e-02, 5.14921429e-02,
 -2.00600480e-02, 3.87676056e-01, 1.99193219e-01, 5.39568547e-02,
  3.13921377e-06,-1.10419579e-03,-2.62287004e-04,-1.21349531e-03,
  7.54074746e-02, 1.95852319e-02, 1.91131514e-02, 2.45787340e-05,
 -5.57857087e-03, 4.39034544e-03,-9.81055115e+00,-6.45036215e-02,
 -9.14011467e-03,-5.51083856e-03]


--- Step 2411 ---
qpos:
[ 0.0013087 , 0.21528731,-0.10328808, 0.54868052,-0.01302117, 0.03820384,
 -0.20867136, 0.45876848, 0.01464478, 0.95706047,-0.02150984, 0.89405027,
  0.85857392,-0.00827931, 1.18626075, 0.0459146 , 0.09130008,-0.06548834,
  0.14249244, 0.93970735,-0.03198586, 0.03080809, 0.33908385]

qacc:
[-2.06107558e+01, 2.43900476e+00,-2.88964718e+01, 9.78865347e+01,
  2.94476955e+01,-5.48296415e+00, 7.77509733e+01,-1.10362818e+02,
  1.59554460e-01,-3.94936440e+01, 1.66884031e+02,-3.90751839e+02,
  1.51437637e+02,-1.08887670e+01, 4.90026915e+01, 2.84101204e+00,
 -2.24236928e+00,-1.54957037e+00,-2.30404800e+00,-5.47836966e+01,
 -4.34757424e+01,-5.99665765e+01]

qfrc_actuator:
[-0.01001029, 0.15952481, 0.08230375, 0.11194572, 0.00626162, 0.39718031,
  0.18844964, 0.09540508,-0.00239639, 0.11863807, 0.00875267, 0.06229844,
  0.04549699, 0.01222062, 0.        ,-0.00194743, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.22467231,  0.21743753, -0.05655586,  0.21743753,  0.22209482,
       -0.00990954, -0.05655586, -0.00990954,  0.18657359,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024965754061037095
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69945641, -0.71369019,  0.03751061,  0.02625551,  0.02678981,
        0.99929623, -0.71419282,  0.69994901,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09811212, -0.03362444,  0.12224324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003004468768221349
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75628002e-01, -2.09326680e-01,  6.58205357e-02, -2.08851925e-01,
        9.77845766e-01,  1.40901507e-02, -6.73117766e-02,  1.73472348e-18,
       -9.97731990e-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([ 0.12532703, -0.08239403,  0.1140222 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.44650598, -9.35316868, -4.65271134, -9.35316868, 10.93197341,
       -0.9759167 , -4.65271134, -0.9759167 , 12.40835422,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000446579915164641
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24302839e-13, -1.24302839e-13,  1.00000000e+00,  1.54511957e-26,
        1.00000000e+00,  1.24302839e-13, -1.00000000e+00,  0.00000000e+00,
        1.24302839e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12737434, -0.08934076,  0.06198997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.77042855e-02, 1.32690472e-01, 8.21968497e-02, 5.14760067e-02,
 -2.25935996e-02, 3.87010952e-01, 1.98843848e-01, 5.36250148e-02,
  3.37934362e-05,-7.59859116e-04,-2.75384396e-04,-1.09170876e-03,
  4.43403288e-02, 2.34315583e-02, 8.55720172e-03, 2.43020817e-03,
 -5.12032545e-03, 4.42051507e-03,-9.81063034e+00,-6.44919582e-02,
 -8.96130703e-03,-5.52345943e-03]


--- Step 2412 ---
qpos:
[ 0.00183495, 0.21566666,-0.10333058, 0.54987339,-0.01243795, 0.03848194,
 -0.20881783, 0.45959311, 0.01464901, 0.95884843,-0.02152697, 0.89523311,
  0.85916064,-0.00823388, 1.18639697, 0.04590021, 0.09119954,-0.06547485,
  0.14247292, 0.93942114,-0.03218409, 0.03063298, 0.33987309]

qacc:
[-1.77451892e+01, 7.85693458e-01,-2.67857630e+01, 1.06433663e+02,
  2.18540625e+01,-2.83255476e+00, 8.02915816e+01,-1.16602560e+02,
  2.50622026e-01,-3.25396829e+01, 1.51082567e+02,-3.78637290e+02,
  7.60179373e+01, 3.48068731e+01, 2.51223478e+01,-4.14611411e+00,
 -2.51164662e+00,-1.21882880e+00,-2.16699926e+00,-4.82291042e+01,
 -4.34627376e+01,-5.27434620e+01]

qfrc_actuator:
[-0.01055968, 0.15920264, 0.08230919, 0.1122071 , 0.00568789, 0.39709016,
  0.18861493, 0.09493612,-0.00236274, 0.11897633, 0.00880538, 0.06128655,
  0.04546142, 0.01228042, 0.        ,-0.00199709, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21933775,  0.2122067 , -0.055474  ,  0.2122067 ,  0.21636203,
       -0.01138311, -0.055474  , -0.01138311,  0.17579352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020422781768981394
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69852994, -0.71463134,  0.03685049,  0.02575867,  0.02635242,
        0.99932079, -0.71511706,  0.69900472,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09804401, -0.03363199,  0.12227039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.30122004,  0.32303749,  0.30122004,  2.75403072,
       -2.15617232,  0.32303749, -2.15617232,  2.45223402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002976576654155925
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75404436e-01, -2.10399112e-01,  6.57145305e-02, -2.09923238e-01,
        9.77615576e-01,  1.41428586e-02, -6.72191934e-02,  1.73472348e-18,
       -9.97738232e-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([ 0.12528994, -0.08240419,  0.11402835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.47368067,  9.4675892 ,  4.47914518,  9.4675892 , 11.62640215,
       -2.43651254,  4.47914518, -2.43651254, 15.62374813,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044871466951891537
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.2371147e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.2371147e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12733765, -0.08926808,  0.06198992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.78713535e-02, 1.32480818e-01, 8.21546988e-02, 5.14975661e-02,
 -2.33427184e-02, 3.85275472e-01, 1.98060319e-01, 5.31359992e-02,
  5.40855496e-05,-2.05143096e-04,-1.69741031e-04,-1.06722551e-03,
  2.88535252e-02, 1.69541017e-02, 4.13293189e-03, 1.14545054e-03,
 -3.94329263e-03, 4.42110309e-03,-9.81008711e+00,-6.47685738e-02,
 -8.63989698e-03,-5.52886221e-03]


--- Step 2413 ---
qpos:
[ 0.00237413, 0.21605055,-0.10336554, 0.55107327,-0.01182419, 0.03874642,
 -0.20895972, 0.46041783, 0.01465337, 0.960638  ,-0.02154569, 0.89639479,
  0.85987503,-0.00811343, 1.18655291, 0.04589129, 0.09109582,-0.06545311,
  0.14245431, 0.93914764,-0.03242377, 0.03044156, 0.34062254]

qacc:
[ 3.46389148e+01,-2.39970159e+00,-7.59120221e+00, 1.01351814e+02,
  2.56548953e+02,-2.85074435e+01, 7.25993743e+01,-5.72731413e+01,
  6.41499203e-02,-3.06058835e+01, 1.49203659e+02,-3.84462199e+02,
  4.87042869e+01, 2.64959880e+01, 1.10338238e+01, 2.78787988e-01,
 -7.97631621e-01, 2.06558557e+00, 2.24957617e-01,-2.14238418e+01,
 -1.70187583e-01,-2.17476752e+01]

qfrc_actuator:
[-0.01109583, 0.15887728, 0.0823285 , 0.11245159, 0.00509104, 0.39697205,
  0.18881304, 0.0945198 ,-0.00238006, 0.11924552, 0.00879154, 0.0602364 ,
  0.04540851, 0.01221453, 0.        ,-0.0020101 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21495941,  0.20689957, -0.05831051,  0.20689957,  0.21374388,
       -0.00431299, -0.05831051, -0.00431299,  0.19965588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001552261162410981
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.97764070e-01, -7.15423419e-01,  3.59810163e-02,  2.51225279e-02,
        2.57583409e-02,  9.99352474e-01, -7.15886975e-01,  6.98216183e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09797333, -0.03363884,  0.12229514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0032993845795281766
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97661448, -0.20487833,  0.06518456, -0.20442348,  0.97878745,
        0.01364433, -0.06659726,  0.        , -0.99777994])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12523044, -0.08234064,  0.11402999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.56256801,  9.50090438,  4.61526368,  9.50090438, 13.27969417,
       -5.59343033,  4.61526368, -5.59343033, 22.07710983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004555580943850085
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21853068e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.21853068e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08399151, -0.11053815,  0.06198977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.80774192e-02, 1.32299149e-01, 8.20877539e-02, 5.14661354e-02,
 -2.40699043e-02, 3.83163995e-01, 1.97179963e-01, 5.26860199e-02,
  1.37288464e-05, 5.47269881e-05,-1.14267809e-04,-1.08447468e-03,
  1.91348368e-02, 1.14033118e-02, 2.03501495e-03, 5.68669768e-04,
 -3.30059713e-03, 4.43622806e-03,-9.80940232e+00,-6.50022555e-02,
 -8.43915875e-03,-5.51976421e-03]


--- Step 2414 ---
qpos:
[ 0.00292409, 0.21644238,-0.10339204, 0.55227932,-0.01118122, 0.03899938,
 -0.209096  , 0.46124322, 0.01465754, 0.96242852,-0.02156542, 0.89753525,
  0.86067411,-0.00794331, 1.18671817, 0.04588698, 0.09098917,-0.06542384,
  0.14243603, 0.93888875,-0.03270633, 0.03023085, 0.34132728]

qacc:
[ 2.88196964e+01,-1.88395854e+00,-4.17942373e-01, 7.87386666e+01,
  2.45426690e+02,-2.75769754e+01, 7.10857762e+01,-4.95856850e+01,
 -8.93063062e-02,-3.31393044e+01, 1.56506477e+02,-3.91082189e+02,
  3.26281872e+01, 1.71031924e+01,-1.25869814e+00, 2.20237829e+01,
 -7.32306790e-01, 1.88101132e+00, 8.17534230e-02,-2.25082211e+01,
 -1.24960260e+00,-2.44431633e+01]

qfrc_actuator:
[-0.01167646, 0.15852577, 0.08234955, 0.11266445, 0.00448686, 0.39685682,
  0.18900366, 0.09418859,-0.00241003, 0.11929383, 0.00873841, 0.05917209,
  0.04533351, 0.01211731, 0.        ,-0.00191111, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21216332,  0.20329344, -0.06070463,  0.20329344,  0.21149331,
       -0.00224382, -0.06070463, -0.00224382,  0.20464901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011182054764793005
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.697019  , -0.71618787,  0.03520591,  0.02455441,  0.02522969,
        0.99938008, -0.71663212,  0.69745136,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09790271, -0.03364353,  0.12232147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.25901512,  0.35776794, -0.25901512,  2.91098906,
        1.78771405,  0.35776794,  1.78771405,  1.73594691,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003298427596247285
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77763981e-01, -1.99059186e-01,  6.59775593e-02, -1.98607542e-01,
        9.79987470e-01,  1.34016400e-02, -6.73249009e-02,  1.73472348e-18,
       -9.97731105e-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([ 0.12517146, -0.08227387,  0.11404652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.67901319,  -8.02572899,  -7.04478508,  -8.02572899,
        47.0293039 , -41.41184985,  -7.04478508, -41.41184985,
        57.85721382,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004642159250049238
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.19580454e-13, -1.19580454e-13,  1.00000000e+00,  1.42994851e-26,
        1.00000000e+00,  1.19580454e-13, -1.00000000e+00,  0.00000000e+00,
        1.19580454e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0839979 , -0.1105466 ,  0.06198957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.93062098e-02, 1.31703893e-01, 8.17254058e-02, 5.13251148e-02,
 -2.62009821e-02, 3.83720243e-01, 1.97138306e-01, 5.23483374e-02,
 -1.98713846e-05,-1.17602794e-05,-9.65508175e-05,-1.08929460e-03,
  1.26792667e-02, 7.55593149e-03, 1.03448516e-03, 3.90387141e-04,
 -2.95319363e-03, 4.33582594e-03,-9.80930788e+00,-6.50203571e-02,
 -8.37357769e-03,-5.51459747e-03]


--- Step 2415 ---
qpos:
[ 0.00348708, 0.21683066,-0.10342043, 0.55349099,-0.01051056, 0.03924312,
 -0.20922575, 0.46206982, 0.01466162, 0.9642207 ,-0.02158558, 0.89865367,
  0.86152945,-0.00774125, 1.18688861, 0.04588152, 0.09087978,-0.06538772,
  0.14241761, 0.9386462 ,-0.03303261, 0.02999796, 0.34198288]

qacc:
[ 3.46602526e+01, 9.74969346e+00,-5.85876461e+01, 1.40963456e+02,
  2.32686881e+02,-2.61857877e+01, 6.84461370e+01,-4.13755763e+01,
 -4.02131270e-02,-3.52215223e+01, 1.66168292e+02,-4.09653688e+02,
  2.21669948e+01, 1.00701510e+01, 1.03960073e+01,-2.69135917e+01,
 -6.83979470e-01, 1.71412037e+00,-3.28129076e-02,-2.32923146e+01,
 -2.39697952e+00,-2.68856733e+01]

qfrc_actuator:
[-0.01223354, 0.15810012, 0.0824387 , 0.11338896, 0.00386739, 0.39671116,
  0.18909818, 0.09396112,-0.00241181, 0.11947591, 0.00875055, 0.0580723 ,
  0.04526049, 0.01197888, 0.        ,-0.00204804, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21051029,  0.20114848, -0.06207955,  0.20114848,  0.20861775,
       -0.00613217, -0.06207955, -0.00613217,  0.19064101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.430125363739167e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69629878, -0.71692124,  0.03452454,  0.02405373,  0.02476614,
        0.99940385, -0.71734888,  0.69671413,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09783174, -0.03364601,  0.12234951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.2488907 ,  0.36488375, -0.2488907 ,  3.1174947 ,
        1.82519462,  0.36488375,  1.82519462,  1.686669  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0032924901222240593
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78980356e-01, -1.93152999e-01,  6.54933719e-02, -1.92722211e-01,
        9.81168650e-01,  1.28930345e-02, -6.67503715e-02, -1.73472348e-18,
       -9.97769707e-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([ 0.12511192, -0.08220609,  0.11404882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.75704037,  -7.56357354,  -7.64893933,  -7.56357354,
        40.25475514, -29.16850632,  -7.64893933, -29.16850632,
        39.60001237,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046983343915250886
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.18150703e-13, -1.18150703e-13,  1.00000000e+00,  1.39595887e-26,
        1.00000000e+00,  1.18150703e-13, -1.00000000e+00,  0.00000000e+00,
        1.18150703e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08400283, -0.11055397,  0.06198944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.04043557e-02, 1.30864499e-01, 8.13847214e-02, 5.17385932e-02,
 -2.82810544e-02, 3.84141154e-01, 1.96949244e-01, 5.20855761e-02,
 -9.19457084e-06, 8.86484328e-05,-4.24299555e-05,-1.12641944e-03,
  8.37477816e-03, 4.93340277e-03, 5.56600665e-04, 1.97187186e-05,
 -2.63372474e-03, 4.23442645e-03,-9.80916411e+00,-6.50471704e-02,
 -8.32134023e-03,-5.51002597e-03]


--- Step 2416 ---
qpos:
[ 0.00406558, 0.21720037,-0.10346167, 0.55470819,-0.00981417, 0.03947935,
 -0.20934826, 0.46289821, 0.01466549, 0.96601487,-0.02160592, 0.89975157,
  0.8624221 ,-0.00751947, 1.18706173, 0.04587382, 0.09076785,-0.06534539,
  0.14239872, 0.93842229,-0.03340301, 0.0297394 , 0.34258343]

qacc:
[ 4.11547895e+01, 1.90731076e+01,-1.16566124e+02, 2.12549166e+02,
  2.16127348e+02,-2.49315042e+01, 6.50690871e+01,-3.12871884e+01,
 -9.98816616e-02,-3.27412130e+01, 1.55168180e+02,-3.81858818e+02,
  1.56666787e+01, 4.51493781e+00, 1.01347579e+01,-3.10523718e+01,
 -6.36164540e-01, 1.55074774e+00,-1.18437386e-01,-2.39680826e+01,
 -3.87754371e+00,-3.01077675e+01]

qfrc_actuator:
[-0.01278305, 0.15769155, 0.0825047 , 0.11445403, 0.00319308, 0.39662056,
  0.18920286, 0.09390157,-0.00243221, 0.11964841, 0.00876614, 0.05704929,
  0.04518817, 0.01179583, 0.        ,-0.00219833, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.2096135 ,  0.19989616, -0.06308205,  0.19989616,  0.20646229,
       -0.00998566, -0.06308205, -0.00998566,  0.17797067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.1118597140302065e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69560205, -0.71762664,  0.03390859,  0.02360045,  0.02434771,
        0.99942494, -0.71803956,  0.69600229,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09776201, -0.03364658,  0.12237831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.24184576,  0.3695908 , -0.24184576,  3.27012777,
        1.85082153,  0.3695908 ,  1.85082153,  1.65279146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0032872783351958184
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97896233, -0.19352009,  0.0646741 , -0.19309916,  0.98109631,
        0.01275689, -0.06592023,  0.        , -0.9978249 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12506621, -0.08220847,  0.11404742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.8005782 ,  -6.75902378,  -8.42425588,  -6.75902378,
        56.91566712, -36.99946764,  -8.42425588, -36.99946764,
        40.48631964,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004729067790876368
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17382862e-13, -1.76074293e-13,  1.00000000e+00, -2.06681045e-26,
        1.00000000e+00,  1.76074293e-13, -1.00000000e+00,  0.00000000e+00,
       -1.17382862e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08400662, -0.11056057,  0.06198937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.16065443e-02, 1.30616711e-01, 8.15390996e-02, 5.25197543e-02,
 -3.03400934e-02, 3.84502381e-01, 1.96724251e-01, 5.19633336e-02,
 -2.22540538e-05, 1.44246666e-04,-1.40916799e-05,-1.04575453e-03,
  5.49223800e-03, 3.15098798e-03, 2.86821274e-04,-7.55065328e-05,
 -2.36132923e-03, 4.13452683e-03,-9.80896909e+00,-6.50823431e-02,
 -8.28694811e-03,-5.50570517e-03]


--- Step 2417 ---
qpos:
[ 0.00465855, 0.21754589,-0.10351658, 0.55593097,-0.00909453, 0.03971176,
 -0.20946212, 0.46372913, 0.01466932, 0.96780831,-0.02162525, 0.90082923,
  0.86333934,-0.00728622, 1.18723608, 0.04586472, 0.09065357,-0.06529744,
  0.14237907, 0.93821951,-0.03381783, 0.02945168, 0.34312259]

qacc:
[ 3.83092952e+01, 1.41680290e+01,-1.09987991e+02, 2.12443786e+02,
  1.95483845e+02,-2.27710351e+01, 6.16631639e+01,-2.11306706e+01,
 -1.76743525e-02,-3.91162753e+01, 1.71014814e+02,-3.90696566e+02,
  1.13963178e+01, 6.50779331e-01, 5.57166766e+00,-1.79409925e+01,
 -5.86728198e-01, 1.40642677e+00,-1.89225774e-01,-2.45713426e+01,
 -5.35632237e+00,-3.35704374e+01]

qfrc_actuator:
[-0.01333571, 0.15730967, 0.08251523, 0.11536626, 0.002459  , 0.39658274,
  0.18929259, 0.09385296,-0.00242812, 0.11947686, 0.008766  , 0.05602639,
  0.04511596, 0.01158547, 0.        ,-0.00228408, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20924541,  0.19903982, -0.06455068,  0.19903982,  0.20604255,
       -0.00987589, -0.06455068, -0.00987589,  0.17879344,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0495237735493476e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6949909 , -0.71824589,  0.033324  ,  0.02317274,  0.02394812,
        0.9994446 , -0.71864503,  0.69537711,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09769471, -0.03364482,  0.12240675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.23066399,  0.37667075, -0.23066399,  3.43075375,
        1.83043207,  0.37667075,  1.83043207,  1.56259821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003234246713992338
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78790479e-01, -1.94697352e-01,  6.37349194e-02, -1.94285892e-01,
        9.80863365e-01,  1.26511199e-02, -6.49783871e-02, -1.73472348e-18,
       -9.97886672e-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([ 0.12502208, -0.08221987,  0.11404473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.81435415,  -5.50346143,  -9.30925174,  -5.50346143,
        82.87461593, -42.60072479,  -9.30925174, -42.60072479,
        35.99913294,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004738703441220099
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.17144177e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.17144177e-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([ 0.0840095 , -0.11056661,  0.06198935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.29360437e-02, 1.31146704e-01, 8.21851223e-02, 5.31531783e-02,
 -3.23602486e-02, 3.84831492e-01, 1.96449389e-01, 5.18229454e-02,
 -4.58227199e-06,-1.60805029e-04,-1.31877284e-05,-1.04123364e-03,
  3.55633743e-03, 1.95231099e-03, 1.44889078e-04,-5.11100817e-05,
 -2.14662854e-03, 4.02567430e-03,-9.80871750e+00,-6.51254896e-02,
 -8.27662140e-03,-5.50109664e-03]


--- Step 2418 ---
qpos:
[ 0.00444976, 0.21868074,-0.10268239, 0.55804553,-0.00845035, 0.03994633,
 -0.20955778, 0.46457053, 0.01467333, 0.96960197,-0.02164449, 0.90188555,
  0.86427249,-0.0070467 , 1.18741064, 0.04585782, 0.09055217,-0.06526569,
  0.14236943, 0.93816489,-0.03427598, 0.02921965, 0.34324629]

qacc:
[-2.11370858e+03, 1.59843153e+02,-2.14233002e+03, 1.37964143e+04,
 -6.32655888e+02,-2.59585201e+01, 5.61912230e+01, 9.12411204e+01,
  8.97393609e-02,-3.72489943e+01, 1.68740830e+02,-4.02106657e+02,
  8.39563057e+00,-1.62613492e+00,-6.80096013e+00, 2.33089021e+01,
  3.21770862e+00,-4.05072339e+00, 2.50249117e+00,-2.14921942e+00,
  3.83968593e+01,-2.20012352e+02]

qfrc_actuator:
[-0.01391318, 0.15688582, 0.08255173, 0.11607796, 0.00169898, 0.39655813,
  0.18936902, 0.09375619,-0.00240942, 0.11956238, 0.00879079, 0.05495822,
  0.04503828, 0.01137681, 0.        ,-0.00217127, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.2170217 , -0.38469249,  0.2170217 ,  1.27370081,
        0.46937548, -0.38469249,  0.46937548,  0.70648128,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003182161092134129
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78646500e-01, -1.95756421e-01,  6.26933230e-02, -1.95355976e-01,
        9.80652550e-01,  1.25147490e-02, -6.39302096e-02,  1.73472348e-18,
       -9.97954372e-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([ 0.12497705, -0.08222988,  0.11404096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.08389488,  6.40706235, -9.04446116,  6.40706235, 31.45623579,
       14.43168986, -9.04446116, 14.43168986, 21.30724982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004919158129069179
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.12846853e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.12846853e-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([ 0.04879593, -0.06395629,  0.06198894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.42379918e-02, 1.31916675e-01, 8.28998973e-02, 5.35823023e-02,
 -3.42834229e-02, 3.84988694e-01, 1.96089632e-01, 5.15976419e-02,
  1.92108249e-05,-7.21862272e-05,-4.79215073e-05,-1.09581764e-03,
  2.25102140e-03, 1.16659419e-03, 7.59461131e-05, 1.30109617e-04,
 -2.00690204e-03, 3.90486584e-03,-9.80840885e+00,-6.51746122e-02,
 -8.29574356e-03,-5.49567677e-03]


--- Step 2419 ---
qpos:
[ 0.00418913, 0.21985362,-0.1019832 , 0.56011701,-0.00788588, 0.0401864 ,
 -0.2096351 , 0.46542214, 0.01467721, 0.97140057,-0.021665  , 0.90292052,
  0.8652158 ,-0.00680486, 1.18758495, 0.04585641, 0.09046187,-0.06524793,
  0.14236792, 0.9382336 ,-0.0347679 , 0.02903869, 0.34302429]

qacc:
[-1.36985829e+02, 3.34898503e+02,-9.29213943e+02, 2.93292545e+02,
 -6.68157341e+02,-2.24344582e+01, 5.12167470e+01, 8.87940453e+01,
 -5.90626839e-02,-2.73587392e+01, 1.43824711e+02,-3.83050015e+02,
  6.81492692e+00,-3.94910616e+00,-1.73479222e+01, 5.92654771e+01,
  2.77747364e+00,-3.49880258e+00, 2.03061708e+00, 9.20163145e-02,
  3.38768481e+01,-1.82948334e+02]

qfrc_actuator:
[-0.01371284, 0.15570399, 0.08172423, 0.11560342, 0.00104833, 0.39653701,
  0.18949548, 0.09360382,-0.00243541, 0.12015653, 0.0088488 , 0.0539076 ,
  0.0449519 , 0.0111343 , 0.        ,-0.00188912, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21164319, -0.17491614, -0.11915193, -0.17491614,  0.313188  ,
       -0.14906872, -0.11915193, -0.14906872,  0.43047744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001015733179983654
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69331931, -0.71980257,  0.0345338 ,  0.02395724,  0.02487235,
        0.99940353, -0.72023217,  0.6937331 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09744565, -0.03363736,  0.1225491 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.21178076, -0.38760243, -0.21178076,  1.77128355,
       -0.72647411, -0.38760243, -0.72647411,  0.83862194,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003147154204001123
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97866863, -0.19599119,  0.06160491, -0.19560404,  0.98060566,
        0.01231282, -0.06282332,  0.        , -0.99802466])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12492537, -0.08223154,  0.11403702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.75869655,  7.76084841, -8.83380871,  7.76084841, 22.53587424,
        9.4681745 , -8.83380871,  9.4681745 , 20.07686025,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005334811363340436
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.04054572e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.04054572e-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([ 0.04877069, -0.06399214,  0.06198801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.93465962e-03, 9.12372504e-02, 3.76013674e-02, 8.50586514e-03,
 -3.11604757e-02, 3.84850674e-01, 1.95302564e-01, 5.09195416e-02,
 -1.30472134e-05, 4.77084911e-04,-2.86231223e-06,-1.07781933e-03,
  1.37194849e-03, 6.07678636e-04, 5.94130227e-05, 3.00219989e-04,
 -1.04917813e-03, 1.64682365e-03,-9.80844825e+00,-6.50275992e-02,
 -9.01954195e-03,-5.51206991e-03]


--- Step 2420 ---
qpos:
[ 0.00387504, 0.22088781,-0.10138213, 0.56215983,-0.00740643, 0.04043595,
 -0.20969412, 0.46628333, 0.01468072, 0.97320583,-0.02168549, 0.90393567,
  0.8661656 ,-0.0065635 , 1.18776006, 0.0458534 , 0.09038178,-0.06524242,
  0.14237269, 0.93840786,-0.03528807, 0.02890956, 0.34250501]

qacc:
[-1.38863864e+02, 3.25647665e+01,-2.59425421e+02,-2.98973754e+00,
 -7.12935152e+02,-1.82493760e+01, 4.66031667e+01, 7.95727427e+01,
 -1.75172164e-01,-2.59602172e+01, 1.38598035e+02,-3.61219085e+02,
  5.30983764e+00,-4.98584268e+00, 5.64711167e+00,-1.88305196e+01,
  2.55202913e+00,-3.06177900e+00, 1.57115210e+00, 1.78631739e+00,
  3.27950313e+01,-1.57069108e+02]

qfrc_actuator:
[-0.01343953, 0.15453842, 0.08102907, 0.11501303, 0.00051548, 0.39647826,
  0.18957353, 0.09353843,-0.00247024, 0.120696  , 0.00892809, 0.05292931,
  0.04488154, 0.01087291, 0.        ,-0.00198885, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.22178283, -0.12377744,  0.18402926, -0.12377744,  1.33812996,
        0.7508512 ,  0.18402926,  0.7508512 ,  0.72680274,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022643212220968081
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69260772, -0.72039039,  0.03649991,  0.02529697,  0.02631171,
        0.99933366, -0.72087073,  0.69306954,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09726208, -0.03362892,  0.12266369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.38928853,  0.20866521,  0.38928853,  0.7969074 ,
       -0.66270523,  0.20866521, -0.66270523,  1.67803775,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0031265426247262533
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97882951, -0.19553177,  0.06049898, -0.19515935,  0.98069737,
        0.01206231, -0.06168976,  0.        , -0.99809537])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12486763, -0.08222618,  0.11403319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.28467338, -8.86235335,  8.50716717, -8.86235335, 29.30833179,
       17.73442005,  8.50716717, 17.73442005, 30.75953038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005652233519650579
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82110011e-14, -9.82110011e-14,  1.00000000e+00, -9.64540073e-27,
        1.00000000e+00,  9.82110011e-14, -1.00000000e+00,  0.00000000e+00,
       -9.82110011e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04875002, -0.06402046,  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:
[-1.07138896e-03, 8.81169521e-02, 4.36316335e-02, 1.00631407e-02,
 -2.77083528e-02, 3.84507284e-01, 1.94460200e-01, 5.03410650e-02,
 -3.87027750e-05, 7.35992392e-04, 1.32050534e-04,-9.86750297e-04,
  7.95276362e-04, 2.26858409e-04, 6.62107825e-05,-7.49029159e-05,
 -1.97932874e-03, 1.18595188e-03,-9.80817449e+00,-6.50717479e-02,
 -9.63959961e-03,-5.53791042e-03]


--- Step 2421 ---
qpos:
[ 0.00355978, 0.22175153,-0.10087286, 0.56416895,-0.0070163 , 0.04069712,
 -0.20973554, 0.46715318, 0.01468403, 0.97501753,-0.02170548, 0.90493294,
  0.86711912,-0.00632385, 1.18793529, 0.04585065, 0.09031122,-0.06524765,
  0.14238212, 0.9386722 ,-0.03583122, 0.0288326 , 0.34172987]

qacc:
[-2.97542241e+00,-3.39717974e+01,-7.22977961e+01,-2.29226884e+02,
 -7.48893856e+02,-1.51005447e+01, 4.32182274e+01, 6.70989287e+01,
 -9.76584976e-02,-2.40852454e+01, 1.27833744e+02,-3.28459669e+02,
  4.11329979e+00,-5.13101071e+00,-9.00061314e-01, 2.72476008e+00,
  2.38247452e+00,-2.68379294e+00, 1.16526855e+00, 3.43964288e+00,
  3.16243654e+01,-1.34884877e+02]

qfrc_actuator:
[-1.31178205e-02, 1.53544123e-01, 8.04126525e-02, 1.14249415e-01,
  3.72562429e-05, 3.96337507e-01, 1.89650738e-01, 9.33797641e-02,
 -2.47456849e-03, 1.21056941e-01, 8.96608791e-03, 5.20369312e-02,
  4.48047763e-02, 1.06375730e-02, 0.00000000e+00,-1.97551275e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.24029402, -0.13395175,  0.19949472, -0.13395175,  0.19915073,
       -0.02762587,  0.19949472, -0.02762587,  0.22174448,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003433810415208795
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69236897, -0.72051811,  0.03845609,  0.02664552,  0.02772882,
        0.99926029, -0.72105148,  0.6928815 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09709357, -0.03361838,  0.12277092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.38876486,  0.20963924,  0.38876486,  0.85940911,
       -0.77464492,  0.20963924, -0.77464492,  1.87822418,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0031207926684513687
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79107909e-01, -1.94468683e-01,  5.94107211e-02, -1.94111665e-01,
        9.80908727e-01,  1.17783892e-02, -6.05670226e-02, -1.73472348e-18,
       -9.98164133e-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([ 0.12480416, -0.08221471,  0.11402984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.67443855, -9.22209536,  8.69450112, -9.22209536, 37.14740234,
       25.95801676,  8.69450112, 25.95801676, 40.20762331,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005885881410257893
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.43123848e-14, -1.88624770e-13,  1.00000000e+00, -1.77896518e-26,
        1.00000000e+00,  1.88624770e-13, -1.00000000e+00,  0.00000000e+00,
       -9.43123848e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04873272, -0.06404292,  0.06198678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92058388e-03, 9.40094504e-02, 4.78982570e-02, 1.07267272e-02,
 -2.39350049e-02, 3.83882587e-01, 1.93618519e-01, 4.97013239e-02,
 -2.16261891e-05, 7.30199671e-04, 1.59820190e-04,-8.86745176e-04,
  3.95908527e-04, 1.19099686e-05, 2.12691235e-05, 1.69723480e-05,
 -4.02312531e-03, 1.86571539e-03,-9.80768771e+00,-6.52486657e-02,
 -1.01714682e-02,-5.57264533e-03]


--- Step 2422 ---
qpos:
[ 0.00324868, 0.22244334,-0.10045062, 0.56614547,-0.00671773, 0.04097199,
 -0.20976009, 0.4680306 , 0.01468756, 0.97683526,-0.02172518, 0.90591356,
  0.86807454,-0.00608708, 1.18811012, 0.04585178, 0.09024972,-0.06526203,
  0.14239476, 0.9390115 ,-0.0363916 , 0.02880751, 0.34073916]

qacc:
[ 1.06647189e+01,-4.66436541e+01,-3.55420233e+01,-2.48907636e+02,
 -7.67827484e+02,-1.22852082e+01, 4.14908144e+01, 5.05789528e+01,
  1.05058546e-01,-2.19566543e+01, 1.17492802e+02,-3.04418916e+02,
  3.76710459e+00,-6.02365864e+00,-1.26462417e+01, 4.26684379e+01,
  2.26495051e+00,-2.28935498e+00, 8.02984017e-01, 5.22364935e+00,
  3.00718469e+01,-1.13307298e+02]

qfrc_actuator:
[-1.27802487e-02, 1.52722088e-01, 7.98941820e-02, 1.13487147e-01,
 -3.52142098e-04, 3.96248135e-01, 1.89738586e-01, 9.28604174e-02,
 -2.44285921e-03, 1.21361584e-01, 8.97883455e-03, 5.12020831e-02,
  4.47135415e-02, 1.03837773e-02, 0.00000000e+00,-1.77128507e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26765451, -0.14899031,  0.22235292, -0.14899031,  0.20601977,
       -0.04129912,  0.22235292, -0.04129912,  0.23998152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004481905804018338
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69258201, -0.72021056,  0.04033507,  0.02795809,  0.0290734 ,
        0.99918621, -0.72079713,  0.69314608,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09694266, -0.03360526,  0.12286904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.38849688,  0.21013545,  0.38849688,  0.91758855,
       -0.87984471,  0.21013545, -0.87984471,  2.0683367 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030848401969511057
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79223891e-01, -1.94204032e-01,  5.83555137e-02, -1.93860099e-01,
        9.80961158e-01,  1.15528285e-02, -5.94880982e-02,  1.73472348e-18,
       -9.98229015e-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([ 0.1247385 , -0.0822128 ,  0.11402711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.94639673, -9.54392476,  8.74772476, -9.54392476, 52.45638912,
       43.10611103,  8.74772476, 43.10611103, 59.97593775,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006048755145561246
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.17728523e-14, -9.17728523e-14,  1.00000000e+00, -8.42225641e-27,
        1.00000000e+00,  9.17728523e-14, -1.00000000e+00,  0.00000000e+00,
       -9.17728523e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04871791, -0.06406081,  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:
[ 2.31054421e-03, 1.01669120e-01, 5.19501108e-02, 1.16456173e-02,
 -1.98587233e-02, 3.83201783e-01, 1.92822537e-01, 4.87467129e-02,
  2.33485766e-05, 6.79280378e-04, 1.39611491e-04,-8.26286434e-04,
  1.21019471e-04,-1.60105667e-04, 1.05479645e-05, 2.07363512e-04,
 -6.69841979e-03, 3.29048742e-03,-9.80704785e+00,-6.55244424e-02,
 -1.06141685e-02,-5.61510868e-03]


--- Step 2423 ---
qpos:
[ 0.00294492, 0.22297554,-0.10010533, 0.56809304,-0.00650965, 0.04126314,
 -0.20976782, 0.46891513, 0.0146914 , 0.97865607,-0.02174358, 0.90687542,
  0.86878275,-0.00594996, 1.18828391, 0.04585489, 0.0901949 ,-0.06528703,
  0.14241041, 0.93940303,-0.03693673, 0.02880842, 0.33959932]

qacc:
[ 1.87320989e+01,-5.13612795e+01,-1.00840465e+01,-2.35605242e+02,
 -7.58732935e+02,-9.58628836e+00, 3.85907425e+01, 4.39601345e+01,
  1.48756306e-01,-3.22105636e+01, 1.50865299e+02,-3.56872360e+02,
 -1.26821009e+02, 1.90346772e+01,-1.21886045e+00, 1.61117036e+01,
  1.67187578e+00,-2.65227120e+00, 7.51323794e-01, 1.46900266e+01,
  1.15704831e+01,-7.82254227e+01]

qfrc_actuator:
[-0.01249126, 0.15207304, 0.07946642, 0.11266705,-0.00063251, 0.39621836,
  0.18973772, 0.09245959,-0.00242538, 0.12134624, 0.00897643, 0.0502479 ,
  0.04462963, 0.01012078, 0.        ,-0.0018113 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.30363139, -0.17069832,  0.25110576, -0.17069832,  0.21741826,
       -0.05860653,  0.25110576, -0.05860653,  0.26379146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005404656659230633
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.93108652e-01, -7.19536483e-01,  4.32162853e-02,  2.99815918e-02,
        3.11247725e-02,  9.99065740e-01, -7.20209345e-01,  6.93756801e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09681068, -0.03359035,  0.12297081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.3844722 ,  0.21741172,  0.3844722 ,  1.01804484,
       -1.01923602,  0.21741172, -1.01923602,  2.24410937,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030156813254427674
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97688235, -0.20635792,  0.05583257, -0.2060217 ,  0.97847658,
        0.01177493, -0.05706071,  0.        , -0.99837071])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12469664, -0.08235118,  0.11400808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.00689168,  0.97298856, -0.25908324,  0.97298856,  0.98894827,
       -0.06738659, -0.25908324, -0.06738659,  0.75382095,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.463575512849381e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.64628506, -0.75963747, -0.07257092, -0.04702549, -0.05527333,
        0.99736325, -0.76164573,  0.64799366,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10001657, -0.03647794,  0.30517905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([13.11939662, -9.79598634,  8.72681037, -9.79598634, 27.56721864,
       16.21791482,  8.72681037, 16.21791482, 31.32426933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006152507066165269
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.02252539e-14, -9.02252539e-14,  1.00000000e+00, -8.14059645e-27,
        1.00000000e+00,  9.02252539e-14, -1.00000000e+00,  0.00000000e+00,
       -9.02252539e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04870496, -0.06407512,  0.06198618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38675114e-03, 1.09580994e-01, 5.58567306e-02, 1.24509564e-02,
 -1.55607575e-02, 3.82475134e-01, 1.91972665e-01, 4.79648494e-02,
  3.27177623e-05, 3.29024560e-04, 1.13948618e-04,-9.46415933e-04,
 -5.60627873e-05,-2.81787759e-04, 2.63296173e-05,-2.76267465e-05,
 -9.59585131e-03, 5.13715125e-03,-9.80632075e+00,-6.58665010e-02,
 -1.09592270e-02,-5.66396715e-03]


--- Step 2424 ---
qpos:
[ 0.00263794, 0.22336565,-0.09983108, 0.57001571,-0.00639117, 0.04158454,
 -0.20975496, 0.4698067 , 0.01469534, 0.98047816,-0.02176093, 0.90781719,
  0.86930205,-0.00590671, 1.18846489, 0.04585954, 0.09014599,-0.06532121,
  0.14242824, 0.93983228,-0.03745949, 0.02882972, 0.33835029]

qacc:
[-8.10744655e+00,-3.74148454e+01,-4.00704417e+01,-1.66754230e+02,
 -7.51421308e+02,-1.69611293e+00, 3.71331634e+01, 2.93015034e+01,
  5.23841669e-02,-3.62162743e+01, 1.63923160e+02,-3.82695251e+02,
 -8.51968782e+01,-1.16316809e+01, 9.63814280e+00,-1.00578201e+01,
  1.47400020e+00,-2.29833594e+00, 5.45017960e-01, 1.62412251e+01,
  7.25075179e+00,-5.69843880e+01]

qfrc_actuator:
[-0.01221852, 0.15158426, 0.07915331, 0.11242522,-0.00084744, 0.39609202,
  0.18969471, 0.09251786,-0.00243436, 0.12129922, 0.00898158, 0.0492309 ,
  0.04455648, 0.00995016, 0.        ,-0.00162471, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.33669231, -0.18482271,  0.281429  , -0.18482271,  0.26077417,
       -0.04985768,  0.281429  , -0.04985768,  0.30394931,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006180973671915708
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.94050683e-01, -7.18530144e-01,  4.48116241e-02,  3.11328126e-02,
        3.22308801e-02,  9.98995455e-01, -7.19252666e-01,  6.94748589e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09669388, -0.03357443,  0.12304987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.36939612,  0.24214301,  0.36939612,  1.22213241,
       -1.19059307,  0.24214301, -1.19059307,  2.25797019,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002675274516967554
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75624042e-01, -2.12465957e-01,  5.49176171e-02, -2.12130152e-01,
        9.77168469e-01,  1.19407497e-02, -5.62007666e-02, -1.73472348e-18,
       -9.98419488e-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([ 0.12463793, -0.08242246,  0.1140074 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.03984208, -0.99073367,  0.31578212, -0.99073367,  1.47095964,
        1.35258668,  0.31578212,  1.35258668,  5.28344264,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019322749200431275
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.64574501, -0.76010582, -0.07247425, -0.04692328, -0.05523335,
        0.99737028, -0.76210995,  0.64744762,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09992563, -0.03639853,  0.30487848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.21015641, -10.00705142,   8.62363927, -10.00705142,
        30.84898173,  20.46846192,   8.62363927,  20.46846192,
        36.96218783,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006207027411408439
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.78865494e-13, -8.94327470e-14,  1.00000000e+00, -1.59964325e-26,
        1.00000000e+00,  8.94327470e-14, -1.00000000e+00,  0.00000000e+00,
       -1.78865494e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04869341, -0.06408661,  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:
[ 2.28805702e-03, 1.17045647e-01, 5.93764743e-02, 1.36522802e-02,
 -1.12516502e-02, 3.81522811e-01, 1.91084292e-01, 4.76652557e-02,
  1.11515419e-05, 9.46737265e-05, 4.61791858e-05,-1.02356657e-03,
  1.22299160e-02, 4.52460566e-03, 9.82803768e-05, 6.53211074e-05,
 -1.17287116e-02, 6.59513212e-03,-9.80607931e+00,-6.61016303e-02,
 -1.10967456e-02,-5.70467876e-03]


--- Step 2425 ---
qpos:
[ 0.00232036, 0.22366987,-0.09959771, 0.57192122,-0.00637124, 0.04208127,
 -0.20967496, 0.47070705, 0.01469946, 0.98229942,-0.02177723, 0.90874175,
  0.86981894,-0.00582299, 1.18872619, 0.04585027, 0.09008389,-0.06536454,
  0.14244607, 0.94033475,-0.03787652, 0.02887815, 0.33690054]

qacc:
[-2.66531221e+01,-3.16419761e+01, 1.34846976e+01,-1.67758386e+02,
 -8.27508535e+02, 6.64892189e+01, 6.09038482e+01,-1.28030964e+02,
  9.01016849e-02,-3.39760579e+01, 1.46921308e+02,-3.32212915e+02,
 -3.47975244e+01, 6.91812196e+01, 1.64118393e+02,-3.94404760e+02,
 -3.29459950e+00,-2.28564610e+00, 1.25499260e-03, 5.85387155e+01,
 -2.43412722e+00,-1.04681187e+02]

qfrc_actuator:
[-0.0119124 , 0.15125569, 0.07888063, 0.11259116,-0.00097002, 0.39590501,
  0.18970465, 0.0926713 ,-0.00242364, 0.12114498, 0.00899097, 0.04836256,
  0.04449878, 0.00988682, 0.        ,-0.00151554, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.36365686, -0.18841195,  0.31104219, -0.18841195,  0.29985267,
       -0.038649  ,  0.31104219, -0.038649  ,  0.34024545,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006824495373064545
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69525227, -0.71727835,  0.04621735,  0.03216709,  0.03318617,
        0.99893141, -0.71804565,  0.69599601,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09659193, -0.03355865,  0.12311994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.36195268, -0.25313433, -0.36195268,  0.81991175,
       -0.54081852, -0.25313433, -0.54081852,  1.21499386,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026860040288469974
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75885707e-01, -2.11523113e-01,  5.38986135e-02, -2.11201233e-01,
        9.77372996e-01,  1.16647406e-02, -5.51464116e-02, -1.73472348e-18,
       -9.98478279e-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([ 0.12455779, -0.0824146 ,  0.11400576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.09112073, -0.525131  ,  0.95644231, -0.525131  ,  0.5706729 ,
       -0.2857499 ,  0.95644231, -0.2857499 ,  0.93423084,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00028001617157916224
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.45348592e-01, -7.60443742e-01, -7.24604008e-02, -4.68854659e-02,
       -5.52472874e-02,  9.97371290e-01, -7.62447997e-01,  6.47049498e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09985815, -0.03632949,  0.30461609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([13.2973424 ,  8.66438567, 10.08700827,  8.66438567, 19.13635583,
       -5.01550737, 10.08700827, -5.01550737, 17.60548699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006259479283416136
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.86833373e-14, -8.86833373e-14,  1.00000000e+00, -7.86473431e-27,
        1.00000000e+00,  8.86833373e-14, -1.00000000e+00,  0.00000000e+00,
       -8.86833373e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0699191 , -0.04053781,  0.06198595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.75195807e-03, 1.23799322e-01, 6.26449761e-02, 1.50594628e-02,
 -6.89428615e-03, 3.79809825e-01, 1.90058490e-01, 4.74638237e-02,
  1.95031632e-05,-1.57940594e-04,-5.64769022e-06,-8.85916814e-04,
  2.16173571e-02, 9.15274035e-03,-2.51265708e-04, 9.99862516e-05,
 -1.33303963e-02, 7.82635643e-03,-9.80599921e+00,-6.62914526e-02,
 -1.11253581e-02,-5.74282032e-03]


--- Step 2426 ---
qpos:
[ 0.00199335, 0.22391232,-0.09939875, 0.57380859,-0.00645262, 0.04270124,
 -0.2095463 , 0.47161298, 0.01470376, 0.98411577,-0.02179206, 0.90964979,
  0.87027337,-0.00574624, 1.18907799, 0.04583265, 0.09001433,-0.06542076,
  0.14246429, 0.9408721 ,-0.03822622, 0.02896465, 0.33534981]

qacc:
[-2.37143114e+01,-1.90839238e+01, 1.63168837e+01,-2.07240608e+02,
 -8.50277616e+02, 4.27384484e+01, 5.97140023e+01,-1.17016887e+02,
  8.39782331e-02,-3.92626348e+01, 1.56187820e+02,-3.29509898e+02,
 -4.98928066e+01, 3.90510497e+01, 1.62330732e+02,-3.66229009e+02,
 -1.86758931e+00,-3.22147946e+00, 9.73290082e-02, 4.01867931e+01,
  7.96758230e+00,-5.16612707e+01]

qfrc_actuator:
[-0.01155983, 0.15100616, 0.07863044, 0.11257792,-0.00101016, 0.39559543,
  0.18967385, 0.09262873,-0.00241896, 0.12064399, 0.00896699, 0.04751756,
  0.044451  , 0.00980879, 0.        ,-0.00182854, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.38302815, -0.18759546,  0.33394386, -0.18759546,  0.25685828,
       -0.07087686,  0.33394386, -0.07087686,  0.34321254,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007313177179474345
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.96877790e-01, -7.15626235e-01,  4.73332691e-02,  3.30225172e-02,
        3.39109381e-02,  9.98879153e-01, -7.16429243e-01,  6.97659760e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.096494  , -0.03354218,  0.12318263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.4406516 ,  0.03021415, -0.4406516 ,  0.45098353,
        0.13559424,  0.03021415,  0.13559424,  2.41923017,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0027180791591689605
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76192530e-01, -2.10347471e-01,  5.29347324e-02, -2.10038896e-01,
        9.77626688e-01,  1.13895081e-02, -5.41461614e-02,  1.73472348e-18,
       -9.98533021e-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([ 0.12445121, -0.08240475,  0.1140058 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.14825544, -0.4119609 ,  1.07181098, -0.4119609 ,  0.50571837,
       -0.24696533,  1.07181098, -0.24696533,  1.05333193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003467436074494651
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.64495399, -0.76078361, -0.0724061 , -0.0468215 , -0.05523034,
        0.99737523, -0.76278575,  0.6466513 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09981279, -0.03629317,  0.30441721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.52527834, -13.52203662,   0.29610748, -13.52203662,
        13.52803096,   0.12570113,   0.29610748,   0.12570113,
        19.26554308,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006397085478119791
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.30163536e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.30163536e-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([ 0.05661586, -0.03807974,  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:
[ 3.63180442e-03, 1.27828094e-01, 6.44287911e-02, 1.59006987e-02,
 -2.00653243e-03, 3.70713292e-01, 1.86663287e-01, 4.69784070e-02,
  1.78212194e-05,-6.50290897e-04,-9.03846010e-05,-8.68721131e-04,
  2.16938123e-02, 7.05225763e-03,-4.27367982e-03, 4.81567932e-04,
 -1.59651995e-02, 1.02849912e-02,-9.80658740e+00,-6.64586593e-02,
 -1.08499073e-02,-5.76710141e-03]


--- Step 2427 ---
qpos:
[ 0.00166565, 0.22410259,-0.09922973, 0.57567857,-0.00663188, 0.04341687,
 -0.20937873, 0.47252272, 0.01470818, 0.98592392,-0.0218051 , 0.91054027,
  0.87066564,-0.00569518, 1.18948931, 0.04582015, 0.08993811,-0.0654884 ,
  0.14248285, 0.94143224,-0.03851292, 0.02906738, 0.33373219]

qacc:
[-1.74063377e+00,-1.72926120e+01, 2.45643570e+01,-2.14494881e+02,
 -8.21266901e+02, 2.99974139e+01, 5.98544022e+01,-1.12848535e+02,
  6.46014977e-02,-4.62442207e+01, 1.75994734e+02,-3.56990907e+02,
 -3.43179062e+01, 7.44451172e+00, 7.43183140e+01,-1.28177713e+02,
 -1.66404002e+00,-2.85729706e+00, 8.37609357e-02, 3.37619928e+01,
 -1.97818197e+00,-3.40675954e+01]

qfrc_actuator:
[-0.01121183, 0.15070776, 0.07840364, 0.11242949,-0.00095866, 0.39510551,
  0.18953919, 0.09250376,-0.00241798, 0.12002811, 0.00897541, 0.04662176,
  0.04440402, 0.00975321, 0.        ,-0.00184451, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.39527917, -0.18511488,  0.34925364, -0.18511488,  0.23464084,
       -0.08514312,  0.34925364, -0.08514312,  0.35015077,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007645406606476404
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.93898529e-01, -7.18503126e-01,  4.75193703e-02,  3.30109130e-02,
        3.41814303e-02,  9.98870317e-01, -7.19315725e-01,  6.94683301e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09645526, -0.03358358,  0.12323148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.4396274 ,  0.04259675,  0.4396274 ,  0.474539  ,
       -0.33906288,  0.04259675, -0.33906288,  3.94104555,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0027753839813472224
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76466716e-01, -2.09284000e-01,  5.20860808e-02, -2.08986895e-01,
        9.77854901e-01,  1.11476491e-02, -5.32656540e-02,  1.73472348e-18,
       -9.98580377e-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([ 0.12432717, -0.08239666,  0.11400792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.20394894, -0.39429387,  1.13755237, -0.39429387,  0.34010445,
       -0.29942234,  1.13755237, -0.29942234,  1.10016436,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039686223250842755
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.64460694, -0.76108253, -0.0723552 , -0.04676324, -0.055213  ,
        0.99737893, -0.76308263,  0.64630094,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09978865, -0.03628031,  0.30426978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.69384737,  -3.1155766 , -13.33471553,  -3.1155766 ,
        39.51828284,  -6.03372503, -13.33471553,  -6.03372503,
        15.10359117,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006499432635976715
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.27046131e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.27046131e-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([ 0.0566565 , -0.038091  ,  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:
[ 4.44957913e-03, 1.30604248e-01, 6.59142463e-02, 1.66547654e-02,
  3.11045252e-03, 3.64036620e-01, 1.84085335e-01, 4.65708387e-02,
  1.31936557e-05,-1.05363891e-03,-1.63768359e-04,-9.36780652e-04,
  2.47716033e-02, 7.34557201e-03,-8.80343154e-03, 8.82036927e-04,
 -1.72577793e-02, 1.20265788e-02,-9.80677301e+00,-6.66446246e-02,
 -1.05244721e-02,-5.79492443e-03]


--- Step 2428 ---
qpos:
[ 0.00134614, 0.22424895,-0.09908564, 0.57753163,-0.00690672, 0.04421622,
 -0.20917665, 0.47343513, 0.01471268, 0.98772406,-0.0218173 , 0.91141385,
  0.87101204,-0.00566998, 1.18993219, 0.04581422, 0.08985618,-0.06556636,
  0.14250148, 0.94200672,-0.03874002, 0.02917258, 0.33207155]

qacc:
[ 2.04508634e+01,-1.91261203e+01, 4.36057402e+01,-2.34737045e+02,
 -8.01987577e+02, 2.43343873e+01, 6.16506623e+01,-1.17919776e+02,
  4.28392532e-02,-4.22689934e+01, 1.61790630e+02,-3.36645871e+02,
 -1.97801943e+01,-5.93219912e+00, 2.75703942e+01,-2.69134287e+01,
 -1.42607390e+00,-2.57802266e+00, 1.90839105e-02, 2.93671105e+01,
 -8.16330017e+00,-2.17250111e+01]

qfrc_actuator:
[-0.01088929, 0.15043066, 0.07823567, 0.11224197,-0.00077958, 0.39441464,
  0.18935027, 0.09229338,-0.00241923, 0.11965034, 0.0090201 , 0.04577412,
  0.04436507, 0.0096971 , 0.        ,-0.0017989 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.40154114, -0.18035246,  0.35875936, -0.18035246,  0.21274215,
       -0.09491142,  0.35875936, -0.09491142,  0.35382808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007826221778374094
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.85263927e-01, -7.26659833e-01,  4.87733234e-02,  3.34624236e-02,
        3.54838453e-02,  9.98809873e-01, -7.27525681e-01,  6.86080450e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0964862 , -0.03369168,  0.12329044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.42903385,  0.10496042,  0.42903385,  0.66790663,
       -0.92469341,  0.10496042, -0.92469341,  4.22144224,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0027203742331769034
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72528874e-01, -2.26845045e-01,  5.22390207e-02, -2.26518498e-01,
        9.73930863e-01,  1.21673555e-02, -5.36372988e-02, -1.73472348e-18,
       -9.98560484e-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([ 0.12423531, -0.08260034,  0.11402213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.24170481, -0.39509449,  1.17717083, -0.39509449,  0.29252837,
       -0.31857261,  1.17717083, -0.31857261,  1.13478211,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004254633656949994
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.64430718, -0.76133905, -0.0723264 , -0.04672278, -0.0552095 ,
        0.99738102, -0.76333822,  0.64599905,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09977905, -0.03628772,  0.30418849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.77237208,  -3.23628626, -13.38673537,  -3.23628626,
        57.77238896, -10.63714536, -13.38673537, -10.63714536,
        16.34393613,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006547319494052961
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.47845462e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.47845462e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05668757, -0.03809931,  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:
[ 4.80486178e-03, 1.32923864e-01, 6.72361070e-02, 1.73333678e-02,
  8.18320705e-03, 3.58532480e-01, 1.81939489e-01, 4.61660928e-02,
  8.46586237e-06,-1.05509254e-03,-2.17018731e-04,-9.04728290e-04,
  2.78414240e-02, 8.57408069e-03,-1.17846213e-02, 6.70808781e-04,
 -1.79417163e-02, 1.32455188e-02,-9.80713433e+00,-6.67057806e-02,
 -1.01932249e-02,-5.81669653e-03]


--- Step 2429 ---
qpos:
[ 1.03775233e-03, 2.24359958e-01,-9.89611390e-02, 5.79368863e-01,
 -7.27470873e-03, 4.50996309e-02,-2.08940051e-01, 4.74349753e-01,
  1.47170615e-02, 9.89518437e-01,-2.18299443e-02, 9.12270375e-01,
  8.71335936e-01,-5.66336992e-03, 1.19038367e+00, 4.58125745e-02,
  8.97698205e-02,-6.56533756e-02, 1.42519836e-01, 9.42586982e-01,
 -3.89098715e-02, 2.92703980e-02, 3.30392263e-01]

qacc:
[ 2.78003809e+01,-2.03453743e+01, 5.90637737e+01,-2.42926213e+02,
 -7.81337965e+02, 2.40394951e+01, 6.50588999e+01,-1.28633578e+02,
 -5.46130789e-02,-3.61216578e+01, 1.45526311e+02,-3.25454387e+02,
 -5.21938755e+00,-1.23513489e+01,-2.90817918e-01, 1.93878039e+01,
 -1.10818323e+00,-2.26524636e+00,-7.03787776e-02, 2.61246508e+01,
 -1.27093364e+01,-9.05135081e+00]

qfrc_actuator:
[-0.01055511, 0.15028546, 0.07812772, 0.11194872,-0.00048709, 0.39371892,
  0.18915314, 0.09201361,-0.00243959, 0.11952505, 0.00905129, 0.04492625,
  0.04433703, 0.00963336, 0.        ,-0.00182636, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.40148944, -0.17457907,  0.36154656, -0.17457907,  0.20374644,
       -0.09548366,  0.36154656, -0.09548366,  0.35538349,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007824690074965396
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.76843615e-01, -7.34439356e-01,  4.98151900e-02,  3.37590067e-02,
        3.66317161e-02,  9.98758453e-01, -7.35352331e-01,  6.77684993e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09651767, -0.03379897,  0.12334485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.4170169 ,  0.145546  ,  0.4170169 ,  0.84896414,
       -1.1669284 ,  0.145546  , -1.1669284 ,  3.78515738,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002335404266993574
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97165943, -0.23069573,  0.05155023, -0.23037174,  0.97302594,
        0.0122221 , -0.05297929,  0.        , -0.99859561])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12409693, -0.08264957,  0.11402745])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.24975845, -0.39835039,  1.18457298, -0.39835039,  0.26688733,
       -0.33052172,  1.18457298, -0.33052172,  1.13860999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043112300697401305
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.64404234, -0.76156364, -0.07232075, -0.04669991, -0.05522145,
        0.99738143, -0.76356309,  0.64573324,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09977958, -0.03631373,  0.30417725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.77862006,  -3.2863408 , -13.38096913,  -3.2863408 ,
        36.64558124,  -5.61608256, -13.38096913,  -5.61608256,
        15.15791935,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000655113609959887
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.47351519e-14,  8.47351519e-14,  1.00000000e+00, -7.18004596e-27,
        1.00000000e+00, -8.47351519e-14, -1.00000000e+00,  0.00000000e+00,
        8.47351519e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0567111 , -0.03810526,  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:
[ 4.72850351e-03, 1.34964867e-01, 6.83682505e-02, 1.78828053e-02,
  1.32552630e-02, 3.53618682e-01, 1.80004001e-01, 4.57478321e-02,
 -1.31455967e-05,-8.12604417e-04,-2.35847691e-04,-9.05835443e-04,
  3.01071808e-02, 9.80291090e-03,-1.33693013e-02, 3.13234755e-04,
 -1.81581294e-02, 1.40519058e-02,-9.80761041e+00,-6.66778592e-02,
 -9.87169385e-03,-5.83318044e-03]


--- Step 2430 ---
qpos:
[ 7.42646356e-04, 2.24445641e-01,-9.88512963e-02, 5.81191082e-01,
 -7.73109497e-03, 4.60449814e-02,-2.08677488e-01, 4.75264517e-01,
  1.47212730e-02, 9.91307900e-01,-2.18430866e-02, 9.13109679e-01,
  8.71658883e-01,-5.66708330e-03, 1.19082958e+00, 4.58157683e-02,
  8.96802620e-02,-6.57482919e-02, 1.42537531e-01, 9.43165701e-01,
 -3.90243882e-02, 2.93537852e-02, 3.28715550e-01]

qacc:
[ 3.30844590e+01,-1.90701123e+01, 6.95990665e+01,-2.51890853e+02,
 -7.41260572e+02, 1.46242323e+01, 6.46747895e+01,-1.34047944e+02,
 -7.67640555e-02,-3.51240975e+01, 1.43926458e+02,-3.26330776e+02,
  6.92726442e+00,-1.56452672e+01,-2.35573192e+01, 6.89135736e+01,
 -7.99938284e-01,-1.97472157e+00,-1.64265561e-01, 2.36268942e+01,
 -1.59674698e+01, 1.99600164e+00]

qfrc_actuator:
[-1.02556848e-02, 1.50228406e-01, 7.79716367e-02, 1.11473434e-01,
 -1.08515808e-04, 3.92968690e-01, 1.88955014e-01, 9.19046450e-02,
 -2.45347868e-03, 1.19374688e-01, 9.05758381e-03, 4.40673946e-02,
  4.43044366e-02, 9.63913643e-03, 0.00000000e+00,-1.72048752e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39596567, -0.16917782,  0.35800514, -0.16917782,  0.1963908 ,
       -0.09431049,  0.35800514, -0.09431049,  0.35139859,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007664801672305671
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.68629650e-01, -7.41871341e-01,  5.06093297e-02,  3.38823177e-02,
        3.75937868e-02,  9.98718527e-01, -7.42823249e-01,  6.69487580e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09654924, -0.03390516,  0.12339473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002366961593272291
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72228413e-01, -2.28267966e-01,  5.16299238e-02, -2.27946774e-01,
        9.73598344e-01,  1.21050511e-02, -5.30300037e-02, -1.73472348e-18,
       -9.98592919e-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([ 0.12393139, -0.08262791,  0.1140421 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.22632315, -0.3796297 ,  1.16608308, -0.3796297 ,  0.23560724,
       -0.3225372 ,  1.16608308, -0.3225372 ,  1.12131802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000414243454630748
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.64379455, -0.76177202, -0.07233234, -0.04668947, -0.05524547,
        0.99738059, -0.76377265,  0.64548535,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09978695, -0.03635726,  0.30423447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.72696166,  -3.43332639, -13.29066388,  -3.43332639,
        42.93016678,  -7.54395233, -13.29066388,  -7.54395233,
        15.67576202,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006519609026250511
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.51449082e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.51449082e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0567287 , -0.03810933,  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:
[ 4.46976939e-03, 1.36666830e-01, 6.91854176e-02, 1.81948596e-02,
  1.82910565e-02, 3.48628431e-01, 1.78065393e-01, 4.55239573e-02,
 -1.80948474e-05,-7.06943151e-04,-2.15265319e-04,-9.09940803e-04,
  3.11990855e-02, 1.07385643e-02,-1.38073354e-02, 2.03018944e-04,
 -1.78743301e-02, 1.44128560e-02,-9.80816863e+00,-6.65771948e-02,
 -9.56504031e-03,-5.84436304e-03]


--- Step 2431 ---
qpos:
[ 4.48720528e-04, 2.24514761e-01,-9.87531053e-02, 5.83000414e-01,
 -8.23933508e-03, 4.70205868e-02,-2.08416742e-01, 4.76161035e-01,
  1.47253284e-02, 9.93092291e-01,-2.18562705e-02, 9.13932529e-01,
  8.72000010e-01,-5.67206108e-03, 1.19125997e+00, 4.58215283e-02,
  8.95883463e-02,-6.58504075e-02, 1.42554219e-01, 9.43739773e-01,
 -3.90861378e-02, 2.94201188e-02, 3.27050412e-01]

qacc:
[ 2.91734378e+00,-1.20670082e+01, 5.41925564e+01,-2.15559590e+02,
 -4.35097704e+02, 1.70028753e+01, 6.65979257e+01,-3.69095929e+02,
 -7.05055139e-02,-3.52373400e+01, 1.42358232e+02,-3.15772564e+02,
  1.62288694e+01,-1.55918624e+01,-3.18470207e+01, 7.55471662e+01,
 -5.89320191e-01,-1.79981106e+00,-2.51648137e-01, 2.18205531e+01,
 -1.68725464e+01, 6.66431393e+00]

qfrc_actuator:
[-9.94820062e-03, 1.50210601e-01, 7.78250948e-02, 1.11160737e-01,
  3.54223367e-04, 3.92103250e-01, 1.88715534e-01, 9.20236037e-02,
 -2.46339695e-03, 1.19157465e-01, 9.06691238e-03, 4.32444454e-02,
  4.42733053e-02, 9.68578533e-03, 0.00000000e+00,-1.69664743e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38705648, -0.15978591,  0.35253536, -0.15978591,  0.20953989,
       -0.08045902,  0.35253536, -0.08045902,  0.35058859,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007419836424756346
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66877575, -0.74174323,  0.05055668,  0.03385438,  0.03754809,
        0.99872119, -0.74269299,  0.66963208,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0964849 , -0.03392434,  0.12343343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.2844535 ,  0.33789486,  0.2844535 ,  0.44861894,
       -0.00583623,  0.33789486, -0.00583623,  0.44659941,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002433312090124368
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97278535, -0.22584325,  0.05180233, -0.22552371,  0.97416365,
        0.01200949, -0.05317621,  0.        , -0.99858514])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12375858, -0.08260648,  0.11405831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.17907909, -0.35293251,  1.12501829, -0.35293251,  0.2057541 ,
       -0.3053444 ,  1.12501829, -0.3053444 ,  1.08328868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003758392454656524
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.64354739, -0.76197876, -0.07235416, -0.04668569, -0.05527721,
        0.997379  , -0.76398115,  0.64523856,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09979875, -0.0364175 ,  0.30435672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.62921202,  -3.61898018, -13.13995444,  -3.61898018,
        50.22052575, -10.07790704, -13.13995444, -10.07790704,
        16.40484918,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006460120804119285
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.59289678e-14,  8.59289678e-14,  1.00000000e+00,  7.38378750e-27,
        1.00000000e+00, -8.59289678e-14, -1.00000000e+00,  0.00000000e+00,
       -8.59289678e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05674166, -0.0381119 ,  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:
[ 4.11230629e-03, 1.37908338e-01, 6.97666202e-02, 1.86296933e-02,
  2.31738635e-02, 3.44627225e-01, 1.76512220e-01, 4.56308991e-02,
 -1.67524893e-05,-7.11175302e-04,-1.89177107e-04,-8.70269878e-04,
  3.12156595e-02, 1.13020225e-02,-1.35378932e-02,-1.71322992e-05,
 -1.71630987e-02, 1.43774850e-02,-9.80876612e+00,-6.64235424e-02,
 -9.28020560e-03,-5.85032209e-03]


--- Step 2432 ---
qpos:
[ 1.47538749e-04, 2.24574565e-01,-9.86649217e-02, 5.84798259e-01,
 -8.77086603e-03, 4.80030957e-02,-2.08176830e-01, 4.77026653e-01,
  1.47290905e-02, 9.94872105e-01,-2.18695990e-02, 9.14738069e-01,
  8.72374501e-01,-5.67066054e-03, 1.19166860e+00, 4.58251350e-02,
  8.94946325e-02,-6.59594068e-02, 1.42569559e-01, 9.44309163e-01,
 -3.90978470e-02, 2.94700473e-02, 3.25396804e-01]

qacc:
[-1.80702287e+01,-4.65997173e+00, 3.71442417e+01,-1.86264105e+02,
 -1.95868635e+02, 1.64229327e+01, 7.25908585e+01,-5.33653948e+02,
 -1.35101550e-01,-3.57870955e+01, 1.46721011e+02,-3.29849265e+02,
  2.30195609e+01,-1.45094719e+01,-2.70789236e+01, 4.48289815e+01,
 -4.49514296e-01,-1.72092430e+00,-3.37119598e-01, 2.06688853e+01,
 -1.60803515e+01, 6.62158905e+00]

qfrc_actuator:
[-0.00964685, 0.15016445, 0.07770488, 0.11114475, 0.00086628, 0.39122885,
  0.18841538, 0.09199586,-0.00248863, 0.11899102, 0.00907781, 0.04237815,
  0.04424669, 0.00971652, 0.        ,-0.00188147, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.37424221, -0.14405752,  0.34540507, -0.14405752,  0.21446469,
       -0.06663815,  0.34540507, -0.06663815,  0.34644955,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007087310057112774
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67144513, -0.73935527,  0.05015206,  0.03371678,  0.03712691,
        0.99874159, -0.74028685,  0.67229114,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0963925 , -0.03391834,  0.12346708])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.44168624, 0.300649  , 0.32356902, 0.300649  , 0.34752304,
       0.08749314, 0.32356902, 0.08749314, 0.36039067, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.002470246297165554
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72206089e-01, -2.28703550e-01,  5.00999703e-02, -2.28400484e-01,
        9.73496115e-01,  1.17699916e-02, -5.14639653e-02, -1.73472348e-18,
       -9.98674852e-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([ 0.12359669, -0.08264532,  0.11405336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12127626, -0.32420935,  1.07338192, -0.32420935,  0.1780784 ,
       -0.28488794,  1.07338192, -0.28488794,  1.03522736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00031775144757959493
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.64328624, -0.76219695, -0.07237825, -0.04668237, -0.05531155,
        0.99737726, -0.76420126,  0.64497786,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09981376, -0.036494  ,  0.30453814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.49500303,  -3.82553101, -12.94142262,  -3.82553101,
        58.41667114, -13.27900644, -12.94142262, -13.27900644,
        17.42032504,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006378761275669664
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.70249706e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.70249706e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05675099, -0.03811329,  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:
[ 4.35384237e-03, 1.38684175e-01, 7.02241340e-02, 1.92546774e-02,
  2.62787522e-02, 3.42199930e-01, 1.76286924e-01, 4.65107916e-02,
 -3.13814731e-05,-6.56160488e-04,-1.84186413e-04,-9.12042974e-04,
  3.02803438e-02, 1.13969337e-02,-1.27708036e-02,-3.32429864e-04,
 -1.63010566e-02, 1.41848563e-02,-9.80933230e+00,-6.62528079e-02,
 -9.02074415e-03,-5.85173763e-03]


--- Step 2433 ---
qpos:
[-1.64855299e-04, 2.24630742e-01,-9.85855648e-02, 5.86585431e-01,
 -9.30991688e-03, 4.89894593e-02,-2.07953816e-01, 4.77858723e-01,
  1.47325681e-02, 9.96651170e-01,-2.18840536e-02, 9.15527037e-01,
  8.72789001e-01,-5.65899671e-03, 1.19205541e+00, 4.58270870e-02,
  8.93993309e-02,-6.60752093e-02, 1.42583296e-01, 9.44875477e-01,
 -3.90624085e-02, 2.95050006e-02, 3.23749774e-01]

qacc:
[-2.78817226e+01, 9.68184405e-01, 2.53071612e+01,-1.68682268e+02,
 -6.35967477e+01,-1.00952312e+00, 1.36719232e+02,-6.33581468e+02,
 -1.32329458e-01,-2.68143398e+01, 1.21843301e+02,-3.01591292e+02,
  2.56584913e+01,-1.32657599e+01,-2.87647029e+01, 5.03941567e+01,
 -3.96952008e-01,-1.70080974e+00,-4.00753748e-01, 1.96675153e+01,
 -1.48248091e+01, 4.00825705e+00]

qfrc_actuator:
[-0.00937672, 0.15013619, 0.07760349, 0.11131054, 0.00140009, 0.39037807,
  0.18809857, 0.09227284,-0.0025051 , 0.11924713, 0.00912527, 0.0415643 ,
  0.04422076, 0.00973058, 0.        ,-0.001957  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.35841781, -0.12465061,  0.33604397, -0.12465061,  0.20714274,
       -0.05611328,  0.33604397, -0.05611328,  0.33760341,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006697184438931113
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.74840549e-01, -7.36298689e-01,  4.95426537e-02,  3.34744980e-02,
        3.65230410e-02,  9.98772009e-01, -7.37203969e-01,  6.75670266e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09629217, -0.03390608,  0.12349769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.44168624, 0.31677662, 0.30779751, 0.31677662, 0.33071703,
       0.11420641, 0.30779751, 0.11420641, 0.32414818, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.002039465834582641
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96694121, -0.25015522,  0.04946786, -0.2498285 ,  0.96820574,
        0.01278101, -0.0510923 ,  0.        , -0.99869394])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12348583, -0.08289712,  0.1140607 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.06589131, -0.28200122,  1.0279103 , -0.28200122,  0.14500815,
       -0.25263895,  1.0279103 , -0.25263895,  0.99658128,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024217481701282938
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.64299949, -0.76243702, -0.07239784, -0.04667426, -0.05534403,
        0.99737583, -0.76444304,  0.64469127,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09983182, -0.03658664,  0.30477183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.33234103,  -4.05280977, -12.70141922,  -4.05280977,
        67.53735686, -17.2959111 , -12.70141922, -17.2959111 ,
        18.85117607,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006280559890203125
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.83856729e-14, -8.83856729e-14,  1.00000000e+00, -7.81202718e-27,
        1.00000000e+00,  8.83856729e-14, -1.00000000e+00,  0.00000000e+00,
       -8.83856729e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05675749, -0.03811374,  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:
[ 4.98615207e-03, 1.39116338e-01, 7.06185772e-02, 1.99915708e-02,
  2.79772363e-02, 3.40963772e-01, 1.76995745e-01, 4.83283400e-02,
 -3.03888857e-05,-2.03264152e-04,-1.37431902e-04,-8.58722044e-04,
  2.85868883e-02, 1.10930607e-02,-1.16923197e-02,-3.02531739e-04,
 -1.54803636e-02, 1.40164914e-02,-9.80982928e+00,-6.60882955e-02,
 -8.78216007e-03,-5.84917319e-03]


--- Step 2434 ---
qpos:
[-4.82973315e-04, 2.24685252e-01,-9.85128093e-02, 5.88362081e-01,
 -9.87394907e-03, 4.99800465e-02,-2.07736313e-01, 4.78666960e-01,
  1.47359821e-02, 9.98433118e-01,-2.18998836e-02, 9.16298781e-01,
  8.73248749e-01,-5.63406038e-03, 1.19241891e+00, 4.58315480e-02,
  8.93030157e-02,-6.61971938e-02, 1.42595226e-01, 9.45436436e-01,
 -3.89818409e-02, 2.95241103e-02, 3.22115956e-01]

qacc:
[-1.42326805e+01,-2.15266405e+00, 3.87504540e+01,-1.81642595e+02,
 -2.09232255e+02,-1.45181780e+01, 1.48006114e+02,-5.03967027e+02,
 -2.92847246e-02,-2.24948085e+01, 1.14838439e+02,-3.05277914e+02,
  2.81076563e+01,-1.27847333e+01,-4.36858877e+01, 9.91287655e+01,
 -2.53395712e-01,-1.54548006e+00,-4.51856166e-01, 1.84565021e+01,
 -1.49694202e+01, 7.46528172e+00]

qfrc_actuator:
[-0.00904745, 0.15020545, 0.07753396, 0.11125189, 0.00192276, 0.38955951,
  0.18784716, 0.09297846,-0.00249845, 0.11968377, 0.0091602 , 0.04071708,
  0.04419878, 0.00972819, 0.        ,-0.00182459, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.33999902, -0.10945481,  0.32189902, -0.10945481,  0.18397476,
       -0.05305268,  0.32189902, -0.05305268,  0.32195961,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006258739470096277
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67753982, -0.73386259,  0.04884141,  0.03313154,  0.03588571,
        0.99880655, -0.73473947,  0.6783494 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09619999, -0.03390275,  0.12352679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.44168624, 0.33514125, 0.28769267, 0.33514125, 0.37284084,
       0.08019993, 0.28769267, 0.08019993, 0.3482591 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0020014118894923004
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68837440e-01, -2.42570270e-01,  5.01366060e-02, -2.42246121e-01,
        9.70133838e-01,  1.25360539e-02, -5.16800920e-02,  1.73472348e-18,
       -9.98663691e-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([ 0.12329381, -0.08281895,  0.1140828 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.02260062, -0.24479494,  0.9928683 , -0.24479494,  0.11623079,
       -0.22346845,  0.9928683 , -0.22346845,  0.96750374,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001506393956449348
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.64268204, -0.76270353, -0.07240945, -0.04665873, -0.0553723 ,
        0.99737499, -0.7647109 ,  0.64437352,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09985306, -0.03669515,  0.305053  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.14793355,  -4.28136302, -12.4313349 ,  -4.28136302,
        77.69775384, -22.2310167 , -12.4313349 , -22.2310167 ,
        20.80431588,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006169641536472592
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.99746783e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.99746783e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05676181, -0.03811344,  0.06198617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.87552511e-03, 1.39361903e-01, 7.09860712e-02, 2.04633238e-02,
  2.88760108e-02, 3.39912366e-01, 1.77573416e-01, 5.07069826e-02,
 -6.72620868e-06, 2.38924836e-04,-5.41159000e-05,-8.75608427e-04,
  2.65652182e-02, 1.05783830e-02,-1.06111340e-02,-8.96419907e-05,
 -1.47927476e-02, 1.39577394e-02,-9.81025627e+00,-6.59357478e-02,
 -8.56120998e-03,-5.84292343e-03]


--- Step 2435 ---
qpos:
[-8.02294581e-04, 2.24739099e-01,-9.84443340e-02, 5.90128158e-01,
 -1.04599841e-02, 5.09705895e-02,-2.07527759e-01, 4.79451301e-01,
  1.47394127e-02, 1.00021922e+00,-2.19173927e-02, 9.17053948e-01,
  8.73761649e-01,-5.59230346e-03, 1.19275521e+00, 4.58346636e-02,
  8.92062602e-02,-6.63249222e-02, 1.42605097e-01, 9.45991315e-01,
 -3.88580541e-02, 2.95290831e-02, 3.20497296e-01]

qacc:
[-3.00818064e+00,-7.09601074e+00, 5.73606402e+01,-2.01547164e+02,
 -1.84189290e+02,-1.14969910e+01, 1.29848022e+02,-4.81538241e+02,
  7.87732466e-03,-1.88773029e+01, 1.03606490e+02,-2.88504146e+02,
  3.18868754e+01,-1.27984621e+01,-3.79473091e+01, 7.03152294e+01,
 -1.10092545e-01,-1.43599916e+00,-5.14535417e-01, 1.78113895e+01,
 -1.38492344e+01, 8.50684398e+00]

qfrc_actuator:
[-0.00870145, 0.15033272, 0.0774671 , 0.11092066, 0.00247697, 0.38875837,
  0.18766588, 0.0938207 ,-0.00249578, 0.12001236, 0.00911731, 0.03989264,
  0.04416659, 0.00967331, 0.        ,-0.00194371, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.31954654, -0.09887963,  0.30386315, -0.09887963,  0.16625104,
       -0.04988365,  0.30386315, -0.04988365,  0.30331398,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005779175242737844
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68024063, -0.73141459,  0.04801441,  0.03269907,  0.03515899,
        0.99884664, -0.73225914,  0.6810261 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09610759, -0.03390049,  0.1235541 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.44168624, 0.35230835, 0.26639361, 0.35230835, 0.38143768,
       0.07967935, 0.26639361, 0.07967935, 0.33630945, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.001999201885998732
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96941407, -0.24058248,  0.04854309, -0.24028142,  0.9706287 ,
        0.01203201, -0.050012  ,  0.        , -0.99874862])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12311784, -0.08280464,  0.11407909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99905497, -0.22860648,  0.97254815, -0.22860648,  0.09836731,
       -0.211715  ,  0.97254815, -0.211715  ,  0.94928939,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.4248330134870146e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.42329841e-01, -7.63000075e-01, -7.24103651e-02, -4.66337555e-02,
       -5.53945288e-02,  9.97374924e-01, -7.65008280e-01,  6.44020444e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09987694, -0.03681889,  0.30537831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.94763415,  -4.53727176, -12.12659866,  -4.53727176,
        87.683104  , -27.96292236, -12.12659866, -27.96292236,
        23.41020337,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006049496656532483
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.17616033e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.17616033e-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([ 0.05676445, -0.03811258,  0.06198644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.50720655e-03, 1.39567652e-01, 7.12450891e-02, 2.06549914e-02,
  3.06794231e-02, 3.38859963e-01, 1.77651978e-01, 5.27365576e-02,
  1.87167198e-06, 3.91536023e-04,-3.61482689e-05,-8.37243758e-04,
  2.42714673e-02, 9.86053836e-03,-9.45497682e-03,-3.36517971e-04,
 -1.40100879e-02, 1.37915328e-02,-9.81064286e+00,-6.57782959e-02,
 -8.36174203e-03,-5.83274286e-03]


--- Step 2436 ---
qpos:
[-1.12129940e-03, 2.24784863e-01,-9.83831047e-02, 5.91881656e-01,
 -1.10630422e-02, 5.19591941e-02,-2.07331401e-01, 4.80208751e-01,
  1.47428799e-02, 1.00200857e+00,-2.19353539e-02, 9.17794786e-01,
  8.74440495e-01,-5.52460735e-03, 1.19299182e+00, 4.58511256e-02,
  8.91114202e-02,-6.64585563e-02, 1.42611829e-01, 9.46549273e-01,
 -3.86938931e-02, 2.95483999e-02, 3.18863841e-01]

qacc:
[ 7.62257486e-01,-1.21936801e+01, 6.81370426e+01,-2.32543299e+02,
 -1.42509661e+02,-1.01714473e+01, 1.32832771e+02,-5.25916066e+02,
  1.77998362e-02,-1.94528521e+01, 9.92503640e+01,-2.57637053e+02,
  1.19678504e+02,-8.22535039e+01,-1.95328246e+02, 4.52321172e+02,
  4.78891650e-01,-1.47640573e+00,-7.84813620e-01, 2.16736534e+01,
  5.56689587e-01,-6.61614203e+00]

qfrc_actuator:
[-0.00840091, 0.15049445, 0.07743766, 0.11035913, 0.00307486, 0.38795251,
  0.18744356, 0.09479   ,-0.00249557, 0.12018493, 0.00909959, 0.03917686,
  0.04412594, 0.00957809, 0.        ,-0.00192685, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.29774267, -0.09201154,  0.28316881, -0.09201154,  0.151867  ,
       -0.04740016,  0.28316881, -0.04740016,  0.28234069,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005264827148092967
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.82933764e-01, -7.28961747e-01,  4.70770110e-02,  3.21861663e-02,
        3.43554314e-02,  9.98891263e-01, -7.29770872e-01,  6.83691798e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09601498, -0.03389906,  0.12357989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.44168624, 0.36926322, 0.24234564, 0.36926322, 0.38227709,
       0.09052201, 0.24234564, 0.09052201, 0.30375742, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0020094187442418598
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96881841, -0.24347558,  0.04594059, -0.2432023 ,  0.96990703,
        0.01153246, -0.04736597,  0.        , -0.9988776 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12295684, -0.0828463 ,  0.11406374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.7365191 ,  -4.81464884, -11.79144077,  -4.81464884,
        97.303478  , -34.5301493 , -11.79144077, -34.5301493 ,
        26.8357752 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000592305349534708
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.87440992e-13, -9.37204962e-14,  1.00000000e+00,  1.75670628e-26,
        1.00000000e+00,  9.37204962e-14, -1.00000000e+00,  0.00000000e+00,
        1.87440992e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05676581, -0.03811127,  0.06198672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.86739227e-03, 1.39757765e-01, 7.14255478e-02, 2.06188861e-02,
  3.23775961e-02, 3.38016390e-01, 1.77861503e-01, 5.48964510e-02,
  4.00140942e-06, 3.24752712e-04, 2.21720193e-05,-7.22503974e-04,
  2.15740616e-02, 8.92455024e-03,-8.10484556e-03,-2.54766830e-04,
 -1.32302495e-02, 1.36215210e-02,-9.81096709e+00,-6.56307526e-02,
 -8.17732090e-03,-5.81903128e-03]


--- Step 2437 ---
qpos:
[-0.00143837, 0.22482375,-0.09832515, 0.59362277,-0.01168191, 0.05293808,
 -0.20715007, 0.48093991, 0.01474622, 1.0037981 ,-0.02195144, 0.91852285,
  0.87521075,-0.00541093, 1.19319082, 0.04585929, 0.08901852,-0.06659765,
  0.1426154 , 0.947108  ,-0.0384908 , 0.02957863, 0.31722232]

qacc:
[ 4.78673428e+00,-2.08375981e+01, 9.88462720e+01,-2.61168924e+02,
 -1.32171498e+02,-1.20373739e+01, 1.22701043e+02,-4.98203609e+02,
 -5.96052478e-02,-2.70823619e+01, 1.15967722e+02,-2.52075831e+02,
  4.23237821e+01, 4.65621303e+00,-3.23950151e+01, 2.83263274e+01,
  4.86125807e-01,-1.36476385e+00,-7.91430733e-01, 2.03000803e+01,
 -8.99974815e-01,-3.15525452e+00]

qfrc_actuator:
[-0.00809317, 0.15061354, 0.07743537, 0.10968342, 0.00364952, 0.38711021,
  0.18720343, 0.09549305,-0.0025146 , 0.12006786, 0.00914966, 0.03853067,
  0.0440575 , 0.00947831, 0.        ,-0.00180706, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.27604167, -0.08588822,  0.26233989, -0.08588822,  0.1431173 ,
       -0.0435185 ,  0.26233989, -0.0435185 ,  0.26179402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047251373185056293
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.85652065e-01, -7.26468437e-01,  4.60961550e-02,  3.16395565e-02,
        3.35230364e-02,  9.98937007e-01, -7.27241490e-01,  6.86381684e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09592302, -0.03389771,  0.12360455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.44168624, 0.3823365 , 0.22114596, 0.3823365 , 0.39278349,
       0.08454735, 0.22114596, 0.08454735, 0.29551338, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0020719069280444274
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96937315, -0.24155901,  0.04432775, -0.24130684,  0.97038613,
        0.01103454, -0.04568052,  0.        , -0.9989561 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12278339, -0.08283352,  0.11405961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.51758937,  -5.31920357, -11.33120104,  -5.31920357,
        99.95993981, -41.04804611, -11.33120104, -41.04804611,
        31.78676593,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005791936964555378
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58421191e-14, -9.58421191e-14,  1.00000000e+00, -9.18571179e-27,
        1.00000000e+00,  9.58421191e-14, -1.00000000e+00,  0.00000000e+00,
       -9.58421191e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0567662 , -0.03810962,  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:
[ 7.15871603e-03, 1.40276455e-01, 7.17815709e-02, 2.05690815e-02,
  3.38035536e-02, 3.37231345e-01, 1.78215823e-01, 5.69399165e-02,
 -1.41237754e-05, 1.31995827e-05, 8.69985325e-05,-6.50590115e-04,
  1.32085128e-02, 7.52720766e-03,-3.13582047e-03,-8.06072066e-04,
 -1.31076917e-02, 1.42498768e-02,-9.81100337e+00,-6.56260790e-02,
 -7.93710289e-03,-5.80543700e-03]


--- Step 2438 ---
qpos:
[-0.00175493, 0.22486135,-0.09826828, 0.59535158,-0.01230369, 0.05390071,
 -0.20698416, 0.48164328, 0.01474972, 1.00558474,-0.02196562, 0.91923782,
  0.87603894,-0.00526397, 1.19337418, 0.04586309, 0.08892744,-0.06674204,
  0.14261576, 0.9476671 ,-0.03825021, 0.02961807, 0.31557369]

qacc:
[ 1.24489257e+00,-1.92100177e+01, 1.02784226e+02,-2.69147084e+02,
 -2.45373023e+01,-2.14818350e+01, 1.48608551e+02,-5.38839997e+02,
  8.20700486e-02,-3.17585811e+01, 1.27022100e+02,-2.63533783e+02,
  2.36497682e+01, 9.58707170e+00,-1.08345729e+01, 2.33048275e+00,
  4.52003390e-01,-1.32376333e+00,-7.99519542e-01, 1.93278963e+01,
 -1.45090714e+00,-2.69109680e+00]

qfrc_actuator:
[-0.00778286, 0.15067357, 0.07741277, 0.10912155, 0.0042336 , 0.38627237,
  0.18703134, 0.09592223,-0.00249177, 0.11972551, 0.00916727, 0.03785939,
  0.04397845, 0.00936313, 0.        ,-0.00178673, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.25800089, -0.07850801,  0.24576605, -0.07850801,  0.13703661,
       -0.03864107,  0.24576605, -0.03864107,  0.24565731,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004164677837807658
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68838145, -0.72394698,  0.04507483,  0.03106025,  0.03266499,
        0.99898361, -0.72468354,  0.68908183,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0958316 , -0.03389642,  0.12362825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.44168624, 0.3919251 , 0.20366995, 0.3919251 , 0.39217836,
       0.09526873, 0.20366995, 0.09526873, 0.25835921, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.001748147991868783
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96726572, -0.2500328 ,  0.04336628, -0.24978188,  0.96823737,
        0.01119869, -0.0447889 ,  0.        , -0.99899647])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1226417 , -0.08294049,  0.11406283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.29531133,  -5.57466438, -10.95891408,  -5.57466438,
       108.5051404 , -48.94075301, -10.95891408, -48.94075301,
        37.19086856,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005658622046831041
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.96200244e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.96200244e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05676588, -0.03810772,  0.06198731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.37172040e-03, 1.40676286e-01, 7.19186591e-02, 2.06233380e-02,
  3.51781397e-02, 3.36840291e-01, 1.78779804e-01, 5.86795244e-02,
  1.80544564e-05,-3.69454712e-04, 3.02102497e-06,-6.81599713e-04,
  8.55952265e-03, 5.11107369e-03,-1.26775262e-03,-3.73925608e-04,
 -1.28758276e-02, 1.47449752e-02,-9.81103975e+00,-6.56018013e-02,
 -7.71366447e-03,-5.79044901e-03]


--- Step 2439 ---
qpos:
[-0.00207166, 0.2249038 ,-0.09821114, 0.59706809,-0.01293277, 0.05484927,
 -0.20682965, 0.48232152, 0.01475362, 1.00736645,-0.02197832, 0.91993805,
  0.87690512,-0.00509585, 1.1935509 , 0.04586615, 0.08883818,-0.06689137,
  0.14261293, 0.94822471,-0.03797313, 0.02966411, 0.31392354]

qacc:
[-4.07382610e-01,-1.48379550e+01, 9.85787482e+01,-2.70545632e+02,
 -6.09472088e+01,-2.48473574e+01, 1.54341335e+02,-5.08219622e+02,
  1.88078112e-01,-3.61150837e+01, 1.41488365e+02,-2.94180016e+02,
  1.58952851e+01, 5.38364057e+00,-8.17311023e+00, 1.29253783e+01,
  4.58804002e-01,-1.23498418e+00,-8.01413885e-01, 1.83309387e+01,
 -2.57740194e+00, 1.78537561e-01]

qfrc_actuator:
[-0.00747035, 0.15078408, 0.07735936, 0.10859737, 0.00487001, 0.38551864,
  0.18688874, 0.09625236,-0.00246182, 0.11933976, 0.00918236, 0.03710748,
  0.04390873, 0.00921528, 0.        ,-0.00172019, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.24361299, -0.07152116,  0.23287767, -0.07152116,  0.1313699 ,
       -0.03447199,  0.23287767, -0.03447199,  0.23302598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00035900028272860214
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69111335, -0.72140445,  0.04402221,  0.03045386,  0.03178864,
        0.99903055, -0.72210449,  0.691784  ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09574021, -0.03389516,  0.12365132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.44168624, 0.40068785, 0.18583859, 0.40068785, 0.40265047,
       0.08416527, 0.18583859, 0.08416527, 0.26021692, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0016843356961305535
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96820157, -0.24656567,  0.04232126, -0.24633046,  0.96912608,
        0.0107674 , -0.04366951,  0.        , -0.99904603])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1224678 , -0.08291105,  0.11406488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005525104463842828
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00470772e-13,  1.00470772e-13,  1.00000000e+00, -1.00943761e-26,
        1.00000000e+00, -1.00470772e-13, -1.00000000e+00,  0.00000000e+00,
        1.00470772e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05676508, -0.03810565,  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:
[ 7.65854467e-03, 1.40846953e-01, 7.19160635e-02, 2.07113621e-02,
  3.59602951e-02, 3.36861208e-01, 1.79393966e-01, 6.03955169e-02,
  4.22652380e-05,-6.41928864e-04,-8.50148451e-05,-7.77094615e-04,
  5.59369793e-03, 3.29777723e-03,-4.96379451e-04,-9.22347186e-05,
 -1.26381245e-02, 1.52166468e-02,-9.81106717e+00,-6.55673448e-02,
 -7.50059898e-03,-5.77409751e-03]


--- Step 2440 ---
qpos:
[-0.00237667, 0.22495514,-0.09815187, 0.5987711 ,-0.01356809, 0.05578261,
 -0.20668698, 0.48297524, 0.01475741, 1.00914153,-0.02198909, 0.92062469,
  0.87779612,-0.00491494, 1.19372535, 0.04586615, 0.08875075,-0.06704538,
  0.14260688, 0.94877949,-0.03766038, 0.02971466, 0.31227586]

qacc:
[ 2.88254890e+01,-1.65531626e+01, 1.15147657e+02,-3.06878400e+02,
 -5.19608283e+01,-2.43326867e+01, 1.48064135e+02,-4.91478446e+02,
 -4.71499638e-02,-3.76215940e+01, 1.41253038e+02,-2.79427276e+02,
  1.08245631e+01, 2.30010360e+00, 5.41899964e+00,-2.48645338e+01,
  4.53963834e-01,-1.17031939e+00,-8.02425880e-01, 1.75210267e+01,
 -3.46742767e+00, 2.23075689e+00]

qfrc_actuator:
[-0.00717381, 0.15091926, 0.07728654, 0.10790542, 0.00552563, 0.38473092,
  0.18676596, 0.09658479,-0.0024989 , 0.11893116, 0.00924887, 0.03642059,
  0.04382833, 0.00904662, 0.        ,-0.0018408 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.23219061, -0.06716961,  0.22226274, -0.06716961,  0.11469602,
       -0.03550782,  0.22226274, -0.03550782,  0.22145986,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002998790371696684
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.84939708e-01, -7.27319193e-01,  4.31785480e-02,  2.96023100e-02,
        3.14339028e-02,  9.99067372e-01, -7.27998145e-01,  6.85579099e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09575375, -0.03399514,  0.1236769 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.44168624, 0.40825921, 0.16855606, 0.40825921, 0.40937898,
       0.07825134, 0.16855606, 0.07825134, 0.25215386, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0016190211393203831
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.969124  , -0.24309427,  0.04127772, -0.24287407,  0.97000267,
        0.01034469, -0.04255424,  0.        , -0.99909416])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12229665, -0.08288174,  0.11406675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005392983292647063
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.02932177e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.02932177e-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([ 0.05676396, -0.03810348,  0.0619879 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.96263862e-03, 1.40735306e-01, 7.18258981e-02, 2.06312178e-02,
  3.69812584e-02, 3.36739139e-01, 1.79826540e-01, 6.19808108e-02,
 -1.18857299e-05,-8.35621239e-04,-9.98785317e-05,-7.25176182e-04,
  3.61553957e-03, 2.06853309e-03,-1.72768371e-04,-1.77395443e-04,
 -1.23096409e-02, 1.55742420e-02,-9.81109340e+00,-6.55170126e-02,
 -7.30341462e-03,-5.75625993e-03]


--- Step 2441 ---
qpos:
[-0.0026662 , 0.22501926,-0.09808752, 0.60046029,-0.01420808, 0.05669808,
 -0.2065567 , 0.48360496, 0.01476094, 1.01090817,-0.02199817, 0.92129934,
  0.87870302,-0.00472637, 1.19389886, 0.04586406, 0.08866509,-0.06720386,
  0.14259763, 0.9493304 ,-0.03731271, 0.02976792, 0.31063389]

qacc:
[ 3.80628413e+01,-1.98870777e+01, 1.34179195e+02,-3.33523769e+02,
 -3.89289312e+01,-2.55516644e+01, 1.45425045e+02,-4.78236623e+02,
 -1.14205377e-01,-3.64945575e+01, 1.31218506e+02,-2.50351599e+02,
  7.25182189e+00, 7.35388809e-01, 4.59573388e+00,-1.88024517e+01,
  4.44986224e-01,-1.11825060e+00,-8.01369150e-01, 1.68392173e+01,
 -4.21936420e+00, 3.88599435e+00]

qfrc_actuator:
[-0.00691642, 0.15093899, 0.07721787, 0.10718996, 0.00619462, 0.38387633,
  0.18664233, 0.09687476,-0.00252261, 0.11840601, 0.00929192, 0.03581297,
  0.04374668, 0.00890089, 0.        ,-0.00192909, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.22311819, -0.06345444,  0.21390479, -0.06345444,  0.106933  ,
       -0.03446611,  0.21390479, -0.03446611,  0.21289388,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002375160050116535
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67620688, -0.73533579,  0.04500589,  0.03046416,  0.03312801,
        0.99898672, -0.73608165,  0.67689276,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09579617, -0.03412124,  0.12373456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.44168624, 0.41464997, 0.15215825, 0.41464997, 0.41502459,
       0.07265627, 0.15215825, 0.07265627, 0.24368896, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0015524498476860837
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70030902e-01, -2.39626997e-01,  4.02361826e-02, -2.39421120e-01,
        9.70865028e-01,  9.93101548e-03, -4.14436419e-02,  1.73472348e-18,
       -9.99140843e-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([ 0.12212851, -0.08285262,  0.11406842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005263539300206094
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.05463545e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.05463545e-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([ 0.05676265, -0.03810127,  0.06198819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.63386248e-03, 1.40306308e-01, 7.16471212e-02, 2.05875470e-02,
  3.79620420e-02, 3.36609005e-01, 1.80281020e-01, 6.34930890e-02,
 -2.74234126e-05,-1.06046209e-03,-1.61391516e-04,-6.51030834e-04,
  2.29439190e-03, 1.28129885e-03,-6.62249469e-05,-1.14736745e-04,
 -1.19189103e-02, 1.58473739e-02,-9.81111621e+00,-6.54535826e-02,
 -7.12052259e-03,-5.73685192e-03]


--- Step 2442 ---
qpos:
[-0.00295949, 0.22510468,-0.09801888, 0.60213772,-0.01485173, 0.05759537,
 -0.20643947, 0.48421129, 0.01476439, 1.01266848,-0.02200805, 0.92196144,
  0.87962   ,-0.00453376, 1.1940715 , 0.04586449, 0.08858122,-0.06736652,
  0.14258521, 0.94987598,-0.03693082, 0.02982186, 0.30900225]

qacc:
[-9.30380199e+00,-3.23416243e+00, 8.60361609e+01,-2.66043464e+02,
 -3.04009161e+01,-2.34475055e+01, 1.35214711e+02,-4.58477279e+02,
 -3.93580568e-02,-2.79964176e+01, 1.07969608e+02,-2.37897207e+02,
  5.43585966e+00,-1.10288458e+00,-9.17315981e+00, 2.95611242e+01,
  4.46749057e-01,-1.04618470e+00,-7.90226868e-01, 1.60893562e+01,
 -5.10589126e+00, 6.24699146e+00]

qfrc_actuator:
[-0.00661996, 0.15091752, 0.07716563, 0.10719396, 0.00685482, 0.38309687,
  0.18652347, 0.09723733,-0.00252034, 0.11820595, 0.00928486, 0.03518573,
  0.04366951, 0.00875119, 0.        ,-0.00178471, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21638046, -0.05158717,  0.21014107, -0.05158717,  0.1163419 ,
       -0.02455829,  0.21014107, -0.02455829,  0.21035169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017286564542560228
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.678219  , -0.73368762,  0.04149056,  0.02816394,  0.03046734,
        0.9991389 , -0.73431995,  0.67880352,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09570945, -0.03413165,  0.12372894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.44168624, 0.42045704, 0.13528714, 0.42045704, 0.42054795,
       0.0656954 , 0.13528714, 0.0656954 , 0.23751242, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.001484589482999698
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70920937e-01, -2.36170379e-01,  3.91929254e-02, -2.35978197e-01,
        9.71711661e-01,  9.52567352e-03, -4.03339046e-02,  1.73472348e-18,
       -9.99186257e-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([ 0.12196371, -0.08282376,  0.11406983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005137756855077003
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08045501e-13, -1.08045501e-13,  1.00000000e+00,  1.16738302e-26,
        1.00000000e+00,  1.08045501e-13, -1.00000000e+00,  0.00000000e+00,
        1.08045501e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05676125, -0.03809905,  0.06198847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.15582383e-03, 1.39640777e-01, 7.13365656e-02, 2.12795505e-02,
  3.88560780e-02, 3.36686900e-01, 1.80768098e-01, 6.50522345e-02,
 -9.80075624e-06,-8.69328780e-04,-2.60312459e-04,-6.77597127e-04,
  1.42430071e-03, 7.46003731e-04,-2.59750683e-05, 1.32209599e-04,
 -1.14804743e-02, 1.60513431e-02,-9.81113400e+00,-6.53788615e-02,
 -6.95106261e-03,-5.71579633e-03]


--- Step 2443 ---
qpos:
[-0.00326005, 0.22521493,-0.09794907, 0.60380427,-0.01549863, 0.05847503,
 -0.20633579, 0.48479504, 0.01476782, 1.0144248 ,-0.02201947, 0.92260969,
  0.88054331,-0.00433998, 1.19424387, 0.0458669 , 0.08849913,-0.06753309,
  0.14256971, 0.95041474,-0.03651542, 0.02987431, 0.3073857 ]

qacc:
[-1.79205313e+01, 1.10744773e+01, 4.07640555e+01,-2.12422468e+02,
 -2.71256382e+01,-2.04135594e+01, 1.22656002e+02,-4.34299872e+02,
 -9.19866480e-03,-2.51722467e+01, 1.05147600e+02,-2.51944542e+02,
  4.35129276e+00,-2.75669845e+00,-6.67030571e+00, 2.21380243e+01,
  4.45322988e-01,-9.73542921e-01,-7.72205787e-01, 1.53359688e+01,
 -6.05762127e+00, 8.69847464e+00]

qfrc_actuator:
[-0.00626924, 0.15089319, 0.07710426, 0.10765086, 0.00747508, 0.38233446,
  0.18639535, 0.09772344,-0.0025203 , 0.11818446, 0.00926731, 0.03449882,
  0.04358432, 0.00856414, 0.        ,-0.001682  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21202318, -0.03568245,  0.20899903, -0.03568245,  0.11337411,
       -0.01684238,  0.20899903, -0.01684238,  0.20914768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010915872413615462
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.81188037e-01, -7.31000893e-01,  4.02560870e-02,  2.74442113e-02,
        2.94511088e-02,  9.99189395e-01, -7.31593927e-01,  6.81740659e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09560905, -0.0341296 ,  0.12375113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.44168624, 0.42578969, 0.11743029, 0.42578969, 0.42584504,
       0.05743848, 0.11743029, 0.05743848, 0.23342044, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0014157964011825132
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97179183, -0.23273417,  0.03815042, -0.23255503,  0.97254039,
        0.0091296 , -0.0392276 ,  0.        , -0.9992303 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12180245, -0.08279522,  0.11407099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000501625951410789
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10662439e-13, -2.76656097e-13,  1.00000000e+00,  3.06154385e-26,
        1.00000000e+00,  2.76656097e-13, -1.00000000e+00,  0.00000000e+00,
        1.10662439e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05675985, -0.03809686,  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:
[ 7.69449233e-03, 1.38545801e-01, 7.10566109e-02, 2.23218791e-02,
  3.96589659e-02, 3.36798751e-01, 1.81279888e-01, 6.67044827e-02,
 -2.62234605e-06,-6.04985152e-04,-2.45370244e-04,-7.34979639e-04,
  8.36449811e-04, 3.54086216e-04, 1.23901821e-05, 1.08155406e-04,
 -1.09743383e-02, 1.61579670e-02,-9.81114743e+00,-6.52921002e-02,
 -6.79879184e-03,-5.69301433e-03]


--- Step 2444 ---
qpos:
[-0.00356658, 0.22532402,-0.09789194, 0.60546426,-0.01616341, 0.05927152,
 -0.20626093, 0.48536633, 0.01477124, 1.01617622,-0.02203165, 0.92324578,
  0.88147047,-0.0041473 , 1.1944161 , 0.04587152, 0.08843199,-0.06769247,
  0.14255848, 0.95089174,-0.03609962, 0.02988967, 0.30595479]

qacc:
[-1.46945970e+01, 2.12793783e+01,-5.30184561e+01,-3.64306019e+01,
 -1.47148288e+02,-4.96987236e+01, 6.67490961e+01,-1.60050348e+02,
  1.96008505e-03,-2.55547273e+01, 1.01402353e+02,-2.28385849e+02,
  3.95690932e+00,-4.46908915e+00,-7.17535000e+00, 2.41420923e+01,
  3.73545197e+00, 1.79337633e+00, 1.06874887e+00,-9.40925052e+00,
 -2.01578494e+01, 9.70363534e+01]

qfrc_actuator:
[-0.00596973, 0.1508196 , 0.07702105, 0.10809929, 0.0080902 , 0.38150021,
  0.18626738, 0.09832773,-0.00252163, 0.117933  , 0.00922676, 0.03388894,
  0.04349963, 0.00833819, 0.        ,-0.00156927, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20973379, -0.02792432,  0.20786653, -0.02792432,  0.15321372,
       -0.00759278,  0.20786653, -0.00759278,  0.20871379,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.696987781247687e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68410638, -0.72833789,  0.03901773,  0.02671262,  0.02843975,
        0.99923852, -0.72889293,  0.68462771,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09550689, -0.03412775,  0.12377398])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.42592899,  0.11692403,  0.42592899,  0.44779474,
       -0.02225197,  0.11692403, -0.02225197,  0.52274537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013649044356930735
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97264127, -0.22932861,  0.03711265, -0.22916185,  0.97334906,
        0.00874403, -0.03812882,  0.        , -0.99927283])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12164484, -0.08276707,  0.11407192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.11836216,  -3.9370861 , -10.39794836,  -3.9370861 ,
        15.20793363,  -1.54847807, -10.39794836,  -1.54847807,
        11.70467892,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004941188464872431
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.24687448e-13, -3.15966723e-14,  1.00000000e+00, -7.09937566e-27,
        1.00000000e+00,  3.15966723e-14, -1.00000000e+00,  0.00000000e+00,
       -2.24687448e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04717885, -0.06359232,  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:
[ 8.35699128e-03, 1.37224617e-01, 7.09100358e-02, 2.33109258e-02,
  4.04370714e-02, 3.36811444e-01, 1.81816203e-01, 6.84340597e-02,
 -1.45244853e-07,-6.87305623e-04,-2.16484058e-04,-6.50789103e-04,
  4.37761729e-04, 6.74142883e-05, 2.08162234e-05, 1.20551917e-04,
 -1.04008451e-02, 1.61623418e-02,-9.81115688e+00,-6.51934204e-02,
 -6.66553586e-03,-5.66840679e-03]


--- Step 2445 ---
qpos:
[-0.00371302, 0.22634043,-0.09714641, 0.60744591,-0.01683688, 0.05997843,
 -0.20622059, 0.48592201, 0.01477483, 1.01792224,-0.02204477, 0.92387039,
  0.88239954,-0.00395646, 1.19458851, 0.04587646, 0.0883791 ,-0.06784654,
  0.14254954, 0.95132731,-0.03568839, 0.02989622, 0.30464553]

qacc:
[ 3.93120211e+02,-1.15014915e+02, 9.38519331e+02, 2.61373245e+03,
 -7.11982686e+01,-4.81845128e+01, 6.12146590e+01,-1.92764125e+02,
  8.04821575e-02,-2.45125872e+01, 9.56908534e+01,-2.14876579e+02,
  2.77481632e+00,-4.07248242e+00,-9.42297811e-01, 3.14950504e+00,
  3.56485833e+00, 1.33136145e+00, 5.69383068e-01,-6.09105357e+00,
 -5.06598429e+00, 6.39506666e+01]

qfrc_actuator:
[-0.00566384, 0.15069699, 0.07693814, 0.10863141, 0.00875366, 0.38078423,
  0.18617794, 0.09900185,-0.00250605, 0.11765257, 0.00917226, 0.03331138,
  0.04341523, 0.00814396, 0.        ,-0.00155806, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.44168624, 0.42787951, 0.10957124, 0.42787951, 0.43860105,
       0.01204776, 0.10957124, 0.01204776, 0.39463933, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0013799531940004261
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73375608e-01, -2.26325081e-01,  3.62888941e-02, -2.26167959e-01,
        9.74051825e-01,  8.43187877e-03, -3.72556092e-02,  1.73472348e-18,
       -9.99305769e-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([ 0.12150541, -0.08274245,  0.11407443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.14966329,  4.07749961, 10.3773305 ,  4.07749961, 19.50499901,
       -3.28300984, 10.3773305 , -3.28300984, 12.43963583,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004961001911109875
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11895041e-13, -1.11895041e-13,  1.00000000e+00, -1.25205002e-26,
        1.00000000e+00,  1.11895041e-13, -1.00000000e+00,  0.00000000e+00,
       -1.11895041e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04711255, -0.06356727,  0.06198886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.96023033e-03, 1.37153467e-01, 7.14573560e-02, 2.41678599e-02,
  4.19944379e-02, 3.40222756e-01, 1.83155864e-01, 6.97291054e-02,
  1.80734875e-05,-7.53358474e-04,-2.40698007e-04,-6.18157098e-04,
  1.62230739e-04,-7.45755764e-05, 2.28297940e-05, 2.02454528e-05,
 -7.59426970e-03, 1.27371252e-02,-9.81118856e+00,-6.50012617e-02,
 -7.04732756e-03,-5.64352483e-03]


--- Step 2446 ---
qpos:
[-0.00388739, 0.22742826,-0.09653   , 0.60938589,-0.01751194, 0.06060197,
 -0.20621244, 0.48646302, 0.01477877, 1.01966206,-0.02205763, 0.92448153,
  0.88332905,-0.00376735, 1.19476166, 0.04587616, 0.08833829,-0.06799352,
  0.14254203, 0.95171175,-0.03526872, 0.02989148, 0.30349195]

qacc:
[-6.91071279e+01, 3.65744595e+02,-9.80621236e+02, 3.26579495e+02,
 -1.27984602e+01,-4.50100460e+01, 5.79525150e+01,-1.82368182e+02,
  1.66167233e-01,-3.22493580e+01, 1.23913170e+02,-2.62413273e+02,
  1.13242566e+00,-2.37658695e+00, 1.68329413e+01,-5.75274192e+01,
  3.01769526e+00, 1.77079634e+00, 3.60182480e-01,-9.36540664e-01,
 -8.66764902e+00, 8.17595144e+01]

qfrc_actuator:
[-0.00548228, 0.14967247, 0.07615938, 0.10856863, 0.00942634, 0.38019663,
  0.18614661, 0.09961947,-0.00248049, 0.11733949, 0.00918087, 0.03263312,
  0.04333104, 0.00800546, 0.        ,-0.00183755, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20997166, -0.10018749,  0.18452795, -0.10018749,  0.19154488,
       -0.01000462,  0.18452795, -0.01000462,  0.20453975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.6778942116140666e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68813421, -0.7245724 ,  0.03829021,  0.02636814,  0.02776439,
        0.99926666, -0.72510415,  0.68863922,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09520844, -0.03410887,  0.12389436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.42974888,  0.10199329,  0.42974888,  0.44198173,
       -0.00124506,  0.10199329, -0.00124506,  0.44693229,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014044660857881008
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73447253e-01, -2.26125013e-01,  3.56079116e-02, -2.25973882e-01,
        9.74098290e-01,  8.26594147e-03, -3.65547419e-02,  1.73472348e-18,
       -9.99331652e-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([ 0.12138964, -0.08274969,  0.11407765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.14828185,  -4.01021835, -10.40203524,  -4.01021835,
        21.5867897 ,  -4.02427936, -10.40203524,  -4.02427936,
        12.69973199,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004960131303679699
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11914681e-13, -5.59573405e-14,  1.00000000e+00, -6.26244791e-27,
        1.00000000e+00,  5.59573405e-14, -1.00000000e+00,  0.00000000e+00,
       -1.11914681e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0470598 , -0.06354749,  0.06198887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13825033e-03, 9.07353408e-02, 3.62439784e-02, 8.01061987e-03,
  4.31011887e-02, 3.44087347e-01, 1.84840720e-01, 7.11244101e-02,
  3.77998168e-05,-8.26102242e-04,-1.92240463e-04,-7.20813178e-04,
 -1.51536470e-05,-1.23306574e-04, 9.61511767e-06,-2.76312178e-04,
 -6.08339664e-03, 1.08275365e-02,-9.81104062e+00,-6.49540071e-02,
 -7.29429807e-03,-5.61636258e-03]


--- Step 2447 ---
qpos:
[-0.00407072, 0.22841375,-0.09599438, 0.61129826,-0.0181825 , 0.06115639,
 -0.20623171, 0.48699009, 0.01478289, 1.02139518,-0.02206902, 0.92507911,
  0.88425837,-0.00358054, 1.19493482, 0.04587288, 0.08830817,-0.06813296,
  0.14253514, 0.95204465,-0.03483495, 0.02987953, 0.30249749]

qacc:
[-2.17735255e+01, 3.56390646e+01,-2.10555528e+02,-7.35158226e+01,
  3.72825950e+01,-3.80990696e+01, 5.72079345e+01,-1.86177096e+02,
  8.41150133e-02,-3.63605314e+01, 1.36675713e+02,-2.74276487e+02,
  1.21287175e+00,-3.05141905e+00, 8.89927875e+00,-3.14191003e+01,
  2.67489557e+00, 1.88269859e+00, 1.56766079e-01, 2.32049209e+00,
 -7.60441560e+00, 8.36282506e+01]

qfrc_actuator:
[-0.00528683, 0.14859753, 0.07555854, 0.10815276, 0.01008318, 0.37959142,
  0.18616161, 0.10020851,-0.00248469, 0.1170275 , 0.00926204, 0.03195429,
  0.04324704, 0.00784774, 0.        ,-0.00198422, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21310698, -0.10149398,  0.18738612, -0.10149398,  0.17387657,
       -0.02124838,  0.18738612, -0.02124838,  0.20159822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000128243883405121
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68930389, -0.72343162,  0.03881806,  0.02677762,  0.02810339,
        0.9992463 , -0.72397728,  0.68982381,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09501136, -0.03409238,  0.12399158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.43176535,  0.09308823,  0.43176535,  0.44250973,
       -0.00381957,  0.09308823, -0.00381957,  0.45940229,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012013325884508992
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97297057, -0.22826902,  0.03495031, -0.22812189,  0.9735981 ,
        0.00819442, -0.03589809,  0.        , -0.99935546])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12129452, -0.0827837 ,  0.11408026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.12161308,  4.16368856, 10.31280636,  4.16368856, 24.63436521,
       -5.45563347, 10.31280636, -5.45563347, 13.32426848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004943254780479106
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12296763e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.12296763e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04701765, -0.06353187,  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:
[ 2.72769726e-03, 8.60410603e-02, 4.20769444e-02, 9.67202618e-03,
  4.38377670e-02, 3.47626363e-01, 1.86456168e-01, 7.24447635e-02,
  1.86034198e-05,-8.58695135e-04,-1.31388001e-04,-7.24527790e-04,
 -1.19910150e-04,-1.97708257e-04,-3.20865985e-05,-1.62203399e-04,
 -4.32368500e-03, 8.71987871e-03,-9.81083650e+00,-6.48977491e-02,
 -7.53878609e-03,-5.58882251e-03]


--- Step 2448 ---
qpos:
[-0.0042519 , 0.22927667,-0.09552145, 0.61318703,-0.01884901, 0.06165784,
 -0.20627234, 0.48750458, 0.01478692, 1.02312314,-0.02207986, 0.92566455,
  0.88518737,-0.00339728, 1.19510778, 0.04586782, 0.08828772,-0.06826457,
  0.14252821, 0.95232615,-0.03438302, 0.02986406, 0.30166348]

qacc:
[ 5.19496850e+00,-3.19785853e+01,-2.98438859e+01,-1.76745892e+02,
  3.34433218e+01,-3.10362703e+01, 5.71845116e+01,-1.83594262e+02,
 -3.76882193e-02,-2.93874465e+01, 1.13386704e+02,-2.38352753e+02,
  2.05942992e+00,-4.95551006e+00, 4.87542502e+00,-1.79645634e+01,
  2.41741055e+00, 1.96059287e+00,-1.35980474e-02, 4.82311530e+00,
 -6.45020653e+00, 8.43580616e+01]

qfrc_actuator:
[-0.0051086 , 0.14758427, 0.07499676, 0.10740341, 0.0107428 , 0.37910126,
  0.18617703, 0.10073228,-0.00250671, 0.11689671, 0.00933216, 0.03135159,
  0.04316852, 0.00762651, 0.        ,-0.00206913, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.2184458 , -0.10580829,  0.19111037, -0.10580829,  0.17289008,
       -0.02522193,  0.19111037, -0.02522193,  0.20448167,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019537782886303823
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68926179, -0.72343851,  0.03943236,  0.02720037,  0.02854909,
        0.99922224, -0.7240016 ,  0.68979829,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09484494, -0.03409052,  0.124084  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.43367573,  0.08373826,  0.43367573,  0.44617636,
       -0.02325411,  0.08373826, -0.02325411,  0.56211794,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011735967122942339
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73328545e-01, -2.26814900e-01,  3.44462570e-02, -2.26672994e-01,
        9.73937884e-01,  8.02199447e-03, -3.53680225e-02, -1.73472348e-18,
       -9.99374356e-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([ 0.12120312, -0.08277508,  0.11408384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.07499402,  4.26122505, 10.22239961,  4.26122505, 28.48368513,
       -7.25684316, 10.22239961, -7.25684316, 14.10002172,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004913432294226527
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.25956716e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.25956716e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04698381, -0.06351954,  0.06198897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.34980745e-03, 9.00996295e-02, 4.55341940e-02, 1.02988325e-02,
  4.42721034e-02, 3.50571184e-01, 1.87835317e-01, 7.36636139e-02,
 -9.53094874e-06,-6.83501053e-04,-1.41898060e-04,-6.47654543e-04,
 -1.86993095e-04,-3.06442035e-04,-3.65421075e-05,-9.89036665e-05,
 -2.81980599e-03, 6.90182715e-03,-9.81057001e+00,-6.48637252e-02,
 -7.76772395e-03,-5.56030088e-03]


--- Step 2449 ---
qpos:
[-0.00442591, 0.23002675,-0.0950996 , 0.6150546 ,-0.01951302, 0.06212295,
 -0.20632813, 0.48800778, 0.01479062, 1.02484924,-0.02209225, 0.926237  ,
  0.88611554,-0.00321746, 1.19528057, 0.04586139, 0.08827617,-0.068388  ,
  0.14252065, 0.95255585,-0.03390941, 0.02984784, 0.3009927 ]

qacc:
[ 1.71049959e+01,-4.61397953e+01, 2.73072645e+01,-2.09273405e+02,
  2.05973952e+01,-2.37898534e+01, 5.78143472e+01,-1.83629973e+02,
 -1.49099173e-01,-2.08101594e+01, 9.22894340e+01,-2.31401998e+02,
  1.60964170e+00,-4.47156073e+00, 3.70108675e+00,-1.37269257e+01,
  2.22357290e+00, 2.04514154e+00,-1.55929242e-01, 6.88279355e+00,
 -5.66449582e+00, 8.58501539e+01]

qfrc_actuator:
[-0.00493049, 0.14674019, 0.07450813, 0.10644323, 0.0114205 , 0.37876263,
  0.18619759, 0.10109682,-0.00253924, 0.11701777, 0.00932499, 0.03070984,
  0.0430933 , 0.00744035, 0.        ,-0.00213473, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.22557427, -0.1129453 ,  0.19526165, -0.1129453 ,  0.1843857 ,
       -0.02382473,  0.19526165, -0.02382473,  0.21179332,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025637454142499937
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69000514, -0.72271086,  0.03977345,  0.02746562,  0.02876747,
        0.99920872, -0.72328317,  0.69055156,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09468589, -0.0340808 ,  0.12416707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.43530354,  0.07481684,  0.43530354,  0.45140065,
       -0.05652093,  0.07481684, -0.05652093,  0.77053948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011568578297638076
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97467348, -0.22111318,  0.03347483, -0.22098288,  0.97524815,
        0.00758958, -0.03432442,  0.        , -0.99941074])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12111164, -0.08271613,  0.11408131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([11.01322511,  4.38066163, 10.10450053,  4.38066163, 33.49533185,
       -9.7467957 , 10.10450053, -9.7467957 , 15.23880892,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048732740005000275
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13909358e-13, -5.69546790e-14,  1.00000000e+00, -6.48767091e-27,
        1.00000000e+00,  5.69546790e-14, -1.00000000e+00,  0.00000000e+00,
       -1.13909358e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04695646, -0.06350978,  0.06198906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.41552337e-03, 9.53439106e-02, 4.81607934e-02, 1.05138776e-02,
  4.47471838e-02, 3.52862393e-01, 1.88917074e-01, 7.46547471e-02,
 -3.51463189e-05,-3.34197093e-04,-1.83724514e-04,-6.79929667e-04,
 -2.44359737e-04,-3.17249551e-04,-3.10678747e-05,-7.65186831e-05,
 -1.61563956e-03, 5.38476131e-03,-9.81025016e+00,-6.48482094e-02,
 -7.99304410e-03,-5.53090102e-03]


--- Step 2450 ---
qpos:
[-0.00459184, 0.23067962,-0.09472003, 0.61690313,-0.02017128, 0.06255658,
 -0.20639774, 0.48849971, 0.01479382, 1.02657527,-0.02210563, 0.92679854,
  0.88704247,-0.00304081, 1.19545297, 0.04585585, 0.08827285,-0.06850305,
  0.14251202, 0.95273398,-0.03341178, 0.02983296, 0.30048563]

qacc:
[  19.14095365, -45.65770848,  45.92540654,-212.76054049,  47.23138171,
  -21.06934328,  57.07749783,-187.63138041,  -0.23394567, -16.41188363,
   76.41647158,-194.63131648,   1.24645397,  -3.96964546,  -3.42881985,
   10.8082371 ,   2.05884742,   2.09200189,  -0.26614608,   8.32630815,
   -4.97929745,  86.10933716]

qfrc_actuator:
[-0.00474057, 0.14607243, 0.07413012, 0.10554112, 0.01209123, 0.37846622,
  0.18622358, 0.10156486,-0.0025778 , 0.11719994, 0.00934432, 0.03017459,
  0.04300948, 0.00727655, 0.        ,-0.00208194, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.23423095, -0.12042515,  0.20090276, -0.12042515,  0.20544326,
       -0.01725592,  0.20090276, -0.01725592,  0.2238874 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003116715211945897
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69054901, -0.7221777 ,  0.04001797,  0.02765652,  0.02892325,
        0.99919896, -0.72275666,  0.69110261,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09454422, -0.03407408,  0.12424353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.43667565,  0.06634086,  0.43667565,  0.45290973,
       -0.07387645,  0.06634086, -0.07387645,  0.92796343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011526759407719971
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74950024e-01, -2.19903747e-01,  3.33885184e-02, -2.19774907e-01,
        9.75521574e-01,  7.52649709e-03, -3.42263249e-02, -8.67361738e-19,
       -9.99414108e-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([ 0.12104189, -0.08270859,  0.11408854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.94061571,   4.55019435,   9.94951273,   4.55019435,
        40.16505984, -13.36516713,   9.94951273, -13.36516713,
        17.05288568,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004825097738998113
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15046688e-13, -1.72570031e-13,  1.00000000e+00, -1.98536105e-26,
        1.00000000e+00,  1.72570031e-13, -1.00000000e+00,  0.00000000e+00,
       -1.15046688e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04693418, -0.06350207,  0.06198917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.24302996e-03, 1.00282444e-01, 5.03202322e-02, 1.06676199e-02,
  4.52929121e-02, 3.54365267e-01, 1.89695095e-01, 7.56856261e-02,
 -5.49385743e-05,-8.88504894e-05,-9.44797490e-05,-5.64811305e-04,
 -2.85313260e-04,-3.11500670e-04,-2.68557135e-05, 4.36868629e-05,
 -7.16018924e-04, 4.14462755e-03,-9.80988039e+00,-6.48465181e-02,
 -8.22736944e-03,-5.50075183e-03]


--- Step 2451 ---
qpos:
[-0.00475703, 0.23125471,-0.09437601, 0.61873559,-0.0208219 , 0.06296513,
 -0.2064792 , 0.48898059, 0.01479688, 1.02830314,-0.02211993, 0.92735017,
  0.88796818,-0.00286789, 1.19562533, 0.04584994, 0.08827719,-0.06860959,
  0.14250202, 0.95286075,-0.03288849, 0.02982072, 0.30014242]

qacc:
[ 1.82902715e+00,-3.32550928e+01, 2.82204252e+01,-1.72962848e+02,
  6.25172711e+01,-1.77072358e+01, 5.63286255e+01,-1.90639295e+02,
 -6.66700556e-02,-1.22650208e+01, 6.37488334e+01,-1.72693750e+02,
  1.56991505e+00,-4.73795069e+00, 8.69235187e-01,-3.59294701e+00,
  1.91475372e+00, 2.12963253e+00,-3.44507463e-01, 9.31445793e+00,
 -4.56973872e+00, 8.62057874e+01]

qfrc_actuator:
[-0.00460059, 0.1454867 , 0.07381235, 0.10508849, 0.01275351, 0.37824033,
  0.18631083, 0.10234802,-0.0025664 , 0.11747101, 0.00936186, 0.02968865,
  0.04292589, 0.00707399, 0.        ,-0.00210184, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.24435233, -0.12449335,  0.21026048, -0.12449335,  0.26509887,
        0.01228384,  0.21026048,  0.01228384,  0.25162548,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036233687136260793
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69088547, -0.7218467 ,  0.04018216,  0.02778371,  0.0290288 ,
        0.99919237, -0.72243016,  0.6914439 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09441789, -0.0340702 ,  0.12431434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.43834345,  0.05423792,  0.43834345,  0.45434599,
       -0.10231437,  0.05423792, -0.10231437,  1.26857695,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011606885221393708
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75147305e-01, -2.19005126e-01,  3.35333783e-02, -2.18875750e-01,
        9.75723708e-01,  7.52670216e-03, -3.43676986e-02, -8.67361738e-19,
       -9.99409256e-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([ 0.1209817 , -0.08270378,  0.11409797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.86085511,   4.79397847,   9.74556023,   4.79397847,
        49.00849983, -18.76536425,   9.74556023, -18.76536425,
        20.09180235,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004770919783581157
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.32706286e-13, -5.81765716e-14,  1.00000000e+00, -1.35380539e-26,
        1.00000000e+00,  5.81765716e-14, -1.00000000e+00,  0.00000000e+00,
       -2.32706286e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04691587, -0.06349596,  0.06198929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97602399e-03, 1.04525613e-01, 5.21009070e-02, 1.11631464e-02,
  4.56673102e-02, 3.55697843e-01, 1.90468261e-01, 7.70305470e-02,
 -1.56451119e-05, 1.56954288e-04,-3.45403901e-05,-5.02784893e-04,
 -3.04722163e-04,-3.58481844e-04,-1.16913421e-05,-2.17762196e-05,
 -1.47269249e-04, 3.19070365e-03,-9.80947051e+00,-6.48547435e-02,
 -8.47640062e-03,-5.46986629e-03]


--- Step 2452 ---
qpos:
[-0.00492437, 0.23176878,-0.09406267, 0.62055409,-0.02146309, 0.06335398,
 -0.20657084, 0.48945046, 0.01479993, 1.03003322,-0.02213488, 0.92788926,
  0.88889222,-0.00269811, 1.19579735, 0.04584583, 0.08828871,-0.0687075 ,
  0.14249041, 0.95293636,-0.03233838, 0.02981191, 0.29996294]

qacc:
[-5.03614206e+00,-2.10019719e+01, 9.26135866e+00,-1.41747483e+02,
  7.70757216e+01,-1.50609668e+01, 5.67012269e+01,-1.95756511e+02,
 -4.36376392e-04,-1.71520775e+01, 8.58486925e+01,-2.23271264e+02,
  9.48024175e-01,-3.70778127e+00,-6.06390012e+00, 2.01977547e+01,
  1.79306746e+00, 2.15698520e+00,-4.02931903e-01, 1.00117539e+01,
 -4.31620510e+00, 8.61397802e+01]

qfrc_actuator:
[-0.00446873, 0.14496964, 0.07345217, 0.10480367, 0.01340655, 0.37795643,
  0.18643837, 0.10309377,-0.0025607 , 0.11763375, 0.00934316, 0.0290581 ,
  0.04283182, 0.00692105, 0.        ,-0.00200467, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.2561862 , -0.12781013,  0.22202688, -0.12781013,  0.34747151,
        0.05254854,  0.22202688,  0.05254854,  0.28643585,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040997267992384036
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.91002513e-01, -7.21728721e-01,  4.02886998e-02,  2.78622147e-02,
        2.91011396e-02,  9.99188081e-01, -7.22315183e-01,  6.91564008e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09430476, -0.03406924,  0.12438064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.43968311,  0.04201783,  0.43968311,  0.45596635,
       -0.14943   ,  0.04201783, -0.14943   ,  2.00535193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011809931602522132
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75265983e-01, -2.18417339e-01,  3.39135375e-02, -2.18285403e-01,
        9.75855453e-01,  7.59057563e-03, -3.47526238e-02,  8.67361738e-19,
       -9.99395945e-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([ 0.12093018, -0.0827017 ,  0.11410968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.77682397,   5.14021076,   9.4719675 ,   5.14021076,
        60.34462114, -26.89926084,   9.4719675 , -26.89926084,
        25.37441102,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004712352896222849
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17799224e-13, -5.88996118e-14,  1.00000000e+00, -6.93832854e-27,
        1.00000000e+00,  5.88996118e-14, -1.00000000e+00,  0.00000000e+00,
       -1.17799224e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04690066, -0.06349111,  0.06198942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06716601e-03, 1.07870019e-01, 5.35053302e-02, 1.16770791e-02,
  4.59385551e-02, 3.56652912e-01, 1.91183198e-01, 7.83276238e-02,
 -1.77462680e-07, 1.98375414e-04,-1.39137984e-05,-6.36745321e-04,
 -3.36400188e-04,-3.26409496e-04,-1.30642763e-05, 9.33500908e-05,
  8.66086708e-05, 2.51343052e-03,-9.80902559e+00,-6.48698640e-02,
 -8.74560951e-03,-5.43827286e-03]


--- Step 2453 ---
qpos:
[-0.00509268, 0.23223303,-0.09377569, 0.62236008,-0.0220932 , 0.06372797,
 -0.20667121, 0.48990926, 0.01480286, 1.03176106,-0.0221477 , 0.92841757,
  0.88981442,-0.00253121, 1.19596906, 0.04584455, 0.08830699,-0.06879671,
  0.142477  , 0.95296104,-0.0317606 , 0.02980706, 0.29994677]

qacc:
[-2.24313583e+00,-1.54809585e+01, 5.32032605e+00,-1.28230207e+02,
  9.05106696e+01,-1.27475351e+01, 5.78213126e+01,-2.03297874e+02,
 -5.29787776e-02,-2.74333599e+01, 1.08615886e+02,-2.19579486e+02,
  7.15525038e-01,-3.30572937e+00,-9.17157395e+00, 3.11517727e+01,
  1.69260423e+00, 2.17471261e+00,-4.48528846e-01, 1.05192876e+01,
 -4.14724625e+00, 8.59257288e+01]

qfrc_actuator:
[-0.00432139, 0.1444904 , 0.07307587, 0.1044996 , 0.01404919, 0.37766012,
  0.1865399 , 0.10364391,-0.00257625, 0.11730433, 0.00937382, 0.02850717,
  0.04273687, 0.006781  , 0.        ,-0.00185704, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.27019204, -0.13255852,  0.23543996, -0.13255852,  0.44161575,
        0.09651578,  0.23543996,  0.09651578,  0.32453281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004558347223116988
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69089079, -0.72183197,  0.04035496,  0.0279036 ,  0.02915325,
        0.99918541, -0.72242045,  0.69145404,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09420301, -0.03407114,  0.12444334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.44057752,  0.03127588,  0.44057752,  0.46381504,
       -0.31172442,  0.03127588, -0.31172442,  4.8328905 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012136700448775457
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97530635, -0.21813998,  0.03453218, -0.21800338,  0.97591749,
        0.00771874, -0.03538433,  0.        , -0.99937378])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12088661, -0.08270234,  0.11412376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.69082383,   5.64898641,   9.07648978,   5.64898641,
        74.46764867, -39.69314412,   9.07648978, -39.69314412,
        35.394871  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00046507545613865
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19359451e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.19359451e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04688789, -0.06348727,  0.06198955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.32004151e-03, 1.10416993e-01, 5.46503861e-02, 1.20676581e-02,
  4.61098282e-02, 3.57327531e-01, 1.91789113e-01, 7.94258145e-02,
 -1.30976118e-05,-2.70879194e-04, 4.19458515e-05,-5.58356475e-04,
 -3.45912018e-04,-3.12245121e-04,-8.40464040e-07, 1.50088285e-04,
 -1.58763120e-05, 2.10659194e-03,-9.80854809e+00,-6.48901478e-02,
 -9.03816412e-03,-5.40596402e-03]


--- Step 2454 ---
qpos:
[-0.00525003, 0.2327471 ,-0.0934531 , 0.62415937,-0.02268669, 0.06412646,
 -0.20676198, 0.49036337, 0.01480582, 1.0334817 ,-0.02215772, 0.92893631,
  0.89073511,-0.00236808, 1.1961413 , 0.04584036, 0.08831545,-0.06886459,
  0.14246706, 0.95290259,-0.0312659 , 0.02988664, 0.30017642]

qacc:
[ 2.55044160e+01,-4.09357787e+01, 2.45701708e+02,-3.77033131e+02,
  2.98870663e+02,-3.78603202e-01, 6.25061455e+01,-1.56762298e+02,
  1.60470844e-02,-3.36585767e+01, 1.18568725e+02,-2.11125929e+02,
  1.15165677e+00,-4.32047003e+00, 9.45870595e+00,-3.23262819e+01,
 -2.45768704e+00, 5.33321474e+00, 8.67278635e-01,-3.19120292e+01,
  5.00234916e+01, 1.29699606e+02]

qfrc_actuator:
[-0.00414732, 0.14401153, 0.07280436, 0.1042236 , 0.01469793, 0.37746592,
  0.18659295, 0.10420544,-0.00256893, 0.11662991, 0.00939606, 0.02800726,
  0.04264681, 0.00657868, 0.        ,-0.0020182 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.28697896, -0.26823157,  0.10202326, -0.26823157,  0.3349457 ,
        0.12611041,  0.10202326,  0.12611041,  0.61853856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005006540235871803
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.90545091e-01, -7.22160691e-01,  4.03907675e-02,  2.79144255e-02,
        2.91924467e-02,  9.99183960e-01, -7.22750484e-01,  6.91109063e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0941113 , -0.03407577,  0.1245031 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012588309700770131
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75268276e-01, -2.18172267e-01,  3.53928311e-02, -2.18028744e-01,
        9.75910273e-01,  7.91234032e-03, -3.62664807e-02,  8.67361738e-19,
       -9.99342155e-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([ 0.12085034, -0.08270567,  0.11414027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.95323779, -5.65203902,  9.38231703, -5.65203902, 19.95029717,
        5.41995443,  9.38231703,  5.41995443, 14.21829415,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048335494434857684
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.14845523e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.14845523e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07771011, -0.11311185,  0.06198914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.54008671e-03, 1.12406375e-01, 5.56850066e-02, 1.24125013e-02,
  4.62043527e-02, 3.57862835e-01, 1.92274586e-01, 8.05398194e-02,
  2.75025276e-06,-8.62031016e-04,-4.96317902e-05,-5.18068743e-04,
 -3.42319410e-04,-3.72956108e-04, 1.05104680e-05,-1.54096406e-04,
 -4.53957935e-04, 1.96465858e-03,-9.80803908e+00,-6.49145363e-02,
 -9.35587714e-03,-5.37291059e-03]


--- Step 2455 ---
qpos:
[-0.0053868 , 0.23334234,-0.09309642, 0.62594851,-0.02323607, 0.06455016,
 -0.20684365, 0.49081204, 0.01480901, 1.03519226,-0.02216572, 0.92944468,
  0.89165411,-0.00220839, 1.19631351, 0.04583496, 0.08831432,-0.06891227,
  0.14245913, 0.95276678,-0.03085064, 0.03004459, 0.30063437]

qacc:
[ 4.75423450e+01,-2.01114992e+00, 1.79154510e+02,-3.87475404e+02,
  3.59562617e+02, 6.27421814e-01, 6.28685836e+01,-1.68291301e+02,
  1.10314687e-01,-3.67114276e+01, 1.25603462e+02,-2.24751183e+02,
  9.21117427e-01,-3.87558038e+00, 3.44515175e+00,-1.24415598e+01,
 -2.39411947e+00, 5.05167924e+00, 5.03416991e-01,-3.07029850e+01,
  4.68485419e+01, 1.20419546e+02]

qfrc_actuator:
[-0.00395101, 0.14354196, 0.07247331, 0.10410567, 0.01532034, 0.37724631,
  0.18665533, 0.10478959,-0.00254798, 0.11591413, 0.00941172, 0.02747005,
  0.04255971, 0.00641205, 0.        ,-0.00207596, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.30531815,  0.06287868, -0.29877323,  0.06287868,  1.69467982,
        0.29239979, -0.29877323,  0.29239979,  0.3668555 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005444554333531975
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68983839, -0.72282151,  0.04064554,  0.02806205,  0.02940377,
        0.99917363, -0.72341932,  0.69040893,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0940162 , -0.03408449,  0.1245683 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.44016557,  0.03661965, -0.44016557,  0.4564105 ,
        0.17698455,  0.03661965,  0.17698455,  2.56902756,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013083064944048937
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75117367e-01, -2.18663344e-01,  3.65029089e-02, -2.18510295e-01,
        9.75800360e-01,  8.17979626e-03, -3.74081733e-02, -1.73472348e-18,
       -9.99300069e-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([ 0.12081324, -0.08271388,  0.11415981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 11.6792531 ,  -3.51858399, -11.13662963,  -3.51858399,
        70.24431046, -18.50345032, -11.13662963, -18.50345032,
        17.5253615 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00052865216179733
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05005059e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.05005059e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07770348, -0.11308653,  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:
[ 3.18665973e-03, 1.09422862e-01, 5.35623497e-02, 1.26253970e-02,
  4.49955439e-02, 3.56404007e-01, 1.91852291e-01, 8.13570884e-02,
  2.48598032e-05,-1.24700736e-03,-1.81184398e-04,-5.74994707e-04,
 -3.52463128e-04,-3.52881639e-04,-1.98250307e-05,-6.65917625e-05,
 -1.59046045e-03, 1.40702093e-03,-9.80821294e+00,-6.49214363e-02,
 -9.78642178e-03,-5.33465480e-03]


--- Step 2456 ---
qpos:
[-0.00549454, 0.23403257,-0.09270624, 0.62772483,-0.02373481, 0.06499903,
 -0.20691678, 0.49125457, 0.01481245, 1.03689254,-0.0221737 , 0.92994248,
  0.89257125,-0.00205153, 1.19648468, 0.04583625, 0.08830396,-0.06894089,
  0.14245198, 0.95255953,-0.03051141, 0.03027423, 0.30130196]

qacc:
[ 6.67011434e+01, 1.30549278e+01, 1.60379055e+02,-4.17810910e+02,
  4.12457534e+02, 8.19446880e-01, 6.45957110e+01,-1.80151336e+02,
  1.18293507e-01,-3.19051314e+01, 1.09967532e+02,-2.13188781e+02,
  9.72368005e-01,-3.60511725e+00,-2.18968120e+01, 7.40628311e+01,
 -2.31046533e+00, 4.76237949e+00, 1.93391732e-01,-2.96925211e+01,
  4.34240172e+01, 1.10573092e+02]

qfrc_actuator:
[-0.00380862, 0.14300892, 0.07211155, 0.10428399, 0.01590483, 0.37692994,
  0.18675547, 0.10524791,-0.00253683, 0.11535681, 0.00938761, 0.02693284,
  0.04247978, 0.00628576, 0.        ,-0.00171717, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.32458653,  0.11423911, -0.30381877,  0.11423911,  1.19845624,
        0.32858438, -0.30381877,  0.32858438,  0.44813778,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005897227846429194
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68877506, -0.723807  ,  0.04113808,  0.02835889,  0.02980126,
        0.99915347, -0.72442025,  0.68935862,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09391493, -0.03409632,  0.12464025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.44163978,  0.00640595, -0.44163978,  0.44218081,
        0.03409685,  0.00640595,  0.03409685,  2.7923949 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013617067575246678
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97486014, -0.21958053,  0.03784298, -0.21941527,  0.97559438,
        0.00851745, -0.03878966,  0.        , -0.9992474 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12077507, -0.08272655,  0.11418215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([12.2336255 ,  3.62016952, 11.6857163 ,  3.62016952, 43.50263308,
       -9.68696358, 11.6857163 , -9.68696358, 15.23459261,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005621564072744167
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.87468087e-14, -9.87468087e-14,  1.00000000e+00,  9.75093224e-27,
        1.00000000e+00,  9.87468087e-14, -1.00000000e+00,  0.00000000e+00,
        9.87468087e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07769801, -0.11306793,  0.06198739])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29718028e-03, 1.04804673e-01, 5.14826264e-02, 1.33063190e-02,
  4.33748703e-02, 3.54811458e-01, 1.91492898e-01, 8.20850725e-02,
  2.69656748e-05,-1.32881945e-03,-3.12996541e-04,-5.91808872e-04,
 -3.46011903e-04,-3.09261038e-04,-2.22574678e-05, 3.51352620e-04,
 -2.88340176e-03, 1.31190970e-03,-9.80859418e+00,-6.47866737e-02,
 -1.00794183e-02,-5.31221424e-03]


--- Step 2457 ---
qpos:
[-0.00556586, 0.23481948,-0.09228199, 0.62948627,-0.02417715, 0.06547277,
 -0.20698194, 0.49169024, 0.0148161 , 1.03858236,-0.02218247, 0.93042972,
  0.89348682,-0.00189804, 1.19665587, 0.04584009, 0.08828473,-0.06895158,
  0.14244454, 0.95228663,-0.03024518, 0.03056881, 0.30216048]

qacc:
[ 8.32968509e+01, 1.02897381e+01, 1.78802619e+02,-4.64385012e+02,
  4.58935620e+02, 7.50194331e-01, 6.68001410e+01,-1.92320225e+02,
  9.72838419e-02,-2.99727967e+01, 1.03337429e+02,-2.07085058e+02,
  1.22160657e+00,-4.16981065e+00,-7.85379223e+00, 2.71415485e+01,
 -2.21680591e+00, 4.48185653e+00,-7.28373729e-02,-2.88791642e+01,
  4.00038223e+01, 1.00714699e+02]

qfrc_actuator:
[-0.00373301, 0.14233825, 0.07175383, 0.10432725, 0.01640688, 0.37658097,
  0.18680418, 0.10547384,-0.00253166, 0.11482781, 0.00934082, 0.02639999,
  0.0423989 , 0.00611344, 0.        ,-0.00159519, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.34502812,  0.16410339, -0.30350368,  0.16410339,  1.14112237,
        0.4304454 , -0.30350368,  0.4304454 ,  0.57776846,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000637741837182276
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.87369903e-01, -7.25099664e-01,  4.18699772e-02,  2.88054226e-02,
        3.03865533e-02,  9.99123068e-01, -7.25736085e-01,  6.87973208e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09380617, -0.03411043,  0.12471946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.44109305, -0.02288341, -0.44109305,  0.44865672,
       -0.13436065, -0.02288341, -0.13436065,  3.03157798,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014186916616545438
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74503059e-01, -2.20889004e-01,  3.93933465e-02, -2.20708747e-01,
        9.75298953e-01,  8.92193827e-03, -4.03910477e-02, -1.73472348e-18,
       -9.99183949e-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([ 0.12073569, -0.08274321,  0.11420704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.62645013,   3.68137241,  12.07786157,   3.68137241,
        52.11775814, -12.03708214,  12.07786157, -12.03708214,
        16.29539283,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0005857144861013547
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.47751038e-14, -4.73875519e-14,  1.00000000e+00,  4.49116015e-27,
        1.00000000e+00,  4.73875519e-14, -1.00000000e+00,  0.00000000e+00,
        9.47751038e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07769341, -0.11305495,  0.06198686])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.18144693e-04, 9.93548051e-02, 4.94361432e-02, 1.39858463e-02,
  4.13448392e-02, 3.53187875e-01, 1.91109300e-01, 8.26163782e-02,
  2.21009012e-05,-1.37185358e-03,-3.67150376e-04,-5.94194984e-04,
 -3.32244649e-04,-3.42074505e-04, 2.51647437e-05, 1.37977358e-04,
 -4.25616069e-03, 1.58543931e-03,-9.80913545e+00,-6.45411364e-02,
 -1.02490496e-02,-5.30466703e-03]


--- Step 2458 ---
qpos:
[-0.00559425, 0.23570111,-0.09182332, 0.63123092,-0.02455805, 0.0659707 ,
 -0.20703981, 0.49211833, 0.01481989, 1.04026177,-0.02219116, 0.93090849,
  0.89440077,-0.00174763, 1.1968277 , 0.04584104, 0.08825702,-0.06894543,
  0.1424359 , 0.95195383,-0.03004941, 0.0309214 , 0.30319105]

qacc:
[ 9.76462482e+01, 3.58855930e+00, 2.03878000e+02,-5.12604546e+02,
  4.99205132e+02, 5.42060042e-01, 6.88052316e+01,-2.03749919e+02,
  7.07045627e-02,-2.85976805e+01, 9.45447264e+01,-1.74946363e+02,
  5.83298498e-01,-3.20024209e+00, 9.57661470e+00,-3.23804335e+01,
 -2.11823771e+00, 4.21376362e+00,-2.97914452e-01,-2.83203300e+01,
  3.65792792e+01, 9.07648337e+01]

qfrc_actuator:
[-0.00368097, 0.14159859, 0.07131355, 0.10397709, 0.01683345, 0.37620269,
  0.18683693, 0.10577656,-0.00253014, 0.11437333, 0.00936999, 0.02598049,
  0.04232283, 0.00596843, 0.        ,-0.00175586, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.36632484,  0.20737154, -0.30197836,  0.20737154,  1.0641958 ,
        0.47923493, -0.30197836,  0.47923493,  0.69542023,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006889960603085015
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.85643734e-01, -7.26676045e-01,  4.28321809e-02,  2.93945924e-02,
        3.11537102e-02,  9.99082281e-01, -7.27343542e-01,  6.86273540e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0936896 , -0.03412614,  0.12480591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.43867268, -0.0515074 , -0.43867268,  0.48079748,
       -0.33309843, -0.0515074 , -0.33309843,  3.27858315,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014790041305334063
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97405219, -0.22255379,  0.0411357 , -0.22235559,  0.97492041,
        0.00939041, -0.04219391,  0.        , -0.99910944])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12069505, -0.08276341,  0.11423426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.88108592,   3.66149602,  12.3497296 ,   3.66149602,
        63.56257649, -15.02624609,  12.3497296 , -15.02624609,
        17.33612599,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006009626774228227
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.23703806e-14, -4.61851903e-14,  1.00000000e+00,  4.26614360e-27,
        1.00000000e+00,  4.61851903e-14, -1.00000000e+00,  0.00000000e+00,
        9.23703806e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07768949, -0.11304662,  0.06198652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.55002678e-04, 9.37477630e-02, 4.72764702e-02, 1.43734584e-02,
  3.89509669e-02, 3.51549253e-01, 1.90737988e-01, 8.32604452e-02,
  1.58062521e-05,-1.33153789e-03,-3.05789761e-04,-4.83791362e-04,
 -3.27914241e-04,-3.20585693e-04, 2.00126050e-05,-1.51229668e-04,
 -5.64281987e-03, 2.14134165e-03,-9.80979224e+00,-6.42139171e-02,
 -1.03096351e-02,-5.31106258e-03]


--- Step 2459 ---
qpos:
[-0.00557404, 0.23667334,-0.09133057, 0.63295686,-0.02487333, 0.06649144,
 -0.20709124, 0.49253821, 0.01482393, 1.04193351,-0.02219943, 0.93137966,
  0.89531314,-0.00160046, 1.19699954, 0.04584077, 0.08822126,-0.06892346,
  0.14242535, 0.95156707,-0.02992198, 0.03132469, 0.30437404]

qacc:
[ 1.09902777e+02,-4.01608937e+00, 2.28158086e+02,-5.57762752e+02,
  5.32709341e+02,-8.47902515e-02, 7.07370391e+01,-2.13474853e+02,
  1.20774658e-01,-2.44112368e+01, 8.34036884e+01,-1.56856786e+02,
  8.72174833e-01,-3.64591935e+00, 3.58194994e+00,-1.28072999e+01,
 -2.01445208e+00, 3.95111101e+00,-4.80516360e-01,-2.80081802e+01,
  3.30395698e+01, 8.04371059e+01]

qfrc_actuator:
[-0.0036464 , 0.14069205, 0.0708275 , 0.10339876, 0.01718715, 0.37574427,
  0.18691087, 0.10634182,-0.00251308, 0.11423399, 0.00947967, 0.02561337,
  0.04223905, 0.00580535, 0.        ,-0.0018154 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.38772438,  0.24792211, -0.29810203,  0.24792211,  0.99639479,
        0.5062121 , -0.29810203,  0.5062121 ,  0.8087251 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007437741984004189
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.83618830e-01, -7.28510895e-01,  4.40133174e-02,  3.01175181e-02,
        3.20952833e-02,  9.99030944e-01, -7.29217547e-01,  6.84281937e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09356528, -0.03414279,  0.12489943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.43428894, -0.0804975 , -0.43428894,  0.5476573 ,
       -0.57172034, -0.0804975 , -0.57172034,  3.52615229,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015424165619032446
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97351351, -0.22453947,  0.043052  , -0.22432022,  0.974465  ,
        0.00992018, -0.04418014,  0.        , -0.99902358])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12065315, -0.08278666,  0.11426357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.02075074,   3.58264998,  12.51816955,   3.58264998,
        77.69684974, -18.51004047,  12.51816955, -18.51004047,
        18.31825018,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006093324472667833
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.55507921e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.55507921e-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([ 0.0776861 , -0.1130421 ,  0.06198633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97154805e-03, 8.80674215e-02, 4.50518894e-02, 1.46292229e-02,
  3.62331975e-02, 3.49862711e-01, 1.90441739e-01, 8.42024592e-02,
  2.79259835e-05,-9.78406283e-04,-2.06996986e-04,-4.25815972e-04,
 -3.29060178e-04,-3.31326118e-04,-1.58518773e-05,-6.71708586e-05,
 -6.98025290e-03, 2.90175797e-03,-9.81052437e+00,-6.38318966e-02,
 -1.02733318e-02,-5.33049715e-03]


--- Step 2460 ---
qpos:
[-0.00550036, 0.23774018,-0.09080918, 0.63466117,-0.02512007, 0.0670325 ,
 -0.2071374 , 0.49294934, 0.01482822, 1.04360428,-0.02221002, 0.9318406 ,
  0.89622408,-0.00145718, 1.19717082, 0.04584345, 0.08817798,-0.06888687,
  0.14241237, 0.95113343,-0.02986085, 0.0317701 , 0.30568641]

qacc:
[ 1.20088922e+02, 1.06689152e+01, 1.94411191e+02,-5.67616148e+02,
  5.55570214e+02,-1.07111780e+00, 7.14406288e+01,-2.18917704e+02,
  1.09252222e-01,-1.27338143e+01, 6.13255415e+01,-1.72230042e+02,
  1.74746192e+00,-5.11570554e+00,-9.96573952e+00, 3.31618048e+01,
 -1.88009407e+00, 3.65807149e+00,-6.05779797e-01,-2.78670222e+01,
  2.89261749e+01, 6.82834783e+01]

qfrc_actuator:
[-0.00366289, 0.13968713, 0.07033609, 0.1036153 , 0.01745059, 0.37531825,
  0.18698969, 0.10721031,-0.00250462, 0.11462246, 0.00951303, 0.02512043,
  0.04215069, 0.00559732, 0.        ,-0.001655  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.40796581,  0.28606915, -0.29086173,  0.28606915,  0.92198636,
        0.50555093, -0.29086173,  0.50555093,  0.90518669,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008022639484266996
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68131916, -0.73057716,  0.04540051,  0.03096417,  0.03320281,
        0.99896887, -0.73133127,  0.68202242,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09343349, -0.03415973,  0.1249997 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.42770129, -0.11026484, -0.42770129,  0.66320491,
       -0.85923878, -0.11026484, -0.85923878,  3.7745487 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016086554028942814
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72893386e-01, -2.26809193e-01,  4.51226131e-02, -2.26565642e-01,
        9.73939213e-01,  1.05080721e-02, -4.63300096e-02, -1.73472348e-18,
       -9.98926189e-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([ 0.12061005, -0.08281251,  0.11429472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.06624796,   3.47484204,  12.5957258 ,   3.47484204,
        93.95132687, -22.31414664,  12.5957258 , -22.31414664,
        19.2221564 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006120612094192013
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.81390849e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.81390849e-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([ 0.07768316, -0.11304066,  0.06198627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.42375072e-03, 8.24914722e-02, 4.28387054e-02, 1.57754102e-02,
  3.32150133e-02, 3.48276856e-01, 1.90191957e-01, 8.54800860e-02,
  2.59171389e-05,-2.33843230e-04,-2.01104275e-04,-5.36717695e-04,
 -3.37060836e-04,-3.79340229e-04,-2.06125039e-05, 1.53389006e-04,
 -8.20379542e-03, 3.79474150e-03,-9.81129297e+00,-6.34211247e-02,
 -1.01504616e-02,-5.36210992e-03]


--- Step 2461 ---
qpos:
[-0.00536924, 0.23889967,-0.09026549, 0.63634113,-0.02529642, 0.0675898 ,
 -0.20717993, 0.4933513 , 0.01483252, 1.04527847,-0.02222354, 0.93229032,
  0.89713347,-0.00131736, 1.19734195, 0.04584798, 0.08812776,-0.06883686,
  0.14239663, 0.9506606 ,-0.02986415, 0.03224834, 0.30710355]

qacc:
[ 1.28036937e+02, 2.04913789e+01, 1.66037095e+02,-5.74096812e+02,
  5.69794830e+02,-2.68227426e+00, 7.11021669e+01,-2.20394074e+02,
  6.86964814e-03,-7.06237900e+00, 5.18541255e+01,-1.78253200e+02,
  1.26463573e+00,-4.27184770e+00,-6.00277737e+00, 2.02941238e+01,
 -1.73305412e+00, 3.35341330e+00,-6.89026145e-01,-2.78668585e+01,
  2.45234112e+01, 5.52823432e+01]

qfrc_actuator:
[-0.00371659, 0.13863617, 0.069851  , 0.1042304 , 0.01763072, 0.37495829,
  0.18705227, 0.10817579,-0.00251915, 0.11512871, 0.00948543, 0.02457541,
  0.04208093, 0.00543528, 0.        ,-0.0015616 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.42540152,  0.33446636, -0.26286634,  0.33446636,  0.80401273,
        0.48173802, -0.26286634,  0.48173802,  1.03835622,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008652830984386187
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67876843, -0.7328476 ,  0.04698741,  0.03192884,  0.03447269,
        0.99889548, -0.73365794,  0.67951897,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09329406, -0.03417623,  0.12510665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.41913004, -0.13934398, -0.41913004,  0.8555222 ,
       -1.24476911, -0.13934398, -1.24476911,  4.1858029 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016773943302863914
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71175146e-01, -2.33496765e-01,  4.79384598e-02, -2.33212822e-01,
        9.72357579e-01,  1.15116862e-02, -4.93012662e-02,  1.73472348e-18,
       -9.98783953e-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([ 0.12057755, -0.08288839,  0.11433446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.03521555,   3.36491463,  12.59341868,   3.36491463,
       111.3425284 , -26.26734834,  12.59341868, -26.26734834,
        20.05375332,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006101998524302155
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.36458124e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.36458124e-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([ 0.07768063, -0.1130417 ,  0.06198631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.15804647e-03, 7.66651341e-02, 4.09010319e-02, 1.74663592e-02,
  2.99682446e-02, 3.46880827e-01, 1.89984085e-01, 8.68805928e-02,
  1.89904345e-06, 2.93775834e-04,-1.18874244e-04,-5.68735439e-04,
 -3.33513328e-04,-3.48648452e-04, 3.34451961e-06, 9.84184310e-05,
 -9.21948302e-03, 4.73506807e-03,-9.81205008e+00,-6.30133325e-02,
 -9.94969925e-03,-5.40505715e-03]


--- Step 2462 ---
qpos:
[-5.22186320e-03, 2.40094738e-01,-8.97305121e-02, 6.37991855e-01,
 -2.54464913e-02, 6.81176282e-02,-2.07225144e-01, 4.93752069e-01,
  1.48369169e-02, 1.04695355e+00,-2.22366139e-02, 9.32731469e-01,
  8.98041329e-01,-1.18075491e-03, 1.19751369e+00, 4.58485721e-02,
  8.80688621e-02,-6.87889072e-02, 1.42377931e-01, 9.50210557e-01,
 -3.00320593e-02, 3.26234397e-02, 3.08437489e-01]

qacc:
[ 3.58425891e+01, 2.07224937e+01, 8.19278443e+01,-5.05717921e+02,
  2.12878222e+02,-3.20874790e+01, 6.06865564e+01,-4.59961330e+01,
  4.57299649e-02,-1.49300599e+01, 6.79877308e+01,-1.59921741e+02,
  6.68132279e-01,-3.36496348e+00, 1.27017391e+01,-4.33935304e+01,
 -2.17088271e+00,-5.15414483e-01,-7.40278686e-01,-9.24018290e+01,
 -2.28802544e+01,-4.72419892e+01]

qfrc_actuator:
[-0.00381797, 0.1374507 , 0.06931134, 0.10436815, 0.01776711, 0.37466942,
  0.18710467, 0.10886609,-0.00251185, 0.11511578, 0.00949378, 0.02414625,
  0.04201175, 0.0052842 , 0.        ,-0.00177478, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43757734, -0.36172807,  0.24622496, -0.36172807,  0.63704526,
        0.29303749,  0.24622496,  0.29303749,  0.86807751,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009332302179039655
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67599628, -0.73529   ,  0.04876105,  0.03300155,  0.03589622,
        0.99881047, -0.73616569,  0.67680136,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09314739, -0.03419155,  0.12521987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017479115270885445
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97049046, -0.23585121,  0.05022427, -0.23553601,  0.97178918,
        0.01218933, -0.05168227,  0.        , -0.99866358])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12053183, -0.08291368,  0.11436808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.50607625, -12.5145677 ,  -5.07933961, -12.5145677 ,
        14.26707568,  -1.87496401,  -5.07933961,  -1.87496401,
        18.12564608,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006385461514401974
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.69336556e-14, -1.30400483e-13,  1.00000000e+00,  1.13361907e-26,
        1.00000000e+00,  1.30400483e-13, -1.00000000e+00,  0.00000000e+00,
        8.69336556e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12227946, -0.09479254,  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:
[-1.11390093e-02, 7.07985344e-02, 3.92252669e-02, 1.88147921e-02,
  2.65852056e-02, 3.45759672e-01, 1.89849093e-01, 8.80276077e-02,
  1.07433213e-05, 8.16869657e-05, 2.88304073e-05,-4.35294440e-04,
 -3.23610434e-04,-3.28400925e-04, 6.51729764e-06,-2.08538358e-04,
 -9.95913557e-03, 5.65121456e-03,-9.81275215e+00,-6.26363839e-02,
 -9.68276720e-03,-5.45830153e-03]


--- Step 2463 ---
qpos:
[-5.05502122e-03, 2.41318067e-01,-8.91995823e-02, 6.39613382e-01,
 -2.55683027e-02, 6.86120241e-02,-2.07275073e-01, 4.94151455e-01,
  1.48414141e-02, 1.04862504e+00,-2.22472987e-02, 9.33164380e-01,
  8.98947523e-01,-1.04711841e-03, 1.19768575e+00, 4.58442862e-02,
  8.80004010e-02,-6.87414084e-02, 1.42355808e-01, 9.49779367e-01,
 -3.03416785e-02, 3.29025429e-02, 3.09703018e-01]

qacc:
[ 4.26565184e+01,-1.13827449e+00, 1.42715883e+02,-5.57066435e+02,
  2.28578966e+02,-3.22522818e+01, 5.47262579e+01,-3.84813561e+01,
  4.79026570e-02,-2.54729131e+01, 9.46276251e+01,-1.76553351e+02,
  3.45211687e-01,-2.83563418e+00, 1.51528040e+01,-5.24991651e+01,
 -2.39061202e+00,-1.12339287e-01,-8.56546870e-01,-8.07322242e+01,
 -2.30322193e+01,-3.91628981e+01]

qfrc_actuator:
[-0.00394751, 0.13629331, 0.06872552, 0.10435838, 0.01794647, 0.37442692,
  0.1871558 , 0.10942247,-0.00250928, 0.114686  , 0.0095215 , 0.02371744,
  0.04192699, 0.00514085, 0.        ,-0.00202482, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168565, -0.3690924 , -0.24260466, -0.3690924 ,  1.51553868,
       -1.63373199, -0.24260466, -1.63373199,  2.92720291,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000999208278056443
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.73346594e-01, -7.37601504e-01,  5.04815372e-02,  3.40349659e-02,
        3.72827936e-02,  9.98724994e-01, -7.38543151e-01,  6.74206211e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09299612, -0.03420516,  0.12533347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.39606546,  0.1954965 ,  0.39606546,  0.89164316,
       -0.91158869,  0.1954965 , -0.91158869,  2.28851621,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020750681571549004
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70139529e-01, -2.36879875e-01,  5.21269597e-02, -2.36538670e-01,
        9.71538947e-01,  1.27095550e-02, -5.36540093e-02, -1.73472348e-18,
       -9.98559586e-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([ 0.12048342, -0.08292405,  0.11439714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([14.00753863, 12.861399  ,  5.54937422, 12.861399  , 14.16071996,
       -0.35501773,  5.54937422, -0.35501773, 14.83033856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006691708350658465
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.2443269e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.2443269e-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([ 0.12222201, -0.09467776,  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:
[-1.20871581e-02, 6.78118357e-02, 3.90533779e-02, 2.02611609e-02,
  2.54504625e-02, 3.46971620e-01, 1.90027230e-01, 8.86416511e-02,
  1.07845623e-05,-4.19405480e-04, 2.75265688e-05,-4.33894977e-04,
 -3.29958413e-04,-3.12399438e-04,-2.79383774e-05,-2.62496888e-04,
 -7.16591123e-03, 6.19679837e-03,-9.81284484e+00,-6.29383137e-02,
 -8.73376446e-03,-5.53815331e-03]


--- Step 2464 ---
qpos:
[-4.86409535e-03, 2.42566355e-01,-8.86725069e-02, 6.41205344e-01,
 -2.56610832e-02, 6.90859953e-02,-2.07325585e-01, 4.94550162e-01,
  1.48458228e-02, 1.05028962e+00,-2.22558542e-02, 9.33589482e-01,
  8.99851831e-01,-9.16012072e-04, 1.19785726e+00, 4.58403601e-02,
  8.79217751e-02,-6.86931539e-02, 1.42329793e-01, 9.49364174e-01,
 -3.07740677e-02, 3.30913949e-02, 3.10910890e-01]

qacc:
[ 5.24207064e+01,-6.57920978e+00, 1.56280968e+02,-5.71685764e+02,
  2.34392899e+02,-2.53069843e+01, 5.18328277e+01,-3.92818261e+01,
 -3.75682921e-02,-2.83791475e+01, 9.79536273e+01,-1.72319161e+02,
  2.83957062e-01,-2.55442448e+00,-1.98102243e+00, 5.56794240e+00,
 -2.54117650e+00, 1.88926524e-01,-9.72620932e-01,-7.10865073e+01,
 -2.32367376e+01,-3.32462019e+01]

qfrc_actuator:
[-0.0041214 , 0.1351636 , 0.06821735, 0.10434277, 0.0181036 , 0.37412148,
  0.18720927, 0.11002343,-0.00252735, 0.11411674, 0.00954098, 0.02330969,
  0.04183295, 0.00502091, 0.        ,-0.00199268, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.43959867, -0.04289224,  0.43959867,  0.45247969,
        0.11062114, -0.04289224,  0.11062114,  1.57543227,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010628426610775053
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.70803996e-01, -7.39799888e-01,  5.21356418e-02,  3.50204242e-02,
        3.86224680e-02,  9.98640013e-01, -7.40807376e-01,  6.71717523e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09284089, -0.03421723,  0.12544715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.39674522,  0.19411326,  0.39674522,  0.93103389,
       -1.0001704 ,  0.19411326, -1.0001704 ,  2.48591969,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020928858850346836
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70720024e-01, -2.34160396e-01,  5.35867969e-02, -2.33804420e-01,
        9.72197978e-01,  1.29067390e-02, -5.51192227e-02, -1.73472348e-18,
       -9.98479780e-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([ 0.12042526, -0.08289207,  0.11442099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([14.3130831 , 13.11650874,  5.7290092 , 13.11650874, 14.51360181,
       -0.45908556,  5.7290092 , -0.45908556, 15.36415487,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006882069635705951
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.06605486e-14, -1.20990823e-13,  1.00000000e+00,  9.75918615e-27,
        1.00000000e+00,  1.20990823e-13, -1.00000000e+00,  0.00000000e+00,
        8.06605486e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12217871, -0.09458886,  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:
[-1.32398263e-02, 6.52174579e-02, 3.87254095e-02, 2.16998246e-02,
  2.41944408e-02, 3.48319371e-01, 1.90310669e-01, 8.93100662e-02,
 -9.87856934e-06,-8.36185782e-04,-7.88791003e-05,-4.27928403e-04,
 -3.39370380e-04,-2.85761242e-04,-4.84331931e-05, 1.25914749e-05,
 -5.27920358e-03, 6.97036031e-03,-9.81254550e+00,-6.32211657e-02,
 -7.99182261e-03,-5.60836323e-03]


--- Step 2465 ---
qpos:
[-4.63123511e-03, 2.43798694e-01,-8.81690712e-02, 6.42770002e-01,
 -2.57240926e-02, 6.95524244e-02,-2.07372610e-01, 4.94948769e-01,
  1.48499296e-02, 1.05194487e+00,-2.22628356e-02, 9.34007714e-01,
  9.00754463e-01,-7.87945351e-04, 1.19802808e+00, 4.58401189e-02,
  8.78323957e-02,-6.86433615e-02, 1.42299388e-01, 9.48961581e-01,
 -3.13146758e-02, 3.31949598e-02, 3.12072753e-01]

qacc:
[ 9.06458700e+01,-3.47911400e+00, 6.80717413e+01,-4.17885549e+02,
  2.39964590e+02,-1.85144120e+01, 4.97172835e+01,-4.25775600e+01,
 -1.35126282e-01,-2.84303195e+01, 9.23086763e+01,-1.54872680e+02,
  1.03546869e+00,-3.75546839e+00,-1.23264925e+01, 4.12824718e+01,
 -2.68836960e+00, 3.84460108e-01,-1.09782393e+00,-6.36728049e+01,
 -2.31615436e+01,-2.69019632e+01]

qfrc_actuator:
[-0.0043343 , 0.13388271, 0.06775718, 0.10428244, 0.01818207, 0.37383189,
  0.18724416, 0.11057999,-0.00255766, 0.1134863 , 0.00955481, 0.02295294,
  0.04174408, 0.00486252, 0.        ,-0.00179452, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.4371812 , -0.06292323,  0.4371812 ,  0.43740018,
       -0.02977886, -0.06292323, -0.02977886,  0.2347872 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011239035783028408
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.68357397e-01, -7.41898439e-01,  5.37130813e-02,  3.59514343e-02,
        3.99072609e-02,  9.98556410e-01, -7.42970985e-01,  6.69323626e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09268217, -0.03422776,  0.12556069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.4043017 ,  0.17783944,  0.4043017 ,  0.96438682,
       -1.18831195,  0.17783944, -1.18831195,  3.14320475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020754288586203842
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97004922, -0.23668462,  0.05463434, -0.23631012,  0.97158653,
        0.01330927, -0.05623208,  0.        , -0.99841772])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12038128, -0.08292033,  0.11444009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([14.46434466, 13.22854457,  5.85003205, 13.22854457, 14.77437714,
       -0.7010694 ,  5.85003205, -0.7010694 , 16.04965697,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006977768872005741
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.12214679, -0.09452043,  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:
[-1.46630343e-02, 6.26361899e-02, 3.84356815e-02, 2.31122012e-02,
  2.28212966e-02, 3.49033612e-01, 1.90368872e-01, 8.98988501e-02,
 -3.34028476e-05,-1.14842667e-03,-1.78016199e-04,-3.92460156e-04,
 -3.32375401e-04,-3.19203406e-04,-2.50638304e-05, 1.91827341e-04,
 -4.04471700e-03, 7.86692860e-03,-9.81197868e+00,-6.34928851e-02,
 -7.40230513e-03,-5.66992830e-03]


--- Step 2466 ---
qpos:
[-4.35103898e-03, 2.45000025e-01,-8.76891978e-02, 6.44308791e-01,
 -2.57566887e-02, 7.00222445e-02,-2.07412747e-01, 4.95347656e-01,
  1.48537153e-02, 1.05358891e+00,-2.22682877e-02, 9.34418284e-01,
  9.01655350e-01,-6.62595063e-04, 1.19819881e+00, 4.58415315e-02,
  8.77318471e-02,-6.85914615e-02, 1.42264117e-01, 9.48569137e-01,
 -3.19513991e-02, 3.32170414e-02, 3.13196948e-01]

qacc:
[ 1.01600060e+02,-2.08899577e+01, 9.62369778e+01,-4.11855706e+02,
  2.44740097e+02,-1.27812098e+01, 4.84363430e+01,-4.74832570e+01,
 -1.43453546e-01,-3.21687173e+01, 1.03148337e+02,-1.72362304e+02,
  5.85559092e-01,-3.00637472e+00,-5.24041816e+00, 1.78975711e+01,
 -2.79230166e+00, 5.26896850e-01,-1.21634324e+00,-5.75351275e+01,
 -2.32434961e+01,-2.23267492e+01]

qfrc_actuator:
[-0.0045626 , 0.13259531, 0.06727614, 0.10397406, 0.01821873, 0.37352934,
  0.18728182, 0.11107409,-0.00257731, 0.11280659, 0.00958271, 0.02255796,
  0.04166367, 0.00473583, 0.        ,-0.00171324, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.43295809, -0.08737291,  0.43295809,  0.43185752,
       -0.04870414, -0.08737291, -0.04870414,  0.20034309,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001177613243695342
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.66035201e-01, -7.43879170e-01,  5.51442759e-02,  3.67839996e-02,
        4.10831905e-02,  9.98478397e-01, -7.45012784e-01,  6.67050187e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09252415, -0.03423687,  0.12567138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.41761299,  0.14382671,  0.41761299,  0.88614589,
       -1.29052614,  0.14382671, -1.29052614,  4.18883791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020625908062212395
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69410546e-01, -2.39116660e-01,  5.53752221e-02, -2.38727495e-01,
        9.70990846e-01,  1.36367281e-02, -5.70296027e-02, -1.73472348e-18,
       -9.98372488e-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([ 0.12033561, -0.0829477 ,  0.11445577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([14.49412878, 13.22856055,  5.92325541, 13.22856055, 15.0042327 ,
       -1.13922837,  5.92325541, -1.13922837, 17.03839716,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006996745437744534
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.19007798e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.19007798e-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([ 0.12212398, -0.09446818,  0.0619843 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69947731e-02, 6.20942980e-02, 3.91146743e-02, 2.41640155e-02,
  2.13693398e-02, 3.49091032e-01, 1.90226528e-01, 9.03962586e-02,
 -3.56019235e-05,-1.38855430e-03,-2.35252016e-04,-4.42170514e-04,
 -3.27391017e-04,-2.95359861e-04, 5.62871029e-06, 8.79055723e-05,
 -3.31513952e-03, 8.87163342e-03,-9.81123768e+00,-6.37532956e-02,
 -6.91731334e-03,-5.72372788e-03]


--- Step 2467 ---
qpos:
[-4.02116223e-03, 2.46169315e-01,-8.72301986e-02, 6.45822276e-01,
 -2.57582408e-02, 7.05046143e-02,-2.07443255e-01, 4.95746975e-01,
  1.48572280e-02, 1.05522180e+00,-2.22735709e-02, 9.34821376e-01,
  9.02554502e-01,-5.39630479e-04, 1.19836995e+00, 4.58405614e-02,
  8.76198339e-02,-6.85370494e-02, 1.42223540e-01, 9.48184862e-01,
 -3.26743999e-02, 3.31607709e-02, 3.14290017e-01]

qacc:
[ 1.05860289e+02,-2.84573327e+01, 1.18088316e+02,-4.24245644e+02,
  2.49411641e+02,-7.94282396e+00, 4.78595210e+01,-5.45272111e+01,
 -1.21859060e-01,-2.80714678e+01, 8.94917899e+01,-1.58287651e+02,
  5.88185087e-02,-2.13150712e+00, 7.76251453e+00,-2.63939395e+01,
 -2.86617298e+00, 6.28044377e-01,-1.32646023e+00,-5.25424511e+01,
 -2.32886952e+01,-1.87269351e+01]

qfrc_actuator:
[-0.0048223 , 0.1314142 , 0.06679195, 0.10347308, 0.01825328, 0.37319336,
  0.18731633, 0.11156588,-0.00259041, 0.11224495, 0.00958296, 0.0221791 ,
  0.04158842, 0.00462906, 0.        ,-0.00184356, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.42707633, -0.11266116,  0.42707633,  0.42456455,
       -0.06490495, -0.11266116, -0.06490495,  0.1956443 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012225649217887417
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66384123, -0.74574339,  0.05640579,  0.0375042 ,  0.04213132,
        0.99840793, -0.74693257,  0.6648998 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0923681 , -0.03424466,  0.12577841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002084148907194217
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71127310e-01, -2.31416103e-01,  5.79511434e-02, -2.31005164e-01,
        9.72854865e-01,  1.37850241e-02, -5.95681283e-02,  1.73472348e-18,
       -9.98224242e-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([ 0.12026022, -0.08285986,  0.11449255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([14.42709933, 13.14261105,  5.95087976, 13.14261105, 14.79062111,
       -0.80284355,  5.95087976, -0.80284355, 16.20019186,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006954102269075835
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.98250430e-14, -3.99125215e-14,  1.00000000e+00,  3.18601874e-27,
        1.00000000e+00,  3.99125215e-14, -1.00000000e+00,  0.00000000e+00,
        7.98250430e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12210845, -0.09442868,  0.06198439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96279584e-02, 6.24128288e-02, 3.97872870e-02, 2.49516861e-02,
  1.98831581e-02, 3.48568168e-01, 1.89910826e-01, 9.08722729e-02,
 -3.03184852e-05,-1.41578404e-03,-3.17822705e-04,-4.36110034e-04,
 -3.13815590e-04,-2.67710716e-04, 5.91074662e-06,-1.26059429e-04,
 -2.95784177e-03, 9.93434439e-03,-9.81036940e+00,-6.40092209e-02,
 -6.51059097e-03,-5.77034870e-03]


--- Step 2468 ---
qpos:
[-3.63790610e-03, 2.47304837e-01,-8.67946007e-02, 6.47310816e-01,
 -2.57282991e-02, 7.10077975e-02,-2.07461719e-01, 4.96146810e-01,
  1.48606909e-02, 1.05684393e+00,-2.22787630e-02, 9.35216796e-01,
  9.03452272e-01,-4.20013594e-04, 1.19854052e+00, 4.58427410e-02,
  8.74961560e-02,-6.84798882e-02, 1.42177271e-01, 9.47807447e-01,
 -3.34751280e-02, 3.30283290e-02, 3.15356288e-01]

qacc:
[ 1.12909766e+02,-2.34050948e+01, 9.68419204e+01,-3.96999875e+02,
  2.52607309e+02,-3.50982385e+00, 4.72966027e+01,-6.15750694e+01,
 -1.97843109e-02,-2.76921592e+01, 8.92468211e+01,-1.60526024e+02,
  1.43292298e+00,-4.35585369e+00,-1.05520507e+01, 3.52699384e+01,
 -2.91614875e+00, 6.87261731e-01,-1.42321060e+00,-4.82634907e+01,
 -2.35737311e+01,-1.63162472e+01]

qfrc_actuator:
[-0.00512213, 0.13032805, 0.06633036, 0.10311486, 0.018256  , 0.3728623 ,
  0.18732571, 0.11209152,-0.00258177, 0.11175857, 0.00960287, 0.02179503,
  0.04150566, 0.00444624, 0.        ,-0.00167139, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.4203956 , -0.13547792,  0.4203956 ,  0.4150797 ,
       -0.08256159, -0.13547792, -0.08256159,  0.18549299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012586765711881166
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.61769649e-01, -7.47499469e-01,  5.74932627e-02,  3.81103348e-02,
        4.30473883e-02,  9.98345894e-01, -7.48737961e-01,  6.62866100e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09221404, -0.03425116,  0.12588177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00207329405130019
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97064313, -0.23337168,  0.05822012, -0.23295301,  0.97238761,
        0.01397275, -0.05987337,  0.        , -0.99820598])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12020693, -0.08288207,  0.11450328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([14.28194991, 12.9801911 ,  5.95724199, 12.9801911 , 14.977868  ,
       -1.51633085,  5.95724199, -1.51633085, 17.58587213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006862503288016242
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.08905277e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.08905277e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12209872, -0.09439923,  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:
[-2.24183805e-02, 6.28794123e-02, 4.03487541e-02, 2.58540638e-02,
  1.83336103e-02, 3.47591759e-01, 1.89432794e-01, 9.13745319e-02,
 -5.72066578e-06,-1.37130539e-03,-3.12642893e-04,-4.44416860e-04,
 -3.08234665e-04,-3.32650668e-04,-1.89042306e-05, 1.64280712e-04,
 -2.88532044e-03, 1.10305071e-02,-9.80940670e+00,-6.42636312e-02,
 -6.16259760e-03,-5.81024507e-03]


--- Step 2469 ---
qpos:
[-3.21902875e-03, 2.48397892e-01,-8.63871967e-02, 6.48780722e-01,
 -2.56759643e-02, 7.14516369e-02,-2.07484107e-01, 4.96556522e-01,
  1.48641814e-02, 1.05845858e+00,-2.22855177e-02, 9.35604016e-01,
  9.04348227e-01,-3.02971294e-04, 1.19871087e+00, 4.58475935e-02,
  8.73653322e-02,-6.84227665e-02, 1.42140042e-01, 9.47479679e-01,
 -3.42708899e-02, 3.27430139e-02, 3.16284143e-01]

qacc:
[ 7.48091371e+01,-1.13971108e+01, 2.21169871e+01,-2.32179059e+02,
  1.80157298e+02,-5.05005402e+01, 2.88699287e+01, 1.78769226e+02,
  1.42287151e-02,-1.98341677e+01, 6.98587899e+01,-1.51734652e+02,
  5.10221130e-01,-2.84332457e+00,-8.50465046e+00, 2.90581718e+01,
 -1.78648509e+00,-9.88575223e-03, 2.26011987e+00,-1.86344796e+01,
 -7.17334237e+01,-7.59001780e+01]

qfrc_actuator:
[-0.0054341 , 0.12924242, 0.06589321, 0.10311835, 0.01822676, 0.37248541,
  0.187367  , 0.11261947,-0.00257794, 0.11160546, 0.00959909, 0.02139328,
  0.04141311, 0.00432621, 0.        ,-0.00153535, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.41737243, -0.14452329,  0.41737243,  0.44888725,
        0.02079598, -0.14452329,  0.02079598,  0.50174346,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012855870371809752
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.59820216e-01, -7.49150806e-01,  5.83982126e-02,  3.85981942e-02,
        4.38238593e-02,  9.98293368e-01, -7.50431517e-01,  6.60948212e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09206221, -0.03425633,  0.12598125])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020666281479358698
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70180127e-01, -2.35279279e-01,  5.82596005e-02, -2.34856210e-01,
        9.71927806e-01,  1.41031841e-02, -5.99423127e-02,  1.73472348e-18,
       -9.98201843e-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([ 0.12014915, -0.08290374,  0.11451175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 14.56746702,   7.61756407, -12.41707748,   7.61756407,
        27.05922706,   7.66337994, -12.41707748,   7.66337994,
        19.26875746,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007043673889010477
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.10422095, -0.05881118,  0.06198417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.54057699e-02, 6.34343563e-02, 4.10616999e-02, 2.71003066e-02,
  1.67296016e-02, 3.46155447e-01, 1.88865501e-01, 9.18747278e-02,
  2.85989066e-06,-1.01239251e-03,-3.27205765e-04,-4.60803447e-04,
 -3.30117432e-04,-2.86585222e-04, 5.31192879e-06, 1.41877078e-04,
 -3.03549195e-03, 1.21314141e-02,-9.80836835e+00,-6.45206734e-02,
 -5.86357411e-03,-5.84358463e-03]


--- Step 2470 ---
qpos:
[-2.76470030e-03, 2.49445369e-01,-8.60073314e-02, 6.50233778e-01,
 -2.56042680e-02, 7.18586139e-02,-2.07502932e-01, 4.96977784e-01,
  1.48673930e-02, 1.06006925e+00,-2.22939039e-02, 9.35982434e-01,
  9.05242150e-01,-1.87843217e-04, 1.19888156e+00, 4.58513594e-02,
  8.72262131e-02,-6.83660520e-02, 1.42110186e-01, 9.47201393e-01,
 -3.50573300e-02, 3.23227931e-02, 3.17073717e-01]

qacc:
[ 7.39693600e+01,-1.42135481e+01, 2.07401869e+01,-2.04031197e+02,
  1.55532858e+02,-3.86067324e+01, 2.27033721e+01, 1.84979432e+02,
 -1.26380362e-01,-1.60787325e+01, 6.44061710e+01,-1.56167676e+02,
 -4.02191449e-01,-1.34643372e+00, 3.76391827e+00,-1.24845223e+01,
 -2.07384046e+00,-1.01786773e-01, 1.84317987e+00,-1.38063750e+01,
 -6.38249846e+01,-7.54937462e+01]

qfrc_actuator:
[-0.00579246, 0.12816154, 0.06548487, 0.10314725, 0.0181926 , 0.37224162,
  0.18742084, 0.11305047,-0.00261255, 0.11168885, 0.00961822, 0.02096675,
  0.0413201 , 0.00424443, 0.        ,-0.00159929, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.41363186, -0.15490453,  0.41363186,  0.44355708,
        0.0049956 , -0.15490453,  0.0049956 ,  0.45502567,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013114043790633876
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.58100439e-01, -7.50613914e-01,  5.90132507e-02,  3.89044489e-02,
        4.43735012e-02,  9.98257199e-01, -7.51924368e-01,  6.59249379e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0919144 , -0.03425773,  0.126075  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.20777727,  0.38976318,  0.20777727,  2.27060191,
       -0.97496923,  0.38976318, -0.97496923,  0.96142862,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020571399802411044
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96980738, -0.23692794,  0.05778237, -0.23650852,  0.97152723,
        0.01409148, -0.05947581,  0.        , -0.99822975])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12009414, -0.08292285,  0.11451412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([15.07539854, -2.43475209, 14.87748713, -2.43475209, 16.52217091,
        0.23676929, 14.87748713,  0.23676929, 15.11414665,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007378299148952166
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59205892e-07, -1.59205921e-07,  1.00000000e+00,  2.53465206e-14,
        1.00000000e+00,  1.59205921e-07, -1.00000000e+00,  3.15544362e-30,
        1.59205892e-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([ 0.10346795, -0.05865638,  0.06198341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75502235e-02, 6.44305017e-02, 4.20438237e-02, 2.80566660e-02,
  1.55757361e-02, 3.48862179e-01, 1.89109647e-01, 9.18102092e-02,
 -3.08951032e-05,-5.80462981e-04,-2.36138920e-04,-4.75593303e-04,
 -3.30751401e-04,-2.40881872e-04, 1.19349813e-05,-5.66864291e-05,
 -3.46777442e-03, 1.13567600e-02,-9.80684854e+00,-6.50758334e-02,
 -6.14791810e-03,-5.83778693e-03]


--- Step 2471 ---
qpos:
[-2.30347867e-03, 2.50411456e-01,-8.56730528e-02, 6.51676585e-01,
 -2.55398076e-02, 7.22311954e-02,-2.07511795e-01, 4.97417452e-01,
  1.48701138e-02, 1.06167536e+00,-2.23016276e-02, 9.36351719e-01,
  9.06134154e-01,-7.44644079e-05, 1.19905221e+00, 4.58550226e-02,
  8.70856816e-02,-6.83179834e-02, 1.42100222e-01, 9.47014761e-01,
 -3.57673429e-02, 3.18565572e-02, 3.17598644e-01]

qacc:
[ 1.42827544e+01,-1.66508501e+00,-1.03086427e+02, 3.62697697e+01,
 -5.69467780e+01,-4.12718865e+01, 1.16719546e+01, 2.92137683e+02,
 -2.21945687e-01,-2.36166689e+01, 8.87785612e+01,-1.80949952e+02,
 -3.35118820e-01,-1.29041271e+00, 2.45062236e-01,-9.64857462e-01,
 -3.53070376e-01,-2.16148103e+00, 4.97324243e+00, 3.47845902e+01,
 -3.07516478e+01,-1.39439234e+02]

qfrc_actuator:
[-0.00622822, 0.12712137, 0.06506894, 0.10319707, 0.01811405, 0.37206118,
  0.18744078, 0.11354195,-0.0026522 , 0.11150531, 0.00966953, 0.02051149,
  0.04123755, 0.00416821, 0.        ,-0.001603  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.27087556,  0.34887413, -0.27087556,  1.01107281,
        0.44208754,  0.34887413,  0.44208754,  0.78493528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001334425524500012
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65662763, -0.75187678,  0.05934188,  0.0390343 ,  0.04469655,
        0.99823772, -0.75320414,  0.65778684,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09177027, -0.03425566,  0.126163  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.25065629, -0.36367315, -0.25065629,  2.96364507,
       -1.73822248, -0.36367315, -1.73822248,  1.63973013,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020388344007127805
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96808849, -0.24457742,  0.05464946, -0.24418865,  0.96962977,
        0.01378467, -0.05636116,  0.        , -0.99841045])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.12005598, -0.08301049,  0.11448628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 15.70638636,  12.28793499,   9.7824959 ,  12.28793499,
        66.47574999, -63.77213404,   9.7824959 , -63.77213404,
        95.81148891,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007828940436859222
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.76683145e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.76683145e-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([ 0.06767781, -0.0425982 ,  0.0619824 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97632136e-02, 6.56248268e-02, 4.29864379e-02, 2.89449017e-02,
  1.45290887e-02, 3.50509492e-01, 1.88946076e-01, 9.17225705e-02,
 -5.43422582e-05,-5.90891837e-04,-1.09423647e-04,-4.89009548e-04,
 -3.10201943e-04,-2.22635705e-04,-8.82419038e-06,-7.04820792e-06,
 -3.97211517e-03, 1.03268452e-02,-9.80550396e+00,-6.54702570e-02,
 -6.51160234e-03,-5.81568297e-03]


--- Step 2472 ---
qpos:
[-1.84071835e-03, 2.51295041e-01,-8.53783335e-02, 6.53111635e-01,
 -2.54883884e-02, 7.25897836e-02,-2.07504733e-01, 4.97876497e-01,
  1.48726853e-02, 1.06327707e+00,-2.23094673e-02, 9.36713079e-01,
  9.07024625e-01, 3.69295451e-05, 1.19922321e+00, 4.58552486e-02,
  8.69426513e-02,-6.82787422e-02, 1.42106625e-01, 9.46910916e-01,
 -3.64110964e-02, 3.13548955e-02, 3.17884916e-01]

qacc:
[ 3.20345395e+00,-1.49742681e+01,-6.77227347e+01, 3.62855212e+01,
 -1.03335033e+02,-2.91651893e+01, 3.65808562e+00, 2.92164160e+02,
 -6.65616914e-02,-1.92170771e+01, 7.21368791e+01,-1.52405178e+02,
 -1.25316064e-01,-1.58186226e+00, 1.08659089e+01,-3.73568062e+01,
 -6.24725550e-01,-2.20683796e+00, 4.09157950e+00, 3.10306351e+01,
 -2.43469445e+01,-1.25729508e+02]

qfrc_actuator:
[-0.00671381, 0.12615967, 0.06469527, 0.10325957, 0.01799223, 0.37193104,
  0.18745032, 0.11405823,-0.00264127, 0.11130581, 0.0096675 , 0.02011385,
  0.04117731, 0.00407817, 0.        ,-0.00178416, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.41489829,  0.15147985, -0.41489829,  0.49164414,
        0.13683306,  0.15147985,  0.13683306,  0.81646744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001353948818663041
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.55604101e-01, -7.52760075e-01,  5.94603503e-02,  3.90515446e-02,
        4.48387123e-02,  9.98230668e-01, -7.54094318e-01,  6.56766138e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09163218, -0.0342492 ,  0.12624422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.35367718,  0.26457359,  0.35367718,  0.94129884,
       -0.66787307,  0.26457359, -0.66787307,  1.33448687,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002018688215341144
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9679145 , -0.2455581 ,  0.05331737, -0.24518639,  0.96938188,
        0.01350604, -0.05500141,  0.        , -0.99848628])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11999781, -0.08302362,  0.11447918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 16.43639031, -10.95680229,  12.25166968, -10.95680229,
        15.7145937 ,  -0.64551061,  12.25166968,  -0.64551061,
        15.85910311,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008447318165927947
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.57145264e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.57145264e-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([ 0.06761987, -0.04267038,  0.06198102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05955714e-02, 6.86907503e-02, 4.48748096e-02, 2.95161792e-02,
  1.47690707e-02, 3.52084870e-01, 1.88452335e-01, 9.13168828e-02,
 -1.66234840e-05,-5.88058380e-04,-1.50699110e-04,-4.28276873e-04,
 -2.73031020e-04,-2.26422810e-04,-1.13643868e-05,-1.84062411e-04,
 -3.36600561e-03, 6.84240350e-03,-9.80552796e+00,-6.55295085e-02,
 -7.47391348e-03,-5.80323664e-03]


--- Step 2473 ---
qpos:
[-1.38142151e-03, 2.52102547e-01,-8.51187459e-02, 6.54540608e-01,
 -2.54554192e-02, 7.29524459e-02,-2.07476671e-01, 4.98355517e-01,
  1.48752452e-02, 1.06487773e+00,-2.23194231e-02, 9.37066007e-01,
  9.07913739e-01, 1.46044127e-04, 1.19939396e+00, 4.58546352e-02,
  8.67962974e-02,-6.82483617e-02, 1.42126317e-01, 9.46882100e-01,
 -3.69969090e-02, 3.08257453e-02, 3.17954855e-01]

qacc:
[-7.06456378e+00,-1.55783731e+01,-5.97251374e+01, 4.51220993e+01,
 -1.46436276e+02,-1.82933985e+01,-2.98216007e+00, 2.87923638e+02,
 -5.15546238e-03,-1.02728150e+01, 4.93020811e+01,-1.40436790e+02,
  4.28355797e-01,-2.40771264e+00, 2.11247039e+00,-8.07855445e+00,
 -8.30893026e-01,-2.21519126e+00, 3.32211674e+00, 2.78208453e+01,
 -1.94616999e+01,-1.13941083e+02]

qfrc_actuator:
[-0.00719119, 0.12543849, 0.06435916, 0.10320703, 0.01788863, 0.37187769,
  0.18746141, 0.11443905,-0.00263565, 0.1114712 , 0.00963399, 0.01969997,
  0.04110919, 0.00396303, 0.        ,-0.00181987, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.41711666,  0.14525985, -0.41711666,  0.4954472 ,
        0.15437573,  0.14525985,  0.15437573,  0.88497934,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013680332839935115
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.55009241e-01, -7.53284844e-01,  5.93703479e-02,  3.89568454e-02,
        4.48018125e-02,  9.98236025e-01, -7.54615968e-01,  6.56166702e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09149965, -0.03423937,  0.1263188 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.38163526,  0.2223539 ,  0.38163526,  0.83523234,
       -0.67545957,  0.2223539 , -0.67545957,  1.60100564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001987344350819847
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96727142, -0.24840098,  0.05179726, -0.24804559,  0.96865729,
        0.01328281, -0.05347326,  0.        , -0.99856928])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1199408 , -0.08305917,  0.11447035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 16.82266584, -11.21367418,  12.54015939, -11.21367418,
        16.34091398,  -0.43079265,  12.54015939,  -0.43079265,
        16.437442  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008873464147964721
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -6.2558602e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  6.2558602e-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([ 0.06757304, -0.04272572,  0.06198007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.11514333e-02, 7.20561168e-02, 4.65007444e-02, 2.98480446e-02,
  1.53175732e-02, 3.52717238e-01, 1.87661955e-01, 9.07271249e-02,
 -1.32415945e-06,-2.27667927e-04,-1.84495309e-04,-4.44237316e-04,
 -2.62962185e-04,-2.43526654e-04,-3.24838934e-05,-4.88805595e-05,
 -3.16387270e-03, 4.29694073e-03,-9.80575498e+00,-6.54932584e-02,
 -8.24881218e-03,-5.78478172e-03]


--- Step 2474 ---
qpos:
[-9.30170208e-04, 2.52838013e-01,-8.48891033e-02, 6.55965209e-01,
 -2.54456222e-02, 7.33339764e-02,-2.07423721e-01, 4.98854772e-01,
  1.48776790e-02, 1.06647942e+00,-2.23314078e-02, 9.37412100e-01,
  9.08801344e-01, 2.52972014e-04, 1.19956425e+00, 4.58558932e-02,
  8.66460403e-02,-6.82267080e-02, 1.42156660e-01, 9.46920883e-01,
 -3.75316854e-02, 3.02745292e-02, 3.17829618e-01]

qacc:
[-1.63600725e+01,-2.12718780e+01,-3.87547335e+01, 4.38764246e+01,
 -1.83946075e+02,-9.06344192e+00,-8.69011148e+00, 2.81380293e+02,
 -5.77532658e-02,-5.00983862e+00, 3.20957958e+01,-1.08094293e+02,
  4.48431558e-01,-2.42184338e+00,-6.45255311e+00, 2.13495277e+01,
 -9.75794240e-01,-2.18168877e+00, 2.66294258e+00, 2.49133523e+01,
 -1.59918768e+01,-1.02773073e+02]

qfrc_actuator:
[-0.00764151, 0.12481719, 0.064128  , 0.10298037, 0.01785987, 0.37178694,
  0.18746199, 0.1148545 ,-0.00265105, 0.11171192, 0.00960138, 0.01936879,
  0.04102574, 0.00385167, 0.        ,-0.00171628, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.41696121, -0.14570545,  0.41696121,  0.62010192,
        0.51056717, -0.14570545,  0.51056717,  1.90276207,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001375802199746421
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.54817339e-01, -7.53474338e-01,  5.90819302e-02,  3.87555730e-02,
        4.45946190e-02,  9.98253137e-01, -7.54792858e-01,  6.55963217e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09137174, -0.03422694,  0.12638725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.4054472 ,  0.17521215,  0.4054472 ,  0.70940852,
       -0.61951898,  0.17521215, -0.61951898,  1.87527543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019451389457027044
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96732888, -0.24856921,  0.04988167, -0.24823938,  0.96861414,
        0.01280081, -0.05149797,  0.        , -0.9986731 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11987024, -0.08306533,  0.11445752])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.00833877, -11.33348952,  12.68209773, -11.33348952,
        17.3550711 ,   0.30986098,  12.68209773,   0.30986098,
        17.28524928,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0009141048913226396
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -6.0727332e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  6.0727332e-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([ 0.06753487, -0.04276768,  0.06197948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14297793e-02, 7.52032444e-02, 4.80114886e-02, 2.99217892e-02,
  1.62113324e-02, 3.52408437e-01, 1.86607170e-01, 9.01419796e-02,
 -1.39476078e-05, 4.00282233e-05,-1.17365766e-04,-3.52089218e-04,
 -2.77064328e-04,-2.42070458e-04,-2.50889417e-05, 9.57058051e-05,
 -3.28888762e-03, 2.49556427e-03,-9.80611460e+00,-6.54000243e-02,
 -8.87754796e-03,-5.76092033e-03]


--- Step 2475 ---
qpos:
[-4.91096099e-04, 2.53505922e-01,-8.46841310e-02, 6.57386977e-01,
 -2.54630452e-02, 7.37461802e-02,-2.07343094e-01, 4.99374254e-01,
  1.48799723e-02, 1.06808102e+00,-2.23434053e-02, 9.37752936e-01,
  9.09687396e-01, 3.57734220e-04, 1.19973478e+00, 4.58549870e-02,
  8.64914885e-02,-6.82135141e-02, 1.42195424e-01, 9.47020134e-01,
 -3.80212438e-02, 2.97047104e-02, 3.17529339e-01]

qacc:
[-2.46611001e+01,-2.68961620e+01,-1.67621859e+01, 3.90821667e+01,
 -2.15960695e+02,-1.21788660e+00,-1.40941559e+01, 2.73877985e+02,
 -6.34859110e-02,-9.20165538e+00, 4.07500512e+01,-9.66459650e+01,
  7.58944415e-02,-1.95406598e+00, 6.86340959e+00,-2.35926370e+01,
 -1.07366796e+00,-2.11493855e+00, 2.10531482e+00, 2.22370989e+01,
 -1.36239919e+01,-9.21489812e+01]

qfrc_actuator:
[-0.00808737, 0.12422895, 0.06396867, 0.10261446, 0.01790585, 0.37162181,
  0.18742623, 0.11544226,-0.00266119, 0.11171213, 0.00960557, 0.01910676,
  0.04094379, 0.00374339, 0.        ,-0.00183328, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.41611789, -0.14809671,  0.41611789,  0.626831  ,
        0.52021444, -0.14809671,  0.52021444,  1.90336986,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013766441555886498
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.55001282e-01, -7.53351821e-01,  5.86033714e-02,  3.84513680e-02,
        4.42249640e-02,  9.98281346e-01, -7.54648801e-01,  6.56128941e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09124785, -0.03421256,  0.12644995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.4223342 ,  0.12930799,  0.4223342 ,  0.59906444,
       -0.51401463,  0.12930799, -0.51401463,  2.1205149 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001893485340424151
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67498875e-01, -2.48326549e-01,  4.77478029e-02, -2.48024688e-01,
        9.68676378e-01,  1.22404627e-02, -4.92918006e-02,  1.73472348e-18,
       -9.98784420e-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([ 0.11979119, -0.08306785,  0.11444285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.08560827, -11.37387478,  12.74962676, -11.37387478,
        18.82715864,   1.5536279 ,  12.74962676,   1.5536279 ,
        18.47159153,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0009278939591551433
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.9824887e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        5.9824887e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06750347, -0.04279904,  0.06197918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14742735e-02, 7.81844054e-02, 4.93358710e-02, 2.97712082e-02,
  1.74159760e-02, 3.51284586e-01, 1.85321007e-01, 8.97159665e-02,
 -1.55894754e-05,-3.63656427e-05,-1.77699173e-05,-2.70801897e-04,
 -2.82052119e-04,-2.42094862e-04,-5.45054236e-06,-1.15837210e-04,
 -3.67309641e-03, 1.29107422e-03,-9.80655256e+00,-6.52760729e-02,
 -9.38728912e-03,-5.73201783e-03]


--- Step 2476 ---
qpos:
[-7.52018242e-05, 2.54104445e-01,-8.45045396e-02, 6.58808066e-01,
 -2.55144040e-02, 7.41762581e-02,-2.07239935e-01, 4.99913655e-01,
  1.48819862e-02, 1.06968119e+00,-2.23549869e-02, 9.38086382e-01,
  9.10571678e-01, 4.61104044e-04, 1.19990557e+00, 4.58503429e-02,
  8.63370719e-02,-6.82114073e-02, 1.42243635e-01, 9.47164640e-01,
 -3.84702602e-02, 2.91484661e-02, 3.17095491e-01]

qacc:
[-4.68170979e+01,-2.37565493e+01,-3.68994837e+01, 8.87151051e+01,
 -2.68866179e+02,-4.80042471e+00,-2.37054402e+01, 2.92538256e+02,
 -1.25990488e-01,-1.58060908e+01, 6.45900407e+01,-1.41383201e+02,
 -7.33330075e-01,-5.17971516e-01, 1.17153146e+01,-4.03657956e+01,
  3.38002491e-02,-2.77180501e+00, 2.36152405e+00, 2.41962883e+01,
  1.85812201e+00,-6.95712982e+01]

qfrc_actuator:
[-0.00850546, 0.12370264, 0.06377038, 0.10211194, 0.01792123, 0.37142821,
  0.18730266, 0.11612532,-0.00268586, 0.11156875, 0.00959515, 0.0187276 ,
  0.04086814, 0.00369108, 0.        ,-0.00202609, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.41483069,  0.15166485, -0.41483069,  0.55496546,
        0.30983908,  0.15166485,  0.30983908,  1.28915195,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013703022031592222
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.55531485e-01, -7.52941574e-01,  5.79435868e-02,  3.80477711e-02,
        4.37015602e-02,  9.98319859e-01, -7.54208751e-01,  6.56634724e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09112739, -0.03419681,  0.12650732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.43340428,  0.08513202,  0.43340428,  0.51453109,
       -0.37085074,  0.08513202, -0.37085074,  2.32967497,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001834411920079042
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96776634, -0.24771652,  0.04544052, -0.2474439 ,  0.96883256,
        0.01161849, -0.04690235,  0.        , -0.99889948])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11970284, -0.08306712,  0.1144269 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.15918621, -16.0523487 ,   6.06298379, -16.0523487 ,
        18.67380749,   4.01010953,   6.06298379,   4.01010953,
        27.77634743,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0009439464508781276
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.88075215e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.88075215e-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([ 0.05429367, -0.03977822,  0.06197883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.12841972e-02, 8.10060731e-02, 5.03586073e-02, 2.94070798e-02,
  1.87924283e-02, 3.49540563e-01, 1.83806969e-01, 8.93854306e-02,
 -3.10398864e-05,-2.00161691e-04,-3.35490053e-05,-3.85403905e-04,
 -2.78629317e-04,-1.87193489e-04,-2.21452624e-05,-2.01401371e-04,
 -4.24783828e-03, 5.52626164e-04,-9.80703011e+00,-6.51377514e-02,
 -9.80041544e-03,-5.69835117e-03]


--- Step 2477 ---
qpos:
[ 3.13885092e-04, 2.54638105e-01,-8.43454036e-02, 6.60229740e-01,
 -2.56025409e-02, 7.46331436e-02,-2.07112983e-01, 5.00472449e-01,
  1.48835680e-02, 1.07127786e+00,-2.23659835e-02, 9.38412558e-01,
  9.11454309e-01, 5.62765907e-04, 1.20007619e+00, 4.58437374e-02,
  8.61824000e-02,-6.82195439e-02, 1.42299097e-01, 9.47348690e-01,
 -3.88818448e-02, 2.86040263e-02, 3.16544579e-01]

qacc:
[-5.39390469e+01,-2.88658564e+01,-1.57161743e+01, 8.09424032e+01,
 -2.91042875e+02, 2.48637977e+00,-3.05249444e+01, 2.82065628e+02,
 -1.94864120e-01,-1.87831018e+01, 7.07610676e+01,-1.44060742e+02,
 -2.74747871e-01,-1.25489744e+00, 5.67534920e+00,-2.02413791e+01,
 -6.38438938e-02,-2.56081653e+00, 1.81282426e+00, 2.20654141e+01,
  1.33108312e+00,-6.09362186e+01]

qfrc_actuator:
[-0.00894427, 0.12322458, 0.06357705, 0.10143768, 0.01793586, 0.37125356,
  0.18715598, 0.1169998 ,-0.00271905, 0.11126957, 0.00957552, 0.0183534 ,
  0.04078035, 0.00360143, 0.        ,-0.00211992, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.39586911, -0.19589379,  0.39586911,  0.81001776,
        0.74433741, -0.19589379,  0.74433741,  1.94586969,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013553603629363501
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.56351497e-01, -7.52287814e-01,  5.71467981e-02,  3.75697835e-02,
        4.30612111e-02,  9.98365786e-01, -7.53519226e-01,  6.57425871e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09101086, -0.03418104,  0.12655978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.43496258,  0.07677425,  0.43496258,  0.49859647,
       -0.3224235 ,  0.07677425, -0.3224235 ,  2.26836847,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017703007487680884
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96810292, -0.24682435,  0.04306355, -0.24658052,  0.96906024,
        0.0109685 , -0.04443847,  0.        , -0.99901212])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11960791, -0.08306399,  0.11441069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.19994903,   9.56112864, -14.29765945,   9.56112864,
        78.1993317 ,  40.79149782, -14.29765945,  40.79149782,
        44.4780332 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0009551731656660817
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.8116322e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -5.8116322e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05427733, -0.03979293,  0.06197859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05641717e-02, 8.39700572e-02, 5.14228190e-02, 2.87636087e-02,
  2.05039508e-02, 3.48454494e-01, 1.82526578e-01, 8.92616873e-02,
 -4.80676694e-05,-4.53040714e-04,-7.99542314e-05,-3.88465386e-04,
 -2.76428169e-04,-2.08303810e-04,-3.92459297e-05,-1.09289796e-04,
 -4.63578430e-03, 2.60969808e-04,-9.80761607e+00,-6.50624551e-02,
 -1.00688824e-02,-5.67054274e-03]


--- Step 2478 ---
qpos:
[ 6.73163792e-04, 2.55116020e-01,-8.42030878e-02, 6.61652748e-01,
 -2.57296015e-02, 7.51232800e-02,-2.06961852e-01, 5.01049935e-01,
  1.48849091e-02, 1.07287252e+00,-2.23777647e-02, 9.38732030e-01,
  9.12335400e-01, 6.62126302e-04, 1.20024693e+00, 4.58333241e-02,
  8.60272243e-02,-6.82370718e-02, 1.42359985e-01, 9.47566710e-01,
 -3.92585861e-02, 2.80690895e-02, 3.15892735e-01]

qacc:
[-5.97944376e+01,-2.54221348e+01,-1.38880900e+01, 8.08869561e+01,
 -3.07584018e+02, 8.58531663e+00,-3.71524894e+01, 2.71550052e+02,
 -1.08659800e-01,-1.21330753e+01, 5.02447478e+01,-1.20478860e+02,
  6.86508264e-02,-2.02678274e+00, 1.16244711e+01,-4.05544653e+01,
 -1.25946905e-01,-2.34784251e+00, 1.35667107e+00, 2.01123321e+01,
  4.62957085e-01,-5.25021501e+01]

qfrc_actuator:
[-0.00938261, 0.1227987 , 0.06340967, 0.10090793, 0.01803747, 0.37119847,
  0.18703842, 0.11799944,-0.00272158, 0.11127011, 0.00956779, 0.01802053,
  0.04068534, 0.00347249, 0.        ,-0.00231442, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.39316335, -0.20126926,  0.39316335,  0.83477102,
        0.76785958, -0.20126926,  0.76785958,  1.94163832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013323130554416648
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65743003, -0.7514153 ,  0.05622095,  0.0370199 ,  0.04231221,
        0.99841835, -0.75260566,  0.6584715 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09089788, -0.03416561,  0.12660771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.44078524,  0.02819756,  0.44078524,  0.45606673,
       -0.22479636,  0.02819756, -0.22479636,  3.95571136,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017046207256852606
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68496773e-01, -2.45686238e-01,  4.06481718e-02, -2.45470133e-01,
        9.69349407e-01,  1.03024733e-02, -4.19334571e-02,  1.73472348e-18,
       -9.99120406e-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([ 0.11950597, -0.08305877,  0.11439463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.20298016, -9.79707557, 14.14071556, -9.79707557, 32.37908977,
       10.51442497, 14.14071556, 10.51442497, 24.48766215,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009561202572250099
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.80587544e-14, -1.16117509e-13,  1.00000000e+00,  6.74163793e-27,
        1.00000000e+00,  1.16117509e-13, -1.00000000e+00,  0.00000000e+00,
        5.80587544e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05426193, -0.03980249,  0.06197858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.96622184e-02, 8.67626440e-02, 5.22676926e-02, 2.82016032e-02,
  2.24445778e-02, 3.47040049e-01, 1.81211578e-01, 8.92891940e-02,
 -2.68042123e-05,-3.02250635e-04,-1.22868686e-04,-3.56156339e-04,
 -2.87511113e-04,-2.52880047e-04,-3.52977940e-05,-2.06666339e-04,
 -5.08240511e-03, 1.99194552e-04,-9.80814424e+00,-6.50029356e-02,
 -1.02726424e-02,-5.64056925e-03]


--- Step 2479 ---
qpos:
[ 1.00005644e-03, 2.55545333e-01,-8.40738130e-02, 6.63077818e-01,
 -2.58971467e-02, 7.56507261e-02,-2.06786760e-01, 5.01645288e-01,
  1.48864388e-02, 1.07446770e+00,-2.23906646e-02, 9.39045884e-01,
  9.13215031e-01, 7.58909711e-04, 1.20041685e+00, 4.58256417e-02,
  8.58714240e-02,-6.82631732e-02, 1.42424768e-01, 9.47813377e-01,
 -3.96025078e-02, 2.75411656e-02, 3.15155403e-01]

qacc:
[-6.47753358e+01,-2.49679684e+01,-5.33395083e+00, 7.58700867e+01,
 -3.19375457e+02, 1.30195589e+01,-4.19357948e+01, 2.59939998e+02,
  8.56247159e-02,-6.03597713e+00, 3.20918241e+01,-9.35796329e+01,
  8.31965872e-01,-3.13263035e+00,-9.58819099e+00, 3.15062325e+01,
 -1.56123988e-01,-2.14337649e+00, 9.73543598e-01, 1.84192122e+01,
 -5.85100133e-01,-4.44299801e+01]

qfrc_actuator:
[-0.00973594, 0.12245647, 0.06328016, 0.10032186, 0.01815486, 0.37112694,
  0.18694618, 0.11872982,-0.00268799, 0.11150365, 0.00958609, 0.01775029,
  0.04060736, 0.00333901, 0.        ,-0.00215838, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.38378703, -0.21861896,  0.38378703,  1.04680404,
        1.06228831, -0.21861896,  1.06228831,  2.30654038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013020523844700788
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65873218, -0.75035146,  0.05517797,  0.03640296,  0.04146604,
        0.99847654, -0.75149633,  0.65973727,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09078782, -0.03415078,  0.12665168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.44154061, -0.01134125,  0.44154061,  0.44376731,
        0.08102074, -0.01134125,  0.08102074,  3.59600711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016412069292057005
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68936732e-01, -2.44337429e-01,  3.82208039e-02, -2.44147557e-01,
        9.69690270e-01,  9.63067616e-03, -3.94154763e-02,  1.73472348e-18,
       -9.99222908e-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([ 0.11939687, -0.08305178,  0.11437905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.17807212,   9.81431942, -14.09841467,   9.81431942,
        88.62582194,  49.7368715 , -14.09841467,  49.7368715 ,
        51.80136527,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0009488469064976718
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.85038017e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.85038017e-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([ 0.05424729, -0.039808  ,  0.06197875])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.85252400e-02, 8.91852833e-02, 5.29695373e-02, 2.75458514e-02,
  2.45083099e-02, 3.45285497e-01, 1.79901997e-01, 8.90822927e-02,
  2.09914524e-05, 6.85910009e-06,-7.12444685e-05,-2.89509483e-04,
 -2.87017519e-04,-2.72290681e-04,-4.48400458e-05, 1.38841683e-04,
 -5.53725362e-03, 2.88083403e-04,-9.80861747e+00,-6.49561732e-02,
 -1.04236309e-02,-5.60833956e-03]


--- Step 2480 ---
qpos:
[ 1.29233794e-03, 2.55931922e-01,-8.39537170e-02, 6.64505636e-01,
 -2.61061948e-02, 7.62173290e-02,-2.06588453e-01, 5.02257574e-01,
  1.48884256e-02, 1.07606191e+00,-2.24023785e-02, 9.39353752e-01,
  9.14093230e-01, 8.53017040e-04, 1.20058599e+00, 4.58238232e-02,
  8.57149882e-02,-6.82970743e-02, 1.42492152e-01, 9.48083646e-01,
 -3.99151292e-02, 2.70177340e-02, 3.14347299e-01]

qacc:
[-6.90344616e+01,-2.64545533e+01, 7.71627481e+00, 6.70677285e+01,
 -3.26771484e+02, 1.58542845e+01,-4.48507171e+01, 2.47286546e+02,
  2.08541893e-01,-1.48535315e+01, 5.92818013e+01,-1.20663315e+02,
  1.13871665e+00,-3.57097371e+00,-1.90445767e+01, 6.45910677e+01,
 -1.58900600e-01,-1.94993069e+00, 6.50368935e-01, 1.69831856e+01,
 -1.72698211e+00,-3.67377334e+01]

qfrc_actuator:
[-0.0100415 , 0.12217957, 0.06314081, 0.09954098, 0.0182811 , 0.37092167,
  0.18682418, 0.11911446,-0.00265081, 0.11143146, 0.00963841, 0.01744823,
  0.0405343 , 0.003204  , 0.        ,-0.00185029, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.37348186, -0.23579235,  0.37348186,  1.21782342,
        1.22935775, -0.23579235,  1.22935775,  2.38891995,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012653958315692912
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66022466, -0.74912241,  0.0540279 ,  0.03572273,  0.04053271,
        0.99853943, -0.75021815,  0.66119038,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09068018, -0.03413679,  0.12669216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.4388027 , -0.05038773,  0.4388027 ,  0.49176523,
        0.43611409, -0.05038773,  0.43611409,  4.23959572,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001584196168729403
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96941257, -0.24281147,  0.03580314, -0.24264604,  0.9700735 ,
        0.0089616 , -0.03690766,  0.        , -0.99931868])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11928071, -0.0830433 ,  0.11436424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.12077965,  10.00934087, -13.89007528,  10.00934087,
        96.51873987,  57.21504253, -13.89007528,  57.21504253,
        58.35056796,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.000935086407164748
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.0542333 , -0.03981034,  0.06197907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.72116431e-02, 9.13181877e-02, 5.34733297e-02, 2.66588621e-02,
  2.66589575e-02, 3.43192625e-01, 1.78572774e-01, 8.85707746e-02,
  5.08684164e-05,-1.15668714e-04, 3.11219373e-05,-3.09015748e-04,
 -2.85641549e-04,-2.79349240e-04,-8.36348747e-06, 3.09459394e-04,
 -5.95823515e-03, 4.62473534e-04,-9.80904114e+00,-6.49190847e-02,
 -1.05319757e-02,-5.57378847e-03]


--- Step 2481 ---
qpos:
[ 1.54817536e-03, 2.56282396e-01,-8.38393723e-02, 6.65936690e-01,
 -2.63572196e-02, 7.68230829e-02,-2.06368255e-01, 5.02885746e-01,
  1.48907145e-02, 1.07765254e+00,-2.24124478e-02, 9.39654123e-01,
  9.14969917e-01, 9.44896791e-04, 1.20075516e+00, 4.58246695e-02,
  8.55579978e-02,-6.83380388e-02, 1.42561050e-01, 9.48372699e-01,
 -4.01975588e-02, 2.64962753e-02, 3.13482579e-01]

qacc:
[-7.25099973e+01,-2.61646578e+01, 1.66191870e+01, 5.90312445e+01,
 -3.29777379e+02, 1.76382516e+01,-4.71100841e+01, 2.34327672e+02,
  1.38998724e-01,-2.21433729e+01, 8.20408300e+01,-1.56424857e+02,
  4.98858805e-01,-2.51008116e+00,-8.12215365e+00, 2.82448286e+01,
 -1.38637336e-01,-1.76583829e+00, 3.78326614e-01, 1.57619407e+01,
 -2.93394060e+00,-2.93439971e+01]

qfrc_actuator:
[-0.01033874, 0.12191994, 0.06296142, 0.09864169, 0.01848311, 0.37069039,
  0.18663997, 0.1192322 ,-0.00264732, 0.11108835, 0.00965602, 0.01705868,
  0.04046958, 0.00310472, 0.        ,-0.00172149, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.36098695, -0.25450963,  0.36098695,  1.1886158 ,
        1.05941698, -0.25450963,  1.05941698,  1.94432369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001223119328071457
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.61875706e-01, -7.47753207e-01,  5.27796480e-02,  3.49823257e-02,
        3.95212364e-02,  9.98606183e-01, -7.48796893e-01,  6.62799528e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0905746 , -0.03412386,  0.12672959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.43410555, -0.08148068,  0.43410555,  0.54117445,
        0.53004449, -0.08148068,  0.53004449,  3.26561024,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015377946224518582
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9699151 , -0.24113962,  0.03341234, -0.24099667,  0.97049043,
        0.00830203, -0.0344283 ,  0.        , -0.99940717])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11915782, -0.08303364,  0.11435039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.02147533, -10.07530954,  13.71928425, -10.07530954,
        34.62159343,  12.92535635,  13.71928425,  12.92535635,
        26.51373191,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0009162966747334605
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.05820721e-14,  6.05820721e-14,  1.00000000e+00, -3.67018746e-27,
        1.00000000e+00, -6.05820721e-14, -1.00000000e+00,  0.00000000e+00,
        6.05820721e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0542199 , -0.03981022,  0.0619795 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57784940e-02, 9.31761640e-02, 5.37446030e-02, 2.56193356e-02,
  2.89363444e-02, 3.40979697e-01, 1.77217963e-01, 8.78388312e-02,
  3.36006652e-05,-4.34828097e-04,-1.64319508e-05,-3.97618094e-04,
 -2.77265879e-04,-2.45632748e-04, 2.63986242e-05, 1.44117717e-04,
 -6.31223564e-03, 6.71086494e-04,-9.80942018e+00,-6.48891065e-02,
 -1.06059028e-02,-5.53684748e-03]


--- Step 2482 ---
qpos:
[ 1.76607176e-03, 2.56601516e-01,-8.37271717e-02, 6.67371488e-01,
 -2.66501920e-02, 7.74662352e-02,-2.06127998e-01, 5.03528666e-01,
  1.48930388e-02, 1.07923718e+00,-2.24210967e-02, 9.39949136e-01,
  9.15845050e-01, 1.03497342e-03, 1.20092425e+00, 4.58284221e-02,
  8.54006039e-02,-6.83853743e-02, 1.42630544e-01, 9.48675967e-01,
 -4.04505566e-02, 2.59743125e-02, 3.12574785e-01]

qacc:
[-7.53064406e+01,-2.87202268e+01, 3.18640307e+01, 4.68314893e+01,
 -3.28747783e+02, 1.83753320e+01,-4.86239560e+01, 2.21211562e+02,
  1.82220370e-02,-2.09870418e+01, 7.00484472e+01,-1.19602018e+02,
  2.00558267e-01,-1.88032074e+00,-8.95339008e+00, 3.10334387e+01,
 -1.00887011e-01,-1.59274847e+00, 1.49202409e-01, 1.47335215e+01,
 -4.17480053e+00,-2.22729799e+01]

qfrc_actuator:
[-0.01059756, 0.12171665, 0.06286475, 0.09770529, 0.01874767, 0.37042785,
  0.18641048, 0.11907754,-0.00266408, 0.11063894, 0.00966963, 0.0167803 ,
  0.0404046 , 0.00302748, 0.        ,-0.00157513, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.34093538, -0.28080206,  0.34093538,  1.68813742,
        1.51337672, -0.28080206,  1.51337672,  2.27915018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011760729475139347
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.63653791e-01, -7.46268920e-01,  5.14426307e-02,  3.41853600e-02,
        3.84409342e-02,  9.98675951e-01, -7.47258327e-01,  6.64533666e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09047068, -0.03411216,  0.1267644 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.42702528, -0.11285453,  0.42702528,  0.72922672,
        1.08801177, -0.11285453,  1.08801177,  4.55856603,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015059466590847555
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97043559, -0.23935316,  0.03106163, -0.23923064,  0.97093257,
        0.00765728, -0.03199154,  0.        , -0.99948814])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11902872, -0.08302307,  0.11433765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 16.87091603, -10.39110054,  13.29108111, -10.39110054,
        43.43236626,  20.76600823,  13.29108111,  20.76600823,
        33.10598957,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008937007788849677
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.21137998e-14, -1.24227600e-13,  1.00000000e+00,  7.71624824e-27,
        1.00000000e+00,  1.24227600e-13, -1.00000000e+00,  0.00000000e+00,
        6.21137998e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05420706, -0.03980822,  0.06198001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.42153208e-02, 9.47616683e-02, 5.39277588e-02, 2.45182912e-02,
  3.12999926e-02, 3.38734104e-01, 1.75883296e-01, 8.68866934e-02,
  3.83281666e-06,-7.29543482e-04,-9.08696394e-05,-2.99440784e-04,
 -2.65111284e-04,-2.12258236e-04, 2.11546770e-05, 1.56267187e-04,
 -6.57373963e-03, 8.73938413e-04,-9.80975771e+00,-6.48643846e-02,
 -1.06520082e-02,-5.49742765e-03]


--- Step 2483 ---
qpos:
[ 1.94492366e-03, 2.56894870e-01,-8.36140075e-02, 6.68810357e-01,
 -2.69846108e-02, 7.81434095e-02,-2.05870021e-01, 5.04185135e-01,
  1.48954621e-02, 1.08081564e+00,-2.24296007e-02, 9.40239329e-01,
  9.16718718e-01, 1.12308607e-03, 1.20109378e+00, 4.58309046e-02,
  8.52429997e-02,-6.84384251e-02, 1.42699874e-01, 9.48989150e-01,
 -4.06746816e-02, 2.54494172e-02, 3.11636793e-01]

qacc:
[-7.73271892e+01,-2.91774586e+01, 4.20041274e+01, 3.64128854e+01,
 -3.23956990e+02, 1.82412612e+01,-4.98665103e+01, 2.08648190e+02,
  4.64726056e-02,-1.68590530e+01, 5.51463696e+01,-1.00190469e+02,
  5.76394826e-02,-1.77433484e+00, 4.43872010e+00,-1.47016044e+01,
 -5.25660979e-02,-1.42882406e+00,-4.10978789e-02, 1.38298496e+01,
 -5.42145575e+00,-1.55580710e+01]

qfrc_actuator:
[-0.01079948, 0.12148584, 0.06279866, 0.09681581, 0.01904876, 0.37013265,
  0.18616465, 0.11886075,-0.00265733, 0.11030711, 0.00966265, 0.01653399,
  0.04032886, 0.00292844, 0.        ,-0.00165034, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.31890683,  0.30558987, -0.31890683,  2.16617886,
        1.79964237,  0.30558987,  1.79964237,  2.31975321,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011249921510070608
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.65529638e-01, -7.44693133e-01,  5.00243802e-02,  3.33344425e-02,
        3.72995116e-02,  9.98747997e-01, -7.45626660e-01,  6.66363927e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09036818, -0.03410188,  0.12679696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.41990326, -0.1369963 ,  0.41990326,  0.7290148 ,
        0.88068222, -0.1369963 ,  0.88068222,  3.14103901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014918726046112482
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9709665 , -0.23748035,  0.0287602 , -0.23737624,  0.97139234,
        0.00703113, -0.0296072 ,  0.        , -0.99956161])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1188941 , -0.08301189,  0.11432611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 16.66335657, -10.87810456,  12.62276885, -10.87810456,
        53.49144235,  31.73786771,  12.62276885,  31.73786771,
        44.01455406,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008683230801884156
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.27858288e-13, -6.39291440e-14,  1.00000000e+00,  8.17387090e-27,
        1.00000000e+00,  6.39291440e-14, -1.00000000e+00,  0.00000000e+00,
        1.27858288e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05419477, -0.03980481,  0.06198059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25204531e-02, 9.60828709e-02, 5.39615891e-02, 2.34387905e-02,
  3.36987469e-02, 3.36541874e-01, 1.74623254e-01, 8.59291094e-02,
  1.09132714e-05,-7.86415566e-04,-1.74634935e-04,-2.76104974e-04,
 -2.61674192e-04,-2.21884102e-04, 2.03373297e-05,-6.52434503e-05,
 -6.72572255e-03, 1.04155335e-03,-9.81005552e+00,-6.48436397e-02,
 -1.06758441e-02,-5.45543061e-03]


--- Step 2484 ---
qpos:
[ 0.00208396, 0.25716983,-0.08349761, 0.67025335,-0.02735973, 0.07885204,
 -0.20559629, 0.50485403, 0.01489783, 1.0823867 ,-0.022437  , 0.94052303,
  0.91759067, 0.00120984, 1.20126354, 0.0458315 , 0.0850854 ,-0.06849658,
  0.14276841, 0.94930831,-0.04087039, 0.02491931, 0.31068048]

qacc:
[-7.86946409e+01,-2.55414355e+01, 4.22595333e+01, 3.02593222e+01,
 -3.17244572e+02, 1.83024090e+01,-5.06213863e+01, 1.95931084e+02,
 -2.40762031e-02,-2.39674803e+01, 7.98523747e+01,-1.40440313e+02,
 -5.79699393e-01,-6.73807141e-01, 6.05167066e+00,-2.06664487e+01,
  1.76561700e-04,-1.27636927e+00,-1.97947110e-01, 1.30261342e+01,
 -6.60190185e+00,-9.36787140e+00]

qfrc_actuator:
[-0.010951  , 0.12129873, 0.06267766, 0.09589942, 0.01935255, 0.36978851,
  0.18590333, 0.11863749,-0.00267206, 0.10988864, 0.00969728, 0.01620201,
  0.04024672, 0.00287045, 0.        ,-0.00174895, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001070660874882478
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66747481, -0.74304909,  0.04853281,  0.03243265,  0.03610481,
        0.99882159, -0.74392574,  0.66826229,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09026678, -0.03409315,  0.12682765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.41230313, -0.15840725,  0.41230313,  0.83251941,
        1.01726238, -0.15840725,  1.01726238,  3.08942146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001458358914169691
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70870854e-01, -2.38109466e-01,  2.67145567e-02, -2.38019377e-01,
        9.71238324e-01,  6.54935938e-03, -2.75056657e-02,  8.67361738e-19,
       -9.99621648e-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([ 0.11876208, -0.08303005,  0.11431812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 16.39783874, -11.58220358,  11.60782821, -11.58220358,
        62.87752293,  46.37707886,  11.60782821,  46.37707886,
        62.67253879,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008410167578444816
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32009620e-13, -1.32009620e-13,  1.00000000e+00,  1.74265397e-26,
        1.00000000e+00,  1.32009620e-13, -1.00000000e+00,  0.00000000e+00,
        1.32009620e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05418301, -0.03980035,  0.06198121])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.07200463e-02, 9.71695288e-02, 5.37854705e-02, 2.23160389e-02,
  3.60751651e-02, 3.34468087e-01, 1.73463996e-01, 8.50249732e-02,
 -6.68172006e-06,-9.20023226e-04,-1.52950684e-04,-3.65397511e-04,
 -2.69174834e-04,-1.82412317e-04,-5.66877551e-06,-1.01325510e-04,
 -6.76023746e-03, 1.15396459e-03,-9.81031367e+00,-6.48261803e-02,
 -1.06824782e-02,-5.41074641e-03]


--- Step 2485 ---
qpos:
[ 0.00218253, 0.25743226,-0.08337585, 0.67170048,-0.02777488, 0.07959125,
 -0.20530798, 0.5055344 , 0.01490009, 1.08394855,-0.02244284, 0.94080071,
  0.91846076, 0.00129571, 1.201433  , 0.04583291, 0.08492798,-0.06855932,
  0.14283564, 0.94963022,-0.04103814, 0.02438216, 0.30971571]

qacc:
[-7.98507087e+01,-2.35407644e+01, 4.55156014e+01, 2.21717829e+01,
 -3.11034703e+02, 1.87680544e+01,-5.02529425e+01, 1.82490992e+02,
 -4.26420147e-02,-2.67188301e+01, 8.49742831e+01,-1.38143450e+02,
 -8.13610491e-01,-1.19299660e-01,-2.86587888e+00, 9.49943440e+00,
  4.62819065e-02,-1.14635783e+00,-3.27040325e-01, 1.23386536e+01,
 -7.55038134e+00,-4.24216254e+00]

qfrc_actuator:
[-0.0110914 , 0.12115853, 0.06255656, 0.09496519, 0.01970929, 0.36933296,
  0.18562759, 0.11835278,-0.00268181, 0.10933313, 0.00973811, 0.01589324,
  0.04016081, 0.00283728, 0.        ,-0.0017007 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010139607143772559
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66946182, -0.74135958,  0.04697708,  0.03148412,  0.0348654 ,
        0.99889597, -0.74217897,  0.67020174,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09016605, -0.03408609,  0.12685692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.40657552, -0.17257774,  0.40657552,  0.89812893,
        1.07533233, -0.17257774,  1.07533233,  2.9750593 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001397981891815091
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67783675e-01, -2.50536884e-01,  2.50205579e-02, -2.50453197e-01,
        9.68107055e-01,  6.47508205e-03, -2.58448255e-02, -8.67361738e-19,
       -9.99665967e-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([ 0.11866004, -0.08318579,  0.1143148 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 16.0781783 , -12.51661208,  10.09169161, -12.51661208,
        67.28700596,  63.5137354 ,  10.09169161,  63.5137354 ,
        94.85355294,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0008124896705329065
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.83222855e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.83222855e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0541718 , -0.03979515,  0.06198185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88701974e-02, 9.79353017e-02, 5.34960006e-02, 2.11728792e-02,
  3.84674123e-02, 3.32409916e-01, 1.72387897e-01, 8.41152170e-02,
 -1.14263743e-05,-1.12924723e-03,-1.72998207e-04,-3.47613676e-04,
 -2.67961853e-04,-1.48208267e-04,-2.08464560e-05, 4.03844634e-05,
 -6.67971835e-03, 1.20169539e-03,-9.81053175e+00,-6.48118245e-02,
 -1.06767184e-02,-5.36328593e-03]


--- Step 2486 ---
qpos:
[ 0.00226359, 0.25766855,-0.08325706, 0.67315287,-0.02820752, 0.08025795,
 -0.20503781, 0.50622562, 0.01490242, 1.08550092,-0.02244942, 0.9410741 ,
  0.91932939, 0.00137974, 1.20160203, 0.0458372 , 0.08478152,-0.06861752,
  0.14290652, 0.94991344,-0.04120407, 0.02383412, 0.30886667]

qacc:
[-3.44277412e+01,-1.73298140e+01,-1.97944829e+00, 9.44731161e+01,
 -1.34776085e+02,-3.00086458e+01,-6.78560777e+01, 3.02101297e+02,
  2.98856508e-02,-1.79270970e+01, 5.23000598e+01,-8.95340338e+01,
  3.28668938e-01,-2.03988149e+00,-9.40535254e+00, 3.17988204e+01,
  2.73900778e+00, 1.13569178e+00, 9.12866412e-01,-3.02974834e+00,
 -7.35444233e+00, 6.07495631e+01]

qfrc_actuator:
[-0.01120853, 0.1209947 , 0.06243198, 0.09405409, 0.02013116, 0.36885212,
  0.18535583, 0.11804495,-0.00267076, 0.10880667, 0.00967524, 0.01567152,
  0.04007804, 0.00273029, 0.        ,-0.00154854, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009556279115210702
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67146804, -0.73964363,  0.04536496,  0.03049251,  0.03358848,
        0.99897048, -0.74040589,  0.67216004,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09006566, -0.03408077,  0.12688515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.38432812,  0.21766632, -0.38432812,  1.05935895,
        1.09060966,  0.21766632,  1.09060966,  2.36734911,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011701500303124565
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67761331e-01, -2.50823707e-01,  2.29232079e-02, -2.50753372e-01,
        9.68032783e-01,  5.93955503e-03, -2.36801980e-02, -8.67361738e-19,
       -9.99719585e-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([ 0.11851879, -0.08320112,  0.11430735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 15.7898909 ,  -7.97139338, -13.63002356,  -7.97139338,
        22.01140021,  -3.63859225, -13.63002356,  -3.63859225,
        17.91788797,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007892892845790672
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.51652761e-14, -1.05495828e-13,  1.00000000e+00, -3.70978993e-27,
        1.00000000e+00,  1.05495828e-13, -1.00000000e+00,  0.00000000e+00,
       -3.51652761e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03985621, -0.06488041,  0.06198238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69640118e-02, 9.83849319e-02, 5.30968736e-02, 2.00518412e-02,
  4.08910177e-02, 3.30368765e-01, 1.71374424e-01, 8.32305206e-02,
  6.72577915e-06,-1.21909747e-03,-3.19306206e-04,-2.66993623e-04,
 -2.55920557e-04,-2.12298750e-04,-1.07681505e-05, 1.50546475e-04,
 -6.50291520e-03, 1.19031204e-03,-9.81071166e+00,-6.48004162e-02,
 -1.06635991e-02,-5.31302748e-03]


--- Step 2487 ---
qpos:
[ 0.00233095, 0.25789022,-0.08313807, 0.67461029,-0.02865247, 0.0808628 ,
 -0.20478401, 0.50692701, 0.01490501, 1.08704409,-0.02245657, 0.94134201,
  0.92019655, 0.00146165, 1.20177092, 0.04584358, 0.08464484,-0.06867069,
  0.14297954, 0.95015842,-0.04136235, 0.02328056, 0.30813332]

qacc:
[-2.69187476e+01,-1.11216284e+01,-2.49071816e+00, 8.18275137e+01,
 -9.46201464e+01,-2.21373121e+01,-7.31911385e+01, 2.86276190e+02,
  1.20144500e-01,-1.99927960e+01, 6.19101190e+01,-1.11732620e+02,
  4.29188910e-01,-2.33798136e+00,-6.62673211e+00, 2.26927066e+01,
  2.44595452e+00, 1.25757831e+00, 5.34439265e-01, 6.17434107e-01,
 -5.73604626e+00, 6.08253250e+01]

qfrc_actuator:
[-0.01130073, 0.12101285, 0.06229374, 0.09350917, 0.02051457, 0.36867773,
  0.18509558, 0.11793231,-0.00264734, 0.10839036, 0.00965835, 0.01539621,
  0.03999186, 0.00261585, 0.        ,-0.00144294, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.4328949 ,  0.36027712,  0.23999666,  0.36027712,  0.86569502,
       -0.64970896,  0.23999666, -0.64970896,  1.40822212,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009018336578769968
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.73245070e-01, -7.38120899e-01,  4.38019848e-02,  2.95178005e-02,
        3.23622206e-02,  9.99040232e-01, -7.38830004e-01,  6.73891850e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0899719 , -0.03407716,  0.12691275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011232195550463322
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69854319e-01, -2.42755416e-01,  2.12698958e-02, -2.42697058e-01,
        9.70087526e-01,  5.32259439e-03, -2.19257493e-02,  8.67361738e-19,
       -9.99759602e-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([ 0.11836532, -0.08311844,  0.11430435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([15.58849341,  7.51764948, 13.65599037,  7.51764948, 32.62184202,
       -9.37689181, 13.65599037, -9.37689181, 20.75049074,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007740688974549881
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.58567250e-14, -3.58567250e-14,  1.00000000e+00, -1.28570473e-27,
        1.00000000e+00,  3.58567250e-14, -1.00000000e+00,  0.00000000e+00,
       -3.58567250e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03980837, -0.0648602 ,  0.06198273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61817741e-02, 9.96980157e-02, 5.31006501e-02, 1.92417755e-02,
  4.21485221e-02, 3.33791164e-01, 1.72008468e-01, 8.25718248e-02,
  2.90830759e-05,-1.18460802e-03,-3.05131145e-04,-3.25702576e-04,
 -2.67809075e-04,-2.34836079e-04, 6.78225931e-06, 1.11545930e-04,
 -5.38321997e-03, 4.97311871e-04,-9.81037089e+00,-6.49621000e-02,
 -1.06152437e-02,-5.26087413e-03]


--- Step 2488 ---
qpos:
[ 0.00238814, 0.25811093,-0.08301757, 0.67607205,-0.02910499, 0.08141456,
 -0.20454547, 0.50763784, 0.01490803, 1.08857864,-0.02246323, 0.94160585,
  0.92106194, 0.00154229, 1.20193991, 0.04585051, 0.08451696,-0.06871853,
  0.1430535 , 0.95036608,-0.04150883, 0.0227256 , 0.30751404]

qacc:
[-1.99565040e+01, 1.99413358e+00,-2.11892952e+01, 7.85530133e+01,
 -5.78832142e+01,-1.51079377e+01,-7.88273979e+01, 2.71890987e+02,
  1.98812622e-01,-1.97626447e+01, 5.92018119e+01,-9.35478068e+01,
 -5.10812442e-01,-7.14169624e-01,-1.51645135e+00, 5.52428824e+00,
  2.20086594e+00, 1.33241830e+00, 2.34655845e-01, 3.29047390e+00,
 -4.40120727e+00, 6.00500874e+01]

qfrc_actuator:
[-0.01137477, 0.12106812, 0.06216308, 0.09341285, 0.0209655 , 0.36856355,
  0.18484774, 0.1182349 ,-0.00261673, 0.10806141, 0.00972243, 0.01519815,
  0.03991434, 0.00256895, 0.        ,-0.00141889, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.42243615,  0.28609002,  0.31081313,  0.28609002,  1.30645177,
       -0.81369808,  0.31081313, -0.81369808,  1.17140998,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008530436128504625
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6747918 , -0.7367951 ,  0.04229673,  0.02856705,  0.03119193,
        0.99910509, -0.73745505,  0.67539621,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08988347, -0.03407507,  0.12694042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001084623369843929
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9702116 , -0.24147845,  0.01943221, -0.24143003,  0.97040618,
        0.00483556, -0.02002482,  0.        , -0.99979948])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11824268, -0.08311409,  0.1142986 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 15.34168575,   7.46656873,  13.40215181,   7.46656873,
        74.68167939, -33.0593286 ,  13.40215181, -33.0593286 ,
        33.75960494,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007562504923323693
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46806255e-13, -7.34031274e-14,  1.00000000e+00, -1.07760382e-26,
        1.00000000e+00,  7.34031274e-14, -1.00000000e+00,  0.00000000e+00,
       -1.46806255e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03976801, -0.06484445,  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:
[-1.55711762e-02, 1.00472717e-01, 5.29542977e-02, 1.88912026e-02,
  4.32154142e-02, 3.36743645e-01, 1.72567843e-01, 8.23625232e-02,
  4.86177075e-05,-1.07695405e-03,-2.17458075e-04,-2.48362006e-04,
 -2.70508232e-04,-1.76406749e-04, 9.38047836e-06, 2.98024538e-05,
 -4.35291068e-03,-2.67292051e-05,-9.81005543e+00,-6.51404698e-02,
 -1.05453409e-02,-5.20942573e-03]


--- Step 2489 ---
qpos:
[ 0.00243853, 0.25833754,-0.08289357, 0.67753778,-0.02956048, 0.08192027,
 -0.20432159, 0.50835732, 0.01491146, 1.09010533,-0.02246927, 0.94186556,
  0.92192592, 0.00162132, 1.20210932, 0.04585434, 0.08439707,-0.06876083,
  0.14312745, 0.9505373 ,-0.04164052, 0.02217235, 0.30700699]

qacc:
[-1.33196451e+01, 4.95732275e+00,-1.82649367e+01, 6.46276195e+01,
 -2.24541914e+01,-9.00010575e+00,-8.42044469e+01, 2.58318952e+02,
  1.86641903e-01,-1.91049879e+01, 5.83804867e+01,-9.38553587e+01,
 -2.68660491e-01,-1.12986476e+00, 1.00123354e+01,-3.41284412e+01,
  1.99656708e+00, 1.38487640e+00,-2.87441391e-03, 5.25947778e+00,
 -3.38037658e+00, 5.91366953e+01]

qfrc_actuator:
[-0.01141821, 0.12101357, 0.06203559, 0.09340685, 0.02143936, 0.36841272,
  0.18459503, 0.11883657,-0.00259983, 0.10775246, 0.00978099, 0.01499398,
  0.03985275, 0.00249155, 0.        ,-0.00158508, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000809864352279641
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67610789, -0.73566885,  0.04085898,  0.02764817,  0.0300838 ,
        0.99916492, -0.7362837 ,  0.67667297,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.089799  , -0.03407428,  0.12696889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010543897747814367
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97050993, -0.24040735,  0.0177423 , -0.24036719,  0.97067209,
        0.00439425, -0.01827837,  0.        , -0.99983294])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11813031, -0.08311145,  0.11429404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([15.05654493,  7.42318766, 13.09945915,  7.42318766, 28.3200029 ,
       -7.51612234, 13.09945915, -7.51612234, 19.31577319,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007365521625084942
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.42077732e-14, -7.53662185e-14,  1.00000000e+00, -7.10008362e-27,
        1.00000000e+00,  7.53662185e-14, -1.00000000e+00,  0.00000000e+00,
       -9.42077732e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03973362, -0.06483218,  0.06198358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51070785e-02, 1.00455383e-01, 5.27456202e-02, 1.86651761e-02,
  4.40677396e-02, 3.39223394e-01, 1.73067261e-01, 8.24894708e-02,
  4.57036372e-05,-9.77678999e-04,-1.89591978e-04,-2.46882496e-04,
 -2.42315595e-04,-1.91237892e-04, 4.47771089e-07,-1.64887340e-04,
 -3.44632412e-03,-3.94760376e-04,-9.80976293e+00,-6.53280280e-02,
 -1.04682383e-02,-5.15853301e-03]


--- Step 2490 ---
qpos:
[ 0.00248527, 0.25857322,-0.08276374, 0.67900722,-0.03001456, 0.08238581,
 -0.20411212, 0.50908458, 0.0149149 , 1.09162484,-0.02247568, 0.94211807,
  0.92278857, 0.00169873, 1.20227886, 0.04585515, 0.08428451,-0.06879747,
  0.14320061, 0.95067309,-0.04175532, 0.02162328, 0.30660986]

qacc:
[-7.16082555e+00, 2.49589803e+00,-3.89845963e+00, 4.48166909e+01,
  1.10781480e+01,-3.54506262e+00,-8.92704319e+01, 2.44876931e+02,
  3.28613341e-03,-2.09194323e+01, 7.16467342e+01,-1.41520094e+02,
 -1.77567700e-01,-1.21923207e+00, 9.27596453e+00,-3.22389078e+01,
  1.83111638e+00, 1.41504381e+00,-1.94682090e-01, 6.71127223e+00,
 -2.50045501e+00, 5.79523692e+01]

qfrc_actuator:
[-0.01144261, 0.12095766, 0.06190738, 0.09324063, 0.0218899 , 0.36834283,
  0.18430938, 0.11943718,-0.00262681, 0.1074227 , 0.00976492, 0.01462805,
  0.03979009, 0.00241448, 0.        ,-0.00173773, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007724640218816029
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.677197  , -0.73474117,  0.03949229,  0.02676494,  0.02903926,
        0.99921988, -0.7353148 ,  0.67772571,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08971767, -0.03407465,  0.12699854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010324218729865827
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97060213, -0.24017828,  0.01568149, -0.24014694,  0.9707288 ,
        0.00387992, -0.01615435,  0.        , -0.99986951])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11802896, -0.08311797,  0.11428469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 14.74067391,   7.38795452,  12.75561035,   7.38795452,
        32.51046738, -10.29213203,  12.75561035, -10.29213203,
        20.70180013,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0007155751606383598
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.55151141e-13, -1.16363356e-13,  1.00000000e+00, -1.80539074e-26,
        1.00000000e+00,  1.16363356e-13, -1.00000000e+00,  0.00000000e+00,
       -1.55151141e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03970403, -0.06482263,  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:
[-1.47926568e-02, 1.00092479e-01, 5.24357502e-02, 1.82979303e-02,
  4.46664467e-02, 3.41433254e-01, 1.73504436e-01, 8.26551435e-02,
  2.16642596e-07,-9.37895551e-04,-2.41535214e-04,-4.04822075e-04,
 -2.32905456e-04,-1.88056222e-04,-2.53534315e-05,-1.63351717e-04,
 -2.67575441e-03,-6.23628501e-04,-9.80948845e+00,-6.55200159e-02,
 -1.03926019e-02,-5.10806673e-03]


--- Step 2491 ---
qpos:
[ 0.00253128, 0.25881959,-0.08262593, 0.68048013,-0.03046306, 0.08281589,
 -0.20391701, 0.50981878, 0.01491788, 1.0931366 ,-0.02248308, 0.94236572,
  0.92364957, 0.00177494, 1.20244826, 0.0458541 , 0.08417873,-0.0688284 ,
  0.14327239, 0.95077452,-0.04185184, 0.0210804 , 0.30631986]

qacc:
[-1.39587894e+00,-1.59172921e+00, 1.33488287e+01, 2.35525800e+01,
  4.27353337e+01, 8.67814811e-01,-9.28691448e+01, 2.31211135e+02,
 -2.02798170e-01,-1.59172219e+01, 4.96262871e+01,-9.46936938e+01,
 -6.16438282e-01,-5.03136722e-01, 5.46538571e+00,-1.93528508e+01,
  1.69662720e+00, 1.42624527e+00,-3.48699195e-01, 7.76238008e+00,
 -1.72451898e+00, 5.65218907e+01]

qfrc_actuator:
[-0.01147375, 0.12087767, 0.06181054, 0.09297696, 0.0223055 , 0.3682453 ,
  0.1840451 , 0.11998128,-0.00267989, 0.10701191, 0.00970481, 0.01438282,
  0.03970021, 0.00235599, 0.        ,-0.00182784, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00074079576001262
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67806502, -0.73400871,  0.03819735,  0.0259192 ,  0.02805767,
        0.99927021, -0.73454477,  0.67856023,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08963893, -0.03407602,  0.12702961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010180638772405777
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70820325e-01, -2.39382869e-01,  1.42736885e-02, -2.39356999e-01,
        9.70925251e-01,  3.51919626e-03, -1.47011199e-02,  4.33680869e-19,
       -9.99891933e-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([ 0.11793408, -0.08311717,  0.11428256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 14.40209841,   7.38570343,  12.36413457,   7.38570343,
        38.1522807 , -14.18714766,  12.36413457, -14.18714766,
        22.87677689,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006938254682806733
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.00073704e-14, -1.20011056e-13,  1.00000000e+00,  9.60176898e-27,
        1.00000000e+00,  1.20011056e-13, -1.00000000e+00,  0.00000000e+00,
        8.00073704e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03967833, -0.0648152 ,  0.06198455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.46417077e-02, 9.95478037e-02, 5.20419400e-02, 1.78456494e-02,
  4.50111226e-02, 3.43323515e-01, 1.73951695e-01, 8.28069372e-02,
 -5.10483999e-05,-1.01167011e-03,-2.88326230e-04,-2.88120920e-04,
 -2.54863086e-04,-1.66162473e-04,-3.55655460e-05,-1.03694345e-04,
 -2.04865916e-03,-7.26106539e-04,-9.80922945e+00,-6.57127952e-02,
 -1.03244699e-02,-5.05795767e-03]


--- Step 2492 ---
qpos:
[ 0.00257935, 0.25907865,-0.08247867, 0.68195609,-0.03090213, 0.08321412,
 -0.20373629, 0.51055909, 0.01492034, 1.09464085,-0.02249087, 0.94260987,
  0.92450911, 0.00184936, 1.20261763, 0.04585059, 0.08407929,-0.06885367,
  0.14334228, 0.95084283,-0.04192932, 0.02054535, 0.30613351]

qacc:
[ 4.01863787e+00,-3.55802817e+00, 2.45551763e+01, 5.69201284e+00,
  7.19982420e+01, 4.29770376e+00,-9.51033761e+01, 2.17602905e+02,
 -2.35039644e-01,-1.48768683e+01, 4.38186407e+01,-7.41118514e+01,
 -1.21203176e-01,-1.43586170e+00, 7.36130471e+00,-2.58961772e+01,
  1.58425479e+00, 1.41725264e+00,-4.69698361e-01, 8.46967516e+00,
 -1.01091130e+00, 5.47064846e+01]

qfrc_actuator:
[-0.01152815, 0.12067145, 0.06171027, 0.09274234, 0.02271316, 0.36814255,
  0.18385261, 0.12056023,-0.00271265, 0.10669795, 0.0097078 , 0.01421054,
  0.03961538, 0.00225563, 0.        ,-0.00195137, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007147389858070728
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67871881, -0.73346691,  0.03697389,  0.02511205,  0.02713768,
        0.99931623, -0.73396877,  0.67918322,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08956242, -0.03407827,  0.12706224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001011196295631539
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70978897e-01, -2.38810768e-01,  1.30153103e-02, -2.38789317e-01,
        9.71066124e-01,  3.20080804e-03, -1.34031144e-02,  4.33680869e-19,
       -9.99910174e-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([ 0.11784715, -0.08311829,  0.11428182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 14.04886475,   7.4393335 ,  11.91750468,   7.4393335 ,
        45.71180451, -19.76514169,  11.91750468, -19.76514169,
        26.38697451,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006717255075302936
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.19797268e-14, -8.26396357e-14,  1.00000000e+00, -5.12198204e-27,
        1.00000000e+00,  8.26396357e-14, -1.00000000e+00,  0.00000000e+00,
       -6.19797268e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0396558 , -0.06480941,  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:
[-1.46611380e-02, 9.87948280e-02, 5.15359390e-02, 1.74350822e-02,
  4.51400585e-02, 3.44974859e-01, 1.74467630e-01, 8.30361984e-02,
 -5.91603749e-05,-9.61078667e-04,-2.41475804e-04,-2.16037461e-04,
 -2.56019837e-04,-2.07155123e-04,-3.32347539e-05,-1.34995137e-04,
 -1.56654332e-03,-7.14695998e-04,-9.80898449e+00,-6.59033896e-02,
 -1.02677986e-02,-5.00816099e-03]


--- Step 2493 ---
qpos:
[ 0.00263214, 0.2593545 ,-0.08232176, 0.68343439,-0.0313282 , 0.08358334,
 -0.20357024, 0.5113047 , 0.0149225 , 1.09613848,-0.02249848, 0.9428486 ,
  0.92536741, 0.00192124, 1.2027866 , 0.04584726, 0.08398578,-0.06887336,
  0.14340994, 0.95087945,-0.04198756, 0.0200194 , 0.30604664]

qacc:
[ 9.21243468e+00, 3.18675073e-02, 2.15704880e+01,-4.37013935e+00,
  9.89444513e+01, 7.27182787e+00,-9.72958551e+01, 2.05113325e+02,
 -1.31857958e-01,-1.85618062e+01, 6.12027010e+01,-1.12104745e+02,
  7.80715236e-01,-2.97208005e+00,-1.24039515e+00, 3.21188984e+00,
  1.48348990e+00, 1.39280049e+00,-5.59117084e-01, 8.84743731e+00,
 -3.84229870e-01, 5.25397915e+01]

qfrc_actuator:
[-0.01161676, 0.12040098, 0.06155003, 0.09259519, 0.02316323, 0.36797622,
  0.18365571, 0.12140669,-0.00271523, 0.10646272, 0.00974845, 0.01394061,
  0.03953894, 0.00211346, 0.        ,-0.00193385, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006942037824757588
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67916565, -0.73311037,  0.035822  ,  0.02434469,  0.02627834,
        0.99935819, -0.73358119,  0.67960182,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08948774, -0.03408126,  0.12709658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010114528131909167
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71080657e-01, -2.38454775e-01,  1.19028211e-02, -2.38436864e-01,
        9.71153603e-01,  2.92259073e-03, -1.22563733e-02,  4.33680869e-19,
       -9.99924888e-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([ 0.11776764, -0.08312122,  0.11428245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.68857913,   7.57767198,  11.39982833,   7.57767198,
        55.68948471, -27.91876126,  11.39982833, -27.91876126,
        32.24668448,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006496225022767782
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.40885488e-14, -8.54513984e-14,  1.00000000e+00, -5.47645611e-27,
        1.00000000e+00,  8.54513984e-14, -1.00000000e+00,  0.00000000e+00,
       -6.40885488e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03963589, -0.06480491,  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:
[-1.48535913e-02, 9.78771569e-02, 5.08969681e-02, 1.71324792e-02,
  4.51184506e-02, 3.46382536e-01, 1.74982537e-01, 8.35746124e-02,
 -3.34955139e-05,-8.42832914e-04,-1.86396193e-04,-3.09134384e-04,
 -2.57984215e-04,-2.60580023e-04,-3.56332122e-05, 4.61824837e-06,
 -1.22695234e-03,-6.02455579e-04,-9.80875382e+00,-6.60889004e-02,
 -1.02252751e-02,-4.95864104e-03]


--- Step 2494 ---
qpos:
[ 0.00269216, 0.25964899,-0.08215511, 0.68491439,-0.03173801, 0.08392577,
 -0.2034192 , 0.51205482, 0.01492465, 1.09762952,-0.02250596, 0.94308088,
  0.9262241 , 0.00199136, 1.20295512, 0.04584611, 0.08389785,-0.06888764,
  0.1434751 , 0.95088589,-0.04202681, 0.01950351, 0.30605455]

qacc:
[ 1.40183539e+01, 1.10477267e+00, 2.30154142e+01,-1.59645815e+01,
  1.23472755e+02, 9.75506642e+00,-9.90045784e+01, 1.93262910e+02,
 -2.44138321e-03,-2.01644216e+01, 6.85703097e+01,-1.30338679e+02,
  9.39965577e-02,-1.73328752e+00,-7.34077617e+00, 2.45866415e+01,
  1.39381559e+00, 1.35471001e+00,-6.24727645e-01, 8.98951043e+00,
  1.93042603e-01, 5.00777309e+01]

qfrc_actuator:
[-0.01172939, 0.12017153, 0.06140309, 0.09244675, 0.02361366, 0.36781715,
  0.18347995, 0.12234099,-0.0026997 , 0.10615257, 0.00975802, 0.0136154 ,
  0.03946224, 0.00203644, 0.        ,-0.00181559, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006792255357418559
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67941234, -0.73293368,  0.03474321,  0.02361922,  0.02547985,
        0.99939627, -0.73337644,  0.67982277,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08941439, -0.03408481,  0.12713283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010184037116907543
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71128519e-01, -2.38306348e-01,  1.09308792e-02, -2.38291254e-01,
        9.71190035e-01,  2.68217116e-03, -1.12551394e-02,  4.33680869e-19,
       -9.99936659e-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([ 0.11769509, -0.08312587,  0.11428441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 13.3280034 ,   7.83990476,  10.77829151,   7.83990476,
        68.40099054, -40.05894378,  10.77829151, -40.05894378,
        42.46604475,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006277946377160754
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76844936e-13, -8.84224679e-14,  1.00000000e+00, -1.56370657e-26,
        1.00000000e+00,  8.84224679e-14, -1.00000000e+00,  0.00000000e+00,
       -1.76844936e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03961817, -0.06480139,  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:
[-1.52041533e-02, 9.67948310e-02, 5.02604792e-02, 1.68639282e-02,
  4.49187172e-02, 3.47657299e-01, 1.75532152e-01, 8.42414641e-02,
 -1.19054728e-06,-8.44213048e-04,-1.90773006e-04,-3.61418580e-04,
 -2.71567326e-04,-2.10835011e-04,-1.99872988e-05, 1.13087822e-04,
 -1.02267659e-03,-4.03859595e-04,-9.80853767e+00,-6.62668233e-02,
 -1.01982659e-02,-4.90935286e-03]


--- Step 2495 ---
qpos:
[ 0.00276162, 0.25996054,-0.08197829, 0.68639558,-0.03212862, 0.08424326,
 -0.20328341, 0.51280873, 0.01492689, 1.09911252,-0.02251305, 0.94330795,
  0.92707897, 0.00206065, 1.203124  , 0.04584233, 0.0838152 ,-0.0688967 ,
  0.14353755, 0.95086381,-0.04204755, 0.01899866, 0.30615202]

qacc:
[ 1.83042198e+01,-2.87237715e+00, 3.51031559e+01,-3.24676714e+01,
  1.45388769e+02, 1.15650451e+01,-9.92477373e+01, 1.80887152e+02,
  4.12128757e-02,-2.06542424e+01, 6.53074392e+01,-1.12250354e+02,
 -1.08638991e+00, 2.58475814e-01, 8.56168764e+00,-2.90180405e+01,
  1.32086250e+00, 1.30377185e+00,-6.76887849e-01, 9.01466710e+00,
  8.11996420e-01, 4.73576584e+01]

qfrc_actuator:
[-0.0118253 , 0.1199049 , 0.06124242, 0.09211973, 0.02402032, 0.36777833,
  0.18337634, 0.12302488,-0.00269125, 0.1056758 , 0.00974893, 0.01334898,
  0.0393908 , 0.00201649, 0.        ,-0.00195852, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006696764429981928
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67946766, -0.73292941,  0.033737  ,  0.02293626,  0.02474093,
        0.99943075, -0.73334687,  0.67985467,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08934207, -0.03408876,  0.12717108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010315826037456482
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71125447e-01, -2.38355819e-01,  1.00930558e-02, -2.38342947e-01,
        9.71177895e-01,  2.47713483e-03, -1.03925922e-02,  4.33680869e-19,
       -9.99945996e-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([ 0.1176291 , -0.08313211,  0.11428764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 12.97291156,   8.30316642,   9.96764073,   8.30316642,
        83.50117663, -58.75090586,   9.96764073, -58.75090586,
        61.91313341,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006064645457440343
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.14415491e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.14415491e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0396023 , -0.06479863,  0.06198652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56625003e-02, 9.55826155e-02, 4.96057749e-02, 1.64495177e-02,
  4.45120490e-02, 3.48941975e-01, 1.76171539e-01, 8.46967817e-02,
  9.64728006e-06,-1.01385132e-03,-2.11708621e-04,-3.04014678e-04,
 -2.61045074e-04,-1.43364692e-04,-1.55484380e-06,-1.40220810e-04,
 -9.41582737e-04,-1.34112868e-04,-9.80833712e+00,-6.64351746e-02,
 -1.01869119e-02,-4.86028444e-03]


--- Step 2496 ---
qpos:
[ 0.00284268, 0.26029442,-0.08179353, 0.68787683,-0.03249759, 0.08453779,
 -0.20316315, 0.51356571, 0.01492923, 1.10058831,-0.0225203 , 0.9435304 ,
  0.92793217, 0.00212883, 1.2032932 , 0.0458342 , 0.08373756,-0.06890083,
  0.14359716, 0.95081521,-0.04205067, 0.01850566, 0.30633269]

qacc:
[ 2.23857384e+01, 7.94269233e+00, 1.11359923e+01,-2.93825470e+01,
  1.63680289e+02, 1.37148871e+01,-1.00465686e+02, 1.69802095e+02,
  4.73093596e-02,-1.70447057e+01, 5.36692925e+01,-9.58882613e+01,
 -8.92742225e-01,-1.02395527e-01, 1.36822367e+01,-4.70810503e+01,
  1.25005099e+00, 1.23165752e+00,-7.08629388e-01, 8.84338186e+00,
  1.43797857e+00, 4.40334979e+01]

qfrc_actuator:
[-0.0118808 , 0.11966331, 0.06105144, 0.0922002 , 0.0243913 , 0.36792706,
  0.18326901, 0.12389474,-0.00268712, 0.10538721, 0.00976383, 0.01311918,
  0.0393066 , 0.00195955, 0.        ,-0.00218321, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006652125332728089
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67934275, -0.73308769,  0.03280047,  0.02229476,  0.02405857,
        0.99946192, -0.73348236,  0.67970848,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08927072, -0.03409299,  0.12721124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010505291506918229
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97107444, -0.23859252,  0.00938304, -0.23858138,  0.97111977,
        0.0023053 , -0.00966209,  0.        , -0.99995332])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1175693 , -0.08313981,  0.11429208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005858135360280459
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47590792e-14,  4.73795396e-14,  1.00000000e+00,  4.48964154e-27,
        1.00000000e+00, -4.73795396e-14, -1.00000000e+00,  0.00000000e+00,
       -9.47590792e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.039588  , -0.06479646,  0.06198699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61917158e-02, 9.44727514e-02, 4.88991904e-02, 1.64668232e-02,
  4.39232556e-02, 3.50323737e-01, 1.76820081e-01, 8.53751666e-02,
  1.13044476e-05,-9.21674975e-04,-2.21519645e-04,-2.71744901e-04,
 -2.52760326e-04,-1.58939398e-04,-2.38899809e-05,-2.34307419e-04,
 -9.67511286e-04, 1.90959260e-04,-9.80815492e+00,-6.65922735e-02,
 -1.01905620e-02,-4.81148294e-03]


--- Step 2497 ---
qpos:
[ 0.00293728, 0.2606535 ,-0.08160336, 0.68935702,-0.03284283, 0.08481107,
 -0.20305872, 0.51432512, 0.01493165, 1.10206074,-0.02252893, 0.94374915,
  0.92878363, 0.00219609, 1.20346156, 0.04582911, 0.08366463,-0.06890037,
  0.14365389, 0.95074221,-0.04203732, 0.01802512, 0.30658963]

qacc:
[ 2.60845063e+01, 1.66154768e+01,-9.81492105e+00,-2.64103942e+01,
  1.78976398e+02, 1.56326602e+01,-1.01624174e+02, 1.59768715e+02,
  3.88547567e-02,-7.09329733e+00, 2.53978674e+01,-6.29052385e+01,
 -5.01903869e-01,-5.01059678e-01,-1.04121844e+01, 3.46711274e+01,
  1.17979122e+00, 1.14793034e+00,-7.23630520e-01, 8.52230954e+00,
  2.01995151e+00, 4.04083319e+01]

qfrc_actuator:
[-0.01190021, 0.11951343, 0.06085818, 0.09249032, 0.02473073, 0.36803653,
  0.18314807, 0.12491089,-0.00268564, 0.10549794, 0.00979352, 0.01294835,
  0.03922013, 0.00191653, 0.        ,-0.00201036, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006658961183012368
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67904662, -0.73340016,  0.03193576,  0.02169693,  0.02343364,
        0.99948992, -0.73377444,  0.67939316,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08919984, -0.0340973 ,  0.1272535 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010747637533572122
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70978898e-01, -2.39003448e-01,  8.79383683e-03, -2.38993647e-01,
        9.71018719e-01,  2.16448693e-03, -9.05630001e-03,  4.33680869e-19,
       -9.99958991e-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([ 0.11751532, -0.08314884,  0.11429764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005659730641842942
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.80809066e-14, -4.90404533e-14,  1.00000000e+00,  4.80993212e-27,
        1.00000000e+00,  4.90404533e-14, -1.00000000e+00,  0.00000000e+00,
        9.80809066e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03957507, -0.06479474,  0.06198743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67924141e-02, 9.31913306e-02, 4.83009887e-02, 1.67514654e-02,
  4.31799793e-02, 3.51567036e-01, 1.77469254e-01, 8.62351683e-02,
  9.57192897e-06,-4.72129431e-04,-1.88820251e-04,-2.09557227e-04,
 -2.55012632e-04,-1.47121178e-04,-4.36924428e-05, 1.55336096e-04,
 -1.08147393e-03, 5.51738445e-04,-9.80799486e+00,-6.67355880e-02,
 -1.02083951e-02,-4.76295225e-03]


--- Step 2498 ---
qpos:
[ 0.003047  , 0.26103166,-0.08140819, 0.69083575,-0.03316257, 0.08506423,
 -0.20297026, 0.51508635, 0.0149343 , 1.10353351,-0.02253945, 0.94396352,
  0.92963356, 0.00226203, 1.20362961, 0.04582638, 0.08359619,-0.06889566,
  0.14370766, 0.95064691,-0.04200864, 0.01755771, 0.30691604]

qacc:
[ 2.90380246e+01, 9.01346587e+00, 6.41203891e+00,-4.19004018e+01,
  1.92092877e+02, 1.65022888e+01,-1.00426988e+02, 1.48764139e+02,
  9.82258349e-02,-2.01603301e+00, 1.60653761e+01,-6.48798743e+01,
 -1.32618096e-01,-1.14891783e+00,-7.64479666e+00, 2.59962060e+01,
  1.12345857e+00, 1.06337488e+00,-7.36104288e-01, 8.20334664e+00,
  2.63724070e+00, 3.68572246e+01]

qfrc_actuator:
[-0.01192233, 0.11935351, 0.0606274 , 0.09233924, 0.02502275, 0.36804115,
  0.18306099, 0.12555266,-0.00266802, 0.10579404, 0.00979785, 0.01274283,
  0.03914302, 0.00184661, 0.        ,-0.00188869, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006715894888722688
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6785907 , -0.73385612,  0.03114247,  0.02114325,  0.02286518,
        0.99951496, -0.73421225,  0.67892001,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0891291 , -0.03410151,  0.1272979 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011037612482953816
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97084239, -0.23957438,  0.00831728, -0.23956559,  0.97087801,
        0.00205238, -0.00856676,  0.        , -0.9999633 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11746677, -0.08315902,  0.11430425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005470354314359716
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.07381680e-14, -5.07381680e-14,  1.00000000e+00,  2.57436169e-27,
        1.00000000e+00,  5.07381680e-14, -1.00000000e+00,  0.00000000e+00,
        5.07381680e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03956333, -0.06479337,  0.06198786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74938669e-02, 9.17542519e-02, 4.77915628e-02, 1.66499307e-02,
  4.22859019e-02, 3.52621213e-01, 1.78167662e-01, 8.67533584e-02,
  2.47740348e-05,-2.97087138e-05,-1.20683878e-04,-2.28442635e-04,
 -2.43242282e-04,-1.71566126e-04,-6.52304306e-06, 1.23995180e-04,
 -1.26243688e-03, 9.29831780e-04,-9.80785871e+00,-6.68637092e-02,
 -1.02386858e-02,-4.71471704e-03]


--- Step 2499 ---
qpos:
[ 0.00317307, 0.26142248,-0.08120828, 0.69231265,-0.03345536, 0.0852985 ,
 -0.20289773, 0.51584883, 0.01493716, 1.10500707,-0.02255021, 0.94417366,
  0.93048216, 0.00232632, 1.20379774, 0.04582377, 0.08353209,-0.06888706,
  0.14375845, 0.95053139,-0.04196572, 0.0171043 , 0.30730506]

qacc:
[ 3.13846637e+01, 7.81400172e-01, 2.41451418e+01,-5.78704177e+01,
  2.02698853e+02, 1.71096124e+01,-9.81642142e+01, 1.36767851e+02,
  9.95078104e-02,-5.62711824e+00, 2.82492253e+01,-7.41153487e+01,
  7.87655800e-02,-1.56189601e+00,-2.77197344e-01, 1.05142257e+00,
  1.08305023e+00, 9.73252408e-01,-7.48775779e-01, 7.94083844e+00,
  3.33230553e+00, 3.32825995e+01]

qfrc_actuator:
[-0.01198855, 0.11916586, 0.06042562, 0.09199528, 0.02531055, 0.36818551,
  0.18296519, 0.1257209 ,-0.00265864, 0.10593272, 0.00982355, 0.01253638,
  0.03907689, 0.00176133, 0.        ,-0.00188702, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006815863884662916
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6779911 , -0.73444067,  0.03041352,  0.02062964,  0.02234727,
        0.9995374 , -0.73478057,  0.67830488,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08905887, -0.03410552,  0.1273441 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011370012440526248
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70668302e-01, -2.40291316e-01,  7.94549650e-03, -2.40283266e-01,
        9.70700821e-01,  1.96686123e-03, -8.18531965e-03, -2.16840434e-19,
       -9.99966500e-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([ 0.11742335, -0.08317021,  0.1143118 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000529075922976005
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31151194e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.31151194e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03955264, -0.06479225,  0.06198826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.83175193e-02, 9.05957959e-02, 4.73312605e-02, 1.63762680e-02,
  4.12985398e-02, 3.53760021e-01, 1.78864585e-01, 8.68279270e-02,
  2.50208014e-05, 7.04089351e-05,-5.60621286e-06,-2.14598519e-04,
 -2.31463115e-04,-1.91126612e-04, 5.29804996e-06, 6.58684775e-06,
 -1.49042350e-03, 1.31092669e-03,-9.80774783e+00,-6.69763580e-02,
 -1.02793667e-02,-4.66688277e-03]


--- Step 2500 ---
qpos:
[ 0.00331652, 0.26182161,-0.08100441, 0.69378722,-0.03372008, 0.08551515,
 -0.20284099, 0.51661199, 0.01494005, 1.10648038,-0.02256068, 0.94438082,
  0.93132924, 0.00238933, 1.20396579, 0.04582188, 0.0834722 ,-0.06887494,
  0.14380619, 0.95039777,-0.04190965, 0.01666585, 0.30774974]

qacc:
[ 3.32443200e+01,-3.62856454e+00, 3.29396848e+01,-6.88928453e+01,
  2.10845777e+02, 1.75293207e+01,-9.52447342e+01, 1.24295119e+02,
  9.85943918e-03,-6.27365766e+00, 2.61937263e+01,-5.72162766e+01,
 -2.87640658e-01,-9.16523060e-01,-2.29487590e+00, 7.83474683e+00,
  1.05282118e+00, 8.79032905e-01,-7.58879270e-01, 7.69589164e+00,
  4.07443613e+00, 2.96650647e+01]

qfrc_actuator:
[-0.01205303, 0.11896035, 0.06022174, 0.0915543 , 0.02560193, 0.36842055,
  0.1828705 , 0.12562262,-0.00267204, 0.10588761, 0.00982567, 0.01238426,
  0.0390014 , 0.00170319, 0.        ,-0.00184954, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006952043022927583
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.77263716e-01, -7.35138928e-01,  2.97424769e-02,  2.01524160e-02,
        2.18745300e-02,  9.99557595e-01, -7.35464301e-01,  6.77563474e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08898949, -0.03410926,  0.12739174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011740350379924659
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70459970e-01, -2.41140174e-01,  7.67222347e-03, -2.41132638e-01,
        9.70490297e-01,  1.90633673e-03, -7.90551280e-03, -2.16840434e-19,
       -9.99968751e-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([ 0.11738475, -0.08318225,  0.11432023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005121532891120967
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.41938834e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.41938834e-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([ 0.0395429 , -0.06479134,  0.06198864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92020917e-02, 8.97390913e-02, 4.68819038e-02, 1.60236166e-02,
  4.02422236e-02, 3.54928551e-01, 1.79561120e-01, 8.66652056e-02,
  2.38260847e-06,-3.50143914e-05, 3.92509046e-06,-1.53595543e-04,
 -2.39477348e-04,-1.66541146e-04,-3.25081635e-06, 3.71485784e-05,
 -1.74626221e-03, 1.68094419e-03,-9.80766455e+00,-6.70729533e-02,
 -1.03287017e-02,-4.61958146e-03]


--- Step 2501 ---
qpos:
[ 0.00347809, 0.26222589,-0.08079772, 0.6952589 ,-0.0339559 , 0.08571545,
 -0.20279984, 0.51737527, 0.01494289, 1.10795275,-0.02257069, 0.94458325,
  0.9321747 , 0.00245161, 1.20413388, 0.04581977, 0.08341642,-0.06885968,
  0.14385088, 0.9502482 ,-0.04184155, 0.01624332, 0.30824308]

qacc:
[ 3.45900845e+01,-5.66261784e+00, 3.60325363e+01,-7.65306784e+01,
  2.16619967e+02, 1.78793882e+01,-9.21424253e+01, 1.11902215e+02,
 -2.31484151e-02,-1.06759943e+01, 4.29855829e+01,-9.16176919e+01,
 -8.16482086e-01, 4.40452143e-02, 7.51033521e-01,-2.44490472e+00,
  1.02704230e+00, 7.82636599e-01,-7.64034263e-01, 7.42683180e+00,
  4.82708637e+00, 2.60031360e+01]

qfrc_actuator:
[-0.01212401, 0.11881444, 0.06001549, 0.09102082, 0.02588356, 0.36871626,
  0.1827827 , 0.12545326,-0.00268125, 0.10580393, 0.00983095, 0.0121409 ,
  0.03893103, 0.00167937, 0.        ,-0.00186223, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007119228634370387
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.76423143e-01, -7.35937131e-01,  2.91250946e-02,  1.97092492e-02,
        2.14433354e-02,  9.99575774e-01, -7.36249467e-01,  6.76710221e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0889212 , -0.03411263,  0.12744058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012144529029771702
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97022071, -0.24210668,  0.00749204, -0.24209946,  0.97024964,
        0.00186949, -0.00772176,  0.        , -0.99997019])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11735065, -0.08319497,  0.11432948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004963076217397722
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.38862061e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.38862061e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03953402, -0.06479058,  0.06198899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01437239e-02, 8.91594141e-02, 4.64692287e-02, 1.56032684e-02,
  3.91199078e-02, 3.56095050e-01, 1.80257830e-01, 8.64598779e-02,
 -6.03451038e-06,-1.28109689e-04,-1.06147357e-05,-2.46274982e-04,
 -2.32745768e-04,-1.27254214e-04,-3.47403190e-06,-1.23352105e-05,
 -2.01260593e-03, 2.02703497e-03,-9.80761039e+00,-6.71529895e-02,
 -1.03850230e-02,-4.57294036e-03]


--- Step 2502 ---
qpos:
[ 0.00365819, 0.26263298,-0.08058967, 0.69672705,-0.0341624 , 0.08590057,
 -0.20277401, 0.51813817, 0.01494581, 1.1094241 ,-0.02258079, 0.94477988,
  0.93301844, 0.00251337, 1.2043021 , 0.04581618, 0.08336465,-0.06884171,
  0.14389251, 0.95008492,-0.04176259, 0.01583771, 0.30877775]

qacc:
[ 3.52692976e+01,-5.90807062e+00, 3.46652837e+01,-8.13727146e+01,
  2.19696773e+02, 1.78873624e+01,-8.82017641e+01, 9.93014334e+01,
  3.87057033e-02,-1.11171631e+01, 4.65474552e+01,-1.07166206e+02,
 -1.11616368e+00, 5.35722128e-01, 4.73870663e+00,-1.61348125e+01,
  1.00562907e+00, 6.80892307e-01,-7.65200381e-01, 7.14360400e+00,
  5.61470453e+00, 2.22004430e+01]

qfrc_actuator:
[-0.01227761, 0.11879286, 0.05980738, 0.09039784, 0.02609402, 0.36892989,
  0.18268743, 0.12515277,-0.00267013, 0.10575119, 0.00982009, 0.01184574,
  0.0388478 , 0.00165836, 0.        ,-0.00193989, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007313165458573553
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67548326, -0.73682209,  0.02855839,  0.01929859,  0.02105104,
        0.99959213, -0.73712274,  0.67575888,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08885414, -0.03411554,  0.12749041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012578608603199693
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96995387, -0.24317635,  0.00739979, -0.24316927,  0.9699821 ,
        0.00185514, -0.00762879,  0.        , -0.9999709 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11732074, -0.08320823,  0.11433949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004815605099451614
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30546941e-13, -5.76367352e-14,  1.00000000e+00, -1.32879730e-26,
        1.00000000e+00,  5.76367352e-14, -1.00000000e+00,  0.00000000e+00,
       -2.30546941e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03952593, -0.06478994,  0.06198933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12054968e-02, 8.88615797e-02, 4.61113759e-02, 1.51220008e-02,
  3.78859870e-02, 3.57116508e-01, 1.80938187e-01, 8.61509606e-02,
  9.59905756e-06,-1.54225625e-04,-4.93171875e-05,-3.03429544e-04,
 -2.32929422e-04,-1.11858391e-04,-9.52771278e-06,-8.01768904e-05,
 -2.27398009e-03, 2.33804923e-03,-9.80758583e+00,-6.72161981e-02,
 -1.04466217e-02,-4.52707950e-03]


--- Step 2503 ---
qpos:
[ 0.00385696, 0.26304025,-0.08038179, 0.69819108,-0.03433943, 0.08607135,
 -0.20276314, 0.51890021, 0.01494868, 1.11089453,-0.02259114, 0.94497251,
  0.93386061, 0.002574  , 1.20446987, 0.04581469, 0.08331684,-0.06882142,
  0.1439311 , 0.94991018,-0.04167395, 0.01545   , 0.30934646]

qacc:
[ 3.54439176e+01,-6.19285439e+00, 3.28833658e+01,-8.52052325e+01,
  2.20431605e+02, 1.73877871e+01,-8.32355673e+01, 8.66584986e+01,
 -1.97714830e-02,-7.47455093e+00, 3.10770986e+01,-7.27785426e+01,
 -3.03520398e-01,-8.39005840e-01,-7.01363137e+00, 2.35670591e+01,
  9.86194233e-01, 5.77180670e-01,-7.61183029e-01, 6.85106919e+00,
  6.38722044e+00, 1.83840385e+01]

qfrc_actuator:
[-0.01247067, 0.11875742, 0.05961622, 0.08982946, 0.0262853 , 0.36902864,
  0.18262912, 0.12480957,-0.00268242, 0.1057352 , 0.00981767, 0.01164673,
  0.0387516 , 0.00158585, 0.        ,-0.00182438, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007530250726710405
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.74457801e-01, -7.37780736e-01,  2.80403314e-02,  1.89194596e-02,
        2.06957541e-02,  9.99606793e-01, -7.38070951e-01,  6.74723107e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08878842, -0.03411788,  0.12754105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013038548700202498
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96966295, -0.24433408,  0.00739021, -0.24432699,  0.96969111,
        0.00186212, -0.0076212 ,  0.        , -0.99997096])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1172947 , -0.08322187,  0.11435019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046791591706712987
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77952328e-13, -1.18634885e-13,  1.00000000e+00,  2.11113541e-26,
        1.00000000e+00,  1.18634885e-13, -1.00000000e+00,  0.00000000e+00,
        1.77952328e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03951855, -0.0647894 ,  0.06198963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23270730e-02, 8.86671705e-02, 4.58428283e-02, 1.47267459e-02,
  3.66104691e-02, 3.57966016e-01, 1.81641576e-01, 8.58251202e-02,
 -5.11900382e-06,-1.41137612e-04,-5.20546628e-05,-2.10514600e-04,
 -2.42622866e-04,-1.58999958e-04,-2.00046074e-05, 1.08400221e-04,
 -2.51502379e-03, 2.60288898e-03,-9.80759180e+00,-6.72621784e-02,
 -1.05118895e-02,-4.48212763e-03]


--- Step 2504 ---
qpos:
[ 0.00407438, 0.2634476 ,-0.08017662, 0.69965019,-0.03448719, 0.08622845,
 -0.2027668 , 0.51966097, 0.01495131, 1.11236225,-0.02259965, 0.94516098,
  0.93470143, 0.00263281, 1.2046372 , 0.04581689, 0.08327288,-0.06879927,
  0.14396669, 0.9497263 ,-0.04157684, 0.01508105, 0.30994174]

qacc:
[ 3.52899955e+01,-9.03159454e-01, 1.72983659e+01,-8.08061506e+01,
  2.18680266e+02, 1.66185365e+01,-7.78449473e+01, 7.45191761e+01,
 -1.06189666e-01,-1.57005602e+01, 5.54238471e+01,-9.46428804e+01,
  4.48213158e-01,-2.12522278e+00,-1.19161407e+01, 4.05473115e+01,
  9.64529129e-01, 4.69035802e-01,-7.49371260e-01, 6.53113756e+00,
  7.11235520e+00, 1.44931264e+01]

qfrc_actuator:
[-0.01267723, 0.11864415, 0.05945398, 0.08963316, 0.02648871, 0.36904593,
  0.1826165 , 0.12456564,-0.00270868, 0.1055463 , 0.00989152, 0.01143492,
  0.03867431, 0.00148327, 0.        ,-0.00163147, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007766725782070891
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67336077, -0.73879987,  0.02756867,  0.01857072,  0.02037548,
        0.99961991, -0.73908078,  0.6736168 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08872416, -0.03411958,  0.12759231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013520057556776332
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69351529e-01, -2.45564649e-01,  7.45757128e-03, -2.45557383e-01,
        9.69380216e-01,  1.88916160e-03, -7.69313336e-03, -2.16840434e-19,
       -9.99970407e-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([ 0.11727225, -0.08323573,  0.11436154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004553593756466551
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04765610e-14, -6.09531221e-14,  1.00000000e+00,  1.85764155e-27,
        1.00000000e+00,  6.09531221e-14, -1.00000000e+00,  0.00000000e+00,
        3.04765610e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03951184, -0.06478892,  0.06198991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34692546e-02, 8.85259063e-02, 4.56805783e-02, 1.47335289e-02,
  3.53404203e-02, 3.58692348e-01, 1.82372792e-01, 8.56220569e-02,
 -2.72872581e-05,-3.04453035e-04, 2.92235315e-05,-2.20848915e-04,
 -2.39551219e-04,-2.04605776e-04,-2.10606992e-06, 1.95347457e-04,
 -2.72385693e-03, 2.81412763e-03,-9.80762736e+00,-6.72912221e-02,
 -1.05792429e-02,-4.43822319e-03]


--- Step 2505 ---
qpos:
[ 0.00431017, 0.26385937,-0.07997836, 0.70110317,-0.0346063 , 0.08637295,
 -0.20278448, 0.52042009, 0.014954  , 1.11382826,-0.02260812, 0.94534515,
  0.93554076, 0.00269016, 1.20480473, 0.04581937, 0.08323269,-0.0687757 ,
  0.14399935, 0.94953577,-0.04147252, 0.01473165, 0.31055569]

qacc:
[ 3.46307501e+01, 1.39136507e+01,-2.15007047e+01,-6.34673348e+01,
  2.13833931e+02, 1.61559584e+01,-7.29360292e+01, 6.29965282e+01,
  2.21689613e-02,-9.82898648e+00, 3.81519846e+01,-8.20737411e+01,
 -1.85048926e-01,-1.14997585e+00,-5.41565637e-01, 2.26293205e+00,
  9.40635421e-01, 3.51830613e-01,-7.31820746e-01, 6.17605233e+00,
  7.83351613e+00, 1.03579622e+01]

qfrc_actuator:
[-0.01293482, 0.11873275, 0.0592407 , 0.08976906, 0.02663454, 0.3692147 ,
  0.18265463, 0.12439978,-0.00268983, 0.10550434, 0.00990263, 0.01121718,
  0.03860306, 0.00141705, 0.        ,-0.00162534, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008020279828324205
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67220512, -0.73986725,  0.02714276,  0.01825223,  0.02008944,
        0.99963157, -0.74013994,  0.67245288,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08866132, -0.03412053,  0.12764408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014018532244253286
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96902332, -0.24685244,  0.00759534, -0.24684485,  0.96905308,
        0.0019348 , -0.0078379 ,  0.        , -0.99996928])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1172531 , -0.08324967,  0.11437344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044385478129493894
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.12665052e-14, -6.25330103e-14,  1.00000000e+00, -1.95518869e-27,
        1.00000000e+00,  6.25330103e-14, -1.00000000e+00,  0.00000000e+00,
       -3.12665052e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03950573, -0.0647885 ,  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:
[-2.46613174e-02, 8.85915970e-02, 4.55941286e-02, 1.51126974e-02,
  3.40229000e-02, 3.59537232e-01, 1.83134289e-01, 8.55180031e-02,
  5.41875549e-06,-2.32153519e-04,-5.64660532e-05,-2.29498181e-04,
 -2.42193942e-04,-1.80409367e-04, 1.56742711e-05, 1.56554625e-05,
 -2.88989568e-03, 2.96558120e-03,-9.80769084e+00,-6.73038258e-02,
 -1.06471391e-02,-4.39549390e-03]


--- Step 2506 ---
qpos:
[ 0.00456369, 0.26427352,-0.07978979, 0.70254931,-0.03469766, 0.08650623,
 -0.20281566, 0.52117718, 0.01495681, 1.11529328,-0.02261749, 0.94552736,
  0.93637855, 0.00274623, 1.20497239, 0.04582125, 0.08319615,-0.06875118,
  0.14402916, 0.94934099,-0.04136223, 0.0144025 , 0.3111807 ]

qacc:
[ 3.33166375e+01, 1.75064333e+01,-3.49419291e+01,-5.81999099e+01,
  2.06949367e+02, 1.60767909e+01,-6.88062419e+01, 5.21181581e+01,
  5.93367719e-02,-2.24140003e+00, 9.74000189e+00,-3.04958817e+01,
 -4.10455351e-01,-7.87517395e-01, 2.00314616e+00,-6.69960162e+00,
  9.15143306e-01, 2.38377572e-01,-7.11615576e-01, 5.80561041e+00,
  8.48794465e+00, 6.36923633e+00]

qfrc_actuator:
[-0.01323022, 0.11895585, 0.05901981, 0.08984117, 0.02673475, 0.36958527,
  0.18272849, 0.12429941,-0.00267963, 0.10551514, 0.00987715, 0.01112198,
  0.03852484, 0.00135524, 0.        ,-0.00165832, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008291222833036099
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.71002226e-01, -7.40972094e-01,  2.67650567e-02,  1.79658488e-02,
        1.98392675e-02,  9.99641752e-01, -7.41237641e-01,  6.71242698e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08859954, -0.0341206 ,  0.12769644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014529503920669776
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68682337e-01, -2.48180856e-01,  7.79702528e-03, -2.48172816e-01,
        9.68713716e-01,  1.99756891e-03, -8.04884369e-03, -2.16840434e-19,
       -9.99967608e-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([ 0.11723691, -0.08326353,  0.11438584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043335031178723393
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.40488188e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.40488188e-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([ 0.03950016, -0.06478813,  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:
[-2.58772829e-02, 8.85747640e-02, 4.57096237e-02, 1.54881498e-02,
  3.26906786e-02, 3.60531486e-01, 1.83906238e-01, 8.54984496e-02,
  1.50273943e-05,-1.56341064e-04,-8.89064859e-05,-1.07527284e-04,
 -2.45022076e-04,-1.69778133e-04, 1.77093776e-06,-3.16502631e-05,
 -3.00156084e-03, 3.05013484e-03,-9.80778150e+00,-6.73002042e-02,
 -1.07140799e-02,-4.35406127e-03]


--- Step 2507 ---
qpos:
[ 0.00483396, 0.26468278,-0.079612  , 0.70398843,-0.03476172, 0.08661884,
 -0.20286369, 0.5219314 , 0.0149596 , 1.11675666,-0.02262725, 0.94570673,
  0.93721496, 0.00280077, 1.20514   , 0.04582306, 0.08316317,-0.06872612,
  0.14405621, 0.94914423,-0.0412472 , 0.01409414, 0.31180965]

qacc:
[ 3.14264864e+01, 1.06310700e+01,-2.37522928e+01,-6.50321323e+01,
  2.03478797e+02, 1.14247496e+01,-6.67723792e+01, 4.76493695e+01,
 -9.91339792e-03,-6.00835234e+00, 2.28081774e+01,-5.17384194e+01,
 -5.81788699e-02,-1.32000369e+00, 1.01244498e-01,-5.54237080e-01,
  8.88137867e-01, 1.33436618e-01,-6.90424129e-01, 5.41923033e+00,
  9.06439474e+00, 2.64453716e+00]

qfrc_actuator:
[-0.0135195 , 0.11913564, 0.05881766, 0.08970064, 0.02683251, 0.36988531,
  0.18277563, 0.12432811,-0.00269246, 0.10541552, 0.0098484 , 0.01097539,
  0.03845849, 0.00127875, 0.        ,-0.00166075, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008575682039918057
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6697669 , -0.7421008 ,  0.02643281,  0.01771001,  0.01962267,
        0.99965059, -0.74236019,  0.67000101,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08853896, -0.03411976,  0.12774916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017147283168296302
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9689358 , -0.24718066,  0.00807071, -0.24717209,  0.96896941,
        0.00205881, -0.00832916,  0.        , -0.99996531])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11721657, -0.08325003,  0.11439883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042379057921654306
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.54936116e-14, -1.30987223e-13,  1.00000000e+00, -8.57882633e-27,
        1.00000000e+00,  1.30987223e-13, -1.00000000e+00,  0.00000000e+00,
       -6.54936116e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0394951 , -0.06478779,  0.06199062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70549278e-02, 8.86158856e-02, 4.59828442e-02, 1.56863408e-02,
  3.14007421e-02, 3.61386464e-01, 1.84625220e-01, 8.56262515e-02,
 -2.64672879e-06,-2.27406406e-04,-7.74278920e-05,-1.54767239e-04,
 -2.32449270e-04,-1.82012891e-04,-9.51726558e-06,-5.43444759e-06,
 -3.05551010e-03, 3.06894614e-03,-9.80789563e+00,-6.72819616e-02,
 -1.07787160e-02,-4.31406717e-03]


--- Step 2508 ---
qpos:
[ 0.00512014, 0.26508247,-0.07944598, 0.7054203 ,-0.03479942, 0.08671429,
 -0.20292737, 0.52268253, 0.01496216, 1.11821864,-0.02263778, 0.94588367,
  0.93804996, 0.00285392, 1.2053075 , 0.04582514, 0.08313365,-0.06870083,
  0.14408059, 0.94894707,-0.04112823, 0.01380685, 0.31243767]

qacc:
[ 2.97488159e+01, 6.80418261e+00,-1.82109111e+01,-6.91064428e+01,
  1.96193609e+02, 1.25224170e+01,-6.34151727e+01, 3.76063006e+01,
 -1.02935529e-01,-3.96570613e+00, 1.56736177e+01,-4.09021498e+01,
 -1.56874544e-01,-1.12556220e+00,-1.02419920e+00, 3.28528579e+00,
  8.65761010e-01, 6.00336383e-02,-6.68368892e-01, 5.14982648e+00,
  9.40555714e+00, 8.78860129e-02]

qfrc_actuator:
[-0.01381123, 0.11938456, 0.05861398, 0.08941769, 0.02690041, 0.37024572,
  0.18285099, 0.12445369,-0.00271902, 0.10537497, 0.00981753, 0.0108529 ,
  0.03838864, 0.00121195, 0.        ,-0.00164514, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008866637011510978
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.68516265e-01, -7.43238009e-01,  2.61393608e-02,  1.74805608e-02,
        1.94344070e-02,  9.99658309e-01, -7.43492054e-01,  6.68744769e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08848006, -0.034118  ,  0.12780181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017694394203923612
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97103123, -0.23880662,  0.00835206, -0.23879778,  0.97106714,
        0.00205395, -0.00860091,  0.        , -0.99996301])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11717819, -0.08315145,  0.11441153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041512305093208135
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.67444321e-13, -2.00583241e-13,  1.00000000e+00, -5.36448486e-26,
        1.00000000e+00,  2.00583241e-13, -1.00000000e+00,  0.00000000e+00,
       -2.67444321e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03949048, -0.06478749,  0.06199081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81865010e-02, 8.90912435e-02, 4.63100242e-02, 1.57519803e-02,
  3.01032880e-02, 3.62775261e-01, 1.85541294e-01, 8.58940757e-02,
 -2.62535809e-05,-2.06730762e-04,-9.34865825e-05,-1.33543746e-04,
 -2.32415399e-04,-1.72675739e-04,-1.07938344e-05, 1.28383134e-05,
 -3.05271229e-03, 3.02699344e-03,-9.80802881e+00,-6.72511407e-02,
 -1.08399046e-02,-4.27565139e-03]


--- Step 2509 ---
qpos:
[ 0.00542095, 0.26546619,-0.07929194, 0.70684493,-0.03481212, 0.08679623,
 -0.20300557, 0.52343039, 0.01496431, 1.11968042,-0.02264955, 0.94605736,
  0.93888354, 0.00290579, 1.20547487, 0.04582771, 0.08310747,-0.06867562,
  0.14410241, 0.94875136,-0.04100647, 0.01354084, 0.31305906]

qacc:
[ 2.73156184e+01,-9.30195966e-01,-3.27206566e+00,-7.74747744e+01,
  1.86058770e+02, 1.40393053e+01,-6.13055536e+01, 2.87933809e+01,
 -1.86547478e-01,-2.53220661e+00, 1.45654706e+01,-5.00880529e+01,
 -2.03070526e-01,-9.99833246e-01,-1.66986352e+00, 5.53853426e+00,
  8.34766377e-01,-2.06710807e-02,-6.41211972e-01, 4.72534754e+00,
  9.78853751e+00,-2.91823161e+00]

qfrc_actuator:
[-0.01412804, 0.11953954, 0.05845017, 0.08901683, 0.02694042, 0.37075362,
  0.18293107, 0.12483402,-0.00275359, 0.10545904, 0.00978594, 0.01069234,
  0.03832208, 0.00115145, 0.        ,-0.00161901, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009159384781651716
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66726205, -0.74437328,  0.02588008,  0.01727458,  0.0192709 ,
        0.99966505, -0.74462269,  0.66748562,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08842313, -0.03411536,  0.1278541 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018090397607557205
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97153237, -0.236751  ,  0.00859206, -0.23674174,  0.97157036,
        0.0020937 , -0.00884348,  0.        , -0.9999609 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1171604 , -0.0831255 ,  0.11442343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004072900203156843
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.40734786e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.40734786e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03948628, -0.06478722,  0.06199099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.93001943e-02, 8.97055524e-02, 4.67258686e-02, 1.57107289e-02,
  2.88256617e-02, 3.64136456e-01, 1.86401426e-01, 8.64269172e-02,
 -4.74759729e-05,-7.30846089e-05,-9.13508323e-05,-1.70977943e-04,
 -2.26867577e-04,-1.63769936e-04,-9.25848296e-06, 2.42231800e-05,
 -3.01148334e-03, 2.94474582e-03,-9.80817105e+00,-6.72121729e-02,
 -1.08974877e-02,-4.23898674e-03]


--- Step 2510 ---
qpos:
[ 0.00573487, 0.26582798,-0.07914977, 0.70826245,-0.03480147, 0.08686948,
 -0.20309697, 0.52417485, 0.01496604, 1.1211424 ,-0.02266198, 0.94622671,
  0.93971575, 0.00295644, 1.20564216, 0.04583055, 0.08308444,-0.0686508 ,
  0.14412181, 0.94855904,-0.04088339, 0.01329605, 0.31366784]

qacc:
[ 2.44426731e+01,-8.76608853e+00, 1.25390063e+01,-8.57405831e+01,
  1.73482016e+02, 1.66397454e+01,-6.10522770e+01, 2.17405663e+01,
 -1.80881708e-01,-5.47552525e+00, 2.70298243e+01,-7.39494943e+01,
 -2.53098525e-01,-8.76083408e-01,-9.54333926e-01, 3.15253500e+00,
  7.88401477e-01,-9.83817690e-02,-6.03077684e-01, 4.10361519e+00,
  1.00906185e+01,-6.07324007e+00]

qfrc_actuator:
[-0.01444723, 0.11952413, 0.05833296, 0.08860135, 0.0269545 , 0.37131774,
  0.18300135, 0.1258302 ,-0.00277494, 0.10552847, 0.00977243, 0.01047521,
  0.03825753, 0.00109517, 0.        ,-0.00160466, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009448239298107349
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66601838, -0.74549421,  0.02564942,  0.01708861,  0.01912779,
        0.999671  , -0.74573956,  0.66623758,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08836859, -0.03411186,  0.12790567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018154441511104773
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97122317, -0.23800483,  0.00890242, -0.23799484,  0.97126397,
        0.00218151, -0.00916581,  0.        , -0.99995799])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11715434, -0.08313724,  0.11443585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00040023176295980734
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.93487579e-14, -1.38697516e-13,  1.00000000e+00, -9.61850043e-27,
        1.00000000e+00,  1.38697516e-13, -1.00000000e+00,  0.00000000e+00,
       -6.93487579e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03948245, -0.06478698,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.03524902e-02, 9.04712422e-02, 4.71998302e-02, 1.56541482e-02,
  2.75891202e-02, 3.65372676e-01, 1.87196219e-01, 8.75854511e-02,
 -4.61304337e-05,-1.44407811e-05,-4.79816258e-05,-2.24369827e-04,
 -2.19801534e-04,-1.55751621e-04,-7.30006600e-06, 1.32800483e-05,
 -2.92424299e-03, 2.81806333e-03,-9.80832294e+00,-6.71650601e-02,
 -1.09501411e-02,-4.20411518e-03]


--- Step 2511 ---
qpos:
[ 0.00606028, 0.26616591,-0.07901996, 0.70967277,-0.03476927, 0.08693757,
 -0.20320053, 0.52491583, 0.01496761, 1.12260325,-0.02267417, 0.94639397,
  0.94054645, 0.00300583, 1.20580952, 0.04583253, 0.08306437,-0.06862665,
  0.14413897, 0.94837196,-0.04076049, 0.01307223, 0.31425836]

qacc:
[ 2.13435703e+01,-1.01435420e+01, 1.40495632e+01,-8.65152687e+01,
  1.60008404e+02, 1.83678842e+01,-6.02345050e+01, 1.57808170e+01,
 -7.60962232e-02,-5.73188655e+00, 2.11702785e+01,-4.19223290e+01,
 -4.07733453e-01,-7.66339550e-01, 2.72274382e+00,-9.38069103e+00,
  7.37504219e-01,-1.68299495e-01,-5.61593699e-01, 3.42918416e+00,
  1.03200877e+01,-9.04826045e+00]

qfrc_actuator:
[-0.01477218, 0.11952534, 0.0582129 , 0.08817989, 0.02694468, 0.37177414,
  0.18314126, 0.12707305,-0.00277045, 0.10542904, 0.00976969, 0.01036856,
  0.03816761, 0.00102412, 0.        ,-0.00165061, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009727960679952113
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66479955, -0.74658841,  0.02544218,  0.01691943,  0.01900099,
        0.9996763 , -0.74683016,  0.66501482,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08831677, -0.03410755,  0.12795619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018271486578663315
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70918274e-01, -2.39232676e-01,  9.24291661e-03, -2.39221837e-01,
        9.70962268e-01,  2.27733636e-03, -9.51933655e-03, -4.33680869e-19,
       -9.99954690e-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([ 0.11714995, -0.08314837,  0.11444839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039387939378419945
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.04671939e-14, -1.40934388e-13,  1.00000000e+00, -9.93125083e-27,
        1.00000000e+00,  1.40934388e-13, -1.00000000e+00,  0.00000000e+00,
       -7.04671939e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03947895, -0.06478677,  0.06199129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.13345422e-02, 9.15510786e-02, 4.76654310e-02, 1.55857006e-02,
  2.64122187e-02, 3.66260188e-01, 1.87994489e-01, 8.89963928e-02,
 -1.95515070e-05,-1.43928813e-04,-2.23627454e-05,-1.12109134e-04,
 -2.39603885e-04,-1.66609934e-04,-7.73986964e-06,-4.74121459e-05,
 -2.78979537e-03, 2.64942033e-03,-9.80848212e+00,-6.71111166e-02,
 -1.09964939e-02,-4.17109467e-03]


--- Step 2512 ---
qpos:
[ 0.00639535, 0.26647681,-0.07890241, 0.71107598,-0.03471738, 0.08700306,
 -0.20331534, 0.52565322, 0.01496943, 1.12406169,-0.02268544, 0.94655772,
  0.9413757 , 0.00305372, 1.20597711, 0.04583159, 0.08304707,-0.06860342,
  0.14415401, 0.94819172,-0.04063906, 0.01286925, 0.31482583]

qacc:
[ 1.79621247e+01,-1.43849837e+01, 2.26839704e+01,-9.09699502e+01,
  1.46212188e+02, 1.92055991e+01,-5.80527871e+01, 9.34858756e+00,
  1.12638969e-01,-1.17264683e+01, 4.15963588e+01,-7.52821460e+01,
 -3.56934589e-01,-9.51147984e-01, 9.16866332e+00,-3.15881141e+01,
  6.95986757e-01,-2.28248956e-01,-5.27491585e-01, 2.86641137e+00,
  1.05323747e+01,-1.15943157e+01]

qfrc_actuator:
[-0.01508644, 0.11949398, 0.05809635, 0.08763349, 0.02691299, 0.37213037,
  0.18325617, 0.12798602,-0.00273278, 0.10524729, 0.00979053, 0.01018567,
  0.03808917, 0.00094473, 0.        ,-0.00180272, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000999744319535056
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66612297, -0.74543611,  0.02460066,  0.01639203,  0.01834377,
        0.99969736, -0.74566178,  0.66632462,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08823889, -0.03407634,  0.12799789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018439723864222591
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97062042, -0.2404238 ,  0.00961195, -0.24041201,  0.97066802,
        0.00238077, -0.00990241,  0.        , -0.99995097])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11714669, -0.08315879,  0.11446107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003881625190329807
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.43010076e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.43010076e-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([ 0.03947574, -0.06478658,  0.06199141])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.22238303e-02, 9.26971678e-02, 4.81593394e-02, 1.53964284e-02,
  2.53032377e-02, 3.66871762e-01, 1.88716298e-01, 9.00822493e-02,
  2.84876398e-05,-2.89387177e-04,-1.78307124e-05,-1.88849088e-04,
 -2.41147163e-04,-1.82566204e-04,-1.51795369e-05,-1.57107958e-04,
 -2.61353761e-03, 2.44638180e-03,-9.80864517e+00,-6.70522766e-02,
 -1.10360631e-02,-4.14002054e-03]


--- Step 2513 ---
qpos:
[ 0.00673821, 0.26675755,-0.07879685, 0.71247218,-0.03464773, 0.08706811,
 -0.20344057, 0.52638689, 0.01497128, 1.12551757,-0.02269509, 0.94671698,
  0.94220331, 0.00310075, 1.20614432, 0.04583116, 0.08303243,-0.06858133,
  0.14416706, 0.94801981,-0.04052021, 0.01268704, 0.31536582]

qacc:
[ 1.44406778e+01,-1.89443528e+01, 3.22609419e+01,-9.57501455e+01,
  1.31646933e+02, 1.97042476e+01,-5.53874753e+01, 2.61516243e+00,
  1.68225008e-02,-1.55189810e+01, 5.57228974e+01,-9.88706540e+01,
 -6.59599706e-01,-2.35763817e-01,-2.07874599e+00, 6.54416570e+00,
  6.62513292e-01,-2.85046729e-01,-4.99583941e-01, 2.39704608e+00,
  1.07577670e+01,-1.39305375e+01]

qfrc_actuator:
[-0.01537933, 0.11938477, 0.05802225, 0.08708594, 0.02684364, 0.37251474,
  0.18332453, 0.12857831,-0.00274655, 0.10514215, 0.00987801, 0.00995927,
  0.03801765, 0.00091435, 0.        ,-0.00176758, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001025127440877179
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.64986530e-01, -7.46455561e-01,  2.44338003e-02,  1.62530004e-02,
        1.82441929e-02,  9.99701450e-01, -7.46678482e-01,  6.65185120e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08819279, -0.03407059,  0.12804587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018654665840369686
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70332048e-01, -2.41568971e-01,  1.00073924e-02, -2.41556125e-01,
        9.70383652e-01,  2.49125743e-03, -1.03128204e-02,  4.33680869e-19,
       -9.99946821e-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([ 0.11714417, -0.08316845,  0.11447391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038302218518487807
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.24646683e-14, -7.24646683e-14,  1.00000000e+00,  5.25112816e-27,
        1.00000000e+00,  7.24646683e-14, -1.00000000e+00,  0.00000000e+00,
        7.24646683e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03947279, -0.06478641,  0.06199153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.30013871e-02, 9.39237362e-02, 4.86909595e-02, 1.52023438e-02,
  2.42487757e-02, 3.67383339e-01, 1.89346304e-01, 9.08526341e-02,
  3.92682328e-06,-2.94555745e-04, 1.86445208e-05,-2.38323600e-04,
 -2.39215090e-04,-1.38184000e-04,-3.08699124e-05, 2.30556610e-05,
 -2.40566212e-03, 2.21929980e-03,-9.80880858e+00,-6.69905473e-02,
 -1.10693107e-02,-4.11101635e-03]


--- Step 2514 ---
qpos:
[ 0.00708704, 0.26701215,-0.07870499, 0.71386095,-0.03456239, 0.08713431,
 -0.2035756 , 0.52711675, 0.01497293, 1.12697313,-0.02270522, 0.94687327,
  0.94302917, 0.00314748, 1.2063109 , 0.04583479, 0.08302029,-0.0685606 ,
  0.14417824, 0.94785765,-0.04040505, 0.01252541, 0.31587405]

qacc:
[ 1.10331642e+01,-9.92076381e+00, 1.00957259e+01,-8.38120078e+01,
  1.16249422e+02, 2.00112246e+01,-5.31452944e+01,-2.88705122e+00,
 -8.90537145e-02,-4.25970431e+00, 1.94462821e+01,-5.11405918e+01,
 -8.59078716e-01, 3.33546807e-01,-1.31636015e+01, 4.47967723e+01,
  6.24695262e-01,-3.39602588e-01,-4.67127973e-01, 1.89221920e+00,
  1.09229861e+01,-1.62027143e+01]

qfrc_actuator:
[-0.01569688, 0.11931381, 0.05790727, 0.08684222, 0.02678127, 0.37284388,
  0.18340415, 0.1294058 ,-0.00277333, 0.10526161, 0.00989787, 0.00981569,
  0.03794503, 0.00091334, 0.        ,-0.00155136, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010488273402627956
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66390625, -0.74742142,  0.0242838 ,  0.01612692,  0.01815558,
        0.99970511, -0.7476419 ,  0.66410209,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08814974, -0.03406413,  0.12809234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018910268628510734
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97005543, -0.2426597 ,  0.01042716, -0.24264568,  0.97011147,
        0.00260821, -0.01074841,  0.        , -0.99994223])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11714203, -0.0831773 ,  0.11448691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00037840775840868035
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.66741630e-14, -2.20044978e-13,  1.00000000e+00, -8.06996539e-27,
        1.00000000e+00,  2.20044978e-13, -1.00000000e+00,  0.00000000e+00,
       -3.66741630e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03947007, -0.06478627,  0.06199163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.37089823e-02, 9.53469184e-02, 4.91696251e-02, 1.53062668e-02,
  2.32987849e-02, 3.67732096e-01, 1.89946287e-01, 9.18643375e-02,
 -2.28452118e-05,-6.70646967e-05,-4.72563119e-05,-1.55751577e-04,
 -2.28525047e-04,-9.60887323e-05,-1.65948517e-05, 2.12507560e-04,
 -2.17350074e-03, 1.97538432e-03,-9.80896994e+00,-6.69273333e-02,
 -1.10966596e-02,-4.08418786e-03]


--- Step 2515 ---
qpos:
[ 0.00744002, 0.26724255,-0.07862819, 0.71524201,-0.03446347, 0.0872027 ,
 -0.20371997, 0.52784269, 0.01497465, 1.12842955,-0.02271662, 0.94702624,
  0.94385328, 0.00319429, 1.20647781, 0.04583726, 0.08301048,-0.06854141,
  0.14418769, 0.94770656,-0.04029467, 0.01238402, 0.31634673]

qacc:
[ 7.65501415e+00,-4.18699668e+00,-4.99393640e+00,-7.49083953e+01,
  1.00600860e+02, 2.00899270e+01,-5.11276053e+01,-7.35447418e+00,
  3.01736321e-02,-1.15594289e+00, 1.19045860e+01,-4.92857750e+01,
 -1.53637072e+00, 1.41649151e+00, 4.11867155e+00,-1.34248398e+01,
  5.83390581e-01,-3.86730770e-01,-4.32372881e-01, 1.37788144e+00,
  1.09929861e+01,-1.82121921e+01]

qfrc_actuator:
[-0.01603052, 0.11925609, 0.05777425, 0.08673078, 0.02671805, 0.37312071,
  0.18349405, 0.13039376,-0.00275443, 0.10539035, 0.00986087, 0.00965105,
  0.03787183, 0.00092972, 0.        ,-0.0016208 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010710418784395815
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.62887533e-01, -7.48329287e-01,  2.41536180e-02,  1.60158047e-02,
        1.80801344e-02,  9.99708259e-01, -7.48547669e-01,  6.63080981e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08810941, -0.03405695,  0.12813741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019198786730293689
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69792877e-01, -2.43687653e-01,  1.08675663e-02, -2.43672354e-01,
        9.69853766e-01,  2.73060931e-03, -1.12053658e-02,  4.33680869e-19,
       -9.99937218e-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([ 0.11713995, -0.08318528,  0.11450005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003742608160056393
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48322103e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.48322103e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03946756, -0.06478615,  0.06199172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.43417019e-02, 9.65832409e-02, 4.97148362e-02, 1.55638360e-02,
  2.24511643e-02, 3.67949411e-01, 1.90525322e-01, 9.30418907e-02,
  7.82699290e-06, 5.77009643e-05,-6.47051265e-05,-1.70043781e-04,
 -2.12843282e-04,-6.47340920e-05, 1.10897963e-05,-6.07532010e-05,
 -1.92284969e-03, 1.72090363e-03,-9.80912663e+00,-6.68640403e-02,
 -1.11180958e-02,-4.05961017e-03]


--- Step 2516 ---
qpos:
[ 0.00779532, 0.26744648,-0.07856666, 0.71661543,-0.03435302, 0.08727392,
 -0.2038732 , 0.52856465, 0.01497651, 1.12988726,-0.02272849, 0.9471753 ,
  0.94467605, 0.0032406 , 1.20664512, 0.04583588, 0.08300286,-0.06852391,
  0.14419552, 0.94756753,-0.04018992, 0.01226252, 0.31678095]

qacc:
[ 4.26394056e+00,-6.46526885e+00,-1.39637781e+00,-7.54755430e+01,
  8.52358096e+01, 1.96519166e+01,-4.81774461e+01,-1.21489756e+01,
  6.50902829e-02,-3.80677362e+00, 2.23828844e+01,-6.54138138e+01,
 -1.02922738e+00, 5.52929000e-01, 1.23035464e+01,-4.19943865e+01,
  5.48616524e-01,-4.23002658e-01,-4.03705949e-01, 9.59318530e-01,
  1.10160617e+01,-1.97667648e+01]

qfrc_actuator:
[-0.01633889, 0.11925034, 0.05767275, 0.08650667, 0.02665015, 0.37340015,
  0.18361134, 0.13114232,-0.00274383, 0.1055236 , 0.00986175, 0.00945757,
  0.03780898, 0.00090303, 0.        ,-0.00182252, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010918220708125519
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66193631, -0.74917434,  0.02404419,  0.01592033,  0.0180185 ,
        0.9997109 , -0.74939099,  0.66212774,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0880716 , -0.03404908,  0.12818112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019511449072067667
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96954649, -0.24464541,  0.01132387, -0.24462873,  0.96961261,
        0.00285716, -0.01167876,  0.        , -0.9999318 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11713771, -0.08319235,  0.11451329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003705228344265399
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.24727653e-13, -1.49818435e-13,  1.00000000e+00, -3.36683453e-26,
        1.00000000e+00,  1.49818435e-13, -1.00000000e+00,  0.00000000e+00,
       -2.24727653e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03946522, -0.06478606,  0.06199181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.48583621e-02, 9.77753494e-02, 5.03607662e-02, 1.57229366e-02,
  2.17038912e-02, 3.68116239e-01, 1.91108500e-01, 9.39845165e-02,
  1.67479176e-05, 1.27428643e-04,-4.83376116e-06,-1.96023193e-04,
 -1.87273236e-04,-9.52247306e-05,-9.46344544e-06,-2.05371737e-04,
 -1.66261971e-03, 1.46443234e-03,-9.80927541e+00,-6.68023427e-02,
 -1.11339227e-02,-4.03735217e-03]


--- Step 2517 ---
qpos:
[ 0.00815115, 0.26762614,-0.0785218 , 0.71798094,-0.03423321, 0.08734822,
 -0.20403481, 0.52928258, 0.01497853, 1.13134543,-0.0227398 , 0.94732025,
  0.94549779, 0.00328551, 1.20681212, 0.04583411, 0.08299731,-0.06850826,
  0.14420185, 0.94744156,-0.04009156, 0.01216059, 0.31717388]

qacc:
[ 9.47572907e-01,-3.01934413e-01,-1.75836720e+01,-6.55253137e+01,
  6.91936870e+01, 1.86851067e+01,-4.41990130e+01,-1.70353189e+01,
  6.52839987e-02,-8.05272506e+00, 3.54009211e+01,-7.87712918e+01,
  1.16268854e-01,-1.35311357e+00, 7.11094486e-01,-3.25582471e+00,
  5.16521410e-01,-4.60893472e-01,-3.76502849e-01, 5.86773793e-01,
  1.10351095e+01,-2.12785150e+01]

qfrc_actuator:
[-0.01668517, 0.11925219, 0.05757864, 0.08657304, 0.02654057, 0.37360864,
  0.18378384, 0.13178439,-0.00273829, 0.10553453, 0.00988506, 0.00924869,
  0.03774173, 0.00081553, 0.        ,-0.00183418, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011109731683869178
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.61059471e-01, -7.49951072e-01,  2.39534225e-02,  1.58391814e-02,
        1.79690506e-02,  9.99713076e-01, -7.50166313e-01,  6.61249199e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08803643, -0.03404058,  0.12822334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.40066847, -0.18588037,  0.40066847,  1.21286566,
        1.66229107, -0.18588037,  1.66229107,  4.02478442,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019839524751733796
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96931798, -0.24552722,  0.01179177, -0.24550905,  0.9693897 ,
        0.00298662, -0.01216412,  0.        , -0.99992601])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11713512, -0.08319851,  0.11452659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003671474639980188
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.77989477e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.77989477e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03946303, -0.06478598,  0.06199188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.53208851e-02, 9.90889892e-02, 5.10247020e-02, 1.61691891e-02,
  2.10181883e-02, 3.68181373e-01, 1.91724207e-01, 9.48246965e-02,
  1.66807719e-05, 5.46542164e-05, 3.72896055e-05,-2.08193527e-04,
 -1.86373169e-04,-1.58164106e-04,-3.40595002e-05,-2.58050660e-05,
 -1.40364241e-03, 1.21520470e-03,-9.80941345e+00,-6.67437379e-02,
 -1.11449491e-02,-4.01748065e-03]


--- Step 2518 ---
qpos:
[ 0.00850571, 0.26778267,-0.07849491, 0.71933834,-0.03410623, 0.0874256 ,
 -0.20420422, 0.52999646, 0.01498081, 1.13280128,-0.02274901, 0.94746176,
  0.94631821, 0.00332916, 1.20697843, 0.04583617, 0.08299371,-0.0684946 ,
  0.14420677, 0.94732951,-0.04000021, 0.0120779 , 0.31752309]

qacc:
[ -2.35246876,  4.3110331 ,-30.48838649,-56.87213133, 52.97483249,
  17.3561388 ,-39.50760065,-22.01263777,  0.12305759,-14.63546745,
  51.05958176,-82.66416916,  0.11899501, -1.35308944,-12.68388746,
  42.77007222,  0.4873007 , -0.49579295, -0.35169165,  0.27817517,
  11.01346748,-22.57374324]

qfrc_actuator:
[-0.01708884, 0.11933804, 0.057532  , 0.08681701, 0.02640353, 0.37373768,
  0.18397475, 0.13229319,-0.00271812, 0.10527708, 0.00993873, 0.00906786,
  0.0376612 , 0.0007459 , 0.        ,-0.00162719, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001128580808902409
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66026115, -0.75065627,  0.02388246,  0.01577316,  0.01793263,
        0.99971477, -0.75087044,  0.66044953,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08800373, -0.03403147,  0.1282641 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.40164028, -0.18377111,  0.40164028,  1.18004415,
        1.61371547, -0.18377111,  1.61371547,  3.96853625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020174419005202834
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69109041e-01, -2.46327422e-01,  1.22665587e-02, -2.46307691e-01,
        9.69186670e-01,  3.11765510e-03, -1.26565491e-02, -4.33680869e-19,
       -9.99919903e-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([ 0.11713205, -0.08320373,  0.1145399 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003640884248168469
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.81165312e-14, -7.62330624e-14,  1.00000000e+00, -2.90573990e-27,
        1.00000000e+00,  7.62330624e-14, -1.00000000e+00,  0.00000000e+00,
       -3.81165312e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03946098, -0.06478592,  0.06199195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.57511064e-02, 1.00379134e-01, 5.18072925e-02, 1.68063899e-02,
  2.04129764e-02, 3.68154268e-01, 1.92332867e-01, 9.55337440e-02,
  3.12853110e-05,-2.46035764e-04, 5.78811075e-05,-1.81356729e-04,
 -2.13954455e-04,-1.57642817e-04,-2.26750884e-05, 2.00294407e-04,
 -1.15111497e-03, 9.77521248e-04,-9.80953946e+00,-6.66889903e-02,
 -1.11516449e-02,-4.00003466e-03]


--- Step 2519 ---
qpos:
[ 0.00885722, 0.26791367,-0.07848604, 0.72068778,-0.03397413, 0.08750603,
 -0.20438093, 0.53070626, 0.01498321, 1.13425275,-0.02275675, 0.9476013 ,
  0.94713731, 0.00337139, 1.20714452, 0.04584097, 0.08299197,-0.06848299,
  0.14421036, 0.94723189,-0.03991626, 0.0120141 , 0.31782715]

qacc:
[-5.61220237e+00, 1.58523914e+00,-2.58283697e+01,-5.74847735e+01,
  3.76222629e+01, 1.59845503e+01,-3.47417591e+01,-2.71664188e+01,
  5.04176370e-02,-1.31223232e+01, 3.99084774e+01,-5.48993997e+01,
  1.26661861e-01,-1.46403985e+00,-8.66483646e+00, 2.97531970e+01,
  4.64159425e-01,-5.16374590e-01,-3.32832533e-01, 5.27673650e-02,
  1.09402357e+01,-2.33495657e+01]

qfrc_actuator:
[-0.01747211, 0.11958934, 0.05748628, 0.08678034, 0.0262662 , 0.37387106,
  0.184144  , 0.13261714,-0.00272484, 0.10491447, 0.00995561, 0.00895807,
  0.03758874, 0.00066967, 0.        ,-0.00148838, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00114466504842449
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65954544, -0.75128681,  0.02383152,  0.01572244,  0.0179094 ,
        0.99971599, -0.75150024,  0.65973281,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0879734, -0.0340218,  0.1283034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.40251753, -0.18184161,  0.40251753,  1.15226544,
        1.57291055, -0.18184161,  1.57291055,  3.92341999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020508161109300633
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96892119, -0.24704115,  0.01274368, -0.24701979,  0.96900499,
        0.00324891, -0.0131513 ,  0.        , -0.99991352])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11712836, -0.08320801,  0.11455318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003613034320152919
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.92051702e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.92051702e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03945904, -0.06478587,  0.06199201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.60713169e-02, 1.01777362e-01, 5.26551329e-02, 1.71726395e-02,
  1.99167452e-02, 3.68130884e-01, 1.92892474e-01, 9.60588373e-02,
  1.25654459e-05,-5.12575543e-04,-3.45145192e-05,-1.18024338e-04,
 -2.19227205e-04,-1.70968844e-04, 7.87219173e-06, 1.46228515e-04,
 -9.12070984e-04, 7.57100813e-04,-9.80965169e+00,-6.66390247e-02,
 -1.11546005e-02,-3.98504659e-03]


--- Step 2520 ---
qpos:
[ 0.00920403, 0.26801513,-0.0784943 , 0.72202962,-0.03383882, 0.08758941,
 -0.2045646 , 0.53141194, 0.01498564, 1.13569875,-0.02276359, 0.94773859,
  0.94795485, 0.00341287, 1.20731117, 0.04584306, 0.08299197,-0.06847347,
  0.14421271, 0.94714894,-0.03984012, 0.01196861, 0.31808552]

qacc:
[-8.63397175e+00,-5.45831298e+00,-1.01477614e+01,-6.39784720e+01,
  2.35891052e+01, 1.50707030e+01,-3.15751023e+01,-3.08271677e+01,
  1.60239293e-02,-1.35294582e+01, 4.00244255e+01,-5.73073397e+01,
 -9.65891467e-01, 2.37594788e-01, 9.11239907e+00,-3.05579496e+01,
  4.35626623e-01,-5.18953376e-01,-3.10770421e-01,-2.19783798e-01,
  1.07416252e+01,-2.36453282e+01]

qfrc_actuator:
[-0.01780534, 0.11986282, 0.05746612, 0.08650739, 0.0261634 , 0.37404136,
  0.18430285, 0.13327565,-0.0027299 , 0.10456276, 0.00996796, 0.00883757,
  0.03751585, 0.0006434 , 0.        ,-0.00163944, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001159052709613692
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65891667, -0.75183938,  0.02379844,  0.01568563,  0.01789768,
        0.99971678, -0.75205238,  0.65910334,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0879456 , -0.03401166,  0.12834111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.4027963 , -0.18122326,  0.4027963 ,  1.14205077,
        1.55666688, -0.18122326,  1.55666688,  3.90161554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020834183685499766
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68755406e-01, -2.47665495e-01,  1.32198957e-02, -2.47642438e-01,
        9.68845603e-01,  3.37939502e-03, -1.36449974e-02,  4.33680869e-19,
       -9.99906903e-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([ 0.11712399, -0.08321136,  0.1145664 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035876328657789835
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.73645929e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.73645929e-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([ 0.03945719, -0.06478584,  0.06199207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.62522412e-02, 1.03319209e-01, 5.35324305e-02, 1.72960453e-02,
  1.95585616e-02, 3.68146909e-01, 1.93415359e-01, 9.69199898e-02,
  3.68472836e-06,-6.65135025e-04,-9.97457582e-05,-1.37893132e-04,
 -2.25228764e-04,-1.26098686e-04, 1.40302743e-05,-1.43181477e-04,
 -6.95184058e-04, 5.60770601e-04,-9.80974835e+00,-6.65947794e-02,
 -1.11545310e-02,-3.97253792e-03]


--- Step 2521 ---
qpos:
[ 0.00954453, 0.26808509,-0.07851882, 0.72336417,-0.03370211, 0.08767581,
 -0.20475502, 0.53211347, 0.01498822, 1.13713805,-0.02276904, 0.94787349,
  0.94877054, 0.00345444, 1.2074776 , 0.04584569, 0.08299358,-0.068466  ,
  0.1442139 , 0.94708076,-0.03977223, 0.01194078, 0.31829801]

qacc:
[-1.15289329e+01,-9.72993604e+00,-2.35141265e-02,-6.78862302e+01,
  1.01248138e+01, 1.45664430e+01,-2.95683662e+01,-3.34121625e+01,
  6.97956056e-02,-1.66920990e+01, 4.86919926e+01,-6.58417417e+01,
 -1.46697016e+00, 1.31025308e+00,-1.86878953e+00, 6.34307580e+00,
  4.03906141e-01,-5.14261651e-01,-2.87113164e-01,-5.29973315e-01,
  1.04964714e+01,-2.37778733e+01]

qfrc_actuator:
[-0.01819444, 0.12018157, 0.05746759, 0.08611324, 0.02602792, 0.37428595,
  0.18445806, 0.13413656,-0.00271617, 0.10416717, 0.01001306, 0.0087117 ,
  0.03743744, 0.00066475, 0.        ,-0.00160501, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001171496280536239
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65837838, -0.75231139,  0.02377983,  0.01566056,  0.0178949 ,
        0.99971722, -0.75252419,  0.65856461,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08792061, -0.03400115,  0.12837703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.40166829, -0.18370987,  0.40166829,  1.16029729,
        1.57119086, -0.18370987,  1.57119086,  3.87698093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002114714404415402
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96861221, -0.24819933,  0.0136922 , -0.24817453,  0.96870898,
        0.00350817, -0.01413449,  0.        , -0.9999001 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11711889, -0.08321379,  0.11457952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003564407512364892
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16803040e-13, -7.78686935e-14,  1.00000000e+00,  9.09530015e-27,
        1.00000000e+00,  7.78686935e-14, -1.00000000e+00,  0.00000000e+00,
        1.16803040e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03945543, -0.06478582,  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:
[-3.64057932e-02, 1.05108705e-01, 5.43863265e-02, 1.72797411e-02,
  1.92623536e-02, 3.68241304e-01, 1.93918695e-01, 9.79855117e-02,
  1.74553048e-05,-8.06597156e-04,-1.04777650e-04,-1.50176540e-04,
 -2.23951603e-04,-6.70782090e-05,-1.75741584e-05, 2.64920922e-05,
 -5.06377250e-04, 3.93352791e-04,-9.80982826e+00,-6.65569732e-02,
 -1.11518274e-02,-3.96249544e-03]


--- Step 2522 ---
qpos:
[ 0.00987719, 0.26812407,-0.07855918, 0.72469156,-0.03356579, 0.08776552,
 -0.20495186, 0.53281082, 0.01499081, 1.13857121,-0.02277439, 0.94800658,
  0.94958476, 0.0034954 , 1.20764362, 0.04585103, 0.08299672,-0.06846056,
  0.14421402, 0.94702736,-0.03971289, 0.01193007, 0.31846465]

qacc:
[-1.43535983e+01,-9.95081610e+00, 1.17575687e+00,-6.76080620e+01,
 -3.02079481e+00, 1.41254388e+01,-2.73757843e+01,-3.64422800e+01,
  4.75171333e-03,-1.14512241e+01, 3.13499750e+01,-4.44779616e+01,
 -5.35855279e-01,-1.82761606e-01,-8.77041117e+00, 2.98365516e+01,
  3.79793279e-01,-5.07513792e-01,-2.69719610e-01,-7.61254302e-01,
  1.02905412e+01,-2.37788677e+01]

qfrc_actuator:
[-0.01863133, 0.12064778, 0.0574703 , 0.08561359, 0.02583785, 0.37466261,
  0.18461365, 0.13473004,-0.00272682, 0.1038907 , 0.01002371, 0.00861915,
  0.03736113, 0.00062537, 0.        ,-0.00146147, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001181901754301367
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65793216, -0.75270185,  0.02377399,  0.01564609,  0.01789978,
        0.99971736, -0.75291465,  0.65811817,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08789854, -0.03399036,  0.12841107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.39980279, -0.18773508,  0.39980279,  1.19184057,
        1.59753736, -0.18773508,  1.59753736,  3.84382029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002144292712796924
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68491937e-01, -2.48642157e-01,  1.41579131e-02, -2.48615594e-01,
        9.68595415e-01,  3.63439058e-03, -1.46169524e-02, -4.33680869e-19,
       -9.99893167e-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([ 0.11711301, -0.08321533,  0.11459251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003543102999006842
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91684572e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.91684572e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03945375, -0.06478581,  0.06199217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.65274732e-02, 1.07143992e-01, 5.51996644e-02, 1.71428101e-02,
  1.90024310e-02, 3.68464478e-01, 1.94410948e-01, 9.87852899e-02,
  8.15794941e-07,-7.66906607e-04,-1.67756976e-04,-1.21485966e-04,
 -2.07214001e-04,-1.11033557e-04,-1.11232322e-05, 1.41495701e-04,
 -3.47505223e-04, 2.55948973e-04,-9.80989157e+00,-6.65257372e-02,
 -1.11468231e-02,-3.95488693e-03]


--- Step 2523 ---
qpos:
[ 0.01020064, 0.2681352 ,-0.07861563, 0.72601174,-0.03343149, 0.08785888,
 -0.20515482, 0.53350394, 0.01499351, 1.14000584,-0.02278297, 0.94813705,
  0.95039758, 0.00353538, 1.20780991, 0.045855  , 0.08300128,-0.0684571 ,
  0.14421313, 0.9469886 ,-0.03966229, 0.01193592, 0.31858598]

qacc:
[-1.68379859e+01,-5.33540976e+00,-8.78191598e+00,-6.17270573e+01,
 -1.52736691e+01, 1.37893627e+01,-2.54247560e+01,-3.93605250e+01,
  4.68589837e-02, 6.09870759e+00,-1.22634571e+01,-2.05028474e+01,
 -5.63303850e-01,-3.50158730e-01, 4.55537844e+00,-1.52920991e+01,
  3.59036822e-01,-4.94463063e-01,-2.54052385e-01,-9.34091704e-01,
  1.00486930e+01,-2.35031750e+01]

qfrc_actuator:
[-0.01900406, 0.12133881, 0.05753308, 0.08523096, 0.02568726, 0.3752413 ,
  0.18482509, 0.13525351,-0.00271649, 0.10445118, 0.01003219, 0.00851148,
  0.03728079, 0.00056798, 0.        ,-0.00153887, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011903541029773988
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65757745, -0.75301151,  0.02378139,  0.01564253,  0.01791273,
        0.99971718, -0.75322454,  0.65776348,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08787933, -0.03397935,  0.12844327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.39812043, -0.19127691,  0.39812043,  1.22251377,
        1.62520084, -0.19127691,  1.62520084,  3.82435099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021718953359698826
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68394735e-01, -2.48994010e-01,  1.46157665e-02, -2.48965655e-01,
        9.68505025e-01,  3.75758329e-03, -1.50910590e-02,  4.33680869e-19,
       -9.99886123e-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([ 0.11710631, -0.08321602,  0.11460537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035235528879419553
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.57543119e-13, -7.87715596e-14,  1.00000000e+00,  1.24099172e-26,
        1.00000000e+00,  7.87715596e-14, -1.00000000e+00,  0.00000000e+00,
        1.57543119e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03945213, -0.06478582,  0.06199221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.65074996e-02, 1.09379616e-01, 5.60523455e-02, 1.71159133e-02,
  1.88707712e-02, 3.68875383e-01, 1.94943415e-01, 9.95168735e-02,
  1.24095826e-05, 8.06783620e-05,-1.68460747e-04,-1.36611377e-04,
 -2.12555557e-04,-1.37512471e-04, 5.45627044e-06,-7.20602159e-05,
 -2.19683001e-04, 1.48606680e-04,-9.80993877e+00,-6.65009511e-02,
 -1.11399997e-02,-3.94968421e-03]


--- Step 2524 ---
qpos:
[ 0.01051371, 0.2681231 ,-0.07868904, 0.72732448,-0.03330083, 0.08795612,
 -0.20536361, 0.53419281, 0.01499648, 1.1414476 ,-0.02279484, 0.94826404,
  0.95120888, 0.00357465, 1.2079763 , 0.04585736, 0.08300721,-0.06845556,
  0.14421128, 0.94696425,-0.03962052, 0.01195778, 0.31866273]

qacc:
[-19.01408027,  2.61917829,-26.97068871,-51.39516871,-27.03584867,
  13.31094311,-23.24808724,-42.12229094,  0.11914509, 12.26908662,
 -21.65754913,-25.80859731, -0.86023945,  0.14683699,  5.08520011,
 -17.44772976,  0.33874885, -0.48071619, -0.23782115, -1.08091399,
   9.78071276,-23.14067913]

qfrc_actuator:
[-0.01933381, 0.12213849, 0.05762073, 0.08509898, 0.02552666, 0.37590403,
  0.18510783, 0.13577221,-0.00269369, 0.10524239, 0.01002489, 0.00836076,
  0.0372034 , 0.00053589, 0.        ,-0.00162159, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001197106542624953
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65731121, -0.7532432 ,  0.02380436,  0.01565131,  0.01793556,
        0.99971664, -0.75345671,  0.65749752,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08786275, -0.03396816,  0.12847377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.39624532, -0.19513169,  0.39624532,  1.2599798 ,
        1.66167265, -0.19513169,  1.66167265,  3.81597163,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002197387298891481
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96832045, -0.24925596,  0.01506541, -0.2492258 ,  0.96843764,
        0.00387753, -0.0155564 ,  0.        , -0.99987899])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11709873, -0.08321587,  0.1146181 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035055989297246015
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.91749888e-14, -7.91749888e-14,  1.00000000e+00,  6.26867886e-27,
        1.00000000e+00,  7.91749888e-14, -1.00000000e+00,  0.00000000e+00,
        7.91749888e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03945058, -0.06478583,  0.06199225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.63766859e-02, 1.11568347e-01, 5.69422393e-02, 1.73429170e-02,
  1.88119192e-02, 3.69353160e-01, 1.95532376e-01, 1.00245735e-01,
  3.14714320e-05, 7.79639155e-04,-1.91295088e-05,-1.54850665e-04,
 -2.18990976e-04,-1.20716324e-04,-1.25246829e-05,-8.75669678e-05,
 -1.23875577e-04, 7.14105395e-05,-9.80997017e+00,-6.64825284e-02,
 -1.11317674e-02,-3.94684949e-03]


--- Step 2525 ---
qpos:
[ 0.01081534, 0.2680911 ,-0.07878021, 0.72862962,-0.0331753 , 0.08805749,
 -0.20557789, 0.5348774 , 0.01499911, 1.14289545,-0.02280811, 0.94838825,
  0.9520188 , 0.00361293, 1.2081429 , 0.04585635, 0.08301442,-0.06845588,
  0.14420854, 0.94695401,-0.03958755, 0.01199508, 0.31869587]

qacc:
[-20.93741974,  8.87314275,-41.75770525,-42.55563589,-38.17390496,
  12.8285231 ,-21.03173811,-44.9578468 , -0.15291243,  6.99597862,
  -7.52443813,-29.36979564, -0.6751542 , -0.21173136, 10.5300359 ,
 -36.31381265,  0.32193034, -0.46608436, -0.22363165, -1.16458886,
   9.49787276,-22.64144409]

qfrc_actuator:
[-0.0196684 , 0.12292112, 0.0576951 , 0.085156  , 0.02536245, 0.37657999,
  0.18536448, 0.13614773,-0.00275237, 0.10554444, 0.00995622, 0.00822161,
  0.03713316, 0.0004836 , 0.        ,-0.00179546, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012024868086856963
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.57129353e-01, -7.53400547e-01,  2.38459552e-02,  1.56743342e-02,
        1.79706657e-02,  9.99715645e-01, -7.53614841e-01,  6.57316265e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08784848, -0.03395682,  0.12850277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.39434965, -0.19893488,  0.39434965,  1.2988813 ,
        1.69922228, -0.19893488,  1.69922228,  3.8100635 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022207129678023657
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96826883, -0.24942941,  0.0155065 , -0.24939743,  0.96839298,
        0.00399402, -0.01601261,  0.        , -0.99987179])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11709027, -0.08321493,  0.11463071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034890522725257445
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.95504723e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.95504723e-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([ 0.03944908, -0.06478584,  0.06199229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.61915655e-02, 1.13510860e-01, 5.78627482e-02, 1.77699546e-02,
  1.88290503e-02, 3.69832372e-01, 1.96079767e-01, 1.00832561e-01,
 -3.92185413e-05, 7.05675150e-04, 7.25409605e-05,-1.18547911e-04,
 -2.11504563e-04,-1.37612143e-04,-2.18654883e-05,-1.81733106e-04,
 -5.92514587e-05, 2.31397021e-05,-9.80998654e+00,-6.64702097e-02,
 -1.11223651e-02,-3.94633114e-03]


--- Step 2526 ---
qpos:
[ 0.01110462, 0.26803877,-0.07888901, 0.72992726,-0.03305624, 0.08816331,
 -0.20579738, 0.53555766, 0.01500094, 1.1443502 ,-0.02282235, 0.94850941,
  0.95282731, 0.00365029, 1.20830929, 0.04585391, 0.08302289,-0.06845799,
  0.14420493, 0.94695734,-0.03956312, 0.01204736, 0.31868702]

qacc:
[-22.61492304,  8.14409578,-40.33992434,-42.10261597,-48.05915203,
  12.43589885,-18.89097386,-48.24394939, -0.35598866,  6.39166667,
  -3.7662566 ,-36.18765708, -0.57569124, -0.30932664,  4.04841048,
 -14.53603777,  0.31286536, -0.44469636, -0.21532584, -1.140115  ,
   9.2014048 ,-21.80180614]

qfrc_actuator:
[-0.0199652 , 0.12366398, 0.0577691 , 0.08516979, 0.0252168 , 0.37727984,
  0.18553647, 0.13622603,-0.00282393, 0.10597724, 0.00993893, 0.00807236,
  0.03706194, 0.00043751, 0.        ,-0.00186186, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012067285006676762
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.57028221e-01, -7.53486777e-01,  2.39080278e-02,  1.57127402e-02,
        1.80195334e-02,  9.99714162e-01, -7.53702213e-01,  6.57216078e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0878363 , -0.03394535,  0.12853041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.39254528, -0.20247206,  0.39254528,  1.33840571,
        1.7385263 , -0.20247206,  1.7385263 ,  3.81227622,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002241944816955948
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96823942, -0.24951625,  0.01593929, -0.24948245,  0.96837061,
        0.00410701, -0.0164599 ,  0.        , -0.99986453])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11708089, -0.08321324,  0.11464319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034737324641424816
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.59802609e-13, -7.99013047e-14,  1.00000000e+00, -1.27684370e-26,
        1.00000000e+00,  7.99013047e-14, -1.00000000e+00,  0.00000000e+00,
       -1.59802609e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03944763, -0.06478586,  0.06199232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.59163251e-02, 1.15247800e-01, 5.88243619e-02, 1.81623401e-02,
  1.89401639e-02, 3.70323064e-01, 1.96526701e-01, 1.01123406e-01,
 -9.19550836e-05, 8.14523110e-04, 1.20965508e-04,-1.27322756e-04,
 -2.13027264e-04,-1.34172705e-04,-3.63813916e-05,-8.06393343e-05,
 -2.46336000e-05, 2.26608853e-06,-9.80998874e+00,-6.64636487e-02,
 -1.11120125e-02,-3.94806812e-03]


--- Step 2527 ---
qpos:
[ 0.01138076, 0.26796284,-0.07901413, 0.7312178 ,-0.03294475, 0.08827358,
 -0.20602184, 0.53623351, 0.01500227, 1.14581339,-0.0228362 , 0.94862767,
  0.95363411, 0.00368735, 1.208475  , 0.04585466, 0.08303259,-0.06846173,
  0.14420048, 0.94697344,-0.03954679, 0.01211418, 0.31863866]

qacc:
[-24.04245218,  1.01610121,-23.1918202 ,-50.30045929,-56.05643043,
  11.74403982,-16.19117288,-52.12267015, -0.22421205,  5.0187166 ,
   2.94471636,-41.52562981, -0.89252825,  0.38952853,-10.61932411,
  35.78872866,  0.310917  , -0.41049604, -0.21284306, -1.02819257,
   8.87811355,-20.50005387]

qfrc_actuator:
[-0.02021608, 0.12448012, 0.0578676 , 0.08487654, 0.02510342, 0.37792105,
  0.18567733, 0.13607452,-0.00283161, 0.10657404, 0.01002359, 0.00793617,
  0.03697952, 0.00043097, 0.        ,-0.00168683, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001209839427274566
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65700525, -0.75350421,  0.02398977,  0.01576594,  0.01808159,
        0.9997122 , -0.75372112,  0.65719439,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08782626, -0.03393382,  0.12855665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.39065779, -0.20609033,  0.39065779,  1.3863512 ,
        1.79067466, -0.20609033,  1.79067466,  3.83602802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002261229951279634
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96823143, -0.2495197 ,  0.01636537, -0.24948406,  0.96836972,
        0.00421686, -0.01689992,  0.        , -0.99985719])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1170706 , -0.08321084,  0.11465557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034595374599075135
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60458304e-13, -2.40687456e-13,  1.00000000e+00,  3.86203008e-26,
        1.00000000e+00,  2.40687456e-13, -1.00000000e+00,  0.00000000e+00,
        1.60458304e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03944622, -0.06478589,  0.06199235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.55491151e-02, 1.17079644e-01, 5.98037937e-02, 1.82422074e-02,
  1.91505658e-02, 3.70739342e-01, 1.96927769e-01, 1.01187273e-01,
 -5.78287562e-05, 1.04788715e-03, 2.49439766e-04,-1.09807893e-04,
 -2.24124635e-04,-9.40217341e-05,-3.05638161e-05, 1.64843099e-04,
 -1.82227104e-05, 6.67117207e-06,-9.80997787e+00,-6.64623526e-02,
 -1.11008850e-02,-3.95198790e-03]


--- Step 2528 ---
qpos:
[ 0.01164309, 0.26785927,-0.07915351, 0.73250178,-0.0328417 , 0.08838785,
 -0.20625104, 0.53690487, 0.01500343, 1.14728276,-0.02284791, 0.94874419,
  0.9544395 , 0.00372327, 1.20864112, 0.04585242, 0.08304354,-0.06846695,
  0.14419518, 0.94700135,-0.03953808, 0.01219508, 0.31855371]

qacc:
[-25.24056262, -8.80139516,  1.23435656,-62.74674556,-62.51000092,
  10.57127494,-12.69738191,-56.19296249, -0.069773  , -0.66557501,
  15.43932796,-37.17724243, -0.59127332, -0.41858664,  9.68806301,
 -32.94877028,  0.30996767, -0.36827887, -0.21126764, -0.90869941,
   8.53016143,-18.97288993]

qfrc_actuator:
[-2.04514177e-02, 1.25298378e-01, 5.80397915e-02, 8.43661644e-02,
  2.49775825e-02, 3.78489774e-01, 1.85890111e-01, 1.35928956e-01,
 -2.81869325e-03, 1.06785574e-01, 1.00974416e-02, 7.84440301e-03,
  3.68957946e-02, 3.59144668e-04, 0.00000000e+00,-1.85031738e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001211681908171164
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.57057863e-01, -7.53455177e-01,  2.40886020e-02,  1.58321994e-02,
        1.81549500e-02,  9.99709828e-01, -7.53673873e-01,  6.57248578e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08781865, -0.03392234,  0.12858136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022787856635941447
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96824354, -0.24944467,  0.01678721, -0.24940719,  0.96838905,
        0.00432417, -0.01733519,  0.        , -0.99984973])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11705945, -0.08320778,  0.11466789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034464648252201247
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.02667328e-14, -8.05334655e-14,  1.00000000e+00,  3.24281953e-27,
        1.00000000e+00,  8.05334655e-14, -1.00000000e+00,  0.00000000e+00,
        4.02667328e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03944486, -0.06478591,  0.06199238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.51267858e-02, 1.19078782e-01, 6.07915211e-02, 1.80853722e-02,
  1.94028181e-02, 3.71082732e-01, 1.97388492e-01, 1.01261223e-01,
 -1.79746140e-05, 8.17295393e-04, 2.99354737e-04,-5.42667604e-05,
 -2.20875716e-04,-1.51059442e-04,-9.41556122e-08,-1.59126522e-04,
 -3.65959015e-05, 3.29018490e-05,-9.80995545e+00,-6.64656111e-02,
 -1.10890369e-02,-3.95800498e-03]


--- Step 2529 ---
qpos:
[ 0.01189111, 0.26772687,-0.07930553, 0.73377957,-0.03274782, 0.0885054 ,
 -0.2064848 , 0.53757168, 0.01500474, 1.1487547 ,-0.02285775, 0.94885874,
  0.95524378, 0.00375728, 1.2088073 , 0.04584757, 0.08305572,-0.06847347,
  0.14418904, 0.94704008,-0.03953654, 0.01228959, 0.3184351 ]

qacc:
[-2.61533540e+01,-1.40800850e+01, 1.57788594e+01,-7.04496781e+01,
 -6.79250876e+01, 9.14612920e+00,-8.86255516e+00,-6.01611588e+01,
  6.42909815e-02,-5.07418996e+00, 2.46632362e+01,-4.59713765e+01,
  2.12806799e-01,-1.82209824e+00, 7.91143116e+00,-2.76643320e+01,
  3.08747379e-01,-3.24667542e-01,-2.08680093e-01,-8.04363166e-01,
  8.18887708e+00,-1.74424489e+01]

qfrc_actuator:
[-2.06892689e-02, 1.25989368e-01, 5.82251733e-02, 8.38343261e-02,
  2.48304172e-02, 3.78942678e-01, 1.86130058e-01, 1.35842054e-01,
 -2.79356275e-03, 1.06658350e-01, 1.00918929e-02, 7.72601518e-03,
  3.68272914e-02, 2.49101269e-04, 0.00000000e+00,-1.98122240e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012120971079522432
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.57182952e-01, -7.53342450e-01,  2.42016718e-02,  1.59095860e-02,
        1.82374885e-02,  9.99707097e-01, -7.53563171e-01,  6.57375499e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08781376, -0.03391099,  0.12860441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022948843932070724
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68274230e-01, -2.49296886e-01,  1.72069016e-02, -2.49257531e-01,
        9.68427108e-01,  4.42947844e-03, -1.77678852e-02, -8.67361738e-19,
       -9.99842139e-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([ 0.11704756, -0.08320414,  0.11468015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003434539624432714
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61626178e-13,  8.08130889e-14,  1.00000000e+00,  1.30615107e-26,
        1.00000000e+00, -8.08130889e-14, -1.00000000e+00,  0.00000000e+00,
       -1.61626178e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03944355, -0.06478594,  0.0619924 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.46735674e-02, 1.21153981e-01, 6.16905964e-02, 1.78801443e-02,
  1.96776925e-02, 3.71332719e-01, 1.97865719e-01, 1.01397612e-01,
  1.67140450e-05, 3.62416317e-04, 1.82207355e-04,-8.49787284e-05,
 -2.17927840e-04,-2.04246603e-04,-2.49088150e-05,-1.41328468e-04,
 -7.50181135e-05, 7.66231838e-05,-9.80992327e+00,-6.64726248e-02,
 -1.10763925e-02,-3.96602843e-03]


--- Step 2530 ---
qpos:
[ 0.0121245 , 0.26756687,-0.07946897, 0.73505138,-0.03266368, 0.08862528,
 -0.20672296, 0.53823386, 0.01500612, 1.15022643,-0.02286572, 0.94896988,
  0.95604654, 0.0037902 , 1.20897285, 0.04584519, 0.08306915,-0.0684811 ,
  0.14418208, 0.94708859,-0.03954166, 0.01239731, 0.31828598]

qacc:
[-2.67466542e+01,-1.53116062e+01, 2.13795709e+01,-7.40471883e+01,
 -7.19519479e+01, 7.48440490e+00,-4.63614138e+00,-6.43276414e+01,
  3.09745338e-02,-1.12194321e+01, 4.31723824e+01,-7.67529814e+01,
 -2.49836385e-01,-8.43856458e-01,-8.37675084e+00, 2.79199171e+01,
  3.11044343e-01,-2.76744505e-01,-2.07976484e-01,-6.71953314e-01,
  7.86022965e+00,-1.57812685e+01]

qfrc_actuator:
[-2.09226008e-02, 1.26651750e-01, 5.83515276e-02, 8.31853445e-02,
  2.47100770e-02, 3.79254192e-01, 1.86352514e-01, 1.35685696e-01,
 -2.79684847e-03, 1.06453260e-01, 1.01091358e-02, 7.53934335e-03,
  3.67572962e-02, 2.06128085e-04, 0.00000000e+00,-1.84323573e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012111159661521
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.57375566e-01, -7.53170298e-01,  2.43283277e-02,  1.59975831e-02,
        1.83287987e-02,  9.99704022e-01, -7.53393286e-01,  6.57570192e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08781168, -0.03389986,  0.12862578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002309771802311312
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68321984e-01, -2.49082032e-01,  1.76260421e-02, -2.49040778e-01,
        9.68482391e-01,  4.53320621e-03, -1.81996516e-02, -8.67361738e-19,
       -9.99834373e-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([ 0.11703505, -0.08319996,  0.11469238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003423755263057965
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.10676391e-14,  8.10676391e-14,  1.00000000e+00, -6.57196212e-27,
        1.00000000e+00, -8.10676391e-14, -1.00000000e+00,  0.00000000e+00,
        8.10676391e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03944228, -0.06478596,  0.06199243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.41906863e-02, 1.23261116e-01, 6.24492433e-02, 1.75390071e-02,
  2.00163684e-02, 3.71477144e-01, 1.98316157e-01, 1.01467789e-01,
  7.85796277e-06, 9.18430598e-06, 1.01896069e-04,-1.70910257e-04,
 -2.30816749e-04,-1.51160044e-04,-3.24796558e-05, 1.25784669e-04,
 -1.28872227e-04, 1.33747361e-04,-9.80988299e+00,-6.64826650e-02,
 -1.10628394e-02,-3.97597157e-03]


--- Step 2531 ---
qpos:
[ 0.01234313, 0.26738052,-0.07964246, 0.73631742,-0.03258957, 0.08874622,
 -0.20696544, 0.53889135, 0.01500753, 1.15169511,-0.02287167, 0.94907786,
  0.95684774, 0.00382248, 1.20913837, 0.04584307, 0.08308383,-0.0684896 ,
  0.14417428, 0.94714565,-0.03955289, 0.0125178 , 0.31811002]

qacc:
[-2.69996942e+01,-1.70378045e+01, 2.86180582e+01,-7.90263163e+01,
 -7.40761132e+01, 5.60916061e+00,-2.14854518e-01,-6.84204681e+01,
  1.50958293e-02,-1.49587338e+01, 5.03853479e+01,-7.84818771e+01,
 -7.82631623e-01, 7.63895975e-02,-8.37779262e-01, 2.94233172e+00,
  3.14218679e-01,-2.19850448e-01,-2.07654704e-01,-5.27845305e-01,
  7.49422088e+00,-1.38538223e+01]

qfrc_actuator:
[-2.11116728e-02, 1.27520295e-01, 5.85173318e-02, 8.23618315e-02,
  2.46455617e-02, 3.79480518e-01, 1.86601647e-01, 1.35560565e-01,
 -2.79941265e-03, 1.06114448e-01, 1.01393010e-02, 7.36717333e-03,
  3.66918068e-02, 1.85579303e-04, 0.00000000e+00,-1.83197367e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012089334398351914
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.57628763e-01, -7.52944644e-01,  2.44698538e-02,  1.60968996e-02,
        1.84299639e-02,  9.99700568e-01, -7.53170167e-01,  6.57825737e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08781234, -0.03388898,  0.12864559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023236973950238426
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68385136e-01, -2.48806271e-01,  1.80462979e-02, -2.48763079e-01,
        9.68553271e-01,  4.63581323e-03, -1.86322202e-02, -8.67361738e-19,
       -9.99826405e-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([ 0.1170221 , -0.08319531,  0.11470457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034141121914810224
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.12966126e-14, -8.12966126e-14,  1.00000000e+00, -6.60913922e-27,
        1.00000000e+00,  8.12966126e-14, -1.00000000e+00,  0.00000000e+00,
       -8.12966126e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03944106, -0.06478599,  0.06199245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.36475602e-02, 1.25513736e-01, 6.31879990e-02, 1.70131957e-02,
  2.04384893e-02, 3.71584233e-01, 1.98785412e-01, 1.01572691e-01,
  3.55017899e-06,-3.38109130e-04, 3.41505907e-05,-1.71243711e-04,
 -2.19757366e-04,-1.17209575e-04,-5.06675583e-06, 1.32572217e-05,
 -1.93468905e-04, 2.00026439e-04,-9.80983626e+00,-6.64949598e-02,
 -1.10482692e-02,-3.98774826e-03]


--- Step 2532 ---
qpos:
[ 0.01254711, 0.26717309,-0.07982571, 0.73757759,-0.03252563, 0.08886695,
 -0.20721227, 0.53954408, 0.01500927, 1.15315956,-0.02287713, 0.94918523,
  0.95764738, 0.00385463, 1.20930362, 0.04584277, 0.08309975,-0.06849876,
  0.14416568, 0.94721009,-0.03956983, 0.01265044, 0.31791073]

qacc:
[-26.83099364,-11.09857818, 17.94105907,-74.84574936,-75.08053212,
   4.04724818,  3.04835695,-71.16246889,  0.14290643, -7.90292452,
  20.32775225,-22.08186013, -1.00715976,  0.68447822, -5.80397325,
  19.91739319,  0.30907674, -0.16290593, -0.19988137, -0.47613869,
   7.08161965,-12.01791139]

qfrc_actuator:
[-2.12859584e-02, 1.28486820e-01, 5.86922315e-02, 8.17198191e-02,
  2.46187295e-02, 3.79691566e-01, 1.86886212e-01, 1.35828900e-01,
 -2.76602896e-03, 1.05804845e-01, 1.01230566e-02, 7.32909439e-03,
  3.66344060e-02, 1.96234166e-04, 0.00000000e+00,-1.73576938e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012057548576163706
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65793467, -0.75267221,  0.02462754,  0.01620823,  0.01854209,
        0.9996967 , -0.75290056,  0.65813429,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08781565, -0.03387839,  0.12866394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002336902415298045
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68461769e-01, -2.48476734e-01,  1.84692651e-02, -2.48431562e-01,
        9.68637865e-01,  4.73776923e-03, -1.90672549e-02,  8.67361738e-19,
       -9.99818203e-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([ 0.1170089 , -0.08319027,  0.11471673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034056220125321113
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.62998568e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.62998568e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03943988, -0.06478601,  0.06199247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.30830515e-02, 1.27802923e-01, 6.38665053e-02, 1.66581686e-02,
  2.09130534e-02, 3.71739095e-01, 1.99285752e-01, 1.02074773e-01,
  3.70327675e-05,-5.14122070e-04,-8.78048905e-05,-4.94539473e-05,
 -1.97798917e-04,-7.39436255e-05,-7.10802584e-06, 9.49649565e-05,
 -2.63416110e-04, 2.70465797e-04,-9.80978511e+00,-6.65085778e-02,
 -1.10326085e-02,-4.00126455e-03]


--- Step 2533 ---
qpos:
[ 0.01273669, 0.26694792,-0.08001827, 0.73883185,-0.03247189, 0.08898634,
 -0.20746354, 0.540192  , 0.01501136, 1.15462057,-0.02288329, 0.94929133,
  0.95844564, 0.00388634, 1.20946879, 0.04584361, 0.08311688,-0.06850835,
  0.14415633, 0.94728082,-0.03959214, 0.01279461, 0.31769137]

qacc:
[-26.39761716, -7.96561116, 13.16909207,-73.47969772,-75.29228139,
   2.78518521,  5.55442049,-73.23085275,  0.16018686, -4.81033307,
  12.81747038,-23.62253315, -0.71488404,  0.18797467, -3.50445235,
  12.19015622,  0.30098971, -0.10956979, -0.18978583, -0.45677332,
   6.66834998,-10.31372758]

qfrc_actuator:
[-2.14633318e-02, 1.29286627e-01, 5.88230706e-02, 8.12068761e-02,
  2.45831561e-02, 3.79912054e-01, 1.87158300e-01, 1.36210985e-01,
 -2.74688490e-03, 1.05674930e-01, 1.00974534e-02, 7.26366437e-03,
  3.65659372e-02, 1.72091141e-04, 0.00000000e+00,-1.67901709e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012020116392078065
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.58283508e-01, -7.52361303e-01,  2.48051011e-02,  1.63338148e-02,
        1.86681423e-02,  9.99692306e-01, -7.52592871e-01,  6.58486120e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08782125, -0.03386807,  0.12868113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023495746205787855
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68550075e-01, -2.48100205e-01,  1.88955222e-02, -2.48053004e-01,
        9.68734374e-01,  4.83928623e-03, -1.95053697e-02, -8.67361738e-19,
       -9.99809752e-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([ 0.11699567, -0.0831849 ,  0.11472885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033981796435890443
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22516664e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.22516664e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03943875, -0.06478603,  0.06199248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.25272024e-02, 1.29663353e-01, 6.44875687e-02, 1.64377718e-02,
  2.13860305e-02, 3.71967468e-01, 1.99775839e-01, 1.02693686e-01,
  4.17142980e-05,-4.51836325e-04,-1.41807588e-04,-8.27695496e-05,
 -1.87050524e-04,-9.15286610e-05, 1.55017898e-06, 5.99116093e-05,
 -3.34746395e-04, 3.41456073e-04,-9.80973134e+00,-6.65228166e-02,
 -1.10158828e-02,-4.01643146e-03]


--- Step 2534 ---
qpos:
[ 0.01291219, 0.26670382,-0.08021858, 0.74008052,-0.03242826, 0.08910339,
 -0.20771927, 0.54083504, 0.0150133 , 1.15608086,-0.02289157, 0.949395  ,
  0.95924256, 0.00391755, 1.20963419, 0.0458431 , 0.08313519,-0.06851817,
  0.14414623, 0.94735673,-0.03961937, 0.01294978, 0.31745525]

qacc:
[-2.58290017e+01,-1.32198811e+01, 2.78230050e+01,-8.22175855e+01,
 -7.44617884e+01, 1.48115787e+00, 8.40159188e+00,-7.58169496e+01,
 -6.75215576e-02, 5.46588280e-01, 1.99740563e+00,-2.94118526e+01,
 -8.32297675e-01, 2.94568900e-01, 4.43518178e+00,-1.49096457e+01,
  2.98378151e-01,-5.69859095e-02,-1.84748474e-01,-3.78229123e-01,
  6.29066965e+00,-8.57193927e+00]

qfrc_actuator:
[-2.16191988e-02, 1.29973740e-01, 5.89841908e-02, 8.05962245e-02,
  2.45286887e-02, 3.80174913e-01, 1.87424725e-01, 1.36343731e-01,
 -2.78971155e-03, 1.05813505e-01, 1.00494705e-02, 7.14721806e-03,
  3.64961928e-02, 1.45176510e-04, 0.00000000e+00,-1.75249604e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011979865858847854
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.58667289e-01, -7.52018734e-01,  2.50045288e-02,  1.64748162e-02,
        1.88097552e-02,  9.99687338e-01, -7.52253935e-01,  6.58873294e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08782891, -0.03385803,  0.12869733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023618753788148253
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68648369e-01, -2.47682992e-01,  1.93254229e-02, -2.47633713e-01,
        9.68841130e-01,  4.94051956e-03, -1.99469472e-02, -8.67361738e-19,
       -9.99801040e-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([ 0.11698257, -0.08317926,  0.11474092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033916441671526243
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22752746e-13, -8.18351639e-14,  1.00000000e+00,  1.00454911e-26,
        1.00000000e+00,  8.18351639e-14, -1.00000000e+00,  0.00000000e+00,
        1.22752746e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03943766, -0.06478604,  0.0619925 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.19625096e-02, 1.31244577e-01, 6.51169522e-02, 1.61209828e-02,
  2.18418674e-02, 3.72294085e-01, 2.00264277e-01, 1.03066010e-01,
 -1.76022282e-05,-1.60342590e-04,-1.59109444e-04,-1.34293068e-04,
 -1.86890196e-04,-9.66806757e-05, 1.28033974e-06,-7.12572751e-05,
 -4.04554157e-04, 4.10359762e-04,-9.80967636e+00,-6.65371365e-02,
 -1.09981048e-02,-4.03315965e-03]


--- Step 2535 ---
qpos:
[ 0.01307405, 0.26644162,-0.08042558, 0.74132372,-0.03239456, 0.08921719,
 -0.20797944, 0.54147316, 0.0150151 , 1.15754137,-0.0229015 , 0.94949777,
  0.96003809, 0.00394846, 1.20979937, 0.0458434 , 0.08315469,-0.06852804,
  0.14413542, 0.94743686,-0.03965116, 0.01311547, 0.31720525]

qacc:
[-2.50558043e+01,-1.46623817e+01, 3.36273492e+01,-8.64618711e+01,
 -7.32682592e+01, 2.71018218e-01, 1.10854946e+01,-7.82265137e+01,
 -6.52236264e-02, 3.20048650e+00,-8.25805224e+00,-3.36631702e+00,
 -8.22730441e-01, 3.97353820e-01,-2.69649460e+00, 9.09247900e+00,
  2.95351117e-01,-1.16996222e-02,-1.79099785e-01,-3.14248023e-01,
  5.95398711e+00,-7.06422216e+00]

qfrc_actuator:
[-2.17567206e-02, 1.30530514e-01, 5.91833816e-02, 8.01420398e-02,
  2.44668607e-02, 3.80429238e-01, 1.87689540e-01, 1.36470880e-01,
 -2.79834051e-03, 1.05934316e-01, 1.00075077e-02, 7.10835360e-03,
  3.64310553e-02, 1.34602159e-04, 0.00000000e+00,-1.70681485e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001193549301239774
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65653764, -0.75384947,  0.02587086,  0.01699088,  0.01950926,
        0.99966529, -0.75410188,  0.65675746,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08786774, -0.03387425,  0.12872002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0023739703303018414
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96875492, -0.24723157,  0.01976007, -0.24718015,  0.96895642,
        0.00504183, -0.02039315,  0.        , -0.99979204])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11696979, -0.08317341,  0.11475294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033859547654782607
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63945342e-13, -2.45918013e-13,  1.00000000e+00,  4.03171128e-26,
        1.00000000e+00,  2.45918013e-13, -1.00000000e+00,  0.00000000e+00,
        1.63945342e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0394366 , -0.06478605,  0.06199251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.13952728e-02, 1.32755950e-01, 6.57058449e-02, 1.59457039e-02,
  2.22850151e-02, 3.72663072e-01, 2.00751936e-01, 1.03435776e-01,
 -1.69708045e-05,-2.17482157e-05,-9.95982711e-05,-4.97643672e-05,
 -1.83798466e-04,-8.15821091e-05,-1.40528765e-05, 4.04207816e-05,
 -4.69792108e-04, 4.74370873e-04,-9.80962137e+00,-6.65509651e-02,
 -1.09791865e-02,-4.05135669e-03]


--- Step 2536 ---
qpos:
[ 0.01322283, 0.26616318,-0.08063855, 0.74256152,-0.03237055, 0.08932689,
 -0.20824415, 0.5421063 , 0.01501678, 1.15899952,-0.02291017, 0.94959973,
  0.96083226, 0.00397879, 1.20996428, 0.04584556, 0.08317535,-0.06853778,
  0.14412393, 0.94752028,-0.03968718, 0.01329115, 0.31694414]

qacc:
[-2.40575469e+01,-1.41038967e+01, 3.47022921e+01,-8.81986259e+01,
 -7.12616973e+01,-6.26968949e-01, 1.28362566e+01,-7.98273499e+01,
 -5.16614727e-02,-7.90545567e+00, 2.37052249e+01,-2.85321201e+01,
 -5.55831811e-01,-9.20289935e-02,-5.99113790e+00, 2.04362070e+01,
  2.88975860e-01, 3.24660679e-02,-1.70633860e-01,-2.85042211e-01,
  5.59976726e+00,-5.61706534e+00]

qfrc_actuator:
[-2.19490483e-02, 1.30998068e-01, 5.93897173e-02, 7.98015886e-02,
  2.44222524e-02, 3.80627030e-01, 1.87901908e-01, 1.36756446e-01,
 -2.80414796e-03, 1.05724259e-01, 1.00405499e-02, 7.06222036e-03,
  3.63527569e-02, 9.83265809e-05, 0.00000000e+00,-1.60899687e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011890742002011083
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65697277, -0.753462  ,  0.02611138,  0.01716032,  0.01968064,
        0.99965904, -0.75371898,  0.65719685,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08787968, -0.03386492,  0.1287343 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002385984027882951
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68868222e-01, -2.46751526e-01,  2.02003051e-02, -2.46697912e-01,
        9.69078781e-01,  5.14349936e-03, -2.08448533e-02, -8.67361738e-19,
       -9.99782722e-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([ 0.11695748, -0.0831674 ,  0.11476489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003381022607081702
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.46276753e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.46276753e-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([ 0.03943558, -0.06478606,  0.06199252])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.09045145e-02, 1.34136936e-01, 6.62501451e-02, 1.58771949e-02,
  2.27375665e-02, 3.73021166e-01, 2.01186984e-01, 1.03966568e-01,
 -1.37942324e-05,-2.61724035e-04, 1.17695769e-05,-4.92092981e-05,
 -1.91697574e-04,-1.02356083e-04,-7.36862294e-06, 9.71106310e-05,
 -5.29492939e-04, 5.32681904e-04,-9.80956696e+00,-6.65640757e-02,
 -1.09591075e-02,-4.07095084e-03]


--- Step 2537 ---
qpos:
[ 0.01335913, 0.26586765,-0.08085591, 0.74379419,-0.03235579, 0.08943171,
 -0.20851354, 0.5427344 , 0.01501836, 1.16045241,-0.02291667, 0.94969955,
  0.96162495, 0.00400877, 1.21012977, 0.04584349, 0.08319712,-0.0685472 ,
  0.14411179, 0.94760606,-0.03972717, 0.01347623, 0.31667475]

qacc:
[-2.29479857e+01,-1.89243686e+01, 4.85221998e+01,-9.66918980e+01,
 -6.82072065e+01,-1.30857099e+00, 1.39435100e+01,-8.08875157e+01,
 -3.73193155e-02,-1.64630366e+01, 4.96973729e+01,-6.46007327e+01,
 -1.26478349e+00, 8.83911104e-01, 1.37412863e+01,-4.65739348e+01,
  2.80629752e-01, 7.94391038e-02,-1.61931449e-01,-2.85471942e-01,
  5.23219280e+00,-4.13607931e+00]

qfrc_actuator:
[-2.21516082e-02, 1.31435219e-01, 5.96022815e-02, 7.92829662e-02,
  2.43916856e-02, 3.80846302e-01, 1.88102426e-01, 1.37139086e-01,
 -2.80823163e-03, 1.05282667e-01, 1.00808387e-02, 6.94098727e-03,
  3.62772619e-02, 8.25168515e-05, 0.00000000e+00,-1.83632425e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011845979172720536
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65742588, -0.75305753,  0.02637365,  0.01734475,  0.01986779,
        0.99965215, -0.75331956,  0.65765465,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08789359, -0.03385592,  0.12874777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002398000799932731
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96898685, -0.24624825,  0.02064659, -0.24619237,  0.96920679,
        0.00524572, -0.02130256,  0.        , -0.99977307])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11694578, -0.08316128,  0.11477679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003376717415086994
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.21969155e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.21969155e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03943458, -0.06478607,  0.06199253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.04519331e-02, 1.35395211e-01, 6.67640353e-02, 1.56276134e-02,
  2.31907778e-02, 3.73442831e-01, 2.01614686e-01, 1.04597181e-01,
 -1.02987970e-05,-6.04085010e-04,-1.51503233e-05,-1.28152214e-04,
 -1.97627809e-04,-8.96784271e-05, 1.99168025e-06,-2.24028878e-04,
 -5.82130784e-04, 5.83806731e-04,-9.80951420e+00,-6.65760835e-02,
 -1.09379333e-02,-4.09186771e-03]


--- Step 2538 ---
qpos:
[ 0.01348366, 0.265557  ,-0.08107676, 0.7450218 ,-0.03234981, 0.08953081,
 -0.20878775, 0.54335742, 0.01502004, 1.16189802,-0.02292209, 0.94979777,
  0.96241634, 0.00403806, 1.21029544, 0.04583739, 0.08321999,-0.06855613,
  0.14409903, 0.94769332,-0.03977088, 0.01367016, 0.31639972]

qacc:
[-2.16864459e+01,-1.86769574e+01, 5.07951398e+01,-9.95407688e+01,
 -6.45545761e+01,-2.08637735e+00, 1.52372191e+01,-8.18609371e+01,
  4.17567836e-02,-1.52559973e+01, 4.14899325e+01,-5.01172103e+01,
 -8.68059510e-01, 2.34122701e-01, 1.25001295e+01,-4.32247820e+01,
  2.72395037e-01, 1.23750579e-01,-1.53675095e-01,-2.95958324e-01,
  4.88995329e+00,-2.75912107e+00]

qfrc_actuator:
[-2.23556857e-02, 1.32003506e-01, 5.98549092e-02, 7.87658404e-02,
  2.43730029e-02, 3.81098639e-01, 1.88351060e-01, 1.37528761e-01,
 -2.79351151e-03, 1.04759262e-01, 1.00708064e-02, 6.84735241e-03,
  3.62088333e-02, 4.35036066e-05, 0.00000000e+00,-2.04037146e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001180116679468362
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65789253, -0.75263992,  0.02665648,  0.01754333,  0.02006986,
        0.99964465, -0.75290747,  0.65812639,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08790951, -0.03384727,  0.12876044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024100746438939884
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69109349e-01, -2.45727265e-01,  2.10993055e-02, -2.45669047e-01,
        9.69339007e-01,  5.34867016e-03, -2.17666939e-02,  8.67361738e-19,
       -9.99763077e-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([ 0.11693484, -0.0831551 ,  0.11478861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003372945427877888
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23433255e-13,  8.22888369e-14,  1.00000000e+00, -1.01571790e-26,
        1.00000000e+00, -8.22888369e-14, -1.00000000e+00,  0.00000000e+00,
        1.23433255e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03943361, -0.06478607,  0.06199253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.00314485e-02, 1.36828439e-01, 6.72400934e-02, 1.53656859e-02,
  2.36353290e-02, 3.73937196e-01, 2.02098298e-01, 1.05237735e-01,
  1.04508773e-05,-8.82735945e-04,-1.37709782e-04,-1.13335832e-04,
 -1.91405118e-04,-1.10425079e-04,-3.17503452e-05,-2.17950298e-04,
 -6.25945751e-04, 6.25953722e-04,-9.80946422e+00,-6.65865545e-02,
 -1.09157538e-02,-4.11403098e-03]


--- Step 2539 ---
qpos:
[ 0.01359715, 0.2652331 ,-0.08130026, 0.7462444 ,-0.03235206, 0.08962329,
 -0.20906686, 0.54397535, 0.01502171, 1.1633357 ,-0.02292716, 0.94989457,
  0.96320619, 0.00406698, 1.21046049, 0.04583255, 0.08324391,-0.0685644 ,
  0.14408569, 0.94778128,-0.03981814, 0.01387244, 0.31612137]

qacc:
[-2.03540222e+01,-1.83493112e+01, 5.27332520e+01,-1.02284748e+02,
 -6.05356827e+01,-3.05147358e+00, 1.69512584e+01,-8.27972633e+01,
 -6.36970273e-03,-1.37880083e+01, 3.52867925e+01,-4.20179851e+01,
 -8.44579467e-01, 3.40912172e-01,-4.64331211e+00, 1.50362722e+01,
  2.63314147e-01, 1.63779431e-01,-1.45360421e-01,-3.25693680e-01,
  4.57373069e+00,-1.53850433e+00]

qfrc_actuator:
[-2.25918909e-02, 1.32584334e-01, 6.01146697e-02, 7.82515979e-02,
  2.43469112e-02, 3.81391356e-01, 1.88683827e-01, 1.37942468e-01,
 -2.80315877e-03, 1.04315164e-01, 1.00663116e-02, 6.77060337e-03,
  3.61287050e-02, 2.65508786e-05, 0.00000000e+00,-1.96266466e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011758042542605455
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.58366802e-01, -7.52214244e-01,  2.69607959e-02,  1.77565476e-02,
        2.02876694e-02,  9.99636492e-01, -7.52487780e-01,  6.58606211e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08792728, -0.03383896,  0.12877245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024222152662269256
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69234380e-01, -2.45193687e-01,  2.15585879e-02, -2.45133055e-01,
        9.69474113e-01,  5.45247117e-03, -2.22374044e-02, -8.67361738e-19,
       -9.99752718e-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([ 0.11692479, -0.0831489 ,  0.11480035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033696233798671815
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23554946e-13, -2.47109892e-13,  1.00000000e+00,  3.05316493e-26,
        1.00000000e+00,  2.47109892e-13, -1.00000000e+00,  0.00000000e+00,
        1.23554946e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03943266, -0.06478607,  0.06199254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.96781189e-02, 1.38176411e-01, 6.76779194e-02, 1.51034466e-02,
  2.40478393e-02, 3.74514018e-01, 2.02672701e-01, 1.05904471e-01,
 -2.17869952e-06,-9.80887849e-04,-2.00075468e-04,-1.07963903e-04,
 -2.05301464e-04,-9.24640180e-05,-4.45138392e-05, 6.02869613e-05,
 -6.60535442e-04, 6.58706099e-04,-9.80941752e+00,-6.65953179e-02,
 -1.08926124e-02,-4.13737243e-03]


--- Step 2540 ---
qpos:
[ 0.01370043, 0.264898  ,-0.0815258 , 0.74746198,-0.03236195, 0.08970844,
 -0.20935092, 0.54458817, 0.01502347, 1.16476752,-0.02293308, 0.94998824,
  0.96399431, 0.00409602, 1.21062528, 0.04582859, 0.08326885,-0.06857187,
  0.1440718 , 0.94786925,-0.03986879, 0.01408258, 0.31584181]

qacc:
[-1.88768208e+01,-1.73741376e+01, 5.28547080e+01,-1.04049452e+02,
 -5.61899914e+01,-3.81582148e+00, 1.83208379e+01,-8.35766882e+01,
  4.52549064e-02,-1.08448306e+01, 3.24691653e+01,-6.08671316e+01,
 -1.37947765e+00, 1.25027414e+00,-2.97876580e+00, 1.01152022e+01,
  2.55084875e-01, 1.99470781e-01,-1.37744147e-01,-3.51210944e-01,
  4.28674939e+00,-4.42984305e-01]

qfrc_actuator:
[-2.27723919e-02, 1.33141338e-01, 6.03970244e-02, 7.78298291e-02,
  2.43193403e-02, 3.81693741e-01, 1.88980313e-01, 1.38301631e-01,
 -2.79184875e-03, 1.04152986e-01, 1.00654343e-02, 6.61566597e-03,
  3.60469505e-02, 4.05344550e-05, 0.00000000e+00,-1.91485166e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011718197123633811
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.58843430e-01, -7.51785030e-01,  2.72874230e-02,  1.79848364e-02,
        2.05219179e-02,  9.99627629e-01, -7.52065078e-01,  6.59088855e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08794677, -0.03383097,  0.12878391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024343844598447534
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96936078, -0.24465205,  0.02202411, -0.24458893,  0.96961094,
        0.00555712, -0.02271438,  0.        , -0.999742  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11691578, -0.08314273,  0.11481199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033666759712419614
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.12210380e-14, -8.24420760e-14,  1.00000000e+00, -3.39834794e-27,
        1.00000000e+00,  8.24420760e-14, -1.00000000e+00,  0.00000000e+00,
       -4.12210380e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03943172, -0.06478606,  0.06199255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.93059868e-02, 1.39406407e-01, 6.80969267e-02, 1.49315441e-02,
  2.44317327e-02, 3.75146116e-01, 2.03214720e-01, 1.06517502e-01,
  1.15928173e-05,-7.65112994e-04,-2.22524533e-04,-1.90768308e-04,
 -2.09252659e-04,-6.00382010e-05,-1.76610861e-05, 4.46729033e-05,
 -6.86239225e-04, 6.82374841e-04,-9.80937430e+00,-6.66023390e-02,
 -1.08685660e-02,-4.16183311e-03]


--- Step 2541 ---
qpos:
[ 0.01379446, 0.26456068,-0.08175502, 0.74867392,-0.03237895, 0.089786  ,
 -0.20964007, 0.54519587, 0.01502551, 1.16619942,-0.02294154, 0.95007925,
  0.96478106, 0.00412448, 1.21079003, 0.04582454, 0.08329475,-0.06857845,
  0.14405742, 0.94795679,-0.03992285, 0.01430003, 0.31556237]

qacc:
[-1.71452882e+01,-2.24062206e+00, 1.92126599e+01,-8.81093411e+01,
 -5.22824140e+01,-3.78977230e+00, 1.77793309e+01,-8.28212712e+01,
  1.20368574e-01, 2.37437784e+00,-2.27104548e+00,-2.86690049e+01,
 -6.90554447e-01, 5.57917042e-02, 2.68403719e-01,-9.47675022e-01,
  2.38329237e-01, 2.24453900e-01,-1.22654831e-01,-4.75384584e-01,
  4.00444430e+00, 2.45522647e-01]

qfrc_actuator:
[-2.28981206e-02, 1.33847096e-01, 6.06578705e-02, 7.78561130e-02,
  2.42935853e-02, 3.82094052e-01, 1.89239294e-01, 1.39002925e-01,
 -2.76807591e-03, 1.04569373e-01, 1.00855325e-02, 6.50487479e-03,
  3.59749449e-02, 1.72551782e-06, 0.00000000e+00,-1.92062410e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011683177910763035
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65931756, -0.75135647,  0.02763722,  0.01822867,  0.02077334,
        0.99961802, -0.75164358,  0.6595695 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0879678 , -0.03382328,  0.12879494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002446535027403571
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96948749, -0.24410643,  0.02249576, -0.24404075,  0.96974845,
        0.00566266, -0.02319752,  0.        , -0.9997309 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11690791, -0.0831366 ,  0.11482352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033640298931282564
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.65013846e-13, -8.25069232e-14,  1.00000000e+00, -1.36147848e-26,
        1.00000000e+00,  8.25069232e-14, -1.00000000e+00,  0.00000000e+00,
       -1.65013846e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0394308 , -0.06478605,  0.06199255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.89198717e-02, 1.40684632e-01, 6.84635305e-02, 1.52079088e-02,
  2.47880347e-02, 3.75912081e-01, 2.03722299e-01, 1.07473438e-01,
  3.18768935e-05,-7.39468692e-05,-1.64348576e-04,-1.42808316e-04,
 -1.93492218e-04,-1.04864484e-04,-8.85480882e-06,-6.73718425e-06,
 -7.03509141e-04, 6.97399034e-04,-9.80933467e+00,-6.66076127e-02,
 -1.08436301e-02,-4.18735704e-03]


--- Step 2542 ---
qpos:
[ 0.01388029, 0.26423016,-0.08199034, 0.7498795 ,-0.03240257, 0.08985581,
 -0.20993448, 0.54579849, 0.01502783, 1.16763487,-0.02295131, 0.95016857,
  0.96556666, 0.00415174, 1.21095481, 0.04581943, 0.08332149,-0.06858406,
  0.14404264, 0.94804362,-0.03998052, 0.01452412, 0.31528384]

qacc:
[-15.26982332, 14.66414585,-19.98707419,-68.64089264,-48.70384299,
  -3.53077629, 16.48497071,-80.91706894,  0.1238411 ,  5.30420013,
  -8.21882093,-14.6881766 , -0.18988562, -0.86706634,  3.25477089,
 -11.32044676,  0.21327974,  0.24174712, -0.10159809, -0.68072715,
   3.69857487,  0.65415162]

qfrc_actuator:
[-2.29878696e-02, 1.34655339e-01, 6.08372723e-02, 7.82248574e-02,
  2.42714460e-02, 3.82574057e-01, 1.89548905e-01, 1.40000310e-01,
 -2.75479250e-03, 1.05063029e-01, 1.01380037e-02, 6.43908882e-03,
  3.59088183e-02,-6.80889066e-05, 0.00000000e+00,-1.97566563e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011658486725696997
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65978163, -0.75093497,  0.02801553,  0.01849139,  0.0210461 ,
        0.99960749, -0.75122983,  0.66004071,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08798974, -0.03381579,  0.12880594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002458601363044688
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96961387, -0.24355944,  0.02297275, -0.24349111,  0.96988597,
        0.00576896, -0.02368603,  0.        , -0.99971945])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11690124, -0.08313055,  0.11483493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033614820111003973
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.65138921e-13, -1.65138921e-13,  1.00000000e+00,  2.72708632e-26,
        1.00000000e+00,  1.65138921e-13, -1.00000000e+00,  0.00000000e+00,
        1.65138921e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03942989, -0.06478604,  0.06199255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.85463156e-02, 1.41615304e-01, 6.88317297e-02, 1.58572865e-02,
  2.51214397e-02, 3.76770660e-01, 2.04287763e-01, 1.08725747e-01,
  3.29500999e-05, 3.98442211e-04, 1.10995486e-05,-7.44832278e-05,
 -1.90082323e-04,-1.44670692e-04,-1.06786595e-05,-5.77979998e-05,
 -7.14931168e-04, 7.06375393e-04,-9.80929818e+00,-6.66115554e-02,
 -1.08179928e-02,-4.21391181e-03]


--- Step 2543 ---
qpos:
[ 0.01395893, 0.26390491,-0.08223164, 0.75107874,-0.0324322 , 0.08991759,
 -0.21023432, 0.54639606, 0.01503023, 1.16907178,-0.02295992, 0.95025648,
  0.96635091, 0.00417823, 1.21111952, 0.04581369, 0.083349  ,-0.06858861,
  0.14402751, 0.94812932,-0.04004183, 0.01475414, 0.31500757]

qacc:
[-1.34150558e+01, 1.23990878e+01,-1.50799232e+01,-7.15822103e+01,
 -4.41398983e+01,-3.46472583e+00, 1.55895316e+01,-7.92030664e+01,
  3.57910460e-02,-3.65192224e+00, 1.70542185e+01,-3.19021772e+01,
 -5.94876353e-01,-1.73619051e-01, 1.83615210e+00,-6.51850534e+00,
  1.91137205e-01, 2.65477503e-01,-8.52336946e-02,-8.31443113e-01,
  3.35456236e+00, 1.33708010e+00]

qfrc_actuator:
[-2.30356270e-02, 1.35481449e-01, 6.10249457e-02, 7.83760017e-02,
  2.42893397e-02, 3.83016306e-01, 1.89820090e-01, 1.40822313e-01,
 -2.76567392e-03, 1.05066946e-01, 1.01741859e-02, 6.36490965e-03,
  3.58409224e-02,-1.02419948e-04, 0.00000000e+00,-2.00601114e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011649080668635257
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.60229449e-01, -7.50525803e-01,  2.84269821e-02,  1.87759186e-02,
        2.13438092e-02,  9.99595872e-01, -7.50829234e-01,  6.60496375e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08801195, -0.03380839,  0.12881727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024704796698146506
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96973956, -0.24301262,  0.02345321, -0.24294158,  0.97002313,
        0.00587556, -0.02417799,  0.        , -0.99970767])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11689578, -0.08312459,  0.11484619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033587581843338987
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.30545685e-13,  8.26364212e-14,  1.00000000e+00, -2.73151125e-26,
        1.00000000e+00, -8.26364212e-14, -1.00000000e+00,  0.00000000e+00,
        3.30545685e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03942897, -0.06478602,  0.06199256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81831759e-02, 1.42113722e-01, 6.93284393e-02, 1.63258163e-02,
  2.54705661e-02, 3.77599651e-01, 2.04823406e-01, 1.09801166e-01,
  9.42933794e-06, 2.06320957e-04, 1.09075160e-04,-6.21346830e-05,
 -1.99684344e-04,-1.19431089e-04,-1.70042746e-05,-3.61473650e-05,
 -7.22245939e-04, 7.11138627e-04,-9.80926471e+00,-6.66144714e-02,
 -1.07918349e-02,-4.24145659e-03]


--- Step 2544 ---
qpos:
[ 0.01403135, 0.26357966,-0.08247737, 0.75227202,-0.0324671 , 0.08997081,
 -0.21053967, 0.54698863, 0.01503278, 1.17051042,-0.02296897, 0.95034361,
  0.9671337 , 0.00420409, 1.21128391, 0.04580927, 0.08337721,-0.06859198,
  0.14401209, 0.94821334,-0.04010677, 0.01498947, 0.31473517]

qacc:
[-1.16001653e+01, 2.09329948e+00, 9.32011905e+00,-8.48645265e+01,
 -3.87321643e+01,-3.82355387e+00, 1.56562240e+01,-7.79504424e+01,
  6.43953803e-02, 2.09434400e+00,-2.49071525e+00,-8.03229323e+00,
 -6.15992920e-01,-8.37401184e-02,-4.46164602e+00, 1.49925686e+01,
  1.72875751e-01, 2.94248348e-01,-7.38750850e-02,-9.46656279e-01,
  3.01922903e+00, 2.18246053e+00]

qfrc_actuator:
[-2.30914226e-02, 1.36281579e-01, 6.12376489e-02, 7.81860765e-02,
  2.43332825e-02, 3.83421539e-01, 1.90123739e-01, 1.41487826e-01,
 -2.75545984e-03, 1.05150506e-01, 1.01453832e-02, 6.32158119e-03,
  3.57666994e-02,-1.33148017e-04, 0.00000000e+00,-1.93277669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011653245420586674
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66066059, -0.75012945,  0.0288685 ,  0.01908023,  0.02166414,
        0.99958322, -0.75044223,  0.66093605,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08803456, -0.03380109,  0.12882884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00248206572491895
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96986395, -0.24246855,  0.02393574, -0.24239475,  0.97015927,
        0.00598218, -0.02467197,  0.        , -0.9996956 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11689159, -0.08311873,  0.11485729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033557171825034093
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.27113076e-14,  8.27113076e-14,  1.00000000e+00, -6.84116041e-27,
        1.00000000e+00, -8.27113076e-14, -1.00000000e+00,  0.00000000e+00,
        8.27113076e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03942803, -0.06478601,  0.06199257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.78784469e-02, 1.42662039e-01, 6.98440177e-02, 1.64520910e-02,
  2.58147153e-02, 3.78406609e-01, 2.05399560e-01, 1.10718391e-01,
  1.71434798e-05, 1.99286233e-04, 1.80838574e-05,-3.38206733e-05,
 -2.05032879e-04,-1.11012990e-04,-1.73904429e-05, 6.78683854e-05,
 -7.23270749e-04, 7.09543352e-04,-9.80923559e+00,-6.66158791e-02,
 -1.07651336e-02,-4.26990718e-03]


--- Step 2545 ---
qpos:
[ 0.01409855, 0.26325299,-0.08272661, 0.75345949,-0.0325065 , 0.09001497,
 -0.21085059, 0.54757627, 0.01503563, 1.17195382,-0.02297993, 0.95042834,
  0.96791499, 0.00422939, 1.21144863, 0.04580205, 0.08340603,-0.06859406,
  0.14399641, 0.94829522,-0.04017538, 0.01522952, 0.31446809]

qacc:
[-9.74834169e+00,-1.95042706e+00, 1.99618537e+01,-9.15058376e+01,
 -3.31239901e+01,-4.20081836e+00, 1.58269142e+01,-7.66259059e+01,
  1.27411793e-01, 7.28146321e+00,-1.13699870e+01,-2.07170549e+01,
 -1.03502904e+00, 4.60413091e-01, 9.04596456e+00,-3.07685460e+01,
  1.55459926e-01, 3.21525574e-01,-6.38509958e-02,-1.07867388e+00,
  2.72662629e+00, 2.92090236e+00]

qfrc_actuator:
[-2.31323845e-02, 1.37140294e-01, 6.14484753e-02, 7.78469236e-02,
  2.43767686e-02, 3.83843814e-01, 1.90449134e-01, 1.42150178e-01,
 -2.73268724e-03, 1.05582790e-01, 1.01142315e-02, 6.20794953e-03,
  3.56887378e-02,-1.61552899e-04, 0.00000000e+00,-2.08314597e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011667181424712483
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66107621, -0.7497451 ,  0.02933469,  0.01940081,  0.02200301,
        0.99956965, -0.75006789,  0.66136083,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08805793, -0.03379394,  0.12884041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002493237659413015
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96998627, -0.24193043,  0.02441914, -0.2418538 ,  0.9702936 ,
        0.0060886 , -0.02516675,  0.        , -0.99968327])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11688875, -0.083113  ,  0.1148682 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033523404162996706
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03942709, -0.06478598,  0.06199257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76074711e-02, 1.43532686e-01, 7.02812409e-02, 1.64101159e-02,
  2.61216504e-02, 3.79257638e-01, 2.06002511e-01, 1.11629949e-01,
  3.40877348e-05, 5.27226838e-04, 4.85861473e-06,-1.06333802e-04,
 -2.09243718e-04,-1.07715440e-04,-5.58544939e-06,-1.49893326e-04,
 -7.16851606e-04, 7.00430622e-04,-9.80921149e+00,-6.66155035e-02,
 -1.07378743e-02,-4.29918714e-03]


--- Step 2546 ---
qpos:
[ 0.01416154, 0.26292436,-0.08297857, 0.75464126,-0.03254964, 0.09004981,
 -0.21116709, 0.54815905, 0.01503891, 1.17340189,-0.02299061, 0.9505096 ,
  0.96869469, 0.00425419, 1.21161348, 0.04579174, 0.08343542,-0.06859476,
  0.14398051, 0.94837456,-0.0402477 , 0.01547379, 0.31420755]

qacc:
[-7.88013307e+00,-4.64293295e+00, 2.76780279e+01,-9.67853186e+01,
 -2.74241680e+01,-4.45791522e+00, 1.59231341e+01,-7.53479372e+01,
  1.92114547e-01,-6.21183684e-01, 1.64772203e+01,-5.74251458e+01,
 -1.15916213e+00, 6.26710027e-01, 9.60088018e+00,-3.31149565e+01,
  1.40072490e-01, 3.45678192e-01,-5.56956319e-02,-1.19986435e+00,
  2.47291632e+00, 3.56180521e+00]

qfrc_actuator:
[-2.31452033e-02, 1.38017823e-01, 6.16945320e-02, 7.74737225e-02,
  2.44213256e-02, 3.84333478e-01, 1.90772083e-01, 1.42723803e-01,
 -2.70258385e-03, 1.05883289e-01, 1.01543296e-02, 6.03630308e-03,
  3.56032638e-02,-1.88376205e-04, 0.00000000e+00,-2.23980606e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011689726182698842
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66147522, -0.74937381,  0.02982331,  0.01973616,  0.02235876,
        0.99955519, -0.74970729,  0.66176959,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08808215, -0.03378692,  0.12885193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002503868496134349
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97010588, -0.24140104,  0.02490228, -0.24132154,  0.97042544,
        0.00619464, -0.0256612 ,  0.        , -0.9996707 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1168873 , -0.08310742,  0.11487891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003348641890302678
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07215168e-13, -8.28860670e-14,  1.00000000e+00,  1.71752503e-26,
        1.00000000e+00,  8.28860670e-14, -1.00000000e+00,  0.00000000e+00,
        2.07215168e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03942614, -0.06478596,  0.06199258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73582066e-02, 1.44492960e-01, 7.07075099e-02, 1.63264215e-02,
  2.63915204e-02, 3.80200345e-01, 2.06605860e-01, 1.12449465e-01,
  5.10843287e-05, 5.72053545e-04, 1.36539819e-04,-1.56694040e-04,
 -2.18595159e-04,-1.06024788e-04,-2.62052755e-05,-1.67205900e-04,
 -7.03960102e-04, 6.84822241e-04,-9.80919199e+00,-6.66135342e-02,
 -1.07101025e-02,-4.32924636e-03]


--- Step 2547 ---
qpos:
[ 0.01422132, 0.26259471,-0.08323283, 0.75581731,-0.03259572, 0.09007502,
 -0.21148908, 0.54873707, 0.01504244, 1.17485351,-0.02299929, 0.95058889,
  0.96947272, 0.00427874, 1.21177765, 0.04578396, 0.08346531,-0.068594  ,
  0.14396442, 0.94845101,-0.04032378, 0.01572183, 0.31395462]

qacc:
[-5.98775277e+00,-4.50999439e+00, 2.88539503e+01,-9.87717018e+01,
 -2.16758325e+01,-4.88953596e+00, 1.64975851e+01,-7.42456644e+01,
  1.10770097e-01,-4.14109486e+00, 2.30937702e+01,-4.48958613e+01,
 -9.36199908e-01, 4.81464090e-01,-8.58650790e+00, 2.87131389e+01,
  1.26345573e-01, 3.66068787e-01,-4.85459342e-02,-1.30547760e+00,
  2.24768783e+00, 4.10881871e+00]

qfrc_actuator:
[-2.31933108e-02, 1.38907763e-01, 6.19623275e-02, 7.71533224e-02,
  2.45030574e-02, 3.84831967e-01, 1.91131297e-01, 1.43228337e-01,
 -2.70385037e-03, 1.06049640e-01, 1.02535066e-02, 5.93840866e-03,
  3.55239963e-02,-1.96337472e-04, 0.00000000e+00,-2.09704564e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001172032131031523
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6618562 , -0.74901688,  0.03033295,  0.02008529,  0.02273035,
        0.99953985, -0.7493617 ,  0.66216089,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08810724, -0.03378003,  0.12886339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025138506746873015
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70222189e-01, -2.40882821e-01,  2.53844650e-02, -2.40800417e-01,
        9.70554206e-01,  6.30019581e-03, -2.61546083e-02,  8.67361738e-19,
       -9.99657910e-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([ 0.11688731, -0.083102  ,  0.11488941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003344660805860433
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48954174e-13, -1.65969449e-13,  1.00000000e+00, -4.13187872e-26,
        1.00000000e+00,  1.65969449e-13, -1.00000000e+00,  0.00000000e+00,
       -2.48954174e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03942517, -0.06478594,  0.06199259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71944628e-02, 1.45493611e-01, 7.11153011e-02, 1.62903684e-02,
  2.66597846e-02, 3.81166188e-01, 2.07245545e-01, 1.13196264e-01,
  2.94003310e-05, 4.86937478e-04, 2.17877406e-04,-7.89243626e-05,
 -2.17189922e-04,-8.87414624e-05,-3.67517473e-05, 1.28815511e-04,
 -6.85559529e-04, 6.63761769e-04,-9.80917670e+00,-6.66101640e-02,
 -1.06818041e-02,-4.36003814e-03]


--- Step 2548 ---
qpos:
[ 0.0142789 , 0.2622638 ,-0.08348866, 0.7569877 ,-0.03264395, 0.09009037,
 -0.21181643, 0.54931041, 0.01504611, 1.17630775,-0.02300709, 0.95066622,
  0.97024931, 0.00430289, 1.21194145, 0.04577889, 0.08349567,-0.06859169,
  0.14394814, 0.94852423,-0.04040359, 0.01597333, 0.31371035]

qacc:
[-4.14047560e+00,-6.61991253e+00, 3.52567267e+01,-1.03613670e+02,
 -1.57542266e+01,-5.40898805e+00, 1.75411510e+01,-7.37393948e+01,
  6.00668465e-02,-2.32158067e+00, 1.57036362e+01,-3.79349685e+01,
 -6.58233129e-01, 1.25542551e-01,-8.68693953e+00, 2.96883379e+01,
  1.18409643e-01, 3.84829569e-01,-4.60691047e-02,-1.35713246e+00,
  2.07338188e+00, 4.64812641e+00]

qfrc_actuator:
[-2.32264183e-02, 1.39822730e-01, 6.22260836e-02, 7.67071242e-02,
  2.45900517e-02, 3.85286531e-01, 1.91443418e-01, 1.43480237e-01,
 -2.70617514e-03, 1.06099253e-01, 1.02620230e-02, 5.83137789e-03,
  3.54644948e-02,-2.10783200e-04, 0.00000000e+00,-1.95653430e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011759367754801556
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.62217068e-01, -7.48676172e-01,  3.08633241e-02,  2.04479611e-02,
        2.31176483e-02,  9.99523614e-01, -7.49033001e-01,  6.62532689e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08813311, -0.03377324,  0.12887485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025230730912712846
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97033473, -0.24037787,  0.02586497, -0.24029252,  0.97067939,
        0.00640517, -0.02664626,  0.        , -0.99964493])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1168888 , -0.08309677,  0.11489967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033404346580707955
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.15448564e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.15448564e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03942419, -0.06478591,  0.06199259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70666359e-02, 1.46471304e-01, 7.14984086e-02, 1.61292104e-02,
  2.68942090e-02, 3.82103915e-01, 2.07834890e-01, 1.13685885e-01,
  1.59970367e-05, 3.41378012e-04, 1.22136253e-04,-8.63872031e-05,
 -1.91905955e-04,-9.03328834e-05,-6.70477833e-06, 1.42152203e-04,
 -6.62585921e-04, 6.38274798e-04,-9.80916524e+00,-6.66055791e-02,
 -1.06529535e-02,-4.39151970e-03]


--- Step 2549 ---
qpos:
[ 0.0143352 , 0.26193244,-0.08374573, 0.7581524 ,-0.03269357, 0.09009602,
 -0.21214891, 0.54987915, 0.01504985, 1.17776099,-0.02301422, 0.95074238,
  0.97102481, 0.00432609, 1.21210511, 0.04577585, 0.08352649,-0.0685878 ,
  0.14393168, 0.94859404,-0.04048712, 0.01622809, 0.31347535]

qacc:
[-2.38773266e+00,-6.57752614e+00, 3.65649487e+01,-1.05949198e+02,
 -1.02599326e+01,-5.66844979e+00, 1.83780878e+01,-7.35030159e+01,
  2.95678723e-02,-5.14990898e+00, 1.75605188e+01,-2.81113909e+01,
 -5.53702209e-02,-8.77147370e-01,-6.36811016e+00, 2.19434145e+01,
  1.13487932e-01, 3.96974394e-01,-4.59105117e-02,-1.39652666e+00,
  1.97110015e+00, 4.97722603e+00]

qfrc_actuator:
[-2.32324825e-02, 1.40788872e-01, 6.24876232e-02, 7.62231776e-02,
  2.46273195e-02, 3.85825328e-01, 1.91729337e-01, 1.43582374e-01,
 -2.70912059e-03, 1.05794285e-01, 1.01987122e-02, 5.75515731e-03,
  3.54115657e-02,-2.64386865e-04, 0.00000000e+00,-1.85406780e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001180659386670989
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.62556455e-01, -7.48352945e-01,  3.14135890e-02,  2.08235532e-02,
        2.35200597e-02,  9.99506471e-01, -7.48722461e-01,  6.62883607e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08815974, -0.03376651,  0.1288863 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025314508572105384
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.970443  , -0.23988827,  0.02634379, -0.23979993,  0.9708005 ,
        0.00650965, -0.02713616,  0.        , -0.99963175])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1168918 , -0.08309172,  0.11490972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033360580027269604
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.6639744e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.6639744e-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([ 0.03942321, -0.06478589,  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:
[-2.69611683e-02, 1.47512764e-01, 7.18437823e-02, 1.59272307e-02,
  2.70386306e-02, 3.83137306e-01, 2.08390855e-01, 1.14021360e-01,
  7.73521879e-06,-1.12609156e-04, 1.07746651e-05,-6.28634303e-05,
 -1.72129810e-04,-1.24161123e-04, 7.45273007e-06, 1.08422395e-04,
 -6.35502637e-04, 6.08835234e-04,-9.80915725e+00,-6.65998619e-02,
 -1.06234555e-02,-4.42364949e-03]


--- Step 2550 ---
qpos:
[ 0.01439123, 0.26160974,-0.08400615, 0.75931069,-0.03274397, 0.09009262,
 -0.21248644, 0.5504434 , 0.01505346, 1.1792116 ,-0.02301947, 0.95081819,
  0.97179921, 0.00434842, 1.21226878, 0.04577406, 0.08355768,-0.06858232,
  0.14391508, 0.94866049,-0.04057468, 0.01648572, 0.3132494 ]

qacc:
[-5.68609716e-01, 9.76346220e+00,-6.51596393e-01,-8.82076391e+01,
 -5.75374793e+00,-4.91831518e+00, 1.66280533e+01,-7.10735140e+01,
 -5.57605858e-02,-9.12359445e+00, 2.63240314e+01,-2.53083570e+01,
 -2.13686482e-01,-6.21030744e-01,-3.80182345e+00, 1.32728041e+01,
  9.37570357e-02, 3.98994737e-01,-3.31527240e-02,-1.60506136e+00,
  1.83938897e+00, 4.83702289e+00]

qfrc_actuator:
[-2.32933853e-02, 1.42033944e-01, 6.27303538e-02, 7.61449484e-02,
  2.46703663e-02, 3.86524975e-01, 1.92019204e-01, 1.44306548e-01,
 -2.73017542e-03, 1.05598701e-01, 1.02696924e-02, 5.73291818e-03,
  3.53572743e-02,-3.05245387e-04, 0.00000000e+00,-1.79259169e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011862420934019265
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.62872932e-01, -7.48048466e-01,  3.19838967e-02,  2.12121118e-02,
        2.39377518e-02,  9.99488384e-01, -7.48431375e-01,  6.63212241e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08818707, -0.03375983,  0.12889781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002538946363824846
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70546702e-01, -2.39415333e-01,  2.68215991e-02, -2.39323962e-01,
        9.70917246e-01,  6.61385109e-03, -2.76250105e-02, -8.67361738e-19,
       -9.99618357e-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([ 0.1168963 , -0.08308686,  0.11491955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033316400871205576
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.33090457e-14, -2.49927137e-13,  1.00000000e+00, -2.08211913e-26,
        1.00000000e+00,  2.49927137e-13, -1.00000000e+00,  0.00000000e+00,
       -8.33090457e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03942222, -0.06478586,  0.06199261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69574145e-02, 1.48792390e-01, 7.21523664e-02, 1.61330442e-02,
  2.71514479e-02, 3.84324619e-01, 2.08939753e-01, 1.14974795e-01,
 -1.51137820e-05,-2.75271973e-04, 4.44338724e-05,-2.50498925e-05,
 -1.71152686e-04,-1.16249859e-04, 9.83239249e-06, 6.72547563e-05,
 -6.06181590e-04, 5.77386369e-04,-9.80915151e+00,-6.65934505e-02,
 -1.05932785e-02,-4.45641408e-03]


--- Step 2551 ---
qpos:
[ 0.01444794, 0.26130106,-0.08427172, 0.76046204,-0.0327946 , 0.09008089,
 -0.21282899, 0.55100326, 0.01505704, 1.180662  ,-0.023025  , 0.95089239,
  0.97257216, 0.00437083, 1.21243254, 0.04577236, 0.08358914,-0.06857524,
  0.14389843, 0.94872376,-0.04066668, 0.01674568, 0.31303198]

qacc:
[ 1.21819417e+00, 2.06514186e+01,-2.64534600e+01,-7.55790051e+01,
 -1.69010704e+00,-3.93984926e+00, 1.41261356e+01,-6.75980701e+01,
 -1.25175250e-02,-2.31553824e+00, 1.04876505e+01,-2.76231737e+01,
 -1.19544703e+00, 1.07701138e+00,-2.23813518e-02, 5.22997160e-01,
  6.59745895e-02, 3.96845538e-01,-1.46006938e-02,-1.87689355e+00,
  1.65269374e+00, 4.55813138e+00]

qfrc_actuator:
[-2.33699219e-02, 1.43384200e-01, 6.29821761e-02, 7.63308944e-02,
  2.47345769e-02, 3.87324360e-01, 1.92348920e-01, 1.45299170e-01,
 -2.72642127e-03, 1.05719298e-01, 1.02955015e-02, 5.65395605e-03,
  3.52968812e-02,-2.84920462e-04, 0.00000000e+00,-1.79124675e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011932075416404065
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66316167, -0.74776678,  0.03257975,  0.02161712,  0.024375  ,
        0.99946914, -0.74816395,  0.6635139 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08821443, -0.03375306,  0.12890975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002545526913499499
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70645963e-01, -2.38958665e-01,  2.72978266e-02, -2.38864222e-01,
        9.71029740e-01,  6.71766469e-03, -2.81122457e-02,  8.67361738e-19,
       -9.99604773e-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([ 0.11690222, -0.08308217,  0.11492917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033270957873306195
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.66845666e-13,  1.66845666e-13,  1.00000000e+00,  2.78374762e-26,
        1.00000000e+00, -1.66845666e-13, -1.00000000e+00,  0.00000000e+00,
       -1.66845666e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03942122, -0.06478584,  0.06199262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70189080e-02, 1.49722273e-01, 7.25767560e-02, 1.66387264e-02,
  2.72547087e-02, 3.85579328e-01, 2.09524866e-01, 1.16191918e-01,
 -3.35132564e-06,-4.12373938e-05,-2.75435120e-05,-8.47258826e-05,
 -1.74956363e-04,-5.25740495e-05, 5.95624952e-06, 5.04314241e-06,
 -5.77551482e-04, 5.47294064e-04,-9.80914689e+00,-6.65871225e-02,
 -1.05626969e-02,-4.48983261e-03]


--- Step 2552 ---
qpos:
[ 0.01450616, 0.26100399,-0.08454241, 0.76160648,-0.03284495, 0.09006176,
 -0.21317645, 0.55155889, 0.01506077, 1.18211527,-0.0230337 , 0.95096497,
  0.9733436 , 0.00439333, 1.21259644, 0.04576969, 0.08362075,-0.0685666 ,
  0.14388178, 0.94878403,-0.0407635 , 0.01700746, 0.31282256]

qacc:
[ 2.79515776e+00, 1.74935274e+01,-2.01037063e+01,-7.90254296e+01,
  2.03404913e+00,-2.87458783e+00, 1.16684457e+01,-6.42718564e+01,
  6.69741638e-02, 9.53903465e+00,-2.33156296e+01,-1.54727331e-01,
 -1.33826986e+00, 1.25268240e+00, 3.22730823e+00,-1.07611073e+01,
  3.98947612e-02, 3.93079782e-01, 6.34151927e-04,-2.12626706e+00,
  1.48145794e+00, 4.26058727e+00]

qfrc_actuator:
[-2.34211857e-02, 1.44611203e-01, 6.32248343e-02, 7.63943953e-02,
  2.47579862e-02, 3.88310752e-01, 1.92704536e-01, 1.46152743e-01,
 -2.70783066e-03, 1.06028242e-01, 1.01890964e-02, 5.57786880e-03,
  3.52169198e-02,-2.81732004e-04, 0.00000000e+00,-1.84307148e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012017969530244295
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.63421003e-01, -7.47509274e-01,  3.32032868e-02,  2.20399102e-02,
        2.48334575e-02,  9.99448619e-01, -7.47921664e-01,  6.63787002e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08824142, -0.03374613,  0.12892231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025511509923892657
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70741080e-01, -2.38517348e-01,  2.77710487e-02, -2.38419803e-01,
        9.71138237e-01,  6.82073532e-03, -2.85963910e-02,  8.67361738e-19,
       -9.99591040e-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([ 0.11690947, -0.08307765,  0.11493857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003322277826067338
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.67087625e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.67087625e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03942021, -0.06478581,  0.06199263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71033717e-02, 1.50259743e-01, 7.30814062e-02, 1.70483719e-02,
  2.72894584e-02, 3.86985232e-01, 2.10134414e-01, 1.17263881e-01,
  1.82004030e-05, 2.60747051e-04,-1.23966275e-04,-7.84069138e-05,
 -1.81656947e-04,-5.26703006e-05,-3.41351177e-06,-5.22230984e-05,
 -5.50184917e-04, 5.19469587e-04,-9.80914339e+00,-6.65811359e-02,
 -1.05318257e-02,-4.52388428e-03]


--- Step 2553 ---
qpos:
[ 0.01456672, 0.26071692,-0.08481837, 0.76274401,-0.03289459, 0.09003606,
 -0.21352871, 0.55211042, 0.01506454, 1.18357215,-0.02304408, 0.95103596,
  0.97411391, 0.00441498, 1.2127602 , 0.04576709, 0.08365242,-0.06855641,
  0.14386519, 0.94884153,-0.04086555, 0.01727055, 0.31262035]

qacc:
[ 4.34528332e+00, 1.57761959e+01,-1.70813909e+01,-8.04489291e+01,
  5.20551385e+00,-1.94960067e+00, 9.40636168e+00,-6.06417756e+01,
  1.29363354e-02, 6.53522368e+00,-1.23779852e+01,-9.86344655e+00,
 -3.10922946e-01,-5.12031436e-01,-3.86563379e-01, 1.07306786e+00,
  1.18272884e-02, 3.85185159e-01, 1.73636485e-02,-2.39404638e+00,
  1.31429250e+00, 3.83319004e+00]

qfrc_actuator:
[-2.34761435e-02, 1.45636799e-01, 6.34817848e-02, 7.66179596e-02,
  2.47920028e-02, 3.89287484e-01, 1.93077594e-01, 1.47066528e-01,
 -2.71601639e-03, 1.06322938e-01, 1.01483876e-02, 5.50415183e-03,
  3.51465779e-02,-3.42140075e-04, 0.00000000e+00,-1.83701269e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001211750770513094
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.63654256e-01, -7.47273135e-01,  3.38510090e-02,  2.24782487e-02,
        2.53104553e-02,  9.99426890e-01, -7.47701650e-01,  6.64034821e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08826821, -0.03373903,  0.12893536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002555817196149792
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97083234, -0.23809042,  0.02824042, -0.23798976,  0.97124299,
        0.00692285, -0.02907657,  0.        , -0.99957719])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11691792, -0.08307328,  0.11494777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033171290416314503
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25510232e-13, -1.67346975e-13,  1.00000000e+00, -2.10037576e-26,
        1.00000000e+00,  1.67346975e-13, -1.00000000e+00,  0.00000000e+00,
       -1.25510232e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03941919, -0.06478579,  0.06199264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.72331055e-02, 1.50716591e-01, 7.35992090e-02, 1.76166212e-02,
  2.73094237e-02, 3.88335408e-01, 2.10756305e-01, 1.18389554e-01,
  3.73837967e-06, 3.94883748e-04,-1.00463256e-05,-6.97599798e-05,
 -1.75832142e-04,-1.17755374e-04,-1.39875540e-05, 1.29749438e-06,
 -5.24161795e-04, 4.94134005e-04,-9.80914070e+00,-6.65756511e-02,
 -1.05006519e-02,-4.55853418e-03]


--- Step 2554 ---
qpos:
[ 0.01463039, 0.26043881,-0.08509982, 0.76387462,-0.03294314, 0.09000413,
 -0.21388553, 0.55265807, 0.01506798, 1.18503278,-0.02305494, 0.95110512,
  0.97488311, 0.00443552, 1.21292393, 0.04576388, 0.08368402,-0.06854473,
  0.14384874, 0.94889656,-0.04097319, 0.01753447, 0.31242449]

qacc:
[ 5.83681611e+00, 1.49920982e+01,-1.62229780e+01,-8.05479616e+01,
  7.95968721e+00,-1.79946930e+00, 8.79673118e+00,-5.75067857e+01,
 -1.44083901e-01, 3.08397972e+00,-4.02808603e-01,-2.30892146e+01,
 -1.87419187e-01,-8.05748934e-01, 1.77774688e+00,-6.29353039e+00,
 -1.41133115e-02, 3.74170976e-01, 3.24692255e-02,-2.62824666e+00,
  1.16106769e+00, 3.37071337e+00]

qfrc_actuator:
[-0.02355249, 0.14655626, 0.06376725, 0.07697583, 0.02484959, 0.39010078,
  0.19349846, 0.14785821,-0.00275796, 0.10657169, 0.01014687, 0.00541473,
  0.03508203,-0.00040428, 0.        ,-0.00186788, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012228580999943403
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66386466, -0.74705561,  0.03451998,  0.02293026,  0.02580373,
        0.99940401, -0.74750112,  0.66426055,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08829489, -0.03373174,  0.12894879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00255951385466534
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97092017, -0.23767643,  0.0287045 , -0.23757262,  0.97134439,
        0.00702365, -0.02955131,  0.        , -0.99956326])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11692745, -0.08306904,  0.11495675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033115704470552954
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.19069684e-14,  8.38139368e-14,  1.00000000e+00, -3.51238800e-27,
        1.00000000e+00, -8.38139368e-14, -1.00000000e+00,  0.00000000e+00,
        4.19069684e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03941815, -0.06478577,  0.06199265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74250637e-02, 1.51146703e-01, 7.41520891e-02, 1.83191249e-02,
  2.73313580e-02, 3.89481316e-01, 2.11419935e-01, 1.19385252e-01,
 -3.82665310e-05, 4.45672839e-04, 6.85782431e-05,-7.79521607e-05,
 -1.82440919e-04,-1.36331319e-04,-1.14715583e-05,-3.37004244e-05,
 -5.00185248e-04, 4.72200531e-04,-9.80913824e+00,-6.65710047e-02,
 -1.04692422e-02,-4.59375780e-03]


--- Step 2555 ---
qpos:
[ 0.01469787, 0.26016638,-0.08538621, 0.76499849,-0.03299024, 0.08996619,
 -0.21424661, 0.55320205, 0.01507147, 1.1864977 ,-0.02306611, 0.95117231,
  0.97565097, 0.00445541, 1.21308784, 0.0457583 , 0.08371549,-0.06853158,
  0.14383247, 0.94894933,-0.04108674, 0.01779883, 0.31223427]

qacc:
[ 7.15145542e+00, 9.59228570e+00,-4.23086103e+00,-8.64922455e+01,
  1.06197485e+01,-1.99443469e+00, 9.03533743e+00,-5.48104835e+01,
  2.38562582e-02, 3.05608693e+00, 8.01638008e-01,-2.61873203e+01,
 -8.05486987e-01, 1.73218533e-01, 7.47257208e+00,-2.56593667e+01,
 -3.63888999e-02, 3.65659066e-01, 4.34656361e-02,-2.83338523e+00,
  1.03178479e+00, 2.98659627e+00]

qfrc_actuator:
[-0.02360789, 0.1474801 , 0.06403665, 0.07707976, 0.02488516, 0.39078279,
  0.19389645, 0.14848929,-0.00273104, 0.10684453, 0.0101506 , 0.00531675,
  0.03501567,-0.00043136, 0.        ,-0.00199127, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012349439673346838
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66405519, -0.74685415,  0.03520771,  0.02339436,  0.02631133,
        0.99938002, -0.74731748,  0.66446715,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0883215 , -0.03372424,  0.12896251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025621948545271303
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97100505, -0.23727371,  0.02916115, -0.23716678,  0.97144284,
        0.00712257, -0.03001839,  0.        , -0.99954935])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11693799, -0.08306491,  0.11496551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033055372637662284
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25950368e-13,  8.39669119e-14,  1.00000000e+00, -1.05756634e-26,
        1.00000000e+00, -8.39669119e-14, -1.00000000e+00,  0.00000000e+00,
        1.25950368e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03941709, -0.06478575,  0.06199266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76352940e-02, 1.51634033e-01, 7.47005721e-02, 1.87685338e-02,
  2.73125833e-02, 3.90478491e-01, 2.12049359e-01, 1.20210260e-01,
  6.59752650e-06, 5.12999102e-04, 9.24493967e-05,-8.28823076e-05,
 -1.92121285e-04,-1.08016679e-04,-1.44710199e-05,-1.27911417e-04,
 -4.78458619e-04, 4.53912829e-04,-9.80913564e+00,-6.65673783e-02,
 -1.04376006e-02,-4.62951966e-03]


--- Step 2556 ---
qpos:
[ 0.01476975, 0.25989543,-0.08567635, 0.76611595,-0.03303554, 0.08992257,
 -0.2146117 , 0.55374259, 0.01507514, 1.18796608,-0.02307671, 0.95123854,
  0.97641731, 0.00447507, 1.21325133, 0.04575395, 0.0837467 ,-0.06851699,
  0.14381641, 0.94900006,-0.04120659, 0.01806316, 0.31204908]

qacc:
[ 8.34204588e+00, 1.48439157e+00, 1.47339036e+01,-9.61434953e+01,
  1.32733704e+01,-1.87553524e+00, 8.46400886e+00,-5.14587901e+01,
  7.43769811e-02, 1.36664687e+00, 2.96457986e+00,-1.57002369e+01,
 -9.30217566e-01, 5.30403026e-01,-4.26755916e+00, 1.41860879e+01,
 -6.11640070e-02, 3.61149236e-01, 5.55071280e-02,-3.07875886e+00,
  8.86554985e-01, 2.64821833e+00]

qfrc_actuator:
[-0.0236704 , 0.14833524, 0.06431581, 0.07696291, 0.02492447, 0.39144157,
  0.19424673, 0.14925614,-0.00271633, 0.10700554, 0.01017525, 0.00526778,
  0.03494296,-0.00043743, 0.        ,-0.00191963, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001247715694045724
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66422978, -0.74666541,  0.03591042,  0.02386817,  0.02683038,
        0.99935501, -0.74714731,  0.66465848,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08834825, -0.03371654,  0.12897638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025638178811443284
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71087421e-01, -2.36880894e-01,  2.96084883e-02, -2.36770864e-01,
        9.71538698e-01,  7.21915164e-03, -3.04758713e-02, -8.67361738e-19,
       -9.99535503e-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([ 0.11694946, -0.08306088,  0.11497402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032990522100059816
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.36527873e-13, -1.68263937e-13,  1.00000000e+00, -5.66255048e-26,
        1.00000000e+00,  1.68263937e-13, -1.00000000e+00,  0.00000000e+00,
       -3.36527873e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03941601, -0.06478573,  0.06199267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.78867590e-02, 1.52215066e-01, 7.52309840e-02, 1.89878860e-02,
  2.72795491e-02, 3.91442631e-01, 2.12616101e-01, 1.21160120e-01,
  2.00312072e-05, 4.42942056e-04, 1.29102693e-04,-3.12894246e-05,
 -1.97090159e-04,-8.12104754e-05,-2.70109779e-05, 6.13522873e-05,
 -4.58544362e-04, 4.38778706e-04,-9.80913280e+00,-6.65647546e-02,
 -1.04057293e-02,-4.66578685e-03]


--- Step 2557 ---
qpos:
[ 0.01484659, 0.25962408,-0.08596942, 0.76722721,-0.03307874, 0.08987385,
 -0.21498053, 0.55427991, 0.01507867, 1.1894368 ,-0.02308647, 0.95130414,
  0.97718225, 0.00449402, 1.21341485, 0.04574877, 0.08377758,-0.06850099,
  0.14380062, 0.94904899,-0.04133316, 0.01832704, 0.31186808]

qacc:
[ 9.40510662e+00,-2.75235815e+00, 2.51084708e+01,-1.01451062e+02,
  1.53798685e+01,-1.54772784e+00, 7.52698866e+00,-4.78435198e+01,
 -5.71795112e-02,-3.18731769e-01, 6.01101130e+00,-1.40040093e+01,
 -6.95551412e-01,-2.21903337e-02, 2.59551918e+00,-8.93041572e+00,
 -8.59884982e-02, 3.53256802e-01, 6.76290939e-02,-3.33172260e+00,
  7.65439316e-01, 2.19342585e+00]

qfrc_actuator:
[-0.02379256, 0.14911559, 0.06463711, 0.07687572, 0.0249651 , 0.39215948,
  0.19458758, 0.15003468,-0.00274457, 0.10706304, 0.01019393, 0.00523023,
  0.03486117,-0.0004843 , 0.        ,-0.00196441, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012608373287677204
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66439268, -0.74648581,  0.03662387,  0.02434897,  0.02735755,
        0.99932912, -0.74698695,  0.6648387 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08837539, -0.03370866,  0.1289902 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025643543326636276
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97116763, -0.23649681,  0.03004478, -0.23638372,  0.97163227,
        0.00731295, -0.03092197,  0.        , -0.9995218 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11696178, -0.08305694,  0.11498229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032921586135840897
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21540680e-14, -2.52924408e-13,  1.00000000e+00, -1.06617927e-26,
        1.00000000e+00,  2.52924408e-13, -1.00000000e+00,  0.00000000e+00,
       -4.21540680e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03941492, -0.06478572,  0.06199269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82284418e-02, 1.52932492e-01, 7.57440143e-02, 1.92202607e-02,
  2.72298591e-02, 3.92448609e-01, 2.13161059e-01, 1.22110688e-01,
 -1.52552610e-05, 3.09427230e-04, 1.15151917e-04,-1.96697638e-05,
 -2.02024678e-04,-1.15809781e-04,-1.03669872e-05,-4.58119718e-05,
 -4.40058992e-04, 4.26510524e-04,-9.80912983e+00,-6.65631252e-02,
 -1.03737238e-02,-4.70253688e-03]


--- Step 2558 ---
qpos:
[ 0.0149289 , 0.25935238,-0.08626504, 0.76833235,-0.03311962, 0.08982059,
 -0.21535276, 0.55481425, 0.01508229, 1.19090957,-0.02309569, 0.95136748,
  0.97794584, 0.00451224, 1.21357829, 0.04574308, 0.08380802,-0.0684836 ,
  0.14378515, 0.94909643,-0.04146686, 0.01859011, 0.31169036]

qacc:
[ 1.03901462e+01,-3.60337061e+00, 2.77951029e+01,-1.02965501e+02,
  1.71170450e+01,-1.31928600e+00, 6.90691846e+00,-4.43814458e+01,
  3.72548746e-02,-2.64924124e+00, 1.64819975e+01,-4.17567181e+01,
 -6.19666671e-01,-1.10303203e-01, 1.46220603e+00,-5.20696142e+00,
 -1.08302276e-01, 3.44623132e-01, 7.79006926e-02,-3.56883522e+00,
  6.75990353e-01, 1.71228259e+00]

qfrc_actuator:
[-0.02388181, 0.14992336, 0.06494888, 0.07673767, 0.0250055 , 0.39289682,
  0.19494187, 0.15073262,-0.00272735, 0.10714695, 0.01020854, 0.00511083,
  0.03479529,-0.00051957, 0.        ,-0.0019887 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012741332348867155
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.64546881e-01, -7.46312766e-01,  3.73456625e-02,  2.48352684e-02,
        2.78910012e-02,  9.99302407e-01, -7.46833751e-01,  6.65010788e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08840299, -0.03370058,  0.12900389])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002563804562291092
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97124615, -0.23611985,  0.03046855, -0.23600375,  0.97172394,
        0.00740357, -0.03135515,  0.        , -0.99950831])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11697485, -0.08305307,  0.1149903 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032848931113985125
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26741912e-13, -1.68989216e-13,  1.00000000e+00,  2.14180164e-26,
        1.00000000e+00,  1.68989216e-13, -1.00000000e+00,  0.00000000e+00,
        1.26741912e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0394138, -0.0647857,  0.0619927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.85645925e-02, 1.53770904e-01, 7.62071572e-02, 1.93915078e-02,
  2.71656994e-02, 3.93446148e-01, 2.13705739e-01, 1.22969216e-01,
  1.00243315e-05, 2.59664823e-04, 8.37656338e-05,-1.05604952e-04,
 -1.96904814e-04,-1.15066631e-04,-1.58652085e-05,-2.94485506e-05,
 -4.23772766e-04, 4.17912240e-04,-9.80912597e+00,-6.65628101e-02,
 -1.03416732e-02,-4.73975329e-03]


--- Step 2559 ---
qpos:
[ 0.01501715, 0.25908376,-0.08656365, 0.76943117,-0.03315799, 0.0897637 ,
 -0.21572813, 0.55534586, 0.01508605, 1.19238529,-0.02310483, 0.95142955,
  0.97870796, 0.0045301 , 1.21374162, 0.04573711, 0.08383791,-0.06846487,
  0.14377004, 0.94914268,-0.04160822, 0.01885196, 0.31151489]

qacc:
[ 1.12850600e+01, 1.73423819e+00, 1.62441571e+01,-9.74230193e+01,
  1.84601422e+01,-5.35117684e-01, 4.95943965e+00,-3.99126809e+01,
  5.94773321e-02, 1.47256897e+00, 2.40471937e+00,-1.84048180e+01,
 -9.37542885e-01, 4.83026307e-01, 7.29731813e-01,-2.62878480e+00,
 -1.35779659e-01, 3.37102613e-01, 9.16829470e-02,-3.87953374e+00,
  5.73950612e-01, 1.15347571e+00]

qfrc_actuator:
[-0.02391831, 0.15113826, 0.06527348, 0.07650051, 0.02502694, 0.39382482,
  0.19532313, 0.15168504,-0.00271851, 0.10737032, 0.01023842, 0.00505073,
  0.03472834,-0.00052983, 0.        ,-0.00200069, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012875607715722506
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66469417, -0.74614473,  0.03807503,  0.02532661,  0.02843009,
        0.99927488, -0.74668616,  0.6651765 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.088431  , -0.03369228,  0.12901747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025621833883476396
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97132345, -0.23574833,  0.03087856, -0.23562929,  0.97181414,
        0.0074907 , -0.03177414,  0.        , -0.99949507])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11698857, -0.08304925,  0.11499805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003277310891215274
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.23450453e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.23450453e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03941268, -0.06478569,  0.06199272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88734593e-02, 1.55014082e-01, 7.66636066e-02, 1.94600048e-02,
  2.70708654e-02, 3.94605952e-01, 2.14261052e-01, 1.24070189e-01,
  1.60895824e-05, 3.62936968e-04, 8.32418939e-05,-5.07007933e-05,
 -1.95182560e-04,-8.86100184e-05,-1.61263577e-05,-1.68412087e-05,
 -4.09980324e-04, 4.13194743e-04,-9.80912066e+00,-6.65639732e-02,
 -1.03096323e-02,-4.77741957e-03]


--- Step 2560 ---
qpos:
[ 0.01511178, 0.2588232 ,-0.08686646, 0.77052334,-0.03319378, 0.08970424,
 -0.21610639, 0.55587501, 0.01508977, 1.1938625 ,-0.02311282, 0.95149226,
  0.97946865, 0.00454745, 1.21390501, 0.04572969, 0.08386714,-0.06844484,
  0.14375537, 0.94918818,-0.04175787, 0.01911208, 0.31134033]

qacc:
[ 1.21243713e+01, 1.08678403e+01,-4.81647821e+00,-8.66830904e+01,
  1.90550738e+01, 5.39646270e-01, 2.28667551e+00,-3.47087909e+01,
 -1.23513242e-02,-4.75232932e-02, 1.24037723e+00, 5.26955909e+00,
 -9.03274532e-01, 3.43787360e-01, 4.56575244e+00,-1.57144907e+01,
 -1.66934461e-01, 3.24487641e-01, 1.08916994e-01,-4.22056766e+00,
  4.62682006e-01, 4.37263454e-01]

qfrc_actuator:
[-0.02397908, 0.15248763, 0.06560722, 0.0765083 , 0.02505365, 0.39485037,
  0.19570391, 0.15277335,-0.00273255, 0.10739161, 0.01027771, 0.00507935,
  0.03465017,-0.00056067, 0.        ,-0.00207635, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013012922126676247
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6648344 , -0.74598172,  0.03881361,  0.02582408,  0.02897608,
        0.99924647, -0.74654427,  0.66533575,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08845912, -0.0336837 ,  0.12903108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025595292602681704
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97140006, -0.23538028,  0.03127363, -0.23525839,  0.97190335,
        0.007574  , -0.03217772,  0.        , -0.99948216])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11700279, -0.08304547,  0.11500556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032694434968343067
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03941154, -0.06478568,  0.06199274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92300506e-02, 1.56220416e-01, 7.71512892e-02, 1.97824796e-02,
  2.69722265e-02, 3.95818607e-01, 2.14802575e-01, 1.25294817e-01,
 -3.30552201e-06, 2.19542186e-04, 1.14381528e-04, 4.23543932e-05,
 -1.99225851e-04,-1.01372006e-04,-1.49427275e-05,-7.98520819e-05,
 -3.99126733e-04, 4.12910510e-04,-9.80911345e+00,-6.65668344e-02,
 -1.02777941e-02,-4.81553488e-03]


--- Step 2561 ---
qpos:
[ 0.01521314, 0.25856927,-0.08717331, 0.77160892,-0.03322694, 0.08964313,
 -0.21648721, 0.55640195, 0.01509341, 1.19533948,-0.02312   , 0.95155468,
  0.98022778, 0.00456456, 1.21406772, 0.04572608, 0.0838956 ,-0.06842357,
  0.14374119, 0.94923331,-0.04191627, 0.01937009, 0.31116546]

qacc:
[ 1.28268587e+01, 8.72418743e+00,-3.65876157e-01,-8.84919488e+01,
  1.93027766e+01, 1.22888719e+00, 5.78402768e-01,-3.00774186e+01,
 -3.79809083e-02,-2.99630505e+00, 9.98558810e+00,-1.18159238e+01,
 -7.59731556e-01, 3.10124667e-01,-1.25045634e+01, 4.24050455e+01,
 -1.93058009e-01, 3.10403341e-01, 1.22165015e-01,-4.48983052e+00,
  3.66639464e-01,-2.16422405e-01]

qfrc_actuator:
[-0.02405721, 0.15353865, 0.06591336, 0.07655943, 0.02508244, 0.39582833,
  0.19606767, 0.15360671,-0.00274244, 0.10725642, 0.01026829, 0.00505331,
  0.03457595,-0.00056806, 0.        ,-0.00186936, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013155755221983144
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66496711, -0.745824  ,  0.03956389,  0.0263293 ,  0.02953082,
        0.99921704, -0.74640841,  0.66548816,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08848695, -0.03367476,  0.12904493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025558935232182765
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71476681e-01, -2.35013170e-01,  3.16523167e-02, -2.34888528e-01,
        9.71992186e-01,  7.65305666e-03, -3.25643736e-02, -8.67361738e-19,
       -9.99469640e-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([ 0.11701735, -0.08304169,  0.11501281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003261259342485917
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.25534628e-14, -2.55320777e-13,  1.00000000e+00,  1.08647832e-26,
        1.00000000e+00,  2.55320777e-13, -1.00000000e+00,  0.00000000e+00,
        4.25534628e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03941038, -0.06478567,  0.06199275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.96262316e-02, 1.56878184e-01, 7.76716792e-02, 2.01659659e-02,
  2.68716534e-02, 3.96930000e-01, 2.15314750e-01, 1.26251509e-01,
 -1.02810779e-05,-7.30562056e-06, 4.39605847e-05,-1.34713762e-05,
 -2.00531081e-04,-8.23766614e-05,-2.17492207e-05, 1.99363390e-04,
 -3.92297380e-04, 4.18072563e-04,-9.80910361e+00,-6.65717692e-02,
 -1.02463640e-02,-4.85409046e-03]


--- Step 2562 ---
qpos:
[ 0.01531994, 0.25832701,-0.08747572, 0.77269065,-0.03325547, 0.08957786,
 -0.21687066, 0.55692757, 0.0150968 , 1.19681493,-0.02312623, 0.95161577,
  0.98077486, 0.00452057, 1.21429014, 0.04571697, 0.0839215 ,-0.068403  ,
  0.14372843, 0.94927145,-0.04206321, 0.01960537, 0.31101453]

qacc:
[ 1.03838677e+01,-2.82119285e+00, 3.90482005e+01,-9.39114727e+01,
  3.42335547e+01,-5.93760019e-01,-8.08882931e-01,-1.37089951e+01,
 -1.09005708e-01,-6.90264542e+00, 2.28058708e+01,-3.43466517e+01,
 -1.31429326e+02, 5.82088443e+01, 1.13841611e+02,-2.49185275e+02,
 -6.38917772e-01,-1.73629098e-01, 3.54589598e-01, 1.53047648e+00,
 -1.30015937e+01, 1.20810233e+01]

qfrc_actuator:
[-0.02416643, 0.15439114, 0.06620446, 0.0763551 , 0.02511141, 0.39676008,
  0.19642204, 0.15414581,-0.00276754, 0.10709947, 0.01028277, 0.00497738,
  0.03450951,-0.00054369, 0.        ,-0.001675  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013302385319022446
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66509588, -0.74566848,  0.04032358,  0.02684088,  0.0300925 ,
        0.99918667, -0.74627544,  0.66563726,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08851456, -0.03366545,  0.12905894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025513294918654257
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97155392, -0.23464468,  0.03201339, -0.2345174 ,  0.97208121,
        0.00772751, -0.03293284,  0.        , -0.99945757])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11703212, -0.0830379 ,  0.11501981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.02007732,  1.01990146, -0.01894032,  1.01990146,  1.01990869,
       -0.00908015, -0.01894032, -0.00908015,  0.53112777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014321841606305654
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55682756, -0.82785257, -0.06784677, -0.0378662 , -0.05629684,
        0.99769575, -0.82976455,  0.5581136 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.091482  , -0.03939924,  0.30643616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003252773233059364
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.41315839e-13, -1.70657919e-13,  1.00000000e+00, -5.82482509e-26,
        1.00000000e+00,  1.70657919e-13, -1.00000000e+00,  0.00000000e+00,
       -3.41315839e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03940922, -0.06478567,  0.06199277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.00713014e-02, 1.57410087e-01, 7.81697304e-02, 2.02899243e-02,
  2.67696342e-02, 3.97950053e-01, 2.15801254e-01, 1.26900255e-01,
 -2.94946023e-05,-1.69870731e-04, 1.39269970e-05,-7.34327415e-05,
 -1.88228868e-04,-4.58919912e-05, 7.80464059e-06, 2.01777313e-04,
 -3.89486973e-04, 4.28281956e-04,-9.80909105e+00,-6.65787702e-02,
 -1.02153770e-02,-4.89305322e-03]


--- Step 2563 ---
qpos:
[ 0.01543178, 0.25809808,-0.08777065, 0.77376953,-0.03327864, 0.08950829,
 -0.2172563 , 0.55745247, 0.01509992, 1.19828712,-0.02313079, 0.95167493,
  0.98115459, 0.00439137, 1.21454907, 0.04571115, 0.08394434,-0.06838357,
  0.14371733, 0.94930161,-0.04219502, 0.01981307, 0.31089142]

qacc:
[  9.66289854, -7.07673998, 53.18984106,-95.17201929, 39.6815255 ,
  -0.98680126, -1.91061531, -3.73247859, -0.1165229 ,-12.06601152,
  38.08379665,-53.23358919,-77.73721429, -9.42436825, 48.11316142,
 -80.37202316, -0.76599535, -0.2859526 ,  0.41710853,  2.44869772,
 -15.94962418, 14.01509775]

qfrc_actuator:
[-0.02427795, 0.15502803, 0.06649742, 0.07610392, 0.02515518, 0.39750752,
  0.1967541 , 0.1548279 ,-0.0027838 , 0.10684211, 0.01032888, 0.00487269,
  0.03446672,-0.00051031, 0.        ,-0.00169347, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013431321969573143
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.65204002e-01, -7.45534444e-01,  4.10125549e-02,  2.73046890e-02,
        3.06020199e-02,  9.99158631e-01, -7.46162241e-01,  6.65764155e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08854057, -0.03365666,  0.12907275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025448982317868574
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71621520e-01, -2.34323167e-01,  3.23152470e-02, -2.34193674e-01,
        9.72158759e-01,  7.78906833e-03, -3.32407096e-02,  8.67361738e-19,
       -9.99447375e-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([ 0.11704739, -0.08303462,  0.11502609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.10725987e+00,  1.10725728e+00,  2.39512284e-03,  1.10725728e+00,
        1.10728131e+00, -9.91029480e-03,  2.39512284e-03, -9.91029480e-03,
        5.68875604e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0003010321821456288
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55637318, -0.82815225, -0.06791715, -0.03787473, -0.05637591,
        0.99769096, -0.83006891,  0.55766083,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09153446, -0.03938581,  0.30592785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032436401234157974
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.99492271e-13, -8.55692203e-14,  1.00000000e+00, -2.56273201e-26,
        1.00000000e+00,  8.55692203e-14, -1.00000000e+00,  0.00000000e+00,
       -2.99492271e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03940803, -0.06478566,  0.06199279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.04535372e-02, 1.57473268e-01, 7.82447335e-02, 2.02309853e-02,
  2.65817226e-02, 3.98911012e-01, 2.16268504e-01, 1.27648656e-01,
 -3.16918688e-05,-3.67773781e-04, 8.65036507e-06,-1.09280364e-04,
  1.03720928e-02, 3.04363096e-03,-2.96885285e-03, 4.60703856e-04,
 -2.97509254e-04, 3.35607274e-04,-9.80925436e+00,-6.65518333e-02,
 -1.01751749e-02,-4.92647328e-03]


--- Step 2564 ---
qpos:
[ 0.01554833, 0.25788546,-0.0880566 , 0.77484615,-0.03329604, 0.08943467,
 -0.2176437 , 0.55797726, 0.01510281, 1.19975575,-0.02313393, 0.9517321 ,
  0.98140595, 0.00419562, 1.21482559, 0.04570965, 0.08396381,-0.06836551,
  0.14370805, 0.94932392,-0.04231092, 0.01999098, 0.31079615]

qacc:
[  9.04860904, -6.19965813, 53.68482372,-90.63333303, 42.65934471,
  -0.96870238, -3.68678057,  6.32747266, -0.10108212,-11.99640026,
  37.48778411,-53.24112668,-58.06738798, -9.90595703, 15.92302776,
 -11.02338423, -0.84229753, -0.34313001,  0.45426973,  2.47746343,
 -17.12810772, 13.96507177]

qfrc_actuator:
[-2.43748616e-02, 1.55493746e-01, 6.67689154e-02, 7.59849369e-02,
  2.51874815e-02, 3.98092894e-01, 1.97126674e-01, 1.56075032e-01,
 -2.79464118e-03, 1.06651093e-01, 1.03928879e-02, 4.76960947e-03,
  3.44364156e-02,-3.69723417e-04, 0.00000000e+00,-1.65093532e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001353834408954905
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.65289684e-01, -7.45424664e-01,  4.16137838e-02,  2.77092236e-02,
        3.10468345e-02,  9.99133771e-01, -7.46070932e-01,  6.65866477e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08856455, -0.03364856,  0.12908635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002536381850419526
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97167807, -0.2340565 ,  0.03254655, -0.23392531,  0.972223  ,
        0.00783537, -0.03347642,  0.        , -0.99943951])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11706312, -0.08303196,  0.11503151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.25247966, -0.49433558, -1.15079869, -0.49433558,  4.80483684,
       -1.52594589, -1.15079869, -1.52594589,  1.90796298,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043300365115649813
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55605793, -0.82835188, -0.0680643 , -0.03793567, -0.05651225,
        0.99768094, -0.83027734,  0.55735046,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09158171, -0.03936848,  0.30550343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -9.082131668360597e-06
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.52499447e-01, -8.31678162e-01, -5.52792528e-02, -3.05885285e-02,
       -4.60449532e-02,  9.98470933e-01, -8.32951801e-01,  5.53345550e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08872757, -0.03512626,  0.27553518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032339852739521335
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.71649363e-13, -8.58246815e-14,  1.00000000e+00,  1.47317519e-26,
        1.00000000e+00,  8.58246815e-14, -1.00000000e+00,  0.00000000e+00,
        1.71649363e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03940683, -0.06478565,  0.06199281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.08017328e-02, 1.57281734e-01, 7.81459958e-02, 2.02533719e-02,
  2.63457575e-02, 3.99717018e-01, 2.16755232e-01, 1.28931447e-01,
 -2.75601992e-05,-4.12861959e-04,-1.37346599e-05,-1.14517220e-04,
  1.87085715e-02, 7.44649405e-03,-4.79203901e-03, 3.39527835e-04,
 -2.05218587e-04, 2.40055318e-04,-9.80943145e+00,-6.65231526e-02,
 -1.01377518e-02,-4.95574035e-03]


--- Step 2565 ---
qpos:
[ 0.01566905, 0.25769078,-0.08833262, 0.77592097,-0.03330756, 0.08935772,
 -0.21803237, 0.55850245, 0.01510566, 1.20122292,-0.02313773, 0.9517879 ,
  0.98156186, 0.00395372, 1.21510481, 0.0457121 , 0.0839798 ,-0.06834903,
  0.14370064, 0.94933894,-0.04241067, 0.02013849, 0.31072715]

qacc:
[ 7.99825018e+00,-5.87088236e+00, 5.40341779e+01,-8.63888733e+01,
  4.35767267e+01,-5.88546568e-01,-5.54690849e+00, 1.48514551e+01,
 -1.51272694e-02,-2.46801851e+00, 8.53188256e+00,-2.24034569e+01,
 -4.47261967e+01,-3.36896653e+00,-5.59911666e+00, 3.09262656e+01,
 -8.68477941e-01,-3.95595573e-01, 4.65615278e-01, 2.52528968e+00,
 -1.74145580e+01, 1.31192670e+01]

qfrc_actuator:
[-2.45179674e-02, 1.55883931e-01, 6.70230567e-02, 7.58748118e-02,
  2.52281212e-02, 3.98706787e-01, 1.97523986e-01, 1.57394581e-01,
 -2.78440759e-03, 1.06696787e-01, 1.03961777e-02, 4.70383530e-03,
  3.44161152e-02,-1.67144201e-04, 0.00000000e+00,-1.59189463e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013623230022676452
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.65353228e-01, -7.45339389e-01,  4.21221588e-02,  2.80510105e-02,
        3.14231932e-02,  9.99112468e-01, -7.46001489e-01,  6.65944275e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08858606, -0.03364118,  0.12909987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025256772702450703
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71723876e-01, -2.33844819e-01,  3.27002942e-02, -2.33712523e-01,
        9.72273933e-01,  7.86485590e-03, -3.36327994e-02,  8.67361738e-19,
       -9.99434257e-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([ 0.11707918, -0.08302991,  0.11503603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.4479163 , -0.93810818, -1.10291189, -0.93810818,  2.55884421,
       -0.94492641, -1.10291189, -0.94492641,  2.25164613,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005410546862567598
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.55849463e-01, -8.28474725e-01, -6.82715475e-02, -3.80374529e-02,
       -5.66935302e-02,  9.97666776e-01, -8.30412263e-01,  5.57149417e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09162246, -0.03934879,  0.30515678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -9.987308280638619e-05
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55214585, -0.83193429, -0.05495716, -0.0303903 , -0.04578995,
        0.99848871, -0.83319349,  0.55298156,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08878891, -0.03514269,  0.27548289])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000322393564542528
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.72184427e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.72184427e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03940562, -0.06478564,  0.06199283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.11798916e-02, 1.56864734e-01, 7.79552615e-02, 2.02556730e-02,
  2.60982403e-02, 4.00539651e-01, 2.17244725e-01, 1.30256591e-01,
 -4.13343749e-06,-2.05513694e-04,-8.59310736e-05,-7.93256615e-05,
  2.51047829e-02, 1.09791308e-02,-5.67394198e-03, 1.82506591e-04,
 -1.28359149e-04, 1.59507383e-04,-9.80959231e+00,-6.64986727e-02,
 -1.01053685e-02,-4.98094153e-03]


--- Step 2566 ---
qpos:
[ 0.0157931 , 0.25751297,-0.08859801, 0.7769944 ,-0.03331337, 0.08927885,
 -0.21842168, 0.55902844, 0.01510839, 1.20269059,-0.02314373, 0.9518438 ,
  0.98164989, 0.00368532, 1.2153729 , 0.0457152 , 0.08399245,-0.06833435,
  0.14369499, 0.94934756,-0.04249419, 0.02025675, 0.3106817 ]

qacc:
[ 6.40998649e+00,-8.48848694e+00, 5.98337607e+01,-8.54767466e+01,
  4.23441636e+01, 1.61410278e-01,-6.92356335e+00, 2.01393078e+01,
 -5.12113847e-02, 6.73556871e+00,-2.13763120e+01, 1.93767647e+01,
 -3.53850926e+01, 5.99840808e+00,-1.63540244e+01, 3.82034160e+01,
 -8.35128612e-01,-4.48055764e-01, 4.42743758e-01, 2.78598581e+00,
 -1.68452148e+01, 1.17161827e+01]

qfrc_actuator:
[-2.46901213e-02, 1.56220665e-01, 6.73155058e-02, 7.57526991e-02,
  2.52713358e-02, 3.99445200e-01, 1.97883091e-01, 1.58295533e-01,
 -2.79713914e-03, 1.06848313e-01, 1.03290676e-02, 4.71388804e-03,
  3.44141290e-02, 2.56002443e-05, 0.00000000e+00,-1.70184407e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001368632785132788
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.65396842e-01, -7.45276913e-01,  4.25366357e-02,  2.83293837e-02,
        3.17302914e-02,  9.99094908e-01, -7.45952069e-01,  6.65999633e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08860488, -0.03363452,  0.12911342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025128476107201736
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9717598 , -0.23368515,  0.03277421, -0.23355235,  0.97231232,
        0.00787694, -0.03370749,  0.        , -0.99943174])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11709541, -0.08302845,  0.11503962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.62308577, -1.04553012, -1.24148064, -1.04553012,  2.11448789,
       -0.4138411 , -1.24148064, -0.4138411 ,  1.97160779,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006273924865919043
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.55720407e-01, -8.28540777e-01, -6.85201524e-02, -3.81677514e-02,
       -5.69054834e-02,  9.97649732e-01, -8.30492656e-01,  5.57029575e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165606, -0.03932811,  0.30488073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00016898156109909816
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55187301, -0.83213368, -0.05467827, -0.03022067, -0.0455678 ,
        0.99850402, -0.8333804 ,  0.55269984,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08883873, -0.03514865,  0.27544274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032135554507309316
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.63703024e-14, -1.72740605e-13,  1.00000000e+00, -1.49196583e-26,
        1.00000000e+00,  1.72740605e-13, -1.00000000e+00,  0.00000000e+00,
       -8.63703024e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03940441, -0.06478564,  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:
[-3.15595463e-02, 1.56313125e-01, 7.77552693e-02, 2.02230697e-02,
  2.58473190e-02, 4.01450595e-01, 2.17671173e-01, 1.31136938e-01,
 -1.36590004e-05, 2.01414300e-06,-1.22983918e-04, 1.34892066e-06,
  2.98737160e-02, 1.34832712e-02,-5.81355463e-03,-1.26332306e-04,
 -7.07792139e-05, 9.78399300e-05,-9.80972650e+00,-6.64801230e-02,
 -1.00783744e-02,-5.00207028e-03]


--- Step 2567 ---
qpos:
[ 0.0159197 , 0.25735484,-0.08885324, 0.77806649,-0.03331375, 0.08919961,
 -0.21881099, 0.5595556 , 0.01511055, 1.20415854,-0.02314987, 0.95190001,
  0.98169305, 0.00340564, 1.21562522, 0.04572035, 0.08400187,-0.06832159,
  0.14369104, 0.94935078,-0.0425621 , 0.02034696, 0.31065668]

qacc:
[  4.92358333, -3.40141988, 47.49457364,-75.76291777, 40.24493893,
   1.00292058, -8.39371758, 25.42986407, -0.25282194,  1.30766422,
  -4.47093536,  7.40583707,-26.95318866, 12.275413  ,-27.67111538,
  67.12406729, -0.80869287, -0.48121763,  0.4240641 ,  2.73371831,
 -16.11897181, 10.1008238 ]

qfrc_actuator:
[-2.48272765e-02, 1.56625730e-01, 6.75907414e-02, 7.57657202e-02,
  2.53139122e-02, 4.00258242e-01, 1.98236912e-01, 1.59122310e-01,
 -2.85905979e-03, 1.06919946e-01, 1.03457706e-02, 4.73300813e-03,
  3.44187587e-02, 3.35516097e-04, 0.00000000e+00,-1.62743241e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013727711822713268
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66542479, -0.74523349,  0.04285904,  0.0285457 ,  0.03196937,
        0.99908113, -0.74591889,  0.66603679,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.088621  , -0.03362856,  0.12912699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002498173721588249
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71786989e-01, -2.33572324e-01,  3.27722148e-02, -2.33439618e-01,
        9.72339431e-01,  7.87243851e-03, -3.37045005e-02,  8.67361738e-19,
       -9.99431842e-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([ 0.11711162, -0.08302754,  0.11504236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.75597429, -1.15041495, -1.32664658, -1.15041495,  2.02998863,
       -0.2376143 , -1.32664658, -0.2376143 ,  1.96202393,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006944526520695167
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.55647786e-01, -8.28566966e-01, -6.87918682e-02, -3.83148158e-02,
       -5.71340180e-02,  9.97631033e-01, -8.30534474e-01,  5.56967223e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09168255, -0.03930773,  0.30466722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021952665539458374
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.51663433e-01, -8.32287926e-01, -5.44450615e-02, -3.00799651e-02,
       -4.53812783e-02,  9.98516768e-01, -8.33524237e-01,  5.52482893e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08887764, -0.03514692,  0.27541311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003202960664473037
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29983999e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.29983999e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03940319, -0.06478563,  0.06199288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.18625357e-02, 1.55882034e-01, 7.75015206e-02, 2.03047211e-02,
  2.56042522e-02, 4.02365601e-01, 2.18061474e-01, 1.31924072e-01,
 -6.83114772e-05, 3.21297194e-05,-4.53911586e-07, 1.73576004e-05,
  3.32696753e-02, 1.51223467e-02,-5.26258677e-03,-8.62732413e-05,
 -3.23137278e-05, 5.46143404e-05,-9.80982981e+00,-6.64677463e-02,
 -1.00566788e-02,-5.01925553e-03]


--- Step 2568 ---
qpos:
[ 0.01604803, 0.25722397,-0.08910107, 0.77913677,-0.03330935, 0.08912262,
 -0.21919994, 0.56008423, 0.01511236, 1.20562915,-0.02315606, 0.95195584,
  0.98171031, 0.00312782, 1.21585611, 0.04572761, 0.08400818,-0.06831091,
  0.14368873, 0.94935002,-0.04261558, 0.02041076, 0.31064748]

qacc:
[  3.27202852, 12.87205874,  7.37100148,-51.4730933 , 35.47486438,
   3.80211531,-14.3084098 , 32.6956647 , -0.14812457,  2.95322599,
  -4.62605402, -2.17084651,-20.32771919, 18.22232923,-36.51087218,
  85.37278915, -0.77820739, -0.52108799,  0.41061172,  2.50038309,
 -15.07329945,  7.71040802]

qfrc_actuator:
[-0.02492624, 0.15709773, 0.06785189, 0.07633964, 0.0253186 , 0.40147034,
  0.19860493, 0.16095129,-0.00286122, 0.10724546, 0.01041159, 0.0047218 ,
  0.03441175, 0.00069336, 0.        ,-0.00156831, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013750278210114125
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6654391 , -0.74520709,  0.04309525,  0.02870393,  0.03214475,
        0.99907097, -0.74590005,  0.66605789,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08863421, -0.03362326,  0.12914075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024819282039559975
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97180678, -0.23350035,  0.03269808, -0.23336829,  0.97235672,
        0.00785207, -0.03362766,  0.        , -0.99943443])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11712759, -0.08302709,  0.11504433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.8486845 , -1.19865236, -1.40743274, -1.19865236,  1.87788467,
       -0.02486858, -1.40743274, -0.02486858,  1.86986404,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007444912243700814
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55561245, -0.8285673 , -0.06907264, -0.0384695 , -0.05736835,
        0.99761163, -0.83055096,  0.55694264,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09170196, -0.0392886 ,  0.30450886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025426741585225457
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55150205, -0.83240704, -0.05425871, -0.02996794, -0.04523197,
        0.99852691, -0.83363506,  0.55231566,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0889062 , -0.03513973,  0.27539265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003192281454088425
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.17364728e-13, -1.73891783e-13,  1.00000000e+00,  3.77979400e-26,
        1.00000000e+00,  1.73891783e-13, -1.00000000e+00,  0.00000000e+00,
        2.17364728e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03940198, -0.06478564,  0.0619929 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.20889564e-02, 1.55376002e-01, 7.72583567e-02, 2.09443867e-02,
  2.53376187e-02, 4.03602662e-01, 2.18433615e-01, 1.33694192e-01,
 -3.99415129e-05, 3.27158830e-04, 6.89763490e-05,-8.11459525e-06,
  3.55047653e-02, 1.60486793e-02,-4.47991163e-03,-1.30269613e-04,
 -9.41199466e-06, 2.71380313e-05,-9.80990462e+00,-6.64606412e-02,
 -1.00401625e-02,-5.03267458e-03]


--- Step 2569 ---
qpos:
[ 0.01617676, 0.25712039,-0.08934382, 0.78020497,-0.0332993 , 0.08903364,
 -0.21959328, 0.56061515, 0.01511427, 1.20710373,-0.02316331, 0.95201037,
  0.98171452, 0.00286263, 1.21605986, 0.04573423, 0.08401164,-0.06830254,
  0.14368792, 0.94934743,-0.04265642, 0.0204512 , 0.31064712]

qacc:
[ 7.26728445e-01, 1.87144129e+01,-1.11839069e+01,-3.80609791e+01,
  4.19599546e+01,-1.27262783e+00,-2.53665350e+01, 6.97221789e+01,
  4.41187994e-02, 5.87237248e+00,-1.02565816e+01,-8.46504701e+00,
 -1.72016728e+01, 2.51040539e+01,-3.66093602e+01, 7.34668038e+01,
 -7.10293037e-01,-5.75340404e-01, 3.71802682e-01, 2.24141271e+00,
 -1.32225232e+01, 4.11020949e+00]

qfrc_actuator:
[-0.02505574, 0.1575057 , 0.06812101, 0.0771091 , 0.02526353, 0.40304367,
  0.19901661, 0.16318553,-0.00282753, 0.10752553, 0.01038258, 0.00465748,
  0.03439235, 0.00098257, 0.        ,-0.00162578, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001375995675077021
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.65441056e-01, -7.45196037e-01,  4.32558486e-02,  2.88111840e-02,
        3.22642854e-02,  9.99064028e-01, -7.45894173e-01,  6.66064474e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08864398, -0.03361846,  0.12915505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.21707694, -0.38466132,  0.21707694,  2.01167791,
        0.88599755, -0.38466132,  0.88599755,  0.94168357,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024644851836662634
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97182114, -0.23346035,  0.03255668, -0.23332945,  0.97236632,
        0.0078167 , -0.03348191,  0.        , -0.99943932])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11714298, -0.08302704,  0.11504559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.90850028, -1.22897683, -1.46013331, -1.22897683,  1.73953748,
        0.14221399, -1.46013331,  0.14221399,  1.78880046,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000779683052910382
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.55598605e-01, -8.28553394e-01, -6.93503000e-02, -3.86239221e-02,
       -5.75991038e-02,  9.97592370e-01, -8.30553059e-01,  5.56939509e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0917145 , -0.03927142,  0.30439853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.41847935, 0.26253647, 0.32588275, 0.26253647, 0.18299272,
       0.18971187, 0.32588275, 0.18971187, 0.26564437, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00027577639077838267
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.51376207e-01, -8.32499489e-01, -5.41191216e-02, -2.98837911e-02,
       -4.51202655e-02,  9.98534486e-01, -8.33721319e-01,  5.52185442e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08892513, -0.03512903,  0.27538005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031813415095907627
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74489759e-13, -1.74489759e-13,  1.00000000e+00,  3.04466759e-26,
        1.00000000e+00,  1.74489759e-13, -1.00000000e+00,  0.00000000e+00,
        1.74489759e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03940075, -0.06478564,  0.06199292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.23041118e-02, 1.54427297e-01, 7.71593727e-02, 2.18036796e-02,
  2.50433657e-02, 4.05069940e-01, 2.18832198e-01, 1.35854619e-01,
  1.22009612e-05, 4.57716693e-04, 3.89263134e-05,-5.10491071e-05,
  3.67787277e-02, 1.62501775e-02,-3.41334440e-03,-2.94789234e-04,
  1.05487421e-06, 1.25121572e-05,-9.80995352e+00,-6.64580619e-02,
 -1.00285485e-02,-5.04255607e-03]


--- Step 2570 ---
qpos:
[ 0.01630446, 0.25703804,-0.08958234, 0.78127119,-0.03328281, 0.08891936,
 -0.219995  , 0.56114936, 0.01511643, 1.20858023,-0.02317125, 0.95206252,
  0.98171343, 0.00261632, 1.21623824, 0.04574052, 0.08401256,-0.06829658,
  0.14368838, 0.94934502,-0.04268678, 0.02047157, 0.31064896]

qacc:
[-2.03493233e+00, 1.32547661e+01,-3.45954020e+00,-3.88655905e+01,
  4.80351682e+01,-6.65526328e+00,-3.44634290e+01, 1.06818697e+02,
  1.02386417e-01, 2.54831718e-01, 7.02323823e+00,-3.47610804e+01,
 -1.53114075e+01, 2.90899088e+01,-3.49264115e+01, 7.13815400e+01,
 -6.36292615e-01,-6.04096537e-01, 3.21233983e-01, 1.83815956e+00,
 -1.11987976e+01, 6.94810536e-01]

qfrc_actuator:
[-0.02522067, 0.15791754, 0.06835879, 0.07755305, 0.02524083, 0.40450978,
  0.19945909, 0.16486268,-0.00280815, 0.10749191, 0.01029771, 0.00452684,
  0.03438126, 0.00123684, 0.        ,-0.001556  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013758605524284843
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66543968, -0.74519181,  0.04334981,  0.02887383,  0.03233432,
        0.99905996, -0.74589298,  0.66606581,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08865039, -0.03361408,  0.12916992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.21306089, -0.38690023,  0.21306089,  1.38037613,
        0.51692423, -0.38690023,  0.51692423,  0.72634963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024440250849644104
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97183491, -0.23343643,  0.03231641, -0.23330747,  0.97237207,
        0.00775817, -0.03323461,  0.        , -0.99944758])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11715904, -0.08302727,  0.11504564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.94388296, -1.28456573, -1.45896259, -1.28456573,  1.75431071,
        0.16691176, -1.45896259,  0.16691176,  1.79692297,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008022798268191005
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.55595548e-01, -8.28533267e-01, -6.96147411e-02, -3.87717023e-02,
       -5.78183992e-02,  9.97573951e-01, -8.30548218e-01,  5.56946728e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09172095, -0.03925675,  0.30432885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.42152105, 0.25655428, 0.33445462, 0.25655428, 0.20926656,
       0.1628167 , 0.33445462, 0.1628167 , 0.29662721, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00028654467258290556
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55127697, -0.83257142, -0.05402344, -0.02982543, -0.04504415,
        0.99853967, -0.83378903,  0.5520832 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08893572, -0.03511647,  0.27537385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003170116006702972
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.75538168e-14, -8.75538168e-14,  1.00000000e+00,  7.66567084e-27,
        1.00000000e+00,  8.75538168e-14, -1.00000000e+00,  0.00000000e+00,
        8.75538168e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03939952, -0.06478566,  0.06199295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.24890781e-02, 1.53478486e-01, 7.71456170e-02, 2.23508274e-02,
  2.47385376e-02, 4.07141820e-01, 2.19497746e-01, 1.37417623e-01,
  2.78583050e-05, 2.09104820e-04, 3.89586761e-06,-1.15374991e-04,
  3.74193362e-02, 1.58779378e-02,-2.06064199e-03,-1.94098321e-04,
  3.09440085e-06, 6.51382950e-06,-9.80998028e+00,-6.64588764e-02,
 -1.00213094e-02,-5.04929375e-03]


--- Step 2571 ---
qpos:
[ 0.01642962, 0.25697163,-0.08981741, 0.78233552,-0.03326006, 0.08877581,
 -0.22040621, 0.56168775, 0.01511882, 1.21005632,-0.02317827, 0.95211251,
  0.98171352, 0.00239457, 1.21639064, 0.04574507, 0.08401123,-0.06829313,
  0.14368994, 0.94934454,-0.04270851, 0.02047497, 0.31064723]

qacc:
[-4.92702030e+00, 8.55706572e+00, 3.08626781e+00,-3.93787532e+01,
  4.67083043e+01,-7.73059818e+00,-4.10460255e+01, 1.29949266e+02,
  1.03946941e-01,-6.74847499e+00, 2.57075876e+01,-4.69297398e+01,
 -1.40443506e+01, 3.31086940e+01,-3.15215577e+01, 5.82451611e+01,
 -5.63002417e-01,-6.27776183e-01, 2.73467383e-01, 1.53766710e+00,
 -9.34215460e+00,-2.26613063e+00]

qfrc_actuator:
[-0.0253701 , 0.15832688, 0.06859433, 0.07785569, 0.0252345 , 0.40575212,
  0.1998903 , 0.16632791,-0.00279752, 0.10735931, 0.01030362, 0.00441127,
  0.03438026, 0.00145886, 0.        ,-0.00164073, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001374479148329179
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6654468 , -0.7451835 ,  0.04338325,  0.02889645,  0.03235895,
        0.9990585 , -0.74588575,  0.6660739 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08865394, -0.03361008,  0.12918513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.20965065, -0.38875871,  0.20965065,  1.17033666,
        0.39294819, -0.38875871,  0.39294819,  0.65359619,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024188887632891165
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71852527e-01, -2.33413539e-01,  3.19497233e-02, -2.33287508e-01,
        9.72377560e-01,  7.66934397e-03, -3.28573227e-02, -8.67361738e-19,
       -9.99460052e-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([ 0.1171769 , -0.08302771,  0.115044  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.96164876, -1.24968528, -1.51206897, -1.24968528,  5.39597106,
       -2.83837716, -1.51206897, -2.83837716,  4.30749292,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008143339536415771
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55559683, -0.82851175, -0.06986012, -0.03890912, -0.05802169,
        0.9975568 , -0.83054093,  0.55695759,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0917222 , -0.03924477,  0.30429307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.42214202, 0.23549044, 0.3503543 , 0.23549044, 0.21927133,
       0.13635942, 0.3503543 , 0.13635942, 0.33048811, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00028867681647788495
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.51198222e-01, -8.32627196e-01, -5.39673246e-02, -2.97901065e-02,
       -4.50002409e-02,  9.98542702e-01, -8.33842353e-01,  5.52002655e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08893931, -0.0351032 ,  0.2753728 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003158946761029485
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.78633852e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.78633852e-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([ 0.03939829, -0.06478567,  0.06199297])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.25865738e-02, 1.52830337e-01, 7.71721598e-02, 2.27514210e-02,
  2.44099949e-02, 4.09656643e-01, 2.20353270e-01, 1.38718097e-01,
  2.80876925e-05,-3.60855268e-05, 4.02742745e-05,-1.10183163e-04,
  3.76824192e-02, 1.51610542e-02,-7.95992065e-04,-2.63263042e-04,
  1.67320260e-06, 4.20913774e-06,-9.80999257e+00,-6.64611980e-02,
 -1.00175824e-02,-5.05330237e-03]


--- Step 2572 ---
qpos:
[ 0.01655081, 0.25691737,-0.0900497 , 0.78339804,-0.03323227, 0.08860866,
 -0.22082497, 0.56223095, 0.01512125, 1.211529  ,-0.02318386, 0.95216274,
  0.98171978, 0.00220148, 1.21651785, 0.0457472 , 0.08400789,-0.06829223,
  0.14369244, 0.94934732,-0.04272327, 0.02046395, 0.31063744]

qacc:
[-7.66896083e+00, 5.50976535e+00, 6.72982479e+00,-3.88457403e+01,
  3.77181493e+01,-4.60771579e+00,-4.37959964e+01, 1.35733188e+02,
  1.97507943e-02,-7.94074095e+00, 2.00505228e+01,-1.26535381e+01,
 -1.29261385e+01, 3.58406505e+01,-2.82698811e+01, 4.85716761e+01,
 -5.02589426e-01,-6.35876223e-01, 2.33913595e-01, 1.22525431e+00,
 -7.78981366e+00,-4.56801873e+00]

qfrc_actuator:
[-0.02550829, 0.15880251, 0.06882761, 0.07802098, 0.0252001 , 0.40680329,
  0.20033695, 0.16739749,-0.00280999, 0.10700911, 0.01030943, 0.00441198,
  0.03438492, 0.00168378, 0.        ,-0.00176335, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013717585859232425
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.65472378e-01, -7.45161884e-01,  4.33621961e-02,  2.88835111e-02,
        3.23422763e-02,  9.99059418e-01, -7.45863430e-01,  6.66098899e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08865513, -0.03360642,  0.12920048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.20704138, -0.39015458,  0.20704138,  1.13734611,
        0.36916234, -0.39015458,  0.36916234,  0.63758777,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023886930388580152
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97187693, -0.23337964,  0.03145119, -0.23325753,  0.9723857 ,
        0.00754851, -0.03234435,  0.        , -0.99947678])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11719684, -0.08302826,  0.11504058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.96644537, -0.83853454, -1.77869818, -0.83853454, 10.22657382,
       -3.89408559, -1.77869818, -3.89408559,  3.80224038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008176879070296155
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.55597062e-01, -8.28492938e-01, -7.00810663e-02, -3.90328045e-02,
       -5.82047766e-02,  9.97541299e-01, -8.30534975e-01,  5.56966476e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09171911, -0.03923565,  0.30428517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.42080518, 0.21674994, 0.36068887, 0.21674994, 0.22960106,
       0.11490092, 0.36068887, 0.11490092, 0.3517574 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0002840596858570329
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55113477, -0.83267053, -0.05394669, -0.02977526, -0.04498533,
        0.99854382, -0.83388482,  0.55193849,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08893717, -0.03509024,  0.27537576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031480876920685075
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.40832314e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.40832314e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03939707, -0.06478568,  0.061993  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.25976151e-02, 1.52512228e-01, 7.72343078e-02, 2.30099969e-02,
  2.40627759e-02, 4.12179778e-01, 2.21279555e-01, 1.39578568e-01,
  5.10230655e-06,-3.81933066e-04,-3.41217100e-06, 3.02218903e-08,
  3.76271496e-02, 1.41617106e-02, 4.99539032e-04,-2.99655869e-04,
 -6.02096482e-07, 2.66001247e-06,-9.80999703e+00,-6.64636703e-02,
 -1.00166294e-02,-5.05495648e-03]


--- Step 2573 ---
qpos:
[ 0.01666682, 0.25687581,-0.09028002, 0.78445868,-0.03320111, 0.08842841,
 -0.22124771, 0.56277947, 0.0151235 , 1.21299492,-0.02318852, 0.95221364,
  0.98173676, 0.00203879, 1.21662205, 0.04574802, 0.08400257,-0.06829385,
  0.14369583, 0.9493541 ,-0.04273237, 0.02043945, 0.31061708]

qacc:
[-1.00379076e+01, 8.35662296e+00,-1.67161676e+00,-3.22090874e+01,
  2.51780277e+01, 3.77663033e-01,-4.36449637e+01, 1.31529455e+02,
 -7.91741868e-02,-1.02165271e+01, 2.12405966e+01,-6.45393681e+00,
 -1.05235378e+01, 3.53637606e+01,-2.86133114e+01, 5.41063894e+01,
 -4.92660242e-01,-6.30471255e-01, 2.25664712e-01, 7.83695018e-01,
 -7.09260852e+00,-5.87181504e+00]

qfrc_actuator:
[-0.02565506, 0.15961714, 0.06907657, 0.07808681, 0.02516531, 0.40776356,
  0.20079473, 0.16810311,-0.00283623, 0.10642499, 0.01026103, 0.00442769,
  0.03439781, 0.00189652, 0.        ,-0.00181856, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013676895393694582
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.65523556e-01, -7.45120224e-01,  4.32925904e-02,  2.88392773e-02,
        3.22884571e-02,  9.99062436e-01, -7.45819477e-01,  6.66148112e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08865429, -0.03360309,  0.12921587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.20543874, -0.39100084,  0.20543874,  1.19394857,
        0.39525191, -0.39100084,  0.39525191,  0.64935857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023543469650213465
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97190935, -0.23332654,  0.03083733, -0.23320918,  0.97239844,
        0.0073994 , -0.03171264,  0.        , -0.99949703])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11721824, -0.0830288 ,  0.11503563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.96100628, -1.05136439, -1.65534847, -1.05136439,  2.71237567,
       -0.47721856, -1.65534847, -0.47721856,  2.26410295,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008138881357662985
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5555921 , -0.82847994, -0.07027375, -0.0391403 , -0.05836468,
        0.99752774, -0.83053323,  0.55696907,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09171237, -0.03922945,  0.30430013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.41806037, 0.21137251, 0.36068842, 0.21137251, 0.20811173,
       0.1230352 , 0.36068842, 0.1230352 , 0.34595864, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0002742485771517636
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55108243, -0.83270445, -0.05395788, -0.02977862, -0.04499652,
        0.99854321, -0.8339193 ,  0.55188641,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08893032, -0.03507835,  0.27538181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003137774597156834
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.09596855e-13, -1.76912488e-13,  1.00000000e+00, -5.47715500e-26,
        1.00000000e+00,  1.76912488e-13, -1.00000000e+00,  0.00000000e+00,
       -3.09596855e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03939587, -0.0647857 ,  0.06199302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.25460588e-02, 1.52722111e-01, 7.73454014e-02, 2.31659614e-02,
  2.37756723e-02, 4.14330187e-01, 2.22120374e-01, 1.40043356e-01,
 -2.19073074e-05,-8.12239653e-04,-1.26858337e-04, 6.07142166e-06,
  3.73310308e-02, 1.29448643e-02, 1.75638348e-03,-2.34073410e-04,
 -2.99252935e-06, 9.24297164e-07,-9.80999813e+00,-6.64655389e-02,
 -1.00178815e-02,-5.05458580e-03]


--- Step 2574 ---
qpos:
[ 0.01677654, 0.25684987,-0.0905098 , 0.78551722,-0.03316824, 0.08824472,
 -0.22167113, 0.56333362, 0.01512552, 1.21445032,-0.02319113, 0.95226154,
  0.98176784, 0.0019062 , 1.21670458, 0.04574868, 0.08399535,-0.06829793,
  0.14370009, 0.94936537,-0.04273686, 0.02040237, 0.31058446]

qacc:
[-1.22018491e+01, 1.55488003e+01,-2.00187893e+01,-2.09343697e+01,
  1.27923786e+01, 4.77317363e+00,-4.25199563e+01, 1.25145095e+02,
 -9.95556474e-02,-2.45617082e+01, 6.95212401e+01,-8.84510923e+01,
 -7.63087428e+00, 3.26661582e+01,-3.02824584e+01, 6.23016545e+01,
 -4.77419523e-01,-6.16827234e-01, 2.15454313e-01, 4.51739100e-01,
 -6.46857779e+00,-6.73582416e+00]

qfrc_actuator:
[-0.02578641, 0.16077176, 0.06929915, 0.07809372, 0.02514771, 0.40868597,
  0.20122313, 0.16860568,-0.00285276, 0.10565198, 0.01026881, 0.00425657,
  0.03439902, 0.00201775, 0.        ,-0.00183349, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013624317302470953
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.65602669e-01, -7.45056138e-01,  4.31791556e-02,  2.87669909e-02,
        3.22009273e-02,  9.99067345e-01, -7.45751666e-01,  6.66224026e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08865143, -0.03360006,  0.12923134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.20469833, -0.39138897,  0.20469833,  1.26804309,
        0.43218864, -0.39138897,  0.43218864,  0.66772299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002317337224648804
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71949673e-01, -2.33250624e-01,  3.01326960e-02, -2.33138612e-01,
        9.72416653e-01,  7.22783813e-03, -3.09874331e-02, -1.73472348e-18,
       -9.99519774e-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([ 0.11724003, -0.08302928,  0.11502957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.94623657, -1.20656849, -1.52709831, -1.20656849,  1.86645832,
        0.06303322, -1.52709831,  0.06303322,  1.89643368,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008038458764084712
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.55578182e-01, -8.28475443e-01, -7.04366687e-02, -3.92305150e-02,
       -5.85003504e-02,  9.97516253e-01, -8.30538289e-01,  5.56961533e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09170206, -0.03922613,  0.30433506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.41433938, 0.19707329, 0.36447118, 0.19707329, 0.17209648,
       0.13098321, 0.36447118, 0.13098321, 0.34351542, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00026015665042147866
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.51037391e-01, -8.32731568e-01, -5.39993546e-02, -2.97991413e-02,
       -4.50326712e-02,  9.98540970e-01, -8.33948323e-01,  5.51842545e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08891907, -0.0350679 ,  0.27539051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031281279601995393
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43645144e-14, -2.66187087e-13,  1.00000000e+00, -1.18092609e-26,
        1.00000000e+00,  2.66187087e-13, -1.00000000e+00,  0.00000000e+00,
       -4.43645144e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03939469, -0.06478572,  0.06199304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.24180266e-02, 1.53243881e-01, 7.74713699e-02, 2.32651224e-02,
  2.35897907e-02, 4.15917100e-01, 2.22753384e-01, 1.40280759e-01,
 -2.77816069e-05,-1.26288256e-03,-1.68540050e-04,-1.96961066e-04,
  3.67962044e-02, 1.15498100e-02, 2.90490931e-03,-1.84542125e-04,
 -5.83444533e-06,-1.09051027e-06,-9.80999820e+00,-6.64665203e-02,
 -1.00210568e-02,-5.05233627e-03]


--- Step 2575 ---
qpos:
[ 0.01687904, 0.25684337,-0.09074084, 0.78657333,-0.03313516, 0.08806518,
 -0.22209257, 0.56389368, 0.01512747, 1.21589182,-0.02319128, 0.95230735,
  0.98181547, 0.00180111, 1.21676903, 0.0457522 , 0.08398625,-0.0683044 ,
  0.14370519, 0.94938139,-0.04273769, 0.02035334, 0.31053858]

qacc:
[-1.40114962e+01, 2.47104191e+01,-4.31760937e+01,-7.18675274e+00,
  1.60285558e+00, 8.00954867e+00,-4.08796998e+01, 1.19413477e+02,
 -2.43485537e-02,-2.85019022e+01, 7.51921868e+01,-8.08794853e+01,
 -3.97271685e+00, 2.72819863e+01,-3.44662770e+01, 8.38663996e+01,
 -4.68775502e-01,-5.95850614e-01, 2.10488485e-01, 1.25319421e-01,
 -6.01013093e+00,-7.24987739e+00]

qfrc_actuator:
[-0.02590534, 0.16199812, 0.06945328, 0.0782438 , 0.02514073, 0.40954573,
  0.20161444, 0.16896623,-0.0028456 , 0.1047366 , 0.01030879, 0.00413654,
  0.03439255, 0.00214322, 0.        ,-0.00164733, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001356301383873928
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.65709174e-01, -7.44969716e-01,  4.30280944e-02,  2.86707503e-02,
        3.20843418e-02,  9.99073863e-01, -7.45660300e-01,  6.66326284e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08864639, -0.03359731,  0.12924702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.20464179, -0.39141853,  0.20464179,  1.3422206 ,
        0.47081818, -0.39141853,  0.47081818,  0.68783982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022790633840844197
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71997476e-01, -2.33149843e-01,  2.93608060e-02, -2.33043548e-01,
        9.72440821e-01,  7.03946931e-03, -3.01928974e-02, -8.67361738e-19,
       -9.99544091e-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([ 0.11726126, -0.08302963,  0.1150228 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.92233472, -1.33522238, -1.38295045, -1.33522238,  1.59770458,
        0.31342658, -1.38295045,  0.31342658,  1.61972505,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007883234461668606
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.55552480e-01, -8.28481308e-01, -7.05702823e-02, -3.93034865e-02,
       -5.86122914e-02,  9.97506810e-01, -8.30552032e-01,  5.56941040e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09168829, -0.0392256 ,  0.30438756])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.41002678, 0.19610503, 0.36008996, 0.19610503, 0.14532392,
       0.14415721, 0.36008996, 0.14415721, 0.33151875, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00024248390574796558
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.50996281e-01, -8.32754212e-01, -5.40695874e-02, -2.98357863e-02,
       -4.50926395e-02,  9.98537170e-01, -8.33974175e-01,  5.51803476e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08890373, -0.03505912,  0.27540153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031192407977763403
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33472746e-13, -1.77963661e-13,  1.00000000e+00, -2.37532985e-26,
        1.00000000e+00,  1.77963661e-13, -1.00000000e+00,  0.00000000e+00,
       -1.33472746e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03939355, -0.06478574,  0.06199306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.22221389e-02, 1.53690626e-01, 7.75999507e-02, 2.35192665e-02,
  2.34973913e-02, 4.16959327e-01, 2.23185048e-01, 1.40359315e-01,
 -7.50843902e-06,-1.66851304e-03,-2.35019992e-04,-1.65168639e-04,
  3.60837877e-02, 1.01729631e-02, 3.98657284e-03, 9.48986804e-06,
 -9.62751816e-06,-3.24145723e-06,-9.80999829e+00,-6.64665794e-02,
 -1.00260135e-02,-5.04835536e-03]


--- Step 2576 ---
qpos:
[ 0.0169733 , 0.25685412,-0.09097382, 0.78762704,-0.03310327, 0.08789515,
 -0.22251002, 0.56445981, 0.01512943, 1.21731719,-0.02319003, 0.95235338,
  0.98188283, 0.00172412, 1.21681268, 0.04575705, 0.08397542,-0.06831321,
  0.14371107, 0.94940239,-0.04273527, 0.0202935 , 0.31047861]

qacc:
[-1.59770806e+01, 2.37332336e+01,-4.36302784e+01,-4.70806983e+00,
 -8.94091958e+00, 9.99116232e+00,-3.85288832e+01, 1.13685451e+02,
  5.13416189e-03,-2.45922196e+01, 5.41961600e+01,-3.44109360e+01,
 -1.77166645e+00, 2.59276640e+01,-3.40322733e+01, 7.61125843e+01,
 -4.33202713e-01,-5.84111344e-01, 1.93193107e-01, 1.09803010e-01,
 -5.38197258e+00,-7.66318490e+00]

qfrc_actuator:
[-0.02601336, 0.16323969, 0.06969218, 0.07844543, 0.02510542, 0.4103262 ,
  0.20201662, 0.16923902,-0.00284204, 0.10376112, 0.01031362, 0.00413623,
  0.03439138, 0.00224403, 0.        ,-0.00164527, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013496420346909203
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.65841195e-01, -7.44862258e-01,  4.28453116e-02,  2.85543945e-02,
        3.19431884e-02,  9.99081718e-01, -7.45546880e-01,  6.66453186e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08863899, -0.0335948 ,  0.12926309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.20492575, -0.39126994,  0.20492575,  1.40454915,
        0.50429483, -0.39126994,  0.50429483,  0.70580823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022406526279940405
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72052278e-01, -2.33023217e-01,  2.85403198e-02, -2.32922841e-01,
        9.72471172e-01,  6.83882187e-03, -2.93482425e-02, -8.67361738e-19,
       -9.99569248e-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([ 0.11728117, -0.08302982,  0.11501562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.88903297, -1.34388012, -1.32756612, -1.34388012,  1.47295087,
        0.42119519, -1.32756612,  0.42119519,  1.46266187,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007678806514572667
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55551299, -0.82849867, -0.07067729, -0.03936058, -0.05870284,
        0.99749923, -0.83057574,  0.55690568,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09167111, -0.03922771,  0.3044559 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.40542666, 0.15667019, 0.37393212, 0.15667019, 0.09326835,
       0.13078818, 0.37393212, 0.13078818, 0.35062899, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.000221663422821265
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.50956079e-01, -8.32774458e-01, -5.41673480e-02, -2.98877087e-02,
       -4.51755073e-02,  9.98531872e-01, -8.33998875e-01,  5.51766143e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08888448, -0.035052  ,  0.27541465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003111152588083088
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.92131608e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.92131608e-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([ 0.03939244, -0.06478576,  0.06199308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.19692446e-02, 1.53961415e-01, 7.79026061e-02, 2.38413529e-02,
  2.34514301e-02, 4.17542721e-01, 2.23493548e-01, 1.40336763e-01,
  5.10463079e-07,-1.96473435e-03,-3.55965770e-04,-5.86796794e-05,
  3.52554161e-02, 8.90044389e-03, 4.88888384e-03,-1.31878279e-04,
 -1.48707301e-05,-5.38201174e-06,-9.80999886e+00,-6.64657846e-02,
 -1.00326861e-02,-5.04275772e-03]


--- Step 2577 ---
qpos:
[ 0.01705827, 0.2568803 ,-0.09120968, 0.78867832,-0.03307368, 0.08773604,
 -0.22292288, 0.56503216, 0.01513127, 1.21872833,-0.02318932, 0.95239833,
  0.98197291, 0.00167696, 1.21683082, 0.04575971, 0.08396304,-0.06832434,
  0.14371763, 0.94942873,-0.04272994, 0.02022424, 0.31040332]

qacc:
[-1.80305520e+01, 2.38069739e+01,-4.68388276e+01,-6.73471988e-01,
 -1.71906914e+01, 1.04990987e+01,-3.82897227e+01, 1.14230400e+02,
 -5.20096453e-02,-1.91266518e+01, 4.20432353e+01,-4.01571874e+01,
 -5.38046700e-01, 2.64162942e+01,-3.03730272e+01, 5.31174548e+01,
 -3.88588575e-01,-5.82515033e-01, 1.72507401e-01, 1.89087525e-01,
 -4.65182171e+00,-8.26804396e+00]

qfrc_actuator:
[-0.02611094, 0.16446706, 0.07001864, 0.07885648, 0.0250367 , 0.41135386,
  0.2024225 , 0.16966969,-0.00285845, 0.10314796, 0.01031517, 0.00408198,
  0.03439784, 0.0023007 , 0.        ,-0.00182431, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013424316541133384
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66600027, -0.7447322 ,  0.04263306,  0.02841947,  0.03177911,
        0.9990908 , -0.74540993,  0.66660635,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08862946, -0.03359255,  0.12927944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.2051382 , -0.3911586 ,  0.2051382 ,  1.38828777,
        0.49643324, -0.3911586 ,  0.49643324,  0.70203439,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002203016386972344
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97211372, -0.23286982,  0.02768705, -0.23277542,  0.97250792,
        0.00662974, -0.02846974,  0.        , -0.99959465])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11729925, -0.08302982,  0.11500828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.84647965, -1.3244713 , -1.28657019, -1.3244713 ,  1.38164692,
        0.47852625, -1.28657019,  0.47852625,  1.35385648,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000743248113169894
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.55457046e-01, -8.28529348e-01, -7.07572555e-02, -3.94013731e-02,
       -5.87717704e-02,  9.97493564e-01, -8.30611222e-01,  5.56852762e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09165081, -0.0392325 ,  0.30453781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.40086776, 0.07824107, 0.3931581 , 0.07824107, 0.01553917,
       0.07668294, 0.3931581 , 0.07668294, 0.38560734, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00019839277578391945
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55091373, -0.83279441, -0.05429116, -0.02995392, -0.04528015,
        0.99852515, -0.83402447,  0.55172745,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08886178, -0.03504691,  0.27542945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003103784900631984
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34137399e-13, -2.68274798e-13,  1.00000000e+00, -3.59856837e-26,
        1.00000000e+00,  2.68274798e-13, -1.00000000e+00,  0.00000000e+00,
       -1.34137399e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03939135, -0.06478579,  0.0619931 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.16550383e-02, 1.54326699e-01, 7.83269866e-02, 2.43715057e-02,
  2.34424159e-02, 4.18104424e-01, 2.23705312e-01, 1.40464370e-01,
 -1.48706932e-05,-1.78644506e-03,-4.27650109e-04,-1.22449557e-04,
  3.42747829e-02, 7.55384214e-03, 5.92833216e-03,-3.77648910e-04,
 -2.16494177e-05,-7.02098772e-06,-9.81000050e+00,-6.64642409e-02,
 -1.00408767e-02,-5.03570062e-03]


--- Step 2578 ---
qpos:
[ 0.01713295, 0.25692143,-0.09144899, 0.78972728,-0.03304669, 0.08758351,
 -0.22333237, 0.56561111, 0.01513296, 1.22012936,-0.02319083, 0.95244204,
  0.98207288, 0.00164745, 1.21683617, 0.04575656, 0.0839491 ,-0.06833789,
  0.1437249 , 0.94946023,-0.04272089, 0.02014523, 0.31031335]

qacc:
[-1.99287310e+01, 2.48900780e+01,-5.14552387e+01, 5.16490188e+00,
 -1.94606852e+01, 8.58573786e+00,-4.08444462e+01, 1.26497148e+02,
 -6.39945258e-02,-9.38429615e+00, 1.71248758e+01,-2.29434437e+01,
 -3.59992787e+00, 1.85697360e+01,-6.54998472e-01,-2.36236756e+01,
 -3.88694832e-01,-6.03708251e-01, 1.75049751e-01, 5.13428354e-01,
 -4.94603431e+00,-7.94365819e+00]

qfrc_actuator:
[-0.02619789, 0.16536128, 0.07029283, 0.07951843, 0.02500276, 0.41254237,
  0.20281067, 0.17037001,-0.00286895, 0.10291649, 0.01029838, 0.0040321 ,
  0.03439192, 0.00238892, 0.        ,-0.00200248, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013346744502771232
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66618827, -0.74457768,  0.04239418,  0.02826792,  0.03159417,
        0.99910096, -0.74524769,  0.66678773,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08861802, -0.03359059,  0.12929601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.20533229, -0.39105675,  0.20533229,  1.26404886,
        0.4317982 , -0.39105675,  0.4317982 ,  0.66841066,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002166563206750948
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72182029e-01, -2.32687422e-01,  2.68079360e-02, -2.32599007e-01,
        9.72551574e-01,  6.41392157e-03, -2.75645392e-02, -8.67361738e-19,
       -9.99620026e-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([ 0.11731537, -0.08302961,  0.11500087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.79530364, -1.26695703, -1.27198076, -1.26695703,  1.06417277,
        0.72824325, -1.27198076,  0.72824325,  1.06993662,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007151913763670737
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55538218, -0.82857515, -0.0708086 , -0.0394248 , -0.05881789,
        0.99748992, -0.83066017,  0.55677974,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09162785, -0.03924011,  0.30463088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00017343653428074764
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55086659, -0.83281592, -0.05443937, -0.03003337, -0.04540531,
        0.99851708, -0.83405276,  0.55168469,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08883618, -0.03504427,  0.27544541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003096977703867104
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.48107450e-14, -1.79242980e-13,  1.00000000e+00,  8.03201146e-27,
        1.00000000e+00,  1.79242980e-13, -1.00000000e+00,  0.00000000e+00,
        4.48107450e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03939029, -0.06478581,  0.06199311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.12771102e-02, 1.54449830e-01, 7.87459766e-02, 2.51537631e-02,
  2.35232190e-02, 4.18756455e-01, 2.23869478e-01, 1.40853566e-01,
 -1.78427977e-05,-1.32184800e-03,-4.21146764e-04,-1.16400336e-04,
  3.31329705e-02, 6.15149052e-03, 7.20260007e-03,-4.46501416e-04,
 -3.04687424e-05,-7.36687626e-06,-9.81000387e+00,-6.64619926e-02,
 -1.00503918e-02,-5.02735729e-03]


--- Step 2579 ---
qpos:
[ 0.01719655, 0.25697127,-0.09169048, 0.79077449,-0.03302248, 0.08743385,
 -0.22373946, 0.56619709, 0.01513436, 1.2215228 ,-0.02319468, 0.95248532,
  0.98218011, 0.00162799, 1.21683635, 0.0457486 , 0.08393355,-0.06835382,
  0.14373289, 0.94949664,-0.04270804, 0.02005605, 0.31020945]

qacc:
[-2.14600263e+01, 1.43369095e+01,-2.84420605e+01,-3.22008526e+00,
 -2.07899104e+01, 6.92427372e+00,-4.33606078e+01, 1.39033797e+02,
 -1.22461528e-01,-4.43646199e+00, 3.31442304e+00,-3.17742937e+00,
 -9.82498857e-01, 9.76927328e+00, 7.18203712e+00,-3.55004585e+01,
 -4.00764398e-01,-5.93296259e-01, 1.82996409e-01, 4.69258306e-01,
 -5.16318984e+00,-7.55143030e+00]

qfrc_actuator:
[-0.02623826, 0.16594339, 0.07055514, 0.07997673, 0.02499091, 0.4136676 ,
  0.20320535, 0.171105  ,-0.00289359, 0.10273808, 0.01025475, 0.00402094,
  0.03436826, 0.00244308, 0.        ,-0.0021579 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013262762322521341
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.66405117e-01, -7.44398813e-01,  4.21263218e-02,  2.80981394e-02,
        3.13866461e-02,  9.99112292e-01, -7.45060209e-01,  6.66997216e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08860475, -0.03358898,  0.12931272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.2056986 , -0.3908642 ,  0.2056986 ,  1.16588921,
        0.38112351, -0.3908642 ,  0.38112351,  0.64225864,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021308734130558488
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97225722, -0.23247672,  0.02589356, -0.23239432,  0.97260196,
        0.00618922, -0.02662298,  0.        , -0.99964555])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11732994, -0.08302921,  0.11499324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.73244228, -1.2448712 , -1.2048452 , -1.2448712 ,  1.01773959,
        0.73844574, -1.2048452 ,  0.73844574,  0.96946473,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006822980490541434
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55529908, -0.82862792, -0.07084285, -0.03943806, -0.05885022,
        0.99748749, -0.8307151 ,  0.55669779,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0916025 , -0.03925023,  0.3047395 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001449944771860435
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.50822351e-01, -8.32833883e-01, -5.46119162e-02, -3.01264230e-02,
       -4.55506314e-02,  9.98507656e-01, -8.34078615e-01,  5.51645596e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08880763, -0.03504288,  0.27546326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030905846822253114
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.98068763e-14, -1.79613753e-13,  1.00000000e+00,  1.61305501e-26,
        1.00000000e+00,  1.79613753e-13, -1.00000000e+00,  0.00000000e+00,
        8.98068763e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03938924, -0.06478583,  0.06199313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.08035568e-02, 1.54283274e-01, 7.91814899e-02, 2.57271167e-02,
  2.36413699e-02, 4.19561839e-01, 2.24101101e-01, 1.41258666e-01,
 -3.36858869e-05,-1.01023568e-03,-3.56291501e-04,-6.36091175e-05,
  3.26151460e-02, 5.32392358e-03, 7.84183605e-03,-3.11329954e-04,
 -3.97035738e-05,-7.44573659e-06,-9.81000788e+00,-6.64588831e-02,
 -1.00610181e-02,-5.01764374e-03]


--- Step 2580 ---
qpos:
[ 0.01724839, 0.25702366,-0.0919322 , 0.79182065,-0.0330014 , 0.08728669,
 -0.2241441 , 0.56679051, 0.01513563, 1.22291061,-0.02319966, 0.95252688,
  0.98229853, 0.00161363, 1.21683646, 0.04574122, 0.08391634,-0.06837197,
  0.14374166, 0.94953766,-0.0426919 , 0.01995641, 0.31009253]

qacc:
[-2.27168475e+01, 2.27843371e+00,-4.72344366e-01,-1.50122458e+01,
 -2.34804162e+01, 6.86002550e+00,-4.51780296e+01, 1.46676439e+02,
 -5.62566693e-02,-7.26126789e+00, 1.82549819e+01,-3.21586322e+01,
  5.51101541e+00,-1.25473462e-01,-2.09812354e+00, 6.50035678e+00,
 -4.15972201e-01,-5.56708290e-01, 1.91710627e-01, 1.70393286e-01,
 -5.25123821e+00,-7.09149419e+00]

qfrc_actuator:
[-0.02629902, 0.16649829, 0.07081044, 0.08001139, 0.02495803, 0.41479144,
  0.2036213 , 0.1717867 ,-0.00289101, 0.10264631, 0.01026701, 0.00394393,
  0.03434448, 0.00245957, 0.        ,-0.00204981, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013168230345300073
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66665377, -0.74419318,  0.04182417,  0.02790666,  0.03115252,
        0.99912499, -0.74484493,  0.66723761,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08859009, -0.03358784,  0.12932929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.20613436, -0.39063456,  0.20613436,  1.12258913,
        0.35930636, -0.39063456,  0.35930636,  0.63128899,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020956042889089393
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97233912, -0.23223874,  0.02493581, -0.23216241,  0.97265881,
        0.00595385, -0.02563675,  0.        , -0.99967132])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1173433 , -0.08302866,  0.11498525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.65683508, -1.22408822, -1.11656192, -1.22408822,  1.00957096,
        0.70959646, -1.11656192,  0.70959646,  0.87890361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006441364506247164
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55520991, -0.82868556, -0.07086742, -0.03944547, -0.05887484,
        0.99748574, -0.83077434,  0.55660937,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09157468, -0.03926265,  0.30486513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00011240115342873259
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.50781422e-01, -8.32847995e-01, -5.48091438e-02, -3.02333034e-02,
       -4.57164042e-02,  9.98496849e-01, -8.34101776e-01,  5.51610576e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08877593, -0.03504217,  0.27548331])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030845548090348285
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49912181e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.49912181e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03938821, -0.06478586,  0.06199314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.03099999e-02, 1.54402631e-01, 7.95465353e-02, 2.58475161e-02,
  2.37474317e-02, 4.20550755e-01, 2.24402194e-01, 1.41588315e-01,
 -1.56075329e-05,-7.36874312e-04,-2.30568300e-04,-1.17110274e-04,
  3.22279849e-02, 4.83825028e-03, 8.09976328e-03, 3.65330923e-05,
 -4.95644140e-05,-7.71375897e-06,-9.81001210e+00,-6.64549817e-02,
 -1.00729708e-02,-5.00650268e-03]


--- Step 2581 ---
qpos:
[ 0.01728796, 0.25707718,-0.09217292, 0.79286614,-0.03298413, 0.08714551,
 -0.2245451 , 0.56739157, 0.015137  , 1.22429514,-0.02320553, 0.95256735,
  0.98243246, 0.00160162, 1.21683948, 0.0457384 , 0.08389746,-0.06839216,
  0.1437512 , 0.94958285,-0.0426729 , 0.01984621, 0.3099638 ]

qacc:
[-2.37070909e+01,-2.20701631e+00, 1.09821320e+01,-1.93076926e+01,
 -2.85444078e+01, 8.53576287e+00,-4.54249677e+01, 1.46440365e+02,
  4.10602608e-02,-3.82669042e+00, 9.46758944e+00,-1.87637753e+01,
  1.08895518e+01,-7.14450101e+00,-1.03274468e+01, 4.05675467e+01,
 -4.20262609e-01,-5.11356324e-01, 1.94808734e-01,-7.46076710e-02,
 -5.24200910e+00,-6.44612419e+00]

qfrc_actuator:
[-0.02633141, 0.16712829, 0.07100718, 0.07975639, 0.024914  , 0.4158604 ,
  0.20404902, 0.17229119,-0.00287214, 0.10267858, 0.0102948 , 0.00389989,
  0.03432535, 0.00245439, 0.        ,-0.00176931, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013059871874273505
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66693611, -0.7439592 ,  0.04148415,  0.02769112,  0.03088911,
        0.99913916, -0.74460018,  0.66751072,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08857447, -0.03358725,  0.12934549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.20693279, -0.39021219,  0.20693279,  1.13718512,
        0.36882889, -0.39021219,  0.36882889,  0.63727929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002060856558789699
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72427195e-01, -2.31975202e-01,  2.39344181e-02, -2.31904969e-01,
        9.72721700e-01,  5.70789311e-03, -2.46056175e-02, -8.67361738e-19,
       -9.99697236e-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([ 0.1173555 , -0.08302798,  0.1149769 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.56947819, -1.16655826, -1.0499541 , -1.16655826,  0.96096993,
        0.67608702, -1.0499541 ,  0.67608702,  0.81830736,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006009784264128916
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55511143, -0.82874982, -0.07088746, -0.03944968, -0.05889613,
        0.99748432, -0.83083995,  0.55651143,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09154406, -0.03927722,  0.30500703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -7.577365222684189e-05
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55073939, -0.83286114, -0.05503137, -0.03035394, -0.04590305,
        0.99848463, -0.83412515,  0.55157523,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08874086, -0.03504202,  0.27550562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003078914953178885
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.60589052e-13, -9.01472630e-14,  1.00000000e+00, -3.25061161e-26,
        1.00000000e+00,  9.01472630e-14, -1.00000000e+00,  0.00000000e+00,
       -3.60589052e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0393872 , -0.06478588,  0.06199315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97546457e-02, 1.54903904e-01, 7.97552005e-02, 2.56443896e-02,
  2.38601984e-02, 4.21503500e-01, 2.24712916e-01, 1.41721279e-01,
  1.11127486e-05,-4.38561232e-04,-1.48897879e-04,-7.36322075e-05,
  3.16497520e-02, 4.57829362e-03, 8.10298718e-03, 2.88955814e-04,
 -6.03660521e-05,-8.63856247e-06,-9.81001612e+00,-6.64505033e-02,
 -1.00864849e-02,-4.99392359e-03]


--- Step 2582 ---
qpos:
[ 0.0173148 , 0.2571299 ,-0.09241112, 0.79391139,-0.03297135, 0.08701462,
 -0.22494106, 0.56800037, 0.01513837, 1.22567693,-0.02321219, 0.95260799,
  0.98258287, 0.00159103, 1.21684648, 0.04573879, 0.08387693,-0.06841424,
  0.14376151, 0.94963162,-0.04265102, 0.01972554, 0.30982509]

qacc:
[-2.45503550e+01,-8.01941710e+00, 2.58708023e+01,-2.56231668e+01,
 -3.37813853e+01, 1.05435118e+01,-4.48351778e+01, 1.42465139e+02,
  2.62584344e-03,-1.16668932e+00,-8.47413933e-01, 4.35618558e+00,
  1.21364495e+01,-8.96296859e+00,-4.66808081e+00, 2.28709411e+01,
 -4.10446042e-01,-4.69433073e-01, 1.90761602e-01,-7.91616437e-02,
 -5.24522487e+00,-5.48739328e+00]

qfrc_actuator:
[-0.0263238 , 0.16767948, 0.07122091, 0.07938087, 0.02488296, 0.41685645,
  0.20444611, 0.17265066,-0.00287918, 0.10260768, 0.01027885, 0.00391118,
  0.03431354, 0.00245468, 0.        ,-0.00160262, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012937945802400331
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66724991, -0.74369871,  0.04110703,  0.02745187,  0.03059711,
        0.99915475, -0.74432785,  0.66781438,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08855801, -0.03358724,  0.12936131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.20818693, -0.38954452,  0.20818693,  1.17572262,
        0.39229606, -0.38954452,  0.39229606,  0.65134369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002027266296191872
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72520346e-01, -2.31689045e-01,  2.28989930e-02, -2.31624846e-01,
        9.72789898e-01,  5.45384550e-03, -2.35395053e-02, -8.67361738e-19,
       -9.99722907e-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([ 0.11736622, -0.08302717,  0.11496833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.4725468 , -1.06225117, -1.019812  , -1.06225117,  0.84958665,
        0.64888445, -1.019812  ,  0.64888445,  0.79665922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005532607021892592
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55500004, -0.82882284, -0.0709059 , -0.03945208, -0.05891672,
        0.99748301, -0.83091425,  0.5564005 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09151037, -0.03929381,  0.30516394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -3.5451470541794375e-05
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5506919 , -0.83287617, -0.05527848, -0.03048803, -0.04611063,
        0.99847098, -0.83415161,  0.55153522,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08870228, -0.0350424 ,  0.27553013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003073689472856411
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.16051818e-13, -1.80601039e-13,  1.00000000e+00, -5.70792867e-26,
        1.00000000e+00,  1.80601039e-13, -1.00000000e+00,  0.00000000e+00,
       -3.16051818e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03938621, -0.06478591,  0.06199317])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.91332764e-02, 1.55398058e-01, 7.99195083e-02, 2.53014173e-02,
  2.40194079e-02, 4.22208793e-01, 2.24932674e-01, 1.41697979e-01,
  6.37160281e-07,-3.59404302e-04,-1.23788738e-04,-6.06108382e-06,
  3.08629453e-02, 4.46153155e-03, 7.95777158e-03, 2.26800032e-04,
 -7.15477211e-05,-1.05539582e-05,-9.81001956e+00,-6.64457552e-02,
 -1.01015593e-02,-4.97993409e-03]


--- Step 2583 ---
qpos:
[ 0.01732858, 0.25718064,-0.09264529, 0.7949568 ,-0.03296333, 0.0868957 ,
 -0.22533125, 0.56861716, 0.01513986, 1.22705443,-0.0232173 , 0.95264815,
  0.98275146, 0.00158157, 1.21685851, 0.04574167, 0.08385479,-0.068438  ,
  0.14377256, 0.94968338,-0.04262641, 0.01959448, 0.30967809]

qacc:
[-2.51924091e+01,-1.29074488e+01, 3.90395709e+01,-3.14947633e+01,
 -3.57549247e+01, 1.12348274e+01,-4.50415385e+01, 1.44477044e+02,
  5.44083633e-02,-1.06540539e+01, 2.88944612e+01,-2.79016376e+01,
  1.35389762e+01,-1.03390150e+01,-1.09513081e+00, 1.23237864e+01,
 -4.02668990e-01,-4.22706241e-01, 1.87579295e-01,-1.68825714e-01,
 -5.20558995e+00,-4.59754246e+00]

qfrc_actuator:
[-0.02632234, 0.16813161, 0.07142516, 0.07889737, 0.02486192, 0.41787308,
  0.20480422, 0.1730265 ,-0.0028662 , 0.10235136, 0.01034342, 0.00388385,
  0.03430014, 0.00245825, 0.        ,-0.00146919, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012802499935047522
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.67592272e-01, -7.43414168e-01,  4.06931615e-02,  2.71889610e-02,
        3.02769514e-02,  9.99171690e-01, -7.44030455e-01,  6.68145704e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08854086, -0.03358787,  0.12937673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.20970717, -0.38872823,  0.20970717,  1.1568514 ,
        0.38581006, -0.38872823,  0.38581006,  0.64981915,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019576531584117704
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72466756e-01, -2.32014813e-01,  2.18525627e-02, -2.31956256e-01,
        9.72712253e-01,  5.21235159e-03, -2.24655983e-02, -8.67361738e-19,
       -9.99747617e-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([ 0.11737686, -0.08303348,  0.11495986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36842692, -0.95909564, -0.97607776, -0.95909564,  0.74744671,
        0.6101762 , -0.97607776,  0.6101762 ,  0.76886676,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005011824430587617
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55487492, -0.82890509, -0.07092373, -0.03945315, -0.05893746,
        0.99748174, -0.83099776,  0.55627577,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09147356, -0.03931233,  0.30533531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003068871436088111
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.04422886e-14, -2.71326866e-13,  1.00000000e+00, -2.45394227e-26,
        1.00000000e+00,  2.71326866e-13, -1.00000000e+00,  0.00000000e+00,
       -9.04422886e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03938524, -0.06478593,  0.06199318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.84957449e-02, 1.55889531e-01, 7.99983889e-02, 2.48284656e-02,
  2.42231320e-02, 4.22719511e-01, 2.25043222e-01, 1.41687144e-01,
  1.46000408e-05,-4.94030912e-04,-2.29328976e-05,-4.00380316e-05,
  3.00251981e-02, 4.39488252e-03, 7.75747191e-03, 1.99899241e-04,
 -8.14918305e-05,-1.38185241e-05,-9.81002183e+00,-6.64410491e-02,
 -1.01179606e-02,-4.96456423e-03]


--- Step 2584 ---
qpos:
[ 0.01732892, 0.2572309 ,-0.09287463, 0.79600255,-0.03296017, 0.08678773,
 -0.2257159 , 0.56924209, 0.01514135, 1.22842617,-0.0232203 , 0.95268781,
  0.98293959, 0.00157308, 1.21687626, 0.04574634, 0.08383105,-0.0684633 ,
  0.14378436, 0.94973786,-0.04259954, 0.01945324, 0.30952358]

qacc:
[-2.59071233e+01,-1.27723535e+01, 4.06424936e+01,-3.19507800e+01,
 -3.65995847e+01, 1.06832583e+01,-4.55598491e+01, 1.48346230e+02,
 -2.02579484e-03,-1.41082487e+01, 3.79330897e+01,-3.51974829e+01,
  1.46523244e+01,-1.14027452e+01, 1.96815816e+00, 2.92629438e+00,
 -3.97761662e-01,-3.83484018e-01, 1.84889663e-01,-3.68459154e-01,
 -5.04849949e+00,-4.17801962e+00]

qfrc_actuator:
[-0.02628363, 0.16877434, 0.07163897, 0.07829553, 0.02483119, 0.418914  ,
  0.2051717 , 0.1733733 ,-0.00287684, 0.10198645, 0.01041878, 0.00385168,
  0.03428506, 0.00242797, 0.        ,-0.00137402, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012654206524559972
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66795985, -0.74310839,  0.04024383,  0.02690306,  0.02992977,
        0.99918989, -0.74371088,  0.66850141,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08852311, -0.03358917,  0.12939175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.21216259, -0.38739356,  0.21216259,  1.12866205,
        0.37623385, -0.38739356,  0.37623385,  0.64773703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019266952089020254
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71512030e-01, -2.36071080e-01,  2.08523462e-02, -2.36016720e-01,
        9.71735790e-01,  5.06581719e-03, -2.14588640e-02, -8.67361738e-19,
       -9.99769732e-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([ 0.11739593, -0.08308262,  0.11495217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.2704748 , -0.86525972, -0.93028589, -0.86525972,  0.65776792,
        0.56987921, -0.93028589,  0.56987921,  0.74042965,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004450592342482759
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55473466, -0.82899746, -0.0709413 , -0.039453  , -0.05895871,
        0.99748049, -0.8310914 ,  0.55613585,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09143349, -0.03933266,  0.30552022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030644714294461584
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.3585822e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.3585822e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03938428, -0.06478596,  0.06199319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.78039250e-02, 1.56630824e-01, 8.00113325e-02, 2.42172471e-02,
  2.44300706e-02, 4.23169234e-01, 2.25127328e-01, 1.41634533e-01,
 -9.67979063e-07,-6.58262584e-04,-2.79351470e-05,-4.67105947e-05,
  2.91016899e-02, 4.30784914e-03, 7.50566856e-03, 1.70462954e-04,
 -9.02623186e-05,-1.85917968e-05,-9.81002261e+00,-6.64365584e-02,
 -1.01357520e-02,-4.94783742e-03]


--- Step 2585 ---
qpos:
[ 0.01731548, 0.25728218,-0.09309833, 0.7970488 ,-0.03296153, 0.08668779,
 -0.22609556, 0.56987563, 0.01514279, 1.22979094,-0.02322252, 0.95272699,
  0.98314713, 0.00156589, 1.21690005, 0.04575045, 0.08380575,-0.06848998,
  0.14379688, 0.94979473,-0.04257082, 0.019302  , 0.30936244]

qacc:
[-2.65826976e+01,-1.27626000e+01, 4.26689918e+01,-3.29844096e+01,
 -3.39761184e+01, 9.03058656e+00,-4.67831901e+01, 1.59064602e+02,
 -2.15911610e-02,-1.21251445e+01, 2.94580301e+01,-2.67635254e+01,
  1.41328694e+01,-1.05947995e+01, 9.58364811e+00,-2.29332813e+01,
 -3.93544894e-01,-3.44647415e-01, 1.82259167e-01,-5.53895914e-01,
 -4.91916201e+00,-3.71606668e+00]

qfrc_actuator:
[-0.02627023, 0.16965498, 0.0718916 , 0.07755142, 0.02483215, 0.41996572,
  0.20556047, 0.1738236 ,-0.00288381, 0.10152405, 0.01041068, 0.00381681,
  0.0342735 , 0.00239488, 0.        ,-0.00140862, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012495496056922771
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.68348926e-01, -7.42784384e-01,  3.97626918e-02,  2.65963860e-02,
        2.95584828e-02,  9.99209151e-01, -7.43372279e-01,  6.68877907e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08850465, -0.03359113,  0.12940651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.21462091, -0.38603704,  0.21462091,  1.04373136,
        0.33471264, -0.38603704,  0.33471264,  0.62777287,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018463216287027014
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97050732, -0.24025979,  0.019768  , -0.24020996,  0.97070863,
        0.00489277, -0.0203645 ,  0.        , -0.99979262])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11741356, -0.08313356,  0.11494376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.18993534, -0.78187974, -0.89700066, -0.78187974,  0.57565696,
        0.53544199, -0.89700066,  0.53544199,  0.72321189,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003852565666837495
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55457813, -0.82910068, -0.07095886, -0.03945168, -0.05898071,
        0.99747924, -0.83119592,  0.55597962,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09139007, -0.03935464,  0.30571757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030605283187523646
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.81377676e-13,  9.06888378e-14,  1.00000000e+00,  1.64489306e-26,
        1.00000000e+00, -9.06888378e-14, -1.00000000e+00,  0.00000000e+00,
       -1.81377676e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03938335, -0.064786  ,  0.0619932 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71188358e-02, 1.57534421e-01, 8.00232569e-02, 2.34551860e-02,
  2.46742141e-02, 4.23680335e-01, 2.25242914e-01, 1.41677105e-01,
 -6.31559376e-06,-8.47630845e-04,-1.44207924e-04,-5.45621857e-05,
  2.81135262e-02, 4.22713334e-03, 7.21834651e-03, 4.59911868e-05,
 -9.92309844e-05,-2.43315415e-05,-9.81002249e+00,-6.64322239e-02,
 -1.01550688e-02,-4.92979740e-03]


--- Step 2586 ---
qpos:
[ 0.01728797, 0.25733971,-0.09331671, 0.79809536,-0.03296688, 0.08659056,
 -0.22647179, 0.57051816, 0.01514431, 1.23114905,-0.02322518, 0.9527669 ,
  0.98337487, 0.00156006, 1.21693019, 0.04575338, 0.08377886,-0.06851789,
  0.14381014, 0.94985386,-0.04254094, 0.01914091, 0.30919497]

qacc:
[-2.71491798e+01,-5.37441798e+00, 2.73395476e+01,-2.55454145e+01,
 -3.00046666e+01, 6.67640678e+00,-4.96124505e+01, 1.72625144e+02,
  3.95122232e-02,-6.28376812e+00, 8.48842265e+00, 5.19038465e+00,
  1.46651860e+01,-1.09595933e+01, 1.18838129e+01,-3.04020190e+01,
 -3.95871780e-01,-3.07774331e-01, 1.83807045e-01,-8.69389725e-01,
 -4.74481077e+00,-3.55318560e+00]

qfrc_actuator:
[-0.0262663 , 0.17078359, 0.07211152, 0.07682819, 0.02483599, 0.42112899,
  0.20597811, 0.17449204,-0.00287078, 0.10120197, 0.01038849, 0.00385152,
  0.03425273, 0.00235936, 0.        ,-0.0014662 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012328731712710347
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66875575, -0.74244524,  0.0392532 ,  0.02627105,  0.02916583,
        0.9992293 , -0.74301788,  0.66927156,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08848536, -0.03359374,  0.12942114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.21670229, -0.38487251,  0.21670229,  0.96838638,
        0.29655828, -0.38487251,  0.29655828,  0.60866324,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018171663882878297
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96945261, -0.24456988,  0.01863332, -0.24452472,  0.96963167,
        0.00469988, -0.01921691,  0.        , -0.99981534])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11743001, -0.08318621,  0.11493499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.12503418, -0.71716302, -0.86682126, -0.71716302,  0.51394786,
        0.50558118, -0.86682126,  0.50558118,  0.70674249,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003220245974367909
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55440543, -0.8292147 , -0.07097605, -0.039449  , -0.05900319,
        0.99747802, -0.83131125,  0.55580717,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0913432 , -0.03937806,  0.30592663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030570920699490856
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.07907743e-14, -2.72372323e-13,  1.00000000e+00, -2.47288941e-26,
        1.00000000e+00,  2.72372323e-13, -1.00000000e+00,  0.00000000e+00,
       -9.07907743e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03938244, -0.06478603,  0.06199321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64256273e-02, 1.58611392e-01, 7.99612697e-02, 2.27062724e-02,
  2.49038383e-02, 4.24448939e-01, 2.25415680e-01, 1.41914801e-01,
  1.05710312e-05,-8.34856758e-04,-2.08705951e-04, 5.81811478e-06,
  2.71230649e-02, 4.12724410e-03, 6.91541453e-03, 1.59970912e-05,
 -1.08234530e-04,-3.11650581e-05,-9.81002121e+00,-6.64281842e-02,
 -1.01758729e-02,-4.91049225e-03]


--- Step 2587 ---
qpos:
[ 0.0172463 , 0.25740897,-0.09353046, 0.79914197,-0.0329754 , 0.0864962 ,
 -0.22684354, 0.57117102, 0.01514581, 1.23250135,-0.02322765, 0.95280684,
  0.98362309, 0.00155627, 1.21696694, 0.04575389, 0.08375039,-0.06854686,
  0.14382415, 0.9499149 ,-0.04251041, 0.01897003, 0.30902213]

qacc:
[-2.73246151e+01, 3.13376193e+00, 8.92072036e+00,-1.65954253e+01,
 -2.38052879e+01, 6.07937264e+00,-5.20422895e+01, 1.93969213e+02,
 -1.09741951e-02,-8.07629479e+00, 1.70788334e+01,-1.08576068e+01,
  1.43253015e+01,-1.00346838e+01, 1.61140010e+01,-4.45289838e+01,
 -3.96029852e-01,-2.65049398e-01, 1.85788903e-01,-1.10806413e+00,
 -4.65451060e+00,-3.04633483e+00]

qfrc_actuator:
[-0.02628   , 0.17209083, 0.07234538, 0.07627723, 0.02482507, 0.42216601,
  0.20635938, 0.17519878,-0.00288138, 0.10100204, 0.01042975, 0.00385594,
  0.03423097, 0.00235732, 0.        ,-0.00158998, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012158552237230397
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66917519, -0.74209515,  0.0387215 ,  0.02593092,  0.02875661,
        0.99925004, -0.7426521 ,  0.66967742,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08846489, -0.03359694,  0.12943591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.2175871 , -0.38437298,  0.2175871 ,  0.84076186,
        0.22591002, -0.38437298,  0.22591002,  0.56957011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015391724080693813
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96928637, -0.24531312,  0.0174759 , -0.24527326,  0.9694439 ,
        0.00442219, -0.01802672,  0.        , -0.99983751])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11743542, -0.08319805,  0.11492609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.07437707, -0.66238896, -0.84588826, -0.66238896,  0.46019438,
        0.48094749, -0.84588826,  0.48094749,  0.69776195,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002557123992529783
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55421589, -0.82933996, -0.07099286, -0.0394449 , -0.05902615,
        0.99747682, -0.83143782,  0.55561781,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09129276, -0.03940273,  0.30614636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003054185977217072
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36315744e-13, -1.81754326e-13,  1.00000000e+00, -2.47759761e-26,
        1.00000000e+00,  1.81754326e-13, -1.00000000e+00,  0.00000000e+00,
       -1.36315744e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03938155, -0.06478607,  0.06199321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57357818e-02, 1.59605203e-01, 7.99296765e-02, 2.21384039e-02,
  2.50924756e-02, 4.25357355e-01, 2.25629455e-01, 1.42171977e-01,
 -3.30423341e-06,-7.16298759e-04,-1.48268556e-04,-2.45743217e-05,
  2.60914032e-02, 4.05753213e-03, 6.59684074e-03,-4.91521511e-05,
 -1.18593396e-04,-3.88524568e-05,-9.81001919e+00,-6.64243747e-02,
 -1.01983291e-02,-4.88996752e-03]


--- Step 2588 ---
qpos:
[ 0.01719056, 0.25749251,-0.09373972, 0.80018854,-0.03298716, 0.08640764,
 -0.22721   , 0.5718344 , 0.0151474 , 1.23384835,-0.02322958, 0.95284476,
  0.98389246, 0.00155519, 1.21701048, 0.04575149, 0.08372033,-0.06857668,
  0.1438389 , 0.94997733,-0.04247961, 0.01878937, 0.30884546]

qacc:
[-2.71777920e+01, 6.65166104e+00, 1.78393724e+00,-1.34742474e+01,
 -2.43733494e+01, 7.94976625e+00,-5.38498134e+01, 1.95290949e+02,
  3.77681609e-02,-1.19476100e+01, 3.46302448e+01,-5.00233214e+01,
  1.43612550e+01,-9.44197618e+00, 1.78028031e+01,-5.00031331e+01,
 -3.94684412e-01,-2.14039256e-01, 1.87097041e-01,-1.31503142e+00,
 -4.61539167e+00,-2.24443187e+00]

qfrc_actuator:
[-0.02629856, 0.17355055, 0.07260393, 0.07572326, 0.02482383, 0.42314379,
  0.20669864, 0.17581705,-0.00287058, 0.10078847, 0.01047315, 0.00375383,
  0.03421853, 0.0023919 , 0.        ,-0.00173399, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011989545643552656
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66960119, -0.7417392 ,  0.03817332,  0.02557954,  0.0283353 ,
        0.99927113, -0.74228023,  0.67008959,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08844288, -0.0336007 ,  0.12945109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.21838856, -0.38391818,  0.21838856,  0.8415935 ,
        0.22748382, -0.38391818,  0.22748382,  0.57108846,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014895630084549975
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69411786e-01, -2.44898498e-01,  1.62946102e-02, -2.44863909e-01,
        9.69548723e-01,  4.11585871e-03, -1.68063861e-02,  8.67361738e-19,
       -9.99858763e-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([ 0.11743649, -0.08319667,  0.11491708])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.03683988, -0.61883956, -0.83191017, -0.61883956,  0.41686485,
        0.4611857 , -0.83191017,  0.4611857 ,  0.69377405,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001865970971195982
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.54009263e-01, -8.29476649e-01, -7.10086304e-02, -3.94389948e-02,
       -5.90490583e-02,  9.97475701e-01, -8.31575795e-01,  5.55411287e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09123857, -0.03942841,  0.30637597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030517821854635085
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.27371860e-13, -9.09487438e-14,  1.00000000e+00, -2.06791850e-26,
        1.00000000e+00,  9.09487438e-14, -1.00000000e+00,  0.00000000e+00,
       -2.27371860e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03938069, -0.06478611,  0.06199322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50467201e-02, 1.60477606e-01, 7.99570885e-02, 2.15805130e-02,
  2.52497624e-02, 4.26197549e-01, 2.25748628e-01, 1.42273066e-01,
  1.00778960e-05,-6.53362296e-04,-1.16978943e-04,-1.26535027e-04,
  2.50555597e-02, 3.99080798e-03, 6.26478675e-03,-7.18704208e-05,
 -1.29168871e-04,-4.78994454e-05,-9.81001558e+00,-6.64211335e-02,
 -1.02222931e-02,-4.86827307e-03]


--- Step 2589 ---
qpos:
[ 0.01712097, 0.25758917,-0.0939436 , 0.80123521,-0.03300207, 0.08632712,
 -0.22757045, 0.57250847, 0.01514909, 1.23518946,-0.02323102, 0.95288022,
  0.98418499, 0.00155663, 1.21706104, 0.04574856, 0.08368871,-0.06860711,
  0.1438544 , 0.9500405 ,-0.04244902, 0.01859896, 0.30866682]

qacc:
[-2.67136203e+01, 3.06020942e+00, 1.13205242e+01,-1.91511995e+01,
 -2.37146659e+01, 9.18814037e+00,-5.45866046e+01, 1.95868741e+02,
  4.77455360e-02,-1.32601499e+01, 3.89187066e+01,-5.85865071e+01,
  1.62422747e+01,-1.12629861e+01, 1.08219214e+01,-2.54819314e+01,
 -3.93015605e-01,-1.51100993e-01, 1.87557563e-01,-1.57191917e+00,
 -4.56663727e+00,-1.25555958e+00]

qfrc_actuator:
[-0.0262612 , 0.17497023, 0.07280456, 0.07490126, 0.02484748, 0.42404645,
  0.20708112, 0.17637792,-0.00286478, 0.10046201, 0.01048187, 0.00362535,
  0.03418957, 0.00241145, 0.        ,-0.0017467 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011824356204085354
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67002877, -0.74138167,  0.03761204,  0.025219  ,  0.02790462,
        0.99929242, -0.74190663,  0.6705032 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08841917, -0.03360498,  0.12946683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.21937659, -0.38335446,  0.21937659,  0.84415829,
        0.23031673, -0.38335446,  0.23031673,  0.57348619,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014399453854552725
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69537688e-01, -2.44476572e-01,  1.50956302e-02, -2.44446944e-01,
        9.69655199e-01,  3.80602085e-03, -1.55680392e-02,  4.33680869e-19,
       -9.99878811e-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([ 0.11743625, -0.08319527,  0.11490807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.01172004, -0.58543285, -0.82513383, -0.58543285,  0.38310688,
        0.44600134, -0.82513383,  0.44600134,  0.69528188,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011497346945618627
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55378499, -0.82962519, -0.07102271, -0.03943088, -0.0590714 ,
        0.9974747 , -0.83172555,  0.555187  ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09118046, -0.03945491,  0.30661459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030498626843962484
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.73017953e-13, -2.73017953e-13,  1.00000000e+00, -7.45388029e-26,
        1.00000000e+00,  2.73017953e-13, -1.00000000e+00,  0.00000000e+00,
       -2.73017953e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03937984, -0.06478616,  0.06199323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.43056318e-02, 1.61181327e-01, 7.99330453e-02, 2.07596320e-02,
  2.54354880e-02, 4.26816614e-01, 2.25870559e-01, 1.42307403e-01,
  1.28055919e-05,-7.28261045e-04,-1.38771413e-04,-1.52510648e-04,
  2.39695114e-02, 3.87495844e-03, 5.92318008e-03, 5.97995858e-05,
 -1.39018636e-04,-5.87170247e-05,-9.81000946e+00,-6.64188360e-02,
 -1.02476529e-02,-4.84544630e-03]


--- Step 2590 ---
qpos:
[ 0.01703792, 0.25769535,-0.09414043, 0.80228235,-0.03302004, 0.08625772,
 -0.22792389, 0.57319328, 0.01515073, 1.23652421,-0.02323219, 0.95291499,
  0.98450051, 0.00156112, 1.21711861, 0.04574514, 0.08365554,-0.06863788,
  0.14387064, 0.95010365,-0.04241891, 0.01839882, 0.30848852]

qacc:
[-2.59393842e+01,-5.49620303e+00, 3.27358301e+01,-3.10143635e+01,
 -2.30843222e+01, 1.05937028e+01,-5.41066407e+01, 1.93111375e+02,
 -2.22035503e-02,-1.03057371e+01, 2.49245660e+01,-2.56557068e+01,
  1.57612083e+01,-1.03932091e+01, 1.07668877e+01,-2.51386098e+01,
 -3.87006215e-01,-8.62762874e-02, 1.85441217e-01,-1.74006428e+00,
 -4.55518364e+00,-4.36082912e-02]

qfrc_actuator:
[-0.02618489, 0.17609505, 0.07300326, 0.07398933, 0.02490504, 0.42484621,
  0.20746893, 0.17681121,-0.00287979, 0.10012378, 0.01048739, 0.00358881,
  0.03416574, 0.00242109, 0.        ,-0.00177058, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011663377325892193
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67045467, -0.74102542,  0.03703871,  0.02484983,  0.02746547,
        0.99931383, -0.74153424,  0.67091503,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08839389, -0.0336098 ,  0.12948312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.22069883, -0.38259477,  0.22069883,  0.85829283,
        0.24031846, -0.38259477,  0.24031846,  0.58031333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013907842163743518
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96966275, -0.24405184,  0.01388674, -0.24402682,  0.96976219,
        0.00349476, -0.01431974,  0.        , -0.99989747])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11743453, -0.08319388,  0.11489918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.9987715 , -0.55640963, -0.82942922, -0.55640963,  0.3506521 ,
        0.43478077, -0.82942922,  0.43478077,  0.70710561,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.12665859035562e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.55354139, -0.82978666, -0.07103539, -0.03942061, -0.0590935 ,
        0.9974738 , -0.83188818,  0.55494329,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09111819, -0.03948199,  0.30686097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003048457813486366
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.73143773e-13, -9.10479243e-14,  1.00000000e+00, -2.48691735e-26,
        1.00000000e+00,  9.10479243e-14, -1.00000000e+00,  0.00000000e+00,
       -2.73143773e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03937902, -0.0647862 ,  0.06199323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.35371936e-02, 1.61648196e-01, 7.98630004e-02, 1.98411190e-02,
  2.56505757e-02, 4.27219689e-01, 2.25961881e-01, 1.42206213e-01,
 -6.44246499e-06,-7.86375013e-04,-1.59804228e-04,-6.40283202e-05,
  2.27883895e-02, 3.75917774e-03, 5.57092033e-03, 6.22370203e-05,
 -1.47861357e-04,-7.14790705e-05,-9.81000006e+00,-6.64178767e-02,
 -1.02743801e-02,-4.82152475e-03]


--- Step 2591 ---
qpos:
[ 0.01694443, 0.25781153,-0.09433022, 0.8033295 ,-0.03304108, 0.08620437,
 -0.2282682 , 0.57388943, 0.01515227, 1.23785487,-0.02323463, 0.95295035,
  0.98500708, 0.00151583, 1.21723215, 0.04573026, 0.08362037,-0.06866724,
  0.14388798, 0.95016809,-0.04240333, 0.0181912 , 0.30830446]

qacc:
[-2.00983733e+01,-5.51015073e+00, 3.47062888e+01,-3.87196051e+01,
 -2.30779984e+01, 1.23219466e+01,-5.32863500e+01, 1.95685303e+02,
 -4.39132956e-02,-9.21764779e-01,-4.64423535e+00, 1.33097101e+01,
  1.80755434e+02,-1.94768223e+02, 1.02691985e+02,-2.72976963e+02,
 -4.98862759e-01, 3.54773826e-01, 2.74303047e-01,-7.96905451e+00,
 -1.19718155e+00,-3.23149882e+00]

qfrc_actuator:
[-0.02609781, 0.17711232, 0.07317923, 0.07318281, 0.02493084, 0.4256312 ,
  0.20782104, 0.17714586,-0.00288942, 0.10006536, 0.01047326, 0.00362441,
  0.03414417, 0.00242325, 0.        ,-0.00176549, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001150547668887126
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.70876491e-01, -7.40672631e-01,  3.64525378e-02,  2.44714147e-02,
        2.70173532e-02,  9.99335385e-01, -7.41165220e-01,  6.71322662e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08836734, -0.0336152 ,  0.12949986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.22198112, -0.38185221,  0.22198112,  0.90164171,
        0.26738468, -0.38185221,  0.26738468,  0.59712425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013426897878847132
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96978542, -0.24362987,  0.01267808, -0.24360906,  0.96986828,
        0.00318472, -0.01307196,  0.        , -0.99991456])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11743112, -0.08319253,  0.11489056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030476116360456107
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.10732040e-14, -1.82146408e-13,  1.00000000e+00,  1.65886570e-26,
        1.00000000e+00,  1.82146408e-13, -1.00000000e+00,  0.00000000e+00,
        9.10732040e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03937822, -0.06478626,  0.06199323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27772557e-02, 1.62186935e-01, 7.96857026e-02, 1.90102621e-02,
  2.58295524e-02, 4.27454034e-01, 2.25966608e-01, 1.42003074e-01,
 -1.22158385e-05,-5.40036412e-04,-1.90573125e-04, 7.82306683e-06,
  2.16179746e-02, 3.60973516e-03, 5.21752149e-03, 9.14361449e-05,
 -1.54750364e-04,-8.60974519e-05,-9.80998653e+00,-6.64186492e-02,
 -1.03022374e-02,-4.79654965e-03]


--- Step 2592 ---
qpos:
[ 0.01684135, 0.25793745,-0.09451217, 0.8043767 ,-0.03306438, 0.08616343,
 -0.22860438, 0.5745972 , 0.0151537 , 1.23918327,-0.02323846, 0.95298366,
  0.98560014, 0.00150312, 1.21737009, 0.04572243, 0.08358323,-0.06869505,
  0.1439064 , 0.95023325,-0.04240204, 0.01797601, 0.30811636]

qacc:
[-1.84749819e+01,-7.91237811e+00, 4.21306138e+01,-4.46884804e+01,
 -1.71250480e+01, 1.05942864e+01,-5.48349318e+01, 2.04729931e+02,
 -4.42452474e-02,-2.77096180e+00, 9.59021207e+00,-3.05351295e+01,
  4.59339996e+01,-9.38074016e+00, 1.20769963e+01, 3.95062055e+00,
 -4.93997848e-01, 3.85065814e-01, 2.69805313e-01,-7.90527430e+00,
 -1.32141017e+00,-2.31854380e+00]

qfrc_actuator:
[-0.02601966, 0.17802526, 0.073321  , 0.07229779, 0.02493883, 0.42638019,
  0.20814679, 0.17778924,-0.00289576, 0.10008633, 0.01044876, 0.00352475,
  0.03409734, 0.00252578, 0.        ,-0.00173186, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011359926768180005
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.71294769e-01, -7.40321470e-01,  3.58811170e-02,  2.41023264e-02,
        2.65806775e-02,  9.99356065e-01, -7.40798496e-01,  6.71727317e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08833969, -0.03362079,  0.12951737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.22247   , -0.38156759,  0.22247   ,  0.87461046,
        0.25241308, -0.38156759,  0.25241308,  0.58885371,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012960519202089304
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69908379e-01, -2.43199496e-01,  1.14778760e-02, -2.43182468e-01,
        9.69976291e-01,  2.87781638e-03, -1.18331511e-02,  4.33680869e-19,
       -9.99929986e-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([ 0.11742537, -0.08319108,  0.11488238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003047018370865018
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03937743, -0.06478632,  0.06199324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21775662e-02, 1.62597200e-01, 7.94755938e-02, 1.81232471e-02,
  2.59905016e-02, 4.27405392e-01, 2.25839021e-01, 1.42078637e-01,
 -1.22578243e-05,-3.28180481e-04,-1.54180499e-04,-1.19363548e-04,
  1.20226256e-02, 6.20501516e-03, 2.41170116e-03, 6.96036952e-04,
 -2.02749483e-04,-9.87984290e-05,-9.80997827e+00,-6.64216197e-02,
 -1.03394244e-02,-4.77097720e-03]


--- Step 2593 ---
qpos:
[ 0.01672943, 0.25806912,-0.09468449, 0.80542428,-0.03308817, 0.08612299,
 -0.22893591, 0.57531723, 0.01515505, 1.24050872,-0.02324222, 0.95301519,
  0.98624521, 0.00152035, 1.21751971, 0.04571804, 0.08354408,-0.06872123,
  0.14392591, 0.95029882,-0.0424151 , 0.01775298, 0.30792523]

qacc:
[-1.69660100e+01,-1.73267559e+01, 6.57907688e+01,-5.85650453e+01,
 -3.48085206e+00, 5.09301931e+00,-5.97107540e+01, 2.30914225e+02,
 -3.65649689e-02,-7.10749750e+00, 2.21013058e+01,-3.78993786e+01,
  2.08327759e+01, 9.22171801e+00, 6.02455395e+00, 2.01822522e+00,
 -5.00832324e-01, 4.08326061e-01, 2.72454329e-01,-7.98863296e+00,
 -1.45041178e+00,-1.79587702e+00]

qfrc_actuator:
[-0.02592577, 0.17869434, 0.07354515, 0.07140112, 0.02498981, 0.42719356,
  0.20850734, 0.1789326 ,-0.00290007, 0.09994171, 0.01045418, 0.00343511,
  0.0340379 , 0.00253734, 0.        ,-0.00173053, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011226888330702273
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67170671, -0.73997453,  0.03532417,  0.0237423 ,  0.02615531,
        0.99937591, -0.74043663,  0.67212618,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08831096, -0.03362654,  0.12953567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.22203428, -0.38182131,  0.22203428,  0.78906029,
        0.20200274, -0.38182131,  0.20200274,  0.55915358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012505266783414304
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97003097, -0.24276375,  0.01028037, -0.24275012,  0.97008544,
        0.00257266, -0.01059739,  0.        , -0.99994385])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11741766, -0.08318958,  0.11487454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003046787360271863
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36646764e-13, -9.10978429e-14,  1.00000000e+00, -1.24482255e-26,
        1.00000000e+00,  9.10978429e-14, -1.00000000e+00,  0.00000000e+00,
       -1.36646764e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03937666, -0.0647864 ,  0.06199324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16039009e-02, 1.62775692e-01, 7.93072617e-02, 1.72228317e-02,
  2.61552053e-02, 4.27601815e-01, 2.25796063e-01, 1.42640601e-01,
 -1.02591797e-05,-3.73220731e-04,-8.24752912e-05,-1.04980060e-04,
  7.64123203e-03, 4.59074374e-03, 1.18325427e-03, 3.42988735e-04,
 -2.51147617e-04,-1.10443421e-04,-9.80996445e+00,-6.64272642e-02,
 -1.03771207e-02,-4.74547452e-03]


--- Step 2594 ---
qpos:
[ 0.01660941, 0.25820485,-0.09484586, 0.80647241,-0.03311057, 0.0860713 ,
 -0.2292663 , 0.57605037, 0.01515633, 1.24182998,-0.02324573, 0.95304587,
  0.98692411, 0.00155752, 1.21767495, 0.04571529, 0.08350288,-0.06874572,
  0.14394654, 0.9503647 ,-0.04244281, 0.01752188, 0.30773127]

qacc:
[-1.55268458e+01,-2.26948568e+01, 8.02434470e+01,-6.78005361e+01,
  1.07475050e+01, 1.07126279e-01,-6.67015965e+01, 2.61776493e+02,
 -2.77097139e-02,-7.66630582e+00, 2.00699936e+01,-2.45340253e+01,
  1.33000165e+01, 6.59362293e+00, 2.78413618e+00, 1.07511478e+00,
 -5.13697720e-01, 4.23029487e-01, 2.78875274e-01,-8.17757499e+00,
 -1.52260757e+00,-1.69723513e+00]

qfrc_actuator:
[-0.02576611, 0.17918168, 0.07376054, 0.07047937, 0.0250302 , 0.42801702,
  0.20883575, 0.18038841,-0.00290314, 0.09966384, 0.01044115, 0.00338754,
  0.03397621, 0.00246616, 0.        ,-0.00173004, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001110392879236927
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67211318, -0.7396312 ,  0.03477862,  0.02338932,  0.02573892,
        0.99939504, -0.74007892,  0.67252003,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08828141, -0.03363249,  0.12955462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.22063598, -0.38263102,  0.22063598,  0.71242813,
        0.15611751, -0.38263102,  0.15611751,  0.53170806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012045881224641269
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70153436e-01, -2.42322553e-01,  9.06044281e-03, -2.42311986e-01,
        9.70195743e-01,  2.26299656e-03, -9.33877815e-03, -4.33680869e-19,
       -9.99956393e-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([ 0.11740913, -0.08318806,  0.1148666 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000304698148397356
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.18822136e-13, -1.82184078e-13,  1.00000000e+00, -5.80843170e-26,
        1.00000000e+00,  1.82184078e-13, -1.00000000e+00,  0.00000000e+00,
       -3.18822136e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03937591, -0.06478648,  0.06199324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.10028017e-02, 1.62971830e-01, 7.90400060e-02, 1.62810146e-02,
  2.62196220e-02, 4.28404515e-01, 2.25895048e-01, 1.43482652e-01,
 -7.87648781e-06,-5.16858563e-04,-1.01117874e-04,-6.18169909e-05,
  4.98040846e-03, 3.02389248e-03, 5.91340962e-04, 1.69910619e-04,
 -3.01494989e-04,-1.20782583e-04,-9.80994574e+00,-6.64351565e-02,
 -1.04154668e-02,-4.71999078e-03]


--- Step 2595 ---
qpos:
[ 0.016482  , 0.25834678,-0.09499598, 0.80752099,-0.03313071, 0.08600691,
 -0.22959643, 0.57679728, 0.01515757, 1.24314864,-0.02325085, 0.95307505,
  0.98762492, 0.0016078 , 1.21783327, 0.04571066, 0.08345957,-0.06876848,
  0.1439683 , 0.95043095,-0.04248561, 0.01728255, 0.30753421]

qacc:
[-1.41562582e+01,-2.08782383e+01, 7.80451471e+01,-6.88653108e+01,
  1.73024272e+01, 1.26669164e+00,-7.55979918e+01, 2.81119621e+02,
 -2.06587402e-02,-1.64938607e+00, 4.30804780e+00,-1.95235473e+01,
  8.33062417e+00, 4.74900161e+00, 9.91464000e+00,-2.87941655e+01,
 -5.26029866e-01, 4.32279146e-01, 2.84876451e-01,-8.39422682e+00,
 -1.52561512e+00,-1.83993919e+00]

qfrc_actuator:
[-0.02561745, 0.17968365, 0.07387674, 0.06945347, 0.02502706, 0.42942614,
  0.20914651, 0.18191941,-0.00290546, 0.09961022, 0.01038131, 0.00331172,
  0.03391825, 0.00241437, 0.        ,-0.00187165, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001099004862120825
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.72514879e-01, -7.39290973e-01,  3.42431705e-02,  2.30425554e-02,
        2.53305224e-02,  9.99413531e-01, -7.39724799e-01,  6.72909520e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08825111, -0.03363862,  0.12957418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.21874981, -0.38371246,  0.21874981,  0.682637  ,
        0.1373631 , -0.38371246,  0.1373631 ,  0.51999527,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011566714892601213
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70276343e-01, -2.41874130e-01,  7.79252346e-03, -2.41866330e-01,
        9.70307634e-01,  1.94248686e-03, -8.03098232e-03,  2.16840434e-19,
       -9.99967751e-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([ 0.11740087, -0.08318655,  0.11485812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000304762594656921
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.10727763e-14, -1.82145553e-13,  1.00000000e+00, -1.65885012e-26,
        1.00000000e+00,  1.82145553e-13, -1.00000000e+00,  0.00000000e+00,
       -9.10727763e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03937517, -0.06478657,  0.06199324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04495095e-02, 1.63267081e-01, 7.86078407e-02, 1.52258896e-02,
  2.61469778e-02, 4.30379742e-01, 2.26151097e-01, 1.44357488e-01,
 -5.75696917e-06,-3.74285680e-04,-1.76794353e-04,-9.38555684e-05,
  3.23322882e-03, 1.97559144e-03, 3.04041619e-04,-5.56209714e-05,
 -3.55764591e-04,-1.29207689e-04,-9.80992292e+00,-6.64449144e-02,
 -1.04547368e-02,-4.69449662e-03]


--- Step 2596 ---
qpos:
[ 0.01634798, 0.25849695,-0.0951348 , 0.80856987,-0.0331489 , 0.08593917,
 -0.22992424, 0.57755823, 0.01515877, 1.24446636,-0.02325771, 0.9531054 ,
  0.98833991, 0.00166615, 1.21799298, 0.04570477, 0.08341414,-0.06878948,
  0.14399122, 0.95049758,-0.04254373, 0.01703492, 0.307334  ]

qacc:
[-1.26650329e+01,-1.86275767e+01, 7.43597015e+01,-6.90549231e+01,
  1.49849535e+01, 8.14947948e+00,-8.32795949e+01, 2.82720019e+02,
 -1.49605506e-02, 5.49848732e+00,-2.17764383e+01, 3.29967443e+01,
  5.68704347e+00, 2.44400473e+00, 5.64692976e+00,-1.73163764e+01,
 -5.32235764e-01, 4.41213694e-01, 2.88087890e-01,-8.52403412e+00,
 -1.52067641e+00,-1.86025419e+00]

qfrc_actuator:
[-0.02547286, 0.18013738, 0.07401752, 0.06859575, 0.02501412, 0.4313169 ,
  0.20950036, 0.18320559,-0.00290732, 0.09970899, 0.01034843, 0.00337973,
  0.03385174, 0.00233756, 0.        ,-0.00195364, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001088673525532582
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.72910756e-01, -7.38954744e-01,  3.37194412e-02,  2.27030850e-02,
        2.49313185e-02,  9.99431338e-01, -7.39375199e-01,  6.73293633e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08821988, -0.03364488,  0.12959447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.21729217, -0.38453978,  0.21729217,  0.69828616,
        0.1449971 , -0.38453978,  0.1449971 ,  0.52361985,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011065286835562043
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70399725e-01, -2.41417645e-01,  6.47256335e-03, -2.41412274e-01,
        9.70421311e-01,  1.61021917e-03, -6.66984873e-03, -2.16840434e-19,
       -9.99977756e-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([ 0.11739301, -0.08318505,  0.11484904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030487385186019067
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55197706e-14, -9.10395413e-14,  1.00000000e+00, -4.14409904e-27,
        1.00000000e+00,  9.10395413e-14, -1.00000000e+00,  0.00000000e+00,
       -4.55197706e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03937445, -0.06478667,  0.06199324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99358162e-02, 1.63406857e-01, 7.81852477e-02, 1.43445316e-02,
  2.60212521e-02, 4.32910491e-01, 2.26495328e-01, 1.44954624e-01,
 -4.06687269e-06,-1.58712510e-04,-1.31521756e-04, 5.12301224e-05,
  2.07161537e-03, 1.24341772e-03, 1.43931793e-04,-4.52708637e-05,
 -4.15181676e-04,-1.35143783e-04,-9.80989643e+00,-6.64563796e-02,
 -1.04951329e-02,-4.66899382e-03]


--- Step 2597 ---
qpos:
[ 0.01620816, 0.25865621,-0.09526215, 0.80961893,-0.03316529, 0.08587471,
 -0.23024827, 0.57833349, 0.0151598 , 1.24578238,-0.02326428, 0.95313632,
  0.98906368, 0.00172987, 1.21815316, 0.04569946, 0.08336655,-0.06880867,
  0.1440153 , 0.95056455,-0.04261737, 0.01677896, 0.30713069]

qacc:
[-1.11065680e+01,-1.81248388e+01, 7.43599605e+01,-7.09749544e+01,
  1.36708709e+01, 1.30600642e+01,-8.90690240e+01, 2.85023043e+02,
 -7.39147270e-02,-2.03524877e+00, 2.78064773e+00, 5.22866162e+00,
  3.39487594e+00, 1.90406701e+00,-1.19889188e+00, 4.87849949e+00,
 -5.36666656e-01, 4.50131594e-01, 2.90564885e-01,-8.62587963e+00,
 -1.51720373e+00,-1.83506052e+00]

qfrc_actuator:
[-0.02529302, 0.18053988, 0.07416848, 0.06780342, 0.0249947 , 0.43301303,
  0.20986017, 0.18437459,-0.00292664, 0.09963228, 0.010368  , 0.0034077 ,
  0.03378532, 0.0022988 , 0.        ,-0.00192871, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010795346544694492
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.73299557e-01, -7.38623636e-01,  3.32088924e-02,  2.23718721e-02,
        2.45424096e-02,  9.99448433e-01, -7.39031262e-01,  6.73671132e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08818754, -0.03365121,  0.1296156 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.21597139, -0.38528313,  0.21597139,  0.71013522,
        0.15047973, -0.38528313,  0.15047973,  0.52603801,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010553694889641149
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70522844e-01, -2.40954757e-01,  5.12006052e-03, -2.40951404e-01,
        9.70536349e-01,  1.27115583e-03, -5.27549588e-03,  2.16840434e-19,
       -9.99986084e-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([ 0.11738469, -0.08318353,  0.11483969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003050313846859193
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.27481310e-13, -1.81985048e-13,  1.00000000e+00, -4.13981972e-26,
        1.00000000e+00,  1.81985048e-13, -1.00000000e+00,  0.00000000e+00,
       -2.27481310e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03937375, -0.06478678,  0.06199324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94256125e-02, 1.63393010e-01, 7.77697220e-02, 1.35362455e-02,
  2.59038715e-02, 4.34778479e-01, 2.26742183e-01, 1.45420529e-01,
 -2.05538951e-05,-2.01725156e-04,-2.75406007e-05, 2.22636267e-05,
  1.29771864e-03, 8.00984523e-04, 6.90410505e-05, 4.16779799e-05,
 -4.78971628e-04,-1.38462326e-04,-9.80986608e+00,-6.64697332e-02,
 -1.05364854e-02,-4.64350223e-03]


--- Step 2598 ---
qpos:
[ 0.01606333, 0.2588271 ,-0.0953783 , 0.81066793,-0.03317972, 0.0858165 ,
 -0.23056809, 0.57912335, 0.01516063, 1.24709699,-0.02327037, 0.95316561,
  0.98979257, 0.00179752, 1.21831405, 0.04569087, 0.08331681,-0.06882603,
  0.14404055, 0.95063181,-0.04270676, 0.01651459, 0.30692435]

qacc:
[-9.55754439e+00,-1.44799525e+01, 6.71180333e+01,-6.94924035e+01,
  1.49024013e+01, 1.60812999e+01,-9.50655524e+01, 2.91817399e+02,
 -8.15463041e-02,-5.97974825e+00, 2.05878160e+01,-3.58865105e+01,
  1.16365878e+00, 2.61542412e+00, 1.09757177e+01,-3.68194351e+01,
 -5.41668839e-01, 4.60597443e-01, 2.92953399e-01,-8.74181479e+00,
 -1.51398950e+00,-1.79607397e+00]

qfrc_actuator:
[-0.02512571, 0.18119154, 0.07428536, 0.06687278, 0.02500629, 0.43474689,
  0.21022114, 0.18559168,-0.00293855, 0.09959345, 0.01039995, 0.003323  ,
  0.03371362, 0.0023001 , 0.        ,-0.00210725, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010716396959220564
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67368072, -0.73829818,  0.03271206,  0.02204928,  0.02416418,
        0.99946482, -0.73869352,  0.67404146,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08815402, -0.03365758,  0.12963761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.21472268, -0.38598044,  0.21472268,  0.70955663,
        0.14901753, -0.38598044,  0.14901753,  0.52458537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010040576540143885
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70645169e-01, -2.40486804e-01,  3.74882492e-03, -2.40485010e-01,
        9.70652408e-01,  9.28800996e-04, -3.86217032e-03,  0.00000000e+00,
       -9.99992542e-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([ 0.11737531, -0.08318196,  0.11483033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003052334865342593
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.27330690e-13, -1.81864552e-13,  1.00000000e+00,  4.13433940e-26,
        1.00000000e+00,  1.81864552e-13, -1.00000000e+00,  0.00000000e+00,
        2.27330690e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03937307, -0.0647869 ,  0.06199323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89683434e-02, 1.63585238e-01, 7.73115484e-02, 1.25948378e-02,
  2.58258361e-02, 4.36353050e-01, 2.26916590e-01, 1.45921554e-01,
 -2.27070888e-05,-1.68099114e-04,-1.25611429e-05,-8.92987032e-05,
  7.88231416e-04, 5.33391254e-04, 4.10869062e-05,-1.66910544e-04,
 -5.46887817e-04,-1.39066576e-04,-9.80983172e+00,-6.64850495e-02,
 -1.05787229e-02,-4.61803120e-03]


--- Step 2599 ---
qpos:
[ 0.01591435, 0.25901215,-0.09548368, 0.81171661,-0.03319223, 0.08576938,
 -0.23088267, 0.57992804, 0.01516131, 1.24841216,-0.02327749, 0.95319324,
  0.99052433, 0.00186791, 1.21847512, 0.04568027, 0.08326488,-0.06884149,
  0.14406697, 0.95069926,-0.04281204, 0.01624179, 0.30671526]

qacc:
[-7.95004312e+00,-1.05258696e+01, 5.89363642e+01,-6.76354708e+01,
  1.46342946e+01, 1.97877961e+01,-9.98319064e+01, 2.94574443e+02,
 -7.02839517e-02, 6.68309906e-01, 2.02955987e+00,-2.11377524e+01,
  3.09024574e-01, 2.22271085e+00, 6.39118616e+00,-2.19031541e+01,
 -5.43686590e-01, 4.73081639e-01, 2.93550920e-01,-8.81895609e+00,
 -1.51256775e+00,-1.64686185e+00]

qfrc_actuator:
[-0.02494664, 0.18203978, 0.07439524, 0.06589483, 0.02501784, 0.43644582,
  0.21056313, 0.18667183,-0.00294591, 0.0997375 , 0.01038575, 0.0032437 ,
  0.03364408, 0.00230696, 0.        ,-0.00220898, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010651495110713088
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67405258, -0.73797988,  0.03223064,  0.02173644,  0.02379793,
        0.99948046, -0.73836349,  0.67440296,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08811914, -0.03366393,  0.12966064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43963871,  0.21266981, -0.38477753,  0.21266981,  0.71701321,
        0.15330725, -0.38477753,  0.15330725,  0.52437293,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000952971272339877
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70766425e-01, -2.40014491e-01,  2.36477250e-03, -2.40013779e-01,
        9.70769305e-01,  5.84669979e-04, -2.43597783e-03,  0.00000000e+00,
       -9.99997033e-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([ 0.1173646 , -0.08318033,  0.11482105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030547992056673134
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54294599e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.54294599e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0393724 , -0.06478703,  0.06199323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85397426e-02, 1.63846613e-01, 7.68600412e-02, 1.16182305e-02,
  2.57394617e-02, 4.37743540e-01, 2.27051319e-01, 1.46270792e-01,
 -1.94238892e-05, 3.30361419e-05,-5.36924190e-05,-8.50669060e-05,
  4.63679256e-04, 3.43240600e-04, 2.72152354e-07,-1.06122867e-04,
 -6.19058216e-04,-1.36824910e-04,-9.80979315e+00,-6.65023709e-02,
 -1.06218473e-02,-4.59258505e-03]


--- Step 2600 ---
qpos:
[ 0.01576208, 0.25921216,-0.09557844, 0.81276475,-0.03320294, 0.08573915,
 -0.23119037, 0.5807478 , 0.01516186, 1.24972768,-0.02328526, 0.95322215,
  0.99125785, 0.00193918, 1.21863546, 0.04567388, 0.0832108 ,-0.068855  ,
  0.14409457, 0.95076671,-0.04293322, 0.01596058, 0.30650394]

qacc:
[-6.26350470e+00,-9.40320420e+00, 5.70134758e+01,-6.88772123e+01,
  1.35701264e+01, 2.32612037e+01,-1.02130690e+02, 2.94069029e+02,
 -5.33829544e-02, 4.43146706e+00,-1.64785587e+01, 2.88568045e+01,
  1.14425855e+00,-3.06833593e-01,-1.38710152e+01, 4.68140048e+01,
 -5.41199415e-01, 4.86915319e-01, 2.91696492e-01,-8.83396657e+00,
 -1.51037876e+00,-1.36845265e+00]

qfrc_actuator:
[-0.02479486, 0.18283902, 0.0744791 , 0.06492429, 0.02502861, 0.43785018,
  0.21087326, 0.18752172,-0.0029505 , 0.09977685, 0.01036295, 0.00331032,
  0.03357586, 0.00224578, 0.        ,-0.00198053, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010602224639994723
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.74413185e-01, -7.37670495e-01,  3.17662968e-02,  2.14344268e-02,
        2.34448920e-02,  9.99495324e-01, -7.38042967e-01,  6.74753717e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0880827 , -0.03367021,  0.12968479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43305739,  0.20874325, -0.37942715,  0.20874325,  0.7271055 ,
        0.16177166, -0.37942715,  0.16177166,  0.52205667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009027624040725938
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70886169e-01, -2.39539327e-01,  9.78167765e-04, -2.39539206e-01,
        9.70886662e-01,  2.41335737e-04, -1.00749944e-03,  2.71050543e-20,
       -9.99999492e-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([ 0.11735213, -0.08317864,  0.11481206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003057712407273233
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.53861775e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.53861775e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03937175, -0.06478716,  0.06199322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81804626e-02, 1.63931894e-01, 7.64033659e-02, 1.06630221e-02,
  2.56538378e-02, 4.38596937e-01, 2.27101696e-01, 1.46378169e-01,
 -1.47433046e-05, 3.17017615e-05,-2.75597713e-05, 6.57059406e-05,
  2.52414015e-04, 1.44894453e-04,-1.24027287e-05, 2.22223676e-04,
 -6.94757384e-04,-1.31680500e-04,-9.80975018e+00,-6.65218523e-02,
 -1.06656582e-02,-4.56717594e-03]


--- Step 2601 ---
qpos:
[ 0.01560749, 0.25942661,-0.09566237, 0.81381227,-0.03321231, 0.08573471,
 -0.2314884 , 0.58158274, 0.01516248, 1.25104182,-0.02329232, 0.95325245,
  0.9919924 , 0.00200972, 1.21879537, 0.04567257, 0.08315458,-0.06886649,
  0.1441233 , 0.95083381,-0.04307014, 0.01567104, 0.30629145]

qacc:
[-4.44300804e+00,-1.07932476e+01, 6.10003927e+01,-7.32508920e+01,
  1.01122454e+01, 2.76131660e+01,-1.01384325e+02, 2.85609897e+02,
  2.69899365e-02,-1.36141424e+00,-5.40350574e-01, 1.72401497e+01,
  1.69062250e+00,-2.22059344e+00,-1.61718538e+01, 5.52774822e+01,
 -5.31548718e-01, 5.06019151e-01, 2.85651323e-01,-8.75322348e+00,
 -1.51821173e+00,-8.04975420e-01]

qfrc_actuator:
[-0.02465867, 0.1836734 , 0.0745787 , 0.06388753, 0.02503828, 0.43899656,
  0.21116054, 0.18803201,-0.00293565, 0.09962909, 0.01037052, 0.00337347,
  0.03350843, 0.00212677, 0.        ,-0.00171915, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010569027259737366
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.74761323e-01, -7.37371174e-01,  3.13194459e-02,  2.11435232e-02,
        2.31053915e-02,  9.99509426e-01, -7.37733087e-01,  6.75092506e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08804468, -0.03367637,  0.1297101 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.42273925,  0.2035483 , -0.37050852,  0.2035483 ,  0.75433443,
        0.18217026, -0.37050852,  0.18217026,  0.52281913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008542547214447177
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71003843e-01, -2.39063545e-01, -3.98007413e-04, -2.39063525e-01,
        9.71003925e-01, -9.79904000e-05,  4.09892692e-04,  1.35525272e-20,
       -9.99999916e-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([ 0.11733738, -0.08317687,  0.11480357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003061081141986638
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.06724596e-14, -9.06724596e-14,  1.00000000e+00, -8.22149493e-27,
        1.00000000e+00,  9.06724596e-14, -1.00000000e+00,  0.00000000e+00,
       -9.06724596e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03937112, -0.0647873 ,  0.06199322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78807492e-02, 1.64011946e-01, 7.59695758e-02, 9.65108316e-03,
  2.55738938e-02, 4.38902330e-01, 2.27047393e-01, 1.46134027e-01,
  7.40777130e-06,-1.46472918e-04, 9.97333413e-06, 6.64654722e-05,
  9.81992243e-05,-1.91799445e-05, 1.91532864e-05, 2.72073302e-04,
 -7.72830046e-04,-1.23619600e-04,-9.80970277e+00,-6.65436681e-02,
 -1.07098382e-02,-4.54181895e-03]


--- Step 2602 ---
qpos:
[ 0.01545159, 0.25965677,-0.09573565, 0.81485892,-0.03322054, 0.08576244,
 -0.23177453, 0.58243298, 0.01516321, 1.25235343,-0.02329819, 0.95327957,
  0.99272711, 0.0020794 , 1.2189556 , 0.04567206, 0.08309629,-0.06887587,
  0.14415315, 0.95090014,-0.04322256, 0.01537329, 0.30607908]

qacc:
[-2.46475022e+00,-8.98757247e+00, 5.77090891e+01,-7.41762268e+01,
  8.50744170e+00, 3.02395080e+01,-9.93303172e+01, 2.78665463e+02,
  5.12961151e-02,-1.20003566e+01, 4.15313963e+01,-7.10054967e+01,
  7.37615913e-01,-1.39473963e+00,-2.02330793e+00, 7.59193649e+00,
 -5.19365526e-01, 5.27833910e-01, 2.78407863e-01,-8.64275012e+00,
 -1.52914407e+00,-1.28286277e-01]

qfrc_actuator:
[-0.02447821, 0.18466542, 0.07468328, 0.06281133, 0.02506478, 0.43999023,
  0.21146406, 0.18842117,-0.00292702, 0.09942393, 0.01039521, 0.00320313,
  0.03344679, 0.00204534, 0.        ,-0.00168913, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010551610297268147
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67509567, -0.73708321,  0.03088968,  0.02086345,  0.02277914,
        0.9995228 , -0.73743511,  0.67541798,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08800513, -0.03368242,  0.12973655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.40999462,  0.19745396, -0.35931536,  0.19745396,  0.77386184,
        0.19995533, -0.35931536,  0.19995533,  0.51987574,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008087540456980758
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71118547e-01, -2.38591133e-01, -1.74314227e-03, -2.38590749e-01,
        9.71120112e-01, -4.28266581e-04,  1.79498113e-03,  0.00000000e+00,
       -9.99998389e-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([ 0.11731953, -0.08317501,  0.11479596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030649335746320283
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.26396225e-13, -9.05584899e-14,  1.00000000e+00, -2.05021002e-26,
        1.00000000e+00,  9.05584899e-14, -1.00000000e+00,  0.00000000e+00,
       -2.26396225e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0393705 , -0.06478745,  0.06199321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75841600e-02, 1.64274761e-01, 7.55298520e-02, 8.60481670e-03,
  2.55332364e-02, 4.38608417e-01, 2.26868950e-01, 1.45763186e-01,
  1.40337332e-05,-2.94976930e-04,-3.38593364e-06,-1.71168970e-04,
 -1.36048604e-05,-6.46317900e-05, 3.68354244e-05, 4.70568752e-05,
 -8.50873350e-04,-1.12779238e-04,-9.80965083e+00,-6.65681696e-02,
 -1.07537284e-02,-4.51653273e-03]


--- Step 2603 ---
qpos:
[ 0.01529542, 0.25990692,-0.09579949, 0.81590422,-0.03322694, 0.08581954,
 -0.23204922, 0.58329893, 0.01516391, 1.25366074,-0.02330289, 0.95330534,
  0.9934615 , 0.00214805, 1.21911573, 0.04567398, 0.08303594,-0.06888308,
  0.1441841 , 0.95096549,-0.04339044, 0.01506738, 0.30586741]

qacc:
[-5.32531507e-01,-1.07906622e+00, 3.98980708e+01,-6.77312829e+01,
  1.37918248e+01, 2.84197507e+01,-9.95265241e+01, 2.87431822e+02,
 -1.23036852e-02,-1.11550480e+01, 3.23259166e+01,-4.11363523e+01,
  6.25100558e-01,-1.51387648e+00,-7.54316972e+00, 2.60028182e+01,
 -5.14226361e-01, 5.41721705e-01, 2.75647392e-01,-8.62688757e+00,
 -1.51680215e+00, 1.89712986e-01]

qfrc_actuator:
[-0.0243068 , 0.18586924, 0.0747512 , 0.06180073, 0.02510105, 0.44091109,
  0.21173573, 0.1890865 ,-0.00293996, 0.09909725, 0.01041166, 0.00312748,
  0.03338868, 0.00196912, 0.        ,-0.00156487, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001055087383763268
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67541343, -0.7368092 ,  0.03047786,  0.02059473,  0.02246681,
        0.99953544, -0.73715165,  0.67572734,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08796397, -0.0336883 ,  0.12976421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.39623944,  0.19040097, -0.34749556,  0.19040097,  0.74284912,
        0.18991557, -0.34749556,  0.18991557,  0.50029863,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007672563372995041
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71229487e-01, -2.38126086e-01, -3.04164597e-03, -2.38124918e-01,
        9.71234249e-01, -7.45747227e-04,  3.13173260e-03, -1.08420217e-19,
       -9.99995096e-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([ 0.11729801, -0.08317307,  0.1147895 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030692950359809124
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35644710e-13, -9.04298065e-14,  1.00000000e+00,  1.22663249e-26,
        1.00000000e+00,  9.04298065e-14, -1.00000000e+00,  0.00000000e+00,
        1.35644710e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03936991, -0.06478761,  0.0619932 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.73484425e-02, 1.64685332e-01, 7.50632202e-02, 7.63579382e-03,
  2.55127103e-02, 4.37921661e-01, 2.26546903e-01, 1.45662441e-01,
 -3.69503157e-06,-5.08249669e-04,-4.91141142e-05,-8.67968448e-05,
 -7.87528808e-05,-9.85621155e-05, 1.65978192e-05, 1.30312399e-04,
 -9.27657397e-04,-9.91055124e-05,-9.80959443e+00,-6.65954971e-02,
 -1.07969034e-02,-4.49132395e-03]


--- Step 2604 ---
qpos:
[ 0.01513983, 0.26018147,-0.09585548, 0.81694761,-0.03322993, 0.08589431,
 -0.2323157 , 0.58418143, 0.01516468, 1.25496343,-0.02330715, 0.95333148,
  0.99419518, 0.00221582, 1.21927611, 0.0456757 , 0.0829735 ,-0.06888812,
  0.14421617, 0.95103006,-0.04357415, 0.01475328, 0.30565579]

qacc:
[ 1.08632824e+00, 8.00251278e+00, 1.85745873e+01,-5.91422216e+01,
  2.58742886e+01, 2.27991309e+01,-1.04299603e+02, 3.16047216e+02,
  3.19021713e-02,-6.60982607e+00, 1.34748857e+01,-4.48299284e+00,
 -1.47229191e-02,-7.55395701e-01, 9.19125439e-01,-2.72965972e+00,
 -5.23622544e-01, 5.41107088e-01, 2.81042357e-01,-8.79799114e+00,
 -1.47375136e+00,-1.57928312e-01]

qfrc_actuator:
[-0.02414131, 0.18736711, 0.07481182, 0.06084807, 0.02508876, 0.44192021,
  0.21196624, 0.19031933,-0.00293024, 0.09884246, 0.01042271, 0.00314362,
  0.03332739, 0.00191431, 0.        ,-0.0015813 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010569441785340686
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67571115, -0.73655226,  0.03008673,  0.02033915,  0.02217049,
        0.99954729, -0.73688586,  0.67601718,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08792095, -0.03369396,  0.12979325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.38232419,  0.1820462 , -0.33620079,  0.1820462 ,  0.66684646,
        0.15406328, -0.33620079,  0.15406328,  0.46574647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007294758408713769
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97133663, -0.23766924, -0.00429831, -0.23766692,  0.97134614,
       -0.00105171,  0.0044251 ,  0.        , -0.99999021])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11727308, -0.08317106,  0.11478412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030741451979089673
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.02871329e-14, -1.80574266e-13,  1.00000000e+00,  1.63035327e-26,
        1.00000000e+00,  1.80574266e-13, -1.00000000e+00,  0.00000000e+00,
        9.02871329e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03936933, -0.06478778,  0.0619932 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71697947e-02, 1.65174816e-01, 7.46480670e-02, 6.74908838e-03,
  2.54089583e-02, 4.37461300e-01, 2.26206480e-01, 1.46108648e-01,
  8.64986725e-06,-5.60608327e-04,-9.88560707e-05,-6.98380054e-07,
 -1.23568393e-04,-1.02103193e-04, 1.73736318e-05,-8.11809083e-06,
 -1.00552034e-03,-8.21467276e-05,-9.80953400e+00,-6.66252152e-02,
 -1.08398649e-02,-4.46618148e-03]


--- Step 2605 ---
qpos:
[ 0.0149856 , 0.2604811 ,-0.09590455, 0.81798877,-0.03322816, 0.08597834,
 -0.23257628, 0.58508144, 0.015166  , 1.25626167,-0.02331127, 0.95335695,
  0.99492797, 0.0022826 , 1.21943663, 0.04567656, 0.08290891,-0.06889101,
  0.1442494 , 0.95109408,-0.04377411, 0.01443086, 0.30544334]

qacc:
[ 2.55537228e+00, 1.07658002e+01, 1.14151123e+01,-5.74013010e+01,
  3.61670522e+01, 1.91537805e+01,-1.10204861e+02, 3.43764744e+02,
  2.33620470e-01,-7.38494591e+00, 1.83894603e+01,-2.08970529e+01,
 -1.18310220e-01,-7.50176064e-01, 2.79005713e+00,-9.47950834e+00,
 -5.36936314e-01, 5.38202942e-01, 2.88049020e-01,-9.00654814e+00,
 -1.44504160e+00,-6.03439963e-01]

qfrc_actuator:
[-0.02398014, 0.18899351, 0.07488364, 0.05986026, 0.0250983 , 0.44301776,
  0.21220622, 0.19172574,-0.0028715 , 0.09863286, 0.01043078, 0.00310711,
  0.03326424, 0.00185484, 0.        ,-0.00162723, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010609601243466962
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.75987616e-01, -7.36313479e-01,  2.97187522e-02,  2.00983859e-02,
        2.18919875e-02,  9.99558300e-01, -7.36638852e-01,  6.76286331e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08787577, -0.0336993 ,  0.12982384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36827675,  0.1734273 , -0.32488572,  0.1734273 ,  0.6091906 ,
        0.12860227, -0.32488572,  0.12860227,  0.43692594,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006938161698760095
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71440876e-01, -2.37217091e-01, -5.53867947e-03, -2.37213235e-01,
        9.71456665e-01, -1.35247354e-03,  5.70141692e-03, -2.16840434e-19,
       -9.99983747e-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([ 0.11724581, -0.083169  ,  0.11477937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003079416019247383
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.50662974e-14, -9.01325948e-14,  1.00000000e+00,  4.06194232e-27,
        1.00000000e+00,  9.01325948e-14, -1.00000000e+00,  0.00000000e+00,
        4.50662974e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03936877, -0.06478796,  0.06199319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70385920e-02, 1.65572190e-01, 7.43245842e-02, 5.85514277e-03,
  2.52478397e-02, 4.37674778e-01, 2.26036712e-01, 1.46685831e-01,
  6.48286473e-05,-5.51423375e-04,-1.15156765e-04,-5.43410587e-05,
 -1.49703326e-04,-1.18205884e-04, 9.66252912e-07,-4.55243505e-05,
 -1.08968016e-03,-6.12999961e-05,-9.80946982e+00,-6.66564982e-02,
 -1.08839648e-02,-4.44108319e-03]


--- Step 2606 ---
qpos:
[ 0.01483355, 0.26080289,-0.0959467 , 0.8190276 ,-0.03322151, 0.08607587,
 -0.23282939, 0.58599959, 0.01516778, 1.25755418,-0.02331507, 0.95338296,
  0.99565991, 0.00234778, 1.21959705, 0.04567754, 0.08284215,-0.06889175,
  0.14428379, 0.95115762,-0.04399053, 0.01410013, 0.30522976]

qacc:
[ 4.09889474e+00, 6.94909509e+00, 1.94025600e+01,-6.31207352e+01,
  3.69759306e+01, 2.14129618e+01,-1.12498693e+02, 3.50402771e+02,
  1.99778901e-01,-7.45101647e+00, 1.41492914e+01,-2.51324117e+00,
  4.09104486e-01,-1.76344103e+00,-5.67753900e-01, 1.59638883e+00,
 -5.41221581e-01, 5.39059907e-01, 2.89622434e-01,-9.09441379e+00,
 -1.41504208e+00,-7.70705859e-01]

qfrc_actuator:
[-0.02384032, 0.19034927, 0.07492445, 0.05887021, 0.02510045, 0.44400993,
  0.21246865, 0.19274941,-0.00285486, 0.09827451, 0.01041944, 0.00312868,
  0.03320002, 0.00175753, 0.        ,-0.00161912, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010671086824968693
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.76244372e-01, -7.36091528e-01,  2.93736574e-02,  1.98723454e-02,
        2.16310342e-02,  9.99568501e-01, -7.36409288e-01,  6.76536296e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08782837, -0.03370429,  0.12985598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35400656,  0.16522735, -0.31308236,  0.16522735,  0.59624153,
        0.12783807, -0.31308236,  0.12783807,  0.42147233,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006591070521103514
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97154295, -0.23676634, -0.00678157, -0.23676057,  0.97156662,
       -0.00165264,  0.00698003,  0.        , -0.99997564])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11721693, -0.08316689,  0.11477494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030850483761207803
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.24920100e-13, -1.79936080e-13,  1.00000000e+00, -4.04712412e-26,
        1.00000000e+00,  1.79936080e-13, -1.00000000e+00,  0.00000000e+00,
       -2.24920100e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03936822, -0.06478814,  0.06199318])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69676619e-02, 1.65663633e-01, 7.40150966e-02, 4.97543742e-03,
  2.50117624e-02, 4.38201990e-01, 2.26003823e-01, 1.46832454e-01,
  5.53926424e-05,-6.99773833e-04,-1.36187318e-04, 2.27378227e-06,
 -1.68387372e-04,-1.66609045e-04,-1.03166120e-05, 4.44309793e-06,
 -1.18140568e-03,-3.64766174e-05,-9.80940158e+00,-6.66892195e-02,
 -1.09295646e-02,-4.41602958e-03]


--- Step 2607 ---
qpos:
[ 0.0146845 , 0.26114168,-0.09598127, 0.82006425,-0.03321018, 0.08619309,
 -0.23307273, 0.5869364 , 0.01516977, 1.25884008,-0.0233183 , 0.95341051,
  0.99639085, 0.00241118, 1.21975775, 0.04567558, 0.08277323,-0.06889032,
  0.14431933, 0.9512207 ,-0.04422348, 0.01376114, 0.30501491]

qacc:
[ 5.70552076e+00,-1.41127772e+00, 3.81039344e+01,-7.40589975e+01,
  3.54824365e+01, 2.40856042e+01,-1.12303929e+02, 3.50903433e+02,
  8.89729967e-02,-7.58630852e+00, 1.11583395e+01, 1.21651530e+01,
  1.73840498e-01,-1.64083494e+00, 9.28408546e+00,-3.19703180e+01,
 -5.40955749e-01, 5.41001453e-01, 2.88562722e-01,-9.12584661e+00,
 -1.37502962e+00,-8.33630302e-01]

qfrc_actuator:
[-0.02367915, 0.19126924, 0.0749439 , 0.05789754, 0.0250784 , 0.44475339,
  0.21274062, 0.19355354,-0.00286362, 0.09790099, 0.01043171, 0.0032019 ,
  0.03312986, 0.00165628, 0.        ,-0.00177449, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010751424011295437
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.76484275e-01, -7.35883952e-01,  2.90488465e-02,  1.96593843e-02,
        2.13856048e-02,  9.99577993e-01, -7.36194631e-01,  6.76769876e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.087779  , -0.03370892,  0.12988951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.34002105,  0.15741518, -0.30138808,  0.15741518,  0.59282162,
        0.1320379 , -0.30138808,  0.1320379 ,  0.40898452,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006259258064298076
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97164288, -0.2363172 , -0.00801819, -0.23630916,  0.97167596,
       -0.00195007,  0.00825192,  0.        , -0.99996595])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11718599, -0.08316469,  0.114771  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030910111364806925
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.79588972e-13, -8.97944860e-14,  1.00000000e+00,  1.61260994e-26,
        1.00000000e+00,  8.97944860e-14, -1.00000000e+00,  0.00000000e+00,
        1.79588972e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03936768, -0.06478834,  0.06199316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69159744e-02, 1.65463639e-01, 7.36852116e-02, 4.11681098e-03,
  2.47459327e-02, 4.38267752e-01, 2.25902637e-01, 1.46727902e-01,
  2.44985531e-05,-7.99294193e-04,-1.42233398e-04, 5.02408197e-05,
 -1.95422321e-04,-1.88594497e-04,-8.99830438e-06,-1.57484151e-04,
 -1.27827225e-03,-7.88174074e-06,-9.80932937e+00,-6.67237699e-02,
 -1.09760760e-02,-4.39105333e-03]


--- Step 2608 ---
qpos:
[ 0.01453931, 0.26149244,-0.09600728, 0.82109889,-0.033194  , 0.08633199,
 -0.23330525, 0.58789241, 0.01517198, 1.26011927,-0.02332067, 0.9534384 ,
  0.99712056, 0.00247295, 1.21991836, 0.0456721 , 0.08270215,-0.06888672,
  0.14435602, 0.95128336,-0.04447308, 0.01341394, 0.3047986 ]

qacc:
[ 7.30578448e+00,-1.01174570e+01, 5.81324941e+01,-8.56919588e+01,
  3.66740943e+01, 2.46830758e+01,-1.12679242e+02, 3.56933412e+02,
  9.74752952e-02,-1.05421471e+01, 2.30813936e+01,-1.19103523e+01,
 -7.13673606e-04,-1.39811868e+00, 4.41160969e+00,-1.57150996e+01,
 -5.41077334e-01, 5.43277151e-01, 2.87445422e-01,-9.17189535e+00,
 -1.32523343e+00,-9.22902873e-01]

qfrc_actuator:
[-0.02350688, 0.19185305, 0.07492933, 0.05684733, 0.02507558, 0.44537155,
  0.21295977, 0.19439573,-0.00285204, 0.0975748 , 0.01047553, 0.00321614,
  0.03305618, 0.00157125, 0.        ,-0.0018474 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010846776226426768
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.76711194e-01, -7.35687401e-01,  2.87403433e-02,  1.94569495e-02,
        2.11526464e-02,  9.99586911e-01, -7.35991431e-01,  6.76990852e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08772802, -0.03371321,  0.1299242 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.32690006,  0.15011676, -0.29039388,  0.15011676,  0.57885717,
        0.13024718, -0.29039388,  0.13024718,  0.39423028,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005951400870579468
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97174056, -0.2358707 , -0.00923521, -0.23586005,  0.97178445,
       -0.00224156,  0.00950335,  0.        , -0.99995484])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1171524 , -0.0831624 ,  0.11476782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030972801971299035
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.79225474e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.79225474e-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([ 0.03936716, -0.06478854,  0.06199315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68952779e-02, 1.65186370e-01, 7.32864174e-02, 3.17432563e-03,
  2.45089080e-02, 4.37898533e-01, 2.25632945e-01, 1.46635950e-01,
  2.68542325e-05,-8.06621272e-04,-1.29368967e-04,-1.07508822e-05,
 -2.18483549e-04,-1.84782554e-04,-2.75218785e-05,-8.41197055e-05,
 -1.37920091e-03, 2.44275193e-05,-9.80925339e+00,-6.67603066e-02,
 -1.10232434e-02,-4.36617731e-03]


--- Step 2609 ---
qpos:
[ 0.0143988 , 0.26185086,-0.09602369, 0.82213169,-0.03317315, 0.08649753,
 -0.23352524, 0.58886799, 0.01517438, 1.26139132,-0.02332224, 0.95346598,
  0.99784889, 0.00253324, 1.2200789 , 0.04566706, 0.08262891,-0.06888094,
  0.14439385, 0.95134561,-0.04473945, 0.01305864, 0.30458066]

qacc:
[ 8.89055708e+00,-1.82300132e+01, 7.72897319e+01,-9.69717272e+01,
  3.53132600e+01, 2.71138942e+01,-1.13344481e+02, 3.57515604e+02,
  8.21347987e-02,-1.20647861e+01, 2.86622827e+01,-2.40593464e+01,
 -2.26885999e-01,-1.07573582e+00, 4.57840222e+00,-1.62133284e+01,
 -5.39416731e-01, 5.45823552e-01, 2.85091705e-01,-9.20478451e+00,
 -1.25945624e+00,-1.00190493e+00]

qfrc_actuator:
[-0.02333001, 0.19219786, 0.07492587, 0.05575131, 0.02506451, 0.44624196,
  0.21319553, 0.19518171,-0.00284611, 0.09719097, 0.01050224, 0.00319556,
  0.03298044, 0.00149649, 0.        ,-0.00192436, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010953569590593662
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67692882, -0.73549866,  0.02844452,  0.01926271,  0.02092937,
        0.99959537, -0.73579639,  0.67720283,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08767579, -0.03371718,  0.12995982])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.31491433,  0.14352763, -0.28030493,  0.14352763,  0.57575654,
        0.13356192, -0.28030493,  0.13356192,  0.38330351,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005670529708916998
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71797371e-01, -2.35587172e-01, -1.04189350e-02, -2.35573634e-01,
        9.71853222e-01, -2.52565652e-03,  1.07206878e-02,  4.33680869e-19,
       -9.99942532e-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([ 0.11711638, -0.08316188,  0.11476558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031038384190518187
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.94233909e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.94233909e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03936664, -0.06478876,  0.06199314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69120075e-02, 1.64919579e-01, 7.28511290e-02, 2.17721399e-03,
  2.42556317e-02, 4.37680880e-01, 2.25326796e-01, 1.46459941e-01,
  2.25679531e-05,-8.67497076e-04,-1.48198621e-04,-4.68263723e-05,
 -2.31576772e-04,-1.78825260e-04,-2.68728505e-05,-8.61965693e-05,
 -1.48453175e-03, 6.05843240e-05,-9.80917357e+00,-6.67988088e-02,
 -1.10711610e-02,-4.34141413e-03]


--- Step 2610 ---
qpos:
[ 0.01426376, 0.26221273,-0.09602927, 0.82316289,-0.03314743, 0.08668968,
 -0.23373263, 0.58986358, 0.01517677, 1.26265483,-0.02332255, 0.95349324,
  0.99857582, 0.00259213, 1.22023878, 0.04566512, 0.08255349,-0.06887298,
  0.14443282, 0.9514076 ,-0.04502282, 0.0126953 , 0.30436057]

qacc:
[ 1.03725777e+01,-2.65704711e+01, 9.72988468e+01,-1.08582510e+02,
  3.68516769e+01, 2.74684663e+01,-1.16098939e+02, 3.66301447e+02,
 -2.46998100e-03,-1.52143453e+01, 3.67742236e+01,-3.04134661e+01,
  1.02346847e-01,-1.43984487e+00,-1.03826259e+01, 3.48098397e+01,
 -5.43155687e-01, 5.44746593e-01, 2.85793973e-01,-9.30713253e+00,
 -1.18997761e+00,-1.28070091e+00]

qfrc_actuator:
[-0.02309948, 0.19234555, 0.0749956 , 0.05468166, 0.02502897, 0.4472856 ,
  0.21343522, 0.19619221,-0.00286138, 0.09668693, 0.01053618, 0.00317237,
  0.03291418, 0.0014284 , 0.        ,-0.00175455, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011068823951555637
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67714023, -0.73531504,  0.02815844,  0.01907478,  0.02071354,
        0.99960347, -0.73560673,  0.67740884,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08762259, -0.03372082,  0.12999619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.30442818,  0.13734399, -0.27168575,  0.13734399,  0.56058367,
        0.12949305, -0.27168575,  0.12949305,  0.36989018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005423511416641198
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.971892  , -0.23514229, -0.01157775, -0.23512561,  0.97196096,
       -0.00280095,  0.01191174,  0.        , -0.99992905])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11707654, -0.08315929,  0.11476429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003110677063791756
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.78453597e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.78453597e-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([ 0.03936614, -0.06478898,  0.06199313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69169051e-02, 1.64671608e-01, 7.24359436e-02, 1.19731798e-03,
  2.39865633e-02, 4.37387530e-01, 2.24938722e-01, 1.46490018e-01,
 -1.13377484e-06,-1.02601120e-03,-1.56034896e-04,-5.26371939e-05,
 -2.27418774e-04,-1.73554948e-04,-2.70748772e-05, 1.60485929e-04,
 -1.59407386e-03, 1.00662251e-04,-9.80909003e+00,-6.68393125e-02,
 -1.11198031e-02,-4.31678665e-03]


--- Step 2611 ---
qpos:
[ 0.01413493, 0.26257878,-0.09602401, 0.82419238,-0.03311627, 0.08690347,
 -0.23392884, 0.59087979, 0.01517908, 1.26390889,-0.0233221 , 0.95351808,
  0.99930131, 0.0026497 , 1.22039815, 0.04566786, 0.08247588,-0.06886287,
  0.14447295, 0.95146964,-0.0453236 , 0.01232395, 0.30413716]

qacc:
[ 1.17580727e+01,-2.58420256e+01, 9.63407402e+01,-1.09609154e+02,
  4.10376115e+01, 2.54345539e+01,-1.20115567e+02, 3.83625986e+02,
 -3.33412010e-02,-1.86231444e+01, 5.06305807e+01,-6.59364214e+01,
  9.33343615e-02,-1.37786202e+00,-1.49411413e+01, 5.10553882e+01,
 -5.51027872e-01, 5.36605591e-01, 2.89096192e-01,-9.47680730e+00,
 -1.07940659e+00,-1.87479669e+00]

qfrc_actuator:
[-0.02283941, 0.19244712, 0.07505093, 0.05371713, 0.02499444, 0.44819176,
  0.21363668, 0.19740017,-0.00287149, 0.09613276, 0.01053815, 0.00304124,
  0.032843  , 0.00136485, 0.        ,-0.00151173, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011189646036704774
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.77349014e-01, -7.35133361e-01,  2.78793069e-02,  1.88913642e-02,
        2.05029782e-02,  9.99611297e-01, -7.35419221e-01,  6.77612404e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08756869, -0.03372414,  0.13003314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.29544801,  0.13167498, -0.26448295,  0.13167498,  0.53417923,
        0.11885427, -0.26448295,  0.11885427,  0.35462057,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005210082203994308
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71984880e-01, -2.34699878e-01, -1.27027437e-02, -2.34679838e-01,
        9.72067882e-01, -3.06700021e-03,  1.30677537e-02, -4.33680869e-19,
       -9.99914613e-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([ 0.11703332, -0.08315656,  0.11476406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003117768051166675
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33535795e-13, -2.67071589e-13,  1.00000000e+00, -3.56636169e-26,
        1.00000000e+00,  2.67071589e-13, -1.00000000e+00,  0.00000000e+00,
       -1.33535795e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03936565, -0.06478922,  0.06199312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69315036e-02, 1.64587324e-01, 7.19446571e-02, 3.11306852e-04,
  2.37081520e-02, 4.36956705e-01, 2.24508900e-01, 1.46695235e-01,
 -9.79590934e-06,-1.16537390e-03,-2.19990345e-04,-1.65641392e-04,
 -2.28255832e-04,-1.66814399e-04, 1.56963934e-06, 2.47504963e-04,
 -1.71000027e-03, 1.44889851e-04,-9.80900253e+00,-6.68815458e-02,
 -1.11697941e-02,-4.29229916e-03]


--- Step 2612 ---
qpos:
[ 0.01401312, 0.26295472,-0.09600938, 0.82521962,-0.03308015, 0.08714379,
 -0.23411234, 0.59191684, 0.01518159, 1.26515495,-0.02332218, 0.95354043,
  1.00002539, 0.00270601, 1.22055789, 0.04567012, 0.08239606,-0.06885064,
  0.14451423, 0.95153197,-0.04564201, 0.01194481, 0.30390958]

qacc:
[ 1.32090993e+01,-1.53074599e+01, 7.23084646e+01,-9.91740497e+01,
  3.74429501e+01, 2.80572244e+01,-1.21010634e+02, 3.82319355e+02,
  8.63858209e-02,-1.33679256e+01, 3.59634305e+01,-5.49075002e+01,
 -3.36926068e-01,-8.15039451e-01, 1.98777075e+00,-6.16150536e+00,
 -5.49693802e-01, 5.29125835e-01, 2.87448197e-01,-9.53781583e+00,
 -9.35469453e-01,-2.31511959e+00]

qfrc_actuator:
[-0.02261782, 0.19274969, 0.07502225, 0.05285191, 0.02495799, 0.44897426,
  0.21382932, 0.19823867,-0.00284293, 0.09581913, 0.01053871, 0.00291857,
  0.03277425, 0.00130447, 0.        ,-0.00154746, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011316273946528831
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.77556619e-01, -7.34952272e-01,  2.76077007e-02,  1.87129130e-02,
        2.02980793e-02,  9.99618835e-01, -7.35232517e-01,  6.77814979e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08751401, -0.03372708,  0.13007073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.28765598,  0.12701006, -0.25809767,  0.12701006,  0.53716797,
        0.12278505, -0.25809767,  0.12278505,  0.3480786 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000502290620962962
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97207674, -0.23425675, -0.01380556, -0.23423312,  0.97217477,
       -0.00332661,  0.0142007 ,  0.        , -0.99989916])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11698714, -0.08315367,  0.11476469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003125048686880433
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44082291e-14, -2.66449375e-13,  1.00000000e+00, -1.18325449e-26,
        1.00000000e+00,  2.66449375e-13, -1.00000000e+00,  0.00000000e+00,
       -4.44082291e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03936516, -0.06478946,  0.0619931 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.70219843e-02, 1.64667778e-01, 7.13686196e-02,-4.69841286e-04,
  2.34001286e-02, 4.36650034e-01, 2.24139780e-01, 1.46500702e-01,
  2.38147749e-05,-1.01762274e-03,-2.59180305e-04,-1.65812689e-04,
 -2.23974406e-04,-1.62205343e-04, 2.32817885e-05,-2.27935809e-05,
 -1.83540243e-03, 1.93566548e-04,-9.80891103e+00,-6.69251254e-02,
 -1.12221578e-02,-4.26797152e-03]


--- Step 2613 ---
qpos:
[ 0.01389912, 0.26334752,-0.09598755, 0.82624395,-0.03303987, 0.0874186 ,
 -0.23428113, 0.59297461, 0.01518451, 1.26639907,-0.02332481, 0.95356177,
  1.00074793, 0.0027616 , 1.22071844, 0.04566627, 0.08231406,-0.06883632,
  0.14455665, 0.95159474,-0.04597815, 0.01155808, 0.30367725]

qacc:
[ 1.46349544e+01,-1.69555695e+00, 4.05608161e+01,-8.49263506e+01,
  3.13070126e+01, 3.29110659e+01,-1.22876443e+02, 3.74216601e+02,
  1.73514757e-01, 2.62722259e+00,-9.62152262e+00,-2.06830938e+00,
 -1.23350277e+00, 5.89395950e-01, 1.97357648e+01,-6.70968548e+01,
 -5.46077556e-01, 5.24244535e-01, 2.84323734e-01,-9.55560886e+00,
 -8.14249574e-01,-2.60356945e+00]

qfrc_actuator:
[-0.02244035, 0.19353828, 0.07495808, 0.05199423, 0.02493645, 0.45014834,
  0.21397518, 0.19897129,-0.00280917, 0.09613147, 0.01055713, 0.00289077,
  0.03270701, 0.00128198, 0.        ,-0.00187131, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001145221253017654
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67776091, -0.7347736 ,  0.02734767,  0.01854211,  0.02010186,
        0.99962598, -0.73504852,  0.6780145 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08745814, -0.03372954,  0.13010918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.28142327,  0.12338086, -0.25293521,  0.12338086,  0.55313097,
        0.13253801, -0.25293521,  0.13253801,  0.34607482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048681534593622095
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72167973e-01, -2.33812135e-01, -1.48767439e-02, -2.33784764e-01,
        9.72281793e-01, -3.57752586e-03,  1.53008562e-02, -4.33680869e-19,
       -9.99882935e-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([ 0.11693752, -0.0831506 ,  0.11476638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003132458847360242
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.86063536e-14, -8.86063536e-14,  1.00000000e+00, -7.85108589e-27,
        1.00000000e+00,  8.86063536e-14, -1.00000000e+00,  0.00000000e+00,
       -8.86063536e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03936468, -0.06478972,  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:
[-1.71965419e-02, 1.64947548e-01, 7.08313370e-02,-1.21749664e-03,
  2.31303760e-02, 4.36489485e-01, 2.23647732e-01, 1.46189478e-01,
  4.85980240e-05,-3.17492543e-04,-2.16884625e-04,-6.77277905e-05,
 -2.19595728e-04,-1.21813639e-04, 6.79672620e-07,-3.23762257e-04,
 -1.96828305e-03, 2.46486677e-04,-9.80881626e+00,-6.69703241e-02,
 -1.12765047e-02,-4.24386675e-03]


--- Step 2614 ---
qpos:
[ 0.0137936 , 0.26375658,-0.09595904, 0.82726516,-0.03299589, 0.08773102,
 -0.23443491, 0.59405294, 0.01518753, 1.26764536,-0.02332997, 0.953584  ,
  1.00146908, 0.00281619, 1.22087908, 0.04565793, 0.08222987,-0.06881992,
  0.1446002 , 0.95165807,-0.04633219, 0.01116381, 0.30343963]

qacc:
[ 1.58774409e+01,-1.38617028e+00, 3.90592288e+01,-8.55443185e+01,
  2.77144300e+01, 3.57440204e+01,-1.26324188e+02, 3.71832794e+02,
  4.43328676e-02, 1.11687170e+01,-3.47518187e+01, 3.89571891e+01,
 -7.62572279e-01,-1.20866484e-01, 1.37860241e+01,-4.79296853e+01,
 -5.47758115e-01, 5.20112204e-01, 2.83502504e-01,-9.61048362e+00,
 -7.47139260e-01,-2.87917562e+00]

qfrc_actuator:
[-0.0222752 , 0.19439454, 0.07494202, 0.0510894 , 0.02488717, 0.45152104,
  0.21410364, 0.19982745,-0.00282582, 0.09656801, 0.01055303, 0.00295493,
  0.03263542, 0.00122893, 0.        ,-0.00209592, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011601638213659955
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.77958669e-01, -7.34600181e-01,  2.71038266e-02,  1.83820273e-02,
        1.99177932e-02,  9.99632624e-01, -7.34870155e-01,  6.78207827e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08740062, -0.03373142,  0.13014878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.27717334,  0.12052288, -0.24959827,  0.12052288,  0.56314109,
        0.13808452, -0.24959827,  0.13808452,  0.34384987,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000475599782841262
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97225885, -0.23336646, -0.01590074, -0.23333526,  0.97238886,
       -0.00381607,  0.01635225,  0.        , -0.99986629])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11688372, -0.08314731,  0.11476945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031399508932372644
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.20987338e-13, -1.76789871e-13,  1.00000000e+00, -3.90683230e-26,
        1.00000000e+00,  1.76789871e-13, -1.00000000e+00,  0.00000000e+00,
       -2.20987338e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0393642 , -0.06478999,  0.06199307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74231025e-02, 1.64946846e-01, 7.04495429e-02,-1.97810153e-03,
  2.28729180e-02, 4.36127786e-01, 2.23038054e-01, 1.46007068e-01,
  1.26508334e-05, 2.05135677e-04,-9.49838708e-05, 4.84472748e-05,
 -2.13337746e-04,-1.39428409e-04,-4.37805547e-05,-2.44309011e-04,
 -2.10740175e-03, 3.03508533e-04,-9.80871822e+00,-6.70173327e-02,
 -1.13324745e-02,-4.22001781e-03]


--- Step 2615 ---
qpos:
[ 0.01369724, 0.2641783 ,-0.09592357, 0.82828328,-0.03294869, 0.08808245,
 -0.23457362, 0.59515157, 0.01519023, 1.26889273,-0.02333548, 0.95360787,
  1.00218893, 0.00286991, 1.22103933, 0.04564825, 0.08214348,-0.06880145,
  0.14464488, 0.95172207,-0.04670419, 0.01076209, 0.30319631]

qacc:
[ 1.70910593e+01,-6.74053579e+00, 5.06786183e+01,-9.25180336e+01,
  2.40882646e+01, 3.70132603e+01,-1.27173900e+02, 3.67351349e+02,
 -1.37329167e-01, 5.19914897e+00,-1.85660880e+01, 3.43744655e+01,
 -5.17088400e-01,-3.12472098e-01, 3.48926950e+00,-1.30167952e+01,
 -5.48224940e-01, 5.16237186e-01, 2.82004487e-01,-9.63397561e+00,
 -6.96881874e-01,-3.08256809e+00]

qfrc_actuator:
[-0.02215674, 0.1949657 , 0.07495248, 0.05026416, 0.02483778, 0.45256992,
  0.21428647, 0.20055433,-0.00287259, 0.09661415, 0.01053639, 0.00303726,
  0.03258255, 0.00119362, 0.        ,-0.00215365, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011763654879588183
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67815151, -0.73443056,  0.02687537,  0.01823216,  0.01974523,
        0.99963879, -0.73469594,  0.67839655,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0873415 , -0.03373269,  0.1301895 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.27476684,  0.11863899, -0.24783383,  0.11863899,  0.57770385,
        0.1450171 , -0.24783383,  0.1450171 ,  0.34418707,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004689846143277643
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72349691e-01, -2.32919280e-01, -1.68726889e-02, -2.32884221e-01,
        9.72496071e-01, -4.04112126e-03,  1.73498787e-02, -8.67361738e-19,
       -9.99849480e-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([ 0.11682548, -0.08314381,  0.11477398])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031474924074430255
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03936372, -0.06479028,  0.06199306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77304877e-02, 1.64689602e-01, 7.01201110e-02,-2.64930026e-03,
  2.26387387e-02, 4.35284764e-01, 2.22466013e-01, 1.45703344e-01,
 -3.83930472e-05, 1.31069825e-04, 1.18182390e-05, 8.83586957e-05,
 -1.96007282e-04,-1.24964566e-04,-5.23928820e-05,-7.80085765e-05,
 -2.25358257e-03, 3.64671388e-04,-9.80861625e+00,-6.70660983e-02,
 -1.13901892e-02,-4.19641973e-03]


--- Step 2616 ---
qpos:
[ 0.01361076, 0.26461388,-0.09588192, 0.82929805,-0.03289956, 0.08848174,
 -0.23469505, 0.59626974, 0.01519252, 1.27013937,-0.02334001, 0.95363059,
  1.00290752, 0.00292296, 1.22119894, 0.04564055, 0.08205494,-0.06878092,
  0.14469066, 0.95178667,-0.04709401, 0.01035309, 0.30294737]

qacc:
[ 1.84340055e+01,-3.54747522e+00, 4.28084092e+01,-8.99350777e+01,
  1.43240522e+01, 4.16367162e+01,-1.24451753e+02, 3.44933804e+02,
 -1.79246666e-01,-5.54690528e+00, 1.92591362e+01,-2.95079409e+01,
 -3.88176900e-01,-3.27168542e-01,-6.91469659e+00, 2.28676132e+01,
 -5.38787360e-01, 5.15680598e-01, 2.75178645e-01,-9.53722816e+00,
 -6.28476424e-01,-3.03593301e+00]

qfrc_actuator:
[-0.02212363, 0.19555817, 0.07490488, 0.04948788, 0.02478734, 0.4535146 ,
  0.21447812, 0.20084062,-0.00290154, 0.09647955, 0.01054657, 0.00296961,
  0.03253031, 0.00116922, 0.        ,-0.00204159, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011935424484363101
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67834273, -0.73426181,  0.02665943,  0.01809066,  0.01958196,
        0.99964457, -0.73452288,  0.67858392,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08728104, -0.03373336,  0.13023114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.27409532,  0.11803245, -0.24737943,  0.11803245,  0.63133716,
        0.17045124, -0.24737943,  0.17045124,  0.35542293,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046710264597479145
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9724408 , -0.23247017, -0.01779086, -0.23243127,  0.97260353,
       -0.00425234,  0.018292  ,  0.        , -0.99983269])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11676267, -0.08314007,  0.11478004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000315504955984966
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.75943833e-13, -1.75943833e-13,  1.00000000e+00, -3.09562323e-26,
        1.00000000e+00,  1.75943833e-13, -1.00000000e+00,  0.00000000e+00,
       -1.75943833e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03936325, -0.06479058,  0.06199305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.81563606e-02, 1.64633263e-01, 6.97183615e-02,-3.27341520e-03,
  2.24272408e-02, 4.34266017e-01, 2.21899989e-01, 1.44971926e-01,
 -5.03448057e-05,-6.85289852e-05, 3.75138876e-05,-5.97537987e-05,
 -1.82705547e-04,-1.05982419e-04,-3.63921085e-05, 1.00273122e-04,
 -2.40618603e-03, 4.29830846e-04,-9.80851046e+00,-6.71167027e-02,
 -1.14494724e-02,-4.17308399e-03]


--- Step 2617 ---
qpos:
[ 0.01353496, 0.26506224,-0.09583428, 0.83030933,-0.03285023, 0.08894099,
 -0.23479628, 0.59740625, 0.01519441, 1.27138263,-0.02334248, 0.95365081,
  1.003625  , 0.00297504, 1.2213582 , 0.04563519, 0.08196431,-0.0687583 ,
  0.1447375 , 0.95185165,-0.04750132, 0.00993705, 0.30269343]

qacc:
[ 1.98304549e+01,-4.66006851e+00, 4.49774570e+01,-9.24548569e+01,
  1.21479186e+00, 4.79679239e+01,-1.20081945e+02, 3.11009150e+02,
 -1.64476314e-01,-1.43464632e+01, 4.64781135e+01,-6.70676862e+01,
 -3.68349930e-02,-9.13034369e-01,-7.63398507e+00, 2.58759335e+01,
 -5.23877596e-01, 5.20687072e-01, 2.65171503e-01,-9.35698997e+00,
 -5.89209366e-01,-2.69676341e+00]

qfrc_actuator:
[-0.02214611, 0.19613941, 0.07487372, 0.04868924, 0.02471851, 0.45449656,
  0.21459581, 0.20076642,-0.00291957, 0.0961491 , 0.01058942, 0.00283186,
  0.03247316, 0.001116  , 0.        ,-0.0019192 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012117409603971082
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67853173, -0.73409451,  0.02645659,  0.01795792,  0.01942844,
        0.99964996, -0.73435156,  0.67876932,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08721919, -0.03373338,  0.13027374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2755374 ,  0.11886182, -0.24858143,  0.11886182,  0.73522996,
        0.21980682, -0.24858143,  0.21980682,  0.38064033,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004711245225687053
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72443476e-01, -2.32423349e-01, -1.82503079e-02, -2.32382428e-01,
        9.72614717e-01, -4.36123123e-03,  1.87641700e-02, -8.67361738e-19,
       -9.99823937e-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([ 0.11669554, -0.08314086,  0.11479256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000316259982448594
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.77618958e-14, -8.77618958e-14,  1.00000000e+00,  7.70215035e-27,
        1.00000000e+00,  8.77618958e-14, -1.00000000e+00,  0.00000000e+00,
        8.77618958e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03936278, -0.06479089,  0.06199303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86751926e-02, 1.64505321e-01, 6.93723484e-02,-3.90583139e-03,
  2.22617262e-02, 4.32840446e-01, 2.21148777e-01, 1.43917389e-01,
 -4.64164187e-05,-3.74092971e-04, 2.97922264e-05,-1.38454013e-04,
 -1.75528873e-04,-1.26597601e-04,-9.07990565e-06, 1.22602803e-04,
 -2.56157437e-03, 4.98555023e-04,-9.80840189e+00,-6.71695260e-02,
 -1.15093655e-02,-4.15005343e-03]


--- Step 2618 ---
qpos:
[ 0.01347061, 0.26552183,-0.09578062, 0.83131706,-0.03280177, 0.08946334,
 -0.23487707, 0.59855982, 0.01519585, 1.27261926,-0.02334282, 0.95367058,
  1.00434136, 0.0030263 , 1.2215174 , 0.04563098, 0.08187163,-0.06873358,
  0.14478536, 0.95191678,-0.04792579, 0.00951412, 0.30243519]

qacc:
[ 2.12523542e+01,-6.85155014e+00, 4.98165595e+01,-9.62996143e+01,
 -6.86072258e+00, 4.96805720e+01,-1.15896922e+02, 2.85878348e+02,
 -1.95323865e-01,-1.52611662e+01, 4.01623003e+01,-3.59064169e+01,
 -2.58966657e-01,-5.31471487e-01,-3.54770459e+00, 1.22992349e+01,
 -5.10400581e-01, 5.26858136e-01, 2.56068257e-01,-9.18096776e+00,
 -5.76701511e-01,-2.31070993e+00]

qfrc_actuator:
[-0.0222067 , 0.1966207 , 0.07485012, 0.04791414, 0.02465736, 0.45530987,
  0.21467704, 0.20068237,-0.00294867, 0.09559757, 0.01061487, 0.00279587,
  0.03242376, 0.00108159, 0.        ,-0.00186278, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001230868265352684
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67871839, -0.73392878,  0.0262659 ,  0.0178333 ,  0.01928396,
        0.99965499, -0.73418208,  0.67895263,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08715606, -0.03373275,  0.13031724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.27982592,  0.12102292, -0.2523014 ,  0.12102292,  0.85033877,
        0.27366131, -0.2523014 ,  0.27366131,  0.41109468,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048266729024089403
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72531460e-01, -2.31994725e-01, -1.90002073e-02, -2.31950463e-01,
        9.72717044e-01, -4.53158283e-03,  1.95331288e-02, -8.67361738e-19,
       -9.99809210e-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([ 0.11662104, -0.08313683,  0.11480283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003170143337220266
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.37765310e-14,  8.75530620e-14,  1.00000000e+00, -3.83276933e-27,
        1.00000000e+00, -8.75530620e-14, -1.00000000e+00,  0.00000000e+00,
        4.37765310e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03936231, -0.06479122,  0.06199302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92708317e-02, 1.64331093e-01, 6.90428482e-02,-4.50870044e-03,
  2.21906267e-02, 4.30638085e-01, 2.20213537e-01, 1.42913767e-01,
 -5.52190687e-05,-7.67923360e-04,-5.04431169e-05,-4.77811384e-05,
 -1.68486628e-04,-1.12118282e-04, 4.88957172e-06, 6.11235963e-05,
 -2.71599624e-03, 5.70358338e-04,-9.80829114e+00,-6.72249263e-02,
 -1.15686882e-02,-4.12734466e-03]


--- Step 2619 ---
qpos:
[ 0.0134185 , 0.26599347,-0.09572146, 0.83232102,-0.03275449, 0.09004207,
 -0.23494011, 0.59972934, 0.01519688, 1.27384682,-0.02334211, 0.95369145,
  1.00505657, 0.00307677, 1.2216761 , 0.0456315 , 0.08177694,-0.06870674,
  0.14483423, 0.95198191,-0.04836724, 0.00908443, 0.30217299]

qacc:
[ 2.26373544e+01,-4.75819624e+00, 4.48000611e+01,-9.51940896e+01,
 -8.99423736e+00, 4.64705435e+01,-1.12996556e+02, 2.74187973e+02,
 -1.73152004e-01,-1.28300279e+01, 2.52704928e+01,-3.55955734e+00,
 -2.29836429e-02,-8.24491128e-01,-1.50764702e+01, 5.15898099e+01,
 -5.03079344e-01, 5.30171346e-01, 2.50419324e-01,-9.08914447e+00,
 -5.59889350e-01,-2.13152658e+00]

qfrc_actuator:
[-0.02225969, 0.1970917 , 0.07475762, 0.04711913, 0.02461957, 0.45595938,
  0.21476359, 0.20081712,-0.00296643, 0.09495352, 0.0105935 , 0.00283766,
  0.03236306, 0.00104092, 0.        ,-0.0016149 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001250802184270346
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.78902744e-01, -7.33764664e-01,  2.60860571e-02,  1.77159244e-02,
        1.91475428e-02,  9.99659701e-01, -7.34014449e-01,  6.79133852e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08709177, -0.03373145,  0.13036157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.28759815,  0.12462652, -0.25919283,  0.12462652,  0.94350519,
        0.31537683, -0.25919283,  0.31537683,  0.43923937,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005021508812254116
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97261927, -0.23157233, -0.01964735, -0.2315251 ,  0.97281769,
       -0.00467691,  0.02019633,  0.        , -0.99979603])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11653994, -0.08313257,  0.11481557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000317767473800426
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31018329e-13, -1.74691105e-13,  1.00000000e+00, -2.28877367e-26,
        1.00000000e+00,  1.74691105e-13, -1.00000000e+00,  0.00000000e+00,
       -1.31018329e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03936183, -0.06479157,  0.06199301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98984142e-02, 1.64223048e-01, 6.86425097e-02,-5.12822104e-03,
  2.21966564e-02, 4.28113638e-01, 2.19271479e-01, 1.42191933e-01,
 -4.90507520e-05,-1.09109528e-03,-1.80614578e-04, 1.80937359e-05,
 -1.72691179e-04,-1.12624015e-04, 3.40672585e-06, 2.50703712e-04,
 -2.86873609e-03, 6.45057156e-04,-9.80817828e+00,-6.72828899e-02,
 -1.16271311e-02,-4.10494823e-03]


--- Step 2620 ---
qpos:
[ 0.01337942, 0.2664755 ,-0.09565662, 0.83332118,-0.03270887, 0.09067331,
 -0.23498746, 0.60091352, 0.01519774, 1.27506431,-0.0233415 , 0.95371217,
  1.00577041, 0.00312671, 1.22183468, 0.04563563, 0.08168026,-0.06867775,
  0.14488407, 0.95204685,-0.04882546, 0.00864802, 0.30190742]

qacc:
[ 2.40409648e+01,-7.42696932e+00, 5.09097888e+01,-9.96709519e+01,
 -1.27007016e+01, 4.50435990e+01,-1.10457197e+02, 2.57257562e+02,
 -7.25257038e-02,-1.32255665e+01, 2.75148299e+01,-1.95208292e+01,
 -4.53425325e-01,-1.99766111e-01,-1.11095384e+01, 3.86471548e+01,
 -4.96130379e-01, 5.37046953e-01, 2.44773317e-01,-8.98671809e+00,
 -5.80454432e-01,-1.81455338e+00]

qfrc_actuator:
[-0.02231348, 0.19751571, 0.07469291, 0.04629606, 0.02461419, 0.45675836,
  0.21484783, 0.20091766,-0.0029595 , 0.09434778, 0.01054425, 0.00281821,
  0.03229031, 0.00101455, 0.        ,-0.00143371, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012715663779930516
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.79084012e-01, -7.33602890e-01,  2.59172535e-02,  1.76059065e-02,
        1.90193608e-02,  9.99664092e-01, -7.33849396e-01,  6.79312199e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08702628, -0.03372946,  0.13040675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.29865014,  0.12989895, -0.26892037,  0.12989895,  1.11526683,
        0.39445748, -0.26892037,  0.39445748,  0.48918837,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005286434908877748
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97270695, -0.23115558, -0.02020593, -0.23110572,  0.9729168 ,
       -0.00480073,  0.02076841,  0.        , -0.99978431])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11645295, -0.08312811,  0.11483051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003185170744753052
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74279986e-13, -8.71399929e-14,  1.00000000e+00,  1.51867567e-26,
        1.00000000e+00,  8.71399929e-14, -1.00000000e+00,  0.00000000e+00,
        1.74279986e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03936136, -0.06479193,  0.06199299])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.05658406e-02, 1.64026457e-01, 6.82958548e-02,-5.76476211e-03,
  2.22496872e-02, 4.26071378e-01, 2.18460011e-01, 1.41491231e-01,
 -2.07962761e-05,-1.25481705e-03,-2.84422883e-04,-5.49778970e-05,
 -1.86511830e-04,-9.96572633e-05, 2.47978540e-05, 1.94599544e-04,
 -3.02242748e-03, 7.22994531e-04,-9.80806282e+00,-6.73430796e-02,
 -1.16854347e-02,-4.08284732e-03]


--- Step 2621 ---
qpos:
[ 0.01335417, 0.26696346,-0.09558501, 0.83431774,-0.03266586, 0.091358  ,
 -0.23501989, 0.60211078, 0.01519868, 1.27627104,-0.02334023, 0.95373185,
  1.00648273, 0.00317651, 1.22199351, 0.04564059, 0.08158165,-0.06864657,
  0.14493487, 0.95211124,-0.04930014, 0.00820495, 0.30163946]

qacc:
[ 2.54964922e+01,-1.57996724e+01, 7.06662887e+01,-1.11115758e+02,
 -1.95793825e+01, 4.60876689e+01,-1.06871263e+02, 2.30719365e+02,
  3.87909497e-02,-1.76845797e+01, 4.27203317e+01,-4.22618368e+01,
 -1.08759630e+00, 7.78116799e-01,-2.03592167e+00, 7.85356168e+00,
 -4.86220359e-01, 5.48922177e-01, 2.37149179e-01,-8.84090250e+00,
 -6.24943158e-01,-1.28690711e+00]

qfrc_actuator:
[-0.02235569, 0.19773085, 0.07466025, 0.04538668, 0.02459371, 0.45761059,
  0.2149079 , 0.20081507,-0.00293783, 0.09378743, 0.01056778, 0.00276285,
  0.0322157 , 0.00101459, 0.        ,-0.00139984, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012930238803527077
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.79262560e-01, -7.33443183e-01,  2.57579455e-02,  1.75022151e-02,
        1.88982598e-02,  9.99668209e-01, -7.33686614e-01,  6.79488008e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08695974, -0.03372676,  0.1304527 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.31258865,  0.13671653, -0.28110541,  0.13671653,  1.51679721,
        0.58567075, -0.28110541,  0.58567075,  0.59743152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005615895448884899
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72794378e-01, -2.30744999e-01, -2.06843893e-02, -2.30692856e-01,
        9.73014257e-01, -4.90518957e-03,  2.12580536e-02, -8.67361738e-19,
       -9.99774022e-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([ 0.11636053, -0.0831235 ,  0.11484749])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031926198626076874
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.69366752e-14, -1.73873350e-13,  1.00000000e+00, -1.51159710e-26,
        1.00000000e+00,  1.73873350e-13, -1.00000000e+00,  0.00000000e+00,
       -8.69366752e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03936089, -0.06479231,  0.06199298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12611305e-02, 1.63704313e-01, 6.79727177e-02,-6.48587263e-03,
  2.23127302e-02, 4.24273708e-01, 2.17726901e-01, 1.40652324e-01,
  1.04148875e-05,-1.32229102e-03,-2.57527900e-04,-1.00480567e-04,
 -1.92225243e-04,-7.29363237e-05, 2.66629809e-05, 4.65126846e-05,
 -3.17558215e-03, 8.04016773e-04,-9.80794473e+00,-6.74056177e-02,
 -1.17429915e-02,-4.06102643e-03]


--- Step 2622 ---
qpos:
[ 0.01334349, 0.26746013,-0.09550736, 0.8353104 ,-0.03262476, 0.09207913,
 -0.23504339, 0.60332026, 0.01519979, 1.27746606,-0.02333798, 0.95375117,
  1.00719369, 0.00322572, 1.22215291, 0.04564227, 0.08148105,-0.0686132 ,
  0.14498662, 0.9521752 ,-0.04979144, 0.00775517, 0.30136864]

qacc:
[ 2.67742025e+01,-1.07054473e+01, 5.91441081e+01,-1.06635179e+02,
 -1.43606770e+01, 3.84639109e+01,-1.08168836e+02, 2.37059335e+02,
  7.13238226e-02,-1.87162190e+01, 4.32251919e+01,-3.44976179e+01,
 -9.47155843e-01, 3.70671605e-01, 1.08164262e+01,-3.64804886e+01,
 -4.92918531e-01, 5.45999033e-01, 2.39219316e-01,-8.92683961e+00,
 -6.16226106e-01,-1.53198370e+00]

qfrc_actuator:
[-0.02232597, 0.19801624, 0.07459019, 0.04462212, 0.02456578, 0.45838407,
  0.21494796, 0.20138518,-0.00292526, 0.09315251, 0.01059875, 0.00274012,
  0.03214006, 0.00097701, 0.        ,-0.00157727, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013148727404554185
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67943976, -0.7332844 ,  0.02560486,  0.01740267,  0.0187818 ,
        0.99967214, -0.73352489,  0.67966259,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08689246, -0.03372337,  0.13049922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.32944166,  0.14402505, -0.2962914 ,  0.14402505,  1.59574864,
        0.6155424 , -0.2962914 ,  0.6155424 ,  0.62865224,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006010925521756595
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97288115, -0.23034293, -0.02108103, -0.23028888,  0.97310952,
       -0.00499005,  0.02166357,  0.        , -0.99976532])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11626271, -0.08311876,  0.11486654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032000359271468215
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.67352000e-14, -1.73470400e-13,  1.00000000e+00, -1.50459898e-26,
        1.00000000e+00,  1.73470400e-13, -1.00000000e+00,  0.00000000e+00,
       -8.67352000e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03936042, -0.0647927 ,  0.06199297])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19251808e-02, 1.63674621e-01, 6.75567444e-02,-7.07221613e-03,
  2.24147617e-02, 4.22348979e-01, 2.17011782e-01, 1.40564303e-01,
  1.95251519e-05,-1.43013428e-03,-2.61511208e-04,-7.01207907e-05,
 -1.90276710e-04,-1.04184378e-04, 9.89263040e-06,-1.73062704e-04,
 -3.32531473e-03, 8.87867676e-04,-9.80782436e+00,-6.74707523e-02,
 -1.17987896e-02,-4.03947673e-03]


--- Step 2623 ---
qpos:
[ 0.01334793, 0.26796811,-0.09542466, 0.83629885,-0.03258414, 0.09281324,
 -0.23506577, 0.60454172, 0.01520121, 1.27864854,-0.02333609, 0.95377093,
  1.00790361, 0.0032736 , 1.22231254, 0.04564016, 0.08137841,-0.06857771,
  0.14503936, 0.9522392 ,-0.05029993, 0.00729848, 0.30109326]

qacc:
[ 2.76675277e+01,-5.20490706e+00, 4.60660484e+01,-1.00966173e+02,
 -3.66735541e+00, 2.80114218e+01,-1.13477255e+02, 2.62341467e+02,
  1.33241794e-01,-1.46849780e+01, 2.71561533e+01,-1.06590677e+01,
 -2.28073586e-01,-8.69627962e-01, 1.18142626e+01,-4.08225611e+01,
 -5.14526295e-01, 5.30072534e-01, 2.48969352e-01,-9.20329848e+00,
 -5.80651672e-01,-2.41456871e+00]

qfrc_actuator:
[-0.0223126 , 0.19840965, 0.07449572, 0.04391068, 0.02451598, 0.45914143,
  0.21497605, 0.20254982,-0.00290051, 0.0924426 , 0.01054482, 0.00275449,
  0.0320798 , 0.00089964, 0.        ,-0.00177119, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001337253187262243
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67961489, -0.73312715,  0.02545938,  0.01730819,  0.01867102,
        0.99967586, -0.73336487,  0.67983525,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08682423, -0.03371924,  0.13054643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.347987  ,  0.15107028, -0.31348481,  0.15107028,  1.41074726,
        0.51215077, -0.31348481,  0.51215077,  0.59479564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006447538655290265
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97296761, -0.22994495, -0.02143248, -0.22988918,  0.97320364,
       -0.00506399,  0.02202261,  0.        , -0.99975747])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11616112, -0.08311394,  0.11488697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003207355818830582
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29805877e-13,  8.65372512e-14,  1.00000000e+00, -1.12330438e-26,
        1.00000000e+00, -8.65372512e-14, -1.00000000e+00,  0.00000000e+00,
        1.29805877e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03935995, -0.06479312,  0.06199295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26425703e-02, 1.63613697e-01, 6.71531551e-02,-7.59092369e-03,
  2.24605817e-02, 4.21256257e-01, 2.16583243e-01, 1.41113703e-01,
  3.70128481e-05,-1.56446999e-03,-3.66993712e-04,-3.56440190e-05,
 -1.82152626e-04,-1.51983265e-04,-2.22222955e-05,-2.03941295e-04,
 -3.48215749e-03, 9.75818057e-04,-9.80770005e+00,-6.75373786e-02,
 -1.18561441e-02,-4.01816054e-03]


--- Step 2624 ---
qpos:
[ 0.01336791, 0.26848437,-0.09533647, 0.83728318,-0.03254348, 0.09354949,
 -0.23509097, 0.60577485, 0.01520308, 1.27981722,-0.02333425, 0.9537905 ,
  1.00861253, 0.00331994, 1.22247156, 0.04563974, 0.08127363,-0.06854014,
  0.14509313, 0.95230358,-0.05082604, 0.00683472, 0.30081206]

qacc:
[ 2.84090236e+01,-1.01996298e+01, 5.73238381e+01,-1.07489431e+02,
  2.42364521e-01, 2.37119874e+01,-1.17052644e+02, 2.72372012e+02,
  1.94854994e-01,-1.83340738e+01, 3.83501966e+01,-2.69947773e+01,
  3.86271129e-01,-1.74581518e+00,-6.09053292e+00, 1.98099284e+01,
 -5.32924883e-01, 5.19030522e-01, 2.55722899e-01,-9.42590284e+00,
 -5.74998059e-01,-3.06693012e+00]

qfrc_actuator:
[-0.02235093, 0.19868425, 0.07440293, 0.04305545, 0.02448789, 0.45982699,
  0.21500118, 0.20356945,-0.00286866, 0.09167546, 0.01051194, 0.00273718,
  0.03202347, 0.00081711, 0.        ,-0.0016714 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013602609451627962
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67978952, -0.73296998,  0.02532246,  0.01721947,  0.01856656,
        0.99967933, -0.73320509,  0.68000757,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08675485, -0.03371429,  0.13059443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.36641672,  0.15812374, -0.33054212,  0.15812374,  1.44602278,
        0.51645867, -0.33054212,  0.51645867,  0.61347865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006892223402312672
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97305465, -0.22954267, -0.02179026, -0.22948513,  0.9732986 ,
       -0.00513901,  0.02238805,  0.        , -0.99974936])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11605795, -0.08310907,  0.11490781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003214483950852304
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29518032e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.29518032e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03935947, -0.06479354,  0.06199294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34383752e-02, 1.63303207e-01, 6.68006744e-02,-8.23766199e-03,
  2.24566682e-02, 4.21264558e-01, 2.16542050e-01, 1.41530625e-01,
  5.43127013e-05,-1.71541809e-03,-3.83126206e-04,-7.35859782e-05,
 -1.85929970e-04,-1.68466555e-04,-3.83987189e-05, 8.43888273e-05,
 -3.65577008e-03, 1.06895400e-03,-9.80756994e+00,-6.76045898e-02,
 -1.19181263e-02,-3.99704562e-03]


--- Step 2625 ---
qpos:
[ 0.01340389, 0.26900894,-0.09524297, 0.83826326,-0.03250288, 0.09428487,
 -0.2351203 , 0.60701933, 0.01520523, 1.28097172,-0.02333233, 0.95380977,
  1.00932043, 0.00336444, 1.22263046, 0.04563944, 0.08116666,-0.06850054,
  0.14514794, 0.95236859,-0.05137011, 0.00636376, 0.300524  ]

qacc:
[ 2.91592798e+01,-9.84512020e+00, 5.64343665e+01,-1.08018387e+02,
 -5.03571851e-01, 2.27740361e+01,-1.18003577e+02, 2.71578189e+02,
  1.18818330e-01,-1.93943770e+01, 4.14008068e+01,-3.05742726e+01,
  4.34697336e-01,-2.00000789e+00,-6.24584684e-01, 1.75782244e+00,
 -5.46063154e-01, 5.09666871e-01, 2.59378546e-01,-9.59152304e+00,
 -5.50955128e-01,-3.60894122e+00]

qfrc_actuator:
[-0.02237349, 0.19897483, 0.07429093, 0.04220432, 0.02445475, 0.46033311,
  0.21504578, 0.20437332,-0.00286832, 0.09095125, 0.01050925, 0.00271909,
  0.03195888, 0.00071447, 0.        ,-0.00166562, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013836352949156945
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67996801, -0.73280891,  0.02519137,  0.01713476,  0.01846632,
        0.99968265, -0.73304154,  0.68018387,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0866845 , -0.03370852,  0.13064306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.38362355,  0.16478581, -0.34642844,  0.16478581,  1.63320696,
        0.59439004, -0.34642844,  0.59439004,  0.6663574 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007328804892587416
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73142929e-01, -2.29130768e-01, -2.21795342e-02, -2.29071279e-01,
        9.73395650e-01, -5.22091270e-03,  2.27857339e-02,  8.67361738e-19,
       -9.99740371e-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([ 0.11595421, -0.08310415,  0.11492859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032213799493860384
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.30802576e-14,  8.61605152e-14,  1.00000000e+00,  3.71181719e-27,
        1.00000000e+00, -8.61605152e-14, -1.00000000e+00,  0.00000000e+00,
       -4.30802576e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03935899, -0.06479399,  0.06199293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.42404595e-02, 1.63159816e-01, 6.64062041e-02,-8.88440169e-03,
  2.24214757e-02, 4.21635470e-01, 2.16716743e-01, 1.41746863e-01,
  3.28943621e-05,-1.76006238e-03,-3.85310817e-04,-8.02092446e-05,
 -1.99452561e-04,-1.94335026e-04,-1.13531088e-05, 4.90223782e-06,
 -3.84404786e-03, 1.16717286e-03,-9.80743405e+00,-6.76727302e-02,
 -1.19840174e-02,-3.97613208e-03]


--- Step 2626 ---
qpos:
[ 0.01345635, 0.26954358,-0.09514475, 0.83923888,-0.03246309, 0.09502387,
 -0.23515264, 0.60827468, 0.01520739, 1.28211293,-0.02333083, 0.95382866,
  1.01002731, 0.00340683, 1.22278949, 0.04563752, 0.08105749,-0.06845891,
  0.14520378, 0.95243437,-0.05193228, 0.00588559, 0.30022854]

qacc:
[ 2.99302873e+01,-6.35697842e+00, 4.84192309e+01,-1.05192437e+02,
 -5.94191535e+00, 2.49951726e+01,-1.15875965e+02, 2.58123293e+02,
  7.01152039e-03,-1.69511202e+01, 3.50147034e+01,-2.65917186e+01,
  4.51740199e-01,-2.18445196e+00, 5.00513728e+00,-1.74377405e+01,
 -5.51794975e-01, 5.05234590e-01, 2.58626290e-01,-9.66300138e+00,
 -5.31172419e-01,-3.88151330e+00]

qfrc_actuator:
[-0.02241103, 0.19950246, 0.07418315, 0.04130415, 0.02440091, 0.46068044,
  0.21508675, 0.20483036,-0.00288689, 0.09034748, 0.01050681, 0.0027007 ,
  0.03189469, 0.00060069, 0.        ,-0.00175088, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014073272198447462
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.80152368e-01, -7.32642119e-01,  2.50655527e-02,  1.70537531e-02,
        1.83698513e-02,  9.99685810e-01, -7.32872381e-01,  6.80366132e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08661316, -0.03370191,  0.13069232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.39901016,  0.1710313 , -0.36049605,  0.1710313 ,  2.17632167,
        0.84321562, -0.36049605,  0.84321562,  0.79905966,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007752038263900722
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97323268, -0.22870721, -0.02260878, -0.22864553,  0.97349525,
       -0.00531157,  0.02322433,  0.        , -0.99973028])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11585018, -0.08309919,  0.11494915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003228017655529519
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.29916726e-14, -3.43933381e-13,  1.00000000e+00,  1.47862713e-26,
        1.00000000e+00,  3.43933381e-13, -1.00000000e+00,  0.00000000e+00,
        4.29916726e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03935849, -0.06479445,  0.06199292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50802923e-02, 1.63252285e-01, 6.60253852e-02,-9.57471318e-03,
  2.23707403e-02, 4.21997339e-01, 2.16953676e-01, 1.41632544e-01,
  1.45399203e-06,-1.66477165e-03,-3.94185858e-04,-8.20568537e-05,
 -2.11913403e-04,-2.16057289e-04,-9.59506328e-06,-8.75006713e-05,
 -4.04556992e-03, 1.27041854e-03,-9.80729289e+00,-6.77420273e-02,
 -1.20535007e-02,-3.95544015e-03]


--- Step 2627 ---
qpos:
[ 0.01352572, 0.27008814,-0.095042  , 0.84020991,-0.03242452, 0.09576784,
 -0.23518774, 0.60954059, 0.01520932, 1.28324044,-0.023329  , 0.95384651,
  1.01073301, 0.00344723, 1.22294799, 0.04563827, 0.08094608,-0.06841528,
  0.14526066, 0.952501  ,-0.05251272, 0.0054001 , 0.29992516]

qacc:
[ 3.06393887e+01,-6.25164966e+00, 4.80804620e+01,-1.06089520e+02,
 -8.97056567e+00, 2.56631066e+01,-1.14606067e+02, 2.50964219e+02,
 -9.76528732e-02,-2.07063796e+01, 4.79239008e+01,-4.49951774e+01,
  6.24428516e-01,-2.37244442e+00,-8.93418306e+00, 2.99027084e+01,
 -5.59853904e-01, 5.01116428e-01, 2.59111772e-01,-9.74818035e+00,
 -5.37769557e-01,-4.14445892e+00]

qfrc_actuator:
[-0.02244666, 0.20004295, 0.07411187, 0.0404475 , 0.02435317, 0.46112365,
  0.21512607, 0.20534154,-0.00291666, 0.08966098, 0.01052277, 0.00264684,
  0.03183079, 0.00049897, 0.        ,-0.00160501, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014314153706693577
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68034257, -0.73246959,  0.02494576,  0.01697694,  0.0182777 ,
        0.99968881, -0.7326976 ,  0.68055436,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08654069, -0.03369439,  0.13074229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.41241859,  0.17646675, -0.37275807,  0.17646675,  2.85079684,
        1.15434843, -0.37275807,  1.15434843,  0.95889669,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008167253292275701
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97332417, -0.22827141, -0.02307015, -0.22820732,  0.97359754,
       -0.00540907,  0.02369577,  0.        , -0.99971922])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11574543, -0.08309417,  0.11496965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003234400822066108
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.29068275e-13, -2.57440965e-13,  1.00000000e+00, -1.10459751e-25,
        1.00000000e+00,  2.57440965e-13, -1.00000000e+00,  0.00000000e+00,
       -4.29068275e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03935799, -0.06479494,  0.06199291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.59419441e-02, 1.63268589e-01, 6.57105013e-02,-1.02096877e-02,
  2.23632419e-02, 4.22231111e-01, 2.17132946e-01, 1.41596290e-01,
 -2.81296325e-05,-1.69643544e-03,-3.58212160e-04,-1.15031154e-04,
 -2.23400766e-04,-2.12964356e-04,-1.96465651e-05, 1.38572786e-04,
 -4.25645895e-03, 1.37829775e-03,-9.80714736e+00,-6.78129035e-02,
 -1.21254106e-02,-3.93499001e-03]


--- Step 2628 ---
qpos:
[ 0.01361235, 0.27064053,-0.09493439, 0.8411764 ,-0.03238682, 0.0965104 ,
 -0.23522758, 0.61081715, 0.01521081, 1.28435341,-0.02332633, 0.95386332,
  1.01143734, 0.00348603, 1.22310631, 0.04564105, 0.08083236,-0.06836968,
  0.14531859, 0.95256873,-0.05311176, 0.0049071 , 0.29961288]

qacc:
[ 3.11806964e+01,-9.77987283e+00, 5.61247076e+01,-1.10980585e+02,
 -6.34851617e+00, 2.26969729e+01,-1.16142466e+02, 2.60165815e+02,
 -1.81709378e-01,-2.31539463e+01, 5.46131630e+01,-5.04753187e+01,
  1.30341920e-01,-1.58949775e+00,-6.47197112e+00, 2.21321175e+01,
 -5.76315221e-01, 4.93288092e-01, 2.63873390e-01,-9.93498510e+00,
 -5.52943874e-01,-4.65221065e+00]

qfrc_actuator:
[-2.24526854e-02, 2.00427509e-01, 7.40430282e-02, 3.95833470e-02,
  2.43098373e-02, 4.61692600e-01, 2.15183111e-01, 2.06200710e-01,
 -2.95290383e-03, 8.88950525e-02, 1.05491524e-02, 2.59025051e-03,
  3.17617788e-02, 4.22971335e-04, 0.00000000e+00,-1.50163304e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014558463833765868
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.80539859e-01, -7.32290180e-01,  2.48312989e-02,  1.69039009e-02,
        1.81893249e-02,  9.99691656e-01, -7.32516047e-01,  6.80749764e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0864671 , -0.03368596,  0.13079293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.42355641,  0.18045077, -0.38319388,  0.18045077,  2.83557657,
        1.13585031, -0.38319388,  1.13585031,  0.95844245,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008575626838729036
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97341753, -0.22782259, -0.02356222, -0.22775588,  0.97370266,
       -0.00551298,  0.02419858,  0.        , -0.99970717])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11563983, -0.08308908,  0.11499013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032405262212312214
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.71302892e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.71302892e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03935748, -0.06479544,  0.0619929 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67959228e-02, 1.63136000e-01, 6.54068531e-02,-1.08466479e-02,
  2.23810923e-02, 4.22523180e-01, 2.17317618e-01, 1.41923814e-01,
 -5.19232649e-05,-1.78716008e-03,-3.50808947e-04,-1.18431557e-04,
 -2.33182645e-04,-1.89252350e-04, 2.37933083e-06, 1.07728780e-04,
 -4.47740124e-03, 1.49094477e-03,-9.80699707e+00,-6.78853310e-02,
 -1.21998542e-02,-3.91476104e-03]


--- Step 2629 ---
qpos:
[ 0.01371655, 0.27119901,-0.0948215 , 0.84213839,-0.03234961, 0.09724621,
 -0.23527372, 0.61210462, 0.01521188, 1.28545131,-0.02332307, 0.95387941,
  1.01214002, 0.00352423, 1.22326491, 0.0456427 , 0.08071627,-0.06832213,
  0.1453776 , 0.95263777,-0.05372976, 0.0044064 , 0.29929079]

qacc:
[ 3.16606158e+01,-1.30223146e+01, 6.38492056e+01,-1.15826610e+02,
 -3.52775593e+00, 2.01623537e+01,-1.17865042e+02, 2.70732833e+02,
 -1.80839635e-01,-2.26383602e+01, 5.14052782e+01,-4.35189315e+01,
 -1.00207558e+00, 3.48434167e-01, 3.89322096e+00,-1.28718341e+01,
 -5.92675612e-01, 4.87665149e-01, 2.68007700e-01,-1.01263193e+01,
 -5.70627665e-01,-5.11612441e+00]

qfrc_actuator:
[-2.24302931e-02, 2.00769899e-01, 7.39557619e-02, 3.86099770e-02,
  2.42870311e-02, 4.62110596e-01, 2.15182865e-01, 2.07086826e-01,
 -2.97499266e-03, 8.81055472e-02, 1.05634166e-02, 2.55020206e-03,
  3.17004178e-02, 4.16077631e-04, 0.00000000e+00,-1.56620868e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014804296200696906
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.80747518e-01, -7.32100905e-01,  2.47200644e-02,  1.68332665e-02,
        1.81031136e-02,  9.99694413e-01, -7.32324694e-01,  6.80955609e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08639251, -0.03367661,  0.13084415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43198409,  0.18324473, -0.39119256,  0.18324473,  2.72142102,
        1.0724316 , -0.39119256,  1.0724316 ,  0.93433884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000896770642589
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73513129e-01, -2.27357378e-01, -2.40999948e-02, -2.27287743e-01,
        9.73811390e-01, -5.62666622e-03,  2.47481135e-02, -8.67361738e-19,
       -9.99693719e-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([ 0.11553396, -0.08308392,  0.11501031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003246375630166498
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28245675e-13, -8.54971167e-14,  1.00000000e+00, -1.09646355e-26,
        1.00000000e+00,  8.54971167e-14, -1.00000000e+00,  0.00000000e+00,
       -1.28245675e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03935696, -0.06479597,  0.06199289])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76386851e-02, 1.63066071e-01, 6.50682311e-02,-1.15949330e-02,
  2.24018238e-02, 4.22982744e-01, 2.17544054e-01, 1.42273148e-01,
 -5.17072856e-05,-1.85940094e-03,-3.79868161e-04,-1.04452138e-04,
 -2.24694974e-04,-1.15843516e-04, 7.42532654e-06,-5.94829674e-05,
 -4.71360820e-03, 1.60928145e-03,-9.80684054e+00,-6.79589260e-02,
 -1.22783384e-02,-3.89471592e-03]


--- Step 2630 ---
qpos:
[ 0.01383854, 0.27176116,-0.09470262, 0.84309601,-0.03231249, 0.09797061,
 -0.23532737, 0.61340345, 0.01521275, 1.28653253,-0.02331923, 0.95389576,
  1.0128408 , 0.00356316, 1.22342334, 0.04564525, 0.08059775,-0.06827265,
  0.14543769, 0.95270837,-0.05436712, 0.00389781, 0.29895784]

qacc:
[ 3.19864910e+01,-1.78841125e+01, 7.55214038e+01,-1.22634678e+02,
 -7.08582958e-01, 1.78387077e+01,-1.19670648e+02, 2.82980391e+02,
 -8.67026032e-02,-2.30321474e+01, 4.81831344e+01,-2.84658425e+01,
 -1.92621781e+00, 2.22818260e+00,-2.82702267e+00, 9.90331208e+00,
 -6.09914069e-01, 4.80220009e-01, 2.72198269e-01,-1.03321936e+01,
 -5.76050036e-01,-5.66129431e+00]

qfrc_actuator:
[-0.02246908, 0.2009258 , 0.07385508, 0.0375906 , 0.02425875, 0.46239066,
  0.21515169, 0.20802009,-0.00297067, 0.08716623, 0.01055256, 0.00255567,
  0.03163839, 0.00048578, 0.        ,-0.00151617, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015050104661082622
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.80968368e-01, -7.31899183e-01,  2.46103157e-02,  1.67639240e-02,
        1.80177272e-02,  9.99697120e-01, -7.32120927e-01,  6.81174682e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08631701, -0.03366632,  0.13089587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43761752,  0.18465822, -0.39674984,  0.18465822,  2.51885846,
        0.96866643, -0.39674984,  0.96866643,  0.88846136,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009335603490937798
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97361123, -0.2268728 , -0.02469607, -0.22679985,  0.9739244 ,
       -0.00575288,  0.02535728,  0.        , -0.99967845])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11542827, -0.0830787 ,  0.11502997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003251950079528887
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13376397e-13, -2.56051676e-13,  1.00000000e+00, -5.46353840e-26,
        1.00000000e+00,  2.56051676e-13, -1.00000000e+00,  0.00000000e+00,
       -2.13376397e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03935643, -0.06479652,  0.06199288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.85582515e-02, 1.62895213e-01, 6.46954442e-02,-1.23915510e-02,
  2.23978981e-02, 4.23571621e-01, 2.17817235e-01, 1.42656491e-01,
 -2.51892565e-05,-2.05425467e-03,-4.21948304e-04,-6.16142728e-05,
 -2.04041311e-04,-1.62842593e-05,-1.04182429e-05, 4.61215199e-05,
 -4.96547235e-03, 1.73374850e-03,-9.80667743e+00,-6.80337762e-02,
 -1.23609089e-02,-3.87484292e-03]


--- Step 2631 ---
qpos:
[ 0.01397853, 0.27232766,-0.09457786, 0.84404917,-0.03227579, 0.09868724,
 -0.23538768, 0.61471386, 0.01521352, 1.28759506,-0.02331429, 0.95391293,
  1.01354004, 0.0036023 , 1.22358176, 0.0456477 , 0.08047672,-0.0682213 ,
  0.14549889, 0.95278084,-0.05502419, 0.00338119, 0.29861276]

qacc:
[ 3.22606576e+01,-1.68137553e+01, 7.33438507e+01,-1.22301043e+02,
 -2.89880403e+00, 2.05524692e+01,-1.23160226e+02, 2.85677613e+02,
 -3.84260197e-02,-2.61106082e+01, 5.39340201e+01,-2.58412196e+01,
 -1.37620898e+00, 1.34069811e+00, 4.43156954e-01,-1.30088191e+00,
 -6.25671567e-01, 4.68220214e-01, 2.76162389e-01,-1.05199090e+01,
 -5.53339464e-01,-6.31532157e+00]

qfrc_actuator:
[-0.02260508, 0.20091656, 0.07374352, 0.03677607, 0.02424476, 0.46341196,
  0.21517671, 0.20895909,-0.00296829, 0.08610915, 0.01056192, 0.00258776,
  0.0315654 , 0.00049385, 0.        ,-0.00152322, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001529392905901776
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68120588, -0.73168183,  0.02449993,  0.01669451,  0.01793154,
        0.99969983, -0.73190152,  0.68141042,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624072, -0.03365509,  0.13094797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.4406901 ,  0.1852144 , -0.39987922,  0.1852144 ,  2.7686973 ,
        1.07827672, -0.39987922,  1.07827672,  0.94012184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009672346931072879
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97371215, -0.22636571, -0.02536167, -0.22628896,  0.97404238,
       -0.00589401,  0.02603754,  0.        , -0.99966097])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11532314, -0.08307339,  0.11504888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003257255302928641
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.7042309e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.7042309e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03935589, -0.06479709,  0.06199287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.95863612e-02, 1.62681246e-01, 6.42759781e-02,-1.29894713e-02,
  2.23889233e-02, 4.25135602e-01, 2.18207336e-01, 1.43024249e-01,
 -1.16535192e-05,-2.28652482e-03,-4.43275601e-04,-4.10118570e-05,
 -1.80835021e-04,-4.48759750e-05,-5.84926484e-06,-7.12326249e-06,
 -5.23504636e-03, 1.86483623e-03,-9.80650741e+00,-6.81097983e-02,
 -1.24482460e-02,-3.85513424e-03]


--- Step 2632 ---
qpos:
[ 0.01413676, 0.27290027,-0.09444774, 0.84499768,-0.03224045, 0.09940679,
 -0.23545197, 0.61603578, 0.01521395, 1.28863889,-0.02330937, 0.95393044,
  1.01423809, 0.00364078, 1.2237405 , 0.04564701, 0.08035314,-0.06816812,
  0.1455612 , 0.95285541,-0.05570122, 0.00285645, 0.29825456]

qacc:
[ 3.25797624e+01,-1.34892410e+01, 6.57050144e+01,-1.19146374e+02,
 -9.82131663e+00, 2.71834955e+01,-1.26399383e+02, 2.76789719e+02,
 -1.40488613e-01,-2.39227467e+01, 4.77326865e+01,-2.58765807e+01,
 -7.44969146e-01, 1.39452911e-01, 9.97116709e+00,-3.40994612e+01,
 -6.36353105e-01, 4.58093844e-01, 2.77590287e-01,-1.06406870e+01,
 -5.29329692e-01,-6.82192709e+00]

qfrc_actuator:
[-2.27357241e-02, 2.00877078e-01, 7.36054096e-02, 3.60685421e-02,
  2.42219179e-02, 4.64932173e-01, 2.15219835e-01, 2.09701489e-01,
 -3.00262138e-03, 8.51498593e-02, 1.05471491e-02, 2.59965826e-03,
  3.14965173e-02, 4.47394121e-04, 0.00000000e+00,-1.68813462e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015535831496643385
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.81461866e-01, -7.31447134e-01,  2.43888490e-02,  1.66250157e-02,
        1.78444616e-02,  9.99702548e-01, -7.31664769e-01,  6.81664629e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616358, -0.03364289,  0.1310005 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168311,  0.18535464, -0.4009085 ,  0.18535464,  4.00405243,
        1.64701348, -0.4009085 ,  1.64701348,  1.2031576 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009981651390653771
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73816278e-01, -2.25834187e-01, -2.60917046e-02, -2.25753170e-01,
        9.74165756e-01, -6.04866150e-03,  2.67836397e-02,  8.67361738e-19,
       -9.99641254e-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([ 0.1152182 , -0.08306797,  0.11506718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003262263147397193
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.50807380e-14, -2.55242214e-13,  1.00000000e+00, -2.17161959e-26,
        1.00000000e+00,  2.55242214e-13, -1.00000000e+00,  0.00000000e+00,
       -8.50807380e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03935534, -0.06479769,  0.06199287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06194761e-02, 1.62401783e-01, 6.38355764e-02,-1.34759219e-02,
  2.23862681e-02, 4.27016773e-01, 2.18573252e-01, 1.43183678e-01,
 -4.04669140e-05,-2.32052411e-03,-5.14538685e-04,-6.82391386e-05,
 -1.71644945e-04,-1.01966698e-04,-9.63044303e-06,-1.67381782e-04,
 -5.52420139e-03, 2.00274053e-03,-9.80633083e+00,-6.81868930e-02,
 -1.25411509e-02,-3.83559890e-03]


--- Step 2633 ---
qpos:
[ 0.01431062, 0.27347846,-0.09431167, 0.84594199,-0.03220707, 0.10012837,
 -0.23552092, 0.61736909, 0.01521432, 1.28966367,-0.02330475, 0.95394769,
  1.01479119, 0.00352463, 1.2237337 , 0.04557442, 0.08022731,-0.06811465,
  0.14562442, 0.95293143,-0.05638696, 0.0023215 , 0.29788723]

qacc:
[ 2.78451942e+01,-1.50154821e+01, 6.87351447e+01,-1.15897955e+02,
 -1.40090050e+01, 2.75631754e+01,-1.28766175e+02, 2.77936211e+02,
 -2.59767549e-02,-2.46847513e+01, 5.08551568e+01,-3.53186887e+01,
 -7.40776989e+00,-1.32225729e+02,-3.04674362e+01,-2.56335448e+02,
 -5.63366659e-01, 7.23890182e-02, 2.26896046e-01,-5.61574049e+00,
 -3.30922556e+00,-4.86363601e+00]

qfrc_actuator:
[-2.28705919e-02, 2.00922471e-01, 7.34672701e-02, 3.51963970e-02,
  2.41593931e-02, 4.66016294e-01, 2.15291566e-01, 2.10569892e-01,
 -2.98768912e-03, 8.41679705e-02, 1.05185745e-02, 2.58183368e-03,
  3.14354462e-02, 4.04522575e-04, 0.00000000e+00,-1.71392103e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015776567759762917
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.81737016e-01, -7.31194389e-01,  2.42777055e-02,  1.65558903e-02,
        1.77569559e-02,  9.99705253e-01, -7.31409969e-01,  6.81938015e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608542, -0.03362968,  0.13105352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.18480646, -0.40116493,  0.18480646,  3.74669187,
        1.52253191, -0.40116493,  1.52253191,  1.1430779 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001027667895569614
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73923926e-01, -2.25278426e-01, -2.68666511e-02, -2.25192758e-01,
        9.74294427e-01, -6.21216409e-03,  2.75754950e-02, -8.67361738e-19,
       -9.99619724e-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([ 0.11511245, -0.0830624 ,  0.11508526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.38344463,  0.08049984, -0.3748994 ,  0.08049984,  0.04414553,
       -0.07285561, -0.3748994 , -0.07285561,  0.36780079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.62361218758625e-06
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.52843402, -0.84599979, -0.07100599, -0.03761693, -0.06022306,
        0.99747589, -0.84814059,  0.52977122,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07389407, -0.02635511,  0.24847757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003266943572137332
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.24794230e-14, -1.69917692e-13,  1.00000000e+00, -7.21800553e-27,
        1.00000000e+00,  1.69917692e-13, -1.00000000e+00,  0.00000000e+00,
       -4.24794230e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03935478, -0.06479832,  0.06199286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.16686658e-02, 1.62119251e-01, 6.34204245e-02,-1.41177800e-02,
  2.23921066e-02, 4.27927064e-01, 2.18833872e-01, 1.43472386e-01,
 -8.09216676e-06,-2.37646724e-03,-5.43838840e-04,-1.01708862e-04,
 -1.73122540e-04,-1.12155663e-04,-2.92449385e-05,-3.76942743e-05,
 -5.83074376e-03, 2.14722788e-03,-9.80614857e+00,-6.82653114e-02,
 -1.26390112e-02,-3.81624689e-03]


--- Step 2634 ---
qpos:
[ 0.01449743, 0.2740654 ,-0.09416923, 0.84688249,-0.03217569, 0.10084846,
 -0.2355959 , 0.61871366, 0.01521503, 1.29066857,-0.02329957, 0.95396431,
  1.01507673, 0.00329686, 1.22358223, 0.04549511, 0.08009949,-0.06806234,
  0.14568836, 0.9530074 ,-0.05706937, 0.00177351, 0.29751778]

qacc:
[ 2.30025793e+01,-1.13729319e+01, 6.09904997e+01,-1.06593278e+02,
 -1.42159549e+01, 2.63253746e+01,-1.30334101e+02, 2.81135422e+02,
  1.45147340e-01,-2.86973735e+01, 6.34157820e+01,-5.00389987e+01,
 -1.30010335e+02, 6.95574605e+00,-1.86311988e+02, 3.57956502e+02,
 -4.98942629e-01,-2.88330014e-01, 1.80960471e-01,-3.53299343e-01,
 -6.65570129e+00,-1.36566830e+00]

qfrc_actuator:
[-0.02304819, 0.2011234 , 0.07330864, 0.03431566, 0.02409195, 0.46687399,
  0.21538274, 0.21147392,-0.00294333, 0.08314486, 0.01053526, 0.00254664,
  0.03139205, 0.00048254, 0.        ,-0.00158621, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016008134818038518
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68203273, -0.73092299,  0.02414403,  0.01647182,  0.01765257,
        0.99970849, -0.73113612,  0.68223161,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08600607, -0.03361579,  0.13110677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.18417187, -0.40145666,  0.18417187,  3.24950987,
        1.28811449, -0.40145666,  1.28811449,  1.03262041,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010557559154100492
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97403325, -0.22470555, -0.02768834, -0.22461482,  0.97442671,
       -0.00638501,  0.02841501,  0.        , -0.99959621])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11500606, -0.08305677,  0.11510309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.99718893,  0.40302524, -0.91211645,  0.40302524,  0.18152677,
       -0.36040621, -0.91211645, -0.36040621,  0.83794085,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6643234917467958e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.54020793, -0.83863908, -0.06971294, -0.03775133, -0.05860658,
        0.99756709, -0.84068438,  0.54152541,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07662667, -0.03077801,  0.280587  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.38457558,  0.01728383, -0.38418699,  0.01728383,  0.0214447 ,
       -0.01633656, -0.38418699, -0.01633656,  0.38384063,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.216951301897664e-05
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.27944625e-01, -8.46299624e-01, -7.10733352e-02, -3.76179176e-02,
       -6.03018346e-02,  9.97471093e-01, -8.48445263e-01,  5.29283133e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07365638, -0.02624851,  0.24858492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003271107526438971
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.48506978e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.48506978e-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([ 0.03935421, -0.06479898,  0.06199286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.26301477e-02, 1.62019190e-01, 6.29558878e-02,-1.47903733e-02,
  2.24228090e-02, 4.28655734e-01, 2.19148368e-01, 1.43803095e-01,
  4.02648985e-05,-2.45514830e-03,-5.13770244e-04,-1.22393120e-04,
  7.02252933e-03, 7.69214191e-03, 8.26012488e-03, 3.68880516e-03,
 -6.04101591e-03, 2.20073687e-03,-9.80604966e+00,-6.83413733e-02,
 -1.27166030e-02,-3.79570388e-03]


--- Step 2635 ---
qpos:
[ 1.46954040e-02, 2.74667614e-01,-9.40219953e-02, 8.47818952e-01,
 -3.21471257e-02, 1.01571414e-01,-2.35675954e-01, 6.20069262e-01,
  1.52163020e-02, 1.29165391e+00,-2.32946030e-02, 9.53980419e-01,
  1.01512930e+00, 2.97454165e-03, 1.22332487e+00, 4.54144081e-02,
  7.99698497e-02,-6.80117814e-02, 1.45752889e-01, 9.53083062e-01,
 -5.77438602e-02, 1.21202533e-03, 2.97147866e-01]

qacc:
[ 1.97492344e+01, 8.65786762e-01, 3.19332016e+01,-8.89701744e+01,
 -1.98847734e+01, 2.90907637e+01,-1.31084156e+02, 2.73769210e+02,
  2.43168327e-01,-2.60148981e+01, 5.48851719e+01,-4.13540548e+01,
 -1.15862575e+02, 1.09715415e+01,-1.45769892e+02, 2.97849295e+02,
 -4.53710104e-01,-4.39938707e-01, 1.47499629e-01, 1.75378401e+00,
 -7.59041695e+00,-5.50636573e-01]

qfrc_actuator:
[-0.02329049, 0.20169628, 0.07311716, 0.03351982, 0.02404014, 0.46791809,
  0.21543554, 0.21214634,-0.00289945, 0.08217646, 0.01052512, 0.00251926,
  0.03137017, 0.00070518, 0.        ,-0.00143831, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.34770699,  0.27237213, -0.34770699,  2.0476448 ,
        2.0501474 ,  0.27237213,  2.0501474 ,  3.05887977,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016224806628562427
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68234354, -0.73063871,  0.02396584,  0.01635764,  0.0175154 ,
        0.99971278, -0.73084863,  0.68253958,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08592508, -0.03360155,  0.13116017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.18412734, -0.40147709,  0.18412734,  3.76459216,
        1.52396696, -0.40147709,  1.52396696,  1.14061523,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001082265205981926
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97414096, -0.22412851, -0.02856225, -0.22403224,  0.9745596 ,
       -0.00656873,  0.02930786,  0.        , -0.99957043])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11489953, -0.08305123,  0.11512054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.9974804 ,  0.26670891, -0.96116258,  0.26670891,  0.09835827,
       -0.24949357, -0.96116258, -0.24949357,  0.9282495 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3236302423754312e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.54067773, -0.83833662, -0.06970879, -0.0377819 , -0.05858194,
        0.99756738, -0.84038094,  0.5419962 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([38, 43], dtype=int32)
  geom1: 38
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07662109, -0.03078897,  0.28058963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.38493213, -0.00084849, -0.38493119, -0.00084849,  0.01830699,
        0.00080814, -0.38493119,  0.00080814,  0.38493034,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.961003957819366e-05
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.27654878e-01, -8.46474940e-01, -7.11372295e-02, -3.76312435e-02,
       -6.03688242e-02,  9.97466538e-01, -8.48624899e-01,  5.28995067e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07340922, -0.02610963,  0.24868907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032746475112936657
  efc_address: 13
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27138458e-13, -1.69517944e-13,  1.00000000e+00, -2.15522499e-26,
        1.00000000e+00,  1.69517944e-13, -1.00000000e+00,  0.00000000e+00,
       -1.27138458e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03935361, -0.06479965,  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:
[-3.35224701e-02, 1.62130781e-01, 6.24368538e-02,-1.53979705e-02,
  2.24710894e-02, 4.29746742e-01, 2.19492242e-01, 1.43908054e-01,
  6.80927923e-05,-2.43848518e-03,-5.53115210e-04,-1.16538556e-04,
  2.03756074e-02, 1.34964828e-02, 1.55062322e-02, 4.17629468e-03,
 -6.12722281e-03, 2.15283715e-03,-9.80603704e+00,-6.84150608e-02,
 -1.27644373e-02,-3.77271040e-03]


--- Step 2636 ---
qpos:
[ 1.49053155e-02, 2.75286346e-01,-9.38715946e-02, 8.48750834e-01,
 -3.21219050e-02, 1.02298954e-01,-2.35760280e-01, 6.21436336e-01,
  1.52179753e-02, 1.29261936e+00,-2.32897590e-02, 9.53997509e-01,
  1.01516531e+00, 2.53095555e-03, 1.22302763e+00, 4.52507725e-02,
  7.98380589e-02,-6.79618760e-02, 1.45818187e-01, 9.53160239e-01,
 -5.84210859e-02, 6.39100600e-04, 2.96769485e-01]

qacc:
[ 2.10287083e+01, 5.93153793e+00, 1.86036404e+01,-8.47196825e+01,
 -2.35528436e+01, 2.98439002e+01,-1.32056747e+02, 2.79115026e+02,
  1.72945303e-01,-2.40909316e+01, 4.51317354e+01,-1.55609295e+01,
  6.39087698e+01,-1.59185574e+02, 1.84191526e+02,-7.47835984e+02,
 -5.37914442e-01,-1.62727346e-01, 1.91855528e-01,-2.95268368e+00,
 -4.80310572e+00,-4.59384636e+00]

qfrc_actuator:
[-0.02359278, 0.20248231, 0.07295825, 0.03272341, 0.02401706, 0.46903477,
  0.21552004, 0.21281756,-0.00289172, 0.08117752, 0.01051718, 0.0025677 ,
  0.03136774, 0.00102442, 0.        ,-0.00136972, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.33076757,  0.29271069, -0.33076757,  2.22877609,
        2.01943894,  0.29271069,  2.01943894,  2.72368322,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001642838784256066
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.82665000e-01, -7.30345751e-01,  2.37398640e-02,  1.62109430e-02,
        1.73431967e-02,  9.99718170e-01, -7.30551643e-01,  6.82857450e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08584194, -0.03358706,  0.13121393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.20988152, -0.38863412,  0.20988152,  3.74479519,
        1.78384117, -0.38863412,  1.78384117,  1.40504814,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011078588584210744
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97424631, -0.22355126, -0.02947831, -0.22344899,  0.97469217,
       -0.00676102,  0.03024372,  0.        , -0.99954255])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11479251, -0.0830458 ,  0.11513779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.38390448,  0.06428402, -0.3784841 ,  0.06428402,  0.04818174,
       -0.05702117, -0.3784841 , -0.05702117,  0.37421966,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.394804811507558e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.52754226, -0.8465392 , -0.07120783, -0.03766074, -0.06043363,
        0.9974615 , -0.84869361,  0.52888483,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07315333, -0.02594291,  0.24878998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032777091127528246
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.54039404e-13, -2.54039404e-13,  1.00000000e+00, -6.45360186e-26,
        1.00000000e+00,  2.54039404e-13, -1.00000000e+00,  0.00000000e+00,
       -2.54039404e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03935299, -0.06480034,  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:
[-3.43856588e-02, 1.62129991e-01, 6.20294219e-02,-1.59941668e-02,
  2.25885581e-02, 4.30692838e-01, 2.19820593e-01, 1.44024270e-01,
  4.82297825e-05,-2.46711924e-03,-5.51924540e-04,-4.12637044e-05,
  3.20223680e-02, 1.85503164e-02, 2.08066304e-02, 4.31600510e-03,
 -6.16770746e-03, 2.06676521e-03,-9.80605877e+00,-6.84872335e-02,
 -1.28045672e-02,-3.74759593e-03]


--- Step 2637 ---
qpos:
[ 1.51262642e-02, 2.75923645e-01,-9.37189762e-02, 8.49677929e-01,
 -3.21000732e-02, 1.03030492e-01,-2.35849145e-01, 6.22814755e-01,
  1.52196264e-02, 1.29356464e+00,-2.32837753e-02, 9.54015037e-01,
  1.01508856e+00, 2.19409354e-03, 1.22270721e+00, 4.51852580e-02,
  7.97043741e-02,-6.79128252e-02, 1.45884046e-01, 9.53238223e-01,
 -5.90981134e-02, 5.51924718e-05, 2.96385391e-01]

qacc:
[ 1.93726151e+01, 1.07762048e+01, 6.51942939e+00,-7.82372433e+01,
 -2.37648031e+01, 2.95833988e+01,-1.31718040e+02, 2.77405162e+02,
 -7.36094338e-03,-2.88380001e+01, 6.12230335e+01,-3.55907313e+01,
 -1.52084503e+02, 2.18287011e+02,-3.17133178e+02, 1.09192948e+03,
 -4.73520612e-01,-2.13672747e-01, 1.40248397e-01,-1.50990853e+00,
 -5.09729286e+00,-3.16270301e+00]

qfrc_actuator:
[-0.02390078, 0.20356641, 0.0728186 , 0.03189332, 0.02401289, 0.46999684,
  0.21562479, 0.21328792,-0.0029235 , 0.08018615, 0.01058156, 0.00258934,
  0.0313712 , 0.00143065, 0.        ,-0.00114234, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.32524886, -0.2988309 ,  0.32524886,  1.01717673,
        0.62636637, -0.2988309 ,  0.62636637,  1.12342613,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016625905128244969
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68300265, -0.7300382 ,  0.02348634,  0.01604566,  0.01715066,
        0.99972416, -0.73023963,  0.6831911 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08575675, -0.03357202,  0.13126827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011323380203293793
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9743527 , -0.22295817, -0.0304381 , -0.22284946,  0.97482801,
       -0.00696166,  0.03122407,  0.        , -0.99951241])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11468463, -0.08304033,  0.11515488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.38341297, -0.10460877, -0.36886652, -0.10460877,  0.10453188,
        0.07908933, -0.36886652,  0.07908933,  0.36098362,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3338999066905313e-07
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.28263468e-01, -8.46090509e-01, -7.11938139e-02, -3.77047668e-02,
       -6.03896489e-02,  9.97462501e-01, -8.48242925e-01,  5.29607346e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0739547 , -0.02828038,  0.27085272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003280513505515281
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.46074115e-14, -1.69214823e-13,  1.00000000e+00, -1.43168282e-26,
        1.00000000e+00,  1.69214823e-13, -1.00000000e+00,  0.00000000e+00,
       -8.46074115e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03935238, -0.06480104,  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:
[-3.52930003e-02, 1.62363911e-01, 6.17219430e-02,-1.65976024e-02,
  2.27516563e-02, 4.31397672e-01, 2.20128984e-01, 1.43916822e-01,
 -2.92561734e-06,-2.47271203e-03,-4.82804562e-04,-6.71497745e-05,
  3.28529947e-02, 2.50275486e-02, 2.28080571e-02, 8.69224162e-03,
 -6.33761107e-03, 2.06670863e-03,-9.80600584e+00,-6.85587336e-02,
 -1.28796140e-02,-3.72161262e-03]


--- Step 2638 ---
qpos:
[ 1.53512177e-02, 2.76582781e-01,-9.35656203e-02, 8.50600310e-01,
 -3.20892858e-02, 1.03783166e-01,-2.35934794e-01, 6.24206974e-01,
  1.52212538e-02, 1.29449056e+00,-2.32778413e-02, 9.54030633e-01,
  1.01528435e+00, 1.96601564e-03, 1.22265331e+00, 4.51381488e-02,
  7.95654057e-02,-6.78662009e-02, 1.45951557e-01, 9.53332261e-01,
 -5.97844954e-02,-5.33510886e-04, 2.95944472e-01]

qacc:
[ 6.96502494e+00, 1.90450446e+01,-1.54947400e+01,-6.05831442e+01,
 -7.68989505e+01, 3.51690421e+01,-1.28471968e+02, 2.91050039e+02,
 -8.21643494e-03,-2.86343340e+01, 6.66288709e+01,-6.80960066e+01,
  1.29349686e+02,-6.46506803e+00, 3.31412040e+02,-6.03205546e+02,
 -1.32085854e+00,-6.06590046e-01, 4.12834243e-01,-4.69324979e+00,
  7.79502569e-01,-2.96055547e+01]

qfrc_actuator:
[-0.02419834, 0.20489169, 0.07265468, 0.03111606, 0.02400368, 0.47095367,
  0.21570816, 0.21352679,-0.00292546, 0.07924307, 0.0105816 , 0.00248854,
  0.03138746, 0.00178061, 0.        ,-0.00091431, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.32196457,  0.30236658, -0.32196457,  2.48307188,
        2.17369872,  0.30236658,  2.17369872,  2.75627394,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016818238007892414
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.83351401e-01, -7.29720782e-01,  2.32043830e-02,  1.58610183e-02,
        1.69372810e-02,  9.99730742e-01, -7.29917318e-01,  6.83535448e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08566941, -0.03355652,  0.13132325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.18823131, -0.3995694 ,  0.18823131,  3.13782945,
        1.27011371, -0.3995694 ,  1.27011371,  1.04001826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011558848996321958
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74458850e-01, -2.22354800e-01, -3.14371275e-02, -2.22239179e-01,
        9.74965816e-01, -7.16968338e-03,  3.22443382e-02,  8.67361738e-19,
       -9.99480016e-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([ 0.11457606, -0.08303487,  0.11517184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 9.28355213,  3.38968286,  8.64259164,  3.38968286, 29.38146563,
       -7.88253753,  8.64259164, -7.88253753, 12.37513664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032877210259733115
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.44219306e-14,  1.02161089e-06,  1.00000000e+00,  8.62463634e-20,
        1.00000000e+00, -1.02161089e-06, -1.00000000e+00, -1.20370622e-35,
       -8.44219306e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04323042, -0.05323611,  0.06199284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.61450756e-02, 1.62735908e-01, 6.14376160e-02,-1.71377145e-02,
  2.29119255e-02, 4.32126744e-01, 2.20429341e-01, 1.43584330e-01,
 -3.09907765e-06,-2.41457660e-03,-5.41093306e-04,-1.88366002e-04,
  3.85108275e-02, 2.00510698e-02, 2.39699195e-02, 4.01487706e-03,
 -6.46173333e-03, 2.04524157e-03,-9.80597674e+00,-6.86319192e-02,
 -1.29448667e-02,-3.69443244e-03]


--- Step 2639 ---
qpos:
[ 1.55689428e-02, 2.77266425e-01,-9.34070303e-02, 8.51519010e-01,
 -3.20943984e-02, 1.04557505e-01,-2.36015055e-01, 6.25615084e-01,
  1.52225641e-02, 1.29539842e+00,-2.32739664e-02, 9.54044226e-01,
  1.01564834e+00, 1.83532964e-03, 1.22271346e+00, 4.51227629e-02,
  7.94178103e-02,-6.78258295e-02, 1.46020236e-01, 9.53452922e-01,
 -6.04607861e-02,-1.12049764e-03, 2.95416254e-01]

qacc:
[-1.26674686e+01, 1.23089260e+01, 8.49458850e+00,-7.07955627e+01,
 -1.10127540e+02, 3.32423983e+01,-1.27956526e+02, 3.18949015e+02,
 -1.33803579e-01,-2.16095305e+01, 4.59361474e+01,-5.17769292e+01,
  6.42246179e+01, 3.40595756e+01, 7.01623620e+01,-6.34565082e+00,
 -2.15679307e+00,-1.56326067e+00, 2.92341511e-01, 5.83678442e+00,
  1.94162548e+00,-4.55027622e+01]

qfrc_actuator:
[-0.02443375, 0.20580067, 0.07249454, 0.0304256 , 0.02398272, 0.47183536,
  0.21577275, 0.2138328 ,-0.00296278, 0.07838949, 0.01049052, 0.00238747,
  0.03137012, 0.00205205, 0.        ,-0.00096497, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.28485653, -0.33755516,  0.28485653,  2.33444639,
        1.59726517, -0.33755516,  1.59726517,  1.78958867,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016994019458686004
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68380077, -0.72930942,  0.022897  ,  0.01566109,  0.01670337,
        0.99973783, -0.72950068,  0.68398009,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08557837, -0.0335402 ,  0.13137898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.19267444, -0.39744596,  0.19267444,  1.32177808,
        0.42665223, -0.39744596,  0.42665223,  0.64851934,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011749089541949992
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74587945e-01, -2.21631279e-01, -3.25255922e-02, -2.21507956e-01,
        9.75130543e-01, -7.39253699e-03,  3.33551158e-02, -8.67361738e-19,
       -9.99443563e-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([ 0.1144628 , -0.0830286 ,  0.11518839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 9.35940422,  3.12255206,  8.82315794,  3.12255206, 21.12912872,
       -4.16535414,  8.82315794, -4.16535414, 10.83354027,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003386436403192694
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20380237e-13, -1.45993053e-13,  1.00000000e+00, -1.75746784e-26,
        1.00000000e+00,  1.45993053e-13, -1.00000000e+00,  0.00000000e+00,
       -1.20380237e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04746861, -0.04066356,  0.06199263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.65832741e-02, 1.62527457e-01, 6.12308294e-02,-1.75945638e-02,
  2.34432640e-02, 4.31923113e-01, 2.20322920e-01, 1.43196227e-01,
 -3.85714353e-05,-2.30775056e-03,-6.31013077e-04,-1.91463577e-04,
  2.48664801e-02, 1.48877259e-02, 1.06470313e-02, 3.04518603e-03,
 -6.99584754e-03, 2.08799030e-03,-9.80596703e+00,-6.86681603e-02,
 -1.31644784e-02,-3.66857441e-03]


--- Step 2640 ---
qpos:
[ 0.01577587, 0.27796941,-0.09324265, 0.85243439,-0.03211587, 0.10533403,
 -0.23609512, 0.62704062, 0.01522365, 1.29628868,-0.02327193, 0.95405682,
  1.01612231, 0.00177369, 1.22282594, 0.04511894, 0.07926176,-0.06779172,
  0.14609005, 0.95359997,-0.06112923,-0.00170864, 0.29480059]

qacc:
[-1.88200119e+01, 4.70957685e+00, 2.41510251e+01,-7.61149114e+01,
 -1.12648522e+02, 2.36004135e+01,-1.34813799e+02, 3.66001424e+02,
 -9.31437793e-02,-1.98887466e+01, 3.90041884e+01,-3.44405478e+01,
  3.91271114e+01, 2.91454256e+01, 4.10663975e+01,-3.43410396e+01,
 -2.11434116e+00,-1.56448193e+00, 2.83020961e-01, 4.31979175e+00,
  9.49357101e-01,-4.56259432e+01]

qfrc_actuator:
[-0.0246045 , 0.20639519, 0.07234964, 0.0296638 , 0.02398173, 0.47282276,
  0.21584038, 0.21505912,-0.00296775, 0.07756053, 0.01041781, 0.00234035,
  0.03132155, 0.00220875, 0.        ,-0.00116802, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.26723978,  0.35166693, -0.26723978,  2.42406601,
        1.50645592,  0.35166693,  1.50645592,  1.58647669,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017124628527947128
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68442594, -0.72873438,  0.02252424,  0.01542009,  0.01641835,
        0.9997463 , -0.72891931,  0.68459962,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08548154, -0.03352357,  0.1314353 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.19620247, -0.39571622,  0.19620247,  0.93838533,
        0.2462714 , -0.39571622,  0.2462714 ,  0.56379156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011836615006216883
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97475381, -0.22071261, -0.03377802, -0.22058021,  0.97533889,
       -0.00764374,  0.03463208,  0.        , -0.99940013])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11434255, -0.08302116,  0.11520368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 9.41864929, -2.935498  , -8.94951428, -2.935498  , 39.67460785,
       -9.92414819, -8.94951428, -9.92414819, 12.67383345,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003460609114444846
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62914999e-13, -1.02761768e-13,  1.00000000e+00,  1.67414334e-26,
        1.00000000e+00,  1.02761768e-13, -1.00000000e+00,  0.00000000e+00,
        1.62914999e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04748348, -0.04067048,  0.06199247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.63948920e-02, 1.61869973e-01, 6.08141332e-02,-1.81745919e-02,
  2.42374027e-02, 4.31797965e-01, 2.20110733e-01, 1.43623686e-01,
 -2.70310683e-05,-2.24153489e-03,-6.02064142e-04,-1.37090455e-04,
  1.64120854e-02, 1.01806973e-02, 4.93854569e-03, 1.25464182e-03,
 -7.59196076e-03, 2.03231073e-03,-9.80621253e+00,-6.86758500e-02,
 -1.34400273e-02,-3.64412250e-03]


--- Step 2641 ---
qpos:
[ 0.01596851, 0.27868792,-0.09307169, 0.85334682,-0.03215346, 0.10609176,
 -0.23618076, 0.62848553, 0.01522488, 1.29716087,-0.02327048, 0.95406841,
  1.01666932, 0.00175806, 1.22296236, 0.04511999, 0.07909733,-0.06776383,
  0.14616096, 0.95377318,-0.0617918 ,-0.00230041, 0.29409728]

qacc:
[-2.47892889e+01,-1.74162442e+00, 3.82675301e+01,-8.11513734e+01,
 -1.10430030e+02, 1.39963307e+01,-1.45864473e+02, 4.24282675e+02,
  6.19617115e-02,-2.38682591e+01, 5.12719262e+01,-4.49193926e+01,
  2.63308115e+01, 1.90316766e+01, 1.97581782e+01,-1.98110276e+01,
 -2.09345709e+00,-1.55724334e+00, 2.75655044e-01, 2.98721733e+00,
  1.02364225e-01,-4.57591910e+01]

qfrc_actuator:
[-0.02478323, 0.20681416, 0.07217571, 0.0287893 , 0.02401728, 0.4739909 ,
  0.21593062, 0.21684748,-0.00293554, 0.07666436, 0.01039222, 0.00228988,
  0.03128006, 0.00225049, 0.        ,-0.00127751, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.27703294,  0.34400506, -0.27703294,  2.33748414,
        1.52671728,  0.34400506,  1.52671728,  1.67117682,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001720911066940806
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.85227565e-01, -7.27994204e-01,  2.20822101e-02,  1.51350296e-02,
        1.60796419e-02,  9.99756158e-01, -7.28171762e-01,  6.85394693e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08537939, -0.03350681,  0.13149194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.19921665, -0.39420738,  0.19921665,  0.7072487 ,
        0.13420466, -0.39420738,  0.13420466,  0.50950791,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011800231550760515
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74954672e-01, -2.19595375e-01, -3.52315099e-02, -2.19452136e-01,
        9.75591037e-01, -7.93024570e-03,  3.61129905e-02,  8.67361738e-19,
       -9.99347713e-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([ 0.11421721, -0.0830126 ,  0.11521693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  9.46575325,  -2.84617842,  -9.02772137,  -2.84617842,
        47.2172631 , -11.90195489,  -9.02772137, -11.90195489,
        13.21809404,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00035178777222936997
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.21902416e-14, -1.60262856e-13,  1.00000000e+00,  3.55627148e-27,
        1.00000000e+00,  1.60262856e-13, -1.00000000e+00,  0.00000000e+00,
        2.21902416e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04749507, -0.04067607,  0.06199235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.60359516e-02, 1.61294770e-01, 6.03403708e-02,-1.88855192e-02,
  2.50908437e-02, 4.32827251e-01, 2.20180521e-01, 1.44536634e-01,
  1.69110016e-05,-2.26468099e-03,-5.37085874e-04,-1.36390433e-04,
  1.08743433e-02, 6.77417436e-03, 2.31433356e-03, 5.64903780e-04,
 -8.30330965e-03, 2.07291512e-03,-9.80643887e+00,-6.86806708e-02,
 -1.37176775e-02,-3.61741217e-03]


--- Step 2642 ---
qpos:
[ 0.01614366, 0.27942088,-0.09289373, 0.85425651,-0.03220836, 0.10682898,
 -0.23627206, 0.62995126, 0.0152265 , 1.29801467,-0.02326872, 0.95407897,
  1.01726472, 0.00177282, 1.22310953, 0.04512593, 0.07892465,-0.0677421 ,
  0.14623293, 0.95397192,-0.06244988,-0.00289799, 0.29330733]

qacc:
[-3.02544659e+01,-3.92734524e+00, 4.31550495e+01,-8.19674037e+01,
 -1.18022663e+02, 1.38398974e+01,-1.53134011e+02, 4.52580590e+02,
  1.67913006e-01,-2.68181427e+01, 6.04343466e+01,-5.29802468e+01,
  1.79355009e+01, 1.19449943e+01, 4.57184477e-01, 1.99947550e+01,
 -2.06376898e+00,-1.53723927e+00, 2.62040627e-01, 1.97981673e+00,
 -7.19274760e-01,-4.52579500e+01]

qfrc_actuator:
[-0.02499447, 0.20705286, 0.07198128, 0.02799017, 0.02404558, 0.47505682,
  0.21602237, 0.21823629,-0.00289903, 0.07575311, 0.01041215, 0.00223781,
  0.03124218, 0.00225418, 0.        ,-0.00118677, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.28487885,  0.33753633, -0.28487885,  2.2662885 ,
        1.53995448,  0.33753633,  1.53995448,  1.74139952,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017247243880504758
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.86205463e-01, -7.27087943e-01,  2.15681851e-02,  1.48036501e-02,
        1.56856161e-02,  9.99767380e-01, -7.27257117e-01,  6.86365125e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08527225, -0.03349005,  0.13154871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.202979  , -0.39228339,  0.202979  ,  0.62944969,
        0.09715435, -0.39228339,  0.09715435,  0.49195676,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00116158474021936
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75188295e-01, -2.18275671e-01, -3.69258900e-02, -2.18119358e-01,
        9.75887151e-01, -8.25917565e-03,  3.78382787e-02, -1.73472348e-18,
       -9.99283876e-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([ 0.11408876, -0.08300295,  0.11522731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  9.502027  ,  -2.72312757,  -9.10346601,  -2.72312757,
        56.28356592, -13.99380173,  -9.10346601, -13.99380173,
        13.68800487,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003561005399092959
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19214934e-14, -8.03788092e-14,  1.00000000e+00,  1.76202354e-27,
        1.00000000e+00,  8.03788092e-14, -1.00000000e+00,  0.00000000e+00,
        2.19214934e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04750405, -0.04068063,  0.06199226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.55350345e-02, 1.60729041e-01, 5.98063940e-02,-1.95390951e-02,
  2.59254826e-02, 4.34803808e-01, 2.20540386e-01, 1.44952424e-01,
  4.69493010e-05,-2.27965930e-03,-4.88643157e-04,-1.36782391e-04,
  7.18667950e-03, 4.47956029e-03, 1.10961845e-03, 4.10219634e-04,
 -9.12641998e-03, 2.20417844e-03,-9.80665340e+00,-6.86819033e-02,
 -1.39995584e-02,-3.58838062e-03]


--- Step 2643 ---
qpos:
[ 0.01629833, 0.28016692,-0.092708  , 0.85516371,-0.0322822 , 0.10755104,
 -0.23636686, 0.63143897, 0.01522809, 1.29885026,-0.0232672 , 0.95409093,
  1.01789175, 0.00180801, 1.22326163, 0.04513708, 0.07874386,-0.06772638,
  0.14630587, 0.95419524,-0.06310437,-0.00350336, 0.2924329 ]

qacc:
[-3.52638625e+01,-7.30317266e+00, 5.14057135e+01,-8.49379923e+01,
 -1.28654554e+02, 1.66409314e+01,-1.56909636e+02, 4.66430875e+02,
 -1.23774311e-02,-2.08431027e+01, 3.63160861e+01,-4.04388344e+00,
  1.16345769e+01, 8.27148257e+00,-8.88989527e+00, 4.07229556e+01,
 -2.02771991e+00,-1.50443851e+00, 2.44791591e-01, 1.21186089e+00,
 -1.57324318e+00,-4.41511229e+01]

qfrc_actuator:
[-0.02519852, 0.20728479, 0.07184249, 0.02718397, 0.0240949 , 0.47591087,
  0.21615284, 0.21930517,-0.00293126, 0.07485813, 0.01040545, 0.00230949,
  0.03119008, 0.00226777, 0.        ,-0.00099561, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.28898415,  0.33402828, -0.28898415,  2.67506146,
        1.93220179,  0.33402828,  1.93220179,  2.1133282 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001724074080049668
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.87355497e-01, -7.26018042e-01,  2.09814940e-02,  1.44249207e-02,
        1.52362972e-02,  9.99779864e-01, -7.26177900e-01,  6.87506842e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08516032, -0.03347344,  0.13160555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.20759831, -0.38985853,  0.20759831,  0.59063705,
        0.07931579, -0.38985853,  0.07931579,  0.48392162,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011285629118513297
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97545197, -0.21675644, -0.03886012, -0.21658464,  0.97622572,
       -0.00862831,  0.03980649,  0.        , -0.99920741])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11395746, -0.08299222,  0.1152348 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  9.52883838,  -2.56731645,  -9.17647248,  -2.56731645,
        67.07863101, -16.10079792,  -9.17647248, -16.10079792,
        14.03338448,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00035923602241329233
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.89929435e-14, -4.10458546e-14,  1.00000000e+00,  4.06324996e-27,
        1.00000000e+00,  4.10458546e-14, -1.00000000e+00,  0.00000000e+00,
        9.89929435e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04751097, -0.0406844 ,  0.0619922 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.48660657e-02, 1.60210441e-01, 5.93067570e-02,-2.02103917e-02,
  2.68404207e-02, 4.36655305e-01, 2.20943613e-01, 1.44976051e-01,
 -4.18886160e-06,-2.26205396e-03,-5.12664576e-04,-1.21038030e-05,
  4.71700169e-03, 2.97508654e-03, 5.64746049e-04, 3.55032840e-04,
 -1.00408935e-02, 2.41486643e-03,-9.80686329e+00,-6.86797194e-02,
 -1.42831187e-02,-3.55694163e-03]


--- Step 2644 ---
qpos:
[ 0.01642736, 0.28092702,-0.0925142 , 0.85606862,-0.03237807, 0.10827313,
 -0.23646056, 0.63294884, 0.01522935, 1.29966823,-0.02326581, 0.95410466,
  1.01841891, 0.00174524, 1.22328074, 0.04509204, 0.07855541,-0.06771771,
  0.14637925, 0.95444192,-0.06374806,-0.00411965, 0.29147869]

qacc:
[-4.39979691e+01,-6.50424015e+00, 4.98937018e+01,-8.19920193e+01,
 -1.49024543e+02, 2.45180272e+01,-1.57251644e+02, 4.53757411e+02,
 -1.37320048e-01,-1.97291225e+01, 3.29027052e+01, 2.71908014e+00,
 -1.02426562e+01,-7.94620475e+01,-2.82103058e+01,-1.90508828e+02,
 -1.91392808e+00,-1.76190526e+00, 1.10358793e-01, 4.15934212e+00,
 -4.22812107e+00,-4.18396211e+01]

qfrc_actuator:
[-0.02529952, 0.2076325 , 0.07171576, 0.02635661, 0.0242009 , 0.47687142,
  0.21628889, 0.2198353 ,-0.00296897, 0.07403333, 0.01041873, 0.00240012,
  0.03113454, 0.00221408, 0.        ,-0.00106603, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.2926012 ,  0.33086443, -0.2926012 ,  2.20961726,
        1.56347646,  0.33086443,  1.56347646,  1.82435253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001719127633651317
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68867163, -0.72478854,  0.02032143,  0.01399768,  0.01473178,
        0.9997935 , -0.72493824,  0.68881387,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08504378, -0.03345711,  0.13166243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.21389057, -0.38644218,  0.21389057,  0.58115485,
        0.07719401, -0.38644218,  0.07719401,  0.48441209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010821953856741738
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97574247, -0.21504475, -0.041017  , -0.214855  ,  0.9766042 ,
       -0.0090318 ,  0.04199962,  0.        , -0.99911763])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11382294, -0.08298045,  0.11523967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.38342543,  0.03923426, -0.38141282,  0.03923426,  0.02400103,
       -0.03697241, -0.38141282, -0.03697241,  0.37962224,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.413856916529546e-06
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.5252587 , -0.84782861, -0.07273209, -0.03830461, -0.06182809,
        0.99735151, -0.85008003,  0.52665353,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([40, 43], dtype=int32)
  geom1: 40
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0710266 , -0.02488798,  0.24962625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  9.54754929,   2.36416889,   9.25021096,   2.36416889,
        65.06074764, -14.18806305,   9.25021096, -14.18806305,
        13.1737344 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003613986435667127
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.00003454e-14, -1.17600677e-13,  1.00000000e+00,  7.05608124e-27,
        1.00000000e+00,  1.17600677e-13, -1.00000000e+00,  0.00000000e+00,
        6.00003454e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04751624, -0.04068756,  0.06199216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.39451249e-02, 1.59874824e-01, 5.87804626e-02,-2.09158574e-02,
  2.78938089e-02, 4.38345908e-01, 2.21244446e-01, 1.44403315e-01,
 -3.96713660e-05,-2.18293286e-03,-4.88294870e-04, 9.55409564e-06,
  3.08081369e-03, 1.90084222e-03, 3.12189324e-04, 2.25275354e-05,
 -1.10243876e-02, 2.69109920e-03,-9.80707317e+00,-6.86739638e-02,
 -1.45656802e-02,-3.52294724e-03]


--- Step 2645 ---
qpos:
[ 0.0165307 , 0.28170551,-0.0923127 , 0.85697102,-0.03249827, 0.10901617,
 -0.23654648, 0.63448117, 0.01523068, 1.30046879,-0.02326404, 0.95411761,
  1.01898956, 0.00174351, 1.22337501, 0.04508015, 0.07835932,-0.06771461,
  0.14645342, 0.95470995,-0.06438863,-0.00474749, 0.29044876]

qacc:
[-4.39145520e+01,-2.99948166e-01, 3.70616953e+01,-7.65740893e+01,
 -1.64108767e+02, 3.46080427e+01,-1.55384729e+02, 4.35134159e+02,
  2.89149860e-02,-2.52379114e+01, 5.62874674e+01,-4.69200820e+01,
 -8.16925495e+00, 6.15555116e+01, 1.29049981e+01, 1.21036115e+02,
 -1.91080137e+00,-1.39191223e+00, 1.96709963e-01, 3.22199239e-01,
 -3.51281599e+00,-3.96187648e+01]

qfrc_actuator:
[-0.02527208, 0.20809674, 0.07152187, 0.02555286, 0.02429831, 0.47802879,
  0.21638959, 0.21989119,-0.00293865, 0.07318633, 0.01044397, 0.00235919,
  0.03107698, 0.002248  , 0.        ,-0.00126958, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.28332793,  0.33883922, -0.28332793,  2.36462903,
        1.6079113 ,  0.33883922,  1.6079113 ,  1.78617696,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017097177762914835
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69014686, -0.72340455,  0.01957449,  0.01351186,  0.01416299,
        0.9998084 , -0.72354318,  0.69027912,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08492255, -0.03344143,  0.13171922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624,  0.22121644, -0.38229572,  0.22121644,  0.61086547,
        0.09789602, -0.38229572,  0.09789602,  0.49833403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010251214609641184
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76055960e-01, -2.13154271e-01, -4.33592013e-02, -2.12944264e-01,
        9.77018555e-01, -9.45959409e-03,  4.43790971e-02,  1.73472348e-18,
       -9.99014763e-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([ 0.11368401, -0.08296768,  0.11524265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  9.55915294,  -2.30531691,  -9.27701023,  -2.30531691,
        92.51656134, -20.61473592,  -9.27701023, -20.61473592,
        14.68187007,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00036272946755790125
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.73890008e-14, -1.17169210e-13,  1.00000000e+00,  6.72422389e-27,
        1.00000000e+00,  1.17169210e-13, -1.00000000e+00,  0.00000000e+00,
        5.73890008e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04752023, -0.04069027,  0.06199213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.26373580e-02, 1.59607081e-01, 5.81723882e-02,-2.16072114e-02,
  2.90924110e-02, 4.39474758e-01, 2.21280370e-01, 1.43347142e-01,
  7.53150265e-06,-2.15581665e-03,-4.57434863e-04,-1.18477801e-04,
  8.01037536e-03, 6.82753347e-03, 6.96834737e-03, 2.63089464e-03,
 -1.19482539e-02, 2.94617825e-03,-9.80736007e+00,-6.86541986e-02,
 -1.48185187e-02,-3.48536844e-03]


--- Step 2646 ---
qpos:
[ 0.01662308, 0.28249862,-0.09210868, 0.85786696,-0.032645  , 0.10979319,
 -0.23662044, 0.63603599, 0.0152319 , 1.30125225,-0.02326299, 0.95413003,
  1.01959751, 0.00176915, 1.22350399, 0.045078  , 0.07815581,-0.06771686,
  0.14652828, 0.95499757,-0.06502585,-0.00538866, 0.28934794]

qacc:
[-1.87146746e+01, 2.35483744e+00, 3.17545219e+01,-1.17527129e+02,
 -1.78189735e+02, 4.06527372e+01,-1.52804444e+02, 4.19756670e+02,
 -4.34978655e-02,-2.14492009e+01, 4.39796786e+01,-3.37871734e+01,
  1.00396592e+01, 1.63181588e+01, 2.17512593e+01,-1.78337049e+00,
 -1.85491726e+00,-1.33903359e+00, 1.72278345e-01, 1.29392712e-01,
 -4.51949835e+00,-3.71252697e+01]

qfrc_actuator:
[-0.02521054, 0.20862094, 0.07133805, 0.02476441, 0.02436618, 0.47910577,
  0.21649746, 0.21983088,-0.00295653, 0.07233285, 0.01040492, 0.00232991,
  0.0310089 , 0.00225018, 0.        ,-0.00131808, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.3616673 ,  0.2535419 , -0.3616673 ,  0.65564986,
        0.3052105 ,  0.2535419 ,  0.3052105 ,  0.87705672,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001696948723839371
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69176305, -0.72188089,  0.01875836,  0.01297863,  0.01354369,
        0.99982405, -0.72200793,  0.69188478,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08479667, -0.03342627,  0.13177631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44026596,  0.22819049, -0.37651457,  0.22819049,  0.61758961,
        0.1074688 , -0.37651457,  0.1074688 ,  0.50539853,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009608582793838114
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97638913, -0.21110056, -0.04583467, -0.21086835,  0.97746435,
       -0.0098988 ,  0.0468914 ,  0.        , -0.99889999])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11353897, -0.08295396,  0.11524472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003634271832563679
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63717655e-14, -2.88780738e-13,  1.00000000e+00, -2.20546948e-26,
        1.00000000e+00,  2.88780738e-13, -1.00000000e+00,  0.00000000e+00,
       -7.63717655e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0475232 , -0.04069267,  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:
[-3.12935415e-02, 1.59182180e-01, 5.75915010e-02,-2.22727119e-02,
  3.03772651e-02, 4.39475818e-01, 2.20988812e-01, 1.42159042e-01,
 -1.29887093e-05,-2.14491931e-03,-5.16648367e-04,-1.08126421e-04,
  5.77219961e-03, 3.78233736e-03, 3.20394397e-03, 9.22899385e-04,
 -1.29687319e-02, 3.29238410e-03,-9.80757865e+00,-6.86394572e-02,
 -1.50849473e-02,-3.44508464e-03]


--- Step 2647 ---
qpos:
[ 0.0167106 , 0.28330534,-0.0919041 , 0.85875454,-0.03281912, 0.11060706,
 -0.23668107, 0.63761371, 0.01523282, 1.30201903,-0.02326212, 0.95414266,
  1.02023126, 0.0018108 , 1.22364848, 0.04508086, 0.07794507,-0.06772427,
  0.14660374, 0.95530314,-0.06565936,-0.00604478, 0.28818087]

qacc:
[-8.25447370e+00, 3.16473029e+00, 3.19310438e+01,-1.39883178e+02,
 -1.83099751e+02, 4.13735398e+01,-1.51434601e+02, 4.20965563e+02,
 -1.24620106e-01,-2.10921656e+01, 4.19670600e+01,-2.37582961e+01,
  9.29253064e+00, 6.57399671e+00, 7.46036381e+00, 6.45271981e+00,
 -1.80502634e+00,-1.28849082e+00, 1.49853658e-01, 1.29141466e-02,
 -5.47018455e+00,-3.47261855e+01]

qfrc_actuator:
[-0.02518623, 0.20915977, 0.07116241, 0.02407887, 0.02449926, 0.4800421 ,
  0.21656684, 0.21986939,-0.00298543, 0.07155314, 0.01041701, 0.0023432 ,
  0.03094948, 0.00220704, 0.        ,-0.00129891, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.36152496,  0.25374482, -0.36152496,  0.55296643,
        0.15854734,  0.25374482,  0.15854734,  0.66757782,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016799441842586826
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69351935, -0.72021653,  0.01786224,  0.01238979,  0.01286673,
        0.99984046, -0.72033145,  0.69363002,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08466666, -0.03341115,  0.1318332 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.43105073,  0.23117345, -0.36381804,  0.23117345,  0.58482068,
        0.09770689, -0.36381804,  0.09770689,  0.49313462,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008918082783089649
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76738546e-01, -2.08897931e-01, -4.84093636e-02, -2.08641833e-01,
        9.77937449e-01, -1.03407594e-02,  4.95014928e-02,  1.73472348e-18,
       -9.98774050e-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([ 0.11338687, -0.08293937,  0.11524657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003636180767440378
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.30292247e-14, -5.96341184e-14,  1.00000000e+00, -5.54771581e-27,
        1.00000000e+00,  5.96341184e-14, -1.00000000e+00,  0.00000000e+00,
       -9.30292247e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0475254 , -0.04069485,  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:
[-3.07227614e-02, 1.58959111e-01, 5.72791271e-02,-2.26372211e-02,
  3.18371663e-02, 4.38683458e-01, 2.20449525e-01, 1.41068393e-01,
 -3.60694654e-05,-2.07622636e-03,-4.69782474e-04,-6.67472538e-05,
  3.85037405e-03, 2.37181144e-03, 1.46229118e-03, 4.53389367e-04,
 -1.39803346e-02, 3.64923283e-03,-9.80780461e+00,-6.86195967e-02,
 -1.53421905e-02,-3.40167813e-03]


--- Step 2648 ---
qpos:
[ 0.01679172, 0.28412836,-0.09169848, 0.85963364,-0.03301994, 0.11145149,
 -0.23672963, 0.63921528, 0.01523358, 1.30276974,-0.02326114, 0.9541546 ,
  1.02088207, 0.00186245, 1.22379996, 0.04508665, 0.07772728,-0.06773663,
  0.14667972, 0.95562512,-0.06628888,-0.0067173 , 0.28695174]

qacc:
[-1.08658735e+01, 5.22552754e+00, 2.98718276e+01,-1.41692844e+02,
 -1.77551975e+02, 3.77813503e+01,-1.53486729e+02, 4.42068432e+02,
 -6.98987757e-02,-2.25609990e+01, 4.95213609e+01,-4.08557724e+01,
  6.68627273e+00, 3.32433470e+00, 1.20130635e+00, 1.01954160e+01,
 -1.76476612e+00,-1.23875739e+00, 1.31520134e-01,-1.01257084e-01,
 -6.32187991e+00,-3.25591101e+01]

qfrc_actuator:
[-0.02520374, 0.2096493 , 0.07093934, 0.02345954, 0.0247007 , 0.4810196 ,
  0.21660696, 0.22027731,-0.00298522, 0.07080637, 0.01044177, 0.0023105 ,
  0.03090027, 0.0021549 , 0.        ,-0.00125606, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.36144235,  0.25386247, -0.36144235,  0.54276832,
        0.14391787,  0.25386247,  0.14391787,  0.64659252,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016584569090551478
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.95409201e-01, -7.18415657e-01,  1.68815545e-02,  1.17412615e-02,
        1.21297016e-02,  9.99857496e-01, -7.18518048e-01,  6.95508314e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08453274, -0.03339587,  0.13188971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.41309721,  0.22850538, -0.34414328,  0.22850538,  0.52028783,
        0.07117278, -0.34414328,  0.07117278,  0.46035475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008190034696933022
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97710066, -0.20655803, -0.05106942, -0.20627648,  0.97843435,
       -0.01078131,  0.05219504,  0.        , -0.99863691])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11322765, -0.08292398,  0.11524842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036340514575440575
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.67073368e-14, -4.05749608e-14,  1.00000000e+00, -6.77899536e-28,
        1.00000000e+00,  4.05749608e-14, -1.00000000e+00,  0.00000000e+00,
       -1.67073368e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04752699, -0.04069691,  0.06199213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05003708e-02, 1.58737740e-01, 5.70158981e-02,-2.28412463e-02,
  3.34083942e-02, 4.37787456e-01, 2.19811874e-01, 1.40326763e-01,
 -2.05061780e-05,-1.99475962e-03,-4.37120058e-04,-1.08394901e-04,
  2.51271489e-03, 1.52047596e-03, 6.81322346e-04, 2.44541745e-04,
 -1.49722595e-02, 4.00639525e-03,-9.80803906e+00,-6.85938875e-02,
 -1.55905037e-02,-3.35498732e-03]


--- Step 2649 ---
qpos:
[ 0.01686362, 0.28497109,-0.09149106, 0.86050437,-0.0332451 , 0.11231217,
 -0.23676992, 0.64084236, 0.01523482, 1.30350541,-0.02326068, 0.95416637,
  1.02154362, 0.0019211 , 1.22395484, 0.04509285, 0.07750251,-0.06775377,
  0.14675619, 0.95596227,-0.0669143 ,-0.00740752, 0.28566369]

qacc:
[-1.55320589e+01, 7.83031200e+00, 2.65216702e+01,-1.39726182e+02,
 -1.60963634e+02, 3.12569616e+01,-1.62094547e+02, 4.87071251e+02,
  2.10389123e-01,-1.86670712e+01, 3.74231365e+01,-2.51941802e+01,
  3.71172006e+00, 3.14069771e+00, 3.67061535e+00,-5.81936678e+00,
 -1.74494624e+00,-1.19473267e+00, 1.19973556e-01,-2.81724281e-01,
 -7.04288774e+00,-3.09297596e+01]

qfrc_actuator:
[-0.0252606 , 0.21022536, 0.07074038, 0.02290118, 0.0249179 , 0.48240393,
  0.21662547, 0.22141161,-0.00291428, 0.07012091, 0.01043842, 0.00230426,
  0.03084639, 0.00215021, 0.        ,-0.00128768, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.3612336 ,  0.25415944, -0.3612336 ,  0.54260223,
        0.14343063,  0.25415944,  0.14343063,  0.64554238,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016328818638520809
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69742066, -0.71648742,  0.01581812,  0.01103326,  0.0113349 ,
        0.99987489, -0.71657707,  0.69750792,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08439483, -0.03338052,  0.13194597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.38714083,  0.21920255, -0.31910541,  0.21920255,  0.44277672,
        0.03821787, -0.31910541,  0.03821787,  0.41339377,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007422094185382364
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77471706e-01, -2.04089611e-01, -5.38190942e-02, -2.03780959e-01,
        9.78952211e-01, -1.12200758e-02,  5.49762222e-02,  1.73472348e-18,
       -9.98487664e-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([ 0.11306206, -0.08290788,  0.11525013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003628711411447355
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.49763200e-14, -2.50978852e-13,  1.00000000e+00, -1.37978937e-26,
        1.00000000e+00,  2.50978852e-13, -1.00000000e+00,  0.00000000e+00,
       -5.49763200e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04752811, -0.04069889,  0.06199215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.02392353e-02, 1.58467020e-01, 5.67530300e-02,-2.29775053e-02,
  3.49608578e-02, 4.37612145e-01, 2.19215384e-01, 1.40263819e-01,
  5.93397503e-05,-1.88310286e-03,-4.46805495e-04,-7.95576255e-05,
  1.60750248e-03, 1.01552199e-03, 3.26227194e-04, 6.49781350e-05,
 -1.59412801e-02, 4.35852031e-03,-9.80828179e+00,-6.85618544e-02,
 -1.58313361e-02,-3.30488064e-03]


--- Step 2650 ---
qpos:
[ 0.01692574, 0.28583484,-0.09128152, 0.86136643,-0.03349248, 0.11318398,
 -0.23680281, 0.64249678, 0.015237  , 1.30422677,-0.02326098, 0.95417828,
  1.02221192, 0.00198433, 1.2241113 , 0.04509874, 0.07727084,-0.06777552,
  0.14683308, 0.95631337,-0.06753544,-0.00811667, 0.28431992]

qacc:
[-1.64523568e+01, 8.22454406e+00, 2.80803651e+01,-1.45727866e+02,
 -1.46106206e+02, 2.91886918e+01,-1.70114620e+02, 5.24446596e+02,
  3.97050129e-01,-1.64716515e+01, 3.07678116e+01,-1.61407057e+01,
  2.20048716e+00, 2.24440448e+00, 3.23961450e+00,-8.06207934e+00,
 -1.72505681e+00,-1.15186580e+00, 1.07692332e-01,-3.97018255e-01,
 -7.74666947e+00,-2.92773114e+01]

qfrc_actuator:
[-0.02531795, 0.21082567, 0.07053696, 0.02229389, 0.0251529 , 0.48375037,
  0.21662998, 0.22254447,-0.002837  , 0.0694599 , 0.01041878, 0.00231367,
  0.03078967, 0.00213749, 0.        ,-0.00132713, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.36099601,  0.25449678, -0.36099601,  0.52744302,
        0.12164341,  0.25449678,  0.12164341,  0.61423374,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016036883269578282
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.99542700e-01, -7.14440105e-01,  1.46747365e-02,  1.02667103e-02,
        1.04853494e-02,  9.99892320e-01, -7.14517044e-01,  6.99618035e-01,
        8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08425278, -0.0333652 ,  0.13200221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.35438113,  0.20491003, -0.28913295,  0.20491003,  0.38665312,
        0.02287133, -0.28913295,  0.02287133,  0.37059016,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006600047396300049
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97784775, -0.20149752, -0.05667911, -0.20115988,  0.97948903,
       -0.01165985,  0.057866  ,  0.        , -0.99832436])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11289154, -0.08289112,  0.1152512 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003620800755107789
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.50964312e-14, -1.17379353e-13,  1.00000000e+00, -6.46718347e-27,
        1.00000000e+00,  1.17379353e-13, -1.00000000e+00,  0.00000000e+00,
       -5.50964312e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04752889, -0.04070087,  0.06199217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.98388030e-02, 1.58050230e-01, 5.64476265e-02,-2.31688168e-02,
  3.64133281e-02, 4.38112701e-01, 2.18794108e-01, 1.40116064e-01,
  1.12546858e-04,-1.79780531e-03,-4.41515168e-04,-6.02404705e-05,
  1.01458332e-03, 6.52687736e-04, 1.51603020e-04, 3.96527007e-06,
 -1.68977563e-02, 4.70803817e-03,-9.80853274e+00,-6.85227977e-02,
 -1.60683776e-02,-3.25124504e-03]


--- Step 2651 ---
qpos:
[ 0.01697854, 0.28671744,-0.09106902, 0.8622195 ,-0.03376081, 0.11407526,
 -0.23682477, 0.64418018, 0.01523966, 1.30493395,-0.02326195, 0.95418953,
  1.02288455, 0.00204969, 1.22426807, 0.04510732, 0.0770324 ,-0.0678017 ,
  0.14691034, 0.95667702,-0.06815183,-0.00884594, 0.28292428]

qacc:
[-1.55857289e+01, 2.67349463e+00, 4.35045803e+01,-1.61298628e+02,
 -1.37054299e+02, 3.29389492e+01,-1.73544803e+02, 5.41982783e+02,
  2.06097313e-01,-1.80161621e+01, 3.76538514e+01,-3.15969625e+01,
  2.20816403e+00,-3.38511450e-02,-7.80914915e+00, 2.77152164e+01,
 -1.69238302e+00,-1.10712224e+00, 9.06651365e-02,-3.74596082e-01,
 -8.48803301e+00,-2.72790361e+01]

qfrc_actuator:
[-0.02537134, 0.2111473 , 0.07029431, 0.02160766, 0.02540618, 0.48484194,
  0.2166414 , 0.22322062,-0.00284532, 0.06876559, 0.01038983, 0.00227896,
  0.03073121, 0.00206632, 0.        ,-0.00119319, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.36082961,  0.25473265, -0.36082961,  0.50843681,
        0.0945524 ,  0.25473265,  0.0945524 ,  0.57562001,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015710872094788669
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.01766671e-01, -7.12279852e-01,  1.34518256e-02,  9.44089708e-03,
        9.58233135e-03,  9.99909520e-01, -7.12344305e-01,  7.01830173e-01,
       -8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08410657, -0.03334996,  0.13205847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.3171051 ,  0.18749066, -0.25573991,  0.18749066,  0.34680181,
        0.02177155, -0.25573991,  0.02177155,  0.33306649,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005721937307988457
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78225274e-01, -1.98788676e-01, -5.96521152e-02, -1.98420101e-01,
        9.80042378e-01, -1.20996452e-02,  6.08668733e-02, -1.73472348e-18,
       -9.98145893e-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([ 0.11271667, -0.08287373,  0.11525151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003610858682512874
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.68146491e-14, -1.56136027e-13,  1.00000000e+00, -2.62537251e-27,
        1.00000000e+00,  1.56136027e-13, -1.00000000e+00,  0.00000000e+00,
       -1.68146491e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04752941, -0.04070286,  0.0619922 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.94051449e-02, 1.57288160e-01, 5.60868831e-02,-2.34237551e-02,
  3.77780158e-02, 4.38614239e-01, 2.18423193e-01, 1.39420700e-01,
  5.81905619e-05,-1.78219748e-03,-4.32977115e-04,-1.01255432e-04,
  6.19809317e-04, 3.52285486e-04, 6.76676871e-05, 1.52537478e-04,
 -1.78332360e-02, 5.04810467e-03,-9.80879195e+00,-6.84765259e-02,
 -1.63011781e-02,-3.19395171e-03]


--- Step 2652 ---
qpos:
[ 0.01701922, 0.28761832,-0.0908515 , 0.86306405,-0.03404867, 0.11499826,
 -0.23683102, 0.64589426, 0.01524255, 1.30562623,-0.02326243, 0.95419995,
  1.0235597 , 0.00211593, 1.2244255 , 0.0451145 , 0.07678735,-0.06783212,
  0.14698789, 0.95705179,-0.06876291,-0.00959636, 0.28148081]

qacc:
[-2.01674493e+01,-2.73154331e+00, 5.91444799e+01,-1.68622325e+02,
 -1.26945405e+02, 3.85479488e+01,-1.76500288e+02, 5.55692669e+02,
  1.01191662e-01,-2.22832289e+01, 5.07491081e+01,-4.43092623e+01,
  1.26745103e+00,-2.23065206e-01, 5.12317104e+00,-1.67060794e+01,
 -1.65393010e+00,-1.06201360e+00, 7.24597191e-02,-2.81452099e-01,
 -9.19203571e+00,-2.51994245e+01]

qfrc_actuator:
[-0.0254544 , 0.21118895, 0.0700797 , 0.0210376 , 0.02567806, 0.48608732,
  0.21663272, 0.22375217,-0.00285167, 0.06800363, 0.01040874, 0.00223628,
  0.03067169, 0.00199619, 0.        ,-0.00127765, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.36056814,  0.25510262, -0.36056814,  0.51007598,
        0.0966637 ,  0.25510262,  0.0966637 ,  0.57831303,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001535023994291613
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.04085370e-01, -7.10011432e-01,  1.21473292e-02,  8.55338784e-03,
        8.62537897e-03,  9.99926218e-01, -7.10063822e-01,  7.04137323e-01,
        8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08395644, -0.03333482,  0.13211467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.27898709,  0.1685511 , -0.22231582,  0.1685511 ,  0.31011583,
        0.02360058, -0.22231582,  0.02360058,  0.29688012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048045695001245015
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78601575e-01, -1.95974200e-01, -6.27141981e-02, -1.95573006e-01,
        9.80609052e-01, -1.25333993e-02,  6.39543332e-02, -1.73472348e-18,
       -9.97952826e-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([ 0.11253678, -0.08285574,  0.11525157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003599365961940576
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.68683380e-14, -2.33746970e-13,  1.00000000e+00, -3.94292289e-27,
        1.00000000e+00,  2.33746970e-13, -1.00000000e+00,  0.00000000e+00,
       -1.68683380e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04752974, -0.04070491,  0.06199223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.90248179e-02, 1.56353836e-01, 5.57114196e-02,-2.35467896e-02,
  3.90980714e-02, 4.38851735e-01, 2.17855085e-01, 1.38497661e-01,
  2.82425638e-05,-1.84063736e-03,-3.82273011e-04,-1.09484034e-04,
  3.44172630e-04, 1.75154401e-04, 4.74014659e-05,-6.77842060e-05,
 -1.87265800e-02, 5.36520074e-03,-9.80905877e+00,-6.84232735e-02,
 -1.65267141e-02,-3.13286798e-03]


--- Step 2653 ---
qpos:
[ 0.0170446 , 0.28854012,-0.09062755, 0.86390049,-0.03435513, 0.1159686 ,
 -0.2368161 , 0.64764016, 0.01524569, 1.30630386,-0.02326252, 0.95421048,
  1.02423616, 0.00218227, 1.22458305, 0.04512135, 0.07653586,-0.06786661,
  0.14706565, 0.95743619,-0.06936799,-0.01036885, 0.27999376]

qacc:
[-2.53355314e+01,-2.40724181e+00, 6.14219642e+01,-1.67670807e+02,
 -1.20461655e+02, 4.60112583e+01,-1.77873639e+02, 5.56689837e+02,
  1.05974227e-01,-2.01584631e+01, 4.23388485e+01,-2.64997522e+01,
  9.44761864e-01,-6.90480229e-01, 1.12298933e+00,-3.81537809e+00,
 -1.60753789e+00,-1.01573931e+00, 5.27147570e-02,-1.16056829e-01,
 -9.86045610e+00,-2.29978275e+01]

qfrc_actuator:
[-0.02553099, 0.21105565, 0.06984316, 0.0206114 , 0.02596803, 0.48751148,
  0.21667385, 0.22405941,-0.00283902, 0.06729623, 0.01043775, 0.0022425 ,
  0.03061686, 0.00192709, 0.        ,-0.00129485, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.36018558,  0.25564248, -0.36018558,  0.51530239,
        0.10372094,  0.25564248,  0.10372094,  0.58782309,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014957390578190061
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.06488716e-01, -7.07642475e-01,  1.07620830e-02,  7.60373054e-03,
        7.61614811e-03,  9.99942087e-01, -7.07683459e-01,  7.06529633e-01,
        8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0838025 , -0.03331996,  0.13217084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25027427,  0.15452703, -0.19687206,  0.15452703,  0.28465692,
        0.02698732, -0.19687206,  0.02698732,  0.27145691,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003874226252802494
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78974612e-01, -1.93066144e-01, -6.58344433e-02, -1.92631063e-01,
        9.81185744e-01, -1.29541243e-02,  6.70968200e-02, -1.73472348e-18,
       -9.97746469e-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([ 0.11235087, -0.08283717,  0.11525203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035867053184450437
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.04567187e-14, -7.98028687e-14,  1.00000000e+00,  4.82461958e-27,
        1.00000000e+00,  7.98028687e-14, -1.00000000e+00,  0.00000000e+00,
        6.04567187e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04752994, -0.04070704,  0.06199226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.84978002e-02, 1.55272961e-01, 5.52115848e-02,-2.35496401e-02,
  4.03641951e-02, 4.38654385e-01, 2.17097251e-01, 1.37265393e-01,
  2.96358392e-05,-1.80859761e-03,-3.78043057e-04,-6.10406267e-05,
  1.64565424e-04, 6.11267457e-05, 1.09051901e-05,-1.58759718e-05,
 -1.95666992e-02, 5.65188700e-03,-9.80933189e+00,-6.83634219e-02,
 -1.67438402e-02,-3.06789989e-03]


--- Step 2654 ---
qpos:
[ 0.01705373, 0.28948367,-0.09039644, 0.86472872,-0.03467921, 0.11699277,
 -0.23677778, 0.64941832, 0.01524888, 1.3069669 ,-0.0232632 , 0.95422244,
  1.02491319, 0.00224776, 1.22473991, 0.04513363, 0.0762781 ,-0.06790502,
  0.14714354, 0.95782904,-0.06996645,-0.01116408, 0.27846651]

qacc:
[-2.67946704e+01,-3.41032126e+00, 6.62115942e+01,-1.73396951e+02,
 -1.13239063e+02, 4.91674650e+01,-1.78529238e+02, 5.56906343e+02,
  2.36205004e-02,-1.50570023e+01, 2.31211353e+01, 5.55625057e+00,
  1.45719186e+00,-2.13952714e+00,-1.76123106e+01, 5.98140744e+01,
 -1.56851102e+00,-9.79463486e-01, 3.23889620e-02, 7.22242015e-02,
 -1.03740979e+01,-2.12465359e+01]

qfrc_actuator:
[-0.02561343, 0.21082518, 0.06959004, 0.02016799, 0.02629353, 0.4887483 ,
  0.21673311, 0.22427193,-0.00285059, 0.06655627, 0.01040169, 0.00231298,
  0.03055421, 0.00182352, 0.        ,-0.00100591, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.35976584,  0.25623285, -0.35976584,  0.50759693,
        0.09254246,  0.25623285,  0.09254246,  0.57162123,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001453720394587102
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70896411, -0.70518325,  0.00929933,  0.00659318,  0.00655801,
        0.99995676, -0.70521374,  0.70899477,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08364466, -0.03330552,  0.13222718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.23482262,  0.14847615, -0.18192443,  0.14847615,  0.26754933,
        0.02670964, -0.18192443,  0.02670964,  0.25662147,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003149747892531061
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78741434e-01, -1.93157865e-01, -6.89582752e-02, -1.92680219e-01,
        9.81167692e-01, -1.35754910e-02,  7.02818446e-02, -1.73472348e-18,
       -9.97527174e-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([ 0.11216495, -0.08285468,  0.11525398])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035731743394579185
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.18468367e-14, -1.57782710e-13,  1.00000000e+00,  3.44705310e-27,
        1.00000000e+00,  1.57782710e-13, -1.00000000e+00,  0.00000000e+00,
        2.18468367e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04753006, -0.04070927,  0.0619923 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.78178271e-02, 1.53961541e-01, 5.46240118e-02,-2.35894384e-02,
  4.16210335e-02, 4.37486904e-01, 2.16084316e-01, 1.35881961e-01,
  6.23161755e-06,-1.82103570e-03,-4.34926163e-04, 5.39061333e-06,
  3.71819866e-05,-4.79709629e-05, 3.84810862e-07, 2.88664526e-04,
 -2.03413746e-02, 5.90039152e-03,-9.80960933e+00,-6.82976172e-02,
 -1.69510767e-02,-2.99897309e-03]


--- Step 2655 ---
qpos:
[ 0.017046  , 0.29044861,-0.09015773, 0.86554849,-0.03501656, 0.11805915,
 -0.23671853, 0.65123044, 0.01525204, 1.30761549,-0.02326518, 0.95423382,
  1.02559001, 0.00231244, 1.22489705, 0.04514658, 0.07601407,-0.06794733,
  0.14722149, 0.95823017,-0.07055808,-0.01198197, 0.27689879]

qacc:
[-2.76881580e+01,-5.40511986e+00, 7.27459466e+01,-1.81749676e+02,
 -8.47299326e+01, 4.27311801e+01,-1.82721482e+02, 5.95171650e+02,
 -1.30782301e-02,-1.65069529e+01, 3.21383809e+01,-2.56910799e+01,
  3.93843363e-01,-1.05231039e+00,-1.64073390e+00, 6.22181785e+00,
 -1.56887172e+00,-9.77218385e-01, 1.53857825e-02, 1.74529129e-01,
 -1.03437354e+01,-2.13680277e+01]

qfrc_actuator:
[-0.02571005, 0.21049172, 0.06932368, 0.01969985, 0.02666452, 0.48975853,
  0.21672155, 0.22482273,-0.00285884, 0.06582033, 0.01032743, 0.0022786 ,
  0.0304869 , 0.00175345, 0.        ,-0.00098275, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.35932746,  0.25684724, -0.35932746,  0.49609193,
        0.07611318,  0.25684724,  0.07611318,  0.54816803,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014091916469501568
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71150278, -0.70264043,  0.00776025,  0.00552161,  0.00545283,
        0.99996989, -0.70266159,  0.71152421,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08348293, -0.03329156,  0.13228378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.21881427,  0.14241027, -0.16612946,  0.14241027,  0.2385207 ,
        0.01689284, -0.16612946,  0.01689284,  0.23329523,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019908941463908967
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9764606 , -0.20461905, -0.06823298, -0.20412131,  0.97884168,
       -0.01426356,  0.06970788,  0.        , -0.99756745])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11199426, -0.08300868,  0.11530345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003559028959954913
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.84897789e-14, -1.19416632e-13,  1.00000000e+00,  6.98465241e-27,
        1.00000000e+00,  1.19416632e-13, -1.00000000e+00,  0.00000000e+00,
        5.84897789e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04753014, -0.04071161,  0.06199233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71043726e-02, 1.52505719e-01, 5.39864503e-02,-2.36497029e-02,
  4.28728504e-02, 4.35766007e-01, 2.14888180e-01, 1.34813398e-01,
 -4.20974801e-06,-1.83290722e-03,-4.80046248e-04,-9.99633401e-05,
 -5.79769296e-05,-7.58065281e-05, 3.05346849e-05, 3.87971739e-05,
 -2.10601956e-02, 6.11715696e-03,-9.80989177e+00,-6.82261743e-02,
 -1.71505185e-02,-2.92608374e-03]


--- Step 2656 ---
qpos:
[ 0.01702236, 0.29143468,-0.08991117, 0.86635934,-0.03536673, 0.11917477,
 -0.23663662, 0.6530765 , 0.01525484, 1.30824973,-0.02326729, 0.95424395,
  1.02626592, 0.00237695, 1.22505442, 0.04515908, 0.07574389,-0.06799342,
  0.14729943, 0.95863844,-0.07114229,-0.0128232 , 0.27529379]

qacc:
[-2.59927429e+01,-7.16603120e+00, 7.92225993e+01,-1.92937914e+02,
 -8.13479867e+01, 4.71628751e+01,-1.85122216e+02, 5.89867285e+02,
 -1.51722068e-01,-2.06305878e+01, 4.70864646e+01,-4.62993571e+01,
 -6.48843052e-01, 4.11822763e-01, 1.73992038e+00,-5.48821183e+00,
 -1.53621871e+00,-9.42847461e-01,-1.89257799e-03, 3.53734960e-01,
 -1.08504855e+01,-1.97166695e+01]

qfrc_actuator:
[-0.02575481, 0.21015912, 0.06906383, 0.01918489, 0.02703003, 0.49076492,
  0.21664285, 0.22531338,-0.00290054, 0.06514575, 0.0103377 , 0.00221827,
  0.03041683, 0.00173928, 0.        ,-0.00100994, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.35892378,  0.25741106, -0.35892378,  0.48062402,
        0.0542933 ,  0.25741106,  0.0542933 ,  0.51739067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013621937203452015
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.14103045e-01, -7.00013623e-01,  6.14560085e-03,  4.38867516e-03,
        4.30208556e-03,  9.99981116e-01, -7.00026843e-01,  7.14116531e-01,
        4.33680869e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08331737, -0.03327811,  0.13234062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.21186551,  0.14009167, -0.15893809,  0.14009167,  0.2307392 ,
        0.0166357 , -0.15893809,  0.0166357 ,  0.2265286 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001060801220335808
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76639050e-01, -2.02705371e-01, -7.13210993e-02, -2.02167014e-01,
        9.79239773e-01, -1.47636669e-02,  7.28331316e-02, -1.73472348e-18,
       -9.97344141e-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([ 0.1117874 , -0.08300397,  0.11530907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003544461797488768
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.54365140e-14, -1.00330694e-13,  1.00000000e+00, -9.57521169e-27,
        1.00000000e+00,  1.00330694e-13, -1.00000000e+00,  0.00000000e+00,
       -9.54365140e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04753019, -0.04071407,  0.06199237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63081045e-02, 1.51067711e-01, 5.33333833e-02,-2.37444189e-02,
  4.39024660e-02, 4.34620934e-01, 2.13747450e-01, 1.33600289e-01,
 -4.38046038e-05,-1.78992613e-03,-4.06030098e-04,-1.30064587e-04,
 -1.16383886e-04,-5.02211003e-05, 1.25688934e-05,-2.24679373e-05,
 -2.17881835e-02, 6.34802072e-03,-9.81018876e+00,-6.81489319e-02,
 -1.73532115e-02,-2.84946120e-03]


--- Step 2657 ---
qpos:
[ 0.01698302, 0.29244154,-0.089656  , 0.867161  ,-0.03573048, 0.12035048,
 -0.23652948, 0.65495574, 0.01525722, 1.30886972,-0.02326859, 0.95425498,
  1.02694095, 0.00244076, 1.22521151, 0.04517386, 0.07546773,-0.06804313,
  0.14737728, 0.95905263,-0.07171836,-0.01368843, 0.27365517]

qacc:
[-2.55239289e+01,-1.00054907e+01, 8.85280529e+01,-2.03678755e+02,
 -8.55319964e+01, 5.34350410e+01,-1.84525763e+02, 5.67574689e+02,
 -1.77908781e-01,-1.93772756e+01, 3.88255925e+01,-1.46342617e+01,
 -6.33164622e-02,-6.35484709e-01,-7.31822521e+00, 2.49482668e+01,
 -1.49514222e+00,-9.06657342e-01,-2.14937295e-02, 5.95660023e-01,
 -1.13895848e+01,-1.78369717e+01]

qfrc_actuator:
[-0.02574491, 0.20981874, 0.06885783, 0.0186812 , 0.02737934, 0.49163857,
  0.21653151, 0.22541706,-0.00292646, 0.06447816, 0.01039804, 0.00226753,
  0.0303505 , 0.00168732, 0.        ,-0.00088896, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.35841986,  0.25811225, -0.35841986,  0.47044372,
        0.03993322,  0.25811225,  0.03993322,  0.49713831,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013127651982645712
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.16758064e-01, -6.97307702e-01,  4.45493117e-03,  3.19313952e-03,
        3.10648864e-03,  9.99990077e-01, -6.97314622e-01,  7.16765177e-01,
       -4.33680869e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08314806, -0.03326515,  0.13239768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20927266,  0.14082487, -0.15480117,  0.14082487,  0.22927301,
        0.01819461, -0.15480117,  0.01819461,  0.22582456,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.507851261439336e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97681365, -0.20074306, -0.07441318, -0.2001631 ,  0.97964393,
       -0.01524833,  0.07595942,  0.        , -0.99711091])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.11157327, -0.08299905,  0.11531637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035296095471852584
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.68608082e-14, -4.17755827e-14,  1.00000000e+00, -1.53988174e-27,
        1.00000000e+00,  4.17755827e-14, -1.00000000e+00,  0.00000000e+00,
       -3.68608082e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04753026, -0.04071666,  0.06199241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55052505e-02, 1.49633837e-01, 5.27210719e-02,-2.38039022e-02,
  4.48935661e-02, 4.32989142e-01, 2.12486251e-01, 1.32000427e-01,
 -5.13060520e-05,-1.74548971e-03,-3.40011929e-04,-1.77631452e-05,
 -1.37009142e-04,-9.43889935e-05,-2.90102292e-06, 1.19933312e-04,
 -2.24591170e-02, 6.54471303e-03,-9.81048859e+00,-6.80660016e-02,
 -1.75485295e-02,-2.76876943e-03]


--- Step 2658 ---
qpos:
[ 0.01692178, 0.29346348,-0.08940031, 0.8679523 ,-0.03521566, 0.12423048,
 -0.23376077, 0.65890862, 0.01525936, 1.30947596,-0.02326879, 0.95426577,
  1.02761509, 0.00250339, 1.225369  , 0.04518627, 0.07519513,-0.06809803,
  0.14745103, 0.95945764,-0.07224661,-0.01455694, 0.27204699]

qacc:
[-3.54759540e+01, 2.09733520e+00, 4.23417948e+01,-1.73701094e+02,
  5.51705895e+03,-5.49597361e+02,-2.80428370e+02, 2.62221016e+04,
 -9.72381880e-02,-2.14631906e+01, 4.87121661e+01,-3.64417645e+01,
 -1.06461259e-01,-8.80336842e-01, 7.73641275e+00,-2.62292535e+01,
  8.91184177e-01,-1.29620855e+00,-1.02823851e+00, 2.23625913e+01,
 -9.26875350e+00, 1.54050014e+01]

qfrc_actuator:
[-0.02567832, 0.20974962, 0.06862701, 0.01831237, 0.02770706, 0.49295237,
  0.21644223, 0.22639417,-0.00292496, 0.06383817, 0.01046979, 0.00225663,
  0.03028645, 0.00161329, 0.        ,-0.00101893, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.35648537,  0.26077751, -0.35648537,  0.4895026 ,
        0.06536543,  0.26077751,  0.06536543,  0.53104141,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012609944461594528
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.19459988e-01, -6.94528688e-01,  2.68823221e-03,  1.93408250e-03,
        1.86706114e-03,  9.99996387e-01, -6.94531198e-01,  7.19462588e-01,
       -2.16840434e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08297512, -0.03325272,  0.13245497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000351459362373005
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.67613844e-14, -4.19540667e-14,  1.00000000e+00, -2.38137091e-27,
        1.00000000e+00,  4.19540667e-14, -1.00000000e+00,  0.00000000e+00,
       -5.67613844e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04753034, -0.04071939,  0.06199244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46563271e-02, 1.48487916e-01, 5.20458344e-02,-2.37161899e-02,
  4.59005511e-02, 4.31252870e-01, 2.11118657e-01, 1.31312142e-01,
 -2.83035347e-05,-1.67695188e-03,-3.09102793e-04,-7.20688270e-05,
 -1.55589500e-04,-1.33917912e-04, 7.40372626e-06,-1.24709851e-04,
 -2.30594103e-02, 6.69803382e-03,-9.81078821e+00,-6.79779955e-02,
 -1.77344307e-02,-2.68393336e-03]


--- Step 2659 ---
qpos:
[ 0.01682732, 0.29448383,-0.08916089, 0.8687278 ,-0.03479353, 0.12819715,
 -0.23109063, 0.66281531, 0.01526123, 1.31006867,-0.02326756, 0.95427494,
  1.02828803, 0.0025653 , 1.22552694, 0.0451937 , 0.0749189 ,-0.06816531,
  0.14752014, 0.95990198,-0.07274099,-0.01539508, 0.27029601]

qacc:
[-5.35741114e+01, 1.62759728e+01,-1.81854268e+01,-1.75426663e+02,
 -5.64791535e+02, 2.86807621e+02,-6.61369096e+02,-1.18134658e+02,
 -1.16645617e-01,-2.44039829e+01, 6.14210401e+01,-6.35190730e+01,
 -8.73176233e-01, 2.45714252e-01, 1.58026344e+01,-5.41610316e+01,
 -9.07770939e-01,-3.09531023e+00,-1.15878953e+00, 2.07580664e+01,
  1.54047624e+01,-7.29969895e+01]

qfrc_actuator:
[-0.02554746, 0.21012471, 0.06835042, 0.0179938 , 0.02715288, 0.49187976,
  0.21370198, 0.22571733,-0.00294253, 0.06318442, 0.01054776, 0.00217491,
  0.03021847, 0.00158004, 0.        ,-0.00127798, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.35198366,  0.26682248, -0.35198366,  0.42425865,
       -0.02298991,  0.26682248, -0.02298991,  0.41135869,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001209444819268828
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.22095916e-01, -6.91792393e-01,  8.79146397e-04,  6.34828268e-04,
        6.08187025e-04,  9.99999614e-01, -6.91792661e-01,  7.22096195e-01,
        1.08420217e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08280153, -0.03324178,  0.13251228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24411367, -0.04681058,  0.2395835 , -0.04681058,  0.70471598,
        0.08999393,  0.2395835 ,  0.08999393,  0.26169696,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003612651730944319
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77704132e-01, -1.96631503e-01, -7.36931666e-02, -1.96075321e-01,
        9.80477461e-01, -1.47789202e-02,  7.51604902e-02, -1.73472348e-18,
       -9.97171450e-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([ 0.11076563, -0.08295571,  0.11553862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035031405883527433
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.98076375e-13, -1.80744693e-13,  1.00000000e+00, -3.58012536e-26,
        1.00000000e+00,  1.80744693e-13, -1.00000000e+00,  0.00000000e+00,
       -1.98076375e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04753058, -0.04072233,  0.06199247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34324621e-02, 1.48071357e-01, 5.17290191e-02,-2.35194708e-02,
  1.37684982e-03, 2.94886651e-01, 7.53207471e-02, 2.68601325e-02,
 -3.38660157e-05,-1.64827056e-03,-2.87562676e-04,-1.41247251e-04,
 -1.78916564e-04,-1.08514356e-04,-1.68454156e-05,-2.66499923e-04,
 -2.16654779e-02, 6.10756416e-03,-9.81120150e+00,-6.80134908e-02,
 -1.75001864e-02,-2.60618207e-03]


--- Step 2660 ---
qpos:
[ 0.01670088, 0.29549487,-0.08893852, 0.86948665,-0.03446391, 0.13211621,
 -0.22855827, 0.66667312, 0.01526285, 1.31064936,-0.02326691, 0.95428409,
  1.02895994, 0.00262607, 1.22568456, 0.04519997, 0.07463896,-0.06824454,
  0.14758491, 0.96038303,-0.07320185,-0.01620592, 0.26840883]

qacc:
[-5.13091021e+01, 7.02329582e+00, 1.61723175e+00,-1.97143811e+02,
 -5.45671635e+02, 2.12814066e+02,-6.38209387e+02,-4.49282088e+01,
 -1.06084556e-01,-1.42610362e+01, 2.75371273e+01,-1.67619373e+01,
 -1.22403290e-01,-8.71251103e-01, 3.01098598e+00,-1.12791454e+01,
 -9.29208566e-01,-2.98682454e+00,-1.08445255e+00, 2.00657209e+01,
  1.38083528e+01,-6.96040965e+01]

qfrc_actuator:
[-0.02541123, 0.2104574 , 0.06809845, 0.01760845, 0.02672489, 0.49023662,
  0.21103116, 0.22427333,-0.00295365, 0.06265196, 0.01053993, 0.00217643,
  0.03016418, 0.001518  , 0.        ,-0.00132688, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.34819679,  0.2717457 , -0.34819679,  0.40708431,
       -0.04433659,  0.2717457 , -0.04433659,  0.38487629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011531882784887807
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.24958328e-01, -6.88792050e-01, -9.66832285e-04, -7.00913444e-04,
       -6.65946703e-04,  9.99999533e-01, -6.88792372e-01,  7.24958667e-01,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262525, -0.03323051,  0.1325681 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008519809421315261
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78429260e-01, -1.94363541e-01, -6.99928414e-02, -1.93868125e-01,
        9.80929566e-01, -1.38685355e-02,  7.13535853e-02,  1.73472348e-18,
       -9.97451084e-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([ 0.11017571, -0.08291792,  0.11575386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003500465760526428
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.68132463e-14, -2.00705579e-13,  1.00000000e+00, -1.54168471e-26,
        1.00000000e+00,  2.00705579e-13, -1.00000000e+00,  0.00000000e+00,
       -7.68132463e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04753105, -0.04072556,  0.06199248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16368030e-02, 1.48445551e-01, 5.22762901e-02,-2.31165853e-02,
  5.58757514e-03, 2.88732253e-01, 7.74944548e-02, 2.77039759e-02,
 -3.06979919e-05,-1.50885122e-03,-3.67313659e-04,-5.81522381e-05,
 -1.71961922e-04,-1.35278778e-04,-4.37303998e-05,-6.73129658e-05,
 -2.35088946e-02, 8.05997299e-03,-9.81234396e+00,-6.80055256e-02,
 -1.77294896e-02,-2.53822986e-03]


--- Step 2661 ---
qpos:
[ 0.01654297, 0.29649122,-0.08873242, 0.87022858,-0.03422908, 0.13597096,
 -0.22616336, 0.67048287, 0.01526426, 1.31121895,-0.02326715, 0.95429314,
  1.02963119, 0.00268464, 1.22584171, 0.04520721, 0.07435544,-0.06833504,
  0.14764563, 0.96089666,-0.0736291 ,-0.01699353, 0.26639744]

qacc:
[-5.02478416e+01,-2.50627838e+00, 2.47359182e+01,-2.16540509e+02,
 -5.41667784e+02, 1.92826922e+02,-6.02890679e+02,-4.95838746e+01,
 -8.58768556e-02,-1.23688771e+01, 2.29735311e+01,-1.42536658e+01,
  1.03684533e+00,-2.85483355e+00,-3.75305823e+00, 1.18316069e+01,
 -8.94228840e-01,-2.81908272e+00,-1.01085265e+00, 1.94399287e+01,
  1.14572702e+01,-6.34355441e+01]

qfrc_actuator:
[-0.02529524, 0.21055997, 0.06786855, 0.01717246, 0.02639175, 0.48826202,
  0.20848065, 0.22283402,-0.00296082, 0.06216068, 0.01051758, 0.0021737 ,
  0.03011279, 0.00138614, 0.        ,-0.00126926, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.34460369,  0.27628794, -0.34460369,  0.39534909,
       -0.05779461,  0.27628794, -0.05779461,  0.36960117,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001091676268577001
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.28037399e-01, -6.85531457e-01, -2.85759026e-03, -2.08044107e-03,
       -1.95897601e-03,  9.99995917e-01, -6.85534256e-01,  7.28040372e-01,
        2.16840434e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08244704, -0.033219  ,  0.1326219 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012819443714144074
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77699216e-01, -1.98691035e-01, -6.80155488e-02, -1.98211984e-01,
        9.80062178e-01, -1.37890025e-02,  6.93992181e-02,  1.73472348e-18,
       -9.97588968e-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([ 0.10961049, -0.08295964,  0.11594933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003505042635294636
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.69160551e-14, -4.20683885e-14,  1.00000000e+00, -2.39436672e-27,
        1.00000000e+00,  4.20683885e-14, -1.00000000e+00,  0.00000000e+00,
       -5.69160551e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04753174, -0.04072911,  0.06199248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99237812e-02, 1.48975988e-01, 5.28855861e-02,-2.27221213e-02,
  9.88574044e-03, 2.88961707e-01, 8.17483504e-02, 2.86918423e-02,
 -2.48873993e-05,-1.40358217e-03,-3.61228291e-04,-5.86944203e-05,
 -1.71658421e-04,-2.11086921e-04,-3.11819731e-05, 4.74665774e-05,
 -2.54093918e-02, 1.02054863e-02,-9.81343745e+00,-6.80110547e-02,
 -1.79137836e-02,-2.46824102e-03]


--- Step 2662 ---
qpos:
[ 0.01635289, 0.29747049,-0.08854079, 0.87095375,-0.03409116, 0.13976297,
 -0.22389979, 0.67424586, 0.01526552, 1.31177756,-0.02326809, 0.95430139,
  1.03030157, 0.00274119, 1.22599864, 0.04521536, 0.07406853,-0.06843607,
  0.1477026 , 0.96143833,-0.07402269,-0.01776228, 0.26427539]

qacc:
[-5.11392555e+01,-1.00500904e+01, 4.51844550e+01,-2.30385271e+02,
 -5.36684651e+02, 1.82048004e+02,-5.68398549e+02,-6.42364357e+01,
 -6.53941614e-02,-1.39095162e+01, 2.95919095e+01,-2.80908544e+01,
  7.23549117e-01,-2.40488874e+00,-3.20957624e+00, 1.04988851e+01,
 -8.47322175e-01,-2.63030013e+00,-9.39144573e-01, 1.87818534e+01,
  8.88583366e+00,-5.64923913e+01]

qfrc_actuator:
[-0.02516135, 0.21044483, 0.06769344, 0.01680177, 0.0261548 , 0.48649707,
  0.2060926 , 0.22168256,-0.00296556, 0.06162699, 0.01048704, 0.002133  ,
  0.03006316, 0.00128492, 0.        ,-0.00122042, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.3409774 ,  0.28075103, -0.3409774 ,  0.38736461,
       -0.06597464,  0.28075103, -0.06597464,  0.3615588 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001024743135920648
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.31311942e-01, -6.82026256e-01, -4.79886231e-03, -3.50950573e-03,
       -3.27298778e-03,  9.99988485e-01, -6.82034109e-01,  7.31320363e-01,
        4.33680869e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08226758, -0.03320741,  0.13267334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015105134248290211
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77539711e-01, -2.00157039e-01, -6.59793353e-02, -1.99702672e-01,
        9.79763829e-01, -1.34789916e-02,  6.73420812e-02, -1.73472348e-18,
       -9.97729945e-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([ 0.10904695, -0.0829703 ,  0.11614549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035153168090409914
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.22064072e-14, -1.20901550e-13,  1.00000000e+00,  2.68478905e-27,
        1.00000000e+00,  1.20901550e-13, -1.00000000e+00,  0.00000000e+00,
        2.22064072e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04753265, -0.04073298,  0.06199246])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.82182194e-02, 1.49559535e-01, 5.35107333e-02,-2.22484152e-02,
  1.43949954e-02, 2.90239027e-01, 8.61495520e-02, 2.99281632e-02,
 -1.90519475e-05,-1.38651452e-03,-3.48158554e-04,-9.33991494e-05,
 -1.87149162e-04,-2.02054341e-04,-1.21418235e-05, 4.67908824e-05,
 -2.72134002e-02, 1.23981900e-02,-9.81446736e+00,-6.80232677e-02,
 -1.80442397e-02,-2.39560693e-03]


--- Step 2663 ---
qpos:
[ 0.01613456, 0.2984115 ,-0.08837013, 0.87167031,-0.03402535, 0.14329917,
 -0.22182081, 0.67796688, 0.01526666, 1.31232557,-0.02326992, 0.95430907,
  1.03097073, 0.00279654, 1.22615537, 0.04522502, 0.07379493,-0.06853669,
  0.14776455, 0.96195345,-0.07444255,-0.01857635, 0.26221897]

qacc:
[-4.46643097e+01,-7.73908035e+00,-1.60896813e+01,-6.29504021e+01,
 -3.86702785e+02, 7.79952708e+01,-5.70214106e+02, 1.88460659e+02,
 -4.82769592e-02,-1.24743686e+01, 2.50343971e+01,-2.16169633e+01,
 -5.39191245e-02,-1.05581357e+00,-4.87837860e+00, 1.65674634e+01,
  3.32772486e+00, 1.00686075e-01, 1.24418300e+00,-1.90197366e+01,
 -2.09765347e+01, 3.36132359e+01]

qfrc_actuator:
[-0.02496792, 0.21026057, 0.06753817, 0.01640586, 0.02601561, 0.48516613,
  0.20383314, 0.22026015,-0.00296882, 0.06112542, 0.01045176, 0.00210576,
  0.03000929, 0.00123828, 0.        ,-0.00114167, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43960345, -0.33558204,  0.28396458, -0.33558204,  0.44481949,
        0.00616418,  0.28396458,  0.00616418,  0.44688812,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009525662439580178
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.73475578, -0.67829772, -0.00679367, -0.0049918 , -0.00460824,
        0.99997692, -0.67831337,  0.73477273,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08208731, -0.03319597,  0.13272232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001836883901852018
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78381848e-01, -1.96832093e-01, -6.34514545e-02, -1.96419459e-01,
        9.80437212e-01, -1.27384828e-02,  6.47175094e-02, -1.73472348e-18,
       -9.97903625e-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([ 0.10848121, -0.08292914,  0.11634713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 9.54683874, -3.6004674 , -8.84187561, -3.6004674 , 12.10780623,
       -1.04284208, -8.84187561, -1.04284208,  9.9714906 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003613168947727008
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.84089092e-14, -7.68178184e-14,  1.00000000e+00,  2.95048861e-27,
        1.00000000e+00,  7.68178184e-14, -1.00000000e+00,  0.00000000e+00,
        3.84089092e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03791333, -0.06431192,  0.06199226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64174760e-02, 1.50193665e-01, 5.40667162e-02,-2.18083901e-02,
  1.91086287e-02, 2.91876393e-01, 9.03771010e-02, 3.08282405e-02,
 -1.41408558e-05,-1.34333201e-03,-3.49079534e-04,-7.98759728e-05,
 -1.96899464e-04,-1.48676799e-04,-4.76199680e-06, 7.88212546e-05,
 -2.88394944e-02, 1.45394528e-02,-9.81543342e+00,-6.80337784e-02,
 -1.81241278e-02,-2.31990993e-03]


--- Step 2664 ---
qpos:
[ 0.01589327, 0.29932059,-0.08821599, 0.87237842,-0.03402759, 0.14659617,
 -0.21991623, 0.68164862, 0.01526757, 1.31286293,-0.02327249, 0.95431535,
  1.0316388 , 0.00285034, 1.22631196, 0.0452362 , 0.07353271,-0.06863611,
  0.14783025, 0.96244272,-0.07487873,-0.01942346, 0.26023051]

qacc:
[-3.61690587e+01,-1.09866299e+01, 4.43680274e+00,-8.35248014e+01,
 -3.54564563e+02, 7.74907427e+01,-5.48293811e+02, 1.88922506e+02,
 -9.70587328e-02,-1.44443290e+01, 3.30922206e+01,-3.83869078e+01,
  2.79271123e-01,-1.65349181e+00,-4.87349613e+00, 1.66119320e+01,
  2.84563289e+00, 3.00178529e-01, 9.37185046e-01,-1.25172481e+01,
 -1.65248384e+01, 3.50011358e+01]

qfrc_actuator:
[-0.02471209, 0.2100806 , 0.0673538 , 0.01617089, 0.02594904, 0.48417173,
  0.20175664, 0.21847606,-0.00298891, 0.06059388, 0.01041411, 0.00203342,
  0.02994762, 0.00115337, 0.        ,-0.00106368, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.42985631, -0.32572404,  0.28050009, -0.32572404,  0.42923329,
       -0.00072347,  0.28050009, -0.00072347,  0.4290162 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008857443880367522
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.38024428e-01, -6.74716815e-01, -8.78430649e-03, -6.48328291e-03,
       -5.92714798e-03,  9.99961417e-01, -6.74742848e-01,  7.38052904e-01,
       -8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191553, -0.03318605,  0.13276846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.14744739,  0.41634841, -0.14744739,  2.02422818,
        0.5604481 ,  0.41634841,  0.5604481 ,  0.6401657 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021422232386384397
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79160811e-01, -1.93610842e-01, -6.13102611e-02, -1.93232414e-01,
        9.81078408e-01, -1.20992687e-02,  6.24927229e-02, -1.73472348e-18,
       -9.98045420e-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([ 0.10795314, -0.08289114,  0.11653934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 9.67252743,  3.91976966,  8.84269149,  3.91976966, 20.71077702,
       -4.89301203,  8.84269149, -4.89301203, 11.8414915 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037533617760923677
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10922863e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.10922863e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03783938, -0.06428329,  0.06199196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47517912e-02, 1.51892401e-01, 5.49179537e-02,-2.16147854e-02,
  2.26532725e-02, 3.03512176e-01, 9.74506749e-02, 3.11343592e-02,
 -2.80976799e-05,-1.34910902e-03,-3.42708111e-04,-1.23427613e-04,
 -1.96881388e-04,-1.74180286e-04, 1.42514163e-06, 8.06334220e-05,
 -2.79887855e-02, 1.29712809e-02,-9.81497960e+00,-6.79274838e-02,
 -1.83466407e-02,-2.21678543e-03]


--- Step 2665 ---
qpos:
[ 0.01562963, 0.30020981,-0.08807356, 0.87307867,-0.03409376, 0.14966896,
 -0.21817646, 0.68529362, 0.01526824, 1.31338974,-0.02327562, 0.95432071,
  1.0323058 , 0.0029022 , 1.22646869, 0.04524689, 0.07328035,-0.06873367,
  0.14789869, 0.96290666,-0.07532346,-0.02029408, 0.25831238]

qacc:
[-3.50650982e+01,-7.13039890e+00, 9.86784808e+00,-8.95568917e+01,
 -3.24045688e+02, 7.61620492e+01,-5.25955062e+02, 1.88409123e+02,
 -9.84594785e-02,-1.39444378e+01, 3.06160826e+01,-3.06109648e+01,
  3.95443803e-01,-2.01579263e+00, 1.64098238e+00,-5.60383767e+00,
  2.46345208e+00, 4.65505769e-01, 6.87035796e-01,-7.43066562e+00,
 -1.30760423e+01, 3.63397930e+01]

qfrc_actuator:
[-0.02444829, 0.21000095, 0.06722696, 0.0161068 , 0.02595083, 0.48321642,
  0.19985354, 0.21671984,-0.00300119, 0.06008416, 0.01039299, 0.00198835,
  0.0298813 , 0.00104634, 0.        ,-0.00109328, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.41445351, -0.31179096,  0.27305331, -0.31179096,  0.42399832,
        0.01089892,  0.27305331,  0.01089892,  0.42689864,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008236228920434103
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.41125817e-01, -6.71279852e-01, -1.07648821e-02, -7.97859432e-03,
       -7.22666718e-03,  9.99942057e-01, -6.71318750e-01,  7.41168763e-01,
        8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175113, -0.03317755,  0.13281232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.16350374,  0.41030874, -0.16350374,  2.15306466,
        0.68196638,  0.41030874,  0.68196638,  0.7134427 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002426628941808915
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79881723e-01, -1.90492486e-01, -5.95350552e-02, -1.90141858e-01,
        9.81688654e-01, -1.15525229e-02,  6.06455570e-02, -1.73472348e-18,
       -9.98159364e-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([ 0.10745975, -0.08285637,  0.11672232])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 9.78882522,  4.02026171,  8.92516639,  4.02026171, 23.75911325,
       -6.29279183,  8.92516639, -6.29279183, 12.62335726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038757815905160475
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.58064238e-14, -7.16128475e-14,  1.00000000e+00,  2.56419997e-27,
        1.00000000e+00,  7.16128475e-14, -1.00000000e+00,  0.00000000e+00,
        3.58064238e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0377816 , -0.06426143,  0.0619917 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33418756e-02, 1.53376575e-01, 5.56062037e-02,-2.12574716e-02,
  2.60633141e-02, 3.14366521e-01, 1.04193816e-01, 3.13331368e-02,
 -2.85034512e-05,-1.33045061e-03,-3.27845464e-04,-9.71712707e-05,
 -2.07442433e-04,-2.03556488e-04, 4.33973793e-06,-2.61080399e-05,
 -2.69253428e-02, 1.15730358e-02,-9.81454190e+00,-6.78989952e-02,
 -1.84609989e-02,-2.11536154e-03]


--- Step 2666 ---
qpos:
[ 0.01534716, 0.30108832,-0.08793898, 0.87377101,-0.03421956, 0.15253042,
 -0.21659288, 0.68890423, 0.01526902, 1.31390576,-0.02327766, 0.9543282 ,
  1.03297145, 0.00295306, 1.22662606, 0.04525212, 0.07303662,-0.06882881,
  0.14796907, 0.96334565,-0.07577062,-0.02118087, 0.25646704]

qacc:
[-2.94312984e+01,-5.51613854e+00, 1.95339946e+01,-1.05248983e+02,
 -2.94661479e+02, 7.43284136e+01,-5.04868920e+02, 1.88309235e+02,
  4.18293833e-02,-1.34245246e+01, 2.24281216e+01, 1.17520626e+01,
 -8.38999212e-01,-1.70570523e-02, 1.74816900e+01,-5.96696727e+01,
  2.15755609e+00, 6.03965742e-01, 4.82818634e-01,-3.46349684e+00,
 -1.04659529e+01, 3.76822062e+01]

qfrc_actuator:
[-0.02417115, 0.21008871, 0.06711865, 0.01589947, 0.02601672, 0.48256055,
  0.1980969 , 0.21501126,-0.00297319, 0.05959169, 0.01047066, 0.00210174,
  0.02982821, 0.00101579, 0.        ,-0.00138131, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.39593139, -0.29612254,  0.26281763, -0.29612254,  0.40712858,
        0.01261612,  0.26281763,  0.01261612,  0.41014626,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007663830850618939
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7440606 , -0.66799094, -0.01272505, -0.00946897, -0.0085009 ,
        0.99991903, -0.66804503,  0.74412085,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08159269, -0.03317053,  0.13285479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.17632193,  0.40496581, -0.17632193,  2.29954525,
        0.80891096,  0.40496581,  0.80891096,  0.7938857 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0027112919641741305
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98054907, -0.18747604, -0.05810551, -0.18714775,  0.98226918,
       -0.01109003,  0.05915436,  0.        , -0.99824885])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10699839, -0.08282482,  0.11689626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 9.89443753,  4.12742271,  8.99245661,  4.12742271, 27.81965   ,
       -8.22744355,  8.99245661, -8.22744355, 13.67072902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039815081921389106
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04566816e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.04566816e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03773647, -0.0642449 ,  0.06199148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19492834e-02, 1.54426344e-01, 5.60719140e-02,-2.10737594e-02,
  2.93299317e-02, 3.24781842e-01, 1.10609337e-01, 3.14525364e-02,
  1.15366939e-05,-1.29910507e-03,-2.22929191e-04, 6.28659200e-05,
 -2.06826848e-04,-1.37771705e-04,-6.83179960e-06,-2.90251823e-04,
 -2.56923262e-02, 1.02990885e-02,-9.81412605e+00,-6.79304098e-02,
 -1.84934995e-02,-2.01572066e-03]


--- Step 2667 ---
qpos:
[ 0.01504908, 0.30196835,-0.08780971, 0.874455  ,-0.03440069, 0.15519237,
 -0.21515772, 0.69248259, 0.01526998, 1.31441074,-0.02327919, 0.95433774,
  1.0336358 , 0.00300325, 1.22678349, 0.04525321, 0.07280052,-0.0689211 ,
  0.14804071, 0.96376011,-0.07621559,-0.02207817, 0.25469627]

qacc:
[-2.43219090e+01, 2.97010563e+00, 1.24850774e+01,-1.13183025e+02,
 -2.66927601e+02, 7.29841773e+01,-4.86680667e+02, 1.89260294e+02,
  8.36464711e-02,-1.23301922e+01, 1.85843647e+01, 1.44348669e+01,
 -9.00674699e-01, 2.79650895e-01, 1.27103701e+01,-4.41913358e+01,
  1.90997731e+00, 7.12589121e-01, 3.17107964e-01,-4.34583647e-01,
 -8.43207206e+00, 3.86458414e+01]

qfrc_actuator:
[-0.02386282, 0.21047099, 0.06696904, 0.0156449 , 0.02616011, 0.48260496,
  0.19652095, 0.21345014,-0.00295675, 0.0590075 , 0.01048193, 0.002201  ,
  0.02977779, 0.00099547, 0.        ,-0.00158845, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.37632063, -0.28014722,  0.2512663 , -0.28014722,  0.38998337,
        0.01523315,  0.2512663 ,  0.01523315,  0.39330471,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007140008824167238
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.46830440e-01, -6.64852937e-01, -1.46582855e-02, -1.09484301e-02,
       -9.74665135e-03,  9.99892562e-01, -6.64924376e-01,  7.46910687e-01,
        8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08143907, -0.0331649 ,  0.13289656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.18635871,  0.40044621, -0.18635871,  2.44380198,
        0.93173989,  0.40044621,  0.93173989,  0.87529714,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002998764687417978
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80896596e-01, -1.86068108e-01, -5.67496949e-02, -1.85757484e-01,
        9.82536849e-01, -1.07469846e-02,  5.77583375e-02,  1.73472348e-18,
       -9.98330594e-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([ 0.10656956, -0.082813  ,  0.11706414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([  9.9886724 ,   4.24742317,   9.040629  ,   4.24742317,
        33.38776892, -10.99324668,   9.040629  , -10.99324668,
        15.15346465,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00040718603150900756
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02246541e-13, -6.81643609e-14,  1.00000000e+00,  6.96957015e-27,
        1.00000000e+00,  6.81643609e-14, -1.00000000e+00,  0.00000000e+00,
        1.02246541e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03770125, -0.06423257,  0.0619913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07015559e-02, 1.55313005e-01, 5.63037121e-02,-2.09342138e-02,
  3.24588896e-02, 3.35261867e-01, 1.16779409e-01, 3.16024472e-02,
  2.35114428e-05,-1.34814275e-03,-2.66583820e-04, 5.64557739e-05,
 -1.89206791e-04,-1.08320706e-04,-4.25969129e-05,-2.25769011e-04,
 -2.43294823e-02, 9.11650448e-03,-9.81373059e+00,-6.80075050e-02,
 -1.84644999e-02,-1.91775010e-03]


--- Step 2668 ---
qpos:
[ 0.01473725, 0.30286041,-0.08768291, 0.87513042,-0.03463269, 0.15766454,
 -0.21386398, 0.69603072, 0.01527085, 1.31490484,-0.02328051, 0.95434739,
  1.03429879, 0.00305281, 1.22694037, 0.04525443, 0.07257128,-0.06901017,
  0.14811308, 0.96415031,-0.07665478,-0.02298173, 0.25300212]

qacc:
[-2.13552078e+01, 8.83179133e+00, 1.08067134e+01,-1.21897391e+02,
 -2.40035908e+02, 7.06490109e+01,-4.68386228e+02, 1.90341225e+02,
 -4.06914045e-02,-1.47358275e+01, 3.06283164e+01,-1.87247743e+01,
 -6.23770624e-01,-4.91960390e-02,-1.19003620e+00, 3.06158373e+00,
  1.71143631e+00, 8.06980782e-01, 1.82609282e-01, 1.91062945e+00,
 -6.93547949e+00, 3.97063738e+01]

qfrc_actuator:
[-0.02353147, 0.21100429, 0.066813  , 0.01538336, 0.02640505, 0.48259191,
  0.19507263, 0.21198911,-0.0029829 , 0.05846162, 0.010489  , 0.00220225,
  0.02970771, 0.00096361, 0.        ,-0.00156866, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.35719908, -0.26475791,  0.23977996, -0.26475791,  0.37746174,
        0.02237343,  0.23977996,  0.02237343,  0.38190316,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006667777439874343
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.74943505, -0.66187081, -0.01655701, -0.0124101 , -0.0109601 ,
        0.99986292, -0.66196155,  0.74953779,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08128902, -0.03316055,  0.13293841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.19173067,  0.3979021 , -0.19173067,  2.61373966,
        1.04661234,  0.3979021 ,  1.04661234,  0.94600044,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003282578816128022
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98150796, -0.1830538 , -0.05597703, -0.18275682,  0.9831029 ,
       -0.01042292,  0.05693913,  0.        , -0.99837765])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10616538, -0.08278546,  0.1172204 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.07134688,   4.38645879,   9.06592561,   4.38645879,
        41.16230038, -15.04305155,   9.06592561, -15.04305155,
        17.34977918,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004148269070051863
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.34544061e-14, -1.33817624e-13,  1.00000000e+00, -4.47678915e-27,
        1.00000000e+00,  1.33817624e-13, -1.00000000e+00,  0.00000000e+00,
       -3.34544061e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03767375, -0.06422353,  0.06199114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.59185256e-03, 1.55740095e-01, 5.64023692e-02,-2.07799990e-02,
  3.54734763e-02, 3.45102424e-01, 1.22693955e-01, 3.17451696e-02,
 -1.20369440e-05,-1.34557295e-03,-2.85487914e-04,-4.44511897e-05,
 -1.93231769e-04,-1.07164366e-04,-4.96009428e-05, 6.97438855e-07,
 -2.28890556e-02, 8.01550999e-03,-9.81335403e+00,-6.81189971e-02,
 -1.83923618e-02,-1.82129113e-03]


--- Step 2669 ---
qpos:
[ 0.014413  , 0.30376821,-0.08755462, 0.87579744,-0.03491108, 0.15995495,
 -0.21270483, 0.69955056, 0.01527139, 1.31538863,-0.0232819 , 0.95435557,
  1.0349603 , 0.00310213, 1.22709685, 0.0452568 , 0.07234826,-0.0690957 ,
  0.14818573, 0.96451647,-0.07708534,-0.02388819, 0.25138653]

qacc:
[-1.92059219e+01, 3.37287711e+00, 3.42466406e+01,-1.42723569e+02,
 -2.14363079e+02, 6.65848509e+01,-4.46995961e+02, 1.89439221e+02,
 -1.40417291e-01,-1.58319598e+01, 3.82741776e+01,-4.36929400e+01,
 -9.08643139e-01, 5.07751690e-01,-4.01935389e+00, 1.33479667e+01,
  1.55773665e+00, 8.82849238e-01, 6.89166135e-02, 3.77479318e+00,
 -5.78158366e+00, 4.07008611e+01]

qfrc_actuator:
[-0.02321744, 0.21129751, 0.06668789, 0.01506792, 0.02669309, 0.48224167,
  0.19375323, 0.21010193,-0.00301663, 0.0579785 , 0.01049363, 0.00212807,
  0.02964187, 0.00096055, 0.        ,-0.0015041 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.3396495 , -0.25073969,  0.22911   , -0.25073969,  0.36781952,
        0.03082947,  0.22911   ,  0.03082947,  0.37338951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006250510871393666
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.51873320e-01, -6.59050383e-01, -1.84147495e-02, -1.38479070e-02,
       -1.21383060e-02,  9.99830434e-01, -6.59162155e-01,  7.52000834e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08114146, -0.03315742,  0.13298106])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.194882  ,  0.39636819, -0.194882  ,  2.77447248,
        1.14695895,  0.39636819,  1.14695895,  1.00561053,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035557859217210685
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82071819e-01, -1.80152261e-01, -5.54986872e-02, -1.79865282e-01,
        9.83638736e-01, -1.01645184e-02,  5.64218195e-02, -1.73472348e-18,
       -9.98407020e-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([ 0.10578743, -0.08276112,  0.11736823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.14268359,   4.55638695,   9.06164269,   4.55638695,
        52.62057814, -21.35879014,   9.06164269, -21.35879014,
        20.8823382 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00042121893399572896
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.88401994e-14, -1.31786933e-13,  1.00000000e+00, -1.30258467e-26,
        1.00000000e+00,  1.31786933e-13, -1.00000000e+00,  0.00000000e+00,
       -9.88401994e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03765229, -0.06421704,  0.06199101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.59246748e-03, 1.55400103e-01, 5.63902252e-02,-2.06689274e-02,
  3.83079691e-02, 3.54128461e-01, 1.28391197e-01, 3.13610985e-02,
 -4.05400147e-05,-1.28800189e-03,-2.92510708e-04,-1.22715594e-04,
 -1.90247100e-04,-7.91969157e-05,-2.61524688e-05, 5.75291107e-05,
 -2.13974874e-02, 6.97843563e-03,-9.81299009e+00,-6.82566651e-02,
 -1.82887351e-02,-1.72615873e-03]


--- Step 2670 ---
qpos:
[ 0.01407833, 0.3046956 ,-0.08742191, 0.87645594,-0.03523145, 0.16207113,
 -0.21167346, 0.70304402, 0.01527186, 1.31586281,-0.02328474, 0.95436316,
  1.03562051, 0.00315123, 1.22725317, 0.04525988, 0.07213101,-0.06917748,
  0.14825827, 0.9648589 ,-0.07750504,-0.02479485, 0.24985094]

qacc:
[-1.60666491e+01, 5.01232191e-01, 5.01624973e+01,-1.60662215e+02,
 -1.90256310e+02, 6.18211487e+01,-4.23964806e+02, 1.86633239e+02,
 -2.81358353e-02,-9.72283493e+00, 1.76701355e+01,-1.61049257e+01,
 -8.24314770e-01, 4.64073850e-01,-2.33323824e+00, 7.94113815e+00,
  1.44126017e+00, 9.38201843e-01,-2.85106620e-02, 5.25640374e+00,
 -4.82493363e+00, 4.14318907e+01]

qfrc_actuator:
[-0.02289187, 0.2115092 , 0.06657836, 0.0147234 , 0.02700511, 0.4818635 ,
  0.19256093, 0.20777394,-0.00300137, 0.05751904, 0.01042601, 0.00209893,
  0.02958928, 0.00095687, 0.        ,-0.001467  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.32418512, -0.23852805,  0.21954581, -0.23852805,  0.35770845,
        0.03642181,  0.21954581,  0.03642181,  0.36375601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005887828349181801
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75414689, -0.65639414, -0.02022896, -0.01525873, -0.01328089,
        0.99979537, -0.65652848,  0.75430124,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08099581, -0.03315552,  0.13302489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.19509888,  0.39626148, -0.19509888,  2.94130014,
        1.23068202,  0.39626148,  1.23068202,  1.04761111,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003814700273240491
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82589684e-01, -1.77367992e-01, -5.53001691e-02, -1.77087756e-01,
        9.84144601e-01, -9.96650284e-03,  5.61911015e-02,  1.73472348e-18,
       -9.98420032e-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([ 0.10543428, -0.08273991,  0.11750779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.2033092 ,   4.77771679,   9.01559431,   4.77771679,
        70.70623332, -32.06287092,   9.01559431, -32.06287092,
        27.1946812 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004265127050676748
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30151225e-13, -6.50756127e-14,  1.00000000e+00, -8.46967074e-27,
        1.00000000e+00,  6.50756127e-14, -1.00000000e+00,  0.00000000e+00,
       -1.30151225e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03763553, -0.06421255,  0.0619909 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.64814958e-03, 1.54793745e-01, 5.61945857e-02,-2.05953852e-02,
  4.09414978e-02, 3.62732422e-01, 1.33878093e-01, 3.04384780e-02,
 -8.33391349e-06,-1.23611515e-03,-3.56602522e-04,-7.80255055e-05,
 -1.68328749e-04,-7.13825654e-05,-1.01591930e-05, 3.59888508e-05,
 -1.98808082e-02, 5.99937493e-03,-9.81263518e+00,-6.84146437e-02,
 -1.81626766e-02,-1.63225235e-03]


--- Step 2671 ---
qpos:
[ 0.01373507, 0.30564747,-0.08728296, 0.87710562,-0.0355895 , 0.16402028,
 -0.21076308, 0.70651292, 0.01527251, 1.31632785,-0.02328875, 0.954371  ,
  1.03627961, 0.00319967, 1.2274099 , 0.04525935, 0.07191917,-0.06925536,
  0.14833036, 0.96517798,-0.07791215,-0.02569944, 0.24839627]

qacc:
[-1.31860477e+01, 1.55156723e+00, 5.53123643e+01,-1.72189063e+02,
 -1.67739797e+02, 5.65625783e+01,-3.99581021e+02, 1.82014078e+02,
  7.82465439e-02,-8.45541549e+00, 1.26363929e+01,-2.56945903e+00,
 -7.26683206e-01, 1.31531269e-01, 1.16018166e+01,-3.95884601e+01,
  1.35426231e+00, 9.75371997e-01,-1.11933684e-01, 6.42913953e+00,
 -4.00057795e+00, 4.18736981e+01]

qfrc_actuator:
[-0.0225564 , 0.21169732, 0.06643916, 0.01436492, 0.02734565, 0.48149826,
  0.19152743, 0.2051021 ,-0.00297462, 0.05711271, 0.01038744, 0.00211425,
  0.02952871, 0.00091741, 0.        ,-0.00165944, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.31104671, -0.22823283,  0.21132873, -0.22823283,  0.34970805,
        0.04175384,  0.21132873,  0.04175384,  0.35614043,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005579632064288899
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75625751, -0.6539042 , -0.02199736, -0.0166397 , -0.01438765,
        0.99975803, -0.65406246,  0.75644054,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08085155, -0.03315484,  0.13307024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.19195185,  0.39779545, -0.19195185,  3.12967881,
        1.29706148,  0.39779545,  1.29706148,  1.0675691 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004057126442707658
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98306292, -0.17470506, -0.05536638, -0.17442864,  0.98462081,
       -0.00982387,  0.05623117,  0.        , -0.99841778])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10510463, -0.08272174,  0.11763926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 10.25415845,   5.07724069,   8.90895013,   5.07724069,
        67.9582479 , -32.88575497,   8.90895013, -32.88575497,
        28.995861  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004308590506666571
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.22095771e-14,  1.28838308e-13,  1.00000000e+00,  4.14982743e-27,
        1.00000000e+00, -1.28838308e-13, -1.00000000e+00,  0.00000000e+00,
       -3.22095771e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03762243, -0.06420958,  0.06199082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.79341238e-03, 1.53970136e-01, 5.58234378e-02,-2.05297986e-02,
  4.33822796e-02, 3.70981712e-01, 1.39187760e-01, 2.90778355e-02,
  2.21147976e-05,-1.16539446e-03,-3.23375087e-04,-3.28653318e-05,
 -1.63045948e-04,-9.98464977e-05,-5.89825075e-06,-1.92860645e-04,
 -1.83673463e-02, 5.08124417e-03,-9.81228830e+00,-6.85883297e-02,
 -1.80222883e-02,-1.53952368e-03]


--- Step 2672 ---
qpos:
[ 0.01338528, 0.30662557,-0.08713609, 0.87774622,-0.03598104, 0.16580983,
 -0.20996696, 0.70995897, 0.0152734 , 1.31678354,-0.02329288, 0.95437755,
  1.03693772, 0.00324684, 1.22756627, 0.04525919, 0.07171249,-0.06932924,
  0.14840172, 0.96547416,-0.0783054 ,-0.02660016, 0.24702294]

qacc:
[-9.98887708e+00,-1.01317349e+00, 6.71010331e+01,-1.86665077e+02,
 -1.46677127e+02, 5.16821879e+01,-3.75808041e+02, 1.76587265e+02,
  1.02364542e-01,-1.41665496e+01, 3.39615124e+01,-3.84358013e+01,
  1.04055293e-01,-1.21994671e+00,-1.73232181e+00, 5.17763378e+00,
  1.28615829e+00, 9.98911261e-01,-1.81170321e-01, 7.32432237e+00,
 -3.31755719e+00, 4.20744088e+01]

qfrc_actuator:
[-0.02221267, 0.21175205, 0.06627856, 0.01393075, 0.02769805, 0.48139854,
  0.19066902, 0.20237472,-0.00295893, 0.05665288, 0.01038435, 0.00204916,
  0.02946337, 0.00083926, 0.        ,-0.00163049, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.3003531 , -0.21991529,  0.20457089, -0.21991529,  0.34307779,
        0.04592937,  0.20457089,  0.04592937,  0.34972753,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005326923226715798
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7582066 , -0.65158288, -0.0237172 , -0.0179876 , -0.01545807,
        0.99971871, -0.65176621,  0.75841994,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08070812, -0.03315531,  0.13311747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.1857072 ,  0.40074876, -0.1857072 ,  3.34194266,
        1.34398049,  0.40074876,  1.34398049,  1.06448757,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004281853624695593
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98349282, -0.17216688, -0.05568151, -0.17189161,  0.9850678 ,
       -0.00973183,  0.05652557,  0.        , -0.99840115])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10479727, -0.08270649,  0.11776288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004344036254559508
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58402761e-14, -6.38935174e-14,  1.00000000e+00, -6.12357235e-27,
        1.00000000e+00,  6.38935174e-14, -1.00000000e+00,  0.00000000e+00,
       -9.58402761e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03761218, -0.06420779,  0.06199075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.02244696e-03, 1.52767576e-01, 5.53390593e-02,-2.05249854e-02,
  4.56193805e-02, 3.79143571e-01, 1.44335940e-01, 2.75708251e-02,
  2.89553000e-05,-1.17188731e-03,-2.68970390e-04,-1.09180749e-04,
 -1.72407968e-04,-1.45130216e-04,-3.05002308e-05, 1.60614130e-05,
 -1.68814874e-02, 4.22839239e-03,-9.81194949e+00,-6.87739401e-02,
 -1.78742816e-02,-1.44794749e-03]


--- Step 2673 ---
qpos:
[ 0.01303027, 0.30763133,-0.08697962, 0.87837768,-0.0364027 , 0.16747441,
 -0.20927008, 0.71338426, 0.01527451, 1.31722987,-0.02329623, 0.95438359,
  1.03759468, 0.00329301, 1.22772199, 0.04526302, 0.07151075,-0.069399  ,
  0.14847214, 0.96574761,-0.07868367,-0.02749566, 0.24573243]

qacc:
[-7.95826250e+00,-3.72205545e+00, 7.84193005e+01,-1.98198105e+02,
 -1.30034556e+02, 6.07171475e+01,-3.52910434e+02, 1.51433806e+02,
  9.28417186e-02,-1.52808443e+01, 3.60844805e+01,-3.15294874e+01,
  7.51363544e-02,-1.06650708e+00,-1.30215664e+01, 4.40908305e+01,
  1.23898807e+00, 1.03004911e+00,-2.36806052e-01, 8.08306744e+00,
 -2.87612781e+00, 4.27880922e+01]

qfrc_actuator:
[-0.02186259, 0.21166195, 0.06611871, 0.01350822, 0.02810395, 0.48226313,
  0.18988634, 0.19979964,-0.00295002, 0.05621807, 0.01043748, 0.00202601,
  0.02940585, 0.00079201, 0.        ,-0.00141801, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.29204351, -0.2134218 ,  0.19935031, -0.2134218 ,  0.34167424,
        0.053134  ,  0.19935031,  0.053134  ,  0.34892806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005128557236863798
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.59997461e-01, -6.49429996e-01, -2.53877991e-02, -1.93008840e-02,
       -1.64929143e-02,  9.99677678e-01, -6.49639389e-01,  7.60242504e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08056523, -0.0331569 ,  0.13316675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.17707361,  0.4046377 , -0.17707361,  3.1397218 ,
        1.18068808,  0.4046377 ,  1.18068808,  0.95836747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004032593016830819
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84151925e-01, -1.68620274e-01, -5.48834324e-02, -1.68358681e-01,
        9.85681086e-01, -9.38889821e-03,  5.56807198e-02, -1.73472348e-18,
       -9.98448625e-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([ 0.10450747, -0.08268217,  0.11789305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000437282450690038
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.1736439e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        3.1736439e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03760415, -0.06420688,  0.06199069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.34810168e-03, 1.51332374e-01, 5.47715607e-02,-2.04957144e-02,
  4.77003222e-02, 3.87905367e-01, 1.49227863e-01, 2.61296722e-02,
  2.62021909e-05,-1.14201127e-03,-2.10055949e-04,-6.76366761e-05,
 -1.79864288e-04,-1.29367023e-04,-1.59891904e-05, 2.08660022e-04,
 -1.54428167e-02, 3.44327302e-03,-9.81161847e+00,-6.89680375e-02,
 -1.77241662e-02,-1.35747234e-03]


--- Step 2674 ---
qpos:
[ 0.01267044, 0.30866747,-0.08681293, 0.87899989,-0.03685058, 0.16902216,
 -0.20866693, 0.71678999, 0.01527578, 1.3176675 ,-0.02329861, 0.95438855,
  1.0382504 , 0.00333848, 1.22787767, 0.04526865, 0.0713138 ,-0.06946464,
  0.14854142, 0.9659989 ,-0.0790464 ,-0.02838477, 0.24452422]

qacc:
[-7.30685957e+00,-1.97234372e+00, 7.73247593e+01,-2.00448596e+02,
 -1.11631766e+02, 5.89565914e+01,-3.36729331e+02, 1.45096254e+02,
  7.26629518e-02,-1.59183091e+01, 4.02991751e+01,-4.19332528e+01,
 -4.01474328e-01,-3.27427297e-01,-5.51440915e+00, 1.92231684e+01,
  1.19590003e+00, 1.03253190e+00,-2.82373206e-01, 8.55096183e+00,
 -2.36186249e+00, 4.25067755e+01]

qfrc_actuator:
[-0.02152516, 0.21154405, 0.06593669, 0.01313187, 0.02855198, 0.48394854,
  0.18919752, 0.19723423,-0.00294525, 0.05583752, 0.01050574, 0.00197451,
  0.02934776, 0.00076354, 0.        ,-0.00132995, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.28604323, -0.20861779,  0.1957022 , -0.20861779,  0.34487844,
        0.0627181 ,  0.1957022 ,  0.0627181 ,  0.35290049,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004983839144447166
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.61631429e-01, -6.47447375e-01, -2.70085672e-02, -2.05780804e-02,
       -1.74930073e-02,  9.99635202e-01, -6.47683649e-01,  7.61909372e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08042263, -0.03315958,  0.13321825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.44168624, -0.17773237,  0.40434878, -0.17773237,  4.05959208,
        1.59025825,  0.40434878,  1.59025825,  1.14068765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004182000540041038
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98439063, -0.16694332, -0.05572267, -0.1666765 ,  0.98596649,
       -0.00943493,  0.05651579,  0.        , -0.99840171])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1042399 , -0.08267872,  0.11800182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000439609325106019
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26273826e-13, -6.31369128e-14,  1.00000000e+00, -7.97253951e-27,
        1.00000000e+00,  6.31369128e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26273826e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03759783, -0.06420663,  0.06199065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.75176947e-03, 1.49796747e-01, 5.40971049e-02,-2.04169938e-02,
  4.96549330e-02, 3.95762729e-01, 1.53464969e-01, 2.45942045e-02,
  2.04406074e-05,-1.05841701e-03,-1.81167322e-04,-9.24176527e-05,
 -1.79765941e-04,-1.08180869e-04, 1.20987138e-05, 9.68348643e-05,
 -1.40451715e-02, 2.71387661e-03,-9.81128830e+00,-6.91696182e-02,
 -1.75723557e-02,-1.26807044e-03]


--- Step 2675 ---
qpos:
[ 0.01230782, 0.30973247,-0.08663562, 0.87961266,-0.03732082, 0.17046006,
 -0.20815249, 0.72017727, 0.01527718, 1.31809644,-0.02329962, 0.95439353,
  1.03890491, 0.00338324, 1.22803329, 0.04527597, 0.07112147,-0.06952614,
  0.14860945, 0.96622858,-0.0793933 ,-0.02926669, 0.24339779]

qacc:
[-4.20772905e+00,-5.32062595e+00, 8.62264960e+01,-2.09210831e+02,
 -9.40012882e+01, 5.68543870e+01,-3.21159508e+02, 1.39451010e+02,
  5.20223150e-02,-1.50812699e+01, 3.53588867e+01,-2.49931175e+01,
 -3.50166126e-01,-3.92680506e-01,-5.18885381e+00, 1.80571412e+01,
  1.15472786e+00, 1.03312325e+00,-3.14897571e-01, 8.83048011e+00,
 -2.00766334e+00, 4.21997108e+01]

qfrc_actuator:
[-0.02115812, 0.21139568, 0.06577243, 0.01264498, 0.02901569, 0.4854937 ,
  0.18861695, 0.19509005,-0.002943  , 0.05542161, 0.01058257, 0.00197777,
  0.02928936, 0.00072869, 0.        ,-0.00124494, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.28240461, -0.20564281,  0.19355464, -0.20564281,  0.34580639,
        0.06736144,  0.19355464,  0.06736144,  0.35397301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004893249901776343
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63111310e-01, -6.45634897e-01, -2.85780963e-02, -2.18171795e-02,
       -1.84585554e-02,  9.99591563e-01, -6.45898706e-01,  7.63423121e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08028003, -0.03316337,  0.13327216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0043229230602447434
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84600327e-01, -1.65370277e-01, -5.66997970e-02, -1.65096756e-01,
        9.86231551e-01, -9.50736281e-03,  5.74913639e-02, -1.73472348e-18,
       -9.98346004e-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([ 0.10398875, -0.08267738,  0.11810518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004414935305998846
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.28674571e-14, -6.28674571e-14,  1.00000000e+00, -3.95231717e-27,
        1.00000000e+00,  6.28674571e-14, -1.00000000e+00,  0.00000000e+00,
       -6.28674571e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03759284, -0.06420686,  0.06199062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.14640208e-03, 1.48093043e-01, 5.34092288e-02,-2.04434690e-02,
  5.14296531e-02, 4.03078521e-01, 1.57538008e-01, 2.34203158e-02,
  1.45265153e-05,-1.04258171e-03,-1.53708939e-04,-3.49228040e-05,
 -1.74888784e-04,-1.08572583e-04, 1.03496877e-05, 9.06466097e-05,
 -1.27256879e-02, 2.05913072e-03,-9.81096693e+00,-6.93746345e-02,
 -1.74267275e-02,-1.17970811e-03]


--- Step 2676 ---
qpos:
[ 0.01194271, 0.31082933,-0.08644818, 0.88021587,-0.03780969, 0.17179536,
 -0.20772237, 0.72354713, 0.01527865, 1.31851672,-0.02330115, 0.95440035,
  1.0395581 , 0.00342773, 1.22818923, 0.04528192, 0.07093358,-0.06958352,
  0.14867615, 0.96643727,-0.07972446,-0.03014102, 0.24235209]

qacc:
[-3.77215877e+00,-3.48740828e-01, 7.50212786e+01,-2.03062834e+02,
 -7.74280122e+01, 5.64366511e+01,-3.10431719e+02, 1.36382003e+02,
  3.41437302e-02,-6.78595057e+00, 4.75076001e+00, 2.23615783e+01,
 -9.98363351e-01, 6.43903214e-01, 4.69561805e+00,-1.55774658e+01,
  1.10908160e+00, 1.02950550e+00,-3.32762754e-01, 8.87609206e+00,
 -1.75609702e+00, 4.16252745e+01]

qfrc_actuator:
[-0.02080894, 0.21139591, 0.06559657, 0.01223767, 0.02951318, 0.48747377,
  0.18809831, 0.19377338,-0.00294228, 0.05495245, 0.01053948, 0.00206648,
  0.02923082, 0.00072581, 0.        ,-0.00132214, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.28085137, -0.20416174,  0.19286129, -0.20416174,  0.35571951,
        0.07925493,  0.19286129,  0.07925493,  0.36475014,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048533929579212685
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76444237, -0.64398909, -0.03009837, -0.0230189 , -0.01939181,
        0.99954694, -0.64428099,  0.76478886,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08013741, -0.03316821,  0.13332842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004454521495873272
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84782028e-01, -1.63900866e-01, -5.78002103e-02, -1.63619281e-01,
        9.86476815e-01, -9.60337272e-03,  5.85925684e-02,  1.73472348e-18,
       -9.98281980e-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([ 0.10375306, -0.08267802,  0.11820344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004430272213343245
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56624550e-13,  6.26498199e-14,  1.00000000e+00, -9.81249983e-27,
        1.00000000e+00, -6.26498199e-14, -1.00000000e+00,  0.00000000e+00,
        1.56624550e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03758888, -0.06420743,  0.06199059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.66065441e-03, 1.46613271e-01, 5.26892465e-02,-2.03810946e-02,
  5.30448875e-02, 4.10484870e-01, 1.61424724e-01, 2.30178528e-02,
  9.50878283e-06,-1.07992970e-03,-2.65710276e-04, 5.31246109e-05,
 -1.72661929e-04,-7.55226883e-05, 8.98363733e-06,-7.21198559e-05,
 -1.14897279e-02, 1.47570526e-03,-9.81065256e+00,-6.95810627e-02,
 -1.72894031e-02,-1.09230540e-03]


--- Step 2677 ---
qpos:
[ 0.01157559, 0.31196055,-0.08625176, 0.88080935,-0.03831361, 0.17303522,
 -0.20737244, 0.72690049, 0.01528047, 1.31892874,-0.02330492, 0.95440584,
  1.04021007, 0.00347182, 1.22834517, 0.04528725, 0.07074995,-0.06963682,
  0.14874146, 0.96662559,-0.08004013,-0.03100748, 0.24138576]

qacc:
[-3.03553964e+00, 5.71314818e+00, 5.96402081e+01,-1.93753286e+02,
 -6.19098418e+01, 5.64342701e+01,-3.00995871e+02, 1.33536617e+02,
  1.44309090e-01,-7.11639860e+00, 1.28109066e+01,-2.14142759e+01,
 -7.43412537e-01, 2.86169624e-01, 1.90702222e+00,-6.57719694e+00,
  1.06708128e+00, 1.02014666e+00,-3.44651474e-01, 8.82343023e+00,
 -1.54621024e+00, 4.09009199e+01]

qfrc_actuator:
[-0.02046964, 0.21159505, 0.06539225, 0.01181098, 0.03003615, 0.48971598,
  0.18763017, 0.19253353,-0.00290698, 0.05450803, 0.01040804, 0.00199162,
  0.02917226, 0.00070645, 0.        ,-0.00135227, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.28129027, -0.20412245,  0.19354131, -0.20412245,  0.36876425,
        0.09225629,  0.19354131,  0.09225629,  0.37859032,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004864729614065556
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76562752, -0.64250908, -0.03156879, -0.02418198, -0.02029335,
        0.99950158, -0.64282947,  0.76600931,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07999452, -0.03317408,  0.13338719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00457633644959121
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98493674, -0.16253426, -0.05901039, -0.16224333,  0.9867029 ,
       -0.00972046,  0.05980564,  0.        , -0.99821004])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10353189, -0.08268049,  0.11829687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004442796911445085
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.24732036e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.24732036e-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([ 0.0375857 , -0.06420823,  0.06199057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.19903667e-03, 1.45181735e-01, 5.19645282e-02,-2.03321393e-02,
  5.44988302e-02, 4.17795977e-01, 1.65144711e-01, 2.26418146e-02,
  4.11271118e-05,-1.09503192e-03,-3.71494135e-04,-1.12800366e-04,
 -1.64224405e-04,-8.18815959e-05,-1.07346802e-05,-3.44965952e-05,
 -1.03480545e-02, 9.64469839e-04,-9.81034536e+00,-6.97866560e-02,
 -1.71633580e-02,-1.00575657e-03]


--- Step 2678 ---
qpos:
[ 0.01120812, 0.31312212,-0.08604684, 0.88139306,-0.0388291 , 0.17418533,
 -0.20709854, 0.73023829, 0.01528265, 1.31933247,-0.0233095 , 0.95440963,
  1.04086107, 0.00351486, 1.22850085, 0.0452935 , 0.07057046,-0.06968609,
  0.14880536, 0.96679413,-0.08034054,-0.03186588, 0.24049755]

qacc:
[-5.31765354e-01, 1.69917086e+00, 6.62764053e+01,-1.96710678e+02,
 -4.71695485e+01, 5.45676301e+01,-2.87856461e+02, 1.28755774e+02,
  1.56943735e-01,-1.16202022e+01, 2.82028374e+01,-3.88506729e+01,
  1.50352295e-03,-9.56393309e-01,-3.17278889e+00, 1.05058346e+01,
  1.03327339e+00, 1.00753769e+00,-3.55110976e-01, 8.77023703e+00,
 -1.37845854e+00, 4.02349757e+01]

qfrc_actuator:
[-0.0200825 , 0.21175624, 0.0652212 , 0.01127017, 0.03054277, 0.49143925,
  0.18722192, 0.19091974,-0.00288672, 0.05413479, 0.01038529, 0.0019098 ,
  0.02911371, 0.00064193, 0.        ,-0.0013011 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.28374873, -0.20554497,  0.19561342, -0.20554497,  0.38064217,
        0.10181284,  0.19561342,  0.10181284,  0.39073075,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004927158682467061
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.66670192e-01, -6.41193043e-01, -3.29893564e-02, -2.53057301e-02,
       -2.11640654e-02,  9.99455703e-01, -6.41542233e-01,  7.67087716e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07985111, -0.03318096,  0.13344858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004688201237753909
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98506549, -0.16126935, -0.06031737, -0.16096787,  0.98691043,
       -0.00985636,  0.06111737,  0.        , -0.99813059])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10332434, -0.08268466,  0.11838577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044531166617850504
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24656854e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.24656854e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03758312, -0.06420917,  0.06199055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71411759e-03, 1.43584833e-01, 5.13308107e-02,-2.03881559e-02,
  5.57571607e-02, 4.24234479e-01, 1.68719886e-01, 2.18452815e-02,
  4.46875529e-05,-1.05772046e-03,-2.82627432e-04,-1.27169570e-04,
 -1.61578784e-04,-1.26759490e-04,-1.42087444e-05, 4.66841701e-05,
 -9.30264295e-03, 5.24239846e-04,-9.81004627e+00,-6.99902118e-02,
 -1.70495942e-02,-9.20036381e-04]


--- Step 2679 ---
qpos:
[ 0.01084012, 0.31431016,-0.08583342, 0.8819674 ,-0.03935285, 0.1752503 ,
 -0.20689658, 0.73356145, 0.015285  , 1.31972768,-0.02331391, 0.9544155 ,
  1.04151096, 0.00355687, 1.22865623, 0.04530196, 0.07039498,-0.06973141,
  0.14886781, 0.96694353,-0.080626  ,-0.03271604, 0.23968588]

qacc:
[-8.17796321e-01,-2.73241516e+00, 7.36242991e+01,-1.95598572e+02,
 -3.34667157e+01, 5.14529563e+01,-2.72404878e+02, 1.22921097e+02,
  7.02455704e-02,-8.06335508e+00, 8.60873660e+00, 2.17787638e+01,
 -2.52975108e-02,-9.46352677e-01,-7.16823200e+00, 2.43587698e+01,
  1.00351479e+00, 9.88857218e-01,-3.61575494e-01, 8.66424318e+00,
 -1.19511633e+00, 3.93889814e+01]

qfrc_actuator:
[-0.01970302, 0.21163642, 0.06504926, 0.01082457, 0.03102438, 0.49274162,
  0.18693078, 0.18928253,-0.00289342, 0.05373656, 0.01040946, 0.00201998,
  0.02904988, 0.00058663, 0.        ,-0.00118468, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.28817588, -0.20825369,  0.19918769, -0.20825369,  0.40674356,
        0.12396427,  0.19918769,  0.12396427,  0.41778236,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005035462016029484
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76757697, -0.64003493, -0.03436398, -0.02639258, -0.02200714,
        0.99940938, -0.64041317,  0.76803058,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07970743, -0.03318882,  0.13351234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004790051204592208
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85169111e-01, -1.60105251e-01, -6.17100612e-02, -1.59792074e-01,
        9.87099949e-01, -1.00092243e-02,  6.25165276e-02, -1.73472348e-18,
       -9.98043929e-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([ 0.10312965, -0.08269039,  0.1184704 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044618173208627043
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24413770e-13, -1.24413770e-13,  1.00000000e+00, -1.54787861e-26,
        1.00000000e+00,  1.24413770e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24413770e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.037581  , -0.06421019,  0.06199054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32060617e-03, 1.41907409e-01, 5.07196355e-02,-2.03482001e-02,
  5.68163098e-02, 4.29971837e-01, 1.72206890e-01, 2.09788934e-02,
  1.98342161e-05,-1.04507619e-03,-2.18730516e-04, 6.81852643e-05,
 -1.75934066e-04,-1.29732680e-04,-5.79629959e-06, 1.16209616e-04,
 -8.34809772e-03, 1.51023037e-04,-9.80975517e+00,-7.01914434e-02,
 -1.69474942e-02,-8.35166438e-04]


--- Step 2680 ---
qpos:
[ 0.0104718 , 0.3155199 ,-0.08561175, 0.88253273,-0.0398818 , 0.17623541,
 -0.20676249, 0.73687085, 0.01528726, 1.32011415,-0.02331847, 0.95442234,
  1.04215977, 0.00359767, 1.2288115 , 0.04531206, 0.0702234 ,-0.06977288,
  0.1489288 , 0.9670745 ,-0.08089692,-0.03355779, 0.23894867]

qacc:
[-4.64344883e-01,-7.73920097e+00, 8.14174296e+01,-1.94416600e+02,
 -2.09659553e+01, 4.91763483e+01,-2.58370997e+02, 1.16845042e+02,
 -3.70683200e-02,-9.40871586e+00, 1.48949294e+01, 3.70640951e+00,
  7.28811302e-02,-1.18720893e+00,-5.16953376e+00, 1.77708651e+01,
  9.76326923e-01, 9.62607422e-01,-3.65836695e-01, 8.51293594e+00,
 -9.80508179e-01, 3.83073379e+01]

qfrc_actuator:
[-0.01936331, 0.2112332 , 0.06483788, 0.01036861, 0.03151005, 0.49451509,
  0.18675398, 0.18756555,-0.00291623, 0.05327365, 0.01039012, 0.00206474,
  0.02898824, 0.00051951, 0.        ,-0.00110179, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.29442242, -0.21232758,  0.2039646 , -0.21232758,  0.43730891,
        0.14874514,  0.2039646 ,  0.14874514,  0.44926643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005185562303578921
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76835388, -0.63902906, -0.03569563, -0.02744436, -0.02282509,
        0.99936271, -0.63943657,  0.76884386,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07956366, -0.03319768,  0.13357826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004881900436670604
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85248419e-01, -1.59040663e-01, -6.31792703e-02, -1.58714677e-01,
        9.87272033e-01, -1.01776134e-02,  6.39937810e-02, -1.73472348e-18,
       -9.97950297e-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([ 0.10294714, -0.08269754,  0.11855095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004469380238817655
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.10508103e-14, -1.86304862e-13,  1.00000000e+00, -5.78491693e-27,
        1.00000000e+00,  1.86304862e-13, -1.00000000e+00,  0.00000000e+00,
       -3.10508103e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03757923, -0.06421125,  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:
[-1.95694010e-03, 1.40138980e-01, 5.00686659e-02,-2.03377577e-02,
  5.77143630e-02, 4.35954096e-01, 1.75605092e-01, 1.99864163e-02,
 -1.09155378e-05,-1.08441757e-03,-2.46765744e-04, 9.54598299e-06,
 -1.81456812e-04,-1.45927166e-04, 5.52676189e-06, 8.75763781e-05,
 -7.48436805e-03,-1.56309612e-04,-9.80947397e+00,-7.03894938e-02,
 -1.68575910e-02,-7.51152264e-04]


--- Step 2681 ---
qpos:
[ 0.01010485, 0.31674786,-0.08538322, 0.88308906,-0.04041311, 0.17714657,
 -0.20669224, 0.74016726, 0.0152892 , 1.32049235,-0.02332332, 0.95442792,
  1.04280749, 0.00363707, 1.22896682, 0.04532275, 0.07005564,-0.06981062,
  0.14898831, 0.96718785,-0.08115375,-0.03439093, 0.23828345]

qacc:
[ 2.00439845e+00,-8.51660103e+00, 7.83305531e+01,-1.89145406e+02,
 -9.63239316e+00, 4.76946773e+01,-2.45693525e+02, 1.10396297e+02,
 -1.33362819e-01,-1.22587811e+01, 2.94201499e+01,-3.49722846e+01,
  9.67998994e-02,-1.30941940e+00,-1.73800268e+00, 6.07267973e+00,
  9.52550549e-01, 9.29689001e-01,-3.69044787e-01, 8.34055085e+00,
 -7.27562035e-01, 3.70349451e+01]

qfrc_actuator:
[-1.89764696e-02, 2.10760642e-01, 6.45819243e-02, 9.89205057e-03,
  3.20161475e-02, 4.96724269e-01, 1.86634987e-01, 1.85681437e-01,
 -2.94851428e-03, 5.28820667e-02, 1.03804258e-02, 1.99951053e-03,
  2.89279594e-02, 4.45902234e-04, 0.00000000e+00,-1.07483513e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.30227656, -0.21760868,  0.20980367, -0.21760868,  0.46302116,
        0.16672454,  0.20980367,  0.16672454,  0.47520351,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005372563359927113
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76900788, -0.63816831, -0.03698782, -0.0284634 , -0.02362062,
        0.99931572, -0.63860529,  0.76953446,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0794201 , -0.03320758,  0.13364606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004963988208861758
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98530437, -0.15807361, -0.06471503, -0.15773375,  0.98742733,
       -0.01035999,  0.06553903,  0.        , -0.99785001])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10277611, -0.08270598,  0.11862769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044762387673807913
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.30097021e-14, -1.86019404e-13,  1.00000000e+00, -1.73016094e-26,
        1.00000000e+00,  1.86019404e-13, -1.00000000e+00,  0.00000000e+00,
       -9.30097021e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03757773, -0.06421229,  0.06199052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55783487e-03, 1.38539489e-01, 4.93849282e-02,-2.03662367e-02,
  5.84793407e-02, 4.42111246e-01, 1.78859332e-01, 1.87838674e-02,
 -3.85086409e-05,-1.04199769e-03,-2.49694768e-04,-1.03804222e-04,
 -1.86655495e-04,-1.58348425e-04, 6.83855211e-06, 3.13276581e-05,
 -6.71070530e-03,-3.99638887e-04,-9.80920523e+00,-7.05833296e-02,
 -1.67803703e-02,-6.68000128e-04]


--- Step 2682 ---
qpos:
[ 0.00974023, 0.31798984,-0.08514874, 0.88363664,-0.0409441 , 0.17798848,
 -0.20668188, 0.74345145, 0.01529094, 1.32086272,-0.0233277 , 0.9544333 ,
  1.04345385, 0.003676  , 1.22912228, 0.04533268, 0.06989161,-0.06984478,
  0.14904634, 0.96728429,-0.08139689,-0.03521527, 0.2376879 ]

qacc:
[ 3.37988776e+00,-1.12904995e+01, 8.00092841e+01,-1.84650890e+02,
  9.85656941e-01, 4.48574373e+01,-2.30545818e+02, 1.02741648e+02,
 -8.50750994e-02,-1.19185325e+01, 2.69040260e+01,-2.08659248e+01,
 -8.30105837e-01, 2.90156093e-01, 2.55727170e+00,-8.50484285e+00,
  9.32978099e-01, 8.96582572e-01,-3.70652394e-01, 8.17934987e+00,
 -4.87895060e-01, 3.58198384e+01]

qfrc_actuator:
[-1.85273975e-02, 2.10188014e-01, 6.43505828e-02, 9.45999390e-03,
  3.25692588e-02, 4.98404275e-01, 1.86556040e-01, 1.83666260e-01,
 -2.95072078e-03, 5.25540624e-02, 1.04299863e-02, 1.99440476e-03,
  2.88738567e-02, 4.40060336e-04, 0.00000000e+00,-1.11654463e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.31156363, -0.22375304,  0.21680976, -0.22375304,  0.50129695,
        0.19580949,  0.21680976,  0.19580949,  0.51364387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005591792773743719
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76954603, -0.63744515, -0.03824379, -0.0294519 , -0.02439617,
        0.99926844, -0.63791182,  0.77010941,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07927695, -0.03321842,  0.13371551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005036741091965603
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85338066e-01, -1.57201547e-01, -6.63066243e-02, -1.56846817e-01,
        9.87566541e-01, -1.05547358e-02,  6.71414245e-02,  1.73472348e-18,
       -9.97743469e-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([ 0.10261579, -0.08271556,  0.11870088])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004482788748518124
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.19158679e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.19158679e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03757643, -0.06421331,  0.06199051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18086915e-03, 1.37012152e-01, 4.87958551e-02,-2.03505425e-02,
  5.91497489e-02, 4.47447089e-01, 1.81954270e-01, 1.74112396e-02,
 -2.46819592e-05,-9.58831895e-04,-1.85800746e-04,-4.51624870e-05,
 -1.86210352e-04,-9.52673798e-05, 8.39291629e-07,-4.03817399e-05,
 -6.02374433e-03,-5.82473053e-04,-9.80895130e+00,-7.07720791e-02,
 -1.67158639e-02,-5.85729142e-04]


--- Step 2683 ---
qpos:
[ 0.00937754, 0.31924361,-0.0849091 , 0.88417583,-0.04147225, 0.17876507,
 -0.20672751, 0.74672419, 0.01529254, 1.32122479,-0.02333102, 0.95443928,
  1.04409901, 0.00371443, 1.22927777, 0.0453417 , 0.06973124,-0.0698755 ,
  0.14910289, 0.96736458,-0.08162677,-0.03603058, 0.23715951]

qacc:
[ 2.81142342e+00,-1.14425840e+01, 7.60106912e+01,-1.74930309e+02,
  1.07468830e+01, 4.11259403e+01,-2.13691016e+02, 9.41190412e+01,
 -5.54754794e-02,-1.26942102e+01, 2.70248272e+01,-1.12780294e+01,
 -6.96629785e-01, 1.67637738e-01, 2.83734733e+00,-9.75914129e+00,
  9.16184563e-01, 8.61064219e-01,-3.70650687e-01, 8.01240215e+00,
 -2.31271611e-01, 3.45419398e+01]

qfrc_actuator:
[-1.81134947e-02, 2.09605531e-01, 6.41321609e-02, 9.09350365e-03,
  3.31488306e-02, 4.99756158e-01, 1.86575973e-01, 1.81594620e-01,
 -2.95261918e-03, 5.21250393e-02, 1.04789385e-02, 2.02481961e-03,
  2.88235256e-02, 4.21274886e-04, 0.00000000e+00,-1.16284173e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.32208152, -0.23068029,  0.22477346, -0.23068029,  0.56652509,
        0.25086732,  0.22477346,  0.25086732,  0.5795414 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005838564526851154
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76997513, -0.63685216, -0.03946672, -0.03041209, -0.02515406,
        0.99922089, -0.63734873,  0.7705755 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07913446, -0.03323018,  0.13378632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0051005576018338
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9853505 , -0.15642207, -0.06794508, -0.15605152,  0.9876903 ,
       -0.01076057,  0.06879189,  0.        , -0.99763103])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10246554, -0.08272618,  0.11877079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044893539459421594
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.27379840e-14,  6.18253226e-14,  1.00000000e+00, -5.73355578e-27,
        1.00000000e+00, -6.18253226e-14, -1.00000000e+00,  0.00000000e+00,
        9.27379840e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03757528, -0.06421426,  0.0619905 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.86605648e-04, 1.35685700e-01, 4.82640159e-02,-2.02811737e-02,
  5.97119467e-02, 4.52223449e-01, 1.84952369e-01, 1.59438011e-02,
 -1.62348934e-05,-9.99577794e-04,-1.61177326e-04,-3.95546881e-06,
 -1.67605842e-04,-9.00234884e-05,-1.04220796e-05,-4.98348228e-05,
 -5.41597774e-03,-7.10506811e-04,-9.80871201e+00,-7.09556307e-02,
 -1.66630951e-02,-5.04366753e-04]


--- Step 2684 ---
qpos:
[ 0.00901703, 0.32050622,-0.08466523, 0.88470696,-0.04199527, 0.17948039,
 -0.20682532, 0.74998617, 0.01529391, 1.32157861,-0.02333425, 0.95444564,
  1.04474308, 0.00375207, 1.22943352, 0.04534741, 0.06957447,-0.06990293,
  0.14915796, 0.96742951,-0.08184385,-0.03683669, 0.23669557]

qacc:
[ 3.15558203e+00,-1.23695476e+01, 7.35562998e+01,-1.66996876e+02,
  1.95639319e+01, 3.77724358e+01,-1.97720387e+02, 8.55467542e+01,
 -9.95231849e-02,-1.04708080e+01, 2.03401649e+01,-8.24121946e+00,
 -5.97285502e-01,-9.79338122e-02, 1.04562335e+01,-3.59395229e+01,
  8.97699096e-01, 8.22378880e-01,-3.68104664e-01, 7.80990364e+00,
  2.40974333e-02, 3.31358800e+01]

qfrc_actuator:
[-1.77567449e-02, 2.08995995e-01, 6.38844062e-02, 8.66295635e-03,
  3.36706275e-02, 5.01183482e-01, 1.86675281e-01, 1.79635257e-01,
 -2.97207398e-03, 5.16922755e-02, 1.04735051e-02, 2.04030894e-03,
  2.87648406e-02, 3.77178871e-04, 0.00000000e+00,-1.33570450e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.33368526, -0.23851145,  0.23336268, -0.23851145,  0.64219493,
        0.31531645,  0.23336268,  0.31531645,  0.65595866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006110389046908629
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7703005 , -0.63638358, -0.04065815, -0.03134491, -0.02589559,
        0.99917312, -0.63691023,  0.77093797,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07899277, -0.03324286,  0.13385835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005155836699747401
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9853426 , -0.15573258, -0.06962267, -0.15534528,  0.98779925,
       -0.01097644,  0.07048262,  0.        , -0.99751301])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1023248 , -0.0827377 ,  0.11883761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00044961870495041634
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23462727e-13, -1.23462727e-13,  1.00000000e+00, -1.52430449e-26,
        1.00000000e+00,  1.23462727e-13, -1.00000000e+00,  0.00000000e+00,
       -1.23462727e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03757424, -0.06421515,  0.06199049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.30498307e-04, 1.34442545e-01, 4.77429313e-02,-2.02951168e-02,
  6.00908359e-02, 4.56882206e-01, 1.87835802e-01, 1.45510699e-02,
 -2.88244932e-05,-1.01975202e-03,-2.19502934e-04,-1.84173395e-05,
 -1.65393901e-04,-1.09347866e-04,-1.58700693e-05,-1.78202775e-04,
 -4.88191187e-03,-7.88571027e-04,-9.80848831e+00,-7.11335290e-02,
 -1.66215700e-02,-4.23935196e-04]


--- Step 2685 ---
qpos:
[ 0.00865955, 0.32177392,-0.08441802, 0.88523026,-0.0425111 , 0.1801406 ,
 -0.2069718 , 0.75323795, 0.01529519, 1.32192456,-0.02333793, 0.95445214,
  1.04538588, 0.00378942, 1.22958912, 0.04535165, 0.06942119,-0.06992724,
  0.14921158, 0.96747991,-0.08204871,-0.0376335 , 0.23629295]

qacc:
[ 4.34949910e+00,-1.44929599e+01, 7.38445933e+01,-1.61583061e+02,
  2.73061356e+01, 3.75099075e+01,-1.88044488e+02, 7.87269954e+01,
 -3.78898464e-02,-8.83535741e+00, 1.60832860e+01,-7.44729241e+00,
 -9.21415186e-01, 5.48919406e-01, 4.24187585e+00,-1.50242956e+01,
  8.74748222e-01, 7.79524105e-01,-3.62865884e-01, 7.55218551e+00,
  2.75559264e-01, 3.15364608e+01]

qfrc_actuator:
[-1.74175564e-02, 2.08386210e-01, 6.36356622e-02, 8.16151474e-03,
  3.41720786e-02, 5.03707794e-01, 1.86752045e-01, 1.77871407e-01,
 -2.96640082e-03, 5.13137908e-02, 1.04537198e-02, 2.04683556e-03,
  2.87065015e-02, 3.71644792e-04, 0.00000000e+00,-1.40420756e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.34615033, -0.24707672,  0.24243174, -0.24707672,  0.72430664,
        0.38540176,  0.24243174,  0.38540176,  0.73893638,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006403983812211333
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77052819, -0.63603253, -0.04182021, -0.03225186, -0.0266223 ,
        0.99912515, -0.63658945,  0.77120288,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07885204, -0.03325643,  0.1339314 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005203044086788749
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85315388e-01, -1.55130057e-01, -7.13319877e-02, -1.54725126e-01,
        9.87894056e-01, -1.12013381e-02,  7.22061109e-02, -1.73472348e-18,
       -9.97389732e-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([ 0.10219297, -0.08275   ,  0.11890157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004503484673336333
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.84893994e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.84893994e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03757329, -0.06421596,  0.06199048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.04396624e-04, 1.33346189e-01, 4.72667402e-02,-2.03951702e-02,
  6.03344596e-02, 4.62437853e-01, 1.90508081e-01, 1.33187210e-02,
 -1.11185791e-05,-9.88386277e-04,-2.44836157e-04,-3.00314305e-05,
 -1.68930533e-04,-7.55611224e-05,-3.28388857e-05,-8.17335987e-05,
 -4.41724541e-03,-8.21767077e-04,-9.80828114e+00,-7.13049960e-02,
 -1.65910618e-02,-3.44427486e-04]


--- Step 2686 ---
qpos:
[ 0.00830556, 0.32304547,-0.0841689 , 0.88574587,-0.04301799, 0.18075271,
 -0.20716351, 0.75647999, 0.01529659, 1.32226281,-0.02334165, 0.95445864,
  1.04602773, 0.00382584, 1.2297441 , 0.04535834, 0.06927133,-0.06994862,
  0.14926377, 0.96751672,-0.08224191,-0.03842082, 0.23594811]

qacc:
[ 4.98989216e+00,-1.21438818e+01, 6.38440535e+01,-1.50437670e+02,
  3.38725459e+01, 3.84677570e+01,-1.80655109e+02, 7.18135540e+01,
  5.09052232e-02,-1.00255523e+01, 2.04871591e+01,-1.29825726e+01,
  8.15135337e-02,-9.63138440e-01,-8.32774254e+00, 2.77537379e+01,
  8.53490843e-01, 7.30257766e-01,-3.58131267e-01, 7.29060769e+00,
  5.87414662e-01, 2.97256730e+01]

qfrc_actuator:
[-1.70551133e-02, 2.07865265e-01, 6.33855357e-02, 7.70928341e-03,
  3.46749722e-02, 5.06944155e-01, 1.86868134e-01, 1.75926811e-01,
 -2.94570192e-03, 5.09530342e-02, 1.04613523e-02, 2.04806595e-03,
  2.86590780e-02, 3.18052951e-04, 0.00000000e+00,-1.26860672e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.35916407, -0.25593305,  0.25198632, -0.25593305,  0.83985699,
        0.48822175,  0.25198632,  0.48822175,  0.85503257,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006715227611625652
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.70665219e-01, -6.35790790e-01, -4.29556943e-02, -3.31350439e-02,
       -2.73360666e-02,  9.99076978e-01, -6.36378181e-01,  7.71377217e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07871249, -0.03327083,  0.13400521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005242884801780244
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98527013, -0.15461083, -0.07306337, -0.15418747,  0.98797545,
       -0.01143388,  0.07395262,  0.        , -0.99726176])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10206935, -0.08276297,  0.11896298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000451140842268008
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.22846249e-14, -6.15230833e-14,  1.00000000e+00,  5.67763467e-27,
        1.00000000e+00,  6.15230833e-14, -1.00000000e+00,  0.00000000e+00,
        9.22846249e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0375724 , -0.06421668,  0.06199047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.97194735e-04, 1.32526644e-01, 4.68343564e-02,-2.04581881e-02,
  6.04771440e-02, 4.68400430e-01, 1.93044565e-01, 1.18777435e-02,
  1.43314006e-05,-9.58543434e-04,-2.14501366e-04,-3.54219039e-05,
 -1.51828015e-04,-1.14834784e-04,-2.88188477e-05, 1.25833389e-04,
 -4.01806895e-03,-8.15668811e-04,-9.80809168e+00,-7.14690158e-02,
 -1.65714884e-02,-2.65814836e-04]


--- Step 2687 ---
qpos:
[ 0.00795498, 0.32431866,-0.08391881, 0.88625406,-0.04351438, 0.18132213,
 -0.207397  , 0.75971276, 0.01529772, 1.3225941 ,-0.02334565, 0.95446575,
  1.04666856, 0.00386138, 1.22989891, 0.04536655, 0.06912481,-0.0699673 ,
  0.14931454, 0.96754086,-0.08242393,-0.03919838, 0.23565754]

qacc:
[ 4.85080694e+00,-1.20876251e+01, 5.94109449e+01,-1.41664728e+02,
  3.96078091e+01, 3.73191259e+01,-1.69039119e+02, 6.27022946e+01,
 -1.13739984e-01,-7.36262421e+00, 1.17632960e+01, 1.12769586e+00,
 -1.19843061e-01,-7.18649970e-01,-4.87494893e+00, 1.66264820e+01,
  8.38015834e-01, 6.78947018e-01,-3.55284296e-01, 7.08136340e+00,
  9.32762356e-01, 2.79334951e+01]

qfrc_actuator:
[-1.66981466e-02, 2.07325804e-01, 6.31346595e-02, 7.27182146e-03,
  3.51563430e-02, 5.09664125e-01, 1.87077118e-01, 1.73593346e-01,
 -2.98717097e-03, 5.06591657e-02, 1.04674434e-02, 2.08170761e-03,
  2.86022419e-02, 2.71883791e-04, 0.00000000e+00,-1.19139047e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.37244379, -0.26486739,  0.26183896, -0.26486739,  1.0266598 ,
        0.66178267,  0.26183896,  0.66178267,  1.04188063,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007042032276259291
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77071767, -0.63565122, -0.04406585, -0.03399535, -0.02803775,
        0.99902863, -0.63626927,  0.77146705,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07857418, -0.033286  ,  0.13407968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005276187776830617
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98520833, -0.15417055, -0.07480635, -0.15372804,  0.98804425,
       -0.01167249,  0.07571154,  0.        , -0.99712976])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10195314, -0.08277649,  0.11902218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004520107767897602
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.22809353e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.22809353e-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([ 0.03757156, -0.06421732,  0.06199045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88743743e-05, 1.31749620e-01, 4.64717756e-02,-2.05131363e-02,
  6.05102823e-02, 4.73497834e-01, 1.95504182e-01, 1.00251404e-02,
 -3.28493176e-05,-8.69326227e-04,-2.06914361e-04,-1.37570568e-06,
 -1.61096219e-04,-1.14814209e-04,-2.47417651e-06, 7.98211451e-05,
 -3.67836467e-03,-7.76436439e-04,-9.80792227e+00,-7.16246770e-02,
 -1.65625366e-02,-1.88109297e-04]


--- Step 2688 ---
qpos:
[ 0.00760785, 0.32558983,-0.08366824, 0.88675519,-0.04399887, 0.18185318,
 -0.20766894, 0.76293667, 0.01529849, 1.32291916,-0.0233496 , 0.9544721 ,
  1.04730816, 0.00389638, 1.23005401, 0.04537294, 0.06898161,-0.06998345,
  0.1493639 , 0.96755319,-0.08259519,-0.03996586, 0.2354179 ]

qacc:
[ 4.87397362e+00,-1.50051978e+01, 6.22460491e+01,-1.37281314e+02,
  4.47069881e+01, 3.50560176e+01,-1.55459222e+02, 5.25491806e+01,
 -1.53814638e-01,-9.60704911e+00, 2.30169637e+01,-2.49062359e+01,
 -7.61251319e-01, 2.11424260e-01, 6.01284326e+00,-2.02817249e+01,
  8.25515412e-01, 6.28842021e-01,-3.52684026e-01, 6.90473472e+00,
  1.26970253e+00, 2.62349657e+01]

qfrc_actuator:
[-1.63990399e-02, 2.06687151e-01, 6.28657646e-02, 6.77500967e-03,
  3.56551726e-02, 5.11963836e-01, 1.87303229e-01, 1.71101009e-01,
 -3.01234254e-03, 5.04077665e-02, 1.04906111e-02, 2.04542444e-03,
  2.85398008e-02, 2.48244321e-04, 0.00000000e+00,-1.29127573e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38563854, -0.27387906,  0.27149097, -0.27387906,  1.30298028,
        0.92541088,  0.27149097,  0.92541088,  1.31918953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007382038892657423
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.70691760e-01, -6.35606411e-01, -4.51519883e-02, -3.48337913e-02,
       -2.87281923e-02,  9.98980129e-01, -6.36255309e-01,  7.71478568e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07843722, -0.03330189,  0.13415463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005303657926311559
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85131339e-01, -1.53804839e-01, -7.65527023e-02, -1.53342552e-01,
        9.88101246e-01, -1.19159611e-02,  7.74745530e-02,  1.73472348e-18,
       -9.96994330e-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([ 0.10184369, -0.08279046,  0.11907946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004529723166263183
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53185827e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.53185827e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03757076, -0.06421787,  0.06199044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05561580e-04, 1.30984514e-01, 4.61387263e-02,-2.06412697e-02,
  6.04832273e-02, 4.77907597e-01, 1.97809556e-01, 7.99096623e-03,
 -4.43470456e-05,-7.74974529e-04,-1.70544300e-04,-6.76531841e-05,
 -1.71157591e-04,-9.45832242e-05, 2.75303297e-06,-9.68637147e-05,
 -3.38955382e-03,-7.10500643e-04,-9.80777340e+00,-7.17718927e-02,
 -1.65631354e-02,-1.11357961e-04]


--- Step 2689 ---
qpos:
[ 0.00726522, 0.32685547,-0.08341794, 0.88724941,-0.04447024, 0.18234963,
 -0.20797608, 0.76615213, 0.01529892, 1.323238  ,-0.02335301, 0.9544776 ,
  1.04794687, 0.00393003, 1.23020927, 0.04537674, 0.06884165,-0.06999729,
  0.14941186, 0.96755457,-0.08275606,-0.040723  , 0.23522591]

qacc:
[ 6.35781690e+00,-1.73364415e+01, 6.38297119e+01,-1.34238270e+02,
  4.91271286e+01, 3.23343677e+01,-1.41212373e+02, 4.18916421e+01,
 -1.42548843e-01,-1.10728409e+01, 2.79771926e+01,-3.01921887e+01,
 -1.56016699e-02,-1.09744062e+00, 8.00834840e+00,-2.77282921e+01,
  8.14024102e-01, 5.79007909e-01,-3.49626659e-01, 6.74080560e+00,
  1.60016040e+00, 2.45668767e+01]

qfrc_actuator:
[-1.61005382e-02, 2.06027486e-01, 6.25861586e-02, 6.20969889e-03,
  3.61411294e-02, 5.14041896e-01, 1.87552980e-01, 1.68552134e-01,
 -3.02753340e-03, 5.01128827e-02, 1.05238186e-02, 2.00381975e-03,
  2.84847021e-02, 1.67130679e-04, 0.00000000e+00,-1.42367454e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.39831708, -0.28270856,  0.28059289, -0.28270856,  1.5662624 ,
        1.17675165,  0.28059289,  1.17675165,  1.58394147,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007731995795910159
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.70594035e-01, -6.35648419e-01, -4.62160198e-02, -3.56518843e-02,
       -2.94085639e-02,  9.98931469e-01, -6.36328355e-01,  7.71418320e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07830184, -0.03331847,  0.13422984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005325915099924808
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85040402e-01, -1.53509553e-01, -7.82957493e-02, -1.53026915e-01,
        9.88147164e-01, -1.21633153e-02,  7.92349077e-02,  1.73472348e-18,
       -9.96855972e-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([ 0.10174044, -0.08280478,  0.11913505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000454036804853869
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.11306734e-14, -1.22261347e-13,  1.00000000e+00, -7.47391845e-27,
        1.00000000e+00,  1.22261347e-13, -1.00000000e+00,  0.00000000e+00,
       -6.11306734e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03756999, -0.06421833,  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:
[ 2.27838635e-04, 1.30381069e-01, 4.58193457e-02,-2.08553142e-02,
  6.03735992e-02, 4.81881326e-01, 1.99972029e-01, 5.87880526e-03,
 -4.11415025e-05,-7.61100399e-04,-1.39879094e-04,-7.06685007e-05,
 -1.64611496e-04,-1.48490957e-04,-1.59835200e-05,-1.38871723e-04,
 -3.14411261e-03,-6.23616484e-04,-9.80764423e+00,-7.19108013e-02,
 -1.65721912e-02,-3.55932655e-05]


--- Step 2690 ---
qpos:
[ 0.00692737, 0.32811199,-0.08316803, 0.88773705,-0.04492744, 0.18281485,
 -0.20831533, 0.7693595 , 0.01529893, 1.32355076,-0.02335639, 0.95448362,
  1.04858451, 0.0039627 , 1.23036427, 0.04538025, 0.06870491,-0.07000901,
  0.14945843, 0.9675458 ,-0.08290692,-0.04146951, 0.23507839]

qacc:
[   6.70448928, -21.21521351,  69.97432172,-133.03994233,  52.91969115,
   29.43545135,-126.9034585 ,  31.04442708,  -0.17667888,  -7.22189364,
   12.86185897,  -1.41291907,  -0.20170187,  -0.69221545,   0.50557601,
   -2.33049587,   0.8025313 ,   0.52995955,  -0.34553141,   6.58335336,
    1.91375911,  22.93716422]

qfrc_actuator:
[-1.57870931e-02, 2.05395040e-01, 6.23894522e-02, 5.65921543e-03,
  3.66133820e-02, 5.15980798e-01, 1.87829058e-01, 1.66007987e-01,
 -3.05436929e-03, 4.98121437e-02, 1.05270360e-02, 2.03042273e-03,
  2.84340234e-02, 1.23567035e-04, 0.00000000e+00,-1.43207928e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.41001943, -0.2907438 ,  0.28910893, -0.2907438 ,  2.11572799,
        1.71535409,  0.28910893,  1.71535409,  2.1350736 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008088343843066431
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77043114, -0.6357691 , -0.04726005, -0.03645134, -0.03008009,
        0.99888262, -0.63648029,  0.77129297,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07816824, -0.03333565,  0.13430507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005343535922629192
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84936697e-01, -1.53280574e-01, -8.00297979e-02, -1.52777074e-01,
        9.88182709e-01, -1.24137098e-02,  8.09868431e-02,  1.73472348e-18,
       -9.96715171e-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([ 0.10164288, -0.08281936,  0.11918916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045521244898000246
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.04863978e-14, -1.21945591e-13,  1.00000000e+00,  3.71768181e-27,
        1.00000000e+00,  1.21945591e-13, -1.00000000e+00,  0.00000000e+00,
        3.04863978e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03756924, -0.06421872,  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:
[ 3.11444566e-04, 1.29980688e-01, 4.56207084e-02,-2.10623206e-02,
  6.01892138e-02, 4.85529478e-01, 2.02000052e-01, 3.75172924e-03,
 -5.09029399e-05,-7.53336552e-04,-1.63755725e-04,-1.23187388e-06,
 -1.69983454e-04,-1.24548588e-04,-2.79833095e-05,-1.93419622e-05,
 -2.93593355e-03,-5.21027323e-04,-9.80753419e+00,-7.20413315e-02,
 -1.65888979e-02, 3.91659565e-05]


--- Step 2691 ---
qpos:
[ 0.00659559, 0.32935769,-0.08291953, 0.88821811,-0.04536964, 0.18325208,
 -0.20868366, 0.77255908, 0.01529885, 1.32385729,-0.0233596 , 0.95448889,
  1.04922085, 0.00399526, 1.23051925, 0.04538259, 0.06857133,-0.07001883,
  0.14950365, 0.96752777,-0.08304811,-0.04220508, 0.2349718 ]

qacc:
[ 8.47199317e+00,-2.07014190e+01, 6.55281426e+01,-1.27989301e+02,
  5.57742232e+01, 2.64324749e+01,-1.12445616e+02, 1.98015017e+01,
 -3.46586659e-02,-9.89389186e+00, 2.39443816e+01,-2.55859698e+01,
 -1.05850804e+00, 8.24809295e-01, 3.58695908e+00,-1.24319610e+01,
  7.91683210e-01, 4.75883108e-01,-3.40894631e-01, 6.42733690e+00,
  2.27101298e+00, 2.11435297e+01]

qfrc_actuator:
[-1.54667520e-02, 2.04678208e-01, 6.22071959e-02, 5.26208604e-03,
  3.70711046e-02, 5.17882164e-01, 1.88167424e-01, 1.63416444e-01,
 -3.03471917e-03, 4.94925037e-02, 1.05302925e-02, 1.99040774e-03,
  2.83860441e-02, 1.38209946e-04, 0.00000000e+00,-1.49160866e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008448029356069776
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.77020928, -0.6359608 , -0.04828584, -0.03723363, -0.03074376,
        0.99883356, -0.63670348,  0.77110873,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07803659, -0.0333534 ,  0.13438011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005357065425731202
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84821355e-01, -1.53113843e-01, -8.17499193e-02, -1.52589027e-01,
        9.88208556e-01, -1.26663994e-02,  8.27253709e-02, -1.73472348e-18,
       -9.96572382e-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([ 0.10155056, -0.08283413,  0.119242  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004565034023327891
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.82401109e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.82401109e-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([ 0.03756851, -0.06421903,  0.06199038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.88618204e-04, 1.29675572e-01, 4.54419044e-02,-2.11322317e-02,
  5.99373389e-02, 4.88972214e-01, 2.03936377e-01, 1.55958674e-03,
 -1.01736161e-05,-7.70498832e-04,-1.62871498e-04,-6.67100740e-05,
 -1.64216469e-04,-6.08397128e-05,-1.92135058e-05,-6.51089690e-05,
 -2.75961918e-03,-4.07426369e-04,-9.80744245e+00,-7.21634742e-02,
 -1.66124980e-02, 1.12908006e-04]


--- Step 2692 ---
qpos:
[ 0.00627168, 0.33059425,-0.08267477, 0.88869221,-0.04579634, 0.18366479,
 -0.20907801, 0.77575115, 0.01529898, 1.32415678,-0.0233619 , 0.95449576,
  1.04985605, 0.00402745, 1.23067402, 0.04538484, 0.06844089,-0.07002699,
  0.14954751, 0.9675015 ,-0.08317999,-0.04292924, 0.23490213]

qacc:
[ 1.09129049e+01,-1.29555029e+01, 4.37473148e+01,-1.14955211e+02,
  5.74876718e+01, 2.36607714e+01,-9.81653972e+01, 7.88237123e+00,
  8.38403248e-02,-8.98561307e+00, 1.49198298e+01, 9.82461328e+00,
 -6.48193587e-01, 1.99237198e-01, 1.35608530e-02,-3.80099146e-01,
  7.83324245e-01, 4.14275003e-01,-3.37471850e-01, 6.27963142e+00,
  2.71438544e+00, 1.91020269e+01]

qfrc_actuator:
[-1.51277256e-02, 2.03987108e-01, 6.19282808e-02, 4.97735485e-03,
  3.75136249e-02, 5.20001061e-01, 1.88588478e-01, 1.60621858e-01,
 -3.00509763e-03, 4.91108212e-02, 1.05689404e-02, 2.07125777e-03,
  2.83290931e-02, 1.16275313e-04, 0.00000000e+00,-1.49204993e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008808809053551956
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76993449, -0.6362161 , -0.04929454, -0.03799976, -0.03140015,
        0.99878429, -0.6369905 ,  0.77087165,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.077907  , -0.03337158,  0.13445482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005367042478634436
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98469555, -0.15300477, -0.08345181, -0.15245825,  0.98822545,
       -0.01292066,  0.08444612,  0.        , -0.99642805])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.101463  , -0.082849  ,  0.11929375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004579091402448776
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.09205774e-14, -1.81841155e-13,  1.00000000e+00, -1.65331028e-26,
        1.00000000e+00,  1.81841155e-13, -1.00000000e+00,  0.00000000e+00,
       -9.09205774e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0375678 , -0.06421926,  0.06199035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.19674764e-04, 1.29481758e-01, 4.52183186e-02,-2.10896635e-02,
  5.96296766e-02, 4.92473113e-01, 2.05804471e-01,-8.51473366e-04,
  2.37903350e-05,-8.43754326e-04,-1.32641944e-04, 5.21390582e-05,
 -1.55183105e-04,-7.79074268e-05,-2.13665714e-05,-7.67564894e-06,
 -2.61014660e-03,-2.88272032e-04,-9.80737033e+00,-7.22765145e-02,
 -1.66427064e-02, 1.85623228e-04]


--- Step 2693 ---
qpos:
[ 0.00595696, 0.33181968,-0.08243482, 0.88915926,-0.0462072 , 0.18405676,
 -0.20949547, 0.77893592, 0.01529922, 1.32445009,-0.02336426, 0.95450283,
  1.05049034, 0.00405841, 1.23082848, 0.04538837, 0.06831355,-0.07003373,
  0.14959004, 0.96746794,-0.08330286,-0.0436416 , 0.23486557]

qacc:
[ 1.26570429e+01,-1.28805213e+01, 4.04697879e+01,-1.11827209e+02,
  5.86001507e+01, 2.14946498e+01,-8.52240681e+01,-3.98517769e+00,
  4.95996344e-02,-7.58959525e+00, 1.45749064e+01,-6.46228850e+00,
  1.92019990e-01,-1.26874178e+00,-4.37323951e+00, 1.45325547e+01,
  7.74636497e-01, 3.54971404e-01,-3.34491663e-01, 6.14950015e+00,
  3.11678332e+00, 1.71750009e+01]

qfrc_actuator:
[-1.47994709e-02, 2.03402850e-01, 6.16120138e-02, 4.49678453e-03,
  3.79405189e-02, 5.22382461e-01, 1.89032218e-01, 1.57743792e-01,
 -3.00524433e-03, 4.88372627e-02, 1.05747484e-02, 2.08055884e-03,
  2.82667913e-02, 3.72136997e-05, 0.00000000e+00,-1.42215012e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009170502507537046
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76961203, -0.63652861, -0.05028571, -0.03874951, -0.03204884,
        0.99873487, -0.63733492,  0.77058692,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07777932, -0.03339004,  0.1345292 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005374048667536236
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84560621e-01, -1.52947991e-01, -8.51310492e-02, -1.52379429e-01,
        9.88234239e-01, -1.31756445e-02,  8.61446060e-02,  1.73472348e-18,
       -9.96282644e-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([ 0.10137973, -0.0828639 ,  0.11934461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004594280113391358
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.81239987e-13, -6.04133290e-14,  1.00000000e+00, -1.09493110e-26,
        1.00000000e+00,  6.04133290e-14, -1.00000000e+00,  0.00000000e+00,
       -1.81239987e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0375671 , -0.06421942,  0.06199032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.49792468e-04, 1.29310690e-01, 4.50737366e-02,-2.12239817e-02,
  5.92810350e-02, 4.96063532e-01, 2.07543307e-01,-3.35941656e-03,
  1.40270275e-05,-7.66650714e-04,-1.72860101e-04,-1.79352177e-05,
 -1.59806149e-04,-1.37813251e-04,-1.52906320e-05, 6.57332099e-05,
 -2.48193052e-03,-1.69776753e-04,-9.80732027e+00,-7.23794433e-02,
 -1.66793589e-02, 2.57291238e-04]


--- Step 2694 ---
qpos:
[ 0.00565225, 0.33303173,-0.08220029, 0.88961923,-0.04660206, 0.18443231,
 -0.2099334 , 0.78211349, 0.01529938, 1.32473813,-0.02336746, 0.95450854,
  1.05112363, 0.0040878 , 1.23098272, 0.04539368, 0.06818925,-0.07003929,
  0.14963124, 0.96742802,-0.08341705,-0.04434183, 0.23485829]

qacc:
[ 1.37622743e+01,-1.42013859e+01, 4.12053307e+01,-1.10998275e+02,
  5.89870877e+01, 2.05819540e+01,-7.52359903e+01,-1.49142733e+01,
 -3.28458659e-02,-7.01253008e+00, 1.72412332e+01,-2.73060437e+01,
  3.95485105e-01,-1.76918648e+00,-5.81431936e+00, 1.96702100e+01,
  7.62958904e-01, 2.95512571e-01,-3.29976919e-01, 6.00300607e+00,
  3.49268355e+00, 1.52269565e+01]

qfrc_actuator:
[-1.45353903e-02, 2.02923862e-01, 6.13291620e-02, 3.95484700e-03,
  3.83337377e-02, 5.25175935e-01, 1.89461560e-01, 1.54995969e-01,
 -3.02325013e-03, 4.86127606e-02, 1.05437072e-02, 2.01217781e-03,
  2.81959733e-02,-5.73862273e-05, 0.00000000e+00,-1.32913203e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000953069282787248
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76924842, -0.63689028, -0.05126055, -0.039484  , -0.03269032,
        0.99868531, -0.63772869,  0.77026107,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07765367, -0.03340864,  0.13460309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0053786848103579005
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84417884e-01, -1.52938379e-01, -8.67829592e-02, -1.52347534e-01,
        9.88235727e-01, -1.34304446e-02,  8.78160512e-02,  1.73472348e-18,
       -9.96136708e-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([ 0.10130027, -0.08287876,  0.11939478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046106065464866786
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.00997009e-14,  6.01994018e-14,  1.00000000e+00,  1.81198399e-27,
        1.00000000e+00, -6.01994018e-14, -1.00000000e+00,  0.00000000e+00,
       -3.00997009e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0375664 , -0.06421952,  0.06199029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.50456467e-04, 1.29345558e-01, 4.50163530e-02,-2.14149050e-02,
  5.88814349e-02, 4.99878710e-01, 2.09122594e-01,-5.74705300e-03,
 -9.58557234e-06,-6.84844964e-04,-2.01267172e-04,-9.61499646e-05,
 -1.84521570e-04,-1.71630968e-04,-3.88479640e-06, 9.38052122e-05,
 -2.37010511e-03,-5.55787508e-05,-9.80729031e+00,-7.24726220e-02,
 -1.67215465e-02, 3.27892849e-04]


--- Step 2695 ---
qpos:
[ 0.00535805, 0.33422903,-0.08197178, 0.89007213,-0.04698098, 0.18479565,
 -0.21038938, 0.78528391, 0.01529955, 1.32502018,-0.02337056, 0.95451411,
  1.05175547, 0.00411661, 1.23113674, 0.04540139, 0.06806796,-0.07004391,
  0.14967115, 0.96738274,-0.08352286,-0.0450296 , 0.23487636]

qacc:
[ 1.43463878e+01,-1.44434190e+01, 3.98059316e+01,-1.09009073e+02,
  5.86191611e+01, 2.00056768e+01,-6.64516347e+01,-2.54219585e+01,
  5.74342279e-03,-8.38293549e+00, 1.81774331e+01,-1.38183310e+01,
 -5.81531326e-01,-1.00066325e-01,-7.53754317e+00, 2.59908037e+01,
  7.50201262e-01, 2.34554213e-01,-3.24118946e-01, 5.85233163e+00,
  3.86791764e+00, 1.32258918e+01]

qfrc_actuator:
[-1.43143332e-02, 2.02443714e-01, 6.11043964e-02, 3.53869578e-03,
  3.87180137e-02, 5.28043090e-01, 1.89871107e-01, 1.52329101e-01,
 -3.01631844e-03, 4.82950024e-02, 1.05446156e-02, 2.00518097e-03,
  2.81307379e-02,-7.16956293e-05, 0.00000000e+00,-1.20550603e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009887081728665841
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.68850177e-01, -6.37293064e-01, -5.22202587e-02, -4.02044104e-02,
       -3.33250777e-02,  9.98635591e-01, -6.38163780e-01,  7.69900636e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07753014, -0.03342729,  0.13467632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005381586815958388
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98426873, -0.15297071, -0.08840265, -0.15235742,  0.98823072,
       -0.01368407,  0.08945548,  0.        , -0.99599082])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10122409, -0.08289353,  0.1194445 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004628052414530487
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.99587120e-14, -1.19944949e-13,  1.00000000e+00, -1.07900932e-26,
        1.00000000e+00,  1.19944949e-13, -1.00000000e+00,  0.00000000e+00,
       -8.99587120e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03756572, -0.06421956,  0.06199026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34358994e-04, 1.29491402e-01, 4.50476093e-02,-2.14794329e-02,
  5.84653828e-02, 5.03551741e-01, 2.10550256e-01,-8.05925709e-03,
  1.43723628e-06,-7.40694176e-04,-1.58855552e-04,-3.50048907e-05,
 -1.99302864e-04,-1.06912217e-04, 3.91276682e-06, 1.27312436e-04,
 -2.27088589e-03, 5.05509086e-05,-9.80727937e+00,-7.25559674e-02,
 -1.67687075e-02, 3.97435034e-04]


--- Step 2696 ---
qpos:
[ 0.00507451, 0.3354073 ,-0.0817488 , 0.89051818,-0.0473441 , 0.18514985,
 -0.21086121, 0.78844723, 0.01529991, 1.32529582,-0.02337335, 0.95451785,
  1.05238579, 0.00414562, 1.23129126, 0.0454065 , 0.06794962,-0.07004782,
  0.14970979, 0.96733296,-0.08362055,-0.04570464, 0.23491625]

qacc:
[ 1.45135275e+01,-2.09395254e+01, 5.36137819e+01,-1.15041441e+02,
  5.79056044e+01, 1.85135128e+01,-5.64221528e+01,-3.62461188e+01,
  8.03786348e-02,-1.23944029e+01, 3.39224166e+01,-4.64106074e+01,
 -1.56303328e+00, 1.55953554e+00, 8.71847915e+00,-2.91417035e+01,
  7.37953538e-01, 1.78551641e-01,-3.17948910e-01, 5.72582773e+00,
  4.18831839e+00, 1.14271042e+01]

qfrc_actuator:
[-1.40703174e-02, 2.01845328e-01, 6.09349996e-02, 3.07659119e-03,
  3.90905794e-02, 5.30548521e-01, 1.90292312e-01, 1.49660377e-01,
 -2.99448352e-03, 4.79418561e-02, 1.05463414e-02, 1.91008533e-03,
  2.80795802e-02,-3.81960403e-05, 0.00000000e+00,-1.34888747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001023816643278328
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.68423434e-01, -6.37729448e-01, -5.31655572e-02, -4.09115208e-02,
       -3.39532612e-02,  9.98585712e-01, -6.38632659e-01,  7.69511746e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07740879, -0.0334459 ,  0.13474877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005383357509297883
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98411454, -0.15303954, -0.08998597, -0.15240375,  0.98822007,
       -0.01393557,  0.09105863,  0.        , -0.99584553])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10115069, -0.08290815,  0.11949397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004646551629208795
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.09067976e-13, -1.19467415e-13,  1.00000000e+00, -2.49768107e-26,
        1.00000000e+00,  1.19467415e-13, -1.00000000e+00,  0.00000000e+00,
       -2.09067976e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03756504, -0.06421955,  0.06199022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.19962172e-04, 1.29588354e-01, 4.51642808e-02,-2.15890182e-02,
  5.80404099e-02, 5.06654569e-01, 2.11869857e-01,-1.03758245e-02,
  2.28299779e-05,-7.96821468e-04,-1.62325480e-04,-1.22102026e-04,
 -1.77278798e-04,-4.42354369e-05, 1.02636145e-05,-1.37025424e-04,
 -2.18047168e-03, 1.45049071e-04,-9.80728698e+00,-7.26293489e-02,
 -1.68203450e-02, 4.65919619e-04]


--- Step 2697 ---
qpos:
[ 0.00480163, 0.33656428,-0.08153115, 0.89095753,-0.04769171, 0.18549776,
 -0.21134689, 0.79160342, 0.01530049, 1.32556501,-0.02337579, 0.95452044,
  1.05301492, 0.00417443, 1.23144594, 0.04540888, 0.06783418,-0.07005122,
  0.14974718, 0.96727951,-0.08371037,-0.04636674, 0.23497455]

qacc:
[ 1.44515811e+01,-2.41487248e+01, 6.01182891e+01,-1.17167169e+02,
  5.67390928e+01, 1.71767103e+01,-4.72581963e+01,-4.65871241e+01,
  9.29387820e-02,-1.14357957e+01, 2.94226669e+01,-3.49025519e+01,
 -1.03197795e+00, 7.69934648e-01, 8.60999298e+00,-2.95707188e+01,
  7.24718602e-01, 1.25644025e-01,-3.10776155e-01, 5.59065675e+00,
  4.48254385e+00, 9.70066295e+00]

qfrc_actuator:
[-1.38168905e-02, 2.01221687e-01, 6.07829917e-02, 2.58951291e-03,
  3.94676463e-02, 5.33087246e-01, 1.90743272e-01, 1.47135385e-01,
 -2.98163994e-03, 4.76235639e-02, 1.05660627e-02, 1.85262041e-03,
  2.80262761e-02,-4.75743230e-05, 0.00000000e+00,-1.48865963e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010580710101217073
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.67975044e-01, -6.38190956e-01, -5.40983876e-02, -4.16071407e-02,
       -3.45757340e-02,  9.98535610e-01, -6.39126887e-01,  7.69101308e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07728982, -0.03346441,  0.13482022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005384473036997016
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83956475e-01, -1.53140020e-01, -9.15302658e-02, -1.52481712e-01,
        9.88204500e-01, -1.41842571e-02,  9.26227980e-02,  1.73472348e-18,
       -9.95701269e-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([ 0.10107967, -0.08292257,  0.11954335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046660254234524856
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48711018e-13,  5.94844072e-14,  1.00000000e+00, -8.84598674e-27,
        1.00000000e+00, -5.94844072e-14, -1.00000000e+00,  0.00000000e+00,
        1.48711018e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03756436, -0.06421949,  0.06199019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.04347134e-04, 1.29874951e-01, 4.52743019e-02,-2.17352411e-02,
  5.76276051e-02, 5.09636454e-01, 2.13108805e-01,-1.25502301e-02,
  2.64409525e-05,-7.96220897e-04,-1.58230921e-04,-8.82733422e-05,
 -1.54025667e-04,-6.37642855e-05,-1.80668458e-05,-1.47739100e-04,
 -2.09597928e-03, 2.27108419e-04,-9.80731038e+00,-7.26936571e-02,
 -1.68755530e-02, 5.33332101e-04]


--- Step 2698 ---
qpos:
[ 0.00453927, 0.33770001,-0.0813192 , 0.89139022,-0.04802424, 0.18584225,
 -0.21184465, 0.79475243, 0.01530141, 1.32582808,-0.02337783, 0.95452229,
  1.05364314, 0.0042022 , 1.23160002, 0.04541356, 0.06772158,-0.07005433,
  0.14978336, 0.96722325,-0.08379263,-0.0470157 , 0.23504787]

qacc:
[ 1.41835802e+01,-2.30888236e+01, 5.66332102e+01,-1.13867169e+02,
  5.50361848e+01, 1.64034548e+01,-3.97209965e+01,-5.62059875e+01,
  1.42949682e-01,-1.03580267e+01, 2.55645525e+01,-2.68313992e+01,
  1.76309581e-01,-1.14949804e+00,-7.90769779e+00, 2.62586025e+01,
  7.10251175e-01, 7.41701058e-02,-3.02718820e-01, 5.43611517e+00,
  4.77168571e+00, 7.96911744e+00]

qfrc_actuator:
[-1.35620816e-02, 2.00557255e-01, 6.05724223e-02, 2.09003367e-03,
  3.98413756e-02, 5.35824301e-01, 1.91216431e-01, 1.44770496e-01,
 -2.95654340e-03, 4.73465343e-02, 1.05964082e-02, 1.81780302e-03,
  2.79663834e-02,-1.17872429e-04, 0.00000000e+00,-1.35879887e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010912988346890038
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.67510650e-01, -6.38670676e-01, -5.50197153e-02, -4.22922789e-02,
       -3.51927864e-02,  9.98485268e-01, -6.39639558e-01,  7.68674987e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07717334, -0.03348277,  0.13489051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005385360008313477
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98379564, -0.15326743, -0.09303353, -0.15258668,  0.98818475,
       -0.0144295 ,  0.09414589,  0.        , -0.99555841])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10101067, -0.08293676,  0.11959279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004686370856774036
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48065403e-13, -1.18452323e-13,  1.00000000e+00,  1.75386909e-26,
        1.00000000e+00,  1.18452323e-13, -1.00000000e+00,  0.00000000e+00,
        1.48065403e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03756368, -0.0642194 ,  0.06199015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.87242688e-04, 1.30234185e-01, 4.53162418e-02,-2.19016057e-02,
  5.72254172e-02, 5.12675971e-01, 2.14270618e-01,-1.45640414e-02,
  4.08186558e-05,-7.52775240e-04,-1.46026811e-04,-6.47110883e-05,
 -1.53806195e-04,-1.24546595e-04,-3.03410374e-05, 1.18090574e-04,
 -2.01524023e-03, 2.95613276e-04,-9.80734797e+00,-7.27493307e-02,
 -1.69337328e-02, 5.99677385e-04]


--- Step 2699 ---
qpos:
[ 0.00428712, 0.33881493,-0.08111355, 0.89181624,-0.04834224, 0.18618571,
 -0.21235287, 0.79789418, 0.01530278, 1.32608554,-0.02338007, 0.95452474,
  1.05427037, 0.00422895, 1.23175381, 0.04542037, 0.06761176,-0.07005734,
  0.14981837, 0.96716499,-0.08386759,-0.04765133, 0.23513287]

qacc:
[ 1.37237404e+01,-2.09539641e+01, 5.03601666e+01,-1.08799717e+02,
  5.28466207e+01, 1.53531912e+01,-3.20372681e+01,-6.57658206e+01,
  1.97137626e-01,-5.81050403e+00, 8.87902386e+00, 2.62953989e+00,
  5.68623268e-02,-1.00379944e+00,-6.88771982e+00, 2.34231353e+01,
  6.95818667e-01, 2.39268854e-02,-2.94500519e-01, 5.28189186e+00,
  5.05415309e+00, 6.26582969e+00]

qfrc_actuator:
[-1.32928059e-02, 1.99876830e-01, 6.03292193e-02, 1.62127009e-03,
  4.01895714e-02, 5.38484709e-01, 1.91724433e-01, 1.42451319e-01,
 -2.92430015e-03, 4.70965147e-02, 1.05974475e-02, 1.84986861e-03,
  2.79132070e-02,-1.70524053e-04, 0.00000000e+00,-1.24863062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011234878448937726
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.67034807e-01, -6.39163125e-01, -5.59294586e-02, -4.29670969e-02,
       -3.58040908e-02,  9.98434723e-01, -6.40165161e-01,  7.68237312e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07705928, -0.03350093,  0.13495964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005386428031826023
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83633117e-01, -1.53417001e-01, -9.44939947e-02, -1.52713941e-01,
        9.88161537e-01, -1.46706634e-02,  9.56260603e-02,  3.46944695e-18,
       -9.95417328e-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([ 0.10094332, -0.08295069,  0.11964242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047074641634324565
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76882338e-13, -5.89607794e-14,  1.00000000e+00, -1.04291205e-26,
        1.00000000e+00,  5.89607794e-14, -1.00000000e+00,  0.00000000e+00,
       -1.76882338e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.037563  , -0.06421926,  0.06199011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24806795e-03, 1.30576548e-01, 4.53443169e-02,-2.20385109e-02,
  5.68190798e-02, 5.15494928e-01, 2.15379058e-01,-1.65291516e-02,
  5.64380494e-05,-6.98611787e-04,-1.64765030e-04, 4.35489759e-06,
 -1.60744559e-04,-1.24407705e-04,-3.92914347e-06, 1.12176132e-04,
 -1.93631543e-03, 3.49243681e-04,-9.80739889e+00,-7.27965561e-02,
 -1.69944422e-02, 6.64966821e-04]


--- Step 2700 ---
qpos:
[ 0.00404476, 0.3399092 ,-0.08091477, 0.89223562,-0.04864639, 0.18652946,
 -0.21287004, 0.8010286 , 0.0153043 , 1.32633798,-0.02338344, 0.95452791,
  1.05489644, 0.00425509, 1.23190744, 0.04542943, 0.06750467,-0.07006044,
  0.14985223, 0.9671055 ,-0.08393553,-0.04827347, 0.23522636]

qacc:
[ 1.30851573e+01,-1.91745501e+01, 4.47344732e+01,-1.03809420e+02,
  5.02998554e+01, 1.32349938e+01,-2.27049100e+01,-7.56014498e+01,
  5.75535562e-02,-2.32593329e+00,-1.80963582e+00, 1.29149602e+01,
 -3.47748960e-01,-3.11843602e-01,-7.07456168e+00, 2.43987084e+01,
  6.81488370e-01,-2.39788685e-02,-2.85988062e-01, 5.13855894e+00,
  5.30972748e+00, 4.65482227e+00]

qfrc_actuator:
[-1.30365136e-02, 1.99265876e-01, 6.01048124e-02, 1.19135762e-03,
  4.04814710e-02, 5.40672036e-01, 1.92256550e-01, 1.40180274e-01,
 -2.94128924e-03, 4.68646331e-02, 1.05458260e-02, 1.88552367e-03,
  2.78587742e-02,-1.94451889e-04, 0.00000000e+00,-1.13327391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001154654647280274
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.66551816e-01, -6.39663164e-01, -5.68273687e-02, -4.36316305e-02,
       -3.64092110e-02,  9.98384019e-01, -6.40698520e-01,  7.67792554e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07694759, -0.03351882,  0.13502758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00538802005864566
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83469923e-01, -1.53584003e-01, -9.59107142e-02, -1.52858827e-01,
        9.88135595e-01, -1.49072167e-02,  9.70623006e-02, -1.73472348e-18,
       -9.95278308e-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([ 0.1008773 , -0.08296432,  0.11969235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000472917128430686
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.80352200e-14, -5.86901466e-14,  1.00000000e+00, -5.16679997e-27,
        1.00000000e+00,  5.86901466e-14, -1.00000000e+00,  0.00000000e+00,
       -8.80352200e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03756232, -0.0642191 ,  0.06199006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.50704049e-03, 1.30966879e-01, 4.54209526e-02,-2.21364042e-02,
  5.63846719e-02, 5.17721246e-01, 2.16430618e-01,-1.84420728e-02,
  1.64114258e-05,-6.52088022e-04,-2.06947077e-04, 1.06002035e-05,
 -1.65113432e-04,-9.74451208e-05, 6.02366425e-06, 1.20074070e-04,
 -1.85749422e-03, 3.87339184e-04,-9.80746218e+00,-7.28356756e-02,
 -1.70572144e-02, 7.29202119e-04]


--- Step 2701 ---
qpos:
[ 0.00381162, 0.34098016,-0.08072257, 0.89264858,-0.04893736, 0.18687385,
 -0.21339471, 0.80415564, 0.01530566, 1.32658591,-0.02338767, 0.95453038,
  1.05552131, 0.0042807 , 1.23206156, 0.04543579, 0.06740026,-0.07006381,
  0.14988498, 0.96704545,-0.0839966 ,-0.04888204, 0.23532574]

qacc:
[ 1.22759444e+01,-2.30577931e+01, 5.26039152e+01,-1.05861713e+02,
  4.76944446e+01, 1.01245914e+01,-1.17010770e+01,-8.58443913e+01,
 -6.51113955e-02,-4.77202998e+00, 9.81602812e+00,-1.36465404e+01,
 -8.36624975e-01, 3.25663750e-01, 8.97969860e+00,-3.02098951e+01,
  6.68382660e-01,-6.56823342e-02,-2.78284643e-01, 5.03299436e+00,
  5.49734122e+00, 3.31467006e+00]

qfrc_actuator:
[-1.28271712e-02, 1.98669265e-01, 5.99302884e-02, 6.80886855e-04,
  4.07877089e-02, 5.42414851e-01, 1.92805812e-01, 1.37852318e-01,
 -2.96992198e-03, 4.66808045e-02, 1.05168770e-02, 1.85196455e-03,
  2.77983131e-02,-2.18899407e-04, 0.00000000e+00,-1.28207267e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.32631298,  0.29766856, -0.32631298,  2.44009962,
        2.19071923,  0.29766856,  2.19071923,  2.84321677,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011847971316281839
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76606589, -0.64016578, -0.05771338, -0.04428607, -0.03700782,
        0.99833319, -0.64123459,  0.7673449 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07683822, -0.03353641,  0.13509433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005390352458782031
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83306877e-01, -1.53763960e-01, -9.72842794e-02, -1.53016896e-01,
        9.88107608e-01, -1.51388533e-02,  9.84551466e-02, -1.73472348e-18,
       -9.95141489e-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([ 0.10081239, -0.08297763,  0.11974265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047513449404323893
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16832501e-13,  5.84162505e-14,  1.00000000e+00, -6.82491664e-27,
        1.00000000e+00, -5.84162505e-14, -1.00000000e+00,  0.00000000e+00,
        1.16832501e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03756162, -0.06421891,  0.06199002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79121799e-03, 1.31364440e-01, 4.55768957e-02,-2.23158539e-02,
  5.59979782e-02, 5.19438344e-01, 2.17424072e-01,-2.04083777e-02,
 -1.88265614e-05,-5.86322455e-04,-1.79791839e-04,-5.83325464e-05,
 -1.66825959e-04,-9.13764412e-05, 1.07144140e-05,-1.42534579e-04,
 -1.77770335e-03, 4.10260521e-04,-9.80753628e+00,-7.28672916e-02,
 -1.71215349e-02, 7.92381681e-04]


--- Step 2702 ---
qpos:
[ 0.00358701, 0.34202669,-0.08053698, 0.89305529,-0.04921597, 0.18721923,
 -0.21392547, 0.80727521, 0.01530678, 1.32682925,-0.02339116, 0.95453237,
  1.05614484, 0.00430632, 1.23221583, 0.04543968, 0.06729847,-0.07006761,
  0.14991664, 0.96698548,-0.08405095,-0.04947691, 0.23542845]

qacc:
[ 1.13375608e+01,-2.41756509e+01, 5.40907104e+01,-1.04404677e+02,
  4.47324631e+01, 7.03384689e+00,-7.69801832e-01,-9.61464095e+01,
 -9.88753703e-02,-8.89043819e+00, 2.27164078e+01,-2.25344871e+01,
 -1.25820670e+00, 1.11282903e+00, 7.79697503e+00,-2.67328948e+01,
  6.57224175e-01,-1.06878451e-01,-2.71730131e-01, 4.94666780e+00,
  5.69211792e+00, 2.01009681e+00]

qfrc_actuator:
[-1.26315878e-02, 1.98056678e-01, 5.97881466e-02, 2.31019539e-04,
  4.10976961e-02, 5.44050255e-01, 1.93331987e-01, 1.35422194e-01,
 -2.98755302e-03, 4.64917907e-02, 1.05727283e-02, 1.83125038e-03,
  2.77396056e-02,-2.07998622e-04, 0.00000000e+00,-1.40777738e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.32893894,  0.29476416, -0.32893894,  2.34726214,
        2.12650725,  0.29476416,  2.12650725,  2.81473947,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012137320011398607
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76558185, -0.64066512, -0.05858871, -0.04493164, -0.03760033,
        0.99828221, -0.64176755,  0.76689922,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07673129, -0.03355369,  0.13515971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005393535445022205
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.83144582e-01, -1.53953163e-01, -9.86161984e-02, -1.53184461e-01,
        9.88078147e-01, -1.53654604e-02,  9.98060718e-02,  1.73472348e-18,
       -9.95006909e-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([ 0.10074843, -0.08299062,  0.11979332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047738628784843584
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.81407056e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.81407056e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03756092, -0.0642187 ,  0.06198998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.06042500e-03, 1.31880034e-01, 4.57506532e-02,-2.24464732e-02,
  5.56494684e-02, 5.21029870e-01, 2.18322192e-01,-2.24739609e-02,
 -2.85970062e-05,-5.51848742e-04,-8.10747298e-05,-4.43578413e-05,
 -1.65203567e-04,-5.44068272e-05,-1.80089810e-05,-1.33840220e-04,
 -1.69688790e-03, 4.20435444e-04,-9.80761825e+00,-7.28926487e-02,
 -1.71867251e-02, 8.54492283e-04]


--- Step 2703 ---
qpos:
[ 0.00337019, 0.34305695,-0.08036061, 0.89345527,-0.04948317, 0.18756718,
 -0.21446097, 0.81038719, 0.01530783, 1.32706816,-0.02339406, 0.95453478,
  1.05676696, 0.00433235, 1.23236945, 0.04544636, 0.06719927,-0.07007201,
  0.14994724, 0.9669263 ,-0.08409875,-0.0500579 , 0.23553159]

qacc:
[ 1.02714768e+01,-7.39322500e+00, 1.34007014e+01,-8.08504268e+01,
  4.11168246e+01, 5.63100467e+00, 6.84491337e+00,-1.05555495e+02,
 -3.37292274e-02,-6.66597834e+00, 1.38679732e+01,-4.37343502e+00,
 -1.14835234e+00, 1.21942719e+00,-9.30444215e+00, 3.14049001e+01,
  6.46634216e-01,-1.51229454e-01,-2.65978979e-01, 4.84118609e+00,
  5.94440378e+00, 5.39440585e-01]

qfrc_actuator:
[-1.23940145e-02, 1.98066287e-01, 5.95970838e-02,-1.44578053e-04,
  4.13877038e-02, 5.46241954e-01, 1.93810385e-01, 1.32969301e-01,
 -2.98068853e-03, 4.62838008e-02, 1.06071872e-02, 1.85382839e-03,
  2.76820068e-02,-1.76197599e-04, 0.00000000e+00,-1.25248532e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.32696377,  0.29695357, -0.32696377,  2.33077613,
        2.08000183,  0.29695357,  2.08000183,  2.73189361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012413895662373767
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65103647e-01, -6.41156499e-01, -5.94537858e-02, -4.55689171e-02,
       -3.81867312e-02,  9.98231059e-01, -6.42292677e-01,  7.66459469e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07662686, -0.03357065,  0.13522365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005397669727711627
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98298364, -0.15414796, -0.09990784, -0.15335789,  0.98804778,
       -0.01558689,  0.10111641,  0.        , -0.9948746 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10068529, -0.08300327,  0.11984438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00047966170767850536
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.73594693e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.73594693e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0375602 , -0.06421847,  0.06198993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25388426e-03, 1.33074386e-01, 4.58772633e-02,-2.25108879e-02,
  5.53205195e-02, 5.23160658e-01, 2.19101531e-01,-2.45587172e-02,
 -9.86351379e-06,-5.32032935e-04,-8.41007945e-05, 3.16321031e-06,
 -1.54960628e-04,-2.23879094e-05,-2.89398908e-05, 1.44269596e-04,
 -1.61428945e-03, 4.18294270e-04,-9.80770753e+00,-7.29121152e-02,
 -1.72524807e-02, 9.15533131e-04]


--- Step 2704 ---
qpos:
[ 0.00316027, 0.34407755,-0.08019613, 0.89384807,-0.04974002, 0.18791972,
 -0.21500002, 0.81349139, 0.01530886, 1.32730254,-0.02339644, 0.95453711,
  1.05738817, 0.00435776, 1.23252338, 0.04545078, 0.0671026 ,-0.07007719,
  0.1499768 , 0.9668686 ,-0.08414018,-0.05062487, 0.23563246]

qacc:
[ 9.04310092e+00, 7.59005810e+00,-2.39498866e+01,-5.88174521e+01,
  3.72013426e+01, 5.02713141e+00, 1.26957220e+01,-1.14417224e+02,
 -6.12896693e-03,-7.47486627e+00, 1.73693329e+01,-1.31376180e+01,
 -4.96546194e-01,-5.84099417e-02, 7.33002340e+00,-2.49387225e+01,
  6.34628924e-01,-1.93564175e-01,-2.60234180e-01, 4.74037388e+00,
  6.15562104e+00,-8.44576015e-01]

qfrc_actuator:
[-1.21694143e-02, 1.98575092e-01, 5.93641685e-02,-5.25893289e-04,
  4.16794989e-02, 5.48854217e-01, 1.94332230e-01, 1.30523622e-01,
 -2.97693940e-03, 4.60483481e-02, 1.06286718e-02, 1.84840227e-03,
  2.76304531e-02,-2.21033391e-04, 0.00000000e+00,-1.37669256e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.29763263,  0.32634575, -0.29763263,  2.68437529,
        2.04536885,  0.32634575,  2.04536885,  2.30709585,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001268317421595102
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64631269e-01, -6.41640344e-01, -6.03049897e-02, -4.61951561e-02,
       -3.87646661e-02,  9.98179998e-01, -6.42810260e-01,  7.66025437e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07652439, -0.03358722,  0.13528653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005402966428070402
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98282487, -0.15434414, -0.10115914, -0.15353302,  0.98801715,
       -0.01580268,  0.10238602,  0.        , -0.99474474])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10062274, -0.08301556,  0.11989592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004819509407207184
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.7277013e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.7277013e-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([ 0.03755947, -0.06421822,  0.06198989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.42239893e-03, 1.34360553e-01, 4.60927777e-02,-2.25571150e-02,
  5.50420314e-02, 5.25632993e-01, 2.19857962e-01,-2.66292499e-02,
 -1.93793492e-06,-5.47684801e-04,-9.21519628e-05,-2.32413954e-05,
 -1.35476358e-04,-8.77398839e-05,-1.11578529e-06,-1.20706253e-04,
 -1.52873875e-03, 4.02673661e-04,-9.80780519e+00,-7.29253751e-02,
 -1.73187324e-02, 9.75518852e-04]


--- Step 2705 ---
qpos:
[ 0.00295619, 0.34508337,-0.08004332, 0.89423399,-0.0499876 , 0.18827827,
 -0.21554147, 0.81658761, 0.0153096 , 1.32753207,-0.02339836, 0.95453941,
  1.05800856, 0.00438202, 1.23267729, 0.04545367, 0.06700843,-0.07008329,
  0.15000533, 0.96681292,-0.08417528,-0.05117783, 0.23572891]

qacc:
[ 7.63051668e+00, 7.98324837e-01,-1.06953080e+01,-6.29053266e+01,
  3.33085841e+01, 3.78644115e+00, 1.95853107e+01,-1.23614551e+02,
 -1.20028262e-01,-7.71245846e+00, 1.75443169e+01,-1.27073769e+01,
 -1.39567621e-02,-9.51594404e-01, 4.54098850e+00,-1.59735664e+01,
  6.21874406e-01,-2.30581879e-01,-2.54987574e-01, 4.68191734e+00,
  6.26730303e+00,-1.94236039e+00]

qfrc_actuator:
[-1.19725781e-02, 1.98886239e-01, 5.92012712e-02,-9.78501631e-04,
  4.19156068e-02, 5.51325202e-01, 1.94880835e-01, 1.27943474e-01,
 -3.01059758e-03, 4.57805299e-02, 1.06422038e-02, 1.84425759e-03,
  2.75718801e-02,-2.93234513e-04, 0.00000000e+00,-1.45162084e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.27426049,  0.34621946, -0.27426049,  2.91128124,
        1.9563093 ,  0.34621946,  1.9563093 ,  1.99139218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001294937847348366
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64165330e-01, -6.42116258e-01, -6.11396737e-02, -4.68083871e-02,
       -3.93323607e-02,  9.98129220e-01, -6.43319768e-01,  7.65597594e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07642347, -0.03360335,  0.13534863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005409662444234459
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98266911, -0.1545377 , -0.10236953, -0.15370591,  0.98798689,
       -0.01601231,  0.10361425,  0.        , -0.99461756])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10056052, -0.08302751,  0.11994801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004842460293038725
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.73170949e-14, -1.14634190e-13,  1.00000000e+00,  6.57049874e-27,
        1.00000000e+00,  1.14634190e-13, -1.00000000e+00,  0.00000000e+00,
        5.73170949e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03755871, -0.06421797,  0.06198984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57416810e-03, 1.35119065e-01, 4.65125062e-02,-2.26518113e-02,
  5.47608691e-02, 5.27862388e-01, 2.20580723e-01,-2.88249694e-02,
 -3.46762960e-05,-5.91027998e-04,-1.04844506e-04,-2.32793864e-05,
 -1.48297276e-04,-1.29014002e-04,-1.98311828e-05,-8.31081908e-05,
 -1.44061719e-03, 3.75120277e-04,-9.80790964e+00,-7.29330454e-02,
 -1.73851188e-02, 1.03445482e-03]


--- Step 2706 ---
qpos:
[ 0.00275685, 0.34607327,-0.07990279, 0.89461314,-0.05022703, 0.18864387,
 -0.21608417, 0.81967567, 0.01531016, 1.32775711,-0.02340088, 0.95454373,
  1.05862787, 0.00440532, 1.23283058, 0.04545964, 0.0669167 ,-0.07009046,
  0.15003286, 0.96675981,-0.08420408,-0.05171671, 0.23581883]

qacc:
[ 6.17565289e+00, 1.09748844e+00,-1.37233473e+01,-5.83323256e+01,
  2.91085790e+01, 2.14381229e+00, 2.72632583e+01,-1.33282727e+02,
 -7.92735200e-02,-7.67945966e-01,-8.68294955e+00, 3.37416732e+01,
  5.16248331e-02,-9.92798938e-01,-1.02245767e+01, 3.43788183e+01,
  6.12397654e-01,-2.68059229e-01,-2.51242439e-01, 4.64914986e+00,
  6.40607747e+00,-3.03070455e+00]

qfrc_actuator:
[-1.17763459e-02, 1.99265308e-01, 5.90849146e-02,-1.32930068e-03,
  4.21507296e-02, 5.53690428e-01, 1.95428014e-01, 1.25161678e-01,
 -3.01316738e-03, 4.55664497e-02, 1.06153070e-02, 1.94739539e-03,
  2.75091216e-02,-3.45571963e-04, 0.00000000e+00,-1.28379496e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.28874328,  0.33423652, -0.28874328,  2.70446576,
        1.95479056,  0.33423652,  1.95479056,  2.13040849,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00132088521591887
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63711367e-01, -6.42577507e-01, -6.19604358e-02, -4.74109843e-02,
       -3.98910288e-02,  9.98078606e-01, -6.43814529e-01,  7.65181582e-01,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07632443, -0.0336191 ,  0.13540962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005417917647202857
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98251701, -0.15472548, -0.1035391 , -0.15387343,  0.9879575 ,
       -0.01621541,  0.10480117,  0.        , -0.99449319])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10049843, -0.08303911,  0.12000071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004865427706357145
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.85232638e-14, -5.70465276e-14,  1.00000000e+00,  1.62715316e-27,
        1.00000000e+00,  5.70465276e-14, -1.00000000e+00,  0.00000000e+00,
        2.85232638e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03755795, -0.06421771,  0.0619898 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67340465e-03, 1.36202540e-01, 4.69676296e-02,-2.26601134e-02,
  5.45317099e-02, 5.29916058e-01, 2.21244748e-01,-3.12129005e-02,
 -2.28941968e-05,-5.63703907e-04,-1.55175954e-04, 8.23409757e-05,
 -1.68961247e-04,-1.23863228e-04,-2.29406639e-05, 1.59639156e-04,
 -1.35124053e-03, 3.39094703e-04,-9.80801773e+00,-7.29363886e-02,
 -1.74511320e-02, 1.09233890e-03]


--- Step 2707 ---
qpos:
[ 0.00256117, 0.34704816,-0.07977566, 0.89498549,-0.05045952, 0.18901692,
 -0.21662705, 0.82275536, 0.01531074, 1.32797728,-0.02340293, 0.95454821,
  1.05924605, 0.00442799, 1.2329843 , 0.04546283, 0.0668274 ,-0.07009884,
  0.1500594 , 0.96670976,-0.08422654,-0.05224141, 0.23590034]

qacc:
[ 4.73768537e+00, 5.24240620e+00,-2.57650268e+01,-4.88939647e+01,
  2.48247178e+01,-2.09209563e-01, 3.61176359e+01,-1.43277121e+02,
  1.01034270e-02,-7.40050929e+00, 1.61043979e+01,-9.19715438e+00,
 -7.24491231e-01, 1.42974306e-01, 9.05757685e+00,-3.06686903e+01,
  6.05513080e-01,-3.02384421e-01,-2.48109360e-01, 4.64154583e+00,
  6.53481991e+00,-3.99114238e+00]

qfrc_actuator:
[-1.15639648e-02, 1.99727682e-01, 5.89485017e-02,-1.61636177e-03,
  4.24182033e-02, 5.55775705e-01, 1.95991910e-01, 1.22297786e-01,
 -2.99706717e-03, 4.53151679e-02, 1.06360387e-02, 1.95306970e-03,
  2.74598805e-02,-3.67956880e-04, 0.00000000e+00,-1.43586562e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.28993325,  0.33320481, -0.28993325,  2.65441667,
        1.92537474,  0.33320481,  1.92537474,  2.11702267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013460751897861908
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63272907e-01, -6.43019946e-01, -6.27679748e-02, -4.80037509e-02,
       -4.04408030e-02,  9.98028147e-01, -6.44290392e-01,  7.64780943e-01,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07622734, -0.03363449,  0.13546942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00542785780746874
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82369188e-01, -1.54904309e-01, -1.04668209e-01, -1.54032473e-01,
        9.87929479e-01, -1.64116539e-02,  1.05947045e-01, -3.46944695e-18,
       -9.94371773e-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([ 0.1004363 , -0.08305037,  0.12005409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004888378711825347
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.83893467e-14, -5.67786934e-14,  1.00000000e+00, -1.61191001e-27,
        1.00000000e+00,  5.67786934e-14, -1.00000000e+00,  0.00000000e+00,
       -2.83893467e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03755716, -0.06421745,  0.06198975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70169071e-03, 1.37426574e-01, 4.74335012e-02,-2.26095115e-02,
  5.43924465e-02, 5.31636428e-01, 2.21868579e-01,-3.36729827e-02,
  2.71922466e-06,-5.92455017e-04,-1.04829864e-04,-1.33320974e-05,
 -1.64122378e-04,-9.75868022e-05, 3.69372632e-06,-1.46882916e-04,
 -1.26043196e-03, 2.95520443e-04,-9.80812947e+00,-7.29356729e-02,
 -1.75165987e-02, 1.14917646e-03]


--- Step 2708 ---
qpos:
[ 0.00236801, 0.34800607,-0.07966226, 0.89535122,-0.05068624, 0.18939776,
 -0.21716915, 0.82582647, 0.01531141, 1.32819243,-0.02340489, 0.95455242,
  1.05986288, 0.00445067, 1.23313788, 0.04546554, 0.06674048,-0.07010855,
  0.15008496, 0.96666317,-0.08424263,-0.05275194, 0.23597188]

qacc:
[ 3.24523834e+00, 3.80309553e+00,-2.46799610e+01,-4.61975221e+01,
  2.05356440e+01,-2.30871590e+00, 4.41545066e+01,-1.52793344e+02,
  3.93405427e-02,-7.30547335e+00, 1.64380960e+01,-1.43106742e+01,
 -1.10464096e+00, 9.36467405e-01, 1.35964534e+00,-4.85674749e+00,
  5.97801763e-01,-3.32709035e-01,-2.44660848e-01, 4.64222821e+00,
  6.61246264e+00,-4.79928413e+00]

qfrc_actuator:
[-1.13427072e-02, 2.00156730e-01, 5.88238475e-02,-1.93345589e-03,
  4.26497565e-02, 5.57849586e-01, 1.96529753e-01, 1.19459110e-01,
 -2.98765282e-03, 4.50437549e-02, 1.06312678e-02, 1.93683919e-03,
  2.74028171e-02,-3.54577708e-04, 0.00000000e+00,-1.45571192e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.28551615,  0.33699742, -0.28551615,  2.67435231,
        1.89159374,  0.33699742,  1.89159374,  2.04431142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013705626168472118
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.62852159e-01, -6.43441098e-01, -6.35620742e-02, -4.85867134e-02,
       -4.09813197e-02,  9.97977887e-01, -6.44744845e-01,  7.64397858e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07613214, -0.03364952,  0.135528  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005439536603438476
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82226125e-01, -1.55071373e-01, -1.05757783e-01, -1.54180230e-01,
        9.87903269e-01, -1.66008202e-02,  1.07052771e-01,  3.46944695e-18,
       -9.94253340e-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([ 0.10037402, -0.08306129,  0.12010814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000491127390531948
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82570023e-14, -1.13028009e-13,  1.00000000e+00,  3.19383272e-27,
        1.00000000e+00,  1.13028009e-13, -1.00000000e+00,  0.00000000e+00,
        2.82570023e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03755636, -0.06421718,  0.06198971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66673765e-03, 1.38572260e-01, 4.79678655e-02,-2.25877244e-02,
  5.42762963e-02, 5.33326438e-01, 2.22412258e-01,-3.60980422e-02,
  1.11309515e-05,-6.21453603e-04,-1.33020950e-04,-3.68480169e-05,
 -1.63741646e-04,-5.29757116e-05,-2.12645836e-05,-2.90140381e-05,
 -1.16879663e-03, 2.46492091e-04,-9.80824381e+00,-7.29315449e-02,
 -1.75812350e-02, 1.20496789e-03]


--- Step 2709 ---
qpos:
[ 0.00217615, 0.34894349,-0.07956232, 0.89571067,-0.05090841, 0.18978724,
 -0.2177096 , 0.82888874, 0.01531189, 1.32840313,-0.023408  , 0.95455711,
  1.06047847, 0.00447309, 1.23329128, 0.04546829, 0.06665593,-0.07011971,
  0.15010956, 0.96662044,-0.08425227,-0.05324831, 0.23603199]

qacc:
[ 1.67585381e+00,-9.31688698e-01,-1.55819573e+01,-4.75882112e+01,
  1.61218387e+01,-3.62338563e+00, 5.05056353e+01,-1.61736055e+02,
 -8.14353845e-02,-1.90921862e+00,-1.80092666e+00, 9.91247760e+00,
 -8.04280796e-01, 4.28448106e-01,-3.28089104e-01, 9.06760832e-01,
  5.89144410e-01,-3.61668571e-01,-2.41251040e-01, 4.64420430e+00,
  6.66485133e+00,-5.55343190e+00]

qfrc_actuator:
[-1.11519510e-02, 2.00485006e-01, 5.87474364e-02,-2.24828348e-03,
  4.28581631e-02, 5.60232842e-01, 1.97068829e-01, 1.16603620e-01,
 -3.01783339e-03, 4.48333607e-02, 1.05758772e-02, 1.96108854e-03,
  2.73357941e-02,-3.73384152e-04, 0.00000000e+00,-1.45065503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.29008975,  0.33306856, -0.29008975,  2.59745429,
        1.87759002,  0.33306856,  1.87759002,  2.07699402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013942111252087286
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76245232, -0.6438372 , -0.06434381, -0.04916096, -0.04151296,
        0.99792779, -0.64517414,  0.76403556,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07603896, -0.03366425,  0.13558524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005452994442459365
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98208825, -0.15522427, -0.10680873, -0.15431433,  0.98787926,
       -0.01678273,  0.10811921,  0.        , -0.99413794])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10031149, -0.08307191,  0.12016289])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004934078250623253
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.43792119e-14, -1.12505616e-13,  1.00000000e+00, -9.49313520e-27,
        1.00000000e+00,  1.12505616e-13, -1.00000000e+00,  0.00000000e+00,
       -8.43792119e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03755553, -0.06421692,  0.06198966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60509458e-03, 1.39717150e-01, 4.85667982e-02,-2.25729555e-02,
  5.41963674e-02, 5.35307656e-01, 2.22909127e-01,-3.85291203e-02,
 -2.35081601e-05,-5.82637437e-04,-1.93190763e-04, 1.39340482e-06,
 -1.63021075e-04,-7.23048234e-05,-1.80385233e-05,-3.70199964e-07,
 -1.07746860e-03, 1.94310584e-04,-9.80835909e+00,-7.29247019e-02,
 -1.76447633e-02, 1.25972671e-03]


--- Step 2710 ---
qpos:
[ 0.00198438, 0.34985776,-0.07947559, 0.89606416,-0.0511273 , 0.190186  ,
 -0.21824756, 0.83194192, 0.01531196, 1.32860965,-0.02341166, 0.95456165,
  1.06109284, 0.00449515, 1.23344457, 0.04547104, 0.0665737 ,-0.07013242,
  0.1501332 , 0.96658191,-0.08425539,-0.05373054, 0.23607937]

qacc:
[ 1.13239171e-01,-4.55530261e+00,-8.73583626e+00,-4.77515984e+01,
  1.16576499e+01,-5.12599272e+00, 5.71426266e+01,-1.70838037e+02,
 -1.72441692e-01,-4.24225669e+00, 7.52039846e+00,-5.58474228e+00,
 -7.16737857e-01, 2.72432048e-01,-1.52852051e-01, 3.98107161e-01,
  5.82376918e-01,-3.88269871e-01,-2.38736083e-01, 4.66124622e+00,
  6.71429664e+00,-6.22215101e+00]

qfrc_actuator:
[-1.09260313e-02, 2.00674350e-01, 5.86696902e-02,-2.55943794e-03,
  4.30693545e-02, 5.62637987e-01, 1.97642966e-01, 1.13635210e-01,
 -3.05377073e-03, 4.46610242e-02, 1.05623297e-02, 1.95571813e-03,
  2.72734866e-02,-3.93476256e-04, 0.00000000e+00,-1.44874509e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.2985145 ,  0.32553928, -0.2985145 ,  2.47900012,
        1.86818545,  0.32553928,  1.86818545,  2.15478351,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001416792555192369
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76207711, -0.6442038 , -0.06511488, -0.04972809, -0.04203646,
        0.99787777, -0.64557385,  0.76369785,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07594802, -0.03367872,  0.13564091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005468311319830771
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81956004e-01, -1.55360732e-01, -1.07821372e-01, -1.54432554e-01,
        9.87857805e-01, -1.69571038e-02,  1.09146652e-01, -3.46944695e-18,
       -9.94025658e-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([ 0.10024859, -0.08308222,  0.12021838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004956769272864564
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.39929420e-14, -5.59952947e-14,  1.00000000e+00,  4.70320954e-27,
        1.00000000e+00,  5.59952947e-14, -1.00000000e+00,  0.00000000e+00,
        8.39929420e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03755469, -0.06421666,  0.06198962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.44750620e-03, 1.40898945e-01, 4.91514462e-02,-2.25710784e-02,
  5.41805745e-02, 5.37268212e-01, 2.23397520e-01,-4.10605582e-02,
 -4.96913825e-05,-5.33698555e-04,-1.49478838e-04,-2.79543254e-05,
 -1.62360864e-04,-7.89974373e-05,-1.32288935e-05,-1.48102829e-06,
 -9.87171147e-04, 1.40390479e-04,-9.80847454e+00,-7.29154994e-02,
 -1.77070230e-02, 1.31347608e-03]


--- Step 2711 ---
qpos:
[ 0.00179151, 0.35074727,-0.07940185, 0.89641198,-0.05134411, 0.1905942 ,
 -0.2187823 , 0.83498574, 0.01531177, 1.3288118 ,-0.02341547, 0.95456679,
  1.06170607, 0.00451678, 1.23359735, 0.04547713, 0.06649379,-0.07014677,
  0.15015589, 0.96654785,-0.08425187,-0.05419864, 0.23611308]

qacc:
[-1.40225221e+00,-6.75851694e+00,-4.81267869e+00,-4.64823836e+01,
  7.32723124e+00,-6.95382649e+00, 6.40789692e+01,-1.79850391e+02,
 -1.13573707e-01,-4.31482431e+00, 5.94054115e+00, 4.40463588e+00,
 -3.53374900e-01,-1.84434759e-01,-1.08027081e+01, 3.67303685e+01,
  5.77644150e-01,-4.09856875e-01,-2.36743405e-01, 4.69470499e+00,
  6.74203768e+00,-6.72200349e+00]

qfrc_actuator:
[-1.06605669e-02, 2.00755681e-01, 5.85430126e-02,-2.93720917e-03,
  4.32816480e-02, 5.64803636e-01, 1.98165635e-01, 1.10620594e-01,
 -3.05736498e-03, 4.44420096e-02, 1.05559944e-02, 1.98626740e-03,
  2.72193758e-02,-4.14135621e-04, 0.00000000e+00,-1.27118152e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.304077  ,  0.32034967, -0.304077  ,  2.39527672,
        1.85435472,  0.32034967,  1.85435472,  2.20184604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014381471323318942
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76172957, -0.64453731, -0.06587648, -0.0502893 , -0.04255228,
        0.99782779, -0.64594043,  0.76338782,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07585947, -0.033693  ,  0.13569485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005485546501702661
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81829811e-01, -1.55478717e-01, -1.08796097e-01, -1.54532877e-01,
        9.87839242e-01, -1.71237150e-02,  1.10135427e-01, -3.46944695e-18,
       -9.93916590e-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([ 0.10018522, -0.08309226,  0.12027462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004979336454676853
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.36122720e-14, -1.11483029e-13,  1.00000000e+00, -9.32134938e-27,
        1.00000000e+00,  1.11483029e-13, -1.00000000e+00,  0.00000000e+00,
       -8.36122720e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03755383, -0.0642164 ,  0.06198957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18948823e-03, 1.42106377e-01, 4.96747216e-02,-2.26519040e-02,
  5.42282593e-02, 5.38957287e-01, 2.23792632e-01,-4.36251177e-02,
 -3.27892236e-05,-5.45616979e-04,-1.28594849e-04, 1.00043228e-05,
 -1.55329628e-04,-8.13492981e-05,-1.13369298e-05, 1.74681202e-04,
 -8.98472480e-04, 8.63099500e-05,-9.80858956e+00,-7.29043551e-02,
 -1.77678414e-02, 1.36622965e-03]


--- Step 2712 ---
qpos:
[ 0.00159635, 0.35161203,-0.07934109, 0.89675435,-0.05156004, 0.1910126 ,
 -0.21931325, 0.83801989, 0.0153114 , 1.32900938,-0.023419  , 0.95457261,
  1.06231833, 0.00453769, 1.23375048, 0.04548158, 0.06641616,-0.07016283,
  0.15017765, 0.96651847,-0.08424163,-0.05465268, 0.23613235]

qacc:
[-2.93595910e+00,-6.42633571e+00,-6.34200639e+00,-4.26206273e+01,
  3.07019001e+00,-7.74291333e+00, 6.87013495e+01,-1.87954528e+02,
 -7.29965206e-02,-5.62146840e+00, 9.76488497e+00, 2.06871110e+00,
 -4.43485156e-01,-2.03353392e-01, 5.48714570e+00,-1.83949796e+01,
  5.71556702e-01,-4.27778247e-01,-2.34454791e-01, 4.71940101e+00,
  6.73359953e+00,-7.11995784e+00]

qfrc_actuator:
[-1.03702264e-02, 2.01049376e-01, 5.84453078e-02,-3.40611747e-03,
  4.34767494e-02, 5.67354293e-01, 1.98673455e-01, 1.07653172e-01,
 -3.05928178e-03, 4.42146198e-02, 1.05715640e-02, 2.01993642e-03,
  2.71702206e-02,-4.52680943e-04, 0.00000000e+00,-1.36435293e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.30709155,  0.31746104, -0.30709155,  2.34581128,
        1.84192901,  0.31746104,  1.84192901,  2.22345078,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014581935866261734
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76141174, -0.64483541, -0.06662931, -0.05084533, -0.04306063,
        0.9977778 , -0.64627155,  0.76310752,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07577342, -0.03370713,  0.13574696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005504711095367591
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98170996, -0.15557665, -0.10973358, -0.15461375,  0.98782382,
       -0.01728242,  0.11108619,  0.        , -0.99381078])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1001213 , -0.08310205,  0.12033164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00050017723379564
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38728703e-13,  5.54914813e-14,  1.00000000e+00, -7.69826124e-27,
        1.00000000e+00, -5.54914813e-14, -1.00000000e+00,  0.00000000e+00,
        1.38728703e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03755294, -0.06421615,  0.06198953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84722130e-03, 1.43608463e-01, 5.02169767e-02,-2.28384542e-02,
  5.43195758e-02, 5.41022842e-01, 2.24136495e-01,-4.61290540e-02,
 -2.11491726e-05,-5.55344169e-04,-1.05525874e-04, 1.42600527e-05,
 -1.46786909e-04,-9.84711564e-05, 1.00529954e-05,-8.58003399e-05,
 -8.12206599e-04, 3.40987655e-05,-9.80870305e+00,-7.28918869e-02,
 -1.78269995e-02, 1.41799616e-03]


--- Step 2713 ---
qpos:
[ 0.00139771, 0.35245679,-0.07929471, 0.89709115,-0.05177638, 0.19144222,
 -0.2198399 , 0.84104404, 0.01531092, 1.32920232,-0.02342251, 0.95457811,
  1.06292962, 0.00455774, 1.23390407, 0.04548155, 0.06634079,-0.07018069,
  0.15019848, 0.96649405,-0.08422458,-0.05509269, 0.23613614]

qacc:
[-4.43951338e+00, 3.27333901e+00,-3.01913921e+01,-2.68358652e+01,
 -1.44830451e+00,-8.03695983e+00, 7.21560928e+01,-1.95576557e+02,
 -4.55965632e-02,-6.66410548e+00, 1.50066052e+01,-1.36688358e+01,
 -5.55601898e-01,-1.64909919e-01, 1.42495736e+01,-4.87997832e+01,
  5.65070113e-01,-4.48926683e-01,-2.31522144e-01, 4.72774093e+00,
  6.76183196e+00,-7.65867111e+00]

qfrc_actuator:
[-1.01343285e-02, 2.01604638e-01, 5.83701672e-02,-3.66136637e-03,
  4.36796578e-02, 5.70184670e-01, 1.99223752e-01, 1.04735873e-01,
 -3.06018017e-03, 4.39663843e-02, 1.05643886e-02, 2.00190637e-03,
  2.71134126e-02,-5.01499065e-04, 0.00000000e+00,-1.59857985e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.30615423,  0.31836507, -0.30615423,  2.34803183,
        1.83322802,  0.31836507,  1.83322802,  2.20460109,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00147696548172289
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.61124507e-01, -6.45097132e-01, -6.73733963e-02, -5.13963242e-02,
       -4.35613635e-02,  9.97727831e-01, -6.46566239e-01,  7.62857849e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07568986, -0.03372116,  0.13579723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005525867600276984
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98159678, -0.15565322, -0.11063378, -0.1546739 ,  0.98781176,
       -0.01743298,  0.11199885,  0.        , -0.99370834])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10005676, -0.08311161,  0.12038946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005024080642363898
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.3811271e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.3811271e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03755204, -0.0642159 ,  0.06198948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.49907863e-03, 1.45371652e-01, 5.07813082e-02,-2.28220274e-02,
  5.44787275e-02, 5.43329496e-01, 2.24493437e-01,-4.85673594e-02,
 -1.32705043e-05,-5.76902459e-04,-1.27417737e-04,-3.69581044e-05,
 -1.54540178e-04,-1.11435797e-04,-1.12952632e-05,-2.39133111e-04,
 -7.29202914e-04,-1.48739521e-05,-9.80881405e+00,-7.28784796e-02,
 -1.78843591e-02, 1.46879944e-03]


--- Step 2714 ---
qpos:
[ 1.19444305e-03, 3.53280497e-01,-7.92627488e-02, 8.97422629e-01,
 -5.19943068e-02, 1.91883090e-01,-2.20361879e-01, 8.44057852e-01,
  1.53105224e-02, 1.32939031e+00,-2.34256532e-02, 9.54583721e-01,
  1.06353990e+00, 4.57702258e-03, 1.23405755e+00, 4.54790424e-02,
  6.62676539e-02,-7.02003978e-02, 1.50218395e-01, 9.66474721e-01,
 -8.42005883e-02,-5.55187945e-02, 2.36123989e-01]

qacc:
[-5.88032174e+00, 2.41745517e+00,-2.96142732e+01,-2.37060016e+01,
 -5.60933064e+00,-9.25282274e+00, 7.69827575e+01,-2.03311492e+02,
  3.45060371e-02,-7.30685044e+00, 1.57747025e+01,-9.42813466e+00,
 -4.80331604e-01,-2.04756471e-01, 7.36272150e+00,-2.59135877e+01,
  5.59477274e-01,-4.63668049e-01,-2.28526780e-01, 4.77253623e+00,
  6.71545911e+00,-7.91255324e+00]

qfrc_actuator:
[-9.91124747e-03, 2.02055712e-01, 5.83151598e-02,-3.89263675e-03,
  4.39236853e-02, 5.72609705e-01, 1.99744263e-01, 1.01781840e-01,
 -3.04271030e-03, 4.37075429e-02, 1.05792293e-02, 2.00682193e-03,
  2.70626994e-02,-5.38286920e-04, 0.00000000e+00,-1.71866429e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.29274664,  0.33073575, -0.29274664,  2.49205695,
        1.8148602 ,  0.33073575,  1.8148602 ,  2.04808723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001494798434866097
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76086693, -0.64532393, -0.0681069 , -0.0519409 , -0.0440533 ,
        0.99767803, -0.64682584,  0.76263775,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07560847, -0.03373511,  0.13584589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005549098407119883
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98149067, -0.1557067 , -0.11149657, -0.15471164,  0.98780333,
       -0.01757512,  0.11287324,  0.        , -0.9936094 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09999147, -0.08312098,  0.12044811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000504623199041293
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03755112, -0.06421566,  0.06198944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10479019e-03, 1.46794832e-01, 5.14362970e-02,-2.27757218e-02,
  5.47430257e-02, 5.45179999e-01, 2.24795699e-01,-5.10257020e-02,
  9.74018702e-06,-6.05191289e-04,-1.13594571e-04,-1.64906013e-05,
 -1.56250262e-04,-1.04593014e-04,-3.78346504e-05,-1.36183564e-04,
 -6.49457232e-04,-6.07379069e-05,-9.80892348e+00,-7.28638638e-02,
 -1.79399491e-02, 1.51867062e-03]


--- Step 2715 ---
qpos:
[ 9.85457007e-04, 3.54080943e-01,-7.92447277e-02, 8.97749131e-01,
 -5.22149327e-02, 1.92334834e-01,-2.20878851e-01, 8.47061029e-01,
  1.53105512e-02, 1.32957344e+00,-2.34283755e-02, 9.54590373e-01,
  1.06414915e+00, 4.59565403e-03, 1.23421054e+00, 4.54774097e-02,
  6.61967407e-02,-7.02220020e-02, 1.50237406e-01, 9.66460537e-01,
 -8.41694809e-02,-5.59311432e-02, 2.36095820e-01]

qacc:
[-7.25139767e+00,-1.20343350e+00,-2.21459433e+01,-2.43420401e+01,
 -9.46560602e+00,-1.08206127e+01, 8.22582494e+01,-2.10985482e+02,
  1.81203059e-01,-5.72517216e+00, 8.88669903e+00, 7.32683247e+00,
 -2.93923385e-01,-3.62045512e-01,-3.37011621e+00, 1.07296823e+01,
  5.54662341e-01,-4.73090099e-01,-2.25924910e-01, 4.83540817e+00,
  6.62325435e+00,-7.96567213e+00]

qfrc_actuator:
[-9.62230965e-03, 2.02488821e-01, 5.82957790e-02,-4.17854519e-03,
  4.41582274e-02, 5.74858023e-01, 2.00244800e-01, 9.87745834e-02,
 -2.99661226e-03, 4.34800174e-02, 1.06069295e-02, 2.06072381e-03,
  2.70156822e-02,-5.67613514e-04, 0.00000000e+00,-1.66395993e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.29547633,  0.32829936, -0.29547633,  2.45574942,
        1.81269922,  0.32829936,  1.81269922,  2.07315367,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015116384745790016
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.60640131e-01, -6.45514489e-01, -6.88304816e-02, -5.24796889e-02,
       -4.45366977e-02,  9.97628370e-01, -6.47049050e-01,  7.62448376e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07552935, -0.03374903,  0.13589286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005574389740002607
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81391787e-01, -1.55736198e-01, -1.12322736e-01, -1.54726088e-01,
        9.87798682e-01, -1.77087864e-02,  1.13710150e-01,  3.46944695e-18,
       -9.93513967e-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([ 0.09992542, -0.08313017,  0.12050759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005068195636034473
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91674753e-13, -1.09528430e-13,  1.00000000e+00,  2.09938348e-26,
        1.00000000e+00,  1.09528430e-13, -1.00000000e+00,  0.00000000e+00,
        1.91674753e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03755019, -0.06421543,  0.06198939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.87241811e-04, 1.48252851e-01, 5.21293668e-02,-2.27961405e-02,
  5.50571960e-02, 5.46851509e-01, 2.25058534e-01,-5.35212909e-02,
  5.19343512e-05,-5.86175057e-04,-1.04083337e-04, 3.25322502e-05,
 -1.51926380e-04,-9.55116507e-05,-3.67212411e-05, 4.13712443e-05,
 -5.73906231e-04,-1.01297984e-04,-9.80902937e+00,-7.28488512e-02,
 -1.79935385e-02, 1.56761725e-03]


--- Step 2716 ---
qpos:
[ 7.69660353e-04, 3.54854161e-01,-7.92394728e-02, 8.98071172e-01,
 -5.24393237e-02, 1.92796981e-01,-2.21390539e-01, 8.50053251e-01,
  1.53110571e-02, 1.32975289e+00,-2.34317198e-02, 9.54595850e-01,
  1.06475720e+00, 4.61402737e-03, 1.23436294e+00, 4.54793968e-02,
  6.61280266e-02,-7.02455293e-02, 1.50255525e-01, 9.66451497e-01,
 -8.41310611e-02,-5.63299220e-02, 2.36051709e-01]

qacc:
[-8.59450048e+00,-8.64813051e+00,-5.33067808e+00,-2.98897144e+01,
 -1.31586399e+01,-1.24053934e+01, 8.74253901e+01,-2.18462554e+02,
  2.02432076e-01,-5.19545191e+00, 1.34730146e+01,-2.29647294e+01,
 -4.81366536e-01, 5.72570069e-02,-1.17962941e+01, 4.00581849e+01,
  5.49755606e-01,-4.80802860e-01,-2.23407221e-01, 4.90613469e+00,
  6.50895248e+00,-7.94434542e+00]

qfrc_actuator:
[-9.37967175e-03, 2.02708756e-01, 5.83385615e-02,-4.44220158e-03,
  4.43888219e-02, 5.77084949e-01, 2.00748909e-01, 9.57398378e-02,
 -2.96922087e-03, 4.33441709e-02, 1.05888781e-02, 2.00101441e-03,
  2.69602687e-02,-5.74519090e-04, 0.00000000e+00,-1.47123362e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.30144353,  0.32282895, -0.30144353,  2.386001  ,
        1.81551592,  0.32282895,  1.81551592,  2.13693543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015273595606314324
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76044525, -0.64566747, -0.06954525, -0.05301371, -0.04501209,
        0.9975788 , -0.64723455,  0.76229091,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07545261, -0.03376299,  0.13593801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005601689398160809
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81300155e-01, -1.55741413e-01, -1.13113297e-01, -1.54716951e-01,
        9.87797860e-01, -1.78340382e-02,  1.14510571e-01,  3.46944695e-18,
       -9.93422030e-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([ 0.09985862, -0.08313923,  0.12056789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005089956134850665
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.09060176e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.09060176e-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([ 0.03754923, -0.06421521,  0.06198935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.08834085e-05, 1.49609667e-01, 5.28606307e-02,-2.28119549e-02,
  5.54227903e-02, 5.48520069e-01, 2.25308678e-01,-5.60286269e-02,
  5.81098436e-05,-4.80630342e-04,-1.43598126e-04,-7.91014417e-05,
 -1.55427409e-04,-6.96911287e-05,-1.56039334e-05, 1.89622201e-04,
 -5.03037727e-04,-1.35306591e-04,-9.80913048e+00,-7.28339419e-02,
 -1.80449952e-02, 1.61565772e-03]


--- Step 2717 ---
qpos:
[ 5.45941653e-04, 3.55597669e-01,-7.92457191e-02, 8.98389230e-01,
 -5.26684692e-02, 1.93269226e-01,-2.21896764e-01, 8.53034190e-01,
  1.53116847e-02, 1.32992985e+00,-2.34352524e-02, 9.54599062e-01,
  1.06536387e+00, 4.63267424e-03, 1.23451542e+00, 4.54819653e-02,
  6.60614934e-02,-7.02709913e-02, 1.50272759e-01, 9.66447535e-01,
 -8.40851441e-02,-5.67153402e-02, 2.35991992e-01]

qacc:
[-9.96297638e+00,-1.44790889e+01, 8.66357407e+00,-3.44735779e+01,
 -1.65615714e+01,-1.35526268e+01, 9.14589292e+01,-2.25310931e+02,
  5.17968476e-02,-6.66219388e+00, 2.23516365e+01,-4.39532182e+01,
 -1.23553579e+00, 1.24683011e+00,-1.52545106e+00, 5.76584345e+00,
  5.45229570e-01,-4.83647954e-01,-2.20916386e-01, 4.97384571e+00,
  6.37080187e+00,-7.78977110e+00]

qfrc_actuator:
[-9.17918925e-03, 2.02707540e-01, 5.83342835e-02,-4.79754640e-03,
  4.45836887e-02, 5.79454935e-01, 2.01252879e-01, 9.27641794e-02,
 -2.98877988e-03, 4.33173671e-02, 1.06152633e-02, 1.89269348e-03,
  2.68998697e-02,-5.50351648e-04, 0.00000000e+00,-1.44732779e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.31097103,  0.31366184, -0.31097103,  2.28042024,
        1.82296006,  0.31366184,  1.82296006,  2.24900768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001541948734304576
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76331811, -0.64205182, -0.07151871, -0.05473168, -0.0460366 ,
        0.99743926, -0.64370017,  0.76527779,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07534478, -0.03373385,  0.13596679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005630938131785305
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81215756e-01, -1.55722261e-01, -1.13869296e-01, -1.54684147e-01,
        9.87800879e-01, -1.79509704e-02,  1.15275557e-01,  3.46944695e-18,
       -9.93333552e-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([ 0.0997911 , -0.08314818,  0.12062897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005111502874238505
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08600450e-13, -1.08600450e-13,  1.00000000e+00, -1.17940577e-26,
        1.00000000e+00,  1.08600450e-13, -1.00000000e+00,  0.00000000e+00,
       -1.08600450e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03754826, -0.06421499,  0.06198931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.77810746e-04, 1.50944455e-01, 5.34867764e-02,-2.29450602e-02,
  5.58060210e-02, 5.50354831e-01, 2.25544423e-01,-5.84611549e-02,
  1.48045837e-05,-3.24224973e-04,-8.63059501e-05,-1.28348786e-04,
 -1.55331425e-04,-3.23914313e-05, 9.98776859e-06, 3.16331188e-05,
 -4.36941939e-04,-1.62416963e-04,-9.80922643e+00,-7.28192715e-02,
 -1.80942843e-02, 1.66282040e-03]


--- Step 2718 ---
qpos:
[ 3.13320294e-04, 3.56316078e-01,-7.92641853e-02, 8.98703301e-01,
 -5.29034279e-02, 1.93751742e-01,-2.22397406e-01, 8.56003497e-01,
  1.53121403e-02, 1.33010399e+00,-2.34385321e-02, 9.54603032e-01,
  1.06596924e+00, 4.65169704e-03, 1.23466814e+00, 4.54831390e-02,
  6.59971207e-02,-7.02984176e-02, 1.50289121e-01, 9.66448701e-01,
 -8.40316223e-02,-5.70875312e-02, 2.35916530e-01]

qacc:
[-1.11815724e+01,-6.57513688e+00,-9.76234418e+00,-2.19187608e+01,
 -2.01861969e+01,-1.39784955e+01, 9.39667099e+01,-2.31539504e+02,
 -7.26090422e-02,-3.08112444e+00, 4.05630020e+00, 6.96908300e+00,
 -1.40522242e+00, 1.53518257e+00, 4.68842520e+00,-1.56111721e+01,
  5.40136994e-01,-4.91091308e-01,-2.18340560e-01, 5.00460114e+00,
  6.30176043e+00,-7.87279039e+00]

qfrc_actuator:
[-8.98241167e-03, 2.02924308e-01, 5.82701054e-02,-5.10008150e-03,
  4.47951197e-02, 5.82084428e-01, 2.01754473e-01, 8.98464368e-02,
 -3.01859195e-03, 4.31787344e-02, 1.06326206e-02, 1.93429074e-03,
  2.68418641e-02,-5.25721417e-04, 0.00000000e+00,-1.52312366e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.31777208,  0.30676968, -0.31777208,  2.20664782,
        1.82826256,  0.30676968,  1.82826256,  2.33552009,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015548507748206237
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.763198  , -0.64211564, -0.07222401, -0.05526555, -0.0464976 ,
        0.99738844, -0.64379696,  0.76519636,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07527337, -0.03374804,  0.13600776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0056620930431926855
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81138548e-01, -1.55679034e-01, -1.14591397e-01, -1.54627973e-01,
        9.87807693e-01, -1.80596670e-02,  1.16005775e-01,  3.46944695e-18,
       -9.93248539e-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([ 0.09972289, -0.08315707,  0.12069081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000513283048098806
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.40746002e-14, -1.08149200e-13,  1.00000000e+00, -5.84812477e-27,
        1.00000000e+00,  1.08149200e-13, -1.00000000e+00,  0.00000000e+00,
       -5.40746002e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03754727, -0.06421479,  0.06198927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06846554e-03, 1.52622588e-01, 5.39902210e-02,-2.30491629e-02,
  5.62553092e-02, 5.52464036e-01, 2.25768696e-01,-6.08193187e-02,
 -2.09844308e-05,-3.39820169e-04,-5.97194334e-05, 2.67259019e-05,
 -1.44141306e-04,-2.12301636e-05, 1.72689312e-06,-7.41370433e-05,
 -3.75728301e-04,-1.82259506e-04,-9.80931661e+00,-7.28050782e-02,
 -1.81413708e-02, 1.70913271e-03]


--- Step 2719 ---
qpos:
[ 7.08976300e-05, 3.57013844e-01,-7.92958424e-02, 8.99013336e-01,
 -5.31452114e-02, 1.94244346e-01,-2.22892396e-01, 8.58960834e-01,
  1.53122026e-02, 1.33027476e+00,-2.34416868e-02, 9.54609256e-01,
  1.06657364e+00, 4.67058230e-03, 1.23482060e+00, 4.54854089e-02,
  6.59348885e-02,-7.03278298e-02, 1.50304620e-01, 9.66454996e-01,
 -8.39703692e-02,-5.74466550e-02, 2.35825357e-01]

qacc:
[-1.22931283e+01, 1.73024011e+00,-2.96539793e+01,-8.50447377e+00,
 -2.36226138e+01,-1.47198957e+01, 9.68833061e+01,-2.37672287e+02,
 -1.66527296e-01,-8.74904307e-01,-7.01363730e+00, 3.41414578e+01,
 -5.88473471e-01, 3.29369684e-01,-3.66577819e+00, 1.23514926e+01,
  5.35118382e-01,-4.96476153e-01,-2.15392363e-01, 5.04444042e+00,
  6.20889026e+00,-7.86878063e+00]

qfrc_actuator:
[-8.73044972e-03, 2.03438911e-01, 5.82640696e-02,-5.26281682e-03,
  4.50372024e-02, 5.84652381e-01, 2.02287842e-01, 8.69327998e-02,
 -3.05431095e-03, 4.29743338e-02, 1.06264424e-02, 2.04596911e-03,
  2.67959896e-02,-5.36530584e-04, 0.00000000e+00,-1.46171800e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.30602639,  0.31848796, -0.30602639,  2.35138929,
        1.83498157,  0.31848796,  1.83498157,  2.20486998,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015666273229482319
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63110027e-01, -6.42141364e-01, -7.29215680e-02, -5.57957259e-02,
       -4.69509537e-02,  9.97337678e-01, -6.43855515e-01,  7.65147094e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07520443, -0.03376244,  0.13604684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005695156206249978
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98106863, -0.1556113 , -0.11527999, -0.15454801,  0.98781837,
       -0.01816009,  0.1167016 ,  0.        , -0.99316702])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09965397, -0.08316592,  0.12075341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005153921135660766
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34633296e-13, -1.61559955e-13,  1.00000000e+00, -2.17513493e-26,
        1.00000000e+00,  1.61559955e-13, -1.00000000e+00,  0.00000000e+00,
       -1.34633296e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03754626, -0.06421459,  0.06198922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76347957e-03, 1.54368994e-01, 5.45881217e-02,-2.30132113e-02,
  5.67881982e-02, 5.54502562e-01, 2.26018656e-01,-6.31559535e-02,
 -4.80029517e-05,-4.04399648e-04,-7.87337774e-05, 1.00729864e-04,
 -1.24102497e-04,-5.06538499e-05,-1.38605505e-05, 5.61049965e-05,
 -3.19098318e-04,-1.95696647e-04,-9.80940270e+00,-7.27908081e-02,
 -1.81863764e-02, 1.75463546e-03]


--- Step 2720 ---
qpos:
[-1.82128041e-04, 3.57693252e-01,-7.93412880e-02, 8.99319395e-01,
 -5.33947333e-02, 1.94745991e-01,-2.23381695e-01, 8.61905891e-01,
  1.53118595e-02, 1.33044248e+00,-2.34451525e-02, 9.54614697e-01,
  1.06717734e+00, 4.68847251e-03, 1.23497290e+00, 4.54887010e-02,
  6.58747801e-02,-7.03592318e-02, 1.50319270e-01, 9.66466335e-01,
 -8.39012153e-02,-5.77929159e-02, 2.35718877e-01]

qacc:
[-1.32738493e+01, 6.38481427e+00,-4.13378929e+01, 6.40546788e-01,
 -2.66933520e+01,-1.64172637e+01, 1.01428144e+02,-2.44014159e+02,
 -1.71556895e-01,-4.51305787e+00, 1.14687317e+01,-1.70782909e+01,
  1.87807134e-01,-1.05714840e+00,-3.36371855e+00, 1.13365075e+01,
  5.30940604e-01,-4.97442678e-01,-2.12393069e-01, 5.10667392e+00,
  6.07167477e+00,-7.67823023e+00]

qfrc_actuator:
[-0.00838766, 0.20412005, 0.05829878,-0.00535778, 0.04528326, 0.58680668,
  0.20282022, 0.08399111,-0.00307553, 0.04282091, 0.01060617, 0.00200262,
  0.02674676,-0.00060375, 0.        ,-0.00140869, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.29484626,  0.32886535, -0.29484626,  2.48368941,
        1.83077056,  0.32886535,  1.83077056,  2.08307489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015775935766234766
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76305194, -0.64213186, -0.07360984, -0.05632092, -0.0473958 ,
        0.99728712, -0.64387863,  0.76512764,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07513767, -0.03377708,  0.13608426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005730096013953551
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.981006  , -0.15551889, -0.11593579, -0.1544441 ,  0.98783292,
       -0.01825228,  0.11736377,  0.        , -0.99308899])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09958436, -0.08317477,  0.12081675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005174742881644545
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07273255e-13, -1.60909882e-13,  1.00000000e+00, -1.72613268e-26,
        1.00000000e+00,  1.60909882e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07273255e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03754524, -0.0642144 ,  0.06198918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.59438209e-03, 1.56059970e-01, 5.52756762e-02,-2.29071299e-02,
  5.73756561e-02, 5.56136319e-01, 2.26264008e-01,-6.55036674e-02,
 -4.94457302e-05,-3.90626181e-04,-1.05427092e-04,-5.50470378e-05,
 -1.24033656e-04,-1.10793625e-04,-4.51827221e-06, 5.34211776e-05,
 -2.67093962e-04,-2.02441195e-04,-9.80948425e+00,-7.27766175e-02,
 -1.82292729e-02, 1.79934915e-03]


--- Step 2721 ---
qpos:
[-4.46490286e-04, 3.58357561e-01,-7.94014953e-02, 8.99621450e-01,
 -5.36528734e-02, 1.95256002e-01,-2.23865304e-01, 8.64838352e-01,
  1.53113224e-02, 1.33060741e+00,-2.34494949e-02, 9.54618554e-01,
  1.06778009e+00, 4.70574091e-03, 1.23512514e+00, 4.54925902e-02,
  6.58167761e-02,-7.03926256e-02, 1.50333083e-01, 9.66482621e-01,
 -8.38239985e-02,-5.81265321e-02, 2.35597511e-01]

qacc:
[-1.41692483e+01, 1.31629355e+01,-5.82028446e+01, 1.25028886e+01,
 -2.96287592e+01,-1.75632736e+01, 1.04788647e+02,-2.49785864e+02,
 -8.20629750e-02,-4.04071665e+00, 1.19381451e+01,-2.68867289e+01,
 -2.99031946e-01,-3.14060851e-01,-1.87234393e+00, 6.46081058e+00,
  5.26100702e-01,-4.97952486e-01,-2.09292827e-01, 5.16393846e+00,
  5.92747197e+00,-7.47920875e+00]

qfrc_actuator:
[-0.00798565, 0.20506685, 0.05836381,-0.00537503, 0.04551759, 0.5890826 ,
  0.2033142 , 0.08105545,-0.00307013, 0.04268135, 0.01056007, 0.00192164,
  0.02669553,-0.00063288, 0.        ,-0.0013788 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.28967754,  0.33342714, -0.28967754,  2.54573788,
        1.82797509,  0.33342714,  1.82797509,  2.02980929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015879093287792798
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76302208, -0.64208921, -0.07428826, -0.05684065, -0.04783186,
        0.99723681, -0.64386834,  0.7651363 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07507296, -0.03379198,  0.13612013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005766801185658809
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98095048, -0.15540221, -0.11656031, -0.15431662,  0.98785128,
       -0.01833649,  0.11799379,  0.        , -0.99301433])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09951414, -0.08318366,  0.12088078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005195259210487441
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13699255e-13, -1.06849628e-13,  1.00000000e+00, -2.28336859e-26,
        1.00000000e+00,  1.06849628e-13, -1.00000000e+00,  0.00000000e+00,
       -2.13699255e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0375442 , -0.06421422,  0.06198914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52468355e-03, 1.57903183e-01, 5.60237726e-02,-2.27262658e-02,
  5.79970846e-02, 5.57943564e-01, 2.26468823e-01,-6.78299364e-02,
 -2.36771374e-05,-3.78960897e-04,-1.36152731e-04,-9.66764885e-05,
 -1.40051508e-04,-8.99495613e-05,-5.64295105e-07, 3.12979081e-05,
 -2.19614033e-04,-2.02235050e-04,-9.80956031e+00,-7.27628110e-02,
 -1.82700245e-02, 1.84329075e-03]


--- Step 2722 ---
qpos:
[-7.22850072e-04, 3.59009968e-01,-7.94776517e-02, 8.99919440e-01,
 -5.39204882e-02, 1.95773804e-01,-2.24343257e-01, 8.67757902e-01,
  1.53108467e-02, 1.33076921e+00,-2.34542922e-02, 9.54621077e-01,
  1.06838156e+00, 4.72327375e-03, 1.23527725e+00, 4.54978081e-02,
  6.57608562e-02,-7.04280145e-02, 1.50346072e-01, 9.66503766e-01,
 -8.37385633e-02,-5.84477198e-02, 2.35461647e-01]

qacc:
[-1.49719180e+01, 2.03828581e+01,-7.65350067e+01, 2.52852593e+01,
 -3.24647078e+01,-1.85127397e+01, 1.07666079e+02,-2.55227036e+02,
  2.62087410e-02,-5.17031605e+00, 1.46117718e+01,-2.61274851e+01,
 -1.08582645e+00, 1.08772802e+00,-4.14429049e+00, 1.43948871e+01,
  5.21036176e-01,-4.98775333e-01,-2.06178657e-01, 5.21782808e+00,
  5.78671397e+00,-7.29608735e+00]

qfrc_actuator:
[-0.00752538, 0.20615938, 0.05841801,-0.00529076, 0.04573112, 0.5913753 ,
  0.20378287, 0.07811087,-0.00304881, 0.04251557, 0.01053468, 0.00185471,
  0.02664314,-0.00060364, 0.        ,-0.00130952, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.28194705,  0.33998911, -0.28194705,  2.63394949,
        1.81800575,  0.33998911,  1.81800575,  1.94932675,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001597788505410259
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63018387e-01, -6.42015999e-01, -7.49559798e-02, -5.73541370e-02,
       -4.82586975e-02,  9.97186844e-01, -6.43827186e-01,  7.65170932e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0750101 , -0.03380719,  0.13615459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005805196892847682
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98090194, -0.15526167, -0.11715461, -0.15416599,  0.98787338,
       -0.01841291,  0.11859274,  0.        , -0.99294298])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09944339, -0.08319261,  0.12094545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005215435384366696
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.59654412e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.59654412e-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([ 0.03754314, -0.06421404,  0.0619891 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.55001807e-03, 1.59729950e-01, 5.68100212e-02,-2.24424448e-02,
  5.86416994e-02, 5.59801074e-01, 2.26648354e-01,-7.01492704e-02,
  7.44434526e-06,-4.05943924e-04,-1.17882067e-04,-8.41611270e-05,
 -1.44461719e-04,-2.93843718e-05,-1.93415927e-06, 6.98103485e-05,
 -1.76464363e-04,-1.95399026e-04,-9.80963097e+00,-7.27493109e-02,
 -1.83086783e-02, 1.88649034e-03]


--- Step 2723 ---
qpos:
[-1.01177462e-03, 3.59649002e-01,-7.95698100e-02, 9.00213605e-01,
 -5.41983195e-02, 1.96298100e-01,-2.24815595e-01, 8.70664254e-01,
  1.53105142e-02, 1.33092758e+00,-2.34589465e-02, 9.54621744e-01,
  1.06898205e+00, 4.74047022e-03, 1.23542947e+00, 4.55024649e-02,
  6.57070034e-02,-7.04653846e-02, 1.50358247e-01, 9.66529587e-01,
 -8.36447033e-02,-5.87567443e-02, 2.35312063e-01]

qacc:
[-1.56429503e+01, 1.89840288e+01,-7.48684653e+01, 2.77261943e+01,
 -3.48847151e+01,-2.02939215e+01, 1.11991373e+02,-2.60846251e+02,
  6.10241552e-02,-8.10153226e+00, 2.47198908e+01,-4.07152014e+01,
 -6.09441147e-01, 2.28200863e-01, 1.91258943e+00,-6.34124292e+00,
  5.16780028e-01,-4.95305504e-01,-2.03173141e-01, 5.29807061e+00,
  5.59713572e+00,-6.91812293e+00]

qfrc_actuator:
[-0.00702496, 0.20709366, 0.05849057,-0.00514393, 0.04598971, 0.59330249,
  0.20425185, 0.07513079,-0.00303586, 0.0423355 , 0.01053939, 0.00176109,
  0.02659012,-0.00062877, 0.        ,-0.00134185, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.27424514,  0.34623162, -0.27424514,  2.71652418,
        1.80186681,  0.34623162,  1.80186681,  1.86891933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016074295879532003
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63038914e-01, -6.41914639e-01, -7.56122442e-02, -5.78607228e-02,
       -4.86759512e-02,  9.97137297e-01, -6.43757526e-01,  7.65229539e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07494892, -0.03382273,  0.1361878 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005845219447699003
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98086024, -0.15509765, -0.11771965, -0.15399256,  0.98789914,
       -0.01848169,  0.11916161,  0.        , -0.99287487])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09937216, -0.08320166,  0.12101073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005235234296876445
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.95253107e-14, -5.30168738e-14,  1.00000000e+00, -4.21618337e-27,
        1.00000000e+00,  5.30168738e-14, -1.00000000e+00,  0.00000000e+00,
       -7.95253107e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03754207, -0.06421387,  0.06198906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.64863793e-03, 1.61239119e-01, 5.76742916e-02,-2.20930394e-02,
  5.93742255e-02, 5.61321478e-01, 2.26829657e-01,-7.24882842e-02,
  1.74225446e-05,-4.31194444e-04,-9.06038434e-05,-1.10835692e-04,
 -1.32953833e-04,-6.75144684e-05, 1.45255459e-06,-2.98699800e-05,
 -1.37420045e-04,-1.82266528e-04,-9.80969648e+00,-7.27360011e-02,
 -1.83452854e-02, 1.92897776e-03]


--- Step 2724 ---
qpos:
[-1.31371447e-03, 3.60272854e-01,-7.96777367e-02, 9.00504241e-01,
 -5.44870095e-02, 1.96827621e-01,-2.25282429e-01, 8.73557132e-01,
  1.53101855e-02, 1.33108257e+00,-2.34633192e-02, 9.54622310e-01,
  1.06958164e+00, 4.75702454e-03, 1.23558180e+00, 4.55056956e-02,
  6.56551960e-02,-7.05047073e-02, 1.50369625e-01, 9.66559842e-01,
 -8.35422220e-02,-5.90539270e-02, 2.35149747e-01]

qacc:
[-1.61659206e+01, 1.64786714e+01,-7.02546304e+01, 2.85601237e+01,
 -3.69475670e+01,-2.18681631e+01, 1.15658292e+02,-2.65840354e+02,
  1.90096601e-03,-5.36956167e+00, 1.23649825e+01,-9.78147767e+00,
 -4.11581269e-01,-1.78413853e-01, 4.49522809e+00,-1.54438162e+01,
  5.11335249e-01,-4.88144773e-01,-1.99460786e-01, 5.37104145e+00,
  5.37110636e+00,-6.43229861e+00]

qfrc_actuator:
[-0.00644183, 0.20795697, 0.05859832,-0.00495817, 0.04627989, 0.59523933,
  0.20473656, 0.07227688,-0.00304579, 0.04218392, 0.01056174, 0.00175902,
  0.02653675,-0.00066828, 0.        ,-0.00141603, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.2792871 ,  0.3421775 , -0.2792871 ,  2.66723626,
        1.81650579,  0.3421775 ,  1.81650579,  1.92432795,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016167177738180933
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76308344, -0.64178529, -0.07625818, -0.05836129, -0.0490843 ,
        0.99708811, -0.64365956,  0.76531194,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07488953, -0.03383865,  0.13621965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005886739265833412
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80825077e-01, -1.54911135e-01, -1.18256963e-01, -1.53797304e-01,
        9.87928409e-01, -1.85431659e-02,  1.19701956e-01,  3.46944695e-18,
       -9.92809872e-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([ 0.09930056, -0.08321084,  0.12107654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005254621158585077
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05642537e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.05642537e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03754098, -0.0642137 ,  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:
[ 6.85836046e-03, 1.62751618e-01, 5.85767145e-02,-2.17166258e-02,
  6.01754320e-02, 5.62916114e-01, 2.27028707e-01,-7.46868418e-02,
  4.21103865e-07,-4.12104050e-04,-7.55687337e-05,-1.98584056e-05,
 -1.36674037e-04,-8.99815870e-05,-8.30087656e-06,-7.69098601e-05,
 -1.02053479e-04,-1.63117760e-04,-9.80975594e+00,-7.27230981e-02,
 -1.83798702e-02, 1.97077329e-03]


--- Step 2725 ---
qpos:
[-0.001629  , 0.36088233,-0.07980167, 0.9007915 ,-0.05478711, 0.19736141,
 -0.22574389, 0.87643626, 0.0153101 , 1.33123416,-0.02346742, 0.95462355,
  1.07018012, 0.00477306, 1.23573403, 0.04550834, 0.06560541,-0.07054594,
  0.15038022, 0.96659425,-0.08343094,-0.05933961, 0.23497583]

qacc:
[-1.65401564e+01, 1.84167749e+01,-7.56254412e+01, 3.43806011e+01,
 -3.86985167e+01,-2.30029279e+01, 1.18389616e+02,-2.70336860e+02,
  1.04679215e-01,-4.07337604e+00, 6.53897356e+00, 4.13935013e+00,
 -5.68143592e-01, 2.78850685e-02, 1.67130591e+00,-5.97413957e+00,
  5.05700214e-01,-4.78088419e-01,-1.95925713e-01, 5.43758698e+00,
  5.13007470e+00,-5.87432513e+00]

qfrc_actuator:
[-0.00567932, 0.20903339, 0.0587511 ,-0.00476557, 0.04657598, 0.59730491,
  0.20521082, 0.06943322,-0.00301612, 0.04201525, 0.01057673, 0.00179312,
  0.02647253,-0.00069822, 0.        ,-0.00144323, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.28510373,  0.3373464 , -0.28510373,  2.60970537,
        1.83227196,  0.3373464 ,  1.83227196,  1.99020603,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016255161292960825
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63151575e-01, -6.41628259e-01, -7.68950671e-02, -5.88568554e-02,
       -4.94845624e-02,  9.97039191e-01, -6.43533639e-01,  7.65417830e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07483206, -0.03385501,  0.13625003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005929626920114764
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80796113e-01, -1.54703421e-01, -1.18767996e-01, -1.53581488e-01,
        9.87960956e-01, -1.85977140e-02,  1.20215273e-01, -3.46944695e-18,
       -9.92747847e-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([ 0.09922871, -0.0832202 ,  0.12114283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005273555263438368
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31579050e-13,  5.26316199e-14,  1.00000000e+00,  6.92521853e-27,
        1.00000000e+00, -5.26316199e-14, -1.00000000e+00,  0.00000000e+00,
       -1.31579050e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03753988, -0.06421354,  0.06198898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.27000397e-03, 1.64568414e-01, 5.95128330e-02,-2.13481710e-02,
  6.10146649e-02, 5.64702684e-01, 2.27222699e-01,-7.68612788e-02,
  2.99996343e-05,-4.12981836e-04,-7.48257277e-05, 1.94259438e-05,
 -1.55002437e-04,-8.75891777e-05,-1.76233062e-05,-3.37042652e-05,
 -6.99975205e-05,-1.38621868e-04,-9.80980892e+00,-7.27106198e-02,
 -1.84125376e-02, 2.01190934e-03]


--- Step 2726 ---
qpos:
[-0.00195781, 0.36148049,-0.07994247, 0.90107536,-0.05509911, 0.19789859,
 -0.22620011, 0.87930135, 0.01531031, 1.33138154,-0.02347031, 0.95462382,
  1.07077743, 0.00478885, 1.23588657, 0.04550726, 0.06555763,-0.07058904,
  0.15039004, 0.96663252,-0.08331068,-0.05961411, 0.23479151]

qacc:
[-1.67591881e+01, 2.46062373e+01,-9.09510406e+01, 4.52638271e+01,
 -4.01833219e+01,-2.40386928e+01, 1.20936167e+02,-2.74697631e+02,
  1.23921228e-01,-1.04059141e+01, 2.92234593e+01,-3.37840040e+01,
 -1.06871771e+00, 7.80878128e-01, 1.17941096e+01,-4.04031728e+01,
  5.01356512e-01,-4.66192276e-01,-1.93199662e-01, 5.50292060e+00,
  4.89923317e+00,-5.28118718e+00]

qfrc_actuator:
[-0.00471489, 0.21027845, 0.0588487 ,-0.00458536, 0.04686277, 0.59937559,
  0.20565898, 0.06651262,-0.00299843, 0.0417667 , 0.01062271, 0.00174167,
  0.02641785,-0.00070453, 0.        ,-0.00163777, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.28374952,  0.33848625, -0.28374952,  2.6309546 ,
        1.83524102,  0.33848625,  1.83524102,  1.9801498 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016338600380197482
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76324151, -0.64144567, -0.07752321, -0.05934753, -0.04987703,
        0.99699055, -0.64338189,  0.76554539,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07477645, -0.03387185,  0.13627897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005973782956362676
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98077301, -0.15447603, -0.11925373, -0.15334661,  0.98799654,
       -0.01864566,  0.12070258,  0.        , -0.99268872])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09915672, -0.08322976,  0.12120953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005292010072272119
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.24480778e-14, -1.04896156e-13,  1.00000000e+00,  5.50160174e-27,
        1.00000000e+00,  1.04896156e-13, -1.00000000e+00,  0.00000000e+00,
        5.24480778e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03753876, -0.06421339,  0.06198895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.89991147e-03, 1.66513945e-01, 6.04062385e-02,-2.09995648e-02,
  6.18722996e-02, 5.66542263e-01, 2.27397279e-01,-7.90987135e-02,
  3.54623256e-05,-4.92011751e-04,-4.27757220e-05,-6.52115800e-05,
 -1.54281956e-04,-6.75874439e-05,-1.66801364e-05,-1.99735408e-04,
 -4.08076636e-05,-1.09557764e-04,-9.80985532e+00,-7.26985195e-02,
 -1.84434196e-02, 2.05241823e-03]


--- Step 2727 ---
qpos:
[-0.00230028, 0.36206637,-0.08010003, 0.90135608,-0.05542337, 0.19843805,
 -0.22665124, 0.88215217, 0.01531063, 1.33152487,-0.02347207, 0.95462451,
  1.07137354, 0.00480486, 1.23603923, 0.04550217, 0.06551184,-0.07063395,
  0.1503991 , 0.96667432,-0.08318127,-0.05987779, 0.23459815]

qacc:
[-1.68699225e+01, 2.34848020e+01,-8.93350907e+01, 4.73751756e+01,
 -4.13140275e+01,-2.52829391e+01, 1.23721425e+02,-2.78820013e+02,
  4.78646565e-02,-7.69443090e+00, 1.78283665e+01,-8.17697801e+00,
 -1.39829380e+00, 1.46186865e+00, 1.24302033e+01,-4.29366353e+01,
  4.96245173e-01,-4.52374296e-01,-1.90018321e-01, 5.57309626e+00,
  4.63623213e+00,-4.60430135e+00]

qfrc_actuator:
[-0.0037303 , 0.2113611 , 0.05895594,-0.00434021, 0.04718453, 0.60134198,
  0.20612498, 0.06364039,-0.00300583, 0.04157888, 0.01068623, 0.00176452,
  0.02637424,-0.00067898, 0.        ,-0.0018406 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.27628124,  0.34460907, -0.27628124,  2.71581653,
        1.823224  ,  0.34460907,  1.823224  ,  1.90340801,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016419270158787719
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63350342e-01, -6.41241047e-01, -7.81420184e-02, -5.98326906e-02,
       -5.02615577e-02,  9.96942238e-01, -6.43207824e-01,  7.65691645e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07472255, -0.03388919,  0.13630661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006019120394326642
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98075546, -0.15423059, -0.11971485, -0.15309429,  0.98803488,
       -0.01868729,  0.1211646 ,  0.        , -0.99263243])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09908468, -0.08323955,  0.12127661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005309976928749294
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.82947150e-13, -1.56811843e-13,  1.00000000e+00, -2.86882798e-26,
        1.00000000e+00,  1.56811843e-13, -1.00000000e+00,  0.00000000e+00,
       -1.82947150e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03753762, -0.06421323,  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:
[ 1.15598356e-02, 1.68145632e-01, 6.13519967e-02,-2.05854441e-02,
  6.27888583e-02, 5.68320789e-01, 2.27595911e-01,-8.12740327e-02,
  1.35940770e-05,-4.71203912e-04,-3.94896822e-05, 5.70988848e-06,
 -1.38579110e-04,-2.96278695e-05,-3.57515833e-05,-2.17364376e-04,
 -1.40210610e-05,-7.66737996e-05,-9.80989530e+00,-7.26867102e-02,
 -1.84726527e-02, 2.09232785e-03]


--- Step 2728 ---
qpos:
[-0.00264951, 0.36263353,-0.08027525, 0.90163337,-0.05576034, 0.19897896,
 -0.22709737, 0.88498847, 0.01531098, 1.33166493,-0.02347398, 0.9546272 ,
  1.07196873, 0.00482029, 1.2361912 , 0.04549866, 0.06546799,-0.07068065,
  0.15040742, 0.96671942,-0.08304253,-0.06013106, 0.23439659]

qacc:
[-8.33982651e+00, 1.70578029e+01,-7.80812273e+01, 3.89546799e+01,
 -4.26477015e+01,-2.63481085e+01, 1.26274775e+02,-2.82667601e+02,
  1.23168413e-02,-4.56979001e-01,-7.70503000e+00, 3.17071388e+01,
 -2.03023799e-01,-3.92024791e-01,-5.81535014e+00, 1.88517769e+01,
  4.85323415e-01,-4.47995661e-01,-1.85253205e-01, 5.61949796e+00,
  4.37441680e+00,-4.20077314e+00]

qfrc_actuator:
[-0.00271032, 0.212121  , 0.05912886,-0.00396621, 0.04755016, 0.60321004,
  0.20658197, 0.06089181,-0.00301046, 0.0414468 , 0.01068887, 0.00186647,
  0.02631604,-0.00072345, 0.        ,-0.00174482, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.25606199,  0.35988747, -0.25606199,  1.71604026,
        0.90671015,  0.35988747,  0.90671015,  1.08681568,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001649626111423379
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63476819e-01, -6.41015748e-01, -7.87525095e-02, -6.03130358e-02,
       -5.06388731e-02,  9.96894198e-01, -6.43012818e-01,  7.65855414e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07467041, -0.03390706,  0.1363329 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00605846212060887
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98052797, -0.1556311 , -0.11976588, -0.15448299,  0.98781525,
       -0.01886921,  0.1212432 ,  0.        , -0.99262283])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09901449, -0.08326595,  0.12134774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005327441845488778
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.56297768e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.56297768e-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([ 0.03753647, -0.06421308,  0.06198887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32609651e-02, 1.69502196e-01, 6.23585677e-02,-2.00544140e-02,
  6.37681672e-02, 5.70056186e-01, 2.27793147e-01,-8.33128594e-02,
  3.45532335e-06,-4.01186240e-04,-9.38671450e-05, 8.71665925e-05,
 -1.36570356e-04,-8.49122614e-05,-4.56060517e-05, 7.80221413e-05,
  1.08621648e-05,-4.08626037e-05,-9.80992861e+00,-7.26751293e-02,
 -1.85003970e-02, 2.13166661e-03]


--- Step 2729 ---
qpos:
[-0.00299657, 0.36317658,-0.08046948, 0.90190676,-0.05611041, 0.19952017,
 -0.22753863, 0.88781002, 0.01531132, 1.33180207,-0.02347622, 0.95462969,
  1.07256285, 0.00483518, 1.23634277, 0.04549726, 0.06542604,-0.07072913,
  0.15041502, 0.9667676 ,-0.08289423,-0.06037434, 0.23418773]

qacc:
[ 2.63282558e+00, 1.28301477e+01,-7.18535106e+01, 3.16101560e+01,
 -4.37747848e+01,-2.76173495e+01, 1.29013151e+02,-2.86307029e+02,
 -2.58565404e-03,-3.24970232e+00, 6.38977925e+00,-6.03466087e+00,
 -3.08515227e-01,-2.92809283e-01,-6.92958593e+00, 2.34073983e+01,
  4.76185336e-01,-4.44659465e-01,-1.81437126e-01, 5.69831180e+00,
  4.10987324e+00,-3.75911349e+00]

qfrc_actuator:
[-0.00152853, 0.21264535, 0.05929555,-0.00351338, 0.04787645, 0.60493027,
  0.20699611, 0.05808135,-0.0030134 , 0.0413135 , 0.01067354, 0.00185436,
  0.02625441,-0.00075596, 0.        ,-0.00163364, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.25189613,  0.36281548, -0.25189613,  1.09601188,
        0.45428628,  0.36281548,  0.45428628,  0.75708886,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001656152418332484
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76362534, -0.64076387, -0.07935992, -0.06079299, -0.05101186,
        0.99684603, -0.64279122,  0.76604142,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07462043, -0.03392519,  0.13635738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006105776074925684
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9805198 , -0.15536377, -0.12017915, -0.15420977,  0.98785733,
       -0.01890099,  0.12165638,  0.        , -0.99257228])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09894267, -0.08327637,  0.12141541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005344371733370379
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03868432e-13, -1.55802648e-13,  1.00000000e+00, -1.61829768e-26,
        1.00000000e+00,  1.55802648e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03868432e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03753531, -0.06421293,  0.06198884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47786975e-02, 1.70946308e-01, 6.34047062e-02,-1.94309145e-02,
  6.47301578e-02, 5.71686347e-01, 2.27951811e-01,-8.54018575e-02,
 -8.29144377e-07,-3.71873374e-04,-1.01936270e-04,-2.45192642e-05,
 -1.51288856e-04,-8.86087187e-05,-1.47754051e-05, 1.09164480e-04,
  3.37890055e-05,-2.48645447e-06,-9.80995662e+00,-7.26631967e-02,
 -1.85267571e-02, 2.17049040e-03]


--- Step 2730 ---
qpos:
[-0.00334114, 0.36369544,-0.0806822 , 0.90217655,-0.05647405, 0.20006176,
 -0.22797511, 0.89061659, 0.01531165, 1.33193605,-0.02347802, 0.95463269,
  1.07315575, 0.00485026, 1.23649431, 0.04549649, 0.06538596,-0.07077941,
  0.1504219 , 0.96681879,-0.08273623,-0.0606079 , 0.23397185]

qacc:
[ 3.04232373e+00, 1.18058462e+01,-6.93166287e+01, 3.30327722e+01,
 -4.52372162e+01,-2.75623767e+01, 1.29480062e+02,-2.89446819e+02,
 -7.62568412e-03,-4.48040591e+00, 8.57526705e+00, 4.14717875e-01,
 -1.04802036e+00, 1.01550456e+00,-1.89392981e+00, 6.77144761e+00,
  4.67175900e-01,-4.48643340e-01,-1.78459748e-01, 5.74397940e+00,
  3.94083822e+00,-3.63596383e+00]

qfrc_actuator:
[-4.51137367e-04, 2.13094509e-01, 5.95024199e-02,-2.88712437e-03,
  4.82201039e-02, 6.07254718e-01, 2.07435936e-01, 5.52220327e-02,
 -3.01529744e-03, 4.11626498e-02, 1.07009586e-02, 1.88172018e-03,
  2.62120809e-02,-7.27833869e-04, 0.00000000e+00,-1.60314089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.24744612,  0.36586493, -0.24744612,  1.05594508,
        0.41544284,  0.36586493,  0.41544284,  0.72266347,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016606898866160106
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63800223e-01, -6.40479583e-01, -7.99695112e-02, -6.12769817e-02,
       -5.13834043e-02,  9.96797310e-01, -6.42537432e-01,  7.66254298e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0745729 , -0.03394315,  0.13637963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0061539409409776865
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80516025e-01, -1.55083288e-01, -1.20571550e-01, -1.53923913e-01,
        9.87901399e-01, -1.89276303e-02,  1.22048162e-01, -3.46944695e-18,
       -9.92524179e-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([ 0.0988711 , -0.08328712,  0.12148327])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005360742404899171
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.55326857e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.55326857e-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([ 0.03753413, -0.06421278,  0.06198881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57460766e-02, 1.72585699e-01, 6.45587502e-02,-1.86098818e-02,
  6.57286104e-02, 5.73977144e-01, 2.28143058e-01,-8.75285011e-02,
 -2.31543196e-06,-3.78071030e-04,-5.76583280e-05, 1.29832622e-05,
 -1.39783716e-04,-3.27560176e-05, 1.20182905e-06, 3.38077311e-05,
  5.52415875e-05, 3.80758828e-05,-9.80997934e+00,-7.26508498e-02,
 -1.85518197e-02, 2.20883649e-03]


--- Step 2731 ---
qpos:
[-0.00368755, 0.36419487,-0.08091281, 0.90244324,-0.05685185, 0.20060448,
 -0.22840693, 0.89340789, 0.01531195, 1.33206701,-0.02347955, 0.95463668,
  1.07374773, 0.00486499, 1.23664537, 0.04549978, 0.06534771,-0.07083152,
  0.15042807, 0.96687305,-0.08256844,-0.06083192, 0.23374865]

qacc:
[-2.27840523e+00, 1.72354010e+01,-8.05450885e+01, 4.54978748e+01,
 -4.70358805e+01,-2.65911410e+01, 1.28065897e+02,-2.91898799e+02,
 -8.51052271e-03,-2.99569744e+00, 2.98382729e+00, 1.07491152e+01,
 -1.68930954e-01,-2.98940592e-01,-1.29756318e+01, 4.43403701e+01,
  4.58389827e-01,-4.58451240e-01,-1.75401296e-01, 5.75195924e+00,
  3.86264514e+00,-3.79933429e+00]

qfrc_actuator:
[ 3.49380228e-04, 2.13472775e-01, 5.96872196e-02,-2.01353119e-03,
  4.85976492e-02, 6.09941486e-01, 2.07871548e-01, 5.24638245e-02,
 -3.01655304e-03, 4.10204471e-02, 1.07178592e-02, 1.93213586e-03,
  2.61654046e-02,-7.52613095e-04, 0.00000000e+00,-1.38963964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.24242873,  0.36920867, -0.24242873,  1.20846905,
        0.50348273,  0.36920867,  0.50348273,  0.77228162,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001663206174591353
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7640012 , -0.64016304, -0.08058195, -0.06176557, -0.05175389,
        0.99674799, -0.64225165,  0.76649384,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07452779, -0.03396096,  0.13639966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006202957400780124
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98051656, -0.15478999, -0.12094353, -0.15362574,  0.9879474 ,
       -0.01894923,  0.12241899,  0.        , -0.99247851])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09879979, -0.08329821,  0.12155131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00053765364952571
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16235231e-14, -1.03247046e-13,  1.00000000e+00, -5.32997628e-27,
        1.00000000e+00,  1.03247046e-13, -1.00000000e+00,  0.00000000e+00,
       -5.16235231e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03753293, -0.06421264,  0.06198877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64198871e-02, 1.74159545e-01, 6.56651574e-02,-1.75563279e-02,
  6.67851147e-02, 5.76626063e-01, 2.28333979e-01,-8.95414457e-02,
 -2.55490607e-06,-3.63071821e-04,-6.32486111e-05, 3.80189748e-05,
 -1.25050124e-04,-6.69664546e-05,-1.32583856e-06, 2.14324562e-04,
  7.48399733e-05, 8.12768236e-05,-9.80999859e+00,-7.26376602e-02,
 -1.85755883e-02, 2.24675638e-03]


--- Step 2732 ---
qpos:
[-0.00404024, 0.36467654,-0.0811601 , 0.90270752,-0.05724436, 0.201148  ,
 -0.22883428, 0.89618368, 0.01531224, 1.33219509,-0.02348091, 0.95464159,
  1.07433892, 0.00487862, 1.23679645, 0.04550491, 0.06531127,-0.07088549,
  0.15043356, 0.9669304 ,-0.08239077,-0.06104659, 0.23351803]

qacc:
[-7.71074169e+00, 1.72814518e+01,-7.95857503e+01, 5.16227873e+01,
 -4.86878201e+01,-2.67938922e+01, 1.28700447e+02,-2.94708257e+02,
 -7.67045960e-03,-2.64376957e+00, 2.22272953e+00, 1.04015136e+01,
  2.20824251e-01,-1.18327754e+00,-5.58737154e+00, 1.94777562e+01,
  4.50240562e-01,-4.66033297e-01,-1.72505950e-01, 5.77312502e+00,
  3.76286070e+00,-3.86492183e+00]

qfrc_actuator:
[ 0.0009161 , 0.21376015, 0.05988332,-0.00109713, 0.04896604, 0.61217017,
  0.20832061, 0.04973705,-0.00301742, 0.04088455, 0.01072844, 0.00197794,
  0.02610549,-0.00082641, 0.        ,-0.00130079, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.23722036,  0.37257648, -0.23722036,  1.43798708,
        0.63434719,  0.37257648,  0.63434719,  0.84557665,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016642129277722884
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64184895e-01, -6.39865946e-01, -8.11973986e-02, -6.22553903e-02,
       -5.21275735e-02,  9.96698040e-01, -6.41985758e-01,  7.66716562e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07448524, -0.03397933,  0.13641776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0062528860481562585
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9805215 , -0.15448334, -0.12129506, -0.15331471,  0.98799539,
       -0.01896574,  0.12276885,  0.        , -0.99243529])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09872868, -0.08330967,  0.12161955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005391710356152657
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.72173590e-14, -1.54434718e-13,  1.00000000e+00, -1.19250411e-26,
        1.00000000e+00,  1.54434718e-13, -1.00000000e+00,  0.00000000e+00,
       -7.72173590e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03753172, -0.06421249,  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:
[ 1.70768577e-02, 1.75404281e-01, 6.67527049e-02,-1.64858442e-02,
  6.78617803e-02, 5.78780485e-01, 2.28545269e-01,-9.15091843e-02,
 -2.30436033e-06,-3.48794002e-04,-6.65322760e-05, 3.42716209e-05,
 -1.38353427e-04,-1.22511136e-04, 1.91328321e-05, 9.97255058e-05,
  9.20835518e-05, 1.27841219e-04,-9.81001595e+00,-7.26233203e-02,
 -1.85979991e-02, 2.28429198e-03]


--- Step 2733 ---
qpos:
[-0.00440384, 0.36514139,-0.08142269, 0.90297012,-0.05765207, 0.20169154,
 -0.2292573 , 0.89894375, 0.01531236, 1.33232008,-0.02348113, 0.95464595,
  1.07492894, 0.00489205, 1.23694822, 0.04550606, 0.06527659,-0.07094134,
  0.15043837, 0.96699081,-0.08220308,-0.06125213, 0.2332801 ]

qacc:
[-1.33419191e+01, 1.59919614e+01,-7.54305502e+01, 5.59451146e+01,
 -5.01598817e+01,-2.75941869e+01, 1.30428163e+02,-2.97702076e+02,
 -6.77908090e-02,-8.11104855e+00, 2.26771467e+01,-2.41471459e+01,
 -1.13176478e+00, 8.85616851e-01, 1.31457346e+01,-4.42774118e+01,
  4.43139058e-01,-4.71094688e-01,-1.70239430e-01, 5.81130674e+00,
  3.64202586e+00,-3.81927296e+00]

qfrc_actuator:
[ 1.24120287e-03, 2.14087868e-01, 6.01454112e-02,-1.54476611e-04,
  4.93706556e-02, 6.14123851e-01, 2.08758294e-01, 4.69822130e-02,
 -3.03578792e-03, 4.07357615e-02, 1.07885012e-02, 1.94965688e-03,
  2.60536199e-02,-8.22233987e-04, 0.00000000e+00,-1.51692488e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.23193852,  0.37588729, -0.23193852,  1.82671628,
        0.85462274,  0.37588729,  0.85462274,  0.96902499,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016640142892353235
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64429682e-01, -6.39495510e-01, -8.18092522e-02, -6.27477508e-02,
       -5.24926045e-02,  9.96648005e-01, -6.41646306e-01,  7.67000664e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07444424, -0.0339974 ,  0.13643416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006303688002369965
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80530756e-01, -1.54163093e-01, -1.21627202e-01, -1.52990594e-01,
        9.88045414e-01, -1.89772914e-02,  1.23098798e-01,  3.46944695e-18,
       -9.92394421e-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([ 0.0986578 , -0.08332152,  0.12168796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005406221970641611
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02680118e-13,  5.13400592e-14,  1.00000000e+00, -5.27160336e-27,
        1.00000000e+00, -5.13400592e-14, -1.00000000e+00,  0.00000000e+00,
        1.02680118e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0375305 , -0.06421233,  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:
[ 1.77145831e-02, 1.76608265e-01, 6.78469204e-02,-1.54230281e-02,
  6.90020436e-02, 5.80675223e-01, 2.28753449e-01,-9.34929644e-02,
 -1.96682942e-05,-3.54529977e-04,-1.47516403e-05,-3.95849528e-05,
 -1.50198851e-04,-6.35765732e-05, 1.43430164e-05,-2.09363270e-04,
  1.07224589e-04, 1.77630287e-04,-9.81003100e+00,-7.26079320e-02,
 -1.86190839e-02, 2.32146442e-03]


--- Step 2734 ---
qpos:
[-0.00478231, 0.36559227,-0.08169991, 0.90323151,-0.05807546, 0.20223402,
 -0.22967611, 0.90168789, 0.0153123 , 1.33244247,-0.02348155, 0.95464823,
  1.07551758, 0.00490612, 1.23709962, 0.04550834, 0.06524367,-0.0709991 ,
  0.1504425 , 0.96705422,-0.08200522,-0.06144872, 0.23303504]

qacc:
[-1.81821879e+01, 1.87108200e+01,-8.08434174e+01, 6.44375882e+01,
 -5.15500474e+01,-2.88182123e+01, 1.33016217e+02,-3.00899307e+02,
 -7.79021008e-02,-6.43319731e+00, 2.10223857e+01,-4.04588712e+01,
 -1.42124479e+00, 1.68820676e+00,-3.81948666e+00, 1.28524823e+01,
  4.37484357e-01,-4.75761393e-01,-1.69038197e-01, 5.86352416e+00,
  3.52561558e+00,-3.74084030e+00]

qfrc_actuator:
[ 0.00132195, 0.21462347, 0.06043463, 0.00076866, 0.04976788, 0.61577099,
  0.20913426, 0.04414596,-0.00304676, 0.04059834, 0.01077068, 0.00184251,
  0.02600132,-0.00077172, 0.        ,-0.0014494 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.22682126,  0.37899716, -0.22682126,  2.4139946 ,
        1.18038211,  0.37899716,  1.18038211,  1.14811832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016628740154053607
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64693243e-01, -6.39101983e-01, -8.24190491e-02, -6.32404490e-02,
       -5.28539996e-02,  9.96597763e-01, -6.41283783e-01,  7.67303792e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07440516, -0.03401593,  0.13644894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006355280725549338
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80544152e-01, -1.53829372e-01, -1.21941342e-01, -1.52653460e-01,
        9.88097427e-01, -1.89841199e-02,  1.23410241e-01, -3.46944695e-18,
       -9.92355739e-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([ 0.09858722, -0.08333377,  0.12175647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005420045057070721
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.68136851e-14, -5.12091234e-14,  1.00000000e+00,  3.93356148e-27,
        1.00000000e+00,  5.12091234e-14, -1.00000000e+00,  0.00000000e+00,
        7.68136851e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03752925, -0.06421218,  0.06198869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83390840e-02, 1.77972693e-01, 6.88991151e-02,-1.44155882e-02,
  7.01597839e-02, 5.82303090e-01, 2.28907728e-01,-9.55473122e-02,
 -2.25189036e-05,-3.38386260e-04,-9.00292691e-05,-1.18819813e-04,
 -1.43755524e-04,-2.72965903e-06,-2.42095016e-05, 5.60452312e-05,
  1.20580780e-04, 2.30372208e-04,-9.81004325e+00,-7.25915919e-02,
 -1.86389038e-02, 2.35829433e-03]


--- Step 2735 ---
qpos:
[-0.00517959, 0.36603368,-0.08199164, 0.90349203,-0.05851499, 0.20277393,
 -0.23009079, 0.90441596, 0.01531193, 1.33256238,-0.02348319, 0.95465099,
  1.07610522, 0.00491991, 1.23725068, 0.04551269, 0.06521248,-0.07105878,
  0.15044596, 0.96712057,-0.08179705,-0.06163657, 0.23278311]

qacc:
[-2.29687957e+01, 2.47516936e+01,-9.41366112e+01, 7.66552415e+01,
 -5.28370011e+01,-3.06323880e+01, 1.36773028e+02,-3.04298681e+02,
 -1.29912703e-01, 8.77140747e-01,-7.72452235e+00, 1.36618151e+01,
 -4.32226003e-01, 4.52779475e-02,-6.77308089e+00, 2.30313838e+01,
  4.31946128e-01,-4.79657855e-01,-1.68097396e-01, 5.92095465e+00,
  3.39967267e+00,-3.62528385e+00]

qfrc_actuator:
[ 0.00117567, 0.21551847, 0.06076334, 0.00168028, 0.05013173, 0.61711101,
  0.20952484, 0.04132059,-0.00307097, 0.0404685 , 0.01070701, 0.00186732,
  0.0259435 ,-0.00080068, 0.        ,-0.00133946, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.22177693,  0.38197085, -0.22177693,  3.63424764,
        1.85364004,  0.38197085,  1.85364004,  1.51793222,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016611471727189834
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64972814e-01, -6.38688820e-01, -8.30252038e-02, -6.37320621e-02,
       -5.32109832e-02,  9.96547448e-01, -6.40901566e-01,  7.67623073e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07436783, -0.03403513,  0.13646231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006407559465447411
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80561461e-01, -1.53482386e-01, -1.22239024e-01, -1.52303498e-01,
        9.88151384e-01, -1.89865008e-02,  1.23704754e-01, -3.46944695e-18,
       -9.92319069e-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([ 0.09851702, -0.08334646,  0.12182504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005433175216162517
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55426841e-14, -5.10853682e-14,  1.00000000e+00,  1.30485742e-27,
        1.00000000e+00,  5.10853682e-14, -1.00000000e+00,  0.00000000e+00,
        2.55426841e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.037528  , -0.06421202,  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:
[ 1.89355709e-02, 1.79554890e-01, 6.99578256e-02,-1.34441821e-02,
  7.13079509e-02, 5.83677974e-01, 2.29082595e-01,-9.75808785e-02,
 -3.74285380e-05,-3.38920604e-04,-1.43588253e-04, 9.55149058e-06,
 -1.31463276e-04,-6.33155248e-05,-9.38445911e-06, 1.09003999e-04,
  1.32329392e-04, 2.86012990e-04,-9.81005262e+00,-7.25743142e-02,
 -1.86574871e-02, 2.39480424e-03]


--- Step 2736 ---
qpos:
[-0.00559615, 0.36647332,-0.0823    , 0.90375136,-0.05897111, 0.20331004,
 -0.23050136, 0.90712778, 0.01531141, 1.33268024,-0.02348525, 0.95465326,
  1.07669216, 0.00493254, 1.23740232, 0.04551295, 0.06518298,-0.07112041,
  0.15044875, 0.96718982,-0.08157837,-0.06181587, 0.23252445]

qacc:
[-2.35154947e+01, 3.98815590e+01,-1.30463635e+02, 9.84881171e+01,
 -5.41521541e+01,-3.22180702e+01, 1.40189865e+02,-3.07500484e+02,
 -6.39389877e-02,-2.44830349e+00, 5.71416178e+00,-9.35283218e+00,
 -1.22436671e-01,-7.87621000e-01, 1.32328325e+01,-4.50929695e+01,
  4.25339472e-01,-4.85935269e-01,-1.67027690e-01, 5.98025995e+00,
  3.27171221e+00,-3.56228059e+00]

qfrc_actuator:
[ 0.00081428, 0.21700301, 0.06110371, 0.00267389, 0.05057103, 0.61851721,
  0.20995809, 0.0385438 ,-0.00306741, 0.04041512, 0.01070572, 0.00184531,
  0.02589304,-0.00087666, 0.        ,-0.00156053, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.25100381,  0.36343337, -0.25100381,  2.95690398,
        1.73712514,  0.36343337,  1.73712514,  1.64142481,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001659286345988438
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65264862e-01, -6.38260484e-01, -8.36256270e-02, -6.42207035e-02,
       -5.35625498e-02,  9.96497243e-01, -6.40504014e-01,  7.67954822e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07433198, -0.03405518,  0.13647455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006460383524252834
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80582390e-01, -1.53122483e-01, -1.22522168e-01, -1.51941017e-01,
        9.88207218e-01, -1.89847819e-02,  1.23984288e-01,  3.46944695e-18,
       -9.92284181e-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([ 0.09844733, -0.0833596 ,  0.12189356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005445616032753592
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64529911e-14, -2.03874643e-13,  1.00000000e+00, -1.55868263e-26,
        1.00000000e+00,  2.03874643e-13, -1.00000000e+00,  0.00000000e+00,
       -7.64529911e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03752672, -0.06421186,  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:
[ 1.95140252e-02, 1.81503245e-01, 7.10224958e-02,-1.24074289e-02,
  7.25539897e-02, 5.85193949e-01, 2.29303762e-01,-9.95575207e-02,
 -1.84631313e-05,-2.69383021e-04,-8.36513871e-05,-3.58609811e-05,
 -1.31739918e-04,-1.24968682e-04, 3.46642769e-06,-2.17153589e-04,
  1.42640663e-04, 3.44367593e-04,-9.81005897e+00,-7.25560903e-02,
 -1.86748909e-02, 2.43101768e-03]


--- Step 2737 ---
qpos:
[-0.00603228, 0.36691465,-0.08262636, 0.90400937,-0.05944424, 0.20384165,
 -0.23090786, 0.9098232 , 0.01531097, 1.33279628,-0.02348718, 0.95465416,
  1.07727817, 0.00494422, 1.23755381, 0.04551192, 0.06515516,-0.07118399,
  0.15045088, 0.96726189,-0.08134901,-0.06198691, 0.23225934]

qacc:
[-2.38671435e+01, 4.78280258e+01,-1.50587109e+02, 1.11718157e+02,
 -5.53599415e+01,-3.31531426e+01, 1.42351897e+02,-3.10191154e+02,
  3.27533991e-02,-5.08873966e+00, 1.64802113e+01,-2.89176182e+01,
 -2.18772787e-01,-6.07606306e-01, 3.69215274e+00,-1.32296803e+01,
  4.16768107e-01,-4.91696664e-01,-1.65831849e-01, 6.04549240e+00,
  3.10194059e+00,-3.44060008e+00]

qfrc_actuator:
[ 2.60810408e-04, 2.18642080e-01, 6.13702447e-02, 3.61085487e-03,
  5.10625105e-02, 6.20107412e-01, 2.10379798e-01, 3.58027377e-02,
 -3.04721865e-03, 4.03549397e-02, 1.07237598e-02, 1.77822957e-03,
  2.58363361e-02,-9.26603390e-04, 0.00000000e+00,-1.61980751e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.22583977,  0.37958284, -0.22583977,  3.26955432,
        1.68249198,  0.37958284,  1.68249198,  1.4427157 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016577719604293642
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76556574, -0.6378216 , -0.08421816, -0.06470441, -0.05390767,
        0.99644734, -0.64009564,  0.76829524,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07429713, -0.03407607,  0.13648605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0065136404947194184
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98060669, -0.15274988, -0.12279248, -0.1515662 ,  0.98826488,
       -0.01897926,  0.12425058,  0.        , -0.99225087])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09837822, -0.08337321,  0.12196197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005457368653506989
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.01717796e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.01717796e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03752544, -0.06421169,  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:
[ 1.99231693e-02, 1.83220579e-01, 7.21192278e-02,-1.14111906e-02,
  7.38751727e-02, 5.86955566e-01, 2.29514704e-01,-1.01490607e-01,
  9.35448913e-06,-2.27356634e-04,-4.52463494e-05,-7.81735377e-05,
 -1.53415532e-04,-1.16331929e-04,-2.87794795e-05,-7.23139358e-05,
  1.51532579e-04, 4.05589407e-04,-9.81006253e+00,-7.25368092e-02,
 -1.86911041e-02, 2.46696446e-03]


--- Step 2738 ---
qpos:
[-0.00648827, 0.36735314,-0.08296982, 0.90426647,-0.05993465, 0.204368  ,
 -0.23131036, 0.91250206, 0.01531038, 1.33291067,-0.02348905, 0.95465562,
  1.07786292, 0.0049557 , 1.23770481, 0.04551282, 0.06512895,-0.07124954,
  0.15045235, 0.96733653,-0.08110873,-0.06215015, 0.23198872]

qacc:
[-2.41919173e+01, 4.01852352e+01,-1.33807081e+02, 1.05403566e+02,
 -5.60325832e+01,-3.40089222e+01, 1.44118633e+02,-3.12386769e+02,
 -6.12228901e-02,-1.35735868e+00, 6.73281543e-01, 6.93062916e+00,
 -6.92778036e-01, 3.26594306e-01,-6.53356570e+00, 2.19056180e+01,
  4.05503072e-01,-4.88612447e-01,-1.63899820e-01, 6.12060885e+00,
  2.81364165e+00,-2.98605040e+00]

qfrc_actuator:
[-1.69122671e-04, 2.20140325e-01, 6.16360049e-02, 4.30140623e-03,
  5.15213596e-02, 6.21685958e-01, 2.10810728e-01, 3.31607876e-02,
 -3.07048070e-03, 4.02912528e-02, 1.07352770e-02, 1.80945402e-03,
  2.57812713e-02,-9.25169785e-04, 0.00000000e+00,-1.51216327e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.21381047,  0.3864865 , -0.21381047,  3.38074719,
        1.62593524,  0.3864865 ,  1.62593524,  1.34117946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016567810750075622
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.65873794e-01, -6.37374206e-01, -8.48024372e-02, -6.51827667e-02,
       -5.42462929e-02,  9.96397785e-01, -6.39678465e-01,  7.68642610e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07426309, -0.03409781,  0.13649696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006567265187908975
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80634148e-01, -1.52364959e-01, -1.23051156e-01, -1.51179408e-01,
        9.88324299e-01, -1.89701745e-02,  1.24504838e-01,  3.46944695e-18,
       -9.92219001e-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([ 0.09830977, -0.08338731,  0.12203023])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005468451466091456
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.5226747e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.5226747e-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([ 0.03752414, -0.06421152,  0.06198859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04709734e-02, 1.84624382e-01, 7.32843697e-02,-1.06549226e-02,
  7.51851110e-02, 5.88740992e-01, 2.29736364e-01,-1.03316489e-01,
 -1.76807125e-05,-2.01366051e-04,-4.04387561e-05, 2.15061006e-05,
 -1.60873894e-04,-6.75429852e-05,-2.54353864e-05, 9.90270338e-05,
  1.59300884e-04, 4.69305892e-04,-9.81006303e+00,-7.25164244e-02,
 -1.87062161e-02, 2.50267546e-03]


--- Step 2739 ---
qpos:
[-0.00696261, 0.36778751,-0.08333235, 0.90452273,-0.06044253, 0.20488868,
 -0.23170903, 0.91516421, 0.0153096 , 1.33302345,-0.02349108, 0.95465746,
  1.07844643, 0.00496725, 1.23785568, 0.04551462, 0.06510432,-0.07131701,
  0.15045318, 0.96741347,-0.08085732,-0.06230607, 0.23171369]

qacc:
[-2.23224659e+01, 4.38252018e+01,-1.47927292e+02, 1.19102022e+02,
 -5.64433069e+01,-3.42440838e+01, 1.44511780e+02,-3.13875059e+02,
 -8.32263424e-02,-1.02209378e+00, 4.04543396e-02, 5.25132120e+00,
 -9.60593140e-01, 8.33285418e-01,-2.82873313e+00, 9.80633287e+00,
  3.92842564e-01,-4.82610579e-01,-1.61102158e-01, 6.18632006e+00,
  2.49320656e+00,-2.45151154e+00]

qfrc_actuator:
[-2.50517241e-04, 2.21912981e-01, 6.19608583e-02, 5.05725554e-03,
  5.19676994e-02, 6.23419861e-01, 2.11210144e-01, 3.06027671e-02,
 -3.08411641e-03, 4.02082780e-02, 1.07251479e-02, 1.82726524e-03,
  2.57325752e-02,-9.11025073e-04, 0.00000000e+00,-1.46685036e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.22875185,  0.37783505, -0.22875185,  3.43743519,
        1.81370976,  0.37783505,  1.81370976,  1.53975658,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017362124597772777
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76614509, -0.6369741 , -0.08535631, -0.06563486, -0.05456891,
        0.99635049, -0.63930726,  0.76895138,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07423059, -0.03412117,  0.1365073 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006621174657104522
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80664398e-01, -1.51969116e-01, -1.23299335e-01, -1.50781998e-01,
        9.88385243e-01, -1.89578821e-02,  1.24748256e-01,  3.46944695e-18,
       -9.92188426e-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([ 0.09824204, -0.08340193,  0.12209829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005478911080825238
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.53294635e-14, -1.01317854e-13,  1.00000000e+00,  2.56632688e-27,
        1.00000000e+00,  1.01317854e-13, -1.00000000e+00,  0.00000000e+00,
        2.53294635e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03752283, -0.06421135,  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:
[ 2.13821042e-02, 1.86529378e-01, 7.44636443e-02,-9.85396052e-03,
  7.64957856e-02, 5.90720547e-01, 2.29931137e-01,-1.05050872e-01,
 -2.40074877e-05,-2.02375423e-04,-5.35421716e-05, 1.13220912e-05,
 -1.46231617e-04,-4.28385712e-05,-4.62468859e-06, 4.67344423e-05,
  1.66920692e-04, 5.33575294e-04,-9.81005902e+00,-7.24950437e-02,
 -1.87206507e-02, 2.53817983e-03]


--- Step 2740 ---
qpos:
[-0.00745562, 0.36821716,-0.08371315, 0.90477844,-0.06096798, 0.20540332,
 -0.232104  , 0.91780951, 0.01530878, 1.33313465,-0.02349377, 0.95465883,
  1.07902875, 0.00497909, 1.23800671, 0.04551526, 0.06508122,-0.07138638,
  0.15045338, 0.96749237,-0.08059458,-0.06245516, 0.23143548]

qacc:
[-2.27034051e+01, 4.13439075e+01,-1.41397679e+02, 1.17294674e+02,
 -5.65754394e+01,-3.45406869e+01, 1.45046503e+02,-3.15368121e+02,
 -1.41514985e-02,-1.09643007e+00, 2.00721108e+00,-6.11478604e+00,
 -1.22739006e+00, 1.28771651e+00, 3.83584068e+00,-1.28348754e+01,
  3.82571917e-01,-4.73144296e-01,-1.58751967e-01, 6.25350594e+00,
  2.18492222e+00,-1.84039167e+00]

qfrc_actuator:
[ 7.90323806e-06, 2.23586421e-01, 6.23299837e-02, 5.90583907e-03,
  5.24668886e-02, 6.25160703e-01, 2.11606960e-01, 2.79776128e-02,
 -3.07411390e-03, 4.01143442e-02, 1.06844778e-02, 1.80148870e-03,
  2.56824176e-02,-8.89456625e-04, 0.00000000e+00,-1.52968560e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.23629802,  0.37316213, -0.23629802,  3.19698271,
        1.74474051,  0.37316213,  1.74474051,  1.54651087,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001720470581390301
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76631627, -0.63670219, -0.08584697, -0.06602969, -0.05486149,
        0.99630833, -0.63906139,  0.76915573,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07420039, -0.03414711,  0.13651728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00667531559555326
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80697094e-01, -1.51563958e-01, -1.23537756e-01, -1.50375554e-01,
        9.88447453e-01, -1.89427078e-02,  1.24981612e-01,  3.46944695e-18,
       -9.92159058e-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([ 0.09817507, -0.08341709,  0.12216611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005488783541710007
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01135617e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.01135617e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03752151, -0.06421117,  0.06198855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.25568115e-02, 1.88400161e-01, 7.57862173e-02,-8.96350322e-03,
  7.78685125e-02, 5.92726217e-01, 2.30130905e-01,-1.06844577e-01,
 -4.10379229e-06,-2.16741749e-04,-8.60650160e-05,-3.29179449e-05,
 -1.34222275e-04,-2.49557752e-05,-2.21067353e-06,-6.19660828e-05,
  1.74750706e-04, 5.97516166e-04,-9.81005027e+00,-7.24726076e-02,
 -1.87346732e-02, 2.57352297e-03]


--- Step 2741 ---
qpos:
[-0.00796517, 0.36864295,-0.08411222, 0.90503358,-0.06151091, 0.20591074,
 -0.23249539, 0.92043784, 0.015308  , 1.33324396,-0.02349711, 0.95465957,
  1.07961021, 0.00499055, 1.23815745, 0.04551716, 0.06505961,-0.07145757,
  0.15045294, 0.96757279,-0.08032027,-0.06259793, 0.2311559 ]

qacc:
[-2.00828959e+01, 4.24606133e+01,-1.43641423e+02, 1.18418407e+02,
 -5.61100201e+01,-3.57535739e+01, 1.47267281e+02,-3.17185922e+02,
  1.39849383e-02,-1.86005137e+00, 4.34097805e+00,-9.90224089e+00,
 -3.30536371e-01,-9.63661461e-02,-4.18596119e+00, 1.40627282e+01,
  3.74267731e-01,-4.55579339e-01,-1.56862048e-01, 6.34364941e+00,
  1.82206440e+00,-9.43681080e-01]

qfrc_actuator:
[ 0.00065541, 0.22550436, 0.06269698, 0.00659708, 0.05300487, 0.62655332,
  0.21201857, 0.02530126,-0.00306777, 0.0399967 , 0.0106438 , 0.001768  ,
  0.02563675,-0.00091692, 0.        ,-0.00146043, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.19142223,  0.39805058, -0.19142223,  3.0432718 ,
        1.25110056,  0.39805058,  1.25110056,  1.04333957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001705748061619914
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76649191, -0.63642484, -0.0863341 , -0.06642239, -0.05515109,
        0.99626624, -0.63881   ,  0.76936453,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07417146, -0.03417403,  0.13652624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006729634352384624
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80731886e-01, -1.51151310e-01, -1.23766911e-01, -1.49961876e-01,
        9.88510638e-01, -1.89249666e-02,  1.25205442e-01,  3.46944695e-18,
       -9.92130837e-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([ 0.09810893, -0.0834328 ,  0.12223367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005498101622318785
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52410537e-14, -1.51446322e-13,  1.00000000e+00,  3.82266474e-27,
        1.00000000e+00,  1.51446322e-13, -1.00000000e+00,  0.00000000e+00,
        2.52410537e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03752018, -0.06421099,  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:
[ 2.41373967e-02, 1.90545171e-01, 7.70661172e-02,-8.24462739e-03,
  7.92849370e-02, 5.94404083e-01, 2.30352269e-01,-1.08682012e-01,
  3.98547224e-06,-2.56047644e-04,-9.38715084e-05,-4.30410652e-05,
 -1.19675202e-04,-6.59090655e-05,-1.38320005e-05, 6.42283866e-05,
  1.83005249e-04, 6.60454696e-04,-9.81003660e+00,-7.24491360e-02,
 -1.87485451e-02, 2.60874565e-03]


--- Step 2742 ---
qpos:
[-0.00847621, 0.36906637,-0.08453357, 0.90528688,-0.06207141, 0.20641313,
 -0.23288219, 0.92304909, 0.01530727, 1.33335058,-0.02349981, 0.95466129,
  1.08019096, 0.00500089, 1.23830792, 0.04552117, 0.06503945,-0.07153056,
  0.15045189, 0.96765444,-0.08003414,-0.06273489, 0.23087607]

qacc:
[-1.86479201e+00, 5.29546733e+01,-1.72723527e+02, 1.27081481e+02,
 -5.62549633e+01,-3.55722199e+01, 1.50310995e+02,-3.21988482e+02,
  2.29853780e-02,-3.53427850e+00, 5.31295061e+00, 8.34961346e+00,
  3.38858758e-01,-1.31186405e+00,-6.89263673e+00, 2.33798477e+01,
  3.62025265e-01,-4.51532910e-01,-1.54795570e-01, 6.43539379e+00,
  1.49019989e+00,-3.98752057e-01]

qfrc_actuator:
[ 0.00161271, 0.22801386, 0.06307002, 0.00719416, 0.05357307, 0.62765182,
  0.21236669, 0.0226543 ,-0.00306366, 0.03984803, 0.01067436, 0.001819  ,
  0.02558314,-0.00099101, 0.        ,-0.00134938, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.18699069,  0.40015149, -0.18699069,  1.19194102,
        0.35059386,  0.40015149,  0.35059386,  0.60551866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001692120535505888
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76667024, -0.63614401, -0.08681906, -0.06681387, -0.05543876,
        0.9962241 , -0.63855513,  0.76957608,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07414371, -0.03420185,  0.13653422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006724128514716206
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80276793e-01, -1.53803966e-01, -1.24103787e-01, -1.52586021e-01,
        9.88101382e-01, -1.93175062e-02,  1.25598233e-01,  3.46944695e-18,
       -9.92081188e-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([ 0.09804831, -0.08347853,  0.12229979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005506916312720683
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52006514e-14, -1.51203908e-13,  1.00000000e+00, -3.81043697e-27,
        1.00000000e+00,  1.51203908e-13, -1.00000000e+00,  0.00000000e+00,
       -2.52006514e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03751884, -0.0642108 ,  0.06198851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.59204333e-02, 1.93239221e-01, 7.83529327e-02,-7.61924105e-03,
  8.07272249e-02, 5.95845625e-01, 2.30516345e-01,-1.10484215e-01,
  6.51093301e-06,-3.10625456e-04,-3.14825626e-05, 3.98173221e-05,
 -1.29675097e-04,-1.20926013e-04,-3.33678370e-06, 1.11956901e-04,
  1.92374237e-04, 7.20578623e-04,-9.81001684e+00,-7.24247464e-02,
 -1.87627994e-02, 2.64387512e-03]


--- Step 2743 ---
qpos:
[-0.00898273, 0.36948094,-0.08497633, 0.90553847,-0.06264948, 0.20690879,
 -0.23326461, 0.92564316, 0.01530659, 1.33345428,-0.02350144, 0.95466499,
  1.08077067, 0.0050106 , 1.23845862, 0.04552413, 0.06502068,-0.07160536,
  0.15045022, 0.96773706,-0.07973593,-0.06286662, 0.23059696]

qacc:
[ 5.39658632e+00, 4.24712182e+01,-1.49160666e+02, 1.12985754e+02,
 -5.60411328e+01,-3.72047287e+01, 1.52993415e+02,-3.23595933e+02,
  2.34153661e-02,-3.30906944e+00, 2.16337770e+00, 2.27750053e+01,
 -5.03626720e-01,-1.07884355e-01, 3.58905489e+00,-1.19709919e+01,
  3.45889901e-01,-4.49901056e-01,-1.52208974e-01, 6.50665101e+00,
  1.13818027e+00, 6.55642048e-02]

qfrc_actuator:
[ 0.00278295, 0.23015048, 0.06347574, 0.00771847, 0.05416649, 0.62878758,
  0.21276302, 0.01999636,-0.00306094, 0.03970002, 0.01072891, 0.00191934,
  0.02552478,-0.00102119, 0.        ,-0.0014099 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.18280945,  0.40207889, -0.18280945,  0.9508055 ,
        0.2314765 ,  0.40207889,  0.2314765 ,  0.54692949,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016789806570060115
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.66852887e-01, -6.35857172e-01, -8.73058255e-02, -6.72073518e-02,
       -5.57268250e-02,  9.96181556e-01, -6.38294464e-01,  7.69792295e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07411697, -0.03422983,  0.13654113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006778169328120553
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79665284e-01, -1.57364661e-01, -1.24468048e-01, -1.56109735e-01,
        9.87540563e-01, -1.98339925e-02,  1.26038415e-01, -3.46944695e-18,
       -9.92025361e-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([ 0.09798976, -0.0835335 ,  0.12236532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005515275729773145
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51624551e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.51624551e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03751749, -0.06421061,  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:
[ 2.71636177e-02, 1.95486129e-01, 7.98724879e-02,-7.00337439e-03,
  8.21997761e-02, 5.97216119e-01, 2.30677966e-01,-1.12292338e-01,
  6.61602682e-06,-3.25471784e-04,-8.64078263e-06, 9.12870277e-05,
 -1.52184102e-04,-9.52741788e-05, 6.76008580e-06,-5.56323757e-05,
  2.02252280e-04, 7.79581316e-04,-9.80999240e+00,-7.23990483e-02,
 -1.87771888e-02, 2.67897362e-03]


--- Step 2744 ---
qpos:
[-0.00947946, 0.36987563,-0.08543787, 0.90578897,-0.06324512, 0.20739661,
 -0.23364285, 0.92821996, 0.01530611, 1.33355577,-0.02350318, 0.95466952,
  1.08134922, 0.00502006, 1.23860943, 0.04552568, 0.06500322,-0.07168195,
  0.15044797, 0.96782043,-0.07942543,-0.06299371, 0.23031935]

qacc:
[ 1.17925573e+01, 2.20360427e+01,-1.01468685e+02, 8.71376885e+01,
 -5.58342985e+01,-3.82013990e+01, 1.54520401e+02,-3.24663136e+02,
  8.20890369e-02,-1.19437925e+00,-1.25958839e+00, 1.19958239e+01,
 -8.64586677e-01, 5.38704420e-01, 4.46769345e+00,-1.52511110e+01,
  3.27771393e-01,-4.50381044e-01,-1.48823952e-01, 6.55892061e+00,
  7.91764091e-01, 4.38137336e-01]

qfrc_actuator:
[ 0.00421757, 0.23148496, 0.06394464, 0.0082885 , 0.05472881, 0.63009143,
  0.21316892, 0.01742754,-0.00304132, 0.03960701, 0.01072614, 0.00195912,
  0.02547427,-0.00102504, 0.        ,-0.00148226, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.17850797,  0.40400698, -0.17850797,  0.80631601,
        0.16110939,  0.40400698,  0.16110939,  0.51287142,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001665769199044661
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76704426, -0.63555823, -0.08779996, -0.06760754, -0.05601832,
        0.99613813, -0.63802219,  0.77001798,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07409157, -0.03425772,  0.13654657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006832308519722736
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97902862, -0.16099704, -0.12483152, -0.15970406,  0.98695489,
       -0.02036314,  0.12648148,  0.        , -0.99196897])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09793217, -0.0835897 ,  0.12243046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005523244982461178
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.53784479e-14, -1.00504597e-13,  1.00000000e+00, -7.57588055e-27,
        1.00000000e+00,  1.00504597e-13, -1.00000000e+00,  0.00000000e+00,
       -7.53784479e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03751613, -0.06421042,  0.06198848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83713725e-02, 1.97254855e-01, 8.14129178e-02,-6.34830395e-03,
  8.36407174e-02, 5.98839340e-01, 2.30860135e-01,-1.14006107e-01,
  2.35770407e-05,-2.72686849e-04,-6.47403881e-05, 3.21578740e-05,
 -1.50077300e-04,-6.67556311e-05,-9.17541703e-06,-7.59364338e-05,
  2.12535285e-04, 8.37575466e-04,-9.80996363e+00,-7.23718730e-02,
 -1.87918287e-02, 2.71410127e-03]


--- Step 2745 ---
qpos:
[-0.00995784, 0.37024376,-0.0859168 , 0.90603856,-0.06385883, 0.20790097,
 -0.23400912, 0.93077929, 0.01530584, 1.33365564,-0.02350576, 0.95467448,
  1.08192656, 0.00502939, 1.23876027, 0.04552568, 0.06498705,-0.07176031,
  0.15044512, 0.96790411,-0.0791022 ,-0.06311667, 0.23004513]

qacc:
[ 2.21454462e+01, 1.00184469e+01,-7.33779864e+01, 7.01550896e+01,
 -5.73793514e+01,-2.68833134e+01, 1.57583137e+02,-3.47399624e+02,
  8.96933274e-02, 8.88057105e-01,-6.33368597e+00, 1.14760851e+01,
 -9.96080241e-01, 7.46715835e-01, 4.82839770e+00,-1.66603415e+01,
  3.23356971e-01,-4.40393653e-01,-1.46713474e-01, 6.75642978e+00,
  4.09952896e-01, 1.36615099e+00]

qfrc_actuator:
[ 0.00569723, 0.23237049, 0.06445736, 0.00897479, 0.05531499, 0.63167747,
  0.21350799, 0.0149724 ,-0.00302947, 0.03954743, 0.01068974, 0.00198068,
  0.02541255,-0.00103099, 0.        ,-0.00156096, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.17423768,  0.40586693, -0.17423768,  0.662163  ,
        0.09465014,  0.40586693,  0.09465014,  0.48231931,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016563424002411285
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76599549, -0.63685076, -0.08759007, -0.06735246, -0.05599702,
        0.9961566 , -0.63930787,  0.76895087,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07408203, -0.03430385,  0.13655808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006456623476732468
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78562766e-01, -1.63584495e-01, -1.25120049e-01, -1.62263495e-01,
        9.86529327e-01, -2.07471786e-02,  1.26828515e-01,  3.46944695e-18,
       -9.91924658e-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([ 0.09787383, -0.08363647,  0.12249589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005530872861983782
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25457483e-13, -1.50548980e-13,  1.00000000e+00, -1.88874962e-26,
        1.00000000e+00,  1.50548980e-13, -1.00000000e+00,  0.00000000e+00,
       -1.25457483e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03751476, -0.06421021,  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:
[ 2.93602000e-02, 1.99126904e-01, 8.28648812e-02,-5.60709088e-03,
  8.51050347e-02, 6.00800734e-01, 2.30984796e-01,-1.15601298e-01,
  2.58146330e-05,-2.22752011e-04,-9.61797340e-05, 1.24819102e-05,
 -1.53804957e-04,-6.00287213e-05,-1.82091611e-05,-8.53153571e-05,
  2.23036333e-04, 8.94891539e-04,-9.80993098e+00,-7.23431079e-02,
 -1.88067923e-02, 2.74932276e-03]


--- Step 2746 ---
qpos:
[-0.01042545, 0.37058649,-0.08640893, 0.90628836,-0.06449064, 0.20841744,
 -0.23436512, 0.93332085, 0.01530546, 1.33375376,-0.02350907, 0.95468001,
  1.08250245, 0.00503912, 1.23891088, 0.04552571, 0.06497209,-0.07184045,
  0.15044171, 0.96798804,-0.0787662 ,-0.06323598, 0.22977436]

qacc:
[ 1.30009940e+01, 2.15018324e+00,-4.83078416e+01, 6.11880005e+01,
 -5.72311025e+01,-2.85847404e+01, 1.56533391e+02,-3.46536724e+02,
 -4.54988883e-02, 6.60261253e-01,-6.07587248e+00, 1.29588025e+01,
 -1.40798023e+00, 1.50498574e+00,-3.28454184e-01, 9.50404247e-01,
  3.03263585e-01,-4.45271713e-01,-1.41622636e-01, 6.72193282e+00,
  1.66205113e-01, 1.38466321e+00]

qfrc_actuator:
[ 0.00681863, 0.23294801, 0.06494926, 0.00967783, 0.05594079, 0.63351808,
  0.213833  , 0.01253932,-0.00305788, 0.03945496, 0.01065168, 0.00200913,
  0.02534415,-0.0010027 , 0.        ,-0.00155398, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.17016234,  0.40759233, -0.17016234,  0.74101838,
        0.12496569,  0.40759233,  0.12496569,  0.49385713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016394050039924815
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.66316380e-01, -6.36383951e-01, -8.81741047e-02, -6.78334667e-02,
       -5.63319938e-02,  9.96105078e-01, -6.38872309e-01,  7.69312793e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07405968, -0.03432934,  0.13655839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006501487066134729
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78312494e-01, -1.67047593e-01, -1.22473534e-01, -1.65753781e-01,
        9.85948833e-01, -2.07504774e-02,  1.24218955e-01,  3.46944695e-18,
       -9.92254832e-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([ 0.09781075, -0.08369244,  0.12258971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005538124576740244
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.50586415e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.50586415e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03751339, -0.06421001,  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:
[ 2.95621526e-02, 2.01025476e-01, 8.42278382e-02,-4.85892271e-03,
  8.66355529e-02, 6.01797490e-01, 2.30706673e-01,-1.17164958e-01,
 -1.31282742e-05,-2.34743605e-04,-9.22264220e-05, 1.94656737e-05,
 -1.60967684e-04,-2.46679495e-05,-2.30792553e-05,-1.23660090e-06,
  2.34490730e-04, 9.49655629e-04,-9.80989151e+00,-7.23132032e-02,
 -1.88228751e-02, 2.78465674e-03]


--- Step 2747 ---
qpos:
[-0.01087117, 0.37090121,-0.08691429, 0.9065381 ,-0.0651405 , 0.20894332,
 -0.23471193, 0.93584435, 0.01530488, 1.33384998,-0.02351191, 0.95468545,
  1.08307686, 0.00504982, 1.23906093, 0.04552913, 0.06495829,-0.0719224 ,
  0.15043774, 0.96807207,-0.07841714,-0.06335214, 0.22950757]

qacc:
[ 2.63865609e+01,-1.60895513e+00,-3.96548583e+01, 5.25506457e+01,
 -5.68918912e+01,-2.96039252e+01, 1.55988315e+02,-3.47054639e+02,
 -8.48848281e-02,-3.90769844e+00, 9.92200873e+00,-8.50940270e+00,
 -1.51633646e+00, 1.97955624e+00,-1.09502216e+01, 3.74387561e+01,
  2.88180064e-01,-4.52218595e-01,-1.39722038e-01, 6.80987180e+00,
 -1.29029335e-01, 1.62319122e+00]

qfrc_actuator:
[ 0.00763653, 0.23347447, 0.06546692, 0.01030141, 0.05661535, 0.63531397,
  0.21416424, 0.00994925,-0.00307471, 0.03937903, 0.01068386, 0.00200588,
  0.02529311,-0.00093661, 0.        ,-0.00137231, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.16735206,  0.40875423, -0.16735206,  0.59018892,
        0.06079993,  0.40875423,  0.06079993,  0.46657893,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016274240719398295
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.62880408e-01, -6.40703679e-01, -8.66733988e-02, -6.63712073e-02,
       -5.57417340e-02,  9.96236780e-01, -6.43123896e-01,  7.65762139e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07408122, -0.03441003,  0.1365803 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006551635523592161
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78394115e-01, -1.66429210e-01, -1.22663253e-01, -1.65136451e-01,
        9.86053405e-01, -2.07034915e-02,  1.24398184e-01,  3.46944695e-18,
       -9.92232378e-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([ 0.09774591, -0.08370984,  0.12265722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005544987966386028
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00110499e-13, -5.00552495e-14,  1.00000000e+00,  5.01105601e-27,
        1.00000000e+00,  5.00552495e-14, -1.00000000e+00,  0.00000000e+00,
        1.00110499e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03751201, -0.0642098 ,  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:
[ 2.98397904e-02, 2.02816714e-01, 8.54071060e-02,-4.24553421e-03,
  8.82153988e-02, 6.02970483e-01, 2.30519335e-01,-1.18870131e-01,
 -2.45306610e-05,-2.23838709e-04,-2.36678865e-05,-1.23020529e-05,
 -1.38740548e-04, 2.15195182e-05,-1.56550722e-05, 1.77609110e-04,
  2.45039062e-04, 1.00534936e-03,-9.80984990e+00,-7.22815146e-02,
 -1.88392249e-02, 2.82021098e-03]


--- Step 2748 ---
qpos:
[-0.01131539, 0.37120824,-0.08743012, 0.90678861,-0.06580842, 0.20947725,
 -0.23505053, 0.93834949, 0.01530425, 1.33394403,-0.02351394, 0.95469047,
  1.08365035, 0.00506042, 1.23921102, 0.04553333, 0.06494561,-0.07200617,
  0.15043321, 0.96815618,-0.07805493,-0.06346536, 0.22924482]

qacc:
[ 1.79091386e+00, 1.88681601e+01,-7.57058567e+01, 7.88755402e+01,
 -5.67521099e+01,-2.92131649e+01, 1.53122087e+02,-3.47062085e+02,
 -2.19237203e-02,-5.80010482e+00, 1.63348038e+01,-1.76685789e+01,
 -6.29792578e-01, 4.20241620e-01,-2.23907700e+00, 8.00496970e+00,
  2.80326992e-01,-4.56494014e-01,-1.39511446e-01, 6.82855587e+00,
 -2.42413134e-01, 1.64691714e+00]

qfrc_actuator:
[ 0.00788413, 0.23494171, 0.06598759, 0.01107277, 0.05727311, 0.63777326,
  0.21453171, 0.00732563,-0.00306671, 0.03926062, 0.01072179, 0.00198407,
  0.02524188,-0.00095507, 0.        ,-0.00133772, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.16369515,  0.41023241, -0.16369515,  0.84150041,
        0.15953795,  0.41023241,  0.15953795,  0.50534671,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016053765506654168
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63177205e-01, -6.40268819e-01, -8.72719519e-02, -6.68590635e-02,
       -5.60915254e-02,  9.96184524e-01, -6.42721106e-01,  7.66100242e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07406367, -0.0344353 ,  0.13657637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006603616613574224
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97847781, -0.16581474, -0.12282771, -0.16452355,  0.98615692,
       -0.02065254,  0.1245519 ,  0.        , -0.99221309])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09768067, -0.08372796,  0.12272529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005551504846242061
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.99964899e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.99964899e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03751062, -0.06420958,  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:
[ 2.89919376e-02, 2.05679919e-01, 8.65908118e-02,-3.47142597e-03,
  8.97760096e-02, 6.04942043e-01, 2.30422210e-01,-1.20594660e-01,
 -6.42296315e-06,-2.47828128e-04,-8.93365236e-06,-2.92892674e-05,
 -1.16055182e-04,-4.48189282e-05, 8.15654536e-06, 4.15419100e-05,
  2.55239358e-04, 1.06181003e-03,-9.80980454e+00,-7.22481532e-02,
 -1.88560672e-02, 2.85602051e-03]


--- Step 2749 ---
qpos:
[-0.01178108, 0.37152988,-0.08795501, 0.90704046,-0.06649448, 0.2100189 ,
 -0.23538188, 0.94083596, 0.01530363, 1.33403627,-0.02351672, 0.95469524,
  1.08422304, 0.00507053, 1.23936099, 0.04553892, 0.06493401,-0.07209179,
  0.15042813, 0.96824041,-0.07767959,-0.06357579, 0.22898582]

qacc:
[-2.59279249e+01, 4.50389809e+01,-1.26729430e+02, 1.13801930e+02,
 -5.68389713e+01,-2.76521101e+01, 1.48121155e+02,-3.46356047e+02,
  4.77113540e-03,-7.50565048e-01, 6.67415339e-02,-1.75893470e+00,
 -1.92928163e-01,-3.15095101e-01,-4.38344493e+00, 1.50924264e+01,
  2.72207315e-01,-4.62628066e-01,-1.38869508e-01, 6.80394210e+00,
 -2.94231563e-01, 1.49333045e+00]

qfrc_actuator:
[ 0.00726858, 0.23715955, 0.06649486, 0.01203851, 0.05791026, 0.64077018,
  0.21491821, 0.00477817,-0.00306162, 0.03915325, 0.01067384, 0.00196922,
  0.02519588,-0.00098808, 0.        ,-0.00126585, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.15869525,  0.41219237, -0.15869525,  1.88319812,
        0.55498624,  0.41219237,  0.55498624,  0.65535754,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015833813683994728
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64523783e-01, -6.38423499e-01, -8.89877533e-02, -6.83042358e-02,
       -5.70381592e-02,  9.96032720e-01, -6.40966392e-01,  7.67568944e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07403546, -0.03444432,  0.13655892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006657220473896654
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78563305e-01, -1.65203830e-01, -1.22969720e-01, -1.63914684e-01,
        9.86259446e-01, -2.05980980e-02,  1.24682933e-01, -3.46944695e-18,
       -9.92196637e-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([ 0.09761518, -0.0837468 ,  0.12279381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005557701326757702
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49703735e-14, -4.99407471e-14,  1.00000000e+00, -1.24703911e-27,
        1.00000000e+00,  4.99407471e-14, -1.00000000e+00,  0.00000000e+00,
       -2.49703735e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03750922, -0.06420936,  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:
[ 2.83004186e-02, 2.08277558e-01, 8.76238367e-02,-2.54392358e-03,
  9.13167075e-02, 6.07518019e-01, 2.30392707e-01,-1.22227942e-01,
  1.34327510e-06,-2.47665790e-04,-9.83084963e-05,-2.29952980e-05,
 -1.14947064e-04,-7.30693301e-05, 2.87045967e-06, 7.40115465e-05,
  2.64076352e-04, 1.12019326e-03,-9.80975678e+00,-7.22132476e-02,
 -1.88732108e-02, 2.89214523e-03]


--- Step 2750 ---
qpos:
[-0.01227424, 0.37187793,-0.08849114, 0.9072933 ,-0.06719879, 0.2105671 ,
 -0.23570686, 0.9433035 , 0.0153029 , 1.3341263 ,-0.02352022, 0.95470018,
  1.08479491, 0.00508018, 1.23951086, 0.045546  , 0.06492347,-0.07217931,
  0.1504225 , 0.9683248 ,-0.07729104,-0.06368365, 0.22873034]

qacc:
[-3.31569863e+01, 6.55671687e+01,-1.73931245e+02, 1.41141979e+02,
 -5.69423307e+01,-2.71908569e+01, 1.45177485e+02,-3.45936840e+02,
 -4.71376256e-02,-6.72759877e-01,-1.63431890e+00, 4.69811043e+00,
 -2.41273890e-01,-2.45075201e-01,-4.63190590e+00, 1.59974232e+01,
  2.61449877e-01,-4.71944758e-01,-1.36980558e-01, 6.81022068e+00,
 -4.04088279e-01, 1.36695958e+00]

qfrc_actuator:
[ 0.00633505, 0.23984407, 0.06703236, 0.0132265 , 0.05857787, 0.64319917,
  0.21524279, 0.00224856,-0.00307608, 0.03901752, 0.01062889, 0.0019763 ,
  0.02515302,-0.00101164, 0.        ,-0.0011903 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.15236297,  0.41457479, -0.15236297,  2.92073146,
        0.91108942,  0.41457479,  0.91108942,  0.77652641,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001566155573983099
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76464512, -0.6382046 , -0.08951385, -0.06872221, -0.05735841,
        0.99598558, -0.64077695,  0.7677271 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07402007, -0.03447324,  0.13655541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006712334129897192
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97865055, -0.16459555, -0.12309108, -0.16330887,  0.98636114,
       -0.02054039,  0.12479311,  0.        , -0.99218278])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09754947, -0.08376637,  0.12286274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005563580976329363
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99551877e-13, -1.49663907e-13,  1.00000000e+00, -2.98657136e-26,
        1.00000000e+00,  1.49663907e-13, -1.00000000e+00,  0.00000000e+00,
       -1.99551877e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03750781, -0.06420914,  0.06198839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84404924e-02, 2.10228635e-01, 8.86167887e-02,-1.42362025e-03,
  9.28921391e-02, 6.09542180e-01, 2.30348476e-01,-1.23827721e-01,
 -1.36204691e-05,-2.93193711e-04,-1.05252974e-04,-3.53504108e-06,
 -1.17877504e-04,-7.14578398e-05, 4.72996568e-06, 7.89676613e-05,
  2.71275278e-04, 1.18125148e-03,-9.80970763e+00,-7.21767356e-02,
 -1.88904002e-02, 2.92861928e-03]


--- Step 2751 ---
qpos:
[-0.01279383, 0.37225331,-0.08904049, 0.9075468 ,-0.06792135, 0.21111984,
 -0.23602636, 0.9457519 , 0.01530218, 1.33421405,-0.02352365, 0.95470479,
  1.08536592, 0.00508924, 1.23966097, 0.04555191, 0.06491392,-0.07226873,
  0.15041633, 0.96840927,-0.07688911,-0.06378931, 0.22847861]

qacc:
[-3.19169152e+01, 7.15062275e+01,-1.91172715e+02, 1.51416743e+02,
 -5.67680404e+01,-2.77432269e+01, 1.44087147e+02,-3.45635809e+02,
  5.28143587e-03,-3.74619598e+00, 9.28782804e+00,-1.04732412e+01,
 -3.97343212e-01,-1.48410899e-01, 3.88327997e+00,-1.30215130e+01,
  2.49375244e-01,-4.77295443e-01,-1.33825827e-01, 6.84677748e+00,
 -6.01727960e-01, 1.46553735e+00]

qfrc_actuator:
[ 5.66912378e-03, 2.42453631e-01, 6.75938127e-02, 1.46009460e-02,
  5.92711011e-02, 6.45107954e-01, 2.15545961e-01,-2.09359660e-04,
 -3.06664246e-03, 3.89191478e-02, 1.06392598e-02, 1.96072484e-03,
  2.51014449e-02,-1.04710957e-03, 0.00000000e+00,-1.25520139e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.44168624, -0.1444125 ,  0.41741078, -0.1444125 ,  2.74144198,
        0.79565143,  0.41741078,  0.79565143,  0.71695947,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015510843288813936
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76473822, -0.63802047, -0.09002962, -0.06912982, -0.05767495,
        0.99593909, -0.64062198,  0.76785642,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07400361, -0.03450372,  0.13655306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006768762343249962
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97873933, -0.16398894, -0.12319474, -0.1627051 ,  0.98646218,
       -0.02047983,  0.12488541,  0.        , -0.99217117])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09748366, -0.08378667,  0.12293195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005569116982092059
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.47575667e-14, -4.98383778e-14,  1.00000000e+00, -3.72579585e-27,
        1.00000000e+00,  4.98383778e-14, -1.00000000e+00,  0.00000000e+00,
       -7.47575667e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03750639, -0.06420891,  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:
[ 2.91479169e-02, 2.11513016e-01, 8.97425106e-02,-9.79211633e-05,
  9.44978646e-02, 6.11105235e-01, 2.30328019e-01,-1.25342784e-01,
  1.44083905e-06,-2.81775353e-04,-5.90440111e-05,-2.72994444e-05,
 -1.27670578e-04,-8.36151911e-05, 6.00160507e-06,-6.10079932e-05,
  2.77270537e-04, 1.24500110e-03,-9.80965668e+00,-7.21385296e-02,
 -1.89076196e-02, 2.96546099e-03]


--- Step 2752 ---
qpos:
[-0.01333378, 0.37264315,-0.0896025 , 0.90780127,-0.06866195, 0.21167467,
 -0.23634116, 0.94818101, 0.01530166, 1.33429986,-0.02352655, 0.95470982,
  1.08593581, 0.00509833, 1.23981139, 0.04555467, 0.06490531,-0.07236004,
  0.15040964, 0.96849352,-0.07647357,-0.06389332, 0.22823176]

qacc:
[-2.45545277e+01, 5.36913298e+01,-1.54333254e+02, 1.32587462e+02,
 -5.59688932e+01,-2.90154316e+01, 1.44462048e+02,-3.45474802e+02,
  8.56440363e-02,-3.27089879e+00, 6.73526489e+00, 1.79246373e-01,
 -1.15976635e+00, 1.07068727e+00, 1.01030728e+01,-3.44401851e+01,
  2.35624533e-01,-4.72800197e-01,-1.30388074e-01, 6.92794610e+00,
 -9.52068789e-01, 2.01333462e+00]

qfrc_actuator:
[ 0.00544001, 0.2443854 , 0.06815836, 0.01578538, 0.06004027, 0.64672176,
  0.21587013,-0.0026875 ,-0.00304295, 0.03886189, 0.01068232, 0.00198524,
  0.02504999,-0.00103616, 0.        ,-0.00142008, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.13718625,  0.41984124, -0.13718625,  1.83169138,
        0.45419453,  0.41984124,  0.45419453,  0.59009768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015380751206823427
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64803392e-01, -6.37870624e-01, -9.05363920e-02, -6.95280813e-02,
       -5.79886557e-02,  9.95893148e-01, -6.40501067e-01,  7.67957280e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07398606, -0.03453572,  0.13655184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006826240876478315
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97882923, -0.16338394, -0.12328431, -0.16210323,  0.98656256,
       -0.02041703,  0.1249635 ,  0.        , -0.99216134])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09741792, -0.0838077 ,  0.12300132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005574259976724866
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03750496, -0.06420867,  0.06198837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02409923e-02, 2.12073508e-01, 9.09706960e-02, 1.05314362e-03,
  9.61798460e-02, 6.12472714e-01, 2.30372058e-01,-1.26867891e-01,
  2.45873889e-05,-2.26009920e-04,-1.95671418e-05, 1.39268590e-05,
 -1.35795615e-04,-4.28213846e-05,-9.82502531e-06,-1.68806945e-04,
  2.82511856e-04, 1.31031037e-03,-9.80960268e+00,-7.20986903e-02,
 -1.89253248e-02, 3.00268832e-03]


--- Step 2753 ---
qpos:
[-0.01388087, 0.37304038,-0.0901787 , 0.90805633,-0.06942036, 0.21222906,
 -0.23665195, 0.95059074, 0.01530124, 1.33438375,-0.02352919, 0.95471442,
  1.08650454, 0.0051077 , 1.23996164, 0.04555644, 0.06489758,-0.07245322,
  0.15040245, 0.96857723,-0.07604415,-0.06399632, 0.22799103]

qacc:
[-8.64220321e+00, 4.79703033e+01,-1.46173118e+02, 1.26071027e+02,
 -5.49625120e+01,-3.05746572e+01, 1.45537865e+02,-3.45253863e+02,
  3.88153163e-02,-3.96076487e+00, 1.07453565e+01,-1.30290773e+01,
 -1.17387901e+00, 1.23479256e+00, 2.85688958e+00,-1.01365311e+01,
  2.19444953e-01,-4.67892341e-01,-1.27061077e-01, 7.01509699e+00,
 -1.35213440e+00, 2.62359116e+00]

qfrc_actuator:
[ 0.00556624, 0.24658703, 0.06872948, 0.01665996, 0.06084435, 0.64810594,
  0.21620548,-0.00509895,-0.0030464 , 0.03875888, 0.01069124, 0.00196218,
  0.02499866,-0.00101548, 0.        ,-0.00146496, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.13208626,  0.42147355, -0.13208626,  1.05621578,
        0.19258838,  0.42147355,  0.19258838,  0.50204181,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001526209478412443
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76356666, -0.63933948, -0.09061451, -0.06947604, -0.05817275,
        0.99588604, -0.64198056,  0.76672092,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07398239, -0.03458753,  0.13655576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006884474665139859
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97891948, -0.16278243, -0.12336343, -0.16150505,  0.98666199,
       -0.02035287,  0.1250311 ,  0.        , -0.99215282])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09735247, -0.08382948,  0.12307068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005579002632467717
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.74125235e-13, -9.95001345e-14,  1.00000000e+00, -1.73254843e-26,
        1.00000000e+00,  9.95001345e-14, -1.00000000e+00,  0.00000000e+00,
       -1.74125235e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03750353, -0.06420843,  0.06198836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.13847922e-02, 2.13547100e-01, 9.21763970e-02, 1.87926925e-03,
  9.78870395e-02, 6.13733195e-01, 2.30466555e-01,-1.28318730e-01,
  1.11044091e-05,-2.31977970e-04,-3.71114264e-05,-2.98793953e-05,
 -1.30756535e-04,-2.30510114e-05,-2.92443088e-05,-5.68536346e-05,
  2.87423323e-04, 1.37485457e-03,-9.80954323e+00,-7.20574046e-02,
 -1.89445723e-02, 3.04031399e-03]


--- Step 2754 ---
qpos:
[-0.01443363, 0.37344535,-0.09076858, 0.90831206,-0.07019613, 0.21278038,
 -0.23695936, 0.952981  , 0.01530099, 1.33446603,-0.02353204, 0.95471733,
  1.08707219, 0.00511724, 1.24011146, 0.04555961, 0.06489067,-0.07254822,
  0.15039475, 0.96865994,-0.07560057,-0.06409902, 0.22775818]

qacc:
[-6.88749970e+00, 4.71966074e+01,-1.43230422e+02, 1.24139551e+02,
 -5.34452888e+01,-3.23513217e+01, 1.47072101e+02,-3.44859343e+02,
  7.79330423e-02,-4.46760734e+00, 1.54281800e+01,-3.18915278e+01,
 -8.40381816e-01, 7.94757755e-01,-4.82718150e+00, 1.61448047e+01,
  2.04897513e-01,-4.53900375e-01,-1.24030847e-01, 7.10259025e+00,
 -1.79320555e+00, 3.49003983e+00]

qfrc_actuator:
[ 0.00591835, 0.2492359 , 0.06931115, 0.0172421 , 0.06160533, 0.6492653 ,
  0.2165286 ,-0.00746257,-0.0030306 , 0.03868242, 0.01067974, 0.00187575,
  0.02494745,-0.00100699, 0.        ,-0.00138548, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.12868605,  0.42252412, -0.12868605,  0.99844878,
        0.16957037,  0.42252412,  0.16957037,  0.49333143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015137319517753434
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76377433, -0.63900606, -0.09121419, -0.0699587 , -0.05853042,
        0.9958313 , -0.64168104,  0.7669716 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07396261, -0.0346189 ,  0.13655365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006943162370495023
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79009237e-01, -1.62186619e-01, -1.23435874e-01, -1.60912665e-01,
        9.86760103e-01, -2.02882616e-02,  1.25092080e-01, -3.46944695e-18,
       -9.92145136e-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([ 0.09728754, -0.08385202,  0.12313989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005583371878894461
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24277839e-13, -1.49133407e-13,  1.00000000e+00, -1.85339775e-26,
        1.00000000e+00,  1.49133407e-13, -1.00000000e+00,  0.00000000e+00,
       -1.24277839e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03750208, -0.06420818,  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:
[ 3.20932507e-02, 2.15820891e-01, 9.34698000e-02, 2.43158746e-03,
  9.95380212e-02, 6.14895436e-01, 2.30583145e-01,-1.29716369e-01,
  2.23941256e-05,-2.13444977e-04,-6.19792195e-05,-9.49651990e-05,
 -1.23382823e-04,-2.83780227e-05,-2.41874363e-05, 7.16087050e-05,
  2.91878152e-04, 1.43845532e-03,-9.80947771e+00,-7.20146764e-02,
 -1.89657278e-02, 3.07838826e-03]


--- Step 2755 ---
qpos:
[-0.01498811, 0.37385182,-0.09137031, 0.90856883,-0.07098869, 0.21332619,
 -0.23726393, 0.95535176, 0.01530079, 1.33454658,-0.0235353 , 0.95471989,
  1.08763896, 0.00512635, 1.24026179, 0.04555831, 0.06488451,-0.07264497,
  0.15038658, 0.96874112,-0.07514255,-0.06420219, 0.22753533]

qacc:
[-2.09815045e+00, 3.47874547e+01,-1.13536621e+02, 1.07528804e+02,
 -5.14988101e+01,-3.40548613e+01, 1.48614558e+02,-3.44232291e+02,
  1.74094674e-02,-1.74474188e+00, 3.62708446e+00,-6.01971478e+00,
 -7.83996471e-01, 4.08075760e-01, 1.43385609e+01,-4.89422655e+01,
  1.89002850e-01,-4.35834972e-01,-1.20686336e-01, 7.20272680e+00,
 -2.30196244e+00, 4.53478048e+00]

qfrc_actuator:
[ 0.00653166, 0.25152847, 0.06990431, 0.01763071, 0.0623649 , 0.65031031,
  0.21682565,-0.00982517,-0.00303888, 0.03858684, 0.01065635, 0.00185925,
  0.02489102,-0.00104133, 0.        ,-0.00162396, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.12644106,  0.42320136, -0.12644106,  0.8864819 ,
        0.13289286,  0.42320136,  0.13289286,  0.48139101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001500876023708801
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63971978e-01, -6.38682243e-01, -9.18248863e-02, -7.04492762e-02,
       -5.88957489e-02,  9.95775171e-01, -6.41392015e-01,  7.67213323e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07394274, -0.03465081,  0.13655132])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0070020038858564304
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79097542e-01, -1.61599877e-01, -1.23504989e-01, -1.60329353e-01,
        9.86856362e-01, -2.02242106e-02,  1.25149914e-01,  3.46944695e-18,
       -9.92137843e-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([ 0.09722334, -0.08387533,  0.1232088 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005587418790750504
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93502605e-14, -9.93502605e-14,  1.00000000e+00, -9.87047426e-27,
        1.00000000e+00,  9.93502605e-14, -1.00000000e+00,  0.00000000e+00,
       -9.93502605e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03750062, -0.06420793,  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:
[ 3.29901427e-02, 2.17720235e-01, 9.47493675e-02, 2.78671952e-03,
  1.01166080e-01, 6.16074939e-01, 2.30705207e-01,-1.31109481e-01,
  4.97244733e-06,-2.29087239e-04,-7.49792118e-05,-2.67340929e-05,
 -1.25637777e-04,-7.11951010e-05,-7.02274273e-06,-2.38421868e-04,
  2.95313416e-04, 1.49994126e-03,-9.80940474e+00,-7.19707624e-02,
 -1.89896882e-02, 3.11695402e-03]


--- Step 2756 ---
qpos:
[-0.01554086, 0.37425508,-0.09198195, 0.90882699,-0.07179747, 0.21386447,
 -0.23756605, 0.95770302, 0.01530043, 1.3346257 ,-0.02353983, 0.95472191,
  1.08820463, 0.00513533, 1.24041209, 0.04555417, 0.06487905,-0.0727434 ,
  0.15037793, 0.9688203 ,-0.07466982,-0.06430655, 0.22732423]

qacc:
[ 2.04763194e+00, 2.41026965e+01,-8.70569081e+01, 9.27468472e+01,
 -4.95690118e+01,-3.56106352e+01, 1.50269075e+02,-3.43686701e+02,
 -6.83614059e-02, 6.25765417e-01,-3.18486111e+00,-2.64651419e+00,
 -9.92335534e-01, 7.73317790e-01, 8.63448853e+00,-3.00750664e+01,
  1.73852072e-01,-4.22026107e-01,-1.17697687e-01, 7.29021007e+00,
 -2.75339758e+00, 5.40372095e+00]

qfrc_actuator:
[ 0.00726449, 0.25337962, 0.07050801, 0.01806235, 0.06314773, 0.65136139,
  0.21714176,-0.01223259,-0.00306155, 0.03851607, 0.01059062, 0.00183077,
  0.02483148,-0.00104757, 0.        ,-0.00176383, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.12410334,  0.42389278, -0.12410334,  0.80561882,
        0.10654876,  0.42389278,  0.10654876,  0.47288058,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014870148965561048
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.764162  , -0.63836439, -0.09245185, -0.07095207, -0.05927182,
        0.99571716, -0.64111016,  0.76744887,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07392308, -0.03468312,  0.13654843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007060721784637348
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79183338e-01, -1.61026460e-01, -1.23573745e-01, -1.59759270e-01,
        9.86950090e-01, -2.01617518e-02,  1.25207694e-01, -3.46944695e-18,
       -9.92130553e-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([ 0.0971601 , -0.08389943,  0.12327727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005591213839665349
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.96414131e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.96414131e-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([ 0.03749915, -0.06420767,  0.06198833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.38078047e-02, 2.19490202e-01, 9.59477926e-02, 3.16690581e-03,
  1.02788731e-01, 6.17382226e-01, 2.30873579e-01,-1.32545527e-01,
 -1.96936508e-05,-2.13431850e-04,-1.19857072e-04,-3.79663867e-05,
 -1.40637231e-04,-5.56615858e-05,-3.58074917e-05,-1.55395123e-04,
  2.97037232e-04, 1.55890832e-03,-9.80932297e+00,-7.19258418e-02,
 -1.90172343e-02, 3.15605532e-03]


--- Step 2757 ---
qpos:
[-0.01608755, 0.3746711 ,-0.09260715, 0.90908554,-0.0726221 , 0.21439424,
 -0.23786598, 0.96003475, 0.01530015, 1.33470331,-0.02354513, 0.95472253,
  1.08876911, 0.00514443, 1.24056203, 0.04554968, 0.06487424,-0.07284352,
  0.15036882, 0.96889733,-0.07418224,-0.06441256, 0.22712548]

qacc:
[ 7.20310809e+00, 5.28640954e+01,-1.53071165e+02, 1.25468539e+02,
 -4.82570713e+01,-3.62081724e+01, 1.50505579e+02,-3.42896270e+02,
  3.67626668e-02,-2.36726647e+00, 8.14721464e+00,-2.23541775e+01,
 -1.03491942e+00, 9.56472764e-01, 6.18838381e-01,-2.73666762e+00,
  1.60115256e-01,-4.21979161e-01,-1.15164630e-01, 7.32556856e+00,
 -3.01952610e+00, 5.68532213e+00]

qfrc_actuator:
[ 0.00810177, 0.25635472, 0.07112084, 0.01882082, 0.06395068, 0.65268663,
  0.21745081,-0.01462359,-0.0030394 , 0.03844281, 0.01055375, 0.00175995,
  0.02477545,-0.00103706, 0.        ,-0.00177339, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.11994075,  0.42508934, -0.11994075,  0.72157524,
        0.07897186,  0.42508934,  0.07897186,  0.46396848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014716641402949973
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64345979e-01, -6.38049954e-01, -9.30993044e-02, -7.14704876e-02,
       -5.96611253e-02,  9.95656828e-01, -6.40833202e-01,  7.67680146e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07390383, -0.0347157 ,  0.13654475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00711908124044812
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97926573, -0.16046996, -0.12364476, -0.15920592,  0.98704072,
       -0.02010177,  0.12526815,  0.        , -0.99212292])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.097098  , -0.08392432,  0.12334518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005594817222577403
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92188824e-14, -1.98437765e-13,  1.00000000e+00, -1.96887733e-26,
        1.00000000e+00,  1.98437765e-13, -1.00000000e+00,  0.00000000e+00,
       -9.92188824e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03749767, -0.06420742,  0.06198833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.45577112e-02, 2.22620146e-01, 9.70584572e-02, 3.85538132e-03,
  1.04402840e-01, 6.19065325e-01, 2.31054306e-01,-1.33964531e-01,
  1.05621799e-05,-2.16355359e-04,-9.33581158e-05,-8.14312790e-05,
 -1.41307700e-04,-3.78975934e-05,-3.81966720e-05,-2.37500505e-05,
  2.96049816e-04, 1.61702674e-03,-9.80923283e+00,-7.18799595e-02,
 -1.90482973e-02, 3.19576798e-03]


--- Step 2758 ---
qpos:
[-0.01662731, 0.37511253,-0.09325071, 0.90934368,-0.07346224, 0.21491539,
 -0.23816394, 0.96234693, 0.01530003, 1.33477869,-0.02355006, 0.95472264,
  1.08933273, 0.00515302, 1.24071148, 0.04554705, 0.06486999,-0.07294534,
  0.15035927, 0.96897208,-0.07367965,-0.06452072, 0.22693943]

qacc:
[ 8.18973515e+00, 8.07109834e+01,-2.21893107e+02, 1.65425239e+02,
 -4.70977138e+01,-3.57348501e+01, 1.48739945e+02,-3.41375942e+02,
  6.84159662e-02,-4.78816284e+00, 1.31087997e+01,-1.57937627e+01,
 -1.85017470e-01,-3.50306070e-01,-6.36064820e+00, 2.12162982e+01,
  1.43147158e-01,-4.26329819e-01,-1.11190736e-01, 7.35104047e+00,
 -3.29504545e+00, 5.84745826e+00]

qfrc_actuator:
[ 0.00897895, 0.26007829, 0.07174675, 0.0199001 , 0.06478956, 0.65435789,
  0.21773714,-0.01692591,-0.00302606, 0.03831546, 0.01056971, 0.00173581,
  0.02473223,-0.00106998, 0.        ,-0.0016706 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.11354985,  0.42684091, -0.11354985,  0.71807642,
        0.07352637,  0.42684091,  0.07352637,  0.461246  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015319943467309723
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64375321e-01, -6.37931980e-01, -9.36651358e-02, -7.19114584e-02,
       -6.00158297e-02,  9.95603758e-01, -6.40748867e-01,  7.67750538e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07388552, -0.03475041,  0.13654224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007176946119089608
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97934429, -0.15993154, -0.12372006, -0.15867043,  0.98712811,
       -0.02004475,  0.12533334,  0.        , -0.99211469])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09703711, -0.08395001,  0.12341247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005598237832566411
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.95791291e-14, -9.91582582e-14,  1.00000000e+00,  4.91618008e-27,
        1.00000000e+00,  9.91582582e-14, -1.00000000e+00,  0.00000000e+00,
        4.95791291e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03749618, -0.06420715,  0.06198832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.51312055e-02, 2.25699792e-01, 9.83644681e-02, 4.91529814e-03,
  1.06034071e-01, 6.21144086e-01, 2.31225010e-01,-1.35294054e-01,
  1.96192316e-05,-2.68157217e-04,-3.93616676e-05,-3.50777155e-05,
 -1.24295549e-04,-7.65195722e-05,-2.39876776e-05, 9.57837435e-05,
  2.91871370e-04, 1.67763461e-03,-9.80913711e+00,-7.18328711e-02,
 -1.90816255e-02, 3.23619783e-03]


--- Step 2759 ---
qpos:
[-0.01715103, 0.37557087,-0.09391229, 0.90960152,-0.07431772, 0.21542837,
 -0.23846008, 0.96463955, 0.01529993, 1.33485174,-0.02355418, 0.95472383,
  1.08989548, 0.00516114, 1.24086032, 0.04554932, 0.06486622,-0.07304894,
  0.1503493 , 0.96904454,-0.07316183,-0.06463167, 0.22676588]

qacc:
[ 1.91150926e+01, 6.89308766e+01,-1.97300467e+02, 1.51659426e+02,
 -4.64026313e+01,-3.48832517e+01, 1.46555132e+02,-3.39800946e+02,
  6.67222289e-03,-3.36971857e+00, 5.12078743e+00, 9.44954414e+00,
  2.14848431e-02,-5.77856864e-01,-1.57242085e+01, 5.36240646e+01,
  1.18107570e-01,-4.43876413e-01,-1.06234347e-01, 7.38055516e+00,
 -3.60965894e+00, 5.72623843e+00]

qfrc_actuator:
[ 0.0096815 , 0.26300825, 0.07240848, 0.021066  , 0.0656205 , 0.65620475,
  0.2180447 ,-0.01922045,-0.00303585, 0.03821024, 0.01061654, 0.00179259,
  0.02469138,-0.00109286, 0.        ,-0.00141372, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.10715242,  0.42849165, -0.10715242,  0.59013361,
        0.03712206,  0.42849165,  0.03712206,  0.45096931,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014958711066650622
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76142355, -0.64166632, -0.09218743, -0.07049387, -0.05940654,
        0.99574167, -0.64441043,  0.7646798 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07389886, -0.03482961,  0.13656377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007234260391431785
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97941876, -0.15941202, -0.12380109, -0.15815357,  0.98721214,
       -0.01999102,  0.12540475,  0.        , -0.99210566])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09697743, -0.08397649,  0.1234791 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005601449023343863
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.43260596e-14, -1.48652119e-13,  1.00000000e+00, -1.10487263e-26,
        1.00000000e+00,  1.48652119e-13, -1.00000000e+00,  0.00000000e+00,
       -7.43260596e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03749467, -0.06420689,  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:
[ 3.54873759e-02, 2.27352210e-01, 9.99462941e-02, 6.10141719e-03,
  1.07640828e-01, 6.23403124e-01, 2.31429056e-01,-1.36614579e-01,
  1.82022716e-06,-2.62750490e-04,-1.11141885e-05, 4.69685436e-05,
 -1.21786278e-04,-7.38227697e-05,-3.73206287e-06, 2.58429493e-04,
  2.84591603e-04, 1.74149712e-03,-9.80903605e+00,-7.17844891e-02,
 -1.91170351e-02, 3.27740068e-03]


--- Step 2760 ---
qpos:
[-0.01765824, 0.37603913,-0.09459027, 0.90985968,-0.0751885 , 0.21593389,
 -0.23875443, 0.96691259, 0.01529979, 1.33492319,-0.02355763, 0.9547239 ,
  1.09045715, 0.0051692 , 1.24100943, 0.04555194, 0.06486282,-0.07315441,
  0.15033891, 0.96911486,-0.07262861,-0.06474591, 0.22660413]

qacc:
[ 1.97011003e+01, 5.64949282e+01,-1.69334738e+02, 1.40174974e+02,
 -4.61633757e+01,-3.38625771e+01, 1.44305507e+02,-3.38402581e+02,
 -1.61385495e-02,-5.85406863e+00, 1.88093261e+01,-2.81633625e+01,
 -8.19096633e-01, 6.15647421e-01,-6.23948816e-01, 2.89535012e+00,
  9.39215346e-02,-4.68046642e-01,-1.02061452e-01, 7.39131482e+00,
 -3.83966719e+00, 5.33774170e+00]

qfrc_actuator:
[ 0.01019639, 0.26528284, 0.07308097, 0.0224082 , 0.06647046, 0.6581955 ,
  0.2183821 ,-0.02153799,-0.0030417 , 0.03817254, 0.01066356, 0.00173677,
  0.024636  ,-0.0010918 , 0.        ,-0.00140545, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.09971328,  0.43028362, -0.09971328,  0.5709037 ,
        0.02994466,  0.43028362,  0.02994466,  0.44862557,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001495282619833815
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.58299810e-01, -6.45518574e-01, -9.10338903e-02, -6.93188076e-02,
       -5.90090849e-02,  9.95847795e-01, -6.48210075e-01,  7.61461554e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07391292, -0.03490977,  0.13658194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007291004164285155
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97948896, -0.15891103, -0.12388976, -0.15765493,  0.98729291,
       -0.01994084,  0.1254843 ,  0.        , -0.99209561])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09691892, -0.08400376,  0.12354507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005604430458461263
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03749315, -0.06420662,  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:
[ 3.51998246e-02, 2.28773201e-01, 1.01522047e-01, 7.45864384e-03,
  1.09257555e-01, 6.25784948e-01, 2.31669429e-01,-1.37957426e-01,
 -4.73786523e-06,-1.84267067e-04,-4.25410792e-06,-6.27359093e-05,
 -1.33584353e-04,-4.88579623e-05, 2.34476315e-05, 2.14121204e-05,
  2.75193469e-04, 1.81015019e-03,-9.80893029e+00,-7.17344591e-02,
 -1.91537942e-02, 3.31945176e-03]


--- Step 2761 ---
qpos:
[-0.01814897, 0.376517  ,-0.09528332, 0.9101185 ,-0.07607472, 0.21643297,
 -0.23904696, 0.96916605, 0.01529946, 1.33499363,-0.02356129, 0.95472296,
  1.09101783, 0.00517694, 1.24115883, 0.04555299, 0.06485971,-0.07326188,
  0.15032813, 0.9691833 ,-0.07207986,-0.06486379, 0.22645288]

qacc:
[ 1.96266157e+01, 5.30851211e+01,-1.59458500e+02, 1.36098012e+02,
 -4.64544611e+01,-3.26825981e+01, 1.42009815e+02,-3.37264176e+02,
 -8.29830414e-02,-2.49622877e+00, 8.57104494e+00,-1.85199331e+01,
 -7.12856975e-01, 3.62742961e-01, 5.22217774e+00,-1.74996914e+01,
  7.18714155e-02,-4.98737959e-01,-9.92818008e-02, 7.38412972e+00,
 -3.96560452e+00, 4.67018719e+00]

qfrc_actuator:
[ 0.01057402, 0.26735973, 0.07374775, 0.02387343, 0.06735568, 0.66029287,
  0.21871896,-0.02391475,-0.00306288, 0.03814005, 0.01065724, 0.00168617,
  0.02458262,-0.00111211, 0.        ,-0.00149051, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.09148058,  0.43210882, -0.09148058,  0.54693377,
        0.02228167,  0.43210882,  0.02228167,  0.44640343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014506417598531844
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.55069233e-01, -6.49422293e-01, -9.01173614e-02, -6.83228421e-02,
       -5.87633225e-02,  9.95931153e-01, -6.52075489e-01,  7.58154046e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07392774, -0.03498994,  0.13659742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007347190049201663
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97955494, -0.15842705, -0.12398788, -0.15717299,  0.98737069,
       -0.01989429,  0.12557379,  0.        , -0.99208428])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09686148, -0.0840318 ,  0.12361037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005607151987897657
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48500927e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.48500927e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03749162, -0.06420635,  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:
[ 3.47504953e-02, 2.30346683e-01, 1.03011012e-01, 8.90794940e-03,
  1.10907934e-01, 6.28237344e-01, 2.31911565e-01,-1.39358828e-01,
 -2.39417593e-05,-1.37564689e-04,-4.47032615e-05,-5.75539032e-05,
 -1.31980463e-04,-6.57185779e-05, 6.54582237e-06,-8.23158642e-05,
  2.64398823e-04, 1.88464102e-03,-9.80882111e+00,-7.16825730e-02,
 -1.91911354e-02, 3.36245297e-03]


--- Step 2762 ---
qpos:
[-0.01862308, 0.37700294,-0.0959906 , 0.91037837,-0.07697651, 0.2169264 ,
 -0.23933769, 0.9713999 , 0.01529891, 1.33506284,-0.02356555, 0.95472181,
  1.0915775 , 0.0051844 , 1.24130841, 0.0455517 , 0.0648568 ,-0.07337144,
  0.15031696, 0.96925002,-0.07151543,-0.06498574, 0.22631126]

qacc:
[ 1.98136927e+01, 4.94972219e+01,-1.51068169e+02, 1.34484332e+02,
 -4.66869006e+01,-3.16530249e+01, 1.39841121e+02,-3.35997681e+02,
 -9.20864680e-02,-3.78710805e-01,-2.73038687e-01,-1.47700627e+00,
 -7.95097285e-01, 4.68609431e-01, 7.44985578e+00,-2.55281668e+01,
  4.91822714e-02,-5.24397819e-01,-9.63917001e-02, 7.38978317e+00,
 -4.15466674e+00, 4.20167978e+00]

qfrc_actuator:
[ 0.0109515 , 0.2694741 , 0.07443406, 0.02519897, 0.06826832, 0.66233192,
  0.21905475,-0.02621268,-0.00307534, 0.03805749, 0.01061954, 0.00167454,
  0.02453045,-0.0011272 , 0.        ,-0.00161204, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.08414092,  0.43359778, -0.08414092,  0.52960463,
        0.01706082,  0.43359778,  0.01706082,  0.44499694,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014453852835916588
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.75175604, -0.65337724, -0.08922467, -0.06734379, -0.05853082,
        0.99601152, -0.65599366,  0.7547664 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07394249, -0.03507057,  0.13661265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0074028642474896315
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79616959e-01, -1.57957354e-01, -1.24097094e-01, -1.56704987e-01,
        9.87445935e-01, -1.98512626e-02,  1.25674824e-01,  3.46944695e-18,
       -9.92071489e-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([ 0.09680499, -0.0840606 ,  0.12367503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000560958087715821
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47394380e-14, -9.89577518e-14,  1.00000000e+00, -2.44815916e-27,
        1.00000000e+00,  9.89577518e-14, -1.00000000e+00,  0.00000000e+00,
       -2.47394380e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03749007, -0.06420608,  0.06198829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.43037347e-02, 2.31972415e-01, 1.04452389e-01, 1.02002195e-02,
  1.12592872e-01, 6.30581302e-01, 2.32151155e-01,-1.40680395e-01,
 -2.65515569e-05,-1.69549312e-04,-7.14047661e-05,-1.82555669e-05,
 -1.34494600e-04,-6.47234114e-05,-1.22475933e-05,-1.26620590e-04,
  2.53294593e-04, 1.96576505e-03,-9.80871007e+00,-7.16285558e-02,
 -1.92281269e-02, 3.40650383e-03]


--- Step 2763 ---
qpos:
[-0.01907953, 0.37749491,-0.0967102 , 0.9106397 ,-0.07789397, 0.21741462,
 -0.23962668, 0.97361414, 0.01529846, 1.33513027,-0.02356917, 0.95472051,
  1.0921362 , 0.00519158, 1.24145809, 0.0455476 , 0.06485399,-0.07348319,
  0.15030542, 0.96931511,-0.07093513,-0.06511227, 0.22617873]

qacc:
[ 2.10185954e+01, 4.24262671e+01,-1.32212005e+02, 1.25054393e+02,
 -4.68275131e+01,-3.09413089e+01, 1.38115918e+02,-3.34675833e+02,
  4.45289698e-02,-4.30126875e+00, 1.15143727e+01,-1.05555851e+01,
 -8.06370506e-01, 5.05314070e-01, 8.65824974e+00,-2.99539265e+01,
  2.69822561e-02,-5.45224521e-01,-9.36295425e-02, 7.40819440e+00,
 -4.38714512e+00, 3.91095900e+00]

qfrc_actuator:
[ 0.01135766, 0.27150215, 0.07513731, 0.02636904, 0.06922147, 0.66419574,
  0.21937143,-0.02843771,-0.00304695, 0.03796325, 0.01065223, 0.00166816,
  0.02448439,-0.00113906, 0.        ,-0.00175404, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.07790167,  0.43476207, -0.07790167,  0.50134185,
        0.01068923,  0.43476207,  0.01068923,  0.44360156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014029031058813825
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.74836844, -0.65737377, -0.08834256, -0.06637229, -0.05830203,
        0.99609015, -0.65995409,  0.75130593,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07395719, -0.03515156,  0.13662772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007458053707332006
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79675127e-01, -1.57500037e-01, -1.24219094e-01, -1.56249015e-01,
        9.87518981e-01, -1.98117832e-02,  1.25789070e-01, -3.46944695e-18,
       -9.92057009e-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([ 0.09674936, -0.08409017,  0.12373904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005611701941753006
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.89203486e-14, -9.89203486e-14,  1.00000000e+00,  9.78523537e-27,
        1.00000000e+00,  9.89203486e-14, -1.00000000e+00,  0.00000000e+00,
        9.89203486e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0374885 , -0.0642058 ,  0.06198829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.38773846e-02, 2.33588992e-01, 1.05870136e-01, 1.13182873e-02,
  1.14324486e-01, 6.32710697e-01, 2.32372465e-01,-1.41928351e-01,
  1.27454755e-05,-2.02953515e-04,-9.13669603e-06,-1.38324936e-05,
 -1.29872595e-04,-6.16070645e-05,-2.50913985e-05,-1.51793177e-04,
  2.42103015e-04, 2.05252420e-03,-9.80859590e+00,-7.15725098e-02,
 -1.92652795e-02, 3.45164662e-03]


--- Step 2764 ---
qpos:
[-0.01951719, 0.37799076,-0.09744054, 0.91090292,-0.07882713, 0.21789789,
 -0.23991401, 0.97580878, 0.01529836, 1.33519612,-0.02357213, 0.95471913,
  1.092694  , 0.00519829, 1.24160716, 0.04554549, 0.06485121,-0.07359718,
  0.15029351, 0.96937856,-0.07033877,-0.0652439 , 0.22605506]

qacc:
[ 2.23907905e+01, 3.61058349e+01,-1.15985334e+02, 1.17766897e+02,
 -4.68569206e+01,-3.03726148e+01, 1.36525305e+02,-3.33215368e+02,
  1.47612224e-01,-4.00999075e+00, 1.07259691e+01,-9.26512842e+00,
 -2.32214683e-01,-2.83989640e-01,-6.87828929e+00, 2.27816987e+01,
  5.27866674e-03,-5.61751311e-01,-9.10033969e-02, 7.43899199e+00,
 -4.65849453e+00, 3.78042677e+00]

qfrc_actuator:
[ 0.01180885, 0.27342396, 0.07583674, 0.02739174, 0.07020524, 0.66590299,
  0.21964048,-0.03061115,-0.00301205, 0.03789855, 0.01069067, 0.00166493,
  0.02443669,-0.00116664, 0.        ,-0.00164064, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.07278122,  0.43564851, -0.07278122,  0.47828714,
        0.0061147 ,  0.43564851,  0.0061147 ,  0.44270778,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013851973499088691
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.74499021, -0.66133817, -0.08730068, -0.06528742, -0.05795655,
        0.99618201, -0.66387284,  0.74784548,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07397158, -0.03523149,  0.13664463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007512754783940312
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79729411e-01, -1.57053925e-01, -1.24355723e-01, -1.55803871e-01,
        9.87590029e-01, -1.97759737e-02,  1.25918367e-01, -3.46944695e-18,
       -9.92040607e-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([ 0.09669453, -0.08412049,  0.1238024 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000561351301903823
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.97776868e-13, -9.88884341e-14,  1.00000000e+00, -1.95578448e-26,
        1.00000000e+00,  9.88884341e-14, -1.00000000e+00,  0.00000000e+00,
       -1.97776868e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03748691, -0.06420551,  0.06198828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.34453706e-02, 2.35200661e-01, 1.07187561e-01, 1.22674101e-02,
  1.16091371e-01, 6.34661610e-01, 2.32549074e-01,-1.43124583e-01,
  4.24549980e-05,-1.79586164e-04,-2.71438989e-06,-9.73890361e-06,
 -1.28699390e-04,-7.52107692e-05,-3.31905418e-05, 1.00697260e-04,
  2.30717165e-04, 2.14423660e-03,-9.80847737e+00,-7.15145749e-02,
 -1.93031158e-02, 3.49792958e-03]


--- Step 2765 ---
qpos:
[-0.01993482, 0.3784906 ,-0.09818027, 0.9111683 ,-0.07977605, 0.21837619,
 -0.24019975, 0.97798384, 0.01529834, 1.33526121,-0.02357582, 0.95471841,
  1.09325069, 0.0052049 , 1.24175569, 0.04554736, 0.06484836,-0.07371348,
  0.15028125, 0.96944034,-0.06972613,-0.06538118, 0.22594025]

qacc:
[ 2.38528054e+01, 3.30986270e+01,-1.06595831e+02, 1.13008181e+02,
 -4.68298195e+01,-3.01715884e+01, 1.35694788e+02,-3.31969391e+02,
  3.59145307e-02, 2.13441841e+00,-9.49720779e+00, 1.63524539e+01,
 -4.87803705e-01, 1.89270995e-01,-1.28431051e+01, 4.38394814e+01,
 -1.54355676e-02,-5.75756430e-01,-8.90779655e-02, 7.48165446e+00,
 -4.94674196e+00, 3.74758131e+00]

qfrc_actuator:
[ 0.01229661, 0.27549479, 0.07655498, 0.02823623, 0.0711782 , 0.66741161,
  0.21988035,-0.03281682,-0.00302679, 0.0378876 , 0.01066126, 0.00169911,
  0.02438271,-0.00116784, 0.        ,-0.00143093, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.06900123,  0.43626318, -0.06900123,  0.45626638,
        0.00230606,  0.43626318,  0.00230606,  0.44205097,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013637225160960764
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.41528664e-01, -6.65341539e-01, -8.63474218e-02, -6.42691279e-02,
       -5.76659036e-02,  9.96265087e-01, -6.67835848e-01,  7.44308592e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07398622, -0.03531169,  0.13666043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007566947383248026
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79779666e-01, -1.56618521e-01, -1.24508818e-01, -1.55369025e-01,
        9.87659171e-01, -1.97440448e-02,  1.26064559e-01,  3.46944695e-18,
       -9.92022040e-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([ 0.09664046, -0.08415157,  0.1238651 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005615023627596749
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.88618302e-14, -1.48292745e-13,  1.00000000e+00,  1.46604922e-26,
        1.00000000e+00,  1.48292745e-13, -1.00000000e+00,  0.00000000e+00,
        9.88618302e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03748531, -0.06420523,  0.06198828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.29920859e-02, 2.37069344e-01, 1.08445250e-01, 1.30175590e-02,
  1.17850224e-01, 6.36401618e-01, 2.32701227e-01,-1.44353334e-01,
  1.03583479e-05,-1.11524269e-04,-6.51434738e-05, 2.86318391e-05,
 -1.36959441e-04,-5.27269545e-05,-6.97623446e-06, 2.10456696e-04,
  2.18826614e-04, 2.24045309e-03,-9.80835327e+00,-7.14549096e-02,
 -1.93421717e-02, 3.54540286e-03]


--- Step 2766 ---
qpos:
[-0.02033232, 0.37900278,-0.09892906, 0.91143564,-0.08074082, 0.21885034,
 -0.24048392, 0.98013932, 0.0152983 , 1.33532506,-0.02357913, 0.95471809,
  1.09380644, 0.00521115, 1.24190435, 0.04555004, 0.06484536,-0.07383214,
  0.15026864, 0.96950044,-0.06909703,-0.06552465, 0.22583407]

qacc:
[ 2.39150108e+01, 4.27082702e+01,-1.24113532e+02, 1.19450061e+02,
 -4.69801178e+01,-2.90889514e+01, 1.33342906e+02,-3.30400914e+02,
 -9.30957367e-03,-1.99752994e+00, 3.74191481e+00, 2.13745577e+00,
 -4.62817230e-01, 4.29488701e-02,-2.20350558e+00, 8.02739838e+00,
 -3.74142760e-02,-5.91319144e-01,-8.75771787e-02, 7.50217235e+00,
 -5.21660897e+00, 3.62013766e+00]

qfrc_actuator:
[ 0.01272654, 0.27838123, 0.07732295, 0.02890177, 0.07211549, 0.66933561,
  0.22013761,-0.03501625,-0.00303567, 0.03781995, 0.01068104, 0.0017195 ,
  0.02433567,-0.00118889, 0.        ,-0.00139701, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.06654364,  0.43664479, -0.06654364,  0.43861867,
       -0.00046749,  0.43664479, -0.00046749,  0.44161499,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013136211071500628
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.37972047e-01, -6.69391384e-01, -8.55127582e-02, -6.33380277e-02,
       -5.74519457e-02,  9.96337076e-01, -6.71852329e-01,  7.40685121e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07400115, -0.03539221,  0.13667483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007620592657229905
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97982567, -0.15619373, -0.12468028, -0.15494434,  0.98772644,
       -0.01971627,  0.12622957,  0.        , -0.99200106])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09658714, -0.08418342,  0.12392711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005616264293638457
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23549989e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.23549989e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03748368, -0.06420494,  0.06198828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.24191420e-02, 2.39747420e-01, 1.09684816e-01, 1.35749420e-02,
  1.19575238e-01, 6.38557140e-01, 2.32873893e-01,-1.45576874e-01,
 -2.73670462e-06,-1.41641073e-04,-8.63242027e-06, 1.59333717e-05,
 -1.28171665e-04,-6.83883573e-05, 1.61580219e-05, 4.38838975e-05,
  2.06103508e-04, 2.34108038e-03,-9.80822261e+00,-7.13936369e-02,
 -1.93828227e-02, 3.59412385e-03]


--- Step 2767 ---
qpos:
[-0.02071135, 0.37953395,-0.09968674, 0.91170475,-0.08172148, 0.21932144,
 -0.24076657, 0.98227522, 0.0152985 , 1.33538704,-0.02358184, 0.95471738,
  1.09436117, 0.00521754, 1.24205351, 0.04554944, 0.06484212,-0.07395321,
  0.15025568, 0.96955877,-0.06845127,-0.06567497, 0.22573662]

qacc:
[ 2.19399429e+01, 5.06406068e+01,-1.38902852e+02, 1.25051983e+02,
 -4.69824070e+01,-2.75761286e+01, 1.30095242e+02,-3.28478721e+02,
  9.96194707e-02,-4.72153931e+00, 1.32552079e+01,-1.49274778e+01,
 -1.17390825e+00, 1.18685645e+00, 1.07732264e+01,-3.63443532e+01,
 -6.14943227e-02,-6.02718350e-01,-8.54778988e-02, 7.52479444e+00,
 -5.55379829e+00, 3.65389309e+00]

qfrc_actuator:
[ 0.01306042, 0.2817826 , 0.07808868, 0.02935275, 0.07307327, 0.67156329,
  0.2204402 ,-0.03715084,-0.00300547, 0.03768355, 0.01069399, 0.00169611,
  0.02429814,-0.0011683 , 0.        ,-0.00157348, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.06551389,  0.43680048, -0.06551389,  0.43484096,
       -0.00102669,  0.43680048, -0.00102669,  0.44153225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012896457570371056
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.73425787, -0.67353222, -0.08496903, -0.06261562, -0.05743709,
        0.99638359, -0.67597682,  0.73692288,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07401674, -0.03547321,  0.13668638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007673725424797502
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97986734, -0.15577913, -0.12487136, -0.15452939,  0.98779191,
       -0.01969276,  0.12641464,  0.        , -0.99197749])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09653447, -0.08421603,  0.12398844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005617286051340098
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23527516e-13, -4.94110062e-14,  1.00000000e+00, -6.10361885e-27,
        1.00000000e+00,  4.94110062e-14, -1.00000000e+00,  0.00000000e+00,
       -1.23527516e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03748204, -0.06420465,  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:
[ 3.17463848e-02, 2.42523324e-01, 1.10905615e-01, 1.39281067e-02,
  1.21325505e-01, 6.40976259e-01, 2.33093133e-01,-1.46735720e-01,
  2.86195640e-05,-2.16369124e-04,-1.52860374e-05,-2.73767833e-05,
 -1.18005337e-04,-2.91229443e-05, 6.43958235e-06,-1.73251319e-04,
  1.93118399e-04, 2.44616300e-03,-9.80808586e+00,-7.13306332e-02,
 -1.94248083e-02, 3.64417136e-03]


--- Step 2768 ---
qpos:
[-0.02107376, 0.38007837,-0.10044992, 0.91197621,-0.08271794, 0.21979001,
 -0.2410478 , 0.98439156, 0.01529869, 1.33544757,-0.02358454, 0.95471777,
  1.09491484, 0.00522455, 1.24220242, 0.04554909, 0.06483854,-0.07407671,
  0.1502424 , 0.96961509,-0.06778861,-0.06583289, 0.22564866]

qacc:
[ 1.97234867e+01, 3.51080788e+01,-9.86844147e+01, 1.01856973e+02,
 -4.65915105e+01,-2.66764893e+01, 1.27847900e+02,-3.26646644e+02,
 -2.21784303e-03,-5.54587653e-02,-4.35643269e+00, 1.74099057e+01,
 -1.21710064e+00, 1.52631993e+00,-1.04490537e+00, 3.35275135e+00,
 -8.57915226e-02,-6.07078353e-01,-8.28677410e-02, 7.58248196e+00,
 -5.98977002e+00, 4.00653521e+00]

qfrc_actuator:
[ 0.01333026, 0.28457596, 0.07885653, 0.0296034 , 0.0740675 , 0.67354765,
  0.22071615,-0.03929197,-0.00302307, 0.03763129, 0.0107025 , 0.00175362,
  0.02426103,-0.00112308, 0.        ,-0.00155289, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.06596102,  0.43673319, -0.06596102,  0.43279645,
       -0.00134265,  0.43673319, -0.00134265,  0.44148345,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001255800632156488
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.73049045, -0.6777106 , -0.08421431, -0.06173706, -0.0572764 ,
        0.99644767, -0.68012663,  0.73309465,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07403109, -0.03555428,  0.13670123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007726403009949906
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9799045 , -0.15537508, -0.12508297, -0.1541245 ,  0.98785555,
       -0.0196737 ,  0.12662071,  0.        , -0.99195121])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09648236, -0.08424942,  0.12404913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005618154734476077
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.94033663e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.94033663e-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([ 0.03748039, -0.06420436,  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:
[ 3.10913850e-02, 2.44357838e-01, 1.12120663e-01, 1.40899286e-02,
  1.23114433e-01, 6.43097026e-01, 2.33288452e-01,-1.47900874e-01,
 -6.80309048e-07,-1.76127007e-04,-3.63532948e-05, 5.00923378e-05,
 -1.03960554e-04, 9.55161108e-06,-2.29298040e-05, 1.03120126e-05,
  1.79399077e-04, 2.55528684e-03,-9.80794153e+00,-7.12660918e-02,
 -1.94687872e-02, 3.69559136e-03]


--- Step 2769 ---
qpos:
[-0.02141947, 0.38062944,-0.10121442, 0.9122506 ,-0.08373008, 0.22025629,
 -0.24132773, 0.98648837, 0.01529865, 1.33550734,-0.02358717, 0.95471912,
  1.09546765, 0.00523158, 1.24235092, 0.04555096, 0.06483452,-0.07420265,
  0.15022879, 0.96966916,-0.06710878,-0.06599919, 0.22557094]

qacc:
[ 1.98316236e+01, 1.65121846e+01,-4.99375930e+01, 7.26086894e+01,
 -4.61153949e+01,-2.60141614e+01, 1.25910402e+02,-3.24704729e+02,
 -9.97242239e-02, 4.60215572e-01,-4.63951655e+00, 1.56227326e+01,
 -5.12486847e-01, 3.67448081e-01,-7.26512958e+00, 2.46354675e+01,
 -1.09255342e-01,-6.10423489e-01,-8.01936549e-02, 7.63705307e+00,
 -6.41733165e+00, 4.37145944e+00]

qfrc_actuator:
[ 0.01355615, 0.28671861, 0.07960805, 0.02969706, 0.07505435, 0.67535123,
  0.22095785,-0.04135819,-0.00305146, 0.03764761, 0.01072643, 0.00180506,
  0.02420824,-0.00113463, 0.        ,-0.00143403, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.06753789,  0.43649211, -0.06753789,  0.41937441,
       -0.00345228,  0.43649211, -0.00345228,  0.44115207,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012003455954761838
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72661357, -0.68195073, -0.08352201, -0.06090102, -0.05715761,
        0.99650593, -0.68434186,  0.72916131,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07404497, -0.03563606,  0.136716  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0077786259361384445
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79936726e-01, -1.54983253e-01, -1.25316413e-01, -1.53731302e-01,
        9.87917097e-01, -1.96594891e-02,  1.26849119e-01,  3.46944695e-18,
       -9.91922024e-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([ 0.09643078, -0.08428361,  0.12410917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005618944878108267
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.93964191e-14, -4.93964191e-14,  1.00000000e+00,  2.44000622e-27,
        1.00000000e+00,  4.93964191e-14, -1.00000000e+00,  0.00000000e+00,
        4.93964191e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03747872, -0.06420407,  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:
[ 3.04855968e-02, 2.45828284e-01, 1.13149137e-01, 1.40665491e-02,
  1.24891556e-01, 6.45011260e-01, 2.33454114e-01,-1.48991868e-01,
 -2.87602765e-05,-8.70994019e-05,-1.31957265e-05, 4.64030251e-05,
 -1.03307679e-04,-3.28071193e-05,-1.36019276e-05, 1.15587623e-04,
  1.63238142e-04, 2.66834663e-03,-9.80778657e+00,-7.12005026e-02,
 -1.95160775e-02, 3.74841465e-03]


--- Step 2770 ---
qpos:
[-0.02176263, 0.38119335,-0.10197712, 0.91252834,-0.08475761, 0.22071994,
 -0.2416065 , 0.98856568, 0.01529862, 1.33556641,-0.02358949, 0.95472003,
  1.09601942, 0.00523879, 1.24249948, 0.04555286, 0.06483   ,-0.07433099,
  0.15021487, 0.96972058,-0.06641159,-0.0661745 , 0.22550482]

qacc:
[ 3.00639226e+00, 1.69401927e+01,-4.22722777e+01, 6.65077886e+01,
 -4.51082792e+01,-2.60428607e+01, 1.25197120e+02,-3.23032536e+02,
  5.98318252e-03,-2.50035465e+00, 7.93645776e+00,-1.15811782e+01,
 -9.41649447e-01, 9.35108507e-01, 5.17888866e-02, 1.35784263e-01,
 -1.23898448e-01,-5.99810762e-01,-7.84281790e-02, 7.69252783e+00,
 -6.80778258e+00, 5.04854507e+00]

qfrc_actuator:
[ 0.01378444, 0.28900471, 0.0803123 , 0.02971274, 0.07604297, 0.67694058,
  0.22121406,-0.04346042,-0.00303283, 0.0376162 , 0.01074178, 0.00178154,
  0.02415139,-0.00112663, 0.        ,-0.00143581, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.06889479,  0.43628   , -0.06889479,  0.48626362,
        0.0070394 ,  0.43628   ,  0.0070394 ,  0.44279786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011677245473133173
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72672103, -0.68170122, -0.08461673, -0.06171409, -0.05789095,
        0.99641357, -0.68415489,  0.72933675,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07401251, -0.03566489,  0.13671066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00783036832924951
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97996355, -0.15460536, -0.12557319, -0.15335147,  0.98797631,
       -0.01965056,  0.12710142,  0.        , -0.99188973])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09637969, -0.0843186 ,  0.12416856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005619719451175759
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.72863638e-13, -4.93896107e-14,  1.00000000e+00, -8.53766777e-27,
        1.00000000e+00,  4.93896107e-14, -1.00000000e+00,  0.00000000e+00,
       -1.72863638e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03747704, -0.06420378,  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:
[ 2.98778770e-02, 2.47771623e-01, 1.13921570e-01, 1.39349812e-02,
  1.26664541e-01, 6.46698941e-01, 2.33640573e-01,-1.50120269e-01,
  1.68596337e-06,-8.11861980e-05,-1.85304085e-06,-2.53213657e-05,
 -1.16556929e-04,-2.55056227e-05, 2.78438600e-06, 2.08850069e-06,
  1.44074205e-04, 2.78569698e-03,-9.80762029e+00,-7.11340098e-02,
 -1.95669357e-02, 3.80272141e-03]


--- Step 2771 ---
qpos:
[-0.02210621, 0.38177685,-0.10273683, 0.91280924,-0.08580014, 0.22118023,
 -0.24188419, 0.99062357, 0.01529869, 1.33562422,-0.02359194, 0.95472107,
  1.09657027, 0.00524585, 1.24264794, 0.04555541, 0.06482493,-0.07446168,
  0.15020064, 0.96976895,-0.06569684,-0.06635951, 0.22545184]

qacc:
[-5.17945659e-01, 2.23060893e+01,-4.85278964e+01, 6.49557582e+01,
 -4.38502746e+01,-2.66222386e+01, 1.25650362e+02,-3.21663093e+02,
  4.24893818e-02,-1.08158344e+00, 1.26946267e+00, 1.18396080e+00,
 -5.84958483e-01, 3.22461666e-01,-2.02132943e+00, 6.96505779e+00,
 -1.37695078e-01,-5.87148690e-01,-7.66713806e-02, 7.75935200e+00,
 -7.21486800e+00, 5.81081377e+00]

qfrc_actuator:
[ 0.01407491, 0.29165208, 0.08103886, 0.02962681, 0.07703864, 0.67833167,
  0.22149636,-0.04559425,-0.00302165, 0.03750313, 0.01071624, 0.00178509,
  0.02409746,-0.00114259, 0.        ,-0.00140215, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.07076698,  0.43598024, -0.07076698,  0.4935324 ,
        0.00841551,  0.43598024,  0.00841551,  0.44305222,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011109022554725645
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72703803, -0.68120966, -0.08584349, -0.06264272, -0.05869407,
        0.99630863, -0.68373357,  0.72973173,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.073976  , -0.03569112,  0.13670465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007881561889311679
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97998436, -0.15424441, -0.12585436, -0.15298796,  0.98803272,
       -0.01964746,  0.12737874,  0.        , -0.99185415])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09632914, -0.08435442,  0.12422727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005620528795600571
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.87649975e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.87649975e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03747534, -0.06420348,  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:
[ 3.00402654e-02, 2.49767021e-01, 1.14560193e-01, 1.36821150e-02,
  1.28429573e-01, 6.48206427e-01, 2.33860268e-01,-1.51282491e-01,
  1.22098263e-05,-1.59471213e-04,-4.24073780e-05, 5.77992712e-07,
 -1.18711337e-04,-5.04581823e-05,-4.01549751e-06, 3.29173992e-05,
  1.18814785e-04, 2.90716075e-03,-9.80744062e+00,-7.10673770e-02,
 -1.96228400e-02, 3.85856548e-03]


--- Step 2772 ---
qpos:
[-0.02244534, 0.3823775 ,-0.10349187, 0.9130933 ,-0.08685721, 0.22163622,
 -0.24216085, 0.99266215, 0.01529902, 1.33568034,-0.02359414, 0.95472148,
  1.09712042, 0.00525196, 1.24279693, 0.04555363, 0.06481924,-0.07459467,
  0.15018612, 0.96981379,-0.06496425,-0.06655497, 0.22541362]

qacc:
[ 5.26093976e+00, 1.46979992e+01,-2.76682890e+01, 4.91694578e+01,
 -4.23913783e+01,-2.75628647e+01, 1.26802067e+02,-3.20263274e+02,
  1.09922844e-01,-3.97085159e+00, 1.15694703e+01,-1.63241804e+01,
 -2.83018372e-01,-4.64964721e-01, 1.38379923e+01,-4.72700588e+01,
 -1.54609110e-01,-5.75914284e-01,-7.38082870e-02, 7.84301090e+00,
 -7.68443662e+00, 6.62154090e+00]

qfrc_actuator:
[ 0.01442237, 0.294096  , 0.08184789, 0.02947874, 0.07806204, 0.67949903,
  0.22179392,-0.04765055,-0.00299727, 0.03739517, 0.01071973, 0.00175122,
  0.02404533,-0.00120814, 0.        ,-0.00163189, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.07316409,  0.43558438, -0.07316409,  0.45604939,
        0.00241255,  0.43558438,  0.00241255,  0.44209147,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010612629235649436
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72597246, -0.68224854, -0.08660785, -0.06311206, -0.05931094,
        0.99624248, -0.68482177,  0.7287106 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07395308, -0.03573563,  0.13670525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00793210855229802
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97999846, -0.15390377, -0.1261612 , -0.15264408,  0.98808584,
       -0.01965081,  0.12768243,  0.        , -0.9918151 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0962792 , -0.08439108,  0.12428525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005621422014547295
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48123956e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.48123956e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03747363, -0.06420319,  0.06198826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.04078548e-02, 2.51220213e-01, 1.15221441e-01, 1.33757416e-02,
  1.30202986e-01, 6.49525688e-01, 2.34099273e-01,-1.52370703e-01,
  3.16101879e-05,-2.04798569e-04,-3.25179860e-05,-3.97453352e-05,
 -1.23914058e-04,-1.07749860e-04,-3.03466286e-06,-2.29488746e-04,
  8.58653710e-05, 3.03357485e-03,-9.80724597e+00,-7.10009791e-02,
 -1.96844302e-02, 3.91598904e-03]


--- Step 2773 ---
qpos:
[-0.02278352, 0.38299093,-0.10423871, 0.91338104,-0.08792849, 0.22208692,
 -0.24243646, 0.99468154, 0.01529991, 1.33573477,-0.02359537, 0.95472074,
  1.09766961, 0.00525753, 1.24294583, 0.0455498 , 0.06481284,-0.07472996,
  0.15017132, 0.96985485,-0.06421373,-0.06676163, 0.2253909 ]

qacc:
[ 1.12516381e+00, 6.07348097e-01, 1.02054851e+01, 2.64310017e+01,
 -4.13004203e+01,-2.86388063e+01, 1.28291576e+02,-3.18748558e+02,
  2.38134767e-01,-6.82698709e+00, 2.18519314e+01,-3.09684171e+01,
 -5.69664921e-01, 6.14559673e-02, 6.12642724e+00,-2.15470342e+01,
 -1.77997295e-01,-5.72972309e-01,-6.85705225e-02, 7.82514096e+00,
 -8.07745131e+00, 6.97756612e+00]

qfrc_actuator:
[ 0.01479934, 0.29586214, 0.08265027, 0.02936314, 0.07912539, 0.68046346,
  0.22206474,-0.0495639 ,-0.00294743, 0.03732671, 0.01077581, 0.00169561,
  0.02399428,-0.00123159, 0.        ,-0.00173093, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624, -0.07502919,  0.43526699, -0.07502919,  0.46618094,
        0.00422228,  0.43526699,  0.00422228,  0.44241405,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001014276285815519
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72625352, -0.68178296, -0.087908  , -0.06409162, -0.06016711,
        0.9961286 , -0.68443268,  0.72907607,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07391258, -0.03576265,  0.13670087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00795943355723174
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97972618, -0.1572644 , -0.12411496, -0.15601745,  0.98755653,
       -0.01976481,  0.12567884,  0.        , -0.99207098])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09623092, -0.08446209,  0.1243638 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005622436262105179
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.40486179e-14, -1.48097236e-13,  1.00000000e+00, -1.09663956e-26,
        1.00000000e+00,  1.48097236e-13, -1.00000000e+00,  0.00000000e+00,
       -7.40486179e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0374719 , -0.0642029 ,  0.06198826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.05614397e-02, 2.52118132e-01, 1.15791782e-01, 1.31016910e-02,
  1.31993418e-01, 6.50690055e-01, 2.34313835e-01,-1.53321032e-01,
  6.85287955e-05,-1.89623378e-04, 1.11716779e-05,-6.34768658e-05,
 -1.39742402e-04,-8.30336614e-05,-3.27975742e-05,-1.13514971e-04,
  4.39322401e-05, 3.16619486e-03,-9.80703431e+00,-7.09351323e-02,
 -1.97522388e-02, 3.97502912e-03]


--- Step 2774 ---
qpos:
[-0.02311957, 0.38362398,-0.10497743, 0.91367203,-0.08901378, 0.22253325,
 -0.24271039, 0.99668187, 0.01530108, 1.33578743,-0.02359624, 0.95472146,
  1.09821749, 0.0052635 , 1.24309392, 0.04554978, 0.06480566,-0.07486755,
  0.15015626, 0.96989202,-0.0634452 ,-0.06697999, 0.2253838 ]

qacc:
[ 2.50986139e+00, 8.99891563e+00,-5.29726267e+00, 2.97668616e+01,
 -4.06349472e+01,-2.88729543e+01, 1.30117974e+02,-3.18968510e+02,
  1.18835661e-01,-7.96008523e-01,-3.11351800e+00, 2.05029780e+01,
 -9.66026943e-01, 1.01259359e+00,-1.26578349e+01, 4.27505783e+01,
 -1.96288357e-01,-5.77618084e-01,-6.58696894e-02, 7.80831300e+00,
 -8.33461463e+00, 7.03814335e+00]

qfrc_actuator:
[ 0.01521348, 0.29798248, 0.08339001, 0.02924749, 0.08016493, 0.68136208,
  0.22235461,-0.0514904 ,-0.00295372, 0.03722938, 0.01079162, 0.00176973,
  0.02394394,-0.00119432, 0.        ,-0.0015213 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44081387, -0.07659875,  0.43410771, -0.07659875,  0.4501211 ,
        0.00164227,  0.43410771,  0.00164227,  0.44110365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009693418416677787
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72651483, -0.68133053, -0.08924635, -0.06509857, -0.06104988,
        0.99600958, -0.68406022,  0.72942554,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07387034, -0.03579019,  0.13669713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007966818072244072
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79174779e-01, -1.61127849e-01, -1.23509386e-01, -1.59861145e-01,
        9.86933542e-01, -2.01642774e-02,  1.25144582e-01,  3.46944695e-18,
       -9.92138515e-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([ 0.09618645, -0.08453807,  0.12442878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000562355605471937
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.87118305e-14, -9.87118305e-14,  1.00000000e+00, -9.74402549e-27,
        1.00000000e+00,  9.87118305e-14, -1.00000000e+00,  0.00000000e+00,
       -9.87118305e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03747015, -0.06420262,  0.06198826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.09273682e-02, 2.53586948e-01, 1.16123209e-01, 1.28023285e-02,
  1.33743298e-01, 6.51837816e-01, 2.34546824e-01,-1.54291053e-01,
  3.41871431e-05,-2.02260564e-04,-2.18745580e-05, 6.74278169e-05,
 -1.41388977e-04,-1.88486596e-05,-3.18386627e-05, 1.98222795e-04,
 -4.21053446e-06, 3.30469711e-03,-9.80680904e+00,-7.08692173e-02,
 -1.98246774e-02, 4.03582157e-03]


--- Step 2775 ---
qpos:
[-0.02345221, 0.38429115,-0.10571012, 0.91396529,-0.09011294, 0.22297464,
 -0.24298266, 0.99866323, 0.01530223, 1.3358385 ,-0.02359688, 0.95472202,
  1.09876414, 0.00527005, 1.24324222, 0.04554887, 0.06479762,-0.0750075 ,
  0.15014095, 0.9699253 ,-0.06265864,-0.06721048, 0.22539201]

qacc:
[ 3.99873894e+00, 3.17396358e+01,-5.39603660e+01, 4.84652385e+01,
 -4.01178157e+01,-2.93663652e+01, 1.30454022e+02,-3.17224034e+02,
 -6.58126950e-03,-2.97302051e+00, 7.48901847e+00,-7.34562630e+00,
 -1.43810605e+00, 1.71046993e+00, 3.15889959e+00,-1.03123687e+01,
 -2.15026152e-01,-5.87936091e-01,-6.43756381e-02, 7.77156833e+00,
 -8.53336237e+00, 6.87504301e+00]

qfrc_actuator:
[ 0.01566611, 0.30112   , 0.08410672, 0.02909525, 0.08124893, 0.68264848,
  0.22267259,-0.05352376,-0.00297589, 0.03715097, 0.01080123, 0.00175979,
  0.02389407,-0.00115683, 0.        ,-0.00157533, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43633717, -0.07751419,  0.42939687, -0.07751419,  0.43210895,
       -0.00076327,  0.42939687, -0.00076327,  0.43619938,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009237145477413183
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.26753154e-01, -6.80894667e-01, -9.06217717e-02, -6.61317654e-02,
       -6.19588179e-02,  9.95885382e-01, -6.83707864e-01,  7.29755820e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07382584, -0.03581817,  0.13669443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008014216481147089
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97852559, -0.16507032, -0.12344816, -0.16377219,  0.9862818 ,
       -0.02066106,  0.12516521,  0.        , -0.99213591])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09614355, -0.08461524,  0.12448833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005624765820345934
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.480359e-13,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -1.480359e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03746839, -0.06420233,  0.06198825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.12727444e-02, 2.55731115e-01, 1.16434827e-01, 1.24868986e-02,
  1.35528109e-01, 6.53327866e-01, 2.34776305e-01,-1.55373882e-01,
 -1.95943644e-06,-1.92883971e-04,-3.04559110e-05,-1.49319129e-05,
 -1.25660708e-04,-9.39580736e-07, 4.30445460e-06,-4.77090680e-05,
 -5.71609342e-05, 3.44969974e-03,-9.80657226e+00,-7.08028193e-02,
 -1.99005663e-02, 4.09848875e-03]


--- Step 2776 ---
qpos:
[-0.02378292, 0.38499419,-0.10643563, 0.91426062,-0.09122582, 0.2234114 ,
 -0.24325329, 1.00062573, 0.01530327, 1.3358886 ,-0.02359818, 0.95472107,
  1.0993099 , 0.00527649, 1.24339056, 0.04554699, 0.06478863,-0.07514984,
  0.15012538, 0.96995464,-0.06185396,-0.06745363, 0.22541539]

qacc:
[ 2.22342131e+00, 3.07208120e+01,-4.73551933e+01, 3.94408642e+01,
 -3.95737770e+01,-2.88627491e+01, 1.28984766e+02,-3.14946509e+02,
 -5.15879587e-02,-2.11974015e+00, 8.43606114e+00,-2.41656353e+01,
 -7.10626627e-01, 5.09379082e-01, 3.03720111e+00,-1.04111670e+01,
 -2.36247449e-01,-5.97377211e-01,-6.21294147e-02, 7.74243109e+00,
 -8.78959420e+00, 6.79584777e+00]

qfrc_actuator:
[ 0.0160687 , 0.30399338, 0.08482621, 0.02895626, 0.08238283, 0.68427638,
  0.22295355,-0.05556044,-0.00298964, 0.03711996, 0.01077161, 0.00168269,
  0.02384454,-0.0011728 , 0.        ,-0.0016246 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.28295644e-01, -7.73876627e-02,  4.21246138e-01, -7.73876627e-02,
        4.26443381e-01, -3.40281614e-04,  4.21246138e-01, -3.40281614e-04,
        4.28233130e-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: -0.0008782312967029064
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72696244, -0.68048216, -0.09203061, -0.06718793, -0.06289209,
        0.99575618, -0.68338232,  0.73006069,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07377807, -0.0358465 ,  0.13669357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00806069425114137
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97784766, -0.16905285, -0.12343048, -0.16772196,  0.98560699,
       -0.02117099,  0.12523296,  0.        , -0.99212736])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09610132, -0.08469331,  0.12454692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005626072122691395
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.40007638e-14, -4.93338425e-14,  1.00000000e+00, -3.65074203e-27,
        1.00000000e+00,  4.93338425e-14, -1.00000000e+00,  0.00000000e+00,
       -7.40007638e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0374666 , -0.06420204,  0.06198825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15037161e-02, 2.56885153e-01, 1.16853646e-01, 1.22347253e-02,
  1.37355738e-01, 6.55187797e-01, 2.34970175e-01,-1.56465301e-01,
 -1.48846694e-05,-1.44406912e-04,-7.12345962e-05,-8.39861969e-05,
 -1.13267041e-04,-4.54926599e-05,-9.50225715e-06,-5.27059637e-05,
 -1.13049222e-04, 3.60092404e-03,-9.80632562e+00,-7.07355020e-02,
 -1.99789433e-02, 4.16312284e-03]


--- Step 2777 ---
qpos:
[-0.02411248, 0.38573103,-0.10715118, 0.91455811,-0.09235246, 0.2238753 ,
 -0.24351204, 1.00256918, 0.01530401, 1.3359379 ,-0.02359998, 0.95471953,
  1.09985474, 0.00528275, 1.24353836, 0.0455482 , 0.06477872,-0.07529445,
  0.15010957, 0.96997925,-0.06103067,-0.06771002, 0.22545702]

qacc:
[ 1.33442338e+00, 2.09000190e+01,-1.88829557e+01, 1.81286309e+01,
 -3.96085540e+01,-1.42162007e+01, 1.32691017e+02,-3.41770839e+02,
 -1.21763524e-01,-7.02652744e-01, 2.20525711e+00,-8.22743093e+00,
 -3.54697297e-01, 3.95557160e-02,-1.01183405e+01, 3.43047323e+01,
 -2.29900596e-01,-5.69196461e-01,-6.17968176e-02, 8.00697683e+00,
 -9.24154489e+00, 8.34621968e+00]

qfrc_actuator:
[ 0.01642363, 0.30635554, 0.08554379, 0.02884225, 0.08348105, 0.68577356,
  0.22322938,-0.05753838,-0.00301598, 0.03709964, 0.01075475, 0.00165547,
  0.02379523,-0.0011849 , 0.        ,-0.00145755, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.17132948e-01, -7.63424410e-02,  4.10087463e-01, -7.63424410e-02,
        4.19009658e-01,  3.49371023e-04,  4.10087463e-01,  3.49371023e-04,
        4.17197987e-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: -0.0008330346910867457
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.27141750e-01, -6.80093858e-01, -9.34730969e-02, -6.82670778e-02,
       -6.38500268e-02,  9.95621806e-01, -6.83084534e-01,  7.30339318e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07372686, -0.03587523,  0.1366947 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007555109258799871
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77814109e-01, -1.68962039e-01, -1.23820019e-01, -1.67623462e-01,
        9.85622559e-01, -2.12260593e-02,  1.25626202e-01, -3.46944695e-18,
       -9.92077647e-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([ 0.09605442, -0.08473515,  0.12460137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005627481872904905
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46607419e-14, -9.86429676e-14,  1.00000000e+00, -2.43260877e-27,
        1.00000000e+00,  9.86429676e-14, -1.00000000e+00,  0.00000000e+00,
       -2.46607419e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03746479, -0.06420176,  0.06198825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.17620453e-02, 2.57437932e-01, 1.17212141e-01, 1.20167569e-02,
  1.39140037e-01, 6.56902066e-01, 2.35159199e-01,-1.57502554e-01,
 -3.51056269e-05,-1.16913342e-04,-5.56704422e-05,-3.54711487e-05,
 -1.17490989e-04,-5.14186170e-05,-1.51616352e-05, 1.61826259e-04,
 -1.72274528e-04, 3.75842535e-03,-9.80606762e+00,-7.06674368e-02,
 -2.00602100e-02, 4.22975624e-03]


--- Step 2778 ---
qpos:
[-0.02444107, 0.38650533,-0.10785523, 0.91485747,-0.09349224, 0.22436175,
 -0.24376043, 1.00449345, 0.01530446, 1.335986  ,-0.02360159, 0.95471767,
  1.10039852, 0.00528931, 1.2436863 , 0.04554935, 0.06476785,-0.0754413 ,
  0.15009351, 0.96999873,-0.06018854,-0.06798024, 0.22551828]

qacc:
[ 1.11925350e+00, 2.11399144e+01,-1.30778950e+01, 7.10037284e+00,
 -3.77943804e+01,-1.64455659e+01, 1.32749031e+02,-3.39933508e+02,
 -1.26918384e-01,-2.62537145e+00, 7.31646715e+00,-9.25755399e+00,
 -1.05642967e+00, 1.13858924e+00, 4.47095303e-01,-1.07427595e+00,
 -2.39913092e-01,-5.58373573e-01,-5.94699932e-02, 8.08113532e+00,
 -9.59786086e+00, 9.03951334e+00]

qfrc_actuator:
[ 0.01671447, 0.30882478, 0.08625459, 0.02868906, 0.08459888, 0.6870736 ,
  0.22349126,-0.05942009,-0.00303192, 0.03703272, 0.01076341, 0.00164011,
  0.0237514 ,-0.00115904, 0.        ,-0.00146617, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.4033569 , -0.0748706 ,  0.3963473 , -0.0748706 ,  0.40674205,
        0.00063946,  0.3963473 ,  0.00063946,  0.40347769,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007880475523081595
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72728735, -0.67973341, -0.09495056, -0.06936976, -0.06483399,
        0.99548199, -0.68281839,  0.73058815,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07367231, -0.0359045 ,  0.13669777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007591182117221048
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97779085, -0.16880299, -0.12422002, -0.16745706,  0.98564981,
       -0.021274  ,  0.12602855,  0.        , -0.99202661])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0960055 , -0.0847771 ,  0.12465675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005628923115269246
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.39632832e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.39632832e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03746296, -0.06420147,  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:
[ 3.19942952e-02, 2.58201578e-01, 1.17425107e-01, 1.17550181e-02,
  1.40946355e-01, 6.56829577e-01, 2.34823405e-01,-1.58434898e-01,
 -3.66309708e-05,-1.43841183e-04,-2.15875610e-05,-2.12140796e-05,
 -1.14991725e-04,-1.64112688e-05, 7.47929230e-06,-2.31800327e-06,
 -2.53590923e-04, 3.92936509e-03,-9.80578111e+00,-7.06027868e-02,
 -2.01522167e-02, 4.29818688e-03]


--- Step 2779 ---
qpos:
[-0.02477009, 0.38731971,-0.10854564, 0.91515847,-0.09464462, 0.22486685,
 -0.24399971, 1.00639842, 0.01530479, 1.33603246,-0.02360342, 0.95471501,
  1.10094142, 0.00529587, 1.24383429, 0.04555007, 0.06475598,-0.07559035,
  0.15007723, 0.97001274,-0.05932741,-0.0682648 , 0.22560022]

qacc:
[-5.30782492e-01, 1.86519796e+01,-2.64456404e-01,-8.01506023e+00,
 -3.60671175e+01,-1.83176598e+01, 1.32689693e+02,-3.38034538e+02,
 -4.63338320e-02,-2.95969585e+00, 8.64498533e+00,-1.56594252e+01,
 -7.30918486e-01, 5.99522428e-01, 1.45976419e+00,-4.85636357e+00,
 -2.50480635e-01,-5.51843056e-01,-5.77618712e-02, 8.14029657e+00,
 -9.91528833e+00, 9.56855164e+00]

qfrc_actuator:
[ 0.01689555, 0.31119906, 0.08699129, 0.02854729, 0.08573338, 0.68832011,
  0.22370602,-0.06137832,-0.00302372, 0.03690302, 0.01073364, 0.00159632,
  0.02370558,-0.0011641 , 0.        ,-0.00148953, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.38762945, -0.07274597,  0.38074219, -0.07274597,  0.39834085,
        0.00204656,  0.38074219,  0.00204656,  0.38802048,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007435193169618937
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72739538, -0.67940482, -0.09646268, -0.07049526, -0.06584427,
        0.9953366 , -0.682588  ,  0.73080341,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07361411, -0.03593432,  0.13670306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007629736135730129
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77759730e-01, -1.68682962e-01, -1.24627316e-01, -1.67329174e-01,
        9.85670360e-01, -2.13281293e-02,  1.26439144e-01,  3.46944695e-18,
       -9.91974366e-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([ 0.0959551 , -0.0848201 ,  0.12471285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005630360541612617
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.72536934e-13, -1.97185068e-13,  1.00000000e+00, -3.40217071e-26,
        1.00000000e+00,  1.97185068e-13, -1.00000000e+00,  0.00000000e+00,
       -1.72536934e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03746111, -0.06420119,  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:
[ 3.21257697e-02, 2.58685096e-01, 1.17585755e-01, 1.15196662e-02,
  1.42739637e-01, 6.56932743e-01, 2.34514877e-01,-1.59436507e-01,
 -1.34061605e-05,-2.14414247e-04,-6.09955640e-05,-4.91116272e-05,
 -1.07584109e-04,-3.65951657e-05,-2.64393238e-06,-2.37999231e-05,
 -3.49362630e-04, 4.11131340e-03,-9.80547369e+00,-7.05398749e-02,
 -2.02513925e-02, 4.36859303e-03]


--- Step 2780 ---
qpos:
[-0.0250993 , 0.38817279,-0.10921952, 0.91546106,-0.09580904, 0.22538708,
 -0.24423097, 1.00828405, 0.0153051 , 1.3360774 ,-0.02360537, 0.95471252,
  1.10148354, 0.00530188, 1.24398203, 0.04555217, 0.06474306,-0.07574159,
  0.15006073, 0.97002099,-0.05844711,-0.06856425, 0.22570369]

qacc:
[-2.39072577e-01, 9.21382591e+00, 2.84528741e+01,-3.18331857e+01,
 -3.43793601e+01,-2.00934322e+01, 1.32818630e+02,-3.35999678e+02,
 -1.04133982e-02,-1.35760146e+00, 1.66454138e+00, 1.49604510e+00,
 -1.42525645e-01,-4.01633741e-01,-4.55482260e+00, 1.53872208e+01,
 -2.62264421e-01,-5.47582939e-01,-5.59367324e-02, 8.17964819e+00,
 -1.02143852e+01, 9.99150483e+00]

qfrc_actuator:
[ 0.01708281, 0.31305494, 0.08768354, 0.0283586 , 0.08686484, 0.68947613,
  0.22394287,-0.06326817,-0.00301887, 0.03684311, 0.01073438, 0.00160709,
  0.02365327,-0.00120525, 0.        ,-0.0014148 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.37063972, -0.07037725,  0.36389675, -0.07037725,  0.38297802,
        0.00238621,  0.36389675,  0.00238621,  0.37110121,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006996892283006708
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.27462594e-01, -6.79111461e-01, -9.80091691e-02, -7.16429285e-02,
       -6.68811486e-02,  9.95185512e-01, -6.82396853e-01,  7.30981898e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07355201, -0.03596479,  0.13671081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00767029931198055
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77719780e-01, -1.68603589e-01, -1.25047441e-01, -1.67241300e-01,
        9.85683940e-01, -2.13896629e-02,  1.26863628e-01,  3.46944695e-18,
       -9.91920168e-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([ 0.09590352, -0.08486414,  0.12476944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000563176823676792
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85678900e-14, -9.85678900e-14,  1.00000000e+00, -9.71562895e-27,
        1.00000000e+00,  9.85678900e-14, -1.00000000e+00,  0.00000000e+00,
       -9.85678900e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03745922, -0.0642009 ,  0.06198823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.23336687e-02, 2.58517858e-01, 1.17595134e-01, 1.12480256e-02,
  1.44501590e-01, 6.57139465e-01, 2.34291288e-01,-1.60364519e-01,
 -3.04535340e-06,-1.92161665e-04,-4.95490356e-05, 1.55204506e-06,
 -1.15298286e-04,-7.66663978e-05,-8.99153987e-06, 7.19334986e-05,
 -4.59174340e-04, 4.30485763e-03,-9.80514593e+00,-7.04785708e-02,
 -2.03572172e-02, 4.44105262e-03]


--- Step 2781 ---
qpos:
[-0.02542721, 0.38906387,-0.10987408, 0.91576505,-0.09698496, 0.22591915,
 -0.24445511, 1.01015031, 0.01530528, 1.33612168,-0.02360746, 0.9547108 ,
  1.1020249 , 0.00530713, 1.24412964, 0.04555546, 0.06472905,-0.07589502,
  0.150044  , 0.97002323,-0.05754753,-0.06887907, 0.22582933]

qacc:
[ 1.51976875e+00, 7.18418095e-01, 5.54363891e+01,-5.59570169e+01,
 -3.27342616e+01,-2.19926442e+01, 1.33616349e+02,-3.34088886e+02,
 -5.80065087e-02, 8.25842638e-01,-5.24824546e+00, 1.37257351e+01,
 -1.78802258e-02,-6.75581358e-01,-3.80619491e+00, 1.30017446e+01,
 -2.73803471e-01,-5.44889448e-01,-5.46186487e-02, 8.20442817e+00,
 -1.04828682e+01, 1.03252115e+01]

qfrc_actuator:
[ 0.01730921, 0.31458514, 0.08834077, 0.02807014, 0.08803446, 0.69048516,
  0.22420818,-0.06514472,-0.00303382, 0.03687887, 0.01075344, 0.00164995,
  0.02360773,-0.00124977, 0.        ,-0.00135388, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.35290673, -0.06813831,  0.34626627, -0.06813831,  0.36330431,
        0.00204604,  0.34626627,  0.00204604,  0.35330935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006564745771788758
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72748836, -0.67885363, -0.09959138, -0.07281356, -0.06794576,
        0.99502842, -0.68224547,  0.73112319,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07348601, -0.03599593,  0.13672103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00771243508127248
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9776701 , -0.16856613, -0.12548558, -0.16719456,  0.98569035,
       -0.0214597 ,  0.12730731,  0.        , -0.99186332])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09585107, -0.0849092 ,  0.1248263 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005633118308220331
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85442666e-14, -1.97088533e-13,  1.00000000e+00, -1.94219450e-26,
        1.00000000e+00,  1.97088533e-13, -1.00000000e+00,  0.00000000e+00,
       -9.85442666e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0374573 , -0.06420062,  0.06198823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.25686829e-02, 2.58092793e-01, 1.17424488e-01, 1.08798588e-02,
  1.46274018e-01, 6.57374549e-01, 2.34150359e-01,-1.61276323e-01,
 -1.67308032e-05,-8.04398924e-05,-2.41037925e-05, 3.58087106e-05,
 -1.21696140e-04,-9.34787145e-05,-2.41666308e-07, 6.28673076e-05,
 -5.82854166e-04, 4.51030736e-03,-9.80479803e+00,-7.04188385e-02,
 -2.04693971e-02, 4.51563403e-03]


--- Step 2782 ---
qpos:
[-0.02575103, 0.39000094,-0.11050884, 0.91606965,-0.09817198, 0.2264606 ,
 -0.24467279, 1.01199721, 0.0153053 , 1.33616578,-0.02360989, 0.95471026,
  1.10256518, 0.00531254, 1.24427731, 0.04555878, 0.06471389,-0.07605064,
  0.15002706, 0.97001937,-0.0566286 ,-0.06920958, 0.22597713]

qacc:
[ 4.76420446e+00, 8.61911108e+00, 4.43334638e+01,-6.18985679e+01,
 -3.14882122e+01,-2.34140550e+01, 1.34149847e+02,-3.32362891e+02,
 -6.53206699e-02, 2.71313480e+00,-1.15259273e+01, 2.37856138e+01,
 -9.67348200e-01, 9.26834122e-01, 8.04276088e-02, 3.36529323e-02,
 -2.84433995e-01,-5.50139579e-01,-5.47292906e-02, 8.19920141e+00,
 -1.06437930e+01, 1.03205947e+01]

qfrc_actuator:
[ 0.01761094, 0.31647322, 0.08898534, 0.02782787, 0.08923125, 0.69156299,
  0.22445275,-0.0671298 ,-0.00304278, 0.03690076, 0.01074804, 0.00171141,
  0.02356629,-0.00122487, 0.        ,-0.00135487, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.33485829, -0.0653473 ,  0.32842016, -0.0653473 ,  0.33984301,
        0.00099183,  0.32842016,  0.00099183,  0.33505564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006137910876037823
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.27472260e-01, -6.78631367e-01, -1.01210570e-01, -7.40079110e-02,
       -6.90391821e-02,  9.94865026e-01, -6.82134107e-01,  7.31227092e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07341603, -0.0360277 ,  0.13673377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0077557340866114865
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97760988, -0.16857154, -0.12594661, -0.16718978,  0.98568942,
       -0.02153925,  0.12777515,  0.        , -0.99180316])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09579799, -0.08495527,  0.12488323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005634390622677732
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85220141e-14, -9.85220141e-14,  1.00000000e+00, -9.70658726e-27,
        1.00000000e+00,  9.85220141e-14, -1.00000000e+00,  0.00000000e+00,
       -9.85220141e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03745535, -0.06420033,  0.06198823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28041696e-02, 2.58059230e-01, 1.17100262e-01, 1.05665907e-02,
  1.48046580e-01, 6.57842391e-01, 2.34033425e-01,-1.62295995e-01,
 -1.88131198e-05,-2.65476327e-05,-2.28489783e-05, 5.92547373e-05,
 -1.24698477e-04,-3.04599049e-05, 2.29408142e-06, 1.46812613e-06,
 -7.20297803e-04, 4.72784632e-03,-9.80443029e+00,-7.03606426e-02,
 -2.05876692e-02, 4.59240791e-03]


--- Step 2783 ---
qpos:
[-0.02606868, 0.39099366,-0.11112286, 0.91637355,-0.09936434, 0.22700342,
 -0.24488666, 1.01382488, 0.01493657, 1.33607371,-0.0236414 , 0.95472413,
  1.10310436, 0.00531838, 1.24442489, 0.04556274, 0.06469832,-0.07620573,
  0.15001009, 0.97000635,-0.05570079,-0.06955117, 0.22615867]

qacc:
[ 7.15441922e+00, 1.67570835e+01, 3.62071786e+01,-7.72915312e+01,
 -1.50799587e+01,-2.68563879e+01, 1.32085439e+02,-3.23432683e+02,
 -1.56141588e+02,-7.54741589e+01, 1.68422094e+00, 2.48665964e+02,
 -1.10006141e+00, 1.25670202e+00,-1.95761376e+00, 6.87532663e+00,
 -1.04442774e-01, 1.33232843e-01,-6.25565038e-03, 3.96265397e+00,
 -7.65117582e+00, 1.67754583e+01]

qfrc_actuator:
[ 0.01795456, 0.31860611, 0.08959635, 0.02759582, 0.09044855, 0.69289287,
  0.22468269,-0.06903024,-0.00303032, 0.03680759, 0.01071047, 0.00174778,
  0.02352203,-0.00119443, 0.        ,-0.0013213 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.31704046, -0.06215796,  0.3108875 , -0.06215796,  0.34170182,
        0.00493072,  0.3108875 ,  0.00493072,  0.31802629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005720420958252226
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72741124, -0.67844795, -0.10286534, -0.07522445, -0.07016096,
        0.99469529, -0.68206611,  0.73129052,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07334142, -0.03605992,  0.13674955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00779985971462709
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97753864, -0.16861941, -0.12643455, -0.16722646,  0.98568123,
       -0.02162902,  0.12827123,  0.        , -0.99173912])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09574446, -0.08500232,  0.12494009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.71675947,  0.71613414, -0.02993369,  0.71613414,  0.71853498,
        0.04247745, -0.02993369,  0.04247745,  1.73299095,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.524216532188556e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.06691932,  0.95732831, -0.28114819,  0.01960503,  0.28046381,
        0.95966437,  0.99756576, -0.06973201,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05635733, -0.11266765,  0.20305543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005635566656385649
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85014545e-14, -9.85014545e-14,  1.00000000e+00, -9.70253653e-27,
        1.00000000e+00,  9.85014545e-14, -1.00000000e+00,  0.00000000e+00,
       -9.85014545e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03745336, -0.06420004,  0.06198822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.29418877e-02, 2.57868741e-01, 1.16717963e-01, 1.03037713e-02,
  1.49819499e-01, 6.58685091e-01, 2.33934970e-01,-1.63231249e-01,
  1.37981599e-06,-1.10850093e-04,-4.36662564e-05, 3.63561017e-05,
 -1.14327947e-04,-7.39724245e-06,-4.35709104e-06, 3.27218689e-05,
 -8.67807348e-04, 4.95601345e-03,-9.80404627e+00,-7.03030762e-02,
 -2.07103513e-02, 4.67149751e-03]


--- Step 2784 ---
qpos:
[-0.02637987, 0.39204762,-0.11171542, 0.9166758 ,-0.10055936, 0.22754525,
 -0.24509783, 1.01563345, 0.01424106, 1.3358521 ,-0.02371467, 0.95473895,
  1.10364272, 0.00532383, 1.24457237, 0.04556739, 0.06468246,-0.07635954,
  0.14999316, 0.96998361,-0.05476761,-0.06990262, 0.22637564]

qacc:
[ 7.49079539e+00, 2.06902303e+01, 3.45769812e+01,-9.13631176e+01,
 -7.46783476e+00,-2.69528558e+01, 1.28215527e+02,-3.17209464e+02,
 -1.38377873e+02,-5.56962224e+01,-2.51924244e+01, 1.12784288e+02,
 -3.45214984e-01,-8.27067003e-02,-2.22670447e+00, 7.61708287e+00,
 -7.25027637e-02, 3.21852633e-01, 1.07191230e-02, 2.44667853e+00,
 -6.71312088e+00, 1.78229138e+01]

qfrc_actuator:
[ 0.01828409, 0.32080457, 0.09019612, 0.0273532 , 0.09162357, 0.69462676,
  0.22490391,-0.07080127,-0.00267186, 0.03683472, 0.01071798, 0.00177317,
  0.02346547,-0.00123203, 0.        ,-0.00128537, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.30061155, -0.05897783,  0.29476926, -0.05897783,  0.33605801,
        0.00709217,  0.29476926,  0.00709217,  0.30203056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00053330611833235
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72727707, -0.67833887, -0.10452005, -0.07643368, -0.07129049,
        0.99452278, -0.68207475,  0.73128246,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07326212, -0.03609246,  0.13676943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007844829017136297
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77453494e-01, -1.68737153e-01, -1.26934789e-01, -1.67332080e-01,
        9.85661084e-01, -2.17302025e-02,  1.28781375e-01, -3.46944695e-18,
       -9.91673009e-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([ 0.0956916 , -0.08505029,  0.12499667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.7758373 ,  0.75412811, -0.18224795,  0.75412811,  1.00181025,
        0.93505881, -0.18224795,  0.93505881,  4.64503935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002727067422861132
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.61101760e-02,  9.57903711e-01, -2.79374167e-01,  1.92353838e-02,
        2.78711186e-01,  9.60182313e-01,  9.97626907e-01, -6.88516911e-02,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05630253, -0.11273599,  0.20306774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005636083179192675
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.96984854e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.96984854e-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([ 0.03745132, -0.06419975,  0.06198822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.29618554e-02, 2.57259500e-01, 1.16277335e-01, 1.00948595e-02,
  1.51261727e-01, 6.60331222e-01, 2.33959379e-01,-1.64043490e-01,
  1.87960817e-02, 6.72737649e-03, 1.41840469e-03,-6.59018988e-04,
 -1.15938401e-04,-6.63286166e-05,-3.44725674e-06, 3.60825742e-05,
 -1.11152823e-03, 5.11756698e-03,-9.80373133e+00,-7.02675499e-02,
 -2.08704043e-02, 4.75417359e-03]


--- Step 2785 ---
qpos:
[-0.02668386, 0.3931683 ,-0.11228668, 0.91697531,-0.10175475, 0.22808534,
 -0.24530709, 1.01742307, 0.01325486, 1.33552188,-0.02382556, 0.95475391,
  1.10418002, 0.00532914, 1.2447201 , 0.04557007, 0.0646663 ,-0.07651149,
  0.14997636, 0.96995115,-0.05383259,-0.0702631 , 0.22662726]

qacc:
[ 8.30334140e+00, 2.65922215e+01, 2.65407797e+01,-1.01376732e+02,
 -1.03682471e+00,-2.58516813e+01, 1.22966476e+02,-3.10631850e+02,
 -1.23100281e+02,-4.07946853e+01,-3.90919888e+01, 1.02658521e+02,
 -9.13575115e-01, 6.95566332e-01, 6.36890546e+00,-2.15695657e+01,
 -7.65123029e-02, 4.63106097e-01, 2.98133585e-02, 8.20656572e-01,
 -5.87484574e+00, 1.75913496e+01]

qfrc_actuator:
[ 0.01863791, 0.32324529, 0.09081564, 0.02714098, 0.09279043, 0.69665814,
  0.22510175,-0.0725226 ,-0.00200026, 0.03701736, 0.01084785, 0.00188842,
  0.02340688,-0.00123877, 0.        ,-0.00139035, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.28603457, -0.0558042 ,  0.28053817, -0.0558042 ,  0.32904746,
        0.00855606,  0.28053817,  0.00855606,  0.28773652,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004983627766672233
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.27062143e-01, -6.78312070e-01, -1.06176158e-01, -7.76355124e-02,
       -7.24299919e-02,  9.94347335e-01, -6.82168137e-01,  7.31195345e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07317789, -0.03612524,  0.13679379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00789046723782978
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77353847e-01, -1.68929354e-01, -1.27445403e-01, -1.67511197e-01,
        9.85628162e-01, -2.18431964e-02,  1.29303735e-01, -3.46944695e-18,
       -9.91605034e-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([ 0.09563968, -0.08509907,  0.12505287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.90834845, -0.90687362,  0.05174114, -0.90687362,  0.90777135,
       -0.01011495,  0.05174114, -0.01011495,  0.73106246,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044562266000127055
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.06502556,  0.95848238, -0.27763864,  0.01879242,  0.27700191,
        0.96068558,  0.99770663, -0.06768662,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05625488, -0.11282819,  0.20306818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005635926832272958
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.92475798e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.92475798e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03744923, -0.06419946,  0.06198822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.29904666e-02, 2.56609790e-01, 1.15819222e-01, 9.96439663e-03,
  1.52561543e-01, 6.62393324e-01, 2.34016805e-01,-1.64812222e-01,
  3.58036370e-02, 1.33920892e-02, 3.63706660e-03,-5.93147896e-04,
 -1.32652968e-04,-5.28684488e-05,-2.25226759e-06,-1.04456521e-04,
 -1.38238386e-03, 5.26335046e-03,-9.80344581e+00,-7.02375794e-02,
 -2.10380733e-02, 4.83870438e-03]


--- Step 2786 ---
qpos:
[-0.02698037, 0.39435903,-0.11283738, 0.91727104,-0.10294858, 0.22862369,
 -0.24551486, 1.019194  , 0.01200972, 1.33509814,-0.02397187, 0.95476651,
  1.10471632, 0.00533431, 1.24486818, 0.04556847, 0.06464969,-0.07666114,
  0.14995977, 0.9699094 ,-0.0528994 ,-0.07063205, 0.22691085]

qacc:
[ 8.59185441e+00, 3.12607212e+01, 1.90730531e+01,-1.09971826e+02,
  4.41918387e+00,-2.45784610e+01, 1.18256622e+02,-3.04225725e+02,
 -1.09654153e+02,-3.11897051e+01,-4.14614797e+01, 6.65052572e+01,
 -1.04791118e+00, 8.61572338e-01, 1.35823163e+01,-4.65564437e+01,
 -1.09334360e-01, 5.75601107e-01, 5.37667654e-02,-9.73419110e-01,
 -5.08795715e+00, 1.63943461e+01]

qfrc_actuator:
[ 0.01898523, 0.32574815, 0.09138533, 0.02691324, 0.09400444, 0.69867388,
  0.22528525,-0.07431314,-0.00101065, 0.03735972, 0.01101046, 0.00184499,
  0.02335776,-0.00124487, 0.        ,-0.00161302, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.2743554 , -0.0530402 ,  0.26917954, -0.0530402 ,  0.32432391,
        0.00984599,  0.26917954,  0.00984599,  0.27629549,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004678334509613039
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.26763974e-01, -6.78372142e-01, -1.07820980e-01, -7.88198984e-02,
       -7.35716480e-02,  9.94170326e-01, -6.82350020e-01,  7.31025615e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0730884 , -0.03615816,  0.13682311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007936609494919894
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97723981, -0.16919522, -0.12796615, -0.16776302,  0.98558256,
       -0.02196798,  0.12983809,  0.        , -0.99153521])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09558877, -0.08514858,  0.12510866])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.1136423 , -1.11232204,  0.05421108, -1.11232204,  1.11334288,
       -0.00614365,  0.05421108, -0.00614365,  0.98758482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005956670354286246
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.06369458,  0.95906151, -0.27594206,  0.01828598,  0.27533551,
        0.96117427,  0.9978019 , -0.06626747,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05621375, -0.11294139,  0.20305851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005635236196040311
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85072308e-14, -9.85072308e-14,  1.00000000e+00, -9.70367451e-27,
        1.00000000e+00,  9.85072308e-14, -1.00000000e+00,  0.00000000e+00,
       -9.85072308e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03744708, -0.06419916,  0.06198822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.29761021e-02, 2.55747039e-01, 1.15318810e-01, 9.87223816e-03,
  1.53794395e-01, 6.64477485e-01, 2.34098758e-01,-1.65658525e-01,
  5.13232745e-02, 1.91736646e-02, 5.68202220e-03,-6.46600267e-04,
 -1.28888937e-04,-5.21073121e-05,-1.84787632e-05,-2.30053429e-04,
 -1.65761370e-03, 5.38566464e-03,-9.80320174e+00,-7.02088771e-02,
 -2.12050282e-02, 4.92494968e-03]


--- Step 2787 ---
qpos:
[-0.02727024, 0.39561458,-0.11336685, 0.91756247,-0.10413893, 0.22915994,
 -0.24572148, 1.02094648, 0.0105358 , 1.33459677,-0.02414865, 0.95477673,
  1.10525187, 0.00533861, 1.24501583, 0.04556688, 0.06463253,-0.0768081 ,
  0.14994348, 0.96985874,-0.05197125,-0.07100899, 0.22722397]

qacc:
[ 7.61139479e+00, 2.20527780e+01, 4.18864067e+01,-1.31593755e+02,
  9.73547833e+00,-2.39566162e+01, 1.14934737e+02,-2.98153575e+02,
 -9.68962458e+01,-2.37949749e+01,-4.03813115e+01, 5.54322226e+01,
  3.62207008e-03,-7.75537826e-01,-6.85975589e-01, 1.41471318e+00,
 -1.39262225e-01, 6.72077296e-01, 7.52355600e-02,-2.54835687e+00,
 -4.40056594e+00, 1.52975966e+01]

qfrc_actuator:
[ 1.92899844e-02, 3.27690183e-01, 9.18995679e-02, 2.66250573e-02,
  9.51916830e-02, 7.00432387e-01, 2.25477569e-01,-7.61023638e-02,
  2.36528279e-04, 3.78084856e-02, 1.11523073e-02, 1.81529699e-03,
  2.33090361e-02,-1.30376638e-03, 0.00000000e+00,-1.60138100e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.26570346, -0.05091264,  0.26078005, -0.05091264,  0.3247374 ,
        0.01152532,  0.26078005,  0.01152532,  0.26795357,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044213002260558494
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.26383774e-01, -6.78518636e-01, -1.09448954e-01, -7.99824452e-02,
       -7.47119932e-02,  9.93992418e-01, -6.82619529e-01,  7.30773959e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07299351, -0.03619112,  0.13685763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007983067034467566
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97711196, -0.16952986, -0.12849843, -0.16808264,  0.98552505,
       -0.02210428,  0.13038576,  0.        , -0.99146334])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09553883, -0.08519871,  0.12516402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.29491374, -1.29196795,  0.087295  , -1.29196795,  1.2941887 ,
       -0.01073055,  0.087295  , -0.01073055,  1.13610141,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007244004492699273
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.21443043e-02,  9.59638054e-01, -2.74286149e-01,  1.77251133e-02,
        2.73712827e-01,  9.61648121e-01,  9.97909768e-01, -6.46227065e-02,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05617838, -0.11307312,  0.20303986])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005634192807426885
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.92627366e-14,  9.85254732e-14,  1.00000000e+00,  4.85363443e-27,
        1.00000000e+00, -9.85254732e-14, -1.00000000e+00,  0.00000000e+00,
       -4.92627366e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03744488, -0.06419886,  0.06198822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.29051308e-02, 2.54153302e-01, 1.14797816e-01, 9.77167120e-03,
  1.54903075e-01, 6.66303387e-01, 2.34210565e-01,-1.66515132e-01,
  6.55112713e-02, 2.43077893e-02, 7.59680496e-03,-5.61627070e-04,
 -1.27038308e-04,-1.03527704e-04,-3.96340772e-05,-4.75848476e-06,
 -1.91617896e-03, 5.47394251e-03,-9.80301032e+00,-7.01779303e-02,
 -2.13644352e-02, 5.01283052e-03]


--- Step 2788 ---
qpos:
[-0.02755361, 0.39692685,-0.11387432, 0.91784924,-0.105324  , 0.22969381,
 -0.2459272 , 1.02268082, 0.00886198, 1.3340318 ,-0.02435036, 0.95478522,
  1.1057866 , 0.00534194, 1.24516299, 0.04556738, 0.0646147 ,-0.07695206,
  0.14992757, 0.96979965,-0.05105104,-0.07139352, 0.22756406]

qacc:
[ 7.45895109e+00, 9.02592501e+00, 7.21842357e+01,-1.55348267e+02,
  1.47187331e+01,-2.33930715e+01, 1.11946908e+02,-2.92149657e+02,
 -8.46654951e+01,-1.91620293e+01,-3.46536703e+01, 4.93943021e+01,
  1.61175217e-01,-1.03734806e+00,-7.09160774e+00, 2.36785481e+01,
 -1.69434223e-01, 7.51473827e-01, 9.52850198e-02,-3.96824265e+00,
 -3.77733299e+00, 1.41274865e+01]

qfrc_actuator:
[ 0.01958481, 0.32909541, 0.09240717, 0.02630266, 0.09636033, 0.70216189,
  0.22569267,-0.07784808, 0.00172943, 0.03832486, 0.0113264 , 0.00181258,
  0.02326056,-0.00135805, 0.        ,-0.00148725, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.25933255, -0.0492576 ,  0.25461158, -0.0492576 ,  0.32498232,
        0.01270072,  0.25461158,  0.01270072,  0.26178965,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004211182211601558
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.25926300e-01, -6.78746772e-01, -1.11057757e-01, -8.11215683e-02,
       -7.58493013e-02,  9.93813954e-01, -6.82971667e-01,  7.30444866e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07289361, -0.03622411,  0.1368971 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00802963674981524
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76970776e-01, -1.69928766e-01, -1.29043862e-01, -1.68465542e-01,
        9.85456348e-01, -2.22518879e-02,  1.30948329e-01, -3.46944695e-18,
       -9.91389195e-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([ 0.09548982, -0.08524934,  0.12521889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.42033571,  1.39143466, -0.28506684,  1.39143466,  1.94833205,
        2.57719347, -0.28506684,  2.57719347, 13.99982864,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008333267652569902
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.06039959,  0.96020923, -0.27267218,  0.01711794,  0.27213433,
        0.962107  ,  0.99802749, -0.06277846,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05614801, -0.11322099,  0.20301355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005632982703918654
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85466389e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.85466389e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03744264, -0.06419855,  0.06198822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28658023e-02, 2.52282769e-01, 1.14237319e-01, 9.66315204e-03,
  1.55897685e-01, 6.68119526e-01, 2.34362270e-01,-1.67341529e-01,
  7.84376072e-02, 2.87160678e-02, 9.29547277e-03,-4.48582717e-04,
 -1.37625219e-04,-1.13439668e-04,-2.15877909e-05, 1.08176350e-04,
 -2.15697862e-03, 5.53164984e-03,-9.80286650e+00,-7.01448644e-02,
 -2.15158725e-02, 5.10205485e-03]


--- Step 2789 ---
qpos:
[-0.02783023, 0.39829056,-0.11435995, 0.91813088,-0.10650214, 0.2302254 ,
 -0.24613218, 1.02439731, 0.00701587, 1.33341271,-0.02457364, 0.95479111,
  1.10632029, 0.0053448 , 1.2453105 , 0.04556518, 0.06459605,-0.07709275,
  0.14991212, 0.96973266,-0.05014139,-0.07178523, 0.22792827]

qacc:
[ 7.70732296e+00, 1.99313068e+00, 8.77209480e+01,-1.70249942e+02,
  1.92451463e+01,-2.25246821e+01, 1.08535114e+02,-2.85952045e+02,
 -7.29820926e+01,-1.73138920e+01,-2.38918783e+01, 2.41183280e+01,
 -7.45055956e-01, 2.89709446e-01, 8.73452974e+00,-2.96703813e+01,
 -2.00748907e-01, 8.14904435e-01, 1.14936370e-01,-5.28497713e+00,
 -3.17794606e+00, 1.27820826e+01]

qfrc_actuator:
[ 0.01985339, 0.33024948, 0.09291927, 0.02601506, 0.09755013, 0.70394611,
  0.22590347,-0.07950734, 0.00341463, 0.0389166 , 0.01150875, 0.00173758,
  0.02321227,-0.00137362, 0.        ,-0.00163326, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.25467431, -0.04774632,  0.25015854, -0.04774632,  0.32541072,
        0.01350105,  0.25015854,  0.01350105,  0.25725118,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040441557296289613
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.25398117e-01, -6.79049555e-01, -1.12646677e-01, -8.22371176e-02,
       -7.69826621e-02,  9.93635107e-01, -6.83399319e-01,  7.30044774e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0727893 , -0.03625711,  0.13694111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008076135792496322
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76816768e-01, -1.70387137e-01, -1.29604110e-01, -1.68906904e-01,
        9.85377199e-01, -2.24105787e-02,  1.31527409e-01, -3.46944695e-18,
       -9.91312534e-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([ 0.0954417 , -0.08530036,  0.12527324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.48556142,  1.46395772, -0.25242926,  1.46395772,  1.7663065 ,
        1.62817462, -0.25242926,  1.62817462, 10.92812268,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009239798232921852
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.05848449,  0.96077251, -0.271101  ,  0.01647207,  0.27060011,
        0.96255091,  0.99815241, -0.06075989,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0561219 , -0.11338276,  0.20298077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005631779117019481
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03744036, -0.06419824,  0.06198823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.28061367e-02, 2.50563687e-01, 1.13640798e-01, 9.60703278e-03,
  1.56823381e-01, 6.70003628e-01, 2.34521988e-01,-1.68095917e-01,
  9.01115610e-02, 3.24997709e-02, 1.07267343e-02,-4.40787609e-04,
 -1.44517616e-04,-8.03431977e-05,-1.18600518e-06,-1.43462639e-04,
 -2.37637981e-03, 5.56013245e-03,-9.80276757e+00,-7.01092490e-02,
 -2.16581991e-02, 5.19239609e-03]


--- Step 2790 ---
qpos:
[-0.02809974, 0.39969863,-0.11482382, 0.91840706,-0.10767174, 0.23075465,
 -0.24633662, 1.02609626, 0.00502342, 1.33275007,-0.02481318, 0.95479544,
  1.10685273, 0.0053481 , 1.24545801, 0.04556126, 0.06457654,-0.07722998,
  0.14989718, 0.96965824,-0.04924443,-0.07218361, 0.22831429]

qacc:
[ 8.09841106e+00,-7.41824392e+00, 1.07765310e+02,-1.85659263e+02,
  2.36613909e+01,-2.18964278e+01, 1.05634429e+02,-2.80102976e+02,
 -6.19938930e+01,-1.59791097e+01,-1.36340153e+01, 2.06852531e+01,
 -1.41276576e+00, 1.58180148e+00, 5.33113188e+00,-1.83671414e+01,
 -2.17392196e-01, 8.66703614e-01, 1.29408969e-01,-6.31139624e+00,
 -2.60281038e+00, 1.17089177e+01]

qfrc_actuator:
[ 0.02012114, 0.33091591, 0.09342543, 0.02580393, 0.09874886, 0.70567525,
  0.22611151,-0.08121429, 0.00526758, 0.03951624, 0.0116849 , 0.00172729,
  0.02316947,-0.00133057, 0.        ,-0.00171837, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.25136863, -0.04614856,  0.24709613, -0.04614856,  0.32669196,
        0.01406766,  0.24709613,  0.01406766,  0.25399596,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003917693273547995
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.24805180e-01, -6.79420688e-01, -1.14214621e-01, -8.33286435e-02,
       -7.81109266e-02,  9.93456099e-01, -6.83896036e-01,  7.29579476e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07268096, -0.03629004,  0.13698935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008122416574229638
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97665059, -0.17089944, -0.13018068, -0.16940118,  0.98528848,
       -0.02257999,  0.13212443,  0.        , -0.99123314])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09539441, -0.08535168,  0.12532707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50363335,  1.47835036, -0.27457867,  1.47835036,  1.8206571 ,
        1.70687756, -0.27457867,  1.70687756, 10.69357895,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009979660992645212
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.64231826e-02,  9.61325532e-01, -2.69573081e-01,  1.57948994e-02,
        2.69109953e-01,  9.62979934e-01,  9.98281997e-01, -5.85922723e-02,
       -5.20417043e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05609938, -0.11355631,  0.20294228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005630712154319623
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.85863772e-14, -9.85863772e-14,  1.00000000e+00,  9.71927377e-27,
        1.00000000e+00,  9.85863772e-14, -1.00000000e+00,  0.00000000e+00,
        9.85863772e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03743805, -0.06419792,  0.06198823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.27337255e-02, 2.48619319e-01, 1.13046763e-01, 9.65118967e-03,
  1.57675617e-01, 6.71827542e-01, 2.34687892e-01,-1.68913113e-01,
  1.00573465e-01, 3.58164558e-02, 1.19829875e-02,-3.24529491e-04,
 -1.35155863e-04,-1.36123411e-05,-2.25254058e-05,-9.45630906e-05,
 -2.56907338e-03, 5.55876817e-03,-9.80271269e+00,-7.00702780e-02,
 -2.17899051e-02, 5.28368209e-03]


--- Step 2791 ---
qpos:
[-0.02836071, 0.40114394,-0.11526639, 0.91867752,-0.10883135, 0.23128119,
 -0.24654054, 1.02777796, 0.00290867, 1.3320514 ,-0.02506511, 0.95479829,
  1.10738388, 0.00535253, 1.24560514, 0.04555833, 0.0645561 ,-0.07736359,
  0.14988282, 0.96957694,-0.04836201,-0.07258811, 0.22871954]

qacc:
[ 9.72384539e+00,-1.58184204e+01, 1.24394217e+02,-1.97924088e+02,
  2.75980322e+01,-2.19204684e+01, 1.04350128e+02,-2.74965334e+02,
 -5.18144222e+01,-1.63632147e+01,-6.87434695e-01, 5.96247734e+00,
 -1.66729499e+00, 2.30136012e+00,-3.39431599e+00, 1.14292398e+01,
 -2.32250441e-01, 9.04068106e-01, 1.42083743e-01,-7.22662032e+00,
 -2.02384960e+00, 1.04871284e+01]

qfrc_actuator:
[ 0.02043859, 0.33108098, 0.09386612, 0.02562331, 0.09991307, 0.70710603,
  0.22631778,-0.08299628, 0.00726413, 0.04020272, 0.01193167, 0.00170257,
  0.02313001,-0.00125306, 0.        ,-0.00166032, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.24913209, -0.04457651,  0.24511168, -0.04457651,  0.32563741,
        0.01391341,  0.24511168,  0.01391341,  0.25166241,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003827954327915555
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.24153573e-01, -6.79853605e-01, -1.15761297e-01, -8.43963482e-02,
       -7.92334163e-02,  9.93277062e-01, -6.84455155e-01,  7.29054965e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07256913, -0.03632287,  0.13704142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008168370353022458
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76472800e-01, -1.71461291e-01, -1.30774223e-01, -1.69944012e-01,
        9.85190857e-01, -2.27597698e-02,  1.32739989e-01,  3.46944695e-18,
       -9.91150894e-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([ 0.0953479 , -0.08540319,  0.12538037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50364644,  1.47420323, -0.29610378,  1.47420323,  1.86281458,
        1.7881799 , -0.29610378,  1.7881799 , 10.40640544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010568103132579873
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.42376730e-02,  9.61866379e-01, -2.68088312e-01,  1.50929745e-02,
        2.67663119e-01,  9.63394341e-01,  9.98413981e-01, -5.62985173e-02,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05607985, -0.11373965,  0.20289904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000562988211240123
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47901368e-13, -9.86009123e-14,  1.00000000e+00, -1.45832099e-26,
        1.00000000e+00,  9.86009123e-14, -1.00000000e+00,  0.00000000e+00,
       -1.47901368e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03743572, -0.06419759,  0.06198823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26928385e-02, 2.46525607e-01, 1.12389697e-01, 9.74141240e-03,
  1.58412435e-01, 6.73356993e-01, 2.34860755e-01,-1.69820058e-01,
  1.09881704e-01, 3.86916598e-02, 1.30446830e-02,-2.74479681e-04,
 -1.11529184e-04, 4.23996921e-05,-2.58867003e-05, 4.88336482e-05,
 -2.74005947e-03, 5.53465523e-03,-9.80269416e+00,-7.00287640e-02,
 -2.19124617e-02, 5.37564014e-03]


--- Step 2792 ---
qpos:
[-2.86127463e-02, 4.02619233e-01,-1.15687781e-01, 9.18942060e-01,
 -1.09979648e-01, 2.31804482e-01,-2.46743890e-01, 1.02944279e+00,
  6.93647244e-04, 1.33132187e+00,-2.53265038e-02, 9.54799102e-01,
  1.10791400e+00, 5.35781155e-03, 1.24575198e+00, 4.55570776e-02,
  6.45346611e-02,-7.74934821e-02, 1.49869078e-01, 9.69489380e-01,
 -4.74958613e-02,-7.29982417e-02, 2.29141314e-01]

qacc:
[ 1.01307738e+01,-2.50728616e+01, 1.43282904e+02,-2.10529384e+02,
  3.11310964e+01,-2.23539067e+01, 1.04017856e+02,-2.70033526e+02,
 -4.24862860e+01,-1.85216629e+01, 1.57129550e+01,-1.81718848e+01,
 -1.23107638e+00, 1.69298833e+00,-5.39113103e+00, 1.84928191e+01,
 -2.50921614e-01, 9.31050560e-01, 1.55041054e-01,-8.08035700e+00,
 -1.50204158e+00, 9.17654260e+00]

qfrc_actuator:
[ 0.02074607, 0.33091685, 0.09429477, 0.02539245, 0.10106943, 0.70823482,
  0.2265228 ,-0.0846923 , 0.00938134, 0.04093345, 0.01225896, 0.00163422,
  0.02308728,-0.001209  , 0.        ,-0.00157165, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.24774402, -0.04330962,  0.24392904, -0.04330962,  0.32800808,
        0.01425089,  0.24392904,  0.01425089,  0.25027427,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003770420507469269
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72345018, -0.68034082, -0.11728684, -0.08544089, -0.08034959,
        0.99309808, -0.68506912,  0.72847808,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07245432, -0.03635546,  0.13709688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008213870204840998
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76284058e-01, -1.72067633e-01, -1.31385566e-01, -1.70530323e-01,
        9.85085138e-01, -2.29494918e-02,  1.33374833e-01,  3.46944695e-18,
       -9.91065666e-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([ 0.09530212, -0.08545481,  0.1254331 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50364644,  1.46281326, -0.34803733,  1.46281326,  2.06941044,
        2.37792617, -0.34803733,  2.37792617, 11.49815458,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011020156000307972
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.05194907,  0.96239335, -0.26664645,  0.0143724 ,  0.26625883,
        0.96379441,  0.99854631, -0.05390058,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0560628 , -0.11393099,  0.2028517 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005629362397396309
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86100153e-14, -1.97220031e-13,  1.00000000e+00, -1.94478702e-26,
        1.00000000e+00,  1.97220031e-13, -1.00000000e+00,  0.00000000e+00,
       -9.86100153e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03743336, -0.06419726,  0.06198823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.25691968e-02, 2.44456920e-01, 1.11742890e-01, 9.79587775e-03,
  1.59068785e-01, 6.74602327e-01, 2.35034125e-01,-1.70656880e-01,
  1.18109006e-01, 4.12346146e-02, 1.39937692e-02,-2.72771352e-04,
 -8.92323544e-05, 3.05192576e-05,-1.06347104e-05, 8.71992716e-05,
 -2.88567887e-03, 5.48770225e-03,-9.80271084e+00,-6.99839944e-02,
 -2.20249801e-02, 5.46810930e-03]


--- Step 2793 ---
qpos:
[-0.02885567, 0.40413   ,-0.11609108, 0.91919977,-0.11111538, 0.23232531,
 -0.2469467 , 1.031091  ,-0.00160165, 1.33056743,-0.02559357, 0.95479829,
  1.10844355, 0.00536287, 1.24589883, 0.04555586, 0.0645122 ,-0.07761957,
  0.14985598, 0.96939607,-0.04664726,-0.07341336, 0.22957738]

qacc:
[ 1.02738137e+01,-1.13065165e+01, 1.09331774e+02,-1.97188169e+02,
  3.44877328e+01,-2.10231334e+01, 1.00295938e+02,-2.64482784e+02,
 -3.40175041e+01,-2.01842956e+01, 2.96815954e+01,-2.90342715e+01,
 -3.01283404e-01, 5.09766396e-02,-7.43970410e-02, 3.44654906e-01,
 -2.53595143e-01, 9.51013393e-01, 1.62418821e-01,-8.69383041e+00,
 -9.54392198e-01, 8.11323439e+00]

qfrc_actuator:
[ 0.02100826, 0.33163048, 0.09474332, 0.02511615, 0.10223354, 0.71016046,
  0.22672681,-0.08638347, 0.01163334, 0.04162895, 0.01254781, 0.00159412,
  0.02304795,-0.00123845, 0.        ,-0.00157221, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.24704327, -0.04230792,  0.24339354, -0.04230792,  0.33160985,
        0.0146998 ,  0.24339354,  0.0146998 ,  0.24959847,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037408111923658286
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.22701894e-01, -6.80874839e-01, -1.18791523e-01, -8.64630851e-02,
       -8.14589522e-02,  9.92919218e-01, -6.85730346e-01,  7.27855682e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07233706, -0.03638776,  0.1371553 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008258767169283438
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76085043e-01, -1.72712960e-01, -1.32015990e-01, -1.71154614e-01,
        9.84972199e-01, -2.31487472e-02,  1.34030169e-01, -3.46944695e-18,
       -9.90977252e-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([ 0.09525706, -0.08550642,  0.12548523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50364644,  1.44338016, -0.42143367,  1.44338016,  2.56392403,
        3.63137489, -0.42143367,  3.63137489, 13.94084569,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011350219677239881
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.95772838e-02,  9.62904971e-01, -2.65247261e-01,  1.36387738e-02,
        2.64896382e-01,  9.64180424e-01,  9.98677163e-01, -5.14190939e-02,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05604772, -0.11412868,  0.20280069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005629204841586521
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.93063877e-14, -9.86127753e-14,  1.00000000e+00, -4.86223973e-27,
        1.00000000e+00,  9.86127753e-14, -1.00000000e+00,  0.00000000e+00,
       -4.93063877e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03743099, -0.06419691,  0.06198823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.23808430e-02, 2.43628490e-01, 1.11122529e-01, 9.81349688e-03,
  1.59667184e-01, 6.76672068e-01, 2.35204016e-01,-1.71506163e-01,
  1.25370170e-01, 4.34828900e-02, 1.47571320e-02,-2.13360730e-04,
 -7.69659039e-05,-4.13346999e-05, 4.73610979e-07, 2.00385170e-06,
 -3.00316831e-03, 5.41766814e-03,-9.80276070e+00,-6.99356178e-02,
 -2.21269957e-02, 5.56092216e-03]


--- Step 2794 ---
qpos:
[-0.02909083, 0.40568226,-0.11647971, 0.9194497 ,-0.11223717, 0.23284473,
 -0.24714922, 1.0327228 ,-0.00395913, 1.32979389,-0.02586331, 0.95479625,
  1.10897256, 0.00536717, 1.2460459 , 0.04555264, 0.0644888 ,-0.07774176,
  0.14984355, 0.96929728,-0.04581697,-0.07383267, 0.2300268 ]

qacc:
[ 8.70389643e+00, 3.98567542e+00, 7.12789557e+01,-1.81177669e+02,
  3.81273278e+01,-1.89179908e+01, 9.46404918e+01,-2.58512589e+02,
 -2.63530285e+01,-1.99378449e+01, 3.72480085e+01,-3.44679771e+01,
 -1.03873171e-01,-5.07172325e-01, 6.39553245e+00,-2.19187227e+01,
 -2.35146073e-01, 9.71922829e-01, 1.64445065e-01,-8.99596830e+00,
 -4.41783781e-01, 7.67051813e+00]

qfrc_actuator:
[ 0.02120402, 0.33297754, 0.09519842, 0.02486914, 0.10339651, 0.71252919,
  0.22691226,-0.08804748, 0.01395083, 0.04238073, 0.01276033, 0.00157136,
  0.02299998,-0.00129352, 0.        ,-0.0016786 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.24708917, -0.04120574,  0.24362912, -0.04120574,  0.34121099,
        0.01591911,  0.24362912,  0.01591911,  0.24978162,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037427626515709267
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.21909169e-01, -6.81455659e-01, -1.20271932e-01, -8.74602858e-02,
       -8.25592875e-02,  9.92740985e-01, -6.86438526e-01,  7.27187836e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07221707, -0.03641969,  0.13721694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008303092135991912
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75876525e-01, -1.73392999e-01, -1.32664522e-01, -1.71812652e-01,
        9.84852714e-01, -2.33568928e-02,  1.34704936e-01,  3.46944695e-18,
       -9.90885755e-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([ 0.0952126 , -0.08555796,  0.12553682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50364644, -1.41044913,  0.52113902, -1.41044913,  1.71599873,
        0.57472591,  0.52113902,  0.57472591,  3.05912707,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001157135869388183
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.71398928e-02,  9.63400122e-01, -2.63890196e-01,  1.28969161e-02,
        2.63574857e-01,  9.64552728e-01,  9.98805036e-01, -4.88722819e-02,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05603423, -0.11433123,  0.20274659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005629444294272257
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.93042904e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.93042904e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03742861, -0.06419656,  0.06198823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.21170226e-02, 2.43156806e-01, 1.10661748e-01, 9.90645703e-03,
  1.60201517e-01, 6.79145308e-01, 2.35356820e-01,-1.72341964e-01,
  1.31697606e-01, 4.54893246e-02, 1.52551316e-02,-1.57579222e-04,
 -9.63672411e-05,-8.47800009e-05,-4.17102801e-06,-1.07239297e-04,
 -3.09817340e-03, 5.33069913e-03,-9.80283780e+00,-6.98843719e-02,
 -2.22202724e-02, 5.65385570e-03]


--- Step 2795 ---
qpos:
[-0.02931998, 0.40727358,-0.11685563, 0.9196914 ,-0.11334357, 0.23336267,
 -0.2473518 , 1.03433841,-0.00636248, 1.32900706,-0.02613315, 0.9547936 ,
  1.10950073, 0.00537112, 1.24619273, 0.04554984, 0.06446459,-0.07785999,
  0.14983177, 0.9691931 ,-0.04500536,-0.07425536, 0.23048945]

qacc:
[ 6.69041366e+00, 5.30515545e+00, 6.41260835e+01,-1.78958757e+02,
  4.19742273e+01,-1.79548558e+01, 9.08586268e+01,-2.53113263e+02,
 -1.94429463e+01,-1.82692081e+01, 3.97929523e+01,-3.34255912e+01,
 -4.00025258e-01, 5.51387829e-03,-1.61298687e+00, 5.17732672e+00,
 -2.04660750e-01, 9.91249878e-01, 1.63294742e-01,-9.07407395e+00,
  1.12828043e-02, 7.64615959e+00]

qfrc_actuator:
[ 0.02133987, 0.33404536, 0.09558263, 0.02467888, 0.10451689, 0.71448911,
  0.22708661,-0.08970653, 0.01628611, 0.04324143, 0.01296185, 0.001577  ,
  0.02295219,-0.00131007, 0.        ,-0.00165117, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.24799009, -0.03988024,  0.24476244, -0.03988024,  0.35454973,
        0.01736224,  0.24476244,  0.01736224,  0.250819  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00037807268972496325
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.72107015, -0.68208577, -0.12172442, -0.08842942, -0.08364851,
        0.99256393, -0.6871958 ,  0.72647225,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07209409, -0.03645128,  0.13728208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008346977971888582
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97565902, -0.17410625, -0.1333285 , -0.172503  ,  0.98472687,
       -0.02357336,  0.13539642,  0.        , -0.99079151])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09516868, -0.08560936,  0.12558792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50364644, -1.39131919,  0.57024867, -1.39131919,  1.84945593,
        0.84372205,  0.57024867,  0.84372205,  3.56219868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011695513637181318
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.04465264,  0.96387817, -0.26257382,  0.01215097,  0.26229251,
        0.96491191,  0.99892867, -0.04627639,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05602214, -0.11453731,  0.20268996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005630073169766575
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.92987831e-14, -9.85975662e-14,  1.00000000e+00, -4.86074003e-27,
        1.00000000e+00,  9.85975662e-14, -1.00000000e+00,  0.00000000e+00,
       -4.92987831e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03742622, -0.0641962 ,  0.06198823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.18604487e-02, 2.42104175e-01, 1.10300931e-01, 1.01037262e-02,
  1.60624757e-01, 6.81156948e-01, 2.35510876e-01,-1.73183223e-01,
  1.37138758e-01, 4.73132635e-02, 1.55922377e-02,-9.34867022e-05,
 -1.16676227e-04,-6.32136616e-05,-1.87304617e-05, 1.98367486e-05,
 -3.18439413e-03, 5.23878938e-03,-9.80293150e+00,-6.98325063e-02,
 -2.23086292e-02, 5.74659484e-03]


--- Step 2796 ---
qpos:
[-0.02954377, 0.40890106,-0.11722113, 0.91992442,-0.11443325, 0.23387883,
 -0.24755475, 1.03593804,-0.00879709, 1.32821282,-0.02639983, 0.95479166,
  1.11002808, 0.00537436, 1.24633938, 0.04554768, 0.06443966,-0.07797423,
  0.14982063, 0.96908371,-0.04421264,-0.07468064, 0.23096495]

qacc:
[ 5.94398275e+00, 6.88951077e+00, 5.52734060e+01,-1.74703851e+02,
  4.54817898e+01,-1.73706461e+01, 8.79818143e+01,-2.48196370e+02,
 -1.32520628e+01,-1.70078499e+01, 4.22684257e+01,-2.36822836e+01,
 -1.27719103e-01,-5.33461846e-01,-2.23096068e+00, 7.41288729e+00,
 -1.77232539e-01, 9.99169523e-01, 1.61089277e-01,-9.09522658e+00,
  4.32249504e-01, 7.47209242e+00]

qfrc_actuator:
[ 0.02145618, 0.3350735 , 0.09593814, 0.02454401, 0.1056047 , 0.71631092,
  0.2272723 ,-0.09137398, 0.01867615, 0.04404505, 0.0132085 , 0.00165283,
  0.02289922,-0.00135688, 0.        ,-0.0016161 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.24977159, -0.03839935,  0.24680223, -0.03839935,  0.36623163,
        0.01811973,  0.24680223,  0.01811973,  0.2525908 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003853977996597031
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.20185591e-01, -6.82764447e-01, -1.23147976e-01, -8.93696513e-02,
       -8.47259669e-02,  9.92388319e-01, -6.88001293e-01,  7.25709460e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07196843, -0.0364826 ,  0.13735051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008390497130321556
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97543272, -0.17485297, -0.13400541, -0.17322593,  0.98459456,
       -0.02379786,  0.13610213,  0.        , -0.99069481])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09512534, -0.08566054,  0.12563856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50364644, -1.38045807,  0.59606053, -1.38045807,  2.01487704,
        1.18399452,  0.59606053,  1.18399452,  4.24574177,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011733600439788993
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.21295005e-02,  9.64338872e-01, -2.61296088e-01,  1.14044802e-02,
        2.61047091e-01,  9.65258698e-01,  9.99047067e-01, -4.36458129e-02,
       -3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0560114 , -0.11474569,  0.20263143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000563105159558222
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.92902172e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.92902172e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03742383, -0.06419583,  0.06198822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16725994e-02, 2.41131587e-01, 1.10008762e-01, 1.03790372e-02,
  1.60942767e-01, 6.83034766e-01, 2.35694158e-01,-1.74043290e-01,
  1.41819782e-01, 4.87891119e-02, 1.58452804e-02, 1.15096094e-05,
 -1.26927170e-04,-9.20795578e-05,-1.03460211e-05, 3.29319315e-05,
 -3.27113625e-03, 5.15069450e-03,-9.80303388e+00,-6.97815919e-02,
 -2.23945752e-02, 5.83886879e-03]


--- Step 2797 ---
qpos:
[-0.02976283, 0.41055868,-0.11757822, 0.92014858,-0.11550492, 0.23439254,
 -0.24775833, 1.03752192,-0.01124977, 1.3274138 ,-0.02666258, 0.95478998,
  1.11055438, 0.00537709, 1.24648604, 0.04554528, 0.0644141 ,-0.07808445,
  0.14981013, 0.96896926,-0.043439  ,-0.07510796, 0.23145285]

qacc:
[ 5.23273515e+00, 4.11707468e+00, 5.51406738e+01,-1.72845927e+02,
  4.88270661e+01,-1.73021200e+01, 8.60929626e+01,-2.43407084e+02,
 -7.65599486e+00,-1.64665337e+01, 4.56125629e+01,-3.35713481e+01,
 -5.17415172e-01,-1.72844931e-02, 8.00163794e-01,-2.72213344e+00,
 -1.58518055e-01, 1.00285958e+00, 1.61022274e-01,-9.12494719e+00,
  7.54958807e-01, 7.26251873e+00]

qfrc_actuator:
[ 0.02157676, 0.33604735, 0.09632689, 0.02441058, 0.10670097, 0.7178732 ,
  0.22748286,-0.09291596, 0.02113828, 0.04481387, 0.01346128, 0.00168092,
  0.02283785,-0.00138583, 0.        ,-0.00163009, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.2538173 , -0.03719439,  0.25107727, -0.03719439,  0.38203815,
        0.01899454,  0.25107727,  0.01899454,  0.25663113,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040120399696305154
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.19235677e-01, -6.83514014e-01, -1.24533664e-01, -9.02717857e-02,
       -8.57883341e-02,  9.92215383e-01, -6.88876655e-01,  7.24878579e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07184062, -0.03651404,  0.13742207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008433692372471263
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75197867e-01, -1.75632703e-01, -1.34693261e-01, -1.73981040e-01,
        9.84455765e-01, -2.40300706e-02,  1.36820024e-01, -3.46944695e-18,
       -9.90595922e-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([ 0.0950826 , -0.08571146,  0.12568874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50364644, -1.36224687,  0.63658156, -1.36224687,  2.3098536 ,
        1.72523562,  0.63658156,  1.72523562,  5.19554861,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011695670906011941
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.03958273,  0.96478211, -0.26005515,  0.01066048,  0.25983656,
        0.96559376,  0.99915943, -0.04099315,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05600191, -0.11495527,  0.20257163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005632346440932051
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85577713e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.85577713e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03742144, -0.06419544,  0.06198822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.15210230e-02, 2.40248830e-01, 1.09863729e-01, 1.06772596e-02,
  1.61202449e-01, 6.84667270e-01, 2.35917291e-01,-1.74788418e-01,
  1.45843067e-01, 4.99352364e-02, 1.59418412e-02, 1.81118352e-06,
 -1.47153305e-04,-8.50510492e-05,-5.34213386e-06,-1.44002990e-05,
 -3.35544778e-03, 5.06576549e-03,-9.80314429e+00,-6.97310465e-02,
 -2.24774471e-02, 5.93054398e-03]


--- Step 2798 ---
qpos:
[-0.02997642, 0.41223879,-0.11792757, 0.92036383,-0.11655736, 0.23490264,
 -0.24796277, 1.03909033,-0.01370864, 1.3266111 ,-0.02692189, 0.95478716,
  1.11107951, 0.00537988, 1.24663269, 0.04554238, 0.06438797,-0.07819067,
  0.14980028, 0.96884991,-0.04268453,-0.07553683, 0.23195273]

qacc:
[ 6.01741378e+00,-4.11117102e+00, 6.97456147e+01,-1.79940201e+02,
  5.20207314e+01,-1.79435360e+01, 8.56474161e+01,-2.39006765e+02,
 -2.62903412e+00,-1.60630900e+01, 4.88292046e+01,-5.30685354e+01,
 -1.01626955e+00, 9.00647240e-01, 1.56390201e+00,-5.28941753e+00,
 -1.42663172e-01, 1.00285837e+00, 1.61186244e-01,-9.12802740e+00,
  1.02819689e+00, 7.05258228e+00]

qfrc_actuator:
[ 0.02175164, 0.33667838, 0.0966802 , 0.02421068, 0.10779435, 0.71905036,
  0.22769101,-0.09441199, 0.02360746, 0.04563313, 0.01369792, 0.00162728,
  0.02279278,-0.00136848, 0.        ,-0.00165512, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.25609355, -0.03592673,  0.25356099, -0.03592673,  0.39086754,
        0.01909595,  0.25356099,  0.01909595,  0.25879923,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040963602095813687
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.18235918e-01, -6.84316836e-01, -1.25887387e-01, -9.11419193e-02,
       -8.68376925e-02,  9.92044538e-01, -6.89804549e-01,  7.23995638e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07171108, -0.03654543,  0.13749625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008476551925627436
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74954608e-01, -1.76444839e-01, -1.35391030e-01, -1.74767721e-01,
        9.84310530e-01, -2.42698292e-02,  1.37549103e-01, -3.46944695e-18,
       -9.90494949e-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([ 0.09504053, -0.08576204,  0.12573843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50364644, -1.33044732,  0.70061583, -1.33044732,  2.72284257,
        2.31521491,  0.70061583,  2.31521491,  5.90016637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011591601844203705
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.70243015e-02,  9.65207933e-01, -2.58849083e-01,  9.92186573e-03,
        2.58658857e-01,  9.65917777e-01,  9.99265109e-01, -3.83306969e-02,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0559936 , -0.1151651 ,  0.20251084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005633916166203068
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.85303111e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.85303111e-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([ 0.03741905, -0.06419505,  0.06198822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.14546588e-02, 2.39322652e-01, 1.09784124e-01, 1.09193675e-02,
  1.61395103e-01, 6.85948395e-01, 2.36151670e-01,-1.75499503e-01,
  1.49213692e-01, 5.09992048e-02, 1.59828653e-02,-6.60621352e-05,
 -1.39504443e-04,-4.14503833e-05,-9.17927714e-06,-2.76209184e-05,
 -3.43616106e-03, 4.98377590e-03,-9.80326108e+00,-6.96808932e-02,
 -2.25570500e-02, 6.02149474e-03]


--- Step 2799 ---
qpos:
[-0.03018374, 0.4139395 ,-0.11827147, 0.92056983,-0.11758943, 0.23540789,
 -0.24816816, 1.04064352,-0.01616328, 1.32580793,-0.02717604, 0.95478366,
  1.11160362, 0.00538274, 1.24677948, 0.04553751, 0.06436133,-0.0782929 ,
  0.14979107, 0.96872587,-0.04194921,-0.07596675, 0.232464  ]

qacc:
[ 6.88015743e+00,-1.05226018e+00, 5.75163345e+01,-1.72579688e+02,
  5.48977057e+01,-1.89529993e+01, 8.62879475e+01,-2.35268959e+02,
  1.79953390e+00,-1.57061054e+01, 5.18287079e+01,-5.23788900e+01,
 -1.00825314e+00, 9.38424493e-01, 6.23130291e+00,-2.13139821e+01,
 -1.26862108e-01, 9.94355814e-01, 1.59153923e-01,-9.06656547e+00,
  1.28672019e+00, 6.76275346e+00]

qfrc_actuator:
[ 0.02195649, 0.33759639, 0.09702726, 0.02395672, 0.10885981, 0.71999861,
  0.22788043,-0.09601644, 0.02605849, 0.04646574, 0.01397708, 0.00161466,
  0.02275223,-0.00135922, 0.        ,-0.00175745, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.26056638, -0.03515229,  0.25818434, -0.03515229,  0.40236398,
        0.01930601,  0.25818434,  0.01930601,  0.26319493,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00042534331315981607
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71720093, -0.68515632, -0.12721496, -0.09198606, -0.08787611,
        0.99187517, -0.69076869,  0.7230758 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07158029, -0.03657656,  0.1375725 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008519014758829387
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97470301, -0.17728869, -0.13609833, -0.17558529,  0.98415889,
       -0.02451707,  0.13828898,  0.        , -0.99039192])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09499921, -0.08581221,  0.12578759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50364644, -1.29212956,  0.76899534, -1.29212956,  3.21177137,
        2.87013274,  0.76899534,  2.87013274,  6.32628078,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011430736108251989
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.44654182e-02,  9.65616511e-01, -2.57675937e-01,  9.19128581e-03,
        2.57511958e-01,  9.66231397e-01,  9.99363625e-01, -3.56699424e-02,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05598644, -0.11537436,  0.20244914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005635716809908459
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.84988301e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.84988301e-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([ 0.03741667, -0.06419465,  0.06198821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.13818353e-02, 2.39065516e-01, 1.09730328e-01, 1.11090124e-02,
  1.61498199e-01, 6.87059357e-01, 2.36378432e-01,-1.76332197e-01,
  1.51973604e-01, 5.20212799e-02, 1.60914458e-02,-2.31374828e-05,
 -1.20943083e-04,-3.50995667e-05,-1.24981412e-05,-1.06155379e-04,
 -3.51317336e-03, 4.90517852e-03,-9.80338276e+00,-6.96311923e-02,
 -2.26334659e-02, 6.11161978e-03]


--- Step 2800 ---
qpos:
[-0.03038469, 0.41566558,-0.11861381, 0.92076587,-0.11860008, 0.23590728,
 -0.24837458, 1.04218175,-0.01860456, 1.32500813,-0.02742289, 0.95478059,
  1.11212652, 0.00538619, 1.24692618, 0.04553145, 0.06433428,-0.07839121,
  0.14978247, 0.96859729,-0.04123277,-0.07639717, 0.23298631]

qacc:
[ 6.93617190e+00, 1.41977243e+01, 1.70927358e+01,-1.51015054e+02,
  5.76276317e+01,-1.97269575e+01, 8.65751139e+01,-2.31695245e+02,
  5.66406893e+00,-1.45564995e+01, 5.19228231e+01,-4.20546763e+01,
 -1.44664380e+00, 1.73445847e+00, 3.65684342e+00,-1.26432371e+01,
 -1.03587719e-01, 9.81511174e-01, 1.54118525e-01,-8.88058987e+00,
  1.55035207e+00, 6.58478684e+00]

qfrc_actuator:
[ 0.0221408 , 0.33922982, 0.09736979, 0.02372749, 0.10988194, 0.72098971,
  0.22805906,-0.09764453, 0.02849067, 0.04728685, 0.01424314, 0.00166215,
  0.02269843,-0.00131935, 0.        ,-0.00181572, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.26606814, -0.03433647,  0.26384325, -0.03433647,  0.41871548,
        0.01986547,  0.26384325,  0.01986547,  0.26865343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00044327537163250236
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71613291, -0.68602995, -0.12851679, -0.0928047 , -0.08890361,
        0.99170733, -0.69176654,  0.72212122,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07144849, -0.03660738,  0.13765063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008561015948809574
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9744432 , -0.17816323, -0.13681486, -0.17643271,  0.98400095,
       -0.0247717 ,  0.13903936,  0.        , -0.99028686])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09495873, -0.08586192,  0.12583618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50364644, -1.22713485,  0.86896069, -1.22713485,  4.31561312,
        3.97102233,  0.86896069,  3.97102233,  7.11147191,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011221197667137248
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.19151510e-02,  9.66008134e-01, -2.56534031e-01,  8.47079582e-03,
        2.56394139e-01,  9.66535199e-01,  9.99454686e-01, -3.30201642e-02,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05598033, -0.1155823 ,  0.2023869 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005637731888716441
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84636239e-14, -1.96927248e-13,  1.00000000e+00, -1.93901705e-26,
        1.00000000e+00,  1.96927248e-13, -1.00000000e+00,  0.00000000e+00,
       -9.84636239e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03741429, -0.06419423,  0.06198821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.12476086e-02, 2.39617751e-01, 1.09786975e-01, 1.13405952e-02,
  1.61501928e-01, 6.88274818e-01, 2.36599102e-01,-1.77202019e-01,
  1.54192927e-01, 5.28704284e-02, 1.61006958e-02, 5.73013418e-05,
 -1.23562850e-04, 1.85456308e-06,-2.27440755e-05,-6.69003617e-05,
 -3.58513987e-03, 4.82972599e-03,-9.80350842e+00,-6.95816231e-02,
 -2.27065537e-02, 6.20083825e-03]


--- Step 2801 ---
qpos:
[-0.03057925, 0.41741082,-0.11895642, 0.9209519 ,-0.11958837, 0.23640033,
 -0.24858203, 1.04370528,-0.02102448, 1.32421201,-0.02766274, 0.95477704,
  1.11264816, 0.00539018, 1.24707226, 0.04552872, 0.06430685,-0.07848567,
  0.14977449, 0.96846443,-0.04053505,-0.07682775, 0.23351885]

qacc:
[ 6.92309894e+00, 1.08536774e+01, 1.81398171e+01,-1.48030720e+02,
  5.99382142e+01,-2.00769478e+01, 8.62841749e+01,-2.27924270e+02,
  9.06379332e+00,-1.48536208e+01, 5.52048017e+01,-5.55240092e+01,
 -1.05502633e+00, 1.21112590e+00,-1.09309994e+01, 3.70903223e+01,
 -9.52159863e-02, 9.61855580e-01, 1.52634791e-01,-8.78049137e+00,
  1.72427130e+00, 6.16276446e+00]

qfrc_actuator:
[ 0.0223812 , 0.34046286, 0.09771132, 0.02360628, 0.11088663, 0.72204497,
  0.22824943,-0.09917443, 0.03091847, 0.04807966, 0.01453264, 0.00163836,
  0.02263142,-0.00129717, 0.        ,-0.0016345 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.27287682, -0.03310881,  0.27086079, -0.03310881,  0.43791954,
        0.02017408,  0.27086079,  0.02017408,  0.27534281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004636462513172549
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71503046, -0.68693933, -0.1297914 , -0.09359651, -0.08991942,
        0.99154132, -0.69279949,  0.72113027,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07131546, -0.03663788,  0.13773078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00860253656840671
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74175305e-01, -1.79067941e-01, -1.37539620e-01, -1.77309470e-01,
        9.83836710e-01, -2.50335613e-02,  1.39799236e-01,  3.46944695e-18,
       -9.90179869e-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([ 0.09491914, -0.08591109,  0.12588417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50364644, -1.12628855,  0.99620617, -1.12628855,  6.74128495,
        5.92155768,  0.99620617,  5.92155768,  8.19842793,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010970218381512462
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.02938105,  0.96638325, -0.25542156,  0.00776202,  0.25530359,
        0.96682978,  0.99953815, -0.03038906,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05597522, -0.11578825,  0.20232455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005639937430580166
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.84251189e-14,  1.96850238e-13,  1.00000000e+00, -1.93750081e-26,
        1.00000000e+00, -1.96850238e-13, -1.00000000e+00,  0.00000000e+00,
        9.84251189e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03741192, -0.06419381,  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:
[ 3.11645615e-02, 2.39530249e-01, 1.10037283e-01, 1.17160245e-02,
  1.61434615e-01, 6.89604941e-01, 2.36835863e-01,-1.77986083e-01,
  1.55952788e-01, 5.34984892e-02, 1.60258874e-02, 1.12961403e-05,
 -1.29448979e-04,-5.76489635e-06,-2.26661448e-05, 1.73572230e-04,
 -3.65490497e-03, 4.76016227e-03,-9.80363560e+00,-6.95324995e-02,
 -2.27772131e-02, 6.28904357e-03]


--- Step 2802 ---
qpos:
[-0.03076704, 0.41916307,-0.11929943, 0.92112834,-0.12055338, 0.23688638,
 -0.24879051, 1.04521437,-0.0234161 , 1.32342195,-0.02789424, 0.95477363,
  1.1131687 , 0.00539445, 1.24721813, 0.04552846, 0.06427908,-0.07857636,
  0.1497671 , 0.9683274 ,-0.03985566,-0.07725824, 0.23406138]

qacc:
[ 7.32440302e+00,-3.84356294e+00, 4.55983828e+01,-1.57315078e+02,
  6.23033345e+01,-2.06146846e+01, 8.63672307e+01,-2.24382761e+02,
  1.20041107e+01,-1.43634750e+01, 5.61312894e+01,-5.07189311e+01,
 -8.59423454e-01, 8.69198175e-01,-7.72846900e+00, 2.67532551e+01,
 -8.26129853e-02, 9.43091197e-01, 1.49412117e-01,-8.56611768e+00,
  1.82439343e+00, 6.03019586e+00]

qfrc_actuator:
[ 0.0226882 , 0.34111444, 0.09807119, 0.0234474 , 0.1118891 , 0.7230528 ,
  0.228465  ,-0.10071072, 0.03334806, 0.04885384, 0.01481583, 0.0016613 ,
  0.02257783,-0.00128577, 0.        ,-0.00150893, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.28109992, -0.03217455,  0.27925251, -0.03217455,  0.45860404,
        0.02045144,  0.27925251,  0.02045144,  0.28345627,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004859820237806027
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71389816, -0.68787915, -0.13104077, -0.09436346, -0.09092426,
        0.99137698, -0.69386234,  0.72010767,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07118171, -0.03666803,  0.13781248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008643563030209545
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97389954, -0.18000126, -0.13827231, -0.17821403,  0.98366638,
       -0.02530247,  0.1405683 ,  0.        , -0.99007098])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09488047, -0.08595968,  0.12593154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.50364644, -1.00588144,  1.11765609, -1.00588144,  8.75896624,
        6.52972912,  1.11765609,  6.52972912,  7.38034983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001068511589281152
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.68707532e-02,  9.66742316e-01, -2.54336897e-01,  7.06660445e-03,
        2.54238707e-01,  9.67115682e-01,  9.99613938e-01, -2.77844251e-02,
        8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05597101, -0.11599167,  0.20226214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005642298869340395
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.91919628e-14,  9.83839256e-14,  1.00000000e+00, -4.83969841e-27,
        1.00000000e+00, -9.83839256e-14, -1.00000000e+00,  0.00000000e+00,
        4.91919628e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03740955, -0.06419338,  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:
[ 3.11472735e-02, 2.39170669e-01, 1.10396193e-01, 1.20558807e-02,
  1.61319072e-01, 6.90912591e-01, 2.37097622e-01,-1.78789560e-01,
  1.57313986e-01, 5.40920548e-02, 1.59604676e-02, 5.74585767e-05,
 -1.20081497e-04,-2.04609084e-05, 5.31771184e-06, 1.31604450e-04,
 -3.71693337e-03, 4.69213009e-03,-9.80376524e+00,-6.94831208e-02,
 -2.28442699e-02, 6.37621652e-03]


--- Step 2803 ---
qpos:
[-0.03094781, 0.42091338,-0.11964341, 0.92129553,-0.12149376, 0.23733231,
 -0.24901038, 1.04670973,-0.02577377, 1.32264065,-0.02811487, 0.95477185,
  1.1136884 , 0.00539878, 1.24736422, 0.0455277 , 0.06425102,-0.07866342,
  0.14976029, 0.96818659,-0.03919422,-0.07768827, 0.23461261]

qacc:
[ 7.56410195e+00,-1.34227322e+01, 6.16950572e+01,-1.60319792e+02,
  6.57246237e+01,-3.59894321e+01, 8.18487376e+01,-1.90473450e+02,
  1.44081656e+01,-1.50129643e+01, 5.94843625e+01,-3.79346485e+01,
 -7.66596583e-01, 6.94987953e-01, 1.93556552e+00,-6.12732282e+00,
 -7.47293306e-02, 9.07239014e-01, 1.43754354e-01,-8.37943054e+00,
  2.00689308e+00, 5.35882811e+00]

qfrc_actuator:
[ 0.02297895, 0.34143937, 0.09842455, 0.02328724, 0.1128626 , 0.72391109,
  0.22867835,-0.10219196, 0.03572773, 0.04961298, 0.01507334, 0.00176511,
  0.02254297,-0.00128081, 0.        ,-0.00154148, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.29062519, -0.03139451,  0.28892453, -0.03139451,  0.48122646,
        0.02071071,  0.28892453,  0.02071071,  0.29287562,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000509447976964802
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71274273, -0.68884164, -0.13226863, -0.09510914, -0.09191976,
        0.99121391, -0.69494752,  0.71906046,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07104811, -0.03669784,  0.13789494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009247703651050971
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97367588, -0.18062917, -0.13902654, -0.17881556,  0.98355127,
       -0.02553222,  0.14135159,  0.        , -0.98995946])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09484229, -0.08600478,  0.12597817])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010372057953798501
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.02439008,  0.96708597, -0.25327822,  0.00638569,  0.2531977 ,
        0.96739348,  0.99968212, -0.02521216,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05596766, -0.11619208,  0.20219994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000564479569554216
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.0374072 , -0.06419294,  0.06198819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10943439e-02, 2.39092285e-01, 1.10755740e-01, 1.23740157e-02,
  1.61127344e-01, 6.92103433e-01, 2.37357142e-01,-1.79550741e-01,
  1.58279187e-01, 5.45511503e-02, 1.58009923e-02, 1.54003416e-04,
 -9.97295972e-05,-2.90883822e-05, 1.20763322e-05,-2.56177961e-05,
 -3.77772035e-03, 4.63097597e-03,-9.80389240e+00,-6.94346886e-02,
 -2.29093875e-02, 6.46224867e-03]


--- Step 2804 ---
qpos:
[-0.03112156, 0.42265489,-0.11998843, 0.92145383,-0.12240865, 0.23774453,
 -0.24923948, 1.04819184,-0.02809215, 1.32186735,-0.02832661, 0.95477011,
  1.11420717, 0.00540361, 1.24751023, 0.04552757, 0.06422273,-0.07874688,
  0.14975404, 0.96804186,-0.03855022,-0.07811768, 0.23517327]

qacc:
[ 7.55373219e+00,-2.14707425e+01, 7.60736113e+01,-1.62935846e+02,
  6.79220085e+01,-3.27452558e+01, 8.04878706e+01,-1.88157560e+02,
  1.66721318e+01,-1.34382787e+01, 5.63988768e+01,-5.33081062e+01,
 -1.01157255e+00, 1.24026830e+00,-1.96451181e+00, 6.90583640e+00,
 -5.75282068e-02, 8.98609672e-01, 1.40886067e-01,-8.07851803e+00,
  2.00726339e+00, 5.71088535e+00]

qfrc_actuator:
[ 0.02322151, 0.34137919, 0.09875699, 0.02318309, 0.1138081 , 0.72496413,
  0.22890114,-0.10354634, 0.03807823, 0.05039348, 0.01532733, 0.00175611,
  0.02250871,-0.00124409, 0.        ,-0.00150715, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.30065896, -0.03038479,  0.29911967, -0.03038479,  0.50986756,
        0.02125156,  0.29911967,  0.02125156,  0.30281771,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005334186968977455
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.71157074, -0.6898194 , -0.1334776 , -0.09583631, -0.09290678,
        0.99105183, -0.69604776,  0.71799549,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07091529, -0.03672728,  0.13797754])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009273686615785849
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9742795 , -0.17657229, -0.140006  , -0.17477692,  0.98428767,
       -0.02511581,  0.14224094,  0.        , -0.98983206])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09480099, -0.08600878,  0.12602069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010036600049427372
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19435343e-02,  9.67414731e-01, -2.52244363e-01,  5.72010049e-03,
        2.52179498e-01,  9.67663568e-01,  9.99742848e-01, -2.26768218e-02,
       -8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05596497, -0.11638909,  0.20213828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005647438697077567
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82943848e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.82943848e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03740485, -0.06419249,  0.06198819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.09809293e-02, 2.39076320e-01, 1.11122441e-01, 1.27313725e-02,
  1.60840457e-01, 6.95146188e-01, 2.38144632e-01,-1.80220770e-01,
  1.58932413e-01, 5.48960480e-02, 1.55124043e-02, 6.27057149e-05,
 -9.11976319e-05, 5.12028545e-06,-3.08951150e-06, 3.31837563e-05,
 -3.82621592e-03, 4.56792146e-03,-9.80402242e+00,-6.93849752e-02,
 -2.29704523e-02, 6.54721325e-03]


--- Step 2805 ---
qpos:
[-0.03128913, 0.42438339,-0.12033451, 0.92160356,-0.12329715, 0.23812901,
 -0.24947592, 1.04966109,-0.03036673, 1.32110375,-0.02852949, 0.95476847,
  1.11472506, 0.00540886, 1.2476562 , 0.04552785, 0.06419429,-0.0788268 ,
  0.14974833, 0.96789308,-0.03792301,-0.07854627, 0.23574418]

qacc:
[ 6.60907081e+00,-2.64401131e+01, 8.48348613e+01,-1.63544227e+02,
  7.00852193e+01,-2.95183098e+01, 7.86164815e+01,-1.86185040e+02,
  1.85936273e+01,-1.09942023e+01, 5.09768485e+01,-4.89118870e+01,
 -9.43349052e-01, 1.12192236e+00,-1.20241572e+00, 4.29691228e+00,
 -3.61061250e-02, 8.87277127e-01, 1.35548206e-01,-7.70858673e+00,
  2.01434336e+00, 6.11167512e+00]

qfrc_actuator:
[ 0.02339682, 0.3412376 , 0.0990951 , 0.02302709, 0.11470829, 0.72632115,
  0.22914974,-0.10497937, 0.04039231, 0.05123731, 0.01555908, 0.00176914,
  0.02246421,-0.0012243 , 0.        ,-0.00148688, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.31082383, -0.02961672,  0.30940961, -0.02961672,  0.54765048,
        0.02266907,  0.30940961,  0.02266907,  0.31299372,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005574387385347404
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.10384768e-01, -6.90809336e-01, -1.34669756e-01, -9.65468329e-02,
       -9.38863791e-02,  9.90890537e-01, -6.97160090e-01,  7.16915482e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07078374, -0.03675639,  0.13805983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009296023885952099
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97488703, -0.17237546, -0.1410035 , -0.17060026,  0.98503132,
       -0.02467489,  0.14314621,  0.        , -0.98970155])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09476242, -0.08601064,  0.12606113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009684123378011163
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.01953639,  0.96772946, -0.25123301,  0.00507082,  0.25118183,
        0.96792664,  0.99979629, -0.02018375,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05596306, -0.11658236,  0.2020771 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005650186517293654
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.91232909e-14, -9.82465819e-14,  1.00000000e+00, -4.82619543e-27,
        1.00000000e+00,  9.82465819e-14, -1.00000000e+00,  0.00000000e+00,
       -4.91232909e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03740252, -0.06419203,  0.06198818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.07995246e-02, 2.39322201e-01, 1.11499571e-01, 1.30183358e-02,
  1.60464050e-01, 6.98173223e-01, 2.38850446e-01,-1.80993134e-01,
  1.59282729e-01, 5.53416861e-02, 1.52999502e-02, 7.37504289e-05,
 -8.91327040e-05, 1.30067450e-07,-2.55418662e-06, 2.06686333e-05,
 -3.88357878e-03, 4.51905909e-03,-9.80414415e+00,-6.93381320e-02,
 -2.30319709e-02, 6.63091464e-03]


--- Step 2806 ---
qpos:
[-0.03145072, 0.42610656,-0.12068438, 0.9217443 ,-0.12415856, 0.23849019,
 -0.24971845, 1.05111779,-0.03259372, 1.32035108,-0.02872381, 0.9547669 ,
  1.1152422 , 0.00541413, 1.24780223, 0.04552735, 0.0641658 ,-0.07890326,
  0.14974313, 0.96774029,-0.03731194,-0.07897366, 0.23632545]

qacc:
[ 6.37164920e+00,-1.00700720e+01, 4.47134674e+01,-1.40725205e+02,
  7.18411085e+01,-2.67259577e+01, 7.59517783e+01,-1.83460159e+02,
  2.01993084e+01,-8.63621996e+00, 4.52949092e+01,-4.51171940e+01,
 -6.68022802e-01, 5.79296653e-01, 2.50790175e+00,-8.47828265e+00,
 -1.28202303e-02, 8.64527377e-01, 1.26817331e-01,-7.33411145e+00,
  2.12930500e+00, 6.14422429e+00]

qfrc_actuator:
[ 0.02351207, 0.34194251, 0.09945477, 0.02293201, 0.11558798, 0.72788586,
  0.22939789,-0.10652569, 0.0426643 , 0.05198996, 0.01573846, 0.00177756,
  0.02241891,-0.00123253, 0.        ,-0.00152833, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.32097744, -0.02849152,  0.31971042, -0.02849152,  0.58276473,
        0.02332961,  0.31971042,  0.02332961,  0.3230565 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005812702446321397
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.09185593e-01, -6.91810378e-01, -1.35846221e-01, -9.72416190e-02,
       -9.48591762e-02,  9.90729935e-01, -6.98283511e-01,  7.15821303e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07065381, -0.03678522,  0.13814153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009352868642655153
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97515735, -0.16809546, -0.14426383, -0.16628565,  0.98577072,
       -0.02460014,  0.14634623,  0.        , -0.98923343])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09473018, -0.08601059,  0.12608092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009319031397036758
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.01717235,  0.96803104, -0.25024192,  0.00443846,  0.25020255,
        0.96818334,  0.99984269, -0.01773667,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05596201, -0.11677157,  0.20201659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005653020235456274
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.90986667e-14, -9.81973333e-14,  1.00000000e+00, -4.82135814e-27,
        1.00000000e+00,  9.81973333e-14, -1.00000000e+00,  0.00000000e+00,
       -4.90986667e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03740019, -0.06419156,  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:
[ 3.06010302e-02, 2.40624993e-01, 1.11898128e-01, 1.33508867e-02,
  1.60023600e-01, 7.01111889e-01, 2.39462080e-01,-1.81898081e-01,
  1.59365011e-01, 5.56112266e-02, 1.50370889e-02, 7.70071306e-05,
 -9.00834104e-05,-2.88488275e-05,-3.72190708e-06,-4.16853892e-05,
 -3.95120651e-03, 4.48562880e-03,-9.80425690e+00,-6.92942261e-02,
 -2.30943050e-02, 6.71333432e-03]


--- Step 2807 ---
qpos:
[-0.0316069 , 0.42783953,-0.12104314, 0.92187506,-0.12499261, 0.23883209,
 -0.24996595, 1.05256222,-0.03477012, 1.31960711,-0.02891146, 0.95476366,
  1.1157585 , 0.00541936, 1.24794844, 0.04552468, 0.06413727,-0.07897645,
  0.14973841, 0.96758404,-0.03671665,-0.07939946, 0.23691504]

qacc:
[ 5.67853076e+00, 2.12966699e+01,-3.09352341e+01,-1.00661582e+02,
  7.23651605e+01,-2.41005010e+01, 7.31967661e+01,-1.80824071e+02,
  2.14744789e+01,-9.39588374e+00, 4.77489658e+01,-6.58342747e+01,
 -8.20143589e-01, 7.05493498e-01, 6.88691153e+00,-2.35736601e+01,
 -1.09118473e-02, 8.17071226e-01, 1.20857325e-01,-7.18648073e+00,
  2.34072537e+00, 5.08644134e+00]

qfrc_actuator:
[ 0.02358901, 0.34400499, 0.09979505, 0.02284181, 0.1164441 , 0.72963508,
  0.22964744,-0.10808188, 0.04487198, 0.05268281, 0.01590093, 0.00167668,
  0.02236783,-0.00123958, 0.        ,-0.0016413 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.33125654, -0.02715793,  0.33014139, -0.02715793,  0.62122675,
        0.02385339,  0.33014139,  0.02385339,  0.33321875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006053447533813953
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70796955, -0.69282663, -0.13700501, -0.09791871, -0.09582431,
        0.99057035, -0.69942193,  0.714709  ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07052503, -0.03681377,  0.13822302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009392204220742516
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74941305e-01, -1.68304789e-01, -1.45474913e-01, -1.66461868e-01,
        9.85735004e-01, -2.48384448e-02,  1.47580143e-01, -3.46944695e-18,
       -9.89050101e-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([ 0.09470284, -0.08604775,  0.12611656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000894554906398369
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48545976e-02,  9.68320293e-01, -2.49269234e-01,  3.82348546e-03,
        2.49239909e-01,  9.68434225e-01,  9.99882354e-01, -1.53387781e-02,
       -4.33680869e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05596188, -0.11695648,  0.20195692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005655950287807021
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47219694e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.47219694e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03739787, -0.06419109,  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:
[ 3.03731916e-02, 2.42902877e-01, 1.12414145e-01, 1.37091721e-02,
  1.59523742e-01, 7.04012816e-01, 2.40011874e-01,-1.82828817e-01,
  1.59194245e-01, 5.57593355e-02, 1.47720609e-02,-2.74032530e-05,
 -1.03377032e-04,-3.61939563e-05,-1.12398927e-05,-1.16846737e-04,
 -4.02157758e-03, 4.46135912e-03,-9.80436529e+00,-6.92515301e-02,
 -2.31560917e-02, 6.79453510e-03]


--- Step 2808 ---
qpos:
[-0.03176022, 0.42958271,-0.12141269, 0.92199566,-0.12579924, 0.23915961,
 -0.25021705, 1.05399464,-0.03689788, 1.31888007,-0.02909179, 0.95475916,
  1.11627403, 0.00542405, 1.24809436, 0.04552234, 0.06410862,-0.07904657,
  0.14973417, 0.96742492,-0.03613688,-0.0798237 , 0.23751069]

qacc:
[ 2.97786727e+00, 2.65004555e+01,-4.68825499e+01,-8.98372801e+01,
  7.24097716e+01,-2.11113783e+01, 7.07348369e+01,-1.79347526e+02,
  2.06509431e+01, 2.89629241e-01, 2.83896751e+01,-4.95886372e+01,
 -2.25758330e-01,-2.97445002e-01,-1.40832540e+00, 4.32794553e+00,
 -2.88644208e-02, 7.65808202e-01, 1.18232572e-01,-7.13924255e+00,
  2.37297593e+00, 3.91592056e+00]

qfrc_actuator:
[ 0.0236589 , 0.3462299 , 0.10014805, 0.02261711, 0.11723947, 0.7314648 ,
  0.22991691,-0.10960377, 0.04703681, 0.05347965, 0.01608722, 0.00165395,
  0.02231331,-0.00128139, 0.        ,-0.00161795, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.34196386, -0.02641141,  0.3409424 , -0.02641141,  0.68540357,
        0.02660487,  0.3409424 ,  0.02660487,  0.34402483,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006305040532653371
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70673247, -0.69386302, -0.13814242, -0.09857484, -0.09677981,
        0.99041237, -0.70057991,  0.71357395,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07039647, -0.036842  ,  0.13830509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009406554797313296
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74643283e-01, -1.69400116e-01, -1.46198740e-01, -1.67525876e-01,
        9.85547361e-01, -2.51292678e-02,  1.48342684e-01,  3.46944695e-18,
       -9.88936018e-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([ 0.0946777 , -0.08609129,  0.12615509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.44132869,  1.19843868,  0.80073287,  1.19843868,  2.6735504 ,
       -1.84423819,  0.80073287, -1.84423819,  4.20155804,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008568464087294155
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.01258678,  0.96859776, -0.24831422,  0.00322653,  0.24829326,
        0.96867954,  0.99991558, -0.01299375,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05596255, -0.11713694,  0.20189782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005658964766315222
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.96188361e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.96188361e-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([ 0.03739557, -0.06419061,  0.06198816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01681655e-02, 2.44584861e-01, 1.13198168e-01, 1.39822692e-02,
  1.58950653e-01, 7.06794444e-01, 2.40527258e-01,-1.83739216e-01,
  1.58830630e-01, 5.61226371e-02, 1.46257973e-02, 3.29264730e-05,
 -1.15624337e-04,-7.60637170e-05,-2.31877416e-05, 1.43066054e-05,
 -4.07128230e-03, 4.42658051e-03,-9.80448037e+00,-6.92058736e-02,
 -2.32127773e-02, 6.87470629e-03]


--- Step 2809 ---
qpos:
[-0.0319112 , 0.43132598,-0.12179281, 0.92210659,-0.12657857, 0.23947721,
 -0.25047049, 1.05541527,-0.03897856, 1.31817647,-0.02926366, 0.95475412,
  1.11678887, 0.00542775, 1.24823975, 0.04552327, 0.06407974,-0.07911386,
  0.1497304 , 0.96726356,-0.03557248,-0.08024658, 0.23810984]

qacc:
[ 2.43117434e+00, 1.35587552e+01,-2.19991680e+01,-9.76076639e+01,
  7.19645699e+01,-1.83858036e+01, 6.84720012e+01,-1.77949406e+02,
  1.99921630e+01, 7.03808210e+00, 1.52600766e+01,-3.40620463e+01,
  3.73010314e-01,-1.26794808e+00,-1.07316442e+01, 3.62665358e+01,
 -5.85701513e-02, 7.11293897e-01, 1.18560010e-01,-7.17036706e+00,
  2.32705450e+00, 2.59781205e+00]

qfrc_actuator:
[ 0.02376044, 0.34767807, 0.1004964 , 0.02247564, 0.11804065, 0.73322137,
  0.23016343,-0.11106491, 0.04921088, 0.05423842, 0.01626673, 0.00166062,
  0.02226741,-0.00134353, 0.        ,-0.00144342, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.35302533, -0.02519296,  0.35212526, -0.02519296,  0.73320326,
        0.0272    ,  0.35212526,  0.0272    ,  0.35497137,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006567582285292139
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70547721, -0.69491642, -0.13925901, -0.09921077, -0.09772561,
        0.99025599, -0.70175432,  0.71241903,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07026817, -0.03687003,  0.13838765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009419501298967315
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9743388 , -0.17051648, -0.14692867, -0.16861015,  0.98535482,
       -0.02542613,  0.14911245,  0.        , -0.98882024])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09465397, -0.08613387,  0.12619264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.40600244,  1.16189341,  0.79173643,  1.16189341,  2.01551105,
       -0.89446942,  0.79173643, -0.89446942,  2.71865913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008186891334111293
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.01036584,  0.96886365, -0.2473778 ,  0.00264653,  0.24736365,
        0.9689191 ,  0.99994277, -0.01069835,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05596362, -0.11731307,  0.20184   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005662124368218946
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.90197209e-14, -9.80394418e-14,  1.00000000e+00, -4.80586607e-27,
        1.00000000e+00,  9.80394418e-14, -1.00000000e+00,  0.00000000e+00,
       -4.90197209e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03739328, -0.06419013,  0.06198815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01216862e-02, 2.45470924e-01, 1.14073021e-01, 1.43472379e-02,
  1.58380071e-01, 7.09258842e-01, 2.40950780e-01,-1.84601268e-01,
  1.58573927e-01, 5.60364167e-02, 1.44392631e-02, 1.02638621e-04,
 -1.22400537e-04,-1.10900992e-04,-1.26619049e-05, 1.71574265e-04,
 -4.09791378e-03, 4.37896208e-03,-9.80460000e+00,-6.91574662e-02,
 -2.32639744e-02, 6.95384996e-03]


--- Step 2810 ---
qpos:
[-0.03205848, 0.43306332,-0.12218394, 0.92220817,-0.12733092, 0.23978878,
 -0.25072518, 1.05682432,-0.04101225, 1.31749821,-0.02942652, 0.95474863,
  1.1173029 , 0.00543065, 1.24838512, 0.04552558, 0.06405049,-0.07917852,
  0.14972711, 0.96710067,-0.03502334,-0.08066831, 0.23870963]

qacc:
[ 3.83455854e+00, 7.43833328e+00,-1.24615329e+01,-9.73460242e+01,
  7.09874559e+01,-1.59472289e+01, 6.63195259e+01,-1.76532417e+02,
  1.99556131e+01, 8.19990836e+00, 1.42435286e+01,-3.30666926e+01,
 -2.11122765e-02,-7.10070741e-01,-4.23269196e+00, 1.47013509e+01,
 -9.11156587e-02, 6.53914538e-01, 1.20197382e-01,-7.24277797e+00,
  2.30094616e+00, 1.12139208e+00]

qfrc_actuator:
[ 0.0238981 , 0.34882601, 0.10082829, 0.02242321, 0.1188167 , 0.73486434,
  0.23039638,-0.1123785 , 0.0513371 , 0.05492554, 0.01643812, 0.00164921,
  0.0222267 ,-0.0013817 , 0.        ,-0.00137655, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.3640479 , -0.02347142,  0.36329047, -0.02347142,  0.75550086,
        0.02529094,  0.36329047,  0.02529094,  0.36568189,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006834061898165454
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.04212764e-01, -6.95976917e-01, -1.40358519e-01, -9.98305083e-02,
       -9.86629793e-02,  9.90100745e-01, -7.02935454e-01,  7.11253645e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07014077, -0.03689785,  0.13847004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009431468216499978
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74028843e-01, -1.71648443e-01, -1.47663895e-01, -1.69709314e-01,
        9.85158268e-01, -2.57281275e-02,  1.49888500e-01, -3.46944695e-18,
       -9.88702907e-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([ 0.09463121, -0.08617549,  0.12622942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.36402554,  1.12190422,  0.77581996,  1.12190422,  1.77272455,
       -0.59101487,  0.77581996, -0.59101487,  2.21868527,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007800609989528918
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.18937718e-03,  9.69118123e-01, -2.46460946e-01,  2.08260431e-03,
        2.46452146e-01,  9.69152724e-01,  9.99964298e-01, -8.45003783e-03,
       -4.33680869e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0559646 , -0.11748496,  0.20178397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005665482229913477
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.89906675e-14,  9.79813350e-14,  1.00000000e+00,  4.80017100e-27,
        1.00000000e+00, -9.79813350e-14, -1.00000000e+00,  0.00000000e+00,
       -4.89906675e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.037391  , -0.06418964,  0.06198815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01374396e-02, 2.46562099e-01, 1.14919562e-01, 1.47774491e-02,
  1.57790478e-01, 7.11387315e-01, 2.41297941e-01,-1.85327186e-01,
  1.58347515e-01, 5.55527557e-02, 1.41885087e-02, 1.18659336e-04,
 -1.28202217e-04,-9.88669243e-05, 1.00861684e-05, 7.41183833e-05,
 -4.09848687e-03, 4.31546536e-03,-9.80472396e+00,-6.91061281e-02,
 -2.33092912e-02, 7.03202515e-03]


--- Step 2811 ---
qpos:
[-0.03220177, 0.43478921,-0.12258587, 0.92230081,-0.12805676, 0.240099  ,
 -0.2509802 , 1.05822192,-0.042999  , 1.31684694,-0.02957882, 0.95474351,
  1.11781589, 0.00543328, 1.24853068, 0.04552734, 0.06402075,-0.0792408 ,
  0.14972431, 0.96693694,-0.0344893 ,-0.08108916, 0.23930731]

qacc:
[ 4.15224280e+00, 3.90644273e-01, 7.30267459e-01,-9.95450723e+01,
  6.96526441e+01,-1.22589608e+01, 6.14872335e+01,-1.74560947e+02,
  1.99347235e+01, 7.60081863e+00, 1.71893299e+01,-2.73888296e+01,
 -7.00586302e-01, 3.52850918e-01, 1.98734992e+00,-6.42127585e+00,
 -1.25277872e-01, 5.96118268e-01, 1.21592275e-01,-7.29794703e+00,
  2.22833426e+00,-2.90838640e-01]

qfrc_actuator:
[ 0.0240729 , 0.34992406, 0.10120823, 0.02226796, 0.11954934, 0.73718481,
  0.23062102,-0.11367006, 0.05334485, 0.05555841, 0.01663619, 0.00168033,
  0.02217849,-0.00138753, 0.        ,-0.00140918, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.37471292, -0.02238929,  0.37404344, -0.02238929,  0.78904156,
        0.02480066,  0.37404344,  0.02480066,  0.37619742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007099209059931057
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70294713, -0.69703586, -0.14144379, -0.10043728, -0.09959267,
        0.98994629, -0.70411483,  0.71008613,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07001464, -0.03692538,  0.13855182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009442806380797477
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73714451e-01, -1.72789719e-01, -1.48404449e-01, -1.70817152e-01,
        9.84958737e-01, -2.60343525e-02,  1.50670727e-01, -3.46944695e-18,
       -9.88584004e-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([ 0.09460903, -0.08621614,  0.12626562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.31659265,  1.07702919,  0.75724786,  1.07702919,  1.60665308,
       -0.41255125,  0.75724786, -0.41255125,  1.90336187,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007411386225938812
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00605727,  0.96936138, -0.24556428,  0.00153443,  0.24555949,
        0.96938031,  0.99998048, -0.0062486 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05596506, -0.11765266,  0.20172984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005669043608889923
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79197816e-14, -9.79197816e-14,  1.00000000e+00, -9.58828364e-27,
        1.00000000e+00,  9.79197816e-14, -1.00000000e+00,  0.00000000e+00,
       -9.79197816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03738874, -0.06418914,  0.06198814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01228156e-02, 2.47904841e-01, 1.15836694e-01, 1.50885219e-02,
  1.57173788e-01, 7.13998163e-01, 2.41582539e-01,-1.86041346e-01,
  1.58007285e-01, 5.49200255e-02, 1.39362854e-02, 1.71623824e-04,
 -1.35733423e-04,-6.44383069e-05, 7.81384780e-06,-2.83317640e-05,
 -4.06997848e-03, 4.23282764e-03,-9.80485362e+00,-6.90513454e-02,
 -2.33484763e-02, 7.10931435e-03]


--- Step 2812 ---
qpos:
[-0.03234031, 0.43649539,-0.12299736, 0.92238516,-0.12875669, 0.24041214,
 -0.25123467, 1.05960818,-0.04493918, 1.31622214,-0.02972067, 0.95473817,
  1.1183278 , 0.00543576, 1.24867638, 0.04552771, 0.06399035,-0.07930093,
  0.149722  , 0.96677308,-0.03397025,-0.08150945, 0.23990008]

qacc:
[ 4.91002209e+00,-1.25184596e+01, 2.80728214e+01,-1.08530678e+02,
  6.79061832e+01,-8.94385832e+00, 5.72987147e+01,-1.73075890e+02,
  1.97829928e+01, 6.13942799e+00, 2.23275897e+01,-3.83588763e+01,
 -8.86007138e-01, 6.45741910e-01, 4.51127940e+00,-1.53042844e+01,
 -1.62267408e-01, 5.38235711e-01, 1.23627689e-01,-7.38332649e+00,
  2.14382029e+00,-1.74558765e+00]

qfrc_actuator:
[ 0.02430371, 0.3505385 , 0.1016212 , 0.02210761, 0.12026334, 0.73960774,
  0.23087576,-0.11505043, 0.05528054, 0.0561647 , 0.01684513, 0.00166533,
  0.02212582,-0.00139191, 0.        ,-0.0014824 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.38475616, -0.02139589,  0.38416079, -0.02139589,  0.81220651,
        0.0238069 ,  0.38416079,  0.0238069 ,  0.38608208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007358659853476681
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70168753, -0.69808552, -0.14251743, -0.10103403, -0.10051539,
        0.98979229, -0.70528486,  0.70892402,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06989006, -0.03695257,  0.13863261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0094539133510431
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97339669, -0.17393434, -0.14915001, -0.17192776,  0.98475725,
       -0.02634386,  0.15145865,  0.        , -0.98846359])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09458701, -0.08625585,  0.12630146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.26507299,  1.03065478,  0.73359417,  1.03065478,  1.46522746,
       -0.28120474,  0.73359417, -0.28120474,  1.66014839,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007021057450328634
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00396925,  0.96959366, -0.24468831,  0.00100168,  0.24468626,
        0.96960179,  0.99999162, -0.00409369,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05596456, -0.11781624,  0.20167773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005672828381556722
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.8927226e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.8927226e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0373865 , -0.06418865,  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:
[ 3.01484676e-02, 2.49040603e-01, 1.16777018e-01, 1.53744069e-02,
  1.56561629e-01, 7.16478446e-01, 2.41851189e-01,-1.86851112e-01,
  1.57597781e-01, 5.41779682e-02, 1.36182022e-02, 1.38439723e-04,
 -1.36236384e-04,-5.46474919e-05,-5.41940425e-06,-7.50765420e-05,
 -4.01458471e-03, 4.13237186e-03,-9.80498710e+00,-6.89935773e-02,
 -2.33822608e-02, 7.18574889e-03]


--- Step 2813 ---
qpos:
[-0.03247402, 0.43817599,-0.1234171 , 0.92246184,-0.1294314 , 0.24073071,
 -0.25148785, 1.06098322,-0.04683446, 1.31562621,-0.02985187, 0.95473246,
  1.1188386 , 0.00543817, 1.24882204, 0.04552719, 0.06395921,-0.07935912,
  0.14972018, 0.96660969,-0.03346596,-0.08192934, 0.24048558]

qacc:
[ 4.99759605e+00,-2.26131638e+01, 5.01379053e+01,-1.15219666e+02,
  6.60388063e+01,-7.54580838e+00, 5.64771407e+01,-1.72741454e+02,
  1.90692133e+01, 8.58078854e+00, 1.84466738e+01,-3.80276388e+01,
 -8.92284294e-01, 6.80558445e-01, 2.68568484e+00,-9.32127636e+00,
 -1.86993301e-01, 4.85354402e-01, 1.23055230e-01,-7.37598695e+00,
  2.11158093e+00,-2.96181799e+00]

qfrc_actuator:
[ 0.02447701, 0.35071583, 0.10203932, 0.02201815, 0.12095618, 0.74141381,
  0.23114782,-0.11651512, 0.05722558, 0.05678026, 0.01698545, 0.0016586 ,
  0.02207053,-0.00139546, 0.        ,-0.00152564, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.39389094, -0.02001234,  0.39338223, -0.02001234,  0.84218148,
        0.02280567,  0.39338223,  0.02280567,  0.39505112,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007606475272497925
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.70044271, -0.69911661, -0.14358264, -0.10162441, -0.10143201,
        0.98963833, -0.70643647,  0.70777646,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06976751, -0.03697936,  0.13871189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009465131538757476
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73076620e-01, -1.75076050e-01, -1.49900860e-01, -1.73034951e-01,
        9.84554913e-01, -2.66557508e-02,  1.52252411e-01, -3.46944695e-18,
       -9.88341643e-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([ 0.09456472, -0.08629462,  0.12633714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.21090362,  0.97996912,  0.7113003 ,  0.97996912,  1.32153353,
       -0.15241649,  0.7113003 , -0.15241649,  1.42089011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006631581445113603
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92543741e-03,  9.69815183e-01, -2.43833559e-01,  4.84097732e-04,
        2.43833078e-01,  9.69817094e-01,  9.99998029e-01, -1.98536139e-03,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05596268, -0.1179758 ,  0.20162752])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000567685358000225
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.88925339e-14, -9.77850678e-14,  1.00000000e+00, -4.78095974e-27,
        1.00000000e+00,  9.77850678e-14, -1.00000000e+00,  0.00000000e+00,
       -4.88925339e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03738427, -0.06418814,  0.06198812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00797936e-02, 2.50152772e-01, 1.17660654e-01, 1.56987226e-02,
  1.55959414e-01, 7.18128049e-01, 2.42093734e-01,-1.87750738e-01,
  1.57215687e-01, 5.34712515e-02, 1.32359058e-02, 1.43249225e-04,
 -1.37166851e-04,-5.09356602e-05,-1.63251117e-05,-4.93073526e-05,
 -3.93221803e-03, 4.01335239e-03,-9.80512442e+00,-6.89328051e-02,
 -2.34108705e-02, 7.26139989e-03]


--- Step 2814 ---
qpos:
[-0.03260309, 0.43983084,-0.12384461, 0.92253117,-0.13008164, 0.24105657,
 -0.25173908, 1.06234714,-0.04868646, 1.31506213,-0.02997136, 0.95472707,
  1.11934836, 0.00544027, 1.24896743, 0.04552747, 0.06392724,-0.07941557,
  0.14971885, 0.96644736,-0.03297615,-0.08234887, 0.24106168]

qacc:
[ 4.78320305e+00,-2.35684936e+01, 5.22125811e+01,-1.12796676e+02,
  6.39613247e+01,-6.68712579e+00, 5.64019591e+01,-1.72691731e+02,
  1.83914795e+01, 1.07869974e+01, 1.45609213e+01,-2.85439221e+01,
 -5.58900765e-01, 1.63074238e-01,-2.78684723e+00, 9.25135599e+00,
 -2.05263924e-01, 4.34469592e-01, 1.21012071e-01,-7.31923373e+00,
  2.10954149e+00,-4.06953559e+00]

qfrc_actuator:
[ 0.02459607, 0.35096421, 0.10248079, 0.02195615, 0.12162663, 0.74302362,
  0.23141155,-0.11795497, 0.05914153, 0.05737065, 0.01709798, 0.00169257,
  0.02201369,-0.00141625, 0.        ,-0.00147983, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.40196432, -0.01848409,  0.40153911, -0.01848409,  0.87339171,
        0.02170127,  0.40153911,  0.02170127,  0.4029633 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007838785591493628
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69921923, -0.70012235, -0.14464151, -0.10221096, -0.10234298,
        0.98948413, -0.707563  ,  0.70665027,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06964728, -0.03700572,  0.13878932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00947665824993311
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72755085e-01, -1.76209488e-01, -1.50657759e-01, -1.74133395e-01,
        9.84352689e-01, -2.69693240e-02,  1.53052621e-01,  3.46944695e-18,
       -9.88218040e-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([ 0.0945419 , -0.08633247,  0.12637277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.15522801,  0.92707402,  0.68926447,  0.92707402,  1.20745062,
       -0.07024042,  0.68926447, -0.07024042,  1.24970273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006243240790531747
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.58902488e-05,  9.70026119e-01, -2.43000665e-01, -1.90112209e-05,
        2.43000664e-01,  9.70026122e-01,  9.99999997e-01,  7.82352630e-05,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05595908, -0.1181315 ,  0.20157934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005681116025468974
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.77117013e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.77117013e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03738206, -0.06418763,  0.06198811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99522107e-02, 2.51630689e-01, 1.18501895e-01, 1.60197284e-02,
  1.55368401e-01, 7.19456056e-01, 2.42289899e-01,-1.88631124e-01,
  1.56888808e-01, 5.26189418e-02, 1.28166371e-02, 1.95366449e-04,
 -1.38396070e-04,-6.72854503e-05,-1.78024515e-05, 3.99310903e-05,
 -3.82879107e-03, 3.88006943e-03,-9.80526420e+00,-6.88697128e-02,
 -2.34358000e-02, 7.33628383e-03]


--- Step 2815 ---
qpos:
[-0.03272712, 0.4414653 ,-0.12428069, 0.92259315,-0.13070827, 0.24139142,
 -0.2519878 , 1.06370001,-0.05049685, 1.31453055,-0.03008013, 0.9547211 ,
  1.11985722, 0.00544203, 1.24911285, 0.04552692, 0.06389437,-0.07947048,
  0.149718  , 0.96628668,-0.03250059,-0.08276811, 0.24162615]

qacc:
[ 5.15514069e+00,-1.45746467e+01, 3.15687715e+01,-9.97605833e+01,
  6.15819998e+01,-5.80673864e+00, 5.60685096e+01,-1.72525241e+02,
  1.76743266e+01, 1.27172129e+01, 1.11844232e+01,-3.67412635e+01,
 -5.53749058e-01, 1.75977120e-01, 2.59652830e+00,-8.90909116e+00,
 -2.24905940e-01, 3.85141072e-01, 1.19942960e-01,-7.30400428e+00,
  2.12190377e+00,-5.22499165e+00]

qfrc_actuator:
[ 0.02471635, 0.35163843, 0.10292133, 0.02191338, 0.12229207, 0.74461816,
  0.23166911,-0.11930451, 0.06100593, 0.05794916, 0.01715301, 0.00166165,
  0.02197728,-0.00142938, 0.        ,-0.00152395, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.40899402, -0.01679244,  0.40864915, -0.01679244,  0.88931947,
        0.0197378 ,  0.40864915,  0.0197378 ,  0.4098051 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000805533699703614
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69802039, -0.70109959, -0.14569453, -0.10279461, -0.10324807,
        0.98932962, -0.70866127,  0.70554887,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06952932, -0.03703164,  0.13886489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009488633595678198
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72432884e-01, -1.77329687e-01, -1.51421495e-01, -1.75218163e-01,
        9.84151504e-01, -2.72839356e-02,  1.53859943e-01,  3.46944695e-18,
       -9.88092667e-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([ 0.09451834, -0.0863694 ,  0.12640844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.09903782,  0.87549403,  0.66437515,  0.87549403,  1.10786371,
       -0.01163049,  0.66437515, -0.01163049,  1.11436415,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005856214408948265
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03664162e-03,  9.70226662e-01, -2.42190167e-01, -5.08389954e-04,
        2.42189633e-01,  9.70228799e-01,  9.99997797e-01,  2.09913541e-03,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05595342, -0.11828348,  0.20153346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005685598172175815
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.76346719e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.76346719e-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([ 0.03737987, -0.06418712,  0.06198811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98354507e-02, 2.53544053e-01, 1.19318977e-01, 1.63432606e-02,
  1.54810076e-01, 7.20675860e-01, 2.42447613e-01,-1.89425953e-01,
  1.56590434e-01, 5.16060296e-02, 1.22865100e-02, 1.48068552e-04,
 -1.22204246e-04,-6.47520580e-05,-7.90782108e-06,-4.50710903e-05,
 -3.70747734e-03, 3.73467978e-03,-9.80540587e+00,-6.88045999e-02,
 -2.34579125e-02, 7.41042396e-03]


--- Step 2816 ---
qpos:
[-0.03284636, 0.44308244,-0.12472575, 0.92264785,-0.1313122 , 0.24173642,
 -0.25223356, 1.0650419 ,-0.05226715, 1.31403412,-0.03017686, 0.95471553,
  1.12036533, 0.00544327, 1.24925813, 0.04552651, 0.06386056,-0.07952403,
  0.14971762, 0.96612815,-0.03203893,-0.08318708, 0.24217725]

qacc:
[ 4.88044697e+00,-9.49003476e+00, 1.97197717e+01,-9.11609761e+01,
  5.91436587e+01,-5.41401936e+00, 5.64390566e+01,-1.72622995e+02,
  1.70363882e+01, 1.43899928e+01, 7.87953309e+00,-2.39197811e+01,
 -2.49802575e-01,-2.47199608e-01,-6.15183492e-01, 1.85067169e+00,
 -2.38131060e-01, 3.38666803e-01, 1.17226212e-01,-7.20196209e+00,
  2.11330762e+00,-6.14044592e+00]

qfrc_actuator:
[ 0.02481735, 0.35243105, 0.10336524, 0.0219206 , 0.12292782, 0.74598587,
  0.23188613,-0.12068426, 0.06282377, 0.0585249 , 0.01720535, 0.00169911,
  0.02194248,-0.00145551, 0.        ,-0.0015142 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.41510599, -0.01472434,  0.41484476, -0.01472434,  0.91313204,
        0.01767675,  0.41484476,  0.01767675,  0.4157334 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008258783796679199
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.96847165e-01, -7.02047799e-01, -1.46740984e-01, -1.03375079e-01,
       -1.04146577e-01,  9.89174951e-01, -7.09730668e-01,  7.04473121e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06941321, -0.03705704,  0.13893891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009501168689514356
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97211085, -0.1784314 , -0.15219309, -0.17628404,  0.98395235,
       -0.02759892,  0.15467526,  0.        , -0.98796537])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09449385, -0.08640543,  0.12644423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([1.04320588, 0.82285086, 0.64124486, 0.82285086, 1.02381515,
       0.02488236, 0.64124486, 0.02488236, 1.01127663, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0005470934857705676
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.95806143e-03,  9.70416976e-01, -2.41402624e-01, -9.84606095e-04,
        2.41400617e-01,  9.70425048e-01,  9.99991682e-01,  4.07868844e-03,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05594543, -0.11843193,  0.20148984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005690263385803862
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75546253e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.75546253e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03737769, -0.06418661,  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:
[ 2.96798890e-02, 2.55307956e-01, 1.20180165e-01, 1.67176904e-02,
  1.54265628e-01, 7.21582724e-01, 2.42536767e-01,-1.90255087e-01,
  1.56330040e-01, 5.05574883e-02, 1.18028115e-02, 2.15506694e-04,
 -1.11876502e-04,-7.31529307e-05,-1.35382334e-05, 5.15734952e-06,
 -3.56813417e-03, 3.57649531e-03,-9.80555030e+00,-6.87373095e-02,
 -2.34772765e-02, 7.48387405e-03]


--- Step 2817 ---
qpos:
[-0.0329614 , 0.44467973,-0.12517886, 0.92269569,-0.13189437, 0.24209193,
 -0.25247584, 1.06637291,-0.05399766, 1.31357172,-0.03026109, 0.95471052,
  1.12087276, 0.00544387, 1.24940335, 0.04552586, 0.06382571,-0.07957641,
  0.1497177 , 0.96597221,-0.03159086,-0.08360596, 0.24271332]

qacc:
[ 4.26315255e+00,-1.45429505e+01, 3.12025273e+01,-9.39082245e+01,
  5.65533303e+01,-6.03813512e+00, 5.87783763e+01,-1.73225430e+02,
  1.69079179e+01, 1.19094359e+01, 1.38929140e+01,-2.66270010e+01,
 -1.38876581e-01,-4.34469498e-01, 6.33297126e-01,-2.35517992e+00,
 -2.56818702e-01, 2.94330961e-01, 1.16476775e-01,-7.13649317e+00,
  2.04174045e+00,-7.01063887e+00]

qfrc_actuator:
[ 0.02492278, 0.35299803, 0.10383274, 0.02190741, 0.12351946, 0.74698196,
  0.23216612,-0.12202453, 0.06459853, 0.05906558, 0.01732148, 0.00172357,
  0.02190868,-0.00148913, 0.        ,-0.00152602, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.42038812, -0.01281566,  0.42019273, -0.01281566,  0.94033942,
        0.01585825,  0.42019273,  0.01585825,  0.42087179,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008450674065898991
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69570079, -0.70296607, -0.14778067, -0.10395251, -0.1050381 ,
        0.98902016, -0.71077021,  0.70342427,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06929869, -0.03708193,  0.13901155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009514329717897467
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97178965, -0.1795104 , -0.15297349, -0.17732683,  0.98375608,
       -0.02791376,  0.15549941,  0.        , -0.98783599])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09446827, -0.08644057,  0.12648018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.98840925, 0.77371235, 0.61507888, 0.77371235, 0.9581635 ,
       0.03804636, 0.61507888, 0.03804636, 0.94055045, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0005087587905640503
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.00584202,  0.97059727, -0.24063834, -0.00144837,  0.24063398,
        0.97061485,  0.99998189,  0.00601889,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05593484, -0.11857698,  0.20144872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005695075517981318
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46208293e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.46208293e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03737553, -0.06418609,  0.06198809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.95410813e-02, 2.56694114e-01, 1.21085043e-01, 1.70676390e-02,
  1.53721877e-01, 7.22060062e-01, 2.42665478e-01,-1.91048187e-01,
  1.56101887e-01, 4.93415494e-02, 1.13176965e-02, 2.19679720e-04,
 -1.07567607e-04,-8.06597693e-05,-9.75639871e-06,-1.41646447e-05,
 -3.41675972e-03, 3.41035296e-03,-9.80569497e+00,-6.86687162e-02,
 -2.34951764e-02, 7.55661630e-03]


--- Step 2818 ---
qpos:
[-0.0330718 , 0.44625463,-0.12563904, 0.9227371 ,-0.13245586, 0.24245814,
 -0.25271413, 1.06769315,-0.05568855, 1.31314004,-0.03033342, 0.95470514,
  1.12137938, 0.00544425, 1.24954858, 0.04552438, 0.06378975,-0.07962778,
  0.14971825, 0.96581936,-0.03115614,-0.08402492, 0.24323254]

qacc:
[ 4.70239058e+00,-1.97003707e+01, 4.29302563e+01,-9.65255179e+01,
  5.36959997e+01,-6.93274387e+00, 6.16681009e+01,-1.73964525e+02,
  1.68379468e+01, 7.62333597e+00, 2.45081156e+01,-4.45099399e+01,
 -5.65093151e-01, 2.95340378e-01, 2.54426893e+00,-8.78441978e+00,
 -2.78526989e-01, 2.49986375e-01, 1.16709706e-01,-7.11435525e+00,
  1.97040789e+00,-7.95673525e+00]

qfrc_actuator:
[ 0.02504728, 0.35327929, 0.10428156, 0.02191999, 0.12411202, 0.74776839,
  0.23244669,-0.12331906, 0.06629622, 0.05950127, 0.01745286, 0.00168665,
  0.02187549,-0.0014914 , 0.        ,-0.00156821, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.42485256, -0.01076646,  0.42471611, -0.01076646,  0.94125504,
        0.01309069,  0.42471611,  0.01309069,  0.4251844 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008629473449150626
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69458501, -0.7038507 , -0.1488148 , -0.10452845, -0.10592284,
        0.98886508, -0.71177627,  0.70240625,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06918588, -0.03710631,  0.13908267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00952809474833782
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97146982, -0.18056253, -0.15376463, -0.17834237,  0.98356351,
       -0.0282281 ,  0.15633421,  0.        , -0.98770421])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09444151, -0.08647484,  0.1265163 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.93760492, 0.72970444, 0.58875667, 0.72970444, 0.90153734,
       0.04470212, 0.58875667, 0.04470212, 0.88220115, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0004707867404063718
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.68855844e-03,  9.70767852e-01, -2.39897195e-01, -1.89994524e-03,
        2.39889671e-01,  9.70798298e-01,  9.99968638e-01,  7.91983099e-03,
       -2.16840434e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05592142, -0.11871873,  0.20140998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005699994409441994
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.86940401e-14, -9.73880801e-14,  1.00000000e+00, -4.74221908e-27,
        1.00000000e+00,  9.73880801e-14, -1.00000000e+00,  0.00000000e+00,
       -4.86940401e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03737339, -0.06418556,  0.06198808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94512403e-02, 2.57921345e-01, 1.21925010e-01, 1.74227497e-02,
  1.53226918e-01, 7.22309133e-01, 2.42769646e-01,-1.91800455e-01,
  1.55811854e-01, 4.80759602e-02, 1.08238832e-02, 1.54733146e-04,
 -1.06530945e-04,-5.04686171e-05,-1.03380814e-05,-4.51713506e-05,
 -3.25521782e-03, 3.23747744e-03,-9.80583883e+00,-6.85991754e-02,
 -2.35118901e-02, 7.62868736e-03]


--- Step 2819 ---
qpos:
[-0.03317738, 0.44780457,-0.12610501, 0.92277256,-0.13299771, 0.24283521,
 -0.25294799, 1.06900271,-0.05734182, 1.31273975,-0.03039373, 0.9546993 ,
  1.121885  , 0.00544505, 1.24969353, 0.04552407, 0.06375263,-0.07967832,
  0.14971926, 0.96566999,-0.03073443,-0.08444411, 0.2437336 ]

qacc:
[ 4.87351281e+00,-2.56138478e+01, 5.69976592e+01,-1.00639213e+02,
  5.08870020e+01,-7.65589356e+00, 6.40456446e+01,-1.74582180e+02,
  1.59896369e+01, 8.01244973e+00, 2.44752693e+01,-4.59137009e+01,
 -9.65286829e-01, 1.10690182e+00,-3.85018883e+00, 1.30710804e+01,
 -2.91980540e-01, 2.11199277e-01, 1.14885499e-01,-7.01796842e+00,
  1.90648903e+00,-8.64631432e+00]

qfrc_actuator:
[ 0.02518112, 0.35332859, 0.10472142, 0.02189708, 0.12466198, 0.74847791,
  0.2326547 ,-0.12463517, 0.06794966, 0.05991693, 0.01753572, 0.00166687,
  0.02183739,-0.00145728, 0.        ,-0.00150368, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.42852762, -0.00901426,  0.4284328 , -0.00901426,  0.94380022,
        0.01084138,  0.4284328 ,  0.01084138,  0.42875572,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008793216522742919
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69350415, -0.70469749, -0.14984471, -0.10510461, -0.10680103,
        0.98870954, -0.7127447 ,  0.70142354,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06907486, -0.03713014,  0.13915213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009542410964600099
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71151901e-01, -1.81583233e-01, -1.54568804e-01, -1.79326095e-01,
        9.83375579e-01, -2.85415906e-02,  1.57181861e-01, -3.46944695e-18,
       -9.87569675e-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([ 0.0944135 , -0.08650826,  0.12655259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.89527362, 0.69063254, 0.56968548, 0.69063254, 0.84413465,
       0.06199603, 0.56968548, 0.06199603, 0.82011553, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0004333889275922844
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.49704198e-03,  9.70929028e-01, -2.39179071e-01, -2.33939347e-03,
        2.39167630e-01,  9.70975474e-01,  9.99952166e-01,  9.78092880e-03,
       -4.33680869e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05590496, -0.1188573 ,  0.20137326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005704970742923671
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.86515652e-14, -9.73031304e-14,  1.00000000e+00, -4.73394960e-27,
        1.00000000e+00,  9.73031304e-14, -1.00000000e+00,  0.00000000e+00,
       -4.86515652e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03737126, -0.06418503,  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:
[ 2.93484917e-02, 2.59044525e-01, 1.22707599e-01, 1.77204825e-02,
  1.52742514e-01, 7.22472135e-01, 2.42775091e-01,-1.92579703e-01,
  1.55485787e-01, 4.69559464e-02, 1.03122731e-02, 1.53629130e-04,
 -1.03918421e-04,-5.03694441e-06,-1.43985587e-05, 5.96828022e-05,
 -3.08308236e-03, 3.05706443e-03,-9.80598275e+00,-6.85284505e-02,
 -2.35273682e-02, 7.70015484e-03]


--- Step 2820 ---
qpos:
[-0.03327858, 0.44933928,-0.12657803, 0.92280179,-0.13352096, 0.24322386,
 -0.25317709, 1.07030162,-0.05896026, 1.31237463,-0.03044022, 0.95469457,
  1.12238951, 0.00544695, 1.24983834, 0.04552484, 0.06371431,-0.07972814,
  0.14972071, 0.96552439,-0.03032533,-0.08486351, 0.24421551]

qacc:
[ 4.39574659e+00,-1.02751101e+01, 2.32707656e+01,-8.30340604e+01,
  4.80712897e+01,-7.52160868e+00, 6.46030996e+01,-1.74796537e+02,
  1.48069751e+01, 1.07794730e+01, 1.82907201e+01,-2.49128877e+01,
 -1.50657193e+00, 2.13987750e+00,-3.34148525e+00, 1.17159495e+01,
 -2.97102639e-01, 1.76453898e-01, 1.10745188e-01,-6.86537321e+00,
  1.88404218e+00,-9.17959017e+00]

qfrc_actuator:
[ 0.02526525, 0.35429765, 0.1051752 , 0.0218017 , 0.12517917, 0.7495629 ,
  0.23287039,-0.12590674, 0.06963372, 0.06034311, 0.01760236, 0.00174637,
  0.0218017 ,-0.00138412, 0.        ,-0.00144778, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43147212, -0.00777333,  0.43140209, -0.00777333,  0.9562733 ,
        0.00945627,  0.43140209,  0.00945627,  0.43164251,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008940224246249692
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.92461617e-01, -7.05503143e-01, -1.50871548e-01, -1.05682464e-01,
       -1.07672842e-01,  9.88553375e-01, -7.13672282e-01,  7.00479745e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06896572, -0.0371534 ,  0.13921979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009557239584624186
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97083635, -0.1825691 , -0.15538758, -0.18027459,  0.98319302,
       -0.02885392,  0.15804382,  0.        , -0.9874321 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09438415, -0.08654084,  0.12658906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.85992322, 0.65498121, 0.55719617, 0.65498121, 0.79195073,
       0.07990131, 0.55719617, 0.07990131, 0.76599965, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003965503739601142
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12693579e-02,  9.71081002e-01, -2.38484150e-01, -2.76741310e-03,
        2.38468092e-01,  9.71146390e-01,  9.99932669e-01,  1.16041804e-02,
        4.33680869e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05588527, -0.11899287,  0.20133861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005709970397150821
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72179317e-14, -1.94435863e-13,  1.00000000e+00, -1.89026525e-26,
        1.00000000e+00,  1.94435863e-13, -1.00000000e+00,  0.00000000e+00,
       -9.72179317e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03736915, -0.0641845 ,  0.06198806])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91870494e-02, 2.61216893e-01, 1.23440881e-01, 1.79221982e-02,
  1.52277665e-01, 7.23001564e-01, 2.42766166e-01,-1.93318809e-01,
  1.55290237e-01, 4.58129815e-02, 9.77813194e-03, 2.56219735e-04,
 -8.92274410e-05, 4.76716309e-05,-4.16140630e-06, 5.64773560e-05,
 -2.90606838e-03, 2.87372214e-03,-9.80612503e+00,-6.84573291e-02,
 -2.35427379e-02, 7.77102218e-03]


--- Step 2821 ---
qpos:
[-0.03337494, 0.45087048,-0.12706043, 0.92282426,-0.13402674, 0.24362538,
 -0.25340111, 1.07158992,-0.06054606, 1.31204597,-0.0304717 , 0.95469203,
  1.1228931 , 0.0054495 , 1.24998296, 0.04552727, 0.06367478,-0.0797774 ,
  0.14972259, 0.96538289,-0.02992846,-0.08528318, 0.24467723]

qacc:
[ 4.81945619e+00, 1.01344730e+01,-2.32371116e+01,-5.92231509e+01,
  4.51095624e+01,-6.62310411e+00, 6.36884647e+01,-1.74731669e+02,
  1.38690320e+01, 1.11027474e+01, 1.70634490e+01,-1.21005653e+01,
 -1.01807265e+00, 1.33928886e+00,-5.17959051e+00, 1.79506926e+01,
 -3.04192673e-01, 1.41758918e-01, 1.07093020e-01,-6.72998256e+00,
  1.84839057e+00,-9.73072908e+00]

qfrc_actuator:
[ 0.02538909, 0.35612062, 0.10565865, 0.02177203, 0.12570538, 0.75101013,
  0.23308858,-0.12718287, 0.07128838, 0.0606705 , 0.01767039, 0.00186632,
  0.02175153,-0.0013594 , 0.        ,-0.00136194, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43388259, -0.00604053,  0.43384054, -0.00604053,  0.94631079,
        0.00713474,  0.43384054,  0.00713474,  0.43398193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009076122575378899
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.69145411, -0.7062716 , -0.1518935 , -0.10626034, -0.10853744,
        0.98839687, -0.71456277,  0.69957133,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06885778, -0.0371761 ,  0.13928625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00957260410400999
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97052368, -0.1835175 , -0.15622138, -0.18118525,  0.98301644,
       -0.02916468,  0.15892042,  0.        , -0.9872914 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09435339, -0.08657261,  0.12662574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.83018375, 0.6243241 , 0.54719693, 0.6243241 , 0.75044125,
       0.09098218, 0.54719693, 0.09098218, 0.72637768, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00036012508784063476
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.01300891,  0.97122389, -0.2378128 , -0.00318506,  0.23779147,
        0.97131101,  0.99991031,  0.01339315,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05586216, -0.11912563,  0.20130639])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005714974462156797
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45699211e-13, -9.71328072e-14,  1.00000000e+00, -1.41521733e-26,
        1.00000000e+00,  9.71328072e-14, -1.00000000e+00,  0.00000000e+00,
       -1.45699211e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03736705, -0.06418396,  0.06198805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90875972e-02, 2.63757189e-01, 1.24266054e-01, 1.82034492e-02,
  1.51874404e-01, 7.23857365e-01, 2.42742792e-01,-1.94064707e-01,
  1.55204628e-01, 4.43817000e-02, 9.15508630e-03, 3.21241709e-04,
 -8.37023559e-05, 1.78882141e-05,-5.51572509e-07, 8.73881960e-05,
 -2.72755558e-03, 2.69013237e-03,-9.80626534e+00,-6.83861630e-02,
 -2.35586986e-02, 7.84130290e-03]


--- Step 2822 ---
qpos:
[-0.03346723, 0.4523962 ,-0.12755183, 0.92284022,-0.13451618, 0.24404107,
 -0.25361969, 1.07286761,-0.06210203, 1.31175047,-0.03049197, 0.95468867,
  1.12339591, 0.00545199, 1.25012738, 0.04553203, 0.06363396,-0.07982622,
  0.1497249 , 0.96524578,-0.02954357,-0.08570333, 0.24511772]

qacc:
[ 4.04113054e+00, 6.91429735e+00,-1.64083093e+01,-6.07528152e+01,
  4.20874178e+01,-5.86870011e+00, 6.32388338e+01,-1.74913868e+02,
  1.26850096e+01, 1.19446835e+01, 1.51824612e+01,-4.30420421e+01,
 -4.05748421e-01, 2.10743052e-01,-7.35360464e+00, 2.53416852e+01,
 -3.21200086e-01, 1.10750593e-01, 1.06737451e-01,-6.68706719e+00,
  1.73488591e+00,-1.02823691e+01]

qfrc_actuator:
[ 0.02553453, 0.35763368, 0.10616507, 0.02174929, 0.12621293, 0.7524735 ,
  0.23330607,-0.12858175, 0.07284266, 0.06101203, 0.01764378, 0.00179597,
  0.0216927 ,-0.00138148, 0.        ,-0.00124139, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43591055, -0.00428028,  0.43588954, -0.00428028,  0.95892786,
        0.00513584,  0.43588954,  0.00513584,  0.43596098,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009206939895233456
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.90477881e-01, -7.07007231e-01, -1.52908701e-01, -1.06836438e-01,
       -1.09393996e-01,  9.88240319e-01, -7.15420346e-01,  6.98694303e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06875026, -0.03719817,  0.13935219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009588572286294658
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70214427e-01, -1.84425760e-01, -1.57070380e-01, -1.82055431e-01,
        9.82846447e-01, -2.94733977e-02,  1.59811719e-01, -3.46944695e-18,
       -9.87147514e-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([ 0.09432108, -0.08660362,  0.12666269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.80510865, 0.60055473, 0.53622192, 0.60055473, 0.71265852,
       0.10354176, 0.53622192, 0.10354176, 0.68914454, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00032405280557087587
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47180758e-02,  9.71357834e-01, -2.37165209e-01, -3.59312992e-03,
        2.37137989e-01,  9.71469332e-01,  9.99885227e-01,  1.51503247e-02,
        4.33680869e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05583546, -0.11925579,  0.20127673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005719963969925274
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45572118e-13, -9.70480785e-14,  1.00000000e+00, -1.41274943e-26,
        1.00000000e+00,  9.70480785e-14, -1.00000000e+00,  0.00000000e+00,
       -1.45572118e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03736496, -0.06418342,  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:
[ 2.89867457e-02, 2.65401894e-01, 1.25231708e-01, 1.85175130e-02,
  1.51507970e-01, 7.24664198e-01, 2.42703381e-01,-1.94934087e-01,
  1.55129075e-01, 4.29003361e-02, 8.37777609e-03, 1.41644044e-04,
 -9.64282673e-05,-3.63275376e-05, 4.82998018e-06, 1.24332047e-04,
 -2.54790350e-03, 2.50638872e-03,-9.80640382e+00,-6.83149072e-02,
 -2.35752805e-02, 7.91103286e-03]


--- Step 2823 ---
qpos:
[-0.03355692, 0.45390864,-0.12805018, 0.92285028,-0.13499034, 0.24447174,
 -0.25383257, 1.07413472,-0.06363054, 1.311488  ,-0.03050142, 0.95468421,
  1.12389781, 0.00545456, 1.25027195, 0.04553686, 0.06359181,-0.07987469,
  0.14972763, 0.96511324,-0.02917034,-0.08612423, 0.24553646]

qacc:
[ 2.57320109e+00,-7.48521773e+00, 1.65379508e+01,-7.47797618e+01,
  3.92443190e+01,-5.46673833e+00, 6.31515705e+01,-1.75067070e+02,
  1.16692078e+01, 1.22640266e+01, 1.45347260e+01,-4.59450705e+01,
 -7.70971412e-01, 6.94408577e-01, 9.81602787e-02, 1.38531776e-01,
 -3.33365292e-01, 8.48243324e-02, 1.05780423e-01,-6.57815239e+00,
  1.58601097e+00,-1.05653861e+01]

qfrc_actuator:
[ 0.02560302, 0.35841383, 0.10665312, 0.02173318, 0.12672118, 0.7538691 ,
  0.23355623,-0.12990805, 0.07436196, 0.06136851, 0.0175937 , 0.00173784,
  0.02164467,-0.00137794, 0.        ,-0.00124338, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43756626, -0.00255097,  0.43755882, -0.00255097,  0.98699805,
        0.00320319,  0.43755882,  0.00320319,  0.43758493,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009331394364871445
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68953559, -0.70770744, -0.15391831, -0.10741212, -0.11024283,
        0.98808358, -0.71624249,  0.69785148,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06864324, -0.03721966,  0.13941747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009605190952819795
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69909067e-01, -1.85291161e-01, -1.57935388e-01, -1.82882431e-01,
        9.82683665e-01, -2.97797068e-02,  1.60718443e-01,  3.46944695e-18,
       -9.87000295e-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([ 0.09428709, -0.0866339 ,  0.12669997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.78399304, 0.57857715, 0.52904968, 0.57857715, 0.68099022,
       0.11264553, 0.52904968, 0.11264553, 0.6608021 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00028829716444521625
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.01639824,  0.971483  , -0.2365415 , -0.00399216,  0.23650781,
        0.97162139,  0.99985757,  0.01687719,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05580512, -0.11938362,  0.20124919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005724929073468582
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93927822e-13, -9.69639109e-14,  1.00000000e+00, -1.88040000e-26,
        1.00000000e+00,  9.69639109e-14, -1.00000000e+00,  0.00000000e+00,
       -1.93927822e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03736289, -0.06418287,  0.06198803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.88474117e-02, 2.66412160e-01, 1.26159342e-01, 1.88268745e-02,
  1.51199074e-01, 7.25337579e-01, 2.42677855e-01,-1.95731938e-01,
  1.55157645e-01, 4.15984404e-02, 7.76747382e-03, 1.24120541e-04,
 -1.04633023e-04,-2.95098934e-05, 1.15388616e-05, 4.55474732e-06,
 -2.36787113e-03, 2.32267699e-03,-9.80654004e+00,-6.82437429e-02,
 -2.35923787e-02, 7.98026888e-03]


--- Step 2824 ---
qpos:
[-0.03364464, 0.45540178,-0.12855343, 0.92285506,-0.13545023, 0.24491792,
 -0.25403964, 1.07539124,-0.06513344, 1.31126022,-0.03049777, 0.95468054,
  1.12439904, 0.00545665, 1.25041667, 0.04554064, 0.0635483 ,-0.07992292,
  0.14973077, 0.96498531,-0.02880834,-0.08654607, 0.24593334]

qacc:
[ 1.97021511e+00,-1.96813262e+01, 4.52273180e+01,-8.68364504e+01,
  3.65668082e+01,-5.03974508e+00, 6.25763409e+01,-1.74854656e+02,
  1.08859481e+01, 1.16042442e+01, 1.54651167e+01,-2.56849004e+01,
 -3.14674767e-01,-1.27128053e-01, 3.42409589e+00,-1.16108062e+01,
 -3.39240172e-01, 6.32003144e-02, 1.03694053e-01,-6.41000850e+00,
  1.43954141e+00,-1.06456793e+01]

qfrc_actuator:
[ 0.02564292, 0.35872872, 0.10713172, 0.02168751, 0.12720663, 0.7551998 ,
  0.2337703 ,-0.13111555, 0.07590398, 0.06164982, 0.01757869, 0.00179417,
  0.02160316,-0.00141239, 0.        ,-0.0012998 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43884381, -0.00113583,  0.43884234, -0.00113583,  0.99693428,
        0.00144447,  0.43884234,  0.00144447,  0.43884755,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009445417411216528
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68863167, -0.7083677 , -0.15492458, -0.10798981, -0.11108477,
        0.9879263 , -0.71702485,  0.69704761,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06853721, -0.03724066,  0.13948165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00962247384734729
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96960784, -0.18611218, -0.15881715, -0.18366473,  0.9825285 ,
       -0.03008341,  0.16164126,  0.        , -0.98684958])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09425133, -0.08666349,  0.12673761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.76627472, 0.5577153 , 0.52548129, 0.5577153 , 0.65443302,
       0.11870227, 0.52548129, 0.11870227, 0.64029102, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00025278258297029607
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.80515417e-02,  9.71599545e-01, -2.35941657e-01, -4.38285072e-03,
        2.35900946e-01,  9.71767222e-01,  9.99827451e-01,  1.85759936e-02,
        8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05577101, -0.11950933,  0.20122374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005729857874676725
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03736082, -0.06418232,  0.06198802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.87536591e-02, 2.67348131e-01, 1.26975848e-01, 1.90751097e-02,
  1.50920925e-01, 7.25905051e-01, 2.42602879e-01,-1.96411871e-01,
  1.55328418e-01, 4.02285435e-02, 7.21139250e-03, 2.36459908e-04,
 -1.00913383e-04,-6.73581377e-05, 1.47252345e-07,-5.59463913e-05,
 -2.19245066e-03, 2.14316254e-03,-9.80667172e+00,-6.81735299e-02,
 -2.36108687e-02, 8.04901764e-03]


--- Step 2825 ---
qpos:
[-0.03372984, 0.45687432,-0.12906036, 0.92285494,-0.13589696, 0.24538031,
 -0.25424077, 1.07663719,-0.06661226, 1.31106505,-0.03048126, 0.95467742,
  1.12489949, 0.00545813, 1.25056196, 0.04553902, 0.06350339,-0.07997098,
  0.14973433, 0.96486218,-0.02845732,-0.08696906, 0.24630782]

qacc:
[ 2.50437615e+00,-2.39059239e+01, 5.60544435e+01,-9.03534558e+01,
  3.36968809e+01,-4.47367558e+00, 6.17942741e+01,-1.74610414e+02,
  1.02411108e+01, 9.04903524e+00, 2.09666098e+01,-3.19143297e+01,
 -6.70388097e-01, 1.87579606e-01, 1.71917565e+01,-5.88149180e+01,
 -3.50364417e-01, 4.07832935e-02, 1.03045638e-01,-6.33682353e+00,
  1.32565775e+00,-1.09403958e+01]

qfrc_actuator:
[ 0.02571852, 0.35902434, 0.10764086, 0.02162587, 0.12765554, 0.75653829,
  0.23396033,-0.13231856, 0.07741499, 0.0619244 , 0.01761362, 0.00181121,
  0.02154959,-0.00145136, 0.        ,-0.00158307, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.39775706e-01,  4.37937770e-05,  4.39775704e-01,  4.37937770e-05,
        9.78518646e-01, -5.36491396e-05,  4.39775704e-01, -5.36491396e-05,
        4.39775712e-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: -0.0009545785549211909
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68776923, -0.70898485, -0.15592937, -0.10857144, -0.11192055,
        0.98776821, -0.71776439,  0.69628606,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06843251, -0.03726122,  0.13954437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009640422469804328
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96931088, -0.1868882 , -0.15971607, -0.18440171,  0.98238119,
       -0.03038439,  0.16258055,  0.        , -0.98669527])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09421376, -0.08669243,  0.12677564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.75152379, 0.54121219, 0.52141862, 0.54121219, 0.63241475,
       0.12363054, 0.52141862, 0.12363054, 0.62320011, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00021742986175370054
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.96804045e-02,  9.71707667e-01, -2.35365443e-01, -4.76597801e-03,
        2.35317185e-01,  9.71906944e-01,  9.99794963e-01,  2.02492683e-02,
        8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05573304, -0.11963308,  0.20120058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005734735602564572
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.83990502e-14, -9.67981003e-14,  1.00000000e+00, -4.68493612e-27,
        1.00000000e+00,  9.67981003e-14, -1.00000000e+00,  0.00000000e+00,
       -4.83990502e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03735877, -0.06418177,  0.06198801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.87263707e-02, 2.68566514e-01, 1.27720032e-01, 1.92770049e-02,
  1.50656728e-01, 7.26453066e-01, 2.42498443e-01,-1.97087541e-01,
  1.55560409e-01, 3.87677500e-02, 6.59154089e-03, 2.13796078e-04,
 -1.20357989e-04,-8.18082725e-05,-1.11751638e-05,-2.87491734e-04,
 -2.02488418e-03, 1.97057254e-03,-9.80679773e+00,-6.81047962e-02,
 -2.36313435e-02, 8.11729921e-03]


--- Step 2826 ---
qpos:
[-0.0338112 , 0.45832808,-0.12957069, 0.92285008,-0.1363317 , 0.24586004,
 -0.25443583, 1.07787254,-0.06806856, 1.31089993,-0.03045213, 0.95467445,
  1.12539888, 0.00545943, 1.2507072 , 0.04553403, 0.06345704,-0.08001898,
  0.1497383 , 0.96474412,-0.02811707,-0.08739331, 0.24665893]

qacc:
[ 3.77308180e+00,-2.20811088e+01, 5.26210417e+01,-8.66044210e+01,
  3.05446045e+01,-3.40061031e+00, 6.01619505e+01,-1.74365667e+02,
  9.57444902e+00, 5.67836979e+00, 2.87729130e+01,-4.19550031e+01,
 -9.72905617e-01, 7.28983963e-01, 1.02376378e+01,-3.57209268e+01,
 -3.61864138e-01, 1.45422551e-02, 1.01867580e-01,-6.30014404e+00,
  1.27461335e+00,-1.14497445e+01]

qfrc_actuator:
[ 0.02581419, 0.35931741, 0.10815133, 0.02168064, 0.12809568, 0.75810536,
  0.23413349,-0.13356791, 0.07888091, 0.06211215, 0.01765576, 0.00180459,
  0.02149415,-0.00145722, 0.        ,-0.00174915, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44042687,  0.00196438,  0.44042249,  0.00196438,  0.94104107,
       -0.00223285,  0.44042249, -0.00223285,  0.44043683,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009631485414861161
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68695   , -0.7095573 , -0.15693356, -0.10915807, -0.11275043,
        0.98760916, -0.71845961,  0.69556868,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06832916, -0.03728129,  0.13960561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009659035796549012
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96901842, -0.18761761, -0.16063291, -0.18509176,  0.98224214,
       -0.03068242,  0.16353697,  0.        , -0.98653721])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09417431, -0.08672076,  0.12681409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.73943973, 0.52711237, 0.51857851, 0.52711237, 0.61314132,
       0.12837681, 0.51857851, 0.12837681, 0.60895032, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00018223994768196432
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.02128586,  0.97180753, -0.23481275, -0.00514196,  0.23475645,
        0.97204062,  0.99976021,  0.02189811,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05569113, -0.11975501,  0.20117953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005739544132712937
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.8358502e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.8358502e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03735673, -0.06418122,  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:
[ 2.86919595e-02, 2.69848135e-01, 1.28406044e-01, 1.95767678e-02,
  1.50438156e-01, 7.27194832e-01, 2.42370754e-01,-1.97809730e-01,
  1.55823092e-01, 3.73247249e-02, 5.99008760e-03, 1.79552584e-04,
 -1.36350808e-04,-5.70843443e-05,-4.29046286e-05,-1.84806921e-04,
 -1.86196076e-03, 1.80169456e-03,-9.80692067e+00,-6.80367382e-02,
 -2.36531852e-02, 8.18520813e-03]


--- Step 2827 ---
qpos:
[-0.03388862, 0.45976286,-0.13008358, 0.9228408 ,-0.13675561, 0.246358  ,
 -0.25462476, 1.07909725,-0.06950509, 1.31076465,-0.03041107, 0.95467113,
  1.12589737, 0.00546033, 1.25085134, 0.04553405, 0.06340921,-0.080067  ,
  0.14974266, 0.9646313 ,-0.02778737,-0.08781889, 0.24698615]

qacc:
[ 3.88742024e+00,-2.40628319e+01, 5.80942011e+01,-8.74413468e+01,
  2.75733528e+01,-2.48175738e+00, 5.86212136e+01,-1.74141865e+02,
  8.40117699e+00, 6.41154997e+00, 2.69975735e+01,-4.57295780e+01,
 -1.24265074e-02,-5.01222273e-01,-1.68438878e+01, 5.65086357e+01,
 -3.67838596e-01,-5.36244654e-03, 9.99344352e-02,-6.22014964e+00,
  1.22036761e+00,-1.17302913e+01]

qfrc_actuator:
[ 0.02590185, 0.35947335, 0.10866379, 0.02175378, 0.12854423, 0.75969542,
  0.23431177,-0.13482305, 0.08036498, 0.06221956, 0.01760857, 0.00178398,
  0.02145362,-0.0014789 , 0.        ,-0.00147196, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44086694,  0.00394862,  0.44084926,  0.00394862,  0.92680994,
       -0.00435252,  0.44084926, -0.00435252,  0.44090592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009702906312840188
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.86175007e-01, -7.10084258e-01, -1.57937351e-01, -1.09750122e-01,
       -1.13574282e-01,  9.87449135e-01, -7.19109707e-01,  6.94896560e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06822697, -0.03730081,  0.13966549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009678348732376814
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68730950e-01, -1.88297825e-01, -1.61568175e-01, -1.85732316e-01,
        9.82111974e-01, -3.09770544e-02,  1.64510952e-01, -3.46944695e-18,
       -9.86375257e-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([ 0.09413286, -0.08674853,  0.126853  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.72978562, 0.51375107, 0.51831157, 0.51375107, 0.59236564,
       0.13621086, 0.51831157, 0.13621086, 0.59477325, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00014721841772525772
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28688281e-02,  9.71899247e-01, -2.34283740e-01, -5.51118032e-03,
        2.34218910e-01,  9.72168262e-01,  9.99723284e-01,  2.35235288e-02,
       -8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0556452 , -0.11987532,  0.20116032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000574425981774429
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.83188026e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.83188026e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0373547 , -0.06418067,  0.06198799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85843915e-02, 2.70901913e-01, 1.29078930e-01, 1.98857278e-02,
  1.50288108e-01, 7.27901631e-01, 2.42241021e-01,-1.98536694e-01,
  1.56182238e-01, 3.59288075e-02, 5.31226747e-03, 1.52511844e-04,
 -1.23919112e-04,-6.94063968e-05,-4.42924762e-05, 2.60539656e-04,
 -1.70103025e-03, 1.63399838e-03,-9.80704308e+00,-6.79685202e-02,
 -2.36760150e-02, 8.25281462e-03]


--- Step 2828 ---
qpos:
[-0.03396294, 0.46117943,-0.13059811, 0.92282731,-0.13716966, 0.2468741 ,
 -0.2548076 , 1.08031132,-0.07092547, 1.31066267,-0.03035771, 0.95466831,
  1.12639508, 0.00546065, 1.25099494, 0.04553932, 0.06335992,-0.08011509,
  0.14974741, 0.96452369,-0.02746786,-0.08824589, 0.24728975]

qacc:
[ 3.03970551e+00,-2.51078643e+01, 6.21762012e+01,-8.85162566e+01,
  2.50334486e+01,-2.48188977e+00, 5.85101841e+01,-1.74153509e+02,
  6.87025808e+00, 1.13935165e+01, 1.45661904e+01,-2.75903017e+01,
  1.74251023e-01,-7.99399009e-01,-1.66783679e+01, 5.71004659e+01,
 -3.65475197e-01,-1.54997150e-02, 9.69196538e-02,-6.05428962e+00,
  1.13557725e+00,-1.16012112e+01]

qfrc_actuator:
[ 0.02596529, 0.35971449, 0.1091957 , 0.02175079, 0.12899417, 0.76100742,
  0.23452613,-0.13604188, 0.08183593, 0.06239123, 0.01750341, 0.0018264 ,
  0.02141673,-0.00150978, 0.        ,-0.00120216, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44115093,  0.00533253,  0.4411187 ,  0.00533253,  0.93297207,
       -0.00594546,  0.4411187 , -0.00594546,  0.44122281,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009759929069174673
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6854452 , -0.710565  , -0.15894108, -0.11034814, -0.11439211,
        0.98728807, -0.71971395,  0.69427072,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0681259 , -0.03731975,  0.13972403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009698386928555418
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68448789e-01, -1.88927288e-01, -1.62522068e-01, -1.86321859e-01,
        9.81991079e-01, -3.12679558e-02,  1.65502591e-01,  3.46944695e-18,
       -9.86209355e-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([ 0.09408933, -0.08677578,  0.1268924 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.7223475 , 0.50024158, 0.5210991 , 0.50024158, 0.57052596,
       0.14574473, 0.5210991 , 0.14574473, 0.58243635, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00011222299624281198
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.44317096e-02,  9.71982823e-01, -2.33778705e-01, -5.87439388e-03,
        2.33704888e-01,  9.72289832e-01,  9.99684242e-01,  2.51280110e-02,
        8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0555952 , -0.11999423,  0.20114292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005748865507326784
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44840276e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.44840276e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03735267, -0.06418011,  0.06198798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84462976e-02, 2.72051368e-01, 1.29729808e-01, 2.01039361e-02,
  1.50196257e-01, 7.28285958e-01, 2.42144235e-01,-1.99225758e-01,
  1.56666219e-01, 3.46077998e-02, 4.61017011e-03, 2.12067633e-04,
 -1.15563341e-04,-7.98090059e-05, 7.25797243e-06, 2.78371119e-04,
 -1.54572654e-03, 1.47057033e-03,-9.80716361e+00,-6.79008078e-02,
 -2.37004267e-02, 8.32011712e-03]


--- Step 2829 ---
qpos:
[-0.03403402, 0.4625931 ,-0.13111697, 0.92280891,-0.13757496, 0.24740976,
 -0.25498437, 1.08151465,-0.07233209, 1.31059462,-0.03029165, 0.95466663,
  1.12689178, 0.00546106, 1.25113862, 0.0455471 , 0.06330916,-0.08016331,
  0.14975254, 0.96442147,-0.02715832,-0.08867428, 0.24756925]

qacc:
[ 3.14804027e+00, 4.99033883e-01, 4.97351032e+00,-6.08551338e+01,
  2.20964609e+01,-7.65623312e-01, 5.53420164e+01,-1.73656595e+02,
  5.84840948e+00, 1.22469498e+01, 1.14590803e+01,-1.77704199e+01,
 -6.76284443e-01, 5.54078053e-01,-7.44091802e+00, 2.63126860e+01,
 -3.67627967e-01,-3.33705421e-02, 9.35368959e-02,-5.97085629e+00,
  1.12736263e+00,-1.18731761e+01]

qfrc_actuator:
[ 0.02601347, 0.36122076, 0.10972165, 0.02173915, 0.12940608, 0.76303302,
  0.23470648,-0.13730568, 0.0832237 , 0.0625328 , 0.0174116 , 0.00188819,
  0.02137672,-0.00149259, 0.        ,-0.00108104, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44132753,  0.00671674,  0.44127641,  0.00671674,  0.91724031,
       -0.00724394,  0.44127641, -0.00724394,  0.44143779,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009803515206083294
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68475948, -0.7110008 , -0.15994472, -0.11095206, -0.11520396,
        0.98712597, -0.72027363,  0.69369006,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06802586, -0.03733818,  0.13978131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009719117214820792
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.68171925e-01, -1.89506273e-01, -1.63494638e-01, -1.86860660e-01,
        9.81879510e-01, -3.15550525e-02,  1.66511915e-01, -3.46944695e-18,
       -9.86039442e-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([ 0.09404376, -0.08680253,  0.12693231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.71696909, 0.48896472, 0.52436455, 0.48896472, 0.55348485,
       0.15244743, 0.52436455, 0.15244743, 0.57481338, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -7.696236252607912e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59785045e-02,  9.72058235e-01, -2.33297888e-01, -6.23272020e-03,
        2.33214618e-01,  9.72405314e-01,  9.99643072e-01,  2.67157163e-02,
        8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05554109, -0.12011197,  0.20112764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005753356369672946
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44727219e-13, -1.92969626e-13,  1.00000000e+00, -2.79279573e-26,
        1.00000000e+00,  1.92969626e-13, -1.00000000e+00,  0.00000000e+00,
       -1.44727219e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03735066, -0.06417956,  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:
[ 2.83359428e-02, 2.74428967e-01, 1.30329368e-01, 2.03018655e-02,
  1.50114973e-01, 7.29387092e-01, 2.42015362e-01,-1.99958712e-01,
  1.57247143e-01, 3.30832812e-02, 3.90318428e-03, 2.49579117e-04,
 -1.16010724e-04,-3.31649652e-05, 3.05117863e-05, 1.36727549e-04,
 -1.40135001e-03, 1.31615143e-03,-9.80727934e+00,-6.78348348e-02,
 -2.37272622e-02, 8.38708475e-03]


--- Step 2830 ---
qpos:
[-0.03410234, 0.46401455,-0.13164258, 0.92278502,-0.13797277, 0.247967  ,
 -0.25515504, 1.08270718,-0.07372507, 1.31055386,-0.03021455, 0.95466432,
  1.12738733, 0.00546212, 1.25128276, 0.04555363, 0.06325686,-0.08021175,
  0.14975804, 0.9643249 ,-0.02685871,-0.08910425, 0.2478236 ]

qacc:
[ 2.65011928e+00, 1.96520469e+01,-3.89271294e+01,-3.94321836e+01,
  1.88983108e+01, 1.57304370e+00, 5.11471434e+01,-1.72942684e+02,
  5.79936534e+00, 4.99291363e+00, 2.81865665e+01,-4.85589437e+01,
 -1.46911841e+00, 1.80349401e+00, 4.59826914e+00,-1.47792113e+01,
 -3.84619138e-01,-5.45733574e-02, 9.40295800e-02,-6.02387021e+00,
  1.05999729e+00,-1.24055125e+01]

qfrc_actuator:
[ 0.02606886, 0.36337156, 0.1102296 , 0.02174248, 0.12981011, 0.76538932,
  0.23488176,-0.13859211, 0.08457525, 0.06255358, 0.01737572, 0.00181873,
  0.02132956,-0.00144697, 0.        ,-0.001155  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44145423,  0.0083063 ,  0.44137607,  0.0083063 ,  0.91084969,
       -0.0088336 ,  0.44137607, -0.0088336 ,  0.44162047,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009842001848376222
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68411118, -0.71139894, -0.16094546, -0.11155895, -0.1160088 ,
        0.9869633 , -0.72079574,  0.69314754,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06792584, -0.03735606,  0.13983825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009740622222908705
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67900763e-01, -1.90033332e-01, -1.64485398e-01, -1.87347317e-01,
        9.81777639e-01, -3.18378694e-02,  1.67538342e-01,  3.46944695e-18,
       -9.85865561e-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([ 0.09399602, -0.08682886,  0.12697278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.71360532, 0.48260398, 0.52566714, 0.48260398, 0.54434437,
       0.15539492, 0.52566714, 0.15539492, 0.5709405 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -4.129331799420931e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.02751155,  0.97212545, -0.23284164, -0.00658688,  0.23274846,
        0.97251466,  0.99959978,  0.02828908,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05548281, -0.12022872,  0.20111454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005757737559149156
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64113954e-14, -9.64113954e-14,  1.00000000e+00, -9.29515716e-27,
        1.00000000e+00,  9.64113954e-14, -1.00000000e+00,  0.00000000e+00,
       -9.64113954e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03734865, -0.064179  ,  0.06198796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82254878e-02, 2.76685004e-01, 1.31044964e-01, 2.05500642e-02,
  1.50082356e-01, 7.30747584e-01, 2.41882052e-01,-2.00710599e-01,
  1.57912028e-01, 3.14063777e-02, 3.23198353e-03, 1.23261852e-04,
 -1.12455843e-04, 8.69245803e-06, 2.31095698e-05,-6.37991387e-05,
 -1.26274116e-03, 1.16602879e-03,-9.80739418e+00,-6.77692113e-02,
 -2.37556952e-02, 8.45379758e-03]


--- Step 2831 ---
qpos:
[-0.03416901, 0.46544004,-0.13217383, 0.92275587,-0.13836348, 0.24854552,
 -0.25531993, 1.08388889,-0.07509968, 1.31053156,-0.03012496, 0.95466089,
  1.12788188, 0.00546368, 1.25142741, 0.04555591, 0.063203  ,-0.08026028,
  0.14976395, 0.9642333 ,-0.02656886,-0.0895365 , 0.24805535]

qacc:
[ 1.57670162e+00, 1.23286498e+01,-2.16451397e+01,-4.79818287e+01,
  1.78481635e+01, 1.96416022e+00, 4.93969571e+01,-1.71558924e+02,
  7.81344269e+00,-1.13841841e+01, 6.85754187e+01,-8.35477400e+01,
 -1.46987821e+00, 1.76167473e+00, 1.37497672e+01,-4.66655155e+01,
 -3.91513536e-01,-2.42582251e-02, 1.01703533e-01,-5.92758886e+00,
  6.38971777e-01,-1.11120159e+01]

qfrc_actuator:
[ 0.02611002, 0.36494092, 0.11073092, 0.02177508, 0.13020715, 0.7671176 ,
  0.23505153,-0.13979899, 0.08597069, 0.06258373, 0.01731673, 0.0017251 ,
  0.02128349,-0.00142043, 0.        ,-0.00137877, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44155461,  0.01010522,  0.44143897,  0.01010522,  0.93140716,
       -0.01121348,  0.44143897, -0.01121348,  0.44181131,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009881008625045578
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.83496735e-01, -7.11763365e-01, -1.61941738e-01, -1.12167220e-01,
       -1.16805998e-01,  9.86800321e-01, -7.21284083e-01,  6.92639352e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06782514, -0.03737339,  0.13989548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00976300111692587
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96763581, -0.19050582, -0.16549463, -0.18777923,  0.98168607,
       -0.03211586,  0.16858203,  0.        , -0.98568763])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09394595, -0.08685479,  0.12701389])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.71228315, 0.48071357, 0.52560608, 0.48071357, 0.55092755,
       0.14757407, 0.52560608, 0.14757407, 0.57731352, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -6.113084970867989e-06
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.02904016,  0.97219233, -0.23237628, -0.00693817,  0.23227268,
        0.97262596,  0.99955417,  0.02985748,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05634519, -0.12025255,  0.20137329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005762008340887692
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.63399356e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.63399356e-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([ 0.03734665, -0.06417844,  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:
[ 2.81250450e-02, 2.77825404e-01, 1.31875248e-01, 2.08568706e-02,
  1.50104707e-01, 7.31378212e-01, 2.41741407e-01,-2.01378851e-01,
  1.58626347e-01, 3.00707000e-02, 2.62087441e-03, 6.14965244e-05,
 -1.00442008e-04, 2.91507798e-06,-3.51235201e-06,-2.25919333e-04,
 -1.12783994e-03, 1.01758414e-03,-9.80750949e+00,-6.77032370e-02,
 -2.37852193e-02, 8.52033253e-03]


--- Step 2832 ---
qpos:
[-0.03423753, 0.4668517 ,-0.1327146 , 0.92272474,-0.13877841, 0.24916276,
 -0.25547297, 1.08506033,-0.07516297, 1.31076225,-0.0301154 , 0.95464163,
  1.12837536, 0.0054661 , 1.25157193, 0.04555651, 0.06314168,-0.08032036,
  0.14976973, 0.96416997,-0.02626546,-0.08999315, 0.24816856]

qacc:
[-1.78621653e+00, 4.01405736e+00,-3.07043007e+01, 1.10461339e+01,
 -6.08996660e+01, 9.66046268e+00, 5.10934056e+01,-1.77649852e+02,
  5.57551210e+02, 5.20826255e+02,-1.26534860e+03, 7.52203308e+02,
 -1.51671453e+00, 2.00555726e+00, 5.04006817e+00,-1.75885513e+01,
 -1.86336980e+00,-2.88525076e+00,-3.27011564e-02,-1.42001347e+00,
 -1.06079507e+01,-6.15828031e+01]

qfrc_actuator:
[ 0.02614264, 0.36607328, 0.11128309, 0.0218272 , 0.13057964, 0.76860274,
  0.23521588,-0.14095381, 0.08738228, 0.06259967, 0.017238  , 0.00174198,
  0.02123809,-0.00136992, 0.        ,-0.00145814, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.01067027,  0.44155733,  0.01067027,  0.53531159,
       -0.00226246,  0.44155733, -0.00226246,  0.44174091,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010319991097174535
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68282509, -0.71218768, -0.16290677, -0.11274291, -0.11759104,
        0.98664147, -0.72183027,  0.69207013,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06772497, -0.03739147,  0.13995307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010282100163393839
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67740880e-01, -1.88968132e-01, -1.66639232e-01, -1.86227404e-01,
        9.81983220e-01, -3.20672529e-02,  1.69696618e-01, -6.93889390e-18,
       -9.85496351e-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([ 0.09389095, -0.08686429,  0.12705474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000576613760894254
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03734466, -0.06417789,  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:
[ 2.80716122e-02, 2.78715989e-01, 1.32700740e-01, 2.11707030e-02,
  1.50122237e-01, 7.31780126e-01, 2.41611199e-01,-2.01994574e-01,
  1.59119756e-01, 2.91620863e-02, 1.91668310e-03, 1.34654264e-04,
 -9.59625544e-05, 2.84109480e-05,-3.29718985e-05,-9.37808522e-05,
 -1.01705411e-03, 8.88202368e-04,-9.80760992e+00,-6.76427858e-02,
 -2.38186376e-02, 8.58654749e-03]


--- Step 2833 ---
qpos:
[-0.03430678, 0.46824889,-0.1332588 , 0.92269098,-0.13920226, 0.24979411,
 -0.25562215, 1.08622163,-0.075384  , 1.3108872 ,-0.03003357, 0.95464707,
  1.12886793, 0.00546913, 1.25171642, 0.04555476, 0.06307659,-0.08038373,
  0.14977597, 0.96411868,-0.02596711,-0.09046039, 0.24822934]

qacc:
[-6.86332083e-01,-1.34701589e+01, 2.66782155e+01,-4.31483230e+01,
 -2.23706040e+01,-1.55283548e+00, 4.80610244e+01,-1.58148653e+02,
 -6.70457018e+01,-2.91544961e+02, 7.32936181e+02,-2.81702206e+02,
 -1.30653681e+00, 1.65883426e+00, 7.17729077e+00,-2.48687542e+01,
 -9.42521317e-01,-8.23113973e-01, 1.13939828e-01,-5.95777066e+00,
 -3.24863593e+00,-2.66857496e+01]

qfrc_actuator:
[ 0.02615522, 0.36678216, 0.11183643, 0.02185437, 0.13098364, 0.76991605,
  0.23538635,-0.14209136, 0.08746777, 0.06232966, 0.01723496, 0.00178706,
  0.02119315,-0.00134109, 0.        ,-0.001576  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.01154655,  0.44153529,  0.01154655,  0.68630035,
       -0.00639688,  0.44153529, -0.00639688,  0.44185352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010168485916046467
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.82316357e-01, -7.12436052e-01, -1.63948957e-01, -1.13399484e-01,
       -1.18405311e-01,  9.86468823e-01, -7.22208381e-01,  6.91675541e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06762292, -0.03740937,  0.14000813])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010303610186302029
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67452505e-01, -1.89388687e-01, -1.67831990e-01, -1.86601639e-01,
        9.81902197e-01, -3.23713301e-02,  1.70925363e-01,  6.93889390e-18,
       -9.85283979e-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([ 0.09383203, -0.08689197,  0.12709632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.71451959, 0.5217586 , 0.48816616, 0.5217586 , 0.64294112,
       0.07650404, 0.48816616, 0.07650404, 0.63275103, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -5.343352792362635e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.03087764,  0.97241425, -0.23120791, -0.00733798,  0.23109144,
        0.97290436,  0.99949624,  0.03173759,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05617451, -0.12039531,  0.20136757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005771706476266486
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44267085e-13, -9.61780566e-14,  1.00000000e+00, -1.38753279e-26,
        1.00000000e+00,  9.61780566e-14, -1.00000000e+00,  0.00000000e+00,
       -1.44267085e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03734272, -0.06417734,  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:
[ 2.81732858e-02, 2.80076995e-01, 1.33722260e-01, 2.12969192e-02,
  1.51738303e-01, 7.31137130e-01, 2.41183233e-01,-2.02620628e-01,
  9.36404587e-02, 1.62135798e-02, 5.90974997e-03, 9.78527340e-04,
 -8.73231865e-05, 1.52166182e-05,-2.97015466e-05,-1.28197713e-04,
 -5.12030929e-04, 4.32057078e-04,-9.80780342e+00,-6.74348515e-02,
 -2.37990960e-02, 8.65735032e-03]


--- Step 2834 ---
qpos:
[-0.03437635, 0.46963125,-0.13380387, 0.9226549 ,-0.13963391, 0.25043727,
 -0.2557681 , 1.0873728 ,-0.07581268, 1.31099419,-0.02993251, 0.95464728,
  1.12935983, 0.00547207, 1.25186065, 0.04555225, 0.06300848,-0.08044935,
  0.14978262, 0.96407615,-0.02567398,-0.0909364 , 0.24825108]

qacc:
[-2.94909461e-01,-2.00472969e+01, 4.68444993e+01,-5.57698695e+01,
 -1.94669289e+01,-2.83811579e+00, 4.84764066e+01,-1.56599139e+02,
 -8.82893984e+01,-8.43367145e+01, 2.57081267e+02,-2.71130775e+02,
 -5.09762586e-01, 3.42001879e-01, 1.99044505e+00,-7.41692875e+00,
 -7.55411811e-01,-5.63325760e-01, 1.05946633e-01,-5.24747183e+00,
 -2.67491841e+00,-1.97788358e+01]

qfrc_actuator:
[ 0.02617316, 0.36706561, 0.11231715, 0.02185024, 0.13140094, 0.77088684,
  0.23552823,-0.14323232, 0.08770211, 0.06221662, 0.01715704, 0.00174386,
  0.0211485 ,-0.00136089, 0.        ,-0.0016091 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.01233482,  0.44151397,  0.01233482,  0.69093738,
       -0.00696347,  0.44151397, -0.00696347,  0.44188078,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010001859041097341
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68189221, -0.71259557, -0.16501685, -0.11408776, -0.11922476,
        0.98629075, -0.72250051,  0.69137038,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06752076, -0.03742691,  0.1400617 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.01032437417769073
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96699973, -0.19061098, -0.16905317, -0.18776328,  0.98166565,
       -0.03282522,  0.17221054,  0.        , -0.98506017])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09377164, -0.08692708,  0.12713789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.72499387, 0.49160408, 0.53286165, 0.49160408, 0.47843976,
       0.22746431, 0.53286165, 0.22746431, 0.51514131, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0001258709905243417
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.13373029e-02,  9.72556942e-01, -2.30544935e-01, -7.42466445e-03,
        2.30425349e-01,  9.73061680e-01,  9.99481289e-01,  3.22048474e-02,
       -8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05606412, -0.12043692,  0.20136359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005776959490418759
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80453008e-14, -9.60906015e-14,  1.00000000e+00,  4.61670185e-27,
        1.00000000e+00,  9.60906015e-14, -1.00000000e+00,  0.00000000e+00,
        4.80453008e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03734079, -0.06417679,  0.06198792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82240989e-02, 2.81045564e-01, 1.34365697e-01, 2.14237235e-02,
  1.52602233e-01, 7.31380914e-01, 2.41125606e-01,-2.03256379e-01,
  1.01761766e-01, 2.13871586e-02, 2.21831282e-03,-2.99498040e-04,
 -8.58113579e-05,-3.51919963e-05,-3.21262163e-05,-4.49665986e-05,
 -3.42052253e-04, 2.39270632e-04,-9.80794904e+00,-6.73233736e-02,
 -2.38265544e-02, 8.72998672e-03]


--- Step 2835 ---
qpos:
[-0.0344453 , 0.47100142,-0.13434795, 0.92261663,-0.14007291, 0.25111935,
 -0.25590197, 1.08851329,-0.07643761, 1.31111123,-0.02981348, 0.95464514,
  1.12985109, 0.00547437, 1.25200441, 0.04555165, 0.06293789,-0.08051647,
  0.14978969, 0.96403979,-0.02538592,-0.09142008, 0.24824425]

qacc:
[ 6.06707675e-01,-2.12500461e+01, 5.46620581e+01,-6.23075526e+01,
 -1.83558622e+01, 8.90043806e+00, 5.45043659e+01,-1.84527220e+02,
 -8.34373596e+01,-3.92483786e+01, 1.48610559e+02,-1.61626343e+02,
  7.46913877e-02,-6.69108952e-01,-6.53396321e+00, 2.17631536e+01,
 -6.21367184e-01,-3.73852366e-01, 1.01567558e-01,-4.62197377e+00,
 -2.42234036e+00,-1.44123095e+01]

qfrc_actuator:
[ 0.02621194, 0.36733072, 0.11282413, 0.0218991 , 0.1318464 , 0.77152452,
  0.23566981,-0.1443358 , 0.08813878, 0.06213453, 0.01709384, 0.0017565 ,
  0.02109871,-0.00140938, 0.        ,-0.00150323, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44142597,  0.01349532,  0.44121964,  0.01349532,  0.68728952,
       -0.00752008,  0.44121964, -0.00752008,  0.44165599,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009832653360368503
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68153434, -0.71268513, -0.16610494, -0.11480102, -0.12004822,
        0.98610808, -0.72272517,  0.69113553,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06741875, -0.03744418,  0.14011396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009843842782880037
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66696159e-01, -1.90966170e-01, -1.70383266e-01, -1.88067338e-01,
        9.81596619e-01, -3.31474652e-02,  1.73577682e-01, -6.93889390e-18,
       -9.84820181e-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([ 0.09370805, -0.08695579,  0.12717878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.73959989, 0.47986803, 0.56279185, 0.47986803, 0.46064132,
       0.23785579, 0.56279185, 0.23785579, 0.53679065, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00018275809084400315
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.03198494,  0.97267992, -0.22993636, -0.00755699,  0.22981214,
        0.97320567,  0.99945978,  0.03286555,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05594906, -0.12049349,  0.20135683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005781807307894959
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.80050167e-14,  9.60100333e-14,  1.00000000e+00, -4.60896325e-27,
        1.00000000e+00, -9.60100333e-14, -1.00000000e+00,  0.00000000e+00,
        4.80050167e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03733887, -0.06417625,  0.06198792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82757773e-02, 2.82013904e-01, 1.34908306e-01, 2.15883570e-02,
  1.53437665e-01, 7.31406524e-01, 2.41099674e-01,-2.03855717e-01,
  1.12582107e-01, 2.22039252e-02, 1.19378878e-03,-2.55603250e-05,
 -1.01833074e-04,-7.82630883e-05,-2.30016910e-05, 9.85489912e-05,
 -2.40309974e-04, 1.04988503e-04,-9.80806172e+00,-6.72320522e-02,
 -2.38669055e-02, 8.80311445e-03]


--- Step 2836 ---
qpos:
[-0.03451292, 0.47236629,-0.13489047, 0.922576  ,-0.14051848, 0.25183459,
 -0.25602537, 1.08964296,-0.07723894, 1.31124709,-0.02967695, 0.95464236,
  1.13034156, 0.00547614, 1.25214863, 0.04554725, 0.06286515,-0.0805845 ,
  0.14979716, 0.96400785,-0.02510322,-0.09191067, 0.24821588]

qacc:
[ 1.27980118e+00,-1.41329398e+01, 4.29660209e+01,-5.97495231e+01,
 -1.63421465e+01, 5.52638931e+00, 5.64601039e+01,-1.83339226e+02,
 -7.49968189e+01,-2.35934760e+01, 1.08000258e+02,-1.12350295e+02,
 -5.97983984e-01, 1.44512516e-01, 1.22113086e+01,-4.16166540e+01,
 -5.33993524e-01,-2.30028072e-01, 1.01715190e-01,-4.37057810e+00,
 -2.18945986e+00,-1.07673375e+01]

qfrc_actuator:
[ 0.02626242, 0.3680142 , 0.11338086, 0.02198054, 0.13227594, 0.77216127,
  0.23581881,-0.14535889, 0.0887685 , 0.06199692, 0.01697977, 0.00176634,
  0.02105119,-0.00143902, 0.        ,-0.0017069 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44068077,  0.01489228,  0.44042906,  0.01489228,  0.683523  ,
       -0.00821126,  0.44042906, -0.00821126,  0.44095841,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009670811451723291
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68122682, -0.7127209 , -0.16720926, -0.11553399, -0.12087529,
        0.98592143, -0.72289828,  0.69095447,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06731686, -0.03746119,  0.14016522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009863533767548059
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66483053e-01, -1.90804656e-01, -1.71767550e-01, -1.87860841e-01,
        9.81628027e-01, -3.33874414e-02,  1.74982320e-01, -6.93889390e-18,
       -9.84571576e-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([ 0.09363991, -0.08698114,  0.12722096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.7540384 , 0.47479805, 0.58578215, 0.47479805, 0.45688883,
       0.2408507 , 0.58578215, 0.2408507 , 0.55882003, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00022394453936683219
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.03281444,  0.97278381, -0.2293793 , -0.00773314,  0.22924891,
        0.97333711,  0.99943154,  0.03371333,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05583028, -0.1205638 ,  0.20134998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005786156256929603
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.79689355e-14, -9.59378710e-14,  1.00000000e+00, -4.60203754e-27,
        1.00000000e+00,  9.59378710e-14, -1.00000000e+00,  0.00000000e+00,
       -4.79689355e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03733695, -0.06417573,  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:
[ 2.82920167e-02, 2.83269391e-01, 1.35407858e-01, 2.17784447e-02,
  1.54235686e-01, 7.30074285e-01, 2.40637729e-01,-2.04346078e-01,
  1.23025068e-01, 2.15651542e-02, 1.81375823e-04, 1.01158930e-04,
 -1.17223973e-04,-7.59305619e-05,-2.49908995e-06,-2.01761078e-04,
 -1.82775138e-04, 8.91378500e-06,-9.80814370e+00,-6.71570278e-02,
 -2.39162578e-02, 8.87658423e-03]


--- Step 2837 ---
qpos:
[-0.03457834, 0.4737366 ,-0.13543217, 0.92253248,-0.14096982, 0.25257826,
 -0.2561396 , 1.09076175,-0.07819562, 1.31140441,-0.02952414, 0.95463953,
  1.13083117, 0.0054773 , 1.25229275, 0.04554113, 0.06279056,-0.08065298,
  0.14980504, 0.96397892,-0.02482623,-0.09240755, 0.24817161]

qacc:
[ 2.08819334e+00, 8.28308643e-01, 1.26885444e+01,-4.89126456e+01,
 -1.42827232e+01, 2.76694609e+00, 5.80451037e+01,-1.82173552e+02,
 -6.60471124e+01,-1.57933167e+01, 8.55566209e+01,-8.78366495e+01,
 -4.17496849e-01,-1.35906516e-01, 5.10304464e+00,-1.80096662e+01,
 -4.65334166e-01,-1.10639813e-01, 1.02176304e-01,-4.22207424e+00,
 -1.98292599e+00,-7.86125651e+00]

qfrc_actuator:
[ 0.02637221, 0.3693905 , 0.11393097, 0.02201156, 0.13268033, 0.77292969,
  0.23598679,-0.14647139, 0.08955496, 0.06183097, 0.01682846, 0.00177374,
  0.02099973,-0.00147494, 0.        ,-0.00178957, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43960925,  0.0160729 ,  0.43931533,  0.0160729 ,  0.67879469,
       -0.0087509 ,  0.43931533, -0.0087509 ,  0.43992942,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009526327027099554
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.80955307e-01, -7.12717639e-01, -1.68325388e-01, -1.16281226e-01,
       -1.21705023e-01,  9.85731487e-01, -7.23034263e-01,  6.90812170e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06721475, -0.03747798,  0.14021604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00988490104398465
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96627381, -0.19059269, -0.17317433, -0.18760365,  0.9816692 ,
       -0.03362208,  0.17640803,  0.        , -0.98431713])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09356852, -0.08700684,  0.12726442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.76517561, 0.47050726, 0.60342078, 0.47050726, 0.45579403,
       0.24123511, 0.60342078, 0.24123511, 0.57707657, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00025036062973403145
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.38086665e-02,  9.72869729e-01, -2.28869972e-01, -7.94877282e-03,
        2.28731898e-01,  9.73457003e-01,  9.99396714e-01,  3.47305186e-02,
       -8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05570847, -0.1206463 ,  0.20134402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000578996419243985
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.79373873e-14, -9.58747747e-14,  1.00000000e+00, -4.59598621e-27,
        1.00000000e+00,  9.58747747e-14, -1.00000000e+00,  0.00000000e+00,
       -4.79373873e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03733504, -0.06417521,  0.0619879 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83317455e-02, 2.84872976e-01, 1.35871931e-01, 2.19270720e-02,
  1.54969394e-01, 7.29161027e-01, 2.40274796e-01,-2.04920172e-01,
  1.32632498e-01, 2.04601894e-02,-8.45164549e-04, 1.40135848e-04,
 -1.28958570e-04,-8.49183911e-05,-2.93519249e-05,-9.54839903e-05,
 -1.52423715e-04,-6.51728024e-05,-9.80820548e+00,-6.70934247e-02,
 -2.39715303e-02, 8.95044230e-03]


--- Step 2838 ---
qpos:
[-0.03464159, 0.47512696,-0.13597522, 0.92248514,-0.14142606, 0.25334682,
 -0.25624578, 1.09186958,-0.07928736, 1.31158517,-0.02935562, 0.95463768,
  1.13131977, 0.00547804, 1.25243662, 0.04553469, 0.06271434,-0.0807215 ,
  0.14981333, 0.96395183,-0.02455524,-0.09291019, 0.24811611]

qacc:
[ 2.02123879e+00, 2.38500168e+01,-3.67245620e+01,-2.98510931e+01,
 -1.20870187e+01, 9.90178660e-01, 5.82483794e+01,-1.80676495e+02,
 -5.74176133e+01,-9.92188544e+00, 6.74604019e+01,-6.14595236e+01,
 -5.38540591e-01, 7.33459210e-02, 6.16035157e-01,-2.61780840e+00,
 -4.08491339e-01,-1.01297434e-02, 1.02147287e-01,-4.10534774e+00,
 -1.81184087e+00,-5.42908497e+00]

qfrc_actuator:
[ 0.02646293, 0.37175969, 0.11447723, 0.02203157, 0.13312471, 0.77396383,
  0.23612777,-0.14765089, 0.09053821, 0.06167335, 0.01666678, 0.00183261,
  0.02094596,-0.0014966 , 0.        ,-0.00180018, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43834791,  0.01736269,  0.43800392,  0.01736269,  0.6838033 ,
       -0.00972997,  0.43800392, -0.00972997,  0.43873361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009398661752987246
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68070503, -0.71269059, -0.16944849, -0.11703691, -0.12253634,
        0.98553904, -0.723148  ,  0.69069311,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06711182, -0.03749454,  0.14026718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0099076986655783
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96606648, -0.19034339, -0.17459941, -0.18730882,  0.98171757,
       -0.03385275,  0.17785095,  0.        , -0.98405744])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09349441, -0.08703291,  0.12730897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.77116211, 0.4637491 , 0.61613941, 0.4637491 , 0.45325885,
       0.23927596, 0.61613941, 0.23927596, 0.59106648, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00026321016522254365
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.49482535e-02,  9.72938862e-01, -2.28404444e-01, -8.19906780e-03,
        2.28257235e-01,  9.73566336e-01,  9.99355490e-01,  3.58971466e-02,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0555842 , -0.12073945,  0.20133931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000579323385937705
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.79103318e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.79103318e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03733314, -0.0641747 ,  0.06198789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83088147e-02, 2.86932439e-01, 1.36369453e-01, 2.20910994e-02,
  1.55702737e-01, 7.28747648e-01, 2.39949571e-01,-2.05557392e-01,
  1.41384549e-01, 1.92317475e-02,-1.82016925e-03, 2.01192772e-04,
 -1.39441813e-04,-7.59627204e-05,-2.80153128e-05,-2.05172978e-05,
 -1.41271572e-04,-1.24080387e-04,-9.80825083e+00,-6.70392876e-02,
 -2.40312075e-02, 9.02461723e-03]


--- Step 2839 ---
qpos:
[-0.03470355, 0.47653846,-0.13651936, 0.92243376,-0.14188623, 0.25413765,
 -0.25634493, 1.09296642,-0.08049397, 1.31178788,-0.02917277, 0.95463675,
  1.13180721, 0.00547895, 1.25258057, 0.04552612, 0.06263663,-0.08078972,
  0.14982204, 0.96392554,-0.02429054,-0.09341842, 0.24805347]

qacc:
[ 1.18959767e+00, 2.42707354e+01,-3.57805518e+01,-3.42976704e+01,
 -9.68617607e+00, 1.75641634e-01, 5.67960207e+01,-1.78363890e+02,
 -4.88362833e+01,-8.21873049e+00, 5.96881477e+01,-5.46234189e+01,
 -1.19420476e+00, 1.17589838e+00, 6.66839146e+00,-2.29087259e+01,
 -3.70385871e-01, 7.54512086e-02, 1.04997051e-01,-4.04778867e+00,
 -1.78512136e+00,-3.31896414e+00]

qfrc_actuator:
[ 0.02654137, 0.37392673, 0.11504076, 0.02208255, 0.13363004, 0.7751851 ,
  0.23621449,-0.14875964, 0.0916459 , 0.06149241, 0.01652844, 0.00186807,
  0.02090148,-0.00147413, 0.        ,-0.00191029, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43686535,  0.01894933,  0.43645419,  0.01894933,  0.6983896 ,
       -0.01135448,  0.43645419, -0.01135448,  0.43735832,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009276203359107574
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68045994, -0.71265632, -0.17057326, -0.11779455, -0.12336807,
        0.985345  , -0.72325563,  0.6905804 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06700724, -0.03751094,  0.14031958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00993174827976394
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65859445e-01, -1.90067801e-01, -1.76039096e-01, -1.86987380e-01,
        9.81770967e-01, -3.40806206e-02,  1.79307702e-01,  6.93889390e-18,
       -9.83793041e-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([ 0.09341802, -0.08705934,  0.12735448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.77140677, 0.45596939, 0.62222208, 0.45596939, 0.45099675,
       0.23479907, 0.62222208, 0.23479907, 0.59934411, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0002637182488127892
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.03621452,  0.97299235, -0.22797894, -0.00847945,  0.22782119,
        0.97366606,  0.99930806,  0.03719399,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05545791, -0.1208418 ,  0.20133616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005796002159233204
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.91549795e-13, -9.57748974e-14,  1.00000000e+00, -1.83456620e-26,
        1.00000000e+00,  9.57748974e-14, -1.00000000e+00,  0.00000000e+00,
       -1.91549795e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03733124, -0.06417421,  0.06198789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82756327e-02, 2.88058499e-01, 1.36992091e-01, 2.23318961e-02,
  1.56453565e-01, 7.28698516e-01, 2.39625773e-01,-2.06120584e-01,
  1.49246460e-01, 1.78803172e-02,-2.74428242e-03, 1.86963323e-04,
 -1.33081103e-04,-3.18026596e-05,-1.89729611e-05,-1.15644794e-04,
 -1.44371277e-04,-1.71579273e-04,-9.80828183e+00,-6.69933824e-02,
 -2.40942524e-02, 9.09902291e-03]


--- Step 2840 ---
qpos:
[-0.034764  , 0.47796039,-0.13706183, 0.92237882,-0.14234936, 0.25494842,
 -0.25643794, 1.09405227,-0.08179704, 1.31201097,-0.02897749, 0.95463614,
  1.13229396, 0.00547923, 1.25272386, 0.04552063, 0.06255754,-0.08085736,
  0.14983118, 0.96389916,-0.0240324 ,-0.09393222, 0.24798706]

qacc:
[ 1.41791510e+00, 4.13201855e+00, 1.14933614e+01,-5.94806731e+01,
 -7.23072252e+00,-6.10280451e-01, 5.56303145e+01,-1.76017420e+02,
 -4.10091271e+01,-6.24520014e+00, 5.19718052e+01,-5.38313356e+01,
  1.18854754e-01,-7.35000208e-01,-1.03134928e+01, 3.45788904e+01,
 -3.45200710e-01, 1.45717018e-01, 1.08849244e-01,-4.02704632e+00,
 -1.83106316e+00,-1.56878140e+00]

qfrc_actuator:
[ 0.0266657 , 0.37504023, 0.11559719, 0.02215387, 0.13411966, 0.77636929,
  0.23631972,-0.14985703, 0.09280882, 0.0613606 , 0.01639922, 0.00187142,
  0.02086796,-0.00151437, 0.        ,-0.00174087, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43522378,  0.02066686,  0.43473282,  0.02066686,  0.70267943,
       -0.01271463,  0.43473282, -0.01271463,  0.43582823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009160485904284008
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.68021401, -0.71262091, -0.1716984 , -0.11855221, -0.1242003 ,
        0.98514956, -0.72336317,  0.69046776,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06690104, -0.03752726,  0.14037335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009956907087460476
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65651187e-01, -1.89775605e-01, -1.77490860e-01, -1.86648918e-01,
        9.81827490e-01, -3.43068774e-02,  1.80776013e-01,  6.93889390e-18,
       -9.83524292e-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([ 0.09333967, -0.08708613,  0.12740086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.766475  , 0.44650281, 0.62299211, 0.44650281, 0.44686216,
       0.22906876, 0.62299211, 0.22906876, 0.60229981, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00025322075813152866
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.03758828,  0.97303141, -0.22758953, -0.00878525,  0.2274199 ,
        0.97375716,  0.99925469,  0.03860129,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05532996, -0.12095194,  0.2013345 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005798312257499633
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.78683699e-14, -9.57367399e-14,  1.00000000e+00, -4.58276168e-27,
        1.00000000e+00,  9.57367399e-14, -1.00000000e+00,  0.00000000e+00,
       -4.78683699e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03732935, -0.06417372,  0.06198789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83320706e-02, 2.88075783e-01, 1.37594861e-01, 2.26050093e-02,
  1.57140680e-01, 7.28742180e-01, 2.39371482e-01,-2.06670466e-01,
  1.56154553e-01, 1.66521005e-02,-3.58928943e-03, 1.44183014e-04,
 -1.08654591e-04,-8.01315294e-05,-2.65990611e-05, 1.59493796e-04,
 -1.59165818e-04,-2.10329031e-04,-9.80829859e+00,-6.69548315e-02,
 -2.41599566e-02, 9.17360879e-03]


--- Step 2841 ---
qpos:
[-0.03482261, 0.47938597,-0.13760024, 0.92232067,-0.14281453, 0.25577709,
 -0.25652551, 1.09512715,-0.08317929, 1.31225188,-0.02877174, 0.95463487,
  1.13278008, 0.00547874, 1.25286708, 0.04551614, 0.06247714,-0.0809242 ,
  0.14984078, 0.9638721 ,-0.0237811 ,-0.09445157, 0.24791923]

qacc:
[ 1.72954752e+00,-1.02269377e+01, 4.65462761e+01,-7.89910259e+01,
 -4.98480632e+00,-1.39412304e+00, 5.48634701e+01,-1.73844028e+02,
 -3.36523275e+01,-5.94050277e+00, 4.88753605e+01,-6.08466236e+01,
  8.42380571e-02,-7.67653114e-01,-3.18347832e+00, 1.09249858e+01,
 -3.28305838e-01, 1.99240354e-01, 1.12083744e-01,-4.06101742e+00,
 -1.84180912e+00,-3.44803190e-01]

qfrc_actuator:
[ 0.02676357, 0.37559486, 0.11612929, 0.02220303, 0.13460046, 0.77741813,
  0.23639863,-0.15097872, 0.09410343, 0.06114454, 0.0162361 , 0.00182023,
  0.02083569,-0.00155601, 0.        ,-0.00169213, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43338486,  0.02224368,  0.43281365,  0.02224368,  0.70498649,
       -0.01395848,  0.43281365, -0.01395848,  0.43410223,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009046595814562991
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67997024, -0.712581  , -0.17282591, -0.11931183, -0.12503392,
        0.98495239, -0.72346746,  0.69035848,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06679392, -0.03754349,  0.14042787])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009983023571344904
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65440325e-01, -1.89474825e-01, -1.78953260e-01, -1.86301379e-01,
        9.81885579e-01, -3.45326771e-02,  1.82254698e-01, -6.93889390e-18,
       -9.83251354e-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([ 0.09325966, -0.08711328,  0.127448  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.7576744 , 0.43591478, 0.61971671, 0.43591478, 0.44195853,
       0.22207762, 0.61971671, 0.22207762, 0.60146283, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00023297702263303468
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.90519123e-02,  9.73057192e-01, -2.27232590e-01, -9.11223863e-03,
        2.27049812e-01,  9.73840516e-01,  9.99195634e-01,  4.01009320e-02,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05520059, -0.1210686 ,  0.20133424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005800213911989899
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03732746, -0.06417323,  0.06198788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83506493e-02, 2.88069528e-01, 1.38035308e-01, 2.28314518e-02,
  1.57769452e-01, 7.28766075e-01, 2.39134300e-01,-2.07244506e-01,
  1.62273884e-01, 1.54174819e-02,-4.37473723e-03, 7.66313086e-05,
 -1.05719929e-04,-9.01075413e-05, 3.07215123e-06, 5.37186967e-05,
 -1.83405041e-04,-2.42291151e-04,-9.80830246e+00,-6.69225981e-02,
 -2.42276954e-02, 9.24835694e-03]


--- Step 2842 ---
qpos:
[-0.03487896, 0.48081735,-0.13813384, 0.9222592 ,-0.14328087, 0.25662227,
 -0.25660833, 1.09619107,-0.08462616, 1.31251102,-0.02855689, 0.9546327 ,
  1.1332652 , 0.00547846, 1.25301045, 0.04551094, 0.06239548,-0.08099007,
  0.14985082, 0.96384388,-0.02353688,-0.0949764 , 0.2478517 ]

qacc:
[ 2.11812053e+00,-9.56048699e+00, 4.81353290e+01,-8.33728905e+01,
 -2.86443054e+00,-1.48997550e+00, 5.29082784e+01,-1.71315110e+02,
 -2.74727000e+01,-2.18483277e+00, 3.78322698e+01,-5.45387473e+01,
 -9.94441415e-01, 1.01323794e+00, 2.49657420e+00,-8.19641021e+00,
 -3.13909603e-01, 2.40512337e-01, 1.13775598e-01,-4.09305532e+00,
 -1.81893204e+00, 5.59156652e-01]

qfrc_actuator:
[ 0.02684463, 0.37638487, 0.11667923, 0.02222219, 0.13507623, 0.77859285,
  0.23642448,-0.15205734, 0.09549835, 0.06089011, 0.0159964 , 0.00177266,
  0.02079886,-0.00152707, 0.        ,-0.0017327 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.4313102 ,  0.02364968,  0.43066133,  0.02364968,  0.7054302 ,
       -0.01505324,  0.43066133, -0.01505324,  0.43213684,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008931666834424951
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67973005, -0.71253498, -0.17395679, -0.1200744 , -0.12586939,
        0.98475329, -0.723567  ,  0.69025416,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06668632, -0.03755962,  0.1404828 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.01000994473332945
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96522583, -0.18917106, -0.18042562, -0.18595029,  0.98194415,
       -0.03475891,  0.18374326,  0.        , -0.98297427])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09317819, -0.08714078,  0.12749582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.74669893, 0.42333379, 0.61509982, 0.42333379, 0.43394126,
       0.21525106, 0.61509982, 0.21525106, 0.59855542, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00020422918505127115
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.05885963e-02,  9.73070771e-01, -2.26904917e-01, -9.45640424e-03,
        2.26707780e-01,  9.73916916e-01,  9.99131194e-01,  4.16756251e-02,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05506995, -0.12119061,  0.20133515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005801760259105948
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.78399216e-14, -1.91359687e-13,  1.00000000e+00, -9.15463241e-27,
        1.00000000e+00,  1.91359687e-13, -1.00000000e+00,  0.00000000e+00,
       -4.78399216e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03732557, -0.06417276,  0.06198788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83362390e-02, 2.88637711e-01, 1.38373481e-01, 2.30098952e-02,
  1.58347597e-01, 7.29017017e-01, 2.38879560e-01,-2.07776603e-01,
  1.67628258e-01, 1.42727824e-02,-5.13746532e-03, 6.17621917e-05,
 -1.10977020e-04,-2.18028933e-05, 2.95891520e-06,-3.81494210e-05,
 -2.14454232e-04,-2.69512296e-04,-9.80829742e+00,-6.68951068e-02,
 -2.42968346e-02, 9.32328195e-03]


--- Step 2843 ---
qpos:
[-0.03493136, 0.48226201,-0.13866349, 0.92219392,-0.14374763, 0.25748266,
 -0.25668692, 1.09724408,-0.08612483, 1.31278993,-0.02833323, 0.95463019,
  1.13374924, 0.00547894, 1.2531537 , 0.0455063 , 0.06231261,-0.08105488,
  0.14986133, 0.96381429,-0.02329996,-0.09550657, 0.24778545]

qacc:
[ 3.67211076e+00, 1.56884293e+00, 2.50003838e+01,-7.55731388e+01,
 -1.03858796e+00,-1.76694039e+00, 5.16357791e+01,-1.69130757e+02,
 -2.20177669e+01, 1.65745314e+00, 2.65507803e+01,-3.89901949e+01,
 -1.31788828e+00, 1.71096547e+00,-1.77511627e+00, 6.21649046e+00,
 -3.02970375e-01, 2.67461609e-01, 1.14211873e-01,-4.13205488e+00,
 -1.75411984e+00, 1.07010276e+00]

qfrc_actuator:
[ 0.02694995, 0.37759654, 0.11721974, 0.02233128, 0.13553118, 0.77969532,
  0.23648801,-0.15312352, 0.09697058, 0.06065836, 0.01574342, 0.00176329,
  0.02075935,-0.00147421, 0.        ,-0.00170127, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.42903659,  0.02575692,  0.42826274,  0.02575692,  0.6910858 ,
       -0.01576037,  0.42826274, -0.01576037,  0.42998446,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008817451469649894
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67948965, -0.71248672, -0.17508995, -0.12083847, -0.12670658,
        0.98455244, -0.72366559,  0.69015079,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06657809, -0.03757565,  0.14053831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010037562624023784
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65006949e-01, -1.88868513e-01, -1.81907318e-01, -1.85599781e-01,
        9.82002385e-01, -3.49862335e-02,  1.85241218e-01, -6.93889390e-18,
       -9.82693081e-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([ 0.09309544, -0.08716859,  0.12754426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.73523757, 0.41032254, 0.61008991, 0.41032254, 0.42503304,
       0.2086314 , 0.61008991, 0.2086314 , 0.59492027, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00016799641395185785
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21846032e-02,  9.73073018e-01, -2.26603972e-01, -9.81450351e-03,
        2.26391333e-01,  9.73986981e-01,  9.99061627e-01,  4.33112598e-02,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05493811, -0.12131697,  0.20133727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005803009220494287
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56592504e-14, -9.56592504e-14,  1.00000000e+00, -9.15069219e-27,
        1.00000000e+00,  9.56592504e-14, -1.00000000e+00,  0.00000000e+00,
       -9.56592504e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03732369, -0.06417228,  0.06198788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83249498e-02, 2.89519779e-01, 1.38664818e-01, 2.32847676e-02,
  1.58861492e-01, 7.29264652e-01, 2.38695890e-01,-2.08297235e-01,
  1.72333167e-01, 1.31285979e-02,-5.84629463e-03, 9.80753868e-05,
 -1.00519269e-04, 2.08407053e-05,-8.39128167e-06, 2.84989937e-05,
 -2.50580137e-04,-2.92849545e-04,-9.80828592e+00,-6.68714192e-02,
 -2.43669488e-02, 9.39836849e-03]


--- Step 2844 ---
qpos:
[-0.03497876, 0.48372187,-0.13918927, 0.9221246 ,-0.14421412, 0.25835645,
 -0.2567617 , 1.09828625,-0.08766282, 1.3130886 ,-0.02809993, 0.95462859,
  1.13423266, 0.00547925, 1.25329701, 0.04550071, 0.06222855,-0.08111855,
  0.14987229, 0.96378314,-0.02307046,-0.09604205, 0.24772109]

qacc:
[ 4.64389098e+00, 3.97378097e+00, 2.08094625e+01,-7.62221733e+01,
  6.27433109e-01,-2.96583577e+00, 5.24613157e+01,-1.67558874e+02,
 -1.67121301e+01, 1.47835463e+00, 2.46181835e+01,-2.31156336e+01,
 -4.51892741e-01, 2.41982621e-01, 3.01204129e+00,-1.02971025e+01,
 -2.97887694e-01, 2.83991886e-01, 1.14693747e-01,-4.16036976e+00,
 -1.73390767e+00, 1.39341563e+00]

qfrc_actuator:
[ 0.02706725, 0.37866086, 0.11771803, 0.02249615, 0.13600886, 0.78041183,
  0.23660829,-0.15417787, 0.09848447, 0.06032486, 0.01553239, 0.00181212,
  0.02072361,-0.00149641, 0.        ,-0.00175191, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.42665803,  0.028341  ,  0.42571571,  0.028341  ,  0.68152079,
       -0.01696688,  0.42571571, -0.01696688,  0.42778756,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008707655567598239
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.79243082e-01, -7.12442418e-01, -1.76223258e-01, -1.21601465e-01,
       -1.27544974e-01,  9.84350224e-01, -7.23769245e-01,  6.90042086e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06646874, -0.0375915 ,  0.14059492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010065764760574063
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96478321, -0.18856953, -0.18339819, -0.18525217,  0.98205984,
       -0.03521507,  0.18674848,  0.        , -0.98240776])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09301154, -0.08719671,  0.12759324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.72485453, 0.39831695, 0.60560523, 0.39831695, 0.41765058,
       0.20205331, 0.60560523, 0.20205331, 0.5919606 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00012519161484406604
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.38280698e-02,  9.73064682e-01, -2.26327693e-01, -1.01837621e-02,
        2.26098464e-01,  9.74051218e-01,  9.98987183e-01,  4.49956522e-02,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05480506, -0.1214468 ,  0.20134075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005804005090195574
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.78214185e-14, -9.56428369e-14,  1.00000000e+00, -4.57377613e-27,
        1.00000000e+00,  9.56428369e-14, -1.00000000e+00,  0.00000000e+00,
       -4.78214185e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0373218 , -0.06417181,  0.06198788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82412345e-02, 2.89880453e-01, 1.38956967e-01, 2.36395122e-02,
  1.59360442e-01, 7.29191172e-01, 2.38596079e-01,-2.08807795e-01,
  1.76438191e-01, 1.18053009e-02,-6.49794982e-03, 1.63478886e-04,
 -8.14188272e-05,-3.93746185e-05,-5.42269032e-06,-5.11274519e-05,
 -2.89891248e-04,-3.13478213e-04,-9.80827110e+00,-6.68503123e-02,
 -2.44376421e-02, 9.47361148e-03]


--- Step 2845 ---
qpos:
[-0.0350226 , 0.48519232,-0.13970961, 0.92205138,-0.14467963, 0.25924193,
 -0.25683295, 1.09931768,-0.08923052, 1.3134073 ,-0.02785829, 0.95462764,
  1.13471551, 0.00547889, 1.25343998, 0.04549689, 0.06214329,-0.08118103,
  0.14988372, 0.96375029,-0.02284847,-0.09658294, 0.24765918]

qacc:
[ 3.29625065e+00,-5.84226461e+00, 4.50402531e+01,-9.10558020e+01,
  2.29793109e+00,-4.25698998e+00, 5.36697970e+01,-1.65990343e+02,
 -1.26249259e+01, 4.89333339e+00, 1.44315343e+01,-1.74203155e+01,
  1.39403838e-01,-7.49880207e-01,-5.90265765e+00, 1.98302145e+01,
 -2.98569261e-01, 2.97175149e-01, 1.16069031e-01,-4.19425101e+00,
 -1.78226636e+00, 1.69389626e+00]

qfrc_actuator:
[ 0.02711808, 0.37934547, 0.11824276, 0.02258972, 0.13646414, 0.78094575,
  0.23670808,-0.15522085, 0.09997833, 0.06004671, 0.01528892, 0.00184152,
  0.02067946,-0.00154525, 0.        ,-0.00165522, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.42422138,  0.03044139,  0.42312776,  0.03044139,  0.6966622 ,
       -0.01960041,  0.42312776, -0.01960041,  0.4256315 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008603031693271767
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.78988556e-01, -7.12403919e-01, -1.77356132e-01, -1.22362631e-01,
       -1.28384517e-01,  9.84146738e-01, -7.23879774e-01,  6.89926136e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06635815, -0.03760713,  0.14065275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.01009438504543384
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64554147e-01, -1.88275525e-01, -1.84898959e-01, -1.84908801e-01,
        9.82116249e-01, -3.54458534e-02,  1.88265859e-01, -6.93889390e-18,
       -9.82118102e-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([ 0.09292664, -0.08722509,  0.12764269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.71694457, 0.38832599, 0.60267109, 0.38832599, 0.40961857,
       0.19802289, 0.60267109, 0.19802289, 0.5893502 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -7.676314241128606e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55074380e-02,  9.73046578e-01, -2.26073949e-01, -1.05614815e-02,
        2.25827115e-01,  9.74110142e-01,  9.98908168e-01,  4.67169327e-02,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05467073, -0.12157925,  0.20134567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005804781373134893
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56300464e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.56300464e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03731992, -0.06417134,  0.06198788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.80379216e-02, 2.89763744e-01, 1.39279646e-01, 2.39341213e-02,
  1.59802383e-01, 7.29024675e-01, 2.38495318e-01,-2.09310859e-01,
  1.79899113e-01, 1.05375555e-02,-7.22403593e-03, 1.48119608e-04,
 -9.45198640e-05,-7.89424784e-05,-1.27109906e-05, 9.21628669e-05,
 -3.31644205e-04,-3.31999458e-04,-9.80825361e+00,-6.68311700e-02,
 -2.45087134e-02, 9.54899861e-03]


--- Step 2846 ---
qpos:
[-0.03506352, 0.48666874,-0.14022284, 0.92197446,-0.14514362, 0.26013786,
 -0.25690083, 1.1003385 ,-0.09081902, 1.31374433,-0.02760976, 0.95462659,
  1.13519756, 0.00547803, 1.25358252, 0.04549691, 0.06205681,-0.08124231,
  0.14989562, 0.96371574,-0.02263415,-0.09712931, 0.24759962]

qacc:
[ 2.71452406e+00,-1.57008441e+01, 6.92962506e+01,-1.05246276e+02,
  3.61376353e+00,-5.28664430e+00, 5.47663157e+01,-1.64523913e+02,
 -8.83968306e+00, 5.33884334e+00, 1.17959548e+01,-2.26234469e+01,
 -8.44846639e-03,-5.35729632e-01,-1.22672620e+01, 4.19354129e+01,
 -3.05396464e-01, 3.00513600e-01, 1.17544795e-01,-4.28060515e+00,
 -1.80608507e+00, 1.64692849e+00]

qfrc_actuator:
[ 0.02711072, 0.37962327, 0.11878021, 0.02271298, 0.13690519, 0.78138422,
  0.23675884,-0.15628828, 0.10151955, 0.05977582, 0.01504117, 0.00182364,
  0.0206303 ,-0.00157401, 0.        ,-0.00145472, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.42171519,  0.03273276,  0.42044295,  0.03273276,  0.70315289,
       -0.02191078,  0.42044295, -0.02191078,  0.42342101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000850195801339564
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67872804, -0.7123691 , -0.17848953, -0.12312298, -0.12922555,
        0.98394181, -0.72399515,  0.68980506,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0662466 , -0.03762259,  0.14071156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010123257829194751
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64319246e-01, -1.87987830e-01, -1.86410747e-01, -1.84570932e-01,
        9.82171358e-01, -3.56790611e-02,  1.89794526e-01,  6.93889390e-18,
       -9.81823832e-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([ 0.09284088, -0.08725371,  0.12769251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.71268895, 0.38145306, 0.60201254, 0.38145306, 0.40389774,
       0.1956593 , 0.60201254, 0.1956593 , 0.58871339, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -2.3448462163497427e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.72135767e-02,  9.73019380e-01, -2.25841014e-01, -1.09455493e-02,
        2.25575616e-01,  9.74164173e-01,  9.98824846e-01,  4.84657289e-02,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05453505, -0.12171367,  0.20135201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005805377768152986
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.78101111e-14, -9.56202222e-14,  1.00000000e+00, -4.57161345e-27,
        1.00000000e+00,  9.56202222e-14, -1.00000000e+00,  0.00000000e+00,
       -4.78101111e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03731804, -0.06417086,  0.06198788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.78489075e-02, 2.89471226e-01, 1.39535235e-01, 2.42515169e-02,
  1.60195062e-01, 7.28847847e-01, 2.38360244e-01,-2.09843629e-01,
  1.82926577e-01, 9.26288443e-03,-7.88976116e-03, 9.83625638e-05,
 -1.15153723e-04,-7.35679575e-05, 1.10104204e-06, 2.03290584e-04,
 -3.76054557e-04,-3.48542664e-04,-9.80823271e+00,-6.68139166e-02,
 -2.45801051e-02, 9.62452912e-03]


--- Step 2847 ---
qpos:
[-0.03510559, 0.48814374,-0.14073534, 0.9218971 ,-0.14564482, 0.261104  ,
 -0.2569456 , 1.10134879,-0.09087935, 1.31418528,-0.02754246, 0.95462761,
  1.13567872, 0.00547703, 1.25372485, 0.04550065, 0.0619613 ,-0.08131573,
  0.14990746, 0.96370958,-0.0224055 ,-0.09770772, 0.24741674]

qacc:
[-1.06866997e+00,-4.28563217e+00, 1.26853655e+01,-1.46155432e+01,
 -8.80732082e+01, 2.14978230e+01, 6.23966308e+01,-2.06286491e+02,
  6.49362040e+02, 6.28943860e+02,-1.89017651e+03, 1.59379056e+03,
 -3.30144173e-01, 3.94080164e-02,-1.15621617e+01, 4.00373833e+01,
 -2.25892549e+00,-3.03544953e+00,-1.44230618e-02,-2.72560358e+00,
 -1.44337115e+01,-6.39928362e+01]

qfrc_actuator:
[ 0.02710316, 0.38036747, 0.11928595, 0.02274893, 0.13735449, 0.78224129,
  0.23677892,-0.15729518, 0.10314542, 0.05937871, 0.01480673, 0.00181339,
  0.02059414,-0.00157287, 0.        ,-0.00126572, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.19106154e-01,  3.30047705e-02,  4.17804564e-01,  3.30047705e-02,
        4.24143893e-01, -3.97959758e-04,  4.17804564e-01, -3.97959758e-04,
        4.19137591e-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: -0.000840241721876343
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.78464440e-01, -7.12334944e-01, -1.79624417e-01, -1.23883716e-01,
       -1.30068276e-01,  9.83735264e-01, -7.24112442e-01,  6.89681935e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06613437, -0.03763794,  0.14077108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010152244844028333
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96407824, -0.18770617, -0.18793494, -0.18423823,  0.98222523,
       -0.03591493,  0.19133589,  0.        , -0.98152462])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09275432, -0.08728253,  0.12774264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005805824037884433
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56128723e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.56128723e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03731616, -0.06417039,  0.06198788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.76911224e-02, 2.89875764e-01, 1.39676746e-01, 2.44719475e-02,
  1.60568120e-01, 7.29150948e-01, 2.38202168e-01,-2.10321699e-01,
  1.85593276e-01, 7.94603218e-03,-8.46938739e-03, 9.33323921e-05,
 -1.10747090e-04,-4.72034936e-05, 1.92829800e-05, 1.99638772e-04,
 -4.21942749e-04,-3.64629442e-04,-9.80821121e+00,-6.67974019e-02,
 -2.46516555e-02, 9.70024854e-03]


--- Step 2848 ---
qpos:
[-0.03514768, 0.4896304 ,-0.14124282, 0.92181724,-0.14616275, 0.26210412,
 -0.25697921, 1.10234855,-0.09113168, 1.31445602,-0.02740683, 0.95463977,
  1.13615883, 0.00547648, 1.25386727, 0.04550631, 0.06186152,-0.08139167,
  0.1499199 , 0.96371162,-0.02218212,-0.09830149, 0.24719363]

qacc:
[-7.12267276e-03,-1.42453000e+00, 2.91961564e+01,-6.22047839e+01,
 -3.93914760e+01, 5.27362532e+00, 5.76008765e+01,-1.80177760e+02,
 -8.15618989e+01,-3.88857398e+02, 9.75800182e+02,-6.09675079e+02,
 -9.86859982e-01, 1.14152338e+00,-5.55841889e+00, 1.98609892e+01,
 -1.06712114e+00,-6.29308572e-01, 1.51447997e-01,-6.31555932e+00,
 -5.90361220e+00,-2.03135566e+01]

qfrc_actuator:
[ 0.0270984 , 0.38166282, 0.11981173, 0.02271294, 0.13786463, 0.78319685,
  0.23677726,-0.15826162, 0.10324592, 0.05884846, 0.01476564, 0.00178784,
  0.02055517,-0.0015362 , 0.        ,-0.0011738 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.41437675,  0.03354169,  0.413017  ,  0.03354169,  0.53432223,
       -0.00974094,  0.413017  , -0.00974094,  0.41516782,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008233590027027305
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.78379548e-01, -7.12105385e-01, -1.80851069e-01, -1.24742610e-01,
       -1.30944225e-01,  9.83510494e-01, -7.24044522e-01,  6.89753239e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0660185 , -0.03765292,  0.14082912])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.01018139507120182
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96385843, -0.18711413, -0.18964502, -0.18359413,  0.98233818,
       -0.03612326,  0.19305472,  0.        , -0.98118799])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.092658  , -0.08731195,  0.12779422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.71410971, 0.46318646, 0.54351723, 0.46318646, 0.49386669,
       0.18769154, 0.54351723, 0.18769154, 0.5541586 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -4.837257982644287e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.04923622,  0.97308991, -0.22510404, -0.01137522,  0.22481644,
        0.97433473,  0.99872238,  0.05053317,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05422094, -0.12188661,  0.20136692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000580727811217166
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03731432, -0.06416992,  0.06198788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77410608e-02, 2.91201407e-01, 1.40157276e-01, 2.44573318e-02,
  1.62941389e-01, 7.26564072e-01, 2.37034701e-01,-2.10764492e-01,
  1.09269166e-01, 2.18035698e-03, 5.43740720e-04,-2.55602274e-05,
 -1.04843269e-04,-3.08974662e-06, 2.61088552e-05, 1.04418036e-04,
 -2.92599025e-04,-6.33025469e-04,-9.80850459e+00,-6.65335996e-02,
 -2.47029039e-02, 9.78487298e-03]


--- Step 2849 ---
qpos:
[-0.03518872, 0.49113422,-0.14174421, 0.92173445,-0.14669452, 0.26313112,
 -0.25700399, 1.10333767,-0.09163462, 1.31469905,-0.02724868, 0.95464242,
  1.13663779, 0.00547709, 1.25400993, 0.04551206, 0.06175844,-0.0814689 ,
  0.1499329 , 0.96371769,-0.02196379,-0.09890839, 0.24694724]

qacc:
[ 9.44780058e-01, 2.32846944e+00, 2.67287159e+01,-6.90148636e+01,
 -3.24404604e+01, 2.00496080e+00, 5.71209055e+01,-1.76464383e+02,
 -1.06477752e+02,-1.13401479e+02, 3.45089064e+02,-3.90951597e+02,
 -1.67873233e+00, 2.34929590e+00, 2.46707166e-01, 1.21842558e-02,
 -8.24148607e-01,-3.22511661e-01, 1.37677253e-01,-5.15383633e+00,
 -5.23966405e+00,-1.16195417e+01]

qfrc_actuator:
[ 0.02711238, 0.38283251, 0.12032716, 0.02277805, 0.13840568, 0.78388232,
  0.23680075,-0.15927058, 0.10352236, 0.0585774 , 0.01462798, 0.00181423,
  0.02051457,-0.00146099, 0.        ,-0.00117532, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.40885224,  0.03487093,  0.40736246,  0.03487093,  0.53635444,
       -0.01091441,  0.40736246, -0.01091441,  0.40978653,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008050804950699745
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.78346393e-01, -7.11817754e-01, -1.82103422e-01, -1.25629808e-01,
       -1.31828707e-01,  9.83279382e-01, -7.23922180e-01,  6.89881640e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06590049, -0.03766773,  0.14088779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010210809616703974
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96364089, -0.18642073, -0.19142506, -0.18284796,  0.98247001,
       -0.03632233,  0.19484062,  0.        , -0.98083492])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0925576 , -0.08734197,  0.12784671])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.72342718, 0.4205549 , 0.58862591, 0.4205549 , 0.37988415,
       0.24545081, 0.58862591, 0.24545081, 0.54806021, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00011799294951797799
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.96932801e-02,  9.73176247e-01, -2.24629851e-01, -1.14553450e-02,
        2.24337570e-01,  9.74444165e-01,  9.98698830e-01,  5.09965393e-02,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05403972, -0.12193934,  0.20135955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005808160397717116
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.77872058e-14, -9.55744116e-14,  1.00000000e+00, -4.56723407e-27,
        1.00000000e+00,  9.55744116e-14, -1.00000000e+00,  0.00000000e+00,
       -4.77872058e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0373125 , -0.06416945,  0.06198788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77517265e-02, 2.91746035e-01, 1.40411650e-01, 2.46470077e-02,
  1.64320002e-01, 7.25515687e-01, 2.36488923e-01,-2.11249091e-01,
  1.19147277e-01, 1.04189839e-02,-3.01101259e-03,-5.55190081e-04,
 -9.32993060e-05, 4.97286812e-05, 1.75444014e-05, 6.30094642e-06,
 -3.34995066e-04,-7.27449360e-04,-9.80860905e+00,-6.64270320e-02,
 -2.47811511e-02, 9.87011947e-03]


--- Step 2850 ---
qpos:
[-0.03522764, 0.49265892,-0.14223875, 0.92164841,-0.14723816, 0.26418055,
 -0.25702139, 1.10431614,-0.09237588, 1.31496001,-0.02706783, 0.95464146,
  1.13711567, 0.00547885, 1.25415257, 0.04551843, 0.06165262,-0.08154665,
  0.14994643, 0.96372538,-0.02175073,-0.09952708, 0.24668736]

qacc:
[ 1.93190195e+00, 4.70909073e+00, 2.57774324e+01,-7.50238412e+01,
 -2.76439172e+01,-6.86950578e-02, 5.67799772e+01,-1.73502809e+02,
 -1.01257155e+02,-4.38678883e+01, 1.78685625e+02,-2.07322109e+02,
 -1.55656538e+00, 2.24169433e+00,-1.78082563e+00, 6.55197830e+00,
 -6.87350027e-01,-1.29252972e-01, 1.33088810e-01,-4.64914345e+00,
 -4.80450981e+00,-6.56212070e+00]

qfrc_actuator:
[ 0.02713657, 0.38395215, 0.12081557, 0.02288749, 0.13889806, 0.78452351,
  0.23681947,-0.16026521, 0.10403977, 0.05838742, 0.01441535, 0.00185245,
  0.0204677 ,-0.00139904, 0.        ,-0.00114308, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.40274353,  0.03658698,  0.40107822,  0.03658698,  0.5318631 ,
       -0.01177849,  0.40107822, -0.01177849,  0.40381798,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007862046299756061
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.78338916e-01, -7.11498478e-01, -1.83374566e-01, -1.26535756e-01,
       -1.32721263e-01,  9.83043116e-01, -7.23771385e-01,  6.90039841e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06578029, -0.03768245,  0.14094763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010240526989556704
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63420981e-01, -1.85667003e-01, -1.93255728e-01, -1.82040678e-01,
        9.82612723e-01, -3.65161279e-02,  1.96675378e-01,  6.93889390e-18,
       -9.80468661e-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([ 0.09245425, -0.08737265,  0.12789997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.73499204, 0.40292305, 0.61470832, 0.40292305, 0.35892525,
       0.24650061, 0.61470832, 0.24650061, 0.57341821, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00016712188078743585
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.05037782,  0.97323633, -0.2242167 , -0.01159066,  0.22391692,
        0.97453931,  0.99866297,  0.05169399,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05385526, -0.12201022,  0.20134871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005808528083157266
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.77841808e-14,  9.55683616e-14,  1.00000000e+00,  4.56665587e-27,
        1.00000000e+00, -9.55683616e-14, -1.00000000e+00,  0.00000000e+00,
       -4.77841808e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03731069, -0.064169  ,  0.06198788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77202604e-02, 2.91966073e-01, 1.40586090e-01, 2.49014390e-02,
  1.65505822e-01, 7.24777065e-01, 2.36055220e-01,-2.11714130e-01,
  1.32196906e-01, 1.16142701e-02,-4.34937897e-03,-4.16765542e-05,
 -8.17381072e-05, 5.47200259e-05, 2.40560480e-06, 3.34412143e-05,
 -3.91115706e-04,-7.93873033e-04,-9.80865299e+00,-6.63516905e-02,
 -2.48637175e-02, 9.95581731e-03]


--- Step 2851 ---
qpos:
[-0.03526375, 0.49420707,-0.14272573, 0.92155878,-0.14779193, 0.26524913,
 -0.25703246, 1.10528399,-0.0933286 , 1.31524976,-0.02686539, 0.95463894,
  1.13759297, 0.00548045, 1.2542954 , 0.04552347, 0.06154439,-0.08162432,
  0.14996049, 0.96373307,-0.02154352,-0.10015662, 0.24642057]

qacc:
[ 2.53924499e+00, 5.69630370e+00, 2.74460268e+01,-8.21863462e+01,
 -2.34784373e+01,-1.59642599e+00, 5.64148938e+01,-1.70650552e+02,
 -8.98378174e+01,-2.31657966e+01, 1.24244820e+02,-1.43358362e+02,
 -4.72916318e-01, 2.74789668e-01, 4.35908604e+00,-1.47770553e+01,
 -5.98391526e-01, 1.75582217e-02, 1.33930335e-01,-4.49761569e+00,
 -4.43664800e+00,-3.15787496e+00]

qfrc_actuator:
[ 0.02716537, 0.38504893, 0.12128457, 0.02298952, 0.13934706, 0.78509634,
  0.23681548,-0.16124699, 0.10478971, 0.05814055, 0.01418407, 0.00182468,
  0.0204171 ,-0.00143429, 0.        ,-0.00121543, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.39623022,  0.03830018,  0.3943748 ,  0.03830018,  0.52800998,
       -0.01279795,  0.3943748 , -0.01279795,  0.39747311,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007672301674983544
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.78352459e-01, -7.11202230e-01, -1.84470403e-01, -1.27321026e-01,
       -1.33486651e-01,  9.82838069e-01, -7.23620963e-01,  6.90197582e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06565769, -0.03769756,  0.14101122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010270514164284225
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96319592, -0.18487681, -0.19512608, -0.1811961 ,  0.9827617 ,
       -0.03670705,  0.19854872,  0.        , -0.98009102])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0923486 , -0.08740401,  0.12795391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.74366668, 0.39466123, 0.63030362, 0.39466123, 0.3541735 ,
       0.24387907, 0.63030362, 0.24387907, 0.59096311, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0001953919688505358
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.05128516,  0.97327036, -0.22386298, -0.01177981,  0.22355284,
        0.97462063,  0.99861457,  0.05262063,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05366807, -0.12209784,  0.20133871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005808421511392103
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.55701151e-14, -1.91140230e-13,  1.00000000e+00, -1.82672938e-26,
        1.00000000e+00,  1.91140230e-13, -1.00000000e+00,  0.00000000e+00,
       -9.55701151e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03730889, -0.06416858,  0.06198788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.76388708e-02, 2.91975723e-01, 1.40703122e-01, 2.51655688e-02,
  1.66548929e-01, 7.24191959e-01, 2.35670527e-01,-2.12165542e-01,
  1.44865274e-01, 1.04728293e-02,-5.71506018e-03, 1.10595553e-04,
 -7.86099365e-05,-3.82458162e-05,-4.56963633e-07,-7.13425800e-05,
 -4.52365470e-04,-8.48087331e-04,-9.80866071e+00,-6.62953548e-02,
 -2.49487242e-02, 1.00421693e-02]


--- Step 2852 ---
qpos:
[-0.03529774, 0.49577657,-0.14320337, 0.92146545,-0.14835407, 0.26633367,
 -0.25703805, 1.10624133,-0.09446371, 1.31557022,-0.02664254, 0.95463596,
  1.13806961, 0.00548174, 1.25443828, 0.04552693, 0.06143404,-0.08170145,
  0.1499751 , 0.96373944,-0.0213427 ,-0.10079638, 0.24615213]

qacc:
[ 1.92658711e+00,-1.68564622e+00, 4.83900983e+01,-9.90190292e+01,
 -1.93100704e+01,-3.38216642e+00, 5.69359829e+01,-1.67864417e+02,
 -7.74884642e+01,-1.54849749e+01, 1.00020137e+02,-1.10786818e+02,
 -4.48923399e-01, 1.53198846e-01, 4.88911882e+00,-1.68886419e+01,
 -5.32554129e-01, 1.38377049e-01, 1.36514505e-01,-4.43688688e+00,
 -4.17831558e+00,-4.25808675e-01]

qfrc_actuator:
[ 0.02715991, 0.38581929, 0.12175623, 0.02303549, 0.13982629, 0.78544494,
  0.23684922,-0.16214582, 0.10571213, 0.05782375, 0.01395136, 0.00180996,
  0.02037492,-0.00145597, 0.        ,-0.00129555, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.38948348,  0.03974825,  0.38744995,  0.03974825,  0.53202658,
       -0.01462341,  0.38744995, -0.01462341,  0.39098369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007485227997936422
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67835618, -0.71086236, -0.18576219, -0.12824507, -0.13439045,
        0.98259473, -0.72345428,  0.69037229,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06553291, -0.03771216,  0.14107445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.01030070056284005
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96296378, -0.18406626, -0.19702888, -0.18033029,  0.98291384,
       -0.03689679,  0.20045387,  0.        , -0.97970314])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09224113, -0.08743604,  0.12800845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.74671415, 0.38658546, 0.63885343, 0.38658546, 0.35174574,
       0.23900482, 0.63885343, 0.23900482, 0.60208663, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00020427242414324337
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.05239159,  0.97328011, -0.22356421, -0.01201705,  0.223241  ,
        0.9746892 ,  0.99855431,  0.0537521 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05347868, -0.12220015,  0.20133071])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005807867824828422
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77896131e-14, -9.55792262e-14,  1.00000000e+00,  4.56769424e-27,
        1.00000000e+00,  9.55792262e-14, -1.00000000e+00,  0.00000000e+00,
        4.77896131e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0373071 , -0.06416816,  0.06198788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.74892966e-02, 2.91530224e-01, 1.40786645e-01, 2.53901258e-02,
  1.67535541e-01, 7.23546115e-01, 2.35375424e-01,-2.12535950e-01,
  1.56362955e-01, 8.71887184e-03,-7.02776020e-03, 1.73381468e-04,
 -9.08450137e-05,-5.08376329e-05,-1.30402361e-05,-8.52619037e-05,
 -5.17137846e-04,-8.95545149e-04,-9.80864404e+00,-6.62526169e-02,
 -2.50354792e-02, 1.01292077e-02]


--- Step 2853 ---
qpos:
[-0.03532909, 0.4973628 ,-0.14366934, 0.92136851,-0.14892285, 0.26743102,
 -0.25703887, 1.10718827,-0.09575372, 1.31592139,-0.02640111, 0.95463291,
  1.1385456 , 0.00548233, 1.25458104, 0.04552972, 0.06132177,-0.08177762,
  0.14999027, 0.96374346,-0.0211488 ,-0.10144583, 0.2458862 ]

qacc:
[ 2.38730000e+00,-1.34339673e+01, 7.90176998e+01,-1.19683309e+02,
 -1.51887599e+01,-5.42587747e+00, 5.82383996e+01,-1.65117822e+02,
 -6.58001986e+01,-9.95089140e+00, 8.11835278e+01,-9.00983084e+01,
 -9.96407225e-02,-5.07748071e-01, 1.83206557e+00,-6.69741453e+00,
 -4.81367376e-01, 2.37355288e-01, 1.39432473e-01,-4.42503819e+00,
 -3.96718082e+00, 1.74736454e+00]

qfrc_actuator:
[ 0.02716895, 0.38604919, 0.12222467, 0.02308487, 0.14032596, 0.78549475,
  0.23688616,-0.16295522, 0.10681131, 0.05752256, 0.01371036, 0.00180259,
  0.02032716,-0.00150482, 0.        ,-0.00132631, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.38261131,  0.04125758,  0.38038037,  0.04125758,  0.52916599,
       -0.01589591,  0.38038037, -0.01589591,  0.38433545,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007302263343347951
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.78353873e-01, -7.10523419e-01, -1.87062808e-01, -1.29174983e-01,
       -1.35300843e-01,  9.82347956e-01, -7.23290984e-01,  6.90543375e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06540605, -0.03772677,  0.14113945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010330958493439296
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96272288, -0.18324831, -0.19895907, -0.17945614,  0.98306666,
       -0.03708692,  0.20238615,  0.        , -0.9793058 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09213224, -0.08746873,  0.1280635 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.74375179, 0.37689339, 0.64118492, 0.37689339, 0.34834548,
       0.23242285, 0.64118492, 0.23242285, 0.60713186, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00019564637519569155
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.36701126e-02,  9.73267598e-01, -2.23315251e-01, -1.22958713e-02,
        2.22976485e-01,  9.74746274e-01,  9.98483015e-01,  5.50605979e-02,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05328753, -0.1223151 ,  0.201325  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005806904093323129
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43392633e-13, -1.91190178e-13,  1.00000000e+00, -2.74152630e-26,
        1.00000000e+00,  1.91190178e-13, -1.00000000e+00,  0.00000000e+00,
       -1.43392633e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03730533, -0.06416777,  0.06198788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.73878821e-02, 2.90647825e-01, 1.40777275e-01, 2.56232757e-02,
  1.68454888e-01, 7.22759894e-01, 2.35126227e-01,-2.12821494e-01,
  1.66584599e-01, 6.88366752e-03,-8.28881953e-03, 1.87927510e-04,
 -1.05807310e-04,-8.44436889e-05,-1.98678215e-05,-3.81662644e-05,
 -5.84781128e-04,-9.37822743e-04,-9.80860650e+00,-6.62213469e-02,
 -2.51233976e-02, 1.02168508e-02]


--- Step 2854 ---
qpos:
[-0.03535596, 0.49896359,-0.14412197, 0.92126795,-0.14949667, 0.26853893,
 -0.25703542, 1.10812497,-0.09717253, 1.31630133,-0.02614256, 0.95463005,
  1.13902092, 0.00548189, 1.25472413, 0.04552841, 0.06120772,-0.08185255,
  0.150006  , 0.96374446,-0.02096234,-0.10210448, 0.24562545]

qacc:
[ 4.04250623e+00,-2.04848636e+01, 9.85484843e+01,-1.34149035e+02,
 -1.14985603e+01,-6.91103490e+00, 5.91705473e+01,-1.62645486e+02,
 -5.47117841e+01,-8.11562409e+00, 7.16279645e+01,-7.77739057e+01,
 -2.04215829e-01,-5.99261998e-01, 1.29065364e+01,-4.44383358e+01,
 -4.43637955e-01, 3.09955683e-01, 1.41023572e-01,-4.48258859e+00,
 -3.72760216e+00, 3.14593539e+00]

qfrc_actuator:
[ 0.02720308, 0.38595092, 0.12268513, 0.02319095, 0.14089275, 0.78555733,
  0.23687029,-0.16386667, 0.10807976, 0.05718295, 0.01349353, 0.00179943,
  0.02027608,-0.00156945, 0.        ,-0.00154076, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.3756356 ,  0.04315889,  0.37314797,  0.04315889,  0.51716683,
       -0.01636973,  0.37314797, -0.01636973,  0.37752894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007122593834879088
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.78342945e-01, -7.10188054e-01, -1.88371382e-01, -1.30109638e-01,
       -1.36217692e-01,  9.82097868e-01, -7.23133689e-01,  6.90708092e-01,
       -4.16333634e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06527745, -0.03774138,  0.14120603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010361120154946309
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96247182, -0.18243334, -0.20091307, -0.1785839 ,  0.98321822,
       -0.03727885,  0.2043423 ,  0.        , -0.9788995 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09202229, -0.08750203,  0.12811894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.73620419, 0.3662367 , 0.63864488, 0.3662367 , 0.34452559,
       0.22461164, 0.63864488, 0.22461164, 0.6073986 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00017139099011522068
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.05509475,  0.97323478, -0.22311127, -0.01261012,  0.22275463,
        0.97479298,  0.9984015 ,  0.05651944,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05309494, -0.12244073,  0.20132169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005805566140888174
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56171196e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.56171196e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03730356, -0.06416738,  0.06198789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.72861637e-02, 2.89668757e-01, 1.40643868e-01, 2.59090988e-02,
  1.69353728e-01, 7.22143655e-01, 2.34859931e-01,-2.13215860e-01,
  1.75600307e-01, 5.01037975e-03,-9.43491521e-03, 1.87754822e-04,
 -1.24557450e-04,-1.13528150e-04,-1.71317618e-05,-2.19960207e-04,
 -6.55124675e-04,-9.75224871e-04,-9.80855174e+00,-6.61997551e-02,
 -2.52120245e-02, 1.03050258e-02]


--- Step 2855 ---
qpos:
[-0.03537683, 0.5005806 ,-0.14456045, 0.92116353,-0.15007415, 0.26965618,
 -0.25702792, 1.10905156,-0.09869611, 1.31670675,-0.02586843, 0.95462719,
  1.13949495, 0.00548194, 1.25486728, 0.04552352, 0.06109199,-0.08192604,
  0.1500223 , 0.96374214,-0.02078382,-0.10277189, 0.24537128]

qacc:
[ 5.40828285e+00,-2.07497190e+01, 1.02610848e+02,-1.41417873e+02,
 -8.27654160e+00,-7.75272491e+00, 5.96443537e+01,-1.60596845e+02,
 -4.45059655e+01,-8.54003538e+00, 6.81542894e+01,-7.46585841e+01,
 -1.61585928e+00, 1.82568177e+00, 1.10370533e+01,-3.81484250e+01,
 -4.18513798e-01, 3.60087879e-01, 1.41527891e-01,-4.60263405e+00,
 -3.47821115e+00, 3.89305648e+00]

qfrc_actuator:
[ 0.02724938, 0.38593526, 0.12316995, 0.02331474, 0.14155415, 0.78585548,
  0.23687458,-0.16490634, 0.10950338, 0.05673894, 0.01328525, 0.00178083,
  0.02022836,-0.00151867, 0.        ,-0.0017197 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.36858396,  0.04519091,  0.36580311,  0.04519091,  0.50545646,
       -0.01690908,  0.36580311, -0.01690908,  0.37067289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006945773253970231
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67832137, -0.70985849, -0.18968673, -0.13104778, -0.13714057,
        0.98184466, -0.72298451,  0.69086424,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06514725, -0.03775588,  0.14127414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010391059750505286
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96220974, -0.18162811, -0.20288825, -0.17772031,  0.98336729,
       -0.0374735 ,  0.20631991,  0.        , -0.97848459])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09191153, -0.08753591,  0.12817471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.72658976, 0.35563589, 0.63360539, 0.35563589, 0.34049425,
       0.21671125, 0.63360539, 0.21671125, 0.60495207, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0001333896912888777
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.66405665e-02,  9.73183483e-01, -2.22947872e-01, -1.29539397e-02,
        2.22571223e-01,  9.74830368e-01,  9.98310594e-01,  5.81029975e-02,
        3.46944695e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0529011 , -0.12257524,  0.20132067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005803898864092799
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.78222937e-14,  1.91289175e-13,  1.00000000e+00, -9.14788710e-27,
        1.00000000e+00, -1.91289175e-13, -1.00000000e+00,  0.00000000e+00,
        4.78222937e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03730179, -0.064167  ,  0.06198789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.71043787e-02, 2.88879421e-01, 1.40450707e-01, 2.62130845e-02,
  1.70268006e-01, 7.21874664e-01, 2.34637582e-01,-2.13745473e-01,
  1.83466356e-01, 3.12897765e-03,-1.04992304e-02, 1.59916275e-04,
 -1.38008737e-04,-1.07674229e-05,-3.72278329e-05,-1.94468584e-04,
 -7.28252080e-04,-1.00797599e-03,-9.80848656e+00,-6.61851556e-02,
 -2.53011134e-02, 1.03937024e-02]


--- Step 2856 ---
qpos:
[-0.03538994, 0.50222252,-0.14498573, 0.92105456,-0.150654  , 0.27078197,
 -0.25701647, 1.10996817,-0.1003042 , 1.31713654,-0.0255806 , 0.95462398,
  1.13996778, 0.00548249, 1.25500998, 0.04551849, 0.06097466,-0.08199795,
  0.15003916, 0.96373633,-0.02061372,-0.10344761, 0.24512437]

qacc:
[ 6.93388997e+00,-8.14658371e+00, 7.71629726e+01,-1.35293411e+02,
 -5.34791613e+00,-8.32743068e+00, 5.99562167e+01,-1.58743605e+02,
 -3.58922574e+01,-5.58263945e+00, 5.74437220e+01,-6.87815521e+01,
 -1.26579064e+00, 1.45837366e+00,-1.11202793e-01,-3.01646845e-01,
 -4.00249212e-01, 3.96185894e-01, 1.41236484e-01,-4.74268266e+00,
 -3.23025833e+00, 4.27455363e+00]

qfrc_actuator:
[ 0.02735291, 0.38656527, 0.1236455 , 0.0233976 , 0.14227293, 0.78623872,
  0.23690722,-0.16594796, 0.11106536, 0.05631283, 0.01304129, 0.00175305,
  0.0201774 ,-0.00148852, 0.        ,-0.00171645, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.36155171,  0.0470945 ,  0.3584714 ,  0.0470945 ,  0.49205549,
       -0.01714505,  0.3584714 , -0.01714505,  0.36380416,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006773154047023835
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.78286189e-01, -7.09537998e-01, -1.91007004e-01, -1.31987477e-01,
       -1.38068756e-01,  9.81588674e-01, -7.22846562e-01,  6.91008573e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06501533, -0.03777021,  0.14134397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010420709130431673
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9619362 , -0.18083641, -0.20488274, -0.1768691 ,  0.98351319,
       -0.03767134,  0.20831722,  0.        , -0.97806131])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09180009, -0.08757032,  0.12823076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.71780417, 0.34554845, 0.62915745, 0.34554845, 0.33536383,
       0.21004546, 0.62915745, 0.21004546, 0.60244214, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -8.345567570053053e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.82842957e-02,  9.73115432e-01, -2.22821223e-01, -1.33218996e-02,
        2.22422625e-01,  9.74859325e-01,  9.98211134e-01,  5.97873911e-02,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0527061 , -0.122717  ,  0.20132168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005801962124552806
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.56765143e-14,  1.91353029e-13,  1.00000000e+00, -1.83079908e-26,
        1.00000000e+00, -1.91353029e-13, -1.00000000e+00,  0.00000000e+00,
        9.56765143e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03730003, -0.06416662,  0.0619879 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69027801e-02, 2.88652525e-01, 1.40207524e-01, 2.64877031e-02,
  1.71169928e-01, 7.21751800e-01, 2.34454893e-01,-2.14283674e-01,
  1.90269578e-01, 1.42863937e-03,-1.15220951e-02, 1.31441920e-04,
 -1.24107974e-04,-4.53789679e-06,-4.34336681e-05,-1.33400204e-05,
 -8.04402911e-04,-1.03654302e-03,-9.80841667e+00,-6.61751498e-02,
 -2.53905619e-02, 1.04828573e-02]


--- Step 2857 ---
qpos:
[-0.03536292, 0.50389779,-0.14540047, 0.92094089,-0.15123404, 0.27191437,
 -0.25700163, 1.11087495,-0.10197508, 1.31758748,-0.02527705, 0.95462135,
  1.14043987, 0.00548262, 1.25515233, 0.04551413, 0.0608559 ,-0.08206797,
  0.1500566 , 0.9637259 ,-0.02045204,-0.1041316 , 0.24488918]

qacc:
[ 3.57591603e+01, 9.22623906e+00, 3.44254311e+01,-1.08245967e+02,
 -4.20380511e-01,-9.29910057e+00, 5.96751747e+01,-1.55474170e+02,
 -2.66659406e+01,-1.36998039e+01, 7.70017434e+01,-7.32350911e+01,
 -2.39984888e-01,-2.02201316e-01,-2.54896865e+00, 8.19311389e+00,
 -3.58742421e-01, 4.71469940e-01, 1.43588109e-01,-4.50959704e+00,
 -3.31397862e+00, 6.56013607e+00]

qfrc_actuator:
[ 0.02745112, 0.38776278, 0.12403976, 0.02345812, 0.14300858, 0.78656354,
  0.23691987,-0.16688034, 0.11266098, 0.05588838, 0.01277156, 0.00177337,
  0.0201352 ,-0.00152421, 0.        ,-0.00167689, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.35487264,  0.04811111,  0.35159624,  0.04811111,  0.36598025,
       -0.00151992,  0.35159624, -0.00151992,  0.35508062,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006611835768732022
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.70659397e-01, -7.16843699e-01, -1.90659601e-01, -1.30257061e-01,
       -1.39227086e-01,  9.81656211e-01, -7.30239050e-01,  6.83191722e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06496921, -0.03787468,  0.14143548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010450022545585344
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.61651013e-01, -1.80060314e-01, -2.06895170e-01, -1.76032332e-01,
        9.83655571e-01, -3.78726157e-02,  2.10332942e-01, -6.93889390e-18,
       -9.77629814e-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([ 0.09168806, -0.08760523,  0.12828709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.71267123, 0.3389867 , 0.62688778, 0.3389867 , 0.33912649,
       0.2019926 , 0.62688778, 0.2019926 , 0.60344465, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -2.2966484159158975e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.00113240e-02,  9.73031779e-01, -2.22728079e-01, -1.37106091e-02,
        2.22305682e-01,  9.74880610e-01,  9.98103532e-01,  6.15576138e-02,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05381031, -0.12270156,  0.20168648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005799819581349536
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39279647e-13, -9.57118587e-14,  1.00000000e+00, -2.29018997e-26,
        1.00000000e+00,  9.57118587e-14, -1.00000000e+00,  0.00000000e+00,
       -2.39279647e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03729828, -0.06416625,  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:
[ 2.66086931e-02, 2.88557352e-01, 1.39930079e-01, 2.67747497e-02,
  1.72024681e-01, 7.21609616e-01, 2.34257811e-01,-2.14719143e-01,
  1.96092574e-01,-2.14590626e-04,-1.24773944e-02, 1.69007895e-04,
 -1.06423762e-04,-6.55033844e-05,-2.47014582e-05, 3.25806038e-05,
 -8.83511999e-04,-1.06119103e-03,-9.80834526e+00,-6.61683528e-02,
 -2.54802706e-02, 1.05724423e-02]


--- Step 2858 ---
qpos:
[-0.03532498, 0.5055981 ,-0.14581108, 0.92082577,-0.15185872, 0.27312228,
 -0.25696057, 1.11177184,-0.10199355, 1.3180762 ,-0.0252074 , 0.954631  ,
  1.14091135, 0.00548206, 1.25529424, 0.04551259, 0.06072675,-0.08215078,
  0.15007392, 0.96374527,-0.02027643,-0.10485216, 0.24451984]

qacc:
[ 9.69349499e+00, 1.94717052e+01,-1.98124485e+01,-1.91700514e+01,
 -9.94261672e+01, 2.12829300e+01, 6.96490217e+01,-2.05787123e+02,
  7.01675671e+02, 7.02233249e+02,-2.25462733e+03, 2.07099305e+03,
  1.95153271e-01,-8.41421317e-01,-9.20113087e+00, 3.11242358e+01,
 -2.59752866e+00,-3.19472758e+00,-3.00389141e-02,-4.44410906e+00,
 -1.64037177e+01,-6.93903575e+01]

qfrc_actuator:
[ 0.02743967, 0.38903385, 0.12441814, 0.02356048, 0.1437176 , 0.78679859,
  0.23690172,-0.16774332, 0.11430663, 0.0554939 , 0.01247887, 0.00180404,
  0.02010357,-0.00156317, 0.        ,-0.00152755, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.34791223, 0.04864718, 0.34449438, 0.04864718, 0.29952698,
       0.00683264, 0.34449438, 0.00683264, 0.34694737, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0006445763674456539
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.70725734e-01, -7.16422093e-01, -1.92006184e-01, -1.31225100e-01,
       -1.40165430e-01,  9.81393716e-01, -7.30004769e-01,  6.83442051e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06483014, -0.03788512,  0.14151028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010478926448793696
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96135261, -0.17931099, -0.20892277, -0.17522099,  0.98379244,
       -0.03807932,  0.21236468,  0.        , -0.97719048])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0915757 , -0.08764057,  0.12834364])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005797508763232956
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43625012e-13, -9.57500083e-14,  1.00000000e+00, -1.37520961e-26,
        1.00000000e+00,  9.57500083e-14, -1.00000000e+00,  0.00000000e+00,
       -1.43625012e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03729652, -0.06416588,  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:
[ 2.45828964e-02, 2.88112909e-01, 1.39769550e-01, 2.71107838e-02,
  1.72743338e-01, 7.21474675e-01, 2.34056707e-01,-2.15093054e-01,
  2.00879406e-01,-1.66879571e-03,-1.35572031e-02, 1.71665431e-04,
 -1.00809530e-04,-8.25492770e-05,-1.09787192e-05, 1.47295393e-04,
 -9.65093879e-04,-1.07678957e-03,-9.80825100e+00,-6.61721694e-02,
 -2.55689475e-02, 1.06621178e-02]


--- Step 2859 ---
qpos:
[-0.03526922, 0.50732691,-0.14621243, 0.92070717,-0.15250334, 0.27436285,
 -0.25690698, 1.11265898,-0.10225171, 1.3183784 ,-0.02506036, 0.95464569,
  1.14138187, 0.00548153, 1.25543588, 0.04551415, 0.0605928 ,-0.08223567,
  0.15009191, 0.96377107,-0.0201073 ,-0.1055911 , 0.24411377]

qacc:
[ 1.57519437e+01, 7.98495413e+00, 2.79157333e+01,-8.49766141e+01,
 -4.41032394e+01, 1.21526498e+00, 6.66126721e+01,-1.75406649e+02,
 -1.01754033e+02,-4.45293631e+02, 1.14651687e+03,-8.19416465e+02,
 -5.32263274e-01, 3.69819781e-01,-9.75613608e+00, 3.36611449e+01,
 -1.20022687e+00,-5.24468218e-01, 1.67252090e-01,-7.22969541e+00,
 -7.35278006e+00,-1.83295726e+01]

qfrc_actuator:
[ 0.02726903, 0.39011325, 0.1248602 , 0.02372206, 0.14445518, 0.78681947,
  0.23684093,-0.16864944, 0.11434546, 0.05511006, 0.01238022, 0.0018467 ,
  0.02006233,-0.0015504 , 0.        ,-0.00136801, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([3.45264713e-01, 5.08263775e-02, 3.41503150e-01, 5.08263775e-02,
       3.44710097e-01, 8.25442762e-05, 3.41503150e-01, 8.25442762e-05,
       3.45252428e-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: -0.0006383016257744966
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66754905, -0.71899247, -0.19346342, -0.1316332 , -0.14177727,
        0.98110749, -0.73283762,  0.68040358,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06472494, -0.03793235,  0.14158528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010508166803650658
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.61068472e-01, -1.78219902e-01, -2.11151741e-01, -1.74068243e-01,
        9.83990684e-01, -3.82436980e-02,  2.14587134e-01, -6.93889390e-18,
       -9.76704849e-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([ 0.09145278, -0.0876769 ,  0.12840192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.71383099, 0.42755048, 0.57162512, 0.42755048, 0.41115941,
       0.22638505, 0.57162512, 0.22638505, 0.54450492, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -4.460096705517469e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.06199992,  0.97300645, -0.22229364, -0.01413587,  0.22184373,
        0.97497976,  0.99797605,  0.06359099,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05342676, -0.12288923,  0.2017018 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005795857600083831
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03729481, -0.06416551,  0.06198792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38602728e-02, 2.87891420e-01, 1.39993008e-01, 2.73437054e-02,
  1.75717042e-01, 7.17679422e-01, 2.32671682e-01,-2.15507517e-01,
  1.18274638e-01,-3.98456644e-03,-1.96820214e-03,-3.88605742e-04,
 -1.11027656e-04,-3.46957988e-05, 8.17266905e-06, 1.65659860e-04,
 -1.09734171e-03,-1.30060791e-03,-9.80868021e+00,-6.58254696e-02,
 -2.56889146e-02, 1.07643988e-02]


--- Step 2860 ---
qpos:
[-0.03519089, 0.50908398,-0.14660292, 0.92058492,-0.15316416, 0.27562793,
 -0.25684334, 1.11353629,-0.10281223, 1.31866443,-0.02488197, 0.95464875,
  1.14185127, 0.00548162, 1.25557781, 0.04551527, 0.06045518,-0.08232136,
  0.15011049, 0.96379888,-0.01994431,-0.10634566, 0.24368943]

qacc:
[ 1.99057273e+01, 3.34953365e+00, 4.29762363e+01,-9.89640359e+01,
 -3.56288607e+01,-3.00630809e+00, 6.74587381e+01,-1.71541030e+02,
 -1.28373338e+02,-1.25878336e+02, 4.08313900e+02,-4.77813478e+02,
 -1.35777998e+00, 1.65321068e+00, 1.90668352e+00,-5.74297845e+00,
 -9.17032014e-01,-1.96564245e-01, 1.49793601e-01,-5.81328621e+00,
 -6.48808930e+00,-8.88157536e+00]

qfrc_actuator:
[ 0.02697389, 0.39090439, 0.12528041, 0.02386855, 0.14516753, 0.7866002 ,
  0.23675775,-0.16954211, 0.11461584, 0.05481754, 0.01216254, 0.00189891,
  0.02001537,-0.00150705, 0.        ,-0.00139904, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.33952525, 0.05226511, 0.3354784 , 0.05226511, 0.33320708,
       0.00098432, 0.3354784 , 0.00098432, 0.3393719 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0006247586206536927
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.63343338e-01, -7.22891514e-01, -1.93399778e-01, -1.30759183e-01,
       -1.42497404e-01,  9.81120036e-01, -7.36802315e-01,  6.76108237e-01,
       -2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06462861, -0.03799484,  0.14168054])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010537379768564453
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.60778783e-01, -1.77033410e-01, -2.13455622e-01, -1.72819658e-01,
        9.84204842e-01, -3.83952355e-02,  2.16881296e-01, -6.93889390e-18,
       -9.76197984e-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([ 0.09132591, -0.08771413,  0.12846117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.72273652, 0.3789836 , 0.61540191, 0.3789836 , 0.32125383,
       0.2472455 , 0.61540191, 0.2472455 , 0.57047506, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00011433731604390814
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.06242149,  0.9730553 , -0.22196158, -0.01420963,  0.22150628,
        0.97505541,  0.99794872,  0.0640184 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05318211, -0.12295238,  0.20168181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005793431760057755
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.79086952e-14, -1.91634781e-13,  1.00000000e+00, -9.18097229e-27,
        1.00000000e+00,  1.91634781e-13, -1.00000000e+00,  0.00000000e+00,
       -4.79086952e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03729312, -0.06416516,  0.06198792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26685744e-02, 2.87207382e-01, 1.39937375e-01, 2.76632951e-02,
  1.77427779e-01, 7.15783187e-01, 2.31948076e-01,-2.15915003e-01,
  1.30532043e-01, 5.04789215e-03,-6.05523188e-03,-5.87308760e-04,
 -1.10280067e-04, 7.26066388e-06, 1.75638785e-05,-2.17592999e-05,
 -1.26279925e-03,-1.38352914e-03,-9.80877439e+00,-6.57063581e-02,
 -2.58059318e-02, 1.08657564e-02]


--- Step 2861 ---
qpos:
[-0.0350863 , 0.51087575,-0.14697947, 0.9204587 ,-0.15383878, 0.27691284,
 -0.25677107, 1.11440381,-0.10365556, 1.31898158,-0.02467165, 0.9546476 ,
  1.14231982, 0.00548193, 1.25571986, 0.0455157 , 0.0603145 ,-0.08240706,
  0.15012965, 0.96382648,-0.01978786,-0.10711405, 0.24325613]

qacc:
[ 2.30690758e+01, 3.29916237e+00, 5.42965009e+01,-1.16756543e+02,
 -3.01273170e+01,-5.39241752e+00, 6.77079303e+01,-1.68472983e+02,
 -1.20079544e+02,-5.25877435e+01, 2.29176024e+02,-2.66263312e+02,
 -8.73060062e-01, 9.12275697e-01, 2.31655111e+00,-7.70000413e+00,
 -7.64339731e-01,-3.16389230e-03, 1.42901912e-01,-5.31579074e+00,
 -5.79100971e+00,-4.08653188e+00]

qfrc_actuator:
[ 0.02666317, 0.39167119, 0.12564671, 0.02398977, 0.14585125, 0.78633846,
  0.23664085,-0.17029848, 0.11518369, 0.05451956, 0.01199501, 0.00191824,
  0.01997568,-0.0014992 , 0.        ,-0.00143559, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.31945512, 0.05174685, 0.31523616, 0.05174685, 0.31170264,
       0.00127259, 0.31523616, 0.00127259, 0.31924622, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0005777032672384829
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65873094, -0.7268152 , -0.19445618, -0.13058706, -0.1440841 ,
        0.98091121, -0.74095922,  0.67155002,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06453339, -0.03805739,  0.14176496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.01056652938311825
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96047912, -0.17579665, -0.21581334, -0.17152018,  0.9844265 ,
       -0.03853946,  0.21922748,  0.        , -0.97567377])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09119632, -0.08775228,  0.1285212 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.73252394, 0.36037425, 0.63774738, 0.36037425, 0.30386457,
       0.24222413, 0.63774738, 0.24222413, 0.59564947, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00015803120520698505
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.06311915,  0.97306774, -0.22170962, -0.01435129,  0.22124465,
        0.97511273,  0.99790281,  0.0647301 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0529351 , -0.12303718,  0.20165969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005790374264896259
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58679849e-14,  1.91735970e-13,  1.00000000e+00,  1.83813410e-26,
        1.00000000e+00, -1.91735970e-13, -1.00000000e+00,  0.00000000e+00,
       -9.58679849e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03729144, -0.06416484,  0.06198793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12221611e-02, 2.86510867e-01, 1.39747405e-01, 2.79655741e-02,
  1.78923320e-01, 7.14251802e-01, 2.31314376e-01,-2.16182847e-01,
  1.46220050e-01, 5.55891546e-03,-7.79033795e-03, 1.33720854e-05,
 -9.31749540e-05,-1.56867251e-05,-7.42048204e-07,-3.69094378e-05,
 -1.40082815e-03,-1.45202768e-03,-9.80878792e+00,-6.56291555e-02,
 -2.59185847e-02, 1.09673547e-02]


--- Step 2862 ---
qpos:
[-0.03496469, 0.51270339,-0.14734056, 0.92032792,-0.15452494, 0.27821414,
 -0.25669115, 1.1152616 ,-0.10474778, 1.31934172,-0.02443062, 0.95464527,
  1.14278772, 0.00548208, 1.25586244, 0.045511  , 0.06017118,-0.08249215,
  0.15014938, 0.96385232,-0.01963866,-0.10789496, 0.24282033]

qacc:
[ 1.48891481e+01, 1.41456408e-01, 6.78343770e+01,-1.35623498e+02,
 -2.50602858e+01,-7.25067928e+00, 6.81190957e+01,-1.65747214e+02,
 -1.05661385e+02,-2.84758309e+01, 1.63292620e+02,-1.81808587e+02,
 -8.29863026e-01, 6.86843844e-01, 1.64047828e+01,-5.60448736e+01,
 -6.60188356e-01, 1.50222378e-01, 1.42048597e-01,-5.16349458e+00,
 -5.22241898e+00,-7.19718858e-01]

qfrc_actuator:
[ 0.02638363, 0.39219261, 0.1260265 , 0.02415089, 0.14655735, 0.78611713,
  0.23653663,-0.17114668, 0.11604918, 0.05428401, 0.01184447, 0.00191506,
  0.01994037,-0.00151249, 0.        ,-0.00170582, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.31029447,  0.05342513,  0.30566061,  0.05342513,  0.32491592,
       -0.00255562,  0.30566061, -0.00255562,  0.31074115,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005561927426606265
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.56938390e-01, -7.28074871e-01, -1.95803304e-01, -1.31169735e-01,
       -1.45373431e-01,  9.80643190e-01, -7.42446262e-01,  6.69905626e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06440132, -0.03808721,  0.14184909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.01059554119148757
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96016733, -0.17453265, -0.21821332, -0.17019277,  0.98465139,
       -0.03867902,  0.2216148 ,  0.        , -0.97513429])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09106467, -0.08779134,  0.12858192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.73750049, 0.34984937, 0.64923986, 0.34984937, 0.2986911 ,
       0.23645682, 0.64923986, 0.23645682, 0.61008338, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00017582834697688795
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.06408152,  0.97304459, -0.22153505, -0.01455804,  0.2210562 ,
        0.97515241,  0.99783847,  0.06571437,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05268607, -0.12314174,  0.20163993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005786757368291678
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.59279052e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.59279052e-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([ 0.03728979, -0.06416455,  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:
[ 1.96221414e-02, 2.85244946e-01, 1.39416719e-01, 2.83241142e-02,
  1.80320452e-01, 7.12994020e-01, 2.30763663e-01,-2.16543544e-01,
  1.61229965e-01, 3.77036537e-03,-9.53743733e-03, 2.19572904e-04,
 -8.59006316e-05,-3.93452258e-05,-9.50786649e-06,-2.73489521e-04,
 -1.52439479e-03,-1.51424684e-03,-9.80876155e+00,-6.55748299e-02,
 -2.60294296e-02, 1.10696271e-02]


--- Step 2863 ---
qpos:
[-0.0348352 , 0.51456284,-0.14768484, 0.92019279,-0.15523069, 0.27954915,
 -0.25659733, 1.11611011,-0.1060431 , 1.31985257,-0.02419596, 0.9546359 ,
  1.14325478, 0.00548237, 1.2560049 , 0.04550377, 0.06002254,-0.0825783 ,
  0.15016988, 0.9638855 ,-0.01950378,-0.1086938 , 0.24234275]

qacc:
[ 6.88211753e+00,-8.19243165e+00, 8.79831833e+01,-1.46554287e+02,
 -4.22124051e+01,-2.97319195e-01, 7.19852349e+01,-1.73795530e+02,
 -8.62391783e+01, 2.03095520e+02,-4.09532343e+02, 1.80500285e+02,
 -9.44206421e-01, 9.56325717e-01, 7.54850791e+00,-2.64804165e+01,
 -1.33099620e+00,-2.62716436e-01, 1.95560836e-01,-1.12643145e+01,
 -6.09428804e+00,-2.04343699e+01]

qfrc_actuator:
[ 0.02624582, 0.39226771, 0.12638953, 0.02428485, 0.14726241, 0.78591554,
  0.23647303,-0.1720994 , 0.11711918, 0.05399058, 0.01162155, 0.00195031,
  0.01989705,-0.00150268, 0.        ,-0.00182749, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.29345351,  0.05356538,  0.28852333,  0.05356538,  0.3128437 ,
       -0.00359986,  0.28852333, -0.00359986,  0.29412184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005162367078752884
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65724857, -0.72736507, -0.19739395, -0.1323408 , -0.14645916,
        0.98032425, -0.74196377,  0.67043998,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.064241  , -0.03809264,  0.1419337 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010624324144612552
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59841890e-01, -1.73257690e-01, -2.20647499e-01, -1.68853642e-01,
        9.84876527e-01, -3.88159073e-02,  2.24035697e-01,  6.93889390e-18,
       -9.74580939e-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([ 0.09093146, -0.08783128,  0.12864326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.73355845, 0.24095323, 0.69285607, 0.24095323, 0.19009514,
       0.1889992 , 0.69285607, 0.1889992 , 0.66783056, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0001619104597521442
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.94539047e-01,  9.16639603e-01, -2.70219520e-01, -8.26654591e-02,
        2.57264476e-01,  9.62798739e-01,  9.52057336e-01,  3.05919643e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05249485, -0.12325308,  0.20163772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005782642233021495
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59961709e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.59961709e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03728815, -0.06416429,  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:
[ 1.86269012e-02, 2.83473186e-01, 1.38992983e-01, 2.86845369e-02,
  1.81604205e-01, 7.11927040e-01, 2.30301848e-01,-2.17012173e-01,
  1.74747498e-01, 1.33017929e-03,-1.12954238e-02, 3.13280663e-04,
 -9.66588110e-05,-2.10472940e-05,-4.02962440e-05,-1.39336624e-04,
 -1.63955307e-03,-1.57195373e-03,-9.80870670e+00,-6.55376857e-02,
 -2.61391657e-02, 1.11725818e-02]


--- Step 2864 ---
qpos:
[-0.03469889, 0.51645261,-0.14801046, 0.9200533 ,-0.1559565 , 0.28091859,
 -0.25648915, 1.11694944,-0.10747792, 1.32042703,-0.02393875, 0.9546314 ,
  1.14372085, 0.00548309, 1.25614648, 0.04550043, 0.05986854,-0.08266528,
  0.15019123, 0.96392571,-0.01938418,-0.10951058, 0.24182415]

qacc:
[   5.91961712, -14.83444734, 107.26676388,-161.36062443, -42.98531309,
   -0.42432243,  73.3043286 ,-173.97788288, -59.22340576,  31.03517634,
  -10.37258877,  25.91646118,  -0.71662529,   0.8091213 , -13.04134607,
   43.86363248,  -1.33882586,  -0.20689465,   0.2103129 , -11.69472394,
   -6.01577576, -19.96468115]

qfrc_actuator:
[ 0.02623088, 0.39208248, 0.12673498, 0.02440413, 0.14796173, 0.78593271,
  0.23644227,-0.17304037, 0.11836566, 0.05343099, 0.01136226, 0.00189067,
  0.01984897,-0.00147924, 0.        ,-0.00161204, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.28142869,  0.05441469,  0.276118  ,  0.05441469,  0.30248321,
       -0.00414922,  0.276118  , -0.00414922,  0.28224638,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048682928419004404
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.65782261, -0.72640514, -0.19901003, -0.13358535, -0.14751254,
        0.97999745, -0.74123166,  0.6712493 ,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06407407, -0.03809494,  0.14202099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010652797807931772
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95950987, -0.17187716, -0.22315703, -0.16740915,  0.98511839,
       -0.03893501,  0.22652813,  0.        , -0.97400462])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09079406, -0.08787212,  0.12870567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.71704267, 0.24501111, 0.67388407, 0.24501111, 0.20780161,
       0.18515012, 0.67388407, 0.18515012, 0.64972569, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -7.755687493434694e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.93334255e-01,  9.17100365e-01, -2.69966545e-01, -8.22441862e-02,
        2.57133874e-01,  9.62869703e-01,  9.52465700e-01,  3.04645845e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05244757, -0.12335138,  0.20168176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005779247317365677
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03728655, -0.06416405,  0.06198796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82115159e-02, 2.81642797e-01, 1.38483461e-01, 2.90196315e-02,
  1.83284495e-01, 7.10212006e-01, 2.29561122e-01,-2.17492065e-01,
  1.86156826e-01,-6.76271921e-03,-1.12360164e-02, 6.04200194e-04,
 -1.02643626e-04,-4.58207560e-06,-3.75105672e-05, 2.01788406e-04,
 -1.91547132e-03,-1.65081382e-03,-9.80884497e+00,-6.54067914e-02,
 -2.62855034e-02, 1.12818291e-02]


--- Step 2865 ---
qpos:
[-0.03455821, 0.5183682 ,-0.14832132, 0.91991325,-0.15673867, 0.28237322,
 -0.25635068, 1.11777875,-0.10731328, 1.32095591,-0.02386491, 0.95464589,
  1.1441861 , 0.00548405, 1.25628822, 0.04549628, 0.05970337,-0.08276531,
  0.15021237, 0.96399563,-0.01925033,-0.11036648, 0.2411661 ]

qacc:
[ 3.79077729e+00,-5.46588744e+00, 6.06495621e+01,-7.45632787e+01,
 -1.19875342e+02, 2.34163210e+01, 7.79389136e+01,-2.17841933e+02,
  6.78881031e+02, 4.68063933e+02,-1.63660867e+03, 1.66573877e+03,
 -8.79166179e-01, 9.49326023e-01, 2.79492086e+00,-9.24261737e+00,
 -2.79469550e+00,-3.26467059e+00,-5.33557966e-02,-5.21558629e+00,
 -1.75942023e+01,-7.19621142e+01]

qfrc_actuator:
[ 0.02632307, 0.39231566, 0.12711456, 0.02451636, 0.14866595, 0.7868303 ,
  0.23638968,-0.17395293, 0.1198067 , 0.05277403, 0.01105476, 0.00180049,
  0.01981404,-0.00146572, 0.        ,-0.0016613 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.27089608, 0.05408841, 0.26544139, 0.05408841, 0.22889321,
       0.00855883, 0.26544139, 0.00855883, 0.26915207, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0004579099220233764
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.58446961e-01, -7.25389341e-01, -2.00643722e-01, -1.34855636e-01,
       -1.48566014e-01,  9.79664278e-01, -7.40446863e-01,  6.72114903e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06390313, -0.03809648,  0.14211104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010681031478025012
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95917024, -0.17039314, -0.2257402 , -0.16586157,  0.98537616,
       -0.03903543,  0.22909038,  0.        , -0.97340516])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09065245, -0.08791391,  0.12876924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005776260729881827
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.61022257e-14,  9.61022257e-14,  1.00000000e+00,  9.23563778e-27,
        1.00000000e+00, -9.61022257e-14, -1.00000000e+00,  0.00000000e+00,
       -9.61022257e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03728499, -0.06416386,  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:
[ 1.79574234e-02, 2.80304424e-01, 1.37915120e-01, 2.93484670e-02,
  1.84994482e-01, 7.09340042e-01, 2.28774894e-01,-2.17948219e-01,
  1.94577908e-01,-1.06001601e-02,-1.26720604e-02, 2.69532439e-04,
 -8.75521732e-05,-1.15712647e-05, 3.10032469e-06,-4.32465347e-05,
 -2.22580525e-03,-1.71983162e-03,-9.80898138e+00,-6.52764823e-02,
 -2.64407102e-02, 1.13929410e-02]


--- Step 2866 ---
qpos:
[-0.03440989, 0.5203233 ,-0.14861439, 0.91976999,-0.15755803, 0.28388513,
 -0.2561913 , 1.11859833,-0.10746956, 1.32136579,-0.02373229, 0.95465314,
  1.14465049, 0.00548566, 1.2564298 , 0.04549292, 0.05953071,-0.08286895,
  0.15023431, 0.96407855,-0.01912786,-0.11124751, 0.24043848]

qacc:
[ 6.57895570e+00, 6.90909851e-01, 6.88190279e+01,-1.22825922e+02,
 -7.85532477e+01, 1.15974939e+01, 7.15198317e+01,-1.92884179e+02,
 -1.36189714e+02,-3.27601431e+02, 8.94475252e+02,-7.85281523e+02,
 -1.04738311e+00, 1.37692137e+00,-2.53523984e+00, 8.73710050e+00,
 -1.86998042e+00,-9.00011251e-01, 2.00407299e-01,-1.22223565e+01,
 -9.35522380e+00,-3.47150777e+01]

qfrc_actuator:
[ 0.02647927, 0.3930408 , 0.12747555, 0.02464006, 0.14939965, 0.78796081,
  0.23628456,-0.17475517, 0.11966352, 0.05219565, 0.01098625, 0.00171145,
  0.01978171,-0.00142263, 0.        ,-0.0016177 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.25971455, 0.05453874, 0.25392356, 0.05453874, 0.24663426,
       0.00280944, 0.25392356, 0.00280944, 0.25911113, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0004224348016776434
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.59309270e-01, -7.24119418e-01, -2.02391590e-01, -1.36258567e-01,
       -1.49652794e-01,  9.79304674e-01, -7.39421997e-01,  6.73242238e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06372497, -0.03809671,  0.14220186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010687001032275446
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58728348e-01, -1.70486432e-01, -2.27539734e-01, -1.65878634e-01,
        9.85360024e-01, -3.93687955e-02,  2.30920403e-01,  6.93889390e-18,
       -9.72972645e-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([ 0.09050003, -0.08797271,  0.12884293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.71231402, 0.32472419, 0.63399168, 0.32472419, 0.24644417,
       0.23861387, 0.63399168, 0.23861387, 0.59009838, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -8.738643041255098e-06
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.04271150e-01,  9.12997416e-01, -2.71762369e-01, -8.59232215e-02,
        2.57821615e-01,  9.62364388e-01,  9.48702412e-01,  3.16170417e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05238272, -0.12344739,  0.20178361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005772973206117776
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.61569528e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.61569528e-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([ 0.03728349, -0.0641637 ,  0.06198798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.78890015e-02, 2.79682684e-01, 1.37523076e-01, 2.94990890e-02,
  1.88551471e-01, 7.06161050e-01, 2.27138551e-01,-2.18253014e-01,
  1.14434640e-01,-8.93153486e-03,-3.57675580e-03,-7.59359023e-04,
 -7.90685223e-05, 1.95256933e-05,-8.59536261e-06, 4.04614962e-05,
 -2.76470620e-03,-1.73779747e-03,-9.80958960e+00,-6.48401250e-02,
 -2.66405142e-02, 1.15137744e-02]


--- Step 2867 ---
qpos:
[-0.03425336, 0.52232117,-0.14888918, 0.91962319,-0.15841372, 0.28545108,
 -0.25601231, 1.119408  ,-0.10795573, 1.32179016,-0.02356584, 0.95465032,
  1.14511416, 0.00548732, 1.25657099, 0.04549243, 0.05935121,-0.08297527,
  0.15025702, 0.96417192,-0.01901745,-0.11215178, 0.23965145]

qacc:
[ 7.04103234e+00, 3.19170454e+00, 6.66553789e+01,-1.27371830e+02,
 -7.61304047e+01, 1.05324142e+01, 7.02152625e+01,-1.92081621e+02,
 -1.39996649e+02,-8.96411762e+01, 3.35522753e+02,-4.15946863e+02,
 -3.66181572e-01, 2.58688452e-01,-9.21361967e+00, 3.14854176e+01,
 -1.71173827e+00,-6.73773005e-01, 1.93753851e-01,-1.18174627e+01,
 -8.60306233e+00,-2.94398616e+01]

qfrc_actuator:
[ 0.02652683, 0.39341574, 0.12776319, 0.02486227, 0.15018993, 0.78847931,
  0.23614519,-0.17554076, 0.11981494, 0.05172057, 0.01087458, 0.00174823,
  0.01973498,-0.00143332, 0.        ,-0.0014664 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.24986136, 0.05571343, 0.24357076, 0.05571343, 0.23777546,
       0.00276448, 0.24357076, 0.00276448, 0.24922902, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003857607120393255
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66026732, -0.72274329, -0.20417931, -0.13771408, -0.15074489,
        0.97893351, -0.73829662,  0.67447617,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06354119, -0.03809586,  0.14229575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010680177359026072
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56957795e-01, -1.79036414e-01, -2.28424475e-01, -1.74144034e-01,
        9.83842448e-01, -4.15679350e-02,  2.32175868e-01, -6.93889390e-18,
       -9.72673823e-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([ 0.09035046, -0.08810146,  0.12892655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.71242039, 0.27321047, 0.65795049, 0.27321047, 0.19767215,
       0.21374649, 0.65795049, 0.21374649, 0.62366329, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.4516728089763828e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.02561046e-01,  9.13640773e-01, -2.71509395e-01, -8.53544385e-02,
        2.57744003e-01,  9.62435789e-01,  9.49300497e-01,  3.14370111e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05236728, -0.12346012,  0.20182611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005769061718315927
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03728205, -0.06416362,  0.06198799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75482094e-02, 2.78023640e-01, 1.36904710e-01, 2.98799962e-02,
  1.91205856e-01, 7.03763272e-01, 2.25936047e-01,-2.18555555e-01,
  1.30637000e-01,-3.45940722e-03,-6.62841106e-03,-3.59500133e-04,
 -8.18003137e-05,-2.32214803e-05,-3.72274016e-06, 1.51537981e-04,
 -3.29878754e-03,-1.73988337e-03,-9.80989262e+00,-6.46046587e-02,
 -2.68445723e-02, 1.16369369e-02]


--- Step 2868 ---
qpos:
[-0.03409474, 0.52435184,-0.14914801, 0.91947645,-0.15933695, 0.28714458,
 -0.25579073, 1.12020554,-0.10722897, 1.32220628,-0.02353181, 0.95466031,
  1.14557729, 0.00548822, 1.25671274, 0.04548871, 0.05916029,-0.08309449,
  0.15027946, 0.96429343,-0.01889237,-0.11309629, 0.23872683]

qacc:
[ 1.78046254e+00, 1.25820472e+00, 4.85529422e+01,-6.21815054e+01,
 -1.40498990e+02, 4.42856532e+01, 8.12131757e+01,-2.69439154e+02,
  5.14700062e+02, 3.68850004e+02,-1.24161440e+03, 1.22937758e+03,
 -2.10352203e-01,-3.89534201e-01, 1.05801114e+01,-3.58195919e+01,
 -2.85290067e+00,-3.22193459e+00,-6.84763590e-02,-5.19549291e+00,
 -1.82708619e+01,-7.09135456e+01]

qfrc_actuator:
[ 0.02641681, 0.39338398, 0.12798147, 0.02503869, 0.15102817, 0.7887352 ,
  0.23597821,-0.17638329, 0.12028044, 0.05131033, 0.01072071, 0.00186624,
  0.01968497,-0.00149369, 0.        ,-0.00164343, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.24135154, 0.05581525, 0.23480891, 0.05581525, 0.1968976 ,
       0.01056692, 0.23480891, 0.01056692, 0.23883973, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00034847669292074125
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66130107, -0.72128005, -0.20599996, -0.13921385, -0.15184033,
        0.978552  , -0.73708914,  0.67579553,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06335188, -0.03809399,  0.14239309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010123205521388066
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95568197, -0.18224426, -0.23121204, -0.17713397,  0.98325329,
       -0.04285474,  0.23515003,  0.        , -0.97195909])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09019093, -0.0881908 ,  0.12899796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005764600124580632
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62966208e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.62966208e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03728067, -0.06416362,  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:
[ 1.70209542e-02, 2.75794660e-01, 1.36193095e-01, 3.02315054e-02,
  1.93864662e-01, 7.01262639e-01, 2.24770537e-01,-2.18905529e-01,
  1.47601090e-01,-4.59488735e-03,-8.47335507e-03, 2.61938796e-04,
 -9.61036454e-05,-8.61957269e-05, 1.14717168e-05,-1.69868045e-04,
 -3.83630200e-03,-1.72989233e-03,-9.81015288e+00,-6.43928160e-02,
 -2.70528435e-02, 1.17621096e-02]


--- Step 2869 ---
qpos:
[-0.03393696, 0.52641853,-0.14938511, 0.9193276 ,-0.16030841, 0.28892973,
 -0.25553785, 1.12099102,-0.10697023, 1.3225495 ,-0.02342564, 0.95466506,
  1.14603965, 0.0054887 , 1.25685475, 0.04548126, 0.0589616 ,-0.08321757,
  0.15030258, 0.9644261 ,-0.01877574,-0.11406849, 0.23773544]

qacc:
[-7.09588342e-01,-1.23096212e+01, 1.03001249e+02,-1.34956573e+02,
 -9.94793819e+01, 2.69200831e+01, 8.05654532e+01,-2.46125694e+02,
 -1.98582403e+02,-2.99609561e+02, 8.72144549e+02,-7.71525401e+02,
 -6.36732723e-01, 2.64389629e-01, 1.17439690e+01,-4.04070205e+01,
 -1.94505121e+00,-9.64622954e-01, 1.72325471e-01,-1.10487060e+01,
 -1.10835429e+01,-3.33054833e+01]

qfrc_actuator:
[ 0.02607307, 0.39310106, 0.12820639, 0.02513218, 0.15185217, 0.78857861,
  0.23578159,-0.17720055, 0.11954127, 0.05093819, 0.01069421, 0.00183659,
  0.01964364,-0.00151205, 0.        ,-0.00183499, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.23309272, 0.05639817, 0.22616689, 0.05639817, 0.21501583,
       0.00450775, 0.22616689, 0.00450775, 0.23196864, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003051723202301414
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66255908, -0.71956864, -0.20793371, -0.14084687, -0.15296597,
        0.97814292, -0.73564776,  0.67736429,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06315496, -0.03809094,  0.14249181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.01013690018495631
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.55434405e-01, -1.79809385e-01, -2.34123221e-01, -1.74642488e-01,
        9.83701472e-01, -4.27950487e-02,  2.38002308e-01,  6.93889390e-18,
       -9.71264589e-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([ 0.09000907, -0.08824109,  0.12907503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.71656384, 0.31929687, 0.64149299, 0.31929687, 0.21917394,
       0.24757097, 0.64149299, 0.24757097, 0.59333781, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -7.359978345915959e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.29862044,  0.9150967 , -0.27096838, -0.08406159,  0.25759952,
        0.96258825,  0.95066265,  0.31022656,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05235075, -0.12344421,  0.20191666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005759059462654842
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63892656e-14,  1.92778531e-13,  1.00000000e+00,  1.85817811e-26,
        1.00000000e+00, -1.92778531e-13, -1.00000000e+00,  0.00000000e+00,
       -9.63892656e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03727938, -0.06416371,  0.06198801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65669727e-02, 2.73810884e-01, 1.35602959e-01, 3.03202022e-02,
  1.98075012e-01, 6.94670388e-01, 2.22425537e-01,-2.19121326e-01,
  8.62017961e-02,-4.55336078e-03,-1.87923520e-03,-4.08478880e-04,
 -1.10158679e-04,-6.56011206e-05,-1.94768290e-05,-2.00848629e-04,
 -4.70228766e-03,-1.50944499e-03,-9.81089421e+00,-6.38956195e-02,
 -2.73027697e-02, 1.18966579e-02]


--- Step 2870 ---
qpos:
[-0.03377986, 0.52852525,-0.14959905, 0.9191762 ,-0.16132504, 0.29079553,
 -0.25525715, 1.12176408,-0.10716442, 1.32292991,-0.02327576, 0.95466003,
  1.14650105, 0.0054894 , 1.25699632, 0.04547422, 0.05875593,-0.08334309,
  0.15032642, 0.96456578,-0.0186688 ,-0.1150667 , 0.23669385]

qacc:
[-5.71993516e-01,-1.13789728e+01, 1.07490862e+02,-1.46801197e+02,
 -9.23372619e+01, 2.13204380e+01, 8.19733349e+01,-2.44168926e+02,
 -1.92172957e+02,-8.61316677e+01, 3.59409999e+02,-4.47489547e+02,
 -8.54435409e-01, 8.58991416e-01,-1.84947818e+00, 5.70079865e+00,
 -1.74308228e+00,-6.12061995e-01, 1.78187695e-01,-1.05596509e+01,
 -1.05160990e+01,-2.47348927e+01]

qfrc_actuator:
[ 0.02571545, 0.39282863, 0.12844089, 0.02526684, 0.15269308, 0.78812392,
  0.23550817,-0.17790909, 0.11929285, 0.05060361, 0.01059258, 0.00176679,
  0.01960757,-0.00148751, 0.        ,-0.00180268, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.2261589 , 0.05755611, 0.21871246, 0.05755611, 0.21091484,
       0.00401161, 0.21871246, 0.00401161, 0.22510321, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00026061061882697804
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.63903501e-01, -7.17752503e-01, -2.09913040e-01, -1.42537735e-01,
       -1.54098925e-01,  9.77720060e-01, -7.34108395e-01,  6.79032300e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06295271, -0.03808738,  0.14259347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0101538155565372
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95518176, -0.17720578, -0.23712006, -0.1719856 ,  0.98417382,
       -0.04269474,  0.24093311,  0.        , -0.97054172])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08981784, -0.08829403,  0.12915645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.72341034, 0.27268087, 0.67005049, 0.27268087, 0.18204408,
       0.22031209, 0.67005049, 0.22031209, 0.63375308, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00011790522411216577
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.96375086e-01,  9.15914291e-01, -2.70671053e-01, -8.33307351e-02,
        2.57524383e-01,  9.62671897e-01,  9.51429344e-01,  3.07867184e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05234905, -0.12342664,  0.20195758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005752269884687078
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65030368e-14,  9.65030368e-14,  1.00000000e+00,  9.31283611e-27,
        1.00000000e+00, -9.65030368e-14, -1.00000000e+00,  0.00000000e+00,
       -9.65030368e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03727817, -0.06416392,  0.06198803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62455812e-02, 2.71676388e-01, 1.34733504e-01, 3.05588688e-02,
  2.01334774e-01, 6.89571457e-01, 2.20565968e-01,-2.19230825e-01,
  1.09360749e-01,-1.25141453e-03,-5.58852160e-03,-2.14042180e-04,
 -1.07746890e-04,-1.97221797e-05,-3.60456185e-05, 1.76031115e-05,
 -5.40178487e-03,-1.42538522e-03,-9.81123264e+00,-6.36234738e-02,
 -2.75445764e-02, 1.20330740e-02]


--- Step 2871 ---
qpos:
[-0.03362076, 0.53067727,-0.14978967, 0.91902174,-0.16238396, 0.29273304,
 -0.25495136, 1.12252447,-0.10776296, 1.32337456,-0.02308195, 0.954652  ,
  1.14696167, 0.00548985, 1.25713738, 0.04546991, 0.05854384,-0.08346994,
  0.15035102, 0.96470938,-0.01857296,-0.11608974, 0.23561415]

qacc:
[ 1.67870327e+00,-5.78045211e+00, 9.88718309e+01,-1.49515707e+02,
 -8.56170172e+01, 1.65830928e+01, 8.36231989e+01,-2.42465450e+02,
 -1.71561464e+02,-3.93758544e+01, 2.36119248e+02,-2.79063416e+02,
 -2.26078512e-01,-1.16674685e-01,-8.99285829e+00, 3.03674700e+01,
 -1.60508257e+00,-3.31325655e-01, 1.88316401e-01,-1.04516465e+01,
 -1.00770711e+01,-1.84318159e+01]

qfrc_actuator:
[ 0.02547395, 0.39273936, 0.12865328, 0.02540973, 0.15361363, 0.78757122,
  0.2352329 ,-0.1786715 , 0.11947547, 0.05022839, 0.01046316, 0.00175054,
  0.01956404,-0.0015087 , 0.        ,-0.00165647, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.22054788, 0.0591643 , 0.212464  , 0.0591643 , 0.20482507,
       0.00437829, 0.212464  , 0.00437829, 0.21932867, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00021555901069259003
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.65303164e-01, -7.15861416e-01, -2.11929547e-01, -1.44274603e-01,
       -1.55238435e-01,  9.77284947e-01, -7.32500197e-01,  6.80766818e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06274528, -0.0380835 ,  0.14269858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010173846223734798
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95491683, -0.17447187, -0.24019453, -0.16920131,  0.98466216,
       -0.04255997,  0.24393598,  0.        , -0.96979134])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08961864, -0.08834964,  0.12924178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.72470677, 0.2508937 , 0.67989135, 0.2508937 , 0.17220408,
       0.2038847 , 0.67989135, 0.2038847 , 0.64946918, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00012446689697307163
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.94020866e-01,  9.16758610e-01, -2.70380069e-01, -8.25729206e-02,
        2.57462802e-01,  9.62753664e-01,  9.52225521e-01,  3.05395738e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05233436, -0.12344289,  0.2019986 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005744408153119246
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.93270219e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.93270219e-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([ 0.03727706, -0.06416426,  0.06198805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60321064e-02, 2.69522091e-01, 1.33770231e-01, 3.08276373e-02,
  2.04521045e-01, 6.84921320e-01, 2.18877573e-01,-2.19376458e-01,
  1.32193987e-01,-3.48878186e-03,-7.90498304e-03, 2.59786449e-04,
 -1.02805025e-04,-5.16791760e-05,-1.76786841e-05, 1.41949003e-04,
 -6.03076899e-03,-1.38679041e-03,-9.81147069e+00,-6.33948626e-02,
 -2.77798124e-02, 1.21714808e-02]


--- Step 2872 ---
qpos:
[-0.03345846, 0.53287498,-0.14995777, 0.9188642 ,-0.16348686, 0.29474364,
 -0.25461981, 1.12327209,-0.1086786 , 1.32392532,-0.02286358, 0.95464106,
  1.14742163, 0.00549   , 1.25727809, 0.04546902, 0.05832447,-0.08359821,
  0.15037645, 0.96485862,-0.01849136,-0.11713957, 0.23448718]

qacc:
[ 2.69166067e+00,-3.25138253e+00, 9.13614586e+01,-1.44245106e+02,
 -8.82171591e+01, 1.65732368e+01, 8.59866889e+01,-2.45914714e+02,
 -1.34534389e+02, 6.80389163e+01,-4.81317084e+01,-5.72588803e+01,
 -5.84406044e-02,-3.13912681e-01,-1.08626309e+01, 3.72318542e+01,
 -1.82043734e+00,-3.56022423e-01, 2.08375528e-01,-1.27175258e+01,
 -1.04833217e+01,-2.28915179e+01]

qfrc_actuator:
[ 0.02522872, 0.39256116, 0.12882521, 0.02557683, 0.15461489, 0.78700742,
  0.23491263,-0.17947875, 0.12006707, 0.04975134, 0.01028164, 0.00174581,
  0.01953736,-0.00152144, 0.        ,-0.00147988, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.21618562, 0.06114233, 0.2073592 , 0.06114233, 0.19686852,
       0.00569588, 0.2073592 , 0.00569588, 0.21450612, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00017056694463066772
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.66735613e-01, -7.13917083e-01, -2.13976683e-01, -1.46048539e-01,
       -1.56383647e-01,  9.76838768e-01, -7.30844338e-01,  6.82544177e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0625326 , -0.03807927,  0.14280765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0101967389018791
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95463397, -0.17163583, -0.24334159, -0.16631747,  0.98516047,
       -0.04239526,  0.24700706,  0.        , -0.96901368])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08941257, -0.0884079 ,  0.12933064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.71620448, 0.18628308, 0.69155438, 0.18628308, 0.13229641,
       0.15728654, 0.69155438, 0.15728654, 0.67383641, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -7.048074013400054e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.92114003e-01,  8.73338055e-01, -2.89010813e-01, -1.18376819e-01,
        2.63655416e-01,  9.57325833e-01,  9.12268347e-01,  4.09593045e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([28, 43], dtype=int32)
  geom1: 28
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05230051, -0.12348525,  0.20203677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005735579944253083
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.67838506e-14,  9.67838506e-14,  1.00000000e+00,  9.36711373e-27,
        1.00000000e+00, -9.67838506e-14, -1.00000000e+00,  0.00000000e+00,
       -9.67838506e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03727604, -0.06416473,  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:
[ 1.56808644e-02, 2.67014302e-01, 1.32756944e-01, 3.11450830e-02,
  2.07643122e-01, 6.80704454e-01, 2.17280225e-01,-2.19554427e-01,
  1.53009225e-01,-7.17782482e-03,-1.02825276e-02, 4.04437294e-04,
 -9.03006472e-05,-5.16845755e-05, 4.59140460e-06, 1.81580287e-04,
 -6.60658121e-03,-1.39075849e-03,-9.81162927e+00,-6.31998396e-02,
 -2.80112013e-02, 1.23119557e-02]


--- Step 2873 ---
qpos:
[-0.03329632, 0.53510574,-0.15010681, 0.91870778,-0.16466506, 0.29686467,
 -0.25425082, 1.1240056 ,-0.10819972, 1.32440488,-0.02280242, 0.9546555 ,
  1.14788065, 0.00549071, 1.25741907, 0.04546789, 0.05809327,-0.08373857,
  0.15040148, 0.9650309 ,-0.01839411,-0.1182331 , 0.23323369]

qacc:
[-1.29666733e-01,-4.88968579e+00, 6.64829896e+01,-6.40765748e+01,
 -1.49534127e+02, 3.34968273e+01, 9.26354727e+01,-2.88101964e+02,
  5.91554925e+02, 3.74912626e+02,-1.38628043e+03, 1.53902189e+03,
 -1.14173875e+00, 1.41266323e+00, 1.20092345e+00,-3.36815059e+00,
 -2.95739236e+00,-3.02168097e+00,-9.72450220e-02,-4.76693275e+00,
 -2.03974513e+01,-6.50618816e+01]

qfrc_actuator:
[ 0.02503248, 0.39204483, 0.1289821 , 0.02577747, 0.15566545, 0.78646013,
  0.23450137,-0.18025449, 0.12097854, 0.0491989 , 0.01007064, 0.00174909,
  0.01950483,-0.00147571, 0.        ,-0.00149989, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.2129365 , 0.06229984, 0.20361897, 0.06229984, 0.16626508,
       0.01427972, 0.20361897, 0.01427972, 0.20856744, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00012544532637760812
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.68214175e-01, -7.11905577e-01, -2.16056164e-01, -1.47864205e-01,
       -1.57532355e-01,  9.76380937e-01, -7.29126870e-01,  6.84378555e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06231448, -0.03807449,  0.14292068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010234307627549647
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.55113143e-01, -1.63886063e-01, -2.46779744e-01, -1.58675136e-01,
        9.86479274e-01, -4.09980845e-02,  2.50162118e-01,  6.93889390e-18,
       -9.68203964e-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([ 0.08919321, -0.08843101,  0.12942142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005726276312058021
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69410979e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.69410979e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03727511, -0.06416533,  0.06198809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53174636e-02, 2.64147594e-01, 1.31769077e-01, 3.14982519e-02,
  2.10900336e-01, 6.76431656e-01, 2.15556866e-01,-2.19695902e-01,
  1.69782407e-01,-1.30330919e-02,-1.17218475e-02, 5.51581528e-04,
 -8.93634137e-05, 9.52663659e-06, 1.84542973e-05,-1.01463734e-05,
 -7.33833548e-03,-1.35525297e-03,-9.81184914e+00,-6.29719349e-02,
 -2.82769364e-02, 1.24573573e-02]


--- Step 2874 ---
qpos:
[-0.03313101, 0.53737772,-0.15023319, 0.91854885,-0.16588547, 0.29903343,
 -0.2538654 , 1.12472437,-0.10828639, 1.32491556,-0.02260135, 0.95482334,
  1.14833877, 0.00549173, 1.25756024, 0.04546556, 0.05785896,-0.08387954,
  0.15042655, 0.96519847,-0.01829505,-0.11934328, 0.23197927]

qacc:
[ 2.64030119e+00,-8.52440647e+00, 1.00036864e+02,-1.41175951e+02,
 -8.29363957e+01, 5.62214987e+00, 8.52151991e+01,-2.51832392e+02,
 -2.39879691e+02,-7.22186639e+01,-2.40564362e+01, 1.76996262e+03,
 -1.01675509e+00, 1.12932773e+00, 4.03446975e+00,-1.34822947e+01,
 -7.79609246e-01,-1.51832062e-01, 7.02085633e-03,-1.16696266e+00,
 -8.51530806e+00,-1.54536980e-01]

qfrc_actuator:
[ 0.02484998, 0.39185255, 0.12915992, 0.02590648, 0.15681225, 0.78617573,
  0.23412006,-0.18102262, 0.12049717, 0.04875383, 0.01003164, 0.0017123 ,
  0.01945286,-0.00146665, 0.        ,-0.00156457, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.21051378, 0.06458503, 0.20036173, 0.06458503, 0.18436371,
       0.00842927, 0.20036173, 0.00842927, 0.20779667, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -7.440093127990938e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66988806, -0.70965966, -0.21825019, -0.1498148 , -0.15870939,
        0.97589285, -0.72719015,  0.68643608,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.062089  , -0.03806877,  0.14303532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010261517521260578
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9548095 , -0.16050752, -0.25015227, -0.15526721,  0.98703462,
       -0.04067874,  0.2534382 ,  0.        , -0.96735158])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.088967  , -0.08849471,  0.12951847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.50906989, 0.16939927, 0.48005837, 0.16939927, 0.15006151,
       0.12668409, 0.48005837, 0.12668409, 0.46436659, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00010571097553371577
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55063314e-02,  9.80532857e-01, -1.94691408e-01,  5.06274143e-03,
        1.94625571e-01,  9.80864545e-01,  9.99661841e-01, -2.60039284e-02,
        8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04472511, -0.12404664,  0.2055876 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000571524994332967
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.9425625e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.9425625e-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([ 0.03727427, -0.06416605,  0.06198812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51365680e-02, 2.62235957e-01, 1.30973959e-01, 3.15688481e-02,
  2.15824666e-01, 6.70553218e-01, 2.13278837e-01,-2.19764042e-01,
  9.95549726e-02,-9.93021033e-03,-3.90243911e-03,-7.49996035e-04,
 -9.42925308e-05,-8.91873625e-06, 1.31950809e-06,-6.41961879e-05,
 -8.52639480e-03,-9.52400149e-04,-9.81269204e+00,-6.24024771e-02,
 -2.85900228e-02, 1.26128614e-02]


--- Step 2875 ---
qpos:
[-0.03296005, 0.53970199,-0.15033932, 0.91838593,-0.16713994, 0.30123687,
 -0.25346828, 1.12542817,-0.10896859, 1.32548238,-0.02234096, 0.95503863,
  1.14879614, 0.00549246, 1.25770099, 0.04546582, 0.05762291,-0.08401904,
  0.15045172, 0.96535679,-0.01819738,-0.12046566, 0.23074477]

qacc:
[ 4.66370926e+00, 9.74170327e+00, 6.17675272e+01,-1.35771784e+02,
 -6.62020356e+01, 5.78059918e-01, 8.14509078e+01,-2.44038404e+02,
 -2.52591976e+02,-4.56799650e+00, 8.27872591e+00, 5.04966871e+02,
 -1.97285863e-01,-1.75118797e-01,-8.48230561e+00, 2.87515432e+01,
 -4.32087194e-01, 3.66369072e-01, 2.57487687e-02,-9.81890233e-01,
 -6.45801809e+00, 1.06543316e+01]

qfrc_actuator:
[ 0.0246547 , 0.39240139, 0.12932132, 0.02604897, 0.15804932, 0.78615636,
  0.23378051,-0.18172667, 0.12058234, 0.04822834, 0.00984388, 0.00153105,
  0.01939991,-0.00149731, 0.        ,-0.0014242 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.20934932, 0.06758975, 0.19813825, 0.06758975, 0.18489052,
       0.00834349, 0.19813825, 0.00834349, 0.20650316, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -2.359826722892848e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.71538512e-01, -7.07410777e-01, -2.20467730e-01, -1.51787412e-01,
       -1.59895596e-01,  9.75394269e-01, -7.25256237e-01,  6.88479042e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06185943, -0.03806312,  0.14315379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010291874295255707
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95447484, -0.15710983, -0.25356318, -0.1518431 ,  0.98758114,
       -0.04033822,  0.25675175,  0.        , -0.96647739])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08873725, -0.08856138,  0.12961823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.54070069, 0.18370427, 0.50853709, 0.18370427, 0.14972891,
       0.1412349 , 0.50853709, 0.1412349 , 0.4896809 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00025219846581315755
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51175076e-02,  9.80552609e-01, -1.94642469e-01,  4.98426139e-03,
        1.94578642e-01,  9.80874258e-01,  9.99672080e-01, -2.56072655e-02,
       -8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04435528, -0.12415451,  0.20524579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000570221702390003
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.9470024e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.9470024e-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([ 0.03727353, -0.06416692,  0.06198814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47757954e-02, 2.60654669e-01, 1.29982228e-01, 3.18350627e-02,
  2.19179282e-01, 6.68071348e-01, 2.12091292e-01,-2.19735447e-01,
  1.27925056e-01,-1.20166448e-02,-1.10857712e-02,-8.60020812e-03,
 -1.02536122e-04,-5.50065089e-05,-1.18750168e-05, 1.35807822e-04,
 -8.59939421e-03,-1.08682374e-03,-9.81263478e+00,-6.23068973e-02,
 -2.87326200e-02, 1.27578832e-02]


--- Step 2876 ---
qpos:
[-0.03259068, 0.54380268,-0.14919335, 0.91860888,-0.16845789, 0.30348841,
 -0.25305772, 1.12611324,-0.11017333, 1.3261083 ,-0.02202954, 0.95529046,
  1.14925266, 0.0054929 , 1.25784158, 0.04546807, 0.0573891 ,-0.08416009,
  0.15047538, 0.96554687,-0.01812294,-0.12153947, 0.22938821]

qacc:
[ 1.64116698e+02,-4.02642185e+02, 3.26848124e+03, 7.23527714e+02,
 -1.22076757e+02, 9.36156884e+00, 8.15490145e+01,-2.94539938e+02,
 -2.21615154e+02, 2.91635328e+00, 1.05729339e+01, 3.75299055e+02,
 -3.29976157e-01,-4.42353040e-02,-6.19609276e+00, 2.14009572e+01,
  5.58419163e-01,-3.86787294e-01,-3.76130082e-01,-1.26735787e+01,
  2.91485442e+01,-6.07350791e+01]

qfrc_actuator:
[ 0.02448351, 0.39287027, 0.12943071, 0.02625528, 0.15926053, 0.78604141,
  0.23342866,-0.18231511, 0.12129914, 0.04759938, 0.00959147, 0.00130771,
  0.01935172,-0.00151582, 0.        ,-0.00132388, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.01032506399944546
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95410428, -0.15374505, -0.25699706, -0.14845385,  0.98811055,
       -0.03998745,  0.26008938,  0.        , -0.96558455])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08850568, -0.08863084,  0.12972019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.57508812, 0.19358632, 0.54152625, 0.19358632, 0.15795716,
       0.14911714, 0.54152625, 0.14911714, 0.5217813 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003385832510464107
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.42689693e-02,  9.80555768e-01, -1.94734186e-01,  4.81823808e-03,
        1.94674569e-01,  9.80856053e-01,  9.99693854e-01, -2.47426411e-02,
       -8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0439881 , -0.1243061 ,  0.20491741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005687470477459822
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.76025308e-14,  1.95205062e-13,  1.00000000e+00,  1.90525080e-26,
        1.00000000e+00, -1.95205062e-13, -1.00000000e+00,  0.00000000e+00,
       -9.76025308e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03727284, -0.0641679 ,  0.06198818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43147333e-02, 2.58438716e-01, 1.29058172e-01, 3.22383216e-02,
  2.22098987e-01, 6.66143953e-01, 2.11127642e-01,-2.19578753e-01,
  1.58427345e-01,-1.54495678e-02,-1.43039567e-02,-1.11965325e-02,
 -1.12377272e-04,-5.84065079e-05, 6.25697671e-06, 1.05626884e-04,
 -8.49730229e-03,-1.31564671e-03,-9.81241598e+00,-6.22953312e-02,
 -2.88499634e-02, 1.29021250e-02]


--- Step 2877 ---
qpos:
[-0.03232944, 0.54810104,-0.1482668 , 0.91876946,-0.16981426, 0.30576503,
 -0.2526406 , 1.12678108,-0.11180556, 1.32678147,-0.02167923, 0.95557226,
  1.14970835, 0.00549308, 1.25798247, 0.04546916, 0.05715615,-0.08429847,
  0.15049869, 0.96573691,-0.0180615 ,-0.12260089, 0.22802419]

qacc:
[-8.88955035e+01, 7.27597606e+02,-1.90657062e+03, 6.55228613e+02,
 -7.31053108e+01,-1.22098456e+00, 7.65508649e+01,-2.60273896e+02,
 -1.81287117e+02, 8.84616128e+00,-1.43292476e+01, 3.28675895e+02,
 -6.05753444e-01, 3.09847976e-01, 3.97527134e+00,-1.31859738e+01,
  2.16841630e-01, 6.66010156e-01,-8.91189872e-02,-5.31030507e+00,
  7.53339395e+00,-2.69364597e+00]

qfrc_actuator:
[ 0.02414951, 0.39112008, 0.12825119, 0.02604062, 0.16051702, 0.78584184,
  0.232992  ,-0.18293097, 0.12256015, 0.04698943, 0.00926709, 0.00101555,
  0.01931174,-0.00152693, 0.        ,-0.00139004, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20960531,  0.04802097,  0.20403032,  0.04802097,  0.32521305,
       -0.02720966,  0.20403032, -0.02720966,  0.21600943,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.068915610814341e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.73995365e-01, -7.03751058e-01, -2.24643487e-01, -1.55380024e-01,
       -1.62239775e-01,  9.74441021e-01, -7.22210009e-01,  6.91673842e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06121443, -0.03804059,  0.14360337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010362162785412594
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95378588, -0.15007514, -0.26032661, -0.14477923,  0.98867459,
       -0.03951609,  0.26330869,  0.        , -0.96471163])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08826964, -0.08870214,  0.1298257 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.59060268, 0.20029587, 0.55560155, 0.20029587, 0.17018581,
       0.15156143, 0.55560155, 0.15156143, 0.53596437, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00036862784163620887
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.31274624e-02,  9.80522896e-01, -1.95038381e-01,  4.59906505e-03,
        1.94984150e-01,  9.80795611e-01,  9.99721946e-01, -2.35803078e-02,
        8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04362186, -0.12449622,  0.20460004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000567115217466288
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78833745e-14,  9.78833745e-14,  1.00000000e+00,  9.58115501e-27,
        1.00000000e+00, -9.78833745e-14, -1.00000000e+00,  0.00000000e+00,
       -9.78833745e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03727226, -0.06416897,  0.06198821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.96421713e-03, 1.67747742e-01, 6.52288616e-02, 1.26644640e-02,
  2.26538594e-01, 6.63461977e-01, 2.09992091e-01,-2.19262241e-01,
  1.85824644e-01,-1.90061283e-02,-1.71784214e-02,-1.33177014e-02,
 -1.09716502e-04,-5.43943372e-05, 9.99116163e-06,-6.04952607e-05,
 -9.78530310e-03, 3.14100026e-05,-9.81361740e+00,-6.21176751e-02,
 -2.92332063e-02, 1.30450584e-02]


--- Step 2878 ---
qpos:
[-0.03213237, 0.5522401 ,-0.14748025, 0.91889047,-0.17119917, 0.30805772,
 -0.25222024, 1.12743194,-0.11378767, 1.32749627,-0.02129859, 0.95587688,
  1.15016326, 0.00549284, 1.25812305, 0.04547214, 0.05692402,-0.08443274,
  0.15052195, 0.96591911,-0.0180122 ,-0.12365707, 0.22668209]

qacc:
[-5.20198795e+01, 1.00120737e+02,-4.90106236e+02, 3.55678232e+01,
 -5.36934368e+01,-4.20945633e+00, 7.14860046e+01,-2.48347447e+02,
 -1.48361069e+02, 1.22056171e+01,-1.97282540e+01, 2.54243833e+02,
 -1.83096684e-01,-2.70235253e-01,-6.17262559e+00, 2.09525907e+01,
  2.02534751e-01, 1.03094508e+00,-1.26974452e-02,-3.99123065e+00,
  3.24020147e+00, 1.22634786e+01]

qfrc_actuator:
[ 2.39094853e-02, 3.88942116e-01, 1.27304508e-01, 2.58850079e-02,
  1.61836512e-01, 7.85932570e-01, 2.32541475e-01,-1.83610534e-01,
  1.24190637e-01, 4.63613543e-02, 8.83799442e-03, 7.62807223e-04,
  1.92713877e-02,-1.55126487e-03, 0.00000000e+00,-1.28746041e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21250339,  0.05155432,  0.2061549 ,  0.05155432,  0.25960346,
       -0.01177858,  0.2061549 , -0.01177858,  0.21544893,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011801820949499559
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.74783142e-01, -7.02379844e-01, -2.26561838e-01, -1.56961616e-01,
       -1.63380897e-01,  9.73996783e-01, -7.21131585e-01,  6.92798121e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06080116, -0.0380297 ,  0.14393522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010401946727366915
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95345558, -0.14637496, -0.2636225 , -0.14108159,  0.98922918,
       -0.03900788,  0.26649284,  0.        , -0.9638369 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08803272, -0.08877585,  0.12993324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.58087602, 0.19646273, 0.54664371, 0.19646273, 0.17497842,
       0.14587884, 0.54664371, 0.14587884, 0.52844743, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00035026630815924726
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95058061e-02,  9.80375615e-01, -1.96171296e-01,  3.90230240e-03,
        1.96132479e-01,  9.80569642e-01,  9.99802128e-01, -1.98923210e-02,
        4.33680869e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04338142, -0.12469077,  0.20444199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005654547085904987
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.81708179e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.81708179e-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([ 0.03727176, -0.06417018,  0.06198825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.14821248e-03, 1.55541303e-01, 7.52018122e-02, 1.56203005e-02,
  2.29785515e-01, 6.62218447e-01, 2.09185921e-01,-2.19083430e-01,
  2.08838081e-01,-2.19853091e-02,-1.95497765e-02,-1.50724002e-02,
 -1.08238377e-04,-6.56361798e-05,-7.81065578e-06, 9.92419794e-05,
 -9.98133282e-03, 2.29954050e-04,-9.81370657e+00,-6.21341655e-02,
 -2.94145427e-02, 1.31813928e-02]


--- Step 2879 ---
qpos:
[-0.03196204, 0.55616792,-0.14680465, 0.91897966,-0.17260301, 0.31035704,
 -0.25180025, 1.12806597,-0.11608537, 1.3282512 ,-0.02090346, 0.95617551,
  1.15061723, 0.00549257, 1.25826373, 0.04547496, 0.05669325,-0.08456149,
  0.15054533, 0.96608837,-0.01797552,-0.12470952, 0.22538339]

qacc:
[-2.14434375e+01,-2.98144460e+01,-1.68503290e+02,-9.50341102e+01,
 -3.52391521e+01,-7.13238214e+00, 6.57617711e+01,-2.37062012e+02,
 -1.33807258e+02, 3.20674693e+00, 6.50603275e+01,-1.50231163e+02,
 -7.57506022e-01, 5.88145275e-01, 6.68274612e-01,-1.99700647e+00,
  3.42688286e-01, 1.37558794e+00, 3.10716858e-02,-3.10111919e+00,
  2.03841010e+00, 2.32468000e+01]

qfrc_actuator:
[ 2.37073952e-02, 3.86732151e-01, 1.26505879e-01, 2.58024869e-02,
  1.63199293e-01, 7.86178702e-01, 2.32118822e-01,-1.84286186e-01,
  1.26136196e-01, 4.56558488e-02, 8.39232909e-03, 4.75623885e-04,
  1.92255177e-02,-1.54776729e-03, 0.00000000e+00,-1.29925019e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21769095,  0.05693005,  0.21011501,  0.05693005,  0.22624568,
       -0.00231788,  0.21011501, -0.00231788,  0.21831897,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001875076195904603
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.75594424e-01, -7.00976131e-01, -2.28483343e-01, -1.58556230e-01,
       -1.64513100e-01,  9.73547822e-01, -7.20022288e-01,  6.93950938e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06040788, -0.03802273,  0.14424969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010443644811386354
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95309874, -0.14271585, -0.26689883, -0.13742907,  0.9897637 ,
       -0.03848463,  0.26965914,  0.        , -0.96295584])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08779615, -0.08885193,  0.13004226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.55556526, 0.18469304, 0.52396683, 0.18469304, 0.17160696,
       0.13534144, 0.52396683, 0.13534144, 0.50785876, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00029388610207869607
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99032684e-02,  9.80416591e-01, -1.95926437e-01,  3.97664951e-03,
        1.95886076e-01,  9.80618596e-01,  9.99794002e-01, -2.02966459e-02,
        4.33680869e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04382539, -0.12476146,  0.20511292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000563813863512716
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84565205e-14,  9.84565205e-14,  1.00000000e+00,  9.69368644e-27,
        1.00000000e+00, -9.84565205e-14, -1.00000000e+00,  0.00000000e+00,
       -9.84565205e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03727131, -0.06417149,  0.06198829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21653466e-02, 1.61160600e-01, 8.13555883e-02, 1.75214927e-02,
  2.32579590e-01, 6.61579763e-01, 2.08573002e-01,-2.18913758e-01,
  2.28285252e-01,-2.47617409e-02,-2.15104253e-02,-1.65033142e-02,
 -1.15462154e-04,-4.08099531e-05, 3.64155286e-06,-8.10013061e-06,
 -9.88175289e-03, 1.24838203e-04,-9.81353128e+00,-6.22048870e-02,
 -2.95439845e-02, 1.33153224e-02]


--- Step 2880 ---
qpos:
[-0.0318011 , 0.55989314,-0.1462226 , 0.91904105,-0.17401981, 0.31265962,
 -0.25138203, 1.12868339,-0.1185887 , 1.3290342 ,-0.02048569, 0.95649234,
  1.15107018, 0.00549255, 1.25840457, 0.04547629, 0.05646363,-0.0846845 ,
  0.15056895, 0.96624341,-0.01795167,-0.12576073, 0.2241331 ]

qacc:
[-7.43176438e+00,-5.77997727e+01,-7.28414337e+01,-1.30586602e+02,
 -2.38670471e+01,-7.80249503e+00, 6.22003194e+01,-2.30238065e+02,
 -8.71767185e+01, 7.23488992e+00,-1.56921519e+01, 2.05973321e+02,
 -1.09436772e+00, 1.14698676e+00, 4.87255063e+00,-1.64608432e+01,
  2.85532121e-01, 1.43856963e+00, 5.80379396e-02,-3.16887285e+00,
  7.21518406e-01, 2.57953078e+01]

qfrc_actuator:
[ 2.35695652e-02, 3.84458855e-01, 1.25805281e-01, 2.57008821e-02,
  1.64625361e-01, 7.86041773e-01, 2.31679710e-01,-1.84935096e-01,
  1.28411962e-01, 4.48887466e-02, 7.97593484e-03, 1.51955589e-04,
  1.91817045e-02,-1.52778659e-03, 0.00000000e+00,-1.37837120e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.22414665, 0.06264059, 0.21521588, 0.06264059, 0.21974526,
       0.00128107, 0.21521588, 0.00128107, 0.22377378, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0002456349321768071
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67642677, -0.69954219, -0.23040735, -0.160163  , -0.16563623,
        0.97309427, -0.7188843 ,  0.69512975,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06003668, -0.0380177 ,  0.14454416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010486602239217683
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.52707919e-01, -1.39150906e-01, -2.70156709e-01, -1.33872591e-01,
        9.90271188e-01, -3.79618746e-02,  2.72810834e-01,  6.93889390e-18,
       -9.62067695e-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([ 0.08756112, -0.08893021,  0.13015225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.52618233, 0.17423626, 0.4964973 , 0.17423626, 0.17903037,
       0.12182636, 0.4964973 , 0.12182636, 0.48342969, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00020061618395921828
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.77845470e-02,  9.80366865e-01, -1.96378510e-01,  3.56185876e-03,
        1.96346205e-01,  9.80528164e-01,  9.99835498e-01, -1.81377217e-02,
       -4.33680869e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04346168, -0.12503245,  0.20481573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005622230185777233
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03727089, -0.06417287,  0.06198832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33644136e-02, 1.69321626e-01, 8.61589561e-02, 1.90167916e-02,
  2.34955374e-01, 6.61029804e-01, 2.08124187e-01,-2.18724505e-01,
  2.46348090e-01,-2.75239199e-02,-2.26497566e-02,-1.65304542e-02,
 -1.11346061e-04,-1.87221734e-05,-4.49576219e-06,-8.02630866e-05,
 -9.57310811e-03,-1.52535896e-04,-9.81317927e+00,-6.23309254e-02,
 -2.96343188e-02, 1.34465198e-02]


--- Step 2881 ---
qpos:
[-0.03164262, 0.56343539,-0.14572025, 0.91907733,-0.17544523, 0.31496544,
 -0.25096554, 1.12928455,-0.12125136, 1.32984747,-0.02005539, 0.95681112,
  1.15152215, 0.00549319, 1.25854563, 0.04547464, 0.05623439,-0.08480173,
  0.15059295, 0.96638483,-0.01794288,-0.12681381, 0.22292748]

qacc:
[-1.91487299e+00,-6.44211122e+01,-2.59447718e+01,-1.50497924e+02,
 -1.57167563e+01,-7.61941317e+00, 6.08435919e+01,-2.25278544e+02,
 -6.75415354e+01, 9.25905264e+00, 1.37745024e+01,-8.13223635e+00,
 -1.44135535e+00, 1.81246191e+00, 9.43558666e+00,-3.22336042e+01,
  9.43206526e-02, 1.44241638e+00, 9.82034400e-02,-4.80222389e+00,
 -4.70620907e-01, 2.40377871e+01]

qfrc_actuator:
[ 2.34636227e-02, 3.82276682e-01, 1.25243733e-01, 2.55610309e-02,
  1.66108755e-01, 7.85444939e-01, 2.31232260e-01,-1.85525935e-01,
  1.30937640e-01, 4.41161948e-02, 7.52765753e-03,-5.56332331e-05,
  1.91498165e-02,-1.48043976e-03, 0.00000000e+00,-1.53199214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.23093714, 0.06824841, 0.22062212, 0.06824841, 0.22442413,
       0.00201477, 0.22062212, 0.00201477, 0.23031388, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0002923004410383624
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.67727368, -0.6980844 , -0.23233281, -0.16177978, -0.16675082,
        0.97263635, -0.71772395,  0.69632775,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05968575, -0.03801365,  0.14481989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010530089609239126
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.52280325e-01, -1.35693070e-01, -2.73403681e-01, -1.30424143e-01,
        9.90750923e-01, -3.74453194e-02,  2.75956019e-01, -6.93889390e-18,
       -9.61170263e-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([ 0.0873279 , -0.08901048,  0.13026294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.50571818, 0.16304085, 0.47871553, 0.16304085, 0.17071521,
       0.11409525, 0.47871553, 0.11409525, 0.46685963, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -7.261645143811054e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.01186425,  0.97885018, -0.20423409, -0.00247526,  0.20421909,
        0.97892208,  0.99992655,  0.01211971,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04326107, -0.12528127,  0.20471696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005607031291324505
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.90027491e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.90027491e-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([ 0.03727047, -0.06417431,  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:
[ 1.37221290e-02, 1.77150151e-01, 9.02341591e-02, 2.02721648e-02,
  2.37089132e-01, 6.60187853e-01, 2.07736365e-01,-2.18487465e-01,
  2.59160321e-01,-2.96937473e-02,-2.42288658e-02,-1.76500312e-02,
 -9.25024223e-05, 1.62083527e-05,-1.63081824e-05,-1.59830036e-04,
 -9.24720812e-03,-4.68181417e-04,-9.81278239e+00,-6.24624542e-02,
 -2.97158500e-02, 1.35766994e-02]


--- Step 2882 ---
qpos:
[-0.0314908 , 0.5668059 ,-0.1452922 , 0.91909749,-0.17693719, 0.31737248,
 -0.25051864, 1.12986883,-0.12170068, 1.33048352,-0.01993773, 0.95681163,
  1.15197326, 0.00549438, 1.25868679, 0.04546948, 0.0559915 ,-0.08493106,
  0.1506162 , 0.96655132,-0.01792261,-0.12791289, 0.2215753 ]

qacc:
[-5.18562326e+00,-5.16646762e+01,-7.04370480e+01,-1.38948522e+01,
 -1.19975630e+02, 3.59990517e+01, 7.50221756e+01,-3.00645495e+02,
  9.38098494e+02, 6.05813504e+01, 1.59326147e+02,-3.69231782e+03,
 -1.31464883e+00, 1.62821033e+00, 1.09365424e+01,-3.77232058e+01,
 -3.41023728e+00,-3.02331443e+00,-1.90282616e-01,-8.64468943e+00,
 -2.06025547e+01,-7.47547634e+01]

qfrc_actuator:
[ 2.33736529e-02, 3.80423621e-01, 1.24753694e-01, 2.54776807e-02,
  1.67627392e-01, 7.84712897e-01, 2.30798224e-01,-1.86164400e-01,
  1.33613712e-01, 4.32914456e-02, 7.09679648e-03,-3.26620998e-04,
  1.91091398e-02,-1.45268268e-03, 0.00000000e+00,-1.71048799e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.23731101, 0.0715365 , 0.22627206, 0.0715365 , 0.16916801,
       0.02154359, 0.22627206, 0.02154359, 0.23049995, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003283472336628013
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.78133165e-01, -6.96604913e-01, -2.34258417e-01, -1.63405257e-01,
       -1.67856272e-01,  9.72174364e-01, -7.16543183e-01,  6.97542735e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05935277, -0.03801014,  0.14507881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010573348055310787
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.51814929e-01, -1.32335156e-01, -2.76650948e-01, -1.27076209e-01,
        9.91205028e-01, -3.69354929e-02,  2.79105675e-01, -6.93889390e-18,
       -9.60260393e-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([ 0.08709621, -0.08909254,  0.1303742 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005592833578714068
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.9254073e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.9254073e-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([ 0.03727004, -0.06417576,  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:
[ 1.37485881e-02, 1.84332977e-01, 9.36917980e-02, 2.14489530e-02,
  2.39040923e-01, 6.59211479e-01, 2.07359768e-01,-2.18315627e-01,
  2.69807485e-01,-3.20282378e-02,-2.52863434e-02,-1.80194426e-02,
 -8.40150560e-05, 1.14288239e-05,-3.03411911e-05,-1.90590543e-04,
 -9.02778336e-03,-7.60108614e-04,-9.81240036e+00,-6.25766857e-02,
 -2.98125375e-02, 1.37074406e-02]


--- Step 2883 ---
qpos:
[-0.03132214, 0.57003021,-0.14492734, 0.91910551,-0.17850078, 0.31988299,
 -0.25004047, 1.13043572,-0.12084146, 1.33094462,-0.01989844, 0.95678992,
  1.15242362, 0.0054955 , 1.25882696, 0.04546888, 0.05573479,-0.08507218,
  0.15063873, 0.96674006,-0.01789011,-0.12906064, 0.22008395]

qacc:
[ 1.31312704e+01,-4.19110652e+01,-7.04184265e+01, 1.57900016e+01,
 -1.27721157e+02, 3.61883218e+01, 7.88701543e+01,-3.10285167e+02,
  5.54575407e+02,-5.66365183e+01,-4.75974432e+01,-1.06805023e+02,
 -1.47750897e-01,-8.76621900e-02,-1.52673066e+01, 5.12719853e+01,
 -3.45678010e+00,-2.94704971e+00,-1.77966417e-01,-8.18179295e+00,
 -2.22051543e+01,-7.09376765e+01]

qfrc_actuator:
[ 2.32984442e-02, 3.79096281e-01, 1.24297512e-01, 2.54470278e-02,
  1.69193036e-01, 7.84084495e-01, 2.30394061e-01,-1.86753315e-01,
  1.34053325e-01, 4.25952466e-02, 6.99655518e-03,-4.04971134e-04,
  1.90578892e-02,-1.47233719e-03, 0.00000000e+00,-1.45835645e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.24363084, 0.07445399, 0.2319754 , 0.07445399, 0.15296581,
       0.02909952, 0.2319754 , 0.02909952, 0.23429116, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.000359081432104904
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.71603858e-01, -7.02518637e-01, -2.35405654e-01, -1.62670851e-01,
       -1.70158797e-01,  9.71897206e-01, -7.22832243e-01,  6.91023551e-01,
       -2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05912196, -0.03809785,  0.14533043])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010615823059455286
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95133205, -0.12860054, -0.28005219, -0.12336619,  0.99169648,
       -0.03631642,  0.28239708,  0.        , -0.9592976 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08685205, -0.08917773,  0.13048938])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005579292054736784
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.9494973e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.9494973e-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([ 0.03726964, -0.06417723,  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:
[ 1.40006616e-02, 1.91486816e-01, 9.69144918e-02, 2.22277162e-02,
  2.43948093e-01, 6.53439842e-01, 2.05407637e-01,-2.18066233e-01,
  1.59533766e-01,-2.39621551e-02,-9.77005025e-03,-2.15456640e-03,
 -9.17538137e-05,-3.52522363e-05,-3.94470207e-05, 2.36701228e-04,
 -1.06428037e-02,-1.31912946e-04,-9.81343005e+00,-6.19459368e-02,
 -3.02222838e-02, 1.38651494e-02]


--- Step 2884 ---
qpos:
[-0.03110573, 0.57313889,-0.14461151, 0.91910205,-0.18011383, 0.3224609 ,
 -0.24954246, 1.13098546,-0.12052722, 1.33141698,-0.01974966, 0.95688417,
  1.15287321, 0.00549646, 1.25896658, 0.04547357, 0.05546897,-0.08521625,
  0.15066151, 0.96693459,-0.01786637,-0.13024174, 0.21853003]

qacc:
[ 3.69407332e+01,-3.82394205e+01,-3.47363878e+01,-2.73183565e+01,
 -8.71532519e+01, 1.91297165e+01, 7.67178758e+01,-2.84125858e+02,
 -2.30941751e+02,-8.01516389e+01, 4.70504430e+01, 1.28671490e+03,
 -7.66490624e-02,-2.33909727e-01,-1.68130747e+01, 5.76166186e+01,
 -2.27575130e+00,-7.39495037e-01, 6.00829136e-02,-1.18912526e+01,
 -1.42273949e+01,-3.06150919e+01]

qfrc_actuator:
[ 2.31224911e-02, 3.77914492e-01, 1.23933536e-01, 2.55569733e-02,
  1.70818592e-01, 7.83298014e-01, 2.29923786e-01,-1.87287475e-01,
  1.33170522e-01, 4.20625552e-02, 6.98547178e-03,-3.41204426e-04,
  1.90162920e-02,-1.48453834e-03, 0.00000000e+00,-1.18530504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.24288256, 0.07645572, 0.23053517, 0.07645572, 0.14898478,
       0.03114068, 0.23053517, 0.03114068, 0.23255493, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0003556547764922697
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.58969576e-01, -7.14256676e-01, -2.35789099e-01, -1.59885947e-01,
       -1.73300269e-01,  9.71804250e-01, -7.34979987e-01,  6.78088798e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05897365, -0.03825837,  0.1455764 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010657941785900469
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50822914e-01, -1.24506793e-01, -2.83608612e-01, -1.19312310e-01,
        9.92218755e-01, -3.55881185e-02,  2.85832746e-01,  6.93889390e-18,
       -9.58279521e-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([ 0.0865955 , -0.08926652,  0.13060872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.51558591, 0.13323606, 0.49807328, 0.13323606, 0.09940736,
       0.11132898, 0.49807328, 0.11132898, 0.48580509, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0001498334192260923
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.43051731e-01,  9.33465432e-01, -2.63757735e-01, -6.64601989e-02,
        2.55247301e-01,  9.64588958e-01,  9.67733898e-01,  2.51974408e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0431883 , -0.12550236,  0.20496164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005565715859259662
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03726933, -0.0641788 ,  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:
[ 1.29716474e-02, 1.97514461e-01, 9.96775873e-02, 2.29470309e-02,
  2.49171359e-01, 6.47394540e-01, 2.03345064e-01,-2.17736213e-01,
  9.32062926e-02,-1.57432308e-02,-5.86144709e-03,-9.80358166e-04,
 -9.58249264e-05,-4.37444216e-05, 6.81379267e-06, 2.80903165e-04,
 -1.23391151e-02, 5.58456286e-04,-9.81448263e+00,-6.12838385e-02,
 -3.06416539e-02, 1.40313427e-02]


--- Step 2885 ---
qpos:
[-0.03083389, 0.57615616,-0.1443309 , 0.919089  ,-0.18177256, 0.32510095,
 -0.24902601, 1.13151802,-0.1207635 , 1.33195692,-0.01954767, 0.95700392,
  1.15332199, 0.00549751, 1.25910648, 0.04547913, 0.05519457,-0.08536188,
  0.15068468, 0.96713173,-0.01785451,-0.13145513, 0.21692623]

qacc:
[ 4.26132258e+01,-3.99851326e+01, 5.49417823e+00,-5.46343579e+01,
 -7.95916866e+01, 1.59974247e+01, 7.85983270e+01,-2.82547385e+02,
 -2.33277983e+02,-1.08274930e+01, 9.11397360e+01, 1.72755174e+02,
 -6.61776933e-01, 5.90083513e-01,-2.20543818e+00, 8.42996940e+00,
 -2.14617495e+00,-3.87933709e-01, 9.87721847e-02,-1.25009304e+01,
 -1.36911592e+01,-2.39143700e+01]

qfrc_actuator:
[ 2.28306916e-02, 3.76510645e-01, 1.23635981e-01, 2.56844750e-02,
  1.72486564e-01, 7.82233850e-01, 2.29430503e-01,-1.87888593e-01,
  1.32806632e-01, 4.15649850e-02, 6.87136888e-03,-4.10218556e-04,
  1.89805153e-02,-1.47439525e-03, 0.00000000e+00,-1.15078899e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.23612833, 0.07679107, 0.2232929 , 0.07679107, 0.14279526,
       0.03209751, 0.2232929 , 0.03209751, 0.2250899 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00032209277774030364
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.46961391e-01, -7.25019476e-01, -2.36194237e-01, -1.57258033e-01,
       -1.76231748e-01,  9.71705862e-01, -7.46130598e-01,  6.65799617e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05882672, -0.03840716,  0.14581099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.01069958959033875
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50273104e-01, -1.20249281e-01, -2.87264927e-01, -1.15104889e-01,
        9.92743729e-01, -3.47958892e-02,  2.89364635e-01, -6.93889390e-18,
       -9.57218945e-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([ 0.0863319 , -0.08935858,  0.13073104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.52154067, 0.12472526, 0.50640722, 0.12472526, 0.09098348,
       0.10604382, 0.50640722, 0.10604382, 0.49542267, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00018036497740507945
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53523387e-01,  9.29945376e-01, -2.66322155e-01, -7.00487709e-02,
        2.56944857e-01,  9.63884075e-01,  9.64789646e-01,  2.63022695e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04317236, -0.12547514,  0.20501744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005552323745659643
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99782321e-14,  9.99782321e-14,  1.00000000e+00,  9.99564690e-27,
        1.00000000e+00, -9.99782321e-14, -1.00000000e+00,  0.00000000e+00,
       -9.99782321e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03726911, -0.06418053,  0.06198847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02748584e-02, 2.01796056e-01, 1.01799607e-01, 2.36505926e-02,
  2.53323495e-01, 6.42871767e-01, 2.01828489e-01,-2.17484950e-01,
  1.20098855e-01,-1.68144375e-02,-1.14515194e-02,-6.84408325e-03,
 -9.31634217e-05,-2.52278097e-05, 3.07750275e-05, 5.02451877e-05,
 -1.34545419e-02, 8.05394976e-04,-9.81491102e+00,-6.09253310e-02,
 -3.09935403e-02, 1.41970749e-02]


--- Step 2886 ---
qpos:
[-0.03050899, 0.57910732,-0.14407426, 0.91906722,-0.18347384, 0.32780063,
 -0.24849165, 1.13203327,-0.12148454, 1.33256981,-0.01930165, 0.95714278,
  1.1537702 , 0.00549812, 1.25924666, 0.04548377, 0.05491199,-0.08550811,
  0.15070832, 0.96732942,-0.01785657,-0.13269962, 0.21528062]

qacc:
[ 4.05553870e+01,-3.51979100e+01, 2.85878835e+01,-8.09938423e+01,
 -7.32392167e+01, 1.39390447e+01, 8.14160879e+01,-2.84127430e+02,
 -2.05405933e+02, 1.00443282e+01, 4.44057992e+01, 1.36592942e+02,
 -2.52453331e-01,-1.40129057e-01, 3.24707919e+00,-1.07080666e+01,
 -2.04559033e+00,-1.52912847e-01, 1.18760959e-01,-1.28444108e+01,
 -1.31257395e+01,-1.96385627e+01]

qfrc_actuator:
[ 2.23715987e-02, 3.75332902e-01, 1.23348588e-01, 2.56654418e-02,
  1.74213760e-01, 7.80945854e-01, 2.28934652e-01,-1.88469729e-01,
  1.33048621e-01, 4.10986953e-02, 6.63692643e-03,-5.50329972e-04,
  1.89482634e-02,-1.50428640e-03, 0.00000000e+00,-1.20384495e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.22935074, 0.07662205, 0.21617314, 0.07662205, 0.14030952,
       0.03156045, 0.21617314, 0.03156045, 0.21816422, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00028230442590721324
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.35512553e-01, -7.34904850e-01, -2.36724854e-01, -1.54842754e-01,
       -1.79059706e-01,  9.71576731e-01, -7.56404334e-01,  6.54104336e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05868008, -0.03854443,  0.1460356 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0106959092436213
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94851563, -0.12504912, -0.2909997 , -0.11954944,  0.99215055,
       -0.03667715,  0.29330196,  0.        , -0.95601985])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08607181, -0.08952584,  0.13085654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.5164698 , 0.11995737, 0.50234578, 0.11995737, 0.09361331,
       0.10097577, 0.50234578, 0.10097577, 0.49235735, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00015478933640072304
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24997577,  0.93099651, -0.26600304, -0.06897949,  0.25690357,
        0.96397219,  0.96579187,  0.25931844,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04315071, -0.12549047,  0.20507562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005538965569296672
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.00219347e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.00219347e-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([ 0.037269  , -0.06418244,  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:
[ 7.02605311e-03, 2.05096713e-01, 1.03243359e-01, 2.41123431e-02,
  2.57346699e-01, 6.38384827e-01, 2.00379701e-01,-2.17211625e-01,
  1.47873696e-01,-2.06626612e-02,-1.43471950e-02,-8.25812853e-03,
 -8.42522175e-05,-5.91019372e-05, 1.35735117e-05,-4.76869051e-05,
 -1.44963997e-02, 9.62700124e-04,-9.81523293e+00,-6.06062868e-02,
 -3.13426772e-02, 1.43663211e-02]


--- Step 2887 ---
qpos:
[-0.03016627, 0.58201477,-0.14383433, 0.91903541,-0.18521445, 0.33055926,
 -0.24793934, 1.13253104,-0.12262452, 1.3332529 ,-0.01901563, 0.95730043,
  1.15421773, 0.00549841, 1.25938719, 0.04548542, 0.05462156,-0.08565417,
  0.1507325 , 0.96752616,-0.01787449,-0.13397401, 0.21359916]

qacc:
[ 1.35429542e+01,-2.69312478e+01, 4.07658789e+01,-1.22782413e+02,
 -6.68754972e+01, 1.28248044e+01, 8.41951231e+01,-2.87415512e+02,
 -1.77491257e+02, 1.66792419e+01, 1.90537810e+01, 1.56432535e+02,
 -5.91695339e-01, 2.90803598e-01, 9.60924739e+00,-3.27738092e+01,
 -1.96209876e+00, 4.64586374e-02, 1.34645971e-01,-1.32737182e+01,
 -1.24940066e+01,-1.64542235e+01]

qfrc_actuator:
[ 2.18278273e-02, 3.74408589e-01, 1.23105632e-01, 2.56502131e-02,
  1.75938368e-01, 7.79465722e-01, 2.28377138e-01,-1.88996377e-01,
  1.33790849e-01, 4.05477329e-02, 6.33593181e-03,-6.12650264e-04,
  1.89074809e-02,-1.52220106e-03, 0.00000000e+00,-1.36124573e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.22231073, 0.07749296, 0.20836722, 0.07749296, 0.1535073 ,
       0.02558839, 0.20836722, 0.02558839, 0.21279426, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00023089192635267677
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.36104828e-01, -7.33709203e-01, -2.38833527e-01, -1.56450762e-01,
       -1.80456678e-01,  9.71060527e-01, -7.55575150e-01,  6.55061977e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05839515, -0.03854816,  0.14623548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.01065253850560909
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94550731, -0.13722436, -0.29527173, -0.13098576,  0.99053999,
       -0.04090544,  0.29809168,  0.        , -0.95453724])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08581515, -0.08975507,  0.1309813 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.50656065, 0.11517327, 0.49329383, 0.11517327, 0.09606197,
       0.09584242, 0.49329383, 0.09584242, 0.48418355, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -8.223856049323674e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24632969,  0.93205615, -0.26569345, -0.06788826,  0.25687389,
        0.96405757,  0.9668055 ,  0.25551347,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04312379, -0.12554372,  0.20513761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005525442264684155
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.0046463e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.0046463e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03726899, -0.06418453,  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:
[ 3.81149245e-03, 2.07387396e-01, 1.04169762e-01, 2.45333274e-02,
  2.61210066e-01, 6.33829967e-01, 1.98893806e-01,-2.16877782e-01,
  1.72862530e-01,-2.48601191e-02,-1.68494171e-02,-9.27713486e-03,
 -9.68285651e-05,-5.46707643e-05,-4.42234809e-06,-1.59526870e-04,
 -1.54931850e-02, 1.06661438e-03,-9.81548595e+00,-6.03143473e-02,
 -3.16916026e-02, 1.45388201e-02]


--- Step 2888 ---
qpos:
[-0.029824  , 0.58488911,-0.14360656, 0.9189988 ,-0.18703372, 0.33343254,
 -0.24735093, 1.13300994,-0.12216635, 1.33375687,-0.01894898, 0.95728358,
  1.15466417, 0.00549926, 1.25952766, 0.0454855 , 0.05431589,-0.08581225,
  0.15075578, 0.96774247,-0.01787846,-0.13530251, 0.21177371]

qacc:
[-3.29029656e-01,-1.78216182e+01, 1.59610298e+01,-4.70896118e+01,
 -1.32134631e+02, 3.68654307e+01, 9.66029116e+01,-3.44605904e+02,
  6.77018558e+02, 5.48172021e+01,-1.13196765e+02,-1.79909477e+03,
 -1.33698000e+00, 1.60108904e+00, 4.75480683e+00,-1.64737950e+01,
 -3.80990936e+00,-3.00705079e+00,-2.27360929e-01,-8.50551381e+00,
 -2.50688770e+01,-7.31658524e+01]

qfrc_actuator:
[ 2.13892939e-02, 3.73604881e-01, 1.22891663e-01, 2.56420697e-02,
  1.77675217e-01, 7.77793877e-01, 2.27828686e-01,-1.89465482e-01,
  1.34925780e-01, 3.98663036e-02, 6.07017923e-03,-7.77626601e-04,
  1.88616123e-02,-1.47961216e-03, 0.00000000e+00,-1.43679447e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.21628853, 0.07727353, 0.20201369, 0.07727353, 0.13613731,
       0.03065915, 0.20201369, 0.03065915, 0.20456091, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0001717853950099173
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.38243404e-01, -7.31084884e-01, -2.41164362e-01, -1.58602840e-01,
       -1.81673853e-01,  9.70484287e-01, -7.53319651e-01,  6.57654548e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05809559, -0.03853434,  0.14642882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010667139276224409
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.43246387e-01, -1.49512967e-01, -2.96533515e-01, -1.42630769e-01,
        9.88759765e-01, -4.48396134e-02,  2.99904513e-01, -6.93889390e-18,
       -9.53969226e-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([ 0.08554577, -0.08998936,  0.13113296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005511576256846673
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.00717379e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.00717379e-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([ 0.03726907, -0.06418681,  0.06198856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47182851e-03, 2.08680293e-01, 1.04762247e-01, 2.50265162e-02,
  2.64924362e-01, 6.29115111e-01, 1.97414744e-01,-2.16477656e-01,
  1.94952219e-01,-2.90456523e-02,-1.91148570e-02,-1.03829459e-02,
 -1.07836393e-04, 4.44811608e-06,-2.49858862e-05,-8.61630098e-05,
 -1.64653125e-02, 1.13542761e-03,-9.81568529e+00,-6.00451936e-02,
 -3.20430740e-02, 1.47144021e-02]


--- Step 2889 ---
qpos:
[-0.02948357, 0.58774592,-0.14338424, 0.91895462,-0.18890647, 0.33638327,
 -0.24673791, 1.13347024,-0.12225063, 1.33427806,-0.01876911, 0.95737772,
  1.15510983, 0.00550028, 1.2596676 , 0.04548765, 0.05400006,-0.08597273,
  0.15077926, 0.96796207,-0.01789351,-0.13666799, 0.20988355]

qacc:
[-1.38063427e+00,-1.88188562e+01, 5.07291229e+01,-1.19872464e+02,
 -8.87190383e+01, 1.85743568e+01, 9.66162888e+01,-3.19115460e+02,
 -2.29770082e+02,-9.08035044e+01, 1.01446026e+02, 1.17817525e+03,
 -5.48696175e-01, 5.22868769e-01,-6.99561677e+00, 2.34484117e+01,
 -2.53936794e+00,-6.01880023e-01, 5.28068436e-02,-1.36234593e+01,
 -1.59196526e+01,-3.12417600e+01]

qfrc_actuator:
[ 0.02102504, 0.37268514, 0.12262621, 0.0256192 , 0.17950998, 0.77590996,
  0.2272426 ,-0.18994493, 0.13448234, 0.03934557, 0.0060512 ,-0.00087169,
  0.01882873,-0.00147249, 0.        ,-0.00132145, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.2116283 , 0.07874336, 0.19643325, 0.07874336, 0.14619039,
       0.02623181, 0.19643325, 0.02623181, 0.20111286, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00010126401714833925
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.6406387 , -0.72816888, -0.24362294, -0.16092288, -0.18290971,
        0.96987002, -0.75079017,  0.66054078,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05779433, -0.03851942,  0.14661722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010637471134646928
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93853894, -0.1631424 , -0.30418616, -0.15519471,  0.98660253,
       -0.05029955,  0.30831683,  0.        , -0.95128373])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08528129, -0.09024179,  0.13124055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.50277049, 0.11415339, 0.48963984, 0.11415339, 0.08517117,
       0.09735805, 0.48963984, 0.09735805, 0.48007268, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -4.936025055763508e-06
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80238616e-01,  9.19726018e-01, -2.74900654e-01, -8.01247752e-02,
        2.62964617e-01,  9.61472636e-01,  9.56580545e-01,  2.91468114e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04287724, -0.12559914,  0.20543038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000549560092983542
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03726925, -0.06418927,  0.0619886 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12311992e-03, 2.09328125e-01, 1.05076115e-01, 2.52427333e-02,
  2.70713799e-01, 6.21401562e-01, 1.94991046e-01,-2.16019912e-01,
  1.14576903e-01,-2.06297186e-02,-8.16786975e-03,-1.74578755e-03,
 -8.66125705e-05,-1.62857581e-05,-2.54400711e-05, 1.06403224e-04,
 -1.86411776e-02, 2.08554378e-03,-9.81700839e+00,-5.92227307e-02,
 -3.25713669e-02, 1.49086412e-02]


--- Step 2890 ---
qpos:
[-0.02914883, 0.59058909,-0.14316295, 0.91890793,-0.19086247, 0.33949348,
 -0.24607477, 1.13390831,-0.12117289, 1.33466095,-0.0187467 , 0.95734917,
  1.15555481, 0.00550117, 1.25980799, 0.0454861 , 0.05366875,-0.08614489,
  0.15080169, 0.96819824,-0.01789377,-0.1380893 , 0.20785409]

qacc:
[-4.23359560e+00,-1.82864635e+01, 4.35198026e+01,-5.61073202e+01,
 -1.36326939e+02, 5.52128313e+01, 1.13808127e+02,-4.20070512e+02,
  4.92194062e+02, 3.09081513e+01,-7.42957555e+01,-1.26199619e+03,
 -7.63185650e-01, 6.09481008e-01, 1.19461611e+01,-4.06718314e+01,
 -3.87170017e+00,-2.91762817e+00,-2.63080587e-01,-8.06937773e+00,
 -2.61912452e+01,-7.06669371e+01]

qfrc_actuator:
[ 0.02070693, 0.37153367, 0.12238129, 0.02560993, 0.18133878, 0.77385465,
  0.22659547,-0.19045882, 0.13455771, 0.03879658, 0.00589993,-0.00094363,
  0.01878767,-0.00148648, 0.        ,-0.00152063, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.20937016, 0.07982137, 0.19355726, 0.07982137, 0.13001249,
       0.03272643, 0.19355726, 0.03272643, 0.19587406, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -2.5424234346040924e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.43135268e-01, -7.25117359e-01, -2.46133789e-01, -1.63321774e-01,
       -1.84140817e-01,  9.69235863e-01, -7.48133026e-01,  6.63548773e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05749293, -0.03850392,  0.1468034 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009990913479887469
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.37767292e-01, -1.59884483e-01, -3.08268483e-01, -1.51888371e-01,
        9.87135731e-01, -4.99296554e-02,  3.12285812e-01, -6.93889390e-18,
       -9.49988196e-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([ 0.08497639, -0.09036746,  0.13138031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000547836560416709
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01327942e-13,  2.02655884e-13,  1.00000000e+00,  2.05347037e-26,
        1.00000000e+00, -2.02655884e-13, -1.00000000e+00,  0.00000000e+00,
       -1.01327942e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03726957, -0.06419198,  0.06198864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89043205e-03, 2.08965404e-01, 1.05075853e-01, 2.56104745e-02,
  2.75233191e-01, 6.15373034e-01, 1.93078304e-01,-2.15609204e-01,
  1.41781775e-01,-2.20446165e-02,-1.39805753e-02,-7.36595479e-03,
 -8.83927266e-05,-3.87226626e-05,-2.71970480e-06,-1.97140741e-04,
 -2.00949696e-02, 2.43715432e-03,-9.81754029e+00,-5.87779477e-02,
 -3.30184112e-02, 1.51021004e-02]


--- Step 2891 ---
qpos:
[-0.02878967, 0.59486309,-0.14191795, 0.91916749,-0.1929096 , 0.34273954,
 -0.24537033, 1.13432086,-0.12081569, 1.33508816,-0.01862568, 0.95739831,
  1.155999  , 0.00550195, 1.25994853, 0.04548084, 0.05332937,-0.08632278,
  0.1508229 , 0.96847095,-0.01791953,-0.13949904, 0.20562815]

qacc:
[ 1.84943443e+01,-3.69592929e+02, 2.79356035e+03, 3.86869899e+02,
 -1.47214669e+02, 4.39334539e+01, 1.19380155e+02,-4.46459314e+02,
 -3.05173313e+02,-7.34670672e+01, 1.54405490e+02, 7.32333063e+02,
 -8.43445279e-01, 6.92940525e-01, 1.15049683e+01,-3.97500994e+01,
 -2.01475623e+00,-1.43255881e+00,-3.07314619e-01,-2.43842127e+01,
  1.25285530e+01,-9.70489163e+01]

qfrc_actuator:
[ 0.02043883, 0.37051257, 0.12216418, 0.02562456, 0.1832329 , 0.77158348,
  0.22591185,-0.19092904, 0.13343911, 0.03841476, 0.00585918,-0.00090174,
  0.01874173,-0.00149515, 0.        ,-0.00170831, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009982046143597873
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93668414, -0.15794531, -0.31253176, -0.1498255 ,  0.98744786,
       -0.04999041,  0.31650457,  0.        , -0.94859099])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08465692, -0.09051208,  0.13152801])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.5034621 , 0.10964979, 0.49137665, 0.10964979, 0.06815667,
       0.0971376 , 0.49137665, 0.0971376 , 0.48178602, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -3.55082959672528e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.81056336e-01,  9.18978219e-01, -2.76561692e-01, -8.08842102e-02,
        2.64469496e-01,  9.60996166e-01,  9.56276676e-01,  2.92463535e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04108852, -0.12558661,  0.20703897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005458323111584007
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03727005, -0.06419494,  0.06198868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90001100e-03, 2.08539425e-01, 1.04881819e-01, 2.57499941e-02,
  2.81317933e-01, 6.05023316e-01, 1.89852685e-01,-2.14976504e-01,
  8.25510564e-02,-1.54999345e-02,-6.14652885e-03,-1.19223950e-03,
 -9.99918721e-05,-4.01445278e-05,-2.86418436e-05,-2.00214619e-04,
 -2.24114180e-02, 3.50285749e-03,-9.81896313e+00,-5.78877512e-02,
 -3.35775733e-02, 1.53113709e-02]


--- Step 2892 ---
qpos:
[-0.02842615, 0.60012824,-0.14028088, 0.91950652,-0.19504731, 0.34611164,
 -0.24462787, 1.1347066 ,-0.12111395, 1.33561484,-0.0184525 , 0.95745173,
  1.15644228, 0.0055029 , 1.26008851, 0.04547669, 0.05298256,-0.08650469,
  0.15084303, 0.9687754 ,-0.01797379,-0.14089625, 0.20322258]

qacc:
[ 3.00406711e+00, 3.73446773e+02, 1.92619198e+02, 9.21927548e+01,
 -1.44308450e+02, 3.82930672e+01, 1.24534723e+02,-4.58226084e+02,
 -2.77610620e+02,-2.87225221e+00, 1.58103519e+02,-1.49183732e+02,
 -7.27093895e-01, 6.88734801e-01,-4.12542501e+00, 1.33566595e+01,
 -1.85848384e+00,-1.00612462e+00,-2.68474413e-01,-2.47592284e+01,
  1.28185183e+01,-8.81488993e+01]

qfrc_actuator:
[ 0.02019067, 0.36859224, 0.1209217 , 0.02538126, 0.18517188, 0.76944444,
  0.22519514,-0.19134313, 0.13307514, 0.03802369, 0.00567389,-0.0010139 ,
  0.01869821,-0.00148285, 0.        ,-0.00163906, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009977888714561069
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93617625, -0.15206601, -0.31693842, -0.14403567,  0.98837034,
       -0.04876265,  0.32066767,  0.        , -0.94719177])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08431905, -0.0906343 ,  0.13168264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.50323298, 0.09364672, 0.49444284, 0.09364672, 0.06447693,
       0.08309973, 0.49444284, 0.08309973, 0.48749402, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -2.9181372757947356e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28174603,  0.91846599, -0.27755972, -0.08139967,  0.2653554 ,
        0.96070839,  0.95602995,  0.29326905,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04013621, -0.12559149,  0.2078907 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005436522055398685
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.02107838e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.02107838e-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([ 0.03727077, -0.06419826,  0.06198872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.69841656e-04, 1.34954787e-01, 5.24070476e-02, 1.01331767e-02,
  2.87842752e-01, 5.95983924e-01, 1.87034631e-01,-2.14122465e-01,
  1.18220870e-01,-1.81222497e-02,-1.12648317e-02,-5.18459213e-03,
 -1.04166211e-04,-2.21245632e-05,-3.97057825e-05, 5.35019206e-05,
 -2.63044028e-02, 6.61247514e-03,-9.82111358e+00,-5.72500881e-02,
 -3.45047624e-02, 1.55158024e-02]


--- Step 2893 ---
qpos:
[-0.02806452, 0.60600353,-0.13842021, 0.91988618,-0.19731032, 0.34965276,
 -0.24383419, 1.13506286,-0.12017227, 1.33598804,-0.01843256, 0.95742008,
  1.15688492, 0.00550366, 1.26022852, 0.04547098, 0.05262244,-0.08670019,
  0.15086074, 0.96912272,-0.01802785,-0.14230299, 0.20056421]

qacc:
[-1.52670392e+00, 2.64046762e+02, 2.64606054e+01, 3.26973211e+01,
 -1.96734860e+02, 5.71136418e+01, 1.36180802e+02,-5.21564554e+02,
  5.25102612e+02, 6.48778601e+01,-2.84311414e+02,-6.37241262e+02,
 -4.98007014e-01, 2.79406788e-01, 4.79537373e+00,-1.65982565e+01,
 -3.32792362e+00,-3.39560947e+00,-6.04484074e-01,-1.82913513e+01,
  6.60514320e-01,-1.26906025e+02]

qfrc_actuator:
[ 0.01996476, 0.36589322, 0.11930388, 0.02503425, 0.1871737 , 0.76739339,
  0.22442755,-0.1917653 , 0.13340486, 0.03748319, 0.00551541,-0.00110513,
  0.01867218,-0.0014937 , 0.        ,-0.00172078, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009975794407730018
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.35682484e-01, -1.45756807e-01, -3.21330425e-01, -1.37854313e-01,
        9.89320450e-01, -4.73416845e-02,  3.24799134e-01,  1.38777878e-17,
       -9.45783021e-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([ 0.08396857, -0.09076153,  0.13184502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005413553965060436
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.02541051e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.02541051e-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([ 0.03727176, -0.06420199,  0.06198877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18981151e-04, 8.25382504e-02, 3.11231712e-02, 5.75976679e-03,
  2.94404232e-01, 5.87518744e-01, 1.84326799e-01,-2.13212353e-01,
  1.51332328e-01,-2.36396779e-02,-1.40322404e-02,-5.48901014e-03,
 -8.39685780e-05,-4.12488324e-05,-1.48813577e-05,-8.43617932e-05,
 -3.03212126e-02, 9.91651224e-03,-9.82305090e+00,-5.67111305e-02,
 -3.54590396e-02, 1.57167660e-02]


--- Step 2894 ---
qpos:
[-0.02775991, 0.61162979,-0.13683724, 0.92021035,-0.19968879, 0.35335146,
 -0.2429924 , 1.13538933,-0.11850633, 1.33624022,-0.01846046, 0.9573785 ,
  1.15732714, 0.00550374, 1.26036827, 0.04546566, 0.05224774,-0.08690691,
  0.15087662, 0.96949183,-0.01807427,-0.14374568, 0.1977273 ]

qacc:
[-4.13338380e+01, 3.16953221e+02,-1.30462280e+03, 5.76538382e+02,
 -1.78596224e+02, 5.00449439e+01, 1.41446431e+02,-5.21286947e+02,
  3.06702240e+02,-4.69956555e+01,-1.82962229e+01,-2.41296883e+01,
  1.36005376e-01,-7.01400294e-01,-1.58567935e+00, 4.90458365e+00,
 -3.64648280e+00,-2.80600354e+00,-4.58129967e-01,-1.24085220e+01,
 -1.50289865e+01,-8.95693106e+01]

qfrc_actuator:
[ 0.0196857 , 0.3621257 , 0.11745477, 0.02463204, 0.18935518, 0.7652485 ,
  0.2236543 ,-0.19212566, 0.13248204, 0.0370662 , 0.0055398 ,-0.00106066,
  0.01864598,-0.00153591, 0.        ,-0.00169559, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.2096693 , 0.05840797, 0.20136963, 0.05840797, 0.08003314,
       0.03760142, 0.20136963, 0.03760142, 0.19876288, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -4.3930791802771856e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.53191636e-01, -7.12449202e-01, -2.56430928e-01, -1.73293012e-01,
       -1.89014160e-01,  9.66562558e-01, -7.37095800e-01,  6.75788267e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05562229, -0.03843295,  0.14831424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009974037310057509
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.35201028e-01, -1.38834099e-01, -3.25766989e-01, -1.31107482e-01,
        9.90315653e-01, -4.56698491e-02,  3.28952681e-01, -6.93889390e-18,
       -9.44346406e-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([ 0.08359971, -0.09089533,  0.13201676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005387955818369206
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03028223e-13,  1.03028223e-13,  1.00000000e+00,  1.06148147e-26,
        1.00000000e+00, -1.03028223e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03028223e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03727306, -0.0642062 ,  0.06198883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.37286918e-04, 4.80813164e-02, 1.80239734e-02, 3.28648584e-03,
  3.02892973e-01, 5.76808842e-01, 1.80953662e-01,-2.12107755e-01,
  8.83995914e-02,-1.63755893e-02,-6.34412706e-03,-1.19288487e-03,
 -7.84629716e-05,-7.34405018e-05,-2.03494088e-05, 1.76901759e-05,
 -3.57458013e-02, 1.46965066e-02,-9.82603024e+00,-5.57142761e-02,
 -3.65684563e-02, 1.59286285e-02]


--- Step 2895 ---
qpos:
[-0.02749436, 0.61686768,-0.13546236, 0.92049276,-0.20215642, 0.35716055,
 -0.24211279, 1.1356864 ,-0.11773531, 1.33657358,-0.01840949, 0.95735455,
  1.15776862, 0.00550341, 1.26050789, 0.04546065, 0.05186231,-0.08711609,
  0.15089192, 0.96986496,-0.01813416,-0.14521689, 0.19479518]

qacc:
[-2.78723399e+01,-2.12064888e+01,-4.58488085e+02, 1.48773687e+02,
 -1.35777634e+02, 1.66976412e+01, 1.73950631e+02,-5.10316950e+02,
 -3.78948792e+02,-7.59228520e+01, 3.40722197e+02,-1.43050456e+02,
 -2.82640253e-01,-1.44085905e-01,-1.11301225e+00, 3.63472987e+00,
 -2.68128517e+00,-6.15184627e-01,-1.44454143e-01,-1.61620173e+01,
 -1.13435242e+01,-4.58376695e+01]

qfrc_actuator:
[ 0.01935962, 0.35852746, 0.11587873, 0.02431209, 0.19168473, 0.76313314,
  0.22284252,-0.19238359, 0.13080968, 0.03682325, 0.00555879,-0.00101138,
  0.01859838,-0.00156086, 0.        ,-0.00167858, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.21114234, 0.06113721, 0.20209732, 0.06113721, 0.09958562,
       0.03374743, 0.20209732, 0.03374743, 0.20093328, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -9.056682113842277e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.55896896e-01, -7.08957241e-01, -2.59188913e-01, -1.76016270e-01,
       -1.90255526e-01,  9.65826645e-01, -7.34041916e-01,  6.79104164e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05506541, -0.03841571,  0.14879866])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009973424242079346
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93467524, -0.1314756 , -0.33029738, -0.12396306,  0.99131941,
       -0.04380631,  0.33318966,  0.        , -0.94285983])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08321467, -0.09103645,  0.13219712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.5070752 , 0.09297521, 0.49847855, 0.09297521, 0.0498592 ,
       0.085279  , 0.49847855, 0.085279  , 0.49116913, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -8.758451235260264e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82590444e-01,  9.17253802e-01, -2.80692187e-01, -8.26433715e-02,
        2.68250213e-01,  9.59797841e-01,  9.55673958e-01,  2.94427046e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03700284, -0.12550248,  0.21068367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005359899715383504
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.07135037e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.07135037e-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([ 0.03727472, -0.064211  ,  0.06198889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.20507616e-03, 5.67493928e-02, 3.02656702e-02, 5.75677739e-03,
  3.11037709e-01, 5.66694369e-01, 1.77695047e-01,-2.10886174e-01,
  5.05136112e-02,-1.05447812e-02,-3.92981048e-03,-6.53776532e-04,
 -1.04427376e-04,-6.43928963e-05,-1.03585881e-05, 1.47453068e-05,
 -3.98241666e-02, 1.80100378e-02,-9.82833037e+00,-5.47295587e-02,
 -3.74363842e-02, 1.61488217e-02]


--- Step 2896 ---
qpos:
[-0.02725297, 0.62174212,-0.13425878, 0.9207402 ,-0.20470514, 0.36106637,
 -0.24119647, 1.13595375,-0.1177308 , 1.33702076,-0.01830684, 0.95732839,
  1.15820909, 0.00550329, 1.26064718, 0.04545787, 0.05146646,-0.08732595,
  0.15090686, 0.97023642,-0.01821002,-0.14671899, 0.19178952]

qacc:
[-1.70546878e+01,-7.43655764e+01,-2.60981266e+02, 5.13240134e+01,
 -1.21555082e+02, 2.00909731e+00, 2.00186610e+02,-5.22970358e+02,
 -3.24573651e+02, 6.03125349e+00, 1.64763735e+02,-2.38504434e+02,
 -7.61405245e-01, 7.28928608e-01,-7.17254740e+00, 2.45383069e+01,
 -2.60368485e+00,-1.71673885e-01,-9.02633364e-02,-1.61039176e+01,
 -1.28777760e+01,-3.46207409e+01]

qfrc_actuator:
[ 0.01908118, 0.35548278, 0.11449026, 0.02408547, 0.19410525, 0.76103742,
  0.22196317,-0.19263953, 0.13001704, 0.03647768, 0.00546697,-0.00098282,
  0.01855397,-0.00153994, 0.        ,-0.00156004, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.21233418, 0.06483061, 0.20219495, 0.06483061, 0.10486673,
       0.03445774, 0.20219495, 0.03445774, 0.20128586, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00011497842690936568
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.58889314e-01, -7.05134828e-01, -2.62010967e-01, -1.78885614e-01,
       -1.91441072e-01,  9.65064896e-01, -7.30660529e-01,  6.82740940e-01,
        2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05454407, -0.03839842,  0.14924281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00997468831241991
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.34077664e-01, -1.23893065e-01, -3.34887183e-01, -1.16624267e-01,
        9.92295575e-01, -4.18123395e-02,  3.37487329e-01, -6.93889390e-18,
       -9.41330071e-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([ 0.08281954, -0.09118427,  0.13238417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.50777915, 0.07698585, 0.5019092 , 0.07698585, 0.04973774,
       0.07025715, 0.5019092 , 0.07025715, 0.49700269, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -9.439494972573728e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82955318e-01,  9.16782601e-01, -2.81861582e-01, -8.31245102e-02,
        2.69325579e-01,  9.59455079e-01,  9.55524256e-01,  2.94912523e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03587332, -0.12547097,  0.21168332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005330589053621909
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03727674, -0.06421644,  0.06198895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.88975862e-03, 7.29530692e-02, 3.92219647e-02, 7.63885439e-03,
  3.17950652e-01, 5.58952947e-01, 1.74881249e-01,-2.09680019e-01,
  9.44710225e-02,-1.49781141e-02,-7.96967035e-03,-1.49848647e-03,
 -1.12031890e-04,-2.20412332e-05,-7.11112697e-06, 1.17183760e-04,
 -4.25350023e-02, 1.98241826e-02,-9.82953303e+00,-5.41204553e-02,
 -3.81668771e-02, 1.63679031e-02]


--- Step 2897 ---
qpos:
[-0.02702823, 0.62629927,-0.13319774, 0.92095713,-0.20732719, 0.36506178,
 -0.24024452, 1.13619097,-0.11837329, 1.33757584,-0.01816301, 0.9572939 ,
  1.15864841, 0.00550411, 1.26078594, 0.04546019, 0.05106036,-0.08753508,
  0.15092161, 0.97060206,-0.01830435,-0.14825378, 0.18872574]

qacc:
[-1.16317058e+01,-8.29210523e+01,-1.69191311e+02,-3.28346150e+00,
 -1.08151280e+02,-4.71837960e+00, 2.11296670e+02,-5.30638510e+02,
 -2.73943497e+02, 1.59983704e+01, 1.35087167e+02,-2.79380031e+02,
 -1.10663605e+00, 1.54034365e+00,-1.61166326e+01, 5.54840795e+01,
 -2.56409097e+00, 1.84532395e-01,-4.65126558e-02,-1.64139032e+01,
 -1.39888154e+01,-2.65808836e+01]

qfrc_actuator:
[ 0.01886757, 0.35249234, 0.11327852, 0.02385375, 0.19664346, 0.75879872,
  0.22108251,-0.1928822 , 0.13001732, 0.03604091, 0.00537531,-0.00091838,
  0.01851685,-0.00147422, 0.        ,-0.00129386, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.21254343, 0.06814047, 0.20132458, 0.06814047, 0.10976482,
       0.03478653, 0.20132458, 0.03478653, 0.20076956, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00011872552148435534
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66207119, -0.7010323 , -0.26498199, -0.18194071, -0.19264743,
        0.96425336, -0.72702085,  0.68661538,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05405545, -0.03838055,  0.14964893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00997710157493754
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.33395218e-01, -1.16144645e-01, -3.39534664e-01, -1.09147533e-01,
        9.93232310e-01, -3.97038362e-02,  3.41848186e-01, -6.93889390e-18,
       -9.39755190e-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([ 0.08241578, -0.0913387 ,  0.13257727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.50284045, 0.06850789, 0.49815177, 0.06850789, 0.0511914 ,
       0.06211265, 0.49815177, 0.06211265, 0.49429846, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.2230071656545142e-05
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.28438614,  0.91587878, -0.28335595, -0.08402634,  0.27061073,
        0.95901481,  0.95502047,  0.29653988,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0347226 , -0.12550149,  0.21270037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000530028135812613
  efc_address: 10
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.04732461e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.04732461e-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([ 0.03727908, -0.06422249,  0.06198901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.88788024e-03, 8.79791425e-02, 4.65203125e-02, 9.17195806e-03,
  3.24576695e-01, 5.51748168e-01, 1.72119208e-01,-2.08444506e-01,
  1.32804352e-01,-2.11163082e-02,-1.06470890e-02,-1.32065044e-03,
 -9.82565426e-05, 3.32069960e-05, 5.68028850e-06, 2.70931072e-04,
 -4.48423332e-02, 2.11693144e-02,-9.83048355e+00,-5.35599134e-02,
 -3.88537557e-02, 1.65908545e-02]


--- Step 2898 ---
qpos:
[-0.02682083, 0.6305837 ,-0.13225078, 0.92115165,-0.21004818, 0.3691724 ,
 -0.23923875, 1.13639683,-0.11765778, 1.33793936,-0.01813954, 0.95726626,
  1.15908677, 0.00550568, 1.26092542, 0.04545964, 0.05063781,-0.08775289,
  0.1509347 , 0.97096945,-0.01838508,-0.14984789, 0.18554226]

qacc:
[-1.20128783e+01,-8.76263801e+01,-1.00956292e+02, 6.69176638e+00,
 -1.43567194e+02,-1.80251484e+01, 2.95871987e+02,-6.15494917e+02,
  5.74936027e+02, 8.56135818e+01,-5.95768285e+02, 7.14202928e+02,
 -1.50329634e+00, 1.94612948e+00, 9.88388137e+00,-3.26982749e+01,
 -4.11323083e+00,-2.17010372e+00,-4.15439477e-01,-7.85282373e+00,
 -2.88463270e+01,-5.98037022e+01]

qfrc_actuator:
[ 0.01864174, 0.34934964, 0.1122481 , 0.023593  , 0.19931246, 0.7562829 ,
  0.22018746,-0.19299809, 0.13066268, 0.03550985, 0.00530909,-0.00086092,
  0.0184735 ,-0.00143567, 0.        ,-0.00145769, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.21177784, 0.06940314, 0.20008262, 0.06940314, 0.10127881,
       0.03832907, 0.20008262, 0.03832907, 0.19848254, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00010432715002223891
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66549346, -0.69667523, -0.26788445, -0.1850383 , -0.19370829,
        0.96345105, -0.72310392,  0.69073926,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05359387, -0.0383617 ,  0.15002428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009980007139654756
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.32618200e-01, -1.08273612e-01, -3.44238461e-01, -1.01575087e-01,
        9.94121132e-01, -3.74923540e-02,  3.46274161e-01,  6.93889390e-18,
       -9.38133362e-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([ 0.08200425, -0.09149966,  0.13277613])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005269126116295014
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05351722e-13,  1.05351722e-13,  1.00000000e+00,  1.10989854e-26,
        1.00000000e+00, -1.05351722e-13, -1.00000000e+00,  0.00000000e+00,
       -1.05351722e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0372817 , -0.06422912,  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:
[ 5.49401355e-03, 1.00557229e-01, 5.25673104e-02, 1.04506133e-02,
  3.30943576e-01, 5.44619344e-01, 1.69396009e-01,-2.07061319e-01,
  1.65808836e-01,-2.70408566e-02,-1.27725414e-02,-8.47877565e-04,
 -8.38988845e-05, 2.51200494e-05, 2.85536423e-05,-1.48904729e-04,
 -4.68764949e-02, 2.21622479e-02,-9.83124491e+00,-5.30334114e-02,
 -3.95160231e-02, 1.68180652e-02]


--- Step 2899 ---
qpos:
[-0.02662978, 0.63464232,-0.13139479, 0.92132721,-0.21286575, 0.37341499,
 -0.23817278, 1.13656933,-0.11614656, 1.33817068,-0.01816613, 0.95723102,
  1.15952457, 0.00550701, 1.2610649 , 0.04545819, 0.05019857,-0.08797878,
  0.15094608, 0.97133443,-0.01845128,-0.15150491, 0.18225046]

qacc:
[-1.12508800e+01,-8.21620103e+01,-5.13236544e+01,-2.59979127e+01,
 -1.37885993e+02,-1.47946401e+01, 3.15175295e+02,-6.60506645e+02,
  3.36867613e+02,-5.16286532e+01,-2.55084893e+01, 1.57113996e+01,
 -3.58660639e-01, 1.00950742e-01, 2.76310829e+00,-9.59482585e+00,
 -4.16921532e+00,-2.01979834e+00,-4.27978261e-01,-6.91680933e+00,
 -3.10680579e+01,-5.40359919e+01]

qfrc_actuator:
[ 0.01839818, 0.34632218, 0.11130176, 0.02335443, 0.20207937, 0.75339733,
  0.21916257,-0.19314891, 0.12993114, 0.03516072, 0.00527892,-0.00080176,
  0.01843176,-0.00146688, 0.        ,-0.00150079, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.21030508, 0.07080096, 0.19802891, 0.07080096, 0.10167568,
       0.03883809, 0.19802891, 0.03883809, 0.19641936, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -6.816785468449573e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.66905428, -0.6920946 , -0.27087161, -0.18826605, -0.19474939,
        0.96261548, -0.71897306,  0.69503794,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05315435, -0.03834372,  0.15037114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009697324596863156
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93171549, -0.10045604, -0.34901982, -0.09407231,  0.9949415 ,
       -0.03523941,  0.35079431,  0.        , -0.93645253])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08157997, -0.0916709 ,  0.13298167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005234864508732173
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06041238e-13,  1.06041238e-13,  1.00000000e+00,  1.12447441e-26,
        1.00000000e+00, -1.06041238e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06041238e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03728458, -0.06423631,  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:
[ 6.11628867e-03, 1.11031929e-01, 5.72789090e-02, 1.13423054e-02,
  3.38699995e-01, 5.35839259e-01, 1.65633200e-01,-2.05653379e-01,
  9.71618656e-02,-1.78133644e-02,-6.78453795e-03,-1.13057300e-03,
 -7.78575490e-05,-4.32585922e-05,-1.07061450e-05,-4.93355633e-05,
 -4.98156691e-02, 2.41695316e-02,-9.83316552e+00,-5.19343073e-02,
 -4.02299749e-02, 1.70647130e-02]


--- Step 2900 ---
qpos:
[-0.02644386, 0.63851932,-0.13060915, 0.92148725,-0.21577813, 0.37779395,
 -0.23704628, 1.13670703,-0.11417779, 1.33831738,-0.0182237 , 0.95719195,
  1.15996185, 0.00550777, 1.26120414, 0.04545756, 0.04974242,-0.08821226,
  0.15095565, 0.9716936 ,-0.0185021 ,-0.15322776, 0.17885882]

qacc:
[-3.47341259e+00,-7.37060905e+01,-1.58243978e+01,-4.49503400e+01,
 -1.33117601e+02,-1.17716649e+01, 3.14962585e+02,-6.79059318e+02,
  1.93695998e+02,-3.41230369e+01,-1.49269992e+01, 2.09367430e+01,
  1.36159077e-02,-5.12789845e-01,-2.85206292e+00, 9.40095648e+00,
 -4.23132983e+00,-1.89849802e+00,-4.52200010e-01,-6.15011978e+00,
 -3.29010390e+01,-4.97293828e+01]

qfrc_actuator:
[ 1.82031962e-02, 3.43479324e-01, 1.10446136e-01, 2.31524481e-02,
  2.04924494e-01, 7.50298094e-01, 2.18031875e-01,-1.93430413e-01,
  1.28428055e-01, 3.49735489e-02, 5.28374576e-03,-7.12089235e-04,
  1.83963083e-02,-1.50374193e-03, 0.00000000e+00,-1.45451873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0.20925333, 0.0724542 , 0.19630931, 0.0724542 , 0.09849672,
       0.04087825, 0.19630931, 0.04087825, 0.19416591, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.2010163701168264e-05
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.68790827e-01, -6.91141332e-01, -2.73938842e-01, -1.90494759e-01,
       -1.96860956e-01,  9.61747114e-01, -7.18631043e-01,  6.95391561e-01,
       -2.77555756e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([12, 43], dtype=int32)
  geom1: 12
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05277967, -0.0383727 ,  0.15069418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009668323898444305
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93067742, -0.09279428, -0.35387675, -0.08673578,  0.9956853 ,
       -0.03298004,  0.35541024,  0.        , -0.93471042])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0811418 , -0.09185358,  0.13319525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005197121758175882
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06811335e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.06811335e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03728776, -0.06424408,  0.06198922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.73703763e-03, 1.19354370e-01, 6.09283849e-02, 1.20962603e-02,
  3.46421343e-01, 5.26003554e-01, 1.61444207e-01,-2.04277154e-01,
  5.58715853e-02,-1.13694376e-02,-4.27318932e-03,-6.66759478e-04,
 -8.49251903e-05,-6.73425251e-05,-1.44666121e-05, 4.12550368e-05,
 -5.24945359e-02, 2.59079649e-02,-9.83502429e+00,-5.07954726e-02,
 -4.09085814e-02, 1.73219754e-02]


--- Step 2901 ---
qpos:
[-0.02617187, 0.6432608 ,-0.12919792, 0.92177741,-0.21877883, 0.38229528,
 -0.23587136, 1.13680706,-0.11325522, 1.33859049,-0.01812351, 0.95726934,
  1.16039842, 0.00550815, 1.26134356, 0.04545511, 0.0492761 ,-0.08844705,
  0.15096377, 0.97205613,-0.01856922,-0.15496538, 0.17535049]

qacc:
[ 5.88082128e+01,-3.19720891e+02, 2.13105359e+03,-7.98522031e+02,
 -1.21896954e+02,-3.03117504e+00, 2.70535072e+02,-6.73380206e+02,
 -4.42869594e+02,-5.80673560e+01, 1.56587611e+02, 1.12584508e+03,
 -4.56159000e-01, 8.15654842e-02, 5.78992493e+00,-1.97844396e+01,
 -2.54101413e+00,-3.27837069e-01,-3.62991531e-01,-1.81510336e+01,
 -4.37571159e+00,-5.58851272e+01]

qfrc_actuator:
[ 1.80504108e-02, 3.41041878e-01, 1.09678464e-01, 2.29943003e-02,
  2.07871166e-01, 7.47297487e-01, 2.16902039e-01,-1.93615762e-01,
  1.26446418e-01, 3.48355895e-02, 5.36375889e-03,-6.58122391e-04,
  1.83539994e-02,-1.52583206e-03, 0.00000000e+00,-1.55125961e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009638028983679518
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92952293, -0.08493822, -0.35884902, -0.07923837,  0.99638622,
       -0.03059054,  0.36015053,  0.        , -0.9328942 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08068996, -0.09204499,  0.13341712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.50915254, 0.10223885, 0.49878205, 0.10223885, 0.05555888,
       0.09297627, 0.49878205, 0.09297627, 0.49009455, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00010639299641660022
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.27128449,  0.9193157 , -0.2850673 , -0.08068204,  0.27341137,
        0.9585075 ,  0.95911164,  0.28302803,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04295342, -0.12481256,  0.20567971])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005155565224524705
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.0767229e-13,  1.0767229e-13,  1.0000000e+00,  1.1593322e-26,
        1.0000000e+00, -1.0767229e-13, -1.0000000e+00,  0.0000000e+00,
       -1.0767229e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03729124, -0.06425248,  0.06198931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.83408835e-03, 1.25878625e-01, 6.36373078e-02, 1.27192464e-02,
  3.54158359e-01, 5.16040793e-01, 1.57237120e-01,-2.02733110e-01,
  3.10151787e-02,-7.25628662e-03,-2.64148513e-03,-4.27968649e-04,
 -1.00783881e-04,-6.13676382e-05,-5.37718644e-06,-9.70281002e-05,
 -5.49690571e-02, 2.74314453e-02,-9.83684236e+00,-4.96130799e-02,
 -4.15612614e-02, 1.75901028e-02]


--- Step 2902 ---
qpos:
[-0.0258722 , 0.64858572,-0.12755508, 0.9221141 ,-0.22185539, 0.38690769,
 -0.23465334, 1.13686834,-0.11330184, 1.33902835,-0.01792086, 0.95739081,
  1.16083422, 0.00550802, 1.26148285, 0.04545219, 0.04880086,-0.08868044,
  0.15097076, 0.97241529,-0.01865752,-0.15671698, 0.17175622]

qacc:
[ 1.85995527e+01, 2.17663211e+02, 1.20724858e+02, 4.77630116e+01,
 -1.02935912e+02,-5.49563490e+00, 2.62811958e+02,-6.73585768e+02,
 -4.10268954e+02, 1.60842179e+01, 1.20005745e+02, 3.01639314e+02,
 -3.18586348e-01,-1.58494903e-01, 1.26419372e+00,-4.65701135e+00,
 -2.22967892e+00, 3.50458021e-01,-2.82068124e-01,-1.82079669e+01,
 -4.39883237e+00,-3.99579409e+01]

qfrc_actuator:
[ 0.01779831, 0.33796301, 0.10826027, 0.02275854, 0.21091018, 0.74426227,
  0.21576063,-0.19372663, 0.12549837, 0.03454997, 0.00527704,-0.00076207,
  0.01830761,-0.00155675, 0.        ,-0.00157173, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009608724188366728
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92829486, -0.07685361, -0.36381613, -0.07155445,  0.99704239,
       -0.02804353,  0.36489535,  0.        , -0.93104854])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08022715, -0.09224413,  0.13364758])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.52076016, 0.09913059, 0.51123798, 0.09913059, 0.0593433 ,
       0.08947012, 0.51123798, 0.08947012, 0.50341163, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00017669741295664533
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.63955649e-01,  9.21613261e-01, -2.84528403e-01, -7.83408957e-02,
        2.73530832e-01,  9.58667611e-01,  9.61348074e-01,  2.75335941e-01,
       -1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04294759, -0.12473465,  0.20571718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005111512425523684
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03729505, -0.06426153,  0.0619894 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21970116e-03, 7.94424784e-02, 3.08873460e-02, 5.93147038e-03,
  3.61660458e-01, 5.06740118e-01, 1.53622908e-01,-2.00970243e-01,
  8.23784196e-02,-1.39005277e-02,-1.06216042e-02,-6.34270794e-03,
 -1.11707958e-04,-7.20544628e-05,-1.80607019e-05,-2.76167121e-05,
 -5.85835169e-02, 3.07037485e-02,-9.83861214e+00,-4.89207806e-02,
 -4.25389402e-02, 1.78488379e-02]


--- Step 2903 ---
qpos:
[-0.02556655, 0.65425458,-0.1257853 , 0.92247568,-0.2249964 , 0.39162218,
 -0.23339594, 1.1368899 ,-0.1141919 , 1.33962328,-0.01762996, 0.95754717,
  1.16126927, 0.00550727, 1.26162211, 0.04544835, 0.04831758,-0.08891043,
  0.15097686, 0.97276642,-0.01877087,-0.15848174, 0.16809725]

qacc:
[ 3.93895051e+00, 1.49545440e+02, 7.73452715e+00, 5.02664142e+01,
 -8.59281972e+01,-8.87583725e+00, 2.61294982e+02,-6.78002624e+02,
 -3.57017588e+02, 2.84835443e+01, 8.58169040e+01, 2.30450806e+02,
 -2.75589001e-01,-2.87850938e-01, 2.74411001e+00,-9.65781597e+00,
 -2.00853521e+00, 8.52229390e-01,-2.23594070e-01,-1.84505435e+01,
 -4.27683484e+00,-2.89324726e+01]

qfrc_actuator:
[ 0.01749282, 0.33439901, 0.10661325, 0.0225255 , 0.21397423, 0.74109761,
  0.21454496,-0.19379441, 0.1255297 , 0.03412236, 0.00510022,-0.00091723,
  0.01826413,-0.0015927 , 0.        ,-0.00161807, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009532645285433872
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.25937463e-01, -8.58180764e-02, -3.67797597e-01, -7.97564074e-02,
        9.96310824e-01, -3.16805574e-02,  3.69159491e-01, -3.46944695e-18,
       -9.29366058e-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([ 0.07976673, -0.0925899 ,  0.13389527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.51739548, 0.09713752, 0.50819522, 0.09713752, 0.06471894,
       0.08652556, 0.50819522, 0.08652556, 0.5008568 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00015979932715565803
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.25644315,  0.92390069, -0.28397962, -0.07595153,  0.27363441,
        0.95883032,  0.96357059,  0.26745416,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04292994, -0.1247335 ,  0.20576582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005065817462697186
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.09579849e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.09579849e-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([ 0.03729916, -0.06427125,  0.06198949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.91095949e-04, 4.65486302e-02, 1.75983326e-02, 3.33852018e-03,
  3.68562919e-01, 4.97868461e-01, 1.50197708e-01,-1.99110028e-01,
  1.30876042e-01,-2.25775098e-02,-1.59232951e-02,-8.69811375e-03,
 -1.16799711e-04,-8.27806061e-05,-1.52285395e-05,-5.10195520e-05,
 -6.15295854e-02, 3.32601805e-02,-9.83990775e+00,-4.83700444e-02,
 -4.34362165e-02, 1.81070169e-02]


--- Step 2904 ---
qpos:
[-0.02526322, 0.66011109,-0.12394944, 0.92284904,-0.22819067, 0.39643331,
 -0.23210296, 1.1368708 ,-0.11580585, 1.34036296,-0.01725979, 0.95773581,
  1.16170328, 0.00550656, 1.26176094, 0.04544663, 0.047827  ,-0.08913539,
  0.15098225, 0.97310609,-0.0189125 ,-0.16025878, 0.16438975]

qacc:
[-1.58517935e+00, 8.72598255e+01,-1.01192459e+01, 1.76234927e+01,
 -6.97716001e+01,-7.60481323e+00, 2.50469224e+02,-6.78175963e+02,
 -3.06388364e+02, 3.20248085e+01, 5.99842065e+01, 2.30404269e+02,
 -6.61905821e-01, 5.04657637e-01,-7.02556297e+00, 2.37832715e+01,
 -1.82835375e+00, 1.25552094e+00,-1.77071130e-01,-1.87487573e+01,
 -4.04785192e+00,-2.05147324e+01]

qfrc_actuator:
[ 0.01714816, 0.33051456, 0.1048232 , 0.02217284, 0.21707223, 0.73796188,
  0.21327122,-0.19380212, 0.12641059, 0.03353357, 0.00478931,-0.0010583 ,
  0.01822242,-0.00157809, 0.        ,-0.00150176, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009440371127941246
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92239995, -0.10464388, -0.37179026, -0.09705637,  0.99450976,
       -0.03912035,  0.37384275,  0.        , -0.9274921 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07930715, -0.09302501,  0.1341505 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.50516979, 0.09385161, 0.49637525, 0.09385161, 0.06912895,
       0.08244395, 0.49637525, 0.08244395, 0.48958179, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -6.558081684816096e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.2487847 ,  0.92615967, -0.2834333 , -0.07352915,  0.27372961,
        0.95899195,  0.96576376,  0.25942313,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04290161, -0.12479886,  0.20582518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000501914392493294
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10598843e-13,  1.10598843e-13,  1.00000000e+00,  1.22321041e-26,
        1.00000000e+00, -1.10598843e-13, -1.00000000e+00,  0.00000000e+00,
       -1.10598843e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03730353, -0.06428164,  0.06198959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79481176e-04, 2.52972314e-02, 9.39604753e-03, 1.71821293e-03,
  3.74925680e-01, 4.89472182e-01, 1.46898823e-01,-1.97141184e-01,
  1.73941270e-01,-3.10141260e-02,-2.06463113e-02,-1.05865207e-02,
 -1.20129647e-04,-3.65366901e-05,-1.67905837e-05, 1.10630224e-04,
 -6.40074301e-02, 3.53026437e-02,-9.84086324e+00,-4.79210306e-02,
 -4.42803394e-02, 1.83649798e-02]


--- Step 2905 ---
qpos:
[-0.02496478, 0.66605296,-0.12208527, 0.92322581,-0.23148744, 0.40140099,
 -0.23073789, 1.13680678,-0.11568612, 1.34085875,-0.01717349, 0.95772046,
  1.16213623, 0.00550644, 1.26189936, 0.04544864, 0.04731947,-0.08936937,
  0.15098427, 0.97345585,-0.01904648,-0.16206877, 0.16048254]

qacc:
[-3.23564415e+00, 4.14297469e+01,-5.85075263e+00,-1.40395380e+01,
 -1.31875939e+02,-2.59798640e+01, 4.09978039e+02,-8.67172426e+02,
  7.33692451e+02, 9.22221687e+01,-2.79361385e+02,-1.95320004e+03,
 -9.24599784e-01, 1.12478292e+00,-1.17646641e+01, 4.04584893e+01,
 -4.23571741e+00,-2.25557408e+00,-8.42709942e-01,-1.48866700e+01,
 -1.39680274e+01,-9.89252457e+01]

qfrc_actuator:
[ 0.01683919, 0.32622578, 0.10295744, 0.02173383, 0.22025844, 0.73470159,
  0.21196843,-0.1937747 , 0.12805454, 0.03277983, 0.00438938,-0.00122002,
  0.01818715,-0.00153357, 0.        ,-0.00130829, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009155206082519018
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92189922, -0.09458469, -0.37570674, -0.08759024,  0.99551682,
       -0.03569614,  0.37739869,  0.        , -0.92605088])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07880944, -0.09323406,  0.13441146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004972048433307813
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11646441e-13,  1.11646441e-13,  1.00000000e+00,  1.24649278e-26,
        1.00000000e+00, -1.11646441e-13, -1.00000000e+00,  0.00000000e+00,
       -1.11646441e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03730809, -0.06429265,  0.06198969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.91619129e-04, 1.14491377e-02, 4.15969997e-03, 6.76783325e-04,
  3.80814446e-01, 4.81217519e-01, 1.43758871e-01,-1.95089569e-01,
  2.11795426e-01,-3.89873041e-02,-2.50076001e-02,-1.23686001e-02,
 -1.04035605e-04, 5.93598354e-06, 9.73211476e-07, 1.96710411e-04,
 -6.61252702e-02, 3.69442573e-02,-9.84154966e+00,-4.75537744e-02,
 -4.50837043e-02, 1.86226841e-02]


--- Step 2906 ---
qpos:
[-0.02467186, 0.67201394,-0.12021688, 0.92360177,-0.23488713, 0.40653943,
 -0.22930165, 1.13669508,-0.11454359, 1.34115358,-0.01717275, 0.95768647,
  1.16256817, 0.00550726, 1.26203799, 0.04545092, 0.04679483,-0.08961177,
  0.15098281, 0.97381134,-0.01917207,-0.16391407, 0.15638442]

qacc:
[-3.59615935e+00, 1.25015323e+01,-8.21184515e+00,-1.63574852e+01,
 -1.30056911e+02,-9.30286460e+00, 3.83721002e+02,-8.89064319e+02,
  4.32829905e+02,-6.51862085e+01,-6.80093678e+01,-3.19966575e+01,
 -1.39757779e+00, 1.92433145e+00,-4.01204532e-01, 2.16585502e+00,
 -4.27584112e+00,-2.10463681e+00,-8.67667754e-01,-1.41687121e+01,
 -1.55707121e+01,-9.43916092e+01]

qfrc_actuator:
[ 0.01655512, 0.32172162, 0.10107532, 0.02129992, 0.22355039, 0.73109047,
  0.21061523,-0.19372345, 0.12793506, 0.03224009, 0.00428523,-0.00117075,
  0.01815579,-0.00147165, 0.        ,-0.00130176, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009086387781789784
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20664513e-01, -8.66290166e-02, -3.80620898e-01, -8.00572253e-02,
        9.96240640e-01, -3.30972385e-02,  3.82057188e-01, -3.46944695e-18,
       -9.24138683e-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([ 0.07830057, -0.09347233,  0.13467498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004921654770737721
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12789608e-13,  2.25579216e-13,  1.00000000e+00,  2.54429913e-26,
        1.00000000e+00, -2.25579216e-13, -1.00000000e+00,  0.00000000e+00,
       -1.12789608e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03731288, -0.06430429,  0.06198979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.46922326e-04, 2.49695614e-03, 7.94199420e-04, 6.42217789e-05,
  3.89298680e-01, 4.69619667e-01, 1.38744990e-01,-1.92805679e-01,
  1.24962301e-01,-2.73703567e-02,-1.09229338e-02,-2.10618210e-03,
 -8.15066184e-05, 3.93073950e-05, 1.81355612e-05, 1.67151331e-05,
 -7.18275957e-02, 4.29983907e-02,-9.84506927e+00,-4.62002517e-02,
 -4.64103962e-02, 1.89061835e-02]


--- Step 2907 ---
qpos:
[-0.02438424, 0.67795298,-0.11836036, 0.92397482,-0.23834273, 0.41181041,
 -0.22782025, 1.13653519,-0.11443492, 1.34155908,-0.01698253, 0.95780751,
  1.16299916, 0.00550929, 1.26217677, 0.04545261, 0.04626047,-0.08985087,
  0.15097994, 0.97415014,-0.01931571,-0.1657838 , 0.15223054]

qacc:
[-3.41996446e+00,-1.63860038e+00,-2.32230694e+01,-3.20480834e-01,
 -6.94029369e+01, 5.38640370e+00, 2.78195084e+02,-8.01618347e+02,
 -4.37473636e+02,-9.72297152e+01, 1.82800333e+02, 1.55556434e+03,
 -1.59657027e+00, 2.34123398e+00, 2.15006570e+00,-6.82165282e+00,
 -2.43218961e+00, 8.26637508e-01,-3.55172252e-01,-1.54270256e+01,
 -1.13229908e+01,-2.46049860e+01]

qfrc_actuator:
[ 0.01630632, 0.31728011, 0.09919616, 0.02090743, 0.22692943, 0.72724529,
  0.20918611,-0.19363716, 0.12679268, 0.03190115, 0.00427378,-0.00116968,
  0.01812147,-0.00139988, 0.        ,-0.00133443, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.009013851465504149
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.91937823, -0.07808302, -0.38554729, -0.07200767,  0.99694686,
       -0.03019689,  0.38672802,  0.        , -0.92219382])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07777405, -0.0937183 ,  0.13494997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.50402332, 0.10347409, 0.49328757, 0.10347409, 0.06212362,
       0.09269475, 0.49328757, 0.09269475, 0.48457928, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -4.756013091772664e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.24290560e-01,  9.32970541e-01, -2.81531018e-01, -6.58064819e-02,
        2.73732024e-01,  9.59552128e-01,  9.72297923e-01,  2.33745050e-01,
       -6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04284715, -0.12482103,  0.20599244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004867769508161285
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.14038167e-13,  1.14038167e-13,  1.00000000e+00,  1.30047035e-26,
        1.00000000e+00, -1.14038167e-13, -1.00000000e+00,  0.00000000e+00,
       -1.14038167e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03731798, -0.06431668,  0.0619899 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.33894411e-04,-3.08081055e-03,-1.36308104e-03,-2.90911228e-04,
  3.97896339e-01, 4.57071962e-01, 1.33698202e-01,-1.90348822e-01,
  7.26737722e-02,-1.76471930e-02,-6.65413599e-03,-1.17759245e-03,
 -6.55511372e-05, 6.43162982e-05, 4.26462286e-06,-3.07118924e-05,
 -7.74018265e-02, 4.91488332e-02,-9.84861327e+00,-4.48113596e-02,
 -4.77295589e-02, 1.91976264e-02]


--- Step 2908 ---
qpos:
[-0.02410177, 0.68384505,-0.11652506, 0.9243446 ,-0.2418349 , 0.41719364,
 -0.22630049, 1.13632632,-0.1153091 , 1.34213891,-0.01667722, 0.95797985,
  1.16342979, 0.00551119, 1.26231574, 0.04545223, 0.04571805,-0.09008374,
  0.15097608, 0.97446596,-0.01948265,-0.16767712, 0.14805712]

qacc:
[-3.28793247e+00,-1.01731777e+01,-3.47455933e+01, 2.24527841e+01,
 -4.45743121e+01,-4.47400466e+00, 2.79621871e+02,-7.99677602e+02,
 -4.15881939e+02, 7.17392837e+00, 1.49891336e+02, 3.52781892e+02,
 -3.59022133e-01, 2.30423250e-01, 6.58991181e+00,-2.25773723e+01,
 -2.01485120e+00, 1.55450107e+00,-2.47504030e-01,-1.49859383e+01,
 -1.14303001e+01,-6.06714941e+00]

qfrc_actuator:
[ 0.01606292, 0.3129806 , 0.09738644, 0.02059547, 0.23037263, 0.72321184,
  0.20769123,-0.19342151, 0.12673736, 0.03148692, 0.00414814,-0.00136372,
  0.01809075,-0.00142938, 0.        ,-0.00144312, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008941637434462569
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.91797583, -0.06982331, -0.39044216, -0.06425292,  0.99755937,
       -0.02732866,  0.39139742,  0.        , -0.92022175])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0772376 , -0.0939754 ,  0.13523514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.50675126, 0.098931  , 0.4970005 , 0.098931  , 0.06412052,
       0.08810837, 0.4970005 , 0.08810837, 0.48921275, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -8.425962661065996e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15607349e-01,  9.35240175e-01, -2.80783344e-01, -6.30764434e-02,
        2.73606741e-01,  9.59771178e-01,  9.74440780e-01,  2.24644534e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04283269, -0.12481482,  0.20604699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00048126215083887924
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.15344934e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.15344934e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03732338, -0.06432993,  0.06199001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.24951063e-04,-6.46254892e-03,-2.64491598e-03,-4.58062714e-04,
  4.04188475e-01, 4.46235597e-01, 1.29882193e-01,-1.87735889e-01,
  1.24318895e-01,-2.36119853e-02,-1.62562748e-02,-9.11719650e-03,
 -4.84338985e-05,-2.57278463e-05,-6.84225133e-06,-1.11038006e-04,
 -7.95145414e-02, 5.10629574e-02,-9.84968297e+00,-4.41894229e-02,
 -4.85556486e-02, 1.94777898e-02]


--- Step 2909 ---
qpos:
[-0.02382476, 0.68967417,-0.11471704, 0.92470969,-0.24534517, 0.42267412,
 -0.22474831, 1.13606774,-0.11702889, 1.34288916,-0.01627428, 0.95819249,
  1.16386019, 0.00551233, 1.26245457, 0.04545122, 0.04516881,-0.09030823,
  0.15097155, 0.97475426,-0.01967671,-0.16959389, 0.14389189]

qacc:
[-3.44896182e+00,-1.70659134e+01,-3.46505575e+01, 1.63353195e+01,
 -2.16934939e+01,-9.74493107e+00, 2.74417863e+02,-7.95508884e+02,
 -3.57781292e+02, 3.01397994e+01, 9.08116353e+01, 2.80006868e+02,
  2.48026853e-01,-8.22625720e-01, 1.68345366e+00,-6.27880727e+00,
 -1.70536140e+00, 2.09751945e+00,-1.64880415e-01,-1.45347646e+01,
 -1.18030528e+01, 8.07830574e+00]

qfrc_actuator:
[ 0.01578924, 0.30864034, 0.09556146, 0.02026234, 0.23385736, 0.71901494,
  0.20618114,-0.19307266, 0.12764355, 0.03086636, 0.00389934,-0.00152661,
  0.01806215,-0.00148325, 0.        ,-0.00147143, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008861322040768308
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.91634928, -0.06431989, -0.39517965, -0.05906179,  0.99792933,
       -0.02547065,  0.39599963,  0.        , -0.91825067])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07669503, -0.09426279,  0.13553066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.50328418, 0.0966395 , 0.49391879, 0.0966395 , 0.06909943,
       0.08495201, 0.49391879, 0.08495201, 0.48666258, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -3.070901160928872e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06855962e-01,  9.37436182e-01, -2.80042881e-01, -6.03430149e-02,
        2.73464323e-01,  9.59987492e-01,  9.76508746e-01,  2.15477768e-01,
        6.93889390e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04280584, -0.12488621,  0.20611379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004756949515829778
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16694850e-13,  1.16694850e-13,  1.00000000e+00,  1.36176881e-26,
        1.00000000e+00, -1.16694850e-13, -1.00000000e+00,  0.00000000e+00,
       -1.16694850e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03732898, -0.06434396,  0.06199013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.53122381e-04,-8.63144876e-03,-3.47434843e-03,-6.27195115e-04,
  4.09547073e-01, 4.36243365e-01, 1.26387857e-01,-1.84948656e-01,
  1.74380591e-01,-3.29424078e-02,-2.22589266e-02,-1.18479117e-02,
 -5.92640272e-05,-7.22807900e-05,-1.97357728e-05,-3.63307170e-05,
 -8.06306235e-02, 5.17389223e-02,-9.85010235e+00,-4.37448991e-02,
 -4.92270821e-02, 1.97571054e-02]


--- Step 2910 ---
qpos:
[-0.0235533 , 0.69543012,-0.11294028, 0.92506851,-0.24892912, 0.4283218 ,
 -0.2231207 , 1.13575412,-0.11696167, 1.3433782 ,-0.01618772, 0.95817111,
  1.16428997, 0.00551318, 1.26259327, 0.04544984, 0.04460124,-0.09053975,
  0.15096307, 0.97503914,-0.01985977,-0.17155323, 0.13954839]

qacc:
[-3.47312478e+00,-2.22530005e+01,-3.05778829e+01, 1.29296788e+00,
 -8.64209013e+01,-3.30329797e+01, 4.67132379e+02,-1.02549790e+03,
  7.56001956e+02, 1.04661500e+02,-2.88044820e+02,-2.27927787e+03,
 -3.13481638e-01, 4.09025800e-03, 9.37518812e-01,-3.49627217e+00,
 -4.58082257e+00,-1.75742717e+00,-9.90200873e-01,-1.28485662e+01,
 -2.00790269e+01,-8.79969059e+01]

qfrc_actuator:
[ 0.0155175 , 0.30427488, 0.09372414, 0.01988374, 0.23739869, 0.7148676 ,
  0.204617  ,-0.19278336, 0.12938254, 0.03014492, 0.00344154,-0.00173358,
  0.01802419,-0.00149784, 0.        ,-0.00148763, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008532824531530704
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.14797806e-01, -5.52266172e-02, -4.00118726e-01, -5.05984092e-02,
        9.98473846e-01, -2.21309790e-02,  4.00730302e-01,  3.46944695e-18,
       -9.16196063e-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([ 0.07614369, -0.09452625,  0.13583185])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004701304238736437
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.18076067e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.18076067e-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([ 0.0373347 , -0.06435868,  0.06199024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.63377765e-04,-1.00236289e-02,-4.01085663e-03,-7.68893640e-04,
  4.14031706e-01, 4.27044550e-01, 1.23134163e-01,-1.82184146e-01,
  2.18417850e-01,-4.21630961e-02,-2.75955565e-02,-1.40778333e-02,
 -8.49949283e-05,-4.91676471e-05,-1.60924878e-05,-2.14256883e-05,
 -8.09962297e-02, 5.14376475e-02,-9.85001573e+00,-4.34347080e-02,
 -4.97696362e-02, 2.00360391e-02]


--- Step 2911 ---
qpos:
[-0.02328758, 0.70110493,-0.11119562, 0.92542054,-0.25258467, 0.43415671,
 -0.22141934, 1.13538204,-0.11583942, 1.34365052,-0.01619618, 0.95812814,
  1.16471889, 0.00551393, 1.262732  , 0.04544724, 0.04401527,-0.09077769,
  0.1509505 , 0.97531637,-0.02003109,-0.17355729, 0.13503555]

qacc:
[-3.56603528e+00,-3.10496568e+01,-1.34463055e+01,-1.37769764e+01,
 -8.24630125e+01,-7.98258087e+00, 4.24208322e+02,-1.04637502e+03,
  4.46318522e+02,-6.54591894e+01,-8.61553156e+01,-4.06087442e+01,
 -7.25201853e-01, 5.32194788e-01, 3.76291812e+00,-1.29774064e+01,
 -4.60018556e+00,-1.60725405e+00,-1.02200358e+00,-1.19967680e+01,
 -2.15944312e+01,-8.34700103e+01]

qfrc_actuator:
[ 0.01523144, 0.29976995, 0.09194754, 0.01949905, 0.24100126, 0.7105879 ,
  0.20294672,-0.19254006, 0.12930909, 0.02969092, 0.00326879,-0.00172654,
  0.01796999,-0.00150675, 0.        ,-0.00154984, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008412723659025503
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.91315106, -0.04576279, -0.40504432, -0.04183217,  0.99895233,
       -0.0185554 ,  0.40546912,  0.        , -0.91410874])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07557489, -0.09479786,  0.13614483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00046420429653509787
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03734056, -0.06437405,  0.06199036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.83012927e-04,-1.10410571e-02,-4.28738272e-03,-8.37369141e-04,
  4.21390969e-01, 4.14220091e-01, 1.17626042e-01,-1.79203353e-01,
  1.28963393e-01,-2.95983295e-02,-1.19551598e-02,-2.35465063e-03,
 -1.08629389e-04,-4.28116541e-05,-1.34548630e-05,-6.62690286e-05,
 -8.62065324e-02, 5.75264937e-02,-9.85368748e+00,-4.19078187e-02,
 -5.11059437e-02, 2.03474927e-02]


--- Step 2912 ---
qpos:
[-0.02302796, 0.7066929 ,-0.10948406, 0.92576658,-0.2562613 , 0.44014226,
 -0.21967014, 1.13495113,-0.115744  , 1.3440697 ,-0.01600309, 0.95822768,
  1.16514675, 0.00551488, 1.26287032, 0.04544659, 0.04341792,-0.09101065,
  0.15093611, 0.97556576,-0.02021884,-0.17559962, 0.13048914]

qacc:
[-3.75738008e+00,-3.46811334e+01,-1.25697463e+01,-9.63201467e-01,
 -2.38769995e+01, 8.65661234e+00, 3.14796035e+02,-9.55897287e+02,
 -4.34357481e+02,-1.03834487e+02, 2.86878968e+02, 1.29841316e+03,
 -7.98035741e-01, 7.45120660e-01,-6.40168303e+00, 2.16595032e+01,
 -2.84625841e+00, 1.24677372e+00,-4.52827324e-01,-1.37936504e+01,
 -1.96298118e+01,-1.34499981e+01]

qfrc_actuator:
[ 0.01492147, 0.29514753, 0.09018523, 0.01916702, 0.24465023, 0.7061596 ,
  0.20125526,-0.19222794, 0.1281476 , 0.02938638, 0.0032433 ,-0.00174544,
  0.01791676,-0.00149458, 0.        ,-0.00144338, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008285069841370028
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.91139838, -0.03608114, -0.40994041, -0.03290571,  0.99934886,
       -0.01480075,  0.41020751,  0.        , -0.91199222])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07498785, -0.09507919,  0.13647122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0.50284484, 0.08979463, 0.49476243, 0.08979463, 0.05267134,
       0.08170217, 0.49476243, 0.08170217, 0.48801669, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -1.2547512190572575e-05
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80166893e-01,  9.03910100e-01, -3.23191959e-01, -9.56826467e-02,
        3.08703536e-01,  9.46333428e-01,  9.55170845e-01,  2.96055159e-01,
        1.38777878e-17])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([30, 43], dtype=int32)
  geom1: 30
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.04275151, -0.12492569,  0.20628197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004578784380958323
  efc_address: 7
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.21235565e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.21235565e-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([ 0.03734663, -0.0643902 ,  0.06199049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.16004215e-04,-1.17751219e-02,-4.50490628e-03,-8.26036571e-04,
  4.28699810e-01, 4.00238460e-01, 1.12177727e-01,-1.75985522e-01,
  7.50442725e-02,-1.90530639e-02,-7.22712481e-03,-1.29816770e-03,
 -1.18150984e-04,-2.53895430e-05,-1.80150015e-05, 1.00083313e-04,
 -9.11631782e-02, 6.35708854e-02,-9.85736639e+00,-4.03380875e-02,
 -5.24154697e-02, 2.06680432e-02]


--- Step 2913 ---
qpos:
[-0.02277452, 0.71219227,-0.10780655, 0.92610658,-0.2599967 , 0.44631265,
 -0.21784708, 1.13445689,-0.11461556, 1.34432232,-0.0160106 , 0.95818648,
  1.16557359, 0.00551618, 1.26300872, 0.0454455 , 0.04280181,-0.09124911,
  0.15091733, 0.97580145,-0.02039325,-0.17769035, 0.12578465]

qacc:
[-3.76917748e+00,-3.45279059e+01,-1.57989603e+01, 2.38051545e+00,
 -6.51229991e+01,-1.72476864e+01, 4.58844085e+02,-1.12327881e+03,
  4.36956016e+02, 7.84119279e+01,-2.38694748e+02,-1.30789789e+03,
 -1.07771126e+00, 1.18313542e+00, 1.51578865e+00,-4.91089616e+00,
 -4.68948373e+00,-1.37538082e+00,-1.09907470e+00,-1.06664936e+01,
 -2.40859261e+01,-7.78771340e+01]

qfrc_actuator:
[ 0.01461754, 0.29072358, 0.08848083, 0.01885073, 0.24832292, 0.70165712,
  0.1995475 ,-0.19185075, 0.12804639, 0.02898336, 0.00304759,-0.00186435,
  0.01787479,-0.00147003, 0.        ,-0.00146916, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008156714033410688
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.09505881e-01, -2.65607551e-02, -4.14841630e-01, -2.41656886e-02,
        9.99647201e-01, -1.10223956e-02,  4.14988037e-01,  1.73472348e-18,
       -9.09826868e-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([ 0.07438951, -0.09536942,  0.13680905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045141945835115715
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.45940445e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.45940445e-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([ 0.0373529 , -0.06440725,  0.06199062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.24438836e-04,-1.20219204e-02,-4.61402783e-03,-8.39048814e-04,
  4.33481672e-01, 3.87999062e-01, 1.08003120e-01,-1.72680593e-01,
  1.26291705e-01,-2.68157028e-02,-1.75026665e-02,-8.53733245e-03,
 -1.07139499e-04,-1.03192854e-05,-7.96648535e-07,-2.32891607e-05,
 -9.25597572e-02, 6.45731016e-02,-9.85830579e+00,-3.95471834e-02,
 -5.31724772e-02, 2.09807921e-02]


--- Step 2914 ---
qpos:
[-0.02252678, 0.71760354,-0.10616351, 0.92644089,-0.26378671, 0.4526804 ,
 -0.21595153, 1.1338959 ,-0.11288591, 1.3444382 ,-0.01607658, 0.95813283,
  1.16599965, 0.00551769, 1.26314712, 0.04544377, 0.04216691,-0.09149245,
  0.15089399, 0.97601938,-0.02055347,-0.17983147, 0.12093125]

qacc:
[-3.45804822e+00,-3.22946765e+01,-2.30009580e+01, 1.19143132e+01,
 -5.93707642e+01,-2.42800496e+00, 4.37002644e+02,-1.15424390e+03,
  2.54300119e+02,-4.32732793e+01,-5.02548084e+01,-1.57347548e+01,
 -8.09039383e-01, 8.43174846e-01, 2.01568986e+00,-6.86062413e+00,
 -4.69782311e+00,-1.21933920e+00,-1.14135248e+00,-9.65368822e+00,
 -2.55395879e+01,-7.33146772e+01]

qfrc_actuator:
[ 0.01435527, 0.28650845, 0.08682537, 0.01856407, 0.25203819, 0.6969624 ,
  0.19769605,-0.19140649, 0.12691447, 0.0288292 , 0.00307129,-0.00178151,
  0.01784496,-0.00145603, 0.        ,-0.00150169, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.008018618634693463
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.90752995, -0.01637508, -0.41966803, -0.01486287,  0.99986592,
       -0.00687302,  0.4197243 ,  0.        , -0.90765165])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07377292, -0.09566477,  0.1371607 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004445045512183887
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.24883201e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.24883201e-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([ 0.03735938, -0.06442514,  0.06199076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.87571452e-04,-1.19679513e-02,-4.62474835e-03,-8.20147672e-04,
  4.40215197e-01, 3.73858122e-01, 1.02384733e-01,-1.69087053e-01,
  7.35026848e-02,-1.86290660e-02,-7.44696351e-03,-1.42130627e-03,
 -8.60301683e-05,-1.38419490e-05,-8.08840132e-06,-3.50376921e-05,
 -9.71037249e-02, 7.04431152e-02,-9.86201464e+00,-3.78931541e-02,
 -5.44457362e-02, 2.13165894e-02]


--- Step 2915 ---
qpos:
[-0.02228445, 0.7229277 ,-0.10455509, 0.92676983,-0.26762623, 0.45925013,
 -0.21398424, 1.13326487,-0.11081508, 1.34446598,-0.01617447, 0.95807487,
  1.16642521, 0.00551882, 1.2632852 , 0.04544366, 0.0415132 ,-0.09174002,
  0.15086589, 0.97621556,-0.02069857,-0.18202492, 0.11593827]

qacc:
[-3.25484366e+00,-3.01288061e+01,-2.92220224e+01, 2.03605620e+01,
 -5.27843201e+01, 1.12645238e+00, 4.38679536e+02,-1.19492755e+03,
  1.44312999e+02,-3.70365955e+01,-9.92673485e+00, 1.30053557e+01,
 -1.27683170e-02,-3.66068384e-01,-5.38210088e+00, 1.81074007e+01,
 -4.70209815e+00,-1.05915771e+00,-1.18758676e+00,-8.56679375e+00,
 -2.69748085e+01,-6.86959033e+01]

qfrc_actuator:
[ 0.01410223, 0.28238256, 0.08517781, 0.01829728, 0.25581613, 0.69199489,
  0.19574796,-0.19085773, 0.12518273, 0.0287724 , 0.00316473,-0.00168513,
  0.01781709,-0.00148386, 0.        ,-0.00141362, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007872586543613171
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.05436794e-01, -6.06282087e-03, -4.24437809e-01, -5.48960199e-03,
        9.99981621e-01, -2.57333770e-03,  4.24445610e-01, -4.33680869e-19,
       -9.05453436e-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([ 0.07313795, -0.09596986,  0.13752702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043709966449100024
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03736611, -0.064444  ,  0.06199091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.64745618e-04,-1.18466483e-02,-4.60531764e-03,-7.97952708e-04,
  4.46807668e-01, 3.58811204e-01, 9.67350381e-02,-1.65219016e-01,
  4.17134368e-02,-1.18283872e-02,-4.42714584e-03,-7.09288798e-04,
 -7.44335988e-05,-5.16818221e-05,-1.20602998e-05, 8.41152077e-05,
 -1.01301334e-01, 7.61458413e-02,-9.86569990e+00,-3.61959331e-02,
 -5.56744353e-02, 2.16617455e-02]


--- Step 2916 ---
qpos:
[-0.02204733, 0.72816542,-0.10297987, 0.92709088,-0.27150923, 0.46602255,
 -0.21194562, 1.13256058,-0.10855922, 1.34443786,-0.01629086, 0.9580151 ,
  1.1668502 , 0.00551963, 1.26342377, 0.04543989, 0.04084069,-0.09199117,
  0.15083285, 0.97638609,-0.02082763,-0.1842726 , 0.11081528]

qacc:
[-3.10547265e+00,-3.67546387e+01,-8.95804190e-01,-3.38601227e+01,
 -4.54508403e+01,-9.32604793e-01, 4.52165841e+02,-1.24079862e+03,
  7.82634829e+01,-2.65720732e+01, 1.90981773e+00, 1.16605980e+01,
 -5.53453422e-01, 2.83950367e-01, 1.18254842e+01,-4.02357768e+01,
 -4.70036074e+00,-8.95246826e-01,-1.23735289e+00,-7.40833930e+00,
 -2.83881776e+01,-6.39932026e+01]

qfrc_actuator:
[ 0.01385672, 0.27829119, 0.08360218, 0.01790233, 0.25966616, 0.68674462,
  0.19376689,-0.1902163 , 0.12314616, 0.02872681, 0.00329685,-0.00158378,
  0.01778507,-0.00150079, 0.        ,-0.00161024, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007718799413835563
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.03226733e-01,  4.33645854e-03, -4.29141776e-01,  3.91684211e-03,
        9.99990598e-01,  1.86097302e-03,  4.29145811e-01,  2.16840434e-19,
       -9.03235226e-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([ 0.07248453, -0.09628482,  0.13790857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004291736115466377
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29344279e-13,  1.29344279e-13,  1.00000000e+00,  1.67299424e-26,
        1.00000000e+00, -1.29344279e-13, -1.00000000e+00,  0.00000000e+00,
       -1.29344279e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03737314, -0.06446392,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.49103296e-04,-1.17367863e-02,-4.50513231e-03,-9.20730834e-04,
  4.53219205e-01, 3.43243202e-01, 9.10864064e-02,-1.61095068e-01,
  2.26219770e-02,-7.45229223e-03,-2.69790870e-03,-3.98114413e-04,
 -8.13368064e-05,-4.92626153e-05, 6.64919435e-07,-1.94176727e-04,
 -1.05116013e-01, 8.16252447e-02,-9.86934411e+00,-3.44568537e-02,
 -5.68506620e-02, 2.20162204e-02]


--- Step 2917 ---
qpos:
[-0.02181524, 0.73331808,-0.1014374 , 0.92740427,-0.27543033, 0.4729989 ,
 -0.20983423, 1.13177976,-0.10621226, 1.34437501,-0.01641862, 0.95795394,
  1.16727454, 0.00552023, 1.26356224, 0.04543448, 0.0401493 ,-0.09224545,
  0.15079459, 0.97652794,-0.02093958,-0.18657537, 0.10556683]

qacc:
[-2.98847409e+00,-3.58310726e+01,-2.19924284e+00,-3.10016474e+01,
 -3.90260074e+01,-7.08784975e+00, 4.79619307e+02,-1.29701759e+03,
  3.85372595e+01,-1.73102823e+01, 4.32200166e+00, 1.44248612e+00,
 -5.05789943e-01, 2.72107950e-01, 4.88928613e+00,-1.71926116e+01,
 -4.71851974e+00,-7.80519839e-01,-1.30324927e+00,-6.55835329e+00,
 -2.91759919e+01,-6.18120779e+01]

qfrc_actuator:
[ 0.01361769, 0.27430798, 0.08206439, 0.01752393, 0.26355547, 0.68118993,
  0.19172001,-0.18947026, 0.12091085, 0.02874424, 0.00339827,-0.00153348,
  0.01775059,-0.00151107, 0.        ,-0.001689  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0074930150122810004
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.90153481, -0.01106754, -0.43256502, -0.00997839,  0.99993875,
       -0.00478772,  0.43259151,  0.        , -0.90159003])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07181436, -0.09684047,  0.13831985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00042069816626465195
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31950067e-13,  1.31950067e-13,  1.00000000e+00,  1.74108202e-26,
        1.00000000e+00, -1.31950067e-13, -1.00000000e+00,  0.00000000e+00,
       -1.31950067e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03738047, -0.06448496,  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:
[-4.37310125e-04,-1.15486055e-02,-4.43640073e-03,-9.00195965e-04,
  4.59369302e-01, 3.27327264e-01, 8.53905768e-02,-1.56705790e-01,
  1.11389246e-02,-4.62927602e-03,-1.66969710e-03,-2.60855387e-04,
 -8.73336748e-05,-4.32639868e-05,-2.66614927e-05,-9.06808629e-05,
 -1.08514755e-01, 8.68240995e-02,-9.87292723e+00,-3.26782855e-02,
 -5.79664199e-02, 2.23799199e-02]


--- Step 2918 ---
qpos:
[-0.02158826, 0.73838989,-0.09992852, 0.92771039,-0.27938327, 0.4801868 ,
 -0.20764961, 1.13091875,-0.10383095, 1.34429085,-0.01655296, 0.95789198,
  1.16769832, 0.00552021, 1.26370006, 0.04543214, 0.03943903,-0.09250236,
  0.15075084, 0.97663807,-0.02103331,-0.18893392, 0.10019809]

qacc:
[-3.01386398e+00,-2.75194099e+01,-2.34449640e+01,-1.14120009e+01,
 -3.19857034e+01,-3.29315727e+00, 4.85883360e+02,-1.34712624e+03,
  1.45260981e+01,-1.16184380e+01, 5.77533730e+00,-1.10088647e+00,
  2.32200276e-01,-8.19183590e-01,-1.03214679e+01, 3.45929786e+01,
 -4.72061221e+00,-6.59138613e-01,-1.37212639e+00,-5.59788913e+00,
 -2.99034682e+01,-5.93459118e+01]

qfrc_actuator:
[ 0.0133667 , 0.27070689, 0.08054437, 0.01717613, 0.26748035, 0.67563658,
  0.18960366,-0.18862889, 0.11852296, 0.02880068, 0.0034993 ,-0.00149575,
  0.01771466,-0.00155287, 0.        ,-0.00152008, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.007240143695245396
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.99032011e-01, -2.85838441e-02, -4.36948976e-01, -2.57082953e-02,
        9.99591398e-01, -1.24947868e-02,  4.37127587e-01, -1.73472348e-18,
       -8.99399507e-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([ 0.07112965, -0.09743   ,  0.13873674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004116391895989113
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.74269514e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.74269514e-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([ 0.03738811, -0.06450718,  0.06199143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.45411635e-04,-1.10446170e-02,-4.37176789e-03,-8.60763579e-04,
  4.65286311e-01, 3.11343692e-01, 7.95495128e-02,-1.52058447e-01,
  4.19841187e-03,-2.82941136e-03,-9.98853886e-04,-1.55706926e-04,
 -9.05177910e-05,-7.43559792e-05,-2.58702443e-05, 1.59698634e-04,
 -1.11646605e-01, 9.19766981e-02,-9.87653466e+00,-3.08487730e-02,
 -5.90521722e-02, 2.27528840e-02]


--- Step 2919 ---
qpos:
[-0.02136628, 0.74338634,-0.09845324, 0.92800882,-0.28336086, 0.48759855,
 -0.20539268, 1.12997348,-0.10144901, 1.34419403,-0.01669054, 0.95782962,
  1.16812129, 0.00551998, 1.2638377 , 0.04543179, 0.03870993,-0.09276139,
  0.15070133, 0.97671342,-0.02110766,-0.19134896, 0.09471505]

qacc:
[-2.92838044e+00,-2.11172668e+01,-3.45969219e+01,-1.10548349e+01,
 -2.42910754e+01, 9.22779633e+00, 4.72172853e+02,-1.39059728e+03,
  2.69117859e-01,-8.58361632e+00, 8.79306768e+00,-4.56749858e+00,
 -3.60600406e-01, 5.46604087e-02,-6.25049786e+00, 2.15371128e+01,
 -4.70903927e+00,-5.28984276e-01,-1.44263567e+00,-4.53597857e+00,
 -3.06338790e+01,-5.64931209e+01]

qfrc_actuator:
[ 0.01312839, 0.26748915, 0.07906672, 0.01681385, 0.27145331, 0.67058067,
  0.18741607,-0.18783805, 0.1161171 , 0.02889875, 0.0036176 ,-0.0014656 ,
  0.01767255,-0.00155981, 0.        ,-0.00141963, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006972118233771025
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.96489524e-01, -4.60468976e-02, -4.40665652e-01, -4.13243950e-02,
        9.98939279e-01, -2.03128324e-02,  4.41133571e-01,  3.46944695e-18,
       -8.97441459e-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([ 0.07042269, -0.09803475,  0.13917423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004019673410242397
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38098660e-13,  6.90493301e-14,  1.00000000e+00,  9.53561997e-27,
        1.00000000e+00, -6.90493301e-14, -1.00000000e+00,  0.00000000e+00,
       -1.38098660e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03739607, -0.06453061,  0.06199162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.37105029e-04,-1.03648696e-02,-4.22047346e-03,-8.56161415e-04,
  4.70940614e-01, 2.95468429e-01, 7.36114871e-02,-1.47278994e-01,
  7.75093004e-05,-1.66178213e-03,-5.51395822e-04,-8.73044574e-05,
 -1.04825403e-04,-4.96924178e-05, 3.77972322e-06, 1.05581268e-04,
 -1.14470447e-01, 9.70360251e-02,-9.88014314e+00,-2.89740552e-02,
 -6.00984502e-02, 2.31347658e-02]


--- Step 2920 ---
qpos:
[-0.02114892, 0.74830886,-0.09701036, 0.92830114,-0.28735158, 0.49524787,
 -0.20306133, 1.12893888,-0.09908599, 1.34408942,-0.01682865, 0.95776853,
  1.16854352, 0.00551938, 1.26397586, 0.04542829, 0.03796225,-0.09302177,
  0.15064582, 0.97675022,-0.02116165,-0.19382206, 0.08913028]

qacc:
[-2.69796686e+00,-1.99991304e+01,-3.94284970e+01, 1.07127904e+01,
 -1.27247672e+01, 1.48986065e+01, 4.84412060e+02,-1.46394354e+03,
 -8.00505120e+00,-6.57681957e+00, 6.59900878e+00, 1.36994390e+01,
 -6.27481006e-01, 2.85609738e-01, 1.03468054e+01,-3.49665658e+01,
 -4.64459275e+00,-3.36177071e-01,-1.49854770e+00,-2.94313995e+00,
 -3.19372248e+01,-5.04192791e+01]

qfrc_actuator:
[ 0.01291735, 0.26408447, 0.07755692, 0.01651723, 0.27542516, 0.6654245 ,
  0.18517511,-0.18693489, 0.11375593, 0.02895066, 0.00376331,-0.00136907,
  0.0176321 ,-0.00158151, 0.        ,-0.0015912 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0065053812918392795
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.94727202e-01, -3.79877095e-02, -4.44994571e-01, -3.40131875e-02,
        9.99278206e-01, -1.69165347e-02,  4.45315997e-01,  3.46944695e-18,
       -8.95373477e-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([ 0.06967989, -0.09842022,  0.13961901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039165855090167456
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.12600304e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.12600304e-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([ 0.03740434, -0.0645553 ,  0.06199183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.07311339e-04,-1.01423706e-02,-4.10043448e-03,-7.64233355e-04,
  4.76236096e-01, 2.78869044e-01, 6.76621119e-02,-1.42185756e-01,
 -2.31398242e-03,-9.74997082e-04,-2.43499868e-04, 2.87296285e-05,
 -1.04240759e-04,-6.07224964e-05, 9.12728941e-06,-1.66148132e-04,
 -1.16942990e-01, 1.01937545e-01,-9.88372342e+00,-2.70599270e-02,
 -6.10947872e-02, 2.35252384e-02]


--- Step 2921 ---
qpos:
[-0.02093604, 0.75315556,-0.09559791, 0.92858776,-0.29134449, 0.50313229,
 -0.20065742, 1.12781089,-0.09675338, 1.34398026,-0.01696632, 0.95770976,
  1.16896496, 0.0055185 , 1.26411447, 0.04541944, 0.03719629,-0.0932827 ,
  0.15058409, 0.97674484,-0.02119435,-0.19635489, 0.08345698]

qacc:
[-2.58805044e+00,-2.69879873e+01,-2.06208912e+01, 1.29106248e+00,
 -2.16514047e+00, 1.11297390e+01, 4.99983339e+02,-1.51915327e+03,
 -1.28602848e+01,-3.12646783e+00,-1.60720747e+00, 3.07685084e+01,
 -8.73973058e-01, 6.20329959e-01, 1.69381308e+01,-5.81053044e+01,
 -4.56935339e+00,-1.38514166e-01,-1.55392853e+00,-1.28972327e+00,
 -3.32640790e+01,-4.40536412e+01]

qfrc_actuator:
[ 0.01270657, 0.2603478 , 0.07605782, 0.01622601, 0.27939469, 0.65957236,
  0.18287109,-0.18589005, 0.11140538, 0.02899281, 0.00388854,-0.00123423,
  0.01759268,-0.00159406, 0.        ,-0.00186838, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006234406649826973
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89295874, -0.0275471 , -0.44929482, -0.02460776,  0.99962051,
       -0.01238147,  0.44946539,  0.        , -0.89329774])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06891528, -0.0987934 ,  0.14008193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038069877503464633
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.18720764e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.18720764e-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([ 0.03741291, -0.06458127,  0.06199205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.95396436e-04,-1.03214824e-02,-4.02838159e-03,-7.45915304e-04,
  4.80953174e-01, 2.60877627e-01, 6.15402392e-02,-1.36699055e-01,
 -3.71713200e-03,-5.42688409e-04,-9.16921965e-05, 9.93270790e-05,
 -1.06250267e-04,-5.43577730e-05,-2.02186721e-05,-2.86563915e-04,
 -1.18831534e-01, 1.06275812e-01,-9.88711549e+00,-2.51332635e-02,
 -6.19866292e-02, 2.39234951e-02]


--- Step 2922 ---
qpos:
[-0.02072734, 0.75792451,-0.09421431, 0.92886882,-0.29532778, 0.51124702,
 -0.19818275, 1.12658551,-0.09445775, 1.34386924,-0.01710322, 0.95765176,
  1.16938553, 0.00551748, 1.26425224, 0.04541334, 0.03641242,-0.09354338,
  0.15051593, 0.97669389,-0.0212049 ,-0.19894901, 0.07770893]

qacc:
[-2.40318416e+00,-3.34191517e+01,-3.05369097e+00,-1.04679932e+01,
  8.76473614e+00, 4.25676688e+00, 5.21761177e+02,-1.57665485e+03,
 -1.56430491e+01,-3.19364371e+00, 5.92325859e+00, 4.86867589e+00,
 -3.48949867e-01, 6.03010466e-02,-9.58299637e+00, 3.17476866e+01,
 -4.47736164e+00, 6.16059055e-02,-1.60881971e+00, 4.34655820e-01,
 -3.45476057e+01,-3.74252411e+01]

qfrc_actuator:
[ 0.01251538, 0.25649664, 0.07462939, 0.01594004, 0.28339263, 0.6531568 ,
  0.18046583,-0.18479142, 0.10908024, 0.0291    , 0.00400073,-0.00118446,
  0.01754856,-0.00160108, 0.        ,-0.00170838, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00595268979789932
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.91107103e-01, -1.72141145e-02, -4.53466431e-01, -1.53418930e-02,
        9.99851826e-01, -7.80717989e-03,  4.53533633e-01, -8.67361738e-19,
       -8.91239162e-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([ 0.06813052, -0.09917609,  0.14056422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003690764042095923
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.50405582e-13,  7.52027908e-14,  1.00000000e+00,  1.13109195e-26,
        1.00000000e+00, -7.52027908e-14, -1.00000000e+00,  0.00000000e+00,
       -1.50405582e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03742175, -0.06460851,  0.06199229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.71575281e-04,-1.05173086e-02,-3.98286065e-03,-7.43449539e-04,
  4.85147463e-01, 2.42435834e-01, 5.54065250e-02,-1.30955750e-01,
 -4.52121009e-03,-2.07595296e-04,-1.11893877e-06, 3.32733872e-05,
 -1.11289592e-04,-4.70472274e-05,-4.62401460e-05, 1.40349441e-04,
 -1.20117577e-01, 1.09964279e-01,-9.89027997e+00,-2.32018084e-02,
 -6.27645531e-02, 2.43291677e-02]


--- Step 2923 ---
qpos:
[-0.02052254, 0.76261492,-0.09285835, 0.92914505,-0.29928884, 0.51958822,
 -0.19563974, 1.12525874,-0.09220272, 1.34375794,-0.01723787, 0.95759459,
  1.1698052 , 0.00551636, 1.26438959, 0.04541013, 0.0356111 ,-0.09380299,
  0.15044112, 0.97659417,-0.02119256,-0.20160599, 0.07190085]

qacc:
[-2.23099533e+00,-3.65957736e+01, 4.45595539e+00,-7.84001026e+00,
  1.99910139e+01,-3.01074274e-04, 5.36664821e+02,-1.63037014e+03,
 -1.71709479e+01,-5.00502647e+00, 1.42477705e+01,-2.75439588e+00,
 -4.03754625e-01, 1.52899014e-01,-9.30144842e+00, 3.17123353e+01,
 -4.36364466e+00, 2.66393012e-01,-1.66125515e+00, 2.24908704e+00,
 -3.57951464e+01,-3.03713489e+01]

qfrc_actuator:
[ 0.01233745, 0.25268007, 0.07328947, 0.01569487, 0.28737895, 0.64633169,
  0.17799034,-0.18354816, 0.1067891 , 0.02924535, 0.0041756 ,-0.00113186,
  0.017507  ,-0.00160479, 0.        ,-0.00155835, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005660359443806874
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88918227, -0.0070332 , -0.4574991 , -0.00625395,  0.99997527,
       -0.00321776,  0.45751041,  0.        , -0.88920426])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06732614, -0.09956771,  0.14106588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00035678269861127987
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.77940627e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.77940627e-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([ 0.03743084, -0.06463703,  0.06199254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.48901898e-04,-1.05790557e-02,-3.92627562e-03,-7.07094289e-04,
  4.88733793e-01, 2.23814086e-01, 4.92884429e-02,-1.24868240e-01,
 -4.96262933e-03, 3.11978223e-05, 1.35270522e-04, 4.71915953e-05,
 -1.08680138e-04,-4.31497971e-05,-7.28069388e-06, 1.51618890e-04,
 -1.20790831e-01, 1.12926744e-01,-9.89317611e+00,-2.12761359e-02,
 -6.34197153e-02, 2.47417208e-02]


--- Step 2924 ---
qpos:
[-0.02032184, 0.76722747,-0.09153046, 0.92941518,-0.30321436, 0.52815289,
 -0.19303137, 1.12382653,-0.08999024, 1.34364802,-0.01737058, 0.9575387 ,
  1.17022372, 0.00551595, 1.2645268 , 0.04540939, 0.03479286,-0.09406072,
  0.15035947, 0.97644275,-0.02115669,-0.20432722, 0.06604801]

qacc:
[-2.31985488e+00,-3.64716429e+01, 7.94061257e+00,-2.61332207e+01,
  3.13202860e+01,-1.89606867e+00, 5.45399417e+02,-1.68061071e+03,
 -1.80020070e+01,-1.19046631e+00, 3.49738470e+00, 1.09064200e+01,
 -1.19156231e+00, 1.48927697e+00,-7.59012555e+00, 2.64772719e+01,
 -4.22905017e+00, 4.72062806e-01,-1.71125830e+00, 4.12054398e+00,
 -3.69643710e+01,-2.30467153e+01]

qfrc_actuator:
[ 0.01213336, 0.24895166, 0.07194196, 0.01538693, 0.29134181, 0.63924359,
  0.1754646 ,-0.1821574 , 0.104519  , 0.0294305 , 0.00431528,-0.00106017,
  0.01746168,-0.00155326, 0.        ,-0.00143327, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0053527911705389284
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.87228380e-01,  9.76071060e-04, -4.61329437e-01,  8.65998357e-04,
        9.99999524e-01,  4.50290527e-04,  4.61329657e-01,  5.42101086e-20,
       -8.87228802e-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([ 0.0665028 , -0.09998692,  0.14158773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003438111724880094
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61458253e-13,  2.42187379e-13,  1.00000000e+00,  3.91031511e-26,
        1.00000000e+00, -2.42187379e-13, -1.00000000e+00,  0.00000000e+00,
       -1.61458253e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03744012, -0.06466678,  0.0619928 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.65982889e-04,-1.05097309e-02,-3.93722328e-03,-7.69004761e-04,
  4.91657495e-01, 2.05112365e-01, 4.32373927e-02,-1.18432447e-01,
 -5.20255444e-03, 2.29851619e-04, 1.62568127e-04, 7.76919943e-05,
 -1.09544029e-04, 1.35601863e-05, 9.89345439e-06, 1.31830876e-04,
 -1.20839642e-01, 1.15073227e-01,-9.89575333e+00,-1.93701471e-02,
 -6.39416850e-02, 2.51604841e-02]


--- Step 2925 ---
qpos:
[-0.02012544, 0.77176355,-0.09023124, 0.92967914,-0.30709101, 0.53694099,
 -0.19035924, 1.12228469,-0.08782108, 1.34354019,-0.01750074, 0.95748367,
  1.17064138, 0.00551583, 1.26466388, 0.04541116, 0.03395827,-0.09431584,
  0.15027075, 0.97623731,-0.02109667,-0.20711346, 0.06016365]

qacc:
[-2.43926956e+00,-3.32058076e+01,-3.29862579e-01,-2.10169058e+01,
  4.22138084e+01,-3.77165027e+00, 5.58942612e+02,-1.73785245e+03,
 -1.83253953e+01,-2.67006266e+00, 1.03086982e+01,-4.46280246e-01,
 -6.70542574e-01, 7.17303457e-01,-7.71800409e+00, 2.68747327e+01,
 -4.08545165e+00, 6.53717497e-01,-1.76543282e+00, 5.84900765e+00,
 -3.77159700e+01,-1.67566031e+01]

qfrc_actuator:
[ 0.01191533, 0.24534236, 0.07058363, 0.01508001, 0.29526842, 0.63199886,
  0.17288435,-0.18065129, 0.10229749, 0.02960248, 0.00446877,-0.00101333,
  0.01742481,-0.00154035, 0.        ,-0.00130614, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00495256905148268
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.85346053e-01, -1.06072539e-02, -4.64811632e-01, -9.39161873e-03,
        9.99943741e-01, -4.93065238e-03,  4.64837783e-01, -8.67361738e-19,
       -8.85395864e-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([ 0.06566327, -0.10060687,  0.14213301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033015753366133493
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.36270692e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.36270692e-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([ 0.03744956, -0.06469772,  0.06199308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.87964731e-04,-1.03534153e-02,-3.93624815e-03,-7.67198090e-04,
  4.93872002e-01, 1.86393509e-01, 3.72765612e-02,-1.11679833e-01,
 -5.29582801e-03, 3.32637530e-04, 2.19121852e-04, 6.02393867e-05,
 -8.79909292e-05,-8.73855271e-06, 1.41195644e-05, 1.34646742e-04,
 -1.20273061e-01, 1.16339374e-01,-9.89796670e+00,-1.74982395e-02,
 -6.43237275e-02, 2.55847326e-02]


--- Step 2926 ---
qpos:
[-0.01993353, 0.77622499,-0.0889595 , 0.92993755,-0.31090292, 0.54595469,
 -0.18762408, 1.12062849,-0.08569517, 1.3434344 ,-0.01762722, 0.95742887,
  1.17105851, 0.00551536, 1.26480103, 0.04541411, 0.03310809,-0.09456751,
  0.15017481, 0.97597553,-0.02101217,-0.20996577, 0.05426436]

qacc:
[-2.52278167e+00,-3.30276557e+01, 6.34601246e-01,-1.58256910e+01,
  5.47877042e+01,-5.69578574e+00, 5.77087404e+02,-1.80570160e+03,
 -1.82928509e+01,-6.87774475e+00, 2.51685055e+01,-2.03413796e+01,
 -1.19029435e-01,-2.37200790e-01,-3.48174841e+00, 1.23161571e+01,
 -3.90110149e+00, 8.59754271e-01,-1.80778991e+00, 7.82479601e+00,
 -3.86639228e+01,-8.83207387e+00]

qfrc_actuator:
[ 0.01169078, 0.2419053 , 0.0693194 , 0.01481173, 0.29912797, 0.62457081,
  0.17026459,-0.17910061, 0.10014066, 0.0297298 , 0.00466465,-0.00099923,
  0.01739302,-0.00156824, 0.        ,-0.00124984, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004439494543625007
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88423271, -0.0115668 , -0.46690334, -0.01022843,  0.9999331 ,
       -0.00540094,  0.46693457,  0.        , -0.88429187])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06479217, -0.10113047,  0.14270819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003158162783024193
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.75770393e-13,  1.75770393e-13,  1.00000000e+00, -3.08952309e-26,
        1.00000000e+00, -1.75770393e-13, -1.00000000e+00,  0.00000000e+00,
        1.75770393e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03745911, -0.0647298 ,  0.06199337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.04705145e-04,-1.00914563e-02,-3.81007854e-03,-7.23273470e-04,
  4.95343771e-01, 1.67483719e-01, 3.13521573e-02,-1.04673200e-01,
 -5.28628882e-03, 3.55287100e-04, 2.87492373e-04, 3.17892763e-05,
 -7.72375676e-05,-5.10604935e-05, 1.66718241e-05, 6.45669082e-05,
 -1.19186594e-01, 1.16839377e-01,-9.89983679e+00,-1.56669630e-02,
 -6.45807411e-02, 2.60138360e-02]


--- Step 2927 ---
qpos:
[-0.01974699, 0.7806163 ,-0.08771623, 0.93019008,-0.31458862, 0.5550855 ,
 -0.18488883, 1.11887765,-0.08361214, 1.34333042,-0.01775052, 0.95737507,
  1.17147512, 0.00551455, 1.26493806, 0.04541907, 0.03226211,-0.09480496,
  0.15008746, 0.97560186,-0.02095609,-0.21308178, 0.04855929]

qacc:
[-3.01000052e+00,-2.50626419e+01,-1.73521095e+01,-7.72212090e+00,
  1.04665257e+02, 3.64411145e+01, 2.38033735e+02,-1.28781927e+03,
 -1.81414253e+01,-4.47081920e+00, 1.54867445e+01,-3.22369285e+00,
 -2.78940087e-02,-3.30787064e-01,-6.25559488e+00, 2.16129015e+01,
  1.05100432e+00, 3.55510354e+00, 2.14869946e+00,-1.81122326e+00,
 -1.41701702e+02, 9.80315246e+01]

qfrc_actuator:
[ 0.01139322, 0.23883114, 0.06805091, 0.01453298, 0.30292962, 0.61706549,
  0.16756085,-0.17743911, 0.09802215, 0.02979402, 0.0048128 ,-0.00095124,
  0.01736961,-0.00158458, 0.        ,-0.00114693, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.14786248, -0.41620118,  0.14786248,  2.76806278,
        0.82648446, -0.41620118,  0.82648446,  0.73530877,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004028265717366939
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.82440231e-01, -2.03756495e-03, -4.70420119e-01, -1.79803301e-03,
        9.99997924e-01, -9.58513533e-04,  4.70421095e-01,  0.00000000e+00,
       -8.82442062e-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([ 0.06390593, -0.10155266,  0.14328642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 9.28388194, -0.56384449, -9.26674394, -0.56384449, 13.48598043,
       -0.25568097, -9.26674394, -0.25568097,  9.29943911,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00032881598883932606
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.44106630e-14,  1.68821326e-13,  1.00000000e+00,  1.42503200e-26,
        1.00000000e+00, -1.68821326e-13, -1.00000000e+00,  0.00000000e+00,
       -8.44106630e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03601318, -0.08673633,  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:
[-4.85750343e-04,-9.55444529e-03,-3.74611271e-03,-7.20600057e-04,
  4.95953394e-01, 1.48377093e-01, 2.53763898e-02,-9.73197467e-02,
 -5.24233000e-03, 3.17232874e-04, 2.51117857e-04, 6.76779230e-05,
 -7.35624624e-05,-4.93246833e-05, 1.00467929e-05, 1.07562429e-04,
 -1.17520845e-01, 1.16355230e-01,-9.90125023e+00,-1.39041627e-02,
 -6.46872572e-02, 2.64466566e-02]


--- Step 2928 ---
qpos:
[-0.01956645, 0.78494343,-0.08650241, 0.93043755,-0.31812551, 0.56431839,
 -0.18214721, 1.11703073,-0.08157131, 1.34322832,-0.01787184, 0.95732163,
  1.17189103, 0.00551379, 1.26507557, 0.04542155, 0.03141707,-0.09502821,
  0.1500066 , 0.9751263 ,-0.02092326,-0.21642013, 0.04304933]

qacc:
[-3.35861119e+00,-1.35071551e+01,-4.73560429e+01, 2.31836344e+01,
  1.20945372e+02,-7.42201754e-01, 3.36487148e+02,-1.36508122e+03,
 -1.78525072e+01,-2.24074381e+00, 9.53644131e+00,-5.25719816e+00,
 -8.18557604e-01, 7.84274098e-01, 8.28696878e+00,-2.78025711e+01,
  2.37063588e-01, 3.55129023e+00, 1.62340737e+00, 2.98277650e+00,
 -1.20791957e+02, 9.77958294e+01]

qfrc_actuator:
[ 0.01107227, 0.23615982, 0.06677408, 0.01430375, 0.30660917, 0.60954982,
  0.16482671,-0.17559633, 0.09596131, 0.0298553 , 0.00489585,-0.00093702,
  0.01733527,-0.00157609, 0.        ,-0.00128366, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003626236470943335
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88031055,  0.00697153, -0.47434664,  0.00613726,  0.9999757 ,
        0.003307  ,  0.47435817,  0.        , -0.88033194])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0630257 , -0.10197516,  0.14387587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 9.64735593,  0.78828239,  9.61509685,  0.78828239, 12.29027887,
       -0.21667692,  9.61509685, -0.21667692,  9.66511993,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003725972302708186
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.44921684e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.44921684e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03582099, -0.08676067,  0.06199217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.45553871e-04,-8.83894541e-03,-3.64056295e-03,-6.52077083e-04,
  4.93293701e-01, 1.34673435e-01, 2.25135652e-02,-9.07584875e-02,
 -5.15862255e-03, 2.87229734e-04, 1.75505764e-04, 3.25519307e-05,
 -8.22192300e-05,-2.31332242e-05, 1.23916260e-05,-1.30392481e-04,
 -1.15265322e-01, 9.77067085e-02,-9.89759529e+00,-1.04991482e-02,
 -6.41130863e-02, 2.70271310e-02]


--- Step 2929 ---
qpos:
[-0.01939156, 0.7892131 ,-0.08531787, 0.93068045,-0.32149226, 0.57365482,
 -0.17939645, 1.1150855 ,-0.07957215, 1.3431281 ,-0.0179903 , 0.95726665,
  1.17230621, 0.00551293, 1.26521338, 0.04542039, 0.0305706 ,-0.09523722,
  0.1499303 , 0.97455723,-0.02090976,-0.21994757, 0.03773671]

qacc:
[-3.13538492e+00,-4.42805438e+00,-6.72868835e+01, 4.12152963e+01,
  1.35520393e+02,-9.21615863e+00, 3.69951055e+02,-1.41520207e+03,
 -1.76277640e+01,-7.96200998e+00, 3.20061664e+01,-4.66124307e+01,
 -8.07404496e-01, 6.61428040e-01, 1.15306747e+01,-3.95204065e+01,
 -3.59724211e-01, 3.56041942e+00, 1.13862707e+00, 6.87632768e+00,
 -1.03966671e+02, 9.83425059e+01]

qfrc_actuator:
[ 0.0108111 , 0.23391209, 0.06554012, 0.01410576, 0.31012461, 0.60187184,
  0.16206799,-0.17376525, 0.09391604, 0.0299673 , 0.00504629,-0.00101385,
  0.01728908,-0.00158849, 0.        ,-0.00147171, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0032264230138758956
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87792316,  0.01542826, -0.47855292,  0.01354644,  0.99988098,
        0.00738412,  0.47860988,  0.        , -0.87802766])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0621488 , -0.10239644,  0.14447577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 9.95447474,  0.8579131 ,  9.91743679,  0.8579131 , 13.12562829,
       -0.27432231,  9.91743679, -0.27432231,  9.97820514,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040394859738207556
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.74842649e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.74842649e-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([ 0.03567057, -0.08678653,  0.06199151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.13144521e-04,-7.99372557e-03,-3.44217721e-03,-5.93577621e-04,
  4.89317768e-01, 1.21551600e-01, 1.93085182e-02,-8.41357048e-02,
 -5.09356226e-03, 3.05610515e-04, 2.27418959e-04,-6.24227136e-05,
 -9.29485235e-05,-3.80630372e-05,-1.46826840e-05,-1.95038211e-04,
 -1.13338104e-01, 8.14112396e-02,-9.89276204e+00,-8.07793948e-03,
 -6.33951437e-02, 2.75867024e-02]


--- Step 2930 ---
qpos:
[-0.01922132, 0.79343293,-0.08416203, 0.93091769,-0.32466887, 0.58309782,
 -0.17663535, 1.11303947,-0.07761414, 1.34303001,-0.01810564, 0.95721253,
  1.17272074, 0.00551169, 1.26535106, 0.0454173 , 0.02972099,-0.09543191,
  0.14985677, 0.97390176,-0.02091276,-0.22363731, 0.03262469]

qacc:
[-2.58505452e+00, 2.23560489e+00,-7.44582322e+01, 2.93189884e+01,
  1.48487264e+02,-1.22756971e+01, 3.89061295e+02,-1.45942572e+03,
 -1.74064457e+01,-4.12556421e+00, 1.51084930e+01,-4.60782640e+00,
 -4.13814509e-01, 6.25259368e-02, 5.65720240e+00,-1.99949502e+01,
 -7.84371906e-01, 3.57757958e+00, 6.92045143e-01, 1.00594672e+01,
 -9.03683489e+01, 9.94955960e+01]

qfrc_actuator:
[ 0.01062332, 0.232115  , 0.06436126, 0.01385705, 0.31347849, 0.59401869,
  0.15930698,-0.17190054, 0.09189647, 0.03010896, 0.00521771,-0.00096603,
  0.01725178,-0.00161327, 0.        ,-0.00156414, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002823923618857352
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87534231,  0.02331062, -0.48294146,  0.02041032,  0.99972827,
        0.01126072,  0.48307273,  0.        , -0.87558023])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06127225, -0.10281518,  0.14508642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.17774563,  0.90673133, 10.137275  ,  0.90673133, 14.02105775,
       -0.3437661 , 10.137275  , -0.3437661 , 10.20849388,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004242956245024132
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30831307e-13,  1.30831307e-13,  1.00000000e+00,  1.71168310e-26,
        1.00000000e+00, -1.30831307e-13, -1.00000000e+00,  0.00000000e+00,
       -1.30831307e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03555314, -0.08681363,  0.06199107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.26306109e-04,-7.03191242e-03,-3.19593095e-03,-6.10601880e-04,
  4.84096278e-01, 1.08176342e-01, 1.59621872e-02,-7.73683813e-02,
 -5.02943278e-03, 3.52805716e-04, 2.55113409e-04, 6.20658489e-05,
 -9.35796453e-05,-5.70725529e-05,-3.32664254e-05,-1.06237904e-04,
 -1.11599446e-01, 6.69957948e-02,-9.88707910e+00,-6.45689700e-03,
 -6.25706019e-02, 2.81282987e-02]


--- Step 2931 ---
qpos:
[-0.01905481, 0.7976061 ,-0.08303179, 0.93114866,-0.32763659, 0.59264856,
 -0.17386374, 1.11089005,-0.07569641, 1.34293402,-0.01821898, 0.95716223,
  1.1731343 , 0.00551092, 1.26548849, 0.04541375, 0.02886711,-0.0956122 ,
  0.14978437, 0.97316605,-0.0209303 ,-0.22746753, 0.02771781]

qacc:
[-2.06103618e+00,-2.74532485e+00,-5.17922309e+01, 7.12759668e-01,
  1.59984924e+02,-1.52107159e+01, 4.05139016e+02,-1.50176033e+03,
 -1.70437759e+01, 3.98468665e+00,-1.72777818e+01, 5.76038309e+01,
 -1.09794738e+00, 1.28744915e+00, 1.10463571e+00,-4.19246562e+00,
 -1.06650622e+00, 3.60366383e+00, 2.84095055e-01, 1.27266060e+01,
 -7.92845889e+01, 1.01365518e+02]

qfrc_actuator:
[ 0.01048086, 0.23021309, 0.06324432, 0.01356306, 0.31666513, 0.58587398,
  0.15655747,-0.16988507, 0.08994396, 0.03019641, 0.00531158,-0.00077418,
  0.01721452,-0.00157415, 0.        ,-0.00158171, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002414995935850759
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.72622160e-01,  3.06025274e-02, -4.87436202e-01,  2.67169569e-02,
        9.99531633e-01,  1.49237695e-02,  4.87664608e-01,  1.73472348e-18,
       -8.73031059e-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([ 0.06039352, -0.10323005,  0.14570823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.303455  ,  0.92461709, 10.26188425,  0.92461709, 15.02731236,
       -0.42562936, 10.26188425, -0.42562936, 10.34180509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004349941385191902
  efc_address: 4
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.27613561e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.27613561e-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([ 0.03546178, -0.08684168,  0.06199084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.43037948e-04,-6.55426187e-03,-2.91683745e-03,-6.18936464e-04,
  4.77689546e-01, 9.43534566e-02, 1.25648447e-02,-7.03254936e-02,
 -4.92442079e-03, 3.33788659e-04, 1.93564202e-04, 2.11188189e-04,
 -9.83592409e-05, 1.10861067e-06,-3.03464100e-05,-2.84476876e-05,
 -1.09993508e-01, 5.41166969e-02,-9.88075776e+00,-5.49686990e-03,
 -6.16687450e-02, 2.86544078e-02]


--- Step 2932 ---
qpos:
[-0.0188919 , 0.80173112,-0.08192444, 0.93137538,-0.3303779 , 0.60230661,
 -0.17108231, 1.10863454,-0.07381816, 1.34283984,-0.01833072, 0.95711501,
  1.17354693, 0.0055106 , 1.26562536, 0.04541299, 0.02800831,-0.09577793,
  0.14971163, 0.97235553,-0.0209612 ,-0.23142029, 0.02302184]

qacc:
[-1.97273656e+00,-8.73251327e+00,-3.90826788e+01, 1.50341457e+01,
  1.70127450e+02,-1.81794909e+01, 4.19010569e+02,-1.54261057e+03,
 -1.66974453e+01, 3.40297875e+00,-1.43933516e+01, 4.68674960e+01,
 -7.84250863e-01, 9.22949655e-01,-9.16677825e+00, 3.10410149e+01,
 -1.23210327e+00, 3.63646145e+00,-8.51018705e-02, 1.50046129e+01,
 -7.01621498e+01, 1.03896359e+02]

qfrc_actuator:
[ 0.01031327, 0.22789224, 0.06213743, 0.0133513 , 0.31965663, 0.57747501,
  0.15379283,-0.16780724, 0.08802954, 0.03025051, 0.00537653,-0.00062348,
  0.017172  ,-0.00155066, 0.        ,-0.00143078, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001996740232179553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86980901,  0.03729192, -0.49197724,  0.03245943,  0.99930441,
        0.01835955,  0.49231969,  0.        , -0.87041446])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05951064, -0.10363959,  0.14634147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.33160513,  0.89926032, 10.29239503,  0.89926032, 16.22627399,
       -0.51502511, 10.29239503, -0.51502511, 10.37660356,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004373217815652336
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26934339e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.26934339e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03539098, -0.0868704 ,  0.06199078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.31464960e-04,-6.65217186e-03,-2.78072099e-03,-5.13754546e-04,
  4.70132224e-01, 8.02138098e-02, 9.14287542e-03,-6.30900805e-02,
 -4.82420368e-03, 2.82342825e-04, 1.58311951e-04, 1.71136028e-04,
 -9.20712464e-05, 1.32493167e-06,-2.06237948e-05, 1.44716399e-04,
 -1.08499763e-01, 4.25105658e-02,-9.87391921e+00,-5.09852856e-03,
 -6.07093506e-02, 2.91668004e-02]


--- Step 2933 ---
qpos:
[-0.0187321 , 0.80580538,-0.08083896, 0.93160011,-0.33287585, 0.61207252,
 -0.1682932 , 1.10627008,-0.07197858, 1.34274792,-0.01844114, 0.95706752,
  1.17395882, 0.00551035, 1.2657622 , 0.04541299, 0.02714432,-0.09592893,
  0.14963724, 0.97147503,-0.02100497,-0.23548067, 0.01854475]

qacc:
[-1.69274338e+00,-1.12669963e+01,-3.99559389e+01, 4.42339462e+01,
  1.79474099e+02,-1.65676960e+01, 4.20160704e+02,-1.57739801e+03,
 -1.63608561e+01,-1.04323514e+00, 7.49969180e+00,-1.09691866e+01,
 -5.71390213e-01, 4.83484582e-01,-2.30723296e+00, 8.11750236e+00,
 -1.29520464e+00, 3.68336658e+00,-4.13531836e-01, 1.70964391e+01,
 -6.25639605e+01, 1.07580889e+02]

qfrc_actuator:
[ 0.01018522, 0.22530467, 0.06102633, 0.01324263, 0.3224122 , 0.56896959,
  0.15101557,-0.16557693, 0.08615327, 0.03037281, 0.00544148,-0.0006403 ,
  0.01713168,-0.00155447, 0.        ,-0.00139484, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015671917430743786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86631047,  0.04834707, -0.49716066,  0.04193261,  0.9988306 ,
        0.0240644 ,  0.49774273,  0.        , -0.86732472])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05862867, -0.10398578,  0.1469786 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.27325425,  0.81547425, 10.24083759,  0.81547425, 17.74042856,
       -0.59460843, 10.24083759, -0.59460843, 10.3206027 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004324698640362501
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.28358426e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.28358426e-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([ 0.03533642, -0.08689951,  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:
[-2.87258503e-04,-6.94097904e-03,-2.78475887e-03,-4.07197403e-04,
  4.61444338e-01, 6.59869644e-02, 5.74204998e-03,-5.55680849e-02,
 -4.72680927e-03, 3.14093998e-04, 1.43099983e-04, 1.35825144e-07,
 -8.59747094e-05,-2.47333354e-05, 3.58169706e-06, 4.07138645e-05,
 -1.07123954e-01, 3.19913849e-02,-9.86663431e+00,-5.18985222e-03,
 -5.97076239e-02, 2.96667080e-02]


--- Step 2934 ---
qpos:
[-0.0185749 , 0.80982582,-0.07977475, 0.9318221 ,-0.3350899 , 0.62190309,
 -0.16552301, 1.1038006 ,-0.07017703, 1.34265814,-0.01854942, 0.95702085,
  1.17436998, 0.00551008, 1.26589928, 0.04541141, 0.02627496,-0.09606527,
  0.14955998, 0.97052897,-0.02106122,-0.23963675, 0.01428862]

qacc:
[-1.41704366e+00,-1.80302288e+01,-2.10966562e+01, 2.14103055e+01,
  2.05556501e+02,-2.98580694e-01, 2.94017239e+02,-1.41953734e+03,
 -1.60925179e+01,-1.57043748e+00, 6.85506540e+00, 2.22048125e+00,
 -7.13877304e-01, 6.15280281e-01, 5.18522287e+00,-1.74861474e+01,
 -1.34362021e+00, 3.66769028e+00,-7.15661188e-01, 1.83842121e+01,
 -5.64058325e+01, 1.08405526e+02]

qfrc_actuator:
[ 0.01008183, 0.22250794, 0.05992086, 0.01308872, 0.32490096, 0.56033907,
  0.14819346,-0.16320984, 0.08429712, 0.03049936, 0.00555934,-0.00059572,
  0.0170927 ,-0.00155668, 0.        ,-0.00148025, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.44168624,  0.43785365, -0.05805958,  0.43785365,  0.45366135,
        0.0903098 , -0.05805958,  0.0903098 ,  1.12275345,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011244203866703688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.63408359e-01,  5.39583746e-02, -5.01611901e-01,  4.66560810e-02,
        9.98543186e-01,  2.71056507e-02,  5.02343722e-01, -3.46944695e-18,
       -8.64668020e-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([ 0.0577337 , -0.10437743,  0.14763562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([10.14626664,  0.65047365, 10.12539435,  0.65047365, 19.73209105,
       -0.6158107 , 10.12539435, -0.6158107 , 10.18582743,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004215352742018702
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31688033e-13,  1.31688033e-13,  1.00000000e+00,  1.73417381e-26,
        1.00000000e+00, -1.31688033e-13, -1.00000000e+00,  0.00000000e+00,
       -1.31688033e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03529466, -0.08692876,  0.06199109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.43066102e-04,-7.30536421e-03,-2.83230235e-03,-4.58900547e-04,
  4.51623076e-01, 5.16056535e-02, 2.40231322e-03,-4.77649219e-02,
 -4.64917139e-03, 3.27938580e-04, 1.95475996e-04, 5.80130263e-05,
 -8.76095005e-05,-2.94086330e-05, 1.62627407e-06,-8.36826873e-05,
 -1.05865884e-01, 2.23994826e-02,-9.85890657e+00,-5.73246601e-03,
 -5.86680290e-02, 3.01543910e-02]


--- Step 2935 ---
qpos:
[-0.0184205 , 0.8137881 ,-0.0787303 , 0.93203987,-0.33689281, 0.63164203,
 -0.16285096, 1.10124994,-0.06841278, 1.34257037,-0.01865522, 0.95697715,
  1.17478044, 0.00550979, 1.26603593, 0.04541218, 0.02539946,-0.09618787,
  0.14947862, 0.96952111,-0.021128  ,-0.24388049, 0.01023424]

qacc:
[-1.50819104e+00,-3.00064098e+01, 1.42057463e+01,-2.28955550e+01,
  2.92420524e+02, 3.01000436e+01,-8.91835237e+01,-7.89120988e+02,
 -1.57794536e+01, 1.09046233e+00,-6.28443316e+00, 3.82864450e+01,
 -3.35291423e-01, 1.69442633e-01,-7.69156796e+00, 2.60458480e+01,
 -1.53593829e+00, 3.43136649e+00,-1.02784161e+00, 1.77833787e+01,
 -5.19943181e+01, 9.86801029e+01]

qfrc_actuator:
[ 9.94072739e-03, 2.19413785e-01, 5.88623972e-02, 1.28559668e-02,
  3.27109491e-01, 5.51527041e-01, 1.45367972e-01,-1.60756541e-01,
  8.24856355e-02, 3.06099172e-02, 5.68982412e-03,-4.44294375e-04,
  1.70598797e-02,-1.55789553e-03, 0.00000000e+00,-1.35239796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.35718341,  0.35185216, -0.06148207,  0.35185216,  0.3541036 ,
       -0.01762525, -0.06148207, -0.01762525,  0.25631691,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006667399730888593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.86051826,  0.05894212, -0.50599817,  0.05080911,  0.9982614 ,
        0.02987655,  0.50687943,  0.        , -0.86201696])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05683393, -0.10475592,  0.14830003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 9.97096062,  0.39929799,  9.96296225,  0.39929799, 22.38410896,
       -0.49749714,  9.96296225, -0.49749714,  9.99089943,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000405515055390257
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.36890482e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.36890482e-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([ 0.03526296, -0.08695791,  0.06199142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61064216e-04,-7.81346125e-03,-2.86286287e-03,-5.51455789e-04,
  4.39450041e-01, 3.92026275e-02, 3.90616878e-04,-4.00674430e-02,
 -4.55859200e-03, 3.31559529e-04, 2.18457002e-04, 1.68152829e-04,
 -8.37791296e-05,-2.99972123e-05,-1.36321796e-05, 1.22289585e-04,
 -1.04881708e-01, 1.38592481e-02,-9.85097897e+00,-6.59961111e-03,
 -5.76467131e-02, 3.06336043e-02]


--- Step 2936 ---
qpos:
[-0.01826863, 0.81768833,-0.07770526, 0.93225288,-0.33817201, 0.64121719,
 -0.16028769, 1.09863156,-0.06668506, 1.34248445,-0.01875871, 0.9569339 ,
  1.17519026, 0.00550945, 1.26617264, 0.0454131 , 0.02451732,-0.09629787,
  0.149392  , 0.96845471,-0.02120276,-0.24820446, 0.00636079]

qacc:
[-1.35936668e+00,-3.68304809e+01, 3.14495103e+01,-4.13347113e+01,
  3.66166309e+02,-1.82986715e+01,-7.05461990e+01,-6.10614993e+02,
 -1.54515214e+01,-2.98409317e+00, 1.17704480e+01,-6.18962003e+00,
 -4.80154244e-01, 3.47130971e-01,-3.46927564e-01, 1.41074765e+00,
 -1.65855438e+00, 3.15276545e+00,-1.31402271e+00, 1.71638592e+01,
 -4.79046619e+01, 8.81325420e+01]

qfrc_actuator:
[ 9.83148997e-03, 2.16131550e-01, 5.78213941e-02, 1.25962307e-02,
  3.28909087e-01, 5.42701018e-01, 1.42662731e-01,-1.58215580e-01,
  8.07154244e-02, 3.06746470e-02, 5.79119473e-03,-4.26495987e-04,
  1.70307726e-02,-1.55849117e-03, 0.00000000e+00,-1.34840676e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21809134,  0.21339614, -0.0450102 ,  0.21339614,  0.21499294,
       -0.01468973, -0.0450102 , -0.01468973,  0.14844645,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001917285406881769
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.85766567,  0.06333836, -0.51029193,  0.05443243,  0.99799211,
        0.03238608,  0.5113186 ,  0.        , -0.85939123])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([22, 43], dtype=int32)
  geom1: 22
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05593879, -0.10510595,  0.1489565 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 9.76675415,  0.12601932,  9.76594111,  0.12601932, 25.9052165 ,
       -0.20825008,  9.76594111, -0.20825008,  9.7694414 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003853050756641163
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44070646e-13,  1.44070646e-13,  1.00000000e+00,  2.07563511e-26,
        1.00000000e+00, -1.44070646e-13, -1.00000000e+00,  0.00000000e+00,
       -1.44070646e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03523917, -0.08698676,  0.06199184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37753758e-04,-8.28967549e-03,-2.95043137e-03,-5.97057453e-04,
  4.20382018e-01, 3.46005377e-02, 2.46150703e-03,-3.34535568e-02,
 -4.46374110e-03, 2.95494149e-04, 1.95888815e-04, 3.78626075e-05,
 -7.79016926e-05,-2.88072047e-05, 4.19063132e-06, 8.37190347e-06,
 -1.04512681e-01, 6.81554984e-03,-9.84358183e+00,-7.45976785e-03,
 -5.67832056e-02, 3.11155950e-02]


--- Step 2937 ---
qpos:
[-0.01811916, 0.82152699,-0.07670148, 0.93246055,-0.33442143, 0.65109125,
 -0.15774842, 1.09545566,-0.06499293, 1.34239994,-0.0188605 , 0.95689093,
  1.17559945, 0.00550867, 1.26631012, 0.0454077 , 0.02363243,-0.09640782,
  0.14929861, 0.96734497,-0.02123993,-0.25255979, 0.00247353]

qacc:
[-1.27869133e+00,-3.22157897e+01, 1.84357138e+01,-3.74950677e+01,
  3.45957067e+03,-2.67576064e+02, 2.34654899e+03,-8.10079013e+03,
 -1.50618525e+01,-2.32380232e+00, 9.23491679e+00,-5.70162716e+00,
 -7.36717132e-01, 4.01309403e-01, 2.03282548e+01,-6.92902475e+01,
 -6.87210078e-01, 1.03846430e-02,-1.69045942e+00, 1.59285268e+01,
 -2.05330749e+01,-1.15424916e+01]

qfrc_actuator:
[ 9.72447349e-03, 2.13136421e-01, 5.67806737e-02, 1.23225378e-02,
  3.30204061e-01, 5.34241692e-01, 1.40079554e-01,-1.55603024e-01,
  7.90018732e-02, 3.06934766e-02, 5.85653358e-03,-4.16539389e-04,
  1.69826122e-02,-1.59419620e-03, 0.00000000e+00,-1.68377024e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.55012733,  5.39976098, -7.8770244 ,  5.39976098, 62.34642977,
       36.19227254, -7.8770244 , 36.19227254, 34.3602093 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003616949977435363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.06950063e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.06950063e-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([ 0.03522157, -0.08701519,  0.06199233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25164807e-04,-8.28265341e-03,-3.05399580e-03,-6.29194834e-04,
  3.95094921e-01, 3.39838990e-02, 5.19343271e-03,-2.74345850e-02,
 -4.35104018e-03, 2.21448951e-04, 1.46441742e-04, 2.52511561e-05,
 -9.37786800e-05,-6.21667766e-05,-1.73026670e-06,-3.35375697e-04,
 -1.04634724e-01, 1.08855008e-03,-9.83682096e+00,-8.25035092e-03,
 -5.60731047e-02, 3.16015124e-02]


--- Step 2938 ---
qpos:
[-0.01797274, 0.82530667,-0.07571957, 0.93266318,-0.32895423, 0.66104151,
 -0.1551822 , 1.09234254,-0.06333547, 1.34231713,-0.01896168, 0.95684878,
  1.17600784, 0.00550755, 1.2664472 , 0.04540169, 0.02274441,-0.09651775,
  0.14919757, 0.96619198,-0.02123938,-0.25694339,-0.00142639]

qacc:
[-1.63426887e+00,-2.68114170e+01, 4.27298493e+00,-2.37468968e+01,
  1.16155339e+03, 1.07613585e+02,-3.44870051e+02, 9.10623694e+02,
 -1.46667440e+01, 2.07574380e+00,-5.73026782e+00, 1.34860713e+01,
 -4.52936335e-01, 8.34942006e-02, 1.26645368e+00,-5.23893488e+00,
 -7.84097386e-01, 6.94418294e-03,-1.91560446e+00, 1.61527527e+01,
 -1.90503851e+01,-1.11395941e+01]

qfrc_actuator:
[ 9.54864952e-03, 2.10462157e-01, 5.57852410e-02, 1.20784572e-02,
  3.26462933e-01, 5.25569710e-01, 1.37546096e-01,-1.52395111e-01,
  7.73360051e-02, 3.07732475e-02, 5.88216222e-03,-3.75789014e-04,
  1.69336928e-02,-1.61503874e-03, 0.00000000e+00,-1.70151100e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.33239597,  6.08294822, -7.07752467,  6.08294822, 60.6429413 ,
       44.10007809, -7.07752467, 44.10007809, 47.23526515,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003351787574034648
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.65616555e-13,  1.65616555e-13,  1.00000000e+00,  2.74288434e-26,
        1.00000000e+00, -1.65616555e-13, -1.00000000e+00,  0.00000000e+00,
       -1.65616555e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03520894, -0.08704325,  0.06199288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88424822e-04,-7.97708664e-03,-3.01917527e-03,-6.02900922e-04,
  1.36123563e-01, 1.04506017e-02, 3.88126649e-03, 3.62231596e-03,
 -4.23672438e-03, 2.31470730e-04, 8.62934921e-05, 5.21068095e-05,
 -1.11468745e-04,-6.03438802e-05,-4.41204913e-05,-3.79718693e-05,
 -1.04011087e-01, 8.48817538e-04,-9.83746727e+00,-7.08798470e-03,
 -5.62002822e-02, 3.21133928e-02]


--- Step 2939 ---
qpos:
[-0.01782954, 0.82903048,-0.07475962, 0.93286212,-0.32294379, 0.67097155,
 -0.15260891, 1.08930195,-0.06171222, 1.34223545,-0.01906046, 0.95680707,
  1.17641535, 0.0055064 , 1.26658349, 0.0453998 , 0.02185292,-0.09662766,
  0.14908807, 0.96499568,-0.02120089,-0.26135297,-0.00533813]

qacc:
[-1.71573369e+00,-2.03345095e+01,-1.47693757e+01, 6.10770700e+00,
  3.61772250e+02, 4.89927285e+01,-3.23604861e+02, 1.06059099e+03,
 -1.44721752e+01,-4.29213058e+00, 1.49390503e+01,-8.78720346e+00,
 -3.09788046e-01, 8.56283734e-02,-1.36080251e+01, 4.59369149e+01,
 -8.65986770e-01, 4.04176690e-03,-2.11157222e+00, 1.63702222e+01,
 -1.79583252e+01,-1.08880798e+01]

qfrc_actuator:
[ 9.38642410e-03, 2.08002464e-01, 5.48083322e-02, 1.19072388e-02,
  3.21001418e-01, 5.16695749e-01, 1.35001111e-01,-1.49209522e-01,
  7.56587945e-02, 3.08354584e-02, 6.00866765e-03,-3.52732211e-04,
  1.69003347e-02,-1.60914311e-03, 0.00000000e+00,-1.47860243e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 9.12446236, -0.31026725, -9.11918569, -0.31026725, 83.33130676,
       -2.52478178, -9.11918569, -2.52478178,  9.21036445,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003065113174043621
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.81106367e-13,  1.81106367e-13,  1.00000000e+00,  3.27995163e-26,
        1.00000000e+00, -1.81106367e-13, -1.00000000e+00,  0.00000000e+00,
       -1.81106367e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03520026, -0.0870711 ,  0.06199348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.04323123e-04,-7.58358069e-03,-2.93513688e-03,-5.18763577e-04,
  4.34893729e-02,-1.97105775e-03, 7.84774877e-05, 3.65947281e-03,
 -4.18049811e-03, 2.08544849e-04, 1.83081892e-04, 3.35595821e-05,
 -1.04142647e-04,-3.73019711e-05,-2.70448347e-05, 2.14616456e-04,
 -1.03262224e-01, 6.49230294e-04,-9.83811155e+00,-5.94853765e-03,
 -5.63135329e-02, 3.26254545e-02]


--- Step 2940 ---
qpos:
[-0.01768973, 0.83270667,-0.07382408, 0.93305722,-0.31681069, 0.68082229,
 -0.15004983, 1.08632971,-0.06012241, 1.34215469,-0.01915597, 0.95676557,
  1.17682211, 0.00550523, 1.26671991, 0.04539785, 0.02095769,-0.09673756,
  0.14896945, 0.96375587,-0.02112417,-0.26578682,-0.00926105]

qacc:
[-1.80063174e+00,-3.33465183e+00,-5.67610060e+01, 3.44805479e+01,
  8.04403152e+01, 2.32600070e+01,-3.24771452e+02, 1.04972836e+03,
 -1.41500912e+01,-7.23023695e+00, 2.45620368e+01,-1.92748474e+01,
 -6.05255085e-01, 4.75341808e-01, 4.15901976e-01,-1.04396007e+00,
 -9.36155345e-01, 1.41032849e-03,-2.28220495e+00, 1.65848259e+01,
 -1.71807422e+01,-1.07617550e+01]

qfrc_actuator:
[ 9.21598973e-03, 2.06260064e-01, 5.38158820e-02, 1.17449025e-02,
  3.15012130e-01, 5.07855307e-01, 1.32458308e-01,-1.46107710e-01,
  7.40414430e-02, 3.08870231e-02, 6.17589227e-03,-3.40218297e-04,
  1.68710219e-02,-1.60512326e-03, 0.00000000e+00,-1.48859088e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.93334482,  0.65921183,  8.90898924,  0.65921183, 44.20719913,
       -2.61005389,  8.90898924, -2.61005389,  9.12647317,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00027632545555572596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.02671416e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.02671416e-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([ 0.03519468, -0.08709883,  0.06199411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.20244880e-04,-6.62724054e-03,-2.86065718e-03,-4.93144244e-04,
  9.90926440e-03,-9.86330770e-03,-2.84283896e-03, 3.13485064e-03,
 -4.08739211e-03, 2.03588272e-04, 2.29785061e-04, 2.47389291e-05,
 -8.99674660e-05,-3.11346462e-05, 9.23362607e-06,-1.94952711e-06,
 -1.02413758e-01, 4.78354354e-04,-9.83874743e+00,-4.81992897e-03,
 -5.64138390e-02, 3.31377816e-02]


--- Step 2941 ---
qpos:
[-0.01755378, 0.83634218,-0.07291229, 0.93324821,-0.31070701, 0.69055693,
 -0.14751962, 1.08342148,-0.0585652 , 1.34207602,-0.01925082, 0.95672321,
  1.17722812, 0.0055041 , 1.26685652, 0.04539447, 0.02005847,-0.09684747,
  0.14884111, 0.96247225,-0.0210089 ,-0.27024377,-0.01319469]

qacc:
[-2.05482810e+00, 3.51516736e+00,-6.74200122e+01, 3.57598222e+01,
 -1.89697514e+01, 8.68836498e+00,-3.27219010e+02, 1.02598542e+03,
 -1.37913310e+01,-5.63500207e-01, 6.91337117e+00,-1.74106249e+01,
 -7.51945598e-01, 6.75735958e-01, 4.67326406e+00,-1.57892264e+01,
 -9.97156479e-01,-1.13224992e-03,-2.43112921e+00, 1.67997730e+01,
 -1.66566267e+01,-1.07396986e+01]

qfrc_actuator:
[ 9.00657447e-03, 2.04855640e-01, 5.28608481e-02, 1.15717635e-02,
  3.08909479e-01, 4.99155402e-01, 1.29917529e-01,-1.43116476e-01,
  7.24729281e-02, 3.10029789e-02, 6.20595772e-03,-3.87261306e-04,
  1.68335056e-02,-1.60223454e-03, 0.00000000e+00,-1.56478350e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.76307901,  1.07312702,  8.69712322,  1.07312702, 53.89547961,
       -5.56882975,  8.69712322, -5.56882975,  9.45020986,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024514529989283496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.26441834e-13,  2.26441834e-13,  1.00000000e+00,  5.12759041e-26,
        1.00000000e+00, -2.26441834e-13, -1.00000000e+00,  0.00000000e+00,
       -2.26441834e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03519152, -0.08712654,  0.06199476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.66975536e-04,-5.74261245e-03,-2.62568850e-03,-4.71409848e-04,
 -2.40374576e-03,-1.48210723e-02,-4.75311741e-03, 2.71710245e-03,
 -3.98352254e-03, 2.74128085e-04, 9.67100850e-05,-3.38095196e-05,
 -8.96741906e-05,-2.71032662e-05,-1.02971345e-06,-7.62217750e-05,
 -1.01486322e-01, 3.27078219e-04,-9.83936970e+00,-3.69212789e-03,
 -5.65018500e-02, 3.36504186e-02]


--- Step 2942 ---
qpos:
[-0.01742159, 0.8399367 ,-0.07201974, 0.93343375,-0.30468801, 0.70015263,
 -0.14502718, 1.08057408,-0.05703988, 1.34199872,-0.01934412, 0.95668165,
  1.17763339, 0.00550279, 1.2669927 , 0.04539356, 0.01915505,-0.09695739,
  0.14870251, 0.96114443,-0.02085468,-0.27472301,-0.01713876]

qacc:
[-1.98569148e+00,-1.09660069e+01,-1.77965951e+01,-2.19681145e+01,
 -5.38888752e+01,-1.43982733e+00,-3.24425833e+02, 1.00264419e+03,
 -1.34957651e+01,-9.76721915e-01, 3.71376166e+00, 5.35062456e+00,
 -2.55812831e-01,-2.73971899e-02,-8.08681744e+00, 2.73693524e+01,
 -1.05096698e+00,-3.70497360e-03,-2.56170565e+00, 1.70177218e+01,
 -1.63369668e+01,-1.08051655e+01]

qfrc_actuator:
[ 8.82886791e-03, 2.02991495e-01, 5.19728554e-02, 1.13051810e-02,
  3.02806311e-01, 4.90555073e-01, 1.27398301e-01,-1.40214614e-01,
  7.09284912e-02, 3.10495043e-02, 6.27929061e-03,-3.44754033e-04,
  1.67910952e-02,-1.61782278e-03, 0.00000000e+00,-1.43076332e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.61556459,   1.58861322,   8.46783687,   1.58861322,
        65.43188943, -10.65905805,   8.46783687, -10.65905805,
        10.61526307,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00021339945494038004
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.60127896e-13,  2.60127896e-13,  1.00000000e+00,  6.76665223e-26,
        1.00000000e+00, -2.60127896e-13, -1.00000000e+00,  0.00000000e+00,
       -2.60127896e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03519023, -0.08715431,  0.06199543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.57497762e-04,-5.66418555e-03,-2.35710847e-03,-5.30027868e-04,
 -6.97733887e-03,-1.78992367e-02,-5.92994874e-03, 2.42989421e-03,
 -3.89809439e-03, 2.16031507e-04, 1.36910265e-04, 5.25471777e-05,
 -9.38656950e-05,-4.41564178e-05,-1.38730897e-05, 1.28571715e-04,
 -1.00496450e-01, 1.88164139e-04,-9.83997413e+00,-2.55676634e-03,
 -5.65779423e-02, 3.41633765e-02]


--- Step 2943 ---
qpos:
[-0.01729289, 0.84348809,-0.07114408, 0.93361443,-0.29877348, 0.70959505,
 -0.14257717, 1.07778402,-0.05554554, 1.34192199,-0.01943409, 0.95664195,
  1.1780381 , 0.0055008 , 1.2671285 , 0.04539623, 0.01824723,-0.09706734,
  0.14855321, 0.95977191,-0.02066107,-0.27922407,-0.02109307]

qacc:
[-1.83529489e+00,-1.90987718e+01, 4.00743304e+00,-3.20281464e+01,
 -6.55662420e+01,-1.18463429e+01,-3.07019815e+02, 9.60577623e+02,
 -1.31051736e+01,-5.03418119e+00, 1.36289279e+01, 9.02712523e+00,
  2.80335126e-01,-9.06978667e-01,-1.14388695e+01, 3.91152267e+01,
 -1.09910560e+00,-6.38045545e-03,-2.67700041e+00, 1.72408839e+01,
 -1.61822766e+01,-1.09447234e+01]

qfrc_actuator:
[ 8.67162266e-03, 2.00832598e-01, 5.11300954e-02, 1.10565369e-02,
  2.96752122e-01, 4.81995019e-01, 1.24930194e-01,-1.37442034e-01,
  6.94463460e-02, 3.10720131e-02, 6.44844014e-03,-2.49862596e-04,
  1.67564246e-02,-1.66204706e-03, 0.00000000e+00,-1.24494617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.4912597 ,   2.2340448 ,   8.192102  ,   2.2340448 ,
        78.22232358, -19.01615978,   8.192102  , -19.01615978,
        13.67710247,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00018143341221349418
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.05958812e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.05958812e-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([ 0.03519036, -0.08718218,  0.06199611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.33066224e-04,-5.86306160e-03,-2.26703879e-03,-5.03125759e-04,
 -8.68343178e-03,-1.98120921e-02,-6.61675820e-03, 2.17664865e-03,
 -3.78526863e-03, 1.70309065e-04, 2.28486091e-04, 1.06400274e-04,
 -9.18164839e-05,-7.89653586e-05, 4.79638938e-06, 1.90529756e-04,
 -9.94573107e-02, 5.58832226e-05,-9.84055732e+00,-1.40682270e-03,
 -5.66422654e-02, 3.46766388e-02]


--- Step 2944 ---
qpos:
[-0.01716741, 0.84699498,-0.07028527, 0.93379194,-0.29296937, 0.71887608,
 -0.14017249, 1.07505044,-0.0540818 , 1.34184651,-0.0195223 , 0.95660232,
  1.17844219, 0.00549826, 1.26726441, 0.04540009, 0.01733483,-0.09717733,
  0.14839279, 0.95835412,-0.0204276 ,-0.28374673,-0.02505756]

qacc:
[-1.68825032e+00,-1.82885814e+01,-4.43916568e+00,-4.12047656e+00,
 -6.84011950e+01,-1.54728740e+01,-3.06614284e+02, 9.56693404e+02,
 -1.29502617e+01,-2.96889049e+00, 1.14914987e+01,-9.78741634e+00,
 -6.32232447e-02,-4.41406737e-01,-3.46344717e+00, 1.23143370e+01,
 -1.14272809e+00,-9.19762958e-03,-2.77977408e+00, 1.74711075e+01,
 -1.61606521e+01,-1.11475721e+01]

qfrc_actuator:
[ 8.52788860e-03, 1.98604157e-01, 5.02843090e-02, 1.08912538e-02,
  2.90816474e-01, 4.73546789e-01, 1.22512540e-01,-1.34679117e-01,
  6.79424014e-02, 3.11336204e-02, 6.53066722e-03,-2.49161826e-04,
  1.67264085e-02,-1.68737893e-03, 0.00000000e+00,-1.18993335e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00014952104792709253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03519155, -0.08721021,  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:
[-3.08506850e-04,-6.02254303e-03,-2.29740256e-03,-4.22570273e-04,
 -9.25992353e-03,-2.08989213e-02,-7.01953978e-03, 2.08871356e-03,
 -3.74035879e-03, 2.03627907e-04, 1.44627441e-04, 1.47912457e-05,
 -9.38070054e-05,-7.00368181e-05, 1.98982573e-05, 6.54653463e-05,
 -9.83793160e-02,-7.42798506e-05,-9.84111647e+00,-2.36364577e-04,
 -5.66947786e-02, 3.51901655e-02]


--- Step 2945 ---
qpos:
[-0.01704437, 0.85045919,-0.0694445 , 0.93396534,-0.28727653, 0.72799117,
 -0.13781468, 1.07237244,-0.05264876, 1.34177298,-0.01961004, 0.95656406,
  1.17884543, 0.00549589, 1.26740035, 0.04540494, 0.01641771,-0.09728736,
  0.14822088, 0.95689042,-0.02015374,-0.28829098,-0.02903223]

qacc:
[-1.27598031e+00,-1.42394524e+01,-1.27437083e+01,-9.23369958e+00,
 -6.80602355e+01,-1.80743683e+01,-3.03866426e+02, 9.48351050e+02,
 -1.29856665e+01, 3.63141171e+00,-1.14703408e+01, 2.43769148e+01,
 -7.15640105e-01, 6.78774540e-01,-2.87619958e+00, 1.02821274e+01,
 -1.18270337e+00,-1.21713499e-02,-2.87248391e+00, 1.77099455e+01,
 -1.62462376e+01,-1.14050068e+01]

qfrc_actuator:
[ 8.44664660e-03, 1.96654396e-01, 4.94434226e-02, 1.06874798e-02,
  2.84999695e-01, 4.65164065e-01, 1.20127273e-01,-1.31944077e-01,
  6.64018944e-02, 3.12532846e-02, 6.56097463e-03,-1.79684552e-04,
  1.66938847e-02,-1.66573332e-03, 0.00000000e+00,-1.14143319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00011787509976388111
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35465978e-13,  9.41863911e-13,  1.00000000e+00,  2.21776907e-25,
        1.00000000e+00, -9.41863911e-13, -1.00000000e+00,  0.00000000e+00,
       -2.35465978e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03519348, -0.08723843,  0.06199746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.34811097e-04,-5.83392396e-03,-2.32422621e-03,-4.64890695e-04,
 -9.41116702e-03,-2.15103244e-02,-7.24335072e-03, 2.01678096e-03,
 -3.75040706e-03, 2.61051892e-04, 8.69995414e-05, 7.99572046e-05,
 -9.53487241e-05,-2.08373487e-05, 1.13824343e-05, 5.35695200e-05,
 -9.72706087e-02,-2.05865062e-04,-9.84164928e+00, 9.59659906e-04,
 -5.67352793e-02, 3.57038957e-02]


--- Step 2946 ---
qpos:
[-0.01692302, 0.85389184,-0.06862572, 0.93413487,-0.2816937 , 0.7369406 ,
 -0.13550602, 1.06974853,-0.0512458 , 1.34170184,-0.01969733, 0.95652757,
  1.17924755, 0.00549428, 1.26753679, 0.04540666, 0.01549571,-0.09739746,
  0.14803714, 0.95538008,-0.01983893,-0.29285695,-0.03301716]

qacc:
[-8.81176362e-01, 1.11279552e+01,-7.82274250e+01, 4.16982594e+01,
 -6.64927434e+01,-1.34317487e+01,-3.15840129e+02, 9.41794246e+02,
 -1.27325032e+01, 5.02543530e+00,-1.61654237e+01, 3.30613801e+01,
 -1.64821136e+00, 2.07119970e+00, 1.03476586e+01,-3.47686605e+01,
 -1.21967421e+00,-1.52995824e-02,-2.95729546e+00, 1.79587089e+01,
 -1.64180155e+01,-1.17099945e+01]

qfrc_actuator:
[ 8.40340880e-03, 1.95881973e-01, 4.86311604e-02, 1.05338217e-02,
  2.79317003e-01, 4.57120536e-01, 1.17745612e-01,-1.29265194e-01,
  6.49405389e-02, 3.14065829e-02, 6.59621543e-03,-8.80003672e-05,
  1.66439231e-02,-1.61638393e-03, 0.00000000e+00,-1.31014594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -8.66565824012705e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.40587820e-13,  6.40587820e-13,  1.00000000e+00, -4.10352755e-25,
        1.00000000e+00, -6.40587820e-13, -1.00000000e+00,  0.00000000e+00,
        6.40587820e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03519591, -0.08726687,  0.06199813])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62194518e-04,-4.55721915e-03,-2.26228242e-03,-4.10579639e-04,
 -9.38383696e-03,-2.15484385e-02,-7.38338412e-03, 1.93481725e-03,
 -3.67718071e-03, 3.17100630e-04, 9.85004739e-05, 1.03691937e-04,
 -1.02189737e-04, 2.10547654e-05, 6.12180938e-06,-1.65392289e-04,
 -9.61374649e-02,-3.41628928e-04,-9.84215382e+00, 2.18559125e-03,
 -5.67634255e-02, 3.62177506e-02]


--- Step 2947 ---
qpos:
[-0.01680329, 0.85730281,-0.06782927, 0.93430071,-0.27621918, 0.7457272 ,
 -0.13324768, 1.06717802,-0.04987181, 1.34163262,-0.01978308, 0.95649142,
  1.17964856, 0.00549377, 1.26767355, 0.04540403, 0.01456869,-0.09750763,
  0.14784126, 0.95382233,-0.01948256,-0.29744491,-0.0370125 ]

qacc:
[-8.58987464e-01, 2.52651343e+01,-1.09002136e+02, 6.36100418e+01,
 -6.47170033e+01,-7.20961576e+00,-3.30376124e+02, 9.44675520e+02,
 -1.22549178e+01,-1.07242495e+00, 5.86883142e+00,-2.49244180e+00,
 -1.93644072e+00, 2.60427305e+00, 1.38501041e+01,-4.73136951e+01,
 -1.25410558e+00,-1.85687494e-02,-3.03610044e+00, 1.82185118e+01,
 -1.66588471e+01,-1.20568386e+01]

qfrc_actuator:
[ 8.32993129e-03, 1.95608873e-01, 4.78117275e-02, 1.03938924e-02,
  2.73740264e-01, 4.49435393e-01, 1.15387132e-01,-1.26605247e-01,
  6.35738567e-02, 3.14900765e-02, 6.66975996e-03,-7.27216886e-05,
  1.65995295e-02,-1.55109139e-03, 0.00000000e+00,-1.53445526e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -5.598315067849302e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.91568902e-13,  9.91568902e-13,  1.00000000e+00, -9.83208887e-25,
        1.00000000e+00, -9.91568902e-13, -1.00000000e+00,  0.00000000e+00,
        9.91568902e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03519865, -0.08729556,  0.06199879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58054675e-04,-3.33599270e-03,-2.00990866e-03,-3.54279596e-04,
 -9.31441414e-03,-2.12343552e-02,-7.38398673e-03, 1.90805946e-03,
 -3.53923510e-03, 2.81247133e-04, 1.49751162e-04, 2.98269121e-05,
 -9.09704852e-05, 4.80281060e-05,-2.19271095e-05,-2.34127990e-04,
 -9.49846194e-02,-4.83698918e-04,-9.84262842e+00, 3.44519557e-03,
 -5.67787529e-02, 3.67316346e-02]


--- Step 2948 ---
qpos:
[-0.01668555, 0.86069186,-0.06705098, 0.93446377,-0.27085091, 0.75435289,
 -0.13103773, 1.06466019,-0.04852614, 1.34156478,-0.01986565, 0.95645603,
  1.18004886, 0.00549378, 1.26780944, 0.04540473, 0.01363653,-0.09761789,
  0.14763293, 0.95221633,-0.019084  ,-0.30205522,-0.04101843]

qacc:
[-1.03128868e+00, 1.52547337e+01,-7.86608487e+01, 4.84525880e+01,
 -6.27848809e+01,-1.03044038e+01,-3.16355778e+02, 9.26121593e+02,
 -1.19840947e+01,-5.45349809e+00, 1.84318180e+01,-8.01586757e+00,
 -5.95585433e-01, 7.98566597e-01,-1.13270660e+01, 3.78856037e+01,
 -1.28632297e+00,-2.19576619e-02,-3.11053815e+00, 1.84903065e+01,
 -1.69547111e+01,-1.24409141e+01]

qfrc_actuator:
[ 8.22118493e-03, 1.94697223e-01, 4.69793840e-02, 1.02635570e-02,
  2.68287154e-01, 4.41851170e-01, 1.13134408e-01,-1.23977613e-01,
  6.22038760e-02, 3.15667127e-02, 6.83602663e-03,-3.15362351e-05,
  1.65691686e-02,-1.53012192e-03, 0.00000000e+00,-1.34582469e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -2.5936453037680995e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07013768e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.07013768e-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([ 0.03520152, -0.08732451,  0.06199944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91428560e-04,-3.24615975e-03,-1.75253527e-03,-2.98312826e-04,
 -9.20959452e-03,-2.09547246e-02,-7.21708264e-03, 1.88280232e-03,
 -3.46101988e-03, 2.62427244e-04, 2.39140744e-04, 5.44462919e-05,
 -6.56474910e-05, 1.45503909e-05,-4.13579709e-05, 1.71649414e-04,
 -9.38155316e-02,-6.33697727e-04,-9.84307160e+00, 4.74177560e-03,
 -5.67806882e-02, 3.72454365e-02]


--- Step 2949 ---
qpos:
[-0.01656997, 0.86405379,-0.06628752, 0.93462364,-0.26558696, 0.76281932,
 -0.12887429, 1.06219323,-0.04720835, 1.34149797,-0.01994482, 0.9564228 ,
  1.18044864, 0.00549362, 1.26794536, 0.04540526, 0.01270431,-0.0977278 ,
  0.14738498, 0.95057136,-0.01865725,-0.30665934,-0.04501172]

qacc:
[-1.12016123e+00,-9.90695668e-01,-3.31313524e+01, 8.68312919e+00,
 -6.10060259e+01,-1.50884711e+01,-2.95175895e+02, 8.89829285e+02,
 -1.17931701e+01,-4.07454801e+00, 1.05688179e+01, 1.51354998e+01,
 -3.19882631e-01, 1.22226425e-01, 5.73302442e-01,-1.90592904e+00,
 -1.39964425e-02, 8.64034614e-02,-9.90619410e+00, 1.48346084e+01,
 -2.47304278e+00, 1.02212823e+00]

qfrc_actuator:
[ 8.11002618e-03, 1.93127316e-01, 4.61618041e-02, 1.00863054e-02,
  2.62931721e-01, 4.34319719e-01, 1.10963332e-01,-1.21443264e-01,
  6.08428617e-02, 3.16034953e-02, 7.00240946e-03, 7.78800128e-05,
  1.65312546e-02,-1.55335398e-03, 0.00000000e+00,-1.35919922e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.09960922e-04,-3.80135822e-03,-1.68880422e-03,-3.33644138e-04,
 -9.11408641e-03,-2.07097522e-02,-7.06234716e-03, 1.80010057e-03,
 -3.40581386e-03, 2.30359363e-04, 2.46463793e-04, 1.25311442e-04,
 -6.74434647e-05,-3.39576304e-05,-1.38208128e-06,-9.41764609e-06,
 -9.26326001e-02,-7.92843329e-04,-9.84348200e+00, 6.07826057e-03,
 -5.67685591e-02, 3.77590308e-02]


--- Step 2950 ---
qpos:
[-0.01645646, 0.86738193,-0.06553707, 0.93478038,-0.26042566, 0.77112834,
 -0.12675677, 1.05977427,-0.04591773, 1.34143184,-0.02002162, 0.95639089,
  1.18084763, 0.00549357, 1.26808133, 0.04540496, 0.01177205,-0.09783737,
  0.14709741, 0.94888753,-0.01820233,-0.31125697,-0.04899219]

qacc:
[-1.06614523e+00,-1.44920574e+01, 1.50043661e-01,-1.47521544e+01,
 -5.94277471e+01,-1.77668797e+01,-2.78515080e+02, 8.45066133e+02,
 -1.15012011e+01,-3.23359709e+00, 9.02185157e+00, 6.76828028e+00,
 -7.69094664e-01, 7.35662971e-01, 2.68509804e+00,-9.10516503e+00,
 -1.17777286e-02, 8.60661822e-02,-9.90608971e+00, 1.48452663e+01,
 -2.36452542e+00, 9.63878246e-01]

qfrc_actuator:
[ 8.01614885e-03, 1.91069895e-01, 4.53747705e-02, 9.90015835e-03,
  2.57657724e-01, 4.26847131e-01, 1.08805461e-01,-1.19055148e-01,
  5.95336101e-02, 3.15806644e-02, 7.09636491e-03, 1.37765294e-04,
  1.64834902e-02,-1.54937882e-03, 0.00000000e+00,-1.40283937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.01795188e-04,-4.58367245e-03,-1.76044354e-03,-3.58545007e-04,
 -9.03636055e-03,-2.04820039e-02,-6.98566944e-03, 1.66184138e-03,
 -3.32139795e-03, 1.56547060e-04, 1.70684362e-04, 7.67014661e-05,
 -8.94681947e-05,-2.15036354e-05,-5.83507845e-06,-4.52668737e-05,
 -9.09465019e-02,-7.71310527e-04,-9.84361143e+00, 6.69407545e-03,
 -5.67756076e-02, 3.82624676e-02]


--- Step 2951 ---
qpos:
[-0.01634486, 0.87067034,-0.06479931, 0.93493529,-0.25536496, 0.77928143,
 -0.12468426, 1.05740292,-0.0446537 , 1.34136684,-0.02009727, 0.95635893,
  1.18124597, 0.00549312, 1.26821684, 0.04540748, 0.01083208,-0.09794724,
  0.1468075 , 0.94714862,-0.01769689,-0.31589209,-0.05299528]

qacc:
[-9.78899080e-01,-2.10123405e+01, 9.16307727e+00,-3.12155633e+00,
 -5.76781752e+01,-1.83808404e+01,-2.73685707e+02, 8.37158459e+02,
 -1.12465850e+01,-1.70693625e+00, 7.42941595e+00,-7.65715386e+00,
 -1.69331676e-02,-4.22069150e-01,-9.23234711e+00, 3.12570193e+01,
 -1.92498449e+00,-7.64838546e-02,-5.83082354e-01, 2.08670299e+01,
 -2.49123897e+01,-2.02870698e+01]

qfrc_actuator:
[ 7.93341368e-03, 1.88737499e-01, 4.46101843e-02, 9.78091657e-03,
  2.52508152e-01, 4.19436215e-01, 1.06691283e-01,-1.16683499e-01,
  5.82481218e-02, 3.16285064e-02, 7.14653217e-03, 1.32421411e-04,
  1.64405104e-02,-1.58254948e-03, 0.00000000e+00,-1.25087457e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -2.614259411634623e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06169937e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.06169937e-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([ 0.0351819 , -0.08742288,  0.06199943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86962932e-04,-5.30526071e-03,-1.89975596e-03,-3.18304905e-04,
 -8.92097422e-03,-2.02778607e-02,-6.89200201e-03, 1.64952252e-03,
 -3.24774414e-03, 1.70204826e-04, 1.02453828e-04, 5.93874372e-06,
 -9.29822912e-05,-6.00789575e-05,-1.22603291e-05, 1.47701418e-04,
 -8.92669944e-02,-7.57522228e-04,-9.84371118e+00, 7.32082728e-03,
 -5.67771697e-02, 3.87626032e-02]


--- Step 2952 ---
qpos:
[-0.0162352 , 0.87391576,-0.06407499, 0.93508866,-0.25040297, 0.78728035,
 -0.12265597, 1.0550793 ,-0.04341568, 1.34130375,-0.02017244, 0.9563285 ,
  1.18164365, 0.00549228, 1.26835278, 0.04540741, 0.00988462,-0.09805743,
  0.1465133 , 0.94535383,-0.01714118,-0.32056371,-0.05701954]

qacc:
[-9.90871889e-01,-2.28220989e+01, 9.23171551e+00, 2.31462410e+00,
 -5.60708154e+01,-1.76840809e+01,-2.73597273e+02, 8.38205681e+02,
 -1.10114480e+01, 3.84774821e+00,-1.25844798e+01, 2.73477762e+01,
 -5.10051480e-01, 1.61101132e-01, 8.49565909e+00,-2.87043441e+01,
 -1.87378601e+00,-7.99694066e-02,-1.07428359e+00, 2.09319837e+01,
 -2.45990993e+01,-1.97693761e+01]

qfrc_actuator:
[ 7.84027988e-03, 1.86401583e-01, 4.38639369e-02, 9.68400781e-03,
  2.47454489e-01, 4.12123777e-01, 1.04620777e-01,-1.14305037e-01,
  5.69871616e-02, 3.17713036e-02, 7.18845277e-03, 2.13036559e-04,
  1.64057431e-02,-1.60202480e-03, 0.00000000e+00,-1.39317699e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.4766992419120744e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.20000901e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.20000901e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03516814, -0.08745815,  0.06199902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90410225e-04,-5.73287720e-03,-2.03701041e-03,-3.21206983e-04,
 -8.81597826e-03,-2.00427629e-02,-6.79751177e-03, 1.66329447e-03,
 -3.17970907e-03, 2.57322486e-04, 8.70484566e-05, 8.86494015e-05,
 -9.50980580e-05,-5.87668278e-05, 7.82121771e-06,-1.36298820e-04,
 -8.83223379e-02,-1.03153567e-03,-9.84414645e+00, 9.12731976e-03,
 -5.67124550e-02, 3.92733880e-02]


--- Step 2953 ---
qpos:
[-0.0161281 , 0.87711643,-0.06336431, 0.93523922,-0.24553785, 0.79512812,
 -0.1206721 , 1.05280303,-0.0422033 , 1.34124226,-0.02024557, 0.95629783,
  1.18204038, 0.0054917 , 1.2684888 , 0.04540532, 0.00892984,-0.09816795,
  0.14621305, 0.9435023 ,-0.01653523,-0.32527097,-0.06106381]

qacc:
[-1.30245066e+00,-2.65932431e+01, 2.14997636e+01,-2.19742273e+01,
 -5.45487172e+01,-1.34015045e+01,-2.82211477e+02, 8.40009546e+02,
 -1.08477819e+01,-3.80837029e+00, 1.54345949e+01,-1.71187909e+01,
 -1.07545184e+00, 1.14057325e+00, 6.32182798e+00,-2.17111457e+01,
 -1.82987802e+00,-8.18269101e-02,-1.51021918e+00, 2.10703035e+01,
 -2.43285178e+01,-1.94352275e+01]

qfrc_actuator:
[ 7.68844305e-03, 1.84100475e-01, 4.31522727e-02, 9.52993231e-03,
  2.42496714e-01, 4.05019807e-01, 1.02558183e-01,-1.11941632e-01,
  5.57332406e-02, 3.18633197e-02, 7.29663835e-03, 2.01650670e-04,
  1.63652766e-02,-1.57763769e-03, 0.00000000e+00,-1.49473209e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -5.421134357697088e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.11988336e-13, -1.02397667e-12,  1.00000000e+00,  5.24264113e-25,
        1.00000000e+00,  1.02397667e-12, -1.00000000e+00,  0.00000000e+00,
        5.11988336e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0351567 , -0.08749265,  0.0619988 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50944468e-04,-5.96034651e-03,-2.10139801e-03,-3.95483680e-04,
 -8.71341479e-03,-1.96797792e-02,-6.73200077e-03, 1.65674837e-03,
 -3.13246494e-03, 2.54155148e-04, 1.70993292e-04, 6.93775965e-07,
 -1.02080149e-04,-1.47838118e-05,-1.70955555e-05,-1.09371341e-04,
 -8.73464852e-02,-1.31419518e-03,-9.84451303e+00, 1.09428814e-02,
 -5.66300837e-02, 3.97843510e-02]


--- Step 2954 ---
qpos:
[-0.01602383, 0.88027338,-0.062669  , 0.93538682,-0.24076781, 0.80283077,
 -0.11873331, 1.05057297,-0.04101636, 1.34118171,-0.02031621, 0.9562666 ,
  1.18243647, 0.00549086, 1.26862434, 0.04540502, 0.00796789,-0.0982788 ,
  0.14590521, 0.94159317,-0.01587886,-0.33001305,-0.06512717]

qacc:
[-1.44286558e+00,-2.08987008e+01, 4.86467162e+00,-1.02250911e+01,
 -5.30924647e+01,-5.22175859e+00,-2.97170870e+02, 8.36044901e+02,
 -1.07633514e+01,-6.45422858e+00, 2.36423927e+01,-2.75022916e+01,
 -1.81761508e-01,-1.45558545e-01,-6.12311269e+00, 2.03914880e+01,
 -1.79190250e+00,-8.25321549e-02,-1.89871452e+00, 2.12685943e+01,
 -2.41044472e+01,-1.92540306e+01]

qfrc_actuator:
[ 7.53828046e-03, 1.82016714e-01, 4.24136819e-02, 9.37895267e-03,
  2.37634125e-01, 3.98419117e-01, 1.00535986e-01,-1.09623743e-01,
  5.44758131e-02, 3.18711492e-02, 7.40733117e-03, 1.71723416e-04,
  1.63320906e-02,-1.59843980e-03, 0.00000000e+00,-1.39384597e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -5.59416816478947e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.48845591e-12,  9.92303942e-13,  1.00000000e+00, -1.47700067e-24,
        1.00000000e+00, -9.92303942e-13, -1.00000000e+00,  0.00000000e+00,
        1.48845591e-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([ 0.03514731, -0.08752662,  0.06199876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.78814199e-04,-5.88242940e-03,-2.18186433e-03,-4.02870824e-04,
 -8.61092161e-03,-1.89577462e-02,-6.61304262e-03, 1.62214723e-03,
 -3.10806167e-03, 1.82012722e-04, 1.79847063e-04,-1.75319184e-05,
 -8.83043856e-05,-4.85192228e-05,-2.45453261e-05, 9.16268930e-05,
 -8.63346152e-02,-1.60353678e-03,-9.84481668e+00, 1.27734181e-02,
 -5.65287944e-02, 4.02950631e-02]


--- Step 2955 ---
qpos:
[-0.01592233, 0.88338962,-0.06198988, 0.93553196,-0.23609111, 0.81039483,
 -0.11683799, 1.04838668,-0.03985438, 1.34112248,-0.02038511, 0.95623665,
  1.18283176, 0.00549025, 1.26875967, 0.04540622, 0.00700332,-0.09838725,
  0.14559098, 0.93960865,-0.0151787 ,-0.33484154,-0.06918336]

qacc:
[-1.40514503e+00,-1.39475866e+01,-1.41227703e+01, 1.00124015e+01,
 -5.16944160e+01,-4.04751856e+00,-2.86309333e+02, 7.97098522e+02,
 -1.05632531e+01,-7.83535985e-01, 2.09794866e+00, 1.19718055e+01,
 -6.63256592e-01, 6.88260831e-01,-4.77419976e+00, 1.63990364e+01,
 -6.55976018e-01, 6.00915171e-01,-1.59710621e+00, 2.40154605e+01,
 -5.17487889e+01,-6.98900026e+00]

qfrc_actuator:
[ 7.40817576e-03, 1.80257766e-01, 4.17016261e-02, 9.26660913e-03,
  2.32865609e-01, 3.92228071e-01, 9.86274453e-02,-1.07421976e-01,
  5.32618421e-02, 3.19527614e-02, 7.50051109e-03, 2.37600491e-04,
  1.63032809e-02,-1.57491481e-03, 0.00000000e+00,-1.31651600e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.22083937,  0.54809489, -8.20254789,  0.54809489, 12.90797933,
        0.31319506, -8.20254789,  0.31319506,  8.24176709,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.537572237902411e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06138696e-12,  4.24554783e-13,  1.00000000e+00,  4.50616909e-25,
        1.00000000e+00, -4.24554783e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06138696e-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([ 0.0356699 , -0.09622472,  0.06199855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.72533513e-04,-5.52907600e-03,-2.14887073e-03,-3.64253390e-04,
 -8.50857667e-03,-1.81218446e-02,-6.34623319e-03, 1.52793538e-03,
 -3.05016447e-03, 2.17095013e-04, 1.48720344e-04, 7.59777859e-05,
 -8.44471727e-05,-1.10994478e-05,-3.70540782e-06, 7.87236660e-05,
 -8.52833167e-02,-1.89826554e-03,-9.84506116e+00, 1.46243078e-02,
 -5.64073128e-02, 4.08051244e-02]


--- Step 2956 ---
qpos:
[-0.01582342, 0.88646493,-0.06132443, 0.93567388,-0.23150622, 0.81782572,
 -0.11498463, 1.04624389,-0.03871651, 1.34106496,-0.02045198, 0.9562087 ,
  1.1832262 , 0.00549016, 1.26889525, 0.04540598, 0.00604841,-0.09847965,
  0.14527784, 0.93753411,-0.01450719,-0.33986003,-0.07290063]

qacc:
[-1.31438614e+00,-2.22432512e+01, 1.42852098e+01,-2.33024111e+01,
 -5.04563599e+01,-1.11764643e+00,-2.86990128e+02, 7.92315140e+02,
 -1.01980908e+01, 2.20561852e-01,-2.03794251e+00, 2.38040757e+01,
 -1.12988279e+00, 1.37874615e+00, 4.81739877e+00,-1.60858390e+01,
  2.41536074e+00, 4.01323815e+00, 2.71896243e-01, 4.91710618e+01,
 -1.07902496e+02, 1.59464675e+02]

qfrc_actuator:
[ 7.29116941e-03, 1.78335389e-01, 4.10657219e-02, 9.10710645e-03,
  2.28172068e-01, 3.86227819e-01, 9.67680380e-02,-1.05234906e-01,
  5.21191512e-02, 3.20778882e-02, 7.61843700e-03, 3.41605573e-04,
  1.62664816e-02,-1.54295028e-03, 0.00000000e+00,-1.39576540e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.25987658, -0.23532975, -8.25652354, -0.23532975, 13.35102872,
       -0.14510944, -8.25652354, -0.14510944,  8.26401253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.22676804501893e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.00815795e-13,  1.20326318e-12,  1.00000000e+00, -3.61960569e-25,
        1.00000000e+00, -1.20326318e-12, -1.00000000e+00,  0.00000000e+00,
        3.00815795e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03479968, -0.12797932,  0.06199794])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.56596501e-04,-5.48786557e-03,-1.99804099e-03,-3.98624955e-04,
 -8.42389097e-03,-1.74152854e-02,-6.10717155e-03, 1.54101504e-03,
 -2.94465836e-03, 2.76699038e-04, 1.79515585e-04, 1.16408290e-04,
 -8.14233419e-05, 9.12998554e-06, 3.04353352e-06,-7.62139468e-05,
 -8.64235367e-02,-4.01472784e-03,-9.84335475e+00, 1.68362319e-02,
 -5.61545345e-02, 4.13200703e-02]


--- Step 2957 ---
qpos:
[-0.01572711, 0.88949826,-0.06067211, 0.93581221,-0.22701166, 0.82512937,
 -0.11317325, 1.04414409,-0.03760208, 1.34100919,-0.02051719, 0.95618257,
  1.18362014, 0.0054897 , 1.2690309 , 0.04540413, 0.00509958,-0.09855729,
  0.14496365, 0.9353786 ,-0.0138626 ,-0.34503406,-0.07632961]

qacc:
[-1.31454015e+00,-2.56153078e+01, 2.43612085e+01,-3.53623986e+01,
 -4.92668012e+01, 6.21236823e+00,-3.00569774e+02, 7.94608934e+02,
 -9.92569505e+00, 9.92036121e-01,-4.11307492e+00, 2.34622332e+01,
 -2.96368319e-01,-2.56490984e-02, 4.99994269e+00,-1.72910824e+01,
  1.51974541e+00, 3.68793302e+00,-2.62567585e-01, 4.14592581e+01,
 -8.97418891e+01, 1.35641498e+02]

qfrc_actuator:
[ 0.00716521, 0.17624268, 0.04040845, 0.00892107, 0.22355932, 0.38051634,
  0.09490072,-0.10307389, 0.05099285, 0.0321572 , 0.00769697, 0.00043174,
  0.01623025,-0.0015773 , 0.        ,-0.00147786, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([8.49747694, 0.1586198 , 8.49599636, 0.1586198 , 7.25168386,
       0.02325889, 8.49599636, 0.02325889, 8.4970427 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0001831864414872375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51515447e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.51515447e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03453475, -0.12797239,  0.06199591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57989732e-04,-5.60551696e-03,-1.99468575e-03,-4.20231611e-04,
 -8.33907840e-03,-1.66844813e-02,-5.95026991e-03, 1.54095762e-03,
 -2.86593410e-03, 2.71063004e-04, 1.56440846e-04, 1.06138181e-04,
 -7.49549546e-05,-5.03679481e-05,-1.23461863e-05,-8.71049251e-05,
 -9.43437647e-02,-1.55145910e-02,-9.82669980e+00, 1.52272164e-02,
 -5.47400745e-02, 4.16954205e-02]


--- Step 2958 ---
qpos:
[-0.01563363, 0.89248921,-0.06003323, 0.93594699,-0.2226057 , 0.83231064,
 -0.11140305, 1.04208461,-0.03651058, 1.34095465,-0.02058057, 0.95615569,
  1.18401371, 0.00548858, 1.26916605, 0.04540464, 0.00415404,-0.0986213 ,
  0.14464637, 0.93314906,-0.01324333,-0.35033629,-0.07951057]

qacc:
[-1.42612680e+00,-2.52611909e+01, 2.24530265e+01,-3.29640364e+01,
 -4.79900620e+01, 6.86878582e+00,-2.90195162e+02, 7.54329986e+02,
 -9.69942145e+00,-4.62661173e+00, 1.85446846e+01,-2.55346400e+01,
  3.35184931e-01,-9.02214271e-01,-7.93288993e+00, 2.65593350e+01,
  8.23868517e-01, 3.40887145e+00,-7.72496861e-01, 3.53153231e+01,
 -7.54142852e+01, 1.16649227e+02]

qfrc_actuator:
[ 0.00701716, 0.17415396, 0.03974328, 0.00873852, 0.21904804, 0.37497218,
  0.09304545,-0.10105192, 0.04988537, 0.03217278, 0.00776918, 0.00038866,
  0.01621033,-0.00161526, 0.        ,-0.00134788, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([8.7831589 , 0.14576894, 8.78194919, 0.14576894, 7.54949515,
       0.02047722, 8.78194919, 0.02047722, 8.782819  , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00024908524728435577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.35725196e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.35725196e-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([ 0.03432431, -0.12797414,  0.06199442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80970806e-04,-5.66531568e-03,-2.02538246e-03,-4.20688408e-04,
 -8.23191121e-03,-1.60781912e-02,-5.77815160e-03, 1.42615363e-03,
 -2.80058916e-03, 1.99426452e-04, 1.46101361e-04,-2.81528992e-05,
 -6.96349677e-05,-6.98629687e-05,-1.93072896e-05, 1.22669058e-04,
 -1.02261974e-01,-2.32697402e-02,-9.81228350e+00, 1.36094947e-02,
 -5.37831072e-02, 4.20918199e-02]


--- Step 2959 ---
qpos:
[-0.01554232, 0.89543834,-0.05940859, 0.93607893,-0.21828644, 0.83937338,
 -0.1096726 , 1.0400656 ,-0.03544138, 1.34090112,-0.020643  , 0.95612856,
  1.18440674, 0.00548723, 1.26930085, 0.04540834, 0.00320965,-0.09867264,
  0.14432405, 0.93085083,-0.01264796,-0.35574502,-0.08247571]

qacc:
[-1.08788211e+00,-2.12795894e+01, 8.90165848e+00,-1.36594315e+01,
 -4.66219553e+01, 8.58072771e+00,-2.90107287e+02, 7.54352391e+02,
 -9.43475467e+00,-1.66343123e+00, 7.51858081e+00,-9.95241393e+00,
 -1.87961567e-02,-2.78119534e-01,-1.01565940e+01, 3.47605641e+01,
  2.87261183e-01, 3.16594598e+00,-1.25938566e+00, 3.04414183e+01,
 -6.41011507e+01, 1.01447553e+02]

qfrc_actuator:
[ 0.0069459 , 0.17215585, 0.03906119, 0.00859495, 0.21464981, 0.36957448,
  0.09124892,-0.09902139, 0.04881578, 0.03218546, 0.00780125, 0.00037402,
  0.01618956,-0.00161944, 0.        ,-0.00118276, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([9.03981486, 0.12508984, 9.03894934, 0.12508984, 7.82977682,
       0.01674569, 9.03894934, 0.01674569, 9.03958312, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0002936669984802964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.54426643e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.54426643e-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([ 0.03415744, -0.12798325,  0.0619934 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15699970e-04,-5.61249597e-03,-2.05702611e-03,-3.84367227e-04,
 -8.10117771e-03,-1.55620810e-02,-5.58491402e-03, 1.45317978e-03,
 -2.72408879e-03, 1.50931989e-04, 8.68763062e-05,-5.26550646e-06,
 -7.18736825e-05,-4.07939542e-05, 2.50582149e-06, 1.68981991e-04,
 -1.09962622e-01,-2.84365407e-02,-9.79984551e+00, 1.20619789e-02,
 -5.31534105e-02, 4.25081142e-02]


--- Step 2960 ---
qpos:
[-0.01545274, 0.89834539,-0.05879744, 0.93620816,-0.21405195, 0.84632069,
 -0.10798011, 1.03808652,-0.03439413, 1.34084924,-0.02070571, 0.95610217,
  1.18479889, 0.00548657, 1.26943583, 0.0454123 , 0.00226477,-0.09871217,
  0.14399485, 0.92848801,-0.01207512,-0.36124301,-0.08525078]

qacc:
[-8.64480592e-01,-2.33699001e+01, 1.50230150e+01,-1.71256534e+01,
 -4.52931282e+01, 7.45741740e+00,-2.80845210e+02, 7.40286645e+02,
 -9.29321853e+00, 4.19656336e+00,-1.25441567e+01, 1.83110148e+01,
 -1.13046728e+00, 1.47757909e+00,-4.22554687e-01, 2.13014949e+00,
 -1.23096674e-01, 2.95255301e+00,-1.72160071e+00, 2.65906917e+01,
 -5.51684677e+01, 8.92411221e+01]

qfrc_actuator:
[ 0.00688567, 0.17012197, 0.03841061, 0.00845775, 0.21035293, 0.36427422,
  0.08952043,-0.09701974, 0.04774198, 0.03228488, 0.00779164, 0.00041174,
  0.01615765,-0.00156801, 0.        ,-0.00117583, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([9.2202657 , 0.09670694, 9.21975853, 0.09670694, 8.10033452,
       0.01174707, 9.21975853, 0.01174707, 9.22014249, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.000320185268551168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.08357482e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.08357482e-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([ 0.03402542, -0.12799851,  0.06199277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72710780e-04,-5.62275650e-03,-2.01718796e-03,-3.76397637e-04,
 -7.96945219e-03,-1.51364237e-02,-5.39351260e-03, 1.44418397e-03,
 -2.68309778e-03, 1.99983272e-04, 2.96584846e-05, 4.44548653e-05,
 -7.68161098e-05, 2.26429093e-05, 1.65048440e-05, 1.58901852e-05,
 -1.17354026e-01,-3.17931499e-02,-9.78911513e+00, 1.06222596e-02,
 -5.27598998e-02, 4.29418692e-02]


--- Step 2961 ---
qpos:
[-1.53649511e-02, 9.01209964e-01,-5.81985942e-02, 9.36334764e-01,
 -2.09900433e-01, 8.53153298e-01,-1.06323307e-01, 1.03614655e+00,
 -3.33684535e-02, 1.34079838e+00,-2.07673501e-02, 9.56077107e-01,
  1.18519012e+00, 5.48699003e-03, 1.26957072e+00, 4.54176742e-02,
  1.31815879e-03,-9.87406498e-02, 1.43657016e-01, 9.26063732e-01,
 -1.15235764e-02,-3.66816599e-01,-8.78564459e-02]

qacc:
[-8.97094450e-01,-2.69190935e+01, 2.57485055e+01,-2.49898070e+01,
 -4.40360510e+01, 1.46729826e+00,-2.58922928e+02, 7.14065190e+02,
 -9.12680600e+00, 7.37680919e-01,-3.45806972e+00, 1.76806892e+01,
 -1.31864629e+00, 1.93339164e+00,-4.29891465e+00, 1.51254926e+01,
 -4.33991435e-01, 2.76423685e+00,-2.15646423e+00, 2.35607040e+01,
 -4.81234788e+01, 7.94184213e+01]

qfrc_actuator:
[ 0.00679699, 0.16806585, 0.03781941, 0.00832536, 0.20614964, 0.35884598,
  0.08784687,-0.09506884, 0.04669197, 0.03232878, 0.00784663, 0.00047999,
  0.01612443,-0.00150179, 0.        ,-0.00110241, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([9.30425532e+00, 6.12924507e-02, 9.30405343e+00, 6.12924507e-02,
       8.40232344e+00, 5.94167001e-03, 9.30405343e+00, 5.94167001e-03,
       9.30421617e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       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: -0.0003315102690516769
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.67449266e-13, -1.04655791e-13,  1.00000000e+00,  1.75245354e-26,
        1.00000000e+00,  1.04655791e-13, -1.00000000e+00,  0.00000000e+00,
        1.67449266e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03392132, -0.12801887,  0.06199249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.80069624e-04,-5.64127562e-03,-1.95457641e-03,-3.70488069e-04,
 -7.84313360e-03,-1.49877012e-02,-5.23391801e-03, 1.40989509e-03,
 -2.63507417e-03, 1.61893914e-04, 9.87912257e-05, 7.59217360e-05,
 -6.59547492e-05, 5.50576051e-05, 3.81305436e-06, 7.51959225e-05,
 -1.24415301e-01,-3.38678245e-02,-9.77983571e+00, 9.30383357e-03,
 -5.25382877e-02, 4.33901618e-02]


--- Step 2962 ---
qpos:
[-1.52788030e-02, 9.04034705e-01,-5.76133556e-02, 9.36457981e-01,
 -2.05830335e-01, 8.59870728e-01,-1.04700766e-01, 1.03424631e+00,
 -3.23640701e-02, 1.34074783e+00,-2.08266636e-02, 9.56052707e-01,
  1.18558056e+00, 5.48804545e-03, 1.26970621e+00, 4.54188630e-02,
  3.68875441e-04,-9.87587349e-02, 1.43308938e-01, 9.23580387e-01,
 -1.09922283e-02,-3.72454931e-01,-9.03092725e-02]

qacc:
[-8.17424520e-01,-2.12475595e+01, 1.31094751e+01,-2.49063008e+01,
 -4.29485773e+01,-1.71867724e+00,-2.50746163e+02, 7.15691519e+02,
 -9.01131472e+00,-4.73621559e+00, 1.45931785e+01,-5.22819189e+00,
 -1.38786114e+00, 1.77225142e+00, 1.36996242e+01,-4.63039883e+01,
 -6.66983578e-01, 2.59779050e+00,-2.56155742e+00, 2.11870236e+01,
 -4.25817085e+01, 7.15055480e+01]

qfrc_actuator:
[ 0.00672749, 0.16629768, 0.03721478, 0.00816135, 0.20201683, 0.35327985,
  0.08620142,-0.09309252, 0.04564688, 0.0323216 , 0.0079569 , 0.00051241,
  0.01607449,-0.00148063, 0.        ,-0.00132765, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([9.29410582e+00, 1.95051412e-02, 9.29408535e+00, 1.95051412e-02,
       8.80409819e+00, 1.02836026e-03, 9.29408535e+00, 1.02836026e-03,
       9.29410366e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
       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: -0.0003301721404297825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.36255816e-13,  1.89143896e-13,  1.00000000e+00, -6.36007352e-26,
        1.00000000e+00, -1.89143896e-13, -1.00000000e+00,  0.00000000e+00,
        3.36255816e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03383956, -0.12804343,  0.06199248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64615905e-04,-5.34980314e-03,-1.96385195e-03,-4.00656498e-04,
 -7.74017752e-03,-1.50087944e-02,-5.15905402e-03, 1.44244858e-03,
 -2.60176227e-03, 1.04174404e-04, 1.55405705e-04, 4.17286090e-05,
 -6.96646392e-05, 2.20947382e-05, 5.46694976e-06,-2.21585409e-04,
 -1.31164962e-01,-3.50218426e-02,-9.77177586e+00, 8.10644927e-03,
 -5.24428152e-02, 4.38500145e-02]


--- Step 2963 ---
qpos:
[-1.51942726e-02, 9.06823607e-01,-5.70426191e-02, 9.36577657e-01,
 -2.01840385e-01, 8.66473091e-01,-1.03112457e-01, 1.03238443e+00,
 -3.13807282e-02, 1.34069850e+00,-2.08850200e-02, 9.56027835e-01,
  1.18597013e+00, 5.48975258e-03, 1.26984174e+00, 4.54173670e-02,
 -5.83765002e-04,-9.87670173e-02, 1.42949120e-01, 9.21039759e-01,
 -1.04800980e-02,-3.78149434e-01,-9.26225384e-02]

qacc:
[  -0.80670952, -13.88073813,  -4.23633136, -14.50609485, -42.02475735,
   -3.42172342,-242.57694363, 694.38372746,  -8.90436595,  -1.78874579,
    8.71742733, -13.74122231,  -1.31648597,   1.67624949,   8.29879993,
  -28.66049799,  -0.83927274,   2.45069554,  -2.93539109,  19.33715915,
  -38.24182898,  65.13178658]

qfrc_actuator:
[ 0.00665232, 0.16484089, 0.03660832, 0.00799794, 0.1979402 , 0.34771288,
  0.08455019,-0.09118822, 0.0446131 , 0.03240835, 0.00800988, 0.00048797,
  0.01602519,-0.00145099, 0.        ,-0.00146075, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 9.20735949e+00, -2.87136124e-02,  9.20731471e+00, -2.87136124e-02,
        9.39547098e+00,  5.86637986e-04,  9.20731471e+00,  5.86637986e-04,
        9.20736132e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0003183922590357796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.74348307e-13, -2.17935383e-14,  1.00000000e+00,  3.79966651e-27,
        1.00000000e+00,  2.17935383e-14, -1.00000000e+00,  0.00000000e+00,
        1.74348307e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03377566, -0.12807137,  0.06199272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62699577e-04,-4.87863835e-03,-1.91005030e-03,-3.92037468e-04,
 -7.66052723e-03,-1.50011798e-02,-5.15856735e-03, 1.37201413e-03,
 -2.57076402e-03, 1.76230739e-04, 9.22907690e-05,-1.59790362e-05,
 -7.94865259e-05, 2.03566469e-05,-2.81918972e-05,-1.46093131e-04,
 -1.37642303e-01,-3.55036658e-02,-9.76473321e+00, 7.02233576e-03,
 -5.24406585e-02, 4.43186176e-02]


--- Step 2964 ---
qpos:
[-0.01511173, 0.90957881,-0.05648483, 0.93669421,-0.19792934, 0.87296147,
 -0.10155809, 1.03056102,-0.03041786, 1.34065122,-0.0209438 , 0.95600217,
  1.18635927, 0.0054913 , 1.26997643, 0.04541961,-0.00154026,-0.09876602,
  0.14257619, 0.91844315,-0.00998636,-0.38389335,-0.09480687]

qacc:
[-9.90018507e-01,-1.45464437e+01, 4.61595781e-01,-1.50567320e+01,
 -4.11363874e+01,-2.36807841e+00,-2.44661999e+02, 6.97448016e+02,
 -8.66631075e+00, 2.45922294e+00,-3.17633855e+00,-7.64950696e+00,
  8.82455694e-02,-3.28625585e-01,-1.25457309e+01, 4.20573344e+01,
 -9.64450337e-01, 2.32079859e+00,-3.27762772e+00, 1.79050157e+01,
 -3.48665326e+01, 6.00042613e+01]

qfrc_actuator:
[ 0.00653886, 0.16342309, 0.03606036, 0.00785415, 0.19392858, 0.3422801 ,
  0.08294466,-0.08927064, 0.04362987, 0.03253265, 0.00799343, 0.00044804,
  0.01600293,-0.00146978, 0.        ,-0.00125436, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 9.0685181 , -0.08490063,  9.06812067, -0.08490063, 10.28745078,
        0.0114123 ,  9.06812067,  0.0114123 ,  9.06862495,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002981090047226298
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86210917e-13, -2.32763647e-14,  1.00000000e+00,  4.33431322e-27,
        1.00000000e+00,  2.32763647e-14, -1.00000000e+00,  0.00000000e+00,
        1.86210917e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.033726  , -0.12810199,  0.06199315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.00076382e-04,-4.56691059e-03,-1.75241991e-03,-3.56173930e-04,
 -7.58179583e-03,-1.48603278e-02,-5.11222304e-03, 1.38325332e-03,
 -2.50191414e-03, 2.39603080e-04, 2.80588306e-05,-3.25413358e-05,
 -5.80844005e-05,-3.07661650e-05,-3.32342828e-05, 1.93764909e-04,
 -1.43896370e-01,-3.54847241e-02,-9.75853430e+00, 6.03995174e-03,
 -5.25081100e-02, 4.47934281e-02]


--- Step 2965 ---
qpos:
[-0.0150314 , 0.91230104,-0.05593896, 0.93680736,-0.19409575, 0.87933673,
 -0.1000363 , 1.02877695,-0.02947498, 1.34060539,-0.02100133, 0.95597619,
  1.18674809, 0.00549216, 1.27011123, 0.04542155,-0.00250097,-0.09875619,
  0.14218891, 0.91579148,-0.00951033,-0.38968137,-0.09687073]

qacc:
[-1.09955276e+00,-1.68376806e+01, 9.65629280e+00,-2.65934057e+01,
 -4.01520584e+01,-3.39520018e+00,-2.41795926e+02, 7.05049196e+02,
 -8.45452477e+00,-1.98860980e+00, 9.40315538e+00,-1.26797642e+01,
  1.61520547e-01,-6.98885462e-01, 1.01532897e+00,-3.39451907e+00,
 -1.05315325e+00, 2.20614242e+00,-3.58902540e+00, 1.68060006e+01,
 -3.22679911e+01, 5.58893773e+01]

qfrc_actuator:
[ 0.00642122, 0.1619166 , 0.03551623, 0.00768762, 0.19000454, 0.33690179,
  0.08141547,-0.0873073 , 0.04266708, 0.03260715, 0.00806058, 0.00043482,
  0.01597559,-0.00151709, 0.        ,-0.00127569, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.90239098, -0.15300308,  8.90107607, -0.15300308, 11.62269468,
        0.04676006,  8.90107607,  0.04676006,  8.90319476,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002710014592992166
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.09674187e-13,  7.68139100e-14,  1.00000000e+00, -3.14686761e-26,
        1.00000000e+00, -7.68139100e-14, -1.00000000e+00,  0.00000000e+00,
        4.09674187e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03368765, -0.12813468,  0.06199374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.22973223e-04,-4.44994457e-03,-1.66810678e-03,-3.63907485e-04,
 -7.48007072e-03,-1.47143784e-02,-5.00205271e-03, 1.43397979e-03,
 -2.44081395e-03, 2.11822807e-04, 1.16246212e-04,-6.22164643e-06,
 -6.34872948e-05,-6.97341140e-05, 4.99803383e-06,-1.50739327e-05,
 -1.49979473e-01,-3.50833343e-02,-9.75303260e+00, 5.14622815e-03,
 -5.26279464e-02, 4.52722004e-02]


--- Step 2966 ---
qpos:
[-0.01495341, 0.9149899 ,-0.05540454, 0.93691838,-0.19033791, 0.88559889,
 -0.09854557, 1.02702837,-0.02855161, 1.34056039,-0.02105688, 0.95595199,
  1.18713632, 0.00549255, 1.27024584, 0.04542491,-0.00346614,-0.09873795,
  0.14178614, 0.91308534,-0.00905148,-0.39550939,-0.09882086]

qacc:
[-1.15957510e+00,-1.64844068e+01, 5.19400848e+00,-7.66474148e+00,
 -3.90639904e+01,-1.27540073e+01,-2.04244850e+02, 6.32373332e+02,
 -8.26033245e+00,-1.20793809e+00, 1.69002098e+00, 1.85241438e+01,
 -5.34094460e-02,-4.04217691e-01,-4.56975642e+00, 1.55427434e+01,
 -1.11362560e+00, 2.10489075e+00,-3.87123760e+00, 1.59728310e+01,
 -3.02967994e+01, 5.25992284e+01]

qfrc_actuator:
[ 0.00630207, 0.16029866, 0.03496081, 0.00757999, 0.1861809 , 0.33144111,
  0.07992654,-0.08554579, 0.04172423, 0.03263382, 0.00815865, 0.00052623,
  0.01593455,-0.0015454 , 0.        ,-0.00120032, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.73017944, -0.24091359,  8.72685474, -0.24091359, 13.60368053,
        0.13453789,  8.72685474,  0.13453789,  8.73389349,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023851258555512844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.90923596e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.90923596e-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([ 0.03365826, -0.12816893,  0.06199446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36027525e-04,-4.47932558e-03,-1.64674159e-03,-2.99115305e-04,
 -7.35348128e-03,-1.46888696e-02,-4.91875694e-03, 1.23996308e-03,
 -2.38474876e-03, 1.66614546e-04, 1.52533211e-04, 1.00784047e-04,
 -8.90341699e-05,-6.35001614e-05,-3.52951916e-06, 7.42263654e-05,
 -1.55943457e-01,-3.43808742e-02,-9.74810566e+00, 4.32788723e-03,
 -5.27875971e-02, 4.57529804e-02]


--- Step 2967 ---
qpos:
[-0.01487764, 0.91764325,-0.05488019, 0.9370288 ,-0.18665432, 0.89174867,
 -0.09708596, 1.02531329,-0.02764719, 1.34051608,-0.02111068, 0.95592979,
  1.18752375, 0.00549285, 1.27038019, 0.0454308 ,-0.00443591,-0.09871164,
  0.14136686, 0.91032504,-0.00860941,-0.40137421,-0.10066255]

qacc:
[-1.09848446e+00,-2.05317211e+01, 1.17307396e+01, 6.00490501e+00,
 -3.80885162e+01,-1.44247795e+01,-1.93989709e+02, 6.01797278e+02,
 -8.01659629e+00,-3.47095985e-01,-1.80381821e+00, 2.41610109e+01,
 -3.85414776e-01, 1.63847143e-01,-8.02645400e+00, 2.75910948e+01,
 -1.15219446e+00, 2.01530466e+00,-4.12656146e+00, 1.53520330e+01,
 -2.88335519e+01, 4.99815779e+01]

qfrc_actuator:
[ 0.00620079, 0.15846765, 0.03443841, 0.0075433 , 0.18242903, 0.32602949,
  0.07843777,-0.08388175, 0.04081864, 0.03264956, 0.00823851, 0.00062519,
  0.01589599,-0.00154451, 0.        ,-0.00106853, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.56803405, -0.3636502 ,  8.56031343, -0.3636502 , 16.55446254,
        0.33927102,  8.56031343,  0.33927102,  8.58244661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002018723106698983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.43726878e-13,  4.12472253e-13,  1.00000000e+00, -1.41777800e-25,
        1.00000000e+00, -4.12472253e-13, -1.00000000e+00,  0.00000000e+00,
        3.43726878e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03363589, -0.1282043 ,  0.06199529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24845217e-04,-4.70139435e-03,-1.61474604e-03,-2.26919804e-04,
 -7.24224306e-03,-1.46110414e-02,-4.90875622e-03, 1.14033853e-03,
 -2.31434146e-03, 1.40944843e-04, 1.32758043e-04, 1.10557013e-04,
 -9.77601154e-05,-3.84950231e-05, 2.93689907e-06, 1.34652154e-04,
 -1.61837650e-01,-3.34328388e-02,-9.74365217e+00, 3.57219101e-03,
 -5.29778591e-02, 4.62340809e-02]


--- Step 2968 ---
qpos:
[-0.01480357, 0.92025865,-0.05436504, 0.93713849,-0.18304355, 0.89778683,
 -0.09565705, 1.02363164,-0.02676127, 1.34047305,-0.02116351, 0.95590755,
  1.18791023, 0.00549362, 1.27051502, 0.0454342 ,-0.00541038,-0.09867759,
  0.14093015, 0.90751068,-0.00818388,-0.40727341,-0.10239997]

qacc:
[  -0.83511199, -26.17708826,  26.55028526,  -6.576399  , -37.17179402,
  -14.47351635,-192.62274978, 599.91213078,  -7.83174138,  -1.00156841,
    5.39809347,  -5.94401375,  -1.27389979,   1.48942423,   8.36582367,
  -27.95379343,  -1.17366638,   1.93574368,  -4.35769116,  14.90107596,
  -27.78240052,  47.91238942]

qfrc_actuator:
[ 0.00614656, 0.15647104, 0.03393902, 0.00749522, 0.17874903, 0.32067407,
  0.07697933,-0.0822174 , 0.03992489, 0.03272958, 0.00828915, 0.00062124,
  0.01585895,-0.00150854, 0.        ,-0.00120636, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.42720413, -0.55092515,  8.40917659, -0.55092515, 21.05959171,
        0.82760778,  8.40917659,  0.82760778,  8.48142466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001621203618888123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.03361897, -0.1282404 ,  0.06199619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72360645e-04,-4.98028372e-03,-1.62909937e-03,-2.42442368e-04,
 -7.13707710e-03,-1.45086915e-02,-4.86399648e-03, 1.14024590e-03,
 -2.26090555e-03, 1.87470731e-04, 9.65692308e-05, 6.53391894e-06,
 -9.44521836e-05, 1.78076472e-06, 1.22627182e-05,-1.30859165e-04,
 -1.67707825e-01,-3.22764773e-02,-9.73958898e+00, 2.86733646e-03,
 -5.31919854e-02, 4.67140511e-02]


--- Step 2969 ---
qpos:
[-0.01473083, 0.92283454,-0.0538593 , 0.93724661,-0.17950423, 0.90371474,
 -0.09425823, 1.02198275,-0.02589363, 1.34043167,-0.02121598, 0.95588371,
  1.18829603, 0.0054945 , 1.27065015, 0.04543395,-0.00638958,-0.09863608,
  0.14047517, 0.90464217,-0.00777474,-0.4132052 ,-0.10403632]

qacc:
[  -0.6500592 , -29.11765311,  35.43966838, -23.05642245, -36.29218007,
  -15.1796452 ,-187.0016952 , 587.49411064,  -7.73482012,  -1.60555077,
   11.03154098, -29.01731309,  -0.90072011,   0.91178772,  11.59997724,
  -39.74185934,  -1.18165296,   1.86467553,  -4.56750564,  14.58606326,
  -27.0661019 ,  46.29017582]

qfrc_actuator:
[ 0.00610316, 0.1544272 , 0.03343885, 0.00740519, 0.17514041, 0.31543208,
  0.07556889,-0.08058394, 0.03902762, 0.03281178, 0.00830458, 0.00053903,
  0.01582818,-0.0015053 , 0.        ,-0.00139545, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.31492863, -0.86783849,  8.26951597, -0.86783849, 28.30761885,
        2.09811869,  8.26951597,  2.09811869,  8.53511421,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012012847487802292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15524548e-13,  2.31049097e-13,  1.00000000e+00, -2.66918426e-26,
        1.00000000e+00, -2.31049097e-13, -1.00000000e+00,  0.00000000e+00,
        1.15524548e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03360624, -0.12827692,  0.06199716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35296602e-04,-5.18403215e-03,-1.68620557e-03,-2.93662588e-04,
 -7.03420003e-03,-1.43259223e-02,-4.79017624e-03, 1.11296854e-03,
 -2.23286874e-03, 2.05234509e-04, 6.32783136e-05,-7.38359035e-05,
 -7.77222144e-05,-1.80188532e-05,-1.50964611e-05,-1.96168267e-04,
 -1.73595788e-01,-3.09361165e-02,-9.73584849e+00, 2.20263261e-03,
 -5.34250344e-02, 4.71916429e-02]


--- Step 2970 ---
qpos:
[-0.01465933, 0.92536939,-0.05336301, 0.9373537 ,-0.176035  , 0.90953441,
 -0.0928896 , 1.02036735,-0.02504395, 1.34039089,-0.0212675 , 0.95585947,
  1.18868135, 0.00549492, 1.27078503, 0.04543275,-0.00737349,-0.09858737,
  0.14000116, 0.90171924,-0.00738199,-0.41916826,-0.10557407]

qacc:
[-6.09958919e-01,-3.01025774e+01, 3.50872935e+01,-1.55223380e+01,
 -3.54420867e+01,-1.10360215e+01,-1.98782830e+02, 6.04509188e+02,
 -7.59837361e+00,-2.45188520e+00, 9.75994610e+00,-1.34189486e+01,
 -1.51422898e-01,-2.41611454e-01, 2.46543911e+00,-9.16404341e+00,
 -1.17883449e+00, 1.80068622e+00,-4.75890166e+00, 1.43798948e+01,
 -2.66221878e+01, 4.50316525e+01]

qfrc_actuator:
[ 0.00604881, 0.15231852, 0.03294209, 0.00734436, 0.17160237, 0.31031917,
  0.07416339,-0.0789107 , 0.03815317, 0.03278791, 0.0083346 , 0.00051795,
  0.01579587,-0.00153927, 0.        ,-0.00143559, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.23550486, -1.48351794,  8.10078483, -1.48351794, 40.99726107,
        5.99974622,  8.10078483,  5.99974622,  9.3342541 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.662156673396425e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.81121170e-13,  1.44896936e-12,  1.00000000e+00, -2.62439026e-25,
        1.00000000e+00, -1.44896936e-12, -1.00000000e+00,  0.00000000e+00,
        1.81121170e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03359666, -0.1283136 ,  0.06199818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27661754e-04,-5.37330118e-03,-1.73031670e-03,-2.73474715e-04,
 -6.93232415e-03,-1.40783510e-02,-4.74134494e-03, 1.15884521e-03,
 -2.19349632e-03, 1.00108197e-04, 7.52047801e-05,-1.50231365e-05,
 -7.61799962e-05,-5.68666015e-05,-3.34014365e-05,-5.40306223e-05,
 -1.79539326e-01,-2.94269047e-02,-9.73237628e+00, 1.56854532e-03,
 -5.36733994e-02, 4.76657804e-02]


--- Step 2971 ---
qpos:
[-0.01458911, 0.92786224,-0.05287656, 0.93745939,-0.17263471, 0.91524674,
 -0.09155036, 1.01878466,-0.02421171, 1.3403504 ,-0.02131784, 0.95583622,
  1.18906617, 0.00549473, 1.27091946, 0.04543304,-0.00836207,-0.09853169,
  0.13950741, 0.89874148,-0.00700568,-0.42516167,-0.10701506]

qacc:
[-6.18811732e-01,-3.08913834e+01, 3.68984257e+01,-2.07484920e+01,
 -3.47058204e+01,-1.29312911e+01,-1.89839695e+02, 5.88509265e+02,
 -7.38463784e+00,-1.07963660e+00, 1.98701338e+00, 9.46927895e+00,
  1.24809735e-01,-6.73414222e-01,-5.17631743e+00, 1.70889392e+01,
 -1.16717098e+00, 1.74248675e+00,-4.93467229e+00, 1.42608168e+01,
 -2.63999842e+01, 4.40683413e+01]

qfrc_actuator:
[ 0.00598836, 0.15018826, 0.03243344, 0.00726565, 0.16811616, 0.30518378,
  0.072773  ,-0.07728069, 0.03731715, 0.03278953, 0.00839041, 0.00056849,
  0.01576264,-0.00157731, 0.        ,-0.00135211, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.19125234, -2.96760059,  7.63478628, -2.96760059, 64.22823656,
       21.78127601,  7.63478628, 21.78127601, 16.6575178 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.2197535186739845e-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([ 0.03358938, -0.12835022,  0.06199923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29968549e-04,-5.50648555e-03,-1.78331154e-03,-2.97914566e-04,
 -6.84872165e-03,-1.39492977e-02,-4.67051501e-03, 1.12464280e-03,
 -2.13177591e-03, 7.15352172e-05, 8.35333239e-05, 5.52105885e-05,
 -8.53032305e-05,-7.20772756e-05,-2.39754570e-05, 7.56066280e-05,
 -1.85572379e-01,-2.77574654e-02,-9.72912909e+00, 9.56664206e-04,
 -5.39344671e-02, 4.81355316e-02]


--- Step 2972 ---
qpos:
[-0.01452019, 0.93031324,-0.05240086, 0.9375627 ,-0.16930225, 0.92085351,
 -0.09024007, 1.01723281,-0.02339653, 1.34031048,-0.02136696, 0.95581407,
  1.18945006, 0.00549506, 1.27105391, 0.04543294,-0.00935124,-0.09847592,
  0.13897458, 0.89572171,-0.00661157,-0.43113588,-0.10844701]

qacc:
[-6.38167995e-01,-2.99220384e+01, 3.60597786e+01,-3.15357494e+01,
 -3.39979167e+01,-1.44744706e+01,-1.78526017e+02, 5.57567800e+02,
 -7.21688509e+00,-6.66950894e-01, 8.82141430e-01, 1.15375111e+01,
 -1.09257533e+00, 1.32195082e+00, 1.29455528e+00,-4.25095400e+00,
 -1.48028959e-01, 2.21686307e-02,-9.77040550e+00, 8.74702429e+00,
  6.18209895e-01,-1.90329215e+00]

qfrc_actuator:
[ 0.00592476, 0.14813345, 0.03190408, 0.00714148, 0.16468793, 0.30018382,
  0.07142071,-0.07574249, 0.03649311, 0.03284204, 0.00846108, 0.00062528,
  0.0157342 ,-0.00152867, 0.        ,-0.00137405, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.34313314e-04,-5.51473159e-03,-1.83644724e-03,-3.49502844e-04,
 -6.76678325e-03,-1.37260749e-02,-4.59951926e-03, 1.03717707e-03,
 -2.08331386e-03, 1.10329769e-04, 9.58263761e-05, 6.24883022e-05,
 -8.80928114e-05, 7.73714714e-06,-5.07760341e-06,-2.13361118e-05,
 -1.91725315e-01,-2.59317911e-02,-9.72607307e+00, 3.59626500e-04,
 -5.42063665e-02, 4.86000831e-02]


--- Step 2973 ---
qpos:
[-0.01445262, 0.93272401,-0.05193628, 0.9376633 ,-0.16603631, 0.92635954,
 -0.08895952, 1.01571302,-0.0225982 , 1.34027093,-0.021415  , 0.9557921 ,
  1.18983305, 0.00549615, 1.27118828, 0.04543291,-0.010341  ,-0.09842006,
  0.13840265, 0.89266008,-0.00619963,-0.43709058,-0.10986981]

qacc:
[-6.54067199e-01,-2.73199665e+01, 3.08642183e+01,-3.21415384e+01,
 -3.32062739e+01,-4.12432497e+00,-2.06899090e+02, 5.91673880e+02,
 -7.13156923e+00,-2.10623465e+00, 7.07523599e+00,-4.22711535e+00,
 -1.21020458e+00, 1.60995533e+00,-2.08537494e-01, 8.15707369e-01,
 -1.47916366e-01, 2.23515467e-02,-9.77226634e+00, 8.76716874e+00,
  6.47161290e-01,-1.94917110e+00]

qfrc_actuator:
[ 0.00585982, 0.14628257, 0.03140262, 0.00700933, 0.16133871, 0.29562581,
  0.07010258,-0.07412858, 0.0356651 , 0.0328359 , 0.00850464, 0.00063205,
  0.01569804,-0.00148218, 0.        ,-0.00136918, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.37876011e-04,-5.32623883e-03,-1.81731272e-03,-3.60442254e-04,
 -6.66393652e-03,-1.31459696e-02,-4.51568225e-03, 1.11872860e-03,
 -2.05866506e-03, 7.57610455e-05, 7.78977223e-05, 1.41467967e-05,
 -7.84810968e-05, 2.84744057e-05,-9.32771972e-06, 2.02010129e-06,
 -1.92194139e-01,-2.57826672e-02,-9.72808503e+00, 1.27464625e-03,
 -5.44514315e-02, 4.91177182e-02]


--- Step 2974 ---
qpos:
[-0.01438641, 0.93509678,-0.05148254, 0.93776067,-0.16283537, 0.93176932,
 -0.0877078 , 1.01422449,-0.02181642, 1.34023204,-0.02146224, 0.95577037,
  1.19021543, 0.00549731, 1.27132248, 0.04543359,-0.01133136,-0.09836412,
  0.13779164, 0.88955672,-0.00576981,-0.44302547,-0.11128332]

qacc:
[-6.62585695e-01,-2.60535183e+01, 3.13522603e+01,-4.00421973e+01,
 -3.23200639e+01,-1.76152173e+00,-2.06090876e+02, 5.79789604e+02,
 -7.00512767e+00,-8.74554819e-01, 3.42457911e+00,-6.40167753e-01,
 -4.51731176e-01, 3.89634798e-01,-2.35237365e+00, 7.96089727e+00,
 -1.47773531e-01, 2.25334973e-02,-9.77412056e+00, 8.78770801e+00,
  6.76334769e-01,-1.99508496e+00]

qfrc_actuator:
[ 0.00579463, 0.14460467, 0.03094034, 0.00685592, 0.15808046, 0.29129936,
  0.06883508,-0.0725538 , 0.03485907, 0.03288333, 0.00854934, 0.00064478,
  0.01566261,-0.00149069, 0.        ,-0.00133079, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.39944132e-04,-5.04441505e-03,-1.73895708e-03,-3.75606459e-04,
 -6.53838843e-03,-1.25716158e-02,-4.33987495e-03, 1.10009714e-03,
 -2.02211759e-03, 1.05276288e-04, 6.88413813e-05, 1.74429482e-05,
 -6.80800004e-05,-1.81639354e-05,-8.34490227e-06, 3.63862958e-05,
 -1.92638266e-01,-2.56380701e-02,-9.73009511e+00, 2.20100341e-03,
 -5.46849198e-02, 4.96266609e-02]


--- Step 2975 ---
qpos:
[-0.01432226, 0.93743422,-0.05103937, 0.93785523,-0.15969794, 0.9370853 ,
 -0.08648283, 1.0127649 ,-0.02105071, 1.3401945 ,-0.02150894, 0.95574995,
  1.19059727, 0.00549841, 1.27145669, 0.04543403,-0.01232859,-0.09829777,
  0.13717037, 0.8863876 ,-0.00538021,-0.44902328,-0.11254408]

qacc:
[-1.00495777e+00,-2.25583542e+01, 2.33349898e+01,-3.00371961e+01,
 -3.14474473e+01,-7.44928923e+00,-1.79366115e+02, 5.30690944e+02,
 -6.80104908e+00, 2.56284570e+00,-8.86007808e+00, 2.19241772e+01,
 -4.22886960e-01, 2.94139617e-01, 7.52641207e-01,-2.53881362e+00,
 -1.72049262e+00, 2.59967304e+00,-2.56250989e+00, 1.92575344e+01,
 -4.52296085e+01, 7.30133490e+01]

qfrc_actuator:
[ 0.00565884, 0.1430977 , 0.03050573, 0.00672687, 0.1549019 , 0.28697014,
  0.0676267 ,-0.07110329, 0.03409042, 0.03299795, 0.00859458, 0.00071423,
  0.01563294,-0.0014963 , 0.        ,-0.00134395, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.18380881,  0.33439178, -8.17697431,  0.33439178, 41.51249535,
        1.36295388, -8.17697431,  1.36295388,  8.23954588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4795994819238878e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.56559534e-12,  1.87588438e-12,  1.00000000e+00, -1.23162978e-23,
        1.00000000e+00, -1.87588438e-12, -1.00000000e+00,  0.00000000e+00,
        6.56559534e-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([ 0.03343395, -0.12842253,  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:
[-2.11610945e-04,-4.70158199e-03,-1.64724247e-03,-3.40693739e-04,
 -6.41193137e-03,-1.22199893e-02,-4.14923684e-03, 9.96383807e-04,
 -1.96314231e-03, 1.87123120e-04, 7.42056593e-05, 7.48394394e-05,
 -6.79209429e-05,-2.66438781e-05,-3.41893915e-06,-1.30083368e-05,
 -1.93057792e-01,-2.54980084e-02,-9.73210289e+00, 3.13851472e-03,
 -5.49067310e-02, 5.01267904e-02]


--- Step 2976 ---
qpos:
[-0.0142604 , 0.93974471,-0.05060923, 0.93794828,-0.15662274, 0.94231028,
 -0.08528373, 1.01133533,-0.02030041, 1.34015851,-0.02155545, 0.95573052,
  1.19097863, 0.00549899, 1.27159077, 0.04543498,-0.01333225,-0.09822182,
  0.13653648, 0.8831528 ,-0.00502783,-0.45507895,-0.11366177]

qacc:
[-1.12289516e+00,-2.83781801e+00,-3.04205229e+01, 2.59752247e+01,
 -3.07082698e+01,-4.37039463e+00,-1.87162722e+02, 5.47990648e+02,
 -6.52002936e+00, 3.25835536e+00,-1.01305783e+01, 1.91847048e+01,
 -1.36062285e-03,-4.58555199e-01,-1.71648732e+00, 5.69817850e+00,
 -1.60432879e+00, 2.39919839e+00,-3.15356972e+00, 1.87067344e+01,
 -4.28657085e+01, 6.79071001e+01]

qfrc_actuator:
[ 0.00553519, 0.14236264, 0.03007404, 0.00668432, 0.15177788, 0.28278181,
  0.06646324,-0.0695955 , 0.03336809, 0.03308094, 0.00860457, 0.00076328,
  0.0155961 ,-0.00153557, 0.        ,-0.00131638, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.192827  , -3.1992376 ,  7.54236654, -3.1992376 , 50.16809719,
       17.80460573,  7.54236654, 17.80460573, 15.74498768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4777942126196226e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.99039936e-13, -1.59615974e-12,  1.00000000e+00, -6.36931483e-25,
        1.00000000e+00,  1.59615974e-12, -1.00000000e+00,  0.00000000e+00,
       -3.99039936e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03337308, -0.12842837,  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:
[-2.35958366e-04,-3.71988546e-03,-1.56535609e-03,-2.40234762e-04,
 -6.30884138e-03,-1.18475244e-02,-4.01681119e-03, 1.06623835e-03,
 -1.88198062e-03, 2.03490897e-04, 5.72308230e-05, 5.83584974e-05,
 -7.70715725e-05,-6.27494837e-05,-7.09270912e-06, 2.55024176e-05,
 -2.03568463e-01,-2.22215586e-02,-9.72615663e+00, 1.59522602e-03,
 -5.51906891e-02, 5.05122873e-02]


--- Step 2977 ---
qpos:
[-0.01420054, 0.94203721,-0.05019234, 0.93803897,-0.15360862, 0.94744719,
 -0.08411054, 1.00993452,-0.01956513, 1.34012321,-0.02160139, 0.95571119,
  1.19135955, 0.00549864, 1.27172474, 0.04543656,-0.01434384,-0.09813492,
  0.13589483, 0.87985057,-0.00472836,-0.46119748,-0.11461893]

qacc:
[-9.73474464e-01, 8.06711511e+00,-4.99504530e+01, 2.69241458e+01,
 -3.00261602e+01,-2.21343572e+00,-1.87187459e+02, 5.32421937e+02,
 -6.36058744e+00,-4.77676167e-01, 2.42153806e+00,-1.31957048e+00,
  2.88855949e-01,-1.03287629e+00,-2.14794184e+00, 7.16801921e+00,
 -1.98509335e+00, 2.74047494e+00,-1.94338877e+00, 1.65664123e+01,
 -4.65170079e+01, 7.89410559e+01]

qfrc_actuator:
[ 0.00545539, 0.1421675 , 0.02966854, 0.00660471, 0.14871074, 0.27871274,
  0.06528329,-0.06815475, 0.03264382, 0.03305543, 0.00861131, 0.00076439,
  0.01556029,-0.00159456, 0.        ,-0.00128276, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.22094763, -7.19313776,  3.98029512, -7.19313776, 24.88785258,
       30.12021467,  3.98029512, 30.12021467, 62.6538093 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.546596582207576e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.17977157e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.17977157e-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([ 0.03015257, -0.12784604,  0.06199836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04555726e-04,-2.61671874e-03,-1.33429545e-03,-2.42625738e-04,
 -6.21418409e-03,-1.14914086e-02,-3.94335310e-03, 1.01487624e-03,
 -1.83598468e-03, 1.00242012e-04, 5.47602539e-05, 1.00175539e-05,
 -8.90209593e-05,-9.52862903e-05,-3.97135899e-06, 3.33371281e-05,
 -2.13870683e-01,-1.87025717e-02,-9.72086247e+00, 1.64210588e-04,
 -5.54995739e-02, 5.08969730e-02]


--- Step 2978 ---
qpos:
[-0.01414277, 0.94431467,-0.04978582, 0.93812761,-0.15065445, 0.95249893,
 -0.08296377, 1.00856043,-0.01884492, 1.3400876 ,-0.02164612, 0.95569139,
  1.19173972, 0.00549807, 1.27185883, 0.04543719,-0.01536261,-0.09803796,
  0.1352425 , 0.8764805 ,-0.00447669,-0.46737411,-0.11542679]

qacc:
[-1.01944232e+00, 4.68835797e+00,-3.48570114e+01, 1.55615116e+01,
 -2.93704893e+01,-1.14831166e-01,-1.85522303e+02, 5.06439081e+02,
 -6.37329748e+00,-4.46780324e+00, 1.50553699e+01,-1.83556345e+01,
 -5.27510967e-01, 2.59127353e-01, 3.12360155e+00,-1.05710841e+01,
 -1.79479255e+00, 2.51368917e+00,-2.66788988e+00, 1.65720311e+01,
 -4.42970839e+01, 7.26722965e+01]

qfrc_actuator:
[ 0.00534926, 0.14176556, 0.02928419, 0.00652208, 0.14570145, 0.27476646,
  0.06406833,-0.06681825, 0.03188866, 0.03298282, 0.00865114, 0.00073722,
  0.01553044,-0.00159375, 0.        ,-0.00133462, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.26477012,  2.79184501, -7.77894765,  2.79184501, 36.04321481,
        9.96961486, -7.77894765,  9.96961486, 11.84284015,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.509051400687085e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.83771702e-13,  2.18914388e-13,  1.00000000e+00, -1.27796025e-25,
        1.00000000e+00, -2.18914388e-13, -1.00000000e+00,  0.00000000e+00,
        5.83771702e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03009087, -0.12783946,  0.06199759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14917758e-04,-2.16718023e-03,-1.07059575e-03,-2.05331330e-04,
 -6.12197615e-03,-1.11560509e-02,-3.90163490e-03, 9.21386023e-04,
 -1.83969187e-03,-5.84911603e-06, 6.59946577e-05,-2.25121712e-05,
 -9.65885019e-05,-4.79224879e-05,-1.72762242e-06,-5.13193619e-05,
 -2.25859067e-01,-1.40082006e-02,-9.71508989e+00,-1.75430375e-03,
 -5.58931387e-02, 5.12728499e-02]


--- Step 2979 ---
qpos:
[-0.01408694, 0.94657695,-0.04938781, 0.93821589,-0.14775929, 0.95746798,
 -0.08184298, 1.00721264,-0.01813974, 1.34005144,-0.02168846, 0.95567206,
  1.19211895, 0.00549795, 1.27199299, 0.04543652,-0.01638784,-0.09793177,
  0.13457692, 0.87304202,-0.00426858,-0.47360467,-0.11609491]

qacc:
[  -0.94351809,   2.33354807, -31.01611664,  32.29901177, -28.81402492,
    1.40954627,-185.77904885, 500.52791319,  -6.3625207 ,  -6.38574218,
   18.96966724, -10.60252383,  -1.15215588,   1.33245177,   4.11983608,
  -14.02891281,  -1.61287383,   2.30737312,  -3.31183428,  16.52078488,
  -42.44648126,  67.35425709]

qfrc_actuator:
[ 0.00526372, 0.14110174, 0.02889719, 0.0065093 , 0.14273243, 0.27094392,
  0.06287875,-0.0655005 , 0.03113876, 0.03297143, 0.00878097, 0.00076463,
  0.01549356,-0.0015574 , 0.        ,-0.00140092, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.28905638,  1.43614501, -8.16369666,  1.43614501, 32.79676894,
        4.31135924, -8.16369666,  4.31135924,  9.04750409,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010797533831069517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05643815e-12,  4.49845845e-13,  1.00000000e+00, -9.25080158e-25,
        1.00000000e+00, -4.49845845e-13, -1.00000000e+00,  0.00000000e+00,
        2.05643815e-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([ 0.03003994, -0.12784063,  0.06199724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99704737e-04,-2.12686572e-03,-9.53884185e-04,-1.13233141e-04,
 -6.04782355e-03,-1.08387338e-02,-3.80833268e-03, 9.10936185e-04,
 -1.83660819e-03,-2.07275228e-06, 1.35605573e-04, 2.85041788e-05,
 -9.65227151e-05,-6.58314413e-08,-1.11503687e-05,-7.03982800e-05,
 -2.37542476e-01,-9.15851179e-03,-9.71002507e+00,-3.51144237e-03,
 -5.62969525e-02, 5.16460840e-02]


--- Step 2980 ---
qpos:
[-0.01403249, 0.94882344,-0.04899734, 0.93830336,-0.1449219 , 0.96235635,
 -0.08074692, 1.00589173,-0.01744921, 1.34001547,-0.02172914, 0.95565283,
  1.19249727, 0.00549824, 1.27212662, 0.04543872,-0.01741882,-0.0978171 ,
  0.13389581, 0.86953447,-0.00410058,-0.47988551,-0.11663141]

qacc:
[  -0.67462506,  -1.75615289, -17.67174222,  15.98591749, -28.10785444,
    1.75138072,-185.00691094, 505.9325334 ,  -6.20170461,  -4.05142138,
   13.31461365, -10.51026324,  -0.7293061 ,   0.83876551,  -9.42967929,
   31.99629011,  -1.43862478,   2.11932227,  -3.88506906,  16.43226243,
  -40.91766266,  62.83950853]

qfrc_actuator:
[ 0.00522673, 0.14034024, 0.02852865, 0.00646653, 0.13984611, 0.26720946,
  0.06175003,-0.06415101, 0.03043352, 0.03301491, 0.00887436, 0.00077076,
  0.0154525 ,-0.00153581, 0.        ,-0.00124437, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.28700737,  0.37515586, -8.27851129,  0.37515586, 28.3831177 ,
        0.91069194, -8.27851129,  0.91069194,  8.32827704,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010695072816205298
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03806963e-12,  4.54155462e-13,  1.00000000e+00, -4.71444991e-25,
        1.00000000e+00, -4.54155462e-13, -1.00000000e+00,  0.00000000e+00,
        1.03806963e-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([ 0.02999818, -0.12784812,  0.06199724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.43487504e-04,-2.17596561e-03,-9.11343923e-04,-1.36445951e-04,
 -5.93966955e-03,-1.05546388e-02,-3.67493714e-03, 9.53882230e-04,
 -1.79011645e-03, 6.99799484e-05, 1.09312593e-04, 1.05718005e-05,
 -8.96552650e-05,-5.90256448e-07,-1.75691042e-05, 1.50199058e-04,
 -2.48990368e-01,-4.19546442e-03,-9.70560635e+00,-5.12868706e-03,
 -5.67094693e-02, 5.20158520e-02]


--- Step 2981 ---
qpos:
[-0.01397904, 0.95105502,-0.04861491, 0.93838894,-0.14214129, 0.96716676,
 -0.07967548, 1.00459823,-0.01677299, 1.3399804 ,-0.02176895, 0.95563381,
  1.19287463, 0.00549931, 1.2722602 , 0.04544208,-0.01845488,-0.09769464,
  0.13319711, 0.86595705,-0.00396987,-0.48621346,-0.11704316]

qacc:
[-4.83367182e-01,-1.14450261e+00,-1.59838345e+01, 1.15826078e+00,
 -2.75486121e+01, 5.87545339e+00,-1.95161564e+02, 5.18666728e+02,
 -6.05599727e+00,-8.40553271e-01, 3.76656056e+00,-1.53929666e+00,
 -1.17171984e+00, 1.55358613e+00,-3.43045010e+00, 1.21617083e+01,
 -1.27145905e+00, 1.94770237e+00,-4.39573591e+00, 1.63215095e+01,
 -3.96728843e+01, 5.90107145e+01]

qfrc_actuator:
[ 0.00520135, 0.13968656, 0.02815586, 0.00637086, 0.13699627, 0.26362993,
  0.06063146,-0.06277582, 0.02974296, 0.03309077, 0.00892793, 0.00078208,
  0.0154143 ,-0.00148772, 0.        ,-0.00118856, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.26368663, -0.43377089, -8.2522942 , -0.43377089, 24.25765055,
       -0.84070149, -8.2522942 , -0.84070149,  8.30787699,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.447303271684082e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.34484085e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.34484085e-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([ 0.02996417, -0.12786074,  0.06199754])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03164551e-04,-2.08714307e-03,-9.20837056e-04,-1.90127285e-04,
 -5.85974676e-03,-1.02126492e-02,-3.59268093e-03, 9.92191429e-04,
 -1.74798350e-03, 1.36549282e-04, 8.00331633e-05, 1.66907194e-05,
 -8.29254651e-05, 2.71194984e-05, 5.60143103e-06, 6.12783222e-05,
 -2.60264988e-01, 8.55160811e-04,-9.70178076e+00,-6.62550636e-03,
 -5.71292969e-02, 5.23813139e-02]


--- Step 2982 ---
qpos:
[-0.01392632, 0.95327807,-0.04824356, 0.93847059,-0.13941675, 0.97190368,
 -0.07862876, 1.00333034,-0.01611077, 1.33994619,-0.02180725, 0.95561538,
  1.19325118, 0.00550117, 1.27239382, 0.04544575,-0.01949539,-0.09756502,
  0.13247901, 0.86230886,-0.00387419,-0.49258572,-0.117336  ]

qacc:
[-3.55430418e-01, 1.20527386e+01,-4.45941240e+01,-2.06759056e+00,
 -2.71131473e+01, 9.33187066e+00,-1.95893502e+02, 4.96564676e+02,
 -5.92014651e+00,-1.89964224e+00, 6.36119614e+00, 8.14212096e-01,
 -1.14308355e+00, 1.57404716e+00,-7.67773245e-01, 3.03380372e+00,
 -1.11071579e+00, 1.79081381e+00,-4.85102837e+00, 1.61999102e+01,
 -3.86804069e+01, 5.57708446e+01]

qfrc_actuator:
[ 0.00518309, 0.13968887, 0.02774853, 0.0061916 , 0.13417269, 0.26038595,
  0.05954651,-0.06148525, 0.02906672, 0.03314977, 0.00901097, 0.00081411,
  0.01538317,-0.001442  , 0.        ,-0.00117485, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.23008027, -1.05769072, -8.16183261, -1.05769072, 20.81054958,
       -1.63030122, -8.16183261, -1.63030122,  8.44135077,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.266907859093674e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.29166871e-12,  6.68403374e-13,  1.00000000e+00, -1.53175910e-24,
        1.00000000e+00, -6.68403374e-13, -1.00000000e+00,  0.00000000e+00,
        2.29166871e-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([ 0.02993665, -0.12787746,  0.06199809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.53864299e-05,-1.38501152e-03,-9.40443321e-04,-2.72506408e-04,
 -5.80383364e-03,-9.66829444e-03,-3.48158472e-03, 9.20374663e-04,
 -1.70877528e-03, 1.50965780e-04, 1.19358443e-04, 3.86655393e-05,
 -6.58794827e-05, 3.44435359e-05, 4.57290862e-06, 1.67803913e-05,
 -2.71423004e-01, 5.97945708e-03,-9.69850274e+00,-8.01967107e-03,
 -5.75552416e-02, 5.27416175e-02]


--- Step 2983 ---
qpos:
[-0.01387397, 0.95549768,-0.04788342, 0.93854972,-0.13674704, 0.97657226,
 -0.07760665, 1.0020885 ,-0.01546222, 1.33991354,-0.02184565, 0.95559715,
  1.19362726, 0.00550307, 1.2725271 , 0.04545223,-0.02053972,-0.09742881,
  0.13173987, 0.85858888,-0.00381171,-0.49899987,-0.11751485]

qacc:
[-1.86004563e-01, 2.13480751e+01,-6.98160804e+01, 3.27465563e+01,
 -2.64421375e+01, 1.65186133e+01,-2.12060130e+02, 5.11980769e+02,
 -5.79174982e+00, 2.66455723e+00,-6.61482334e+00, 7.08198812e+00,
 -1.58394473e-01, 7.75189274e-02,-9.01619137e+00, 3.08242251e+01,
 -9.55592347e-01, 1.64699952e+00,-5.25752613e+00, 1.60758381e+01,
 -3.79123396e+01, 5.30373395e+01]

qfrc_actuator:
[ 0.00518698, 0.13994231, 0.02734449, 0.00608924, 0.13144011, 0.25745875,
  0.05849168,-0.06016587, 0.02840448, 0.03323385, 0.0090042 , 0.00082259,
  0.01535631,-0.00145129, 0.        ,-0.00102627, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.19895353,  4.46146007,  6.87882352,  4.46146007, 14.56780615,
       -4.13070368,  6.87882352, -4.13070368, 10.87804094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.337444044574812e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.27981250e-12,  1.43978907e-12,  1.00000000e+00,  1.84266005e-24,
        1.00000000e+00, -1.43978907e-12, -1.00000000e+00,  0.00000000e+00,
       -1.27981250e-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([ 0.02991452, -0.12789741,  0.06199885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.89283753e-05,-7.51333193e-04,-8.04120322e-04,-1.76694124e-04,
 -5.69521960e-03,-9.02874102e-03,-3.33457338e-03, 9.66117956e-04,
 -1.67161268e-03, 1.92332262e-04, 3.74769442e-05, 1.72071208e-05,
 -5.15218841e-05,-1.43570057e-05,-8.11214543e-07, 1.49053205e-04,
 -2.82516377e-01, 1.11721359e-02,-9.69573345e+00,-9.32741684e-03,
 -5.79863166e-02, 5.30959053e-02]


--- Step 2984 ---
qpos:
[-0.01382186, 0.95771206,-0.04753138, 0.93862771,-0.13413102, 0.98117728,
 -0.07660875, 1.00087149,-0.01482721, 1.33988281,-0.02188485, 0.95557813,
  1.19400305, 0.00550421, 1.27266037, 0.04546009,-0.02158727,-0.09728654,
  0.13097825, 0.854796  ,-0.00378104,-0.5054538 ,-0.11758383]

qacc:
[-1.16805162e-01, 1.30381869e+01,-4.84454044e+01, 3.17961868e+01,
 -2.58070283e+01, 1.98791736e+01,-2.13050123e+02, 4.96118873e+02,
 -5.72996096e+00, 3.32608076e+00,-6.22159437e+00,-4.87738467e+00,
  3.61060732e-01,-9.73468297e-01,-4.23454225e+00, 1.46740743e+01,
 -8.05147463e-01, 1.51462688e+00,-5.62130993e+00, 1.59551848e+01,
 -3.73434880e+01, 5.07386603e+01]

qfrc_actuator:
[ 0.00518636, 0.13968792, 0.02694698, 0.0060332 , 0.12876559, 0.2547459 ,
  0.05744696,-0.05891089, 0.02773818, 0.03333192, 0.0089623 , 0.00078159,
  0.01532135,-0.00151091, 0.        ,-0.00095915, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.1824247 ,  3.79019025,  7.25165718,  3.79019025, 17.43584043,
       -4.83644017,  7.25165718, -4.83644017, 10.71026461,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.167795218935736e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35926893e-11,  1.10440600e-11,  1.00000000e+00, -1.50118476e-22,
        1.00000000e+00, -1.10440600e-11, -1.00000000e+00,  0.00000000e+00,
        1.35926893e-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([ 0.02989681, -0.12791986,  0.06199978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46502234e-05,-8.78506853e-04,-6.55019722e-04,-1.04908014e-04,
 -5.59199308e-03,-8.42852085e-03,-3.18166562e-03, 9.25204120e-04,
 -1.65372765e-03, 2.12573104e-04, 4.86173950e-07,-3.39432851e-05,
 -6.35598394e-05,-7.58736650e-05, 1.29902265e-05, 7.45830139e-05,
 -2.93592802e-01, 1.64340124e-02,-9.69344033e+00,-1.05635302e-02,
 -5.84217284e-02, 5.34433216e-02]


--- Step 2985 ---
qpos:
[-0.01377029, 0.9599179 ,-0.04718597, 0.938704  ,-0.13156755, 0.98572275,
 -0.0756335 , 0.999678  ,-0.01420549, 1.33985309,-0.02192424, 0.95555846,
  1.19437835, 0.00550471, 1.2727938 , 0.04546771,-0.02263602,-0.09714413,
  0.13017775, 0.85095475,-0.00374204,-0.5118794 ,-0.11764989]

qacc:
[-2.57931475e-01, 3.72014664e+00,-2.21234382e+01, 4.55059743e+00,
 -2.52025080e+01, 1.90459242e+01,-2.01577366e+02, 4.69765215e+02,
 -5.62172476e+00, 7.18715312e-01, 5.28037029e-01,-8.46208252e+00,
 -2.20068353e-02,-5.09475818e-01, 9.83904795e-01,-3.11618093e+00,
 -2.99859081e-01, 3.51224512e-02,-9.72067562e+00, 2.53965318e+00,
  3.70417965e-01,-3.64411666e+00]

qfrc_actuator:
[ 0.00514753, 0.13909648, 0.02655477, 0.00593355, 0.12614667, 0.25220193,
  0.05647099,-0.0577215 , 0.02709251, 0.03333089, 0.00893556, 0.00074732,
  0.01528686,-0.00154668, 0.        ,-0.00097611, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-5.55041107e-05,-1.25416161e-03,-6.55412386e-04,-1.46369024e-04,
 -5.49331666e-03,-7.89706593e-03,-2.97956346e-03, 8.80138257e-04,
 -1.62252420e-03, 1.15917863e-04, 1.39041683e-05,-2.88905825e-05,
 -8.35252376e-05,-7.30149854e-05, 1.02197602e-05,-1.20767579e-05,
 -3.04695930e-01, 2.17700533e-02,-9.69159680e+00,-1.17414053e-02,
 -5.88608510e-02, 5.37830189e-02]


--- Step 2986 ---
qpos:
[-0.01371961, 0.96211132,-0.04684519, 0.93877947,-0.12905542, 0.99021038,
 -0.07467915, 0.99850828,-0.01359675, 1.33982292,-0.02196226, 0.95553997,
  1.19475296, 0.00550522, 1.2729274 , 0.04547407,-0.02368597,-0.09700158,
  0.12933835, 0.84706535,-0.0036946 ,-0.51827629,-0.11771294]

qacc:
[-4.33382678e-01,-5.16234590e+00,-1.20744738e+00,-4.04978596e-01,
 -2.45421677e+01, 1.70918620e+01,-1.93117952e+02, 4.65005467e+02,
 -5.49674880e+00,-2.25140056e+00, 4.29981408e+00, 9.99381853e+00,
 -6.63220282e-01, 5.70830743e-01, 4.08333959e+00,-1.38043837e+01,
 -3.00490237e-01, 3.53634709e-02,-9.72537612e+00, 2.58176562e+00,
  3.77886126e-01,-3.65795448e+00]

qfrc_actuator:
[ 0.00508617, 0.13829047, 0.02625626, 0.00587977, 0.12359922, 0.24958546,
  0.05552665,-0.05652682, 0.0264644 , 0.0332528 , 0.00898865, 0.00080602,
  0.01526333,-0.00153246, 0.        ,-0.00104244, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-9.39908071e-05,-1.67759379e-03,-6.36394534e-04,-1.12869970e-04,
 -5.38044867e-03,-7.63567715e-03,-2.82256511e-03, 9.05255184e-04,
 -1.58653343e-03,-1.18264647e-05, 7.65231716e-05, 6.17279993e-05,
 -8.21820115e-05,-2.67162266e-05,-1.33365373e-06,-6.67626065e-05,
 -3.06003990e-01, 2.18277672e-02,-9.69613102e+00,-1.06587284e-02,
 -5.90833849e-02, 5.42391160e-02]


--- Step 2987 ---
qpos:
[-0.01367032, 0.96429226,-0.04651051, 0.93885384,-0.12659358, 0.9946404 ,
 -0.07374479, 0.99736169,-0.0130007 , 1.33979255,-0.02199907, 0.95552231,
  1.19512697, 0.00550537, 1.27306081, 0.04548092,-0.02473713,-0.09685889,
  0.12846003, 0.84312801,-0.00363862,-0.52464412,-0.1177729 ]

qacc:
[-6.67046056e-01,-1.82198142e+00,-1.15606541e+01, 5.01750117e+00,
 -2.39745464e+01, 1.40890914e+01,-1.81828041e+02, 4.48621914e+02,
 -5.36923996e+00,-2.09859435e+00, 4.84820989e+00, 5.50379096e+00,
 -2.03475793e-01,-1.60285643e-01,-1.76883137e+00, 5.79871185e+00,
 -3.01045223e-01, 3.55952010e-02,-9.73007524e+00, 2.62403678e+00,
  3.85478521e-01,-3.67202689e+00]

qfrc_actuator:
[ 0.00499412, 0.13766481, 0.02594363, 0.00581781, 0.12109671, 0.24684106,
  0.0545731 ,-0.05537415, 0.02585182, 0.03325378, 0.00905265, 0.00084793,
  0.01522512,-0.00155964, 0.        ,-0.00101302, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.44626891e-04,-1.72635431e-03,-7.30126228e-04,-1.32593307e-04,
 -5.28584687e-03,-7.58563185e-03,-2.76200574e-03, 8.75640368e-04,
 -1.54970449e-03, 1.15182036e-05, 7.22565163e-05, 4.51117187e-05,
 -8.57036116e-05,-5.39625849e-05,-1.27335534e-05, 2.44720878e-05,
 -3.07242181e-01, 2.18761095e-02,-9.70067465e+00,-9.56849821e-03,
 -5.92916913e-02, 5.46826657e-02]


--- Step 2988 ---
qpos:
[-0.01362215, 0.96646325,-0.04618374, 0.93892678,-0.12418103, 0.99901077,
 -0.07282862, 0.99623736,-0.01241675, 1.3397631 ,-0.02203556, 0.95550489,
  1.19550008, 0.00550532, 1.27319409, 0.04548839,-0.02578949,-0.09671605,
  0.12754277, 0.83914298,-0.00357398,-0.53098254,-0.11782967]

qacc:
[-5.41619573e-01, 5.79160609e+00,-3.17321976e+01, 1.71214649e+01,
 -2.34469982e+01, 5.37046970e+00,-1.55119687e+02, 4.18279860e+02,
 -5.12186681e+00, 7.21876255e-01,-1.38286327e+00, 3.37815641e+00,
 -5.30568850e-01, 2.33039286e-01,-1.99316831e+00, 6.79566470e+00,
 -3.01524198e-01, 3.58176389e-02,-9.73477170e+00, 2.66646904e+00,
  3.93197692e-01,-3.68633438e+00]

qfrc_actuator:
[ 0.00495551, 0.13734766, 0.02560809, 0.00575154, 0.11864062, 0.24384753,
  0.05365697,-0.05427329, 0.02528898, 0.0333554 , 0.00908729, 0.0008619 ,
  0.01516745,-0.00157579, 0.        ,-0.00098065, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.17447696e-04,-1.46337107e-03,-7.73661080e-04,-1.41540532e-04,
 -5.19844984e-03,-7.79408598e-03,-2.70831001e-03, 8.26069038e-04,
 -1.47822594e-03, 1.23748658e-04, 4.64932205e-05, 1.73383110e-05,
 -1.13205012e-04,-5.18485872e-05,-6.59907540e-06, 3.13099912e-05,
 -3.08410534e-01, 2.19150412e-02,-9.70522653e+00,-8.47091060e-03,
 -5.94857054e-02, 5.51135643e-02]


--- Step 2989 ---
qpos:
[-0.01357433, 0.96862468,-0.04586386, 0.93899797,-0.12181685, 1.00331822,
 -0.07192931, 0.99513497,-0.01184472, 1.33973507,-0.02207198, 0.95548911,
  1.19587227, 0.00550552, 1.27332741, 0.04549551,-0.02684332,-0.0965648 ,
  0.12661043, 0.835057  ,-0.00357399,-0.53741572,-0.11769188]

qacc:
[-1.62976663e-01, 3.08263779e+00,-2.15328824e+01, 4.08144015e+00,
 -2.29384335e+01,-2.88174370e+00,-1.32945099e+02, 3.98727585e+02,
 -5.04138958e+00, 4.55956858e+00,-1.59259854e+01, 3.19422976e+01,
 -9.33354890e-01, 9.63689015e-01, 1.19582155e+00,-3.92496342e+00,
 -3.65825187e-01, 2.10425877e+00,-3.76908952e+00, 2.99329520e+01,
 -7.07205535e+01, 9.26863738e+01]

qfrc_actuator:
[ 0.00498476, 0.13696955, 0.02529855, 0.00566571, 0.11623154, 0.24058759,
  0.0527695 ,-0.05319415, 0.0247072 , 0.03346312, 0.00910472, 0.00094811,
  0.01513545,-0.00154983, 0.        ,-0.00100009, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.2083517 , -0.76727697, -8.17241235, -0.76727697, 26.01591498,
       -1.67188495, -8.17241235, -1.67188495,  8.36531867,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.3946203554311456e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08702824e-12,  3.85878530e-13,  1.00000000e+00, -1.19121792e-24,
        1.00000000e+00, -3.85878530e-13, -1.00000000e+00,  0.00000000e+00,
        3.08702824e-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([ 0.02950097, -0.1278967 ,  0.06199845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.55340514e-05,-1.38722117e-03,-7.01223541e-04,-1.54587929e-04,
 -5.11351323e-03,-8.16463435e-03,-2.71503413e-03, 7.98400709e-04,
 -1.45494737e-03, 1.86047716e-04, 4.74508941e-05, 9.15089322e-05,
 -1.00674288e-04,-1.56201359e-05,-3.75925689e-06,-1.94778700e-05,
 -3.09509099e-01, 2.19445256e-02,-9.70978551e+00,-7.36616383e-03,
 -5.96653649e-02, 5.55317104e-02]


--- Step 2990 ---
qpos:
[-0.01352706, 0.97077502,-0.04555013, 0.93906735,-0.11950027, 1.00756052,
 -0.07104729, 0.99405583,-0.01128453, 1.33970805,-0.02210749, 0.95547414,
  1.19624367, 0.00550614, 1.27346081, 0.04550132,-0.02789815,-0.09640609,
  0.1256603 , 0.83087117,-0.00363323,-0.54393247,-0.11737702]

qacc:
[-2.70014344e-01,-1.06477343e+00,-1.04106373e+01,-4.82633082e+00,
 -2.25212610e+01,-2.53328265e+00,-1.40220199e+02, 4.21175038e+02,
 -5.01684175e+00, 2.44808562e-01,-7.97547107e-01, 9.26802726e+00,
 -9.95929548e-01, 1.18850565e+00, 4.15026447e+00,-1.41144240e+01,
 -2.50367061e-01, 1.86348670e+00,-4.44792429e+00, 2.75882007e+01,
 -6.55316243e+01, 8.38198892e+01]

qfrc_actuator:
[ 0.00494788, 0.13636316, 0.02497126, 0.00556904, 0.11385168, 0.2372482 ,
  0.05186965,-0.05204787, 0.02411871, 0.03350259, 0.00914746, 0.00098741,
  0.01511355,-0.00151674, 0.        ,-0.00106765, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.25361211, -2.39553683, -7.89832363, -2.39553683, 24.84353933,
       -5.03167298, -7.89832363, -5.03167298,  9.77970277,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.851809583218517e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.05505971e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.05505971e-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([ 0.02937953, -0.12787396,  0.06199743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.91660878e-05,-1.55917336e-03,-6.96045417e-04,-1.61286771e-04,
 -5.04703363e-03,-8.44891159e-03,-2.80050697e-03, 8.53671538e-04,
 -1.44790184e-03, 1.54637463e-04, 8.72092388e-05, 4.81920749e-05,
 -7.59211789e-05, 5.21297113e-06,-8.59309341e-06,-7.01671406e-05,
 -3.29742377e-01, 3.20587819e-02,-9.70413845e+00,-1.03367150e-02,
 -6.02494804e-02, 5.56900770e-02]


--- Step 2991 ---
qpos:
[-0.01348051, 0.97291333,-0.04524227, 0.93913619,-0.1172304 , 1.0117361 ,
 -0.0701828 , 0.99299806,-0.01073602, 1.33968151,-0.02214132, 0.95545872,
  1.19661448, 0.00550688, 1.27359461, 0.04550259,-0.0289534 ,-0.09624084,
  0.12468992, 0.82658609,-0.00374717,-0.55052321,-0.11689991]

qacc:
[-3.42669498e-01,-8.74266576e-01,-1.50852243e+01, 1.42276567e+01,
 -2.20428222e+01,-6.76711801e+00,-1.25293813e+02, 3.88733177e+02,
 -4.93839402e+00,-4.65902334e+00, 1.68297296e+01,-1.99896231e+01,
 -9.21948903e-01, 9.61014290e-01, 1.44296113e+01,-4.94289884e+01,
 -1.06225717e-01, 1.63578101e+00,-5.06201063e+00, 2.55638188e+01,
 -6.12320074e+01, 7.63217298e+01]

qfrc_actuator:
[ 0.00490718, 0.13574944, 0.02467083, 0.00553762, 0.1115257 , 0.23387078,
  0.05096955,-0.05099564, 0.02354865, 0.03350097, 0.00922226, 0.00096324,
  0.01508176,-0.00151514, 0.        ,-0.00130501, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.27944253, -2.86100444, -7.76941582, -2.86100444, 15.43979733,
       -2.63672422, -7.76941582, -2.63672422,  9.25038808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010307562435307727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07709561e-12,  4.71229329e-13,  1.00000000e+00, -5.07559042e-25,
        1.00000000e+00, -4.71229329e-13, -1.00000000e+00,  0.00000000e+00,
        1.07709561e-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([ 0.02928091, -0.12786155,  0.06199696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.52754315e-05,-1.66043491e-03,-7.02315873e-04,-1.01254705e-04,
 -4.96526857e-03,-8.65694333e-03,-2.86355897e-03, 7.49976038e-04,
 -1.42530420e-03, 1.02643211e-04, 1.16389472e-04,-1.60430506e-05,
 -6.87930254e-05,-1.42235503e-05,-1.62219934e-05,-2.43369104e-04,
 -3.49148615e-01, 4.20554024e-02,-9.69987928e+00,-1.30588184e-02,
 -6.08534351e-02, 5.58547895e-02]


--- Step 2992 ---
qpos:
[-0.01343478, 0.97503815,-0.04494043, 0.93920256,-0.11500612, 1.01584372,
 -0.06933599, 0.99196173,-0.01019893, 1.3396557 ,-0.02217461, 0.95544352,
  1.19698493, 0.00550735, 1.27372844, 0.04549998,-0.03000841,-0.09606991,
  0.12369708, 0.82220198,-0.00391202,-0.55717965,-0.11627312]

qacc:
[-3.88162298e-01,-5.66642291e+00, 2.19331031e+00,-2.19197440e+01,
 -2.14717866e+01,-7.88140199e+00,-1.23805929e+02, 3.89120098e+02,
 -4.83827178e+00,-1.53676442e-01, 1.23309989e+00, 9.01949507e-01,
 -4.04542668e-01, 1.98255533e-01, 1.17940982e+01,-4.11011188e+01,
  5.93731888e-02, 1.42078717e+00,-5.61621118e+00, 2.38109377e+01,
 -5.76736642e+01, 6.99659701e+01]

qfrc_actuator:
[ 0.00486458, 0.13499467, 0.02433545, 0.0054028 , 0.10926793, 0.23046266,
  0.05007646,-0.04993628, 0.02299422, 0.03352809, 0.00924417, 0.00097292,
  0.01506534,-0.0015323 , 0.        ,-0.00149846, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.27558409, -3.08690136, -7.67830268, -3.08690136, 11.28757042,
       -1.21090625, -7.67830268, -1.21090625,  8.76240368,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010103935907618267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.49401260e-13,  3.43375788e-13,  1.00000000e+00,  1.88651091e-25,
        1.00000000e+00, -3.43375788e-13, -1.00000000e+00,  0.00000000e+00,
       -5.49401260e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02920149, -0.1278577 ,  0.06199697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.55883071e-05,-1.85648053e-03,-7.55876204e-04,-2.06505250e-04,
 -4.86089556e-03,-8.81593926e-03,-2.90655493e-03, 7.46598845e-04,
 -1.39633790e-03, 1.06418543e-04, 5.47748570e-05, 1.56324022e-05,
 -5.50546521e-05,-3.67770619e-05,-3.92051371e-05,-2.10134204e-04,
 -3.67848326e-01, 5.18788087e-02,-9.69688584e+00,-1.55595128e-02,
 -6.14659487e-02, 5.60230829e-02]


--- Step 2993 ---
qpos:
[-0.01339059, 0.97714567,-0.04464366, 0.9392661 ,-0.1128265 , 1.01988297,
 -0.06850675, 0.99094667,-0.00967273, 1.33963059,-0.02220766, 0.95542891,
  1.19735481, 0.0055079 , 1.27386187, 0.04549671,-0.03106246,-0.0958941 ,
  0.12267978, 0.81771871,-0.00412466,-0.56389463,-0.11550734]

qacc:
[-7.36585288e-01,-1.37424767e+01, 2.32753382e+01,-4.19366161e+01,
 -2.09755249e+01,-8.86123278e+00,-1.20981344e+02, 3.85306543e+02,
 -4.60821958e+00, 1.30646009e+00,-4.34520903e+00, 1.02027535e+01,
 -5.31973331e-01, 5.00591661e-01, 1.47445138e+00,-5.93203401e+00,
  2.40767232e-01, 1.21811217e+00,-6.11488348e+00, 2.22899392e+01,
 -5.47403060e+01, 6.45741401e+01]

qfrc_actuator:
[ 0.0047502 , 0.133913  , 0.02399934, 0.00524358, 0.10705092, 0.22709956,
  0.04921249,-0.04888124, 0.02248908, 0.03355424, 0.00925256, 0.00100244,
  0.01503685,-0.00152486, 0.        ,-0.0015224 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.24861833, -3.22269953, -7.59301732, -3.22269953,  8.98314537,
       -0.31175485, -7.59301732, -0.31175485,  8.38093624,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.540735734402505e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.49957486e-13,  4.06223429e-13,  1.00000000e+00,  2.64027958e-25,
        1.00000000e+00, -4.06223429e-13, -1.00000000e+00,  0.00000000e+00,
       -6.49957486e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02913821, -0.12786086,  0.0619974 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62766682e-04,-2.30514842e-03,-8.04026105e-04,-2.40844561e-04,
 -4.77169342e-03,-8.86516631e-03,-2.91278677e-03, 7.36096505e-04,
 -1.32991827e-03, 9.64505196e-05, 3.59074164e-05, 3.45154792e-05,
 -6.58230188e-05,-1.55083844e-05,-4.42811707e-05,-4.13198437e-05,
 -3.85950857e-01, 6.15032670e-02,-9.69505337e+00,-1.78649600e-02,
 -6.20790897e-02, 5.61923595e-02]


--- Step 2994 ---
qpos:
[-0.01334806, 0.97923456,-0.04435264, 0.93932813,-0.11069064, 1.02385552,
 -0.06769553, 0.98995146,-0.00915712, 1.33960553,-0.02223926, 0.95541545,
  1.19772391, 0.00550885, 1.27399508, 0.04549277,-0.03211478,-0.09571419,
  0.12163622, 0.81313587,-0.00438249,-0.57066191,-0.11461164]

qacc:
[  -0.78612943, -11.49801497,  11.06283326, -15.19087153, -20.51647686,
   -7.70856962,-119.34357541, 366.94790469,  -4.47863502,  -1.86917641,
    3.86519207,   9.86439615,  -0.91787477,   1.07835833,   1.79276929,
   -6.51291739,   0.43375941,   1.02714488,  -6.56237483,  20.96801804,
  -52.33776437,  60.00043872]

qfrc_actuator:
[ 0.00466482, 0.13291069, 0.02368201, 0.00515984, 0.10487566, 0.22395083,
  0.04837296,-0.04789045, 0.02198206, 0.03354405, 0.00932392, 0.00106114,
  0.01499582,-0.00150292, 0.        ,-0.0015528 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.21336072, -3.31667956, -7.51391582, -3.31667956,  7.54788488,
        0.29374432, -7.51391582,  0.29374432,  8.08370053,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.8802060305701565e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88806824e-12,  1.18004265e-13,  1.00000000e+00, -2.22800105e-25,
        1.00000000e+00, -1.18004265e-13, -1.00000000e+00,  0.00000000e+00,
        1.88806824e-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([ 0.02908842, -0.12786973,  0.06199818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74106384e-04,-2.48404686e-03,-8.79396070e-04,-1.81172416e-04,
 -4.68922437e-03,-8.67747281e-03,-2.89841080e-03, 6.69738086e-04,
 -1.29257447e-03, 5.14703993e-05, 9.53516038e-05, 6.32924569e-05,
 -7.83281435e-05, 2.58121991e-06,-2.70255937e-05,-3.88238326e-05,
 -4.03555635e-01, 7.09233766e-02,-9.69429253e+00,-2.00001012e-02,
 -6.26873570e-02, 5.63601838e-02]


--- Step 2995 ---
qpos:
[-0.01330689, 0.9813049 ,-0.04406732, 0.93938939,-0.10859787, 1.02776386,
 -0.06690274, 0.9889758 ,-0.00865217, 1.33958098,-0.02226928, 0.95540205,
  1.1980922 , 0.00551012, 1.27412777, 0.04549146,-0.03316456,-0.09553089,
  0.12056482, 0.8084528 ,-0.0046834 ,-0.57747605,-0.11359376]

qacc:
[  -0.64894009, -10.29226241,   5.70311786,  -1.94752854, -20.15515916,
   -3.78127718,-127.57635066, 368.81714207,  -4.51515308,  -3.48766124,
   12.03512283,  -9.97111116,  -0.61382562,   0.67480408,  -8.71642402,
   29.47118265,   0.6354133 ,   0.84702746,  -6.96313398,  19.81746753,
  -50.38781189,  56.1226091 ]

qfrc_actuator:
[ 0.00461532, 0.13203527, 0.02341416, 0.00512119, 0.10272466, 0.22099192,
  0.04753781,-0.04690981, 0.02144244, 0.03360119, 0.00941401, 0.00106555,
  0.01495263,-0.00149037, 0.        ,-0.0014093 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.18684625,  7.11040579, -4.05790354,  7.11040579, 20.93675119,
       22.34084594, -4.05790354, 22.34084594, 47.33328693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3511323028711784e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.72207805e-12,  8.85389635e-13,  1.00000000e+00, -4.18087896e-24,
        1.00000000e+00, -8.85389635e-13, -1.00000000e+00,  0.00000000e+00,
        4.72207805e-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([ 0.02904988, -0.12788321,  0.06199926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44231135e-04,-2.46854693e-03,-8.71574974e-04,-1.42309228e-04,
 -4.62764916e-03,-8.38113698e-03,-2.85727703e-03, 6.63704128e-04,
 -1.30310011e-03, 1.06384304e-04, 1.12894985e-04, 1.00822666e-05,
 -8.22035101e-05,-4.53160151e-06,-2.00428389e-05, 1.37178180e-04,
 -4.20752784e-01, 8.01471609e-02,-9.69452800e+00,-2.19883686e-02,
 -6.32870052e-02, 5.65242783e-02]


--- Step 2996 ---
qpos:
[-0.01326689, 0.98335588,-0.04378703, 0.93944979,-0.10654754, 1.03160985,
 -0.06612803, 0.98801975,-0.00815807, 1.33955701,-0.02229795, 0.95538813,
  1.19845971, 0.00551139, 1.27426002, 0.04549419,-0.03421623,-0.09534731,
  0.11945453, 0.80371169,-0.00498315,-0.58425014,-0.11258092]

qacc:
[-5.57655015e-01,-1.33132568e+01, 1.44824717e+01,-1.01368299e+01,
 -1.98146825e+01,-2.10110123e+00,-1.30306360e+02, 3.71077732e+02,
 -4.58957612e+00,-3.78975453e+00, 1.43545715e+01,-1.89366852e+01,
 -2.93635367e-01, 1.09070085e-01,-1.28156996e+01, 4.39357280e+01,
 -4.74032126e-01, 6.94656471e-02,-9.72221163e+00,-3.40156392e+00,
 -4.91947613e-01,-5.57603899e+00]

qfrc_actuator:
[ 0.00456998, 0.13106581, 0.0231605 , 0.00507396, 0.10060505, 0.21810008,
  0.04671291,-0.04592513, 0.02088759, 0.03362724, 0.00947912, 0.00103801,
  0.01490284,-0.0015013 , 0.        ,-0.00119999, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.24511972e-04,-2.55072941e-03,-8.52140785e-04,-1.49288988e-04,
 -4.56978029e-03,-8.14056466e-03,-2.78439631e-03, 6.77215606e-04,
 -1.32455936e-03, 1.07503512e-04, 9.90748702e-05,-2.09674922e-05,
 -9.17455357e-05,-3.13070692e-05, 3.27362833e-06, 2.13797705e-04,
 -4.37623396e-01, 8.91909725e-02,-9.69569729e+00,-2.38514644e-02,
 -6.38755424e-02, 5.66825187e-02]


--- Step 2997 ---
qpos:
[-0.01322745, 0.98538668,-0.04351259, 0.93950931,-0.10453851, 1.03539372,
 -0.06536983, 0.98708365,-0.00767437, 1.33953284,-0.02232525, 0.95537474,
  1.19882648, 0.00551255, 1.27439229, 0.04549906,-0.0352698 ,-0.09516345,
  0.11830531, 0.79891289,-0.00528153,-0.59098371,-0.11157307]

qacc:
[-2.57254153e-01,-1.21765013e+01, 9.50023622e+00,-5.48520416e+00,
 -1.92375618e+01,-5.42623160e+00,-1.19853180e+02, 3.66154579e+02,
 -4.40369105e+00,-3.04054363e+00, 8.51183548e+00,-1.07602789e+00,
 -3.64117623e-01, 1.42554395e-01,-6.43208970e+00, 2.25786939e+01,
 -4.74524024e-01, 6.93143886e-02,-9.73075425e+00,-3.33248444e+00,
 -4.77291614e-01,-5.55263212e+00]

qfrc_actuator:
[ 0.00458074, 0.13001266, 0.02284594, 0.00502198, 0.09857413, 0.21513027,
  0.04593668,-0.04492817, 0.02039904, 0.03356333, 0.00952885, 0.00106288,
  0.01486511,-0.00150836, 0.        ,-0.00109566, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-5.81267893e-05,-2.67576113e-03,-9.26934188e-04,-1.56114068e-04,
 -4.45622390e-03,-8.06912108e-03,-2.67982257e-03, 6.98701653e-04,
 -1.27092292e-03, 1.45450672e-05, 8.14237357e-05, 3.03520930e-05,
 -9.01186518e-05,-3.78736911e-05, 2.17258244e-05, 1.15879701e-04,
 -4.39095477e-01, 8.87553541e-02,-9.70367733e+00,-2.26027808e-02,
 -6.39400301e-02, 5.70451134e-02]


--- Step 2998 ---
qpos:
[-0.0131884 , 0.98739738,-0.0432446 , 0.93956919,-0.1025697 , 1.03911595,
 -0.06462766, 0.98616787,-0.00720046, 1.33950852,-0.02235173, 0.9553635 ,
  1.1991926 , 0.00551337, 1.27452438, 0.04550717,-0.03632526,-0.09497932,
  0.11711714, 0.79405678,-0.00557833,-0.59767629,-0.11057017]

qacc:
[-1.89462367e-01,-8.43241793e+00,-5.18076748e+00, 2.15341584e+01,
 -1.86987286e+01,-5.40261214e+00,-1.19924725e+02, 3.70311928e+02,
 -4.14265108e+00, 1.31764066e+00,-8.84688775e+00, 3.25441261e+01,
 -4.37886107e-02,-3.50820435e-01,-1.00797875e+01, 3.48653820e+01,
 -4.74867943e-01, 6.91445182e-02,-9.73928195e+00,-3.26364934e+00,
 -4.62877925e-01,-5.52965943e+00]

qfrc_actuator:
[ 0.00457174, 0.12904212, 0.02253319, 0.00503852, 0.09659449, 0.21217391,
  0.04517757,-0.04391427, 0.01995419, 0.03355254, 0.00956879, 0.00117159,
  0.01482931,-0.00153075, 0.        ,-0.00092978, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-4.30901840e-05,-2.67663428e-03,-9.58121158e-04,-9.37155022e-05,
 -4.34988380e-03,-7.99329776e-03,-2.63593607e-03, 7.20993511e-04,
 -1.19554420e-03, 1.43221486e-05, 5.29760106e-05, 1.12129551e-04,
 -8.89095035e-05,-5.47717219e-05, 1.79079124e-05, 1.74015859e-04,
 -4.40426133e-01, 8.83030816e-02,-9.71166390e+00,-2.13509322e-02,
 -6.39879382e-02, 5.73906136e-02]


--- Step 2999 ---
qpos:
[-0.01315014, 0.98939042,-0.04298291, 0.93962861,-0.10064044, 1.04278129,
 -0.06390263, 0.98527042,-0.00673602, 1.33948442,-0.02237794, 0.95535434,
  1.19955796, 0.00551415, 1.2746569 , 0.0455142 ,-0.03738263,-0.09479491,
  0.11588997, 0.78914372,-0.00587333,-0.60432742,-0.10957214]

qacc:
[-3.66300995e-01,-6.97974213e+00,-4.34807130e+00, 9.71707433e+00,
 -1.83564666e+01, 6.15948131e-01,-1.28112623e+02, 3.51687377e+02,
 -4.00841486e+00, 3.12291280e+00,-1.40224261e+01, 3.59502923e+01,
 -6.95163792e-01, 5.60805534e-01, 3.94472575e+00,-1.27466470e+01,
 -4.75064538e-01, 6.89561291e-02,-9.74779223e+00,-3.19505424e+00,
 -4.48700537e-01,-5.50712012e+00]

qfrc_actuator:
[ 0.00451547, 0.12837768, 0.02229547, 0.00502428, 0.09462557, 0.20971154,
  0.04445261,-0.04298731, 0.01950358, 0.03357363, 0.0095851 , 0.00127553,
  0.01479469,-0.00152655, 0.        ,-0.00099522, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-8.24629716e-05,-2.37465182e-03,-8.84786384e-04,-1.23984124e-04,
 -4.28757593e-03,-7.44636734e-03,-2.58097903e-03, 6.37834846e-04,
 -1.15676277e-03, 4.29570632e-05, 2.84715628e-05, 1.08418504e-04,
 -9.09728750e-05,-3.29428648e-05, 2.32583162e-05,-5.44234722e-05,
 -4.41615641e-01, 8.78341736e-02,-9.71965453e+00,-2.00961345e-02,
 -6.40192148e-02, 5.77189362e-02]


--- Step 3000 ---
qpos:
[-0.01311277, 0.99136937,-0.04272807, 0.93968575,-0.09874986, 1.04639433,
 -0.06319413, 0.98438831,-0.00628086, 1.33946066,-0.02240376, 0.95534544,
  1.19992274, 0.00551465, 1.27478993, 0.04551709,-0.03842972,-0.09460777,
  0.1146389 , 0.7840904 ,-0.00625176,-0.61108199,-0.10836036]

qacc:
[-4.24935838e-01,-3.88909792e+00,-4.91406698e+00,-1.33304261e+01,
 -1.79197021e+01, 2.63762433e-01,-1.13764123e+02, 3.02688746e+02,
 -3.92851850e+00,-1.63690019e-01, 5.58804307e-01, 2.30178482e+00,
 -6.37598963e-01, 3.96050611e-01, 1.33691395e+01,-4.55337310e+01,
  2.57041761e+00, 6.81683240e-01,-5.97734446e+00, 3.69190402e+01,
 -8.83979320e+01, 1.01561681e+02]

qfrc_actuator:
[ 0.00446686, 0.12795577, 0.02205194, 0.00492123, 0.09271399, 0.20751223,
  0.04377341,-0.04220742, 0.01905313, 0.03359579, 0.0096052 , 0.00128706,
  0.01476612,-0.00154207, 0.        ,-0.00121418, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.20123601,  1.39718192, -8.0813461 ,  1.39718192,  6.63845467,
       -0.27018888, -8.0813461 , -0.27018888,  8.15452312,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.6167180382833406e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.40478846e-12,  1.65329206e-12,  1.00000000e+00, -3.97581767e-24,
        1.00000000e+00, -1.65329206e-12, -1.00000000e+00,  0.00000000e+00,
        2.40478846e-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([ 0.02843825, -0.12777937,  0.06199838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.54623877e-05,-1.95109530e-03,-8.23834223e-04,-2.02190152e-04,
 -4.20227401e-03,-6.87113991e-03,-2.42446298e-03, 5.06227155e-04,
 -1.13370911e-03, 5.49817997e-05, 3.49673130e-05, 1.60501161e-05,
 -8.14301364e-05,-4.64272853e-05,-1.35258510e-06,-2.20352930e-04,
 -4.42664316e-01, 8.73486543e-02,-9.72764675e+00,-1.88386062e-02,
 -6.40338133e-02, 5.80300027e-02]


--- Step 3001 ---
qpos:
[-0.01307664, 0.99333816,-0.04248045, 0.93974159,-0.09689723, 1.04995659,
 -0.06250116, 0.98352301,-0.00583484, 1.33943774,-0.02242955, 0.95533465,
  1.20028709, 0.00551422, 1.27492275, 0.04551901,-0.03946776,-0.09441817,
  0.1133627 , 0.77889992,-0.00671046,-0.61792432,-0.10695528]

qacc:
[-5.92049109e-01, 3.92569339e+00,-2.62336235e+01, 1.40077498e+01,
 -1.75428701e+01, 1.99381424e+00,-1.19989781e+02, 3.24035606e+02,
 -3.86865984e+00,-2.23751622e+00, 1.24229844e+01,-3.30770436e+01,
  1.94793592e-01,-9.18664595e-01, 2.55121422e+00,-9.47920540e+00,
  2.26208971e+00, 6.15391443e-01,-6.28245537e+00, 3.19265363e+01,
 -8.12705521e+01, 9.26065419e+01]

qfrc_actuator:
[ 0.00438778, 0.12777162, 0.021808  , 0.00487342, 0.09083403, 0.20518711,
  0.04307465,-0.04136034, 0.01860636, 0.0336539 , 0.0096096 , 0.00119086,
  0.01473056,-0.00160468, 0.        ,-0.00125545, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.22944335,  1.3075652 , -8.12490068,  1.3075652 ,  3.48729642,
       -0.76316825, -8.12490068, -0.76316825,  8.10662434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.219048697386377e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.53790765e-12,  2.88357685e-13,  1.00000000e+00, -4.43467491e-25,
        1.00000000e+00, -2.88357685e-13, -1.00000000e+00,  0.00000000e+00,
        1.53790765e-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([ 0.02825852, -0.12773609,  0.06199741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.32758632e-04,-1.46901207e-03,-7.36543556e-04,-1.34142166e-04,
 -4.13011504e-03,-6.65086644e-03,-2.31771384e-03, 5.91488240e-04,
 -1.11640970e-03, 9.60985071e-05, 1.96428863e-05,-9.32749018e-05,
 -8.77293084e-05,-9.48643385e-05,-3.04129147e-05,-5.49116666e-05,
 -4.71986487e-01, 1.04092557e-01,-9.72687689e+00,-2.31177749e-02,
 -6.49610514e-02, 5.79357712e-02]


--- Step 3002 ---
qpos:
[-0.01304196, 0.99530039,-0.04223932, 0.93979608,-0.09508216, 1.0534685 ,
 -0.06182312, 0.98267532,-0.00539784, 1.33941598,-0.02245613, 0.95532246,
  1.20065061, 0.00551402, 1.2750554 , 0.04552038,-0.04049779,-0.09422636,
  0.11206036, 0.77357448,-0.00724779,-0.6248411 ,-0.10537358]

qacc:
[  -0.67830835,   6.57840735, -29.0842837 ,  13.5875793 , -17.33873102,
    2.22883641,-121.69458452, 334.41194827,  -3.81342951,   1.27438431,
    0.50156368, -17.29805934,  -0.83806314,   0.86453359,   1.50728778,
   -5.45766325,   2.00235422,   0.55406406,  -6.53308442,  27.47381139,
  -75.49152686,  85.61111249]

qfrc_actuator:
[ 0.00430888, 0.12776734, 0.02160242, 0.00482318, 0.08895225, 0.20278816,
  0.04236978,-0.04048056, 0.01816537, 0.03371518, 0.00956928, 0.00112084,
  0.01470678,-0.0015705 , 0.        ,-0.00128041, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.234299  ,  1.18643256, -8.14837762,  1.18643256,  2.10537506,
       -0.89239297, -8.14837762, -0.89239297,  8.10436343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.576117269861987e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46542481e-12,  3.66356204e-13,  1.00000000e+00, -5.36867472e-25,
        1.00000000e+00, -3.66356204e-13, -1.00000000e+00,  0.00000000e+00,
        1.46542481e-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([ 0.02811519, -0.12770917,  0.06199721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52228273e-04,-1.00284764e-03,-5.91725342e-04,-1.17842886e-04,
 -4.09779497e-03,-6.57803642e-03,-2.26603800e-03, 6.35521371e-04,
 -1.10041552e-03, 1.15776405e-04,-2.19926197e-05,-6.88764030e-05,
 -9.04087152e-05,-1.38927635e-05,-2.27040097e-05,-3.25044743e-05,
 -4.99860985e-01, 1.20367180e-01,-9.72812913e+00,-2.71192021e-02,
 -6.58767569e-02, 5.78565476e-02]


--- Step 3003 ---
qpos:
[-0.01300812, 0.99725752,-0.04200459, 0.9398484 ,-0.09330384, 1.05692967,
 -0.06115917, 0.98184486,-0.00496999, 1.33939507,-0.0224827 , 0.95530951,
  1.20101321, 0.00551483, 1.27518816, 0.0455194 ,-0.04152069,-0.09403255,
  0.11073107, 0.76811553,-0.00786321,-0.63182097,-0.10362901]

qacc:
[-4.03884482e-01, 6.85641534e+00,-2.59150048e+01, 2.51911540e-01,
 -1.69360320e+01,-1.06264724e+00,-1.10871824e+02, 3.21452682e+02,
 -3.87937132e+00,-2.62657482e-01, 3.73579229e+00,-1.25492601e+01,
 -1.56811534e+00, 2.16558734e+00, 7.44569822e+00,-2.54312292e+01,
  1.78293080e+00, 4.99316276e-01,-6.73873058e+00, 2.35194206e+01,
 -7.08231305e+01, 8.01304534e+01]

qfrc_actuator:
[ 0.00430178, 0.12765842, 0.02133327, 0.00471878, 0.08713745, 0.20031155,
  0.0416846 ,-0.03962418, 0.01769588, 0.03375995, 0.00957396, 0.00108455,
  0.01468479,-0.00149679, 0.        ,-0.00140211, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.21418473,  1.04376963, -8.14759938,  1.04376963,  1.38915746,
       -0.87433805, -8.14759938, -0.87433805,  8.10217536,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.956248225832961e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.31981830e-13,  4.65990915e-13,  1.00000000e+00,  4.34295066e-25,
        1.00000000e+00, -4.65990915e-13, -1.00000000e+00,  0.00000000e+00,
       -9.31981830e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02800335, -0.12769727,  0.06199775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.07202019e-05,-8.20387280e-04,-5.46977935e-04,-1.53262163e-04,
 -4.01780979e-03,-6.60260489e-03,-2.22469186e-03, 6.16605439e-04,
 -1.11947517e-03, 1.02733627e-04, 2.28264283e-05,-3.52205573e-05,
 -7.07868898e-05, 4.89033242e-05,-1.76213251e-05,-1.27201713e-04,
 -5.26527849e-01, 1.36233359e-01,-9.73124988e+00,-3.09035793e-02,
 -6.67693189e-02, 5.77878300e-02]


--- Step 3004 ---
qpos:
[-0.01297476, 0.99920891,-0.04177565, 0.93989947,-0.09156136, 1.06033921,
 -0.06050892, 0.98103197,-0.00455137, 1.33937486,-0.0225085 , 0.95529792,
  1.2013752 , 0.00551578, 1.27532066, 0.04551828,-0.0425372 ,-0.09383693,
  0.10937415, 0.76252381,-0.00855693,-0.63885415,-0.10173297]

qacc:
[-2.25214982e-01, 5.95728087e+00,-2.59262146e+01, 1.13962424e+01,
 -1.64812583e+01,-2.64481803e+00,-1.07904038e+02, 3.23693456e+02,
 -3.90304976e+00, 1.19438044e+00,-5.54563999e+00, 2.01103622e+01,
 -5.68849614e-01, 5.71427430e-01, 4.70775470e-02,-6.35290936e-01,
  1.59703470e+00, 4.51974690e-01,-6.90720808e+00, 2.00179299e+01,
 -6.70726171e+01, 7.58233721e+01]

qfrc_actuator:
[ 0.00430225, 0.12738135, 0.02104621, 0.00465427, 0.08537705, 0.19773784,
  0.04099861,-0.03875299, 0.01723079, 0.03381242, 0.00962288, 0.00115717,
  0.01464262,-0.00150676, 0.        ,-0.00140232, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.18786089,  0.89187446, -8.1391416 ,  0.89187446,  0.97187223,
       -0.7907168 , -8.1391416 , -0.7907168 ,  8.10121538,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.577318162350073e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.30766772e-12,  2.15383386e-12,  1.00000000e+00, -9.27800058e-24,
        1.00000000e+00, -2.15383386e-12, -1.00000000e+00,  0.00000000e+00,
        4.30766772e-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([ 0.02791926, -0.12769962,  0.061999  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.07095292e-05,-8.79635020e-04,-5.25004359e-04,-1.07356893e-04,
 -3.92440905e-03,-6.70432769e-03,-2.22579299e-03, 6.31260751e-04,
 -1.12632030e-03, 1.12951830e-04, 7.06014953e-05, 7.54102571e-05,
 -6.66696400e-05,-1.15030910e-05,-2.67363363e-05,-1.05235684e-05,
 -5.52192335e-01, 1.51762968e-01,-9.73611272e+00,-3.45224173e-02,
 -6.76313707e-02, 5.77252565e-02]


--- Step 3005 ---
qpos:
[-0.01294197, 1.00115381,-0.04155194, 0.93995081,-0.08985411, 1.06369612,
 -0.05987189, 0.98023636,-0.00414166, 1.33935533,-0.02253411, 0.95528835,
  1.20173673, 0.00551624, 1.27545265, 0.0455198 ,-0.04355633,-0.09364086,
  0.10797813, 0.75686362,-0.00925534,-0.64583393,-0.09985157]

qacc:
[-2.68011777e-01, 5.99470907e+00,-3.04707057e+01, 3.37220120e+01,
 -1.61812350e+01,-5.70937529e+00,-9.89162004e+01, 3.13426319e+02,
 -3.77205357e+00, 3.90465548e+00,-1.57054619e+01, 3.65143081e+01,
  1.74639005e-01,-6.44282819e-01,-8.75507936e+00, 2.94804300e+01,
 -6.55657084e-01, 1.12649521e-01,-9.77460339e+00,-9.47454105e+00,
 -1.68615151e+00,-7.33942409e+00]

qfrc_actuator:
[ 0.00427172, 0.12705934, 0.02078587, 0.00466691, 0.08362756, 0.19510932,
  0.04033514,-0.03789792, 0.01680758, 0.03383382, 0.00962659, 0.00125782,
  0.01460432,-0.00154871, 0.        ,-0.00125989, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-6.05841768e-05,-9.51379434e-04,-5.05919332e-04,-3.03010808e-05,
 -3.86691473e-03,-6.81367574e-03,-2.22240887e-03, 6.12310951e-04,
 -1.08848275e-03, 1.00128959e-04, 3.60491778e-05, 1.07715852e-04,
 -7.46854043e-05,-6.05119305e-05,-1.63282835e-05, 1.37786630e-04,
 -5.77027955e-01, 1.67028436e-01,-9.74261583e+00,-3.80189356e-02,
 -6.84582679e-02, 5.76646972e-02]


--- Step 3006 ---
qpos:
[-0.01290996, 1.00309161,-0.04133275, 0.94000196,-0.08818159, 1.06699947,
 -0.05924734, 0.97945629,-0.00374059, 1.33933647,-0.02255877, 0.95527761,
  1.20209755, 0.00551673, 1.27558477, 0.04552097,-0.04457808,-0.09344434,
  0.10654296, 0.75113552,-0.00995811,-0.65275971,-0.09798481]

qacc:
[-3.70825990e-01, 2.52276688e+00,-1.90904413e+01, 1.86952661e+01,
 -1.59254225e+01,-1.16541361e+01,-7.76851018e+01, 2.76595311e+02,
 -3.65718579e+00,-3.72137526e+00, 1.55590204e+01,-2.74653429e+01,
 -6.21541052e-01, 5.34971890e-01, 1.30734215e+00,-4.17398605e+00,
 -6.55004215e-01, 1.11631178e-01,-9.78770674e+00,-9.37992057e+00,
 -1.64507075e+00,-7.27160476e+00]

qfrc_actuator:
[ 0.00422288, 0.12671342, 0.02056108, 0.00465378, 0.08189835, 0.19243404,
  0.03970793,-0.03713025, 0.01639511, 0.03387181, 0.00967446, 0.00119656,
  0.01457368,-0.00153826, 0.        ,-0.00128315, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-8.41422478e-05,-1.00860542e-03,-4.79884721e-04,-5.58876222e-05,
 -3.81925845e-03,-6.91937418e-03,-2.20726630e-03, 5.21188221e-04,
 -1.05538106e-03, 1.03834280e-04, 7.47221873e-05,-5.48358302e-05,
 -8.18855658e-05,-2.47679325e-05, 5.41622491e-06,-1.82039387e-05,
 -5.77787139e-01, 1.65687578e-01,-9.75474511e+00,-3.66458713e-02,
 -6.82730513e-02, 5.79089285e-02]


--- Step 3007 ---
qpos:
[-0.01287879, 1.00501953,-0.04111627, 0.94005102,-0.08654315, 1.07024856,
 -0.05863465, 0.97869335,-0.00334806, 1.33931838,-0.02258186, 0.95526652,
  1.20245764, 0.00551733, 1.27571707, 0.04552052,-0.04560245,-0.09324738,
  0.10506859, 0.74534008,-0.01066489,-0.65963091,-0.09613265]

qacc:
[-3.91419826e-01,-9.17586569e+00, 1.86083051e+01,-3.40909315e+01,
 -1.55977650e+01,-1.16112273e+01,-8.21105462e+01, 2.98966562e+02,
 -3.61718567e+00,-3.85603632e+00, 1.44750462e+01,-1.70298616e+01,
 -7.84853825e-01, 7.56455159e-01, 5.22442973e+00,-1.77390039e+01,
 -6.54106648e-01, 1.10584429e-01,-9.80075755e+00,-9.28604170e+00,
 -1.60487073e+00,-7.20434261e+00]

qfrc_actuator:
[ 0.00418124, 0.12609005, 0.02037674, 0.0045368 , 0.08021267, 0.1897527 ,
  0.03912477,-0.03627819, 0.01597463, 0.03393725, 0.00976573, 0.00118255,
  0.01453701,-0.00153221, 0.        ,-0.00136837, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-8.94347071e-05,-1.31311574e-03,-4.48309586e-04,-1.61297799e-04,
 -3.75354242e-03,-6.98226255e-03,-2.18438177e-03, 6.00616700e-04,
 -1.04384755e-03, 1.36069681e-04, 1.18486951e-04,-1.01161613e-05,
 -8.32435451e-05,-2.02185189e-05,-4.27832932e-06,-8.65868923e-05,
 -5.78306677e-01, 1.64321119e-01,-9.76685708e+00,-3.52743145e-02,
 -6.80697619e-02, 5.81314457e-02]


--- Step 3008 ---
qpos:
[-0.0128481 , 1.00693529,-0.04090295, 0.94009925,-0.08493792, 1.07344355,
 -0.05803403, 0.9779463 ,-0.00296404, 1.33930046,-0.02260456, 0.95525649,
  1.20281713, 0.00551752, 1.2758492 , 0.04552006,-0.04662943,-0.09304998,
  0.10355496, 0.73947786,-0.01137535,-0.66644695,-0.09429508]

qacc:
[-2.26046064e-01,-8.82459764e+00, 1.11904366e+01,-1.14726035e+01,
 -1.51760790e+01,-1.27881635e+01,-7.55770523e+01, 2.79349033e+02,
 -3.59872467e+00, 1.04370170e+00,-5.25873577e+00, 1.67305967e+01,
 -2.13108832e-01,-1.73318277e-01,-1.85251881e-01, 3.09564646e-01,
 -6.52966177e-01, 1.09509638e-01,-9.81375159e+00,-9.19290261e+00,
 -1.56553435e+00,-7.13763704e+00]

qfrc_actuator:
[ 0.00417979, 0.12534135, 0.02016342, 0.00448375, 0.07858408, 0.18710761,
  0.03853691,-0.03548981, 0.01555271, 0.03387678, 0.00975777, 0.00123205,
  0.01449676,-0.00156438, 0.        ,-0.00136509, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-5.20933106e-05,-1.60367238e-03,-5.36301434e-04,-1.08096957e-04,
 -3.66424361e-03,-6.97252238e-03,-2.19610589e-03, 5.37440397e-04,
 -1.03847542e-03, 3.78456260e-05, 3.18322879e-05, 5.66671039e-05,
 -8.68042328e-05,-5.72568933e-05,-1.62336500e-05,-3.11289111e-06,
 -5.78587609e-01, 1.62929320e-01,-9.77894726e+00,-3.39045098e-02,
 -6.78483516e-02, 5.83322067e-02]


--- Step 3009 ---
qpos:
[-0.01281799, 1.00884329,-0.04069628, 0.94014595,-0.08336515, 1.07658614,
 -0.05744689, 0.97721108,-0.00258804, 1.33928226,-0.02262713, 0.95524581,
  1.20317584, 0.00551784, 1.27598131, 0.04551893,-0.04764444,-0.09285068,
  0.1020218 , 0.73342853,-0.01223936,-0.67337442,-0.09219378]

qacc:
[  -0.26952867,   5.12658059, -25.85190447,   9.38309357, -14.82025736,
  -13.39959895, -62.79398968, 220.91475301,  -3.39440473,  -1.90281736,
    7.05786128, -13.49375891,  -0.75583654,   0.72026251,   2.01261716,
   -6.93539457,   2.99168612,   0.47577801,  -4.88426107,  35.3019882 ,
 -112.29544081, 139.22557399]

qfrc_actuator:
[ 0.00414919, 0.12521603, 0.01991649, 0.00441537, 0.07698475, 0.18461231,
  0.03789794,-0.03490502, 0.01518656, 0.03381205, 0.00974409, 0.00119411,
  0.01446503,-0.00154801, 0.        ,-0.00139843, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.18392581,  0.26575241, -8.17960985,  0.26575241,  0.6000005 ,
       -0.24639885, -8.17960985, -0.24639885,  8.17592041,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5224508347094767e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.82308518e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.82308518e-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([ 0.02697581, -0.12752197,  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:
[-6.14603790e-05,-1.15629166e-03,-6.35109219e-04,-1.33553079e-04,
 -3.58979479e-03,-6.82014037e-03,-2.24812276e-03, 3.32161013e-04,
 -9.79527036e-04,-3.56773603e-05,-9.59326045e-07,-3.46594845e-05,
 -8.86799694e-05,-2.05462989e-05,-1.11516520e-05,-3.63294423e-05,
 -5.78631052e-01, 1.61512451e-01,-9.79101120e+00,-3.25367036e-02,
 -6.76087813e-02, 5.85111762e-02]


--- Step 3010 ---
qpos:
[-0.01278848, 1.01074844,-0.04049664, 0.94019176,-0.08182419, 1.07967737,
 -0.056873  , 0.97648961,-0.00221947, 1.33926411,-0.02264926, 0.95523506,
  1.20353386, 0.00551827, 1.27611301, 0.04552008,-0.04864905,-0.09264958,
  0.10046739, 0.72719686,-0.0132476 ,-0.68039312,-0.08985783]

qacc:
[  -0.29009278,  13.65427079, -47.23342371,  32.21888374, -14.4967252 ,
   -9.47276009, -77.80270713, 255.11192206,  -3.14772255,  -1.20024742,
    4.15813542,  -4.48930405,  -0.42540431,   0.36630254,  -7.44327163,
   25.23059265,   2.60134778,   0.45136287,  -5.31119119,  29.201415  ,
 -102.93490318, 125.6474101 ]

qfrc_actuator:
[ 0.00411912, 0.12546521, 0.01970741, 0.00439209, 0.07541553, 0.18219134,
  0.03728779,-0.0342139 , 0.01485678, 0.03385168, 0.00978033, 0.00119376,
  0.01443845,-0.0015384 , 0.        ,-0.00127558, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.18471824,  0.21896397, -8.18178877,  0.21896397,  0.47539145,
       -0.20631977, -8.18178877, -0.20631977,  8.17919664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7857899053355664e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.21698567e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        6.21698567e-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([ 0.02672653, -0.12747274,  0.06199915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.58685904e-05,-5.54113329e-04,-5.21567366e-04,-7.83876109e-05,
 -3.52247888e-03,-6.67658820e-03,-2.20106719e-03, 4.36551950e-04,
 -9.08333276e-04, 1.89278410e-05, 2.81982321e-05,-2.32982425e-06,
 -7.58861988e-05,-1.68491689e-05,-1.32582788e-05, 1.18515430e-04,
 -6.21028604e-01, 1.90073456e-01,-9.79957891e+00,-3.99802816e-02,
 -6.90509488e-02, 5.81306155e-02]


--- Step 3011 ---
qpos:
[-0.01275945, 1.01265089,-0.04030188, 0.94023717,-0.08031425, 1.08271726,
 -0.05631094, 0.97578378,-0.00185838, 1.33924614,-0.02267063, 0.95522505,
  1.20389137, 0.00551832, 1.27624485, 0.04552066,-0.04965672,-0.09244791,
  0.09887358, 0.72089136,-0.01426347,-0.6873488 ,-0.08754332]

qacc:
[-2.18688452e-01, 8.94230610e+00,-3.26168516e+01, 2.52554337e+01,
 -1.41163792e+01,-1.01639015e+01,-7.93112996e+01, 2.78087927e+02,
 -3.16335085e+00,-5.54639691e-01, 6.13932023e-01, 7.86315014e+00,
 -2.18956048e-01,-1.32053699e-01, 1.96311604e+00,-6.55270691e+00,
 -7.64759509e-01, 1.39960224e-01,-9.85045846e+00,-1.33931980e+01,
 -2.40568659e+00,-8.10071292e+00]

qfrc_actuator:
[ 0.0041074 , 0.12544021, 0.01950632, 0.00437808, 0.07389445, 0.17972836,
  0.03673559,-0.03343012, 0.01448045, 0.03388268, 0.00982843, 0.00123341,
  0.01440432,-0.00156838, 0.        ,-0.0013102 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-4.98376988e-05,-4.70962226e-04,-3.81067717e-04,-4.62986504e-05,
 -3.44076091e-03,-6.62559792e-03,-2.10646447e-03, 5.37062107e-04,
 -9.12841352e-04, 4.71469714e-05, 5.49751543e-05, 4.08805883e-05,
 -7.57406496e-05,-5.25444022e-05, 4.07751116e-06,-3.03762584e-05,
 -6.60708010e-01, 2.17434849e-01,-9.81091202e+00,-4.69426634e-02,
 -7.04061600e-02, 5.77701662e-02]


--- Step 3012 ---
qpos:
[-0.01273086, 1.01454832,-0.04011086, 0.94028051,-0.07883485, 1.08570651,
 -0.05576085, 0.97509321,-0.0015047 , 1.33922842,-0.02269157, 0.95521594,
  1.20424817, 0.00551852, 1.27637689, 0.04551914,-0.05066744,-0.09224569,
  0.0972403 , 0.71451273,-0.01528657,-0.69424079,-0.08525028]

qacc:
[-2.08640657e-01,-3.71727272e-02,-3.54831726e+00,-1.77976268e+01,
 -1.38819175e+01,-9.43208533e+00,-7.98511312e+01, 2.73913371e+02,
 -3.13597619e+00, 7.35313602e-01,-3.83664879e+00, 1.36411609e+01,
 -8.25907535e-01, 8.39067827e-01, 6.70010035e+00,-2.28075446e+01,
 -7.62474661e-01, 1.38174276e-01,-9.86651201e+00,-1.32874001e+01,
 -2.34124652e+00,-8.00083181e+00]

qfrc_actuator:
[ 0.00408904, 0.12507415, 0.01927519, 0.00426299, 0.07237868, 0.1772962 ,
  0.0361688 ,-0.03266916, 0.01411469, 0.03389061, 0.00984762, 0.00127851,
  0.01437632,-0.00155065, 0.        ,-0.00141962, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-4.79601931e-05,-7.37307495e-04,-3.77822563e-04,-1.40021126e-04,
 -3.39374813e-03,-6.54380465e-03,-2.09721990e-03, 5.20664387e-04,
 -9.04919832e-04, 4.61769691e-05, 3.58903084e-05, 4.89668823e-05,
 -7.80590128e-05,-1.53089072e-05,-5.91519354e-06,-1.11569933e-04,
 -6.60131935e-01, 2.15337168e-01,-9.82579161e+00,-4.55313739e-02,
 -7.00061889e-02, 5.79043116e-02]


--- Step 3013 ---
qpos:
[-1.27028992e-02, 1.01643581e+00,-3.99220098e-02, 9.40322891e-01,
 -7.73856016e-02, 1.08864670e+00,-5.52231353e-02, 9.74416069e-01,
 -1.15831231e-03, 1.33921093e+00,-2.27121335e-02, 9.55208485e-01,
  1.20460425e+00, 5.51891791e-03, 1.27650848e+00, 4.55196683e-02,
 -5.16811928e-02,-9.20429315e-02, 9.55674952e-02, 7.08061679e-01,
 -1.63164718e-02,-7.01068445e-01,-8.29787113e-02]

qacc:
[-2.95598172e-01,-8.79143991e+00, 1.49156629e+01,-1.78164833e+01,
 -1.36868871e+01,-9.27210955e+00,-7.42314801e+01, 2.47178515e+02,
 -3.08766133e+00, 2.12991653e+00,-9.90452606e+00, 2.74640038e+01,
 -5.20610643e-01, 5.11942637e-01,-6.81918492e+00, 2.29720016e+01,
 -7.59878424e-01, 1.36354563e-01,-9.88246912e+00,-1.31827083e+01,
 -2.27816269e+00,-7.90151457e+00]

qfrc_actuator:
[ 0.00404909, 0.12429384, 0.01906234, 0.00419558, 0.07087804, 0.17499113,
  0.03559812,-0.03199876, 0.01375821, 0.0339023 , 0.00986725, 0.00136192,
  0.0143414 ,-0.00154018, 0.        ,-0.00130589, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-6.85616173e-05,-1.30094178e-03,-4.13981033e-04,-1.02453571e-04,
 -3.35577805e-03,-6.36896709e-03,-2.08428100e-03, 4.32243651e-04,
 -8.90966081e-04, 4.59221895e-05, 3.42125023e-05, 8.68855489e-05,
 -7.78405771e-05,-1.18949120e-05,-1.97493811e-05, 1.05747272e-04,
 -6.59245961e-01, 2.13208487e-01,-9.84061833e+00,-4.41248837e-02,
 -6.95876721e-02, 5.80140471e-02]


--- Step 3014 ---
qpos:
[-1.26756310e-02, 1.01830842e+00,-3.97348601e-02, 9.40365629e-01,
 -7.59657921e-02, 1.09154005e+00,-5.46976383e-02, 9.73752797e-01,
 -8.19082551e-04, 1.33919396e+00,-2.27331890e-02, 9.55200377e-01,
  1.20495966e+00, 5.51944644e-03, 1.27664026e+00, 4.55188347e-02,
 -5.26804216e-02,-9.18383761e-02, 9.38799461e-02, 7.01378501e-01,
 -1.75553697e-02,-7.08023344e-01,-8.03924862e-02]

qacc:
[  -0.31873273, -14.33937823,  22.39544966,  -5.6162615 , -13.34582774,
   -6.035843  , -82.17056013, 257.706711  ,  -3.03005029,   0.89350314,
   -0.76948275,  -7.1683354 ,  -0.74194283,   0.74079831,   4.46742907,
  -15.06679858,   3.63199607,   0.44796811,  -3.68563913,  39.694615  ,
 -137.6631338 , 173.99099116]

qfrc_actuator:
[ 0.00401433, 0.12323639, 0.0188604 , 0.00419203, 0.06943379, 0.17286976,
  0.0350658 ,-0.03129822, 0.01341015, 0.03391618, 0.00983377, 0.0013252 ,
  0.01430766,-0.00153418, 0.        ,-0.00138111, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.18870661, -0.12005704, -8.18782646, -0.12005704,  0.39881009,
        0.11422224, -8.18782646,  0.11422224,  8.18703178,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.751641616751538e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01738304e-12,  3.02607456e-12,  1.00000000e+00, -6.10475148e-24,
        1.00000000e+00, -3.02607456e-12, -1.00000000e+00,  0.00000000e+00,
        2.01738304e-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([ 0.02551886, -0.12723236,  0.06199842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.44262539e-05,-1.89554804e-03,-5.16296073e-04,-5.58270350e-05,
 -3.28140630e-03,-6.08757357e-03,-2.01262624e-03, 4.65723317e-04,
 -8.74308019e-04, 4.87584549e-05,-1.80284189e-05,-3.24221257e-05,
 -7.53041336e-05,-1.54850450e-05,-1.12503821e-07,-7.24624476e-05,
 -6.58052072e-01, 2.11049353e-01,-9.85538621e+00,-4.27234601e-02,
 -6.91505737e-02, 5.80993812e-02]


--- Step 3015 ---
qpos:
[-1.26487175e-02, 1.02016193e+00,-3.95485854e-02, 9.40408375e-01,
 -7.45746300e-02, 1.09438957e+00,-5.41844871e-02, 9.73103244e-01,
 -4.86721187e-04, 1.33917754e+00,-2.27550531e-02, 9.55190525e-01,
  1.20531462e+00, 5.51975248e-03, 1.27677259e+00, 4.55124205e-02,
 -5.36671631e-02,-9.16320830e-02, 9.21752575e-02, 6.94471109e-01,
 -1.89880109e-02,-7.15079228e-01,-7.75308402e-02]

qacc:
[-1.61639979e-01,-2.26853359e+01, 4.36491375e+01,-2.53918520e+01,
 -1.29716845e+01,-1.96644726e+00,-9.03457098e+01, 2.61030836e+02,
 -2.90735451e+00,-1.07313216e-01, 4.72183741e+00,-2.45277493e+01,
 -6.74221542e-01, 5.11076864e-01, 1.77644855e+01,-6.08069478e+01,
  3.12183568e+00, 4.34432261e-01,-4.28484900e+00, 3.16509686e+01,
 -1.25001109e+02, 1.55279484e+02]

qfrc_actuator:
[ 0.00401848, 0.12202158, 0.01871865, 0.00417259, 0.06803474, 0.17094703,
  0.03454354,-0.03060316, 0.01308766, 0.03393098, 0.0097869 , 0.00123579,
  0.01428531,-0.00154862, 0.        ,-0.00167362, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.18237426, -0.15897687, -8.18082971, -0.15897687,  0.32542254,
        0.15268299, -8.18082971,  0.15268299,  8.17940719,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.82076975083118e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.09791402e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.09791402e-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([ 0.02522173, -0.12719143,  0.06199953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.86909413e-05,-2.40011801e-03,-5.82633337e-04,-9.15992964e-05,
 -3.19814491e-03,-5.71720693e-03,-1.93833874e-03, 4.71251870e-04,
 -8.38892517e-04, 3.75097119e-05,-4.03019852e-05,-8.93331399e-05,
 -6.37085486e-05,-3.63128895e-05,-1.27876490e-05,-2.97596760e-04,
 -7.12274139e-01, 2.50642628e-01,-9.87267466e+00,-5.31807726e-02,
 -7.10437056e-02, 5.74645131e-02]


--- Step 3016 ---
qpos:
[-1.26222590e-02, 1.02199375e+00,-3.93631544e-02, 9.40450486e-01,
 -7.32115053e-02, 1.09719913e+00,-5.36835951e-02, 9.72466802e-01,
 -1.61200950e-04, 1.33916164e+00,-2.27772055e-02, 9.55181724e-01,
  1.20566904e+00, 5.52011911e-03, 1.27690453e+00, 4.55052276e-02,
 -5.45018075e-02,-9.13245828e-02, 9.08392569e-02, 6.88243179e-01,
 -2.18882115e-02,-7.21410572e-01,-7.35460279e-02]

qacc:
[-2.07475503e-01,-2.72444217e+01, 5.57552796e+01,-4.16861879e+01,
 -1.26806501e+01, 1.89774780e+00,-9.55980014e+01, 2.56138891e+02,
 -2.89580850e+00, 3.27347413e+00,-1.19674330e+01, 2.21690937e+01,
 -4.97637471e-01, 4.56798612e-01, 1.81718261e+00,-7.10027061e+00,
  3.80242591e+01, 2.53017734e+01, 9.21719845e+01,-1.29651359e+02,
  4.26977708e+02, 9.47947696e+02]

qfrc_actuator:
[ 0.00399266, 0.12077578, 0.01861288, 0.00412607, 0.06665603, 0.16928347,
  0.03405009,-0.02993453, 0.01274759, 0.03398161, 0.00978576, 0.00129365,
  0.01426447,-0.00153952, 0.        ,-0.0017012 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 9.94934607,  4.93057957, -8.64169383,  4.93057957, 68.50903577,
       33.41164539, -8.64169383, 33.41164539, 29.0125968 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000403459066766039
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37588062e-13,  1.37588062e-13,  1.00000000e+00,  1.89304749e-26,
        1.00000000e+00, -1.37588062e-13, -1.00000000e+00,  0.00000000e+00,
       -1.37588062e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08775871, -0.095662  ,  0.06197441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.95810964e-05,-2.72389756e-03,-6.53880940e-04,-1.36693212e-04,
 -3.13469842e-03,-5.23749738e-03,-1.82846968e-03, 4.57888008e-04,
 -8.35558601e-04, 6.10779474e-05,-9.64300315e-07, 5.56202758e-05,
 -6.21797373e-05,-1.58411486e-05,-4.37845357e-05,-4.68510833e-05,
 -7.62270870e-01, 2.88235207e-01,-9.89341650e+00,-6.29309812e-02,
 -7.27856808e-02, 5.68610883e-02]


--- Step 3017 ---
qpos:
[-1.25961440e-02, 1.02380215e+00,-3.91800225e-02, 9.40491641e-01,
 -7.18758834e-02, 1.09997447e+00,-5.31951250e-02, 9.71842894e-01,
  1.57575551e-04, 1.33914642e+00,-2.27993550e-02, 9.55173997e-01,
  1.20602295e+00, 5.52078032e-03, 1.27703601e+00, 4.54993639e-02,
 -5.52099975e-02,-9.09319776e-02, 8.98244894e-02, 6.82568693e-01,
 -2.61398589e-02,-7.27132105e-01,-6.85243685e-02]

qacc:
[-1.55625717e-01,-2.61259052e+01, 5.00425692e+01,-3.93962766e+01,
 -1.24250105e+01, 8.92094898e+00,-1.08232366e+02, 2.56661861e+02,
 -2.85456169e+00, 2.74254165e+00,-1.00223242e+01, 2.06454701e+01,
 -4.70757909e-01, 5.73565702e-01,-4.66357441e+00, 1.54170311e+01,
  3.16135948e+01, 2.12762452e+01, 8.03082830e+01,-1.07434917e+02,
  3.48437821e+02, 8.71318666e+02]

qfrc_actuator:
[ 0.00398461, 0.11946836, 0.01844024, 0.00406394, 0.06530038, 0.16803761,
  0.03359652,-0.02928664, 0.01241745, 0.03403578, 0.00979411, 0.00134901,
  0.01424989,-0.00151649, 0.        ,-0.00162564, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -15.72915638,   7.13727869, -15.72915638,
        21.24307947,   8.74987419,   7.13727869,   8.74987419,
        36.55572649,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0022766043441948686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.43833108e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.43833108e-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([-0.08639229, -0.09501982,  0.06185729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.76446572e-05,-2.97949591e-03,-7.93398255e-04,-1.65210731e-04,
 -3.07932934e-03,-4.53251072e-03,-1.68272966e-03, 4.54046015e-04,
 -8.23658177e-04, 8.96314303e-05, 2.18420391e-05, 5.83453442e-05,
 -5.01109734e-05, 4.41311175e-06,-2.73420344e-05, 6.69263044e-05,
 -7.29240857e-01, 4.62373857e-01,-9.92386570e+00,-1.07917986e-01,
 -7.88839476e-02, 5.71033155e-02]


--- Step 3018 ---
qpos:
[-1.25705417e-02, 1.02558568e+00,-3.89996413e-02, 9.40531584e-01,
 -7.05672578e-02, 1.10272093e+00,-5.27190355e-02, 9.71230846e-01,
  4.69445511e-04, 1.33913152e+00,-2.28202399e-02, 9.55166612e-01,
  1.20637652e+00, 5.52100347e-03, 1.27716726e+00, 4.54947339e-02,
 -5.58152984e-02,-9.04698737e-02, 8.90769179e-02, 6.77316643e-01,
 -3.15976853e-02,-7.32344017e-01,-6.25778872e-02]

qacc:
[-2.34111745e-01,-2.72627517e+01, 5.19610506e+01,-4.31080593e+01,
 -1.21829824e+01, 1.47342318e+01,-1.17349032e+02, 2.53353154e+02,
 -2.92325218e+00,-2.40365584e+00, 7.65858744e+00,-2.90120189e+00,
  1.19746886e-01,-5.02852508e-01,-4.08961720e+00, 1.37665420e+01,
  2.57223058e+01, 1.73746859e+01, 6.67989868e+01,-8.73564405e+01,
  2.74092141e+02, 7.75308544e+02]

qfrc_actuator:
[ 0.00395179, 0.11813437, 0.01826478, 0.00399302, 0.06396924, 0.16703487,
  0.03313644,-0.02867362, 0.0120604 , 0.03405622, 0.00986123, 0.00136692,
  0.01421778,-0.00155637, 0.        ,-0.001561  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -16.75102142,   4.21312104, -16.75102142,
        18.70674714,   5.70154459,   4.21312104,   5.70154459,
        39.94159783,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003736593519246753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11420638e-14,  2.97121702e-14,  1.00000000e+00,  3.31054896e-28,
        1.00000000e+00, -2.97121702e-14, -1.00000000e+00,  0.00000000e+00,
       -1.11420638e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08539272, -0.0944999 ,  0.06176767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.60198183e-05,-3.17515640e-03,-8.62795903e-04,-1.86462648e-04,
 -3.02690786e-03,-3.87036306e-03,-1.53512405e-03, 4.44012171e-04,
 -8.43541243e-04, 7.62057900e-05, 8.88663929e-05, 2.24754322e-05,
 -5.62624478e-05,-4.99360770e-05,-7.37028203e-06, 6.43912451e-05,
 -6.96986118e-01, 6.47913541e-01,-9.95918037e+00,-1.42527666e-01,
 -8.24344946e-02, 5.71712916e-02]


--- Step 3019 ---
qpos:
[-1.25458409e-02, 1.02734343e+00,-3.88226842e-02, 9.40571215e-01,
 -6.92852890e-02, 1.10544110e+00,-5.22546742e-02, 9.70630707e-01,
  7.74785382e-04, 1.33911681e+00,-2.28397332e-02, 9.55158811e-01,
  1.20672943e+00, 5.52113944e-03, 1.27729837e+00, 4.54915657e-02,
 -5.62606111e-02,-9.00243754e-02, 8.84232012e-02, 6.73604043e-01,
 -3.71991593e-02,-7.35982430e-01,-5.66010470e-02]

qacc:
[-4.14799829e-01,-2.51240219e+01, 4.16723061e+01,-2.31778958e+01,
 -1.20161951e+01, 1.64481347e+01,-1.18989477e+02, 2.53799105e+02,
 -2.76386819e+00,-4.21980012e+00, 1.49055757e+01,-1.78404254e+01,
 -3.62128004e-01, 1.69534652e-01,-4.61859112e+00, 1.58927764e+01,
  3.99970284e+01,-4.15141447e+00, 2.34637231e+01,-6.24452235e+01,
  1.09164201e+03, 1.35894201e+02]

qfrc_actuator:
[ 0.00388666, 0.11679527, 0.01807126, 0.00397072, 0.06264555, 0.1659733 ,
  0.03264188,-0.0280681 , 0.01176106, 0.03405649, 0.00992686, 0.0013449 ,
  0.01417515,-0.00156237, 0.        ,-0.0014856 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  -2.1353879 , -17.14022246,  -2.1353879 ,
        23.59107192,  -0.78716112, -17.14022246,  -0.78716112,
        17.37079451,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006434288697751013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29410928e-14,  8.62739517e-15,  1.00000000e+00,  1.11647921e-28,
        1.00000000e+00, -8.62739517e-15, -1.00000000e+00,  0.00000000e+00,
       -1.29410928e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18742647, -0.07022781,  0.06162064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.81718041e-05,-3.30221523e-03,-9.27515606e-04,-1.46275855e-04,
 -2.99300499e-03,-3.53374693e-03,-1.42382191e-03, 4.60003767e-04,
 -7.97561068e-04, 6.06413909e-05, 9.13084775e-05,-1.67110801e-05,
 -8.22511055e-05,-3.37575191e-05, 7.83926962e-07, 7.73892830e-05,
 -6.66428651e-01, 8.35290474e-01,-1.00011830e+01,-1.69036626e-01,
 -8.41872360e-02, 5.70965781e-02]


--- Step 3020 ---
qpos:
[-1.25222591e-02, 1.02907413e+00,-3.86486578e-02, 9.40610398e-01,
 -6.80293446e-02, 1.10813677e+00,-5.18015193e-02, 9.70041678e-01,
  1.07397524e-03, 1.33910239e+00,-2.28582073e-02, 9.55149782e-01,
  1.20708147e+00, 5.52149838e-03, 1.27742948e+00, 4.54889840e-02,
 -5.65682483e-02,-8.95952707e-02, 8.78520151e-02, 6.71193970e-01,
 -4.28107736e-02,-7.38308099e-01,-5.06660033e-02]

qacc:
[-5.14859215e-01,-2.83406855e+01, 5.04400887e+01,-3.15309593e+01,
 -1.17181901e+01, 1.61416838e+01,-1.13536570e+02, 2.38965308e+02,
 -2.60303305e+00,-4.50689728e+00, 1.76070024e+01,-2.95946514e+01,
 -7.84362960e-01, 7.92372704e-01,-1.68489045e+00, 6.08346797e+00,
  3.44188719e+01,-4.09840663e+00, 2.06326237e+01,-3.17222600e+01,
  9.21963754e+02, 5.09232306e+01]

qfrc_actuator:
[ 0.00382049, 0.11539293, 0.01790416, 0.00394168, 0.0613723 , 0.16493868,
  0.03214869,-0.02750739, 0.011481  , 0.03406242, 0.00997319, 0.00128181,
  0.01413157,-0.00154822, 0.        ,-0.00145772, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -17.24838403,  -0.91670926, -17.24838403,
        17.2621101 ,   0.19976784,  -0.91670926,   0.19976784,
        13.51398663,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.008990799491043075
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.17760157, -0.06949713,  0.06149565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21830627e-04,-3.44661328e-03,-9.31954512e-04,-1.57827055e-04,
 -2.92606444e-03,-3.29770736e-03,-1.34352768e-03, 4.28655889e-04,
 -7.51136502e-04, 5.70043802e-05, 6.81108965e-05,-5.90948584e-05,
 -9.21922022e-05,-1.49716218e-05, 5.07259592e-06, 3.14492779e-05,
 -3.94625821e-01, 7.29719230e-01,-9.97378278e+00,-1.24902863e-01,
 -8.16417763e-02, 5.87102324e-02]


--- Step 3021 ---
qpos:
[-0.01250008, 1.03077719,-0.0384775 , 0.94064936,-0.06679888, 1.11080947,
 -0.05135903, 0.96946454, 0.00136692, 1.33908814,-0.02287568, 0.95514146,
  1.20743275, 0.0055218 , 1.2775606 , 0.04548676,-0.05676215,-0.089179  ,
  0.08735105, 0.66988952,-0.04843043,-0.73952725,-0.04474352]

qacc:
[-6.44351949e-01,-2.88904590e+01, 5.08106724e+01,-2.88037122e+01,
 -1.14599069e+01, 1.79931934e+01,-1.18764970e+02, 2.51554971e+02,
 -2.64483123e+00,-1.26824757e+00, 2.99460046e+00, 5.41146858e+00,
 -5.52701064e-01, 3.76745267e-01,-1.04346562e+00, 3.73911771e+00,
  2.84331230e+01,-3.20905825e+00, 1.75554568e+01,-1.17023128e+01,
  7.79565741e+02, 5.04415262e+01]

qfrc_actuator:
[ 0.00373652, 0.11399975, 0.01775381, 0.0039266 , 0.06012158, 0.16396443,
  0.03167823,-0.02690651, 0.01116147, 0.03407158, 0.01002552, 0.00131931,
  0.01408748,-0.00155777, 0.        ,-0.00144031, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -15.12328794,   8.34465514, -15.12328794,
        16.77478457,  -0.90243764,   8.34465514,  -0.90243764,
        15.6372104 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.010875182448349563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55219402e-15,  5.10438804e-15,  1.00000000e+00,  1.30273886e-29,
        1.00000000e+00, -5.10438804e-15, -1.00000000e+00,  0.00000000e+00,
       -2.55219402e-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([-0.17104777, -0.0702318 ,  0.06140923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52351974e-04,-3.51799011e-03,-9.44145054e-04,-1.48627843e-04,
 -2.86858535e-03,-3.09134031e-03,-1.26635211e-03, 4.77312693e-04,
 -7.63183051e-04, 5.24370851e-05, 6.95170228e-05, 3.97283951e-05,
 -9.33435430e-05,-3.53921205e-05, 1.16621802e-06, 1.88051820e-05,
 -2.06072949e-01, 6.24927901e-01,-9.95451362e+00,-8.37332258e-02,
 -8.00646447e-02, 5.98689043e-02]


--- Step 3022 ---
qpos:
[-0.01247888, 1.03245348,-0.0383108 , 0.94068788,-0.0655937 , 1.11345982,
 -0.05092609, 0.9688987 , 0.00165367, 1.33907442,-0.02289308, 0.95513401,
  1.20778306, 0.00552273, 1.27769177, 0.04548409,-0.05686224,-0.08877258,
  0.08690717, 0.66951766,-0.05405475,-0.73980937,-0.03881088]

qacc:
[-4.53454595e-01,-2.38912469e+01, 3.63622771e+01,-1.95058449e+01,
 -1.13612294e+01, 1.48106025e+01,-1.06250657e+02, 2.33781358e+02,
 -2.61980419e+00, 2.02458107e+00,-7.50655662e+00, 1.62490293e+01,
 -1.20144885e+00, 1.49296062e+00, 1.55857874e+00,-5.04564654e+00,
  2.34543102e+01,-2.46256643e+00, 1.42705808e+01, 3.81322011e+00,
  6.58351729e+02, 4.86814153e+01]

qfrc_actuator:
[ 0.00371361, 0.11271224, 0.0175436 , 0.0039021 , 0.05885875, 0.16296368,
  0.03124312,-0.02634001, 0.01085632, 0.03410043, 0.0100278 , 0.00136247,
  0.01405374,-0.00151032, 0.        ,-0.0014647 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0001745030927105956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.21694296, -0.06525117,  0.04991275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -15.05644423,   8.46466743, -15.05644423,
        17.03698006,  -0.41933304,   8.46466743,  -0.41933304,
        16.52684274,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.012174503092710592
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.55962357e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.55962357e-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([-0.16661135, -0.07070854,  0.06135042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.07722648e-04,-3.45332607e-03,-1.01890593e-03,-1.60358617e-04,
 -2.85085185e-03,-2.98649091e-03,-1.18039981e-03, 4.52325702e-04,
 -7.55907760e-04, 7.27904727e-05, 2.16233843e-05, 4.75972715e-05,
 -8.84384092e-05, 1.53132996e-05,-1.75622060e-06,-2.41359877e-05,
 -7.82556069e-02, 5.40673712e-01,-9.94608037e+00,-4.84641252e-02,
 -7.95547215e-02, 6.06992690e-02]


--- Step 3023 ---
qpos:
[-0.01245811, 1.03410426,-0.03814866, 0.94072505,-0.06441305, 1.1160869 ,
 -0.05050108, 0.96834273, 0.00193436, 1.33906103,-0.02291023, 0.95512749,
  1.20813268, 0.00552391, 1.27782304, 0.04548014,-0.05688523,-0.08837351,
  0.08650711, 0.66992496,-0.05967955,-0.73929677,-0.03285099]

qacc:
[-1.93823708e-01,-2.34359781e+01, 3.87670284e+01,-3.30047572e+01,
 -1.10086022e+01, 7.00294835e+00,-7.94284706e+01, 1.95337200e+02,
 -2.56650900e+00, 1.37932761e+00,-5.85771128e+00, 1.55955176e+01,
 -8.26672787e-01, 9.07130270e-01, 4.07691732e+00,-1.39006784e+01,
  1.92744464e+01,-1.83490174e+00, 1.09553066e+01, 1.55608067e+01,
  5.53512782e+02, 4.58991366e+01]

qfrc_actuator:
[ 0.00372749, 0.11155156, 0.01735346, 0.00383675, 0.05766965, 0.16181358,
  0.0308501 ,-0.02585157, 0.01056225, 0.03410514, 0.01003609, 0.00140858,
  0.01402094,-0.00150035, 0.        ,-0.00153125, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000981544386682423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.2170398 , -0.06540183,  0.04950923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.72727273e+01, -1.50647145e+01,  8.44993992e+00, -1.50647145e+01,
        1.72795013e+01,  1.20769338e-02,  8.44993992e+00,  1.20769338e-02,
        1.72942583e+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: -0.01298154438668242
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.13807963e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.13807963e-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([-0.16372416, -0.07100227,  0.0613119 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.69320892e-05,-3.30512762e-03,-9.94857095e-04,-2.01718719e-04,
 -2.76917980e-03,-3.06117480e-03,-1.10865490e-03, 3.79215809e-04,
 -7.40539603e-04, 5.07929863e-05, 2.63903459e-05, 4.99278015e-05,
 -7.33639534e-05,-5.90339154e-06,-8.25434097e-06,-6.91449297e-05,
  7.46129367e-03, 4.72277941e-01,-9.94641915e+00,-1.82980364e-02,
 -7.98943766e-02, 6.13122401e-02]


--- Step 3024 ---
qpos:
[-0.01243759, 1.03572983,-0.03798974, 0.94076246,-0.0632562 , 1.11868913,
 -0.05008418, 0.96779785, 0.00220942, 1.33904753,-0.02292665, 0.95512123,
  1.20848183, 0.00552474, 1.27795427, 0.04547507,-0.05684422,-0.08798146,
  0.08613834, 0.67099032,-0.06522856,-0.73810098,-0.02691024]

qacc:
[-1.11636602e-01,-2.40010637e+01, 3.77703020e+01,-1.37469115e+01,
 -1.06674004e+01, 7.41618372e+00,-8.57605508e+01, 2.15765300e+02,
 -2.38070948e+00,-1.68272751e+00, 4.76519448e+00,-9.58670136e-01,
 -2.31981409e-01,-8.89717943e-02, 3.34038833e+00,-1.17178140e+01,
  1.60004997e+01,-1.75855097e+00, 7.82285450e+00, 2.67225335e+01,
  4.73912595e+02,-3.23002590e+00]

qfrc_actuator:
[ 0.00372776, 0.11038768, 0.01723052, 0.0038545 , 0.05651641, 0.16049496,
  0.03041354,-0.02530653, 0.01031267, 0.03407763, 0.01006553, 0.00142054,
  0.01398871,-0.0015305 , 0.        ,-0.00158659, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014050389455388737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.21709023, -0.0627578 ,  0.04929748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -14.06939736,  10.01993839, -14.06939736,
        17.46815635,   0.27440981,  10.01993839,   0.27440981,
        17.65803709,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.01340503894553887
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07053301e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.07053301e-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([-0.16191049, -0.06936449,  0.06128796])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77712555e-05,-3.22233581e-03,-8.96955404e-04,-1.14411227e-04,
 -2.68974252e-03,-3.25849199e-03,-1.16057694e-03, 4.33899444e-04,
 -6.86963837e-04, 7.39785671e-06, 4.38632753e-05, 1.53283791e-05,
 -7.04835145e-05,-4.86895375e-05,-1.57271114e-05,-6.11632191e-05,
  6.38957155e-02, 4.16419334e-01,-9.95336648e+00, 7.34460012e-03,
 -8.08941887e-02, 6.17744736e-02]


--- Step 3025 ---
qpos:
[-0.0124173 , 1.03733104,-0.03783441, 0.94080011,-0.06212277, 1.1212643 ,
 -0.04967489, 0.96726398, 0.00247921, 1.33903416,-0.02294292, 0.95511484,
  1.20883047, 0.00552522, 1.27808532, 0.04547003,-0.05675133,-0.0875944 ,
  0.08578884, 0.67259128,-0.07070927,-0.73632968,-0.02097076]

qacc:
[-1.02538623e-01,-2.19011503e+01, 3.22506173e+01,-9.51745775e+00,
 -1.04932022e+01, 3.09375777e+00,-7.50396376e+01, 2.07235593e+02,
 -2.23326368e+00,-4.95776693e-01, 2.11941504e+00,-3.59644921e+00,
 -1.71781968e-01,-1.58539860e-01,-3.37755178e-01, 7.90947518e-01,
  1.29679620e+01,-1.24528397e+00, 4.81741053e+00, 3.21702189e+01,
  3.91712584e+02, 3.45545243e-01]

qfrc_actuator:
[ 0.00371986, 0.10924952, 0.01707737, 0.00386779, 0.05535824, 0.15903286,
  0.02998971,-0.02476821, 0.01007403, 0.03408434, 0.01007157, 0.0014123 ,
  0.01396215,-0.00154871, 0.        ,-0.00158159, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001498182973248073
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.21720175, -0.06291973,  0.04925091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -14.95407716,   8.64422835, -14.95407716,
        17.81773035,   0.94282772,   8.64422835,   0.94282772,
        18.90377147,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.01349818297324807
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.05624532e-15,  8.22498129e-15,  1.00000000e+00,  1.69125793e-29,
        1.00000000e+00, -8.22498129e-15, -1.00000000e+00,  0.00000000e+00,
       -2.05624532e-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([-0.16104042, -0.06944987,  0.06127597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55750078e-05,-3.12841036e-03,-8.97096472e-04,-1.11491853e-04,
 -2.65210977e-03,-3.51885030e-03,-1.19042779e-03, 4.21066391e-04,
 -6.44388119e-04, 2.00196682e-05, 1.29562285e-05,-6.44785016e-06,
 -7.34856252e-05,-4.87214714e-05,-1.74568546e-05,-1.16834814e-06,
  9.87921761e-02, 3.60752068e-01,-9.96227260e+00, 2.92150675e-02,
 -8.22345623e-02, 6.21400562e-02]


--- Step 3026 ---
qpos:
[-0.0123976 , 1.03891382,-0.03768519, 0.94083657,-0.06101237, 1.12381227,
 -0.04927358, 0.96674116, 0.00274371, 1.33902101,-0.02295876, 0.95510871,
  1.20917853, 0.00552547, 1.27821587, 0.04546807,-0.05661693,-0.08721061,
  0.08544753, 0.67461876,-0.07612776,-0.73407663,-0.01501951]

qacc:
[-2.70967652e-01,-9.73287963e+00, 4.99183476e+00,-6.52533923e+00,
 -1.02983480e+01, 3.93179432e+00,-7.80983177e+01, 2.10450038e+02,
 -2.23984016e+00,-3.58924312e-01, 9.77677114e-01, 2.16078203e+00,
 -5.18371512e-02,-2.49110749e-01,-1.00562490e+01, 3.41052547e+01,
  1.03807490e+01,-8.17581201e-01, 2.04790317e+00, 3.52884353e+01,
  3.19277832e+02, 2.55696223e+00]

qfrc_actuator:
[ 0.00367164, 0.10872188, 0.01690774, 0.00382505, 0.05422403, 0.15769209,
  0.02959403,-0.02422052, 0.00980834, 0.03411139, 0.01009936, 0.00142776,
  0.0139337 ,-0.00155962, 0.        ,-0.00141681, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013074446923772368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.21731942, -0.06308127,  0.04934628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -14.73411628,   9.01404043, -14.73411628,
        18.26331099,   1.6191824 ,   9.01404043,   1.6191824 ,
        19.91940076,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.013307444692377234
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.1714358e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.1714358e-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([-0.16094237, -0.06944223,  0.06127412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.46747431e-05,-2.46534016e-03,-8.94957218e-04,-1.64628495e-04,
 -2.60875405e-03,-3.54698916e-03,-1.21664302e-03, 4.21503206e-04,
 -6.46287198e-04, 4.06552775e-05, 3.30208392e-05, 1.62076557e-05,
 -7.67350763e-05,-4.21997406e-05,-1.12228404e-05, 1.61814754e-04,
  1.18824983e-01, 3.16013423e-01,-9.97440888e+00, 4.69818715e-02,
 -8.39141231e-02, 6.24111298e-02]


--- Step 3027 ---
qpos:
[-0.01237907, 1.0404856 ,-0.03754313, 0.94087232,-0.0599247 , 1.12633485,
 -0.04888119, 0.96623065, 0.00300279, 1.33900812,-0.02297387, 0.95510246,
  1.20952592, 0.00552603, 1.27834604, 0.0454704 ,-0.05644983,-0.08682867,
  0.08510445, 0.67697618,-0.08148897,-0.73142391,-0.00904752]

qacc:
[  -0.53813466,   3.67717878, -28.01585882,  23.09033312, -10.16536648,
   10.93833733,-100.57537632, 242.93592249,  -2.2925521 ,  -1.89194587,
    6.83708238,  -7.62529542,  -0.38374748,   0.43017662, -13.55959055,
   46.6626221 ,   8.17112765,  -0.46403821,  -0.44263298,  36.49170921,
  255.56000511,   3.6618082 ]

qfrc_actuator:
[ 0.00358193, 0.10872413, 0.01674994, 0.00382106, 0.0530954 , 0.15657712,
  0.02920087,-0.02360065, 0.00952855, 0.03413275, 0.01013987, 0.00142157,
  0.01391478,-0.00153062, 0.        ,-0.00119474, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008900459688053058
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.21744014, -0.06323955,  0.04955498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -14.11541729,   9.95500388, -14.11541729,
        19.17935707,   2.703452  ,   9.95500388,   2.703452  ,
        21.10601088,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.012890045968805303
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15325653e-15,  4.30651305e-15,  1.00000000e+00,  9.27302734e-30,
        1.00000000e+00, -4.30651305e-15, -1.00000000e+00,  0.00000000e+00,
       -2.15325653e-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([-0.16147938, -0.06936236,  0.06128058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27210513e-04,-1.56938413e-03,-7.54535965e-04,-1.07044877e-04,
 -2.58060376e-03,-3.34115939e-03,-1.22235718e-03, 4.92051444e-04,
 -6.61508202e-04, 5.09541401e-05, 5.27195102e-05,-3.71455239e-06,
 -6.66926506e-05,-1.37332629e-06, 1.01745834e-05, 2.29075744e-04,
  1.29004726e-01, 2.80113174e-01,-9.98826453e+00, 6.11726266e-02,
 -8.57944637e-02, 6.26001261e-02]


--- Step 3028 ---
qpos:
[-0.01236206, 1.0420505 ,-0.03740705, 0.94090629,-0.05885937, 1.12883193,
 -0.04849657, 0.9657312 , 0.00325633, 1.33899538,-0.02298833, 0.95509653,
  1.20987275, 0.00552664, 1.27847637, 0.04547404,-0.05625697,-0.08644793,
  0.08475139, 0.67958825,-0.08677757,-0.72843673,-0.00306456]

qacc:
[ -0.70741014,  4.04387472,-20.40693505,  1.28879009, -9.96933099,
   5.68239116,-81.16053839,212.29492179, -2.34528567, -0.97760427,
   2.76653028,  1.32598383, -0.39237085,  0.32704108, -3.65588446,
  13.21502245,  6.44432766, -0.2995024 , -2.49511616, 37.44858879,
 206.22364854, -8.05819546]

qfrc_actuator:
[ 0.00348588, 0.10874246, 0.01658499, 0.00375152, 0.0519968 , 0.15535815,
  0.02883113,-0.02304965, 0.00924254, 0.03413281, 0.01016978, 0.00143819,
  0.01388563,-0.00153138, 0.        ,-0.00113602, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030927993935919024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.21754158, -0.06174286,  0.04984536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -11.91885175,  12.50152312, -11.91885175,
        20.92303676,   3.48017575,  12.50152312,   3.48017575,
        20.59069889,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.012309279939359187
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.50969931e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.50969931e-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([-0.16249742, -0.06816322,  0.0612935 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67279566e-04,-1.02803830e-03,-5.68561618e-04,-1.40100720e-04,
 -2.53648619e-03,-3.32966577e-03,-1.15718707e-03, 4.30694258e-04,
 -6.76717181e-04, 3.86119081e-05, 4.57804561e-05, 1.95182156e-05,
 -6.17998344e-05,-1.68998418e-05, 2.65436235e-05, 7.19899124e-05,
  1.32845564e-01, 2.51427709e-01,-1.00026699e+01, 7.22314869e-02,
 -8.77605197e-02, 6.27122815e-02]


--- Step 3029 ---
qpos:
[-0.01234616, 1.04361528,-0.03727735, 0.94093791,-0.05781574, 1.13130205,
 -0.04811953, 0.96524277, 0.00350453, 1.33898255,-0.02300248, 0.95509123,
  1.21021858, 0.00552832, 1.27860665, 0.04547973,-0.05604479,-0.08606735,
  0.08438081, 0.68238061,-0.09200122,-0.7251785 , 0.00293578]

qacc:
[-5.12656200e-01, 1.30101501e+01,-3.77576286e+01, 5.28527807e+00,
 -9.68250584e+00, 3.21456204e+00,-7.53495683e+01, 2.07768392e+02,
 -2.25838604e+00, 1.21109091e-01,-1.79788854e+00, 8.85791145e+00,
 -1.31645266e+00, 1.88205935e+00,-6.14291930e+00, 2.16898379e+01,
  4.82586371e+00,-4.02803233e-02,-4.37992182e+00, 3.58100260e+01,
  1.57118094e+02,-5.71178293e+00]

qfrc_actuator:
[ 0.00345787, 0.10925004, 0.01645292, 0.00366177, 0.05094266, 0.15394504,
  0.02842459,-0.02250817, 0.0089906 , 0.03410235, 0.01017536, 0.00146808,
  0.01384503,-0.0014611 , 0.        ,-0.00103202, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([17.27272727, -7.36682297, 15.62296473, -7.36682297, 27.38798071,
        4.7697273 , 15.62296473,  4.7697273 , 19.52183538,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0116044271648338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.56723679e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.56723679e-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([-0.16394893, -0.06797414,  0.0613119 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20903951e-04,-2.03650131e-04,-4.09456610e-04,-1.39298612e-04,
 -2.46891746e-03,-3.50592219e-03,-1.18595842e-03, 4.21920385e-04,
 -6.51633142e-04, 5.85330489e-07, 1.89388087e-05, 3.27689097e-05,
 -7.46522848e-05, 5.07551702e-05, 1.51145960e-05, 1.10276794e-04,
  1.31997859e-01, 2.26219014e-01,-1.00161897e+01, 8.06169475e-02,
 -8.96889410e-02, 6.27575618e-02]


--- Step 3030 ---
qpos:
[-0.01233077, 1.04518544,-0.03715358, 0.94096873,-0.05679347, 1.13374461,
 -0.04775009, 0.96476372, 0.00374756, 1.33896997,-0.02301648, 0.95508459,
  1.21056351, 0.0055313 , 1.27873747, 0.04548262,-0.0558188 ,-0.08568611,
  0.08398636, 0.68528941,-0.09716631,-0.72170416, 0.00895724]

qacc:
[-2.34761235e-01, 2.17118170e+01,-6.06326981e+01, 3.97490590e+01,
 -9.52154967e+00,-2.76204664e-01,-6.16348875e+01, 1.77589150e+02,
 -2.19077879e+00,-2.40585460e+00, 1.09368701e+01,-2.51701711e+01,
 -1.79347867e+00, 2.59940779e+00, 9.46066492e+00,-3.15098530e+01,
  3.45511520e+00, 1.66789277e-01,-5.96990893e+00, 3.33137640e+01,
  1.14892958e+02,-4.25713337e+00]

qfrc_actuator:
[ 0.00347087, 0.10997616, 0.01632563, 0.00364994, 0.04988799, 0.15255135,
  0.0280344 ,-0.02204778, 0.00874335, 0.03412476, 0.01018419, 0.001399  ,
  0.0138136 ,-0.00138474, 0.        ,-0.00118615, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([17.27272727,  4.00928714, 16.8009739 ,  4.00928714, 23.60062153,
       -1.51005205, 16.8009739 , -1.51005205, 17.63307735,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01080149318954525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.13921087e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.13921087e-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([-0.16578856, -0.06774547,  0.06133531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.47810979e-05, 5.02296361e-04,-2.25162359e-04,-3.18173435e-05,
 -2.43305682e-03,-3.58915137e-03,-1.20732723e-03, 3.34508881e-04,
 -6.32119376e-04, 2.75828465e-05, 1.20854480e-05,-6.78129024e-05,
 -5.61250671e-05, 7.39334123e-05, 1.41837517e-05,-1.47159587e-04,
  1.28903829e-01, 2.06512134e-01,-1.00289747e+01, 8.65983876e-02,
 -9.15421681e-02, 6.27292508e-02]


--- Step 3031 ---
qpos:
[-0.01231581, 1.04676208,-0.03703416, 0.94099935,-0.05579231, 1.13616172,
 -0.04738895, 0.96429279, 0.00398525, 1.33895774,-0.0230306 , 0.95507648,
  1.21090825, 0.00553394, 1.27886855, 0.04548199,-0.05557044,-0.08534053,
  0.08372961, 0.68848709,-0.10166517,-0.71794022, 0.01454516]

qacc:
[-2.04621469e-01, 1.98457174e+01,-5.40340521e+01, 4.02169098e+01,
 -9.39818654e+00, 2.37778747e+00,-6.43994359e+01, 1.64212182e+02,
 -2.25734847e+00,-1.71040943e+00, 9.08826824e+00,-2.49727587e+01,
 -2.16173498e-01,-1.27567632e-02, 1.10303814e+01,-3.79997135e+01,
  5.59157776e+00,-8.91783025e+00, 3.44281838e+01, 8.71711579e+01,
  2.21554510e+02,-3.76190863e+02]

qfrc_actuator:
[ 0.00345507, 0.11045514, 0.0161678 , 0.00364875, 0.04884135, 0.15144701,
  0.02767482,-0.0216388 , 0.00846539, 0.0341431 , 0.01017724, 0.00132551,
  0.0137877 ,-0.00142966, 0.        ,-0.00136687, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010014476272628713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.54309079e-15,  5.54309079e-15,  1.00000000e+00,  3.07258555e-29,
        1.00000000e+00, -5.54309079e-15, -1.00000000e+00,  0.00000000e+00,
       -5.54309079e-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([-0.07969154, -0.06872841,  0.06135946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.77656918e-05, 6.85121199e-04,-9.33738784e-05, 7.99989256e-06,
 -2.40633978e-03,-3.35198433e-03,-1.19774871e-03, 2.77910633e-04,
 -6.51310164e-04, 3.41181383e-05,-2.13664027e-06,-7.39612628e-05,
 -3.67364544e-05,-3.57983411e-05,-1.60326613e-05,-1.88464878e-04,
  1.24704785e-01, 1.91286293e-01,-1.00406556e+01, 9.05241479e-02,
 -9.32653985e-02, 6.26282792e-02]


--- Step 3032 ---
qpos:
[-0.01230092, 1.04834545,-0.03691831, 0.94102898,-0.05481184, 1.13855631,
 -0.04703698, 0.963832  , 0.00421797, 1.33894521,-0.02304425, 0.95506896,
  1.21125281, 0.00553548, 1.27899954, 0.04547918,-0.05530378,-0.08504443,
  0.08358079, 0.69191477,-0.10524755,-0.71400146, 0.01946337]

qacc:
[-3.63559051e-02, 1.68020720e+01,-4.20988900e+01, 2.06806403e+01,
 -9.20713999e+00, 1.18515262e+01,-9.46779481e+01, 2.11351698e+02,
 -2.10656429e+00,-6.82034588e-01, 5.67317675e-01, 6.47591100e+00,
  3.93705247e-01,-1.17967272e+00, 6.39289800e+00,-2.26926158e+01,
  4.57481043e+00,-1.23671417e+01, 2.69801990e+01, 8.80447012e+01,
  1.70120809e+02,-5.52335216e+02]

qfrc_actuator:
[ 0.00347537, 0.11085358, 0.01601019, 0.0036004 , 0.04782556, 0.15056069,
  0.02730185,-0.02112116, 0.00824224, 0.03410552, 0.01019655, 0.00135655,
  0.01374911,-0.00151072, 0.        ,-0.00147294, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -13.20292965, -11.13686473, -13.20292965,
        65.82461634, -57.55903402, -11.13686473, -57.55903402,
        85.50987439,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.010253793310686807
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.07714625, -0.06322621,  0.06134306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.86436618e-06, 7.32764534e-04,-4.11941052e-05,-2.88546640e-05,
 -2.36195618e-03,-3.00203303e-03,-1.16522892e-03, 3.92523567e-04,
 -6.07833348e-04,-2.11512463e-05, 2.35997805e-05, 3.01998776e-05,
 -6.60690932e-05,-9.97195203e-05,-3.19682997e-05,-1.19450951e-04,
  8.87955350e-02, 1.20470474e-01,-1.00335389e+01, 8.98030008e-02,
 -9.40627936e-02, 6.26754377e-02]


--- Step 3033 ---
qpos:
[-0.01228556, 1.04993419,-0.03680436, 0.94105752,-0.05385161, 1.14093088,
 -0.04669408, 0.96338012, 0.00444606, 1.33893266,-0.0230568 , 0.95506215,
  1.21159667, 0.00553666, 1.27913023, 0.04547608,-0.05503107,-0.08478445,
  0.08354928, 0.69543124,-0.10825443,-0.70998788, 0.02394957]

qacc:
[ 2.20065865e-01, 1.02596760e+01,-2.26703804e+01, 3.42366243e+00,
 -8.99465184e+00, 1.28502961e+01,-9.15561425e+01, 1.93260604e+02,
 -1.95889920e+00,-1.74663319e+00, 4.20760653e+00, 4.64061821e+00,
 -3.40968514e-01,-2.89215503e-02, 4.58192119e-01,-2.18570758e+00,
  1.51273089e+00,-9.03076793e+00, 2.93288061e+01, 5.02715729e+01,
  7.47147119e+01,-3.51841142e+02]

qfrc_actuator:
[ 0.0035349 , 0.11109437, 0.01590694, 0.00354238, 0.04683632, 0.14977693,
  0.02692503,-0.02066784, 0.008036  , 0.03414142, 0.01026656, 0.00139558,
  0.01370824,-0.00152381, 0.        ,-0.00148089, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -13.11605327,  11.2390504 , -13.11605327,
        17.97180259,   0.81582596,  11.2390504 ,   0.81582596,
        18.22480208,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.010406098340571143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.33448267e-15,  5.33448267e-15,  1.00000000e+00,  2.84567053e-29,
        1.00000000e+00, -5.33448267e-15, -1.00000000e+00,  0.00000000e+00,
       -5.33448267e-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([-0.06753667, -0.06839534,  0.06133303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.29936089e-05, 6.10537495e-04, 2.73601690e-05,-3.64178266e-05,
 -2.31193279e-03,-2.69555689e-03,-1.09358066e-03, 3.42143908e-04,
 -5.65239615e-04, 2.98786478e-05, 6.94811570e-05, 3.97336748e-05,
 -9.79776248e-05,-5.75646199e-05,-3.03854946e-05,-1.92471482e-05,
  3.77893378e-02, 5.15406844e-02,-1.00135013e+01, 8.01891861e-02,
 -9.21904142e-02, 6.26070710e-02]


--- Step 3034 ---
qpos:
[-0.01226968, 1.05152543,-0.03669136, 0.94108572,-0.0529113 , 1.14328687,
 -0.04635947, 0.9629364 , 0.00466954, 1.33892123,-0.02306971, 0.95505515,
  1.21193977, 0.00553785, 1.27926033, 0.04547621,-0.05475324,-0.08455401,
  0.0836105 , 0.69902296,-0.11078397,-0.70590736, 0.02808203]

qacc:
[ 2.32508203e-01, 5.30496655e+00,-1.26483629e+01, 5.47060877e+00,
 -8.85011153e+00, 1.14066044e+01,-8.29944523e+01, 1.76106117e+02,
 -1.95422591e+00, 2.10393674e+00,-4.67820591e+00, 1.07124947e+00,
 -3.22406660e-01, 1.51062476e-01,-1.06236250e+01, 3.59357246e+01,
  1.28137581e+00,-7.38718289e+00, 2.31846883e+01, 4.52746806e+01,
  6.34163301e+01,-2.89741492e+02]

qfrc_actuator:
[ 0.00356418, 0.11106169, 0.01580054, 0.00351456, 0.04585307, 0.14900795,
  0.02656721,-0.02025595, 0.00780605, 0.03423901, 0.01025968, 0.00138578,
  0.01368202,-0.00151417, 0.        ,-0.00130672, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.010471193770626469
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.30132022e-15, -1.32533005e-15,  1.00000000e+00, -7.02599901e-30,
        1.00000000e+00,  1.32533005e-15, -1.00000000e+00,  0.00000000e+00,
       -5.30132022e-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([-0.0675144 , -0.06839509,  0.06132947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.57733176e-05, 2.82655037e-04, 7.87982774e-06,-8.06524368e-06,
 -2.27922948e-03,-2.49826129e-03,-1.00793621e-03, 3.10651455e-04,
 -5.63799880e-04, 1.29029296e-04, 8.04256357e-06,-6.01570357e-06,
 -8.90157647e-05,-2.99236646e-05,-1.89081347e-05, 1.68604564e-04,
  5.22931363e-03, 2.01611630e-02,-1.00005365e+01, 7.13637774e-02,
 -9.02181091e-02, 6.24157910e-02]


--- Step 3035 ---
qpos:
[-0.01225361, 1.05311656,-0.03657954, 0.94111365,-0.05199033, 1.14562426,
 -0.0460319 , 0.96250139, 0.00488845, 1.33891142,-0.02308376, 0.95504843,
  1.2122822 , 0.00553906, 1.27939061, 0.04547571,-0.05453147,-0.08436459,
  0.08378248, 0.70186611,-0.11286674,-0.70260836, 0.03140944]

qacc:
[ 8.81065826e-02, 2.56417988e+00,-7.96898583e+00, 3.77161434e+00,
 -8.58471854e+00, 8.97961322e+00,-7.63234400e+01, 1.77212992e+02,
 -1.93288315e+00, 5.68711033e+00,-1.65416993e+01, 1.65519535e+01,
 -6.24727028e-01, 5.39688685e-01, 2.25965566e+00,-7.37628009e+00,
 -1.40164386e+01,-1.02525115e+01, 2.76860238e+01,-1.80432916e+02,
 -4.99051429e+02,-4.71848474e+02]

qfrc_actuator:
[ 0.00355734, 0.1108834 , 0.01567432, 0.00348679, 0.0449167 , 0.14814789,
  0.02624141,-0.01981847, 0.00758146, 0.03433696, 0.01020767, 0.00140058,
  0.01365398,-0.00150886, 0.        ,-0.00134624, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -17.27018221,   0.29650267, -17.27018221,
        17.30671566,   1.97969777,   0.29650267,   1.97969777,
       132.58278895,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.011546740514825078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.80751699e-15,  4.80751699e-15,  1.00000000e+00,  2.31122196e-29,
        1.00000000e+00, -4.80751699e-15, -1.00000000e+00,  0.00000000e+00,
       -4.80751699e-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([-0.00181449, -0.06999486,  0.06128667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11631049e-05,-4.72514498e-05,-7.74576311e-05,-1.78181657e-05,
 -2.21524629e-03,-2.46393957e-03,-9.28468848e-04, 3.43814238e-04,
 -5.57589354e-04, 1.70861699e-04,-2.60431204e-05, 1.86494452e-05,
 -7.91439746e-05,-2.42694011e-05, 7.55068842e-06,-3.30750994e-05,
 -2.24769278e-02, 1.25531365e-04,-9.99116993e+00, 6.35062536e-02,
 -8.84257234e-02, 6.22424194e-02]


--- Step 3036 ---
qpos:
[-0.01223772, 1.05470627,-0.03646939, 0.94114086,-0.05108807, 1.14794172,
 -0.04571014, 0.96207409, 0.00510286, 1.3389027 ,-0.02309847, 0.95504161,
  1.21262413, 0.00554002, 1.27952133, 0.0454714 ,-0.05435661,-0.08420877,
  0.08404387, 0.70409596,-0.1145732 ,-0.69997292, 0.03405542]

qacc:
[-8.03453844e-02, 1.40833418e+00,-5.35815417e+00,-2.81947582e+00,
 -8.29568943e+00, 2.23608145e+00,-5.44046679e+01, 1.47621568e+02,
 -1.90266150e+00, 3.04839946e+00,-8.02823457e+00, 5.19559989e+00,
 -5.45189650e-01, 3.29691391e-01, 1.21933023e+01,-4.16274351e+01,
 -1.17272353e+01,-8.40111529e+00, 2.23547670e+01,-1.52362165e+02,
 -4.15777373e+02,-3.99159150e+02]

qfrc_actuator:
[ 0.00352894, 0.11072588, 0.01555457, 0.00344137, 0.04401585, 0.14711637,
  0.02593688,-0.01944047, 0.00736188, 0.03436318, 0.01016501, 0.00139423,
  0.01363019,-0.00152393, 0.        ,-0.00154688, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029741528826091046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03047494, -0.06559154,  0.04985129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.012297415288260907
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.00295667, -0.0700775 ,  0.06126142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92094911e-05,-2.25933382e-04,-1.45515774e-04,-4.81369980e-05,
 -2.14492727e-03,-2.59936817e-03,-8.90377744e-04, 2.88374995e-04,
 -5.48906652e-04, 1.16323232e-04,-1.16711403e-05,-1.68210850e-06,
 -6.88291348e-05,-4.05851854e-05,-5.03684356e-06,-2.02585070e-04,
 -1.33235008e-02,-4.65531138e-05,-9.92578428e+00, 3.65545732e-02,
 -7.81732385e-02, 6.06974529e-02]


--- Step 3037 ---
qpos:
[-0.01222231, 1.05629313,-0.0363606 , 0.94116711,-0.05020423, 1.15023633,
 -0.04539278, 0.96165524, 0.00531286, 1.33889415,-0.02311346, 0.95503379,
  1.21296556, 0.00554056, 1.27965164, 0.04546773,-0.05422122,-0.08408057,
  0.0843757 , 0.7058194 ,-0.11596192,-0.69790179, 0.03612324]

qacc:
[-2.23922972e-01,-1.69013430e+00, 2.97978542e+00,-1.18977989e+01,
 -8.15796266e+00,-4.10024574e+00,-3.99420305e+01, 1.45804109e+02,
 -1.86820672e+00,-7.14496377e-01, 4.62186850e+00,-1.56251781e+01,
 -6.56018471e-02,-3.23762558e-01,-2.55846324e+00, 8.06517096e+00,
 -9.86722257e+00,-6.90337731e+00, 1.76084264e+01,-1.29111925e+02,
 -3.48195324e+02,-3.38451805e+02]

qfrc_actuator:
[ 0.00348789, 0.11051117, 0.01545741, 0.00338591, 0.04310791, 0.14583097,
  0.02566444,-0.01902962, 0.00714706, 0.03431074, 0.01012795, 0.00133994,
  0.01359831,-0.00155096, 0.        ,-0.00150349, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007655640538674346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03038669, -0.06558533,  0.04961722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.012765564053867431
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.17425376e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.17425376e-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([-0.00348169, -0.07009303,  0.06124979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.38168917e-05,-3.96131318e-04,-1.66484862e-04,-6.62515170e-05,
 -2.11353190e-03,-2.92184461e-03,-8.81872742e-04, 3.16972904e-04,
 -5.39014460e-04, 9.69931320e-06,-1.56944740e-05,-5.12813045e-05,
 -7.63235349e-05,-5.46561981e-05,-2.95854876e-05, 3.04172267e-05,
 -7.30849117e-03,-4.16991272e-05,-9.88208919e+00, 1.82632662e-02,
 -7.12877319e-02, 5.96360140e-02]


--- Step 3038 ---
qpos:
[-0.01220763, 1.05787452,-0.0362527 , 0.94119343,-0.04933831, 1.15250559,
 -0.04508028, 0.96124557, 0.00551839, 1.33888505,-0.02312712, 0.95502709,
  1.21330625, 0.00554107, 1.27978135, 0.04546791,-0.05411918,-0.08397511,
  0.08476124, 0.70712231,-0.11708206,-0.69631066, 0.03770014]

qacc:
[-3.31150675e-01,-4.67955977e+00, 6.44315181e+00,-1.32883001e+00,
 -7.93003058e+00,-4.92937595e+00,-4.26536122e+01, 1.58131551e+02,
 -1.89337963e+00,-2.41462245e+00, 4.74539659e+00, 9.10173227e+00,
 -2.40051284e-01, 4.03404963e-02,-1.24988092e+01, 4.24705602e+01,
 -8.33852145e+00,-5.68566993e+00, 1.34286009e+01,-1.09569050e+02,
 -2.92530585e+02,-2.87206523e+02]

qfrc_actuator:
[ 0.00343964, 0.1100866 , 0.01535642, 0.00337821, 0.04223842, 0.14440414,
  0.02535892,-0.01858513, 0.00691906, 0.03428258, 0.01020064, 0.00139986,
  0.01356159,-0.00154939, 0.        ,-0.00129885, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010022147787881117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03031477, -0.06558663,  0.04949889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.013002214778788108
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.47138209e-15,  4.26936120e-15,  1.00000000e+00, -3.18980288e-29,
        1.00000000e+00, -4.26936120e-15, -1.00000000e+00,  0.00000000e+00,
        7.47138209e-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([-0.00354233, -0.0700592 ,  0.06124846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.98725665e-05,-7.04668907e-04,-2.06498636e-04,-2.46523186e-05,
 -2.05838191e-03,-3.23853303e-03,-9.75964513e-04, 3.41896899e-04,
 -5.46350057e-04,-2.72327412e-05, 7.13329166e-05, 5.84906961e-05,
 -8.78776456e-05,-3.21226433e-05,-1.24672073e-05, 2.02063014e-04,
 -3.49414831e-03, 3.14201425e-05,-9.85321907e+00, 5.93708836e-03,
 -6.67284618e-02, 5.89119432e-02]


--- Step 3039 ---
qpos:
[-0.01219384, 1.05944666,-0.03614538, 0.94122051,-0.04849007, 1.15474725,
 -0.04477389, 0.96084474, 0.0057195 , 1.33887596,-0.02313885, 0.95502143,
  1.21364628, 0.00554154, 1.27991124, 0.04546816,-0.05404542,-0.08388841,
  0.0851859 , 0.70807462,-0.11797512,-0.69512737, 0.03886046]

qacc:
[-4.04764744e-01,-9.29713176e+00, 1.40721903e+01, 2.48200021e+00,
 -7.82105380e+00,-5.05974792e+00,-4.51557086e+01, 1.57869041e+02,
 -1.86791572e+00,-3.42621790e+00, 9.10866766e+00, 3.98486516e+00,
 -5.18989914e-01, 3.81362278e-01, 9.11313050e-02, 1.57225717e-01,
 -7.07022100e+00,-4.69072128e+00, 9.78156293e+00,-9.29674071e+01,
 -2.46151906e+02,-2.43616325e+02]

qfrc_actuator:
[ 0.0033875 , 0.10938011, 0.01523544, 0.00339853, 0.04136335, 0.14285081,
  0.02498252,-0.01816007, 0.00670274, 0.03434068, 0.01031993, 0.00145557,
  0.01353266,-0.00154863, 0.        ,-0.00130271, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010503078386944475
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03025831, -0.06559229,  0.04947485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.013050307838694444
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.31703466e-15,  2.12681386e-15,  1.00000000e+00, -1.13083430e-29,
        1.00000000e+00, -2.12681386e-15, -1.00000000e+00,  0.00000000e+00,
        5.31703466e-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([-0.00324883, -0.06998851,  0.06125503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.79903480e-05,-1.16367586e-03,-2.90131860e-04,-6.14363588e-06,
 -2.03381477e-03,-3.55721259e-03,-1.11847128e-03, 3.10865084e-04,
 -5.39007331e-04, 5.88369495e-05, 1.23818902e-04, 5.82976066e-05,
 -7.97647597e-05,-2.92892045e-05, 1.41102736e-05, 5.23617217e-06,
 -1.21293518e-03, 1.21564538e-04,-9.83452212e+00,-2.25748130e-03,
 -6.37789670e-02, 5.84253306e-02]


--- Step 3040 ---
qpos:
[-0.01218072, 1.0610064 ,-0.03603868, 0.9412469 ,-0.0476592 , 1.15695896,
 -0.04447331, 0.96045169, 0.00591645, 1.33886768,-0.02314926, 0.9550147 ,
  1.21398566, 0.00554199, 1.28004118, 0.04546838,-0.05399571,-0.0838172 ,
  0.08563707, 0.70873395,-0.11867632,-0.69428998, 0.03966777]

qacc:
[-3.04811949e-01,-1.57275008e+01, 3.30574371e+01,-2.86370537e+01,
 -7.67490515e+00,-1.07190922e+01,-2.82525793e+01, 1.32611286e+02,
 -1.76122313e+00,-4.33447358e+00, 1.75466156e+01,-2.78994842e+01,
 -5.00012608e-01, 3.76592891e-01, 1.98854425e-01,-4.96334351e-01,
 -6.01007556e+00,-3.87424802e+00, 6.62622666e+00,-7.87696163e+01,
 -2.07195592e+02,-2.06368736e+02]

qfrc_actuator:
[ 0.00336899, 0.10854595, 0.01512027, 0.00334618, 0.04050962, 0.14121625,
  0.02463779,-0.01778552, 0.0065129 , 0.03441467, 0.01039504, 0.00140188,
  0.0135031 ,-0.00154834, 0.        ,-0.00130517, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009461372320169054
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03021593, -0.06560026,  0.04952693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.012946137232016902
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.28785438e-15,  4.28785438e-15,  1.00000000e+00, -1.83856952e-29,
        1.00000000e+00, -4.28785438e-15, -1.00000000e+00,  0.00000000e+00,
        4.28785438e-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([-0.00268345, -0.0698901 ,  0.06126767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.42916642e-05,-1.56086813e-03,-3.83039878e-04,-9.46681684e-05,
 -1.99952615e-03,-3.84288608e-03,-1.16591146e-03, 2.45992854e-04,
 -5.08186294e-04, 1.32574341e-04, 1.02402784e-04,-4.70173070e-05,
 -7.58546982e-05,-2.69524014e-05, 2.12644916e-06,-1.44750884e-06,
  1.57421661e-05, 2.06674447e-04,-9.82279351e+00,-7.58772184e-03,
 -6.19388370e-02, 5.81065308e-02]


--- Step 3041 ---
qpos:
[-0.01216796, 1.06255208,-0.03593294, 0.94127198,-0.04684504, 1.15913881,
 -0.04417814, 0.96006813, 0.00610925, 1.33886008,-0.02315888, 0.95500777,
  1.21432418, 0.00554317, 1.28017111, 0.04546857,-0.05396647,-0.08375881,
  0.08610392, 0.70914811,-0.1192156 ,-0.69374523, 0.0401766 ]

qacc:
[-1.66398491e-01,-1.81014704e+01, 3.94517702e+01,-4.04930674e+01,
 -7.37930873e+00,-1.14627671e+01,-3.23775653e+01, 1.57127059e+02,
 -1.76096331e+00,-1.58897188e+00, 6.65428281e+00,-8.55017771e+00,
 -1.16323312e+00, 1.53576721e+00, 1.91197840e-01,-4.24758595e-01,
 -5.11904031e+00,-3.20200112e+00, 3.91839994e+00,-6.65885947e+01,
 -1.74313646e+02,-1.74488475e+02]

qfrc_actuator:
[ 0.00337078, 0.10773079, 0.01502662, 0.00326912, 0.03971096, 0.13952856,
  0.02433196,-0.01731948, 0.00630496, 0.03442638, 0.01042571, 0.00139075,
  0.01347318,-0.00149507, 0.        ,-0.00130672, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007204458948883788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03018597, -0.06560922,  0.04963978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   7.54140141,  15.53944568,   7.54140141,
       138.83572032, -58.9953687 ,  15.53944568, -58.9953687 ,
        45.90359132,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.012720445894888376
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.18196562e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.18196562e-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([-0.00190928, -0.06977085,  0.06128499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.10901356e-05,-1.78222549e-03,-4.52343150e-04,-1.36129106e-04,
 -1.92600662e-03,-4.06461104e-03,-1.18990878e-03, 3.26052628e-04,
 -5.08087270e-04, 1.03762759e-04, 6.68541648e-05,-5.35853750e-06,
 -7.39345604e-05, 2.77308200e-05,-3.48427176e-06,-2.30164182e-06,
  5.38929361e-04, 2.79124699e-04,-9.81580120e+00,-1.09392248e-02,
 -6.08555258e-02, 5.79063051e-02]


--- Step 3042 ---
qpos:
[-0.01215547, 1.06408258,-0.03582835, 0.94129677,-0.04604735, 1.16128627,
 -0.04388874, 0.9596943 , 0.00629795, 1.33885264,-0.0231689 , 0.95500052,
  1.21466204, 0.00554493, 1.280301  , 0.04546873,-0.0539547 ,-0.083711  ,
  0.08657722, 0.70935694,-0.11961837,-0.6934474 , 0.04043363]

qacc:
[-1.14226210e-01,-1.73072569e+01, 3.29771563e+01,-2.21977620e+01,
 -7.26448935e+00,-1.07285731e+01,-3.60582571e+01, 1.63393982e+02,
 -1.73121010e+00, 7.79497833e-01,-1.62248654e+00,-2.37533013e+00,
 -8.83573522e-01, 1.17504454e+00, 1.02998753e-01,-2.62870195e-01,
 -4.36754425e+00,-2.64737068e+00, 1.61321071e+00,-5.61356283e+01,
 -1.46504968e+02,-1.47227256e+02]

qfrc_actuator:
[ 0.00336698, 0.1069159 , 0.01494647, 0.00324915, 0.03889838, 0.13789392,
  0.02403363,-0.01683886, 0.00610558, 0.03436504, 0.01037649, 0.00136921,
  0.01344841,-0.00146403, 0.        ,-0.0013077 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003992778961033755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03016674, -0.06561837,  0.04980036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   6.30105311,  16.08240769,   6.30105311,
       122.06848771, -41.0587559 ,  16.08240769, -41.0587559 ,
        33.35946045,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.012399277896103372
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.35772484e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.35772484e-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([-0.00097587, -0.06963609,  0.06130585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.85764111e-05,-1.91892991e-03,-4.91179093e-04,-8.87053768e-05,
 -1.89927042e-03,-4.13580531e-03,-1.22591830e-03, 3.35133557e-04,
 -4.99471101e-04, 9.05993823e-06,-2.14984034e-05,-1.66834792e-05,
 -5.51223930e-05, 2.22505880e-05,-6.25726001e-06,-2.51589040e-06,
  6.06008487e-04, 3.37995656e-04,-9.81198325e+00,-1.29344582e-02,
 -6.02800206e-02, 5.77895445e-02]


--- Step 3043 ---
qpos:
[-0.01214319, 1.06559726,-0.03572575, 0.94132023,-0.04526584, 1.16340222,
 -0.04360578, 0.9593264 , 0.00648266, 1.33884489,-0.02317862, 0.95499273,
  1.21499955, 0.00554635, 1.28043086, 0.04546853,-0.05395786,-0.08367196,
  0.08704918, 0.70939376,-0.11990614,-0.6933574 , 0.04047873]

qacc:
[-9.95863460e-02,-1.76504194e+01, 3.52233819e+01,-3.58909397e+01,
 -7.13771463e+00,-1.41516297e+01,-1.58217287e+01, 1.01634890e+02,
 -1.69010126e+00,-2.18229696e+00, 7.69974299e+00,-1.27044732e+01,
 -9.69173403e-02,-1.92980375e-01, 1.05916325e+00,-3.75788486e+00,
 -3.73286834e+00,-2.18951525e+00,-3.33393382e-01,-4.71862139e+01,
 -1.23002475e+02,-1.23988602e+02]

qfrc_actuator:
[ 0.00335986, 0.10607241, 0.01482171, 0.00317416, 0.03810163, 0.13637537,
  0.02372459,-0.01654882, 0.00591292, 0.0343311 , 0.01038671, 0.00134163,
  0.0134161 ,-0.0014997 , 0.        ,-0.00132609, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -4.6591410538809885e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  1.,  0., -1.,  0.,  0.])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.03015654, -0.06562726,  0.04999767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   5.4574007 ,  16.38791888,   5.4574007 ,
       105.16032975, -29.26777137,  16.38791888, -29.26777137,
        27.01929467,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.012004659141053878
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.46810042e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.46810042e-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([ 7.71360875e-05, -6.94900557e-02,  6.13293900e-02])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50608754e-05,-2.02899796e-03,-5.65453072e-04,-1.47883788e-04,
 -1.86919215e-03,-4.06522673e-03,-1.25419705e-03, 1.41549059e-04,
 -4.87655207e-04,-3.34960558e-05, 9.08495389e-06,-2.83843501e-05,
 -5.46288769e-05,-4.16834388e-05,-7.06545598e-06,-2.01920440e-05,
  3.93959415e-04, 3.85085734e-04,-9.81024805e+00,-1.40112382e-02,
 -6.00370429e-02, 5.77311360e-02]


--- Step 3044 ---
qpos:
[-0.01213115, 1.06709914,-0.03562709, 0.94134212,-0.04450008, 1.16549034,
 -0.04333082, 0.9589636 , 0.00666333, 1.33883657,-0.02318724, 0.95498638,
  1.21533662, 0.00554721, 1.28056074, 0.04546743,-0.05397381,-0.08364016,
  0.08751329, 0.70928637,-0.12009707,-0.69344196, 0.04034577]

qacc:
[-1.00969004e-01,-8.82465169e+00, 1.17122366e+01,-2.01919988e+01,
 -6.93777229e+00,-6.46471839e+00,-3.33620193e+01, 1.04921515e+02,
 -1.70803296e+00,-1.24115802e+00, 2.46862197e-01, 1.67023237e+01,
 -6.41625198e-02,-3.96179546e-01, 2.75422169e+00,-9.60132776e+00,
 -3.19726177e+00,-1.81193232e+00,-1.96365494e+00,-3.95578625e+01,
 -1.03198066e+02,-1.04277990e+02]

qfrc_actuator:
[ 0.00335081, 0.10562678, 0.01468927, 0.00310283, 0.03733844, 0.13524037,
  0.02341209,-0.01628444, 0.00570808, 0.03431403, 0.01044981, 0.00141728,
  0.01337925,-0.00153923, 0.        ,-0.00137234, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,   4.92220444,  16.55653982,   4.92220444,
        90.10843634, -21.65381499,  16.55653982, -21.65381499,
        23.71033473,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.011555155679023231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20100397e-15,  2.40200793e-15,  1.00000000e+00, -2.88482106e-30,
        1.00000000e+00, -2.40200793e-15, -1.00000000e+00,  0.00000000e+00,
        1.20100397e-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([ 0.00121758, -0.06933616,  0.06135487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50520266e-05,-1.70803225e-03,-6.04780754e-04,-1.51096005e-04,
 -1.81950765e-03,-3.65342868e-03,-1.25256865e-03, 1.12595312e-04,
 -4.92854092e-04,-3.45372442e-05, 5.67772582e-05, 7.42141746e-05,
 -7.39384591e-05,-6.44046865e-05,-8.94721934e-06,-4.90466173e-05,
  2.58638362e-05, 4.22943667e-04,-9.80983821e+00,-1.44761979e-02,
 -6.00043689e-02, 5.77131480e-02]


--- Step 3045 ---
qpos:
[-0.01211981, 1.06859175,-0.03553276, 0.94136272,-0.04374975, 1.16755557,
 -0.04306366, 0.95860743, 0.00684048, 1.33882766,-0.0231953 , 0.95498205,
  1.21567308, 0.00554786, 1.28069031, 0.04546777,-0.05400075,-0.08361436,
  0.08796413, 0.70905792,-0.12020636,-0.693673  , 0.04006334]

qacc:
[-3.25537621e-01,-2.70401195e+00,-3.20151098e+00,-6.43878065e+00,
 -6.79211809e+00, 1.98490358e+00,-5.61397942e+01, 1.38774209e+02,
 -1.49227648e+00, 1.18653051e+00,-8.85601067e+00, 3.13094876e+01,
 -2.30794348e-01,-4.26509007e-02,-4.83706539e+00, 1.62768951e+01,
 -2.74657555e+00,-1.50138402e+00,-3.31733510e+00,-3.30959576e+01,
 -8.65932505e+01,-8.76708520e+01]

qfrc_actuator:
[ 0.00328743, 0.10544093, 0.0145727 , 0.00305221, 0.03658367, 0.13450417,
  0.02317266,-0.01593051, 0.00556859, 0.03427196, 0.0104727 , 0.0015176 ,
  0.01335036,-0.0015452 , 0.        ,-0.00129258, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,   4.6119898 ,  16.64561977,   4.6119898 ,
        77.40197645, -16.65996747,  16.64561977, -16.65996747,
        21.88869238,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.011066342800968229
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50810734e-15,  5.01621468e-15,  1.00000000e+00,  1.25812049e-29,
        1.00000000e+00, -5.01621468e-15, -1.00000000e+00,  0.00000000e+00,
       -2.50810734e-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([ 0.00241908, -0.0691772 ,  0.06138169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.93288314e-05,-1.27818222e-03,-5.30566833e-04,-1.21940027e-04,
 -1.78387928e-03,-3.02687369e-03,-1.09958469e-03, 2.13723452e-04,
 -4.30578138e-04,-4.77613282e-05, 2.47966465e-05, 1.02646223e-04,
 -8.10316621e-05,-4.20689887e-05,-1.32003730e-05, 7.50674952e-05,
 -4.15146569e-04, 4.53985377e-04,-9.81023514e+00,-1.45421717e-02,
 -6.00980806e-02, 5.77228556e-02]


--- Step 3046 ---
qpos:
[-0.01210943, 1.07007514,-0.03544116, 0.94138318,-0.04301471, 1.16959901,
 -0.04280204, 0.95825845, 0.00701459, 1.33881851,-0.02320302, 0.9549772 ,
  1.21600885, 0.00554884, 1.28082003, 0.04546704,-0.05403716,-0.08359356,
  0.08839725, 0.70872756,-0.12024663,-0.69402698, 0.03965536]

qacc:
[ -0.43229135, -4.99960758,  1.96922748,  2.50467685, -6.73347674,
  -1.67605108,-43.6542898 ,133.98062854, -1.28662727, -2.08748509,
   7.46656886,-12.21206754, -0.85231383,  0.98045472,  3.58064505,
 -12.02315867, -2.36927227, -1.24710056, -4.43127034,-27.66500224,
 -72.76708813,-73.79280999]

qfrc_actuator:
[ 0.00322755, 0.10505749, 0.01446763, 0.00304988, 0.03582218, 0.13358739,
  0.02296232,-0.01556191, 0.00545165, 0.03426838, 0.01048932, 0.00148956,
  0.01333159,-0.00151341, 0.        ,-0.00135226, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,   4.46089853,  16.68674599,   4.46089853,
        66.97156861, -13.28608277,  16.68674599, -13.28608277,
        20.82452024,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.010551207104359722
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.63055927e-15,  2.63055927e-15,  1.00000000e+00, -6.91984205e-30,
        1.00000000e+00, -2.63055927e-15, -1.00000000e+00,  0.00000000e+00,
        2.63055927e-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([ 0.0036599 , -0.06901547,  0.06140936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.05512570e-04,-1.22230921e-03,-4.25577229e-04,-5.78491944e-05,
 -1.77133130e-03,-2.82750382e-03,-9.27701878e-04, 2.53782657e-04,
 -3.71239743e-04,-2.19720409e-05, 1.31391278e-05,-2.63896703e-05,
 -6.88975920e-05, 5.46987350e-07,-7.74045618e-07,-5.78503750e-05,
 -8.75207497e-04, 4.80176592e-04,-9.81109086e+00,-1.43548636e-02,
 -6.02618373e-02, 5.77513221e-02]


--- Step 3047 ---
qpos:
[-0.01209978, 1.07154843,-0.0353509 , 0.94140555,-0.04229474, 1.17161933,
 -0.04254522, 0.95791535, 0.00718563, 1.33880966,-0.02321099, 0.95497204,
  1.21634411, 0.00554987, 1.28094993, 0.04546391,-0.0540818 ,-0.08357691,
  0.08880901, 0.70831104,-0.1202283 ,-0.69448438, 0.03914167]

qacc:
[ -0.33348697, -6.3492307 ,  0.71379025, 28.09988068, -6.6235704 ,
  -7.61243254,-23.76277872,102.72223248, -1.29979496,  0.49426359,
  -0.53126981, -3.33396643, -0.62566263,  0.60816595,  7.53380601,
 -25.83512637, -2.05571551, -1.04019667, -5.33911024,-23.14340477,
 -61.35569477,-62.30796755]

qfrc_actuator:
[ 0.00320579, 0.10455915, 0.01440508, 0.00314691, 0.03508045, 0.13237505,
  0.0226993 ,-0.01527647, 0.00529592, 0.03430554, 0.01048443, 0.00147498,
  0.01330829,-0.00151268, 0.        ,-0.00147588, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,   4.42082516,  16.69740735,   4.42082516,
        58.61705008, -10.9463714 ,  16.69740735, -10.9463714 ,
        20.1709014 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.010020496231451015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.53976070e-15,  2.76988035e-15,  1.00000000e+00,  1.53444743e-29,
        1.00000000e+00, -2.76988035e-15, -1.00000000e+00,  0.00000000e+00,
       -5.53976070e-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([ 0.00492201, -0.06885289,  0.06143749])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.17424114e-05,-1.28355181e-03,-3.58206898e-04, 4.77364549e-05,
 -1.74524413e-03,-2.97754001e-03,-9.20668209e-04, 1.82415185e-04,
 -3.74996572e-04, 2.69262790e-05,-8.43879548e-06,-1.55102325e-05,
 -5.76320027e-05,-1.49095374e-05,-1.13166788e-05,-1.27935923e-04,
 -1.32150718e-03, 5.02991829e-04,-9.81217841e+00,-1.40121259e-02,
 -6.04589810e-02, 5.77923620e-02]


--- Step 3048 ---
qpos:
[-0.01209054, 1.07301304,-0.03526276, 0.94142886,-0.04158954, 1.17361491,
 -0.0422932 , 0.95757888, 0.00735355, 1.33880159,-0.02321925, 0.9549674 ,
  1.21667891, 0.00555071, 1.2810795 , 0.04546133,-0.05413363,-0.08356376,
  0.08919648, 0.70782116,-0.12015981,-0.69502921, 0.03853854]

qacc:
[-1.85780033e-01,-4.13741852e+00,-2.22171402e+00, 1.82494495e+01,
 -6.49258710e+00,-8.44533870e+00,-2.51482140e+01, 1.13664664e+02,
 -1.32240510e+00, 2.72982620e+00,-8.68609581e+00, 1.29522889e+01,
 -1.92504722e-01,-3.63082116e-02,-2.09906465e+00, 6.67309680e+00,
 -1.79766799e+00,-8.73247651e-01,-6.07120383e+00,-1.94205247e+01,
 -5.20393187e+01,-5.29122837e+01]

qfrc_actuator:
[ 0.00320707, 0.10422722, 0.01433226, 0.00319502, 0.03435646, 0.13104867,
  0.02242388,-0.01495375, 0.00513591, 0.03438446, 0.01048482, 0.00150398,
  0.01327693,-0.00153044, 0.        ,-0.00144086, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([17.27272727,  4.45911909, 16.68722159,  4.45911909, 52.16563991,
       -9.32399993, 16.68722159, -9.32399993, 19.76426404,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00948302603466384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.85373815e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.85373815e-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([ 0.00619053, -0.06869103,  0.06146573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.56946488e-05,-1.13437068e-03,-3.69613714e-04, 1.39602090e-06,
 -1.71340439e-03,-3.17486283e-03,-9.63526685e-04, 2.13740125e-04,
 -3.81494732e-04, 9.18401883e-05, 4.26703779e-06, 2.91496772e-05,
 -6.40707040e-05,-3.51961094e-05,-2.34555761e-05, 2.55587743e-05,
 -1.73600496e-03, 5.23490931e-04,-9.81335571e+00,-1.35779818e-02,
 -6.06667083e-02, 5.78417769e-02]


--- Step 3049 ---
qpos:
[-0.01208141, 1.07447231,-0.03517775, 0.94145026,-0.04089881, 1.17558593,
 -0.04204688, 0.95725037, 0.0075183 , 1.33879361,-0.02322749, 0.95496318,
  1.21701329, 0.0055511 , 1.28120884, 0.04545982,-0.05419181,-0.08355357,
  0.08955734, 0.7072682 ,-0.12004797,-0.69564852, 0.03785911]

qacc:
[-4.91256881e-02,-1.79928116e+00, 1.35209473e+00,-1.98829463e+01,
 -6.35537406e+00,-3.57749265e+00,-4.34004234e+01, 1.44394865e+02,
 -1.34003819e+00, 7.86854121e-01,-3.28008161e+00, 7.70742729e+00,
  4.85749787e-02,-4.47482507e-01,-3.59521422e+00, 1.20238001e+01,
 -1.58794407e+00,-7.39982632e-01,-6.65460715e+00,-1.63950951e+01,
 -4.45342479e+01,-4.53299411e+01]

qfrc_actuator:
[ 0.00322214, 0.10419304, 0.01425458, 0.00310749, 0.03364885, 0.12984226,
  0.02214295,-0.01455849, 0.00497461, 0.03434581, 0.0104708 , 0.00152294,
  0.01325142,-0.00155906, 0.        ,-0.00138363, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([17.27272727,  4.55705213, 16.66074378,  4.55705213, 47.49899863,
       -8.26749971, 16.66074378, -8.26749971, 19.53405652,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008945951728573896
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.20516999e-15,  6.20516999e-15,  1.00000000e+00,  3.85041347e-29,
        1.00000000e+00, -6.20516999e-15, -1.00000000e+00,  0.00000000e+00,
       -6.20516999e-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([ 0.00745316, -0.06853119,  0.06149381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21245235e-05,-7.57506108e-04,-3.47876684e-04,-1.31157370e-04,
 -1.67960495e-03,-3.17096510e-03,-1.01139892e-03, 2.79830020e-04,
 -3.86617308e-04, 1.39572173e-05, 5.26963537e-06, 2.24332440e-05,
 -6.59104899e-05,-5.37175581e-05,-1.04755424e-05, 5.50945221e-05,
 -2.11069090e-03, 5.42429843e-04,-9.81453927e+00,-1.30928214e-02,
 -6.08717860e-02, 5.78967905e-02]


--- Step 3050 ---
qpos:
[-0.01207215, 1.07592818,-0.03509555, 0.94146959,-0.0402221 , 1.17753443,
 -0.04180696, 0.95693043, 0.00767971, 1.33878528,-0.02323644, 0.95495861,
  1.21734713, 0.00555117, 1.28133851, 0.04545563,-0.05425567,-0.08354592,
  0.08988974, 0.70666026,-0.11989812,-0.69633202, 0.03711384]

qacc:
[ 5.92933830e-02,-3.89883272e-01, 1.46564435e-01,-2.20392465e+01,
 -6.15128266e+00, 1.99304033e+00,-5.96062560e+01, 1.64250458e+02,
 -1.41029098e+00, 8.35391539e-01,-2.55711553e+00,-1.64433052e+00,
 -4.64040967e-01, 1.79962903e-01, 8.61177489e+00,-2.93343081e+01,
 -1.42017440e+00,-6.35062080e-01,-7.11318580e+00,-1.39744277e+01,
 -3.85876879e+01,-3.93113253e+01]

qfrc_actuator:
[ 0.00324535, 0.1041956 , 0.01417584, 0.00301205, 0.03297443, 0.12887731,
  0.02187928,-0.0141237 , 0.00479608, 0.0342725 , 0.0104124 , 0.00150024,
  0.01321877,-0.00157612, 0.        ,-0.00152685, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([17.27272727,  4.70915328, 16.61839291,  4.70915328, 44.58136692,
       -7.73844803, 16.61839291, -7.73844803, 19.46557096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008415007594823248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.29834231e-15,  3.29834231e-15,  1.00000000e+00,  1.08790620e-29,
        1.00000000e+00, -3.29834231e-15, -1.00000000e+00,  0.00000000e+00,
       -3.29834231e-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([ 0.00869987, -0.06837442,  0.06152151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44695127e-05,-5.11879068e-04,-2.76562908e-04,-1.30153096e-04,
 -1.62788660e-03,-2.93421901e-03,-9.96740643e-04, 3.19595756e-04,
 -4.06875687e-04,-6.37756261e-05,-5.43882984e-05,-2.16552469e-05,
 -7.79892751e-05,-4.82262821e-05,-1.64220851e-06,-1.42147464e-04,
 -2.44407510e-03, 5.60365782e-04,-9.81568510e+00,-1.25807737e-02,
 -6.10674318e-02, 5.79556326e-02]


--- Step 3051 ---
qpos:
[-0.01206274, 1.07737948,-0.03501543, 0.9414891 ,-0.03955907, 1.17946257,
 -0.04157246, 0.95661765, 0.00783763, 1.33877686,-0.02324521, 0.95495235,
  1.21768015, 0.00555133, 1.281468  , 0.0454511 ,-0.05432468,-0.08354048,
  0.09019227, 0.7060036 ,-0.11971441,-0.69707166, 0.0363109 ]

qacc:
[ 6.60285055e-02,-9.18901813e-02,-7.30590267e+00, 1.12663796e+01,
 -6.00601333e+00,-1.31460247e-01,-4.63804748e+01, 1.35183462e+02,
 -1.48251979e+00,-3.48596921e+00, 1.45959252e+01,-3.20091951e+01,
 -7.16822081e-01, 6.42071937e-01, 8.21117008e-01,-3.11095758e+00,
 -1.28864950e+00,-5.53914559e-01,-7.46778767e+00,-1.20740132e+01,
 -3.39743807e+01,-3.46317370e+01]

qfrc_actuator:
[ 0.00325549, 0.10393639, 0.01406191, 0.0030193 , 0.0323075 , 0.12806504,
  0.02168221,-0.01375775, 0.00460864, 0.03430306, 0.01043462, 0.00141765,
  0.01317654,-0.00156845, 0.        ,-0.00153849, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([17.27272727,  4.92469677, 16.55579866,  4.92469677, 43.49680363,
       -7.80062785, 16.55579866, -7.80062785, 19.59310623,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007894718609920394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.75785718e-15,  3.51571436e-15,  1.00000000e+00,  6.18012374e-30,
        1.00000000e+00, -3.51571436e-15, -1.00000000e+00,  0.00000000e+00,
       -1.75785718e-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([ 0.00992249, -0.06822159,  0.06154864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60375839e-05,-6.23636545e-04,-2.55500996e-04,-1.79456976e-05,
 -1.59168410e-03,-2.64609008e-03,-8.80956999e-04, 2.59114549e-04,
 -4.27749237e-04,-1.58452013e-05, 2.97541713e-06,-8.66203293e-05,
 -9.27498837e-05,-2.44807272e-05,-2.12300342e-05,-2.07944798e-05,
 -2.73864851e-03, 5.77741259e-04,-9.81677515e+00,-1.20549839e-02,
 -6.12510764e-02, 5.80172348e-02]


--- Step 3052 ---
qpos:
[-0.01205357, 1.07882436,-0.0349366 , 0.94150904,-0.03890978, 1.18137263,
 -0.04134311, 0.95630945, 0.00799206, 1.33876842,-0.02325351, 0.95494582,
  1.21801233, 0.0055516 , 1.28159681, 0.04545078,-0.05439845,-0.08353702,
  0.09046386, 0.70530288,-0.11949991,-0.69786134, 0.0354565 ]

qacc:
[ -0.10680865, -4.22156766,  2.67291468,  6.82902765, -6.01980874,
  -2.23978301,-30.6430891 , 90.42256318, -1.47703793, -1.78950171,
   6.38272417, -8.72693852, -0.38627992,  0.2660252 ,-13.7138914 ,
  46.58969691, -1.18821725, -0.49261451, -7.73646342,-10.61727655,
 -30.49417588,-31.09032389]

qfrc_actuator:
[ 0.00322222, 0.10352263, 0.01396275, 0.0030335 , 0.03161484, 0.12735121,
  0.02149118,-0.01352387, 0.00443511, 0.03432482, 0.01046912, 0.00140711,
  0.01313393,-0.00156396, 0.        ,-0.00131268, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([17.27272727,  5.23310921, 16.46091357,  5.23310921, 44.52443878,
       -8.663625  , 16.46091357, -8.663625  , 20.02699092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007388586678298691
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.75654734e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.75654734e-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([ 0.01111453, -0.06807336,  0.06157506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.65031749e-05,-8.32323994e-04,-2.56847092e-04,-1.11553517e-05,
 -1.59749599e-03,-2.36706140e-03,-8.07147864e-04, 1.37536019e-04,
 -4.26166506e-04, 1.11404908e-05, 2.92274689e-05,-1.29810097e-05,
 -9.48694389e-05,-2.40728112e-05,-1.54935857e-05, 2.21210487e-04,
 -2.99909733e-03, 5.94944205e-04,-9.81780773e+00,-1.15213402e-02,
 -6.14227877e-02, 5.80810109e-02]


--- Step 3053 ---
qpos:
[-0.01204492, 1.08026815,-0.03486129, 0.94152797,-0.03827418, 1.18326734,
 -0.04111963, 0.95600594, 0.00814308, 1.3387602 ,-0.02326172, 0.95493921,
  1.21834372, 0.00555192, 1.28172563, 0.04545213,-0.05447668,-0.08353535,
  0.0907037 , 0.70456146,-0.11925685,-0.69869657, 0.03455519]

qacc:
[-2.36560368e-01, 6.32182662e+00,-2.02669273e+01, 6.47421577e+00,
 -5.99771561e+00, 3.51697237e+00,-4.53276922e+01, 1.02694868e+02,
 -1.44013580e+00,-9.65920566e-02, 7.99078814e-01,-1.69807708e+00,
 -5.36018041e-01, 4.17943905e-01,-4.99071129e+00, 1.75423480e+01,
 -1.11421531e+00,-4.47788021e-01,-7.93471503e+00,-9.53534870e+00,
 -2.79700776e+01,-2.85089642e+01]

qfrc_actuator:
[ 0.00318098, 0.10381869, 0.013908  , 0.00299828, 0.03093002, 0.12679108,
  0.02127015,-0.01328076, 0.00427131, 0.03434126, 0.0104751 , 0.00140357,
  0.01309645,-0.00156144, 0.        ,-0.00123286, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,   5.69876135,  16.30555815,   5.69876135,
        48.12090989, -10.78138076,  16.30555815, -10.78138076,
        21.0407992 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006899253773982816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.04596454e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.04596454e-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([ 0.0122709 , -0.06793025,  0.06160066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.78653954e-05,-2.37836213e-04,-2.53167686e-04,-6.67477935e-05,
 -1.59362946e-03,-2.04791695e-03,-7.77711320e-04, 1.54372082e-04,
 -4.15494627e-04, 2.80382462e-05, 1.11123509e-05,-2.70471015e-06,
 -8.98629192e-05,-2.67809682e-05, 1.49612404e-05, 8.96389598e-05,
 -3.23108912e-03, 6.12347321e-04,-9.81879094e+00,-1.09810629e-02,
 -6.15841875e-02, 5.81466988e-02]


--- Step 3054 ---
qpos:
[-0.01203698, 1.08171778,-0.03479076, 0.94154476,-0.03765184, 1.1851483 ,
 -0.04090198, 0.95570863, 0.00829067, 1.3387524 ,-0.02326967, 0.95493396,
  1.21867435, 0.00555247, 1.28185461, 0.04545343,-0.05455915,-0.08353534,
  0.09091125, 0.70378154,-0.11898671,-0.6995742 , 0.03361014]

qacc:
[ -0.32645366, 16.91431587,-41.46535143,  7.22716638, -5.81245161,
   8.06442662,-60.67257177,132.33229193, -1.45507848,  2.22728198,
  -9.32520727, 23.50989719, -0.76833785,  0.80712874,  0.45037906,
  -1.04961522, -1.06242524, -0.4165377 , -8.07575634, -8.76678791,
 -26.24649223,-26.7309899 ]

qfrc_actuator:
[ 0.00313533, 0.10460889, 0.01384713, 0.00291692, 0.03029084, 0.12625667,
  0.02103391,-0.01296305, 0.00409692, 0.03438979, 0.01049966, 0.00147514,
  0.01306741,-0.00154233, 0.        ,-0.00123975, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,   6.45354273,  16.02182554,   6.45354273,
        55.28962013, -15.31308912,  16.02182554, -15.31308912,
        23.44079312,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006428644089058272
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15874259e-15,  4.31748519e-15,  1.00000000e+00,  9.32033916e-30,
        1.00000000e+00, -4.31748519e-15, -1.00000000e+00,  0.00000000e+00,
       -2.15874259e-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([ 0.01338772, -0.06779264,  0.06162536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.94850315e-05, 5.84321356e-04,-1.44135197e-04,-9.61494887e-05,
 -1.54640964e-03,-1.83909052e-03,-7.26641707e-04, 2.39707518e-04,
 -4.19794415e-04, 6.62408587e-05, 3.12456140e-05, 7.26219325e-05,
 -7.94741475e-05,-9.87805129e-06, 1.21390586e-05,-1.01537015e-06,
 -3.44048112e-03, 6.30331842e-04,-9.81973833e+00,-1.04324690e-02,
 -6.17377250e-02, 5.82142501e-02]


--- Step 3055 ---
qpos:
[-0.01202909, 1.08317312,-0.03472254, 0.94155999,-0.03704227, 1.18701588,
 -0.04068967, 0.95541812, 0.00843475, 1.33874547,-0.02327834, 0.95493031,
  1.21900429, 0.00555343, 1.28198359, 0.04545499,-0.05464574,-0.08353691,
  0.09108611, 0.70296441,-0.11869036,-0.70049222, 0.03262339]

qacc:
[-2.18458372e-02, 1.10501115e+01,-2.37670300e+01,-1.12048184e+00,
 -5.58400851e+00, 8.17125868e+00,-6.16807547e+01, 1.39828066e+02,
 -1.48127710e+00, 5.83386863e+00,-2.08753621e+01, 3.60053813e+01,
 -7.96840278e-01, 9.66019570e-01,-7.11769583e-01, 2.65509839e+00,
 -1.02903891e+00,-3.96380595e-01,-8.17077310e+00,-8.25722417e+00,
 -2.51875415e+01,-2.56197347e+01]

qfrc_actuator:
[ 0.00317621, 0.10497898, 0.01376752, 0.00284492, 0.02968412, 0.12565344,
  0.02079086,-0.01262172, 0.00391755, 0.03443953, 0.01046417, 0.00155488,
  0.01304344,-0.00151348, 0.        ,-0.00122663, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,   7.78471518,  15.41899209,   7.78471518,
        66.96656376, -25.08934183,  15.41899209, -25.08934183,
        29.93979261,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0059780871690263485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.01446217, -0.0676608 ,  0.0616491 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.82547705e-06, 6.39494107e-04, 9.54926332e-06,-5.95034400e-05,
 -1.48763811e-03,-1.77950456e-03,-6.84273215e-04, 2.72994508e-04,
 -4.27297517e-04, 9.47277206e-05,-1.68549745e-05, 8.42572482e-05,
 -6.55904108e-05, 7.47004090e-06, 4.74537692e-07, 1.35197763e-05,
 -3.63283128e-03, 6.49300886e-04,-9.82066596e+00,-9.87214972e-03,
 -6.18862072e-02, 5.82837526e-02]


--- Step 3056 ---
qpos:
[-0.01202073, 1.08463061,-0.03465427, 0.9415755 ,-0.03644495, 1.18886969,
 -0.04048198, 0.95513366, 0.00857558, 1.33873929,-0.0232873 , 0.95492625,
  1.21933396, 0.00555373, 1.28211232, 0.04545837,-0.05473637,-0.08354003,
  0.09122805, 0.70211057,-0.11836817,-0.70144951, 0.03159603]

qacc:
[  0.21164562,  3.17834476, -7.53606928,  8.38477524, -5.36176544,
   4.49739381,-48.76305886,120.31879714, -1.37880261,  1.05648186,
  -1.42500108, -3.9653881 ,  0.36740524, -0.91059304, -5.89524702,
  19.98300626, -1.01063126, -0.38519539, -8.22917344, -7.95892915,
 -24.67538464,-25.05694011]

qfrc_actuator:
[ 0.00323311, 0.10491726, 0.01371159, 0.00284983, 0.02910167, 0.12497858,
  0.0205633 ,-0.01232255, 0.00377215, 0.03447162, 0.01044678, 0.00153221,
  0.01301722,-0.00156781, 0.        ,-0.00113078, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  10.32423142,  13.84764793,  10.32423142,
        80.20957342, -46.9230997 ,  13.84764793, -46.9230997 ,
        52.25664243,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00554842393126221
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00048504e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.00048504e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0154923 , -0.0675349 ,  0.06167183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.23107195e-05, 2.69417521e-04, 6.26075875e-05, 2.44049104e-05,
 -1.43040079e-03,-1.80857033e-03,-6.51255249e-04, 2.34592620e-04,
 -3.97765835e-04, 8.37887902e-05, 1.67868451e-06,-1.84369237e-05,
 -5.70266622e-05,-6.72413309e-05,-2.49294434e-06, 9.57404739e-05,
 -3.81311918e-03, 6.69686683e-04,-9.82159068e+00,-9.29573525e-03,
 -6.20325078e-02, 5.83553772e-02]


--- Step 3057 ---
qpos:
[-0.01201217, 1.08608617,-0.03458529, 0.941592  ,-0.03585959, 1.19070795,
 -0.04027825, 0.95485483, 0.00871362, 1.33873347,-0.02329596, 0.95492161,
  1.21966303, 0.00555373, 1.2822411 , 0.04546218,-0.05483102,-0.08354468,
  0.09133696, 0.70121987,-0.11802008,-0.70244571, 0.0305284 ]

qacc:
[ 8.93991028e-02,-2.75291786e+00, 3.86555812e+00, 9.41120539e+00,
 -5.22859874e+00,-3.05752400e-01,-3.51134292e+01, 1.04929963e+02,
 -1.18205278e+00,-1.35204138e+00, 6.14023971e+00,-1.22410769e+01,
 -2.74118948e-01,-3.48620013e-02,-1.25246333e+00, 4.50570149e+00,
 -1.00413575e+00,-3.81176404e-01,-8.25882244e+00,-7.83032645e+00,
 -2.46085428e+01,-2.49410747e+01]

qfrc_actuator:
[ 0.00322812, 0.10456224, 0.01365071, 0.0028819 , 0.02852062, 0.12410668,
  0.02032871,-0.01205065, 0.00366604, 0.03447514, 0.01045785, 0.00150272,
  0.01297898,-0.00158236, 0.        ,-0.00111121, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  15.78140882,   7.0209859 ,  15.78140882,
        32.88269663, -35.08728142,   7.0209859 , -35.08728142,
        96.14010292,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0051400973837571196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.69990756e-15, -5.39981513e-15,  1.00000000e+00,  1.45790017e-29,
        1.00000000e+00,  5.39981513e-15, -1.00000000e+00,  0.00000000e+00,
        2.69990756e-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([ 0.01647693, -0.06741502,  0.06169353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18927202e-05,-2.15641015e-04,-6.24258966e-06, 4.39348018e-05,
 -1.39683912e-03,-2.01605912e-03,-6.61254642e-04, 2.06505574e-04,
 -3.41038273e-04, 4.97412481e-05, 2.71078110e-05,-2.74225970e-05,
 -8.20537311e-05,-4.77931118e-05, 6.57791714e-06, 2.39145157e-05,
 -3.98560674e-03, 6.91954816e-04,-9.82252906e+00,-8.69837809e-03,
 -6.21793968e-02, 5.84293423e-02]


--- Step 3058 ---
qpos:
[-0.01200342, 1.08753609,-0.03451539, 0.9416098 ,-0.03528613, 1.1925297 ,
 -0.04007847, 0.95458086, 0.00884905, 1.33872808,-0.02330532, 0.95491739,
  1.21999105, 0.00555457, 1.28237056, 0.04546085,-0.0549297 ,-0.08355085,
  0.09141281, 0.70029165,-0.1176457 ,-0.70348102, 0.02942022]

qacc:
[ 8.79778159e-02,-7.67464041e+00, 1.33875338e+01, 7.15218781e+00,
 -5.19773960e+00,-2.84651511e+00,-2.68046371e+01, 8.96734808e+01,
 -1.10455602e+00, 3.21109317e+00,-1.06253056e+01, 1.37725440e+01,
 -1.79496532e+00, 2.26592144e+00, 1.67498676e+01,-5.67105193e+01,
 -1.00682047e+00,-3.82792932e-01,-8.26625725e+00,-7.83546297e+00,
 -2.49002429e+01,-2.51856260e+01]

qfrc_actuator:
[ 0.00323934, 0.10403444, 0.01360391, 0.00292946, 0.02792728, 0.12323037,
  0.02010884,-0.01181485, 0.00354883, 0.03447938, 0.01041452, 0.00152274,
  0.0129389 ,-0.00151992, 0.        ,-0.0013853 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004753229773022338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16786173e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.16786173e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0174155 , -0.06730119,  0.0617142 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.13107426e-05,-6.69547492e-04,-9.42898434e-05, 4.32468269e-05,
 -1.39043467e-03,-2.13768734e-03,-6.88930743e-04, 1.63237311e-04,
 -3.18629440e-04, 3.63186894e-05,-3.13213116e-05, 2.16077872e-05,
 -9.18668343e-05, 2.91779668e-05, 1.35753668e-06,-2.72880349e-04,
 -4.15378750e-03, 7.16607538e-04,-9.82349681e+00,-8.07504675e-03,
 -6.23294503e-02, 5.85058891e-02]


--- Step 3059 ---
qpos:
[-0.0119944 , 1.08897763,-0.03444478, 0.94162833,-0.03472456, 1.19433484,
 -0.03988201, 0.95431119, 0.00898164, 1.33872299,-0.02331486, 0.95491412,
  1.22031846, 0.00555577, 1.28249969, 0.04545895,-0.05503244,-0.08355858,
  0.09145562, 0.69932483,-0.11724436,-0.70455611, 0.02827073]

qacc:
[  0.12621772,-11.67361471, 23.28197551, -6.40851668, -5.18897457,
  -5.67754078,-16.5645101 , 74.2523015 , -1.20150661,  2.4898539 ,
  -9.54816457, 19.00324422, -0.74560593,  0.90110929,  1.33318441,
  -5.19932147, -1.01626404, -0.38875303, -8.25688064, -7.94346256,
 -25.47680537,-25.71741786]

qfrc_actuator:
[ 0.00326021, 0.10342522, 0.01356507, 0.00295009, 0.02733127, 0.12242961,
  0.01995264,-0.01160221, 0.00339039, 0.03450156, 0.01041045, 0.00157169,
  0.01291908,-0.00150104, 0.        ,-0.00140411, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00438768778788811
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.32578637e-15,  1.26515727e-14,  1.00000000e+00, -8.00311465e-29,
        1.00000000e+00, -1.26515727e-14, -1.00000000e+00,  0.00000000e+00,
        6.32578637e-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([ 0.01830798, -0.06719336,  0.06173383])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06280353e-05,-1.01919389e-03,-1.85143722e-04, 5.92313841e-08,
 -1.38989306e-03,-2.13579851e-03,-6.53340279e-04, 1.34611821e-04,
 -3.46622179e-04, 3.68918577e-05, 1.10741174e-07, 4.95765772e-05,
 -5.94787053e-05, 6.66252569e-06,-3.60451345e-05,-3.52189480e-05,
 -4.32038840e-03, 7.44187336e-04,-9.82450851e+00,-7.42069617e-03,
 -6.24850092e-02, 5.85852659e-02]


--- Step 3060 ---
qpos:
[-0.01198595, 1.0904088 ,-0.03437433, 0.94164688,-0.03417468, 1.19612357,
 -0.03968918, 0.95404724, 0.0091115 , 1.33871782,-0.02332336, 0.95491108,
  1.22064543, 0.00555696, 1.28262836, 0.04545878,-0.0551393 ,-0.0835679 ,
  0.0914655 , 0.69831796,-0.11681516,-0.705672  , 0.02707882]

qacc:
[-2.60069552e-01,-1.31517239e+01, 2.64208259e+01,-1.60991677e+01,
 -5.10533668e+00,-2.12275507e+00,-3.07469528e+01, 1.02902843e+02,
 -1.15531376e+00,-2.51072476e+00, 7.58032828e+00,-3.80042754e+00,
 -1.78393882e-01, 6.87584740e-02,-5.93839184e+00, 1.97981032e+01,
 -1.03033116e+00,-3.97971173e-01,-8.23513284e+00,-8.12798114e+00,
 -2.62761026e+01,-2.64749962e+01]

qfrc_actuator:
[ 0.00318019, 0.1027544 , 0.01349535, 0.00293687, 0.02675616, 0.12164538,
  0.01978232,-0.01131607, 0.00326175, 0.03449898, 0.01046518, 0.00158406,
  0.01289543,-0.00150816, 0.        ,-0.00130777, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004043137330772564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.86486096e-15,  2.05945829e-14,  1.00000000e+00, -1.41378948e-28,
        1.00000000e+00, -2.05945829e-14, -1.00000000e+00,  0.00000000e+00,
        6.86486096e-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([ 0.01915477, -0.06709145,  0.06175244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.51122868e-05,-1.29314611e-03,-2.95997372e-04,-4.79816997e-05,
 -1.36914860e-03,-2.11180180e-03,-6.63796294e-04, 2.08509901e-04,
 -3.33359978e-04, 1.94001281e-05, 6.34198989e-05, 1.45744554e-05,
 -5.23482771e-05,-1.85190516e-05,-2.29073565e-05, 8.92337616e-05,
 -4.48739942e-03, 7.75281315e-04,-9.82557756e+00,-6.73036003e-03,
 -6.26481697e-02, 5.86677171e-02]


--- Step 3061 ---
qpos:
[-0.01197814, 1.09182794,-0.03430467, 0.94166569,-0.03363624, 1.19789601,
 -0.03950059, 0.95378849, 0.009239  , 1.33871229,-0.02333121, 0.95490756,
  1.22097189, 0.00555812, 1.28275746, 0.04545503,-0.05525036,-0.08357886,
  0.09144256, 0.69726937,-0.11635702,-0.70682997, 0.02584308]

qacc:
[ -0.28439831,-13.19826569, 23.42080343, -9.60951688, -4.99298625,
  -1.20499494,-32.49818396, 98.31335838, -1.00112341, -3.03870155,
  10.2936363 ,-14.16976668, -0.68451508,  0.62093946, 11.51367092,
 -39.21525378, -1.04714783, -0.40953944, -8.204642  , -8.36667859,
 -27.2461105 ,-27.40711444]

qfrc_actuator:
[ 0.0031469 , 0.10203419, 0.01340767, 0.00293926, 0.02619817, 0.12084199,
  0.01956967,-0.01106   , 0.00316976, 0.03444629, 0.01048304, 0.00155704,
  0.01286417,-0.0015129 , 0.        ,-0.00149949, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0037190892433472955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11945051e-14,  7.46300339e-15,  1.00000000e+00,  8.35446293e-29,
        1.00000000e+00, -7.46300339e-15, -1.00000000e+00,  0.00000000e+00,
       -1.11945051e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01995662, -0.06699534,  0.06177005])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.12811554e-05,-1.51703225e-03,-3.81513562e-04,-4.49787952e-05,
 -1.34062712e-03,-2.11716150e-03,-7.00370714e-04, 1.80552545e-04,
 -2.88872408e-04,-2.90519750e-05, 2.93041816e-05,-2.42798100e-05,
 -6.17070622e-05,-2.22300468e-05,-2.76748951e-06,-1.90152302e-04,
 -4.65611496e-03, 8.10526509e-04,-9.82671615e+00,-5.99919546e-03,
 -6.28207883e-02, 5.87534760e-02]


--- Step 3062 ---
qpos:
[-0.01197011, 1.09323574,-0.03423712, 0.94168441,-0.03310884, 1.19965409,
 -0.03931696, 0.95353405, 0.00936409, 1.33870713,-0.02333963, 0.9549041 ,
  1.22129787, 0.00555922, 1.28288675, 0.04544735,-0.05536567,-0.08359151,
  0.09138694, 0.69617714,-0.11586871,-0.70803146, 0.02456191]

qacc:
[  0.10145387, -9.34536279, 12.65945925, -4.69129732, -4.80765103,
   1.70231005,-37.08561628, 90.60289403, -1.01616751,  2.10240024,
  -6.36142526,  5.83562474, -0.664907  ,  0.58662956, 12.24173229,
 -42.27947894, -1.06507681, -0.42270193, -8.16835473, -8.64071894,
 -28.34356785,-28.47133902]

qfrc_actuator:
[ 0.00321295, 0.1015032 , 0.01330993, 0.00293301, 0.02567262, 0.12026435,
  0.01936919,-0.01084149, 0.00304724, 0.03448811, 0.010461  , 0.00156028,
  0.01283901,-0.00151619, 0.        ,-0.00169963, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0034149372438331826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.06384856e-15,  8.12769712e-15,  1.00000000e+00, -3.30297303e-29,
        1.00000000e+00, -8.12769712e-15, -1.00000000e+00,  0.00000000e+00,
        4.06384856e-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([ 0.02071455, -0.06690488,  0.06178667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46269085e-05,-1.46807259e-03,-4.44956362e-04,-6.27948538e-05,
 -1.29230145e-03,-1.90205296e-03,-6.94122334e-04, 1.41095014e-04,
 -2.93136533e-04, 3.08592740e-05,-2.50710023e-05, 2.62984557e-06,
 -6.16424631e-05,-2.38545209e-05,-2.71961705e-05,-2.12146639e-04,
 -4.82717743e-03, 8.50616022e-04,-9.82793536e+00,-5.22250009e-03,
 -6.30044962e-02, 5.88427597e-02]


--- Step 3063 ---
qpos:
[-0.01196197, 1.09463351,-0.03417196, 0.94170216,-0.03259202, 1.20140045,
 -0.03913837, 0.95328435, 0.00948677, 1.33870308,-0.02334887, 0.95489961,
  1.22162352, 0.00555956, 1.28301559, 0.04543965,-0.05548531,-0.08360591,
  0.09129881, 0.6950392 ,-0.11534888,-0.70927805, 0.02323355]

qacc:
[ 5.18756370e-02,-8.38659458e+00, 1.34742949e+01,-1.67467721e+01,
 -4.61352904e+00, 6.18182189e+00,-4.83897620e+01, 1.03850927e+02,
 -1.02356171e+00, 1.92690829e+00,-2.46743573e+00,-1.03409002e+01,
  2.39697708e-01,-8.30965433e-01,-6.11790679e-01, 1.09750998e+00,
 -1.08269358e+00,-4.36832143e-01,-8.12864811e+00,-8.93430686e+00,
 -2.95327546e+01,-2.96327852e+01]

qfrc_actuator:
[ 0.00321373, 0.1011076 , 0.01322553, 0.00288631, 0.02517069, 0.11989775,
  0.01919618,-0.01059343, 0.00292513, 0.03458605, 0.01043373, 0.00151032,
  0.01280688,-0.00157183, 0.        ,-0.00169002, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003129989202808367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.86762663e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.86762663e-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([ 0.02142981, -0.06681992,  0.06180235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24232117e-05,-1.31829675e-03,-4.29710031e-04,-1.04047541e-04,
 -1.24145936e-03,-1.57169232e-03,-6.24984374e-04, 1.76301107e-04,
 -2.95242169e-04, 1.10285230e-04,-2.39944793e-05,-4.97543084e-05,
 -6.94290485e-05,-7.64649265e-05,-3.96690586e-05,-6.46075700e-06,
 -5.00061720e-03, 8.96305752e-04,-9.82924524e+00,-4.39571428e-03,
 -6.32007152e-02, 5.89357652e-02]


--- Step 3064 ---
qpos:
[-0.01195396, 1.09602066,-0.03410838, 0.94172028,-0.03208553, 1.20313516,
 -0.03896372, 0.95304093, 0.00960689, 1.3386994 ,-0.02335819, 0.95489493,
  1.22194866, 0.0055593 , 1.28314399, 0.04543372,-0.05559524,-0.0836582 ,
  0.0912237 , 0.69402418,-0.11444507,-0.7104672 , 0.02165911]

qacc:
[-6.07276543e-02,-9.06040236e+00, 1.19292268e+01, 7.64714077e-01,
 -4.49998979e+00, 5.84563325e+00,-5.03363226e+01, 1.23135050e+02,
 -1.08499298e+00, 3.56021719e-01,-1.77226605e-01,-2.31272620e+00,
  1.41128379e-01,-6.82832050e-01,-6.07664070e+00, 2.02410563e+01,
  2.42738563e+00,-9.47258938e+00, 3.25661563e+00, 5.39282449e+01,
  7.32824617e+01,-2.19807426e+02]

qfrc_actuator:
[ 0.00319312, 0.10058345, 0.01315026, 0.00290505, 0.02466916, 0.11937683,
  0.01902396,-0.01027655, 0.00278649, 0.03457477, 0.01042156, 0.0015005 ,
  0.0127759 ,-0.0016049 , 0.        ,-0.00159239, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -17.05326932,   2.74465169, -17.05326932,
        19.35229792,  12.92093949,   2.74465169,  12.92093949,
        97.55404749,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0029493076400189805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82326353e-14,  2.11744764e-14,  1.00000000e+00, -5.97811270e-28,
        1.00000000e+00, -2.11744764e-14, -1.00000000e+00,  0.00000000e+00,
        2.82326353e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08250198, -0.04948109,  0.06181215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56826480e-05,-1.36204206e-03,-3.90678156e-04,-3.46235845e-05,
 -1.21237946e-03,-1.52843745e-03,-5.50676989e-04, 2.57788187e-04,
 -3.13013349e-04, 4.36216204e-05, 5.20496041e-06,-8.44396377e-06,
 -8.40309607e-05,-7.15687623e-05,-2.05191459e-05, 9.18631108e-05,
 -5.17588658e-03, 9.48421415e-04,-9.83065490e+00,-3.51441609e-03,
 -6.34106740e-02, 5.90326672e-02]


--- Step 3065 ---
qpos:
[-0.01194618, 1.09739566,-0.03404541, 0.94173998,-0.03158949, 1.20485809,
 -0.03879291, 0.95280394, 0.00972443, 1.33869568,-0.02336746, 0.95489157,
  1.22227302, 0.00555953, 1.28327233, 0.0454283 ,-0.0556965 ,-0.08374334,
  0.09115524, 0.69311581,-0.11319109,-0.71160667, 0.01985448]

qacc:
[-1.01829205e-01,-1.16102263e+01, 1.53291091e+01, 1.27981564e+01,
 -4.55039312e+00, 5.70816145e+00,-5.03951958e+01, 1.25074052e+02,
 -1.09032693e+00, 2.10423274e+00,-9.61200228e+00, 2.36989454e+01,
 -8.98077124e-01, 1.10547788e+00,-1.52684503e+00, 5.41913854e+00,
  2.16919717e+00,-8.21479175e+00, 1.65981785e+00, 4.63808323e+01,
  6.45080903e+01,-2.02587496e+02]

qfrc_actuator:
[ 0.00317763, 0.09991575, 0.01309836, 0.00297982, 0.02413634, 0.11880346,
  0.01883538,-0.00995732, 0.0026568 , 0.03455148, 0.01041803, 0.00156761,
  0.01276161,-0.00155326, 0.        ,-0.00156801, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([17.27272727, 16.62061527, -4.70130361, 16.62061527, 18.93227538,
        5.86703454, -4.70130361,  5.86703454, 38.01457509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030014879700004937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.155909e-15,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -1.155909e-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([-0.08245042, -0.04947223,  0.06180871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61056372e-05,-1.51980532e-03,-3.69313416e-04, 2.28498099e-05,
 -1.22738099e-03,-1.53970290e-03,-5.47688101e-04, 2.65477918e-04,
 -3.14560075e-04, 1.68623243e-06, 5.35053912e-06, 6.83234121e-05,
 -7.28346800e-05, 1.09257348e-05,-1.55472491e-06, 2.63710869e-05,
  1.55015342e-03, 5.27959903e-03,-9.83203933e+00,-1.87839885e-03,
 -6.39076416e-02, 5.90688048e-02]


--- Step 3066 ---
qpos:
[-0.01193897, 1.09875693,-0.03398276, 0.94175954,-0.03110379, 1.20657139,
 -0.03862702, 0.95257252, 0.00983958, 1.33869129,-0.02337558, 0.95489009,
  1.22259676, 0.00556025, 1.28340067, 0.04542288,-0.0557883 ,-0.0838547 ,
  0.09110011, 0.69232299,-0.1116507 ,-0.71267364, 0.0178684 ]

qacc:
[-2.53531032e-01,-1.73594303e+01, 3.51260608e+01,-2.32756682e+01,
 -4.50132249e+00, 9.98160784e+00,-5.91629745e+01, 1.21374686e+02,
 -1.00954321e+00,-7.48924133e-01,-2.37798500e+00, 2.39665097e+01,
 -8.05913022e-01, 1.04462296e+00, 1.01250008e-01,-1.75773049e-01,
  2.36550148e+00,-6.55355171e+00, 3.33315725e+00, 4.19585757e+01,
  7.36603752e+01,-1.61830538e+02]

qfrc_actuator:
[ 0.00312986, 0.0991322 , 0.0130424 , 0.0029626 , 0.0236245 , 0.11846968,
  0.01863846,-0.00967484, 0.00255126, 0.03450353, 0.01047285, 0.00166168,
  0.0127414 ,-0.00152266, 0.        ,-0.00156928, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([17.27272727, 17.2644178 , -0.53571036, 17.2644178 , 17.31492718,
        1.35998269, -0.53571036,  1.35998269, 61.10109253,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003020282247808946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37845936e-14,  3.67589163e-14,  1.00000000e+00,  5.06706724e-28,
        1.00000000e+00, -3.67589163e-14, -1.00000000e+00,  0.00000000e+00,
       -1.37845936e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08305194, -0.0566928 ,  0.06180727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.41600970e-05,-1.71675950e-03,-4.00050625e-04,-7.19451059e-05,
 -1.21536429e-03,-1.30526195e-03,-5.57583019e-04, 2.28639057e-04,
 -2.91313374e-04,-4.38773776e-05, 5.77740174e-05, 9.58301420e-05,
 -5.37854949e-05, 1.70355005e-05,-1.91544500e-06,-8.74492450e-07,
  7.13487796e-03, 1.23265719e-02,-9.83422418e+00,-6.05503226e-04,
 -6.41702701e-02, 5.91356991e-02]


--- Step 3067 ---
qpos:
[-0.01193206, 1.10010308,-0.03392053, 0.94177753,-0.03062793, 1.20827677,
 -0.03846589, 0.95234789, 0.0099523 , 1.33868619,-0.02338255, 0.9548887 ,
  1.22292001, 0.00556069, 1.28352902, 0.04541714,-0.05587161,-0.08398911,
  0.09105244, 0.69163152,-0.10984565,-0.71367567, 0.0157105 ]

qacc:
[-1.28884260e-01,-2.14029492e+01, 4.91155532e+01,-5.12956464e+01,
 -4.27951910e+00, 1.38605513e+01,-7.16186652e+01, 1.45126117e+02,
 -1.03182238e+00,-3.89590294e+00, 1.13868162e+01,-8.25103444e+00,
 -2.29515641e-01,-4.90668230e-02, 9.62806575e-01,-3.34435255e+00,
  2.12000856e+00,-5.76169163e+00, 1.86678223e+00, 3.66290915e+01,
  6.58254411e+01,-1.51067798e+02]

qfrc_actuator:
[ 0.00313416, 0.09828557, 0.01298397, 0.00287352, 0.02316483, 0.11822896,
  0.0184569 ,-0.00932736, 0.00242556, 0.03445916, 0.01052607, 0.00166434,
  0.01269635,-0.00155815, 0.        ,-0.00158561, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([17.27272727, 16.86654158, -3.72382634, 16.86654158, 18.93349438,
        7.52220832, -3.72382634,  7.52220832, 51.34349957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030228827563616723
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37727351e-14,  1.83636468e-14,  1.00000000e+00,  2.52917643e-28,
        1.00000000e+00, -1.83636468e-14, -1.00000000e+00,  0.00000000e+00,
       -1.37727351e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08304338, -0.05665921,  0.06180688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.31893619e-05,-1.89742699e-03,-4.47273365e-04,-1.52846264e-04,
 -1.15669403e-03,-1.08535007e-03,-4.98534221e-04, 2.99479545e-04,
 -2.97754328e-04,-5.44215522e-05, 5.40340961e-05, 5.24991988e-06,
 -6.78166397e-05,-4.27346291e-05,-4.97343478e-06,-1.74897540e-05,
  1.13480319e-02, 2.07764991e-02,-9.83602692e+00,-3.92746564e-05,
 -6.41477224e-02, 5.92129770e-02]


--- Step 3068 ---
qpos:
[-0.01192516, 1.10143286,-0.03385888, 0.94179447,-0.03016177, 1.2099731 ,
 -0.03830791, 0.95212716, 0.01006274, 1.33868118,-0.02338983, 0.9548853 ,
  1.22324284, 0.00556031, 1.28365701, 0.04541358,-0.05594726,-0.08414395,
  0.09100729, 0.69102917,-0.10779483,-0.71461855, 0.01338968]

qacc:
[-6.14265971e-03,-2.17146016e+01, 4.70276141e+01,-4.25646933e+01,
 -4.21870035e+00, 3.14140248e+00,-3.25403382e+01, 7.87217942e+01,
 -9.60650703e-01,-2.49604691e+00, 1.23370562e+01,-3.40357777e+01,
  3.46392661e-01,-1.01565734e+00,-7.16322531e+00, 2.41933454e+01,
  1.91501907e+00,-5.10717595e+00, 6.27286405e-01, 3.22108535e+01,
  5.92763165e+01,-1.41492341e+02]

qfrc_actuator:
[ 0.0031519 , 0.09739021, 0.01292426, 0.00281382, 0.02268683, 0.11774443,
  0.01828637,-0.00913962, 0.00232427, 0.03447051, 0.01050682, 0.00155991,
  0.01265771,-0.00161494, 0.        ,-0.00146866, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([17.27272727, 16.82722739, -3.89763079, 16.82722739, 19.22102763,
        8.41139012, -3.89763079,  8.41139012, 53.58719164,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029922009742571753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.11647642e-15,  1.85519461e-14,  1.00000000e+00, -1.50576433e-28,
        1.00000000e+00, -1.85519461e-14, -1.00000000e+00,  0.00000000e+00,
        8.11647642e-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([-0.08306004, -0.05661103,  0.0618085 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57160129e-06,-2.05751614e-03,-4.91569460e-04,-1.32165383e-04,
 -1.14171227e-03,-1.19360147e-03,-4.35669140e-04, 1.49672793e-04,
 -2.77149812e-04,-7.95400399e-06,-2.35596340e-05,-1.04366433e-04,
 -8.24554043e-05,-8.51109302e-05,-7.91328132e-06, 1.14544606e-04,
  1.47338857e-02, 3.04982729e-02,-9.83824496e+00, 3.32776624e-04,
 -6.40346917e-02, 5.93121929e-02]


--- Step 3069 ---
qpos:
[-0.01191869, 1.10274572,-0.03379791, 0.94181133,-0.02970516, 1.21165893,
 -0.03815289, 0.95190986, 0.010171  , 1.33867649,-0.02339716, 0.95488028,
  1.22356511, 0.00555928, 1.28378484, 0.04541209,-0.05601594,-0.08431705,
  0.09096045, 0.6905054 ,-0.10551461,-0.7155067 , 0.01091399]

qacc:
[-1.90131544e-01,-2.04882793e+01, 4.01466903e+01,-2.48817179e+01,
 -4.14422489e+00,-2.02773734e-02,-2.35933568e+01, 6.66876158e+01,
 -9.26446336e-01,-2.22565123e+00, 1.10122020e+01,-2.82747548e+01,
  1.47473688e-01,-7.36366430e-01,-6.54879668e+00, 2.24811206e+01,
  1.74387323e+00,-4.56504392e+00,-4.20606550e-01, 2.85259689e+01,
  5.37933667e+01,-1.33051397e+02]

qfrc_actuator:
[ 0.00310654, 0.0965262 , 0.01288187, 0.00280736, 0.0222194 , 0.11713567,
  0.018105  ,-0.00897652, 0.00222067, 0.03451477, 0.01051613, 0.00148208,
  0.01262825,-0.00164839, 0.        ,-0.00136287, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([17.27272727, 16.77118354, -4.13213143, 16.77118354, 19.61824736,
        9.5198201 , -4.13213143,  9.5198201 , 55.9110554 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029348998706685836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.45707753e-15, -9.45707753e-15,  1.00000000e+00,  8.94363154e-29,
        1.00000000e+00,  9.45707753e-15, -1.00000000e+00,  0.00000000e+00,
        9.45707753e-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([-0.08309665, -0.05655088,  0.06181171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.86708199e-05,-2.12247842e-03,-5.09916888e-04,-8.45715205e-05,
 -1.12288160e-03,-1.36972437e-03,-4.64851166e-04, 1.20128588e-04,
 -2.67281744e-04, 3.22614976e-05, 2.04734539e-06,-8.12222870e-05,
 -9.00971366e-05,-7.79627148e-05, 6.34429628e-06, 1.10563707e-04,
  1.74825015e-02, 4.11828045e-02,-9.84072452e+00, 5.60097167e-04,
 -6.38594181e-02, 5.94297362e-02]


--- Step 3070 ---
qpos:
[-0.01191243, 1.10404198,-0.03373805, 0.94182732,-0.02925804, 1.21333332,
 -0.03800063, 0.95169806, 0.01027697, 1.33867156,-0.02340359, 0.95487472,
  1.22388646, 0.00555875, 1.28391247, 0.04541356,-0.05608195,-0.08450527,
  0.09092002, 0.69001799,-0.10307064,-0.71636759, 0.00831239]

qacc:
[-8.74692467e-02,-2.02853851e+01, 4.16483991e+01,-3.57253835e+01,
 -4.12923873e+00, 1.68734282e+00,-3.48488249e+01, 1.00705367e+02,
 -9.69520502e-01,-3.72643426e+00, 1.28523312e+01,-1.73047100e+01,
 -8.22929965e-01, 9.93680741e-01,-9.16123012e+00, 3.17852575e+01,
  6.68348291e-01,-3.78266087e+00, 1.60304330e+00, 1.35600026e+01,
  2.81703538e+01,-1.00811212e+02]

qfrc_actuator:
[ 0.0031125 , 0.09572358, 0.01283246, 0.00276128, 0.02174425, 0.11652844,
  0.0179537 ,-0.00870504, 0.00209878, 0.03448975, 0.01056019, 0.0014561 ,
  0.01260433,-0.00159663, 0.        ,-0.00121128, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  -8.92567178,  14.78781562,  -8.92567178,
       140.49502833,  74.37486666,  14.78781562,  74.37486666,
        62.16412065,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002863477533856379
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.07030295, -0.06355915,  0.06181578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.29339641e-05,-2.09885434e-03,-5.30255536e-04,-1.25596610e-04,
 -1.12007262e-03,-1.47196974e-03,-4.73316364e-04, 2.21692995e-04,
 -2.79757951e-04,-9.10710337e-06, 4.82222345e-05,-2.68888409e-05,
 -8.64625836e-05, 7.50000694e-06, 1.14996367e-05, 1.57751022e-04,
  1.97336658e-02, 5.26076122e-02,-9.84334776e+00, 6.79258572e-04,
 -6.36419838e-02, 5.95626660e-02]


--- Step 3071 ---
qpos:
[-0.01190628, 1.10532619,-0.03368192, 0.94184273,-0.02882028, 1.21499691,
 -0.03785107, 0.95149079, 0.01038065, 1.33866641,-0.02340942, 0.95486925,
  1.22420715, 0.00555848, 1.28404007, 0.04541717,-0.05614546,-0.08470728,
  0.09088204, 0.6895618 ,-0.10047004,-0.71720225, 0.00558941]

qacc:
[-5.14001390e-02,-6.72272715e+00, 4.00724869e+00,-2.53807596e+00,
 -4.05773087e+00, 7.29942773e-01,-2.87873250e+01, 8.40830545e+01,
 -9.68271776e-01,-1.71222618e+00, 5.07544517e+00,-3.25034819e+00,
 -5.19755273e-01, 5.57891171e-01,-6.48046816e+00, 2.27097442e+01,
  6.23460400e-01,-3.44570066e+00, 6.10292253e-01, 1.22800668e+01,
  2.58380541e+01,-9.67657839e+01]

qfrc_actuator:
[ 0.00311369, 0.09540806, 0.01274403, 0.00274551, 0.02128603, 0.11605154,
  0.01783917,-0.00847848, 0.00198462, 0.03447687, 0.01058864, 0.00146082,
  0.01257846,-0.00158343, 0.        ,-0.00110493, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([17.27272727, 16.86123909, -3.74776252, 16.86123909, 20.84205433,
       16.05845528, -3.74776252, 16.05845528, 89.5199554 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0027837176081318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99413730e-14,  2.99120595e-14,  1.00000000e+00,  5.96487537e-28,
        1.00000000e+00, -2.99120595e-14, -1.00000000e+00,  0.00000000e+00,
       -1.99413730e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07032444, -0.06350862,  0.06182042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33875595e-05,-1.60359930e-03,-5.68089974e-04,-9.61277448e-05,
 -1.10184255e-03,-1.39653349e-03,-4.54432945e-04, 1.75821326e-04,
 -2.79378900e-04,-9.22293138e-06, 3.13846679e-05, 5.19947459e-06,
 -6.63983901e-05,-4.82124642e-06, 1.84792077e-05, 1.15667720e-04,
  2.14294104e-02, 6.16457410e-02,-9.84575477e+00, 1.06871248e-03,
 -6.36198581e-02, 5.97193910e-02]


--- Step 3072 ---
qpos:
[-0.01190022, 1.10660394,-0.03362965, 0.94185666,-0.0283915 , 1.21665093,
 -0.03770437, 0.95128676, 0.01048209, 1.33866144,-0.02341503, 0.95486456,
  1.22452751, 0.00555741, 1.28416817, 0.04541836,-0.05620117,-0.08492051,
  0.09084557, 0.68919523,-0.09770363,-0.71795287, 0.00275932]

qacc:
[-4.28353311e-02,-6.10992724e-01,-5.21503603e+00,-8.54747289e+00,
 -3.90017862e+00, 5.75656538e-01,-2.36361751e+01, 6.37183170e+01,
 -9.48328234e-01, 9.52091220e-01,-4.38909806e+00, 1.26218620e+01,
  1.02811134e-02,-5.94809780e-01, 8.05651674e+00,-2.71314683e+01,
  1.95018188e+00,-2.80362771e+00, 3.80616523e-01, 2.34912923e+01,
  6.60277503e+01,-9.24114932e+01]

qfrc_actuator:
[ 0.00311201, 0.09551117, 0.01270627, 0.00269473, 0.02085935, 0.11567453,
  0.01773001,-0.00831562, 0.00187603, 0.03450682, 0.0106077 , 0.00150129,
  0.01254078,-0.00164656, 0.        ,-0.00123914, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([17.27272727, 17.25620912, -0.75521799, 17.25620912, 17.38067391,
        2.46650604, -0.75521799,  2.46650604, 73.63068554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0027152565540634055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.04441643e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.04441643e-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([-0.08648213, -0.06392679,  0.06182445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08951096e-05,-9.17259543e-04,-4.23885516e-04,-1.16670261e-04,
 -1.06013491e-03,-1.25237221e-03,-4.33462417e-04, 1.13848770e-04,
 -2.73593260e-04, 3.12174454e-05, 2.09844476e-05, 4.12045824e-05,
 -7.11335228e-05,-8.01343720e-05, 1.68311374e-05,-1.26393853e-04,
  2.30085728e-02, 7.09535509e-02,-9.84810357e+00, 1.44500822e-03,
 -6.35915082e-02, 5.98831638e-02]


--- Step 3073 ---
qpos:
[-1.18941066e-02, 1.10787748e+00,-3.35795403e-02, 9.41867529e-01,
 -2.79714676e-02, 1.21829654e+00,-3.75610439e-02, 9.51085530e-01,
  1.05816383e-02, 1.33865656e+00,-2.34203598e-02, 9.54861074e-01,
  1.22484723e+00, 5.55614519e-03, 1.28429624e+00, 4.54189649e-02,
 -5.62496874e-02,-8.51440330e-02, 9.08071489e-02, 6.88908795e-01,
 -9.47810968e-02,-7.18624510e-01,-1.73468527e-04]

qacc:
[ 2.68534360e-02,-4.92193067e+00, 1.57260207e+01,-4.65817987e+01,
 -3.79262807e+00, 2.81406450e+00,-2.82446134e+01, 6.21304762e+01,
 -7.98834990e-01, 1.46774665e+00,-7.08532854e+00, 2.00963878e+01,
 -4.23918996e-01, 1.80171653e-01, 1.72359563e+00,-6.04431268e+00,
  1.79870553e+00,-2.57492472e+00,-4.90401627e-01, 2.09631662e+01,
  6.07881033e+01,-8.76898837e+01]

qfrc_actuator:
[ 0.00312639, 0.09552738, 0.01268277, 0.00255305, 0.02043722, 0.11534279,
  0.01758979,-0.00817373, 0.00180715, 0.03450893, 0.01062124, 0.00156249,
  0.01251198,-0.00164803, 0.        ,-0.00126542, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  15.9392005 ,  -6.65499773,  15.9392005 ,
        32.72101438,  36.99976402,  -6.65499773,  36.99976402,
       105.88983598,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002646690401666707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.09737985e-14,  2.09737985e-14,  1.00000000e+00,  4.39900224e-28,
        1.00000000e+00, -2.09737985e-14, -1.00000000e+00,  0.00000000e+00,
       -2.09737985e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08653749, -0.0638885 ,  0.06182854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.60898270e-06,-5.96681828e-04,-2.59475414e-04,-1.83159715e-04,
 -1.03190012e-03,-1.12492065e-03,-4.35710377e-04, 9.63440887e-05,
 -2.30465433e-04, 2.47647107e-05, 2.32403176e-05, 6.36692718e-05,
 -8.29706024e-05,-4.17094827e-05,-1.15021711e-05,-3.23387683e-05,
  2.33564563e-02, 8.27397853e-02,-9.84976480e+00, 7.97146221e-04,
 -6.32404355e-02, 6.00272231e-02]


--- Step 3074 ---
qpos:
[-0.01188823, 1.10914765,-0.03353154, 0.94187863,-0.02755983, 1.21993458,
 -0.03742139, 0.95088789, 0.01067957, 1.33865184,-0.02342633, 0.95485839,
  1.22516634, 0.00555478, 1.28442389, 0.04542191,-0.05629086,-0.08537606,
  0.09076864, 0.68870592,-0.09172685,-0.71920801,-0.00319087]

qacc:
[-1.08446741e-01, 1.67024913e+00,-1.12806318e+01, 1.46091404e+01,
 -3.64283244e+00, 5.99400411e+00,-3.88820846e+01, 7.97811363e+01,
 -6.87741437e-01, 3.33501274e+00,-1.22390344e+01, 1.97667430e+01,
 -2.22371918e-01, 2.25490215e-02,-7.67726783e+00, 2.59921388e+01,
  1.83582755e+00,-2.12505284e+00,-2.21103919e-02, 1.89138225e+01,
  6.44021125e+01,-7.22878187e+01]

qfrc_actuator:
[ 0.00309704, 0.09545628, 0.01261442, 0.00257206, 0.02003893, 0.11504088,
  0.0174326 ,-0.00799204, 0.00174489, 0.03449434, 0.01057807, 0.00159987,
  0.01248855,-0.00164828, 0.        ,-0.00113907, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  16.01505318,   6.47033068,  16.01505318,
        35.31286617, -44.6520894 ,   6.47033068, -44.6520894 ,
       127.79344439,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0025708504501536084
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15925245e-14,  2.15925245e-14,  1.00000000e+00,  4.66237113e-28,
        1.00000000e+00, -2.15925245e-14, -1.00000000e+00,  0.00000000e+00,
       -2.15925245e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08701209, -0.06638231,  0.06183308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73583781e-05,-4.76356054e-04,-2.24814667e-04,-9.56434706e-06,
 -9.92108137e-04,-1.02536164e-03,-4.28469750e-04, 1.39470983e-04,
 -1.98378306e-04, 5.60524865e-06,-3.38134617e-05, 4.02514666e-05,
 -7.46777062e-05,-3.17130440e-05,-1.25704668e-05, 1.22266801e-04,
  2.33439641e-02, 9.46410170e-02,-9.85139701e+00, 1.28385750e-04,
 -6.29003810e-02, 6.01797254e-02]


--- Step 3075 ---
qpos:
[-0.01188268, 1.11041463,-0.03348514, 0.94189158,-0.02715671, 1.22156348,
 -0.03728451, 0.95069411, 0.01077533, 1.33864741,-0.02343342, 0.9548562 ,
  1.22548465, 0.0055539 , 1.28455177, 0.04542364,-0.0563252 ,-0.085616  ,
  0.09072698, 0.68857827,-0.08854761,-0.71970807,-0.00629039]

qacc:
[ -0.14542339,  3.25874025,-19.50575222, 40.36404955, -3.68693824,
   1.9638888 ,-28.77573253, 75.08374812, -0.91433707,  4.23136695,
 -14.29379336, 17.75858451, -1.04847054,  1.26338111,  4.13111621,
 -13.71504809,  1.70790774, -1.97891768, -0.787014  , 16.83405018,
  59.75442357,-69.28147145]

qfrc_actuator:
[ 0.00307722, 0.09535139, 0.01255547, 0.00266764, 0.01960484, 0.11451085,
  0.01726687,-0.00780613, 0.00159832, 0.03450513, 0.01051944, 0.0016229 ,
  0.01245771,-0.00161233, 0.        ,-0.00120786, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  15.06020947,  -8.45796654,  15.06020947,
        49.31266103,  57.05013272,  -8.45796654,  57.05013272,
       118.85588495,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002494646647074744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.22521099e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.22521099e-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([-0.08707535, -0.06634849,  0.06183769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.67144368e-05,-4.31407187e-04,-1.82772255e-04, 7.56760317e-05,
 -1.00527151e-03,-1.19548641e-03,-4.15402910e-04, 1.47874276e-04,
 -2.63730036e-04, 8.55927063e-06,-6.01839691e-05, 2.31054850e-05,
 -7.51742241e-05, 9.22309732e-06, 5.04038582e-06,-6.42050753e-05,
  2.25012364e-02, 1.05963274e-01,-9.85256696e+00,-7.85778944e-04,
 -6.25535293e-02, 6.03334276e-02]


--- Step 3076 ---
qpos:
[-0.01187714, 1.11167755,-0.03343919, 0.94190388,-0.0267623 , 1.22318029,
 -0.0371495 , 0.95050638, 0.01086866, 1.33864277,-0.0234407 , 0.95485394,
  1.22580207, 0.00555395, 1.2846798 , 0.04542354,-0.05635314,-0.08586337,
  0.09067958, 0.68851872,-0.08524901,-0.72012839,-0.00947001]

qacc:
[-1.11678752e-03,-5.17603332e+00, 1.17546329e+01,-1.50189547e+01,
 -3.77731130e+00,-5.85999516e-01,-2.96648427e+01, 1.03392935e+02,
 -1.03453419e+00, 1.27454020e-01,-6.64656072e-01, 9.08679272e-02,
 -1.44993174e+00, 1.96428453e+00, 5.88955958e+00,-1.99628280e+01,
  1.59999439e+00,-1.85802149e+00,-1.43365915e+00, 1.50334935e+01,
  5.58791060e+01,-6.67819343e+01]

qfrc_actuator:
[ 0.00309881, 0.09512087, 0.01252025, 0.00262995, 0.01915273, 0.11374204,
  0.01711435,-0.00751286, 0.00145562, 0.03447769, 0.01050552, 0.00161955,
  0.01242247,-0.00155519, 0.        ,-0.00130235, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  14.95454458,  -8.64341969,  14.95454458,
        52.29197786,  60.58909121,  -8.64341969,  60.58909121,
       122.10186875,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0024063162095240356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.30689346e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.30689346e-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([-0.08714924, -0.06631024,  0.06184304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.14365983e-07,-5.21238371e-04,-1.42922484e-04,-5.30475066e-05,
 -1.03111870e-03,-1.52534927e-03,-4.33659709e-04, 2.50707581e-04,
 -2.98463918e-04,-3.37009779e-05,-1.83963114e-05,-4.34827138e-06,
 -7.05366268e-05, 4.26219586e-05,-9.81400464e-06,-9.85238936e-05,
  2.14068870e-02, 1.17277607e-01,-9.85367180e+00,-1.68871423e-03,
 -6.22314080e-02, 6.04922613e-02]


--- Step 3077 ---
qpos:
[-0.01187152, 1.11293466,-0.03339324, 0.94191477,-0.0263765 , 1.22478217,
 -0.03701568, 0.95032425, 0.01096013, 1.33863759,-0.02344773, 0.95485236,
  1.2261189 , 0.00555441, 1.28480759, 0.04542364,-0.05637505,-0.08611777,
  0.09062426, 0.68852108,-0.08183574,-0.72047181,-0.01272819]

qacc:
[ 3.64004703e-02,-1.00743380e+01, 2.65906108e+01,-3.58909129e+01,
 -3.72464126e+00,-6.93731026e+00,-1.24839463e+01, 8.48274512e+01,
 -7.85881449e-01,-2.26163139e-01,-1.43555960e+00, 9.29109852e+00,
 -7.02119002e-01, 8.92641094e-01,-8.75299492e-01, 2.70868012e+00,
  1.50887201e+00,-1.75797600e+00,-1.98035968e+00, 1.34581788e+01,
  5.26554664e+01,-6.47644173e+01]

qfrc_actuator:
[ 0.00310954, 0.09472837, 0.01248102, 0.00254953, 0.01872894, 0.11281881,
  0.01698771,-0.00724769, 0.00140515, 0.03444547, 0.01051795, 0.00165397,
  0.01239527,-0.00153923, 0.        ,-0.0012869 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  14.96131045,  -8.63170302,  14.96131045,
        52.88378985,  61.72457065,  -8.63170302,  61.72457065,
       124.25977979,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0023089990468726784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40412188e-14,  4.80824375e-14,  1.00000000e+00,  1.15596040e-27,
        1.00000000e+00, -4.80824375e-14, -1.00000000e+00,  0.00000000e+00,
       -2.40412188e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08723102, -0.06626849,  0.06184896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.80498093e-06,-7.28912428e-04,-1.63726209e-04,-1.00288090e-04,
 -1.01793872e-03,-1.86245064e-03,-4.71251702e-04, 2.14580041e-04,
 -2.26749653e-04,-5.45050402e-05, 3.64520746e-06, 3.27621276e-05,
 -5.27287618e-05, 1.26322561e-05,-2.00290880e-05, 7.71466387e-06,
  2.01033438e-02, 1.28607127e-01,-9.85468363e+00,-2.58285487e-03,
 -6.19328457e-02, 6.06547726e-02]


--- Step 3078 ---
qpos:
[-0.01186614, 1.11418369,-0.03334712, 0.94192621,-0.02599891, 1.22636673,
 -0.03688246, 0.95014417, 0.0110501 , 1.33863266,-0.02345483, 0.95485046,
  1.2264352 , 0.00555534, 1.28493574, 0.04541987,-0.05639123,-0.08637888,
  0.09055918, 0.68857998,-0.07831165,-0.72074048,-0.01606391]

qacc:
[-1.09035405e-01,-1.00985654e+01, 1.89871472e+01,-4.85884184e+00,
 -3.55402553e+00,-1.76501859e+01, 2.58601378e+01, 1.25181732e+01,
 -6.30626267e-01,-3.05742619e-02, 1.10943186e+00,-4.75471280e+00,
 -1.03991248e+00, 1.32241680e+00, 1.23471965e+01,-4.21675766e+01,
  1.43176775e+00,-1.67513962e+00,-2.44278767e+00, 1.20638745e+01,
  4.99822161e+01,-6.32002147e+01]

qfrc_actuator:
[ 0.00307818, 0.09418879, 0.0124391 , 0.00256879, 0.01834326, 0.11179285,
  0.01689442,-0.00716111, 0.00135714, 0.03449953, 0.01052806, 0.00163936,
  0.0123729 ,-0.00151234, 0.        ,-0.00149082, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  15.09297023,  -8.39936646,  15.09297023,
        50.78833064,  60.22478081,  -8.39936646,  60.22478081,
       125.4917017 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0022053077145085254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  5.0343225e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -5.0343225e-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([-0.08731846, -0.06622405,  0.06185527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80979880e-05,-9.96249264e-04,-2.10771354e-04,-8.56789912e-06,
 -9.72471814e-04,-2.15981667e-03,-5.09046976e-04, 2.39630889e-05,
 -1.81926879e-04, 2.56810202e-05, 8.57559989e-07,-1.53914534e-05,
 -4.59037782e-05, 1.87012293e-05,-1.13011912e-05,-2.06700889e-04,
  1.86198020e-02, 1.39985082e-01,-9.85558264e+00,-3.47192783e-03,
 -6.16566559e-02, 6.08197015e-02]


--- Step 3079 ---
qpos:
[-0.0118611 , 1.1154233 ,-0.03330143, 0.94193832,-0.0256291 , 1.2279319 ,
 -0.03675027, 0.94996645, 0.01113853, 1.33862821,-0.02346161, 0.95484802,
  1.22675113, 0.00555615, 1.28506375, 0.04541434,-0.05640109,-0.08664462,
  0.09049446, 0.68871091,-0.0747144 ,-0.72091388,-0.01944785]

qacc:
[ -0.14846458,-10.08090016, 16.5437724 , -0.57372922, -3.36071702,
 -18.66970585, 25.34242675, 17.56817355, -0.65546713, -1.15932338,
   5.64954534,-11.52813339, -0.33930486,  0.20808618,  5.10290748,
 -18.10572241,  1.57774054, -1.15766833,  0.0921296 ,  9.85865484,
  61.22846837,-38.65691516]

qfrc_actuator:
[ 0.00305737, 0.09361881, 0.01237764, 0.00259319, 0.01798349, 0.11067811,
  0.01678551,-0.00705612, 0.00127549, 0.03455155, 0.01055476, 0.00161378,
  0.01234279,-0.00153236, 0.        ,-0.00157383, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002142816835290051
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59056912e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.59056912e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08575401, -0.07161961,  0.06185907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.81467816e-05,-1.18080447e-03,-2.85217736e-04,-1.07315471e-05,
 -9.20572006e-04,-2.42594515e-03,-5.92599683e-04, 2.79230013e-05,
 -1.89102135e-04, 6.60137497e-05, 3.13840575e-05,-2.51752260e-05,
 -4.93411292e-05,-2.45965151e-05,-3.26265088e-05,-9.69541778e-05,
  1.69757064e-02, 1.51451955e-01,-9.85635433e+00,-4.36053316e-03,
 -6.14017440e-02, 6.09859342e-02]


--- Step 3080 ---
qpos:
[-0.01185638, 1.11665463,-0.03325751, 0.94194994,-0.02526664, 1.22947614,
 -0.03661992, 0.94979297, 0.01122507, 1.33862421,-0.02346778, 0.95484596,
  1.22706676, 0.00555632, 1.28519107, 0.04541184,-0.05640232,-0.0869053 ,
  0.09044753, 0.68894829,-0.07120672,-0.72094528,-0.02275417]

qacc:
[ -0.1453999 , -6.92102418, 10.47483296, -9.60457834, -3.18184682,
 -15.36405536,  8.18949017, 55.35936088, -0.79937312, -0.40437352,
   1.2481441 ,  3.12182398,  0.43750359, -0.97985874,-10.2027205 ,
  34.07666329,  2.16073793,  1.26191516,  4.44937933, -0.26534183,
  83.50625135, 65.35642088]

qfrc_actuator:
[ 0.00304306, 0.09326596, 0.01230499, 0.00256707, 0.01764213, 0.1095191 ,
  0.01665016,-0.00685244, 0.00115655, 0.03458425, 0.01059106, 0.00163525,
  0.01231338,-0.00158013, 0.        ,-0.00140735, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002158330361250932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.57194877e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.57194877e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08676943, -0.08185745,  0.06185812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.72474380e-05,-1.08022718e-03,-3.40999766e-04,-6.90316385e-05,
 -8.72450804e-04,-2.63334323e-03,-6.80368105e-04, 1.16286640e-04,
 -2.30625341e-04, 7.46666134e-05, 5.20392388e-05, 2.37293088e-05,
 -6.04933894e-05,-6.60634466e-05,-2.82438856e-05, 1.56366745e-04,
  1.39943062e-02, 1.61031828e-01,-9.85631877e+00,-5.62375168e-03,
 -6.11816878e-02, 6.11441866e-02]


--- Step 3081 ---
qpos:
[-0.01185226, 1.11787884,-0.03321549, 0.94196108,-0.0249112 , 1.23099851,
 -0.03649202, 0.94962448, 0.0113095 , 1.33862045,-0.02347305, 0.95484383,
  1.22738182, 0.00555644, 1.28531853, 0.04540861,-0.05639553,-0.08716163,
  0.09041337, 0.68928178,-0.06777784,-0.72084748,-0.02599423]

qacc:
[ -0.26757454, -5.03235972,  6.1057475 , -6.31073951, -3.0282501 ,
 -13.6472469 , -0.37974069, 71.8566757 , -0.89698669, -2.21623009,
   7.76294614, -7.69204052, -0.49129992,  0.3674449 ,  2.44103593,
  -8.13404412,  2.00331154,  1.09034583,  3.18995931, -1.30402345,
  75.89361872, 56.92576239]

qfrc_actuator:
[ 0.00299728, 0.09301049, 0.0122449 , 0.00254706, 0.01731449, 0.10836058,
  0.01650016,-0.00661013, 0.00103395, 0.03458745, 0.01063269, 0.00163097,
  0.01228971,-0.00157297, 0.        ,-0.00145029, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,   7.24007021, -15.68210735,   7.24007021,
       156.82256465,  64.42696751, -15.68210735,  64.42696751,
        47.01718431,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002170126407610176
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55796856e-14,  5.11593712e-14,  1.00000000e+00,  1.30864063e-27,
        1.00000000e+00, -5.11593712e-14, -1.00000000e+00,  0.00000000e+00,
       -2.55796856e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08675519, -0.08185749,  0.06185749])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.82044243e-05,-9.39711391e-04,-3.16775427e-04,-6.28972943e-05,
 -8.31143329e-04,-2.76173160e-03,-7.42870374e-04, 1.48168652e-04,
 -2.58807094e-04, 5.54241932e-05, 6.28362352e-05,-1.92758791e-08,
 -6.91286837e-05,-2.64779426e-05, 3.15934823e-06,-3.81158294e-05,
  7.79772051e-03, 1.59058438e-01,-9.85329509e+00,-7.37316513e-03,
 -6.12045712e-02, 6.12827073e-02]


--- Step 3082 ---
qpos:
[-0.01184891, 1.11909517,-0.03317441, 0.94197159,-0.02456262, 1.23249785,
 -0.03636689, 0.94945934, 0.01139194, 1.33861693,-0.02347773, 0.95484203,
  1.22769623, 0.00555684, 1.28544615, 0.04540356,-0.05638127,-0.08741417,
  0.09038773, 0.68970272,-0.064419  ,-0.720631  ,-0.02917726]

qacc:
[ -0.33769889, -8.90636964, 17.84362861,-17.77749896, -2.96433911,
 -17.09813153, 12.39138481, 42.55812491, -0.8358516 , -0.74764447,
   2.13814194,  1.78754223, -0.84512517,  0.95046474,  5.83489842,
 -19.87470271,  1.86894861,  0.9455002 ,  2.13076707, -2.1678837 ,
  69.57664724, 50.05367407]

qfrc_actuator:
[ 0.00295077, 0.09260258, 0.01219318, 0.00251313, 0.01697994, 0.1071229 ,
  0.01632496,-0.0064536 , 0.00094564, 0.03459072, 0.01065924, 0.00164705,
  0.01226419,-0.00155094, 0.        ,-0.00154534, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002156793240838617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.57378177e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.57378177e-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([-0.08676383, -0.08185941,  0.06185846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.62123004e-05,-1.00933381e-03,-2.77928456e-04,-7.17382139e-05,
 -8.14409000e-04,-2.92284283e-03,-7.99243994e-04, 5.74350239e-05,
 -2.41155500e-04, 4.62535611e-05, 4.45267336e-05, 1.95343118e-05,
 -6.60833958e-05,-1.77753298e-06,-7.13539750e-06,-9.77164747e-05,
  2.10360144e-03, 1.57507957e-01,-9.85072757e+00,-8.84342885e-03,
 -6.12647035e-02, 6.14172412e-02]


--- Step 3083 ---
qpos:
[-0.01184624, 1.12030284,-0.03313367, 0.94198064,-0.02422082, 1.23397324,
 -0.03624413, 0.94929746, 0.01147268, 1.33861372,-0.02348227, 0.95483942,
  1.22801003, 0.00555771, 1.28557356, 0.04539874,-0.05635998,-0.08766343,
  0.09036706, 0.69020389,-0.06112303,-0.7203045 ,-0.0323109 ]

qacc:
[ -0.30688813,-12.90732443, 31.3937256 ,-38.67718149, -2.93242529,
 -19.50579514, 18.92798249, 36.62561356, -0.72600112, -1.34328628,
   6.50348977,-15.19031178, -0.75561938,  0.97064561, -0.95618356,
   3.0375235 ,  1.75449788,  0.8228512 ,  1.24170305, -2.90192869,
  64.34177345, 44.40476431]

qfrc_actuator:
[ 0.00292198, 0.09214233, 0.01216403, 0.00243568, 0.01664389, 0.10588313,
  0.01618921,-0.00629563, 0.00087862, 0.03459396, 0.01065893, 0.00160396,
  0.01224293,-0.0015203 , 0.        ,-0.00152824, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002123506757838553
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.61412642e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.61412642e-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([-0.0867905 , -0.0818624 ,  0.06186068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.85709616e-05,-1.09269327e-03,-2.64772885e-04,-1.16417244e-04,
 -8.06431269e-04,-3.02748170e-03,-8.00280816e-04, 5.02663265e-05,
 -2.09450016e-04, 3.81483519e-05, 1.43658053e-05,-3.99820183e-05,
 -5.49015307e-05, 1.50729394e-05,-1.83964490e-05, 9.81992597e-06,
 -3.18210280e-03, 1.56296051e-01,-9.84850372e+00,-1.00981904e-02,
 -6.13532973e-02, 6.15472029e-02]


--- Step 3084 ---
qpos:
[-0.01184397, 1.12150247,-0.033094  , 0.94199077,-0.02388562, 1.23542471,
 -0.03612407, 0.94914051, 0.01155181, 1.33861049,-0.02348688, 0.95483531,
  1.22832317, 0.00555941, 1.2857005 , 0.0453968 ,-0.05633135,-0.08790739,
  0.09035206, 0.69078774,-0.05792519,-0.71986524,-0.03536943]

qacc:
[ -0.17795799, -5.84072971,  4.07560171, 14.11160867, -2.84289565,
 -15.78432107,  3.44249166, 69.25410538, -0.67651283, -2.41383149,
  10.86356562,-26.62660265, -0.79560248,  1.23542874, -9.3309553 ,
  31.84499474,  1.83787447,  1.32242049,  1.41927475, -6.11357054,
  64.80673179, 66.04188464]

qfrc_actuator:
[ 0.00292181, 0.09179662, 0.01213045, 0.00249299, 0.01632737, 0.10470551,
  0.01606008,-0.00604929, 0.00080714, 0.03456149, 0.01064273, 0.00152638,
  0.01222423,-0.00146703, 0.        ,-0.00137417, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002092046522531754
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.6534377e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.6534377e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08733329, -0.0843815 ,  0.06186281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.56938840e-05,-1.02287792e-03,-2.85275432e-04, 1.51667410e-05,
 -7.82480416e-04,-3.02329739e-03,-8.14359074e-04, 1.35265543e-04,
 -1.95179775e-04,-9.68820891e-06,-8.27543033e-06,-7.69810149e-05,
 -4.26987631e-05, 4.52753597e-05,-1.04113391e-05, 1.51608668e-04,
 -8.13662955e-03, 1.55360551e-01,-9.84654158e+00,-1.11858463e-02,
 -6.14641222e-02, 6.16721904e-02]


--- Step 3085 ---
qpos:
[-0.01184148, 1.12269537,-0.03305644, 0.94200492,-0.02355692, 1.23685288,
 -0.03600735, 0.94898673, 0.0116294 , 1.33860744,-0.02349209, 0.95483205,
  1.22863593, 0.00556128, 1.28582731, 0.04539703,-0.05629578,-0.08814663,
  0.09033968, 0.69144831,-0.05481712,-0.71932104,-0.03836093]

qacc:
[  0.10026799,  3.70411495,-31.09307188, 77.9451157 , -2.8038004 ,
 -16.25718659,  9.58957334, 42.98110943, -0.65474286,  3.29278919,
 -12.1655111 , 20.14471278, -0.24258396,  0.26803854, -6.74384774,
  23.3206975 ,  1.73377286,  1.18134681,  0.65279472, -6.50880985,
  60.33664623, 59.85605799]

qfrc_actuator:
[ 0.00297429, 0.09155797, 0.01205956, 0.0027002 , 0.01600734, 0.10357472,
  0.01590069,-0.00589493, 0.00073356, 0.03457881, 0.01061714, 0.00157114,
  0.01219645,-0.00147176, 0.        ,-0.00126494, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002050598608070546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08736875, -0.08438817,  0.06186558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53593809e-05,-8.77035977e-04,-3.07338228e-04, 1.69615799e-04,
 -7.72338321e-04,-2.97399917e-03,-8.42832843e-04, 4.49420901e-05,
 -1.88856276e-04, 8.12407956e-06,-3.06666128e-05, 4.24086937e-05,
 -3.81029521e-05,-1.10400593e-06, 9.29854566e-06, 1.15752595e-04,
 -1.33270871e-02, 1.51681427e-01,-9.84419442e+00,-1.21223312e-02,
 -6.16457959e-02, 6.17890722e-02]


--- Step 3086 ---
qpos:
[-0.01183846, 1.1238835 ,-0.03302071, 0.9420199 ,-0.02323481, 1.23825806,
 -0.03589364, 0.94883391, 0.01170561, 1.33860507,-0.02349757, 0.95482962,
  1.22894844, 0.00556268, 1.28595457, 0.04539489,-0.05625363,-0.08838162,
  0.09032735, 0.69218069,-0.05179183,-0.71867827,-0.04129216]

qacc:
[ 2.38820223e-01, 6.36771688e-02,-9.49321025e+00, 2.08065294e+01,
 -2.84365837e+00,-2.03947852e+01, 2.80768140e+01, 1.49034940e+00,
 -5.82610548e-01, 3.10208468e+00,-1.07129677e+01, 1.85627122e+01,
 -1.11443607e-01,-2.25121534e-01, 7.86345055e+00,-2.65156930e+01,
  1.64571301e+00, 1.06236675e+00, 1.28043287e-02,-6.86427618e+00,
  5.66575949e+01, 5.46936479e+01]

qfrc_actuator:
[ 0.00302241, 0.09147424, 0.01202103, 0.00274544, 0.01566998, 0.10246323,
  0.01576036,-0.00584921, 0.00067706, 0.03466134, 0.01062198, 0.00161654,
  0.01216854,-0.00151095, 0.        ,-0.00139607, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019960433863329546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  5.5621187e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -5.5621187e-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([-0.08741611, -0.08439594,  0.06186916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.07650007e-05,-6.40904513e-04,-2.44373125e-04, 1.49668236e-05,
 -7.83978836e-04,-2.93540607e-03,-8.19932516e-04,-6.51860956e-05,
 -1.68042069e-04, 8.23421757e-05, 4.19498337e-06, 4.57121601e-05,
 -4.65681911e-05,-4.84482275e-05, 1.35723886e-05,-1.24285711e-04,
 -1.81552621e-02, 1.48439241e-01,-9.84212438e+00,-1.29144900e-02,
 -6.18334629e-02, 6.18998073e-02]


--- Step 3087 ---
qpos:
[-0.01183522, 1.12506747,-0.03298531, 0.94203311,-0.02291941, 1.23963973,
 -0.03578192, 0.94868389, 0.01178034, 1.33860351,-0.02350301, 0.9548267 ,
  1.22926062, 0.00556367, 1.28608192, 0.04539088,-0.05620316,-0.08860562,
  0.09032126, 0.69299839,-0.04896442,-0.71792284,-0.04407401]

qacc:
[ 9.63740905e-02,-7.54944895e+00, 2.16870351e+01,-3.66131743e+01,
 -2.89415758e+00,-2.07349963e+01, 2.45980428e+01, 2.60872688e+01,
 -6.25931410e-01, 7.23462243e-02, 2.03243776e+00,-8.02114561e+00,
 -1.53540309e-01,-1.80461329e-01, 5.78697638e+00,-2.00185313e+01,
  2.07975297e+00, 2.74611578e+00, 1.56009127e+00,-1.49297562e+01,
  6.17033229e+01, 1.27483252e+02]

qfrc_actuator:
[ 0.00301424, 0.09135993, 0.01203798, 0.00265958, 0.01532492, 0.10130131,
  0.015668  ,-0.00570797, 0.00059574, 0.03471138, 0.01062724, 0.00159099,
  0.01214588,-0.00153475, 0.        ,-0.00149022, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019445467581196973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.854709e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -2.854709e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08847484, -0.09208721,  0.06187255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43415664e-05,-5.33097749e-04,-1.40037434e-04,-1.10765089e-04,
 -7.98597219e-04,-2.96302651e-03,-7.64979602e-04, 2.95571592e-05,
 -1.80558020e-04, 9.78065746e-05, 2.31692998e-05,-2.19464451e-05,
 -5.72431273e-05,-4.88892409e-05,-1.23908403e-05,-1.00412284e-04,
 -2.26929956e-02, 1.45560944e-01,-9.84027298e+00,-1.35951369e-02,
 -6.20253882e-02, 6.20043489e-02]


--- Step 3088 ---
qpos:
[-0.01183193, 1.12624651,-0.03294978, 0.94204492,-0.02261066, 1.24099875,
 -0.03567179, 0.94853737, 0.01185342, 1.33860246,-0.02350826, 0.95482386,
  1.22957213, 0.00556447, 1.28620896, 0.04538777,-0.05614488,-0.08881962,
  0.09031818, 0.6938958 ,-0.04631879,-0.71706375,-0.04671999]

qacc:
[ 2.40718352e-02,-9.23314986e+00, 2.52108664e+01,-3.50773243e+01,
 -2.86563479e+00,-1.95344170e+01, 2.06278703e+01, 3.69160318e+01,
 -7.00850077e-01, 3.10911108e-01,-3.44558746e-01, 8.78105293e-01,
 -3.31673249e-01, 7.23114657e-02,-3.16966368e+00, 1.04405845e+01,
  1.95092059e+00, 2.50084429e+00, 7.53088697e-01,-1.45431995e+01,
  5.71956933e+01, 1.16628093e+02]

qfrc_actuator:
[ 0.00300791, 0.09108654, 0.01203418, 0.00258608, 0.01499576, 0.10026088,
  0.01562234,-0.0055294 , 0.0005002 , 0.03472381, 0.01063255, 0.00159489,
  0.01209977,-0.00154917, 0.        ,-0.00143747, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019275740407658504
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.75969068e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.75969068e-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([-0.08849056, -0.09209582,  0.06187384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.81289165e-06,-6.15834970e-04,-1.31476250e-04,-9.50223039e-05,
 -7.91340038e-04,-2.84289633e-03,-7.14576208e-04, 6.98290909e-05,
 -2.02182590e-04, 7.04294863e-05, 2.64107180e-05, 6.93507894e-06,
 -8.64589201e-05,-4.19728179e-05,-2.03405856e-05, 4.47974284e-05,
 -2.76299099e-02, 1.34260042e-01,-9.83710812e+00,-1.37844603e-02,
 -6.23401316e-02, 6.20992304e-02]


--- Step 3089 ---
qpos:
[-0.01182866, 1.12742094,-0.03291468, 0.94205509,-0.02230857, 1.24233758,
 -0.03556392, 0.94839363, 0.01192482, 1.33860146,-0.02351321, 0.95482181,
  1.22988283, 0.00556536, 1.28633586, 0.04538528,-0.05607924,-0.08902443,
  0.09031541, 0.6948683 ,-0.04384155,-0.71610841,-0.04924125]

qacc:
[-1.21274300e-02,-7.66077257e+00, 2.10667793e+01,-3.43587334e+01,
 -2.86962332e+00,-1.56742372e+01, 1.33856524e+01, 3.34377472e+01,
 -7.10466072e-01, 5.99216598e-01,-3.50121136e+00, 1.21944523e+01,
 -6.58497764e-01, 5.78349950e-01,-2.01255906e+00, 6.88255125e+00,
  1.84278254e+00, 2.29723586e+00, 7.86258802e-02,-1.42143336e+01,
  5.34945513e+01, 1.07627068e+02]

qfrc_actuator:
[ 0.00300277, 0.09087991, 0.01201761, 0.0025026 , 0.014661  , 0.09942614,
  0.01556961,-0.00538349, 0.00041463, 0.03469586, 0.01063772, 0.00163382,
  0.01206092,-0.00154028, 0.        ,-0.00140511, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018940571999623707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.93080648e-14,  2.93080648e-14,  1.00000000e+00,  8.58962665e-28,
        1.00000000e+00, -2.93080648e-14, -1.00000000e+00,  0.00000000e+00,
       -2.93080648e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08852162, -0.09210984,  0.06187615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.37819880e-06,-5.92576561e-04,-1.58972355e-04,-1.06884082e-04,
 -7.92911192e-04,-2.55936050e-03,-6.91195694e-04, 4.31332148e-05,
 -2.04972287e-04, 1.64029891e-05, 2.21408091e-05, 4.19319175e-05,
 -9.17593192e-05,-2.35564980e-05,-7.19796672e-06, 3.16422951e-05,
 -3.19618094e-02, 1.24284830e-01,-9.83441571e+00,-1.38255635e-02,
 -6.26152613e-02, 6.21858402e-02]


--- Step 3090 ---
qpos:
[-0.01182547, 1.12859153,-0.03288047, 0.94206416,-0.02201301, 1.24365872,
 -0.03545969, 0.94825263, 0.01199443, 1.33860057,-0.02351799, 0.95481886,
  1.23019282, 0.00556673, 1.28646273, 0.04538285,-0.05600659,-0.08922073,
  0.09031071, 0.6959121 ,-0.04152153,-0.71506286,-0.05164705]

qacc:
[-2.95451709e-02,-4.52187499e+00, 1.09209793e+01,-1.98080154e+01,
 -2.81030538e+00,-8.77686347e+00,-5.06128972e+00, 4.73395725e+01,
 -7.54570288e-01,-1.85856868e+00, 8.06811222e+00,-1.74441808e+01,
 -8.52264105e-01, 1.05860419e+00,-1.27309385e-01, 5.77966738e-01,
  1.75210611e+00, 2.12823647e+00,-4.83634160e-01,-1.39426482e+01,
  5.04703606e+01, 1.00140592e+02]

qfrc_actuator:
[ 0.0029984 , 0.09075049, 0.01199389, 0.00244943, 0.0143433 , 0.09870368,
  0.01544292,-0.00524012, 0.00031799, 0.03469722, 0.01064263, 0.00158651,
  0.01204777,-0.00149985, 0.        ,-0.00140283, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018476916802013382
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.00435142e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.00435142e-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([-0.08856451, -0.09212779,  0.06187924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.74872711e-06,-5.08129515e-04,-1.65018252e-04,-7.69602993e-05,
 -7.76938094e-04,-2.28621183e-03,-7.07768944e-04, 4.91207048e-05,
 -2.17699427e-04, 1.60431119e-05, 1.18571943e-05,-4.52189861e-05,
 -6.42065278e-05, 1.21576628e-05,-3.60658756e-06, 2.30990162e-06,
 -3.58102482e-02, 1.15389117e-01,-9.83209189e+00,-1.37557246e-02,
 -6.28562146e-02, 6.22645908e-02]


--- Step 3091 ---
qpos:
[-0.01182236, 1.12975819,-0.03284756, 0.94207396,-0.02172348, 1.24496651,
 -0.03536026, 0.94811381, 0.01206245, 1.33859936,-0.02352275, 0.95481542,
  1.23050221, 0.00556852, 1.28658931, 0.04538246,-0.05595445,-0.08941717,
  0.09030561, 0.69669398,-0.03915329,-0.71425142,-0.05412414]

qacc:
[-3.72528382e-02,-4.35293759e-01,-6.31236828e+00, 1.63794185e+01,
 -2.60167048e+00,-9.01809625e-01,-2.26705019e+01, 5.31309330e+01,
 -6.77890669e-01,-1.29568528e+00, 4.70984272e+00,-9.58991645e+00,
 -5.72456306e-01, 7.40617759e-01,-6.57424646e+00, 2.24855718e+01,
 -5.13043834e+00,-3.52659763e-02,-1.00597034e-01,-8.10139211e+00,
 -1.72378995e+02,-5.36691816e+01]

qfrc_actuator:
[ 0.00299453, 0.09056196, 0.011931  , 0.00248557, 0.01407388, 0.09833821,
  0.01530964,-0.0051171 , 0.00025098, 0.03464507, 0.01062962, 0.00155984,
  0.01202344,-0.00147643, 0.        ,-0.001294  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001848982946444186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.50112664e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.50112664e-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([ 0.02221351, -0.08626812,  0.06187939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.67460728e-06,-5.20690970e-04,-1.87439666e-04, 1.54072595e-05,
 -7.19582723e-04,-1.78094955e-03,-6.62600560e-04, 3.65787599e-05,
 -1.95582779e-04,-4.22750580e-05,-9.84149016e-06,-2.69162554e-05,
 -5.34071789e-05, 1.22819920e-05,-5.38937518e-06, 1.07631204e-04,
 -3.92699635e-02, 1.07380640e-01,-9.83005856e+00,-1.36019737e-02,
 -6.30673583e-02, 6.23358530e-02]


--- Step 3092 ---
qpos:
[-0.01181965, 1.13092153,-0.03281631, 0.9420841 ,-0.02143976, 1.24626519,
 -0.03526499, 0.94797646, 0.01212926, 1.33859784,-0.02352769, 0.95481307,
  1.23081125, 0.0055701 , 1.28671607, 0.04538135,-0.05592059,-0.08961383,
  0.09029595, 0.69724205,-0.03674024,-0.71364745,-0.05666564]

qacc:
[-1.78708385e-01, 7.17853563e-01,-8.31585434e+00, 1.33087671e+01,
 -2.49669274e+00, 1.71819731e+00,-2.30787354e+01, 4.27560155e+01,
 -5.07671614e-01, 1.91912642e+00,-8.96842854e+00, 2.06176610e+01,
 -2.16108209e-01, 1.96743223e-02, 2.45944037e+00,-8.19652913e+00,
 -4.56695015e+00,-5.46002482e-02,-1.13918776e+00,-6.35667826e+00,
 -1.53303244e+02,-4.88286695e+01]

qfrc_actuator:
[ 0.00295552, 0.09044611, 0.01186313, 0.0025029 , 0.01380004, 0.09822515,
  0.01522829,-0.00502457, 0.00022003, 0.0346322 , 0.01062372, 0.00161652,
  0.01199773,-0.00149885, 0.        ,-0.00133629, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  16.8103255 ,   3.96989472,  16.8103255 ,
        20.81132627, -14.98402481,   3.96989472, -14.98402481,
        80.72184921,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001984789178196736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.99207148e-15,  1.39841430e-14,  1.00000000e+00,  9.77781272e-29,
        1.00000000e+00, -1.39841430e-14, -1.00000000e+00,  0.00000000e+00,
       -6.99207148e-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([ 0.02185643, -0.08625192,  0.06187133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.59036631e-05,-4.56448005e-04,-1.94687231e-04,-2.29602592e-06,
 -6.90920554e-04,-1.24037188e-03,-5.07065875e-04, 2.22310478e-05,
 -1.46457559e-04,-3.89247053e-05,-1.60554676e-05, 5.44973305e-05,
 -4.90972083e-05,-3.11363172e-05, 6.31144997e-06,-3.76788049e-05,
 -2.69621571e-02, 1.04323812e-01,-9.82901855e+00,-1.04613226e-02,
 -6.33507276e-02, 6.24948232e-02]


--- Step 3093 ---
qpos:
[-0.01181723, 1.13208297,-0.03278633, 0.94209424,-0.02116184, 1.24755657,
 -0.03517305, 0.94784111, 0.01219486, 1.33859636,-0.02353246, 0.95480965,
  1.23112012, 0.00557072, 1.28684311, 0.0453774 ,-0.0559031 ,-0.08981077,
  0.09027819, 0.69757958,-0.03428525,-0.71322847,-0.05926556]

qacc:
[-1.31255676e-01, 9.42904545e-01,-6.10336649e+00, 6.53406698e+00,
 -2.50140880e+00, 2.81442441e+00,-2.48371803e+01, 4.91666222e+01,
 -5.15825914e-01,-2.22973291e+00, 9.52250951e+00,-2.07326472e+01,
  2.37882513e-01,-9.08606344e-01, 8.96986110e+00,-3.08334976e+01,
 -4.09498733e+00,-7.03567357e-02,-2.02363575e+00,-4.85048650e+00,
 -1.37349740e+02,-4.46966933e+01]

qfrc_actuator:
[ 0.00294902, 0.09048134, 0.01184641, 0.00250903, 0.01350797, 0.09803387,
  0.01512611,-0.004915  , 0.0001577 , 0.03466079, 0.01064   , 0.00156205,
  0.0119712 ,-0.00156607, 0.        ,-0.00148506, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  16.74698055,   4.22915476,  16.74698055,
        21.31789111, -16.01839705,   4.22915476, -16.01839705,
        80.70379072,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020704162530812836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.02173847e-14,  1.34057949e-14,  1.00000000e+00,  5.39146010e-28,
        1.00000000e+00, -1.34057949e-14, -1.00000000e+00,  0.00000000e+00,
       -4.02173847e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02163647, -0.08624266,  0.06186636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.37134023e-05,-2.71691660e-04,-1.32279298e-04,-1.21812084e-05,
 -6.92687646e-04,-9.89418866e-04,-4.04901818e-04, 5.96568308e-05,
 -1.48825556e-04, 5.58408683e-06, 8.46158829e-06,-5.48466151e-05,
 -5.81756006e-05,-8.77991308e-05,-5.43214461e-06,-1.50979514e-04,
 -1.68716269e-02, 1.01599667e-01,-9.82849843e+00,-7.41504357e-03,
 -6.35864045e-02, 6.26495584e-02]


--- Step 3094 ---
qpos:
[-0.01181472, 1.13324408,-0.03275747, 0.94210528,-0.02088951, 1.24884083,
 -0.03508377, 0.9477088 , 0.01225908, 1.33859481,-0.02353725, 0.95480527,
  1.23142864, 0.00557036, 1.28697   , 0.0453727 ,-0.05590041,-0.09000804,
  0.09024933, 0.69772593,-0.03179067,-0.71297542,-0.0619187 ]

qacc:
[ 4.03867204e-02, 4.09975473e+00,-1.57535540e+01, 2.43134429e+01,
 -2.40664826e+00, 2.94296515e+00,-2.71302578e+01, 6.30787575e+01,
 -5.84219617e-01,-1.70269816e+00, 7.34168022e+00,-1.72801668e+01,
  2.76832034e-01,-1.02107803e+00, 1.98145663e+00,-7.38365248e+00,
 -3.69795643e+00,-8.29844813e-02,-2.77699199e+00,-3.52873780e+00,
 -1.23969525e+02,-4.11875870e+01]

qfrc_actuator:
[ 2.97983156e-03, 9.06071207e-02, 1.18429038e-02, 2.56191019e-03,
  1.32427939e-02, 9.77264766e-02, 1.50122764e-02,-4.76080950e-03,
  7.70460721e-05, 3.46429924e-02, 1.06338326e-02, 1.51363330e-03,
  1.19388430e-02,-1.62382165e-03, 0.00000000e+00,-1.51777806e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.27272727,  16.7433903 ,   4.24334639,  16.7433903 ,
        21.27742554, -15.80173287,   4.24334639, -15.80173287,
        79.62318285,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021149084854554523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.59332001e-14,  3.93713144e-14,  1.00000000e+00, -1.80845046e-27,
        1.00000000e+00, -3.93713144e-14, -1.00000000e+00,  0.00000000e+00,
        4.59332001e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02152578, -0.08623861,  0.06186384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04570967e-05,-6.69285453e-05,-7.60797452e-05, 4.17204731e-05,
 -6.66952805e-04,-9.45464564e-04,-3.54730920e-04, 1.15633643e-04,
 -1.68553109e-04,-1.46365458e-05,-5.71490495e-06,-4.93019757e-05,
 -8.22788673e-05,-9.71472460e-05,-2.30986169e-05,-4.26830766e-05,
 -8.50132938e-03, 9.91613493e-02,-9.82832350e+00,-4.46473748e-03,
 -6.37773442e-02, 6.27994266e-02]


--- Step 3095 ---
qpos:
[-0.01181218, 1.1344077 ,-0.03273056, 0.94211565,-0.02062264, 1.25011813,
 -0.03499652, 0.94757969, 0.01232188, 1.33859308,-0.02354209, 0.95480139,
  1.23173647, 0.00556976, 1.28709654, 0.04536929,-0.05591117,-0.09020569,
  0.0902068 , 0.69769722,-0.02925839,-0.71287216,-0.06462052]

qacc:
[ 1.49903312e-02, 7.41424854e+00,-1.88074372e+01, 6.81629039e+00,
 -2.34966298e+00, 1.74423483e+00,-2.32936799e+01, 6.16267345e+01,
 -5.98969142e-01, 7.78241536e-01,-3.81711591e+00, 9.17747929e+00,
 -2.80474729e-01,-1.71851589e-02,-4.37318914e+00, 1.45933171e+01,
 -3.36249096e+00,-9.29309083e-02,-3.41884150e+00,-2.34925713e+00,
 -1.12724221e+02,-3.82276811e+01]

qfrc_actuator:
[ 2.97951072e-03, 9.09284467e-02, 1.18121676e-02, 2.53542271e-03,
  1.29781143e-02, 9.74231731e-02, 1.49276132e-02,-4.59943760e-03,
  3.79374454e-06, 3.46329859e-02, 1.06320550e-02, 1.54016170e-03,
  1.19136692e-02,-1.62223452e-03, 0.00000000e+00,-1.44632019e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.27272727,  16.80928843,   3.97428359,  16.80928843,
        20.6511601 , -14.28912922,   3.97428359, -14.28912922,
        77.70880061,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021258697370620805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.95841555e-14,  1.30561036e-14,  1.00000000e+00, -2.55692763e-28,
        1.00000000e+00, -1.30561036e-14, -1.00000000e+00,  0.00000000e+00,
        1.95841555e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02150214, -0.08623845,  0.06186329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.14590918e-06, 2.54584026e-04,-5.52472932e-05,-2.85888718e-05,
 -6.51653626e-04,-9.05406922e-04,-3.09581601e-04, 1.26886731e-04,
 -1.72800039e-04,-2.06385405e-05,-6.72210266e-06, 2.47583601e-05,
 -8.91970818e-05,-4.62350226e-05,-1.79951597e-05, 6.55483969e-05,
 -1.47767659e-03, 9.69696670e-02,-9.82837278e+00,-1.60637712e-03,
 -6.39261769e-02, 6.29440490e-02]


--- Step 3096 ---
qpos:
[-0.01180964, 1.13557663,-0.03270548, 0.94212468,-0.02036144, 1.25138915,
 -0.03491162, 0.94745316, 0.01238328, 1.33859087,-0.02354626, 0.95479889,
  1.23204371, 0.00556884, 1.28722283, 0.04536773,-0.05593424,-0.09040373,
  0.0901484 , 0.69750686,-0.02668986,-0.71290498,-0.06736712]

qacc:
[-2.81021392e-03, 9.61094543e+00,-2.02034925e+01,-1.28314522e+00,
 -2.43590794e+00, 2.49520126e+00,-2.33873753e+01, 5.40596504e+01,
 -5.90115735e-01,-6.99967088e-02,-3.29492267e+00, 1.89755649e+01,
 -1.05999358e-01,-2.49004085e-01,-5.97674253e+00, 2.03564574e+01,
 -3.07773013e+00,-1.00623094e-01,-3.96583446e+00,-1.27891552e+00,
 -1.03260094e+02,-3.57531131e+01]

qfrc_actuator:
[ 2.97827959e-03, 9.14176516e-02, 1.18018911e-02, 2.48028732e-03,
  1.26803307e-02, 9.71605085e-02, 1.48253719e-02,-4.47064512e-03,
 -6.44293413e-05, 3.46100240e-02, 1.06684618e-02, 1.61058751e-03,
  1.18875198e-02,-1.63865789e-03, 0.00000000e+00,-1.34959167e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 17.27272727,  16.93050295,   3.42128297,  16.93050295,
        19.63148949, -11.67253076,   3.42128297, -11.67253076,
        75.03521535,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021096994921365395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.57808748e-15,  2.63123499e-14,  1.00000000e+00,  1.73084939e-28,
        1.00000000e+00, -2.63123499e-14, -1.00000000e+00,  0.00000000e+00,
       -6.57808748e-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([ 0.02154762, -0.0862412 ,  0.0618643 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.85378001e-07, 6.02287163e-04, 2.84295417e-05,-4.85803688e-05,
 -6.75999507e-04,-8.33299668e-04,-3.13824633e-04, 9.70792019e-05,
 -1.70278657e-04,-3.49145776e-05, 3.23436936e-05, 7.01726862e-05,
 -8.12941165e-05,-5.08131012e-05,-3.82564076e-06, 9.74724585e-05,
  4.48308795e-03, 9.49917352e-02,-9.82856214e+00, 1.16759338e-03,
 -6.40351591e-02, 6.30832028e-02]


--- Step 3097 ---
qpos:
[-0.01180713, 1.13675148,-0.03268143, 0.94213428,-0.02010586, 1.25265274,
 -0.03482794, 0.94732889, 0.01244348, 1.33858841,-0.02354975, 0.95479792,
  1.23235033, 0.00556748, 1.28734914, 0.04536665,-0.05597063,-0.09059909,
  0.09007952, 0.6971342 ,-0.02413679,-0.71309851,-0.07008446]

qacc:
[-1.44435493e-02, 1.15522390e+01,-2.94487150e+01, 2.83721730e+01,
 -2.42021605e+00,-2.63346161e+00,-7.82013369e+00, 3.75986508e+01,
 -5.11098336e-01, 4.69527150e-01,-5.01786415e+00, 2.21725341e+01,
 -1.86589565e-01,-2.31854557e-01,-1.42449299e+00, 5.05225891e+00,
 -3.33251036e+00, 6.71399560e-01,-2.61831785e+00, 8.01223669e+00,
 -1.21944144e+02, 7.43121323e+00]

qfrc_actuator:
[ 0.00297653, 0.09180851, 0.01178679, 0.0025154 , 0.01240058, 0.0967468 ,
  0.01474924,-0.00436206,-0.00011134, 0.03461517, 0.01070933, 0.00168853,
  0.01185015,-0.0016657 , 0.        ,-0.00132755, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020970402141157057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15078424e-14,  2.64711906e-14,  1.00000000e+00, -5.69338195e-28,
        1.00000000e+00, -2.64711906e-14, -1.00000000e+00,  0.00000000e+00,
        2.15078424e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02036742, -0.09457373,  0.06186502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.27591252e-06, 7.12044220e-04, 1.00565110e-04, 5.41202146e-05,
 -6.72229865e-04,-9.46060905e-04,-2.74937748e-04, 7.82117262e-05,
 -1.47474464e-04,-5.72225627e-06, 3.97836288e-05, 7.94653701e-05,
 -8.93306697e-05,-6.10907599e-05, 5.81552957e-06, 2.62782300e-05,
  9.59858492e-03, 9.31999097e-02,-9.82883292e+00, 3.86682490e-03,
 -6.41061591e-02, 6.32167558e-02]


--- Step 3098 ---
qpos:
[-0.01180467, 1.13793254,-0.03265834, 0.94214423,-0.01985563, 1.25391025,
 -0.03474641, 0.94720719, 0.01250255, 1.3385855 ,-0.02355287, 0.95479792,
  1.23265598, 0.00556656, 1.28747534, 0.04536686,-0.05599322,-0.09077929,
  0.09004082, 0.69691006,-0.02189879,-0.71314367,-0.07254601]

qacc:
[-2.20620129e-02, 1.12712659e+01,-2.76379493e+01, 2.39520655e+01,
 -2.30064282e+00, 2.15867486e+00,-2.19817068e+01, 5.26612676e+01,
 -4.80339289e-01, 6.90133338e-02,-2.91274899e+00, 1.40518631e+01,
 -9.55788644e-01, 1.07845000e+00,-3.96006007e+00, 1.38163134e+01,
  3.45215144e+00, 3.79058429e+00, 7.54217513e+00,-2.20255245e+01,
  9.05458743e+01, 2.08489193e+02]

qfrc_actuator:
[ 0.00297449, 0.09215536, 0.01175098, 0.00253229, 0.01215162, 0.09653018,
  0.01467082,-0.0042308 ,-0.00016284, 0.03456614, 0.01071708, 0.00173476,
  0.0118114 ,-0.00162786, 0.        ,-0.00126092, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021567736591811687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.57380514e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.57380514e-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([-0.08861844, -0.09458333,  0.06186135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.23965242e-06, 7.45957063e-04, 1.12559327e-04, 4.36943456e-05,
 -6.39358134e-04,-8.04183989e-04,-2.95366750e-04, 9.81939848e-05,
 -1.38598666e-04,-4.20272861e-05, 1.34931329e-05, 4.90607563e-05,
 -9.71565812e-05,-1.13293752e-06, 1.40188016e-06, 6.79166990e-05,
  1.45784877e-02, 8.61735510e-02,-9.82817025e+00, 7.06241175e-03,
 -6.38538625e-02, 6.33559677e-02]


--- Step 3099 ---
qpos:
[-0.01180195, 1.13911956,-0.0326358 , 0.94215293,-0.01961043, 1.25516399,
 -0.03466794, 0.94708857, 0.0125605 , 1.3385819 ,-0.02355597, 0.95479817,
  1.23296071, 0.00556627, 1.28760182, 0.04536551,-0.0560035 ,-0.09094593,
  0.09002528, 0.69682034,-0.01993875,-0.71305752,-0.07478532]

qacc:
[ 1.10935994e-01, 7.24608107e+00,-1.16340250e+01,-8.01330580e+00,
 -2.15780642e+00, 8.52434006e+00,-4.00917179e+01, 7.26832409e+01,
 -4.70312087e-01,-4.88035054e-01, 2.17365762e-02, 3.25889208e+00,
 -1.26025415e+00, 1.56143357e+00, 5.21056059e+00,-1.73734903e+01,
  3.07854167e+00, 3.38883581e+00, 5.79327653e+00,-2.09024667e+01,
  8.11724978e+01, 1.82871804e+02]

qfrc_actuator:
[ 0.00300782, 0.09245541, 0.01172082, 0.00246723, 0.01192312, 0.09650444,
  0.01457469,-0.0040694 ,-0.00021668, 0.03450265, 0.010705  , 0.00174416,
  0.01177719,-0.00158729, 0.        ,-0.00134607, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  17.25933969,  -0.67992726,  17.25933969,
        17.40466267,   3.34906097,  -0.67992726,   3.34906097,
       102.28561716,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0022549264782788375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.92354423e-14,  2.46177211e-14,  1.00000000e+00, -1.21206439e-27,
        1.00000000e+00, -2.46177211e-14, -1.00000000e+00,  0.00000000e+00,
        4.92354423e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08853356, -0.09453337,  0.06185551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90168924e-05, 7.19917633e-04, 1.25906605e-04,-3.71118556e-05,
 -5.99925022e-04,-5.38078304e-04,-2.87032400e-04, 1.32442945e-04,
 -1.35703196e-04,-8.25849780e-05,-1.73056776e-05, 9.67707777e-06,
 -8.24260164e-05, 1.76640838e-05, 3.86042169e-06,-8.21142873e-05,
  8.29645972e-03, 7.22057947e-02,-9.82479760e+00, 5.45986971e-03,
 -6.39369682e-02, 6.33743435e-02]


--- Step 3100 ---
qpos:
[-0.0117991 , 1.14031008,-0.03261282, 0.94216099,-0.01937008, 1.25641331,
 -0.03459151, 0.94697284, 0.0126175 , 1.33857807,-0.02355958, 0.95479714,
  1.23326501, 0.00556588, 1.28772911, 0.04535647,-0.05602926,-0.09109389,
  0.09001014, 0.69655589,-0.0182069 ,-0.71316149,-0.0766752 ]

qacc:
[ 6.11914430e-02, 2.24884106e+00,-4.32094137e-01,-9.44570789e+00,
 -2.08727522e+00, 4.58788066e+00,-2.79190253e+01, 6.04182744e+01,
 -4.06325833e-01,-1.16381669e+00, 5.99777432e+00,-1.98291021e+01,
 -9.28692973e-01, 8.74414529e-01, 2.45924652e+01,-8.40574166e+01,
 -3.87044891e+00, 4.67089834e+00, 9.56389323e-02, 5.04440882e+01,
 -1.40553769e+02, 1.94673110e+02]

qfrc_actuator:
[ 0.00300882, 0.09249435, 0.01169405, 0.00242545, 0.01169095, 0.09627381,
  0.01446971,-0.00392697,-0.00025375, 0.03450191, 0.01068124, 0.00167854,
  0.0117564 ,-0.00159872, 0.        ,-0.00175074, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([17.27272727, 16.71192469, -4.36562486, 16.71192469, 20.56742201,
       12.61232746, -4.36562486, 12.61232746, 65.55362027,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024171484167734014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29655535e-14,  1.14827767e-14,  1.00000000e+00,  2.63708323e-28,
        1.00000000e+00, -1.14827767e-14, -1.00000000e+00,  0.00000000e+00,
       -2.29655535e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01601015, -0.12309723,  0.06184604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.59747504e-05, 4.44535373e-04, 1.23338833e-04,-1.60909413e-05,
 -5.80793354e-04,-5.93009063e-04,-2.41864620e-04, 1.22496258e-04,
 -1.17218933e-04,-4.94478273e-05,-4.15629597e-05,-6.83631512e-05,
 -5.77351101e-05,-2.50922765e-05,-1.25025544e-05,-4.09865902e-04,
  3.31041582e-03, 6.09995505e-02,-9.82216524e+00, 4.37961077e-03,
 -6.39589982e-02, 6.33910549e-02]


--- Step 3101 ---
qpos:
[-0.01179649, 1.14150168,-0.03258918, 0.94216906,-0.0191345 , 1.25765646,
 -0.03451657, 0.94686091, 0.01267341, 1.3385736 ,-0.02356315, 0.95479741,
  1.23356878, 0.00556564, 1.28785586, 0.04534667,-0.05606883,-0.09122552,
  0.08999103, 0.69613845,-0.01667837,-0.71343481,-0.07825507]

qacc:
[-1.10325034e-01,-3.05931954e-01, 2.69388714e+00,-2.84067510e+00,
 -2.04722666e+00, 2.38717186e+00,-2.53594102e+01, 6.98662852e+01,
 -4.55590887e-01, 1.28434938e+00,-7.81041355e+00, 2.21487090e+01,
 -5.39223779e-01, 5.47409441e-01, 1.52460263e+00,-6.38817675e+00,
 -3.45276696e+00, 4.08180482e+00,-9.89514445e-01, 4.48322059e+01,
 -1.24152198e+02, 1.73061731e+02]

qfrc_actuator:
[ 0.00297269, 0.09239447, 0.01166852, 0.0024153 , 0.01145843, 0.09586914,
  0.01435962,-0.00374369,-0.00031597, 0.03446764, 0.01068648, 0.00174686,
  0.011733  ,-0.00158762, 0.        ,-0.00177227, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -11.64224606,  12.75951465, -11.64224606,
        63.11592708,  41.82900577,  12.75951465,  41.82900577,
        55.43903615,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0025448530630262645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.18131066e-14,  1.09065533e-14,  1.00000000e+00,  2.37905811e-28,
        1.00000000e+00, -1.09065533e-14, -1.00000000e+00,  0.00000000e+00,
       -2.18131066e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01569249, -0.12295884,  0.06183865])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.85146965e-05, 1.53490559e-04, 7.10293838e-05, 7.67864772e-06,
 -5.70129870e-04,-7.88780546e-04,-2.52836316e-04, 1.62773220e-04,
 -1.31448864e-04,-7.17038246e-05,-1.11290872e-05, 6.40345715e-05,
 -5.93612358e-05,-9.02405482e-06,-5.65554476e-05,-4.71133085e-05,
  6.61118211e-03, 4.11835758e-02,-9.81836648e+00, 7.05641028e-03,
 -6.26494277e-02, 6.35018415e-02]


--- Step 3102 ---
qpos:
[-0.01179408, 1.14269276,-0.03256544, 0.94217715,-0.01890376, 1.2588924 ,
 -0.03444221, 0.94675352, 0.01272792, 1.33856897,-0.02356623, 0.95479808,
  1.23387175, 0.00556628, 1.28798171, 0.04534129,-0.05612079,-0.09134278,
  0.08996425, 0.69558579,-0.0153321 ,-0.71385981,-0.07955815]

qacc:
[-8.59304165e-02,-9.36811216e-01, 2.16640275e+00,-1.31313314e+00,
 -2.08147335e+00,-2.36501699e-01,-1.99837380e+01, 7.43294156e+01,
 -5.96795784e-01,-8.09808346e-01, 1.56954513e+00, 3.40726670e+00,
 -7.95523774e-01, 1.22371222e+00,-1.46062385e+01, 4.93516679e+01,
 -3.09831121e+00, 3.59345367e+00,-1.91709786e+00, 4.01023669e+01,
 -1.10471850e+02, 1.54802785e+02]

qfrc_actuator:
[ 0.00296788, 0.0922478 , 0.0116256 , 0.00240598, 0.01120978, 0.09547007,
  0.01431774,-0.00352022,-0.00041052, 0.0345025 , 0.01072653, 0.00176922,
  0.01170805,-0.00152768, 0.        ,-0.00153228, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -11.70098884,  12.70566676, -11.70098884,
        65.93481858,  44.81422329,  12.70566676,  44.81422329,
        58.54334585,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0026168282069114063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.01551203, -0.12288568,  0.0618345 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.22816137e-05,-6.37926340e-05,-8.54476111e-06,-1.23210002e-06,
 -5.80137422e-04,-8.92278484e-04,-2.22932966e-04, 1.97702064e-04,
 -1.72193166e-04,-5.00420811e-06, 2.66676723e-05, 2.13778794e-05,
 -5.75744345e-05, 4.40715174e-05,-3.24051935e-05, 2.29899646e-04,
  7.72883194e-03, 2.66951728e-02,-9.81560709e+00, 8.90752837e-03,
 -6.17079814e-02, 6.35708334e-02]


--- Step 3103 ---
qpos:
[-0.01179167, 1.1438828 ,-0.03254209, 0.9421855 ,-0.01867799, 1.26012074,
 -0.03436771, 0.94664724, 0.01278096, 1.3385652 ,-0.02356949, 0.95479758,
  1.2341742 , 0.00556737, 1.28810787, 0.0453344 ,-0.05618393,-0.09144729,
  0.08992664, 0.69491249,-0.01415026,-0.71442147,-0.0806125 ]

qacc:
[ 2.85226078e-04, 1.83212436e-01,-2.78922802e+00, 6.19500506e+00,
 -2.12858465e+00,-8.42577880e+00, 1.31178385e+01, 6.50532716e+00,
 -6.21909117e-01,-4.37132456e-01, 5.15947065e+00,-1.85709426e+01,
 -8.33336652e-01, 1.07286446e+00, 5.09821678e+00,-1.69768416e+01,
 -2.79627880e+00, 3.18730581e+00,-2.70948443e+00, 3.61052604e+01,
 -9.90342700e+01, 1.39351002e+02]

qfrc_actuator:
[ 0.00298189, 0.09216301, 0.0115903 , 0.00241489, 0.01095346, 0.09507788,
  0.01431647,-0.00347017,-0.00048821, 0.03459638, 0.01073375, 0.00171111,
  0.01168221,-0.00151027, 0.        ,-0.00161957, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -11.94665622,  12.47495541, -11.94665622,
        68.56972561,  49.12463283,  12.47495541,  49.12463283,
        64.31699164,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002643348034253895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.20006375e-14,  2.10003187e-14,  1.00000000e+00,  8.82026773e-28,
        1.00000000e+00, -2.10003187e-14, -1.00000000e+00,  0.00000000e+00,
       -4.20006375e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0154407 , -0.12286421,  0.06183291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.67427839e-08,-1.37906203e-04,-5.27436770e-05, 7.93268659e-06,
 -5.93734280e-04,-9.35607330e-04,-1.98098786e-04, 2.28653472e-05,
 -1.79389316e-04, 9.70106082e-05, 9.91522612e-06,-5.69962661e-05,
 -4.39253824e-05, 1.73037263e-05, 9.27785521e-06,-7.88931965e-05,
  7.30194727e-03, 1.62250643e-02,-9.81359582e+00, 1.01496744e-02,
 -6.10420347e-02, 6.36086890e-02]


--- Step 3104 ---
qpos:
[-0.01178921, 1.14507156,-0.03251895, 0.94219325,-0.01845681, 1.2613404 ,
 -0.03429375, 0.94654084, 0.01283287, 1.33856207,-0.02357294, 0.95479744,
  1.23447641, 0.00556821, 1.28823394, 0.04532754,-0.05623245,-0.09153389,
  0.08992028, 0.69439253,-0.01322027,-0.71484503,-0.0814912 ]

qacc:
[ 2.36444110e-02,-2.19168067e+00, 6.38685240e+00,-1.18326863e+01,
 -1.97411404e+00,-1.01561931e+01, 1.96343085e+01,-1.30400552e+01,
 -4.76338552e-01, 1.99448100e+00,-6.22348972e+00, 9.19546032e+00,
 -3.26284269e-02,-1.85224422e-01,-2.42162241e-01, 6.19115490e-01,
  3.65857654e+00, 4.47749879e+00, 7.81435821e+00,-2.92464672e+01,
  9.13640877e+01, 1.58152361e+02]

qfrc_actuator:
[ 0.00298933, 0.09209831, 0.01157777, 0.00238123, 0.01074784, 0.09455108,
  0.01425033,-0.00348707,-0.00051966, 0.03461819, 0.01072173, 0.00173041,
  0.01166118,-0.00153603, 0.        ,-0.00161503, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  16.69381079,  -4.43438708,  16.69381079,
        23.60733834,  23.84744423,  -4.43438708,  23.84744423,
       107.04944612,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002674270542727508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07574927e-14,  2.07574927e-14,  1.00000000e+00,  4.30873503e-28,
        1.00000000e+00, -2.07574927e-14, -1.00000000e+00,  0.00000000e+00,
       -2.07574927e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08819528, -0.09442625,  0.06183099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.06086374e-06,-1.67130668e-04,-4.92049700e-05,-3.79511773e-05,
 -5.51048840e-04,-1.09450311e-03,-2.73722696e-04,-4.87227754e-05,
 -1.37389001e-04, 7.57553122e-05, 6.40023066e-06, 2.11206023e-05,
 -3.88650584e-05,-3.05994148e-05,-9.26467420e-06, 3.05833406e-07,
  5.77968598e-03, 8.80701588e-03,-9.81213243e+00, 1.09395809e-02,
 -6.05836103e-02, 6.36230595e-02]


--- Step 3105 ---
qpos:
[-0.01178654, 1.14625928,-0.03249602, 0.94220088,-0.01823991, 1.26254949,
 -0.03422056, 0.94643562, 0.0128841 , 1.33855918,-0.02357659, 0.95479688,
  1.23477826, 0.00556924, 1.28835967, 0.04532278,-0.056268  ,-0.09160477,
  0.08993794, 0.69401079,-0.01251799,-0.71514596,-0.08221055]

qacc:
[ 8.96240785e-02,-9.92621396e-01, 1.82318634e+00,-2.24806791e+00,
 -1.83278642e+00,-9.79923444e+00, 1.27615265e+01, 9.40139341e+00,
 -2.93266886e-01, 1.38559702e-01, 7.79556608e-01,-5.69695203e+00,
 -2.22851552e-01, 2.66682187e-01,-6.81189312e+00, 2.31630897e+01,
  3.23880074e+00, 3.92963552e+00, 6.00342711e+00,-2.61861170e+01,
  8.16501533e+01, 1.43154480e+02]

qfrc_actuator:
[ 0.00301054, 0.09208182, 0.01157887, 0.00237605, 0.01055651, 0.09389436,
  0.01416363,-0.00343681,-0.00052311, 0.03459664, 0.01069827, 0.00170632,
  0.01165367,-0.00151616, 0.        ,-0.00150306, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -16.85277214,   3.78565432, -16.85277214,
        24.30911303,  31.32420341,   3.78565432,  31.32420341,
       156.72013019,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002742108204663307
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.02439682e-14,  2.02439682e-14,  1.00000000e+00,  4.09818248e-28,
        1.00000000e+00, -2.02439682e-14, -1.00000000e+00,  0.00000000e+00,
       -2.02439682e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08814462, -0.09442299,  0.06182709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32145562e-05,-1.35716604e-04,-4.22259246e-05,-1.13025747e-05,
 -5.12009089e-04,-1.32912968e-03,-3.36010581e-04, 9.78409154e-06,
 -8.45920196e-05, 2.22648097e-05,-7.31417231e-06,-2.11807381e-05,
 -3.40809199e-05, 1.89897328e-06,-7.14187479e-06, 1.10163560e-04,
  3.74584189e-03, 6.08785009e-03,-9.81175795e+00, 9.73077496e-03,
 -6.08624881e-02, 6.36326604e-02]


--- Step 3106 ---
qpos:
[-0.01178382, 1.14744734,-0.03247395, 0.94220902,-0.01802745, 1.26374654,
 -0.03414792, 0.94633163, 0.01293473, 1.33855598,-0.02358029, 0.95479712,
  1.23507984, 0.00557023, 1.28848519, 0.04532037,-0.05629199,-0.09166173,
  0.08997349, 0.69375453,-0.01202309,-0.71533689,-0.08278423]

qacc:
[ 2.07470742e-02, 3.64095483e+00,-1.23929439e+01, 1.63791794e+01,
 -1.90485620e+00,-1.22105167e+01, 1.81988487e+01, 6.15000683e+00,
 -2.49926756e-01, 1.08090670e+00,-5.62508319e+00, 1.42229507e+01,
  5.34879201e-03,-1.05454388e-01,-7.45009423e+00, 2.55977082e+01,
  2.89347044e+00, 3.48092095e+00, 4.47421083e+00,-2.36105269e+01,
  7.35966511e+01, 1.30548294e+02]

qfrc_actuator:
[ 0.00300432, 0.09220105, 0.01157048, 0.00240547, 0.01032201, 0.09320056,
  0.01410054,-0.00338303,-0.00054525, 0.03454921, 0.01068577, 0.0017456 ,
  0.01163832,-0.00152252, 0.        ,-0.00138197, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -16.92507152,   3.44805182, -16.92507152,
        23.58504825,  30.98459352,   3.44805182,  30.98459352,
       169.36338288,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002769634106656038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.00427743e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.00427743e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08812851, -0.09442966,  0.06182565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.48152538e-06, 1.96185779e-05,-4.39684267e-05, 2.50574897e-05,
 -5.32535116e-04,-1.50625403e-03,-3.63607100e-04, 5.79141859e-06,
 -7.21048735e-05,-3.71202164e-05,-9.58765036e-06, 3.92192746e-05,
 -3.15919504e-05,-1.36401559e-05, 6.33013483e-06, 1.25737784e-04,
  2.25041570e-03, 4.05121124e-03,-9.81139395e+00, 8.90781679e-03,
 -6.10221468e-02, 6.36386101e-02]


--- Step 3107 ---
qpos:
[-0.01178145, 1.14863907,-0.03245373, 0.94221583,-0.01781959, 1.26493187,
 -0.03407724, 0.94622952, 0.01298459, 1.33855263,-0.02358387, 0.95479779,
  1.23538119, 0.00557094, 1.28861087, 0.0453181 ,-0.05630553,-0.09170623,
  0.09002179, 0.69361299,-0.01171845,-0.7154282 ,-0.08322374]

qacc:
[-1.49885032e-01, 7.54661291e+00,-1.60626242e+01,-3.74737396e+00,
 -1.96950290e+00,-6.92882877e+00, 1.55253240e-01, 2.90245294e+01,
 -3.24163985e-01, 2.59516384e-01,-1.97001156e+00, 6.92328036e+00,
 -1.05795035e-02,-2.30660555e-01,-1.63220099e-01, 8.82917560e-01,
  2.60970373e+00, 3.11352754e+00, 3.18477287e+00,-2.14394482e+01,
  6.69119120e+01, 1.19940183e+02]

qfrc_actuator:
[ 0.00296396, 0.09261379, 0.01155714, 0.00234855, 0.01008124, 0.09261448,
  0.01399847,-0.00329216,-0.00059619, 0.03455774, 0.01069754, 0.0017686 ,
  0.01161826,-0.00154447, 0.        ,-0.00138079, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027646192900657104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.00791304e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.00791304e-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([-0.08813995, -0.09444414,  0.06182617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.86413280e-05, 3.99864397e-04,-1.76376914e-05,-5.58086325e-05,
 -5.50841591e-04,-1.50186838e-03,-4.40451416e-04, 3.66627922e-05,
 -9.35248597e-05,-1.26624388e-05, 4.58549036e-06, 2.25171951e-05,
 -3.84180187e-05,-3.34114429e-05, 1.37785883e-05, 8.31314545e-06,
  1.17561789e-03, 2.55510504e-03,-9.81103793e+00, 8.37035016e-03,
 -6.10933534e-02, 6.36414836e-02]


--- Step 3108 ---
qpos:
[-0.01177949, 1.14983664,-0.03243573, 0.94222175,-0.01761627, 1.26610633,
 -0.03400909, 0.94612997, 0.01303345, 1.33854967,-0.02358723, 0.95479834,
  1.23568186, 0.005572  , 1.28873668, 0.0453152 ,-0.05630957,-0.09173948,
  0.09007848, 0.69357712,-0.01158963,-0.71542836,-0.08353871]

qacc:
[ -0.18686494, 12.12225521,-28.43711261, 10.59041528, -1.95007501,
  -3.08801311,-12.42296991, 47.27125505, -0.42650109, -0.3328366 ,
   1.9654609 , -3.43649315, -0.81760615,  0.95285273,  2.14917097,
  -7.04912585,  2.3769103 ,  2.81298472,  2.09926414,-19.60654571,
  61.36235994,111.01319148]

qfrc_actuator:
[ 0.002939  , 0.09307489, 0.01150665, 0.00231247, 0.00985639, 0.09213303,
  0.01389237,-0.00316241,-0.00066399, 0.03461754, 0.01072371, 0.00176411,
  0.01157941,-0.00152224, 0.        ,-0.00141474, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002733578763553776
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03071344e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.03071344e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08817316, -0.09446473,  0.06182824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.81406024e-05, 6.61278808e-04, 2.02279849e-05,-2.46378862e-05,
 -5.45673091e-04,-1.40874849e-03,-4.51407555e-04, 7.41223484e-05,
 -1.23038977e-04, 5.44109237e-05, 2.48942817e-05,-4.22171183e-06,
 -6.54451574e-05, 3.35040101e-06, 3.18391626e-06,-3.26389451e-05,
  4.33230848e-04, 1.49152663e-03,-9.81068884e+00, 8.04558202e-03,
 -6.10984619e-02, 6.36416893e-02]


--- Step 3109 ---
qpos:
[-0.01177776, 1.15103721,-0.03241816, 0.94222773,-0.01741739, 1.26727004,
 -0.03394298, 0.94603309, 0.01308122, 1.33854718,-0.02359054, 0.9547978 ,
  1.2359818 , 0.00557317, 1.28886236, 0.04531293,-0.05630486,-0.09176246,
  0.09013992, 0.69363928,-0.01162448,-0.71534431,-0.08373725]

qacc:
[-1.01747239e-01, 5.19362396e+00,-1.23025366e+01, 9.36613238e+00,
 -1.89784367e+00,-4.10371371e+00,-9.15279493e+00, 4.56323692e+01,
 -4.58564859e-01,-1.38486935e+00, 7.44997164e+00,-1.93293658e+01,
 -6.05358732e-01, 5.48455228e-01,-2.02834152e+00, 6.93611223e+00,
  2.18635352e+00, 2.56750852e+00, 1.18704297e+00,-1.80566240e+01,
  5.67591438e+01, 1.03509278e+02]

qfrc_actuator:
[ 0.00294125, 0.09308205, 0.01143498, 0.00230674, 0.00964288, 0.09162943,
  0.01380297,-0.00302853,-0.00072361, 0.03463661, 0.01072287, 0.00170802,
  0.01152934,-0.00152728, 0.        ,-0.00138033, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026819674320673476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06979214e-14, -1.03489607e-14,  1.00000000e+00, -2.14201976e-28,
        1.00000000e+00,  1.03489607e-14, -1.00000000e+00,  0.00000000e+00,
       -2.06979214e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08822344, -0.09449004,  0.06183153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.62962487e-05, 3.60284089e-04, 5.54165789e-05, 1.54131491e-05,
 -5.31406132e-04,-1.38023862e-03,-4.16601670e-04, 8.15873404e-05,
 -1.32285441e-04, 5.39470929e-05, 1.24978712e-05,-5.38647678e-05,
 -8.17821951e-05,-1.91109940e-05,-6.61132916e-06, 3.20380093e-05,
 -4.30465074e-05, 7.78031386e-04,-9.81034644e+00, 7.88056252e-03,
 -6.10537261e-02, 6.36395103e-02]


--- Step 3110 ---
qpos:
[-0.01177616, 1.15223706,-0.03239936, 0.9422342 ,-0.01722294, 1.26842358,
 -0.0338782 , 0.94593747, 0.01312777, 1.338545  ,-0.02359345, 0.95479555,
  1.23628113, 0.00557407, 1.28898789, 0.04531174,-0.05629203,-0.09177597,
  0.09020304, 0.69379304,-0.01181278,-0.7151817 ,-0.08382611]

qacc:
[-5.87158540e-02,-3.41319894e+00, 8.96445418e+00,-1.46788747e+00,
 -1.90027246e+00,-7.60428549e+00, 6.07477997e+00, 1.58109261e+01,
 -5.20273626e-01,-3.59387009e+00, 1.56684057e+01,-3.34895126e+01,
 -2.21930346e-01,-8.18184929e-02,-3.48881248e+00, 1.19037263e+01,
  2.03080451e+00, 2.36747432e+00, 4.21918863e-01,-1.67434763e+01,
  5.29482279e+01, 9.72162206e+01]

qfrc_actuator:
[ 0.00294204, 0.0928351 , 0.01142072, 0.00231863, 0.00942012, 0.09118779,
  0.01375961,-0.0029643 ,-0.00079559, 0.03464877, 0.01074141, 0.00162197,
  0.01149387,-0.0015486 , 0.        ,-0.00132364, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002614344426744575
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.06166484e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.06166484e-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([-0.08828689, -0.09451894,  0.06183576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54329043e-05,-5.22137261e-05, 5.91309345e-05, 2.59495406e-05,
 -5.32424526e-04,-1.29532151e-03,-3.60770187e-04, 1.39587012e-05,
 -1.50110568e-04, 4.28810482e-05, 2.89331359e-05,-8.53453972e-05,
 -8.04883481e-05,-4.59436328e-05,-3.16087357e-06, 5.68342398e-05,
 -3.03106776e-04, 3.51585467e-04,-9.81001090e+00, 7.83675535e-03,
 -6.09709504e-02, 6.36351340e-02]


--- Step 3111 ---
qpos:
[-0.01177465, 1.15343393,-0.03237967, 0.94224206,-0.01703266, 1.26956691,
 -0.03381368, 0.94584334, 0.01317309, 1.33854253,-0.02359505, 0.95479332,
  1.2365799 , 0.0055747 , 1.28911349, 0.04531022,-0.05627158,-0.09178066,
  0.09026529, 0.69403297,-0.01214595,-0.71494507,-0.08381088]

qacc:
[-3.82324250e-02,-3.94735058e+00, 5.28693667e+00, 1.33533328e+01,
 -1.78811565e+00,-1.01486333e+01, 1.38471001e+01, 1.17473109e+01,
 -5.18778306e-01,-3.91148597e+00, 1.22227912e+01,-1.00819891e+01,
 -3.11357674e-01, 2.37574850e-02, 1.12386726e+00,-3.72449344e+00,
  1.90426604e+00, 2.20499966e+00,-2.18494885e-01,-1.56282070e+01,
  4.98029757e+01, 9.19578767e+01]

qfrc_actuator:
[ 0.00294196, 0.09252697, 0.0114039 , 0.00237613, 0.00922911, 0.09071603,
  0.01376174,-0.00288827,-0.00085666, 0.03462124, 0.01080672, 0.00162553,
  0.01146716,-0.0015616 , 0.        ,-0.00134306, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025345113698442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.09510559e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.09510559e-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([-0.08836033, -0.09455051,  0.0618407 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01940164e-05,-3.40495955e-04,-2.33796329e-05, 5.95082292e-05,
 -5.01368319e-04,-1.26944324e-03,-2.94271153e-04, 2.83549429e-05,
 -1.49724441e-04,-6.62078887e-07, 7.44844938e-05, 3.67542532e-06,
 -7.72049626e-05,-4.54072221e-05, 1.35509279e-06,-1.74219768e-05,
 -3.84445115e-04, 1.64025205e-04,-9.80968268e+00, 7.88617611e-03,
 -6.08586786e-02, 6.36286744e-02]


--- Step 3112 ---
qpos:
[-0.0117729 , 1.15462626,-0.03235941, 0.9422497 ,-0.01684609, 1.27069936,
 -0.03374943, 0.94575232, 0.01321724, 1.33853979,-0.02359695, 0.95479228,
  1.23687823, 0.00557486, 1.28923899, 0.04530915,-0.05624392,-0.09177706,
  0.09032453, 0.69435451,-0.01261681,-0.71463807,-0.08369618]

qacc:
[ 1.07396316e-01,-7.88418505e+00, 1.89850183e+01,-1.61681768e+01,
 -1.58606312e+00,-8.28392826e+00, 3.37144385e+00, 4.00554214e+01,
 -4.93855227e-01, 2.51155567e+00,-1.09873123e+01, 2.32732394e+01,
 -1.94733878e-02,-3.92183089e-01,-1.51935643e+00, 5.06922220e+00,
  1.80175059e+00, 2.07361225e+00,-7.53334385e-01,-1.46779120e+01,
  4.72185414e+01, 8.75868694e+01]

qfrc_actuator:
[ 0.00297686, 0.09218468, 0.0113854 , 0.0023534 , 0.00907639, 0.09014154,
  0.01373737,-0.00273489,-0.0009107 , 0.03457039, 0.01077475, 0.0016818 ,
  0.01144574,-0.00158723, 0.        ,-0.0013184 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024456290187079843
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53962157e-14,  3.40471618e-14,  1.00000000e+00,  1.54561230e-27,
        1.00000000e+00, -3.40471618e-14, -1.00000000e+00,  0.00000000e+00,
       -4.53962157e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08844111, -0.09458398,  0.06184616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77425472e-05,-5.49176651e-04,-8.98347021e-05,-3.10283537e-05,
 -4.45031951e-04,-1.34426292e-03,-3.07688222e-04, 1.08754648e-04,
 -1.42460772e-04,-3.65325923e-05,-2.35289414e-05, 5.84983039e-05,
 -7.03212575e-05,-5.70511547e-05,-5.39895353e-06, 2.29660589e-05,
 -3.15112202e-04, 1.78667685e-04,-9.80936243e+00, 8.00861863e-03,
 -6.07230583e-02, 6.36201880e-02]


--- Step 3113 ---
qpos:
[-0.01177086, 1.15581373,-0.03233925, 0.94225675,-0.01666305, 1.27182198,
 -0.0336872 , 0.94566423, 0.01326001, 1.3385376 ,-0.02360065, 0.95479123,
  1.23717603, 0.0055749 , 1.28936456, 0.04530736,-0.05621157,-0.09176144,
  0.09038431, 0.69472041,-0.0132346 ,-0.71429905,-0.08345819]

qacc:
[  0.13265392, -7.09973339, 16.66356005,-18.14822926, -1.50910041,
  -2.4722741 ,-13.54504583, 51.80624166, -0.58620449,  5.57327271,
 -17.29801722, 14.63199201, -0.4027935 ,  0.23427387,  2.29344894,
  -7.80329467,  1.17457381,  3.00244626,  0.1347021 , -8.01375918,
  20.04220038, 97.36378396]

qfrc_actuator:
[ 0.00299696, 0.09191341, 0.01136585, 0.00231909, 0.00891236, 0.08968769,
  0.01364395,-0.00259057,-0.00099558, 0.03461214, 0.01068549, 0.00167977,
  0.0114275 ,-0.00158464, 0.        ,-0.0013567 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([17.27272727, 16.55113767, -4.94033897, 16.55113767, 20.03876311,
        9.26678112, -4.94033897,  9.26678112, 48.31832373,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002350169142697438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22027374e-06,  1.22027372e-06,  1.00000000e+00,  1.48906797e-12,
        1.00000000e+00, -1.22027372e-06, -1.00000000e+00,  0.00000000e+00,
       -1.22027374e-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([-0.07429299, -0.098557  ,  0.061852  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.43960129e-05,-6.09252969e-04,-1.41909595e-04,-5.29316522e-05,
 -4.23566092e-04,-1.26505051e-03,-3.90506652e-04, 9.89082876e-05,
 -1.69024472e-04, 1.87285158e-05,-9.73402526e-05,-2.45612723e-06,
 -6.64366196e-05,-3.07016165e-05,-3.24678101e-06,-3.84485036e-05,
 -1.15909687e-04, 3.67755816e-04,-9.80905108e+00, 8.18964450e-03,
 -6.05684729e-02, 6.36096852e-02]


--- Step 3114 ---
qpos:
[-0.01176871, 1.15699601,-0.0323191 , 0.94226443,-0.01648347, 1.27293639,
 -0.03362796, 0.94557848, 0.01330141, 1.33853549,-0.02360383, 0.9547887 ,
  1.23747337, 0.00557488, 1.28948997, 0.04530613,-0.05618877,-0.09173224,
  0.09042905, 0.69498143,-0.01393998,-0.71408221,-0.0830246 ]

qacc:
[ 4.46148659e-02,-5.73134457e+00, 9.16082986e+00, 2.58655747e+00,
 -1.48382724e+00, 1.25645029e+00,-2.19348192e+01, 5.13671291e+01,
 -5.78895403e-01,-3.83516149e+00, 1.56001168e+01,-3.05958356e+01,
 -2.83425361e-01, 1.55910304e-01,-1.89740914e+00, 6.33160082e+00,
 -2.38748567e+00, 3.39729691e+00,-3.76022956e+00, 4.38314162e+01,
 -8.48491736e+01, 9.40394670e+01]

qfrc_actuator:
[ 0.00299027, 0.09165137, 0.01136387, 0.00234929, 0.00874284, 0.08938054,
  0.01352871,-0.00247049,-0.00106279, 0.03463774, 0.01072327, 0.00160796,
  0.01141119,-0.00158303, 0.        ,-0.00132529, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([17.27272727, 16.64137209, -4.6272932 , 16.64137209, 19.10848721,
        6.60203772, -4.6272932 ,  6.60203772, 41.01597448,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023364896198321133
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.37583556e-14,  2.37583556e-14,  1.00000000e+00,  5.64459461e-28,
        1.00000000e+00, -2.37583556e-14, -1.00000000e+00,  0.00000000e+00,
       -2.37583556e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01617911, -0.1236553 ,  0.06185306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13838970e-05,-6.43996621e-04,-1.42636685e-04, 7.73801205e-06,
 -4.16599676e-04,-1.09088734e-03,-4.06491956e-04, 7.43795299e-05,
 -1.67032974e-04, 1.69079250e-05, 3.03025048e-05,-7.41751572e-05,
 -5.65804270e-05,-2.28100312e-05,-9.65569191e-06, 2.80062749e-05,
  4.58461317e-04, 1.00583069e-03,-9.80881830e+00, 8.36526956e-03,
 -6.03978297e-02, 6.36018960e-02]


--- Step 3115 ---
qpos:
[-0.01176625, 1.15817283,-0.03229874, 0.9422721 ,-0.01630719, 1.27404268,
 -0.03357018, 0.94549305, 0.01334168, 1.33853315,-0.02360617, 0.95478569,
  1.23777033, 0.0055746 , 1.28961496, 0.04530794,-0.0561748 ,-0.09169094,
  0.09045676, 0.69514667,-0.01473415,-0.71397674,-0.08240889]

qacc:
[  0.13731595, -7.72740408, 16.58540665,-11.01316769, -1.41213269,
  -6.18025757,  6.59862477,  3.14823848, -0.47459608, -3.43638204,
  11.83705962,-15.75047151,  0.11281347, -0.39362332, -9.8400223 ,
  33.48155795, -2.2107532 ,  3.02418785, -4.25597525, 38.13179442,
 -77.85495205, 90.23564417]

qfrc_actuator:
[ 0.00302084, 0.09137942, 0.01137238, 0.00234621, 0.00858913, 0.0890217 ,
  0.01347317,-0.00245432,-0.0011011 , 0.03461839, 0.01076465, 0.00158452,
  0.01139072,-0.00159977, 0.        ,-0.00116425, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -16.3258838 ,   5.64026822, -16.3258838 ,
        16.92873153,  -0.99570346,   5.64026822,  -0.99570346,
        14.3906411 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002300311072923285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.41320193e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.41320193e-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([ 0.01626289, -0.12374544,  0.06185534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.56312864e-05,-6.71327517e-04,-1.37207430e-04,-2.52002690e-05,
 -3.96788429e-04,-1.04998596e-03,-3.15244330e-04,-2.53459036e-05,
 -1.36960201e-04,-6.24536380e-06, 4.59617604e-05,-2.37912120e-05,
 -5.39103065e-05,-3.65395462e-05,-4.43122434e-06, 1.60671901e-04,
  1.37500560e-03, 2.93213444e-03,-9.80941324e+00, 8.05533631e-03,
 -6.04988464e-02, 6.36088105e-02]


--- Step 3116 ---
qpos:
[-0.01176364, 1.15934524,-0.03227888, 0.9422793 ,-0.01613432, 1.27514237,
 -0.03351401, 0.94540769, 0.01338099, 1.33853115,-0.02360963, 0.95478316,
  1.23806667, 0.00557443, 1.28974018, 0.04530931,-0.05616909,-0.09163876,
  0.09046577, 0.6952235 ,-0.01561753,-0.71397349,-0.08162256]

qacc:
[ 7.04054632e-02,-5.26239291e+00, 1.11271723e+01,-1.23205327e+01,
 -1.45893687e+00,-4.20929494e+00, 3.15453263e+00, 2.16113272e+00,
 -4.13787051e-01, 4.32092369e+00,-1.45496874e+01, 1.80329557e+01,
 -6.12093464e-01, 5.81663963e-01, 1.75268441e+00,-5.51325644e+00,
 -2.06079898e+00, 2.71994167e+00,-4.67633229e+00, 3.34596447e+01,
 -7.20197888e+01, 8.67558969e+01]

qfrc_actuator:
[ 0.00302026, 0.0912281 , 0.01136922, 0.00232355, 0.00841062, 0.08881258,
  0.01343537,-0.00244614,-0.00113953, 0.0346256 , 0.01070113, 0.00160746,
  0.01135712,-0.0015918 , 0.        ,-0.00119445, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -16.29894459,   5.71764924, -16.29894459,
        17.01680161,  -0.72955125,   5.71764924,  -0.72955125,
        15.19304123,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002245462622208143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47214764e-14,  2.47214764e-14,  1.00000000e+00,  6.11151396e-28,
        1.00000000e+00, -2.47214764e-14, -1.00000000e+00,  0.00000000e+00,
       -2.47214764e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01639085, -0.1238481 ,  0.06185862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82288271e-05,-5.65624878e-04,-1.54548236e-04,-4.62141453e-05,
 -4.10086522e-04,-8.62680819e-04,-2.82025817e-04,-3.17732571e-05,
 -1.19314115e-04, 1.20604991e-05,-6.02016528e-05, 2.35319818e-05,
 -6.84340998e-05,-1.55262621e-05, 1.32766471e-05,-2.23884043e-05,
  1.55555945e-03, 5.70931230e-03,-9.81006073e+00, 7.59495687e-03,
 -6.06725963e-02, 6.35990090e-02]


--- Step 3117 ---
qpos:
[-0.01176141, 1.16051357,-0.0322598 , 0.94228686,-0.01596518, 1.27623793,
 -0.03346092, 0.94532435, 0.0134194 , 1.33852929,-0.02361326, 0.95478159,
  1.23836227, 0.00557463, 1.28986595, 0.0453063 ,-0.0561711 ,-0.0915767 ,
  0.09045464, 0.69521788,-0.01659009,-0.71406466,-0.08067544]

qacc:
[ -0.17385515, -2.59745591,  1.24505233,  5.80894305, -1.59763996,
   6.30747512,-31.30794253, 53.19254382, -0.3767026 ,  2.31790129,
  -9.23276208, 18.87483916, -1.18820822,  1.36311469, 14.14544619,
 -48.03470284, -1.93280032,  2.47130901, -5.03303426, 29.60902312,
 -67.15306221, 83.62233713]

qfrc_actuator:
[ 0.00296552, 0.09106156, 0.01134192, 0.00234286, 0.0082009 , 0.088766  ,
  0.01333792,-0.00233611,-0.00117772, 0.03464829, 0.01070059, 0.00165745,
  0.011321  ,-0.00156926, 0.        ,-0.00142588, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -16.28594993,   5.75455839, -16.28594993,
        17.13380243,  -0.39317058,   5.75455839,  -0.39317058,
        16.16001698,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021760094308334865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55105288e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.55105288e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01655288, -0.1239603 ,  0.06186267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.57771916e-05,-5.26303556e-04,-1.60564038e-04,-2.05899833e-06,
 -4.49109873e-04,-5.90111482e-04,-3.01419474e-04, 7.65071050e-05,
 -1.08656112e-04, 1.83254060e-05,-4.33415723e-06, 4.91149800e-05,
 -7.35089961e-05, 2.05996660e-06,-1.21750739e-06,-2.32042654e-04,
  1.15911659e-03, 9.19582427e-03,-9.81076725e+00, 7.00789841e-03,
 -6.09009976e-02, 6.35756908e-02]


--- Step 3118 ---
qpos:
[-0.01175987, 1.1616771 ,-0.03224156, 0.9422947 ,-0.01579981, 1.27732802,
 -0.03340887, 0.94524336, 0.01345712, 1.33852786,-0.02361675, 0.95478093,
  1.23865712, 0.00557535, 1.28999151, 0.04530223,-0.0561804 ,-0.09150556,
  0.09042218, 0.6951346 ,-0.01765152,-0.71424364,-0.07957594]

qacc:
[ -0.29839866, -3.59982528,  3.57992722,  3.01982633, -1.6117819 ,
  -0.3610768 ,-12.32164475, 41.3560343 , -0.29178853,  1.71915097,
  -6.78191699, 16.16075713, -0.99844727,  1.24093101,  2.99995686,
 -10.72420971, -1.82275824,  2.26758689, -5.33601442, 26.41583104,
 -63.09831272, 80.84160864]

qfrc_actuator:
[ 0.00291426, 0.09078079, 0.01128288, 0.0023512 , 0.00800966, 0.08846209,
  0.01327781,-0.00222023,-0.00119771, 0.03469806, 0.01071958, 0.00170525,
  0.01128872,-0.00153828, 0.        ,-0.00147215, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 1.72727273e+01, -1.62944585e+01,  5.73042143e+00, -1.62944585e+01,
        1.72733896e+01,  1.88338274e-03,  5.73042143e+00,  1.88338274e-03,
        1.72780827e+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: -0.002095365472780622
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.6492348e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.6492348e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01674074, -0.12407951,  0.06186729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.85533282e-05,-6.18522091e-04,-1.83973618e-04,-1.10055888e-05,
 -4.53482216e-04,-6.97104835e-04,-2.09771465e-04, 9.24888459e-05,
 -8.41639029e-05, 6.05409694e-05, 2.35193468e-05, 4.93490094e-05,
 -6.89495440e-05, 1.49614570e-05,-3.17208383e-05,-6.05219897e-05,
  3.01119628e-04, 1.32841497e-02,-9.81153930e+00, 6.31221934e-03,
 -6.11707344e-02, 6.35411121e-02]


--- Step 3119 ---
qpos:
[-0.01175915, 1.16283394,-0.03222303, 0.94230133,-0.01563798, 1.27841168,
 -0.03335672, 0.94516548, 0.01349436, 1.33852704,-0.02361974, 0.95477978,
  1.23895131, 0.00557645, 1.29011651, 0.0453006 ,-0.05617871,-0.09142099,
  0.09040251, 0.69516533,-0.0189052 ,-0.71431782,-0.07834422]

qacc:
[ -0.35846155,-11.58381435, 29.67067808,-35.46875057, -1.51199755,
  -3.43503538, -5.40241141, 44.81351353, -0.20320125, -1.3776911 ,
   6.45750938,-11.67170273, -0.538893  ,  0.66064896, -8.16513702,
  27.47142645,  2.7499918 ,  3.36037533,  3.20162044,-22.76913662,
  68.32650475,120.07226545]

qfrc_actuator:
[ 0.00286555, 0.09034508, 0.01125841, 0.0022819 , 0.00784878, 0.08811328,
  0.01327482,-0.00206645,-0.00120663, 0.03474599, 0.01075003, 0.00168039,
  0.01125878,-0.0015203 , 0.        ,-0.00133787, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  16.6735633 ,  -4.50992177,  16.6735633 ,
        26.0024781 ,  32.27462923,  -4.50992177,  32.27462923,
       136.59476889,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002113772741288919
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.25232918e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.25232918e-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([-0.08874596, -0.09474579,  0.06186597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.46092710e-05,-8.29228112e-04,-1.70336623e-04,-9.23126092e-05,
 -4.25733765e-04,-7.82683456e-04,-1.62667788e-04, 1.30212334e-04,
 -5.86241739e-05, 8.74988101e-05, 4.63973919e-05,-2.12417105e-05,
 -6.13205007e-05, 6.88488917e-06,-2.41904244e-05, 1.26235483e-04,
 -9.34753275e-04, 1.78937189e-02,-9.81238395e+00, 5.52140811e-03,
 -6.14720222e-02, 6.34968459e-02]


--- Step 3120 ---
qpos:
[-0.01175884, 1.1639814 ,-0.0322034 , 0.94230696,-0.01547954, 1.27948792,
 -0.03330423, 0.94509085, 0.01353101, 1.33852639,-0.02362155, 0.95477765,
  1.23924515, 0.00557727, 1.2902413 , 0.04530088,-0.05616699,-0.09132417,
  0.09039136, 0.69530027,-0.020339  ,-0.71429473,-0.07698627]

qacc:
[-1.82219694e-01,-1.70155038e+01, 4.26844194e+01,-4.26595528e+01,
 -1.44748055e+00,-5.09613884e+00,-1.80102394e+00, 4.38622377e+01,
 -2.50569510e-01,-4.65767054e+00, 1.74334609e+01,-2.64884283e+01,
  4.73430910e-02,-3.25566752e-01,-6.09435533e+00, 2.08254118e+01,
  2.50583258e+00, 3.06060416e+00, 2.12641919e+00,-2.03471454e+01,
  6.27795855e+01, 1.13204423e+02]

qfrc_actuator:
[ 0.00287203, 0.08971368, 0.0112539 , 0.00222063, 0.00768964, 0.08768742,
  0.01326985,-0.0019094 ,-0.00124434, 0.0347392 , 0.0108047 , 0.00163073,
  0.01123559,-0.00154568, 0.        ,-0.00124036, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -17.10083491,   2.43075151, -17.10083491,
        19.12714088,  13.04617963,   2.43075151,  13.04617963,
       109.05527389,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002112866907622149
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62729049e-14,  2.62729049e-14,  1.00000000e+00,  6.90265529e-28,
        1.00000000e+00, -2.62729049e-14, -1.00000000e+00,  0.00000000e+00,
       -2.62729049e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08874777, -0.09475843,  0.06186583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.85464689e-05,-1.14113529e-03,-1.92399563e-04,-9.21008226e-05,
 -4.07841758e-04,-8.96603248e-04,-1.74881778e-04, 1.33172172e-04,
 -7.23343760e-05, 5.00591726e-05, 7.64213517e-05,-4.62188276e-05,
 -5.19842898e-05,-3.74343513e-05, 7.93539900e-07, 1.00991455e-04,
  1.18674172e-03, 2.16043325e-02,-9.81280144e+00, 5.83812836e-03,
 -6.13148052e-02, 6.34814586e-02]


--- Step 3121 ---
qpos:
[-0.01175859, 1.16511747,-0.03218292, 0.94231204,-0.01532452, 1.28055487,
 -0.0332518 , 0.94501855, 0.01356672, 1.33852595,-0.02362348, 0.954775  ,
  1.23953891, 0.00557684, 1.29036604, 0.04530231,-0.05614605,-0.09121609,
  0.09038505, 0.69553102,-0.02194245,-0.7141805 ,-0.07550727]

qacc:
[-2.44234982e-02,-1.81747703e+01, 4.23824993e+01,-3.59753117e+01,
 -1.46440820e+00,-8.10470351e+00, 6.87300849e+00, 2.70515503e+01,
 -3.99201402e-01,-2.90350650e-01, 2.30021117e+00,-8.02482994e+00,
  8.08570972e-01,-1.71272103e+00,-3.65442152e+00, 1.24673858e+01,
  2.30392167e+00, 2.81594957e+00, 1.21343526e+00,-1.82786801e+01,
  5.81415584e+01, 1.07293615e+02]

qfrc_actuator:
[ 0.0028938 , 0.08900577, 0.01124268, 0.00218222, 0.00751506, 0.08707686,
  0.01321017,-0.00180501,-0.00131678, 0.03471753, 0.01078426, 0.00160237,
  0.01121111,-0.00163209, 0.        ,-0.00118311, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -17.14511233,   2.09576495, -17.14511233,
        18.84186691,  12.83687624,   2.09576495,  12.83687624,
       122.28912476,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020904040516691452
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.65552256e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.65552256e-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([-0.088768  , -0.09477574,  0.06186701])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.13962996e-06,-1.39435659e-03,-2.62601150e-04,-7.92766968e-05,
 -4.12886773e-04,-1.14651024e-03,-2.53143568e-04, 7.67919438e-05,
 -1.15156933e-04, 1.95870699e-05,-3.32934099e-06,-2.57260140e-05,
 -5.86505536e-05,-1.09705813e-04, 8.51149200e-06, 6.22902587e-05,
  3.35999734e-03, 2.54221637e-02,-9.81323618e+00, 6.24240197e-03,
 -6.11271397e-02, 6.34601642e-02]


--- Step 3122 ---
qpos:
[-0.01175813, 1.16624044,-0.03216153, 0.9423168 ,-0.01517273, 1.28161037,
 -0.03319959, 0.94494727, 0.01360155, 1.33852605,-0.02362608, 0.95477273,
  1.23983231, 0.00557541, 1.2904908 , 0.04530442,-0.05611657,-0.09109754,
  0.09038051, 0.6958503 ,-0.02370659,-0.71398   ,-0.07391158]

qacc:
[ 9.92683523e-02,-2.01673994e+01, 4.56681414e+01,-3.49899158e+01,
 -1.37596170e+00,-1.27017943e+01, 2.11776934e+01, 6.70115602e-01,
 -3.72575167e-01, 3.16936619e+00,-1.02326117e+01, 1.28205537e+01,
  3.86378328e-01,-1.14489179e+00,-2.09120607e+00, 7.21842638e+00,
  2.13703076e+00, 2.61667441e+00, 4.38466206e-01,-1.64990504e+01,
  5.42649714e+01, 1.02245815e+02]

qfrc_actuator:
[ 0.00292455, 0.08823993, 0.01124499, 0.00215747, 0.00736811, 0.08634259,
  0.01313567,-0.00176812,-0.00135621, 0.03475784, 0.01075509, 0.00162222,
  0.01118586,-0.001683  , 0.        ,-0.00115003, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -17.19179164,   1.67015202, -17.19179164,
        18.41005642,  11.70715329,   1.67015202,  11.70715329,
       137.78088295,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020507523375549452
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.70686763e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.70686763e-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([-0.08880292, -0.09479693,  0.06186922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53426415e-05,-1.60552017e-03,-3.06167490e-04,-7.49930801e-05,
 -3.88257173e-04,-1.42536436e-03,-3.27373982e-04,-1.81325268e-06,
 -1.07436761e-04, 4.97451060e-05,-2.64782188e-05, 1.97275837e-05,
 -7.95904502e-05,-9.74269460e-05, 7.59275050e-06, 3.68993285e-05,
  5.58190006e-03, 2.93334150e-02,-9.81371024e+00, 6.71124272e-03,
 -6.09186183e-02, 6.34332777e-02]


--- Step 3123 ---
qpos:
[-0.01175708, 1.16734885,-0.03213988, 0.94232349,-0.01502404, 1.28265189,
 -0.03314681, 0.94487651, 0.01363555, 1.33852643,-0.02362842, 0.95477138,
  1.24012498, 0.00557404, 1.29061562, 0.04530659,-0.05607909,-0.09096917,
  0.09037508, 0.69625182,-0.02562375,-0.71369712,-0.07220284]

qacc:
[ 2.56005092e-01,-1.65482890e+01, 2.68885813e+01, 8.35486101e+00,
 -1.32392602e+00,-1.89852227e+01, 3.86977517e+01,-1.85930034e+01,
 -3.48414463e-01, 1.24903401e+00,-5.47260159e+00, 1.51600211e+01,
 -6.10985781e-01, 5.19755413e-01,-1.65213749e-02, 3.09255738e-01,
  1.99914455e+00, 2.45481359e+00,-2.19228076e-01,-1.49552073e+01,
  5.10283729e+01, 9.79759945e+01]

qfrc_actuator:
[ 0.00297818, 0.08741012, 0.01121954, 0.00224743, 0.00722116, 0.0854867 ,
  0.01310572,-0.00175358,-0.00139327, 0.03478167, 0.01077454, 0.00167032,
  0.01116549,-0.00165913, 0.        ,-0.00114918, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -17.2330069 ,   1.17071806, -17.2330069 ,
        17.90896493,   9.36543843,   1.17071806,   9.36543843,
       155.13227757,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001997581306990681
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.77891824e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.77891824e-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([-0.08884945, -0.09482129,  0.06187226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.66807157e-05,-1.79450891e-03,-3.80033224e-04, 3.21701092e-05,
 -3.73921839e-04,-1.71799283e-03,-3.48072200e-04,-3.65503913e-05,
 -1.00508546e-04, 4.67617443e-05, 2.67323422e-05, 4.92514784e-05,
 -8.22992386e-05,-2.37912501e-05, 3.82776238e-06, 3.02489554e-06,
  7.85146349e-03, 3.33300648e-02,-9.81424210e+00, 7.22859797e-03,
 -6.06961268e-02, 6.34009508e-02]


--- Step 3124 ---
qpos:
[-0.01175575, 1.16844255,-0.03211884, 0.94233199,-0.01487822, 1.28367787,
 -0.03309362, 0.94480701, 0.01366878, 1.33852674,-0.02363002, 0.95476993,
  1.24041694, 0.00557307, 1.29074077, 0.04530607,-0.05603407,-0.0908315 ,
  0.09036654, 0.69673012,-0.02768744,-0.71333487,-0.07038401]

qacc:
[  0.12588167,-14.58574946, 20.55017862, 12.41583606, -1.22652724,
 -19.34554073, 35.87222333, -6.6877733 , -0.32815498, -2.24809516,
   7.41469844, -7.50908708, -1.05593816,  1.24359029,  8.70129686,
 -29.49607128,  1.88524514,  2.32383784, -0.77742644,-13.60339988,
  48.33101727, 94.40688609]

qfrc_actuator:
[ 0.00297409, 0.08665514, 0.01117769, 0.00233307, 0.00709313, 0.08460044,
  0.01308405,-0.00169912,-0.00142861, 0.03476013, 0.01080474, 0.00166367,
  0.01114277,-0.00162653, 0.        ,-0.0012916 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -17.26110349,   0.63357217, -17.26110349,
        17.48305838,   5.73028166,   0.63357217,   5.73028166,
       173.38909382,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019339663387528683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.87032665e-14,  2.87032665e-14,  1.00000000e+00,  8.23877508e-28,
        1.00000000e+00, -2.87032665e-14, -1.00000000e+00,  0.00000000e+00,
       -2.87032665e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08890502, -0.09484822,  0.06187594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.24568962e-05,-1.83520627e-03,-4.38595487e-04, 2.24824013e-05,
 -3.46675330e-04,-1.91517530e-03,-4.00370763e-04,-6.83642913e-06,
 -9.47011096e-05, 1.10192066e-05, 4.38141834e-05,-3.34731003e-06,
 -6.89673115e-05, 6.45349187e-06,-2.25813969e-06,-1.42711576e-04,
  1.01696867e-02, 3.74091138e-02,-9.81484796e+00, 7.78359345e-03,
 -6.04645993e-02, 6.33632144e-02]


--- Step 3125 ---
qpos:
[-0.0117543 , 1.16952233,-0.03209905, 0.94234075,-0.01473533, 1.28468722,
 -0.033041  , 0.94473818, 0.01370157, 1.33852742,-0.02363195, 0.95476843,
  1.24070848, 0.00557196, 1.29086606, 0.04530251,-0.05598189,-0.09068497,
  0.090353  , 0.69728044,-0.02989219,-0.71289552,-0.06845737]

qacc:
[ 5.55172497e-02,-1.44460080e+01, 2.44910705e+01,-9.37799006e+00,
 -1.25163493e+00,-1.91502741e+01, 3.46794048e+01,-1.15844598e+01,
 -1.88848919e-01, 1.27396723e+00,-3.46062954e+00, 2.17318955e+00,
 -4.83550941e-01, 3.33953973e-01, 9.43941556e+00,-3.26257509e+01,
  1.79113653e+00, 2.21838145e+00,-1.25137352e+00,-1.24073541e+01,
  4.60888004e+01, 9.14680974e+01]

qfrc_actuator:
[ 0.00297094, 0.08600426, 0.01112677, 0.00234447, 0.00694195, 0.08366762,
  0.01301403,-0.0016749 ,-0.00142714, 0.03478264, 0.01078755, 0.00166032,
  0.01111867,-0.00164234, 0.        ,-0.00144624, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018624774081394749
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.98050065e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.98050065e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08896749, -0.09487716,  0.0618801 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.39721005e-05,-1.76513721e-03,-4.62516245e-04,-5.49349461e-05,
 -3.53930202e-04,-2.07997473e-03,-4.92325869e-04,-4.38575958e-05,
 -5.44560876e-05, 3.70676217e-05,-1.01494708e-05,-1.82978622e-06,
 -5.72368249e-05,-2.95325071e-05,-2.17050699e-05,-1.63933841e-04,
  1.25393033e-02, 4.15718049e-02,-9.81554279e+00, 8.36922366e-03,
 -6.02275738e-02, 6.33200074e-02]


--- Step 3126 ---
qpos:
[-0.01175266, 1.17058899,-0.03208105, 0.94234886,-0.01459552, 1.28567863,
 -0.03298983, 0.94467073, 0.01373413, 1.33852853,-0.0236347 , 0.95476726,
  1.2409995 , 0.00557071, 1.29099098, 0.04529911,-0.05594879,-0.09053477,
  0.09033753, 0.69758889,-0.032019  ,-0.71268043,-0.06656677]

qacc:
[ 8.50310635e-02,-1.34828895e+01, 2.44992806e+01,-2.03898333e+01,
 -1.31110930e+00,-1.73176972e+01, 2.52163594e+01, 5.36833868e+00,
 -9.15748208e-02, 3.35750484e+00,-1.09597506e+01, 1.31428940e+01,
 -3.02526092e-01, 1.21022475e-01,-1.00134192e+00, 2.76168139e+00,
 -4.77117828e+00, 9.15866349e-01,-4.83933277e-01, 1.83890393e+01,
 -1.61195171e+02,-5.19747822e+01]

qfrc_actuator:
[ 0.00298615, 0.08540322, 0.01105356, 0.00231214, 0.0067781 , 0.08266091,
  0.01289805,-0.00161549,-0.00142135, 0.03479564, 0.0107427 , 0.00167669,
  0.0110884 ,-0.00165128, 0.        ,-0.00142926, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  17.26198346,   0.6091259 ,  17.26198346,
        17.38465854,  -3.1720138 ,   0.6091259 ,  -3.1720138 ,
       107.16424146,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018826883494890165
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.1559354e-06,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.1559354e-06, -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([ 0.02156124, -0.09106535,  0.0618787 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.18535991e-05,-1.68335925e-03,-4.76048539e-04,-9.90619462e-05,
 -3.70896997e-04,-2.26395869e-03,-5.82025943e-04,-1.71953537e-05,
 -2.63695898e-05, 3.14799106e-05,-3.88169032e-05, 1.71239088e-05,
 -6.63691233e-05,-3.05526045e-05,-3.16106800e-05, 4.31451395e-06,
  1.49644912e-02, 4.58228743e-02,-9.81634106e+00, 8.98137011e-03,
 -5.99876033e-02, 6.32711967e-02]


--- Step 3127 ---
qpos:
[-0.01175131, 1.17164288,-0.03206408, 0.9423551 ,-0.01445862, 1.28665152,
 -0.03293985, 0.94460424, 0.01376635, 1.33852944,-0.02363752, 0.9547677 ,
  1.24128976, 0.00556969, 1.29111522, 0.04529991,-0.05593412,-0.09038341,
  0.09031712, 0.69766783,-0.0340476 ,-0.71267601,-0.06475551]

qacc:
[-1.25103655e-01,-1.72037470e+01, 3.97438707e+01,-4.81959538e+01,
 -1.24227686e+00,-1.94540832e+01, 3.21165935e+01,-4.96970637e+00,
 -1.48206811e-01, 2.70666796e+00,-1.23492851e+01, 2.92868534e+01,
 -3.83259768e-01, 3.51990107e-01,-1.36713766e+01, 4.64273786e+01,
 -4.60911617e+00, 2.89938426e-01,-1.23175779e+00, 9.32306319e+00,
 -1.50725065e+02,-7.36834897e+01]

qfrc_actuator:
[ 0.00294124, 0.08481908, 0.01102126, 0.00221888, 0.00664346, 0.08170659,
  0.01282661,-0.00157144,-0.00144852, 0.03476725, 0.01073513, 0.00175779,
  0.01104915,-0.00163833, 0.        ,-0.00120478, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -17.16421543,   1.93308464, -17.16421543,
        17.29071931,   0.15975465,   1.93308464,   0.15975465,
        18.6912183 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002012326190538892
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.89639079e-15,  1.37927816e-14,  1.00000000e+00, -9.51204119e-29,
        1.00000000e+00, -1.37927816e-14, -1.00000000e+00,  0.00000000e+00,
        6.89639079e-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([ 0.02180772, -0.08713066,  0.06187068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.37480675e-05,-1.62499190e-03,-4.21916434e-04,-1.58978272e-04,
 -3.51658105e-04,-2.32989534e-03,-5.82843979e-04,-4.01052569e-05,
 -4.27485600e-05,-1.80509556e-05,-5.32537814e-06, 8.12841163e-05,
 -7.97701598e-05,-1.12406966e-05,-1.61953380e-05, 2.20215117e-04,
  1.03586052e-02, 4.87194843e-02,-9.81659485e+00, 5.70619645e-03,
 -6.03912965e-02, 6.31753352e-02]


--- Step 3128 ---
qpos:
[-0.01175067, 1.17268439,-0.03204743, 0.94236047,-0.01432439, 1.28760596,
 -0.03289096, 0.94454053, 0.01379798, 1.33853023,-0.02364009, 0.95476839,
  1.24157932, 0.00556883, 1.29123974, 0.0453    ,-0.05593597,-0.09023111,
  0.09028842, 0.69754069,-0.03599485,-0.71286088,-0.06301359]

qacc:
[  -0.31209384, -16.86708089,  37.20076953, -34.53895531,  -1.13630196,
  -16.53805682,  18.94639925,  27.60153748,  -0.2494726 ,  -0.4002711 ,
    0.58500967,   2.51865474,  -0.73579473,   0.73262516,   2.6256401 ,
   -8.4259345 ,  -4.12750407,   0.23266801,  -2.07507819,   6.28826576,
 -135.65043121, -63.06967245]

qfrc_actuator:
[ 0.00287843, 0.08426774, 0.01103121, 0.0021793 , 0.00652742, 0.08080921,
  0.01278222,-0.00143023,-0.00149526, 0.03476771, 0.01074952, 0.0017698 ,
  0.01101519,-0.00163027, 0.        ,-0.00125045, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -17.26694678,   0.44682927, -17.26694678,
        17.27917465,   0.24914772,   0.44682927,   0.24914772,
        26.90061132,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002091314774016702
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32718307e-14,  3.98154921e-14,  1.00000000e+00,  5.28424470e-28,
        1.00000000e+00, -3.98154921e-14, -1.00000000e+00,  0.00000000e+00,
       -1.32718307e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02158807, -0.08715019,  0.0618657 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.32683527e-05,-1.55092929e-03,-3.63794312e-04,-1.03348535e-04,
 -3.21849655e-04,-2.31008798e-03,-5.69414322e-04, 5.44955533e-05,
 -7.19823939e-05,-8.13827313e-06, 1.26379279e-05, 1.32117244e-05,
 -7.56842377e-05,-1.38848853e-05, 1.48327248e-05,-3.59468849e-05,
  5.04413486e-03, 4.94912235e-02,-9.81646364e+00, 2.87349876e-03,
 -6.05980789e-02, 6.30790023e-02]


--- Step 3129 ---
qpos:
[-0.01175047, 1.17371297,-0.03203041, 0.94236605,-0.01419272, 1.28854185,
 -0.03284294, 0.94447835, 0.01382907, 1.33853093,-0.02364213, 0.95476783,
  1.24186826, 0.00556826, 1.29136461, 0.04529722,-0.0559527 ,-0.09007807,
  0.09024852, 0.69722702,-0.03787435,-0.71321687,-0.06133278]

qacc:
[  -0.18840237, -17.58757774,  36.42989923, -20.94378741,  -1.09424159,
  -19.40524081,  30.74375549,   2.75673241,  -0.22553981,  -3.71960016,
   14.53575614, -27.09211675,  -0.91362494,   1.04329093,   9.27644586,
  -31.49904745,  -3.72083726,   0.18809965,  -2.79789617,   3.88193151,
 -122.93357142, -54.41882061]

qfrc_actuator:
[ 0.00287642, 0.08361651, 0.01104846, 0.00218944, 0.0064057 , 0.07988232,
  0.01273669,-0.00135719,-0.00151784, 0.03476775, 0.01077678, 0.00170557,
  0.01099507,-0.00160744, 0.        ,-0.00140173, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -17.26950083,   0.33383905, -17.26950083,
        17.27708768,   0.22556389,   0.33383905,   0.22556389,
        28.94115166,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021292257862485092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.60710497e-14,  2.60710497e-14,  1.00000000e+00, -6.79699631e-28,
        1.00000000e+00, -2.60710497e-14, -1.00000000e+00,  0.00000000e+00,
        2.60710497e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02147553, -0.0871681 ,  0.06186314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.06323353e-05,-1.59658646e-03,-3.33704254e-04,-4.84304719e-05,
 -3.10119748e-04,-2.32295344e-03,-5.62343288e-04,-1.05310927e-05,
 -6.50979599e-05,-1.58712729e-06, 2.75025927e-05,-6.38001771e-05,
 -6.06981063e-05, 1.16590132e-06,-2.26434534e-06,-1.52502315e-04,
 -2.20015162e-04, 5.02530567e-02,-9.81654882e+00, 5.59694476e-04,
 -6.07246902e-02, 6.29871946e-02]


--- Step 3130 ---
qpos:
[-0.01175038, 1.17472795,-0.03201332, 0.94237215,-0.01406374, 1.28945904,
 -0.03279542, 0.94441582, 0.01385964, 1.33853088,-0.02364329, 0.95476757,
  1.24215666, 0.00556774, 1.29148933, 0.04529366,-0.05598293,-0.08992441,
  0.09019496, 0.6967431 ,-0.03969709,-0.71372849,-0.05970629]

qacc:
[-4.74279550e-02,-1.71653861e+01, 3.33467207e+01,-1.42309693e+01,
 -1.14087785e+00,-2.37786062e+01, 4.86114764e+01,-3.42839373e+01,
 -2.22045764e-01,-2.86451994e+00, 7.50675062e+00,-2.43743116e+00,
 -5.20423338e-01, 4.63235432e-01, 2.19602808e+00,-7.89324784e+00,
 -3.37605659e+00, 1.53632353e-01,-3.41694554e+00, 1.96267741e+00,
 -1.12198237e+02,-4.73470743e+01]

qfrc_actuator:
[ 0.00289314, 0.08289311, 0.01103404, 0.00221091, 0.00626379, 0.07894521,
  0.01270843,-0.00137817,-0.00154351, 0.03469653, 0.01081139, 0.00172127,
  0.01096199,-0.00161144, 0.        ,-0.00143641, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -17.27232366,   0.11808008, -17.27232366,
        17.27337662,   0.09498359,   0.11808008,   0.09498359,
        31.16658033,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002133745109237292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30079153e-14,  2.60158306e-14,  1.00000000e+00,  3.38411720e-28,
        1.00000000e+00, -2.60158306e-14, -1.00000000e+00,  0.00000000e+00,
       -1.30079153e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02144882, -0.08718509,  0.06186251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33179572e-05,-1.68626475e-03,-3.69225486e-04,-3.63211065e-05,
 -3.23483207e-04,-2.34068322e-03,-5.48640763e-04,-1.06261491e-04,
 -6.41157510e-05,-6.86024497e-05, 3.55606599e-05, 1.49700290e-05,
 -6.33830828e-05,-1.73790594e-05,-2.26525494e-05,-4.44854312e-05,
 -5.40949130e-03, 5.10113408e-02,-9.81682421e+00,-1.35331542e-03,
 -6.07921532e-02, 6.28996620e-02]


--- Step 3131 ---
qpos:
[-0.01175074, 1.17572913,-0.03199616, 0.94237954,-0.01393743, 1.29035704,
 -0.0327482 , 0.94435496, 0.01388968, 1.33853002,-0.02364475, 0.95476722,
  1.24244439, 0.00556727, 1.29161396, 0.04528934,-0.0560255 ,-0.08977025,
  0.09012561, 0.69610251,-0.041472  ,-0.71438256,-0.05812853]

qacc:
[-1.93186179e-01,-1.60866502e+01, 2.79166807e+01,-4.84310869e-01,
 -1.14419953e+00,-2.15370673e+01, 3.63832387e+01, 4.70598496e-02,
 -2.25896412e-01,-3.75154650e-01, 1.35136603e-01,-6.44403220e-01,
 -6.16570291e-01, 5.40027245e-01, 2.20547744e+00,-7.79733645e+00,
 -3.08247912e+00, 1.27091759e-01,-3.94668177e+00, 4.20660417e-01,
 -1.03136878e+02,-4.15485260e+01]

qfrc_actuator:
[ 0.00284995, 0.08220326, 0.01103625, 0.0022743 , 0.00612865, 0.07797403,
  0.01269053,-0.00129453,-0.00157083, 0.03461877, 0.01077882, 0.00171286,
  0.01092113,-0.00161367, 0.        ,-0.00147308, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -17.27113129,  -0.23480105, -17.27113129,
        17.27573454,  -0.22120412,  -0.23480105,  -0.22120412,
        33.54371661,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002111348082590059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.62918046e-14,  2.62918046e-14,  1.00000000e+00, -6.91258989e-28,
        1.00000000e+00, -2.62918046e-14, -1.00000000e+00,  0.00000000e+00,
        2.62918046e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02149069, -0.08720162,  0.06186344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.19809032e-05,-1.70870561e-03,-3.73765582e-04, 2.12267439e-06,
 -3.24572378e-04,-2.38458089e-03,-5.42972328e-04,-4.01885434e-06,
 -6.51829657e-05,-1.08287582e-04,-4.14802597e-05,-9.06499455e-06,
 -7.68125628e-05,-2.17877491e-05,-1.82733586e-05,-4.26751529e-05,
 -1.05123252e-02, 5.17694868e-02,-9.81726794e+00,-2.95268697e-03,
 -6.08151189e-02, 6.28159875e-02]


--- Step 3132 ---
qpos:
[-0.01175142, 1.17671637,-0.03197905, 0.94238767,-0.01381393, 1.29123602,
 -0.03270097, 0.94429454, 0.01391932, 1.33852943,-0.02364757, 0.95476605,
  1.2427314 , 0.00556726, 1.29173839, 0.04528526,-0.05607938,-0.08961565,
  0.09003866, 0.69531659,-0.04320634,-0.71516786,-0.05659485]

qacc:
[ -0.14244028,-16.91584527, 31.54353809, -9.89898432, -1.19058454,
 -24.23695908, 47.97915087,-24.46010016, -0.16946386,  2.63165165,
  -6.48100585, -4.09177632, -0.83858319,  1.02352947, -0.92536899,
   3.00008382, -2.83130231,  0.10669647, -4.39959889, -0.82956586,
 -95.49566212,-36.77862042]

qfrc_actuator:
[ 0.0028422 , 0.08150368, 0.01103068, 0.0023086 , 0.00598091, 0.07704363,
  0.01269658,-0.00127427,-0.00158116, 0.03467946, 0.01072455, 0.0016725 ,
  0.01089694,-0.00157934, 0.        ,-0.00145739, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -17.25603344,  -0.75922144, -17.25603344,
        17.30897959,  -0.82396398,  -0.75922144,  -0.82396398,
        36.00026745,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020674905679926928
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.68495306e-14,  1.34247653e-14,  1.00000000e+00, -3.60448646e-28,
        1.00000000e+00, -1.34247653e-14, -1.00000000e+00,  0.00000000e+00,
        2.68495306e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02158706, -0.08721801,  0.0618656 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.85548079e-05,-1.73036910e-03,-3.85273955e-04,-2.68924695e-05,
 -3.37854988e-04,-2.36369242e-03,-5.23920180e-04,-6.62046601e-05,
 -4.88305382e-05,-7.54366665e-06,-8.03998285e-05,-4.50044195e-05,
 -6.77342836e-05, 1.02687739e-05,-1.64572375e-05, 1.02626670e-05,
 -1.55258576e-02, 5.25293425e-02,-9.81786255e+00,-4.30342017e-03,
 -6.08038955e-02, 6.27356791e-02]


--- Step 3133 ---
qpos:
[-0.01175203, 1.17768997,-0.03196256, 0.94239619,-0.01369319, 1.29209682,
 -0.03265413, 0.94423515, 0.01394842, 1.33852904,-0.02365056, 0.954764  ,
  1.24301793, 0.00556735, 1.29186237, 0.04528404,-0.05611932,-0.08944899,
  0.089982  , 0.6946783 ,-0.04524644,-0.71580108,-0.05480531]

qacc:
[ 3.34399823e-02,-1.55861091e+01, 2.84510471e+01,-1.16914359e+01,
 -1.17776838e+00,-2.10532555e+01, 3.77418651e+01,-9.29542482e+00,
 -2.23273743e-01,-8.33854586e-01, 4.78675936e+00,-1.43775092e+01,
 -1.96303478e-01, 1.50467562e-01,-9.32874553e+00, 3.16952773e+01,
  3.48847374e+00, 3.01694469e+00, 7.57077695e+00,-1.59186505e+01,
  9.14837151e+01, 2.05750985e+02]

qfrc_actuator:
[ 0.00287352, 0.08083942, 0.01100277, 0.00232548, 0.00584454, 0.07619848,
  0.01269907,-0.00122045,-0.00161672, 0.03471594, 0.01072944, 0.00163149,
  0.01087747,-0.00157676, 0.        ,-0.00130447, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727, -17.2562405 ,  -0.75450064, -17.2562405 ,
        17.54032452,  -6.12023651,  -0.75450064,  -6.12023651,
       157.24911297,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002121473457597285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08837204, -0.09199648,  0.06186174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.18158346e-06,-1.70995636e-03,-4.13968220e-04,-4.59875331e-05,
 -3.34302582e-04,-2.26485474e-03,-5.23012636e-04,-3.29364276e-05,
 -6.44052712e-05, 1.52958274e-05,-7.03104724e-06,-4.46390501e-05,
 -5.08614076e-05,-9.83459017e-06,-9.65385746e-06, 1.50704262e-04,
 -2.04542931e-02, 5.32920622e-02,-9.81859471e+00,-5.45449413e-03,
 -6.07657978e-02, 6.26582250e-02]


--- Step 3134 ---
qpos:
[-0.0117526 , 1.17865071,-0.0319469 , 0.94240411,-0.01357498, 1.29294061,
 -0.03260874, 0.94417649, 0.01397681, 1.33852859,-0.02365377, 0.95476288,
  1.24330414, 0.00556722, 1.29198597, 0.04528698,-0.05614676,-0.08927105,
  0.0899485 , 0.69416996,-0.04756064,-0.71629567,-0.0527879 ]

qacc:
[ 2.03522727e-02,-1.56452730e+01, 3.18520353e+01,-2.63211436e+01,
 -1.07985554e+00,-1.71916209e+01, 2.75838687e+01,-4.60555644e+00,
 -3.06665609e-01, 2.13637585e+00,-8.91289881e+00, 1.84681293e+01,
  2.28310021e-01,-4.83964478e-01,-1.31763665e+01, 4.51833052e+01,
  3.12468447e+00, 2.82026149e+00, 5.79150056e+00,-1.45145594e+01,
  8.19948647e+01, 1.83943686e+02]

qfrc_actuator:
[ 0.00287477, 0.08025488, 0.01097979, 0.00229648, 0.00573383, 0.07541123,
  0.01264655,-0.00118278,-0.00166714, 0.03470237, 0.01071591, 0.00167924,
  0.01086082,-0.00159307, 0.        ,-0.00108968, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  17.09875541,  -2.44533657,  17.09875541,
        19.21358006,  13.57120632,  -2.44533657,  13.57120632,
       112.16794145,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002208896060636109
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.02614426e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.02614426e-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([-0.08828968, -0.09194092,  0.06185597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.75448433e-06,-1.62493375e-03,-4.08811211e-04,-9.25572728e-05,
 -3.06593506e-04,-2.15091322e-03,-5.57566009e-04,-4.53336543e-05,
 -8.84560547e-05,-7.79259495e-06,-1.26426986e-05, 4.69507204e-05,
 -4.38325258e-05,-3.10490110e-05, 9.88194142e-06, 2.21418450e-04,
 -1.59631909e-02, 6.58680018e-02,-9.82022123e+00,-5.74481214e-03,
 -6.04414283e-02, 6.25936376e-02]


--- Step 3135 ---
qpos:
[-0.0117533 , 1.1795998 ,-0.03193256, 0.94241087,-0.01345919, 1.29376791,
 -0.0325655 , 0.94411807, 0.01400457, 1.33852844,-0.02365699, 0.95476265,
  1.24358985, 0.00556718, 1.29210961, 0.04529213,-0.05616291,-0.08908249,
  0.08993208, 0.69377638,-0.05012236,-0.71666254,-0.05056568]

qacc:
[-5.51381347e-02,-1.37203583e+01, 2.86792883e+01,-3.09879673e+01,
 -1.02768145e+00,-1.54316511e+01, 2.37215647e+01,-7.45776396e+00,
 -2.62317281e-01, 1.95127518e+00,-7.68078905e+00, 1.66751211e+01,
 -2.99673082e-01, 2.55029974e-01,-6.60076450e+00, 2.32457917e+01,
  2.82116138e+00, 2.65435367e+00, 4.26988267e+00,-1.31964918e+01,
  7.40282390e+01, 1.65803825e+02]

qfrc_actuator:
[ 0.00285796, 0.07975836, 0.01094249, 0.00224076, 0.00562165, 0.07461157,
  0.0125445 ,-0.00117265,-0.00169056, 0.03474769, 0.01072696, 0.00172554,
  0.01083521,-0.00158491, 0.        ,-0.00098222, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  17.0379824 ,  -2.83800336,  17.0379824 ,
        20.07014962,  16.79435389,  -2.83800336,  16.79435389,
       118.09780384,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002255252212230441
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08824457, -0.09190375,  0.06185277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52238592e-05,-1.49008651e-03,-4.07238617e-04,-1.17660452e-04,
 -2.91868574e-04,-2.10725477e-03,-5.89085643e-04,-7.07913654e-05,
 -7.56594656e-05, 3.99510390e-05, 9.47177567e-06, 4.67769216e-05,
 -5.37170249e-05,-1.15499249e-05, 2.63271033e-05, 1.20411880e-04,
 -1.12891277e-02, 7.80196360e-02,-9.82213451e+00,-5.70480352e-03,
 -6.00888221e-02, 6.25210584e-02]


--- Step 3136 ---
qpos:
[-0.01175431, 1.18053691,-0.0319191 , 0.94241659,-0.01334588, 1.2945787 ,
 -0.03252457, 0.94406163, 0.01403177, 1.33852869,-0.02365918, 0.95476083,
  1.24387506, 0.00556683, 1.29223343, 0.04529789,-0.05616879,-0.08888387,
  0.08992753, 0.6934845 ,-0.05290924,-0.71691053,-0.0481576 ]

qacc:
[-1.37779795e-01,-1.50999856e+01, 3.23987452e+01,-3.25568516e+01,
 -1.05962660e+00,-1.20535506e+01, 9.00321026e+00, 2.57653060e+01,
 -2.40663885e-01,-5.00925433e+00, 2.01384941e+01,-3.59210511e+01,
 -1.63902654e-01,-1.53935462e-01,-1.56111929e+00, 5.86712321e+00,
  2.56814336e+00, 2.51415388e+00, 2.96919306e+00,-1.19631250e+01,
  6.73242074e+01, 1.50705827e+02]

qfrc_actuator:
[ 0.00283048, 0.07915882, 0.01089741, 0.00218756, 0.00549171, 0.07379299,
  0.01243175,-0.00107234,-0.00171535, 0.03479252, 0.01078815, 0.00164636,
  0.01079362,-0.00161557, 0.        ,-0.00095665, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  16.93601381,  -3.393898  ,  16.93601381,
        21.59627558,  21.57509563,  -3.393898  ,  21.57509563,
       124.93539659,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002268001364969824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.44758015e-14,  2.44758015e-14,  1.00000000e+00,  5.99064860e-28,
        1.00000000e+00, -2.44758015e-14, -1.00000000e+00,  0.00000000e+00,
       -2.44758015e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08822975, -0.09188177,  0.06185166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.72684398e-05,-1.51879408e-03,-3.89149350e-04,-1.11624285e-04,
 -3.01017857e-04,-2.10879649e-03,-5.95529363e-04, 1.91734620e-05,
 -6.94677551e-05, 7.01751892e-05, 7.14407956e-05,-7.66339471e-05,
 -7.00890665e-05,-4.68024757e-05, 2.09451197e-05, 3.46358627e-05,
 -6.54044506e-03, 8.96917758e-02,-9.82430082e+00,-5.44115435e-03,
 -5.97206589e-02, 6.24395371e-02]


--- Step 3137 ---
qpos:
[-0.0117555 , 1.18146084,-0.03190557, 0.94242136,-0.01323489, 1.29537324,
 -0.03248562, 0.9440082 , 0.01405842, 1.33852943,-0.02366063, 0.95475774,
  1.24415987, 0.00556587, 1.29235717, 0.04530528,-0.05616524,-0.08867567,
  0.08993042, 0.69328301,-0.05590247,-0.7170468 ,-0.04557923]

qacc:
[-7.42096963e-02,-1.91261248e+01, 4.34471710e+01,-4.03367339e+01,
 -9.86974200e-01,-1.08757311e+01, 3.53349849e+00, 4.20258789e+01,
 -2.30205170e-01,-3.52607452e+00, 1.48612842e+01,-2.78865644e+01,
  1.78462739e-01,-6.81951567e-01,-5.08218240e+00, 1.75193680e+01,
  2.35745116e+00, 2.39565475e+00, 1.85776003e+00,-1.08091876e+01,
  6.16728309e+01, 1.38149747e+02]

qfrc_actuator:
[ 0.00283234, 0.07844919, 0.01088327, 0.00213623, 0.00538767, 0.07302295,
  0.01234912,-0.00091976,-0.00174075, 0.03481908, 0.01082511, 0.00158278,
  0.01076907,-0.00165138, 0.        ,-0.00087296, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  16.77241852,  -4.12711575,  16.77241852,
        24.28622653,  28.50255529,  -4.12711575,  28.50255529,
       133.10586975,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0022534473225234164
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.92677603e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.92677603e-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([-0.08823946, -0.09187233,  0.06185226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04931048e-05,-1.64085840e-03,-3.61547888e-04,-1.09973143e-04,
 -2.80513131e-04,-2.05948424e-03,-5.63768973e-04, 7.32606125e-05,
 -6.64329722e-05, 7.70628461e-05, 5.65481717e-05,-6.12051390e-05,
 -6.97130039e-05,-6.62066727e-05, 8.77353412e-06, 8.72387599e-05,
 -1.78288277e-03, 1.00877275e-01,-9.82670439e+00,-5.02798541e-03,
 -5.93462443e-02, 6.23483754e-02]


--- Step 3138 ---
qpos:
[-0.01175663, 1.18237123,-0.03189157, 0.94242552,-0.01312599, 1.29615174,
 -0.03244764, 0.94395765, 0.01408469, 1.3385301 ,-0.02366197, 0.95475538,
  1.24444412, 0.00556492, 1.29248089, 0.04531395,-0.05615296,-0.08845829,
  0.08993694, 0.69316215,-0.05908625,-0.71707706,-0.0428433 ]

qacc:
[ 2.79411096e-02,-2.00856726e+01, 4.53160742e+01,-3.78867749e+01,
 -8.86567504e-01,-1.35504475e+01, 1.28260756e+01, 3.24862679e+01,
 -1.63113288e-01, 8.56260449e-01,-4.38804851e+00, 1.22518489e+01,
 -3.46108860e-01, 2.36512067e-01,-3.89550871e+00, 1.36364922e+01,
  2.18221253e+00, 2.29562273e+00, 9.08272891e-01,-9.72712302e+00,
  5.69027856e+01, 1.27732272e+02]

qfrc_actuator:
[ 0.00285179, 0.07776826, 0.01090482, 0.00210408, 0.0053    , 0.07227061,
  0.01232066,-0.00077313,-0.00174858, 0.03476341, 0.01081192, 0.00161764,
  0.01075476,-0.00163662, 0.        ,-0.00080892, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 17.27272727,  16.51140959,  -5.07153436,  16.51140959,
        29.13599437,  38.62327418,  -5.07153436,  38.62327418,
       143.01863657,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002216913382425606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50398377e-14,  2.50398377e-14,  1.00000000e+00,  6.26993471e-28,
        1.00000000e+00, -2.50398377e-14, -1.00000000e+00,  0.00000000e+00,
       -2.50398377e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08826894, -0.09187323,  0.06185423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.67139354e-06,-1.67403723e-03,-3.46488632e-04,-9.36186207e-05,
 -2.52156601e-04,-2.00649270e-03,-4.94721460e-04, 7.09486935e-05,
 -4.70584163e-05,-3.82365318e-06, 6.49516687e-06, 3.73667745e-05,
 -6.38533530e-05,-2.13479901e-05, 1.00911197e-05, 6.91830702e-05,
  2.94662681e-03, 1.11598925e-01,-9.82934125e+00,-4.51650646e-03,
 -5.89723413e-02, 6.22470278e-02]


--- Step 3139 ---
qpos:
[-0.01176281, 1.18324267,-0.03187385, 0.94243176,-0.01301909, 1.29691448,
 -0.03241071, 0.94390857, 0.01411061, 1.33853039,-0.02366301, 0.95475416,
  1.24472422, 0.00554774, 1.29260003, 0.04532416,-0.05613192,-0.088236  ,
  0.08995761, 0.69314721,-0.06238321,-0.71697578,-0.04001264]

qacc:
[ -2.20357637,-57.59698608,121.85276899,-56.8721236 , -0.85331628,
 -15.33920582, 22.02228319,  7.84652383, -0.14817551,  0.67021279,
  -5.08473847, 17.8241162 ,  7.20317448,-19.25616057,-12.3782126 ,
  31.21740517,  2.18802996,  1.22667831,  3.53677277, -4.94823691,
  78.34770248, 79.56941856]

qfrc_actuator:
[ 0.00289939, 0.0771102 , 0.01087638, 0.00210126, 0.00520508, 0.07149967,
  0.01227121,-0.00070218,-0.00176355, 0.03472979, 0.01082224, 0.00167457,
  0.01073065,-0.00162738, 0.        ,-0.00084575, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.14547966,  0.1438328 ,  0.02182788,  0.1438328 ,  0.14930029,
       -0.02517571,  0.02182788, -0.02517571,  0.31137267,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.247692089961048e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.40802138,  0.08434865, -0.90906758, -0.03453914,  0.9964363 ,
        0.07695286,  0.9123188 ,  0.        ,  0.40948065])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08398546, -0.03317586,  0.22290093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   6.54382594,  15.98516342,   6.54382594,
       149.30336607, -54.04921404,  15.98516342, -54.04921404,
        39.39878502,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002217120214115638
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50375017e-14,  5.00750035e-14,  1.00000000e+00,  1.25375299e-27,
        1.00000000e+00, -5.00750035e-14, -1.00000000e+00,  0.00000000e+00,
       -2.50375017e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08716624, -0.08426923,  0.06185397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.03318625e-05,-1.66589549e-03,-4.00746294e-04,-6.44935125e-05,
 -2.42797557e-04,-1.98217102e-03,-4.97519804e-04,-1.17897005e-06,
 -4.27634531e-05,-3.33533672e-05, 1.13950444e-05, 5.78687225e-05,
 -6.03282820e-05,-1.20161825e-05, 8.27075784e-06,-3.26077212e-05,
  7.63056951e-03, 1.21897571e-01,-9.83221561e+00,-3.94172271e-03,
 -5.86038338e-02, 6.21350375e-02]


--- Step 3140 ---
qpos:
[-0.01177358, 1.1840684 ,-0.03185831, 0.94243959,-0.01291403, 1.29766168,
 -0.03237475, 0.94385933, 0.01413616, 1.3385304 ,-0.02366328, 0.95475222,
  1.24499658, 0.0055165 , 1.29271617, 0.04533502,-0.05610269,-0.08800887,
  0.08998787, 0.69322683,-0.06578481,-0.71675172,-0.03709304]

qacc:
[ -2.00202179,-51.40574729, 91.90676737,-32.27127622, -0.78389678,
 -18.05090423, 34.55872664,-21.89539098, -0.15373796, -3.68634651,
  13.03435635,-19.46131294,  2.82705974,-13.99434468, -6.97247422,
  16.61595449,  2.05141389,  1.21046935,  2.39830548, -3.88642644,
  71.5752958 , 74.05294223]

qfrc_actuator:
[ 0.0029512 , 0.07642565, 0.01083223, 0.00213133, 0.00512433, 0.07074147,
  0.01222741,-0.00071185,-0.00178269, 0.03472748, 0.01086416, 0.00163752,
  0.01070099,-0.00164074, 0.        ,-0.00094387, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.14634335, -0.14337798, -0.02931096, -0.14337798,  0.1651099 ,
       -0.09179874, -0.02931096, -0.09179874,  0.59538753,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.627322629316646e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.07209476e-01,  8.43732396e-02, -9.09429271e-01, -3.44805327e-02,
        9.96434221e-01,  7.70060805e-02,  9.12683700e-01,  6.93889390e-18,
        4.08666691e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0839701 , -0.03320179,  0.22291597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022052193839770112
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.51726208e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.51726208e-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([-0.08717018, -0.08426475,  0.06185451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.53939153e-04,-4.14003277e-04,-6.33294724e-04,-1.37176634e-04,
 -2.23170535e-04,-1.95855102e-03,-4.89518776e-04,-8.28615724e-05,
 -4.43961035e-05,-1.68029800e-05, 3.84054722e-05,-3.63654880e-05,
  1.17962082e-04, 7.86274824e-04, 2.34202170e-04,-2.08156295e-04,
  1.30295574e-02, 1.25688743e-01,-9.83428608e+00,-2.60211662e-03,
 -5.83818084e-02, 6.20235291e-02]


--- Step 3141 ---
qpos:
[-0.01178868, 1.18484765,-0.03184737, 0.94244727,-0.0128108 , 1.29839333,
 -0.0323388 , 0.94381033, 0.01416103, 1.33853025,-0.02366421, 0.95474992,
  1.24525963, 0.00547255, 1.29283399, 0.04534656,-0.0560657 ,-0.08777695,
  0.09002386, 0.69339127,-0.06928377,-0.71641205,-0.03408922]

qacc:
[ -1.88900529,-48.88532704, 86.06243365,-46.99973381, -0.77337861,
 -19.96705868, 39.97622694,-22.02580261, -0.28850618,  0.92060365,
  -2.52165638, -1.91769614,  0.39680157,-10.86394959,  0.10639853,
   2.50691762,  1.9366568 ,  1.19905586,  1.43090472, -2.92024444,
  65.90310102, 69.46715326]

qfrc_actuator:
[ 0.00295384, 0.07574756, 0.01083635, 0.00210977, 0.00503496, 0.06999699,
  0.01224058,-0.00069787,-0.00183968, 0.03469075, 0.01081796, 0.0016165 ,
  0.01067381,-0.00157456, 0.        ,-0.00114949, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.14807207, -0.14606438, -0.02430096, -0.14606438,  0.16129928,
       -0.07950405, -0.02430096, -0.07950405,  0.62594251,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012760387844346077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.40644098,  0.08439843, -0.90977065, -0.03442581,  0.99643209,
        0.07705815,  0.91302825,  0.        ,  0.40789632])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08395616, -0.03322572,  0.22293038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002171816155762646
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.11195674e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.11195674e-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([-0.08719414, -0.08426408,  0.06185643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.85345221e-04, 1.18352755e-03,-5.22377757e-04,-2.37171664e-04,
 -2.20296519e-04,-1.93251735e-03,-4.29382851e-04,-6.01772500e-05,
 -8.32125352e-05,-3.95866184e-05,-4.61848271e-05,-2.12472119e-05,
  4.77010885e-04, 1.55654948e-03, 3.82262583e-04,-4.46753065e-04,
  1.80032188e-02, 1.29241890e-01,-9.83654032e+00,-1.32808244e-03,
 -5.81871117e-02, 6.19021687e-02]


--- Step 3142 ---
qpos:
[-0.0118079 , 1.18558168,-0.03184178, 0.94245458,-0.01270955, 1.29910988,
 -0.03230349, 0.94376223, 0.01418514, 1.33852981,-0.02366599, 0.95474878,
  1.24551312, 0.00541752, 1.29295406, 0.04535843,-0.05602123,-0.08754191,
  0.0900667 , 0.69364278,-0.07284562,-0.71595427,-0.03102724]

qacc:
[-1.79318113e+00,-4.55418832e+01, 7.76042611e+01,-4.29369410e+01,
 -8.45594834e-01,-1.65701386e+01, 2.82286638e+01,-4.39502979e+00,
 -3.22067702e-01, 3.96315679e+00,-1.57254783e+01, 2.72924208e+01,
 -8.73818652e-01,-8.49269224e+00, 2.10958685e+00,-3.00225171e+00,
  1.87141011e+00, 7.78547796e-01, 1.71533115e+00, 3.00423016e-02,
  6.90447663e+01, 4.82618279e+01]

qfrc_actuator:
[ 0.00294631, 0.07511016, 0.0108372 , 0.00209386, 0.00492339, 0.06926697,
  0.01221635,-0.00065228,-0.00188342, 0.03466887, 0.01077325, 0.00167604,
  0.01065386,-0.00147414, 0.        ,-0.00133115, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.15060358,  0.14625743,  0.03591939,  0.14625743,  0.2080476 ,
       -0.23390195,  0.03591939, -0.23390195,  1.1030112 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017668109142794652
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.40571887,  0.08442403, -0.91009054, -0.03437514,  0.99642992,
        0.0771088 ,  0.91335127,  0.        ,  0.40717251])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08394401, -0.03324776,  0.22294414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  11.57915098,  12.8168003 ,  11.57915098,
       105.40724874, -79.62384583,  12.8168003 , -79.62384583,
        89.20772754,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021315476380474735
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.6042651e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.6042651e-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([-0.08667361, -0.08176228,  0.0618588 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.93684842e-04, 2.86091464e-03,-2.93815811e-04,-2.44248333e-04,
 -2.40839002e-04,-1.89105310e-03,-4.54145230e-04,-2.55142144e-05,
 -9.28801868e-05,-5.34106114e-05,-5.83150301e-05, 5.65125616e-05,
  9.22956978e-04, 2.29345855e-03, 2.95122025e-04,-6.63266719e-04,
  2.26252847e-02, 1.32594428e-01,-9.83897302e+00,-1.18527992e-04,
 -5.80187279e-02, 6.17710015e-02]


--- Step 3143 ---
qpos:
[-0.01183093, 1.18627263,-0.03184099, 0.94246282,-0.01261049, 1.29981146,
 -0.03226882, 0.94371472, 0.01420866, 1.33852936,-0.02366847, 0.95474868,
  1.24575768, 0.00535312, 1.29307495, 0.04537011,-0.05599316,-0.0873009 ,
  0.09010198, 0.6936733 ,-0.07628078,-0.71569032,-0.0280348 ]

qacc:
[  -1.66332632, -42.00484666,  66.77103964, -19.82972531,  -0.93153083,
  -16.89859541,  30.19441447,  -9.94272183,  -0.25153745,   3.63105224,
  -13.95135872,  24.03591722,  -1.38427965,  -6.7023588 ,   1.73546685,
   -4.53882163,  -4.09920942,   1.4925619 ,  -1.89129455,  14.00968867,
 -141.83223379, -79.95674453]

qfrc_actuator:
[ 0.0029342 , 0.07442573, 0.01085643, 0.00215262, 0.00479938, 0.06853365,
  0.01218808,-0.00062398,-0.0019011 , 0.03469159, 0.01074765, 0.00172926,
  0.01063329,-0.00138524, 0.        ,-0.00146284, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.15389811,  0.15340061,  0.0123645 ,  0.15340061,  0.15501008,
       -0.01379573,  0.0123645 , -0.01379573,  0.32505528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022357314360109057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.05042708e-01,  8.44499762e-02, -9.10389261e-01, -3.43284780e-02,
        9.96427720e-01,  7.71579813e-02,  9.13653085e-01, -6.93889390e-18,
        4.06494821e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08393362, -0.03326806,  0.22295726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.23234171, -1.18046883, 17.23234171, 17.471057  ,
        2.89519344, -1.18046883,  2.89519344, 59.53641221,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002197210392220164
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.52643768e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.52643768e-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([ 0.02110978, -0.08785518,  0.0618547 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.86509058e-04, 4.42843606e-03,-8.87711430e-06,-1.66108636e-04,
 -2.65339066e-04,-1.87507204e-03,-4.51860563e-04,-4.15089313e-05,
 -7.25318634e-05,-1.65156899e-05,-4.10010802e-05, 5.12473620e-05,
  1.37998437e-03, 2.93736477e-03, 1.80789606e-04,-8.12350840e-04,
  2.69483690e-02, 1.33219670e-01,-9.84110783e+00, 1.23619569e-03,
 -5.79528864e-02, 6.16337862e-02]


--- Step 3144 ---
qpos:
[-0.01185819, 1.18692441,-0.0318446 , 0.942471  ,-0.01251364, 1.3004982 ,
 -0.0322343 , 0.94366825, 0.01423166, 1.33852971,-0.02367186, 0.95474743,
  1.24599405, 0.00528079, 1.29319283, 0.04538138,-0.05597979,-0.08705485,
  0.09012661, 0.69350484,-0.07961729,-0.71559913,-0.02510016]

qacc:
[  -1.84433621, -39.68625148,  67.48487192, -34.52079138,  -0.94211254,
  -17.34415609,  30.89848834,  -5.36392611,  -0.216814  ,   1.53390263,
   -1.41604262, -12.52582001,  -1.45707127,  -5.51760508,  -3.31350237,
    4.98985737,  -3.67551144,   1.25814076,  -2.66323937,   8.35624094,
 -127.53846574, -64.73028598]

qfrc_actuator:
[ 0.00288517, 0.07376454, 0.01087054, 0.00216626, 0.00468667, 0.06782201,
  0.01219314,-0.00057059,-0.00192075, 0.03477642, 0.01071594, 0.00167186,
  0.01060729,-0.0013005 , 0.        ,-0.00145765, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002682765071662964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.04410104e-01,  8.44762159e-02, -9.10668017e-01, -3.42855892e-02,
        9.96425496e-01,  7.72057603e-02,  9.13934881e-01,  3.46944695e-18,
        4.05860855e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08392475, -0.03328677,  0.22296974])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.25326542,   0.81971939, -17.25326542,
        17.26252884,  -0.21465422,   0.81971939,  -0.21465422,
        12.75473453,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0022408036214199706
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.95457529e-14,  2.47728764e-14,  1.00000000e+00,  1.22739081e-27,
        1.00000000e+00, -2.47728764e-14, -1.00000000e+00,  0.00000000e+00,
       -4.95457529e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02098398, -0.08791966,  0.06185191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.12761182e-03, 5.91311012e-03, 2.43712484e-04,-1.98029730e-04,
 -2.68444318e-04,-1.84445744e-03,-4.15577073e-04,-1.62669685e-05,
 -6.24937195e-05, 6.92285810e-05,-3.80867218e-05,-5.79099006e-05,
  1.80058462e-03, 3.49249193e-03, 1.36968374e-04,-7.97557664e-04,
  1.84511015e-02, 1.33048855e-01,-9.84197061e+00,-3.24141053e-03,
 -5.84043104e-02, 6.14176572e-02]


--- Step 3145 ---
qpos:
[-0.01188824, 1.18753241,-0.03185544, 0.94247848,-0.01241882, 1.3011703 ,
 -0.03220014, 0.94362417, 0.0142542 , 1.33853102,-0.02367521, 0.95474509,
  1.24622436, 0.00520359, 1.29330103, 0.04539027,-0.0559797 ,-0.08680452,
  0.09013794, 0.69315562,-0.08287738,-0.71566274,-0.02221401]

qacc:
[  -1.21610674, -39.13616911,  59.66134243, -32.14573571,  -0.8590113 ,
  -14.13715348,  17.96958728,  21.46579117,  -0.19972068,  -0.72662554,
    6.07396202, -18.39794898,  -1.38030278,  -3.13173167,  -7.10162218,
    4.01359082,  -3.31904553,   1.07170436,  -3.32447148,   3.90227489,
 -115.46454569, -52.58225388]

qfrc_actuator:
[ 0.0028692 , 0.07318387, 0.01086533, 0.00210021, 0.00459938, 0.06711148,
  0.01218245,-0.00044958,-0.00194144, 0.03486221, 0.01073433, 0.00162085,
  0.01057298,-0.00125148, 0.        ,-0.00147656, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16049811, -0.03333466,  0.15699823, -0.03333466,  0.07292761,
       -0.01859341,  0.15699823, -0.01859341,  0.15655026,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.718894124448124e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.93647637e-01,  7.71468913e-02, -8.01018627e-01, -4.59349680e-02,
        9.97019738e-01,  6.19808161e-02,  8.03413009e-01,  6.93889390e-18,
        5.95422151e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625257, -0.03337977,  0.2241659 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16049811, -0.03333466,  0.15699823, -0.03333466,  0.07292761,
       -0.01859341,  0.15699823, -0.01859341,  0.15655026,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.718894124448124e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.93647637e-01,  7.71468913e-02, -8.01018627e-01, -4.59349680e-02,
        9.97019738e-01,  6.19808161e-02,  8.03413009e-01,  6.93889390e-18,
        5.95422151e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625257, -0.03337977,  0.2241659 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1626676 , -0.01723555, -0.16175192, -0.01723555,  0.44981126,
       -0.03059672, -0.16175192, -0.03059672,  0.16592785,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003107631717261389
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.03817127e-01,  8.45030251e-02, -9.10928629e-01, -3.42462601e-02,
        9.96423223e-01,  7.72525400e-02,  9.14198513e-01,  3.46944695e-18,
        4.05266675e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08391696, -0.03330396,  0.22298164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.25155145,   0.8550321 , -17.25155145,
        17.26325647,  -0.19108754,   0.8550321 ,  -0.19108754,
        13.41725037,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0022472312330575825
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.47020202e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.47020202e-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([ 0.0209569 , -0.08797735,  0.06185135])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32251323e-03, 7.28285483e-03, 4.56265093e-04,-2.59812675e-04,
 -2.44858806e-04,-1.81840218e-03,-4.20442803e-04, 5.39040441e-05,
 -5.75949112e-05, 1.14923316e-04, 2.58841936e-05,-5.14255795e-05,
  2.17537036e-03, 3.93924198e-03, 2.84381167e-04,-7.97414879e-04,
  1.05610530e-02, 1.33569296e-01,-9.84295768e+00,-7.05872396e-03,
 -5.86444400e-02, 6.12055617e-02]


--- Step 3146 ---
qpos:
[-0.01192053, 1.18810176,-0.03187105, 0.94248488,-0.01232606, 1.3018284 ,
 -0.0321669 , 0.94358118, 0.01427613, 1.33853322,-0.02367839, 0.95474319,
  1.24644945, 0.00512216, 1.29340071, 0.04539704,-0.05599167,-0.0865505 ,
  0.09013371, 0.69264082,-0.08607873,-0.71586591,-0.01936887]

qacc:
[  -0.97332118, -39.72464327,  70.50333775, -49.16355192,  -0.87905215,
  -14.04951047,  21.3714591 ,   3.0095065 ,  -0.25280899,   1.47958543,
   -4.29940345,   8.25423544,  -1.15122224,  -2.76772014,  -6.20323893,
    3.38045364,  -3.01800233,   0.92372725,  -3.8902347 ,   0.36999157,
 -105.26398284, -42.86127218]

qfrc_actuator:
[ 0.00290881, 0.07263629, 0.0109419 , 0.00207576, 0.00449254, 0.06644286,
  0.01214484,-0.00039628,-0.00198034, 0.03491258, 0.01074667, 0.00164509,
  0.01054975,-0.00118827, 0.        ,-0.00145452, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16096389, -0.03262459,  0.157623  , -0.03262459,  0.06564057,
       -0.01972989,  0.157623  , -0.01972989,  0.15688023,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.38505213893755e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.59431552,  0.07712958, -0.80052489, -0.04597626,  0.99702108,
        0.06192863,  0.80291671,  0.        ,  0.59609123])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625684, -0.03339591,  0.2241825 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16096389, -0.03262459,  0.157623  , -0.03262459,  0.06564057,
       -0.01972989,  0.157623  , -0.01972989,  0.15688023,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.38505213893755e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.59431552,  0.07712958, -0.80052489, -0.04597626,  0.99702108,
        0.06192863,  0.80291671,  0.        ,  0.59609123])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625684, -0.03339591,  0.2241825 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16799184, -0.01775658, -0.16705078, -0.01775658,  0.40736649,
       -0.02544421, -0.16705078, -0.02544421,  0.17069642,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003502777393073267
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.40327066,  0.08452965, -0.91116822, -0.03421077,  0.99642096,
        0.07729738,  0.91444103,  0.        ,  0.40471916])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08390967, -0.03331984,  0.22299281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.25157099,   0.85463787, -17.25157099,
        17.26505984,  -0.15477339,   0.85463787,  -0.15477339,
        14.14849868,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0022238042286336634
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49622474e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.49622474e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02100812, -0.08803019,  0.06185254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.50113745e-03, 8.91721753e-03, 8.93364807e-04,-2.48471519e-04,
 -2.50591779e-04,-1.76077635e-03,-4.40729160e-04,-1.15616724e-05,
 -7.29072914e-05, 1.17458632e-04, 3.62273627e-05, 2.71999111e-05,
  2.45506628e-03, 4.24718039e-03, 7.66305811e-04,-6.56402370e-04,
  3.16719300e-03, 1.34610375e-01,-9.84410133e+00,-1.03709312e-02,
 -5.87281765e-02, 6.09973409e-02]


--- Step 3147 ---
qpos:
[-0.01195462, 1.18863529,-0.03189038, 0.94249064,-0.01223535, 1.30247326,
 -0.03213441, 0.94353772, 0.0142976 , 1.33853594,-0.0236815 , 0.95474129,
  1.24666995, 0.00503715, 1.29349079, 0.04540172,-0.05599268,-0.08630778,
  0.09016372, 0.69227796,-0.08918307,-0.71590709,-0.01657255]

qacc:
[ -0.78453923,-38.08916831, 68.78328833,-44.51931111, -0.86658293,
 -16.15437673, 32.66064055,-25.3552399 , -0.19781995,  0.4825168 ,
  -0.75113813,  0.30677584, -0.96879422, -2.39334369, -7.89367009,
   6.95912748,  2.74273165, -2.82617818,  8.55853683, 21.0943063 ,
 113.52455947,-43.18548091]

qfrc_actuator:
[ 0.00298235, 0.07208544, 0.01099694, 0.00205917, 0.00439258, 0.0658401 ,
  0.01212728,-0.00041877,-0.00199434, 0.03490589, 0.0107375 , 0.00164238,
  0.01054397,-0.00109748, 0.        ,-0.00138947, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16183835, -0.03288319,  0.15846245, -0.03288319,  0.07607922,
       -0.01779623,  0.15846245, -0.01779623,  0.15814539,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.805064235497227e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.59495005,  0.07711531, -0.80005479, -0.04601679,  0.99702218,
        0.06188074,  0.80244432,  0.        ,  0.59672699])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626083, -0.03341088,  0.22419812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16183835, -0.03288319,  0.15846245, -0.03288319,  0.07607922,
       -0.01779623,  0.15846245, -0.01779623,  0.15814539,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.805064235497227e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.59495005,  0.07711531, -0.80005479, -0.04601679,  0.99702218,
        0.06188074,  0.80244432,  0.        ,  0.59672699])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626083, -0.03341088,  0.22419812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.17388552, -0.01833716, -0.17291594, -0.01833716,  0.43414007,
       -0.02759914, -0.17291594, -0.02759914,  0.17681232,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003871719059769796
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.02763763e-01,  8.45560533e-02, -9.11389941e-01, -3.41785169e-02,
        9.96418724e-01,  7.73405142e-02,  9.14665611e-01, -3.46944695e-18,
        4.04211355e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08390282, -0.03333457,  0.22300331])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.12010997,   2.29105696, -17.12010997,
        19.41435256,  16.0034696 ,   2.29105696,  16.0034696 ,
       136.85995917,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002263762082453588
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.45216366e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.45216366e-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([-0.08533959, -0.07149641,  0.06184975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68593863e-03, 1.02921767e-02, 1.18509770e-03,-2.10532282e-04,
 -2.47102822e-04,-1.66884602e-03,-4.13611284e-04,-8.77511112e-05,
 -5.70549511e-05, 6.61338068e-05, 1.86792697e-05, 2.45522786e-06,
  2.71005467e-03, 4.55142875e-03, 1.18980886e-03,-4.86081726e-04,
 -3.81702272e-03, 1.36046587e-01,-9.84541562e+00,-1.32916688e-02,
 -5.86935440e-02, 6.07925025e-02]


--- Step 3148 ---
qpos:
[-0.01198979, 1.18913262,-0.03191385, 0.94249657,-0.01214661, 1.30310477,
 -0.03210238, 0.94349331, 0.01431866, 1.33853841,-0.02368439, 0.95474082,
  1.24688613, 0.00494891, 1.29357415, 0.04540439,-0.05598277,-0.08608235,
  0.09022098, 0.69206952,-0.0920678 ,-0.71579993,-0.0139196 ]

qacc:
[  -0.46383298, -36.05548995,  59.84717975, -27.03526296,  -0.84185422,
  -17.89318062,  39.16445285, -36.58483095,  -0.17468071,   1.53181083,
   -8.25911543,  23.73982934,  -1.18658845,  -1.85573635,  -3.81372686,
   -1.04999922,   2.72834301,  -4.32334577,   6.81472873,  30.34862969,
  114.83231031,-120.34078456]

qfrc_actuator:
[ 0.00305894, 0.07156301, 0.01098667, 0.00206505, 0.00429753, 0.06517519,
  0.0121042 ,-0.00046787,-0.00201105, 0.03484721, 0.01073319, 0.00171253,
  0.01053281,-0.00097135, 0.        ,-0.00145758, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16304286, -0.03693704,  0.15880374, -0.03693704,  0.1095315 ,
       -0.0124465 ,  0.15880374, -0.0124465 ,  0.16014786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011983643335756328
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.59556069,  0.07710334, -0.79960148, -0.04605683,  0.99702311,
        0.06183602,  0.80198892,  0.        ,  0.59733891])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626453, -0.03342477,  0.2242129 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16304286, -0.03693704,  0.15880374, -0.03693704,  0.1095315 ,
       -0.0124465 ,  0.15880374, -0.0124465 ,  0.16014786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011983643335756328
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.59556069,  0.07710334, -0.79960148, -0.04605683,  0.99702311,
        0.06183602,  0.80198892,  0.        ,  0.59733891])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626453, -0.03342477,  0.2242129 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.18030736, -0.01683811, -0.17951942, -0.01683811,  0.49482232,
       -0.02950009, -0.17951942, -0.02950009,  0.18307434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00042153236002973743
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.40229293,  0.08458217, -0.91159544, -0.03414918,  0.99641651,
        0.07738202,  0.91487389,  0.        ,  0.40373973])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08389621, -0.03334824,  0.2230132 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.26356543, -0.56250883, 17.26356543, 17.3055014 ,
        1.00584772, -0.56250883,  1.00584772, 48.14249684,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023762376590682754
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46005890e-15,  2.92011781e-15,  1.00000000e+00,  4.26354401e-30,
        1.00000000e+00, -2.92011781e-15, -1.00000000e+00,  0.00000000e+00,
       -1.46005890e-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([-0.08675225, -0.06610231,  0.06184272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.85221894e-03, 1.15543780e-02, 1.35953626e-03,-1.71475091e-04,
 -2.40150900e-04,-1.67701843e-03,-4.00278497e-04,-1.12578999e-04,
 -5.04009294e-05,-1.83879758e-05, 1.08069599e-05, 7.27026287e-05,
  2.92747441e-03, 4.85852604e-03, 1.66777241e-03,-4.50249577e-04,
  2.74225323e-03, 1.23603979e-01,-9.84434212e+00,-1.07151350e-02,
 -5.92125228e-02, 6.06588707e-02]


--- Step 3149 ---
qpos:
[-0.01202608, 1.18959517,-0.03194167, 0.9425031 ,-0.01205979, 1.30372301,
 -0.03207121, 0.943448  , 0.01433903, 1.33853972,-0.02368625, 0.95474088,
  1.24709853, 0.00485814, 1.29364791, 0.0454049 ,-0.05596295,-0.08587188,
  0.09029855, 0.69199902,-0.09475599,-0.71556188,-0.01139527]

qacc:
[-4.91218712e-01,-3.28879420e+01, 5.08642225e+01,-1.50188898e+01,
 -8.14403714e-01,-1.66243621e+01, 3.50676653e+01,-3.24972695e+01,
 -2.89079014e-01,-3.35802335e+00, 8.03546816e+00,-4.77956243e-02,
 -9.75340525e-01,-1.52016797e+00,-7.69456465e+00, 6.30280881e+00,
  2.47996630e+00,-3.73994565e+00, 5.07808284e+00, 2.74184975e+01,
  1.01953202e+02,-1.07866245e+02]

qfrc_actuator:
[ 0.00310185, 0.07105459, 0.01097463, 0.00210162, 0.0042062 , 0.0645139 ,
  0.01206007,-0.00051449,-0.00206475, 0.03474016, 0.01076714, 0.0017362 ,
  0.01050791,-0.00089394, 0.        ,-0.00139178, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16451459, -0.03754255,  0.16017368, -0.03754255,  0.1542479 ,
       -0.00240637,  0.16017368, -0.00240637,  0.16395057,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014938600726731657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.96136259e-01,  7.70938395e-02, -7.99173386e-01, -4.60956210e-02,
        9.97023841e-01,  6.17952572e-02,  8.01558952e-01,  6.93889390e-18,
        5.97915752e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626798, -0.03343772,  0.22422673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16451459, -0.03754255,  0.16017368, -0.03754255,  0.1542479 ,
       -0.00240637,  0.16017368, -0.00240637,  0.16395057,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014938600726731657
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.96136259e-01,  7.70938395e-02, -7.99173386e-01, -4.60956210e-02,
        9.97023841e-01,  6.17952572e-02,  8.01558952e-01,  6.93889390e-18,
        5.97915752e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626798, -0.03343772,  0.22422673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.18722442, -0.01670102, -0.18647804, -0.01670102,  0.58419187,
       -0.0355525 , -0.18647804, -0.0355525 ,  0.19040851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000453493953478587
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.40185894,  0.08460769, -0.91178448, -0.03412271,  0.99641434,
        0.07742158,  0.91506559,  0.        ,  0.40330505])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08389006, -0.03336098,  0.22302245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  13.86145475, -10.30568676,  13.86145475,
        71.0512    ,  72.33364295, -10.30568676,  72.33364295,
       114.56362524,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0024712323907404923
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.12314713e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.12314713e-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([-0.08666475, -0.06612472,  0.06183697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.94812227e-03, 1.28503736e-02, 1.55359786e-03,-1.42659178e-04,
 -2.32377004e-04,-1.67593986e-03,-4.22115993e-04,-1.10563002e-04,
 -8.34710449e-05,-1.12958689e-04, 3.37126393e-05, 2.51293620e-05,
  3.11920041e-03, 5.09874624e-03, 2.00170024e-03,-2.84013802e-04,
  7.47142045e-03, 1.03631063e-01,-9.84120425e+00,-8.07004452e-03,
 -5.99518129e-02, 6.05357265e-02]


--- Step 3150 ---
qpos:
[-0.01206387, 1.19002656,-0.03197329, 0.94250899,-0.01197467, 1.30432854,
 -0.03204142, 0.94340282, 0.01435868, 1.3385398 ,-0.02368697, 0.95474122,
  1.24730783, 0.00476549, 1.29370784, 0.04540337,-0.05593403,-0.08567446,
  0.09039057, 0.69205275,-0.09726681,-0.71520724,-0.00898723]

qacc:
[ -0.64790879,-31.76409247, 55.54300454,-36.0023986 , -0.72570149,
 -12.78432273, 21.24600392, -8.80613451, -0.30912303, -4.20020322,
  11.18756551, -5.66870814, -0.58676279, -1.35938539,-14.25358845,
  20.164897  ,  2.27257803, -3.26162125,  3.61185195, 24.98643378,
  91.30573329,-97.46513708]

qfrc_actuator:
[ 0.00314279, 0.07060314, 0.0109989 , 0.00208507, 0.00413557, 0.06391329,
  0.01200388,-0.00050604,-0.00210472, 0.0346761 , 0.01082315, 0.00175005,
  0.01049086,-0.00084517, 0.        ,-0.00117369, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16618057, -0.03215388,  0.1630402 , -0.03215388,  0.13310875,
       -0.00652224,  0.1630402 , -0.00652224,  0.16489429,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001765444418150488
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.59669107,  0.07708609, -0.79875998, -0.04613386,  0.99702444,
        0.06175705,  0.80114383,  0.        ,  0.59847186])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627112, -0.03344975,  0.22423973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16618057, -0.03215388,  0.1630402 , -0.03215388,  0.13310875,
       -0.00652224,  0.1630402 , -0.00652224,  0.16489429,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001765444418150488
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.59669107,  0.07708609, -0.79875998, -0.04613386,  0.99702444,
        0.06175705,  0.80114383,  0.        ,  0.59847186])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627112, -0.03344975,  0.22423973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.19454255, -0.01916707, -0.19359604, -0.01916707,  0.59064262,
       -0.03921608, -0.19359604, -0.03921608,  0.19842516,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00048295605572799827
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.40146068,  0.08463267, -0.91195758, -0.03409903,  0.99641222,
        0.07745931,  0.91524127,  0.        ,  0.40290622])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08388408, -0.03337282,  0.22303107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  13.90423836, -10.24789067,  13.90423836,
        70.46174823,  72.16634615, -10.24789067,  72.16634615,
       115.1873236 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0025224980643715617
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10032099e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.10032099e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08661807, -0.06613117,  0.06183403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.04520950e-03, 1.41324279e-02, 1.79410723e-03,-1.89101783e-04,
 -2.07122430e-04,-1.61875903e-03,-4.36358755e-04,-5.60760720e-05,
 -8.92620893e-05,-1.19196126e-04, 3.85134091e-05, 1.20752227e-05,
  3.29034192e-03, 5.27653727e-03, 2.48038996e-03, 4.11847846e-05,
  1.06892601e-02, 8.72234383e-02,-9.83864329e+00,-6.04511736e-03,
 -6.05440168e-02, 6.04159515e-02]


--- Step 3151 ---
qpos:
[-0.01210307, 1.19042806,-0.03200822, 0.9425138 ,-0.01189148, 1.304922  ,
 -0.03201352, 0.94335877, 0.01437778, 1.33853928,-0.02368721, 0.95474206,
  1.2475141 , 0.00467123, 1.29375711, 0.0454002 ,-0.05589671,-0.08548852,
  0.0904921 , 0.69221928,-0.09961625,-0.71474777,-0.00668512]

qacc:
[ -0.61442216,-32.13812432, 59.64869209,-45.24170649, -0.81505961,
  -8.76589978,  7.13605488, 14.53128577, -0.22991504, -1.25932271,
   2.1566693 ,  4.1415565 , -0.85175457, -0.87776745,-10.82894663,
  15.01038801,  2.09962712, -2.86948014,  2.37664649, 22.97335012,
  82.48948379,-88.75684125]

qfrc_actuator:
[ 0.00316562, 0.07023167, 0.01102839, 0.00203768, 0.00402467, 0.06335385,
  0.01192357,-0.00044748,-0.00211836, 0.03467387, 0.01085635, 0.00177581,
  0.01047859,-0.00074222, 0.        ,-0.00109426, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16796497, -0.03237968,  0.16481441, -0.03237968,  0.12892417,
       -0.00767001,  0.16481441, -0.00767001,  0.16645811,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020117878340763888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.59724761,  0.07707913, -0.7983446 , -0.04617269,  0.99702498,
        0.06171932,  0.80072678,  0.        ,  0.59902974])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627386, -0.03346086,  0.22425217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16796497, -0.03237968,  0.16481441, -0.03237968,  0.12892417,
       -0.00767001,  0.16481441, -0.00767001,  0.16645811,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020117878340763888
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.59724761,  0.07707913, -0.7983446 , -0.04617269,  0.99702498,
        0.06171932,  0.80072678,  0.        ,  0.59902974])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627386, -0.03346086,  0.22425217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.20209432, -0.01936717, -0.20116418, -0.01936717,  0.5820357 ,
       -0.03657902, -0.20116418, -0.03657902,  0.20561598,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005098748950240692
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.01094357e-01,  8.46573613e-02, -9.12116466e-01, -3.40779255e-02,
        9.96410122e-01,  7.74955728e-02,  9.15402650e-01, -6.93889390e-18,
        4.02539425e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08387784, -0.03338375,  0.22303913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  13.77621078, -10.41936293,  13.77621078,
        73.76160984,  74.68813192, -10.41936293,  74.68813192,
       116.02343353,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0025383460119524567
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09345123e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.09345123e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08660405, -0.06612527,  0.06183335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14213608e-03, 1.53138494e-02, 2.01250913e-03,-2.03420054e-04,
 -2.32580443e-04,-1.54697508e-03,-4.49301944e-04,-3.41443145e-06,
 -6.63638454e-05,-6.02592667e-05, 1.46620981e-05, 2.36295662e-05,
  3.43322176e-03, 5.47470590e-03, 3.16959041e-03, 2.22526442e-04,
  1.27851861e-02, 7.36034097e-02,-9.83654563e+00,-4.49913935e-03,
 -6.10225068e-02, 6.02995958e-02]


--- Step 3152 ---
qpos:
[-0.01214358, 1.19079964,-0.03204682, 0.9425177 ,-0.01181037, 1.30550321,
 -0.03198637, 0.94331712, 0.01439657, 1.33853805,-0.02368687, 0.95474044,
  1.24771727, 0.00457563, 1.29379821, 0.04539562,-0.05585708,-0.08532005,
  0.09060785, 0.69243275,-0.10172933,-0.7142598 ,-0.00457995]

qacc:
[-5.65231106e-01,-3.09399536e+01, 5.53679243e+01,-3.97572945e+01,
 -8.86561447e-01,-1.00199951e+01, 8.31353708e+00, 2.83485989e+01,
 -1.27838328e-01,-6.75353089e+00, 2.58397466e+01,-5.02840641e+01,
 -1.22612702e+00,-3.13984358e-01,-7.71593481e+00, 9.58466427e+00,
  5.80473349e-01,-4.36675408e+00, 3.55347905e+00, 1.36669686e+01,
  3.72369913e+01,-1.51061171e+02]

qfrc_actuator:
[ 0.00317809, 0.06991937, 0.01102653, 0.0019902 , 0.00390825, 0.06277029,
  0.01190088,-0.00032439,-0.00211611, 0.03461984, 0.01087608, 0.00164861,
  0.01045863,-0.00060627, 0.        ,-0.00107986, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16982604, -0.03438656,  0.1663083 , -0.03438656,  0.15656169,
       -0.00274259,  0.1663083 , -0.00274259,  0.16925897,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022358244819250042
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.59779554,  0.07707345, -0.79793494, -0.04621163,  0.99702542,
        0.06168308,  0.80031555,  0.        ,  0.59957904])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627627, -0.03347119,  0.22426397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16982604, -0.03438656,  0.1663083 , -0.03438656,  0.15656169,
       -0.00274259,  0.1663083 , -0.00274259,  0.16925897,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022358244819250042
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.59779554,  0.07707345, -0.79793494, -0.04621163,  0.99702542,
        0.06168308,  0.80031555,  0.        ,  0.59957904])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627627, -0.03347119,  0.22426397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2092627 , -0.0185042 , -0.20844297, -0.0185042 ,  0.63193889,
       -0.03752243, -0.20844297, -0.03752243,  0.21259369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005345074904686067
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.40075837,  0.08468179, -0.91226187, -0.03405927,  0.99640805,
        0.07753045,  0.91555049,  0.        ,  0.40220307])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08387155, -0.03339391,  0.22304665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025643798513819843
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.06991687, -0.06339954,  0.06183213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22491025e-03, 1.64912124e-02, 2.17502436e-03,-1.96866139e-04,
 -2.53067625e-04,-1.53221963e-03,-3.77542269e-04, 6.40952586e-05,
 -3.69428910e-05,-8.37683795e-05, 1.03253283e-05,-1.28003313e-04,
  3.56418611e-03, 5.69305269e-03, 3.70179980e-03, 3.18127000e-04,
  1.40383673e-02, 6.21866063e-02,-9.83482317e+00,-3.32689022e-03,
 -6.14123921e-02, 6.01867074e-02]


--- Step 3153 ---
qpos:
[-0.0121844 , 1.19114093,-0.0320889 , 0.9425224 ,-0.01173102, 1.30607222,
 -0.03195945, 0.9432769 , 0.014415  , 1.33853646,-0.02368701, 0.95473767,
  1.24791771, 0.00447866, 1.29383532, 0.0453897 ,-0.05581519,-0.0851673 ,
  0.09073322, 0.69268996,-0.1036278 ,-0.71374706,-0.00265366]

qacc:
[-1.34069745e-01,-2.90070690e+01, 4.48930160e+01,-1.03013979e+01,
 -7.50034677e-01,-1.29172214e+01, 1.98135644e+01, 7.23911797e+00,
 -1.57925267e-01,-1.11153162e+00, 5.37325707e+00,-1.76042683e+01,
 -1.18448521e+00,-2.70167931e-01,-1.81358075e+00,-2.07967452e+00,
  5.61125856e-01,-3.93350740e+00, 2.40872662e+00, 1.25908606e+01,
  3.37885806e+01,-1.37211589e+02]

qfrc_actuator:
[ 0.00322031, 0.06969007, 0.01106081, 0.00203172, 0.00384271, 0.06217726,
  0.01189459,-0.00025306,-0.00213984, 0.03460611, 0.01085193, 0.00159217,
  0.01043419,-0.00050341, 0.        ,-0.0011928 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.17172447, -0.03977537,  0.16705452, -0.03977537,  0.25062995,
        0.01878725,  0.16705452,  0.01878725,  0.17619768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024393402477202591
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.59832501,  0.07706952, -0.79753838, -0.04625018,  0.99702572,
        0.06164926,  0.79991756,  0.        ,  0.60010991])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627841, -0.03348082,  0.22427504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.17172447, -0.03977537,  0.16705452, -0.03977537,  0.25062995,
        0.01878725,  0.16705452,  0.01878725,  0.17619768,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024393402477202591
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.59832501,  0.07706952, -0.79753838, -0.04625018,  0.99702572,
        0.06164926,  0.79991756,  0.        ,  0.60010991])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627841, -0.03348082,  0.22427504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.21587688, -0.01546771, -0.21532203, -0.01546771,  0.73013654,
       -0.03694196, -0.21532203, -0.03694196,  0.21853061,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005569944802555349
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.00453107e-01,  8.47058943e-02, -9.12393676e-01, -3.40430895e-02,
        9.96405997e-01,  7.75638871e-02,  9.15684649e-01, -6.93889390e-18,
        4.01897528e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0838654 , -0.03340337,  0.22305361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025650555564728852
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08206528e-14,  1.08206528e-14,  1.00000000e+00,  1.17086527e-28,
        1.00000000e+00, -1.08206528e-14, -1.00000000e+00,  0.00000000e+00,
       -1.08206528e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06991581, -0.06339392,  0.06183254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33182002e-03, 1.77538537e-02, 2.39215679e-03,-1.08888044e-04,
 -2.14237247e-04,-1.51732383e-03,-3.48076013e-04, 1.64247267e-05,
 -4.55593710e-05,-6.18233837e-05,-4.30859874e-05,-6.16061670e-05,
  3.69455930e-03, 5.86509464e-03, 4.10911422e-03, 2.76095475e-04,
  1.26846523e-02, 4.92859777e-02,-9.83123786e+00,-3.25027983e-03,
 -6.15013957e-02, 6.00655488e-02]


--- Step 3154 ---
qpos:
[-1.22241481e-02, 1.19145197e+00,-3.21342824e-02, 9.42527569e-01,
 -1.16531450e-02, 1.30662956e+00,-3.19332974e-02, 9.43236813e-01,
  1.44328783e-02, 1.33853515e+00,-2.36883854e-02, 9.54735275e-01,
  1.24811587e+00, 4.38000307e-03, 1.29387578e+00, 4.53827114e-02,
 -5.57711358e-02,-8.50288769e-02, 9.08644049e-02, 6.92988254e-01,
 -1.05329707e-01,-7.13212548e-01,-8.91243994e-04]

qacc:
[   0.47079098, -30.00035522,  48.95334701, -18.01706773,  -0.62341414,
  -13.04300454,  23.79530322, -11.79652222,  -0.22916101,   4.30165719,
  -14.33150952,  16.45772779,  -1.07609308,  -0.45994302,   8.26513927,
  -21.58483961,   0.54415954,  -3.57862475,   1.45103684,  11.69147221,
   30.95441662,-125.72259857]

qfrc_actuator:
[ 0.00327991, 0.06945191, 0.01111805, 0.00205426, 0.00379046, 0.06161892,
  0.01186244,-0.0002483 ,-0.00217898, 0.03465196, 0.01080228, 0.00161335,
  0.01042311,-0.00041984, 0.        ,-0.00150594, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.17363969, -0.04270755,  0.1683057 , -0.04270755,  0.26042122,
        0.0220208 ,  0.1683057 ,  0.0220208 ,  0.17922747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002625099820486171
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.59881971,  0.07706762, -0.7971672 , -0.04628727,  0.99702587,
        0.06161904,  0.79954515,  0.        ,  0.60060599])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628035, -0.03348989,  0.22428525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.17363969, -0.04270755,  0.1683057 , -0.04270755,  0.26042122,
        0.0220208 ,  0.1683057 ,  0.0220208 ,  0.17922747,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002625099820486171
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.59881971,  0.07706762, -0.7971672 , -0.04628727,  0.99702587,
        0.06161904,  0.79954515,  0.        ,  0.60060599])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628035, -0.03348989,  0.22428525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.22196095, -0.01255254, -0.22160572, -0.01255254,  0.68600626,
       -0.02628518, -0.22160572, -0.02628518,  0.22344983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005775499707329698
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.00178743e-01,  8.47292907e-02, -9.12511874e-01, -3.40292299e-02,
        9.96404008e-01,  7.75955167e-02,  9.15805102e-01,  3.46944695e-18,
        4.01622976e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0838597 , -0.03341231,  0.22306   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002541112919831487
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09226062e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.09226062e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06992306, -0.06337677,  0.06183449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40674511e-03, 1.90265503e-02, 2.62238232e-03,-1.26651032e-04,
 -1.78150066e-04,-1.46996068e-03,-3.69044778e-04,-4.99513556e-05,
 -6.60504521e-05, 1.44478979e-06,-6.84227923e-05, 1.66484285e-05,
  3.82010523e-03, 6.01895678e-03, 4.30748752e-03, 2.92387269e-05,
  1.13553524e-02, 3.88675162e-02,-9.82821671e+00,-3.30820456e-03,
 -6.15488204e-02, 5.99528496e-02]


--- Step 3155 ---
qpos:
[-1.22636476e-02, 1.19173618e+00,-3.21830658e-02, 9.42531631e-01,
 -1.15764915e-02, 1.30717525e+00,-3.19074641e-02, 9.43196048e-01,
  1.44501934e-02, 1.33853361e+00,-2.36902676e-02, 9.54733844e-01,
  1.24831207e+00, 4.28031357e-03, 1.29391354e+00, 4.53743620e-02,
 -5.57249594e-02,-8.49036040e-02, 9.09981963e-02, 6.93325431e-01,
 -1.06850071e-01,-7.12658678e-01, 7.19738562e-04]

qacc:
[ 1.11372412e-01,-2.79421281e+01, 5.08628403e+01,-3.99240709e+01,
 -5.19490295e-01,-1.55739006e+01, 3.37238662e+01,-2.97110762e+01,
 -2.40361111e-01, 2.75569484e+00,-1.12897242e+01, 2.10898612e+01,
 -8.50659326e-01,-2.24626977e-01, 1.68288087e-01,-6.27549701e+00,
  5.29480312e-01,-3.28855034e+00, 6.52418087e-01, 1.09421357e+01,
  2.86288782e+01,-1.16174659e+02]

qfrc_actuator:
[ 0.00329542, 0.06923825, 0.01117253, 0.00201219, 0.00374659, 0.06105023,
  0.0118509 ,-0.00028274,-0.0022093 , 0.03462658, 0.01077378, 0.00166231,
  0.01042542,-0.00032922, 0.        ,-0.00153061, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.17559231, -0.03771699,  0.17149369, -0.03771699,  0.23553942,
        0.0131843 ,  0.17149369,  0.0131843 ,  0.17849196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002798410668213968
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.59925154,  0.07706841, -0.79684255, -0.04632113,  0.99702581,
        0.06159459,  0.79921959,  0.        ,  0.60103915])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628226, -0.03349864,  0.22429436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.17559231, -0.03771699,  0.17149369, -0.03771699,  0.23553942,
        0.0131843 ,  0.17149369,  0.0131843 ,  0.17849196,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002798410668213968
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.59925154,  0.07706841, -0.79684255, -0.04632113,  0.99702581,
        0.06159459,  0.79921959,  0.        ,  0.60103915])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628226, -0.03349864,  0.22429436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.22761247, -0.01405333, -0.22717821, -0.01405333,  0.70447482,
       -0.02949888, -0.22717821, -0.02949888,  0.22943728,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005965963528151742
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99935099e-01,  8.47514352e-02, -9.12616629e-01, -3.40174642e-02,
        9.96402125e-01,  7.76248536e-02,  9.15911966e-01,  6.93889390e-18,
        4.01379211e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08385501, -0.03342094,  0.22306581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002497792561576194
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.22240838e-14,  1.11120419e-14,  1.00000000e+00,  2.46954951e-28,
        1.00000000e+00, -1.11120419e-14, -1.00000000e+00,  0.00000000e+00,
       -2.22240838e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06993683, -0.06335088,  0.06183765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.36831072e-03, 2.03216119e-02, 2.84164634e-03,-1.91131148e-04,
 -1.48576366e-04,-1.46011823e-03,-3.43488618e-04,-8.98999196e-05,
 -6.93221285e-05,-3.74363695e-05,-3.55097936e-05, 4.73751980e-05,
  3.93645239e-03, 6.19601731e-03, 4.13875603e-03, 5.81070463e-05,
  1.00561320e-02, 3.04032405e-02,-9.82565974e+00,-3.46619839e-03,
 -6.15645015e-02, 5.98485301e-02]


--- Step 3156 ---
qpos:
[-0.01230308, 1.19199603,-0.03223478, 0.94253491,-0.01150102, 1.30770969,
 -0.03188308, 0.94315626, 0.01446683, 1.33853165,-0.02369223, 0.95473542,
  1.24850663, 0.00417997, 1.29394504, 0.0453645 ,-0.05567672,-0.08479054,
  0.09113194, 0.69369967,-0.10820138,-0.71208738, 0.00218964]

qacc:
[ 3.04456694e-02,-2.53981479e+01, 4.58543685e+01,-3.34560019e+01,
 -5.02149427e-01,-9.20154468e+00, 1.01449355e+01, 9.68637153e+00,
 -2.89362834e-01, 4.84088208e+00,-2.25127831e+01, 5.44724009e+01,
 -6.25902822e-01,-1.56837803e-01,-4.67233995e+00, 2.94207975e+00,
  5.16946564e-01,-3.05213397e+00,-1.11647700e-02, 1.03201868e+01,
  2.67264723e+01,-1.08230670e+02]

qfrc_actuator:
[ 0.00333813, 0.06906573, 0.01122677, 0.00198598, 0.00369034, 0.06049772,
  0.01178058,-0.00023344,-0.00225182, 0.0346121 , 0.01077549, 0.00181594,
  0.0104092 ,-0.00026986, 0.        ,-0.00148799, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.17752   , -0.03668476,  0.17368817, -0.03668476,  0.28276017,
        0.02222783,  0.17368817,  0.02222783,  0.18221475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029564554734816395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.59965003,  0.07707083, -0.79654248, -0.0463534 ,  0.99702562,
        0.06157333,  0.79891877,  0.        ,  0.60143894])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.086284  , -0.03350698,  0.22430267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.17752   , -0.03668476,  0.17368817, -0.03668476,  0.28276017,
        0.02222783,  0.17368817,  0.02222783,  0.18221475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029564554734816395
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.59965003,  0.07707083, -0.79654248, -0.0463534 ,  0.99702562,
        0.06157333,  0.79891877,  0.        ,  0.60143894])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.086284  , -0.03350698,  0.22430267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.23276276, -0.01430269, -0.23232292, -0.01430269,  0.77814296,
       -0.03357571, -0.23232292, -0.03357571,  0.23482981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006139662674287984
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99719139e-01,  8.47727406e-02, -9.12709259e-01, -3.40077040e-02,
        9.96400312e-01,  7.76523896e-02,  9.16006597e-01,  3.46944695e-18,
        4.01163201e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08385076, -0.03342918,  0.22307111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024394526742335734
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13777881e-14,  2.27555762e-14,  1.00000000e+00,  2.58908124e-28,
        1.00000000e+00, -2.27555762e-14, -1.00000000e+00,  0.00000000e+00,
       -1.13777881e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06995566, -0.06331843,  0.06184171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39824879e-03, 2.14877140e-02, 3.06520593e-03,-1.61866283e-04,
 -1.43588692e-04,-1.43458472e-03,-3.98590655e-04,-6.05407749e-06,
 -8.34686724e-05,-4.06945662e-05,-8.24763924e-06, 1.52578763e-04,
  4.01786225e-03, 6.30923505e-03, 4.27244384e-03, 1.68439189e-04,
  8.78787489e-03, 2.34978873e-02,-9.82348848e+00,-3.69943499e-03,
 -6.15556676e-02, 5.97524697e-02]


--- Step 3157 ---
qpos:
[-0.01234166, 1.19223205,-0.03228844, 0.94253844,-0.01142706, 1.30823316,
 -0.03186082, 0.94311809, 0.01448294, 1.33852946,-0.0236945 , 0.95473917,
  1.24869955, 0.00407876, 1.29397581, 0.04535337,-0.05562645,-0.08468892,
  0.09126345, 0.6941095 ,-0.10939403,-0.71150018, 0.00352706]

qacc:
[ 3.77764617e-01,-2.55966280e+01, 4.51487354e+01,-2.10848649e+01,
 -6.40845189e-01,-5.91074314e+00,-1.44762473e+00, 2.69364343e+01,
 -2.19499888e-01, 4.29707224e+00,-1.87411347e+01, 4.13922928e+01,
 -8.17515525e-01,-7.40180417e-02, 2.82633867e+00,-1.13169967e+01,
  5.06386218e-01,-2.86017508e+00,-5.60323016e-01, 9.80627821e+00,
  2.51774728e+01,-1.01618018e+02]

qfrc_actuator:
[ 0.00339725, 0.06878412, 0.01129951, 0.00200492, 0.00359161, 0.05995919,
  0.01167624,-0.00015302,-0.00226583, 0.03460445, 0.01075959, 0.00192344,
  0.01038191,-0.00021147, 0.        ,-0.00165285, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.17936894, -0.04059234,  0.17471542, -0.04059234,  0.32777582,
        0.03447997,  0.17471542,  0.03447997,  0.18737981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003097787875350026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.00033484e-01,  7.70740130e-02, -7.96253361e-01, -4.63849665e-02,
        9.97025374e-01,  6.15535406e-02,  7.98628983e-01, -6.93889390e-18,
        6.01823685e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628551, -0.03351486,  0.22431038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.17936894, -0.04059234,  0.17471542, -0.04059234,  0.32777582,
        0.03447997,  0.17471542,  0.03447997,  0.18737981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003097787875350026
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.00033484e-01,  7.70740130e-02, -7.96253361e-01, -4.63849665e-02,
        9.97025374e-01,  6.15535406e-02,  7.98628983e-01, -6.93889390e-18,
        6.01823685e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628551, -0.03351486,  0.22431038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.23737897, -0.0121051 , -0.23707012, -0.0121051 ,  0.77867464,
       -0.02763925, -0.23707012, -0.02763925,  0.23879027,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000629588050485623
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99528159e-01,  8.47933555e-02, -9.12790960e-01, -3.39997815e-02,
        9.96398558e-01,  7.76783625e-02,  9.16090206e-01, -3.46944695e-18,
        4.00972237e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08384662, -0.03343698,  0.22307594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002369709659535771
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.06997836, -0.0632812 ,  0.06184647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45386903e-03, 2.24205708e-02, 3.28384875e-03,-1.03423827e-04,
 -1.83150407e-04,-1.41462749e-03,-4.31397956e-04, 2.61359096e-05,
 -6.33036344e-05,-2.72199526e-05,-2.03093974e-05, 1.09594056e-04,
  4.07284324e-03, 6.40221746e-03, 4.58511952e-03, 7.89915503e-05,
  7.54848450e-03, 1.78534286e-02,-9.82164132e+00,-3.99000890e-03,
 -6.15276270e-02, 5.96645313e-02]


--- Step 3158 ---
qpos:
[-0.01238009, 1.19244662,-0.03234371, 0.94254332,-0.01135471, 1.30874598,
 -0.03183991, 0.94308009, 0.01449848, 1.33852703,-0.02369683, 0.95474175,
  1.24889096, 0.00397726, 1.29399913, 0.04534062,-0.05557419,-0.08459811,
  0.0913909 , 0.69455373,-0.11043667,-0.7108983 , 0.00473916]

qacc:
[ 6.42669027e-02,-2.15386513e+01, 3.34776295e+01, 1.77838131e-01,
 -6.84214451e-01,-1.00376424e+01, 1.54993863e+01,-4.73454888e+00,
 -2.41484243e-01,-2.21263787e+00, 9.18446846e+00,-2.13041425e+01,
 -6.72470548e-01, 1.59834251e-01,-6.09938086e+00, 5.41316878e+00,
  4.97609765e-01,-2.70506191e+00,-1.01271375e+00, 9.38382853e+00,
  2.39246276e+01,-9.61149439e+01]

qfrc_actuator:
[ 0.00344763, 0.06846405, 0.0113658 , 0.00208573, 0.00350369, 0.05946878,
  0.01162376,-0.00014373,-0.00229812, 0.03458312, 0.01075115, 0.00186087,
  0.01035867,-0.00015318, 0.        ,-0.00153352, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.18116368, -0.04162196,  0.17631759, -0.04162196,  0.54983374,
        0.08702915,  0.17631759,  0.08702915,  0.201708  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003226710399993494
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60038097,  0.0770786 , -0.79599094, -0.04641461,  0.99702502,
        0.06153694,  0.79836606,  0.        ,  0.60217242])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628691, -0.03352244,  0.22431733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.18116368, -0.04162196,  0.17631759, -0.04162196,  0.54983374,
        0.08702915,  0.17631759,  0.08702915,  0.201708  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003226710399993494
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60038097,  0.0770786 , -0.79599094, -0.04641461,  0.99702502,
        0.06153694,  0.79836606,  0.        ,  0.60217242])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628691, -0.03352244,  0.22431733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24155938, -0.01234253, -0.24124385, -0.01234253,  0.95307496,
       -0.03640261, -0.24124385, -0.03640261,  0.24342181,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006438134301387718
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39936082,  0.084813  , -0.91286236, -0.03399347,  0.99639689,
        0.07770257,  0.9161634 ,  0.        ,  0.40080496])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08384297, -0.0334445 ,  0.22308031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002291555963337674
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.2112109e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.2112109e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07000394, -0.0632406 ,  0.06185171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46099431e-03, 2.32902702e-02, 3.44739296e-03,-3.51347041e-05,
 -1.95598985e-04,-1.36082804e-03,-3.78400387e-04,-4.46204777e-05,
 -6.96793572e-05,-3.70723185e-05,-1.28427165e-05,-6.14247653e-05,
  4.13142271e-03, 6.50638099e-03, 4.62004730e-03, 2.61609334e-04,
  6.33405023e-03, 1.32438072e-02,-9.82006982e+00,-4.32502630e-03,
 -6.14842639e-02, 5.95845755e-02]


--- Step 3159 ---
qpos:
[-0.01241936, 1.19264322,-0.03240063, 0.94254778,-0.01128397, 1.30924834,
 -0.03181948, 0.94304313, 0.01451363, 1.33852478,-0.02369858, 0.95474349,
  1.24908059, 0.00387605, 1.2940086 , 0.04532629,-0.05551996,-0.08451763,
  0.09151282, 0.69503143,-0.11133651,-0.71028268, 0.00583188]

qacc:
[ -0.35920111,-19.82022898, 37.0183772 ,-25.55996694, -0.68444813,
 -10.67604996, 16.0909238 ,  4.79971344, -0.16856269, -2.76041486,
  10.97934399,-19.3110872 , -0.842288  ,  0.62247453,-15.62116483,
  25.0306784 ,  0.49041991, -2.58048362, -1.38345068,  9.03857756,
  22.92064648,-91.54010074]

qfrc_actuator:
[ 3.51090357e-03, 6.83055578e-02, 1.14286297e-02, 2.07820001e-03,
  3.42296449e-03, 5.89935445e-02, 1.16202345e-02,-8.75527674e-05,
 -2.30561652e-03, 3.46424539e-02, 1.08003053e-02, 1.82299566e-03,
  1.03325931e-02,-5.96792673e-05, 0.00000000e+00,-1.24282595e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.18282115, -0.03381339,  0.17966699, -0.03381339,  0.37703162,
        0.03655048,  0.17966699,  0.03655048,  0.18969996,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033394173354245847
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.00723019e-01,  7.70833941e-02, -7.95732370e-01, -4.64439563e-02,
        9.97024649e-01,  6.15207978e-02,  7.98107018e-01, -6.93889390e-18,
        6.02515715e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628806, -0.0335296 ,  0.22432381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.18282115, -0.03381339,  0.17966699, -0.03381339,  0.37703162,
        0.03655048,  0.17966699,  0.03655048,  0.18969996,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033394173354245847
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.00723019e-01,  7.70833941e-02, -7.95732370e-01, -4.64439563e-02,
        9.97024649e-01,  6.15207978e-02,  7.98107018e-01, -6.93889390e-18,
        6.02515715e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628806, -0.0335296 ,  0.22432381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24522689, -0.0165716 , -0.24466632, -0.0165716 ,  0.96466046,
       -0.04872826, -0.24466632, -0.04872826,  0.24852733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006563822799743706
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99214585e-01,  8.48320363e-02, -9.12924554e-01, -3.39887064e-02,
        9.96395266e-01,  7.77254284e-02,  9.16227310e-01,  3.46944695e-18,
        4.00658853e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08383924, -0.03345158,  0.22308426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -14.83993435,  -8.83874741, -14.83993435,
        37.32063262, -33.65970148,  -8.83874741, -33.65970148,
        73.78613773,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002207459039052284
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25735405e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.25735405e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07003158, -0.06319775,  0.0618573 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51693271e-03, 2.42014061e-02, 3.58970978e-03,-1.09765853e-04,
 -1.95733514e-04,-1.30755407e-03,-3.14953964e-04, 3.78095927e-06,
 -4.86508977e-05, 3.45320249e-05, 3.86660832e-05,-4.07802962e-05,
  4.18051134e-03, 6.61617731e-03, 4.99215608e-03, 6.32975103e-04,
  5.13960193e-03, 9.49675088e-03,-9.81873589e+00,-4.69525129e-03,
 -6.14284006e-02, 5.95124683e-02]


--- Step 3160 ---
qpos:
[-0.01245896, 1.19282214,-0.03245917, 0.94255036,-0.0112148 , 1.30974024,
 -0.0317993 , 0.94300714, 0.01452903, 1.33852298,-0.02370019, 0.95474579,
  1.2492683 , 0.00377485, 1.29401156, 0.04531101,-0.0554638 ,-0.08444707,
  0.091628  , 0.69554186,-0.11209952,-0.70965403, 0.00681013]

qacc:
[ -0.14633459,-22.07065691, 47.82814474,-52.09647088, -0.66720409,
 -11.41193691, 18.63520216,  1.64599769,  0.11074169,  1.2123824 ,
  -4.38531722, 10.05740464, -1.20409921,  0.82810993, -6.67631688,
   9.58541304,  0.48461855, -2.48119873, -1.68546134,  8.75822461,
  22.12626519,-87.74449912]

qfrc_actuator:
[ 3.54731531e-03, 6.82846223e-02, 1.14900952e-02, 1.98338321e-03,
  3.34719980e-03, 5.84782258e-02, 1.16102231e-02,-3.96915056e-05,
 -2.24492252e-03, 3.46788445e-02, 1.08123996e-02, 1.85333929e-03,
  1.03208684e-02, 7.22368959e-05, 0.00000000e+00,-1.25699993e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1842634 , -0.0356585 ,  0.18078017, -0.0356585 ,  0.28516029,
        0.0199017 ,  0.18078017,  0.0199017 ,  0.18818896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003433043373825828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60108945,  0.07708739, -0.79545522, -0.04647471,  0.99702434,
        0.06150258,  0.79782929,  0.        ,  0.60288342])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628883, -0.03353618,  0.22433015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1842634 , -0.0356585 ,  0.18078017, -0.0356585 ,  0.28516029,
        0.0199017 ,  0.18078017,  0.0199017 ,  0.18818896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003433043373825828
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60108945,  0.07708739, -0.79545522, -0.04647471,  0.99702434,
        0.06150258,  0.79782929,  0.        ,  0.60288342])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628883, -0.03353618,  0.22433015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24833724, -0.01549824, -0.24785316, -0.01549824,  0.82748568,
       -0.03621411, -0.24785316, -0.03621411,  0.25060171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006671264653645252
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39908633,  0.08485093, -0.91297887, -0.03398541,  0.99639366,
        0.07774749,  0.9162833 ,  0.        ,  0.40053078])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08383485, -0.03345809,  0.22308786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -15.92601287,  -6.68649545, -15.92601287,
        27.97168055, -25.48295575,  -6.68649545, -25.48295575,
        77.96848107,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021194446243926746
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30956833e-14,  1.30956833e-14,  1.00000000e+00,  1.71496922e-28,
        1.00000000e+00, -1.30956833e-14, -1.00000000e+00,  0.00000000e+00,
       -1.30956833e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07006062, -0.06315357,  0.0618631 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.59452499e-03, 2.50767511e-02, 3.73379265e-03,-1.83552949e-04,
 -1.90861101e-04,-1.30419917e-03,-3.02354126e-04, 3.29131325e-08,
  3.19607944e-05, 6.18558284e-05, 2.20472925e-05, 3.15445456e-05,
  4.25792161e-03, 6.73564513e-03, 5.68423912e-03, 6.98143290e-04,
  3.95959437e-03, 6.48054821e-03,-9.81760953e+00,-5.09413737e-03,
 -6.13620645e-02, 5.94480857e-02]


--- Step 3161 ---
qpos:
[-0.01249833, 1.19298113,-0.03252024, 0.94255308,-0.011147  , 1.3102216 ,
 -0.03177966, 0.94297204, 0.01454455, 1.33852202,-0.02370263, 0.95474742,
  1.24945419, 0.00367354, 1.29401238, 0.0452948 ,-0.05540572,-0.08438613,
  0.09173546, 0.69608447,-0.11273064,-0.70901287, 0.00767796]

qacc:
[ 1.03005227e-01,-1.90836517e+01, 3.03577633e+01,-1.21253513e+01,
 -5.82405930e-01,-1.08509719e+01, 1.68676880e+01, 2.33392714e+00,
  4.64871923e-02, 2.16644308e+00,-4.36088571e+00,-4.54008409e+00,
 -1.31395904e+00, 8.96132809e-01,-2.56950328e-01,-3.47268159e+00,
  4.80011631e-01,-2.40284776e+00,-1.92979652e+00, 8.53213191e+00,
  2.15087384e+01,-8.46052304e+01]

qfrc_actuator:
[ 3.56745469e-03, 6.83886321e-02, 1.14980982e-02, 1.97984647e-03,
  3.29276899e-03, 5.79430544e-02, 1.15785449e-02, 2.84391517e-06,
 -2.25033082e-03, 3.47188838e-02, 1.07669671e-02, 1.81702587e-03,
  1.03178313e-02, 2.45111510e-04, 0.00000000e+00,-1.40084688e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.18554708, -0.05488583,  0.17724352, -0.05488583,  1.17442615,
        0.30621964,  0.17724352,  0.30621964,  0.28037209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003513202139412627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.01451412e-01,  7.70918419e-02, -7.95181141e-01, -4.65053974e-02,
        9.97023996e-01,  6.14849583e-02,  7.97554667e-01, -6.93889390e-18,
        6.03246677e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628938, -0.03354237,  0.2243361 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.18554708, -0.05488583,  0.17724352, -0.05488583,  1.17442615,
        0.30621964,  0.17724352,  0.30621964,  0.28037209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003513202139412627
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.01451412e-01,  7.70918419e-02, -7.95181141e-01, -4.65053974e-02,
        9.97023996e-01,  6.14849583e-02,  7.97554667e-01, -6.93889390e-18,
        6.03246677e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628938, -0.03354237,  0.2243361 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25102737, -0.00721716, -0.2509236 , -0.00721716,  1.02319454,
       -0.02220936, -0.2509236 , -0.02220936,  0.25166616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006764958906708939
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98975762e-01,  8.48694874e-02, -9.13025471e-01, -3.39834782e-02,
        9.96392076e-01,  7.77685869e-02,  9.16331525e-01,  3.46944695e-18,
        4.00420449e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08383037, -0.0334642 ,  0.22309112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.53073603,  -5.00818069, -16.53073603,
        24.69621348, -24.50304779,  -5.00818069, -24.50304779,
        98.15108204,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002029166929633369
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.73566213e-14, -1.36783106e-14,  1.00000000e+00, -3.74192364e-28,
        1.00000000e+00,  1.36783106e-14, -1.00000000e+00,  0.00000000e+00,
       -2.73566213e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07009052, -0.06310875,  0.061869  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.63147329e-03, 2.60631726e-02, 3.82209840e-03,-9.29249297e-05,
 -1.66673664e-04,-1.31975168e-03,-3.22022694e-04,-4.92416593e-06,
  1.34667053e-05, 7.95127765e-05,-2.99154074e-05,-3.31047247e-05,
  4.35080562e-03, 6.90970282e-03, 6.00929875e-03, 6.01510786e-04,
  2.78821422e-03, 4.09433975e-03,-9.81666715e+00,-5.51712866e-03,
 -6.12866846e-02, 5.93913149e-02]


--- Step 3162 ---
qpos:
[-0.01253801, 1.19312282,-0.03258316, 0.9425565 ,-0.01108064, 1.31069286,
 -0.03176079, 0.94293874, 0.01455976, 1.33852162,-0.02370523, 0.95474825,
  1.24963829, 0.00357246, 1.29400746, 0.04527757,-0.05536222,-0.08432402,
  0.09183187, 0.69645446,-0.11340381,-0.70853202, 0.00855184]

qacc:
[  -0.1352886 , -16.52425646,  25.03398144,  -2.61138315,  -0.61063431,
   -8.09931497,   6.67145755,  21.56718609,  -0.12856002,  -0.21731377,
    3.20384433, -12.36099311,  -1.29601219,   1.10108781,  -5.2629785 ,
    6.34831394,  -3.64407488,   0.2902567 ,  -2.76412606, -22.83101014,
 -117.16777759,   8.63655467]

qfrc_actuator:
[ 3.57739497e-03, 6.85769289e-02, 1.15466064e-02, 2.02981409e-03,
  3.21606237e-03, 5.74712293e-02, 1.15520062e-02, 9.51323023e-05,
 -2.29535370e-03, 3.47427811e-02, 1.07589290e-02, 1.77723975e-03,
  1.02934376e-02, 3.71682573e-04, 0.00000000e+00,-1.35584509e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.18668419, -0.0216183 , -0.18542825, -0.0216183 ,  1.38115123,
       -0.13925789, -0.18542825, -0.13925789,  0.20291968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003581895200704104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.01788711e-01,  7.70974696e-02, -7.94925360e-01, -4.65348951e-02,
        9.97023560e-01,  6.14696946e-02,  7.97298471e-01,  6.93889390e-18,
        6.03585246e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628981, -0.03354828,  0.22434146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.18668419, -0.0216183 , -0.18542825, -0.0216183 ,  1.38115123,
       -0.13925789, -0.18542825, -0.13925789,  0.20291968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003581895200704104
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.01788711e-01,  7.70974696e-02, -7.94925360e-01, -4.65348951e-02,
        9.97023560e-01,  6.14696946e-02,  7.97298471e-01,  6.93889390e-18,
        6.03585246e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628981, -0.03354828,  0.22434146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25333741, -0.0072259 , -0.25323434, -0.0072259 ,  1.1656309 ,
       -0.02603177, -0.25323434, -0.02603177,  0.25408021,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000684608309261172
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98885792e-01,  8.48874223e-02, -9.13063114e-01, -3.39830468e-02,
        9.96390549e-01,  7.77883474e-02,  9.16370710e-01, -6.93889390e-18,
        4.00330767e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08382621, -0.03347005,  0.22309399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.69352904,   4.43544764, -16.69352904,
        24.50124157,  27.20568997,   4.43544764,  27.20568997,
       119.66576914,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001993132712641739
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39256034e-14, -2.78512067e-14,  1.00000000e+00, -3.87844858e-28,
        1.00000000e+00,  2.78512067e-14, -1.00000000e+00,  0.00000000e+00,
       -1.39256034e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02184685, -0.08831083,  0.06187161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62964848e-03, 2.72463860e-02, 3.99733855e-03,-4.96051773e-05,
 -1.74738326e-04,-1.26891439e-03,-3.22291154e-04, 4.36545165e-05,
 -3.70688238e-05, 6.10647838e-05, 3.12900997e-06,-3.90801978e-05,
  4.41726384e-03, 7.04446763e-03, 6.11623459e-03, 6.93001009e-04,
  1.61956988e-03, 2.26092521e-03,-9.81589016e+00,-5.96115191e-03,
 -6.12032390e-02, 5.93420545e-02]


--- Step 3163 ---
qpos:
[-0.01257818, 1.19324994,-0.0326481 , 0.94255956,-0.01101587, 1.31115427,
 -0.03174204, 0.94290814, 0.01457467, 1.33852125,-0.02370742, 0.95474861,
  1.2498212 , 0.00347193, 1.29399262, 0.04525928,-0.05533207,-0.08426071,
  0.09191494, 0.69666588,-0.11411369,-0.70819897, 0.00943053]

qacc:
[  -0.20909479, -14.30303255,  24.26421539, -15.94599761,  -0.67172459,
   -8.00619774,   4.92392137,  33.30940256,  -0.12838078,  -1.89278427,
    7.14358254, -11.577175  ,  -0.74482759,   0.83862357, -11.46014338,
   18.89101717,  -3.33996786,   0.30093641,  -3.33194601, -20.70557302,
 -107.76185616,   6.9818733 ]

qfrc_actuator:
[ 0.00359942, 0.06876787, 0.01161974, 0.0020225 , 0.00312661, 0.05702345,
  0.0115645 , 0.00023375,-0.00231052, 0.03472144, 0.01077299, 0.00175352,
  0.01026694, 0.0004169 , 0.        ,-0.00117931, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.18763548,  0.06599041,  0.17564834,  0.06599041,  1.52499649,
       -0.50244141,  0.17564834, -0.50244141,  0.37640079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036377975925951274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60211963,  0.07710363, -0.79467414, -0.04656423,  0.99702308,
        0.06145521,  0.79704688,  0.        ,  0.60391744])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08629004, -0.03355384,  0.22434644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.18763548,  0.06599041,  0.17564834,  0.06599041,  1.52499649,
       -0.50244141,  0.17564834, -0.50244141,  0.37640079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036377975925951274
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60211963,  0.07710363, -0.79467414, -0.04656423,  0.99702308,
        0.06145521,  0.79704688,  0.        ,  0.60391744])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08629004, -0.03355384,  0.22434644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25525776, -0.0095729 , -0.25507819, -0.0095729 ,  1.22829667,
       -0.03651746, -0.25507819, -0.03651746,  0.25662823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006914057152190324
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98813359e-01,  8.49050282e-02, -9.13093117e-01, -3.39839740e-02,
        9.96389049e-01,  7.78071548e-02,  9.16402201e-01,  3.46944695e-18,
        4.00258674e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08382201, -0.03347555,  0.22309652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.27172323,  0.18623639, 17.27172323, 17.27887039,
       -0.56971837,  0.18623639, -0.56971837, 70.10890007,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020013252013327404
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.16057954e-14,  5.54743939e-14,  1.00000000e+00,  2.30805628e-27,
        1.00000000e+00, -5.54743939e-14, -1.00000000e+00,  0.00000000e+00,
       -4.16057954e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02184415, -0.0882994 ,  0.06187149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66722909e-03, 2.83002633e-02, 4.16248364e-03,-9.18862931e-05,
 -1.92238738e-04,-1.21524710e-03,-2.71893842e-04, 9.26193833e-05,
 -3.70551106e-05, 1.18938525e-05, 2.52092959e-05,-2.27345874e-05,
  4.48041271e-03, 7.07996123e-03, 6.40243769e-03, 9.20856821e-04,
  2.24395631e-03, 3.94944297e-03,-9.81500426e+00,-6.91260936e-03,
 -6.10462139e-02, 5.92525600e-02]


--- Step 3164 ---
qpos:
[-0.01261879, 1.19336412,-0.03271465, 0.94256199,-0.01095252, 1.31160565,
 -0.03172294, 0.94287979, 0.01458942, 1.33852077,-0.023709  , 0.95474764,
  1.25000317, 0.00337195, 1.29396921, 0.04524023,-0.05531428,-0.08419617,
  0.09198277, 0.69673043,-0.11485607,-0.70800313, 0.01031305]

qacc:
[-1.90250984e-01,-1.37169194e+01, 2.55353088e+01,-2.12635040e+01,
 -6.07540126e-01,-1.02751153e+01, 1.29744676e+01, 2.11851697e+01,
 -6.57772555e-02,-4.03555831e+00, 1.56639295e+01,-2.87600528e+01,
 -5.98223665e-01, 7.48672349e-01,-1.02660638e+01, 1.76454660e+01,
 -3.08780870e+00, 3.08572348e-01,-3.81221830e+00,-1.89943604e+01,
 -9.98685334e+01, 5.70238708e+00]

qfrc_actuator:
[ 0.00361124, 0.06891135, 0.0116908 , 0.00199935, 0.00306572, 0.05652286,
  0.01158233, 0.00034529,-0.00230765, 0.03470877, 0.01079981, 0.00168616,
  0.01025518, 0.00048392, 0.        ,-0.00106545, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003679119126404201
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60246539,  0.0771093 , -0.79441148, -0.04659441,  0.99702265,
        0.06143944,  0.79678379,  0.        ,  0.6042645 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628998, -0.03355903,  0.22435124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003679119126404201
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60246539,  0.0771093 , -0.79441148, -0.04659441,  0.99702265,
        0.06143944,  0.79678379,  0.        ,  0.6042645 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628998, -0.03355903,  0.22435124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25676918, -0.00916757, -0.25660547, -0.00916757,  1.21318648,
       -0.03416926, -0.25660547, -0.03416926,  0.25798992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006967936058930868
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98756145e-01,  8.49224334e-02, -9.13116486e-01, -3.39861147e-02,
        9.96387565e-01,  7.78252125e-02,  9.16427019e-01,  3.46944695e-18,
        4.00201848e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08381737, -0.03348068,  0.22309877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.23641451,  1.11942946, 17.23641451, 17.53776413,
       -4.08090482,  1.11942946, -4.08090482, 80.10845706,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019866052808631685
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.7942718e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.7942718e-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([ 0.02189847, -0.088298  ,  0.06187267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.70304347e-03, 2.91715952e-02, 4.33438727e-03,-9.71061852e-05,
 -1.73964214e-04,-1.22692933e-03,-2.48878826e-04, 6.97583129e-05,
 -1.90118886e-05,-1.82745794e-06, 3.13455668e-05,-6.67991812e-05,
  4.52837589e-03, 7.12154730e-03, 6.89922230e-03, 1.08721022e-03,
  2.16019294e-03, 5.63393272e-03,-9.81447581e+00,-7.80294662e-03,
 -6.08897732e-02, 5.91686514e-02]


--- Step 3165 ---
qpos:
[-0.01265936, 1.19346546,-0.03278234, 0.94256375,-0.01089037, 1.31204726,
 -0.03170402, 0.94285095, 0.01460405, 1.33851954,-0.02370999, 0.95474698,
  1.25018395, 0.00327216, 1.29394429, 0.04522083,-0.055308  ,-0.08413037,
  0.09203372, 0.69665783,-0.11562762,-0.70793553, 0.01119859]

qacc:
[ 1.79616263e-02,-1.49128962e+01, 2.96681952e+01,-2.54215138e+01,
 -5.08235763e-01,-1.31999970e+01, 2.85958761e+01,-2.43962323e+01,
 -5.29213673e-02,-2.09257090e+00, 5.04422755e+00,-5.13831206e-01,
 -1.00437585e+00, 9.14794369e-01,-1.14237568e+00, 9.39323004e-01,
 -2.87803696e+00, 3.13846266e-01,-4.21849799e+00,-1.76227830e+01,
 -9.32426065e+01, 4.72355606e+00]

qfrc_actuator:
[ 0.00361709, 0.06901278, 0.01176103, 0.00196711, 0.00302247, 0.05603023,
  0.01156742, 0.0003157 ,-0.00231173, 0.03463041, 0.01081618, 0.00170019,
  0.01024162, 0.0005993 , 0.        ,-0.00116657, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003707703055091643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60282328,  0.07711459, -0.79413943, -0.04662531,  0.99702224,
        0.06142264,  0.79651125,  0.        ,  0.6046237 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628968, -0.03356392,  0.22435589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003707703055091643
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60282328,  0.07711459, -0.79413943, -0.04662531,  0.99702224,
        0.06142264,  0.79651125,  0.        ,  0.6046237 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628968, -0.03356392,  0.22435589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25792765, -0.00569008, -0.25786488, -0.00569008,  1.10656629,
       -0.01872615, -0.25786488, -0.01872615,  0.25834087,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007009478712566054
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39871226,  0.08493967, -0.91313405, -0.03398932,  0.9963861 ,
        0.07784262,  0.916446  ,  0.        ,  0.40015839])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08381237, -0.03348549,  0.22310076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.14453838,  2.10045503, 17.14453838, 18.41475068,
       -9.32153453,  2.10045503, -9.32153453, 93.35786313,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019535421834163402
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.68312798e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.68312798e-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([ 0.02199744, -0.0883045 ,  0.06187488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.73072866e-03, 2.99185004e-02, 4.48479618e-03,-9.77712028e-05,
 -1.45599688e-04,-1.22154272e-03,-2.81928701e-04,-7.16013903e-05,
 -1.53133372e-05,-7.52175578e-05, 1.76165944e-05, 1.33250357e-05,
  4.56120809e-03, 7.21150132e-03, 7.32737691e-03, 1.02489575e-03,
  1.52512629e-03, 7.29783033e-03,-9.81422853e+00,-8.63491742e-03,
 -6.07337857e-02, 5.90890559e-02]


--- Step 3166 ---
qpos:
[-0.01270029, 1.19355606,-0.03284994, 0.94256623,-0.01082949, 1.31247962,
 -0.03168562, 0.94282126, 0.01461854, 1.33851778,-0.0237111 , 0.95474719,
  1.25036304, 0.00317278, 1.29391503, 0.04520107,-0.05531507,-0.08407026,
  0.09206555, 0.69645314,-0.11631489,-0.70801237, 0.01193088]

qacc:
[-1.58674373e-01,-1.30939925e+01, 2.41900072e+01,-5.75146383e+00,
 -5.35948941e-01,-1.21435348e+01, 2.66817220e+01,-2.70029993e+01,
 -5.98555750e-02, 1.15428987e+00,-6.39185536e+00, 1.60541354e+01,
 -1.36518176e+00, 1.31560423e+00,-5.19684838e+00, 9.09755643e+00,
 -3.33800914e+00,-1.42254002e+00,-4.77999045e+00,-3.33396956e+01,
 -8.86840896e+01,-9.08244134e+01]

qfrc_actuator:
[ 0.0036723 , 0.06904081, 0.01177767, 0.00201848, 0.00295462, 0.05559937,
  0.01155101, 0.00027427,-0.00231996, 0.03460209, 0.01080828, 0.00174419,
  0.01022172, 0.00074383, 0.        ,-0.00109502, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.18923593,  0.00211366, -0.18922413,  0.00211366,  0.77193784,
        0.00650887, -0.18922413,  0.00650887,  0.18930864,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003728835447502025
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60316539,  0.07712071, -0.79387903, -0.0466555 ,  0.99702176,
        0.0614074 ,  0.79625045,  0.        ,  0.60496712])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628929, -0.03356864,  0.22436015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.18923593,  0.00211366, -0.18922413,  0.00211366,  0.77193784,
        0.00650887, -0.18922413,  0.00650887,  0.18930864,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003728835447502025
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60316539,  0.07712071, -0.79387903, -0.0466555 ,  0.99702176,
        0.0614074 ,  0.79625045,  0.        ,  0.60496712])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628929, -0.03356864,  0.22436015])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25885467, -0.00799353, -0.25873122, -0.00799353,  1.27928825,
       -0.03152639, -0.25873122, -0.03152639,  0.25982868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007042884865155197
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3986812 ,  0.08495656, -0.91314604, -0.03399348,  0.99638466,
        0.07785924,  0.91645935,  0.        ,  0.4001278 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08380755, -0.03349015,  0.22310249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019509038493295966
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.55675853e-14,  1.42270341e-14,  1.00000000e+00,  5.06021249e-28,
        1.00000000e+00, -1.42270341e-14, -1.00000000e+00,  0.00000000e+00,
       -3.55675853e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02518401, -0.06783359,  0.06187518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.78394650e-03, 3.05878178e-02, 4.55878380e-03,-1.25917932e-05,
 -1.53515479e-04,-1.16743725e-03,-2.90271903e-04,-8.75274537e-05,
 -1.72741717e-05,-6.60671617e-05,-2.01939079e-05, 4.25996891e-05,
  4.60099364e-03, 7.34853952e-03, 7.40325603e-03, 1.11329763e-03,
  4.52566948e-04, 8.93406522e-03,-9.81420808e+00,-9.41244273e-03,
 -6.05777817e-02, 5.90128164e-02]


--- Step 3167 ---
qpos:
[-0.01274206, 1.19363799,-0.03291791, 0.94256879,-0.01077003, 1.31290343,
 -0.03166798, 0.94279231, 0.01463285, 1.33851624,-0.02371259, 0.95474719,
  1.25054048, 0.00307423, 1.29387474, 0.04518082,-0.05533456,-0.08401537,
  0.09207679, 0.69612636,-0.11692361,-0.70822326, 0.01252096]

qacc:
[-3.62202121e-01,-1.02742418e+01, 1.95736598e+01,-1.04862906e+01,
 -6.02018680e-01,-7.94492946e+00, 1.08348431e+01, 4.51202370e+00,
 -7.23504445e-02, 9.29818626e-01,-2.24327561e+00,-7.16825546e-01,
 -1.18095075e+00, 1.37665678e+00,-1.47171255e+01, 2.80530135e+01,
 -3.10367241e+00,-1.30469417e+00,-5.14915723e+00,-3.08905711e+01,
 -8.20951437e+01,-8.44007688e+01]

qfrc_actuator:
[ 0.00375753, 0.06908108, 0.01179689, 0.00203013, 0.00287256, 0.05522672,
  0.01153412, 0.00031505,-0.0023306 , 0.03465713, 0.01080406, 0.00173448,
  0.01021407, 0.00087006, 0.        ,-0.00081318, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003741560458938153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60350548,  0.07712717, -0.7936199 , -0.04668573,  0.99702126,
        0.06139253,  0.79599094,  0.        ,  0.60530853])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628877, -0.03357311,  0.22436419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003741560458938153
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60350548,  0.07712717, -0.7936199 , -0.04668573,  0.99702126,
        0.06139253,  0.79599094,  0.        ,  0.60530853])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628877, -0.03357311,  0.22436419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25954284, -0.01293325, -0.2592204 , -0.01293325,  1.50553932,
       -0.06216632, -0.2592204 , -0.06216632,  0.2626445 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007067782977219217
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3986599 ,  0.08497335, -0.91315377, -0.03399843,  0.99638322,
        0.0778754 ,  0.91646843,  0.        ,  0.400107  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08380264, -0.03349456,  0.22310401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   8.83334602,  14.84315012,   8.83334602,
       117.05914962, -59.38415964,  14.84315012, -59.38415964,
        52.61299033,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019325976853765206
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.8723594e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.8723594e-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([ 0.02523639, -0.06782359,  0.06187634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.88743463e-03, 3.11640608e-02, 4.57355991e-03,-3.71449778e-05,
 -1.72387721e-04,-1.08134164e-03,-2.81570478e-04,-4.32397578e-06,
 -2.08514778e-05, 1.58483827e-05,-1.81665947e-05,-1.12791248e-05,
  4.67802526e-03, 7.45619900e-03, 7.62109226e-03, 1.41385493e-03,
 -1.02998575e-03, 7.77610848e-03,-9.81304980e+00,-9.97105661e-03,
 -6.02623747e-02, 5.89546010e-02]


--- Step 3168 ---
qpos:
[-0.0127831 , 1.19370998,-0.03298682, 0.94257024,-0.01071184, 1.31331861,
 -0.03165074, 0.94276407, 0.01464697, 1.33851427,-0.02371372, 0.95474951,
  1.25071651, 0.00297584, 1.29383301, 0.04516064,-0.05536566,-0.08396531,
  0.09206617, 0.69568575,-0.11745864,-0.70855936, 0.01297817]

qacc:
[  0.31816207,-12.39066516, 26.97456671,-30.07664048, -0.54403522,
  -9.03821781, 14.33340976,  1.28395934, -0.08428256,  2.47850566,
 -13.42799405, 38.64263689, -1.12340417,  0.96490831, -2.25065671,
   4.97873619, -2.90426977, -1.20722463, -5.46312647,-28.83963396,
 -76.58744187,-78.94546906]

qfrc_actuator:
[ 0.00384363, 0.06909544, 0.01187133, 0.00196502, 0.00281815, 0.05480323,
  0.01151738, 0.00035065,-0.00234261, 0.03461963, 0.0108201 , 0.00185305,
  0.01019786, 0.00096696, 0.        ,-0.00090197, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003742035465730438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60387254,  0.07713269, -0.79334009, -0.04671749,  0.99702084,
        0.0613753 ,  0.79571064,  0.        ,  0.60567695])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628796, -0.03357719,  0.22436829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003742035465730438
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60387254,  0.07713269, -0.79334009, -0.04671749,  0.99702084,
        0.0613753 ,  0.79571064,  0.        ,  0.60567695])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628796, -0.03357719,  0.22436829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25992051, -0.00748802, -0.25981262, -0.00748802,  1.22823042,
       -0.02790751, -0.25981262, -0.02790751,  0.26072482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007081483922940085
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39864689,  0.08499027, -0.91315788, -0.03400414,  0.99638178,
        0.07789136,  0.91647388,  0.        ,  0.40009452])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08379709, -0.03349856,  0.22310537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   7.96385697,  15.32723359,   7.96385697,
       148.19635835, -68.02643583,  15.32723359, -68.02643583,
        52.61849284,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018962660410899793
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19554443e-14,  1.46369629e-14,  1.00000000e+00, -3.21361023e-28,
        1.00000000e+00, -1.46369629e-14, -1.00000000e+00,  0.00000000e+00,
        2.19554443e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0253349 , -0.06780949,  0.06187851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01509328e-03, 3.16117054e-02, 4.66605673e-03,-1.06444433e-04,
 -1.55855023e-04,-1.08025666e-03,-2.61126069e-04,-4.73151977e-06,
 -2.43269491e-05,-3.25974068e-05, 1.67471606e-05, 1.18240819e-04,
  4.74441774e-03, 7.51334130e-03, 8.17242193e-03, 1.34962176e-03,
 -2.45158611e-03, 6.72292010e-03,-9.81241815e+00,-1.02821139e-02,
 -6.00389549e-02, 5.89136637e-02]


--- Step 3169 ---
qpos:
[-0.01282307, 1.19377354,-0.03305478, 0.94257239,-0.01065487, 1.31372511,
 -0.03163382, 0.94273649, 0.01466101, 1.33851208,-0.02371469, 0.95475356,
  1.2508908 , 0.00287741, 1.29379268, 0.04514066,-0.05539339,-0.08393228,
  0.09207167, 0.69530463,-0.11778574,-0.70887385, 0.01326089]

qacc:
[ 4.68471011e-01,-1.24416879e+01, 2.57839733e+01,-8.87999404e+00,
 -5.12524606e-01,-9.36903794e+00, 1.54431261e+01,-2.59155773e-01,
 -3.24091668e-02, 2.26657067e+00,-1.12426512e+01, 2.99342888e+01,
 -1.45118189e+00, 1.12312707e+00, 1.54811528e+00,-2.15574441e+00,
  8.43151024e-01,-4.25941699e+00, 4.02788686e+00, 1.41451124e+01,
  3.74931745e+01,-1.33475761e+02]

qfrc_actuator:
[ 0.00394678, 0.06909897, 0.01196188, 0.00201482, 0.00276299, 0.05437049,
  0.01150068, 0.00038289,-0.0023376 , 0.03461593, 0.01082997, 0.00193963,
  0.01018187, 0.00109987, 0.        ,-0.00098272, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.18937732,  0.01320879, -0.18891611,  0.01320879,  0.68537519,
        0.03467958, -0.18891611,  0.03467958,  0.19180208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003736704920219835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.04227127e-01,  7.71384508e-02, -7.93069504e-01, -4.67484365e-02,
        9.97020391e-01,  6.13589787e-02,  7.95439604e-01,  6.93889390e-18,
        6.06032868e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628709, -0.03358111,  0.2243721 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.18937732,  0.01320879, -0.18891611,  0.01320879,  0.68537519,
        0.03467958, -0.18891611,  0.03467958,  0.19180208,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003736704920219835
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.04227127e-01,  7.71384508e-02, -7.93069504e-01, -4.67484365e-02,
        9.97020391e-01,  6.13589787e-02,  7.95439604e-01,  6.93889390e-18,
        6.06032868e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628709, -0.03358111,  0.2243721 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.26012317, -0.00690636, -0.26003147, -0.00690636,  1.26420404,
       -0.0266681 , -0.26003147, -0.0266681 ,  0.26083147,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007088847327468527
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39864387,  0.08500664, -0.91315768, -0.03401048,  0.99638039,
        0.07790645,  0.91647496,  0.        ,  0.40009204])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08379168, -0.03350241,  0.22310653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019020665515530888
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.82404078e-14,  7.29616311e-15,  1.00000000e+00,  1.33084990e-28,
        1.00000000e+00, -7.29616311e-15, -1.00000000e+00,  0.00000000e+00,
       -1.82404078e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07014444, -0.0630541 ,  0.06187806])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.08182150e-03, 3.21112906e-02, 4.80392991e-03,-7.03105883e-07,
 -1.46874016e-04,-1.08484620e-03,-2.58548199e-04,-7.49501117e-06,
 -9.35169864e-06,-1.49291237e-05, 8.87069194e-06, 8.88503634e-05,
  4.79873290e-03, 7.64072671e-03, 8.24527523e-03, 1.26571185e-03,
 -3.81890983e-03, 5.75787037e-03,-9.81221542e+00,-1.03876592e-02,
 -5.98900651e-02, 5.88876550e-02]


--- Step 3170 ---
qpos:
[-0.01286197, 1.19382958,-0.03312136, 0.94257569,-0.01059906, 1.3141234 ,
 -0.03161743, 0.94270879, 0.01467499, 1.33851021,-0.02371505, 0.95475579,
  1.25106347, 0.00277899, 1.2937533 , 0.04512087,-0.05541803,-0.08391482,
  0.09208878, 0.69497834,-0.11792106,-0.70916898, 0.01338281]

qacc:
[ 4.71411543e-01,-1.16088334e+01, 2.35211520e+01,-2.09898106e+00,
 -4.94075162e-01,-9.58718615e+00, 1.84790457e+01,-1.21209879e+01,
 -2.79343235e-02,-4.39918505e+00, 1.85302503e+01,-3.73371806e+01,
 -1.34141384e+00, 1.06336066e+00, 9.85483215e-01,-1.13976175e+00,
  7.72203763e-01,-3.89140245e+00, 2.90544676e+00, 1.30338738e+01,
  3.43601067e+01,-1.23103263e+02]

qfrc_actuator:
[ 0.00402401, 0.06920499, 0.01204282, 0.00207892, 0.00270784, 0.05398895,
  0.0114841 , 0.00037736,-0.00234015, 0.03466798, 0.01087168, 0.00184689,
  0.01017675, 0.00121901, 0.        ,-0.00104105, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.18922921, -0.03807099,  0.1853599 , -0.03807099,  1.62332242,
        0.29454775,  0.1853599 ,  0.29454775,  0.24972623,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003728460571879727
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6045602 ,  0.07714472, -0.79281502, -0.04677803,  0.99701991,
        0.06134431,  0.79518475,  0.        ,  0.60636723])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628621, -0.03358491,  0.22437558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.18922921, -0.03807099,  0.1853599 , -0.03807099,  1.62332242,
        0.29454775,  0.1853599 ,  0.29454775,  0.24972623,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003728460571879727
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6045602 ,  0.07714472, -0.79281502, -0.04677803,  0.99701991,
        0.06134431,  0.79518475,  0.        ,  0.60636723])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628621, -0.03358491,  0.22437558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.26022239, -0.00794132, -0.26010119, -0.00794132,  1.35303858,
       -0.03336549, -0.26010119, -0.03336549,  0.2612411 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007092455074607824
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39864769,  0.08502241, -0.91315454, -0.03401716,  0.99637904,
        0.07792075,  0.91647305,  0.        ,  0.40009642])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08378659, -0.03350615,  0.22310753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019311581163858338
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.23381315e-14,  2.15587543e-14,  1.00000000e+00, -6.97169833e-28,
        1.00000000e+00, -2.15587543e-14, -1.00000000e+00,  0.00000000e+00,
        3.23381315e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07013571, -0.06306283,  0.06187629])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10544115e-03, 3.26378880e-02, 4.83704369e-03, 2.84111008e-05,
 -1.41600907e-04,-1.03568315e-03,-2.59103631e-04,-4.53950649e-05,
 -8.08502362e-06, 4.81841371e-05, 4.24172425e-05,-9.08560565e-05,
  4.88112036e-03, 7.76378564e-03, 8.17618531e-03, 1.19720344e-03,
 -2.59399405e-03, 2.62541262e-03,-9.81119485e+00,-9.81191568e-03,
 -5.99752913e-02, 5.88697264e-02]


--- Step 3171 ---
qpos:
[-0.01289952, 1.19387765,-0.03318791, 0.94257847,-0.01054423, 1.31451395,
 -0.03160219, 0.94268125, 0.01468857, 1.33850819,-0.02371466, 0.95475589,
  1.25123496, 0.0026805 , 1.29371596, 0.04510127,-0.05543982,-0.08391171,
  0.09211373, 0.69470286,-0.11787809,-0.7094465 , 0.01335534]

qacc:
[   0.58416987, -11.44967998,  25.81159945, -23.47476951,  -0.41974994,
   -6.78169281,   9.53129122,  -1.61396209,  -0.16402131,  -5.84218449,
   23.11592121, -44.504329  ,  -1.02580642,   0.7874697 ,   2.50005867,
   -4.19032142,   0.71310371,  -3.58737282,   1.95759124,  12.09573556,
   31.75494157,-114.43165224]

qfrc_actuator:
[ 0.00406751, 0.0692507 , 0.01209944, 0.00204435, 0.00267087, 0.0536234 ,
  0.01143239, 0.00038519,-0.00238275, 0.03462875, 0.01089648, 0.00173819,
  0.01015689, 0.0012766 , 0.        ,-0.00113925, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.18903138, -0.0403077 ,  0.18468392, -0.0403077 ,  1.88052374,
        0.36917222,  0.18468392,  0.36917222,  0.26960409,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003717401951904009
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60487509,  0.07715132, -0.79257416, -0.04680642,  0.99701939,
        0.06133095,  0.79494357,  0.        ,  0.60668338])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628533, -0.0335886 ,  0.22437877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.18903138, -0.0403077 ,  0.18468392, -0.0403077 ,  1.88052374,
        0.36917222,  0.18468392,  0.36917222,  0.26960409,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003717401951904009
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60487509,  0.07715132, -0.79257416, -0.04680642,  0.99701939,
        0.06133095,  0.79494357,  0.        ,  0.60668338])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628533, -0.0335886 ,  0.22437877])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.26022499, -0.00712552, -0.26012742, -0.00712552,  1.28689074,
       -0.02812286, -0.26012742, -0.02812286,  0.26099535,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007092549676180476
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98657160e-01,  8.50376111e-02, -9.13148988e-01, -3.40240965e-02,
        9.96377742e-01,  7.79343066e-02,  9.16468674e-01, -3.46944695e-18,
        4.00106448e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08378177, -0.03350978,  0.22310838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019364304635625107
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.65834547e-14,  7.16668534e-15,  1.00000000e+00,  3.33848962e-28,
        1.00000000e+00, -7.16668534e-15, -1.00000000e+00,  0.00000000e+00,
       -4.65834547e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0701345 , -0.06306127,  0.06187601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.09499396e-03, 3.30597852e-02, 4.82501249e-03,-6.43266992e-05,
 -1.20313569e-04,-9.93690929e-04,-2.85770547e-04,-3.14683090e-05,
 -4.73658460e-05,-6.96504809e-06, 3.63784968e-05,-1.08143367e-04,
  4.94189817e-03, 7.82321856e-03, 8.12878831e-03, 1.09027861e-03,
 -1.58819033e-03, 7.67271255e-04,-9.81058107e+00,-9.36374332e-03,
 -6.00231011e-02, 5.88632864e-02]


--- Step 3172 ---
qpos:
[-0.01293675, 1.19391889,-0.03325454, 0.94258003,-0.0104905 , 1.3148969 ,
 -0.0315879 , 0.94265539, 0.01470182, 1.33850589,-0.02371414, 0.95475438,
  1.25140482, 0.00258225, 1.29367972, 0.04508181,-0.05545895,-0.08392195,
  0.09214331, 0.69447477,-0.1176681 ,-0.70970775, 0.01318799]

qacc:
[   0.14308146, -10.80133253,  26.94041673, -33.20862108,  -0.46086816,
   -4.53557842,  -0.70878602,  24.86799869,  -0.14195697,  -3.52503371,
   14.25344038, -30.65234464,  -1.52061793,   1.39924739,   1.32167242,
   -1.95408378,   0.66405271,  -3.33659938,   1.15823536,  11.3018616 ,
   29.58878946,-107.18953484]

qfrc_actuator:
[ 0.00405457, 0.06922817, 0.01217776, 0.00198731, 0.0026096 , 0.05327025,
  0.01139597, 0.00047182,-0.00239575, 0.03458835, 0.01089301, 0.00165646,
  0.01013354, 0.00140385, 0.        ,-0.0011727 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.18879369, -0.05440105,  0.18078601, -0.05440105,  1.64186304,
        0.43724897,  0.18078601,  0.43724897,  0.32036804,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003704043315618955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60516751,  0.07715832, -0.79235022, -0.04683333,  0.99701885,
        0.06131922,  0.7947194 ,  0.        ,  0.606977  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628446, -0.03359224,  0.22438162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.18879369, -0.05440105,  0.18078601, -0.05440105,  1.64186304,
        0.43724897,  0.18078601,  0.43724897,  0.32036804,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003704043315618955
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60516751,  0.07715832, -0.79235022, -0.04683333,  0.99701885,
        0.06131922,  0.7947194 ,  0.        ,  0.606977  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628446, -0.03359224,  0.22438162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.26013927, -0.00628927, -0.26006323, -0.00628927,  1.26362295,
       -0.02426787, -0.26006323, -0.02426787,  0.26072616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007089432535393562
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39867391,  0.0850521 , -0.91314032, -0.03403137,  0.99637651,
        0.07794694,  0.91646112,  0.        ,  0.40012376])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08377729, -0.03351337,  0.22310908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019225722558623703
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.24825478e-14, -1.44366879e-14,  1.00000000e+00,  4.68940404e-28,
        1.00000000e+00,  1.44366879e-14, -1.00000000e+00,  0.00000000e+00,
        3.24825478e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07013927, -0.06305148,  0.06187692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01516773e-03, 3.34351853e-02, 4.90166005e-03,-9.48757046e-05,
 -1.32092414e-04,-9.62790058e-04,-2.64885754e-04, 4.81291935e-05,
 -4.09783602e-05,-4.03314903e-05,-3.85440663e-06,-8.33940138e-05,
  4.97788760e-03, 7.95557471e-03, 8.02766903e-03, 1.04730849e-03,
 -7.56590973e-04,-7.59173740e-05,-9.81029522e+00,-9.01460694e-03,
 -6.00421198e-02, 5.88677182e-02]


--- Step 3173 ---
qpos:
[-0.01297398, 1.19395473,-0.03332044, 0.94258072,-0.01043788, 1.31527189,
 -0.03157295, 0.94263106, 0.01471506, 1.33850373,-0.0237142 , 0.95475329,
  1.25157308, 0.00248435, 1.29364508, 0.04506251,-0.05547559,-0.08394471,
  0.09217483, 0.69429112,-0.11730047,-0.70995375, 0.01288869]

qacc:
[ 3.65201230e-03,-1.05479791e+01, 2.76293937e+01,-3.06051220e+01,
 -4.71936489e-01,-9.62805731e+00, 1.56016592e+01, 9.39831505e+00,
 -5.64993352e-03, 2.46562073e+00,-8.63083701e+00, 1.21333009e+01,
 -1.58119472e+00, 1.54941461e+00, 2.01393124e+00,-3.32710833e+00,
  6.23503285e-01,-3.13021355e+00, 4.84985739e-01, 1.06281509e+01,
  2.77892031e+01,-1.01155326e+02]

qfrc_actuator:
[ 0.00404375, 0.06920225, 0.01228696, 0.0019532 , 0.002552  , 0.05289198,
  0.01143998, 0.0005509 ,-0.00237314, 0.03461847, 0.01087289, 0.00167999,
  0.01010818, 0.0015016 , 0.        ,-0.00122057, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.1885152 , -0.03874338,  0.18449101, -0.03874338,  1.90864383,
        0.36122956,  0.18449101,  0.36122956,  0.26437395,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003688291144591845
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60544272,  0.07716606, -0.7921392 , -0.04685935,  0.99701825,
        0.06130907,  0.79450822,  0.        ,  0.60725339])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628359, -0.03359578,  0.22438421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1885152 , -0.03874338,  0.18449101, -0.03874338,  1.90864383,
        0.36122956,  0.18449101,  0.36122956,  0.26437395,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003688291144591845
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60544272,  0.07716606, -0.7921392 , -0.04685935,  0.99701825,
        0.06130907,  0.79450822,  0.        ,  0.60725339])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628359, -0.03359578,  0.22438421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25996832, -0.00573189, -0.25990512, -0.00573189,  1.24696948,
       -0.02176711, -0.25990512, -0.02176711,  0.26044836,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007083220288746327
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.398697  ,  0.08506631, -0.91312892, -0.03403906,  0.99637529,
        0.07795908,  0.91645079,  0.        ,  0.40014741])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08377309, -0.03351687,  0.22310965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018935115273765804
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.39747663e-14,  2.93165108e-14,  1.00000000e+00, -1.28918671e-27,
        1.00000000e+00, -2.93165108e-14, -1.00000000e+00,  0.00000000e+00,
        4.39747663e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07014875, -0.06303517,  0.06187879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98801834e-03, 3.37500644e-02, 5.01520320e-03,-6.79261445e-05,
 -1.35363499e-04,-9.64255022e-04,-1.73671811e-04, 4.39466744e-05,
 -1.59934387e-06, 4.61138454e-06,-3.08779060e-05, 2.02804242e-05,
  5.03460985e-03, 8.04359476e-03, 7.97281873e-03, 9.92317130e-04,
 -6.55089348e-05,-9.50438220e-05,-9.81027697e+00,-8.74334196e-03,
 -6.00386903e-02, 5.88824498e-02]


--- Step 3174 ---
qpos:
[-0.01301173, 1.19398744,-0.03338545, 0.94258043,-0.01038622, 1.31563938,
 -0.03155823, 0.94260616, 0.01472778, 1.33850204,-0.02371528, 0.95475283,
  1.25174017, 0.00238722, 1.29360549, 0.04504312,-0.05548987,-0.08397931,
  0.09220603, 0.69414935,-0.11678298,-0.71018523, 0.01246398]

qacc:
[-2.27892259e-01,-8.18920379e+00, 2.37646684e+01,-2.99586237e+01,
 -4.07444488e-01,-1.01890262e+01, 2.25341007e+01,-2.14687294e+01,
 -2.20952582e-01, 4.47250385e+00,-1.50981216e+01, 2.00492081e+01,
 -1.11434904e+00, 1.39834910e+00,-6.93978309e+00, 1.38943059e+01,
  5.90124364e-01,-2.96086112e+00,-8.13663107e-02, 1.00543697e+01,
  2.62967329e+01,-9.61467092e+01]

qfrc_actuator:
[ 0.0040699 , 0.06922887, 0.01236066, 0.00191523, 0.00251481, 0.0525198 ,
  0.0114245 , 0.00051838,-0.00243588, 0.03465507, 0.01082568, 0.00171206,
  0.01009232, 0.0015637 , 0.        ,-0.00104639, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.18821465, -0.04374461,  0.18306055, -0.04374461,  1.91971522,
        0.41376374,  0.18306055,  0.41376374,  0.28708868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003671166856756558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60570146,  0.07717467, -0.79194054, -0.04688464,  0.99701759,
        0.06130058,  0.7943095 ,  0.        ,  0.60751331])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628273, -0.03359926,  0.22438656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.18821465, -0.04374461,  0.18306055, -0.04374461,  1.91971522,
        0.41376374,  0.18306055,  0.41376374,  0.28708868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003671166856756558
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60570146,  0.07717467, -0.79194054, -0.04688464,  0.99701759,
        0.06130058,  0.7943095 ,  0.        ,  0.60751331])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628273, -0.03359926,  0.22438656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25974151, -0.00957668, -0.2595649 , -0.00957668,  1.40590453,
       -0.04228782, -0.2595649 , -0.04228782,  0.26130172,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007074986818155181
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98724370e-01,  8.50804024e-02, -9.13115656e-01, -3.40470816e-02,
        9.96374089e-01,  7.79709632e-02,  9.16438581e-01, -3.46944695e-18,
        4.00175371e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08376913, -0.03352032,  0.22311011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018525323871456043
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.74562623e-14,  2.24737574e-14,  1.00000000e+00, -8.41782952e-28,
        1.00000000e+00, -2.24737574e-14, -1.00000000e+00,  0.00000000e+00,
        3.74562623e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07016188, -0.06301376,  0.06188138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01382731e-03, 3.40468501e-02, 5.05238964e-03,-6.24689602e-05,
 -1.16881650e-04,-9.41186794e-04,-2.23181415e-04,-6.51164943e-05,
 -6.36812398e-05, 3.37390948e-05,-4.92238824e-05, 3.17631082e-05,
  5.09843838e-03, 8.09039267e-03, 7.89393545e-03, 1.15895723e-03,
  5.10463692e-04, 5.69613153e-04,-9.81048008e+00,-8.53421953e-03,
 -6.00174744e-02, 5.89069551e-02]


--- Step 3175 ---
qpos:
[-0.01304997, 1.19401762,-0.03344897, 0.94257994,-0.01033561, 1.31599937,
 -0.0315446 , 0.9425794 , 0.01473984, 1.33850017,-0.02371661, 0.9547507 ,
  1.25190621, 0.00229085, 1.29356118, 0.04502378,-0.0555019 ,-0.0840252 ,
  0.09223499, 0.69404725,-0.11612208,-0.7104027 , 0.01191925]

qacc:
[ -0.21297455, -7.67030198, 21.43097569,-19.27312745, -0.44972536,
 -10.07670419, 24.83759317,-38.46848542, -0.27736552, -2.45832211,
  11.06109556,-28.6658131 , -1.01365814,  1.31258936, -7.0545494 ,
  14.75106086,  0.56277168, -2.82242581, -0.55728678,  9.56346196,
  25.06229631,-92.01261761]

qfrc_actuator:
[ 0.004101  , 0.06921588, 0.01241258, 0.0019109 , 0.00245465, 0.05211849,
  0.01135621, 0.00042041,-0.00247829, 0.0346064 , 0.0107984 , 0.00162459,
  0.01007685, 0.00163934, 0.        ,-0.00093408, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003648932828815409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60597317,  0.07718292, -0.79173184, -0.04691072,  0.99701695,
        0.06129101,  0.79410068,  0.        ,  0.60778623])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628174, -0.03360256,  0.22438897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003648932828815409
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60597317,  0.07718292, -0.79173184, -0.04691072,  0.99701695,
        0.06129101,  0.79410068,  0.        ,  0.60778623])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628174, -0.03360256,  0.22438897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25938857, -0.01094539, -0.25915754, -0.01094539,  1.51593048,
       -0.05306942, -0.25915754, -0.05306942,  0.26162993,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007062193924532306
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39875379,  0.08509466, -0.91310148, -0.03405534,  0.99637287,
        0.07798291,  0.91642547,  0.        ,  0.40020539])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08376486, -0.03352359,  0.22311051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018023736962701
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30991850e-14,  2.30991850e-14,  1.00000000e+00,  5.33572347e-28,
        1.00000000e+00, -2.30991850e-14, -1.00000000e+00,  0.00000000e+00,
       -2.30991850e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07017781, -0.0629884 ,  0.06188455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.07111246e-03, 3.41904386e-02, 5.05967123e-03,-1.79328620e-05,
 -1.28973468e-04,-9.70474251e-04,-2.80306316e-04,-1.33866379e-04,
 -8.00234374e-05,-3.86613521e-05,-2.53529920e-05,-8.71762968e-05,
  5.14161971e-03, 8.12955947e-03, 8.14149015e-03, 1.27588278e-03,
  9.90563244e-04, 1.81552365e-03,-9.81086903e+00,-8.37555221e-03,
 -5.99818907e-02, 5.89407528e-02]


--- Step 3176 ---
qpos:
[-0.01308771, 1.19404449,-0.03351073, 0.9425798 ,-0.01028609, 1.31635123,
 -0.0315312 , 0.94255341, 0.0147517 , 1.33849731,-0.02371772, 0.95474965,
  1.25207174, 0.00219482, 1.29351687, 0.04500478,-0.05551176,-0.08408193,
  0.09226013, 0.69398289,-0.11532302,-0.71060649, 0.01125889]

qacc:
[ 2.15205176e-01,-8.47864552e+00, 2.16718474e+01,-1.25732140e+01,
 -4.58816273e-01,-8.74347884e+00, 1.39975728e+01, 2.10721653e+00,
 -8.26783136e-02, 3.08315104e-02,-3.83361419e+00, 1.64566233e+01,
 -5.93785172e-01, 7.36552409e-01,-9.40837604e-01, 3.41993603e+00,
  5.40462171e-01,-2.70980671e+00,-9.56882604e-01, 9.14099749e+00,
  2.40451488e+01,-8.86270864e+01]

qfrc_actuator:
[ 0.00413525, 0.06921528, 0.01246825, 0.00192637, 0.00239896, 0.05170269,
  0.01134594, 0.00046222,-0.00245492, 0.03452482, 0.01080046, 0.00168047,
  0.01005632, 0.00165182, 0.        ,-0.00098325, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036220766260293413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60625788,  0.07719077, -0.79151309, -0.04693756,  0.99701634,
        0.06128035,  0.79388176,  0.        ,  0.60807216])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628065, -0.03360571,  0.22439143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00036220766260293413
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60625788,  0.07719077, -0.79151309, -0.04693756,  0.99701634,
        0.06128035,  0.79388176,  0.        ,  0.60807216])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08628065, -0.03360571,  0.22439143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25892292, -0.01002662, -0.25872871, -0.01002662,  1.50141012,
       -0.0481506 , -0.25872871, -0.0481506 ,  0.26078892,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007045350300335651
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98784160e-01,  8.51090860e-02, -9.13086873e-01, -3.40637510e-02,
        9.96371639e-01,  7.79949832e-02,  9.16411946e-01, -3.46944695e-18,
        4.00236362e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08376028, -0.03352669,  0.22311085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727,  4.38469256, 16.70693205,  4.38469256, 37.91588583,
       -5.41774537, 16.70693205, -5.41774537, 18.69460101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017453126368142113
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.77087744e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.77087744e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07019582, -0.06296005,  0.06188813])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.12984322e-03, 3.43159168e-02, 5.04086471e-03, 7.44238261e-06,
 -1.31639033e-04,-1.01435267e-03,-2.36518801e-04, 1.74572003e-06,
 -2.38842040e-05,-1.10486848e-04,-1.09177785e-05, 5.19602323e-05,
  5.17366533e-03, 8.10606395e-03, 8.37809908e-03, 1.22417709e-03,
  1.38938011e-03, 3.56855527e-03,-9.81141646e+00,-8.25867993e-03,
 -5.99344358e-02, 5.89834020e-02]


--- Step 3177 ---
qpos:
[-0.01312551, 1.19406929,-0.03357023, 0.94258075,-0.0102375 , 1.31669567,
 -0.03151809, 0.94252877, 0.01476368, 1.33849387,-0.02371838, 0.95474958,
  1.25223661, 0.00209934, 1.29346917, 0.04498602,-0.05551954,-0.08414914,
  0.0922801 , 0.69395457,-0.1143901 ,-0.71079673, 0.01048643]

qacc:
[-2.36801119e-02,-6.96019277e+00, 1.72028795e+01,-1.03100782e+00,
 -3.91469230e-01,-6.66541806e+00, 7.20662371e+00, 1.40104554e+01,
  4.53080584e-02,-3.58181591e-01,-1.72443309e+00, 1.30895420e+01,
 -6.48234507e-01, 8.83281237e-01,-5.70694815e+00, 1.28062828e+01,
  5.22351714e-01,-2.61873835e+00,-1.29223381e+00, 8.77472668e+00,
  2.32113052e+01,-8.58844951e+01]

qfrc_actuator:
[ 0.0041706 , 0.06922392, 0.01254305, 0.00198875, 0.00236413, 0.05138837,
  0.01135231, 0.00053274,-0.00242777, 0.03453085, 0.01083753, 0.00173152,
  0.01004873, 0.00171526, 0.        ,-0.00086333, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003593660948790541
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60653635,  0.07719867, -0.79129894, -0.04696395,  0.99701573,
        0.06127008,  0.79366746,  0.        ,  0.60835184])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627954, -0.03360885,  0.22439378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003593660948790541
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60653635,  0.07719867, -0.79129894, -0.04696395,  0.99701573,
        0.06127008,  0.79366746,  0.        ,  0.60835184])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627954, -0.03360885,  0.22439378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25840728, -0.01363531, -0.25804728, -0.01363531,  1.76713722,
       -0.07972184, -0.25804728, -0.07972184,  0.26261981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000702674400871732
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39881596,  0.08512329, -0.91307166, -0.03407219,  0.99637043,
        0.07800679,  0.91639779,  0.        ,  0.40026877])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08375576, -0.03352979,  0.22311112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001683235577387518
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.12235459e-15,  8.24470917e-15,  1.00000000e+00,  3.39876147e-29,
        1.00000000e+00, -8.24470917e-15, -1.00000000e+00,  0.00000000e+00,
       -4.12235459e-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([-0.07021534, -0.06292951,  0.06189202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.14061021e-03, 3.44902642e-02, 5.02808390e-03, 5.21529289e-05,
 -1.12340794e-04,-9.24430373e-04,-2.19494770e-04, 3.35446311e-05,
  1.30394282e-05,-5.56336184e-05, 1.57723723e-05, 4.86559581e-05,
  5.19150175e-03, 8.15447628e-03, 8.37863740e-03, 1.32782213e-03,
  1.71797388e-03, 5.77611564e-03,-9.81210124e+00,-8.17722591e-03,
 -5.98769204e-02, 5.90344988e-02]


--- Step 3178 ---
qpos:
[-0.01316329, 1.19409143,-0.03362726, 0.94258351,-0.01018992, 1.31703324,
 -0.03150526, 0.94250444, 0.01477551, 1.33849067,-0.02371942, 0.95474837,
  1.25240048, 0.00200427, 1.29342039, 0.0449677 ,-0.05552528,-0.08422653,
  0.09229377, 0.69396077,-0.11332674,-0.71097346, 0.00960465]

qacc:
[ 1.36455512e-02,-7.06082053e+00, 1.50520594e+01, 9.75658448e+00,
 -4.31089892e-01,-7.72407601e+00, 1.36803791e+01,-3.99672676e+00,
 -5.68063666e-02,-5.83397013e-01, 4.59827917e+00,-1.73296121e+01,
 -9.55772133e-01, 1.04435946e+00,-2.83400207e+00, 7.77612917e+00,
  5.07715877e-01,-2.54564439e+00,-1.57368029e+00, 8.45421940e+00,
  2.25322990e+01,-8.36958528e+01]

qfrc_actuator:
[ 0.00420697, 0.06918491, 0.01259263, 0.00207841, 0.0023066 , 0.05108421,
  0.01135106, 0.00054859,-0.00245183, 0.0345717 , 0.01082424, 0.00167283,
  0.01003294, 0.00180894, 0.        ,-0.00085504, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003561838486074286
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60682344,  0.07720615, -0.79107808, -0.04699076,  0.99701515,
        0.06125894,  0.79344639,  0.        ,  0.60864014])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627835, -0.03361189,  0.22439617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003561838486074286
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60682344,  0.07720615, -0.79107808, -0.04699076,  0.99701515,
        0.06125894,  0.79344639,  0.        ,  0.60864014])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627835, -0.03361189,  0.22439617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25780721, -0.0139365 , -0.25743024, -0.0139365 ,  1.92551932,
       -0.09028492, -0.25743024, -0.09028492,  0.26269496,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007005149132910463
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98847577e-01,  8.51375147e-02, -9.13056523e-01, -3.40806311e-02,
        9.96369210e-01,  7.80186324e-02,  9.16383719e-01,  3.46944695e-18,
        4.00300986e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08375101, -0.03353279,  0.22311134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016176982279977464
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.71574495e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.71574495e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0702359 , -0.06289744,  0.06189612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.17977029e-03, 3.45542572e-02, 4.96469890e-03, 8.77006961e-05,
 -1.23689938e-04,-8.60169221e-04,-2.06633241e-04,-1.71810635e-05,
 -1.63716625e-05, 1.46424150e-05,-2.09294639e-05,-5.87531915e-05,
  5.20912963e-03, 8.22239213e-03, 8.54912393e-03, 1.32405036e-03,
  1.98469586e-03, 8.40208397e-03,-9.81290694e+00,-8.12654631e-03,
 -5.98106462e-02, 5.90936708e-02]


--- Step 3179 ---
qpos:
[-0.01320011, 1.19410913,-0.03368355, 0.94258619,-0.01014337, 1.31736387,
 -0.0314929 , 0.94248154, 0.01478683, 1.33848757,-0.02372069, 0.9547482 ,
  1.25256347, 0.00190923, 1.29337454, 0.04494996,-0.05552905,-0.08431386,
  0.09230021, 0.69400014,-0.11213564,-0.71113654, 0.0086157 ]

qacc:
[  0.41534236, -7.94427982, 19.04418589,-14.57232036, -0.43838079,
  -5.41154593,  3.68094455, 17.90576186, -0.22285439,  2.51186163,
 -10.13242018, 20.68720691, -0.85971406,  0.74605281,  2.62290189,
  -2.7085702 ,  0.49593315, -2.48751824, -1.81006899,  8.17056975,
  21.9841991 ,-81.98586756]

qfrc_actuator:
[ 0.00426164, 0.06915426, 0.0126437 , 0.002059  , 0.00225366, 0.0507353 ,
  0.0113276 , 0.00062091,-0.00250643, 0.03457959, 0.01081692, 0.00172755,
  0.0100123 , 0.00186742, 0.        ,-0.00096726, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000352809232786265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60710864,  0.07721372, -0.79085848, -0.04701749,  0.99701456,
        0.06124798,  0.79322661,  0.        ,  0.60892655])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627713, -0.03361486,  0.22439849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000352809232786265
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60710864,  0.07721372, -0.79085848, -0.04701749,  0.99701456,
        0.06124798,  0.79322661,  0.        ,  0.60892655])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627713, -0.03361486,  0.22439849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25715164, -0.01053874, -0.2569356 , -0.01053874,  1.66134644,
       -0.05759592, -0.2569356 , -0.05759592,  0.25951406,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006981626737988557
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98879375e-01,  8.51517298e-02, -9.13041306e-01, -3.40890805e-02,
        9.96367996e-01,  7.80304535e-02,  9.16369564e-01, -3.46944695e-18,
        4.00333388e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08374623, -0.03353571,  0.22311151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015499767431118167
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.58141833e-14, -1.79070917e-14,  1.00000000e+00, -6.41327864e-28,
        1.00000000e+00,  1.79070917e-14, -1.00000000e+00,  0.00000000e+00,
       -3.58141833e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0702571 , -0.06286437,  0.06190035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.23296285e-03, 3.46568617e-02, 4.89247914e-03,-2.25866741e-05,
 -1.25783397e-04,-8.68324188e-04,-2.16285910e-04, 4.04136187e-05,
 -6.42711600e-05, 1.01849720e-05,-8.55187182e-06, 5.31650639e-05,
  5.23873886e-03, 8.26261933e-03, 8.60402047e-03, 1.19034663e-03,
  2.19580114e-03, 1.14230384e-02,-9.81382064e+00,-8.10332005e-03,
 -5.97365382e-02, 5.91605725e-02]


--- Step 3180 ---
qpos:
[-0.01323566, 1.19412206,-0.0337398 , 0.94258766,-0.01009784, 1.31768739,
 -0.03148056, 0.94245969, 0.01479767, 1.33848474,-0.02372155, 0.95474863,
  1.25272496, 0.00181404, 1.29333402, 0.04493284,-0.05553086,-0.08441097,
  0.0922986 , 0.69407146,-0.11081885,-0.71128576, 0.00752115]

qacc:
[  0.55887387, -8.43549885, 22.45683111,-30.55342428, -0.43145435,
  -7.47776103, 10.9661721 ,  7.12554508, -0.19818152,  0.30186999,
  -1.7871819 ,  8.39026656, -1.39921847,  1.0574214 ,  6.1455624 ,
  -9.80331165,  0.48647045, -2.44182523, -2.00896678,  7.91615312,
  21.54682319,-80.69061352]

qfrc_actuator:
[ 0.0043441 , 0.06913144, 0.01269642, 0.00199307, 0.00220389, 0.05038011,
  0.0113266 , 0.0006726 ,-0.00252565, 0.03462102, 0.01084868, 0.00175983,
  0.00998877, 0.00199377, 0.        ,-0.00111662, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034945179716851064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.07373594e-01,  7.72218094e-02, -7.90654229e-01, -4.70429612e-02,
        9.97013938e-01,  6.12386125e-02,  7.93022242e-01,  6.93889390e-18,
        6.09192681e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627596, -0.03361784,  0.22440056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034945179716851064
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.07373594e-01,  7.72218094e-02, -7.90654229e-01, -4.70429612e-02,
        9.97013938e-01,  6.12386125e-02,  7.93022242e-01,  6.93889390e-18,
        6.09192681e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627596, -0.03361784,  0.22440056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25647643, -0.00775197, -0.25635925, -0.00775197,  1.49202141,
       -0.03736127, -0.25635925, -0.03736127,  0.25760619,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006957472617982879
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98914560e-01,  8.51654856e-02, -9.13024651e-01, -3.40976351e-02,
        9.96366820e-01,  7.80417274e-02,  9.16353930e-01, -3.46944695e-18,
        4.00369173e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0837418 , -0.03353865,  0.22311158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001481111159760698
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.87396978e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.87396978e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07027864, -0.06283075,  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:
[ 3.26789155e-03, 3.48556184e-02, 4.90823197e-03,-8.47388530e-05,
 -1.23842228e-04,-8.79207142e-04,-1.94810978e-04, 2.05774272e-05,
 -5.71755851e-05, 4.69871375e-05, 3.43336024e-05, 3.35608562e-05,
  5.25895384e-03, 8.38929758e-03, 8.45795558e-03, 1.01165648e-03,
  2.35590771e-03, 1.48254300e-02,-9.81483204e+00,-8.10524109e-03,
 -5.96552435e-02, 5.92348799e-02]


--- Step 3181 ---
qpos:
[-0.01327075, 1.19413239,-0.03379528, 0.94258844,-0.0100536 , 1.31800394,
 -0.03146802, 0.94243723, 0.01480825, 1.33848228,-0.02372208, 0.95474978,
  1.2528845 , 0.00171907, 1.29329398, 0.04491607,-0.05553076,-0.0845177 ,
  0.0922883 , 0.69417358,-0.10937789,-0.71142079, 0.0063221 ]

qacc:
[  0.19687563, -6.66076968, 19.03751033,-22.87868892, -0.54325834,
 -10.72519036, 25.17742206,-24.46609792, -0.10955525,  0.84251457,
  -3.60147662, 11.21009892, -1.70518099,  1.51740112, -0.21166418,
   2.10080315,  0.47887051, -2.40642215, -2.17684338,  7.68442513,
  21.20310273,-79.75565426]

qfrc_actuator:
[ 0.00440703, 0.0691687 , 0.01275053, 0.00197141, 0.00212093, 0.05004184,
  0.01133884, 0.00064072,-0.00252349, 0.03464684, 0.01086783, 0.00179641,
  0.00996359, 0.0021255 , 0.        ,-0.00107548, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.18473427,  0.05306977, -0.17694731,  0.05306977,  0.68948999,
        0.15138558, -0.17694731,  0.15138558,  0.23013761,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003462780813211653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60760792,  0.07723077, -0.79047329, -0.0470666 ,  0.99701324,
        0.06123174,  0.79284131,  0.        ,  0.60942814])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627489, -0.03362084,  0.22440229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.18473427,  0.05306977, -0.17694731,  0.05306977,  0.68948999,
        0.15138558, -0.17694731,  0.15138558,  0.23013761,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003462780813211653
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60760792,  0.07723077, -0.79047329, -0.0470666 ,  0.99701324,
        0.06123174,  0.79284131,  0.        ,  0.60942814])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627489, -0.03362084,  0.22440229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2558157 , -0.01048189, -0.25560086, -0.01048189,  1.69392683,
       -0.05897527, -0.25560086, -0.05897527,  0.2582342 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006933905738487726
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98954096e-01,  8.51786278e-02, -9.13006151e-01, -3.41063151e-02,
        9.96365697e-01,  7.80522767e-02,  9.16336395e-01, -3.46944695e-18,
        4.00409305e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08373793, -0.03354162,  0.22311157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014119423344527982
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.96577261e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.96577261e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07030027, -0.06279696,  0.06190895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26682539e-03, 3.51317047e-02, 4.96061647e-03,-4.56170858e-05,
 -1.55905093e-04,-8.64636105e-04,-1.81838161e-04,-6.31622000e-05,
 -3.16009983e-05, 5.95365840e-05, 3.32206518e-05, 3.97551755e-05,
  5.30944787e-03, 8.53104446e-03, 8.19226032e-03, 1.02255548e-03,
  2.46834350e-03, 1.86034542e-02,-9.81593274e+00,-8.13078605e-03,
 -5.95672080e-02, 5.93162865e-02]


--- Step 3182 ---
qpos:
[-0.013306  , 1.19414121,-0.03384971, 0.94258883,-0.01001051, 1.3183137 ,
 -0.03145554, 0.94241526, 0.01481837, 1.3384803 ,-0.0237221 , 0.95475135,
  1.25304241, 0.00162462, 1.29325183, 0.04489958,-0.05552877,-0.08463395,
  0.09226871, 0.69430545,-0.10781382,-0.71154123, 0.00501921]

qacc:
[-6.92379586e-02,-5.48017273e+00, 1.62753084e+01,-1.76020894e+01,
 -4.90492446e-01,-7.91234993e+00, 1.40335628e+01,-2.20028660e+00,
 -1.97394923e-01,-3.64379061e-02, 3.85846612e-02, 4.42040326e+00,
 -1.47769654e+00, 1.52993321e+00,-3.86772692e+00, 9.27480223e+00,
  4.72740972e-01,-2.37949087e+00,-2.31922861e+00, 7.46975444e+00,
  2.09385670e+01,-7.91345200e+01]

qfrc_actuator:
[ 0.00442305, 0.06918848, 0.01278697, 0.00195851, 0.00207198, 0.04971645,
  0.01134104, 0.00066644,-0.00256177, 0.03468085, 0.01089709, 0.00181747,
  0.0099535 , 0.00222464, 0.        ,-0.00099104, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034304081077948974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.07833541e-01,  7.72399258e-02, -7.90298918e-01, -4.70896964e-02,
        9.97012534e-01,  6.12255390e-02,  7.92666984e-01, -6.93889390e-18,
        6.09654864e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627383, -0.03362372,  0.22440392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00034304081077948974
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.07833541e-01,  7.72399258e-02, -7.90298918e-01, -4.70896964e-02,
        9.97012534e-01,  6.12255390e-02,  7.92666984e-01, -6.93889390e-18,
        6.09654864e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627383, -0.03362372,  0.22440392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25512591, -0.0132732 , -0.2547804 , -0.0132732 ,  1.90784202,
       -0.08610091, -0.2547804 , -0.08610091,  0.25961148,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006909373589837134
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39899531,  0.08519155, -0.91298693, -0.03411505,  0.99636459,
        0.07806256,  0.91631812,  0.        ,  0.40045111])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08373418, -0.03354448,  0.22311152])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013431433583808994
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.13292825e-14,  2.06646412e-14,  1.00000000e+00,  8.54054794e-28,
        1.00000000e+00, -2.06646412e-14, -1.00000000e+00,  0.00000000e+00,
       -4.13292825e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07032179, -0.06276328,  0.06191324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26034077e-03, 3.52815044e-02, 4.95871802e-03,-2.39509000e-05,
 -1.40781039e-04,-8.43639852e-04,-1.89987477e-04,-6.68826936e-06,
 -5.69471309e-05, 7.46178390e-05, 4.58289344e-05, 2.47125953e-05,
  5.39667993e-03, 8.62076040e-03, 8.16856914e-03, 1.08954237e-03,
  2.53541069e-03, 2.27574399e-02,-9.81711563e+00,-8.17903762e-03,
 -5.94727339e-02, 5.94044977e-02]


--- Step 3183 ---
qpos:
[-0.01334163, 1.19414869,-0.03390278, 0.94258903,-0.00996818, 1.31861682,
 -0.03144289, 0.94239306, 0.014828  , 1.33847924,-0.02372215, 0.95475142,
  1.25319885, 0.00153073, 1.29320953, 0.04488353,-0.05552491,-0.08475964,
  0.09223936, 0.69446606,-0.10612725,-0.71164657, 0.00361275]

qacc:
[ -0.16397308, -5.74092368, 17.00516908,-16.11179697, -0.32484045,
  -9.56181316, 21.14199819,-16.80786819, -0.20933576, -1.30950672,
   8.75239723,-25.440289  , -1.4813484 ,  1.59448733, -1.396295  ,
   4.84622253,  0.46774498, -2.3594834 , -2.44084734,  7.26728278,
  20.74092028,-78.7874606 ]

qfrc_actuator:
[ 0.00441135, 0.06917998, 0.01286548, 0.00195085, 0.00206157, 0.04940139,
  0.01135517, 0.00065486,-0.00258851, 0.03473727, 0.0108966 , 0.00174046,
  0.00994718, 0.00233934, 0.        ,-0.00098721, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003395965585749113
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6080627 ,  0.077249  , -0.79012173, -0.04711302,  0.99701183,
        0.06121905,  0.79248982,  0.        ,  0.60988514])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627272, -0.03362645,  0.22440556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003395965585749113
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6080627 ,  0.077249  , -0.79012173, -0.04711302,  0.99701183,
        0.06121905,  0.79248982,  0.        ,  0.60988514])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627272, -0.03362645,  0.22440556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25438086, -0.01204881, -0.25409535, -0.01204881,  1.85987857,
       -0.07613022, -0.25409535, -0.07613022,  0.25799084,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006882953716920923
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99036941e-01,  8.52045327e-02, -9.12967528e-01, -3.41238480e-02,
        9.96363482e-01,  7.80728851e-02,  9.16299669e-01,  3.46944695e-18,
        4.00493342e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08373033, -0.03354719,  0.22311144])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012752462776558227
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.17648748e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.17648748e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07034305, -0.06272996,  0.06191746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.25664051e-03, 3.53486805e-02, 4.98461743e-03,-1.24338165e-05,
 -9.33340867e-05,-8.21532342e-04,-1.73222588e-04,-4.22954577e-05,
 -6.03688366e-05, 1.07382271e-04, 2.00161067e-05,-7.28780446e-05,
  5.47182690e-03, 8.71127288e-03, 8.27486577e-03, 1.07926301e-03,
  2.55858839e-03, 2.72926247e-02,-9.81837442e+00,-8.24954986e-03,
 -5.93720243e-02, 5.94992272e-02]


--- Step 3184 ---
qpos:
[-0.01337739, 1.19415559,-0.03395362, 0.94259005,-0.00992664, 1.31891329,
 -0.03143044, 0.94237058, 0.01483731, 1.33847888,-0.02372296, 0.95475028,
  1.2533538 , 0.00143734, 1.29316705, 0.04486792,-0.05551919,-0.0848947 ,
  0.09219983, 0.69465443,-0.10431847,-0.71173623, 0.00210269]

qacc:
[-5.52536362e-02,-5.37534122e+00, 1.49187766e+01,-2.96699938e+00,
 -3.32252098e-01,-8.69136084e+00, 1.83855401e+01,-1.50204900e+01,
 -1.30121313e-01, 9.10101504e-01, 5.63058841e-01,-1.48441953e+01,
 -1.46244650e+00, 1.53975975e+00,-1.48323396e+00, 5.10126930e+00,
  4.63592960e-01,-2.34507622e+00,-2.54573530e+00, 7.07280759e+00,
  2.05996928e+01,-7.86804160e+01]

qfrc_actuator:
[ 0.00447207, 0.06917269, 0.01295076, 0.00199955, 0.0020211 , 0.04905958,
  0.01134073, 0.00063918,-0.00259035, 0.03473548, 0.01084307, 0.00167738,
  0.0099325 , 0.00244539, 0.        ,-0.000961  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003360962794776226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60828844,  0.07725849, -0.78994703, -0.04713633,  0.9970111 ,
        0.06121307,  0.79231518,  0.        ,  0.610112  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862716 , -0.03362911,  0.22440715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003360962794776226
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60828844,  0.07725849, -0.78994703, -0.04713633,  0.9970111 ,
        0.06121307,  0.79231518,  0.        ,  0.610112  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862716 , -0.03362911,  0.22440715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25361502, -0.01368467, -0.25324555, -0.01368467,  2.03615701,
       -0.09632349, -0.25324555, -0.09632349,  0.25882006,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006855878020438598
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99078550e-01,  8.52176662e-02, -9.12948115e-01, -3.41327052e-02,
        9.96362358e-01,  7.80833470e-02,  9.16281217e-01,  3.46944695e-18,
        4.00535555e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0837265 , -0.03354983,  0.22311134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012086648179718204
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.59276637e-14, -2.29638318e-14,  1.00000000e+00, -1.05467514e-27,
        1.00000000e+00,  2.29638318e-14, -1.00000000e+00,  0.00000000e+00,
       -4.59276637e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07036392, -0.06269721,  0.0619216 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33622209e-03, 3.54083804e-02, 5.00214070e-03, 4.58343627e-05,
 -9.54549729e-05,-8.33787260e-04,-1.96587304e-04,-4.60775487e-05,
 -3.74926110e-05, 5.93548790e-05,-3.24073089e-05,-6.10130246e-05,
  5.53087056e-03, 8.79181371e-03, 8.28314815e-03, 1.08425550e-03,
  2.53868904e-03, 3.22182211e-02,-9.81970328e+00,-8.34224463e-03,
 -5.92652188e-02, 5.96001927e-02]


--- Step 3185 ---
qpos:
[-1.34126969e-02, 1.19416159e+00,-3.40018149e-02, 9.42593039e-01,
 -9.88604313e-03, 1.31920293e+00,-3.14185153e-02, 9.42349162e-01,
  1.48462652e-02, 1.33847882e+00,-2.37243118e-02, 9.54749102e-01,
  1.25350761e+00, 1.34428358e-03, 1.29312474e+00, 4.48527837e-02,
 -5.55116362e-02,-8.50391122e-02, 9.21497449e-02, 6.94869598e-01,
 -1.02387434e-01,-7.11809537e-01, 4.88686923e-04]

qacc:
[  0.19826771, -4.97161857, 10.71974203, 14.09328853, -0.3984222 ,
  -5.72676003,  5.65276766, 11.77790695, -0.15450714,  1.797158  ,
  -5.30371272,  4.01739896, -1.10450471,  1.13393324, -1.1004628 ,
   4.42845713,  0.46003559, -2.33513233, -2.63733831,  6.88268302,
  20.50595154,-78.7841602 ]

qfrc_actuator:
[ 0.00455838, 0.06911264, 0.01296765, 0.00209887, 0.00196292, 0.0487044 ,
  0.01130945, 0.00069219,-0.00261275, 0.03473414, 0.01081175, 0.00167622,
  0.00992352, 0.00251056, 0.        ,-0.00095705, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033257760472607707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60851198,  0.07726818, -0.78977389, -0.04715961,  0.99701034,
        0.06120738,  0.79214212,  0.        ,  0.61033668])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627048, -0.0336317 ,  0.22440873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033257760472607707
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60851198,  0.07726818, -0.78977389, -0.04715961,  0.99701034,
        0.06120738,  0.79214212,  0.        ,  0.61033668])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08627048, -0.0336317 ,  0.22440873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25284112, -0.01780571, -0.25221338, -0.01780571,  2.51455373,
       -0.15967197, -0.25221338, -0.15967197,  0.26411361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000682859778009394
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39911864,  0.08523089, -0.91292936, -0.03414147,  0.99636123,
        0.07809395,  0.91626343,  0.        ,  0.40057624])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08372268, -0.0335524 ,  0.22311123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001143713706588001
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00,  2.426794e-14,  1.000000e+00,  0.000000e+00,
        1.000000e+00, -2.426794e-14, -1.000000e+00,  0.000000e+00,
        0.000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07038432, -0.06266518,  0.06192564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.42894857e-03, 3.53772229e-02, 4.90742380e-03, 1.03852897e-04,
 -1.14418173e-04,-8.58577182e-04,-2.18587083e-04, 2.14635185e-05,
 -4.45414978e-05, 2.33491741e-05,-2.52017285e-05,-1.77661636e-06,
  5.59642406e-03, 8.83382986e-03, 8.29243028e-03, 1.06607948e-03,
  2.47597998e-03, 3.75467021e-02,-9.82109649e+00,-8.45733190e-03,
 -5.91524206e-02, 5.97071117e-02]


--- Step 3186 ---
qpos:
[-1.34475754e-02, 1.19416663e+00,-3.40481891e-02, 9.42597239e-01,
 -9.84626651e-03, 1.31948629e+00,-3.14069905e-02, 9.42327807e-01,
  1.48551552e-02, 1.33847873e+00,-2.37253707e-02, 9.54748600e-01,
  1.25366045e+00, 1.25164858e-03, 1.29308056e+00, 4.48380649e-02,
 -5.55194667e-02,-8.51842057e-02, 9.20869176e-02, 6.94920049e-01,
 -1.00532820e-01,-7.12023906e-01,-1.11137663e-03]

qacc:
[ 1.86791456e-01,-4.09480347e+00, 9.34692788e+00, 6.59897140e+00,
 -3.48957169e-01,-7.05113273e+00, 1.29213093e+01,-6.51682820e+00,
 -2.63224160e-02, 3.23932540e-01,-2.46359497e+00, 9.90779158e+00,
 -8.91814386e-01, 9.88010894e-01,-3.94790609e+00, 9.95701933e+00,
 -3.84671929e+00,-1.71404947e-01,-3.18635833e+00,-3.00537802e+01,
 -1.08326318e+02, 2.48607413e+01]

qfrc_actuator:
[ 0.00462402, 0.06909251, 0.01301324, 0.00215609, 0.00193009, 0.04843279,
  0.01130398, 0.00069642,-0.00259405, 0.03473317, 0.01082932, 0.00171152,
  0.00991266, 0.00256894, 0.        ,-0.0008779 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003290476473641578
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60873166,  0.07727782, -0.78960364, -0.04718255,  0.9970096 ,
        0.06120186,  0.79197196,  0.        ,  0.61055747])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626937, -0.03363424,  0.22441026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003290476473641578
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60873166,  0.07727782, -0.78960364, -0.04718255,  0.9970096 ,
        0.06120186,  0.79197196,  0.        ,  0.61055747])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626937, -0.03363424,  0.22441026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25205948, -0.01821426, -0.25140052, -0.01821426,  2.60397069,
       -0.17039868, -0.25140052, -0.17039868,  0.26440506,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006801122901420389
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99157139e-01,  8.52439772e-02, -9.12911301e-01, -3.41500445e-02,
        9.96360108e-01,  7.81044820e-02,  9.16246339e-01, -6.93889390e-18,
        4.00615335e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08371889, -0.03355492,  0.2231111 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.68754336,   4.45791477, -16.68754336,
        20.54509445,  12.24962163,   4.45791477,  12.24962163,
        63.12737068,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0010900412067486528
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.09257365e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.09257365e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02450429, -0.0881288 ,  0.06192897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47194677e-03, 3.54027213e-02, 4.82116900e-03, 6.29037154e-05,
 -1.00242045e-04,-7.90929006e-04,-1.98136413e-04,-2.71533799e-05,
 -7.60182663e-06, 6.97328873e-06, 1.92173375e-05, 3.52061689e-05,
  5.64286036e-03, 8.87710204e-03, 8.28453330e-03, 1.12154182e-03,
  2.37027851e-03, 4.32932529e-02,-9.82254820e+00,-8.59524786e-03,
 -5.90337183e-02, 5.98196982e-02]


--- Step 3187 ---
qpos:
[-1.34825569e-02, 1.19417067e+00,-3.40941248e-02, 9.42600790e-01,
 -9.80726334e-03, 1.31976414e+00,-3.13965700e-02, 9.42306299e-01,
  1.48642168e-02, 1.33847840e+00,-2.37258286e-02, 9.54748871e-01,
  1.25381182e+00, 1.15959835e-03, 1.29303334e+00, 4.48237858e-02,
 -5.55412994e-02,-8.53297030e-02, 9.20093217e-02, 6.94817342e-01,
 -9.87392947e-02,-7.12370770e-01,-2.70177481e-03]

qacc:
[-4.46400750e-02,-3.60803947e+00, 1.15106241e+01,-1.68617935e+01,
 -3.27961883e-01,-4.51873847e+00, 6.31526719e+00,-3.77300876e+00,
  7.27681077e-02,-6.04230600e-01, 3.27907998e-02, 9.04074923e+00,
 -1.32117681e+00, 1.43579127e+00,-5.71548300e+00, 1.37182538e+01,
 -3.50055865e+00,-1.00962007e-01,-3.69213919e+00,-2.54100269e+01,
 -1.01082492e+02, 1.83615928e+01]

qfrc_actuator:
[ 0.00465935, 0.06909674, 0.01309356, 0.00211701, 0.00189497, 0.04819574,
  0.01126082, 0.00068971,-0.00256859, 0.03471489, 0.01085787, 0.00175024,
  0.00989004, 0.00269402, 0.        ,-0.00077151, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003253524609657353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.08955314e-01,  7.72869832e-02, -7.89430268e-01, -4.72055161e-02,
        9.97008888e-01,  6.11957271e-02,  7.91798627e-01, -6.93889390e-18,
        6.10782232e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626821, -0.03363669,  0.22441182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003253524609657353
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.08955314e-01,  7.72869832e-02, -7.89430268e-01, -4.72055161e-02,
        9.97008888e-01,  6.11957271e-02,  7.91798627e-01, -6.93889390e-18,
        6.10782232e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626821, -0.03363669,  0.22441182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.2512348 , -0.01899671, -0.25051557, -0.01899671,  2.50140692,
       -0.17063155, -0.25051557, -0.17063155,  0.26417387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006772217032342716
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99194842e-01,  8.52569158e-02, -9.12893606e-01, -3.41584921e-02,
        9.96359001e-01,  7.81149097e-02,  9.16229598e-01,  3.46944695e-18,
        4.00653621e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08371498, -0.03355735,  0.22311096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.87743618, -3.67413327, 16.87743618, 17.13819234,
       -0.61799738, -3.67413327, -0.61799738, 14.43390502,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001123330825550689
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.47082827e-14,  9.88331308e-14,  1.00000000e+00,  2.44199694e-27,
        1.00000000e+00, -9.88331308e-14, -1.00000000e+00,  0.00000000e+00,
       -2.47082827e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02441871, -0.08807902,  0.0619268 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48592822e-03, 3.54545075e-02, 4.81048728e-03,-3.68698564e-05,
 -9.41785962e-05,-7.16349121e-04,-2.21677529e-04,-3.65932276e-05,
  2.09658105e-05,-9.61891955e-06, 3.31216373e-05, 4.03136852e-05,
  5.66895335e-03, 8.98328874e-03, 8.37892681e-03, 1.20745927e-03,
  5.38239378e-03, 3.76835344e-02,-9.82170848e+00,-6.68606122e-03,
 -5.95795104e-02, 5.99461575e-02]


--- Step 3188 ---
qpos:
[-1.35178241e-02, 1.19417376e+00,-3.41395808e-02, 9.42603491e-01,
 -9.76901323e-03, 1.32003673e+00,-3.13875317e-02, 9.42284878e-01,
  1.48734744e-02, 1.33847814e+00,-2.37262869e-02, 9.54749264e-01,
  1.25396169e+00, 1.06813234e-03, 1.29298522e+00, 4.48101130e-02,
 -5.55759781e-02,-8.54753892e-02, 9.19152476e-02, 6.94571055e-01,
 -9.69945606e-02,-7.12842715e-01,-4.28585266e-03]

qacc:
[-1.24349443e-01,-3.96339843e+00, 1.31995575e+01,-2.06955261e+01,
 -3.19353641e-01,-3.04297266e+00, 1.38672230e+00, 3.13692637e+00,
  8.29275351e-02, 3.03164034e-01,-1.11858053e+00, 2.31706206e+00,
 -1.46620670e+00, 1.59090091e+00,-3.03722976e+00, 8.98178445e+00,
 -3.21149031e+00,-4.72429994e-02,-4.11955737e+00,-2.16188713e+01,
 -9.49734219e+01, 1.32053496e+01]

qfrc_actuator:
[ 0.0046591 , 0.06908052, 0.0131421 , 0.00207478, 0.00185877, 0.04794569,
  0.01119591, 0.00069438,-0.00255705, 0.03472195, 0.01085706, 0.00175516,
  0.0098711 , 0.00280554, 0.        ,-0.00073774, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032141025797158794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6091867 ,  0.07729581, -0.78925086, -0.04722888,  0.9970082 ,
        0.06118885,  0.79161923,  0.        ,  0.61101473])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626699, -0.033639  ,  0.22441344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00032141025797158794
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6091867 ,  0.07729581, -0.78925086, -0.04722888,  0.9970082 ,
        0.06118885,  0.79161923,  0.        ,  0.61101473])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626699, -0.033639  ,  0.22441344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.25034692, -0.01646895, -0.24980463, -0.01646895,  2.31056959,
       -0.13582492, -0.24980463, -0.13582492,  0.25930149,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006741185098313625
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39923307,  0.08526989, -0.91287568, -0.034167  ,  0.99635789,
        0.07812535,  0.91621263,  0.        ,  0.40069243])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08371088, -0.03355963,  0.22311079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.87159657, -3.70085619, 16.87159657, 17.19662556,
       -0.34693523, -3.70085619, -0.34693523, 15.69110643,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011367666560721246
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.76649886e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.76649886e-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([ 0.0243841 , -0.08804396,  0.06192584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.49082777e-03, 3.54888706e-02, 4.83723930e-03,-4.67104238e-05,
 -9.16990955e-05,-6.92953759e-04,-2.31781390e-04,-2.38871731e-05,
  2.39263133e-05, 9.41447654e-06, 2.26375244e-06, 6.53218580e-06,
  5.72357034e-03, 9.06746900e-03, 8.53165789e-03, 1.21946470e-03,
  7.62153381e-03, 3.30204975e-02,-9.82127178e+00,-4.91800170e-03,
 -6.00229507e-02, 6.00730657e-02]


--- Step 3189 ---
qpos:
[-1.35533541e-02, 1.19417630e+00,-3.41844207e-02, 9.42605278e-01,
 -9.73121539e-03, 1.32030395e+00,-3.13794443e-02, 9.42264362e-01,
  1.48827277e-02, 1.33847843e+00,-2.37275091e-02, 9.54749364e-01,
  1.25411019e+00, 9.77245129e-04, 1.29293704e+00, 4.47971122e-02,
 -5.56225307e-02,-8.56211031e-02, 9.18032475e-02, 6.94189120e-01,
 -9.52887027e-02,-7.13433329e-01,-5.86622383e-03]

qacc:
[-1.14341461e-01,-3.94856698e+00, 1.38862042e+01,-2.22956013e+01,
 -1.91644636e-01,-2.91803460e+00,-8.38483567e-01, 1.46159581e+01,
 -1.94907060e-03, 2.28070136e+00,-5.98256696e+00, 1.48740688e+00,
 -1.40259544e+00, 1.55352055e+00,-2.00922377e+00, 7.16388336e+00,
 -2.96848329e+00,-6.89977960e-03,-4.48149846e+00,-1.85042717e+01,
 -8.98227028e+01, 9.09781174e+00]

qfrc_actuator:
[ 0.00467322, 0.06910561, 0.01318913, 0.00203111, 0.0018577 , 0.04768978,
  0.01115419, 0.0007412 ,-0.00257169, 0.03476176, 0.01082126, 0.00174012,
  0.00985975, 0.00290869, 0.        ,-0.00071237, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000317383915575448
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60941775,  0.07730483, -0.78907159, -0.04725234,  0.9970075 ,
        0.06118213,  0.79143997,  0.        ,  0.6112469 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626576, -0.03364122,  0.22441504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000317383915575448
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60941775,  0.07730483, -0.78907159, -0.04725234,  0.9970075 ,
        0.06118213,  0.79143997,  0.        ,  0.6112469 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626576, -0.03364122,  0.22441504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24943269, -0.01586262, -0.24892778, -0.01586262,  2.25745492,
       -0.12795878, -0.24892778, -0.12795878,  0.2575867 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006709324303249484
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39927171,  0.08528296, -0.91285756, -0.03417558,  0.99635677,
        0.07813586,  0.91619547,  0.        ,  0.40073166])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08370677, -0.03356183,  0.22311062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.85327915, -3.78339655, 16.85327915, 17.26796335,
       -0.02122109, -3.78339655, -0.02122109, 17.17819717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011341161487194856
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.44733096e-14,  4.89466192e-14,  1.00000000e+00,  1.19788576e-27,
        1.00000000e+00, -4.89466192e-14, -1.00000000e+00,  0.00000000e+00,
       -2.44733096e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02439032, -0.08802048,  0.06192584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.51924908e-03, 3.55609157e-02, 4.86040729e-03,-4.79719966e-05,
 -5.51010297e-05,-6.87407793e-04,-2.04795675e-04, 1.89601730e-05,
 -5.16011597e-07, 4.56531084e-05,-3.35147408e-05,-1.45393466e-05,
  5.78734054e-03, 9.14331735e-03, 8.57727663e-03, 1.21474304e-03,
  9.25005499e-03, 2.90730346e-02,-9.82113992e+00,-3.24958876e-03,
 -6.03876380e-02, 6.01995644e-02]


--- Step 3190 ---
qpos:
[-1.35886233e-02, 1.19417807e+00,-3.42284133e-02, 9.42606188e-01,
 -9.69351941e-03, 1.32056556e+00,-3.13718097e-02, 9.42243190e-01,
  1.48918763e-02, 1.33847926e+00,-2.37289143e-02, 9.54748909e-01,
  1.25425751e+00, 8.86706219e-04, 1.29289229e+00, 4.47849108e-02,
 -5.56801336e-02,-8.57667257e-02, 9.16720926e-02, 6.93678095e-01,
 -9.36136788e-02,-7.14137068e-01,-7.44493072e-03]

qacc:
[ 1.14134807e-01,-4.78649975e+00, 1.62025725e+01,-2.37237123e+01,
 -4.28159626e-02,-7.27885202e+00, 1.61821549e+01,-1.80965514e+01,
 -4.44078066e-02, 2.45021301e-01, 1.17553238e+00,-7.76406363e+00,
 -1.31259856e+00, 1.36486502e+00, 2.77177268e+00,-2.06434217e+00,
 -2.76257882e+00, 2.27964593e-02,-4.78869675e+00,-1.59272664e+01,
 -8.54837938e+01, 5.80819941e+00]

qfrc_actuator:
[ 0.00469607, 0.06913774, 0.01325266, 0.00198699, 0.00187772, 0.04739705,
  0.01112648, 0.00070595,-0.00258418, 0.03480294, 0.01081848, 0.00171348,
  0.00985299, 0.00300658, 0.        ,-0.00079887, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031335211141436496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60964607,  0.07731416, -0.78889428, -0.04727578,  0.99700678,
        0.06117581,  0.7912627 ,  0.        ,  0.61147636])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626452, -0.03364339,  0.22441662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031335211141436496
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.60964607,  0.07731416, -0.78889428, -0.04727578,  0.99700678,
        0.06117581,  0.7912627 ,  0.        ,  0.61147636])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626452, -0.03364339,  0.22441662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24851196, -0.01299946, -0.24817173, -0.01299946,  2.02498638,
       -0.09305336, -0.24817173, -0.09305336,  0.25338618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006677326859751628
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99310293e-01,  8.52961437e-02, -9.12839448e-01, -3.41842076e-02,
        9.96355643e-01,  7.81464784e-02,  9.16178329e-01,  3.46944695e-18,
        4.00770845e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08370269, -0.03356397,  0.22311044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.81691325, -3.941895  , 16.81691325, 17.36164342,
        0.37933408, -3.941895  ,  0.37933408, 18.8910424 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011185394914616648
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48141222e-14, -9.92564888e-14,  1.00000000e+00,  2.46296264e-27,
        1.00000000e+00,  9.92564888e-14, -1.00000000e+00,  0.00000000e+00,
        2.48141222e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02442905, -0.0880061 ,  0.0619266 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55524311e-03, 3.56211433e-02, 4.89325412e-03,-4.63852507e-05,
 -1.24603558e-05,-7.14543405e-04,-1.85344624e-04,-6.11726027e-05,
 -1.27897527e-05, 5.94638755e-05, 1.90095079e-06,-2.66075406e-05,
  5.84904284e-03, 9.21418286e-03, 8.58126745e-03, 1.09486486e-03,
  1.03880530e-02, 2.56722647e-02,-9.82124269e+00,-1.65038823e-03,
 -6.06905049e-02, 6.03250823e-02]


--- Step 3191 ---
qpos:
[-1.36235329e-02, 1.19417873e+00,-3.42711262e-02, 9.42606913e-01,
 -9.65605390e-03, 1.32082110e+00,-3.13641968e-02, 9.42223511e-01,
  1.49008721e-02, 1.33848049e+00,-2.37300494e-02, 9.54748472e-01,
  1.25440351e+00, 7.96403083e-04, 1.29285319e+00, 4.47735289e-02,
 -5.57342195e-02,-8.59266174e-02, 9.15470483e-02, 6.93208326e-01,
 -9.17017733e-02,-7.14820137e-01,-9.22897344e-03]

qacc:
[ 1.57276141e-01,-5.21076986e+00, 1.56276597e+01,-1.49671183e+01,
 -9.73326626e-02,-5.35593108e+00, 4.76820260e+00, 1.70420050e+01,
 -6.46198224e-02,-1.79745874e-01, 1.17368889e+00,-1.05113097e+00,
 -1.50225275e+00, 1.46658463e+00, 6.00206674e+00,-8.57278214e+00,
  8.79238895e-01,-3.56724431e+00, 1.52762549e+00, 1.06949376e+01,
  3.23935373e+01,-1.54680804e+02]

qfrc_actuator:
[ 0.00470597, 0.06912127, 0.01327236, 0.00197844, 0.00185696, 0.04708464,
  0.01112483, 0.00078242,-0.00259527, 0.034827  , 0.01083523, 0.00171577,
  0.00983837, 0.00311908, 0.        ,-0.00093513, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030956063179351026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.09858260e-01,  7.73242074e-02, -7.88729276e-01, -4.72984179e-02,
        9.97006001e-01,  6.11710120e-02,  7.91097821e-01,  6.93889390e-18,
        6.11689657e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626336, -0.0336456 ,  0.22441805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030956063179351026
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.09858260e-01,  7.73242074e-02, -7.88729276e-01, -4.72984179e-02,
        9.97006001e-01,  6.11710120e-02,  7.91097821e-01,  6.93889390e-18,
        6.11689657e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626336, -0.0336456 ,  0.22441805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24763981, -0.01198655, -0.24734954, -0.01198655,  2.06966615,
       -0.08829535, -0.24734954, -0.08829535,  0.2519186 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006647095830721074
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99348811e-01,  8.53092278e-02, -9.12821375e-01, -3.41927877e-02,
        9.96354523e-01,  7.81570062e-02,  9.16161220e-01, -3.46944695e-18,
        4.00809954e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08369892, -0.03356616,  0.22311025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.70508422,  -4.39172729,  16.70508422,
        27.33686509,  38.28158232,  -4.39172729,  38.28158232,
       162.88674528,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001115522356843493
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48812365e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.48812365e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.07040552, -0.06271816,  0.06192653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55211532e-03, 3.56434532e-02, 4.87072066e-03,-1.11366910e-05,
 -2.81202194e-05,-7.47803187e-04,-1.64733007e-04, 4.84407955e-05,
 -1.86395000e-05, 5.65235658e-05, 2.78063265e-05, 3.48106805e-06,
  5.89336275e-03, 9.31120789e-03, 8.41023224e-03, 9.18832985e-04,
  1.11248092e-02, 2.26934360e-02,-9.82152971e+00,-9.77586023e-05,
 -6.09438452e-02, 6.04492309e-02]


--- Step 3192 ---
qpos:
[-1.36589215e-02, 1.19417947e+00,-3.43127507e-02, 9.42607433e-01,
 -9.61894842e-03, 1.32107030e+00,-3.13563103e-02, 9.42206645e-01,
  1.49096947e-02, 1.33848170e+00,-2.37313998e-02, 9.54749163e-01,
  1.25454810e+00, 7.06767741e-04, 1.29281347e+00, 4.47626499e-02,
 -5.57850597e-02,-8.61000439e-02, 9.14250218e-02, 6.92775089e-01,
 -8.95693049e-02,-7.15482010e-01,-1.12030522e-02]

qacc:
[-2.08594177e-01,-3.18476610e+00, 1.09351001e+01,-1.19082718e+01,
 -1.52249031e-01,-4.26610328e+00,-1.94739798e+00, 3.83483823e+01,
 -7.34223417e-02, 2.50564195e+00,-1.04683167e+01, 2.20949265e+01,
 -1.46697348e+00, 1.67020339e+00,-2.31464105e+00, 7.05059797e+00,
  8.11463758e-01,-3.38370864e+00, 7.54478588e-01, 1.01044792e+01,
  3.01343898e+01,-1.43558879e+02]

qfrc_actuator:
[ 0.00472566, 0.06907628, 0.01326499, 0.00197313, 0.00182965, 0.04676311,
  0.01113856, 0.00092405,-0.00260543, 0.03478745, 0.01081007, 0.00177056,
  0.00982974, 0.00322256, 0.        ,-0.00083529, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030615694877140706
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61004534,  0.07733539, -0.78858349, -0.04731981,  0.99700513,
        0.0611686 ,  0.79095228,  0.        ,  0.61187783])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626233, -0.03364788,  0.22441927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030615694877140706
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61004534,  0.07733539, -0.78858349, -0.04731981,  0.99700513,
        0.0611686 ,  0.79095228,  0.        ,  0.61187783])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626233, -0.03364788,  0.22441927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24684877, -0.02534353, -0.24554434, -0.02534353,  2.36193793,
       -0.21830606, -0.24554434, -0.21830606,  0.26938094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006619739105001091
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99387169e-01,  8.53221752e-02, -9.12803383e-01, -3.42013000e-02,
        9.96353414e-01,  7.81674143e-02,  9.16144181e-01,  3.46944695e-18,
        4.00848899e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08369563, -0.03356844,  0.22311004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.2204526 ,   1.34280288, -17.2204526 ,
        17.935519  ,   8.49981314,   1.34280288,   8.49981314,
       126.276537  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0011492824192579215
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.83007051e-14,  2.41503526e-14,  1.00000000e+00,  1.16647906e-27,
        1.00000000e+00, -2.41503526e-14, -1.00000000e+00,  0.00000000e+00,
       -4.83007051e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0703978 , -0.06275215,  0.06192414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55384234e-03, 3.56538601e-02, 4.79949179e-03,-7.28556620e-06,
 -4.38910656e-05,-7.67931395e-04,-1.50286510e-04, 1.15726214e-04,
 -2.11655368e-05,-2.76239855e-06,-1.08592576e-05, 5.73610459e-05,
  5.95146186e-03, 9.40486243e-03, 8.12831192e-03, 9.77861904e-04,
  1.34330693e-02, 3.19127121e-02,-9.82412775e+00, 4.43359727e-04,
 -6.08698846e-02, 6.05592081e-02]


--- Step 3193 ---
qpos:
[-1.36947595e-02, 1.19418117e+00,-3.43524798e-02, 9.42608448e-01,
 -9.58245561e-03, 1.32131384e+00,-3.13484520e-02, 9.42189148e-01,
  1.49183369e-02, 1.33848266e+00,-2.37329766e-02, 9.54752254e-01,
  1.25469145e+00, 6.17852703e-04, 1.29277280e+00, 4.47522677e-02,
 -5.58266167e-02,-8.62826054e-02, 9.13088566e-02, 6.92451901e-01,
 -8.72416628e-02,-7.16045823e-01,-1.33280430e-02]

qacc:
[-1.95716220e-01,-2.99674196e+00, 1.02821244e+01,-3.74137786e+00,
 -2.59477559e-01,-8.41199735e+00, 1.97838753e+01,-2.08946031e+01,
 -7.63910765e-02, 4.42128578e+00,-1.96433051e+01, 4.48485274e+01,
 -1.34907647e+00, 1.61531749e+00,-2.78731896e+00, 7.98337120e+00,
  2.32076629e+00,-2.28376133e+00, 1.46531322e+00, 1.79975689e+01,
  8.11878332e+01,-1.17088134e+02]

qfrc_actuator:
[ 0.00475192, 0.06908445, 0.01327657, 0.00200536, 0.00178089, 0.04650983,
  0.01114348, 0.00088981,-0.00261495, 0.03476325, 0.01079564, 0.00189125,
  0.00982476, 0.0033201 , 0.        ,-0.00077135, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003027332284851105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61023322,  0.07734682, -0.78843699, -0.04734142,  0.99700425,
        0.06116633,  0.79080605,  0.        ,  0.61206682])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862613, -0.0336501,  0.2244205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003027332284851105
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61023322,  0.07734682, -0.78843699, -0.04734142,  0.99700425,
        0.06116633,  0.79080605,  0.        ,  0.61206682])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862613, -0.0336501,  0.2244205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24605239, -0.0117057 , -0.24577379, -0.0117057 ,  2.69341729,
       -0.11656291, -0.24577379, -0.11656291,  0.25160404,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006592254805486523
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99424458e-01,  8.53353417e-02, -9.12785836e-01, -3.42098102e-02,
        9.96352287e-01,  7.81780623e-02,  9.16127606e-01, -3.46944695e-18,
        4.00886778e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08369231, -0.03357066,  0.22310983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.74499139,   4.23702379,  16.74499139,
        22.94762182, -22.42754938,   4.23702379, -22.42754938,
       105.90784936,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012111561214440125
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.58331921e-14,  2.29165961e-14,  1.00000000e+00,  1.05034075e-27,
        1.00000000e+00, -2.29165961e-14, -1.00000000e+00,  0.00000000e+00,
       -4.58331921e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08782272, -0.06579986,  0.06191997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.60405494e-03, 3.56584553e-02, 4.75677175e-03, 3.52139177e-05,
 -7.46410977e-05,-7.05914382e-04,-1.59404621e-04,-5.87596574e-05,
 -2.20206319e-05,-2.61535584e-05,-1.45199824e-05, 1.21620307e-04,
  6.01681908e-03, 9.47089057e-03, 8.15995574e-03, 1.01683525e-03,
  1.55111636e-02, 4.18336510e-02,-9.82675002e+00, 8.95572906e-04,
 -6.07741748e-02, 6.06783293e-02]


--- Step 3194 ---
qpos:
[-1.37314314e-02, 1.19418516e+00,-3.43893575e-02, 9.42610704e-01,
 -9.54711853e-03, 1.32155276e+00,-3.13413242e-02, 9.42170640e-01,
  1.49267985e-02, 1.33848371e+00,-2.37342487e-02, 9.54756364e-01,
  1.25483325e+00, 5.29850465e-04, 1.29272955e+00, 4.47423388e-02,
 -5.58595784e-02,-8.64738743e-02, 9.11951961e-02, 6.92228553e-01,
 -8.47337477e-02,-7.16517076e-01,-1.55917352e-02]

qacc:
[-3.63354178e-01,-2.57291235e+00, 9.46245676e+00, 4.76825050e+00,
 -4.90045998e-01,-5.83457829e+00, 1.37834417e+01,-2.07895292e+01,
 -7.64866491e-02, 1.05689645e+00,-5.34741943e+00, 1.63172578e+01,
 -1.61982495e+00, 1.95196756e+00,-5.04264237e+00, 1.24258281e+01,
  2.14882996e+00,-2.17684465e+00, 6.26171503e-01, 1.64952123e+01,
  7.50429029e+01,-1.07861610e+02]

qfrc_actuator:
[ 0.00478228, 0.06905259, 0.01333378, 0.00207725, 0.00168415, 0.04633484,
  0.01112556, 0.00084114,-0.00262401, 0.03480175, 0.01082326, 0.00194323,
  0.00981135, 0.00344926, 0.        ,-0.00064036, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029930653189979943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61042481,  0.07735834, -0.78828753, -0.04736338,  0.99700335,
        0.0611639 ,  0.79065685,  0.        ,  0.61225954])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626025, -0.03365226,  0.22442178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029930653189979943
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61042481,  0.07735834, -0.78828753, -0.04736338,  0.99700335,
        0.0611639 ,  0.79065685,  0.        ,  0.61225954])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08626025, -0.03365226,  0.22442178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24525993, -0.01267365, -0.24493226, -0.01267365,  2.68131133,
       -0.12604977, -0.24493226, -0.12604977,  0.25178219,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006564959805195163
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99459121e-01,  8.53487534e-02, -9.12769413e-01, -3.42181955e-02,
        9.96351138e-01,  7.81890325e-02,  9.16112180e-01,  3.46944695e-18,
        4.00922030e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08368889, -0.03357282,  0.22310965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.96247771,  -3.25905774, -16.96247771,
        21.72839134, -23.19047665,  -3.25905774, -23.19047665,
       137.97262724,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0012531264173568923
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42981254e-14,  2.21490627e-14,  1.00000000e+00,  9.81161959e-28,
        1.00000000e+00, -2.21490627e-14, -1.00000000e+00,  0.00000000e+00,
       -4.42981254e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08778453, -0.06583545,  0.06191709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.65689950e-03, 3.55784685e-02, 4.71931794e-03, 8.22318445e-05,
 -1.40741094e-04,-6.00317503e-04,-1.76268966e-04,-7.56470881e-05,
 -2.20673549e-05, 2.48109213e-05, 2.44226146e-05, 5.36151736e-05,
  6.06557441e-03, 9.56589650e-03, 8.20794326e-03, 1.12315747e-03,
  1.59131886e-02, 5.34470774e-02,-9.82870744e+00, 2.04290759e-04,
 -6.04843019e-02, 6.07855591e-02]


--- Step 3195 ---
qpos:
[-1.37690011e-02, 1.19419240e+00,-3.44238418e-02, 9.42613392e-01,
 -9.51304957e-03, 1.32178688e+00,-3.13340145e-02, 9.42153391e-01,
  1.49349366e-02, 1.33848477e+00,-2.37345033e-02, 9.54759653e-01,
  1.25497392e+00, 4.42994207e-04, 1.29267952e+00, 4.47327515e-02,
 -5.58840577e-02,-8.66700392e-02, 9.10914353e-02, 6.92110935e-01,
 -8.21181108e-02,-7.16880309e-01,-1.79357563e-02]

qacc:
[ -0.3914193 , -1.44436504,  8.98471507, -4.82323939, -0.53759614,
  -4.64484875,  4.93459993, 13.38747813, -0.1367561 , -4.15456587,
  15.20658852,-22.63889248, -1.17474067,  1.71143765,-10.95659197,
  24.00514352,  2.12059829, -1.22399715,  2.47492046, 12.14294184,
  79.50955612,-60.99482139]

qfrc_actuator:
[ 0.00483342, 0.06901275, 0.01338114, 0.00210099, 0.00161266, 0.0461193 ,
  0.01114789, 0.00090871,-0.00265048, 0.03480662, 0.01087566, 0.00190115,
  0.00979828, 0.00350816, 0.        ,-0.00038054, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002958244698899812
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61062822,  0.07736973, -0.78812886, -0.04738618,  0.99700247,
        0.06116065,  0.7904984 ,  0.        ,  0.6124641 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625915, -0.03365432,  0.22442323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002958244698899812
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61062822,  0.07736973, -0.78812886, -0.04738618,  0.99700247,
        0.06116065,  0.7904984 ,  0.        ,  0.6124641 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625915, -0.03365432,  0.22442323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.244467  , -0.00625169, -0.24438705, -0.00625169,  2.65262998,
       -0.06160343, -0.24438705, -0.06160343,  0.24604288,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006537699514229008
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39948907,  0.08536261, -0.91275501, -0.03422636,  0.99634995,
        0.07820059,  0.91609882,  0.        ,  0.40095256])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08368521, -0.03357486,  0.2231095 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -10.99855202,  13.3183693 , -10.99855202,
        93.60231761,  63.03436634,  13.3183693 ,  63.03436634,
        69.32765542,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001286869439835199
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.15682918e-14,  2.15682918e-14,  1.00000000e+00,  4.65191212e-28,
        1.00000000e+00, -2.15682918e-14, -1.00000000e+00,  0.00000000e+00,
       -2.15682918e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08613943, -0.0714647 ,  0.06191474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.74974231e-03, 3.54243040e-02, 4.62421146e-03, 4.39202906e-05,
 -1.54429953e-04,-5.86223358e-04,-1.17753735e-04, 4.28806691e-05,
 -3.94975611e-05, 2.49527621e-05, 6.15976113e-05,-3.93738436e-05,
  6.13010343e-03, 9.58096982e-03, 8.33745476e-03, 1.36049154e-03,
  1.57142305e-02, 6.53376673e-02,-9.83063739e+00,-5.95539532e-04,
 -6.01833866e-02, 6.09003836e-02]


--- Step 3196 ---
qpos:
[-1.38067885e-02, 1.19420086e+00,-3.44578453e-02, 9.42614903e-01,
 -9.47989410e-03, 1.32201629e+00,-3.13262539e-02, 9.42137068e-01,
  1.49425833e-02, 1.33848512e+00,-2.37337750e-02, 9.54762824e-01,
  1.25511375e+00, 3.57024350e-04, 1.29262465e+00, 4.47237459e-02,
 -5.59006360e-02,-8.68709734e-02, 9.09939616e-02, 6.92089609e-01,
 -7.94020944e-02,-7.17142210e-01,-2.03551069e-02]

qacc:
[ -0.09493151, -1.70399953,  9.91628945,-23.02543363, -0.38710127,
  -5.80992379,  9.58572921,  5.40392672, -0.20783055, -3.79176391,
  11.47908854,-10.87827026, -0.8910385 ,  1.31062149, -8.84280268,
  20.71442885,  1.97526069, -1.19233058,  1.57178828, 10.78068998,
  73.5747398 ,-57.02449432]

qfrc_actuator:
[ 0.00489742, 0.06900175, 0.01340416, 0.00202514, 0.00159241, 0.04589922,
  0.01117601, 0.0009554 ,-0.00268717, 0.03472035, 0.01090659, 0.00189284,
  0.00978544, 0.00357755, 0.        ,-0.00025652, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002920191574816936
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.10861314e-01,  7.73800943e-02, -7.87947191e-01, -4.74106591e-02,
        9.97001666e-01,  6.11547904e-02,  7.90316825e-01,  6.93889390e-18,
        6.12698389e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625792, -0.03365622,  0.22442499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002920191574816936
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.10861314e-01,  7.73800943e-02, -7.87947191e-01, -4.74106591e-02,
        9.97001666e-01,  6.11547904e-02,  7.90316825e-01,  6.93889390e-18,
        6.12698389e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625792, -0.03365622,  0.22442499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24361721, -0.00256959, -0.24360365, -0.00256959,  2.49711802,
       -0.02377046, -0.24360365, -0.02377046,  0.24386794,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006508538465076902
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99513830e-01,  8.53769593e-02, -9.12742830e-01, -3.42342749e-02,
        9.96348721e-01,  7.82127841e-02,  9.16087722e-01, -3.46944695e-18,
        4.00977912e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08368093, -0.03357674,  0.22310943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001319277416790332
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08610963, -0.07148413,  0.06191251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.85864061e-03, 3.52506447e-02, 4.52765655e-03,-5.35489137e-05,
 -1.11265079e-04,-5.67912248e-04,-9.90640639e-05, 2.68774289e-05,
 -6.00185426e-05,-6.16059377e-05, 4.16579248e-05,-6.68628279e-06,
  6.17358708e-03, 9.59480742e-03, 8.67733585e-03, 1.46764151e-03,
  1.40792145e-02, 7.44928698e-02,-9.83166357e+00,-1.72149746e-03,
 -5.99502839e-02, 6.10149920e-02]


--- Step 3197 ---
qpos:
[-1.38443082e-02, 1.19420957e+00,-3.44904612e-02, 9.42616571e-01,
 -9.44718946e-03, 1.32224116e+00,-3.13187892e-02, 9.42120772e-01,
  1.49501729e-02, 1.33848456e+00,-2.37326725e-02, 9.54763850e-01,
  1.25525226e+00, 2.71546505e-04, 1.29257112e+00, 4.47156769e-02,
 -5.59076604e-02,-8.70659508e-02, 9.09154854e-02, 6.92189164e-01,
 -7.67674144e-02,-7.17262342e-01,-2.27080928e-02]

qacc:
[ 1.17022916e-01,-3.12606004e+00, 1.02887720e+01,-7.23706629e+00,
 -1.90925445e-01,-5.12342425e+00, 9.44735915e+00,-5.00356645e+00,
 -2.39547842e-02,-5.90950050e+00, 2.21413576e+01,-4.33565434e+01,
 -1.37367588e+00, 1.48288980e+00,-7.36539423e-01, 5.71832972e+00,
  2.38847407e+00, 1.48921381e+00, 4.74937068e+00,-9.93324238e-01,
  8.89403534e+01, 5.89890342e+01]

qfrc_actuator:
[ 0.00495107, 0.06895554, 0.0134668 , 0.00203298, 0.00160304, 0.04566047,
  0.01115401, 0.00095388,-0.00265869, 0.03463337, 0.01090652, 0.00178013,
  0.00976742, 0.00370629, 0.        ,-0.00030313, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002879371073876494
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61111318,  0.07738959, -0.78775093, -0.04743606,  0.99700093,
        0.06114711,  0.79012056,  0.        ,  0.61295147])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862566 , -0.033658  ,  0.22442694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002879371073876494
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61111318,  0.07738959, -0.78775093, -0.04743606,  0.99700093,
        0.06114711,  0.79012056,  0.        ,  0.61295147])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862566 , -0.033658  ,  0.22442694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.24270908, -0.00957227, -0.24252025, -0.00957227,  2.47817834,
       -0.08823392, -0.24252025, -0.08823392,  0.24619167,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006477433588195636
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39953704,  0.08539143, -0.91273132, -0.03424211,  0.99634748,
        0.07822515,  0.91607731,  0.        ,  0.40100171])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08367627, -0.03357849,  0.22310937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013520460215062508
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.59250030e-14,  4.10571462e-14,  1.00000000e+00,  1.47497810e-27,
        1.00000000e+00, -4.10571462e-14, -1.00000000e+00,  0.00000000e+00,
       -3.59250030e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08722783, -0.08201415,  0.06191028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.92317485e-03, 3.51438711e-02, 4.56632386e-03, 1.31257289e-05,
 -5.49406894e-05,-5.73229958e-04,-1.43945147e-04,-2.06048248e-05,
 -6.96945754e-06,-1.13107447e-04,-7.56320953e-06,-1.13460116e-04,
  6.19798935e-03, 9.68098313e-03, 8.92041514e-03, 1.39218208e-03,
  1.21188777e-02, 8.35038796e-02,-9.83264339e+00,-2.83800498e-03,
 -5.97355152e-02, 6.11332228e-02]


--- Step 3198 ---
qpos:
[-1.38801273e-02, 1.19421552e+00,-3.45217819e-02, 9.42619291e-01,
 -9.41494902e-03, 1.32246126e+00,-3.13115828e-02, 9.42105299e-01,
  1.49576989e-02, 1.33848380e+00,-2.37326625e-02, 9.54762497e-01,
  1.25538983e+00, 1.85828038e-04, 1.29252830e+00, 4.47088700e-02,
 -5.59057990e-02,-8.72557369e-02, 9.08512798e-02, 6.92399026e-01,
 -7.42062129e-02,-7.17253037e-01,-2.50021638e-02]

qacc:
[ 7.42435979e-01,-5.33975066e+00, 1.08502131e+01, 4.58116842e+00,
 -1.96578052e-01,-4.15392162e+00, 4.29084330e+00, 8.85854314e+00,
 -2.70681571e-02,-1.41086059e+00, 9.08075377e+00,-3.51852471e+01,
 -1.16722368e+00, 9.06981968e-01, 1.21210324e+01,-1.91739605e+01,
  2.22144381e+00, 1.29780291e+00, 3.56766071e+00,-1.53748029e+00,
  8.12614820e+01, 5.29628912e+01]

qfrc_actuator:
[ 0.00498035, 0.06895967, 0.01349884, 0.00207243, 0.00157886, 0.04541225,
  0.01113799, 0.00099498,-0.00266236, 0.03463521, 0.01085255, 0.00166013,
  0.00974104, 0.00376418, 0.        ,-0.00064798, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028399990592087657
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61135809,  0.0773993 , -0.78755993, -0.04746107,  0.99700017,
        0.06114   ,  0.78992958,  0.        ,  0.61319757])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625531, -0.03365978,  0.22442885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028399990592087657
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61135809,  0.0773993 , -0.78755993, -0.04746107,  0.99700017,
        0.06114   ,  0.78992958,  0.        ,  0.61319757])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625531, -0.03365978,  0.22442885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006447541889221912
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39955874,  0.08540583, -0.91272047, -0.03424979,  0.99634625,
        0.07823751,  0.91606756,  0.        ,  0.40102398])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08367173, -0.03358024,  0.22310933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00141281486130318
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.85823433e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.85823433e-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([-0.08716914, -0.08201759,  0.06190634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.93907969e-03, 3.51349197e-02, 4.52906282e-03, 4.46591269e-05,
 -5.65725996e-05,-5.95820486e-04,-1.45486312e-04, 1.94264995e-05,
 -7.78752107e-06,-6.55350423e-05,-8.02357356e-05,-1.26215614e-04,
  6.23750084e-03, 9.71607701e-03, 8.85428677e-03, 1.00073437e-03,
  7.59576012e-03, 8.28909052e-02,-9.83129445e+00,-4.29075792e-03,
 -5.98149610e-02, 6.12397496e-02]


--- Step 3199 ---
qpos:
[-1.39146120e-02, 1.19421906e+00,-3.45541484e-02, 9.42620140e-01,
 -9.38349648e-03, 1.32267695e+00,-3.13047623e-02, 9.42090075e-01,
  1.49649994e-02, 1.33848312e+00,-2.37335718e-02, 9.54760372e-01,
  1.25552668e+00, 1.00177457e-04, 1.29248969e+00, 4.47028541e-02,
 -5.58956244e-02,-8.74409727e-02, 9.07973485e-02, 6.92710371e-01,
 -7.17119713e-02,-7.17124484e-01,-2.72435244e-02]

qacc:
[ 5.82137210e-01,-3.51506725e+00, 1.15167411e+01,-3.01730538e+01,
 -3.33918219e-01,-4.32530120e+00, 6.60384624e+00,-6.13357738e-02,
 -9.55368962e-02, 1.26241989e+00,-2.43236448e+00,-6.83286178e+00,
 -8.23294715e-01, 7.67654694e-01, 3.90787563e+00,-4.46287870e+00,
  2.07832358e+00, 1.13758390e+00, 2.56855979e+00,-2.00353990e+00,
  7.48854159e+01, 4.79551955e+01]

qfrc_actuator:
[ 0.00502898, 0.06897918, 0.01349431, 0.00197012, 0.00151623, 0.04521364,
  0.01112566, 0.00100758,-0.00268528, 0.03467225, 0.01082082, 0.0016256 ,
  0.00972564, 0.00379784, 0.        ,-0.00067539, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.17569929, -0.10010938,  0.14438959, -0.10010938,  1.36209826,
        0.82256393,  0.14438959,  0.82256393,  0.7460061 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002807499623863497
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.11555969e-01,  7.74105084e-02, -7.87405175e-01, -4.74833415e-02,
        9.96999305e-01,  6.11368881e-02,  7.89775050e-01, -6.93889390e-18,
        6.13396585e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625427, -0.03366177,  0.22443031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.17569929, -0.10010938,  0.14438959, -0.10010938,  1.36209826,
        0.82256393,  0.14438959,  0.82256393,  0.7460061 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002807499623863497
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.11555969e-01,  7.74105084e-02, -7.87405175e-01, -4.74833415e-02,
        9.96999305e-01,  6.11368881e-02,  7.89775050e-01, -6.93889390e-18,
        6.13396585e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625427, -0.03366177,  0.22443031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006422580520939851
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3995818 ,  0.08541953, -0.91270909, -0.0342573 ,  0.99634507,
        0.07824918,  0.91605722,  0.        ,  0.4010476 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08366811, -0.03358222,  0.22310923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001447389796598135
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.83525926e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.83525926e-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([-0.08713493, -0.08202189,  0.06190411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.90267369e-03, 3.52930103e-02, 4.45985137e-03,-1.10257544e-04,
 -9.59867987e-05,-5.57760984e-04,-1.45221553e-04,-8.87376304e-06,
 -2.75266357e-05,-1.86082107e-05,-5.73407129e-05,-4.17585606e-05,
  6.26937686e-03, 9.76368398e-03, 8.31920359e-03, 9.10386610e-04,
  3.34157451e-03, 8.23354292e-02,-9.83019255e+00,-5.50946600e-03,
 -5.99062154e-02, 6.13437365e-02]


--- Step 3200 ---
qpos:
[-1.39493375e-02, 1.19422475e+00,-3.45861216e-02, 9.42619269e-01,
 -9.35291625e-03, 1.32288832e+00,-3.12982408e-02, 9.42075458e-01,
  1.49721768e-02, 1.33848225e+00,-2.37337621e-02, 9.54758822e-01,
  1.25566239e+00, 1.53330755e-05, 1.29244631e+00, 4.46971993e-02,
 -5.58776260e-02,-8.76221961e-02, 9.07503172e-02, 6.93115840e-01,
 -6.92792450e-02,-7.16885108e-01,-2.94373936e-02]

qacc:
[-1.05117029e-01,-1.16954344e+00, 1.07718956e+01,-3.06652774e+01,
 -3.69717422e-01,-3.81979303e+00, 4.36697366e+00, 5.98675744e+00,
 -5.20449620e-02,-1.19219771e+00, 2.44063335e+00, 4.62102316e+00,
 -1.09041089e+00, 1.40701345e+00,-8.06187105e+00, 1.81583825e+01,
  1.95592196e+00, 1.00309628e+00, 1.72499301e+00,-2.41217064e+00,
  6.95930160e+01, 4.37619683e+01]

qfrc_actuator:
[ 0.00507115, 0.06904418, 0.01352292, 0.00190951, 0.00146655, 0.04501085,
  0.01111576, 0.00103883,-0.00268407, 0.03469469, 0.01087371, 0.00165946,
  0.00972216, 0.00388776, 0.        ,-0.00040587, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002777154662608333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61173254,  0.07742205, -0.78726687, -0.04750417,  0.99699841,
        0.06113532,  0.78963704,  0.        ,  0.61357424])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625331, -0.03366383,  0.22443154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002777154662608333
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61173254,  0.07742205, -0.78726687, -0.04750417,  0.99699841,
        0.06113532,  0.78963704,  0.        ,  0.61357424])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625331, -0.03366383,  0.22443154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006398850137184948
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39960803,  0.08543262, -0.91269639, -0.03426483,  0.99634395,
        0.07826017,  0.91604549,  0.        ,  0.40107437])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08366491, -0.03358428,  0.22310908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001460682972834998
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.80035588e-14,  7.60071176e-14,  1.00000000e+00,  2.88854096e-27,
        1.00000000e+00, -7.60071176e-14, -1.00000000e+00,  0.00000000e+00,
       -3.80035588e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08712043, -0.08202663,  0.06190325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.87812967e-03, 3.54783839e-02, 4.54084248e-03,-7.73706254e-05,
 -1.06270174e-04,-5.41661579e-04,-1.36130927e-04, 1.02719782e-05,
 -1.50447997e-05,-2.77057942e-07, 4.15148020e-05, 3.06468717e-05,
  6.30232372e-03, 9.85205402e-03, 8.10900349e-03, 1.14050707e-03,
 -6.86485596e-04, 8.18332630e-02,-9.82927996e+00,-6.54587411e-03,
 -6.00065795e-02, 6.14447936e-02]


--- Step 3201 ---
qpos:
[-1.39844721e-02, 1.19423340e+00,-3.46159175e-02, 9.42618535e-01,
 -9.32304524e-03, 1.32309511e+00,-3.12909102e-02, 9.42060609e-01,
  1.49792644e-02, 1.33848143e+00,-2.37334102e-02, 9.54758023e-01,
  1.25579694e+00,-6.87215582e-05, 1.29240042e+00, 4.46920953e-02,
 -5.58522220e-02,-8.77998602e-02, 9.07073410e-02, 6.93609302e-01,
 -6.69034524e-02,-7.16541869e-01,-3.15882078e-02]

qacc:
[-1.78292618e-01,-1.72914487e+00, 1.00785179e+01,-9.01251404e+00,
 -3.00316421e-01,-8.59714355e+00, 2.12520806e+01,-1.82198909e+01,
 -3.79220992e-02,-1.22883498e-01,-1.05622834e+00, 9.55463033e+00,
 -1.23248142e+00, 1.54800719e+00,-5.27311284e+00, 1.32973129e+01,
  1.85141187e+00, 8.89852385e-01, 1.01379155e+00,-2.77884823e+00,
  6.52056356e+01, 4.02216037e+01]

qfrc_actuator:
[ 0.00509273, 0.06907962, 0.01355263, 0.00192778, 0.00144278, 0.04478946,
  0.01116065, 0.00102756,-0.00268614, 0.03470861, 0.01090509, 0.0016978 ,
  0.00972058, 0.00399292, 0.        ,-0.00031312, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027445318457797185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61192911,  0.07743267, -0.78711304, -0.047526  ,  0.99699758,
        0.06113181,  0.7894834 ,  0.        ,  0.61377191])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625226, -0.03366575,  0.224433  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027445318457797185
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61192911,  0.07743267, -0.78711304, -0.047526  ,  0.99699758,
        0.06113181,  0.7894834 ,  0.        ,  0.61377191])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625226, -0.03366575,  0.224433  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.23966973, -0.00766545, -0.23954712, -0.00766545,  2.5683147 ,
       -0.07451611, -0.23954712, -0.07451611,  0.24205423,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006373717831696345
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99631930e-01,  8.54458616e-02, -9.12684680e-01, -3.42722345e-02,
        9.96342815e-01,  7.82713818e-02,  9.16034789e-01, -6.93889390e-18,
        4.01098823e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08366131, -0.03358619,  0.22310898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001456822232574262
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.81042724e-14,  3.81042724e-14,  1.00000000e+00,  1.45193558e-27,
        1.00000000e+00, -3.81042724e-14, -1.00000000e+00,  0.00000000e+00,
       -3.81042724e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0871217 , -0.08203153,  0.0619035 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.91175894e-03, 3.54067818e-02, 4.55096872e-03, 2.68867634e-05,
 -8.64134448e-05,-5.48962379e-04,-7.65893910e-05,-3.10623499e-05,
 -1.09552793e-05, 2.27904865e-05, 3.69380318e-05, 4.02558594e-05,
  6.35732248e-03, 9.91863113e-03, 8.34847247e-03, 1.21536945e-03,
 -4.52672580e-03, 8.13815142e-02,-9.82851410e+00,-7.43957962e-03,
 -6.01141581e-02, 6.15426525e-02]


--- Step 3202 ---
qpos:
[-1.40199218e-02, 1.19424312e+00,-3.46446685e-02, 9.42617220e-01,
 -9.29380390e-03, 1.32329777e+00,-3.12834940e-02, 9.42044708e-01,
  1.49862661e-02, 1.33848049e+00,-2.37328655e-02, 9.54757720e-01,
  1.25593064e+00,-1.52117926e-04, 1.29235498e+00, 4.46877365e-02,
 -5.58431630e-02,-8.79789653e-02, 9.06562077e-02, 6.93898275e-01,
 -6.45643544e-02,-7.16377738e-01,-3.37574340e-02]

qacc:
[-1.37253732e-01,-2.40764483e+00, 1.07438684e+01,-1.67266945e+01,
 -2.66705887e-01,-7.45192581e+00, 1.99329619e+01,-2.69069126e+01,
 -3.63451436e-02, 1.93669689e-01,-1.80280062e+00, 7.35604181e+00,
 -1.06914898e+00, 1.37045504e+00,-1.48542705e+00, 6.39184795e+00,
 -4.08626692e+00,-3.60269606e-01,-2.03928036e+00,-2.33339638e+01,
 -1.35342108e+02,-2.45992222e+00]

qfrc_actuator:
[ 0.00506673, 0.06906013, 0.01359883, 0.0018857 , 0.00141699, 0.04459441,
  0.01116641, 0.00097362,-0.00269016, 0.03468177, 0.01090569, 0.00172067,
  0.00971484, 0.00407141, 0.        ,-0.00032677, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000271173648611971
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61213846,  0.07744287, -0.78694924, -0.04754855,  0.99699679,
        0.06112718,  0.78931973,  0.        ,  0.61398238])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625117, -0.03366759,  0.22443463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000271173648611971
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61213846,  0.07744287, -0.78694924, -0.04754855,  0.99699679,
        0.06112718,  0.78931973,  0.        ,  0.61398238])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625117, -0.03366759,  0.22443463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006349034026633671
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99651109e-01,  8.54593827e-02, -9.12675016e-01, -3.42793427e-02,
        9.96341655e-01,  7.82830298e-02,  9.16026156e-01, -6.93889390e-18,
        4.01118539e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08365745, -0.03358803,  0.22310895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.26721071,   0.43651078, -17.26721071,
        17.36799854,   3.76867925,   0.43651078,   3.76867925,
       166.35170111,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001450648480866415
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.02350274, -0.08743059,  0.06190391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.90621183e-03, 3.52385810e-02, 4.48836892e-03,-2.20832054e-05,
 -7.67289483e-05,-5.16216718e-04,-1.11575281e-04,-7.31712346e-05,
 -1.04928163e-05,-5.82624675e-06, 1.04347216e-05, 2.55636636e-05,
  6.40992955e-03, 9.95937038e-03, 8.47472006e-03, 1.17435303e-03,
 -8.21343837e-03, 8.09784811e-02,-9.82786316e+00,-8.22121798e-03,
 -6.02276082e-02, 6.16371240e-02]


--- Step 3203 ---
qpos:
[-1.40544991e-02, 1.19425161e+00,-3.46729785e-02, 9.42615309e-01,
 -9.26515363e-03, 1.32349676e+00,-3.12771216e-02, 9.42027962e-01,
  1.49931748e-02, 1.33847901e+00,-2.37312590e-02, 9.54758379e-01,
  1.25606389e+00,-2.35409808e-04, 1.29231603e+00, 4.46843479e-02,
 -5.58488914e-02,-8.81592252e-02, 9.05940279e-02, 6.94001054e-01,
 -6.22505983e-02,-7.16376500e-01,-3.59459371e-02]

qacc:
[ 3.80792463e-01,-3.81637562e+00, 1.17247706e+01,-1.62803245e+01,
 -2.50531860e-01,-3.44418105e+00, 7.15734477e+00,-1.36935630e+01,
 -3.91952157e-02,-1.92578950e+00, 3.48416842e+00, 8.39215042e+00,
 -7.42191888e-01, 7.79020616e-01, 6.72167180e+00,-9.43574948e+00,
 -3.69682061e+00,-2.88714722e-01,-2.76162581e+00,-1.89585359e+01,
 -1.23013883e+02,-6.01210284e+00]

qfrc_actuator:
[ 0.00508324, 0.06904391, 0.01365517, 0.00184357, 0.0013902 , 0.04441655,
  0.0111136 , 0.00093049,-0.00269533, 0.03464835, 0.01095898, 0.00176972,
  0.00969599, 0.00409821, 0.        ,-0.00052894, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002680006417906961
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61234653,  0.07745333, -0.78678632, -0.04757118,  0.99699598,
        0.06112283,  0.78915697,  0.        ,  0.61419157])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625011, -0.03366945,  0.22443627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002680006417906961
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61234653,  0.07745333, -0.78678632, -0.04757118,  0.99699598,
        0.06112283,  0.78915697,  0.        ,  0.61419157])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08625011, -0.03366945,  0.22443627])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006325406017031708
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39966835,  0.08547308, -0.91266618, -0.03428636,  0.99634048,
        0.07829491,  0.91601837,  0.        ,  0.40113632])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08365362, -0.03358987,  0.22310893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.26048913, -0.65009415, 17.26048913, 17.27671885,
        0.1059795 , -0.65009415,  0.1059795 , 20.08656278,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015179225678623523
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.65704763e-14,  1.82852381e-14,  1.00000000e+00,  6.68699867e-28,
        1.00000000e+00, -1.82852381e-14, -1.00000000e+00,  0.00000000e+00,
       -3.65704763e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02331694, -0.08738375,  0.06189966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.93848030e-03, 3.51692312e-02, 4.49252397e-03,-3.51592027e-05,
 -7.20271195e-05,-4.88999645e-04,-1.68963288e-04,-6.33773751e-05,
 -1.13606473e-05,-3.38377745e-05, 5.40857921e-05, 4.97778827e-05,
  6.43396603e-03, 9.95501084e-03, 8.45259922e-03, 9.35091594e-04,
 -1.48421439e-03, 7.47993095e-02,-9.82691910e+00,-5.36459622e-03,
 -6.07388522e-02, 6.17775227e-02]


--- Step 3204 ---
qpos:
[-1.40881605e-02, 1.19426042e+00,-3.46996187e-02, 9.42613741e-01,
 -9.23692908e-03, 1.32369166e+00,-3.12707863e-02, 9.42011164e-01,
  1.49999810e-02, 1.33847765e+00,-2.37292053e-02, 9.54759248e-01,
  1.25619662e+00,-3.18576675e-04, 1.29228212e+00, 4.46817131e-02,
 -5.58680933e-02,-8.83404170e-02, 9.05183503e-02, 6.93932818e-01,
 -5.99531552e-02,-7.16524335e-01,-3.81541612e-02]

qacc:
[ 3.99822476e-01,-3.48841682e+00, 1.11915562e+01,-5.91421167e+00,
 -1.80224337e-01,-5.34842572e+00, 1.10806445e+01,-7.63443236e+00,
 -4.33455363e-02,-6.94262706e-01, 2.01962593e+00, 6.09787325e-01,
 -7.53333533e-01, 7.79244617e-01, 5.23890389e+00,-7.35249126e+00,
 -3.36838659e+00,-2.32948748e-01,-3.37443415e+00,-1.53680396e+01,
 -1.12663115e+02,-8.71367885e+00]

qfrc_actuator:
[ 0.00512421, 0.06906703, 0.01371779, 0.00187268, 0.00138078, 0.04421469,
  0.01111549, 0.00092957,-0.00270113, 0.03468247, 0.01098968, 0.00178056,
  0.0096799 , 0.00412979, 0.        ,-0.00059621, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026526615045488304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.12527122e-01,  7.74647358e-02, -7.86644608e-01, -4.75922620e-02,
        9.96995093e-01,  6.11208793e-02,  7.89015527e-01, -6.93889390e-18,
        6.14373257e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624919, -0.03367147,  0.22443766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026526615045488304
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.12527122e-01,  7.74647358e-02, -7.86644608e-01, -4.75922620e-02,
        9.96995093e-01,  6.11208793e-02,  7.89015527e-01, -6.93889390e-18,
        6.14373257e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624919, -0.03367147,  0.22443766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006305014807012448
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99686328e-01,  8.54864076e-02, -9.12657062e-01, -3.42932845e-02,
        9.96339337e-01,  7.83064271e-02,  9.16010267e-01,  6.93889390e-18,
        4.01154821e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08365034, -0.03359189,  0.22310889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.25989817, -0.66559948, 17.25989817, 17.27900118,
        0.162691  , -0.66559948,  0.162691  , 21.49152575,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015535810597019223
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.57310942e-14,  3.57310942e-14,  1.00000000e+00,  1.27671109e-27,
        1.00000000e+00, -3.57310942e-14, -1.00000000e+00,  0.00000000e+00,
       -3.57310942e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02321715, -0.08735103,  0.06189737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.93583094e-03, 3.52540137e-02, 4.53315334e-03, 2.36825346e-05,
 -5.18937442e-05,-5.08850491e-04,-1.15167788e-04,-2.18137323e-05,
 -1.25170964e-05, 2.74613781e-05, 3.16902529e-05, 1.25774586e-05,
  6.44009927e-03, 9.98318475e-03, 8.12883003e-03, 8.19451443e-04,
  3.90989670e-03, 6.96477019e-02,-9.82644371e+00,-2.70780106e-03,
 -6.11520663e-02, 6.19179744e-02]


--- Step 3205 ---
qpos:
[-1.41218644e-02, 1.19427126e+00,-3.47234926e-02, 9.42613353e-01,
 -9.20909244e-03, 1.32388246e+00,-3.12641990e-02, 9.41994477e-01,
  1.50066764e-02, 1.33847677e+00,-2.37272554e-02, 9.54760927e-01,
  1.25632827e+00,-4.01254918e-04, 1.29224993e+00, 4.46795878e-02,
 -5.58769494e-02,-8.85146661e-02, 9.04611056e-02, 6.93985141e-01,
 -5.77620349e-02,-7.16537244e-01,-4.02808697e-02]

qacc:
[-1.81502663e-02,-2.79534840e+00, 9.88824100e+00, 3.87689301e+00,
 -1.64149508e-01,-5.87843590e+00, 1.24402517e+01,-6.91098557e+00,
 -4.70106416e-02, 2.30725223e+00,-8.39504250e+00, 1.63197045e+01,
 -1.23142379e+00, 1.38903630e+00, 1.10551281e+00, 6.39084267e-02,
  2.58643664e+00, 1.73566003e+00, 4.60820896e+00,-6.64655892e+00,
  8.55342380e+01, 7.27194818e+01]

qfrc_actuator:
[ 0.0051262 , 0.06911268, 0.01374726, 0.00194382, 0.00136409, 0.04401806,
  0.01113186, 0.00093577,-0.00270728, 0.03472117, 0.01098925, 0.00182209,
  0.00967082, 0.00423519, 0.        ,-0.00056496, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026293699718156135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.12688379e-01,  7.74766276e-02, -7.86517846e-01, -4.76121434e-02,
        9.96994169e-01,  6.11204681e-02,  7.88889114e-01,  6.93889390e-18,
        6.14535569e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624839, -0.03367361,  0.22443889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026293699718156135
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.12688379e-01,  7.74766276e-02, -7.86517846e-01, -4.76121434e-02,
        9.96994169e-01,  6.11204681e-02,  7.88889114e-01,  6.93889390e-18,
        6.14535569e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624839, -0.03367361,  0.22443889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006287907332700286
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99702477e-01,  8.54994187e-02, -9.12648771e-01, -3.42999282e-02,
        9.96338220e-01,  7.83177216e-02,  9.16002972e-01,  6.93889390e-18,
        4.01171479e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08364744, -0.03359404,  0.22310885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001582193313680709
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.50849361e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.50849361e-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([-0.08755031, -0.08460753,  0.06189546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.89203079e-03, 3.52833347e-02, 4.47919397e-03, 7.76852984e-05,
 -4.72927577e-05,-5.02787661e-04,-9.72195815e-05,-1.27593944e-05,
 -1.35366060e-05, 6.04625313e-05, 8.90771603e-06, 4.35694712e-05,
  6.45762759e-03, 1.00841328e-02, 7.87720613e-03, 8.13118268e-04,
  8.27751418e-03, 6.52876629e-02,-9.82629825e+00,-2.01387848e-04,
 -6.14855348e-02, 6.20571164e-02]


--- Step 3206 ---
qpos:
[-1.41552983e-02, 1.19428242e+00,-3.47458203e-02, 9.42613345e-01,
 -9.18194765e-03, 1.32406949e+00,-3.12584568e-02, 9.41978026e-01,
  1.50132546e-02, 1.33847651e+00,-2.37253913e-02, 9.54763077e-01,
  1.25645847e+00,-4.83565403e-04, 1.29222045e+00, 4.46779726e-02,
 -5.58763143e-02,-8.86827843e-02, 9.04175870e-02, 6.94147995e-01,
 -5.56675409e-02,-7.16426883e-01,-4.23344657e-02]

qacc:
[ 1.18127142e-01,-3.09601670e+00, 9.82752889e+00,-4.29241010e+00,
 -2.93230963e-01,-2.26493755e+00, 9.20513335e-01, 4.33379405e+00,
 -4.96330499e-02, 1.86520600e+00,-6.03905829e+00, 1.02729205e+01,
 -1.52703811e+00, 1.53991788e+00, 2.59694912e+00,-2.96807023e+00,
  2.37280548e+00, 1.53272700e+00, 3.43152053e+00,-6.62517574e+00,
  7.83165101e+01, 6.57742326e+01]

qfrc_actuator:
[ 0.00519416, 0.06909902, 0.01375509, 0.00195045, 0.00130767, 0.04382623,
  0.01108565, 0.0009461 ,-0.00271357, 0.03476221, 0.01098828, 0.00184586,
  0.00966602, 0.00438446, 0.        ,-0.00063443, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026085108371555477
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.12845374e-01,  7.74887797e-02, -7.86394326e-01, -4.76318585e-02,
        9.96993224e-01,  6.11205124e-02,  7.88765969e-01, -6.93889390e-18,
        6.14693620e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624764, -0.03367577,  0.22444013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00026085108371555477
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.12845374e-01,  7.74887797e-02, -7.86394326e-01, -4.76318585e-02,
        9.96993224e-01,  6.11205124e-02,  7.88765969e-01, -6.93889390e-18,
        6.14693620e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624764, -0.03367577,  0.22444013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006273137814963373
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39971424,  0.08551255, -0.91264239, -0.03430625,  0.99633709,
        0.07832929,  0.9159976 ,  0.        ,  0.40118374])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08364463, -0.0335962 ,  0.22310884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016293902193375842
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.4068666e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.4068666e-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([-0.08750761, -0.0846084 ,  0.06189245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.96211481e-03, 3.51685386e-02, 4.34873727e-03, 2.52708525e-05,
 -8.43127404e-05,-4.90823054e-04,-1.56313827e-04,-7.71742939e-06,
 -1.42913498e-05, 7.75157611e-05, 1.31238732e-05, 2.68321870e-05,
  6.50655039e-03, 1.02107326e-02, 7.79166398e-03, 7.18273144e-04,
  4.27408755e-03, 6.33670263e-02,-9.82499508e+00,-1.38280595e-03,
 -6.15954212e-02, 6.21239728e-02]


--- Step 3207 ---
qpos:
[-1.41880871e-02, 1.19429306e+00,-3.47678366e-02, 9.42612526e-01,
 -9.15557428e-03, 1.32425268e+00,-3.12533579e-02, 9.41962520e-01,
  1.50194210e-02, 1.33847697e+00,-2.37246743e-02, 9.54764162e-01,
  1.25658722e+00,-5.65568747e-04, 1.29219309e+00, 4.46767871e-02,
 -5.58669039e-02,-8.88454495e-02, 9.03838229e-02, 6.94413002e-01,
 -5.36616107e-02,-7.16202892e-01,-4.43219198e-02]

qacc:
[  0.28155665, -2.88834105, 10.28741738,-18.00268887, -0.3269436 ,
  -1.70176509, -2.49722219, 15.55819919, -0.17451736,  2.20661076,
  -3.9108157 , -9.33801809, -1.44615931,  1.41564   ,  1.9405781 ,
  -1.98449379,  2.19383247,  1.36324529,  2.43862718, -6.60724639,
  72.31462887, 60.00612711]

qfrc_actuator:
[ 0.00528366, 0.06910392, 0.01378553, 0.00190094, 0.00126337, 0.04363858,
  0.01105612, 0.00099424,-0.00275542, 0.03476881, 0.01091599, 0.00178796,
  0.00966386, 0.00450673, 0.        ,-0.00067577, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025900382278261705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61299113,  0.07750138, -0.78627948, -0.04765098,  0.99699225,
        0.06112158,  0.78865155,  0.        ,  0.61484042])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624696, -0.03367792,  0.22444129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025900382278261705
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61299113,  0.07750138, -0.78627948, -0.04765098,  0.99699225,
        0.06112158,  0.78865155,  0.        ,  0.61484042])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624696, -0.03367792,  0.22444129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006260325617192079
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99724285e-01,  8.55256212e-02, -9.12636765e-01, -3.43123893e-02,
        9.96335972e-01,  7.83408694e-02,  9.15992989e-01, -6.93889390e-18,
        4.01194272e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08364202, -0.03359837,  0.22310885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016511666692451757
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.72387013e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.72387013e-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([-0.08748802, -0.08461124,  0.06189108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.03810045e-03, 3.51572481e-02, 4.30191713e-03,-4.32554037e-05,
 -9.40092473e-05,-4.91404044e-04,-1.43847168e-04, 2.88327406e-05,
 -5.02832291e-05, 5.28288864e-05,-5.48715359e-05,-5.45851070e-05,
  6.57749366e-03, 1.03163725e-02, 7.65629894e-03, 6.51517955e-04,
  5.62612561e-04, 6.16262057e-02,-9.82392044e+00,-2.34305388e-03,
 -6.17014810e-02, 6.21883309e-02]


--- Step 3208 ---
qpos:
[-1.42207373e-02, 1.19430500e+00,-3.47887564e-02, 9.42611263e-01,
 -9.12995659e-03, 1.32443204e+00,-3.12481625e-02, 9.41948364e-01,
  1.50251206e-02, 1.33847783e+00,-2.37250789e-02, 9.54765609e-01,
  1.25671458e+00,-6.46962897e-04, 1.29216437e+00, 4.46758432e-02,
 -5.58475899e-02,-8.89957148e-02, 9.03612429e-02, 6.94782736e-01,
 -5.18635293e-02,-7.15861241e-01,-4.61498384e-02]

qacc:
[ 6.05452062e-02,-2.02160643e+00, 9.55305597e+00,-1.42404668e+01,
 -3.20161565e-01,-2.97166073e+00, 8.41127966e-01, 1.73800591e+01,
 -1.97864395e-01, 4.17744215e+00,-1.37204106e+01, 1.58250408e+01,
 -1.38918969e+00, 1.55345782e+00,-2.61387205e+00, 6.50478667e+00,
  2.47590139e+00, 3.09998736e+00, 2.79603343e+00,-1.48340963e+01,
  6.94688657e+01, 1.35300941e+02]

qfrc_actuator:
[ 0.00533233, 0.06912066, 0.01379467, 0.0018898 , 0.00122671, 0.04347277,
  0.01107226, 0.00106427,-0.00278275, 0.03477216, 0.01085526, 0.00180669,
  0.00965268, 0.00459496, 0.        ,-0.00057609, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002573089766434167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61312653,  0.07751414, -0.78617264, -0.0476694 ,  0.99699125,
        0.0611234 ,  0.78854517,  0.        ,  0.61497684])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624634, -0.03368005,  0.22444236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002573089766434167
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61312653,  0.07751414, -0.78617264, -0.0476694 ,  0.99699125,
        0.0611234 ,  0.78854517,  0.        ,  0.61497684])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624634, -0.03368005,  0.22444236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006248610416139146
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39973452,  0.08553843, -0.91263108, -0.03431844,  0.99633487,
        0.0783522 ,  0.9159883 ,  0.        ,  0.40120499])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08363962, -0.03360052,  0.22310885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016762683839700102
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.31159090e-14,  3.31159090e-14,  1.00000000e+00, -1.09666343e-27,
        1.00000000e+00, -3.31159090e-14, -1.00000000e+00,  0.00000000e+00,
        3.31159090e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08854286, -0.09235982,  0.06188955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.05451186e-03, 3.51995833e-02, 4.29551903e-03,-1.38416815e-05,
 -9.20950385e-05,-4.66306614e-04,-9.58019648e-05, 5.19082446e-05,
 -5.70203729e-05, 2.02231303e-05,-5.82396548e-05, 1.74183670e-05,
  6.63864404e-03, 1.03909873e-02, 7.55101528e-03, 7.29784053e-04,
 -2.90783779e-03, 6.00359997e-02,-9.82302211e+00,-3.13214079e-03,
 -6.18041081e-02, 6.22499747e-02]


--- Step 3209 ---
qpos:
[-1.42526084e-02, 1.19431689e+00,-3.48086166e-02, 9.42609994e-01,
 -9.10489957e-03, 1.32460738e+00,-3.12424430e-02, 9.41935158e-01,
  1.50306844e-02, 1.33847881e+00,-2.37258195e-02, 9.54766216e-01,
  1.25684101e+00,-7.28021388e-04, 1.29213793e+00, 4.46752995e-02,
 -5.58432713e-02,-8.91459879e-02, 9.03281082e-02, 6.94961934e-01,
 -5.00397771e-02,-7.15694053e-01,-4.80203408e-02]

qacc:
[ 3.40109667e-01,-2.91346675e+00, 9.45516150e+00,-8.21813508e+00,
 -2.37367316e-01,-5.07179535e+00, 8.21231846e+00, 6.43211865e+00,
 -5.74581441e-02,-3.82321863e-01, 3.12640789e+00,-1.24610729e+01,
 -1.06712242e+00, 1.14862931e+00, 2.24913817e+00,-2.76915644e+00,
 -3.74886035e+00,-1.95619525e-03,-2.63868259e+00,-7.23945011e+00,
 -1.27109418e+02,-3.29024010e+01]

qfrc_actuator:
[ 0.00537451, 0.06908966, 0.01379011, 0.00188389, 0.00121267, 0.04326833,
  0.01109756, 0.00111113,-0.00276564, 0.03477358, 0.01083742, 0.00176387,
  0.00963613, 0.00464458, 0.        ,-0.00065807, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002555935245548719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61326783,  0.0775265 , -0.7860612 , -0.04768804,  0.99699029,
        0.06112454,  0.78843416,  0.        ,  0.61511916])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624569, -0.0336821 ,  0.22444352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002555935245548719
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61326783,  0.0775265 , -0.7860612 , -0.04768804,  0.99699029,
        0.06112454,  0.78843416,  0.        ,  0.61511916])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624569, -0.0336821 ,  0.22444352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006236981813181885
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99742572e-01,  8.55512342e-02, -9.12626354e-01, -3.43243112e-02,
        9.96333773e-01,  7.83636098e-02,  9.15984562e-01,  6.93889390e-18,
        4.01213512e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0836371 , -0.03360258,  0.22310889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  17.26343069,   0.56662883,  17.26343069,
        17.38970352,  -3.56390488,   0.56662883,  -3.56390488,
       125.85390331,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001743833398796954
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.18328295e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.18328295e-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([ 0.02269169, -0.08726042,  0.06188542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.08976207e-03, 3.51042874e-02, 4.23616237e-03, 2.44144329e-06,
 -6.83431889e-05,-4.80928412e-04,-7.55776711e-05, 3.14454892e-05,
 -1.65639936e-05, 1.74694954e-06,-2.00047457e-05,-4.35156631e-05,
  6.69132267e-03, 1.04118465e-02, 7.61894709e-03, 6.35807060e-04,
 -6.51114759e-03, 5.26309490e-02,-9.82118607e+00,-3.52467974e-03,
 -6.19715130e-02, 6.23058720e-02]


--- Step 3210 ---
qpos:
[-1.42835012e-02, 1.19432840e+00,-3.48281144e-02, 9.42608044e-01,
 -9.08032171e-03, 1.32477880e+00,-3.12361379e-02, 9.41921917e-01,
  1.50360894e-02, 1.33847914e+00,-2.37261543e-02, 9.54765645e-01,
  1.25696689e+00,-8.08762385e-04, 1.29211283e+00, 4.46750615e-02,
 -5.58526270e-02,-8.92963279e-02, 9.02819201e-02, 6.94966709e-01,
 -4.81911479e-02,-7.15685602e-01,-4.99300088e-02]

qacc:
[ 4.26852736e-01,-2.63571672e+00, 9.40054515e+00,-1.58109406e+01,
 -2.02775092e-01,-6.78491003e+00, 1.59855280e+01,-1.17782947e+01,
 -6.71364193e-02,-3.98099763e+00, 1.43271370e+01,-2.56075862e+01,
 -7.04034753e-01, 8.33185794e-01, 1.11789655e+00,-8.93476016e-01,
 -3.41857029e+00,-1.67364628e-02,-3.26335425e+00,-5.92375274e+00,
 -1.15997775e+02,-3.06710714e+01]

qfrc_actuator:
[ 0.00542985, 0.06904857, 0.01377693, 0.00184535, 0.00119456, 0.04307794,
  0.01112789, 0.00110846,-0.00277527, 0.03470296, 0.01084496, 0.00170293,
  0.00962703, 0.00467107, 0.        ,-0.00067178, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002540575886769668
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61339966,  0.07753891, -0.78595711, -0.04770597,  0.99698933,
        0.06112629,  0.78833051,  0.        ,  0.61525198])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624509, -0.03368417,  0.22444461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002540575886769668
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61339966,  0.07753891, -0.78595711, -0.04770597,  0.99698933,
        0.06112629,  0.78833051,  0.        ,  0.61525198])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624509, -0.03368417,  0.22444461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006226777058495267
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99749693e-01,  8.55637520e-02, -9.12622062e-01, -3.43299820e-02,
        9.96332698e-01,  7.83747918e-02,  9.15981242e-01, -6.93889390e-18,
        4.01221092e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08363476, -0.03360467,  0.22310892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.85337936,   3.78295013,  16.85337936,
        21.2663196 , -17.7918091 ,   3.78295013, -17.7918091 ,
        96.5368196 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0017797604747558232
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.11902371e-14,  4.67853557e-14,  1.00000000e+00, -1.45924634e-27,
        1.00000000e+00, -4.67853557e-14, -1.00000000e+00,  0.00000000e+00,
        3.11902371e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02259443, -0.08725425,  0.06188322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.10614031e-03, 3.50650600e-02, 4.17003231e-03,-3.58473745e-05,
 -5.84140654e-05,-4.71593841e-04,-7.17009500e-05,-1.84180477e-05,
 -1.94127808e-05,-7.48522761e-05, 4.33752538e-06,-6.24813403e-05,
  6.72904759e-03, 1.04232803e-02, 7.50528927e-03, 6.02160743e-04,
 -1.18817778e-03, 5.02448625e-02,-9.82113156e+00,-1.43220460e-03,
 -6.21342998e-02, 6.24205585e-02]


--- Step 3211 ---
qpos:
[-1.43147713e-02, 1.19434269e+00,-3.48459295e-02, 9.42605981e-01,
 -9.05633955e-03, 1.32494668e+00,-3.12299739e-02, 9.41909793e-01,
  1.50411909e-02, 1.33847874e+00,-2.37263821e-02, 9.54765752e-01,
  1.25709203e+00,-8.88591426e-04, 1.29208260e+00, 4.46748467e-02,
 -5.58508407e-02,-8.94337268e-02, 9.02531809e-02, 6.95091391e-01,
 -4.65721903e-02,-7.15548933e-01,-5.16595947e-02]

qacc:
[-1.64493525e-01,-1.07264024e+00, 8.14892543e+00,-1.01238561e+01,
 -2.52354317e-01,-2.36848129e+00,-2.01324111e-01, 1.53775214e+01,
 -1.28400820e-01,-7.68003058e-02,-2.27054215e+00, 1.02442692e+01,
 -8.43848017e-01, 1.30609222e+00,-7.58287568e+00, 1.56789439e+01,
  2.78549929e+00, 3.23527786e+00, 4.36223329e+00,-1.56777234e+01,
  7.73893772e+01, 1.50845351e+02]

qfrc_actuator:
[ 0.00543932, 0.06901954, 0.01379435, 0.00185892, 0.0011564 , 0.04291525,
  0.01112547, 0.00116543,-0.00280087, 0.03466085, 0.01084937, 0.00173832,
  0.00961707, 0.00471907, 0.        ,-0.00043155, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025260886768216015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61352543,  0.07755104, -0.78585774, -0.04772326,  0.99698838,
        0.06112818,  0.78823159,  0.        ,  0.61537871])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624453, -0.03368628,  0.22444563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00025260886768216015
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61352543,  0.07755104, -0.78585774, -0.04772326,  0.99698838,
        0.06112818,  0.78823159,  0.        ,  0.61537871])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624453, -0.03368628,  0.22444563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006217197258684311
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39975684,  0.08557588, -0.91261779, -0.0343355 ,  0.99633166,
        0.07838562,  0.91597792,  0.        ,  0.40122868])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08363253, -0.03360678,  0.22310895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018250143362220916
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.04168302e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.04168302e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08840771, -0.09231363,  0.06188039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.06669100e-03, 3.50551352e-02, 4.16936510e-03, 1.17942498e-05,
 -7.26138088e-05,-4.39452473e-04,-1.03650387e-04, 4.04594324e-05,
 -3.70648175e-05,-8.45116224e-05,-1.15383043e-05, 3.18382529e-05,
  6.74707594e-03, 1.04571156e-02, 7.43853497e-03, 8.27158934e-04,
  3.15421159e-03, 4.80675501e-02,-9.82130796e+00, 6.22049356e-04,
 -6.22694981e-02, 6.25336757e-02]


--- Step 3212 ---
qpos:
[-1.43467848e-02, 1.19436044e+00,-3.48603932e-02, 9.42605667e-01,
 -9.03297229e-03, 1.32511079e+00,-3.12238119e-02, 9.41898807e-01,
  1.50461175e-02, 1.33847817e+00,-2.37269902e-02, 9.54764531e-01,
  1.25721619e+00,-9.67445674e-04, 1.29204854e+00, 4.46748061e-02,
 -5.58388790e-02,-8.95594203e-02, 9.02371066e-02, 6.95326452e-01,
 -4.51615877e-02,-7.15296048e-01,-5.32270633e-02]

qacc:
[-3.23905615e-01,-1.52886551e+00, 6.84966862e+00, 1.22113253e+01,
 -2.60444416e-01,-2.98076823e+00, 1.41854732e+00, 1.43608270e+01,
 -7.40364354e-02,-1.48117314e+00, 7.24184560e+00,-2.14887312e+01,
 -1.14916224e+00, 1.62019691e+00,-6.08498425e+00, 1.32992583e+01,
  2.54385119e+00, 2.92635689e+00, 3.16622077e+00,-1.48430310e+01,
  7.07235221e+01, 1.36444838e+02]

qfrc_actuator:
[ 0.00543998, 0.06897698, 0.01382868, 0.00195672, 0.00112426, 0.0427171 ,
  0.01112163, 0.00122155,-0.00280033, 0.03467168, 0.0108343 , 0.00167034,
  0.00959597, 0.00479701, 0.        ,-0.0003051 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002509199626823267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61367468,  0.07756216, -0.78574009, -0.04774175,  0.99698752,
        0.06112784,  0.78811427,  0.        ,  0.61552895])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624387, -0.03368827,  0.22444691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002509199626823267
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61367468,  0.07756216, -0.78574009, -0.04774175,  0.99698752,
        0.06112784,  0.78811427,  0.        ,  0.61552895])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624387, -0.03368827,  0.22444691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.23473387, -0.00905163, -0.23455929, -0.00905163,  2.55603758,
       -0.08957902, -0.23455929, -0.08957902,  0.23819072,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006206281459419614
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39975989,  0.08558826, -0.9126153 , -0.03434076,  0.99633059,
        0.07839682,  0.91597639,  0.        ,  0.40123217])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08362983, -0.03360878,  0.22310903])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018694528819232642
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.088368  , -0.09229868,  0.06187768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.08621388e-03, 3.48733577e-02, 4.11956947e-03, 1.15217632e-04,
 -7.49557000e-05,-4.61569535e-04,-1.00673724e-04, 4.09953203e-05,
 -2.13573344e-05,-3.72053451e-05,-3.19592918e-05,-7.00846931e-05,
  6.76259544e-03, 1.04910792e-02, 7.69551850e-03, 9.52538842e-04,
 -5.16070843e-04, 4.08523606e-02,-9.81933237e+00,-5.01037202e-05,
 -6.23564165e-02, 6.25739343e-02]


--- Step 3213 ---
qpos:
[-1.43777661e-02, 1.19437668e+00,-3.48727251e-02, 9.42607386e-01,
 -9.01034516e-03, 1.32527116e+00,-3.12174293e-02, 9.41888571e-01,
  1.50510736e-02, 1.33847738e+00,-2.37277782e-02, 9.54761810e-01,
  1.25733975e+00,-1.04619893e-03, 1.29202156e+00, 4.46754341e-02,
 -5.58175443e-02,-8.96744347e-02, 9.02296623e-02, 6.95663865e-01,
 -4.39416294e-02,-7.14936786e-01,-5.46471641e-02]

qacc:
[ 4.50816184e-01,-4.26907924e+00, 7.33904362e+00, 1.82088266e+01,
 -3.13495867e-01,-4.24282759e+00, 6.33527447e+00, 5.59828835e+00,
  1.24924654e-02,-2.39694956e+00, 1.04817702e+01,-2.62495575e+01,
 -9.28029034e-01, 9.40165521e-01, 8.52089948e+00,-1.44305691e+01,
  2.34324418e+00, 2.66979713e+00, 2.15751559e+00,-1.40940050e+01,
  6.51883756e+01, 1.24544179e+02]

qfrc_actuator:
[ 0.00547139, 0.06890678, 0.01385305, 0.00203223, 0.00107825, 0.04253482,
  0.01113462, 0.00125893,-0.00278412, 0.03466075, 0.01082572, 0.00159533,
  0.0095789 , 0.00485697, 0.        ,-0.00060212, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024912485400175634
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61384337,  0.07757269, -0.78560728, -0.0477614 ,  0.9969867 ,
        0.06112586,  0.78798171,  0.        ,  0.61569865])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624314, -0.03369018,  0.22444843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024912485400175634
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61384337,  0.07757269, -0.78560728, -0.0477614 ,  0.9969867 ,
        0.06112586,  0.78798171,  0.        ,  0.61569865])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624314, -0.03369018,  0.22444843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006195243802232415
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3997567 ,  0.08560108, -0.91261549, -0.03434567,  0.99632949,
        0.07840867,  0.9159776 ,  0.        ,  0.40122941])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08362673, -0.03361069,  0.22310917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001886622487420532
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.94235607e-14,  2.94235607e-14,  1.00000000e+00, -8.65745923e-28,
        1.00000000e+00, -2.94235607e-14, -1.00000000e+00,  0.00000000e+00,
        2.94235607e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08835341, -0.0922933 ,  0.06187669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.15477572e-03, 3.46303817e-02, 3.97636663e-03, 1.03250067e-04,
 -9.02158462e-05,-4.57313736e-04,-8.78161838e-05, 2.16905441e-05,
  3.59368750e-06,-3.98138529e-05,-2.15234603e-05,-7.86820936e-05,
  6.79451453e-03, 1.05039225e-02, 7.88734264e-03, 6.46905609e-04,
 -3.53183482e-03, 3.47886313e-02,-9.81773444e+00,-4.54208945e-04,
 -6.24031797e-02, 6.26097844e-02]


--- Step 3214 ---
qpos:
[-1.44074458e-02, 1.19438930e+00,-3.48853689e-02, 9.42608944e-01,
 -8.98830591e-03, 1.32542846e+00,-3.12115324e-02, 9.41879533e-01,
  1.50561103e-02, 1.33847661e+00,-2.37290934e-02, 9.54758207e-01,
  1.25746269e+00,-1.12497409e-03, 1.29200170e+00, 4.46765920e-02,
 -5.58112878e-02,-8.97884478e-02, 9.02112214e-02, 6.95814089e-01,
 -4.26582651e-02,-7.14753822e-01,-5.61248565e-02]

qacc:
[ 5.68136275e-01,-4.18059377e+00, 8.22143269e+00,-6.66680270e+00,
 -2.49109732e-01,-6.68121471e-01,-5.15357167e+00, 2.03135010e+01,
  3.40750348e-02,-7.74144030e-02, 2.04810272e+00,-1.19411305e+01,
 -8.69787728e-01, 7.96959638e-01, 9.00218537e+00,-1.60300394e+01,
 -3.76953205e+00, 2.50287880e-01,-2.74917540e+00, 2.17179642e+00,
 -1.25238856e+02,-5.16860158e+01]

qfrc_actuator:
[ 0.005502  , 0.06885906, 0.01387132, 0.00200461, 0.00105979, 0.04241682,
  0.01112197, 0.00132051,-0.0027764 , 0.0346724 , 0.01080325, 0.00155231,
  0.00956956, 0.0049244 , 0.        ,-0.00079874, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002477915026665601
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61398255,  0.07758418, -0.78549738, -0.04777935,  0.9969858 ,
        0.06112642,  0.78787218,  0.        ,  0.6158388 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624256, -0.03369224,  0.22444967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002477915026665601
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61398255,  0.07758418, -0.78549738, -0.04777935,  0.9969858 ,
        0.06112642,  0.78787218,  0.        ,  0.6158388 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624256, -0.03369224,  0.22444967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006187612744319101
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39975294,  0.0856135 , -0.91261598, -0.03435037,  0.99632842,
        0.07842017,  0.91597906,  0.        ,  0.40122607])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0836242 , -0.03361276,  0.22310927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.25900085,  0.68847444, 17.25900085, 17.38135555,
       -2.72314475,  0.68847444, -2.72314475, 85.53780019,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001912920279904029
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.35285922e-14,  1.45095307e-14,  1.00000000e+00, -6.31579447e-28,
        1.00000000e+00, -1.45095307e-14, -1.00000000e+00,  0.00000000e+00,
        4.35285922e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02224063, -0.08728526,  0.06187517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.13377016e-03, 3.46577368e-02, 3.88804472e-03,-2.59424440e-05,
 -7.16641284e-05,-3.88718864e-04,-1.11713372e-04, 4.59412075e-05,
  9.84557580e-06,-1.68978727e-05,-3.49998288e-05,-4.66639472e-05,
  6.81573803e-03, 1.05680179e-02, 7.53382424e-03, 4.16928059e-04,
 -6.03445492e-03, 2.96346824e-02,-9.81641774e+00,-6.58393219e-04,
 -6.24173981e-02, 6.26412926e-02]


--- Step 3215 ---
qpos:
[-1.44371221e-02, 1.19440150e+00,-3.48981169e-02, 9.42609520e-01,
 -8.96662794e-03, 1.32558303e+00,-3.12059608e-02, 9.41869887e-01,
  1.50612157e-02, 1.33847599e+00,-2.37307997e-02, 9.54754095e-01,
  1.25758440e+00,-1.20313244e-03, 1.29198027e+00, 4.46777950e-02,
 -5.58187749e-02,-8.99017530e-02, 9.01793781e-02, 6.95792914e-01,
 -4.13197966e-02,-7.14731353e-01,-5.76540428e-02]

qacc:
[ 1.54834569e-03,-1.94197706e+00, 7.70101574e+00,-1.78260545e+01,
 -1.52996116e-01,-3.74076539e+00, 9.13502070e+00,-1.32651950e+01,
  2.90069629e-02, 3.97140255e-01,-7.64386113e-03,-5.96229075e+00,
 -1.26812245e+00, 1.46640725e+00,-2.36021092e+00, 5.11436408e+00,
 -3.43590617e+00, 1.76990667e-01,-3.35058858e+00, 1.61649755e+00,
 -1.14446321e+02,-4.58412154e+01]

qfrc_actuator:
[ 0.00554921, 0.06886306, 0.01388753, 0.00196977, 0.00105801, 0.04230269,
  0.01111231, 0.00128934,-0.00277383, 0.03469745, 0.01079061, 0.00152847,
  0.00955957, 0.00503188, 0.        ,-0.0006512 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002468173426079887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.14088652e-01,  7.75966455e-02, -7.85413195e-01, -4.77953303e-02,
        9.96984835e-01,  6.11297456e-02,  7.87788508e-01,  6.93889390e-18,
        6.15945831e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624213, -0.03369445,  0.22445055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002468173426079887
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.14088652e-01,  7.75966455e-02, -7.85413195e-01, -4.77953303e-02,
        9.96984835e-01,  6.11297456e-02,  7.87788508e-01,  6.93889390e-18,
        6.15945831e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624213, -0.03369445,  0.22445055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006182134902748063
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99752787e-01,  8.56253184e-02, -9.12614932e-01, -3.43551321e-02,
        9.96327408e-01,  7.84309891e-02,  9.15978948e-01,  6.93889390e-18,
        4.01226328e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08362232, -0.033615  ,  0.2231093 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.17283084,   1.85499015, -17.17283084,
        17.68549831,   3.82128564,   1.85499015,   3.82128564,
        52.64881375,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019396881995607518
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.29278927e-14,  1.43092976e-14,  1.00000000e+00,  6.14267990e-28,
        1.00000000e+00, -1.43092976e-14, -1.00000000e+00,  0.00000000e+00,
       -4.29278927e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02217106, -0.08730099,  0.06187358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.11588599e-03, 3.48426943e-02, 3.91986513e-03,-5.28335461e-05,
 -4.40515852e-05,-3.50817364e-04,-9.73026917e-05,-4.48797140e-05,
  8.38555566e-06, 7.48725368e-06,-2.12878263e-05,-2.64597484e-05,
  6.83665526e-03, 1.06783215e-02, 7.17784025e-03, 5.38003247e-04,
 -1.84653150e-03, 2.89791357e-02,-9.81673879e+00, 7.81183762e-04,
 -6.24730484e-02, 6.27314646e-02]


--- Step 3216 ---
qpos:
[-1.44669279e-02, 1.19441341e+00,-3.49104828e-02, 9.42609630e-01,
 -8.94524114e-03, 1.32573472e+00,-3.12005447e-02, 9.41860297e-01,
  1.50663572e-02, 1.33847519e+00,-2.37315276e-02, 9.54752452e-01,
  1.25770452e+00,-1.28067655e-03, 1.29195854e+00, 4.46791365e-02,
 -5.58155852e-02,-9.00040222e-02, 9.01626628e-02, 6.95889703e-01,
 -4.01996372e-02,-7.14590422e-01,-5.90088142e-02]

qacc:
[-5.63088647e-02,-2.19483250e+00, 7.66543397e+00,-1.18496099e+01,
 -1.23239712e-01,-3.26538484e+00, 5.97013509e+00,-2.70945039e+00,
  1.53938481e-02, 1.35843994e+00,-9.70406484e+00, 3.69812098e+01,
 -1.63585391e+00, 1.77556159e+00,-7.13701765e-01, 2.17910187e+00,
  2.66919266e+00, 2.75901125e+00, 3.78199212e+00,-1.45968495e+01,
  7.34717886e+01, 1.44542748e+02]

qfrc_actuator:
[ 0.00558941, 0.06889633, 0.01390242, 0.00194922, 0.00104848, 0.04215626,
  0.01110449, 0.00129262,-0.00277437, 0.03471262, 0.01085495, 0.00165814,
  0.00954926, 0.00518052, 0.        ,-0.00065195, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002457144105720826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61419917,  0.07760888, -0.78532556, -0.04781151,  0.99698388,
        0.06113262,  0.78770136,  0.        ,  0.61605727])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624167, -0.03369657,  0.22445148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002457144105720826
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61419917,  0.07760888, -0.78532556, -0.04781151,  0.99698388,
        0.06113262,  0.78770136,  0.        ,  0.61605727])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624167, -0.03369657,  0.22445148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006175560413930956
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39975312,  0.08563712, -0.91261368, -0.03435993,  0.99632639,
        0.07844178,  0.91597862,  0.        ,  0.40122707])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08362034, -0.03361714,  0.22310933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001959923063540772
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.83231277e-14,  2.83231277e-14,  1.00000000e+00, -8.02199563e-28,
        1.00000000e+00, -2.83231277e-14, -1.00000000e+00,  0.00000000e+00,
        2.83231277e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08828999, -0.09225773,  0.06187233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.15590432e-03, 3.48969807e-02, 3.93996816e-03,-2.41941078e-05,
 -3.55106743e-05,-3.62040404e-04,-8.90798623e-05,-1.09818606e-05,
  4.41211849e-06, 1.43745867e-05, 6.26081574e-05, 1.28640360e-04,
  6.88759682e-03, 1.07977486e-02, 7.25681035e-03, 5.35036477e-04,
  1.55901864e-03, 2.82054477e-02,-9.81719755e+00, 2.28806241e-03,
 -6.25169877e-02, 6.28198952e-02]


--- Step 3217 ---
qpos:
[-0.01449672, 1.19442486,-0.03492234, 0.9426095 ,-0.00892414, 1.32588323,
 -0.03119491, 0.94185221, 0.01507135, 1.33847481,-0.02373198, 0.9547527 ,
  1.25782291,-0.00135764, 1.29193741, 0.04468065,-0.05580261,-0.09009616,
  0.09015665, 0.6960954 ,-0.03927763,-0.71434137,-0.06020682]

qacc:
[ 8.07299914e-03,-2.36962129e+00, 7.50028196e+00,-8.97937221e+00,
 -1.21551260e-01,-2.19363033e+00,-1.01716636e+00, 2.04065032e+01,
 -6.08884028e-02, 3.06568204e+00,-1.31353819e+01, 3.29371642e+01,
 -1.77161756e+00, 1.87073532e+00, 4.84593275e-01,-9.49197421e-02,
  2.44569265e+00, 2.53226226e+00, 2.67642546e+00,-1.39372918e+01,
  6.75341071e+01, 1.30731955e+02]

qfrc_actuator:
[ 0.00564328, 0.06889396, 0.01389832, 0.00193712, 0.00103438, 0.04199171,
  0.01111547, 0.00136939,-0.00279452, 0.03475767, 0.01087551, 0.00175287,
  0.00953351, 0.0053181 , 0.        ,-0.00067077, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024459003357649167
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61430912,  0.07762122, -0.78523834, -0.04782773,  0.99698292,
        0.06113561,  0.78761463,  0.        ,  0.61616815])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862412 , -0.03369862,  0.2244524 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024459003357649167
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61430912,  0.07762122, -0.78523834, -0.04782773,  0.99698292,
        0.06113561,  0.78761463,  0.        ,  0.61616815])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862412 , -0.03369862,  0.2244524 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006168762081731859
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39975336,  0.08564898, -0.91261246, -0.03436475,  0.99632537,
        0.07845261,  0.91597834,  0.        ,  0.40122773])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08361836, -0.03361921,  0.22310936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  17.09563193,  -2.4670785 ,  17.09563193,
        20.00028478,  18.90062241,  -2.4670785 ,  18.90062241,
       148.24467798,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019838202555087017
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.5963892e-14,  2.7981946e-14,  1.0000000e+00,  1.5659786e-27,
        1.0000000e+00, -2.7981946e-14, -1.0000000e+00,  0.0000000e+00,
       -5.5963892e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08826951, -0.09224395,  0.06187091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.21623937e-03, 3.49089059e-02, 3.91677196e-03,-1.30536492e-05,
 -3.50452795e-05,-3.83727999e-04,-7.05308633e-05, 6.32053589e-05,
 -1.75499148e-05, 6.90408268e-05, 3.42437186e-05, 9.99764133e-05,
  6.95175291e-03, 1.09062499e-02, 7.27154964e-03, 5.09334499e-04,
 -1.06506701e-03, 2.29488185e-02,-9.81564538e+00, 1.82271351e-03,
 -6.24715991e-02, 6.28417076e-02]


--- Step 3218 ---
qpos:
[-0.01452631, 1.19443646,-0.03493326, 0.9426095 ,-0.00890349, 1.32602847,
 -0.03118908, 0.94184409, 0.01507615, 1.3384752 ,-0.02373306, 0.95475203,
  1.25793976,-0.00143399, 1.29191611, 0.04468229,-0.0558039 ,-0.09018701,
  0.09013787, 0.69612563,-0.03828024,-0.71425887,-0.06146543]

qacc:
[ 8.28139930e-02,-2.15422783e+00, 6.99781873e+00,-4.70898697e+00,
 -1.91468600e-01,-4.89358514e+00, 1.08917183e+01,-7.88889144e+00,
 -8.46256305e-02, 1.13391002e+00,-6.12772446e-01,-1.05758663e+01,
 -1.60093059e+00, 1.75541632e+00,-4.66361369e-01, 1.59109328e+00,
 -3.56586910e+00, 3.22368632e-01,-3.19442160e+00, 6.16081117e+00,
 -1.17177942e+02,-5.65713953e+01]

qfrc_actuator:
[ 0.00570526, 0.06888822, 0.0139003 , 0.00194781, 0.00099991, 0.04181774,
  0.01111968, 0.00136453,-0.00280853, 0.03478459, 0.0108346 , 0.00170195,
  0.00951456, 0.00541334, 0.        ,-0.00064727, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024350306269751987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61441481,  0.07763379, -0.78515441, -0.04784375,  0.99698194,
        0.06113903,  0.78753122,  0.        ,  0.61627476])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624075, -0.03370059,  0.22445328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024350306269751987
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61441481,  0.07763379, -0.78515441, -0.04784375,  0.99698194,
        0.06113903,  0.78753122,  0.        ,  0.61627476])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08624075, -0.03370059,  0.22445328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006162171668507403
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39975356,  0.08566084, -0.91261126, -0.03436956,  0.99632436,
        0.07846345,  0.91597807,  0.        ,  0.40122834])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08361645, -0.03362121,  0.22310939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.25913955,  0.68498869, 17.25913955, 17.353994  ,
       -2.04761605,  0.68498869, -2.04761605, 68.86495293,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019906912197762
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.000000e+00,  5.577073e-14,  1.000000e+00,  0.000000e+00,
        1.000000e+00, -5.577073e-14, -1.000000e+00,  0.000000e+00,
        0.000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02204113, -0.08736723,  0.06187057])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.27730776e-03, 3.49259543e-02, 3.89343987e-03, 9.59798046e-06,
 -5.51538597e-05,-3.99249944e-04,-7.72543730e-05,-1.68276493e-05,
 -2.43688094e-05, 7.47599091e-05,-2.06089778e-05,-4.55391486e-05,
  7.01938468e-03, 1.09740987e-02, 7.24217008e-03, 5.24023909e-04,
 -3.16639248e-03, 1.86355572e-02,-9.81438578e+00, 1.57898145e-03,
 -6.24022716e-02, 6.28600874e-02]


--- Step 3219 ---
qpos:
[-0.0145552 , 1.19444692,-0.03494349, 0.94260975,-0.00888349, 1.32617054,
 -0.03118375, 0.94183462, 0.0150806 , 1.33847547,-0.02373282, 0.95475038,
  1.25805546,-0.00150993, 1.29189778, 0.04468417,-0.05579516,-0.09026799,
  0.09013101, 0.69626839,-0.03748656,-0.71406669,-0.06256083]

qacc:
[  0.30971246, -2.88088144,  7.07676234, -2.42907829, -0.27436451,
  -5.10934165, 14.38882061,-26.03927158, -0.14656597, -5.38117581,
  19.30098085,-27.84358224, -1.32980806,  1.42239736,  3.76623955,
  -6.55806001,  2.50965081,  2.46875687,  2.98391792,-13.83249772,
  68.97876234,135.11591737]

qfrc_actuator:
[ 0.00573642, 0.06888006, 0.01390528, 0.00195416, 0.00095348, 0.04163945,
  0.01108425, 0.00129388,-0.00283648, 0.03476462, 0.01089962, 0.00165448,
  0.00949375, 0.00548289, 0.        ,-0.00075817, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002424236138506789
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61452029,  0.07764626, -0.78507062, -0.04785969,  0.99698097,
        0.06114239,  0.78744795,  0.        ,  0.61638116])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862403 , -0.03370249,  0.22445418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002424236138506789
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61452029,  0.07764626, -0.78507062, -0.04785969,  0.99698097,
        0.06114239,  0.78744795,  0.        ,  0.61638116])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862403 , -0.03370249,  0.22445418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006155678234487857
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99752767e-01,  8.56726397e-02, -9.12610500e-01, -3.43742572e-02,
        9.96323340e-01,  7.84742737e-02,  9.15978240e-01,  6.93889390e-18,
        4.01227945e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08361454, -0.03362313,  0.22310943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.26296021,  -0.58078592, -17.26296021,
        17.41951155,  -4.36293495,  -0.58078592,  -4.36293495,
       146.95419844,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020131497754906566
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75742778e-14,  2.75742778e-14,  1.00000000e+00,  7.60340798e-28,
        1.00000000e+00, -2.75742778e-14, -1.00000000e+00,  0.00000000e+00,
       -2.75742778e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08824533, -0.09222011,  0.06186922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.29899171e-03, 3.49106198e-02, 3.85109565e-03, 9.76238386e-06,
 -7.89611068e-05,-4.15852429e-04,-1.23045913e-04,-8.51407243e-05,
 -4.23444208e-05, 1.59926085e-05, 7.59523408e-05,-4.69274844e-05,
  7.07554378e-03, 1.10143240e-02, 7.25030744e-03, 4.07150797e-04,
 -1.55957557e-04, 1.84645704e-02,-9.81491891e+00, 2.71164274e-03,
 -6.24363081e-02, 6.29345270e-02]


--- Step 3220 ---
qpos:
[-0.01458376, 1.19445737,-0.03495246, 0.94261063,-0.00886402, 1.32630929,
 -0.03117858, 0.94182438, 0.01508456, 1.33847579,-0.02373186, 0.95474923,
  1.25817005,-0.00158529, 1.29188018, 0.04468613,-0.05580031,-0.09034763,
  0.09011064, 0.69624063,-0.03661468,-0.71403673,-0.06371724]

qacc:
[   0.14286087,  -2.34674882,   6.30707947,   1.93942915,  -0.22325587,
   -5.24426611,  13.45806443, -18.58341667,  -0.21173089,  -1.07298021,
    2.5731612 ,   3.4419008 ,  -1.29905363,   1.52297348,   0.94056452,
   -1.48939062,  -3.47523881,   0.33465261,  -3.38040765,   7.32022635,
 -113.76803615, -57.53447861]

qfrc_actuator:
[ 0.00576624, 0.06881839, 0.01391195, 0.00199321, 0.00093576, 0.04147757,
  0.01107891, 0.00125608,-0.00287258, 0.03477035, 0.01093776, 0.00168049,
  0.00947716, 0.00555477, 0.        ,-0.00073684, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024151697617605904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.14612226e-01,  7.76590184e-02, -7.84997381e-01, -4.78747650e-02,
        9.96979978e-01,  6.11467907e-02,  7.87375271e-01, -6.93889390e-18,
        6.16473991e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623991, -0.03370442,  0.22445494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024151697617605904
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.14612226e-01,  7.76590184e-02, -7.84997381e-01, -4.78747650e-02,
        9.96979978e-01,  6.11467907e-02,  7.87375271e-01, -6.93889390e-18,
        6.16473991e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623991, -0.03370442,  0.22445494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006150345781158612
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99752384e-01,  8.56841493e-02, -9.12609587e-01, -3.43788764e-02,
        9.96322351e-01,  7.84848157e-02,  9.15978234e-01,  6.93889390e-18,
        4.01227960e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08361288, -0.03362509,  0.22310945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.25955587,  0.67441736, 17.25955587, 17.34342248,
       -1.80921781,  0.67441736, -1.80921781, 63.57387241,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020208523758664665
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.74691768e-14,  5.49383536e-14,  1.00000000e+00,  1.50911135e-27,
        1.00000000e+00, -5.49383536e-14, -1.00000000e+00,  0.00000000e+00,
       -2.74691768e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02196616, -0.08742392,  0.06186882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.29334016e-03, 3.49053407e-02, 3.82373024e-03, 3.60033754e-05,
 -6.42887179e-05,-4.19639347e-04,-1.03412000e-04,-5.57220880e-05,
 -6.11050995e-05, 2.80186994e-05, 4.85161234e-05, 2.76137967e-05,
  7.11656399e-03, 1.10679967e-02, 7.10224151e-03, 4.16478346e-04,
 -2.08309642e-03, 1.45146385e-02,-9.81366379e+00, 2.44062524e-03,
 -6.23321198e-02, 6.29476773e-02]


--- Step 3221 ---
qpos:
[-0.01461226, 1.19446846,-0.03495944, 0.94261291,-0.00884501, 1.32644512,
 -0.03117376, 0.94181478, 0.01508831, 1.33847658,-0.02373144, 0.95474878,
  1.2582836 ,-0.00165991, 1.29186231, 0.0446881 ,-0.05579519,-0.09041759,
  0.09010335, 0.69632875,-0.03595125,-0.71389567,-0.06470508]

qacc:
[ 2.76895509e-02,-2.15528911e+00, 5.17407759e+00, 1.13220334e+01,
 -1.94596916e-01,-1.80084609e+00,-8.75369350e-02, 9.36855833e+00,
 -8.16741987e-02, 3.30049551e+00,-1.14127926e+01, 1.76131218e+01,
 -1.27380092e+00, 1.59420452e+00,-3.03351207e-01, 7.46634877e-01,
  2.56725360e+00, 2.41708372e+00, 3.27023348e+00,-1.38075835e+01,
  7.03209432e+01, 1.38828046e+02]

qfrc_actuator:
[ 0.00579537, 0.06877723, 0.01390104, 0.00206917, 0.00091766, 0.04136243,
  0.01107373, 0.00129122,-0.00286002, 0.03479139, 0.01090656, 0.00171401,
  0.00947379, 0.00564543, 0.        ,-0.00070712, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024066667053205572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61470109,  0.07767175, -0.78492654, -0.04788958,  0.99697899,
        0.06115135,  0.787305  ,  0.        ,  0.61656374])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623954, -0.03370634,  0.22445569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00024066667053205572
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61470109,  0.07767175, -0.78492654, -0.04788958,  0.99697899,
        0.06115135,  0.787305  ,  0.        ,  0.61656374])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623954, -0.03370634,  0.22445569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000614547935853596
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39975087,  0.08569556, -0.91260918, -0.03438336,  0.99632137,
        0.07849531,  0.91597873,  0.        ,  0.40122683])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08361127, -0.03362704,  0.22310946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.2626695 ,  -0.58936348, -17.2626695 ,
        17.41401546,  -4.1383821 ,  -0.58936348,  -4.1383821 ,
       138.48743585,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002051464947729356
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.70592736e-14,  5.41185471e-14,  1.00000000e+00,  1.46440857e-27,
        1.00000000e+00, -5.41185471e-14, -1.00000000e+00,  0.00000000e+00,
       -2.70592736e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08821302, -0.09218756,  0.06186696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.30611384e-03, 3.48652127e-02, 3.74978764e-03, 8.01920556e-05,
 -5.60247081e-05,-3.70235785e-04,-1.00890164e-04, 1.83549718e-05,
 -2.35197471e-05, 4.68241768e-05,-1.94117843e-05, 3.64153553e-05,
  7.16866047e-03, 1.11303441e-02, 7.06626215e-03, 4.42294980e-04,
  4.24267396e-04, 1.44407143e-02,-9.81426254e+00, 3.45800117e-03,
 -6.23643257e-02, 6.30149983e-02]


--- Step 3222 ---
qpos:
[-0.01464022, 1.19447843,-0.03496496, 0.94261662,-0.00882642, 1.32657851,
 -0.03116983, 0.94180497, 0.0150923 , 1.33847756,-0.02373182, 0.95474773,
  1.25839648,-0.00173404, 1.2918475 , 0.0446902 ,-0.05578063,-0.09047856,
  0.09010503, 0.69652406,-0.03547728,-0.71365252,-0.0655414 ]

qacc:
[ 2.37673201e-01,-2.96331260e+00, 4.93775248e+00, 1.30046343e+01,
 -1.78061737e-01,-1.14371259e+00, 2.88574965e-01,-1.11413007e+00,
  9.61404363e-02, 1.38884812e+00,-3.02506711e+00,-4.32769548e+00,
 -1.01740025e+00, 1.26122356e+00, 4.20401215e+00,-7.93007880e+00,
  2.36100541e+00, 2.24981824e+00, 2.24325129e+00,-1.32487848e+01,
  6.49537238e+01, 1.25687310e+02]

qfrc_actuator:
[ 0.00580645, 0.06876546, 0.01389608, 0.00213075, 0.00089947, 0.04125852,
  0.0110334 , 0.00128025,-0.00281836, 0.03476791, 0.01085249, 0.00168063,
  0.00946773, 0.00571148, 0.        ,-0.0008321 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023982919297371383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.14791891e-01,  7.76843371e-02, -7.84854174e-01, -4.79044675e-02,
        9.96978006e-01,  6.11556883e-02,  7.87233188e-01,  6.93889390e-18,
        6.16655420e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623917, -0.03370823,  0.22445646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023982919297371383
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.14791891e-01,  7.76843371e-02, -7.84854174e-01, -4.79044675e-02,
        9.96978006e-01,  6.11556883e-02,  7.87233188e-01,  6.93889390e-18,
        6.16655420e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623917, -0.03370823,  0.22445646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006140881406761951
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99746930e-01,  8.57069931e-02, -9.12609831e-01, -3.43876406e-02,
        9.96320386e-01,  7.85059160e-02,  9.15980285e-01, -6.93889390e-18,
        4.01223276e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08360961, -0.03362896,  0.22310949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  17.19498559,  -1.63694168,  17.19498559,
        18.08304668,   8.51186736,  -1.63694168,   8.51186736,
       106.68424275,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002058843541149838
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.69622971e-14,  2.69622971e-14,  1.00000000e+00,  7.26965465e-28,
        1.00000000e+00, -2.69622971e-14, -1.00000000e+00,  0.00000000e+00,
       -2.69622971e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08820752, -0.09217512,  0.06186656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.31405755e-03, 3.48209820e-02, 3.64511971e-03, 7.20199210e-05,
 -5.12397412e-05,-3.28922033e-04,-1.23910677e-04,-2.44755589e-05,
  2.77689647e-05,-3.02679573e-07,-4.60627548e-05,-3.17115687e-05,
  7.21470566e-03, 1.11614632e-02, 7.07952652e-03, 3.16925055e-04,
 -1.31279294e-03, 1.09148006e-02,-9.81302343e+00, 3.16610436e-03,
 -6.22293385e-02, 6.30233090e-02]


--- Step 3223 ---
qpos:
[-0.01466757, 1.19448675,-0.03497082, 0.9426198 ,-0.00880822, 1.32670951,
 -0.0311668 , 0.94179511, 0.01509646, 1.33847844,-0.02373334, 0.95474703,
  1.25850889,-0.00180763, 1.29183306, 0.04469228,-0.05578056,-0.09053774,
  0.09009404, 0.69654325,-0.03490965,-0.71357813,-0.06644598]

qacc:
[ 2.62335605e-01,-2.14468859e+00, 5.47657907e+00,-9.81257724e+00,
 -1.67928182e-01,-8.10788044e-01,-1.03203719e+00, 1.75905027e+00,
  7.57979161e-02, 3.55786690e+00,-1.24539279e+01, 1.48322869e+01,
 -7.39263976e-01, 1.03422303e+00, 6.95235524e-01,-1.47473514e+00,
 -3.62028023e+00, 4.47060728e-01,-3.16631049e+00, 1.06669468e+01,
 -1.17340248e+02,-6.59640682e+01]

qfrc_actuator:
[ 0.00584171, 0.06879059, 0.0139122 , 0.00209434, 0.00088137, 0.04114428,
  0.01099041, 0.00127772,-0.00281285, 0.03473556, 0.01078518, 0.00169688,
  0.00944942, 0.00574497, 0.        ,-0.000837  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002391607906586518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61486969,  0.07769729, -0.78479194, -0.04791857,  0.996977  ,
        0.0611611 ,  0.78717157,  0.        ,  0.61673408])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623886, -0.0337102 ,  0.2244571 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002391607906586518
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61486969,  0.07769729, -0.78479194, -0.04791857,  0.996977  ,
        0.0611611 ,  0.78717157,  0.        ,  0.61673408])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623886, -0.0337102 ,  0.2244571 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000613744647774743
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99742693e-01,  8.57182211e-02, -9.12610632e-01, -3.43918144e-02,
        9.96319420e-01,  7.85163457e-02,  9.15981977e-01, -6.93889390e-18,
        4.01219413e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08360819, -0.03363096,  0.22310948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.26006707,  0.66120506, 17.26006707, 17.34018928,
       -1.76102524,  0.66120506, -1.76102524, 63.24245083,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020674226267759707
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.68504129e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.68504129e-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([ 0.02185132, -0.08752636,  0.06186612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.32211313e-03, 3.49021554e-02, 3.58867172e-03,-3.56615796e-05,
 -4.83262028e-05,-3.22172045e-04,-1.22354955e-04,-1.64697501e-05,
  2.19110021e-05,-4.24584858e-05,-7.35386517e-05, 1.41558649e-05,
  7.23008440e-03, 1.11720584e-02, 6.92654403e-03, 3.05226450e-04,
 -2.63167192e-03, 8.13268098e-03,-9.81201034e+00, 3.05965490e-03,
 -6.20803185e-02, 6.30287790e-02]


--- Step 3224 ---
qpos:
[-0.01469523, 1.19449467,-0.0349778 , 0.94262107,-0.00879055, 1.32683824,
 -0.03116475, 0.94178598, 0.0151006 , 1.3384792 ,-0.02373553, 0.95474892,
  1.25862031,-0.00188031, 1.29181414, 0.04469416,-0.05579371,-0.09059561,
  0.09006826, 0.69640059,-0.0342626 ,-0.71365824,-0.06741084]

qacc:
[-1.31421004e-01,-7.65373950e-01, 5.80120948e+00,-2.69516999e+01,
 -2.23037237e-01, 9.16163764e-01,-8.10091518e+00, 1.69793357e+01,
 -1.15099337e-02, 6.08696553e+00,-2.52677040e+01, 5.18862421e+01,
 -1.09931004e+00, 1.52025509e+00,-5.95112269e+00, 1.14058888e+01,
 -3.30863455e+00, 3.28136576e-01,-3.70074087e+00, 8.45872367e+00,
 -1.07859186e+02,-5.73943013e+01]

qfrc_actuator:
[ 0.00587345, 0.06882107, 0.01390667, 0.00200053, 0.00084572, 0.04104253,
  0.0109462 , 0.00131569,-0.00282907, 0.03475136, 0.01076384, 0.00183098,
  0.00943441, 0.00584743, 0.        ,-0.00068098, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023843332737409802
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.14943816e-01,  7.77100787e-02, -7.84732595e-01, -4.79322796e-02,
        9.96976000e-01,  6.11665995e-02,  7.87112825e-01,  6.93889390e-18,
        6.16809047e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623855, -0.03371218,  0.22445767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023843332737409802
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.14943816e-01,  7.77100787e-02, -7.84732595e-01, -4.79322796e-02,
        9.96976000e-01,  6.11665995e-02,  7.87112825e-01,  6.93889390e-18,
        6.16809047e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623855, -0.03371218,  0.22445767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006133248132782002
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39974027,  0.08572917, -0.91261066, -0.03439603,  0.99631848,
        0.07852645,  0.91598287,  0.        ,  0.40121737])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08360683, -0.03363298,  0.22310944])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.26693739,   0.4471921 , -17.26693739,
        17.27652936,   0.146806  ,   0.4471921 ,   0.146806  ,
        22.94118592,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002072214766266192
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.67883195e-14,  5.35766390e-14,  1.00000000e+00,  1.43522812e-27,
        1.00000000e+00, -5.35766390e-14, -1.00000000e+00,  0.00000000e+00,
       -2.67883195e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0218409 , -0.08756097,  0.06186585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.32378584e-03, 3.50147887e-02, 3.59994873e-03,-1.03142957e-04,
 -6.41622666e-05,-3.05391220e-04,-1.21849539e-04, 2.44570901e-05,
 -3.28097988e-06,-2.16217241e-05,-3.75739335e-05, 1.31010573e-04,
  7.23869644e-03, 1.12490602e-02, 6.90784129e-03, 4.62465105e-04,
 -5.42489637e-04, 8.30839105e-03,-9.81264728e+00, 3.74237365e-03,
 -6.21388367e-02, 6.30845944e-02]


--- Step 3225 ---
qpos:
[-0.0147233 , 1.19450219,-0.03498523, 0.94262117,-0.00877328, 1.32696432,
 -0.0311626 , 0.94177805, 0.01510463, 1.33847926,-0.02373685, 0.95475168,
  1.25873053,-0.00195217, 1.29179345, 0.04469607,-0.05579606,-0.09064414,
  0.09005815, 0.69638096,-0.03383595,-0.71362331,-0.06819424]

qacc:
[-1.79728657e-01,-1.31707979e+00, 6.07679402e+00,-1.86037823e+01,
 -1.67464732e-01,-1.68349664e+00,-1.19220883e+00, 1.66253407e+01,
 -4.59598424e-02,-1.75158497e+00, 2.84388676e+00, 8.02166878e+00,
 -1.37740487e+00, 1.72544616e+00,-2.59163176e+00, 5.51914647e+00,
  2.70299241e+00, 2.33463576e+00, 3.92006867e+00,-1.37604906e+01,
  7.34209754e+01, 1.47939610e+02]

qfrc_actuator:
[ 0.00588598, 0.06881869, 0.01390681, 0.00194489, 0.00083533, 0.04091359,
  0.01095494, 0.00137718,-0.00284044, 0.03470736, 0.01080556, 0.00187362,
  0.00942678, 0.00597294, 0.        ,-0.00065902, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023735223990311964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.15033867e-01,  7.77222027e-02, -7.84660820e-01, -4.79468234e-02,
        9.96975054e-01,  6.11706050e-02,  7.87041578e-01, -6.93889390e-18,
        6.16899956e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623814, -0.03371405,  0.22445837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023735223990311964
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.15033867e-01,  7.77222027e-02, -7.84660820e-01, -4.79468234e-02,
        9.96975054e-01,  6.11706050e-02,  7.87041578e-01, -6.93889390e-18,
        6.16899956e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623814, -0.03371405,  0.22445837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006126176223714141
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39973925,  0.0857402 , -0.91261008, -0.0344004 ,  0.99631753,
        0.07853658,  0.91598316,  0.        ,  0.40121672])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08360515, -0.03363487,  0.2231094 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.26244918,  -0.59578156, -17.26244918,
        17.4048131 ,  -3.82711541,  -0.59578156,  -3.82711541,
       128.16133016,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021075200474189246
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.63395602e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.63395602e-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([-0.08816676, -0.09211871,  0.06186367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.35136199e-03, 3.50327117e-02, 3.65594128e-03,-6.32946272e-05,
 -4.82400452e-05,-3.21939790e-04,-6.43433454e-05, 4.94536423e-05,
 -1.33099923e-05,-5.94158828e-05, 3.70684173e-05, 4.39468182e-05,
  7.28020563e-03, 1.13308137e-02, 7.13219503e-03, 4.94101676e-04,
  1.07762787e-03, 8.27958368e-03,-9.81333198e+00, 4.58045596e-03,
 -6.21741700e-02, 6.31391484e-02]


--- Step 3226 ---
qpos:
[-0.01475142, 1.19451058,-0.03499104, 0.9426221 ,-0.00875634, 1.32708729,
 -0.0311593 , 0.94177055, 0.01510853, 1.33847838,-0.02373682, 0.95475286,
  1.25883951,-0.00202332, 1.29177274, 0.0446981 ,-0.05578851,-0.09068393,
  0.0900592 , 0.69647456,-0.03360826,-0.71348303,-0.06881588]

qacc:
[-2.30509867e-02,-1.77579062e+00, 5.47018608e+00, 4.37439384e+00,
 -1.43337888e-01,-6.47383208e+00, 1.52888337e+01,-6.19255925e+00,
 -5.59405486e-02,-7.60201389e+00, 2.65093999e+01,-4.07005234e+01,
 -1.42032775e+00, 1.68876322e+00,-2.44541791e-01, 1.10151387e+00,
  2.47336396e+00, 2.18530769e+00, 2.78864286e+00,-1.32386083e+01,
  6.75578628e+01, 1.32959886e+02]

qfrc_actuator:
[ 0.00594048, 0.06877899, 0.01396339, 0.00200092, 0.00082242, 0.04075188,
  0.01101253, 0.00139878,-0.00284881, 0.03464585, 0.01086611, 0.00179105,
  0.00940764, 0.00605874, 0.        ,-0.00064663, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023612463501095082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.15129408e-01,  7.77342896e-02, -7.84584726e-01, -4.79617745e-02,
        9.96974112e-01,  6.11742427e-02,  7.86965996e-01,  6.93889390e-18,
        6.16996370e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623768, -0.03371583,  0.22445911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023612463501095082
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.15129408e-01,  7.77342896e-02, -7.84584726e-01, -4.79617745e-02,
        9.96974112e-01,  6.11742427e-02,  7.86965996e-01,  6.93889390e-18,
        6.16996370e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623768, -0.03371583,  0.22445911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006117868251022743
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.399739  ,  0.08575138, -0.91260913, -0.0344049 ,  0.99631657,
        0.07854681,  0.9159831 ,  0.        ,  0.40121686])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08360334, -0.03363668,  0.22310935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.23458408, -1.14726583, 17.23458408, 17.56764382,
        4.43032804, -1.14726583,  4.43032804, 83.82649266,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021243968264014756
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.61303117e-14,  2.61303117e-14,  1.00000000e+00,  6.82793189e-28,
        1.00000000e+00, -2.61303117e-14, -1.00000000e+00,  0.00000000e+00,
       -2.61303117e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08815261, -0.09209834,  0.06186266])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.42645899e-03, 3.50131875e-02, 3.73478919e-03, 5.12781769e-05,
 -4.13673712e-05,-3.51834471e-04,-1.14468923e-05, 1.13221186e-05,
 -1.62323823e-05,-8.58182357e-05, 5.44497138e-05,-8.22132231e-05,
  7.32145673e-03, 1.13766344e-02, 7.22117360e-03, 5.05154769e-04,
 -3.00735036e-04, 5.59509084e-03,-9.81209919e+00, 4.23149996e-03,
 -6.19856257e-02, 6.31392607e-02]


--- Step 3227 ---
qpos:
[-0.01477923, 1.19451888,-0.03499558, 0.9426238 ,-0.00873958, 1.32720749,
 -0.03115503, 0.94176198, 0.01511244, 1.33847789,-0.02373709, 0.95475232,
  1.25894719,-0.00209393, 1.29175392, 0.04470032,-0.05577182,-0.09071549,
  0.09006758, 0.69667306,-0.03356186,-0.71324533,-0.06929174]

qacc:
[ 1.36548227e-01,-2.25830015e+00, 5.61862301e+00, 4.11798765e+00,
 -7.24440500e-02,-8.07257151e+00, 2.41612775e+01,-3.17409449e+01,
  5.71734627e-03,-1.64811772e+00, 9.43990856e+00,-2.82338214e+01,
 -1.48929408e+00, 1.64683785e+00, 2.33908094e+00,-3.85220909e+00,
  2.28360359e+00, 2.05872257e+00, 1.83292224e+00,-1.27115112e+01,
  6.26632374e+01, 1.20685176e+02]

qfrc_actuator:
[ 0.00598446, 0.06875128, 0.01401645, 0.00203368, 0.00082586, 0.04062528,
  0.01106281, 0.00134346,-0.00283756, 0.03471637, 0.01086611, 0.00170649,
  0.00938165, 0.00615601, 0.        ,-0.00071108, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023494601177801756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.15225911e-01,  7.77463616e-02, -7.84507860e-01, -4.79767937e-02,
        9.96973171e-01,  6.11778065e-02,  7.86889640e-01,  6.93889390e-18,
        6.17093748e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623723, -0.03371759,  0.22445989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023494601177801756
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.15225911e-01,  7.77463616e-02, -7.84507860e-01, -4.79767937e-02,
        9.96973171e-01,  6.11778065e-02,  7.86889640e-01,  6.93889390e-18,
        6.17093748e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623723, -0.03371759,  0.22445989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006110140651189866
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39973647,  0.08576263, -0.91260919, -0.03440923,  0.9963156 ,
        0.0785572 ,  0.91598404,  0.        ,  0.40121471])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08360151, -0.03363846,  0.22310932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.20872119, -1.48560503, 17.20872119, 17.83122344,
        6.46942129, -1.48560503,  6.46942129, 92.21220667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021171050222363944
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62203106e-14,  5.24406212e-14,  1.00000000e+00,  1.37500937e-27,
        1.00000000e+00, -5.24406212e-14, -1.00000000e+00,  0.00000000e+00,
       -2.62203106e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08816016, -0.09208834,  0.06186315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.47310588e-03, 3.49414133e-02, 3.70724981e-03, 4.24383269e-05,
 -2.09709279e-05,-3.24039454e-04,-1.96994036e-05,-6.58297608e-05,
  1.66229734e-06, 3.12681361e-05,-1.29710949e-05,-8.74237317e-05,
  7.35730194e-03, 1.14402347e-02, 7.22196605e-03, 4.35006582e-04,
 -1.24250328e-03, 3.64897354e-03,-9.81110594e+00, 4.09414003e-03,
 -6.17871208e-02, 6.31370708e-02]


--- Step 3228 ---
qpos:
[-0.0148058 , 1.19452427,-0.03500082, 0.94262486,-0.00872281, 1.32732556,
 -0.03115101, 0.94175282, 0.01511655, 1.33847773,-0.023738  , 0.95475079,
  1.25905416,-0.00216437, 1.2917405 , 0.04470282,-0.05576986,-0.09074477,
  0.09006351, 0.69669366,-0.03340674,-0.71317882,-0.06984202]

qacc:
[ 5.37340228e-01,-3.00747045e+00, 6.53960418e+00,-1.12734528e+01,
  3.12589922e-03,-3.12861068e+00, 8.06295900e+00,-1.24950515e+01,
  8.27958240e-02, 4.35875751e-01, 1.08879374e+00,-1.25337432e+01,
 -9.63968830e-01, 1.00256405e+00, 7.19184101e+00,-1.33753662e+01,
 -3.68048067e+00, 5.67709896e-01,-3.11076884e+00, 1.42763445e+01,
 -1.18063235e+02,-7.37299924e+01]

qfrc_actuator:
[ 0.00602178, 0.0687314 , 0.01399608, 0.00198118, 0.00083907, 0.04053842,
  0.0110552 , 0.00131435,-0.00281462, 0.03472314, 0.0108309 , 0.00165701,
  0.0093729 , 0.00620679, 0.        ,-0.00091052, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023391132356326283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61531454,  0.07775867, -0.78443712, -0.04799135,  0.99697221,
        0.06118203,  0.78681945,  0.        ,  0.61718324])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623682, -0.03371934,  0.2244606 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00023391132356326283
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61531454,  0.07775867, -0.78443712, -0.04799135,  0.99697221,
        0.06118203,  0.78681945,  0.        ,  0.61718324])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623682, -0.03371934,  0.2244606 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006103547256380397
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99732867e-01,  8.57737863e-02, -9.12609715e-01, -3.44134275e-02,
        9.96314638e-01,  7.85675406e-02,  9.15985453e-01, -6.93889390e-18,
        4.01211477e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08359982, -0.03364024,  0.2231093 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.26146094,  0.62375779, 17.26146094, 17.32874638,
       -1.55023584,  0.62375779, -1.55023584, 60.17292945,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021053217847095893
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.63670626e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.63670626e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02176299, -0.08772402,  0.06186393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.49480429e-03, 3.49265889e-02, 3.62328945e-03,-4.84183075e-05,
  8.34082828e-07,-2.72851359e-04,-7.53633631e-05,-4.08227880e-05,
  2.39143915e-05, 1.89458658e-05,-3.31391882e-05,-5.09781942e-05,
  7.41425483e-03, 1.14653685e-02, 7.12782310e-03, 2.26109690e-04,
 -1.85532908e-03, 2.25298971e-03,-9.81028621e+00, 4.11157809e-03,
 -6.15804717e-02, 6.31323187e-02]


--- Step 3229 ---
qpos:
[-0.01483132, 1.19452784,-0.03500654, 0.94262518,-0.00870631, 1.3274416 ,
 -0.03114803, 0.94174342, 0.01512072, 1.33847659,-0.02373883, 0.95474945,
  1.25916081,-0.00223451, 1.29173012, 0.0447054 ,-0.05578133,-0.09077235,
  0.09004484, 0.69655107,-0.0331603 ,-0.71326904,-0.07045759]

qacc:
[ 4.62241416e-01,-2.34348843e+00, 6.27892852e+00,-1.28708732e+01,
 -1.17454608e-01,-2.57269648e-01,-1.90364657e+00, 1.64288260e-01,
  2.91295481e-02,-1.13449034e+00, 1.78311803e+00, 1.22764589e+00,
 -6.23873175e-01, 7.93575828e-01, 4.33446117e+00,-8.50895381e+00,
 -3.35849546e+00, 4.24357359e-01,-3.65116067e+00, 1.12765681e+01,
 -1.08502685e+02,-6.36245863e+01]

qfrc_actuator:
[ 0.00605407, 0.06868355, 0.01396862, 0.00194964, 0.00080478, 0.04042259,
  0.01099591, 0.0013009 ,-0.00282038, 0.0346028 , 0.01081051, 0.00166402,
  0.00937449, 0.00622982, 0.        ,-0.00096036, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002331383646078499
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61537819,  0.07777155, -0.78438592, -0.04800431,  0.99697121,
        0.06118824,  0.78676888,  0.        ,  0.6172477 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623653, -0.0337212 ,  0.22446104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002331383646078499
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61537819,  0.07777155, -0.78438592, -0.04800431,  0.99697121,
        0.06118824,  0.78676888,  0.        ,  0.6172477 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623653, -0.0337212 ,  0.22446104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000609845857325552
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39973257,  0.08578437, -0.91260885, -0.03441768,  0.99631373,
        0.07857724,  0.91598542,  0.        ,  0.40121154])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08359863, -0.03364214,  0.22310921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.27065745,   0.26739245, -17.27065745,
        17.27306076,   0.02153981,   0.26739245,   0.02153981,
        18.66396572,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002112000500069079
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62836828e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.62836828e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02174764, -0.08776629,  0.06186355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.46550991e-03, 3.50235909e-02, 3.63078277e-03,-4.78840475e-05,
 -3.38070162e-05,-2.83621522e-04,-1.22621555e-04,-2.46749429e-05,
  8.37033663e-06,-1.17838824e-04,-2.19463703e-05, 5.41786601e-06,
  7.45055772e-03, 1.14811776e-02, 6.85778765e-03, 1.61790865e-04,
 -6.83938585e-04, 2.48370947e-03,-9.81097604e+00, 4.35761840e-03,
 -6.16943165e-02, 6.31709188e-02]


--- Step 3230 ---
qpos:
[-0.01485693, 1.19453147,-0.03501235, 0.94262458,-0.00869035, 1.32755505,
 -0.03114567, 0.941735  , 0.01512489, 1.33847493,-0.02373972, 0.95474748,
  1.25926697,-0.00230394, 1.2917186 , 0.04470784,-0.05578225,-0.09079142,
  0.09004028, 0.69652932,-0.03312898,-0.71324846,-0.0708943 ]

qacc:
[-3.87768496e-02,-1.24978182e+00, 6.07988165e+00,-1.59920149e+01,
 -2.24782055e-01,-8.10611386e-02,-5.84303026e+00, 1.80421167e+01,
 -7.12325652e-04,-1.62451130e+00, 5.73476006e+00,-1.18977989e+01,
 -7.80739599e-01, 1.17987158e+00,-1.20193378e+00, 1.91568307e+00,
  2.63873297e+00, 2.13013593e+00, 3.52547397e+00,-1.30358203e+01,
  7.11378806e+01, 1.45105367e+02]

qfrc_actuator:
[ 0.00602975, 0.06870776, 0.01399023, 0.00191328, 0.00076002, 0.0402724 ,
  0.01095977, 0.00134999,-0.00282554, 0.03460265, 0.01081633, 0.00163315,
  0.00937162, 0.00628927, 0.        ,-0.00088482, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002324953570137598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61542801,  0.07778453, -0.78434554, -0.04801626,  0.99697019,
        0.06119536,  0.78672918,  0.        ,  0.61729831])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862363 , -0.03372314,  0.22446133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002324953570137598
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61542801,  0.07778453, -0.78434554, -0.04801626,  0.99697019,
        0.06119536,  0.78672918,  0.        ,  0.61729831])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862363 , -0.03372314,  0.22446133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006094049096800683
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99734391e-01,  8.57944884e-02, -9.12607102e-01, -3.44219262e-02,
        9.96312855e-01,  7.85864189e-02,  9.15984469e-01,  6.93889390e-18,
        4.01213724e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08359772, -0.03364412,  0.22310908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.26378186,  -0.55582675, -17.26378186,
        17.36954474,  -3.00711615,  -0.55582675,  -3.00711615,
       110.6726899 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021292817505017547
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.60703644e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.60703644e-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([-0.08815172, -0.09203549,  0.06186245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.38821766e-03, 3.51390590e-02, 3.67665375e-03,-4.72546458e-05,
 -6.47062162e-05,-3.32689802e-04,-1.06474900e-04, 3.65257510e-05,
 -2.24541193e-07,-6.94349659e-05,-1.95350796e-05,-3.48851073e-05,
  7.46425682e-03, 1.15273825e-02, 6.70578740e-03, 2.33748208e-04,
  1.26205636e-04, 2.54261106e-03,-9.81168713e+00, 4.80996705e-03,
 -6.17683690e-02, 6.32085678e-02]


--- Step 3231 ---
qpos:
[-0.01488349, 1.19453744,-0.03501742, 0.94262329,-0.00867482, 1.32766588,
 -0.03114355, 0.94172929, 0.01512917, 1.33847333,-0.02374114, 0.95474581,
  1.25937251,-0.00237227, 1.29170138, 0.04471   ,-0.05577321,-0.09080107,
  0.09004479, 0.69661703,-0.03331376,-0.71312838,-0.07115352]

qacc:
[-4.17277660e-01,-9.57007362e-02, 5.42548027e+00,-1.41191580e+01,
 -1.85244057e-01, 1.86313305e+00,-1.58516731e+01, 4.69361792e+01,
  4.44614188e-02, 2.01855943e+00,-7.12514550e+00, 9.70982796e+00,
 -8.60672665e-01, 1.47582085e+00,-7.49634016e+00, 1.41597920e+01,
  2.48796276e+00, 2.35490661e+00, 2.26911839e+00,-1.36765882e+01,
  6.30876762e+01, 1.44408467e+02]

qfrc_actuator:
[ 0.00602546, 0.06875631, 0.01400557, 0.00189226, 0.00074486, 0.0401562 ,
  0.01095526, 0.00148874,-0.00281255, 0.03463904, 0.01080245, 0.0016513 ,
  0.00936611, 0.00635228, 0.        ,-0.00068061, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002317617731020967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.15482772e-01,  7.77972960e-02, -7.84301306e-01, -4.80284601e-02,
        9.96969197e-01,  6.12020120e-02,  7.86685595e-01,  6.93889390e-18,
        6.17353849e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623604, -0.03372507,  0.22446165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002317617731020967
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.15482772e-01,  7.77972960e-02, -7.84301306e-01, -4.80284601e-02,
        9.96969197e-01,  6.12020120e-02,  7.86685595e-01,  6.93889390e-18,
        6.17353849e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623604, -0.03372507,  0.22446165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000608894654640757
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99736234e-01,  8.58046389e-02, -9.12605340e-01, -3.44261877e-02,
        9.96311981e-01,  7.85956339e-02,  9.15983505e-01, -6.93889390e-18,
        4.01215926e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0835967 , -0.03364609,  0.22310895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 15.10391319, -8.37967265, 15.10391319, 29.60479767,
       22.22789941, -8.37967265, 22.22789941, 57.33733089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021364653502341695
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.49073105e-07,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.49073105e-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([-0.08839062, -0.09383542,  0.06186202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.38837037e-03, 3.51844792e-02, 3.69626257e-03,-2.22676482e-05,
 -5.33439907e-05,-3.20816990e-04,-8.08133951e-05, 1.26599005e-04,
  1.28509282e-05,-6.84420400e-06,-3.06766263e-05, 1.46995919e-05,
  7.48338367e-03, 1.15563026e-02, 6.76285376e-03, 4.44788821e-04,
 -4.95567454e-04, 1.37756034e-03,-9.81066938e+00, 4.59993546e-03,
 -6.15273005e-02, 6.32003266e-02]


--- Step 3232 ---
qpos:
[-0.01490993, 1.19454406,-0.03502176, 0.94262191,-0.00865968, 1.32777422,
 -0.03114067, 0.94172453, 0.01513356, 1.33847185,-0.02374338, 0.95474439,
  1.25947756,-0.00243996, 1.29168333, 0.04471217,-0.05575499,-0.09080176,
  0.09005478, 0.69680621,-0.03369602,-0.71291571,-0.07125218]

qacc:
[ 5.56731952e-02,-1.27413644e+00, 5.39776988e+00,-6.18137300e+00,
 -1.61363228e-01,-3.71001341e+00, 6.17479039e+00, 7.29256194e+00,
  4.70283402e-02, 2.82463967e+00,-9.47098480e+00, 1.08638543e+01,
 -7.43213283e-01, 1.08951150e+00,-1.20222660e+00, 2.58884539e+00,
  2.29768044e+00, 2.23667631e+00, 1.37153719e+00,-1.31356138e+01,
  5.87310088e+01, 1.31491017e+02]

qfrc_actuator:
[ 0.00608734, 0.0687994 , 0.01398085, 0.00188057, 0.00072981, 0.04006147,
  0.01100512, 0.00153714,-0.00280654, 0.03464373, 0.0107595 , 0.00166267,
  0.00935903, 0.00641676, 0.        ,-0.00071856, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.17046781,  0.0065377 , -0.17034239,  0.0065377 ,  1.59723343,
        0.05475895, -0.17034239,  0.05475895,  0.17256944,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023070981053779568
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61556313,  0.07780929, -0.78423705, -0.04804218,  0.99696826,
        0.06120649,  0.78662188,  0.        ,  0.61743503])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623565, -0.03372689,  0.22446223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.17046781,  0.0065377 , -0.17034239,  0.0065377 ,  1.59723343,
        0.05475895, -0.17034239,  0.05475895,  0.17256944,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00023070981053779568
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61556313,  0.07780929, -0.78423705, -0.04804218,  0.99696826,
        0.06120649,  0.78662188,  0.        ,  0.61743503])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623565, -0.03372689,  0.22446223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006081802313636503
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39973526,  0.08581524, -0.91260477, -0.03443039,  0.99631107,
        0.07860536,  0.91598377,  0.        ,  0.40121531])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08359517, -0.03364794,  0.22310887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.26495195, -0.51820999, 17.26495195, 17.32634274,
        1.78628074, -0.51820999,  1.78628074, 76.78537962,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021220244557663744
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.83055704e-07,  2.61595247e-14,  1.00000000e+00, -1.52524601e-20,
        1.00000000e+00, -2.61595247e-14, -1.00000000e+00,  3.00926554e-36,
        5.83055704e-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([-0.08840516, -0.09382582,  0.06186292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.49807739e-03, 3.51110360e-02, 3.63455430e-03, 2.44848392e-07,
 -4.65231172e-05,-2.85011489e-04,-1.85521466e-05, 3.94445571e-05,
  1.36057957e-05,-4.63253339e-06,-4.73404267e-05, 1.06019187e-05,
  7.50687734e-03, 1.15670839e-02, 7.04809982e-03, 4.21003286e-04,
 -7.21953812e-04, 7.32221753e-04,-9.80980154e+00, 4.58642998e-03,
 -6.12527705e-02, 6.31899700e-02]


--- Step 3233 ---
qpos:
[-0.01493626, 1.19455135,-0.03502515, 0.94262073,-0.00864517, 1.32788038,
 -0.03113724, 0.94171865, 0.01513788, 1.33847036,-0.02374528, 0.95474376,
  1.25958218,-0.00250704, 1.29166471, 0.04471439,-0.05575194,-0.09079976,
  0.09005289, 0.69681397,-0.03395872,-0.71287789,-0.07142968]

qacc:
[ 4.64356010e-02,-1.31887837e+00, 4.94101297e+00,-2.30722899e+00,
 -2.70171057e-01,-6.24593778e+00, 1.92656380e+01,-2.84150181e+01,
 -2.74585611e-02, 3.96114945e-01,-2.92951775e+00, 1.16760310e+01,
 -6.92224004e-01, 1.04079554e+00,-8.97770883e-01, 2.06753698e+00,
 -3.79420995e+00, 6.74613412e-01,-2.97067352e+00, 1.67247096e+01,
 -1.19999381e+02,-7.94937008e+01]

qfrc_actuator:
[ 0.00609946, 0.06885772, 0.01396731, 0.00189192, 0.00067944, 0.03996281,
  0.01103342, 0.00147875,-0.0028225 , 0.03466481, 0.01078838, 0.00170542,
  0.00935103, 0.0064644 , 0.        ,-0.0007067 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022962560482437527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.15647898e-01,  7.78209741e-02, -7.84169345e-01, -4.80560563e-02,
        9.96967350e-01,  6.12104522e-02,  7.86554691e-01,  6.93889390e-18,
        6.17520622e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623525, -0.03372872,  0.22446287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022962560482437527
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.15647898e-01,  7.78209741e-02, -7.84169345e-01, -4.80560563e-02,
        9.96967350e-01,  6.12104522e-02,  7.86554691e-01,  6.93889390e-18,
        6.17520622e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623525, -0.03372872,  0.22446287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006074550542617546
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99733004e-01,  8.58258113e-02, -9.12604764e-01, -3.44344671e-02,
        9.96310158e-01,  7.86151217e-02,  9.15984603e-01,  6.93889390e-18,
        4.01213418e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08359355, -0.03364979,  0.22310879])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.25025926,  0.88071728, 17.25025926, 17.37811371,
       -2.0641623 ,  0.88071728, -2.0641623 , 57.70265363,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021560124819007265
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.14942763e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.14942763e-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([ 0.02163976, -0.08795482,  0.06186093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.50382431e-03, 3.51363525e-02, 3.58427199e-03, 1.62992036e-05,
 -7.78138142e-05,-2.59573654e-04,-2.85650728e-05,-6.64643172e-05,
 -7.93065208e-06, 9.59596242e-06, 2.29099755e-05, 4.14689377e-05,
  7.52370236e-03, 1.15844177e-02, 7.08942010e-03, 4.32034329e-04,
 -6.18131366e-04, 6.37408696e-04,-9.80909382e+00, 4.71728640e-03,
 -6.09701101e-02, 6.31766153e-02]


--- Step 3234 ---
qpos:
[-0.01496233, 1.19455869,-0.03502724, 0.94262043,-0.00863119, 1.32798432,
 -0.03113346, 0.94171214, 0.01514179, 1.33846825,-0.02374575, 0.95474467,
  1.25968669,-0.00257363, 1.29164796, 0.04471675,-0.05576269,-0.09079572,
  0.09003687, 0.6966558 ,-0.03412172,-0.71299997,-0.07167598]

qacc:
[   0.1120717 ,  -1.94401307,   4.61756261,   6.11730435,  -0.22144123,
   -4.9733914 ,  14.00466556, -18.11825606,  -0.17815056,  -1.98860968,
    2.408087  ,  16.11942556,  -0.48896829,   0.815887  ,   2.36995097,
   -4.18249633,  -3.45007552,   0.51239205,  -3.53331031,  13.10930467,
 -110.1257078 , -68.14857772]

qfrc_actuator:
[ 0.0060817 , 0.06881838, 0.01397773, 0.00193458, 0.00066156, 0.03984469,
  0.0110487 , 0.00144674,-0.00286927, 0.03462481, 0.01085952, 0.00178411,
  0.00934781, 0.00648393, 0.        ,-0.0007715 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022852847012552573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61573619,  0.07783241, -0.78409889, -0.04807005,  0.99696646,
        0.061214  ,  0.78648472,  0.        ,  0.61760973])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623484, -0.03373055,  0.22446354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022852847012552573
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61573619,  0.07783241, -0.78409889, -0.04807005,  0.99696646,
        0.061214  ,  0.78648472,  0.        ,  0.61760973])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623484, -0.03373055,  0.22446354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006067351239287429
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39972927,  0.08583638, -0.91260541, -0.03443842,  0.99630925,
        0.07862493,  0.91598608,  0.        ,  0.40121004])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08359185, -0.03365165,  0.22310873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.72727273e+01, -1.72727048e+01,  2.78834573e-02, -1.72727048e+01,
        1.72727259e+01, -8.36508227e-04,  2.78834573e-02, -8.36508227e-04,
        1.67545433e+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: -0.0021656237925368957
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.40821728e-15,  2.56328691e-14,  1.00000000e+00,  1.64260995e-28,
        1.00000000e+00, -2.56328691e-14, -1.00000000e+00,  0.00000000e+00,
       -6.40821728e-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([ 0.02161601, -0.08800266,  0.06186034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.48074808e-03, 3.50634396e-02, 3.54738922e-03, 4.86658036e-05,
 -6.37913424e-05,-2.70091955e-04,-4.08565474e-05,-4.20648538e-05,
 -5.14594526e-05,-2.89727439e-05, 7.68346843e-05, 8.06015780e-05,
  7.54193469e-03, 1.15744706e-02, 7.11788574e-03, 3.65210642e-04,
 -4.80525392e-04, 7.01341805e-04,-9.80981703e+00, 4.53128977e-03,
 -6.11571214e-02, 6.31974290e-02]


--- Step 3235 ---
qpos:
[-0.01498773, 1.19456551,-0.03502847, 0.94262072,-0.00861736, 1.3280856 ,
 -0.03112928, 0.94170464, 0.01514535, 1.33846587,-0.02374558, 0.95474446,
  1.259791  ,-0.0026399 , 1.2916333 , 0.04471921,-0.05578608,-0.09079013,
  0.09000479, 0.6963446 ,-0.03420079,-0.71326922,-0.07198283]

qacc:
[ 2.91215355e-01,-1.99862172e+00, 4.47101394e+00, 3.31294091e+00,
 -6.26806643e-02,-6.22178409e+00, 1.81214899e+01,-2.54718763e+01,
 -1.45492760e-01,-4.03657638e+00, 1.49940652e+01,-2.57950644e+01,
 -4.77512284e-01, 6.82041147e-01, 2.82492764e+00,-5.30541622e+00,
 -3.15956639e+00, 3.83859570e-01,-4.01591088e+00, 1.03055681e+01,
 -1.01774139e+02,-5.90093864e+01]

qfrc_actuator:
[ 0.00613457, 0.06879181, 0.01398404, 0.00195977, 0.00068105, 0.03968032,
  0.01105614, 0.00139502,-0.0028809 , 0.03460202, 0.01088379, 0.00172351,
  0.00934213, 0.006522  , 0.        ,-0.00082917, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022756498591930754
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61581831,  0.07784402, -0.78403324, -0.04808368,  0.99696555,
        0.06121806,  0.78641959,  0.        ,  0.61769266])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623447, -0.03373246,  0.22446416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022756498591930754
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61581831,  0.07784402, -0.78403324, -0.04808368,  0.99696555,
        0.06121806,  0.78641959,  0.        ,  0.61769266])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623447, -0.03373246,  0.22446416])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006061253585127428
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99724301e-01,  8.58468725e-02, -9.12606595e-01, -3.44422300e-02,
        9.96308343e-01,  7.86347144e-02,  9.15988109e-01, -6.93889390e-18,
        4.01205414e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08359027, -0.03365359,  0.22310865])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.72727273e+01, -1.72727257e+01,  7.39528786e-03, -1.72727257e+01,
        1.72727275e+01,  4.50957713e-04,  7.39528786e-03,  4.50957713e-04,
        1.83260019e+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: -0.0021488923358972054
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.58324488e-14,  5.16648976e-14,  1.00000000e+00,  1.33463082e-27,
        1.00000000e+00, -5.16648976e-14, -1.00000000e+00,  0.00000000e+00,
       -2.58324488e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.021659  , -0.08804383,  0.06186127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.52080147e-03, 3.50342570e-02, 3.48886832e-03, 3.02077705e-05,
 -1.81414448e-05,-3.23813051e-04,-5.14377538e-05,-6.18953533e-05,
 -4.20139741e-05,-2.14020914e-05, 2.97001959e-05,-5.73337920e-05,
  7.54191270e-03, 1.15899600e-02, 7.02487498e-03, 3.00421115e-04,
 -6.00848335e-04, 6.73224816e-04,-9.81054161e+00, 4.59824728e-03,
 -6.12844368e-02, 6.32177239e-02]


--- Step 3236 ---
qpos:
[-0.01501271, 1.19457349,-0.03502796, 0.94262214,-0.00860356, 1.32818445,
 -0.03112594, 0.94169628, 0.01514878, 1.33846324,-0.0237453 , 0.95474217,
  1.25989484,-0.00270571, 1.2916176 , 0.04472158,-0.05579772,-0.09077442,
  0.08999039, 0.69616304,-0.03454427,-0.71342146,-0.07206614]

qacc:
[ 1.88705586e-01,-1.26258423e+00, 3.60781770e+00, 9.35364828e+00,
 -1.53182644e-02,-2.39954175e+00, 5.74415743e+00,-1.34162037e+01,
 -5.27769324e-02,-4.19145942e+00, 1.74527556e+01,-3.89299547e+01,
 -6.16231115e-01, 8.53553124e-01,-1.21254177e+00, 2.15884825e+00,
  2.93926460e+00, 2.53051995e+00, 4.42133958e+00,-1.43282925e+01,
  7.36279426e+01, 1.78798158e+02]

qfrc_actuator:
[ 0.00619381, 0.06880896, 0.01402331, 0.00202768, 0.0006873 , 0.03954278,
  0.01100544, 0.00134983,-0.00287133, 0.03457171, 0.01088014, 0.0016169 ,
  0.00932432, 0.0065534 , 0.        ,-0.0007583 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022672541085955525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.15892281e-01,  7.78556549e-02, -7.83973976e-01, -4.80966876e-02,
        9.96964642e-01,  6.12226400e-02,  7.86360863e-01, -6.93889390e-18,
        6.17767426e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623415, -0.03373445,  0.22446469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022672541085955525
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.15892281e-01,  7.78556549e-02, -7.83973976e-01, -4.80966876e-02,
        9.96964642e-01,  6.12226400e-02,  7.86360863e-01, -6.93889390e-18,
        6.17767426e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623415, -0.03373445,  0.22446469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006056060637230319
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39971903,  0.08585711, -0.91260794, -0.03444591,  0.99630746,
        0.07864428,  0.91599027,  0.        ,  0.40120048])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08358885, -0.03365561,  0.22310855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.25449142,  -0.79349442, -17.25449142,
        17.47025685,  -4.29526944,  -0.79349442,  -4.29526944,
       110.67311888,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021794788836478904
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.08154078e-07,  2.54699193e-14,  1.00000000e+00, -1.29426433e-20,
        1.00000000e+00, -2.54699193e-14, -1.00000000e+00,  0.00000000e+00,
        5.08154078e-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([-0.08835731, -0.09371826,  0.06185927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.54667947e-03, 3.50775042e-02, 3.48520775e-03, 6.86431227e-05,
 -4.45938770e-06,-3.29355023e-04,-1.21874580e-04,-5.77618445e-05,
 -1.52513010e-05,-3.80290158e-05,-6.12959566e-06,-1.07712716e-04,
  7.53415283e-03, 1.16066227e-02, 6.92070866e-03, 3.66311009e-04,
 -9.54321838e-04, 5.70369227e-04,-9.81128482e+00, 4.85185762e-03,
 -6.13703324e-02, 6.32380607e-02]


--- Step 3237 ---
qpos:
[-0.0150373 , 1.19458224,-0.0350258 , 0.94262475,-0.00859009, 1.32828161,
 -0.03112416, 0.94168707, 0.01515203, 1.33846027,-0.02374512, 0.95474037,
  1.2599982 ,-0.00277106, 1.2916014 , 0.04472392,-0.05579873,-0.09074955,
  0.0899891 , 0.69610061,-0.03511853,-0.71346538,-0.07195682]

qacc:
[ 1.67434966e-01,-1.40734416e+00, 3.34816843e+00, 1.04065299e+01,
 -1.38670655e-01, 5.34654908e-01,-2.69123753e+00,-6.42521334e+00,
 -7.73662215e-02, 6.32891767e-01,-3.57753349e+00, 8.90374799e+00,
 -6.38517412e-01, 8.60012225e-01,-5.85960672e-01, 1.06786475e+00,
  2.65543088e+00, 2.29110024e+00, 3.27634874e+00,-1.34655595e+01,
  6.85606715e+01, 1.55530718e+02]

qfrc_actuator:
[ 0.00622133, 0.06881536, 0.01406337, 0.00208492, 0.00065005, 0.03949318,
  0.01093868, 0.00130881,-0.00288465, 0.03455473, 0.01087778, 0.00164386,
  0.00931525, 0.00659828, 0.        ,-0.00075218, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022586256219597756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61597219,  0.07786671, -0.7839101 , -0.0481098 ,  0.99696378,
        0.0612264 ,  0.78629747,  0.        ,  0.61784811])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862338 , -0.03373642,  0.2244653 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022586256219597756
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61597219,  0.07786671, -0.7839101 , -0.0481098 ,  0.99696378,
        0.0612264 ,  0.78629747,  0.        ,  0.61784811])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862338 , -0.03373642,  0.2244653 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006050944932163987
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39971109,  0.08586723, -0.91261047, -0.03444932,  0.99630659,
        0.07865384,  0.91599361,  0.        ,  0.40119286])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0835873 , -0.0336576 ,  0.22310848])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.20902917,  1.48203327, 17.20902917, 17.57273392,
       -3.48360813,  1.48203327, -3.48360813, 57.72358306,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022073447925027977
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.02967651e-14,  6.71189784e-07,  1.00000000e+00, -3.37586749e-20,
        1.00000000e+00, -6.71189784e-07, -1.00000000e+00,  6.01853108e-36,
        5.02967651e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08825181, -0.09309712,  0.06185751])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.55258910e-03, 3.50258608e-02, 3.43777476e-03, 6.90492478e-05,
 -3.98926215e-05,-2.58116449e-04,-1.46911724e-04,-5.57210460e-05,
 -2.23229349e-05,-4.23857897e-05,-1.36378295e-05, 2.31395957e-05,
  7.54859517e-03, 1.16293003e-02, 6.97214673e-03, 3.76603473e-04,
 -9.74817049e-04, 1.29038258e-03,-9.81026928e+00, 4.50905027e-03,
 -6.10376646e-02, 6.32194520e-02]


--- Step 3238 ---
qpos:
[-0.01506217, 1.19459106,-0.03502425, 0.94262614,-0.00857718, 1.32837697,
 -0.03112304, 0.94167776, 0.01515525, 1.33845773,-0.02374559, 0.95473886,
  1.26010102,-0.00283569, 1.29158093, 0.04472611,-0.05579013,-0.09071678,
  0.08999749, 0.69614945,-0.03588848,-0.71340666,-0.07168608]

qacc:
[-1.23512587e-01,-3.46455205e-01, 3.78405739e+00,-1.75391557e+01,
 -2.39144713e-01,-7.64992297e-01,-1.16672710e-01,-6.58723586e-02,
 -1.61358256e-02, 2.84816847e+00,-9.20364020e+00, 1.11385657e+01,
 -6.41732421e-01, 1.01976669e+00,-5.80275778e+00, 1.12861688e+01,
  2.40291909e+00, 1.97644727e+00, 2.42165864e+00,-1.22615496e+01,
  6.55433526e+01, 1.31801066e+02]

qfrc_actuator:
[ 0.0062297 , 0.068833  , 0.0140323 , 0.00201099, 0.00060476, 0.03942558,
  0.01091661, 0.00130615,-0.00287607, 0.03461694, 0.01085858, 0.00166046,
  0.00931676, 0.00666884, 0.        ,-0.00062515, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022499597487467965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61605541,  0.07787736, -0.78384363, -0.04812292,  0.99696295,
        0.06122963,  0.78623146,  0.        ,  0.61793211])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623345, -0.03373838,  0.22446595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00022499597487467965
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61605541,  0.07787736, -0.78384363, -0.04812292,  0.99696295,
        0.06122963,  0.78623146,  0.        ,  0.61793211])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623345, -0.03373838,  0.22446595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006045984319462232
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39970095,  0.08587725, -0.91261396, -0.0344525 ,  0.99630572,
        0.07866338,  0.91599791,  0.        ,  0.40118304])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08358567, -0.03365958,  0.22310841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.84337695,  3.82723925, 16.84337695, 19.31564437,
       -8.99071641,  3.82723925, -8.99071641, 56.84015845,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002209266628499129
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51265060e-14,  2.51265060e-14,  1.00000000e+00,  6.31341305e-28,
        1.00000000e+00, -2.51265060e-14, -1.00000000e+00,  0.00000000e+00,
       -2.51265060e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08807987, -0.09184821,  0.06185736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.54178331e-03, 3.50052656e-02, 3.32461328e-03,-6.41930674e-05,
 -6.88358954e-05,-2.41535865e-04,-9.10783358e-05,-1.59199476e-05,
 -4.61282332e-06, 3.68146512e-05,-2.83401363e-05, 1.54826046e-05,
  7.57429067e-03, 1.16788751e-02, 6.99804658e-03, 5.05650662e-04,
 -5.01610612e-04, 2.62387651e-03,-9.80951354e+00, 4.42621172e-03,
 -6.07068543e-02, 6.31984764e-02]


--- Step 3239 ---
qpos:
[-0.01508744, 1.19459999,-0.03502325, 0.94262629,-0.00856443, 1.32847036,
 -0.0311217 , 0.94167018, 0.01515847, 1.33845616,-0.02374713, 0.95473685,
  1.26020297,-0.00289962, 1.29155724, 0.04472831,-0.05577261,-0.0906764 ,
  0.09001191, 0.69630098,-0.0368371 ,-0.71325218,-0.0712693 ]

qacc:
[-1.72101398e-01,-4.73747342e-01, 4.29456201e+00,-1.82365329e+01,
 -6.70515999e-02,-1.93009352e-01,-6.07644619e+00, 2.66967090e+01,
  3.76372244e-03, 3.31632853e+00,-8.25212817e+00, 7.09824943e-01,
 -9.41520615e-01, 1.24348022e+00,-4.71452747e+00, 9.75208268e+00,
  2.22948945e+00, 1.89914634e+00, 1.50503376e+00,-1.16855482e+01,
  6.09350347e+01, 1.19962714e+02]

qfrc_actuator:
[ 0.00626259, 0.06884001, 0.0140489 , 0.00194907, 0.00062601, 0.03934795,
  0.01093881, 0.00139711,-0.00287219, 0.03469053, 0.01081215, 0.00163535,
  0.00931399, 0.00677209, 0.        ,-0.00054972, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16984654, -0.00439282, -0.16978973, -0.00439282,  1.6364549 ,
       -0.03794425, -0.16978973, -0.03794425,  0.17082824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022381438101288717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61615464,  0.07788734, -0.78376464, -0.04813688,  0.99696217,
        0.06123135,  0.78615285,  0.        ,  0.61803212])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.086233  , -0.03374025,  0.22446674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16984654, -0.00439282, -0.16978973, -0.00439282,  1.6364549 ,
       -0.03794425, -0.16978973, -0.03794425,  0.17082824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022381438101288717
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61615464,  0.07788734, -0.78376464, -0.04813688,  0.99696217,
        0.06123135,  0.78615285,  0.        ,  0.61803212])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.086233  , -0.03374025,  0.22446674])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006038560922679466
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3996913 ,  0.08588738, -0.91261724, -0.03445576,  0.99630485,
        0.07867301,  0.916002  ,  0.        ,  0.40117369])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08358371, -0.03366147,  0.22310835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.14920787, -2.06198375, 17.14920787, 18.1304454 ,
        7.13351233, -2.06198375,  7.13351233, 76.60107348,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002188669570823157
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.53629657e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.53629657e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08809795, -0.09183851,  0.06185859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.58881443e-03, 3.50083176e-02, 3.37140222e-03,-6.49335468e-05,
 -1.93570567e-05,-2.30254014e-04,-3.60231524e-05, 8.07591793e-05,
  1.15691711e-06, 8.88904345e-05,-4.20151672e-05,-2.45022680e-05,
  7.59828289e-03, 1.17471455e-02, 7.21112218e-03, 5.88310618e-04,
  2.89532329e-04, 4.18165772e-03,-9.80894634e+00, 4.53330497e-03,
 -6.03929101e-02, 6.31746597e-02]


--- Step 3240 ---
qpos:
[-0.0151126 , 1.1946082 ,-0.03502222, 0.94262608,-0.00855157, 1.32856217,
 -0.03112054, 0.94166374, 0.01516171, 1.33845521,-0.02374924, 0.95473594,
  1.26030368,-0.00296318, 1.29153519, 0.04473079,-0.05574674,-0.0906287 ,
  0.09002924, 0.69654786,-0.03795032,-0.71300749,-0.07071889]

qacc:
[ 4.59563049e-02,-1.62295665e+00, 4.88569293e+00,-7.87959951e+00,
  4.90631557e-02, 3.29911171e-01,-5.95371733e+00, 1.93841041e+01,
  5.78832300e-03, 4.20975244e+00,-1.49609315e+01, 2.52643017e+01,
 -1.30373304e+00, 1.35665205e+00, 1.68119221e+00,-2.13303434e+00,
  2.08641785e+00, 1.83303116e+00, 7.29713763e-01,-1.11097974e+01,
  5.70842982e+01, 1.10283845e+02]

qfrc_actuator:
[ 0.00631042, 0.06880507, 0.0140943 , 0.00193035, 0.00065152, 0.03928295,
  0.01093372, 0.00145367,-0.00287116, 0.03471698, 0.01078555, 0.0016924 ,
  0.00930339, 0.00689471, 0.        ,-0.00062962, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16972231, -0.00873876, -0.16949719, -0.00873876,  1.8456447 ,
       -0.08640543, -0.16949719, -0.08640543,  0.17417711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022240430414542656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61626553,  0.07789694, -0.78367651, -0.04815151,  0.99696142,
        0.06123206,  0.78606503,  0.        ,  0.61814381])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623248, -0.03374202,  0.22446764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16972231, -0.00873876, -0.16949719, -0.00873876,  1.8456447 ,
       -0.08640543, -0.16949719, -0.08640543,  0.17417711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022240430414542656
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61626553,  0.07789694, -0.78367651, -0.04815151,  0.99696142,
        0.06123206,  0.78606503,  0.        ,  0.61814381])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623248, -0.03374202,  0.22446764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006029353880550176
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39968204,  0.08589765, -0.91262033, -0.03445911,  0.99630397,
        0.07868275,  0.91600591,  0.        ,  0.40116476])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08358151, -0.03366325,  0.22310829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.09653728, -2.4607967 , 17.09653728, 18.66857543,
        9.6977414 , -2.4607967 ,  9.6977414 , 84.6483854 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021503748086860314
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08813195, -0.09183701,  0.06186091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.65635674e-03, 3.49677360e-02, 3.44443778e-03,-2.14543911e-05,
  1.40758611e-05,-1.97681153e-04,-5.20053677e-05, 5.05595703e-05,
  1.71938585e-06, 6.66803887e-05,-1.47289439e-05, 5.78760940e-05,
  7.63132034e-03, 1.18364204e-02, 7.37251453e-03, 5.07983606e-04,
  1.28408841e-03, 5.94687985e-03,-9.80851248e+00, 4.76477720e-03,
 -6.00787927e-02, 6.31478477e-02]


--- Step 3241 ---
qpos:
[-0.01513754, 1.19461638,-0.03502093, 0.94262557,-0.00853899, 1.32865241,
 -0.03112001, 0.94165735, 0.01516509, 1.33845438,-0.02375093, 0.95473675,
  1.2604035 ,-0.0030263 , 1.29151342, 0.04473345,-0.05573698,-0.09057727,
  0.09003634, 0.69660143,-0.038924  ,-0.71294854,-0.07025496]

qacc:
[ 9.84897620e-02,-1.23904678e+00, 4.60773954e+00,-7.41579496e+00,
 -1.21112159e-01,-2.58017143e-01,-1.76299583e+00, 3.22552749e+00,
  6.26998143e-02, 2.00134719e+00,-9.80410352e+00, 2.82540306e+01,
 -9.90406920e-01, 1.13522481e+00,-4.15556501e-02, 9.36711149e-01,
 -4.02524778e+00, 9.29423656e-01,-2.55722913e+00, 2.06607655e+01,
 -1.27028770e+02,-9.02261845e+01]

qfrc_actuator:
[ 0.00634913, 0.06878125, 0.01408561, 0.00191942, 0.00060834, 0.03919043,
  0.0108948 , 0.001454  ,-0.00285409, 0.0347151 , 0.01080627, 0.00177959,
  0.00929346, 0.00694022, 0.        ,-0.00060771, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002210951511792611
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.16368097e-01,  7.79069210e-02, -7.83594844e-01, -4.81657338e-02,
        9.96960637e-01,  6.12335727e-02,  7.85983734e-01,  6.93889390e-18,
        6.18247175e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623199, -0.03374378,  0.22446845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002210951511792611
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.16368097e-01,  7.79069210e-02, -7.83594844e-01, -4.81657338e-02,
        9.96960637e-01,  6.12335727e-02,  7.85983734e-01,  6.93889390e-18,
        6.18247175e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623199, -0.03374378,  0.22446845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006020796141486956
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99673420e-01,  8.59078596e-02, -9.12623141e-01, -3.44624929e-02,
        9.96303086e-01,  7.86924198e-02,  9.16009549e-01,  6.93889390e-18,
        4.01156461e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08357948, -0.03366501,  0.22310822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.26606467,  0.47970657, 17.26606467, 17.30410632,
       -1.12942518,  0.47970657, -1.12942518, 57.92409494,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022084586235348452
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.25678495e-14,  2.51356990e-14,  1.00000000e+00, -3.15901682e-28,
        1.00000000e+00, -2.51356990e-14, -1.00000000e+00,  0.00000000e+00,
        1.25678495e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02150298, -0.08837615,  0.06185744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.68979445e-03, 3.49797745e-02, 3.43423279e-03,-1.46996340e-05,
 -3.48745242e-05,-2.11200318e-04,-8.21582095e-05,-5.86528202e-06,
  1.80864881e-05, 3.38434235e-05, 3.37652573e-05, 9.00788568e-05,
  7.68337979e-03, 1.18644161e-02, 7.29098601e-03, 5.16029716e-04,
  2.42964778e-03, 7.85098852e-03,-9.80818614e+00, 5.08693558e-03,
 -5.97653619e-02, 6.31177482e-02]


--- Step 3242 ---
qpos:
[-0.01516295, 1.19462673,-0.03501804, 0.9426257 ,-0.00852683, 1.32874095,
 -0.03111937, 0.94165135, 0.01516849, 1.33845343,-0.02375191, 0.9547386 ,
  1.26050212,-0.00308865, 1.29148827, 0.04473613,-0.05574177,-0.09052295,
  0.09003071, 0.69647936,-0.03978295,-0.71305863,-0.06986566]

qacc:
[-2.07390490e-01,-3.82054209e-01, 3.36329254e+00, 3.12219420e+00,
 -1.78225881e-01,-1.90920364e+00, 2.75380981e+00, 3.04511612e+00,
  6.07497249e-03,-2.63799629e-01,-1.43232251e+00, 1.33535489e+01,
 -1.24621596e+00, 1.54705835e+00,-4.94749222e+00, 1.02862243e+01,
 -3.63910863e+00, 7.25966731e-01,-3.18363537e+00, 1.58817218e+01,
 -1.16003888e+02,-7.63501904e+01]

qfrc_actuator:
[ 0.00638219, 0.06878146, 0.01407972, 0.00196649, 0.00057758, 0.03911751,
  0.01090712, 0.00147447,-0.00286304, 0.03469648, 0.01083688, 0.00183055,
  0.00927864, 0.00702801, 0.        ,-0.00045371, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021981393141405452
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61646896,  0.07791686, -0.78351451, -0.0481798 ,  0.99695986,
        0.06123515,  0.78590377,  0.        ,  0.61834882])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623152, -0.03374551,  0.22446926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021981393141405452
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61646896,  0.07791686, -0.78351451, -0.0481798 ,  0.99695986,
        0.06123515,  0.78590377,  0.        ,  0.61834882])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623152, -0.03374551,  0.22446926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006012454136866616
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99664589e-01,  8.59179875e-02, -9.12626055e-01, -3.44658245e-02,
        9.96302213e-01,  7.87020172e-02,  9.16013277e-01,  6.93889390e-18,
        4.01147949e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08357747, -0.03366676,  0.22310816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.72727273e+01, -1.72725597e+01,  7.60845625e-02, -1.72725597e+01,
        1.72726741e+01, -1.20745163e-02,  7.60845625e-02, -1.20745163e-02,
        1.45315956e+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: -0.0022326692022527905
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.48631330e-14,  2.48631330e-14,  1.00000000e+00, -6.18175381e-28,
        1.00000000e+00, -2.48631330e-14, -1.00000000e+00,  0.00000000e+00,
        2.48631330e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02143946, -0.08843423,  0.06185597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.71156525e-03, 3.49814360e-02, 3.41541674e-03, 4.72290018e-05,
 -5.13424349e-05,-2.06668970e-04,-3.86536435e-05, 1.16702111e-05,
  1.72749520e-06, 9.37226021e-06, 4.36994902e-05, 5.50456477e-05,
  7.71323363e-03, 1.19317885e-02, 7.27707379e-03, 6.61123194e-04,
  8.35577315e-04, 7.42414550e-03,-9.80893810e+00, 4.04632905e-03,
 -6.01220090e-02, 6.31073202e-02]


--- Step 3243 ---
qpos:
[-0.01518883, 1.19463743,-0.03501486, 0.94262559,-0.00851468, 1.32882778,
 -0.03111828, 0.94164527, 0.01517155, 1.33845292,-0.02375262, 0.95473964,
  1.2605996 ,-0.00315027, 1.29146146, 0.04473898,-0.05575982,-0.09046636,
  0.0900102 , 0.69619642,-0.04054689,-0.71332356,-0.0695413 ]

qacc:
[-2.03254399e-01,-7.57028050e-01, 3.53040482e+00,-6.10610252e+00,
 -1.02873138e-04,-3.54080758e+00, 8.98777709e+00,-7.51376312e+00,
 -1.42902296e-01,-1.55670192e+00, 7.39956169e+00,-1.60350691e+01,
 -1.26298337e+00, 1.55369572e+00,-2.87863251e+00, 6.74099224e+00,
 -3.31392463e+00, 5.64646095e-01,-3.72108666e+00, 1.21439257e+01,
 -1.06670907e+02,-6.51869596e+01]

qfrc_actuator:
[ 0.00637697, 0.06877614, 0.01403857, 0.00194105, 0.00060777, 0.03903936,
  0.01093193, 0.00147117,-0.00290529, 0.03473902, 0.01085522, 0.00178875,
  0.00926093, 0.00712292, 0.        ,-0.0004334 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.1693744 , -0.00789875, -0.16919012, -0.00789875,  1.81338681,
       -0.07675183, -0.16919012, -0.07675183,  0.17295761,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021839670546417583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61658514,  0.07792628, -0.78342215, -0.04819474,  0.99695912,
        0.06123538,  0.7858117 ,  0.        ,  0.61846582])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623097, -0.03374712,  0.22447025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1693744 , -0.00789875, -0.16919012, -0.00789875,  1.81338681,
       -0.07675183, -0.16919012, -0.07675183,  0.17295761,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021839670546417583
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61658514,  0.07792628, -0.78342215, -0.04819474,  0.99695912,
        0.06123538,  0.7858117 ,  0.        ,  0.61846582])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08623097, -0.03374712,  0.22447025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006003479384836183
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99652308e-01,  8.59283832e-02, -9.12630454e-01, -3.44689665e-02,
        9.96301316e-01,  7.87119901e-02,  9.16018517e-01,  6.93889390e-18,
        4.01135983e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08357514, -0.03366838,  0.22310815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.72727273e+01, -1.72725570e+01,  7.66964404e-02, -1.72725570e+01,
        1.72726949e+01, -7.29797666e-03,  7.66964404e-02, -7.29797666e-03,
        1.56291736e+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: -0.0022265496801136056
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.23286690e-15,  1.24657338e-14,  1.00000000e+00,  7.76972596e-29,
        1.00000000e+00, -1.24657338e-14, -1.00000000e+00,  0.00000000e+00,
       -6.23286690e-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([ 0.02145332, -0.08848408,  0.06185624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.73012550e-03, 3.48678123e-02, 3.29436840e-03,-1.00658329e-05,
 -1.04887655e-07,-2.00334641e-04,-1.98017677e-05,-1.02738034e-05,
 -4.12264781e-05, 5.78995437e-05, 2.67498070e-05,-3.89636255e-05,
  7.75551284e-03, 1.19891505e-02, 7.44627715e-03, 6.80566576e-04,
 -8.39688301e-04, 7.09952136e-03,-9.80965363e+00, 3.36337710e-03,
 -6.03714064e-02, 6.30969129e-02]


--- Step 3244 ---
qpos:
[-0.01521449, 1.19464573,-0.03501302, 0.94262413,-0.00850241, 1.32891272,
 -0.03111709, 0.94163924, 0.0151742 , 1.33845324,-0.02375414, 0.95474019,
  1.26069649,-0.00321151, 1.29143796, 0.04474226,-0.05579003,-0.09040803,
  0.08997295, 0.69576488,-0.04123153,-0.71373126,-0.06927396]

qacc:
[ 9.62299494e-02,-1.81460125e+00, 4.89736612e+00,-1.83370374e+01,
  4.60487514e-02,-2.68853032e+00, 5.68395918e+00,-3.22380984e+00,
 -1.75995708e-01, 2.44267300e+00,-5.65954388e+00,-1.23156299e+00,
 -8.71223760e-01, 1.04834268e+00, 3.68224242e+00,-5.58967829e+00,
 -3.03894303e+00, 4.36999970e-01,-4.18185669e+00, 9.22074078e+00,
 -9.87748200e+01,-5.61965401e+01]

qfrc_actuator:
[ 0.00634896, 0.06876847, 0.01403018, 0.00185496, 0.00062102, 0.03892326,
  0.01092837, 0.00147166,-0.00293166, 0.03478224, 0.01081309, 0.00176374,
  0.00924686, 0.00716856, 0.        ,-0.00058224, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000216883916090687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61670727,  0.07793567, -0.78332508, -0.04821013,  0.99695839,
        0.06123522,  0.78571491,  0.        ,  0.61858878])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862304 , -0.03374867,  0.2244713 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000216883916090687
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61670727,  0.07793567, -0.78332508, -0.04821013,  0.99695839,
        0.06123522,  0.78571491,  0.        ,  0.61858878])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862304 , -0.03374867,  0.2244713 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005993825654590328
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39963943,  0.08593898, -0.9126351 , -0.03447214,  0.9963004 ,
        0.07872217,  0.91602402,  0.        ,  0.40112342])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08357269, -0.03366994,  0.22310814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.72727273e+01, -1.72727025e+01,  2.92750068e-02, -1.72727025e+01,
        1.72727265e+01, -4.50307865e-04,  2.92750068e-02, -4.50307865e-04,
        1.70070387e+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: -0.002196073720634524
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89580901e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.89580901e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02152851, -0.08852763,  0.06185791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.72541694e-03, 3.48424837e-02, 3.27101415e-03,-8.39637270e-05,
  1.31834544e-05,-2.31745335e-04,-4.54355608e-05,-6.25114549e-06,
 -5.07151479e-05, 7.93133918e-05,-2.89225293e-05,-2.34182846e-05,
  7.79869149e-03, 1.19995385e-02, 7.52964928e-03, 5.23067525e-04,
 -2.60904429e-03, 6.84586896e-03,-9.81037002e+00, 2.94471203e-03,
 -6.05460939e-02, 6.30872761e-02]


--- Step 3245 ---
qpos:
[-0.01523972, 1.1946521 ,-0.03501153, 0.94262225,-0.00849035, 1.32899589,
 -0.03111597, 0.94163327, 0.01517661, 1.3384536 ,-0.02375617, 0.95474084,
  1.26079279,-0.00327253, 1.29141998, 0.04474598,-0.05580816,-0.09034115,
  0.08995607, 0.69546784,-0.04217537,-0.71401308,-0.06878255]

qacc:
[ 1.88729760e-01,-2.29664590e+00, 5.29297864e+00,-8.21729714e+00,
 -8.58287517e-02,-2.04074636e+00, 3.72665109e+00,-1.47346253e+00,
 -1.00002551e-01, 1.59943958e+00,-5.34045902e+00, 5.71421451e+00,
 -8.94679736e-01, 9.85746876e-01, 6.88251666e+00,-1.20665996e+01,
  3.01759108e+00, 2.13601038e+00, 5.08926403e+00,-1.18010452e+01,
  7.81820576e+01, 1.77702527e+02]

qfrc_actuator:
[ 0.00634229, 0.06874422, 0.01407847, 0.00184021, 0.0005885 , 0.03883851,
  0.01092569, 0.00147434,-0.00293054, 0.03473653, 0.01077115, 0.00176656,
  0.00923496, 0.00722022, 0.        ,-0.00072637, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021550787977288495
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61681283,  0.07794581, -0.78324095, -0.04822469,  0.9969576 ,
        0.06123665,  0.78563116,  0.        ,  0.61869515])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622989, -0.03375029,  0.22447216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021550787977288495
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61681283,  0.07794581, -0.78324095, -0.04822469,  0.9969576 ,
        0.06123665,  0.78563116,  0.        ,  0.61869515])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622989, -0.03375029,  0.22447216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005984772250524524
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99629974e-01,  8.59494051e-02, -9.12638254e-01, -3.44755351e-02,
        9.96299503e-01,  7.87320628e-02,  9.16028013e-01,  6.93889390e-18,
        4.01114296e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08357057, -0.03367157,  0.22310809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.26694555,  -0.44687679, -17.26694555,
        17.33119316,  -2.25907295,  -0.44687679,  -2.25907295,
       104.56141832,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021949955987682485
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52898690e-14,  2.52898690e-14,  1.00000000e+00, -6.39577476e-28,
        1.00000000e+00, -2.52898690e-14, -1.00000000e+00,  0.00000000e+00,
        2.52898690e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08808871, -0.09169513,  0.06185773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.70770636e-03, 3.49379768e-02, 3.38628978e-03,-3.14971442e-05,
 -2.47550919e-05,-2.22653640e-04,-5.34947049e-05,-5.67056367e-06,
 -2.88264279e-05,-8.19175051e-06,-3.04191565e-05, 3.77653310e-06,
  7.81647653e-03, 1.20337879e-02, 7.36404738e-03, 3.57542669e-04,
 -4.47590628e-03, 6.64361663e-03,-9.81110936e+00, 2.72454485e-03,
 -6.06678086e-02, 6.30787748e-02]


--- Step 3246 ---
qpos:
[-0.01526458, 1.19465858,-0.03500924, 0.94262066,-0.00847861, 1.32907742,
 -0.03111466, 0.941627  , 0.01517902, 1.3384537 ,-0.02375822, 0.95474048,
  1.26088856,-0.00333317, 1.29140421, 0.04474988,-0.05581534,-0.09026603,
  0.08995417, 0.69529249,-0.04335118,-0.71417949,-0.06809327]

qacc:
[ 1.58196036e-01,-1.50062363e+00, 4.49452142e+00,-7.03253036e-01,
 -1.34707295e-01,-3.15498886e+00, 8.29816331e+00,-9.54627946e+00,
  2.05635923e-03,-2.02527382e+00, 8.20974929e+00,-1.85388624e+01,
 -7.77414530e-01, 9.54079308e-01, 2.80274705e+00,-4.92462642e+00,
  2.73973460e+00, 2.06035561e+00, 3.74693561e+00,-1.14247022e+01,
  7.14313036e+01, 1.58245289e+02]

qfrc_actuator:
[ 0.00638362, 0.06874604, 0.01408931, 0.00186786, 0.00056428, 0.03877321,
  0.01094144, 0.00146056,-0.00291293, 0.03470894, 0.01076485, 0.00171467,
  0.00922971, 0.00725774, 0.        ,-0.00072584, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002144533307404644
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61689457,  0.07795695, -0.78317546, -0.04823802,  0.99695673,
        0.06124034,  0.78556615,  0.        ,  0.61877768])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862295 , -0.03375203,  0.22447277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002144533307404644
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61689457,  0.07795695, -0.78317546, -0.04823802,  0.99695673,
        0.06124034,  0.78556615,  0.        ,  0.61877768])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862295 , -0.03375203,  0.22447277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005977872864717133
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39962261,  0.08595961, -0.91264052, -0.03447902,  0.99629862,
        0.07874168,  0.91603109,  0.        ,  0.40110726])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08356894, -0.03367333,  0.223108  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.24282448, -1.01592881, 17.24282448, 17.41115171,
        2.34940499, -1.01592881,  2.34940499, 57.14794065,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002229957780895575
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08805649, -0.09165414,  0.06185546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.72741582e-03, 3.50363091e-02, 3.41469585e-03, 1.70861680e-05,
 -3.88295272e-05,-1.99718912e-04,-3.41935073e-05,-2.20898480e-05,
  5.78732576e-07,-3.79554368e-05,-1.12363105e-05,-5.29307060e-05,
  7.84033159e-03, 1.20614663e-02, 7.08852492e-03, 3.35852184e-04,
 -3.12072783e-03, 1.06400846e-02,-9.81055144e+00, 2.44348849e-03,
 -6.02938999e-02, 6.30436271e-02]


--- Step 3247 ---
qpos:
[-0.01528845, 1.19466346,-0.03500652, 0.94261958,-0.00846706, 1.3291573 ,
 -0.03111294, 0.94162165, 0.01518152, 1.3384538 ,-0.02376049, 0.95474018,
  1.26098378,-0.00339377, 1.29139424, 0.04475403,-0.05581247,-0.09018294,
  0.0899627 , 0.6952279 ,-0.04473647,-0.71423897,-0.06722728]

qacc:
[ 4.33772809e-01,-2.42371503e+00, 4.30273239e+00, 3.26175399e+00,
 -8.38535654e-02,-1.72205154e+00, 1.12465242e+00, 1.06382540e+01,
  3.44029579e-02, 6.74953883e-01,-2.31988997e+00, 2.68680931e+00,
 -7.93691496e-01, 7.79203217e-01, 7.89398889e+00,-1.49925959e+01,
  2.50959875e+00, 1.99296815e+00, 2.60610959e+00,-1.09599799e+01,
  6.57594927e+01, 1.42321143e+02]

qfrc_actuator:
[ 0.00641815, 0.06874447, 0.01404117, 0.00188492, 0.000563  , 0.0387024 ,
  0.010968  , 0.00150823,-0.00290334, 0.034728  , 0.01076191, 0.0017198 ,
  0.00922314, 0.00732204, 0.        ,-0.00092246, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021356897542213968
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61696838,  0.0779683 , -0.78311619, -0.04825086,  0.99695584,
        0.06124467,  0.7855074 ,  0.        ,  0.61885226])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622916, -0.03375382,  0.22447332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021356897542213968
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61696838,  0.0779683 , -0.78311619, -0.04825086,  0.99695584,
        0.06124467,  0.7855074 ,  0.        ,  0.61885226])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622916, -0.03375382,  0.22447332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005972348151505637
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39961443,  0.08596969, -0.91264315, -0.03448239,  0.99629775,
        0.07875121,  0.91603454,  0.        ,  0.4010994 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08356746, -0.03367515,  0.2231079 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.22513914, -1.28128411, 17.22513914, 17.52011442,
        3.32578696, -1.28128411,  3.32578696, 61.98345363,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002235504475265389
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.96631985e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.96631985e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08805085, -0.09162808,  0.06185502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.74382127e-03, 3.50290573e-02, 3.32711550e-03, 2.01405787e-05,
 -2.41989022e-05,-1.89247729e-04,-1.71695959e-05, 4.02384821e-05,
  9.93340222e-06,-5.68505512e-06,-1.31802241e-05, 2.43132792e-06,
  7.86070734e-03, 1.21086196e-02, 6.97849826e-03, 1.30630231e-04,
 -1.39627418e-03, 1.48771212e-02,-9.81025577e+00, 2.42384011e-03,
 -5.99224175e-02, 6.30057007e-02]


--- Step 3248 ---
qpos:
[-0.01531145, 1.19466604,-0.03500434, 0.94261814,-0.00845582, 1.32923563,
 -0.03111094, 0.94161725, 0.01518396, 1.33845351,-0.02376152, 0.9547406 ,
  1.26107845,-0.00345426, 1.29138923, 0.04475827,-0.05580033,-0.09009211,
  0.08997777, 0.69526473,-0.04631262,-0.71419846,-0.06620168]

qacc:
[ 3.79645611e-01,-2.18087144e+00, 4.19286765e+00,-6.32848762e+00,
 -1.29423154e-01,-1.14754449e+00,-6.97145211e-01, 1.27155490e+01,
 -2.46862080e-02,-2.59954753e+00, 6.41553740e+00, 2.90153589e+00,
 -7.85848143e-01, 7.94550761e-01, 7.11570804e+00,-1.40957586e+01,
  2.31931519e+00, 1.93348220e+00, 1.63735029e+00,-1.04416733e+01,
  6.09945818e+01, 1.29286901e+02]

qfrc_actuator:
[ 0.00643007, 0.06874254, 0.01397542, 0.00185978, 0.00053998, 0.03862895,
  0.010983  , 0.00155617,-0.00291638, 0.03472165, 0.01083219, 0.00175846,
  0.00922113, 0.00738482, 0.        ,-0.00106   , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021303976540511943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17018036e-01,  7.79803175e-02, -7.83075867e-01, -4.82622257e-02,
        9.96954899e-01,  6.12510203e-02,  7.85467696e-01,  6.93889390e-18,
        6.18902657e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622895, -0.03375574,  0.22447363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021303976540511943
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17018036e-01,  7.79803175e-02, -7.83075867e-01, -4.82622257e-02,
        9.96954899e-01,  6.12510203e-02,  7.85467696e-01,  6.93889390e-18,
        6.18902657e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622895, -0.03375574,  0.22447363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005969318165783971
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39960732,  0.08597935, -0.91264535, -0.03448568,  0.99629692,
        0.07876031,  0.91603752,  0.        ,  0.4010926 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08356648, -0.0336771 ,  0.22310778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.19730261, -1.61241756, 17.19730261, 17.71685295,
        4.73683979, -1.61241756,  4.73683979, 67.79367759,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022173337403065263
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50350907e-14,  2.50350907e-14,  1.00000000e+00,  6.26755765e-28,
        1.00000000e+00, -2.50350907e-14, -1.00000000e+00,  0.00000000e+00,
       -2.50350907e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08806656, -0.09161401,  0.06185605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.70603534e-03, 3.51071621e-02, 3.23919876e-03,-3.06828780e-05,
 -3.73053366e-05,-1.80871206e-04,-2.29114967e-05, 4.27790155e-05,
 -7.17831340e-06,-1.19963290e-05, 6.77424491e-05, 3.81600131e-05,
  7.88605038e-03, 1.21698930e-02, 6.68801454e-03,-1.95116179e-05,
  5.75549140e-04, 1.92115101e-02,-9.81015842e+00, 2.58845285e-03,
 -5.95539974e-02, 6.29641377e-02]


--- Step 3249 ---
qpos:
[-0.01533523, 1.19467045,-0.03500215, 0.94261566,-0.00844506, 1.3293124 ,
 -0.03110898, 0.94161244, 0.01518629, 1.33845224,-0.02375995, 0.95474111,
  1.26117235,-0.00351381, 1.29137788, 0.04476206,-0.05577954,-0.08999376,
  0.08999611, 0.69539497,-0.04806424,-0.71406353,-0.06503027]

qacc:
[-3.39845204e-01, 6.56596386e-01, 2.93690737e+00,-1.57857764e+01,
 -2.00975482e-01,-2.62274208e+00, 6.93757770e+00,-9.77712193e+00,
 -4.46180340e-02,-8.19454408e+00, 2.49842764e+01,-1.99849400e+01,
 -8.73402211e-01, 1.35100501e+00,-7.92923692e+00, 1.42895655e+01,
  2.16230292e+00, 1.88157171e+00, 8.15362164e-01,-9.89322024e+00,
  5.69946874e+01, 1.18629638e+02]

qfrc_actuator:
[ 0.00644589, 0.06877724, 0.01393543, 0.00182773, 0.0005041 , 0.03853673,
  0.01097328, 0.00153287,-0.00292515, 0.03466493, 0.0109628 , 0.00176331,
  0.00922187, 0.00744663, 0.        ,-0.00077147, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021276400212147557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61704572,  0.07799297, -0.78305279, -0.04827227,  0.99695391,
        0.06125922,  0.78544533,  0.        ,  0.61893104])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622884, -0.03375774,  0.22447371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021276400212147557
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61704572,  0.07799297, -0.78305279, -0.04827227,  0.99695391,
        0.06125922,  0.78544533,  0.        ,  0.61893104])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622884, -0.03375774,  0.22447371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005967832280210916
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99602817e-01,  8.59886100e-02, -9.12646452e-01, -3.44890340e-02,
        9.96296120e-01,  7.87689506e-02,  9.16039352e-01,  6.93889390e-18,
        4.01088401e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08356593, -0.03367916,  0.2231076 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.15535962, -2.01016017, 17.15535962, 18.06357466,
        6.74934843, -2.01016017,  6.74934843, 74.87385836,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021802311636549554
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08809929, -0.09160954,  0.06185824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.67835477e-03, 3.52572587e-02, 3.22621730e-03,-4.48068807e-05,
 -5.78936305e-05,-1.96045652e-04,-4.65665532e-05,-2.83319294e-05,
 -1.30067137e-05,-4.89841957e-05, 1.37084506e-04, 7.36374023e-06,
  7.91439598e-03, 1.22280828e-02, 6.43991518e-03, 2.64300665e-04,
  2.71493087e-03, 2.35617051e-02,-9.81022028e+00, 2.88361962e-03,
 -5.91894499e-02, 6.29183367e-02]


--- Step 3250 ---
qpos:
[-0.01535967, 1.19467707,-0.03499846, 0.94261407,-0.00843478, 1.32938766,
 -0.0311078 , 0.94160881, 0.01518836, 1.33844979,-0.02375735, 0.95474073,
  1.26126544,-0.00357237, 1.29136145, 0.04476551,-0.05577402,-0.08989103,
  0.09000279, 0.6953397 ,-0.04968007,-0.71410529,-0.06393925]

qacc:
[-2.86886653e-01, 3.43362037e-01, 5.05743932e-01, 8.60872072e+00,
 -2.07417055e-01, 2.09201023e+00,-1.16629934e+01, 2.47540737e+01,
 -1.09125385e-01,-5.81552670e+00, 1.88763551e+01,-2.57835553e+01,
 -9.94237678e-01, 1.49338349e+00,-6.39821008e+00, 1.16619170e+01,
 -3.81735760e+00, 1.09537310e+00,-2.91582860e+00, 1.98007602e+01,
 -1.21316109e+02,-8.67118462e+01]

qfrc_actuator:
[ 0.00648312, 0.06877744, 0.01392831, 0.00188113, 0.00047855, 0.03845162,
  0.01093119, 0.00159207,-0.00294903, 0.03454323, 0.0109857 , 0.0017127 ,
  0.00920832, 0.00750697, 0.        ,-0.00065285, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16884291, -0.03191034, -0.16580006, -0.03191034,  1.34180939,
       -0.2257524 , -0.16580006, -0.2257524 ,  0.21229185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021209834392883938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61710024,  0.07800468, -0.78300866, -0.04828383,  0.99695299,
        0.06126502,  0.78540179,  0.        ,  0.61898629])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622859, -0.0337596 ,  0.22447405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16884291, -0.03191034, -0.16580006, -0.03191034,  1.34180939,
       -0.2257524 , -0.16580006, -0.2257524 ,  0.21229185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021209834392883938
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61710024,  0.07800468, -0.78300866, -0.04828383,  0.99695299,
        0.06126502,  0.78540179,  0.        ,  0.61898629])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622859, -0.0337596 ,  0.22447405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005963638053818957
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99596621e-01,  8.59982133e-02, -9.12648261e-01, -3.44923796e-02,
        9.96295291e-01,  7.87779693e-02,  9.16041929e-01,  6.93889390e-18,
        4.01082514e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08356484, -0.03368105,  0.22310747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.26861414,  0.3769259 , 17.26861414, 17.28938908,
       -0.76334992,  0.3769259 , -0.76334992, 52.245106  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021648747527848525
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.92313035e-14,  1.28208690e-14,  1.00000000e+00, -2.46562023e-28,
        1.00000000e+00, -1.28208690e-14, -1.00000000e+00,  0.00000000e+00,
        1.92313035e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02159143, -0.08888692,  0.06185913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.75451941e-03, 3.51651271e-02, 3.21903598e-03, 6.05542761e-05,
 -5.97107771e-05,-2.04093713e-04,-8.66898151e-05, 5.13660228e-05,
 -3.15651181e-05,-1.21786422e-04, 2.91351909e-05,-4.78742686e-05,
  7.93941997e-03, 1.22422256e-02, 6.75708526e-03, 4.05606175e-04,
  4.97086174e-03, 2.78857755e-02,-9.81041842e+00, 3.27219450e-03,
 -5.88294813e-02, 6.28678555e-02]


--- Step 3251 ---
qpos:
[-0.01538305, 1.19468239,-0.03499326, 0.94261449,-0.00842481, 1.32946109,
 -0.03110728, 0.9416056 , 0.01519016, 1.3384472 ,-0.02375622, 0.95473945,
  1.26135804,-0.00363083, 1.2913507 , 0.04476916,-0.05578234,-0.08978479,
  0.08999549, 0.69511532,-0.05118556,-0.71430817,-0.06291713]

qacc:
[ 4.60024641e-01,-2.36587467e+00, 1.53318834e+00, 2.27504442e+01,
 -1.27148412e-01, 1.10363260e-01,-4.13548873e+00, 9.60495345e+00,
 -1.16808468e-01, 2.20670221e+00,-5.60692801e+00,-5.50404327e+00,
 -7.66156230e-01, 8.00985886e-01, 7.86279678e+00,-1.51646369e+01,
 -3.45865769e+00, 8.76366511e-01,-3.49175939e+00, 1.47096742e+01,
 -1.11167175e+02,-7.27577136e+01]

qfrc_actuator:
[ 0.00653338, 0.06872033, 0.01395716, 0.00196652, 0.00047716, 0.03833585,
  0.01088817, 0.00161057,-0.00296403, 0.03454291, 0.01090903, 0.00166526,
  0.00920221, 0.00756601, 0.        ,-0.00092016, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16876487, -0.03683823, -0.16469525, -0.03683823,  1.48527718,
       -0.29447106, -0.16469525, -0.29447106,  0.23463072,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021115461698205731
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61717751,  0.07801559, -0.78294667, -0.04829667,  0.99695214,
        0.06126879,  0.78534028,  0.        ,  0.61906433])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622824, -0.03376134,  0.22447463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16876487, -0.03683823, -0.16469525, -0.03683823,  1.48527718,
       -0.29447106, -0.16469525, -0.29447106,  0.23463072,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00021115461698205731
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61717751,  0.07801559, -0.78294667, -0.04829667,  0.99695214,
        0.06126879,  0.78534028,  0.        ,  0.61906433])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622824, -0.03376134,  0.22447463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005957715259395195
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39958703,  0.08600816, -0.91265153, -0.03449557,  0.99629443,
        0.07878743,  0.91604599,  0.        ,  0.40107323])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08356328, -0.03368281,  0.22310738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.27233299,   0.11670712, -17.27233299,
        17.27252069,  -0.03057384,   0.11670712,  -0.03057384,
        12.74788349,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002175167992692767
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.55203972e-14,  2.55203972e-14,  1.00000000e+00,  6.51290675e-28,
        1.00000000e+00, -2.55203972e-14, -1.00000000e+00,  0.00000000e+00,
       -2.55203972e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02156097, -0.08895053,  0.06185842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.83767000e-03, 3.49982017e-02, 3.17248430e-03, 1.01032565e-04,
 -3.66282072e-05,-2.44636835e-04,-9.14187041e-05, 1.11055658e-05,
 -3.36493799e-05,-6.33875324e-05,-9.85461055e-05,-5.13106392e-05,
  7.97418325e-03, 1.22535589e-02, 7.01139215e-03, 1.55366962e-04,
  1.49378794e-03, 2.68929913e-02,-9.81115006e+00, 1.67018651e-03,
 -5.92599371e-02, 6.28169356e-02]


--- Step 3252 ---
qpos:
[-0.01540528, 1.19468529,-0.03498858, 0.94261477,-0.0084149 , 1.3295324 ,
 -0.03110738, 0.94160094, 0.01519186, 1.33844511,-0.02375616, 0.95473823,
  1.26145026,-0.00368926, 1.2913445 , 0.04477288,-0.05580328,-0.08967574,
  0.08997226, 0.69473546,-0.05260098,-0.71465894,-0.06195459]

qacc:
[ 5.02915436e-01,-2.03067774e+00, 3.07278423e+00,-2.80270654e+00,
 -2.93870497e-02,-3.57089982e+00, 1.13027952e+01,-2.53610179e+01,
 -4.06875346e-02, 3.65288892e+00,-1.12116985e+01, 1.00112764e+01,
 -5.93554772e-01, 5.81842428e-01, 6.55836736e+00,-1.30357721e+01,
 -3.15651081e+00, 7.02762354e-01,-3.98572649e+00, 1.07038064e+01,
 -1.02570380e+02,-6.15540521e+01]

qfrc_actuator:
[ 0.00657226, 0.06868471, 0.01395373, 0.00194537, 0.00049026, 0.03820262,
  0.01084479, 0.00153395,-0.00295584, 0.03463261, 0.01088121, 0.00167336,
  0.00920589, 0.00762475, 0.        ,-0.00104661, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021056849514577806
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17231877e-01,  7.80270722e-02, -7.82902667e-01, -4.83080759e-02,
        9.96951241e-01,  6.12744139e-02,  7.85296848e-01, -6.93889390e-18,
        6.19119423e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622801, -0.03376321,  0.22447499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021056849514577806
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17231877e-01,  7.80270722e-02, -7.82902667e-01, -4.83080759e-02,
        9.96951241e-01,  6.12744139e-02,  7.85296848e-01, -6.93889390e-18,
        6.19119423e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622801, -0.03376321,  0.22447499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005954393717645806
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39957723,  0.08601768, -0.91265491, -0.03449857,  0.99629361,
        0.07879651,  0.91605015,  0.        ,  0.40106373])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08356217, -0.03368471,  0.22310725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.27238474,   0.10877925, -17.27238474,
        17.27258206,  -0.0230579 ,   0.10877925,  -0.0230579 ,
        13.61150503,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002157989207811517
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.21544421e-14,  3.85853305e-14,  1.00000000e+00, -1.24068978e-27,
        1.00000000e+00, -3.85853305e-14, -1.00000000e+00,  0.00000000e+00,
        3.21544421e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02160094, -0.08900573,  0.06185929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.82385244e-03, 3.50269446e-02, 3.09346042e-03,-2.01991438e-05,
 -8.51159620e-06,-2.86657690e-04,-1.01417476e-04,-8.63241933e-05,
 -1.16780080e-05, 3.38930318e-05,-5.29013245e-05, 2.13727704e-06,
  8.00169595e-03, 1.23080495e-02, 6.72741010e-03, 1.89862865e-05,
 -1.87129187e-03, 2.62513233e-02,-9.81184426e+00, 4.33537957e-04,
 -5.95581189e-02, 6.27673681e-02]


--- Step 3253 ---
qpos:
[-0.01542685, 1.19468657,-0.03498513, 0.94261372,-0.00840501, 1.32960169,
 -0.03110757, 0.94159639, 0.0151934 , 1.33844315,-0.02375642, 0.95473744,
  1.26154166,-0.00374744, 1.29133936, 0.04477647,-0.05581302,-0.0895583 ,
  0.08996396, 0.69447412,-0.05426387,-0.71488973,-0.06077677]

qacc:
[ 2.87996405e-01,-1.05067815e+00, 3.59472300e+00,-1.74511963e+01,
 -3.55559184e-03,-2.24631977e+00, 3.87034184e+00,-6.88129125e-01,
 -7.06259768e-02, 1.81418229e+00,-6.60038354e+00, 1.07615080e+01,
 -8.73368051e-01, 9.04922090e-01, 2.04054928e+00,-4.72834080e+00,
  2.80112418e+00, 2.09893154e+00, 3.73491145e+00,-9.64100457e+00,
  7.07034766e+01, 1.70034161e+02]

qfrc_actuator:
[ 0.00662153, 0.06869914, 0.01396786, 0.0018794 , 0.00049421, 0.03813092,
  0.01085469, 0.00154397,-0.00296929, 0.0346337 , 0.01086514, 0.00169643,
  0.00919415, 0.0077011 , 0.        ,-0.00105301, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021019970515691842
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17265622e-01,  7.80389397e-02, -7.82874878e-01, -4.83181099e-02,
        9.96950312e-01,  6.12816152e-02,  7.85269706e-01, -6.93889390e-18,
        6.19153849e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622787, -0.03376517,  0.22447513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00021019970515691842
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17265622e-01,  7.80389397e-02, -7.82874878e-01, -4.83181099e-02,
        9.96950312e-01,  6.12816152e-02,  7.85269706e-01, -6.93889390e-18,
        6.19153849e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622787, -0.03376517,  0.22447513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005952313090626243
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99570147e-01,  8.60266883e-02, -9.12657168e-01, -3.45015996e-02,
        9.96292833e-01,  7.88050171e-02,  9.16053130e-01,  6.93889390e-18,
        4.01056932e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08356148, -0.03368672,  0.22310708])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.2698722 ,  -0.31404101, -17.2698722 ,
        17.29845383,  -1.41476533,  -0.31404101,  -1.41476533,
        95.07408405,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021563347280927903
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.57432905e-14,  2.57432905e-14,  1.00000000e+00,  6.62717004e-28,
        1.00000000e+00, -2.57432905e-14, -1.00000000e+00,  0.00000000e+00,
       -2.57432905e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08811603, -0.09151685,  0.06185916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.81549094e-03, 3.51626919e-02, 3.13355590e-03,-7.89183558e-05,
 -1.08751561e-06,-2.53242091e-04,-6.03642419e-05,-3.50098423e-06,
 -2.03539926e-05, 9.57862057e-06,-1.54029485e-05, 2.25716536e-05,
  8.00955435e-03, 1.23840187e-02, 6.49921719e-03, 8.64663844e-06,
 -5.17455497e-03, 2.58720624e-02,-9.81254663e+00,-5.29522977e-04,
 -5.97623127e-02, 6.27196455e-02]


--- Step 3254 ---
qpos:
[-0.01544816, 1.19468792,-0.03498152, 0.94261236,-0.00839513, 1.32966928,
 -0.03110753, 0.94159196, 0.01519462, 1.3384415 ,-0.02375724, 0.9547366 ,
  1.26163217,-0.00380525, 1.29133448, 0.04477987,-0.0558125 ,-0.08943266,
  0.08996598, 0.69431996,-0.05615019,-0.71500895,-0.05940664]

qacc:
[ 1.11270088e-01,-8.52666128e-01, 3.54887667e+00,-6.81409219e+00,
 -7.54732208e-03,-2.62826968e+00, 5.65731140e+00,-2.55414608e+00,
 -1.33089794e-01, 1.77049629e+00,-5.16084930e+00, 3.52296741e+00,
 -9.84783285e-01, 1.09306951e+00, 1.03308910e+00,-2.86919752e+00,
  2.56399841e+00, 2.04838619e+00, 2.57892276e+00,-9.32890403e+00,
  6.50411743e+01, 1.52929624e+02]

qfrc_actuator:
[ 0.00664158, 0.068655  , 0.01402896, 0.00187654, 0.00049262, 0.03807916,
  0.01087851, 0.00155173,-0.00299563, 0.03465281, 0.01083804, 0.00169256,
  0.00917853, 0.00775228, 0.        ,-0.00104045, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020982887954068379
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6172927 ,  0.07805076, -0.78285235, -0.04832759,  0.99694939,
        0.06128919,  0.78524784,  0.        ,  0.61918158])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622775, -0.03376711,  0.22447517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020982887954068379
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6172927 ,  0.07805076, -0.78285235, -0.04832759,  0.99694939,
        0.06128919,  0.78524784,  0.        ,  0.61918158])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622775, -0.03376711,  0.22447517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005949881056882267
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39956568,  0.08603537, -0.91265831, -0.03450472,  0.99629208,
        0.07881313,  0.91605496,  0.        ,  0.40105275])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08356092, -0.0336887 ,  0.22310688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.22406015, -1.29570801, 17.22406015, 17.49383043,
        2.93916078, -1.29570801,  2.93916078, 56.34347601,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002166686705679627
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.56202944e-14,  5.12405888e-14,  1.00000000e+00,  1.31279897e-27,
        1.00000000e+00, -5.12405888e-14, -1.00000000e+00,  0.00000000e+00,
       -2.56202944e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08810506, -0.09148505,  0.06185834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.80251237e-03, 3.51994657e-02, 3.25620495e-03,-1.56484921e-05,
 -2.23737514e-06,-2.04280954e-04,-3.28071143e-05,-1.63608274e-06,
 -3.83623355e-05, 2.20806372e-05,-2.63142122e-05,-3.50994077e-06,
  8.03470302e-03, 1.24244824e-02, 6.44665448e-03, 2.81032189e-05,
 -2.41855935e-03, 3.30288995e-02,-9.81298712e+00,-5.23753473e-04,
 -5.93656506e-02, 6.26619287e-02]


--- Step 3255 ---
qpos:
[-0.01546945, 1.1946897 ,-0.03497799, 0.94261025,-0.00838544, 1.32973534,
 -0.03110755, 0.94158696, 0.01519581, 1.33843977,-0.02375768, 0.95473569,
  1.26172211,-0.00386255, 1.29132848, 0.04478303,-0.05580251,-0.08929901,
  0.08997438, 0.69426324,-0.05824006,-0.71502346,-0.05786277]

qacc:
[ 1.34497412e-02,-4.92232524e-01, 3.82685680e+00,-1.21843792e+01,
 -8.31011985e-02,-2.81748802e+00, 7.92214551e+00,-1.24344993e+01,
 -1.12225414e-02,-1.19020966e+00, 3.87918978e+00,-3.95167382e+00,
 -7.16078906e-01, 9.59519861e-01,-8.90871801e-01, 8.37609399e-01,
  2.36747591e+00, 2.00200512e+00, 1.59406012e+00,-8.91995380e+00,
  6.02647581e+01, 1.38919141e+02]

qfrc_actuator:
[ 0.00664423, 0.06859243, 0.01406409, 0.00184005, 0.00046997, 0.03800433,
  0.01087489, 0.00152259,-0.00297623, 0.034647  , 0.01085795, 0.00169063,
  0.00916595, 0.00777038, 0.        ,-0.00099866, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020947909406264682
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61731884,  0.07806247, -0.78283057, -0.04833693,  0.99694847,
        0.06129673,  0.78522671,  0.        ,  0.61920838])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622763, -0.03376902,  0.22447522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00020947909406264682
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61731884,  0.07806247, -0.78283057, -0.04833693,  0.99694847,
        0.06129673,  0.78522671,  0.        ,  0.61920838])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622763, -0.03376902,  0.22447522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005947623892877847
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99561008e-01,  8.60439590e-02, -9.12659541e-01, -3.45077886e-02,
        9.96291341e-01,  7.88211609e-02,  9.16056883e-01, -6.93889390e-18,
        4.01048360e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08356037, -0.03369066,  0.22310669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.19683361, -1.61741187, 17.19683361, 17.66598087,
        4.18119641, -1.61741187,  4.18119641, 61.72852741,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00215255437054708
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.57885013e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.57885013e-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([-0.08811631, -0.09146672,  0.06185906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.79240736e-03, 3.51334760e-02, 3.28386094e-03,-3.62077780e-05,
 -2.39724603e-05,-1.94800105e-04,-4.74559997e-05,-3.62123298e-05,
 -3.25490254e-06, 1.17139132e-06, 2.11247166e-05,-2.14121417e-06,
  8.06703144e-03, 1.24248691e-02, 6.43338641e-03, 7.91824973e-05,
  5.65471229e-04, 4.00900897e-02,-9.81366175e+00,-3.24696703e-04,
 -5.89747033e-02, 6.25989730e-02]


--- Step 3256 ---
qpos:
[-0.01549111, 1.1946933 ,-0.03497293, 0.9426089 ,-0.00837617, 1.32980022,
 -0.0311078 , 0.94158198, 0.01519723, 1.33843816,-0.02375742, 0.95473577,
  1.26181124,-0.00391922, 1.29132088, 0.04478596,-0.0557837 ,-0.08915752,
  0.08998579, 0.69429555,-0.06051699,-0.71493875,-0.05616011]

qacc:
[-1.66410128e-01,-4.80432432e-01, 2.90065325e+00, 5.04510564e+00,
 -1.70971370e-01,-9.24011155e-01, 1.10476994e+00,-4.38750129e-02,
  9.36855152e-02,-7.23184604e-02,-1.57815580e+00, 1.26638431e+01,
 -9.79805601e-01, 1.26903033e+00,-1.55229437e+00, 2.20151039e+00,
  2.20488055e+00, 1.96016884e+00, 7.55361471e-01,-8.44534540e+00,
  5.62361113e+01, 1.27456975e+02]

qfrc_actuator:
[ 0.00665431, 0.06857167, 0.0140838 , 0.00189046, 0.00043488, 0.03796943,
  0.01087277, 0.00152519,-0.0029473 , 0.03467976, 0.01090535, 0.00174311,
  0.00915519, 0.00783937, 0.        ,-0.0009392 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.1685931 , -0.0319078 , -0.16554614, -0.0319078 ,  1.75858796,
       -0.30645978, -0.16554614, -0.30645978,  0.22766096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002090596494287774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17350230e-01,  7.80738813e-02, -7.82804677e-01, -4.83465026e-02,
        9.96947576e-01,  6.13037244e-02,  7.85201445e-01,  6.93889390e-18,
        6.19240415e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622749, -0.0337709 ,  0.22447532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1685931 , -0.0319078 , -0.16554614, -0.0319078 ,  1.75858796,
       -0.30645978, -0.16554614, -0.30645978,  0.22766096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002090596494287774
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17350230e-01,  7.80738813e-02, -7.82804677e-01, -4.83465026e-02,
        9.96947576e-01,  6.13037244e-02,  7.85201445e-01,  6.93889390e-18,
        6.19240415e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622749, -0.0337709 ,  0.22447532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005944901491171141
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99556007e-01,  8.60525408e-02, -9.12660921e-01, -3.45108240e-02,
        9.96290600e-01,  7.88292002e-02,  9.16058950e-01,  6.93889390e-18,
        4.01043638e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08355972, -0.03369258,  0.2231065 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.1553277 , -2.01043252, 17.1553277 , 17.97493415,
        5.99203849, -2.01043252,  5.99203849, 68.4037067 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021187875992291355
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30997442e-14,  6.54987211e-15,  1.00000000e+00,  8.58016494e-29,
        1.00000000e+00, -6.54987211e-15, -1.00000000e+00,  0.00000000e+00,
       -1.30997442e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08814539, -0.09145925,  0.06186099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.80094286e-03, 3.50909490e-02, 3.30712439e-03, 5.11982812e-05,
 -4.92457040e-05,-1.53520967e-04,-4.67940716e-05,-5.41484568e-06,
  2.70081960e-05, 3.74752590e-05, 4.99709363e-05, 5.30873635e-05,
  8.08440278e-03, 1.24699324e-02, 6.48957665e-03, 1.50375976e-04,
  3.69471667e-03, 4.69953783e-02,-9.81453164e+00, 1.02287259e-05,
 -5.85898032e-02, 6.25300108e-02]


--- Step 3257 ---
qpos:
[-0.01551328, 1.19469717,-0.0349661 , 0.94260966,-0.00836704, 1.32986398,
 -0.03110814, 0.94157706, 0.01519876, 1.33843717,-0.02375673, 0.95473542,
  1.26189938,-0.00397507, 1.29131295, 0.0447886 ,-0.05577989,-0.08901111,
  0.08998521, 0.69414335,-0.06266665,-0.71502746,-0.05453094]

qacc:
[-2.18771666e-01,-7.95916957e-01,-1.36194918e+00, 2.56449057e+01,
 -6.27010810e-02,-1.10309627e+00, 1.71264562e+00,-1.11827218e-01,
  5.15003052e-02,-1.06683691e+00, 5.36130101e+00,-1.01082296e+01,
 -1.30092675e+00, 1.69640778e+00, 4.78859311e-01,-2.16139490e+00,
 -3.75125644e+00, 1.23046551e+00,-2.99893876e+00, 1.71976207e+01,
 -1.20362688e+02,-8.14282885e+01]

qfrc_actuator:
[ 0.00665151, 0.06859218, 0.01405717, 0.0019918 , 0.00044586, 0.03792325,
  0.01087173, 0.00152874,-0.0029484 , 0.0347355 , 0.01093326, 0.00172073,
  0.0091509 , 0.00793855, 0.        ,-0.00097556, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16855615, -0.03050223, -0.16577331, -0.03050223,  1.04545536,
       -0.16134911, -0.16577331, -0.16134911,  0.19824433,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020860580212460691
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61739068,  0.07808505, -0.78277166, -0.04835663,  0.9969467 ,
        0.06130996,  0.78516902,  0.        ,  0.61928153])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622732, -0.03377273,  0.22447554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16855615, -0.03050223, -0.16577331, -0.03050223,  1.04545536,
       -0.16134911, -0.16577331, -0.16134911,  0.19824433,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020860580212460691
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61739068,  0.07808505, -0.78277166, -0.04835663,  0.9969467 ,
        0.06130996,  0.78516902,  0.        ,  0.61928153])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622732, -0.03377273,  0.22447554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005942282754662388
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39954793,  0.08606134, -0.91266363, -0.03451368,  0.99628984,
        0.07883756,  0.91606237,  0.        ,  0.40103584])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08355889, -0.03369444,  0.22310635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.27037631,  0.28497306, 17.27037631, 17.28156627,
       -0.53567436,  0.28497306, -0.53567436, 49.73648971,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021473316439742166
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.9388418e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.9388418e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02159844, -0.08932664,  0.06185913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.81722510e-03, 3.50206061e-02, 3.20371946e-03, 1.15084355e-04,
 -1.80824157e-05,-1.40898026e-04,-3.66523251e-05,-2.49668760e-06,
  1.48575704e-05, 8.78076134e-05, 4.24642185e-05,-1.85824914e-05,
  8.12105485e-03, 1.25383598e-02, 6.56903306e-03, 1.25826315e-04,
  6.91779940e-03, 5.37252571e-02,-9.81557640e+00, 4.41250163e-04,
 -5.82115552e-02, 6.24544673e-02]


--- Step 3258 ---
qpos:
[-0.01553513, 1.19469976,-0.03495952, 0.9426105 ,-0.00835797, 1.32992605,
 -0.03110765, 0.94157118, 0.01520036, 1.3384367 ,-0.02375656, 0.95473589,
  1.26198724,-0.00403041, 1.29130559, 0.04479105,-0.05578966,-0.08886069,
  0.08997035, 0.69382278,-0.06471436,-0.71527393,-0.05296424]

qacc:
[ 1.40559028e-01,-9.03285856e-01, 7.51255250e-01, 1.05501324e+00,
 -2.62444854e-02,-6.10158366e+00, 1.91928456e+01,-2.66326329e+01,
  2.56194439e-02, 3.50220405e+00,-1.22667169e+01, 1.98753615e+01,
 -5.84831487e-01, 8.88112862e-01, 1.45088351e+00,-3.72268457e+00,
 -3.39372379e+00, 1.00473647e+00,-3.57196622e+00, 1.20760507e+01,
 -1.10211072e+02,-6.76676421e+01]

qfrc_actuator:
[ 0.00667674, 0.06863829, 0.01401965, 0.00198002, 0.00044888, 0.03781745,
  0.01090681, 0.00147954,-0.00294974, 0.03473345, 0.01089622, 0.00176096,
  0.00914521, 0.00796665, 0.        ,-0.00103377, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16851749, -0.03283902, -0.16528685, -0.03283902,  1.30864624,
       -0.22651962, -0.16528685, -0.22651962,  0.21352218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020812956137681096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17433372e-01,  7.80964128e-02, -7.82736853e-01, -4.83670536e-02,
        9.96945811e-01,  6.13162117e-02,  7.85134803e-01,  6.93889390e-18,
        6.19324907e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622713, -0.03377454,  0.22447578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16851749, -0.03283902, -0.16528685, -0.03283902,  1.30864624,
       -0.22651962, -0.16528685, -0.22651962,  0.21352218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020812956137681096
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17433372e-01,  7.80964128e-02, -7.82736853e-01, -4.83670536e-02,
        9.96945811e-01,  6.13162117e-02,  7.85134803e-01,  6.93889390e-18,
        6.19324907e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622713, -0.03377454,  0.22447578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005939587211900958
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39953799,  0.08607039, -0.91266713, -0.03451648,  0.99628906,
        0.07884621,  0.9160666 ,  0.        ,  0.40102617])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08355799, -0.03369629,  0.2231062 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.27210793,   0.14627066, -17.27210793,
        17.27236354,  -0.04295052,   0.14627066,  -0.04295052,
        12.20099277,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021515483420487327
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.58005596e-14,  3.87008394e-14,  1.00000000e+00, -9.98503314e-28,
        1.00000000e+00, -3.87008394e-14, -1.00000000e+00,  0.00000000e+00,
        2.58005596e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02157982, -0.089392  ,  0.06185869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.86757554e-03, 3.50532216e-02, 3.07808044e-03,-2.70943624e-06,
 -7.64978453e-06,-1.91455573e-04, 3.17618364e-06,-5.44940202e-05,
  7.43356317e-06, 5.42609698e-05,-1.56066737e-05, 4.36428781e-05,
  8.16457035e-03, 1.25266833e-02, 6.58612186e-03, 8.20519137e-05,
  1.93154960e-03, 5.26359708e-02,-9.81632246e+00,-1.67567684e-03,
 -5.86473798e-02, 6.23619452e-02]


--- Step 3259 ---
qpos:
[-0.01555695, 1.19470212,-0.03495373, 0.94261044,-0.00834939, 1.32998596,
 -0.03110599, 0.94156651, 0.01520184, 1.33843663,-0.02375684, 0.95473823,
  1.26207511,-0.00408504, 1.29129444, 0.04479314,-0.0558118 ,-0.08870696,
  0.08993923, 0.69334725,-0.06668023,-0.71566481,-0.05145113]

qacc:
[ 1.12806575e-02, 3.43732296e-01, 3.82167628e-01,-1.06397462e+01,
 -2.06478878e-01,-3.92398322e+00, 6.88541836e+00, 9.43317198e+00,
 -5.15998724e-02, 4.92339421e+00,-1.92010221e+01, 3.79416320e+01,
 -2.49687272e-01, 7.28408932e-01,-4.44358771e+00, 7.48621896e+00,
 -3.09249642e+00, 8.25667403e-01,-4.06321674e+00, 8.03401709e+00,
 -1.01613196e+02,-5.66351356e+01]

qfrc_actuator:
[ 0.00670043, 0.06866569, 0.0139769 , 0.00193706, 0.00039385, 0.03769466,
  0.01096266, 0.00154171,-0.00296897, 0.03474985, 0.01087424, 0.00185542,
  0.00914397, 0.00796984, 0.        ,-0.0009098 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16847627, -0.02936309, -0.16589775, -0.02936309,  1.26418589,
       -0.19393522, -0.16589775, -0.19393522,  0.20280185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002076204740668209
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61747268,  0.07810776, -0.78270471, -0.0483772 ,  0.99694492,
        0.06132265,  0.78510326,  0.        ,  0.61936489])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622695, -0.03377638,  0.22447596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16847627, -0.02936309, -0.16589775, -0.02936309,  1.26418589,
       -0.19393522, -0.16589775, -0.19393522,  0.20280185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002076204740668209
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61747268,  0.07810776, -0.78270471, -0.0483772 ,  0.99694492,
        0.06132265,  0.78510326,  0.        ,  0.61936489])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622695, -0.03377638,  0.22447596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005936402166378252
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99529449e-01,  8.60792724e-02, -9.12670027e-01, -3.45193299e-02,
        9.96288291e-01,  7.88546574e-02,  9.16070213e-01,  6.93889390e-18,
        4.01017910e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08355715, -0.03369816,  0.22310603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.27226693,   0.12610584, -17.27226693,
        17.27249692,  -0.03155067,   0.12610584,  -0.03155067,
        12.95134495,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021290243782471907
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.6073516e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.6073516e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02163031, -0.08944972,  0.06185981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.87515592e-03, 3.51447692e-02, 3.04738703e-03,-4.94920975e-05,
 -5.95530477e-05,-2.30188149e-04, 1.70654528e-05, 5.53058386e-05,
 -1.48428146e-05, 4.46559522e-05,-1.18806168e-05, 9.66302355e-05,
  8.17750498e-03, 1.25060834e-02, 6.55737177e-03, 2.15074722e-04,
 -2.81100190e-03, 5.20594239e-02,-9.81706736e+00,-3.41267778e-03,
 -5.89359697e-02, 6.22718086e-02]


--- Step 3260 ---
qpos:
[-0.01557935, 1.19470528,-0.03494879, 0.94260909,-0.00834139, 1.33004442,
 -0.03110439, 0.94156159, 0.01520329, 1.33843679,-0.02375699, 0.95474097,
  1.26216286,-0.00413873, 1.291277  , 0.04479486,-0.05582282,-0.08855036,
  0.08993291, 0.69300885,-0.06880746,-0.7159087 ,-0.04978963]

qacc:
[-2.55115958e-01, 1.11622675e+00, 3.08100922e-01,-1.58372239e+01,
 -2.47526449e-01,-2.15916593e+00, 5.25981400e+00,-6.56768443e+00,
 -1.06628389e-02, 6.94442480e-01,-2.70506786e+00, 6.88837428e+00,
 -3.35329819e-01, 9.17491986e-01,-8.15648534e+00, 1.50945161e+01,
  2.78208095e+00, 7.15107148e-01, 6.20016673e+00,-2.05238776e+00,
  9.09225590e+01, 1.17607772e+02]

qfrc_actuator:
[ 0.0067056 , 0.06868132, 0.01393166, 0.00187635, 0.00035769, 0.03763381,
  0.0109593 , 0.0015269 ,-0.00296328, 0.03475949, 0.01087918, 0.00187454,
  0.00914539, 0.00801093, 0.        ,-0.00072951, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16841017, -0.02921664, -0.16585648, -0.02921664,  1.25621482,
       -0.19162352, -0.16585648, -0.19162352,  0.20216584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020680094897089323
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17526764e-01,  7.81183044e-02, -7.82660991e-01, -4.83880128e-02,
        9.96944096e-01,  6.13275606e-02,  7.85060059e-01, -6.93889390e-18,
        6.19419651e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622668, -0.03377818,  0.22447626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16841017, -0.02921664, -0.16585648, -0.02921664,  1.25621482,
       -0.19162352, -0.16585648, -0.19162352,  0.20216584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020680094897089323
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17526764e-01,  7.81183044e-02, -7.82660991e-01, -4.83880128e-02,
        9.96944096e-01,  6.13275606e-02,  7.85060059e-01, -6.93889390e-18,
        6.19419651e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622668, -0.03377818,  0.22447626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005930743563192994
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39952185,  0.08608812, -0.91267252, -0.03452225,  0.99628753,
        0.07886304,  0.91607342,  0.        ,  0.40101059])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.083556  , -0.03369999,  0.22310584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.25592988,   0.76157163, -17.25592988,
        17.44154894,   3.82521457,   0.76157163,   3.82521457,
       103.94564371,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021449637899834395
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.58797615e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.58797615e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08683545, -0.08375665,  0.0618585 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.87901625e-03, 3.51716220e-02, 3.04231914e-03,-6.52237066e-05,
 -7.13058816e-05,-1.83620578e-04,-4.49217342e-05,-1.98932354e-05,
 -3.07023835e-06, 3.48801835e-05, 1.51392001e-05, 2.23431161e-05,
  8.17835473e-03, 1.25121756e-02, 6.74656372e-03, 4.13895853e-04,
 -7.38000034e-03, 5.18724593e-02,-9.81785399e+00,-4.86300585e-03,
 -5.91180165e-02, 6.21842662e-02]


--- Step 3261 ---
qpos:
[-0.01560293, 1.19471066,-0.0349437 , 0.94260718,-0.0083338 , 1.33010219,
 -0.0311037 , 0.94155548, 0.01520489, 1.33843726,-0.02375732, 0.95474256,
  1.26224999,-0.0041913 , 1.29125182, 0.04479628,-0.05582365,-0.08839064,
  0.08994542, 0.69279312,-0.07107834,-0.71601803,-0.04799734]

qacc:
[-5.13891681e-01, 1.54165309e+00,-3.56958490e-01,-7.55168840e+00,
 -1.69779384e-01,-4.81758012e-01, 2.94179416e+00,-1.60124814e+01,
  6.51081036e-02,-1.12095774e+00, 6.49193771e+00,-1.92379399e+01,
 -7.79890652e-01, 1.39867866e+00,-1.04890306e+01, 2.02392080e+01,
  2.54525207e+00, 7.83347452e-01, 4.70663381e+00,-2.07955401e+00,
  8.24611568e+01, 1.04425691e+02]

qfrc_actuator:
[ 0.00671802, 0.06861795, 0.01393856, 0.00185899, 0.0003509 , 0.03762805,
  0.01092117, 0.00146687,-0.00294267, 0.03476506, 0.01086438, 0.00181365,
  0.00912711, 0.00807425, 0.        ,-0.00049753, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16830886, -0.02993996, -0.16562449, -0.02993996,  1.16990401,
       -0.18105846, -0.16562449, -0.18105846,  0.20103882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002055374469769472
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61760633,  0.07812786, -0.78259725, -0.04840021,  0.99694335,
        0.06133012,  0.78499672,  0.        ,  0.61949992])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622627, -0.03377988,  0.22447679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16830886, -0.02993996, -0.16562449, -0.02993996,  1.16990401,
       -0.18105846, -0.16562449, -0.18105846,  0.20103882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002055374469769472
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61760633,  0.07812786, -0.78259725, -0.04840021,  0.99694335,
        0.06133012,  0.78499672,  0.        ,  0.61949992])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622627, -0.03377988,  0.22447679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005921754583935526
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39951429,  0.08609721, -0.91267497, -0.03452527,  0.99628674,
        0.07887164,  0.9160766 ,  0.        ,  0.40100332])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08355434, -0.03370171,  0.22310566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.78401166, -4.07971324, 16.78401166, 20.64317836,
       13.86609476, -4.07971324, 13.86609476, 74.31808379,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021892762723094983
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53559370e-14,  2.53559370e-14,  1.00000000e+00,  6.42923541e-28,
        1.00000000e+00, -2.53559370e-14, -1.00000000e+00,  0.00000000e+00,
       -2.53559370e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08679109, -0.08372481,  0.06185556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.92064730e-03, 3.50682661e-02, 3.09127887e-03,-1.77492923e-05,
 -4.88704249e-05,-1.17161748e-04,-7.98309458e-05,-6.72662588e-05,
  1.87916759e-05, 2.84853506e-05,-5.61077486e-06,-5.88834366e-05,
  8.16578356e-03, 1.25300367e-02, 7.06155698e-03, 6.64368927e-04,
 -2.83111418e-03, 5.68342626e-02,-9.81865804e+00,-4.23364629e-03,
 -5.88945351e-02, 6.21041937e-02]


--- Step 3262 ---
qpos:
[-0.01562738, 1.19471746,-0.03493731, 0.94260647,-0.00832664, 1.33015897,
 -0.03110322, 0.94154972, 0.01520654, 1.33843797,-0.02375719, 0.95474234,
  1.26233609,-0.00424291, 1.29122341, 0.04479772,-0.05581509,-0.08822756,
  0.08997168, 0.69268785,-0.07347821,-0.71600304,-0.04608839]

qacc:
[-3.79192434e-01, 4.45473885e-01,-1.67718876e+00, 1.44699076e+01,
 -1.85626481e-01,-1.50546591e-01,-1.80865029e+00, 6.30750532e+00,
  1.73212749e-02,-4.02590395e+00, 1.71340289e+01,-3.57931243e+01,
 -1.23061653e+00, 1.67965938e+00,-4.70922325e+00, 9.77233143e+00,
  2.34803355e+00, 8.37814274e-01, 3.43854627e+00,-1.98215524e+00,
  7.53724447e+01, 9.36630957e+01]

qfrc_actuator:
[ 0.00673561, 0.06855868, 0.01395831, 0.00192068, 0.00032628, 0.03758415,
  0.01091633, 0.00148727,-0.0029488 , 0.03478578, 0.01089124, 0.00172393,
  0.00910238, 0.0081681 , 0.        ,-0.0004475 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16817085, -0.03034631, -0.16541021, -0.03034631,  1.01432706,
       -0.15523661, -0.16541021, -0.15523661,  0.1966507 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020380133601601187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61771835,  0.07813643, -0.78250798, -0.04841433,  0.99694268,
        0.06132989,  0.78490769,  0.        ,  0.61961271])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622568, -0.03378142,  0.22447764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16817085, -0.03034631, -0.16541021, -0.03034631,  1.01432706,
       -0.15523661, -0.16541021, -0.15523661,  0.1966507 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020380133601601187
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61771835,  0.07813643, -0.78250798, -0.04841433,  0.99694268,
        0.06132989,  0.78490769,  0.        ,  0.61961271])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622568, -0.03378142,  0.22447764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005909493088757274
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99504534e-01,  8.61068094e-02, -9.12678336e-01, -3.45283020e-02,
        9.96285911e-01,  7.88807898e-02,  9.16080741e-01, -6.93889390e-18,
        4.00993861e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08355202, -0.03370326,  0.22310553])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.72704664, -4.30732147, 16.72704664, 21.31901318,
       15.71334147, -4.30732147, 15.71334147, 78.29389723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002202601042235741
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52025447e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.52025447e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08677525, -0.08370143,  0.06185461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.99712240e-03, 3.48979364e-02, 3.10303329e-03, 7.17199927e-05,
 -5.34642634e-05,-1.26787066e-04,-3.89108925e-05, 1.30444656e-05,
  4.97441932e-06, 3.36335441e-05, 3.00662147e-05,-9.04112153e-05,
  8.17227020e-03, 1.25684128e-02, 7.44870880e-03, 7.29000310e-04,
  1.42835485e-03, 6.12573795e-02,-9.81964465e+00,-3.50531376e-03,
 -5.86901604e-02, 6.20194839e-02]


--- Step 3263 ---
qpos:
[-0.01565177, 1.1947237 ,-0.03493002, 0.94260704,-0.00831974, 1.33021392,
 -0.03110158, 0.94154356, 0.01520832, 1.33843954,-0.02375705, 0.9547417 ,
  1.26242125,-0.00429408, 1.29119776, 0.04479952,-0.05579779,-0.08806096,
  0.09000739, 0.6926827 ,-0.07599501,-0.71587213,-0.04407415]

qacc:
[ 2.70630144e-02,-9.97636248e-01,-3.02921148e-01, 1.56017884e+01,
 -1.07896240e-01,-6.22328976e+00, 1.82234445e+01,-1.92667193e+01,
  5.65384095e-02, 3.80490225e-01, 9.51488463e-01,-6.14170344e+00,
 -1.16381010e+00, 1.33053566e+00, 3.09866777e+00,-4.70318939e+00,
  2.18424606e+00, 8.81550235e-01, 2.36308705e+00,-1.79244897e+00,
  6.94295025e+01, 8.48889713e+01]

qfrc_actuator:
[ 0.00675646, 0.06857281, 0.01398459, 0.00197502, 0.00032666, 0.03746468,
  0.01096661, 0.0014661 ,-0.0029354 , 0.0348688 , 0.01090703, 0.00170677,
  0.00908983, 0.00826224, 0.        ,-0.00057784, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16802114, -0.03459041, -0.16442203, -0.03459041,  1.13595245,
       -0.20362931, -0.16442203, -0.20362931,  0.21085981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002018981644445906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17844308e-01,  7.81447993e-02, -7.82407695e-01, -4.84294156e-02,
        9.96942020e-01,  6.13286341e-02,  7.84807622e-01, -6.93889390e-18,
        6.19739459e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622502, -0.03378288,  0.22447864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16802114, -0.03459041, -0.16442203, -0.03459041,  1.13595245,
       -0.20362931, -0.16442203, -0.20362931,  0.21085981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002018981644445906
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.17844308e-01,  7.81447993e-02, -7.82407695e-01, -4.84294156e-02,
        9.96942020e-01,  6.13286341e-02,  7.84807622e-01, -6.93889390e-18,
        6.19739459e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622502, -0.03378288,  0.22447864])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005896223281879887
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99492301e-01,  8.61168116e-02, -9.12682747e-01, -3.45312853e-02,
        9.96285047e-01,  7.88904023e-02,  9.16085963e-01, -6.93889390e-18,
        4.00981930e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08354939, -0.03370471,  0.22310542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.64562322, -4.61197736, 16.64562322, 22.327693  ,
       18.24446402, -4.61197736, 18.24446402, 83.12094169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021908425635747478
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.06756187e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.06756187e-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([-0.08678241, -0.08368504,  0.06185525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.06145518e-03, 3.48409918e-02, 3.06524250e-03, 6.61659632e-05,
 -3.11731065e-05,-1.97244589e-04, 2.13460994e-05,-2.57606190e-05,
  1.63347876e-05, 1.04804661e-04, 2.31326690e-05,-1.73848924e-05,
  8.21143278e-03, 1.26163798e-02, 7.61059010e-03, 5.98117905e-04,
  5.41938243e-03, 6.52182053e-02,-9.82077517e+00,-2.72347964e-03,
 -5.85027150e-02, 6.19293883e-02]


--- Step 3264 ---
qpos:
[-0.01567596, 1.19472944,-0.03492218, 0.94260863,-0.00831272, 1.33026749,
 -0.03109976, 0.9415379 , 0.01521009, 1.33844167,-0.02375608, 0.95474084,
  1.2625059 ,-0.00434471, 1.29117305, 0.04480149,-0.0557723 ,-0.08789069,
  0.09004892, 0.69276889,-0.07861875,-0.71563217,-0.04196369]

qacc:
[ 8.87015057e-02,-4.25727561e-01,-1.47351609e+00, 1.32966857e+01,
  5.13149916e-02,-1.39768327e+00, 1.36173462e+00, 5.46373682e+00,
 -2.91118434e-03,-1.89254840e+00, 7.51551787e+00,-9.40115211e+00,
 -7.95903399e-01, 1.08719494e+00, 9.18152170e-01,-1.04154110e+00,
  2.04866886e+00, 9.17108339e-01, 1.45206418e+00,-1.53334529e+00,
  6.44467614e+01, 7.77597490e+01]

qfrc_actuator:
[ 0.00677869, 0.06861464, 0.0139969 , 0.00202437, 0.00035978, 0.03740762,
  0.01097767, 0.0014916 ,-0.00294591, 0.03489972, 0.01095195, 0.00169698,
  0.00908994, 0.00830341, 0.        ,-0.00058597, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16788759, -0.02983411, -0.16521552, -0.02983411,  1.00769146,
       -0.15164917, -0.16521552, -0.15164917,  0.19527193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020018266250461207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61795858,  0.07815375, -0.78231655, -0.04844396,  0.99694132,
        0.06132856,  0.78471675,  0.        ,  0.61985452])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622443, -0.03378438,  0.22447953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16788759, -0.02983411, -0.16521552, -0.02983411,  1.00769146,
       -0.15164917, -0.16521552, -0.15164917,  0.19527193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020018266250461207
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61795858,  0.07815375, -0.78231655, -0.04844396,  0.99694132,
        0.06132856,  0.78471675,  0.        ,  0.61985452])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622443, -0.03378438,  0.22447953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005884339656958525
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99479748e-01,  8.61267959e-02, -9.12687299e-01, -3.45342336e-02,
        9.96284184e-01,  7.89000106e-02,  9.16091326e-01,  6.93889390e-18,
        4.00969677e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.083547  , -0.03370622,  0.22310531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.5344841 , -4.99579253, 16.5344841 , 23.82619311,
       21.68988723, -4.99579253, 21.68988723, 89.05935433,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002158976809452935
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.21397334e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.21397334e-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([-0.08680798, -0.08367445,  0.06185717])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.08060562e-03, 3.49107999e-02, 3.03205570e-03, 5.10456616e-05,
  1.47241850e-05,-1.63178261e-04,-2.59424276e-05, 1.96582776e-05,
 -8.56058836e-07, 9.28655410e-05, 6.75059712e-05,-6.41178251e-06,
  8.25830587e-03, 1.26360570e-02, 7.47302794e-03, 5.72296346e-04,
  9.16862557e-03, 6.87880303e-02,-9.82202692e+00,-1.91721034e-03,
 -5.83308199e-02, 6.18334072e-02]


--- Step 3265 ---
qpos:
[-0.01569983, 1.1947344 ,-0.03491481, 0.94261019,-0.00830563, 1.33032021,
 -0.03109834, 0.94153292, 0.01521195, 1.33844325,-0.02375346, 0.95473994,
  1.26259024,-0.00439476, 1.2911475 , 0.04480354,-0.05573914,-0.08771836,
  0.09009658, 0.69294696,-0.08131166,-0.71528306,-0.03978773]

qacc:
[ 1.40405880e-01, 1.78297503e-01,-1.77484291e+00, 1.69665088e+00,
  2.75558760e-02, 1.08518436e+00,-6.30932056e+00, 1.39131760e+01,
  3.57962757e-02,-5.26671387e+00, 1.63879216e+01,-1.44614474e+01,
 -5.46448284e-01, 8.80471310e-01,-1.41099500e+00, 3.25807361e+00,
  1.91610987e+00, 5.15853579e-01, 1.53507101e+00, 8.01057682e-01,
  6.66546281e+01, 5.36623510e+01]

qfrc_actuator:
[ 0.00681934, 0.06863773, 0.01394756, 0.00201723, 0.00035902, 0.03738828,
  0.01096572, 0.00152662,-0.00293517, 0.03481055, 0.01101352, 0.00169158,
  0.00909231, 0.00834804, 0.        ,-0.00055624, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16775893, -0.02745023, -0.16549787, -0.02745023,  0.97217361,
       -0.13342388, -0.16549787, -0.13342388,  0.18988922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001985135101159139
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61806865,  0.0781628 , -0.78222869, -0.04845823,  0.99694061,
        0.06132882,  0.78462917,  0.        ,  0.61996537])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622386, -0.03378591,  0.22448038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16775893, -0.02745023, -0.16549787, -0.02745023,  0.97217361,
       -0.13342388, -0.16549787, -0.13342388,  0.18988922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001985135101159139
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61806865,  0.0781628 , -0.78222869, -0.04845823,  0.99694061,
        0.06132882,  0.78462917,  0.        ,  0.61996537])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622386, -0.03378591,  0.22448038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005872749774041321
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99467137e-01,  8.61367000e-02, -9.12691884e-01, -3.45371442e-02,
        9.96283328e-01,  7.89095480e-02,  9.16096715e-01, -6.93889390e-18,
        4.00957365e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08354469, -0.03370776,  0.22310518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  15.38245279,   7.85666938,  15.38245279,
        30.9702426 , -26.81815572,   7.85666938, -26.81815572,
        69.7795841 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002125772656182634
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.61133998e-14,  5.22267996e-14,  1.00000000e+00,  1.36381930e-27,
        1.00000000e+00, -5.22267996e-14, -1.00000000e+00,  0.00000000e+00,
       -2.61133998e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08622274, -0.08117762,  0.06185921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.11109258e-03, 3.49583286e-02, 2.95497583e-03,-6.47274655e-06,
  7.92403708e-06,-1.14486888e-04,-4.63259747e-05, 2.98650420e-05,
  1.02424748e-05,-2.48307964e-05, 8.71813391e-05,-8.19292627e-07,
  8.28667555e-03, 1.26546071e-02, 7.42641720e-03, 5.93191666e-04,
  1.27049531e-02, 7.20316032e-02,-9.82338808e+00,-1.10435659e-03,
 -5.81735865e-02, 6.17311960e-02]


--- Step 3266 ---
qpos:
[-0.01572333, 1.19473795,-0.03490878, 0.94261071,-0.00829868, 1.33037197,
 -0.03109706, 0.9415284 , 0.01521419, 1.33844463,-0.02375037, 0.95473831,
  1.26267405,-0.0044444 , 1.29112223, 0.04480578,-0.05571993,-0.08754042,
  0.09013238, 0.69293686,-0.08389058,-0.71510951,-0.0376732 ]

qacc:
[ 1.56593475e-01, 4.36529994e-02,-2.58269761e-01,-1.08256164e+01,
 -5.69101903e-02,-1.01661495e-01,-2.14143500e+00, 7.76430295e+00,
  1.63747531e-01,-2.77838762e+00, 1.01897228e+01,-1.69881562e+01,
 -6.93869235e-01, 8.91826992e-01,-1.19239035e-01, 1.14285070e+00,
 -3.48579665e+00, 1.40104131e+00,-2.96490809e+00, 1.33674709e+01,
 -1.23354383e+02,-7.29371082e+01]

qfrc_actuator:
[ 0.00685308, 0.06861456, 0.01387978, 0.00195909, 0.00033794, 0.03733836,
  0.01095822, 0.00154922,-0.00289401, 0.03479227, 0.01103067, 0.00165323,
  0.00909071, 0.00843001, 0.        ,-0.00057476, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16762367, -0.03076669, -0.16477592, -0.03076669,  1.09163407,
       -0.17252971, -0.16477592, -0.17252971,  0.19983813,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001967409053786704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.18180744e-01,  7.81715541e-02, -7.82139230e-01, -4.84724791e-02,
        9.96939922e-01,  6.13287098e-02,  7.84539984e-01,  6.93889390e-18,
        6.20078232e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622326, -0.03378744,  0.22448122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16762367, -0.03076669, -0.16477592, -0.03076669,  1.09163407,
       -0.17252971, -0.16477592, -0.17252971,  0.19983813,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001967409053786704
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.18180744e-01,  7.81715541e-02, -7.82139230e-01, -4.84724791e-02,
        9.96939922e-01,  6.13287098e-02,  7.84539984e-01,  6.93889390e-18,
        6.20078232e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622326, -0.03378744,  0.22448122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005860204130986556
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99455683e-01,  8.61464497e-02, -9.12695977e-01, -3.45400922e-02,
        9.96282485e-01,  7.89189003e-02,  9.16101599e-01, -6.93889390e-18,
        4.00946206e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08354233, -0.0337093 ,  0.22310503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.20418873, -1.53720452, 17.20418873, 17.55606115,
        3.17103508, -1.53720452,  3.17103508, 52.76253055,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002100528173213226
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.28544696e-14,  5.28544696e-14,  1.00000000e+00,  2.79359496e-27,
        1.00000000e+00, -5.28544696e-14, -1.00000000e+00,  0.00000000e+00,
       -5.28544696e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02165438, -0.08992508,  0.06186079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.12872723e-03, 3.49746060e-02, 2.91063859e-03,-6.31418480e-05,
 -1.64097282e-05,-1.21812060e-04,-3.43738249e-05, 1.85462306e-05,
  4.72076512e-05,-1.50277906e-05, 2.21828086e-05,-3.65502519e-05,
  8.30042311e-03, 1.27091970e-02, 7.46842104e-03, 5.70954499e-04,
  1.59507103e-02, 7.31005714e-02,-9.82450597e+00,-1.70510041e-04,
 -5.81001277e-02, 6.16248378e-02]


--- Step 3267 ---
qpos:
[-0.01574593, 1.19474041,-0.03490398, 0.94260982,-0.00829193, 1.33042361,
 -0.03109652, 0.94152379, 0.01521671, 1.33844589,-0.02374741, 0.95473695,
  1.26275767,-0.004494  , 1.29110002, 0.04480842,-0.05571344,-0.0873578 ,
  0.09015402, 0.69275525,-0.08638016,-0.71509479,-0.03561   ]

qacc:
[ 3.95326677e-01,-5.50897232e-01, 3.01682154e+00,-1.84820922e+01,
 -8.70430730e-02, 1.71147030e+00,-5.59664741e+00, 3.96478104e+00,
  1.16785723e-01, 6.61059588e-01,-2.87674455e+00, 5.66008084e+00,
 -3.10251160e-01, 3.21810059e-01, 3.33723404e+00,-5.06438195e+00,
 -3.18117817e+00, 1.17105778e+00,-3.54126502e+00, 8.39608541e+00,
 -1.12519124e+02,-5.96218313e+01]

qfrc_actuator:
[ 0.00688251, 0.0686001 , 0.01389077, 0.0018891 , 0.00032259, 0.03737704,
  0.01093554, 0.00154656,-0.0028882 , 0.03478087, 0.01102169, 0.00166681,
  0.00908676, 0.00844553, 0.        ,-0.00065791, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16748651, -0.03857633, -0.16298343, -0.03857633,  1.54883613,
       -0.3269498 , -0.16298343, -0.3269498 ,  0.24487183,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019492438572324237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61828922,  0.07818028, -0.78205261, -0.04848643,  0.99693924,
        0.0613288 ,  0.78445363,  0.        ,  0.62018747])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622267, -0.03378898,  0.224482  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16748651, -0.03857633, -0.16298343, -0.03857633,  1.54883613,
       -0.3269498 , -0.16298343, -0.3269498 ,  0.24487183,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019492438572324237
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61828922,  0.07818028, -0.78205261, -0.04848643,  0.99693924,
        0.0613288 ,  0.78445363,  0.        ,  0.62018747])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622267, -0.03378898,  0.224482  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005847022855929029
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39944676,  0.086156  , -0.91269898, -0.03454318,  0.99628166,
        0.07892797,  0.91610537,  0.        ,  0.40093759])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08354004, -0.03371084,  0.22310485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.21197064,   1.44747165, -17.21197064,
        17.23390904,  -0.46158988,   1.44747165,  -0.46158988,
        11.78393475,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021094228872383103
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.02162393, -0.08999119,  0.0618602 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.14018723e-03, 3.50307349e-02, 2.98920248e-03,-8.17159866e-05,
 -2.50365680e-05,-3.52484001e-05,-4.99547496e-05,-6.84194196e-06,
  3.36934801e-05,-1.64748977e-05,-1.04711011e-05, 1.29328444e-05,
  8.32332914e-03, 1.27047347e-02, 7.45490295e-03, 4.78175628e-04,
  1.03736763e-02, 7.28671441e-02,-9.82503650e+00,-3.04260491e-03,
 -5.84607110e-02, 6.14799920e-02]


--- Step 3268 ---
qpos:
[-0.01576749, 1.19474208,-0.03489919, 0.94260903,-0.0082854 , 1.33047471,
 -0.0310959 , 0.94151952, 0.01521941, 1.33844704,-0.02374493, 0.95473751,
  1.2628411 ,-0.00454359, 1.29108204, 0.04481136,-0.05571864,-0.08717122,
  0.09015952, 0.69241596,-0.08879999,-0.71522473,-0.03359005]

qacc:
[ 4.52374982e-01,-8.30122789e-01, 1.23086996e+00, 7.27362232e-01,
 -9.21770803e-02,-3.49189347e-01,-4.23031640e-01, 4.70456606e+00,
  7.69037884e-02, 4.48123101e+00,-1.86461465e+01, 3.83452897e+01,
 -3.93241615e-01, 3.96117134e-01, 5.38823356e+00,-9.66577694e+00,
 -2.92355228e+00, 9.88265309e-01,-4.03461030e+00, 4.46755967e+00,
 -1.03375490e+02,-4.89743688e+01]

qfrc_actuator:
[ 0.00690866, 0.06855558, 0.01389618, 0.00190158, 0.00031081, 0.03734416,
  0.01093992, 0.00156461,-0.00288588, 0.03477359, 0.01099744, 0.0017641 ,
  0.00907074, 0.00843916, 0.        ,-0.00076234, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16736431, -0.03342515, -0.1639926 , -0.03342515,  1.20725231,
       -0.21195109, -0.1639926 , -0.21195109,  0.21056441,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019328920075178425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61838435,  0.07818915, -0.78197651, -0.04849943,  0.99693854,
        0.06132984,  0.78437785,  0.        ,  0.62028332])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622214, -0.0337906 ,  0.22448264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16736431, -0.03342515, -0.1639926 , -0.03342515,  1.20725231,
       -0.21195109, -0.1639926 , -0.21195109,  0.21056441,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019328920075178425
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61838435,  0.07818915, -0.78197651, -0.04849943,  0.99693854,
        0.06132984,  0.78437785,  0.        ,  0.62028332])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622214, -0.0337906 ,  0.22448264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005835027239930041
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99439971e-01,  8.61651403e-02, -9.12701089e-01, -3.45462833e-02,
        9.96280868e-01,  7.89365929e-02,  9.16108216e-01,  6.93889390e-18,
        4.00931086e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08353804, -0.03371247,  0.22310466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.20955992,   1.47585728, -17.20955992,
        17.23742107,  -0.41169578,   1.47585728,  -0.41169578,
        12.47205772,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020911168937377267
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.65461732e-14,  2.65461732e-14,  1.00000000e+00,  7.04699311e-28,
        1.00000000e+00, -2.65461732e-14, -1.00000000e+00,  0.00000000e+00,
       -2.65461732e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02166548, -0.09005133,  0.06186122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.12100214e-03, 3.50406531e-02, 3.05579040e-03, 2.04558685e-06,
 -2.65601957e-05,-6.27370763e-05,-8.47792618e-06, 1.54290604e-05,
  2.22138261e-05,-1.80604395e-05,-2.82839385e-05, 9.68007786e-05,
  8.31627110e-03, 1.26977413e-02, 7.30260373e-03, 3.53952347e-04,
  5.09420122e-03, 7.31481540e-02,-9.82564207e+00,-5.48169175e-03,
 -5.86705893e-02, 6.13380868e-02]


--- Step 3269 ---
qpos:
[-0.01578905, 1.19474373,-0.03489375, 0.94260968,-0.00827894, 1.3305249 ,
 -0.03109537, 0.94151625, 0.01522222, 1.33844858,-0.02374349, 0.95473784,
  1.2629238 ,-0.00459248, 1.29106266, 0.04481408,-0.05571398,-0.08698294,
  0.09018237, 0.69219061,-0.09133649,-0.71522051,-0.03145525]

qacc:
[ 1.74894599e-03, 6.66144938e-01,-5.15990312e+00, 2.10966740e+01,
 -2.58844033e-02, 7.28086205e-01,-5.86119326e+00, 1.71037537e+01,
  4.59871503e-02, 2.88605265e+00,-8.33056045e+00, 4.27603888e+00,
 -9.50491496e-01, 1.30219596e+00,-1.33601257e+00, 1.82621130e+00,
  2.46612741e+00, 4.26120508e-01, 4.33725836e+00, 3.48078489e+00,
  8.01329129e+01, 8.93552771e+01]

qfrc_actuator:
[ 0.00693236, 0.06852867, 0.01386201, 0.00198033, 0.00031901, 0.0372688 ,
  0.01092449, 0.00161245,-0.00288568, 0.03480433, 0.01094669, 0.00175009,
  0.00906346, 0.00850842, 0.        ,-0.00068434, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16726395, -0.0218592 , -0.16582945, -0.0218592 ,  0.71701464,
       -0.07246669, -0.16582945, -0.07246669,  0.17681632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019193427000232383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61846254,  0.07819829, -0.78191375, -0.04851126,  0.99693783,
        0.06133213,  0.78431546,  0.        ,  0.62036219])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622171, -0.03379231,  0.22448312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16726395, -0.0218592 , -0.16582945, -0.0218592 ,  0.71701464,
       -0.07246669, -0.16582945, -0.07246669,  0.17681632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00019193427000232383
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61846254,  0.07819829, -0.78191375, -0.04851126,  0.99693783,
        0.06133213,  0.78431546,  0.        ,  0.62036219])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622171, -0.03379231,  0.22448312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000582507788489027
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39943391,  0.08617385, -0.91270292, -0.03454928,  0.99628011,
        0.07894479,  0.91611075,  0.        ,  0.4009253 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08353639, -0.0337142 ,  0.22310444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.21240012,   1.44235552, -17.21240012,
        17.88108495,   7.25985766,   1.44235552,   7.25985766,
       103.90849271,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002108127459585628
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.63319710e-14,  2.63319710e-14,  1.00000000e+00,  6.93372699e-28,
        1.00000000e+00, -2.63319710e-14, -1.00000000e+00,  0.00000000e+00,
       -2.63319710e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08622312, -0.08110273,  0.06185999])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.09284154e-03, 3.50530152e-02, 3.02182281e-03, 7.52274382e-05,
 -7.47490965e-06,-1.11624209e-04,-2.82848418e-05, 4.61172849e-05,
  1.33183165e-05, 1.80929273e-05,-5.46635596e-05,-1.31157210e-05,
  8.31923745e-03, 1.27674113e-02, 7.09065951e-03, 4.16817488e-04,
  3.59079995e-05, 7.38228489e-02,-9.82635162e+00,-7.59170261e-03,
 -5.87695713e-02, 6.11991378e-02]


--- Step 3270 ---
qpos:
[-0.01581026, 1.19474471,-0.03488777, 0.94261201,-0.00827234, 1.33057427,
 -0.0310953 , 0.94151323, 0.01522508, 1.33845049,-0.02374299, 0.9547373 ,
  1.26300608,-0.00464075, 1.29104301, 0.04481662,-0.05570021,-0.08679257,
  0.09021775, 0.69206793,-0.09397757,-0.71509195,-0.02921805]

qacc:
[ 1.50434065e-01, 5.17481659e-01,-6.26586596e+00, 2.55183586e+01,
  5.45762462e-02, 6.34550951e-01,-3.91865870e+00, 7.01145534e+00,
  2.34105972e-02, 1.55876163e+00,-2.74890697e+00,-7.81033616e+00,
 -7.19672225e-01, 1.06854751e+00, 2.48697694e-01,-1.28215083e+00,
  2.27960515e+00, 5.22534674e-01, 3.13149255e+00, 3.15381034e+00,
  7.34345632e+01, 8.01326907e+01]

qfrc_actuator:
[ 0.00697295, 0.06852963, 0.01385669, 0.00206197, 0.00033913, 0.03722182,
  0.01089732, 0.00162412,-0.00288675, 0.03482193, 0.01089853, 0.00170618,
  0.00907213, 0.00856911, 0.        ,-0.00070951, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.1671561 , -0.02020342, -0.16593066, -0.02020342,  0.670998  ,
       -0.06134689, -0.16593066, -0.06134689,  0.17462559,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001904657912163276
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61854628,  0.07820713, -0.78184662, -0.04852335,  0.99693713,
        0.06133384,  0.78424867,  0.        ,  0.62044663])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622125, -0.033794  ,  0.22448365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1671561 , -0.02020342, -0.16593066, -0.02020342,  0.670998  ,
       -0.06134689, -0.16593066, -0.06134689,  0.17462559,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001904657912163276
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61854628,  0.07820713, -0.78184662, -0.04852335,  0.99693713,
        0.06133384,  0.78424867,  0.        ,  0.62044663])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622125, -0.033794  ,  0.22448365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005814260288564167
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99427270e-01,  8.61825752e-02, -9.12705001e-01, -3.45522272e-02,
        9.96279360e-01,  7.89530232e-02,  9.16113530e-01, -6.93889390e-18,
        4.00918945e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08353461, -0.0337159 ,  0.22310423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.83053326, -3.88333073, 16.83053326, 20.42888837,
       13.67894677, -3.88333073, 13.67894677, 76.55790921,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021166537509643285
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31129504e-14,  7.86777023e-14,  1.00000000e+00,  1.03169681e-27,
        1.00000000e+00, -7.86777023e-14, -1.00000000e+00,  0.00000000e+00,
       -1.31129504e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08621222, -0.08108008,  0.06185935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.13324083e-03, 3.50548440e-02, 2.98423805e-03, 8.53422754e-05,
  1.57073506e-05,-1.13244461e-04,-5.09417801e-05, 8.60783731e-06,
  6.79756480e-06, 1.65327953e-05,-5.12268348e-05,-4.52655945e-05,
  8.36398266e-03, 1.27940517e-02, 7.16140409e-03, 4.02741055e-04,
  4.61022737e-03, 7.74518737e-02,-9.82803668e+00,-6.67463988e-03,
 -5.87088155e-02, 6.10846271e-02]


--- Step 3271 ---
qpos:
[-0.01582982, 1.19474205,-0.03488196, 0.94261596,-0.00826559, 1.3306226 ,
 -0.03109546, 0.9415097 , 0.01522797, 1.33845239,-0.02374215, 0.95473655,
  1.26308846,-0.00468918, 1.29103189, 0.04481937,-0.05567821,-0.0866108 ,
  0.09027147, 0.69206738,-0.09652877,-0.7148386 ,-0.02703174]

qacc:
[ 7.25115698e-01,-1.55589817e+00,-4.02415216e+00, 2.45267086e+01,
  6.47722333e-02,-1.66441553e+00, 4.84896408e+00,-9.56952160e+00,
  7.66318851e-03,-1.30961262e+00, 4.67807302e+00,-6.47274262e+00,
 -2.98504498e-01, 2.75918070e-01, 1.19553986e+01,-2.34700498e+01,
  2.05548879e+00,-2.14857840e+00, 4.58703753e+00, 1.68260221e+01,
  9.05483148e+01,-4.20971040e+01]

qfrc_actuator:
[ 0.00698783, 0.06853022, 0.01383303, 0.00212675, 0.00034849, 0.03715662,
  0.01088128, 0.00159666,-0.00288857, 0.0348315 , 0.01092326, 0.00169833,
  0.0090744 , 0.00858897, 0.        ,-0.00104506, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16704458, -0.02312746, -0.16543583, -0.02312746,  0.76219064,
       -0.08319974, -0.16543583, -0.08319974,  0.17867567,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018893347555449212
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61863058,  0.07821573, -0.78177906, -0.04853533,  0.99693646,
        0.06133533,  0.78418144,  0.        ,  0.62053161])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622077, -0.03379569,  0.22448417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16704458, -0.02312746, -0.16543583, -0.02312746,  0.76219064,
       -0.08319974, -0.16543583, -0.08319974,  0.17867567,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018893347555449212
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61863058,  0.07821573, -0.78177906, -0.04853533,  0.99693646,
        0.06133533,  0.78418144,  0.        ,  0.62053161])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622077, -0.03379569,  0.22448417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005802842926493842
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99420758e-01,  8.61911580e-02, -9.12707041e-01, -3.45551305e-02,
        9.96278618e-01,  7.89611213e-02,  9.16116260e-01,  6.93889390e-18,
        4.00912707e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08353281, -0.03371761,  0.22310399])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  10.5651984 ,  13.66468771,  10.5651984 ,
       105.05128472, -67.86820852,  13.66468771, -67.86820852,
        69.74674669,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021652113643428478
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.56377517e-14,  2.56377517e-14,  1.00000000e+00,  6.57294310e-28,
        1.00000000e+00, -2.56377517e-14, -1.00000000e+00,  0.00000000e+00,
       -2.56377517e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08471226, -0.0708887 ,  0.0618563 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.13088964e-03, 3.50893539e-02, 2.93338899e-03, 6.54984317e-05,
  1.86222953e-05,-1.37913340e-04,-4.38178241e-05,-3.21038167e-05,
  2.19519810e-06, 7.35581499e-06, 2.08093211e-05,-9.91450839e-06,
  8.38751879e-03, 1.27844331e-02, 7.17455145e-03, 7.66068005e-05,
  8.82728458e-03, 8.06055982e-02,-9.82982309e+00,-5.74847800e-03,
 -5.86601186e-02, 6.09639915e-02]


--- Step 3272 ---
qpos:
[-0.01584857, 1.19473716,-0.03487816, 0.94261856,-0.00825873, 1.33067013,
 -0.03109592, 0.94150585, 0.01523084, 1.33845371,-0.02373967, 0.95473673,
  1.26317072,-0.00473748, 1.29102293, 0.04482203,-0.0556485 ,-0.08643647,
  0.09033845, 0.69217746,-0.09899729,-0.71447201,-0.02489256]

qacc:
[ 3.46849269e-01, 1.75729206e-01,-1.32809630e+00,-1.31253466e+01,
  4.80035199e-02,-7.31522108e-01, 1.78754433e+00,-4.73915220e+00,
 -3.05482009e-03,-3.57204732e+00, 8.85725491e+00, 3.39946891e+00,
 -3.00260513e-01, 3.83483172e-01, 3.53116349e+00,-7.64578406e+00,
  1.92600389e+00,-1.86252467e+00, 3.31370268e+00, 1.55743868e+01,
  8.21179744e+01,-3.89014293e+01]

qfrc_actuator:
[ 0.00698583, 0.06856932, 0.01379887, 0.00205656, 0.00035131, 0.03713429,
  0.01087184, 0.00158191,-0.00289083, 0.03480099, 0.01100856, 0.0017473 ,
  0.00905681, 0.00860259, 0.        ,-0.00105234, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16696622, -0.02471771, -0.16512648, -0.02471771,  0.89988421,
       -0.10971016, -0.16512648, -0.10971016,  0.18338868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018784820231912414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.18678469e-01,  7.82252389e-02, -7.81740216e-01, -4.85450270e-02,
        9.96935711e-01,  6.13397779e-02,  7.84143056e-01, -6.93889390e-18,
        6.20580105e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622048, -0.03379761,  0.22448429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16696622, -0.02471771, -0.16512648, -0.02471771,  0.89988421,
       -0.10971016, -0.16512648, -0.10971016,  0.18338868,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018784820231912414
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.18678469e-01,  7.82252389e-02, -7.81740216e-01, -4.85450270e-02,
        9.96935711e-01,  6.13397779e-02,  7.84143056e-01, -6.93889390e-18,
        6.20580105e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622048, -0.03379761,  0.22448429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005794250873784358
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99417746e-01,  8.61990018e-02, -9.12707618e-01, -3.45580381e-02,
        9.96277939e-01,  7.89684109e-02,  9.16117463e-01, -1.38777878e-17,
        4.00909957e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08353174, -0.03371955,  0.22310368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  13.18770304, -11.15489112,  13.18770304,
        67.32343902,  59.17170468, -11.15489112,  59.17170468,
        87.22758932,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021929250578758414
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.06274950e-14,  3.79706213e-14,  1.00000000e+00, -1.92235744e-27,
        1.00000000e+00, -3.79706213e-14, -1.00000000e+00,  0.00000000e+00,
        5.06274950e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08468411, -0.07088378,  0.06185465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.04579678e-03, 3.53100755e-02, 2.90799386e-03,-8.53469211e-05,
  1.38072671e-05,-1.08507733e-04,-4.24173433e-05,-2.08770098e-05,
 -9.58910272e-07,-2.26923274e-05, 8.88118097e-05, 4.95696402e-05,
  8.36494736e-03, 1.28065830e-02, 6.74869354e-03, 5.82979403e-05,
  1.17999152e-02, 7.21153309e-02,-9.82905963e+00,-4.26552235e-03,
 -5.90192426e-02, 6.08513485e-02]


--- Step 3273 ---
qpos:
[-0.01586864, 1.19473475,-0.03487579, 0.94261881,-0.0082518 , 1.33071687,
 -0.03109712, 0.94150223, 0.01523369, 1.33845482,-0.02373626, 0.95473819,
  1.26325194,-0.00478476, 1.29100475, 0.04482413,-0.05561115,-0.08627443,
  0.09041493, 0.69240272,-0.10129206,-0.71399957,-0.02286954]

qacc:
[-5.71615858e-01, 3.12125511e+00,-1.38084272e+00,-2.77368503e+01,
  2.43822733e-02, 1.30752686e+00,-6.00007610e+00, 8.29971539e+00,
 -1.05046360e-02,-6.03703358e-01,-9.41727453e-01, 1.56951823e+01,
 -9.99151199e-01, 1.46220181e+00,-1.18871828e+01, 2.19769067e+01,
  1.91344256e+00,-3.07191236e+00, 2.37649217e+00, 2.30205731e+01,
  8.56921936e+01,-9.55955605e+01]

qfrc_actuator:
[ 0.00699165, 0.06861384, 0.01381355, 0.00196096, 0.00035019, 0.03708461,
  0.01083105, 0.00159254,-0.00289333, 0.03480025, 0.01105777, 0.00181156,
  0.00903265, 0.00868326, 0.        ,-0.00068491, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16689144, -0.02442266, -0.16509478, -0.02442266,  0.88607038,
       -0.10638895, -0.16509478, -0.10638895,  0.18262968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018680576107116265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.18715309e-01,  7.82348413e-02, -7.81710097e-01, -4.85539138e-02,
        9.96934958e-01,  6.13449904e-02,  7.84113438e-01,  6.93889390e-18,
        6.20617528e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622022, -0.03379958,  0.22448426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16689144, -0.02442266, -0.16509478, -0.02442266,  0.88607038,
       -0.10638895, -0.16509478, -0.10638895,  0.18262968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018680576107116265
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.18715309e-01,  7.82348413e-02, -7.81710097e-01, -4.85539138e-02,
        9.96934958e-01,  6.13449904e-02,  7.84113438e-01,  6.93889390e-18,
        6.20617528e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08622022, -0.03379958,  0.22448426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000578553246243136
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99418625e-01,  8.62064427e-02, -9.12706531e-01, -3.45611196e-02,
        9.96277295e-01,  7.89751845e-02,  9.16116964e-01, -6.93889390e-18,
        4.00911099e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08353091, -0.03372155,  0.22310332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  15.63132261,   7.34907212,  15.63132261,
        40.84816814, -50.14446939,   7.34907212, -50.14446939,
       123.92896437,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0022149106252846162
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09648346e-14,  2.81952890e-14,  1.00000000e+00, -3.09156680e-28,
        1.00000000e+00, -2.81952890e-14, -1.00000000e+00,  0.00000000e+00,
        1.09648346e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0860424 , -0.06540962,  0.06185343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.01184182e-03, 3.54664228e-02, 3.02293072e-03,-1.13422506e-04,
  7.02464357e-06,-1.18986029e-04,-6.75283541e-05, 5.69173665e-06,
 -3.06600656e-06, 5.51617546e-06, 5.63203424e-05, 6.73428576e-05,
  8.34655655e-03, 1.28821193e-02, 6.64047845e-03, 4.30753283e-04,
  1.39987952e-02, 6.46991231e-02,-9.82848597e+00,-3.04807592e-03,
 -5.93364929e-02, 6.07392761e-02]


--- Step 3274 ---
qpos:
[-0.01588986, 1.1947353 ,-0.03487228, 0.94261979,-0.00824488, 1.33076262,
 -0.03109847, 0.9414984 , 0.01523636, 1.33845605,-0.02373343, 0.95473943,
  1.26333179,-0.00483107, 1.29098163, 0.04482599,-0.05556656,-0.08612339,
  0.09049687, 0.69273347,-0.10342737,-0.71343119,-0.02095338]

qacc:
[-5.03663589e-01, 2.06843079e+00,-3.54863198e+00, 9.72390970e+00,
  2.41288612e-03,-1.25378186e+00, 2.94965550e+00,-4.29900993e+00,
 -7.70002932e-02, 1.34564460e+00,-3.74511082e+00, 5.66546665e-01,
 -1.42085283e+00, 1.81865194e+00,-6.43983941e+00, 1.21689944e+01,
  1.80804636e+00,-2.74877074e+00, 1.36394345e+00, 2.13016915e+01,
  7.81110967e+01,-8.78584395e+01]

qfrc_actuator:
[ 0.00702171, 0.06864002, 0.01385779, 0.00201142, 0.00034671, 0.03703658,
  0.01082525, 0.00158248,-0.0029137 , 0.03478173, 0.01101436, 0.0017955 ,
  0.00902594, 0.00880322, 0.        ,-0.00058923, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16677679, -0.02427722, -0.16500035, -0.02427722,  0.75471201,
       -0.08650545, -0.16500035, -0.08650545,  0.17950471,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018519458444853087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61878991,  0.07824326, -0.7816502 , -0.04856502,  0.9969343 ,
        0.06134693,  0.78405388,  0.        ,  0.62069277])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621976, -0.0338013 ,  0.22448462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16677679, -0.02427722, -0.16500035, -0.02427722,  0.75471201,
       -0.08650545, -0.16500035, -0.08650545,  0.17950471,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018519458444853087
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61878991,  0.07824326, -0.7816502 , -0.04856502,  0.9969343 ,
        0.06134693,  0.78405388,  0.        ,  0.62069277])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621976, -0.0338013 ,  0.22448462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005772789840487354
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99418540e-01,  8.62144258e-02, -9.12705814e-01, -3.45643368e-02,
        9.96276605e-01,  7.89824907e-02,  9.16116879e-01,  6.93889390e-18,
        4.00911292e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08352931, -0.03372329,  0.22310302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   9.527054  , -14.4077184 ,   9.527054  ,
       112.43059264,  62.9228096 , -14.4077184 ,  62.9228096 ,
        58.88021765,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00222233080008645
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.49787976e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.49787976e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08603231, -0.06540356,  0.06185317])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.10737341e-03, 3.53687851e-02, 3.13892805e-03, 5.47914944e-05,
  6.66689534e-07,-1.27227233e-04,-3.66648348e-05,-1.54354313e-05,
 -2.21874832e-05,-2.47664222e-06,-3.39652456e-05,-1.26681568e-05,
  8.39261065e-03, 1.29516225e-02, 7.10153820e-03, 5.53885526e-04,
  1.48127865e-02, 5.32625977e-02,-9.82688539e+00,-1.92164439e-03,
 -5.98099449e-02, 6.06345668e-02]


--- Step 3275 ---
qpos:
[-0.01591058, 1.19473629,-0.03486809, 0.94262127,-0.00823813, 1.33080759,
 -0.03109938, 0.94149374, 0.01523867, 1.33845679,-0.02373084, 0.95473946,
  1.26341095,-0.0048773 , 1.29096321, 0.04482822,-0.05551509,-0.08598228,
  0.09058086, 0.69316171,-0.10541523,-0.71277505,-0.01913618]

qacc:
[ 2.15506632e-01,-3.98607095e-01, 9.35889961e-01, 4.77525334e+00,
 -7.70045409e-02,-3.60510036e+00, 1.22334665e+01,-1.97496259e+01,
 -1.52610549e-01,-2.08283338e+00, 8.42698347e+00,-2.08355882e+01,
 -8.55816461e-01, 8.13086540e-01, 5.90141279e+00,-1.03873242e+01,
  1.71833185e+00,-2.48356959e+00, 5.13161301e-01, 1.98922278e+01,
  7.18368053e+01,-8.13215057e+01]

qfrc_actuator:
[ 0.00704893, 0.06865373, 0.01389999, 0.00202312, 0.0003241 , 0.03702556,
  0.01085789, 0.00154259,-0.00294464, 0.0347168 , 0.01098754, 0.00173225,
  0.00901911, 0.00885763, 0.        ,-0.0007987 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16664787, -0.03320273, -0.16330674, -0.03320273,  1.05651827,
       -0.18092409, -0.16330674, -0.18092409,  0.20343247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018336339283065925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6188871 ,  0.07825119, -0.78157246, -0.04857761,  0.99693367,
        0.06134708,  0.78397638,  0.        ,  0.62079065])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621919, -0.03380288,  0.22448524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16664787, -0.03320273, -0.16330674, -0.03320273,  1.05651827,
       -0.18092409, -0.16330674, -0.18092409,  0.20343247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018336339283065925
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6188871 ,  0.07825119, -0.78157246, -0.04857761,  0.99693367,
        0.06134708,  0.78397638,  0.        ,  0.62079065])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621919, -0.03380288,  0.22448524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005758903374366124
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39941467,  0.08622295, -0.9127067 , -0.03456745,  0.99627587,
        0.07899044,  0.91611845,  0.        ,  0.40090771])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08352726, -0.03372487,  0.22310279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   8.97909581, -14.75543784,   8.97909581,
       127.33293245,  66.97470711, -14.75543784,  66.97470711,
        58.0287061 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0022062799677680933
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25802600e-14, -1.25802600e-14,  1.00000000e+00, -1.58262942e-28,
        1.00000000e+00,  1.25802600e-14, -1.00000000e+00,  0.00000000e+00,
       -1.25802600e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08604415, -0.06538857,  0.0618544 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.19232047e-03, 3.52338198e-02, 3.12394893e-03, 2.97440856e-05,
 -2.22221698e-05,-8.93722479e-05, 3.06609876e-06,-4.50983008e-05,
 -4.40399178e-05,-7.33163633e-05,-3.15442376e-05,-6.46038488e-05,
  8.45335417e-03, 1.29586698e-02, 7.34908457e-03, 3.56964702e-04,
  1.49975181e-02, 4.36960323e-02,-9.82559173e+00,-1.10102906e-03,
 -6.02035406e-02, 6.05344905e-02]


--- Step 3276 ---
qpos:
[-0.01593063, 1.19473781,-0.03486484, 0.94262089,-0.00823178, 1.3308518 ,
 -0.03109968, 0.94148967, 0.01524061, 1.33845723,-0.02372921, 0.95473807,
  1.26348975,-0.0049236 , 1.29094759, 0.04483076,-0.05546209,-0.0858567 ,
  0.09067313, 0.69363185,-0.10717659,-0.71209654,-0.01750848]

qacc:
[ 2.96599698e-01, 4.35238088e-02, 4.56041656e+00,-2.59351117e+01,
 -1.63134429e-01,-1.64798613e+00, 2.97163700e+00, 4.66862495e+00,
 -1.57025102e-01,-2.46170331e-01, 3.20914064e+00,-1.90526016e+01,
 -3.74306760e-01, 2.90875541e-01, 3.21343410e+00,-5.16922045e+00,
  3.85582940e-01,-3.88172192e+00, 2.06839146e+00, 1.29599966e+01,
  3.48370450e+01,-1.44811813e+02]

qfrc_actuator:
[ 0.00707325, 0.06867905, 0.01390548, 0.00192273, 0.0002902 , 0.03700143,
  0.01089534, 0.00157428,-0.00296391, 0.0346956 , 0.01093504, 0.00165951,
  0.0090122 , 0.00887323, 0.        ,-0.00083674, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16654687, -0.0405284 , -0.16154042, -0.0405284 ,  1.57552822,
       -0.35349522, -0.16154042, -0.35349522,  0.25523425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018191409670977043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61896713,  0.07825973, -0.78150822, -0.04858922,  0.996933  ,
        0.06134878,  0.78391248,  0.        ,  0.62087134])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621874, -0.03380454,  0.22448573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16654687, -0.0405284 , -0.16154042, -0.0405284 ,  1.57552822,
       -0.35349522, -0.16154042, -0.35349522,  0.25523425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018191409670977043
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61896713,  0.07825973, -0.78150822, -0.04858922,  0.996933  ,
        0.06134878,  0.78391248,  0.        ,  0.62087134])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621874, -0.03380454,  0.22448573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000574808905453153
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99409803e-01,  8.62313035e-02, -9.12708043e-01, -3.45703977e-02,
        9.96275144e-01,  7.89982614e-02,  9.16120460e-01, -6.93889390e-18,
        4.00903109e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08352556, -0.03372654,  0.22310256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022134376697049984
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.50791572e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.50791572e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06910445, -0.06306392,  0.06185423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.19194303e-03, 3.52377900e-02, 3.09575932e-03,-9.58443826e-05,
 -4.70247193e-05,-7.46555811e-05, 1.89257268e-05, 2.80924004e-05,
 -4.52795373e-05,-6.98292334e-05,-7.22953220e-05,-7.73428098e-05,
  8.48197470e-03, 1.29716473e-02, 7.11394754e-03, 3.00365701e-04,
  1.46990870e-02, 3.56372609e-02,-9.82455322e+00,-5.23349128e-04,
 -6.05336388e-02, 6.04389813e-02]


--- Step 3277 ---
qpos:
[-0.0159501 , 1.19474017,-0.03486138, 0.94262026,-0.00822583, 1.33089516,
 -0.03109949, 0.94148671, 0.01524223, 1.33845717,-0.02372818, 0.95473512,
  1.26356808,-0.00496977, 1.29093418, 0.04483342,-0.0554075 ,-0.08574541,
  0.09077016, 0.69414139,-0.10873067,-0.71139837,-0.01605431]

qacc:
[ 2.52115927e-01, 1.31064232e-01, 1.41154424e+00,-4.64670198e+00,
 -1.74903845e-01,-5.35351302e-01,-1.90396757e+00, 1.51589656e+01,
 -1.34683777e-01,-1.69667842e+00, 7.87206042e+00,-2.44125023e+01,
 -5.81103952e-01, 5.96418581e-01, 2.95667792e+00,-5.50671687e+00,
  3.94363796e-01,-3.57317496e+00, 1.19078854e+00, 1.20396295e+01,
  3.19651031e+01,-1.32587180e+02]

qfrc_actuator:
[ 0.00711321, 0.06867556, 0.01389027, 0.00191702, 0.00026754, 0.03695197,
  0.01091757, 0.00163008,-0.00297603, 0.03466513, 0.01090346, 0.00158177,
  0.00901056, 0.00890114, 0.        ,-0.00087852, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16646357, -0.03211119, -0.16333705, -0.03211119,  1.07560099,
       -0.17873155, -0.16333705, -0.17873155,  0.20160124,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018070896514083695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61903723,  0.07826837, -0.78145184, -0.04860012,  0.99693233,
        0.06135117,  0.78385645,  0.        ,  0.62094207])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621836, -0.03380624,  0.22448614])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16646357, -0.03211119, -0.16333705, -0.03211119,  1.07560099,
       -0.17873155, -0.16333705, -0.17873155,  0.20160124,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018070896514083695
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61903723,  0.07826837, -0.78145184, -0.04860012,  0.99693233,
        0.06135117,  0.78385645,  0.        ,  0.62094207])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621836, -0.03380624,  0.22448614])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005739250169102365
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99405297e-01,  8.62393762e-02, -9.12709252e-01, -3.45732683e-02,
        9.96274445e-01,  7.90058170e-02,  9.16122316e-01,  1.38777878e-17,
        4.00898868e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0835241 , -0.03372827,  0.22310236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022039962708557126
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.51865904e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.51865904e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06910514, -0.0630589 ,  0.06185514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.19786893e-03, 3.52075541e-02, 3.12701715e-03,-8.37703380e-06,
 -5.04103998e-05,-8.65296489e-05, 1.05345422e-05, 5.48085445e-05,
 -3.88561809e-05,-8.55059190e-05,-5.56937996e-05,-8.37246170e-05,
  8.49750119e-03, 1.30035187e-02, 6.97417073e-03, 2.42866397e-04,
  1.24648529e-02, 2.63264057e-02,-9.82208156e+00,-8.58513580e-04,
 -6.06880662e-02, 6.03388329e-02]


--- Step 3278 ---
qpos:
[-0.01596924, 1.19474286,-0.03485779, 0.94261962,-0.00822011, 1.33093768,
 -0.03109955, 0.94148448, 0.01524388, 1.33845639,-0.02372668, 0.95473192,
  1.26364573,-0.00501573, 1.29092307, 0.04483612,-0.05536691,-0.0856307 ,
  0.09085745, 0.69446092,-0.11026142,-0.71088163,-0.01462051]

qacc:
[ 1.41303308e-01, 4.29990460e-02, 4.32538928e-01,-7.89338953e-01,
 -9.62188015e-02, 7.97411885e-01,-5.45975255e+00, 1.37784906e+01,
  1.68981610e-02,-2.66907535e+00, 8.06290702e+00,-9.47238308e+00,
 -8.05341289e-01, 8.54911990e-01, 3.34514218e+00,-6.60666940e+00,
 -3.49616903e+00, 8.54570886e-01,-2.43390506e+00,-8.01928692e+00,
 -1.29262523e+02,-2.67589344e+01]

qfrc_actuator:
[ 0.00712687, 0.06865428, 0.01387965, 0.00191399, 0.00026957, 0.03688771,
  0.01089502, 0.00166407,-0.00294824, 0.03464717, 0.01093773, 0.00157274,
  0.00901211, 0.00897179, 0.        ,-0.00094023, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16639513, -0.03063378, -0.16355094, -0.03063378,  0.97212604,
       -0.15091681, -0.16355094, -0.15091681,  0.19466249,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017971185443416658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61910042,  0.07827703, -0.78140091, -0.04861049,  0.99693165,
        0.061354  ,  0.7838059 ,  0.        ,  0.62100589])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621804, -0.03380799,  0.22448651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16639513, -0.03063378, -0.16355094, -0.03063378,  0.97212604,
       -0.15091681, -0.16355094, -0.15091681,  0.19466249,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017971185443416658
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61910042,  0.07827703, -0.78140091, -0.04861049,  0.99693165,
        0.061354  ,  0.7838059 ,  0.        ,  0.62100589])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621804, -0.03380799,  0.22448651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000573219150095422
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99399847e-01,  8.62472395e-02, -9.12710894e-01, -3.45759725e-02,
        9.96273764e-01,  7.90132170e-02,  9.16124590e-01, -6.93889390e-18,
        4.00893671e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08352279, -0.03373003,  0.22310217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002215336137578003
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.25288326e-14,  5.01153304e-14,  1.00000000e+00,  6.27886585e-28,
        1.00000000e+00, -5.01153304e-14, -1.00000000e+00,  0.00000000e+00,
       -1.25288326e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02132278, -0.09049067,  0.06185482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.18261839e-03, 3.51445489e-02, 3.10635505e-03, 1.06954621e-06,
 -2.77240309e-05,-1.08734012e-04,-3.67250557e-05, 3.30186749e-05,
  4.83065845e-06,-7.86096303e-05, 8.78282959e-06,-1.51446038e-05,
  8.52325920e-03, 1.30690446e-02, 6.86406004e-03, 1.75410516e-04,
  1.03655744e-02, 1.89923261e-02,-9.82006069e+00,-1.27616066e-03,
 -6.08006100e-02, 6.02478712e-02]


--- Step 3279 ---
qpos:
[-0.01598917, 1.19474723,-0.03485457, 0.94261815,-0.00821439, 1.3309792 ,
 -0.03110001, 0.94148132, 0.01524584, 1.33845524,-0.02372554, 0.95472934,
  1.26372267,-0.00506084, 1.29090717, 0.04483848,-0.05533916,-0.08551297,
  0.09093246, 0.69460761,-0.11177652,-0.71052934,-0.01320347]

qacc:
[-3.45846776e-01, 1.83662787e+00,-1.64134678e+00,-9.11776833e+00,
  1.64990175e-03,-1.79639485e+00, 6.20696095e+00,-1.55855475e+01,
  1.26792185e-01, 1.54663193e+00,-6.86263535e+00, 1.32895074e+01,
 -8.46523302e-01, 1.27659085e+00,-5.99422908e+00, 1.08501709e+01,
 -3.21166302e+00, 7.56097915e-01,-3.07074647e+00,-8.84740021e+00,
 -1.17502071e+02,-2.17112686e+01]

qfrc_actuator:
[ 0.00712478, 0.06862247, 0.01383625, 0.00187694, 0.00028638, 0.0368149 ,
  0.01086391, 0.00161391,-0.00291451, 0.03463714, 0.0109219 , 0.00160426,
  0.00901561, 0.00903243, 0.        ,-0.00074757, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16634004, -0.02587457, -0.1643153 , -0.02587457,  0.82605472,
       -0.10388465, -0.1643153 , -0.10388465,  0.18269866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017890467913335255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61915558,  0.07828591, -0.78135631, -0.04862038,  0.99693095,
        0.0613575 ,  0.78376172,  0.        ,  0.62106165])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621777, -0.03380976,  0.22448683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16634004, -0.02587457, -0.1643153 , -0.02587457,  0.82605472,
       -0.10388465, -0.1643153 , -0.10388465,  0.18269866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017890467913335255
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61915558,  0.07828591, -0.78135631, -0.04862038,  0.99693095,
        0.0613575 ,  0.78376172,  0.        ,  0.62106165])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621777, -0.03380976,  0.22448683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005726677614391502
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39939396,  0.08625498, -0.91271274, -0.03457859,  0.99627309,
        0.07902052,  0.91612706,  0.        ,  0.40088803])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08352166, -0.03373183,  0.223102  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.60078585,   4.77085072, -16.60078585,
        18.03220329,   2.64269403,   4.77085072,   2.64269403,
        26.46831948,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002231987848503203
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48707229e-14,  4.97414457e-14,  1.00000000e+00,  1.23710571e-27,
        1.00000000e+00, -4.97414457e-14, -1.00000000e+00,  0.00000000e+00,
       -2.48707229e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02128691, -0.09051181,  0.06185412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.16432168e-03, 3.50957971e-02, 3.05604067e-03,-3.51135494e-05,
  4.53535963e-07,-1.39458765e-04,-5.56537131e-05,-5.36986642e-05,
  3.65835739e-05,-5.22300914e-05,-3.06296781e-05, 2.90913382e-05,
  8.56053297e-03, 1.31197719e-02, 6.74881460e-03, 3.65938295e-04,
  8.79010764e-03, 2.15884211e-02,-9.81953639e+00,-3.34123592e-03,
 -6.06586667e-02, 6.01223543e-02]


--- Step 3280 ---
qpos:
[-0.01600876, 1.19475177,-0.03485112, 0.94261705,-0.00820875, 1.33101979,
 -0.03110086, 0.94147689, 0.01524799, 1.33845382,-0.02372519, 0.95472613,
  1.26379943,-0.00510563, 1.29089312, 0.04484088,-0.05532329,-0.08539253,
  0.09099302, 0.69459572,-0.11328203,-0.71032719,-0.0118003 ]

qacc:
[ 1.52392088e-01, 1.85271121e-01,-1.08763215e+00, 5.03384051e+00,
 -3.35706641e-02,-2.33680852e+00, 8.78303399e+00,-2.18153314e+01,
  8.01046340e-02, 7.00914169e-01,-1.44210189e+00,-5.79046359e+00,
 -4.55788355e-01, 6.57462887e-01, 2.67928784e+00,-5.32035991e+00,
 -2.97196072e+00, 6.76846326e-01,-3.61281067e+00,-9.47057187e+00,
 -1.07637894e+02,-1.76644883e+01]

qfrc_actuator:
[ 0.00714972, 0.06860063, 0.0138269 , 0.00189129, 0.00027643, 0.03677296,
  0.01084568, 0.00155013,-0.00291299, 0.03461405, 0.01087666, 0.00157057,
  0.00901497, 0.00905084, 0.        ,-0.00086351, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16626618, -0.02741454, -0.16399051, -0.02741454,  0.85789028,
       -0.11561984, -0.16399051, -0.11561984,  0.18559453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001778159604090418
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61923134,  0.07829419, -0.78129544, -0.0486315 ,  0.9969303 ,
        0.06135925,  0.78370117,  0.        ,  0.62113805])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621739, -0.03381142,  0.22448735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16626618, -0.02741454, -0.16399051, -0.02741454,  0.85789028,
       -0.11561984, -0.16399051, -0.11561984,  0.18559453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001778159604090418
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61923134,  0.07829419, -0.78129544, -0.0486315 ,  0.9969303 ,
        0.06135925,  0.78370117,  0.        ,  0.62113805])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621739, -0.03381142,  0.22448735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005719270781407958
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99386878e-01,  8.62630686e-02, -9.12715073e-01, -3.45812429e-02,
        9.96272394e-01,  7.90281889e-02,  9.16130045e-01, -6.93889390e-18,
        4.00881205e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08352011, -0.0337335 ,  0.22310186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.544374  ,   4.96294233, -16.544374  ,
        18.26779107,   3.31712654,   4.96294233,   3.31712654,
        28.33063977,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0022205335694257394
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.99980293e-14, -2.49990146e-14,  1.00000000e+00, -1.24990147e-27,
        1.00000000e+00,  2.49990146e-14, -1.00000000e+00,  0.00000000e+00,
       -4.99980293e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02132404, -0.09053844,  0.06185506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.22888395e-03, 3.49899824e-02, 3.06556018e-03, 2.00094992e-05,
 -9.68979226e-06,-1.31901332e-04,-5.34901848e-05,-7.08090819e-05,
  2.31272394e-05,-5.70869729e-05,-5.80783568e-05,-3.54542460e-05,
  8.59531272e-03, 1.30968110e-02, 6.98836616e-03, 2.66765572e-04,
  6.81398387e-03, 2.40462934e-02,-9.81931714e+00,-5.13885541e-03,
 -6.05037346e-02, 6.00020513e-02]


--- Step 3281 ---
qpos:
[-0.01602746, 1.19475625,-0.03484729, 0.94261649,-0.00820307, 1.33105935,
 -0.0311017 , 0.94147275, 0.01525039, 1.33845209,-0.02372486, 0.9547232 ,
  1.26387618,-0.00515033, 1.29088215, 0.04484331,-0.05530547,-0.08528882,
  0.09106511, 0.69463185,-0.11457277,-0.71010406,-0.01057786]

qacc:
[ 3.86498461e-01,-1.53916306e-01,-7.13542841e-01, 6.94149555e+00,
  1.34802669e-02,-9.01290196e-01, 6.90646484e-01, 3.48101442e+00,
  1.08699293e-01, 1.47881607e-01,-1.54783132e+00, 4.74334791e+00,
 -2.30284711e-01, 3.22346276e-01, 4.45584612e+00,-8.94021656e+00,
  4.88528326e-01,-4.18079339e+00, 2.88177280e+00, 1.29951097e+01,
  3.58452915e+01,-1.37569085e+02]

qfrc_actuator:
[ 0.00719007, 0.06856786, 0.01385527, 0.00191788, 0.000286  , 0.03673211,
  0.01085306, 0.00156765,-0.00289529, 0.03461867, 0.01088535, 0.00158753,
  0.00900651, 0.00904411, 0.        ,-0.0009518 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16620219, -0.02744362, -0.16392076, -0.02744362,  0.87752402,
       -0.11908951, -0.16392076, -0.11908951,  0.18614016,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017686657329362733
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.19301117e-01,  7.83025810e-02, -7.81239293e-01, -4.86422250e-02,
        9.96929639e-01,  6.13614548e-02,  7.83645367e-01,  6.93889390e-18,
        6.21208450e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621706, -0.03381315,  0.22448783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16620219, -0.02744362, -0.16392076, -0.02744362,  0.87752402,
       -0.11908951, -0.16392076, -0.11908951,  0.18614016,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017686657329362733
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.19301117e-01,  7.83025810e-02, -7.81239293e-01, -4.86422250e-02,
        9.96929639e-01,  6.13614548e-02,  7.83645367e-01,  6.93889390e-18,
        6.21208450e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621706, -0.03381315,  0.22448783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005712995906871493
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99379425e-01,  8.62710227e-02, -9.12717583e-01, -3.45838101e-02,
        9.96271705e-01,  7.90357479e-02,  9.16133197e-01,  6.93889390e-18,
        4.00874001e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08351869, -0.03373525,  0.22310172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00219667049334938
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52705863e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.52705863e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06910073, -0.06303983,  0.06185667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.25175577e-03, 3.49488445e-02, 3.08191854e-03, 2.85331411e-05,
  3.84863394e-06,-1.26711768e-04,-2.66449558e-05, 1.03884186e-05,
  3.13504503e-05,-3.93337527e-05,-1.01026077e-05, 1.27304238e-05,
  8.59648833e-03, 1.30750968e-02, 6.89624841e-03, 1.77019567e-04,
  4.53129347e-03, 2.63979755e-02,-9.81934856e+00,-6.72558994e-03,
 -6.03380129e-02, 5.98860840e-02]


--- Step 3282 ---
qpos:
[-0.0160466 , 1.19476317,-0.03484332, 0.9426157 ,-0.00819735, 1.33109796,
 -0.03110249, 0.94146885, 0.01525303, 1.33845021,-0.02372397, 0.95472045,
  1.26395268,-0.00519416, 1.29086414, 0.04484524,-0.05528577,-0.08520037,
  0.09114476, 0.69471281,-0.11566601,-0.70986254,-0.00952179]

qacc:
[-1.89776421e-01, 2.40124908e+00,-3.47599447e+00,-1.29216466e+00,
  1.99746479e-02,-9.51064905e-01, 1.12656403e+00, 2.32221738e+00,
  9.71977982e-02,-1.43299552e+00, 4.07872209e+00,-1.39413836e+00,
 -3.76578428e-01, 8.78040104e-01,-8.84445893e+00, 1.59257285e+01,
  4.70454562e-01,-3.81670859e+00, 1.89170676e+00, 1.19992874e+01,
  3.28750126e+01,-1.26619217e+02]

qfrc_actuator:
[ 0.00722122, 0.06854644, 0.01385279, 0.00191597, 0.00028946, 0.0366924 ,
  0.01085782, 0.00157964,-0.00288579, 0.03464008, 0.01092595, 0.0015987 ,
  0.00899867, 0.00905789, 0.        ,-0.00066847, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16615319, -0.02167198, -0.16473375, -0.02167198,  0.72364887,
       -0.07334281, -0.16473375, -0.07334281,  0.175802  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017613571885837474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61936014,  0.07831099, -0.78119166, -0.04865212,  0.99692898,
        0.06136434,  0.7835981 ,  0.        ,  0.62126807])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862168 , -0.03381497,  0.2244882 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16615319, -0.02167198, -0.16473375, -0.02167198,  0.72364887,
       -0.07334281, -0.16473375, -0.07334281,  0.175802  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017613571885837474
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61936014,  0.07831099, -0.78119166, -0.04865212,  0.99692898,
        0.06136434,  0.7835981 ,  0.        ,  0.62126807])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862168 , -0.03381497,  0.2244882 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005708431872768586
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3993717 ,  0.08627863, -0.91272025, -0.03458621,  0.99627105,
        0.079043  ,  0.91613648,  0.        ,  0.40086651])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08351749, -0.03373709,  0.22310157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021974666839090357
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26307151e-14, -2.52614302e-14,  1.00000000e+00, -3.19069928e-28,
        1.00000000e+00,  2.52614302e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26307151e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06909918, -0.0630346 ,  0.06185686])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.23860369e-03, 3.49304304e-02, 3.06101150e-03,-4.11390533e-07,
  5.72086395e-06,-1.14995623e-04,-2.28202119e-05, 7.67988975e-06,
  2.80133204e-05,-1.92710511e-06, 3.21485984e-05, 1.00054179e-05,
  8.58848275e-03, 1.30849367e-02, 6.74264785e-03, 4.58540604e-04,
  3.97643204e-03, 1.89263847e-02,-9.81715817e+00,-6.53693513e-03,
 -6.04467396e-02, 5.98107914e-02]


--- Step 3283 ---
qpos:
[-0.01606626, 1.19477157,-0.03483886, 0.94261564,-0.00819175, 1.33113572,
 -0.03110325, 0.94146477, 0.01525569, 1.33844856,-0.02372327, 0.95471682,
  1.26402857,-0.00523715, 1.29084139, 0.04484686,-0.05526426,-0.08512599,
  0.09122866, 0.69483588,-0.1165761 ,-0.70960468,-0.00862013]

qacc:
[-2.29408204e-01, 1.89328323e+00,-5.34458847e+00, 1.22690567e+01,
 -5.06720968e-02,-1.54160808e+00, 4.03049888e+00,-5.01675448e+00,
  1.14047784e-02,-6.76826709e-01, 4.33334244e+00,-1.39842023e+01,
 -7.69422258e-01, 1.21999009e+00,-6.00138130e+00, 1.09674937e+01,
  4.54546864e-01,-3.51769427e+00, 1.06144597e+00, 1.11660771e+01,
  3.04259924e+01,-1.17493130e+02]

qfrc_actuator:
[ 0.00724783, 0.06858262, 0.01381412, 0.0019508 , 0.00027146, 0.03665369,
  0.01086096, 0.00157051,-0.00289904, 0.03465377, 0.01091411, 0.00155315,
  0.00900188, 0.00915419, 0.        ,-0.00058771, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16607655, -0.02108577, -0.16473254, -0.02108577,  0.64851108,
       -0.06175163, -0.16473254, -0.06175163,  0.17398076,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017498555820020557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.19449708e-01,  7.83180582e-02, -7.81119927e-01, -4.86635722e-02,
        9.96928424e-01,  6.13642810e-02,  7.83526589e-01,  6.93889390e-18,
        6.21358257e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621638, -0.03381666,  0.22448889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16607655, -0.02108577, -0.16473254, -0.02108577,  0.64851108,
       -0.06175163, -0.16473254, -0.06175163,  0.17398076,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017498555820020557
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.19449708e-01,  7.83180582e-02, -7.81119927e-01, -4.86635722e-02,
        9.96928424e-01,  6.13642810e-02,  7.83526589e-01,  6.93889390e-18,
        6.21358257e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621638, -0.03381666,  0.22448889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005701062081463273
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39936159,  0.08628646, -0.91272392, -0.0345885 ,  0.99627037,
        0.07905055,  0.91614079,  0.        ,  0.40085664])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08351568, -0.03373878,  0.22310147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00217746796285178
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.06910438, -0.06301963,  0.06185835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.28693277e-03, 3.48446896e-02, 3.01500170e-03, 4.62776123e-05,
 -1.46248507e-05,-1.06836230e-04,-2.17794162e-05,-1.30464655e-05,
  3.29950772e-06, 1.92075072e-05,-8.27339738e-06,-4.44469203e-05,
  8.60457045e-03, 1.31393051e-02, 7.09438060e-03, 5.64367789e-04,
  3.39255164e-03, 1.31470487e-02,-9.81540804e+00,-6.46240087e-03,
 -6.05171145e-02, 5.97452618e-02]


--- Step 3284 ---
qpos:
[-0.01608594, 1.19477859,-0.0348344 , 0.94261663,-0.00818632, 1.331172  ,
 -0.03110372, 0.941461  , 0.01525829, 1.33844715,-0.02372344, 0.95471548,
  1.26410357,-0.00527975, 1.2908219 , 0.04484864,-0.05524098,-0.0850647 ,
  0.09131402, 0.6949988 ,-0.11731504,-0.7093321 ,-0.00786293]

qacc:
[-1.14098728e-02,-6.71336344e-02,-4.15003822e+00, 1.66694576e+01,
 -7.48006862e-02,-2.16804579e+00, 4.10830778e+00, 9.64843703e-01,
 -2.47332182e-02, 6.57673381e+00,-2.56559055e+01, 4.83714929e+01,
 -1.13372948e+00, 1.27192005e+00, 4.44806013e+00,-8.34963122e+00,
  4.40719316e-01,-3.27266165e+00, 3.66887532e-01, 1.04691481e+01,
  2.84099174e+01,-1.09885691e+02]

qfrc_actuator:
[ 0.00723647, 0.06858232, 0.01377109, 0.00198903, 0.00025849, 0.03654488,
  0.01086313, 0.00158452,-0.00290806, 0.0346625 , 0.01087134, 0.00166981,
  0.00900111, 0.00928192, 0.        ,-0.00077049, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16598147, -0.02495023, -0.16409551, -0.02495023,  0.69206793,
       -0.07998988, -0.16409551, -0.07998988,  0.1781437 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017354697910566125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61955945,  0.07832439, -0.78103225, -0.04867615,  0.99692793,
        0.06136238,  0.78343904,  0.        ,  0.62146864])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621586, -0.03381825,  0.22448977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16598147, -0.02495023, -0.16409551, -0.02495023,  0.69206793,
       -0.07998988, -0.16409551, -0.07998988,  0.1781437 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017354697910566125
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61955945,  0.07832439, -0.78103225, -0.04867615,  0.99692793,
        0.06136238,  0.78343904,  0.        ,  0.62146864])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621586, -0.03381825,  0.22448977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005691737800051083
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39934968,  0.08629454, -0.91272837, -0.03459073,  0.99626967,
        0.07905839,  0.9161459 ,  0.        ,  0.40084497])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08351345, -0.03374037,  0.2231014 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002141060403639837
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59269431e-14,  1.29634715e-14,  1.00000000e+00,  3.36103189e-28,
        1.00000000e+00, -1.29634715e-14, -1.00000000e+00,  0.00000000e+00,
       -2.59269431e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0691149 , -0.06299713,  0.06186087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.30185391e-03, 3.47699277e-02, 2.94757670e-03, 4.75586003e-05,
 -2.16016945e-05,-1.72850714e-04,-2.16523162e-05, 9.89433398e-06,
 -7.07771540e-06, 1.64304095e-05,-4.12654945e-05, 1.15947781e-04,
  8.63417462e-03, 1.32254353e-02, 7.33163605e-03, 3.97160105e-04,
  2.79021738e-03, 8.72070919e-03,-9.81402266e+00,-6.47528418e-03,
 -6.05577331e-02, 5.96892022e-02]


--- Step 3285 ---
qpos:
[-0.01610598, 1.19478553,-0.03483024, 0.94261798,-0.00818123, 1.33120683,
 -0.03110356, 0.9414581 , 0.01526081, 1.33844634,-0.02372485, 0.95471518,
  1.26417791,-0.00532163, 1.29080048, 0.04485026,-0.05521598,-0.0850157 ,
  0.09139854, 0.69519964,-0.11789279,-0.70904605,-0.0072419 ]

qacc:
[-1.54391760e-01, 1.34532356e+00,-5.24277947e+00, 8.69512420e+00,
 -1.39863391e-01,-2.10901514e+00, 2.75694187e+00, 8.65629583e+00,
 -3.70183545e-02, 5.98168134e+00,-2.06604268e+01, 2.96436196e+01,
 -8.81477322e-01, 1.24794256e+00,-2.32343223e+00, 4.12946228e+00,
  4.28831156e-01,-3.07245632e+00,-2.12639441e-01, 9.88635760e+00,
  2.67548912e+01,-1.03548981e+02]

qfrc_actuator:
[ 0.0072553 , 0.06854466, 0.01376123, 0.00201093, 0.0002309 , 0.0364837 ,
  0.01089995, 0.00162975,-0.00291448, 0.03470367, 0.01081076, 0.00172122,
  0.00899267, 0.0093221 , 0.        ,-0.00066794, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16589895, -0.0220116 , -0.16443221, -0.0220116 ,  0.64535496,
       -0.06418203, -0.16443221, -0.06418203,  0.17449063,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017228732743339824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61965474,  0.0783315 , -0.78095594, -0.04868808,  0.99692737,
        0.06136199,  0.78336293,  0.        ,  0.62156458])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862154 , -0.03381989,  0.22449051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16589895, -0.0220116 , -0.16443221, -0.0220116 ,  0.64535496,
       -0.06418203, -0.16443221, -0.06418203,  0.17449063,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017228732743339824
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61965474,  0.0783315 , -0.78095594, -0.04868808,  0.99692737,
        0.06136199,  0.78336293,  0.        ,  0.62156458])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862154 , -0.03381989,  0.22449051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005683552027820268
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39933902,  0.08630261, -0.91273227, -0.03459307,  0.99626897,
        0.07906617,  0.91615046,  0.        ,  0.40083455])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08351151, -0.03374201,  0.2231013 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020918983030608837
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.65362571e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.65362571e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06912955, -0.06296888,  0.06186418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.32199632e-03, 3.48014183e-02, 2.93709071e-03, 1.69713430e-05,
 -4.03511644e-05,-1.61000648e-04, 7.73288251e-07, 3.96620553e-05,
 -1.06026606e-05, 4.56389520e-05,-5.86723757e-05, 5.33889869e-05,
  8.67039072e-03, 1.32469530e-02, 7.16873517e-03, 4.92028355e-04,
  2.17553793e-03, 5.39318306e-03,-9.81294310e+00,-6.55611457e-03,
 -6.05749538e-02, 5.96423214e-02]


--- Step 3286 ---
qpos:
[-0.01612629, 1.19479414,-0.03482597, 0.9426194 ,-0.00817633, 1.33124064,
 -0.03110237, 0.94145777, 0.01526309, 1.33844552,-0.02372587, 0.95471409,
  1.26425195,-0.00536278, 1.2907748 , 0.04485172,-0.05518931,-0.08497834,
  0.09148028, 0.69543682,-0.11831765,-0.70874749,-0.00675018]

qacc:
[-1.17962862e-01, 2.00721133e+00,-4.04239762e+00, 3.24913341e+00,
 -8.47257808e-02, 2.52681224e-01,-7.73761788e+00, 3.72354635e+01,
 -9.98309415e-02,-2.46626100e+00, 9.60372398e+00,-1.74542761e+01,
 -4.58689893e-01, 8.86527128e-01,-5.76301350e+00, 1.11170621e+01,
  4.18707549e-01,-2.90949983e+00,-6.94846282e-01, 9.39900061e+00,
  2.54019912e+01,-9.82802518e+01]

qfrc_actuator:
[ 0.00729258, 0.06855484, 0.0138071 , 0.00202333, 0.00023025, 0.0364872 ,
  0.01097487, 0.00176405,-0.00293704, 0.03469282, 0.01082898, 0.00168055,
  0.00898496, 0.00932702, 0.        ,-0.0005182 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16580717, -0.02246337, -0.16427847, -0.02246337,  0.68719231,
       -0.07129397, -0.16427847, -0.07129397,  0.17555588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017087410511796262
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61975726,  0.07833844, -0.78087389, -0.04870048,  0.99692682,
        0.06136102,  0.78328105,  0.        ,  0.62166775])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862149 , -0.03382148,  0.22449131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16580717, -0.02246337, -0.16427847, -0.02246337,  0.68719231,
       -0.07129397, -0.16427847, -0.07129397,  0.17555588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017087410511796262
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61975726,  0.07833844, -0.78087389, -0.04870048,  0.99692682,
        0.06136102,  0.78328105,  0.        ,  0.62166775])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862149 , -0.03382148,  0.22449131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005674151546961603
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39932872,  0.0863108 , -0.91273601, -0.03459548,  0.99626826,
        0.07907406,  0.91615486,  0.        ,  0.4008245 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08350941, -0.03374361,  0.2231012 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002033018912726961
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36523942e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.36523942e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06914734, -0.06293634,  0.06186808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.37695782e-03, 3.48153737e-02, 2.99863813e-03, 1.16887064e-05,
 -2.44642721e-05,-8.44709708e-05, 4.46172365e-05, 1.30426069e-04,
 -2.88210648e-05, 4.52314875e-06, 2.20322929e-05,-3.97983163e-05,
  8.69604886e-03, 1.32169985e-02, 7.26601307e-03, 6.49596617e-04,
  1.55159336e-03, 2.97332242e-03,-9.81212331e+00,-6.69070205e-03,
 -6.05734772e-02, 5.96043400e-02]


--- Step 3287 ---
qpos:
[-0.0161458 , 1.194803  ,-0.0348221 , 0.94262007,-0.00817158, 1.33127408,
 -0.03110079, 0.94145938, 0.01526497, 1.33844447,-0.02372604, 0.95471355,
  1.26432604,-0.00540397, 1.29075231, 0.04485359,-0.05517454,-0.08493934,
  0.09154634, 0.69552866,-0.11876488,-0.70858705,-0.00625883]

qacc:
[ 3.48979299e-01, 1.30962941e-01, 1.50960071e+00,-1.01192950e+01,
 -5.78012074e-02, 1.79690833e+00,-1.04569801e+01, 3.17864046e+01,
 -1.70005296e-01,-1.62850670e+00, 3.86428613e+00, 3.12544970e+00,
 -9.46094499e-02, 9.25084382e-02, 3.50223765e+00,-5.36797533e+00,
 -2.97561449e+00, 4.10881037e-01,-3.91926545e+00,-1.60376230e+01,
 -9.95806849e+01,-8.62168592e-01]

qfrc_actuator:
[ 0.00730548, 0.06860976, 0.01383285, 0.0019769 , 0.00022803, 0.03649414,
  0.01100096, 0.00186096,-0.0029691 , 0.03468666, 0.01087559, 0.00171032,
  0.00897236, 0.00932825, 0.        ,-0.00065962, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16570074, -0.03237087, -0.16250804, -0.03237087,  1.01918238,
       -0.17000972, -0.16250804, -0.17000972,  0.19956592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016921873880598737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61987848,  0.07834457, -0.78077705, -0.04871384,  0.99692634,
        0.06135824,  0.78318429,  0.        ,  0.62178965])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862143 , -0.03382301,  0.2244923 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16570074, -0.03237087, -0.16250804, -0.03237087,  1.01918238,
       -0.17000972, -0.16250804, -0.17000972,  0.19956592,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016921873880598737
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61987848,  0.07834457, -0.78077705, -0.04871384,  0.99692634,
        0.06135824,  0.78318429,  0.        ,  0.62178965])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862143 , -0.03382301,  0.2244923 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000566318595917225
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99316788e-01,  8.63191403e-02, -9.12740439e-01, -3.45978169e-02,
        9.96267537e-01,  7.90821411e-02,  9.16159972e-01,  6.93889390e-18,
        4.00812806e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08350694, -0.03374512,  0.22310113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.60320205,   4.76243523, -16.60320205,
        26.26094623,  31.33548453,   4.76243523,  31.33548453,
       126.5171277 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001996584744785937
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.78030529e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.78030529e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02200004, -0.0906911 ,  0.06187062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.40335277e-03, 3.47867075e-02, 3.01874600e-03,-3.82138386e-05,
 -1.66654856e-05,-2.73765141e-05, 1.84253725e-05, 9.87476427e-05,
 -4.90803300e-05,-5.33195296e-07, 4.88319211e-05, 2.96143824e-05,
  8.69793103e-03, 1.31824330e-02, 7.47917505e-03, 5.16298549e-04,
  9.19404198e-04, 1.31712708e-03,-9.81152722e+00,-6.86874247e-03,
 -6.05567696e-02, 5.95749954e-02]


--- Step 3288 ---
qpos:
[-0.01616447, 1.19481176,-0.03481861, 0.94262021,-0.00816707, 1.33130679,
 -0.03109888, 0.94145941, 0.01526659, 1.33844346,-0.02372684, 0.95471377,
  1.26440007,-0.00544523, 1.29073344, 0.04485578,-0.0551709 ,-0.08489876,
  0.09159516, 0.69548472,-0.1192328 ,-0.70855577,-0.00576796]

qacc:
[ 3.67032574e-01,-5.94108888e-03, 9.62882127e-01,-6.91275761e+00,
 -1.06586336e-01,-4.56232662e+00, 1.69895327e+01,-3.26133272e+01,
 -1.07495942e-01, 3.07549770e+00,-1.15215867e+01, 1.87632732e+01,
 -1.74365699e-01, 1.37786956e-01, 4.35512063e+00,-7.45864426e+00,
 -2.78271237e+00, 3.94755191e-01,-4.30813986e+00,-1.50262785e+01,
 -9.30594103e+01,-9.31882229e-01]

qfrc_actuator:
[ 0.00732054, 0.06860351, 0.01381148, 0.00194922, 0.00020712, 0.03641414,
  0.01099801, 0.00177529,-0.0029711 , 0.03466575, 0.0108321 , 0.00174581,
  0.00896213, 0.00932773, 0.        ,-0.00074547, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16561172, -0.03086098, -0.16271092, -0.03086098,  0.95482911,
       -0.14968893, -0.16271092, -0.14968893,  0.19400286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016782016283193625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61998822,  0.07835082, -0.78068928, -0.04872638,  0.99692585,
        0.06135626,  0.78309664,  0.        ,  0.62190003])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621378, -0.03382462,  0.2244932 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16561172, -0.03086098, -0.16271092, -0.03086098,  0.95482911,
       -0.14968893, -0.16271092, -0.14968893,  0.19400286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016782016283193625
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.61998822,  0.07835082, -0.78068928, -0.04872638,  0.99692585,
        0.06135626,  0.78309664,  0.        ,  0.62190003])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621378, -0.03382462,  0.2244932 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005654263457620899
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99304991e-01,  8.63271568e-02, -9.12744842e-01, -3.46000319e-02,
        9.96266843e-01,  7.90899222e-02,  9.16165030e-01,  6.93889390e-18,
        4.00801245e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08350472, -0.03374674,  0.22310107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001961377055629668
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.83021314e-14,  8.49063943e-14,  1.00000000e+00,  2.40303193e-27,
        1.00000000e+00, -8.49063943e-14, -1.00000000e+00,  0.00000000e+00,
       -2.83021314e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02210544, -0.09070577,  0.061873  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.37838477e-03, 3.47678734e-02, 3.01715793e-03,-2.86335417e-05,
 -3.07447678e-05,-8.87989131e-05,-3.35472255e-06,-8.36228053e-05,
 -3.09791130e-05,-1.07812504e-05,-3.71754685e-05, 3.75978629e-05,
  8.68582831e-03, 1.31849058e-02, 7.31963881e-03, 4.10132427e-04,
  7.90131401e-04, 2.18480625e-03,-9.81127741e+00,-7.36779732e-03,
 -6.04773833e-02, 5.95307123e-02]


--- Step 3289 ---
qpos:
[-0.01618257, 1.19482084,-0.03481475, 0.94262064,-0.00816283, 1.33133832,
 -0.03109673, 0.94145743, 0.0152682 , 1.33844225,-0.02372836, 0.95471445,
  1.26447369,-0.0054865 , 1.29071811, 0.0448582 ,-0.05517775,-0.08485665,
  0.09162544, 0.69531291,-0.11972007,-0.70864604,-0.00527765]

qacc:
[ 2.50970236e-01,-9.24019177e-02, 2.01320605e-01, 2.91884323e+00,
 -1.12090350e-01,-5.62209613e+00, 2.06453308e+01,-4.05730963e+01,
 -7.84039762e-03, 2.41657274e+00,-9.09597960e+00, 1.31743013e+01,
 -5.20658542e-01, 4.71315747e-01, 4.62503112e+00,-8.46142683e+00,
 -2.62114053e+00, 3.80985222e-01,-4.63742651e+00,-1.42033234e+01,
 -8.75940645e+01,-9.58162199e-01]

qfrc_actuator:
[ 0.00733654, 0.06854305, 0.01385074, 0.00196838, 0.00019292, 0.03631799,
  0.01099527, 0.00167156,-0.00295504, 0.03463585, 0.01078896, 0.00176657,
  0.00895333, 0.00936172, 0.        ,-0.00081581, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16554043, -0.03024547, -0.16275394, -0.03024547,  0.88456159,
       -0.1336197 , -0.16275394, -0.1336197 ,  0.19037172,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016669062677149293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62008448,  0.07835725, -0.78061218, -0.04873797,  0.99692534,
        0.06135527,  0.7830197 ,  0.        ,  0.62199691])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621335, -0.03382633,  0.22449397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16554043, -0.03024547, -0.16275394, -0.03024547,  0.88456159,
       -0.1336197 , -0.16275394, -0.1336197 ,  0.19037172,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016669062677149293
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62008448,  0.07835725, -0.78061218, -0.04873797,  0.99692534,
        0.06135527,  0.7830197 ,  0.        ,  0.62199691])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621335, -0.03382633,  0.22449397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005647413951873417
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39929363,  0.08633483, -0.91274909, -0.03460215,  0.99626618,
        0.07909737,  0.9161699 ,  0.        ,  0.40079011])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08350279, -0.03374845,  0.22310101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019121124595250089
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.3546982e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.3546982e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02224459, -0.09072618,  0.06187615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.35228866e-03, 3.47120197e-02, 3.07521602e-03, 1.69567348e-05,
 -3.23434229e-05,-1.48688108e-04,-2.29918896e-05,-1.08393257e-04,
 -2.23721237e-06,-4.20069384e-05,-4.83675906e-05, 2.02173119e-05,
  8.67959138e-03, 1.32235249e-02, 7.13952577e-03, 3.23443349e-04,
  2.23898548e-04, 3.06902797e-03,-9.81123877e+00,-7.81596560e-03,
 -6.03963838e-02, 5.94894287e-02]


--- Step 3290 ---
qpos:
[-0.01619991, 1.19482973,-0.03481027, 0.94262201,-0.00815854, 1.33136912,
 -0.03109461, 0.94145626, 0.01526972, 1.33844156,-0.02373067, 0.95471426,
  1.26454667,-0.00552778, 1.29070691, 0.04486072,-0.05518239,-0.08482898,
  0.09166231, 0.69518755,-0.12001629,-0.70872128,-0.00495025]

qacc:
[ 3.25049517e-01,-3.04131350e-01,-1.23722977e+00, 1.21611342e+01,
  2.21395885e-02, 5.01433754e-01,-4.50451205e+00, 1.39063436e+01,
 -3.50649912e-02, 1.38725606e+00,-1.97557097e+00,-8.43034221e+00,
 -7.24429997e-01, 6.32859397e-01, 5.82909367e+00,-1.14134013e+01,
  5.50861127e-01,-3.60845728e+00, 1.64820170e+00, 1.14394365e+01,
  3.19393414e+01,-1.23303502e+02]

qfrc_actuator:
[ 0.00737079, 0.06853847, 0.01387254, 0.00201504, 0.00021837, 0.0363194 ,
  0.01101037, 0.00171784,-0.00296379, 0.03470727, 0.0107641 , 0.00172522,
  0.00893477, 0.00939862, 0.        ,-0.00093012, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16548748, -0.02788406, -0.16312139, -0.02788406,  0.78976517,
       -0.10671439, -0.16312139, -0.10671439,  0.1837293 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016584616496456012
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62016798,  0.07836401, -0.78054516, -0.04874876,  0.99692481,
        0.06135533,  0.78295289,  0.        ,  0.622081  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621301, -0.03382811,  0.22449465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16548748, -0.02788406, -0.16312139, -0.02788406,  0.78976517,
       -0.10671439, -0.16312139, -0.10671439,  0.1837293 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016584616496456012
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62016798,  0.07836401, -0.78054516, -0.04874876,  0.99692481,
        0.06135533,  0.78295289,  0.        ,  0.622081  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621301, -0.03382811,  0.22449465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000564285085618739
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39928166,  0.08634228, -0.91275362, -0.03460412,  0.99626553,
        0.07910465,  0.91617504,  0.        ,  0.40077836])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08350114, -0.03375023,  0.22310095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001910581713966894
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45272905e-14, -1.45272905e-14,  1.00000000e+00, -2.11042170e-28,
        1.00000000e+00,  1.45272905e-14, -1.00000000e+00,  0.00000000e+00,
       -1.45272905e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06918519, -0.06286895,  0.06187632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.35775479e-03, 3.46920619e-02, 3.07891960e-03, 4.94852429e-05,
  6.35744382e-06,-8.88440341e-05,-1.98292746e-05, 3.86574244e-05,
 -1.00722449e-05, 3.93584925e-05,-3.79612163e-05,-4.35368526e-05,
  8.68201555e-03, 1.32613390e-02, 6.96205951e-03, 1.98120001e-04,
 -7.01672600e-04, 3.96521353e-03,-9.81137572e+00,-8.21867876e-03,
 -6.03133450e-02, 5.94505560e-02]


--- Step 3291 ---
qpos:
[-0.01621696, 1.19483879,-0.03480495, 0.94262492,-0.00815411, 1.33139951,
 -0.03109253, 0.94145632, 0.01527115, 1.33844147,-0.02373281, 0.95471284,
  1.26461904,-0.0055687 , 1.29069637, 0.044863  ,-0.05518497,-0.08481478,
  0.09170274, 0.69510573,-0.12013447,-0.70878271,-0.0047745 ]

qacc:
[ 1.31055053e-01, 5.61806592e-01,-4.78575766e+00, 2.19850705e+01,
  5.99813270e-02, 1.67315554e+00,-8.62488858e+00, 2.19524439e+01,
 -4.07681936e-02,-1.82794239e+00, 9.41383382e+00,-2.28655203e+01,
 -7.66985594e-01, 9.18647022e-01, 1.77312422e+00,-4.63480791e+00,
  5.18228369e-01,-3.36761766e+00, 8.91416753e-01, 1.07275635e+01,
  2.97689377e+01,-1.14867235e+02]

qfrc_actuator:
[ 0.00738007, 0.06853227, 0.01388345, 0.00209518, 0.0002319 , 0.03632612,
  0.01101861, 0.00178109,-0.0029696 , 0.03476784, 0.0107861 , 0.00166549,
  0.00891572, 0.00941953, 0.        ,-0.00092877, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16545367, -0.02221672, -0.16395528, -0.02221672,  0.63638746,
       -0.06381376, -0.16395528, -0.06381376,  0.17410074,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001653043176049855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62023588,  0.07837114, -0.7804905 , -0.04875856,  0.99692425,
        0.06135664,  0.78289849,  0.        ,  0.62214946])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621276, -0.03382995,  0.22449519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16545367, -0.02221672, -0.16395528, -0.02221672,  0.63638746,
       -0.06381376, -0.16395528, -0.06381376,  0.17410074,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001653043176049855
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62023588,  0.07837114, -0.7804905 , -0.04875856,  0.99692425,
        0.06135664,  0.78289849,  0.        ,  0.62214946])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621276, -0.03382995,  0.22449519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005640625403651282
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99269285e-01,  8.63494527e-02, -9.12758352e-01, -3.46059405e-02,
        9.96264911e-01,  7.91116734e-02,  9.16180368e-01, -6.93889390e-18,
        4.00766183e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08349982, -0.03375208,  0.22310089])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018974596633611063
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46277553e-14,  1.46277553e-14,  1.00000000e+00,  2.13971225e-28,
        1.00000000e+00, -1.46277553e-14, -1.00000000e+00,  0.00000000e+00,
       -1.46277553e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06918936, -0.06286172,  0.06187724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.32978026e-03, 3.46944184e-02, 3.05860924e-03, 8.23818739e-05,
  1.72709899e-05,-4.53626999e-05,-1.03178086e-05, 6.09267039e-05,
 -1.17565495e-05, 7.36342762e-05, 2.40989405e-05,-6.06908785e-05,
  8.69467281e-03, 1.32838661e-02, 6.75594180e-03, 1.94129574e-04,
 -4.06346660e-04, 1.67613901e-03,-9.81061207e+00,-7.98885983e-03,
 -6.03245184e-02, 5.94329353e-02]


--- Step 3292 ---
qpos:
[-0.01623348, 1.19484661,-0.03480057, 0.94262692,-0.00814968, 1.33143008,
 -0.03109077, 0.94145399, 0.01527263, 1.33844154,-0.02373396, 0.95471105,
  1.26469034,-0.00560976, 1.29069096, 0.04486546,-0.05518557,-0.08481325,
  0.0917442 , 0.69506494,-0.1200854 ,-0.70883125,-0.00474108]

qacc:
[ 2.28878775e-01,-6.44237429e-01, 2.04997716e+00,-1.16319153e+01,
 -4.55988758e-03,-2.96623763e+00, 1.48943189e+01,-4.07691918e+01,
  2.37460558e-02,-3.08937946e+00, 1.10419946e+01,-1.38493348e+01,
 -1.05686263e+00, 8.05576331e-01, 7.12717473e+00,-1.37684427e+01,
  4.91063007e-01,-3.16890662e+00, 2.54314934e-01, 1.01209564e+01,
  2.79719411e+01,-1.07868725e+02]

qfrc_actuator:
[ 0.00739228, 0.06852483, 0.01390512, 0.00203465, 0.0002204 , 0.03635375,
  0.01100498, 0.0016585 ,-0.00295584, 0.03476835, 0.01083556, 0.00164872,
  0.00890171, 0.00953699, 0.        ,-0.00110625, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16542303, -0.03505701, -0.16166566, -0.03505701,  0.99564127,
       -0.18003186, -0.16166566, -0.18003186,  0.20446273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016481170052114018
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.20301980e-01,  7.83781720e-02, -7.80437259e-01, -4.87681608e-02,
        9.96923699e-01,  6.13580015e-02,  7.82845528e-01, -6.93889390e-18,
        6.22216104e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621252, -0.03383179,  0.22449571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16542303, -0.03505701, -0.16166566, -0.03505701,  0.99564127,
       -0.18003186, -0.16166566, -0.18003186,  0.20446273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016481170052114018
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.20301980e-01,  7.83781720e-02, -7.80437259e-01, -4.87681608e-02,
        9.96923699e-01,  6.13580015e-02,  7.82845528e-01, -6.93889390e-18,
        6.22216104e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621252, -0.03383179,  0.22449571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005638834962363691
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99256003e-01,  8.63565207e-02, -9.12763494e-01, -3.46076432e-02,
        9.96264298e-01,  7.91186433e-02,  9.16186092e-01,  6.93889390e-18,
        4.00753097e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08349852, -0.03375394,  0.22310083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018692767608471383
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48482965e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.48482965e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06919808, -0.06284697,  0.06187909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.32697020e-03, 3.46793114e-02, 3.03835463e-03,-5.53330750e-05,
 -1.30659643e-06, 2.12904739e-06,-2.19239266e-05,-1.22797480e-04,
  6.81353866e-06, 4.41372693e-05, 6.47978697e-05,-1.52993467e-05,
  8.71104505e-03, 1.33841276e-02, 6.72273435e-03, 2.86632481e-05,
 -1.88716819e-04, 4.22744394e-04,-9.81016560e+00,-7.84024393e-03,
 -6.03136046e-02, 5.94254778e-02]


--- Step 3293 ---
qpos:
[-0.01624944, 1.19485278,-0.03479769, 0.94262722,-0.00814519, 1.33146032,
 -0.03108879, 0.94145092, 0.01527406, 1.33844201,-0.02373519, 0.95471049,
  1.26476039,-0.00565106, 1.29069182, 0.04486808,-0.0551843 ,-0.08482375,
  0.09178453, 0.69506302,-0.11987801,-0.70886755,-0.00484231]

qacc:
[ 2.45401976e-01,-9.89751214e-01, 4.12300583e+00,-2.22969337e+01,
  2.89691772e-02,-2.32882563e+00, 8.60573397e+00,-1.58775299e+01,
 -2.12366495e-02, 2.87496858e+00,-1.11925372e+01, 2.35876300e+01,
 -1.19084986e+00, 8.48046780e-01, 8.83862455e+00,-1.72506290e+01,
  4.68550398e-01,-3.00545856e+00,-2.81231645e-01, 9.60266513e+00,
  2.64874832e+01,-1.02076839e+02]

qfrc_actuator:
[ 0.0074059 , 0.06853573, 0.01388143, 0.00194483, 0.00022949, 0.03632248,
  0.01101406, 0.00162282,-0.00296597, 0.03478629, 0.01082959, 0.00171061,
  0.00889613, 0.00964173, 0.        ,-0.00128484, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.1654132 , -0.04042838, -0.16039661, -0.04042838,  1.17762223,
       -0.2551299 , -0.16039661, -0.2551299 ,  0.22971935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001646532695130376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62034644,  0.07838603, -0.78040113, -0.04877657,  0.99692308,
        0.06136135,  0.78280977,  0.        ,  0.62226109])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862124 , -0.03383366,  0.22449604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1654132 , -0.04042838, -0.16039661, -0.04042838,  1.17762223,
       -0.2551299 , -0.16039661, -0.2551299 ,  0.22971935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001646532695130376
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62034644,  0.07838603, -0.78040113, -0.04877657,  0.99692308,
        0.06136135,  0.78280977,  0.        ,  0.62226109])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862124 , -0.03383366,  0.22449604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000563937949279638
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99244704e-01,  8.63633364e-02, -9.12767791e-01, -3.46094156e-02,
        9.96263707e-01,  7.91253071e-02,  9.16190949e-01, -6.93889390e-18,
        4.00741994e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08349768, -0.03375583,  0.22310076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018292990538765624
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51727929e-14,  1.51727929e-14,  1.00000000e+00,  2.30213643e-28,
        1.00000000e+00, -1.51727929e-14, -1.00000000e+00,  0.00000000e+00,
       -1.51727929e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06921033, -0.06282635,  0.06188168])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.31433664e-03, 3.47513887e-02, 3.06134729e-03,-9.93745217e-05,
  8.32030773e-06,-3.83026032e-05, 3.34745265e-06,-3.90641542e-05,
 -6.10154645e-06, 5.45504984e-05, 9.57233777e-06, 6.47254711e-05,
  8.75959199e-03, 1.34967637e-02, 6.46673856e-03,-1.58520893e-04,
 -3.48370258e-05, 1.72299151e-05,-9.80998117e+00,-7.75583566e-03,
 -6.02851646e-02, 5.94277285e-02]


--- Step 3294 ---
qpos:
[-0.01626593, 1.19486042,-0.0347948 , 0.94262746,-0.00814063, 1.33148989,
 -0.03108719, 0.94144924, 0.01527527, 1.33844289,-0.02373675, 0.95471069,
  1.26482974,-0.00569158, 1.29068818, 0.04487007,-0.05518124,-0.08484573,
  0.09182193, 0.69509809,-0.11951968,-0.70889207,-0.00507188]

qacc:
[-2.30738631e-01, 1.76091480e+00,-3.27788513e+00, 1.18335184e+00,
  2.96008433e-02, 2.53914531e+00,-1.22205611e+01, 2.71442795e+01,
 -9.70760188e-02, 2.70823029e+00,-9.72733985e+00, 1.69433793e+01,
 -8.38463553e-01, 1.23295052e+00,-4.64188978e+00, 6.74397677e+00,
  4.49971919e-01,-2.87153884e+00,-7.30795292e-01, 9.15817932e+00,
  2.52653830e+01,-9.73020465e+01]

qfrc_actuator:
[ 0.00742012, 0.06854079, 0.01384922, 0.00196284, 0.00023311, 0.03625631,
  0.01098306, 0.00169185,-0.00299034, 0.03479662, 0.01080881, 0.00174722,
  0.00889565, 0.00963248, 0.        ,-0.0010736 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16542829, -0.02332679, -0.16377539, -0.02332679,  0.67399366,
       -0.07243576, -0.16377539, -0.07243576,  0.17574543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001648963635210582
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62036416,  0.07839495, -0.78038615, -0.04878355,  0.99692238,
        0.0613672 ,  0.78279529,  0.        ,  0.6222793 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621243, -0.03383558,  0.22449611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16542829, -0.02332679, -0.16377539, -0.02332679,  0.67399366,
       -0.07243576, -0.16377539, -0.07243576,  0.17574543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001648963635210582
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62036416,  0.07839495, -0.78038615, -0.04878355,  0.99692238,
        0.0613672 ,  0.78279529,  0.        ,  0.6222793 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621243, -0.03383558,  0.22449611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000564268355595178
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39923631,  0.08636986, -0.91277084, -0.03461132,  0.99626314,
        0.0791316 ,  0.91619453,  0.        ,  0.4007338 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0834974 , -0.03375779,  0.22310067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017802469361694398
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.11817142e-14, -1.55908571e-14,  1.00000000e+00, -4.86149651e-28,
        1.00000000e+00,  1.55908571e-14, -1.00000000e+00,  0.00000000e+00,
       -3.11817142e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06922528, -0.06280122,  0.06188483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.30040199e-03, 3.48391278e-02, 3.10466465e-03, 3.77151022e-06,
  8.52636755e-06,-8.80951228e-05,-3.93000393e-05, 6.71062405e-05,
 -2.79735763e-05, 4.42793353e-05,-7.15232941e-06, 4.00182012e-05,
  8.82151053e-03, 1.35005245e-02, 6.15273761e-03, 4.39455672e-05,
  6.54965827e-05, 3.21677343e-04,-9.81001646e+00,-7.72317739e-03,
 -6.02425396e-02, 5.94392619e-02]


--- Step 3295 ---
qpos:
[-0.01628169, 1.19486776,-0.034792  , 0.94262772,-0.00813602, 1.33151872,
 -0.03108673, 0.94144741, 0.01527621, 1.33844382,-0.02373808, 0.95471064,
  1.26489885,-0.00573199, 1.29068724, 0.04487189,-0.05517643,-0.08487876,
  0.0918549 , 0.69516851,-0.11901647,-0.70890506,-0.00542463]

qacc:
[ 3.17359734e-01,-7.79811373e-02,-3.08906721e-01, 8.33206847e-01,
  1.84438777e-02, 1.85416894e+00,-6.90885705e+00, 4.72772925e+00,
 -1.09113343e-01,-9.73024138e-01, 3.76792922e+00,-6.19694039e+00,
 -4.25612807e-01, 4.78571073e-01, 4.54449707e+00,-1.00264909e+01,
  4.34696047e-01,-2.76234377e+00,-1.10774206e+00, 8.77504500e+00,
  2.42640466e+01,-9.33880582e+01]

qfrc_actuator:
[ 0.00745332, 0.06853989, 0.01384647, 0.00195585, 0.00023341, 0.03618744,
  0.0109108 , 0.00167985,-0.00300531, 0.03478447, 0.0108149 , 0.00173315,
  0.00888225, 0.00964266, 0.        ,-0.00123131, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16542601, -0.02831953, -0.16298395, -0.02831953,  0.81890363,
       -0.113546  , -0.16298395, -0.113546  ,  0.18515537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016485963647050982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62040149,  0.07840316, -0.78035565, -0.04879163,  0.99692173,
        0.06137126,  0.78276521,  0.        ,  0.62231715])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621235, -0.03383739,  0.22449638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16542601, -0.02831953, -0.16298395, -0.02831953,  0.81890363,
       -0.113546  , -0.16298395, -0.113546  ,  0.18515537,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016485963647050982
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62040149,  0.07840316, -0.78035565, -0.04879163,  0.99692173,
        0.06137126,  0.78276521,  0.        ,  0.62231715])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621235, -0.03383739,  0.22449638])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005644084974450077
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39922654,  0.08637663, -0.91277448, -0.03461321,  0.99626255,
        0.07913816,  0.91619872,  0.        ,  0.40072422])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08349672, -0.03375962,  0.22310062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.78913167,  -4.05859152, -16.78913167,
        21.03241759, -15.5526703 ,  -4.05859152, -15.5526703 ,
        81.60929031,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0017243796457246524
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.60959773e-14,  1.60959773e-14,  1.00000000e+00,  2.59080485e-28,
        1.00000000e+00, -1.60959773e-14, -1.00000000e+00,  0.00000000e+00,
       -1.60959773e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06924226, -0.06277269,  0.0618884 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.36002559e-03, 3.47644512e-02, 3.10062719e-03,-1.24908572e-07,
  5.33265412e-06,-1.23489365e-04,-9.20430489e-05,-1.42139217e-05,
 -3.14859316e-05, 1.21246648e-05, 1.51035852e-05,-1.20370328e-05,
  8.84288692e-03, 1.34723683e-02, 6.37742140e-03,-8.18290594e-05,
  1.19706506e-04, 1.23529875e-03,-9.81023890e+00,-7.73317358e-03,
 -6.01881647e-02, 5.94596834e-02]


--- Step 3296 ---
qpos:
[-0.01629646, 1.19487383,-0.03478964, 0.94262767,-0.00813155, 1.33154648,
 -0.03108702, 0.94144511, 0.01527708, 1.33844463,-0.02373954, 0.95471115,
  1.26496753,-0.00577261, 1.29069241, 0.04487369,-0.05516994,-0.08492249,
  0.09188218, 0.69527286,-0.11837332,-0.70890665,-0.0058964 ]

qacc:
[ 4.33925552e-01,-1.03425800e+00, 2.04776178e+00,-4.74909238e+00,
 -5.65429063e-02,-1.88837697e-01,-1.44148028e-01,-4.55884821e+00,
 -3.48384671e-02, 1.15170910e+00,-5.07117935e+00, 1.08997704e+01,
 -5.66035017e-01, 3.96082236e-01, 9.12106865e+00,-1.87077889e+01,
  4.22169499e-01,-2.67383891e+00,-1.42353634e+00, 8.44254761e+00,
  2.34488330e+01,-9.02053399e+01]

qfrc_actuator:
[ 0.00746135, 0.06851885, 0.01386151, 0.00193377, 0.00021397, 0.03611727,
  0.01086795, 0.00165572,-0.00299676, 0.03475902, 0.0108012 , 0.00176039,
  0.00886641, 0.00968262, 0.        ,-0.00143307, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16543465, -0.0336476 , -0.16197674, -0.0336476 ,  0.97060875,
       -0.16725966, -0.16197674, -0.16725966,  0.20017968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016499878957515653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.20429082e-01,  7.84114353e-02, -7.80332878e-01, -4.87989828e-02,
        9.96921084e-01,  6.13759926e-02,  7.82742878e-01,  6.93889390e-18,
        6.22345231e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621232, -0.03383926,  0.22449656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16543465, -0.0336476 , -0.16197674, -0.0336476 ,  0.97060875,
       -0.16725966, -0.16197674, -0.16725966,  0.20017968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016499878957515653
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.20429082e-01,  7.84114353e-02, -7.80332878e-01, -4.87989828e-02,
        9.96921084e-01,  6.13759926e-02,  7.82742878e-01,  6.93889390e-18,
        6.22345231e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621232, -0.03383926,  0.22449656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005646798480042174
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39921716,  0.0863831 , -0.91277797, -0.03461501,  0.99626199,
        0.07914444,  0.91620274,  0.        ,  0.40071503])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08349625, -0.03376152,  0.22310055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.70883542,  -4.37743375, -16.70883542,
        21.57543544, -16.42360497,  -4.37743375, -16.42360497,
        79.96226832,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0016635667023061351
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.66843780e-14, -1.66843780e-14,  1.00000000e+00, -2.78368468e-28,
        1.00000000e+00,  1.66843780e-14, -1.00000000e+00,  0.00000000e+00,
       -1.66843780e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06926071, -0.06274167,  0.06189227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.33166622e-03, 3.47590195e-02, 3.12085111e-03,-2.37717981e-05,
 -1.62956421e-05,-1.57132252e-04,-7.79524562e-05,-3.08450455e-05,
 -1.00452982e-05,-1.61550106e-05,-9.96651253e-06, 2.77548575e-05,
  8.83921362e-03, 1.35079072e-02, 6.24241109e-03,-2.75028564e-04,
  1.33128398e-04, 2.68518566e-03,-9.81062331e+00,-7.77923695e-03,
 -6.01238000e-02, 5.94886275e-02]


--- Step 3297 ---
qpos:
[-0.01631196, 1.19488162,-0.03478735, 0.9426274 ,-0.00812756, 1.33157327,
 -0.03108738, 0.94144285, 0.01527793, 1.33844542,-0.02374116, 0.95471162,
  1.26503538,-0.00581232, 1.29069121, 0.04487468,-0.05516179,-0.08497662,
  0.09190271, 0.69540985,-0.1175942 ,-0.70889682,-0.00648389]

qacc:
[-3.18323734e-01, 2.09711596e+00,-3.68004501e+00,-3.12855690e-01,
 -2.02988352e-01,-1.03944333e+00, 1.82002584e+00,-6.60462538e-01,
 -3.83205128e-03, 3.58006743e-01,-1.14859337e+00, 6.72417474e-01,
 -9.19972396e-01, 1.35677749e+00,-6.86640049e+00, 1.05275845e+01,
  4.11908716e-01,-2.60262747e+00,-1.68800546e+00, 8.15144899e+00,
  2.27907708e+01,-8.76460441e+01]

qfrc_actuator:
[ 0.00748923, 0.06850455, 0.01383435, 0.00193849, 0.00016509, 0.03610022,
  0.0108783 , 0.00166019,-0.00299193, 0.03476126, 0.01079364, 0.00175844,
  0.00886511, 0.00974072, 0.        ,-0.00116428, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16546761, -0.02276793, -0.16389372, -0.02276793,  0.6550368 ,
       -0.06801039, -0.16389372, -0.06801039,  0.17491554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016552803080530955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62043253,  0.07842037, -0.78032924, -0.04880485,  0.99692038,
        0.06138275,  0.78273978,  0.        ,  0.62234913])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621244, -0.03384124,  0.22449651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16546761, -0.02276793, -0.16389372, -0.02276793,  0.6550368 ,
       -0.06801039, -0.16389372, -0.06801039,  0.17491554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016552803080530955
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62043253,  0.07842037, -0.78032924, -0.04880485,  0.99692038,
        0.06138275,  0.78273978,  0.        ,  0.62234913])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621244, -0.03384124,  0.22449651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005652300807139146
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39920933,  0.08638914, -0.91278082, -0.03461677,  0.99626147,
        0.07915026,  0.91620608,  0.        ,  0.40070739])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08349629, -0.03376354,  0.22310047])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.60726284,  -4.7482553 , -16.60726284,
        22.26200715, -17.45025848,  -4.7482553 , -17.45025848,
        78.3058881 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0015993483859770355
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.47086049e-14,  1.73543025e-14,  1.00000000e+00,  6.02343627e-28,
        1.00000000e+00, -1.73543025e-14, -1.00000000e+00,  0.00000000e+00,
       -3.47086049e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06928017, -0.06270891,  0.06189634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.30979838e-03, 3.48076155e-02, 3.11537746e-03,-2.79129230e-06,
 -5.85001655e-05,-1.20361286e-04,-3.02052877e-05,-3.23414095e-06,
 -1.09998552e-06,-7.82737391e-06,-1.10318318e-05,-2.07367707e-06,
  8.85951414e-03, 1.35769725e-02, 5.93700240e-03,-5.40331490e-06,
  1.09517621e-04, 4.61954191e-03,-9.81115008e+00,-7.85666346e-03,
 -6.00507035e-02, 5.95257546e-02]


--- Step 3298 ---
qpos:
[-0.0163273 , 1.19488993,-0.03478461, 0.94262831,-0.0081241 , 1.33159923,
 -0.03108705, 0.94143887, 0.01527866, 1.33844645,-0.02374268, 0.95471134,
  1.26510298,-0.00585135, 1.29068655, 0.04487499,-0.05516643,-0.08503026,
  0.0919073 , 0.69540503,-0.11686745,-0.70901621,-0.00706141]

qacc:
[ 6.72860951e-02, 1.45981300e+00,-6.36954940e+00, 1.88038907e+01,
 -2.26011388e-01,-5.84225286e+00, 2.12615841e+01,-3.77367865e+01,
 -5.49018072e-02,-1.25396564e+00, 6.00183321e+00,-1.40699673e+01,
 -4.92608320e-01, 9.08973158e-01,-3.04338097e+00, 3.30219419e+00,
 -3.19392491e+00, 1.26000487e-01,-3.98481804e+00,-2.25990563e+01,
 -9.59478300e+01, 1.39693336e+01]

qfrc_actuator:
[ 0.0075481 , 0.06850958, 0.01378168, 0.00199481, 0.00013446, 0.03607985,
  0.0109202 , 0.001575  ,-0.00300712, 0.0347978 , 0.01080761, 0.00172159,
  0.00886193, 0.00975543, 0.        ,-0.00114494, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.1654751 , -0.01955559, -0.16431551, -0.01955559,  0.57631532,
       -0.04889509, -0.16431551, -0.04889509,  0.17129422,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001656479573828168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.20462835e-01,  7.84283434e-02, -7.80304342e-01, -4.88122260e-02,
        9.96919754e-01,  6.13870642e-02,  7.82715298e-01,  6.93889390e-18,
        6.22379918e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621241, -0.03384305,  0.22449672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1654751 , -0.01955559, -0.16431551, -0.01955559,  0.57631532,
       -0.04889509, -0.16431551, -0.04889509,  0.17129422,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001656479573828168
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.20462835e-01,  7.84283434e-02, -7.80304342e-01, -4.88122260e-02,
        9.96919754e-01,  6.13870642e-02,  7.82715298e-01,  6.93889390e-18,
        6.22379918e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621241, -0.03384305,  0.22449672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005654934003154546
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99199986e-01,  8.63955063e-02, -9.12784305e-01, -3.46185264e-02,
        9.96260918e-01,  7.91564346e-02,  9.16210090e-01, -6.93889390e-18,
        4.00698229e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08349577, -0.03376538,  0.22310042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.54965164,   4.94531474, -16.54965164,
        21.62274129,  14.55745899,   4.94531474,  14.55745899,
        65.98972255,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0015622285116295154
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.32999662e-14, -3.55333108e-14,  1.00000000e+00, -1.89392426e-27,
        1.00000000e+00,  3.55333108e-14, -1.00000000e+00,  0.00000000e+00,
       -5.32999662e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02327781, -0.09075055,  0.06189874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.40513211e-03, 3.47264376e-02, 3.06617331e-03, 6.38908933e-05,
 -6.51667106e-05,-9.31636678e-05, 1.47779538e-05,-8.97467411e-05,
 -1.58391574e-05, 2.99997964e-05, 1.11240785e-05,-3.74512049e-05,
  8.89760263e-03, 1.35477288e-02, 6.25506026e-03, 5.46647918e-05,
  5.14217813e-05, 7.00269558e-03,-9.81180380e+00,-7.96217137e-03,
 -5.99697616e-02, 5.95707479e-02]


--- Step 3299 ---
qpos:
[-0.01634251, 1.19489897,-0.03478236, 0.94262888,-0.00812083, 1.33162471,
 -0.03108638, 0.9414339 , 0.01527938, 1.33844732,-0.02374386, 0.9547103 ,
  1.2651704 ,-0.00588979, 1.29067764, 0.04487477,-0.05518291,-0.08508326,
  0.09189446, 0.69526683,-0.11618453,-0.70925803,-0.00763144]

qacc:
[ 5.51336674e-02, 1.70410037e+00,-3.69924755e+00,-1.18002741e+00,
 -7.76542742e-02,-3.28597402e+00, 1.20202585e+01,-2.17777086e+01,
 -3.12593843e-03,-2.45400602e+00, 9.27727896e+00,-1.67181488e+01,
 -3.03839057e-01, 6.58644331e-01,-4.66814271e+00, 7.28051130e+00,
 -2.96383794e+00, 1.56922288e-01,-4.35663541e+00,-1.99428145e+01,
 -9.04442254e+01, 1.05187536e+01]

qfrc_actuator:
[ 0.00758947, 0.06850896, 0.01376646, 0.00197428, 0.00015052, 0.03607549,
  0.0109448 , 0.0015265 ,-0.00299869, 0.03476591, 0.01081654, 0.00168229,
  0.0088576 , 0.00977944, 0.        ,-0.00104428, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16546649, -0.02224738, -0.16396406, -0.02224738,  0.66424163,
       -0.06767606, -0.16396406, -0.06767606,  0.17464908,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001655099932645638
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62050802,  0.07843544, -0.7802677 , -0.04882022,  0.9969192 ,
        0.06138977,  0.78267898,  0.        ,  0.62242559])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621229, -0.03384482,  0.22449707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16546649, -0.02224738, -0.16396406, -0.02224738,  0.66424163,
       -0.06767606, -0.16396406, -0.06767606,  0.17464908,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001655099932645638
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62050802,  0.07843544, -0.7802677 , -0.04882022,  0.9969192 ,
        0.06138977,  0.78267898,  0.        ,  0.62242559])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621229, -0.03384482,  0.22449707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005655676778941986
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99189760e-01,  8.64018269e-02, -9.12788179e-01, -3.46201912e-02,
        9.96260370e-01,  7.91626051e-02,  9.16214483e-01, -6.93889390e-18,
        4.00688186e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08349493, -0.03376716,  0.22310038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.88412422, -3.64327555, 16.88412422, 17.49893707,
        1.04832981, -3.64327555,  1.04832981, 22.13102869,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015429945423289237
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.79881230e-14,  3.59762460e-14,  1.00000000e+00,  6.47145138e-28,
        1.00000000e+00, -3.59762460e-14, -1.00000000e+00,  0.00000000e+00,
       -1.79881230e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02333853, -0.09073767,  0.06189997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.43877474e-03, 3.46999880e-02, 3.02856900e-03,-1.52388411e-05,
 -2.24037659e-05,-5.59001508e-05, 5.38265100e-06,-5.29247839e-05,
 -9.25803495e-07,-1.42443222e-05, 1.49541621e-05,-3.89539758e-05,
  8.90622429e-03, 1.35379373e-02, 6.42840168e-03, 1.88992634e-04,
  1.11829458e-03, 5.21767686e-03,-9.81150150e+00,-7.30279906e-03,
 -6.01342996e-02, 5.96165128e-02]


--- Step 3300 ---
qpos:
[-0.01635812, 1.19490953,-0.03478057, 0.94262844,-0.00811759, 1.33164987,
 -0.03108617, 0.94143048, 0.01528013, 1.33844767,-0.02374416, 0.95470846,
  1.2652372 ,-0.00592768, 1.29066516, 0.0448743 ,-0.05521049,-0.08513555,
  0.09186294, 0.69500226,-0.11553857,-0.70961646,-0.00819592]

qacc:
[-1.72252246e-01, 1.49346563e+00,-3.70594196e-01,-1.24074269e+01,
 -1.66755650e-02, 3.48809972e+00,-1.50908768e+01, 3.13660357e+01,
  1.48503799e-02,-4.44769348e+00, 1.53094250e+01,-2.22330021e+01,
 -6.52686686e-01, 8.96290532e-01,-4.43442024e+00, 7.96746260e+00,
 -2.77174528e+00, 1.79670852e-01,-4.67090525e+00,-1.77765809e+01,
 -8.58207849e+01, 7.77935607e+00]

qfrc_actuator:
[ 0.00760255, 0.06848678, 0.01379223, 0.00192643, 0.00015896, 0.03606299,
  0.01092358, 0.0016065 ,-0.00299392, 0.03472877, 0.01085766, 0.00164184,
  0.00885791, 0.00986213, 0.        ,-0.00094799, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16543931, -0.02913546, -0.16285359, -0.02913546,  0.82027678,
       -0.11715426, -0.16285359, -0.11715426,  0.1863989 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001650737330492376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.20570860e-01,  7.84415199e-02, -7.80217108e-01, -4.88289773e-02,
        9.96918717e-01,  6.13905776e-02,  7.82628609e-01,  6.93889390e-18,
        6.22488924e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621207, -0.0338465 ,  0.22449759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16543931, -0.02913546, -0.16285359, -0.02913546,  0.82027678,
       -0.11715426, -0.16285359, -0.11715426,  0.1863989 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001650737330492376
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.20570860e-01,  7.84415199e-02, -7.80217108e-01, -4.88289773e-02,
        9.96918717e-01,  6.13905776e-02,  7.82628609e-01,  6.93889390e-18,
        6.22488924e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621207, -0.0338465 ,  0.22449759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005654227868057346
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39917931,  0.0864081 , -0.91279216, -0.03462182,  0.99625983,
        0.07916874,  0.91621897,  0.        ,  0.40067792])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08349374, -0.03376886,  0.22310035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.88817623, -3.6244463 , 16.88817623, 17.61796083,
        1.60862231, -3.6244463 ,  1.60862231, 24.76813339,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015107765283251667
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.83717281e-14,  7.34869124e-14,  1.00000000e+00,  1.35008158e-27,
        1.00000000e+00, -7.34869124e-14, -1.00000000e+00,  0.00000000e+00,
       -1.83717281e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02343039, -0.09073415,  0.06190195])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.44549801e-03, 3.46410601e-02, 3.07870612e-03,-4.62234062e-05,
 -4.78790797e-06,-4.41638698e-05,-3.31371921e-05, 7.72831537e-05,
  4.22683784e-06,-4.32537218e-05, 3.89030590e-05,-4.13501619e-05,
  8.91504053e-03, 1.35918224e-02, 6.64069643e-03, 3.11397203e-04,
  1.66690787e-03, 3.76140053e-03,-9.81144045e+00,-6.68139572e-03,
 -6.02675989e-02, 5.96638987e-02]


--- Step 3301 ---
qpos:
[-0.01637401, 1.19492039,-0.03477805, 0.9426292 ,-0.00811449, 1.33167469,
 -0.0310862 , 0.94142769, 0.01528092, 1.33844803,-0.02374383, 0.95470576,
  1.26530324,-0.00596505, 1.29065309, 0.04487369,-0.05523567,-0.08520113,
  0.09183454, 0.69477963,-0.11470137,-0.70996141,-0.00892518]

qacc:
[-1.23214190e-01, 4.88732026e-01,-3.60531689e+00, 1.69127568e+01,
 -5.82867227e-02, 1.27617877e+00,-6.01059036e+00, 1.27642759e+01,
  1.75676304e-02,-3.14297910e+00, 1.19606676e+01,-2.01505566e+01,
 -9.76732719e-01, 1.20782823e+00, 1.11931844e+00,-2.84222897e+00,
  5.99537943e-01,-3.32499428e+00, 7.81265118e-01, 1.03509143e+01,
  2.98713337e+01,-1.24163079e+02]

qfrc_actuator:
[ 0.00759912, 0.06848609, 0.01377174, 0.00198727, 0.000145  , 0.0360456 ,
  0.01091104, 0.00163719,-0.00299137, 0.03475992, 0.01089968, 0.00160103,
  0.00885573, 0.00994433, 0.        ,-0.00101414, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16540012, -0.02583728, -0.16336963, -0.02583728,  0.66448156,
       -0.07893088, -0.16336963, -0.07893088,  0.17788323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001644423270753502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62064923,  0.07844703, -0.78015422, -0.0488386 ,  0.99691828,
        0.06138997,  0.78256586,  0.        ,  0.6225678 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621177, -0.0338481 ,  0.22449828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16540012, -0.02583728, -0.16336963, -0.02583728,  0.66448156,
       -0.07893088, -0.16336963, -0.07893088,  0.17788323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001644423270753502
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62064923,  0.07844703, -0.78015422, -0.0488386 ,  0.99691828,
        0.06138997,  0.78256586,  0.        ,  0.6225678 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621177, -0.0338481 ,  0.22449828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005651528259187077
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39916788,  0.08641455, -0.91279654, -0.03462343,  0.99625927,
        0.07917508,  0.91622389,  0.        ,  0.40066667])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08349223, -0.03377045,  0.22310036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001481980720554249
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.87287022e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.87287022e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06931919, -0.06266342,  0.06190365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.46178067e-03, 3.45644114e-02, 3.08085943e-03, 6.52643417e-05,
 -1.67889113e-05,-4.61519663e-05,-2.27222811e-05, 3.02032549e-05,
  5.03755354e-06, 1.35912724e-05, 3.67782433e-05,-4.19140561e-05,
  8.94385022e-03, 1.36476794e-02, 6.81926957e-03, 2.58328121e-04,
  1.79031868e-03, 2.55280965e-03,-9.81157323e+00,-6.08195580e-03,
 -6.03767024e-02, 5.97123834e-02]


--- Step 3302 ---
qpos:
[-0.01639029, 1.19493145,-0.03477524, 0.94263071,-0.00811155, 1.33169935,
 -0.03108675, 0.94142529, 0.01528175, 1.33844909,-0.02374416, 0.95470261,
  1.26536875,-0.00600181, 1.29064042, 0.04487289,-0.05525861,-0.08527938,
  0.09180682, 0.69459596,-0.11368441,-0.71029296,-0.00980887]

qacc:
[-1.68029725e-01, 7.79003354e-01,-3.77696246e+00, 1.19123225e+01,
 -6.75600389e-02, 1.87158747e+00,-7.15264890e+00, 1.08145660e+01,
  1.42585787e-02, 1.90372974e+00,-4.15472807e+00,-2.18520361e+00,
 -7.73696704e-01, 1.10093689e+00,-2.73703035e-01,-2.16596929e-01,
  5.59696029e-01,-3.16418207e+00, 1.69309445e-01, 9.81281748e+00,
  2.81391192e+01,-1.16517020e+02]

qfrc_actuator:
[ 0.00758584, 0.06849891, 0.01377576, 0.00202275, 0.00013546, 0.0360432 ,
  0.01088592, 0.00165634,-0.00299019, 0.03481396, 0.01087113, 0.00157814,
  0.00885208, 0.00999053, 0.        ,-0.00100024, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16536367, -0.02510723, -0.16344654, -0.02510723,  0.65736028,
       -0.07557622, -0.16344654, -0.07557622,  0.17697303,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016385256877345447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62072676,  0.07845276, -0.78009196, -0.04884829,  0.99691783,
        0.06138958,  0.78250376,  0.        ,  0.62264585])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621149, -0.03384968,  0.22449896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16536367, -0.02510723, -0.16344654, -0.02510723,  0.65736028,
       -0.07557622, -0.16344654, -0.07557622,  0.17697303,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016385256877345447
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62072676,  0.07845276, -0.78009196, -0.04884829,  0.99691783,
        0.06138958,  0.78250376,  0.        ,  0.62264585])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621149, -0.03384968,  0.22449896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005649229656221576
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39915551,  0.08642114, -0.91280133, -0.03462502,  0.99625869,
        0.07918157,  0.91622922,  0.        ,  0.40065448])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08349074, -0.03377204,  0.22310037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.19137651,   1.6744196 , -17.19137651,
        18.80920888,  15.77515804,   1.6744196 ,  15.77515804,
       179.23731621,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014747430124433178
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.76412370e-14,  1.88206185e-14,  1.00000000e+00,  7.08431361e-28,
        1.00000000e+00, -1.88206185e-14, -1.00000000e+00,  0.00000000e+00,
       -3.76412370e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06932259, -0.06266523,  0.06190404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.46262515e-03, 3.45620457e-02, 3.04866667e-03, 4.05717193e-05,
 -1.94441623e-05,-3.16468685e-05,-3.58867259e-05, 1.78207521e-05,
  4.15936341e-06, 6.74964247e-05,-2.29499155e-05,-2.23961929e-05,
  8.97877906e-03, 1.36686118e-02, 6.79851722e-03, 2.79238178e-04,
  2.75910803e-03, 5.41482220e-03,-9.81245444e+00,-5.83356758e-03,
 -6.03216509e-02, 5.97643437e-02]


--- Step 3303 ---
qpos:
[-0.01640666, 1.19494266,-0.03477311, 0.94263132,-0.00810862, 1.33172391,
 -0.03108825, 0.94142385, 0.0152826 , 1.33845094,-0.02374528, 0.95470093,
  1.26543397,-0.00603827, 1.29062846, 0.04487213,-0.05527944,-0.08536974,
  0.09177769, 0.69444859,-0.11249708,-0.71061107,-0.01083849]

qacc:
[-4.18152474e-02, 4.36443859e-01, 6.72674522e-01,-1.12368240e+01,
 -1.95563545e-03, 4.05138824e+00,-1.53747070e+01, 2.45425701e+01,
  9.53778013e-03, 5.72212162e+00,-2.04016096e+01, 3.42376071e+01,
 -4.67449664e-01, 6.35773419e-01, 9.99942520e-01,-1.85134245e+00,
  5.26679974e-01,-3.02906770e+00,-3.53052251e-01, 9.33169981e+00,
  2.66933077e+01,-1.10245043e+02]

qfrc_actuator:
[ 0.00758461, 0.0685198 , 0.01379463, 0.00197196, 0.00014641, 0.03603199,
  0.01083588, 0.00170406,-0.00298983, 0.03486329, 0.01083677, 0.0016547 ,
  0.00885289, 0.01003259, 0.        ,-0.00102697, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16532463, -0.03221336, -0.16215589, -0.03221336,  0.87724636,
       -0.14142803, -0.16215589, -0.14142803,  0.19342025,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016321830652378522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62080739,  0.07845857, -0.78002721, -0.04885827,  0.99691738,
        0.06138906,  0.78243917,  0.        ,  0.62272702])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621118, -0.03385126,  0.22449968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16532463, -0.03221336, -0.16215589, -0.03221336,  0.87724636,
       -0.14142803, -0.16215589, -0.14142803,  0.19342025,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016321830652378522
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62080739,  0.07845857, -0.78002721, -0.04885827,  0.99691738,
        0.06138906,  0.78243917,  0.        ,  0.62272702])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621118, -0.03385126,  0.22449968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005646637114096915
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39914269,  0.08642789, -0.9128063 , -0.03462663,  0.99625811,
        0.07918823,  0.91623475,  0.        ,  0.40064185])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08348918, -0.03377362,  0.22310038])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014549718056775657
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90763666e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.90763666e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06932946, -0.06265954,  0.06190522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.48065373e-03, 3.45725406e-02, 3.05316673e-03,-4.79603628e-05,
 -5.24667502e-07,-3.53841592e-05,-5.98314501e-05, 4.61575740e-05,
  2.81833133e-06, 8.14994615e-05,-2.44453967e-05, 7.73706536e-05,
  9.00559204e-03, 1.36811432e-02, 6.82940436e-03, 2.61955305e-04,
  3.62394390e-03, 8.99490598e-03,-9.81352227e+00,-5.64887689e-03,
 -6.02513109e-02, 5.98260483e-02]


--- Step 3304 ---
qpos:
[-0.0164233 , 1.19495491,-0.03477154, 0.94263088,-0.00810564, 1.33174801,
 -0.03108989, 0.94142159, 0.01528375, 1.33845226,-0.0237458 , 0.95470194,
  1.26549892,-0.00607425, 1.29061436, 0.04487125,-0.05529827,-0.08547176,
  0.09174536, 0.69433512,-0.11114711,-0.71091553,-0.01200718]

qacc:
[-1.14720423e-01, 1.15890869e+00, 5.50503911e-02,-1.28607502e+01,
  1.77146663e-02,-1.60459130e+00, 6.18344085e+00,-1.44740880e+01,
  1.28458434e-01, 2.31448641e+00,-1.38070203e+01, 4.34004424e+01,
 -4.03643634e-01, 6.70047279e-01,-2.80091913e+00, 5.26435606e+00,
  4.99362932e-01,-2.91580998e+00,-7.99254073e-01, 8.89872999e+00,
  2.54884391e+01,-1.05127239e+02]

qfrc_actuator:
[ 0.00760823, 0.06851002, 0.01376999, 0.00192404, 0.00015181, 0.03599775,
  0.01082477, 0.00166168,-0.00295447, 0.03478517, 0.01085259, 0.00178919,
  0.00885104, 0.01005447, 0.        ,-0.00093621, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16528936, -0.03035741, -0.16247769, -0.03035741,  0.83456848,
       -0.12504844, -0.16247769, -0.12504844,  0.18865347,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016264297902160267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62088576,  0.07846455, -0.77996422, -0.04886819,  0.9969169 ,
        0.06138881,  0.78237636,  0.        ,  0.62280593])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862109 , -0.03385285,  0.22450037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16528936, -0.03035741, -0.16247769, -0.03035741,  0.83456848,
       -0.12504844, -0.16247769, -0.12504844,  0.18865347,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016264297902160267
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62088576,  0.07846455, -0.77996422, -0.04886819,  0.9969169 ,
        0.06138881,  0.78237636,  0.        ,  0.62280593])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862109 , -0.03385285,  0.22450037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005644515236577496
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99130355e-01,  8.64346600e-02, -9.12811048e-01, -3.46282921e-02,
        9.96257522e-01,  7.91948977e-02,  9.16240057e-01,  6.93889390e-18,
        4.00629703e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08348768, -0.03377523,  0.2231004 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014252755705260606
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.9473831e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.9473831e-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([-0.06933907, -0.06264787,  0.06190703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.50904278e-03, 3.45558525e-02, 3.06194300e-03,-5.03834033e-05,
  5.08940807e-06,-6.43026608e-05,-2.35146404e-05,-4.40985208e-05,
  3.70345316e-05,-3.55467085e-05, 3.12182259e-05, 1.37988023e-04,
  9.01851632e-03, 1.36883341e-02, 6.79323064e-03, 3.50877384e-04,
  4.40133692e-03, 1.31838490e-02,-9.81473535e+00,-5.51529876e-03,
 -6.01685019e-02, 5.98968457e-02]


--- Step 3305 ---
qpos:
[-0.01644016, 1.19496852,-0.03476975, 0.94263049,-0.00810263, 1.33177113,
 -0.03109085, 0.94141851, 0.01528526, 1.33845285,-0.02374587, 0.9547039 ,
  1.26556363,-0.00610968, 1.29059781, 0.04487022,-0.0553152 ,-0.08558507,
  0.09170831, 0.69425338,-0.10964074,-0.71120602,-0.01330941]

qacc:
[-9.82401676e-02, 1.22554911e+00,-1.96089506e+00, 1.41244292e+00,
  1.76685742e-02,-4.52821843e+00, 1.49362456e+01,-2.19865883e+01,
  1.47259059e-01,-5.25952099e-01,-1.33772368e+00, 1.24647861e+01,
 -4.03109198e-01, 7.30432768e-01,-3.13809244e+00, 5.78380202e+00,
  4.76781715e-01,-2.82110740e+00,-1.18090886e+00, 8.50598104e+00,
  2.44866735e+01,-1.00983112e+02]

qfrc_actuator:
[ 0.00762922, 0.06846311, 0.01375492, 0.0019316 , 0.00015384, 0.03593234,
  0.01085435, 0.00161989,-0.00293389, 0.03472033, 0.01086192, 0.00183235,
  0.00884229, 0.01006396, 0.        ,-0.00086359, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16524733, -0.02712904, -0.1630052 , -0.02712904,  0.7253935 ,
       -0.09322543, -0.1630052 , -0.09322543,  0.18076289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001619544624542231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62097397,  0.07847019, -0.77989343, -0.04887866,  0.99691646,
        0.06138767,  0.7823057 ,  0.        ,  0.62289469])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621057, -0.03385442,  0.22450117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16524733, -0.02712904, -0.1630052 , -0.02712904,  0.7253935 ,
       -0.09322543, -0.1630052 , -0.09322543,  0.18076289,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001619544624542231
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62097397,  0.07847019, -0.77989343, -0.04887866,  0.99691646,
        0.06138767,  0.7823057 ,  0.        ,  0.62289469])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621057, -0.03385442,  0.22450117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005641698895939608
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39911758,  0.08644155, -0.91281598, -0.03462996,  0.99625692,
        0.07920168,  0.91624556,  0.        ,  0.40061712])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08348599, -0.03377679,  0.22310044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.25025408,   0.88081866, -17.25025408,
        17.44537049,   3.38110386,   0.88081866,   3.38110386,
        83.48942244,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001387834773114771
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99991931e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.99991931e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06935081, -0.06263148,  0.06190933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.54314249e-03, 3.44560604e-02, 3.07558439e-03, 9.44967324e-06,
  5.02644027e-06,-1.07089556e-04, 1.29981268e-05,-4.54139025e-05,
  4.24464853e-05,-7.43165323e-05, 9.97459611e-06, 4.62357515e-05,
  9.02353168e-03, 1.36748533e-02, 6.90080857e-03, 4.29162218e-04,
  5.10446320e-03, 1.79081847e-02,-9.81606261e+00,-5.42369008e-03,
 -6.00753095e-02, 5.99761248e-02]


--- Step 3306 ---
qpos:
[-0.01645705, 1.19498291,-0.03476751, 0.94263058,-0.00809944, 1.33179321,
 -0.03109171, 0.94141603, 0.01528677, 1.33845368,-0.02374639, 0.9547046 ,
  1.26562817,-0.00614469, 1.29058096, 0.04486919,-0.05533029,-0.08570934,
  0.09166522, 0.69420138,-0.10798303,-0.71148213,-0.01474078]

qacc:
[-1.38765783e-02, 6.51772649e-01,-1.85504971e+00, 6.64216480e+00,
  7.19749010e-02,-6.18706556e-01,-8.63643490e-01, 8.32729098e+00,
  3.74035030e-03,-6.62237746e-01, 5.09029312e+00,-1.91317102e+01,
 -3.83120923e-01, 6.37744868e-01,-3.69408201e-01, 7.42483386e-01,
  4.58114287e-01,-2.74211226e+00,-1.50804406e+00, 8.14636248e+00,
  2.36563649e+01,-9.76637618e+01]

qfrc_actuator:
[ 0.00763094, 0.06842872, 0.01376278, 0.00195401, 0.00017158, 0.03586668,
  0.01085433, 0.00164981,-0.00295786, 0.03477039, 0.01084953, 0.00176814,
  0.00883471, 0.01008349, 0.        ,-0.00087277, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16519795, -0.02795769, -0.16281501, -0.02795769,  0.72972302,
       -0.09693711, -0.16281501, -0.09693711,  0.18184345,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016114125318619776
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.21073791e-01,  7.84753451e-02, -7.79813418e-01, -4.88897534e-02,
        9.96916055e-01,  6.13854364e-02,  7.82225759e-01, -6.93889390e-18,
        6.22995073e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621018, -0.03385595,  0.2245021 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16519795, -0.02795769, -0.16281501, -0.02795769,  0.72972302,
       -0.09693711, -0.16281501, -0.09693711,  0.18184345,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016114125318619776
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.21073791e-01,  7.84753451e-02, -7.79813418e-01, -4.88897534e-02,
        9.96916055e-01,  6.13854364e-02,  7.82225759e-01, -6.93889390e-18,
        6.22995073e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08621018, -0.03385595,  0.2245021 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005638177990612142
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39910335,  0.08644856, -0.91282154, -0.03463156,  0.99625632,
        0.07920864,  0.9162517 ,  0.        ,  0.40060308])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08348406, -0.03377832,  0.22310051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.27223516,  -0.13038403, -17.27223516,
        17.27639101,  -0.48534264,  -0.13038403,  -0.48534264,
        81.56704492,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013444670425048072
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06442960e-14,  2.06442960e-14,  1.00000000e+00,  4.26186958e-28,
        1.00000000e+00, -2.06442960e-14, -1.00000000e+00,  0.00000000e+00,
       -2.06442960e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06936418, -0.06261143,  0.061912  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.55609744e-03, 3.43541334e-02, 3.07178287e-03, 2.94235057e-05,
  2.06987207e-05,-1.23896788e-04,-2.08631714e-05, 2.60413634e-05,
  1.09614465e-06, 1.22841978e-05,-2.44136460e-05,-6.50457751e-05,
  9.02752404e-03, 1.36674499e-02, 7.02387176e-03, 4.27603348e-04,
  5.74386184e-03, 2.31206523e-02,-9.81748039e+00,-5.36746323e-03,
 -5.99732718e-02, 6.00633107e-02]


--- Step 3307 ---
qpos:
[-0.01647423, 1.19499835,-0.03476584, 0.94262959,-0.00809622, 1.33181437,
 -0.0310929 , 0.94141427, 0.01528801, 1.33845441,-0.02374729, 0.95470524,
  1.26569257,-0.00617928, 1.29056208, 0.04486817,-0.0553583 ,-0.08583391,
  0.09160553, 0.69400888,-0.10638539,-0.71187966,-0.01616103]

qacc:
[-1.27829808e-01, 1.06155492e+00, 4.24382793e-01,-1.35893362e+01,
  1.29778587e-02, 9.10976664e-01,-5.94861563e+00, 1.42791688e+01,
 -1.11295318e-01, 8.04204977e-01,-2.67154535e+00, 1.73048275e+00,
 -2.62235064e-01, 5.23129849e-01,-3.03434437e+00, 6.31467489e+00,
 -3.22907216e+00,-7.36119764e-02,-4.15240630e+00,-2.35845890e+01,
 -9.31712427e+01, 1.76409867e+01]

qfrc_actuator:
[ 0.00762099, 0.06838409, 0.01374858, 0.00189613, 0.00016309, 0.03581907,
  0.01083685, 0.00168614,-0.0029906 , 0.03474669, 0.01082482, 0.0017656 ,
  0.00882253, 0.01009121, 0.        ,-0.00078909, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16514955, -0.03174016, -0.16207078, -0.03174016,  0.85540901,
       -0.13518136, -0.16207078, -0.13518136,  0.19162366,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016033992292574864
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62117637,  0.07848038, -0.7797312 , -0.04890099,  0.99691566,
        0.06138293,  0.7821436 ,  0.        ,  0.62309822])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620979, -0.03385749,  0.22450307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16514955, -0.03174016, -0.16207078, -0.03174016,  0.85540901,
       -0.13518136, -0.16207078, -0.13518136,  0.19162366,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016033992292574864
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62117637,  0.07848038, -0.7797312 , -0.04890099,  0.99691566,
        0.06138293,  0.7821436 ,  0.        ,  0.62309822])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620979, -0.03385749,  0.22450307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005634918306260117
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39908799,  0.0864556 , -0.91282759, -0.03463307,  0.9962557 ,
        0.07921566,  0.91625833,  0.        ,  0.40058791])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08348209, -0.03377986,  0.22310058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.55693905,   4.92086139, -16.55693905,
        20.06604093,   9.39850165,   4.92086139,   9.39850165,
        48.89532472,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013348799179324494
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07925636e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.07925636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02395244, -0.09061783,  0.06191255])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.54772659e-03, 3.42697433e-02, 3.03532866e-03,-5.22825506e-05,
  3.72448711e-06,-1.19600932e-04,-4.33655889e-05, 3.26202571e-05,
 -3.20950857e-05,-2.36064882e-05,-2.69916068e-05,-4.40632862e-06,
  9.02416166e-03, 1.36552381e-02, 7.03868971e-03, 5.11787405e-04,
  6.32797108e-03, 2.87933547e-02,-9.81897024e+00,-5.34193870e-03,
 -5.98635229e-02, 6.01578609e-02]


--- Step 3308 ---
qpos:
[-0.01649137, 1.1950146 ,-0.0347646 , 0.94262758,-0.00809318, 1.33183499,
 -0.03109446, 0.94141294, 0.01528894, 1.33845522,-0.02374916, 0.9547062 ,
  1.26575684,-0.00621365, 1.29054323, 0.04486734,-0.05539822,-0.08595855,
  0.09152778, 0.69368362,-0.10483595,-0.71239289,-0.01757357]

qacc:
[ 2.07100406e-02, 5.05067141e-01, 1.74811085e+00,-1.38409703e+01,
 -7.62155566e-02, 1.03222546e+00,-5.07827471e+00, 9.59906052e+00,
 -1.35140891e-01, 3.28370466e+00,-1.12316282e+01, 1.34242293e+01,
 -2.30847830e-01, 3.50374479e-01,-4.89999680e-01, 1.82958256e+00,
 -2.97732675e+00,-1.74167486e-02,-4.51523370e+00,-2.01090746e+01,
 -8.82021385e+01, 1.26052371e+01]

qfrc_actuator:
[ 0.00763982, 0.06835052, 0.01373973, 0.00184469, 0.00013894, 0.03581811,
  0.01082703, 0.00170821,-0.00301059, 0.03474999, 0.01077507, 0.0017816 ,
  0.00881824, 0.01010942, 0.        ,-0.00079175, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16509531, -0.03522182, -0.16129441, -0.03522182,  0.94713669,
       -0.1707742 , -0.16129441, -0.1707742 ,  0.20238723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001594364794757358
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.21288186e-01,  7.84851120e-02, -7.79641634e-01, -4.89127547e-02,
        9.96915286e-01,  6.13795995e-02,  7.82054047e-01,  6.93889390e-18,
        6.23210612e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620936, -0.03385901,  0.22450413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16509531, -0.03522182, -0.16129441, -0.03522182,  0.94713669,
       -0.1707742 , -0.16129441, -0.1707742 ,  0.20238723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001594364794757358
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.21288186e-01,  7.84851120e-02, -7.79641634e-01, -4.89127547e-02,
        9.96915286e-01,  6.13795995e-02,  7.82054047e-01,  6.93889390e-18,
        6.23210612e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620936, -0.03385901,  0.22450413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005631050529579552
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99072192e-01,  8.64627698e-02, -9.12833816e-01, -3.46345907e-02,
        9.96255083e-01,  7.92228230e-02,  9.16265153e-01, -6.93889390e-18,
        4.00572302e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08347993, -0.03378137,  0.22310068])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.7452666 , -4.23593601, 16.7452666 , 17.10901418,
       -0.6471815 , -4.23593601, -0.6471815 , 14.71432535,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013189813146664564
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.20863818e-14,  4.20863818e-14,  1.00000000e+00,  1.77126354e-27,
        1.00000000e+00, -4.20863818e-14, -1.00000000e+00,  0.00000000e+00,
       -4.20863818e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0240008 , -0.0905933 ,  0.06191344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.58117337e-03, 3.41839633e-02, 3.05485090e-03,-4.96396361e-05,
 -2.19568552e-05,-7.47883801e-05,-3.72333692e-05, 1.79656993e-05,
 -3.89422823e-05,-1.51579954e-05,-5.75482994e-05, 1.44133012e-05,
  9.02665674e-03, 1.36525898e-02, 7.14036011e-03, 5.08197539e-04,
  7.81610423e-03, 2.49011513e-02,-9.81875458e+00,-3.85561507e-03,
 -6.02286249e-02, 6.02689277e-02]


--- Step 3309 ---
qpos:
[-0.01650779, 1.19503045,-0.03476349, 0.94262506,-0.00809023, 1.33185537,
 -0.03109628, 0.9414115 , 0.01528958, 1.33845592,-0.02375096, 0.95470593,
  1.26582081,-0.00624829, 1.29053022, 0.04486698,-0.05544921,-0.08608309,
  0.09143073, 0.693232  ,-0.10332515,-0.71301685,-0.01898108]

qacc:
[ 3.13754745e-01,-1.03104141e+00, 3.76436264e+00,-8.87060993e+00,
 -3.75191589e-02, 1.89587980e-01,-8.08826122e-01,-3.25121848e-01,
 -1.21867204e-01,-2.46052550e+00, 1.03329819e+01,-2.31197472e+01,
 -3.70202740e-01, 1.75949762e-01, 7.23418271e+00,-1.27298996e+01,
 -2.76633229e+00, 2.48997924e-02,-4.82184504e+00,-1.72597928e+01,
 -8.40185336e+01, 8.58901798e+00]

qfrc_actuator:
[ 0.00765795, 0.0683944 , 0.01376969, 0.00181524, 0.00014109, 0.03582735,
  0.01082198, 0.00170397,-0.00302276, 0.0347516 , 0.01078206, 0.00171961,
  0.00882401, 0.01016947, 0.        ,-0.0009884 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16504414, -0.0417316 , -0.15968106, -0.0417316 ,  1.11378091,
       -0.24794612, -0.15968106, -0.24794612,  0.22984323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015857895972887573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.21401072e-01,  7.84897587e-02, -7.79551195e-01, -4.89245564e-02,
        9.96914920e-01,  6.13761355e-02,  7.81963615e-01,  6.93889390e-18,
        6.23324077e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620893, -0.03386055,  0.22450522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16504414, -0.0417316 , -0.15968106, -0.0417316 ,  1.11378091,
       -0.24794612, -0.15968106, -0.24794612,  0.22984323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015857895972887573
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.21401072e-01,  7.84897587e-02, -7.79551195e-01, -4.89245564e-02,
        9.96914920e-01,  6.13761355e-02,  7.81963615e-01,  6.93889390e-18,
        6.23324077e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620893, -0.03386055,  0.22450522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005627685495651659
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39905604,  0.08646993, -0.9128402 , -0.03463608,  0.99625446,
        0.07922998,  0.91627213,  0.        ,  0.40055634])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08347777, -0.0337829 ,  0.2231008 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.729127  , -4.2992345 , 16.729127  , 17.20083989,
       -0.27972729, -4.2992345 , -0.27972729, 16.18425599,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012910354357036566
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.29973878e-14,  4.29973878e-14,  1.00000000e+00,  1.84877535e-27,
        1.00000000e+00, -4.29973878e-14, -1.00000000e+00,  0.00000000e+00,
       -4.29973878e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02407829, -0.09057961,  0.06191504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.59688970e-03, 3.41869073e-02, 3.10631043e-03,-2.82388220e-05,
 -1.08072985e-05,-3.90248902e-05,-2.34140762e-05,-7.13873916e-06,
 -3.51710140e-05,-1.75891258e-05,-2.08693694e-06,-6.37855648e-05,
  9.03943690e-03, 1.37029039e-02, 7.13896797e-03, 3.02370325e-04,
  8.83323575e-03, 2.16115759e-02,-9.81878475e+00,-2.44005466e-03,
 -6.05278368e-02, 6.03795134e-02]


--- Step 3310 ---
qpos:
[-0.01652404, 1.19504618,-0.03476316, 0.94262118,-0.00808704, 1.33187562,
 -0.03109796, 0.94141   , 0.01529014, 1.33845586,-0.02375156, 0.95470492,
  1.26588373,-0.00628295, 1.29051999, 0.04486684,-0.05549752,-0.08622155,
  0.0913372 , 0.69281676,-0.10159709,-0.71362426,-0.02057623]

qacc:
[ 7.17516177e-02,-3.77990649e-01, 3.86285477e+00,-1.90716951e+01,
  1.01710092e-01,-6.45900181e-01, 2.07063286e+00,-2.56545523e+00,
 -3.58006353e-02,-5.53872711e+00, 1.83535064e+01,-2.40053997e+01,
 -9.55380037e-01, 7.70054737e-01, 3.48572654e+00,-6.06766667e+00,
  6.68449639e-01,-3.47928406e+00, 8.77546853e-01, 1.01315805e+01,
  3.04668932e+01,-1.41284953e+02]

qfrc_actuator:
[ 0.00769271, 0.06836137, 0.0137518 , 0.00174563, 0.00017676, 0.03584264,
  0.01083759, 0.00170207,-0.0030124 , 0.0346991 , 0.01084019, 0.00168327,
  0.00881985, 0.01027277, 0.        ,-0.00101777, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16501859, -0.04277974, -0.159377  , -0.04277974,  1.10309377,
       -0.25179675, -0.159377  , -0.25179675,  0.2326055 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015814888469575447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62149147,  0.07849515, -0.77947858, -0.04893505,  0.9969145 ,
        0.06137466,  0.78189111,  0.        ,  0.62341502])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620864, -0.0338622 ,  0.22450611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16501859, -0.04277974, -0.159377  , -0.04277974,  1.10309377,
       -0.25179675, -0.159377  , -0.25179675,  0.2326055 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015814888469575447
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62149147,  0.07849515, -0.77947858, -0.04893505,  0.9969145 ,
        0.06137466,  0.78189111,  0.        ,  0.62341502])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620864, -0.0338622 ,  0.22450611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005627564113571855
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.99040393e-01,  8.64767878e-02, -9.12846389e-01, -3.46374881e-02,
        9.96253866e-01,  7.92368554e-02,  9.16278893e-01, -6.93889390e-18,
        4.00540873e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08347609, -0.03378454,  0.22310091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.58967608,  -4.80934038,  16.58967608,
        30.29570881,  44.92238612,  -4.80934038,  44.92238612,
       172.23115736,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013027609409158383
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.26103896e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.26103896e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06938274, -0.0626213 ,  0.06191408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.59566692e-03, 3.41740003e-02, 3.09503899e-03,-7.25754456e-05,
  2.92914515e-05,-1.12310357e-05, 5.07348652e-06,-3.90916946e-06,
 -1.04054883e-05,-6.45349847e-05, 5.25926472e-05,-3.84122222e-05,
  9.05026113e-03, 1.38199660e-02, 6.84760413e-03, 2.49697738e-04,
  9.46529358e-03, 1.87805850e-02,-9.81900764e+00,-1.07077591e-03,
 -6.07755285e-02, 6.04892054e-02]


--- Step 3311 ---
qpos:
[-0.0165405 , 1.19506226,-0.03476288, 0.94261712,-0.00808369, 1.33189586,
 -0.03109889, 0.9414074 , 0.01529069, 1.3384558 ,-0.02375229, 0.95470382,
  1.26594552,-0.00631723, 1.29050964, 0.04486663,-0.05553717,-0.0863694 ,
  0.09124862, 0.69250892,-0.09968264,-0.71414062,-0.0223149 ]

qacc:
[-9.37042482e-02, 2.94685367e-01,-1.18395560e-02,-2.44876936e+00,
  6.78776011e-02,-3.91651047e+00, 1.50007248e+01,-2.56550067e+01,
 -3.60828956e-04, 2.32799573e-01,-6.00804371e-01,-3.96185054e-01,
 -1.14766070e+00, 1.21050206e+00, 1.64918743e-01,-6.17304884e-01,
  2.16692386e+00,-2.34765517e+00, 1.23705266e+00, 1.78761679e+01,
  7.90652972e+01,-1.10501854e+02]

qfrc_actuator:
[ 0.00771997, 0.06828207, 0.01370589, 0.00174173, 0.00017899, 0.03586154,
  0.01088305, 0.00164832,-0.00300635, 0.03472133, 0.01083908, 0.00168007,
  0.00880983, 0.01033088, 0.        ,-0.00098221, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16500605, -0.03339265, -0.16159185, -0.03339265,  0.79240861,
       -0.12965156, -0.16159185, -0.12965156,  0.1917983 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001579372727500035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.21570386e-01,  7.85010412e-02, -7.79415064e-01, -4.89449651e-02,
        9.96914032e-01,  6.13742932e-02,  7.81827760e-01, -6.93889390e-18,
        6.23494470e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620842, -0.03386384,  0.2245069 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16500605, -0.03339265, -0.16159185, -0.03339265,  0.79240861,
       -0.12965156, -0.16159185, -0.12965156,  0.1917983 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001579372727500035
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.21570386e-01,  7.85010412e-02, -7.79415064e-01, -4.89449651e-02,
        9.96914032e-01,  6.13742932e-02,  7.81827760e-01, -6.93889390e-18,
        6.23494470e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620842, -0.03386384,  0.2245069 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005629084853872382
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39902556,  0.08648356, -0.91285223, -0.03463894,  0.99625328,
        0.07924362,  0.9162853 ,  0.        ,  0.40052622])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08347466, -0.03378619,  0.22310103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.88937206,   3.61886984,  16.88937206,
        21.02664872, -17.51966189,   3.61886984, -17.51966189,
        99.03750491,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013270293989768936
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.09155695e-14,  2.09155695e-14,  1.00000000e+00,  4.37461047e-28,
        1.00000000e+00, -2.09155695e-14, -1.00000000e+00,  0.00000000e+00,
       -2.09155695e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08683335, -0.06510255,  0.06191235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.61467135e-03, 3.41002903e-02, 3.08771706e-03,-8.45458015e-06,
  1.95187945e-05, 1.34207128e-05, 4.37027845e-05,-5.40104277e-05,
 -9.91907021e-08,-4.32139623e-06,-8.86430719e-06,-4.47203581e-06,
  9.09232723e-03, 1.38802802e-02, 6.70860841e-03, 2.73771289e-04,
  1.14886081e-02, 2.64413244e-02,-9.82112887e+00,-6.49444001e-04,
 -6.06960127e-02, 6.05873508e-02]


--- Step 3312 ---
qpos:
[-0.01655669, 1.19507735,-0.03476204, 0.9426145 ,-0.0080804 , 1.33191609,
 -0.03109933, 0.94140592, 0.01529113, 1.33845619,-0.02375412, 0.95470305,
  1.26600644,-0.00635118, 1.29050191, 0.04486631,-0.05556876,-0.08652619,
  0.09116182, 0.69229926,-0.09759564,-0.71457111,-0.02418574]

qacc:
[ 1.21629756e-01,-3.57069884e-01,-3.39067078e+00, 2.04180874e+01,
 -2.19202455e-02, 5.84747190e-01,-4.22781341e+00, 1.66379090e+01,
 -5.01394418e-02, 4.11738493e+00,-1.33721816e+01, 1.50696110e+01,
 -1.06165282e+00, 1.16360106e+00, 4.25483905e+00,-9.09112581e+00,
  2.01135511e+00,-2.23550382e+00, 4.46041303e-01, 1.64873250e+01,
  7.33060186e+01,-1.02000183e+02]

qfrc_actuator:
[ 0.00774304, 0.06829886, 0.01367827, 0.00181214, 0.00016114, 0.0358648 ,
  0.01091025, 0.00170652,-0.00302069, 0.03475245, 0.01078553, 0.00169638,
  0.00880698, 0.01039699, 0.        ,-0.00110277, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16499441, -0.02769679, -0.16265313, -0.02769679,  0.64206043,
       -0.08123544, -0.16265313, -0.08123544,  0.17882729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015774060562734338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.21649666e-01,  7.85070500e-02, -7.79351228e-01, -4.89549781e-02,
        9.96913558e-01,  6.13739930e-02,  7.81764097e-01, -6.93889390e-18,
        6.23574291e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862082 , -0.03386541,  0.22450771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16499441, -0.02769679, -0.16265313, -0.02769679,  0.64206043,
       -0.08123544, -0.16265313, -0.08123544,  0.17882729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015774060562734338
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.21649666e-01,  7.85070500e-02, -7.79351228e-01, -4.89549781e-02,
        9.96913558e-01,  6.13739930e-02,  7.81764097e-01, -6.93889390e-18,
        6.23574291e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862082 , -0.03386541,  0.22450771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005630775176074521
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39901046,  0.08649043, -0.91285818, -0.0346404 ,  0.99625268,
        0.07925048,  0.91629182,  0.        ,  0.4005113 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08347322, -0.03378777,  0.22310117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.08105823,  -2.56603922, -17.08105823,
        20.09643138, -18.79622642,  -2.56603922, -18.79622642,
       142.39140623,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013569683460912599
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.04541069e-14,  4.09082138e-14,  1.00000000e+00,  8.36740978e-28,
        1.00000000e+00, -4.09082138e-14, -1.00000000e+00,  0.00000000e+00,
       -2.04541069e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08680676, -0.0651302 ,  0.06191028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.64846528e-03, 3.40995457e-02, 3.06313653e-03, 7.16071733e-05,
 -6.32889108e-06, 1.74610716e-05, 3.31861097e-05, 5.86616896e-05,
 -1.44038638e-05, 2.68645108e-05,-5.55333654e-05, 1.58221898e-05,
  9.14638337e-03, 1.39281690e-02, 6.71417552e-03, 1.57189050e-04,
  1.21626511e-02, 3.53877149e-02,-9.82268170e+00,-1.16751898e-03,
 -6.04555032e-02, 6.06776052e-02]


--- Step 3313 ---
qpos:
[-0.01657278, 1.19509102,-0.0347611 , 0.94261316,-0.00807708, 1.33193606,
 -0.03110049, 0.94140661, 0.01529157, 1.3384562 ,-0.023756  , 0.95470216,
  1.26606654,-0.00638464, 1.29049561, 0.04486574,-0.05559285,-0.08669153,
  0.09107408, 0.69217988,-0.09534761,-0.71491991,-0.02617958]

qacc:
[ 4.51828537e-02, 1.48026262e-03,-4.92336786e+00, 2.00037401e+01,
  6.90406067e-03, 5.30586133e+00,-2.22192834e+01, 4.47262264e+01,
  1.89731099e-03,-5.79833139e-01, 1.55289071e+00,-2.56624767e+00,
 -1.05794041e+00, 1.26947422e+00, 2.96904362e+00,-7.13206572e+00,
  1.87832197e+00,-2.13839443e+00,-2.33262947e-01, 1.52168613e+01,
  6.84767746e+01,-9.50307505e+01]

qfrc_actuator:
[ 0.00774544, 0.06830349, 0.01366102, 0.00187232, 0.0001669 , 0.03580541,
  0.01085544, 0.00181238,-0.00301165, 0.03469968, 0.01077254, 0.00168853,
  0.00879779, 0.01046778, 0.        ,-0.00115716, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16499132, -0.02522663, -0.16305138, -0.02522663,  0.59175786,
       -0.06602755, -0.16305138, -0.06602755,  0.17520683,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001576883181682344
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62171793,  0.07851347, -0.77929612, -0.04896438,  0.99691305,
        0.0613747 ,  0.78170922,  0.        ,  0.62364309])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620803, -0.03386702,  0.22450841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16499132, -0.02522663, -0.16305138, -0.02522663,  0.59175786,
       -0.06602755, -0.16305138, -0.06602755,  0.17520683,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001576883181682344
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62171793,  0.07851347, -0.77929612, -0.04896438,  0.99691305,
        0.0613747 ,  0.78170922,  0.        ,  0.62364309])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620803, -0.03386702,  0.22450841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005633418899844075
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39899574,  0.08649718, -0.91286398, -0.03464184,  0.9962521 ,
        0.07925721,  0.91629817,  0.        ,  0.40049676])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.083472  , -0.03378939,  0.22310128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.97392095,  -3.19892405, -16.97392095,
        22.55931762, -28.05135896,  -3.19892405, -28.05135896,
       166.11700825,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013670951043023225
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03025931e-14, -2.03025931e-14,  1.00000000e+00, -4.12195286e-28,
        1.00000000e+00,  2.03025931e-14, -1.00000000e+00,  0.00000000e+00,
       -2.03025931e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0867974 , -0.06514632,  0.06190948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.63692590e-03, 3.41529635e-02, 3.01734771e-03, 5.92238531e-05,
  2.01955727e-06,-4.16112116e-05,-4.59161710e-05, 1.08739406e-04,
  5.36234061e-07,-4.82858657e-05,-1.35875285e-05,-8.31486958e-06,
  9.18073955e-03, 1.39828216e-02, 6.58364483e-03, 1.07927375e-04,
  1.22835150e-02, 4.47339404e-02,-9.82428798e+00,-1.80116033e-03,
 -6.02005740e-02, 6.07757039e-02]


--- Step 3314 ---
qpos:
[-0.01658911, 1.19510494,-0.03476015, 0.9426124 ,-0.00807403, 1.33195478,
 -0.03110174, 0.94140656, 0.0152922 , 1.338455  ,-0.02375648, 0.95470083,
  1.26612629,-0.00641732, 1.29048578, 0.04486469,-0.05560939,-0.08686193,
  0.09099246, 0.69215789,-0.09300367,-0.71517134,-0.02824422]

qacc:
[ -0.10770751,  1.34331714, -5.1881664 , 11.12908903, -0.11161764,
  -2.67300033,  8.29283425,-15.12246904,  0.08115353, -6.11271205,
  18.8823418 ,-20.61117869, -0.60658557,  1.05743687, -3.68948689,
   5.4676708 ,  1.88689805, -1.26431401,  1.52812524, 11.24929323,
  73.14641658,-52.87163506]

qfrc_actuator:
[ 0.00775325, 0.06831941, 0.01368574, 0.0019082 , 0.00013351, 0.03567318,
  0.01082345, 0.00176779,-0.00298865, 0.03461499, 0.01083654, 0.0016665 ,
  0.00878484, 0.01047009, 0.        ,-0.00102964, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16498986, -0.0233037 , -0.16333582, -0.0233037 ,  0.58207247,
       -0.05950666, -0.16333582, -0.05950666,  0.17347988,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015766365208750438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6217791 ,  0.0785202 , -0.77924664, -0.04897342,  0.99691252,
        0.0613761 ,  0.78166   ,  0.        ,  0.62370477])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620789, -0.03386863,  0.22450902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16498986, -0.0233037 , -0.16333582, -0.0233037 ,  0.58207247,
       -0.05950666, -0.16333582, -0.05950666,  0.17347988,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015766365208750438
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6217791 ,  0.0785202 , -0.77924664, -0.04897342,  0.99691252,
        0.0613761 ,  0.78166   ,  0.        ,  0.62370477])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620789, -0.03386863,  0.22450902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000563601311592294
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39898224,  0.08650386, -0.91286924, -0.03464336,  0.99625152,
        0.07926383,  0.916304  ,  0.        ,  0.40048344])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08347091, -0.03379101,  0.22310137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  -9.18323295,  14.62926314,  -9.18323295,
       118.88970623,  63.78806507,  14.62926314,  63.78806507,
        57.31443375,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013786084075276192
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61064305e-13,  6.03991143e-14,  1.00000000e+00, -9.72814137e-27,
        1.00000000e+00, -6.03991143e-14, -1.00000000e+00,  0.00000000e+00,
        1.61064305e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08534669, -0.07078923,  0.0619086 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.63956016e-03, 3.42405142e-02, 3.03679903e-03, 3.12748754e-05,
 -3.21977399e-05,-1.61096082e-04,-4.21919091e-05,-4.46423220e-05,
  2.33133947e-05,-1.14297733e-04, 5.27815523e-05,-2.40563035e-05,
  9.20853799e-03, 1.39612707e-02, 6.51229655e-03, 2.48232078e-04,
  1.19566783e-02, 5.43869035e-02,-9.82590257e+00,-2.52341009e-03,
 -5.99376089e-02, 6.08805792e-02]


--- Step 3315 ---
qpos:
[-0.01660556, 1.19512038,-0.03475953, 0.94261095,-0.00807131, 1.33197227,
 -0.03110275, 0.94140595, 0.01529291, 1.33845351,-0.02375624, 0.9546999 ,
  1.26618608,-0.00644938, 1.29047118, 0.04486331,-0.05561883,-0.08703724,
  0.09091396, 0.69222562,-0.0905695 ,-0.7153308 ,-0.03037608]

qacc:
[-5.25876995e-02, 1.68026639e+00,-1.61060379e+00,-7.71263452e+00,
 -1.39022165e-01,-3.19466738e+00, 9.60324489e+00,-1.39412675e+01,
  3.28556756e-02,-1.67370547e+00, 4.21015075e+00, 1.02518139e+00,
 -1.12119776e-01, 5.24362141e-01,-6.06995780e+00, 1.10039215e+01,
  1.77429034e+00,-1.22811432e+00, 7.80197673e-01, 1.00646762e+01,
  6.83121377e+01,-4.99842667e+01]

qfrc_actuator:
[ 0.00778238, 0.06828774, 0.01371794, 0.00187642, 0.00011241, 0.03562261,
  0.01084032, 0.00174151,-0.00299297, 0.03465414, 0.01089205, 0.00168958,
  0.00877493, 0.01044858, 0.        ,-0.0008814 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16497255, -0.02758045, -0.16265073, -0.02758045,  0.71513286,
       -0.09328989, -0.16265073, -0.09328989,  0.18079158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015737058453017816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6218545 ,  0.07852633, -0.77918586, -0.04898321,  0.99691204,
        0.06137613,  0.7815994 ,  0.        ,  0.62378071])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620766, -0.03387018,  0.22450976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16497255, -0.02758045, -0.16265073, -0.02758045,  0.71513286,
       -0.09328989, -0.16265073, -0.09328989,  0.18079158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015737058453017816
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6218545 ,  0.07852633, -0.77918586, -0.04898321,  0.99691204,
        0.06137613,  0.7815994 ,  0.        ,  0.62378071])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620766, -0.03387018,  0.22450976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005636578048541716
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39896851,  0.08651064, -0.9128746 , -0.03464491,  0.99625093,
        0.07927056,  0.91630992,  0.        ,  0.4004699 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08346952, -0.03379257,  0.22310146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013865550223355755
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.00706071e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.00706071e-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([-0.08533761, -0.07079862,  0.06190797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.68101078e-03, 3.41959330e-02, 3.06924818e-03,-2.97644676e-05,
 -4.01045206e-05,-1.49430345e-04,-2.07929091e-05,-3.33837704e-05,
  9.44245941e-06,-1.44492958e-05, 3.84793091e-05, 2.06706806e-05,
  9.21661938e-03, 1.39019316e-02, 6.68842325e-03, 4.20649952e-04,
  1.04326331e-02, 6.18162640e-02,-9.82682256e+00,-3.48239793e-03,
 -5.97403841e-02, 6.09860620e-02]


--- Step 3316 ---
qpos:
[-0.01662242, 1.19513831,-0.0347588 , 0.94260867,-0.0080686 , 1.33198906,
 -0.0311038 , 0.941405  , 0.01529335, 1.3384525 ,-0.02375537, 0.95469918,
  1.26624596,-0.00648086, 1.29045202, 0.04486181,-0.05561942,-0.08720754,
  0.09084995, 0.6924071 ,-0.0882123 ,-0.71535888,-0.03244479]

qacc:
[-1.77096324e-01, 1.55847325e+00, 5.61511851e-01,-1.16486555e+01,
 -5.88741534e-03,-1.41144728e+00, 4.21477552e+00,-7.22285151e+00,
 -1.13856477e-01,-6.70938306e-01, 2.50448349e+00, 6.13736200e-02,
 -3.82654357e-02, 4.26175657e-01,-6.34740318e+00, 1.24568007e+01,
  2.21173934e+00, 1.25363024e+00, 3.62291830e+00,-9.03518274e-01,
  8.21286433e+01, 5.70658600e+01]

qfrc_actuator:
[ 0.00777099, 0.06822614, 0.01375497, 0.0018406 , 0.00013437, 0.03562151,
  0.0108507 , 0.00172631,-0.0030314 , 0.03473166, 0.01094257, 0.00170357,
  0.00876151, 0.01043036, 0.        ,-0.00073846, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16493786, -0.03265158, -0.16167366, -0.03265158,  0.83764403,
       -0.13585959, -0.16167366, -0.13585959,  0.19237604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015678141676323497
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62195061,  0.07853145, -0.77910862, -0.048994  ,  0.99691164,
        0.06137408,  0.78152225,  0.        ,  0.62387737])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620732, -0.03387167,  0.2245107 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16493786, -0.03265158, -0.16167366, -0.03265158,  0.83764403,
       -0.13585959, -0.16167366, -0.13585959,  0.19237604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015678141676323497
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62195061,  0.07853145, -0.77910862, -0.048994  ,  0.99691164,
        0.06137408,  0.78152225,  0.        ,  0.62387737])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620732, -0.03387167,  0.2245107 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005635130149601771
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39895367,  0.0865175 , -0.91288044, -0.03464639,  0.99625033,
        0.0792774 ,  0.91631632,  0.        ,  0.40045524])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08346771, -0.03379406,  0.22310158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013863362337834667
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.00312164e-14,  4.00416219e-14,  1.00000000e+00,  1.20249861e-27,
        1.00000000e+00, -4.00416219e-14, -1.00000000e+00,  0.00000000e+00,
       -3.00312164e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08679815, -0.08126386,  0.06190787])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.67561742e-03, 3.40578376e-02, 3.12230352e-03,-3.05437056e-05,
 -1.71957967e-06,-8.89630146e-05,-2.22253201e-05,-2.10617032e-05,
 -3.28531429e-05, 7.76682949e-05, 5.26791785e-05, 1.51631174e-05,
  9.20097725e-03, 1.38529748e-02, 6.92763165e-03, 5.79885700e-04,
  8.64535854e-03, 6.91991303e-02,-9.82772740e+00,-4.44227951e-03,
 -5.95581577e-02, 6.10947141e-02]


--- Step 3317 ---
qpos:
[-0.0166393 , 1.19515725,-0.03475733, 0.94260676,-0.00806566, 1.3320056 ,
 -0.0311043 , 0.94140208, 0.01529345, 1.3384515 ,-0.02375337, 0.95469761,
  1.26630582,-0.0065121 , 1.29043436, 0.04486053,-0.0556117 ,-0.08737343,
  0.09079645, 0.6926933 ,-0.08592523,-0.71526608,-0.03445694]

qacc:
[-9.04498432e-03,-3.86826046e-02, 9.66827386e-01, 2.89089989e+00,
  1.00221683e-01,-5.16532238e+00, 2.05268942e+01,-4.05614715e+01,
 -1.47050923e-01,-4.49811214e+00, 1.64030149e+01,-2.40196115e+01,
 -2.42140811e-01, 4.09294518e-01, 1.53777550e+00,-2.13477607e+00,
  2.07850666e+00, 1.10328937e+00, 2.62686839e+00,-1.38395003e+00,
  7.56709587e+01, 5.16953348e+01]

qfrc_actuator:
[ 0.0077534 , 0.06825153, 0.01377682, 0.00185602, 0.00016422, 0.03565006,
  0.01089287, 0.00162902,-0.00305447, 0.03470728, 0.01098992, 0.00165886,
  0.00876194, 0.01046718, 0.        ,-0.00082954, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16489012, -0.03566741, -0.16098629, -0.03566741,  0.85869959,
       -0.15371734, -0.16098629, -0.15371734,  0.19894704,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001559663949056607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62206784,  0.07853571, -0.7790146 , -0.0490059 ,  0.9969113 ,
        0.06137002,  0.7814282 ,  0.        ,  0.62399517])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620689, -0.0338731 ,  0.22451187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16489012, -0.03566741, -0.16098629, -0.03566741,  0.85869959,
       -0.15371734, -0.16098629, -0.15371734,  0.19894704,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001559663949056607
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62206784,  0.07853571, -0.7790146 , -0.0490059 ,  0.9969113 ,
        0.06137002,  0.7814282 ,  0.        ,  0.62399517])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620689, -0.0338731 ,  0.22451187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005632406734848577
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98936451e-01,  8.65245631e-02, -9.12887292e-01, -3.46477409e-02,
        9.96249718e-01,  7.92845134e-02,  9.16323765e-01,  6.93889390e-18,
        4.00438208e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08346548, -0.03379548,  0.22310174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001423764955886614
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.89889855e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.89889855e-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([-0.08675988, -0.08126757,  0.06190544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.67828323e-03, 3.39589287e-02, 3.13858414e-03, 2.61631730e-05,
  2.88340387e-05,-2.57710746e-05, 2.15969267e-05,-1.01095323e-04,
 -4.24715636e-05, 2.93114785e-05, 6.89453974e-05,-4.05149743e-05,
  9.19656226e-03, 1.38614410e-02, 7.15538357e-03, 4.94984229e-04,
  4.65947390e-03, 6.85021114e-02,-9.82675191e+00,-5.56797197e-03,
 -5.96467338e-02, 6.11945138e-02]


--- Step 3318 ---
qpos:
[-0.01665614, 1.19517589,-0.03475476, 0.94260654,-0.00806229, 1.3320225 ,
 -0.0311043 , 0.94139762, 0.01529322, 1.3384507 ,-0.02375166, 0.95469558,
  1.26636557,-0.00654305, 1.2904198 , 0.04485939,-0.05559613,-0.0875354 ,
  0.0907501 , 0.69307667,-0.08370256,-0.71506107,-0.03641802]

qacc:
[ 1.71628841e-02,-4.82130750e-01,-2.40011951e+00, 2.18465167e+01,
  1.78337028e-01,-3.54082547e+00, 1.53002862e+01,-3.14133026e+01,
 -1.34385522e-01, 2.38187520e-01, 4.68351013e-01,-5.87843880e+00,
 -4.20963556e-01, 6.26070376e-01, 4.22578906e+00,-8.02059198e+00,
  1.96371763e+00, 9.77192166e-01, 1.78538459e+00,-1.79795208e+00,
  7.03130088e+01, 4.72113899e+01]

qfrc_actuator:
[ 0.00773186, 0.06825857, 0.01377114, 0.00193682, 0.00019857, 0.03571398,
  0.01093581, 0.00155524,-0.00306814, 0.03469304, 0.01096359, 0.00163317,
  0.00876538, 0.01050163, 0.        ,-0.00093708, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16485202, -0.02950717, -0.16218976, -0.02950717,  0.67903056,
       -0.09354445, -0.16218976, -0.09354445,  0.18187056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001553128217285666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.22181493e-01,  7.85401689e-02, -7.78923380e-01, -4.90176575e-02,
        9.96910950e-01,  6.13663375e-02,  7.81336969e-01, -6.93889390e-18,
        6.24109398e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862065 , -0.03387459,  0.22451303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16485202, -0.02950717, -0.16218976, -0.02950717,  0.67903056,
       -0.09354445, -0.16218976, -0.09354445,  0.18187056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001553128217285666
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.22181493e-01,  7.85401689e-02, -7.78923380e-01, -4.90176575e-02,
        9.96910950e-01,  6.13663375e-02,  7.81336969e-01, -6.93889390e-18,
        6.24109398e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862065 , -0.03387459,  0.22451303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000563115968753615
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39891761,  0.08653167, -0.91289485, -0.03464897,  0.9962491 ,
        0.07929173,  0.91633192,  0.        ,  0.40041955])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08346333, -0.03379696,  0.22310192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014397625874238984
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.85557673e-14,  7.71115345e-14,  1.00000000e+00,  2.97309438e-27,
        1.00000000e+00, -7.71115345e-14, -1.00000000e+00,  0.00000000e+00,
       -3.85557673e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08674184, -0.08127152,  0.0619044 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.65776103e-03, 3.39147495e-02, 3.09542629e-03, 8.81567594e-05,
  5.13628968e-05, 5.07257883e-05, 3.73584436e-05,-7.62442487e-05,
 -3.87529254e-05, 1.42344521e-05,-1.39561893e-05,-2.37471310e-05,
  9.20178203e-03, 1.38847528e-02, 7.08124889e-03, 3.76196628e-04,
  8.92369037e-04, 6.78680146e-02,-9.82597151e+00,-6.51427493e-03,
 -5.97437021e-02, 6.12914516e-02]


--- Step 3319 ---
qpos:
[-0.01667331, 1.19519502,-0.03475034, 0.9426096 ,-0.00805882, 1.33203979,
 -0.03110445, 0.94139337, 0.01529289, 1.33844992,-0.02375115, 0.95469539,
  1.2664251 ,-0.00657314, 1.29040183, 0.04485779,-0.05559687,-0.08769845,
  0.09069528, 0.69326075,-0.08153169,-0.71503047,-0.03838662]

qacc:
[-1.45982856e-01, 1.22962949e+00,-1.00049733e+01, 4.64057420e+01,
  4.79029488e-02, 1.31920671e+00,-4.11537394e+00, 5.83307890e+00,
 -4.54660203e-02, 6.43088826e+00,-2.46468195e+01, 4.26073475e+01,
 -5.69173577e-01, 1.11334209e+00,-3.59554923e+00, 5.36745771e+00,
 -4.07835477e+00,-2.66103389e-01,-2.11417358e+00,-2.58111284e+01,
 -1.32322128e+02, 4.99036699e+00]

qfrc_actuator:
[ 0.0077789 , 0.06820227, 0.0137838 , 0.00210864, 0.00018207, 0.03572762,
  0.01092575, 0.00156695,-0.00305831, 0.03466695, 0.01089403, 0.00172536,
  0.00876529, 0.01053451, 0.        ,-0.00080595, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16482638, -0.01927538, -0.16369543, -0.01927538,  0.46865482,
       -0.03577625, -0.16369543, -0.03577625,  0.16903909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001548711035447587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.22283898e-01,  7.85451997e-02, -7.78841063e-01, -4.90288851e-02,
        9.96910553e-01,  6.13638070e-02,  7.81254708e-01,  6.93889390e-18,
        6.24212369e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620617, -0.03387618,  0.22451408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16482638, -0.01927538, -0.16369543, -0.01927538,  0.46865482,
       -0.03577625, -0.16369543, -0.03577625,  0.16903909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001548711035447587
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.22283898e-01,  7.85451997e-02, -7.78841063e-01, -4.90288851e-02,
        9.96910553e-01,  6.13638070e-02,  7.81254708e-01,  6.93889390e-18,
        6.24212369e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620617, -0.03387618,  0.22451408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005631543546744597
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39889806,  0.08653878, -0.91290272, -0.03465014,  0.99624848,
        0.07929898,  0.91634039,  0.        ,  0.40040016])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08346141, -0.03379855,  0.22310208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.25336293,   0.81766429, -17.25336293,
        17.55437707,   5.94303344,   0.81766429,   5.94303344,
       142.67543162,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0015257304540122751
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63833278e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.63833278e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0234567 , -0.09007259,  0.06189897])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.70284486e-03, 3.38736453e-02, 3.05352351e-03, 1.75763115e-04,
  1.38215080e-05, 4.65843134e-05, 1.86276723e-06, 1.25781747e-05,
 -1.30556224e-05,-2.16525491e-05,-6.90692120e-05, 9.16521311e-05,
  9.20657374e-03, 1.39039270e-02, 6.92593404e-03, 5.00588749e-04,
 -2.69362995e-03, 6.72910027e-02,-9.82534177e+00,-7.32085330e-03,
 -5.98471115e-02, 6.13852920e-02]


--- Step 3320 ---
qpos:
[-0.01668963, 1.19521276,-0.03474584, 0.94261392,-0.00805565, 1.33205718,
 -0.03110401, 0.94138894, 0.01529269, 1.33844853,-0.02375117, 0.9546953 ,
  1.26648463,-0.00660304, 1.29038522, 0.04485615,-0.05561235,-0.08786227,
  0.09062917, 0.69326311,-0.07939926,-0.71515921,-0.04036486]

qacc:
[ 3.73467102e-01, 8.76582001e-02,-5.11496924e+00, 1.99863271e+01,
 -1.34263491e-01,-1.78949598e+00, 6.37183943e+00,-7.72841814e+00,
  5.59269352e-02, 8.08591425e-01,-3.80440707e+00, 4.75816770e+00,
 -1.88242234e-01, 3.24644539e-01, 2.15689761e+00,-4.56652982e+00,
 -3.68552796e+00,-1.95535039e-01,-2.82326149e+00,-2.11152171e+01,
 -1.20545265e+02, 4.11989218e-01]

qfrc_actuator:
[ 0.0078497 , 0.06817829, 0.01378853, 0.00215529, 0.00013521, 0.03572864,
  0.01095538, 0.00155778,-0.00303447, 0.03459833, 0.0108528 , 0.00172639,
  0.00876844, 0.01056575, 0.        ,-0.00090388, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16478626, -0.02429739, -0.16298512, -0.02429739,  0.58845542,
       -0.06315947, -0.16298512, -0.06315947,  0.1742019 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001541772837479801
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.22400778e-01,  7.85496767e-02, -7.78747212e-01, -4.90409064e-02,
        9.96910201e-01,  6.13599316e-02,  7.81160842e-01, -6.93889390e-18,
        6.24329832e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620577, -0.03387774,  0.22451526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16478626, -0.02429739, -0.16298512, -0.02429739,  0.58845542,
       -0.06315947, -0.16298512, -0.06315947,  0.1742019 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001541772837479801
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.22400778e-01,  7.85496767e-02, -7.78747212e-01, -4.90409064e-02,
        9.96910201e-01,  6.13599316e-02,  7.81160842e-01, -6.93889390e-18,
        6.24329832e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620577, -0.03387774,  0.22451526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005630127642584221
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39887635,  0.08654606, -0.91291151, -0.03465119,  0.99624785,
        0.07930647,  0.9163498 ,  0.        ,  0.40037863])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08345917, -0.03380009,  0.22310224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.18754105, -1.71334177, 17.18754105, 17.28441635,
        0.11726004, -1.71334177,  0.11726004, 18.44903187,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015826337572582283
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.50751720e-14,  3.50751720e-14,  1.00000000e+00,  1.23026769e-27,
        1.00000000e+00, -3.50751720e-14, -1.00000000e+00,  0.00000000e+00,
       -3.50751720e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0233019 , -0.09001803,  0.06189535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.79039655e-03, 3.38248496e-02, 2.96584313e-03, 5.86421892e-05,
 -3.87030616e-05, 2.74095552e-05, 3.92992865e-05,-7.39432289e-06,
  1.61358706e-05,-9.13590070e-05,-5.06249780e-05, 4.96008883e-07,
  9.22118404e-03, 1.38922844e-02, 7.09687369e-03, 4.25830343e-04,
  2.84131613e-03, 6.09338719e-02,-9.82445773e+00,-4.70387332e-03,
 -6.03702060e-02, 6.15164221e-02]


--- Step 3321 ---
qpos:
[-0.016705  , 1.19522904,-0.03474298, 0.94261679,-0.00805292, 1.3320746 ,
 -0.03110263, 0.94138546, 0.01529254, 1.33844695,-0.02375127, 0.95469412,
  1.26654421,-0.00663307, 1.29037031, 0.04485466,-0.05564124,-0.08802666,
  0.09054936, 0.69309833,-0.07729457,-0.7154344 ,-0.04235422]

qacc:
[ 4.16043238e-01, 5.50719499e-02, 4.98206453e-01,-1.62848852e+01,
 -1.80501654e-01,-8.84965399e-01, 9.72724104e-01, 1.01557304e+01,
  2.11173159e-02,-1.91556551e+00, 8.14386820e+00,-1.94617440e+01,
  2.56885609e-02,-9.18085341e-02, 2.04754197e+00,-3.55155649e+00,
 -3.35473428e+00,-1.41284892e-01,-3.42457326e+00,-1.72767824e+01,
 -1.10648182e+02,-3.11812193e+00]

qfrc_actuator:
[ 0.00788044, 0.06815765, 0.01377176, 0.00207428, 0.00010602, 0.03573999,
  0.01100813, 0.00160743,-0.00303791, 0.0346291 , 0.0108639 , 0.00167373,
  0.00876818, 0.01057859, 0.        ,-0.0009442 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16474784, -0.0325981 , -0.1614906 , -0.0325981 ,  0.82476765,
       -0.13323001, -0.1614906 , -0.13323001,  0.19164133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015350960376316405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.22510951e-01,  7.85539783e-02, -7.78658711e-01, -4.90522901e-02,
        9.96909862e-01,  6.13563390e-02,  7.81072332e-01,  6.93889390e-18,
        6.24440559e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620538, -0.03387935,  0.22451634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16474784, -0.0325981 , -0.1614906 , -0.0325981 ,  0.82476765,
       -0.13323001, -0.1614906 , -0.13323001,  0.19164133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015350960376316405
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.22510951e-01,  7.85539783e-02, -7.78658711e-01, -4.90522901e-02,
        9.96909862e-01,  6.13563390e-02,  7.81072332e-01,  6.93889390e-18,
        6.24440559e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620538, -0.03387935,  0.22451634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000562866519629425
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39885586,  0.08655298, -0.91291981, -0.0346522 ,  0.99624725,
        0.07931358,  0.91635868,  0.        ,  0.4003583 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08345705, -0.03380169,  0.22310237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.18484214, -1.74020345, 17.18484214, 17.2985616 ,
        0.25511891, -1.74020345,  0.25511891, 19.79207529,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016093449877721752
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.44930091e-14, -3.44930091e-14,  1.00000000e+00, -1.18976767e-27,
        1.00000000e+00,  3.44930091e-14, -1.00000000e+00,  0.00000000e+00,
       -3.44930091e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02322778, -0.089981  ,  0.06189358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.77831337e-03, 3.38738495e-02, 2.94488704e-03,-8.54970996e-05,
 -5.20352004e-05, 3.38526004e-05, 6.23427833e-05, 5.14701154e-05,
  6.08166215e-06,-2.96120585e-05,-1.24769543e-05,-5.68401374e-05,
  9.22078143e-03, 1.38967828e-02, 7.02867231e-03, 3.87467628e-04,
  7.17172289e-03, 5.56707257e-02,-9.82404212e+00,-2.28118316e-03,
 -6.07917537e-02, 6.16483202e-02]


--- Step 3322 ---
qpos:
[-0.01672063, 1.19524539,-0.03474146, 0.94261818,-0.00805059, 1.33209228,
 -0.03110156, 0.94138368, 0.01529241, 1.33844554,-0.02375091, 0.95469295,
  1.26660304,-0.00666275, 1.29035284, 0.04485309,-0.05568244,-0.08819145,
  0.09045382, 0.69277852,-0.07520909,-0.71584501,-0.04435571]

qacc:
[-1.19478521e-01, 1.15127868e+00,-5.66821435e-01,-1.68633618e+01,
 -1.70405791e-01, 4.09280882e+00,-1.64546841e+01, 3.38931600e+01,
  5.42893305e-03,-9.90765532e-01, 3.48903968e+00,-3.03660620e+00,
 -6.69207832e-01, 7.65482330e-01,-3.50838506e+00, 6.90532946e+00,
 -3.07463317e+00,-1.00109301e-01,-3.93503300e+00,-1.41147285e+01,
 -1.02322536e+02,-5.85172393e+00]

qfrc_actuator:
[ 7.88670976e-03, 6.81218693e-02, 1.37260323e-02, 2.00763589e-03,
  8.76636825e-05, 3.57398154e-02, 1.09854061e-02, 1.69129517e-03,
 -3.03994731e-03, 3.46838132e-02, 1.09061504e-02, 1.67875727e-03,
  8.76055402e-03, 1.06516429e-02, 0.00000000e+00,-8.25865549e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16471286, -0.0316586 , -0.16164177, -0.0316586 ,  0.75122488,
       -0.11487224, -0.16164177, -0.11487224,  0.18721135,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015289902587323732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62261252,  0.07855814, -0.77857708, -0.04906291,  0.99690953,
        0.06135318,  0.7809907 ,  0.        ,  0.62454265])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620504, -0.033881  ,  0.22451732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16471286, -0.0316586 , -0.16164177, -0.0316586 ,  0.75122488,
       -0.11487224, -0.16164177, -0.11487224,  0.18721135,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015289902587323732
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62261252,  0.07855814, -0.77857708, -0.04906291,  0.99690953,
        0.06135318,  0.7809907 ,  0.        ,  0.62454265])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620504, -0.033881  ,  0.22451732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005627331430832355
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39883821,  0.08655946, -0.91292691, -0.03465328,  0.99624669,
        0.07932017,  0.91636632,  0.        ,  0.40034081])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08345512, -0.03380333,  0.22310247])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.17499697, -1.83482599, 17.17499697, 17.31850148,
        0.42847216, -1.83482599,  0.42847216, 21.28346621,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016115212027193945
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.44464293e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.44464293e-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([ 0.02321819, -0.08995768,  0.06189329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.73683803e-03, 3.39105950e-02, 2.98103425e-03,-7.99222517e-05,
 -4.90657976e-05, 3.21761449e-05,-7.52234214e-06, 8.79312785e-05,
  1.55368962e-06, 3.42221016e-05, 3.33852098e-05, 2.46241332e-06,
  9.21112813e-03, 1.39765527e-02, 6.94463804e-03, 4.98572780e-04,
  1.05798740e-02, 5.12422015e-02,-9.82395927e+00,-1.84970702e-06,
 -6.11323452e-02, 6.17795694e-02]


--- Step 3323 ---
qpos:
[-0.0167361 , 1.19526162,-0.0347408 , 0.9426184 ,-0.00804859, 1.33210969,
 -0.03110019, 0.94138224, 0.01529227, 1.3384443 ,-0.02374976, 0.95469149,
  1.26666159,-0.00669236, 1.2903366 , 0.04485172,-0.05571158,-0.08834811,
  0.09038499, 0.69259916,-0.07324483,-0.71610147,-0.04626324]

qacc:
[ 7.39682614e-02, 2.12968215e-01, 1.53020440e+00,-1.47845735e+01,
 -1.41074220e-01,-5.58621655e-01, 6.78442675e-01, 3.59899541e+00,
 -7.92642967e-04,-2.42413545e+00, 8.75975276e+00,-1.10892161e+01,
 -3.27892838e-01, 3.24042314e-01, 1.24989444e+00,-1.66689822e+00,
  3.01502730e+00, 2.03098159e+00, 6.68047253e+00,-6.49807318e+00,
  9.74401885e+01, 8.48525597e+01]

qfrc_actuator:
[ 7.87913591e-03, 6.80938227e-02, 1.37165375e-02, 1.95023684e-03,
  7.59601627e-05, 3.56969755e-02, 1.09892802e-02, 1.70580107e-03,
 -3.04112201e-03, 3.46993440e-02, 1.09488353e-02, 1.66448722e-03,
  8.75389929e-03, 1.06538741e-02, 0.00000000e+00,-8.78463789e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16466772, -0.03638495, -0.16059761, -0.03638495,  0.87143216,
       -0.16012434, -0.16059761, -0.16012434,  0.20094544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015210695237942093
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62272286,  0.07856202, -0.77848844, -0.04907404,  0.99690923,
        0.06134924,  0.78090203,  0.        ,  0.62465353])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620463, -0.03388255,  0.22451839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16466772, -0.03638495, -0.16059761, -0.03638495,  0.87143216,
       -0.16012434, -0.16059761, -0.16012434,  0.20094544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015210695237942093
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62272286,  0.07856202, -0.77848844, -0.04907404,  0.99690923,
        0.06134924,  0.78090203,  0.        ,  0.62465353])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620463, -0.03388255,  0.22451839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000562455813285144
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39882171,  0.08656602, -0.91293349, -0.0346545 ,  0.99624612,
        0.0793268 ,  0.91637345,  0.        ,  0.40032449])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08345302, -0.03380487,  0.22310258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017041851093175658
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.07167852e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.07167852e-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([-0.08711818, -0.08383171,  0.06188727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.74291626e-03, 3.38789613e-02, 3.03813605e-03,-6.28038627e-05,
 -4.06637654e-05,-2.39899601e-05, 1.18695259e-05, 1.73154181e-05,
 -2.56663022e-07, 4.10558302e-05, 5.32341778e-05,-1.22246868e-05,
  9.24117342e-03, 1.39618690e-02, 7.07250521e-03, 4.49584322e-04,
  1.32735198e-02, 4.74575406e-02,-9.82411390e+00, 2.17195370e-03,
 -6.14069841e-02, 6.19092302e-02]


--- Step 3324 ---
qpos:
[-0.01675213, 1.19527991,-0.03474001, 0.94261802,-0.0080467 , 1.33212665,
 -0.03109891, 0.94138034, 0.01529227, 1.33844317,-0.02374837, 0.95469093,
  1.26672   ,-0.0067215 , 1.29031693, 0.0448503 ,-0.05572979,-0.08849767,
  0.09033686, 0.69254712,-0.07138986,-0.71621898,-0.04808686]

qacc:
[-2.43646912e-01, 1.35390009e+00, 7.82348458e-02,-8.27974519e+00,
 -4.80994453e-02,-1.16831092e+00, 4.05949044e+00,-8.66848492e+00,
  5.87696707e-02, 1.06385529e+00,-5.12470355e+00, 1.48636533e+01,
 -2.15740131e-01, 5.00198664e-01,-4.90024037e+00, 9.80895642e+00,
  2.73074691e+00, 1.77573691e+00, 5.17315770e+00,-6.35137541e+00,
  8.81105526e+01, 7.62179322e+01]

qfrc_actuator:
[ 7.86292411e-03, 6.80528186e-02, 1.37466042e-02, 1.93416073e-03,
  8.60909155e-05, 3.56467175e-02, 1.09731290e-02, 1.67936557e-03,
 -3.02401735e-03, 3.46913058e-02, 1.09557597e-02, 1.70994578e-03,
  8.74781479e-03, 1.06315193e-02, 0.00000000e+00,-7.14316050e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16462811, -0.03276577, -0.16133449, -0.03276577,  0.77837755,
       -0.1246477 , -0.16133449, -0.1246477 ,  0.18994308,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015140813101548536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62282815,  0.07856605, -0.7784038 , -0.04908487,  0.99690891,
        0.06134574,  0.78081738,  0.        ,  0.62475933])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620425, -0.03388412,  0.22451941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16462811, -0.03276577, -0.16133449, -0.03276577,  0.77837755,
       -0.1246477 , -0.16133449, -0.1246477 ,  0.18994308,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015140813101548536
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62282815,  0.07856605, -0.7784038 , -0.04908487,  0.99690891,
        0.06134574,  0.78081738,  0.        ,  0.62475933])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620425, -0.03388412,  0.22451941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005622463508785022
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39880612,  0.0865725 , -0.91293969, -0.03465575,  0.99624555,
        0.07933332,  0.91638019,  0.        ,  0.40030906])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08345102, -0.03380643,  0.2231027 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017853836238267556
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  6.2184004e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -6.2184004e-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([-0.08704505, -0.08383243,  0.06188208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.71818923e-03, 3.38435703e-02, 3.11162685e-03,-2.06177519e-05,
 -1.38720588e-05,-6.08125777e-05,-1.90108698e-05,-2.63853896e-05,
  1.69540227e-05, 2.47045659e-05, 2.06329138e-05, 4.79464222e-05,
  9.24990207e-03, 1.39372066e-02, 7.01101342e-03, 6.03870881e-04,
  9.52814076e-03, 4.57026892e-02,-9.82264100e+00, 7.80846271e-04,
 -6.14890340e-02, 6.19678781e-02]


--- Step 3325 ---
qpos:
[-0.01676919, 1.19530052,-0.03473901, 0.94261708,-0.00804469, 1.3321431 ,
 -0.03109809, 0.94137851, 0.01529258, 1.33844246,-0.02374788, 0.95469165,
  1.26677775,-0.00675002, 1.29029302, 0.04484889,-0.05573804,-0.08864098,
  0.09030432, 0.69261148,-0.06963424,-0.7162101 ,-0.04983487]

qacc:
[-4.51127371e-01, 1.48813965e+00, 9.76468032e-03,-8.08578155e+00,
  5.18992535e-02, 7.12150939e-01,-3.26462156e+00, 3.95697241e+00,
  1.31334067e-01, 5.15543275e+00,-1.87205965e+01, 3.06483224e+01,
 -6.84274749e-01, 9.68266094e-01,-6.21630735e+00, 1.27841352e+01,
  2.49306481e+00, 1.56390425e+00, 3.89923747e+00,-6.21459248e+00,
  8.03570552e+01, 6.90712720e+01]

qfrc_actuator:
[ 0.00785994, 0.06803742, 0.0137465 , 0.00190727, 0.00010924, 0.03561005,
  0.01094522, 0.0016823 ,-0.00299609, 0.03470462, 0.01090596, 0.0017724 ,
  0.00873674, 0.01070049, 0.        ,-0.00057972, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16457977, -0.03445838, -0.16093204, -0.03445838,  0.77046353,
       -0.12973035, -0.16093204, -0.12973035,  0.19235732,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015055071489010648
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.22949389e-01,  7.85695941e-02, -7.78306416e-01, -4.90966565e-02,
        9.96908631e-01,  6.13408464e-02,  7.80719910e-01, -6.93889390e-18,
        6.24881127e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862038 , -0.03388563,  0.22452061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16457977, -0.03445838, -0.16093204, -0.03445838,  0.77046353,
       -0.12973035, -0.16093204, -0.12973035,  0.19235732,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015055071489010648
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.22949389e-01,  7.85695941e-02, -7.78306416e-01, -4.90966565e-02,
        9.96908631e-01,  6.13408464e-02,  7.80719910e-01, -6.93889390e-18,
        6.24881127e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0862038 , -0.03388563,  0.22452061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005619534778098824
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39878853,  0.08657923, -0.91294674, -0.03465694,  0.99624497,
        0.07934015,  0.9163878 ,  0.        ,  0.40029164])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08344872, -0.03380793,  0.22310286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018329943153486683
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.02844099e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.02844099e-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([-0.08700267, -0.08383513,  0.06187907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.74310484e-03, 3.37250826e-02, 3.10521809e-03,-1.77629803e-05,
  1.49549436e-05,-7.49484638e-05,-4.27694810e-05,-4.70775635e-08,
  3.79448767e-05, 3.24314527e-05,-4.12324154e-05, 6.49078993e-05,
  9.24541410e-03, 1.39828710e-02, 7.18314040e-03, 7.41187057e-04,
  6.09202377e-03, 4.40973416e-02,-9.82146002e+00,-3.15171701e-04,
 -6.15658723e-02, 6.20249167e-02]


--- Step 3326 ---
qpos:
[-0.01678648, 1.19532188,-0.03473777, 0.94261597,-0.00804251, 1.33215875,
 -0.0310967 , 0.94137808, 0.01529321, 1.33844245,-0.02374726, 0.95469234,
  1.26683493,-0.00677834, 1.29027041, 0.04484782,-0.0557371 ,-0.08877873,
  0.09028308, 0.69278307,-0.06796972,-0.71608521,-0.05151416]

qacc:
[-9.96983439e-02, 6.04521339e-02, 1.34063119e+00,-3.63191117e+00,
  7.59308171e-02,-1.84986397e-01,-3.57792525e+00, 1.99257675e+01,
  1.34638223e-01, 5.35046807e-01,-5.75514229e-01,-2.49258843e-01,
 -6.30909750e-01, 6.76860441e-01, 8.99226711e-01,-2.68464756e-01,
  2.29454746e+00, 1.38787404e+00, 2.82415122e+00,-6.09476392e+00,
  7.39110722e+01, 6.31297086e+01]

qfrc_actuator:
[ 0.0078656 , 0.06807179, 0.01374591, 0.00189185, 0.00012225, 0.03558177,
  0.01098169, 0.00175576,-0.00297964, 0.03478366, 0.01092967, 0.00177332,
  0.00872806, 0.0107529 , 0.        ,-0.00065818, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16452076, -0.03858476, -0.15993216, -0.03858476,  0.84739575,
       -0.16474839, -0.15993216, -0.16474839,  0.20426746,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014949658559931453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62308927,  0.0785728 , -0.77819412, -0.04910969,  0.99690838,
        0.06133451,  0.78060746,  0.        ,  0.6250216 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620327, -0.03388704,  0.22452202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16452076, -0.03858476, -0.15993216, -0.03858476,  0.84739575,
       -0.16474839, -0.15993216, -0.16474839,  0.20426746,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014949658559931453
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62308927,  0.0785728 , -0.77819412, -0.04910969,  0.99690838,
        0.06133451,  0.78060746,  0.        ,  0.6250216 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620327, -0.03388704,  0.22452202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005615522172298104
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39876859,  0.08658643, -0.91295476, -0.03465811,  0.99624434,
        0.0793475 ,  0.91639643,  0.        ,  0.40027188])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08344603, -0.03380932,  0.22310306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001853289412212633
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.99527699e-14,  5.99055397e-14,  1.00000000e+00,  1.79433684e-27,
        1.00000000e+00, -5.99055397e-14, -1.00000000e+00,  0.00000000e+00,
       -2.99527699e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08698503, -0.08383915,  0.06187782])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.80044579e-03, 3.36430032e-02, 3.09347499e-03,-4.73949500e-06,
  2.18348217e-05,-7.82331232e-05, 1.69057740e-05, 6.99673790e-05,
  3.88581911e-05, 9.08493525e-05, 2.72632114e-05, 2.18362637e-06,
  9.26996905e-03, 1.40047815e-02, 7.39505992e-03, 6.62558329e-04,
  2.91466087e-03, 4.26188009e-02,-9.82050189e+00,-1.18589231e-03,
 -6.16382659e-02, 6.20800017e-02]


--- Step 3327 ---
qpos:
[-0.01680384, 1.19534422,-0.03473577, 0.94261567,-0.00804016, 1.33217404,
 -0.0310953 , 0.94137783, 0.0152941 , 1.33844292,-0.02374572, 0.95469301,
  1.26689175,-0.00680626, 1.29024706, 0.04484687,-0.05572765,-0.08891152,
  0.09026952, 0.69305425,-0.06638937,-0.71585292,-0.05313049]

qacc:
[-3.06512178e-02, 5.86400061e-01,-2.04598808e+00, 1.05959674e+01,
  6.84466336e-02,-2.13009899e-01,-2.44467921e-01, 2.53734782e+00,
  1.12309100e-01,-1.86097952e+00, 6.86331487e+00,-6.43833764e+00,
 -4.81982891e-01, 6.82717680e-01,-1.37979172e+00, 3.34471951e+00,
  2.12895263e+00, 1.24142622e+00, 1.91833422e+00,-5.99572535e+00,
  6.85550730e+01, 5.81686798e+01]

qfrc_actuator:
[ 0.0078938 , 0.06811894, 0.01374492, 0.00193641, 0.00012907, 0.03557678,
  0.01098492, 0.00176366,-0.00297021, 0.03481291, 0.01097908, 0.00177361,
  0.00872082, 0.01076005, 0.        ,-0.00061627, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16447026, -0.03044603, -0.16162768, -0.03044603,  0.66884511,
       -0.09500979, -0.16162768, -0.09500979,  0.18236739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001485880392214367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62322494,  0.07857636, -0.7780851 , -0.04912263,  0.9969081 ,
        0.06132872,  0.78049833,  0.        ,  0.62515787])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620277, -0.03388846,  0.22452342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16447026, -0.03044603, -0.16162768, -0.03044603,  0.66884511,
       -0.09500979, -0.16162768, -0.09500979,  0.18236739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001485880392214367
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62322494,  0.07857636, -0.7780851 , -0.04912263,  0.9969081 ,
        0.06132872,  0.78049833,  0.        ,  0.62515787])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620277, -0.03388846,  0.22452342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00056127859055706
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39874776,  0.08659374, -0.91296317, -0.03465925,  0.99624371,
        0.07935497,  0.91640546,  0.        ,  0.40025122])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08344344, -0.03381071,  0.22310329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018515390093933326
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.99810865e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.99810865e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08698718, -0.08384402,  0.06187798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.84005221e-03, 3.36526723e-02, 3.08083164e-03, 4.84455474e-05,
  1.97089635e-05,-4.29648509e-05,-8.11798534e-06, 7.68189393e-06,
  3.23782494e-05, 8.48816451e-05, 7.03145259e-05, 3.83359164e-06,
  9.29137307e-03, 1.40024426e-02, 7.33092053e-03, 6.87087289e-04,
 -4.68040670e-05, 4.12484984e-02,-9.81971575e+00,-1.88323935e-03,
 -6.17069377e-02, 6.21329088e-02]


--- Step 3328 ---
qpos:
[-0.01682067, 1.19536594,-0.034734  , 0.94261541,-0.00803784, 1.33218921,
 -0.03109452, 0.94137735, 0.0152949 , 1.33844384,-0.02374467, 0.95469376,
  1.26694864,-0.0068341 , 1.29022571, 0.04484618,-0.05571023,-0.08903984,
  0.09026058, 0.69341865,-0.06488741,-0.71552033,-0.05468867]

qacc:
[ 2.30714240e-01,-7.33695238e-02,-8.23565639e-01, 1.60326949e+00,
 -1.06976024e-02, 1.11774798e+00,-3.36505249e+00, 2.77527797e-01,
 -3.90853637e-02, 2.02317487e+00,-6.04220280e+00, 5.82512180e+00,
 -8.88439767e-02, 1.78238954e-01, 2.15559759e+00,-3.23198861e+00,
  1.99102255e+00, 1.11945546e+00, 1.15650329e+00,-5.91912000e+00,
  6.41115298e+01, 5.40088968e+01]

qfrc_actuator:
[ 0.00789995, 0.06811995, 0.01370755, 0.00192727, 0.00011438, 0.03556789,
  0.01095078, 0.00175064,-0.00300058, 0.03479448, 0.01093655, 0.00177353,
  0.00871977, 0.01075752, 0.        ,-0.00069733, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16441984, -0.03185173, -0.16130515, -0.03185173,  0.72340077,
       -0.1103778 , -0.16130515, -0.1103778 ,  0.18621532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014767487260905834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.23364739e-01,  7.85797538e-02, -7.77972766e-01, -4.91357839e-02,
        9.96907830e-01,  6.13225280e-02,  7.80385851e-01, -6.93889390e-18,
        6.25298267e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620226, -0.03388987,  0.22452487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16441984, -0.03185173, -0.16130515, -0.03185173,  0.72340077,
       -0.1103778 , -0.16130515, -0.1103778 ,  0.18621532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014767487260905834
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.23364739e-01,  7.85797538e-02, -7.77972766e-01, -4.91357839e-02,
        9.96907830e-01,  6.13225280e-02,  7.80385851e-01, -6.93889390e-18,
        6.25298267e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620226, -0.03388987,  0.22452487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005610224640970086
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98725323e-01,  8.66011062e-02, -9.12972270e-01, -3.46602704e-02,
        9.96243067e-01,  7.93625684e-02,  9.16415180e-01, -6.93889390e-18,
        4.00228956e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08344076, -0.0338121 ,  0.22310353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018321656278281473
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08700505, -0.08384937,  0.06187927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.84970098e-03, 3.36046665e-02, 3.00493022e-03,-1.31097382e-06,
 -3.06289873e-06,-3.41313913e-05,-4.32643409e-05,-1.43546693e-05,
 -1.12411033e-05, 4.23505313e-05,-1.78469090e-05, 4.58093055e-06,
  9.30834737e-03, 1.39810652e-02, 7.36787020e-03, 6.00528590e-04,
 -2.82904414e-03, 3.99712103e-02,-9.81906379e+00,-2.44618071e-03,
 -6.17725244e-02, 6.21834888e-02]


--- Step 3329 ---
qpos:
[-0.0168367 , 1.19538635,-0.03473293, 0.94261479,-0.00803575, 1.33220396,
 -0.03109466, 0.9413771 , 0.01529535, 1.33844491,-0.02374399, 0.95469418,
  1.26700548,-0.00686204, 1.29020799, 0.04484581,-0.05568362,-0.08915762,
  0.09025697, 0.69387818,-0.06356794,-0.71508339,-0.05610645]

qacc:
[ 3.45864745e-01,-4.86924213e-01, 2.52485956e-01,-3.58890283e+00,
 -1.01751855e-01, 2.33952263e+00,-8.76440091e+00, 1.05893233e+01,
 -1.48681078e-01, 6.22602804e-01,-1.10793534e+00,-2.96324301e+00,
 -1.56527381e-01, 9.60664775e-02, 4.41689698e+00,-7.64158513e+00,
  2.30044136e+00, 2.63267040e+00, 1.33407172e+00,-1.28124204e+01,
  6.06649898e+01, 1.19950968e+02]

qfrc_actuator:
[ 7.92780734e-03, 6.80767302e-02, 1.36845750e-02, 1.90411170e-03,
  8.68912694e-05, 3.55210527e-02, 1.08948600e-02, 1.76091171e-03,
 -3.03681289e-03, 3.47827821e-02, 1.09109081e-02, 1.75537844e-03,
  8.72241975e-03, 1.07848390e-02, 0.00000000e+00,-7.99105317e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16437638, -0.03396622, -0.16082876, -0.03396622,  0.77049902,
       -0.12801003, -0.16082876, -0.12801003,  0.19141144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014688266046157354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.23496379e-01,  7.85832503e-02, -7.77866915e-01, -4.91483606e-02,
        9.96907555e-01,  6.13169297e-02,  7.80279888e-01,  6.93889390e-18,
        6.25430489e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620179, -0.03389134,  0.22452623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16437638, -0.03396622, -0.16082876, -0.03396622,  0.77049902,
       -0.12801003, -0.16082876, -0.12801003,  0.19141144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014688266046157354
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.23496379e-01,  7.85832503e-02, -7.77866915e-01, -4.91483606e-02,
        9.96907555e-01,  6.13169297e-02,  7.80279888e-01,  6.93889390e-18,
        6.25430489e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620179, -0.03389134,  0.22452623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005608490187259396
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39870368,  0.08660825, -0.91298105, -0.03466127,  0.99624245,
        0.07936992,  0.91642456,  0.        ,  0.40020748])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08343826, -0.03381356,  0.22310376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018170444124529367
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90939029e-14,  9.16507338e-14,  1.00000000e+00,  1.74997021e-27,
        1.00000000e+00, -9.16507338e-14, -1.00000000e+00,  0.00000000e+00,
       -1.90939029e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08832655, -0.09152605,  0.06188031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.85108073e-03, 3.35918753e-02, 2.99411187e-03,-2.66045535e-05,
 -2.92929044e-05,-7.47219591e-05,-6.79693520e-05, 7.66338541e-06,
 -4.28741359e-05, 8.37027651e-06,-1.92694319e-05,-1.73047644e-05,
  9.30728575e-03, 1.40043923e-02, 7.26835698e-03, 4.85500561e-04,
 -5.46367327e-03, 3.87744134e-02,-9.81851758e+00,-2.90419095e-03,
 -6.18355612e-02, 6.22316388e-02]


--- Step 3330 ---
qpos:
[-0.01685267, 1.19540721,-0.03473185, 0.94261439,-0.0080338 , 1.33221801,
 -0.03109534, 0.9413763 , 0.01529556, 1.33844586,-0.02374293, 0.95469436,
  1.26706185,-0.00688962, 1.29018824, 0.04484535,-0.05567274,-0.08927436,
  0.09024439, 0.69413765,-0.06221005,-0.71483456,-0.05757069]

qacc:
[ 2.91755600e-02, 9.60366082e-01,-2.88064047e+00, 4.79966078e+00,
 -5.80146132e-02,-4.23413651e-01, 1.40257697e+00,-7.23550790e+00,
 -1.01420552e-01,-1.57857956e+00, 5.40772647e+00,-7.29161287e+00,
 -5.04208500e-01, 6.64337683e-01,-2.67599116e+00, 5.11011890e+00,
 -3.93436317e+00, 2.59835123e-01,-2.24525106e+00,-4.35738333e+00,
 -1.34236288e+02,-4.14418432e+01]

qfrc_actuator:
[ 7.96821400e-03, 6.80611764e-02, 1.36885235e-02, 1.92618719e-03,
  8.74640860e-05, 3.54695413e-02, 1.08619108e-02, 1.73152851e-03,
 -3.04077236e-03, 3.47752388e-02, 1.09309703e-02, 1.74452196e-03,
  8.71131328e-03, 1.08124706e-02, 0.00000000e+00,-6.82686199e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16434473, -0.02802166, -0.16193818, -0.02802166,  0.62534982,
       -0.07977198, -0.16193818, -0.07977198,  0.17814841,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014630284906044962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62361256,  0.07858707, -0.77777339, -0.04915992,  0.99690725,
        0.06131256,  0.78018631,  0.        ,  0.62554722])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620141, -0.03389291,  0.22452743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16434473, -0.02802166, -0.16193818, -0.02802166,  0.62534982,
       -0.07977198, -0.16193818, -0.07977198,  0.17814841,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014630284906044962
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62361256,  0.07858707, -0.77777339, -0.04915992,  0.99690725,
        0.06131256,  0.78018631,  0.        ,  0.62554722])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620141, -0.03389291,  0.22452743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005608142189018096
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39868387,  0.08661503, -0.91298905, -0.03466228,  0.99624186,
        0.07937689,  0.91643314,  0.        ,  0.40018783])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08343609, -0.03381511,  0.22310396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  17.27186012,   0.17307683,  17.27186012,
        17.28285719,  -1.01089473,   0.17307683,  -1.01089473,
       118.15296857,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018343408638731643
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.02621788e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.02621788e-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([ 0.0226068 , -0.08987046,  0.06187936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.85181104e-03, 3.36417486e-02, 3.03234445e-03, 1.35800625e-05,
 -1.67202244e-05,-1.06024159e-04,-5.51014056e-05,-3.34326555e-05,
 -2.92785137e-05,-7.19925916e-06, 1.89994407e-05,-1.15718723e-05,
  9.29902152e-03, 1.40380025e-02, 7.08737556e-03, 5.86204821e-04,
 -8.04810063e-03, 3.34746333e-02,-9.81726059e+00,-2.97471604e-03,
 -6.19141032e-02, 6.22759350e-02]


--- Step 3331 ---
qpos:
[-0.01686908, 1.19542908,-0.03473076, 0.94261386,-0.00803194, 1.33223166,
 -0.03109636, 0.94137649, 0.01529561, 1.33844651,-0.02374123, 0.95469372,
  1.26711771,-0.00691671, 1.29016593, 0.04484488,-0.05567617,-0.08939028,
  0.09022012, 0.694215  ,-0.06081792,-0.71475635,-0.05907682]

qacc:
[-1.91829348e-01, 1.08559180e+00,-1.65154781e+00,-7.56755146e-01,
 -3.55097863e-02, 2.10834585e+00,-9.55891075e+00, 2.01162048e+01,
 -6.78247406e-02,-3.53420997e+00, 1.27066885e+01,-2.03030412e+01,
 -5.54619247e-01, 7.78286337e-01,-3.72275203e+00, 7.61956944e+00,
 -3.57799545e+00, 2.05453279e-01,-2.92092274e+00,-3.84345918e+00,
 -1.22022451e+02,-3.73313675e+01]

qfrc_actuator:
[ 7.94554777e-03, 6.80254783e-02, 1.37082119e-02, 1.92170482e-03,
  8.71112527e-05, 3.54867009e-02, 1.08604913e-02, 1.78556501e-03,
 -3.04308853e-03, 3.47526610e-02, 1.09601142e-02, 1.70256898e-03,
  8.69731997e-03, 1.08398567e-02, 0.00000000e+00,-5.94843468e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16430621, -0.03077057, -0.16139921, -0.03077057,  0.66973995,
       -0.09636034, -0.16139921, -0.09636034,  0.1826772 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014559392677188955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62373665,  0.07859044, -0.77767354, -0.04917182,  0.99690699,
        0.06130733,  0.78008636,  0.        ,  0.62567186])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620098, -0.03389441,  0.22452871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16430621, -0.03077057, -0.16139921, -0.03077057,  0.66973995,
       -0.09636034, -0.16139921, -0.09636034,  0.1826772 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014559392677188955
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62373665,  0.07859044, -0.77767354, -0.04917182,  0.99690699,
        0.06130733,  0.78008636,  0.        ,  0.62567186])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620098, -0.03389441,  0.22452871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005606878477909839
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39866365,  0.0866218 , -0.91299724, -0.03466325,  0.99624127,
        0.07938385,  0.9164419 ,  0.        ,  0.40016777])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08343374, -0.0338166 ,  0.22310417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -13.92550761,  10.21896988, -13.92550761,
        77.04993634,  81.45908927,  10.21896988,  81.45908927,
       128.27796367,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018832623367118911
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.21070440e-14,  2.94760587e-14,  1.00000000e+00, -6.51628528e-28,
        1.00000000e+00, -2.94760587e-14, -1.00000000e+00,  0.00000000e+00,
        2.21070440e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02247643, -0.08986733,  0.06187642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.82577081e-03, 3.35833259e-02, 3.05181846e-03,-2.03626149e-06,
 -1.02257291e-05,-5.33859734e-05,-2.94373901e-05, 4.84665237e-05,
 -1.96067422e-05,-2.31994577e-05, 2.95568499e-05,-4.18765093e-05,
  9.30871597e-03, 1.40474533e-02, 7.18873372e-03, 6.78618935e-04,
 -3.14264862e-03, 3.18318610e-02,-9.81719915e+00,-1.43014336e-03,
 -6.20271901e-02, 6.23695239e-02]


--- Step 3332 ---
qpos:
[-0.01688634, 1.19545272,-0.03472984, 0.94261253,-0.00803043, 1.33224546,
 -0.03109799, 0.94137798, 0.01529556, 1.33844693,-0.02373972, 0.95469159,
  1.26717296,-0.00694324, 1.29013969, 0.04484448,-0.05569271,-0.08950555,
  0.09018186, 0.69412517,-0.05939481,-0.71483396,-0.06062099]

qacc:
[-3.69229852e-01, 1.39657788e+00,-1.07924614e-01,-1.03043507e+01,
 -1.47452144e-01, 4.03131323e+00,-1.56244502e+01, 2.85919536e+01,
 -4.46567370e-02,-2.38933882e+00, 1.04508566e+01,-2.61789305e+01,
 -6.32473875e-01, 8.94529240e-01,-5.95694077e+00, 1.25051821e+01,
 -3.27652791e+00, 1.60834406e-01,-3.49745150e+00,-3.32553365e+00,
 -1.11761094e+02,-3.39482685e+01]

qfrc_actuator:
[ 7.93877562e-03, 6.79769454e-02, 1.37195842e-02, 1.88380154e-03,
  5.06993545e-05, 3.55272745e-02, 1.08425004e-02, 1.85281758e-03,
 -3.04440205e-03, 3.47212815e-02, 1.09410332e-02, 1.62488731e-03,
  8.68693974e-03, 1.08845954e-02, 0.00000000e+00,-4.53182902e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16426039, -0.03461178, -0.16057241, -0.03461178,  0.73835738,
       -0.12374804, -0.16057241, -0.12374804,  0.19093459,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014474556657791994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62387142,  0.07859351, -0.77756512, -0.04918438,  0.99690675,
        0.06130119,  0.77997779,  0.        ,  0.6258072 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620049, -0.03389586,  0.22453011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16426039, -0.03461178, -0.16057241, -0.03461178,  0.73835738,
       -0.12374804, -0.16057241, -0.12374804,  0.19093459,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014474556657791994
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62387142,  0.07859351, -0.77756512, -0.04918438,  0.99690675,
        0.06130119,  0.77997779,  0.        ,  0.6258072 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08620049, -0.03389586,  0.22453011])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005604727887247758
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98642482e-01,  8.66287607e-02, -9.13005821e-01, -3.46642186e-02,
        9.96240663e-01,  7.93910205e-02,  9.16451070e-01,  6.93889390e-18,
        4.00146768e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08343118, -0.03381802,  0.2231044 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019011208721955095
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.18993774e-14,  1.45995849e-14,  1.00000000e+00, -3.19721820e-28,
        1.00000000e+00, -1.45995849e-14, -1.00000000e+00,  0.00000000e+00,
        2.18993774e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02242879, -0.08987026,  0.06187534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.84096071e-03, 3.34836395e-02, 3.06265858e-03,-3.32876091e-05,
 -4.24497859e-05, 6.64478979e-06,-3.03814108e-05, 6.59199359e-05,
 -1.28927373e-05,-3.96850430e-05,-2.14814048e-05,-7.84763786e-05,
  9.32333179e-03, 1.40690037e-02, 7.31722850e-03, 8.20719127e-04,
  7.64842482e-04, 3.02546819e-02,-9.81738379e+00, 1.43733950e-04,
 -6.21253356e-02, 6.24624822e-02]


--- Step 3333 ---
qpos:
[-0.01690367, 1.1954775 ,-0.03472894, 0.94261046,-0.00802915, 1.33225895,
 -0.03109876, 0.94137885, 0.01529543, 1.33844719,-0.02373851, 0.95468923,
  1.26722763,-0.0069696 , 1.29011366, 0.04484446,-0.05569773,-0.08960892,
  0.0901606 , 0.69415827,-0.05820209,-0.71478333,-0.06198066]

qacc:
[-3.45481463e-02, 3.05115617e-01, 2.34738543e+00,-1.13581375e+01,
 -1.02391504e-01,-3.76127290e+00, 1.30823036e+01,-1.84129423e+01,
 -2.88502860e-02, 2.43470370e-01,-6.02242565e-01,-1.93519650e+00,
 -5.47235249e-01, 5.53969884e-01,-8.08401773e-01, 3.37136866e+00,
  2.87768274e+00, 2.97809944e+00, 4.24791627e+00,-1.42519071e+01,
  7.59832728e+01, 1.53912428e+02]

qfrc_actuator:
[ 7.97762762e-03, 6.79905709e-02, 1.37438884e-02, 1.84431762e-03,
  4.62075206e-05, 3.55105128e-02, 1.08859756e-02, 1.82078012e-03,
 -3.04510474e-03, 3.47201717e-02, 1.09290858e-02, 1.61553554e-03,
  8.68408187e-03, 1.09394544e-02, 0.00000000e+00,-4.74578285e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16420412, -0.04163557, -0.15883788, -0.04163557,  0.88726411,
       -0.18953295, -0.15883788, -0.18953295,  0.21388566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014369627231658987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.24022709e-01,  7.85962371e-02, -7.77443432e-01, -4.91980294e-02,
        9.96906531e-01,  6.12937385e-02,  7.79855892e-01,  6.93889390e-18,
        6.25959095e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619992, -0.0338972 ,  0.22453169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16420412, -0.04163557, -0.15883788, -0.04163557,  0.88726411,
       -0.18953295, -0.15883788, -0.18953295,  0.21388566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014369627231658987
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.24022709e-01,  7.85962371e-02, -7.77443432e-01, -4.91980294e-02,
        9.96906531e-01,  6.12937385e-02,  7.79855892e-01,  6.93889390e-18,
        6.25959095e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619992, -0.0338972 ,  0.22453169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005601348010250279
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39861984,  0.08663609, -0.91301501, -0.0346652 ,  0.99624003,
        0.07939859,  0.91646088,  0.        ,  0.4001243 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08342828, -0.03381934,  0.22310468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019219175582197295
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.88832115e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.88832115e-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([-0.08823443, -0.0914861 ,  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:
[ 5.92210408e-03, 3.34089013e-02, 3.09506734e-03,-3.28071832e-05,
 -2.95484241e-05,-1.71378937e-05, 4.32387865e-05,-3.11827167e-05,
 -8.31715099e-06,-2.95842210e-05,-2.44406757e-05,-1.29830262e-05,
  9.35145367e-03, 1.40956015e-02, 7.51433477e-03, 7.96253232e-04,
  3.88242884e-03, 2.87459400e-02,-9.81774686e+00, 1.73379329e-03,
 -6.22084366e-02, 6.25544987e-02]


--- Step 3334 ---
qpos:
[-0.01691962, 1.19550127,-0.0347278 , 0.94260847,-0.00802805, 1.33227187,
 -0.03109885, 0.94137936, 0.01529527, 1.33844753,-0.02373791, 0.95468747,
  1.26728203,-0.00699652, 1.29009597, 0.04484516,-0.05569225,-0.08970141,
  0.0901516 , 0.69430452,-0.05721824,-0.71461618,-0.06317451]

qacc:
[ 6.07249689e-01,-1.83102988e+00, 4.22922156e+00,-2.19853624e+00,
 -7.09875500e-02,-3.20726665e+00, 1.03100911e+01,-1.27469202e+01,
 -1.82825150e-02, 2.75332062e+00,-1.00458070e+01, 1.54700717e+01,
 -2.78396901e-01,-1.00504858e-01, 1.01521085e+01,-1.75709649e+01,
  2.62737455e+00, 2.71660355e+00, 3.06757061e+00,-1.35517746e+01,
  6.95775144e+01, 1.39094958e+02]

qfrc_actuator:
[ 8.02567268e-03, 6.80059021e-02, 1.37758775e-02, 1.83965182e-03,
  4.31485027e-05, 3.54597367e-02, 1.09118589e-02, 1.80158444e-03,
 -3.04543618e-03, 3.47372504e-02, 1.09038681e-02, 1.64650534e-03,
  8.68575608e-03, 1.09650670e-02, 0.00000000e+00,-7.53926787e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16415296, -0.04723075, -0.15721148, -0.04723075,  1.02960235,
       -0.26000537, -0.15721148, -0.26000537,  0.24226589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014273500484010375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62417409,  0.07859901, -0.77732162, -0.04921171,  0.99690631,
        0.06128631,  0.77973388,  0.        ,  0.62611108])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619937, -0.03389852,  0.2245333 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16415296, -0.04723075, -0.15721148, -0.04723075,  1.02960235,
       -0.26000537, -0.15721148, -0.26000537,  0.24226589,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014273500484010375
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62417409,  0.07859901, -0.77732162, -0.04921171,  0.99690631,
        0.06128631,  0.77973388,  0.        ,  0.62611108])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619937, -0.03389852,  0.2245333 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005598863558597504
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39859618,  0.08664347, -0.91302464, -0.03466612,  0.99623938,
        0.07940624,  0.91647114,  0.        ,  0.4001008 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0834254 , -0.03382064,  0.22310498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.93144224,  -3.41663153,  16.93144224,
        23.86438693,  32.66559582,  -3.41663153,  32.66559582,
       179.1501916 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019588703032764054
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.83383495e-14,  5.66766990e-14,  1.00000000e+00,  1.60612410e-27,
        1.00000000e+00, -5.66766990e-14, -1.00000000e+00,  0.00000000e+00,
       -2.83383495e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08820151, -0.09147019,  0.06187177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.97407213e-03, 3.33668836e-02, 3.12817795e-03,-4.22748428e-07,
 -2.05010636e-05,-5.28297979e-05, 2.65228145e-05,-1.91472720e-05,
 -5.24366349e-06,-4.44574951e-06,-3.41578961e-05, 2.90744932e-05,
  9.38211698e-03, 1.41138079e-02, 7.50419820e-03, 4.97807076e-04,
  9.01542711e-04, 2.31577025e-02,-9.81602642e+00, 1.16550570e-03,
 -6.21982966e-02, 6.25827378e-02]


--- Step 3335 ---
qpos:
[-0.01693482, 1.19552479,-0.03472633, 0.9426067 ,-0.00802692, 1.33228463,
 -0.03109955, 0.94137899, 0.01529508, 1.33844809,-0.02373829, 0.95468609,
  1.26733577,-0.00702358, 1.29008222, 0.04484615,-0.05567709,-0.08978392,
  0.09015089, 0.69455565,-0.05642539,-0.71434214,-0.06421785]

qacc:
[ 3.23322480e-01,-8.36492374e-01, 1.84120738e+00, 1.28995333e+00,
  1.20032103e-02,-6.48731673e-02, 1.78299104e+00,-1.17807654e+01,
 -1.12722550e-02, 3.61521708e+00,-1.22320695e+01, 1.49856152e+01,
 -6.37207736e-01, 4.44360742e-01, 5.00058179e+00,-8.92432647e+00,
  2.41990209e+00, 2.49883559e+00, 2.07125346e+00,-1.29015978e+01,
  6.42478534e+01, 1.26870427e+02]

qfrc_actuator:
[ 8.06004130e-03, 6.79884430e-02, 1.37944768e-02, 1.85536177e-03,
  5.87244907e-05, 3.54421919e-02, 1.08737522e-02, 1.75457180e-03,
 -3.04554279e-03, 3.47473165e-02, 1.08533547e-02, 1.66543916e-03,
  8.68481658e-03, 1.10092880e-02, 0.00000000e+00,-7.97984657e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16413359, -0.03991794, -0.1592055 , -0.03991794,  0.82826677,
       -0.16651957, -0.1592055 , -0.16651957,  0.20588541,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001423693013478198
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62429269,  0.07860265, -0.777226  , -0.04922336,  0.99690603,
        0.06128163,  0.77963818,  0.        ,  0.62623023])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619901, -0.03390001,  0.2245346 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16413359, -0.03991794, -0.1592055 , -0.03991794,  0.82826677,
       -0.16651957, -0.1592055 , -0.16651957,  0.20588541,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001423693013478198
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62429269,  0.07860265, -0.777226  , -0.04922336,  0.99690603,
        0.06128163,  0.77963818,  0.        ,  0.62623023])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619901, -0.03390001,  0.2245346 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005600810091145429
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39857323,  0.08665028, -0.91303401, -0.03466687,  0.99623879,
        0.07941334,  0.91648109,  0.        ,  0.40007801])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0834232 , -0.03382211,  0.22310527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019692631356657136
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.81887932e-14,  5.63775863e-14,  1.00000000e+00,  1.58921612e-27,
        1.00000000e+00, -5.63775863e-14, -1.00000000e+00,  0.00000000e+00,
       -2.81887932e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08819316, -0.0914637 ,  0.06187119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.93880110e-03, 3.33994960e-02, 3.13501841e-03, 1.17712797e-05,
  3.47299402e-06,-4.22495345e-05,-4.60019143e-05,-4.82521039e-05,
 -3.20305623e-06, 1.79260185e-06,-5.44163749e-05, 1.84780109e-05,
  9.39464174e-03, 1.41864172e-02, 7.08743966e-03, 4.17518328e-04,
 -1.45516963e-03, 1.86000331e-02,-9.81465554e+00, 8.51550512e-04,
 -6.21593176e-02, 6.26069428e-02]


--- Step 3336 ---
qpos:
[-0.01695017, 1.19554868,-0.03472475, 0.94260509,-0.0080254 , 1.33229712,
 -0.0311007 , 0.9413777 , 0.01529472, 1.33844871,-0.02373839, 0.95468421,
  1.26738864,-0.00705026, 1.29006726, 0.04484706,-0.0556765 ,-0.0898646 ,
  0.0901383 , 0.69462583,-0.05556535,-0.71424173,-0.06531611]

qacc:
[-6.51842064e-02, 4.31677880e-01,-1.15014276e+00, 2.58024701e+00,
  1.61125830e-01,-7.21250714e-01, 3.80050640e+00,-1.36490085e+01,
 -6.79507326e-02,-1.54858614e+00, 6.18202335e+00,-1.12423951e+01,
 -8.84859460e-01, 9.94742255e-01,-1.44608228e+00, 2.61531739e+00,
 -3.64181918e+00, 4.54588251e-01,-2.96945730e+00, 4.18925131e+00,
 -1.21220809e+02,-5.37786055e+01]

qfrc_actuator:
[ 0.00806855, 0.06796871, 0.01376934, 0.00186535, 0.0001031 , 0.03542666,
  0.01085154, 0.0017093 ,-0.00306327, 0.03477076, 0.01087705, 0.00164161,
  0.00867703, 0.01106449, 0.        ,-0.00071848, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16412989, -0.03307511, -0.16076274, -0.03307511,  0.66954388,
       -0.10398319, -0.16076274, -0.10398319,  0.18552326,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014229942548022768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.24395844e-01,  7.86066486e-02, -7.77142731e-01, -4.92340090e-02,
        9.96905710e-01,  6.12781981e-02,  7.79554900e-01, -6.93889390e-18,
        6.26333903e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619875, -0.03390153,  0.22453577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16412989, -0.03307511, -0.16076274, -0.03307511,  0.66954388,
       -0.10398319, -0.16076274, -0.10398319,  0.18552326,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014229942548022768
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.24395844e-01,  7.86066486e-02, -7.77142731e-01, -4.92340090e-02,
        9.96905710e-01,  6.12781981e-02,  7.79554900e-01, -6.93889390e-18,
        6.26333903e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619875, -0.03390153,  0.22453577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005605004142437038
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98550214e-01,  8.66567953e-02, -9.13043442e-01, -3.46674957e-02,
        9.96238224e-01,  7.94201796e-02,  9.16491075e-01, -6.93889390e-18,
        4.00055132e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08342134, -0.03382362,  0.22310555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.27189047,  0.1700208 , 17.27189047, 17.2782645 ,
       -0.56251031,  0.1700208 , -0.56251031, 74.4164208 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019747357076478414
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40553369e-14,  4.21660106e-14,  1.00000000e+00, -5.92657484e-28,
        1.00000000e+00, -4.21660106e-14, -1.00000000e+00,  0.00000000e+00,
        1.40553369e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02223526, -0.08993042,  0.06187095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.91021640e-03, 3.33922032e-02, 3.09310217e-03, 1.00722577e-05,
  4.64290981e-05,-4.94479857e-05,-3.71434810e-05,-4.89998900e-05,
 -1.96149169e-05, 1.43453102e-05, 1.83959046e-05,-2.49413207e-05,
  9.42005380e-03, 1.42495791e-02, 6.89038689e-03, 4.82576789e-04,
 -3.32704946e-03, 1.48455923e-02,-9.81354264e+00, 7.26492113e-04,
 -6.20968627e-02, 6.26270968e-02]


--- Step 3337 ---
qpos:
[-0.01696599, 1.19557279,-0.03472296, 0.94260397,-0.0080236 , 1.33230949,
 -0.03110253, 0.94137692, 0.01529419, 1.33844939,-0.02373851, 0.95468277,
  1.26744061,-0.00707636, 1.29005055, 0.04484784,-0.05568922,-0.08994386,
  0.09011158, 0.69452999,-0.05464805,-0.7142999 ,-0.06646307]

qacc:
[-2.06889892e-01, 5.74089434e-01,-2.52272993e+00, 7.68549415e+00,
  1.22930262e-01, 2.57384615e+00,-9.64249387e+00, 1.43095874e+01,
 -7.62097685e-02, 8.98904260e-01,-3.74133229e+00, 8.26529417e+00,
 -9.80714442e-01, 1.21345146e+00,-2.14637363e+00, 3.90322900e+00,
 -3.32958026e+00, 3.54836017e-01,-3.53187657e+00, 3.06130230e+00,
 -1.11145714e+02,-4.71914798e+01]

qfrc_actuator:
[ 0.00806213, 0.06792935, 0.01375356, 0.00188965, 0.00011115, 0.03543026,
  0.01082118, 0.00173645,-0.00307366, 0.03476677, 0.01087338, 0.00166387,
  0.00866517, 0.0111258 , 0.        ,-0.00067108, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16412258, -0.03120045, -0.16112962, -0.03120045,  0.61611166,
       -0.08752124, -0.16112962, -0.08752124,  0.18106982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001421610009812134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62450352,  0.0786105 , -0.77705582, -0.04924493,  0.99690541,
        0.06127437,  0.77946795,  0.        ,  0.6264421 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619847, -0.03390299,  0.224537  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16412258, -0.03120045, -0.16112962, -0.03120045,  0.61611166,
       -0.08752124, -0.16112962, -0.08752124,  0.18106982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001421610009812134
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62450352,  0.0786105 , -0.77705582, -0.04924493,  0.99690541,
        0.06127437,  0.77946795,  0.        ,  0.6264421 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619847, -0.03390299,  0.224537  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000560873422422347
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98526754e-01,  8.66633805e-02, -9.13053057e-01, -3.46681092e-02,
        9.96237652e-01,  7.94270969e-02,  9.16501254e-01,  1.38777878e-17,
        4.00031813e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08341938, -0.03382508,  0.22310585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.19759965,   1.6092463 , -17.19759965,
        17.42048593,   1.57905865,   1.6092463 ,   1.57905865,
        34.14771925,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019895406410955357
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.79014915e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.79014915e-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([ 0.02219705, -0.0899522 ,  0.06187008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.91124442e-03, 3.33342431e-02, 3.07140927e-03, 2.65720109e-05,
  3.54458842e-05,-3.25885681e-05,-4.57166708e-05, 2.34482634e-05,
 -2.19794843e-05, 6.79608419e-06, 4.89333135e-07, 2.26443383e-05,
  9.45199203e-03, 1.42919020e-02, 6.95097004e-03, 5.34509552e-04,
 -4.53339139e-04, 1.44647730e-02,-9.81396025e+00, 1.69787509e-03,
 -6.21473892e-02, 6.26962645e-02]


--- Step 3338 ---
qpos:
[-0.0169814 , 1.19559545,-0.03472123, 0.94260332,-0.00802159, 1.33232154,
 -0.03110415, 0.94137679, 0.01529379, 1.33845014,-0.02373935, 0.95468371,
  1.26749191,-0.00710238, 1.29003803, 0.04484883,-0.05569093,-0.09001269,
  0.09009976, 0.69455495,-0.05395149,-0.71423786,-0.067431  ]

qacc:
[ 1.83768715e-01,-9.51637733e-01,-1.46508912e-01, 6.44816542e+00,
  8.63021621e-02, 7.84070839e-02,-2.07554364e+00, 9.47485784e+00,
  5.74110227e-02, 6.13140191e+00,-2.46572852e+01, 4.87860637e+01,
 -8.09429412e-01, 7.71014777e-01, 5.60722000e+00,-1.04770288e+01,
  2.75308697e+00, 2.60972479e+00, 3.72175292e+00,-1.34099839e+01,
  7.26591255e+01, 1.48304190e+02]

qfrc_actuator:
[ 0.00808264, 0.0678782 , 0.013761  , 0.00190438, 0.00011508, 0.03542755,
  0.01083963, 0.0017705 ,-0.00304407, 0.03476409, 0.01083574, 0.00178406,
  0.00866156, 0.01119043, 0.        ,-0.00083815, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16410896, -0.03651851, -0.15999422, -0.03651851,  0.71282941,
       -0.12524484, -0.15999422, -0.12524484,  0.19269596,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014190279303245498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.24617678e-01,  7.86143071e-02, -7.76963672e-01, -4.92563291e-02,
        9.96905106e-01,  6.12700851e-02,  7.79375757e-01, -6.93889390e-18,
        6.26556805e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619814, -0.03390438,  0.22453829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16410896, -0.03651851, -0.15999422, -0.03651851,  0.71282941,
       -0.12524484, -0.15999422, -0.12524484,  0.19269596,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014190279303245498
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.24617678e-01,  7.86143071e-02, -7.76963672e-01, -4.92563291e-02,
        9.96905106e-01,  6.12700851e-02,  7.79375757e-01, -6.93889390e-18,
        6.26556805e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619814, -0.03390438,  0.22453829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005611582355729838
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3985029 ,  0.08667016, -0.91306282, -0.03466877,  0.99623706,
        0.07943421,  0.9165116 ,  0.        ,  0.40000811])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08341727, -0.03382645,  0.22310616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.72727273e+01, -1.72726298e+01, -5.80177502e-02, -1.72726298e+01,
        1.72744802e+01, -5.21866756e-01, -5.80177502e-02, -5.21866756e-01,
        1.72639167e+02,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.002025947325420885
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.4800192e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -5.4800192e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08814389, -0.09142513,  0.06186783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.95546031e-03, 3.32716445e-02, 3.06869461e-03, 1.70413737e-05,
  2.48504747e-05,-2.90625753e-05, 7.53649563e-06, 3.22845290e-05,
  1.66088329e-05, 1.83142667e-06,-3.55946775e-05, 1.20929411e-04,
  9.49271198e-03, 1.43283073e-02, 7.03914481e-03, 3.73708261e-04,
  1.79205552e-03, 1.39464253e-02,-9.81448983e+00, 2.77525939e-03,
 -6.21862566e-02, 6.27645771e-02]


--- Step 3339 ---
qpos:
[-0.01699596, 1.19561613,-0.03471932, 0.94260392,-0.00801945, 1.33233316,
 -0.03110516, 0.94137671, 0.01529377, 1.3384514 ,-0.02374079, 0.95468535,
  1.26754319,-0.00712833, 1.29002993, 0.04484986,-0.05568255,-0.09007186,
  0.09009841, 0.69469129,-0.05345528,-0.71406591,-0.06823802]

qacc:
[ 3.67321860e-01,-9.46396575e-01,-2.66971548e+00, 1.81875609e+01,
  5.60053987e-02,-2.08973359e+00, 6.00917891e+00,-4.29054734e+00,
  1.57190654e-01, 3.49096566e+00,-1.19976317e+01, 1.81542207e+01,
 -3.09340936e-01, 3.93633711e-01, 6.49383515e+00,-1.31531480e+01,
  2.52389459e+00, 2.41372237e+00, 2.62150073e+00,-1.28157689e+01,
  6.68529980e+01, 1.34150312e+02]

qfrc_actuator:
[ 0.00808311, 0.06789256, 0.01374706, 0.00196647, 0.00011651, 0.03540354,
  0.01086895, 0.00177285,-0.00300849, 0.03481538, 0.01081392, 0.00181886,
  0.00865759, 0.01116856, 0.        ,-0.00097443, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16410855, -0.0300491 , -0.16133403, -0.0300491 ,  0.6136795 ,
       -0.08373436, -0.16133403, -0.08373436,  0.17970441,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014189501948554464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62471398,  0.0786188 , -0.77688579, -0.04926675,  0.99690475,
        0.06126746,  0.77929791,  0.        ,  0.62665362])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619791, -0.03390584,  0.22453939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16410855, -0.0300491 , -0.16133403, -0.0300491 ,  0.6136795 ,
       -0.08373436, -0.16133403, -0.08373436,  0.17970441,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014189501948554464
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62471398,  0.0786188 , -0.77688579, -0.04926675,  0.99690475,
        0.06126746,  0.77929791,  0.        ,  0.62665362])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619791, -0.03390584,  0.22453939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005616094597263449
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39848042,  0.08667675, -0.91307201, -0.03466946,  0.99623649,
        0.07944109,  0.91652135,  0.        ,  0.39998577])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08341553, -0.0338279 ,  0.22310643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  17.11120682,  -2.35663079,  17.11120682,
        19.21531571,  14.1048961 ,  -2.35663079,  14.1048961 ,
       119.68664589,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002045288732970267
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.088127  , -0.09141038,  0.06186667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.93484534e-03, 3.33578610e-02, 3.05748664e-03, 5.58776730e-05,
  1.60993149e-05,-3.77278153e-05, 2.54314539e-05, 2.45356977e-06,
  4.53915676e-05, 4.89360652e-05,-2.19702534e-05, 3.66305154e-05,
  9.52282754e-03, 1.43032534e-02, 6.82966272e-03, 2.26660238e-04,
 -1.36406169e-04, 1.02967133e-02,-9.81314673e+00, 2.40441015e-03,
 -6.20699277e-02, 6.27766132e-02]


--- Step 3340 ---
qpos:
[-0.01700971, 1.1956351 ,-0.03471712, 0.94260626,-0.00801723, 1.33234471,
 -0.03110596, 0.94137733, 0.01529413, 1.33845308,-0.02374219, 0.95468702,
  1.26759447,-0.00715399, 1.29002313, 0.04485055,-0.05566483,-0.09012203,
  0.09010384, 0.69493104,-0.05314253,-0.71379245,-0.06889891]

qacc:
[ 3.51681073e-01,-7.93547611e-02,-6.07097177e+00, 2.66135014e+01,
  3.27363590e-02, 5.54229662e-01,-3.37377922e+00, 1.11779086e+01,
  1.66155889e-01, 5.31326223e-01,-1.12528222e+00, 1.08901942e+00,
 -2.70090861e-01, 4.81992920e-01, 2.91787575e+00,-7.37300812e+00,
  2.33419082e+00, 2.24955465e+00, 1.69245650e+00,-1.22444424e+01,
  6.20140406e+01, 1.22501373e+02]

qfrc_actuator:
[ 0.00812421, 0.0678586 , 0.01373783, 0.00205598, 0.00011643, 0.03542025,
  0.0108866 , 0.00180976,-0.00298736, 0.03484535, 0.01081951, 0.00182092,
  0.00864803, 0.01116577, 0.        ,-0.00100337, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16412003, -0.02419982, -0.16232607, -0.02419982,  0.51688723,
       -0.05259107, -0.16232607, -0.05259107,  0.17196039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014211272707142196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62479179,  0.07862374, -0.77682271, -0.04927601,  0.99690436,
        0.06126637,  0.77923494,  0.        ,  0.62673192])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619777, -0.03390741,  0.22454029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16412003, -0.02419982, -0.16232607, -0.02419982,  0.51688723,
       -0.05259107, -0.16232607, -0.05259107,  0.17196039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014211272707142196
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62479179,  0.07862374, -0.77682271, -0.04927601,  0.99690436,
        0.06126637,  0.77923494,  0.        ,  0.62673192])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619777, -0.03390741,  0.22454029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000562199280637752
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98459612e-01,  8.66829598e-02, -9.13080502e-01, -3.46701588e-02,
        9.96235948e-01,  7.94475652e-02,  9.16530369e-01,  6.93889390e-18,
        3.99965101e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08341417, -0.03382948,  0.22310667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  17.04384595,  -2.80257431,  17.04384595,
        20.34761797,  18.69993709,  -2.80257431,  18.69993709,
       130.99632979,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002040753734218831
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.72012984e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.72012984e-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([-0.08813201, -0.09140467,  0.06186701])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.93383196e-03, 3.34230790e-02, 3.03942489e-03, 8.25074334e-05,
  9.42554662e-06, 8.10468522e-07, 1.32144318e-05, 3.65919412e-05,
  4.79457740e-05, 5.38251127e-05, 1.37300516e-05, 3.71523195e-06,
  9.51434029e-03, 1.42970772e-02, 6.60843101e-03, 1.96455601e-04,
 -1.56477533e-03, 7.45989846e-03,-9.81207535e+00, 2.24706130e-03,
 -6.19365478e-02, 6.27852636e-02]


--- Step 3341 ---
qpos:
[-0.0170224 , 1.19565178,-0.03471594, 0.94260875,-0.00801498, 1.33235624,
 -0.03110662, 0.94137978, 0.01529483, 1.3384541 ,-0.02374226, 0.95469011,
  1.26764566,-0.00717957, 1.29001762, 0.04485097,-0.05566196,-0.09016975,
  0.09009758, 0.69498861,-0.05274196,-0.71369584,-0.06962306]

qacc:
[ 4.64659211e-01,-2.52643640e-02,-3.83513840e+00, 6.39340252e+00,
  1.59029447e-02, 2.67570528e+00,-1.25257896e+01, 3.20036392e+01,
  1.41024058e-01,-2.04062390e+00, 2.73898192e+00, 1.44211558e+01,
 -2.17071164e-01, 2.69399583e-01, 2.76882697e+00,-6.86502188e+00,
 -3.71369093e+00, 6.14018120e-01,-2.92171945e+00, 9.18694938e+00,
 -1.21762264e+02,-6.42976453e+01]

qfrc_actuator:
[ 0.0081894 , 0.06776066, 0.01369572, 0.00205444, 0.00011545, 0.0354257 ,
  0.01089738, 0.00190224,-0.00297506, 0.03477364, 0.01087667, 0.00189247,
  0.00864578, 0.01119195, 0.        ,-0.00105632, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16413125, -0.02666101, -0.16195141, -0.02666101,  0.57559014,
       -0.0677358 , -0.16195141, -0.0677358 ,  0.17528216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014232507005029586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6248633 ,  0.07862852, -0.77676471, -0.04928466,  0.99690399,
        0.06126554,  0.77917706,  0.        ,  0.62680389])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619765, -0.03390903,  0.2245411 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16413125, -0.02666101, -0.16195141, -0.02666101,  0.57559014,
       -0.0677358 , -0.16195141, -0.0677358 ,  0.17528216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014232507005029586
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6248633 ,  0.07862852, -0.77676471, -0.04928466,  0.99690399,
        0.06126554,  0.77917706,  0.        ,  0.62680389])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619765, -0.03390903,  0.2245411 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000562754442747726
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39844011,  0.08668883, -0.91308845, -0.03467083,  0.99623544,
        0.07945367,  0.91653882,  0.        ,  0.39994573])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08341293, -0.03383111,  0.22310686])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.27211164,  0.14583208, 17.27211164, 17.27623663,
       -0.41564232,  0.14583208, -0.41564232, 66.50072113,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002057528461417879
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.37244127e-14,  2.69795302e-14,  1.00000000e+00, -9.09868811e-28,
        1.00000000e+00, -2.69795302e-14, -1.00000000e+00,  0.00000000e+00,
        3.37244127e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02202117, -0.09007018,  0.06186607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.95869320e-03, 3.34106567e-02, 2.98259578e-03,-6.25318563e-06,
  4.58463187e-06, 9.50529172e-06, 1.35063566e-05, 9.37583741e-05,
  4.06174651e-05,-3.91575614e-05, 6.93426504e-05, 7.36403222e-05,
  9.51194093e-03, 1.43095521e-02, 6.54380168e-03, 1.59702953e-04,
 -2.60794274e-03, 5.24697261e-03,-9.81120383e+00, 2.24779395e-03,
 -6.17892281e-02, 6.27904245e-02]


--- Step 3342 ---
qpos:
[-0.01703468, 1.19566777,-0.03471539, 0.94261138,-0.00801286, 1.33236778,
 -0.03110764, 0.94138195, 0.01529579, 1.3384548 ,-0.02374186, 0.95469233,
  1.26769688,-0.00720476, 1.29000952, 0.04485091,-0.05567265,-0.09021554,
  0.09007736, 0.69487931,-0.05226773,-0.71376066,-0.07040272]

qacc:
[ 1.82356961e-01, 1.06210430e+00,-4.85159402e+00, 6.31717354e+00,
 -5.75138984e-02, 5.43794707e-01,-1.18317027e+00,-2.11288769e+00,
  1.07186061e-01,-3.20806496e+00, 1.17165816e+01,-2.00758752e+01,
 -1.03823840e-01, 3.67007873e-01,-2.36523782e+00, 2.72488090e+00,
 -3.38821159e+00, 4.80479949e-01,-3.48931808e+00, 7.00631206e+00,
 -1.11615066e+02,-5.56420805e+01]

qfrc_actuator:
[ 8.21519245e-03, 6.77320943e-02, 1.36883499e-02, 2.07019306e-03,
  9.61878762e-05, 3.54066151e-02, 1.08685174e-02, 1.88465129e-03,
 -2.96815492e-03, 3.47483632e-02, 1.08924382e-02, 1.84454964e-03,
  8.65856353e-03, 1.12000815e-02, 0.00000000e+00,-9.63822542e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16414107, -0.02457241, -0.16229136, -0.02457241,  0.54307281,
       -0.05737375, -0.16229136, -0.05737375,  0.17282798,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001425106291848069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62492706,  0.07863304, -0.77671295, -0.04929254,  0.99690363,
        0.061265  ,  0.77912541,  0.        ,  0.62686808])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619755, -0.03391069,  0.22454178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16414107, -0.02457241, -0.16229136, -0.02457241,  0.54307281,
       -0.05737375, -0.16229136, -0.05737375,  0.17282798,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001425106291848069
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62492706,  0.07863304, -0.77671295, -0.04929254,  0.99690363,
        0.061265  ,  0.77912541,  0.        ,  0.62686808])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619755, -0.03391069,  0.22454178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005632431226381684
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39842364,  0.08669421, -0.91309513, -0.03467156,  0.99623497,
        0.07945922,  0.91654595,  0.        ,  0.39992939])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08341183, -0.03383277,  0.223107  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.24326594,   1.00840825, -17.24326594,
        17.29231933,   0.33501411,   1.00840825,   0.33501411,
        23.00129737,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020715926565296333
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.33981821e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.33981821e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02198501, -0.09010312,  0.06186524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.93118871e-03, 3.34962086e-02, 3.02598000e-03, 2.52332665e-06,
 -1.65582752e-05,-8.42887617e-06,-2.27225529e-05,-1.47163790e-05,
  3.08861736e-05,-3.12107393e-05, 1.81587816e-05,-4.53323593e-05,
  9.52943320e-03, 1.43141816e-02, 6.47906358e-03, 2.66014719e-04,
 -7.50947594e-04, 5.30104516e-03,-9.81174418e+00, 2.72557900e-03,
 -6.18643107e-02, 6.28394494e-02]


--- Step 3343 ---
qpos:
[-0.01704687, 1.19568421,-0.03471522, 0.94261406,-0.00801106, 1.3323793 ,
 -0.03110921, 0.94138288, 0.01529692, 1.33845618,-0.02374221, 0.95469324,
  1.26774802,-0.00722944, 1.28999673, 0.04485035,-0.05567964,-0.09025147,
  0.09007938, 0.69480465,-0.05195224,-0.71379366,-0.07103566]

qacc:
[ 3.48890156e-02, 1.68513608e+00,-4.89331256e+00, 4.52843573e+00,
 -1.38357765e-01,-6.82396821e-01, 4.74248358e+00,-1.85691831e+01,
  7.55793996e-02, 6.86405429e-01, 1.47927738e+00,-1.67688524e+01,
 -1.66982243e-01, 4.77388016e-01,-5.39387828e+00, 8.85404234e+00,
  9.23260440e-01, 2.46586308e+00, 5.56022478e+00,-3.01065168e+00,
  1.39940052e+01, 1.09677305e+02]

qfrc_actuator:
[ 8.25308036e-03, 6.77622287e-02, 1.36840887e-02, 2.07850446e-03,
  6.61102661e-05, 3.53905339e-02, 1.08340718e-02, 1.82013101e-03,
 -2.96454756e-03, 3.48218733e-02, 1.08659501e-02, 1.77993273e-03,
  8.65373807e-03, 1.12148047e-02, 0.00000000e+00,-8.36999654e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16413783, -0.02444798, -0.16230688, -0.02444798,  0.54022047,
       -0.05664863, -0.16230688, -0.05664863,  0.1726707 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014244939026554146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.25000095e-01,  7.86368147e-02, -7.76653805e-01, -4.93006845e-02,
        9.96903331e-01,  6.12632935e-02,  7.79066316e-01,  6.93889390e-18,
        6.26941525e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619738, -0.03391231,  0.22454253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16413783, -0.02444798, -0.16230688, -0.02444798,  0.54022047,
       -0.05664863, -0.16230688, -0.05664863,  0.1726707 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014244939026554146
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.25000095e-01,  7.86368147e-02, -7.76653805e-01, -4.93006845e-02,
        9.96903331e-01,  6.12632935e-02,  7.79066316e-01,  6.93889390e-18,
        6.26941525e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619738, -0.03391231,  0.22454253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005635267724713316
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39840839,  0.08669939, -0.91310129, -0.03467232,  0.99623452,
        0.07946455,  0.91655255,  0.        ,  0.39991426])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08341054, -0.03383439,  0.22310712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.72727273e+01, -1.72726971e+01, -3.22971293e-02, -1.72726971e+01,
        1.72731074e+01, -2.03314387e-01, -3.22971293e-02, -2.03314387e-01,
        1.26006472e+02,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.002060292147028969
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.88940826e-07, -8.88940880e-07,  1.00000000e+00, -7.90215840e-13,
        1.00000000e+00,  8.88940880e-07, -1.00000000e+00,  0.00000000e+00,
       -8.88940826e-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([-0.06699663, -0.09112886,  0.06186589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.94813907e-03, 3.35603967e-02, 3.05349831e-03, 3.60226342e-06,
 -3.98517956e-05,-2.57117706e-05,-3.91231547e-05,-6.57646157e-05,
  2.18469089e-05, 5.84533235e-05,-3.18443345e-05,-6.60610360e-05,
  9.52273803e-03, 1.43099598e-02, 6.60900555e-03, 4.17027930e-04,
  6.07297219e-04, 5.17893620e-03,-9.81235762e+00, 3.37363531e-03,
 -6.19161566e-02, 6.28878533e-02]


--- Step 3344 ---
qpos:
[-0.01705907, 1.19570058,-0.03471625, 0.94261553,-0.00800947, 1.33239068,
 -0.03111094, 0.94138371, 0.01529817, 1.33845865,-0.02374377, 0.95469439,
  1.2677987 ,-0.00725384, 1.28998176, 0.04484964,-0.05567677,-0.09027885,
  0.09009057, 0.69483993,-0.051835  ,-0.71372092,-0.07150558]

qacc:
[-5.32798553e-03, 1.09630811e+00,-1.16869415e+00,-1.30497323e+01,
 -8.44753588e-02, 7.37116310e-02,-2.29983102e-01,-9.07343556e-01,
  5.00015111e-02, 5.10349950e+00,-1.54095381e+01, 1.54799395e+01,
 -4.31058301e-01, 5.28546090e-01,-2.73398515e+00, 4.95182458e+00,
  2.46563454e+00, 2.13946806e+00, 2.29141395e+00,-1.15851039e+01,
  6.46955788e+01, 1.34044280e+02]

qfrc_actuator:
[ 8.26288885e-03, 6.77912190e-02, 1.36461848e-02, 2.01137840e-03,
  6.52951889e-05, 3.53940554e-02, 1.08321185e-02, 1.81730028e-03,
 -2.96294309e-03, 3.49005203e-02, 1.08151453e-02, 1.79484090e-03,
  8.63835510e-03, 1.12687090e-02, 0.00000000e+00,-8.13639224e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16411637, -0.03141133, -0.16108231, -0.03141133,  0.66288535,
       -0.09726082, -0.16108231, -0.09726082,  0.1830824 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014204321867247564
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6250915 ,  0.07863957, -0.77657996, -0.04930963,  0.99690311,
        0.06125963,  0.77899241,  0.        ,  0.62703335])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619709, -0.03391385,  0.22454345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16411637, -0.03141133, -0.16108231, -0.03141133,  0.66288535,
       -0.09726082, -0.16108231, -0.09726082,  0.1830824 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014204321867247564
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6250915 ,  0.07863957, -0.77657996, -0.04930963,  0.99690311,
        0.06125963,  0.77899241,  0.        ,  0.62703335])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619709, -0.03391385,  0.22454345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005635513550534405
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98393076e-01,  8.67045506e-02, -9.13107484e-01, -3.46730690e-02,
        9.96234069e-01,  7.94698521e-02,  9.16559183e-01,  6.93889390e-18,
        3.99899068e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08340885, -0.03383592,  0.22310726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.26782679,  -0.41141858, -17.26782679,
        17.27716359,  -0.18619856,  -0.41141858,  -0.18619856,
        25.08774761,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020697763090345433
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.68198795e-14,  2.68198795e-14,  1.00000000e+00, -7.19305937e-28,
        1.00000000e+00, -2.68198795e-14, -1.00000000e+00,  0.00000000e+00,
        2.68198795e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08810806, -0.09134669,  0.06186536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.95391348e-03, 3.35669313e-02, 3.03441889e-03,-6.59857787e-05,
 -2.43393546e-05,-2.04204320e-05,-1.33786465e-05,-6.26229277e-06,
  1.45094753e-05, 1.02788198e-04,-4.49410908e-05, 1.41737058e-05,
  9.51180165e-03, 1.43388085e-02, 6.84327292e-03, 4.65411417e-04,
  1.16485266e-04, 3.22279087e-03,-9.81158781e+00, 3.36913529e-03,
 -6.17436589e-02, 6.29013532e-02]


--- Step 3345 ---
qpos:
[-0.0170713 , 1.19571749,-0.03471784, 0.9426161 ,-0.00800771, 1.33240175,
 -0.03111229, 0.94138345, 0.01529949, 1.33846154,-0.02374627, 0.95469472,
  1.26784904,-0.00727807, 1.28996626, 0.04484894,-0.05566475,-0.0902981 ,
  0.09010742, 0.69497739,-0.05189916,-0.71355004,-0.07182789]

qacc:
[-1.21436059e-02, 6.73007912e-01, 5.09755754e-01,-1.12533195e+01,
  6.99710403e-02,-3.28238955e+00, 1.24527031e+01,-2.32357978e+01,
  3.09177852e-02, 1.67334702e+00,-3.13001239e+00,-7.02494607e+00,
 -3.40570093e-01, 4.00003811e-01,-8.32990004e-01, 1.81958590e+00,
  2.28756123e+00, 2.02872676e+00, 1.41556362e+00,-1.12086546e+01,
  6.02474251e+01, 1.22211301e+02]

qfrc_actuator:
[ 8.25590958e-03, 6.77665965e-02, 1.36600823e-02, 1.97124394e-03,
  9.97937659e-05, 3.53739372e-02, 1.08494817e-02, 1.76207447e-03,
 -2.96255178e-03, 3.48750592e-02, 1.07505044e-02, 1.74992219e-03,
  8.62732571e-03, 1.12751408e-02, 0.00000000e+00,-7.99246357e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16408622, -0.03545911, -0.16020905, -0.03545911,  0.73609695,
       -0.12660327, -0.16020905, -0.12660327,  0.19210735,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014147051443100592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62519047,  0.07864193, -0.77650005, -0.04931893,  0.99690293,
        0.06125518,  0.7789124 ,  0.        ,  0.62713274])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619675, -0.03391532,  0.22454444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16408622, -0.03545911, -0.16020905, -0.03545911,  0.73609695,
       -0.12660327, -0.16020905, -0.12660327,  0.19210735,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014147051443100592
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62519047,  0.07864193, -0.77650005, -0.04931893,  0.99690293,
        0.06125518,  0.7789124 ,  0.        ,  0.62713274])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619675, -0.03391532,  0.22454444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005634421338967729
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98378923e-01,  8.67096874e-02, -9.13113171e-01, -3.46739069e-02,
        9.96233622e-01,  7.94750909e-02,  9.16565303e-01,  6.93889390e-18,
        3.99885041e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08340701, -0.03383737,  0.2231074 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.15226752, -2.03637581, 17.15226752, 18.23922979,
        8.1407909 , -2.03637581,  8.1407909 , 85.84210558,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002057060242821096
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.69856711e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.69856711e-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([-0.08812062, -0.09133817,  0.06186621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.94750186e-03, 3.35453407e-02, 3.10842365e-03,-4.54147383e-05,
  2.01308834e-05,-3.42996465e-05, 1.16500666e-05,-5.63645787e-05,
  8.96485058e-06, 2.30112100e-05,-4.92586847e-05,-4.28551215e-05,
  9.52375053e-03, 1.43318841e-02, 6.95258703e-03, 4.87446169e-04,
 -5.88711591e-04, 1.84862559e-03,-9.81069684e+00, 3.23306876e-03,
 -6.15548454e-02, 6.28990093e-02]


--- Step 3346 ---
qpos:
[-0.01708371, 1.19573644,-0.03471988, 0.942615  ,-0.00800569, 1.33241212,
 -0.03111297, 0.94138255, 0.01530042, 1.33846405,-0.02374897, 0.95469557,
  1.26789916,-0.00730213, 1.28994835, 0.04484831,-0.05566641,-0.09031474,
  0.09011018, 0.69494818,-0.05187231,-0.71354167,-0.07221202]

qacc:
[-7.77059290e-02, 1.06196256e+00, 3.23652002e+00,-2.34655018e+01,
  1.10470863e-01,-3.82357981e+00, 1.27060010e+01,-1.80418837e+01,
 -1.67425075e-01, 9.66663564e-01,-4.81876431e+00, 1.05139547e+01,
 -1.61111014e-01, 2.19696941e-01,-3.71416245e+00, 7.86204207e+00,
 -3.41879292e+00, 6.54675439e-01,-3.52367240e+00, 1.10774685e+01,
 -1.11056461e+02,-6.41551370e+01]

qfrc_actuator:
[ 0.00827438, 0.06772699, 0.0137049 , 0.00189422, 0.00011969, 0.03532212,
  0.01087797, 0.0017297 ,-0.00301615, 0.03482287, 0.01073103, 0.00177659,
  0.00861891, 0.01127083, 0.        ,-0.00068383, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.1640556 , -0.04264191, -0.15841688, -0.04264191,  0.91322296,
       -0.20165735, -0.15841688, -0.20165735,  0.21833677,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014088617081985284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62529201,  0.07864418, -0.77641806, -0.04932836,  0.99690275,
        0.06125047,  0.77883029,  0.        ,  0.62723471])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619641, -0.03391676,  0.22454546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1640556 , -0.04264191, -0.15841688, -0.04264191,  0.91322296,
       -0.20165735, -0.15841688, -0.20165735,  0.21833677,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014088617081985284
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62529201,  0.07864418, -0.77641806, -0.04932836,  0.99690275,
        0.06125047,  0.77883029,  0.        ,  0.62723471])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619641, -0.03391676,  0.22454546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005633323803397525
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98364797e-01,  8.67148342e-02, -9.13118845e-01, -3.46747511e-02,
        9.96233174e-01,  7.94803379e-02,  9.16571410e-01,  6.93889390e-18,
        3.99871042e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08340512, -0.0338388 ,  0.22310755])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.27242204,  0.10268542, 17.27242204, 17.27418858,
       -0.2458016 ,  0.10268542, -0.2458016 , 58.6183154 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00205015504577985
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.70765625e-14,  2.70765625e-14,  1.00000000e+00,  7.33140237e-28,
        1.00000000e+00, -2.70765625e-14, -1.00000000e+00,  0.00000000e+00,
       -2.70765625e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02205253, -0.09026076,  0.06186672])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.96733280e-03, 3.34790638e-02, 3.18119484e-03,-7.73357719e-05,
  3.17786691e-05,-7.02827838e-05, 2.14354553e-05,-3.43639117e-05,
 -4.82998785e-05,-5.03728801e-05,-2.18286847e-05, 2.49122255e-05,
  9.53178261e-03, 1.43193693e-02, 6.97964359e-03, 6.01828897e-04,
 -9.61501392e-04, 9.80179095e-04,-9.80998607e+00, 3.24668207e-03,
 -6.13592238e-02, 6.28934824e-02]


--- Step 3347 ---
qpos:
[-0.01709553, 1.19575583,-0.0347213 , 0.94261411,-0.00800372, 1.33242185,
 -0.03111328, 0.94138162, 0.015301  , 1.33846583,-0.02375053, 0.95469567,
  1.26794883,-0.0073264 , 1.28993463, 0.04484801,-0.05568063,-0.09032933,
  0.09009695, 0.69476515,-0.05176946,-0.71368286,-0.0726504 ]

qacc:
[ 2.53956401e-01,-7.32628532e-01, 2.63530900e+00,-1.05263953e-01,
 -1.99180662e-02,-1.85969394e+00, 5.08873292e+00,-4.27076702e+00,
 -1.49021593e-01,-5.35566560e+00, 1.78336349e+01,-2.37903839e+01,
 -4.22291477e-01, 2.25585390e-01, 5.23026990e+00,-9.22953933e+00,
 -3.14168850e+00, 5.14060292e-01,-3.99569122e+00, 8.46923208e+00,
 -1.02696557e+02,-5.53970401e+01]

qfrc_actuator:
[ 8.30829006e-03, 6.76944148e-02, 1.37151181e-02, 1.90270399e-03,
  9.51597424e-05, 3.52873019e-02, 1.08949268e-02, 1.72876653e-03,
 -3.03068776e-03, 3.47907745e-02, 1.07915655e-02, 1.73867267e-03,
  8.61740043e-03, 1.13132750e-02, 0.00000000e+00,-8.45147025e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16402127, -0.04296007, -0.15829532, -0.04296007,  0.85348871,
       -0.18711589, -0.15829532, -0.18711589,  0.214803  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014022791561697084
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62540511,  0.07864592, -0.77632678, -0.04933838,  0.99690261,
        0.06124463,  0.77873884,  0.        ,  0.62734825])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619602, -0.03391814,  0.22454663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16402127, -0.04296007, -0.15829532, -0.04296007,  0.85348871,
       -0.18711589, -0.15829532, -0.18711589,  0.214803  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014022791561697084
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62540511,  0.07864592, -0.77632678, -0.04933838,  0.99690261,
        0.06124463,  0.77873884,  0.        ,  0.62734825])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619602, -0.03391814,  0.22454663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005632030125444221
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3983492 ,  0.08672008, -0.91312515, -0.03467551,  0.99623272,
        0.07948573,  0.91657816,  0.        ,  0.39985557])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08340302, -0.03384016,  0.22310775])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.25526   ,   0.77660143, -17.25526   ,
        17.27463494,   0.04238643,   0.77660143,   0.04238643,
        18.21450872,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020415219454598746
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.71910627e-14,  5.43821254e-14,  1.00000000e+00,  1.47870778e-27,
        1.00000000e+00, -5.43821254e-14, -1.00000000e+00,  0.00000000e+00,
       -2.71910627e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02207748, -0.09030202,  0.06186728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.01009841e-03, 3.33437515e-02, 3.21364221e-03, 1.45049726e-05,
 -5.77496408e-06,-7.06189234e-05, 4.62365588e-06,-3.20276269e-06,
 -4.30644353e-05,-6.34868746e-05, 4.89436850e-05,-3.94686352e-05,
  9.54223989e-03, 1.43537594e-02, 7.10000307e-03, 4.37688340e-04,
 -3.43542942e-04, 1.05440777e-03,-9.81055585e+00, 3.38079688e-03,
 -6.14583160e-02, 6.29215628e-02]


--- Step 3348 ---
qpos:
[-0.01710671, 1.19577544,-0.03472133, 0.94261468,-0.00800191, 1.33243123,
 -0.03111399, 0.94137898, 0.01530173, 1.33846665,-0.02375116, 0.95469431,
  1.26799822,-0.00735081, 1.28992552, 0.04484787,-0.0556842 ,-0.09033521,
  0.0900965 , 0.69470099,-0.05188287,-0.71371078,-0.07290832]

qacc:
[ 2.85962901e-01,-9.65817534e-01, 4.87135863e-01, 1.64751048e+01,
 -6.55408469e-02,-2.34714179e+00, 1.06447835e+01,-2.89589288e+01,
  6.64155148e-02,-6.29770367e+00, 2.19662063e+01,-3.52945672e+01,
 -3.85546428e-01, 2.68902337e-01, 6.31808999e+00,-1.21569749e+01,
  2.66394071e+00, 2.17431432e+00, 3.19363013e+00,-1.17693585e+01,
  6.92383366e+01, 1.47107387e+02]

qfrc_actuator:
[ 8.31526242e-03, 6.76668583e-02, 1.37747091e-02, 1.97903464e-03,
  7.96810067e-05, 3.52629048e-02, 1.08695069e-02, 1.63982946e-03,
 -2.98617217e-03, 3.47179921e-02, 1.08278263e-02, 1.66308284e-03,
  8.61472777e-03, 1.13130703e-02, 0.00000000e+00,-9.59765581e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1640051 , -0.03741835, -0.1596795 , -0.03741835,  0.72458812,
       -0.1313637 , -0.1596795 , -0.1313637 ,  0.19478809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013991684183362746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62550316,  0.0786481 , -0.77624756, -0.04934749,  0.99690244,
        0.06124009,  0.7786595 ,  0.        ,  0.62744672])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619573, -0.03391959,  0.22454768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1640051 , -0.03741835, -0.1596795 , -0.03741835,  0.72458812,
       -0.1313637 , -0.1596795 , -0.1313637 ,  0.19478809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013991684183362746
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62550316,  0.0786481 , -0.77624756, -0.04934749,  0.99690244,
        0.06124009,  0.7786595 ,  0.        ,  0.62744672])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619573, -0.03391959,  0.22454768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000563351851108191
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39833265,  0.08672512, -0.91313189, -0.0346761 ,  0.99623228,
        0.07949097,  0.91658533,  0.        ,  0.39983913])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08340124, -0.03384159,  0.22310797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.72727273e+01, -1.72726987e+01, -3.14058378e-02, -1.72726987e+01,
        1.72730687e+01, -1.87806014e-01, -3.14058378e-02, -1.87806014e-01,
        1.20562973e+02,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0020597188177183534
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  5.3901679e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -5.3901679e-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([-0.08811967, -0.09129059,  0.06186613])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.98793774e-03, 3.32945380e-02, 3.24250950e-03, 8.03232827e-05,
 -1.88900944e-05,-6.27266850e-05,-3.88190178e-05,-9.09926603e-05,
  1.90817727e-05,-9.95127261e-05, 2.82695392e-05,-7.69570642e-05,
  9.56129405e-03, 1.43647352e-02, 6.89052641e-03, 3.06610911e-04,
 -3.90826395e-05, 1.01357823e-03,-9.81116654e+00, 3.69282588e-03,
 -6.15257898e-02, 6.29497426e-02]


--- Step 3349 ---
qpos:
[-0.01711791, 1.19579561,-0.03472115, 0.94261517,-0.00800012, 1.33244009,
 -0.03111475, 0.94137667, 0.01530277, 1.33846707,-0.02375212, 0.95469275,
  1.26804722,-0.00737507, 1.28991671, 0.04484767,-0.05567795,-0.09033284,
  0.09010475, 0.69474643,-0.05219261,-0.71363415,-0.07300431]

qacc:
[-1.35992489e-02, 1.57244129e-02, 1.01858635e+00,-2.30132442e+00,
 -1.14788310e-02, 3.61434339e-02,-1.61583904e+00, 5.59431460e+00,
  1.30302447e-01, 6.17998839e-02,-4.57534507e-01,-1.50826837e+00,
 -4.23888887e-01, 4.65250599e-01, 6.69297040e-01,-1.63353225e+00,
  2.45365073e+00, 2.06573728e+00, 2.17536341e+00,-1.13809564e+01,
  6.40638383e+01, 1.33018346e+02]

qfrc_actuator:
[ 8.30576823e-03, 6.76245851e-02, 1.37918843e-02, 1.97046420e-03,
  8.75125861e-05, 3.52447287e-02, 1.08725234e-02, 1.65956471e-03,
 -2.95984940e-03, 3.47100719e-02, 1.08137677e-02, 1.65465660e-03,
  8.61136182e-03, 1.13405494e-02, 0.00000000e+00,-9.22069636e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1640076 , -0.03818819, -0.1594997 , -0.03818819,  0.75136005,
       -0.14062677, -0.1594997 , -0.14062677,  0.19767715,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013996499676874677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.25584977e-01,  7.86507292e-02, -7.76181357e-01, -4.93556068e-02,
        9.96902233e-01,  6.12369275e-02,  7.78593257e-01,  6.93889390e-18,
        6.27528915e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619555, -0.03392113,  0.22454859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1640076 , -0.03818819, -0.1594997 , -0.03818819,  0.75136005,
       -0.14062677, -0.1594997 , -0.14062677,  0.19767715,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013996499676874677
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.25584977e-01,  7.86507292e-02, -7.76181357e-01, -4.93556068e-02,
        9.96902233e-01,  6.12369275e-02,  7.78593257e-01,  6.93889390e-18,
        6.27528915e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619555, -0.03392113,  0.22454859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005637871667523234
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39831461,  0.08672992, -0.91313931, -0.03467646,  0.99623186,
        0.07949606,  0.91659316,  0.        ,  0.39982119])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08339981, -0.03384312,  0.22310818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.18906844, -1.69794985, 17.18906844, 17.82729182,
        5.61409277, -1.69794985,  5.61409277, 74.10657585,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002065317598400576
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.0881148 , -0.09127224,  0.06186579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.94565830e-03, 3.32403957e-02, 3.18982336e-03,-1.57787342e-06,
 -3.32078805e-06,-6.32868309e-05,-1.63610428e-05, 1.46057465e-05,
  3.75891730e-05,-5.97154504e-05,-3.25344270e-05,-1.23408613e-05,
  9.57243322e-03, 1.43998084e-02, 6.66048451e-03, 3.35808037e-04,
 -3.57194233e-04, 5.78879765e-04,-9.81029007e+00, 3.49783281e-03,
 -6.12918936e-02, 6.29394852e-02]


--- Step 3350 ---
qpos:
[-0.01712932, 1.19581544,-0.03472117, 0.94261565,-0.00799846, 1.3324478 ,
 -0.03111495, 0.94137568, 0.01530397, 1.33846744,-0.02375315, 0.95469107,
  1.26809595,-0.00739903, 1.28990793, 0.04484733,-0.05566259,-0.09032257,
  0.09011826, 0.69489357,-0.05268224,-0.7134601 ,-0.07295337]

qacc:
[-9.41480589e-02, 6.82773906e-02,-7.62110410e-01, 8.51785832e-01,
 -5.43545371e-02,-7.62915882e-01,-2.07267471e+00, 1.78268014e+01,
  6.80726596e-02,-1.28382468e-01, 6.06369564e-01,-2.04490014e+00,
 -4.17176069e-01, 5.76084123e-01, 5.10473932e-01,-1.63618540e+00,
  2.27982426e+00, 1.97304399e+00, 1.31405859e+00,-1.09600166e+01,
  5.97360038e+01, 1.21478145e+02]

qfrc_actuator:
[ 8.28681847e-03, 6.75730674e-02, 1.37309838e-02, 1.96518320e-03,
  7.37594043e-05, 3.51595726e-02, 1.08924192e-02, 1.72538735e-03,
 -2.96240899e-03, 3.47408959e-02, 1.08236726e-02, 1.65033337e-03,
  8.61292461e-03, 1.13666489e-02, 0.00000000e+00,-9.34838086e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16401264, -0.03425053, -0.16039653, -0.03425053,  0.66616734,
       -0.10722842, -0.16039653, -0.10722842,  0.18690983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014006198105451402
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6256666 ,  0.07865339, -0.77611529, -0.04936373,  0.99690202,
        0.0612338 ,  0.77852715,  0.        ,  0.62761092])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619539, -0.03392266,  0.22454951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16401264, -0.03425053, -0.16039653, -0.03425053,  0.66616734,
       -0.10722842, -0.16039653, -0.10722842,  0.18690983,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014006198105451402
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6256666 ,  0.07865339, -0.77611529, -0.04936373,  0.99690202,
        0.0612338 ,  0.77852715,  0.        ,  0.62761092])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619539, -0.03392266,  0.22454951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005642713271375444
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98295866e-01,  8.67347575e-02, -9.13147023e-01, -3.46767769e-02,
        9.96231440e-01,  7.95011906e-02,  9.16601290e-01,  6.93889390e-18,
        3.99802546e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08339838, -0.03384464,  0.22310841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.15289803, -2.03105798, 17.15289803, 18.17512828,
        7.62104908, -2.03105798,  7.62104908, 81.63478839,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002049537243888823
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.70847243e-14,  2.70847243e-14,  1.00000000e+00, -7.33582291e-28,
        1.00000000e+00, -2.70847243e-14, -1.00000000e+00,  0.00000000e+00,
        2.70847243e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08812945, -0.09126341,  0.06186678])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.92824647e-03, 3.31609391e-02, 3.11856040e-03,-2.23811947e-06,
 -1.57156548e-05,-1.22994053e-04, 6.06481996e-06, 6.37811918e-05,
  1.96377405e-05,-8.91995432e-06,-5.81772837e-06,-7.33539912e-06,
  9.59322439e-03, 1.44188055e-02, 6.64575973e-03, 3.26345648e-04,
 -3.08877479e-04, 6.46931533e-04,-9.80961981e+00, 3.48593914e-03,
 -6.10531283e-02, 6.29262161e-02]


--- Step 3351 ---
qpos:
[-0.01714161, 1.19583636,-0.03472113, 0.94261627,-0.00799694, 1.33245447,
 -0.03111488, 0.94137514, 0.01530525, 1.33846793,-0.02375451, 0.95469072,
  1.26814452,-0.00742223, 1.28989365, 0.04484655,-0.05566146,-0.09030916,
  0.09011856, 0.69486765,-0.05306887,-0.71345506,-0.0729693 ]

qacc:
[-3.79621416e-01, 1.52830356e+00,-3.55112526e+00, 3.98826789e+00,
 -6.27370429e-02,-1.32857247e+00, 1.75978160e+00, 4.40276458e+00,
  3.27878198e-02, 3.37630134e+00,-1.35153159e+01, 2.70937517e+01,
 -3.34130341e-01, 8.02320024e-01,-6.74878798e+00, 1.18782126e+01,
 -3.56003916e+00, 7.83273112e-01,-3.30104215e+00, 1.35384811e+01,
 -1.14942596e+02,-7.07395949e+01]

qfrc_actuator:
[ 8.28014517e-03, 6.75699362e-02, 1.37123183e-02, 1.97957544e-03,
  6.49203835e-05, 3.51060942e-02, 1.09041080e-02, 1.74673510e-03,
 -2.96452148e-03, 3.47592741e-02, 1.08123124e-02, 1.71950508e-03,
  8.61212292e-03, 1.13739640e-02, 0.00000000e+00,-7.46999731e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16401663, -0.02841796, -0.16153598, -0.02841796,  0.56434461,
       -0.07042705, -0.16153598, -0.07042705,  0.17640639,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001401386826770032
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62574788,  0.0786562 , -0.77604948, -0.04937192,  0.9969018 ,
        0.06123081,  0.77846131,  0.        ,  0.6276926 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619522, -0.03392419,  0.22455042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16401663, -0.02841796, -0.16153598, -0.02841796,  0.56434461,
       -0.07042705, -0.16153598, -0.07042705,  0.17640639,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001401386826770032
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62574788,  0.0786562 , -0.77604948, -0.04937192,  0.9969018 ,
        0.06123081,  0.77846131,  0.        ,  0.6276926 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619522, -0.03392419,  0.22455042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005647331537700258
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39827762,  0.08673967, -0.91315452, -0.03467717,  0.99623101,
        0.07950638,  0.9166092 ,  0.        ,  0.3997844 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08339696, -0.03384617,  0.22310863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.27261478,  0.06233741, 17.27261478, 17.27324528,
       -0.14353207,  0.06233741, -0.14353207, 57.04297657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020397218634472802
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.72150592e-14,  2.72150592e-14,  1.00000000e+00,  7.40659446e-28,
        1.00000000e+00, -2.72150592e-14, -1.00000000e+00,  0.00000000e+00,
       -2.72150592e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02208538, -0.0904834 ,  0.06186742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.93234774e-03, 3.31747199e-02, 3.10952341e-03, 1.22820296e-05,
 -1.81203190e-05,-1.18468700e-04,-9.82755969e-06, 1.93047849e-05,
  9.48495774e-06, 1.20895934e-05,-1.39796338e-05, 6.85629010e-05,
  9.60621954e-03, 1.44118530e-02, 6.64414519e-03, 5.21237615e-04,
  1.41271192e-05, 1.07920761e-03,-9.80910285e+00, 3.60888825e-03,
 -6.08102176e-02, 6.29096545e-02]


--- Step 3352 ---
qpos:
[-0.01715404, 1.19585753,-0.03472098, 0.94261713,-0.00799542, 1.3324614 ,
 -0.03111521, 0.94137513, 0.01530685, 1.33846834,-0.02375563, 0.95469085,
  1.26819309,-0.00744508, 1.28987821, 0.04484567,-0.05567337,-0.09029328,
  0.09010364, 0.69468264,-0.05337024,-0.71360514,-0.07304347]

qacc:
[-6.00780008e-02, 4.35775942e-01,-1.48681583e+00, 3.86222743e+00,
  4.18443993e-03, 2.33157366e+00,-8.28585017e+00, 1.31310010e+01,
  1.36198629e-01, 4.61786147e-02,-1.23068275e+00, 6.57222999e+00,
 -1.58802266e-01, 3.91862269e-01,-1.42775359e+00, 2.53963402e+00,
 -3.25846461e+00, 6.20294414e-01,-3.80569698e+00, 1.02836132e+01,
 -1.05990553e+02,-6.05680875e+01]

qfrc_actuator:
[ 8.29933125e-03, 6.75235370e-02, 1.37188300e-02, 1.98787977e-03,
  7.68536764e-05, 3.51962258e-02, 1.09109252e-02, 1.77723885e-03,
 -2.93084161e-03, 3.47522786e-02, 1.08239954e-02, 1.74258948e-03,
  8.60990201e-03, 1.13871735e-02, 0.00000000e+00,-7.57984103e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16400114, -0.03282419, -0.16068275, -0.03282419,  0.64002801,
       -0.09724252, -0.16068275, -0.09724252,  0.1838658 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013984053645611956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62585152,  0.07865837, -0.77596568, -0.04938146,  0.99690163,
        0.0612259 ,  0.77837738,  0.        ,  0.62779666])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619491, -0.03392562,  0.22455155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16400114, -0.03282419, -0.16068275, -0.03282419,  0.64002801,
       -0.09724252, -0.16068275, -0.09724252,  0.1838658 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013984053645611956
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62585152,  0.07865837, -0.77596568, -0.04938146,  0.99690163,
        0.0612259 ,  0.77837738,  0.        ,  0.62779666])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619491, -0.03392562,  0.22455155])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005649267254725435
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98258324e-01,  8.67449401e-02, -9.13162430e-01, -3.46776099e-02,
        9.96230553e-01,  7.95119362e-02,  9.16617571e-01, -6.93889390e-18,
        3.99765218e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08339506, -0.03384758,  0.22310887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.25963434,   0.67240601, -17.25963434,
        17.27108293,  -0.04220768,   0.67240601,  -0.04220768,
        16.18932055,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002041112220410507
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.71965209e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.71965209e-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([ 0.0220813 , -0.09052913,  0.06186732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.99503377e-03, 3.30738994e-02, 3.11360653e-03, 1.37115088e-05,
  1.23286810e-06, 2.32016708e-05,-1.69262182e-05, 2.71000908e-05,
  3.92817645e-05,-1.00962479e-06, 1.44620772e-05, 2.46273124e-05,
  9.61198592e-03, 1.43872849e-02, 6.91919499e-03, 5.32549125e-04,
 -2.91440483e-04, 1.09475165e-03,-9.80969271e+00, 3.31803682e-03,
 -6.09723484e-02, 6.29192882e-02]


--- Step 3353 ---
qpos:
[-0.01716668, 1.19587913,-0.0347211 , 0.9426174 ,-0.00799384, 1.33246886,
 -0.03111618, 0.94137409, 0.01530865, 1.33846889,-0.02375662, 0.95469021,
  1.26824124,-0.00746771, 1.28986206, 0.04484484,-0.05567464,-0.09026899,
  0.09010099, 0.69461562,-0.05388877,-0.71364251,-0.07293503]

qacc:
[-9.41404146e-02, 2.65393450e-01, 1.00442994e+00,-7.97046315e+00,
  2.51126822e-02, 6.37150082e-01, 8.88288824e-01,-1.30643840e+01,
  8.60593828e-02,-1.49930600e+00, 6.65535433e+00,-1.47608295e+01,
 -4.36802897e-01, 5.14928441e-01,-1.16328915e+00, 2.61337765e+00,
  2.65807572e+00, 2.10129926e+00, 3.06728978e+00,-1.12406921e+01,
  6.84451620e+01, 1.48228126e+02]

qfrc_actuator:
[ 8.31589585e-03, 6.74693130e-02, 1.37403597e-02, 1.95687261e-03,
  8.33986007e-05, 3.52296260e-02, 1.08798879e-02, 1.72422023e-03,
 -2.92921931e-03, 3.47657175e-02, 1.08313045e-02, 1.70284723e-03,
  8.60149521e-03, 1.14395381e-02, 0.00000000e+00,-7.28665695e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1639815 , -0.03963463, -0.15911954, -0.03963463,  0.75309302,
       -0.14674011, -0.15911954, -0.14674011,  0.20053258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000139461269162703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.25960228e-01,  7.86603652e-02, -7.75877786e-01, -4.93913004e-02,
        9.96901473e-01,  6.12205234e-02,  7.78289337e-01,  6.93889390e-18,
        6.27905811e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619459, -0.03392705,  0.22455272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1639815 , -0.03963463, -0.15911954, -0.03963463,  0.75309302,
       -0.14674011, -0.15911954, -0.14674011,  0.20053258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000139461269162703
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.25960228e-01,  7.86603652e-02, -7.75877786e-01, -4.93913004e-02,
        9.96901473e-01,  6.12205234e-02,  7.78289337e-01,  6.93889390e-18,
        6.27905811e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619459, -0.03392705,  0.22455272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00056506391571335
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98238678e-01,  8.67502760e-02, -9.13170491e-01, -3.46780484e-02,
        9.96230089e-01,  7.95175663e-02,  9.16626090e-01,  6.93889390e-18,
        3.99745684e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08339306, -0.033849  ,  0.22310911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.72727273e+01, -1.72727254e+01,  8.09187826e-03, -1.72727254e+01,
        1.72727474e+01,  4.30175079e-02,  8.09187826e-03,  4.30175079e-02,
        1.09096847e+02,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.00204421374178429
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.71552578e-14,  5.43105157e-14,  1.00000000e+00, -1.47481606e-27,
        1.00000000e+00, -5.43105157e-14, -1.00000000e+00,  0.00000000e+00,
        2.71552578e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08813376, -0.09121303,  0.06186705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.01846585e-03, 3.30061009e-02, 3.12923097e-03,-2.90852928e-05,
  7.27343479e-06, 4.36927167e-05,-2.76366575e-05,-5.21791101e-05,
  2.48208233e-05, 1.64357005e-05, 9.47722595e-06,-3.87769771e-05,
  9.60363562e-03, 1.44228384e-02, 6.97743615e-03, 5.66407036e-04,
 -8.28429905e-04, 1.05962921e-03,-9.81031015e+00, 3.25364641e-03,
 -6.10841704e-02, 6.29293765e-02]


--- Step 3354 ---
qpos:
[-0.01718015, 1.19590226,-0.03472122, 0.94261717,-0.00799234, 1.33247614,
 -0.03111753, 0.94137212, 0.01531028, 1.33846946,-0.0237578 , 0.95468981,
  1.26828863,-0.00748976, 1.28984153, 0.0448439 ,-0.05566611,-0.09023665,
  0.09010659, 0.69465719,-0.05460461,-0.71357543,-0.0726625 ]

qacc:
[-3.61501650e-01, 1.17931241e+00,-3.75335012e-01,-6.35830398e+00,
 -3.54119068e-02,-7.58080650e-01, 4.09315664e+00,-1.41335221e+01,
 -7.18433751e-02, 9.52473478e-01,-3.55221467e+00, 5.88609540e+00,
 -7.30748450e-01, 9.67253945e-01,-6.05569303e+00, 1.19242278e+01,
  2.45130065e+00, 2.01385688e+00, 2.06387979e+00,-1.08590819e+01,
  6.34049254e+01, 1.34169037e+02]

qfrc_actuator:
[ 8.33102062e-03, 6.74634008e-02, 1.37357342e-02, 1.93851435e-03,
  6.89043601e-05, 3.51753539e-02, 1.08442766e-02, 1.67569087e-03,
 -2.96459440e-03, 3.47557307e-02, 1.08182577e-02, 1.71522885e-03,
  8.59474058e-03, 1.14976237e-02, 0.00000000e+00,-5.68750978e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16396042, -0.03701182, -0.15972834, -0.03701182,  0.67889725,
       -0.11931977, -0.15972834, -0.11931977,  0.19160887,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001390529566969792
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.26071842e-01,  7.86623375e-02, -7.75787526e-01, -4.94013537e-02,
        9.96901317e-01,  6.12149459e-02,  7.78198917e-01,  6.93889390e-18,
        6.28017870e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619424, -0.03392846,  0.22455393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16396042, -0.03701182, -0.15972834, -0.03701182,  0.67889725,
       -0.11931977, -0.15972834, -0.11931977,  0.19160887,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001390529566969792
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.26071842e-01,  7.86623375e-02, -7.75787526e-01, -4.94013537e-02,
        9.96901317e-01,  6.12149459e-02,  7.78198917e-01,  6.93889390e-18,
        6.28017870e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619424, -0.03392846,  0.22455393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005651856599760384
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98218900e-01,  8.67556997e-02, -9.13178600e-01, -3.46785106e-02,
        9.96229616e-01,  7.95232817e-02,  9.16634665e-01, -6.93889390e-18,
        3.99726021e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.083391  , -0.03385038,  0.22310936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.19091432, -1.67915819, 17.19091432, 17.76320052,
        5.02137536, -1.67915819,  5.02137536, 68.68064953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002047592013056876
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.71104551e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.71104551e-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([-0.08813025, -0.09119339,  0.0618668 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.04435524e-03, 3.29793852e-02, 3.13800581e-03,-1.79814122e-05,
 -1.01990551e-05,-3.71332502e-05,-3.17476794e-05,-4.92246394e-05,
 -2.07157776e-05,-1.97808737e-07,-9.89487032e-06, 1.22417740e-05,
  9.61799434e-03, 1.44700523e-02, 7.01330984e-03, 7.24013286e-04,
 -3.60990775e-04, 2.20106323e-03,-9.80968432e+00, 3.17278896e-03,
 -6.08058724e-02, 6.29088349e-02]


--- Step 3355 ---
qpos:
[-0.01719342, 1.19592535,-0.03472172, 0.94261621,-0.00799111, 1.33248348,
 -0.03111941, 0.94136958, 0.01531149, 1.33846936,-0.02375881, 0.9546896 ,
  1.26833612,-0.00751176, 1.2898224 , 0.04484324,-0.05567128,-0.09020121,
  0.09009804, 0.69453188,-0.05522215,-0.71367111,-0.07245365]

qacc:
[ 8.87182373e-02,-2.78471877e-01, 2.35956421e+00,-1.06468900e+01,
 -1.14660828e-01, 4.97276460e-01,-3.39526517e-01,-6.46943626e+00,
 -1.79338234e-01,-9.87836747e-01, 1.75122723e+00, 1.16821582e+00,
 -1.26705871e-02, 6.97983845e-02, 1.20798063e+00,-1.22994613e+00,
 -3.42370294e+00, 7.73517572e-01,-3.53898541e+00, 1.27817432e+01,
 -1.10758692e+02,-6.77008407e+01]

qfrc_actuator:
[ 8.32822820e-03, 6.74141638e-02, 1.37152468e-02, 1.89237766e-03,
  4.19059103e-05, 3.51932427e-02, 1.08236840e-02, 1.64791063e-03,
 -3.00412372e-03, 3.46784808e-02, 1.08110078e-02, 1.72267082e-03,
  8.60499971e-03, 1.14876924e-02, 0.00000000e+00,-6.49881608e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16392667, -0.04374732, -0.15798141, -0.04374732,  0.83798328,
       -0.18665594, -0.15798141, -0.18665594,  0.21561437,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013839659530622168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62620121,  0.07866389, -0.77568295, -0.04941254,  0.9969012 ,
        0.06120791,  0.77809411,  0.        ,  0.62814771])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619381, -0.03392973,  0.22455534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16392667, -0.04374732, -0.15798141, -0.04374732,  0.83798328,
       -0.18665594, -0.15798141, -0.18665594,  0.21561437,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013839659530622168
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62620121,  0.07866389, -0.77568295, -0.04941254,  0.9969012 ,
        0.06120791,  0.77809411,  0.        ,  0.62814771])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619381, -0.03392973,  0.22455534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005651447617382975
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39819769,  0.08676148, -0.9131873 , -0.03467899,  0.99622911,
        0.07952938,  0.91664386,  0.        ,  0.39970493])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08338858, -0.03385164,  0.22310965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.72727273e+01,  1.72727148e+01,  2.07190532e-02,  1.72727148e+01,
        1.72727779e+01, -4.22011381e-02,  2.07190532e-02, -4.22011381e-02,
        5.24542686e+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: -0.002033153429768994
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.73029819e-14,  5.46059637e-14,  1.00000000e+00,  1.49090564e-27,
        1.00000000e+00, -5.46059637e-14, -1.00000000e+00,  0.00000000e+00,
       -2.73029819e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02209725, -0.09067045,  0.06186766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.08298027e-03, 3.28524766e-02, 3.11709646e-03,-3.95571200e-05,
 -3.30199316e-05,-1.04033216e-05,-3.29272533e-05,-3.09660254e-05,
 -5.17632423e-05,-7.89319146e-05,-8.05465636e-06, 7.42991841e-06,
  9.66598759e-03, 1.44318161e-02, 7.23220506e-03, 6.48753767e-04,
  4.19204237e-04, 3.69854469e-03,-9.80924728e+00, 3.26248948e-03,
 -6.05256696e-02, 6.28849346e-02]


--- Step 3356 ---
qpos:
[-0.01720609, 1.19594782,-0.03472275, 0.94261441,-0.00799003, 1.33249131,
 -0.03112179, 0.94136703, 0.01531226, 1.33846876,-0.02376018, 0.95468881,
  1.26838366,-0.00753394, 1.28980646, 0.04484292,-0.05566627,-0.09015762,
  0.09009929, 0.69451857,-0.05604678,-0.71365852,-0.072071  ]

qacc:
[ 2.59580881e-01,-7.83398411e-01, 3.30212160e+00,-1.21096666e+01,
 -6.35191965e-02, 2.00276357e+00,-5.72673944e+00, 4.54641805e+00,
 -1.88970314e-01,-6.62425221e-01, 2.57649937e+00,-8.71800510e+00,
  2.27152931e-03,-9.07701718e-02, 3.69071522e+00,-6.05242378e+00,
  2.54170168e+00, 2.03822771e+00, 2.45098424e+00,-1.07312758e+01,
  6.52617583e+01, 1.41302360e+02]

qfrc_actuator:
[ 8.34948984e-03, 6.73576680e-02, 1.37033910e-02, 1.84777573e-03,
  4.31306356e-05, 3.52542666e-02, 1.08123941e-02, 1.65035949e-03,
 -3.02807092e-03, 3.46503325e-02, 1.07892130e-02, 1.69159414e-03,
  8.60411494e-03, 1.14905062e-02, 0.00000000e+00,-7.33970043e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16389849, -0.04664416, -0.15712109, -0.04664416,  0.90008362,
       -0.2185495 , -0.15712109, -0.2185495 ,  0.22877875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013784607013764445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62632539,  0.07866559, -0.77558251, -0.04942341,  0.99690106,
        0.06120131,  0.77799346,  0.        ,  0.62827237])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861934 , -0.03393106,  0.22455669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16389849, -0.04664416, -0.15712109, -0.04664416,  0.90008362,
       -0.2185495 , -0.15712109, -0.2185495 ,  0.22877875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013784607013764445
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62632539,  0.07866559, -0.77558251, -0.04942341,  0.99690106,
        0.06120131,  0.77799346,  0.        ,  0.62827237])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861934 , -0.03393106,  0.22455669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005651844051081344
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98176890e-01,  8.67671728e-02, -9.13195829e-01, -3.46794725e-02,
        9.96228617e-01,  7.95353787e-02,  9.16652878e-01,  6.93889390e-18,
        3.99684252e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08338627, -0.03385294,  0.22310994])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.72727273e+01, -1.72726519e+01,  5.10240315e-02, -1.72726519e+01,
        1.72734513e+01,  2.45097290e-01,  5.10240315e-02,  2.45097290e-01,
        1.00243046e+02,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.002043617525599048
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.43263605e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.43263605e-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([-0.0881327 , -0.09115798,  0.06186695])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.09403736e-03, 3.27984536e-02, 3.12476737e-03,-4.69538625e-05,
 -1.82667683e-05, 4.78379059e-05,-1.79925489e-05, 4.55816097e-07,
 -5.45198988e-05,-7.31496501e-05,-3.79068728e-05,-3.34805243e-05,
  9.66055002e-03, 1.44327077e-02, 7.16288468e-03, 5.50629462e-04,
 -6.82758866e-04, 3.60534545e-03,-9.80984991e+00, 2.83289528e-03,
 -6.06961657e-02, 6.28809960e-02]


--- Step 3357 ---
qpos:
[-0.01721838, 1.19597058,-0.03472335, 0.942613  ,-0.0079889 , 1.33249952,
 -0.03112463, 0.94136523, 0.01531264, 1.33846825,-0.0237624 , 0.95468832,
  1.26843062,-0.00755603, 1.28979102, 0.04484265,-0.05565784,-0.09010469,
  0.09011648, 0.69453672,-0.05700929,-0.71361587,-0.07156171]

qacc:
[ 1.67358984e-01,-1.41342737e-01, 1.16755851e-01, 4.18415909e+00,
  2.54408023e-02, 3.00463512e+00,-1.07424738e+01, 1.77562272e+01,
 -1.61688413e-01, 2.89170426e+00,-9.90584843e+00, 1.19879734e+01,
 -5.42855837e-01, 5.00234028e-01, 6.16065588e-01,-1.01450787e+00,
  8.58213664e-01, 2.33511870e+00, 3.98560256e+00,-2.89540612e+00,
  1.31490314e+01, 9.51499165e+01]

qfrc_actuator:
[ 8.42021589e-03, 6.73684054e-02, 1.37147612e-02, 1.87548870e-03,
  6.12766415e-05, 3.52696963e-02, 1.07891248e-02, 1.68836018e-03,
 -3.04247674e-03, 3.46872294e-02, 1.07591548e-02, 1.70912325e-03,
  8.59654352e-03, 1.15366721e-02, 0.00000000e+00,-7.13489402e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16388147, -0.03828638, -0.15934644, -0.03828638,  0.69412492,
       -0.1274023 , -0.15934644, -0.1274023 ,  0.19449259,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013751230371131587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62643686,  0.07866759, -0.77549228, -0.04943347,  0.9969009 ,
        0.06119576,  0.77790307,  0.        ,  0.62838428])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619307, -0.03393247,  0.22455792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16388147, -0.03828638, -0.15934644, -0.03828638,  0.69412492,
       -0.1274023 , -0.15934644, -0.1274023 ,  0.19449259,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013751230371131587
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62643686,  0.07866759, -0.77549228, -0.04943347,  0.9969009 ,
        0.06119576,  0.77790307,  0.        ,  0.62838428])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619307, -0.03393247,  0.22455792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005653789779318519
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98157139e-01,  8.67726060e-02, -9.13203924e-01, -3.46799403e-02,
        9.96228144e-01,  7.95411019e-02,  9.16661439e-01, -6.93889390e-18,
        3.99664616e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08338423, -0.03385433,  0.22311021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.2715062 , -0.20538043, 17.2715062 , 17.27574554,
        0.25382178, -0.20538043,  0.25382178, 38.61791808,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002034172055414887
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46131606e-07, -1.46131606e-07,  1.00000000e+00, -2.13544464e-14,
        1.00000000e+00,  1.46131606e-07, -1.00000000e+00,  0.00000000e+00,
       -1.46131606e-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([-0.0670246 , -0.09107168,  0.06186748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.13496706e-03, 3.28394780e-02, 3.16255039e-03, 2.22648905e-05,
  7.36506700e-06, 3.83318050e-05,-1.59529685e-05, 3.89293237e-05,
 -4.66063618e-05,-1.19469891e-05,-4.96309938e-05, 1.34690202e-05,
  9.65010130e-03, 1.44879091e-02, 7.00336791e-03, 5.54099176e-04,
  3.40501692e-04, 5.72175262e-03,-9.80947441e+00, 2.89724903e-03,
 -6.03993015e-02, 6.28532128e-02]


--- Step 3358 ---
qpos:
[-0.01723036, 1.19599436,-0.0347234 , 0.94261186,-0.00798778, 1.33250773,
 -0.03112731, 0.94136424, 0.01531272, 1.33846792,-0.02376397, 0.9546883 ,
  1.26847707,-0.00757794, 1.28977415, 0.04484234,-0.05566254,-0.09004854,
  0.09011848, 0.69439466,-0.05787537,-0.71372918,-0.07111368]

qacc:
[ 1.30583394e-01, 3.06348384e-01, 6.61291665e-02, 2.40622945e+00,
 -1.04296332e-02, 9.53422487e-01,-4.81289560e+00, 1.36762785e+01,
 -1.25051692e-01,-7.12793348e-01, 1.65341314e+00, 3.88950290e+00,
 -4.47101291e-01, 4.71923121e-01,-1.94718574e+00, 3.83615235e+00,
 -3.28420275e+00, 8.03554695e-01,-3.79975587e+00, 1.26495384e+01,
 -1.06130527e+02,-6.58563458e+01]

qfrc_actuator:
[ 8.46733621e-03, 6.73655747e-02, 1.37570691e-02, 1.89245059e-03,
  5.39199971e-05, 3.52576866e-02, 1.07943249e-02, 1.72918691e-03,
 -3.05104393e-03, 3.47450299e-02, 1.08135226e-02, 1.73741088e-03,
  8.59034166e-03, 1.15554067e-02, 0.00000000e+00,-6.47864421e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1638674 , -0.03796644, -0.15940851, -0.03796644,  0.69150689,
       -0.12566827, -0.15940851, -0.12566827,  0.1937979 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013723576785637862
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62654652,  0.07866944, -0.77540349, -0.0494433 ,  0.99690076,
        0.0611902 ,  0.77781413,  0.        ,  0.62849438])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619276, -0.03393386,  0.22455914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1638674 , -0.03796644, -0.15940851, -0.03796644,  0.69150689,
       -0.12566827, -0.15940851, -0.12566827,  0.1937979 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013723576785637862
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62654652,  0.07866944, -0.77540349, -0.0494433 ,  0.99690076,
        0.0611902 ,  0.77781413,  0.        ,  0.62849438])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619276, -0.03393386,  0.22455914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000565623945409769
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39813673,  0.0867779 , -0.91321232, -0.03468029,  0.99622768,
        0.07954672,  0.91667029,  0.        ,  0.39964432])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08338224, -0.0338557 ,  0.2231105 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.72727273e+01,  1.72727260e+01,  6.57116693e-03,  1.72727260e+01,
        1.72727299e+01, -6.93019717e-03,  6.57116693e-03, -6.93019717e-03,
        3.54891869e+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: -0.00203781380791071
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.44810826e-14,  2.72405413e-14,  1.00000000e+00, -1.48409418e-27,
        1.00000000e+00, -2.72405413e-14, -1.00000000e+00,  0.00000000e+00,
        5.44810826e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02208016, -0.09082501,  0.06186727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.16287649e-03, 3.28222040e-02, 3.18315986e-03, 2.00327416e-05,
 -3.00785831e-06, 7.19199012e-06, 1.20184183e-05, 4.24207788e-05,
 -3.60922999e-05, 4.19039272e-05, 4.67904230e-05, 2.67902421e-05,
  9.67315882e-03, 1.45030159e-02, 6.97904877e-03, 6.17313644e-04,
  9.16098222e-04, 7.89529905e-03,-9.80949859e+00, 2.81489350e-03,
 -6.02133316e-02, 6.28258659e-02]


--- Step 3359 ---
qpos:
[-0.01724213, 1.19601865,-0.03472352, 0.94261031,-0.00798687, 1.33251589,
 -0.03112928, 0.94136338, 0.01531274, 1.33846778,-0.02376404, 0.95468857,
  1.2685232 ,-0.0075997 , 1.28975627, 0.04484207,-0.05567934,-0.08998981,
  0.09010355, 0.69410432,-0.05866209,-0.71398654,-0.07071897]

qacc:
[ 9.51467773e-02, 1.98323207e-01, 1.00378694e+00,-5.84813397e+00,
 -8.44828511e-02,-1.75690733e+00, 5.40530746e+00,-3.20294022e+00,
 -2.94906962e-02,-3.29464316e+00, 1.04770220e+01,-5.85922517e+00,
 -2.95599496e-01, 3.40331873e-01,-1.61534869e+00, 3.51879803e+00,
 -3.02360124e+00, 6.45412956e-01,-4.23079235e+00, 9.35484239e+00,
 -9.85650479e+01,-5.62765085e+01]

qfrc_actuator:
[ 8.46471854e-03, 6.73892584e-02, 1.37466371e-02, 1.86741945e-03,
  3.13226064e-05, 3.52649557e-02, 1.08339260e-02, 1.73583471e-03,
 -3.03828872e-03, 3.47797389e-02, 1.08996387e-02, 1.75410942e-03,
  8.57432448e-03, 1.15575522e-02, 0.00000000e+00,-6.26094541e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1638507 , -0.04017367, -0.15884939, -0.04017367,  0.74094226,
       -0.14594884, -0.15884939, -0.14594884,  0.20076176,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013690684850013735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62666253,  0.07867078, -0.7753096 , -0.0494533 ,  0.99690065,
        0.06118384,  0.77772003,  0.        ,  0.62861081])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619242, -0.03393518,  0.22456045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1638507 , -0.04017367, -0.15884939, -0.04017367,  0.74094226,
       -0.14594884, -0.15884939, -0.14594884,  0.20076176,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013690684850013735
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62666253,  0.07867078, -0.7753096 , -0.0494533 ,  0.99690065,
        0.06118384,  0.77772003,  0.        ,  0.62861081])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619242, -0.03393518,  0.22456045])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005658490906556429
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39811489,  0.0867831 , -0.91322135, -0.03468049,  0.99622723,
        0.07955232,  0.91667977,  0.        ,  0.39962257])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08338011, -0.033857  ,  0.2231108 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.26194768,   0.61013915, -17.26194768,
        17.2692418 ,  -0.09861033,   0.61013915,  -0.09861033,
        14.48286156,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002017801173848144
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.02213171, -0.09087524,  0.06186843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.14525805e-03, 3.27946087e-02, 3.14507224e-03,-1.83593338e-05,
 -2.43728065e-05, 1.48227557e-05, 4.36133531e-05, 8.20618277e-06,
 -8.55885663e-06, 6.78162170e-05, 1.00403633e-04, 1.99305306e-05,
  9.68278210e-03, 1.44966390e-02, 7.05027564e-03, 6.41106381e-04,
 -7.41375595e-04, 7.72241934e-03,-9.81006357e+00, 2.17562292e-03,
 -6.04031843e-02, 6.28079829e-02]


--- Step 3360 ---
qpos:
[-0.01725343, 1.19604177,-0.03472441, 0.94260798,-0.00798618, 1.33252436,
 -0.03113109, 0.94136122, 0.01531292, 1.3384679 ,-0.02376299, 0.9546887 ,
  1.26856876,-0.00762156, 1.28974142, 0.04484208,-0.05568526,-0.08992288,
  0.09010132, 0.69393192,-0.05967761,-0.71412822,-0.07012816]

qacc:
[ 2.05777314e-01,-8.17306901e-01, 2.42556358e+00,-1.04850493e+01,
 -9.78239507e-02,-2.23336252e+00, 1.04465028e+01,-2.43182938e+01,
  7.08045114e-02,-2.90614115e+00, 1.01310047e+01,-1.04490411e+01,
 -5.35423775e-01, 3.79512047e-01, 3.68873159e+00,-6.31914494e+00,
  2.71771557e+00, 2.05170908e+00, 3.17570568e+00,-1.00310568e+01,
  6.84103349e+01, 1.57301870e+02]

qfrc_actuator:
[ 8.46772466e-03, 6.74466969e-02, 1.37049653e-02, 1.81775344e-03,
  1.75183333e-05, 3.52838302e-02, 1.08402956e-02, 1.66908189e-03,
 -3.01284729e-03, 3.47827435e-02, 1.09504327e-02, 1.74609417e-03,
  8.56307089e-03, 1.16207059e-02, 0.00000000e+00,-7.54974556e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16383169, -0.04494564, -0.1575459 , -0.04494564,  0.81739652,
       -0.1864529 , -0.1575459 , -0.1864529 ,  0.21702409,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013653129026579974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62678269,  0.07867176, -0.77521236, -0.0494634 ,  0.99690057,
        0.06117693,  0.77762255,  0.        ,  0.6287314 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619206, -0.03393648,  0.2245618 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16383169, -0.04494564, -0.1575459 , -0.04494564,  0.81739652,
       -0.1864529 , -0.1575459 , -0.1864529 ,  0.21702409,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013653129026579974
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62678269,  0.07867176, -0.77521236, -0.0494634 ,  0.99690057,
        0.06117693,  0.77762255,  0.        ,  0.6287314 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619206, -0.03393648,  0.2245618 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005660478664449367
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39809264,  0.08678823, -0.91323056, -0.03468061,  0.99622678,
        0.07955785,  0.91668943,  0.        ,  0.39960041])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08337789, -0.03385827,  0.22311113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.72727273e+01, -1.72725974e+01,  6.69826247e-02, -1.72725974e+01,
        1.72740437e+01,  3.39475201e-01,  6.69826247e-02,  3.39475201e-01,
        1.04812123e+02,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  0.00000000e+00,
        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: -0.0020385231869456677
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.7231062e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.7231062e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08813454, -0.09107239,  0.06186704])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.13731968e-03, 3.28258424e-02, 3.10699642e-03,-4.79859853e-05,
 -2.81908979e-05, 3.57999013e-05, 1.44671712e-05,-6.48287972e-05,
  2.03888193e-05, 6.07069388e-05, 7.60331135e-05,-2.60335418e-06,
  9.68759799e-03, 1.45524147e-02, 7.10133862e-03, 5.10047925e-04,
 -2.49211104e-03, 7.62651845e-03,-9.81065311e+00, 1.75047766e-03,
 -6.05341120e-02, 6.27914439e-02]


--- Step 3361 ---
qpos:
[-0.01726404, 1.1960628 ,-0.03472538, 0.94260616,-0.00798571, 1.33253315,
 -0.03113309, 0.94135761, 0.01531333, 1.33846854,-0.02376105, 0.95468769,
  1.26861364,-0.00764362, 1.28973287, 0.04484237,-0.05568117,-0.08984799,
  0.09010767, 0.69386748,-0.06090066,-0.71416246,-0.06936149]

qacc:
[ 3.00931085e-01,-1.65631827e+00, 1.02119285e+00, 6.37062926e+00,
 -8.69924237e-02,-1.56717633e+00, 8.63809085e+00,-2.46272782e+01,
  9.41497855e-02,-3.69666426e+00, 1.52043089e+01,-2.67278537e+01,
 -7.48421576e-01, 5.36216458e-01, 8.53341559e+00,-1.62059761e+01,
  2.50352053e+00, 1.99003107e+00, 2.14266005e+00,-9.75873896e+00,
  6.32994210e+01, 1.42111137e+02]

qfrc_actuator:
[ 8.47376408e-03, 6.74548648e-02, 1.36985281e-02, 1.84261544e-03,
  9.10112676e-06, 3.52915872e-02, 1.08269980e-02, 1.59516605e-03,
 -2.99775575e-03, 3.48198577e-02, 1.09975758e-02, 1.68805093e-03,
  8.56536096e-03, 1.16851617e-02, 0.00000000e+00,-9.56738129e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16382194, -0.04153472, -0.15846922, -0.04153472,  0.72551664,
       -0.14721997, -0.15846922, -0.14721997,  0.20240824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013633826195952672
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.26889282e-01,  7.86731583e-02, -7.75126030e-01, -4.94727022e-02,
        9.96900464e-01,  6.11712153e-02,  7.77536031e-01,  6.93889390e-18,
        6.28838390e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619177, -0.0339378 ,  0.22456301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16382194, -0.04153472, -0.15846922, -0.04153472,  0.72551664,
       -0.14721997, -0.15846922, -0.14721997,  0.20240824,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013633826195952672
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.26889282e-01,  7.86731583e-02, -7.75126030e-01, -4.94727022e-02,
        9.96900464e-01,  6.11712153e-02,  7.77536031e-01,  6.93889390e-18,
        6.28838390e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619177, -0.0339378 ,  0.22456301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005663624569356394
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39807217,  0.08679313, -0.91323902, -0.0346808 ,  0.99622636,
        0.07956312,  0.91669831,  0.        ,  0.39958004])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08337597, -0.03385958,  0.22311143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.19539886, -1.63259469, 17.19539886, 17.65186687,
        3.99330996, -1.63259469,  3.99330996, 59.33249752,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002044731575183187
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.71483807e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.71483807e-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([-0.0881278 , -0.09104739,  0.06186657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.11973406e-03, 3.28925402e-02, 3.13872412e-03, 1.61958712e-05,
 -2.50565878e-05, 2.83781412e-05,-6.55836183e-06,-7.39077901e-05,
  2.71346623e-05, 8.54557823e-05, 6.75629816e-05,-5.40780024e-05,
  9.71840068e-03, 1.46227657e-02, 6.95012969e-03, 2.94675533e-04,
 -1.00275529e-03, 1.12407119e-02,-9.81044590e+00, 1.68134478e-03,
 -6.02155661e-02, 6.27550113e-02]


--- Step 3362 ---
qpos:
[-0.01727422, 1.19608279,-0.03472649, 0.94260456,-0.00798525, 1.33254174,
 -0.0311351 , 0.94135455, 0.01531408, 1.33847011,-0.02375953, 0.95468569,
  1.26865823,-0.0076656 , 1.28972647, 0.04484258,-0.05566778,-0.08976535,
  0.09011908, 0.69390243,-0.06231366,-0.71409595,-0.06843529]

qacc:
[ 1.84333191e-01,-6.06426659e-01,-1.01024095e-01, 3.27318716e+00,
 -7.46644750e-03, 7.16860869e-01,-3.81742280e+00, 9.96653266e+00,
  1.47325428e-01, 6.17361621e-01, 1.45534316e+00,-1.33416537e+01,
 -4.05544685e-01, 4.26953065e-01, 3.41953145e+00,-7.26860843e+00,
  2.32618036e+00, 1.93535151e+00, 1.26511214e+00,-9.40613039e+00,
  5.90015239e+01, 1.29686757e+02]

qfrc_actuator:
[ 8.48121694e-03, 6.74171089e-02, 1.37128583e-02, 1.85795478e-03,
  2.17355165e-05, 3.52570258e-02, 1.08199293e-02, 1.62414739e-03,
 -2.97124349e-03, 3.48593010e-02, 1.09712895e-02, 1.63656396e-03,
  8.56515602e-03, 1.16795194e-02, 0.00000000e+00,-9.71559929e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16383141, -0.03708221, -0.15957957, -0.03708221,  0.67149739,
       -0.11796858, -0.15957957, -0.11796858,  0.19124429,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013652578508323125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6269693 ,  0.07867554, -0.77506106, -0.04948052,  0.99690028,
        0.06116795,  0.77747101,  0.        ,  0.62891878])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619162, -0.03393921,  0.22456396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16383141, -0.03708221, -0.15957957, -0.03708221,  0.67149739,
       -0.11796858, -0.15957957, -0.11796858,  0.19124429,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013652578508323125
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6269693 ,  0.07867554, -0.77506106, -0.04948052,  0.99690028,
        0.06116795,  0.77747101,  0.        ,  0.62891878])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619162, -0.03393921,  0.22456396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005669301770405179
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3980537 ,  0.08679772, -0.91324663, -0.03468104,  0.99622596,
        0.07956802,  0.91670632,  0.        ,  0.39956166])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08337459, -0.03386098,  0.2231117 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.16354742, -1.93900678, 17.16354742, 17.88735093,
        5.44047729, -1.93900678,  5.44047729, 65.43031552,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002029182079909174
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.73564170e-14,  2.73564170e-14,  1.00000000e+00,  7.48373553e-28,
        1.00000000e+00, -2.73564170e-14, -1.00000000e+00,  0.00000000e+00,
       -2.73564170e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08814106, -0.09103347,  0.06186746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.09267696e-03, 3.29593916e-02, 3.15726302e-03, 6.05533881e-06,
 -2.15504366e-06,-2.24380213e-05,-4.44383883e-06, 2.79365957e-05,
  4.25408278e-05, 9.82855452e-05,-3.50495960e-06,-4.82337475e-05,
  9.75221051e-03, 1.46274290e-02, 6.63520077e-03, 2.66062749e-04,
  7.69931008e-04, 1.50348766e-02,-9.81044067e+00, 1.79286588e-03,
 -5.98981275e-02, 6.27144724e-02]


--- Step 3363 ---
qpos:
[-0.01728385, 1.19610193,-0.03472831, 0.94260213,-0.00798503, 1.33254951,
 -0.03113693, 0.94135295, 0.01531517, 1.33847184,-0.02375863, 0.95468385,
  1.26870283,-0.00768764, 1.28972214, 0.04484277,-0.05564567,-0.08967516,
  0.09013256, 0.69402946,-0.06390209,-0.7139341 ,-0.06736274]

qacc:
[ 2.44330875e-01,-6.33926473e-01, 2.40811111e+00,-1.11279862e+01,
 -1.01834632e-01, 9.34513284e-01,-7.34617873e+00, 2.37692505e+01,
  1.40368146e-01, 2.19509325e+00,-7.23940046e+00, 8.11628174e+00,
 -6.70650260e-02, 4.56219360e-02, 3.16699760e+00,-6.63120777e+00,
  2.17965471e+00, 1.88749672e+00, 5.20085271e-01,-8.99991648e+00,
  5.53904939e+01, 1.19537352e+02]

qfrc_actuator:
[ 8.48950908e-03, 6.73160613e-02, 1.37219823e-02, 1.81441039e-03,
 -6.36259619e-06, 3.51797152e-02, 1.08164949e-02, 1.69567819e-03,
 -2.95584644e-03, 3.48107772e-02, 1.09196535e-02, 1.64257911e-03,
  8.56344350e-03, 1.16671257e-02, 0.00000000e+00,-1.01600464e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16384635, -0.04284545, -0.15814517, -0.04284545,  0.80517974,
       -0.17375312, -0.15814517, -0.17375312,  0.21092038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013682106056101505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62704016,  0.07867814, -0.77500347, -0.04948776,  0.99690007,
        0.06116544,  0.7774134 ,  0.        ,  0.62898999])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619151, -0.03394066,  0.2245648 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16384635, -0.04284545, -0.15814517, -0.04284545,  0.80517974,
       -0.17375312, -0.15814517, -0.17375312,  0.21092038,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013682106056101505
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62704016,  0.07867814, -0.77500347, -0.04948776,  0.99690007,
        0.06116544,  0.7774134 ,  0.        ,  0.62898999])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619151, -0.03394066,  0.2245648 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005675613217075125
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39803631,  0.08680211, -0.91325379, -0.03468129,  0.99622557,
        0.0795727 ,  0.91671386,  0.        ,  0.39954436])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08337341, -0.03386243,  0.22311194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.11777651, -2.30842689, 17.11777651, 18.28393524,
        7.49845363, -2.30842689,  7.49845363, 72.87633074,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001996254930499569
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.78076464e-14,  2.78076464e-14,  1.00000000e+00,  7.73265198e-28,
        1.00000000e+00, -2.78076464e-14, -1.00000000e+00,  0.00000000e+00,
       -2.78076464e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08817025, -0.09102839,  0.06186942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.07981652e-03, 3.29094149e-02, 3.17319219e-03,-4.83825306e-05,
 -2.93711113e-05,-8.98135281e-05,-7.52334006e-06, 7.13760364e-05,
  4.05251898e-05, 3.70044279e-06,-3.42569760e-05, 7.70414389e-06,
  9.76502469e-03, 1.46115054e-02, 6.52756683e-03, 2.24994809e-04,
  2.74335988e-03, 1.89189264e-02,-9.81059529e+00, 2.03539246e-03,
 -5.95818842e-02, 6.26693152e-02]


--- Step 3364 ---
qpos:
[-0.01729369, 1.19612117,-0.03472988, 0.9426001 ,-0.00798494, 1.33255677,
 -0.03113885, 0.94135221, 0.01531623, 1.3384731 ,-0.0237575 , 0.95468211,
  1.26874701,-0.0077093 , 1.28971655, 0.04484262,-0.05563835,-0.08958052,
  0.09013377, 0.69397547,-0.06537395,-0.71394728,-0.06635944]

qacc:
[-9.37861018e-02, 1.63411338e-01,-1.19682769e+00, 5.58189531e+00,
 -5.68497384e-02, 1.04375869e+00,-5.99352675e+00, 1.54853739e+01,
 -1.01980201e-02,-1.07222600e+00, 2.54688498e+00,-7.74481103e-01,
 -5.39378976e-01, 7.24637037e-01,-8.29987406e-01, 3.00160147e-01,
 -3.69929930e+00, 1.11340469e+00,-3.07005741e+00, 1.58411292e+01,
 -1.19214939e+02,-7.73324233e+01]

qfrc_actuator:
[ 8.49799778e-03, 6.72305424e-02, 1.37108518e-02, 1.84300794e-03,
 -5.41229913e-06, 3.51662142e-02, 1.08150604e-02, 1.73836490e-03,
 -2.98274665e-03, 3.47631211e-02, 1.09241936e-02, 1.64682286e-03,
  8.56080929e-03, 1.17040443e-02, 0.00000000e+00,-9.53959605e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16386684, -0.03511989, -0.16005916, -0.03511989,  0.62175643,
       -0.1004693 , -0.16005916, -0.1004693 ,  0.18591163,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013722487270698136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62710253,  0.07868084, -0.77495274, -0.0494944 ,  0.99689986,
        0.06116355,  0.77736267,  0.        ,  0.62905268])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619146, -0.03394217,  0.22456555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16386684, -0.03511989, -0.16005916, -0.03511989,  0.62175643,
       -0.1004693 , -0.16005916, -0.1004693 ,  0.18591163,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013722487270698136
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62710253,  0.07868084, -0.77495274, -0.0494944 ,  0.99689986,
        0.06116355,  0.77736267,  0.        ,  0.62905268])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619146, -0.03394217,  0.22456555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005682582181961646
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39802035,  0.08680626, -0.91326035, -0.03468157,  0.99622521,
        0.0795771 ,  0.91672078,  0.        ,  0.39952849])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08337241, -0.03386393,  0.22311217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.27257511, -0.07250186, 17.27257511, 17.27336908,
        0.15290171, -0.07250186,  0.15290171, 53.6994664 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002020035892563561
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37401398e-14,  1.37401398e-14,  1.00000000e+00, -1.88791442e-28,
        1.00000000e+00, -1.37401398e-14, -1.00000000e+00,  0.00000000e+00,
        1.37401398e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02210849, -0.09115551,  0.06186793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.06025619e-03, 3.28667462e-02, 3.19722661e-03, 2.15034086e-05,
 -1.63907460e-05,-6.25646564e-05,-1.77808971e-05, 4.14181336e-05,
 -2.96584785e-06,-5.20848005e-05, 1.58965841e-06, 3.53107594e-06,
  9.76159606e-03, 1.46517608e-02, 6.42428801e-03, 2.88813968e-04,
  4.86370144e-03, 2.28424790e-02,-9.81088506e+00, 2.37428176e-03,
 -5.92671829e-02, 6.26191634e-02]


--- Step 3365 ---
qpos:
[-0.01730358, 1.19613981,-0.03473152, 0.94259816,-0.00798449, 1.33256371,
 -0.03114061, 0.94135264, 0.01531699, 1.3384735 ,-0.02375527, 0.95468042,
  1.26879066,-0.00773075, 1.2897121 , 0.04484233,-0.0556445 ,-0.08948226,
  0.09012052, 0.69375588,-0.06675157,-0.71412032,-0.06541544]

qacc:
[-2.19945499e-02,-4.55270628e-01, 3.61753247e-01, 1.10089436e+00,
  1.53415528e-01, 1.14506205e+00,-6.67674622e+00, 1.96673925e+01,
 -1.24734829e-01,-3.99204013e+00, 1.15673720e+01,-8.89915174e+00,
 -6.18201008e-01, 6.77102164e-01, 2.17382632e+00,-5.05394710e+00,
 -3.36560410e+00, 9.06203563e-01,-3.61382854e+00, 1.14263850e+01,
 -1.09521718e+02,-6.49394558e+01]

qfrc_actuator:
[ 8.48940334e-03, 6.72602410e-02, 1.37224141e-02, 1.84298817e-03,
  4.84622071e-05, 3.51732711e-02, 1.08327788e-02, 1.79926491e-03,
 -3.01704923e-03, 3.47165571e-02, 1.09795868e-02, 1.65000586e-03,
  8.54701019e-03, 1.17523798e-02, 0.00000000e+00,-1.02299529e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16388236, -0.03936904, -0.15908333, -0.03936904,  0.68826015,
       -0.12977005, -0.15908333, -0.12977005,  0.19599712,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013752985518149588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62716997,  0.07868341, -0.77489789, -0.04950135,  0.99689965,
        0.06116123,  0.77730782,  0.        ,  0.62912047])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619136, -0.03394363,  0.22456634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16388236, -0.03936904, -0.15908333, -0.03936904,  0.68826015,
       -0.12977005, -0.15908333, -0.12977005,  0.19599712,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013752985518149588
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62716997,  0.07868341, -0.77489789, -0.04950135,  0.99689965,
        0.06116123,  0.77730782,  0.        ,  0.62912047])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619136, -0.03394363,  0.22456634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005688814731719428
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.98004086e-01,  8.68104924e-02, -9.13267040e-01, -3.46818601e-02,
        9.96224843e-01,  7.95815944e-02,  9.16727831e-01,  6.93889390e-18,
        3.99512307e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08337129, -0.03386538,  0.2231124 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.26216675,   0.60390946, -17.26216675,
        17.26777386,  -0.14158843,   0.60390946,  -0.14158843,
        13.22555929,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020305131623669787
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.05038629e-14,  1.36692419e-14,  1.00000000e+00,  2.80272262e-28,
        1.00000000e+00, -1.36692419e-14, -1.00000000e+00,  0.00000000e+00,
       -2.05038629e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02207532, -0.09121133,  0.06186718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.06240296e-03, 3.28912988e-02, 3.19687543e-03, 1.66512234e-06,
  4.41967746e-05,-2.98368020e-05, 4.65933990e-06, 5.94581152e-05,
 -3.60549327e-05,-7.49630448e-05, 4.55003358e-05, 1.76889740e-06,
  9.76937532e-03, 1.46813726e-02, 6.48717484e-03, 2.36068893e-04,
  1.78634700e-03, 2.24273209e-02,-9.81145574e+00, 9.29463481e-04,
 -5.95871314e-02, 6.25682801e-02]


--- Step 3366 ---
qpos:
[-0.01731318, 1.19615776,-0.03473374, 0.94259558,-0.00798386, 1.33257002,
 -0.03114199, 0.94135347, 0.01531742, 1.33847369,-0.02375231, 0.95467874,
  1.2688343 ,-0.00775211, 1.28970875, 0.0448419 ,-0.05566298,-0.08938103,
  0.09009095, 0.6933835 ,-0.06805267,-0.71444033,-0.06452266]

qacc:
[ 1.23155404e-01,-4.21882402e-01, 1.60012059e+00,-8.35467720e+00,
  7.82371001e-02,-1.17189033e+00, 2.01077042e+00, 3.26204495e+00,
 -1.45482948e-01,-2.24903141e+00, 6.95890908e+00,-5.73634722e+00,
 -1.30795949e-01, 1.98871097e-01, 2.05555828e+00,-4.79958864e+00,
 -3.08410339e+00, 7.41352314e-01,-4.08003849e+00, 7.95707319e+00,
 -1.01322745e+02,-5.49917259e+01]

qfrc_actuator:
[ 8.48823311e-03, 6.72887102e-02, 1.37122919e-02, 1.80819396e-03,
  4.48853472e-05, 3.51216643e-02, 1.08440151e-02, 1.81717252e-03,
 -3.03775996e-03, 3.47422233e-02, 1.10290260e-02, 1.65255942e-03,
  8.54251327e-03, 1.17365827e-02, 0.00000000e+00,-1.06421288e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16390064, -0.04101716, -0.15868527, -0.04101716,  0.75583284,
       -0.15300334, -0.15868527, -0.15300334,  0.20344913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013788822624486753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.27232486e-01,  7.86862746e-02, -7.74847003e-01, -4.95080911e-02,
        9.96899428e-01,  6.11594534e-02,  7.77256944e-01, -6.93889390e-18,
        6.29183314e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619129, -0.03394509,  0.22456709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16390064, -0.04101716, -0.15868527, -0.04101716,  0.75583284,
       -0.15300334, -0.15868527, -0.15300334,  0.20344913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013788822624486753
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.27232486e-01,  7.86862746e-02, -7.74847003e-01, -4.95080911e-02,
        9.96899428e-01,  6.11594534e-02,  7.77256944e-01, -6.93889390e-18,
        6.29183314e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619129, -0.03394509,  0.22456709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005695343251585945
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97988420e-01,  8.68147348e-02, -9.13273463e-01, -3.46822027e-02,
        9.96224474e-01,  7.95860729e-02,  9.16734619e-01, -6.93889390e-18,
        3.99496731e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08337028, -0.03386685,  0.22311262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.26274539,   0.58713632, -17.26274539,
        17.26919323,  -0.10390642,   0.58713632,  -0.10390642,
        14.21771254,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002015283857674091
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.13176171e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.13176171e-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([ 0.02210876, -0.09126195,  0.06186795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.06374352e-03, 3.29491333e-02, 3.18984385e-03,-3.75850790e-05,
  2.25110269e-05,-6.54535517e-05, 7.66714757e-06, 1.85298329e-05,
 -4.20057579e-05,-6.85754800e-06, 4.00169858e-05, 1.70595548e-06,
  9.79103483e-03, 1.46559195e-02, 6.43023181e-03, 2.02160613e-04,
 -1.25399581e-03, 2.22518963e-02,-9.81204074e+00,-1.91421070e-04,
 -5.98042652e-02, 6.25191803e-02]


--- Step 3367 ---
qpos:
[-0.01732319, 1.19617676,-0.03473611, 0.94259277,-0.007983  , 1.33257616,
 -0.03114362, 0.94135382, 0.01531753, 1.33847437,-0.02374911, 0.95467811,
  1.26887786,-0.00777284, 1.28969959, 0.04484091,-0.05567008,-0.08927104,
  0.09007557, 0.69312954,-0.06960103,-0.7146367 ,-0.06341546]

qacc:
[-1.73939313e-01, 1.37550386e+00,-2.35903663e+00,-1.29762988e+00,
  9.89981085e-02,-3.94702561e-01, 2.00839971e+00,-7.30057681e+00,
 -1.28982676e-01, 1.80442790e+00,-7.19824497e+00, 1.79415512e+01,
 -1.91266122e-01, 5.80935358e-01,-6.85858778e+00, 1.15715783e+01,
  2.84678156e+00, 2.19068733e+00, 3.54679920e+00,-9.08710215e+00,
  6.98965942e+01, 1.70694260e+02]

qfrc_actuator:
[ 8.52670975e-03, 6.72635188e-02, 1.36719497e-02, 1.80648420e-03,
  6.01283643e-05, 3.51240561e-02, 1.08333271e-02, 1.79184122e-03,
 -3.05014873e-03, 3.48109370e-02, 1.10570639e-02, 1.70801065e-03,
  8.54357018e-03, 1.17355992e-02, 0.00000000e+00,-8.57905872e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16392108, -0.03127805, -0.1609093 , -0.03127805,  0.58108034,
       -0.08108872, -0.1609093 , -0.08108872,  0.17968336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001382875755368898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.27290432e-01,  7.86892028e-02, -7.74799796e-01, -4.95145187e-02,
        9.96899197e-01,  6.11580172e-02,  7.77209770e-01, -6.93889390e-18,
        6.29241586e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619125, -0.03394659,  0.22456777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16392108, -0.03127805, -0.1609093 , -0.03127805,  0.58108034,
       -0.08108872, -0.1609093 , -0.08108872,  0.17968336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001382875755368898
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.27290432e-01,  7.86892028e-02, -7.74799796e-01, -4.95145187e-02,
        9.96899197e-01,  6.11580172e-02,  7.77209770e-01, -6.93889390e-18,
        6.29241586e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619125, -0.03394659,  0.22456777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005702044938476689
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39797392,  0.08681884, -0.91327939, -0.03468259,  0.99622412,
        0.07959038,  0.9167409 ,  0.        ,  0.39948232])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08336936, -0.03386835,  0.22311282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.27221501,   0.13302659, -17.27221501,
        17.27783718,   0.66347261,   0.13302659,   0.66347261,
       103.41822239,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019948115765118235
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39138834e-14, -6.95694168e-15,  1.00000000e+00, -9.67980752e-29,
        1.00000000e+00,  6.95694168e-15, -1.00000000e+00,  0.00000000e+00,
       -1.39138834e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08816405, -0.09093687,  0.06186896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.08807390e-03, 3.29582296e-02, 3.17850880e-03,-7.40312796e-06,
  2.85287809e-05,-3.18008143e-05,-2.20845985e-05,-2.66423460e-05,
 -3.71958597e-05, 7.27793439e-05, 3.12910589e-05, 5.64608864e-05,
  9.79253025e-03, 1.46510871e-02, 6.37514534e-03, 4.15326870e-04,
 -4.29055966e-03, 2.22582163e-02,-9.81266926e+00,-1.06847359e-03,
 -5.99480475e-02, 6.24721718e-02]


--- Step 3368 ---
qpos:
[-0.01733401, 1.19619661,-0.03473732, 0.94259198,-0.00798192, 1.33258238,
 -0.03114525, 0.94135416, 0.01531741, 1.33847515,-0.02374606, 0.95467959,
  1.26892093,-0.00779265, 1.28968465, 0.04483931,-0.05566672,-0.08915254,
  0.09006992, 0.69298299,-0.0713734 ,-0.71471815,-0.06211589]

qacc:
[-3.54767833e-01, 1.44136358e+00,-7.51104680e+00, 2.93956305e+01,
  8.84767464e-02, 1.27168466e-01,-2.65841506e-01, 1.81486385e-01,
 -1.01509763e-01, 4.14694091e+00,-1.76098789e+01, 3.94809511e+01,
 -6.84996216e-01, 1.20744168e+00,-6.65921832e+00, 1.10086683e+01,
  2.61412830e+00, 2.12578108e+00, 2.43447403e+00,-8.79930297e+00,
  6.44074722e+01, 1.54114140e+02]

qfrc_actuator:
[ 8.53628479e-03, 6.72046764e-02, 1.36487812e-02, 1.91323632e-03,
  6.87875927e-05, 3.51586531e-02, 1.08454697e-02, 1.79455101e-03,
 -3.05744608e-03, 3.47805845e-02, 1.10369596e-02, 1.81192000e-03,
  8.53731551e-03, 1.17961775e-02, 0.00000000e+00,-7.33386915e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16392088, -0.02522528, -0.16196833, -0.02522528,  0.45052358,
       -0.04463608, -0.16196833, -0.04463608,  0.1708726 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013828375937262848
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62737174,  0.07869114, -0.77473376, -0.04952217,  0.99689904,
        0.06115432,  0.77714365,  0.        ,  0.62932325])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619106, -0.03394798,  0.22456868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16392088, -0.02522528, -0.16196833, -0.02522528,  0.45052358,
       -0.04463608, -0.16196833, -0.04463608,  0.1708726 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013828375937262848
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62737174,  0.07869114, -0.77473376, -0.04952217,  0.99689904,
        0.06115432,  0.77714365,  0.        ,  0.62932325])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619106, -0.03394798,  0.22456868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005705835492456797
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3979586 ,  0.08682312, -0.91328566, -0.03468298,  0.99622374,
        0.07959488,  0.91674753,  0.        ,  0.39946709])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08336795, -0.03386973,  0.22311305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.17849965, -1.80173725, 17.17849965, 17.73881644,
        4.44388472, -1.80173725,  4.44388472, 59.64254136,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002011543666114418
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75962944e-14,  5.51925888e-14,  1.00000000e+00,  1.52311093e-27,
        1.00000000e+00, -5.51925888e-14, -1.00000000e+00,  0.00000000e+00,
       -2.75962944e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08814619, -0.09090571,  0.06186774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.11756217e-03, 3.28471447e-02, 3.16274301e-03, 1.10893059e-04,
  2.54986778e-05, 1.18394990e-05, 2.61890048e-06, 4.92453309e-07,
 -2.92610551e-05, 1.76684006e-05,-6.87014920e-07, 1.08300570e-04,
  9.79080104e-03, 1.46802880e-02, 6.66554153e-03, 5.68059674e-04,
 -1.59499038e-03, 2.89082986e-02,-9.81320043e+00,-1.09555371e-03,
 -5.95842348e-02, 6.24137067e-02]


--- Step 3369 ---
qpos:
[-0.01734473, 1.19621479,-0.03473711, 0.94259441,-0.00798098, 1.33258849,
 -0.03114609, 0.94135451, 0.01531711, 1.33847571,-0.02374415, 0.95468099,
  1.26896381,-0.00781204, 1.28967214, 0.04483755,-0.05565368,-0.08902578,
  0.09007022, 0.69293434,-0.07335047,-0.71469174,-0.06064179]

qacc:
[ 4.43575461e-02,-5.65848481e-01,-7.48491074e+00, 4.50245143e+01,
 -5.47542200e-02,-2.25902523e+00, 7.17746843e+00,-6.08323521e+00,
 -7.45392507e-02, 2.68294684e+00,-8.96245502e+00, 7.14620761e+00,
 -5.66879305e-01, 8.41010870e-01, 4.13102072e+00,-9.13085999e+00,
  2.42086812e+00, 2.06780121e+00, 1.48599898e+00,-8.41595196e+00,
  5.97744482e+01, 1.40517207e+02]

qfrc_actuator:
[ 8.51134105e-03, 6.71609141e-02, 1.36701783e-02, 2.06515699e-03,
  3.79226274e-05, 3.51591111e-02, 1.08889128e-02, 1.79603885e-03,
 -3.06163173e-03, 3.47087455e-02, 1.09527516e-02, 1.80140254e-03,
  8.52138614e-03, 1.18221407e-02, 0.00000000e+00,-9.06210139e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16389964, -0.02653238, -0.16173783, -0.02653238,  0.46061082,
       -0.04867417, -0.16173783, -0.04867417,  0.17188443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013786861795477869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62747607,  0.07869237, -0.77464914, -0.04953118,  0.99689895,
        0.0611486 ,  0.77705884,  0.        ,  0.62942796])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619073, -0.03394926,  0.22456981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16389964, -0.02653238, -0.16173783, -0.02653238,  0.46061082,
       -0.04867417, -0.16173783, -0.04867417,  0.17188443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013786861795477869
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62747607,  0.07869237, -0.77464914, -0.04953118,  0.99689895,
        0.0611486 ,  0.77705884,  0.        ,  0.62942796])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619073, -0.03394926,  0.22456981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005706654981438054
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39794143,  0.08682776, -0.9132927 , -0.03468335,  0.99622334,
        0.07959978,  0.91675497,  0.        ,  0.39945002])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08336603, -0.03387098,  0.22311328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.14125471, -2.12708586, 17.14125471, 18.01810485,
        6.0066719 , -2.12708586,  6.0066719 , 65.67786911,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002004201890773674
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.92434623e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.92434623e-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([-0.08815068, -0.09088717,  0.06186802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.13330021e-03, 3.27602073e-02, 3.12636669e-03, 1.61951468e-04,
 -1.58127414e-05, 7.49499561e-06, 4.60673621e-05, 1.93964574e-06,
 -2.14655519e-05,-5.90004062e-05,-7.76680252e-05,-7.48598478e-06,
  9.79874256e-03, 1.46604877e-02, 6.95494973e-03, 4.25580554e-04,
  1.35678331e-03, 3.55442463e-02,-9.81397043e+00,-9.27714149e-04,
 -5.92241221e-02, 6.23495056e-02]


--- Step 3370 ---
qpos:
[-0.01735373, 1.19622853,-0.03473818, 0.94259663,-0.00798026, 1.33259451,
 -0.03114663, 0.94135421, 0.01531655, 1.33847608,-0.02374325, 0.95468157,
  1.26900711,-0.00783213, 1.28967072, 0.04483624,-0.05563203,-0.08889568,
  0.09008226, 0.69299763,-0.07543771,-0.71454459,-0.05907169]

qacc:
[  0.74862825, -2.73247521,  2.31909529, -1.7122683 , -0.09763489,
  -2.07897446,  7.97542918,-14.43193434, -0.1135119 ,  1.0559457 ,
  -2.06666762, -7.70786035,  0.20667903, -0.54082216, 15.02689609,
 -28.79904153,  2.151087  ,  0.83143601,  2.93560111, -3.42251234,
  74.97035492, 80.44796884]

qfrc_actuator:
[ 8.50060217e-03, 6.71816484e-02, 1.36998282e-02, 2.02913128e-03,
  1.91033400e-05, 3.51392573e-02, 1.08970921e-02, 1.76128250e-03,
 -3.08167104e-03, 3.47010553e-02, 1.09021473e-02, 1.75906339e-03,
  8.51562175e-03, 1.18097200e-02, 0.00000000e+00,-1.29314444e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16388287, -0.04368182, -0.15795408, -0.04368182,  0.80619804,
       -0.1776307 , -0.15795408, -0.1776307 ,  0.21300621,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013753980191803274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62756994,  0.07869409, -0.77457292, -0.04953968,  0.99689881,
        0.06114393,  0.77698249,  0.        ,  0.6295222 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619045, -0.03395061,  0.22457081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16388287, -0.04368182, -0.15795408, -0.04368182,  0.80619804,
       -0.1776307 , -0.15795408, -0.1776307 ,  0.21300621,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013753980191803274
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62756994,  0.07869409, -0.77457292, -0.04953968,  0.99689881,
        0.06114393,  0.77698249,  0.        ,  0.6295222 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619045, -0.03395061,  0.22457081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005707873144494037
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39792449,  0.08683236, -0.91329965, -0.03468372,  0.99622294,
        0.07960463,  0.91676231,  0.        ,  0.39943317])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0833643 , -0.03387232,  0.22311347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  10.30135754,  13.86467239,  10.30135754,
        74.75678842, -42.71026751,  13.86467239, -42.71026751,
        49.00616632,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019862063932409857
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.79483298e-14,  5.58966595e-14,  1.00000000e+00,  1.56221827e-27,
        1.00000000e+00, -5.58966595e-14, -1.00000000e+00,  0.00000000e+00,
       -2.79483298e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08670981, -0.08327824,  0.06186899])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.11750501e-03, 3.28645094e-02, 3.08464247e-03,-3.53757844e-05,
 -2.81533366e-05,-6.67607296e-06, 1.49412095e-05,-3.31260225e-05,
 -3.27177655e-05,-5.57120447e-05,-7.11737234e-05,-4.65291746e-05,
  9.80312214e-03, 1.46276729e-02, 6.83377478e-03, 4.68402723e-05,
  4.47908464e-03, 4.20975948e-02,-9.81493898e+00,-6.20848578e-04,
 -5.88680811e-02, 6.22788864e-02]


--- Step 3371 ---
qpos:
[-0.01736183, 1.19623998,-0.03474082, 0.94259754,-0.00797963, 1.33260052,
 -0.03114763, 0.94135318, 0.01531602, 1.33847654,-0.02374208, 0.95468222,
  1.26905075,-0.00785254, 1.2896737 , 0.04483487,-0.05562465,-0.08876061,
  0.09008168, 0.69288041,-0.07741399,-0.71456984,-0.05756526]

qacc:
[ 3.93701167e-01,-1.00288585e+00, 2.34576862e+00,-1.58101847e+01,
 -3.58137108e-02, 1.99349450e-02, 1.43806449e+00,-9.68745129e+00,
  1.57817538e-02,-4.88296506e-01, 1.57615730e+00,-4.51922959e-01,
  2.18310129e-01,-3.43378327e-01, 6.65884054e+00,-1.38686069e+01,
 -3.56623518e+00, 1.24548961e+00,-3.15587115e+00, 1.39908536e+01,
 -1.18552924e+02,-7.35355578e+01]

qfrc_actuator:
[ 8.49672997e-03, 6.72267611e-02, 1.37010645e-02, 1.97125360e-03,
  2.54170327e-05, 3.51249984e-02, 1.08665217e-02, 1.72318798e-03,
 -3.05780220e-03, 3.47674203e-02, 1.09430472e-02, 1.76943650e-03,
  8.52655818e-03, 1.17929713e-02, 0.00000000e+00,-1.34752071e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16389756, -0.04127436, -0.15861537, -0.04127436,  0.7976377 ,
       -0.16490973, -0.15861537, -0.16490973,  0.20680981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013782779460520637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62761723,  0.07869721, -0.77453428, -0.04954539,  0.99689857,
        0.06114332,  0.77694393,  0.        ,  0.6295698 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619042, -0.03395222,  0.2245713 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16389756, -0.04127436, -0.15861537, -0.04127436,  0.7976377 ,
       -0.16490973, -0.15861537, -0.16490973,  0.20680981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013782779460520637
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62761723,  0.07869721, -0.77453428, -0.04954539,  0.99689857,
        0.06114332,  0.77694393,  0.        ,  0.6295698 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619042, -0.03395222,  0.2245713 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005712974251226369
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97912806e-01,  8.68361658e-02, -9.13304374e-01, -3.46842384e-02,
        9.96222606e-01,  7.96085629e-02,  9.16767366e-01, -6.93889390e-18,
        3.99421579e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08336355, -0.03387394,  0.22311357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.2054585 , -1.52292656, 17.2054585 , 17.53008535,
        2.90753596, -1.52292656,  2.90753596, 50.12098849,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002017844793584918
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75101194e-14,  1.37550597e-14,  1.00000000e+00,  3.78403335e-28,
        1.00000000e+00, -1.37550597e-14, -1.00000000e+00,  0.00000000e+00,
       -2.75101194e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02205988, -0.09155417,  0.06186694])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.02778278e-03, 3.31313803e-02, 3.15005400e-03,-8.23967814e-05,
 -1.03053337e-05,-1.60699776e-05,-3.11548583e-05,-3.86175874e-05,
  4.54530044e-06, 2.02734887e-05, 2.05684610e-05, 5.55917456e-06,
  9.79254741e-03, 1.46463948e-02, 6.27936208e-03,-2.98405618e-05,
  7.64511594e-03, 4.44313089e-02,-9.81548147e+00, 1.22876325e-04,
 -5.86741299e-02, 6.22061993e-02]


--- Step 3372 ---
qpos:
[-0.0173703 , 1.1962516 ,-0.03474381, 0.94259814,-0.00797902, 1.33260642,
 -0.03114841, 0.94135202, 0.01531592, 1.33847642,-0.02373962, 0.9546837 ,
  1.26909408,-0.00787259, 1.28967454, 0.044833  ,-0.05563026,-0.08862141,
  0.09006632, 0.69259795,-0.07930192,-0.71475215,-0.05611279]

qacc:
[-1.58589641e-01, 6.58802824e-01,-1.25242474e+00,-2.52367411e+00,
 -8.61868993e-03,-9.63318125e-01, 3.21897861e+00,-4.20576818e+00,
  1.82905432e-01,-2.80368988e+00, 6.57099006e+00, 4.08003600e+00,
 -3.86816140e-01, 5.62283531e-01,-1.58378721e+00, 1.01791022e+00,
 -3.24857423e+00, 1.03010520e+00,-3.69392182e+00, 9.44717659e+00,
 -1.08814968e+02,-6.11004279e+01]

qfrc_actuator:
[ 8.49710458e-03, 6.72328718e-02, 1.37038050e-02, 1.97245633e-03,
  2.90039044e-05, 3.51317887e-02, 1.08843649e-02, 1.71893116e-03,
 -3.00778641e-03, 3.47182316e-02, 1.10024523e-02, 1.81085189e-03,
  8.52620504e-03, 1.18267754e-02, 0.00000000e+00,-1.23754698e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16392304, -0.03344925, -0.16047402, -0.03344925,  0.61534059,
       -0.09409359, -0.16047402, -0.09409359,  0.18353594,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013832595795220705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62764566,  0.07870076, -0.77451089, -0.04954988,  0.99689828,
        0.06114425,  0.77692067,  0.        ,  0.62959849])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619048, -0.03395394,  0.22457158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16392304, -0.03344925, -0.16047402, -0.03344925,  0.61534059,
       -0.09409359, -0.16047402, -0.09409359,  0.18353594,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013832595795220705
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62764566,  0.07870076, -0.77451089, -0.04954988,  0.99689828,
        0.06114425,  0.77692067,  0.        ,  0.62959849])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619048, -0.03395394,  0.22457158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005719219603171795
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39790467,  0.08683954, -0.9133076 , -0.03468489,  0.99622231,
        0.07961196,  0.91677087,  0.        ,  0.39941353])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08336321, -0.03387567,  0.22311362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.24737455,   0.93550985, -17.24737455,
        17.25852448,  -0.26184753,   0.93550985,  -0.26184753,
        12.44521816,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00202290795454807
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.74412640e-14,  4.11618960e-14,  1.00000000e+00,  1.12953445e-27,
        1.00000000e+00, -4.11618960e-14, -1.00000000e+00,  0.00000000e+00,
       -2.74412640e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02203719, -0.09161313,  0.06186647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.98298528e-03, 3.32519636e-02, 3.23127748e-03,-1.56265335e-05,
 -2.49674606e-06,-9.40352328e-06, 1.00114626e-05,-6.54455228e-06,
  5.27010783e-05,-3.37993834e-05, 6.58638752e-05, 4.27507653e-05,
  9.77543903e-03, 1.46962406e-02, 6.05889132e-03, 8.27485341e-05,
  3.23660575e-03, 4.40439850e-02,-9.81606420e+00,-1.82963567e-03,
 -5.90026195e-02, 6.21162433e-02]


--- Step 3373 ---
qpos:
[-0.01737912, 1.19626466,-0.03474692, 0.94259828,-0.0079787 , 1.33261191,
 -0.03114852, 0.94134979, 0.01531632, 1.33847654,-0.0237381 , 0.95468466,
  1.26913707,-0.00789219, 1.28967026, 0.04483053,-0.0556257 ,-0.08847908,
  0.09006901, 0.6924394 ,-0.08133059,-0.71480014,-0.05453225]

qacc:
[ -0.15944714,  1.41467464, -1.36429184, -5.16671121, -0.12150628,
  -4.17900479, 15.21437753,-25.44868568,  0.21100085,  1.93750965,
  -4.91499643, -1.75097051, -0.31480765,  0.541436  , -5.78136825,
   9.28237827,  2.54181383,  0.7842274 ,  4.51042506, -1.8235897 ,
  81.77203939,103.45625217]

qfrc_actuator:
[ 8.55419066e-03, 6.71962807e-02, 1.37068560e-02, 1.95536378e-03,
 -4.58078905e-06, 3.50980708e-02, 1.09130056e-02, 1.66365861e-03,
 -2.97799696e-03, 3.47246226e-02, 1.09475867e-02, 1.78136360e-03,
  8.51912448e-03, 1.18371198e-02, 0.00000000e+00,-1.08174154e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16394005, -0.03304312, -0.16057551, -0.03304312,  0.61167927,
       -0.09213547, -0.16057551, -0.09213547,  0.18289963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000138657347797045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.27682670e-01,  7.87040862e-02, -7.74480557e-01, -4.95549092e-02,
        9.96898022e-01,  6.11444533e-02,  7.76890453e-01,  6.93889390e-18,
        6.29635786e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619048, -0.03395561,  0.22457193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16394005, -0.03304312, -0.16057551, -0.03304312,  0.61167927,
       -0.09213547, -0.16057551, -0.09213547,  0.18289963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000138657347797045
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.27682670e-01,  7.87040862e-02, -7.74480557e-01, -4.95549092e-02,
        9.96898022e-01,  6.11444533e-02,  7.76890453e-01,  6.93889390e-18,
        6.29635786e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619048, -0.03395561,  0.22457193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005724201459761831
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97896698e-01,  8.68430592e-02, -9.13310736e-01, -3.46856085e-02,
        9.96222005e-01,  7.96154853e-02,  9.16774305e-01, -6.93889390e-18,
        3.99405650e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08336268, -0.03387734,  0.22311368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.22865687,   1.23308145, -17.22865687,
        17.70399996,   6.02575691,   1.23308145,   6.02575691,
       101.46481219,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002043556702349167
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.71639887e-14,  2.71639887e-14,  1.00000000e+00,  7.37882284e-28,
        1.00000000e+00, -2.71639887e-14, -1.00000000e+00,  0.00000000e+00,
       -2.71639887e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08664078, -0.08321652,  0.06186497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.05823894e-03, 3.32066121e-02, 3.25180865e-03,-1.76569711e-05,
 -3.50588524e-05,-3.72004287e-05, 2.77404827e-05,-5.54084597e-05,
  6.09116547e-05, 1.83226450e-06,-5.27304695e-05,-2.75624743e-05,
  9.78403122e-03, 1.46896807e-02, 6.16573883e-03, 2.64105380e-04,
 -1.01203454e-03, 4.40326177e-02,-9.81668818e+00,-3.43836560e-03,
 -5.92124006e-02, 6.20288474e-02]


--- Step 3374 ---
qpos:
[-0.01738847, 1.19628031,-0.03474995, 0.94259775,-0.00797871, 1.33261739,
 -0.03114874, 0.94134761, 0.01531701, 1.33847742,-0.02373896, 0.95468564,
  1.26917971,-0.00791122, 1.28965842, 0.04482752,-0.05561173,-0.08833343,
  0.09008488, 0.69239293,-0.08348589,-0.71472397,-0.05283727]

qacc:
[ -0.22509228,  2.03229463, -1.13881332, -8.42137104, -0.14161366,
   0.36352738, -1.30226443,  1.72542183,  0.12310679,  7.46914274,
 -23.17975318, 19.80587756, -0.2691652 ,  0.55410236, -9.49159366,
  17.01443635,  2.35355968,  0.83004955,  3.2963846 , -1.76654822,
  74.93815309, 92.98094167]

qfrc_actuator:
[ 8.60994555e-03, 6.71859914e-02, 1.37100022e-02, 1.92758123e-03,
 -2.46881813e-05, 3.51113945e-02, 1.09120806e-02, 1.66753928e-03,
 -2.97833579e-03, 3.47637718e-02, 1.08258492e-02, 1.78134224e-03,
  8.51334654e-03, 1.18508928e-02, 0.00000000e+00,-8.62654518e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16394022, -0.03384539, -0.1604085 , -0.03384539,  0.62200432,
       -0.09664924, -0.1604085 , -0.09664924,  0.18433273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001386606405304868
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62774085,  0.07870652, -0.77443315, -0.04956104,  0.99689783,
        0.06114261,  0.77684305,  0.        ,  0.62969427])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619036, -0.03395715,  0.22457251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16394022, -0.03384539, -0.1604085 , -0.03384539,  0.62200432,
       -0.09664924, -0.1604085 , -0.09664924,  0.18433273,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001386606405304868
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62774085,  0.07870652, -0.77443315, -0.04956104,  0.99689783,
        0.06114261,  0.77684305,  0.        ,  0.62969427])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619036, -0.03395715,  0.22457251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005726922415902128
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39788751,  0.08684675, -0.91331439, -0.03468629,  0.99622168,
        0.07961921,  0.91677827,  0.        ,  0.39939656])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08336171, -0.03387888,  0.22311376])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.58224115, -4.83491322, 16.58224115, 22.47403596,
       17.83886308, -4.83491322, 17.83886308, 78.45445188,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002061276641220966
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.69304712e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.69304712e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08662017, -0.08319431,  0.06186373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.13224919e-03, 3.31242423e-02, 3.26087862e-03,-2.20390933e-05,
 -4.08038249e-05,-3.54125092e-06,-6.68199305e-06, 2.29407796e-06,
  3.56341226e-05, 2.90487630e-05,-1.28179548e-04,-2.14816892e-06,
  9.79503546e-03, 1.46810458e-02, 6.42189185e-03, 5.12408871e-04,
  2.79312350e-03, 4.77966094e-02,-9.81747993e+00,-2.79427730e-03,
 -5.90225546e-02, 6.19511231e-02]


--- Step 3375 ---
qpos:
[-0.01739843, 1.19629857,-0.03475259, 0.94259653,-0.00797873, 1.33262367,
 -0.03114975, 0.94134822, 0.01531773, 1.33847773,-0.02374001, 0.95468697,
  1.26922186,-0.00792985, 1.28964185, 0.04482434,-0.05558898,-0.08818431,
  0.09010981, 0.69244852,-0.08575615,-0.71453199,-0.05103879]

qacc:
[-2.68388388e-01, 1.22114012e+00, 1.59279220e+00,-1.10884353e+01,
 -1.77614601e-03, 7.94568453e+00,-3.04113772e+01, 5.82698504e+01,
  9.17364367e-03, 3.55279662e-01,-2.75574248e+00, 6.68215724e+00,
 -3.91086720e-01, 5.52974993e-01,-6.46030923e+00, 1.25158799e+01,
  2.19688100e+00, 8.66718719e-01, 2.26647117e+00,-1.61319175e+00,
  6.92080796e+01, 8.44475057e+01]

qfrc_actuator:
[ 8.61194032e-03, 6.71187466e-02, 1.37485537e-02, 1.89377239e-03,
 -1.04193537e-06, 3.52059634e-02, 1.08939239e-02, 1.81273101e-03,
 -2.99674407e-03, 3.46976891e-02, 1.08078386e-02, 1.79868001e-03,
  8.50303850e-03, 1.18841772e-02, 0.00000000e+00,-7.47418608e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16391721, -0.04349844, -0.15804031, -0.04349844,  0.75767195,
       -0.16342289, -0.15804031, -0.16342289,  0.20889713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013821212744225334
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62783056,  0.0787076 , -0.77436032, -0.04956881,  0.99689774,
        0.06113771,  0.77677005,  0.        ,  0.62978431])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619007, -0.03395852,  0.22457341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16391721, -0.04349844, -0.15804031, -0.04349844,  0.75767195,
       -0.16342289, -0.15804031, -0.16342289,  0.20889713,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013821212744225334
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62783056,  0.0787076 , -0.77436032, -0.04956881,  0.99689774,
        0.06113771,  0.77677005,  0.        ,  0.62978431])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08619007, -0.03395852,  0.22457341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000572665384361265
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39787587,  0.08685069, -0.91331909, -0.03468686,  0.99622134,
        0.07962326,  0.9167833 ,  0.        ,  0.39938501])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08336008, -0.03388024,  0.22311391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.49506639, -5.12444066, 16.49506639, 23.70157256,
       20.69381555, -5.12444066, 20.69381555, 83.88406767,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020546821427719353
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.68855653e-14,  2.70169045e-14,  1.00000000e+00,  4.56195706e-28,
        1.00000000e+00, -2.70169045e-14, -1.00000000e+00,  0.00000000e+00,
       -1.68855653e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08662214, -0.08317828,  0.06186404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.16001486e-03, 3.29273705e-02, 3.29511132e-03,-2.24164700e-05,
 -4.40402929e-07, 9.13287740e-05,-1.95521822e-05, 1.44946398e-04,
  2.63771807e-06,-7.51177624e-05,-2.69667006e-05, 1.43988762e-05,
  9.80263799e-03, 1.46861105e-02, 6.80021499e-03, 6.55267088e-04,
  6.37291708e-03, 5.11788238e-02,-9.81841183e+00,-2.08779836e-03,
 -5.88489845e-02, 6.18685332e-02]


--- Step 3376 ---
qpos:
[-0.0174089 , 1.19631863,-0.03475471, 0.94259497,-0.00797863, 1.33263003,
 -0.03115014, 0.94135055, 0.01531836, 1.33847737,-0.02374029, 0.95468672,
  1.26926362,-0.00794819, 1.28962347, 0.04482124,-0.05555814,-0.0880335 ,
  0.09014329, 0.69260428,-0.08809924,-0.71422686,-0.04917139]

qacc:
[-2.22826122e-01, 3.94272174e-01, 2.24613349e+00,-6.90768721e+00,
  4.84186915e-02, 1.36895191e+00,-7.92223465e+00, 2.68782231e+01,
 -3.37153424e-02,-5.65441305e+00, 2.05584443e+01,-3.55387011e+01,
 -3.80326586e-01, 4.91946529e-01,-2.88535943e+00, 6.27415878e+00,
  2.02029860e+00, 4.22398034e-01, 2.13466532e+00, 8.17417442e-01,
  7.01486962e+01, 5.72880413e+01]

qfrc_actuator:
[ 8.59973739e-03, 6.70517770e-02, 1.37547605e-02, 1.87439272e-03,
  1.31542891e-05, 3.51886964e-02, 1.09194116e-02, 1.89793064e-03,
 -3.00808800e-03, 3.46760147e-02, 1.08508265e-02, 1.71958538e-03,
  8.50068810e-03, 1.19113569e-02, 0.00000000e+00,-7.12411970e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16388278, -0.04741373, -0.15687416, -0.04741373,  0.79856438,
       -0.19182649, -0.15687416, -0.19182649,  0.22186052,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013753805257221002
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62794109,  0.07870797, -0.77427065, -0.04957777,  0.99689772,
        0.06113091,  0.77668014,  0.        ,  0.6298952 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618968, -0.03395977,  0.22457456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16388278, -0.04741373, -0.15687416, -0.04741373,  0.79856438,
       -0.19182649, -0.15687416, -0.19182649,  0.22186052,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013753805257221002
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62794109,  0.07870797, -0.77427065, -0.04957777,  0.99689772,
        0.06113091,  0.77668014,  0.        ,  0.6298952 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618968, -0.03395977,  0.22457456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005725153148011114
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39786147,  0.08685493, -0.91332495, -0.03468731,  0.99622097,
        0.07962769,  0.91678953,  0.        ,  0.39937071])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08335802, -0.03388146,  0.22311411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.29103786,   5.74013876,  16.29103786,
        22.18029207, -13.92811694,   5.74013876, -13.92811694,
        56.80199471,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020349155438495817
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.72793391e-14,  5.45586783e-14,  1.00000000e+00,  1.48832469e-27,
        1.00000000e+00, -5.45586783e-14, -1.00000000e+00,  0.00000000e+00,
       -2.72793391e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08596461, -0.08068404,  0.0618652 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.17855321e-03, 3.27296855e-02, 3.28220521e-03,-7.11401443e-06,
  1.39390523e-05, 3.37603735e-05, 4.53813428e-05, 9.07448784e-05,
 -9.78887893e-06,-6.80523775e-05, 2.56768926e-05,-8.17741187e-05,
  9.82446332e-03, 1.46935567e-02, 7.03683387e-03, 6.98591757e-04,
  9.74759208e-03, 5.42370710e-02,-9.81946058e+00,-1.34811484e-03,
 -5.86901554e-02, 6.17806072e-02]


--- Step 3377 ---
qpos:
[-0.01741953, 1.19633842,-0.03475584, 0.94259474,-0.00797854, 1.33263569,
 -0.03114967, 0.94135118, 0.01531889, 1.33847702,-0.02374037, 0.95468653,
  1.26930502,-0.00796636, 1.28960778, 0.04481833,-0.05554113,-0.08787742,
  0.09016475, 0.69257482,-0.0903422 ,-0.71409765,-0.04735989]

qacc:
[-7.07767724e-02,-7.86181915e-01,-5.85619890e-01, 1.60510632e+01,
 -3.63881254e-03,-6.12933476e+00, 2.24049853e+01,-3.87640971e+01,
 -4.43283386e-02,-4.35972209e-01, 1.29827106e+00,-4.22627724e-01,
 -5.40933223e-01, 6.19670171e-01, 3.44158858e+00,-6.17025907e+00,
 -3.45822585e+00, 1.31755557e+00,-3.00350479e+00, 1.08771194e+01,
 -1.22147224e+02,-6.74204002e+01]

qfrc_actuator:
[ 8.57915769e-03, 6.70024946e-02, 1.37235153e-02, 1.93459432e-03,
  3.81147046e-06, 3.50869891e-02, 1.09344884e-02, 1.80506101e-03,
 -3.01510020e-03, 3.47168060e-02, 1.08762710e-02, 1.72642944e-03,
  8.50312114e-03, 1.19525892e-02, 0.00000000e+00,-8.32236986e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16384638, -0.04040744, -0.15878563, -0.04040744,  0.64671876,
       -0.12288036, -0.15878563, -0.12288036,  0.19511672,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001368215977507678
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62806061,  0.07870817, -0.77417368, -0.04958734,  0.9968977 ,
        0.06112342,  0.77658288,  0.        ,  0.63001511])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618926, -0.03396097,  0.22457583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16384638, -0.04040744, -0.15878563, -0.04040744,  0.64671876,
       -0.12288036, -0.15878563, -0.12288036,  0.19511672,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001368215977507678
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62806061,  0.07870817, -0.77417368, -0.04958734,  0.9968977 ,
        0.06112342,  0.77658288,  0.        ,  0.63001511])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618926, -0.03396097,  0.22457583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005723685499310349
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97844949e-01,  8.68594142e-02, -9.13331724e-01, -3.46876785e-02,
        9.96220579e-01,  7.96324230e-02,  9.16796685e-01, -6.93889390e-18,
        3.99354277e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08335578, -0.03388263,  0.22311435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.16308476, -1.94309776, 17.16308476, 17.74423486,
        4.16475426, -1.94309776,  4.16475426, 54.05936354,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002068206299946744
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.34201195e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.34201195e-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([ 0.02186959, -0.09191282,  0.06186313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.18350254e-03, 3.25903488e-02, 3.22484109e-03, 6.95665070e-05,
 -1.11375789e-06,-7.14543372e-05, 2.95079627e-05,-8.84068403e-05,
 -1.27955987e-05, 5.75235001e-06, 1.26796410e-05, 3.67431753e-06,
  9.84634580e-03, 1.47212454e-02, 7.12759032e-03, 5.74880309e-04,
  1.27704897e-02, 5.52501565e-02,-9.82029726e+00,-4.93215002e-04,
 -5.86142809e-02, 6.16891393e-02]


--- Step 3378 ---
qpos:
[-0.01743018, 1.1963573 ,-0.03475624, 0.942596  ,-0.0079785 , 1.33264111,
 -0.03115026, 0.94135041, 0.01531933, 1.33847691,-0.02374006, 0.95468777,
  1.26934598,-0.00798428, 1.28959411, 0.04481546,-0.05553677,-0.08771692,
  0.09017194, 0.69237625,-0.09250671,-0.71412794,-0.04559526]

qacc:
[-4.37964625e-03,-6.11418439e-01,-2.54247579e+00, 2.01000261e+01,
 -2.19410526e-02, 1.39857594e-01, 2.07923633e+00,-1.79500198e+01,
 -4.13016691e-02, 1.71327521e+00,-8.07899079e+00, 2.33493580e+01,
 -6.08695831e-01, 7.17157384e-01, 2.93256223e+00,-5.82476581e+00,
 -3.16172536e+00, 1.10655969e+00,-3.56765250e+00, 6.56738447e+00,
 -1.11633569e+02,-5.54484346e+01]

qfrc_actuator:
[ 8.58891349e-03, 6.69474104e-02, 1.37223707e-02, 2.00551815e-03,
 -1.82454240e-06, 3.50596281e-02, 1.08718248e-02, 1.73235518e-03,
 -3.01945665e-03, 3.47591756e-02, 1.09092033e-02, 1.80158513e-03,
  8.49245902e-03, 1.19844877e-02, 0.00000000e+00,-8.85330723e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16381989, -0.03567979, -0.15988718, -0.03567979,  0.57362414,
       -0.09145029, -0.15988718, -0.09145029,  0.18422758,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013629769443634747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62817002,  0.07870902, -0.77408483, -0.04959651,  0.99689763,
        0.06111706,  0.77649379,  0.        ,  0.6301249 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861889 , -0.03396222,  0.224577  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16381989, -0.03567979, -0.15988718, -0.03567979,  0.57362414,
       -0.09145029, -0.15988718, -0.09145029,  0.18422758,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013629769443634747
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62817002,  0.07870902, -0.77408483, -0.04959651,  0.99689763,
        0.06111706,  0.77649379,  0.        ,  0.6301249 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861889 , -0.03396222,  0.224577  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005723686653442417
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39782775,  0.08686398, -0.91333878, -0.03468802,  0.99622018,
        0.07963726,  0.91680414,  0.        ,  0.39933717])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08335375, -0.03388386,  0.22311458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.17783706,   1.80804349, -17.17783706,
        17.22269856,  -0.47531217,   1.80804349,  -0.47531217,
        12.75688739,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020757995320665468
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.67420579e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.67420579e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02184047, -0.09197006,  0.06186258])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.20138232e-03, 3.25480648e-02, 3.17370173e-03, 7.43237900e-05,
 -6.29576830e-06,-6.38218743e-05,-7.58876094e-05,-7.60327823e-05,
 -1.19132068e-05, 4.81378521e-05, 3.56044765e-05, 7.57818239e-05,
  9.85413101e-03, 1.47445376e-02, 6.99336539e-03, 5.12303498e-04,
  7.96727318e-03, 5.55308189e-02,-9.82073952e+00,-2.92711267e-03,
 -5.88822975e-02, 6.15674896e-02]


--- Step 3379 ---
qpos:
[-0.01744141, 1.19637661,-0.0347571 , 0.94259667,-0.00797852, 1.33264674,
 -0.03115194, 0.94135081, 0.01531953, 1.33847708,-0.02373964, 0.95469026,
  1.26938632,-0.00800171, 1.28957706, 0.04481244,-0.05554406,-0.08755266,
  0.09016292, 0.69202198,-0.09460999,-0.71430381,-0.04387026]

qacc:
[-2.59202157e-01, 7.81045900e-01,-6.21122345e-01,-6.70194227e+00,
 -2.47766167e-02, 5.22828812e+00,-1.91623301e+01, 3.01054177e+01,
 -9.54259661e-02, 2.25398044e+00,-9.41806994e+00, 2.23793698e+01,
 -6.25354314e-01, 8.38002138e-01,-4.51203195e+00, 8.65388196e+00,
 -2.91030466e+00, 9.38408816e-01,-4.05072601e+00, 3.16702296e+00,
 -1.02763561e+02,-4.58641136e+01]

qfrc_actuator:
[ 8.59903082e-03, 6.69428633e-02, 1.37391661e-02, 1.97566308e-03,
 -5.19037059e-06, 3.51121874e-02, 1.08350909e-02, 1.79639762e-03,
 -3.03993758e-03, 3.47667404e-02, 1.09108442e-02, 1.86307547e-03,
  8.47928482e-03, 1.20284021e-02, 0.00000000e+00,-7.38529098e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16379883, -0.03924789, -0.15902723, -0.03924789,  0.63947404,
       -0.11739656, -0.15902723, -0.11739656,  0.19277228,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013587955869281444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.28270818e-01,  7.87103272e-02, -7.74002884e-01, -4.96053006e-02,
        9.96897530e-01,  6.11116172e-02,  7.76411678e-01,  6.93889390e-18,
        6.30226075e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618858, -0.03396351,  0.22457807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16379883, -0.03924789, -0.15902723, -0.03924789,  0.63947404,
       -0.11739656, -0.15902723, -0.11739656,  0.19277228,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013587955869281444
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.28270818e-01,  7.87103272e-02, -7.74002884e-01, -4.96053006e-02,
        9.96897530e-01,  6.11116172e-02,  7.76411678e-01,  6.93889390e-18,
        6.30226075e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618858, -0.03396351,  0.22457807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005724351606859086
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39781072,  0.08686854, -0.91334576, -0.03468837,  0.99621978,
        0.07964208,  0.91681151,  0.        ,  0.39932024])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08335189, -0.03388513,  0.22311479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.17708021,   1.8152198 , -17.17708021,
        17.2318018 ,  -0.38726996,   1.8152198 ,  -0.38726996,
        13.60806521,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020570988874438617
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.69851642e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.69851642e-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([ 0.02188086, -0.09202421,  0.06186359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.21201011e-03, 3.25891365e-02, 3.15447097e-03,-3.00444057e-05,
 -7.08412760e-06, 7.02293795e-08,-6.00994991e-05, 5.81359956e-05,
 -2.75153654e-05, 4.33859574e-05, 1.73078142e-05, 6.57244924e-05,
  9.86271511e-03, 1.47766258e-02, 6.89279621e-03, 6.57578709e-04,
  3.34405084e-03, 5.61577412e-02,-9.82127561e+00,-4.98153615e-03,
 -5.90337241e-02, 6.14488929e-02]


--- Step 3380 ---
qpos:
[-0.01745265, 1.1963956 ,-0.03475859, 0.94259635,-0.00797859, 1.332652  ,
 -0.03115335, 0.94135229, 0.01531951, 1.33847789,-0.02373958, 0.95469277,
  1.26942633,-0.00801907, 1.28956132, 0.04480965,-0.05554101,-0.08738698,
  0.09017399, 0.69179109,-0.09682951,-0.7143406 ,-0.04203144]

qacc:
[ 6.27582459e-04,-3.85237693e-01, 2.75594276e+00,-1.35071003e+01,
 -2.13094859e-02, 6.28685840e-01,-4.89433896e+00, 1.71181076e+01,
 -9.88605192e-02, 1.82309175e+00,-4.98033432e+00, 4.15303125e+00,
 -3.72732601e-01, 3.69442544e-01, 1.27206140e+00,-1.58376407e+00,
  2.58199845e+00, 3.55597359e-01, 5.02054258e+00, 3.21605879e+00,
  8.42500626e+01, 9.01775560e+01]

qfrc_actuator:
[ 8.59220038e-03, 6.69499028e-02, 1.37498615e-02, 1.92233981e-03,
 -7.16697280e-06, 3.50880931e-02, 1.08498893e-02, 1.85171340e-03,
 -3.05217377e-03, 3.48065466e-02, 1.08938506e-02, 1.86271926e-03,
  8.47528668e-03, 1.20614264e-02, 0.00000000e+00,-8.08931354e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16376627, -0.04966145, -0.1560549 , -0.04966145,  0.81870502,
       -0.20842158, -0.1560549 , -0.20842158,  0.2300924 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013523036325637644
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62838408,  0.07871135, -0.77391083, -0.04961489,  0.99689745,
        0.06110514,  0.7763194 ,  0.        ,  0.63033974])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618819, -0.0339647 ,  0.22457927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16376627, -0.04966145, -0.1560549 , -0.04966145,  0.81870502,
       -0.20842158, -0.1560549 , -0.20842158,  0.2300924 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013523036325637644
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62838408,  0.07871135, -0.77391083, -0.04961489,  0.99689745,
        0.06110514,  0.7763194 ,  0.        ,  0.63033974])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618819, -0.0339647 ,  0.22457927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005723302310452205
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39779372,  0.08687334, -0.91335271, -0.03468882,  0.99621936,
        0.07964712,  0.91681887,  0.        ,  0.39930334])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08334976, -0.0338863 ,  0.22311501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.17691199,   1.8168109 , -17.17691199,
        18.33637438,  10.05617741,   1.8168109 ,  10.05617741,
       112.34815564,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020852220489181034
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.66212182e-14,  2.66212182e-14,  1.00000000e+00,  7.08689260e-28,
        1.00000000e+00, -2.66212182e-14, -1.00000000e+00,  0.00000000e+00,
       -2.66212182e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08590248, -0.08060462,  0.06186162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.23487556e-03, 3.25743120e-02, 3.18795079e-03,-5.33745081e-05,
 -6.15848465e-06,-3.41006204e-05, 9.67235824e-06, 5.49071474e-05,
 -2.84848680e-05, 6.91274222e-05,-4.62700359e-06, 2.96999182e-06,
  9.88940960e-03, 1.47853231e-02, 7.06162884e-03, 5.94246161e-04,
 -1.15012084e-03, 5.70520393e-02,-9.82192290e+00,-6.74716222e-03,
 -5.90993698e-02, 6.13332978e-02]


--- Step 3381 ---
qpos:
[-0.01746405, 1.19641468,-0.03476022, 0.94259568,-0.0079787 , 1.33265662,
 -0.03115442, 0.9413541 , 0.01531928, 1.33847926,-0.02373967, 0.95469422,
  1.26946566,-0.00803621, 1.28954578, 0.04480697,-0.05552845,-0.08721951,
  0.09019996, 0.69167141,-0.09915288,-0.71424928,-0.04009159]

qacc:
[-7.32750544e-02,-1.07003662e-01, 1.23453191e+00,-5.24441130e+00,
 -1.64186857e-02,-1.21191620e+00, 2.28361336e+00, 2.19245432e+00,
 -8.32911456e-02,-6.86138618e-01, 5.26635143e+00,-1.71704429e+01,
 -6.88606099e-01, 7.25060883e-01, 2.46813041e-02, 4.37259717e-01,
  2.37927359e+00, 4.48156736e-01, 3.72407762e+00, 2.85519608e+00,
  7.69672370e+01, 8.05808767e+01]

qfrc_actuator:
[ 8.62810099e-03, 6.69644801e-02, 1.37395001e-02, 1.90880894e-03,
 -8.29443288e-06, 3.50362554e-02, 1.08591694e-02, 1.86590295e-03,
 -3.05936502e-03, 3.48297269e-02, 1.08838422e-02, 1.80823156e-03,
  8.48744335e-03, 1.21414001e-02, 0.00000000e+00,-7.96935500e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16373838, -0.04533265, -0.15733788, -0.04533265,  0.71706362,
       -0.15942569, -0.15733788, -0.15942569,  0.20967258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013467174432689466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62849168,  0.07871267, -0.77382332, -0.04962422,  0.99689734,
        0.06109927,  0.7762317 ,  0.        ,  0.63044774])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618782, -0.03396591,  0.22458042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16373838, -0.04533265, -0.15733788, -0.04533265,  0.71706362,
       -0.15942569, -0.15733788, -0.15942569,  0.20967258,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013467174432689466
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62849168,  0.07871267, -0.77382332, -0.04962422,  0.99689734,
        0.06109927,  0.7762317 ,  0.        ,  0.63044774])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618782, -0.03396591,  0.22458042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005722870693249879
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97777593e-01,  8.68781231e-02, -9.13359282e-01, -3.46893328e-02,
        9.96218948e-01,  7.96521089e-02,  9.16825849e-01, -6.93889390e-18,
        3.99287319e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08334775, -0.03388748,  0.22311523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.73379415, -4.28103266, 16.73379415, 21.43190612,
       16.25748928, -4.28103266, 16.25748928, 80.82035711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002108243549717226
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.63305211e-14,  2.63305211e-14,  1.00000000e+00,  6.93296340e-28,
        1.00000000e+00, -2.63305211e-14, -1.00000000e+00,  0.00000000e+00,
       -2.63305211e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08587824, -0.08058181,  0.06186006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.27067722e-03, 3.26049807e-02, 3.20904670e-03,-1.81321386e-05,
 -4.76427079e-06,-6.71885439e-05, 5.31675785e-06, 1.47246721e-05,
 -2.40109891e-05, 6.05887271e-05, 3.05570260e-06,-5.25005145e-05,
  9.91866693e-03, 1.48621345e-02, 6.99656290e-03, 5.94950172e-04,
  3.15187059e-03, 6.01029291e-02,-9.82311101e+00,-5.93693211e-03,
 -5.90246213e-02, 6.12347200e-02]


--- Step 3382 ---
qpos:
[-0.01747522, 1.19643351,-0.03476212, 0.94259455,-0.00797884, 1.33266101,
 -0.03115543, 0.94135467, 0.01531891, 1.33848013,-0.02373975, 0.95469578,
  1.26950462,-0.00805326, 1.28953161, 0.04480443,-0.05550704,-0.08704994,
  0.09023643, 0.69165269,-0.10156991,-0.71403885,-0.03806094]

qacc:
[ 1.05221467e-01,-3.93036283e-01, 1.83401669e+00,-6.81503664e+00,
 -1.18272533e-02,-2.57313840e+00, 1.06057334e+01,-2.35228146e+01,
 -6.33283947e-02,-4.73117969e-01, 5.30128743e-01, 1.14820364e+00,
 -4.06621441e-01, 4.08367217e-01, 1.60627964e+00,-2.58286262e+00,
  2.21105005e+00, 5.23709608e-01, 2.62533695e+00, 2.65461704e+00,
  7.08598865e+01, 7.27802286e+01]

qfrc_actuator:
[ 8.65430395e-03, 6.69832881e-02, 1.37340158e-02, 1.88341738e-03,
 -8.90367917e-06, 3.50391868e-02, 1.08649536e-02, 1.80248634e-03,
 -3.06347262e-03, 3.47362356e-02, 1.08602117e-02, 1.81110325e-03,
  8.49868420e-03, 1.21783518e-02, 0.00000000e+00,-8.41982552e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16371197, -0.04641522, -0.15699439, -0.04641522,  0.74814181,
       -0.17278606, -0.15699439, -0.17278606,  0.21479599,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013414038036156997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62859817,  0.07871415, -0.77373666, -0.04963357,  0.99689723,
        0.06109358,  0.77614486,  0.        ,  0.63055464])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618747, -0.03396709,  0.22458156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16371197, -0.04641522, -0.15699439, -0.04641522,  0.74814181,
       -0.17278606, -0.15699439, -0.17278606,  0.21479599,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013414038036156997
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62859817,  0.07871415, -0.77373666, -0.04963357,  0.99689723,
        0.06109358,  0.77614486,  0.        ,  0.63055464])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618747, -0.03396709,  0.22458156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005722659554388311
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3977615 ,  0.08688297, -0.91336583, -0.03468988,  0.99621853,
        0.07965716,  0.91683281,  0.        ,  0.39927133])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08334577, -0.03388864,  0.22311546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.66555386, -4.5394297 , 16.66555386, 22.34259507,
       18.6129449 , -4.5394297 , 18.6129449 , 85.6062088 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021054188429583814
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.63658471e-14,  5.27316941e-14,  1.00000000e+00,  1.39031578e-27,
        1.00000000e+00, -5.27316941e-14, -1.00000000e+00,  0.00000000e+00,
       -2.63658471e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08587753, -0.08056425,  0.06186016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.30526305e-03, 3.26187618e-02, 3.21033944e-03,-2.57968489e-05,
 -3.42408772e-06,-3.27838470e-05,-6.32811016e-06,-6.49375244e-05,
 -1.82848685e-05,-6.09532918e-05,-1.29860310e-05, 3.53880755e-06,
  9.96400557e-03, 1.48882716e-02, 6.98725176e-03, 5.44855514e-04,
  7.09524469e-03, 6.27351306e-02,-9.82441715e+00,-5.09941706e-03,
 -5.89635594e-02, 6.11311800e-02]


--- Step 3383 ---
qpos:
[-0.01748559, 1.19645147,-0.03476436, 0.94259319,-0.00797885, 1.33266517,
 -0.03115613, 0.94135515, 0.01531843, 1.33847995,-0.02373892, 0.95469633,
  1.26954393,-0.00807036, 1.28951985, 0.04480202,-0.055478  ,-0.08688855,
  0.09028832, 0.69175047,-0.10389519,-0.71371208,-0.03608535]

qacc:
[ 3.43131681e-01,-5.96205620e-01, 1.05827967e+00,-3.09997059e+00,
  5.36390146e-02,-1.28836389e+00, 4.00835412e+00,-4.33228678e+00,
 -4.48844879e-02,-5.60993435e+00, 1.86627968e+01,-2.71855999e+01,
  1.87174391e-01,-1.42335315e-01, 3.18272328e+00,-5.99490866e+00,
  1.90852605e+00,-2.04522886e+00, 3.85666253e+00, 1.57703495e+01,
  8.63754660e+01,-4.36694962e+01]

qfrc_actuator:
[ 8.65659348e-03, 6.70049492e-02, 1.36961422e-02, 1.86891352e-03,
  8.55527939e-06, 3.50393255e-02, 1.08865477e-02, 1.80046206e-03,
 -3.06569835e-03, 3.46623373e-02, 1.08993216e-02, 1.75887660e-03,
  8.49339410e-03, 1.21185323e-02, 0.00000000e+00,-9.21348938e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16369048, -0.04182997, -0.15825557, -0.04182997,  0.70943342,
       -0.14425027, -0.15825557, -0.14425027,  0.20181857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013370619291520024
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.28698978e-01,  7.87157821e-02, -7.73654588e-01, -4.96425677e-02,
        9.96897099e-01,  6.10883771e-02,  7.76062633e-01,  6.93889390e-18,
        6.30655840e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618714, -0.03396828,  0.22458265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16369048, -0.04182997, -0.15825557, -0.04182997,  0.70943342,
       -0.14425027, -0.15825557, -0.14425027,  0.20181857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013370619291520024
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.28698978e-01,  7.87157821e-02, -7.73654588e-01, -4.96425677e-02,
        9.96897099e-01,  6.10883771e-02,  7.76062633e-01,  6.93889390e-18,
        6.30655840e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618714, -0.03396828,  0.22458265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005723140436614364
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39774589,  0.08688771, -0.91337217, -0.03469042,  0.99621811,
        0.07966209,  0.91683956,  0.        ,  0.39925584])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08334392, -0.03388982,  0.22311568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   9.79842842,  14.224553  ,   9.79842842,
       110.83575732, -64.44987428,  14.224553  , -64.44987428,
        61.66832127,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002121405172996471
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.61671612e-14,  2.61671612e-14,  1.00000000e+00,  6.84720328e-28,
        1.00000000e+00, -2.61671612e-14, -1.00000000e+00,  0.00000000e+00,
       -2.61671612e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08416612, -0.07039951,  0.06185915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.29546401e-03, 3.26530639e-02, 3.18599942e-03,-1.70838141e-05,
  1.54367676e-05,-2.12232109e-05, 1.25496811e-05,-4.69716867e-06,
 -1.30260185e-05,-1.10040768e-04, 2.58349435e-05,-5.43272808e-05,
  9.97692023e-03, 1.48247365e-02, 6.91833295e-03, 4.57801211e-04,
  1.07262214e-02, 6.50212511e-02,-9.82581814e+00,-4.25797362e-03,
 -5.89143073e-02, 6.10221639e-02]


--- Step 3384 ---
qpos:
[-0.01749512, 1.19646897,-0.03476673, 0.94259195,-0.0079787 , 1.33266943,
 -0.03115698, 0.94135525, 0.01531817, 1.33847992,-0.02373834, 0.95469551,
  1.26958368,-0.00808743, 1.28950847, 0.04479952,-0.05544175,-0.08673434,
  0.09035105, 0.69195442,-0.1061359 ,-0.71327925,-0.03416069]

qacc:
[ 3.70776502e-01,-4.75546948e-02,-8.60905522e-01, 2.60673864e+00,
  6.76967961e-02,-1.11469290e-01, 1.31221543e+00,-5.62130044e+00,
  9.26326360e-02,-1.47732842e+00, 7.80626479e+00,-2.26088695e+01,
  2.96458691e-01,-1.90011789e-01, 8.08883997e-01,-2.06495815e+00,
  1.80193287e+00,-1.79539634e+00, 2.70887452e+00, 1.46808494e+01,
  7.87414793e+01,-4.03738045e+01]

qfrc_actuator:
[ 8.69715061e-03, 6.69757755e-02, 1.36745256e-02, 1.87865173e-03,
  1.89592040e-05, 3.50556396e-02, 1.08818468e-02, 1.78135451e-03,
 -3.03127291e-03, 3.47252179e-02, 1.09041491e-02, 1.69242245e-03,
  8.48878591e-03, 1.20717573e-02, 0.00000000e+00,-9.14817784e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16367565, -0.03588304, -0.15969385, -0.03588304,  0.62212818,
       -0.10301381, -0.15969385, -0.10301381,  0.18682274,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013340576056994867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62879029,  0.07871743, -0.77358021, -0.04965082,  0.99689697,
        0.06108379,  0.77598812,  0.        ,  0.63074752])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618687, -0.03396956,  0.22458363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16367565, -0.03588304, -0.15969385, -0.03588304,  0.62212818,
       -0.10301381, -0.15969385, -0.10301381,  0.18682274,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013340576056994867
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62879029,  0.07871743, -0.77358021, -0.04965082,  0.99689697,
        0.06108379,  0.77598812,  0.        ,  0.63074752])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618687, -0.03396956,  0.22458363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005724487530366223
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97731407e-01,  8.68921138e-02, -9.13378064e-01, -3.46909332e-02,
        9.96217727e-01,  7.96666718e-02,  9.16845825e-01, -6.93889390e-18,
        3.99241447e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08334227, -0.03389109,  0.22311588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  11.68652776, -12.71896915,  11.68652776,
        89.17820077,  66.06866501, -12.71896915,  66.06866501,
        77.97837712,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021373975709048365
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08414779, -0.07039441,  0.06185823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.29664870e-03, 3.26669536e-02, 3.18175684e-03, 4.43012869e-06,
  1.95155625e-05, 6.85992549e-06,-7.56668269e-06,-1.94825812e-05,
  2.67288707e-05, 5.46466570e-06,-1.53167116e-05,-7.02217693e-05,
  9.95486078e-03, 1.47807190e-02, 6.79824945e-03, 4.58399256e-04,
  1.28361259e-02, 5.74089632e-02,-9.82509073e+00,-3.01779825e-03,
 -5.92289779e-02, 6.09198819e-02]


--- Step 3385 ---
qpos:
[-0.0175038 , 1.1964853 ,-0.03476975, 0.94259025,-0.00797855, 1.33267381,
 -0.03115789, 0.94135477, 0.01531821, 1.33848001,-0.02373894, 0.95469465,
  1.26962338,-0.00810465, 1.28949951, 0.04479707,-0.0553985 ,-0.08659194,
  0.09042073, 0.69226735,-0.10820658,-0.71274864,-0.03235161]

qacc:
[ 3.66908826e-01,-5.98101264e-01, 1.08515493e+00,-5.70744180e+00,
 -5.16084326e-04,-6.66450919e-01, 3.55560455e+00,-9.90156245e+00,
  1.26048894e-01, 3.27898989e+00,-1.04000314e+01, 8.38122577e+00,
 -6.14689083e-02,-4.35967749e-02, 3.43703955e+00,-6.79807966e+00,
  1.75074685e+00,-2.95001383e+00, 1.73776857e+00, 2.17213722e+01,
  8.17296431e+01,-9.35748665e+01]

qfrc_actuator:
[ 8.72478474e-03, 6.69160459e-02, 1.36625778e-02, 1.84940125e-03,
  7.29347629e-06, 3.50636622e-02, 1.08794560e-02, 1.75232550e-03,
 -3.01064485e-03, 3.47096104e-02, 1.08359528e-02, 1.68920165e-03,
  8.48456675e-03, 1.21037527e-02, 0.00000000e+00,-9.98607281e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16366059, -0.04174051, -0.15824828, -0.04174051,  0.70342832,
       -0.14237237, -0.15824828, -0.14237237,  0.20121358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013310002435808037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.28880271e-01,  7.87186124e-02, -7.73506939e-01, -4.96586793e-02,
        9.96896875e-01,  6.10789284e-02,  7.75914699e-01, -6.93889390e-18,
        6.30837839e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618661, -0.0339709 ,  0.22458458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16366059, -0.04174051, -0.15824828, -0.04174051,  0.70342832,
       -0.14237237, -0.15824828, -0.14237237,  0.20121358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013310002435808037
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.28880271e-01,  7.87186124e-02, -7.73506939e-01, -4.96586793e-02,
        9.96896875e-01,  6.10789284e-02,  7.75914699e-01, -6.93889390e-18,
        6.30837839e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618661, -0.0339709 ,  0.22458458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005725712892881082
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39771746,  0.08689617, -0.91338375, -0.03469135,  0.99621737,
        0.07967092,  0.91685186,  0.        ,  0.39922759])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08334065, -0.03389241,  0.22311607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  14.20494486,   9.82683311,  14.20494486,
        63.53284429, -66.87021181,   9.82683311, -66.87021181,
       113.93537138,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021308988706231907
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08540475, -0.06486788,  0.06185876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.28173841e-03, 3.26302498e-02, 3.17594780e-03,-3.15511108e-05,
 -1.45255877e-07, 9.72174016e-06,-2.48541336e-06,-2.94908518e-05,
  3.64139455e-05,-1.76586733e-05,-7.09265292e-05,-5.14172596e-06,
  9.92900430e-03, 1.48111690e-02, 6.77963430e-03, 3.79161861e-04,
  1.43063168e-02, 5.07827382e-02,-9.82454423e+00,-2.00962054e-03,
 -5.95080588e-02, 6.08187730e-02]


--- Step 3386 ---
qpos:
[-0.01751184, 1.19649988,-0.03477247, 0.94258959,-0.00797832, 1.33267819,
 -0.03115851, 0.94135394, 0.01531838, 1.33847941,-0.02373985, 0.9546955 ,
  1.2696627 ,-0.00812203, 1.28949569, 0.04479466,-0.05534858,-0.0864602 ,
  0.09049375, 0.69268064,-0.1101205 ,-0.71212894,-0.03064931]

qacc:
[ 2.81777366e-01,-1.28699128e+00,-7.53209710e-01, 1.39617651e+01,
  3.68625647e-02,-1.38629708e+00, 5.26038403e+00,-8.66995872e+00,
  5.52312690e-02, 2.90266422e+00,-1.40251402e+01, 3.24321067e+01,
 -4.89119027e-01, 3.59402971e-01, 7.48807881e+00,-1.51041121e+01,
  1.66795935e+00,-2.66572480e+00, 8.34988192e-01, 2.01926998e+01,
  7.49236434e+01,-8.63855644e+01]

qfrc_actuator:
[ 8.70882843e-03, 6.69276306e-02, 1.36747529e-02, 1.90382819e-03,
  1.79883611e-05, 3.50666571e-02, 1.08961790e-02, 1.73544863e-03,
 -3.01621472e-03, 3.46468781e-02, 1.08137397e-02, 1.77640760e-03,
  8.48060837e-03, 1.21476926e-02, 0.00000000e+00,-1.17220123e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16365178, -0.03839064, -0.15908508, -0.03839064,  0.61708195,
       -0.10942241, -0.15908508, -0.10942241,  0.19005774,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013292067336249762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62895968,  0.07871983, -0.77344225, -0.04966572,  0.99689678,
        0.06107477,  0.77584988,  0.        ,  0.63091756])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861864 , -0.03397228,  0.22458542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16365178, -0.03839064, -0.15908508, -0.03839064,  0.61708195,
       -0.10942241, -0.15908508, -0.10942241,  0.19005774,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013292067336249762
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62895968,  0.07871983, -0.77344225, -0.04966572,  0.99689678,
        0.06107477,  0.77584988,  0.        ,  0.63091756])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861864 , -0.03397228,  0.22458542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005727670431447951
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39770519,  0.08689986, -0.91338875, -0.03469176,  0.99621705,
        0.07967476,  0.91685717,  0.        ,  0.3992154 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08333925, -0.03389377,  0.22311623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   7.41943274, -15.59804877,   7.41943274,
       133.84727446,  55.45033387, -15.59804877,  55.45033387,
        43.64846366,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00212918306661343
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08540226, -0.06485943,  0.06185905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.22367994e-03, 3.26998149e-02, 3.22024229e-03, 4.65828329e-05,
  1.06095949e-05, 6.96767540e-06, 1.74723178e-05,-1.73358647e-05,
  1.59347672e-05,-8.65015132e-05,-3.38739064e-05, 8.44853661e-05,
  9.92728949e-03, 1.48637109e-02, 6.65823938e-03, 2.02966997e-04,
  1.44046663e-02, 4.09261305e-02,-9.82319473e+00,-1.13314027e-03,
 -5.99226050e-02, 6.07245929e-02]


--- Step 3387 ---
qpos:
[-0.01751973, 1.19651357,-0.03477474, 0.9425902 ,-0.00797784, 1.33268258,
 -0.03115893, 0.94135291, 0.01531845, 1.3384789 ,-0.02374134, 0.95469734,
  1.26970176,-0.0081392 , 1.28949318, 0.04479196,-0.05529227,-0.08633818,
  0.09056708, 0.69318718,-0.11188881,-0.71142725,-0.02904635]

qacc:
[ 6.69763909e-02,-2.91732275e-01,-3.07810834e+00, 1.78766002e+01,
  1.05130058e-01,-8.70576552e-01, 3.26299780e+00,-5.07751494e+00,
 -4.11320272e-02, 3.37554494e+00,-1.28416045e+01, 2.24029072e+01,
 -4.36578939e-01, 5.43691099e-01, 2.87585524e+00,-7.15003332e+00,
  1.59678672e+00,-2.43215781e+00, 7.67137836e-02, 1.89393218e+01,
  6.92934269e+01,-8.03066511e+01]

qfrc_actuator:
[ 8.70208230e-03, 6.69298000e-02, 1.37007301e-02, 1.97162197e-03,
  4.20119659e-05, 3.50666997e-02, 1.09062862e-02, 1.72586783e-03,
 -3.03745499e-03, 3.46986563e-02, 1.08009647e-02, 1.82735590e-03,
  8.48216386e-03, 1.21633399e-02, 0.00000000e+00,-1.18665792e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16365771, -0.03276191, -0.16034495, -0.03276191,  0.53840848,
       -0.07656963, -0.16034495, -0.07656963,  0.17930252,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001330413950616921
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62901801,  0.07872177, -0.77339461, -0.04967156,  0.99689663,
        0.06107252,  0.77580222,  0.        ,  0.63097616])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861863 , -0.03397375,  0.22458603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16365771, -0.03276191, -0.16034495, -0.03276191,  0.53840848,
       -0.07656963, -0.16034495, -0.07656963,  0.17930252,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001330413950616921
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62901801,  0.07872177, -0.77339461, -0.04967156,  0.99689663,
        0.06107252,  0.77580222,  0.        ,  0.63097616])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861863 , -0.03397375,  0.22458603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005731609960528301
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39769425,  0.08690327, -0.91339318, -0.03469218,  0.99621675,
        0.07967829,  0.91686189,  0.        ,  0.39920454])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08333829, -0.03389524,  0.22311636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   6.67650874, -15.93020209,   6.67650874,
       153.28342007,  57.00345631, -15.93020209,  57.00345631,
        41.16345207,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021068223687426627
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05393131e-13,  3.95224240e-14,  1.00000000e+00, -4.16539199e-27,
        1.00000000e+00, -3.95224240e-14, -1.00000000e+00,  0.00000000e+00,
        1.05393131e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08541897, -0.06484246,  0.06186064])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.18462704e-03, 3.27894263e-02, 3.23189797e-03, 6.18877671e-05,
  3.02867941e-05, 6.76309544e-06, 1.29452921e-05,-9.25572273e-06,
 -1.18334385e-05,-1.61462143e-07,-3.10432622e-05, 4.93586910e-05,
  9.94775783e-03, 1.48869786e-02, 6.40180567e-03, 1.86357308e-04,
  1.40032918e-02, 3.27261799e-02,-9.82212461e+00,-5.21309966e-04,
 -6.02676662e-02, 6.06354143e-02]


--- Step 3388 ---
qpos:
[-0.01752808, 1.19652854,-0.03477731, 0.94259042,-0.00797709, 1.33268712,
 -0.03115929, 0.94135247, 0.01531836, 1.33847873,-0.02374249, 0.95469763,
  1.26974053,-0.00815573, 1.28948362, 0.04478862,-0.05525064,-0.08621198,
  0.09063214, 0.69349154,-0.11362016,-0.71091868,-0.02746953]

qacc:
[-2.03078174e-01, 1.88246758e+00,-3.29627037e+00,-2.45454170e+00,
  1.10854977e-01, 1.04881477e+00,-4.39329356e+00, 1.04656220e+01,
 -6.82562190e-02,-3.15492819e+00, 1.39360707e+01,-3.01216337e+01,
 -2.87541504e-01, 6.35198774e-01,-8.45714816e+00, 1.44827579e+01,
 -3.67084771e+00, 1.04715385e+00,-2.06539715e+00,-4.99940517e+00,
 -1.36850920e+02,-3.59460421e+01]

qfrc_actuator:
[ 8.75435444e-03, 6.68906606e-02, 1.36991891e-02, 1.95804221e-03,
  5.60841673e-05, 3.50827107e-02, 1.09123910e-02, 1.75615056e-03,
 -3.05016963e-03, 3.47476251e-02, 1.08297491e-02, 1.75008422e-03,
  8.47105420e-03, 1.21617211e-02, 0.00000000e+00,-9.27785804e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16366579, -0.03078413, -0.16074461, -0.03078413,  0.52688193,
       -0.06955936, -0.16074461, -0.06955936,  0.17698707,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013320573655806363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62907082,  0.0787239 , -0.77335144, -0.04967708,  0.99689646,
        0.06107078,  0.77575904,  0.        ,  0.63102925])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618623, -0.03397524,  0.22458658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16366579, -0.03078413, -0.16074461, -0.03078413,  0.52688193,
       -0.06955936, -0.16074461, -0.06955936,  0.17698707,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013320573655806363
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62907082,  0.0787239 , -0.77335144, -0.04967708,  0.99689646,
        0.06107078,  0.77575904,  0.        ,  0.63102925])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618623, -0.03397524,  0.22458658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005735729567102957
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97683721e-01,  8.69066023e-02, -9.13397449e-01, -3.46926017e-02,
        9.96216464e-01,  7.96817477e-02,  9.16866447e-01, -6.93889390e-18,
        3.99194086e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08333743, -0.03389673,  0.22311647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021646715677171996
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.28220724e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.28220724e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02154489, -0.09243213,  0.06185733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.22922381e-03, 3.27949784e-02, 3.20705229e-03,-1.47037091e-05,
  3.19509459e-05, 2.19762162e-05, 8.62410975e-06, 3.06559612e-05,
 -1.97038924e-05, 4.42867731e-05, 2.66738967e-05,-7.70363943e-05,
  9.95016771e-03, 1.48755492e-02, 6.33583265e-03, 4.59944745e-04,
  1.32152616e-02, 2.58687267e-02,-9.82128825e+00,-1.20903061e-04,
 -6.05571410e-02, 6.05511492e-02]


--- Step 3389 ---
qpos:
[-0.01753651, 1.19654531,-0.03477962, 0.94259074,-0.00797627, 1.33269192,
 -0.03115931, 0.94135167, 0.01531811, 1.33847871,-0.02374356, 0.95469806,
  1.26977931,-0.00817175, 1.2894676 , 0.0447848 ,-0.05522243,-0.08608211,
  0.09068616, 0.69361282,-0.11532513,-0.71058414,-0.02591414]

qacc:
[-3.83106431e-02, 1.79828303e+00,-3.22943302e+00, 2.84433203e+00,
  3.15922369e-02,-1.18223234e+00, 4.99556495e+00,-8.57312661e+00,
 -6.63252423e-02, 2.29254966e-01,-7.91402233e-01, 2.19045214e+00,
  5.36727408e-03, 3.14196002e-01,-8.12221864e+00, 1.45581730e+01,
 -3.35412386e+00, 9.17281430e-01,-2.76242278e+00,-6.47771677e+00,
 -1.23841606e+02,-2.92153643e+01]

qfrc_actuator:
[ 8.80708960e-03, 6.68781665e-02, 1.36994836e-02, 1.96779155e-03,
  4.63200032e-05, 3.51081680e-02, 1.09339232e-02, 1.73864478e-03,
 -3.05766565e-03, 3.47413673e-02, 1.08295192e-02, 1.75779047e-03,
  8.45768240e-03, 1.21314757e-02, 0.00000000e+00,-7.70735893e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16365007, -0.03091834, -0.16070284, -0.03091834,  0.53167275,
       -0.07080553, -0.16070284, -0.07080553,  0.17727266,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001328859301304216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.29151489e-01,  7.87248418e-02, -7.73285719e-01, -4.96840517e-02,
        9.96896383e-01,  6.10663224e-02,  7.75693174e-01, -6.93889390e-18,
        6.31110213e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618599, -0.03397658,  0.2245874 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16365007, -0.03091834, -0.16070284, -0.03091834,  0.53167275,
       -0.07080553, -0.16070284, -0.07080553,  0.17727266,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001328859301304216
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.29151489e-01,  7.87248418e-02, -7.73285719e-01, -4.96840517e-02,
        9.96896383e-01,  6.10663224e-02,  7.75693174e-01, -6.93889390e-18,
        6.31110213e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618599, -0.03397658,  0.2245874 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005736359009940323
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39767229,  0.08691014, -0.91340209, -0.03469303,  0.99621615,
        0.07968542,  0.91687139,  0.        ,  0.39918274])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08333598, -0.03389806,  0.22311661])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.72676511,   4.30841461, -16.72676511,
        17.62739213,   1.37693242,   4.30841461,   1.37693242,
        22.61845818,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021990859881456243
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26214144e-14,  2.52428289e-14,  1.00000000e+00,  3.18600204e-28,
        1.00000000e+00, -2.52428289e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26214144e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02145427, -0.09245142,  0.06185541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.30521474e-03, 3.27178627e-02, 3.22302706e-03, 1.43787056e-05,
  9.09736633e-06, 4.01961407e-05, 2.77082860e-05,-1.58751064e-05,
 -1.91310410e-05, 2.11608172e-05, 9.19820323e-06, 8.00509031e-06,
  9.95109741e-03, 1.48138037e-02, 6.68896408e-03, 6.49361385e-04,
  1.09039502e-02, 2.85998642e-02,-9.82085168e+00,-2.53196001e-03,
 -6.04535061e-02, 6.04174024e-02]


--- Step 3390 ---
qpos:
[-0.01754523, 1.19656313,-0.03478137, 0.94259157,-0.00797575, 1.33269651,
 -0.03115888, 0.94135105, 0.01531774, 1.33847868,-0.02374573, 0.95469969,
  1.26981785,-0.0081874 , 1.28944913, 0.04478088,-0.05520656,-0.08594898,
  0.09072674, 0.69356693,-0.11701202,-0.71040756,-0.02437645]

qacc:
[-1.23221416e-01, 7.68538261e-01,-1.90210709e+00, 6.92621565e+00,
 -1.26105892e-01,-1.20700860e+00, 3.23357145e+00,-5.98144277e-01,
 -5.42625732e-02, 5.01018705e+00,-1.87665739e+01, 3.01111593e+01,
 -2.93143587e-01, 4.87312477e-01,-3.26530420e+00, 6.23003060e+00,
 -3.08647600e+00, 8.12546224e-01,-3.35705836e+00,-7.60793025e+00,
 -1.12921329e+02,-2.38302608e+01]

qfrc_actuator:
[ 8.78890032e-03, 6.68628854e-02, 1.37181721e-02, 1.99120427e-03,
  4.58394746e-06, 3.50681086e-02, 1.09466455e-02, 1.74642279e-03,
 -3.06197067e-03, 3.47020274e-02, 1.07587541e-02, 1.81541698e-03,
  8.45358837e-03, 1.21726822e-02, 0.00000000e+00,-7.45708117e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16361425, -0.03583158, -0.15964248, -0.03583158,  0.57485825,
       -0.09230327, -0.15964248, -0.09230327,  0.18433162,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013215423934072844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.29258680e-01,  7.87244319e-02, -7.73198537e-01, -4.96922562e-02,
        9.96896416e-01,  6.10591177e-02,  7.75605695e-01, -6.93889390e-18,
        6.31217717e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618559, -0.03397781,  0.22458849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16361425, -0.03583158, -0.15964248, -0.03583158,  0.57485825,
       -0.09230327, -0.15964248, -0.09230327,  0.18433162,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013215423934072844
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.29258680e-01,  7.87244319e-02, -7.73198537e-01, -4.96922562e-02,
        9.96896416e-01,  6.10591177e-02,  7.75605695e-01, -6.93889390e-18,
        6.31217717e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618559, -0.03397781,  0.22458849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005734174693856724
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39765896,  0.08691375, -0.91340755, -0.03469332,  0.99621584,
        0.07968924,  0.91687716,  0.        ,  0.39916948])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08333396, -0.03389925,  0.22311677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.6950526 ,   4.42970947, -16.6950526 ,
        17.76234419,   1.84530841,   4.42970947,   1.84530841,
        24.22747708,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002201641148830799
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26067664e-14,  5.04270655e-14,  1.00000000e+00,  6.35722234e-28,
        1.00000000e+00, -5.04270655e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26067664e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02144782, -0.09247761,  0.06185538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.29138475e-03, 3.26126483e-02, 3.22811882e-03, 3.26945922e-05,
 -3.63643737e-05,-1.29124210e-05, 2.32696430e-05, 9.44038878e-06,
 -1.56026944e-05,-2.56034164e-05,-6.53510521e-05, 5.87082491e-05,
  9.94641977e-03, 1.48294640e-02, 7.01206653e-03, 6.97944472e-04,
  8.25972877e-03, 3.12054325e-02,-9.82072540e+00,-4.60538349e-03,
 -6.03234814e-02, 6.02890854e-02]


--- Step 3391 ---
qpos:
[-0.01755458, 1.19658217,-0.03478285, 0.94259233,-0.00797561, 1.3327008 ,
 -0.03115821, 0.9413509 , 0.01531742, 1.33847867,-0.02374897, 0.95470027,
  1.26985631,-0.00820266, 1.28942838, 0.04477698,-0.05518924,-0.08583482,
  0.09078399, 0.6935703 ,-0.1184564 ,-0.71020936,-0.02304312]

qacc:
[-2.73837504e-01, 7.20456027e-01,-2.59324732e-01,-1.38830444e+00,
 -1.61435842e-01,-2.17364236e-01,-7.15031911e-01, 6.18876340e+00,
  2.12955635e-02, 1.12893774e+00,-1.51840040e+00,-1.08275641e+01,
 -1.79720381e-01, 4.19393676e-01,-3.44117367e+00, 7.16797400e+00,
  3.63661823e-01,-4.73944540e+00, 4.16573021e+00, 1.41205225e+01,
  3.99075606e+01,-1.55145051e+02]

qfrc_actuator:
[ 8.74613913e-03, 6.68637137e-02, 1.37475122e-02, 1.98685943e-03,
 -2.04873191e-05, 3.50423654e-02, 1.09538303e-02, 1.76898212e-03,
 -3.04657470e-03, 3.46961937e-02, 1.07000641e-02, 1.75985740e-03,
  8.45508319e-03, 1.21856963e-02, 0.00000000e+00,-6.75800147e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16357208, -0.04014574, -0.15856905, -0.04014574,  0.63581242,
       -0.11955951, -0.15856905, -0.11955951,  0.19384158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001312872000999582
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.29376353e-01,  7.87236417e-02, -7.73102835e-01, -4.97010468e-02,
        9.96896478e-01,  6.10509436e-02,  7.75509647e-01, -6.93889390e-18,
        6.31335717e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618515, -0.03397898,  0.2245897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16357208, -0.04014574, -0.15856905, -0.04014574,  0.63581242,
       -0.11955951, -0.15856905, -0.11955951,  0.19384158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001312872000999582
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.29376353e-01,  7.87236417e-02, -7.73102835e-01, -4.97010468e-02,
        9.96896478e-01,  6.10509436e-02,  7.75509647e-01, -6.93889390e-18,
        6.31335717e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618515, -0.03397898,  0.2245897 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005731169446790176
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39764417,  0.08691751, -0.91341363, -0.03469354,  0.99621551,
        0.07969323,  0.91688357,  0.        ,  0.39915476])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08333173, -0.03390039,  0.22311696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002226740443004728
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.24646659e-14, -1.24646659e-14,  1.00000000e+00, -1.55367895e-28,
        1.00000000e+00,  1.24646659e-14, -1.00000000e+00,  0.00000000e+00,
       -1.24646659e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06832912, -0.0629519 ,  0.06185391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.26273861e-03, 3.25608811e-02, 3.23004201e-03, 2.78386615e-06,
 -4.65379700e-05,-2.80834035e-05, 7.57714234e-06, 2.30777204e-05,
  6.18011605e-06,-3.10112697e-05,-6.93949967e-05,-5.68651559e-05,
  9.95992204e-03, 1.48246346e-02, 7.13456803e-03, 7.73280649e-04,
  5.36835683e-03, 3.37150611e-02,-9.82085641e+00,-6.41574370e-03,
 -6.01729209e-02, 6.01653680e-02]


--- Step 3392 ---
qpos:
[-0.01756472, 1.19660334,-0.03478441, 0.94259228,-0.00797553, 1.33270479,
 -0.03115746, 0.94135171, 0.01531705, 1.33847886,-0.02375215, 0.95469907,
  1.26989506,-0.00821737, 1.28940182, 0.04477302,-0.05517049,-0.08573778,
  0.09085308, 0.69361927,-0.11967988,-0.70999267,-0.02189622]

qacc:
[-3.45218562e-01, 1.64572658e+00,-3.07891820e-01,-1.05082297e+01,
 -2.36967899e-02, 1.02192909e+00,-5.81690481e+00, 1.65124291e+01,
 -1.64971660e-02,-2.98659311e+00, 1.36269516e+01,-3.24547979e+01,
  1.98608986e-01, 1.97061822e-01,-8.41853408e+00, 1.69561648e+01,
  3.59320430e-01,-4.28233805e+00, 2.96004458e+00, 1.28951308e+01,
  3.61939315e+01,-1.41475155e+02]

qfrc_actuator:
[ 8.74235114e-03, 6.68381076e-02, 1.37300308e-02, 1.94848645e-03,
  1.48081409e-07, 3.50253791e-02, 1.09577363e-02, 1.81780668e-03,
 -3.05499068e-03, 3.47459364e-02, 1.07200496e-02, 1.67366343e-03,
  8.45459974e-03, 1.21461193e-02, 0.00000000e+00,-4.72538368e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16352475, -0.03886768, -0.15883844, -0.03886768,  0.63409646,
       -0.11514864, -0.15883844, -0.11514864,  0.19170156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013030682597645234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62950423,  0.0787227 , -0.77299881, -0.04971055,  0.99689655,
        0.061042  ,  0.77540524,  0.        ,  0.63146395])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618465, -0.03398012,  0.22459102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16352475, -0.03886768, -0.15883844, -0.03886768,  0.63409646,
       -0.11514864, -0.15883844, -0.11514864,  0.19170156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00013030682597645234
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.62950423,  0.0787227 , -0.77299881, -0.04971055,  0.99689655,
        0.061042  ,  0.77540524,  0.        ,  0.63146395])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618465, -0.03398012,  0.22459102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005727543544765991
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39762799,  0.08692154, -0.91342029, -0.03469375,  0.99621516,
        0.07969754,  0.91689058,  0.        ,  0.39913866])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08332928, -0.0339015 ,  0.22311718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002254366868358733
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23119160e-14,  1.23119160e-14,  1.00000000e+00,  1.51583277e-28,
        1.00000000e+00, -1.23119160e-14, -1.00000000e+00,  0.00000000e+00,
       -1.23119160e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06831844, -0.06295973,  0.06185238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.29033427e-03, 3.24738828e-02, 3.19835329e-03,-3.19683414e-05,
 -6.83744218e-06,-3.03771681e-05,-5.58079103e-08, 4.87416576e-05,
 -4.76728643e-06, 1.73600791e-05, 4.38239371e-06,-9.04708470e-05,
  9.96344385e-03, 1.47659528e-02, 7.24922882e-03, 9.75339832e-04,
  4.64826639e-03, 2.41971824e-02,-9.81822589e+00,-6.07027495e-03,
 -6.03352086e-02, 6.00860081e-02]


--- Step 3393 ---
qpos:
[-0.01757547, 1.19662625,-0.03478578, 0.94259179,-0.00797538, 1.33270833,
 -0.03115679, 0.94135175, 0.01531677, 1.33847988,-0.02375465, 0.95469883,
  1.2699341 ,-0.00823169, 1.28937184, 0.04476925,-0.05515031,-0.08565637,
  0.09092996, 0.69371073,-0.12070042,-0.70975992,-0.02092081]

qacc:
[-2.64383799e-01, 1.03453064e+00, 2.84609437e-01,-6.43558116e+00,
  2.90073472e-02,-1.68200333e+00, 6.37825245e+00,-1.42955181e+01,
  3.48390312e-02, 9.17758683e-01,-3.60661021e+00, 1.36533943e+01,
  1.86166345e-01, 1.07949042e-01,-5.60756693e+00, 1.22723186e+01,
  3.54070562e-01,-3.90625184e+00, 1.94608107e+00, 1.18695457e+01,
  3.31315486e+01,-1.30091135e+02]

qfrc_actuator:
[ 8.72685636e-03, 6.67952429e-02, 1.37202147e-02, 1.92596968e-03,
  1.25294372e-05, 3.49782657e-02, 1.09419716e-02, 1.77518199e-03,
 -3.04211913e-03, 3.48643551e-02, 1.07865322e-02, 1.73001157e-03,
  8.44757310e-03, 1.21279237e-02, 0.00000000e+00,-3.84467982e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16346166, -0.04160523, -0.15807821, -0.04160523,  0.66001168,
       -0.13068895, -0.15807821, -0.13068895,  0.1978582 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001289874778663963
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6296566 ,  0.07872096, -0.77287488, -0.04972147,  0.99689669,
        0.06103085,  0.77528081,  0.        ,  0.6316167 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618403, -0.03398119,  0.22459259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16346166, -0.04160523, -0.15807821, -0.04160523,  0.66001168,
       -0.13068895, -0.15807821, -0.13068895,  0.1978582 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001289874778663963
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6296566 ,  0.07872096, -0.77287488, -0.04972147,  0.99689669,
        0.06103085,  0.77528081,  0.        ,  0.6316167 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618403, -0.03398119,  0.22459259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005721730584874775
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39760992,  0.08692592, -0.91342774, -0.03469393,  0.99621478,
        0.07970224,  0.9168984 ,  0.        ,  0.39912068])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08332633, -0.03390252,  0.22311743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002255191666395956
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.23074132e-14,  1.23074132e-14,  1.00000000e+00,  1.51472419e-28,
        1.00000000e+00, -1.23074132e-14, -1.00000000e+00,  0.00000000e+00,
       -1.23074132e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06831625, -0.06295428,  0.06185257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.31438918e-03, 3.23241767e-02, 3.19264794e-03,-1.39129414e-05,
  8.34389572e-06,-6.24885890e-05,-2.02897683e-05,-4.24052800e-05,
  1.00570308e-05, 1.26193410e-04, 6.77249852e-05, 5.48795628e-05,
  9.94192295e-03, 1.47202957e-02, 7.54021114e-03, 1.06651845e-03,
  3.93459379e-03, 1.68978245e-02,-9.81613962e+00,-5.87984275e-03,
 -6.04463235e-02, 6.00167710e-02]


--- Step 3394 ---
qpos:
[-0.01758623, 1.19664958,-0.03478692, 0.94259115,-0.00797498, 1.33271155,
 -0.03115634, 0.94135058, 0.0153166 , 1.33848198,-0.02375645, 0.95469889,
  1.26997325,-0.00824604, 1.28934359, 0.04476598,-0.05512875,-0.08558935,
  0.09101121, 0.69384204,-0.12153299,-0.70951305,-0.02010444]

qacc:
[-6.35128889e-03,-3.09899035e-01, 1.99031328e+00,-3.71688642e+00,
  1.04142570e-01,-1.91014075e+00, 8.21355893e+00,-2.09324980e+01,
  4.75602906e-02, 4.96395782e-02, 9.30179088e-01, 2.05115721e+00,
  4.43644405e-02,-3.45354952e-02, 1.00188092e+00, 1.85701061e-01,
  3.48486306e-01,-3.59728564e+00, 1.09523063e+00, 1.10110251e+01,
  3.06069342e+01,-1.20601737e+02]

qfrc_actuator:
[ 8.72222149e-03, 6.67593198e-02, 1.37325155e-02, 1.91291805e-03,
  3.76089888e-05, 3.49666068e-02, 1.09323008e-02, 1.71455425e-03,
 -3.03433340e-03, 3.49345000e-02, 1.08270173e-02, 1.74559083e-03,
  8.44193622e-03, 1.21402543e-02, 0.00000000e+00,-4.54494770e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1633912 , -0.0482088 , -0.15611725, -0.0482088 ,  0.74368266,
       -0.17919323, -0.15611725, -0.17919323,  0.21872584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012749675799218416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.29823971e-01,  7.87187898e-02, -7.72738712e-01, -4.97333102e-02,
        9.96896861e-01,  6.10184048e-02,  7.75144092e-01, -6.93889390e-18,
        6.31784486e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618333, -0.03398222,  0.22459433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1633912 , -0.0482088 , -0.15611725, -0.0482088 ,  0.74368266,
       -0.17919323, -0.15611725, -0.17919323,  0.21872584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012749675799218416
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.29823971e-01,  7.87187898e-02, -7.72738712e-01, -4.97333102e-02,
        9.96896861e-01,  6.10184048e-02,  7.75144092e-01, -6.93889390e-18,
        6.31784486e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618333, -0.03398222,  0.22459433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005714953412838258
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39759009,  0.08693058, -0.91343593, -0.03469407,  0.99621437,
        0.07970725,  0.916907  ,  0.        ,  0.39910094])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08332306, -0.0339035 ,  0.22311771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022346130866878477
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48415046e-14,  1.24207523e-14,  1.00000000e+00,  3.08550175e-28,
        1.00000000e+00, -1.24207523e-14, -1.00000000e+00,  0.00000000e+00,
       -2.48415046e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06832082, -0.06293846,  0.0618541 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.34004159e-03, 3.22012440e-02, 3.19563130e-03,-5.04056461e-06,
  3.00029747e-05,-5.15034690e-05,-2.54579244e-05,-6.40834178e-05,
  1.37296113e-05, 1.54777534e-04, 7.44344311e-05, 2.25756901e-05,
  9.92199759e-03, 1.47134994e-02, 7.71132958e-03, 9.87462724e-04,
  3.23389671e-03, 1.13410408e-02,-9.81449833e+00,-5.80614760e-03,
 -6.05183584e-02, 5.99573727e-02]


--- Step 3395 ---
qpos:
[-0.01759708, 1.19667273,-0.03478796, 0.94259042,-0.00797417, 1.33271483,
 -0.03115655, 0.94134972, 0.01531625, 1.33848416,-0.02375723, 0.95469817,
  1.27001171,-0.00826045, 1.28931819, 0.04476324,-0.05510581,-0.08553571,
  0.091094  , 0.69401096,-0.12219008,-0.70925354,-0.01943677]

qacc:
[-3.85646769e-02,-6.81165084e-01, 2.11202886e+00,-2.73053130e+00,
  1.74107452e-01, 2.39259390e+00,-8.32992042e+00, 1.07464931e+01,
 -7.86055854e-02,-3.98221933e+00, 1.46826504e+01,-2.17433998e+01,
 -6.24573863e-01, 4.74018535e-01, 2.68723572e+00,-3.17847873e+00,
  3.42948495e-01,-3.34400288e+00, 3.82919004e-01, 1.02922423e+01,
  2.85285271e+01,-1.12691283e+02]

qfrc_actuator:
[ 8.74150609e-03, 6.66926741e-02, 1.37402171e-02, 1.90543127e-03,
  7.01026339e-05, 3.49940233e-02, 1.09086916e-02, 1.73262649e-03,
 -3.06516738e-03, 3.48685840e-02, 1.08516075e-02, 1.70147238e-03,
  8.43713892e-03, 1.22244157e-02, 0.00000000e+00,-5.13263350e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16332914, -0.05050312, -0.15532496, -0.05050312,  0.73282591,
       -0.18516899, -0.15532496, -0.18516899,  0.2235359 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001261681347064017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6299854 ,  0.07871695, -0.7726073 , -0.04974489,  0.99689701,
        0.06100659,  0.77501215,  0.        ,  0.63194633])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618268, -0.03398332,  0.22459602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16332914, -0.05050312, -0.15532496, -0.05050312,  0.73282591,
       -0.18516899, -0.15532496, -0.18516899,  0.2235359 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001261681347064017
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6299854 ,  0.07871695, -0.7726073 , -0.04974489,  0.99689701,
        0.06100659,  0.77501215,  0.        ,  0.63194633])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618268, -0.03398332,  0.22459602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005709522145996154
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97569661e-01,  8.69352499e-02, -9.13444375e-01, -3.46941712e-02,
        9.96213964e-01,  7.97123087e-02,  9.16915852e-01,  6.93889390e-18,
        3.99080595e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08331994, -0.03390455,  0.223118  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002197138113445962
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26326040e-14, -1.26326040e-14,  1.00000000e+00, -1.59582683e-28,
        1.00000000e+00,  1.26326040e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26326040e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06833069, -0.0629146 ,  0.0618567 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.36003289e-03, 3.21131685e-02, 3.19189027e-03,-5.07526892e-06,
  5.02031085e-05,-8.01402234e-06,-3.84721275e-05, 1.42914187e-05,
 -2.27194464e-05, 3.48691020e-05, 6.39377416e-05,-3.68274757e-05,
  9.91185303e-03, 1.47991806e-02, 7.62577445e-03, 9.03358857e-04,
  2.54874388e-03, 7.17317285e-03,-9.81322469e+00,-5.82140153e-03,
 -6.05602245e-02, 5.99075075e-02]


--- Step 3396 ---
qpos:
[-0.01760769, 1.19669512,-0.03478831, 0.94259067,-0.00797311, 1.33271836,
 -0.0311572 , 0.94134975, 0.01531564, 1.33848554,-0.02375756, 0.95469877,
  1.27004954,-0.00827497, 1.28929749, 0.04476096,-0.05508152,-0.08549461,
  0.09117594, 0.69421561,-0.12268207,-0.70898254,-0.01890915]

qacc:
[ 1.04357961e-01,-1.18349450e+00, 6.59027929e-01, 1.12177468e+01,
  1.06803695e-01, 3.04209015e+00,-1.13816967e+01, 2.00282775e+01,
 -1.09631108e-01, 7.72439598e-04,-3.91310341e+00, 1.90326836e+01,
 -6.58872175e-01, 4.98570552e-01, 5.57597731e+00,-9.32097104e+00,
  3.37694051e-01,-3.13696331e+00,-2.11936903e-01, 9.69027428e+00,
  2.68218895e+01,-1.06103194e+02]

qfrc_actuator:
[ 8.73971694e-03, 6.66612906e-02, 1.37629404e-02, 1.95453990e-03,
  7.12756341e-05, 3.50268688e-02, 1.08950036e-02, 1.77913589e-03,
 -3.08341448e-03, 3.47571006e-02, 1.08483104e-02, 1.76451727e-03,
  8.42226118e-03, 1.22452119e-02, 0.00000000e+00,-6.36502660e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16327825, -0.04576632, -0.15673299, -0.04576632,  0.65365404,
       -0.14319064, -0.15673299, -0.14319064,  0.20509018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012506743343090355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63013508,  0.07871579, -0.77248534, -0.04975597,  0.9968971 ,
        0.06099605,  0.77488975,  0.        ,  0.63209642])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861821 , -0.03398443,  0.22459761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16327825, -0.04576632, -0.15673299, -0.04576632,  0.65365404,
       -0.14319064, -0.15673299, -0.14319064,  0.20509018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012506743343090355
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63013508,  0.07871579, -0.77248534, -0.04975597,  0.9968971 ,
        0.06099605,  0.77488975,  0.        ,  0.63209642])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861821 , -0.03398443,  0.22459761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005705807367858071
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3975493 ,  0.08693996, -0.91345279, -0.03469429,  0.99621355,
        0.07971739,  0.91692468,  0.        ,  0.39906032])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08331706, -0.03390562,  0.22311829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021465225882545264
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.58609677e-14,  1.29304838e-14,  1.00000000e+00,  3.34394824e-28,
        1.00000000e+00, -1.29304838e-14, -1.00000000e+00,  0.00000000e+00,
       -2.58609677e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06834468, -0.06288458,  0.0618601 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.36265103e-03, 3.20907195e-02, 3.20915324e-03, 4.84437768e-05,
  3.08081180e-05, 2.12921957e-05,-1.92212614e-05, 4.54728621e-05,
 -3.16619867e-05,-8.08213732e-05, 9.69915999e-06, 6.50932920e-05,
  9.93122758e-03, 1.48236181e-02, 7.48355216e-03, 7.54199050e-04,
  1.87918293e-03, 4.13010538e-03,-9.81225837e+00,-5.90540793e-03,
 -6.05784971e-02, 5.98668683e-02]


--- Step 3397 ---
qpos:
[-0.01761739, 1.19671603,-0.03478824, 0.94259194,-0.0079719 , 1.33272191,
 -0.03115767, 0.94134997, 0.01531493, 1.33848638,-0.02375767, 0.9547008 ,
  1.27008696,-0.00828976, 1.28928216, 0.04475903,-0.0550559 ,-0.08546539,
  0.09125505, 0.69445441,-0.12301759,-0.7087009 ,-0.01851446]

qacc:
[ 3.96067111e-01,-1.35534328e+00,-4.93794774e-02, 1.27791818e+01,
  6.35734223e-02,-1.47184314e-01, 1.20170336e-01, 2.15665942e+00,
 -3.97900240e-02, 1.15652393e+00,-7.51143999e+00, 2.33501662e+01,
 -4.37989647e-01, 2.20753233e-01, 6.92679451e+00,-1.26402011e+01,
  3.32854199e-01,-2.96835191e+00,-7.07407580e-01, 9.18580168e+00,
  2.54260901e+01,-1.00627511e+02]

qfrc_actuator:
[ 8.77824939e-03, 6.66517029e-02, 1.37763009e-02, 2.00107412e-03,
  7.14032724e-05, 3.50272707e-02, 1.09050765e-02, 1.78874682e-03,
 -3.07620924e-03, 3.47433945e-02, 1.08639479e-02, 1.83682197e-03,
  8.40668102e-03, 1.22458153e-02, 0.00000000e+00,-7.80826686e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16324309, -0.04224049, -0.15768338, -0.04224049,  0.62287926,
       -0.12312812, -0.15768338, -0.12312812,  0.19622686,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012430101208759162
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.30265931e-01,  7.87154744e-02, -7.72378619e-01, -4.97660998e-02,
        9.96897123e-01,  6.09873858e-02,  7.74782674e-01,  6.93889390e-18,
        6.32227655e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618164, -0.03398561,  0.22459902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16324309, -0.04224049, -0.15768338, -0.04224049,  0.62287926,
       -0.12312812, -0.15768338, -0.12312812,  0.19622686,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012430101208759162
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.30265931e-01,  7.87154744e-02, -7.72378619e-01, -4.97660998e-02,
        9.96897123e-01,  6.09873858e-02,  7.74782674e-01,  6.93889390e-18,
        6.32227655e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618164, -0.03398561,  0.22459902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000570453713193194
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.397529  ,  0.08694457, -0.91346119, -0.03469437,  0.99621315,
        0.07972239,  0.91693347,  0.        ,  0.3990401 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08331458, -0.03390677,  0.22311857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020858889046177914
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33063537e-14,  1.33063537e-14,  1.00000000e+00,  1.77059050e-28,
        1.00000000e+00, -1.33063537e-14, -1.00000000e+00,  0.00000000e+00,
       -1.33063537e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06836181, -0.06284996,  0.06186412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.38921598e-03, 3.21183214e-02, 3.18805714e-03, 4.63147171e-05,
  1.83146209e-05, 9.76812069e-06, 1.33821790e-05, 1.07460421e-05,
 -1.14957214e-05,-5.45860303e-05, 2.86021387e-06, 7.17107148e-05,
  9.94736909e-03, 1.48302222e-02, 7.24911862e-03, 5.86599383e-04,
  1.22369419e-03, 2.01394460e-03,-9.81155226e+00,-6.04349938e-03,
 -6.05780265e-02, 5.98351578e-02]


--- Step 3398 ---
qpos:
[-0.01762689, 1.19673677,-0.03478862, 0.94259298,-0.0079706 , 1.33272528,
 -0.03115758, 0.94134961, 0.01531435, 1.33848726,-0.02375756, 0.95470432,
  1.27012396,-0.0083043 , 1.28926464, 0.04475697,-0.05502896,-0.08544749,
  0.09132968, 0.694726  ,-0.1232038 ,-0.70840925,-0.01824678]

qacc:
[ 8.77127341e-02, 6.25805478e-01,-1.85194204e+00,-8.06464603e-01,
  3.58945611e-02,-2.70565351e+00, 9.72594114e+00,-1.50192073e+01,
  5.41515451e-02, 2.02329836e+00,-9.53891834e+00, 2.54211231e+01,
 -3.70797323e-01, 4.51920711e-01,-2.81604257e+00, 5.23095917e+00,
  3.28483769e-01,-2.83168251e+00,-1.11896928e+00, 8.76247298e+00,
  2.42909472e+01,-9.60913729e+01]

qfrc_actuator:
[ 8.82245743e-03, 6.66562385e-02, 1.37485373e-02, 1.99237539e-03,
  7.09050868e-05, 3.50083208e-02, 1.09289427e-02, 1.75880193e-03,
 -3.05379403e-03, 3.47884171e-02, 1.08909939e-02, 1.91403933e-03,
  8.41198568e-03, 1.22699993e-02, 0.00000000e+00,-6.53822816e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16322376, -0.03608   , -0.15918614, -0.03608   ,  0.55242397,
       -0.08821335, -0.15918614, -0.08821335,  0.18321757,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001238773351347304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6303747 ,  0.07871577, -0.77228982, -0.04977488,  0.9968971 ,
        0.0609806 ,  0.77469362,  0.        ,  0.63233677])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861813 , -0.03398687,  0.22460021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16322376, -0.03608   , -0.15918614, -0.03608   ,  0.55242397,
       -0.08821335, -0.15918614, -0.08821335,  0.18321757,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001238773351347304
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6303747 ,  0.07871577, -0.77228982, -0.04977488,  0.9968971 ,
        0.0609806 ,  0.77469362,  0.        ,  0.63233677])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861813 , -0.03398687,  0.22460021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005705624304110021
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97509691e-01,  8.69487996e-02, -9.13469185e-01, -3.46943857e-02,
        9.96212782e-01,  7.97269926e-02,  9.16941844e-01, -6.93889390e-18,
        3.99020870e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08331256, -0.03390801,  0.22311882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002017825091280609
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.12655820e-14,  1.37551940e-14,  1.00000000e+00,  5.67616087e-28,
        1.00000000e+00, -1.37551940e-14, -1.00000000e+00,  0.00000000e+00,
       -4.12655820e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06838129, -0.06281197,  0.06186859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.38799779e-03, 3.21973741e-02, 3.13953846e-03,-1.30928060e-05,
  1.03134152e-05,-1.06266057e-05, 2.76129772e-05,-2.90043594e-05,
  1.56242708e-05, 1.75171511e-05, 1.88111430e-05, 7.73562423e-05,
  9.97345254e-03, 1.48676949e-02, 6.98095937e-03, 6.96478731e-04,
  5.79810830e-04, 6.76233122e-04,-9.81106949e+00,-6.22506716e-03,
 -6.05623819e-02, 5.98120941e-02]


--- Step 3399 ---
qpos:
[-0.01763643, 1.19675844,-0.03478869, 0.94259447,-0.00796941, 1.33272847,
 -0.03115719, 0.94134926, 0.0153141 , 1.33848848,-0.02375807, 0.95470772,
  1.27016115,-0.00831843, 1.28924345, 0.04475474,-0.05501429,-0.08542787,
  0.09138922, 0.69484856,-0.12341566,-0.70825901,-0.01797849]

qacc:
[-1.77616008e-02, 1.10102949e+00,-3.03180575e+00, 7.13331009e+00,
 -4.34283911e-02,-1.05781786e+00, 3.16171900e+00,-2.60678521e+00,
  1.40561753e-01, 1.89027774e+00,-5.38398783e+00, 3.05819822e+00,
  7.32519965e-02, 2.21331981e-01,-4.90357331e+00, 9.26527561e+00,
 -3.06580714e+00, 4.31871366e-01,-3.77366310e+00,-1.65836758e+01,
 -1.02180794e+02,-7.78042715e-01]

qfrc_actuator:
[ 8.81715634e-03, 6.66862657e-02, 1.37678056e-02, 2.02237239e-03,
  5.22842988e-05, 3.49957150e-02, 1.09428999e-02, 1.75907562e-03,
 -3.02243723e-03, 3.47973041e-02, 1.08537880e-02, 1.90481030e-03,
  8.41918432e-03, 1.22369243e-02, 0.00000000e+00,-5.41216727e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16319672, -0.03285002, -0.15985632, -0.03285002,  0.5161061 ,
       -0.07252189, -0.15985632, -0.07252189,  0.17809976,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012328226609721084
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63049068,  0.07871555, -0.77219516, -0.0497839 ,  0.99689712,
        0.06097296,  0.77459865,  0.        ,  0.63245311])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618091, -0.03398807,  0.22460146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16319672, -0.03285002, -0.15985632, -0.03285002,  0.5161061 ,
       -0.07252189, -0.15985632, -0.07252189,  0.17809976,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012328226609721084
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63049068,  0.07871555, -0.77219516, -0.0497839 ,  0.99689712,
        0.06097296,  0.77459865,  0.        ,  0.63245311])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618091, -0.03398807,  0.22460146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005705345444873208
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39749095,  0.08695294, -0.91347695, -0.03469441,  0.99621242,
        0.07973149,  0.91694997,  0.        ,  0.3990022 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08331038, -0.03390917,  0.22311907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.47587395,   5.18581576, -16.47587395,
        27.42765062,  32.26324353,   5.18581576,  32.26324353,
       119.77639453,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019518746630043798
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42199579e-14,  5.68798318e-14,  1.00000000e+00,  8.08828815e-28,
        1.00000000e+00, -5.68798318e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42199579e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02220684, -0.09267771,  0.06187292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.37260482e-03, 3.22352752e-02, 3.18112842e-03, 2.77357423e-05,
 -1.25329973e-05,-1.39794358e-05, 1.41653983e-05, 9.58621347e-08,
  4.05844548e-05, 2.45392736e-05,-2.93794682e-05,-6.35281980e-06,
  1.00012677e-02, 1.48228508e-02, 7.09026579e-03, 8.15436351e-04,
 -5.54793763e-05, 5.74968842e-06,-9.81078118e+00,-6.44250295e-03,
 -6.05341771e-02, 5.97974132e-02]


--- Step 3400 ---
qpos:
[-0.01764578, 1.19678043,-0.03478842, 0.94259635,-0.00796837, 1.33273192,
 -0.03115705, 0.94134786, 0.01531421, 1.33848955,-0.02375848, 0.95470961,
  1.27019843,-0.00833243, 1.28922207, 0.04475262,-0.05501104,-0.08540658,
  0.09143202, 0.69483218,-0.12365063,-0.70824087,-0.01770997]

qacc:
[ 8.50676753e-02, 2.11901202e-01,-1.00067780e+00, 5.30180534e+00,
 -6.59341322e-02,-7.60365959e-01, 5.05935952e+00,-1.66562474e+01,
  1.48019022e-01,-3.03946457e+00, 1.27143487e+01,-2.83425470e+01,
  1.56610618e-02, 8.85949474e-02,-6.35704143e-01, 1.80819886e+00,
 -2.85636793e+00, 4.15063668e-01,-4.18472850e+00,-1.53346382e+01,
 -9.53137391e+01,-1.13094073e+00]

qfrc_actuator:
[ 8.81781651e-03, 6.66773082e-02, 1.37969540e-02, 2.03951322e-03,
  4.06959705e-05, 3.50224901e-02, 1.09331822e-02, 1.70612207e-03,
 -3.00372366e-03, 3.47664415e-02, 1.08497861e-02, 1.82697609e-03,
  8.41150354e-03, 1.22402356e-02, 0.00000000e+00,-5.61418383e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16315895, -0.03817582, -0.15862992, -0.03817582,  0.58132825,
       -0.10063648, -0.15862992, -0.10063648,  0.1873781 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012244605544090188
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63062173,  0.07871456, -0.77208824, -0.04979361,  0.9968972 ,
        0.06096374,  0.77449133,  0.        ,  0.63258452])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618043, -0.03398922,  0.22460287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16315895, -0.03817582, -0.15862992, -0.03817582,  0.58132825,
       -0.10063648, -0.15862992, -0.10063648,  0.1873781 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012244605544090188
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63062173,  0.07871456, -0.77208824, -0.04979361,  0.9968972 ,
        0.06096374,  0.77449133,  0.        ,  0.63258452])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08618043, -0.03398922,  0.22460287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005703411333060661
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97471060e-01,  8.69571175e-02, -9.13485203e-01, -3.46943580e-02,
        9.96212056e-01,  7.97360760e-02,  9.16958591e-01, -6.93889390e-18,
        3.98982383e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08330788, -0.03391029,  0.22311933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.92384227,   3.45408022,  16.92384227,
        22.0176762 , -23.24866882,   3.45408022, -23.24866882,
       131.18345861,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001924861327836272
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44195196e-14,  2.88390392e-14,  1.00000000e+00,  4.15845090e-28,
        1.00000000e+00, -2.88390392e-14, -1.00000000e+00,  0.00000000e+00,
       -1.44195196e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02229083, -0.09268833,  0.0618748 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.37527445e-03, 3.21798474e-02, 3.19432599e-03, 2.29696944e-05,
 -1.89872165e-05, 2.17923284e-05,-1.08426889e-05,-5.29526430e-05,
  4.26827487e-05,-2.32201262e-05,-2.73035234e-06,-7.81088921e-05,
  9.98462514e-03, 1.48057679e-02, 7.27430880e-03, 8.04060569e-04,
  2.52460862e-04, 3.93811949e-04,-9.81045915e+00,-6.72274657e-03,
 -6.04947173e-02, 5.97713667e-02]


--- Step 3401 ---
qpos:
[-0.0176551 , 1.19680209,-0.03478917, 0.94259684,-0.00796763, 1.3327358 ,
 -0.0311571 , 0.94134514, 0.01531446, 1.33848969,-0.02375775, 0.95471056,
  1.27023532,-0.00834646, 1.28920138, 0.04475079,-0.05501852,-0.0853837 ,
  0.09145669, 0.69468525,-0.12390668,-0.7083469 ,-0.01744149]

qacc:
[ 8.86708529e-03,-5.55778051e-02, 2.55892251e+00,-1.83034286e+01,
 -1.25790392e-01,-1.19443788e+00, 7.31250410e+00,-2.20665949e+01,
  6.41764070e-02,-5.93050440e+00, 1.97495775e+01,-2.73080612e+01,
 -3.14105357e-01, 2.26915651e-01, 1.74445195e-01, 9.23959458e-01,
 -2.68106616e+00, 4.00377540e-01,-4.53287648e+00,-1.43118968e+01,
 -8.95563246e+01,-1.38447934e+00]

qfrc_actuator:
[ 8.82183395e-03, 6.66274362e-02, 1.37786316e-02, 1.96004080e-03,
  1.56684734e-05, 3.50547636e-02, 1.09274419e-02, 1.64002730e-03,
 -3.01049879e-03, 3.46943300e-02, 1.09007563e-02, 1.78042688e-03,
  8.40554773e-03, 1.23010032e-02, 0.00000000e+00,-5.72761674e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16312151, -0.04946257, -0.15544157, -0.04946257,  0.73525711,
       -0.18205744, -0.15544157, -0.18205744,  0.22105343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012161098442607654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63075408,  0.07871337, -0.77198024, -0.04980331,  0.99689729,
        0.06095429,  0.77438293,  0.        ,  0.63271722])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617995, -0.0339904 ,  0.22460429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16312151, -0.04946257, -0.15544157, -0.04946257,  0.73525711,
       -0.18205744, -0.15544157, -0.18205744,  0.22105343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012161098442607654
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63075408,  0.07871337, -0.77198024, -0.04980331,  0.99689729,
        0.06095429,  0.77438293,  0.        ,  0.63271722])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617995, -0.0339904 ,  0.22460429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000570156753237936
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39745057,  0.08696123, -0.91349373, -0.03469422,  0.9962117 ,
        0.07974062,  0.91696748,  0.        ,  0.39896196])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08330535, -0.03391143,  0.2231196 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.68978708,   4.44950724,  16.68978708,
        26.47151426, -34.5039996 ,   4.44950724, -34.5039996 ,
       146.69479027,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018825653503717482
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.47434859e-14,  5.89739434e-14,  1.00000000e+00,  8.69481501e-28,
        1.00000000e+00, -5.89739434e-14, -1.00000000e+00,  0.00000000e+00,
       -1.47434859e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02241191, -0.09270639,  0.06187754])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.36951428e-03, 3.21134412e-02, 3.15936225e-03,-7.64558947e-05,
 -3.62348945e-05, 4.05847639e-05,-4.27007465e-06,-6.69796163e-05,
  1.84318460e-05,-8.78026839e-05, 4.38411767e-05,-4.91316123e-05,
  9.97388682e-03, 1.48603861e-02, 7.28441229e-03, 7.87043179e-04,
  7.32885440e-05, 8.45115986e-04,-9.81036324e+00,-6.96339537e-03,
 -6.04519052e-02, 5.97483893e-02]


--- Step 3402 ---
qpos:
[-0.01766394, 1.19682268,-0.03479107, 0.94259575,-0.00796719, 1.33273974,
 -0.03115744, 0.94134272, 0.01531477, 1.33848958,-0.0237569 , 0.9547106 ,
  1.27027159,-0.00836084, 1.28918497, 0.04474944,-0.05502422,-0.08537497,
  0.09148598, 0.6945802 ,-0.12397356,-0.70844082,-0.01733514]

qacc:
[ 2.12796094e-01,-9.87201556e-01, 4.76617680e+00,-2.16826756e+01,
 -1.26790418e-01, 1.38819640e+00,-5.04854272e+00, 7.84669924e+00,
  2.30306647e-02,-2.21735783e+00, 8.69594748e+00,-1.79676809e+01,
 -4.73671460e-01, 1.49635559e-01, 4.91166259e+00,-7.93773635e+00,
  4.43877097e-01,-3.54036208e+00, 1.15498798e+00, 1.07778215e+01,
  3.07283558e+01,-1.22196770e+02]

qfrc_actuator:
[ 8.84571476e-03, 6.66245513e-02, 1.37685548e-02, 1.87750088e-03,
  5.33682717e-07, 3.50368201e-02, 1.09063829e-02, 1.65551670e-03,
 -3.01475579e-03, 3.47048216e-02, 1.09126030e-02, 1.73492316e-03,
  8.40066751e-03, 1.23608461e-02, 0.00000000e+00,-7.03277169e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16308656, -0.05853186, -0.15222105, -0.05853186,  0.865084  ,
       -0.26993123, -0.15222105, -0.26993123,  0.2668802 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012082583296578464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63088256,  0.07871238, -0.77187535, -0.04981282,  0.99689737,
        0.06094524,  0.77427765,  0.        ,  0.63284605])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617949, -0.03399156,  0.22460567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16308656, -0.05853186, -0.15222105, -0.05853186,  0.865084  ,
       -0.26993123, -0.15222105, -0.26993123,  0.2668802 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012082583296578464
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63088256,  0.07871238, -0.77187535, -0.04981282,  0.99689737,
        0.06094524,  0.77427765,  0.        ,  0.63284605])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617949, -0.03399156,  0.22460567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005700009784626314
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39743133,  0.08696531, -0.91350171, -0.03469418,  0.99621134,
        0.07974509,  0.91697582,  0.        ,  0.39894278])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08330292, -0.03391255,  0.22311987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018642742662750914
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48881396e-14,  2.97762793e-14,  1.00000000e+00,  4.43313404e-28,
        1.00000000e+00, -2.97762793e-14, -1.00000000e+00,  0.00000000e+00,
       -1.48881396e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0684262 , -0.06272787,  0.06187873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.39233906e-03, 3.21268032e-02, 3.20041524e-03,-8.88327287e-05,
 -3.65229855e-05, 1.62242206e-06,-1.55768850e-05, 1.50375184e-05,
  6.62534423e-06,-3.09562453e-05,-1.75566666e-06,-4.79638032e-05,
  9.98872896e-03, 1.49219887e-02, 7.25011919e-03, 6.42216415e-04,
 -5.03270833e-04, 1.34436826e-03,-9.81045245e+00,-7.16712121e-03,
 -6.04058156e-02, 5.97278617e-02]


--- Step 3403 ---
qpos:
[-0.01767208, 1.19684214,-0.03479317, 0.94259433,-0.0079667 , 1.33274325,
 -0.03115787, 0.94134191, 0.01531508, 1.33848953,-0.02375609, 0.95471076,
  1.27030713,-0.00837561, 1.28917472, 0.0447485 ,-0.05502825,-0.08537954,
  0.09151714, 0.69451443,-0.12386334,-0.70852347,-0.0173804 ]

qacc:
[ 3.01224662e-01,-1.52286483e+00, 3.86424295e+00,-6.50380223e+00,
  1.69002705e-02, 2.43255401e+00,-1.19848931e+01, 2.95072017e+01,
  4.15262277e-03, 3.94749706e-01,-1.46835260e+00, 2.71210632e+00,
 -6.50445974e-01, 2.91373072e-01, 7.90990199e+00,-1.43411645e+01,
  4.18942915e-01,-3.32221978e+00, 4.68263876e-01, 1.01359360e+01,
  2.87679843e+01,-1.14348339e+02]

qfrc_actuator:
[ 8.86328498e-03, 6.66507323e-02, 1.37817080e-02, 1.86485905e-03,
  2.69608800e-05, 3.49889318e-02, 1.08940594e-02, 1.73660898e-03,
 -3.01746558e-03, 3.47290550e-02, 1.09192997e-02, 1.74366217e-03,
  8.39646675e-03, 1.24027122e-02, 0.00000000e+00,-8.70093705e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16306473, -0.05469808, -0.15361715, -0.05469808,  0.78356716,
       -0.22094075, -0.15361715, -0.22094075,  0.24173456,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012033280193456987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63099282,  0.07871205, -0.77178525, -0.04982132,  0.99689739,
        0.06093787,  0.77418725,  0.        ,  0.63295663])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617913, -0.03399275,  0.22460687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16306473, -0.05469808, -0.15361715, -0.05469808,  0.78356716,
       -0.22094075, -0.15361715, -0.22094075,  0.24173456,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012033280193456987
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63099282,  0.07871205, -0.77178525, -0.04982132,  0.99689739,
        0.06093787,  0.77418725,  0.        ,  0.63295663])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617913, -0.03399275,  0.22460687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005700446241714355
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39741412,  0.08696915, -0.91350883, -0.03469423,  0.996211  ,
        0.07974926,  0.91698328,  0.        ,  0.39892564])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08330088, -0.03391372,  0.22312012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018449371227250017
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.00883702e-14,  1.50441851e-14,  1.00000000e+00,  4.52655012e-28,
        1.00000000e+00, -1.50441851e-14, -1.00000000e+00,  0.00000000e+00,
       -3.00883702e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06843196, -0.06271763,  0.06188001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.38546866e-03, 3.22063359e-02, 3.27073676e-03,-2.29677649e-05,
  4.86728043e-06,-4.96174046e-05,-1.33455600e-05, 8.10342135e-05,
  1.20202163e-06, 5.35078854e-06,-9.52728344e-07, 6.65504082e-06,
  1.00153320e-02, 1.49815914e-02, 7.03660256e-03, 4.51678154e-04,
 -2.18724427e-04, 2.14982203e-04,-9.81007995e+00,-6.98593042e-03,
 -6.04030335e-02, 5.97246055e-02]


--- Step 3404 ---
qpos:
[-0.0176801 , 1.19686102,-0.03479498, 0.94259338,-0.00796622, 1.33274614,
 -0.03115829, 0.94134106, 0.01531554, 1.33848916,-0.02375595, 0.95471178,
  1.27034214,-0.00839033, 1.28916737, 0.04474759,-0.05503069,-0.08539667,
  0.09154786, 0.6944857 ,-0.12358603,-0.70859541,-0.01756861]

qacc:
[ 5.74282898e-02,-7.22467266e-01, 4.56163659e-01, 5.47764085e+00,
  2.70321453e-03,-9.15221098e-01, 2.12302144e+00,-2.01617568e+00,
  5.78250519e-02, 2.88684891e+00,-1.16385388e+01, 2.01847180e+01,
 -6.07923312e-01, 5.67307889e-01, 4.22600521e+00,-8.45977620e+00,
  3.98141187e-01,-3.14213654e+00,-1.10533294e-01, 9.58517410e+00,
  2.71447923e+01,-1.07847937e+02]

qfrc_actuator:
[ 8.84116579e-03, 6.66593351e-02, 1.37728029e-02, 1.89354792e-03,
  2.48478961e-05, 3.49413091e-02, 1.08868923e-02, 1.73135484e-03,
 -3.00147170e-03, 3.46725779e-02, 1.08697610e-02, 1.78426888e-03,
  8.39803230e-03, 1.24162203e-02, 0.00000000e+00,-9.16796690e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16306189, -0.04279458, -0.15734612, -0.04279458,  0.61086479,
       -0.12179225, -0.15734612, -0.12179225,  0.19618662,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012026834160012989
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.31078301e-01,  7.87126096e-02, -7.71715299e-01, -4.98284201e-02,
        9.96897349e-01,  6.09327782e-02,  7.74117114e-01,  6.93889390e-18,
        6.33042410e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617892, -0.03399401,  0.22460784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16306189, -0.04279458, -0.15734612, -0.04279458,  0.61086479,
       -0.12179225, -0.15734612, -0.12179225,  0.19618662,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012026834160012989
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.31078301e-01,  7.87126096e-02, -7.71715299e-01, -4.98284201e-02,
        9.96897349e-01,  6.09327782e-02,  7.74117114e-01,  6.93889390e-18,
        6.33042410e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617892, -0.03399401,  0.22460784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005703941715588315
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39739813,  0.0869727 , -0.91351545, -0.03469426,  0.9962107 ,
        0.07975311,  0.91699021,  0.        ,  0.39890972])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08329937, -0.03391496,  0.22312037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018122027425209325
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.06318658e-14,  1.53159329e-14,  1.00000000e+00,  4.69155602e-28,
        1.00000000e+00, -1.53159329e-14, -1.00000000e+00,  0.00000000e+00,
       -3.06318658e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06844155, -0.06270035,  0.06188213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.32878745e-03, 3.22712435e-02, 3.27156070e-03, 2.24224813e-05,
  7.58202718e-07,-7.52662545e-05,-1.60226775e-05,-5.26114928e-06,
  1.67039326e-05,-5.35070325e-05,-4.84077796e-05, 4.08935282e-05,
  1.00536411e-02, 1.50149111e-02, 6.72850504e-03, 3.84394906e-04,
  1.79269840e-05, 2.30435505e-05,-9.80998575e+00,-6.87588434e-03,
 -6.03810260e-02, 5.97312372e-02]


--- Step 3405 ---
qpos:
[-0.01768857, 1.19687991,-0.03479652, 0.94259342,-0.00796574, 1.33274869,
 -0.03115917, 0.94134016, 0.01531629, 1.3384883 ,-0.02375742, 0.95471231,
  1.27037698,-0.00840442, 1.28915676, 0.04474623,-0.0550316 ,-0.08542578,
  0.09157619, 0.69449205,-0.12314989,-0.70865701,-0.01789263]

qacc:
[-1.99367650e-01, 9.47812309e-01,-5.11188863e+00, 1.58823445e+01,
 -3.56744881e-03, 6.87052449e-01,-2.68884563e+00, 1.93471258e+00,
  1.27920332e-01, 2.84795997e+00,-9.06524495e+00, 2.48922072e+00,
 -3.92666822e-01, 7.86622595e-01,-3.38185121e+00, 4.92287426e+00,
  3.80851413e-01,-2.99394306e+00,-5.97841449e-01, 9.11064858e+00,
  2.58042864e+01,-1.02482309e+02]

qfrc_actuator:
[ 8.83102125e-03, 6.66750458e-02, 1.37147563e-02, 1.94636122e-03,
  2.33811231e-05, 3.49296936e-02, 1.08649988e-02, 1.72857129e-03,
 -2.97438653e-03, 3.46035218e-02, 1.07693765e-02, 1.75445060e-03,
  8.39773990e-03, 1.24124349e-02, 0.00000000e+00,-8.02455910e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16306755, -0.029711  , -0.16033802, -0.029711  ,  0.45137977,
       -0.05342491, -0.16033802, -0.05342491,  0.17296731,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012039648848288613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.31152434e-01,  7.87136903e-02, -7.71654560e-01, -4.98349619e-02,
        9.96897264e-01,  6.09288241e-02,  7.74056253e-01, -6.93889390e-18,
        6.33116828e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617878, -0.03399531,  0.2246087 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16306755, -0.029711  , -0.16033802, -0.029711  ,  0.45137977,
       -0.05342491, -0.16033802, -0.05342491,  0.17296731,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012039648848288613
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.31152434e-01,  7.87136903e-02, -7.71654560e-01, -4.98349619e-02,
        9.96897264e-01,  6.09288241e-02,  7.74056253e-01, -6.93889390e-18,
        6.33116828e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617878, -0.03399531,  0.2246087 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000570881151323574
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39738241,  0.08697619, -0.91352195, -0.03469429,  0.99621039,
        0.07975691,  0.91699701,  0.        ,  0.39889406])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0832981 , -0.03391625,  0.2231206 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017690339046219777
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.13793597e-14,  3.13793597e-14,  1.00000000e+00,  9.84664216e-28,
        1.00000000e+00, -3.13793597e-14, -1.00000000e+00,  0.00000000e+00,
       -3.13793597e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06845411, -0.06267758,  0.06188491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.31205073e-03, 3.23157643e-02, 3.19927210e-03, 5.15644460e-05,
 -1.02183977e-06,-5.65700266e-05,-3.86044386e-05,-5.64229480e-06,
  3.69477705e-05,-1.06882530e-04,-1.15137557e-04,-3.18678425e-05,
  1.00798793e-02, 1.50091997e-02, 6.58362896e-03, 4.97012273e-04,
  2.14716534e-04, 6.08520675e-04,-9.81012195e+00,-6.82254985e-03,
 -6.03435992e-02, 5.97472915e-02]


--- Step 3406 ---
qpos:
[-0.01769698, 1.19689814,-0.03479801, 0.94259451,-0.00796512, 1.33275145,
 -0.03116037, 0.94134055, 0.01531692, 1.3384866 ,-0.02375941, 0.95471211,
  1.27041213,-0.00841802, 1.28914402, 0.04474448,-0.05503104,-0.08546637,
  0.09160049, 0.69453174,-0.12256173,-0.70870846,-0.01834661]

qacc:
[ 2.67389092e-02, 7.99264034e-01,-5.83449974e+00, 1.76823380e+01,
  5.57101900e-02, 3.35466057e+00,-1.32807730e+01, 2.64415703e+01,
 -5.42948997e-02,-9.63671407e-01, 3.26698618e+00,-1.07208027e+01,
  4.37826868e-02, 3.38080867e-01,-2.01578397e+00, 2.46032307e+00,
  3.66521096e-01,-2.87246967e+00,-1.00778346e+00, 8.69956929e+00,
  2.47013986e+01,-9.80759633e+01]

qfrc_actuator:
[ 8.84635047e-03, 6.66769067e-02, 1.36803765e-02, 1.99519376e-03,
  4.00668015e-05, 3.49929274e-02, 1.08702425e-02, 1.79830527e-03,
 -3.01187764e-03, 3.45627224e-02, 1.07462012e-02, 1.71888971e-03,
  8.40164552e-03, 1.23976637e-02, 0.00000000e+00,-7.86286264e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16306161, -0.02780274, -0.16067388, -0.02780274,  0.44085258,
       -0.04806849, -0.16067388, -0.04806849,  0.1713793 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012026201589164162
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.31239046e-01,  7.87143927e-02, -7.71583638e-01, -4.98422483e-02,
        9.96897209e-01,  6.09237713e-02,  7.73985153e-01, -6.93889390e-18,
        6.33203746e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617855, -0.03399656,  0.22460967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16306161, -0.02780274, -0.16067388, -0.02780274,  0.44085258,
       -0.04806849, -0.16067388, -0.04806849,  0.1713793 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00012026201589164162
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.31239046e-01,  7.87143927e-02, -7.71583638e-01, -4.98422483e-02,
        9.96897209e-01,  6.09237713e-02,  7.73985153e-01, -6.93889390e-18,
        6.33203746e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617855, -0.03399656,  0.22460967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005711682098784379
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97366427e-01,  8.69798628e-02, -9.13528558e-01, -3.46943665e-02,
        9.96210070e-01,  7.97608768e-02,  9.17003939e-01, -6.93889390e-18,
        3.98878147e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08329655, -0.03391749,  0.22312083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.04174899,  -2.81529727, -17.04174899,
        19.04479494, -10.72680062,  -2.81529727, -10.72680062,
        82.2049268 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0017178964981467426
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.23134434e-14,  1.61567217e-14,  1.00000000e+00,  5.22079312e-28,
        1.00000000e+00, -1.61567217e-14, -1.00000000e+00,  0.00000000e+00,
       -3.23134434e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06846891, -0.06265062,  0.06188818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.35023535e-03, 3.23167400e-02, 3.15102117e-03, 5.10627197e-05,
  1.60805376e-05, 2.41950196e-05,-1.03896416e-05, 6.67662334e-05,
 -1.56749558e-05,-1.23325412e-04,-5.80639042e-05,-4.28420427e-05,
  1.00924734e-02, 1.49628933e-02, 6.74649295e-03, 5.36251928e-04,
  3.77603635e-04, 1.85502497e-03,-9.81045176e+00,-6.81539667e-03,
 -6.02935410e-02, 5.97723324e-02]


--- Step 3407 ---
qpos:
[-0.01770535, 1.19691692,-0.03479994, 0.94259506,-0.00796436, 1.3327543 ,
 -0.03116092, 0.94134174, 0.01531715, 1.33848371,-0.02376045, 0.95471179,
  1.27044758,-0.00843133, 1.28912841, 0.04474255,-0.05502907,-0.08551807,
  0.09161938, 0.69460325,-0.1218271 ,-0.70874981,-0.01892584]

qacc:
[ 1.97258903e-02, 9.75561505e-01,-1.19009449e+00,-5.61816110e+00,
  6.66234773e-02,-2.67011279e-01,-6.25835429e-01, 9.68664002e+00,
 -1.71957560e-01,-4.33666788e+00, 1.25191619e+01,-1.15862970e+01,
  1.97765621e-01, 3.56512088e-02,-3.67048053e+00, 6.67335044e+00,
  3.54661044e-01,-2.77337189e+00,-1.35248379e+00, 8.34092247e+00,
  2.37986639e+01,-9.44836966e+01]

qfrc_actuator:
[ 8.87662825e-03, 6.66178715e-02, 1.37313310e-02, 1.97016833e-03,
  4.97545724e-05, 3.50118804e-02, 1.09095633e-02, 1.83921127e-03,
 -3.05229940e-03, 3.45216826e-02, 1.08044164e-02, 1.71582327e-03,
  8.40803171e-03, 1.23939516e-02, 0.00000000e+00,-6.86895014e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16304618, -0.03601572, -0.15901863, -0.03601572,  0.55588431,
       -0.08897288, -0.15901863, -0.08897288,  0.18319742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011991206577902265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63133346,  0.07871464, -0.77150637, -0.04984986,  0.99689719,
        0.06091786,  0.77390766,  0.        ,  0.63329846])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617826, -0.03399782,  0.22461069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16304618, -0.03601572, -0.15901863, -0.03601572,  0.55588431,
       -0.08897288, -0.15901863, -0.08897288,  0.18319742,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011991206577902265
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63133346,  0.07871464, -0.77150637, -0.04984986,  0.99689719,
        0.06091786,  0.77390766,  0.        ,  0.63329846])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617826, -0.03399782,  0.22461069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005712784874549459
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97351011e-01,  8.69835012e-02, -9.13534917e-01, -3.46944829e-02,
        9.96209752e-01,  7.97647939e-02,  9.17010614e-01,  6.93889390e-18,
        3.98862800e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08329483, -0.03391872,  0.22312103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.90976779,  -3.52233742, -16.90976779,
        20.00543917, -13.11899403,  -3.52233742, -13.11899403,
        80.25338938,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0016608363366991882
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.34236132e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.34236132e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06848539, -0.06262051,  0.06189181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.37743346e-03, 3.22906777e-02, 3.19981868e-03,-2.65048104e-05,
  1.91809819e-05, 3.23012730e-05, 4.48305354e-05, 4.28798260e-05,
 -4.96841440e-05,-1.21834206e-04, 2.62811039e-05,-9.42289918e-06,
  1.00828478e-02, 1.49352558e-02, 6.85384964e-03, 6.54674383e-04,
  5.10990727e-04, 3.67874240e-03,-9.81094680e+00,-6.84679322e-03,
 -6.02328825e-02, 5.98059520e-02]


--- Step 3408 ---
qpos:
[-0.01771443, 1.19693808,-0.0348019 , 0.94259477,-0.00796345, 1.33275743,
 -0.03116128, 0.94134237, 0.01531693, 1.33848073,-0.02376149, 0.95471069,
  1.27048303,-0.00844412, 1.28910661, 0.04474041,-0.0550393 ,-0.085569  ,
  0.09162151, 0.69453714,-0.12113848,-0.70891713,-0.01949708]

qacc:
[-3.12801898e-01, 1.78204311e+00,-3.04915901e-01,-1.09770141e+01,
  5.80732541e-02,-1.08107926e+00, 5.11363478e+00,-1.09953807e+01,
 -1.85235440e-01,-1.47012686e+00, 6.21494953e+00,-1.42634237e+01,
 -1.59584718e-02, 3.40475595e-01,-8.52340059e+00, 1.65407293e+01,
 -3.05059456e+00, 1.90621650e-01,-4.18795939e+00,-2.03373235e+01,
 -9.34354718e+01, 1.01064609e+01]

qfrc_actuator:
[ 8.88036100e-03, 6.65568567e-02, 1.37629372e-02, 1.93750634e-03,
  5.51655015e-05, 3.50220602e-02, 1.09152389e-02, 1.80954818e-03,
 -3.07639714e-03, 3.45699378e-02, 1.08214420e-02, 1.67868496e-03,
  8.40524549e-03, 1.23968771e-02, 0.00000000e+00,-4.66599352e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16302206, -0.03928582, -0.15821762, -0.03928582,  0.5805364 ,
       -0.10366982, -0.15821762, -0.10366982,  0.18876352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011936250808665047
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6314395 ,  0.07871424, -0.77141962, -0.04985798,  0.99689722,
        0.0609107 ,  0.77382062,  0.        ,  0.63340481])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617791, -0.03399906,  0.22461181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16302206, -0.03928582, -0.15821762, -0.03928582,  0.5805364 ,
       -0.10366982, -0.15821762, -0.10366982,  0.18876352,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011936250808665047
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6314395 ,  0.07871424, -0.77141962, -0.04985798,  0.99689722,
        0.0609107 ,  0.77382062,  0.        ,  0.63340481])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617791, -0.03399906,  0.22461181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005712458268661118
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97335493e-01,  8.69871234e-02, -9.13541322e-01, -3.46945836e-02,
        9.96209436e-01,  7.97687000e-02,  9.17017334e-01,  6.93889390e-18,
        3.98847350e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08329286, -0.03391993,  0.22312124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.4329207 ,   5.32035945, -16.4329207 ,
        21.99517808,  14.58616854,   5.32035945,  14.58616854,
        62.32482439,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0016135627404008507
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.72014232e-14,  3.44028465e-14,  1.00000000e+00,  5.91777923e-28,
        1.00000000e+00, -3.44028465e-14, -1.00000000e+00,  0.00000000e+00,
       -1.72014232e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02320113, -0.09274789,  0.06189484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.37886721e-03, 3.22020064e-02, 3.25319679e-03,-3.20369504e-05,
  1.67346557e-05, 3.80982655e-05, 1.83568510e-05,-2.63758686e-05,
 -5.34457444e-05,-1.42465684e-05,-4.05347765e-06,-4.02050018e-05,
  1.00653736e-02, 1.49240428e-02, 6.99717699e-03, 8.84469922e-04,
  6.18099313e-04, 6.02037881e-03,-9.81158499e+00,-6.91127482e-03,
 -6.01630922e-02, 5.98477689e-02]


--- Step 3409 ---
qpos:
[-0.01772394, 1.19696059,-0.03480346, 0.9425945 ,-0.00796259, 1.33276071,
 -0.03116176, 0.94134198, 0.01531663, 1.33847873,-0.02376374, 0.95471015,
  1.27051849,-0.00845658, 1.28908262, 0.04473835,-0.05506089,-0.08561907,
  0.09160552, 0.69434118,-0.12048845,-0.70920403,-0.02006242]

qacc:
[-1.86268325e-01, 7.50331682e-01,-3.52491816e-01,-2.70050855e-01,
 -1.76095890e-02,-1.25231346e+00, 6.43524895e+00,-1.75509125e+01,
 -3.55437825e-02, 5.53365944e+00,-1.76302189e+01, 2.12144581e+01,
 -6.11654741e-02, 2.75702823e-01,-3.48624099e+00, 7.51233443e+00,
 -2.84048212e+00, 2.12758897e-01,-4.53227668e+00,-1.80103853e+01,
 -8.82907238e+01, 7.21938227e+00]

qfrc_actuator:
[ 8.86891116e-03, 6.65281094e-02, 1.37471974e-02, 1.93628000e-03,
  4.02148904e-05, 3.50089913e-02, 1.09009213e-02, 1.75632048e-03,
 -3.05500161e-03, 3.46711458e-02, 1.07788095e-02, 1.71056490e-03,
  8.40229824e-03, 1.24034283e-02, 0.00000000e+00,-4.39958281e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16298255, -0.0406815 , -0.15782372, -0.0406815 ,  0.58036314,
       -0.10758628, -0.15782372, -0.10758628,  0.19071457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011845679323110869
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63157148,  0.0787129 , -0.7713117 , -0.04986755,  0.99689733,
        0.06090114,  0.77371228,  0.        ,  0.63353714])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617741, -0.03400018,  0.22461322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16298255, -0.0406815 , -0.15782372, -0.0406815 ,  0.58036314,
       -0.10758628, -0.15782372, -0.10758628,  0.19071457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011845679323110869
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63157148,  0.0787129 , -0.7713117 , -0.04986755,  0.99689733,
        0.06090114,  0.77371228,  0.        ,  0.63353714])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617741, -0.03400018,  0.22461322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000570986384459727
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39731781,  0.08699107, -0.91354863, -0.03469463,  0.99620909,
        0.07977299,  0.91702499,  0.        ,  0.39882974])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08329034, -0.03392101,  0.2231215 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.81821417, -3.93634089, 16.81821417, 17.64571588,
        1.59361255, -3.93634089,  1.59361255, 24.08151695,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001584656296974206
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.02328729, -0.09274359,  0.06189666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.40324981e-03, 3.20540481e-02, 3.23891155e-03, 8.63960524e-06,
 -5.07049567e-06, 1.07853452e-05,-5.54905430e-06,-5.21470119e-05,
 -1.01699929e-05, 9.13642158e-05,-4.70492662e-05, 3.03964802e-05,
  1.00628580e-02, 1.49043482e-02, 7.30699353e-03, 9.21479063e-04,
  1.43373170e-03, 4.45182903e-03,-9.81141620e+00,-6.28210069e-03,
 -6.03015239e-02, 5.98928189e-02]


--- Step 3410 ---
qpos:
[-0.01773368, 1.19698339,-0.03480485, 0.94259434,-0.00796197, 1.33276332,
 -0.0311621 , 0.94134241, 0.01531668, 1.33847777,-0.02376634, 0.95470996,
  1.27055399,-0.00846887, 1.28905917, 0.04473655,-0.05508065,-0.08568203,
  0.09158996, 0.69418185,-0.11965797,-0.7094798 ,-0.02078321]

qacc:
[-1.03220992e-01, 6.06747603e-02, 6.59782933e-02, 8.76402499e-01,
 -1.04146142e-01, 1.41717099e-01,-3.21078525e+00, 1.26166467e+01,
  1.47175733e-01, 2.90973753e+00,-8.51559586e+00, 1.06007936e+01,
 -8.58994378e-02, 2.09594650e-01, 2.75051267e-02, 1.06838267e+00,
  4.56326683e-01,-3.21846124e+00, 1.07268999e-01, 9.61825334e+00,
  2.80351374e+01,-1.16922961e+02]

qfrc_actuator:
[ 8.84834871e-03, 6.65543036e-02, 1.37381420e-02, 1.93563557e-03,
  1.31711671e-05, 3.49287366e-02, 1.08925855e-02, 1.79616239e-03,
 -3.00648937e-03, 3.47498325e-02, 1.07726058e-02, 1.72956599e-03,
  8.40990350e-03, 1.24298991e-02, 0.00000000e+00,-4.76460313e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16293909, -0.04225725, -0.15736413, -0.04225725,  0.59537974,
       -0.11612401, -0.15736413, -0.11612401,  0.19412206,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001174519687734063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.31713438e-01,  7.87113033e-02, -7.71195606e-01, -4.98777361e-02,
        9.96897452e-01,  6.08907276e-02,  7.73595724e-01, -6.93889390e-18,
        6.33679459e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617687, -0.03400128,  0.22461474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16293909, -0.04225725, -0.15736413, -0.04225725,  0.59537974,
       -0.11612401, -0.15736413, -0.11612401,  0.19412206,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001174519687734063
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.31713438e-01,  7.87113033e-02, -7.71195606e-01, -4.98777361e-02,
        9.96897452e-01,  6.08907276e-02,  7.73595724e-01, -6.93889390e-18,
        6.33679459e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617687, -0.03400128,  0.22461474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005706792245382362
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39729853,  0.08699522, -0.91355663, -0.03469461,  0.99620873,
        0.07977752,  0.91703335,  0.        ,  0.39881053])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08328762, -0.03392207,  0.22312179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015511035149513158
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.57881667e-14,  1.78940834e-14,  1.00000000e+00,  6.40396439e-28,
        1.00000000e+00, -1.78940834e-14, -1.00000000e+00,  0.00000000e+00,
       -3.57881667e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06851863, -0.06256899,  0.06189871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.40402560e-03, 3.20123983e-02, 3.21003776e-03, 6.80329051e-06,
 -3.00363383e-05,-7.69689807e-05,-8.39102525e-06, 3.87995111e-05,
  4.25080430e-05, 1.20937169e-04, 7.18547747e-06, 2.10326869e-05,
  1.00693955e-02, 1.49147568e-02, 7.41689539e-03, 8.80834067e-04,
  1.78798021e-03, 3.16381586e-03,-9.81145936e+00,-5.67832047e-03,
 -6.04146080e-02, 5.99392713e-02]


--- Step 3411 ---
qpos:
[-0.01774275, 1.19700485,-0.03480642, 0.94259433,-0.00796148, 1.33276559,
 -0.03116271, 0.94134502, 0.01531688, 1.33847773,-0.02376811, 0.95470924,
  1.27058971,-0.0084814 , 1.28904043, 0.04473516,-0.0550987 ,-0.08575728,
  0.09157274, 0.69405675,-0.11865648,-0.70974439,-0.021651  ]

qacc:
[ 2.96557852e-01,-9.84546741e-01, 7.34767458e-01, 2.12480619e+00,
 -5.66213282e-02, 4.01717112e+00,-1.81649180e+01, 4.14230645e+01,
  6.40871770e-02,-1.94237852e+00, 8.80696461e+00,-1.41141866e+01,
  9.72183535e-02,-1.98454014e-01, 5.72751242e+00,-9.93227114e+00,
  4.29344350e-01,-3.07551074e+00,-4.12656351e-01, 9.14077324e+00,
  2.65889549e+01,-1.10654116e+02]

qfrc_actuator:
[ 8.85780449e-03, 6.65607243e-02, 1.37154016e-02, 1.93525856e-03,
  1.45979566e-05, 3.49332067e-02, 1.08876430e-02, 1.90817616e-03,
 -3.01311562e-03, 3.48145552e-02, 1.08233968e-02, 1.70533984e-03,
  8.40253507e-03, 1.24150935e-02, 0.00000000e+00,-6.39814837e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1628985 , -0.04321039, -0.15706299, -0.04321039,  0.6224637 ,
       -0.1264333 , -0.15706299, -0.1264333 ,  0.1976822 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011650520604244291
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63185391,  0.07870993, -0.77108066, -0.04988795,  0.99689756,
        0.06088058,  0.77348034,  0.        ,  0.63382029])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617634, -0.03400241,  0.22461625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1628985 , -0.04321039, -0.15706299, -0.04321039,  0.6224637 ,
       -0.1264333 , -0.15706299, -0.1264333 ,  0.1976822 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011650520604244291
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63185391,  0.07870993, -0.77108066, -0.04988795,  0.99689756,
        0.06088058,  0.77348034,  0.        ,  0.63382029])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617634, -0.03400241,  0.22461625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005704238771345183
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97278808e-01,  8.69994744e-02, -9.13564798e-01, -3.46945970e-02,
        9.96208357e-01,  7.97821627e-02,  9.17041893e-01,  6.93889390e-18,
        3.98790881e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08328494, -0.03392316,  0.22312208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001527141388070044
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.6349713e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -3.6349713e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06852629, -0.06255968,  0.06190019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.42530112e-03, 3.20039807e-02, 3.17823065e-03, 1.63545349e-06,
 -1.63069556e-05,-3.86022195e-05,-1.98230147e-05, 1.10349887e-04,
  1.84810828e-05, 1.33637207e-04, 7.58451013e-05,-1.99477845e-05,
  1.00602775e-02, 1.48919016e-02, 7.39065988e-03, 7.04859018e-04,
  2.56495448e-03, 6.01546473e-03,-9.81230013e+00,-5.52200437e-03,
 -6.03580023e-02, 5.99888578e-02]


--- Step 3412 ---
qpos:
[-0.01775069, 1.19702439,-0.03480858, 0.94259405,-0.00796078, 1.33276757,
 -0.03116316, 0.94135031, 0.01531713, 1.33847811,-0.02376845, 0.95470826,
  1.27062546,-0.00849443, 1.28902791, 0.04473416,-0.05511512,-0.08584436,
  0.0915521 , 0.6939637 ,-0.11749176,-0.70999764,-0.02265888]

qacc:
[ 4.91072682e-01,-1.39658954e+00, 2.08586655e+00,-3.77525802e+00,
  9.23802726e-02, 3.77871532e+00,-1.83287145e+01, 4.71897764e+01,
  2.36307568e-02,-3.76955858e+00, 1.35148333e+01,-1.51303442e+01,
  2.43686430e-02,-3.20927045e-01, 8.00999501e+00,-1.46579487e+01,
  4.07022286e-01,-2.95621308e+00,-8.55471038e-01, 8.71414602e+00,
  2.53864104e+01,-1.05527854e+02]

qfrc_actuator:
[ 8.88444898e-03, 6.65390503e-02, 1.37202508e-02, 1.91718304e-03,
  5.08456345e-05, 3.49351807e-02, 1.09028319e-02, 2.04403523e-03,
 -3.01726216e-03, 3.48173559e-02, 1.08895833e-02, 1.69139684e-03,
  8.39149082e-03, 1.24113703e-02, 0.00000000e+00,-8.08525517e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16287079, -0.04637356, -0.15612939, -0.04637356,  0.67564483,
       -0.15230416, -0.15612939, -0.15230416,  0.20810817,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011585425368379476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.31975437e-01,  7.87091400e-02, -7.70981140e-01, -4.98970425e-02,
        9.96897623e-01,  6.08721107e-02,  7.73380458e-01, -6.93889390e-18,
        6.33942164e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617593, -0.03400366,  0.22461756])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16287079, -0.04637356, -0.15612939, -0.04637356,  0.67564483,
       -0.15230416, -0.15612939, -0.15230416,  0.20810817,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011585425368379476
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.31975437e-01,  7.87091400e-02, -7.70981140e-01, -4.98970425e-02,
        9.96897623e-01,  6.08721107e-02,  7.73380458e-01, -6.93889390e-18,
        6.33942164e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617593, -0.03400366,  0.22461756])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005703698491885609
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3972605 ,  0.08700343, -0.91357238, -0.03469459,  0.99620801,
        0.07978648,  0.91704982,  0.        ,  0.39877264])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08328267, -0.03392438,  0.22312234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014934542567719422
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.8584818e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.8584818e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06853652, -0.06254452,  0.06190227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.41791635e-03, 3.20494197e-02, 3.19239327e-03,-2.46238416e-05,
  2.66197181e-05,-1.99465771e-05, 8.61809861e-06, 1.36675983e-04,
  6.77230154e-06, 9.09242197e-05, 1.00322460e-04,-8.23097789e-06,
  1.00385507e-02, 1.49006232e-02, 7.15532405e-03, 5.15833904e-04,
  3.28034009e-03, 9.51859274e-03,-9.81330446e+00,-5.41688653e-03,
 -6.02885776e-02, 6.00475235e-02]


--- Step 3413 ---
qpos:
[-0.01775848, 1.19704337,-0.03481177, 0.94259243,-0.00795963, 1.33276935,
 -0.0311633 , 0.94135406, 0.0153174 , 1.33847854,-0.02376772, 0.95470717,
  1.27066046,-0.00850759, 1.28901684, 0.04473327,-0.05514337,-0.08593103,
  0.09151358, 0.69373859,-0.11637426,-0.71036897,-0.02365849]

qacc:
[ 6.40567818e-02,-2.39443033e-01, 2.67911832e+00,-1.76225329e+01,
  1.90257666e-01,-3.73508824e+00, 1.50617169e+01,-3.08248016e+01,
  4.92543445e-03,-2.99760223e+00, 1.00722293e+01,-9.99739869e+00,
 -5.89637050e-01, 3.75863725e-01, 1.84511416e+00,-3.27213278e+00,
 -2.95678656e+00, 1.01370699e-01,-4.47067270e+00,-1.98747838e+01,
 -8.88736606e+01, 1.12017090e+01]

qfrc_actuator:
[ 8.90293567e-03, 6.65193774e-02, 1.37243751e-02, 1.85335563e-03,
  8.99349279e-05, 3.49179985e-02, 1.09120375e-02, 1.96205457e-03,
 -3.01988551e-03, 3.47831235e-02, 1.09285743e-02, 1.68358918e-03,
  8.38890136e-03, 1.24856547e-02, 0.00000000e+00,-7.85321149e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16285957, -0.04902857, -0.15530435, -0.04902857,  0.68872449,
       -0.16601211, -0.15530435, -0.16601211,  0.21526851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011558967704714158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63207147,  0.078709  , -0.77090243, -0.04990454,  0.99689763,
        0.06086579,  0.77330149,  0.        ,  0.63403849])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617566, -0.03400504,  0.2246186 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16285957, -0.04902857, -0.15530435, -0.04902857,  0.68872449,
       -0.16601211, -0.15530435, -0.16601211,  0.21526851,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011558967704714158
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63207147,  0.078709  , -0.77090243, -0.04990454,  0.99689763,
        0.06086579,  0.77330149,  0.        ,  0.63403849])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617566, -0.03400504,  0.2246186 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00057057360994325
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39724449,  0.08700689, -0.91357901, -0.03469458,  0.99620771,
        0.07979026,  0.91705676,  0.        ,  0.39875669])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08328094, -0.03392574,  0.22312256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.43620153,   5.31021532, -16.43620153,
        20.4222026 ,   9.7482697 ,   5.31021532,   9.7482697 ,
        47.44561399,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014596860842212428
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.80295132e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.80295132e-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([ 0.02365248, -0.09271864,  0.06190437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.38005948e-03, 3.21252089e-02, 3.22578695e-03,-7.47320343e-05,
  5.48021214e-05,-2.24156427e-05, 1.02992745e-05,-7.91536468e-05,
  1.37946259e-06, 3.53937025e-05, 6.79076745e-05,-2.37026658e-06,
  1.00343968e-02, 1.49998846e-02, 6.84405386e-03, 5.19339995e-04,
  3.94360523e-03, 1.35914252e-02,-9.81444041e+00,-5.35386309e-03,
 -6.02084708e-02, 6.01147012e-02]


--- Step 3414 ---
qpos:
[-0.01776692, 1.19706325,-0.03481475, 0.94259089,-0.00795803, 1.3327715 ,
 -0.03116346, 0.94135435, 0.01531752, 1.33847881,-0.02376721, 0.95470677,
  1.27069442,-0.00852034, 1.28900311, 0.04473216,-0.05516981,-0.08603019,
  0.09147364, 0.69354637,-0.11507852,-0.71072833,-0.02481152]

qacc:
[-2.82085305e-01, 7.75165720e-01,-1.28235963e+00, 1.52681541e+00,
  1.91122115e-01,-5.38214306e+00, 2.53014801e+01,-6.23913669e+01,
 -6.45849180e-02, 1.56011591e+00,-6.74772780e+00, 1.39479415e+01,
 -9.55978740e-01, 1.04400220e+00,-3.23188094e+00, 5.73328494e+00,
  4.50654212e-01,-3.12168709e+00,-3.55961656e-01, 9.11028071e+00,
  2.68770587e+01,-1.15440496e+02]

qfrc_actuator:
[ 0.00891706, 0.06642931, 0.01371099, 0.00186978, 0.00011266, 0.03496035,
  0.01091743, 0.00178802,-0.00303933, 0.03472687, 0.01089778, 0.00171491,
  0.0083808 , 0.01253557, 0.        ,-0.00066459, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.1628524 , -0.0391729 , -0.15807083, -0.0391729 ,  0.52565377,
       -0.08990894, -0.15807083, -0.08990894,  0.18513351,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011542005137247027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6321605 ,  0.07870915, -0.7708294 , -0.04991166,  0.99689762,
        0.06086014,  0.77322825,  0.        ,  0.63412781])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617542, -0.03400638,  0.22461958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1628524 , -0.0391729 , -0.15807083, -0.0391729 ,  0.52565377,
       -0.08990894, -0.15807083, -0.08990894,  0.18513351,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011542005137247027
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6321605 ,  0.07870915, -0.7708294 , -0.04991166,  0.99689762,
        0.06086014,  0.77322825,  0.        ,  0.63412781])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617542, -0.03400638,  0.22461958])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005708349706793486
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39722995,  0.08701026, -0.91358502, -0.03469467,  0.99620742,
        0.0797939 ,  0.91706305,  0.        ,  0.39874221])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08327936, -0.03392706,  0.22312278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014361668353815998
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.86522999e-14,  1.93261500e-14,  1.00000000e+00,  7.47000144e-28,
        1.00000000e+00, -1.93261500e-14, -1.00000000e+00,  0.00000000e+00,
       -3.86522999e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06855443, -0.06252132,  0.06190577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.38679821e-03, 3.20629503e-02, 3.26401746e-03, 9.09508394e-06,
  5.50734489e-05, 2.95738730e-05,-1.44288149e-07,-1.76234031e-04,
 -1.86238941e-05,-2.34897808e-05,-1.62363147e-05, 3.43027779e-05,
  1.00638567e-02, 1.50566529e-02, 6.77208299e-03, 6.34711223e-04,
  4.74550498e-03, 1.11910650e-02,-9.81443007e+00,-4.32971283e-03,
 -6.04246514e-02, 6.01938856e-02]


--- Step 3415 ---
qpos:
[-0.01777557, 1.19708282,-0.03481642, 0.94259167,-0.0079562 , 1.33277447,
 -0.03116386, 0.94135356, 0.01531759, 1.33847885,-0.02376812, 0.95470647,
  1.27072823,-0.00853268, 1.28899005, 0.04473089,-0.05519455,-0.08614136,
  0.09143042, 0.69338462,-0.11361281,-0.71107534,-0.0261105 ]

qacc:
[-8.96738687e-02,-9.29117907e-03,-5.25771991e+00, 3.17675398e+01,
  9.52555510e-02,-1.16832704e-01, 3.89292651e+00,-1.64264992e+01,
 -1.70374226e-02, 3.72828601e+00,-1.27196804e+01, 1.23541577e+01,
 -4.26318296e-01, 6.90339850e-01, 1.56270530e+00,-3.93253469e+00,
  4.25213232e-01,-3.00036427e+00,-8.19021618e-01, 8.67079567e+00,
  2.56125790e+01,-1.09921384e+02]

qfrc_actuator:
[ 0.00887603, 0.06638453, 0.01370404, 0.00198671, 0.00010763, 0.03503793,
  0.01092073, 0.00173882,-0.00303319, 0.03467537, 0.01080822, 0.00171569,
  0.0083801 , 0.01251711, 0.        ,-0.00073361, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.16283878, -0.03126338, -0.15980948, -0.03126338,  0.43605022,
       -0.0534481 , -0.15980948, -0.0534481 ,  0.17329478,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011509745570521639
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6322598 ,  0.07870915, -0.77074796, -0.0499195 ,  0.99689762,
        0.06085371,  0.77314655,  0.        ,  0.63422741])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617513, -0.03400761,  0.22462067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16283878, -0.03126338, -0.15980948, -0.03126338,  0.43605022,
       -0.0534481 , -0.15980948, -0.0534481 ,  0.17329478,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011509745570521639
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6322598 ,  0.07870915, -0.77074796, -0.0499195 ,  0.99689762,
        0.06085371,  0.77314655,  0.        ,  0.63422741])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617513, -0.03400761,  0.22462067])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005709958197894494
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39721439,  0.08701391, -0.91359143, -0.03469477,  0.9962071 ,
        0.07979783,  0.91706979,  0.        ,  0.39872673])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08327756, -0.03392826,  0.22312303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014094728313362795
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.96921679e-14,  1.96921679e-14,  1.00000000e+00,  3.87781476e-28,
        1.00000000e+00, -1.96921679e-14, -1.00000000e+00,  0.00000000e+00,
       -1.96921679e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06856288, -0.0625112 ,  0.06190737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.37811162e-03, 3.19731600e-02, 3.24691313e-03, 1.21804733e-04,
  2.74818712e-05, 8.85916884e-05, 3.90176631e-06,-5.23947224e-05,
 -4.86501236e-06,-6.66557205e-05,-9.49920185e-05, 4.11470580e-07,
  1.01148872e-02, 1.50178826e-02, 6.90566115e-03, 5.76350468e-04,
  5.77467499e-03, 1.60330544e-02,-9.81578802e+00,-4.17499691e-03,
 -6.03465763e-02, 6.02684686e-02]


--- Step 3416 ---
qpos:
[-0.01778417, 1.19710125,-0.03481798, 0.94259365,-0.00795456, 1.33277794,
 -0.03116393, 0.94135322, 0.01531767, 1.33847891,-0.0237697 , 0.95470613,
  1.2707624 ,-0.00854468, 1.28897711, 0.04472941,-0.05523116,-0.08625235,
  0.09136912, 0.6930907 ,-0.11219568,-0.71153818,-0.02740123]

qacc:
[ 2.01127533e-02, 2.26989086e-01,-5.02754971e+00, 1.89256111e+01,
 -8.03996675e-02, 5.40919961e-01,-1.87017894e+00, 6.48445150e+00,
  2.67797671e-03, 1.73668516e+00,-5.52095423e+00, 4.19812967e+00,
  5.21896607e-02, 2.50861862e-01, 7.94791461e-01,-2.51945376e+00,
 -2.96564496e+00, 4.16064035e-02,-4.51964530e+00,-1.98990362e+01,
 -8.82555131e+01, 1.18242649e+01]

qfrc_actuator:
[ 8.85500409e-03, 6.63855173e-02, 1.36819856e-02, 2.03740821e-03,
  6.82381366e-05, 3.50650614e-02, 1.09407750e-02, 1.76351788e-03,
 -3.02951658e-03, 3.47155905e-02, 1.07912060e-02, 1.71622149e-03,
  8.37847282e-03, 1.24929770e-02, 0.00000000e+00,-7.56648303e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16282623, -0.03012818, -0.16001461, -0.03012818,  0.44318769,
       -0.05278756, -0.16001461, -0.05278756,  0.17276528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001147992957020224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.32356986e-01,  7.87093957e-02, -7.70668199e-01, -4.99273306e-02,
        9.96897603e-01,  6.08476016e-02,  7.73066559e-01,  6.93889390e-18,
        6.34324914e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617484, -0.03400887,  0.22462174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16282623, -0.03012818, -0.16001461, -0.03012818,  0.44318769,
       -0.05278756, -0.16001461, -0.05278756,  0.17276528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001147992957020224
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.32356986e-01,  7.87093957e-02, -7.70668199e-01, -4.99273306e-02,
        9.96897603e-01,  6.08476016e-02,  7.73066559e-01,  6.93889390e-18,
        6.34324914e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617484, -0.03400887,  0.22462174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005711745518594616
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97197900e-01,  8.70176652e-02, -9.13598245e-01, -3.46948394e-02,
        9.96206769e-01,  7.98018933e-02,  9.17076930e-01, -6.93889390e-18,
        3.98710300e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08327579, -0.0339295 ,  0.22312326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.43954191,   5.29986501, -16.43954191,
        19.982956  ,   8.40680258,   5.29986501,   8.40680258,
        43.34961474,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013815926073064005
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.0268654e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -6.0268654e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02388331, -0.09267657,  0.06190906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.36738016e-03, 3.19889687e-02, 3.15869837e-03, 5.62086476e-05,
 -2.31635464e-05, 7.53034031e-05, 3.62825572e-05, 2.62732439e-05,
  7.99399216e-07,-1.51750629e-05,-4.08133392e-05,-4.22052101e-06,
  1.01209392e-02, 1.49736440e-02, 6.87206568e-03, 5.62048149e-04,
  6.73974265e-03, 2.14393738e-02,-9.81724848e+00,-4.06393019e-03,
 -6.02575794e-02, 6.03513292e-02]


--- Step 3417 ---
qpos:
[-0.01779321, 1.19711971,-0.03482016, 0.94259546,-0.00795323, 1.33278127,
 -0.03116376, 0.94135393, 0.01531763, 1.33847932,-0.02377054, 0.95470534,
  1.27079672,-0.00855615, 1.28895991, 0.04472759,-0.05526589,-0.086376  ,
  0.09130644, 0.69282758,-0.11059273,-0.7119879 ,-0.02885192]

qacc:
[-1.92940254e-01, 1.42725555e+00,-4.26881609e+00, 1.77220829e+00,
 -1.31297313e-01, 9.61473158e-01,-5.54945572e+00, 1.71507087e+01,
 -5.23138737e-02,-2.28382123e+00, 8.87523797e+00,-1.29692324e+01,
 -7.01194770e-03, 3.78683559e-01,-5.25864281e+00, 9.28586175e+00,
  4.69502485e-01,-3.16474206e+00,-3.45297063e-01, 9.03005016e+00,
  2.70251741e+01,-1.20381826e+02]

qfrc_actuator:
[ 8.86355078e-03, 6.63794279e-02, 1.36693132e-02, 2.03081596e-03,
  4.40628825e-05, 3.50086276e-02, 1.09348764e-02, 1.81371180e-03,
 -3.04510074e-03, 3.47929407e-02, 1.08530361e-02, 1.69895267e-03,
  8.37624593e-03, 1.25008451e-02, 0.00000000e+00,-6.09985365e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16281101, -0.03066358, -0.15989737, -0.03066358,  0.45381308,
       -0.05580558, -0.15989737, -0.05580558,  0.17351286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011443646311670545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63245305,  0.07870967, -0.77058934, -0.04993509,  0.99689758,
        0.06084159,  0.77298747,  0.        ,  0.63442129])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617455, -0.03401018,  0.22462277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16281101, -0.03066358, -0.15989737, -0.03066358,  0.45381308,
       -0.05580558, -0.15989737, -0.05580558,  0.17351286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011443646311670545
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63245305,  0.07870967, -0.77058934, -0.04993509,  0.99689758,
        0.06084159,  0.77298747,  0.        ,  0.63442129])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617455, -0.03401018,  0.22462277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005712832239753093
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97182361e-01,  8.70213779e-02, -9.13604648e-01, -3.46949736e-02,
        9.96206444e-01,  7.98058833e-02,  9.17083655e-01,  6.93889390e-18,
        3.98694832e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08327404, -0.0339308 ,  0.22312346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.50327233,  -5.09795152,  16.50327233,
        31.19386199,  45.0659989 ,  -5.09795152,  45.0659989 ,
       163.16200263,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013645595408535507
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03403185e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.03403185e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0685777 , -0.0624973 ,  0.06191001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.37361555e-03, 3.20400834e-02, 3.14062162e-03,-9.95754173e-06,
 -3.78465237e-05,-6.90714963e-06, 1.37338357e-05, 5.41414909e-05,
 -1.51125605e-05, 6.08634133e-05, 5.41055425e-05,-1.90136972e-05,
  1.01008927e-02, 1.49647432e-02, 6.86636570e-03, 7.18958612e-04,
  7.69819137e-03, 1.84060321e-02,-9.81726771e+00,-2.76606476e-03,
 -6.05294291e-02, 6.04511756e-02]


--- Step 3418 ---
qpos:
[-0.01780277, 1.19713931,-0.03482259, 0.94259671,-0.00795206, 1.33278443,
 -0.03116412, 0.94135494, 0.01531758, 1.33848004,-0.02377152, 0.9547051 ,
  1.27083076,-0.00856723, 1.28893918, 0.04472568,-0.05529885,-0.08651182,
  0.09124045, 0.69259255,-0.10881278,-0.71242393,-0.03045457]

qacc:
[-2.25367616e-01, 1.23744006e+00,-1.07700407e+00,-6.27541977e+00,
 -6.75144700e-02, 1.72488539e+00,-6.50899306e+00, 9.18252211e+00,
 -1.55327768e-03, 1.69772362e+00,-6.13740596e+00, 1.13307480e+01,
 -2.77832253e-01, 4.70692429e-01,-4.93223052e+00, 9.70033350e+00,
  4.41708051e-01,-3.03978721e+00,-8.28099125e-01, 8.57753211e+00,
  2.57006606e+01,-1.14496438e+02]

qfrc_actuator:
[ 8.89031376e-03, 6.63506194e-02, 1.37162091e-02, 2.00848099e-03,
  4.69651808e-05, 3.49735244e-02, 1.08956207e-02, 1.82515853e-03,
 -3.03660723e-03, 3.47857221e-02, 1.08367735e-02, 1.72467388e-03,
  8.37366614e-03, 1.25453367e-02, 0.00000000e+00,-5.03306390e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1627819 , -0.03853261, -0.15815557, -0.03853261,  0.53293497,
       -0.09018312, -0.15815557, -0.09018312,  0.18475387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011373939422294234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63256491,  0.07870938, -0.77049754, -0.04994374,  0.9968976 ,
        0.06083412,  0.77289537,  0.        ,  0.63453349])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617415, -0.03401144,  0.22462393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1627819 , -0.03853261, -0.15815557, -0.03853261,  0.53293497,
       -0.09018312, -0.15815557, -0.09018312,  0.18475387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011373939422294234
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63256491,  0.07870938, -0.77049754, -0.04994374,  0.9968976 ,
        0.06083412,  0.77289537,  0.        ,  0.63453349])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617415, -0.03401144,  0.22462393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005711351983152674
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39716736,  0.08702525, -0.9136108 , -0.03469522,  0.99620611,
        0.07981   ,  0.91709014,  0.        ,  0.39867991])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08327194, -0.03393203,  0.22312365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001343247564628905
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.13260762e-14,  2.06630381e-14,  1.00000000e+00,  8.53922288e-28,
        1.00000000e+00, -2.06630381e-14, -1.00000000e+00,  0.00000000e+00,
       -4.13260762e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06858483, -0.06249138,  0.06191124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.42247863e-03, 3.20095310e-02, 3.21837168e-03,-2.40898114e-05,
 -1.94395359e-05,-3.46286961e-05,-3.74583721e-05, 1.29016213e-05,
 -4.29160431e-07, 3.64381734e-05, 1.21604448e-06, 2.86640913e-05,
  1.00907967e-02, 1.49827130e-02, 7.07915853e-03, 8.42541413e-04,
  9.07509655e-03, 2.47588792e-02,-9.81897214e+00,-2.55897367e-03,
 -6.04429695e-02, 6.05407818e-02]


--- Step 3419 ---
qpos:
[-0.01781251, 1.19716053,-0.03482454, 0.94259795,-0.00795112, 1.33278784,
 -0.03116541, 0.94135571, 0.01531758, 1.33848099,-0.0237738 , 0.95470592,
  1.27086452,-0.0085781 , 1.28891644, 0.04472385,-0.05532489,-0.08665597,
  0.0911726 , 0.69244657,-0.10687591,-0.7127832 ,-0.03217747]

qacc:
[-8.00644570e-02, 7.94144655e-01, 3.10679074e-02,-1.26531565e+00,
 -9.68259003e-02, 2.42788785e+00,-7.04038824e+00, 3.24761495e+00,
  1.66318682e-02, 5.68255191e+00,-2.03018231e+01, 2.97698919e+01,
 -2.43611102e-01, 3.27986185e-01,-3.17867582e+00, 6.85980960e+00,
  1.73017649e+00,-2.08424734e+00,-4.64229809e-01, 1.51811972e+01,
  6.72335577e+01,-9.20002641e+01]

qfrc_actuator:
[ 8.92825780e-03, 6.62893077e-02, 1.37632269e-02, 2.01266569e-03,
  3.05819478e-05, 3.50045592e-02, 1.08547826e-02, 1.81369433e-03,
 -3.03149048e-03, 3.47631700e-02, 1.07564799e-02, 1.77538798e-03,
  8.37090792e-03, 1.25584826e-02, 0.00000000e+00,-4.38479497e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16274422, -0.04242706, -0.1571166 , -0.04242706,  0.56768951,
       -0.1093496 , -0.1571166 , -0.1093496 ,  0.1922725 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011283041125768542
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.32690956e-01,  7.87086580e-02, -7.70394121e-01, -4.99532279e-02,
        9.96897661e-01,  6.08253883e-02,  7.72791582e-01, -6.93889390e-18,
        6.34659886e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617367, -0.03401262,  0.22462525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16274422, -0.04242706, -0.1571166 , -0.04242706,  0.56768951,
       -0.1093496 , -0.1571166 , -0.1093496 ,  0.1922725 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011283041125768542
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.32690956e-01,  7.87086580e-02, -7.70394121e-01, -4.99532279e-02,
        9.96897661e-01,  6.08253883e-02,  7.72791582e-01, -6.93889390e-18,
        6.34659886e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617367, -0.03401262,  0.22462525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005708461740659351
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39715154,  0.08702935, -0.91361729, -0.03469548,  0.99620575,
        0.07981436,  0.91709698,  0.        ,  0.39866417])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08326953, -0.03393318,  0.22312388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.11585169,  2.32265546, 17.11585169, 18.51919555,
       -9.18533398,  2.32265546, -9.18533398, 84.96025842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001344442893153816
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06446668e-14, -2.06446668e-14,  1.00000000e+00, -4.26202269e-28,
        1.00000000e+00,  2.06446668e-14, -1.00000000e+00,  0.00000000e+00,
       -2.06446668e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0860837 , -0.06452906,  0.06191105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.48623825e-03, 3.18911254e-02, 3.27818901e-03, 8.02666689e-06,
 -2.78599087e-05, 4.91496582e-06,-5.15019408e-05,-1.33030743e-05,
  4.86483341e-06,-1.31921700e-06,-7.22004219e-05, 5.24959279e-05,
  1.01020528e-02, 1.49769383e-02, 7.25658855e-03, 9.12103752e-04,
  1.03757290e-02, 3.16664173e-02,-9.82073935e+00,-2.39657820e-03,
 -6.03452982e-02, 6.06382453e-02]


--- Step 3420 ---
qpos:
[-0.01782158, 1.19718132,-0.03482661, 0.94259876,-0.00795025, 1.33279144,
 -0.03116726, 0.94135702, 0.01531747, 1.33848174,-0.02377541, 0.95470624,
  1.27089819,-0.00858933, 1.28889837, 0.0447225 ,-0.05534437,-0.08680819,
  0.0911008 , 0.69238344,-0.10479129,-0.71306876,-0.03401324]

qacc:
[ 2.95943547e-01,-9.74112336e-01, 3.37520289e+00,-7.65209252e+00,
 -3.05120745e-02, 2.66223923e+00,-9.50733740e+00, 1.43473278e+01,
 -4.08813526e-02,-2.96678599e+00, 1.03456432e+01,-1.45816136e+01,
 -6.94255967e-02,-1.66029743e-01, 5.43329900e+00,-8.98862334e+00,
  1.63965336e+00,-2.01731979e+00,-9.89184274e-01, 1.41679905e+01,
  6.34559219e+01,-8.64694931e+01]

qfrc_actuator:
[ 8.93727869e-03, 6.62608057e-02, 1.37741709e-02, 1.97918706e-03,
  3.82653866e-05, 3.50216630e-02, 1.08313502e-02, 1.84215106e-03,
 -3.04619438e-03, 3.47668664e-02, 1.07987642e-02, 1.75158872e-03,
  8.37870431e-03, 1.25883426e-02, 0.00000000e+00,-6.11929115e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16270415, -0.05373269, -0.15357551, -0.05373269,  0.71674574,
       -0.19384696, -0.15357551, -0.19384696,  0.23052693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011185497405510197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63282632,  0.07870755, -0.77028304, -0.04996321,  0.99689775,
        0.06081576,  0.77268009,  0.        ,  0.63479562])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617315, -0.03401376,  0.22462668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16270415, -0.05373269, -0.15357551, -0.05373269,  0.71674574,
       -0.19384696, -0.15357551, -0.19384696,  0.23052693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011185497405510197
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63282632,  0.07870755, -0.77028304, -0.04996321,  0.99689775,
        0.06081576,  0.77268009,  0.        ,  0.63479562])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617315, -0.03401376,  0.22462668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005705396001222385
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39713378,  0.08703356, -0.91362461, -0.03469562,  0.99620538,
        0.07981888,  0.91710467,  0.        ,  0.39864649])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08326694, -0.03393427,  0.22312413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.76520867,  -4.15630674, -16.76520867,
        24.7707006 , -30.24442023,  -4.15630674, -30.24442023,
       139.26902073,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001335014638010175
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.07904654e-14, -2.07904654e-14,  1.00000000e+00, -4.32243451e-28,
        1.00000000e+00,  2.07904654e-14, -1.00000000e+00,  0.00000000e+00,
       -2.07904654e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08609101, -0.06453411,  0.06191154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.50441446e-03, 3.17809445e-02, 3.26470915e-03,-2.45447922e-05,
 -8.76240611e-06, 9.32139643e-06,-2.87251194e-05, 2.67895652e-05,
 -1.18307115e-05,-9.58067002e-06, 3.53597970e-05,-2.47301935e-05,
  1.01238907e-02, 1.49963410e-02, 7.35713813e-03, 7.34857005e-04,
  1.04064086e-02, 3.96543519e-02,-9.82215562e+00,-2.97105160e-03,
 -6.01226848e-02, 6.07314231e-02]


--- Step 3421 ---
qpos:
[-0.01783049, 1.1972014 ,-0.03482893, 0.94259919,-0.00794939, 1.33279459,
 -0.0311689 , 0.94135937, 0.01531739, 1.33848236,-0.02377566, 0.95470623,
  1.27093092,-0.00860073, 1.28888421, 0.04472149,-0.05537774,-0.08696099,
  0.09101427, 0.69216462,-0.10277112,-0.71348564,-0.03583949]

qacc:
[ 6.44445785e-02,-8.73229783e-01, 2.48936808e+00,-6.01986941e+00,
 -2.94493071e-03, 6.07389235e-01,-4.82470529e+00, 1.65031241e+01,
  7.28870634e-03,-4.37850456e+00, 1.47527883e+01,-1.65353103e+01,
 -8.34943674e-01, 5.78520169e-01, 4.84873720e+00,-8.42576977e+00,
 -3.47155312e+00,-1.46263788e-01,-3.67958724e+00,-2.48392024e+01,
 -1.02565750e+02, 1.67515253e+01]

qfrc_actuator:
[ 8.94590929e-03, 6.62534043e-02, 1.37638861e-02, 1.95903622e-03,
  4.25710301e-05, 3.49771228e-02, 1.08361208e-02, 1.89388615e-03,
 -3.03716464e-03, 3.47866644e-02, 1.08776281e-02, 1.73747854e-03,
  8.37152351e-03, 1.26819738e-02, 0.00000000e+00,-6.97997794e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16267845, -0.05192909, -0.1541676 , -0.05192909,  0.65444092,
       -0.16564297, -0.1541676 , -0.16564297,  0.21847286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011122490691333614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63294388,  0.07870697, -0.77018651, -0.04997212,  0.99689779,
        0.06080768,  0.77258322,  0.        ,  0.63491351])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617275, -0.03401498,  0.22462795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16267845, -0.05192909, -0.1541676 , -0.05192909,  0.65444092,
       -0.16564297, -0.1541676 , -0.16564297,  0.21847286,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011122490691333614
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63294388,  0.07870697, -0.77018651, -0.04997212,  0.99689779,
        0.06080768,  0.77258322,  0.        ,  0.63491351])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617275, -0.03401498,  0.22462795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005704892125914761
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97116540e-01,  8.70374883e-02, -9.13631725e-01, -3.46956951e-02,
        9.96205037e-01,  7.98231364e-02,  9.17112132e-01, -6.93889390e-18,
        3.98629324e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08326475, -0.03393546,  0.22312438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.77185337,   4.12941184, -16.77185337,
        19.57577592,   9.35396996,   4.12941184,   9.35396996,
        55.26443618,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00133141428475754
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.25400582e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.25400582e-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([ 0.02404917, -0.0925248 ,  0.06191166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.47907710e-03, 3.17951901e-02, 3.26053096e-03,-2.31178065e-05,
 -8.66657005e-07,-4.42182182e-05, 4.11045348e-06, 5.17980139e-05,
  2.04282145e-06, 2.06693812e-05, 8.02891050e-05,-1.39356015e-05,
  1.01213865e-02, 1.51080610e-02, 7.12424284e-03, 6.24658048e-04,
  1.00779499e-02, 4.79601157e-02,-9.82359213e+00,-3.62446197e-03,
 -5.98921084e-02, 6.08307672e-02]


--- Step 3422 ---
qpos:
[-0.01783947, 1.19722153,-0.03483067, 0.94260065,-0.00794881, 1.33279718,
 -0.03116975, 0.94136126, 0.0153175 , 1.33848273,-0.02377547, 0.95470715,
  1.27096315,-0.00861184, 1.28886989, 0.04472037,-0.05540338,-0.08711915,
  0.09093534, 0.69204655,-0.10064638,-0.71380473,-0.03774505]

qacc:
[-2.67541805e-02, 2.20248695e-01,-2.75739620e+00, 1.42453834e+01,
 -1.17024234e-01,-3.60950998e+00, 1.18321026e+01,-1.51841454e+01,
  8.46585638e-02, 3.68957452e-02,-2.38669342e+00, 1.28941937e+01,
 -5.74537679e-01, 6.85463865e-01, 1.06782803e-01,-6.50842483e-01,
  1.93069724e+00,-1.33900145e+00, 1.89673242e+00, 1.13186559e+01,
  7.57326012e+01,-5.79217533e+01]

qfrc_actuator:
[ 8.95456532e-03, 6.62591115e-02, 1.37410464e-02, 2.01800540e-03,
  9.30871725e-06, 3.49494044e-02, 1.08750134e-02, 1.87010966e-03,
 -3.01396954e-03, 3.47451080e-02, 1.08887330e-02, 1.78247233e-03,
  8.36608740e-03, 1.26718012e-02, 0.00000000e+00,-6.60667674e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16266428, -0.03628478, -0.1585657 , -0.03628478,  0.47667751,
       -0.07185603, -0.1585657 , -0.07185603,  0.17910718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001108756904147478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63304526,  0.07870716, -0.77010316, -0.04998024,  0.99689778,
        0.06080125,  0.77249963,  0.        ,  0.63501522])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617244, -0.03401621,  0.22462907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16266428, -0.03628478, -0.1585657 , -0.03628478,  0.47667751,
       -0.07185603, -0.1585657 , -0.07185603,  0.17910718,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001108756904147478
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63304526,  0.07870716, -0.77010316, -0.04998024,  0.99689778,
        0.06080125,  0.77249963,  0.        ,  0.63501522])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617244, -0.03401621,  0.22462907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000570638337810625
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39710019,  0.08704134, -0.91363847, -0.03469581,  0.9962047 ,
        0.07982729,  0.91711921,  0.        ,  0.39861304])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0832629 , -0.03393667,  0.22312463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.85115685,  -3.79283801,  16.85115685,
        25.53183826,  36.69431026,  -3.79283801,  36.69431026,
       180.30146094,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0013623053288416842
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.14959027e-14,  4.07479513e-14,  1.00000000e+00, -3.32079107e-27,
        1.00000000e+00, -4.07479513e-14, -1.00000000e+00,  0.00000000e+00,
        8.14959027e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08476267, -0.07023166,  0.06190954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.48032511e-03, 3.18362098e-02, 3.25044585e-03, 5.44466311e-05,
 -3.37756727e-05,-4.98324258e-05, 3.22289806e-05,-2.37836223e-05,
  2.44024811e-05,-1.48630633e-05, 2.38582746e-05, 4.76320250e-05,
  1.01628981e-02, 1.51065681e-02, 6.92858427e-03, 6.45506762e-04,
  1.23380019e-02, 4.26290678e-02,-9.82329915e+00,-1.58460408e-03,
 -6.03670190e-02, 6.09639907e-02]


--- Step 3423 ---
qpos:
[-0.01784724, 1.19724092,-0.03483237, 0.94260256,-0.00794855, 1.33279952,
 -0.03117023, 0.94136284, 0.01531784, 1.33848274,-0.02377528, 0.95470829,
  1.27099598,-0.00862311, 1.28885767, 0.04471926,-0.0554218 ,-0.08728252,
  0.0908608 , 0.69202114,-0.09842402,-0.71403178,-0.03972487]

qacc:
[ 5.25063411e-01,-3.06951677e-01,-1.09188649e+00, 6.62022722e+00,
 -1.38594714e-01,-1.88599349e+00, 6.39479731e+00,-8.95159048e+00,
  9.76574506e-02,-6.66510145e-02,-8.09515705e-01, 3.48594708e+00,
  4.64151773e-01,-4.61721659e-01, 3.04379433e+00,-6.18825735e+00,
  1.80676074e+00,-1.30022997e+00, 1.10032591e+00, 1.02036802e+01,
  7.05002720e+01,-5.41613441e+01]

qfrc_actuator:
[ 8.99889212e-03, 6.62544558e-02, 1.37454385e-02, 2.03443711e-03,
 -1.07166342e-05, 3.49498232e-02, 1.08982231e-02, 1.85535936e-03,
 -3.00021768e-03, 3.47024261e-02, 1.08772925e-02, 1.79079375e-03,
  8.36169224e-03, 1.25812082e-02, 0.00000000e+00,-7.44272897e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16264965, -0.03714514, -0.15835134, -0.03714514,  0.52880555,
       -0.08589073, -0.15835134, -0.08589073,  0.1827974 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011051412951943416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63314733,  0.07870735, -0.77001923, -0.04998842,  0.99689776,
        0.06079477,  0.77241544,  0.        ,  0.63511762])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617213, -0.03401742,  0.22463019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16264965, -0.03714514, -0.15835134, -0.03714514,  0.52880555,
       -0.08589073, -0.15835134, -0.08589073,  0.1827974 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011051412951943416
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63314733,  0.07870735, -0.77001923, -0.04998842,  0.99689776,
        0.06079477,  0.77241544,  0.        ,  0.63511762])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617213, -0.03401742,  0.22463019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005707807001767776
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39708325,  0.08704523, -0.91364546, -0.0346959 ,  0.99620436,
        0.07983149,  0.91712654,  0.        ,  0.39859618])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08326102, -0.03393786,  0.22312488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013796267267446038
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.04727107e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.04727107e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08474656, -0.07024603,  0.06190831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.52771291e-03, 3.18288884e-02, 3.22545607e-03, 1.97280294e-05,
 -3.99654560e-05,-2.15760633e-05, 1.64297496e-05,-1.58527224e-05,
  2.81626218e-05,-4.48304536e-05,-1.02372004e-05, 9.68960834e-06,
  1.01834171e-02, 1.50019908e-02, 6.93753664e-03, 5.67253019e-04,
  1.13736286e-02, 4.97594222e-02,-9.82421448e+00,-2.45416810e-03,
 -6.01910495e-02, 6.10575806e-02]


--- Step 3424 ---
qpos:
[-0.01785437, 1.1972603 ,-0.03483377, 0.94260526,-0.00794844, 1.33280184,
 -0.03117075, 0.94136355, 0.01531824, 1.33848253,-0.02377523, 0.95470848,
  1.27102883,-0.00863428, 1.28884424, 0.04471791,-0.05543097,-0.08744103,
  0.09080141, 0.6921122 ,-0.09627484,-0.71412711,-0.04164529]

qacc:
[ 2.81923220e-01, 5.44781836e-01,-3.43203640e+00, 1.22129617e+01,
 -6.16234879e-02,-1.39485042e+00, 6.30786041e+00,-1.56271960e+01,
  2.37823299e-02,-1.56388664e+00, 6.68293251e+00,-1.66359984e+01,
  6.94117451e-03, 6.70743789e-02,-1.05976150e+00, 1.12660259e+00,
  2.31249154e+00, 1.21179204e+00, 3.78521453e+00,-9.99729940e-01,
  8.27856710e+01, 5.54790162e+01]

qfrc_actuator:
[ 9.04562721e-03, 6.62265937e-02, 1.37487306e-02, 2.07876988e-03,
 -4.88575568e-06, 3.49492849e-02, 1.08943536e-02, 1.81055374e-03,
 -3.00999512e-03, 3.46947882e-02, 1.08703613e-02, 1.74193985e-03,
  8.35251584e-03, 1.25847216e-02, 0.00000000e+00,-6.87485719e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16263968, -0.03272457, -0.15931343, -0.03272457,  0.46165654,
       -0.06142106, -0.15931343, -0.06142106,  0.17525618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011026694583215688
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63324152,  0.0787072 , -0.76994179, -0.04999577,  0.99689778,
        0.06078854,  0.77233775,  0.        ,  0.63521209])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617186, -0.03401873,  0.22463123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16263968, -0.03272457, -0.15931343, -0.03272457,  0.46165654,
       -0.06142106, -0.15931343, -0.06142106,  0.17525618,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00011026694583215688
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63324152,  0.0787072 , -0.76994179, -0.04999577,  0.99689778,
        0.06078854,  0.77233775,  0.        ,  0.63521209])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617186, -0.03401873,  0.22463123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005709978540584526
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39706696,  0.08704863, -0.91365221, -0.03469584,  0.99620406,
        0.07983522,  0.91713359,  0.        ,  0.39857995])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08325932, -0.03393914,  0.2231251 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001414512628308627
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.92440125e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.92440125e-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([-0.0864324 , -0.08067475,  0.06190598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.51419810e-03, 3.18375414e-02, 3.22677773e-03, 4.16620010e-05,
 -1.77621612e-05,-9.75273451e-06,-6.68647069e-06,-4.53363187e-05,
  6.85283764e-06,-3.41384146e-05,-1.65650148e-05,-5.02548319e-05,
  1.01447540e-02, 1.50140986e-02, 6.83221368e-03, 6.23365238e-04,
  1.00925379e-02, 5.68711533e-02,-9.82512923e+00,-3.33780709e-03,
 -6.00256066e-02, 6.11549709e-02]


--- Step 3425 ---
qpos:
[-0.01786164, 1.19727959,-0.03483539, 0.94260816,-0.00794824, 1.33280413,
 -0.03117076, 0.94136334, 0.01531863, 1.33848234,-0.02377571, 0.95470912,
  1.27106102,-0.00864516, 1.28882871, 0.04471636,-0.05543149,-0.0875953 ,
  0.09075308, 0.69231048,-0.09419257,-0.71410129,-0.04351213]

qacc:
[-6.40909445e-02, 7.89666279e-01,-3.14405239e+00, 5.09999485e+00,
  3.75919683e-02,-2.97613712e+00, 1.15929528e+01,-2.07361143e+01,
 -7.06889899e-03, 2.25535985e+00,-8.22814548e+00, 1.23091121e+01,
 -6.19473939e-01, 6.97078976e-01,-2.44156485e+00, 4.10183936e+00,
  2.16174735e+00, 1.06187528e+00, 2.76737417e+00,-1.38739712e+00,
  7.62290235e+01, 5.04919707e+01]

qfrc_actuator:
[ 9.05837796e-03, 6.62198785e-02, 1.37333377e-02, 2.08605920e-03,
  1.64079254e-05, 3.49658102e-02, 1.09277792e-02, 1.76615968e-03,
 -3.01605527e-03, 3.47081675e-02, 1.08485067e-02, 1.76638143e-03,
  8.35647707e-03, 1.26799965e-02, 0.00000000e+00,-6.34980336e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16262572, -0.03485458, -0.15884673, -0.03485458,  0.46454069,
       -0.066247  , -0.15884673, -0.066247  ,  0.17716182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010991991685539368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.33340328e-01,  7.87064007e-02, -7.69860592e-01, -5.00030552e-02,
        9.96897840e-01,  6.07815103e-02,  7.72256255e-01,  6.93889390e-18,
        6.35311165e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617157, -0.03402001,  0.2246323 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16262572, -0.03485458, -0.15884673, -0.03485458,  0.46454069,
       -0.066247  , -0.15884673, -0.066247  ,  0.17716182,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010991991685539368
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.33340328e-01,  7.87064007e-02, -7.69860592e-01, -5.00030552e-02,
        9.96897840e-01,  6.07815103e-02,  7.72256255e-01,  6.93889390e-18,
        6.35311165e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617157, -0.03402001,  0.2246323 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005711395641556267
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39705041,  0.08705177, -0.9136591 , -0.03469565,  0.99620379,
        0.07983873,  0.91714076,  0.        ,  0.39856344])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08325751, -0.0339404 ,  0.22312532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014535895331371507
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.81890141e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.81890141e-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([-0.0863938 , -0.08068028,  0.06190345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.49458963e-03, 3.18309286e-02, 3.19656254e-03, 9.21176146e-06,
  1.08081902e-05, 8.43944725e-06, 2.94245394e-05,-4.59310496e-05,
 -2.01421659e-06,-1.02214235e-05,-3.18745156e-05, 2.17755440e-05,
  1.01471396e-02, 1.51042368e-02, 6.89256187e-03, 6.87787807e-04,
  6.51909872e-03, 5.64819587e-02,-9.82425987e+00,-4.40494739e-03,
 -6.00957437e-02, 6.12440285e-02]


--- Step 3426 ---
qpos:
[-0.01786857, 1.19729802,-0.03483862, 0.9426092 ,-0.00794788, 1.33280658,
 -0.03117019, 0.94136362, 0.01531926, 1.33848257,-0.02377696, 0.95471002,
  1.27109308,-0.00865615, 1.28881416, 0.04471494,-0.05544688,-0.08774999,
  0.09069337, 0.69232843,-0.09215733,-0.714233  ,-0.04538285]

qacc:
[ 1.47849971e-01, 5.25715830e-02, 2.31259205e+00,-2.30908351e+01,
  6.60654567e-02,-5.26262090e-01, 9.35351549e-01, 4.76538585e+00,
  1.05690112e-01, 3.05961647e+00,-9.84297810e+00, 1.13107310e+01,
 -7.00005286e-02,-2.87678836e-02, 1.02348410e+00,-1.45397827e+00,
 -3.71662496e+00,-1.06182396e-01,-2.84672628e+00,-2.27281957e+01,
 -1.19754583e+02, 4.11544443e+00]

qfrc_actuator:
[ 9.05127314e-03, 6.62614509e-02, 1.37071262e-02, 1.98263695e-03,
  2.90507861e-05, 3.49925656e-02, 1.09652816e-02, 1.79341722e-03,
 -2.98432962e-03, 3.47517630e-02, 1.08181574e-02, 1.78052124e-03,
  8.35773088e-03, 1.26880739e-02, 0.00000000e+00,-6.91491025e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16260526, -0.04754865, -0.15549789, -0.04754865,  0.64548884,
       -0.1476577 , -0.15549789, -0.1476577 ,  0.2077565 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010940894507898737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.33446093e-01,  7.87053189e-02, -7.69773681e-01, -5.00107137e-02,
        9.96897925e-01,  6.07738079e-02,  7.72169007e-01, -6.93889390e-18,
        6.35417205e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617122, -0.03402122,  0.22463344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16260526, -0.04754865, -0.15549789, -0.04754865,  0.64548884,
       -0.1476577 , -0.15549789, -0.1476577 ,  0.2077565 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010940894507898737
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.33446093e-01,  7.87053189e-02, -7.69773681e-01, -5.00107137e-02,
        9.96897925e-01,  6.07738079e-02,  7.72169007e-01, -6.93889390e-18,
        6.35417205e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617122, -0.03402122,  0.22463344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005711523023760566
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.97034147e-01,  8.70549743e-02, -9.13665868e-01, -3.46955186e-02,
        9.96203509e-01,  7.98422791e-02,  9.17147811e-01, -6.93889390e-18,
        3.98547228e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08325555, -0.03394158,  0.22312555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.23966824,   1.0681509 , -17.23966824,
        17.76470919,   7.94045577,   1.0681509 ,   7.94045577,
       145.42954742,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001488403901729024
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.45915153e-14, -3.72957577e-14,  1.00000000e+00, -2.78194708e-27,
        1.00000000e+00,  3.72957577e-14, -1.00000000e+00,  0.00000000e+00,
       -7.45915153e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02363616, -0.09225465,  0.06190122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.49481411e-03, 3.18771815e-02, 3.18106552e-03,-1.04162859e-04,
  1.90235356e-05, 3.57816553e-05, 4.11525922e-05, 2.73140971e-05,
  3.05355099e-05, 3.23663185e-05,-3.53292231e-05, 1.34108312e-05,
  1.01816840e-02, 1.50976514e-02, 6.99853895e-03, 6.41900384e-04,
  3.12263572e-03, 5.61063545e-02,-9.82356949e+00,-5.29869165e-03,
 -6.01733152e-02, 6.13307461e-02]


--- Step 3427 ---
qpos:
[-0.01787515, 1.1973173 ,-0.03484252, 0.94260879,-0.00794737, 1.33280909,
 -0.03116968, 0.94136391, 0.01532019, 1.33848244,-0.02377768, 0.95471039,
  1.27112566,-0.00866722, 1.28879905, 0.04471361,-0.0554758 ,-0.0879049 ,
  0.09061991, 0.69218032,-0.09015742,-0.71451002,-0.04725957]

qacc:
[ 1.54051470e-01, 4.52056980e-01, 2.88008753e+00,-1.98828948e+01,
  6.44590030e-02, 2.70026565e-01,-7.96546218e-01, 8.47959777e-01,
  1.27225490e-01,-2.79227490e+00, 9.58081684e+00,-1.41371013e+01,
  4.96234536e-01,-4.65574484e-01,-1.08179945e+00, 2.51006426e+00,
 -3.38283838e+00,-5.57708777e-02,-3.43645336e+00,-1.87270177e+01,
 -1.10130001e+02, 7.22056602e-02]

qfrc_actuator:
[ 9.04957971e-03, 6.62617878e-02, 1.37291645e-02, 1.92128544e-03,
  3.64004349e-05, 3.49720516e-02, 1.09517080e-02, 1.79161548e-03,
 -2.96569765e-03, 3.47065653e-02, 1.08364070e-02, 1.75298131e-03,
  8.36266145e-03, 1.26086246e-02, 0.00000000e+00,-6.36156893e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16258645, -0.04796121, -0.15535146, -0.04796121,  0.67153489,
       -0.15712619, -0.15535146, -0.15712619,  0.21109556,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010893723575121535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.33546555e-01,  7.87043065e-02, -7.69691104e-01, -5.00179978e-02,
        9.96898005e-01,  6.07665019e-02,  7.72086111e-01, -6.93889390e-18,
        6.35517928e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617089, -0.03402243,  0.22463452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16258645, -0.04796121, -0.15535146, -0.04796121,  0.67153489,
       -0.15712619, -0.15535146, -0.15712619,  0.21109556,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010893723575121535
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.33546555e-01,  7.87043065e-02, -7.69691104e-01, -5.00179978e-02,
        9.96898005e-01,  6.07665019e-02,  7.72086111e-01, -6.93889390e-18,
        6.35517928e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617089, -0.03402243,  0.22463452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005711732593579183
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39702015,  0.08705799, -0.91367166, -0.03469551,  0.99620325,
        0.07984558,  0.91715387,  0.        ,  0.39853329])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0832537 , -0.03394276,  0.22312576])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.09688577, -2.45837432, 17.09688577, 17.30154038,
        0.20038219, -2.45837432,  0.20038219, 18.66629509,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015192798094991675
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.65378062e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.65378062e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02355282, -0.09221157,  0.0618992 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.47611596e-03, 3.19203835e-02, 3.28366825e-03,-7.23866813e-05,
  1.85806909e-05, 8.14121598e-06,-1.08875541e-06, 1.12158532e-06,
  3.66663534e-05,-3.37991683e-05, 2.09502371e-05,-2.73027990e-05,
  1.01929490e-02, 1.50243522e-02, 6.94942683e-03, 6.90036938e-04,
  7.16528040e-03, 5.07118956e-02,-9.82305548e+00,-3.00677655e-03,
 -6.06086081e-02, 6.14575949e-02]


--- Step 3428 ---
qpos:
[-0.01788162, 1.19733812,-0.03484583, 0.9426082 ,-0.00794689, 1.33281182,
 -0.03116961, 0.94136316, 0.01532125, 1.33848156,-0.0237771 , 0.95471008,
  1.27115819,-0.00867834, 1.28878407, 0.04471236,-0.05549459,-0.08805538,
  0.09056413, 0.69215333,-0.088222  ,-0.71465462,-0.04908588]

qacc:
[ 4.78872329e-02, 1.48342033e-01, 2.32048981e+00,-5.00139918e+00,
 -9.32632657e-03,-3.41581324e-01, 3.61174543e+00,-1.54633145e+01,
  5.06311285e-02,-5.68455233e+00, 1.87335774e+01,-2.36800615e+01,
 -6.57061394e-03,-3.53941415e-02,-1.12836239e-01, 6.49101422e-01,
  2.53032724e+00, 1.11076432e+00, 4.41846289e+00,-1.98013443e+00,
  8.53085051e+01, 4.93157224e+01]

qfrc_actuator:
[ 9.06873561e-03, 6.62182598e-02, 1.37798505e-02, 1.92101456e-03,
  2.27627970e-05, 3.49764429e-02, 1.09256374e-02, 1.73714800e-03,
 -2.97282478e-03, 3.46619690e-02, 1.09005929e-02, 1.71886982e-03,
  8.35909342e-03, 1.26186877e-02, 0.00000000e+00,-6.20218069e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16256759, -0.04854321, -0.15515082, -0.04854321,  0.63492652,
       -0.14779053, -0.15515082, -0.14779053,  0.20880793,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010846198369438183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63365066,  0.07870287, -0.76960555, -0.0500253 ,  0.99689812,
        0.06075864,  0.7720002 ,  0.        ,  0.63562229])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617056, -0.03402367,  0.22463565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16256759, -0.04854321, -0.15515082, -0.04854321,  0.63492652,
       -0.14779053, -0.15515082, -0.14779053,  0.20880793,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010846198369438183
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63365066,  0.07870287, -0.76960555, -0.0500253 ,  0.99689812,
        0.06075864,  0.7720002 ,  0.        ,  0.63562229])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617056, -0.03402367,  0.22463565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005712073384060642
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39700599,  0.08706088, -0.91367754, -0.03469543,  0.99620299,
        0.07984875,  0.91716   ,  0.        ,  0.39851917])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0832518 , -0.03394397,  0.22312599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015856724424795354
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08627047, -0.08070033,  0.06189489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.47755515e-03, 3.18339318e-02, 3.36757335e-03,-1.29824236e-07,
 -2.66883646e-06, 8.69890779e-06,-2.45718189e-05,-5.42235556e-05,
  1.45255494e-05,-6.00006116e-05, 5.91684490e-05,-3.51364053e-05,
  1.01637122e-02, 1.50385633e-02, 6.97753017e-03, 7.02362823e-04,
  1.03142470e-02, 4.61942889e-02,-9.82289706e+00,-8.56705188e-04,
 -6.09615972e-02, 6.15843483e-02]


--- Step 3429 ---
qpos:
[-0.01788818, 1.19736   ,-0.03484883, 0.94260733,-0.00794663, 1.33281494,
 -0.03116998, 0.94136209, 0.01532233, 1.33848067,-0.02377628, 0.95470936,
  1.27119043,-0.00868944, 1.28876907, 0.0447112 ,-0.05550407,-0.08820199,
  0.09052149, 0.69223746,-0.08634548,-0.71467778,-0.05086675]

qacc:
[-3.90096084e-02, 7.37868119e-02, 2.03951317e+00,-5.78366689e+00,
 -9.61914558e-02, 1.18957198e+00,-2.59845008e+00,-1.68334216e+00,
  1.32389450e-02,-1.35968064e+00, 5.27360542e+00,-9.37966291e+00,
 -2.43054014e-01, 2.01441796e-01,-2.42015558e-01, 8.73451110e-01,
  2.32923686e+00, 9.63186606e-01, 3.28727097e+00,-2.22292503e+00,
  7.82786999e+01, 4.48561930e+01]

qfrc_actuator:
[ 9.06499823e-03, 6.61828897e-02, 1.37757295e-02, 1.90343761e-03,
 -3.35399201e-06, 3.50133693e-02, 1.09102277e-02, 1.72315236e-03,
 -2.97759357e-03, 3.46892701e-02, 1.09203378e-02, 1.69893813e-03,
  8.34513239e-03, 1.26292016e-02, 0.00000000e+00,-6.10214978e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16255226, -0.04858582, -0.15512143, -0.04858582,  0.61904566,
       -0.14297898, -0.15512143, -0.14297898,  0.20733493,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010807431088149383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63375668,  0.07870127, -0.76951841, -0.05003265,  0.99689824,
        0.06075051,  0.77191269,  0.        ,  0.63572856])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617023, -0.03402491,  0.22463682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16255226, -0.04858582, -0.15512143, -0.04858582,  0.61904566,
       -0.14297898, -0.15512143, -0.14297898,  0.20733493,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010807431088149383
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63375668,  0.07870127, -0.76951841, -0.05003265,  0.99689824,
        0.06075051,  0.77191269,  0.        ,  0.63572856])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08617023, -0.03402491,  0.22463682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005713408152990228
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96989875e-01,  8.70637556e-02, -9.13684268e-01, -3.46951760e-02,
        9.96202742e-01,  7.98520025e-02,  9.17166988e-01, -6.93889390e-18,
        3.98503095e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08324987, -0.03394517,  0.22312626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001627329439576372
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.41118091e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.41118091e-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([-0.08623289, -0.08070745,  0.0618922 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.46829844e-03, 3.17212914e-02, 3.33409893e-03,-9.00891867e-06,
 -2.76917120e-05, 3.52756379e-05,-1.80999997e-05,-1.57077525e-05,
  3.80701072e-06, 4.64128271e-06, 1.37232164e-05,-2.07971667e-05,
  1.01521101e-02, 1.50517319e-02, 6.97182830e-03, 7.07663388e-04,
  7.20699594e-03, 4.63671833e-02,-9.82212469e+00,-1.91143091e-03,
 -6.10064076e-02, 6.16541968e-02]


--- Step 3430 ---
qpos:
[-0.01789483, 1.19738265,-0.03485178, 0.94260595,-0.00794663, 1.33281789,
 -0.03117095, 0.9413616 , 0.01532355, 1.33847951,-0.0237749 , 0.95470978,
  1.27122239,-0.00870052, 1.28875418, 0.04471014,-0.05550491,-0.08834525,
  0.09048818, 0.69242435,-0.08452317,-0.71458864,-0.05260635]

qacc:
[-4.05733960e-02,-2.68986168e-02, 2.34493707e+00,-8.40658058e+00,
 -1.11052941e-01, 2.36665444e+00,-9.21399367e+00, 1.49526795e+01,
  5.79282654e-02, 8.14002603e-02,-3.04033548e+00, 1.61311219e+01,
 -2.30058560e-01, 1.94387858e-01,-1.34956521e-01, 7.18489339e-01,
  2.16016213e+00, 8.40061073e-01, 2.33175376e+00,-2.43746725e+00,
  7.24310700e+01, 4.11200726e+01]

qfrc_actuator:
[ 9.06543292e-03, 6.61522776e-02, 1.37742729e-02, 1.87566088e-03,
 -1.89918444e-05, 3.49630293e-02, 1.08658964e-02, 1.75087988e-03,
 -2.96315450e-03, 3.46704982e-02, 1.09494684e-02, 1.75853062e-03,
  8.34093726e-03, 1.26399406e-02, 0.00000000e+00,-6.03799472e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16253925, -0.04998305, -0.15466319, -0.04998305,  0.63081932,
       -0.15133573, -0.15466319, -0.15133573,  0.21144696,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010774396874946995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.33864057e-01,  7.86996494e-02, -7.69430128e-01, -5.00400848e-02,
        9.96898373e-01,  6.07422813e-02,  7.71824039e-01,  6.93889390e-18,
        6.35836184e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616992, -0.03402612,  0.22463803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16253925, -0.04998305, -0.15466319, -0.04998305,  0.63081932,
       -0.15133573, -0.15466319, -0.15133573,  0.21144696,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010774396874946995
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.33864057e-01,  7.86996494e-02, -7.69430128e-01, -5.00400848e-02,
        9.96898373e-01,  6.07422813e-02,  7.71824039e-01,  6.93889390e-18,
        6.35836184e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616992, -0.03402612,  0.22463803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005715398592665982
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96972503e-01,  8.70666940e-02, -9.13691536e-01, -3.46948376e-02,
        9.96202485e-01,  7.98553533e-02,  9.17174520e-01,  6.93889390e-18,
        3.98485759e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08324792, -0.03394636,  0.22312654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016449176721499842
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08621694, -0.08071342,  0.06189108])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.47318219e-03, 3.16373651e-02, 3.31717961e-03,-2.23662856e-05,
 -3.19834260e-05,-3.48636848e-05,-3.99544409e-05, 2.78983022e-05,
  1.66871798e-05,-1.41367137e-05, 3.09872144e-05, 5.96463640e-05,
  1.01628643e-02, 1.50618802e-02, 6.97229936e-03, 7.09974675e-04,
  4.21139684e-03, 4.64920850e-02,-9.82151120e+00,-2.79698390e-03,
 -6.10576588e-02, 6.17226943e-02]


--- Step 3431 ---
qpos:
[-0.0179021 , 1.19740664,-0.03485383, 0.94260518,-0.00794686, 1.33282008,
 -0.03117187, 0.94136113, 0.01532477, 1.33847825,-0.02377236, 0.95471122,
  1.27125365,-0.00871126, 1.2887374 , 0.04470901,-0.05549701,-0.08848316,
  0.09046285, 0.69271234,-0.08279205,-0.71438728,-0.05427628]

qacc:
[-2.69524864e-01, 4.17314227e-01,-5.07169462e-01, 6.76712692e+00,
 -9.74373127e-02,-1.06891170e+00, 2.26359194e+00,-1.35361373e+00,
  8.19066466e-04,-1.49960812e+00, 2.71270718e+00, 9.32624318e+00,
 -6.73603874e-01, 7.81547304e-01,-2.52369015e+00, 4.88782876e+00,
  2.18642924e+00, 1.33850525e+00, 1.99462197e+00,-5.36094971e+00,
  6.96309283e+01, 6.40998821e+01]

qfrc_actuator:
[ 9.06841018e-03, 6.61421486e-02, 1.37922914e-02, 1.91310940e-03,
 -2.82164539e-05, 3.48962440e-02, 1.08577882e-02, 1.74960339e-03,
 -2.97281393e-03, 3.46953760e-02, 1.10193084e-02, 1.81117410e-03,
  8.33195873e-03, 1.26863115e-02, 0.00000000e+00,-5.28574010e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16252827, -0.04282129, -0.15678576, -0.04282129,  0.51874085,
       -0.09728871, -0.15678576, -0.09728871,  0.18909974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010746416597362182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63397194,  0.07869806, -0.76934141, -0.05004758,  0.9968985 ,
        0.06073404,  0.77173494,  0.        ,  0.63594432])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616961, -0.03402733,  0.22463926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16252827, -0.04282129, -0.15678576, -0.04282129,  0.51874085,
       -0.09728871, -0.15678576, -0.09728871,  0.18909974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010746416597362182
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63397194,  0.07869806, -0.76934141, -0.05004758,  0.9968985 ,
        0.06073404,  0.77173494,  0.        ,  0.63594432])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616961, -0.03402733,  0.22463926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005717926657620165
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39695438,  0.08706968, -0.91369913, -0.03469445,  0.99620222,
        0.07985878,  0.91718238,  0.        ,  0.39846767])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08324597, -0.03394753,  0.22312685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.52948192,   5.01231832,  16.52948192,
        25.47162423, -27.03809103,   5.01231832, -27.03809103,
       106.43818099,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0016475604433403498
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.21161720e-15,  6.73858752e-14,  1.00000000e+00,  2.83803511e-28,
        1.00000000e+00, -6.73858752e-14, -1.00000000e+00,  0.00000000e+00,
       -4.21161720e-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([-0.08689687, -0.0832351 ,  0.06189092])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.48078645e-03, 3.15889333e-02, 3.33209045e-03, 4.04719679e-05,
 -2.81062922e-05,-9.30717328e-05,-1.86630635e-05,-2.85136882e-06,
  1.94110667e-07, 2.48879058e-05, 7.23467249e-05, 5.45201082e-05,
  1.01676716e-02, 1.51075730e-02, 6.96761804e-03, 7.80360345e-04,
  1.31474683e-03, 4.65829470e-02,-9.82102076e+00,-3.55033636e-03,
 -6.11142291e-02, 6.17895455e-02]


--- Step 3432 ---
qpos:
[-0.01791032, 1.19743232,-0.03485463, 0.94260586,-0.00794727, 1.33282186,
 -0.03117243, 0.94136025, 0.01532565, 1.33847828,-0.0237706 , 0.95471153,
  1.27128437,-0.00872126, 1.28871531, 0.04470758,-0.05550382,-0.08862062,
  0.09042675, 0.69281335,-0.08106639,-0.71435656,-0.05596971]

qacc:
[-4.12399888e-01, 1.30517255e+00,-4.54261175e+00, 1.95652152e+01,
 -7.58843820e-02,-2.21567577e+00, 7.42127971e+00,-1.08939195e+01,
 -1.44693571e-01, 1.84800964e+00,-1.70811619e+00,-1.23356625e+01,
 -6.37353369e-01, 1.01706367e+00,-6.89542230e+00, 1.28275061e+01,
 -3.67999217e+00, 1.09626298e-01,-2.69314759e+00,-1.33906486e+01,
 -1.25068599e+02,-1.83201179e+01]

qfrc_actuator:
[ 9.07347571e-03, 6.60724122e-02, 1.37856376e-02, 1.98877064e-03,
 -3.35201121e-05, 3.49090084e-02, 1.08887786e-02, 1.73126683e-03,
 -3.01460468e-03, 3.47996241e-02, 1.09884940e-02, 1.75281768e-03,
  8.32015750e-03, 1.27004674e-02, 0.00000000e+00,-3.58674641e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16251445, -0.03387541, -0.15894465, -0.03387541,  0.41746147,
       -0.05433611, -0.15894465, -0.05433611,  0.17409494,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010711119204639269
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63408822,  0.07869641, -0.76924574, -0.05005571,  0.99689863,
        0.06072521,  0.77163888,  0.        ,  0.63606088])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616926, -0.03402846,  0.2246406 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16251445, -0.03387541, -0.15894465, -0.03387541,  0.41746147,
       -0.05433611, -0.15894465, -0.05433611,  0.17409494,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010711119204639269
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63408822,  0.07869641, -0.76924574, -0.05005571,  0.99689863,
        0.06072521,  0.77163888,  0.        ,  0.63606088])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616926, -0.03402846,  0.2246406 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005720180815057228
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96934194e-01,  8.70729588e-02, -9.13707582e-01, -3.46940048e-02,
        9.96201937e-01,  7.98625456e-02,  9.17191131e-01, -6.93889390e-18,
        3.98447523e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08324384, -0.03394863,  0.22312719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016896371210005437
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.28538895e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.28538895e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02308908, -0.09205256,  0.06188834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.51675481e-03, 3.14517549e-02, 3.28093900e-03, 8.52562967e-05,
 -2.18986255e-05,-4.24797148e-05, 1.05673500e-05,-2.17547155e-05,
 -4.16762995e-05, 1.33764450e-04,-1.61353679e-05,-5.42293030e-05,
  1.01904551e-02, 1.51045925e-02, 7.06223965e-03, 9.53891421e-04,
 -1.75918409e-03, 4.49568630e-02,-9.82028232e+00,-4.14863288e-03,
 -6.12074511e-02, 6.18528973e-02]


--- Step 3433 ---
qpos:
[-0.01791843, 1.19745832,-0.03485459, 0.94260793,-0.00794781, 1.33282331,
 -0.03117268, 0.9413595 , 0.01532627, 1.33847956,-0.02377011, 0.95471047,
  1.27131545,-0.0087309 , 1.28869136, 0.0447061 ,-0.05552408,-0.08875767,
  0.09037743, 0.69274294,-0.07934232,-0.7144819 ,-0.05768558]

qacc:
[ 4.58679401e-02, 4.76890421e-01,-3.93067185e+00, 1.93743792e+01,
 -5.48795494e-02,-1.07883917e+00, 2.72004054e+00,-6.59743413e-01,
 -1.11477272e-01, 2.73628969e+00,-4.20968047e+00,-1.28154878e+01,
  1.67637618e-01, 1.29118372e-01,-2.60856041e+00, 5.13036242e+00,
 -3.36112225e+00, 1.05663962e-01,-3.30401435e+00,-1.11476146e+01,
 -1.14418012e+02,-1.83295249e+01]

qfrc_actuator:
[ 9.09812208e-03, 6.59837754e-02, 1.37812196e-02, 2.05078689e-03,
 -3.64299357e-05, 3.48984457e-02, 1.09073777e-02, 1.73861191e-03,
 -3.02207401e-03, 3.48436322e-02, 1.09165085e-02, 1.68285317e-03,
  8.32797835e-03, 1.26592622e-02, 0.00000000e+00,-3.44744887e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16248802, -0.03410858, -0.15886775, -0.03410858,  0.43701707,
       -0.05894082, -0.15886775, -0.05894082,  0.1751425 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001064328719534522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63422601,  0.0786942 , -0.76913236, -0.05006517,  0.9968988 ,
        0.06071454,  0.77152501,  0.        ,  0.63619899])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616878, -0.03402947,  0.22464217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16248802, -0.03410858, -0.15886775, -0.03410858,  0.43701707,
       -0.05894082, -0.15886775, -0.05894082,  0.1751425 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001064328719534522
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63422601,  0.0786942 , -0.76913236, -0.05006517,  0.9968988 ,
        0.06071454,  0.77152501,  0.        ,  0.63619899])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616878, -0.03402947,  0.22464217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005720315641871421
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39691131,  0.08707666, -0.91371717, -0.03469349,  0.99620161,
        0.07986681,  0.91720106,  0.        ,  0.39842468])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08324124, -0.0339496 ,  0.22312756])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.27222756, -0.13138754, 17.27222756, 17.27423106,
        0.19768827, -0.13138754,  0.19768827, 43.26085854,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017222762724442495
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.22312698e-14, -3.22312698e-14,  1.00000000e+00, -1.03885475e-27,
        1.00000000e+00,  3.22312698e-14, -1.00000000e+00,  0.00000000e+00,
       -3.22312698e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0230005 , -0.09203047,  0.0618863 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.58869513e-03, 3.12780981e-02, 3.21411387e-03, 7.53913025e-05,
 -1.58384661e-05,-3.26654782e-05, 1.08483775e-05, 5.87117320e-06,
 -3.20771371e-05, 1.13218088e-04,-4.92836752e-05,-6.77315393e-05,
  1.02260088e-02, 1.50268229e-02, 7.32831349e-03, 9.82935468e-04,
  2.67599831e-03, 4.15377394e-02,-9.82005132e+00,-2.17126082e-03,
 -6.14411942e-02, 6.19621113e-02]


--- Step 3434 ---
qpos:
[-0.01792575, 1.19748298,-0.03485459, 0.94261058,-0.00794844, 1.33282432,
 -0.0311727 , 0.94136024, 0.01532684, 1.3384808 ,-0.02377011, 0.95471073,
  1.27134689,-0.00874067, 1.28867005, 0.04470488,-0.0555567 ,-0.08889431,
  0.09031282, 0.69251408,-0.07761668,-0.71475089,-0.05942288]

qacc:
[ 3.46000441e-01,-6.36721002e-01,-1.26182956e+00, 8.72652529e+00,
 -3.74302074e-02, 1.38165362e+00,-8.26312021e+00, 2.47275555e+01,
 -2.00494343e-02, 3.52807762e+00,-1.42202511e+01, 2.75188142e+01,
  2.49093985e-01,-2.51301228e-01, 3.10931184e+00,-5.25508846e+00,
 -3.09069370e+00, 1.00424177e-01,-3.82396878e+00,-9.25538311e+00,
 -1.05468852e+02,-1.82547428e+01]

qfrc_actuator:
[ 9.11609151e-03, 6.59732605e-02, 1.37780364e-02, 2.06858160e-03,
 -3.78813483e-05, 3.48739800e-02, 1.09184450e-02, 1.81425248e-03,
 -3.00889256e-03, 3.47800156e-02, 1.08738883e-02, 1.74862871e-03,
  8.32620664e-03, 1.26559391e-02, 0.00000000e+00,-4.60036352e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16245658, -0.03992727, -0.15747366, -0.03992727,  0.50848059,
       -0.087734  , -0.15747366, -0.087734  ,  0.18470144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010561976407467456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63437151,  0.07869151, -0.76901264, -0.05007493,  0.99689902,
        0.060703  ,  0.77140475,  0.        ,  0.63634481])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616827, -0.0340305 ,  0.22464381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16245658, -0.03992727, -0.15747366, -0.03992727,  0.50848059,
       -0.087734  , -0.15747366, -0.087734  ,  0.18470144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010561976407467456
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63437151,  0.07869151, -0.76901264, -0.05007493,  0.99689902,
        0.060703  ,  0.77140475,  0.        ,  0.63634481])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616827, -0.0340305 ,  0.22464381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000571952289470188
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39688734,  0.08708034, -0.91372723, -0.03469287,  0.99620129,
        0.07987109,  0.91721145,  0.        ,  0.39840075])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08323846, -0.03395058,  0.22312792])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.27006148, -0.30345313, 17.27006148, 17.28150823,
        0.49974012, -0.30345313,  0.49974012, 45.71383292,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001728505078466995
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.81726828e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.81726828e-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([ 0.0229818 , -0.09201993,  0.06188584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.60138886e-03, 3.12514026e-02, 3.16813337e-03, 2.36075636e-05,
 -1.08023788e-05,-4.02488120e-05, 6.07997976e-06, 7.51108646e-05,
 -5.75717538e-06,-1.26513708e-05,-2.80953274e-05, 6.61134023e-05,
  1.02061024e-02, 1.50060538e-02, 7.42145293e-03, 8.70050479e-04,
  6.17513416e-03, 3.85561643e-02,-9.82010595e+00,-2.61869318e-04,
 -6.16371597e-02, 6.20711473e-02]


--- Step 3435 ---
qpos:
[-0.01793282, 1.1975068 ,-0.03485565, 0.94261205,-0.00794884, 1.33282546,
 -0.03117282, 0.94136254, 0.01532745, 1.33848119,-0.02377081, 0.95471187,
  1.27137779,-0.00875055, 1.28864971, 0.04470391,-0.05557834,-0.08902515,
  0.09026833, 0.69241364,-0.07599847,-0.71488278,-0.06107534]

qacc:
[ 1.08252408e-01,-2.24832123e-01, 1.85428556e+00,-1.47594168e+01,
  9.90523747e-02, 3.07976637e+00,-1.30775649e+01, 2.93722544e+01,
  1.49152695e-02, 2.27037147e+00,-1.04908730e+01, 1.96372095e+01,
 -4.12504387e-01, 2.46442862e-01, 6.99829600e-01,-2.90934877e-01,
  2.74731555e+00, 1.44998097e+00, 5.02990071e+00,-5.96878747e+00,
  8.68839241e+01, 7.69018411e+01]

qfrc_actuator:
[ 9.14707676e-03, 6.60111525e-02, 1.37939096e-02, 2.00683696e-03,
 -2.94182457e-06, 3.49124090e-02, 1.09249621e-02, 1.89395378e-03,
 -3.00118378e-03, 3.46703662e-02, 1.08131037e-02, 1.78720025e-03,
  8.32399135e-03, 1.27466885e-02, 0.00000000e+00,-4.57863976e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16243052, -0.04998892, -0.15454702, -0.04998892,  0.60551553,
       -0.14331782, -0.15454702, -0.14331782,  0.20878731,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010494084460820757
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.34505756e-01,  7.86889160e-02, -7.68902140e-01, -5.00838692e-02,
        9.96899220e-01,  6.06922693e-02,  7.71293752e-01,  6.93889390e-18,
        6.36479338e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616781, -0.03403161,  0.22464531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16243052, -0.04998892, -0.15454702, -0.04998892,  0.60551553,
       -0.14331782, -0.15454702, -0.14331782,  0.20878731,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010494084460820757
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.34505756e-01,  7.86889160e-02, -7.68902140e-01, -5.00838692e-02,
        9.96899220e-01,  6.06922693e-02,  7.71293752e-01,  6.93889390e-18,
        6.36479338e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616781, -0.03403161,  0.22464531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005719503814693924
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96864666e-01,  8.70836852e-02, -9.13736761e-01, -3.46922334e-02,
        9.96201000e-01,  7.98750097e-02,  9.17221285e-01, -6.93889390e-18,
        3.98378104e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08323591, -0.03395165,  0.22312826])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017863201045129826
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.10757020e-14,  6.21514040e-14,  1.00000000e+00,  1.93139851e-27,
        1.00000000e+00, -6.21514040e-14, -1.00000000e+00,  0.00000000e+00,
       -3.10757020e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08677148, -0.08323889,  0.06188212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.59266595e-03, 3.13561704e-02, 3.18645192e-03,-6.72991444e-05,
  2.85609391e-05, 1.96096540e-05, 1.53694718e-06, 8.04088166e-05,
  4.30882387e-06,-1.20180968e-04,-6.45146546e-05, 3.89151188e-05,
  1.01853402e-02, 1.51030566e-02, 7.29004844e-03, 8.59576548e-04,
  8.94097943e-03, 3.59233275e-02,-9.82036689e+00, 1.59568900e-03,
 -6.17998864e-02, 6.21793033e-02]


--- Step 3436 ---
qpos:
[-0.01793939, 1.19752981,-0.03485731, 0.94261275,-0.00794878, 1.33282693,
 -0.03117323, 0.94136542, 0.01532782, 1.33848044,-0.02377146, 0.9547124 ,
  1.27140826,-0.00876067, 1.28863254, 0.04470328,-0.05558994,-0.08915084,
  0.09023897, 0.6924308 ,-0.07447741,-0.71488979,-0.06265212]

qacc:
[  0.21555687, -0.78286614,  2.8558557 ,-10.9608508 ,  0.19282561,
   2.21327108, -7.89822329, 13.41214607, -0.09900094, -2.66088978,
   8.06247463,-13.12571265, -0.33274463,  0.10181639,  3.65525308,
  -5.95347447,  2.50827236,  1.28891292,  3.78358112, -5.92724934,
  79.42234116, 69.26575282]

qfrc_actuator:
[ 9.16834641e-03, 6.60071003e-02, 1.38044956e-02, 1.96990697e-03,
  3.57925349e-05, 3.49349390e-02, 1.09112259e-02, 1.92216830e-03,
 -3.03232753e-03, 3.46049276e-02, 1.08128355e-02, 1.75611155e-03,
  8.33755722e-03, 1.27873985e-02, 0.00000000e+00,-5.45089406e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16240652, -0.05363378, -0.1532948 , -0.05363378,  0.64277231,
       -0.16806723, -0.1532948 , -0.16806723,  0.22120878,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010431143093569961
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63463416,  0.07868648, -0.76879641, -0.05009245,  0.99689941,
        0.06068203,  0.77118755,  0.        ,  0.63660802])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616737, -0.03403271,  0.22464675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16240652, -0.05363378, -0.1532948 , -0.05363378,  0.64277231,
       -0.16806723, -0.1532948 , -0.16806723,  0.22120878,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010431143093569961
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63463416,  0.07868648, -0.76879641, -0.05009245,  0.99689941,
        0.06068203,  0.77118755,  0.        ,  0.63660802])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616737, -0.03403271,  0.22464675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005719659915818
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39684372,  0.08708689, -0.91374555, -0.03469169,  0.99620072,
        0.07987874,  0.91723037,  0.        ,  0.39835719])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0832335 , -0.0339527 ,  0.22312858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018306131473176876
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.03238023e-14,  3.03238023e-14,  1.00000000e+00,  9.19532988e-28,
        1.00000000e+00, -3.03238023e-14, -1.00000000e+00,  0.00000000e+00,
       -3.03238023e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08673207, -0.08323832,  0.06187931])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.60147918e-03, 3.13932534e-02, 3.25005613e-03,-4.53311565e-05,
  5.55948596e-05, 3.60997431e-05,-7.36265392e-06, 3.07179305e-05,
 -2.86032665e-05,-1.43343938e-04,-2.99306014e-05,-3.56314915e-05,
  1.02266568e-02, 1.51492552e-02, 7.24151963e-03, 7.59673505e-04,
  5.91250882e-03, 3.44834727e-02,-9.81924541e+00, 6.20131698e-04,
 -6.18361015e-02, 6.22244349e-02]


--- Step 3437 ---
qpos:
[-0.01794505, 1.19755165,-0.03485855, 0.94261436,-0.0079487 , 1.33282892,
 -0.03117417, 0.94136826, 0.01532776, 1.33847907,-0.02377119, 0.95471247,
  1.27143879,-0.00877105, 1.28861982, 0.04470286,-0.05559033,-0.08926439,
  0.09022331, 0.6925639 ,-0.0731724 ,-0.71477085,-0.06405988]

qacc:
[ 4.00497167e-01,-1.11100660e+00,-1.21404534e-01, 1.14359358e+01,
  8.56406530e-03, 2.03537855e+00,-5.74892067e+00, 4.27029138e+00,
 -1.84709708e-01,-4.06780641e+00, 1.32359585e+01,-1.64999228e+01,
 -1.32006646e-02,-1.21965060e-01, 5.97045414e+00,-1.13368451e+01,
  2.80001796e+00, 3.03418119e+00, 3.42529766e+00,-1.40088081e+01,
  7.19913046e+01, 1.44070489e+02]

qfrc_actuator:
[ 9.18344123e-03, 6.59426998e-02, 1.37941171e-02, 2.01894533e-03,
  5.47817552e-06, 3.49654218e-02, 1.08855695e-02, 1.91984298e-03,
 -3.06877481e-03, 3.46376622e-02, 1.08839140e-02, 1.73759970e-03,
  8.33929733e-03, 1.27450156e-02, 0.00000000e+00,-6.68391540e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1623908 , -0.04299156, -0.15659661, -0.04299156,  0.52971   ,
       -0.10084269, -0.15659661, -0.10084269,  0.19007584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010389694817854005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63474924,  0.07868445, -0.76870161, -0.05010023,  0.99689957,
        0.06067298,  0.77109233,  0.        ,  0.63672335])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616701, -0.03403382,  0.22464806])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1623908 , -0.04299156, -0.15659661, -0.04299156,  0.52971   ,
       -0.10084269, -0.15659661, -0.10084269,  0.19007584,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010389694817854005
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63474924,  0.07868445, -0.76870161, -0.05010023,  0.99689957,
        0.06067298,  0.77109233,  0.        ,  0.63672335])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616701, -0.03403382,  0.22464806])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005721276020491176
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96824084e-01,  8.70898818e-02, -9.13753795e-01, -3.46911732e-02,
        9.96200458e-01,  7.98822259e-02,  9.17238883e-01, -6.93889390e-18,
        3.98337585e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08323137, -0.03395379,  0.2231289 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  -2.40351487, -17.10468426,  -2.40351487,
       140.93698039, -17.3770452 , -17.10468426, -17.3770452 ,
        19.71451374,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001851351478756695
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.49603085e-15,  2.99841234e-14,  1.00000000e+00,  2.24761914e-28,
        1.00000000e+00, -2.99841234e-14, -1.00000000e+00,  0.00000000e+00,
       -7.49603085e-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([-0.08821033, -0.09086712,  0.06187803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.59181764e-03, 3.13696113e-02, 3.26949383e-03, 4.25055900e-05,
  2.50558847e-06, 4.99357026e-05,-1.85264736e-05,-7.36330405e-07,
 -5.33448933e-05,-5.34292684e-05, 3.86418811e-05,-2.44661832e-05,
  1.02498947e-02, 1.51196815e-02, 7.08371669e-03, 6.19250716e-04,
  3.11355075e-03, 3.31919254e-02,-9.81835011e+00,-1.46770150e-04,
 -6.18725684e-02, 6.22680210e-02]


--- Step 3438 ---
qpos:
[-0.01795035, 1.1975734 ,-0.03485961, 0.94261646,-0.0079489 , 1.33283149,
 -0.03117543, 0.94137035, 0.0153274 , 1.33847827,-0.02377088, 0.95471191,
  1.27146927,-0.00878134, 1.2886064 , 0.04470228,-0.05558045,-0.0893669 ,
  0.09021715, 0.69280427,-0.07206515,-0.71453689,-0.06531369]

qacc:
[ 1.56267574e-01, 2.00969537e-01,-1.80272939e+00, 7.28395395e+00,
 -1.19828976e-01, 3.67059302e-01, 1.27756975e+00,-1.02496868e+01,
 -1.22524244e-01,-5.01514378e-01, 3.79744716e+00,-1.09021976e+01,
 -7.90554695e-02, 1.34283097e-01,-5.61790650e-01, 4.84125266e-01,
  2.57143090e+00, 2.75975504e+00, 2.37448081e+00,-1.32238811e+01,
  6.61976914e+01, 1.31626135e+02]

qfrc_actuator:
[ 9.21196205e-03, 6.59137815e-02, 1.38058916e-02, 2.04717763e-03,
 -3.05073459e-05, 3.50003569e-02, 1.08708630e-02, 1.88182436e-03,
 -3.07260264e-03, 3.47292288e-02, 1.09081596e-02, 1.70899407e-03,
  8.33923855e-03, 1.27416436e-02, 0.00000000e+00,-6.00301896e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16238576, -0.03797048, -0.15788406, -0.03797048,  0.47591672,
       -0.07540293, -0.15788406, -0.07540293,  0.18051986,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010376367681927574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6348469 ,  0.07868277, -0.76862113, -0.05010686,  0.9968997 ,
        0.06066532,  0.77101149,  0.        ,  0.63682123])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616676, -0.03403505,  0.22464919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16238576, -0.03797048, -0.15788406, -0.03797048,  0.47591672,
       -0.07540293, -0.15788406, -0.07540293,  0.18051986,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010376367681927574
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6348469 ,  0.07868277, -0.76862113, -0.05010686,  0.9968997 ,
        0.06066532,  0.77101149,  0.        ,  0.63682123])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616676, -0.03403505,  0.22464919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005724831538114102
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96805147e-01,  8.70924921e-02, -9.13761770e-01, -3.46905653e-02,
        9.96200230e-01,  7.98853357e-02,  9.17247098e-01,  1.38777878e-17,
        3.98318667e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08322961, -0.03395498,  0.22312919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018763140747414114
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08818834, -0.09086139,  0.06187654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.57438898e-03, 3.13990903e-02, 3.26046193e-03, 2.51997307e-05,
 -3.45046004e-05, 5.89046691e-05,-7.06276202e-06,-3.70686609e-05,
 -3.53343449e-05, 6.88491759e-05, 1.74880166e-05,-2.96289289e-05,
  1.02465230e-02, 1.51292755e-02, 6.86155188e-03, 6.77385075e-04,
 -1.78045699e-05, 2.75753767e-02,-9.81673071e+00,-5.88424971e-04,
 -6.19281888e-02, 6.23068132e-02]


--- Step 3439 ---
qpos:
[-0.01795561, 1.19759509,-0.03486084, 0.94261855,-0.0079493 , 1.33283403,
 -0.03117611, 0.94137267, 0.01532701, 1.33847759,-0.02377012, 0.95471068,
  1.27149975,-0.00879144, 1.28859159, 0.04470156,-0.05556103,-0.08945928,
  0.09021694, 0.6931446 ,-0.0711404 ,-0.71419688,-0.066426  ]

qacc:
[ 1.64959155e-02, 3.88899072e-01,-1.34009592e+00, 1.10756533e+00,
 -8.30411316e-02,-1.25113611e+00, 3.57829602e+00,-4.84615047e-01,
 -1.75968791e-02,-2.16119586e+00, 8.58527599e+00,-1.51912246e+01,
 -4.23641386e-02, 1.55670821e-01,-1.62812866e+00, 2.72629217e+00,
  2.38185316e+00, 2.53253238e+00, 1.48854146e+00,-1.25254486e+01,
  6.13893320e+01, 1.21302215e+02]

qfrc_actuator:
[ 9.19547317e-03, 6.58700305e-02, 1.37955113e-02, 2.04523247e-03,
 -3.40952431e-05, 3.49844405e-02, 1.08982517e-02, 1.89413568e-03,
 -3.05683148e-03, 3.47131401e-02, 1.09225443e-02, 1.67468066e-03,
  8.32745749e-03, 1.27259218e-02, 0.00000000e+00,-5.59125616e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16237838, -0.03910872, -0.15759837, -0.03910872,  0.48679965,
       -0.08050654, -0.15759837, -0.08050654,  0.18235642,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010356823998823941
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.34947075e-01,  7.86807336e-02, -7.68538583e-01, -5.01134602e-02,
        9.96899866e-01,  6.06572251e-02,  7.70928565e-01,  6.93889390e-18,
        6.36921618e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616649, -0.03403625,  0.22465034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16237838, -0.03910872, -0.15759837, -0.03910872,  0.48679965,
       -0.08050654, -0.15759837, -0.08050654,  0.18235642,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010356823998823941
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.34947075e-01,  7.86807336e-02, -7.68538583e-01, -5.01134602e-02,
        9.96899866e-01,  6.06572251e-02,  7.70928565e-01,  6.93889390e-18,
        6.36921618e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616649, -0.03403625,  0.22465034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005727902289000275
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96786118e-01,  8.70949623e-02, -9.13769798e-01, -3.46898931e-02,
        9.96200014e-01,  7.98883207e-02,  9.17255356e-01,  6.93889390e-18,
        3.98299651e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0832278 , -0.03395615,  0.22312947])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018779398368135164
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08818816, -0.09086258,  0.06187653])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.53995292e-03, 3.13594411e-02, 3.24051048e-03,-1.11766468e-06,
 -2.39543928e-05, 1.41571957e-05, 3.70251545e-05, 1.30257732e-05,
 -5.09411358e-06, 2.45246435e-05, 2.89510645e-05,-3.24521075e-05,
  1.02375482e-02, 1.51088557e-02, 6.89660292e-03, 7.26242464e-04,
 -2.55868891e-03, 2.28563474e-02,-9.81542083e+00,-8.11726694e-04,
 -6.19491969e-02, 6.23407165e-02]


--- Step 3440 ---
qpos:
[-0.01796034, 1.19761595,-0.03486269, 0.94262001,-0.00794954, 1.33283604,
 -0.03117563, 0.94137547, 0.01532681, 1.3384767 ,-0.02376876, 0.95470976,
  1.27153073,-0.00880174, 1.28857884, 0.04470097,-0.05555311,-0.08954597,
  0.09022601, 0.69333471,-0.07023189,-0.71400091,-0.0675068 ]

qacc:
[ 2.29923582e-01,-4.92465003e-01, 1.59523655e+00,-8.22499552e+00,
  6.78371099e-02,-2.95990097e+00, 7.82138190e+00,-7.70434342e-01,
  8.46505304e-02,-1.39748595e+00, 3.58446913e+00, 6.10959922e-01,
  4.12634451e-01,-4.39333848e-01, 2.65833421e+00,-4.92711411e+00,
 -2.87253445e+00, 1.42209714e+00, 2.31890975e+00, 5.06134338e+00,
 -1.05220776e+02, 6.60884299e+00]

qfrc_actuator:
[ 9.16990829e-03, 6.58173823e-02, 1.37898807e-02, 2.00772842e-03,
 -4.65310546e-07, 3.49383854e-02, 1.09501040e-02, 1.91821477e-03,
 -3.02943283e-03, 3.46859298e-02, 1.09483639e-02, 1.69048801e-03,
  8.31929145e-03, 1.26671694e-02, 0.00000000e+00,-6.40566143e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16236675, -0.04660629, -0.15553397, -0.04660629,  0.5872848 ,
       -0.12732816, -0.15553397, -0.12732816,  0.20052107,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010325963777917113
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63505226,  0.0786784 , -0.76845191, -0.05012027,  0.99690005,
        0.06064857,  0.77084148,  0.        ,  0.63702701])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616618, -0.03403744,  0.22465154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16236675, -0.04660629, -0.15553397, -0.04660629,  0.5872848 ,
       -0.12732816, -0.15553397, -0.12732816,  0.20052107,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010325963777917113
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63505226,  0.0786784 , -0.76845191, -0.05012027,  0.99690005,
        0.06064857,  0.77084148,  0.        ,  0.63702701])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616618, -0.03403744,  0.22465154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005730094956611712
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3967673 ,  0.08709741, -0.91377774, -0.03468923,  0.9961998 ,
        0.07989128,  0.91726352,  0.        ,  0.39828085])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08322587, -0.0339573 ,  0.22312975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.27007131, -0.30289332, 17.27007131, 17.29399529,
        1.21263854, -0.30289332,  1.21263854, 86.41375   ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001860558151099868
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.01380781e-07,  3.45558610e-14,  1.00000000e+00,  2.07812307e-20,
        1.00000000e+00, -3.45558610e-14, -1.00000000e+00, -3.00926554e-36,
       -6.01380781e-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([-0.02150301, -0.09156578,  0.0618777 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.51246998e-03, 3.13092823e-02, 3.24361234e-03,-3.82250298e-05,
  1.94895759e-05,-3.05996473e-05, 5.92206207e-05, 2.58998149e-05,
  2.43909780e-05,-8.95442798e-06, 3.29479793e-05, 1.66245560e-05,
  1.02293148e-02, 1.50415861e-02, 6.96624957e-03, 6.51788706e-04,
 -4.63074969e-03, 1.88552693e-02,-9.81434542e+00,-8.70311426e-04,
 -6.19420752e-02, 6.23698589e-02]


--- Step 3441 ---
qpos:
[-0.01796454, 1.19763622,-0.03486581, 0.94261963,-0.00794923, 1.33283768,
 -0.03117442, 0.94137717, 0.01532672, 1.33847549,-0.02376731, 0.95470977,
  1.27156193,-0.00881236, 1.28856793, 0.04470054,-0.05555846,-0.08963095,
  0.09022104, 0.6933581 ,-0.06927724,-0.71396441,-0.0686297 ]

qacc:
[ 2.32534100e-01,-4.80221878e-01, 4.40872362e+00,-2.46781150e+01,
  2.33298350e-01,-4.33831653e+00, 1.58308683e+01,-2.63182891e+01,
  4.52579637e-02, 9.59542434e-01,-5.47346732e+00, 1.55725403e+01,
  2.98821402e-01,-4.80059489e-01, 2.18900524e+00,-3.78994536e+00,
 -3.31819457e+00, 4.28226034e-01,-3.50806537e+00, 4.98539006e-01,
 -1.11769329e+02,-4.22957608e+01]

qfrc_actuator:
[ 9.19165079e-03, 6.57779498e-02, 1.37876178e-02, 1.91401395e-03,
  5.52178362e-05, 3.49102573e-02, 1.09803310e-02, 1.86023621e-03,
 -3.03078772e-03, 3.46523402e-02, 1.09451916e-02, 1.73565777e-03,
  8.32390110e-03, 1.26716503e-02, 0.00000000e+00,-6.71512946e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16235937, -0.05733229, -0.15189988, -0.05733229,  0.71774826,
       -0.20962305, -0.15189988, -0.20962305,  0.24147838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010306325589174922
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.35149236e-01,  7.86761737e-02, -7.68371985e-01, -5.01264925e-02,
        9.96900226e-01,  6.06405397e-02,  7.70761171e-01, -6.93889390e-18,
        6.37124178e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616592, -0.03403871,  0.22465263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16235937, -0.05733229, -0.15189988, -0.05733229,  0.71774826,
       -0.20962305, -0.15189988, -0.20962305,  0.24147838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010306325589174922
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.35149236e-01,  7.86761737e-02, -7.68371985e-01, -5.01264925e-02,
        9.96900226e-01,  6.06405397e-02,  7.70761171e-01, -6.93889390e-18,
        6.37124178e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616592, -0.03403871,  0.22465263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005732973701553686
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39674982,  0.08709963, -0.91378511, -0.03468859,  0.99619961,
        0.07989397,  0.9172711 ,  0.        ,  0.39826338])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08322413, -0.03395854,  0.22313002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.2613979 ,  0.62549969, 17.2613979 , 17.27661945,
       -0.10740931,  0.62549969, -0.10740931, 20.23681335,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018828295132906903
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.89656693e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.89656693e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02256701, -0.09204158,  0.06187645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.50780816e-03, 3.13113229e-02, 3.27246323e-03,-1.00184894e-04,
  6.71869419e-05,-3.26975509e-05, 3.17412473e-05,-5.65561471e-05,
  1.30489606e-05,-3.16098992e-05,-6.91883204e-07, 4.62547574e-05,
  1.02089539e-02, 1.50554849e-02, 6.86312776e-03, 6.14816515e-04,
 -1.80670277e-03, 1.62085523e-02,-9.81395805e+00, 1.29671065e-04,
 -6.18987522e-02, 6.24401053e-02]


--- Step 3442 ---
qpos:
[-0.01796857, 1.1976561 ,-0.03486919, 0.94261876,-0.00794876, 1.33283915,
 -0.03117348, 0.9413782 , 0.01532669, 1.33847415,-0.02376593, 0.95470997,
  1.27159256,-0.00882317, 1.28855918, 0.04470018,-0.05557606,-0.08971453,
  0.09020015, 0.69322724,-0.06828285,-0.71407476,-0.06979033]

qacc:
[ 7.07331781e-02,-6.41094583e-01, 2.50286138e+00,-7.72143259e+00,
  6.71666360e-02,-6.65651199e-01, 3.30317968e+00,-1.05971077e+01,
  2.37920580e-02, 3.26429868e-01,-1.66189776e+00, 3.70550674e+00,
 -4.57584757e-01, 2.45133976e-01, 3.01650920e+00,-5.83245637e+00,
 -3.06211449e+00, 3.48645946e-01,-3.98309199e+00, 1.42877648e-03,
 -1.03303978e+02,-3.76468168e+01]

qfrc_actuator:
[ 9.20605499e-03, 6.57465374e-02, 1.37705100e-02, 1.89453623e-03,
  3.49150588e-05, 3.48929553e-02, 1.09620462e-02, 1.82543123e-03,
 -3.03162914e-03, 3.46506046e-02, 1.09426583e-02, 1.74445086e-03,
  8.30955422e-03, 1.27142931e-02, 0.00000000e+00,-7.25509486e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16235628, -0.05194633, -0.15382178, -0.05194633,  0.60675192,
       -0.15007447, -0.15382178, -0.15007447,  0.21303712,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010298086145162262
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63523864,  0.07867402, -0.76829829, -0.05013217,  0.9969004 ,
        0.06063305,  0.77068712,  0.        ,  0.63721375])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861657 , -0.03404001,  0.22465365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16235628, -0.05194633, -0.15382178, -0.05194633,  0.60675192,
       -0.15007447, -0.15382178, -0.15007447,  0.21303712,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010298086145162262
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63523864,  0.07867402, -0.76829829, -0.05013217,  0.9969004 ,
        0.06063305,  0.77068712,  0.        ,  0.63721375])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861657 , -0.03404001,  0.22465365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005736571003802406
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39673405,  0.0871016 , -0.91379177, -0.034688  ,  0.99619943,
        0.07989638,  0.91727795,  0.        ,  0.39824762])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08322256, -0.03395981,  0.22313027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.06606013,   2.66396304, -17.06606013,
        17.94239991,   4.29010209,   2.66396304,   4.29010209,
        44.75626927,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018800020457609978
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.9527176e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.9527176e-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([ 0.02257748, -0.0920599 ,  0.06187669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.49548888e-03, 3.13092454e-02, 3.31836555e-03,-2.82443695e-05,
  1.93580074e-05,-3.08930848e-05,-2.27305998e-05,-3.61635114e-05,
  6.86306705e-06,-1.79730411e-05,-7.43200927e-06, 8.91283868e-06,
  1.01835220e-02, 1.51149695e-02, 6.77195379e-03, 5.52811303e-04,
  7.82269489e-04, 1.54468571e-02,-9.81425548e+00, 1.15192596e-03,
 -6.19497188e-02, 6.25088820e-02]


--- Step 3443 ---
qpos:
[-0.01797209, 1.19767396,-0.03487222, 0.94261881,-0.00794844, 1.33284056,
 -0.03117339, 0.94137882, 0.01532669, 1.33847343,-0.02376521, 0.95471058,
  1.27162236,-0.00883434, 1.28855783, 0.0447    ,-0.05558256,-0.08978743,
  0.09019282, 0.69321531,-0.06750454,-0.71406321,-0.07077717]

qacc:
[ 2.25351284e-01,-2.02126744e+00, 1.48197762e+00, 1.07197951e+01,
 -6.53062043e-02, 1.53289734e+00,-4.27421019e+00,-9.22419247e-01,
  1.20531275e-02, 3.32391623e+00,-1.07041516e+01, 1.36766832e+01,
 -8.18411782e-01, 4.67035431e-01, 1.04330742e+01,-2.04862317e+01,
  2.77358036e+00, 2.67171278e+00, 3.39227519e+00,-1.30397467e+01,
  7.12411383e+01, 1.45706312e+02]

qfrc_actuator:
[ 9.19846172e-03, 6.57909847e-02, 1.37795113e-02, 1.93675596e-03,
  4.69767387e-06, 3.48820849e-02, 1.09153494e-02, 1.80454265e-03,
 -3.03215457e-03, 3.47211918e-02, 1.09228730e-02, 1.76728771e-03,
  8.31052600e-03, 1.27975687e-02, 0.00000000e+00,-9.88590590e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16235899, -0.04950395, -0.15462794, -0.04950395,  0.56495629,
       -0.12889104, -0.15462794, -0.12889104,  0.2036233 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010305302178143308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63531916,  0.07867223, -0.7682319 , -0.05013738,  0.99690054,
        0.06062643,  0.77062041,  0.        ,  0.63729443])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616553, -0.03404131,  0.22465459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16235899, -0.04950395, -0.15462794, -0.04950395,  0.56495629,
       -0.12889104, -0.15462794, -0.12889104,  0.2036233 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010305302178143308
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63531916,  0.07867223, -0.7682319 , -0.05013738,  0.99690054,
        0.06062643,  0.77062041,  0.        ,  0.63729443])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616553, -0.03404131,  0.22465459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005741255466323245
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96718883e-01,  8.71034937e-02, -9.13798178e-01, -3.46874384e-02,
        9.96199268e-01,  7.98986873e-02,  9.17284530e-01, -6.93889390e-18,
        3.98232458e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08322118, -0.03396108,  0.22313053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019135687926498807
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.90092269e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.90092269e-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([-0.08815971, -0.09084175,  0.06187462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.47976095e-03, 3.13730631e-02, 3.34069858e-03, 3.89712830e-05,
 -1.87908991e-05,-3.35089986e-05,-5.63923384e-05,-2.33199577e-05,
  3.52636882e-06, 5.94689366e-05,-2.38790273e-05, 2.22944659e-05,
  1.02132135e-02, 1.52075943e-02, 6.66365951e-03, 2.86142305e-04,
  2.80517860e-03, 1.46307130e-02,-9.81467505e+00, 2.24278856e-03,
 -6.19928435e-02, 6.25773991e-02]


--- Step 3444 ---
qpos:
[-0.01797606, 1.19769144,-0.0348754 , 0.9426189 ,-0.00794808, 1.33284205,
 -0.0311737 , 0.94137915, 0.01532684, 1.3384733 ,-0.0237654 , 0.95471181,
  1.27165131,-0.00884527, 1.28855609, 0.04469949,-0.05557886,-0.08985047,
  0.0901949 , 0.69331333,-0.06692338,-0.71394003,-0.07160676]

qacc:
[-1.94365612e-01,-3.75519140e-02,-5.57441152e-01, 1.17559966e+00,
  2.16183877e-02, 6.88266693e-01,-1.50674960e+00,-2.14593195e+00,
  6.74090874e-02, 4.29554604e+00,-1.43088743e+01, 1.92487054e+01,
 -8.43511046e-01, 8.70709813e-01, 4.96216440e-01,-2.44658126e+00,
  2.55065856e+00, 2.46486209e+00, 2.35190245e+00,-1.24285776e+01,
  6.56637858e+01, 1.32546190e+02]

qfrc_actuator:
[ 9.19500355e-03, 6.58117208e-02, 1.37859167e-02, 1.94376104e-03,
  2.20385425e-05, 3.49105441e-02, 1.09055614e-02, 1.79200147e-03,
 -3.01473287e-03, 3.47457156e-02, 1.08756124e-02, 1.79825005e-03,
  8.31540680e-03, 1.28522276e-02, 0.00000000e+00,-9.15697220e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16237952, -0.04243938, -0.15673547, -0.04243938,  0.49415626,
       -0.08983544, -0.15673547, -0.08983544,  0.18670433,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010359848822432544
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.35369865e-01,  7.86717293e-02, -7.68190012e-01, -5.01410544e-02,
        9.96900576e-01,  6.06227322e-02,  7.70578360e-01,  6.93889390e-18,
        6.37345268e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616554, -0.0340427 ,  0.22465522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16237952, -0.04243938, -0.15673547, -0.04243938,  0.49415626,
       -0.08983544, -0.15673547, -0.08983544,  0.18670433,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010359848822432544
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.35369865e-01,  7.86717293e-02, -7.68190012e-01, -5.01410544e-02,
        9.96900576e-01,  6.06227322e-02,  7.70578360e-01,  6.93889390e-18,
        6.37345268e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616554, -0.0340427 ,  0.22465522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005749161179824797
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39670525,  0.08710515, -0.91380394, -0.03468691,  0.99619912,
        0.07990073,  0.91729045,  0.        ,  0.39821883])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08322044, -0.03396246,  0.22313074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.86544338,  -3.72879697,  16.86544338,
        23.84403866,  29.72220824,  -3.72879697,  29.72220824,
       151.70702981,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019334436508661526
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.87110262e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.87110262e-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([-0.08814216, -0.09083033,  0.06187345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.45046355e-03, 3.14945344e-02, 3.32964809e-03,-1.50609702e-07,
  6.24719578e-06,-1.82690845e-06,-2.34498028e-05,-1.57432484e-05,
  1.95058714e-05, 5.34120688e-05,-3.77070461e-05, 3.25456348e-05,
  1.02595646e-02, 1.52810623e-02, 6.29359053e-03, 3.49699163e-04,
  7.27842370e-04, 1.09852887e-02,-9.81336246e+00, 1.83220794e-03,
 -6.19234504e-02, 6.25947266e-02]


--- Step 3445 ---
qpos:
[-0.01798131, 1.19771074,-0.03487872, 0.94261853,-0.00794774, 1.33284359,
 -0.03117391, 0.94137965, 0.01532732, 1.33847369,-0.02376639, 0.95471238,
  1.27167975,-0.00885535, 1.28854633, 0.0446983 ,-0.0555657 ,-0.08990434,
  0.09020288, 0.69351371,-0.06652362,-0.71371361,-0.07229264]

qacc:
[-5.62667036e-01, 1.96313851e+00,-2.55584138e+00,-4.32971233e+00,
 -1.33108523e-02, 6.07328351e-02,-4.60973251e-01, 2.31445988e+00,
  1.37008587e-01, 1.69018337e+00,-3.36062181e+00,-5.12454749e+00,
 -5.47449916e-01, 9.95405087e-01,-9.75488633e+00, 1.70143883e+01,
  2.36598170e+00, 2.29242756e+00, 1.47375414e+00,-1.18553187e+01,
  6.10209252e+01, 1.21687645e+02]

qfrc_actuator:
[ 9.17702972e-03, 6.57996440e-02, 1.37733663e-02, 1.93015195e-03,
  1.45129149e-05, 3.49269721e-02, 1.09178052e-02, 1.80227270e-03,
 -2.98668529e-03, 3.47601156e-02, 1.08301142e-02, 1.76269952e-03,
  8.29603605e-03, 1.28359837e-02, 0.00000000e+00,-6.40771043e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16239823, -0.03655785, -0.15822992, -0.03655785,  0.43747941,
       -0.06355548, -0.15822992, -0.06355548,  0.17708225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010409300969406454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6354212 ,  0.07867147, -0.76814758, -0.05014494,  0.9969006 ,
        0.06061918,  0.77053578,  0.        ,  0.63739675])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616553, -0.03404402,  0.22465586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16239823, -0.03655785, -0.15822992, -0.03655785,  0.43747941,
       -0.06355548, -0.15822992, -0.06355548,  0.17708225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010409300969406454
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6354212 ,  0.07867147, -0.76814758, -0.05014494,  0.9969006 ,
        0.06061918,  0.77053578,  0.        ,  0.63739675])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616553, -0.03404402,  0.22465586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005756588061002592
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3966921 ,  0.08710698, -0.91380947, -0.0346865 ,  0.99619896,
        0.0799029 ,  0.91729615,  0.        ,  0.39820569])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08321968, -0.03396377,  0.22313096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.74014126,  -4.2561459 ,  16.74014126,
        26.77023126,  37.35528863,  -4.2561459 ,  37.35528863,
       164.19739192,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019305498083399888
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.87540632e-14,  5.75081264e-14,  1.00000000e+00,  1.65359230e-27,
        1.00000000e+00, -5.75081264e-14, -1.00000000e+00,  0.00000000e+00,
       -2.87540632e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08814579, -0.09082675,  0.0618737 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.45477558e-03, 3.15011441e-02, 3.32432674e-03,-1.56982158e-05,
 -3.83774986e-06, 1.03445598e-05, 8.75392903e-06, 9.16541832e-06,
  3.95687269e-05, 3.75404308e-05,-3.83979523e-05,-3.43124165e-05,
  1.02828420e-02, 1.52524332e-02, 6.31327187e-03, 6.41430744e-04,
 -8.37800648e-04, 8.10835497e-03,-9.81231838e+00, 1.63291391e-03,
 -6.18327182e-02, 6.26081652e-02]


--- Step 3446 ---
qpos:
[-0.0179867 , 1.19773085,-0.03488163, 0.9426184 ,-0.00794761, 1.33284477,
 -0.03117432, 0.94137963, 0.01532813, 1.3384744 ,-0.02376822, 0.95471357,
  1.2717083 ,-0.00886513, 1.28853467, 0.0446969 ,-0.05554368,-0.08994961,
  0.09021379, 0.69381003,-0.06629215,-0.71339083,-0.0728459 ]

qacc:
[-5.98500031e-02, 4.05917298e-01,-5.50020638e-01, 2.82241766e+00,
 -8.55074750e-02,-7.94811737e-01, 3.07561390e+00,-8.43637336e+00,
  1.37836293e-01, 3.79369076e+00,-1.31055799e+01, 1.83502731e+01,
 -1.42408130e-02, 2.30078728e-01,-2.17163508e+00, 3.52687043e+00,
  2.21325674e+00, 2.14891858e+00, 7.33426882e-01,-1.13230784e+01,
  5.71614641e+01, 1.12722999e+02]

qfrc_actuator:
[ 9.18687477e-03, 6.57480794e-02, 1.37849941e-02, 1.94016670e-03,
 -7.87044737e-06, 3.48651691e-02, 1.08896612e-02, 1.77263017e-03,
 -2.97024298e-03, 3.47682986e-02, 1.07859431e-02, 1.79480283e-03,
  8.27809115e-03, 1.27942585e-02, 0.00000000e+00,-6.52459393e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16239672, -0.04192481, -0.1568917 , -0.04192481,  0.49864621,
       -0.08985304, -0.1568917 , -0.08985304,  0.18640737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010405321961052746
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.35504009e-01,  7.86703377e-02, -7.68079184e-01, -5.01507479e-02,
        9.96900686e-01,  6.06129072e-02,  7.70467103e-01,  6.93889390e-18,
        6.37479759e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616534, -0.03404516,  0.22465683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16239672, -0.04192481, -0.1568917 , -0.04192481,  0.49864621,
       -0.08985304, -0.1568917 , -0.08985304,  0.18640737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010405321961052746
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.35504009e-01,  7.86703377e-02, -7.68079184e-01, -5.01507479e-02,
        9.96900686e-01,  6.06129072e-02,  7.70467103e-01,  6.93889390e-18,
        6.37479759e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616534, -0.03404516,  0.22465683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005760282940127266
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96677386e-01,  8.71093470e-02, -9.13815634e-01, -3.46861587e-02,
        9.96198756e-01,  7.99056239e-02,  9.17302525e-01, -6.93889390e-18,
        3.98191008e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08321823, -0.03396489,  0.22313122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019094553795241664
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  5.8143439e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -5.8143439e-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([-0.08816623, -0.09082928,  0.06187508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.52913593e-03, 3.13583259e-02, 3.34260221e-03, 1.75138275e-05,
 -2.46485424e-05,-5.41007112e-05,-2.48551049e-05,-2.88589867e-05,
  3.98119162e-05, 2.04276798e-05,-4.22062591e-05, 3.12934099e-05,
  1.02901576e-02, 1.51687249e-02, 6.71422171e-03, 6.63681273e-04,
 -2.00405156e-03, 5.82998274e-03,-9.81147424e+00, 1.59218947e-03,
 -6.17244766e-02, 6.26176866e-02]


--- Step 3447 ---
qpos:
[-0.01799179, 1.1977513 ,-0.03488434, 0.9426181 ,-0.0079477 , 1.33284534,
 -0.03117523, 0.9413793 , 0.01532906, 1.33847542,-0.02377063, 0.95471546,
  1.27173686,-0.00887495, 1.28852392, 0.04469554,-0.05553667,-0.08999197,
  0.09021339, 0.69392147,-0.0659792 ,-0.7132487 ,-0.07345767]

qacc:
[ 1.33113557e-01,-3.89786509e-01, 2.16533707e+00,-4.06940448e+00,
 -9.68552486e-02,-7.08798333e-03,-2.87290392e-01,-3.04980317e+00,
  5.22384806e-02, 3.16548744e+00,-1.12548773e+01, 1.77221704e+01,
 -1.43377562e-02,-2.22935343e-03, 1.24322746e+00,-2.40635593e+00,
 -3.75135850e+00, 7.28459545e-01,-2.82653068e+00, 7.84953454e+00,
 -1.23704883e+02,-6.20895626e+01]

qfrc_actuator:
[ 9.21277406e-03, 6.57086115e-02, 1.38284032e-02, 1.92832623e-03,
 -2.12327655e-05, 3.48100859e-02, 1.08553148e-02, 1.75516186e-03,
 -2.97864807e-03, 3.47904788e-02, 1.07606827e-02, 1.83096723e-03,
  8.27694226e-03, 1.28084617e-02, 0.00000000e+00,-6.94292752e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16239085, -0.05138938, -0.15404518, -0.05138938,  0.59484316,
       -0.14426584, -0.15404518, -0.14426584,  0.21051785,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001038981846707681
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.35595391e-01,  7.86688272e-02, -7.68003720e-01, -5.01569903e-02,
        9.96900805e-01,  6.06057811e-02,  7.70391313e-01, -6.93889390e-18,
        6.37571349e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616509, -0.03404629,  0.22465788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16239085, -0.05138938, -0.15404518, -0.05138938,  0.59484316,
       -0.14426584, -0.15404518, -0.14426584,  0.21051785,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001038981846707681
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.35595391e-01,  7.86688272e-02, -7.68003720e-01, -5.01569903e-02,
        9.96900805e-01,  6.06057811e-02,  7.70391313e-01, -6.93889390e-18,
        6.37571349e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616509, -0.03404629,  0.22465788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005763277406792451
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39666157,  0.08711179, -0.91382227, -0.03468576,  0.99619854,
        0.07990846,  0.91730938,  0.        ,  0.39817521])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0832166 , -0.03396599,  0.22313149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.27052078, -0.27607839, 17.27052078, 17.28666747,
        0.87205095, -0.27607839,  0.87205095, 71.8252549 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019554125537345757
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12913451e-14,  1.41942300e-14,  1.00000000e+00, -3.02214250e-28,
        1.00000000e+00, -1.41942300e-14, -1.00000000e+00,  0.00000000e+00,
        2.12913451e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02238439, -0.09218891,  0.06187236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.56188138e-03, 3.12782114e-02, 3.36605913e-03,-6.61247861e-06,
 -2.79146585e-05,-9.07558303e-05,-4.86102066e-05,-2.04959154e-05,
  1.51073578e-05, 2.61618152e-05,-2.51490945e-05, 3.62628379e-05,
  1.02837045e-02, 1.51681524e-02, 6.80944792e-03, 6.32369212e-04,
 -2.85324422e-03, 4.02462118e-03,-9.81078182e+00, 1.67225728e-03,
 -6.16016642e-02, 6.26233080e-02]


--- Step 3448 ---
qpos:
[-0.01799771, 1.19777343,-0.03488644, 0.94261787,-0.00794785, 1.33284555,
 -0.0311767 , 0.94137943, 0.01532987, 1.33847659,-0.02377265, 0.95471636,
  1.27176479,-0.0088843 , 1.28850955, 0.04469397,-0.05554335,-0.09003198,
  0.09019939, 0.69386374,-0.06559837,-0.71327141,-0.07412065]

qacc:
[-3.60337151e-01, 6.66102551e-01, 3.62946985e-01,-6.39175429e-01,
 -2.28459290e-02, 1.84443633e+00,-7.54652099e+00, 1.21782885e+01,
 -4.95749862e-02,-2.56278896e+00, 1.05877656e+01,-2.07660365e+01,
 -6.19568089e-01, 8.08546565e-01,-4.68694277e+00, 8.73264311e+00,
 -3.42410379e+00, 5.87112460e-01,-3.40103725e+00, 5.75940249e+00,
 -1.13347384e+02,-5.36232101e+01]

qfrc_actuator:
[ 9.21241282e-03, 6.56410402e-02, 1.38554111e-02, 1.93919595e-03,
 -1.13223207e-05, 3.48126793e-02, 1.08353667e-02, 1.78051056e-03,
 -3.00188969e-03, 3.48031913e-02, 1.07823355e-02, 1.78047189e-03,
  8.28054985e-03, 1.28741902e-02, 0.00000000e+00,-5.41338288e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16238817, -0.04768016, -0.15523054, -0.04768016,  0.51718472,
       -0.10897827, -0.15523054, -0.10897827,  0.19586162,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010382754064669313
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63568426,  0.07866726, -0.76793032, -0.050163  ,  0.99690093,
        0.06059877,  0.77031759,  0.        ,  0.63766042])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616487, -0.03404744,  0.22465891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16238817, -0.04768016, -0.15523054, -0.04768016,  0.51718472,
       -0.10897827, -0.15523054, -0.10897827,  0.19586162,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010382754064669313
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63568426,  0.07866726, -0.76793032, -0.050163  ,  0.99690093,
        0.06059877,  0.77031759,  0.        ,  0.63766042])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616487, -0.03404744,  0.22465891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005766994942743853
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39664525,  0.08711412, -0.91382913, -0.03468526,  0.99619834,
        0.07991122,  0.91731646,  0.        ,  0.39815891])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08321503, -0.03396712,  0.22313176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.20896494,   1.48277884, -17.20896494,
        17.31650868,   0.50812211,   1.48277884,   0.50812211,
        23.16993551,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019788829901637925
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.40258801e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.40258801e-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([ 0.02232263, -0.09221755,  0.06187098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.54622779e-03, 3.11933601e-02, 3.38284476e-03, 1.27960897e-05,
 -6.57125989e-06,-5.77499129e-05,-4.38426285e-05, 2.07109208e-05,
 -1.43187350e-05, 2.33423159e-05, 2.49692483e-05,-4.96114849e-05,
  1.02867328e-02, 1.52358865e-02, 6.76443387e-03, 7.83814021e-04,
 -1.04719039e-03, 4.02410117e-03,-9.81119092e+00, 2.00183471e-03,
 -6.16797338e-02, 6.26666744e-02]


--- Step 3449 ---
qpos:
[-0.01800488, 1.19779802,-0.03488841, 0.94261668,-0.00794784, 1.33284569,
 -0.03117855, 0.94137913, 0.01533064, 1.33847747,-0.02377399, 0.95471805,
  1.27179239,-0.00889302, 1.28848912, 0.04469224,-0.05556263,-0.0900701 ,
  0.09016982, 0.6936499 ,-0.06516044,-0.71344557,-0.07482883]

qacc:
[-5.48851549e-01, 1.24630677e+00, 1.80076630e+00,-1.41653533e+01,
  6.90479920e-02, 2.14918788e-01, 7.38396351e-02,-4.95703994e+00,
 -1.68839179e-02,-8.50472195e-01, 7.39966717e-01, 8.64523356e+00,
 -3.44381154e-01, 6.89502577e-01,-8.46000122e+00, 1.66592147e+01,
 -3.14752354e+00, 4.73553423e-01,-3.89285634e+00, 4.18645147e+00,
 -1.04619136e+02,-4.67996158e+01]

qfrc_actuator:
[ 9.17955264e-03, 6.56083886e-02, 1.38720888e-02, 1.89251528e-03,
  1.24683873e-05, 3.48321182e-02, 1.08243241e-02, 1.75988347e-03,
 -2.99833648e-03, 3.47747638e-02, 1.08136616e-02, 1.82142389e-03,
  8.27641761e-03, 1.28815836e-02, 0.00000000e+00,-3.42299980e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16237824, -0.05344202, -0.15333181, -0.05344202,  0.56754526,
       -0.14121625, -0.15333181, -0.14121625,  0.21159752,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010356468898066115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.35788276e-01,  7.86653956e-02, -7.67844401e-01, -5.01700093e-02,
        9.96901076e-01,  6.05905490e-02,  7.70231289e-01, -6.93889390e-18,
        6.37764660e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616457, -0.03404849,  0.22466013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16237824, -0.05344202, -0.15333181, -0.05344202,  0.56754526,
       -0.14121625, -0.15333181, -0.14121625,  0.21159752,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010356468898066115
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.35788276e-01,  7.86653956e-02, -7.67844401e-01, -5.01700093e-02,
        9.96901076e-01,  6.05905490e-02,  7.70231289e-01, -6.93889390e-18,
        6.37764660e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616457, -0.03404849,  0.22466013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005769590410581484
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39662682,  0.08711682, -0.91383687, -0.03468474,  0.9961981 ,
        0.07991439,  0.91732444,  0.        ,  0.39814051])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08321314, -0.03396813,  0.22313208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.20886282,   1.48396362, -17.20886282,
        17.33559929,   0.72909868,   1.48396362,   0.72909868,
        25.72775881,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019756090792022035
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.10736850e-14,  1.40491233e-14,  1.00000000e+00,  2.96066800e-28,
        1.00000000e+00, -1.40491233e-14, -1.00000000e+00,  0.00000000e+00,
       -2.10736850e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02233042, -0.09224682,  0.06187116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.55468541e-03, 3.10764164e-02, 3.36888487e-03,-3.70504532e-05,
  1.99094863e-05,-2.04649838e-05,-2.67247875e-05,-2.31761248e-05,
 -4.90171854e-06,-1.21176846e-05, 3.72730008e-05, 4.12198595e-05,
  1.03144126e-02, 1.52201935e-02, 6.94555069e-03, 9.93066125e-04,
  2.36823124e-04, 3.86760512e-03,-9.81169646e+00, 2.50962798e-03,
 -6.17361421e-02, 6.27099284e-02]


--- Step 3450 ---
qpos:
[-0.01801264, 1.19782391,-0.03489017, 0.94261471,-0.00794776, 1.33284607,
 -0.03118008, 0.94137715, 0.01533126, 1.33847767,-0.02377466, 0.95471922,
  1.27181999,-0.00890152, 1.28846812, 0.04469079,-0.05559356,-0.09010669,
  0.09012299, 0.69329086,-0.06467388,-0.71375987,-0.07557726]

qacc:
[-2.57211638e-01,-1.98036820e-01, 4.34730568e+00,-1.38072770e+01,
  2.83982035e-02,-3.45878964e+00, 1.51476506e+01,-3.29311341e+01,
 -6.49886989e-02,-3.62052806e+00, 1.17747099e+01,-1.58020492e+01,
 -7.38845773e-02, 2.12642676e-01,-1.67125765e+00, 4.62554643e+00,
 -2.91262641e+00, 3.82316943e-01,-4.31387980e+00, 3.01730370e+00,
 -9.72627863e+01,-4.13020235e+01]

qfrc_actuator:
[ 9.14570867e-03, 6.56129928e-02, 1.39005526e-02, 1.84779890e-03,
  8.88656706e-06, 3.48792670e-02, 1.08541722e-02, 1.67686951e-03,
 -3.01424187e-03, 3.47042623e-02, 1.08325833e-02, 1.79158674e-03,
  8.27296230e-03, 1.28891227e-02, 0.00000000e+00,-3.64117010e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16235555, -0.06634487, -0.14818125, -0.06634487,  0.69190142,
       -0.23709242, -0.14818125, -0.23709242,  0.26850842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010296132320066625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63591734,  0.07866298, -0.76773777, -0.05017864,  0.99690127,
        0.06058026,  0.77012418,  0.        ,  0.637894  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616413, -0.03404941,  0.22466161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16235555, -0.06634487, -0.14818125, -0.06634487,  0.69190142,
       -0.23709242, -0.14818125, -0.23709242,  0.26850842,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010296132320066625
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63591734,  0.07866298, -0.76773777, -0.05017864,  0.99690127,
        0.06058026,  0.77012418,  0.        ,  0.637894  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616413, -0.03404941,  0.22466161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005770076470377715
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96606004e-01,  8.71200659e-02, -9.13845595e-01, -3.46842169e-02,
        9.96197819e-01,  7.99181518e-02,  9.17333463e-01, -6.93889390e-18,
        3.98119727e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08321071, -0.03396901,  0.22313244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.21584134,   1.40068354, -17.21584134,
        17.35050599,   0.95598044,   1.40068354,   0.95598044,
        29.02271019,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019507890397120337
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.84557428e-14,  5.69114857e-14,  1.00000000e+00,  1.61945860e-27,
        1.00000000e+00, -5.69114857e-14, -1.00000000e+00,  0.00000000e+00,
       -2.84557428e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0223934 , -0.09227664,  0.06187259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.58376847e-03, 3.09578854e-02, 3.39052242e-03,-3.41931328e-05,
  8.17056739e-06, 2.99002130e-05, 2.21227409e-05,-8.49547512e-05,
 -1.88006691e-05,-6.87034987e-05, 2.20004059e-05,-2.81446024e-05,
  1.03272955e-02, 1.51960039e-02, 7.24866864e-03, 9.78991198e-04,
  1.08566446e-03, 3.59979018e-03,-9.81228483e+00, 3.14759196e-03,
 -6.17769368e-02, 6.27533142e-02]


--- Step 3451 ---
qpos:
[-0.01802058, 1.19785002,-0.03489069, 0.94261398,-0.00794751, 1.33284637,
 -0.03118091, 0.94137557, 0.01533156, 1.33847716,-0.02377469, 0.95471934,
  1.27184732,-0.00890986, 1.28844903, 0.04468959,-0.05561185,-0.09013274,
  0.09009724, 0.69307023,-0.06443951,-0.71393809,-0.07611582]

qacc:
[-7.49252593e-02,-9.03051747e-01, 7.05269236e-01, 1.37920252e+01,
  7.07289517e-02,-1.26170754e+00, 3.14123352e+00, 2.08966046e+00,
 -1.33458852e-01,-4.47539109e+00, 1.55727134e+01,-2.51725292e+01,
 -4.14913965e-01, 5.00002778e-01, 2.12040400e+00,-3.23595492e+00,
  3.15907182e+00, 2.63255485e+00, 5.26784072e+00,-1.31821205e+01,
  8.02468957e+01, 1.72379923e+02]

qfrc_actuator:
[ 9.16436700e-03, 6.55513640e-02, 1.38827058e-02, 1.91100013e-03,
  2.44174592e-05, 3.48717610e-02, 1.08902491e-02, 1.69988035e-03,
 -3.04169260e-03, 3.46622907e-02, 1.08615506e-02, 1.73802504e-03,
  8.26989494e-03, 1.29146775e-02, 0.00000000e+00,-4.30049108e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16233393, -0.05169337, -0.1538834 , -0.05169337,  0.53074073,
       -0.12375728, -0.1538834 , -0.12375728,  0.20390717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010238324777513824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63605032,  0.07866072, -0.76762782, -0.05018769,  0.99690144,
        0.06056984,  0.77001375,  0.        ,  0.63802729])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616369, -0.03405034,  0.22466316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16233393, -0.05169337, -0.1538834 , -0.05169337,  0.53074073,
       -0.12375728, -0.1538834 , -0.12375728,  0.20390717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010238324777513824
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63605032,  0.07866072, -0.76762782, -0.05018769,  0.99690144,
        0.06056984,  0.77001375,  0.        ,  0.63802729])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616369, -0.03405034,  0.22466316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005771028660866151
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96583803e-01,  8.71235700e-02, -9.13854896e-01, -3.46836810e-02,
        9.96197512e-01,  7.99222042e-02,  9.17343082e-01, -6.93889390e-18,
        3.98097564e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08320821, -0.0339699 ,  0.22313283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.26964041,   0.32653854, -17.26964041,
        17.32557674,   2.79504908,   0.32653854,   2.79504908,
       165.09445736,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020364556568973208
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.72587086e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.72587086e-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([-0.08804816, -0.09072939,  0.06186719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.63190584e-03, 3.08310876e-02, 3.36232978e-03, 6.87242029e-05,
  2.03554817e-05, 1.08005789e-05, 4.19522168e-05, 2.25889390e-05,
 -3.85562714e-05,-7.65008972e-05, 1.72286867e-05,-5.56079861e-05,
  1.03239498e-02, 1.52113818e-02, 7.27788554e-03, 8.99491282e-04,
  1.56991052e-03, 3.25349306e-03,-9.81294464e+00, 3.88298002e-03,
 -6.18057658e-02, 6.27969110e-02]


--- Step 3452 ---
qpos:
[-0.01802848, 1.19787585,-0.03489053, 0.94261443,-0.00794709, 1.33284642,
 -0.03118088, 0.9413736 , 0.0153314 , 1.33847688,-0.02377512, 0.95472051,
  1.27187455,-0.00891787, 1.28842932, 0.04468838,-0.05561866,-0.09014903,
  0.09008718, 0.69297575,-0.06443169,-0.71399287,-0.07646796]

qacc:
[ 1.50424851e-02,-2.13473439e-01,-2.18563087e+00, 1.58031164e+01,
  7.34932949e-02,-3.34353929e+00, 1.13566493e+01,-1.43377833e+01,
 -1.97440257e-01, 3.19916378e+00,-1.21730448e+01, 2.25421578e+01,
 -2.50558266e-01, 4.49395349e-01,-8.71328030e-01, 1.77055112e+00,
  2.86975805e+00, 2.44363809e+00, 3.92412033e+00,-1.26002590e+01,
  7.31789265e+01, 1.54251169e+02]

qfrc_actuator:
[ 9.19659249e-03, 6.55215658e-02, 1.38537184e-02, 1.96621356e-03,
  3.35367193e-05, 3.48494350e-02, 1.09295704e-02, 1.67856567e-03,
 -3.07584720e-03, 3.47265085e-02, 1.08608081e-02, 1.79523488e-03,
  8.26708543e-03, 1.29154867e-02, 0.00000000e+00,-3.98263376e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16231841, -0.04159772, -0.15689772, -0.04159772,  0.44956369,
       -0.0761563 , -0.15689772, -0.0761563 ,  0.18250945,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001019659649948712
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63617684,  0.07865892, -0.76752316, -0.05019651,  0.99690159,
        0.06056019,  0.76990865,  0.        ,  0.63815411])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616329, -0.03405131,  0.22466465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16231841, -0.04159772, -0.15689772, -0.04159772,  0.44956369,
       -0.0761563 , -0.15689772, -0.0761563 ,  0.18250945,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001019659649948712
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63617684,  0.07865892, -0.76752316, -0.05019651,  0.99690159,
        0.06056019,  0.76990865,  0.        ,  0.63815411])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616329, -0.03405131,  0.22466465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005773297514525925
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96560271e-01,  8.71271680e-02, -9.13864765e-01, -3.46830662e-02,
        9.96197198e-01,  7.99263932e-02,  9.17353278e-01, -6.93889390e-18,
        3.98074068e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08320585, -0.03397083,  0.22313323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.13635661, -2.16619244, 17.13635661, 18.41160059,
        9.00942088, -2.16619244,  9.00942088, 88.5446264 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020863906988883435
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.66063069e-14,  5.32126138e-14,  1.00000000e+00,  1.41579113e-27,
        1.00000000e+00, -5.32126138e-14, -1.00000000e+00,  0.00000000e+00,
       -2.66063069e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08800161, -0.09069883,  0.06186406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.67272864e-03, 3.07900513e-02, 3.27176771e-03, 6.13876400e-05,
  2.11357671e-05,-7.46292776e-06, 4.68716405e-05,-1.92377920e-05,
 -5.69275847e-05, 2.36325124e-05,-1.53512509e-05, 5.41522137e-05,
  1.03349274e-02, 1.52036709e-02, 7.18251765e-03, 9.19086063e-04,
  3.81595317e-04, 1.62446645e-03,-9.81162751e+00, 3.31051869e-03,
 -6.15976776e-02, 6.27920261e-02]


--- Step 3453 ---
qpos:
[-0.01803561, 1.19790092,-0.0348907 , 0.94261461,-0.00794681, 1.33284675,
 -0.03118074, 0.94136965, 0.01533079, 1.33847728,-0.02377548, 0.9547216 ,
  1.27190232,-0.00892597, 1.28841063, 0.04468734,-0.05561495,-0.09015617,
  0.09008826, 0.69299702,-0.06462921,-0.71393455,-0.07665276]

qacc:
[ 3.34980809e-01,-5.95210580e-01, 1.30647428e+00,-3.87371948e+00,
 -6.18498044e-02,-3.30594251e+00, 1.52810809e+01,-3.63269505e+01,
 -1.86444779e-01, 5.98523157e-01,-7.17228398e-01,-7.06242528e-01,
  4.38975619e-01,-3.91523682e-01, 9.35748496e-01,-1.15893937e+00,
  2.62982461e+00, 2.28434133e+00, 2.78557174e+00,-1.20037511e+01,
  6.72710754e+01, 1.39357740e+02]

qfrc_actuator:
[ 9.21906801e-03, 6.54935196e-02, 1.38713529e-02, 1.94519231e-03,
  3.23062100e-06, 3.48716647e-02, 1.09348745e-02, 1.57804272e-03,
 -3.09599472e-03, 3.48005118e-02, 1.08785232e-02, 1.79295578e-03,
  8.26975109e-03, 1.28657301e-02, 0.00000000e+00,-4.31961558e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16230059, -0.05021819, -0.15433605, -0.05021819,  0.56090314,
       -0.12969814, -0.15433605, -0.12969814,  0.20450205,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010148496078220617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63630528,  0.078657  , -0.76741688, -0.05020541,  0.99690174,
        0.06055031,  0.76980192,  0.        ,  0.63828285])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616288, -0.03405228,  0.22466616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16230059, -0.05021819, -0.15433605, -0.05021819,  0.56090314,
       -0.12969814, -0.15433605, -0.12969814,  0.20450205,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010148496078220617
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63630528,  0.078657  , -0.76741688, -0.05020541,  0.99690174,
        0.06055031,  0.76980192,  0.        ,  0.63828285])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616288, -0.03405228,  0.22466616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000577505356566338
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96536358e-01,  8.71307596e-02, -9.13874799e-01, -3.46824153e-02,
        9.96196884e-01,  7.99305907e-02,  9.17363639e-01,  6.93889390e-18,
        3.98050189e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08320344, -0.03397177,  0.22313361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.0929327 , -2.48571101, 17.0929327 , 18.94546586,
       11.50254712, -2.48571101, 11.50254712, 96.36971923,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021058659985128056
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.63602486e-14,  2.63602486e-14,  1.00000000e+00,  6.94862706e-28,
        1.00000000e+00, -2.63602486e-14, -1.00000000e+00,  0.00000000e+00,
       -2.63602486e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08798346, -0.09068025,  0.06186284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.69347012e-03, 3.07754722e-02, 3.25483870e-03,-1.87248096e-05,
 -1.78294872e-05, 2.66907502e-05, 8.61205023e-06,-9.98209021e-05,
 -5.37668604e-05, 8.56805877e-05, 2.21729141e-05,-7.66828634e-07,
  1.03429182e-02, 1.51381958e-02, 7.21375921e-03, 8.85799760e-04,
 -2.14534219e-04, 7.89849239e-04,-9.81063830e+00, 3.03091217e-03,
 -6.13772682e-02, 6.27843049e-02]


--- Step 3454 ---
qpos:
[-0.01804187, 1.19792553,-0.03489164, 0.9426135 ,-0.00794663, 1.33284727,
 -0.0311806 , 0.94136593, 0.01533027, 1.33847774,-0.02377508, 0.95472198,
  1.27193054,-0.00893435, 1.28839329, 0.04468657,-0.05560151,-0.09015471,
  0.09009663, 0.69312522,-0.06501448,-0.71377156,-0.07668572]

qacc:
[ 3.83778300e-01,-6.93006905e-01, 4.21607996e+00,-1.83607466e+01,
 -3.81175277e-02, 6.37999258e-01,-2.20901012e+00, 4.32705400e+00,
  3.45216203e-02,-3.23235357e+00, 1.20495027e+01,-1.86446509e+01,
  4.94238608e-01,-6.07581679e-01, 1.16474490e+00,-1.26251206e+00,
  2.43114433e+00, 2.15020950e+00, 1.82186245e+00,-1.14118385e+01,
  6.23336361e+01, 1.27110088e+02]

qfrc_actuator:
[ 9.25269798e-03, 6.54848744e-02, 1.38999469e-02, 1.87941739e-03,
  2.77722608e-06, 3.48847144e-02, 1.09379369e-02, 1.59150052e-03,
 -3.05431946e-03, 3.47733343e-02, 1.09070164e-02, 1.75569377e-03,
  8.28097322e-03, 1.28569111e-02, 0.00000000e+00,-4.51873179e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16228424, -0.06237937, -0.14981652, -0.06237937,  0.6939013 ,
       -0.22135033, -0.14981652, -0.22135033,  0.25444826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010104120795342321
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63642928,  0.07865482, -0.76731427, -0.0502138 ,  0.99690191,
        0.06054053,  0.76969887,  0.        ,  0.63840712])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616249, -0.03405333,  0.2246676 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16228424, -0.06237937, -0.14981652, -0.06237937,  0.6939013 ,
       -0.22135033, -0.14981652, -0.22135033,  0.25444826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010104120795342321
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63642928,  0.07865482, -0.76731427, -0.0502138 ,  0.99690191,
        0.06054053,  0.76969887,  0.        ,  0.63840712])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616249, -0.03405333,  0.2246676 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005776946433517192
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39651345,  0.08713403, -0.91388443, -0.03468172,  0.9961966 ,
        0.07993445,  0.91737357,  0.        ,  0.39802731])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08320112, -0.03397277,  0.22313396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  17.02892813,  -2.89183578,  17.02892813,
        19.80706105,  14.92373391,  -2.89183578,  14.92373391,
       105.15295673,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002100740633312316
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.64245621e-14,  2.64245621e-14,  1.00000000e+00,  6.98257480e-28,
        1.00000000e+00, -2.64245621e-14, -1.00000000e+00,  0.00000000e+00,
       -2.64245621e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08798806, -0.09067116,  0.06186316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.68863931e-03, 3.08046495e-02, 3.29962919e-03,-7.05868427e-05,
 -1.09772343e-05, 2.64836313e-05, 6.33091085e-06, 1.21979386e-05,
  9.92526080e-06, 2.45078741e-05, 4.77253714e-05,-3.40900021e-05,
  1.03271160e-02, 1.51333485e-02, 7.16330608e-03, 8.57114640e-04,
 -3.73569525e-04, 5.29468475e-04,-9.80988644e+00, 2.96370179e-03,
 -6.11473968e-02, 6.27733090e-02]


--- Step 3455 ---
qpos:
[-0.01804713, 1.19794848,-0.03489273, 0.94261237,-0.0079465 , 1.33284814,
 -0.03117993, 0.94136269, 0.01533   , 1.33847799,-0.02377509, 0.95472373,
  1.2719586 ,-0.00894318, 1.28838152, 0.04468616,-0.05557901,-0.09014511,
  0.09010903, 0.69335284,-0.06557291,-0.71351077,-0.07657946]

qacc:
[ 4.32479189e-01,-1.80498943e+00, 3.24625831e+00,-1.85878339e+00,
 -2.34724001e-02,-1.17447990e-01,-9.55108887e-02, 5.61064762e+00,
  1.07491510e-01, 3.19253473e+00,-1.34738669e+01, 2.75135244e+01,
 -1.31221151e-01,-1.77227519e-01, 7.16456625e+00,-1.30832222e+01,
  2.26693405e+00, 2.03759449e+00, 1.00700500e+00,-1.08360224e+01,
  5.82113463e+01, 1.17038017e+02]

qfrc_actuator:
[ 9.27484828e-03, 6.55056153e-02, 1.38824388e-02, 1.87667772e-03,
  2.48511416e-06, 3.49277159e-02, 1.09752223e-02, 1.61868745e-03,
 -3.02915390e-03, 3.47213087e-02, 1.08702309e-02, 1.82237157e-03,
  8.28666552e-03, 1.29084024e-02, 0.00000000e+00,-6.41194344e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16227105, -0.05903572, -0.15115118, -0.05903572,  0.62967947,
       -0.18255756, -0.15115118, -0.18255756,  0.23357328,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010068196469522131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.36547728e-01,  7.86523890e-02, -7.67216261e-01, -5.02215809e-02,
        9.96902102e-01,  6.05309104e-02,  7.69600404e-01, -6.93889390e-18,
        6.38525816e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616213, -0.03405442,  0.22466898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16227105, -0.05903572, -0.15115118, -0.05903572,  0.62967947,
       -0.18255756, -0.15115118, -0.18255756,  0.23357328,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010068196469522131
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.36547728e-01,  7.86523890e-02, -7.67216261e-01, -5.02215809e-02,
        9.96902102e-01,  6.05309104e-02,  7.69600404e-01, -6.93889390e-18,
        6.38525816e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616213, -0.03405442,  0.22466898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005779379243337004
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96491669e-01,  8.71369248e-02, -9.13893600e-01, -3.46809793e-02,
        9.96196344e-01,  7.99379343e-02,  9.17383009e-01,  6.93889390e-18,
        3.98005545e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08319893, -0.03397383,  0.22313431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.93961274,  -3.37588915,  16.93961274,
        21.1583199 ,  19.49721432,  -3.37588915,  19.49721432,
       115.10628917,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020759257661121383
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.67404317e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.67404317e-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([-0.08801077, -0.09066956,  0.0618647 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.66671725e-03, 3.08476180e-02, 3.32081305e-03,-8.75630460e-06,
 -6.77131214e-06, 5.92503133e-05, 4.35405423e-05, 2.84494913e-05,
  3.10282773e-05,-3.01655440e-05,-2.75732045e-05, 6.80090885e-05,
  1.03098725e-02, 1.51994233e-02, 7.09619633e-03, 6.54795628e-04,
 -2.04329525e-04, 6.90551313e-04,-9.80931141e+00, 3.05201878e-03,
 -6.09104035e-02, 6.27587703e-02]


--- Step 3456 ---
qpos:
[-0.01805235, 1.19797025,-0.03489294, 0.9426132 ,-0.0079464 , 1.33284936,
 -0.0311791 , 0.94135983, 0.01532971, 1.33847857,-0.02377657, 0.95472593,
  1.27198581,-0.00895179, 1.28837085, 0.04468557,-0.05554799,-0.09012773,
  0.0901227 , 0.6936735 ,-0.06629237,-0.71315774,-0.07634418]

qacc:
[ 1.46572676e-02,-6.16459889e-01,-3.87202115e+00, 2.67182022e+01,
 -1.45584293e-02, 6.18027250e-01,-2.22681726e+00, 5.99125542e+00,
 -7.62650095e-03, 5.19013033e+00,-1.73114148e+01, 1.99892230e+01,
 -8.82500318e-01, 8.97416904e-01, 2.22224378e+00,-5.27502778e+00,
  2.13151624e+00, 1.94345847e+00, 3.18735637e-01,-1.02823981e+01,
  5.47761544e+01, 1.08764092e+02]

qfrc_actuator:
[ 9.28964721e-03, 6.55098901e-02, 1.38547103e-02, 1.98200497e-03,
  2.29131580e-06, 3.49352115e-02, 1.09792612e-02, 1.63599587e-03,
 -3.04960476e-03, 3.47433713e-02, 1.07951511e-02, 1.84310988e-03,
  8.28375454e-03, 1.29786066e-02, 0.00000000e+00,-6.48320141e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16227082, -0.03802368, -0.15775303, -0.03802368,  0.40843442,
       -0.05933355, -0.15775303, -0.05933355,  0.17657216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010067568512441352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63664346,  0.07865055, -0.76713702, -0.05022795,  0.99690225,
        0.06052324,  0.7695208 ,  0.        ,  0.63862175])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616191, -0.03405561,  0.22467012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16227082, -0.03802368, -0.15775303, -0.03802368,  0.40843442,
       -0.05933355, -0.15775303, -0.05933355,  0.17657216,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010067568512441352
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63664346,  0.07865055, -0.76713702, -0.05022795,  0.99690225,
        0.06052324,  0.7695208 ,  0.        ,  0.63862175])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616191, -0.03405561,  0.22467012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005784167820958551
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96471578e-01,  8.71393970e-02, -9.13902081e-01, -3.46802133e-02,
        9.96196128e-01,  7.99409614e-02,  9.17391722e-01, -6.93889390e-18,
        3.97985464e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08319723, -0.03397499,  0.22313463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.82022208,  -3.92775213,  16.82022208,
        23.22888615,  25.50667959,  -3.92775213,  25.50667959,
       126.5026382 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020355332861246994
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.72710604e-14,  2.72710604e-14,  1.00000000e+00,  7.43710736e-28,
        1.00000000e+00, -2.72710604e-14, -1.00000000e+00,  0.00000000e+00,
       -2.72710604e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08804779, -0.09067386,  0.0618672 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.63188619e-03, 3.09355143e-02, 3.30069186e-03, 9.70834942e-05,
 -4.18910213e-06, 4.96409393e-05, 2.14183578e-05, 2.10288852e-05,
 -2.12781201e-06, 2.01345578e-06,-8.21124883e-05, 2.06229436e-05,
  1.03156725e-02, 1.52924345e-02, 6.81766548e-03, 6.29822158e-04,
  2.16865457e-04, 1.16693646e-03,-9.80887274e+00, 3.25574506e-03,
 -6.06680792e-02, 6.27405175e-02]


--- Step 3457 ---
qpos:
[-0.0180581 , 1.19799179,-0.03489294, 0.94261488,-0.00794618, 1.33285088,
 -0.03117902, 0.94135725, 0.01532946, 1.33847913,-0.02377803, 0.95472831,
  1.27201203,-0.00895987, 1.28835674, 0.0446846 ,-0.05553294,-0.09010597,
  0.0901265 , 0.6937984 ,-0.06689544,-0.71299739,-0.07618077]

qacc:
[-2.26650525e-01, 6.07661080e-01,-4.13029060e+00, 1.37124575e+01,
  5.24176379e-02, 2.94181768e+00,-9.70034017e+00, 1.15181223e+01,
  1.50826764e-02, 2.19957586e-01,-1.12705024e+00, 3.11771010e+00,
 -9.75863428e-01, 1.15607437e+00,-3.88471307e+00, 6.36969370e+00,
 -3.99566872e+00, 1.09550014e+00,-2.46739469e+00, 1.56073881e+01,
 -1.29811369e+02,-8.02854994e+01]

qfrc_actuator:
[ 9.31835025e-03, 6.55044479e-02, 1.38731295e-02, 2.02595060e-03,
  1.99101823e-05, 3.49212615e-02, 1.09279880e-02, 1.64730557e-03,
 -3.04399769e-03, 3.47561810e-02, 1.08048396e-02, 1.85440495e-03,
  8.28107379e-03, 1.30595489e-02, 0.00000000e+00,-5.27984768e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16227157, -0.03723852, -0.15794098, -0.03723852,  0.39811192,
       -0.05560523, -0.15794098, -0.05560523,  0.17538188,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010069597276919293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.36733236e-01,  7.86490156e-02, -7.67062656e-01, -5.02340488e-02,
        9.96902369e-01,  6.05161796e-02,  7.69446116e-01, -6.93889390e-18,
        6.38711730e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861617 , -0.03405678,  0.22467119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16227157, -0.03723852, -0.15794098, -0.03723852,  0.39811192,
       -0.05560523, -0.15794098, -0.05560523,  0.17538188,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010069597276919293
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.36733236e-01,  7.86490156e-02, -7.67062656e-01, -5.02340488e-02,
        9.96902369e-01,  6.05161796e-02,  7.69446116e-01, -6.93889390e-18,
        6.38711730e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861617 , -0.03405678,  0.22467119])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005788945840841872
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39645175,  0.08714185, -0.91391045, -0.03467946,  0.99619591,
        0.07994396,  0.91740032,  0.        ,  0.39796564])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08319563, -0.03397613,  0.22313493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.26921613, -0.34825527, 17.26921613, 17.29100502,
        0.90635363, -0.34825527,  0.90635363, 62.21681925,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002033675293553139
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36479878e-14,  1.36479878e-14,  1.00000000e+00,  1.86267571e-28,
        1.00000000e+00, -1.36479878e-14, -1.00000000e+00,  0.00000000e+00,
       -1.36479878e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02215665, -0.09258067,  0.06186736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.65891847e-03, 3.09882836e-02, 3.27475788e-03, 4.36789982e-05,
  1.51476163e-05, 1.83245017e-05,-3.85104215e-05, 1.39206692e-05,
  4.35055704e-06,-1.50146868e-06, 1.35712800e-06, 9.43369811e-06,
  1.03551071e-02, 1.53626505e-02, 6.76294639e-03, 7.59028765e-04,
  8.36685867e-04, 1.88495175e-03,-9.80854365e+00, 3.54673708e-03,
 -6.04217174e-02, 6.27184301e-02]


--- Step 3458 ---
qpos:
[-0.01806371, 1.19801228,-0.03489384, 0.94261583,-0.00794581, 1.33285245,
 -0.03117948, 0.94135518, 0.01532926, 1.33847921,-0.02377776, 0.95473075,
  1.27203767,-0.00896783, 1.28834258, 0.04468364,-0.05553239,-0.09008066,
  0.09011792, 0.69374531,-0.06740354,-0.71301205,-0.07607911]

qacc:
[ 5.96433370e-02,-2.07401258e-01, 5.37783449e-01,-8.34485751e+00,
  6.70621298e-02, 2.38525691e+00,-8.76424323e+00, 1.35329861e+01,
  2.11304715e-02,-5.16820826e+00, 1.59731424e+01,-1.27904215e+01,
 -5.28792448e-01, 5.09595840e-01,-2.26967488e-02, 5.15090830e-02,
 -3.62263357e+00, 8.86270931e-01,-3.09551706e+00, 1.16441005e+01,
 -1.18482218e+02,-6.79130408e+01]

qfrc_actuator:
[ 9.33818318e-03, 6.54749540e-02, 1.38663083e-02, 1.98011787e-03,
  3.03193023e-05, 3.49120989e-02, 1.08976515e-02, 1.67270615e-03,
 -3.04055457e-03, 3.47459067e-02, 1.08999846e-02, 1.86011951e-03,
  8.27324955e-03, 1.30932685e-02, 0.00000000e+00,-5.61691298e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16226229, -0.04914888, -0.15463971, -0.04914888,  0.51636809,
       -0.11254485, -0.15463971, -0.11254485,  0.19803223,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010044261517943437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63683428,  0.0786472 , -0.76697895, -0.05024085,  0.99690251,
        0.06050817,  0.76936204,  0.        ,  0.638813  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616141, -0.03405781,  0.22467237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16226229, -0.04914888, -0.15463971, -0.04914888,  0.51636809,
       -0.11254485, -0.15463971, -0.11254485,  0.19803223,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010044261517943437
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63683428,  0.0786472 , -0.76697895, -0.05024085,  0.99690251,
        0.06050817,  0.76936204,  0.        ,  0.638813  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616141, -0.03405781,  0.22467237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005791582579774933
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96431939e-01,  8.71445092e-02, -9.13918789e-01, -3.46787959e-02,
        9.96195681e-01,  7.99471488e-02,  9.17408905e-01,  1.38777878e-17,
        3.97945852e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08319377, -0.03397713,  0.22313522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.23806226,   1.09376282, -17.23806226,
        17.26698818,  -0.09045   ,   1.09376282,  -0.09045   ,
        15.84720546,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002069554768263329
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.68227505e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.68227505e-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([ 0.02205885, -0.0926256 ,  0.06186517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.70474368e-03, 3.09701839e-02, 3.25774713e-03,-4.51269164e-05,
  1.93517577e-05,-6.15482332e-06,-3.07315119e-05, 2.51440835e-05,
  6.01224011e-06,-1.05588671e-05, 9.52863403e-05, 5.93141453e-06,
  1.03971051e-02, 1.53695951e-02, 6.93504261e-03, 7.43959809e-04,
  4.33473811e-04, 1.98952206e-03,-9.80909165e+00, 2.82620272e-03,
 -6.06529129e-02, 6.27208240e-02]


--- Step 3459 ---
qpos:
[-0.01806887, 1.1980313 ,-0.03489506, 0.94261692,-0.00794558, 1.332854  ,
 -0.03117971, 0.94135305, 0.01532896, 1.33847953,-0.02377732, 0.95473119,
  1.27206336,-0.00897578, 1.28833098, 0.04468274,-0.05554507,-0.09005248,
  0.09009481, 0.69352905,-0.06783364,-0.71318676,-0.07603096]

qacc:
[ 1.96494442e-01,-8.20540917e-01, 3.68298989e-02, 2.59387328e+00,
 -6.27094987e-02,-7.69609125e-01, 2.59076859e+00,-2.91364070e+00,
 -4.18519219e-02,-3.59981273e+00, 1.61476965e+01,-3.72477007e+01,
 -9.30774775e-02, 1.21130666e-01, 3.58879987e+00,-7.02844095e+00,
 -3.30814308e+00, 7.18879423e-01,-3.63418212e+00, 8.57089260e+00,
 -1.08915251e+02,-5.79711459e+01]

qfrc_actuator:
[ 9.31673960e-03, 6.53964298e-02, 1.38453598e-02, 1.98818514e-03,
  8.13205626e-07, 3.49236951e-02, 1.09154602e-02, 1.67071313e-03,
 -3.05619034e-03, 3.47577427e-02, 1.09026702e-02, 1.75601425e-03,
  8.27298853e-03, 1.30633559e-02, 0.00000000e+00,-6.52535493e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16225126, -0.04687866, -0.15533146, -0.04687866,  0.50298839,
       -0.10283365, -0.15533146, -0.10283365,  0.19328621,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010014034887159858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.36933281e-01,  7.86454057e-02, -7.66896927e-01, -5.02475102e-02,
        9.96902653e-01,  6.05003104e-02,  7.69279652e-01, -6.93889390e-18,
        6.38912213e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616111, -0.03405881,  0.22467351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16225126, -0.04687866, -0.15533146, -0.04687866,  0.50298839,
       -0.10283365, -0.15533146, -0.10283365,  0.19328621,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010014034887159858
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.36933281e-01,  7.86454057e-02, -7.66896927e-01, -5.02475102e-02,
        9.96902653e-01,  6.05003104e-02,  7.69279652e-01, -6.93889390e-18,
        6.38912213e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616111, -0.03405881,  0.22467351])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005793603261062888
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39641391,  0.08714708, -0.91392636, -0.03467825,  0.99619546,
        0.07995019,  0.91741671,  0.        ,  0.39792785])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08319194, -0.0339781 ,  0.2231355 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.72727273e+01, -1.72378241e+01,  1.09751004e+00, -1.72378241e+01,
        1.72722285e+01, -7.83321016e-03,  1.09751004e+00, -7.83321016e-03,
        1.71496965e+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: -0.002074890734122703
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.67537708e-14,  5.35075417e-14,  1.00000000e+00, -1.43152851e-27,
        1.00000000e+00, -5.35075417e-14, -1.00000000e+00,  0.00000000e+00,
        2.67537708e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02204078, -0.09266821,  0.06186478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.67642912e-03, 3.09437069e-02, 3.28151783e-03,-2.75565901e-07,
 -1.80825875e-05, 2.92279451e-06, 1.38395591e-05,-2.49918273e-06,
 -1.20859122e-05, 2.47846312e-05, 1.16293953e-05,-1.01487870e-04,
  1.04254904e-02, 1.53340307e-02, 6.93785839e-03, 6.53433121e-04,
 -2.36594304e-04, 2.04951143e-03,-9.80967270e+00, 2.42103475e-03,
 -6.08132329e-02, 6.27235288e-02]


--- Step 3460 ---
qpos:
[-0.01807373, 1.19804986,-0.03489642, 0.94261801,-0.00794572, 1.33285536,
 -0.03117937, 0.94135092, 0.01532853, 1.33847985,-0.02377736, 0.95473113,
  1.27208946,-0.00898365, 1.28831981, 0.04468177,-0.05556991,-0.09002195,
  0.09005531, 0.69316197,-0.06819917,-0.71350883,-0.07602959]

qacc:
[ 1.33177538e-01,-2.50106561e-01, 1.22133721e-01, 2.10719758e-02,
 -1.59982980e-01,-1.79047311e+00, 5.57530190e+00,-4.85182775e+00,
 -5.66876836e-02, 4.01176296e-01,-2.97412820e-01,-5.55364540e+00,
  2.39931644e-01,-1.01206860e-01, 8.26464224e-01,-2.00226533e+00,
 -3.04183436e+00, 5.85083585e-01,-4.09592811e+00, 6.19189361e+00,
 -1.00836340e+02,-4.99754060e+01]

qfrc_actuator:
[ 9.30566688e-03, 6.53603443e-02, 1.38689773e-02, 1.99250042e-03,
 -3.46460880e-05, 3.49122977e-02, 1.09438469e-02, 1.67040308e-03,
 -3.06539225e-03, 3.47290686e-02, 1.08685002e-02, 1.73008199e-03,
  8.27190414e-03, 1.30130854e-02, 0.00000000e+00,-6.35714452e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16224463, -0.04589058, -0.15561933, -0.04589058,  0.50282228,
       -0.10043294, -0.15561933, -0.10043294,  0.1918613 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.995806257216862e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63702123,  0.07864392, -0.76682402, -0.0502535 ,  0.99690277,
        0.06049341,  0.76920643,  0.        ,  0.63900036])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616087, -0.03405988,  0.22467452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16224463, -0.04589058, -0.15561933, -0.04589058,  0.50282228,
       -0.10043294, -0.15561933, -0.10043294,  0.1918613 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.995806257216862e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63702123,  0.07864392, -0.76682402, -0.0502535 ,  0.99690277,
        0.06049341,  0.76920643,  0.        ,  0.63900036])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616087, -0.03405988,  0.22467452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005796243818397794
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39639754,  0.08714944, -0.91393324, -0.03467776,  0.99619525,
        0.07995297,  0.91742381,  0.        ,  0.39791149])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08319034, -0.03397914,  0.22313575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.24072811,   1.05090512, -17.24072811,
        17.27834802,   0.09221171,   1.05090512,   0.09221171,
        18.78551558,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002055575196318396
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.02538752e-14,  2.70051669e-14,  1.00000000e+00,  5.46959279e-28,
        1.00000000e+00, -2.70051669e-14, -1.00000000e+00,  0.00000000e+00,
       -2.02538752e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0220861 , -0.09270918,  0.06186582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.64280118e-03, 3.09810980e-02, 3.32116999e-03,-3.21867486e-06,
 -4.61337527e-05,-7.16160132e-06, 3.04562866e-05, 1.25213279e-07,
 -1.63381061e-05,-1.57073924e-05,-3.09779350e-05,-2.72175733e-05,
  1.04218811e-02, 1.52838731e-02, 6.80980645e-03, 6.66795176e-04,
 -1.14634404e-03, 2.07634749e-03,-9.81030152e+00, 2.24742657e-03,
 -6.09246354e-02, 6.27271231e-02]


--- Step 3461 ---
qpos:
[-0.01807883, 1.19806952,-0.03489754, 0.94261931,-0.00794612, 1.33285652,
 -0.03117891, 0.94134847, 0.01532841, 1.33848024,-0.02377757, 0.95473074,
  1.27211607,-0.00899104, 1.28830378, 0.04468043,-0.05558247,-0.08998222,
  0.09003458, 0.69292871,-0.06881915,-0.71369915,-0.07581059]

qacc:
[-1.10093702e-01, 1.18688115e+00,-2.60443758e+00, 4.19526830e+00,
 -1.05688640e-01,-1.09626851e+00, 3.89527464e+00,-6.81990505e+00,
  1.32883636e-01,-6.86475650e-03, 8.06275710e-01,-4.57700109e+00,
  3.40172954e-01, 4.96836631e-02,-6.08641597e+00, 1.07999573e+01,
  3.07294418e+00, 2.30312325e+00, 4.69116303e+00,-1.09883177e+01,
  7.63030521e+01, 1.75779552e+02]

qfrc_actuator:
[ 9.30078151e-03, 6.54025511e-02, 1.38660212e-02, 2.01241843e-03,
 -3.78829406e-05, 3.48872716e-02, 1.09426485e-02, 1.65332607e-03,
 -3.01740158e-03, 3.47472441e-02, 1.08660479e-02, 1.71485009e-03,
  8.25964038e-03, 1.29505094e-02, 0.00000000e+00,-4.65420499e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.162238  , -0.03737789, -0.15787357, -0.03737789,  0.42596098,
       -0.06243863, -0.15787357, -0.06243863,  0.17702088,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.977569674406161e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63710768,  0.07864233, -0.76675237, -0.05025929,  0.9969029 ,
        0.06048652,  0.76913446,  0.        ,  0.63908699])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616063, -0.034061  ,  0.2246755 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.162238  , -0.03737789, -0.15787357, -0.03737789,  0.42596098,
       -0.06243863, -0.15787357, -0.06243863,  0.17702088,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.977569674406161e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63710768,  0.07864233, -0.76675237, -0.05025929,  0.9969029 ,
        0.06048652,  0.76913446,  0.        ,  0.63908699])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616063, -0.034061  ,  0.2246755 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005798801701971321
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39638171,  0.08715166, -0.91393989, -0.03467727,  0.99619505,
        0.07995561,  0.91743067,  0.        ,  0.39789568])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08318878, -0.03398023,  0.22313598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.26785724,   0.4101386 , -17.26785724,
        17.33101241,   2.4539495 ,   0.4101386 ,   2.4539495 ,
       120.590116  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020772321714349062
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08800287, -0.09056587,  0.06186428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.62261784e-03, 3.10458630e-02, 3.32505611e-03, 1.74159575e-05,
 -3.04709380e-05,-2.30390300e-05, 8.66048357e-07,-1.63967699e-05,
  3.83417065e-05, 2.62987983e-06,-9.83744168e-06,-1.72368835e-05,
  1.03893537e-02, 1.52168924e-02, 6.78857976e-03, 8.40561157e-04,
 -2.26890962e-03, 2.08032634e-03,-9.81098498e+00, 2.24675117e-03,
 -6.10015171e-02, 6.27318640e-02]


--- Step 3462 ---
qpos:
[-0.018084  , 1.19808919,-0.03489912, 0.94262029,-0.00794668, 1.33285784,
 -0.03117944, 0.94134552, 0.01532885, 1.33848135,-0.02377869, 0.95473014,
  1.27214326,-0.00899815, 1.28828514, 0.04467896,-0.05558381,-0.08993371,
  0.09002753, 0.69281709,-0.06966793,-0.71376885,-0.07539813]

qacc:
[-2.66630173e-02, 6.81974955e-01,-1.53698045e+00,-2.49155957e+00,
 -6.82297083e-02, 2.00927830e+00,-5.27449197e+00,-1.36936712e+00,
  2.39155749e-01, 3.06353942e+00,-8.45464545e+00, 4.59587485e+00,
  4.32603597e-01,-1.55923837e-01,-3.46231939e+00, 6.46463118e+00,
  2.80262560e+00, 2.19194130e+00, 3.42218783e+00,-1.06244799e+01,
  6.98722086e+01, 1.57438098e+02]

qfrc_actuator:
[ 9.28229169e-03, 6.54016025e-02, 1.38112977e-02, 1.98820495e-03,
 -3.95161066e-05, 3.48896629e-02, 1.08884194e-02, 1.62648916e-03,
 -2.97099486e-03, 3.48112079e-02, 1.08292597e-02, 1.70606838e-03,
  8.25129716e-03, 1.29156319e-02, 0.00000000e+00,-4.33494805e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16221926, -0.04003202, -0.15720218, -0.04003202,  0.45597628,
       -0.07480614, -0.15720218, -0.07480614,  0.18126887,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.925775037270511e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.37213913e-01,  7.86398208e-02, -7.66664339e-01, -5.02660571e-02,
        9.96903094e-01,  6.04776397e-02,  7.69046002e-01, -6.93889390e-18,
        6.39193435e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616028, -0.03406207,  0.22467667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16221926, -0.04003202, -0.15720218, -0.04003202,  0.45597628,
       -0.07480614, -0.15720218, -0.07480614,  0.18126887,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.925775037270511e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.37213913e-01,  7.86398208e-02, -7.66664339e-01, -5.02660571e-02,
        9.96903094e-01,  6.04776397e-02,  7.69046002e-01, -6.93889390e-18,
        6.39193435e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08616028, -0.03406207,  0.22467667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005799038336398166
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96364661e-01,  8.71540141e-02, -9.13947063e-01, -3.46767214e-02,
        9.96194849e-01,  7.99584090e-02,  9.17438053e-01,  6.93889390e-18,
        3.97878649e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08318679, -0.03398127,  0.22313623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.16071462, -1.96391983, 17.16071462, 17.90455363,
        5.52089326, -1.96391983,  5.52089326, 65.51424525,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002112835590835749
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.62732943e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.62732943e-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([-0.08796819, -0.09053172,  0.06186197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.61673040e-03, 3.09899791e-02, 3.25851677e-03,-1.81193124e-05,
 -1.96216113e-05,-1.06925541e-05,-5.91252755e-05,-2.78868812e-05,
  6.90505771e-05, 6.29843090e-05,-3.78978533e-05,-9.39320046e-06,
  1.03558495e-02, 1.51582458e-02, 7.03226634e-03, 8.91222551e-04,
 -1.50491089e-03, 4.32383310e-03,-9.81031857e+00, 1.94816100e-03,
 -6.06751092e-02, 6.27033561e-02]


--- Step 3463 ---
qpos:
[-0.01808895, 1.1981075 ,-0.03490161, 0.94262043,-0.00794719, 1.33285887,
 -0.03118048, 0.94134195, 0.01532956, 1.33848243,-0.02378004, 0.95473017,
  1.27217058,-0.00900543, 1.28826942, 0.04467774,-0.05557484,-0.08987683,
  0.09002986, 0.69281674,-0.0707243 ,-0.713727  ,-0.0748118 ]

qacc:
[ 9.50813951e-02,-7.49786853e-01, 2.04734695e+00,-1.06690102e+01,
  1.90923624e-02,-9.33933091e-02, 1.14268615e+00,-8.11470693e+00,
  1.12973614e-01, 1.65964384e+00,-6.69614616e+00, 1.29634275e+01,
  6.03221444e-02,-1.36579727e-01, 3.51329463e+00,-6.03286783e+00,
  2.57834568e+00, 2.09590070e+00, 2.34408341e+00,-1.01865344e+01,
  6.44728205e+01, 1.42393576e+02]

qfrc_actuator:
[ 9.25554872e-03, 6.53399068e-02, 1.37971231e-02, 1.93797731e-03,
 -2.24234518e-05, 3.48549744e-02, 1.08566885e-02, 1.59411583e-03,
 -2.97917340e-03, 3.47777028e-02, 1.08081828e-02, 1.73666118e-03,
  8.23462871e-03, 1.29328921e-02, 0.00000000e+00,-5.55687960e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16219307, -0.05309085, -0.1532578 , -0.05309085,  0.56839624,
       -0.140715  , -0.1532578 , -0.140715  ,  0.2109389 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.852947175795386e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63733001,  0.07863682, -0.76656814, -0.05027328,  0.99690333,
        0.06046773,  0.76894932,  0.        ,  0.63930974])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615986, -0.03406315,  0.22467793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16219307, -0.05309085, -0.1532578 , -0.05309085,  0.56839624,
       -0.140715  , -0.1532578 , -0.140715  ,  0.2109389 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.852947175795386e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63733001,  0.07863682, -0.76656814, -0.05027328,  0.99690333,
        0.06046773,  0.76894932,  0.        ,  0.63930974])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615986, -0.03406315,  0.22467793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005797672079594085
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96348025e-01,  8.71563802e-02, -9.13954052e-01, -3.46762145e-02,
        9.96194642e-01,  7.99612078e-02,  9.17445259e-01,  6.93889390e-18,
        3.97862032e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08318458, -0.0339823 ,  0.22313647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.12503702, -2.25393309, 17.12503702, 18.21006825,
        7.12177258, -2.25393309,  7.12177258, 71.38286006,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002120221876747111
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.61817651e-14,  2.61817651e-14,  1.00000000e+00,  6.85484826e-28,
        1.00000000e+00, -2.61817651e-14, -1.00000000e+00,  0.00000000e+00,
       -2.61817651e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08795986, -0.09051034,  0.06186143])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.59301640e-03, 3.09278018e-02, 3.26717521e-03,-5.18959420e-05,
  5.50939434e-06,-5.30278202e-05,-4.13770691e-05,-3.50794697e-05,
  3.26034765e-05,-6.35932058e-06,-1.33591045e-05, 3.11306122e-05,
  1.03096753e-02, 1.51619629e-02, 7.16277293e-03, 7.75942849e-04,
 -2.98040303e-04, 6.99528520e-03,-9.80993674e+00, 1.90266064e-03,
 -6.03498961e-02, 6.26713049e-02]


--- Step 3464 ---
qpos:
[-0.01809424, 1.19812575,-0.03490408, 0.9426205 ,-0.00794774, 1.33285976,
 -0.03118169, 0.94133763, 0.01533025, 1.33848313,-0.02378005, 0.95473086,
  1.27219763,-0.00901262, 1.28825459, 0.04467662,-0.0555563 ,-0.08981189,
  0.09003791, 0.6929188 ,-0.07197066,-0.71358095,-0.07406746]

qacc:
[-1.51092053e-01,-2.58463790e-01, 8.82920050e-01,-1.57913437e+00,
 -1.41135581e-02,-9.42715203e-01, 4.40006624e+00,-1.23066120e+01,
 -1.31330627e-02,-2.98224086e+00, 7.78107460e+00, 1.12064454e+00,
 -3.04883191e-01, 3.26205167e-01, 1.06612238e+00,-1.77674470e+00,
  2.39256749e+00, 2.01331325e+00, 1.42883876e+00,-9.70404239e+00,
  5.99402344e+01, 1.30051536e+02]

qfrc_actuator:
[ 9.22359902e-03, 6.52963686e-02, 1.38256612e-02, 1.94379373e-03,
 -2.97422037e-05, 3.48694310e-02, 1.08561205e-02, 1.55874751e-03,
 -3.00227822e-03, 3.47749327e-02, 1.08849787e-02, 1.77238715e-03,
  8.21298635e-03, 1.29285072e-02, 0.00000000e+00,-5.39914018e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16217281, -0.0499088 , -0.15430208, -0.0499088 ,  0.51616007,
       -0.1144967 , -0.15430208, -0.1144967 ,  0.19920661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.796224961538223e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.37433613e-01,  7.86343524e-02, -7.66482243e-01, -5.02798696e-02,
        9.96903525e-01,  6.04590446e-02,  7.68863008e-01, -6.93889390e-18,
        6.39413540e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861595 , -0.03406429,  0.22467904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16217281, -0.0499088 , -0.15430208, -0.0499088 ,  0.51616007,
       -0.1144967 , -0.15430208, -0.1144967 ,  0.19920661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.796224961538223e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.37433613e-01,  7.86343524e-02, -7.66482243e-01, -5.02798696e-02,
        9.96903525e-01,  6.04590446e-02,  7.68863008e-01, -6.93889390e-18,
        6.39413540e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861595 , -0.03406429,  0.22467904])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005797244213136439
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39633346,  0.08715862, -0.91396016, -0.03467584,  0.99619445,
        0.07996381,  0.91745157,  0.        ,  0.39784749])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08318264, -0.03398341,  0.22313669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.07370788, -2.6144993 , 17.07370788, 18.70449984,
        9.35003753, -2.6144993 ,  9.35003753, 78.33214685,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021048536039620994
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08797268, -0.09049918,  0.0618623 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.55013602e-03, 3.09513016e-02, 3.34093580e-03,-4.10250474e-06,
 -4.06813882e-06,-2.40450643e-05,-1.66891311e-05,-3.89985622e-05,
 -3.85004239e-06,-7.97746458e-06, 7.49469405e-05, 3.58705403e-05,
  1.02821458e-02, 1.51660403e-02, 7.01708617e-03, 7.78592902e-04,
  1.22109627e-03, 9.93259970e-03,-9.80976753e+00, 2.03842794e-03,
 -6.00261505e-02, 6.26350822e-02]


--- Step 3465 ---
qpos:
[-0.01810042, 1.19814536,-0.03490694, 0.94261948,-0.00794834, 1.33286096,
 -0.0311835 , 0.94133464, 0.01533065, 1.33848408,-0.02377909, 0.95473262,
  1.27222433,-0.00901942, 1.28823567, 0.04467539,-0.05552881,-0.08973918,
  0.09004856, 0.69311566,-0.07339243,-0.71333668,-0.07317793]

qacc:
[-3.85680375e-01, 1.00311341e+00, 1.11715264e+00,-1.43553194e+01,
 -2.28808564e-02, 4.22568041e+00,-1.60528611e+01, 2.90735917e+01,
 -1.18270910e-01,-4.65229545e-01,-2.54200370e-01, 1.24592741e+01,
 -3.20364486e-01, 5.04043977e-01,-5.69011357e+00, 1.11975570e+01,
  2.23898088e+00, 1.94276386e+00, 6.52402432e-01,-9.19675874e+00,
  5.61386602e+01, 1.19936856e+02]

qfrc_actuator:
[ 9.22450832e-03, 6.52807423e-02, 1.38260113e-02, 1.89404397e-03,
 -3.38947440e-05, 3.49133262e-02, 1.08386207e-02, 1.62845815e-03,
 -3.03414710e-03, 3.48264803e-02, 1.09480108e-02, 1.82865591e-03,
  8.20969264e-03, 1.29464533e-02, 0.00000000e+00,-3.70279267e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16215505, -0.0505849 , -0.15406307, -0.0505849 ,  0.51553105,
       -0.11602708, -0.15406307, -0.11602708,  0.20025125,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.746222169026986e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63753382,  0.07863229, -0.7663991 , -0.05028645,  0.99690369,
        0.06045089,  0.76877948,  0.        ,  0.63951396])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615917, -0.03406545,  0.22468012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16215505, -0.0505849 , -0.15406307, -0.0505849 ,  0.51553105,
       -0.11602708, -0.15406307, -0.11602708,  0.20025125,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.746222169026986e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63753382,  0.07863229, -0.7663991 , -0.05028645,  0.99690369,
        0.06045089,  0.76877948,  0.        ,  0.63951396])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615917, -0.03406545,  0.22468012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005797316420631596
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39631894,  0.08716099, -0.91396623, -0.03467552,  0.99619424,
        0.07996654,  0.91745785,  0.        ,  0.39783299])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08318078, -0.03398454,  0.2231369 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.00222492, -3.04490643, 17.00222492, 19.49884895,
       12.43027404, -3.04490643, 12.43027404, 86.68120331,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002071315487168393
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.67999499e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.67999499e-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([-0.08800235, -0.09049618,  0.06186431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.56836830e-03, 3.09390522e-02, 3.34052129e-03,-5.01319673e-05,
 -6.55475034e-06, 2.61403708e-05,-2.52547026e-05, 6.75863362e-05,
 -3.41428445e-05, 6.28326117e-05, 7.10418541e-05, 5.90621395e-05,
  1.02919086e-02, 1.51797601e-02, 6.97303305e-03, 9.43876982e-04,
  2.96478032e-03, 1.30338047e-02,-9.80976563e+00, 2.30514660e-03,
 -5.97044059e-02, 6.25942576e-02]


--- Step 3466 ---
qpos:
[-0.01810761, 1.19816702,-0.03491045, 0.94261645,-0.0079487 , 1.33286243,
 -0.03118561, 0.94133387, 0.01533087, 1.33848511,-0.02377804, 0.95473372,
  1.27225073,-0.00902588, 1.28821248, 0.04467425,-0.05551675,-0.08966142,
  0.09004844, 0.69312193,-0.07469508,-0.71327902,-0.07235796]

qacc:
[-4.36576944e-01, 1.03073400e+00, 4.07468020e+00,-2.82918610e+01,
  1.01964620e-01, 4.99400305e+00,-2.04420536e+01, 4.33992625e+01,
 -7.45898889e-02,-1.24558819e+00, 5.52322326e+00,-1.24398186e+01,
 -2.10826920e-01, 3.61795468e-01,-6.57489662e+00, 1.38437169e+01,
 -3.86083018e+00, 1.26138204e+00,-2.69424946e+00, 1.63048235e+01,
 -1.25742174e+02,-8.04156955e+01]

qfrc_actuator:
[ 9.21030431e-03, 6.52982118e-02, 1.38453511e-02, 1.79423553e-03,
 -6.08563425e-07, 3.49390120e-02, 1.08291967e-02, 1.74170150e-03,
 -3.03550845e-03, 3.47858696e-02, 1.09315980e-02, 1.79005657e-03,
  8.21210042e-03, 1.29774566e-02, 0.00000000e+00,-2.32438039e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16212887, -0.06481055, -0.14861145, -0.06481055,  0.63163235,
       -0.20475393, -0.14861145, -0.20475393,  0.25142357,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.672016721694494e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63765013,  0.07862991, -0.76630258, -0.05029409,  0.99690388,
        0.06044144,  0.76868252,  0.        ,  0.63963051])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615874, -0.0340665 ,  0.22468138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16212887, -0.06481055, -0.14861145, -0.06481055,  0.63163235,
       -0.20475393, -0.14861145, -0.20475393,  0.25142357,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.672016721694494e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63765013,  0.07862991, -0.76630258, -0.05029409,  0.99690388,
        0.06044144,  0.76868252,  0.        ,  0.63963051])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615874, -0.0340665 ,  0.22468138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000579580000596297
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39630352,  0.08716374, -0.91397265, -0.03467527,  0.996194  ,
        0.07996964,  0.91746452,  0.        ,  0.39781761])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08317858, -0.03398555,  0.22313714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.26694045, -0.44707369, 17.26694045, 17.29807432,
        0.9789571 , -0.44707369,  0.9789571 , 55.0821406 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020938467724978815
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.65115633e-14,  2.65115633e-14,  1.00000000e+00, -7.02862988e-28,
        1.00000000e+00, -2.65115633e-14, -1.00000000e+00,  0.00000000e+00,
        2.65115633e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.021949  , -0.09302525,  0.06186289])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.59837908e-03, 3.08882564e-02, 3.37923704e-03,-9.60192449e-05,
  2.94174996e-05, 3.72324041e-05,-5.20375916e-06, 1.14851128e-04,
 -2.15227953e-05, 9.75410814e-06, 5.66106037e-06,-3.32786740e-05,
  1.03122123e-02, 1.51911928e-02, 7.17743501e-03, 1.08707330e-03,
  4.87496984e-03, 1.62368950e-02,-9.80990339e+00, 2.66776993e-03,
 -5.93851910e-02, 6.25485181e-02]


--- Step 3467 ---
qpos:
[-0.01811551, 1.19819117,-0.03491241, 0.94261416,-0.0079489 , 1.33286392,
 -0.03118746, 0.94133549, 0.01533113, 1.33848535,-0.02377643, 0.95473338,
  1.2722768 ,-0.00903201, 1.2881875 , 0.04467328,-0.0555187 ,-0.08957953,
  0.09003514, 0.69295466,-0.07590178,-0.71339091,-0.07159722]

qacc:
[-3.14086742e-01, 3.31564709e-01, 1.33045623e+00, 5.89721554e+00,
  6.79519528e-02, 3.40081334e+00,-1.60215179e+01, 4.16940196e+01,
  1.49045237e-02,-5.05561331e+00, 1.81461942e+01,-3.19721650e+01,
 -3.67669780e-01, 5.27286723e-01,-3.14244362e+00, 7.22345536e+00,
 -3.49994999e+00, 1.03255732e+00,-3.29576988e+00, 1.17832987e+01,
 -1.14965943e+02,-6.73600917e+01]

qfrc_actuator:
[ 9.22300800e-03, 6.53165483e-02, 1.38942580e-02, 1.84329087e-03,
  1.60970706e-06, 3.49359107e-02, 1.08423225e-02, 1.86187911e-03,
 -3.01855679e-03, 3.46900287e-02, 1.09390348e-02, 1.71359313e-03,
  8.21793642e-03, 1.29984412e-02, 0.00000000e+00,-1.84833025e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16209535, -0.05446883, -0.15266973, -0.05446883,  0.51437543,
       -0.12568493, -0.15266973, -0.12568493,  0.20693666,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.576113997919293e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.37784039e-01,  7.86272212e-02, -7.66191412e-01, -5.03029201e-02,
        9.96904088e-01,  6.04305894e-02,  7.68570840e-01, -6.93889390e-18,
        6.39764694e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615822, -0.03406745,  0.22468285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16209535, -0.05446883, -0.15266973, -0.05446883,  0.51437543,
       -0.12568493, -0.15266973, -0.12568493,  0.20693666,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.576113997919293e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.37784039e-01,  7.86272212e-02, -7.66191412e-01, -5.03029201e-02,
        9.96904088e-01,  6.04305894e-02,  7.68570840e-01, -6.93889390e-18,
        6.39764694e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615822, -0.03406745,  0.22468285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005793017677764439
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39628681,  0.0871669 , -0.91397959, -0.03467507,  0.99619372,
        0.07997317,  0.91747175,  0.        ,  0.39780095])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08317601, -0.03398646,  0.22313744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.2431529 ,   1.01033934, -17.2431529 ,
        17.26070122,  -0.20524497,   1.01033934,  -0.20524497,
        13.76987406,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021150370176968164
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.0218862 , -0.09307949,  0.06186151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.66112351e-03, 3.08036305e-02, 3.46078330e-03, 5.40281262e-05,
  1.95850388e-05, 1.99330591e-05, 2.31889229e-05, 1.23805928e-04,
  4.24194693e-06,-9.03346863e-05, 9.01067497e-06,-7.67786785e-05,
  1.03328766e-02, 1.51954700e-02, 7.39192594e-03, 1.13046542e-03,
  2.28072501e-03, 1.60190295e-02,-9.81049296e+00, 1.29811218e-03,
 -5.97043944e-02, 6.25086593e-02]


--- Step 3468 ---
qpos:
[-0.01812219, 1.19821424,-0.03491327, 0.94261317,-0.00794899, 1.33286509,
 -0.03118844, 0.94134026, 0.0153312 , 1.33848503,-0.02377479, 0.95473212,
  1.27230306,-0.00903866, 1.28817021, 0.0446729 ,-0.05553343,-0.08949425,
  0.09000659, 0.69262807,-0.07703089,-0.71365789,-0.07088735]

qacc:
[ 5.34007586e-01,-2.16909736e+00, 2.68237907e+00, 1.34233566e+01,
  4.47799976e-02, 2.62445389e+00,-1.55809342e+01, 5.03358953e+01,
 -7.94875879e-02,-2.39414603e+00, 8.75406664e+00,-1.76992203e+01,
  1.08135901e-01,-3.82934192e-01, 9.57750339e+00,-1.70147760e+01,
 -3.19550948e+00, 8.49821107e-01,-3.81172849e+00, 8.24749062e+00,
 -1.05854010e+02,-5.68884342e+01]

qfrc_actuator:
[ 9.26972915e-03, 6.52631400e-02, 1.39056990e-02, 1.89094726e-03,
  2.92400616e-06, 3.49156948e-02, 1.08862872e-02, 2.02066406e-03,
 -3.04401578e-03, 3.46684137e-02, 1.09425201e-02, 1.66872520e-03,
  8.22584345e-03, 1.29955306e-02, 0.00000000e+00,-4.75535911e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1620619 , -0.05868429, -0.1510636 , -0.05868429,  0.57740863,
       -0.16135144, -0.1510636 , -0.16135144,  0.22474275,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.479426932587805e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.37927833e-01,  7.86244484e-02, -7.66071979e-01, -5.03124760e-02,
        9.96904306e-01,  6.04190255e-02,  7.68450867e-01, -6.93889390e-18,
        6.39908794e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615767, -0.03406836,  0.22468445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1620619 , -0.05868429, -0.1510636 , -0.05868429,  0.57740863,
       -0.16135144, -0.1510636 , -0.16135144,  0.22474275,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.479426932587805e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.37927833e-01,  7.86244484e-02, -7.66071979e-01, -5.03124760e-02,
        9.96904306e-01,  6.04190255e-02,  7.68450867e-01, -6.93889390e-18,
        6.39908794e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615767, -0.03406836,  0.22468445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005790725334103713
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39626638,  0.08717042, -0.91398812, -0.0346747 ,  0.99619341,
        0.07997716,  0.91748058,  0.        ,  0.39778056])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08317324, -0.03398733,  0.22313778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.24393587,   0.99688673, -17.24393587,
        17.26435672,  -0.14479198,   0.99688673,  -0.14479198,
        14.76814622,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002107490194443007
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.26798667e-14,  2.63399333e-14,  1.00000000e+00, -1.38758418e-27,
        1.00000000e+00, -2.63399333e-14, -1.00000000e+00,  0.00000000e+00,
        5.26798667e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02189822, -0.09313047,  0.06186181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.74386937e-03, 3.06255949e-02, 3.39436282e-03, 6.45877542e-05,
  1.28760419e-05,-9.23566302e-07, 5.41404813e-05, 1.62935994e-04,
 -2.29564176e-05,-7.20885800e-05,-1.53818400e-05,-4.90661175e-05,
  1.03575348e-02, 1.51760081e-02, 7.48165056e-03, 8.31080295e-04,
 -3.36984792e-04, 1.59765725e-02,-9.81109962e+00, 2.75178860e-04,
 -5.99219297e-02, 6.24703271e-02]


--- Step 3469 ---
qpos:
[-0.01812739, 1.19823451,-0.03491474, 0.94261197,-0.00794902, 1.33286598,
 -0.0311887 , 0.94134483, 0.01533118, 1.33848509,-0.0237739 , 0.95473202,
  1.27232932,-0.00904598, 1.28816125, 0.04467299,-0.05555991,-0.08940614,
  0.08996102, 0.69215399,-0.07809698,-0.71406768,-0.07022155]

qacc:
[ 6.42723199e-01,-2.39403645e+00, 3.77868220e+00,-3.85915226e+00,
  2.91522962e-02,-2.65032665e+00, 8.63106108e+00,-9.66511994e+00,
 -3.82981084e-02, 4.53458216e+00,-1.65103249e+01, 2.74080757e+01,
  1.28279040e-02,-4.33455784e-01, 1.08951060e+01,-2.02232644e+01,
 -2.93752480e+00, 7.03996357e-01,-4.25398789e+00, 5.47878596e+00,
 -9.81539634e+01,-4.84774333e+01]

qfrc_actuator:
[ 9.28194552e-03, 6.52225146e-02, 1.38767458e-02, 1.86590300e-03,
  3.68668773e-06, 3.48855361e-02, 1.09125387e-02, 2.00561832e-03,
 -3.04145444e-03, 3.47446689e-02, 1.09261788e-02, 1.73161354e-03,
  8.21365416e-03, 1.29967514e-02, 0.00000000e+00,-7.03417890e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16204734, -0.06139813, -0.14996536, -0.06139813,  0.62120401,
       -0.18798583, -0.14996536, -0.18798583,  0.23901163,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.437023259086137e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63804295,  0.07862245, -0.76597631, -0.05032027,  0.99690446,
        0.06040994,  0.76835478,  0.        ,  0.64002417])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615731, -0.03406945,  0.22468577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16204734, -0.06139813, -0.14996536, -0.06139813,  0.62120401,
       -0.18798583, -0.14996536, -0.18798583,  0.23901163,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.437023259086137e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63804295,  0.07862245, -0.76597631, -0.05032027,  0.99690446,
        0.06040994,  0.76835478,  0.        ,  0.64002417])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615731, -0.03406945,  0.22468577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005792400887012078
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96245944e-01,  8.71734517e-02, -9.13996685e-01, -3.46741259e-02,
        9.96193149e-01,  7.99807206e-02,  9.17489431e-01,  6.93889390e-18,
        3.97760158e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08317109, -0.03398838,  0.2231381 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.24744682,   0.93417643, -17.24744682,
        17.26904722,  -0.06794384,   0.93417643,  -0.06794384,
        16.01829851,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020768882173956837
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.67280399e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.67280399e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02196955, -0.09317912,  0.06186345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.69482109e-03, 3.06386885e-02, 3.31056642e-03,-2.52410597e-05,
  8.36301160e-06,-1.51631369e-05, 3.70211637e-05,-9.70368019e-06,
 -1.09982226e-05, 3.19305901e-05,-3.36069738e-05, 5.91601527e-05,
  1.03355511e-02, 1.52031703e-02, 7.09742871e-03, 5.73803101e-04,
 -2.99901735e-03, 1.60673808e-02,-9.81175071e+00,-4.89830513e-04,
 -6.00677589e-02, 6.24339331e-02]


--- Step 3470 ---
qpos:
[-0.01813221, 1.19825407,-0.03491655, 0.94261063,-0.00794914, 1.3328667 ,
 -0.03118908, 0.94134681, 0.01533127, 1.33848599,-0.02377442, 0.95473405,
  1.27235524,-0.00905331, 1.28815236, 0.04467293,-0.05557366,-0.08930858,
  0.08993534, 0.69181325,-0.07943754,-0.71433834,-0.06931701]

qacc:
[ 1.66691889e-01,-2.48724227e-01, 6.70466714e-03,-1.26198938e+00,
 -4.29425482e-02,-4.36174632e+00, 1.93119318e+01,-4.67968012e+01,
  4.42288005e-02, 8.56934305e+00,-3.08872292e+01, 5.07738299e+01,
 -2.94874395e-01, 2.39167163e-01, 5.75986837e-01,-1.84203574e+00,
  3.18115589e+00, 2.36667089e+00, 4.97158275e+00,-9.43072750e+00,
  7.67934877e+01, 1.90731581e+02]

qfrc_actuator:
[ 9.30822452e-03, 6.52449749e-02, 1.38603252e-02, 1.86923047e-03,
 -1.36394586e-05, 3.48494952e-02, 1.08924563e-02, 1.87061491e-03,
 -3.02210359e-03, 3.48079210e-02, 1.08632140e-02, 1.83970255e-03,
  8.21072082e-03, 1.30008252e-02, 0.00000000e+00,-6.27436180e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16205027, -0.04610963, -0.15535183, -0.04610963,  0.47540188,
       -0.09300519, -0.15535183, -0.09300519,  0.18965493,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.445573915470816e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63812409,  0.07862136, -0.76590882, -0.05032596,  0.99690455,
        0.06040377,  0.76828702,  0.        ,  0.64010551])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615714, -0.0340707 ,  0.22468673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16205027, -0.04610963, -0.15535183, -0.04610963,  0.47540188,
       -0.09300519, -0.15535183, -0.09300519,  0.18965493,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.445573915470816e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63812409,  0.07862136, -0.76590882, -0.05032596,  0.99690455,
        0.06040377,  0.76828702,  0.        ,  0.64010551])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615714, -0.0340707 ,  0.22468673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005797382078281746
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39622865,  0.08717584, -0.91400395, -0.03467357,  0.99619294,
        0.07998357,  0.91749692,  0.        ,  0.39774288])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08316968, -0.03398961,  0.22313836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.26532117,   0.50575925, -17.26532117,
        17.35573971,   2.83383141,   0.50575925,   2.83383141,
       114.0124499 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021383802546876066
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59594387e-14,  2.59594387e-14,  1.00000000e+00,  6.73892460e-28,
        1.00000000e+00, -2.59594387e-14, -1.00000000e+00,  0.00000000e+00,
       -2.59594387e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08792695, -0.09035476,  0.06185937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.64734549e-03, 3.08012148e-02, 3.32442030e-03,-1.16995694e-05,
 -1.23898340e-05,-3.74770060e-05,-1.91145246e-05,-1.34591941e-04,
  1.28567453e-05, 7.60975085e-05,-5.88182298e-05, 1.09429891e-04,
  1.03326316e-02, 1.52416051e-02, 6.68062273e-03, 6.26218706e-04,
 -5.71639299e-03, 1.62621367e-02,-9.81246147e+00,-1.05986291e-03,
 -6.01620455e-02, 6.23995843e-02]


--- Step 3471 ---
qpos:
[-0.01813655, 1.19827311,-0.03491869, 0.94260897,-0.00794942, 1.33286721,
 -0.03118979, 0.94134924, 0.01533137, 1.33848672,-0.02377521, 0.95473497,
  1.27238108,-0.00906069, 1.288144  , 0.04467276,-0.05557584,-0.08920194,
  0.08992416, 0.69159254,-0.08102466,-0.71448128,-0.06820018]

qacc:
[ 2.08021501e-01,-3.38611545e-01, 9.05550487e-01,-4.08493839e+00,
 -6.10971261e-02, 1.40470456e+00,-5.84760744e+00, 1.04786320e+01,
  4.70674637e-03,-1.40184839e+00, 6.50497067e+00,-1.82670452e+01,
 -6.43559637e-02, 1.19375440e-02, 1.11181192e+00,-2.74980836e+00,
  2.89510604e+00, 2.26772005e+00, 3.62614764e+00,-9.12182752e+00,
  7.00718778e+01, 1.70730656e+02]

qfrc_actuator:
[ 9.32569070e-03, 6.52687955e-02, 1.38691524e-02, 1.85409955e-03,
 -2.39236496e-05, 3.48454445e-02, 1.08806246e-02, 1.89689548e-03,
 -3.02834357e-03, 3.47384866e-02, 1.08264838e-02, 1.77819987e-03,
  8.21869812e-03, 1.30061962e-02, 0.00000000e+00,-6.52740800e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16205217, -0.04841718, -0.1546502 , -0.04841718,  0.50250015,
       -0.10658591, -0.1546502 , -0.10658591,  0.19542161,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.451126099200083e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63820375,  0.0786201 , -0.76584258, -0.05033144,  0.99690465,
        0.06039757,  0.76822049,  0.        ,  0.64018535])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615697, -0.03407193,  0.22468766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16205217, -0.04841718, -0.1546502 , -0.04841718,  0.50250015,
       -0.10658591, -0.1546502 , -0.10658591,  0.19542161,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.451126099200083e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63820375,  0.0786201 , -0.76584258, -0.05033144,  0.99690465,
        0.06039757,  0.76822049,  0.        ,  0.64018535])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615697, -0.03407193,  0.22468766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005801979053128396
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96212316e-01,  8.71780650e-02, -9.14010824e-01, -3.46730321e-02,
        9.96192745e-01,  7.99862229e-02,  9.17503995e-01,  6.93889390e-18,
        3.97726562e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08316829, -0.0339908 ,  0.22313861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.13277566, -2.19433492, 17.13277566, 18.01590056,
        5.80249673, -2.19433492,  5.80249673, 62.57705786,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002177110729626154
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56160908e-15,  2.54976242e-14,  1.00000000e+00,  2.43798315e-28,
        1.00000000e+00, -2.54976242e-14, -1.00000000e+00,  0.00000000e+00,
       -9.56160908e-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([-0.08788764, -0.09031462,  0.06185676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.64566406e-03, 3.08596908e-02, 3.35017506e-03,-1.95037027e-05,
 -1.75990393e-05,-3.25844348e-05,-2.52882592e-05, 2.14751881e-05,
  1.35544354e-06,-3.55992613e-05,-2.53486115e-05,-5.84186462e-05,
  1.03579887e-02, 1.52469159e-02, 6.67775491e-03, 6.08665278e-04,
 -3.17710236e-03, 2.27587428e-02,-9.81271292e+00,-1.30786591e-03,
 -5.97655802e-02, 6.23432066e-02]


--- Step 3472 ---
qpos:
[-0.01814087, 1.19829163,-0.03492116, 0.94260714,-0.00794982, 1.33286747,
 -0.03119037, 0.94135229, 0.01533159, 1.33848658,-0.02377548, 0.95473345,
  1.27240683,-0.00906795, 1.28813525, 0.04467241,-0.05556822,-0.08909233,
  0.08993097, 0.6914991 ,-0.08273879,-0.71449155,-0.06697103]

qacc:
[ 1.13174700e-02,-6.37235004e-02,-2.51109443e-01,-1.43750709e+00,
 -5.67541600e-02, 3.96822403e-01,-2.97359742e+00, 9.94267724e+00,
  5.13984845e-02,-6.76758939e+00, 2.56405429e+01,-4.99477178e+01,
 -1.37405018e-01, 2.10884594e-01, 1.27833664e-02,-8.35078548e-01,
  2.44906266e+00, 7.42309281e-01, 4.49606386e+00,-3.16100709e+00,
  8.24654110e+01, 9.39273653e+01]

qfrc_actuator:
[ 9.30211601e-03, 6.52935473e-02, 1.38399983e-02, 1.84587180e-03,
 -2.98993932e-05, 3.48429330e-02, 1.08917615e-02, 1.92917185e-03,
 -3.01438078e-03, 3.46611425e-02, 1.08404334e-02, 1.65282888e-03,
  8.21723317e-03, 1.30124095e-02, 0.00000000e+00,-6.50037938e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16205447, -0.04479647, -0.15573994, -0.04479647,  0.46720888,
       -0.08777351, -0.15573994, -0.08777351,  0.18730133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.457829243388581e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.38280772e-01,  7.86186825e-02, -7.65778531e-01, -5.03365972e-02,
        9.96904761e-01,  6.03914251e-02,  7.68156158e-01, -6.93889390e-18,
        6.40262538e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615681, -0.03407315,  0.22468856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16205447, -0.04479647, -0.15573994, -0.04479647,  0.46720888,
       -0.08777351, -0.15573994, -0.08777351,  0.18730133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.457829243388581e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.38280772e-01,  7.86186825e-02, -7.65778531e-01, -5.03365972e-02,
        9.96904761e-01,  6.03914251e-02,  7.68156158e-01, -6.93889390e-18,
        6.40262538e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615681, -0.03407315,  0.22468856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005806545970367429
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96196776e-01,  8.71800825e-02, -9.14017367e-01, -3.46724808e-02,
        9.96192568e-01,  7.99886609e-02,  9.17510727e-01,  6.93889390e-18,
        3.97711034e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08316696, -0.03399201,  0.22313885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  12.4512216 ,  11.9713904 ,  12.4512216 ,
        47.54063625, -31.48109198,  11.9713904 , -31.48109198,
        50.01562843,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021914640718410094
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.53306235e-14,  1.26653117e-14,  1.00000000e+00,  3.20820242e-28,
        1.00000000e+00, -1.26653117e-14, -1.00000000e+00,  0.00000000e+00,
       -2.53306235e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08626355, -0.08277661,  0.06185569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.59819809e-03, 3.09109125e-02, 3.33755382e-03,-1.20510324e-05,
 -1.63660752e-05,-2.48394305e-05, 2.51556250e-06, 3.10526538e-05,
  1.47625178e-05,-1.03714613e-04, 2.40823254e-06,-1.28526105e-04,
  1.03607113e-02, 1.52563536e-02, 6.65153392e-03, 6.16835209e-04,
 -2.60339316e-04, 2.93678500e-02,-9.81328015e+00,-1.28871018e-03,
 -5.93762880e-02, 6.22816019e-02]


--- Step 3473 ---
qpos:
[-0.01814463, 1.19830821,-0.03492373, 0.94260604,-0.00795019, 1.33286767,
 -0.03119022, 0.94135324, 0.01533195, 1.33848589,-0.02377518, 0.95473178,
  1.2724328 ,-0.00907532, 1.28813024, 0.044672  ,-0.05555148,-0.08897964,
  0.08995091, 0.69152107,-0.08456726,-0.71437959,-0.06564138]

qacc:
[ 2.44950859e-01,-1.06851229e+00,-1.09364680e+00, 1.05863072e+01,
  1.66142874e-02,-5.63698838e+00, 2.26614582e+01,-4.40816060e+01,
  5.88388671e-02,-2.48999106e+00, 7.52922220e+00,-7.78808720e+00,
  4.18456728e-02,-5.18152154e-02, 5.69494803e+00,-1.19100822e+01,
  2.27772541e+00, 7.68512966e-01, 3.28438955e+00,-2.94806540e+00,
  7.55058887e+01, 8.45164810e+01]

qfrc_actuator:
[ 9.28968251e-03, 6.52480383e-02, 1.38059417e-02, 1.87727357e-03,
 -1.54898651e-05, 3.48592251e-02, 1.09341086e-02, 1.82267689e-03,
 -3.00616322e-03, 3.46685655e-02, 1.08841023e-02, 1.65069808e-03,
  8.22075729e-03, 1.30012118e-02, 0.00000000e+00,-8.07936104e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16205471, -0.04230358, -0.15643572, -0.04230358,  0.45154738,
       -0.07828503, -0.15643572, -0.07828503,  0.18322466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.458509330041026e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63835856,  0.07861721, -0.76571384, -0.05034178,  0.99690488,
        0.06038518,  0.76809117,  0.        ,  0.6403405 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615664, -0.03407436,  0.22468946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16205471, -0.04230358, -0.15643572, -0.04230358,  0.45154738,
       -0.07828503, -0.15643572, -0.07828503,  0.18322466,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.458509330041026e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63835856,  0.07861721, -0.76571384, -0.05034178,  0.99690488,
        0.06038518,  0.76809117,  0.        ,  0.6403405 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615664, -0.03407436,  0.22468946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005810543024834837
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39618201,  0.08718207, -0.91402358, -0.03467199,  0.99619239,
        0.07999105,  0.91751712,  0.        ,  0.39769628])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08316561, -0.0339932 ,  0.22313908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 15.83691222, -6.89487627, 15.83691222, 30.11249121,
       29.49178586, -6.89487627, 29.49178586, 85.01271361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0022013934735837515
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.52163695e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.52163695e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08624907, -0.08275956,  0.06185497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.58444534e-03, 3.08907543e-02, 3.32008254e-03, 2.78816029e-05,
  4.74723781e-06, 3.98099216e-06, 3.86884378e-05,-1.06446812e-04,
  1.69327339e-05,-5.32693270e-05, 1.99246668e-05,-8.12783172e-06,
  1.03683297e-02, 1.52389596e-02, 6.67065658e-03, 4.68271518e-04,
  2.83500009e-03, 3.18377014e-02,-9.81350583e+00,-7.35503279e-04,
 -5.91698608e-02, 6.22192342e-02]


--- Step 3474 ---
qpos:
[-0.01814774, 1.19832206,-0.03492694, 0.94260508,-0.00795031, 1.33286821,
 -0.03118999, 0.94135221, 0.01533228, 1.33848423,-0.02377338, 0.95473147,
  1.27245888,-0.00908298, 1.28813103, 0.04467158,-0.05552621,-0.0888638 ,
  0.08997989, 0.69164847,-0.08649961,-0.71415399,-0.0642207 ]

qacc:
[ 2.78842869e-01,-1.61444826e+00, 6.35334049e-01, 2.83712230e+00,
  1.01761175e-01,-3.17921615e+00, 1.49740452e+01,-3.61349370e+01,
 -1.02881570e-02,-3.00098028e+00, 5.50458601e+00, 1.14682778e+01,
 -4.52070881e-02,-9.69863727e-02, 8.57949815e+00,-1.75481242e+01,
  2.13477845e+00, 7.89298651e-01, 2.25830757e+00,-2.67998449e+00,
  6.96879192e+01, 7.68420749e+01]

qfrc_actuator:
[ 9.26563495e-03, 6.51797611e-02, 1.38043430e-02, 1.87836923e-03,
  1.10314928e-05, 3.48867007e-02, 1.09412654e-02, 1.72415912e-03,
 -3.01921156e-03, 3.46203659e-02, 1.09631030e-02, 1.72117988e-03,
  8.22192467e-03, 1.30152590e-02, 0.00000000e+00,-9.91237494e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16206112, -0.04719992, -0.15503539, -0.04719992,  0.49769231,
       -0.10218161, -0.15503539, -0.10218161,  0.19316991,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.477166138897701e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63842093,  0.07861621, -0.76566194, -0.05034606,  0.99690496,
        0.06038032,  0.76803905,  0.        ,  0.64040301])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615655, -0.03407568,  0.22469017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16206112, -0.04719992, -0.15503539, -0.04719992,  0.49769231,
       -0.10218161, -0.15503539, -0.10218161,  0.19316991,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.477166138897701e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63842093,  0.07861621, -0.76566194, -0.05034606,  0.99690496,
        0.06038032,  0.76803905,  0.        ,  0.64040301])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615655, -0.03407568,  0.22469017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005815527362384755
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39616912,  0.08718381, -0.914029  , -0.03467155,  0.99619224,
        0.07999312,  0.9175227 ,  0.        ,  0.3976834 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08316458, -0.03399449,  0.22313926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 15.70134032, -7.19826505, 15.70134032, 32.57036714,
       33.36824193, -7.19826505, 33.36824193, 90.05778299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002187429952023895
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.07546778e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.07546778e-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([-0.08625694, -0.08274704,  0.06185578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.53229313e-03, 3.09194130e-02, 3.32313090e-03,-7.19464894e-06,
  2.93242219e-05, 3.40396865e-05, 9.21742466e-06,-9.97267259e-05,
 -3.05043774e-06,-7.40040457e-05, 7.06220887e-05, 6.92940545e-05,
  1.03584138e-02, 1.52586819e-02, 6.48406941e-03, 2.87909480e-04,
  5.71939732e-03, 3.40418615e-02,-9.81387085e+00,-1.23794478e-04,
 -5.89807716e-02, 6.21532303e-02]


--- Step 3475 ---
qpos:
[-0.01815164, 1.1983359 ,-0.0349308 , 0.94260355,-0.00795046, 1.33286901,
 -0.03119027, 0.94135074, 0.01533253, 1.33848222,-0.02377081, 0.95473199,
  1.27248462,-0.0090902 , 1.28812832, 0.04467063,-0.05549288,-0.08874474,
  0.09001443, 0.69187284,-0.08852723,-0.71382178,-0.06271658]

qacc:
[-3.38449143e-01, 7.96425954e-01,-1.42353558e+00,-5.38793697e+00,
 -8.33079900e-03, 9.86094998e-01,-1.88805380e+00,-3.68136328e+00,
 -3.36792515e-02,-1.11691254e+00, 1.43461328e+00, 8.50917036e+00,
 -4.04513993e-01, 6.30581220e-01,-3.52420483e+00, 4.88180743e+00,
  2.01600622e+00, 8.06187117e-01, 1.39060755e+00,-2.37243705e+00,
  6.48262593e+01, 7.06032270e+01]

qfrc_actuator:
[ 9.25206907e-03, 6.51704009e-02, 1.38050523e-02, 1.86157309e-03,
 -8.65485201e-06, 3.48850220e-02, 1.09099064e-02, 1.70214961e-03,
 -3.02715867e-03, 3.46282049e-02, 1.10088843e-02, 1.76277922e-03,
  8.22168048e-03, 1.30446785e-02, 0.00000000e+00,-8.17011506e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16207797, -0.04106467, -0.15678955, -0.04106467,  0.42982017,
       -0.07012422, -0.15678955, -0.07012422,  0.18044417,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.526021515576973e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63845923,  0.07861611, -0.76563002, -0.05034901,  0.99690496,
        0.06037773,  0.76800703,  0.        ,  0.64044141])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615658, -0.03407712,  0.2246906 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16207797, -0.04106467, -0.15678955, -0.04106467,  0.42982017,
       -0.07012422, -0.15678955, -0.07012422,  0.18044417,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.526021515576973e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63845923,  0.07861611, -0.76563002, -0.05034901,  0.99690496,
        0.06037773,  0.76800703,  0.        ,  0.64044141])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615658, -0.03407712,  0.2246906 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005822251397707909
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39615933,  0.08718523, -0.91403311, -0.03467127,  0.99619212,
        0.0799948 ,  0.91752694,  0.        ,  0.39767363])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08316407, -0.03399593,  0.22313939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 15.52111058, -7.57906549, 15.52111058, 36.02639961,
       38.40550298, -7.57906549, 38.40550298, 95.92306476,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021543725570766573
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.57667371e-14,  2.57667371e-14,  1.00000000e+00,  6.63924739e-28,
        1.00000000e+00, -2.57667371e-14, -1.00000000e+00,  0.00000000e+00,
       -2.57667371e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08628264, -0.08273826,  0.0618578 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.48673492e-03, 3.10465411e-02, 3.35592008e-03,-3.10991543e-05,
 -2.37400694e-06, 1.59460977e-05,-2.65773025e-05,-2.30236042e-05,
 -9.75233873e-06,-1.72299922e-05, 4.13818260e-05, 4.30851720e-05,
  1.03529042e-02, 1.53028468e-02, 6.19389273e-03, 4.62080063e-04,
  8.41636825e-03, 3.60220769e-02,-9.81435020e+00, 5.19749106e-04,
 -5.88073415e-02, 6.20832091e-02]


--- Step 3476 ---
qpos:
[-0.0181562 , 1.19835082,-0.03493467, 0.94260203,-0.00795071, 1.33287014,
 -0.03119072, 0.94134933, 0.01533284, 1.33848098,-0.02376899, 0.95473298,
  1.27251019,-0.00909684, 1.28811986, 0.04466908,-0.05545187,-0.08862239,
  0.09005161, 0.69218705,-0.09064303,-0.7133887 ,-0.06113497]

qacc:
[-2.94231634e-01, 1.44877824e+00,-3.06903742e+00, 2.21164826e+00,
 -4.56668840e-02, 1.00703969e+00,-2.89906066e+00, 3.09204734e+00,
  2.46527671e-02, 3.85749384e+00,-1.23252974e+01, 1.57010354e+01,
 -2.18952748e-01, 5.52417341e-01,-6.64489225e+00, 1.09473801e+01,
  1.91779257e+00, 8.20427071e-01, 6.57915584e-01,-2.03603106e+00,
  6.07683687e+01, 6.55581235e+01]

qfrc_actuator:
[ 9.28145770e-03, 6.51414958e-02, 1.37896642e-02, 1.87020241e-03,
 -2.03969467e-05, 3.49190451e-02, 1.09092688e-02, 1.70755170e-03,
 -3.01422753e-03, 3.47049264e-02, 1.09816004e-02, 1.78703515e-03,
  8.20997488e-03, 1.30294481e-02, 0.00000000e+00,-6.58517172e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16208519, -0.03684431, -0.15784203, -0.03684431,  0.39259032,
       -0.05380571, -0.15784203, -0.05380571,  0.1746448 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.546867012778446e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63851013,  0.07861582, -0.7655876 , -0.05035284,  0.99690499,
        0.06037416,  0.76796446,  0.        ,  0.64049246])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615653, -0.03407847,  0.22469116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16208519, -0.03684431, -0.15784203, -0.03684431,  0.39259032,
       -0.05380571, -0.15784203, -0.05380571,  0.1746448 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.546867012778446e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63851013,  0.07861582, -0.7655876 , -0.05035284,  0.99690499,
        0.06037416,  0.76796446,  0.        ,  0.64049246])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615653, -0.03407847,  0.22469116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005826817485821492
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39615014,  0.08718694, -0.91403693, -0.03467115,  0.99619197,
        0.07999672,  0.91753091,  0.        ,  0.39766446])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08316327, -0.03399727,  0.22313952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  15.28744548,  -8.03997004,  15.28744548,
        40.91878688,  44.96134257,  -8.03997004,  44.96134257,
       102.76360223,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021062531009443525
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.63554039e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.63554039e-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([-0.08632246, -0.08273257,  0.06186077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.55493583e-03, 3.10176107e-02, 3.37329140e-03, 6.03174870e-06,
 -1.31428279e-05, 3.69428197e-05,-1.22075081e-06, 4.56829044e-06,
  7.16987120e-06, 7.65633325e-05,-2.46847662e-05, 2.59604772e-05,
  1.03586466e-02, 1.52657473e-02, 6.36898947e-03, 6.47361415e-04,
  1.09501326e-02, 3.78160122e-02,-9.81492855e+00, 1.17844540e-03,
 -5.86482823e-02, 6.20089067e-02]


--- Step 3477 ---
qpos:
[-0.01816094, 1.1983671 ,-0.03493809, 0.94260093,-0.00795108, 1.33287153,
 -0.03119088, 0.94134764, 0.01533325, 1.33848032,-0.0237686 , 0.95473362,
  1.27253593,-0.00910309, 1.28810645, 0.04466707,-0.05542574,-0.08849398,
  0.09007883, 0.69230253,-0.09264165,-0.71314837,-0.05961662]

qacc:
[-7.22000750e-02, 1.29486918e+00,-2.89021484e+00, 6.36249977e+00,
 -5.07744205e-02,-9.26787395e-01, 4.04780866e+00,-7.03966554e+00,
  4.07701956e-02, 4.02870850e+00,-1.14995310e+01, 5.51296951e+00,
  1.16161298e-01, 1.66553606e-01,-5.95519764e+00, 1.02079703e+01,
 -3.71892545e+00, 1.51601381e+00,-2.48785135e+00, 1.48693372e+01,
 -1.31150131e+02,-7.85036003e+01]

qfrc_actuator:
[ 9.31907556e-03, 6.51175441e-02, 1.37997331e-02, 1.89372485e-03,
 -2.72764584e-05, 3.49388082e-02, 1.09269211e-02, 1.69356149e-03,
 -3.00662863e-03, 3.46977387e-02, 1.08939422e-02, 1.76540016e-03,
  8.19671385e-03, 1.29871225e-02, 0.00000000e+00,-5.44682076e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16207847, -0.03707685, -0.15778067, -0.03707685,  0.39791491,
       -0.05541916, -0.15778067, -0.05541916,  0.17510141,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.527466062471228e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63858337,  0.07861475, -0.76552661, -0.05035793,  0.99690507,
        0.06036852,  0.76790322,  0.        ,  0.64056588])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615633, -0.03407971,  0.22469193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16207847, -0.03707685, -0.15778067, -0.03707685,  0.39791491,
       -0.05541916, -0.15778067, -0.05541916,  0.17510141,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.527466062471228e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63858337,  0.07861475, -0.76552661, -0.05035793,  0.99690507,
        0.06036852,  0.76790322,  0.        ,  0.64056588])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615633, -0.03407971,  0.22469193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000582853211769041
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96139966e-01,  8.71889445e-02, -9.14041145e-01, -3.46710601e-02,
        9.96191793e-01,  7.99989352e-02,  9.17535310e-01, -6.93889390e-18,
        3.97654316e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08316198, -0.03399848,  0.22313967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.17473237, -1.83730112, 17.17473237, 17.72869842,
        4.26232927, -1.83730112,  4.26232927, 57.11614953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021246625154483084
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.61270441e-14,  3.91905661e-14,  1.00000000e+00,  1.02393365e-27,
        1.00000000e+00, -3.91905661e-14, -1.00000000e+00,  0.00000000e+00,
       -2.61270441e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0217686 , -0.09367337,  0.06185967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.62629289e-03, 3.09399621e-02, 3.38350537e-03, 2.85514470e-05,
 -1.46367215e-05, 4.00900689e-05, 2.48738533e-05,-1.28074693e-05,
  1.18351416e-05, 3.11081029e-05,-7.47505822e-05,-1.94820603e-05,
  1.03534362e-02, 1.51950689e-02, 6.65656660e-03, 7.91551650e-04,
  1.33442884e-02, 3.94571185e-02,-9.81559728e+00, 1.84247355e-03,
 -5.85025837e-02, 6.19301278e-02]


--- Step 3478 ---
qpos:
[-0.01816567, 1.19838431,-0.03494037, 0.9426015 ,-0.00795156, 1.33287318,
 -0.03119137, 0.94134548, 0.01533375, 1.33847997,-0.02376891, 0.95473329,
  1.2725621 ,-0.00910895, 1.28808971, 0.04466471,-0.05541314,-0.08836051,
  0.09009355, 0.69223781,-0.09454798,-0.713082  ,-0.05815116]

qacc:
[-2.00737275e-03, 9.66503339e-01,-5.15255746e+00, 2.33288303e+01,
 -4.35974508e-02, 4.12321530e-01, 1.43469235e-02,-5.57907962e+00,
  3.91603098e-02, 6.00782328e-01, 4.87161950e-01,-1.17862579e+01,
  2.60636526e-01, 5.93564552e-02,-3.86279505e+00, 6.32150556e+00,
 -3.38253749e+00, 1.26453660e+00,-3.12461765e+00, 9.93047448e+00,
 -1.19266110e+02,-6.46395112e+01]

qfrc_actuator:
[ 9.32588612e-03, 6.51313409e-02, 1.38068777e-02, 1.97904597e-03,
 -3.11830925e-05, 3.49321932e-02, 1.09018966e-02, 1.66826551e-03,
 -3.00229076e-03, 3.47110938e-02, 1.08598066e-02, 1.71687159e-03,
  8.20379862e-03, 1.29639788e-02, 0.00000000e+00,-4.93062377e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16206056, -0.03273026, -0.158721  , -0.03273026,  0.36067984,
       -0.04095778, -0.158721  , -0.04095778,  0.17050657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.475540606373144e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63867672,  0.07861269, -0.76544895, -0.05036396,  0.99690523,
        0.06036081,  0.76782519,  0.        ,  0.64065941])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615601, -0.03408086,  0.22469292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16206056, -0.03273026, -0.158721  , -0.03273026,  0.36067984,
       -0.04095778, -0.158721  , -0.04095778,  0.17050657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.475540606373144e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63867672,  0.07861269, -0.76544895, -0.05036396,  0.99690523,
        0.06036081,  0.76782519,  0.        ,  0.64065941])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615601, -0.03408086,  0.22469292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005828063234353566
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39612812,  0.08719104, -0.91404608, -0.03467086,  0.99619161,
        0.08000131,  0.91754043,  0.        ,  0.3976425 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08316025, -0.03399961,  0.22313984])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.15004328,   2.0550238 , -17.15004328,
        17.2084205 ,  -0.53666725,   2.0550238 ,  -0.53666725,
        12.79401196,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021524492669490677
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.57897606e-14,  2.57897606e-14,  1.00000000e+00, -6.65111750e-28,
        1.00000000e+00, -2.57897606e-14, -1.00000000e+00,  0.00000000e+00,
        2.57897606e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02168599, -0.09373107,  0.06185794])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.64136110e-03, 3.08850140e-02, 3.36842748e-03, 9.35239660e-05,
 -1.25455946e-05, 2.00330827e-05,-1.47274775e-05,-2.36548378e-05,
  1.13281836e-05, 1.53872977e-05,-3.71245907e-05,-5.02470518e-05,
  1.03519808e-02, 1.51516531e-02, 6.90400052e-03, 8.65694304e-04,
  9.18947270e-03, 3.95160313e-02,-9.81600643e+00,-5.44031731e-04,
 -5.88660131e-02, 6.18337220e-02]


--- Step 3479 ---
qpos:
[-0.01817003, 1.19840076,-0.03494154, 0.94260428,-0.00795182, 1.33287537,
 -0.03119286, 0.94134305, 0.01533418, 1.33848   ,-0.02376911, 0.95473164,
  1.27258871,-0.00911473, 1.28807455, 0.04466226,-0.05541293,-0.08822279,
  0.09009359, 0.69200834,-0.09638172,-0.71317369,-0.05673022]

qacc:
[ 1.65618310e-01,-2.46253957e-01,-4.97249322e+00, 3.04462409e+01,
  9.00521011e-02, 2.94003850e+00,-8.16710510e+00, 3.53935326e+00,
 -3.02094790e-02,-2.04096739e+00, 9.90059795e+00,-2.39952270e+01,
  2.09320550e-01,-6.86668806e-02, 2.57790387e+00,-5.65734435e+00,
 -3.09795852e+00, 1.06352662e+00,-3.67030872e+00, 6.05723791e+00,
 -1.09238713e+02,-5.35529601e+01]

qfrc_actuator:
[ 9.31411787e-03, 6.51321819e-02, 1.38291414e-02, 2.08226350e-03,
  2.23009962e-06, 3.49629196e-02, 1.08517665e-02, 1.65423088e-03,
 -3.01769676e-03, 3.47545637e-02, 1.08753649e-02, 1.65296267e-03,
  8.21240982e-03, 1.29699613e-02, 0.00000000e+00,-6.02951932e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16203496, -0.03398177, -0.15843159, -0.03398177,  0.37106333,
       -0.0448342 , -0.15843159, -0.0448342 ,  0.17165139,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.400831744248682e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63878419,  0.07860987, -0.76535955, -0.05037062,  0.99690546,
        0.06035158,  0.76773534,  0.        ,  0.64076707])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615561, -0.034082  ,  0.22469404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16203496, -0.03398177, -0.15843159, -0.03398177,  0.37106333,
       -0.0448342 , -0.15843159, -0.0448342 ,  0.17165139,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.400831744248682e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63878419,  0.07860987, -0.76535955, -0.05037062,  0.99690546,
        0.06035158,  0.76773534,  0.        ,  0.64076707])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615561, -0.034082  ,  0.22469404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000582609272997095
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96114383e-01,  8.71931799e-02, -9.14051828e-01, -3.46705180e-02,
        9.96191422e-01,  8.00037862e-02,  9.17546375e-01, -6.93889390e-18,
        3.97628783e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0831582 , -0.03400071,  0.22314003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.14673356,   2.082459  , -17.14673356,
        17.21838348,  -0.44746069,   2.082459  ,  -0.44746069,
        13.58838618,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021493989927492754
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.16527191e-14,  2.58263596e-14,  1.00000000e+00,  1.33400170e-27,
        1.00000000e+00, -2.58263596e-14, -1.00000000e+00,  0.00000000e+00,
       -5.16527191e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02168518, -0.09378666,  0.06185804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.62981855e-03, 3.08395468e-02, 3.33339754e-03, 1.13032193e-04,
  2.60080604e-05, 3.81999349e-05,-4.85848798e-05,-1.44121573e-05,
 -8.71536341e-06, 4.32425142e-05, 1.28740309e-05,-6.57101382e-05,
  1.03391082e-02, 1.51387271e-02, 7.07110699e-03, 7.73780093e-04,
  5.17174033e-03, 3.98979624e-02,-9.81647369e+00,-2.49275082e-03,
 -5.90972562e-02, 6.17398556e-02]


--- Step 3480 ---
qpos:
[-0.01817456, 1.19841659,-0.03494199, 0.94260898,-0.00795179, 1.33287781,
 -0.03119429, 0.94133974, 0.01533435, 1.33848018,-0.02376936, 0.95472927,
  1.27261536,-0.0091202 , 1.28805821, 0.04465954,-0.05542414,-0.08808145,
  0.09007708, 0.69162692,-0.09815851,-0.71340999,-0.05534707]

qacc:
[-7.46354186e-02, 5.22351237e-01,-6.66050846e+00, 2.84392123e+01,
  1.22759231e-01,-1.31719848e+00, 6.48897142e+00,-1.58909373e+01,
 -1.11869354e-01,-9.30170273e-01, 4.74353133e+00,-1.25878468e+01,
 -1.22448142e-01, 3.48589075e-01,-9.02053664e-01, 6.59639098e-01,
 -2.85621485e+00, 9.03010549e-01,-4.13756282e+00, 3.00846610e+00,
 -1.00779866e+02,-4.46695408e+01]

qfrc_actuator:
[ 9.30857257e-03, 6.50910587e-02, 1.38422993e-02, 2.17726231e-03,
  2.22551710e-05, 3.49801560e-02, 1.08583903e-02, 1.61144454e-03,
 -3.04482203e-03, 3.47449042e-02, 1.08669705e-02, 1.61606621e-03,
  8.21126952e-03, 1.29935726e-02, 0.00000000e+00,-5.61339660e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16201194, -0.03115651, -0.15898786, -0.03115651,  0.34193749,
       -0.03525963, -0.15898786, -0.03525963,  0.16892169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.333095347243206e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63888587,  0.07860712, -0.76527496, -0.05037686,  0.99690567,
        0.06034278,  0.76765032,  0.        ,  0.64086893])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615524, -0.03408322,  0.22469509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16201194, -0.03115651, -0.15898786, -0.03115651,  0.34193749,
       -0.03525963, -0.15898786, -0.03525963,  0.16892169,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.333095347243206e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63888587,  0.07860712, -0.76527496, -0.05037686,  0.99690567,
        0.06034278,  0.76765032,  0.        ,  0.64086893])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615524, -0.03408322,  0.22469509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005824550201016104
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96100323e-01,  8.71951734e-02, -9.14057731e-01, -3.46700861e-02,
        9.96191248e-01,  8.00061460e-02,  9.17552461e-01,  6.93889390e-18,
        3.97614739e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08315627, -0.03400189,  0.22314018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.14787134,   2.07306923, -17.14787134,
        17.23326836,  -0.32639353,   2.07306923,  -0.32639353,
        14.57288773,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002121600266249475
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.02174913, -0.09384089,  0.06185959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.60528219e-03, 3.08362946e-02, 3.29093379e-03, 9.76182192e-05,
  3.53797541e-05, 2.84119961e-05, 8.14117787e-06,-4.33967019e-05,
 -3.22704179e-05, 1.48179276e-05,-4.11017618e-07,-3.67700641e-05,
  1.03163394e-02, 1.51587132e-02, 6.99255362e-03, 8.19728472e-04,
  1.24315855e-03, 4.05272538e-02,-9.81702565e+00,-4.11332096e-03,
 -5.92335339e-02, 6.16488075e-02]


--- Step 3481 ---
qpos:
[-0.01817951, 1.19843166,-0.03494319, 0.94261349,-0.0079515 , 1.33287988,
 -0.03119513, 0.94133667, 0.01533437, 1.3384801 ,-0.02376988, 0.95472825,
  1.27264165,-0.00912542, 1.28804022, 0.04465671,-0.05542477,-0.08793949,
  0.09008285, 0.69137714,-0.1000517 ,-0.71350374,-0.05384902]

qacc:
[-1.82928991e-01, 6.86353062e-01,-3.03286763e+00, 8.88583038e-01,
  1.13642980e-01,-1.67620667e+00, 4.41398700e+00,-9.20719697e-01,
 -6.06564180e-02, 2.72590005e+00,-1.20340481e+01, 2.61922398e+01,
 -3.58821754e-01, 4.54554682e-01,-2.04974907e+00, 3.69608400e+00,
  2.64723978e+00, 1.56770079e-01, 5.56921331e+00, 3.25263154e+00,
  8.73959434e+01, 9.18985986e+01]

qfrc_actuator:
[ 9.30716043e-03, 6.50604294e-02, 1.38321982e-02, 2.16022156e-03,
  3.40853491e-05, 3.49361163e-02, 1.08806539e-02, 1.62312178e-03,
 -3.04325218e-03, 3.47034363e-02, 1.08443069e-02, 1.68407715e-03,
  8.20429783e-03, 1.30452375e-02, 0.00000000e+00,-5.17368400e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16198463, -0.03857462, -0.15732457, -0.03857462,  0.39922437,
       -0.05816912, -0.15732457, -0.05816912,  0.17624719,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.252085407111463e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63899127,  0.07860428, -0.76518725, -0.05038334,  0.9969059 ,
        0.06033367,  0.76756217,  0.        ,  0.64097451])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615483, -0.03408444,  0.22469615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16198463, -0.03857462, -0.15732457, -0.03857462,  0.39922437,
       -0.05816912, -0.15732457, -0.05816912,  0.17624719,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.252085407111463e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63899127,  0.07860428, -0.76518725, -0.05038334,  0.9969059 ,
        0.06033367,  0.76756217,  0.        ,  0.64097451])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615483, -0.03408444,  0.22469615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005821900629194715
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39608618,  0.08719724, -0.91406366, -0.03466967,  0.99619107,
        0.08000857,  0.91755858,  0.        ,  0.39760062])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08315423, -0.03400307,  0.22314032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.13745744,   2.15746606, -17.13745744,
        18.77116072,  11.9025462 ,   2.15746606,  11.9025462 ,
       111.81853857,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021238642350095496
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.22737285e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.22737285e-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([-0.08555875, -0.08016878,  0.06185921])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.61244027e-03, 3.08366854e-02, 3.24529979e-03,-1.52862503e-05,
  3.27168499e-05,-2.80549397e-05, 2.74711202e-05, 1.17640459e-05,
 -1.74870454e-05,-3.44489717e-05,-2.08956075e-05, 6.75789769e-05,
  1.03072353e-02, 1.51944203e-02, 7.05166113e-03, 8.77389081e-04,
 -2.62931759e-03, 4.13493174e-02,-9.81767567e+00,-5.48440731e-03,
 -5.93001798e-02, 6.15605381e-02]


--- Step 3482 ---
qpos:
[-0.01818425, 1.19844518,-0.0349461 , 0.94261616,-0.00795084, 1.33288133,
 -0.03119525, 0.94133412, 0.01533432, 1.3384791 ,-0.02376956, 0.95472909,
  1.27266746,-0.00913094, 1.28802538, 0.04465418,-0.05541566,-0.08779646,
  0.0901054 , 0.69124606,-0.10204802,-0.71346689,-0.05225013]

qacc:
[ 9.44779446e-02,-5.35125713e-01, 3.06615851e+00,-2.30067011e+01,
  1.52433136e-01,-1.83758926e+00, 3.93176190e+00, 3.08107514e+00,
 -3.20949200e-02,-2.81156663e-01,-4.26605038e+00, 2.56744503e+01,
 -3.41735715e-01, 6.64415002e-02, 3.72054904e+00,-6.22371422e+00,
  2.43438589e+00, 2.66518907e-01, 4.19558584e+00, 2.74125502e+00,
  7.96687146e+01, 8.13828057e+01]

qfrc_actuator:
[ 9.32629750e-03, 6.50187174e-02, 1.38270592e-02, 2.05954523e-03,
  5.86570522e-05, 3.48913306e-02, 1.09117469e-02, 1.64897206e-03,
 -3.04223328e-03, 3.46432433e-02, 1.08843415e-02, 1.77773840e-03,
  8.20983928e-03, 1.31136850e-02, 0.00000000e+00,-6.31800908e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1619522 , -0.05843184, -0.15104382, -0.05843184,  0.56848838,
       -0.15726996, -0.15104382, -0.15726996,  0.22279265,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.154936633010667e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.39100911e-01,  7.86014670e-02, -7.65095964e-01, -5.03901704e-02,
        9.96906119e-01,  6.03243014e-02,  7.67470427e-01, -6.93889390e-18,
        6.41084350e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615438, -0.0340856 ,  0.22469725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1619522 , -0.05843184, -0.15104382, -0.05843184,  0.56848838,
       -0.15726996, -0.15104382, -0.15726996,  0.22279265,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.154936633010667e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.39100911e-01,  7.86014670e-02, -7.65095964e-01, -5.03901704e-02,
        9.96906119e-01,  6.03243014e-02,  7.67470427e-01, -6.93889390e-18,
        6.41084350e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615438, -0.0340856 ,  0.22469725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005817845042821873
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96073404e-01,  8.71994376e-02, -9.14068989e-01, -3.46694384e-02,
        9.96190874e-01,  8.00110740e-02,  9.17564106e-01, -6.93889390e-18,
        3.97587866e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08315209, -0.03400419,  0.22314044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.70027418, -4.40998298, 16.70027418, 21.26567084,
       15.12097727, -4.40998298, 15.12097727, 74.53473205,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021554967938549052
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.5753298e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.5753298e-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([-0.08552629, -0.08014394,  0.06185712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.65254785e-03, 3.08322064e-02, 3.27707327e-03,-1.06434902e-04,
  4.38841577e-05,-5.45928204e-05, 2.90696851e-05, 2.60805041e-05,
 -9.30976318e-06,-8.13221421e-05, 3.29087869e-05, 9.35993910e-05,
  1.03307464e-02, 1.52508511e-02, 7.13428661e-03, 7.68935986e-04,
  1.26610283e-03, 4.39201192e-02,-9.81834106e+00,-4.83664528e-03,
 -5.92011631e-02, 6.14776677e-02]


--- Step 3483 ---
qpos:
[-0.01818868, 1.19845785,-0.03495058, 0.94261684,-0.00794986, 1.33288228,
 -0.03119498, 0.94133191, 0.01533422, 1.33847806,-0.02376844, 0.95473027,
  1.27269282,-0.00913675, 1.28801275, 0.04465188,-0.05539752,-0.08765201,
  0.09014008, 0.69122277,-0.10413661,-0.71330931,-0.05056165]

qacc:
[ 1.30794957e-01,-2.78412604e-01, 3.68452995e+00,-2.57616590e+01,
  1.39489473e-01,-1.16214125e+00, 2.28811296e+00, 2.24943011e+00,
 -1.66128127e-02,-1.60578968e+00, 4.45681391e+00, 2.07672429e-01,
 -2.81779989e-01, 1.87301923e-02, 2.62692438e+00,-4.39860708e+00,
  2.25761466e+00, 3.55595466e-01, 3.03229035e+00, 2.41772815e+00,
  7.31960317e+01, 7.28524139e+01]

qfrc_actuator:
[ 9.35729509e-03, 6.49892217e-02, 1.37906680e-02, 1.96366842e-03,
  7.29222844e-05, 3.48642479e-02, 1.09300251e-02, 1.66518654e-03,
 -3.04155468e-03, 3.46968348e-02, 1.09432309e-02, 1.79698097e-03,
  8.21758666e-03, 1.31393923e-02, 0.00000000e+00,-6.64132907e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16192605, -0.0602606 , -0.15029539, -0.0602606 ,  0.58357967,
       -0.16906107, -0.15029539, -0.16906107,  0.22971071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.075792707914122e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63919609,  0.0785993 , -0.76501667, -0.05039628,  0.99690629,
        0.06031638,  0.76739075,  0.        ,  0.64117972])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615401, -0.03408677,  0.22469818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16192605, -0.0602606 , -0.15029539, -0.0602606 ,  0.58357967,
       -0.16906107, -0.15029539, -0.16906107,  0.22971071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.075792707914122e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63919609,  0.0785993 , -0.76501667, -0.05039628,  0.99690629,
        0.06031638,  0.76739075,  0.        ,  0.64117972])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615401, -0.03408677,  0.22469818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005814783661319822
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39606364,  0.08720149, -0.91407302, -0.03466941,  0.99619069,
        0.08001333,  0.91756832,  0.        ,  0.39757814])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08315027, -0.03400533,  0.22314055])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.64043649, -4.63065664, 16.64043649, 22.05123228,
       17.17173508, -4.63065664, 17.17173508, 78.97999453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021594342562849256
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.570634e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -2.570634e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08551916, -0.08012411,  0.06185681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.67267311e-03, 3.08806682e-02, 3.32661730e-03,-1.10444356e-04,
  4.01690364e-05,-5.08223213e-05, 1.16644789e-05, 1.60240379e-05,
 -4.82332611e-06, 1.78289090e-05, 4.94883483e-05, 1.99741411e-05,
  1.03625336e-02, 1.52918206e-02, 6.97740148e-03, 7.21033197e-04,
  4.82136165e-03, 4.60988764e-02,-9.81914558e+00,-4.13490076e-03,
 -5.91188843e-02, 6.13913311e-02]


--- Step 3484 ---
qpos:
[-0.01819232, 1.19846933,-0.03495585, 0.94261635,-0.00794876, 1.33288305,
 -0.03119491, 0.94133025, 0.01533411, 1.3384783 ,-0.02376768, 0.9547299 ,
  1.27271783,-0.00914313, 1.28800652, 0.04464994,-0.05537093,-0.08750585,
  0.09018296, 0.69129805,-0.10630854,-0.71303912,-0.04879253]

qacc:
[ 3.43788154e-01,-1.38648843e+00, 5.04032280e+00,-1.71314918e+01,
  4.83063086e-02, 1.24941779e+00,-5.49985863e+00, 1.13579726e+01,
 -8.40858293e-03,-5.58979810e-02, 5.34934282e+00,-2.34447936e+01,
 -2.48141563e-01,-1.70839916e-01, 8.36756993e+00,-1.55077644e+01,
  2.11127930e+00, 4.28223549e-01, 2.04845899e+00, 2.24106424e+00,
  6.77732243e+01, 6.59489086e+01]

qfrc_actuator:
[ 9.35973338e-03, 6.50024663e-02, 1.38070642e-02, 1.90706321e-03,
  6.31376034e-05, 3.48656787e-02, 1.09228938e-02, 1.69335054e-03,
 -3.04108645e-03, 3.48181962e-02, 1.09421344e-02, 1.71907821e-03,
  8.21602019e-03, 1.31573119e-02, 0.00000000e+00,-8.60268154e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16190476, -0.06640699, -0.14765928, -0.06640699,  0.63490707,
       -0.21272389, -0.14765928, -0.21272389,  0.25757333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.010848783844519e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.39281312e-01,  7.85974911e-02, -7.64945644e-01, -5.04018287e-02,
        9.96906432e-01,  6.03093796e-02,  7.67319399e-01, -6.93889390e-18,
        6.41265109e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615369, -0.03408795,  0.22469902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16190476, -0.06640699, -0.14765928, -0.06640699,  0.63490707,
       -0.21272389, -0.14765928, -0.21272389,  0.25757333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.010848783844519e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.39281312e-01,  7.85974911e-02, -7.64945644e-01, -5.04018287e-02,
        9.96906432e-01,  6.03093796e-02,  7.67319399e-01, -6.93889390e-18,
        6.41265109e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615369, -0.03408795,  0.22469902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005812575900654565
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96056082e-01,  8.72033899e-02, -9.14076117e-01, -3.46695054e-02,
        9.96190528e-01,  8.00153523e-02,  9.17571580e-01,  6.93889390e-18,
        3.97570616e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08314868, -0.03400648,  0.22314065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.55694957, -4.92082599, 16.55694957, 23.20466532,
       19.95900672, -4.92082599, 19.95900672, 84.42817399,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021410546069681735
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59270133e-14,  2.59270133e-14,  1.00000000e+00,  6.72210018e-28,
        1.00000000e+00, -2.59270133e-14, -1.00000000e+00,  0.00000000e+00,
       -2.59270133e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08553239, -0.08010845,  0.06185794])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.66006693e-03, 3.09359066e-02, 3.42097440e-03,-6.75963952e-05,
  1.39262127e-05,-2.39285073e-05,-1.52830866e-05, 2.73438580e-05,
 -2.38047243e-06, 1.41484793e-04, 8.59588615e-06,-7.54595880e-05,
  1.03832804e-02, 1.53241368e-02, 6.86683318e-03, 5.13973879e-04,
  8.07692115e-03, 4.79529387e-02,-9.82005533e+00,-3.40985488e-03,
 -5.90502318e-02, 6.13008881e-02]


--- Step 3485 ---
qpos:
[-0.01819586, 1.19848075,-0.03496097, 0.94261573,-0.00794765, 1.33288401,
 -0.03119513, 0.94132996, 0.01533384, 1.33847945,-0.02376799, 0.95472831,
  1.27274229,-0.00914968, 1.28800368, 0.04464803,-0.05533638,-0.08735773,
  0.0902307 , 0.69146415,-0.10855652,-0.71266298,-0.04694986]

qacc:
[ 4.35824431e-02,-7.19212414e-01, 2.54128954e+00,-3.76620462e+00,
  6.30531286e-03, 3.35889454e+00,-1.34821242e+01, 2.73802124e+01,
 -6.54447834e-02, 2.03022569e+00,-2.74048020e+00,-1.20960394e+01,
 -5.14560579e-01, 3.28308855e-01, 4.95451562e+00,-9.98558360e+00,
  1.99061797e+00, 4.87904474e-01, 1.21761727e+00, 2.18059441e+00,
  6.32322091e+01, 6.03866817e+01]

qfrc_actuator:
[ 9.34442742e-03, 6.49532777e-02, 1.38194905e-02, 1.90949709e-03,
  5.67589812e-05, 3.49018352e-02, 1.09187003e-02, 1.76383402e-03,
 -3.05850119e-03, 3.48191424e-02, 1.08703748e-02, 1.65567212e-03,
  8.21419952e-03, 1.31709598e-02, 0.00000000e+00,-9.06381908e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16189807, -0.05570138, -0.15201428, -0.05570138,  0.52390807,
       -0.13264845, -0.15201428, -0.13264845,  0.21050339,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.990329522184405e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6393417 ,  0.07859653, -0.76489527, -0.05040597,  0.99690651,
        0.06030466,  0.76726881,  0.        ,  0.64132564])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615352, -0.03408921,  0.22469961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16189807, -0.05570138, -0.15201428, -0.05570138,  0.52390807,
       -0.13264845, -0.15201428, -0.13264845,  0.21050339,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.990329522184405e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6393417 ,  0.07859653, -0.76489527, -0.05040597,  0.99690651,
        0.06030466,  0.76726881,  0.        ,  0.64132564])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615352, -0.03408921,  0.22469961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005813479963204284
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96050358e-01,  8.72049382e-02, -9.14078450e-01, -3.46696246e-02,
        9.96190393e-01,  8.00169880e-02,  9.17574047e-01, -1.38777878e-17,
        3.97564924e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08314764, -0.03400772,  0.22314073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.44553734, -5.28123177, 16.44553734, 24.89127775,
       23.72385114, -5.28123177, 23.72385114, 91.14781874,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021048841975177257
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.63725441e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.63725441e-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([-0.08556184, -0.08009628,  0.06186021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.60529637e-03, 3.09461651e-02, 3.47332315e-03,-6.94766303e-06,
  1.84145301e-06, 2.07448157e-05,-9.81666707e-06, 6.99459706e-05,
 -1.88151372e-05, 7.86257090e-05,-4.53608634e-05,-6.07168821e-05,
  1.03994798e-02, 1.53665434e-02, 6.54698390e-03, 4.49627849e-04,
  1.10718196e-02, 4.95406630e-02,-9.82105045e+00,-2.68037416e-03,
 -5.89933240e-02, 6.12059255e-02]


--- Step 3486 ---
qpos:
[-0.01819985, 1.19849371,-0.03496531, 0.94261565,-0.0079467 , 1.33288523,
 -0.03119544, 0.94133014, 0.01533355, 1.33848038,-0.02376931, 0.95472643,
  1.27276637,-0.00915587, 1.28799804, 0.0446457 ,-0.05529525,-0.08721689,
  0.09028813, 0.69173499,-0.11071505,-0.71218337,-0.04516332]

qacc:
[-1.94457297e-01, 8.24112298e-01,-1.37847997e+00, 6.53737069e+00,
 -7.27346254e-02, 1.43147412e+00,-5.24401723e+00, 9.98731286e+00,
 -1.26007180e-02, 1.88112869e+00,-5.87190676e+00, 1.72344804e+00,
 -4.13922610e-01, 5.84335823e-01,-2.83065771e+00, 3.97429478e+00,
  1.64515611e+00,-1.81761055e+00, 2.42171038e+00, 1.41775316e+01,
  7.82431071e+01,-4.32091921e+01]

qfrc_actuator:
[ 9.35435369e-03, 6.49014768e-02, 1.38289034e-02, 1.94679395e-03,
  3.47247584e-05, 3.49230378e-02, 1.09164498e-02, 1.78767346e-03,
 -3.05099807e-03, 3.47299363e-02, 1.07925846e-02, 1.63673766e-03,
  8.20160453e-03, 1.31463613e-02, 0.00000000e+00,-7.73529240e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16189985, -0.0423423 , -0.15626482, -0.0423423 ,  0.41086177,
       -0.06745997, -0.15626482, -0.06745997,  0.18017915,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.995807984227625e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63938998,  0.07859615, -0.76485495, -0.05040953,  0.99690654,
        0.0603012 ,  0.76722834,  0.        ,  0.64137405])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615344, -0.0340905 ,  0.2247001 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16189985, -0.0423423 , -0.15626482, -0.0423423 ,  0.41086177,
       -0.06745997, -0.15626482, -0.06745997,  0.18017915,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.995807984227625e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63938998,  0.07859615, -0.76485495, -0.05040953,  0.99690654,
        0.0603012 ,  0.76722834,  0.        ,  0.64137405])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615344, -0.0340905 ,  0.2247001 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005816351155397588
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39604455,  0.08720645, -0.91408082, -0.03466972,  0.99619026,
        0.08001859,  0.91757655,  0.        ,  0.39755914])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08314688, -0.034009  ,  0.22314082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   8.28476377,  15.15618015,   8.28476377,
       119.13561995, -55.68091659,  15.15618015, -55.68091659,
        47.70937001,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002061286939707599
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.69303367e-14,  4.03955050e-14,  1.00000000e+00,  1.08786455e-27,
        1.00000000e+00, -4.03955050e-14, -1.00000000e+00,  0.00000000e+00,
       -2.69303367e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08366991, -0.06995661,  0.06186296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.61021649e-03, 3.08971022e-02, 3.47510590e-03, 3.72570690e-05,
 -2.09466453e-05, 3.28602095e-05, 2.74262154e-06, 2.57977262e-05,
 -3.60462136e-06,-5.63952712e-05,-6.93698964e-05,-1.93457529e-05,
  1.04142450e-02, 1.53503535e-02, 6.37768943e-03, 5.81054898e-04,
  1.38423867e-02, 5.09120350e-02,-9.82212048e+00,-1.95732448e-03,
 -5.89470685e-02, 6.11061720e-02]


--- Step 3487 ---
qpos:
[-0.01820335, 1.19850662,-0.03496895, 0.94261652,-0.00794597, 1.33288652,
 -0.03119519, 0.94133198, 0.01533327, 1.33848062,-0.02377106, 0.95472434,
  1.27279054,-0.00916208, 1.28799417, 0.04464319,-0.0552671 ,-0.0870707 ,
  0.0903333 , 0.69182373,-0.11279912,-0.71187868,-0.04341698]

qacc:
[ 2.12932536e-01,-3.44356068e-01,-8.90508211e-01, 1.16998884e+01,
 -8.96847927e-02, 1.37229598e+00,-7.77914072e+00, 2.58597471e+01,
  8.71654166e-03,-5.69054671e-02,-5.10330671e-01,-1.41710885e+00,
 -7.25725522e-03, 1.93501568e-02, 3.15042434e+00,-7.22582042e+00,
 -3.24349314e+00, 1.33757914e+00,-3.06512724e+00, 5.31050955e+00,
 -1.21437162e+02,-5.42099368e+01]

qfrc_actuator:
[ 9.36217290e-03, 6.49353035e-02, 1.38358158e-02, 1.98662942e-03,
  2.12305015e-05, 3.49351098e-02, 1.09507878e-02, 1.87262292e-03,
 -3.04635987e-03, 3.46761733e-02, 1.07647867e-02, 1.62631375e-03,
  8.18787571e-03, 1.31161050e-02, 0.00000000e+00,-8.87912982e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1618968 , -0.04309018, -0.15605708, -0.04309018,  0.43165561,
       -0.07448527, -0.15605708, -0.07448527,  0.18246353,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.986444747627158e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6394508 ,  0.07859539, -0.76480419, -0.05041383,  0.9969066 ,
        0.0602966 ,  0.76717737,  0.        ,  0.64143501])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615329, -0.03409172,  0.22470073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1618968 , -0.04309018, -0.15605708, -0.04309018,  0.43165561,
       -0.07448527, -0.15605708, -0.07448527,  0.18246353,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.986444747627158e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6394508 ,  0.07859539, -0.76480419, -0.05041383,  0.9969066 ,
        0.0602966 ,  0.76717737,  0.        ,  0.64143501])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615329, -0.03409172,  0.22470073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005818424255304572
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96036604e-01,  8.72081767e-02, -9.14084100e-01, -3.46697179e-02,
        9.96190109e-01,  8.00204770e-02,  9.17579980e-01,  6.93889390e-18,
        3.97551230e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08314584, -0.0340102 ,  0.22314093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.7151294 , -4.35333857, 16.7151294 , 20.9867946 ,
       14.26057608, -4.35333857, 14.26057608, 72.02780099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020631259152285933
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.38126644e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.38126644e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02184828, -0.09424715,  0.06186296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.64033799e-03, 3.08540933e-02, 3.44280913e-03, 4.99154188e-05,
 -2.58585138e-05, 3.15570065e-05, 4.18366687e-05, 8.66197489e-05,
  2.50832939e-06,-9.90779619e-05,-4.72639824e-05,-1.45784957e-05,
  1.04196946e-02, 1.53020570e-02, 6.51747207e-03, 4.87654112e-04,
  1.48900944e-02, 4.44498308e-02,-9.82157716e+00,-1.03259179e-03,
 -5.92249610e-02, 6.10110756e-02]


--- Step 3488 ---
qpos:
[-0.01820695, 1.19852044,-0.0349729 , 0.94261643,-0.00794544, 1.33288823,
 -0.03119523, 0.94133552, 0.01533303, 1.33848041,-0.02377244, 0.95472278,
  1.27281477,-0.0091682 , 1.28798879, 0.04464045,-0.05523188,-0.08693202,
  0.09038896, 0.69201867,-0.11480199,-0.7114705 ,-0.04171798]

qacc:
[-4.09008807e-02, 4.24864095e-01, 2.00139323e+00,-1.32436830e+01,
 -8.17487597e-02, 4.25760083e+00,-1.67466090e+01, 3.40922298e+01,
  1.52010552e-02,-7.06936834e-01, 5.52385860e-01, 5.76185966e+00,
  4.55936309e-02, 1.79456000e-02,-1.56084328e+00, 2.19926836e+00,
  1.76418357e+00,-1.88063874e+00, 2.62236460e+00, 1.49762180e+01,
  7.80334996e+01,-3.71366270e+01]

qfrc_actuator:
[ 9.35021897e-03, 6.49504628e-02, 1.38765074e-02, 1.93861299e-03,
  1.29691219e-05, 3.49595504e-02, 1.09354442e-02, 1.95737398e-03,
 -3.04347891e-03, 3.46974937e-02, 1.08023329e-02, 1.65651750e-03,
  8.18941407e-03, 1.31182067e-02, 0.00000000e+00,-8.13412221e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16189772, -0.05212211, -0.15327804, -0.05212211,  0.50655887,
       -0.11720182, -0.15327804, -0.11720182,  0.20175213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.98925136893023e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6395061 ,  0.07859461, -0.76475803, -0.05041769,  0.99690666,
        0.06029236,  0.76713102,  0.        ,  0.64149045])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615319, -0.03409299,  0.22470131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16189772, -0.05212211, -0.15327804, -0.05212211,  0.50655887,
       -0.11720182, -0.15327804, -0.11720182,  0.20175213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.98925136893023e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6395061 ,  0.07859461, -0.76475803, -0.05041769,  0.99690666,
        0.06029236,  0.76713102,  0.        ,  0.64149045])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615319, -0.03409299,  0.22470131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005821443154035051
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96028068e-01,  8.72097235e-02, -9.14087651e-01, -3.46695904e-02,
        9.96189974e-01,  8.00222180e-02,  9.17583668e-01,  6.93889390e-18,
        3.97542716e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08314492, -0.03401146,  0.22314105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.89505581,   3.59224119, -16.89505581,
        21.46660224,  19.72466433,   3.59224119,  19.72466433,
       110.04191713,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020689486085587183
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.36612181e-14,  2.68306090e-14,  1.00000000e+00, -1.43976316e-27,
        1.00000000e+00, -2.68306090e-14, -1.00000000e+00,  0.00000000e+00,
        5.36612181e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08365278, -0.06993994,  0.06186265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.60394682e-03, 3.08714346e-02, 3.44867510e-03,-4.49970606e-05,
 -2.35255580e-05, 5.26893483e-05,-1.86351533e-06, 8.89413148e-05,
  4.35923340e-06,-4.31343563e-05, 1.23970167e-05, 2.55401799e-05,
  1.04161432e-02, 1.53057594e-02, 6.42923420e-03, 5.71065234e-04,
  1.10119038e-02, 4.58032232e-02,-9.82175155e+00,-3.41455209e-03,
 -5.93355126e-02, 6.08803095e-02]


--- Step 3489 ---
qpos:
[-0.01821136, 1.19853691,-0.03497663, 0.94261525,-0.0079452 , 1.33288986,
 -0.03119517, 0.94133905, 0.01533282, 1.33848004,-0.02377353, 0.95472225,
  1.27283849,-0.009174  , 1.28797899, 0.04463747,-0.05520903,-0.08678874,
  0.09043129, 0.69204059,-0.11675126,-0.71122776,-0.04005043]

qacc:
[-3.56731553e-01, 1.02129137e+00, 3.16425209e+00,-1.72688292e+01,
 -1.27303687e-01,-4.13485799e-01, 1.25794639e+00,-1.28920673e+00,
  1.52037695e-02, 7.92169778e-01,-4.94145212e+00, 1.63999169e+01,
 -3.85193693e-01, 4.90845454e-01,-5.74680126e+00, 1.06965455e+01,
 -3.08864989e+00, 1.15301962e+00,-3.33261236e+00, 8.84237483e-01,
 -1.15874935e+02,-4.30543636e+01]

qfrc_actuator:
[ 9.36229305e-03, 6.48824757e-02, 1.39381925e-02, 1.89264751e-03,
 -9.83950710e-06, 3.49200167e-02, 1.09264285e-02, 1.95252513e-03,
 -3.04167565e-03, 3.47106399e-02, 1.08251889e-02, 1.71046158e-03,
  8.18413665e-03, 1.31573662e-02, 0.00000000e+00,-6.43214153e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16189607, -0.06051225, -0.15016193, -0.06051225,  0.5340398 ,
       -0.14996647, -0.15016193, -0.14996647,  0.22232955,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.9841875281306e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63956845,  0.0785935 , -0.76470599, -0.05042189,  0.99690675,
        0.06028741,  0.76707876,  0.        ,  0.64155294])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615304, -0.03409423,  0.22470197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16189607, -0.06051225, -0.15016193, -0.06051225,  0.5340398 ,
       -0.14996647, -0.15016193, -0.14996647,  0.22232955,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.9841875281306e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63956845,  0.0785935 , -0.76470599, -0.05042189,  0.99690675,
        0.06028741,  0.76707876,  0.        ,  0.64155294])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615304, -0.03409423,  0.22470197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005824038738781769
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.96018982e-01,  8.72113178e-02, -9.14091435e-01, -3.46694336e-02,
        9.96189834e-01,  8.00240235e-02,  9.17587596e-01, -6.93889390e-18,
        3.97533651e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08314386, -0.03401268,  0.22314118])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.73138957, -4.29042078, 16.73138957, 21.26870991,
       15.58316668, -4.29042078, 15.58316668, 78.04253187,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020853383756572613
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.66197332e-14, -1.33098666e-14,  1.00000000e+00, -3.54305098e-28,
        1.00000000e+00,  1.33098666e-14, -1.00000000e+00,  0.00000000e+00,
       -2.66197332e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02177807, -0.09434139,  0.06186175])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.62068458e-03, 3.07579142e-02, 3.52575241e-03,-4.38871672e-05,
 -3.66947879e-05,-8.07551744e-06, 3.69540789e-06,-1.24754084e-06,
  4.37601758e-06,-7.52822951e-06, 1.65877254e-05, 5.36185178e-05,
  1.04085315e-02, 1.53404484e-02, 6.50512277e-03, 7.52587283e-04,
  1.22498256e-02, 4.01016068e-02,-9.82125571e+00,-2.52243533e-03,
 -5.95924039e-02, 6.07885382e-02]


--- Step 3490 ---
qpos:
[-0.01821641, 1.19855552,-0.03497818, 0.94261622,-0.00794525, 1.33289074,
 -0.03119457, 0.94134183, 0.01533236, 1.33847965,-0.02377494, 0.95472205,
  1.27286153,-0.0091793 , 1.28796635, 0.04463419,-0.05517869,-0.08665885,
  0.09048447, 0.69218058,-0.11852694,-0.71088346,-0.03849819]

qacc:
[ -0.27717244,  0.57447005, -2.93589927, 26.26679471, -0.12218256,
  -3.69105028, 12.38608812,-18.85249944, -0.11021069,  1.40720016,
  -5.26027347,  8.29796921, -0.72607513,  0.93822911, -3.21641224,
   5.2775302 ,  1.86970849, -3.348364  ,  2.71318545, 23.91441061,
  87.3425765 ,-93.33774566]

qfrc_actuator:
[ 9.38954608e-03, 6.48335042e-02, 1.39410621e-02, 2.00822747e-03,
 -2.34388743e-05, 3.48424390e-02, 1.09386895e-02, 1.91271479e-03,
 -3.07603870e-03, 3.47010232e-02, 1.08036575e-02, 1.72466013e-03,
  8.16949192e-03, 1.31829898e-02, 0.00000000e+00,-5.93013219e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16188772, -0.04168277, -0.15642947, -0.04168277,  0.37447421,
       -0.05664658, -0.15642947, -0.05664658,  0.17698197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.958490348241407e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.39650074e-01,  7.85918687e-02, -7.64637889e-01, -5.04272725e-02,
        9.96906875e-01,  6.02807765e-02,  7.67010348e-01,  6.93889390e-18,
        6.41634730e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615281, -0.03409535,  0.22470286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16188772, -0.04168277, -0.15642947, -0.04168277,  0.37447421,
       -0.05664658, -0.15642947, -0.05664658,  0.17698197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.958490348241407e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.39650074e-01,  7.85918687e-02, -7.64637889e-01, -5.04272725e-02,
        9.96906875e-01,  6.02807765e-02,  7.67010348e-01,  6.93889390e-18,
        6.41634730e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615281, -0.03409535,  0.22470286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005825597792843522
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39600726,  0.08721329, -0.91409633, -0.0346692 ,  0.99618966,
        0.08002627,  0.91759267,  0.        ,  0.39752195])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0831424 , -0.03401377,  0.22314137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.72620194,   4.31060044, -16.72620194,
        24.99429088,  29.96158743,   4.31060044,  29.96158743,
       133.53113909,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002116134686686741
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.55808342e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.55808342e-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([-0.08473151, -0.06438255,  0.06185989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.68883587e-03, 3.05761759e-02, 3.51778241e-03, 1.27003720e-04,
 -3.52615318e-05,-8.13677326e-05, 1.10676820e-05,-3.99670156e-05,
 -3.17794249e-05,-8.94827806e-06,-1.95467008e-05, 1.57059065e-05,
  1.04191341e-02, 1.53501628e-02, 6.72578030e-03, 8.15155597e-04,
  8.75245442e-03, 4.18758217e-02,-9.82143393e+00,-4.63530231e-03,
 -5.95997638e-02, 6.06612751e-02]


--- Step 3491 ---
qpos:
[-0.01822164, 1.19857521,-0.03497857, 0.94261872,-0.0079454 , 1.33289153,
 -0.03119455, 0.94134239, 0.01533172, 1.3384794 ,-0.02377606, 0.95472094,
  1.27288439,-0.00918411, 1.28794984, 0.04463056,-0.05514132,-0.08654096,
  0.09054431, 0.69242872,-0.12014267,-0.71044724,-0.03705306]

qacc:
[-7.97886629e-02, 8.99013057e-01,-4.40159172e+00, 2.08964100e+01,
 -3.83079113e-02,-2.36314957e+00, 1.21673807e+01,-3.63463073e+01,
 -7.37606180e-02,-2.17469931e+00, 9.14874644e+00,-1.85082074e+01,
 -2.67109791e-01, 5.54345248e-01,-4.67535640e+00, 8.08236031e+00,
  1.75713921e+00,-3.00052162e+00, 1.66337563e+00, 2.19289227e+01,
  7.96757843e+01,-8.63965430e+01]

qfrc_actuator:
[ 9.42605212e-03, 6.48486463e-02, 1.39243334e-02, 2.07589093e-03,
 -1.36515852e-05, 3.48492455e-02, 1.09099793e-02, 1.79939492e-03,
 -3.07856190e-03, 3.47309213e-02, 1.08270001e-02, 1.67980785e-03,
  8.16523810e-03, 1.31824323e-02, 0.00000000e+00,-5.08136581e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1618756 , -0.03691055, -0.1576113 , -0.03691055,  0.35313695,
       -0.04479096, -0.1576113 , -0.04479096,  0.17236507,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.921094784027084e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63974509,  0.07858991, -0.76455859, -0.0504335 ,  0.99690703,
        0.06027302,  0.76693069,  0.        ,  0.64172995])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615251, -0.03409638,  0.22470393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1618756 , -0.03691055, -0.1576113 , -0.03691055,  0.35313695,
       -0.04479096, -0.1576113 , -0.04479096,  0.17236507,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.921094784027084e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63974509,  0.07858991, -0.76455859, -0.0504335 ,  0.99690703,
        0.06027302,  0.76693069,  0.        ,  0.64172995])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615251, -0.03409638,  0.22470393])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005826764214732286
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39599155,  0.08721558, -0.91410291, -0.03466874,  0.99618946,
        0.08002897,  0.91759946,  0.        ,  0.39750626])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08314063, -0.03401478,  0.22314161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  12.59747129, -11.817395  ,  12.59747129,
        75.02545224,  61.56503145, -11.817395  ,  61.56503145,
        82.9017188 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021339883946624866
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.20257293e-14,  1.95096485e-14,  1.00000000e+00, -1.01500369e-27,
        1.00000000e+00, -1.95096485e-14, -1.00000000e+00,  0.00000000e+00,
        5.20257293e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08471182, -0.06437909,  0.06185891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.75715477e-03, 3.04838781e-02, 3.39144838e-03, 8.67291527e-05,
 -1.10312923e-05,-3.72521909e-05,-4.45434609e-05,-1.16367973e-04,
 -2.12917877e-05, 2.16002502e-05, 1.98347706e-05,-4.53265815e-05,
  1.04488931e-02, 1.53247487e-02, 6.86797368e-03, 9.15397161e-04,
  9.38730127e-03, 3.28413471e-02,-9.82000402e+00,-3.65566693e-03,
 -5.99933874e-02, 6.05784127e-02]


--- Step 3492 ---
qpos:
[-0.01822653, 1.19859491,-0.03497976, 0.94262015,-0.00794525, 1.33289231,
 -0.03119473, 0.94134225, 0.01533111, 1.3384794 ,-0.02377639, 0.95471961,
  1.2729074 ,-0.00918887, 1.28793175, 0.04462696,-0.05510326,-0.08643989,
  0.09061405, 0.69271723,-0.12153081,-0.70999402,-0.03579938]

qacc:
[ 1.48253858e-01, 3.31591172e-01, 1.18342692e+00,-1.35730157e+01,
  1.21350464e-01,-6.81654720e-01, 3.63304371e+00,-1.12421701e+01,
  1.40398954e-02,-2.17601666e+00, 7.91221943e+00,-9.52267079e+00,
  1.69541782e-01,-1.18531291e-01,-2.43551752e+00, 5.10401114e+00,
  1.75324336e-01,-4.20619210e+00, 2.47678328e+00, 1.28908116e+01,
  3.59480759e+01,-1.45356381e+02]

qfrc_actuator:
[ 9.45015872e-03, 6.48669709e-02, 1.39137642e-02, 2.00805517e-03,
  2.78373821e-05, 3.48708178e-02, 1.09108425e-02, 1.76801964e-03,
 -3.06196295e-03, 3.47666255e-02, 1.08767809e-02, 1.67163958e-03,
  8.16719823e-03, 1.31837263e-02, 0.00000000e+00,-4.91059536e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16185537, -0.05192429, -0.15330045, -0.05192429,  0.48344436,
       -0.10892519, -0.15330045, -0.10892519,  0.19874935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.858265615531088e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63985569,  0.07858722, -0.76446631, -0.05044048,  0.99690724,
        0.06026367,  0.76683796,  0.        ,  0.64184075])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615212, -0.03409734,  0.22470515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16185537, -0.05192429, -0.15330045, -0.05192429,  0.48344436,
       -0.10892519, -0.15330045, -0.10892519,  0.19874935,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.858265615531088e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.63985569,  0.07858722, -0.76446631, -0.05044048,  0.99690724,
        0.06026367,  0.76683796,  0.        ,  0.64184075])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615212, -0.03409734,  0.22470515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005826249661779574
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95973800e-01,  8.72179913e-02, -9.14110372e-01, -3.46681511e-02,
        9.96189250e-01,  8.00318518e-02,  9.17607143e-01,  1.38777878e-17,
        3.97488529e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08313852, -0.0340157 ,  0.22314186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002139855595493831
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03766163e-13,  1.29707704e-14,  1.00000000e+00, -1.34592708e-27,
        1.00000000e+00, -1.29707704e-14, -1.00000000e+00,  0.00000000e+00,
        1.03766163e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06763995, -0.06283378,  0.06185871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.79040954e-03, 3.04486240e-02, 3.32338144e-03,-5.75329524e-05,
  3.49760640e-05,-1.12666509e-05,-1.49119356e-05,-3.64991515e-05,
  4.02546398e-06, 5.01794700e-05, 5.49269922e-05,-8.00589852e-06,
  1.04598317e-02, 1.53015404e-02, 7.06216055e-03, 9.49645743e-04,
  9.43502954e-03, 2.54499726e-02,-9.81888821e+00,-2.95922983e-03,
 -6.03105345e-02, 6.05017418e-02]


--- Step 3493 ---
qpos:
[-0.01823035, 1.1986135 ,-0.03498121, 0.94262117,-0.00794474, 1.33289305,
 -0.03119521, 0.9413414 , 0.01533047, 1.33847996,-0.02377654, 0.95471854,
  1.27293055,-0.00919409, 1.28791874, 0.04462375,-0.0550644 ,-0.08635425,
  0.09068994, 0.69304352,-0.12270995,-0.70952614,-0.03472192]

qacc:
[ 4.66507047e-01,-1.40988234e+00, 3.66280344e+00,-7.10152346e+00,
  1.57197674e-01,-4.27313814e-01, 2.82602615e+00,-1.07379609e+01,
 -1.80417519e-02, 7.19612151e-01,-1.96062599e+00, 4.32923643e+00,
  1.60947741e-01,-4.30971630e-01, 6.31804135e+00,-1.12092516e+01,
  1.97509557e-01,-3.85579617e+00, 1.53763734e+00, 1.18719658e+01,
  3.29331483e+01,-1.33662557e+02]

qfrc_actuator:
[ 9.46637500e-03, 6.48345661e-02, 1.39438774e-02, 1.98518464e-03,
  5.25012911e-05, 3.48657116e-02, 1.08937980e-02, 1.73191585e-03,
 -3.06953354e-03, 3.48056599e-02, 1.08885607e-02, 1.68515408e-03,
  8.16753822e-03, 1.31863727e-02, 0.00000000e+00,-6.74670461e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1618315 , -0.06340291, -0.14889428, -0.06340291,  0.57128449,
       -0.17435532, -0.14889428, -0.17435532,  0.23607636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.783558964300421e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6399717 ,  0.07858402, -0.76436953, -0.05044756,  0.99690749,
        0.06025357,  0.76674068,  0.        ,  0.64195695])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615168, -0.03409829,  0.22470643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1618315 , -0.06340291, -0.14889428, -0.06340291,  0.57128449,
       -0.17435532, -0.14889428, -0.17435532,  0.23607636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.783558964300421e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6399717 ,  0.07858402, -0.76436953, -0.05044756,  0.99690749,
        0.06025357,  0.76674068,  0.        ,  0.64195695])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615168, -0.03409829,  0.22470643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005824814413167324
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39595676,  0.08722025, -0.91411754, -0.03466756,  0.99618905,
        0.08003457,  0.91761452,  0.        ,  0.39747151])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08313629, -0.0340166 ,  0.22314211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021408551679817367
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.59294286e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.59294286e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06763635, -0.06283058,  0.06185888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.78957373e-03, 3.04149336e-02, 3.39305796e-03,-2.64358355e-05,
  4.53109310e-05,-1.53617356e-05,-2.20186880e-05,-3.77260289e-05,
 -5.19143766e-06, 7.72714539e-05, 2.75862603e-05, 1.64203112e-05,
  1.04529517e-02, 1.53015929e-02, 7.14144297e-03, 7.64652347e-04,
  7.70755220e-03, 1.77121150e-02,-9.81684975e+00,-3.04409142e-03,
 -6.04623573e-02, 6.04253551e-02]


--- Step 3494 ---
qpos:
[-0.01823282, 1.19863028,-0.03498341, 0.94262131,-0.00794403, 1.33289395,
 -0.03119629, 0.94134012, 0.01532976, 1.33848103,-0.0237771 , 0.95471802,
  1.27295369,-0.00919999, 1.28791239, 0.04462093,-0.05503816,-0.0862653 ,
  0.09075306, 0.69320005,-0.1238766 ,-0.70922165,-0.03365903]

qacc:
[ 5.88523581e-01,-1.87559605e+00, 5.05317043e+00,-1.34602447e+01,
  8.09820465e-02, 1.07422066e+00,-2.38249680e+00,-2.98947151e+00,
 -2.54991168e-02, 2.69152072e+00,-9.09613973e+00, 1.39438025e+01,
  8.45898137e-02,-5.11507332e-01, 8.68749484e+00,-1.61285548e+01,
 -3.15440372e+00, 8.28618312e-01,-3.19443992e+00,-8.42186511e+00,
 -1.15732459e+02,-2.24542436e+01]

qfrc_actuator:
[ 9.49474352e-03, 6.47905993e-02, 1.39449357e-02, 1.93578706e-03,
  4.91182201e-05, 3.48801198e-02, 1.08661975e-02, 1.71102391e-03,
 -3.07379089e-03, 3.48107572e-02, 1.08600790e-02, 1.71128847e-03,
  8.16690131e-03, 1.31903325e-02, 0.00000000e+00,-8.54801652e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16181869, -0.06964096, -0.14606651, -0.06964096,  0.62532281,
       -0.22098749, -0.14606651, -0.22098749,  0.26718015,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.74316471844612e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.40068004e-01,  7.85812095e-02, -7.64289176e-01, -5.04533339e-02,
        9.96907716e-01,  6.02450627e-02,  7.66659906e-01,  6.93889390e-18,
        6.42053416e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615138, -0.03409934,  0.2247075 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16181869, -0.06964096, -0.14606651, -0.06964096,  0.62532281,
       -0.22098749, -0.14606651, -0.22098749,  0.26718015,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.74316471844612e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.40068004e-01,  7.85812095e-02, -7.64289176e-01, -5.04533339e-02,
        9.96907716e-01,  6.02450627e-02,  7.66659906e-01,  6.93889390e-18,
        6.42053416e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615138, -0.03409934,  0.2247075 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000582576150569513
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95941000e-01,  8.72220644e-02, -9.14124191e-01, -3.46669107e-02,
        9.96188893e-01,  8.00368279e-02,  9.17621343e-01,  6.93889390e-18,
        3.97455746e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0831345 , -0.03401762,  0.22314234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021341243940439097
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30056035e-14,  2.60112069e-14,  1.00000000e+00,  3.38291443e-28,
        1.00000000e+00, -2.60112069e-14, -1.00000000e+00,  0.00000000e+00,
       -1.30056035e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0216514 , -0.09448237,  0.06185957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.76439325e-03, 3.04262721e-02, 3.40751098e-03,-5.58597466e-05,
  2.33647598e-05, 4.59395972e-07,-3.42215265e-05,-2.28760453e-05,
 -7.32018248e-06, 5.36963004e-05,-9.77710002e-06, 2.96129183e-05,
  1.04453394e-02, 1.53291585e-02, 6.88723722e-03, 5.64907598e-04,
  6.11151918e-03, 1.18119768e-02,-9.81523935e+00,-3.22976221e-03,
 -6.05713370e-02, 6.03585151e-02]


--- Step 3495 ---
qpos:
[-0.01823484, 1.19864709,-0.03498612, 0.94262068,-0.00794323, 1.33289495,
 -0.03119772, 0.94133824, 0.01532899, 1.33848166,-0.02377733, 0.95471855,
  1.27297676,-0.00920593, 1.28790492, 0.0446179 ,-0.05502362,-0.08617337,
  0.09080133, 0.6932005 ,-0.12503608,-0.70906682,-0.03260818]

qacc:
[ 1.96540772e-01, 1.25532071e-01, 1.24874391e+00,-1.00780242e+01,
  3.93884886e-02, 5.45693433e-02, 1.22182642e+00,-8.04189019e+00,
 -2.26546507e-02, 3.63480056e-01,-3.99339995e+00, 1.58755148e+01,
  1.62104405e-02,-6.11393233e-02,-1.06554953e+00, 1.31225134e+00,
 -2.92463715e+00, 7.42992069e-01,-3.71022464e+00,-8.93453789e+00,
 -1.06348822e+02,-1.86104843e+01]

qfrc_actuator:
[ 9.52969504e-03, 6.47763548e-02, 1.38936402e-02, 1.90662064e-03,
  4.66909143e-05, 3.48883152e-02, 1.08504263e-02, 1.68150466e-03,
 -3.07602586e-03, 3.47420775e-02, 1.08612053e-02, 1.76235033e-03,
  8.17101237e-03, 1.31599671e-02, 0.00000000e+00,-7.48943647e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16181953, -0.05084828, -0.15362295, -0.05084828,  0.47384681,
       -0.10327918, -0.15362295, -0.10327918,  0.19600432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.745811990247716e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64013787,  0.07857898, -0.76423089, -0.0504574 ,  0.99690789,
        0.06023875,  0.7666013 ,  0.        ,  0.64212339])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615123, -0.0341005 ,  0.2247083 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16181953, -0.05084828, -0.15362295, -0.05084828,  0.47384681,
       -0.10327918, -0.15362295, -0.10327918,  0.19600432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.745811990247716e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64013787,  0.07857898, -0.76423089, -0.0504574 ,  0.99690789,
        0.06023875,  0.7666013 ,  0.        ,  0.64212339])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615123, -0.0341005 ,  0.2247083 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000582959050456397
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95927603e-01,  8.72232988e-02, -9.14129876e-01, -3.46662320e-02,
        9.96188785e-01,  8.00384670e-02,  9.17627150e-01, -6.93889390e-18,
        3.97442341e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08313329, -0.03401876,  0.22314254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.34122199,   5.59567433, -16.34122199,
        18.78354007,   4.41207366,   5.59567433,   4.41207366,
        30.15744337,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021240166878136527
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.61349883e-14, -2.61349883e-14,  1.00000000e+00, -6.83037612e-28,
        1.00000000e+00,  2.61349883e-14, -1.00000000e+00,  0.00000000e+00,
       -2.61349883e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02168333, -0.09450769,  0.0618604 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.73179279e-03, 3.05028549e-02, 3.39345800e-03,-4.09310533e-05,
  1.13656689e-05, 1.05732882e-06,-2.02497597e-05,-3.10415742e-05,
 -6.55557879e-06,-4.00257379e-05, 1.13670853e-05, 5.30563380e-05,
  1.04498880e-02, 1.53326273e-02, 6.55456828e-03, 6.51953475e-04,
  4.81000448e-03, 1.37041437e-02,-9.81501290e+00,-4.60092769e-03,
 -6.04625190e-02, 6.02703849e-02]


--- Step 3496 ---
qpos:
[-0.01823644, 1.19866377,-0.03498864, 0.94262037,-0.00794225, 1.33289606,
 -0.03119968, 0.94133673, 0.01532805, 1.33848218,-0.02377784, 0.95471867,
  1.27299997,-0.00921187, 1.28789753, 0.04461469,-0.05500807,-0.08609819,
  0.09085944, 0.69324313,-0.12598172,-0.70889721,-0.03173828]

qacc:
[ 1.84823208e-01,-1.56238050e-01,-3.62229929e-01, 4.12495435e+00,
  7.84332781e-02, 2.19261952e+00,-7.73410190e+00, 1.08428198e+01,
 -7.84590631e-02,-1.10385109e-01, 1.03205153e+00,-5.70896525e+00,
  9.60983972e-02,-7.42954813e-02, 6.61356173e-01,-2.16245448e+00,
  2.52569143e-01,-4.18764856e+00, 2.45776952e+00, 1.23590584e+01,
  3.48772816e+01,-1.36922070e+02]

qfrc_actuator:
[ 9.53345015e-03, 6.47610604e-02, 1.38820097e-02, 1.92534157e-03,
  6.26114401e-05, 3.48927665e-02, 1.08239879e-02, 1.70040585e-03,
 -3.09478237e-03, 3.47363817e-02, 1.08440240e-02, 1.73888344e-03,
  8.17797786e-03, 1.31441459e-02, 0.00000000e+00,-7.72863589e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16181761, -0.04571615, -0.15522556, -0.04571615,  0.43157073,
       -0.07944615, -0.15522556, -0.07944615,  0.18521564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.739766983640977e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.40211691e-01,  7.85762404e-02, -7.64169331e-01, -5.04614491e-02,
        9.96908107e-01,  6.02317832e-02,  7.66539388e-01, -6.93889390e-18,
        6.42197296e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615105, -0.03410164,  0.22470914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16181761, -0.04571615, -0.15522556, -0.04571615,  0.43157073,
       -0.07944615, -0.15522556, -0.07944615,  0.18521564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.739766983640977e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.40211691e-01,  7.85762404e-02, -7.64169331e-01, -5.04614491e-02,
        9.96908107e-01,  6.02317832e-02,  7.66539388e-01, -6.93889390e-18,
        6.42197296e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615105, -0.03410164,  0.22470914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005832746871394789
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95914645e-01,  8.72243466e-02, -9.14135388e-01, -3.46655171e-02,
        9.96188694e-01,  8.00399185e-02,  9.17632767e-01, -6.93889390e-18,
        3.97429370e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.083132  , -0.03401986,  0.22314275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002141495754549194
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.29608362e-14,  1.29608362e-14,  1.00000000e+00,  1.67983274e-28,
        1.00000000e+00, -1.29608362e-14, -1.00000000e+00,  0.00000000e+00,
       -1.29608362e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0676281 , -0.06281516,  0.06185946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.71296276e-03, 3.04854507e-02, 3.40750307e-03, 1.64205393e-05,
  2.26301521e-05, 1.30432473e-07,-2.94496044e-05, 1.76166033e-05,
 -2.26293269e-05,-2.40414348e-05,-2.21534262e-05,-2.30842562e-05,
  1.04602543e-02, 1.53188467e-02, 6.61080161e-03, 6.37929321e-04,
  3.15247820e-03, 1.55290023e-02,-9.81501963e+00,-5.79414675e-03,
 -6.03458333e-02, 6.01862166e-02]


--- Step 3497 ---
qpos:
[-0.01823812, 1.19868085,-0.03499151, 0.94261923,-0.00794122, 1.3328973 ,
 -0.03120153, 0.94133818, 0.01532676, 1.33848262,-0.02377855, 0.95471745,
  1.27302334,-0.00921777, 1.2878892 , 0.04461136,-0.0549915 ,-0.08603838,
  0.09092366, 0.69332512,-0.12672971,-0.70871477,-0.03103594]

qacc:
[-3.77746725e-02, 5.70394636e-02, 2.16839217e+00,-1.17667354e+01,
  1.60960156e-02, 4.95831609e+00,-2.21024325e+01, 5.35382478e+01,
 -1.45162444e-01,-1.88203851e+00, 8.67108855e+00,-2.27400618e+01,
  1.49880740e-01,-9.57904558e-02,-1.02576337e+00, 1.56505295e+00,
  2.55152776e-01,-3.84091367e+00, 1.52898970e+00, 1.13977553e+01,
  3.20845756e+01,-1.26698768e+02]

qfrc_actuator:
[ 9.50058148e-03, 6.47452903e-02, 1.39114262e-02, 1.88324746e-03,
  5.39058540e-05, 3.49304353e-02, 1.08447329e-02, 1.85415659e-03,
 -3.12329871e-03, 3.47328254e-02, 1.08340923e-02, 1.67175513e-03,
  8.18131429e-03, 1.31370344e-02, 0.00000000e+00,-7.32564343e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16181542, -0.05513551, -0.15213253, -0.05513551,  0.49969313,
       -0.12245284, -0.15213253, -0.12245284,  0.20619448,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.732834708592534e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.40285474e-01,  7.85732350e-02, -7.64107818e-01, -5.04653224e-02,
        9.96908344e-01,  6.02246170e-02,  7.66477503e-01,  6.93889390e-18,
        6.42271156e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615088, -0.03410278,  0.22470997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16181542, -0.05513551, -0.15213253, -0.05513551,  0.49969313,
       -0.12245284, -0.15213253, -0.12245284,  0.20619448,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.732834708592534e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.40285474e-01,  7.85732350e-02, -7.64107818e-01, -5.04653224e-02,
        9.96908344e-01,  6.02246170e-02,  7.66477503e-01,  6.93889390e-18,
        6.42271156e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615088, -0.03410278,  0.22470997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000583581962578527
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39590163,  0.08722523, -0.91414094, -0.03466473,  0.99618862,
        0.08004122,  0.91763841,  0.        ,  0.39741634])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08313071, -0.03402098,  0.22314294])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021376851784228393
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.89518193e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.89518193e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06762695, -0.06280721,  0.06185989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.65887122e-03, 3.04760535e-02, 3.42707323e-03,-4.17029117e-05,
  4.65357652e-06, 3.25025169e-05, 1.79339323e-05, 1.53295348e-04,
 -4.18809556e-05,-2.18658587e-05,-1.78200904e-05,-6.90259331e-05,
  1.04567951e-02, 1.53121770e-02, 6.60708603e-03, 6.87427187e-04,
  2.51312030e-03, 9.98059678e-03,-9.81345479e+00,-5.64006996e-03,
 -6.04426554e-02, 6.01335953e-02]


--- Step 3498 ---
qpos:
[-0.01824084, 1.19869991,-0.03499376, 0.94261844,-0.00794066, 1.33289862,
 -0.03120314, 0.94134249, 0.01532557, 1.33848235,-0.02377855, 0.95471511,
  1.27304631,-0.00922303, 1.28787429, 0.04460757,-0.0549739 ,-0.08599279,
  0.09099088, 0.69344406,-0.12729357,-0.70852102,-0.03048995]

qacc:
[-4.52138214e-01, 1.53494807e+00,-2.58921978e+00, 5.01791633e+00,
 -1.94911709e-01, 4.30290027e+00,-1.98263502e+01, 5.03979401e+01,
  4.22719347e-02,-4.77654570e+00, 1.67419879e+01,-2.71306039e+01,
 -4.10340175e-01, 7.46463009e-01,-8.29670632e+00, 1.49429318e+01,
  2.56025511e-01,-3.55599955e+00, 7.49229299e-01, 1.05918978e+01,
  2.97810378e+01,-1.18162629e+02]

qfrc_actuator:
[ 9.51709001e-03, 6.47465058e-02, 1.38949253e-02, 1.91220195e-03,
 -5.00752821e-06, 3.49347124e-02, 1.08578623e-02, 1.99730598e-03,
 -3.08642865e-03, 3.46773109e-02, 1.08640345e-02, 1.61500599e-03,
  8.17713965e-03, 1.31706070e-02, 0.00000000e+00,-5.11702603e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16181143, -0.04099307, -0.15653276, -0.04099307,  0.36945241,
       -0.05437738, -0.15653276, -0.05437738,  0.17605187,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.720195414819998e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64036342,  0.07857006, -0.76404282, -0.05046941,  0.99690859,
        0.06021704,  0.76641212,  0.        ,  0.64234918])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615068, -0.03410392,  0.22471084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16181143, -0.04099307, -0.15653276, -0.04099307,  0.36945241,
       -0.05437738, -0.15653276, -0.05437738,  0.17605187,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.720195414819998e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64036342,  0.07857006, -0.76404282, -0.05046941,  0.99690859,
        0.06021704,  0.76641212,  0.        ,  0.64234918])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615068, -0.03410392,  0.22471084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005838533328856206
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39588857,  0.08722614, -0.91414651, -0.03466395,  0.99618854,
        0.08004256,  0.91764408,  0.        ,  0.39740325])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08312933, -0.03402208,  0.22314315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021145529087754633
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62519566e-14, -1.31259783e-14,  1.00000000e+00, -3.44582613e-28,
        1.00000000e+00,  1.31259783e-14, -1.00000000e+00,  0.00000000e+00,
       -2.62519566e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06763167, -0.06278975,  0.06186154])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.67968682e-03, 3.04569389e-02, 3.42789421e-03, 2.87307435e-05,
 -5.61656417e-05, 3.03849522e-05, 2.60320518e-05, 1.48207774e-04,
  1.21363615e-05,-7.31380284e-05, 2.16252165e-05,-5.95267899e-05,
  1.04441917e-02, 1.53437091e-02, 6.65383647e-03, 9.14325115e-04,
  1.90606111e-03, 5.93452118e-03,-9.81227805e+00,-5.58817924e-03,
 -6.05045559e-02, 6.00908095e-02]


--- Step 3499 ---
qpos:
[-0.01824412, 1.19871936,-0.03499477, 0.94262018,-0.00794037, 1.33289964,
 -0.03120478, 0.94134577, 0.01532462, 1.33848161,-0.02377771, 0.95471276,
  1.27306912,-0.00922753, 1.28785393, 0.04460324,-0.05495529,-0.08596049,
  0.09105848, 0.69359791,-0.12768456,-0.70831711,-0.03009099]

qacc:
[-2.45621813e-01, 1.45043236e+00,-9.34325591e+00, 3.72477171e+01,
 -1.14278936e-01,-2.01759100e+00, 8.24535919e+00,-1.89338140e+01,
  1.03134293e-01,-2.87791166e+00, 8.63890980e+00,-7.18998832e+00,
 -3.50510783e-01, 8.12160451e-01,-6.40546109e+00, 1.08104312e+01,
  2.55776562e-01,-3.32239968e+00, 9.58983330e-02, 9.91546663e+00,
  2.78840532e+01,-1.11040792e+02]

qfrc_actuator:
[ 9.54645793e-03, 6.47561787e-02, 1.38145493e-02, 2.03619900e-03,
 -4.79935663e-06, 3.48656930e-02, 1.08307222e-02, 1.93773257e-03,
 -3.06388983e-03, 3.46800369e-02, 1.09170830e-02, 1.61807940e-03,
  8.17383000e-03, 1.31924647e-02, 0.00000000e+00,-4.30643746e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16179436, -0.02821557, -0.15931509, -0.02821557,  0.28403163,
       -0.02164889, -0.15931509, -0.02164889,  0.1656285 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.66597302735684e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.40467494e-01,  7.85661142e-02, -7.63955990e-01, -5.04750655e-02,
        9.96908905e-01,  6.02071596e-02,  7.66324772e-01,  6.93889390e-18,
        6.42453378e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615032, -0.03410491,  0.224712  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16179436, -0.02821557, -0.15931509, -0.02821557,  0.28403163,
       -0.02164889, -0.15931509, -0.02164889,  0.1656285 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.66597302735684e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.40467494e-01,  7.85661142e-02, -7.63955990e-01, -5.04750655e-02,
        9.96908905e-01,  6.02071596e-02,  7.66324772e-01,  6.93889390e-18,
        6.42453378e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08615032, -0.03410491,  0.224712  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005838500260484242
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39587312,  0.08722752, -0.91415307, -0.03466315,  0.99618842,
        0.0800444 ,  0.91765077,  0.        ,  0.39738779])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08312738, -0.03402303,  0.2231434 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020761949747497913
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33684822e-14,  1.33684822e-14,  1.00000000e+00,  1.78716317e-28,
        1.00000000e+00, -1.33684822e-14, -1.00000000e+00,  0.00000000e+00,
       -1.33684822e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06764102, -0.06276492,  0.06186414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.76091587e-03, 3.03676070e-02, 3.31691652e-03, 1.35399310e-04,
 -3.29473517e-05,-4.26508484e-05,-1.38757740e-05,-5.44545175e-05,
  2.97039591e-05,-3.52613930e-05, 3.94775588e-05, 1.49831000e-07,
  1.04613075e-02, 1.53333655e-02, 6.98374863e-03, 1.01887967e-03,
  1.32902456e-03, 3.09871689e-03,-9.81142404e+00,-5.61489355e-03,
 -6.05393211e-02, 6.00575201e-02]


--- Step 3500 ---
qpos:
[-0.01824728, 1.19873771,-0.03499576, 0.94262325,-0.00793994, 1.33290025,
 -0.03120655, 0.94134591, 0.01532349, 1.33848075,-0.0237761 , 0.95471079,
  1.2730924 ,-0.00923166, 1.28783148, 0.04459872,-0.05493565,-0.08594072,
  0.09112428, 0.69378491,-0.12791206,-0.70810387,-0.02983132]

qacc:
[ 5.65436593e-02, 7.67976481e-01,-7.01636484e+00, 2.22329212e+01,
  5.63810915e-02,-5.60546386e+00, 2.41159157e+01,-5.71314652e+01,
 -7.60118697e-02,-1.61809493e+00, 4.33768415e+00, 5.95069163e-01,
  2.50186163e-01, 7.83429827e-02,-2.51155321e+00, 4.25854848e+00,
  2.54817877e-01,-3.13142892e+00,-4.50368152e-01, 9.34668530e+00,
  2.63262596e+01,-1.05110169e+02]

qfrc_actuator:
[ 9.54797782e-03, 6.47539652e-02, 1.37837303e-02, 2.09062971e-03,
  3.08755530e-05, 3.48240483e-02, 1.08151258e-02, 1.77702525e-03,
 -3.10339127e-03, 3.47000022e-02, 1.09658277e-02, 1.63861368e-03,
  8.18168394e-03, 1.31714235e-02, 0.00000000e+00,-4.33219565e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16176455, -0.03085731, -0.1587942 , -0.03085731,  0.31647307,
       -0.03006337, -0.1587942 , -0.03006337,  0.16760655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.570398138786975e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64059172,  0.07856143, -0.76385231, -0.05048183,  0.99690927,
        0.06019538,  0.76622049,  0.        ,  0.64257775])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614983, -0.0341058 ,  0.22471335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16176455, -0.03085731, -0.1587942 , -0.03085731,  0.31647307,
       -0.03006337, -0.1587942 , -0.03006337,  0.16760655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.570398138786975e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64059172,  0.07856143, -0.76385231, -0.05048183,  0.99690927,
        0.06019538,  0.76622049,  0.        ,  0.64257775])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614983, -0.0341058 ,  0.22471335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000583544703558616
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39585616,  0.08722914, -0.91416026, -0.03466232,  0.99618827,
        0.08004653,  0.91765812,  0.        ,  0.39737083])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08312495, -0.03402388,  0.22314364])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002026025048489248
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36995224e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.36995224e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06765395, -0.06273444,  0.06186748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.79062483e-03, 3.03454954e-02, 3.22367284e-03, 6.32712566e-05,
  1.62239051e-05,-6.95993585e-05,-2.71146864e-05,-1.63657977e-04,
 -2.19605268e-05, 8.18153512e-06, 4.63456445e-05, 2.06448639e-05,
  1.04775601e-02, 1.52747899e-02, 7.25589885e-03, 1.04281281e-03,
  7.78791282e-04, 1.25509842e-03,-9.81084165e+00,-5.70305430e-03,
 -6.05527009e-02, 6.00333938e-02]


--- Step 3501 ---
qpos:
[-0.01825029, 1.19875555,-0.03499761, 0.94262556,-0.00793926, 1.33290074,
 -0.03120843, 0.94134548, 0.01532221, 1.33847984,-0.0237748 , 0.95471016,
  1.27311596,-0.00923578, 1.28780865, 0.04459436,-0.054915  ,-0.08593285,
  0.09118646, 0.69400357,-0.12798386,-0.70788192,-0.02970451]

qacc:
[ 6.25548619e-02, 3.37606902e-01,-3.40618317e-01,-8.18129398e+00,
  1.06637320e-01,-8.03272664e-01, 3.61797118e+00,-9.70868609e+00,
 -6.37069107e-02, 3.11619491e+00,-1.29573240e+01, 2.68085496e+01,
  2.51438219e-01,-1.98607398e-01,-1.06323638e+00, 2.87660640e+00,
  2.53428189e-01,-2.97588796e+00,-9.06157360e-01, 8.86724338e+00,
  2.50523740e+01,-1.00187141e+02]

qfrc_actuator:
[ 9.55007344e-03, 6.47282115e-02, 1.38366391e-02, 2.05025105e-03,
  5.20303180e-05, 3.48523270e-02, 1.08242922e-02, 1.75343799e-03,
 -3.10878054e-03, 3.46768915e-02, 1.09407043e-02, 1.70475888e-03,
  8.18553238e-03, 1.31779823e-02, 0.00000000e+00,-4.15084044e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16172806, -0.04647368, -0.15490695, -0.04647368,  0.43123143,
       -0.08085379, -0.15490695, -0.08085379,  0.18598503,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.451887178341153e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.40722242e-01,  7.85563176e-02, -7.63743356e-01, -5.04888066e-02,
        9.96909677e-01,  6.01828501e-02,  7.66110886e-01, -6.93889390e-18,
        6.42708418e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614927, -0.03410671,  0.22471472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16172806, -0.04647368, -0.15490695, -0.04647368,  0.43123143,
       -0.08085379, -0.15490695, -0.08085379,  0.18598503,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.451887178341153e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.40722242e-01,  7.85563176e-02, -7.63743356e-01, -5.04888066e-02,
        9.96909677e-01,  6.01828501e-02,  7.66110886e-01, -6.93889390e-18,
        6.42708418e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614927, -0.03410671,  0.22471472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005830441442942445
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3958402 ,  0.08723069, -0.91416702, -0.03466154,  0.99618814,
        0.08004856,  0.91766503,  0.        ,  0.39735487])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08312237, -0.03402473,  0.22314386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019668808552567654
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.41114677e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.41114677e-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([-0.0676696 , -0.06269971,  0.06187137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.78622292e-03, 3.03749447e-02, 3.27588723e-03,-4.36168467e-05,
  3.07302894e-05,-2.04668535e-05,-1.23403930e-05,-3.02737482e-05,
 -1.83584316e-05,-8.92341627e-06,-1.76577833e-05, 6.82228238e-05,
  1.04575315e-02, 1.52629356e-02, 7.36117693e-03, 1.07098717e-03,
  2.51691546e-04, 2.40643335e-04,-9.81049087e+00,-5.84020810e-03,
 -6.05489387e-02, 6.00181111e-02]


--- Step 3502 ---
qpos:
[-0.01825342, 1.19877373,-0.03500032, 0.94262626,-0.00793834, 1.33290116,
 -0.03121001, 0.94134544, 0.01532097, 1.33847897,-0.02377328, 0.95471064,
  1.27313937,-0.00924003, 1.28778633, 0.04459035,-0.05490642,-0.08592305,
  0.09123326, 0.69407436,-0.1280792 ,-0.70780058,-0.02957775]

qacc:
[-5.40984736e-02, 7.16088792e-02, 3.64609725e+00,-2.21081331e+01,
  1.05563463e-01,-2.23198713e-01,-1.60642584e-01, 4.62275493e+00,
  1.48306458e-02, 1.33090841e+00,-6.51489414e+00, 1.83874312e+01,
 -4.22166849e-02,-7.43477499e-02,-3.21880437e-01, 2.20750072e+00,
 -3.01756798e+00, 4.80763727e-01,-3.84445844e+00,-1.55633229e+01,
 -1.01474605e+02,-2.87429729e+00]

qfrc_actuator:
[ 9.53469578e-03, 6.47236815e-02, 1.38873838e-02, 1.97229496e-03,
  6.43009769e-05, 3.48691680e-02, 1.08483698e-02, 1.77530569e-03,
 -3.09366009e-03, 3.46989250e-02, 1.09608080e-02, 1.76163983e-03,
  8.17632628e-03, 1.32013121e-02, 0.00000000e+00,-4.02555898e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16169055, -0.06405744, -0.14846036, -0.06405744,  0.54311466,
       -0.16457627, -0.14846036, -0.16457627,  0.23270165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.328228238506548e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64085316,  0.07855109, -0.76363405, -0.05049574,  0.99691009,
        0.06017021,  0.76600092,  0.        ,  0.64283947])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614871, -0.03410764,  0.22471608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16169055, -0.06405744, -0.14846036, -0.06405744,  0.54311466,
       -0.16457627, -0.14846036, -0.16457627,  0.23270165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.328228238506548e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64085316,  0.07855109, -0.76363405, -0.05049574,  0.99691009,
        0.06017021,  0.76600092,  0.        ,  0.64283947])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614871, -0.03410764,  0.22471608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005824922626174178
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95825497e-01,  8.72321646e-02, -9.14173247e-01, -3.46608417e-02,
        9.96188009e-01,  8.00504628e-02,  9.17671402e-01,  6.93889390e-18,
        3.97340154e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08311978, -0.0340256 ,  0.22314406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.35698796,   5.5494191 , -16.35698796,
        28.7525248 ,  33.83685871,   5.5494191 ,  33.83685871,
       117.0073267 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019367994089618118
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.29919208e-14,  2.86612806e-14,  1.00000000e+00,  1.23220350e-27,
        1.00000000e+00, -2.86612806e-14, -1.00000000e+00,  0.00000000e+00,
       -4.29919208e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02224918, -0.09465442,  0.06187348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.76363530e-03, 3.03955852e-02, 3.36905880e-03,-8.36934309e-05,
  3.04109526e-05, 2.18997414e-06, 1.77805417e-05, 2.01846916e-05,
  4.27771260e-06, 1.56747186e-05, 1.83492017e-05, 5.76873696e-05,
  1.04342201e-02, 1.52857934e-02, 7.38036660e-03, 1.07550879e-03,
 -2.56094119e-04,-6.63124544e-05,-9.81034029e+00,-6.01737388e-03,
 -6.05311589e-02, 6.00113693e-02]


--- Step 3503 ---
qpos:
[-0.0182572 , 1.19879314,-0.03500363, 0.94262524,-0.00793721, 1.33290164,
 -0.03121136, 0.94134599, 0.01531997, 1.33847878,-0.0237717 , 0.95470968,
  1.27316234,-0.00924426, 1.28776341, 0.04458668,-0.05490909,-0.08591143,
  0.09126307, 0.69400715,-0.12819583,-0.70785064,-0.0294513 ]

qacc:
[-2.83343833e-01, 2.84438520e-01, 4.60219945e+00,-2.48284171e+01,
  8.60511824e-02, 4.39398419e-01,-2.59841198e+00, 9.19322449e+00,
  1.03355176e-01,-1.70637431e+00, 9.56797289e+00,-2.53640301e+01,
 -3.12798734e-01, 2.43975447e-01,-1.89160449e+00, 5.38603002e+00,
 -2.81405068e+00, 4.57778317e-01,-4.24651044e+00,-1.43940822e+01,
 -9.47381743e+01,-3.03507935e+00]

qfrc_actuator:
[ 9.50904420e-03, 6.46957329e-02, 1.39016901e-02, 1.89070333e-03,
  7.11430804e-05, 3.48791388e-02, 1.08632744e-02, 1.80596803e-03,
 -3.06635902e-03, 3.47657326e-02, 1.09721215e-02, 1.68839593e-03,
  8.17529373e-03, 1.32348404e-02, 0.00000000e+00,-3.40389316e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16165566, -0.07117013, -0.14514602, -0.07117013,  0.56261729,
       -0.19660541, -0.14514602, -0.19660541,  0.25805812,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.211539280472344e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64098207,  0.07854605, -0.76352637, -0.05050264,  0.99691049,
        0.06015784,  0.7658926 ,  0.        ,  0.64296853])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614816, -0.03410855,  0.22471744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16165566, -0.07117013, -0.14514602, -0.07117013,  0.56261729,
       -0.19660541, -0.14514602, -0.19660541,  0.25805812,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.211539280472344e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64098207,  0.07854605, -0.76352637, -0.05050264,  0.99691049,
        0.06015784,  0.7658926 ,  0.        ,  0.64296853])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614816, -0.03410855,  0.22471744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005819974171539684
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39581128,  0.08723368, -0.91417926, -0.0346602 ,  0.99618788,
        0.08005239,  0.91767756,  0.        ,  0.39732593])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08311724, -0.03402646,  0.22314428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.84397117,   3.82462321,  16.84397117,
        23.89728077, -29.17510613,   3.82462321, -29.17510613,
       145.76241611,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019079427288054632
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.90947681e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.90947681e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.022336  , -0.09466797,  0.06187543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.74415336e-03, 3.03502837e-02, 3.42707490e-03,-8.46380205e-05,
  2.47944702e-05, 1.52701749e-05, 1.79507080e-05, 3.17159229e-05,
  2.98272827e-05, 8.07731798e-05, 1.81480935e-05,-7.08981668e-05,
  1.04408004e-02, 1.53258769e-02, 7.35562831e-03, 1.12016270e-03,
  5.37634380e-05, 7.26052360e-05,-9.81011139e+00,-6.15415206e-03,
 -6.05134874e-02, 5.99982673e-02]


--- Step 3504 ---
qpos:
[-0.01826182, 1.19881497,-0.0350066 , 0.94262343,-0.00793593, 1.33290215,
 -0.0312122 , 0.94134655, 0.01531925, 1.3384791 ,-0.02377057, 0.95470893,
  1.27318506,-0.0092482 , 1.28773726, 0.04458319,-0.05492234,-0.08589805,
  0.09127453, 0.69381013,-0.1283319 ,-0.70802433,-0.02932538]

qacc:
[-3.63990255e-01, 9.12168998e-01, 2.48541095e+00,-1.27875066e+01,
  6.31084441e-02,-1.32475408e+00, 4.37245823e+00,-3.76886900e+00,
  1.18609070e-01, 2.21476132e+00,-6.85786120e+00, 8.05205170e+00,
 -1.99046454e-01, 3.34400143e-01,-5.30630104e+00, 1.16501603e+01,
 -2.64315251e+00, 4.37904301e-01,-4.58729552e+00,-1.34297854e+01,
 -8.90909254e+01,-3.13741287e+00]

qfrc_actuator:
[ 9.51330917e-03, 6.46527051e-02, 1.38942004e-02, 1.86094762e-03,
  7.46744089e-05, 3.48849031e-02, 1.08903648e-02, 1.80603155e-03,
 -3.04972539e-03, 3.47699689e-02, 1.09427461e-02, 1.69895839e-03,
  8.17919696e-03, 1.32211293e-02, 0.00000000e+00,-1.95311894e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16162223, -0.06059305, -0.149834  , -0.06059305,  0.47902833,
       -0.12835941, -0.149834  , -0.12835941,  0.21353093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.098073072622738e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64111397,  0.07854125, -0.76341611, -0.05050993,  0.99691086,
        0.06014546,  0.76578171,  0.        ,  0.64310059])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614761, -0.03410943,  0.22471886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16162223, -0.06059305, -0.149834  , -0.06059305,  0.47902833,
       -0.12835941, -0.149834  , -0.12835941,  0.21353093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.098073072622738e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64111397,  0.07854125, -0.76341611, -0.05050993,  0.99691086,
        0.06014546,  0.76578171,  0.        ,  0.64310059])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614761, -0.03410943,  0.22471886])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005815497364896061
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95796464e-01,  8.72354540e-02, -9.14185503e-01, -3.46596164e-02,
        9.96187721e-01,  8.00545778e-02,  9.17683971e-01, -6.93889390e-18,
        3.97311125e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08311467, -0.03402728,  0.22314453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.67183703,   4.5162991 ,  16.67183703,
        27.92070923, -39.30683417,   4.5162991 , -39.30683417,
       162.37319971,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018642203828315718
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48885700e-14,  2.97771399e-14,  1.00000000e+00,  4.43339032e-28,
        1.00000000e+00, -2.97771399e-14, -1.00000000e+00,  0.00000000e+00,
       -1.48885700e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02245892, -0.09468935,  0.06187822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.78089453e-03, 3.02453452e-02, 3.44914216e-03,-2.80319818e-05,
  1.81685657e-05, 1.86809684e-05, 3.30543589e-05, 1.78478507e-06,
  3.42519680e-05, 5.03451254e-05,-1.36157390e-05, 1.18379505e-05,
  1.04668761e-02, 1.53110950e-02, 7.38577486e-03, 1.24827331e-03,
 -1.06214043e-04, 2.91262347e-04,-9.81009549e+00,-6.25390614e-03,
 -6.04918588e-02, 5.99879559e-02]


--- Step 3505 ---
qpos:
[-0.01826662, 1.19883865,-0.03500832, 0.94262232,-0.00793469, 1.33290255,
 -0.03121228, 0.94134607, 0.01531864, 1.33847923,-0.0237695 , 0.954708  ,
  1.27320768,-0.00925199, 1.2877103 , 0.04457997,-0.0549342 ,-0.08589954,
  0.09129145, 0.69365294,-0.12827128,-0.70818753,-0.0293682 ]

qacc:
[-7.94714885e-02, 2.50425301e-01, 6.60674099e-01, 6.35065705e+00,
 -1.89812281e-02,-3.96013386e+00, 1.48951232e+01,-2.49272308e+01,
  4.36139659e-02,-3.89098106e-01, 1.31936367e+00,-3.01381253e+00,
 -1.05356378e-01, 1.79387255e-01,-1.99388933e+00, 5.24505108e+00,
  3.46683163e-01,-3.71437977e+00, 1.36394977e+00, 1.09012962e+01,
  3.14468375e+01,-1.26909710e+02]

qfrc_actuator:
[ 9.53596924e-03, 6.46344555e-02, 1.39084364e-02, 1.89754607e-03,
  5.84396760e-05, 3.48703826e-02, 1.09243989e-02, 1.75258625e-03,
 -3.05737877e-03, 3.47188294e-02, 1.09249362e-02, 1.68771869e-03,
  8.16475727e-03, 1.31965477e-02, 0.00000000e+00,-1.77987255e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16158581, -0.0532631 , -0.15255497, -0.0532631 ,  0.42942196,
       -0.09351241, -0.15255497, -0.09351241,  0.19423477,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.972604867979849e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.41260356e-01,  7.85361985e-02, -7.63293666e-01, -5.05181880e-02,
        9.96911263e-01,  6.01319146e-02,  7.65658585e-01, -6.93889390e-18,
        6.43247178e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614699, -0.03411023,  0.22472046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16158581, -0.0532631 , -0.15255497, -0.0532631 ,  0.42942196,
       -0.09351241, -0.15255497, -0.09351241,  0.19423477,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.972604867979849e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.41260356e-01,  7.85361985e-02, -7.63293666e-01, -5.05181880e-02,
        9.96911263e-01,  6.01319146e-02,  7.65658585e-01, -6.93889390e-18,
        6.43247178e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614699, -0.03411023,  0.22472046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005810611627200188
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3957791 ,  0.08723761, -0.91419281, -0.03465896,  0.99618753,
        0.08005721,  0.91769148,  0.        ,  0.39729377])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08311179, -0.03402803,  0.22314484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018439491769666472
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.01044909e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.01044909e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06770205, -0.06262703,  0.06187948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.84528924e-03, 3.01058531e-02, 3.44598468e-03, 4.77581617e-05,
 -5.50874688e-06, 2.33530975e-06, 4.15059384e-05,-5.18706468e-05,
  1.25769351e-05,-2.56108406e-05,-9.18139339e-06,-9.86969171e-06,
  1.04650774e-02, 1.52719256e-02, 7.54804215e-03, 1.25682944e-03,
 -6.50656802e-04, 5.72372576e-04,-9.81025436e+00,-6.31909842e-03,
 -6.04664146e-02, 5.99798719e-02]


--- Step 3506 ---
qpos:
[-0.01827096, 1.19886229,-0.03500946, 0.94262151,-0.00793342, 1.33290279,
 -0.03121161, 0.9413453 , 0.01531805, 1.33847879,-0.02376869, 0.95470596,
  1.27323019,-0.00925604, 1.2876873 , 0.04457728,-0.05494475,-0.08591491,
  0.0913109 , 0.6935329 ,-0.12802665,-0.70834101,-0.02956876]

qacc:
[ 1.99763036e-01,-1.07522833e+00, 2.81893376e+00, 1.15230314e+00,
  1.50233356e-02,-2.71170052e+00, 9.18174018e+00,-1.11846613e+01,
  1.05187183e-02,-1.94806165e+00, 7.71295013e+00,-1.92276281e+01,
 -1.01116893e-01,-8.14825698e-02, 4.25987440e+00,-6.37477203e+00,
  3.28124870e-01,-3.47391238e+00, 6.33110725e-01, 1.02008102e+01,
  2.93454915e+01,-1.18699558e+02]

qfrc_actuator:
[ 9.53384255e-03, 6.45774286e-02, 1.39346751e-02, 1.90178031e-03,
  6.59850204e-05, 3.48615760e-02, 1.09621493e-02, 1.73908785e-03,
 -3.06178648e-03, 3.46527021e-02, 1.08961028e-02, 1.62819029e-03,
  8.14995862e-03, 1.32009824e-02, 0.00000000e+00,-3.08481896e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16155097, -0.06284086, -0.1488279 , -0.06284086,  0.4938497 ,
       -0.14030929, -0.1488279 , -0.14030929,  0.22079494,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.850633753881536e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64141216,  0.07853096, -0.76316664, -0.05052676,  0.99691168,
        0.06011787,  0.76553085,  0.        ,  0.64339919])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614636, -0.03411102,  0.22472214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16155097, -0.06284086, -0.1488279 , -0.06284086,  0.4938497 ,
       -0.14030929, -0.1488279 , -0.14030929,  0.22079494,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.850633753881536e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64141216,  0.07853096, -0.76316664, -0.05052676,  0.99691168,
        0.06011787,  0.76553085,  0.        ,  0.64339919])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614636, -0.03411102,  0.22472214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005806409821053175
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95758916e-01,  8.72398942e-02, -9.14201335e-01, -3.46581058e-02,
        9.96187332e-01,  8.00600703e-02,  9.17700221e-01, -6.93889390e-18,
        3.97273588e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0831088 , -0.03402876,  0.22314518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018308883595068992
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.51596221e-14, -1.51596221e-14,  1.00000000e+00, -2.29814142e-28,
        1.00000000e+00,  1.51596221e-14, -1.00000000e+00,  0.00000000e+00,
       -1.51596221e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06770536, -0.06261916,  0.06188035])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.85226554e-03, 2.99566521e-02, 3.41012468e-03, 1.72108429e-05,
  4.29356991e-06,-9.59757499e-07, 4.14091821e-05,-1.34119444e-05,
  3.01931242e-06,-8.23787340e-05,-3.51699555e-05,-6.07853370e-05,
  1.04552286e-02, 1.52693009e-02, 7.58928719e-03, 1.11327364e-03,
 -1.72375696e-04,-4.59972187e-05,-9.81008421e+00,-6.08670470e-03,
 -6.04738672e-02, 5.99852793e-02]


--- Step 3507 ---
qpos:
[-0.01827524, 1.19888576,-0.03501052, 0.94262046,-0.0079321 , 1.33290247,
 -0.03121027, 0.94134442, 0.0153176 , 1.3384777 ,-0.02376804, 0.95470598,
  1.27325257,-0.00926024, 1.28766724, 0.04457501,-0.05495405,-0.08594339,
  0.09133042, 0.69344764,-0.12760853,-0.70848525,-0.02991798]

qacc:
[ 2.98881531e-02,-8.94776115e-01, 3.16318658e+00,-5.49538785e+00,
  2.28256151e-02,-2.72809612e+00, 8.25870806e+00,-8.16337772e+00,
  5.93156251e-02, 3.10432118e+00,-1.53196024e+01, 3.75214489e+01,
 -1.33814005e-01, 3.19837617e-02, 3.08171960e+00,-4.44388732e+00,
  3.12403050e-01,-3.27506463e+00, 1.58951986e-02, 9.59997038e+00,
  2.76023181e+01,-1.11884303e+02]

qfrc_actuator:
[ 9.49852343e-03, 6.45160246e-02, 1.39505309e-02, 1.88670647e-03,
  6.99835151e-05, 3.48030363e-02, 1.09840854e-02, 1.73146721e-03,
 -3.04645712e-03, 3.46312907e-02, 1.08963927e-02, 1.73598228e-03,
  8.15092711e-03, 1.32054266e-02, 0.00000000e+00,-3.50515613e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16152554, -0.06444923, -0.14811075, -0.06444923,  0.49761968,
       -0.14624874, -0.14811075, -0.14624874,  0.22516453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.760341930293686e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64154961,  0.07852621, -0.76305159, -0.05053451,  0.99691205,
        0.06010515,  0.76541516,  0.        ,  0.64353682])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614584, -0.03411189,  0.22472369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16152554, -0.06444923, -0.14811075, -0.06444923,  0.49761968,
       -0.14624874, -0.14811075, -0.14624874,  0.22516453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.760341930293686e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64154961,  0.07852621, -0.76305159, -0.05053451,  0.99691205,
        0.06010515,  0.76541516,  0.        ,  0.64353682])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614584, -0.03411189,  0.22472369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005804630374597955
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95738232e-01,  8.72420064e-02, -9.14210087e-01, -3.46571399e-02,
        9.96187147e-01,  8.00627899e-02,  9.17709177e-01,  6.93889390e-18,
        3.97252899e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08310614, -0.03402957,  0.22314552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001803211638805799
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.53923006e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.53923006e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06771271, -0.0626035 ,  0.06188213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.79400973e-03, 2.98966639e-02, 3.39710864e-03,-1.32005746e-05,
  6.53304229e-06,-5.13751775e-05, 2.60664967e-05,-6.74505296e-06,
  1.71099643e-05,-7.56373142e-05,-2.15776132e-05, 1.02904568e-04,
  1.04620518e-02, 1.52871697e-02, 7.39139260e-03, 1.04474382e-03,
  2.68601401e-04, 3.06880478e-04,-9.81018940e+00,-5.93052421e-03,
 -6.04603406e-02, 6.00006147e-02]


--- Step 3508 ---
qpos:
[-0.01827959, 1.19890892,-0.03501112, 0.94261992,-0.00793073, 1.33290169,
 -0.03120894, 0.94134348, 0.01531745, 1.33847678,-0.02376772, 0.95470689,
  1.27327488,-0.00926442, 1.28764942, 0.04457298,-0.05496215,-0.08598431,
  0.09134791, 0.69339508,-0.12702564,-0.70862055,-0.03040834]

qacc:
[-3.42313422e-02,-7.34953461e-01, 8.50913748e-01, 5.42153402e+00,
  1.98079579e-02,-7.19562737e-01, 1.72482265e+00,-1.86157366e+00,
  1.28681198e-01, 2.66648331e+00,-1.01982151e+01, 1.88989841e+01,
 -1.84687503e-01, 2.01315473e-01, 2.58072295e+00,-4.17816075e+00,
  2.99152094e-01,-3.11103827e+00,-5.04977200e-01, 9.08205534e+00,
  2.61589250e+01,-1.06246619e+02]

qfrc_actuator:
[ 9.47900057e-03, 6.44876470e-02, 1.39426550e-02, 1.91373659e-03,
  7.18214429e-05, 3.47683740e-02, 1.09785607e-02, 1.72731789e-03,
 -3.01941082e-03, 3.46902818e-02, 1.08963915e-02, 1.78165437e-03,
  8.15603443e-03, 1.32098579e-02, 0.00000000e+00,-3.92833711e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16150674, -0.05408604, -0.15218123, -0.05408604,  0.42907149,
       -0.09509398, -0.15218123, -0.09509398,  0.19530366,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.692919522799511e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64167615,  0.07852202, -0.76294562, -0.05054176,  0.99691238,
        0.06009357,  0.7653086 ,  0.        ,  0.64366354])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614539, -0.03411281,  0.22472515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16150674, -0.05408604, -0.15218123, -0.05408604,  0.42907149,
       -0.09509398, -0.15218123, -0.09509398,  0.19530366,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.692919522799511e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64167615,  0.07852202, -0.76294562, -0.05054176,  0.99691238,
        0.06009357,  0.7653086 ,  0.        ,  0.64366354])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614539, -0.03411281,  0.22472515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005804561434224823
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39571762,  0.08724409, -0.91421881, -0.03465617,  0.99618696,
        0.08006548,  0.9177181 ,  0.        ,  0.39723228])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08310372, -0.03403045,  0.22314585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001764062880416653
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57338924e-14,  1.57338924e-14,  1.00000000e+00,  2.47555371e-28,
        1.00000000e+00, -1.57338924e-14, -1.00000000e+00,  0.00000000e+00,
       -1.57338924e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06772321, -0.06258172,  0.06188464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.77103937e-03, 2.98763996e-02, 3.38440939e-03, 2.61825355e-05,
  5.69270847e-06,-5.81874480e-05,-1.28111688e-05,-5.08935144e-06,
  3.71474044e-05, 1.60067772e-05,-1.42135968e-05, 4.51933535e-05,
  1.04730974e-02, 1.52987646e-02, 7.24463873e-03, 9.81404628e-04,
  6.79302833e-04, 1.46348887e-03,-9.81052046e+00,-5.83472315e-03,
 -6.04301312e-02, 6.00253744e-02]


--- Step 3509 ---
qpos:
[-0.01828379, 1.19893128,-0.03501119, 0.94262044,-0.00792933, 1.33290071,
 -0.03120806, 0.94134249, 0.01531747, 1.33847649,-0.02376734, 0.95470758,
  1.27329706,-0.00926855, 1.28763375, 0.04457108,-0.0549691 ,-0.08603714,
  0.09136163, 0.69337338,-0.12628517,-0.708747  ,-0.03103369]

qacc:
[ 6.66831689e-02,-6.84700015e-01,-1.24119801e+00, 1.39036334e+01,
  1.34422007e-02, 9.25573223e-01,-3.24425463e+00, 2.45413098e+00,
  7.02732611e-02, 2.83667806e-01, 4.94644801e-01,-3.26770585e+00,
 -2.31738697e-01, 2.58239394e-01, 2.84244621e+00,-5.30765344e+00,
  2.88024277e-01,-2.97614690e+00,-9.44350920e-01, 8.63282935e+00,
  2.49671330e+01,-1.01607313e+02]

qfrc_actuator:
[ 9.48682807e-03, 6.44792905e-02, 1.39379026e-02, 1.96536784e-03,
  7.23484858e-05, 3.47659234e-02, 1.09569560e-02, 1.72523852e-03,
 -3.02105970e-03, 3.47614456e-02, 1.09142208e-02, 1.77266080e-03,
  8.14764881e-03, 1.32141722e-02, 0.00000000e+00,-4.53070129e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16149254, -0.046481  , -0.15465884, -0.046481  ,  0.38343989,
       -0.06670381, -0.15465884, -0.06670381,  0.18153963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.641602794502579e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64179437,  0.07851832, -0.76284655, -0.05054868,  0.99691267,
        0.06008293,  0.765209  ,  0.        ,  0.64378194])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.086145  , -0.03411379,  0.22472652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16149254, -0.046481  , -0.15465884, -0.046481  ,  0.38343989,
       -0.06670381, -0.15465884, -0.06670381,  0.18153963,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.641602794502579e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64179437,  0.07851832, -0.76284655, -0.05054868,  0.99691267,
        0.06008293,  0.765209  ,  0.        ,  0.64378194])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.086145  , -0.03411379,  0.22472652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005805674724355531
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39569687,  0.08724621, -0.91422759, -0.0346552 ,  0.99618678,
        0.08006821,  0.91772709,  0.        ,  0.39721152])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08310148, -0.03403138,  0.22314618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001716063338623397
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61739809e-14,  1.61739809e-14,  1.00000000e+00,  2.61597657e-28,
        1.00000000e+00, -1.61739809e-14, -1.00000000e+00,  0.00000000e+00,
       -1.61739809e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06773612, -0.06255521,  0.0618877 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.78278758e-03, 2.98830657e-02, 3.35723805e-03, 5.21731101e-05,
  3.88557214e-06,-3.72993204e-05,-3.46008100e-05,-4.32787357e-06,
  2.02890745e-05, 7.85872492e-05, 2.06643229e-05,-7.88304437e-06,
  1.04689145e-02, 1.53019549e-02, 7.13277460e-03, 9.08828816e-04,
  1.06519631e-03, 3.30255225e-03,-9.81103931e+00,-5.78772357e-03,
 -6.03863951e-02, 6.00590815e-02]


--- Step 3510 ---
qpos:
[-0.01828747, 1.19895212,-0.03501106, 0.942622  ,-0.00792806, 1.33289926,
 -0.03120736, 0.94134116, 0.01531743, 1.33847665,-0.02376736, 0.95471028,
  1.27331895,-0.00927273, 1.28762075, 0.04456921,-0.05497493,-0.08610143,
  0.09137009, 0.69338089,-0.12539297,-0.70886459,-0.03178904]

qacc:
[ 2.27158773e-01,-7.76358661e-01,-2.03009950e+00, 1.48303218e+01,
 -5.45227084e-02,-7.55356605e-01, 2.45999052e+00,-5.95239567e+00,
 -2.39497653e-02, 5.13585205e+00,-2.00550587e+01, 4.01451728e+01,
 -3.43771484e-01, 2.77749081e-01, 3.82382567e+00,-7.59409240e+00,
  2.78695298e-01,-2.86561932e+00,-1.31496849e+00, 8.24013626e+00,
  2.39869737e+01,-9.78177663e+01]

qfrc_actuator:
[ 9.52861845e-03, 6.44835710e-02, 1.39347643e-02, 2.01325497e-03,
  5.43325148e-05, 3.47294572e-02, 1.09439229e-02, 1.70665615e-03,
 -3.03990926e-03, 3.47683791e-02, 1.08892220e-02, 1.87363057e-03,
  8.14715104e-03, 1.32538897e-02, 0.00000000e+00,-5.41773734e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16148186, -0.04380412, -0.15542712, -0.04380412,  0.37018431,
       -0.05881874, -0.15542712, -0.05881874,  0.17805879,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.602760014299541e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64190399,  0.078515  , -0.76275466, -0.05055516,  0.99691293,
        0.06007313,  0.76511662,  0.        ,  0.64389173])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614465, -0.03411482,  0.22472779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16148186, -0.04380412, -0.15542712, -0.04380412,  0.37018431,
       -0.05881874, -0.15542712, -0.05881874,  0.17805879,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.602760014299541e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64190399,  0.078515  , -0.76275466, -0.05055516,  0.99691293,
        0.06007313,  0.76511662,  0.        ,  0.64389173])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614465, -0.03411482,  0.22472779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005807593346400623
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39567638,  0.08724826, -0.91423626, -0.03465423,  0.9961866 ,
        0.08007086,  0.91773596,  0.        ,  0.39719103])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08309943, -0.03403237,  0.22314649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -15.82387028,  -6.92475536, -15.82387028,
        28.32398868, -25.25341588,  -6.92475536, -25.25341588,
        74.97971567,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0016613921285065364
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.34124318e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.34124318e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06775085, -0.06252511,  0.06189117])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.81692339e-03, 2.99274889e-02, 3.32762993e-03, 4.70780513e-05,
 -1.57234656e-05,-6.39982030e-05,-2.43990921e-05,-2.08238390e-05,
 -6.86494614e-06, 5.41970474e-05,-7.53223346e-06, 1.03721023e-04,
  1.04744268e-02, 1.53394307e-02, 7.02603454e-03, 8.14566260e-04,
  1.43058073e-03, 5.73729209e-03,-9.81171647e+00,-5.78110638e-03,
 -6.03314444e-02, 6.01012870e-02]


--- Step 3511 ---
qpos:
[-0.01829044, 1.19897124,-0.03501196, 0.94262283,-0.00792695, 1.33289771,
 -0.03120695, 0.94133889, 0.01531727, 1.33847711,-0.02376812, 0.95471315,
  1.27334069,-0.00927713, 1.28761037, 0.04456745,-0.05497969,-0.08617682,
  0.09137203, 0.69341609,-0.12435382,-0.70897313,-0.03267036]

qacc:
[ 3.08272650e-01,-7.44622505e-01, 1.20798156e+00,-8.47034596e+00,
 -7.12320417e-02,-9.44255579e-01, 4.82094279e+00,-1.48938904e+01,
 -5.32255821e-02, 2.70579058e+00,-8.72054038e+00, 9.50045213e+00,
 -1.11672577e-01,-5.29638606e-02, 3.60022783e+00,-6.93081463e+00,
  2.70867091e-01,-2.77544028e+00,-1.62776130e+00, 7.89356658e+00,
  2.31851283e+01,-9.47540689e+01]

qfrc_actuator:
[ 9.55485189e-03, 6.44787128e-02, 1.39327055e-02, 1.96972605e-03,
  4.30912704e-05, 3.47439386e-02, 1.09359236e-02, 1.66074823e-03,
 -3.05117071e-03, 3.47544505e-02, 1.08389707e-02, 1.87867862e-03,
  8.15673169e-03, 1.32794205e-02, 0.00000000e+00,-6.12033011e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16147484, -0.05263011, -0.15265711, -0.05263011,  0.43914641,
       -0.09573013, -0.15265711, -0.09573013,  0.19447879,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.577093347817081e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64200187,  0.07851199, -0.76267258, -0.05056092,  0.99691317,
        0.06006435,  0.76503411,  0.        ,  0.64398976])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614437, -0.03411588,  0.22472892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16147484, -0.05263011, -0.15265711, -0.05263011,  0.43914641,
       -0.09573013, -0.15265711, -0.09573013,  0.19447879,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.577093347817081e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64200187,  0.07851199, -0.76267258, -0.05056092,  0.99691317,
        0.06006435,  0.76503411,  0.        ,  0.64398976])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614437, -0.03411588,  0.22472892])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005810210296978979
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95657095e-01,  8.72500815e-02, -9.14244435e-01, -3.46532661e-02,
        9.96186440e-01,  8.00732656e-02,  9.17744308e-01,  6.93889390e-18,
        3.97171733e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08309761, -0.0340334 ,  0.22314676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -15.54394669,  -7.53211979, -15.54394669,
        30.26929227, -26.82085774,  -7.53211979, -26.82085774,
        72.62261474,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0016018543324770942
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.46543066e-14,  1.73271533e-14,  1.00000000e+00,  6.00460484e-28,
        1.00000000e+00, -1.73271533e-14, -1.00000000e+00,  0.00000000e+00,
       -3.46543066e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0677669 , -0.06249235,  0.06189495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.81708549e-03, 2.99982128e-02, 3.31521560e-03,-4.85510453e-05,
 -2.05253881e-05,-2.63198259e-05,-2.39122460e-05,-4.90383576e-05,
 -1.53143562e-05, 1.76472591e-05,-3.74840088e-05, 8.85162869e-06,
  1.04986910e-02, 1.53674984e-02, 6.89285805e-03, 7.41957183e-04,
  1.77886836e-03, 8.70687930e-03,-9.81252892e+00,-5.80881216e-03,
 -6.02669656e-02, 6.01515676e-02]


--- Step 3512 ---
qpos:
[-0.01829324, 1.19899053,-0.03501411, 0.94262159,-0.00792601, 1.33289605,
 -0.03120641, 0.94133607, 0.01531698, 1.33847799,-0.0237695 , 0.95471502,
  1.27336241,-0.00928163, 1.28759917, 0.0445657 ,-0.05499688,-0.08625143,
  0.09135747, 0.69331103,-0.12336242,-0.70920826,-0.03354359]

qacc:
[ 7.50466003e-02, 1.08459997e-01, 4.21088463e+00,-2.77838656e+01,
 -6.65942152e-02,-1.41839588e+00, 5.62220969e+00,-1.12795879e+01,
 -5.43938816e-02, 4.57873947e-01, 1.19835418e+00,-1.29708382e+01,
  8.20487478e-02,-1.59406894e-01,-1.28409845e+00, 2.69465716e+00,
 -3.11096426e+00, 1.94022495e-01,-4.12825316e+00,-2.03463817e+01,
 -9.48912408e+01, 9.57174670e+00]

qfrc_actuator:
[ 9.55360346e-03, 6.44336812e-02, 1.39679488e-02, 1.87270621e-03,
  3.60057498e-05, 3.47533172e-02, 1.09488874e-02, 1.63466602e-03,
 -3.05778761e-03, 3.47812350e-02, 1.08095681e-02, 1.82718830e-03,
  8.15637951e-03, 1.32611299e-02, 0.00000000e+00,-5.29273891e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16147115, -0.06595514, -0.14738674, -0.06595514,  0.51966892,
       -0.16029247, -0.14738674, -0.16029247,  0.23320157,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.56360246918792e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64208764,  0.07850919, -0.76260066, -0.05056586,  0.99691339,
        0.06005653,  0.7649618 ,  0.        ,  0.64407565])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614414, -0.03411699,  0.22472991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16147115, -0.06595514, -0.14738674, -0.06595514,  0.51966892,
       -0.16029247, -0.14738674, -0.16029247,  0.23320157,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.56360246918792e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64208764,  0.07850919, -0.76260066, -0.05056586,  0.99691339,
        0.06005653,  0.7649618 ,  0.        ,  0.64407565])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614414, -0.03411699,  0.22472991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005813365912283285
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39564034,  0.08725158, -0.91425154, -0.0346524 ,  0.99618631,
        0.08007527,  0.91775156,  0.        ,  0.39715497])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08309606, -0.03403447,  0.22314701])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.30465059,   5.70135743, -16.30465059,
        22.56442629,  15.13311603,   5.70135743,  15.13311603,
        60.55016992,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001563129571711147
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.55128278e-14,  3.55128278e-14,  1.00000000e+00,  1.26116093e-27,
        1.00000000e+00, -3.55128278e-14, -1.00000000e+00,  0.00000000e+00,
       -3.55128278e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02334027, -0.0947377 ,  0.06189743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.78043457e-03, 3.00392124e-02, 3.40169067e-03,-1.08889523e-04,
 -1.92029353e-05,-1.13334202e-05, 3.65076568e-06,-2.87178955e-05,
 -1.56605849e-05, 2.94862147e-05,-2.99528046e-05,-5.18545371e-05,
  1.05057600e-02, 1.53605604e-02, 6.76143332e-03, 8.19855188e-04,
  2.11279067e-03, 1.21701637e-02,-9.81345845e+00,-5.86655434e-03,
 -6.01941837e-02, 6.02095230e-02]


--- Step 3513 ---
qpos:
[-0.01829637, 1.1990109 ,-0.03501617, 0.94261974,-0.00792534, 1.33289414,
 -0.03120542, 0.94133365, 0.01531658, 1.33847919,-0.02377158, 0.9547173 ,
  1.27338372,-0.009286  , 1.28758679, 0.04456393,-0.05502562,-0.08632518,
  0.09132495, 0.69307376,-0.12241044,-0.70956348,-0.03441107]

qacc:
[-1.42262672e-01, 1.34609402e-01, 2.53436101e+00,-1.00302368e+01,
 -1.16588241e-01,-9.00152465e-01, 1.70649718e+00, 3.28647938e+00,
 -4.52924823e-02, 3.06068460e+00,-1.02836544e+01, 1.34999995e+01,
 -3.41538937e-01, 3.47491819e-01,-1.63696183e+00, 3.24349345e+00,
 -2.88480802e+00, 2.16754417e-01,-4.48832778e+00,-1.77588903e+01,
 -8.95308407e+01, 6.34529937e+00]

qfrc_actuator:
[ 9.55387032e-03, 6.43988345e-02, 1.39729542e-02, 1.85173554e-03,
  1.37174685e-05, 3.47419124e-02, 1.09741280e-02, 1.65598398e-03,
 -3.06156478e-03, 3.47967101e-02, 1.07750948e-02, 1.84941430e-03,
  8.15538799e-03, 1.32875165e-02, 0.00000000e+00,-4.78929898e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1614661 , -0.06031619, -0.14977736, -0.06031619,  0.4545408 ,
       -0.11802283, -0.14977736, -0.11802283,  0.20899456,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.545041189537839e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64217622,  0.07850612, -0.76252638, -0.05057085,  0.99691363,
        0.06004832,  0.76488711,  0.        ,  0.64416435])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861439 , -0.03411806,  0.22473094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1614661 , -0.06031619, -0.14977736, -0.06031619,  0.4545408 ,
       -0.11802283, -0.14977736, -0.11802283,  0.20899456,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.545041189537839e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64217622,  0.07850612, -0.76252638, -0.05057085,  0.99691363,
        0.06004832,  0.76488711,  0.        ,  0.64416435])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861439 , -0.03411806,  0.22473094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005816131482022681
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39562458,  0.08725298, -0.91425823, -0.03465158,  0.99618619,
        0.08007716,  0.91775839,  0.        ,  0.39713919])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08309446, -0.03403551,  0.22314726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.67181688, -4.51637347, 16.67181688, 17.56481881,
        1.07823162, -4.51637347,  1.07823162, 21.2529296 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015390985633459836
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.80336570e-14, -3.60673140e-14,  1.00000000e+00, -6.50425571e-28,
        1.00000000e+00,  3.60673140e-14, -1.00000000e+00,  0.00000000e+00,
       -1.80336570e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02341311, -0.09472978,  0.06189893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.77204061e-03, 2.99950795e-02, 3.46935570e-03,-2.64502064e-05,
 -3.36245965e-05,-1.78197047e-05, 2.25932474e-05, 2.04128421e-05,
 -1.30243962e-05, 2.43918452e-05,-3.36331594e-05, 2.10185405e-05,
  1.05062212e-02, 1.53917686e-02, 6.80307353e-03, 8.69418075e-04,
  3.22129985e-03, 9.86919986e-03,-9.81329987e+00,-4.93028982e-03,
 -6.03924695e-02, 6.02765803e-02]


--- Step 3514 ---
qpos:
[-0.0183001 , 1.19903247,-0.03501729, 0.94261862,-0.00792494, 1.33289244,
 -0.0312046 , 0.94133183, 0.01531596, 1.3384798 ,-0.02377226, 0.95471945,
  1.27340455,-0.00929002, 1.2875726 , 0.04456203,-0.05506513,-0.08639799,
  0.09127326, 0.69271094,-0.12149111,-0.71003321,-0.0352746 ]

qacc:
[ -0.26178183,  0.28179835, -0.5485359 ,  8.30281877, -0.11569884,
   1.80892095, -6.81972272, 12.86486742, -0.09501614, -4.80428938,
  14.95577398,-14.01933848, -0.52154606,  0.67858811, -2.23813195,
   4.04717603, -2.69548074,  0.23250932, -4.79291222,-15.63614472,
 -85.02960779,  3.78140897]

qfrc_actuator:
[ 9.53772378e-03, 6.44223949e-02, 1.39767336e-02, 1.89352245e-03,
  2.41250356e-07, 3.47714966e-02, 1.09708467e-02, 1.68725932e-03,
 -3.08136103e-03, 3.47520516e-02, 1.08444291e-02, 1.84383600e-03,
  8.14339643e-03, 1.33050251e-02, 0.00000000e+00,-4.30244263e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16146013, -0.04935987, -0.15373021, -0.04935987,  0.37873973,
       -0.06976438, -0.15373021, -0.06976438,  0.18386016,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.523083683229001e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64227024,  0.07850297, -0.76244752, -0.0505762 ,  0.99691388,
        0.06003968,  0.76480781,  0.        ,  0.6442585 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614363, -0.03411908,  0.22473204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16146013, -0.04935987, -0.15373021, -0.04935987,  0.37873973,
       -0.06976438, -0.15373021, -0.06976438,  0.18386016,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.523083683229001e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64227024,  0.07850297, -0.76244752, -0.0505762 ,  0.99691388,
        0.06003968,  0.76480781,  0.        ,  0.6442585 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614363, -0.03411908,  0.22473204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005818855783144908
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39560775,  0.08725454, -0.91426536, -0.03465073,  0.99618605,
        0.08007922,  0.91776568,  0.        ,  0.39712235])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08309274, -0.0340365 ,  0.22314754])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.663549  , -4.5467837 , 16.663549  , 17.74204415,
        1.72000368, -4.5467837 ,  1.72000368, 23.57638444,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015027903188824798
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.02351525, -0.09473198,  0.06190113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.77219290e-03, 2.99648820e-02, 3.46890841e-03, 4.61620504e-05,
 -3.33264500e-05, 2.47699285e-05,-3.59962189e-06, 3.18695053e-05,
 -2.74869543e-05,-3.71190257e-05, 7.08947505e-05,-5.34842393e-06,
  1.05146308e-02, 1.54032545e-02, 6.86233977e-03, 9.19565816e-04,
  3.85940666e-03, 7.93922470e-03,-9.81336129e+00,-4.03212208e-03,
 -6.05569520e-02, 6.03446020e-02]


--- Step 3515 ---
qpos:
[-0.01830375, 1.19905388,-0.03501817, 0.94261748,-0.00792462, 1.33289135,
 -0.03120436, 0.94133177, 0.01531497, 1.33847981,-0.02377197, 0.95472051,
  1.27342545,-0.00929409, 1.28756108, 0.04456032,-0.055103  ,-0.08648498,
  0.09122456, 0.69238222,-0.12036708,-0.71049268,-0.03631504]

qacc:
[ 3.23135966e-02,-9.10050201e-01, 2.77746332e+00,-2.57404727e+00,
 -3.48814795e-02, 5.35110751e+00,-2.01252281e+01, 3.74728296e+01,
 -1.57429908e-01,-5.29187144e+00, 1.85370574e+01,-2.83700979e+01,
 -2.72926523e-02, 1.57220950e-02, 3.34936112e+00,-6.00006270e+00,
  4.11147632e-01,-3.54317481e+00, 7.48633796e-01, 9.98970432e+00,
  3.00188605e+01,-1.32714558e+02]

qfrc_actuator:
[ 9.49438181e-03, 6.44449399e-02, 1.40143889e-02, 1.88309199e-03,
  9.91268464e-06, 3.48253018e-02, 1.09509067e-02, 1.77739494e-03,
 -3.11060767e-03, 3.47076258e-02, 1.08854578e-02, 1.78644331e-03,
  8.13015167e-03, 1.32814138e-02, 0.00000000e+00,-5.42216354e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.161452  , -0.06160154, -0.14923806, -0.06160154,  0.4682908 ,
       -0.12665497, -0.14923806, -0.12665497,  0.21373184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.49306622537093e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64237232,  0.07849975, -0.76236185, -0.05058216,  0.99691413,
        0.06003046,  0.76472168,  0.        ,  0.64436073])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614333, -0.03412005,  0.22473324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.161452  , -0.06160154, -0.14923806, -0.06160154,  0.4682908 ,
       -0.12665497, -0.14923806, -0.12665497,  0.21373184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.49306622537093e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64237232,  0.07849975, -0.76236185, -0.05058216,  0.99691413,
        0.06003046,  0.76472168,  0.        ,  0.64436073])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614333, -0.03412005,  0.22473324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005821241339737798
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39558895,  0.08725637, -0.91427332, -0.03464981,  0.99618589,
        0.08008161,  0.91777381,  0.        ,  0.39710355])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08309085, -0.03403743,  0.22314785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014980834514230906
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.85273895e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.85273895e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06779795, -0.06244867,  0.06190129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.75888354e-03, 2.99273459e-02, 3.45931971e-03,-1.20082775e-06,
 -1.00012682e-05, 6.77723706e-05,-1.45689082e-05, 9.15114497e-05,
 -4.54809617e-05,-5.12668939e-05, 4.16832031e-05,-5.65395191e-05,
  1.05253260e-02, 1.53616668e-02, 6.95272229e-03, 8.14051706e-04,
  4.11051637e-03, 6.29280162e-03,-9.81359885e+00,-3.15589785e-03,
 -6.06947130e-02, 6.04131338e-02]


--- Step 3516 ---
qpos:
[-0.01830665, 1.19907382,-0.03501955, 0.9426157 ,-0.00792431, 1.33289121,
 -0.03120485, 0.94133312, 0.01531376, 1.3384802 ,-0.02377292, 0.95472021,
  1.2734469 ,-0.00929856, 1.28755494, 0.04455889,-0.05513935,-0.0865854 ,
  0.09117626, 0.69208461,-0.11905055,-0.71094164,-0.0375213 ]

qacc:
[ 3.28477973e-01,-1.62917436e+00, 4.31037105e+00,-1.02651885e+01,
 -8.43926277e-04, 5.60119594e+00,-1.96586713e+01, 3.27378183e+01,
 -9.04328231e-02, 1.52686082e+00,-1.66829192e+00,-1.43933963e+01,
  4.10254465e-01,-5.53087253e-01, 7.09953262e+00,-1.33336380e+01,
  3.81855899e-01,-3.35657235e+00, 1.00268809e-01, 9.41431167e+00,
  2.81675606e+01,-1.24598711e+02]

qfrc_actuator:
[ 9.46979323e-03, 6.44677443e-02, 1.40016755e-02, 1.84179749e-03,
  1.56382213e-05, 3.48931621e-02, 1.09214409e-02, 1.84819920e-03,
 -3.10978193e-03, 3.47345746e-02, 1.08206105e-02, 1.71673874e-03,
  8.12677365e-03, 1.32334089e-02, 0.00000000e+00,-7.15348189e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16144922, -0.06647197, -0.14713031, -0.06647197,  0.52671055,
       -0.16502135, -0.14713031, -0.16502135,  0.23600418,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.482756606082969e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64246517,  0.07849699, -0.76228389, -0.05058768,  0.99691435,
        0.0600222 ,  0.76464331,  0.        ,  0.64445373])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614309, -0.03412109,  0.22473435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16144922, -0.06647197, -0.14713031, -0.06647197,  0.52671055,
       -0.16502135, -0.14713031, -0.16502135,  0.23600418,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.482756606082969e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64246517,  0.07849699, -0.76228389, -0.05058768,  0.99691435,
        0.0600222 ,  0.76464331,  0.        ,  0.64445373])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614309, -0.03412109,  0.22473435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005825108491771119
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95570060e-01,  8.72581757e-02, -9.14281323e-01, -3.46488820e-02,
        9.96185731e-01,  8.00839822e-02,  9.17781991e-01, -6.93889390e-18,
        3.97084648e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08308917, -0.03403843,  0.22314815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014929956820994017
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.06780041, -0.06245116,  0.0619015 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.73057394e-03, 2.99574360e-02, 3.43404831e-03,-4.13263705e-05,
 -1.76345032e-07, 1.05268833e-04,-1.51760251e-05, 7.45386116e-05,
 -2.60356503e-05, 5.06243251e-06,-7.17755865e-05,-7.13177434e-05,
  1.05180430e-02, 1.53168342e-02, 6.81994751e-03, 6.31289341e-04,
  5.66867147e-03, 1.07118757e-02,-9.81489225e+00,-2.83875261e-03,
 -6.06476105e-02, 6.04784050e-02]


--- Step 3517 ---
qpos:
[-0.01830957, 1.19909397,-0.03501988, 0.94261562,-0.00792397, 1.33289145,
 -0.03120491, 0.94133529, 0.01531258, 1.33848044,-0.02377369, 0.9547194 ,
  1.27346825,-0.00930269, 1.28754682, 0.04455703,-0.05516857,-0.08669504,
  0.09112861, 0.6918819 ,-0.11757167,-0.71131353,-0.03885093]

qacc:
[-8.89911422e-03, 2.98115621e-01,-4.18046438e+00, 2.32873537e+01,
  1.11392490e-02, 7.46748421e-01,-3.55696473e+00, 1.24842999e+01,
  1.21304923e-02,-1.58396819e+00, 5.97644524e+00,-1.10528629e+01,
 -2.14060641e-01, 4.20097434e-01,-1.61950084e+00, 1.45943940e+00,
  1.78000028e+00,-2.30672897e+00, 1.59519853e-01, 1.65258630e+01,
  7.07898647e+01,-9.40307785e+01]

qfrc_actuator:
[ 9.52675770e-03, 6.44210741e-02, 1.39771599e-02, 1.94238731e-03,
  1.89485422e-05, 3.48978543e-02, 1.09398960e-02, 1.88930365e-03,
 -3.09092299e-03, 3.47326170e-02, 1.08360925e-02, 1.69359998e-03,
  8.12927119e-03, 1.32421339e-02, 0.00000000e+00,-6.05788787e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16145559, -0.03757043, -0.15702347, -0.03757043,  0.32026781,
       -0.03799842, -0.15702347, -0.03799842,  0.17054733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.506321793250038e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64253761,  0.07849487, -0.76222305, -0.05059201,  0.99691452,
        0.06001578,  0.76458216,  0.        ,  0.64452628])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614297, -0.03412227,  0.22473523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16145559, -0.03757043, -0.15702347, -0.03757043,  0.32026781,
       -0.03799842, -0.15702347, -0.03799842,  0.17054733,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.506321793250038e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64253761,  0.07849487, -0.76222305, -0.05059201,  0.99691452,
        0.06001578,  0.76458216,  0.        ,  0.64452628])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614297, -0.03412227,  0.22473523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005831243928103892
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.395553  ,  0.08725965, -0.91428856, -0.03464798,  0.9961856 ,
        0.08008598,  0.91778938,  0.        ,  0.39706757])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08308795, -0.03403959,  0.22314841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.15688173,  1.99712709, 17.15688173, 18.20354116,
       -7.99641836,  1.99712709, -7.99641836, 85.96820738,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014905017978856586
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.72432635e-14,  1.86216318e-14,  1.00000000e+00,  6.93530339e-28,
        1.00000000e+00, -1.86216318e-14, -1.00000000e+00,  0.00000000e+00,
       -3.72432635e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08525802, -0.064045  ,  0.06190156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.74982329e-03, 2.99840742e-02, 3.43530166e-03, 9.14226736e-05,
  3.20975003e-06, 6.22109258e-05, 3.95168553e-05, 4.55603839e-05,
  3.48389139e-06,-1.52927691e-05, 6.22654136e-06,-2.67498026e-05,
  1.04934853e-02, 1.53452899e-02, 6.55065221e-03, 7.27050526e-04,
  7.14636608e-03, 1.58785967e-02,-9.81633408e+00,-2.58814777e-03,
 -6.05840447e-02, 6.05528307e-02]


--- Step 3518 ---
qpos:
[-0.01831263, 1.19911441,-0.03501886, 0.94261811,-0.00792374, 1.33289109,
 -0.03120362, 0.94133625, 0.01531152, 1.33848044,-0.02377367, 0.95471829,
  1.27348942,-0.00930624, 1.28753401, 0.04455454,-0.05519111,-0.08681351,
  0.09107912, 0.69176732,-0.11594072,-0.71161223,-0.04029578]

qacc:
[-6.31875175e-02, 1.08967825e+00,-8.37030370e+00, 3.67759374e+01,
 -4.83820588e-02,-6.47501119e+00, 2.26852586e+01,-3.33768221e+01,
  4.80722864e-02,-2.94899654e+00, 9.83369459e+00,-1.17822558e+01,
 -3.10160230e-01, 6.60446718e-01,-4.98825934e+00, 7.43825420e+00,
  1.67295777e+00,-2.20481934e+00,-4.57316963e-01, 1.53915383e+01,
  6.63919669e+01,-8.79335121e+01]

qfrc_actuator:
[ 9.57986925e-03, 6.43493902e-02, 1.39796991e-02, 2.07276025e-03,
  3.02993354e-06, 3.48115869e-02, 1.09862385e-02, 1.82383665e-03,
 -3.07915321e-03, 3.47314342e-02, 1.08810834e-02, 1.68035272e-03,
  8.13000655e-03, 1.32665740e-02, 0.00000000e+00,-4.85797027e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16145773, -0.02998054, -0.15864982, -0.02998054,  0.26946249,
       -0.02040999, -0.15864982, -0.02040999,  0.16531467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.514221753041755e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64261784,  0.07849233, -0.76215567, -0.05059668,  0.99691472,
        0.06000852,  0.76451441,  0.        ,  0.64460663])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614281, -0.03412343,  0.2247362 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16145773, -0.02998054, -0.15864982, -0.02998054,  0.26946249,
       -0.02040999, -0.15864982, -0.02040999,  0.16531467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.514221753041755e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64261784,  0.07849233, -0.76215567, -0.05059668,  0.99691472,
        0.06000852,  0.76451441,  0.        ,  0.64460663])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614281, -0.03412343,  0.2247362 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005836268673211666
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39553479,  0.08726115, -0.9142963 , -0.03464698,  0.99618547,
        0.08008804,  0.91779727,  0.        ,  0.39704934])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08308653, -0.03404072,  0.22314868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.84979796,  -3.79887036, -16.84979796,
        25.27857672, -35.50975232,  -3.79887036, -35.50975232,
       174.77537803,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014865462117008219
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.7342365e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -3.7342365e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08526107, -0.06405046,  0.06190173])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.80395465e-03, 2.99021996e-02, 3.38481756e-03, 1.36622949e-04,
 -1.40218118e-05,-4.27423817e-05, 6.43544401e-05,-6.13733731e-05,
  1.38270210e-05,-9.21880159e-06, 4.19284538e-05,-1.41425496e-05,
  1.04992653e-02, 1.53530800e-02, 6.64972446e-03, 8.68350127e-04,
  7.62876735e-03, 2.19156842e-02,-9.81741573e+00,-2.97900547e-03,
 -6.04072728e-02, 6.06244995e-02]


--- Step 3519 ---
qpos:
[-0.01831536, 1.19913382,-0.03501856, 0.94262029,-0.00792351, 1.33289026,
 -0.03120223, 0.94133544, 0.01531072, 1.33848086,-0.0237737 , 0.95471805,
  1.27351075,-0.00930973, 1.28752054, 0.04455193,-0.05520731,-0.08694044,
  0.09102569, 0.69173503,-0.11416616,-0.71184083,-0.0418493 ]

qacc:
[ 1.47903636e-01, 8.62130730e-02,-1.30003409e+00,-1.68196505e+00,
 -2.46275345e-04,-3.90028707e+00, 1.56405112e+01,-3.38535028e+01,
  1.15490886e-01, 2.17155232e+00,-8.16336793e+00, 1.68449331e+01,
  1.27054434e-01,-6.12193024e-02,-6.42402753e-01, 7.99722347e-01,
  1.58154757e+00,-2.11815710e+00,-9.84603746e-01, 1.43615981e+01,
  6.27198943e+01,-8.29577257e+01]

qfrc_actuator:
[ 9.57754416e-03, 6.43512808e-02, 1.39800014e-02, 2.04194075e-03,
  1.12098451e-05, 3.47603281e-02, 1.09772173e-02, 1.73164073e-03,
 -3.05398042e-03, 3.47841249e-02, 1.08898457e-02, 1.72628332e-03,
  8.12969589e-03, 1.32645508e-02, 0.00000000e+00,-5.18939976e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16145001, -0.04459629, -0.15516855, -0.04459629,  0.37282074,
       -0.0607491 , -0.15516855, -0.0607491 ,  0.17890964,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.485701911966874e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64271545,  0.07848893, -0.76207371, -0.05060216,  0.99691498,
        0.05999945,  0.76443199,  0.        ,  0.64470437])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614252, -0.03412449,  0.22473732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16145001, -0.04459629, -0.15516855, -0.04459629,  0.37282074,
       -0.0607491 , -0.15516855, -0.0607491 ,  0.17890964,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.485701911966874e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64271545,  0.07848893, -0.76207371, -0.05060216,  0.99691498,
        0.05999945,  0.76443199,  0.        ,  0.64470437])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614252, -0.03412449,  0.22473732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005838636582600303
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39551505,  0.08726274, -0.91430469, -0.03464589,  0.99618533,
        0.08009025,  0.91780581,  0.        ,  0.39702959])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08308471, -0.03404174,  0.22314894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014686417150261144
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.55952261e-14,  4.72470163e-14,  1.00000000e+00, -3.57164888e-27,
        1.00000000e+00, -4.72470163e-14, -1.00000000e+00,  0.00000000e+00,
        7.55952261e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08527588, -0.06404749,  0.06190278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.80888385e-03, 2.98888553e-02, 3.31743315e-03,-2.20871199e-05,
 -9.89539365e-08,-6.41604654e-05,-1.18600787e-05,-9.30152766e-05,
  3.33384368e-05, 5.53604104e-05, 1.13114933e-05, 4.65537606e-05,
  1.05082591e-02, 1.53217285e-02, 6.88454127e-03, 8.67009934e-04,
  7.71823837e-03, 2.83962175e-02,-9.81859332e+00,-3.46830311e-03,
 -6.02169360e-02, 6.07033714e-02]


--- Step 3520 ---
qpos:
[-0.01831765, 1.19915168,-0.03501901, 0.94262214,-0.0079234 , 1.33288946,
 -0.03120147, 0.94133387, 0.01531022, 1.33848167,-0.02377393, 0.95471906,
  1.27353225,-0.00931334, 1.28750917, 0.04454938,-0.05521751,-0.08707555,
  0.09096653, 0.69177997,-0.112255  ,-0.71200175,-0.04350628]

qacc:
[ 1.86877759e-01,-5.64565701e-01, 6.58301488e-02,-2.92784543e+00,
 -4.51656210e-02, 4.20703247e-01, 2.37025124e-01,-9.04102800e+00,
  1.21042196e-01, 3.22423924e+00,-1.24335364e+01, 2.50039988e+01,
  1.01662529e-01,-1.46010711e-01, 2.94009431e+00,-5.77645817e+00,
  1.50330242e+00,-2.04457200e+00,-1.43562705e+00, 1.34196677e+01,
  5.96582145e+01,-7.89269364e+01]

qfrc_actuator:
[ 9.55928280e-03, 6.43630206e-02, 1.39627418e-02, 2.02275432e-03,
 -1.72453840e-06, 3.47834449e-02, 1.09534413e-02, 1.69546292e-03,
 -3.03872346e-03, 3.47975633e-02, 1.08773863e-02, 1.78892082e-03,
  8.12873238e-03, 1.32646976e-02, 0.00000000e+00,-6.08723525e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16143946, -0.04896986, -0.1538332 , -0.04896986,  0.40363188,
       -0.07709734, -0.1538332 , -0.07709734,  0.18598193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.44650841938057e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64281391,  0.07848527, -0.76199103, -0.05060753,  0.99691527,
        0.05999013,  0.76434884,  0.        ,  0.64480295])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614221, -0.03412556,  0.22473843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16143946, -0.04896986, -0.1538332 , -0.04896986,  0.40363188,
       -0.07709734, -0.1538332 , -0.07709734,  0.18598193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.44650841938057e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64281391,  0.07848527, -0.76199103, -0.05060753,  0.99691527,
        0.05999013,  0.76434884,  0.        ,  0.64480295])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614221, -0.03412556,  0.22473843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005839965809890206
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39549693,  0.08726416, -0.91431239, -0.03464487,  0.99618521,
        0.08009224,  0.91781366,  0.        ,  0.39701144])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08308285, -0.03404277,  0.22314918])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014396377811411037
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.71182195e-14,  3.85591098e-14,  1.00000000e+00, -2.97360989e-27,
        1.00000000e+00, -3.85591098e-14, -1.00000000e+00,  0.00000000e+00,
        7.71182195e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08530002, -0.06403777,  0.06190453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.77362187e-03, 2.99518688e-02, 3.33618495e-03,-2.63615157e-05,
 -1.29947491e-05,-1.75006618e-05,-4.04125013e-05,-4.06151521e-05,
  3.49476736e-05, 4.76386358e-05, 9.99272795e-07, 6.56927648e-05,
  1.04988720e-02, 1.53190793e-02, 6.91809441e-03, 7.83084736e-04,
  7.47916845e-03, 3.52520317e-02,-9.81983385e+00,-4.03858508e-03,
 -6.00172910e-02, 6.07886511e-02]


--- Step 3521 ---
qpos:
[-0.01831948, 1.19916762,-0.03501983, 0.94262445,-0.0079234 , 1.33288881,
 -0.03120085, 0.94133184, 0.01530981, 1.3384825 ,-0.02377351, 0.95471943,
  1.27355356,-0.00931708, 1.28750089, 0.04454681,-0.05522141,-0.08721583,
  0.09090835, 0.69191104,-0.11026194,-0.71207884,-0.04522319]

qacc:
[ 2.04226883e-01,-7.48630216e-01,-1.56390491e+00, 7.92640464e+00,
 -5.35201011e-02,-2.10840072e-01, 1.88050006e+00,-7.06523213e+00,
  4.19522473e-02,-2.84064404e+00, 1.06172135e+01,-1.67319961e+01,
 -2.36619628e-01, 1.38698919e-01, 4.61674843e+00,-9.49441935e+00,
  1.57287947e+00,-1.29059016e+00, 2.49217248e-01, 1.00004790e+01,
  6.48031645e+01,-4.33032399e+01]

qfrc_actuator:
[ 9.56673974e-03, 6.43638508e-02, 1.39352673e-02, 2.04620609e-03,
 -9.46886625e-06, 3.48153732e-02, 1.09569989e-02, 1.67483963e-03,
 -3.04729101e-03, 3.47873212e-02, 1.09056328e-02, 1.75433420e-03,
  8.11671990e-03, 1.32840594e-02, 0.00000000e+00,-7.14863958e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16143121, -0.04427564, -0.15524079, -0.04427564,  0.3706977 ,
       -0.05968411, -0.15524079, -0.05968411,  0.17845349,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.415704988947454e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.42902791e-01,  7.84818578e-02, -7.61916399e-01, -5.06123170e-02,
        9.96915542e-01,  5.99816253e-02,  7.64273769e-01, -6.93889390e-18,
        6.44891933e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614194, -0.03412668,  0.22473942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16143121, -0.04427564, -0.15524079, -0.04427564,  0.3706977 ,
       -0.05968411, -0.15524079, -0.05968411,  0.17845349,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.415704988947454e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.42902791e-01,  7.84818578e-02, -7.61916399e-01, -5.06123170e-02,
        9.96915542e-01,  5.99816253e-02,  7.64273769e-01, -6.93889390e-18,
        6.44891933e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614194, -0.03412668,  0.22473942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005841595896277051
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39548092,  0.08726537, -0.9143192 , -0.03464395,  0.9961851 ,
        0.08009396,  0.91782059,  0.        ,  0.39699542])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08308121, -0.03404385,  0.22314939])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  -6.29206628,  16.08592582,  -6.29206628,
       164.7488545 ,  57.68580418,  16.08592582,  57.68580418,
        39.83673181,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0014294216389597325
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08414621, -0.06971784,  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:
[ 6.75961156e-03, 3.00300632e-02, 3.34641718e-03, 1.36986428e-05,
 -1.54158799e-05, 1.31158915e-05,-5.66127140e-06,-2.32797185e-05,
  1.20732562e-05, 1.82409205e-05, 3.95868247e-05,-3.16145847e-05,
  1.04786632e-02, 1.53448178e-02, 6.81293430e-03, 6.74217935e-04,
  6.95887819e-03, 4.24436239e-02,-9.82111262e+00,-4.67811693e-03,
 -5.98114658e-02, 6.08795935e-02]


--- Step 3522 ---
qpos:
[-0.01832083, 1.19918173,-0.03502168, 0.94262637,-0.00792338, 1.33288833,
 -0.03120085, 0.94133029, 0.01530957, 1.33848375,-0.0237726 , 0.95471935,
  1.27357462,-0.00932093, 1.28749428, 0.04454412,-0.05524093,-0.08735643,
  0.09083924, 0.69186304,-0.1083386 ,-0.71231012,-0.04693165]

qacc:
[ 2.10156795e-01,-3.16311966e-01,-1.04653980e+00,-2.58849836e+00,
  1.40624269e-02, 2.70756053e+00,-9.55385121e+00, 1.37768691e+01,
  6.88292711e-02,-1.55005276e+00, 6.61067800e+00,-1.11036791e+01,
 -2.29755166e-01, 1.22567095e-01, 2.85402984e+00,-6.35750725e+00,
 -3.90563614e+00,-8.22977009e-02,-2.73474764e+00,-2.75005165e+01,
 -1.19137707e+02, 1.51912253e+01]

qfrc_actuator:
[ 9.58941652e-03, 6.43591282e-02, 1.39015799e-02, 2.02357042e-03,
  3.71591374e-06, 3.48169454e-02, 1.09234624e-02, 1.69905817e-03,
 -3.03457517e-03, 3.48340840e-02, 1.09397771e-02, 1.73382786e-03,
  8.10875528e-03, 1.32972483e-02, 0.00000000e+00,-7.59760902e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16142676, -0.04463823, -0.15513229, -0.04463823,  0.37815311,
       -0.06236149, -0.15513229, -0.06236149,  0.17937085,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.39904012642921e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64297802,  0.07847889, -0.76185322, -0.05061632,  0.99691578,
        0.05997437,  0.76421021,  0.        ,  0.64496725])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614174, -0.03412784,  0.22474025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16142676, -0.04463823, -0.15513229, -0.04463823,  0.37815311,
       -0.06236149, -0.15513229, -0.06236149,  0.17937085,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.39904012642921e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64297802,  0.07847889, -0.76185322, -0.05061632,  0.99691578,
        0.05997437,  0.76421021,  0.        ,  0.64496725])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614174, -0.03412784,  0.22474025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005843893288568006
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39546703,  0.08726636, -0.91432511, -0.03464313,  0.99618501,
        0.08009539,  0.91782661,  0.        ,  0.39698151])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08307984, -0.03404499,  0.22314956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.87821454,   3.67055598, -16.87821454,
        19.80203065,  11.63042472,   3.67055598,  11.63042472,
        70.7525828 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001477403527837387
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.75734525e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.75734525e-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([ 0.02363137, -0.09448311,  0.061902  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.75884571e-03, 3.01213485e-02, 3.33114302e-03,-3.19569450e-05,
  4.08494842e-06, 7.01920261e-06,-3.23001642e-05, 2.39057832e-05,
  1.98471078e-05, 6.36388040e-05, 4.12797798e-05,-1.95408165e-05,
  1.04800579e-02, 1.53644088e-02, 6.65890935e-03, 6.30048058e-04,
  5.52331164e-03, 4.80216597e-02,-9.82192998e+00,-5.45290591e-03,
 -5.96643059e-02, 6.09719469e-02]


--- Step 3523 ---
qpos:
[-0.01832174, 1.19919377,-0.0350245 , 0.94262801,-0.00792341, 1.33288762,
 -0.03120107, 0.94132872, 0.01530962, 1.33848557,-0.02377163, 0.95471903,
  1.2735955 ,-0.00932491, 1.28749044, 0.04454133,-0.05527459,-0.08749712,
  0.09075677, 0.69165009,-0.10646957,-0.71268434,-0.04863551]

qacc:
[ 1.86554089e-01,-5.37773593e-01,-9.63988265e-01,-9.63307582e-01,
 -2.58919218e-02, 2.77730520e-01,-1.23082777e+00, 9.19652054e-01,
  1.28578368e-01, 1.59834950e-01, 8.36070307e-01,-3.78221461e+00,
 -2.24774996e-01, 1.25343416e-01, 4.45783227e+00,-9.59571606e+00,
 -3.53179169e+00,-1.95810223e-02,-3.34104132e+00,-2.27238997e+01,
 -1.09722093e+02, 9.32398089e+00]

qfrc_actuator:
[ 9.58551865e-03, 6.43162460e-02, 1.38649705e-02, 2.00946467e-03,
 -6.15636332e-06, 3.47824687e-02, 1.09037058e-02, 1.69616653e-03,
 -3.00919245e-03, 3.48613888e-02, 1.09418496e-02, 1.72182236e-03,
  8.11920923e-03, 1.33245207e-02, 0.00000000e+00,-8.56562710e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16142333, -0.04477198, -0.15509017, -0.04477198,  0.37948753,
       -0.06295154, -0.15509017, -0.06295154,  0.1795964 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.386157910601633e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.43044468e-01,  7.84761031e-02, -7.61797423e-01, -5.06197355e-02,
        9.96915995e-01,  5.99678342e-02,  7.64154078e-01,  6.93889390e-18,
        6.45033755e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614157, -0.03412902,  0.22474096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16142333, -0.04477198, -0.15509017, -0.04477198,  0.37948753,
       -0.06295154, -0.15509017, -0.06295154,  0.1795964 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.386157910601633e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.43044468e-01,  7.84761031e-02, -7.61797423e-01, -5.06197355e-02,
        9.96915995e-01,  5.99678342e-02,  7.64154078e-01,  6.93889390e-18,
        6.45033755e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614157, -0.03412902,  0.22474096])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005846065998858681
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95455764e-01,  8.72671079e-02, -9.14329913e-01, -3.46424435e-02,
        9.96184949e-01,  8.00964995e-02,  9.17831488e-01, -6.93889390e-18,
        3.96970226e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08307866, -0.03404614,  0.2231497 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.83660357, -3.85692722, 16.83660357, 17.18765586,
       -0.37136132, -3.85692722, -0.37136132, 15.65162765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015085525059922583
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.67976262e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.67976262e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02355059, -0.0944278 ,  0.06189992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.73081400e-03, 3.01698950e-02, 3.34586157e-03,-2.60140142e-05,
 -7.46060358e-06,-3.61921372e-05,-2.13600037e-05,-3.07678055e-06,
  3.71068550e-05, 6.99704456e-05, 1.86181982e-05,-9.36346100e-06,
  1.05030591e-02, 1.53972873e-02, 6.57533162e-03, 5.39302223e-04,
  8.76129257e-03, 4.21392354e-02,-9.82135309e+00,-3.29210718e-03,
 -6.01633787e-02, 6.10929226e-02]


--- Step 3524 ---
qpos:
[-0.0183231 , 1.1992055 ,-0.03502816, 0.94262896,-0.00792339, 1.3328868 ,
 -0.03120098, 0.94132605, 0.01530984, 1.3384877 ,-0.02377087, 0.95471999,
  1.27361629,-0.00932862, 1.28748491, 0.04453819,-0.05532111,-0.08763769,
  0.09065888, 0.69128394,-0.10464252,-0.71319183,-0.05033767]

qacc:
[-1.93767382e-01, 6.67894884e-01,-1.24787724e+00,-6.76512601e+00,
  2.60100899e-02,-2.87942890e+00, 1.15052728e+01,-2.26939216e+01,
  6.64211804e-02, 3.21193368e+00,-1.25360032e+01, 2.53797791e+01,
 -1.61420549e-01, 3.21599662e-01,-1.48406220e+00, 1.56039867e+00,
 -3.21814456e+00, 2.73390879e-02,-3.85451722e+00,-1.88300515e+01,
 -1.01791949e+02, 4.72663139e+00]

qfrc_actuator:
[ 9.54778463e-03, 6.43046879e-02, 1.38624695e-02, 1.98275101e-03,
  5.72357171e-06, 3.47977159e-02, 1.09275893e-02, 1.64181831e-03,
 -3.01192119e-03, 3.48589594e-02, 1.09249136e-02, 1.78589700e-03,
  8.12474001e-03, 1.33247989e-02, 0.00000000e+00,-7.71437490e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1614228 , -0.04340289, -0.15547832, -0.04340289,  0.36464628,
       -0.05673129, -0.15547832, -0.05673129,  0.17725975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.384171161326121e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64309818,  0.07847374, -0.76175233, -0.05062243,  0.99691618,
        0.05996247,  0.7641087 ,  0.        ,  0.64508751])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614146, -0.03413024,  0.22474151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1614228 , -0.04340289, -0.15547832, -0.04340289,  0.36464628,
       -0.05673129, -0.15547832, -0.05673129,  0.17725975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.384171161326121e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64309818,  0.07847374, -0.76175233, -0.05062243,  0.99691618,
        0.05996247,  0.7641087 ,  0.        ,  0.64508751])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614146, -0.03413024,  0.22474151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005848611266682929
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39544729,  0.08726763, -0.91433353, -0.03464191,  0.9961849 ,
        0.0800973 ,  0.91783516,  0.        ,  0.39696173])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08307776, -0.03404733,  0.22314979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.82370304, -3.91281527, 16.82370304, 17.24938285,
       -0.10037264, -3.91281527, -0.10037264, 16.8411609 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015155766178844357
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.66270834e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.66270834e-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([ 0.02353185, -0.09439242,  0.0618993 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.67165951e-03, 3.02612536e-02, 3.39196427e-03,-3.93584016e-05,
  7.47449924e-06,-9.04519142e-06, 1.42783199e-05,-5.61407272e-05,
  1.91890454e-05, 3.96101203e-05,-1.43243065e-06, 6.64784800e-05,
  1.05178301e-02, 1.54040179e-02, 6.43647408e-03, 6.29980745e-04,
  1.11584457e-02, 3.73025111e-02,-9.82116834e+00,-1.28783900e-03,
 -6.05631724e-02, 6.12143946e-02]


--- Step 3525 ---
qpos:
[-0.01832544, 1.19921898,-0.0350315 , 0.94263003,-0.00792341, 1.33288614,
 -0.03120131, 0.94132311, 0.01530999, 1.33848979,-0.02377022, 0.95472346,
  1.27363694,-0.00933176, 1.28747402, 0.04453457,-0.05535599,-0.08777285,
  0.0905868 , 0.69105829,-0.10289234,-0.71354738,-0.05197831]

qacc:
[-4.22446788e-01, 1.63955192e+00,-2.80799365e+00, 2.62504816e+00,
 -2.17909282e-02, 8.83212474e-01,-2.08916390e+00,-1.40496378e+00,
 -2.86152375e-02, 4.55331902e+00,-1.99775469e+01, 4.63216497e+01,
 -2.28195462e-01, 5.74970446e-01,-6.41639295e+00, 1.10101271e+01,
  2.91162002e+00, 1.35424109e+00, 6.45455283e+00,-1.10846697e+00,
  9.74652779e+01, 6.01611138e+01]

qfrc_actuator:
[ 9.54370825e-03, 6.43110034e-02, 1.38984402e-02, 2.00226258e-03,
 -4.94833689e-06, 3.48072523e-02, 1.09061837e-02, 1.62869096e-03,
 -3.03149163e-03, 3.48387043e-02, 1.09145815e-02, 1.91195521e-03,
  8.12198840e-03, 1.33262944e-02, 0.00000000e+00,-5.94636627e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1614181 , -0.03981381, -0.15643102, -0.03981381,  0.32929445,
       -0.04272681, -0.15643102, -0.04272681,  0.17229265,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.3664949972959e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64315767,  0.07847134, -0.76170235, -0.05062555,  0.99691637,
        0.05995669,  0.76405842,  0.        ,  0.64514706])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614131, -0.03413142,  0.22474211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1614181 , -0.03981381, -0.15643102, -0.03981381,  0.32929445,
       -0.04272681, -0.15643102, -0.04272681,  0.17229265,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.3664949972959e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64315767,  0.07847134, -0.76170235, -0.05062555,  0.99691637,
        0.05995669,  0.76405842,  0.        ,  0.64514706])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614131, -0.03413142,  0.22474211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005849877678684272
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95439866e-01,  8.72683119e-02, -9.14336674e-01, -3.46415324e-02,
        9.96184843e-01,  8.00982053e-02,  9.17838372e-01,  6.93889390e-18,
        3.96954309e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08307672, -0.03404849,  0.22314988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001618609224903568
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08593682, -0.08010776,  0.06189257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.68979887e-03, 3.02832294e-02, 3.46980162e-03, 1.47823024e-05,
 -6.25966962e-06, 5.63616396e-06,-2.32003004e-05,-1.42862723e-05,
 -8.23563435e-06, 3.32640706e-06,-8.15505599e-07, 1.28742572e-04,
  1.05191271e-02, 1.53924712e-02, 6.52186515e-03, 8.23734880e-04,
  1.29074838e-02, 3.32552281e-02,-9.82126848e+00, 6.05425891e-04,
 -6.08856672e-02, 6.13352436e-02]


--- Step 3526 ---
qpos:
[-0.01832818, 1.19923347,-0.03503466, 0.94263104,-0.00792352, 1.33288539,
 -0.0312017 , 0.94132348, 0.01531   , 1.33849075,-0.0237685 , 0.95472604,
  1.27365752,-0.00933463, 1.28746115, 0.04453078,-0.05538026,-0.08790333,
  0.09053475, 0.69096012,-0.1012118 ,-0.71376551,-0.05356372]

qacc:
[-1.78146198e-01, 7.46380130e-01,-7.09030849e-01,-6.29109807e-01,
 -3.49529330e-02, 5.71606339e+00,-2.56374057e+01, 6.08591633e+01,
 -5.73323901e-02,-5.90182342e+00, 1.92790560e+01,-2.63778218e+01,
 -1.26741869e-01, 2.81373003e-01,-2.42266758e+00, 4.23929721e+00,
  2.65048718e+00, 1.16767377e+00, 5.00556201e+00,-1.36665188e+00,
  8.83153077e+01, 5.43134778e+01]

qfrc_actuator:
[ 9.56052921e-03, 6.42728486e-02, 1.39034205e-02, 1.99572376e-03,
 -1.13106784e-05, 3.48131507e-02, 1.09114803e-02, 1.79967887e-03,
 -3.04325276e-03, 3.47192260e-02, 1.09436883e-02, 1.86042413e-03,
  8.12492764e-03, 1.33458486e-02, 0.00000000e+00,-5.75579204e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16140446, -0.04653924, -0.15454934, -0.04653924,  0.36901047,
       -0.06251613, -0.15454934, -0.06251613,  0.18022986,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.314937114036128e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.43238865e-01,  7.84683660e-02, -7.61634084e-01, -5.06300151e-02,
        9.96916604e-01,  5.99490286e-02,  7.63989767e-01, -6.93889390e-18,
        6.45228360e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614102, -0.0341325 ,  0.22474295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16140446, -0.04653924, -0.15454934, -0.04653924,  0.36901047,
       -0.06251613, -0.15454934, -0.06251613,  0.18022986,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.314937114036128e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.43238865e-01,  7.84683660e-02, -7.61634084e-01, -5.06300151e-02,
        9.96916604e-01,  5.99490286e-02,  7.63989767e-01, -6.93889390e-18,
        6.45228360e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614102, -0.0341325 ,  0.22474295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005848945353614382
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95430546e-01,  8.72694096e-02, -9.14340600e-01, -3.46411550e-02,
        9.96184747e-01,  8.00995645e-02,  9.17842401e-01,  6.93889390e-18,
        3.96944991e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0830752 , -0.03404954,  0.22315001])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016978807761284034
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.26943753e-14,  3.26943753e-14,  1.00000000e+00,  1.06892217e-27,
        1.00000000e+00, -3.26943753e-14, -1.00000000e+00,  0.00000000e+00,
       -3.26943753e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08586535, -0.08011747,  0.06188744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.75508190e-03, 3.01575737e-02, 3.45910274e-03, 2.64530069e-06,
 -1.00572940e-05, 4.04669669e-06, 3.33651214e-06, 1.70140754e-04,
 -1.66243184e-05,-1.13992631e-04, 3.34332542e-05,-4.84514734e-05,
  1.05293384e-02, 1.53829963e-02, 6.78948420e-03, 8.67141888e-04,
  1.01340478e-02, 3.33990029e-02,-9.82027472e+00,-6.13360285e-04,
 -6.09047132e-02, 6.13983781e-02]


--- Step 3527 ---
qpos:
[-0.018331  , 1.1992489 ,-0.03503733, 0.94263231,-0.00792371, 1.33288455,
 -0.0312012 , 0.94132759, 0.01530988, 1.33849028,-0.02376619, 0.95472803,
  1.27367841,-0.00933739, 1.28744773, 0.04452695,-0.05539482,-0.08802977,
  0.09049782, 0.69097856,-0.09959487,-0.71385823,-0.05509912]

qacc:
[-3.52330935e-02, 3.36270459e-01,-1.50050249e-01, 2.48480679e+00,
 -3.34598065e-02, 3.84733264e+00,-2.04006855e+01, 6.10130303e+01,
 -5.79817638e-02,-4.50922504e+00, 1.35996282e+01,-1.76147917e+01,
  2.02836738e-01,-7.14186873e-02,-6.71317803e-01, 1.13776945e+00,
  2.43100479e+00, 1.01303257e+00, 3.77952568e+00,-1.58148185e+00,
  8.07084382e+01, 4.94464824e+01]

qfrc_actuator:
[ 9.55421041e-03, 6.41902865e-02, 1.39253117e-02, 2.00917854e-03,
 -1.50356611e-05, 3.48347883e-02, 1.09681052e-02, 1.98889184e-03,
 -3.05023272e-03, 3.46123194e-02, 1.09598253e-02, 1.82901445e-03,
  8.12595446e-03, 1.33053183e-02, 0.00000000e+00,-5.62530870e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16138809, -0.04834565, -0.15397667, -0.04834565,  0.38036896,
       -0.06875569, -0.15397667, -0.06875569,  0.18297603,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.252586578421205e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64332875,  0.07846518, -0.76155849, -0.05063502,  0.99691686,
        0.05994063,  0.76391375,  0.        ,  0.64531836])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614068, -0.03413355,  0.22474388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16138809, -0.04834565, -0.15397667, -0.04834565,  0.38036896,
       -0.06875569, -0.15397667, -0.06875569,  0.18297603,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.252586578421205e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64332875,  0.07846518, -0.76155849, -0.05063502,  0.99691686,
        0.05994063,  0.76391375,  0.        ,  0.64531836])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614068, -0.03413355,  0.22474388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005847413222054912
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95420113e-01,  8.72706897e-02, -9.14344990e-01, -3.46407531e-02,
        9.96184635e-01,  8.01011330e-02,  9.17846911e-01,  6.93889390e-18,
        3.96934563e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0830735 , -0.03405055,  0.22315016])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001745004495201416
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.1811466e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -3.1811466e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08582304, -0.08012548,  0.06188441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.76918922e-03, 3.00238204e-02, 3.47157210e-03, 1.86752020e-05,
 -9.66252455e-06, 2.96642664e-05, 6.27907837e-05, 1.93373310e-04,
 -1.68012516e-05,-1.64855533e-04,-3.74271050e-06,-3.49296687e-05,
  1.05341172e-02, 1.53296077e-02, 6.88895826e-03, 8.88524539e-04,
  7.45000379e-03, 3.34652613e-02,-9.81950766e+00,-1.60314070e-03,
 -6.09321435e-02, 6.14609110e-02]


--- Step 3528 ---
qpos:
[-0.01833441, 1.19926638,-0.03503941, 0.94263362,-0.00792396, 1.33288405,
 -0.03120062, 0.9413322 , 0.01530949, 1.33848922,-0.0237643 , 0.95472996,
  1.27369962,-0.00933979, 1.28743036, 0.04452293,-0.05540038,-0.08815266,
  0.09047186, 0.69110452,-0.09803647,-0.71383548,-0.05658888]

qacc:
[-2.59521078e-01, 1.16325940e+00,-6.18577891e-01,-2.71156486e-01,
 -2.71595229e-02, 1.09528200e+00,-4.07836063e+00, 9.25195880e+00,
 -1.10001510e-01, 2.61420867e-01,-1.64519116e+00, 1.00633552e+00,
  2.35229605e-01, 4.46187846e-02,-5.31119557e+00, 1.00852227e+01,
  2.24676099e+00, 8.84620379e-01, 2.74364348e+00,-1.76595414e+00,
  7.43823001e+01, 4.53743894e+01]

qfrc_actuator:
[ 9.53384336e-03, 6.41517764e-02, 1.39569761e-02, 2.01659285e-03,
 -1.71484904e-05, 3.48481664e-02, 1.09658466e-02, 2.00978216e-03,
 -3.07204076e-03, 3.46202374e-02, 1.09504695e-02, 1.82747358e-03,
  8.12047602e-03, 1.32642821e-02, 0.00000000e+00,-4.11114409e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16137174, -0.04701748, -0.15437032, -0.04701748,  0.36242634,
       -0.06123638, -0.15437032, -0.06123638,  0.18002287,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.189747241038297e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64342256,  0.07846182, -0.76147958, -0.05064022,  0.99691712,
        0.05993184,  0.76383439,  0.        ,  0.64541229])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614034, -0.03413461,  0.22474487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16137174, -0.04701748, -0.15437032, -0.04701748,  0.36242634,
       -0.06123638, -0.15437032, -0.06123638,  0.18002287,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.189747241038297e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64342256,  0.07846182, -0.76147958, -0.05064022,  0.99691712,
        0.05993184,  0.76383439,  0.        ,  0.64541229])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08614034, -0.03413461,  0.22474487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005846060383811122
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39540838,  0.08727203, -0.91434994, -0.03464026,  0.99618452,
        0.0801028 ,  0.91785198,  0.        ,  0.39692283])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08307172, -0.03405158,  0.22315032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017659475989216245
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.14342007e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.14342007e-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([-0.08580425, -0.08013192,  0.06188308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.75285072e-03, 2.99388060e-02, 3.47890064e-03, 1.34418375e-05,
 -7.81659844e-06, 4.79168086e-05, 1.63742944e-05, 2.81118398e-05,
 -3.17362954e-05,-8.50091908e-05,-4.29981696e-05,-7.34333683e-06,
  1.05131131e-02, 1.52828581e-02, 6.91680038e-03, 1.04259822e-03,
  4.85442956e-03, 3.34747001e-02,-9.81891418e+00,-2.41627349e-03,
 -6.09662680e-02, 6.15224024e-02]


--- Step 3529 ---
qpos:
[-0.01833874, 1.19928604,-0.03504185, 0.94263366,-0.00792411, 1.33288433,
 -0.03120038, 0.94133425, 0.01530856, 1.33848881,-0.02376362, 0.95473005,
  1.27372097,-0.00934175, 1.28740696, 0.0445188 ,-0.05539758,-0.08827245,
  0.09045338, 0.69133039,-0.09653237,-0.7137055 ,-0.05803671]

qacc:
[-3.95678018e-01, 1.70547911e+00, 5.07871219e-01,-1.65031292e+01,
  4.15854651e-02,-2.43745850e+00, 1.44658143e+01,-4.27961341e+01,
 -2.32538572e-01, 9.90718580e-01, 1.48136173e+00,-2.27737420e+01,
  1.49862994e-01, 1.41143767e-01,-8.57898609e+00, 1.70354168e+01,
  2.09231797e+00, 7.77784284e-01, 1.86981202e+00,-1.92944847e+00,
  6.91241158e+01, 4.19493183e+01]

qfrc_actuator:
[ 9.52334698e-03, 6.41914540e-02, 1.39231882e-02, 1.94948142e-03,
 -5.24823894e-07, 3.48916886e-02, 1.09464543e-02, 1.87814416e-03,
 -3.12032095e-03, 3.47145275e-02, 1.09088501e-02, 1.73705665e-03,
  8.11108193e-03, 1.32581587e-02, 0.00000000e+00,-2.29790085e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16135011, -0.05121899, -0.15300481, -0.05121899,  0.38132974,
       -0.07363909, -0.15300481, -0.07363909,  0.1860011 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.10571394443877e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.43533750e-01,  7.84578895e-02, -7.61386020e-01, -5.06464211e-02,
        9.96917429e-01,  5.99214524e-02,  7.63740304e-01, -6.93889390e-18,
        6.45523623e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861399 , -0.03413564,  0.22474605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16135011, -0.05121899, -0.15300481, -0.05121899,  0.38132974,
       -0.07363909, -0.15300481, -0.07363909,  0.1860011 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.10571394443877e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.43533750e-01,  7.84578895e-02, -7.61386020e-01, -5.06464211e-02,
        9.96917429e-01,  5.99214524e-02,  7.63740304e-01, -6.93889390e-18,
        6.45523623e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861399 , -0.03413564,  0.22474605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005843552390211691
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39539421,  0.08727364, -0.91435591, -0.03463967,  0.99618438,
        0.08010482,  0.91785811,  0.        ,  0.39690866])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08306957, -0.03405256,  0.22315051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001765730247755351
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.14380701e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.14380701e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08580431, -0.08013693,  0.06188311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.77211441e-03, 2.98754285e-02, 3.41520913e-03,-5.57950900e-05,
  1.20109157e-05, 7.40917663e-05,-7.32049851e-06,-1.29055329e-04,
 -6.70262320e-05, 3.86720145e-05,-6.33211791e-05,-9.43612946e-05,
  1.04874788e-02, 1.52588666e-02, 7.11431141e-03, 1.23280860e-03,
  2.34108425e-03, 3.34429775e-02,-9.81845510e+00,-3.09226650e-03,
 -6.10058735e-02, 6.15825410e-02]


--- Step 3530 ---
qpos:
[-0.01834376, 1.19930776,-0.03504374, 0.94263356,-0.00792412, 1.33288489,
 -0.03119968, 0.94133505, 0.01530707, 1.33848862,-0.02376382, 0.9547315 ,
  1.27374218,-0.00934341, 1.28738037, 0.0445148 ,-0.05538692,-0.08838948,
  0.09043944, 0.69164982,-0.09507894,-0.7134751 ,-0.05944576]

qacc:
[-3.05318043e-01, 9.47846278e-01, 4.87793929e-01,-3.47922401e+00,
  5.92812239e-02,-3.00208756e+00, 1.28382477e+01,-2.58141183e+01,
 -2.35361026e-01, 4.96189474e+00,-1.85582126e+01, 3.15443290e+01,
 -1.22522375e-01, 2.82852022e-01,-5.08140952e+00, 1.09631575e+01,
  1.96305296e+00, 6.88713638e-01, 1.13396223e+00,-2.07869953e+00,
  6.47600438e+01, 3.90529065e+01]

qfrc_actuator:
[ 9.53707598e-03, 6.41883367e-02, 1.39396180e-02, 1.94545973e-03,
  9.45131304e-06, 3.48994790e-02, 1.09704355e-02, 1.81763097e-03,
 -3.14858617e-03, 3.47176181e-02, 1.08665880e-02, 1.80813410e-03,
  8.11532078e-03, 1.32905071e-02, 0.00000000e+00,-1.54778340e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16131968, -0.05355509, -0.1521706 , -0.05355509,  0.37930566,
       -0.07671823, -0.1521706 , -0.07671823,  0.18831998,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.985772141831527e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6436691 ,  0.07845321, -0.76127208, -0.05065403,  0.9969178 ,
        0.05990889,  0.76362573,  0.        ,  0.64565916])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613932, -0.03413656,  0.2247475 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16131968, -0.05355509, -0.1521706 , -0.05355509,  0.37930566,
       -0.07671823, -0.1521706 , -0.07671823,  0.18831998,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.985772141831527e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6436691 ,  0.07845321, -0.76127208, -0.05065403,  0.9969178 ,
        0.05990889,  0.76362573,  0.        ,  0.64565916])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613932, -0.03413656,  0.2247475 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005838762708824038
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95378366e-01,  8.72756525e-02, -9.14362569e-01, -3.46390807e-02,
        9.96184200e-01,  8.01072632e-02,  9.17864959e-01, -6.93889390e-18,
        3.96892829e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08306689, -0.03405343,  0.22315076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017485700851743308
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.34931956e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.34931956e-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([-0.08581936, -0.08014063,  0.06188424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.83120844e-03, 2.97631482e-02, 3.44996742e-03, 3.38441896e-06,
  1.70696154e-05, 4.34582502e-05, 3.38618782e-05,-6.14805900e-05,
 -6.78472502e-05, 9.31240215e-06,-4.46674184e-05, 6.81753599e-05,
  1.04847475e-02, 1.52690762e-02, 7.41656797e-03, 1.31377327e-03,
 -9.94439023e-05, 3.33821427e-02,-9.81810126e+00,-3.66120727e-03,
 -6.10500726e-02, 6.16411014e-02]


--- Step 3531 ---
qpos:
[-0.01834854, 1.19932947,-0.03504494, 0.94263393,-0.007924  , 1.33288593,
 -0.03119939, 0.94133653, 0.01530555, 1.33848774,-0.02376414, 0.95473314,
  1.27376341,-0.00934531, 1.28735803, 0.04451133,-0.05536884,-0.08850405,
  0.09042755, 0.69205755,-0.09367313,-0.7131499 ,-0.06081874]

qacc:
[ 1.07988079e-01,-1.03072206e+00, 2.35897372e+00, 3.52456683e+00,
  5.53439554e-02, 2.91012775e+00,-1.01449146e+01, 1.63951213e+01,
 -9.78973695e-03,-2.59951310e-01,-6.34018533e-01, 3.17905318e+00,
 -2.54342976e-02,-1.15216986e-01, 4.66464348e+00,-7.18940761e+00,
  1.85502961e+00, 6.14280825e-01, 5.15486879e-01,-2.21849939e+00,
  6.11470925e+01, 3.65899560e+01]

qfrc_actuator:
[ 9.52999103e-03, 6.41587904e-02, 1.39676490e-02, 1.96093182e-03,
  1.53581162e-05, 3.49215040e-02, 1.09487576e-02, 1.85276075e-03,
 -3.11135827e-03, 3.46306557e-02, 1.08418300e-02, 1.81388459e-03,
  8.12243399e-03, 1.33103992e-02, 0.00000000e+00,-3.21277580e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16128637, -0.06222451, -0.14879988, -0.06222451,  0.4317495 ,
       -0.11310115, -0.14879988, -0.11310115,  0.20858254,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.852048955200384e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.43818283e-01,  7.84482097e-02, -7.61146436e-01, -5.06625239e-02,
        9.96918190e-01,  5.98951607e-02,  7.63499396e-01, -6.93889390e-18,
        6.45808542e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613868, -0.03413742,  0.22474911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16128637, -0.06222451, -0.14879988, -0.06222451,  0.4317495 ,
       -0.11310115, -0.14879988, -0.11310115,  0.20858254,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.852048955200384e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.43818283e-01,  7.84482097e-02, -7.61146436e-01, -5.06625239e-02,
        9.96918190e-01,  5.98951607e-02,  7.63499396e-01, -6.93889390e-18,
        6.45808542e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613868, -0.03413742,  0.22474911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005833371888789678
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95360115e-01,  8.72779823e-02, -9.14370238e-01, -3.46384135e-02,
        9.96183996e-01,  8.01100899e-02,  9.17872845e-01, -6.93889390e-18,
        3.96874590e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08306393, -0.03405423,  0.22315104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017180043459631283
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.23114149e-14,  6.46228298e-14,  1.00000000e+00,  2.08805507e-27,
        1.00000000e+00, -6.46228298e-14, -1.00000000e+00,  0.00000000e+00,
       -3.23114149e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08584621, -0.08014319,  0.06188621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.85913666e-03, 2.96303995e-02, 3.45013138e-03, 2.64153294e-05,
  1.59851459e-05, 5.08372150e-05,-1.11234402e-05, 3.60120074e-05,
 -2.84071754e-06,-8.85153469e-05,-2.60183628e-05, 6.30787973e-06,
  1.04990344e-02, 1.52739836e-02, 7.57627888e-03, 1.14105210e-03,
 -2.47832606e-03, 3.33016149e-02,-9.81783079e+00,-4.14620392e-03,
 -6.10982019e-02, 6.16979157e-02]


--- Step 3532 ---
qpos:
[-0.0183526 , 1.19934937,-0.03504633, 0.94263435,-0.00792392, 1.33288757,
 -0.03120024, 0.94133742, 0.01530436, 1.33848626,-0.02376413, 0.95473377,
  1.2737843 ,-0.00934769, 1.28734271, 0.04450842,-0.05536646,-0.0886174 ,
  0.09040707, 0.69226527,-0.09226902,-0.71301078,-0.0622162 ]

qacc:
[ 3.10794757e-01,-1.80107862e+00, 2.90709076e+00,-7.96878172e-01,
 -1.72023410e-02, 2.81844676e+00,-7.01958648e+00,-1.24133640e+00,
  1.35417272e-01,-3.38179964e+00, 1.21205913e+01,-2.17876983e+01,
 -3.00542637e-01,-4.90395153e-02, 8.70124408e+00,-1.53464931e+01,
 -3.92218070e+00, 3.04828554e-01,-2.14964087e+00,-1.30229701e+01,
 -1.34611105e+02,-2.26649229e+01]

qfrc_actuator:
[ 9.54525499e-03, 6.41323838e-02, 1.39490369e-02, 1.95202594e-03,
  1.02364254e-06, 3.49340167e-02, 1.08826287e-02, 1.81958013e-03,
 -3.07064990e-03, 3.46147540e-02, 1.08626780e-02, 1.76330680e-03,
  8.12061112e-03, 1.33587453e-02, 0.00000000e+00,-5.26627299e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16126191, -0.06398403, -0.14802516, -0.06398403,  0.44681077,
       -0.1234288 , -0.14802516, -0.1234288 ,  0.21461414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.752131877832412e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.43952491e-01,  7.84438758e-02, -7.61033342e-01, -5.06702681e-02,
        9.96918531e-01,  5.98829324e-02,  7.63385691e-01,  6.93889390e-18,
        6.45942944e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613815, -0.03413838,  0.22475059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16126191, -0.06398403, -0.14802516, -0.06398403,  0.44681077,
       -0.1234288 , -0.14802516, -0.1234288 ,  0.21461414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.752131877832412e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.43952491e-01,  7.84438758e-02, -7.61033342e-01, -5.06702681e-02,
        9.96918531e-01,  5.98829324e-02,  7.63385691e-01,  6.93889390e-18,
        6.45942944e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613815, -0.03413838,  0.22475059])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005830570761462713
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39534125,  0.08728023, -0.91437818, -0.03463766,  0.9961838 ,
        0.08011286,  0.917881  ,  0.        ,  0.39685573])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0830613 , -0.03405514,  0.22315133])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017676278513057558
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.14043203e-14,  1.57021602e-14,  1.00000000e+00,  4.93115667e-28,
        1.00000000e+00, -1.57021602e-14, -1.00000000e+00,  0.00000000e+00,
       -3.14043203e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02285079, -0.09415478,  0.0618832 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.86200008e-03, 2.96041896e-02, 3.39748145e-03,-6.39306329e-06,
 -4.89632461e-06, 3.95413602e-05,-5.63899938e-05,-3.11364185e-05,
  3.90269564e-05,-6.97369342e-05, 7.92266295e-07,-5.38146957e-05,
  1.04964798e-02, 1.53344980e-02, 7.36415253e-03, 9.09016718e-04,
 -4.80757057e-03, 3.32088631e-02,-9.81762710e+00,-4.56514183e-03,
 -6.11497539e-02, 6.17528541e-02]


--- Step 3533 ---
qpos:
[-0.01835629, 1.19936832,-0.03504832, 0.94263393,-0.00792409, 1.33288916,
 -0.03120134, 0.94133687, 0.01530341, 1.3384847 ,-0.02376394, 0.95473616,
  1.27380472,-0.00935039, 1.28733133, 0.04450582,-0.05537833,-0.08872966,
  0.09037524, 0.69229092,-0.09086421,-0.71304093,-0.06363657]

qacc:
[ 1.64881213e-01,-1.07906626e+00, 3.75569527e+00,-1.25273351e+01,
 -1.01496129e-01,-1.83929577e+00, 8.88132514e+00,-2.42755420e+01,
  1.03995900e-01, 2.42730729e+00,-1.15826554e+01, 3.04408408e+01,
 -3.68287901e-01, 8.93718890e-02, 4.91435950e+00,-8.66912353e+00,
 -3.56669067e+00, 2.74742656e-01,-2.83811815e+00,-1.10643112e+01,
 -1.22413931e+02,-2.16481968e+01]

qfrc_actuator:
[ 9.55561110e-03, 6.40919094e-02, 1.39740375e-02, 1.91097847e-03,
 -2.53368827e-05, 3.49050096e-02, 1.08617251e-02, 1.74641999e-03,
 -3.06369206e-03, 3.46594198e-02, 1.08927476e-02, 1.85758328e-03,
  8.12410902e-03, 1.33889963e-02, 0.00000000e+00,-5.77995880e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16124905, -0.0675432 , -0.14642121, -0.0675432 ,  0.45893121,
       -0.13731895, -0.14642121, -0.13731895,  0.22459344,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.698966282748554e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.44059027e-01,  7.84406082e-02, -7.60943520e-01, -5.06765269e-02,
        9.96918789e-01,  5.98733550e-02,  7.63295395e-01, -6.93889390e-18,
        6.46049642e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613778, -0.03413944,  0.22475178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16124905, -0.0675432 , -0.14642121, -0.0675432 ,  0.45893121,
       -0.13731895, -0.14642121, -0.13731895,  0.22459344,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.698966282748554e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.44059027e-01,  7.84406082e-02, -7.60943520e-01, -5.06765269e-02,
        9.96918789e-01,  5.98733550e-02,  7.63295395e-01, -6.93889390e-18,
        6.46049642e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613778, -0.03413944,  0.22475178])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005830933918407992
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39532421,  0.08728215, -0.91438536, -0.03463694,  0.99618363,
        0.08011527,  0.91788836,  0.        ,  0.3968387 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08305928, -0.03405617,  0.22315158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.22996446,  1.21467371, 17.22996446, 17.52910878,
       -3.63673332,  1.21467371, -3.63673332, 68.85924436,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018183607433698568
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.05281289e-14, -3.05281289e-14,  1.00000000e+00, -9.31966657e-28,
        1.00000000e+00,  3.05281289e-14, -1.00000000e+00,  0.00000000e+00,
       -3.05281289e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02271489, -0.09412727,  0.06188009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.83668065e-03, 2.96538070e-02, 3.43144448e-03,-4.98843168e-05,
 -2.92493284e-05,-1.91143604e-05,-2.04984386e-05,-7.43417437e-05,
  3.00028408e-05, 4.67316881e-06, 1.49676806e-05, 9.09794359e-05,
  1.05166816e-02, 1.53889698e-02, 7.01383715e-03, 8.29901975e-04,
 -3.02419956e-04, 3.02031629e-02,-9.81725166e+00,-2.92299527e-03,
 -6.13440013e-02, 6.18447726e-02]


--- Step 3534 ---
qpos:
[-0.01836016, 1.19938797,-0.03505098, 0.94263182,-0.00792452, 1.33289   ,
 -0.0312021 , 0.94133549, 0.01530265, 1.33848377,-0.02376446, 0.95473793,
  1.27382456,-0.00935315, 1.28731974, 0.04450333,-0.05540328,-0.08884092,
  0.09032971, 0.69214946,-0.08945676,-0.71322606,-0.06507842]

qacc:
[-8.17237436e-02,-9.79673163e-02, 4.91420231e+00,-2.41462818e+01,
 -1.13927992e-01,-3.30111029e+00, 1.13148615e+01,-1.90865410e+01,
  7.65351269e-02, 1.67793718e+00,-3.23083986e+00,-4.83912467e+00,
 -4.08490864e-01, 2.64939224e-01,-6.31052250e-01, 1.78782806e+00,
 -3.26608380e+00, 2.48220868e-01,-3.42444274e+00,-9.40336847e+00,
 -1.12172921e+02,-2.07379332e+01]

qfrc_actuator:
[ 9.56307185e-03, 6.40428711e-02, 1.40079482e-02, 1.83377397e-03,
 -4.09448512e-05, 3.48337394e-02, 1.08675201e-02, 1.70359943e-03,
 -3.05928582e-03, 3.47046347e-02, 1.08573365e-02, 1.82336880e-03,
  8.12017232e-03, 1.34084188e-02, 0.00000000e+00,-5.01448496e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16124277, -0.07529503, -0.14258292, -0.07529503,  0.47641867,
       -0.16643773, -0.14258292, -0.16643773,  0.24913502,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.67285937035935e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64414972,  0.07843797, -0.76086702, -0.05068195,  0.996919  ,
        0.05986531,  0.7632185 ,  0.        ,  0.64614048])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613752, -0.03414055,  0.22475281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16124277, -0.07529503, -0.14258292, -0.07529503,  0.47641867,
       -0.16643773, -0.14258292, -0.16643773,  0.24913502,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.67285937035935e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64414972,  0.07843797, -0.76086702, -0.05068195,  0.996919  ,
        0.05986531,  0.7632185 ,  0.        ,  0.64614048])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613752, -0.03414055,  0.22475281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005833123530833151
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95308618e-01,  8.72839049e-02, -9.14391938e-01, -3.46362700e-02,
        9.96183477e-01,  8.01174691e-02,  9.17895106e-01,  6.93889390e-18,
        3.96823103e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08305762, -0.03405724,  0.22315182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.24153011,  1.03766421, 17.24153011, 17.47109751,
       -3.29606282,  1.03766421, -3.29606282, 72.03915925,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001838274187427387
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.20789709e-13,  3.01974274e-14,  1.00000000e+00,  3.64753848e-27,
        1.00000000e+00, -3.01974274e-14, -1.00000000e+00,  0.00000000e+00,
       -1.20789709e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02266083, -0.09411412,  0.06187884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.82519649e-03, 2.96525927e-02, 3.49547293e-03,-8.45214794e-05,
 -3.28749746e-05,-8.81088829e-05,-2.46152865e-06,-4.57204129e-05,
  2.21236907e-05, 5.34324983e-05,-3.01304467e-05,-3.15191968e-05,
  1.05363998e-02, 1.54243792e-02, 6.81669513e-03, 8.90913527e-04,
  3.15181631e-03, 2.75734120e-02,-9.81721282e+00,-1.31699587e-03,
 -6.15113407e-02, 6.19377088e-02]


--- Step 3535 ---
qpos:
[-0.01836401, 1.19940806,-0.03505357, 0.94262914,-0.00792489, 1.33289015,
 -0.03120253, 0.94133428, 0.0153023 , 1.33848351,-0.02376604, 0.95473859,
  1.27384366,-0.00935599, 1.28730955, 0.04450097,-0.05544026,-0.08895128,
  0.09026848, 0.69185332,-0.08804501,-0.71355409,-0.06654046]

qacc:
[ 1.06060288e-02,-5.95861217e-01, 3.81923826e+00,-1.02962170e+01,
  2.46342476e-02,-1.49647338e+00, 3.41383327e+00,-4.08161937e-01,
  1.78025630e-01, 1.81888139e+00,-2.64346602e+00,-1.08291721e+01,
 -6.13844444e-01, 4.36519544e-01, 1.72331616e+00,-2.91571392e+00,
 -3.01061006e+00, 2.24720042e-01,-3.92402450e+00,-7.98035039e+00,
 -1.03565625e+02,-1.99411356e+01]

qfrc_actuator:
[ 9.58696233e-03, 6.40051566e-02, 1.39942545e-02, 1.80704852e-03,
 -1.44705088e-05, 3.48088444e-02, 1.08888593e-02, 1.71446925e-03,
 -3.02093898e-03, 3.47317700e-02, 1.08012303e-02, 1.76700681e-03,
  8.10647569e-03, 1.34389628e-02, 0.00000000e+00,-5.43352125e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16123724, -0.07001742, -0.14524121, -0.07001742,  0.44189649,
       -0.13529931, -0.14524121, -0.13529931,  0.2264619 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.649781721597588e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.44241474e-01,  7.84353929e-02, -7.60789598e-01, -5.06874912e-02,
        9.96919199e-01,  5.98572392e-02,  7.63140683e-01, -6.93889390e-18,
        6.46232387e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613726, -0.0341416 ,  0.22475387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16123724, -0.07001742, -0.14524121, -0.07001742,  0.44189649,
       -0.13529931, -0.14524121, -0.13529931,  0.2264619 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.649781721597588e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.44241474e-01,  7.84353929e-02, -7.60789598e-01, -5.06874912e-02,
        9.96919199e-01,  5.98572392e-02,  7.63140683e-01, -6.93889390e-18,
        6.46232387e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613726, -0.0341416 ,  0.22475387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005835657535609683
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39529298,  0.08728573, -0.91439852, -0.03463563,  0.99618332,
        0.08011973,  0.91790187,  0.        ,  0.39680747])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08305595, -0.03405826,  0.22315208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.26243582,  0.59616874, 17.26243582, 17.34144556,
       -1.98978054,  0.59616874, -1.98978054, 74.88805773,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018331686859623247
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.05630586e-14,  3.02815293e-14,  1.00000000e+00,  1.83394203e-27,
        1.00000000e+00, -3.02815293e-14, -1.00000000e+00,  0.00000000e+00,
       -6.05630586e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02267204, -0.0941123 ,  0.06187907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.85842788e-03, 2.95789463e-02, 3.51520185e-03,-2.75642476e-05,
  7.06441439e-06,-7.55075496e-05, 2.47384166e-06, 7.08059582e-06,
  5.14136871e-05, 4.98743113e-05,-5.00137754e-05,-5.63933086e-05,
  1.05516891e-02, 1.54578355e-02, 6.82799569e-03, 8.43629830e-04,
  5.78858162e-03, 2.52455175e-02,-9.81741855e+00, 2.60269379e-04,
 -6.16543397e-02, 6.20308509e-02]


--- Step 3536 ---
qpos:
[-0.01836743, 1.19942769,-0.03505599, 0.94262658,-0.0079251 , 1.33288998,
 -0.03120228, 0.94133317, 0.01530225, 1.3384839 ,-0.02376755, 0.95473955,
  1.27386259,-0.00935892, 1.28730171, 0.04449866,-0.05546593,-0.08905627,
  0.09022831, 0.69168977,-0.08674617,-0.71374259,-0.06791087]

qacc:
[ 1.84575032e-01,-8.45443935e-01, 1.79433485e+00, 1.25129130e-01,
  7.01029745e-02,-2.09606034e+00, 6.15902078e+00,-4.13477069e+00,
  1.23006387e-01, 1.19878377e+00,-3.46219056e+00, 6.02685881e+00,
 -2.01001124e-01, 1.27899003e-01, 3.33871594e+00,-6.58312526e+00,
  2.82975513e+00, 1.34403387e+00, 5.26394071e+00,-5.17520579e+00,
  8.77807588e+01, 8.25311172e+01]

qfrc_actuator:
[ 9.58506868e-03, 6.39742372e-02, 1.39515313e-02, 1.81018497e-03,
  1.52843905e-06, 3.48297659e-02, 1.09371392e-02, 1.72136242e-03,
 -3.01579797e-03, 3.48010092e-02, 1.08220839e-02, 1.78684354e-03,
  8.09761062e-03, 1.34052154e-02, 0.00000000e+00,-6.20887995e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16123511, -0.05837274, -0.15029765, -0.05837274,  0.39880609,
       -0.09226804, -0.15029765, -0.09226804,  0.19707025,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.6408668883201e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64432829,  0.07843307, -0.76071631, -0.05069281,  0.99691938,
        0.05984969,  0.76306703,  0.        ,  0.64631935])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613703, -0.03414262,  0.22475491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16123511, -0.05837274, -0.15029765, -0.05837274,  0.39880609,
       -0.09226804, -0.15029765, -0.09226804,  0.19707025,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.6408668883201e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64432829,  0.07843307, -0.76071631, -0.05069281,  0.99691938,
        0.05984969,  0.76306703,  0.        ,  0.64631935])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613703, -0.03414262,  0.22475491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005839343458338489
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39527689,  0.08728755, -0.91440531, -0.03463495,  0.99618316,
        0.08012202,  0.91790882,  0.        ,  0.39679138])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0830544 , -0.03405925,  0.22315236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018277743920003045
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.03708989e-14,  3.03708989e-14,  1.00000000e+00,  9.22391499e-28,
        1.00000000e+00, -3.03708989e-14, -1.00000000e+00,  0.00000000e+00,
       -3.03708989e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08648926, -0.08263447,  0.06187926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.85529583e-03, 2.95264157e-02, 3.46916397e-03, 4.51135682e-06,
  2.01665128e-05,-2.01560468e-05, 3.39922382e-05, 4.85145310e-06,
  3.55060390e-05, 8.53866036e-05, 2.32623985e-05, 1.85370083e-05,
  1.05801959e-02, 1.54281771e-02, 6.75775931e-03, 7.59537324e-04,
  7.78241913e-03, 2.31620730e-02,-9.81780371e+00, 1.81579690e-03,
 -6.17751171e-02, 6.21236180e-02]


--- Step 3537 ---
qpos:
[-0.01837103, 1.19944822,-0.03505684, 0.94262596,-0.00792527, 1.33289005,
 -0.03120229, 0.94133284, 0.01530195, 1.33848519,-0.02376834, 0.95474034,
  1.27388162,-0.00936145, 1.28729223, 0.04449603,-0.05548127,-0.08915643,
  0.09020407, 0.69164753,-0.08554917,-0.71380419,-0.06919978]

qacc:
[-7.28324129e-02, 2.05407373e-01,-3.25186274e+00, 2.47140348e+01,
  1.28841808e-02, 2.31755993e+00,-8.79865548e+00, 1.65487490e+01,
 -1.01751541e-01,-1.05309951e+00, 5.17845762e+00,-7.00230938e+00,
 -9.56008417e-02, 3.78956068e-01,-1.44597141e+00, 1.53205445e+00,
  2.58049105e+00, 1.20534854e+00, 3.98345697e+00,-5.17894373e+00,
  8.01875700e+01, 7.41562313e+01]

qfrc_actuator:
[ 9.56729564e-03, 6.39481026e-02, 1.39977758e-02, 1.91953489e-03,
 -6.64096941e-06, 3.48603275e-02, 1.09300958e-02, 1.76139733e-03,
 -3.06612384e-03, 3.48775015e-02, 1.08706639e-02, 1.78042994e-03,
  8.09694490e-03, 1.33684374e-02, 0.00000000e+00,-5.42251766e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16123679, -0.0415423 , -0.15579326, -0.0415423 ,  0.30316933,
       -0.03784633, -0.15579326, -0.03784633,  0.17132852,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.647924526587481e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64440634,  0.07843096, -0.76065042, -0.05069758,  0.99691955,
        0.05984289,  0.7630008 ,  0.        ,  0.64639754])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613687, -0.03414369,  0.22475585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16123679, -0.0415423 , -0.15579326, -0.0415423 ,  0.30316933,
       -0.03784633, -0.15579326, -0.03784633,  0.17132852,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.647924526587481e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64440634,  0.07843096, -0.76065042, -0.05069758,  0.99691955,
        0.05984289,  0.7630008 ,  0.        ,  0.64639754])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613687, -0.03414369,  0.22475585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005844153482587634
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39526106,  0.08728921, -0.91441199, -0.03463422,  0.99618301,
        0.08012413,  0.91791566,  0.        ,  0.39677554])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08305304, -0.03406029,  0.22315263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018743905228204225
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.96155740e-14,  2.96155740e-14,  1.00000000e+00,  8.77082223e-28,
        1.00000000e+00, -2.96155740e-14, -1.00000000e+00,  0.00000000e+00,
       -2.96155740e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08644751, -0.08263171,  0.0618763 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.81632587e-03, 2.95226219e-02, 3.50688758e-03, 1.07890319e-04,
  3.73460533e-06, 2.62087618e-05,-6.97750929e-06, 4.05355999e-05,
 -2.93542329e-05, 1.28804316e-04, 6.84442681e-05,-2.77139026e-06,
  1.05878670e-02, 1.53958332e-02, 6.63992186e-03, 8.35504827e-04,
  5.31101034e-03, 2.18574893e-02,-9.81670662e+00, 9.52916496e-04,
 -6.17722983e-02, 6.21590860e-02]


--- Step 3538 ---
qpos:
[-0.01837478, 1.19946948,-0.03505612, 0.94262735,-0.00792547, 1.33289013,
 -0.03120205, 0.94133401, 0.01530142, 1.33848728,-0.02376936, 0.9547411 ,
  1.27390112,-0.00936361, 1.28728119, 0.04449311,-0.05548713,-0.08925224,
  0.09019145, 0.69171717,-0.08444485,-0.71374932,-0.07041544]

qacc:
[-6.83998538e-02, 1.66570105e-01,-3.54500034e+00, 2.60366384e+01,
 -9.16825818e-03, 1.95789603e+00,-9.49937216e+00, 2.58106141e+01,
 -1.02417880e-01, 1.58859446e+00,-3.85155544e+00, 2.52394339e+00,
  1.98566427e-01, 1.38650846e-01,-1.41726207e+00, 1.61223399e+00,
  2.37284767e+00, 1.08919641e+00, 2.90253776e+00,-5.15405475e+00,
  7.38634990e+01, 6.72593632e+01]

qfrc_actuator:
[ 9.54041674e-03, 6.39236749e-02, 1.40604208e-02, 2.01974054e-03,
 -1.14901932e-05, 3.48607413e-02, 1.09437732e-02, 1.83834189e-03,
 -3.07830442e-03, 3.48868461e-02, 1.08464453e-02, 1.77636804e-03,
  8.09585456e-03, 1.33293970e-02, 0.00000000e+00,-5.11574012e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16123609, -0.04061804, -0.15603606, -0.04061804,  0.30013292,
       -0.0361565 , -0.15603606, -0.0361565 ,  0.17064806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.644976656561795e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64449242,  0.07842851, -0.76057774, -0.05070276,  0.99691974,
        0.05983529,  0.76292775,  0.        ,  0.64648376])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613666, -0.03414475,  0.22475688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16123609, -0.04061804, -0.15603606, -0.04061804,  0.30013292,
       -0.0361565 , -0.15603606, -0.0361565 ,  0.17064806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.644976656561795e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64449242,  0.07842851, -0.76057774, -0.05070276,  0.99691974,
        0.05983529,  0.76292775,  0.        ,  0.64648376])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613666, -0.03414475,  0.22475688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005848451277011488
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95242957e-01,  8.72909685e-02, -9.14419648e-01, -3.46333409e-02,
        9.96182858e-01,  8.01264306e-02,  9.17923492e-01,  6.93889390e-18,
        3.96757436e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0830515 , -0.03406132,  0.22315291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018937290572812182
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.86262866e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.86262866e-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([-0.08643055, -0.08263042,  0.0618751 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.79780956e-03, 2.94532962e-02, 3.49065323e-03, 1.11432487e-04,
 -2.64378181e-06, 1.47690190e-05, 1.92007364e-05, 7.84685815e-05,
 -2.95113227e-05, 9.38494105e-05, 8.63473280e-06, 1.69547055e-06,
  1.05815395e-02, 1.53372577e-02, 6.72285306e-03, 8.82572204e-04,
  3.04588213e-03, 2.06991765e-02,-9.81584711e+00, 2.97055742e-04,
 -6.17729243e-02, 6.21932540e-02]


--- Step 3539 ---
qpos:
[-0.01837909, 1.19949175,-0.03505527, 0.94262895,-0.00792585, 1.33288972,
 -0.0312011 , 0.94133578, 0.01530068, 1.33848978,-0.02377074, 0.95474186,
  1.27392124,-0.00936521, 1.28726437, 0.04448979,-0.05548418,-0.08934408,
  0.09018679, 0.69189076,-0.0834256 ,-0.71358661,-0.07156464]

qacc:
[-2.44139764e-01, 1.30327400e+00,-3.09154653e+00, 4.44766097e+00,
 -7.66447189e-02,-1.58919215e+00, 3.18918210e+00, 4.36734438e+00,
 -8.45835022e-02, 1.53591798e+00,-4.34395735e+00, 3.40195349e+00,
  4.24568279e-01, 3.41776937e-02,-7.38821650e+00, 1.33771504e+01,
  2.20012717e+00, 9.91839233e-01, 1.99151958e+00,-5.11417374e+00,
  6.85994826e+01, 6.15621434e+01]

qfrc_actuator:
[ 9.52588389e-03, 6.39178224e-02, 1.40435213e-02, 2.02483949e-03,
 -3.20599218e-05, 3.48076937e-02, 1.09694968e-02, 1.86537699e-03,
 -3.08525303e-03, 3.48733819e-02, 1.08146946e-02, 1.77364239e-03,
  8.09447321e-03, 1.32888559e-02, 0.00000000e+00,-3.32049212e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16123292, -0.0404832 , -0.15606782, -0.0404832 ,  0.30103313,
       -0.03626346, -0.15606782, -0.03626346,  0.17063947,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.631690156948776e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64458623,  0.07842574, -0.76049852, -0.05070834,  0.99691996,
        0.05982693,  0.76284812,  0.        ,  0.64657771])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613641, -0.03414584,  0.22475799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16123292, -0.0404832 , -0.15606782, -0.0404832 ,  0.30103313,
       -0.03626346, -0.15606782, -0.03626346,  0.17063947,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.631690156948776e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64458623,  0.07842574, -0.76049852, -0.05070834,  0.99691996,
        0.05982693,  0.76284812,  0.        ,  0.64657771])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613641, -0.03414584,  0.22475799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00058521865289686
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95222739e-01,  8.72928328e-02, -9.14428208e-01, -3.46323146e-02,
        9.96182695e-01,  8.01289052e-02,  9.17932236e-01,  6.93889390e-18,
        3.96737206e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08304978, -0.03406238,  0.22315319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018910549239984503
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.93545949e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.93545949e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08643343, -0.08263012,  0.06187531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.79113133e-03, 2.94103203e-02, 3.39531248e-03, 1.56972164e-05,
 -2.21302034e-05,-3.87533212e-05, 3.31031084e-05, 2.98635662e-05,
 -2.43727619e-05, 4.01572186e-05,-1.23913511e-05, 3.50435324e-07,
  1.05568905e-02, 1.52778466e-02, 6.80060027e-03, 1.07674906e-03,
  9.45996560e-04, 1.96577083e-02,-9.81516783e+00,-2.02547563e-04,
 -6.17759812e-02, 6.22258295e-02]


--- Step 3540 ---
qpos:
[-0.01838433, 1.19951524,-0.03505441, 0.94263058,-0.00792658, 1.33288954,
 -0.03120091, 0.94133752, 0.01529965, 1.33849197,-0.0237716 , 0.95474224,
  1.27394166,-0.00936615, 1.28724075, 0.04448617,-0.05547117,-0.08942597,
  0.09018844, 0.69216653,-0.08259241,-0.71331476,-0.07256749]

qacc:
[-4.07015405e-01, 1.65153718e+00,-3.52600808e+00, 2.71228073e+00,
 -1.48987252e-01, 2.33738522e+00,-7.21273079e+00, 5.86532951e+00,
 -1.24323178e-01,-2.46184183e+00, 8.28340463e+00,-1.12245416e+01,
  1.79837892e-01, 2.90313144e-01,-9.13905587e+00, 1.73604138e+01,
  2.51614551e+00, 2.48662055e+00, 1.57927800e+00,-1.17907297e+01,
  6.14441558e+01, 1.25215720e+02]

qfrc_actuator:
[ 9.51922443e-03, 6.39225564e-02, 1.40152065e-02, 2.02713537e-03,
 -6.18936606e-05, 3.48295847e-02, 1.09308585e-02, 1.86278675e-03,
 -3.10676051e-03, 3.48285552e-02, 1.08319305e-02, 1.75395905e-03,
  8.09821287e-03, 1.33003408e-02, 0.00000000e+00,-1.51762260e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1612199 , -0.04037319, -0.15608286, -0.04037319,  0.29210249,
       -0.03385476, -0.15608286, -0.03385476,  0.16997694,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.576878682347e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64470242,  0.07842209, -0.76040039, -0.0507151 ,  0.99692025,
        0.05981641,  0.76274948,  0.        ,  0.64669408])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613602, -0.03414688,  0.22475932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1612199 , -0.04037319, -0.15608286, -0.04037319,  0.29210249,
       -0.03385476, -0.15608286, -0.03385476,  0.16997694,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.576878682347e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64470242,  0.07842209, -0.76040039, -0.0507151 ,  0.99692025,
        0.05981641,  0.76274948,  0.        ,  0.64669408])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613602, -0.03414688,  0.22475932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005853004529271094
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39520147,  0.08729494, -0.9144372 , -0.03463129,  0.99618251,
        0.08013164,  0.91794143,  0.        ,  0.39671593])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08304755, -0.03406337,  0.22315348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  -0.99186845, -17.24422525,  -0.99186845,
        75.07956515,  -3.32498434, -17.24422525,  -3.32498434,
        17.46397664,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018758666435946605
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10971011e-14,  2.95922695e-14,  1.00000000e+00,  3.28388405e-28,
        1.00000000e+00, -2.95922695e-14, -1.00000000e+00,  0.00000000e+00,
       -1.10971011e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08813559, -0.09021115,  0.06187633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.81246442e-03, 2.93647431e-02, 3.36022100e-03, 7.65722996e-06,
 -4.28993265e-05, 7.83289050e-06,-4.15753427e-05,-2.09214985e-06,
 -3.58985734e-05,-2.50452002e-05, 2.36803011e-05,-1.88449658e-05,
  1.05299289e-02, 1.52614368e-02, 7.09011707e-03, 1.27673268e-03,
 -1.02142064e-03, 1.87103322e-02,-9.81462685e+00,-5.83167657e-04,
 -6.17808057e-02, 6.22566272e-02]


--- Step 3541 ---
qpos:
[-0.01838948, 1.19953845,-0.03505451, 0.94263104,-0.00792752, 1.33288999,
 -0.03120107, 0.94133778, 0.01529849, 1.33849382,-0.02377215, 0.95474171,
  1.27396218,-0.00936707, 1.28721591, 0.04448277,-0.05547251,-0.08950563,
  0.09017867, 0.69225833,-0.08171515,-0.71321969,-0.07361184]

qacc:
[ 3.94206940e-02, 2.43756277e-01, 1.19783619e+00,-1.45449590e+01,
 -8.67327152e-02,-7.61022437e-01, 6.55743105e+00,-2.33300776e+01,
 -5.45414446e-02,-2.85250879e+00, 1.06120192e+01,-1.95377385e+01,
  1.41687291e-01,-1.30369410e-01,-2.47565912e+00, 6.01169761e+00,
 -3.58918525e+00, 5.60610190e-01,-2.85734901e+00,-7.33593955e-01,
 -1.23474899e+02,-4.40482625e+01]

qfrc_actuator:
[ 9.57114486e-03, 6.38975156e-02, 1.39801172e-02, 1.95682562e-03,
 -6.15378152e-05, 3.48959085e-02, 1.09258125e-02, 1.78953704e-03,
 -3.10132386e-03, 3.48009658e-02, 1.08422984e-02, 1.70670976e-03,
  8.09437848e-03, 1.33249621e-02, 0.00000000e+00,-1.66228476e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16119588, -0.05703879, -0.15076701, -0.05703879,  0.38167862,
       -0.08341392, -0.15076701, -0.08341392,  0.19275338,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.47455799721499e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64484431,  0.07841762, -0.76028053, -0.05072335,  0.9969206 ,
        0.05980355,  0.76262897,  0.        ,  0.64683618])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613546, -0.03414782,  0.2247609 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16119588, -0.05703879, -0.15076701, -0.05703879,  0.38167862,
       -0.08341392, -0.15076701, -0.08341392,  0.19275338,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.47455799721499e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64484431,  0.07841762, -0.76028053, -0.05072335,  0.9969206 ,
        0.05980355,  0.76262897,  0.        ,  0.64683618])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613546, -0.03414782,  0.2247609 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005850489259351527
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39517907,  0.08729743, -0.91444664, -0.03463033,  0.99618229,
        0.08013477,  0.91795111,  0.        ,  0.39669353])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08304475, -0.03406426,  0.22315379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.26112231, -0.63305934, 17.26112231, 17.36642292,
        2.55472434, -0.63305934,  2.55472434, 86.9303515 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018971899392456887
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.92596698e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.92596698e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02249307, -0.09414172,  0.06187511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.91106828e-03, 2.92783265e-02, 3.32477374e-03,-6.45051459e-05,
 -2.49683798e-05, 6.24603071e-05,-8.30497377e-06,-7.42794240e-05,
 -1.57636061e-05,-3.73881635e-05, 7.61559803e-06,-4.77344556e-05,
  1.05104307e-02, 1.52529879e-02, 7.43051943e-03, 1.27757611e-03,
 -2.99367716e-03, 1.50206475e-02,-9.81358559e+00,-6.53290465e-04,
 -6.17657488e-02, 6.22840987e-02]


--- Step 3542 ---
qpos:
[-0.01839405, 1.19956149,-0.03505525, 0.94263063,-0.00792828, 1.33289101,
 -0.03120105, 0.94133714, 0.01529743, 1.33849554,-0.02377261, 0.95473993,
  1.27398258,-0.00936818, 1.28719097, 0.04447965,-0.05548702,-0.0895834 ,
  0.09015517, 0.69218154,-0.08080035,-0.71328603,-0.07469311]

qacc:
[ 2.53510580e-01,-3.82352188e-03, 1.54528159e+00,-1.13420679e+01,
  7.45060180e-02,-1.29024685e+00, 6.95536999e+00,-1.68557632e+01,
  4.25067875e-02,-2.58323814e+00, 1.07465064e+01,-2.37446434e+01,
  4.95040033e-02,-1.96782491e-01,-1.00876867e+00, 3.30503977e+00,
 -3.28992639e+00, 4.68478679e-01,-3.43203599e+00,-1.11508397e+00,
 -1.13100911e+02,-3.89689036e+01]

qfrc_actuator:
[ 9.63980925e-03, 6.38733750e-02, 1.39596878e-02, 1.91516348e-03,
 -2.53218604e-05, 3.49351391e-02, 1.09408101e-02, 1.74637341e-03,
 -3.07976805e-03, 3.48016239e-02, 1.08485537e-02, 1.64361540e-03,
  8.08600901e-03, 1.33223460e-02, 0.00000000e+00,-1.55925023e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16116998, -0.05849334, -0.15018086, -0.05849334,  0.3866968 ,
       -0.08783953, -0.15018086, -0.08783953,  0.19538225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.362301601300566e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6449894 ,  0.07841291, -0.76015794, -0.0507317 ,  0.99692097,
        0.05979029,  0.76250572,  0.        ,  0.64698148])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613487, -0.03414874,  0.22476251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16116998, -0.05849334, -0.15018086, -0.05849334,  0.3866968 ,
       -0.08783953, -0.15018086, -0.08783953,  0.19538225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.362301601300566e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6449894 ,  0.07841291, -0.76015794, -0.0507317 ,  0.99692097,
        0.05979029,  0.76250572,  0.        ,  0.64698148])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613487, -0.03414874,  0.22476251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005847135801860387
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95157819e-01,  8.72998672e-02, -9.14455593e-01, -3.46294376e-02,
        9.96182078e-01,  8.01378117e-02,  9.17960293e-01, -6.93889390e-18,
        3.96672282e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08304188, -0.03406513,  0.2231541 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.77807616,   4.10405503, -16.77807616,
        19.18783831,   7.82930022,   4.10405503,   7.82930022,
        49.28024048,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001918889263970311
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.89287935e-14,  2.89287935e-14,  1.00000000e+00,  8.36875092e-28,
        1.00000000e+00, -2.89287935e-14, -1.00000000e+00,  0.00000000e+00,
       -2.89287935e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02243483, -0.09415086,  0.06187382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97516643e-03, 2.92678837e-02, 3.35269602e-03,-4.72472195e-05,
  2.14790100e-05, 6.99176623e-05, 2.40952637e-05,-4.32442537e-05,
  1.22462973e-05,-1.99584075e-05,-1.57995349e-06,-6.50891133e-05,
  1.04978809e-02, 1.52498306e-02, 7.49213710e-03, 1.27714354e-03,
 -8.03022948e-05, 1.40930400e-02,-9.81378649e+00, 3.18799993e-04,
 -6.18318173e-02, 6.23519944e-02]


--- Step 3543 ---
qpos:
[-0.01839768, 1.19958332,-0.03505621, 0.94263013,-0.00792876, 1.33289216,
 -0.03120075, 0.9413374 , 0.01529668, 1.33849706,-0.02377276, 0.95473877,
  1.27400277,-0.0093697 , 1.28717019, 0.04447698,-0.05549015,-0.08965061,
  0.09014465, 0.69222367,-0.08010155,-0.7132284 ,-0.07560014]

qacc:
[ 4.11061876e-01,-1.10363862e+00, 1.84415090e+00,-1.73367954e+00,
  1.20101435e-01, 9.57604931e-01,-4.76361792e+00, 1.45058856e+01,
  1.32753750e-01,-1.34706511e-02,-1.54969205e+00, 8.76723196e+00,
 -1.02371031e-01,-2.04175798e-01, 4.78761453e+00,-7.81412725e+00,
  2.84192094e+00, 2.64252576e+00, 3.24611517e+00,-1.24444848e+01,
  7.02057136e+01, 1.46785099e+02]

qfrc_actuator:
[ 9.66473435e-03, 6.38142701e-02, 1.39481019e-02, 1.90860612e-03,
 -3.39381630e-06, 3.49224333e-02, 1.09496935e-02, 1.79228273e-03,
 -3.04871847e-03, 3.48014103e-02, 1.08701915e-02, 1.67823966e-03,
  8.08558447e-03, 1.33390775e-02, 0.00000000e+00,-2.90686826e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16114449, -0.06036487, -0.14941095, -0.06036487,  0.39500815,
       -0.09448537, -0.14941095, -0.09448537,  0.19931838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.249841047523824e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.45133695e-01,  7.84078649e-02, -7.60036001e-01, -5.07397648e-02,
        9.96921364e-01,  5.97768311e-02,  7.62383100e-01,  6.93889390e-18,
        6.47125960e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613428, -0.03414965,  0.22476411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16114449, -0.06036487, -0.14941095, -0.06036487,  0.39500815,
       -0.09448537, -0.14941095, -0.09448537,  0.19931838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.249841047523824e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.45133695e-01,  7.84078649e-02, -7.60036001e-01, -5.07397648e-02,
        9.96921364e-01,  5.97768311e-02,  7.62383100e-01,  6.93889390e-18,
        6.47125960e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613428, -0.03414965,  0.22476411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005843708643398643
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3951373 ,  0.08730206, -0.91446425, -0.03462852,  0.99618189,
        0.0801406 ,  0.91796916,  0.        ,  0.39665176])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08303903, -0.03406598,  0.22315442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019203462798783183
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44534222e-14,  7.22671112e-15,  1.00000000e+00,  1.04450707e-28,
        1.00000000e+00, -7.22671112e-15, -1.00000000e+00,  0.00000000e+00,
       -1.44534222e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0880979 , -0.09018786,  0.06187371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97095378e-03, 2.92169348e-02, 3.37248351e-03,-1.02650111e-05,
  3.46102871e-05, 2.93790729e-05, 2.40372502e-05, 4.77227715e-05,
  3.82826353e-05,-1.35017747e-05, 1.56517697e-05, 3.24711167e-05,
  1.05029702e-02, 1.52754949e-02, 7.49746817e-03, 1.12832020e-03,
  2.13085748e-03, 1.31403264e-02,-9.81415479e+00, 1.37105883e-03,
 -6.18891638e-02, 6.24199042e-02]


--- Step 3544 ---
qpos:
[-0.01840013, 1.19960277,-0.03505732, 0.94263002,-0.0079291 , 1.33289355,
 -0.03120029, 0.94133717, 0.01529628, 1.3384985 ,-0.02377305, 0.95473978,
  1.27402263,-0.00937185, 1.28715736, 0.04447483,-0.05548284,-0.08970806,
  0.09014303, 0.69237578,-0.07960006,-0.71305708,-0.07634923]

qacc:
[ 5.15093323e-01,-2.09892919e+00, 2.29027872e+00, 3.87858701e+00,
  5.50232092e-02,-9.33200877e-01, 4.44146526e+00,-9.70172812e+00,
  1.43272567e-01, 3.98023477e+00,-1.74649003e+01, 4.01219052e+01,
 -2.58403254e-01,-1.77942205e-01, 1.02176815e+01,-1.86427223e+01,
  2.61315660e+00, 2.44079507e+00, 2.22381741e+00,-1.18608805e+01,
  6.47917592e+01, 1.33745937e+02]

qfrc_actuator:
[ 9.66282171e-03, 6.38063042e-02, 1.39594253e-02, 1.92266727e-03,
 -7.96915094e-06, 3.49320177e-02, 1.09547328e-02, 1.76592618e-03,
 -3.02997857e-03, 3.48007944e-02, 1.08652950e-02, 1.78785932e-03,
  8.08461491e-03, 1.33677319e-02, 0.00000000e+00,-5.30520931e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1611256 , -0.06181589, -0.14879601, -0.06181589,  0.4074217 ,
       -0.10232137, -0.14879601, -0.10232137,  0.20363403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.16511238366816e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64526101,  0.07840315, -0.7599284 , -0.05074671,  0.99692173,
        0.05976475,  0.76227488,  0.        ,  0.64725343])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613379, -0.03415061,  0.22476554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1611256 , -0.06181589, -0.14879601, -0.06181589,  0.4074217 ,
       -0.10232137, -0.14879601, -0.10232137,  0.20363403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.16511238366816e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64526101,  0.07840315, -0.7599284 , -0.05074671,  0.99692173,
        0.05976475,  0.76227488,  0.        ,  0.64725343])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613379, -0.03415061,  0.22476554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005842120308164715
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95118108e-01,  8.73038550e-02, -9.14472371e-01, -3.46275513e-02,
        9.96181729e-01,  8.01429709e-02,  9.17977458e-01,  6.93889390e-18,
        3.96632558e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08303655, -0.03406689,  0.22315471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.93292263,  -3.40928711,  16.93292263,
        22.98114095,  28.35200555,  -3.40928711,  28.35200555,
       158.08876896,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019372384402897569
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.86547851e-14,  5.73095702e-14,  1.00000000e+00,  1.64219342e-27,
        1.00000000e+00, -5.73095702e-14, -1.00000000e+00,  0.00000000e+00,
       -2.86547851e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08808293, -0.09017775,  0.0618727 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92184081e-03, 2.92691218e-02, 3.39514005e-03, 7.71035662e-06,
  1.58568473e-05, 3.19735109e-05, 1.49235107e-05,-2.36578103e-05,
  4.13488882e-05,-4.07401111e-06,-4.80745891e-06, 1.10433504e-04,
  1.05130067e-02, 1.53252517e-02, 7.28992900e-03, 8.66051207e-04,
  1.39143929e-04, 9.66761746e-03,-9.81289267e+00, 1.06167506e-03,
 -6.18125505e-02, 6.24375016e-02]


--- Step 3545 ---
qpos:
[-0.01840213, 1.19962033,-0.03505876, 0.94263004,-0.00792954, 1.33289522,
 -0.03119951, 0.94133696, 0.01529616, 1.3385    ,-0.02377367, 0.95474106,
  1.27404221,-0.00937428, 1.28714966, 0.04447288,-0.05548936,-0.0897629 ,
  0.09012856, 0.69235341,-0.07904143,-0.71305544,-0.07714366]

qacc:
[ 1.91635581e-01,-1.36548564e+00, 1.17499503e+00, 1.76194275e+00,
 -3.84171136e-02,-4.81326856e-01, 1.95919360e+00,-1.63814217e+00,
  1.23425179e-01, 1.44023621e+00,-5.14416339e+00, 7.51065057e+00,
 -3.11621530e-01, 1.00965950e-01, 7.00106518e+00,-1.34332110e+01,
 -3.45982899e+00, 6.49564874e-01,-3.21189290e+00, 3.15286766e+00,
 -1.16966262e+02,-4.94863372e+01]

qfrc_actuator:
[ 9.60868523e-03, 6.38306805e-02, 1.39667513e-02, 1.93092594e-03,
 -2.84062744e-05, 3.49548186e-02, 1.09752348e-02, 1.76825118e-03,
 -3.01877499e-03, 3.47998997e-02, 1.08447988e-02, 1.79867256e-03,
  8.07800966e-03, 1.33684027e-02, 0.00000000e+00,-6.38362201e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16111818, -0.05579274, -0.15114972, -0.05579274,  0.37763213,
       -0.07992013, -0.15114972, -0.07992013,  0.19061848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.131534891762151e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64535666,  0.07839943, -0.75984755, -0.05075181,  0.99692203,
        0.05975554,  0.76219357,  0.        ,  0.64734919])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861335 , -0.0341517 ,  0.22476663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16111818, -0.05579274, -0.15114972, -0.05579274,  0.37763213,
       -0.07992013, -0.15114972, -0.07992013,  0.19061848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.131534891762151e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64535666,  0.07839943, -0.75984755, -0.05075181,  0.99692203,
        0.05975554,  0.76219357,  0.        ,  0.64734919])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861335 , -0.0341517 ,  0.22476663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005843902027900319
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39510125,  0.08730514, -0.91447953, -0.03462659,  0.99618162,
        0.08014479,  0.91798475,  0.        ,  0.39661568])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08303477, -0.03406794,  0.22315495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.25918477, -0.68384821, 17.25918477, 17.35372688,
        2.04429457, -0.68384821,  2.04429457, 68.86730239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019610813130385846
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.83063996e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.83063996e-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([ 0.02231961, -0.09420324,  0.06187129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.80858078e-03, 2.94124598e-02, 3.40973086e-03,-2.72349757e-06,
 -1.10752120e-05, 4.26867254e-05, 2.77608180e-05, 3.18087983e-06,
  3.56231807e-05,-8.20528374e-07,-1.86066095e-05, 1.31248494e-05,
  1.05225270e-02, 1.53570118e-02, 6.89255848e-03, 7.32613655e-04,
 -1.33210023e-03, 6.94851307e-03,-9.81190117e+00, 9.51374619e-04,
 -6.17161517e-02, 6.24507750e-02]


--- Step 3546 ---
qpos:
[-0.01840451, 1.19963746,-0.0350607 , 0.94262969,-0.00793013, 1.33289715,
 -0.03119849, 0.94133713, 0.01529613, 1.33850122,-0.02377379, 0.95474175,
  1.27406163,-0.00937651, 1.2871413 , 0.04447074,-0.0555086 ,-0.0898156 ,
  0.09009916, 0.69217044,-0.07843481,-0.71320929,-0.07797807]

qacc:
[-1.59824577e-01, 1.43263277e-01,-3.77646861e-01,-3.70894708e+00,
 -6.44386910e-02, 3.61030173e-01,-1.53142350e+00, 5.55997375e+00,
  3.43569254e-02,-2.68982402e+00, 9.52063188e+00,-1.48232535e+01,
 -2.25151876e-01, 3.26072055e-01,-4.20288003e-01, 7.49613579e-02,
 -3.17791187e+00, 5.37031917e-01,-3.73261874e+00, 2.00532417e+00,
 -1.07651637e+02,-4.32900346e+01]

qfrc_actuator:
[ 9.57674194e-03, 6.37684054e-02, 1.39541662e-02, 1.91803900e-03,
 -4.04391262e-05, 3.49676708e-02, 1.09870306e-02, 1.78747085e-03,
 -3.02993438e-03, 3.47809776e-02, 1.08684544e-02, 1.76898432e-03,
  8.07335700e-03, 1.33521929e-02, 0.00000000e+00,-5.60383676e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16111757, -0.04925044, -0.15340556, -0.04925044,  0.33729848,
       -0.05656241, -0.15340556, -0.05656241,  0.17927678,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.128756958498349e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64543157,  0.07839657, -0.75978423, -0.05075584,  0.99692225,
        0.05974837,  0.76212987,  0.        ,  0.64742417])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613332, -0.03415287,  0.22476749])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16111757, -0.04925044, -0.15340556, -0.04925044,  0.33729848,
       -0.05656241, -0.15340556, -0.05656241,  0.17927678,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.128756958498349e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64543157,  0.07839657, -0.75978423, -0.05075584,  0.99692225,
        0.05974837,  0.76212987,  0.        ,  0.64742417])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613332, -0.03415287,  0.22476749])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005847612278657259
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95086425e-01,  8.73062137e-02, -9.14485835e-01, -3.46257174e-02,
        9.96181522e-01,  8.01463327e-02,  9.17991163e-01, -6.93889390e-18,
        3.96600837e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08303345, -0.03406908,  0.22315516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.10833506,   2.37738912, -17.10833506,
        17.53272707,   1.87102883,   2.37738912,   1.87102883,
        30.73715672,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019655042188845284
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82427027e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.82427027e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02230635, -0.0942264 ,  0.06187101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.75463793e-03, 2.94444481e-02, 3.41348798e-03,-2.23942796e-05,
 -1.85693618e-05, 4.19828622e-05, 2.33993134e-05, 2.13978721e-05,
  9.87922790e-06,-2.26271004e-05, 2.17656458e-05,-2.99486689e-05,
  1.05321137e-02, 1.53549586e-02, 6.63619850e-03, 8.00649501e-04,
  4.56542669e-04, 6.54269505e-03,-9.81231397e+00, 1.62208091e-03,
 -6.17685106e-02, 6.25029381e-02]


--- Step 3547 ---
qpos:
[-0.01840699, 1.19965532,-0.03506319, 0.94262839,-0.00793101, 1.33289919,
 -0.03119759, 0.94133894, 0.01529594, 1.33850212,-0.02377336, 0.95474346,
  1.2740813 ,-0.00937856, 1.28712958, 0.04446834,-0.05551602,-0.08985793,
  0.09008535, 0.6921138 ,-0.07805609,-0.71323465,-0.07862613]

qacc:
[-4.99895733e-02, 8.69592650e-01, 2.67139320e-01,-1.16663382e+01,
 -1.23603478e-01, 3.24837158e+00,-1.38320309e+01, 3.10351653e+01,
 -6.45527505e-02,-1.92138159e-01,-1.95437406e+00, 1.36791562e+01,
  2.43159631e-01,-8.37379083e-02,-4.18160246e+00, 7.41344845e+00,
  2.95235899e+00, 2.59194665e+00, 3.89859377e+00,-1.24682361e+01,
  7.33244308e+01, 1.55726065e+02]

qfrc_actuator:
[ 9.61200308e-03, 6.37421955e-02, 1.39476846e-02, 1.87516429e-03,
 -6.50843358e-05, 3.49566929e-02, 1.09758060e-02, 1.86971830e-03,
 -3.05441743e-03, 3.47692959e-02, 1.09001563e-02, 1.82225600e-03,
  8.07520091e-03, 1.33077438e-02, 0.00000000e+00,-4.41622330e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16111525, -0.04993141, -0.15318283, -0.04993141,  0.34329187,
       -0.05938221, -0.15318283, -0.05938221,  0.18047145,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.118237081236683e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64550823,  0.07839385, -0.75971937, -0.05076009,  0.99692247,
        0.05974119,  0.76206465,  0.        ,  0.64750094])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613313, -0.03415402,  0.22476835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16111525, -0.04993141, -0.15318283, -0.04993141,  0.34329187,
       -0.05938221, -0.15318283, -0.05938221,  0.18047145,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.118237081236683e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64550823,  0.07839385, -0.75971937, -0.05076009,  0.99692247,
        0.05974119,  0.76206465,  0.        ,  0.64750094])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613313, -0.03415402,  0.22476835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005850634037969683
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39507245,  0.08730742, -0.91449176, -0.03462497,  0.99618142,
        0.08014796,  0.91799721,  0.        ,  0.39658685])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08303208, -0.0340702 ,  0.22315536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.25283981,   0.82862898, -17.25283981,
        17.65130151,   7.88227399,   0.82862898,   7.88227399,
       181.38913335,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002011820027223263
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75925035e-14,  5.51850071e-14,  1.00000000e+00,  1.52269250e-27,
        1.00000000e+00, -5.51850071e-14, -1.00000000e+00,  0.00000000e+00,
       -2.75925035e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08801393, -0.09013204,  0.0618681 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.80822466e-03, 2.94393698e-02, 3.43167989e-03,-4.67228453e-05,
 -3.56057935e-05, 1.74572257e-05, 2.79217585e-07, 8.46996971e-05,
 -1.86487861e-05,-2.08379711e-05, 2.88799460e-05, 5.25435484e-05,
  1.05420756e-02, 1.53011069e-02, 6.66976260e-03, 9.28537491e-04,
  1.71813820e-03, 6.05077922e-03,-9.81283818e+00, 2.40475822e-03,
 -6.18097911e-02, 6.25552266e-02]


--- Step 3548 ---
qpos:
[-0.01840945, 1.19967443,-0.03506599, 0.94262618,-0.00793204, 1.33290046,
 -0.03119586, 0.9413421 , 0.01529569, 1.3385034 ,-0.02377304, 0.95474439,
  1.27410119,-0.00938048, 1.28711447, 0.04446578,-0.05551263,-0.08989065,
  0.09008262, 0.6921733 ,-0.07788423,-0.71314257,-0.07910651]

qacc:
[ 1.18349208e-02, 9.06595934e-01, 9.07567915e-01,-1.21676368e+01,
 -6.06339858e-02,-9.44853677e-01,-9.14989326e-01, 1.69156626e+01,
 -2.70266390e-02,-5.33860223e-01, 3.94035178e+00,-1.27111919e+01,
  2.66675655e-01,-1.70235847e-01,-4.55078577e+00, 8.56871152e+00,
  2.70465167e+00, 2.40249217e+00, 2.76779411e+00,-1.18774984e+01,
  6.73807124e+01, 1.40951342e+02]

qfrc_actuator:
[ 9.65197585e-03, 6.37899019e-02, 1.39451333e-02, 1.83277183e-03,
 -6.15912601e-05, 3.48782177e-02, 1.10042830e-02, 1.93510786e-03,
 -3.05118818e-03, 3.48153847e-02, 1.09009130e-02, 1.78191010e-03,
  8.08091098e-03, 1.32995265e-02, 0.00000000e+00,-3.51500706e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16110789, -0.05255846, -0.15229366, -0.05255846,  0.35358933,
       -0.06642776, -0.15229366, -0.06642776,  0.18403294,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.0846203446296085e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.45597834e-01,  7.83904916e-02, -7.59643579e-01, -5.07649490e-02,
        9.96922731e-01,  5.97326470e-02,  7.61988423e-01, -1.38777878e-17,
        6.47590645e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613285, -0.03415513,  0.22476935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16110789, -0.05255846, -0.15229366, -0.05255846,  0.35358933,
       -0.06642776, -0.15229366, -0.06642776,  0.18403294,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.0846203446296085e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.45597834e-01,  7.83904916e-02, -7.59643579e-01, -5.07649490e-02,
        9.96922731e-01,  5.97326470e-02,  7.61988423e-01, -1.38777878e-17,
        6.47590645e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613285, -0.03415513,  0.22476935])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005852045252703435
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39505832,  0.08730866, -0.91449774, -0.03462423,  0.99618131,
        0.08014964,  0.91800331,  0.        ,  0.39657271])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08303043, -0.03407127,  0.22315558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.99620168,  -3.07834954,  16.99620168,
        20.52532362,  17.95825417,  -3.07834954,  17.95825417,
       116.42394627,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020363758468743137
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.087991  , -0.09011567,  0.06186657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.85389705e-03, 2.94506382e-02, 3.45731784e-03,-4.18679864e-05,
 -1.75256329e-05,-6.62233574e-05, 3.44092286e-05, 6.78927756e-05,
 -7.78477808e-06, 4.17580268e-05, 1.50797750e-06,-3.88911485e-05,
  1.05350133e-02, 1.52831325e-02, 6.83720463e-03, 1.03159214e-03,
  3.04529399e-04, 3.73983701e-03,-9.81165098e+00, 2.05848778e-03,
 -6.16584868e-02, 6.25599541e-02]


--- Step 3549 ---
qpos:
[-0.01841184, 1.1996945 ,-0.03506816, 0.9426245 ,-0.00793312, 1.3329012 ,
 -0.03119335, 0.94134255, 0.01529542, 1.33850517,-0.02377308, 0.95474518,
  1.274121  ,-0.0093823 , 1.28709775, 0.04446314,-0.05549924,-0.0899144 ,
  0.09008713, 0.69234029,-0.07790181,-0.71294207,-0.07943443]

qacc:
[ 3.11074647e-02, 4.51698899e-01,-1.00937368e+00, 6.29764679e+00,
 -2.67015784e-02,-7.42412127e+00, 2.89862616e+01,-5.63178931e+01,
 -8.83395576e-03, 1.38876278e+00,-3.48287268e+00, 1.10825330e+00,
 -4.67173402e-02, 9.67761081e-02,-2.09404171e+00, 3.89947433e+00,
  2.49939131e+00, 2.24383409e+00, 1.81129572e+00,-1.13003151e+01,
  6.24197065e+01, 1.28778485e+02]

qfrc_actuator:
[ 9.67692673e-03, 6.38101352e-02, 1.39449043e-02, 1.86202405e-03,
 -5.89993476e-05, 3.48488369e-02, 1.10379312e-02, 1.79474404e-03,
 -3.04911203e-03, 3.48422893e-02, 1.08835539e-02, 1.77555528e-03,
  8.07828385e-03, 1.33130473e-02, 0.00000000e+00,-3.31809373e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1610961 , -0.0473687 , -0.15397454, -0.0473687 ,  0.32041413,
       -0.04901257, -0.15397454, -0.04901257,  0.17617431,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.030444805077591e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64570116,  0.07838635, -0.75955618, -0.05077037,  0.99692306,
        0.0597226 ,  0.76190051,  0.        ,  0.64769408])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861325 , -0.03415618,  0.22477051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1610961 , -0.0473687 , -0.15397454, -0.0473687 ,  0.32041413,
       -0.04901257, -0.15397454, -0.04901257,  0.17617431,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.030444805077591e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64570116,  0.07838635, -0.75955618, -0.05077037,  0.99692306,
        0.0597226 ,  0.76190051,  0.        ,  0.64769408])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861325 , -0.03415618,  0.22477051])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005852152512516237
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39504333,  0.08730992, -0.9145041 , -0.03462342,  0.9961812 ,
        0.08015136,  0.9180098 ,  0.        ,  0.3965577 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08302848, -0.03407228,  0.22315582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.91005337,  -3.52096614,  16.91005337,
        22.01844289,  22.79212614,  -3.52096614,  22.79212614,
       126.7358843 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020360634238393294
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.72639597e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.72639597e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08799143, -0.09010805,  0.06186662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.87744789e-03, 2.94082849e-02, 3.47219032e-03, 3.29786890e-05,
 -7.75662490e-06,-5.72447687e-05, 2.65991509e-05,-1.39769293e-04,
 -2.51903886e-06, 4.91303933e-05,-1.01709830e-05,-5.97468811e-06,
  1.05217810e-02, 1.52907574e-02, 7.00772406e-03, 1.05965473e-03,
 -5.83368516e-04, 2.14998727e-03,-9.81074196e+00, 1.93475099e-03,
 -6.14924674e-02, 6.25608399e-02]


--- Step 3550 ---
qpos:
[-0.01841411, 1.19971556,-0.03506973, 0.94262317,-0.00793423, 1.33290213,
 -0.03119134, 0.94134201, 0.01529515, 1.33850668,-0.02377249, 0.95474624,
  1.27414102,-0.00938407, 1.28707995, 0.04446048,-0.05547653,-0.0899297 ,
  0.09009565, 0.69260744,-0.0780943 ,-0.71264052,-0.07962232]

qacc:
[ 5.35683951e-02, 2.99358700e-01,-1.69933633e-01, 3.75133726e+00,
 -8.92843800e-03,-8.35527866e-02, 2.61979372e+00,-1.39037759e+01,
 -2.99371079e-04,-1.58615570e+00, 4.20887586e+00,-3.08763651e-01,
  2.01088111e-01,-1.40217350e-01,-1.61466700e+00, 3.28315444e+00,
  2.32958397e+00, 2.11122586e+00, 1.00309780e+00,-1.07459248e+01,
  5.82830778e+01, 1.18745532e+02]

qfrc_actuator:
[ 9.67505704e-03, 6.38136629e-02, 1.39807601e-02, 1.87993845e-03,
 -5.69707370e-05, 3.48844889e-02, 1.10211442e-02, 1.74747917e-03,
 -3.04774533e-03, 3.48041773e-02, 1.09088837e-02, 1.78926378e-03,
  8.08132418e-03, 1.32863184e-02, 0.00000000e+00,-3.01129593e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16108276, -0.05000741, -0.15312386, -0.05000741,  0.33408843,
       -0.05650044, -0.15312386, -0.05650044,  0.17953476,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.9685487541748586e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64581148,  0.07838177, -0.75946285, -0.05077607,  0.99692342,
        0.05971175,  0.76180662,  0.        ,  0.64780451])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613211, -0.03415719,  0.22477174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16108276, -0.05000741, -0.15312386, -0.05000741,  0.33408843,
       -0.05650044, -0.15312386, -0.05650044,  0.17953476,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.9685487541748586e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64581148,  0.07838177, -0.75946285, -0.05077607,  0.99692342,
        0.05971175,  0.76180662,  0.        ,  0.64780451])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613211, -0.03415719,  0.22477174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000585189783879371
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39502686,  0.08731117, -0.91451109, -0.03462248,  0.99618109,
        0.08015313,  0.91801692,  0.        ,  0.39654122])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08302638, -0.03407324,  0.22315608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.79279117,  -4.04342334,  16.79279117,
        24.26815743,  29.05280693,  -4.04342334,  29.05280693,
       137.93229674,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002015819757363424
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75377553e-14,  2.75377553e-14,  1.00000000e+00,  7.58327968e-28,
        1.00000000e+00, -2.75377553e-14, -1.00000000e+00,  0.00000000e+00,
       -2.75377553e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08801046, -0.0901073 ,  0.0618679 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.87198879e-03, 2.93630889e-02, 3.47639242e-03, 2.49212357e-05,
 -2.55192438e-06, 4.96600044e-06,-2.90654766e-05,-5.14428949e-05,
 -1.18271634e-07,-1.31176131e-05, 3.35933005e-05, 1.47313481e-05,
  1.05285936e-02, 1.52587736e-02, 7.08800972e-03, 1.09483134e-03,
 -1.06959258e-03, 1.10626793e-03,-9.81003905e+00, 1.97524080e-03,
 -6.13146908e-02, 6.25577301e-02]


--- Step 3551 ---
qpos:
[-0.01841682, 1.19973843,-0.03507052, 0.94262234,-0.00793505, 1.33290331,
 -0.03119   , 0.94134228, 0.01529488, 1.33850734,-0.02377065, 0.9547461 ,
  1.27416163,-0.00938551, 1.28705803, 0.0444577 ,-0.05546907,-0.08994112,
  0.09009356, 0.69268502,-0.07819796,-0.71252611,-0.07986917]

qacc:
[-1.96455795e-01, 1.10021364e+00,-1.70980231e+00, 5.96465230e+00,
  1.23647778e-01, 3.50354852e+00,-1.27372108e+01, 2.04360192e+01,
  3.27777393e-03,-6.58423229e+00, 2.25453110e+01,-3.29016905e+01,
  4.61295009e-01,-1.51038766e-01,-5.69566702e+00, 1.10242276e+01,
 -3.81135191e+00, 9.70383580e-01,-2.65478989e+00, 9.80362447e+00,
 -1.26513757e+02,-6.69252191e+01]

qfrc_actuator:
[ 9.63926221e-03, 6.38245196e-02, 1.40025443e-02, 1.90875083e-03,
 -1.97920394e-05, 3.49053948e-02, 1.09928197e-02, 1.79094287e-03,
 -3.04681574e-03, 3.47276020e-02, 1.09589674e-02, 1.72588729e-03,
  8.09306749e-03, 1.32354579e-02, 0.00000000e+00,-1.57391502e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16106875, -0.04443031, -0.15481954, -0.04443031,  0.30272985,
       -0.04065408, -0.15481954, -0.04065408,  0.17273571,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.9028013352150147e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64592726,  0.07837681, -0.7593649 , -0.05078193,  0.99692381,
        0.05970025,  0.76170806,  0.        ,  0.64792039])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613169, -0.0341582 ,  0.22477305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16106875, -0.04443031, -0.15481954, -0.04443031,  0.30272985,
       -0.04065408, -0.15481954, -0.04065408,  0.17273571,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.9028013352150147e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64592726,  0.07837681, -0.7593649 , -0.05078193,  0.99692381,
        0.05970025,  0.76170806,  0.        ,  0.64792039])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613169, -0.0341582 ,  0.22477305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005851581167168017
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39500895,  0.08731241, -0.91451871, -0.0346214 ,  0.99618098,
        0.08015494,  0.91802467,  0.        ,  0.39652328])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08302416, -0.03407421,  0.22315636])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.25751349, -0.72480047, 17.25751349, 17.3579724 ,
        2.02968825, -0.72480047,  2.02968825, 65.59964412,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002057978398309658
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.04604475e-14,  4.04604475e-14,  1.00000000e+00, -1.63704781e-27,
        1.00000000e+00, -4.04604475e-14, -1.00000000e+00,  0.00000000e+00,
        4.04604475e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02205034, -0.09438074,  0.06186538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.83002371e-03, 2.93245840e-02, 3.46829726e-03, 3.55624474e-05,
  3.56726486e-05, 1.64049450e-05,-3.21751511e-05, 4.15721062e-05,
  8.59977983e-07,-7.68413939e-05, 5.17701713e-05,-6.24348838e-05,
  1.05296785e-02, 1.52056855e-02, 7.14273527e-03, 1.23877788e-03,
 -1.24301562e-03, 4.83101280e-04,-9.80949295e+00, 2.13858612e-03,
 -6.11274654e-02, 6.25505491e-02]


--- Step 3552 ---
qpos:
[-0.01841966, 1.19976208,-0.03507071, 0.94262195,-0.00793566, 1.33290454,
 -0.03118893, 0.94134239, 0.01529462, 1.33850778,-0.02376869, 0.95474555,
  1.27418265,-0.00938688, 1.2870354 , 0.04445504,-0.05547548,-0.08994935,
  0.09007843, 0.6925897 ,-0.07822878,-0.71258194,-0.080167  ]

qacc:
[-5.27993429e-02, 1.64427978e-01,-2.58377060e-01, 5.03034908e+00,
  8.93606300e-02, 5.19825516e-01,-1.24943728e+00,-9.84196775e-01,
  4.09072232e-03,-1.30801084e+00, 4.73071627e+00,-8.66689947e+00,
  3.45554412e-01,-2.37587872e-01,-1.47687256e+00, 3.60110522e+00,
 -3.46944317e+00, 7.95621066e-01,-3.25781565e+00, 7.10335746e+00,
 -1.15658098e+02,-5.71711176e+01]

qfrc_actuator:
[ 9.63689493e-03, 6.37497833e-02, 1.40154614e-02, 1.92608249e-03,
 -1.50860080e-05, 3.48995664e-02, 1.09756815e-02, 1.78091216e-03,
 -3.04615610e-03, 3.47351625e-02, 1.09697742e-02, 1.70639290e-03,
  8.09401460e-03, 1.32230627e-02, 0.00000000e+00,-1.58712819e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16104988, -0.05070102, -0.15286096, -0.05070102,  0.32920819,
       -0.05577485, -0.15286096, -0.05577485,  0.17954932,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.8130908795863204e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64606063,  0.07837116, -0.75925201, -0.05078874,  0.99692425,
        0.05968705,  0.76159449,  0.        ,  0.64805388])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613118, -0.03415919,  0.22477455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16104988, -0.05070102, -0.15286096, -0.05070102,  0.32920819,
       -0.05577485, -0.15286096, -0.05577485,  0.17954932,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.8130908795863204e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64606063,  0.07837116, -0.75925201, -0.05078874,  0.99692425,
        0.05968705,  0.76159449,  0.        ,  0.64805388])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613118, -0.03415919,  0.22477455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005849869662260289
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94988641e-01,  8.73138648e-02, -9.14527344e-01, -3.46202045e-02,
        9.96180852e-01,  8.01570485e-02,  9.18033450e-01, -6.93889390e-18,
        3.96502945e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08302156, -0.03407513,  0.22315667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.1878121 ,   1.71062059, -17.1878121 ,
        17.29700994,   0.24398512,   1.71062059,   0.24398512,
        19.72421789,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020819620072960246
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.66629031e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.66629031e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02198437, -0.09441436,  0.06186392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.85018078e-03, 2.91587587e-02, 3.44205696e-03, 2.86578688e-05,
  2.57650387e-05,-1.80380948e-06,-1.63735402e-05,-9.51350531e-06,
  1.16553238e-06,-2.66786945e-05,-1.46296713e-07,-2.17063105e-05,
  1.05016855e-02, 1.51762697e-02, 7.34899317e-03, 1.24449526e-03,
 -5.15669626e-04, 5.95236484e-04,-9.80995152e+00, 2.03107248e-03,
 -6.12458113e-02, 6.25740471e-02]


--- Step 3553 ---
qpos:
[-0.01842164, 1.19978409,-0.03507054, 0.94262236,-0.00793597, 1.33290567,
 -0.03118828, 0.94134204, 0.01529452, 1.33850852,-0.02376712, 0.95474441,
  1.27420381,-0.00938877, 1.28701929, 0.04445287,-0.05549462,-0.08995497,
  0.0900482 , 0.69233536,-0.07819938,-0.7127937 ,-0.08050929]

qacc:
[ 3.73771263e-01,-1.77832334e+00, 1.57890100e+00, 8.83688783e+00,
  1.24535247e-01, 2.67226226e-01,-1.13090603e-01,-4.99526503e+00,
  6.55532894e-02, 4.50495145e-01, 2.17953881e-01,-7.24563703e+00,
  1.18814041e-01,-4.18310289e-01, 8.17279182e+00,-1.46318617e+01,
 -3.18039458e+00, 6.55074185e-01,-3.77445621e+00, 5.04041717e+00,
 -1.06503390e+02,-4.93216398e+01]

qfrc_actuator:
[ 9.65443490e-03, 6.36417649e-02, 1.40229269e-02, 1.95411378e-03,
  5.60594586e-06, 3.48777922e-02, 1.09473847e-02, 1.75720532e-03,
 -3.02791108e-03, 3.47751655e-02, 1.09576530e-02, 1.67740799e-03,
  8.08847761e-03, 1.32338916e-02, 0.00000000e+00,-3.89309674e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16103093, -0.05906968, -0.14980565, -0.05906968,  0.37377958,
       -0.08388866, -0.14980565, -0.08388866,  0.19410896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.72151526496735e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.46197858e-01,  7.83653755e-02, -7.59135822e-01, -5.07957497e-02,
        9.96924705e-01,  5.96734772e-02,  7.61477590e-01, -6.93889390e-18,
        6.48191238e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613065, -0.0341602 ,  0.22477609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16103093, -0.05906968, -0.14980565, -0.05906968,  0.37377958,
       -0.08388866, -0.14980565, -0.08388866,  0.19410896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.72151526496735e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.46197858e-01,  7.83653755e-02, -7.59135822e-01, -5.07957497e-02,
        9.96924705e-01,  5.96734772e-02,  7.61477590e-01, -6.93889390e-18,
        6.48191238e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613065, -0.0341602 ,  0.22477609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005848208387935067
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39496708,  0.08731539, -0.91453651, -0.03461893,  0.99618072,
        0.08015927,  0.91804278,  0.        ,  0.39648135])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08301888, -0.03407608,  0.22315699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.18918728,   1.6967463 , -17.18918728,
        17.31514238,   0.42969372,   1.6967463 ,   0.42969372,
        21.62581521,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002077744300797303
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.67925683e-15,  1.33585137e-14,  1.00000000e+00, -8.92249435e-29,
        1.00000000e+00, -1.33585137e-14, -1.00000000e+00,  0.00000000e+00,
        6.67925683e-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([ 0.02199173, -0.09444964,  0.06186412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.87376219e-03, 2.90120171e-02, 3.41943440e-03, 3.39307040e-05,
  3.59017427e-05,-2.62717845e-05,-3.07954971e-05,-2.44588651e-05,
  1.89329919e-05, 2.45722007e-05,-1.79865038e-05,-3.02823473e-05,
  1.04752541e-02, 1.51841498e-02, 7.38471721e-03, 1.00722491e-03,
 -2.17047435e-04, 5.91912463e-04,-9.81049356e+00, 2.14907043e-03,
 -6.13292342e-02, 6.25979647e-02]


--- Step 3554 ---
qpos:
[-0.01842238, 1.19980336,-0.03506993, 0.94262458,-0.007936  , 1.33290683,
 -0.03118835, 0.94134142, 0.01529475, 1.33850953,-0.02376637, 0.95474398,
  1.27422482,-0.00939115, 1.28700961, 0.04445085,-0.05550185,-0.08995112,
  0.090034  , 0.6922099 ,-0.07840643,-0.71287653,-0.08065325]

qacc:
[ 5.39322723e-01,-1.68868822e+00,-2.60292858e+00, 2.50861670e+01,
  1.16341425e-01, 1.46753116e+00,-4.16692857e+00, 3.67698865e-01,
  1.37906388e-01, 3.79644212e+00,-1.34000755e+01, 1.97716608e+01,
 -1.48868057e-01,-1.68437462e-01, 9.01706703e+00,-1.77211776e+01,
  2.97509411e+00, 2.36566740e+00, 4.00439291e+00,-1.13152305e+01,
  7.32908425e+01, 1.63153273e+02]

qfrc_actuator:
[ 9.70074149e-03, 6.36401392e-02, 1.39916146e-02, 2.04130712e-03,
  1.79693090e-05, 3.48820876e-02, 1.09126548e-02, 1.74338425e-03,
 -2.99926413e-03, 3.47809332e-02, 1.09144882e-02, 1.71409001e-03,
  8.07906085e-03, 1.32414613e-02, 0.00000000e+00,-5.80342002e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16102103, -0.04354185, -0.15502219, -0.04354185,  0.30696341,
       -0.04099156, -0.15502219, -0.04099156,  0.17253453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.673090469344132e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64631006,  0.07836042, -0.75904081, -0.05080134,  0.99692509,
        0.05966221,  0.76138199,  0.        ,  0.64830353])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613029, -0.03416134,  0.22477737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16102103, -0.04354185, -0.15502219, -0.04354185,  0.30696341,
       -0.04099156, -0.15502219, -0.04099156,  0.17253453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.673090469344132e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64631006,  0.07836042, -0.75904081, -0.05080134,  0.99692509,
        0.05966221,  0.76138199,  0.        ,  0.64830353])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613029, -0.03416134,  0.22477737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000584948818090781
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39494669,  0.08731656, -0.91454521, -0.0346176 ,  0.99618062,
        0.08016111,  0.9180516 ,  0.        ,  0.39646092])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08301675, -0.03407718,  0.22315727])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.25406836,   0.80264084, -17.25406836,
        17.52957893,   5.52144349,   0.80264084,   5.52144349,
       135.96512149,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002052840440772946
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.70411427e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.70411427e-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([-0.08797261, -0.09004276,  0.06186551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.87716555e-03, 2.90917531e-02, 3.36996911e-03, 8.16976468e-05,
  3.35563231e-05,-1.70104886e-05,-4.40968685e-05,-1.60814598e-05,
  3.98299390e-05, 1.49382507e-05,-4.13003149e-05, 3.61807050e-05,
  1.04592709e-02, 1.52179300e-02, 7.05933834e-03, 7.92376598e-04,
 -2.79121705e-04, 5.07788607e-04,-9.81111287e+00, 2.43214979e-03,
 -6.13882522e-02, 6.26225940e-02]


--- Step 3555 ---
qpos:
[-0.01842273, 1.19982083,-0.03506998, 0.94262677,-0.00793597, 1.33290769,
 -0.03118814, 0.94133993, 0.01529516, 1.33851035,-0.02376653, 0.95474371,
  1.27424496,-0.00939376, 1.28700227, 0.0444488 ,-0.05549818,-0.08993836,
  0.09003119, 0.69220241,-0.07882738,-0.71284117,-0.08061961]

qacc:
[ 1.70921335e-01,-6.54900289e-01,-6.38415103e-01, 1.28127701e+00,
  3.24392603e-02,-2.62202989e+00, 9.88013254e+00,-1.85258108e+01,
  7.84881689e-02, 2.44188531e+00,-8.56901521e+00, 9.22127237e+00,
 -6.83196783e-01, 3.90898659e-01, 3.65711949e+00,-7.65439428e+00,
  2.72634473e+00, 2.22818937e+00, 2.84981653e+00,-1.08682797e+01,
  6.73683706e+01, 1.47101225e+02]

qfrc_actuator:
[ 9.71032725e-03, 6.36508572e-02, 1.40255832e-02, 2.03838722e-03,
  7.48443927e-06, 3.48664294e-02, 1.09277713e-02, 1.70000106e-03,
 -3.00011441e-03, 3.47305658e-02, 1.08532705e-02, 1.71808221e-03,
  8.05668512e-03, 1.33005020e-02, 0.00000000e+00,-6.05492548e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1610186 , -0.04942325, -0.15324598, -0.04942325,  0.32649323,
       -0.05336711, -0.15324598, -0.05336711,  0.17822998,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.661138703996066e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.46395873e-01,  7.83561369e-02, -7.58968176e-01, -5.08052878e-02,
        9.96925431e-01,  5.96532222e-02,  7.61308872e-01, -6.93889390e-18,
        6.48389390e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613007, -0.03416259,  0.22477835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1610186 , -0.04942325, -0.15324598, -0.04942325,  0.32649323,
       -0.05336711, -0.15324598, -0.05336711,  0.17822998,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.661138703996066e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.46395873e-01,  7.83561369e-02, -7.58968176e-01, -5.08052878e-02,
        9.96925431e-01,  5.96532222e-02,  7.61308872e-01, -6.93889390e-18,
        6.48389390e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08613007, -0.03416259,  0.22477835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005852968217241114
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94928429e-01,  8.73172033e-02, -9.14553029e-01, -3.46162607e-02,
        9.96180559e-01,  8.01623883e-02,  9.18059503e-01,  6.93889390e-18,
        3.96442618e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08301518, -0.0340784 ,  0.22315749])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.07380014, -2.61389673, 17.07380014, 18.74539284,
        9.61935387, -2.61389673,  9.61935387, 80.10570893,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020767234317271357
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.34603216e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.34603216e-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([-0.08794908, -0.09001953,  0.06186397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.82485758e-03, 2.92395092e-02, 3.38224750e-03,-1.19703226e-05,
  9.32385588e-06,-3.41905336e-05, 6.29391654e-06,-4.55619024e-05,
  2.26733035e-05,-4.91069042e-05,-6.19377661e-05, 4.07008701e-06,
  1.04443324e-02, 1.53011572e-02, 6.73795816e-03, 7.59037031e-04,
 -4.24616039e-04, 5.97829293e-04,-9.81024003e+00, 2.17403616e-03,
 -6.11348007e-02, 6.26084393e-02]


--- Step 3556 ---
qpos:
[-0.0184239 , 1.19983797,-0.03507165, 0.94262675,-0.00793593, 1.33290837,
 -0.03118756, 0.9413386 , 0.01529553, 1.33851033,-0.02376709, 0.95474178,
  1.2742638 ,-0.00939628, 1.28699382, 0.04444668,-0.05548443,-0.08991716,
  0.09003587, 0.69230364,-0.07944354,-0.71269641,-0.0804252 ]

qacc:
[-3.55301266e-01, 1.94547246e-01, 3.41002203e+00,-2.83651954e+01,
 -2.87871946e-03,-9.72972548e-01, 2.55208746e+00,-1.84606345e-01,
 -1.77730399e-02,-2.85542001e+00, 1.12957762e+01,-2.82387842e+01,
 -1.03424461e+00, 8.61421072e-01,-1.40990223e+00, 2.68254653e+00,
  2.52008441e+00, 2.11147924e+00, 1.87099315e+00,-1.03866778e+01,
  6.24082784e+01, 1.33913812e+02]

qfrc_actuator:
[ 9.66272544e-03, 6.36691284e-02, 1.40463751e-02, 1.92926593e-03,
  1.13181671e-06, 3.48746252e-02, 1.09543477e-02, 1.71059752e-03,
 -3.01865303e-03, 3.46468809e-02, 1.08171480e-02, 1.63173839e-03,
  8.04258164e-03, 1.33903626e-02, 0.00000000e+00,-5.30968892e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16101828, -0.06798478, -0.14596217, -0.06798478,  0.38808414,
       -0.10576044, -0.14596217, -0.10576044,  0.21027831,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.65958973635719e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.46469923e-01,  7.83522506e-02, -7.58905504e-01, -5.08085723e-02,
        9.96925737e-01,  5.96453196e-02,  7.61245774e-01,  6.93889390e-18,
        6.48463470e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612991, -0.03416381,  0.22477919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16101828, -0.06798478, -0.14596217, -0.06798478,  0.38808414,
       -0.10576044, -0.14596217, -0.10576044,  0.21027831,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.65958973635719e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.46469923e-01,  7.83522506e-02, -7.58905504e-01, -5.08085723e-02,
        9.96925737e-01,  5.96453196e-02,  7.61245774e-01,  6.93889390e-18,
        6.48463470e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612991, -0.03416381,  0.22477919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005856822670385446
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39491242,  0.08731765, -0.9145599 , -0.03461503,  0.99618052,
        0.0801634 ,  0.91806643,  0.        ,  0.39642656])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08301386, -0.03407958,  0.22315769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.01774747, -2.95692045, 17.01774747, 19.39373418,
       12.20687556, -2.95692045, 12.20687556, 87.52606323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00207529505620508
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08794942, -0.09000646,  0.06186403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.75762354e-03, 2.93472932e-02, 3.43564813e-03,-1.19311284e-04,
 -8.49572888e-07,-1.08693201e-05, 1.92619581e-05, 8.69433278e-06,
 -5.14955568e-06,-1.22820943e-04,-5.26341058e-05,-8.95164070e-05,
  1.04737337e-02, 1.54024284e-02, 6.62062493e-03, 8.35912168e-04,
 -1.07573940e-04, 1.23906162e-03,-9.80963333e+00, 2.13772483e-03,
 -6.08769159e-02, 6.25905065e-02]


--- Step 3557 ---
qpos:
[-0.01842615, 1.19985651,-0.03507396, 0.94262522,-0.00793608, 1.33290891,
 -0.03118696, 0.94133777, 0.01529578, 1.33850967,-0.02376768, 0.95474019,
  1.27428171,-0.00939839, 1.28698121, 0.04444437,-0.05548478,-0.08989193,
  0.09002769, 0.69222951,-0.07996973,-0.71272509,-0.08028761]

qacc:
[-4.73299288e-01, 1.00529342e+00, 2.05360260e+00,-2.02549453e+01,
 -7.65887698e-02, 6.39751571e-01,-3.34129417e+00, 8.77649838e+00,
 -4.94768361e-02,-1.83875419e-01,-1.04608272e+00, 5.03008305e+00,
 -7.94663133e-01, 8.86347254e-01,-5.50710607e+00, 1.04476628e+01,
 -3.52422411e+00, 1.00443178e+00,-3.21157220e+00, 1.09019538e+01,
 -1.16650590e+02,-6.56681497e+01]

qfrc_actuator:
[ 9.67062482e-03, 6.36556752e-02, 1.40249832e-02, 1.86512364e-03,
 -2.04412879e-05, 3.48616243e-02, 1.09520790e-02, 1.73514010e-03,
 -3.02989853e-03, 3.46504410e-02, 1.08314436e-02, 1.65269863e-03,
  8.04948839e-03, 1.34274826e-02, 0.00000000e+00,-3.78858267e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16101626, -0.06171553, -0.14871929, -0.06171553,  0.34972306,
       -0.07830954, -0.14871929, -0.07830954,  0.19351315,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.649610548149123e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.46545800e-01,  7.83487863e-02, -7.58841219e-01, -5.08122752e-02,
        9.96926009e-01,  5.96376140e-02,  7.61181083e-01,  6.93889390e-18,
        6.48539404e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612971, -0.0341649 ,  0.22478007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16101626, -0.06171553, -0.14871929, -0.06171553,  0.34972306,
       -0.07830954, -0.14871929, -0.07830954,  0.19351315,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.649610548149123e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.46545800e-01,  7.83487863e-02, -7.58841219e-01, -5.08122752e-02,
        9.96926009e-01,  5.96376140e-02,  7.61181083e-01,  6.93889390e-18,
        6.48539404e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612971, -0.0341649 ,  0.22478007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005859894623763476
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39489819,  0.08731838, -0.91456597, -0.03461408,  0.99618046,
        0.08016461,  0.91807259,  0.        ,  0.39641231])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0830125 , -0.03408064,  0.2231579 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.25499475, -0.78247284, 17.25499475, 17.35037992,
        1.71238662, -0.78247284,  1.71238662, 55.0340661 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002078369118522286
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.67089954e-14,  1.33544977e-14,  1.00000000e+00,  3.56685218e-28,
        1.00000000e+00, -1.33544977e-14, -1.00000000e+00,  0.00000000e+00,
       -2.67089954e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02197219, -0.0946184 ,  0.06186384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.80626745e-03, 2.93499172e-02, 3.49517776e-03,-7.31794786e-05,
 -2.20750834e-05,-1.49900920e-05,-1.95111223e-06, 2.49814396e-05,
 -1.42903940e-05,-7.72929785e-05,-1.82942430e-05, 1.36934519e-05,
  1.05453588e-02, 1.54353086e-02, 6.67670425e-03, 9.90944790e-04,
  5.51248026e-04, 2.27202911e-03,-9.80922499e+00, 2.26289966e-03,
 -6.06156895e-02, 6.25684446e-02]


--- Step 3558 ---
qpos:
[-0.0184283 , 1.19987549,-0.03507571, 0.94262398,-0.00793629, 1.33290901,
 -0.03118623, 0.94133692, 0.01529591, 1.33850871,-0.02376804, 0.95474019,
  1.27429941,-0.0094005 , 1.28697001, 0.04444213,-0.05549802,-0.0898634 ,
  0.09000459, 0.69199439,-0.08042258,-0.7129124 ,-0.08019901]

qacc:
[ 4.38047128e-02,-4.45316205e-01, 1.56017409e+00, 1.79639864e+00,
 -2.78830245e-02,-9.74201038e-01, 2.52776399e+00,-2.19078568e+00,
 -5.27300451e-02, 1.74054541e+00,-9.39746382e+00, 2.68064384e+01,
 -2.43119927e-01, 2.22715505e-01, 1.90832007e+00,-3.59355849e+00,
 -3.22420295e+00, 8.26275475e-01,-3.73247687e+00, 7.85733578e+00,
 -1.07376130e+02,-5.58992420e+01]

qfrc_actuator:
[ 9.69466930e-03, 6.36038533e-02, 1.40312190e-02, 1.88141826e-03,
 -1.54647305e-05, 3.48181874e-02, 1.09504739e-02, 1.73214592e-03,
 -3.03667644e-03, 3.46709669e-02, 1.08580274e-02, 1.73673024e-03,
  8.05303828e-03, 1.34148520e-02, 0.00000000e+00,-4.64075919e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16100928, -0.05924238, -0.14971415, -0.05924238,  0.35024015,
       -0.07487928, -0.14971415, -0.07487928,  0.19063926,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.615089187136109e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64663723,  0.07834516, -0.75876369, -0.05081709,  0.99692629,
        0.05962874,  0.76110309,  0.        ,  0.64863093])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612942, -0.03416584,  0.22478112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16100928, -0.05924238, -0.14971415, -0.05924238,  0.35024015,
       -0.07487928, -0.14971415, -0.07487928,  0.19063926,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.615089187136109e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64663723,  0.07834516, -0.75876369, -0.05081709,  0.99692629,
        0.05962874,  0.76110309,  0.        ,  0.64863093])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612942, -0.03416584,  0.22478112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005861363889297783
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94883284e-01,  8.73195478e-02, -9.14572298e-01, -3.46132401e-02,
        9.96180353e-01,  8.01662462e-02,  9.18079036e-01, -6.93889390e-18,
        3.96397382e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0830108 , -0.03408154,  0.22315815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.20860413,   1.48696046, -17.20860413,
        17.26744404,  -0.06114289,   1.48696046,  -0.06114289,
        16.56512022,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002077988809900941
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.67138836e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.67138836e-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([ 0.02196823, -0.09466329,  0.06186379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.88460114e-03, 2.92285735e-02, 3.53395269e-03, 1.88664122e-05,
 -8.05559008e-06,-5.13650033e-05,-4.02998652e-06,-2.92411494e-06,
 -1.52203530e-05,-2.53812631e-05, 9.80934750e-06, 8.15204374e-05,
  1.05957472e-02, 1.54024560e-02, 6.88517350e-03, 9.15600175e-04,
 -2.31451531e-04, 2.35065596e-03,-9.80977695e+00, 1.85506835e-03,
 -6.07638170e-02, 6.25677962e-02]


--- Step 3559 ---
qpos:
[-0.01843042, 1.19989487,-0.03507695, 0.9426233 ,-0.00793652, 1.33290934,
 -0.03118612, 0.94133705, 0.01529607, 1.33850778,-0.02376902, 0.95473983,
  1.27431741,-0.00940241, 1.28695827, 0.04443976,-0.05549973,-0.08982589,
  0.08999561, 0.69188349,-0.08110706,-0.7129744 ,-0.07991487]

qacc:
[ 1.20573723e-02, 9.70971127e-02,-8.49313536e-01, 6.98019133e+00,
 -5.83881486e-03, 3.64864400e+00,-1.35828342e+01, 2.31002771e+01,
  1.62779884e-02, 1.09013919e+00,-2.77311839e+00,-1.78780001e+00,
  1.39560637e-01, 4.32798086e-02,-4.20857255e-01, 3.01492078e-01,
  2.88308975e+00, 2.24779411e+00, 3.53022173e+00,-1.04693850e+01,
  7.04913205e+01, 1.60244153e+02]

qfrc_actuator:
[ 9.67439084e-03, 6.36359049e-02, 1.40175632e-02, 1.90926547e-03,
 -1.23535564e-05, 3.48633613e-02, 1.09313886e-02, 1.78396294e-03,
 -3.02296673e-03, 3.46661038e-02, 1.08207299e-02, 1.71517627e-03,
  8.05454224e-03, 1.33726056e-02, 0.00000000e+00,-4.43339286e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.161005  , -0.04832457, -0.15358173, -0.04832457,  0.30943939,
       -0.04670496, -0.15358173, -0.04670496,  0.17570074,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.593818819178524e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64672457,  0.07834169, -0.7586896 , -0.05082169,  0.99692657,
        0.05962026,  0.76102857,  0.        ,  0.64871836])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612917, -0.03416681,  0.22478215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.161005  , -0.04832457, -0.15358173, -0.04832457,  0.30943939,
       -0.04670496, -0.15358173, -0.04670496,  0.17570074,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.593818819178524e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64672457,  0.07834169, -0.7586896 , -0.05082169,  0.99692657,
        0.05962026,  0.76102857,  0.        ,  0.64871836])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612917, -0.03416681,  0.22478215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005863949209210031
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94867434e-01,  8.73206966e-02, -9.14579032e-01, -3.46123096e-02,
        9.96180253e-01,  8.01678993e-02,  9.18085888e-01,  6.93889390e-18,
        3.96381511e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0830092 , -0.03408247,  0.22315841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.25154871,   0.85508737, -17.25154871,
        17.52253081,   5.03983333,   0.85508737,   5.03983333,
       118.9523137 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002102529475122239
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.64020799e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.64020799e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08791931, -0.08994843,  0.06186215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.85928279e-03, 2.92377744e-02, 3.49165415e-03, 3.19575166e-05,
 -1.64608634e-06, 1.58774157e-05,-2.96833785e-05, 5.00825658e-05,
  4.71922393e-06,-1.45607749e-05,-3.87526264e-05,-2.01237252e-05,
  1.06076878e-02, 1.53598315e-02, 6.81450108e-03, 9.32998961e-04,
 -1.24405361e-03, 2.41125849e-03,-9.81038193e+00, 1.66888172e-03,
 -6.08654378e-02, 6.25682849e-02]


--- Step 3560 ---
qpos:
[-0.01843309, 1.19991545,-0.03507806, 0.94262256,-0.00793674, 1.33291001,
 -0.03118629, 0.9413364 , 0.01529633, 1.33850679,-0.02377046, 0.95473956,
  1.27433589,-0.00940385, 1.28694204, 0.0444371 ,-0.05549084,-0.08977981,
  0.08999638, 0.69188624,-0.08200166,-0.7129208 ,-0.07945495]

qacc:
[-2.39122032e-01, 1.13901210e+00,-1.69377373e+00, 2.51820817e-02,
  3.38775378e-03,-1.57933906e-01, 2.69231371e+00,-1.17360922e+01,
  3.78028485e-02, 1.30004900e+00,-4.50605637e+00, 4.97476791e+00,
  3.08826444e-01, 7.67590617e-02,-5.79333756e+00, 1.05912842e+01,
  2.65152215e+00, 2.13817897e+00, 2.43629396e+00,-1.00361473e+01,
  6.49737327e+01, 1.44940714e+02]

qfrc_actuator:
[ 9.64530388e-03, 6.36116436e-02, 1.40095609e-02, 1.90815729e-03,
 -1.03876962e-05, 3.48901985e-02, 1.09202643e-02, 1.74339770e-03,
 -3.01483050e-03, 3.46635388e-02, 1.07991150e-02, 1.72035697e-03,
  8.05478051e-03, 1.33301564e-02, 0.00000000e+00,-2.87852423e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16100007, -0.045004  , -0.15458222, -0.045004  ,  0.28925219,
       -0.03733843, -0.15458222, -0.03733843,  0.17187052,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.5691975187024956e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64681508,  0.07833802, -0.75861282, -0.05082641,  0.99692685,
        0.05961142,  0.76095133,  0.        ,  0.64880897])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612891, -0.03416779,  0.22478321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16100007, -0.045004  , -0.15458222, -0.045004  ,  0.28925219,
       -0.03733843, -0.15458222, -0.03733843,  0.17187052,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.5691975187024956e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64681508,  0.07833802, -0.75861282, -0.05082641,  0.99692685,
        0.05961142,  0.76095133,  0.        ,  0.64880897])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612891, -0.03416779,  0.22478321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005866391905865465
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94850756e-01,  8.73218502e-02, -9.14586122e-01, -3.46113085e-02,
        9.96180152e-01,  8.01695880e-02,  9.18093099e-01,  6.93889390e-18,
        3.96364810e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08300753, -0.03408342,  0.22315867])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.05575852, -2.72914066, 17.05575852, 18.75353925,
        9.25433117, -2.72914066,  9.25433117, 75.10764957,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021136381837389973
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62633178e-14,  2.62633178e-14,  1.00000000e+00,  6.89761859e-28,
        1.00000000e+00, -2.62633178e-14, -1.00000000e+00,  0.00000000e+00,
       -2.62633178e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08790712, -0.08992742,  0.06186138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.82879557e-03, 2.91936512e-02, 3.45823473e-03, 2.91988681e-06,
  9.94572582e-07, 3.13199781e-05,-9.92717718e-06,-3.97966054e-05,
  1.09223064e-05,-1.87745673e-05,-2.94500989e-05, 3.14362960e-06,
  1.05930151e-02, 1.53078726e-02, 6.84167686e-03, 1.09486465e-03,
 -3.16290060e-04, 4.45682766e-03,-9.80992809e+00, 1.57445448e-03,
 -6.05647519e-02, 6.25401741e-02]


--- Step 3561 ---
qpos:
[-0.01843584, 1.1999363 ,-0.0350796 , 0.94262089,-0.00793651, 1.33291075,
 -0.03118621, 0.94133491, 0.01529668, 1.33850571,-0.02377217, 0.9547397 ,
  1.27435463,-0.00940528, 1.2869258 , 0.04443459,-0.05547211,-0.08972556,
  0.09000318, 0.69199359,-0.08308853,-0.71275955,-0.07883528]

qacc:
[-2.97195478e-02,-8.48975859e-02, 2.64063973e+00,-1.32767111e+01,
  1.91259426e-01,-1.98174246e+00, 8.29707724e+00,-1.68804622e+01,
  3.86987926e-02, 1.33875041e+00,-5.32087243e+00, 9.32033639e+00,
  2.15672352e-01,-1.64520740e-01,-4.60195092e-01, 1.54375180e+00,
  2.45953387e+00, 2.04449704e+00, 1.50777365e+00,-9.56072739e+00,
  6.03443200e+01, 1.32372024e+02]

qfrc_actuator:
[ 9.64700245e-03, 6.35703852e-02, 1.40228840e-02, 1.85456456e-03,
  4.41326501e-05, 3.48880751e-02, 1.09315737e-02, 1.70204331e-03,
 -3.01010463e-03, 3.46624272e-02, 1.07869894e-02, 1.74127161e-03,
  8.05423211e-03, 1.33404834e-02, 0.00000000e+00,-3.17595968e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16098915, -0.06377722, -0.14781736, -0.06377722,  0.36854789,
       -0.08955322, -0.14781736, -0.08955322,  0.19962775,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.514250297036262e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.46923594e-01,  7.83337095e-02, -7.58520727e-01, -5.08321222e-02,
        9.96927194e-01,  5.96008843e-02,  7.60858698e-01,  6.93889390e-18,
        6.48917592e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612853, -0.03416875,  0.22478445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16098915, -0.06377722, -0.14781736, -0.06377722,  0.36854789,
       -0.08955322, -0.14781736, -0.08955322,  0.19962775,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.514250297036262e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.46923594e-01,  7.83337095e-02, -7.58520727e-01, -5.08321222e-02,
        9.96927194e-01,  5.96008843e-02,  7.60858698e-01,  6.93889390e-18,
        6.48917592e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612853, -0.03416875,  0.22478445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005866811769632795
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94832861e-01,  8.73232428e-02, -9.14593715e-01, -3.46102961e-02,
        9.96180030e-01,  8.01715419e-02,  9.18100833e-01,  6.93889390e-18,
        3.96346894e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08300546, -0.03408433,  0.22315895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.99352095, -3.09311385, 16.99352095, 19.42425985,
       11.82048763, -3.09311385, 11.82048763, 82.21430848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002101369920998686
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.64166488e-14,  2.64166488e-14,  1.00000000e+00,  6.97839335e-28,
        1.00000000e+00, -2.64166488e-14, -1.00000000e+00,  0.00000000e+00,
       -2.64166488e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08791698, -0.08991627,  0.06186207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.85791380e-03, 2.90922717e-02, 3.46531941e-03,-4.77238835e-05,
  5.51087515e-05, 1.20560639e-05, 1.51390081e-05,-4.16236339e-05,
  1.11749918e-05,-1.71438707e-05,-1.90451233e-05, 1.95657930e-05,
  1.05683959e-02, 1.52944903e-02, 7.06650133e-03, 1.07944025e-03,
  9.72414125e-04, 6.84543668e-03,-9.80970469e+00, 1.67164857e-03,
 -6.02639910e-02, 6.25077111e-02]


--- Step 3562 ---
qpos:
[-0.01843913, 1.19995764,-0.03508146, 0.94261823,-0.00793575, 1.33291158,
 -0.03118631, 0.94133365, 0.01529725, 1.33850434,-0.02377419, 0.95473906,
  1.27437297,-0.00940662, 1.28690956, 0.04443225,-0.0554677 ,-0.08966666,
  0.08999754, 0.69192207,-0.08407683,-0.71277486,-0.07827473]

qacc:
[-2.40081294e-01,-1.75218308e-01, 3.41254359e+00,-1.48448870e+01,
  2.25091224e-01, 9.87577335e-01,-3.55772297e+00, 5.68124661e+00,
  9.35758562e-02,-8.89649076e-01, 3.98214592e+00,-1.21172251e+01,
 -3.69183739e-01, 3.59615567e-01,-5.12800388e-01, 1.86122121e+00,
 -3.58279966e+00, 1.16260298e+00,-3.10953570e+00, 1.25701540e+01,
 -1.18497102e+02,-6.99682753e+01]

qfrc_actuator:
[ 9.63140580e-03, 6.35371238e-02, 1.40317443e-02, 1.80588224e-03,
  7.64811472e-05, 3.48864599e-02, 1.09204275e-02, 1.71382835e-03,
 -2.98971017e-03, 3.46267401e-02, 1.07628164e-02, 1.70026644e-03,
  8.05321404e-03, 1.34005039e-02, 0.00000000e+00,-2.99014399e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16097858, -0.07080564, -0.14457062, -0.07080564,  0.37417931,
       -0.10441827, -0.14457062, -0.10441827,  0.212119  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.460562567179486e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.47032683e-01,  7.83294064e-02, -7.58428119e-01, -5.08378838e-02,
        9.96927532e-01,  5.95903137e-02,  7.60765546e-01,  6.93889390e-18,
        6.49026797e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612816, -0.03416972,  0.2247857 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16097858, -0.07080564, -0.14457062, -0.07080564,  0.37417931,
       -0.10441827, -0.14457062, -0.10441827,  0.212119  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.460562567179486e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.47032683e-01,  7.83294064e-02, -7.58428119e-01, -5.08378838e-02,
        9.96927532e-01,  5.95903137e-02,  7.60765546e-01,  6.93889390e-18,
        6.49026797e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612816, -0.03416972,  0.2247857 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005867379099436243
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94815098e-01,  8.73246595e-02, -9.14601248e-01, -3.46093048e-02,
        9.96179905e-01,  8.01735129e-02,  9.18108509e-01, -6.93889390e-18,
        3.96329112e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08300339, -0.03408526,  0.22315923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.25266532, -0.83225403, 17.25266532, 17.35634952,
        1.7334932 , -0.83225403,  1.7334932 , 53.20812298,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020938381418800778
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.65116726e-14,  3.97675089e-14,  1.00000000e+00,  1.05430317e-27,
        1.00000000e+00, -3.97675089e-14, -1.00000000e+00,  0.00000000e+00,
       -2.65116726e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02190198, -0.09486027,  0.0618625 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.84569718e-03, 2.90449761e-02, 3.49514136e-03,-4.98364831e-05,
  6.48812653e-05, 6.75699854e-06,-8.28809551e-06, 1.16273486e-05,
  2.69926444e-05,-4.82974163e-05,-2.91099847e-05,-4.16190002e-05,
  1.05542395e-02, 1.53540552e-02, 7.06761425e-03, 1.09112854e-03,
  2.52348463e-03, 9.46041728e-03,-9.80965986e+00, 1.90773614e-03,
 -5.99638104e-02, 6.24705043e-02]


--- Step 3563 ---
qpos:
[-0.01844289, 1.19997901,-0.03508342, 0.94261503,-0.00793452, 1.33291276,
 -0.03118665, 0.94133218, 0.01529804, 1.33850267,-0.02377571, 0.95473963,
  1.27439065,-0.0094079 , 1.28689477, 0.04443014,-0.05547638,-0.08960392,
  0.0899773 , 0.69168673,-0.08498561,-0.71295131,-0.0777647 ]

qacc:
[-2.06349627e-01,-6.02104740e-01, 3.11024878e+00,-8.89747887e+00,
  1.98011403e-01, 7.47720302e-01,-1.42959933e+00,-1.48999539e+00,
  9.64941082e-02, 3.31075546e-01,-3.97912670e+00, 1.74691216e+01,
 -6.37022988e-01, 5.76072275e-01, 1.51436404e+00,-2.07643236e+00,
 -3.26882932e+00, 9.60434895e-01,-3.64784117e+00, 8.91939833e+00,
 -1.08893321e+02,-5.90055870e+01]

qfrc_actuator:
[ 9.62369491e-03, 6.35083354e-02, 1.40202455e-02, 1.77833695e-03,
  9.52658499e-05, 3.49206134e-02, 1.09138881e-02, 1.70351358e-03,
 -2.97783335e-03, 3.46415573e-02, 1.08025593e-02, 1.76513990e-03,
  8.04663915e-03, 1.34547512e-02, 0.00000000e+00,-3.40297735e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16096878, -0.07026168, -0.14482487, -0.07026168,  0.36524689,
       -0.09910538, -0.14482487, -0.09910538,  0.20904968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.410278384367778e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64714197,  0.07832545, -0.75833528, -0.05084388,  0.99692784,
        0.05957999,  0.76067218,  0.        ,  0.64913622])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612779, -0.03417068,  0.22478696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16096878, -0.07026168, -0.14482487, -0.07026168,  0.36524689,
       -0.09910538, -0.14482487, -0.09910538,  0.20904968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.410278384367778e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64714197,  0.07832545, -0.75833528, -0.05084388,  0.99692784,
        0.05957999,  0.76067218,  0.        ,  0.64913622])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612779, -0.03417068,  0.22478696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005868292409269733
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94797176e-01,  8.73262957e-02, -9.14608828e-01, -3.46083872e-02,
        9.96179762e-01,  8.01756911e-02,  9.18116250e-01, -6.93889390e-18,
        3.96311179e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08300132, -0.03408617,  0.22315953])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.21374049,   1.42626984, -17.21374049,
        17.25548316,  -0.20812034,   1.42626984,  -0.20812034,
        14.76090979,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020965928120037156
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.32384197e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.32384197e-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([ 0.02188778, -0.09491056,  0.06186223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.86551825e-03, 2.89914013e-02, 3.49976020e-03,-2.75250753e-05,
  5.70861232e-05, 3.66152512e-05,-5.82222658e-06,-1.00858626e-05,
  2.78154821e-05,-1.87976830e-05, 2.57869611e-05, 6.16159411e-05,
  1.05680170e-02, 1.54038407e-02, 7.06768169e-03, 1.04090000e-03,
  6.09524889e-04, 9.49849762e-03,-9.81020926e+00, 1.00549475e-03,
 -6.01751431e-02, 6.24442402e-02]


--- Step 3564 ---
qpos:
[-0.01844656, 1.20000027,-0.03508483, 0.94261254,-0.00793307, 1.33291437,
 -0.03118685, 0.94133056, 0.01529903, 1.33850119,-0.02377665, 0.95474058,
  1.27440828,-0.00940906, 1.28688095, 0.04442807,-0.05547374,-0.08953247,
  0.08996963, 0.69157091,-0.08612582,-0.71300366,-0.07705712]

qacc:
[ 4.28028154e-02,-4.16867217e-01,-2.89933877e-01, 8.57207130e+00,
  9.17366548e-02,-6.05813122e-02, 1.16278255e+00,-2.89529085e+00,
  8.01100818e-02,-6.80813097e-01, 1.76441839e+00, 2.69813216e+00,
 -1.52238418e-01, 2.28824758e-01, 1.33303513e+00,-2.56885785e+00,
  2.82712942e+00, 2.17631766e+00, 3.14089315e+00,-9.36192398e+00,
  6.81336673e+01, 1.60742458e+02]

qfrc_actuator:
[ 9.63861128e-03, 6.35002501e-02, 1.39964355e-02, 1.81666640e-03,
  8.80108975e-05, 3.49581708e-02, 1.09279977e-02, 1.69804403e-03,
 -2.97116227e-03, 3.46868063e-02, 1.08444701e-02, 1.78536463e-03,
  8.04209399e-03, 1.34167591e-02, 0.00000000e+00,-3.64359033e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16096149, -0.05265981, -0.15210373, -0.05265981,  0.30906525,
       -0.05127499, -0.15210373, -0.05127499,  0.1787134 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.372586884292742e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64724566,  0.0783221 , -0.75824713, -0.05084984,  0.99692811,
        0.0595705 ,  0.76058356,  0.        ,  0.64924006])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612746, -0.03417162,  0.22478818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16096149, -0.05265981, -0.15210373, -0.05265981,  0.30906525,
       -0.05127499, -0.15210373, -0.05127499,  0.1787134 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.372586884292742e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64724566,  0.0783221 , -0.75824713, -0.05084984,  0.99692811,
        0.0595705 ,  0.76058356,  0.        ,  0.64924006])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612746, -0.03417162,  0.22478818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005870153626681036
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39477932,  0.08732812, -0.91461636, -0.03460755,  0.9961796 ,
        0.08017804,  0.91812396,  0.        ,  0.39629331])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08299938, -0.03408707,  0.22315983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.24902095,   0.90464564, -17.24902095,
        17.52281255,   4.76841544,   0.90464564,   4.76841544,
       108.1928563 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021006907600424896
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.64251894e-14,  2.64251894e-14,  1.00000000e+00,  6.98290635e-28,
        1.00000000e+00, -2.64251894e-14, -1.00000000e+00,  0.00000000e+00,
       -2.64251894e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08791091, -0.08986125,  0.06186181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.90410452e-03, 2.89816869e-02, 3.48081252e-03, 3.74559592e-05,
  2.64459151e-05, 5.63629713e-05, 2.03129238e-05,-4.77128527e-06,
  2.30959834e-05, 4.17311852e-05, 4.29775338e-05, 2.18523358e-05,
  1.05968191e-02, 1.53625658e-02, 6.99522936e-03, 1.00565002e-03,
 -1.41477039e-03, 9.61868496e-03,-9.81080305e+00, 3.70667391e-04,
 -6.03178914e-02, 6.24196203e-02]


--- Step 3565 ---
qpos:
[-0.01844957, 1.20002086,-0.03508566, 0.94261127,-0.00793197, 1.33291567,
 -0.03118632, 0.94132997, 0.01530015, 1.33849981,-0.02377695, 0.95474003,
  1.27442635,-0.00941019, 1.28686807, 0.04442591,-0.05546068,-0.08945266,
  0.08997034, 0.69156423,-0.08747641,-0.71294089,-0.07617143]

qacc:
[ 2.83342047e-01,-3.64611666e-01,-2.38505871e+00, 1.66290870e+01,
 -1.48067637e-01,-6.24898007e-01,-5.64378563e-01, 1.25229297e+01,
  5.95072425e-02,-4.14198787e+00, 1.66729375e+01,-3.16656897e+01,
  2.77112212e-01,-1.66539543e-01, 1.62230781e+00,-3.68732418e+00,
  2.60756424e+00, 2.09024344e+00, 2.09361513e+00,-8.98288715e+00,
  6.29360091e+01, 1.45750757e+02]

qfrc_actuator:
[ 9.66672171e-03, 6.34159546e-02, 1.39823864e-02, 1.87573852e-03,
  2.96908682e-05, 3.49087942e-02, 1.09542103e-02, 1.74874922e-03,
 -2.96766705e-03, 3.46789285e-02, 1.08696397e-02, 1.70813244e-03,
  8.03873451e-03, 1.33588581e-02, 0.00000000e+00,-3.95738550e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16095552, -0.04431261, -0.15473549, -0.04431261,  0.2818491 ,
       -0.03462108, -0.15473549, -0.03462108,  0.17087018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.341501060463806e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64734612,  0.07831887, -0.7581617 , -0.05085563,  0.99692836,
        0.05956132,  0.76049767,  0.        ,  0.64934066])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612715, -0.03417259,  0.22478937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16095552, -0.04431261, -0.15473549, -0.04431261,  0.2818491 ,
       -0.03462108, -0.15473549, -0.03462108,  0.17087018,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.341501060463806e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64734612,  0.07831887, -0.7581617 , -0.05085563,  0.99692836,
        0.05956132,  0.76049767,  0.        ,  0.64934066])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612715, -0.03417259,  0.22478937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005872514377384501
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39476106,  0.08732991, -0.91462407, -0.03460666,  0.99617945,
        0.08018037,  0.91813184,  0.        ,  0.39627505])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0829975 , -0.034088  ,  0.22316013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.04549007, -2.79255721, 17.04549007, 18.67268093,
        8.54517715, -2.79255721,  8.54517715, 69.43163443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002104014002481995
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.63834514e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.63834514e-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([-0.08790525, -0.08984062,  0.06186148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92729313e-03, 2.89028671e-02, 3.43940389e-03, 6.10503055e-05,
 -4.27062887e-05,-1.43760643e-05, 3.94104470e-05, 5.28894497e-05,
  1.71352241e-05, 2.42538621e-05, 3.88472614e-05,-7.42315673e-05,
  1.05956189e-02, 1.52991796e-02, 6.94738167e-03, 9.72640795e-04,
  5.25828815e-04, 1.36381668e-02,-9.81084692e+00, 3.92090982e-04,
 -5.99833598e-02, 6.23758576e-02]


--- Step 3566 ---
qpos:
[-0.01845079, 1.20003845,-0.03508721, 0.94260997,-0.00793137, 1.3329162 ,
 -0.03118496, 0.94133105, 0.01530137, 1.33849805,-0.02377612, 0.95473859,
  1.27444487,-0.00941201, 1.28686264, 0.04442404,-0.05546119,-0.08936825,
  0.0899573 , 0.69138691,-0.08873585,-0.71304555,-0.0753401 ]

qacc:
[ 7.86240558e-01,-2.07606072e+00, 2.08269602e+00,-3.17952416e-01,
 -2.09519819e-01,-3.95977786e-01,-3.39931712e+00, 2.29851534e+01,
  4.07156862e-02,-5.09758343e+00, 1.78296449e+01,-2.56196682e+01,
  4.10188989e-01,-7.66011442e-01, 1.01062815e+01,-1.94476162e+01,
 -3.39463587e+00, 1.15019451e+00,-3.43511353e+00, 1.10520640e+01,
 -1.12873673e+02,-6.51084413e+01]

qfrc_actuator:
[ 9.71990979e-03, 6.33575406e-02, 1.39739439e-02, 1.85770176e-03,
 -5.53043029e-06, 3.48433330e-02, 1.09870463e-02, 1.83205694e-03,
 -2.96610419e-03, 3.46391809e-02, 1.09199840e-02, 1.66290263e-03,
  8.04669572e-03, 1.33600521e-02, 0.00000000e+00,-6.62191883e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16095013, -0.05937096, -0.14959957, -0.05937096,  0.36674879,
       -0.08167446, -0.14959957, -0.08167446,  0.19336393,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.3132747276959935e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.47443080e-01,  7.83154132e-02, -7.58079254e-01, -5.08609851e-02,
        9.96928631e-01,  5.95521967e-02,  7.60414768e-01, -6.93889390e-18,
        6.49437742e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612686, -0.03417362,  0.2247905 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16095013, -0.05937096, -0.14959957, -0.05937096,  0.36674879,
       -0.08167446, -0.14959957, -0.08167446,  0.19336393,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.3132747276959935e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.47443080e-01,  7.83154132e-02, -7.58079254e-01, -5.08609851e-02,
        9.96928631e-01,  5.95521967e-02,  7.60414768e-01, -6.93889390e-18,
        6.49437742e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612686, -0.03417362,  0.2247905 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005874985076265195
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94742890e-01,  8.73314394e-02, -9.14631768e-01, -3.46056823e-02,
        9.96179311e-01,  8.01824611e-02,  9.18139694e-01, -6.93889390e-18,
        3.96256864e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0829957 , -0.034089  ,  0.22316041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.25034215, -0.8790923 , 17.25034215, 17.35444245,
        1.6034889 , -0.8790923 ,  1.6034889 , 48.73783292,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00208615935618707
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.66092574e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.66092574e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02189106, -0.09506926,  0.06186248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94794909e-03, 2.88775055e-02, 3.40203177e-03,-1.78301114e-05,
 -6.04327664e-05,-6.41199981e-05, 3.60581277e-05, 8.52578040e-05,
  1.16826216e-05,-2.09384691e-05, 5.73249177e-05,-4.51051432e-05,
  1.05813828e-02, 1.52985838e-02, 6.90047297e-03, 7.10298549e-04,
  2.75429733e-03, 1.78264187e-02,-9.81111193e+00, 5.86077176e-04,
 -5.96523767e-02, 6.23268039e-02]


--- Step 3567 ---
qpos:
[-0.01845138, 1.20005471,-0.03508939, 0.9426083 ,-0.00793108, 1.33291608,
 -0.03118313, 0.9413328 , 0.0153028 , 1.33849634,-0.02377512, 0.95473731,
  1.27446306,-0.00941404, 1.28685907, 0.04442204,-0.05545199,-0.08928117,
  0.08996089, 0.69133614,-0.09011808,-0.71302016,-0.07439977]

qacc:
[ 2.70056506e-01,-6.40105951e-01, 7.21269769e-01,-3.93171357e+00,
 -1.35205844e-01,-9.75391383e-01, 8.01177153e-01, 7.31993957e+00,
  8.68223771e-02,-1.19640793e-01, 1.11770055e-01, 1.85518313e+00,
 -2.35344980e-01, 5.10175404e-02, 3.15648121e+00,-6.99082627e+00,
  2.42890637e+00, 6.67463411e-01, 4.15481363e+00,-2.87083835e+00,
  8.06187220e+01, 9.19918679e+01]

qfrc_actuator:
[ 9.73347170e-03, 6.33882687e-02, 1.39876790e-02, 1.84742409e-03,
 -8.85469733e-06, 3.48043031e-02, 1.10056979e-02, 1.86284381e-03,
 -2.94795960e-03, 3.46517717e-02, 1.09314334e-02, 1.67238945e-03,
  8.04545619e-03, 1.33974179e-02, 0.00000000e+00,-6.61713295e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16095291, -0.05419864, -0.15155311, -0.05419864,  0.32730558,
       -0.05949128, -0.15155311, -0.05949128,  0.18222827,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.327866173562325e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.47510236e-01,  7.83124533e-02, -7.58022199e-01, -5.08643264e-02,
        9.96928864e-01,  5.95454503e-02,  7.60357360e-01,  6.93889390e-18,
        6.49504954e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612674, -0.03417482,  0.2247913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16095291, -0.05419864, -0.15155311, -0.05419864,  0.32730558,
       -0.05949128, -0.15155311, -0.05949128,  0.18222827,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.327866173562325e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.47510236e-01,  7.83124533e-02, -7.58022199e-01, -5.08643264e-02,
        9.96928864e-01,  5.95454503e-02,  7.60357360e-01,  6.93889390e-18,
        6.49504954e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612674, -0.03417482,  0.2247913 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005880046889435026
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39472815,  0.0873322 , -0.91463806, -0.03460469,  0.99617924,
        0.08018371,  0.91814607,  0.        ,  0.39624209])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08299456, -0.03409018,  0.22316062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.17339574,   1.84975303, -17.17339574,
        18.2759129 ,   9.31373191,   1.84975303,   9.31373191,
       103.74286768,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002108504847496362
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.63272581e-14,  1.31636290e-14,  1.00000000e+00,  3.46562258e-28,
        1.00000000e+00, -1.31636290e-14, -1.00000000e+00,  0.00000000e+00,
       -2.63272581e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08612436, -0.08230471,  0.06186095])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.87124145e-03, 2.90581443e-02, 3.45144933e-03,-2.62836672e-05,
 -3.90020690e-05,-6.48828316e-05, 1.27099902e-05, 3.18912838e-05,
  2.50424779e-05, 1.08807074e-05, 1.25542920e-05, 9.49053540e-06,
  1.05580719e-02, 1.53706466e-02, 6.52842320e-03, 6.96516812e-04,
  8.75588022e-06, 1.78797758e-02,-9.81168638e+00,-4.71126167e-04,
 -5.98550338e-02, 6.22817430e-02]


--- Step 3568 ---
qpos:
[-0.01845282, 1.20007197,-0.03509106, 0.94260729,-0.00793115, 1.33291599,
 -0.03118126, 0.94133313, 0.01530428, 1.33849512,-0.02377446, 0.9547358 ,
  1.27448077,-0.00941552, 1.28685099, 0.04441953,-0.05543373,-0.08919132,
  0.08997653, 0.69140071,-0.09161081,-0.71287482,-0.07336214]

qacc:
[-3.72116014e-01, 1.03986717e+00,-3.15293031e+00, 9.66225202e+00,
 -1.48119074e-01,-2.50537035e+00, 1.11269823e+01,-2.60452903e+01,
  2.49631518e-02, 1.15440407e+00,-2.48821177e+00,-8.83063195e-01,
 -5.26932038e-01, 7.91385897e-01,-5.06485146e+00, 8.10529612e+00,
  2.26381953e+00, 6.95096633e-01, 3.01335999e+00,-2.77459550e+00,
  7.40861913e+01, 8.27240478e+01]

qfrc_actuator:
[ 9.68821559e-03, 6.33477392e-02, 1.40149255e-02, 1.89539516e-03,
 -2.85235567e-05, 3.48345793e-02, 1.10158825e-02, 1.79146282e-03,
 -2.95551890e-03, 3.46954924e-02, 1.09200460e-02, 1.66073540e-03,
  8.03342299e-03, 1.34030187e-02, 0.00000000e+00,-4.83028003e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16095724, -0.04289115, -0.1551373 , -0.04289115,  0.25859017,
       -0.02699279, -0.1551373 , -0.02699279,  0.16841999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.350487168679502e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64756872,  0.07830958, -0.75797253, -0.05086704,  0.99692909,
        0.05953935,  0.76030737,  0.        ,  0.64956347])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612667, -0.03417603,  0.22479198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16095724, -0.04289115, -0.1551373 , -0.04289115,  0.25859017,
       -0.02699279, -0.1551373 , -0.02699279,  0.16841999,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.350487168679502e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64756872,  0.07830958, -0.75797253, -0.05086704,  0.99692909,
        0.05953935,  0.76030737,  0.        ,  0.64956347])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612667, -0.03417603,  0.22479198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005885410305247647
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39471521,  0.08733268, -0.9146436 , -0.03460375,  0.9961792 ,
        0.08018464,  0.91815167,  0.        ,  0.39622912])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0829936 , -0.03409136,  0.22316081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 15.95161788, -6.62517881, 15.95161788, 28.3859243 ,
       26.7575378 , -6.62517881, 26.7575378 , 81.69755726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002116653498656987
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62259039e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.62259039e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08611158, -0.08228803,  0.06186036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.79496608e-03, 2.90837635e-02, 3.51033049e-03, 3.95554709e-05,
 -4.26953398e-05,-2.17083449e-06,-1.29096685e-07,-7.22203859e-05,
  7.22955546e-06, 5.24810772e-05,-7.55893651e-06,-1.07464162e-05,
  1.05619987e-02, 1.53865831e-02, 6.43482933e-03, 8.81394541e-04,
  2.40840002e-03, 1.97160614e-02,-9.81173306e+00,-5.43237549e-05,
 -5.96722163e-02, 6.22303604e-02]


--- Step 3569 ---
qpos:
[-0.01845502, 1.2000899 ,-0.03509277, 0.94260622,-0.00793166, 1.33291583,
 -0.03117897, 0.94133225, 0.01530547, 1.33849398,-0.0237726 , 0.95473309,
  1.27449851,-0.00941654, 1.28683903, 0.04441667,-0.05540697,-0.08909859,
  0.09000035, 0.69157118,-0.09320394,-0.71261785,-0.07223657]

qacc:
[ -0.32731728,  0.89164679, -1.72702973,  0.44239202, -0.18909757,
  -3.27386337, 13.08093842,-25.40834863, -0.12599083, -5.20446892,
  19.50715005,-30.84929489, -0.08440611,  0.39674293, -4.69622398,
   8.12613315,  2.12611806,  0.71679149,  2.0474399 , -2.60693757,
  68.62599444, 75.18480351]

qfrc_actuator:
[ 9.66215300e-03, 6.32626591e-02, 1.39961297e-02, 1.88868665e-03,
 -5.78410536e-05, 3.48350147e-02, 1.10389670e-02, 1.73159404e-03,
 -2.99618929e-03, 3.47041535e-02, 1.09841570e-02, 1.60123113e-03,
  8.03624374e-03, 1.33888967e-02, 0.00000000e+00,-3.92250843e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16095563, -0.04697357, -0.15394868, -0.04697357,  0.27520472,
       -0.03486024, -0.15394868, -0.03486024,  0.17159235,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.342066485334793e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64764435,  0.07830629, -0.75790825, -0.05087084,  0.99692935,
        0.05953179,  0.76024269,  0.        ,  0.64963917])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612648, -0.03417712,  0.22479286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16095563, -0.04697357, -0.15394868, -0.04697357,  0.27520472,
       -0.03486024, -0.15394868, -0.03486024,  0.17159235,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.342066485334793e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64764435,  0.07830629, -0.75790825, -0.05087084,  0.99692935,
        0.05953179,  0.76024269,  0.        ,  0.64963917])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612648, -0.03417712,  0.22479286])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005888651472284734
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39470088,  0.08733352, -0.9146497 , -0.03460283,  0.99617913,
        0.08018596,  0.91815786,  0.        ,  0.39621476])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08299225, -0.03409242,  0.22316102])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 15.82685129, -6.91793941, 15.82685129, 30.69204177,
       30.70068735, -6.91793941, 30.70068735, 87.50971324,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002102348777801216
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.64043492e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.64043492e-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([-0.08611992, -0.08227534,  0.0618612 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.81160768e-03, 2.89484961e-02, 3.46593219e-03, 2.92203541e-07,
 -5.45215970e-05,-2.97067515e-06, 2.05243306e-05,-6.16080267e-05,
 -3.63994906e-05, 3.58945634e-05, 7.31854079e-05,-5.84233692e-05,
  1.05893924e-02, 1.53454686e-02, 6.66095173e-03, 9.98257962e-04,
  4.65831487e-03, 2.13523444e-02,-9.81191307e+00, 4.32160146e-04,
 -5.95050105e-02, 6.21759884e-02]


--- Step 3570 ---
qpos:
[-0.01845795, 1.20010922,-0.03509494, 0.94260401,-0.00793229, 1.33291514,
 -0.03117627, 0.94133174, 0.01530628, 1.33849308,-0.02376974, 0.95473002,
  1.27451639,-0.00941715, 1.28682231, 0.04441363,-0.05539405,-0.08900074,
  0.0900121 , 0.69155895,-0.09470113,-0.71254001,-0.07116629]

qacc:
[-3.19224169e-01, 1.10792543e+00, 9.58406207e-01,-1.50505032e+01,
 -4.77642047e-02,-1.19682594e+00, 2.31141168e+00, 2.58108780e+00,
 -1.60005914e-01,-3.00032779e+00, 1.08719841e+01,-1.36350673e+01,
  9.78080758e-02, 1.68581462e-01,-6.45797826e+00, 1.23890884e+01,
 -3.46200381e+00, 1.27960345e+00,-3.02010259e+00, 1.14326492e+01,
 -1.20998709e+02,-6.82481535e+01]

qfrc_actuator:
[ 9.66559792e-03, 6.32395371e-02, 1.40033091e-02, 1.83186229e-03,
 -3.94530121e-05, 3.47821249e-02, 1.10516566e-02, 1.75001123e-03,
 -3.02088749e-03, 3.47275176e-02, 1.10389182e-02, 1.58509068e-03,
  8.03729551e-03, 1.33805443e-02, 0.00000000e+00,-2.47675901e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16094871, -0.05741409, -0.15035993, -0.05741409,  0.30877021,
       -0.05644481, -0.15035993, -0.05644481,  0.18250184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.3058292680199445e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.47734699e-01,  7.83026743e-02, -7.57831413e-01, -5.08755659e-02,
        9.96929632e-01,  5.95229838e-02,  7.60165401e-01, -6.93889390e-18,
        6.49729608e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612619, -0.03417815,  0.22479388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16094871, -0.05741409, -0.15035993, -0.05741409,  0.30877021,
       -0.05644481, -0.15035993, -0.05644481,  0.18250184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.3058292680199445e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.47734699e-01,  7.83026743e-02, -7.57831413e-01, -5.08755659e-02,
        9.96929632e-01,  5.95229838e-02,  7.60165401e-01, -6.93889390e-18,
        6.49729608e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612619, -0.03417815,  0.22479388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005889938967336104
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39468595,  0.08733467, -0.91465603, -0.03460198,  0.99617903,
        0.08018757,  0.91816431,  0.        ,  0.39619982])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08299056, -0.03409341,  0.22316124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.13177409, -2.20214076, 17.13177409, 17.90109683,
        4.88846373, -2.20214076,  4.88846373, 55.30301934,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002131153173999291
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.60474713e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.60474713e-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([ 0.02173744, -0.09528696,  0.06185943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.85260553e-03, 2.88914388e-02, 3.47487552e-03,-5.38316701e-05,
 -1.37975288e-05,-5.23789548e-05, 1.26333001e-05, 1.75045640e-05,
 -4.61935785e-05, 5.57763342e-05, 6.83747915e-05,-1.42976078e-05,
  1.05886685e-02, 1.53134547e-02, 6.85509118e-03, 1.15986464e-03,
  6.77080484e-03, 2.28179732e-02,-9.81219988e+00, 9.61087943e-04,
 -5.93515273e-02, 6.21182615e-02]


--- Step 3571 ---
qpos:
[-0.01846161, 1.20013089,-0.0350967 , 0.94260134,-0.00793289, 1.33291423,
 -0.03117409, 0.94133181, 0.01530674, 1.33849236,-0.02376668, 0.95472579,
  1.27453424,-0.00941735, 1.28680039, 0.04441048,-0.05539382,-0.08889861,
  0.09000955, 0.69137983,-0.09612216,-0.71262504,-0.07014276]

qacc:
[-3.17848898e-01, 1.21837085e+00, 6.82881321e-01,-7.32742596e+00,
  1.10609268e-02, 2.14298223e+00,-8.56952549e+00, 1.44605360e+01,
 -1.46228602e-01,-2.27516512e+00, 1.00380876e+01,-2.21646678e+01,
 -4.47336388e-03, 2.57055564e-01,-7.38284382e+00, 1.46305822e+01,
 -3.16915636e+00, 1.07100769e+00,-3.57444352e+00, 7.57407267e+00,
 -1.10849892e+02,-5.69506259e+01]

qfrc_actuator:
[ 9.68702897e-03, 6.32348576e-02, 1.40265121e-02, 1.81709515e-03,
 -2.81019334e-05, 3.47687367e-02, 1.10224323e-02, 1.77880028e-03,
 -3.03580292e-03, 3.47062472e-02, 1.10345238e-02, 1.52358714e-03,
  8.03195025e-03, 1.33755421e-02, 0.00000000e+00,-8.85914331e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1609361 , -0.0579362 , -0.15014602, -0.0579362 ,  0.29731131,
       -0.05262252, -0.15014602, -0.05262252,  0.18124133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.2391545963313343e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.47843507e-01,  7.82984964e-02, -7.57738831e-01, -5.08813804e-02,
        9.96929960e-01,  5.95125169e-02,  7.60072283e-01, -6.93889390e-18,
        6.49838537e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612579, -0.03417911,  0.2247951 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1609361 , -0.0579362 , -0.15014602, -0.0579362 ,  0.29731131,
       -0.05262252, -0.15014602, -0.05262252,  0.18124133,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.2391545963313343e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.47843507e-01,  7.82984964e-02, -7.57738831e-01, -5.08813804e-02,
        9.96929960e-01,  5.95125169e-02,  7.60072283e-01, -6.93889390e-18,
        6.49838537e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612579, -0.03417911,  0.2247951 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005889208629039112
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94670171e-01,  8.73361188e-02, -9.14662702e-01, -3.46011755e-02,
        9.96178901e-01,  8.01895024e-02,  9.18171125e-01, -6.93889390e-18,
        3.96184030e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08298847, -0.03409432,  0.22316149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.12422884,   2.26006509, -17.12422884,
        17.21658105,  -0.42541286,   2.26006509,  -0.42541286,
        14.04942759,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021353317407498476
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.29982499e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.29982499e-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([ 0.02171796, -0.09533938,  0.06185911])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.91064203e-03, 2.88173152e-02, 3.52102943e-03,-1.11625198e-05,
  3.20403744e-06,-3.93656415e-05,-3.75254916e-05, 2.79883221e-05,
 -4.21940555e-05, 2.25008447e-05, 1.38447895e-05,-5.81840266e-05,
  1.05768037e-02, 1.52886724e-02, 7.09282842e-03, 1.32839015e-03,
  3.74546294e-03, 2.30762545e-02,-9.81262547e+00,-5.84945897e-04,
 -5.95860417e-02, 6.20552637e-02]


--- Step 3572 ---
qpos:
[-0.01846554, 1.20015342,-0.03509757, 0.94259966,-0.00793341, 1.33291337,
 -0.03117302, 0.94133293, 0.01530693, 1.33849155,-0.02376443, 0.95472129,
  1.27455204,-0.00941726, 1.28677658, 0.04440737,-0.05540526,-0.08879287,
  0.0899908 , 0.69104698,-0.09748269,-0.71285919,-0.06915909]

qacc:
[-1.16213850e-01, 4.06319727e-01,-2.00401459e+00, 1.26566889e+01,
  3.07921217e-02, 4.84161374e+00,-1.78520474e+01, 2.75400404e+01,
 -1.17410713e-01, 1.53666065e+00,-4.59008301e+00, 7.90876072e-01,
 -1.30575638e-01, 3.11225012e-01,-2.86377734e+00, 6.01745739e+00,
 -2.92049558e+00, 9.04027000e-01,-4.04940228e+00, 4.54995437e+00,
 -1.02286075e+02,-4.78928108e+01]

qfrc_actuator:
[ 9.70178905e-03, 6.32219758e-02, 1.39876367e-02, 1.86283033e-03,
 -2.10671194e-05, 3.47789544e-02, 1.09688382e-02, 1.83119221e-03,
 -3.04473014e-03, 3.46581586e-02, 1.09772935e-02, 1.50682288e-03,
  8.02810117e-03, 1.33901213e-02, 0.00000000e+00,-8.05784478e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16091831, -0.048621  , -0.1533972 , -0.048621  ,  0.26744673,
       -0.03376541, -0.1533972 , -0.03376541,  0.17162064,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.1435306917571935e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64797367,  0.0782936 , -0.75762803, -0.0508884 ,  0.99693035,
        0.05950007,  0.75996085,  0.        ,  0.64996885])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612527, -0.03417997,  0.22479656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16091831, -0.048621  , -0.1533972 , -0.048621  ,  0.26744673,
       -0.03376541, -0.1533972 , -0.03376541,  0.17162064,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.1435306917571935e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64797367,  0.0782936 , -0.75762803, -0.0508884 ,  0.99693035,
        0.05950007,  0.75996085,  0.        ,  0.64996885])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612527, -0.03417997,  0.22479656])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005886800207349115
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39465186,  0.08733791, -0.91467043, -0.03460028,  0.99617874,
        0.08019183,  0.91817903,  0.        ,  0.39616571])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08298591, -0.03409513,  0.22316179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.12518222,   2.25282961, -17.12518222,
        17.23538372,  -0.28387195,   2.25282961,  -0.28387195,
        15.1148371 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002113886821392477
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.02176556, -0.09539158,  0.0618603 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96185445e-03, 2.86868946e-02, 3.46180005e-03, 5.71796251e-05,
  8.92479788e-06,-1.80560857e-05,-6.47493200e-05, 5.07542989e-05,
 -3.38444690e-05,-3.46716620e-05,-5.29734041e-05,-1.70489662e-05,
  1.05738392e-02, 1.52823042e-02, 7.35415817e-03, 1.34195100e-03,
  7.13786201e-04, 2.35031345e-02,-9.81311968e+00,-1.81645497e-03,
 -5.97360444e-02, 6.19946496e-02]


--- Step 3573 ---
qpos:
[-0.01846915, 1.2001747 ,-0.03509758, 0.94259977,-0.00793357, 1.33291266,
 -0.03117237, 0.94133359, 0.0153072 , 1.33849033,-0.02376286, 0.95471905,
  1.27457004,-0.00941717, 1.28675625, 0.0444045 ,-0.05540585,-0.08868435,
  0.08999211, 0.69084586,-0.09898877,-0.71295408,-0.06804189]

qacc:
[ 1.38604822e-01,-9.17761640e-01,-2.68189479e+00, 2.39168695e+01,
  1.56637506e-01, 5.11778179e-01,-5.06975663e-01,-4.98836581e+00,
  3.54368400e-02, 5.25495460e+00,-2.23510930e+01, 4.58425465e+01,
  2.16919788e-03, 5.30736886e-02, 4.37662115e+00,-7.85284820e+00,
  2.71443723e+00, 6.92781018e-01, 5.01349796e+00,-1.09186340e+00,
  8.35235391e+01, 1.09357143e+02]

qfrc_actuator:
[ 9.67687061e-03, 6.32047214e-02, 1.39818794e-02, 1.94360888e-03,
  1.88258291e-05, 3.48031411e-02, 1.09546703e-02, 1.80829778e-03,
 -3.01448938e-03, 3.46296863e-02, 1.09425280e-02, 1.62300466e-03,
  8.03580599e-03, 1.33986542e-02, 0.00000000e+00,-2.34318023e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16089898, -0.04657901, -0.15400935, -0.04657901,  0.27127885,
       -0.03338359, -0.15400935, -0.03338359,  0.17099561,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.037610818351898e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64811154,  0.07828844, -0.75751063, -0.05089585,  0.99693075,
        0.0594869 ,  0.75984278,  0.        ,  0.65010688])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861247 , -0.0341808 ,  0.22479811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16089898, -0.04657901, -0.15400935, -0.04657901,  0.27127885,
       -0.03338359, -0.15400935, -0.03338359,  0.17099561,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.037610818351898e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64811154,  0.07828844, -0.75751063, -0.05089585,  0.99693075,
        0.0594869 ,  0.75984278,  0.        ,  0.65010688])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861247 , -0.0341808 ,  0.22479811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005883829525166473
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39463194,  0.08733983, -0.91467884, -0.0345993 ,  0.99617858,
        0.08019435,  0.91818763,  0.        ,  0.39614578])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08298318, -0.03409591,  0.22316211])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.14269151,   2.11547521, -17.14269151,
        18.75874922,  12.04193539,   2.11547521,  12.04193539,
       114.85419848,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021454524172110565
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.58738673e-14,  2.58738673e-14,  1.00000000e+00,  6.69457011e-28,
        1.00000000e+00, -2.58738673e-14, -1.00000000e+00,  0.00000000e+00,
       -2.58738673e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0860632 , -0.08219397,  0.06185814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.95026478e-03, 2.86264423e-02, 3.41153506e-03, 8.86316625e-05,
  4.51607924e-05, 3.06356087e-06,-2.35814562e-05,-2.41611138e-05,
  1.02524612e-05,-5.85005757e-05,-4.80637761e-05, 1.13203160e-04,
  1.05846678e-02, 1.52761443e-02, 7.44842020e-03, 1.18663552e-03,
 -2.34215819e-03, 2.40624449e-02,-9.81369623e+00,-2.81080999e-03,
 -5.98251999e-02, 6.19365295e-02]


--- Step 3574 ---
qpos:
[-0.01847229, 1.20019509,-0.03509734, 0.94260051,-0.00793346, 1.33291233,
 -0.03117195, 0.94133152, 0.01530767, 1.33848925,-0.02376227, 0.95471889,
  1.27458827,-0.00941722, 1.28673874, 0.04440187,-0.05539644,-0.08857288,
  0.09000831, 0.69076404,-0.10062503,-0.71292113,-0.06680647]

qacc:
[ 2.01637811e-01,-7.61326237e-01,-2.33784810e-01, 8.05310340e+00,
  1.13378907e-01,-3.52950625e+00, 1.77681817e+01,-4.73667794e+01,
  8.31277984e-02, 6.39340023e+00,-2.48053564e+01, 4.52611561e+01,
  1.38379931e-01,-1.80089210e-01, 3.47076753e+00,-6.08770336e+00,
  2.49798076e+00, 7.38614845e-01, 3.72568375e+00,-1.27204764e+00,
  7.64152844e+01, 9.76291252e+01]

qfrc_actuator:
[ 9.68092516e-03, 6.32221060e-02, 1.40489209e-02, 1.97320416e-03,
  2.48496290e-05, 3.48356119e-02, 1.09461574e-02, 1.67030532e-03,
 -2.99650336e-03, 3.46665882e-02, 1.09037025e-02, 1.72774783e-03,
  8.03444376e-03, 1.33859891e-02, 0.00000000e+00,-2.90060265e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16088371, -0.0535149 , -0.15172252, -0.0535149 ,  0.30109651,
       -0.04945524, -0.15172252, -0.04945524,  0.17832734,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.952265202446543e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.648236  ,  0.07828382, -0.7574046 , -0.0509026 ,  0.99693111,
        0.05947504,  0.75973615,  0.        ,  0.65023149])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612422, -0.03418174,  0.22479951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16088371, -0.0535149 , -0.15172252, -0.0535149 ,  0.30109651,
       -0.04945524, -0.15172252, -0.04945524,  0.17832734,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.952265202446543e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.648236  ,  0.07828382, -0.7574046 , -0.0509026 ,  0.99693111,
        0.05947504,  0.75973615,  0.        ,  0.65023149])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612422, -0.03418174,  0.22479951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000588219392443648
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39461237,  0.08734162, -0.91468712, -0.0345983 ,  0.99617842,
        0.08019673,  0.91819608,  0.        ,  0.3961262 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08298073, -0.0340968 ,  0.22316239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.73246431, -4.28622741, 16.73246431, 21.12684521,
       15.04560646, -4.28622741, 15.04560646, 76.00737873,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002168014805745286
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.56045997e-14,  2.56045997e-14,  1.00000000e+00,  6.55595525e-28,
        1.00000000e+00, -2.56045997e-14, -1.00000000e+00,  0.00000000e+00,
       -2.56045997e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08603877, -0.08217069,  0.06185663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93841779e-03, 2.87056922e-02, 3.43535480e-03, 2.87034870e-05,
  3.26837430e-05, 2.88294900e-05,-1.13059691e-05,-1.39151111e-04,
  2.40381934e-05,-1.47653338e-06,-5.24038549e-05, 1.04234819e-04,
  1.05729634e-02, 1.52637827e-02, 7.27528536e-03, 1.11847370e-03,
  7.23885342e-04, 2.70295895e-02,-9.81404123e+00,-2.44798546e-03,
 -5.96476035e-02, 6.18740731e-02]


--- Step 3575 ---
qpos:
[-0.01847426, 1.20021451,-0.03509712, 0.94260128,-0.00793316, 1.33291238,
 -0.031172  , 0.94132817, 0.01530819, 1.33848909,-0.02376336, 0.95471856,
  1.27460683,-0.00941778, 1.28672567, 0.04439953,-0.05537803,-0.08845977,
  0.09003662, 0.69079392,-0.1023537 ,-0.71276866,-0.06548519]

qacc:
[ 5.13934423e-01,-1.19962535e+00, 2.32435731e+00,-1.10810620e+00,
  7.86954840e-02,-3.93971712e-01, 4.54126979e+00,-1.90447520e+01,
  2.36902328e-02, 5.43891848e+00,-1.59542532e+01, 1.14205352e+01,
  3.63501451e-01,-6.30708796e-01, 5.61414108e+00,-1.01811693e+01,
  2.25248225e+00, 4.10486740e-01, 3.02498745e+00, 3.20902081e-01,
  7.36830299e+01, 7.23383902e+01]

qfrc_actuator:
[ 9.71984400e-03, 6.32604241e-02, 1.41066606e-02, 1.97253722e-03,
  2.82588207e-05, 3.48549954e-02, 1.09232668e-02, 1.60772836e-03,
 -3.00376926e-03, 3.47423436e-02, 1.08275059e-02, 1.71840881e-03,
  8.02230610e-03, 1.33429921e-02, 0.00000000e+00,-4.11354640e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16087177, -0.06272481, -0.14813954, -0.06272481,  0.34701463,
       -0.07881606, -0.14813954, -0.07881606,  0.19424383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.884498435813074e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64834959,  0.0782795 , -0.75730782, -0.0509087 ,  0.99693145,
        0.05946415,  0.7596388 ,  0.        ,  0.65034521])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861238 , -0.03418276,  0.22480079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16087177, -0.06272481, -0.14813954, -0.06272481,  0.34701463,
       -0.07881606, -0.14813954, -0.07881606,  0.19424383,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.884498435813074e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64834959,  0.0782795 , -0.75730782, -0.0509087 ,  0.99693145,
        0.05946415,  0.7596388 ,  0.        ,  0.65034521])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861238 , -0.03418276,  0.22480079])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005881714667646948
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3945934 ,  0.08734322, -0.91469515, -0.03459728,  0.99617828,
        0.08019891,  0.91820427,  0.        ,  0.39610721])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08297852, -0.03409777,  0.22316264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.24516946,  -0.97531416, -17.24516946,
        17.43155724,  -2.8083768 ,  -0.97531416,  -2.8083768 ,
        66.92947955,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0021649431472020625
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.11251440e-07,  5.16324154e-14,  1.00000000e+00, -3.15603883e-20,
        1.00000000e+00, -5.16324154e-14, -1.00000000e+00,  0.00000000e+00,
        6.11251440e-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([-0.08550335, -0.08047143,  0.06185676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.95418080e-03, 2.87885418e-02, 3.48098083e-03,-3.28105648e-06,
  2.27048737e-05, 2.89257164e-05,-2.26221733e-05,-6.52659759e-05,
  6.92947041e-06, 6.78010975e-05,-7.93901280e-05,-8.49153289e-06,
  1.05494082e-02, 1.52279529e-02, 7.13415591e-03, 9.85648120e-04,
  3.64248047e-03, 2.97030862e-02,-9.81454731e+00,-1.97906101e-03,
 -5.94870586e-02, 6.18080718e-02]


--- Step 3576 ---
qpos:
[-0.01847571, 1.20023305,-0.03509731, 0.94260169,-0.00793274, 1.33291257,
 -0.03117207, 0.94132582, 0.01530871, 1.33848899,-0.02376481, 0.95471779,
  1.27462516,-0.0094186 , 1.28671479, 0.0443973 ,-0.05535128,-0.08834545,
  0.09007385, 0.69092759,-0.10415491,-0.71250446,-0.06409536]

qacc:
[ 2.25092626e-01,-6.43897827e-01, 1.41934315e+00,-4.68264595e+00,
  5.27757191e-02, 1.92611115e+00,-8.13846736e+00, 1.85976465e+01,
 -1.80977510e-03, 3.12170792e-01,-1.84311522e-02,-5.16669897e+00,
 -1.30960008e-01,-7.58119913e-02, 2.93865989e+00,-5.58470412e+00,
  2.08203211e+00, 3.01865455e-01, 2.22994574e+00, 1.02564485e+00,
  6.96951918e+01, 5.86504427e+01]

qfrc_actuator:
[ 9.72552119e-03, 6.32584763e-02, 1.40879645e-02, 1.95406425e-03,
  3.00738993e-05, 3.48663715e-02, 1.09275918e-02, 1.66105291e-03,
 -3.00837226e-03, 3.47162991e-02, 1.08009740e-02, 1.69527862e-03,
  8.01966344e-03, 1.33709789e-02, 0.00000000e+00,-4.47874665e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16086518, -0.05892606, -0.14968408, -0.05892606,  0.32357132,
       -0.06405245, -0.14968408, -0.06405245,  0.18608067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.846701793706672e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6484466 ,  0.07827535, -0.75722518, -0.0509136 ,  0.99693178,
        0.05945449,  0.75955567,  0.        ,  0.6504423 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861235 , -0.03418388,  0.22480189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16086518, -0.05892606, -0.14968408, -0.05892606,  0.32357132,
       -0.06405245, -0.14968408, -0.06405245,  0.18608067,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.846701793706672e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6484466 ,  0.07827535, -0.75722518, -0.0509136 ,  0.99693178,
        0.05945449,  0.75955567,  0.        ,  0.6504423 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861235 , -0.03418388,  0.22480189])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005883298428767739
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94575344e-01,  8.73443334e-02, -9.14702829e-01, -3.45961406e-02,
        9.96178181e-01,  8.02006212e-02,  9.18212070e-01, -6.93889390e-18,
        3.96089125e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08297669, -0.03409885,  0.22316288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.17528113, -1.83216414, 17.17528113, 18.08190836,
        7.5855172 , -1.83216414,  7.5855172 , 88.38174387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021507263350073746
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.16208411e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.16208411e-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([-0.08527088, -0.07969898,  0.06185763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.90084090e-03, 2.88348205e-02, 3.46278733e-03,-2.29710496e-05,
  1.52197065e-05, 2.09803229e-05, 5.49045313e-06, 5.20161536e-05,
 -5.08301698e-07,-4.30488549e-06,-2.25608885e-05,-2.36439862e-05,
  1.05304192e-02, 1.52812478e-02, 6.91261403e-03, 9.34082269e-04,
  6.28516742e-03, 3.11285078e-02,-9.81500701e+00,-1.38806826e-03,
 -5.93837159e-02, 6.17393123e-02]


--- Step 3577 ---
qpos:
[-0.0184767 , 1.20025014,-0.03509845, 0.94260128,-0.00793238, 1.3329128 ,
 -0.03117179, 0.94132481, 0.01530876, 1.33848815,-0.02376566, 0.95471677,
  1.27464321,-0.00941968, 1.28670644, 0.04439514,-0.05531668,-0.08822971,
  0.09011662, 0.69115709,-0.10602223,-0.71213553,-0.06264312]

qacc:
[ 2.00498841e-01,-7.33194961e-01, 1.82519405e+00,-1.03536711e+01,
 -2.74677615e-02, 1.39271788e+00,-7.24059193e+00, 2.17778290e+01,
 -1.95767993e-01,-3.00969683e+00, 9.15024761e+00,-1.03620837e+01,
 -1.96182631e-01,-2.06021693e-02, 3.54098140e+00,-6.90214204e+00,
  1.96660045e+00, 3.54064168e-01, 1.38537236e+00, 1.03194583e+00,
  6.49576661e+01, 5.36324125e+01]

qfrc_actuator:
[ 9.72919716e-03, 6.32149141e-02, 1.40415596e-02, 1.90751524e-03,
  1.31667907e-05, 3.48730404e-02, 1.09479760e-02, 1.72889256e-03,
 -3.06459725e-03, 3.46474165e-02, 1.08213624e-02, 1.68197672e-03,
  8.01743036e-03, 1.33882548e-02, 0.00000000e+00,-5.22208394e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16086092, -0.06032139, -0.14912265, -0.06032139,  0.33014849,
       -0.06847827, -0.14912265, -0.06847827,  0.18856096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.822106522592122e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64853441,  0.07827138, -0.75715039, -0.0509179 ,  0.99693209,
        0.05944558,  0.75948041,  0.        ,  0.65053018])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612325, -0.03418502,  0.22480288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16086092, -0.06032139, -0.14912265, -0.06032139,  0.33014849,
       -0.06847827, -0.14912265, -0.06847827,  0.18856096,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.822106522592122e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64853441,  0.07827138, -0.75715039, -0.0509179 ,  0.99693209,
        0.05944558,  0.75948041,  0.        ,  0.65053018])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612325, -0.03418502,  0.22480288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005885675256917765
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39455847,  0.08734522, -0.91471002, -0.03459502,  0.9961781 ,
        0.08020208,  0.91821936,  0.        ,  0.39607222])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08297506, -0.03409995,  0.2231631 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 15.85089429, -6.86267133, 15.85089429, 32.43290981,
       35.01587635, -6.86267133, 35.01587635, 98.14982711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00211800062442756
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.62092233e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.62092233e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08529656, -0.07968723,  0.06185968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.87865615e-03, 2.88350111e-02, 3.43667137e-03,-5.22329150e-05,
 -7.92192572e-06, 2.09144395e-05, 2.66376839e-05, 6.98351351e-05,
 -5.65253196e-05,-7.63685539e-05, 1.62923441e-05,-1.46432558e-05,
  1.05397116e-02, 1.53115487e-02, 6.80376262e-03, 8.54978603e-04,
  8.64048618e-03, 3.19115061e-02,-9.81548171e+00,-7.59307338e-04,
 -5.93124419e-02, 6.16675327e-02]


--- Step 3578 ---
qpos:
[-0.01847688, 1.20026568,-0.03510049, 0.94259997,-0.00793215, 1.33291322,
 -0.031171  , 0.94132459, 0.01530842, 1.3384868 ,-0.02376517, 0.95471554,
  1.27466116,-0.0094212 , 1.2867021 , 0.04439309,-0.0552952 ,-0.08810866,
  0.09014688, 0.69120611,-0.10780611,-0.71194239,-0.06123718]

qacc:
[ 3.52739513e-01,-1.12020644e+00, 3.02866491e+00,-1.19849432e+01,
 -5.17505823e-02, 2.46803263e-01,-2.16469037e+00, 1.10480441e+01,
 -1.69996085e-01,-4.66662890e+00, 1.48408409e+01,-1.49911387e+01,
 -4.22801255e-03,-2.83677906e-01, 5.59254488e+00,-1.09786774e+01,
 -3.28344365e+00, 1.32857720e+00,-3.12804926e+00, 8.28582810e+00,
 -1.19945567e+02,-6.06799013e+01]

qfrc_actuator:
[ 9.74927471e-03, 6.31650524e-02, 1.40324997e-02, 1.86250003e-03,
  2.91873279e-06, 3.48946778e-02, 1.09776372e-02, 1.76920012e-03,
 -3.08032459e-03, 3.46601227e-02, 1.09045911e-02, 1.67455444e-03,
  8.02078237e-03, 1.33814595e-02, 0.00000000e+00,-6.37001427e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16085896, -0.0651686 , -0.14706685, -0.0651686 ,  0.35297834,
       -0.08513238, -0.14706685, -0.08513238,  0.19858302,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.810767482516139e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.48610868e-01,  7.82677457e-02, -7.57085268e-01, -5.09215186e-02,
        9.96932375e-01,  5.94376897e-02,  7.59414868e-01, -6.93889390e-18,
        6.50606685e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612305, -0.03418617,  0.22480375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16085896, -0.0651686 , -0.14706685, -0.0651686 ,  0.35297834,
       -0.08513238, -0.14706685, -0.08513238,  0.19858302,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.810767482516139e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.48610868e-01,  7.82677457e-02, -7.57085268e-01, -5.09215186e-02,
        9.96932375e-01,  5.94376897e-02,  7.59414868e-01, -6.93889390e-18,
        6.50606685e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612305, -0.03418617,  0.22480375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000588871160102318
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94543807e-01,  8.73458917e-02, -9.14716284e-01, -3.45939974e-02,
        9.96178044e-01,  8.02032427e-02,  9.18225702e-01, -6.93889390e-18,
        3.96057522e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08297368, -0.03410107,  0.2231633 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.06663781, -2.66025961, 17.06663781, 18.26360433,
        6.35687576, -2.66025961,  6.35687576, 58.05464795,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002075586739487101
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.34895990e-14,  2.67447995e-14,  1.00000000e+00,  1.43056860e-27,
        1.00000000e+00, -2.67447995e-14, -1.00000000e+00,  0.00000000e+00,
       -5.34895990e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02181657, -0.09572394,  0.06186237])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.87569564e-03, 2.88571566e-02, 3.47538841e-03,-5.55306615e-05,
 -1.49241349e-05, 4.05222334e-05, 3.88334253e-05, 4.33368064e-05,
 -4.91125927e-05,-2.67741151e-05, 6.97376813e-05,-9.55313848e-06,
  1.05575104e-02, 1.53179861e-02, 6.67670923e-03, 7.36410628e-04,
  1.07824508e-02, 3.25499523e-02,-9.81603325e+00,-1.35099054e-04,
 -5.92521713e-02, 6.15923312e-02]


--- Step 3579 ---
qpos:
[-0.01847756, 1.20028196,-0.0351032 , 0.94259757,-0.00793218, 1.33291399,
 -0.03117014, 0.94132383, 0.01530805, 1.33848554,-0.02376419, 0.95471456,
  1.27467857,-0.00942245, 1.28669391, 0.04439068,-0.05528582,-0.0879831 ,
  0.09016248, 0.69109005,-0.10952506,-0.71190899,-0.0598699 ]

qacc:
[-2.18419762e-01, 9.10815170e-01, 4.74824330e-01,-1.36130657e+01,
 -1.13592897e-01,-6.59288460e-01, 3.84391686e+00,-9.88308762e+00,
 -8.81353594e-03,-7.73418746e-01, 2.13132964e+00, 1.07156790e+00,
 -4.23001856e-01, 4.83023536e-01,-4.59137327e+00, 7.86287090e+00,
 -3.02308065e+00, 1.12827873e+00,-3.66329073e+00, 4.67188561e+00,
 -1.09901483e+02,-5.01440100e+01]

qfrc_actuator:
[ 9.76090684e-03, 6.31476052e-02, 1.40106705e-02, 1.81879559e-03,
 -2.10031722e-05, 3.49073841e-02, 1.09770648e-02, 1.73973276e-03,
 -3.05387624e-03, 3.46863403e-02, 1.09357718e-02, 1.68847393e-03,
  8.02215170e-03, 1.34137521e-02, 0.00000000e+00,-4.56583213e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16086111, -0.05453558, -0.15133462, -0.05453558,  0.28901399,
       -0.04618172, -0.15133462, -0.04618172,  0.17750334,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.823187698834233e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.48671091e-01,  7.82644945e-02, -7.57034005e-01, -5.09241181e-02,
        9.96932630e-01,  5.94311811e-02,  7.59363253e-01, -6.93889390e-18,
        6.50666927e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612295, -0.03418739,  0.22480444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16086111, -0.05453558, -0.15133462, -0.05453558,  0.28901399,
       -0.04618172, -0.15133462, -0.04618172,  0.17750334,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.823187698834233e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.48671091e-01,  7.82644945e-02, -7.57034005e-01, -5.09241181e-02,
        9.96932630e-01,  5.94311811e-02,  7.59363253e-01, -6.93889390e-18,
        6.50666927e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612295, -0.03418739,  0.22480444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00058931806733762
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39453141,  0.0873462 , -0.9147216 , -0.03459303,  0.99617802,
        0.08020399,  0.91823107,  0.        ,  0.39604508])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08297267, -0.03410226,  0.22316346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.01885442,   2.9505426 , -17.01885442,
        17.16905793,  -0.59796916,   2.9505426 ,  -0.59796916,
        13.8236159 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002078134517360053
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.67120106e-14,  5.34240212e-14,  1.00000000e+00,  1.42706302e-27,
        1.00000000e+00, -5.34240212e-14, -1.00000000e+00,  0.00000000e+00,
       -2.67120106e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02180222, -0.09577572,  0.06186221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.84681241e-03, 2.89173033e-02, 3.49866059e-03,-5.46775171e-05,
 -3.27308147e-05, 4.40254049e-05, 1.30477646e-05,-2.61009581e-05,
 -2.55770656e-06, 2.47530136e-05, 3.35971093e-05, 1.49417151e-05,
  1.05631387e-02, 1.53718799e-02, 6.47663277e-03, 9.11534284e-04,
  7.34759616e-03, 3.33149881e-02,-9.81629486e+00,-2.07600447e-03,
 -5.94296514e-02, 6.14975630e-02]


--- Step 3580 ---
qpos:
[-0.01847858, 1.20029913,-0.03510593, 0.94259496,-0.00793235, 1.33291512,
 -0.03116956, 0.9413224 , 0.01530781, 1.33848494,-0.0237642 , 0.95471344,
  1.27469608,-0.00942341, 1.2866824 , 0.04438797,-0.05526734,-0.08785635,
  0.09019012, 0.69108397,-0.11133469,-0.71175508,-0.0584144 ]

qacc:
[-1.51320138e-01, 8.46726740e-01,-9.31867203e-01,-2.19083655e+00,
 -5.47038706e-02, 4.88591371e-02, 1.79084269e+00,-9.59454602e+00,
  5.01171091e-02, 3.28929928e+00,-9.38090721e+00, 6.04469616e+00,
  5.07473834e-02, 1.53796075e-01,-4.00511099e+00, 6.86989829e+00,
  2.27347077e+00, 2.94678627e-01, 3.00894686e+00, 2.47978806e+00,
  7.32468965e+01, 7.26600976e+01]

qfrc_actuator:
[ 9.75070617e-03, 6.31301775e-02, 1.39813039e-02, 1.81194402e-03,
 -1.74292940e-05, 3.49144840e-02, 1.09585804e-02, 1.70492949e-03,
 -3.03784808e-03, 3.47202799e-02, 1.08827834e-02, 1.67930875e-03,
  8.02770229e-03, 1.33802169e-02, 0.00000000e+00,-3.82662978e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16085874, -0.0488356 , -0.15326649, -0.0488356 ,  0.27032087,
       -0.03487814, -0.15326649, -0.03487814,  0.17197202,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.809445292477954e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64874513,  0.07826079, -0.75697094, -0.05092751,  0.99693292,
        0.0594234 ,  0.75929977,  0.        ,  0.65074101])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612276, -0.03418848,  0.22480528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16085874, -0.0488356 , -0.15326649, -0.0488356 ,  0.27032087,
       -0.03487814, -0.15326649, -0.03487814,  0.17197202,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.809445292477954e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64874513,  0.07826079, -0.75697094, -0.05092751,  0.99693292,
        0.0594234 ,  0.75929977,  0.        ,  0.65074101])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612276, -0.03418848,  0.22480528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005895799559586523
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39451893,  0.0873467 , -0.91472693, -0.03459214,  0.99617797,
        0.08020493,  0.91823646,  0.        ,  0.39603258])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08297134, -0.03410331,  0.22316366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.06699574,   2.65796237, -17.06699574,
        19.44838679,  13.97008936,   2.65796237,  13.97008936,
       106.97582419,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020599604159876606
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.69476786e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.69476786e-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([-0.08533787, -0.0796423 ,  0.06186326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.86165062e-03, 2.88625234e-02, 3.50255135e-03,-6.73289775e-06,
 -1.57464077e-05, 3.32139221e-05,-9.15274562e-06,-3.36965494e-05,
  1.45178897e-05, 5.46378803e-05,-4.38997162e-05,-7.10245391e-06,
  1.05962973e-02, 1.53254391e-02, 6.66922807e-03, 1.00317573e-03,
  3.93441683e-03, 3.42582429e-02,-9.81666757e+00,-3.69461335e-03,
 -5.95255324e-02, 6.14057367e-02]


--- Step 3581 ---
qpos:
[-0.01847954, 1.20031653,-0.03510857, 0.94259233,-0.00793242, 1.33291666,
 -0.0311701 , 0.94132061, 0.01530785, 1.33848468,-0.02376419, 0.95471219,
  1.27471401,-0.00942432, 1.28667062, 0.04438519,-0.0552605 ,-0.08772529,
  0.09020227, 0.69091848,-0.11308737,-0.71175462,-0.05699348]

qacc:
[ 2.91098466e-02, 5.84880726e-02, 2.18952088e-01,-4.68879202e-01,
  3.70893031e-02, 2.95928779e+00,-8.23798669e+00, 2.63191492e+00,
  1.24663180e-01, 1.92015059e-01, 1.56817368e-01,-1.77479484e+00,
  3.25155550e-01,-2.17588292e-01,-1.85476192e-01, 4.23176165e-02,
 -2.91081002e+00, 1.08029063e+00,-3.87198272e+00, 2.98519087e+00,
 -1.06168055e+02,-4.54177854e+01]

qfrc_actuator:
[ 9.74520507e-03, 6.31123278e-02, 1.39825386e-02, 1.80900405e-03,
  2.61017131e-06, 3.49180820e-02, 1.08941605e-02, 1.68502382e-03,
 -3.01045082e-03, 3.47404847e-02, 1.08870910e-02, 1.67434534e-03,
  8.04104853e-03, 1.33603002e-02, 0.00000000e+00,-4.08057425e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16085253, -0.05309682, -0.15183631, -0.05309682,  0.29112362,
       -0.04555551, -0.15183631, -0.04555551,  0.17678319,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.7732960081382433e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.48832218e-01,  7.82565857e-02, -7.56896730e-01, -5.09315885e-02,
        9.96933251e-01,  5.94143628e-02,  7.59225083e-01, -6.93889390e-18,
        6.50828145e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612248, -0.03418951,  0.22480626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16085253, -0.05309682, -0.15183631, -0.05309682,  0.29112362,
       -0.04555551, -0.15183631, -0.04555551,  0.17678319,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.7732960081382433e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.48832218e-01,  7.82565857e-02, -7.56896730e-01, -5.09315885e-02,
        9.96933251e-01,  5.94143628e-02,  7.59225083e-01, -6.93889390e-18,
        6.50828145e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612248, -0.03418951,  0.22480626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005896917530295274
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39450566,  0.08734736, -0.9147326 , -0.03459124,  0.99617792,
        0.08020603,  0.91824219,  0.        ,  0.39601928])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08296973, -0.03410431,  0.22316387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.06429739, -2.67523124, 17.06429739, 18.09368322,
        5.23657029, -2.67523124,  5.23657029, 50.67484647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002048559106479171
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.70976566e-14,  5.41953132e-14,  1.00000000e+00, -1.46856599e-27,
        1.00000000e+00, -5.41953132e-14, -1.00000000e+00,  0.00000000e+00,
        2.70976566e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02186534, -0.09588055,  0.06186395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.87349662e-03, 2.88004922e-02, 3.50464380e-03, 8.36061111e-07,
  1.07452382e-05, 1.91549918e-05,-5.99549912e-05,-1.99531403e-05,
  3.59729150e-05, 4.16380317e-05, 9.78016097e-06,-4.79655272e-06,
  1.06046146e-02, 1.52906390e-02, 6.83570852e-03, 9.92916086e-04,
  6.78070737e-03, 3.58011120e-02,-9.81737234e+00,-3.07577576e-03,
 -5.94629440e-02, 6.13272071e-02]


--- Step 3582 ---
qpos:
[-0.01848093, 1.20033476,-0.03511196, 0.94258831,-0.00793249, 1.33291813,
 -0.03117099, 0.94131893, 0.01530821, 1.33848441,-0.02376434, 0.95471232,
  1.27473197,-0.00942506, 1.28665587, 0.04438231,-0.0552443 ,-0.08759281,
  0.09022761, 0.69086479,-0.11493644,-0.71163022,-0.05547877]

qacc:
[-1.86936813e-01, 7.25953206e-01, 1.82741104e+00,-1.83896795e+01,
  2.01313874e-03, 1.06402897e+00,-3.84583264e+00, 4.83094964e+00,
  1.29899052e-01, 2.76997613e+00,-1.18015298e+01, 2.60335533e+01,
  5.70397957e-02, 4.45569884e-02,-4.09190137e+00, 7.92330983e+00,
  2.34305589e+00, 3.52999940e-01, 3.29605463e+00, 2.86746544e+00,
  7.45531361e+01, 7.69018913e+01]

qfrc_actuator:
[ 9.74224848e-03, 6.31122611e-02, 1.39665276e-02, 1.73728530e-03,
 -3.14172394e-06, 3.49016201e-02, 1.08741523e-02, 1.69177172e-03,
 -2.99420796e-03, 3.47170049e-02, 1.08719122e-02, 1.74295038e-03,
  8.03240975e-03, 1.33664380e-02, 0.00000000e+00,-2.97869361e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16084608, -0.06077498, -0.14892234, -0.06077498,  0.30704109,
       -0.05966196, -0.14892234, -0.05966196,  0.18519404,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.7353984400774415e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64892117,  0.07825223, -0.75682092, -0.05093572,  0.99693359,
        0.05940508,  0.75914878,  0.        ,  0.65091715])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861222 , -0.03419059,  0.22480725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16084608, -0.06077498, -0.14892234, -0.06077498,  0.30704109,
       -0.05966196, -0.14892234, -0.05966196,  0.18519404,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.7353984400774415e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64892117,  0.07825223, -0.75682092, -0.05093572,  0.99693359,
        0.05940508,  0.75914878,  0.        ,  0.65091715])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861222 , -0.03419059,  0.22480725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005897969572592095
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94492087e-01,  8.73479940e-02, -9.14738389e-01, -3.45903015e-02,
        9.96177860e-01,  8.02071263e-02,  9.18248062e-01, -6.93889390e-18,
        3.96005677e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08296808, -0.03410534,  0.22316408])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.06101157,   2.69610673, -17.06101157,
        19.68154002,  15.24301014,   2.69610673,  15.24301014,
       113.73076783,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002062251247441499
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.38354881e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.38354881e-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([-0.08532872, -0.07960596,  0.06186301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.86717938e-03, 2.87880184e-02, 3.48406607e-03,-7.03330175e-05,
  5.92184964e-07,-1.82108043e-05,-2.36740407e-05, 5.10274942e-06,
  3.74888359e-05, 1.31498128e-06,-6.07737846e-06, 7.00113306e-05,
  1.05743765e-02, 1.52943985e-02, 6.84898684e-03, 1.10682862e-03,
  3.31155151e-03, 3.69088471e-02,-9.81777287e+00,-4.66134233e-03,
 -5.95209095e-02, 6.12297998e-02]


--- Step 3583 ---
qpos:
[-0.01848343, 1.20035543,-0.03511514, 0.9425836 ,-0.00793288, 1.33291917,
 -0.03117082, 0.94131697, 0.01530867, 1.33848428,-0.02376497, 0.95471293,
  1.27474977,-0.00942529, 1.2866351 , 0.04437924,-0.05521935,-0.08745865,
  0.09026209, 0.69091341,-0.1168725 ,-0.71139049,-0.05387986]

qacc:
[-4.80826533e-01, 1.49744974e+00, 4.15032837e-01,-9.83654564e+00,
 -1.33678083e-01,-3.90049410e+00, 1.26645872e+01,-1.41434055e+01,
  4.77674784e-02, 2.29884835e+00,-8.25511685e+00, 1.26182875e+01,
 -1.31045938e-01, 4.18148571e-01,-8.32215675e+00, 1.62066538e+01,
  2.18639838e+00, 4.22685751e-01, 2.28728617e+00, 2.59217452e+00,
  6.89917173e+01, 6.95007327e+01]

qfrc_actuator:
[ 9.72353482e-03, 6.30689366e-02, 1.39764833e-02, 1.71445809e-03,
 -4.20731181e-05, 3.48911988e-02, 1.09337248e-02, 1.67866224e-03,
 -3.00254063e-03, 3.47207805e-02, 1.08452036e-02, 1.76548844e-03,
  8.02125347e-03, 1.33525606e-02, 0.00000000e+00,-8.85214431e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16083648, -0.05650409, -0.1505844 , -0.05650409,  0.27118584,
       -0.04140662, -0.1505844 , -0.04140662,  0.17637356,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.678438158845291e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64902136,  0.07824752, -0.75673549, -0.0509405 ,  0.99693396,
        0.05939478,  0.75906281,  0.        ,  0.6510174 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612184, -0.0341916 ,  0.22480837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16083648, -0.05650409, -0.1505844 , -0.05650409,  0.27118584,
       -0.04140662, -0.1505844 , -0.04140662,  0.17637356,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.678438158845291e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64902136,  0.07824752, -0.75673549, -0.0509405 ,  0.99693396,
        0.05939478,  0.75906281,  0.        ,  0.6510174 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612184, -0.0341916 ,  0.22480837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005897731671892677
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39447845,  0.0873488 , -0.91474419, -0.03458943,  0.99617779,
        0.08020838,  0.91825395,  0.        ,  0.39599202])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08296618, -0.03410631,  0.22316431])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.59148582, -4.80309334, 16.59148582, 22.88116881,
       19.37342701, -4.80309334, 19.37342701, 84.19500361,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020543266703329788
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.70215794e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.70215794e-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([-0.08533256, -0.07958962,  0.06186347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.86988546e-03, 2.87036775e-02, 3.53171453e-03,-2.30438709e-05,
 -3.85824400e-05,-2.49864342e-05, 5.34606789e-05,-1.42364210e-05,
  1.38067333e-05, 5.39429866e-06,-2.50932055e-05, 2.40279396e-05,
  1.05624681e-02, 1.52719640e-02, 6.99793167e-03, 1.32133554e-03,
  6.38253140e-03, 3.87264068e-02,-9.81859932e+00,-4.03362150e-03,
 -5.94623185e-02, 6.11464513e-02]


--- Step 3584 ---
qpos:
[-0.01848667, 1.20037793,-0.03511711, 0.94257969,-0.00793364, 1.3329197 ,
 -0.03116982, 0.94131419, 0.01530902, 1.33848438,-0.02376596, 0.95471344,
  1.27476745,-0.00942517, 1.28661209, 0.04437623,-0.05518744,-0.08733258,
  0.09030873, 0.69107222,-0.11871874,-0.71104566,-0.0523366 ]

qacc:
[-3.26842767e-01, 4.72892221e-01,-3.07393183e-01, 8.40081207e+00,
 -1.58703456e-01,-4.33533608e+00, 1.49957173e+01,-2.21208762e+01,
 -5.15613457e-02, 1.13088464e+00,-3.12360384e+00, 1.46984289e+00,
 -1.91536359e-01, 3.95329855e-01,-3.47739899e+00, 7.40617323e+00,
  1.73862543e+00,-2.02454631e+00, 3.03660814e+00, 1.48390099e+01,
  8.11700128e+01,-4.20672488e+01]

qfrc_actuator:
[ 9.71396597e-03, 6.29976965e-02, 1.40013578e-02, 1.75631173e-03,
 -6.50879260e-05, 3.48492766e-02, 1.09687708e-02, 1.63625488e-03,
 -3.02554748e-03, 3.47407736e-02, 1.08297173e-02, 1.76072770e-03,
  8.01925273e-03, 1.33617734e-02, 0.00000000e+00,-5.03337697e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16082126, -0.05588246, -0.15079996, -0.05588246,  0.264641  ,
       -0.03847284, -0.15079996, -0.03847284,  0.17507827,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.586709227813977e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.49145659e-01,  7.82421703e-02, -7.56629418e-01, -5.09467484e-02,
        9.96934382e-01,  5.93823715e-02,  7.58956088e-01,  6.93889390e-18,
        6.51141810e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612134, -0.03419248,  0.22480976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16082126, -0.05588246, -0.15079996, -0.05588246,  0.264641  ,
       -0.03847284, -0.15079996, -0.03847284,  0.17507827,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.586709227813977e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.49145659e-01,  7.82421703e-02, -7.56629418e-01, -5.09467484e-02,
        9.96934382e-01,  5.93823715e-02,  7.58956088e-01,  6.93889390e-18,
        6.51141810e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612134, -0.03419248,  0.22480976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005895395106291085
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39446236,  0.08735008, -0.91475101, -0.03458853,  0.99617768,
        0.08021017,  0.9182609 ,  0.        ,  0.39597591])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08296375, -0.03410714,  0.22316459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  10.63321385,  13.61182834,  10.63321385,
        95.81889455, -61.35826673,  13.61182834, -61.35826673,
        65.20424356,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002052312368709036
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.70481005e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.70481005e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08318324, -0.06948735,  0.06186361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.91547979e-03, 2.85096667e-02, 3.54610981e-03, 5.29193873e-05,
 -4.57920715e-05,-4.57247750e-05, 3.58204284e-05,-4.19226137e-05,
 -1.48530872e-05, 1.87907798e-05,-1.65798146e-05,-4.77631736e-06,
  1.05680607e-02, 1.52557292e-02, 7.29953826e-03, 1.36908042e-03,
  9.21393414e-03, 4.02896610e-02,-9.81951570e+00,-3.38403382e-03,
 -5.94149515e-02, 6.10588915e-02]


--- Step 3585 ---
qpos:
[-0.01849065, 1.20040093,-0.03511739, 0.94257814,-0.00793473, 1.33291977,
 -0.03116878, 0.94131372, 0.01530947, 1.33848457,-0.0237674 , 0.95471425,
  1.27478497,-0.00942461, 1.28658852, 0.04437326,-0.05514892,-0.08721373,
  0.09036349, 0.69133223,-0.12048133,-0.71060448,-0.05084562]

qacc:
[-3.19367819e-01, 8.17319866e-02,-4.33152332e+00, 3.07585787e+01,
 -1.39862930e-01, 3.24466157e+00,-1.60867737e+01, 4.11095678e+01,
  4.45142508e-02, 1.86880655e+00,-6.54533332e+00, 9.08589598e+00,
 -3.78876810e-01, 6.57360642e-01,-9.06862369e-01, 2.04614532e+00,
  1.65231464e+00,-1.80463496e+00, 2.03408963e+00, 1.38062776e+01,
  7.45685040e+01,-3.94314423e+01]

qfrc_actuator:
[ 9.67446719e-03, 6.29626151e-02, 1.39985888e-02, 1.87127053e-03,
 -7.83672816e-05, 3.48242281e-02, 1.09711420e-02, 1.75443092e-03,
 -3.00391148e-03, 3.47348357e-02, 1.08032884e-02, 1.77547620e-03,
  8.01209664e-03, 1.33847993e-02, 0.00000000e+00,-6.17612130e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16080502, -0.04366322, -0.15476361, -0.04366322,  0.22673295,
       -0.01860015, -0.15476361, -0.01860015,  0.16605265,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.48669480519262e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64928037,  0.07823672, -0.75651439, -0.05095375,  0.99693481,
        0.05936918,  0.75884038,  0.        ,  0.65127666])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612079, -0.03419334,  0.22481129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16080502, -0.04366322, -0.15476361, -0.04366322,  0.22673295,
       -0.01860015, -0.15476361, -0.01860015,  0.16605265,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.48669480519262e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64928037,  0.07823672, -0.75651439, -0.05095375,  0.99693481,
        0.05936918,  0.75884038,  0.        ,  0.65127666])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612079, -0.03419334,  0.22481129])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000589286236785308
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39444348,  0.08735172, -0.91475899, -0.03458753,  0.99617753,
        0.08021238,  0.91826905,  0.        ,  0.39595702])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0829611 , -0.03410794,  0.22316491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  11.81174586, -12.60276824,  11.81174586,
        87.03434912,  65.38298035, -12.60276824,  65.38298035,
        78.55189491,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020554575530363772
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.40134250e-14,  1.35033563e-14,  1.00000000e+00, -7.29362521e-28,
        1.00000000e+00, -1.35033563e-14, -1.00000000e+00,  0.00000000e+00,
        5.40134250e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08317574, -0.06947913,  0.06186349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.91349215e-03, 2.83833149e-02, 3.48255384e-03, 1.27922814e-04,
 -4.03132967e-05,-4.46093485e-05,-3.73453166e-06, 1.16875963e-04,
  1.28648069e-05, 1.07443967e-06,-2.47814894e-05, 1.47085159e-05,
  1.05671007e-02, 1.52614388e-02, 7.41167071e-03, 1.35459585e-03,
  1.03940218e-02, 3.45471594e-02,-9.81890131e+00,-2.49560332e-03,
 -5.96580151e-02, 6.09769579e-02]


--- Step 3586 ---
qpos:
[-0.01849432, 1.20042247,-0.03511631, 0.94257921,-0.00793578, 1.3329195 ,
 -0.03116809, 0.94131641, 0.01531023, 1.33848498,-0.02376915, 0.95471349,
  1.27480266,-0.00942403, 1.28656908, 0.04437051,-0.05512298,-0.08709022,
  0.09040543, 0.69141654,-0.12219461,-0.71033292,-0.04938408]

qacc:
[ 1.34963842e-01,-1.07749569e+00,-4.21825193e+00, 3.50566573e+01,
  1.51079384e-02, 5.88840659e+00,-2.62685150e+01, 5.96667932e+01,
  1.32001008e-01,-1.63846547e+00, 8.83927518e+00,-2.59349100e+01,
 -7.60337643e-02, 1.49637145e-01, 5.44916348e+00,-1.01874785e+01,
 -3.14215420e+00, 1.16485094e+00,-3.20816219e+00, 3.11676830e-01,
 -1.18030406e+02,-4.23823303e+01]

qfrc_actuator:
[ 9.67055197e-03, 6.29498164e-02, 1.40315238e-02, 1.99271460e-03,
 -5.01949363e-05, 3.48094444e-02, 1.09543715e-02, 1.91289917e-03,
 -2.97342073e-03, 3.47488880e-02, 1.07882800e-02, 1.69505641e-03,
  8.00718135e-03, 1.33803706e-02, 0.00000000e+00,-2.27225990e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16078879, -0.04324318, -0.15486465, -0.04324318,  0.23887662,
       -0.02180463, -0.15486465, -0.02180463,  0.16687734,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.384475361637885e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64941803,  0.07823158, -0.75639675, -0.05096118,  0.99693521,
        0.05935602,  0.75872207,  0.        ,  0.65141448])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612024, -0.0341942 ,  0.22481285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16078879, -0.04324318, -0.15486465, -0.04324318,  0.23887662,
       -0.02180463, -0.15486465, -0.02180463,  0.16687734,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.384475361637885e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64941803,  0.07823158, -0.75639675, -0.05096118,  0.99693521,
        0.05935602,  0.75872207,  0.        ,  0.65141448])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08612024, -0.0341942 ,  0.22481285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005890336025297024
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39442257,  0.08735368, -0.91476782, -0.03458647,  0.99617736,
        0.08021497,  0.91827807,  0.        ,  0.3959361 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08295836, -0.03410875,  0.22316523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.62865262, -4.6727957 , 16.62865262, 23.00883737,
       20.41257277, -4.6727957 , 20.41257277, 89.91309156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020415023435026297
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.35956619e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.35956619e-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([ 0.02184971, -0.09611715,  0.06186448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94625488e-03, 2.83450241e-02, 3.43059796e-03, 1.31777044e-04,
  4.37219862e-06,-3.66742735e-05,-2.24974185e-05, 1.59722386e-04,
  3.80882269e-05, 1.02446409e-05,-1.71822048e-05,-8.07715249e-05,
  1.05704975e-02, 1.52347391e-02, 7.44004271e-03, 1.18735295e-03,
  1.10850075e-02, 2.95723380e-02,-9.81844543e+00,-1.78661714e-03,
 -5.98731597e-02, 6.08972934e-02]


--- Step 3587 ---
qpos:
[-0.01849685, 1.20044157,-0.03511549, 0.94258086,-0.00793639, 1.3329188 ,
 -0.03116772, 0.94131891, 0.01531118, 1.33848579,-0.02377088, 0.95471104,
  1.27482045,-0.00942389, 1.28655553, 0.04436808,-0.05509017,-0.08697955,
  0.09045547, 0.69161178,-0.12373737,-0.70996795,-0.04803864]

qacc:
[ 4.92633356e-01,-1.55511219e+00,-3.03745682e-02, 8.42964541e+00,
  1.92198183e-01,-8.67124677e-03,-2.78687776e-01,-1.63914501e+00,
  7.81409696e-02,-2.38427183e+00, 1.18134279e+01,-2.98924401e+01,
  6.11953378e-02,-3.13084222e-01, 7.71767122e+00,-1.43590620e+01,
  1.71485048e+00,-3.20920792e+00, 2.02529962e+00, 2.21863030e+01,
  8.29899740e+01,-9.22525009e+01]

qfrc_actuator:
[ 9.72274274e-03, 6.29343905e-02, 1.40678021e-02, 2.01032162e-03,
  2.61441155e-06, 3.47653774e-02, 1.09264889e-02, 1.89849550e-03,
 -2.97337105e-03, 3.47925392e-02, 1.07979024e-02, 1.61254813e-03,
  8.00891145e-03, 1.33952211e-02, 0.00000000e+00,-3.96544737e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16077668, -0.05475425, -0.15116585, -0.05475425,  0.29068632,
       -0.04705497, -0.15116585, -0.04705497,  0.17782061,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.306658526237635e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64953996,  0.07822711, -0.75629251, -0.05096782,  0.99693556,
        0.05934444,  0.75861724,  0.        ,  0.65153655])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611977, -0.03419518,  0.22481423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16077668, -0.05475425, -0.15116585, -0.05475425,  0.29068632,
       -0.04705497, -0.15116585, -0.04705497,  0.17782061,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.306658526237635e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64953996,  0.07822711, -0.75629251, -0.05096782,  0.99693556,
        0.05934444,  0.75861724,  0.        ,  0.65153655])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611977, -0.03419518,  0.22481423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000588940287676816
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94401768e-01,  8.73555132e-02, -9.14776618e-01, -3.45853818e-02,
        9.96177200e-01,  8.02174361e-02,  9.18287045e-01, -6.93889390e-18,
        3.95915272e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08295596, -0.03410968,  0.22316551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.63248741,   4.6591276 , -16.63248741,
        26.6663613 ,  33.53406753,   4.6591276 ,  33.53406753,
       136.98504332,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020495681634943447
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.35421579e-14,  2.70843157e-14,  1.00000000e+00, -3.66780079e-28,
        1.00000000e+00, -2.70843157e-14, -1.00000000e+00,  0.00000000e+00,
        1.35421579e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08418351, -0.06387506,  0.06186404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98297314e-03, 2.84019984e-02, 3.39960314e-03, 1.82223470e-05,
  5.53885139e-05,-6.39387758e-05,-3.29303906e-05,-1.24650902e-05,
  2.25442279e-05, 4.35668788e-05, 7.30717893e-06,-8.45904043e-05,
  1.05634089e-02, 1.52485663e-02, 7.23420775e-03, 1.00725734e-03,
  8.18913538e-03, 3.13334598e-02,-9.81849936e+00,-3.70910225e-03,
 -5.98741736e-02, 6.07864530e-02]


--- Step 3588 ---
qpos:
[-0.01849906, 1.20045984,-0.03511496, 0.94258292,-0.0079369 , 1.33291804,
 -0.03116809, 0.94132017, 0.01531223, 1.33848679,-0.02377161, 0.95470829,
  1.27483791,-0.00942366, 1.28654073, 0.04436546,-0.05505088,-0.08688048,
  0.09050986, 0.69190916,-0.1251223 ,-0.70951797,-0.0468014 ]

qacc:
[ 1.45660516e-01, 3.94032819e-01,-3.44227844e+00, 8.19831280e+00,
  3.84115171e-02,-1.91625960e-01, 3.10335166e+00,-1.70549356e+01,
  4.46899679e-02,-2.99299513e+00, 1.06741067e+01,-1.29576820e+01,
 -2.64428291e-01, 2.62345718e-01,-1.24726965e+00, 1.71123364e+00,
  1.62173052e+00,-2.90198261e+00, 1.08960690e+00, 2.04407343e+01,
  7.61418776e+01,-8.57325568e+01]

qfrc_actuator:
[ 9.77214645e-03, 6.29367161e-02, 1.40538787e-02, 2.03762154e-03,
 -1.89895469e-05, 3.47749845e-02, 1.08920557e-02, 1.83570568e-03,
 -2.97383084e-03, 3.48181573e-02, 1.08576215e-02, 1.60053548e-03,
  8.00930396e-03, 1.34220927e-02, 0.00000000e+00,-3.02083043e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16077   , -0.04281029, -0.15496538, -0.04281029,  0.23736158,
       -0.02115897, -0.15496538, -0.02115897,  0.16661531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2630441373175954e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.649638  ,  0.07822326, -0.75620869, -0.05097299,  0.99693587,
        0.05933492,  0.75853294,  0.        ,  0.6516347 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611945, -0.03419629,  0.22481533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16077   , -0.04281029, -0.15496538, -0.04281029,  0.23736158,
       -0.02115897, -0.15496538, -0.02115897,  0.16661531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2630441373175954e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.649638  ,  0.07822326, -0.75620869, -0.05097299,  0.99693587,
        0.05933492,  0.75853294,  0.        ,  0.6516347 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611945, -0.03419629,  0.22481533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000589052834688214
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39438344,  0.08735686, -0.91478439, -0.03458431,  0.99617708,
        0.08021936,  0.91829496,  0.        ,  0.39589692])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08295409, -0.03411074,  0.22316573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  11.51964085, -12.87031399,  11.51964085,
        92.69372003,  67.50594815, -12.87031399,  67.50594815,
        77.69427396,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020568237975503445
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.34943867e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.34943867e-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([-0.08417315, -0.06386866,  0.06186371])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97581675e-03, 2.85264612e-02, 3.39780268e-03, 1.60628968e-05,
  1.10913252e-05,-3.25758522e-05,-5.10558774e-05,-6.59696194e-05,
  1.28565041e-05, 4.86247383e-05, 6.65802146e-05,-1.24812218e-05,
  1.05590566e-02, 1.52975182e-02, 6.93976472e-03, 1.08542992e-03,
  8.31240833e-03, 2.37416284e-02,-9.81731519e+00,-2.95236917e-03,
 -6.01983755e-02, 6.07155055e-02]


--- Step 3589 ---
qpos:
[-0.01850082, 1.20047758,-0.035115  , 0.94258494,-0.00793746, 1.33291739,
 -0.03116848, 0.94132131, 0.01531349, 1.33848752,-0.02377204, 0.95470721,
  1.27485518,-0.00942334, 1.28652366, 0.04436264,-0.05502465,-0.0867776 ,
  0.09055238, 0.69202881,-0.12648603,-0.70923877,-0.04558265]

qacc:
[ 1.90038587e-01, 7.74574863e-01,-3.25697287e+00, 2.57752355e+00,
 -2.17539505e-02,-2.71641267e-02, 5.06509702e-01,-1.94221528e+00,
  8.52648247e-02, 1.70582703e+00,-9.36297182e+00, 2.76359526e+01,
 -1.00503401e-01, 1.13522057e-01,-2.72859000e+00, 4.69863649e+00,
 -3.26634143e+00, 9.55100654e-01,-2.97015720e+00,-6.33899093e+00,
 -1.20476780e+02,-2.87600808e+01]

qfrc_actuator:
[ 9.82022192e-03, 6.29490570e-02, 1.40277383e-02, 2.03518185e-03,
 -3.18021675e-05, 3.48165865e-02, 1.09074930e-02, 1.83377516e-03,
 -2.95683817e-03, 3.47620095e-02, 1.08576430e-02, 1.68338020e-03,
  8.00360274e-03, 1.34203181e-02, 0.00000000e+00,-2.44241314e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1607613 , -0.04237834, -0.15507505, -0.04237834,  0.23717796,
       -0.02088286, -0.15507505, -0.02088286,  0.16646809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2056490195402016e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64973867,  0.07821903, -0.75612264, -0.05097812,  0.9969362 ,
        0.05932494,  0.75844637,  0.        ,  0.65173546])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611909, -0.03419734,  0.22481645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1607613 , -0.04237834, -0.15507505, -0.04237834,  0.23717796,
       -0.02088286, -0.15507505, -0.02088286,  0.16646809,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.2056490195402016e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64973867,  0.07821903, -0.75612264, -0.05097812,  0.9969362 ,
        0.05932494,  0.75844637,  0.        ,  0.65173546])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611909, -0.03419734,  0.22481645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005890424703981698
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94366154e-01,  8.73580515e-02, -9.14791729e-01, -3.45832714e-02,
        9.96176978e-01,  8.02211100e-02,  9.18302419e-01,  6.93889390e-18,
        3.95879611e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08295214, -0.03411175,  0.22316595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020843525471035546
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.33161617e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.33161617e-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([ 0.02172815, -0.0961966 ,  0.06186217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.00714996e-03, 2.85802184e-02, 3.38649266e-03,-6.54696645e-06,
 -6.26592764e-06, 1.16081418e-05, 1.31798742e-06,-5.93878166e-06,
  2.45877363e-05,-1.66342477e-05, 1.67153220e-05, 8.59399320e-05,
  1.05697553e-02, 1.52912981e-02, 7.00273856e-03, 1.15306805e-03,
  7.96047580e-03, 1.76127996e-02,-9.81641690e+00,-2.44168879e-03,
 -6.04577961e-02, 6.06508217e-02]


--- Step 3590 ---
qpos:
[-0.01850195, 1.20049403,-0.03511598, 0.9425863 ,-0.00793782, 1.33291659,
 -0.03116834, 0.94132241, 0.01531479, 1.33848803,-0.02377294, 0.95470683,
  1.27487234,-0.00942325, 1.2865085 , 0.04435995,-0.05501048,-0.08667131,
  0.09058079, 0.69198564,-0.12783562,-0.70911524,-0.04437916]

qacc:
[ 2.80795539e-01,-2.72512861e-01, 1.67527620e-01,-6.82543033e+00,
  8.46679545e-02,-1.71301172e+00, 5.43719358e+00,-5.09096309e+00,
  2.19225002e-02, 2.21439010e+00,-8.96345196e+00, 1.59068629e+01,
 -3.73976126e-02,-1.27978107e-01, 2.40673338e+00,-4.34204725e+00,
 -3.01429715e+00, 8.49897693e-01,-3.52453361e+00,-7.27061086e+00,
 -1.10320601e+02,-2.38532072e+01]

qfrc_actuator:
[ 9.81400665e-03, 6.29319263e-02, 1.40124157e-02, 1.99743736e-03,
 -3.72883818e-06, 3.48062419e-02, 1.09346755e-02, 1.83223523e-03,
 -2.96501751e-03, 3.47281871e-02, 1.08221335e-02, 1.71475771e-03,
  7.99424479e-03, 1.34190745e-02, 0.00000000e+00,-3.32554282e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16074974, -0.05376738, -0.15149109, -0.05376738,  0.28263892,
       -0.04326104, -0.15149109, -0.04326104,  0.176104  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.1281392443604306e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.49845832e-01,  7.82141644e-02, -7.56031043e-01, -5.09833321e-02,
        9.96936580e-01,  5.93140401e-02,  7.58354201e-01, -6.93889390e-18,
        6.51842700e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611867, -0.03419832,  0.22481762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16074974, -0.05376738, -0.15149109, -0.05376738,  0.28263892,
       -0.04326104, -0.15149109, -0.04326104,  0.176104  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.1281392443604306e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.49845832e-01,  7.82141644e-02, -7.56031043e-01, -5.09833321e-02,
        9.96936580e-01,  5.93140401e-02,  7.58354201e-01, -6.93889390e-18,
        6.51842700e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611867, -0.03419832,  0.22481762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000588867154473819
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94349880e-01,  8.73590542e-02, -9.14798649e-01, -3.45822443e-02,
        9.96176890e-01,  8.02226448e-02,  9.18309447e-01,  6.93889390e-18,
        3.95863309e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08295002, -0.03411269,  0.22316615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.52371481,   5.03129769, -16.52371481,
        18.10736421,   2.74110252,   5.03129769,   2.74110252,
        26.27501637,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002085853054076027
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.66131649e-14,  3.99197473e-14,  1.00000000e+00,  1.06239082e-27,
        1.00000000e+00, -3.99197473e-14, -1.00000000e+00,  0.00000000e+00,
       -2.66131649e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02172317, -0.09621938,  0.06186217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97908705e-03, 2.85890897e-02, 3.39982083e-03,-4.18069248e-05,
  2.43748040e-05,-3.83740033e-06, 2.94325969e-05,-1.28873913e-06,
  6.34102674e-06,-3.72141646e-05,-3.43452739e-05, 3.33723908e-05,
  1.05699705e-02, 1.52856894e-02, 7.11625918e-03, 1.07495946e-03,
  6.01941082e-03, 1.97213520e-02,-9.81628624e+00,-4.05383866e-03,
 -6.03617263e-02, 6.05535464e-02]


--- Step 3591 ---
qpos:
[-0.01850297, 1.20050945,-0.03511745, 0.94258751,-0.00793807, 1.33291583,
 -0.03116849, 0.94132386, 0.01531594, 1.33848853,-0.02377347, 0.95470607,
  1.27488922,-0.00942323, 1.28649538, 0.04435735,-0.05499583,-0.08658391,
  0.09062374, 0.69198519,-0.12894473,-0.70897672,-0.04337933]

qacc:
[ 4.01782338e-02,-2.82360995e-01,-3.58256213e-01,-9.50806003e-01,
  4.68105353e-02, 1.45600407e+00,-5.40814713e+00, 8.68946535e+00,
 -6.74272442e-02,-1.70055830e+00, 6.26988768e+00,-9.73606071e+00,
 -2.88381467e-01, 2.06888500e-01, 2.77717311e+00,-5.27370232e+00,
  1.19406696e-01,-4.72028542e+00, 3.63325275e+00, 1.33922073e+01,
  3.86845217e+01,-1.53817451e+02]

qfrc_actuator:
[ 9.77483394e-03, 6.29158470e-02, 1.40041762e-02, 1.99238400e-03,
 -4.61235978e-06, 3.48004445e-02, 1.09150985e-02, 1.84864813e-03,
 -2.98823118e-03, 3.47610770e-02, 1.08547383e-02, 1.69781552e-03,
  7.98801813e-03, 1.34361818e-02, 0.00000000e+00,-3.84545653e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16073971, -0.05251817, -0.15191806, -0.05251817,  0.27284524,
       -0.03875495, -0.15191806, -0.03875495,  0.17413732,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.059638855744528e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64994413,  0.07820937, -0.75594704, -0.0509879 ,  0.99693696,
        0.05930379,  0.75826965,  0.        ,  0.65194105])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861183 , -0.03419933,  0.22481869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16073971, -0.05251817, -0.15191806, -0.05251817,  0.27284524,
       -0.03875495, -0.15191806, -0.03875495,  0.17413732,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.059638855744528e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.64994413,  0.07820937, -0.75594704, -0.0509879 ,  0.99693696,
        0.05930379,  0.75826965,  0.        ,  0.65194105])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861183 , -0.03419933,  0.22481869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005887290459568005
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39433566,  0.08735976, -0.91480471, -0.03458128,  0.99617683,
        0.08022383,  0.91831559,  0.        ,  0.39584906])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08294811, -0.03411366,  0.22316634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002109367365837299
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.26329857e-14,  2.63164929e-14,  1.00000000e+00, -1.38511559e-27,
        1.00000000e+00, -2.63164929e-14, -1.00000000e+00,  0.00000000e+00,
        5.26329857e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06700718, -0.06269094,  0.06186074])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.90765055e-03, 2.86376298e-02, 3.43838110e-03,-1.45572708e-05,
  1.35054559e-05,-2.19180495e-06,-1.70129444e-05, 1.71315305e-05,
 -1.94699714e-05, 6.59015156e-06, 2.24101523e-05,-1.82747225e-05,
  1.05692564e-02, 1.53141622e-02, 7.02159119e-03, 1.01641527e-03,
  3.77803955e-03, 2.17628506e-02,-9.81639075e+00,-5.44705121e-03,
 -6.02508439e-02, 6.04604014e-02]


--- Step 3592 ---
qpos:
[-0.01850418, 1.2005251 ,-0.03511955, 0.94258784,-0.00793841, 1.33291472,
 -0.03116873, 0.94132586, 0.01531687, 1.33848896,-0.0237733 , 0.95470511,
  1.27490599,-0.00942313, 1.28648147, 0.04435472,-0.05498063,-0.08651365,
  0.09067674, 0.69202429,-0.12983357,-0.7088256 ,-0.04256642]

qacc:
[-7.70504180e-02, 4.70251049e-01, 6.02214407e-01,-1.07331194e+01,
 -3.56374261e-02, 7.22731836e-01,-4.05166753e+00, 1.01721802e+01,
 -8.92867050e-02,-2.31360986e+00, 7.85380437e+00,-9.17697106e+00,
 -9.06172255e-02, 1.18647007e-01,-1.08269641e+00, 2.09741239e+00,
  1.37700806e-01,-4.28690443e+00, 2.51143911e+00, 1.22255196e+01,
  3.52121780e+01,-1.41090298e+02]

qfrc_actuator:
[ 9.76943945e-03, 6.29361462e-02, 1.40178727e-02, 1.95346419e-03,
 -2.28608200e-05, 3.47617444e-02, 1.09035967e-02, 1.87546266e-03,
 -3.00252222e-03, 3.47628706e-02, 1.08920343e-02, 1.68817722e-03,
  7.98901564e-03, 1.34287246e-02, 0.00000000e+00,-3.25991075e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16073146, -0.05513369, -0.15097973, -0.05513369,  0.27685457,
       -0.042405  , -0.15097973, -0.042405  ,  0.17621661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.002441572993794e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65003364,  0.07820501, -0.75587052, -0.05099206,  0.9969373 ,
        0.05929447,  0.75819264,  0.        ,  0.65203061])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611797, -0.03420036,  0.22481965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16073146, -0.05513369, -0.15097973, -0.05513369,  0.27685457,
       -0.042405  , -0.15097973, -0.042405  ,  0.17621661,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.002441572993794e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65003364,  0.07820501, -0.75587052, -0.05099206,  0.9969373 ,
        0.05929447,  0.75819264,  0.        ,  0.65203061])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611797, -0.03420036,  0.22481965])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005886527717375717
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94322836e-01,  8.73604123e-02, -9.14810177e-01, -3.45804144e-02,
        9.96176771e-01,  8.02249124e-02,  9.18321129e-01,  6.93889390e-18,
        3.95836209e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08294639, -0.03411464,  0.2231665 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021335962019832996
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.20352925e-14,  1.30088231e-14,  1.00000000e+00, -6.76917917e-28,
        1.00000000e+00, -1.30088231e-14, -1.00000000e+00,  0.00000000e+00,
        5.20352925e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06699728, -0.06269757,  0.06185937])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.89763134e-03, 2.87087618e-02, 3.47681518e-03,-4.52518156e-05,
 -1.02759050e-05,-4.27174390e-05,-1.33617390e-05, 2.66467749e-05,
 -2.57888921e-05, 9.26912475e-06, 4.05943155e-05,-9.21367886e-06,
  1.05844562e-02, 1.53100443e-02, 6.91941784e-03, 1.07055062e-03,
  2.99847809e-03, 1.43526248e-02,-9.81442340e+00,-5.13717118e-03,
 -6.03920134e-02, 6.04025985e-02]


--- Step 3593 ---
qpos:
[-0.01850553, 1.20054172,-0.03512175, 0.94258761,-0.00793874, 1.33291325,
 -0.03116852, 0.94132814, 0.01531732, 1.33848916,-0.02377232, 0.95470439,
  1.27492315,-0.00942294, 1.28646615, 0.04435206,-0.05496483,-0.08645912,
  0.090736  , 0.69210023,-0.13051898,-0.7086637 ,-0.04192648]

qacc:
[-6.17359425e-02, 6.46391709e-01, 6.25108670e-01,-7.74686287e+00,
  3.29295465e-03,-1.22865341e+00, 2.87067179e+00, 9.64551094e-01,
 -2.06314427e-01,-2.08694216e+00, 5.96048159e+00,-2.21856845e+00,
  3.17547268e-01,-1.91085869e-01,-1.99526963e+00, 3.90672389e+00,
  1.50950530e-01,-3.92999593e+00, 1.56704189e+00, 1.12482492e+01,
  3.23466871e+01,-1.30463891e+02]

qfrc_actuator:
[ 9.74903856e-03, 6.29419392e-02, 1.40272961e-02, 1.93049838e-03,
 -1.58724221e-05, 3.47569280e-02, 1.09323486e-02, 1.89041894e-03,
 -3.04684942e-03, 3.47460660e-02, 1.09316856e-02, 1.70065872e-03,
  7.98901605e-03, 1.33709092e-02, 0.00000000e+00,-2.72037662e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16072263, -0.05426815, -0.15128361, -0.05426815,  0.27327529,
       -0.04037466, -0.15128361, -0.04037466,  0.17520574,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.940226816775104e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.50126044e-01,  7.82006034e-02, -7.55791501e-01, -5.09964182e-02,
        9.96937644e-01,  5.92849029e-02,  7.58113113e-01,  6.93889390e-18,
        6.52123077e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611762, -0.03420137,  0.22482065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16072263, -0.05426815, -0.15128361, -0.05426815,  0.27327529,
       -0.04037466, -0.15128361, -0.04037466,  0.17520574,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.940226816775104e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.50126044e-01,  7.82006034e-02, -7.55791501e-01, -5.09964182e-02,
        9.96937644e-01,  5.92849029e-02,  7.58113113e-01,  6.93889390e-18,
        6.52123077e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611762, -0.03420137,  0.22482065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005885412584846761
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39431038,  0.08736112, -0.91481548, -0.0345796 ,  0.99617671,
        0.08022603,  0.91832651,  0.        ,  0.39582373])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08294461, -0.03411561,  0.22316667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021328782214913578
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.20528089e-14,  3.90396067e-14,  1.00000000e+00, -2.03212119e-27,
        1.00000000e+00, -3.90396067e-14, -1.00000000e+00,  0.00000000e+00,
        5.20528089e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06699476, -0.06269126,  0.06185959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.88604690e-03, 2.87035851e-02, 3.51697219e-03,-2.48467401e-05,
  9.20626930e-07,-3.02500570e-05, 1.96578910e-05, 1.38946513e-05,
 -5.95567373e-05,-4.02869321e-06, 4.58036266e-05, 1.37291311e-05,
  1.05897698e-02, 1.52485150e-02, 6.95938300e-03, 1.12597252e-03,
  2.29509207e-03, 8.91289203e-03,-9.81293452e+00,-4.96700540e-03,
 -6.04871828e-02, 6.03549494e-02]


--- Step 3594 ---
qpos:
[-0.01850781, 1.20055999,-0.03512348, 0.94258736,-0.00793903, 1.33291193,
 -0.03116813, 0.9413302 , 0.01531726, 1.33848918,-0.02377142, 0.95470455,
  1.27494047,-0.00942239, 1.28644849, 0.04434935,-0.05494838,-0.08641913,
  0.09079836, 0.6922107 ,-0.13101502,-0.7084924 ,-0.04144787]

qacc:
[-4.06961747e-01, 8.21915485e-01,-2.98194755e-02,-1.26267866e+00,
  1.68810201e-02,-6.26135828e-01, 2.70631239e+00,-4.91644104e+00,
 -2.13732285e-01, 1.52119304e+00,-7.03769126e+00, 1.64681169e+01,
  3.83438485e-02, 2.18253364e-01,-3.31462007e+00, 6.59744845e+00,
  1.60446442e-01,-3.63648726e+00, 7.73452726e-01, 1.04283986e+01,
  2.99827264e+01,-1.21589663e+02]

qfrc_actuator:
[ 9.68416408e-03, 6.29026686e-02, 1.40516564e-02, 1.93490382e-03,
 -1.15526053e-05, 3.47903428e-02, 1.09492377e-02, 1.88056200e-03,
 -3.07333208e-03, 3.47182833e-02, 1.09190858e-02, 1.74379543e-03,
  7.99370375e-03, 1.33715868e-02, 0.00000000e+00,-1.85319864e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16071299, -0.053843  , -0.15142522, -0.053843  ,  0.25691161,
       -0.03420581, -0.15142522, -0.03420581,  0.17287572,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.87126785538483e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65022517,  0.07819591, -0.75570671, -0.05100111,  0.99693801,
        0.05927467,  0.75802778,  0.        ,  0.65222227])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611724, -0.03420238,  0.22482172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16071299, -0.053843  , -0.15142522, -0.053843  ,  0.25691161,
       -0.03420581, -0.15142522, -0.03420581,  0.17287572,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.87126785538483e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65022517,  0.07819591, -0.75570671, -0.05100111,  0.99693801,
        0.05927467,  0.75802778,  0.        ,  0.65222227])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611724, -0.03420238,  0.22482172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005884003731061946
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94297119e-01,  8.73619031e-02, -9.14821119e-01, -3.45787537e-02,
        9.96176640e-01,  8.02272516e-02,  9.18332234e-01,  6.93889390e-18,
        3.95810445e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08294269, -0.03411658,  0.22316686])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0021122275020792614
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.3140429e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.3140429e-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([-0.0669981 , -0.06267478,  0.06186107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.82823027e-03, 2.86149165e-02, 3.54715385e-03, 7.89778225e-06,
  4.86212093e-06, 2.09582446e-05, 1.36196772e-05,-9.86876441e-06,
 -6.16550979e-05,-2.06635349e-05,-7.78135658e-06, 4.46779661e-05,
  1.05753052e-02, 1.52441927e-02, 7.03019381e-03, 1.21459707e-03,
  1.65850222e-03, 5.03162294e-03,-9.81183846e+00,-4.90256089e-03,
 -6.05471644e-02, 6.03171278e-02]


--- Step 3595 ---
qpos:
[-0.01851045, 1.20057855,-0.03512507, 0.94258661,-0.00793927, 1.33291076,
 -0.03116786, 0.94133214, 0.01531707, 1.33848926,-0.02377042, 0.95470417,
  1.27495767,-0.00942199, 1.28643429, 0.04434702,-0.05493127,-0.08639272,
  0.09086115, 0.69235371,-0.1313334 ,-0.70831275,-0.04112086]

qacc:
[-1.56835775e-01,-8.34598318e-01, 4.21023457e+00,-9.59123616e+00,
  1.92419483e-02, 2.92069277e-01,-4.42820622e-01,-1.13651133e+00,
 -5.70746624e-02,-1.14075267e+00, 4.91920016e+00,-1.06473319e+01,
 -1.67595142e-01, 6.63385462e-02, 3.96604118e+00,-6.44233526e+00,
  1.67156044e-01,-3.39560655e+00, 1.07832233e-01, 9.73937367e+00,
  2.80351584e+01,-1.14184777e+02]

qfrc_actuator:
[ 9.66446548e-03, 6.28530600e-02, 1.41021792e-02, 1.90215543e-03,
 -8.86921943e-06, 3.47930851e-02, 1.09413665e-02, 1.87395007e-03,
 -3.05339052e-03, 3.47372187e-02, 1.09289684e-02, 1.71581879e-03,
  8.00120935e-03, 1.34248240e-02, 0.00000000e+00,-3.09707284e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16070209, -0.07758695, -0.14073176, -0.07758695,  0.3229263 ,
       -0.08943597, -0.14073176, -0.08943597,  0.21000911,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7916875138961983e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65033515,  0.0781912 , -0.75561255, -0.05100665,  0.99693838,
        0.0592637 ,  0.75793305,  0.        ,  0.65233234])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611681, -0.03420338,  0.22482293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16070209, -0.07758695, -0.14073176, -0.07758695,  0.3229263 ,
       -0.08943597, -0.14073176, -0.08943597,  0.21000911,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7916875138961983e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65033515,  0.0781912 , -0.75561255, -0.05100665,  0.99693838,
        0.0592637 ,  0.75793305,  0.        ,  0.65233234])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611681, -0.03420338,  0.22482293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000588216882705557
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94281903e-01,  8.73630878e-02, -9.14827564e-01, -3.45778918e-02,
        9.96176536e-01,  8.02289131e-02,  9.18338800e-01, -6.93889390e-18,
        3.95795211e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08294054, -0.03411753,  0.22316708])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020758329379398505
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.67416275e-14,  6.68540688e-14,  1.00000000e+00, -1.78778661e-27,
        1.00000000e+00, -6.68540688e-14, -1.00000000e+00,  0.00000000e+00,
        2.67416275e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06700604, -0.06265037,  0.06186355])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.85523497e-03, 2.84829549e-02, 3.57353908e-03,-2.37719510e-05,
  5.55440025e-06, 1.67165371e-05,-2.50517661e-06,-5.80757244e-06,
 -1.64708867e-05, 7.30991206e-06, 6.26949495e-06,-2.77752142e-05,
  1.05744004e-02, 1.52799843e-02, 7.14701475e-03, 1.09241371e-03,
  1.07985752e-03, 2.40289786e-03,-9.81106827e+00,-4.91914972e-03,
 -6.05799156e-02, 6.02887924e-02]


--- Step 3596 ---
qpos:
[-0.01851305, 1.20059743,-0.03512584, 0.94258648,-0.00793933, 1.33291   ,
 -0.03116744, 0.94133258, 0.0153169 , 1.33848956,-0.02376856, 0.95470374,
  1.27497478,-0.0094217 , 1.28642291, 0.04434487,-0.05491347,-0.08637911,
  0.09092214, 0.69252757,-0.13148388,-0.70812548,-0.04093739]

qacc:
[ 1.89629978e-02,-7.33161212e-01, 1.63240468e+00, 5.51159072e+00,
  7.88079751e-02,-2.44664243e+00, 1.17311086e+01,-2.79689789e+01,
  8.40082724e-03,-2.11288886e+00, 7.32596413e+00,-6.97211111e+00,
 -1.40200646e-01, 6.64752788e-02, 3.65572700e+00,-6.71715760e+00,
  1.71797997e-01,-3.19844939e+00,-4.49403635e-01, 9.15895947e+00,
  2.64346585e+01,-1.08017999e+02]

qfrc_actuator:
[ 9.68942463e-03, 6.28156966e-02, 1.41152917e-02, 1.93636134e-03,
  1.05633358e-05, 3.48306031e-02, 1.09543499e-02, 1.79826865e-03,
 -3.04126771e-03, 3.47840191e-02, 1.09876968e-02, 1.71726900e-03,
  8.00510032e-03, 1.34211878e-02, 0.00000000e+00,-3.65883137e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16069528, -0.0625569 , -0.14801894, -0.0625569 ,  0.28253371,
       -0.05149229, -0.14801894, -0.05149229,  0.18245735,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.741109250638905e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.50433771e-01,  7.81873682e-02, -7.55528057e-01, -5.10118683e-02,
        9.96938682e-01,  5.92541462e-02,  7.57848071e-01,  6.93889390e-18,
        6.52431070e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611647, -0.03420444,  0.22482403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16069528, -0.0625569 , -0.14801894, -0.0625569 ,  0.28253371,
       -0.05149229, -0.14801894, -0.05149229,  0.18245735,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.741109250638905e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.50433771e-01,  7.81873682e-02, -7.55528057e-01, -5.10118683e-02,
        9.96938682e-01,  5.92541462e-02,  7.57848071e-01,  6.93889390e-18,
        6.52431070e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611647, -0.03420444,  0.22482403])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005882587626393904
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94266289e-01,  8.73644213e-02, -9.14834166e-01, -3.45770543e-02,
        9.96176419e-01,  8.02307262e-02,  9.18345535e-01,  6.93889390e-18,
        3.95779584e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08293866, -0.03411855,  0.22316731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020271872716679865
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.73833365e-14,  4.10750048e-14,  1.00000000e+00, -1.12477068e-27,
        1.00000000e+00, -4.10750048e-14, -1.00000000e+00,  0.00000000e+00,
        2.73833365e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06701755, -0.06261987,  0.06186679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.89818767e-03, 2.84308595e-02, 3.57965697e-03, 3.52590976e-05,
  2.27121021e-05, 4.61114502e-05, 1.58027183e-05,-7.53841106e-05,
  2.39611948e-06, 5.12411816e-05, 6.00541265e-05, 1.20496448e-06,
  1.05846081e-02, 1.52835854e-02, 6.97478813e-03, 1.01736530e-03,
  5.51054480e-04, 7.98902629e-04,-9.81057156e+00,-4.99883506e-03,
 -6.05912996e-02, 6.02696026e-02]


--- Step 3597 ---
qpos:
[-0.01851605, 1.20061736,-0.03512581, 0.94258738,-0.00793947, 1.33290999,
 -0.03116699, 0.94133069, 0.0153168 , 1.33849072,-0.02376776, 0.95470511,
  1.274992  ,-0.00942101, 1.28640798, 0.04434239,-0.05489497,-0.08637764,
  0.09097947, 0.69273078,-0.13147455,-0.70793111,-0.04089077]

qacc:
[-1.71991026e-01, 9.66528420e-01,-3.62879070e+00, 1.45026518e+01,
 -3.65650213e-02,-3.02357511e+00, 1.58638186e+01,-4.11788693e+01,
  3.00401661e-02, 7.08254027e+00,-2.53409145e+01, 4.20819667e+01,
  1.29043496e-03, 2.75795145e-01,-4.25267296e+00, 7.28698744e+00,
  1.74900212e-01,-3.03763386e+00,-9.15033842e-01, 8.66851113e+00,
  2.51244031e+01,-1.02898987e+02]

qfrc_actuator:
[ 9.70541379e-03, 6.27677811e-02, 1.40874741e-02, 1.99207610e-03,
 -1.33712568e-05, 3.48886885e-02, 1.09618857e-02, 1.68258211e-03,
 -3.03393667e-03, 3.48295974e-02, 1.09329073e-02, 1.80709747e-03,
  8.01214951e-03, 1.34012042e-02, 0.00000000e+00,-2.21303071e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16069168, -0.04230499, -0.15502291, -0.04230499,  0.21368542,
       -0.01446173, -0.15502291, -0.01446173,  0.16463822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7141056921837987e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65052351,  0.078184  , -0.75545114, -0.0510167 ,  0.99693895,
        0.05924555,  0.75777071,  0.        ,  0.65252092])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861162 , -0.03420556,  0.22482506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16069168, -0.04230499, -0.15502291, -0.04230499,  0.21368542,
       -0.01446173, -0.15502291, -0.01446173,  0.16463822,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.7141056921837987e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65052351,  0.078184  , -0.75545114, -0.0510167 ,  0.99693895,
        0.05924555,  0.75777071,  0.        ,  0.65252092])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861162 , -0.03420556,  0.22482506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000588488015209488
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39424963,  0.08736576, -0.91484122, -0.03457613,  0.9961763 ,
        0.08023258,  0.91835272,  0.        ,  0.39576291])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08293699, -0.03411963,  0.22316754])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001969195625970019
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.40948798e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.40948798e-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([-0.06703181, -0.06258475,  0.06187061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.91199591e-03, 2.83666835e-02, 3.51105363e-03, 6.03238410e-05,
 -1.05250988e-05, 8.44218079e-05, 1.61471081e-05,-1.15579064e-04,
  8.74818785e-06, 8.56739284e-05,-3.79247175e-05, 9.31348942e-05,
  1.05961276e-02, 1.52691428e-02, 6.83410633e-03, 1.15340071e-03,
  6.48098704e-05, 4.98659975e-05,-9.81030729e+00,-5.12861763e-03,
 -6.05856355e-02, 6.02592276e-02]


--- Step 3598 ---
qpos:
[-0.01851893, 1.20063687,-0.0351258 , 0.94258842,-0.00794007, 1.33291058,
 -0.03116619, 0.94132812, 0.01531677, 1.33849277,-0.02376794, 0.95470719,
  1.27500935,-0.00942033, 1.28639405, 0.04433996,-0.05487576,-0.08638781,
  0.09103158, 0.69296209,-0.1313121 ,-0.70772995,-0.04097548]

qacc:
[ 4.75012444e-02,-2.44098703e-01,-1.89152107e-01, 2.15162338e+00,
 -1.94204793e-01,-1.35424736e+00, 6.77872531e+00,-1.42090464e+01,
  3.29064370e-02, 5.06172403e+00,-1.65317046e+01, 2.20100153e+01,
  6.58501564e-02,-4.36585831e-02, 1.29842219e+00,-2.42567172e+00,
  1.76845062e-01,-2.90702411e+00,-1.30342448e+00, 8.25231229e+00,
  2.40575391e+01,-9.86700865e+01]

qfrc_actuator:
[ 9.69868930e-03, 6.27304297e-02, 1.40880409e-02, 1.98901842e-03,
 -6.31282020e-05, 3.49230856e-02, 1.09839684e-02, 1.65082081e-03,
 -3.02954052e-03, 3.48737173e-02, 1.08825971e-02, 1.84162115e-03,
  8.01042751e-03, 1.34064491e-02, 0.00000000e+00,-2.93143532e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16068502, -0.05405974, -0.15131827, -0.05405974,  0.25611955,
       -0.0340948 , -0.15131827, -0.0340948 ,  0.17286567,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.663571482605786e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65062737,  0.0781801 , -0.75536209, -0.05102228,  0.99693925,
        0.05923559,  0.75768117,  0.        ,  0.65262489])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611585, -0.03420663,  0.22482624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16068502, -0.05405974, -0.15131827, -0.05405974,  0.25611955,
       -0.0340948 , -0.15131827, -0.0340948 ,  0.17286567,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.663571482605786e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65062737,  0.0781801 , -0.75536209, -0.05102228,  0.99693925,
        0.05923559,  0.75768117,  0.        ,  0.65262489])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611585, -0.03420663,  0.22482624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005885657599113726
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39423127,  0.08736728, -0.91484899, -0.03457512,  0.99617617,
        0.08023467,  0.91836064,  0.        ,  0.39574453])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.082935  , -0.03412066,  0.22316779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727,  5.33940899, 16.42674098,  5.33940899, 35.13209442,
       -5.80507513, 16.42674098, -5.80507513, 19.15963049,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019042669897669784
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.45754643e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.45754643e-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([-0.06704811, -0.06254625,  0.06187486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92500400e-03, 2.82766223e-02, 3.47135116e-03, 5.52506704e-06,
 -5.59668029e-05, 8.07740040e-05, 3.70464236e-05,-3.14219545e-05,
  9.56590419e-06, 8.68441587e-05,-3.51631308e-05, 3.81250239e-05,
  1.05890253e-02, 1.52542786e-02, 7.01136879e-03, 1.09777004e-03,
 -3.85347397e-04, 2.95403068e-05,-9.81024321e+00,-5.29913564e-03,
 -6.05660983e-02, 6.02573513e-02]


--- Step 3599 ---
qpos:
[-0.01852125, 1.20065521,-0.03512616, 0.94258917,-0.00794089, 1.33291161,
 -0.03116479, 0.94132553, 0.01531682, 1.33849501,-0.02376753, 0.95470758,
  1.27502666,-0.00941998, 1.28638406, 0.04433776,-0.05486905,-0.08639606,
  0.0910689 , 0.69304167,-0.13117747,-0.70767214,-0.0410592 ]

qacc:
[ 2.44837224e-01,-1.04170604e+00, 2.19233632e+00,-4.67789827e+00,
 -9.31994437e-02,-1.06354500e+00, 4.19794433e+00,-4.09219330e+00,
  2.87085531e-02,-4.28224896e+00, 1.76713927e+01,-3.49660378e+01,
 -3.13841704e-02,-1.80064841e-01, 5.15452370e+00,-9.57341144e+00,
 -3.12477576e+00, 4.79068678e-01,-3.70049565e+00,-1.63102782e+01,
 -1.03997511e+02,-2.33235490e+00]

qfrc_actuator:
[ 9.71349587e-03, 6.27537330e-02, 1.41061458e-02, 1.96892334e-03,
 -5.69611951e-05, 3.49431305e-02, 1.10144344e-02, 1.65095529e-03,
 -3.02694062e-03, 3.48633285e-02, 1.09063331e-02, 1.75455940e-03,
  8.00876232e-03, 1.34270836e-02, 0.00000000e+00,-4.24072616e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16067914, -0.06433429, -0.14723751, -0.06433429,  0.29271355,
       -0.05769142, -0.14723751, -0.05769142,  0.18588696,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.618410243211995e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.50727396e-01,  7.81763403e-02, -7.55276318e-01, -5.10276541e-02,
        9.96939547e-01,  5.92259969e-02,  7.57594902e-01, -6.93889390e-18,
        6.52725030e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611551, -0.03420773,  0.22482737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16067914, -0.06433429, -0.14723751, -0.06433429,  0.29271355,
       -0.05769142, -0.14723751, -0.05769142,  0.18588696,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.618410243211995e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.50727396e-01,  7.81763403e-02, -7.55276318e-01, -5.10276541e-02,
        9.96939547e-01,  5.92259969e-02,  7.57594902e-01, -6.93889390e-18,
        6.52725030e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611551, -0.03420773,  0.22482737])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005886754841278007
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39421332,  0.08736875, -0.91485658, -0.03457414,  0.99617604,
        0.0802367 ,  0.91836838,  0.        ,  0.39572656])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08293309, -0.03412172,  0.22316802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.21976506,   5.93854602, -16.21976506,
        28.99202354,  32.00854745,   5.93854602,  32.00854745,
       104.69667211,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001881245126813598
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.95076651e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.95076651e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02234491, -0.09639183,  0.06187651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93434133e-03, 2.83211242e-02, 3.49065902e-03,-2.19332091e-05,
 -2.68688178e-05, 7.10232381e-05, 4.95624569e-05, 2.92721250e-06,
  8.25312776e-06, 3.18876994e-05, 3.78167785e-05,-8.46242754e-05,
  1.05806626e-02, 1.52754759e-02, 6.96215399e-03, 9.64250040e-04,
 -8.05126802e-04, 6.44594785e-04,-9.81035390e+00,-5.50372469e-03,
 -6.05350129e-02, 6.02636732e-02]


--- Step 3600 ---
qpos:
[-0.018523  , 1.20067281,-0.035127  , 0.94258929,-0.00794152, 1.33291315,
 -0.03116362, 0.9413237 , 0.01531691, 1.33849701,-0.02376663, 0.95470731,
  1.27504375,-0.00941994, 1.28637682, 0.04433565,-0.05487395,-0.08640247,
  0.09108971, 0.69297991,-0.1310672 ,-0.7077482 ,-0.04114255]

qacc:
[ 2.49622406e-01,-7.55129132e-01, 2.55408965e+00,-8.94403825e+00,
  8.25054450e-02, 2.58053434e+00,-9.16129194e+00, 1.63385623e+01,
  2.22190353e-02,-2.76298065e+00, 9.94020882e+00,-1.60257572e+01,
 -1.14756289e-01,-1.19839857e-01, 3.79106338e+00,-7.33054831e+00,
 -2.90084476e+00, 4.58863490e-01,-4.12617583e+00,-1.48312763e+01,
 -9.69195823e+01,-2.93116812e+00]

qfrc_actuator:
[ 9.74072431e-03, 6.27965733e-02, 1.41173719e-02, 1.93899682e-03,
 -1.72947917e-05, 3.49544826e-02, 1.09962891e-02, 1.68758400e-03,
 -3.02543908e-03, 3.48205816e-02, 1.09200527e-02, 1.72093726e-03,
  8.00714317e-03, 1.34395201e-02, 0.00000000e+00,-4.84128798e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16067659, -0.06524228, -0.14683465, -0.06524228,  0.29469445,
       -0.05954746, -0.14683465, -0.05954746,  0.18713501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.5986978864642125e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65081216,  0.07817307, -0.75520362, -0.05103216,  0.9969398 ,
        0.05921781,  0.75752179,  0.        ,  0.65280988])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611528, -0.0342089 ,  0.22482834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16067659, -0.06524228, -0.14683465, -0.06524228,  0.29469445,
       -0.05954746, -0.14683465, -0.05954746,  0.18713501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.5986978864642125e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65081216,  0.07817307, -0.75520362, -0.05103216,  0.9969398 ,
        0.05921781,  0.75752179,  0.        ,  0.65280988])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611528, -0.0342089 ,  0.22482834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005889511735392115
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39419678,  0.08736998, -0.91486359, -0.03457317,  0.99617593,
        0.08023845,  0.91837552,  0.        ,  0.39571   ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08293152, -0.03412286,  0.22316824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.21589274, -1.40005169, 17.21589274, 17.67539951,
        4.95150438, -1.40005169,  4.95150438, 78.15945653,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018608094015564874
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.98317233e-14,  4.47475850e-14,  1.00000000e+00,  1.33489757e-27,
        1.00000000e+00, -4.47475850e-14, -1.00000000e+00,  0.00000000e+00,
       -2.98317233e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02240957, -0.09639856,  0.06187793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93344270e-03, 2.84214568e-02, 3.52012823e-03,-3.67210771e-05,
  2.38074458e-05, 6.04179573e-05, 1.47446940e-06, 4.02917763e-05,
  6.37821718e-06,-2.02502427e-05, 2.17664430e-05,-3.35356824e-05,
  1.05816819e-02, 1.53042967e-02, 6.76533339e-03, 8.93162181e-04,
 -1.19024318e-04, 2.78292131e-04,-9.81007721e+00,-5.41579429e-03,
 -6.05552625e-02, 6.02668118e-02]


--- Step 3601 ---
qpos:
[-0.01852453, 1.20068999,-0.03512766, 0.94258969,-0.00794198, 1.33291493,
 -0.03116285, 0.9413227 , 0.01531705, 1.33849823,-0.02376473, 0.95470665,
  1.27506071,-0.00942001, 1.28637164, 0.04433349,-0.05488969,-0.08640712,
  0.09109257, 0.69278548,-0.13097849,-0.70795009,-0.041226  ]

qacc:
[ 9.91709452e-02,-5.72130430e-01, 6.47701356e-01, 2.80042910e+00,
  7.01244966e-02, 2.80408137e+00,-1.04851170e+01, 1.86085860e+01,
  1.61734031e-02,-4.38249277e+00, 1.38381614e+01,-1.59140469e+01,
 -1.40759154e-01, 5.56159270e-02, 3.21647230e+00,-6.81577960e+00,
 -2.71304970e+00, 4.40812066e-01,-4.48700499e+00,-1.36119398e+01,
 -9.09825749e+01,-3.37955644e+00]

qfrc_actuator:
[ 9.70415936e-03, 6.28156901e-02, 1.41247278e-02, 1.95686855e-03,
 -1.11137882e-05, 3.49426199e-02, 1.09673229e-02, 1.72759791e-03,
 -3.02460825e-03, 3.47587785e-02, 1.09631403e-02, 1.70126561e-03,
  7.98959044e-03, 1.34116465e-02, 0.00000000e+00,-5.37129850e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16067641, -0.05628876, -0.15049413, -0.05628876,  0.26671484,
       -0.03966116, -0.15049413, -0.03966116,  0.17551073,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.5972482283343904e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65088614,  0.07817004, -0.75514017, -0.05103597,  0.99694004,
        0.05921052,  0.75745796,  0.        ,  0.65288394])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611511, -0.03421011,  0.22482919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16067641, -0.05628876, -0.15049413, -0.05628876,  0.26671484,
       -0.03966116, -0.15049413, -0.03966116,  0.17551073,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.5972482283343904e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65088614,  0.07817004, -0.75514017, -0.05103597,  0.99694004,
        0.05921052,  0.75745796,  0.        ,  0.65288394])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611511, -0.03421011,  0.22482919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005893463153386208
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94181362e-01,  8.73709581e-02, -9.14870138e-01, -3.45722127e-02,
        9.96175846e-01,  8.02399304e-02,  9.18382173e-01, -6.93889390e-18,
        3.95694559e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08293021, -0.03412404,  0.22316844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.23468317, -1.14577638, 17.23468317, 17.58457867,
        4.69084554, -1.14577638,  4.69084554, 87.83207723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001824281496874386
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.04290491e-14,  1.52145245e-14,  1.00000000e+00,  4.62963514e-28,
        1.00000000e+00, -1.52145245e-14, -1.00000000e+00,  0.00000000e+00,
       -3.04290491e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02251361, -0.09641516,  0.06188027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.86819573e-03, 2.84779648e-02, 3.55127419e-03, 1.22013214e-05,
  2.02372315e-05, 2.30518578e-05,-1.57989218e-05, 4.28130336e-05,
  4.59825367e-06,-6.97586674e-05, 4.06217942e-05,-2.04116328e-05,
  1.05746948e-02, 1.52919623e-02, 6.62755003e-03, 8.35381518e-04,
  5.16897373e-05, 5.00813835e-05,-9.81002944e+00,-5.30405533e-03,
 -6.05685233e-02, 6.02727157e-02]


--- Step 3602 ---
qpos:
[-0.01852693, 1.20070848,-0.03512788, 0.94259081,-0.00794231, 1.3329166 ,
 -0.03116229, 0.94132255, 0.0153175 , 1.33849824,-0.02376232, 0.95470549,
  1.27507786,-0.00941941, 1.28635986, 0.04433069,-0.05491566,-0.08641007,
  0.09107626, 0.69246556,-0.13090906,-0.70827096,-0.0413099 ]

qacc:
[-3.83166089e-01, 1.79814988e+00,-5.28014108e+00, 1.21998899e+01,
  5.45880421e-02, 1.87768594e+00,-8.06034190e+00, 1.69902314e+01,
  1.34165214e-01,-3.85876189e+00, 1.16833309e+01,-1.52542201e+01,
  3.28157696e-02, 4.24440823e-01,-7.85094903e+00, 1.32958440e+01,
 -2.55468023e+00, 4.24576154e-01,-4.79302315e+00,-1.26049749e+01,
 -8.60074078e+01,-3.71420013e+00]

qfrc_actuator:
[ 9.66494005e-03, 6.28205426e-02, 1.40937954e-02, 2.00278059e-03,
 -7.32017642e-06, 3.49168923e-02, 1.09498717e-02, 1.76926107e-03,
 -2.98868094e-03, 3.46506590e-02, 1.09698770e-02, 1.67219929e-03,
  7.97845459e-03, 1.33595143e-02, 0.00000000e+00,-3.01742981e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16067798, -0.03677696, -0.15641249, -0.03677696,  0.19479987,
       -0.00802301, -0.15641249, -0.00802301,  0.16256441,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.609412976349896e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65095271,  0.07816728, -0.75508307, -0.05103937,  0.99694026,
        0.05920394,  0.75740052,  0.        ,  0.65295057])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611499, -0.03421134,  0.22482997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16067798, -0.03677696, -0.15641249, -0.03677696,  0.19479987,
       -0.00802301, -0.15641249, -0.00802301,  0.16256441,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.609412976349896e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65095271,  0.07816728, -0.75508307, -0.05103937,  0.99694026,
        0.05920394,  0.75740052,  0.        ,  0.65295057])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611499, -0.03421134,  0.22482997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000589835628136224
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39416618,  0.08737184, -0.9148766 , -0.03457123,  0.99617577,
        0.08024132,  0.91838873,  0.        ,  0.39567935])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08292906, -0.03412524,  0.22316863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.23148992, -1.19283797, 17.23148992, 17.66673253,
        5.69171819, -1.19283797,  5.69171819, 99.49410814,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001775086686402541
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.12723608e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.12723608e-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([ 0.02264813, -0.09643941,  0.06188332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.81758099e-03, 2.85036673e-02, 3.51154732e-03, 4.48187377e-05,
  1.57409227e-05,-1.47895639e-05,-1.34869252e-05, 4.28883342e-05,
  3.86414173e-05,-1.39378048e-04,-2.87172800e-06,-3.04165342e-05,
  1.05697134e-02, 1.52455309e-02, 6.52480069e-03, 1.07354283e-03,
 -1.95689259e-04,-7.14583348e-05,-9.81016646e+00,-5.16749600e-03,
 -6.05756614e-02, 6.02807812e-02]


--- Step 3603 ---
qpos:
[-0.01852995, 1.20072832,-0.03512802, 0.94259214,-0.0079424 , 1.33291795,
 -0.03116179, 0.94132222, 0.01531831, 1.33849736,-0.02375997, 0.95470538,
  1.27509549,-0.00941826, 1.28634147, 0.04432745,-0.05494049,-0.08642899,
  0.09106765, 0.69218383,-0.13062402,-0.70858312,-0.04157968]

qacc:
[-2.70382013e-01, 1.88204758e+00,-4.43605336e+00, 5.41805656e+00,
  1.01961433e-01,-5.48732774e-01, 1.63725026e+00,-3.26898422e+00,
  1.52594959e-01, 8.10481026e-01,-6.14916846e+00, 1.79145566e+01,
  3.52809814e-01, 7.70089955e-02,-8.41069946e+00, 1.52067566e+01,
  2.84122078e-01,-3.99155554e+00, 1.92565513e+00, 1.11454733e+01,
  3.31666278e+01,-1.39356769e+02]

qfrc_actuator:
[ 9.67840233e-03, 6.28152646e-02, 1.40750662e-02, 2.01168980e-03,
  1.27641259e-05, 3.48830962e-02, 1.09392987e-02, 1.75830023e-03,
 -2.96749490e-03, 3.46220201e-02, 1.09726473e-02, 1.72654050e-03,
  7.98179764e-03, 1.33275944e-02, 0.00000000e+00,-1.41262268e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16067352, -0.0383144 , -0.15603841, -0.0383144 ,  0.19937877,
       -0.00950387, -0.15603841, -0.00950387,  0.16300714,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.5747114519150275e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6510444 ,  0.07816367, -0.75500439, -0.05104419,  0.99694054,
        0.05919502,  0.75732138,  0.        ,  0.65304236])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611471, -0.03421247,  0.224831  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16067352, -0.0383144 , -0.15603841, -0.0383144 ,  0.19937877,
       -0.00950387, -0.15603841, -0.00950387,  0.16300714,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.5747114519150275e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6510444 ,  0.07816367, -0.75500439, -0.05104419,  0.99694054,
        0.05919502,  0.75732138,  0.        ,  0.65304236])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611471, -0.03421247,  0.224831  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000590002587096225
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94149373e-01,  8.73731041e-02, -9.14883715e-01, -3.45702628e-02,
        9.96175658e-01,  8.02431072e-02,  9.18395976e-01, -6.93889390e-18,
        3.95662522e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08292733, -0.03412634,  0.22316885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017882477069107172
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.55211023e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.55211023e-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([-0.06707715, -0.0624787 ,  0.06188243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.87501519e-03, 2.84322172e-02, 3.47107064e-03, 1.73056070e-05,
  2.93759566e-05,-4.33364972e-05,-1.37468752e-05,-1.08060894e-05,
  4.40021344e-05,-1.07178862e-04,-2.56705249e-05, 4.94203499e-05,
  1.05640935e-02, 1.51801151e-02, 6.85522510e-03, 1.26562928e-03,
 -7.89188803e-04,-1.08943928e-04,-9.81045675e+00,-5.00572923e-03,
 -6.05772871e-02, 6.02905490e-02]


--- Step 3604 ---
qpos:
[-0.0185322 , 1.20074733,-0.03512835, 0.94259343,-0.0079424 , 1.33291886,
 -0.03116111, 0.94132246, 0.01531914, 1.3384961 ,-0.02375698, 0.95470583,
  1.27511367,-0.00941743, 1.28632609, 0.04432443,-0.05496425,-0.08646277,
  0.09106342, 0.69193729,-0.1301383 ,-0.70888711,-0.04202222]

qacc:
[ 3.36632097e-01,-6.38201042e-01, 8.25566389e-01,-5.85687283e-01,
  4.00745537e-02,-1.30785339e-01,-1.43630977e+00, 8.02993489e+00,
  9.29580850e-03,-1.24972194e+00, 2.34157280e+00, 4.75087671e+00,
  5.11144641e-01,-6.24796012e-01, 3.68869222e+00,-6.54736379e+00,
  2.66520229e-01,-3.71563451e+00, 1.09317910e+00, 1.03748901e+01,
  3.07435961e+01,-1.29616576e+02]

qfrc_actuator:
[ 9.70581369e-03, 6.27856007e-02, 1.40815827e-02, 1.99862511e-03,
  6.95425069e-06, 3.48624754e-02, 1.09505490e-02, 1.78746527e-03,
 -2.99082938e-03, 3.46589794e-02, 1.10266677e-02, 1.75856583e-03,
  7.98314321e-03, 1.33076443e-02, 0.00000000e+00,-3.09693206e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16066328, -0.05623513, -0.15050016, -0.05623513,  0.27053715,
       -0.04105491, -0.15050016, -0.04105491,  0.17600365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.493636148696293e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.51161138e-01,  7.81590523e-02, -7.54904190e-01, -5.10503053e-02,
        9.96940902e-01,  5.91836446e-02,  7.57220601e-01, -6.93889390e-18,
        6.53159216e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611425, -0.03421352,  0.2248323 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16066328, -0.05623513, -0.15050016, -0.05623513,  0.27053715,
       -0.04105491, -0.15050016, -0.04105491,  0.17600365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.493636148696293e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.51161138e-01,  7.81590523e-02, -7.54904190e-01, -5.10503053e-02,
        9.96940902e-01,  5.91836446e-02,  7.57220601e-01, -6.93889390e-18,
        6.53159216e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611425, -0.03421352,  0.2248323 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005898507660851773
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94131246e-01,  8.73746336e-02, -9.14891378e-01, -3.45692826e-02,
        9.96175523e-01,  8.02451949e-02,  9.18403792e-01, -6.93889390e-18,
        3.95644379e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08292503, -0.03412734,  0.22316909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017916255499282538
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09836792e-14,  4.64755188e-14,  1.00000000e+00, -1.43998256e-27,
        1.00000000e+00, -4.64755188e-14, -1.00000000e+00,  0.00000000e+00,
        3.09836792e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06707611, -0.06248101,  0.06188219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93343812e-03, 2.83349936e-02, 3.47307540e-03,-6.21301737e-06,
  1.15301044e-05,-4.76212213e-05, 8.85352919e-07, 2.72068860e-05,
  2.64776421e-06,-2.58533922e-05, 3.16156877e-05, 2.92495927e-05,
  1.05416091e-02, 1.51321739e-02, 7.18567955e-03, 1.11992650e-03,
  2.25714421e-04, 1.09391670e-04,-9.81058291e+00,-4.63010935e-03,
 -6.05849111e-02, 6.03102282e-02]


--- Step 3605 ---
qpos:
[-0.01853358, 1.2007649 ,-0.03512849, 0.94259563,-0.00794237, 1.33291966,
 -0.03116015, 0.94132335, 0.01531958, 1.33849496,-0.02375473, 0.95470738,
  1.27513215,-0.00941695, 1.28631463, 0.04432154,-0.05498701,-0.0865105 ,
  0.09106073, 0.69172326,-0.12946435,-0.70918325,-0.04262659]

qacc:
[ 3.80304781e-01,-8.56624240e-01,-1.35954344e+00, 1.26276651e+01,
  1.13519174e-02, 2.66782358e-01,-2.39136902e+00, 9.77548046e+00,
 -1.67532583e-01, 4.05639226e+00,-1.52713914e+01, 2.58571132e+01,
  2.49345771e-01,-4.12096362e-01, 5.43299090e+00,-1.06100960e+01,
  2.51539983e-01,-3.48613847e+00, 3.87111446e-01, 9.71062035e+00,
  2.87262946e+01,-1.21519952e+02]

qfrc_actuator:
[ 9.72269649e-03, 6.27429499e-02, 1.40679875e-02, 2.04354694e-03,
  3.41042538e-06, 3.48855142e-02, 1.09746667e-02, 1.82228734e-03,
 -3.04068162e-03, 3.46641267e-02, 1.09864863e-02, 1.81276505e-03,
  7.98326566e-03, 1.32955413e-02, 0.00000000e+00,-4.27439812e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1606556 , -0.04815274, -0.15326949, -0.04815274,  0.24649305,
       -0.02696759, -0.15326949, -0.02696759,  0.16912802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4316290239679026e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65126676,  0.07815456, -0.75481354, -0.05105563,  0.99694125,
        0.05917311,  0.7571294 ,  0.        ,  0.65326493])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611387, -0.03421466,  0.22483346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1606556 , -0.04815274, -0.15326949, -0.04815274,  0.24649305,
       -0.02696759, -0.15326949, -0.02696759,  0.16912802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4316290239679026e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65126676,  0.07815456, -0.75481354, -0.05105563,  0.99694125,
        0.05917311,  0.7571294 ,  0.        ,  0.65326493])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611387, -0.03421466,  0.22483346])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000589825184368082
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94114070e-01,  8.73758416e-02, -9.14898662e-01, -3.45682577e-02,
        9.96175417e-01,  8.02469517e-02,  9.18411202e-01, -6.93889390e-18,
        3.95627179e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08292299, -0.03412843,  0.2231693 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017772854516947614
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.24673444e-14,  1.56168361e-14,  1.00000000e+00, -9.75542280e-28,
        1.00000000e+00, -1.56168361e-14, -1.00000000e+00,  0.00000000e+00,
        6.24673444e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06707966, -0.06247331,  0.06188308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.91165141e-03, 2.83339642e-02, 3.46905668e-03, 4.04615841e-05,
  3.26092632e-06,-2.31970152e-06, 1.56964314e-05, 3.40451670e-05,
 -4.82901582e-05,-2.10169391e-06,-4.07825833e-05, 5.50418847e-05,
  1.05137764e-02, 1.51365368e-02, 7.03602456e-03, 9.90562980e-04,
  1.19652628e-03, 1.41776281e-03,-9.81099868e+00,-4.34734663e-03,
 -6.05689589e-02, 6.03400870e-02]


--- Step 3606 ---
qpos:
[-0.01853394, 1.20078009,-0.03512905, 0.94259813,-0.00794249, 1.33292063,
 -0.03115928, 0.94132361, 0.01531954, 1.3384944 ,-0.02375406, 0.95470922,
  1.27515053,-0.00941702, 1.28630944, 0.04431883,-0.05500881,-0.0865714 ,
  0.0910572 , 0.69153935,-0.12861245,-0.70947164,-0.0433838 ]

qacc:
[ 4.40855259e-01,-1.49696832e+00, 5.05848530e-01, 4.48631452e+00,
 -6.24136166e-02,-6.62021183e-01, 3.73979833e+00,-1.07052037e+01,
 -2.02618682e-01, 5.52587654e+00,-1.76717864e+01, 1.83304184e+01,
 -4.74303665e-02,-3.13240976e-01, 8.69919199e+00,-1.69794423e+01,
  2.38893418e-01,-3.29552970e+00,-2.11534297e-01, 9.13479817e+00,
  2.70477147e+01,-1.14809057e+02]

qfrc_actuator:
[ 9.73285296e-03, 6.27289451e-02, 1.40775247e-02, 2.05132213e-03,
 -1.64964203e-05, 3.48990790e-02, 1.09708440e-02, 1.78917161e-03,
 -3.07053082e-03, 3.47031135e-02, 1.09086699e-02, 1.82625132e-03,
  7.98265809e-03, 1.33237992e-02, 0.00000000e+00,-6.21269765e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16065088, -0.05481418, -0.15101029, -0.05481418,  0.27281905,
       -0.04071515, -0.15101029, -0.04071515,  0.17542979,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.392856710589254e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.51357189e-01,  7.81503509e-02, -7.54735938e-01, -5.10599554e-02,
        9.96941584e-01,  5.91638259e-02,  7.57051315e-01, -6.93889390e-18,
        6.53355421e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611359, -0.0342159 ,  0.22483445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16065088, -0.05481418, -0.15101029, -0.05481418,  0.27281905,
       -0.04071515, -0.15101029, -0.04071515,  0.17542979,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.392856710589254e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.51357189e-01,  7.81503509e-02, -7.54735938e-01, -5.10599554e-02,
        9.96941584e-01,  5.91638259e-02,  7.57051315e-01, -6.93889390e-18,
        6.53355421e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611359, -0.0342159 ,  0.22483445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005899452739924101
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94098044e-01,  8.73766851e-02, -9.14905485e-01, -3.45671883e-02,
        9.96175343e-01,  8.02483308e-02,  9.18418119e-01, -6.93889390e-18,
        3.95611120e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08292128, -0.03412963,  0.22316949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017488368161194395
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26967023e-13,  1.58708779e-14,  1.00000000e+00, -2.01507813e-27,
        1.00000000e+00, -1.58708779e-14, -1.00000000e+00,  0.00000000e+00,
        1.26967023e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06708683, -0.06245763,  0.06188487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.87813947e-03, 2.83915058e-02, 3.46903783e-03, 2.89593621e-06,
 -1.79820556e-05, 1.63739993e-05,-1.49177797e-06,-3.19328006e-05,
 -5.83688368e-05, 3.14971946e-05,-8.12499361e-05, 1.35153469e-05,
  1.04985443e-02, 1.51820489e-02, 6.83972768e-03, 7.90867757e-04,
  2.13146255e-03, 3.61250623e-03,-9.81164380e+00,-4.13697509e-03,
 -6.05345338e-02, 6.03795243e-02]


--- Step 3607 ---
qpos:
[-0.01853361, 1.20079354,-0.03513079, 0.94259931,-0.00794279, 1.33292138,
 -0.03115853, 0.94132247, 0.01531908, 1.33849448,-0.02375382, 0.95470977,
  1.27516843,-0.00941768, 1.28630946, 0.04431627,-0.0550297 ,-0.08664486,
  0.09105079, 0.69138341,-0.12759113,-0.70975221,-0.04428641]

qacc:
[ 3.04258543e-01,-1.32361100e+00, 4.27245455e+00,-1.79287799e+01,
 -7.77741721e-02,-2.31658352e+00, 1.00894732e+01,-2.48236976e+01,
 -1.80619530e-01,-2.34782997e-01, 4.37994702e+00,-1.91435189e+01,
 -2.93863945e-01,-1.65786997e-01, 7.26897542e+00,-1.42251129e+01,
  2.28289569e-01,-3.13749993e+00,-7.19099798e-01, 8.63223370e+00,
  2.56527892e+01,-1.09271938e+02]

qfrc_actuator:
[ 9.73848534e-03, 6.27158892e-02, 1.41192241e-02, 1.98380163e-03,
 -2.83050644e-05, 3.48534685e-02, 1.09504890e-02, 1.71632045e-03,
 -3.08813747e-03, 3.47618779e-02, 1.08981588e-02, 1.76241921e-03,
  7.97631088e-03, 1.33588699e-02, 0.00000000e+00,-7.36597105e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16065072, -0.07308379, -0.14306436, -0.07308379,  0.32035249,
       -0.08158294, -0.14306436, -0.08158294,  0.202327  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.3915572030014315e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65142267,  0.07814689, -0.75467978, -0.05106282,  0.99694186,
        0.05915679,  0.75699478,  0.        ,  0.65342092])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611345, -0.03421725,  0.22483516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16065072, -0.07308379, -0.14306436, -0.07308379,  0.32035249,
       -0.08158294, -0.14306436, -0.08158294,  0.202327  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.3915572030014315e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65142267,  0.07814689, -0.75467978, -0.05106282,  0.99694186,
        0.05915679,  0.75699478,  0.        ,  0.65342092])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611345, -0.03421725,  0.22483516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005902952011368791
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39408459,  0.08737708, -0.91491124, -0.03456617,  0.99617531,
        0.0802492 ,  0.91842393,  0.        ,  0.39559763])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08292012, -0.03413095,  0.22316962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001709299255584426
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.49519399e-14,  3.24759699e-14,  1.00000000e+00, -2.10937725e-27,
        1.00000000e+00, -3.24759699e-14, -1.00000000e+00,  0.00000000e+00,
        6.49519399e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06709681, -0.06243565,  0.06188735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.83315242e-03, 2.84970247e-02, 3.53149892e-03,-7.93131853e-05,
 -2.24232748e-05,-3.78146100e-05,-1.82594225e-05,-7.31381290e-05,
 -5.20768831e-05, 6.07182923e-05,-1.31958194e-05,-6.49588020e-05,
  1.04968482e-02, 1.52449362e-02, 6.52646302e-03, 6.66225084e-04,
  3.03764419e-03, 6.54796341e-03,-9.81247222e+00,-3.98398469e-03,
 -6.04853878e-02, 6.04279635e-02]


--- Step 3608 ---
qpos:
[-0.01853355, 1.2008081 ,-0.0351325 , 0.94260003,-0.00794297, 1.33292159,
 -0.03115791, 0.94132084, 0.01531827, 1.33849465,-0.02375304, 0.95471092,
  1.27518549,-0.00941827, 1.28630716, 0.04431334,-0.05504463,-0.08672685,
  0.09104077, 0.69131175,-0.12642969,-0.70996622,-0.04529423]

qacc:
[-1.23216204e-01, 5.80540849e-01, 8.11894896e-01,-6.67121935e+00,
  5.35313262e-02,-1.18994834e+00, 4.05110815e+00,-8.87295664e+00,
 -1.41634745e-01,-2.95047454e-01,-1.27797071e-01, 7.07907964e+00,
 -6.13571262e-01, 5.06528592e-01,-2.24958726e+00, 3.00264325e+00,
  1.48904823e+00,-2.13381108e+00,-9.03536645e-01, 1.50062429e+01,
  6.27288672e+01,-7.99755468e+01]

qfrc_actuator:
[ 9.77681695e-03, 6.26859749e-02, 1.41456583e-02, 1.97911644e-03,
  3.45768859e-07, 3.48081832e-02, 1.09380571e-02, 1.69165420e-03,
 -3.09825888e-03, 3.47612199e-02, 1.09275211e-02, 1.79569008e-03,
  7.97188497e-03, 1.33805296e-02, 0.00000000e+00,-5.91824451e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16065457, -0.05693032, -0.15022926, -0.05693032,  0.24877034,
       -0.03339202, -0.15022926, -0.03339202,  0.17330869,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.423225358375678e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65146722,  0.07814416, -0.75464161, -0.05106451,  0.99694207,
        0.05915172,  0.75695633,  0.        ,  0.65346547])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611344, -0.03421863,  0.22483565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16065457, -0.05693032, -0.15022926, -0.05693032,  0.24877034,
       -0.03339202, -0.15022926, -0.03339202,  0.17330869,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.423225358375678e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65146722,  0.07814416, -0.75464161, -0.05106451,  0.99694207,
        0.05915172,  0.75695633,  0.        ,  0.65346547])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611344, -0.03421863,  0.22483565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005908505919564773
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94073843e-01,  8.73771547e-02, -9.14915864e-01, -3.45652528e-02,
        9.96175302e-01,  8.02496758e-02,  9.18428576e-01, -6.93889390e-18,
        3.95586844e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08291945, -0.03413231,  0.22316973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.24475766,  0.9825684 , 17.24475766, 17.43634642,
       -2.87162957,  0.9825684 , -2.87162957, 67.67181997,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016798481747558464
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.65226692e-14, -1.65226692e-14,  1.00000000e+00, -2.72998596e-28,
        1.00000000e+00,  1.65226692e-14, -1.00000000e+00,  0.00000000e+00,
       -1.65226692e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08447743, -0.06362048,  0.06188922])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.83652849e-03, 2.85544469e-02, 3.61752095e-03,-1.79623371e-05,
  1.54126543e-05,-7.19919547e-05,-2.40597257e-05,-2.80357214e-05,
 -4.08741309e-05, 2.84145554e-05, 3.78203662e-05, 3.31738274e-05,
  1.05170491e-02, 1.52959989e-02, 6.26621969e-03, 8.03738053e-04,
  3.92131568e-03, 1.01213094e-02,-9.81344855e+00,-3.87739449e-03,
 -6.04242760e-02, 6.04848554e-02]


--- Step 3609 ---
qpos:
[-0.01853445, 1.200825  ,-0.03513389, 0.94260056,-0.00794263, 1.33292125,
 -0.03115747, 0.94131963, 0.01531737, 1.33849435,-0.0237519 , 0.95471218,
  1.27520182,-0.0094183 , 1.28629758, 0.04430981,-0.05505387,-0.08681707,
  0.09102533, 0.69131955,-0.12513529,-0.71011641,-0.04640175]

qacc:
[-4.13727806e-01, 1.89015177e+00,-2.04522949e+00,-1.96621952e+00,
  2.14420947e-01, 4.45212119e-01,-3.19121303e+00, 7.91465538e+00,
 -4.12784129e-02,-1.41060713e+00, 3.65590151e+00,-1.70015388e+00,
 -5.88959982e-01, 8.06566345e-01,-8.92518884e+00, 1.56572557e+01,
  1.42260508e+00,-2.05632665e+00,-1.35527705e+00, 1.41406993e+01,
  5.95825225e+01,-7.58334670e+01]

qfrc_actuator:
[ 9.79996487e-03, 6.26615337e-02, 1.41266705e-02, 1.97628779e-03,
  5.30357366e-05, 3.47812445e-02, 1.09304275e-02, 1.71330453e-03,
 -3.08605771e-03, 3.46896964e-02, 1.09267498e-02, 1.79707220e-03,
  7.97398584e-03, 1.34114703e-02, 0.00000000e+00,-3.61544155e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16065696, -0.04705753, -0.1536107 , -0.04705753,  0.20666296,
       -0.01409361, -0.1536107 , -0.01409361,  0.16497443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4426470795174274e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65152075,  0.07814111, -0.75459571, -0.0510667 ,  0.99694231,
        0.0591458 ,  0.75691011,  0.        ,  0.65351901])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611337, -0.03421989,  0.22483625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16065696, -0.04705753, -0.1536107 , -0.04705753,  0.20666296,
       -0.01409361, -0.1536107 , -0.01409361,  0.16497443,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.4426470795174274e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65152075,  0.07814111, -0.75459571, -0.0510667 ,  0.99694231,
        0.0591458 ,  0.75691011,  0.        ,  0.65351901])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611337, -0.03421989,  0.22483625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005913358282903479
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39406203,  0.08737736, -0.91492093, -0.0345643 ,  0.99617528,
        0.08025031,  0.91843368,  0.        ,  0.39557499])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08291857, -0.03413355,  0.22316987])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016413670597231061
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.69100357e-14,  3.38200714e-14,  1.00000000e+00,  5.71898616e-28,
        1.00000000e+00, -3.38200714e-14, -1.00000000e+00,  0.00000000e+00,
       -1.69100357e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08450934, -0.06360389,  0.06189165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.87379898e-03, 2.84741116e-02, 3.59638488e-03, 1.86786954e-06,
  6.17860697e-05,-7.23241435e-05,-2.52821600e-05, 1.81234630e-05,
 -1.19370348e-05,-4.74433453e-05, 1.00476867e-05, 4.10614895e-06,
  1.05607114e-02, 1.53233351e-02, 6.38165250e-03, 1.05258595e-03,
  4.03635527e-03, 1.42786654e-02,-9.81424397e+00,-4.19299269e-03,
 -6.02900569e-02, 6.05429310e-02]


--- Step 3610 ---
qpos:
[-0.01853592, 1.20084304,-0.03513486, 0.94260115,-0.00794175, 1.33292078,
 -0.0311573 , 0.94131831, 0.01531648, 1.33849358,-0.02375095, 0.95471279,
  1.27521752,-0.00941807, 1.28628597, 0.04430612,-0.05505765,-0.08691526,
  0.09100293, 0.69140267,-0.12371378,-0.71020493,-0.04760464]

qacc:
[-2.49449898e-01, 4.72721666e-01, 1.22891804e-01,-7.14875958e-02,
  2.34711917e-01, 3.77803067e-01,-1.21649225e+00,-1.38499161e-01,
  2.42398753e-03,-1.21532893e+00, 4.53516111e+00,-1.11692346e+01,
 -5.75417762e-01, 6.37000668e-01,-2.48866276e+00, 4.45368735e+00,
  1.36594098e+00,-1.99159761e+00,-1.73899969e+00, 1.33588249e+01,
  5.69781681e+01,-7.24867492e+01]

qfrc_actuator:
[ 9.79703003e-03, 6.26387007e-02, 1.41333943e-02, 1.97449488e-03,
  8.42134292e-05, 3.48010580e-02, 1.09257781e-02, 1.70878025e-03,
 -3.07831872e-03, 3.46471818e-02, 1.09078613e-02, 1.76183141e-03,
  7.97469789e-03, 1.34652149e-02, 0.00000000e+00,-3.63623829e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16065375, -0.0573815 , -0.15005662, -0.0573815 ,  0.23577099,
       -0.02872476, -0.15005662, -0.02872476,  0.17163806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.416443155622277e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65160216,  0.0781371 , -0.75452583, -0.05107044,  0.99694262,
        0.05913726,  0.75683977,  0.        ,  0.65360046])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611313, -0.03422096,  0.22483718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16065375, -0.0573815 , -0.15005662, -0.0573815 ,  0.23577099,
       -0.02872476, -0.15005662, -0.02872476,  0.17163806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.416443155622277e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65160216,  0.0781371 , -0.75452583, -0.05107044,  0.99694262,
        0.05913726,  0.75683977,  0.        ,  0.65360046])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611313, -0.03422096,  0.22483718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005915274201055559
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39404777,  0.08737798, -0.91492702, -0.03456329,  0.99617523,
        0.08025142,  0.91843984,  0.        ,  0.3955607 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08291706, -0.03413457,  0.22317007])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015945211751133767
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.48136808e-14, -1.74068404e-14,  1.00000000e+00, -6.05996186e-28,
        1.00000000e+00,  1.74068404e-14, -1.00000000e+00,  0.00000000e+00,
       -3.48136808e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08454821, -0.06358216,  0.06189461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.91833503e-03, 2.83338704e-02, 3.58714576e-03, 9.76943359e-06,
  6.76492268e-05,-2.45971233e-05,-2.11503554e-05,-7.02831059e-06,
  6.87432303e-07,-6.66647872e-05,-2.68911603e-05,-3.62540956e-05,
  1.05979755e-02, 1.53490354e-02, 6.74652996e-03, 1.08056848e-03,
  3.87174152e-03, 1.88534935e-02,-9.81514241e+00,-4.59043756e-03,
 -6.01440780e-02, 6.06074703e-02]


--- Step 3611 ---
qpos:
[-0.01853712, 1.20086106,-0.03513606, 0.94260083,-0.00794068, 1.33292058,
 -0.03115746, 0.94131794, 0.01531578, 1.33849293,-0.02375108, 0.95471331,
  1.27523308,-0.00941809, 1.28627728, 0.04430268,-0.05505616,-0.08702119,
  0.09097227, 0.69155754,-0.12216994,-0.71023342,-0.04889949]

qacc:
[  0.11928474, -0.93549182,  4.93928888,-14.96906145,  0.07780266,
   2.87151018,-10.91174679, 20.41542884,  0.08009844,  2.91850573,
  -9.14628509,  6.84577001, -0.09096153, -0.09170215,  3.6085226 ,
  -6.33082446,  1.317455  , -1.93772659, -2.06512459, 12.64615747,
  54.83068984,-69.81367931]

qfrc_actuator:
[ 9.79620115e-03, 6.25638478e-02, 1.41730711e-02, 1.91988452e-03,
  6.67279735e-05, 3.48487206e-02, 1.09230858e-02, 1.75991932e-03,
 -3.05556872e-03, 3.46755205e-02, 1.08607615e-02, 1.75858921e-03,
  7.97459418e-03, 1.34617038e-02, 0.00000000e+00,-4.69822091e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16064936, -0.08472023, -0.13649432, -0.08472023,  0.30372006,
       -0.0888021 , -0.13649432, -0.0888021 ,  0.21576766,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.380351561879137e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65169179,  0.07813299, -0.75444884, -0.05107477,  0.99694294,
        0.0591281 ,  0.7567623 ,  0.        ,  0.65369016])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611284, -0.03422194,  0.2248382 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16064936, -0.08472023, -0.13649432, -0.08472023,  0.30372006,
       -0.0888021 , -0.13649432, -0.0888021 ,  0.21576766,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.380351561879137e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65169179,  0.07813299, -0.75444884, -0.05107477,  0.99694294,
        0.0591281 ,  0.7567623 ,  0.        ,  0.65369016])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611284, -0.03422194,  0.2248382 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005916693308939125
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39403207,  0.08737885, -0.91493369, -0.03456227,  0.99617515,
        0.08025281,  0.91844661,  0.        ,  0.39554497])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08291537, -0.03413552,  0.2231703 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -15.37570763,  -7.86986164, -15.37570763,
        32.74536122, -30.22959067,  -7.86986164, -30.22959067,
        76.33365738,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001541356084464214
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.20289773e-14,  9.00362217e-15,  1.00000000e+00, -6.48521697e-28,
        1.00000000e+00, -9.00362217e-15, -1.00000000e+00,  0.00000000e+00,
        7.20289773e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08459231, -0.06355649,  0.06189795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94612978e-03, 2.82021322e-02, 3.60589846e-03,-4.80649946e-05,
  2.24490711e-05, 2.97077626e-05,-1.01210418e-05, 4.96116632e-05,
  2.31534227e-05,-1.48481138e-05,-6.42357392e-05,-6.84725885e-06,
  1.06295688e-02, 1.53323107e-02, 6.84789646e-03, 9.82046452e-04,
  3.46394402e-03, 2.38029002e-02,-9.81612181e+00,-5.05941727e-03,
 -5.99888974e-02, 6.06779089e-02]


--- Step 3612 ---
qpos:
[-0.01853827, 1.20087959,-0.03513698, 0.94260047,-0.00793959, 1.33292013,
 -0.03115688, 0.94131818, 0.01531544, 1.33849247,-0.02375218, 0.95471377,
  1.27524895,-0.00941806, 1.28626869, 0.04429917,-0.05506972,-0.08712682,
  0.09092968, 0.69154184,-0.12069332,-0.71041158,-0.05018362]

qacc:
[ 2.17386958e-02,-1.91213353e-01, 1.48826502e+00,-1.99155358e+00,
  7.83471826e-03,-1.26559356e+00, 2.47116195e+00, 5.06634392e+00,
  1.56677371e-01, 2.77201635e+00,-8.63269994e+00, 6.73826309e+00,
  2.10417168e-01,-1.25215451e-01, 2.99111004e-01,-8.81641041e-01,
 -3.76480093e+00, 7.61047490e-02,-2.98259404e+00,-2.61989252e+01,
 -1.14624720e+02, 1.42668319e+01]

qfrc_actuator:
[ 9.77826552e-03, 6.25472378e-02, 1.41442455e-02, 1.92330698e-03,
  5.56985525e-05, 3.48239748e-02, 1.09572332e-02, 1.79017519e-03,
 -3.02399830e-03, 3.46927094e-02, 1.08154472e-02, 1.75648911e-03,
  7.97930505e-03, 1.34064992e-02, 0.00000000e+00,-4.43542864e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16064783, -0.06205208, -0.14817984, -0.06205208,  0.25280257,
       -0.0385909 , -0.14817984, -0.0385909 ,  0.17680823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.367636690489867e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.51771341e-01,  7.81292793e-02, -7.54380498e-01, -5.10785602e-02,
        9.96943236e-01,  5.91199202e-02,  7.56693531e-01, -6.93889390e-18,
        6.53769760e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611263, -0.03422297,  0.22483914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16064783, -0.06205208, -0.14817984, -0.06205208,  0.25280257,
       -0.0385909 , -0.14817984, -0.0385909 ,  0.17680823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.367636690489867e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.51771341e-01,  7.81292793e-02, -7.54380498e-01, -5.10785602e-02,
        9.96943236e-01,  5.91199202e-02,  7.56693531e-01, -6.93889390e-18,
        6.53769760e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611263, -0.03422297,  0.22483914])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005919858791563863
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.94016610e-01,  8.73796161e-02, -9.14940279e-01, -3.45612137e-02,
        9.96175086e-01,  8.02540953e-02,  9.18453283e-01,  6.93889390e-18,
        3.95529476e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08291392, -0.03413651,  0.22317053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.5535119 ,   4.93237784, -16.5535119 ,
        21.95894744,  15.72738423,   4.93237784,  15.72738423,
        70.05526962,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0015040199064189214
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.69085216e-14,  5.53627824e-14,  1.00000000e+00,  2.04335845e-27,
        1.00000000e+00, -5.53627824e-14, -1.00000000e+00,  0.00000000e+00,
       -3.69085216e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02346778, -0.0963677 ,  0.06190029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.91447556e-03, 2.81858915e-02, 3.58894266e-03, 1.43571564e-06,
  2.22383972e-06,-8.79365314e-06, 4.02642798e-05, 3.20026846e-05,
  4.52433622e-05,-3.76438284e-06,-5.57134129e-05,-4.57956554e-06,
  1.06412199e-02, 1.52898263e-02, 6.70171287e-03, 9.96427460e-04,
  2.83941790e-03, 2.91019889e-02,-9.81716509e+00,-5.59308550e-03,
 -5.98263973e-02, 6.07537185e-02]


--- Step 3613 ---
qpos:
[-0.01853974, 1.20089841,-0.03513797, 0.94260019,-0.0079387 , 1.33291909,
 -0.03115541, 0.9413188 , 0.01531534, 1.33849147,-0.02375306, 0.95471524,
  1.27526509,-0.00941768, 1.28625697, 0.04429536,-0.05509697,-0.08723197,
  0.09087294, 0.69136843,-0.11927024,-0.71072928,-0.05146066]

qacc:
[-1.42360914e-01, 7.33752480e-01,-2.09424744e+00, 2.56763108e+00,
 -8.13717597e-02,-2.54912509e+00, 6.60248232e+00,-9.28387808e-01,
  9.65024984e-02, 4.17375029e-01,-4.24413633e+00, 1.56393347e+01,
  1.44143655e-01, 1.28670647e-01,-3.70626434e+00, 6.22981720e+00,
 -3.42041881e+00, 1.21529298e-01,-3.53672977e+00,-2.20134431e+01,
 -1.06041132e+02, 9.09173288e+00]

qfrc_actuator:
[ 9.76793295e-03, 6.25650652e-02, 1.40738811e-02, 1.92552439e-03,
  3.08822397e-05, 3.47739570e-02, 1.09948077e-02, 1.80786860e-03,
 -3.02289762e-03, 3.46498372e-02, 1.08247864e-02, 1.80833438e-03,
  7.97621790e-03, 1.33910931e-02, 0.00000000e+00,-3.55327178e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16064658, -0.04694054, -0.15363564, -0.04694054,  0.21148468,
       -0.01553264, -0.15363564, -0.01553264,  0.1653923 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.357261961375174e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.51851934e-01,  7.81254718e-02, -7.54311254e-01, -5.10823713e-02,
        9.96943534e-01,  5.91115951e-02,  7.56623849e-01,  6.93889390e-18,
        6.53850405e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611242, -0.03422403,  0.22484009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16064658, -0.04694054, -0.15363564, -0.04694054,  0.21148468,
       -0.01553264, -0.15363564, -0.01553264,  0.1653923 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.357261961375174e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.51851934e-01,  7.81254718e-02, -7.54311254e-01, -5.10823713e-02,
        9.96943534e-01,  5.91115951e-02,  7.56623849e-01,  6.93889390e-18,
        6.53850405e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611242, -0.03422403,  0.22484009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005923326613827308
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39400042,  0.08738037, -0.91494718, -0.03456009,  0.99617502,
        0.0802554 ,  0.91846027,  0.        ,  0.39551325])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08291246, -0.03413754,  0.22317077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.71403742, -4.35752917, 16.71403742, 17.25546234,
       -0.06622257, -4.35752917, -0.06622257, 17.01871943,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015254088368659713
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.63909989e-14,  3.63909989e-14,  1.00000000e+00,  1.32430480e-27,
        1.00000000e+00, -3.63909989e-14, -1.00000000e+00,  0.00000000e+00,
       -3.63909989e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02341735, -0.09632071,  0.06189889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.90162916e-03, 2.81784409e-02, 3.50381718e-03, 5.33424952e-06,
 -2.35040025e-05,-4.60359009e-05, 4.13764352e-05, 1.93516454e-05,
  2.78196784e-05,-5.59640026e-05, 2.14029794e-06, 4.99951286e-05,
  1.06227543e-02, 1.52722475e-02, 6.69737576e-03, 1.08765372e-03,
  5.29256749e-03, 2.46696662e-02,-9.81665533e+00,-4.00287920e-03,
 -6.01961733e-02, 6.08453450e-02]


--- Step 3614 ---
qpos:
[-0.01854231, 1.20091891,-0.03513861, 0.94260048,-0.00793818, 1.33291812,
 -0.0311545 , 0.94131861, 0.01531523, 1.33848976,-0.02375341, 0.95471732,
  1.27528116,-0.00941648, 1.28623676, 0.04429099,-0.05513675,-0.08733649,
  0.09080018, 0.691048  ,-0.11788975,-0.7111778 ,-0.05273343]

qacc:
[-4.78793764e-01, 2.21893432e+00,-5.75529173e+00, 1.05539857e+01,
 -1.62327689e-01, 2.31992591e-01, 1.02845330e+00,-1.03437609e+01,
 -2.49720691e-03,-1.28622588e+00, 1.83312672e+00, 5.88608309e+00,
 -1.56217233e-01, 6.66665765e-01,-1.08264229e+01, 1.97068249e+01,
 -3.13228807e+00, 1.54586323e-01,-4.00580840e+00,-1.86035156e+01,
 -9.88168714e+01, 5.02811169e+00]

qfrc_actuator:
[ 9.78027165e-03, 6.24970456e-02, 1.40498584e-02, 1.96242294e-03,
 -2.00272776e-06, 3.47802182e-02, 1.09629632e-02, 1.76474924e-03,
 -3.04008434e-03, 3.46070839e-02, 1.08483556e-02, 1.83824764e-03,
  7.96844403e-03, 1.33992412e-02, 0.00000000e+00,-8.76569012e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16064246, -0.03773829, -0.15614679, -0.03773829,  0.17161965,
       -0.00265302, -0.15614679, -0.00265302,  0.16128365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.322698075044518e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65194408,  0.07812122, -0.75423205, -0.0510868 ,  0.99694387,
        0.05910215,  0.75654415,  0.        ,  0.65394262])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611213, -0.03422506,  0.22484115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16064246, -0.03773829, -0.15614679, -0.03773829,  0.17161965,
       -0.00265302, -0.15614679, -0.00265302,  0.16128365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.322698075044518e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65194408,  0.07812122, -0.75423205, -0.0510868 ,  0.99694387,
        0.05910215,  0.75654415,  0.        ,  0.65394262])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611213, -0.03422506,  0.22484115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005925046089527188
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39398402,  0.08738126, -0.91495416, -0.03455901,  0.99617494,
        0.08025683,  0.91846735,  0.        ,  0.39549682])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08291072, -0.03413853,  0.22317101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.70561034, -4.38972556, 16.70561034, 17.35360511,
        0.30778999, -4.38972556,  0.30778999, 18.44405783,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015250078102865966
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.46008527e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.46008527e-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([ 0.02342206, -0.09629278,  0.0618988 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93029113e-03, 2.80954835e-02, 3.48364050e-03, 3.81950257e-05,
 -4.67618529e-05,-1.05215967e-05,-3.55746705e-05,-4.28432255e-05,
 -7.60192462e-07,-7.17908188e-05, 1.43497822e-05, 2.94802527e-05,
  1.06013742e-02, 1.52628435e-02, 6.85417243e-03, 1.37074925e-03,
  7.00079969e-03, 2.10378405e-02,-9.81650196e+00,-2.52308285e-03,
 -6.04947298e-02, 6.09384545e-02]


--- Step 3615 ---
qpos:
[-0.01854555, 1.20094061,-0.0351381 , 0.94260259,-0.00793777, 1.33291776,
 -0.03115449, 0.94131684, 0.01531503, 1.33848822,-0.02375406, 0.95471867,
  1.27529769,-0.00941461, 1.28621105, 0.04428631,-0.05516843,-0.08744748,
  0.09073857, 0.69083559,-0.11639622,-0.71152799,-0.05409272]

qacc:
[-2.90635051e-01, 1.57396662e+00,-7.01080307e+00, 2.64723023e+01,
 -4.11303908e-02, 5.43154618e-01, 2.45958606e+00,-2.08849269e+01,
 -3.71905684e-02,-2.44584818e-01, 2.54651828e+00,-1.07365791e+01,
  2.14644681e-01, 2.94959461e-01,-7.23254561e+00, 1.34552890e+01,
  2.02420128e+00,-1.61493425e+00, 2.78802911e+00, 1.20691622e+01,
  8.04675962e+01,-6.14498184e+01]

qfrc_actuator:
[ 9.77161107e-03, 6.24292727e-02, 1.40532398e-02, 2.05511261e-03,
  1.37966180e-05, 3.48375775e-02, 1.09260781e-02, 1.68618095e-03,
 -3.05034799e-03, 3.46535575e-02, 1.08445764e-02, 1.80173890e-03,
  7.97385603e-03, 1.33676477e-02, 0.00000000e+00, 2.17720189e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1606315 , -0.03554371, -0.15664969, -0.03554371,  0.1679306 ,
       -0.00165616, -0.15664969, -0.00165616,  0.16100729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.2291143396380104e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65206764,  0.07811591, -0.75412579, -0.05109298,  0.99694428,
        0.05908978,  0.75643724,  0.        ,  0.65406628])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611163, -0.03422594,  0.22484254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1606315 , -0.03554371, -0.15664969, -0.03554371,  0.1679306 ,
       -0.00165616, -0.15664969, -0.00165616,  0.16100729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.2291143396380104e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65206764,  0.07811591, -0.75412579, -0.05109298,  0.99694428,
        0.05908978,  0.75643724,  0.        ,  0.65406628])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611163, -0.03422594,  0.22484254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005922703194133003
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39396575,  0.08738262, -0.91496189, -0.03455795,  0.99617482,
        0.08025877,  0.91847522,  0.        ,  0.39547852])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08290827, -0.03413935,  0.22317128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015443434877139076
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43779287e-13,  1.79724108e-14,  1.00000000e+00, -2.58406041e-27,
        1.00000000e+00, -1.79724108e-14, -1.00000000e+00,  0.00000000e+00,
        1.43779287e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08355236, -0.06926481,  0.0618974 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97657826e-03, 2.79434924e-02, 3.46925425e-03, 1.02330500e-04,
 -1.18057330e-05, 4.32890966e-05,-4.42509540e-05,-8.09220213e-05,
 -1.07165125e-05, 1.04645492e-05,-1.53011756e-05,-3.75302491e-05,
  1.06100523e-02, 1.51898664e-02, 7.27857371e-03, 1.50827009e-03,
  8.12802886e-03, 1.80074100e-02,-9.81661434e+00,-1.11830284e-03,
 -6.07382412e-02, 6.10320489e-02]


--- Step 3616 ---
qpos:
[-0.01854857, 1.20096123,-0.03513823, 0.94260438,-0.00793719, 1.33291775,
 -0.03115496, 0.94131484, 0.01531473, 1.33848679,-0.02375535, 0.9547196 ,
  1.27531509,-0.0094128 , 1.286187  , 0.04428197,-0.05519263,-0.08756461,
  0.09068438, 0.69072239,-0.114798  ,-0.71178661,-0.05553211]

qacc:
[ 9.72481083e-02,-2.73873630e-01,-1.26685693e-01,-3.06372127e+00,
  6.98408148e-02, 1.32519082e+00,-3.28065150e+00,-1.28006584e-01,
 -4.29194841e-02, 1.15128250e+00,-2.71855625e+00,-2.60415925e+00,
  6.76500265e-01,-5.62847599e-01, 1.39427451e+00,-1.39945406e+00,
  1.87204664e+00,-1.53737606e+00, 1.85572155e+00, 1.09610088e+01,
  7.44170680e+01,-5.68997260e+01]

qfrc_actuator:
[ 9.73260634e-03, 6.24324742e-02, 1.40366277e-02, 2.02002476e-03,
  4.09208058e-05, 3.48540189e-02, 1.09044891e-02, 1.67620165e-03,
 -3.05637374e-03, 3.46464466e-02, 1.08072361e-02, 1.77973126e-03,
  7.98180966e-03, 1.33297880e-02, 0.00000000e+00,-8.80434311e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16061656, -0.05520701, -0.15083059, -0.05520701,  0.2358674 ,
       -0.02754331, -0.15083059, -0.02754331,  0.17069796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0968957408006315e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.52212338e-01,  7.81098324e-02, -7.54001273e-01, -5.11003202e-02,
        9.96944760e-01,  5.90754026e-02,  7.56311988e-01, -6.93889390e-18,
        6.54211110e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611098, -0.03422677,  0.22484415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16061656, -0.05520701, -0.15083059, -0.05520701,  0.2358674 ,
       -0.02754331, -0.15083059, -0.02754331,  0.17069796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.0968957408006315e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.52212338e-01,  7.81098324e-02, -7.54001273e-01, -5.11003202e-02,
        9.96944760e-01,  5.90754026e-02,  7.56311988e-01, -6.93889390e-18,
        6.54211110e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611098, -0.03422677,  0.22484415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000591776709727005
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39394532,  0.08738427, -0.91497053, -0.03455682,  0.99617468,
        0.08026106,  0.91848403,  0.        ,  0.39545808])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08290531, -0.03414012,  0.22317157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015703683623358167
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08353082, -0.06928146,  0.06189563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97093515e-03, 2.78868495e-02, 3.39543005e-03,-2.38019010e-05,
  2.01568150e-05, 2.92912099e-05,-2.05318766e-05,-1.18502476e-05,
 -1.23551951e-05,-5.41213774e-06,-3.81296183e-05,-2.30198108e-05,
  1.05954824e-02, 1.51184616e-02, 7.55461310e-03, 1.41382318e-03,
  8.04670755e-03, 2.31334302e-02,-9.81727134e+00,-1.71080781e-03,
 -6.06085715e-02, 6.10962758e-02]


--- Step 3617 ---
qpos:
[-0.01855172, 1.20098102,-0.03513933, 0.94260538,-0.00793653, 1.33291781,
 -0.03115561, 0.94131273, 0.01531448, 1.33848536,-0.02375705, 0.95471991,
  1.27533277,-0.00941096, 1.2861629 , 0.04427786,-0.05520718,-0.08767759,
  0.09064511, 0.69072751,-0.11327024,-0.71191725,-0.05691387]

qacc:
[-5.60004017e-02, 2.44348500e-01,-5.02560647e-01,-8.07154103e+00,
  3.49827627e-02, 4.16326852e-01,-1.04565882e+00,-2.44428943e-01,
  2.42938304e-02, 3.88919247e-02, 1.10788188e+00,-8.07598647e+00,
  2.19118934e-01,-1.48113040e-01,-7.75248284e-01, 2.57635649e+00,
  2.40920736e+00, 1.03904053e+00, 3.72747564e+00,-5.90289955e-01,
  8.10446623e+01, 5.56151711e+01]

qfrc_actuator:
[ 9.72802906e-03, 6.24445455e-02, 1.39915839e-02, 1.98070556e-03,
  3.91114442e-05, 3.48459256e-02, 1.08920054e-02, 1.67115895e-03,
 -3.04205559e-03, 3.46426814e-02, 1.07857317e-02, 1.74865757e-03,
  7.98058242e-03, 1.33418955e-02, 0.00000000e+00,-6.36371707e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16060303, -0.05365749, -0.15137439, -0.05365749,  0.22688348,
       -0.02349435, -0.15137439, -0.02349435,  0.16893104,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9720687748143598e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65235021,  0.07810399, -0.7538826 , -0.05110728,  0.99694522,
        0.05906166,  0.7561926 ,  0.        ,  0.6543491 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611038, -0.0342277 ,  0.22484566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16060303, -0.05365749, -0.15137439, -0.05365749,  0.22688348,
       -0.02349435, -0.15137439, -0.02349435,  0.16893104,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.9720687748143598e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65235021,  0.07810399, -0.7538826 , -0.05110728,  0.99694522,
        0.05906166,  0.7561926 ,  0.        ,  0.6543491 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08611038, -0.0342277 ,  0.22484566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005913159491847918
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93926469e-01,  8.73858125e-02, -9.14978501e-01, -3.45557762e-02,
        9.96174543e-01,  8.02631831e-02,  9.18492153e-01, -6.93889390e-18,
        3.95439204e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08290252, -0.034141  ,  0.22317182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016100716645168628
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.44774413e-14,  3.44774413e-14,  1.00000000e+00,  1.18869396e-27,
        1.00000000e+00, -3.44774413e-14, -1.00000000e+00,  0.00000000e+00,
       -3.44774413e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08567464, -0.07955211,  0.06189304])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.95516876e-03, 2.79524470e-02, 3.38188394e-03,-4.65073718e-05,
  1.00909201e-05, 3.73514243e-06,-9.43898840e-06,-5.04012745e-06,
  7.02044311e-06,-1.48752209e-05,-2.75643061e-05,-3.28880163e-05,
  1.05506222e-02, 1.51338834e-02, 7.47179277e-03, 1.42143773e-03,
  7.57062734e-03, 2.83942988e-02,-9.81800321e+00,-2.34836888e-03,
 -6.04822034e-02, 6.11653821e-02]


--- Step 3618 ---
qpos:
[-0.01855491, 1.20100027,-0.03514181, 0.94260487,-0.00793583, 1.33291784,
 -0.03115585, 0.94131195, 0.0153142 , 1.33848475,-0.02375912, 0.95472012,
  1.27535027,-0.00940917, 1.28613832, 0.04427401,-0.05521278,-0.08778691,
  0.0906167 , 0.69084184,-0.11180731,-0.71193007,-0.05824308]

qacc:
[-1.96476585e-02, 4.02044304e-01, 9.70972824e-01,-1.81543830e+01,
  1.58475881e-02, 1.11262256e+00,-6.40545475e+00, 2.08680568e+01,
 -1.73141725e-02, 1.89442481e+00,-4.67896427e+00, 2.34540331e+00,
 -7.26769613e-02, 3.38673101e-03,-1.50625447e+00, 4.23163244e+00,
  2.24023978e+00, 9.15257298e-01, 2.71721859e+00,-8.46568676e-01,
  7.47439333e+01, 5.10010740e+01]

qfrc_actuator:
[ 9.76212330e-03, 6.24266156e-02, 1.39478381e-02, 1.90392044e-03,
  3.77109874e-05, 3.48587530e-02, 1.09203863e-02, 1.74004166e-03,
 -3.05115458e-03, 3.47475138e-02, 1.07915080e-02, 1.74801254e-03,
  7.97386877e-03, 1.33661544e-02, 0.00000000e+00,-2.97331594e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16058965, -0.05999641, -0.14896129, -0.05999641,  0.23798099,
       -0.03117053, -0.14896129, -0.03117053,  0.17314405,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.84321306497394e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65248674,  0.07809831, -0.75376502, -0.05111423,  0.99694566,
        0.05904813,  0.75607433,  0.        ,  0.65448576])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610976, -0.03422866,  0.22484713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16058965, -0.05999641, -0.14896129, -0.05999641,  0.23798099,
       -0.03117053, -0.14896129, -0.03117053,  0.17314405,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.84321306497394e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65248674,  0.07809831, -0.75376502, -0.05111423,  0.99694566,
        0.05904813,  0.75607433,  0.        ,  0.65448576])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610976, -0.03422866,  0.22484713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005908049428888923
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39390928,  0.08738737, -0.91498575, -0.03455489,  0.99617441,
        0.08026526,  0.91849956,  0.        ,  0.395422  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08289975, -0.0341419 ,  0.22317206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016375257652112354
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.38994063e-14,  6.77988126e-14,  1.00000000e+00,  2.29833949e-27,
        1.00000000e+00, -6.77988126e-14, -1.00000000e+00,  0.00000000e+00,
       -3.38994063e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08564839, -0.07955768,  0.06189127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.99566307e-03, 2.79756643e-02, 3.38724674e-03,-8.44092521e-05,
  4.55667652e-06, 1.28925933e-05, 2.78871942e-05, 6.85978786e-05,
 -4.95428842e-06, 9.02605887e-05,-1.22024866e-06,-2.66181944e-06,
  1.05300315e-02, 1.51562951e-02, 7.47470042e-03, 1.44407864e-03,
  5.11569858e-03, 2.81620405e-02,-9.81742185e+00,-3.11387541e-03,
 -6.05209917e-02, 6.12286825e-02]


--- Step 3619 ---
qpos:
[-0.01855763, 1.20102038,-0.03514416, 0.94260426,-0.00793511, 1.33291788,
 -0.03115545, 0.94131198, 0.0153137 , 1.33848457,-0.02376103, 0.95472032,
  1.27536789,-0.00940746, 1.28611269, 0.04427034,-0.05520998,-0.08789298,
  0.09059575, 0.69105778,-0.11040444,-0.71183348,-0.05952401]

qacc:
[ 2.02144578e-01, 6.29076188e-01,-4.93342013e-01,-1.14433384e+00,
  5.44095633e-03,-3.17900945e-01,-6.32454046e-01, 1.00038744e+01,
 -9.01451906e-02, 1.45107927e-01, 2.34866059e-01,-5.38830788e-01,
  2.22149420e-01,-2.75271872e-01,-2.10179959e+00, 5.06109337e+00,
  2.09770270e+00, 8.12354252e-01, 1.86435475e+00,-1.06460585e+00,
  6.95093208e+01, 4.71343080e+01]

qfrc_actuator:
[ 9.81938808e-03, 6.24439891e-02, 1.39766623e-02, 1.91222498e-03,
  3.65681476e-05, 3.48664595e-02, 1.09550223e-02, 1.78089594e-03,
 -3.07422872e-03, 3.47569143e-02, 1.07960259e-02, 1.74760633e-03,
  7.96389465e-03, 1.33090076e-02, 0.00000000e+00, 2.74976293e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16057637, -0.05257424, -0.15172581, -0.05257424,  0.21705296,
       -0.0195696 , -0.15172581, -0.0195696 ,  0.1673574 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7092852538787224e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65262317,  0.07809266, -0.75364749, -0.0511212 ,  0.99694611,
        0.05903462,  0.7559561 ,  0.        ,  0.65462232])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610914, -0.03422959,  0.22484861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16057637, -0.05257424, -0.15172581, -0.05257424,  0.21705296,
       -0.0195696 , -0.15172581, -0.0195696 ,  0.1673574 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7092852538787224e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65262317,  0.07809266, -0.75364749, -0.0511212 ,  0.99694611,
        0.05903462,  0.7559561 ,  0.        ,  0.65462232])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610914, -0.03422959,  0.22484861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005902393618842233
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39389384,  0.08738891, -0.91499225, -0.03455415,  0.99617427,
        0.08026726,  0.91850621,  0.        ,  0.39540656])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08289698, -0.03414277,  0.22317229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001643906011609221
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08564137, -0.07956195,  0.06189087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.05514278e-03, 2.80199513e-02, 3.48454845e-03,-9.90536630e-08,
  1.54727915e-06, 2.23633163e-05, 4.23455818e-05, 4.36489793e-05,
 -2.59973846e-05, 5.90030517e-05, 2.19320022e-05, 2.16759552e-06,
  1.05291892e-02, 1.51013602e-02, 7.49951094e-03, 1.48837744e-03,
  2.75251825e-03, 2.79122371e-02,-9.81698983e+00,-3.73854816e-03,
 -6.05657216e-02, 6.12902816e-02]


--- Step 3620 ---
qpos:
[-0.01856012, 1.2010423 ,-0.03514575, 0.94260399,-0.0079344 , 1.33291758,
 -0.03115439, 0.94131114, 0.01531326, 1.33848439,-0.02376211, 0.95472086,
  1.27538563,-0.00940576, 1.28608498, 0.04426682,-0.05519928,-0.08799614,
  0.09057938, 0.69136896,-0.10905761,-0.71163445,-0.06076025]

qacc:
[ 1.04222367e-01, 8.79762960e-01,-6.96270750e-01, 3.27793694e+00,
 -7.92548360e-05,-3.72880341e+00, 1.34242676e+01,-2.14640454e+01,
  2.31083648e-02,-1.65184083e+00, 4.69865705e+00,-1.24973673e-01,
  2.21554831e-01,-2.22060779e-01,-3.55392859e+00, 7.94036926e+00,
  1.97769512e+00, 7.26651803e-01, 1.14553601e+00,-1.25401539e+00,
  6.51660291e+01, 4.38796862e+01]

qfrc_actuator:
[ 9.83680602e-03, 6.24635985e-02, 1.40303197e-02, 1.93525407e-03,
  3.55896109e-05, 3.48178065e-02, 1.09752636e-02, 1.73389783e-03,
 -3.05224150e-03, 3.47446083e-02, 1.08349134e-02, 1.76503866e-03,
  7.95726946e-03, 1.32740928e-02, 0.00000000e+00, 1.16457732e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16056344, -0.05214562, -0.15185997, -0.05214562,  0.20806358,
       -0.01631058, -0.15185997, -0.01631058,  0.16616416,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.572103703842553e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6527641 ,  0.07808645, -0.75352607, -0.05112815,  0.99694659,
        0.05902039,  0.75583394,  0.        ,  0.65476336])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861085 , -0.03423051,  0.22485014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16056344, -0.05214562, -0.15185997, -0.05214562,  0.20806358,
       -0.01631058, -0.15185997, -0.01631058,  0.16616416,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.572103703842553e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6527641 ,  0.07808645, -0.75352607, -0.05112815,  0.99694659,
        0.05902039,  0.75583394,  0.        ,  0.65476336])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861085 , -0.03423051,  0.22485014])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005896684579634048
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39387749,  0.08739029, -0.91499916, -0.03455326,  0.99617415,
        0.08026914,  0.91851325,  0.        ,  0.39539019])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08289412, -0.03414362,  0.22317254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001633351720243828
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.39860365e-14,  6.79720731e-14,  1.00000000e+00,  2.31010136e-27,
        1.00000000e+00, -6.79720731e-14, -1.00000000e+00,  0.00000000e+00,
       -3.39860365e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08564969, -0.07956505,  0.06189156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04931760e-03, 2.79959459e-02, 3.53146657e-03, 2.73419268e-05,
 -6.45557680e-08,-2.66791895e-05, 3.07182783e-05,-4.40696024e-05,
  6.63567368e-06, 2.46720568e-05, 5.29690725e-05, 1.98706273e-05,
  1.05166232e-02, 1.50709935e-02, 7.55247337e-03, 1.56866340e-03,
  4.68509638e-04, 2.76520747e-02,-9.81667466e+00,-4.25374770e-03,
 -6.06152413e-02, 6.13499833e-02]


--- Step 3621 ---
qpos:
[-0.01856187, 1.2010639 ,-0.03514766, 0.94260286,-0.00793384, 1.33291663,
 -0.03115322, 0.94131119, 0.01531311, 1.33848426,-0.02376209, 0.95472124,
  1.27540332,-0.00940462, 1.28606184, 0.04426394,-0.05520376,-0.08809817,
  0.09055328, 0.69149019,-0.10773628,-0.71161038,-0.06200701]

qacc:
[ 3.22553613e-01,-9.87622706e-01, 4.49653401e+00,-1.36340611e+01,
 -6.46860122e-02, 3.87292092e-01,-4.13096615e+00, 1.42838598e+01,
  1.21505863e-01,-3.21892583e+00, 1.08814162e+01,-1.12911289e+01,
  1.13913237e-01,-4.80224521e-01, 4.80930406e+00,-7.04772435e+00,
 -3.79768804e+00, 2.83190403e-01,-2.43286626e+00,-1.76012391e+01,
 -1.28274801e+02,-9.88145562e+00]

qfrc_actuator:
[ 9.83035502e-03, 6.24122620e-02, 1.40449436e-02, 1.87797363e-03,
  1.69651355e-05, 3.47534272e-02, 1.09688231e-02, 1.77756091e-03,
 -3.02115219e-03, 3.47550462e-02, 1.08936859e-02, 1.75732302e-03,
  7.95264931e-03, 1.32879733e-02, 0.00000000e+00,-4.18834548e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16055059, -0.08064888, -0.13882453, -0.08064888,  0.27836749,
       -0.06844468, -0.13882453, -0.06844468,  0.20031292,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.428156154409694e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65291448,  0.07807954, -0.75339649, -0.05113537,  0.99694713,
        0.05900499,  0.75570355,  0.        ,  0.65491384])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610781, -0.03423139,  0.22485179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16055059, -0.08064888, -0.13882453, -0.08064888,  0.27836749,
       -0.06844468, -0.13882453, -0.06844468,  0.20031292,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.428156154409694e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65291448,  0.07807954, -0.75339649, -0.05113537,  0.99694713,
        0.05900499,  0.75570355,  0.        ,  0.65491384])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610781, -0.03423139,  0.22485179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005890878764822464
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93858795e-01,  8.73916201e-02, -9.15007079e-01, -3.45521535e-02,
        9.96174033e-01,  8.02710654e-02,  9.18521311e-01, -6.93889390e-18,
        3.95371473e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08289106, -0.03414443,  0.22317283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017008329518076945
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.02296628, -0.09602744,  0.06188738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03086874e-03, 2.78544758e-02, 3.50824408e-03,-4.63355387e-05,
 -1.86634384e-05,-7.44567783e-05,-9.45958510e-06, 4.27391861e-05,
  3.50085888e-05, 3.50179127e-05, 7.01943058e-05,-4.97298127e-06,
  1.05060751e-02, 1.50851301e-02, 7.65675802e-03, 1.40270838e-03,
 -1.74944651e-03, 2.73868648e-02,-9.81645206e+00,-4.68331547e-03,
 -6.06687076e-02, 6.14076543e-02]


--- Step 3622 ---
qpos:
[-0.01856312, 1.2010852 ,-0.03514914, 0.94260205,-0.00793361, 1.33291538,
 -0.03115203, 0.94131347, 0.01531313, 1.33848425,-0.02376099, 0.95472049,
  1.27542077,-0.00940386, 1.28604319, 0.04426151,-0.05522209,-0.0881991 ,
  0.09051489, 0.69143772,-0.10643425,-0.71174659,-0.06326465]

qacc:
[ 2.14040362e-01,-1.02508940e+00, 2.20340611e+00, 2.02012394e+00,
 -1.39071994e-01, 3.35057299e+00,-1.59989575e+01, 3.98816830e+01,
  7.45737660e-02,-4.68116839e+00, 1.77435953e+01,-2.85558021e+01,
 -1.61835037e-01,-1.24993252e-01, 5.27440543e+00,-8.80238766e+00,
 -3.46012675e+00, 2.74476217e-01,-3.07382559e+00,-1.49270567e+01,
 -1.17227257e+02,-1.09080932e+01]

qfrc_actuator:
[ 9.82673811e-03, 6.23730067e-02, 1.40546777e-02, 1.89782861e-03,
 -1.20943489e-05, 3.47688302e-02, 1.09821849e-02, 1.89197016e-03,
 -3.02036093e-03, 3.47613370e-02, 1.09460249e-02, 1.69937784e-03,
  7.95456817e-03, 1.32961742e-02, 0.00000000e+00,-1.36118895e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16054144, -0.06677142, -0.14599703, -0.06677142,  0.24654269,
       -0.03933248, -0.14599703, -0.03933248,  0.17853007,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3202216111238225e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65304823,  0.0780731 , -0.75328122, -0.0511416 ,  0.99694764,
        0.05899106,  0.75558755,  0.        ,  0.65504768])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610725, -0.03423234,  0.22485329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16054144, -0.06677142, -0.14599703, -0.06677142,  0.24654269,
       -0.03933248, -0.14599703, -0.03933248,  0.17853007,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.3202216111238225e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65304823,  0.0780731 , -0.75328122, -0.0511416 ,  0.99694764,
        0.05899106,  0.75558755,  0.        ,  0.65504768])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610725, -0.03423234,  0.22485329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005887698151588426
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39384069,  0.08739265, -0.91501477, -0.03455097,  0.99617394,
        0.08027269,  0.91852912,  0.        ,  0.39535333])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0828884 , -0.03414533,  0.22317312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.20053911, -1.5775176 , 17.20053911, 17.44448412,
        1.87275911, -1.5775176 ,  1.87275911, 37.69244635,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001740407383849188
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.37909857e-14, -3.18954928e-14,  1.00000000e+00, -2.03464493e-27,
        1.00000000e+00,  3.18954928e-14, -1.00000000e+00,  0.00000000e+00,
       -6.37909857e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02286145, -0.09599204,  0.06188492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.99018594e-03, 2.78305845e-02, 3.53413390e-03, 1.63242196e-05,
 -4.00798506e-05,-2.63469696e-05,-1.03121019e-06, 1.12877602e-04,
  2.14672615e-05, 3.92193825e-05, 6.70105231e-05,-5.49687711e-05,
  1.05101152e-02, 1.51209160e-02, 7.42880443e-03, 1.27668307e-03,
  1.77683132e-03, 2.40476333e-02,-9.81601950e+00,-3.16703293e-03,
 -6.08953780e-02, 6.14910618e-02]


--- Step 3623 ---
qpos:
[-0.01856446, 1.20110698,-0.03515043, 0.94260108,-0.00793371, 1.33291458,
 -0.03115094, 0.9413153 , 0.01531311, 1.33848456,-0.02375932, 0.9547194 ,
  1.27543784,-0.00940319, 1.28602536, 0.04425928,-0.05525311,-0.08829898,
  0.09046202, 0.6912251 ,-0.10514652,-0.71203056,-0.06453328]

qacc:
[-3.65856834e-02,-1.38020880e-01, 1.52850304e+00,-3.46298335e+00,
 -1.42296043e-01, 9.83424062e-02, 1.30030631e+00,-6.48362045e+00,
 -1.62826779e-02,-1.70411404e+00, 6.74521024e+00,-9.91279058e+00,
 -2.81525626e-01, 1.61762043e-01, 6.42816435e-01,-4.45033147e-01,
 -3.17500266e+00, 2.64531341e-01,-3.61889707e+00,-1.27071227e+01,
 -1.07948075e+02,-1.16429480e+01]

qfrc_actuator:
[ 9.82477487e-03, 6.23588650e-02, 1.40785991e-02, 1.89211936e-03,
 -2.94255598e-05, 3.48320094e-02, 1.09897162e-02, 1.86961031e-03,
 -3.03775228e-03, 3.47827959e-02, 1.09763505e-02, 1.68334633e-03,
  7.96043045e-03, 1.33187783e-02, 0.00000000e+00,-1.03196580e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16053549, -0.06336678, -0.14750015, -0.06336678,  0.22756628,
       -0.02879676, -0.14750015, -0.02879676,  0.17290672,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2471491974679347e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65316595,  0.07806723, -0.75317975, -0.05114696,  0.9969481 ,
        0.05897866,  0.75548542,  0.        ,  0.65516546])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610681, -0.03423336,  0.22485463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16053549, -0.06336678, -0.14750015, -0.06336678,  0.22756628,
       -0.02879676, -0.14750015, -0.02879676,  0.17290672,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2471491974679347e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65316595,  0.07806723, -0.75317975, -0.05114696,  0.9969481 ,
        0.05897866,  0.75548542,  0.        ,  0.65516546])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610681, -0.03423336,  0.22485463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005887083400608131
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93822459e-01,  8.73934821e-02, -9.15022541e-01, -3.45497077e-02,
        9.96173870e-01,  8.02741453e-02,  9.18536983e-01, -6.93889390e-18,
        3.95335062e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0828861, -0.0341463,  0.2231734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.19340151, -1.65349691, 17.19340151, 17.48758312,
        2.23411539, -1.65349691,  2.23411539, 40.50351931,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017522638542936397
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.1679676e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.1679676e-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([ 0.0228293 , -0.09597375,  0.06188412])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96363487e-03, 2.78311869e-02, 3.53615123e-03,-5.44086321e-06,
 -4.09928690e-05, 5.18132868e-05, 5.57356216e-06,-2.05663177e-05,
 -4.71182476e-06, 5.46035165e-05, 4.39900773e-05,-1.41871922e-05,
  1.05283908e-02, 1.51629865e-02, 7.20483210e-03, 1.28711181e-03,
  4.36882321e-03, 2.12116565e-02,-9.81593360e+00,-1.70974093e-03,
 -6.10869087e-02, 6.15762616e-02]


--- Step 3624 ---
qpos:
[-0.01856614, 1.20112968,-0.03515175, 0.94259934,-0.00793381, 1.33291452,
 -0.03115043, 0.94131548, 0.01531327, 1.33848533,-0.02375793, 0.95471885,
  1.27545442,-0.00940253, 1.28600747, 0.04425725,-0.05529587,-0.08839783,
  0.09039282, 0.6908636 ,-0.10386902,-0.71245166,-0.0658129 ]

qacc:
[-1.48903165e-01,-2.46617177e-02, 3.17454679e+00,-1.24231510e+01,
  3.86317131e-03,-2.87374031e-01, 5.53456927e+00,-2.45745719e+01,
  7.72721063e-02, 2.25269461e+00,-7.72088746e+00, 1.26412881e+01,
 -3.63496937e-01, 2.61614764e-01,-6.88677633e-01, 2.33680048e+00,
 -2.93289394e+00, 2.53746307e-01,-4.08274710e+00,-1.08491376e+01,
 -1.00148986e+02,-1.21710365e+01]

qfrc_actuator:
[ 9.82418263e-03, 6.23058810e-02, 1.41111131e-02, 1.85367031e-03,
 -4.07565138e-06, 3.48699632e-02, 1.09583469e-02, 1.78471099e-03,
 -3.01265121e-03, 3.47953511e-02, 1.09580282e-02, 1.70986915e-03,
  7.96335375e-03, 1.33498738e-02, 0.00000000e+00,-6.49142638e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16053048, -0.07403834, -0.14243721, -0.07403834,  0.23613851,
       -0.03930078, -0.14243721, -0.03930078,  0.18095888,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1838299333226327e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.53281092e-01,  7.80615729e-02, -7.53080478e-01, -5.11522386e-02,
        9.96948540e-01,  5.89665808e-02,  7.55385507e-01,  6.93889390e-18,
        6.55280654e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610639, -0.03423437,  0.22485596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16053048, -0.07403834, -0.14243721, -0.07403834,  0.23613851,
       -0.03930078, -0.14243721, -0.03930078,  0.18095888,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1838299333226327e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.53281092e-01,  7.80615729e-02, -7.53080478e-01, -5.11522386e-02,
        9.96948540e-01,  5.89665808e-02,  7.55385507e-01,  6.93889390e-18,
        6.55280654e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610639, -0.03423437,  0.22485596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005887302871011059
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39380363,  0.08739436, -0.91503056, -0.03454841,  0.99617379,
        0.08027566,  0.91854511,  0.        ,  0.39531619])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08288387, -0.03414725,  0.22317369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.17015741, -1.87957493, 17.17015741, 17.58625798,
        2.86414312, -1.87957493,  2.86414312, 43.43704108,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017416738861976006
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.18722992e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.18722992e-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([ 0.0228551 , -0.09596897,  0.06188466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96722171e-03, 2.77543128e-02, 3.55951833e-03,-3.59465710e-05,
  1.15251851e-06, 6.70945970e-05,-2.11969488e-05,-8.36471772e-05,
  2.23207355e-05, 5.09157208e-05,-3.07767012e-06, 2.90993772e-05,
  1.05503050e-02, 1.51982259e-02, 7.16407238e-03, 1.31572371e-03,
  6.23611819e-03, 1.87666706e-02,-9.81610269e+00,-2.94037878e-04,
 -6.12487351e-02, 6.16622871e-02]


--- Step 3625 ---
qpos:
[-0.01856797, 1.20115225,-0.03515191, 0.9425989 ,-0.00793348, 1.33291471,
 -0.0311505 , 0.94131606, 0.01531337, 1.33848683,-0.02375802, 0.95471866,
  1.27547059,-0.00940194, 1.28599352, 0.04425549,-0.05532743,-0.08849331,
  0.09034595, 0.69063625,-0.10266056,-0.71273318,-0.06703577]

qacc:
[-6.79972032e-02,-1.10601112e+00, 6.77431233e-01, 1.47509124e+01,
  1.78342180e-01, 2.58530895e+00,-8.87479387e+00, 1.22570590e+01,
 -2.60732793e-02, 5.63526258e+00,-1.79202620e+01, 1.92290152e+01,
 -4.79425528e-01, 3.93710602e-01, 5.04092077e+00,-9.09840177e+00,
  2.79898782e+00, 8.46677461e-01, 5.58224968e+00,-1.25736906e+00,
  9.07888683e+01, 5.58612007e+01]

qfrc_actuator:
[ 9.78919915e-03, 6.22644505e-02, 1.41311695e-02, 1.92053282e-03,
  4.66719943e-05, 3.48568159e-02, 1.09219239e-02, 1.80570945e-03,
 -3.03327115e-03, 3.48200616e-02, 1.08756272e-02, 1.72567809e-03,
  7.96986325e-03, 1.33860343e-02, 0.00000000e+00,-2.01032397e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16052603, -0.06192203, -0.14810222, -0.06192203,  0.21891671,
       -0.02441334, -0.14810222, -0.02441334,  0.17073333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1259156248457783e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65339713,  0.07805608, -0.75298037, -0.0511577 ,  0.99694897,
        0.05895457,  0.75528477,  0.        ,  0.65539677])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610598, -0.03423534,  0.22485733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16052603, -0.06192203, -0.14810222, -0.06192203,  0.21891671,
       -0.02441334, -0.14810222, -0.02441334,  0.17073333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1259156248457783e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65339713,  0.07805608, -0.75298037, -0.0511577 ,  0.99694897,
        0.05895457,  0.75528477,  0.        ,  0.65539677])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610598, -0.03423534,  0.22485733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000588811843188649
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39378397,  0.08739539, -0.91503892, -0.03454709,  0.9961737 ,
        0.08027735,  0.91855358,  0.        ,  0.39529649])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08288164, -0.03414817,  0.22317402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001787176394277501
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.10608127e-14,  3.10608127e-14,  1.00000000e+00,  9.64774085e-28,
        1.00000000e+00, -3.10608127e-14, -1.00000000e+00,  0.00000000e+00,
       -3.10608127e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08551168, -0.07958594,  0.06188163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94930753e-03, 2.76661162e-02, 3.58102300e-03, 7.00414274e-05,
  5.14307470e-05, 1.73020214e-05,-2.81612732e-05, 2.04622032e-05,
 -7.43567147e-06, 5.31214087e-05,-7.19585955e-05, 1.79071523e-05,
  1.05814480e-02, 1.52353828e-02, 7.16729996e-03, 1.16933103e-03,
  7.53406324e-03, 1.66286295e-02,-9.81646193e+00, 1.09352831e-03,
 -6.13849886e-02, 6.17484567e-02]


--- Step 3626 ---
qpos:
[-0.01856974, 1.20117297,-0.03515113, 0.94260047,-0.00793266, 1.33291518,
 -0.03115131, 0.94131655, 0.0153129 , 1.33848896,-0.0237591 , 0.95471796,
  1.27548644,-0.0094014 , 1.2859852 , 0.04425388,-0.05534879,-0.08858581,
  0.09031613, 0.69053138,-0.10151444,-0.71288771,-0.06820808]

qacc:
[ 3.16713358e-02,-1.52199056e+00,-2.13477893e+00, 2.63750356e+01,
  2.09541605e-01, 2.19145166e+00,-6.51324062e+00, 4.39774604e+00,
 -2.42920728e-01, 2.57586934e+00,-6.38426210e+00,-7.79838674e-01,
 -5.21991440e-01, 4.69546466e-01, 7.92949479e+00,-1.55633381e+01,
  2.55011023e+00, 7.41093926e-01, 4.26475612e+00,-1.47851391e+00,
  8.28103191e+01, 5.03056310e+01]

qfrc_actuator:
[ 9.75128520e-03, 6.22661514e-02, 1.41248096e-02, 2.01329521e-03,
  7.67372702e-05, 3.48664530e-02, 1.08826940e-02, 1.80008025e-03,
 -3.09890574e-03, 3.48515899e-02, 1.08271209e-02, 1.69951704e-03,
  7.96788290e-03, 1.34252818e-02, 0.00000000e+00,-3.88679635e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16052397, -0.05043868, -0.15239385, -0.05043868,  0.20393229,
       -0.0143671 , -0.15239385, -0.0143671 ,  0.16527913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0986201497588328e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65349968,  0.07805145, -0.75289185, -0.05116268,  0.99694933,
        0.05894412,  0.7551957 ,  0.        ,  0.65549939])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610568, -0.03423637,  0.22485856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16052397, -0.05043868, -0.15239385, -0.05043868,  0.20393229,
       -0.0143671 , -0.15239385, -0.0143671 ,  0.16527913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0986201497588328e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65349968,  0.07805145, -0.75289185, -0.05116268,  0.99694933,
        0.05894412,  0.7551957 ,  0.        ,  0.65549939])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610568, -0.03423637,  0.22485856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005891244064184821
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93763352e-01,  8.73965005e-02, -9.15047690e-01, -3.45457246e-02,
        9.96173605e-01,  8.02791456e-02,  9.18562472e-01, -6.93889390e-18,
        3.95275834e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08287971, -0.03414915,  0.22317433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018401266015884155
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.01670283e-14,  3.01670283e-14,  1.00000000e+00,  9.10049595e-28,
        1.00000000e+00, -3.01670283e-14, -1.00000000e+00,  0.00000000e+00,
       -3.01670283e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08546531, -0.07959072,  0.06187823])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.91920801e-03, 2.76743585e-02, 3.51606289e-03, 9.72013019e-05,
  6.04269473e-05, 1.43166204e-05,-3.84488918e-05,-5.45916905e-06,
 -7.00230530e-05, 4.73709847e-05,-4.57877268e-05,-2.62740325e-05,
  1.05998215e-02, 1.52776245e-02, 6.97052816e-03, 9.68197649e-04,
  5.77338280e-03, 1.67554027e-02,-9.81569822e+00, 2.71231591e-04,
 -6.13710259e-02, 6.17864430e-02]


--- Step 3627 ---
qpos:
[-0.01857196, 1.20119361,-0.03515085, 0.94260203,-0.00793184, 1.33291591,
 -0.03115231, 0.94131625, 0.01531207, 1.33849096,-0.02375913, 0.95471795,
  1.27550196,-0.00940038, 1.28597233, 0.04425183,-0.05536002,-0.08867313,
  0.09030001, 0.69054349,-0.1004694 ,-0.7129187 ,-0.06930014]

qacc:
[-1.96459839e-01, 1.20723923e+00,-4.00384420e+00, 3.27188531e+00,
 -6.38420352e-04,-4.98804461e-01, 3.66886452e+00,-1.25084391e+01,
 -1.54783435e-01,-1.80990512e+00, 4.31787297e+00, 4.25994608e+00,
 -3.39203976e-01, 5.84246262e-01,-5.38165730e+00, 9.10362804e+00,
  2.53244013e+00, 1.29653422e+00, 3.42262351e+00,-4.57271271e+00,
  7.68306774e+01, 7.39889616e+01]

qfrc_actuator:
[ 9.80021022e-03, 6.22422457e-02, 1.41023752e-02, 2.01385945e-03,
  4.08929666e-05, 3.48896306e-02, 1.08776723e-02, 1.76105804e-03,
 -3.10224910e-03, 3.48515329e-02, 1.08877996e-02, 1.73766795e-03,
  7.96081629e-03, 1.34308919e-02, 0.00000000e+00,-1.81162561e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16052452, -0.0421923 , -0.15488038, -0.0421923 ,  0.17156684,
       -0.00300813, -0.15488038, -0.00300813,  0.16134399,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1059554367803754e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65358079,  0.07804799, -0.7528218 , -0.05116675,  0.9969496 ,
        0.05893601,  0.75512523,  0.        ,  0.65558057])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861055 , -0.0342375 ,  0.22485956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16052452, -0.0421923 , -0.15488038, -0.0421923 ,  0.17156684,
       -0.00300813, -0.15488038, -0.00300813,  0.16134399,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1059554367803754e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65358079,  0.07804799, -0.7528218 , -0.05116675,  0.9969496 ,
        0.05893601,  0.75512523,  0.        ,  0.65558057])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861055 , -0.0342375 ,  0.22485956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005896608897768066
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39374359,  0.08739757, -0.91505609, -0.03454441,  0.99617351,
        0.08028087,  0.91857099,  0.        ,  0.39525603])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08287825, -0.03415025,  0.22317461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018667889534289411
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48680843e-14,  2.97361687e-14,  1.00000000e+00,  4.42119864e-28,
        1.00000000e+00, -2.97361687e-14, -1.00000000e+00,  0.00000000e+00,
       -1.48680843e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08623463, -0.08205757,  0.06187654])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96451863e-03, 2.77429206e-02, 3.44720899e-03,-2.69981495e-06,
 -1.71913775e-07, 2.34100283e-05,-6.75632012e-06,-3.98453065e-05,
 -4.46937652e-05, 1.64011093e-05, 6.39555248e-05, 3.76041914e-05,
  1.06092225e-02, 1.52858170e-02, 6.68912046e-03, 1.16855358e-03,
  4.02149278e-03, 1.68388127e-02,-9.81512415e+00,-3.86316800e-04,
 -6.13662166e-02, 6.18241632e-02]


--- Step 3628 ---
qpos:
[-0.01857457, 1.20121551,-0.03515091, 0.9426031 ,-0.00793149, 1.3329166 ,
 -0.03115304, 0.94131686, 0.01531129, 1.33849256,-0.02375797, 0.95471875,
  1.27551734,-0.00939889, 1.2859531 , 0.04424943,-0.05536189,-0.08875576,
  0.09029362, 0.69066394,-0.09951733,-0.71283579,-0.07031893]

qacc:
[-1.75249514e-01, 1.71555811e+00,-2.62617055e+00,-4.08256952e+00,
 -1.99280641e-01, 7.96861401e-01,-4.56894306e+00, 1.46695925e+01,
  2.67420702e-02,-2.30857987e+00, 5.24123584e+00, 5.14917912e+00,
 -9.62736925e-02, 3.62497746e-01,-8.30564439e+00, 1.54291177e+01,
  2.33937384e+00, 1.17279641e+00, 2.43380368e+00,-4.48630323e+00,
  7.10437199e+01, 6.79203828e+01]

qfrc_actuator:
[ 9.84847485e-03, 6.21664258e-02, 1.41068516e-02, 1.99583612e-03,
 -1.64459698e-05, 3.48853366e-02, 1.08929228e-02, 1.80924879e-03,
 -3.06819578e-03, 3.48152683e-02, 1.09413424e-02, 1.77790463e-03,
  7.95603478e-03, 1.34158174e-02, 0.00000000e+00, 1.54415486e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16052234, -0.04620828, -0.15372774, -0.04620828,  0.1699069 ,
       -0.00282086, -0.15372774, -0.00282086,  0.16137025,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.076772121328667e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.53676956e-01,  7.80439721e-02, -7.52738717e-01, -5.11716238e-02,
        9.96949918e-01,  5.89264500e-02,  7.55041656e-01,  6.93889390e-18,
        6.55676824e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610521, -0.03423853,  0.2248607 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16052234, -0.04620828, -0.15372774, -0.04620828,  0.1699069 ,
       -0.00282086, -0.15372774, -0.00282086,  0.16137025,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.076772121328667e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.53676956e-01,  7.80439721e-02, -7.52738717e-01, -5.11716238e-02,
        9.96949918e-01,  5.89264500e-02,  7.55041656e-01,  6.93889390e-18,
        6.55676824e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610521, -0.03423853,  0.2248607 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005899199719412579
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39372434,  0.0873988 , -0.91506426, -0.03454322,  0.9961734 ,
        0.08028272,  0.91857929,  0.        ,  0.39523675])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08287643, -0.03415124,  0.22317488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018761251439251697
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.10955721e-14,  2.95881921e-14,  1.00000000e+00,  3.28297918e-28,
        1.00000000e+00, -2.95881921e-14, -1.00000000e+00,  0.00000000e+00,
       -1.10955721e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08622686, -0.08205902,  0.06187598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03531333e-03, 2.76702383e-02, 3.47631974e-03,-1.96903414e-05,
 -5.74394419e-05, 6.12951200e-06, 1.78931383e-05, 4.77743959e-05,
  7.66004593e-06,-1.36056568e-05, 6.51128188e-05, 4.34723911e-05,
  1.06204788e-02, 1.52471593e-02, 6.91719095e-03, 1.38716508e-03,
  2.03600472e-03, 1.57780506e-02,-9.81443382e+00,-9.04542467e-04,
 -6.13786556e-02, 6.18594545e-02]


--- Step 3629 ---
qpos:
[-0.01857703, 1.20123723,-0.03515076, 0.9426044 ,-0.00793141, 1.33291752,
 -0.03115375, 0.94131977, 0.01531058, 1.33849427,-0.02375709, 0.95471868,
  1.27553265,-0.00939743, 1.28593547, 0.04424722,-0.05535505,-0.08883411,
  0.09029364, 0.69088551,-0.09865148,-0.71264694,-0.07127019]

qacc:
[ 7.06660530e-02,-3.85708595e-01, 5.24219254e-01, 2.22219462e+00,
 -1.13401902e-01, 4.17433132e+00,-1.79632168e+01, 4.19915301e+01,
  2.58822068e-02,-6.33053932e-01, 3.99668039e+00,-1.36072822e+01,
 -1.17424209e-01, 9.37318909e-02, 1.77089207e+00,-2.72975194e+00,
  2.17890914e+00, 1.06996384e+00, 1.60074012e+00,-4.40001787e+00,
  6.62317399e+01, 6.28734630e+01]

qfrc_actuator:
[ 9.82546414e-03, 6.21469324e-02, 1.41275086e-02, 2.00263218e-03,
 -1.52013902e-05, 3.49180173e-02, 1.09022062e-02, 1.92612763e-03,
 -3.06524469e-03, 3.48108634e-02, 1.09190398e-02, 1.73022290e-03,
  7.94729381e-03, 1.34236429e-02, 0.00000000e+00,-9.62022978e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16051703, -0.06034054, -0.14874386, -0.06034054,  0.20870113,
       -0.01954672, -0.14874386, -0.01954672,  0.16844649,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0037540195498235e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65379614,  0.0780389 , -0.75263573, -0.05117761,  0.99695031,
        0.05891454,  0.75493805,  0.        ,  0.65579611])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610476, -0.03423943,  0.22486208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16051703, -0.06034054, -0.14874386, -0.06034054,  0.20870113,
       -0.01954672, -0.14874386, -0.01954672,  0.16844649,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0037540195498235e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65379614,  0.0780389 , -0.75263573, -0.05117761,  0.99695031,
        0.05891454,  0.75493805,  0.        ,  0.65579611])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610476, -0.03423943,  0.22486208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005898756220106376
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93704246e-01,  8.74002017e-02, -9.15072768e-01, -3.45420131e-02,
        9.96173280e-01,  8.02847718e-02,  9.18587947e-01,  6.93889390e-18,
        3.95216629e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08287409, -0.03415209,  0.22317519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018656789689713987
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.97538602e-14,  2.97538602e-14,  1.00000000e+00,  8.85292197e-28,
        1.00000000e+00, -2.97538602e-14, -1.00000000e+00,  0.00000000e+00,
       -2.97538602e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08623691, -0.08206081,  0.06187669])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03238305e-03, 2.75881094e-02, 3.51344858e-03, 1.10696403e-05,
 -3.26635775e-05, 4.10082464e-05, 1.39225825e-05, 1.18696387e-04,
  7.47509694e-06, 2.06502039e-06,-1.62893515e-05,-4.51627817e-05,
  1.06187535e-02, 1.52310900e-02, 7.23537669e-03, 1.29351047e-03,
  1.97434139e-04, 1.48019744e-02,-9.81389580e+00,-1.28622857e-03,
 -6.13912188e-02, 6.18926512e-02]


--- Step 3630 ---
qpos:
[-0.01857928, 1.20125821,-0.03515134, 0.94260483,-0.00793104, 1.33291878,
 -0.03115434, 0.94132334, 0.01530992, 1.33849562,-0.02375599, 0.95471771,
  1.27554795,-0.00939608, 1.28591972, 0.04424525,-0.05534002,-0.08890853,
  0.09029726, 0.69120214,-0.09786619,-0.71235871,-0.0721587 ]

qacc:
[ 8.88567126e-02,-4.63978936e-01, 2.13091900e+00,-1.13997340e+01,
  1.20896446e-01, 1.24632229e+00,-4.92767772e+00, 1.18799341e+01,
  2.23962622e-02,-2.60549054e+00, 9.74394373e+00,-1.85937927e+01,
 -1.84126171e-02,-4.68864632e-02, 2.06423499e+00,-3.19923602e+00,
  2.04580598e+00, 9.84529038e-01, 9.00153838e-01,-4.31782259e+00,
  6.22379667e+01, 5.86689603e+01]

qfrc_actuator:
[ 9.81254274e-03, 6.21621583e-02, 1.41042208e-02, 1.95280135e-03,
  3.89312023e-05, 3.49371107e-02, 1.09080517e-02, 1.95821637e-03,
 -3.06322587e-03, 3.47719667e-02, 1.09232200e-02, 1.68441344e-03,
  7.94682836e-03, 1.34277706e-02, 0.00000000e+00,-1.44674811e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16051274, -0.06703473, -0.14584472, -0.06703473,  0.22527382,
       -0.02976619, -0.14584472, -0.02976619,  0.1741942 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9428068743712265e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65390957,  0.07803405, -0.75253768, -0.05118329,  0.99695069,
        0.05890318,  0.75483942,  0.        ,  0.65590964])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610435, -0.03424036,  0.22486341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16051274, -0.06703473, -0.14584472, -0.06703473,  0.22527382,
       -0.02976619, -0.14584472, -0.02976619,  0.1741942 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9428068743712265e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65390957,  0.07803405, -0.75253768, -0.05118329,  0.99695069,
        0.05890318,  0.75483942,  0.        ,  0.65590964])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610435, -0.03424036,  0.22486341])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000589919174416205
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39368413,  0.08740154, -0.91508129, -0.03454078,  0.99617316,
        0.08028676,  0.91859661,  0.        ,  0.39519648])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08287187, -0.03415297,  0.22317549])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018394917889824475
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08626105, -0.08206278,  0.0618784 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01133095e-03, 2.76118302e-02, 3.48025451e-03,-4.97724357e-05,
  3.48513538e-05, 4.80804231e-05, 1.89419021e-05, 3.64875705e-05,
  6.43477218e-06,-4.22871291e-05, 1.40774399e-06,-4.72723844e-05,
  1.06223028e-02, 1.52366104e-02, 7.15545658e-03, 1.23502427e-03,
 -1.52136611e-03, 1.38960517e-02,-9.81347664e+00,-1.56291712e-03,
 -6.14038251e-02, 6.19236462e-02]


--- Step 3631 ---
qpos:
[-0.01858184, 1.20127922,-0.03515264, 0.94260425,-0.00793039, 1.33291995,
 -0.03115398, 0.9413252 , 0.0153096 , 1.33849626,-0.02375469, 0.95471658,
  1.27556345,-0.00939458, 1.28590321, 0.04424334,-0.05533945,-0.08898059,
  0.09029009, 0.69133186,-0.09705524,-0.71224997,-0.07307885]

qacc:
[-1.35155731e-01, 2.36223560e-01, 1.36448717e+00,-1.29692445e+01,
  1.21557878e-01,-5.59827719e+00, 2.16760377e+01,-3.87249154e+01,
  1.41362016e-01,-1.75601231e+00, 4.92726339e+00,-5.71173162e+00,
  1.16195484e-01, 1.22332234e-02,-1.34538310e+00, 3.05315958e+00,
 -3.61407733e+00, 5.87624846e-01,-2.69574460e+00,-5.07728273e+00,
 -1.26126653e+02,-3.55971172e+01]

qfrc_actuator:
[ 9.77006274e-03, 6.21100831e-02, 1.40731661e-02, 1.90549469e-03,
  5.33399668e-05, 3.49123574e-02, 1.09472237e-02, 1.86911939e-03,
 -3.02627713e-03, 3.47127956e-02, 1.09251573e-02, 1.67560745e-03,
  7.94599847e-03, 1.33942661e-02, 0.00000000e+00,-8.43458708e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16050936, -0.06263086, -0.14778575, -0.06263086,  0.20808149,
       -0.02016083, -0.14778575, -0.02016083,  0.16905341,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8934249988972196e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65401537,  0.0780295 , -0.75244621, -0.05118856,  0.99695105,
        0.05889256,  0.7547474 ,  0.        ,  0.65601553])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610398, -0.03424133,  0.22486465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16050936, -0.06263086, -0.14778575, -0.06263086,  0.20808149,
       -0.02016083, -0.14778575, -0.02016083,  0.16905341,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8934249988972196e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65401537,  0.0780295 , -0.75244621, -0.05118856,  0.99695105,
        0.05889256,  0.7547474 ,  0.        ,  0.65601553])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610398, -0.03424133,  0.22486465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005900316340021437
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39366536,  0.08740278, -0.91508925, -0.03453963,  0.99617305,
        0.0802886 ,  0.9186047 ,  0.        ,  0.39517769])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08286984, -0.0341539 ,  0.22317577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  17.11633416,  -2.31909734,  17.11633416,
        19.67647752,  17.74112356,  -2.31909734,  17.74112356,
       148.21289676,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018274683550803805
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.07519699e-14,  3.03759849e-14,  1.00000000e+00, -1.84540092e-27,
        1.00000000e+00, -3.03759849e-14, -1.00000000e+00,  0.00000000e+00,
        6.07519699e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02261605, -0.09594893,  0.06187924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.95861918e-03, 2.75962841e-02, 3.48559966e-03,-5.39264695e-05,
  3.49841018e-05, 6.65093180e-06, 5.18115857e-05,-8.62407928e-05,
  4.07486377e-05,-8.36932890e-05,-7.54861936e-06,-1.11159701e-05,
  1.06216991e-02, 1.52085260e-02, 7.06213087e-03, 1.28377616e-03,
 -3.14292639e-03, 1.30484340e-02,-9.81315144e+00,-1.75798343e-03,
 -6.14164315e-02, 6.19523744e-02]


--- Step 3632 ---
qpos:
[-0.01858352, 1.20129862,-0.03515444, 0.94260324,-0.00792994, 1.33292093,
 -0.03115279, 0.94132634, 0.0153095 , 1.33849666,-0.02375415, 0.95471605,
  1.27557962,-0.00939354, 1.28589252, 0.04424182,-0.05535214,-0.08905062,
  0.09026976, 0.69129055,-0.09622241,-0.71230512,-0.07402733]

qacc:
[ 3.87013574e-01,-1.48281404e+00, 3.16440263e+00,-6.66645524e+00,
 -8.44932566e-02,-3.74364607e+00, 1.34031426e+01,-1.98901675e+01,
  9.83861995e-02, 2.77667492e+00,-1.06460927e+01, 1.63225199e+01,
  5.34174808e-01,-6.93272207e-01, 7.43561529e+00,-1.35897550e+01,
 -3.31333512e+00, 5.07425009e-01,-3.28987566e+00,-4.83071759e+00,
 -1.15393586e+02,-3.17901132e+01]

qfrc_actuator:
[ 9.76353815e-03, 6.20704194e-02, 1.40554800e-02, 1.87795084e-03,
  8.29385305e-06, 3.48970927e-02, 1.09877716e-02, 1.83370232e-03,
 -3.02193045e-03, 3.47129694e-02, 1.08901746e-02, 1.70637979e-03,
  7.94493173e-03, 1.33379740e-02, 0.00000000e+00,-2.95965544e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16050567, -0.07035989, -0.14426211, -0.07035989,  0.24331095,
       -0.04038601, -0.14426211, -0.04038601,  0.18020284,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.838090714969924e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65412385,  0.078025  , -0.75235237, -0.05119408,  0.9969514 ,
        0.0588818 ,  0.754653  ,  0.        ,  0.65612411])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861036 , -0.03424231,  0.22486591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16050567, -0.07035989, -0.14426211, -0.07035989,  0.24331095,
       -0.04038601, -0.14426211, -0.04038601,  0.18020284,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.838090714969924e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65412385,  0.078025  , -0.75235237, -0.05119408,  0.9969514 ,
        0.0588818 ,  0.754653  ,  0.        ,  0.65612411])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861036 , -0.03424231,  0.22486591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005900984635680111
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39364723,  0.08740413, -0.91509692, -0.03453857,  0.99617294,
        0.08029052,  0.91861251,  0.        ,  0.39515953])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08286775, -0.03415483,  0.22317606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -15.73181317,   7.13142075, -15.73181317,
        29.17943255,  26.26602318,   7.13142075,  26.26602318,
        75.21520235,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018574621358936408
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.9885482e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.9885482e-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([ 0.02253515, -0.09594589,  0.06187743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96758089e-03, 2.75551533e-02, 3.50354174e-03,-3.07870907e-05,
 -2.43935290e-05,-4.05107732e-06, 4.52175948e-05,-3.56896067e-05,
  2.84094001e-05,-4.79177081e-05,-5.25146539e-05, 2.78135272e-05,
  1.06106723e-02, 1.51450544e-02, 7.10065193e-03, 1.06876990e-03,
 -3.32582600e-04, 1.17966286e-02,-9.81313736e+00,-8.73229428e-04,
 -6.14962736e-02, 6.20136557e-02]


--- Step 3633 ---
qpos:
[-0.01858339, 1.20131484,-0.03515655, 0.94260274,-0.00792968, 1.33292151,
 -0.03115129, 0.94132778, 0.01530942, 1.33849705,-0.02375361, 0.95471583,
  1.27559638,-0.0093933 , 1.28589145, 0.04424061,-0.05537705,-0.08911889,
  0.09023425, 0.6910914 ,-0.09537057,-0.712511  ,-0.07500134]

qacc:
[ 7.81343673e-01,-2.46290500e+00, 1.93883992e+00, 6.19793138e+00,
 -8.22821671e-02,-8.18708409e-01, 1.41545778e+00, 2.55407198e+00,
  5.29553151e-03, 5.31521226e-01,-2.38421679e+00, 5.68027716e+00,
  4.88333121e-01,-8.85283156e-01, 1.32257054e+01,-2.56758264e+01,
 -3.05809419e+00, 4.41119760e-01,-3.79695656e+00,-4.54131597e+00,
 -1.06375336e+02,-2.86854447e+01]

qfrc_actuator:
[ 9.79526460e-03, 6.20575792e-02, 1.40281359e-02, 1.89758800e-03,
 -1.04281809e-06, 3.48521526e-02, 1.09933675e-02, 1.84793562e-03,
 -3.03717742e-03, 3.47485626e-02, 1.09049302e-02, 1.72469351e-03,
  7.94367329e-03, 1.33040501e-02, 0.00000000e+00,-6.00078479e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1605045 , -0.06138402, -0.14830271, -0.06138402,  0.2433517 ,
       -0.03429131, -0.14830271, -0.03429131,  0.17469802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.820080422894159e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65421093,  0.07802113, -0.75227705, -0.05119834,  0.99695171,
        0.05887297,  0.75457722,  0.        ,  0.65621126])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610336, -0.03424345,  0.22486693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1605045 , -0.06138402, -0.14830271, -0.06138402,  0.2433517 ,
       -0.03429131, -0.14830271, -0.03429131,  0.17469802,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.820080422894159e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65421093,  0.07802113, -0.75227705, -0.05119834,  0.99695171,
        0.05887297,  0.75457722,  0.        ,  0.65621126])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610336, -0.03424345,  0.22486693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005904106919960295
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93631037e-01,  8.74050856e-02, -9.15103796e-01, -3.45375347e-02,
        9.96172852e-01,  8.02920151e-02,  9.18619489e-01,  6.93889390e-18,
        3.95143309e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08286615, -0.03415594,  0.2231763 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -15.60720415,   7.40015447, -15.60720415,
        32.91379864,  32.98760787,   7.40015447,  32.98760787,
        86.84483314,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018606822289454414
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.49168811e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.49168811e-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([ 0.0225248 , -0.09595302,  0.06187722])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.95484991e-03, 2.76225622e-02, 3.50123498e-03, 1.01681811e-05,
 -2.37369854e-05,-3.94162441e-05, 8.90227249e-06, 1.46158182e-05,
  1.52947569e-06,-3.39794133e-07, 2.41276708e-07, 1.60047297e-05,
  1.05759056e-02, 1.51335997e-02, 6.80959036e-03, 7.45896681e-04,
  1.71961611e-03, 1.06101087e-02,-9.81334459e+00, 7.49633163e-05,
 -6.15680954e-02, 6.20759368e-02]


--- Step 3634 ---
qpos:
[-0.01858236, 1.20132859,-0.03515873, 0.94260344,-0.00792958, 1.33292185,
 -0.03115029, 0.94132872, 0.01530942, 1.33849774,-0.02375309, 0.95471616,
  1.27561344,-0.00939335, 1.28589481, 0.04423914,-0.05539156,-0.08918304,
  0.09021461, 0.69101591,-0.09462559,-0.7125898 ,-0.07588671]

qacc:
[ 3.99114995e-01,-1.03924520e+00,-2.99904007e+00, 1.80779766e+01,
 -6.80510297e-02, 1.57337900e-01, 1.33208032e-01,-5.79030513e+00,
  3.29964770e-02, 1.34609455e+00,-5.00039117e+00, 1.03539714e+01,
  1.65244152e-01,-2.81530914e-01, 7.30757973e+00,-1.61100104e+01,
  2.60147778e+00, 1.02884721e+00, 3.96734338e+00,-4.21409197e+00,
  7.97282424e+01, 7.93938402e+01]

qfrc_actuator:
[ 9.77767034e-03, 6.20452990e-02, 1.40127681e-02, 1.96252681e-03,
 -6.63191675e-06, 3.48251936e-02, 1.09604389e-02, 1.82021172e-03,
 -3.02854824e-03, 3.47875243e-02, 1.09135713e-02, 1.75333347e-03,
  7.94228296e-03, 1.32840877e-02, 0.00000000e+00,-6.93493997e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16050719, -0.04286132, -0.15467859, -0.04286132,  0.19218062,
       -0.00877668, -0.15467859, -0.00877668,  0.1629392 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8611324105370988e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.54261579e-01,  7.80181702e-02, -7.52233309e-01, -5.12003532e-02,
        9.96951937e-01,  5.88672976e-02,  7.54533173e-01, -6.93889390e-18,
        6.56261907e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610335, -0.03424482,  0.22486753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16050719, -0.04286132, -0.15467859, -0.04286132,  0.19218062,
       -0.00877668, -0.15467859, -0.00877668,  0.1629392 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8611324105370988e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.54261579e-01,  7.80181702e-02, -7.52233309e-01, -5.12003532e-02,
        9.96951937e-01,  5.88672976e-02,  7.54533173e-01, -6.93889390e-18,
        6.56261907e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610335, -0.03424482,  0.22486753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005910976922579338
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39361808,  0.08740528, -0.91510935, -0.03453648,  0.99617283,
        0.08029268,  0.91862508,  0.        ,  0.39513031])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08286538, -0.03415728,  0.22317648])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018543100798538367
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.98725659e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.98725659e-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([-0.08624707, -0.08205114,  0.06187753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.84753486e-03, 2.77693008e-02, 3.50179944e-03, 4.99234374e-05,
 -1.96032127e-05,-4.65874553e-05,-3.92000051e-05,-2.83074391e-05,
  9.53267421e-06, 3.92917762e-05, 9.06925855e-06, 2.90104194e-05,
  1.05450387e-02, 1.51541688e-02, 6.32809487e-03, 6.36393611e-04,
  3.16848196e-03, 9.48821959e-03,-9.81372073e+00, 1.06992108e-03,
 -6.16316106e-02, 6.21388604e-02]


--- Step 3635 ---
qpos:
[-0.01858111, 1.2013411 ,-0.03516112, 0.94260445,-0.0079296 , 1.33292242,
 -0.03115021, 0.9413293 , 0.01530965, 1.33849859,-0.02375246, 0.95471786,
  1.27563032,-0.00939354, 1.28590023, 0.04423732,-0.05539649,-0.08924339,
  0.09020655, 0.69105449,-0.09397754,-0.71255185,-0.07669276]

qacc:
[ 9.35762902e-02,-5.03137711e-01,-1.00229109e+00, 5.41704828e+00,
 -5.17453517e-02, 2.18505466e+00,-6.00487752e+00, 8.75001713e-01,
  9.88097337e-02, 2.32864065e+00,-1.01169729e+01, 2.46059664e+01,
 -1.95056781e-01, 8.82584652e-02, 4.16188507e+00,-1.00850804e+01,
  2.39665487e+00, 9.50884830e-01, 2.89691427e+00,-4.26158109e+00,
  7.35508114e+01, 7.17933542e+01]

qfrc_actuator:
[ 9.76614913e-03, 6.20161559e-02, 1.40754652e-02, 1.98274037e-03,
 -9.92855917e-06, 3.48622892e-02, 1.09228261e-02, 1.80350315e-03,
 -3.00566390e-03, 3.47926951e-02, 1.09185512e-02, 1.82332396e-03,
  7.94081862e-03, 1.33078113e-02, 0.00000000e+00,-7.31046877e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16051136, -0.04961412, -0.15265103, -0.04961412,  0.1992065 ,
       -0.01257656, -0.15265103, -0.01257656,  0.16459896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.922924336075077e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.54294539e-01,  7.80156186e-02, -7.52204905e-01, -5.12012476e-02,
        9.96952137e-01,  5.88631378e-02,  7.54504532e-01, -6.93889390e-18,
        6.56294836e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610344, -0.03424629,  0.22486791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16051136, -0.04961412, -0.15265103, -0.04961412,  0.1992065 ,
       -0.01257656, -0.15265103, -0.01257656,  0.16459896,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.922924336075077e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.54294539e-01,  7.80156186e-02, -7.52204905e-01, -5.12012476e-02,
        9.96952137e-01,  5.88631378e-02,  7.54504532e-01, -6.93889390e-18,
        6.56294836e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610344, -0.03424629,  0.22486791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005918879366784424
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93607449e-01,  8.74050754e-02, -9.15113943e-01, -3.45354611e-02,
        9.96172853e-01,  8.02928959e-02,  9.18629674e-01,  6.93889390e-18,
        3.95119630e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.082865  , -0.03415874,  0.22317659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018741428036372146
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08622887, -0.08204584,  0.06187628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.79018939e-03, 2.78632150e-02, 3.56747940e-03, 1.02459400e-05,
 -1.48704971e-05, 2.79480394e-06,-5.20225778e-05,-1.99158166e-05,
  2.85157234e-05, 2.95255176e-05, 1.45322338e-05, 7.20975559e-05,
  1.05287316e-02, 1.51924184e-02, 6.10724956e-03, 6.11905997e-04,
  1.68311263e-03, 8.61410104e-03,-9.81296517e+00, 5.99193808e-04,
 -6.15910604e-02, 6.21585426e-02]


--- Step 3636 ---
qpos:
[-0.01858034, 1.20135431,-0.03516377, 0.94260484,-0.00792957, 1.33292293,
 -0.03114997, 0.94132964, 0.01530999, 1.33849971,-0.02375199, 0.95471832,
  1.27564668,-0.0093936 , 1.28590338, 0.04423499,-0.0553925 ,-0.0893002 ,
  0.09020647, 0.69119912,-0.09341821,-0.71240569,-0.07742708]

qacc:
[-2.11364895e-01, 5.39184100e-01, 6.61153368e-01,-8.35785193e+00,
  2.45956365e-02,-9.20861027e-01, 3.38222602e+00,-5.61785482e+00,
  4.36083865e-02,-1.36427362e+00, 7.38353187e+00,-2.08953177e+01,
 -4.13805635e-01, 4.06079970e-01,-1.84339729e+00, 1.61463054e+00,
  2.22639249e+00, 8.84926220e-01, 1.99417362e+00,-4.26662143e+00,
  6.84021661e+01, 6.55485451e+01]

qfrc_actuator:
[ 9.77635941e-03, 6.20121657e-02, 1.41319225e-02, 1.95876130e-03,
  5.92839695e-06, 3.48664192e-02, 1.09362845e-02, 1.79346286e-03,
 -3.00991839e-03, 3.47953589e-02, 1.09034757e-02, 1.75729154e-03,
  7.93934208e-03, 1.33399551e-02, 0.00000000e+00,-6.28363952e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16051631, -0.05700067, -0.15005469, -0.05700067,  0.19784048,
       -0.01417819, -0.15005469, -0.01417819,  0.16590212,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9936861448145368e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.54319062e-01,  7.80134073e-02, -7.52183803e-01, -5.12017064e-02,
        9.96952310e-01,  5.88598078e-02,  7.54483234e-01,  6.93889390e-18,
        6.56319320e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610357, -0.03424779,  0.22486819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16051631, -0.05700067, -0.15005469, -0.05700067,  0.19784048,
       -0.01417819, -0.15005469, -0.01417819,  0.16590212,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9936861448145368e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.54319062e-01,  7.80134073e-02, -7.52183803e-01, -5.12017064e-02,
        9.96952310e-01,  5.88598078e-02,  7.54483234e-01,  6.93889390e-18,
        6.56319320e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610357, -0.03424779,  0.22486819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005927177728625929
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93598162e-01,  8.74047595e-02, -9.15117968e-01, -3.45345204e-02,
        9.96172881e-01,  8.02929566e-02,  9.18633689e-01, -6.93889390e-18,
        3.95110296e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08286479, -0.03416021,  0.22317668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001872186654182012
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.96504364e-14,  2.96504364e-14,  1.00000000e+00,  8.79148376e-28,
        1.00000000e+00, -2.96504364e-14, -1.00000000e+00,  0.00000000e+00,
       -2.96504364e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08623045, -0.08204202,  0.06187643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.78965163e-03, 2.79212769e-02, 3.63467580e-03,-2.99062788e-05,
  7.07872229e-06,-5.10822902e-06, 7.49887912e-06,-1.19421660e-05,
  1.25871600e-05, 2.39630586e-05,-5.54700529e-06,-6.30499421e-05,
  1.05362339e-02, 1.52313420e-02, 6.00358617e-03, 7.32535626e-04,
  3.24395940e-04, 7.84280746e-03,-9.81238781e+00, 2.71812810e-04,
 -6.15563975e-02, 6.21767312e-02]


--- Step 3637 ---
qpos:
[-0.01858119, 1.20137015,-0.03516643, 0.94260475,-0.00792956, 1.33292326,
 -0.03114953, 0.94132987, 0.01531021, 1.33850118,-0.0237517 , 0.95471695,
  1.27566272,-0.00939279, 1.28589654, 0.04423181,-0.0554017 ,-0.08935456,
  0.09019307, 0.69117257,-0.09282127,-0.71242545,-0.07819633]

qacc:
[-7.03382223e-01, 2.63761714e+00,-3.44180092e+00,-4.27629925e+00,
 -1.42063981e-02,-9.75828814e-01, 3.14029989e+00,-3.95645346e+00,
 -4.53110911e-02,-2.22191583e+00, 1.14805576e+01,-3.13121609e+01,
 -3.20797667e-01, 8.02143146e-01,-1.21110417e+01, 2.10009449e+01,
 -3.29564292e+00, 6.10806649e-01,-3.32952794e+00,-1.01396469e+00,
 -1.15229934e+02,-3.98480878e+01]

qfrc_actuator:
[ 9.74696473e-03, 6.20573247e-02, 1.40959998e-02, 1.94459795e-03,
 -2.35886054e-06, 3.48509818e-02, 1.09441677e-02, 1.78744203e-03,
 -3.03041914e-03, 3.48140964e-02, 1.08943348e-02, 1.66497532e-03,
  7.93789530e-03, 1.33414298e-02, 0.00000000e+00,-3.16990975e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16052033, -0.04241343, -0.15481562, -0.04241343,  0.15127974,
        0.00253156, -0.15481562,  0.00253156,  0.15982678,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.049427384901055e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65435227,  0.07801102, -0.75215516, -0.05120273,  0.9969525 ,
        0.05885575,  0.75445437,  0.        ,  0.6563525 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610364, -0.03424918,  0.22486857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16052033, -0.04241343, -0.15481562, -0.04241343,  0.15127974,
        0.00253156, -0.15481562,  0.00253156,  0.15982678,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.049427384901055e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65435227,  0.07801102, -0.75215516, -0.05120273,  0.9969525 ,
        0.05885575,  0.75445437,  0.        ,  0.6563525 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610364, -0.03424918,  0.22486857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000593448076223968
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93588461e-01,  8.74046415e-02, -9.15122151e-01, -3.45336223e-02,
        9.96172891e-01,  8.02932144e-02,  9.18637879e-01, -6.93889390e-18,
        3.95100554e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08286439, -0.0341616 ,  0.2231768 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.11821085, -2.30520387, 17.11821085, 18.74371739,
       10.92342384, -2.30520387, 10.92342384, 98.38896805,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018798264862235764
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.90598671e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.90598671e-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([ 0.02246509, -0.09600146,  0.06187602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.78450597e-03, 2.79312206e-02, 3.61153932e-03,-1.24673002e-05,
 -4.10863255e-06,-1.71590982e-05, 7.38637442e-06,-6.22997013e-06,
 -1.30654530e-05, 2.90303236e-05,-6.93748708e-06,-9.32329204e-05,
  1.05607815e-02, 1.52260849e-02, 6.11753347e-03, 1.06868776e-03,
 -9.37431349e-04, 7.15070218e-03,-9.81194609e+00, 5.19121948e-05,
 -6.15262190e-02, 6.21932165e-02]


--- Step 3638 ---
qpos:
[-0.01858343, 1.20138801,-0.03516806, 0.94260586,-0.00792962, 1.33292394,
 -0.03114954, 0.94133104, 0.01531028, 1.3385027 ,-0.02375095, 0.9547162 ,
  1.27567857,-0.00939117, 1.28588259, 0.04422801,-0.05542309,-0.08940684,
  0.09016436, 0.69098814,-0.09219267,-0.71259767,-0.07899661]

qacc:
[-6.07056312e-01, 1.97233463e+00,-5.71657397e+00, 1.77112664e+01,
 -2.57213710e-02, 3.30308330e+00,-1.21797846e+01, 2.13670880e+01,
 -6.94253667e-02,-1.06278848e-01,-8.21243373e-01, 7.85553895e+00,
 -3.32461229e-01, 8.28660171e-01,-8.64517606e+00, 1.50385572e+01,
 -3.04520863e+00, 5.21065266e-01,-3.82772016e+00,-1.47701788e+00,
 -1.06255288e+02,-3.52518875e+01]

qfrc_actuator:
[ 9.73063620e-03, 6.20232521e-02, 1.40755087e-02, 2.00743640e-03,
 -7.31156161e-06, 3.48949524e-02, 1.09308473e-02, 1.83706569e-03,
 -3.04274616e-03, 3.48245475e-02, 1.09243486e-02, 1.69999872e-03,
  7.93114113e-03, 1.33592296e-02, 0.00000000e+00,-1.81630997e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16051953, -0.03861339, -0.15580605, -0.03861339,  0.14455861,
        0.00395559, -0.15580605,  0.00395559,  0.15953922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0384622890544726e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65442318,  0.07800753, -0.75209383, -0.05120597,  0.99695277,
        0.05884831,  0.75439264,  0.        ,  0.65642345])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610346, -0.03425037,  0.22486936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16051953, -0.03861339, -0.15580605, -0.03861339,  0.14455861,
        0.00395559, -0.15580605,  0.00395559,  0.15953922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0384622890544726e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65442318,  0.07800753, -0.75209383, -0.05120597,  0.99695277,
        0.05884831,  0.75439264,  0.        ,  0.65642345])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610346, -0.03425037,  0.22486936])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005937342448997796
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93576338e-01,  8.74052020e-02, -9.15127312e-01, -3.45327817e-02,
        9.96172842e-01,  8.02941861e-02,  9.18643104e-01,  6.93889390e-18,
        3.95088403e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08286313, -0.03416275,  0.22317697])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.65556683,   4.57593716, -16.65556683,
        19.16567365,   6.8899755 ,   4.57593716,   6.8899755 ,
        42.35096664,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018827223728355713
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.94845124e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.94845124e-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([ 0.02245511, -0.09601687,  0.06187584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.84891273e-03, 2.77656606e-02, 3.59114641e-03, 7.44316703e-05,
 -7.37875352e-06, 3.57325594e-05,-1.60207099e-05, 4.91801795e-05,
 -2.00407252e-05, 2.23745039e-05, 3.21629352e-05, 3.35114929e-05,
  1.05699303e-02, 1.52008850e-02, 6.61671154e-03, 1.24734717e-03,
  7.71147560e-04, 6.47067709e-03,-9.81222347e+00, 7.43728051e-04,
 -6.15787180e-02, 6.22439417e-02]


--- Step 3639 ---
qpos:
[-0.01858545, 1.20140415,-0.03516988, 0.94260709,-0.00792974, 1.33292455,
 -0.03114899, 0.94133279, 0.01531033, 1.33850458,-0.02375058, 0.95471727,
  1.27569396,-0.00938983, 1.28587464, 0.04422454,-0.05543432,-0.08945564,
  0.09015069, 0.69092623,-0.09166846,-0.71264594,-0.0797095 ]

qacc:
[ 9.82722697e-02,-1.57185539e+00, 2.16194483e+00, 5.31788842e-01,
 -2.51381528e-02,-6.33593029e-01, 7.67666687e-01, 6.00583492e+00,
 -5.00309571e-03, 4.65787010e+00,-1.82822538e+01, 3.66365236e+01,
 -4.85107524e-01, 2.46484908e-01, 7.91799167e+00,-1.47478543e+01,
  2.53767612e+00, 8.71013087e-01, 3.75900316e+00,-4.18378334e+00,
  7.83362920e+01, 7.79398222e+01]

qfrc_actuator:
[ 9.74032532e-03, 6.19766929e-02, 1.40810099e-02, 1.99070951e-03,
 -1.02232400e-05, 3.48853452e-02, 1.09586365e-02, 1.86580005e-03,
 -3.03231641e-03, 3.48479301e-02, 1.09062725e-02, 1.79195007e-03,
  7.92652846e-03, 1.34397755e-02, 0.00000000e+00,-4.71336728e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16051536, -0.06938588, -0.14474384, -0.06938588,  0.2267173 ,
       -0.03173524, -0.14474384, -0.03173524,  0.17572829,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9803040108295686e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65452151,  0.07800339, -0.75200869, -0.05121093,  0.99695309,
        0.0588385 ,  0.75430699,  0.        ,  0.65652187])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861031 , -0.03425142,  0.22487046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16051536, -0.06938588, -0.14474384, -0.06938588,  0.2267173 ,
       -0.03173524, -0.14474384, -0.03173524,  0.17572829,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9803040108295686e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65452151,  0.07800339, -0.75200869, -0.05121093,  0.99695309,
        0.0588385 ,  0.75430699,  0.        ,  0.65652187])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861031 , -0.03425142,  0.22487046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005937140774229799
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3935614 ,  0.08740636, -0.91513362, -0.03453193,  0.99617274,
        0.08029581,  0.91864953,  0.        ,  0.39507345])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08286123, -0.03416376,  0.22317718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001900867530558098
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08620289, -0.08202311,  0.06187465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92830151e-03, 2.76174723e-02, 3.54573313e-03,-2.74822838e-06,
 -7.26644099e-06, 8.50528575e-06, 3.44016294e-05, 3.04832940e-05,
 -1.40407157e-06, 4.30172855e-05,-9.07377750e-06, 9.43376909e-05,
  1.05749592e-02, 1.52402579e-02, 6.97266663e-03, 9.88146455e-04,
  1.93440696e-03, 5.77304119e-03,-9.81264369e+00, 1.52020849e-03,
 -6.16237979e-02, 6.22953372e-02]


--- Step 3640 ---
qpos:
[-0.01858753, 1.20141908,-0.03517319, 0.94260642,-0.00793005, 1.33292449,
 -0.03114779, 0.94133457, 0.01531042, 1.33850673,-0.02375152, 0.95471949,
  1.27570883,-0.00938866, 1.2858695 , 0.04422123,-0.05543434,-0.08949456,
  0.09014734, 0.69097879,-0.09135107,-0.71257455,-0.08025458]

qacc:
[-2.96211863e-02,-8.13179694e-01, 4.67195153e+00,-2.54210815e+01,
 -8.20910179e-02,-2.57754886e+00, 7.28443039e+00,-5.50616357e+00,
  1.85404878e-02, 5.88104578e+00,-2.10711305e+01, 3.13729925e+01,
 -4.39670497e-01, 2.45782974e-01, 3.69555315e+00,-6.83277133e+00,
  2.80242183e+00, 2.46921671e+00, 2.58127154e+00,-1.11728260e+01,
  6.61871389e+01, 1.41714993e+02]

qfrc_actuator:
[ 9.72905783e-03, 6.19433335e-02, 1.40673961e-02, 1.89135108e-03,
 -2.96396848e-05, 3.48083744e-02, 1.09747558e-02, 1.86424717e-03,
 -3.02607218e-03, 3.48254823e-02, 1.08244993e-02, 1.84559853e-03,
  7.92323153e-03, 1.34699861e-02, 0.00000000e+00,-5.01946133e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16051403, -0.08412101, -0.13670556, -0.08412101,  0.24181032,
       -0.05002522, -0.13670556, -0.05002522,  0.19129678,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9614377672103056e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65459682,  0.07800041, -0.75194344, -0.05121486,  0.99695333,
        0.05883114,  0.75424136,  0.        ,  0.65659726])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610289, -0.03425256,  0.22487131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16051403, -0.08412101, -0.13670556, -0.08412101,  0.24181032,
       -0.05002522, -0.13670556, -0.05002522,  0.19129678,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9614377672103056e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65459682,  0.07800041, -0.75194344, -0.05121486,  0.99695333,
        0.05883114,  0.75424136,  0.        ,  0.65659726])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610289, -0.03425256,  0.22487131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005939505842166015
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39354822,  0.0874074 , -0.91513919, -0.03453119,  0.99617265,
        0.08029726,  0.91865521,  0.        ,  0.39506026])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08285985, -0.03416487,  0.22317736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   4.3899423 , -16.70555339,   4.3899423 ,
        65.89783595,  12.77787193, -16.70555339,  12.77787193,
        20.63054004,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019209253449692515
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.80613315e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.80613315e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08804585, -0.08954331,  0.0618734 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.90575097e-03, 2.76700302e-02, 3.54129477e-03,-1.07726867e-04,
 -2.37059026e-05,-6.46172729e-05, 2.25954140e-05, 4.23130362e-07,
  5.41722813e-06, 2.35255808e-06,-7.16435830e-05, 5.68578869e-05,
  1.05946032e-02, 1.52847848e-02, 6.67286243e-03, 9.41313215e-04,
  8.22167158e-04, 5.10881168e-03,-9.81197012e+00, 1.15776496e-03,
 -6.15638049e-02, 6.23066018e-02]


--- Step 3641 ---
qpos:
[-0.01859048, 1.20143574,-0.03517696, 0.94260423,-0.00793028, 1.33292386,
 -0.03114658, 0.94133497, 0.01531028, 1.33850861,-0.02375258, 0.95472025,
  1.27572335,-0.00938713, 1.28586031, 0.0442177 ,-0.05542401,-0.08952427,
  0.09015064, 0.69113761,-0.09122372,-0.71239258,-0.08064647]

qacc:
[-3.74084176e-01, 9.61771337e-01, 2.71209611e+00,-2.09291789e+01,
  3.51367733e-02,-3.13804876e+00, 1.22016218e+01,-2.63401090e+01,
 -9.91709011e-02,-2.56666045e+00, 1.08833980e+01,-2.61007061e+01,
 -3.17995427e-01, 4.83051049e-01,-5.27736480e+00, 9.82307733e+00,
  2.58726910e+00, 2.30172446e+00, 1.66077241e+00,-1.06597596e+01,
  6.14374294e+01, 1.29949558e+02]

qfrc_actuator:
[ 9.72317195e-03, 6.19358257e-02, 1.40791967e-02, 1.83315069e-03,
 -5.54263277e-06, 3.47626159e-02, 1.09658028e-02, 1.79157224e-03,
 -3.05789579e-03, 3.47932402e-02, 1.08121055e-02, 1.76969183e-03,
  7.92074561e-03, 1.34522482e-02, 0.00000000e+00,-3.06053110e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1605139 , -0.07206479, -0.14342726, -0.07206479,  0.19725895,
       -0.01846248, -0.14342726, -0.01846248,  0.16979035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9595829986377225e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65466027,  0.07799816, -0.75188844, -0.05121833,  0.9969535 ,
        0.05882512,  0.75418606,  0.        ,  0.65666078])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610275, -0.03425371,  0.22487202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1605139 , -0.07206479, -0.14342726, -0.07206479,  0.19725895,
       -0.01846248, -0.14342726, -0.01846248,  0.16979035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.9595829986377225e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65466027,  0.07799816, -0.75188844, -0.05121833,  0.9969535 ,
        0.05882512,  0.75418606,  0.        ,  0.65666078])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610275, -0.03425371,  0.22487202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005942827015486159
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93537526e-01,  8.74084187e-02, -9.15143696e-01, -3.45306569e-02,
        9.96172560e-01,  8.02986014e-02,  9.18659812e-01, -6.93889390e-18,
        3.95049555e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08285875, -0.034166  ,  0.22317752])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  17.0944514 ,  -2.47524517,  17.0944514 ,
        20.12685437,  19.71107248,  -2.47524517,  19.71107248,
       153.40064477,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001924205301281845
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.21221784e-15,  5.76977427e-14,  1.00000000e+00,  4.16128690e-28,
        1.00000000e+00, -5.76977427e-14, -1.00000000e+00,  0.00000000e+00,
       -7.21221784e-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([-0.08804389, -0.08953657,  0.06187323])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.90323826e-03, 2.77229766e-02, 3.62750338e-03,-7.06065439e-05,
  1.01003952e-05,-7.70718950e-05,-1.90120200e-05,-7.39459665e-05,
 -2.86234281e-05,-4.32580662e-05,-1.84109538e-05,-7.66054745e-05,
  1.06178566e-02, 1.52758916e-02, 6.53246558e-03, 1.12918250e-03,
 -3.22560439e-04, 3.13946070e-03,-9.81106868e+00, 1.00149784e-03,
 -6.14531954e-02, 6.23141733e-02]


--- Step 3642 ---
qpos:
[-0.0185936 , 1.20145419,-0.03517978, 0.94260266,-0.0079302 , 1.33292256,
 -0.03114485, 0.94133378, 0.01531   , 1.33851005,-0.02375256, 0.95471971,
  1.2757382 ,-0.00938527, 1.28584786, 0.0442139 ,-0.05542733,-0.08955078,
  0.09014097, 0.6911224 ,-0.09103864,-0.71238166,-0.08108125]

qacc:
[-8.02452468e-02, 8.51511740e-01,-1.18742854e+00, 7.01130260e+00,
  1.32768848e-01,-4.99078851e+00, 1.85020170e+01,-3.40201861e+01,
 -6.23392786e-02,-5.73777372e+00, 2.06328943e+01,-3.26747455e+01,
  2.16759392e-01, 5.49493105e-02,-4.02257761e+00, 7.05901990e+00,
 -3.41314332e+00, 8.01829792e-01,-3.23931560e+00, 3.63011382e+00,
 -1.16807245e+02,-5.02017747e+01]

qfrc_actuator:
[ 9.73908572e-03, 6.19768830e-02, 1.40703125e-02, 1.87101721e-03,
  2.67105685e-05, 3.47357548e-02, 1.09954479e-02, 1.71313675e-03,
 -3.05904123e-03, 3.47910564e-02, 1.08761697e-02, 1.70696598e-03,
  7.91342528e-03, 1.33875172e-02, 0.00000000e+00,-2.40225413e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16051216, -0.05172797, -0.15194858, -0.05172797,  0.1690183 ,
       -0.00289575, -0.15194858, -0.00289575,  0.16149796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.934513918323312e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65473972,  0.07799554, -0.75181953, -0.05122282,  0.99695371,
        0.05881775,  0.75411679,  0.        ,  0.65674034])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610251, -0.03425476,  0.22487293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16051216, -0.05172797, -0.15194858, -0.05172797,  0.1690183 ,
       -0.00289575, -0.15194858, -0.00289575,  0.16149796,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.934513918323312e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65473972,  0.07799554, -0.75181953, -0.05122282,  0.99695371,
        0.05881775,  0.75411679,  0.        ,  0.65674034])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610251, -0.03425476,  0.22487293])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005944758922647869
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93525665e-01,  8.74097953e-02, -9.15148665e-01, -3.45301641e-02,
        9.96172439e-01,  8.03003118e-02,  9.18664911e-01,  6.93889390e-18,
        3.95037696e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0828573 , -0.03416702,  0.22317772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.24112523, -1.0443697 , 17.24112523, 17.45527042,
        3.01353942, -1.0443697 ,  3.01353942, 67.02216968,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019092206897566022
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.90752931e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.90752931e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02237317, -0.09610015,  0.0618742 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96207131e-03, 2.76776611e-02, 3.64183346e-03, 4.25337943e-05,
  3.82132976e-05,-7.54453897e-05, 1.02290526e-05,-8.30284711e-05,
 -1.80499263e-05,-3.19825701e-05, 5.12822174e-05,-6.63270197e-05,
  1.06286484e-02, 1.51928837e-02, 6.73505672e-03, 1.20636415e-03,
 -1.03141247e-03, 1.74907211e-03,-9.81038845e+00, 1.01120463e-03,
 -6.13275499e-02, 6.23171356e-02]


--- Step 3643 ---
qpos:
[-0.01859606, 1.20147282,-0.03518136, 0.94260307,-0.00793007, 1.33292091,
 -0.03114295, 0.94133268, 0.01530976, 1.33851073,-0.02375224, 0.95471987,
  1.27575385,-0.0093833 , 1.28583502, 0.04420987,-0.05542001,-0.08956807,
  0.09013963, 0.69121804,-0.09105317,-0.71225599,-0.08135323]

qacc:
[ 2.90481670e-01, 2.06805835e-01,-4.49817355e+00, 2.67625021e+01,
  2.15112403e-02,-7.56198815e-01, 1.69811517e+00,-1.28462275e-01,
  2.30187798e-02,-5.95069307e-01,-6.66388344e-01, 9.12617487e+00,
  5.74321589e-01,-3.62692667e-01, 4.87509052e-02,-1.09961971e+00,
  2.66305416e+00, 2.30318081e+00, 2.07971012e+00,-1.05939715e+01,
  6.36259004e+01, 1.37070810e+02]

qfrc_actuator:
[ 9.76774833e-03, 6.19753015e-02, 1.40477907e-02, 1.96500739e-03,
  1.03361019e-05, 3.47383070e-02, 1.10122263e-02, 1.72075847e-03,
 -3.04177262e-03, 3.47184298e-02, 1.08784527e-02, 1.74134249e-03,
  7.91380586e-03, 1.33299798e-02, 0.00000000e+00,-2.87812895e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16050922, -0.04045251, -0.15532806, -0.04045251,  0.15946118,
        0.00027295, -0.15532806,  0.00027295,  0.16043814,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8914725117297887e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65483359,  0.07799223, -0.75173811, -0.05122797,  0.99695397,
        0.05880886,  0.75403492,  0.        ,  0.65683433])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610219, -0.03425579,  0.224874  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16050922, -0.04045251, -0.15532806, -0.04045251,  0.15946118,
        0.00027295, -0.15532806,  0.00027295,  0.16043814,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8914725117297887e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65483359,  0.07799223, -0.75173811, -0.05122797,  0.99695397,
        0.05880886,  0.75403492,  0.        ,  0.65683433])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610219, -0.03425579,  0.224874  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005945775353399067
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93511275e-01,  8.74112916e-02, -9.15154710e-01, -3.45294971e-02,
        9.96172307e-01,  8.03022274e-02,  9.18671100e-01,  6.93889390e-18,
        3.95023303e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08285553, -0.03416801,  0.22317795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.22096742,   1.3361843 , -17.22096742,
        18.08553299,  10.47557641,   1.3361843 ,  10.47557641,
       152.28371362,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001922129329485496
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.88800292e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.88800292e-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([-0.08804693, -0.08952318,  0.06187339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.99993013e-03, 2.75857973e-02, 3.57188785e-03, 1.05872452e-04,
  6.18155391e-06,-3.96810059e-05, 7.40715126e-07, 3.72294439e-06,
  6.60877226e-06,-8.22743380e-05,-7.81249640e-08, 3.33871534e-05,
  1.06121132e-02, 1.51185635e-02, 6.89805823e-03, 1.17209055e-03,
 -7.96416647e-05, 1.59348291e-03,-9.81074342e+00, 1.27289033e-03,
 -6.13858192e-02, 6.23484967e-02]


--- Step 3644 ---
qpos:
[-0.01859836, 1.20149155,-0.03518292, 0.94260364,-0.00792999, 1.33291953,
 -0.03114172, 0.94133168, 0.01530965, 1.33851073,-0.02375216, 0.95472046,
  1.27577005,-0.00938124, 1.28582091, 0.04420573,-0.05542615,-0.08958211,
  0.09012486, 0.69114305,-0.0910084 ,-0.71229843,-0.08166823]

qacc:
[ 7.03721485e-02, 3.82692081e-01,-1.41382156e+00, 3.02640774e+00,
 -2.18480697e-02, 2.30362612e+00,-7.25769274e+00, 7.11865672e+00,
  4.96792063e-02, 4.84173914e-01,-3.51268368e+00, 8.43807066e+00,
  4.46092990e-01,-2.95179030e-01,-1.56413391e+00, 2.66743702e+00,
 -3.36707267e+00, 8.14895463e-01,-3.35766011e+00, 4.24088404e+00,
 -1.14489660e+02,-5.05782538e+01]

qfrc_actuator:
[ 9.75002498e-03, 6.19490492e-02, 1.40696625e-02, 1.96679376e-03,
  4.27508815e-07, 3.47762212e-02, 1.09859283e-02, 1.72571083e-03,
 -3.03135104e-03, 3.46750348e-02, 1.08617627e-02, 1.76148484e-03,
  7.91875382e-03, 1.33123579e-02, 0.00000000e+00,-2.43613167e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16050607, -0.05011825, -0.15248069, -0.05011825,  0.17388068,
       -0.00439605, -0.15248069, -0.00439605,  0.16195099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8441317995476422e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65493029,  0.07798832, -0.75165427, -0.05123295,  0.99695427,
        0.05879934,  0.75395059,  0.        ,  0.65693113])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610186, -0.03425688,  0.22487509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16050607, -0.05011825, -0.15248069, -0.05011825,  0.17388068,
       -0.00439605, -0.15248069, -0.00439605,  0.16195099,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8441317995476422e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65493029,  0.07798832, -0.75165427, -0.05123295,  0.99695427,
        0.05879934,  0.75395059,  0.        ,  0.65693113])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610186, -0.03425688,  0.22487509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005946569179195588
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39349559,  0.08741255, -0.91516134, -0.03452862,  0.9961722 ,
        0.08030397,  0.91867785,  0.        ,  0.3950076 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08285369, -0.03416906,  0.22317818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.23913548, -1.07671508, 17.23913548, 17.44767214,
        2.80101789, -1.07671508,  2.80101789, 62.11943519,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019421213475932647
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.85827409e-14,  4.28741113e-14,  1.00000000e+00,  1.22545961e-27,
        1.00000000e+00, -4.28741113e-14, -1.00000000e+00,  0.00000000e+00,
       -2.85827409e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0222789 , -0.09615031,  0.06187216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94884736e-03, 2.75509094e-02, 3.53119691e-03, 8.79873851e-06,
 -6.26087178e-06, 1.62266126e-05,-3.38712620e-05, 3.86296070e-06,
  1.43219626e-05,-8.79224926e-05,-3.17906243e-05, 1.84805025e-05,
  1.05773954e-02, 1.50955630e-02, 6.91809458e-03, 1.22744060e-03,
 -5.35486046e-04, 7.03354558e-04,-9.81007958e+00, 1.25345549e-03,
 -6.12281460e-02, 6.23456703e-02]


--- Step 3645 ---
qpos:
[-0.01860193, 1.20151232,-0.03518451, 0.94260371,-0.00792969, 1.33291857,
 -0.03114098, 0.94133175, 0.01530965, 1.33851041,-0.02375156, 0.95472121,
  1.2757864 ,-0.00937855, 1.2857997 , 0.0442013 ,-0.05544469,-0.0895934 ,
  0.09009468, 0.69091077,-0.0909149 ,-0.71249518,-0.08202076]

qacc:
[-5.52189462e-01, 1.88469118e+00,-1.87643403e+00,-5.48039709e+00,
  8.96054474e-02, 3.72634282e+00,-1.37298695e+01, 2.42052663e+01,
  5.10024421e-02,-1.52294196e+00, 4.09913305e+00,-1.40975653e+00,
  8.26721209e-02, 3.36787647e-01,-9.58468804e+00, 1.83204279e+01,
 -3.09955077e+00, 6.83981856e-01,-3.85122030e+00, 2.61735901e+00,
 -1.05646099e+02,-4.37758287e+01]

qfrc_actuator:
[ 9.70470845e-03, 6.19079897e-02, 1.40834047e-02, 1.94978869e-03,
  2.99854200e-05, 3.48171089e-02, 1.09700555e-02, 1.78229165e-03,
 -3.02512251e-03, 3.47026566e-02, 1.09051107e-02, 1.77307558e-03,
  7.92643531e-03, 1.33186588e-02, 0.00000000e+00, 1.54161219e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16050232, -0.05015436, -0.15246487, -0.05015436,  0.15063003,
        0.00324756, -0.15246487,  0.00324756,  0.15943402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7862964672892348e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.655032  ,  0.07798401, -0.75156608, -0.05123806,  0.99695461,
        0.05878918,  0.75386189,  0.        ,  0.65703292])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861015 , -0.034258  ,  0.22487623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16050232, -0.05015436, -0.15246487, -0.05015436,  0.15063003,
        0.00324756, -0.15246487,  0.00324756,  0.15943402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7862964672892348e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.655032  ,  0.07798401, -0.75156608, -0.05123806,  0.99695461,
        0.05878918,  0.75386189,  0.        ,  0.65703292])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0861015 , -0.034258  ,  0.22487623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005946613026021931
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39347979,  0.08741375, -0.91516801, -0.03452771,  0.99617209,
        0.08030567,  0.91868465,  0.        ,  0.39499178])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08285173, -0.03417013,  0.2231784 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.10322554,   2.41387316, -17.10322554,
        17.40225044,   0.91772176,   2.41387316,   0.91772176,
        23.77514109,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001941428746831897
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.85929377e-14,  2.85929377e-14,  1.00000000e+00,  8.17556087e-28,
        1.00000000e+00, -2.85929377e-14, -1.00000000e+00,  0.00000000e+00,
       -2.85929377e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02227643, -0.09617966,  0.06187216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.89542775e-03, 2.75043572e-02, 3.54435805e-03,-1.62355912e-05,
  2.58625578e-05, 4.33596195e-05,-1.64410875e-05, 5.61640251e-05,
  1.46835497e-05,-2.66585801e-05, 2.31054878e-05, 8.48588537e-06,
  1.05574584e-02, 1.50972901e-02, 6.98219432e-03, 1.49237279e-03,
 -8.04385890e-05, 6.42501046e-04,-9.81049786e+00, 1.41348431e-03,
 -6.12894120e-02, 6.23697578e-02]


--- Step 3646 ---
qpos:
[-0.01860649, 1.20153446,-0.03518539, 0.94260429,-0.00792927, 1.3329181 ,
 -0.03114022, 0.94133247, 0.01530962, 1.33851013,-0.02375035, 0.95472241,
  1.27580268,-0.00937544, 1.28577563, 0.04419692,-0.05545116,-0.08959474,
  0.09007963, 0.69080572,-0.09105409,-0.7125609 ,-0.08218014]

qacc:
[-4.30628971e-01, 7.61513561e-01,-1.34580057e+00, 6.16794544e+00,
  5.20036736e-02, 1.69854516e+00,-6.08673347e+00, 1.24355530e+01,
 -1.87160722e-02,-8.43089846e-01, 1.94036581e+00, 3.33734740e+00,
 -1.62425257e-01, 4.18534421e-01,-4.37410016e+00, 9.17505391e+00,
  3.01622812e+00, 2.49114725e+00, 3.78212617e+00,-1.11623545e+01,
  7.22640635e+01, 1.60801634e+02]

qfrc_actuator:
[ 9.69745881e-03, 6.18205642e-02, 1.40922963e-02, 1.97536323e-03,
  2.97226770e-05, 3.48595278e-02, 1.09782849e-02, 1.81556221e-03,
 -3.03921230e-03, 3.47373131e-02, 1.09483289e-02, 1.79737898e-03,
  7.93577317e-03, 1.33564879e-02, 0.00000000e+00, 6.62670973e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1604959 , -0.05532603, -0.15065843, -0.05532603,  0.15841436,
        0.0007644 , -0.15065843,  0.0007644 ,  0.16021519,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6824041972311396e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65516062,  0.077979  , -0.75145448, -0.05124481,  0.996955  ,
        0.05877664,  0.75374965,  0.        ,  0.65716167])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610096, -0.03425899,  0.22487766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1604959 , -0.05532603, -0.15065843, -0.05532603,  0.15841436,
        0.0007644 , -0.15065843,  0.0007644 ,  0.16021519,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.6824041972311396e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65516062,  0.077979  , -0.75145448, -0.05124481,  0.996955  ,
        0.05877664,  0.75374965,  0.        ,  0.65716167])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610096, -0.03425899,  0.22487766])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005943652153115563
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39346213,  0.08741548, -0.91517544, -0.03452685,  0.99617194,
        0.08030792,  0.91869225,  0.        ,  0.39497412])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08284915, -0.03417108,  0.22317866])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.22901793,   1.22802635, -17.22901793,
        18.00811835,  10.31742201,   1.22802635,  10.31742201,
       162.02454649,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019914929143695498
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.78741395e-14,  5.57482789e-14,  1.00000000e+00,  1.55393530e-27,
        1.00000000e+00, -5.57482789e-14, -1.00000000e+00,  0.00000000e+00,
       -2.78741395e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08797932, -0.08946975,  0.06186895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.95155420e-03, 2.73147003e-02, 3.55423599e-03, 3.43601295e-05,
  1.50060743e-05, 6.48895192e-05, 1.64910055e-05, 3.53960241e-05,
 -5.41933304e-06, 2.46815243e-05, 4.08868999e-05, 2.43883799e-05,
  1.05592699e-02, 1.51034316e-02, 7.33679625e-03, 1.55802896e-03,
 -2.02510979e-05, 5.15168379e-04,-9.81101840e+00, 1.71853799e-03,
 -6.13339273e-02, 6.23948849e-02]


--- Step 3647 ---
qpos:
[-0.01861133, 1.2015578 ,-0.03518569, 0.94260484,-0.00792908, 1.33291812,
 -0.03113938, 0.94133392, 0.01530963, 1.33850979,-0.02374854, 0.9547232 ,
  1.27581905,-0.00937229, 1.2857513 , 0.04419286,-0.05544656,-0.08958675,
  0.09007523, 0.69081735,-0.09140471,-0.71250642,-0.08216545]

qacc:
[-1.26450125e-01,-8.94085653e-03, 1.95944879e+00,-2.67036123e+00,
 -9.38916585e-02, 1.67790898e+00,-6.23076790e+00, 1.36516255e+01,
  2.13862545e-02,-2.40131584e+00, 8.54370240e+00,-1.19777754e+01,
  8.25879508e-02,-3.93192654e-02,-1.35978238e+00, 4.18202622e+00,
  2.76750460e+00, 2.33069945e+00, 2.66428268e+00,-1.06385922e+01,
  6.64780314e+01, 1.45718760e+02]

qfrc_actuator:
[ 9.71327775e-03, 6.17761771e-02, 1.41508167e-02, 1.97242188e-03,
 -6.18087286e-06, 3.48848697e-02, 1.09829090e-02, 1.85260498e-03,
 -3.02987128e-03, 3.47226858e-02, 1.09734077e-02, 1.77571504e-03,
  7.93546807e-03, 1.33421880e-02, 0.00000000e+00, 8.07493141e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16048898, -0.07245622, -0.14320198, -0.07245622,  0.18201647,
       -0.01089231, -0.14320198, -0.01089231,  0.16600019,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5629365673605622e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65530086,  0.07797396, -0.75133271, -0.05125245,  0.9969554 ,
        0.0587633 ,  0.7536272 ,  0.        ,  0.65730209])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610035, -0.03425995,  0.22487923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16048898, -0.07245622, -0.14320198, -0.07245622,  0.18201647,
       -0.01089231, -0.14320198, -0.01089231,  0.16600019,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5629365673605622e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65530086,  0.07797396, -0.75133271, -0.05125245,  0.9969554 ,
        0.0587633 ,  0.7536272 ,  0.        ,  0.65730209])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08610035, -0.03425995,  0.22487923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005939851988647563
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93442549e-01,  8.74176312e-02, -9.15183653e-01, -3.45259897e-02,
        9.96171751e-01,  8.03106362e-02,  9.18700668e-01, -6.93889390e-18,
        3.94954533e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08284632, -0.03417198,  0.22317895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.97977411, -3.16770875, 16.97977411, 20.12451241,
       15.28633823, -3.16770875, 15.28633823, 99.21162716,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020150542463423723
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75482168e-14,  5.50964336e-14,  1.00000000e+00,  1.51780850e-27,
        1.00000000e+00, -5.50964336e-14, -1.00000000e+00,  0.00000000e+00,
       -2.75482168e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08795601, -0.08945103,  0.06186743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01681116e-03, 2.72012399e-02, 3.57738672e-03, 6.15349693e-06,
 -2.70428537e-05, 6.55388053e-05, 2.02385678e-05, 4.03041045e-05,
  6.14101420e-06, 7.73136910e-06, 3.52602670e-05,-1.91654499e-05,
  1.05627048e-02, 1.50683187e-02, 7.48075496e-03, 1.57020638e-03,
 -2.68808788e-04, 3.88113117e-04,-9.81022896e+00, 1.47769545e-03,
 -6.11240044e-02, 6.23838827e-02]


--- Step 3648 ---
qpos:
[-0.01861648, 1.20158276,-0.03518547, 0.94260498,-0.0079289 , 1.3329187 ,
 -0.03113907, 0.94133548, 0.01530971, 1.33850859,-0.02374606, 0.95472449,
  1.27583513,-0.00936912, 1.28572618, 0.04418915,-0.05543172,-0.08956998,
  0.09007771, 0.69093671,-0.09194909,-0.71234058,-0.08199224]

qacc:
[-1.30104800e-01,-5.09151001e-04, 3.43519341e+00,-8.87369664e+00,
 -6.88380415e-03, 2.34119930e+00,-6.97455890e+00, 6.99433275e+00,
  3.20565254e-02,-2.06650668e+00, 4.37568659e+00, 2.44123338e+00,
 -1.73483494e-01, 1.20468148e-01,-2.23909561e+00, 6.15895510e+00,
  2.56118767e+00, 2.19574821e+00, 1.71660098e+00,-1.01039915e+01,
  6.16355199e+01, 1.33293129e+02]

qfrc_actuator:
[ 9.74263478e-03, 6.17394947e-02, 1.42034610e-02, 1.95269337e-03,
  7.83698167e-06, 3.48997797e-02, 1.09497967e-02, 1.85605545e-03,
 -3.02430132e-03, 3.46253155e-02, 1.09873653e-02, 1.79814355e-03,
  7.93469060e-03, 1.33678243e-02, 0.00000000e+00, 1.44130464e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16048281, -0.0851167 , -0.13605102, -0.0851167 ,  0.1846592 ,
       -0.01512532, -0.13605102, -0.01512532,  0.16994556,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4479842403195345e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65544361,  0.07796897, -0.7512087 , -0.05126031,  0.99695579,
        0.05874982,  0.75350252,  0.        ,  0.65744501])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609974, -0.03426091,  0.22488084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16048281, -0.0851167 , -0.13605102, -0.0851167 ,  0.1846592 ,
       -0.01512532, -0.13605102, -0.01512532,  0.16994556,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4479842403195345e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65544361,  0.07796897, -0.7512087 , -0.05126031,  0.99695579,
        0.05874982,  0.75350252,  0.        ,  0.65744501])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609974, -0.03426091,  0.22488084])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000593667332361509
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39342134,  0.08741993, -0.91519255, -0.03452504,  0.99617155,
        0.08031354,  0.91870978,  0.        ,  0.39493333])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08284344, -0.03417288,  0.22317926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.89879474,  -3.57461098,  16.89879474,
        21.33879502,  19.22213205,  -3.57461098,  19.22213205,
       108.14439588,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020140058425851814
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08795611, -0.08944127,  0.06186746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06066825e-03, 2.71047184e-02, 3.60137838e-03,-1.26035589e-05,
 -1.94416933e-06, 5.63433612e-05,-1.67997931e-05, 6.95694228e-06,
  9.19681067e-06,-8.67749145e-05, 1.89135871e-05, 2.32465865e-05,
  1.05573066e-02, 1.50915874e-02, 7.49435305e-03, 1.61773800e-03,
 -4.59911137e-05, 8.09991429e-04,-9.80970050e+00, 1.45060214e-03,
 -6.09051320e-02, 6.23684643e-02]


--- Step 3649 ---
qpos:
[-0.01862119, 1.20160745,-0.03518513, 0.94260472,-0.00792866, 1.3329195 ,
 -0.03113953, 0.94133574, 0.01530973, 1.33850668,-0.02374338, 0.95472571,
  1.27585076,-0.00936632, 1.28570512, 0.04418604,-0.05540732,-0.08954487,
  0.09008383, 0.69115613,-0.09267252,-0.71207057,-0.08167316]

qacc:
[ 1.87838062e-01,-1.34636073e+00, 4.77864690e+00,-8.50323280e+00,
  2.48826222e-02, 1.62874819e-01, 2.53253116e+00,-1.75276837e+01,
 -3.13053747e-02,-1.61322847e+00, 4.28359220e+00,-4.13813391e+00,
 -3.01104565e-01,-8.34905017e-03, 4.23389511e+00,-6.04231412e+00,
  2.39032648e+00, 2.08254042e+00, 9.13814198e-01,-9.57140938e+00,
  5.75853501e+01, 1.23058427e+02]

qfrc_actuator:
[ 9.76248653e-03, 6.17242865e-02, 1.41991416e-02, 1.92330097e-03,
  1.61854150e-05, 3.48726494e-02, 1.08946119e-02, 1.78642243e-03,
 -3.03879182e-03, 3.45856443e-02, 1.09943532e-02, 1.79303539e-03,
  7.92300954e-03, 1.33996869e-02, 0.00000000e+00, 5.90113651e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16047726, -0.09508894, -0.12927121, -0.09508894,  0.20810273,
       -0.0350322 , -0.12927121, -0.0350322 ,  0.18624615,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3363090573125999e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65559073,  0.07796392, -0.75108083, -0.05126848,  0.99695618,
        0.05873599,  0.75337397,  0.        ,  0.65759233])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609913, -0.03426184,  0.22488253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16047726, -0.09508894, -0.12927121, -0.09508894,  0.20810273,
       -0.0350322 , -0.12927121, -0.0350322 ,  0.18624615,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3363090573125999e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65559073,  0.07796392, -0.75108083, -0.05126848,  0.99695618,
        0.05873599,  0.75337397,  0.        ,  0.65759233])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609913, -0.03426184,  0.22488253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005934103679657542
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93398169e-01,  8.74223791e-02, -9.15202277e-01, -3.45239847e-02,
        9.96171334e-01,  8.03166660e-02,  9.18719748e-01, -6.93889390e-18,
        3.94910148e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08284047, -0.03417376,  0.2231796 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.78796707,  -4.06340608,  16.78796707,
        23.19200151,  24.45548857,  -4.06340608,  24.45548857,
       118.31060748,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001993203473685992
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.78502180e-14,  2.78502180e-14,  1.00000000e+00,  7.75634642e-28,
        1.00000000e+00, -2.78502180e-14, -1.00000000e+00,  0.00000000e+00,
       -2.78502180e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0879749 , -0.08943862,  0.06186873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.09543420e-03, 2.70084136e-02, 3.57083107e-03,-2.09806433e-05,
  7.20275291e-06, 9.60540601e-07,-4.58663956e-05,-6.82629591e-05,
 -9.06290454e-06,-8.32667809e-05,-7.12868719e-06,-6.58168220e-06,
  1.05603265e-02, 1.51228702e-02, 7.53436830e-03, 1.46177053e-03,
  5.31307661e-04, 1.63345503e-03,-9.80936898e+00, 1.58050270e-03,
 -6.06794036e-02, 6.23483851e-02]


--- Step 3650 ---
qpos:
[-0.01862491, 1.20163059,-0.03518483, 0.94260459,-0.00792864, 1.33291985,
 -0.03114012, 0.94133554, 0.01530962, 1.33850459,-0.02374021, 0.95472506,
  1.27586645,-0.009364  , 1.2856898 , 0.0441834 ,-0.05539785,-0.08951505,
  0.09007896, 0.69118801,-0.09330803,-0.71198694,-0.08140849]

qacc:
[ 4.33585988e-01,-1.71547833e+00, 2.88517616e+00,-7.72256823e-02,
 -9.14727312e-02,-1.05719731e+00, 3.67487383e+00,-8.26604014e+00,
 -4.84354599e-02,-4.78732843e+00, 1.90734095e+01,-3.78677634e+01,
  6.86353500e-02,-3.53613120e-01, 7.01730090e+00,-1.22523217e+01,
 -3.73318230e+00, 1.17897447e+00,-2.75101837e+00, 9.92874293e+00,
 -1.25074549e+02,-6.64012918e+01]

qfrc_actuator:
[ 9.75827190e-03, 6.17764560e-02, 1.41608335e-02, 1.92375422e-03,
 -1.44416580e-05, 3.48204048e-02, 1.08799048e-02, 1.76307686e-03,
 -3.04744659e-03, 3.46162925e-02, 1.10328582e-02, 1.70076645e-03,
  7.91546203e-03, 1.33646477e-02, 0.00000000e+00,-1.64910766e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16047361, -0.07575652, -0.14146635, -0.07575652,  0.20494433,
       -0.02381447, -0.14146635, -0.02381447,  0.17322647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.257301236042875e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.55722927e-01,  7.79594384e-02, -7.50965891e-01, -5.12758475e-02,
        9.96956532e-01,  5.87236025e-02,  7.53258409e-01,  6.93889390e-18,
        6.57724691e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609862, -0.03426281,  0.22488409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16047361, -0.07575652, -0.14146635, -0.07575652,  0.20494433,
       -0.02381447, -0.14146635, -0.02381447,  0.17322647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.257301236042875e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.55722927e-01,  7.79594384e-02, -7.50965891e-01, -5.12758475e-02,
        9.96956532e-01,  5.87236025e-02,  7.53258409e-01,  6.93889390e-18,
        6.57724691e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609862, -0.03426281,  0.22488409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005933921070059751
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39337513,  0.08742466, -0.91521196, -0.03452287,  0.99617113,
        0.08031963,  0.91872966,  0.        ,  0.3948871 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08283786, -0.03417468,  0.22317995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.23549333, -1.13352419, 17.23549333, 17.46069205,
        2.85804725, -1.13352419,  2.85804725, 60.72998639,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002015435624660125
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75430039e-14,  4.13145058e-14,  1.00000000e+00,  1.13792559e-27,
        1.00000000e+00, -4.13145058e-14, -1.00000000e+00,  0.00000000e+00,
       -2.75430039e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02205159, -0.09635668,  0.06186736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06962853e-03, 2.70735850e-02, 3.52622989e-03,-9.71849291e-07,
 -2.63747267e-05,-6.27509179e-05,-2.17435466e-05,-2.62430545e-05,
 -1.40109675e-05,-1.69736453e-05, 2.12414082e-05,-9.50955115e-05,
  1.05750274e-02, 1.51061148e-02, 7.33140665e-03, 1.26137333e-03,
  1.38137470e-03, 2.75696978e-03,-9.80919224e+00, 1.82730857e-03,
 -6.04485346e-02, 6.23234918e-02]


--- Step 3651 ---
qpos:
[-0.0186282 , 1.20165286,-0.03518446, 0.94260475,-0.00792889, 1.33292022,
 -0.03114137, 0.94133504, 0.0153097 , 1.33850306,-0.02373783, 0.95472401,
  1.27588197,-0.00936184, 1.28567692, 0.04418093,-0.05540198,-0.08948131,
  0.09006074, 0.69104867,-0.09387275,-0.71207287,-0.08119033]

qacc:
[ 1.87776115e-01,-8.32713403e-01, 7.42522793e-01, 3.24360167e+00,
 -1.17463393e-01, 1.30422072e+00,-3.62717776e+00,-2.61968704e-01,
  7.66033079e-02, 2.19917186e+00,-5.44664251e+00,-3.44738461e-01,
 -1.56608955e-01, 3.10196194e-02, 3.14517937e+00,-5.74543905e+00,
 -3.40072483e+00, 9.82014700e-01,-3.33686347e+00, 6.82447426e+00,
 -1.14493774e+02,-5.61505710e+01]

qfrc_actuator:
[ 9.75663324e-03, 6.18171821e-02, 1.41732562e-02, 1.94175682e-03,
 -3.26973097e-05, 3.48424521e-02, 1.08536374e-02, 1.74942886e-03,
 -3.01702444e-03, 3.46711303e-02, 1.10011334e-02, 1.68228444e-03,
  7.91569154e-03, 1.33784850e-02, 0.00000000e+00,-1.95623013e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16047181, -0.06299059, -0.14759196, -0.06299059,  0.18027103,
       -0.00845008, -0.14759196, -0.00845008,  0.16407821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2165661406009567e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.55833377e-01,  7.79555487e-02, -7.50869838e-01, -5.12819100e-02,
        9.96956836e-01,  5.87131440e-02,  7.53161834e-01, -6.93889390e-18,
        6.57835278e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609827, -0.0342639 ,  0.2248854 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16047181, -0.06299059, -0.14759196, -0.06299059,  0.18027103,
       -0.00845008, -0.14759196, -0.00845008,  0.16407821,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.2165661406009567e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.55833377e-01,  7.79555487e-02, -7.50869838e-01, -5.12819100e-02,
        9.96956836e-01,  5.87131440e-02,  7.53161834e-01, -6.93889390e-18,
        6.57835278e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609827, -0.0342639 ,  0.2248854 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005936272611400499
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93353551e-01,  8.74265194e-02, -9.15221059e-01, -3.45217165e-02,
        9.96170971e-01,  8.03221476e-02,  9.18738937e-01, -6.93889390e-18,
        3.94865502e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08283574, -0.03417572,  0.22318027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.16367321,   1.93789299, -17.16367321,
        17.27002606,  -0.02392431,   1.93789299,  -0.02392431,
        17.06083266,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020367045371218473
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.72553776e-14,  1.36276888e-14,  1.00000000e+00,  3.71427804e-28,
        1.00000000e+00, -1.36276888e-14, -1.00000000e+00,  0.00000000e+00,
       -2.72553776e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02198863, -0.09639366,  0.061866  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01818423e-03, 2.71914007e-02, 3.54053529e-03, 1.08714228e-05,
 -3.38275407e-05,-1.77174889e-05,-4.17920183e-05,-1.67861233e-05,
  2.21465067e-05, 4.67910378e-05,-3.54103872e-05,-2.05758710e-05,
  1.05725565e-02, 1.51436346e-02, 7.04492236e-03, 1.20669926e-03,
  5.88295081e-04, 3.00695382e-03,-9.80960562e+00, 1.16290900e-03,
 -6.06000838e-02, 6.23144235e-02]


--- Step 3652 ---
qpos:
[-0.01863115, 1.20167451,-0.03518422, 0.94260476,-0.0079294 , 1.33292075,
 -0.03114273, 0.9413333 , 0.01531018, 1.33850257,-0.02373701, 0.95472343,
  1.27589721,-0.00935983, 1.28566593, 0.04417856,-0.0554186 ,-0.08944427,
  0.09002716, 0.69075176,-0.09438021,-0.71231412,-0.08101223]

qacc:
[ 1.48354330e-01,-7.32874808e-01, 1.69646126e+00,-2.74018709e+00,
 -1.06382821e-01,-1.58256770e+00, 7.99595400e+00,-2.14416450e+01,
  1.69321906e-01, 6.39958995e+00,-2.01947462e+01, 2.23555578e+01,
 -2.23059103e-01, 8.07020136e-02, 2.46428815e+00,-4.52963266e+00,
 -3.11950326e+00, 8.23518584e-01,-3.83894425e+00, 4.42706102e+00,
 -1.05567278e+02,-4.79188551e+01]

qfrc_actuator:
[ 9.77445907e-03, 6.17977256e-02, 1.41982754e-02, 1.93457101e-03,
 -4.33825896e-05, 3.48732779e-02, 1.08565260e-02, 1.68835699e-03,
 -2.98115890e-03, 3.47398061e-02, 1.09283683e-02, 1.70736752e-03,
  7.92060570e-03, 1.34037714e-02, 0.00000000e+00,-2.30905614e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16047072, -0.06804104, -0.14533158, -0.06804104,  0.18394911,
       -0.01099207, -0.14533158, -0.01099207,  0.16561696,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1911252546620635e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.55934141e-01,  7.79519302e-02, -7.50782192e-01, -5.12873938e-02,
        9.96957119e-01,  5.87035489e-02,  7.53073706e-01, -6.93889390e-18,
        6.57936163e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609797, -0.03426502,  0.2248866 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16047072, -0.06804104, -0.14533158, -0.06804104,  0.18394911,
       -0.01099207, -0.14533158, -0.01099207,  0.16561696,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1911252546620635e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.55934141e-01,  7.79519302e-02, -7.50782192e-01, -5.12873938e-02,
        9.96957119e-01,  5.87035489e-02,  7.53073706e-01, -6.93889390e-18,
        6.57936163e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609797, -0.03426502,  0.2248866 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005939583235670606
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39333272,  0.0874282 , -0.91522985, -0.03452056,  0.99617082,
        0.08032447,  0.9187479 ,  0.        ,  0.39484465])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08283385, -0.0341768 ,  0.22318056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.16675622,   1.91038953, -17.16675622,
        17.28866611,   0.14322639,   1.91038953,   0.14322639,
        18.55975929,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020305542919313996
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.73379301e-14,  4.10068951e-14,  1.00000000e+00, -1.12104363e-27,
        1.00000000e+00, -4.10068951e-14, -1.00000000e+00,  0.00000000e+00,
        2.73379301e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02199739, -0.09643323,  0.06186626])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01443218e-03, 2.72151793e-02, 3.56218987e-03,-1.06372993e-05,
 -3.06551729e-05, 1.23369222e-05,-5.82801704e-06,-6.32229207e-05,
  4.89458603e-05, 8.70327545e-05,-6.82558841e-05, 2.49542967e-05,
  1.05861090e-02, 1.51769068e-02, 6.92322955e-03, 1.16370925e-03,
 -4.80901362e-04, 3.23237870e-03,-9.81010294e+00, 7.57382774e-04,
 -6.07029498e-02, 6.23068432e-02]


--- Step 3653 ---
qpos:
[-0.01863345, 1.20169588,-0.03518421, 0.94260466,-0.00792996, 1.33292111,
 -0.03114313, 0.94133151, 0.01531093, 1.33850284,-0.02373714, 0.95472453,
  1.27591284,-0.00935787, 1.28565394, 0.04417606,-0.05542453,-0.08940457,
  0.09001393, 0.69059152,-0.09501628,-0.71241808,-0.08072006]

qacc:
[ 2.78949894e-01, 1.06000721e-01,-5.50671428e-01,-6.42367236e-01,
 -2.20588140e-02,-2.93704756e+00, 9.41222138e+00,-8.68267116e+00,
  1.11514030e-01, 6.41618281e+00,-2.30953747e+01, 3.88839858e+01,
  3.92346296e-01,-3.62570575e-01,-1.09310601e+00, 1.61182180e+00,
  2.66961108e+00, 6.63249910e-01, 5.08812736e+00,-2.89650680e+00,
  8.54993903e+01, 9.72173981e+01]

qfrc_actuator:
[ 9.82163422e-03, 6.17422626e-02, 1.41600042e-02, 1.93034061e-03,
 -3.16881225e-05, 3.48737037e-02, 1.09121311e-02, 1.68865748e-03,
 -2.97782455e-03, 3.47805909e-02, 1.08853224e-02, 1.79337373e-03,
  7.93367249e-03, 1.33472200e-02, 0.00000000e+00,-1.80188380e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 1.60470164e-01, -5.44134662e-02, -1.50963069e-01, -5.44134662e-02,
        1.60738110e-01, -9.65792491e-05, -1.50963069e-01, -9.65792491e-05,
        1.60504975e-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: -1.1780190829488793e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6560273 ,  0.07794852, -0.75070114, -0.05129242,  0.99695739,
        0.05869463,  0.75299221,  0.        ,  0.65802943])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609772, -0.03426615,  0.22488772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 1.60470164e-01, -5.44134662e-02, -1.50963069e-01, -5.44134662e-02,
        1.60738110e-01, -9.65792491e-05, -1.50963069e-01, -9.65792491e-05,
        1.60504975e-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: -1.1780190829488793e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6560273 ,  0.07794852, -0.75070114, -0.05129242,  0.99695739,
        0.05869463,  0.75299221,  0.        ,  0.65802943])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609772, -0.03426615,  0.22488772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005943674287247902
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93312570e-01,  8.74297296e-02, -9.15238365e-01, -3.45193971e-02,
        9.96170689e-01,  8.03266384e-02,  9.18756569e-01,  6.93889390e-18,
        3.94824476e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08283212, -0.0341779 ,  0.22318085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.13216841,   2.19907095, -17.13216841,
        19.15121038,  14.63458423,   2.19907095,  14.63458423,
       131.28549336,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00203824418345757
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.72347895e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.72347895e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08602746, -0.08187983,  0.06186559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04455178e-03, 2.71907066e-02, 3.52999556e-03,-7.66192104e-06,
 -6.40150092e-06, 4.19906603e-06, 5.54992786e-05,-9.66627644e-07,
  3.22433052e-05, 7.63263081e-05,-3.30770001e-05, 8.71681779e-05,
  1.06132799e-02, 1.51279267e-02, 6.82886489e-03, 1.20876354e-03,
 -1.78932622e-03, 3.44569273e-03,-9.81068433e+00, 5.44072190e-04,
 -6.07716268e-02, 6.23009475e-02]


--- Step 3654 ---
qpos:
[-0.01863575, 1.20171806,-0.0351842 , 0.94260475,-0.00793049, 1.3329216 ,
 -0.03114293, 0.94132938, 0.01531184, 1.33850381,-0.02373837, 0.95472666,
  1.27592872,-0.00935558, 1.28563657, 0.04417318,-0.05542062,-0.08936218,
  0.09001599, 0.69055579,-0.09576724,-0.71239656,-0.08032731]

qacc:
[ 2.81899587e-03, 1.34796109e+00,-3.49116493e+00, 4.63794038e+00,
  1.21906178e-02,-2.01399929e+00, 7.47606008e+00,-1.04870801e+01,
  7.11131003e-02, 5.70864008e+00,-1.95776129e+01, 2.84701943e+01,
  2.58475665e-01,-2.68964517e-02,-6.80977976e+00, 1.22492099e+01,
  2.46078519e+00, 6.75553052e-01, 3.82038023e+00,-2.99524861e+00,
  7.82653720e+01, 8.66431302e+01]

qfrc_actuator:
[ 9.85047723e-03, 6.17361054e-02, 1.41371860e-02, 1.94566114e-03,
 -2.44166980e-05, 3.48916765e-02, 1.09450716e-02, 1.67183398e-03,
 -2.97627981e-03, 3.48044991e-02, 1.08245995e-02, 1.84353186e-03,
  7.93560244e-03, 1.33302848e-02, 0.00000000e+00,-6.65444191e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16046921, -0.04400882, -0.15431653, -0.04400882,  0.13355681,
        0.00767502, -0.15431653,  0.00767502,  0.1582804 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1550405429671534e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.56123658e-01,  7.79445132e-02, -7.50617344e-01, -5.12973010e-02,
        9.96957699e-01,  5.86850411e-02,  7.52907917e-01, -6.93889390e-18,
        6.58125876e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609744, -0.03426729,  0.22488887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16046921, -0.04400882, -0.15431653, -0.04400882,  0.13355681,
        0.00767502, -0.15431653,  0.00767502,  0.1582804 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1550405429671534e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.56123658e-01,  7.79445132e-02, -7.50617344e-01, -5.12973010e-02,
        9.96957699e-01,  5.86850411e-02,  7.52907917e-01, -6.93889390e-18,
        6.58125876e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609744, -0.03426729,  0.22488887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005946965657894973
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3932929 ,  0.087431  , -0.91524669, -0.03451818,  0.99617058,
        0.08032855,  0.91876503,  0.        ,  0.39480478])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08283032, -0.034179  ,  0.22318113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.3741321 , -5.49862759, 16.3741321 , 25.15007672,
       23.45762798, -5.49862759, 23.45762798, 87.12621215,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002068536975497151
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08599591, -0.08186221,  0.06186361])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04132991e-03, 2.71980115e-02, 3.51926239e-03, 1.32435498e-05,
  3.49248900e-06, 3.11224542e-05, 4.00493432e-05,-1.50932628e-05,
  2.05891252e-05, 6.22409326e-05,-4.70236674e-05, 5.34822699e-05,
  1.05953274e-02, 1.51133049e-02, 6.87919504e-03, 1.38924094e-03,
 -5.92904632e-04, 4.32729771e-03,-9.81025358e+00, 5.75196930e-04,
 -6.06135741e-02, 6.22722350e-02]


--- Step 3655 ---
qpos:
[-0.0186388 , 1.2017421 ,-0.03518398, 0.94260491,-0.00793111, 1.33292251,
 -0.03114273, 0.94132742, 0.01531285, 1.33850528,-0.02374021, 0.954728  ,
  1.27594428,-0.00935272, 1.28561148, 0.04416996,-0.05540756,-0.08931705,
  0.09002903, 0.69063433,-0.09662183,-0.71225926,-0.07984481]

qacc:
[-3.24824579e-01, 2.00181805e+00,-3.74920144e+00, 2.95613902e+00,
 -3.86787448e-02, 8.46024850e-01,-2.43702755e+00, 3.77569240e+00,
  4.36330490e-02, 9.09243537e-01,-5.72536017e-01,-9.06110413e+00,
 -2.32577563e-01, 5.22907892e-01,-1.03848662e+01, 1.97736883e+01,
  2.28682661e+00, 6.83802963e-01, 2.74803747e+00,-2.99407836e+00,
  7.22199153e+01, 7.80339509e+01]

qfrc_actuator:
[ 9.86869875e-03, 6.17230518e-02, 1.41412367e-02, 1.95470938e-03,
 -3.76117952e-05, 3.49199397e-02, 1.09466447e-02, 1.68054610e-03,
 -2.97581901e-03, 3.48180289e-02, 1.07893223e-02, 1.80114139e-03,
  7.92019783e-03, 1.33545227e-02, 0.00000000e+00, 2.23115080e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16046672, -0.04537489, -0.1539178 , -0.04537489,  0.12257904,
        0.01116927, -0.1539178 ,  0.01116927,  0.15717403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0930675968733386e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65623929,  0.07793939, -0.75051679, -0.05130295,  0.9969581 ,
        0.0586733 ,  0.75280675,  0.        ,  0.6582416 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609702, -0.03426834,  0.22489021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16046672, -0.04537489, -0.1539178 , -0.04537489,  0.12257904,
        0.01116927, -0.1539178 ,  0.01116927,  0.15717403,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0930675968733386e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65623929,  0.07793939, -0.75051679, -0.05130295,  0.9969581 ,
        0.0586733 ,  0.75280675,  0.        ,  0.6582416 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609702, -0.03426834,  0.22489021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005947518419583443
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93272484e-01,  8.74322842e-02, -9.15255346e-01, -3.45168953e-02,
        9.96170465e-01,  8.03304940e-02,  9.18773823e-01, -6.93889390e-18,
        3.94784325e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08282806, -0.03418   ,  0.22318142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.28499308, -5.75726565, 16.28499308, 26.85048628,
       27.09163495, -5.75726565, 27.09163495, 93.90408576,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002072834858601817
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.67803057e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.67803057e-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([-0.08598858, -0.08184841,  0.06186331])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.05919265e-03, 2.71441906e-02, 3.52276636e-03, 1.31424932e-05,
 -1.11322753e-05, 5.28567295e-05, 1.17757071e-05, 1.04738604e-05,
  1.26223873e-05, 4.03489256e-05,-2.68976153e-05,-4.06749208e-05,
  1.05675235e-02, 1.51214392e-02, 7.14823114e-03, 1.63813745e-03,
  5.59267275e-04, 5.12268033e-03,-9.81000009e+00, 7.34169827e-04,
 -6.04708514e-02, 6.22419119e-02]


--- Step 3656 ---
qpos:
[-0.01864119, 1.2017658 ,-0.03518345, 0.94260572,-0.00793184, 1.33292327,
 -0.03114179, 0.94132766, 0.01531364, 1.33850607,-0.02374092, 0.9547302 ,
  1.27596022,-0.00935   , 1.28558732, 0.04416698,-0.05538593,-0.08926916,
  0.09004945, 0.69081854,-0.0975708 ,-0.71201416,-0.07928126]

qacc:
[ 2.84501606e-01,-1.92791387e-01,-1.23706029e+00, 8.77109401e+00,
 -4.91357547e-02, 1.57555291e+00,-9.92231200e+00, 3.42925517e+01,
 -9.76815422e-02,-2.41735629e+00, 5.06127447e+00, 6.11668793e+00,
  3.64594988e-01,-3.85658837e-01, 6.49413426e-01,-3.22397658e-01,
  2.14234359e+00, 6.89278282e-01, 1.84229173e+00,-2.92035121e+00,
  6.71703058e+01, 7.10283449e+01]

qfrc_actuator:
[ 9.88129721e-03, 6.17044942e-02, 1.41257022e-02, 1.97778057e-03,
 -4.52257695e-05, 3.49007775e-02, 1.09830175e-02, 1.79297461e-03,
 -3.01151603e-03, 3.47542562e-02, 1.08402689e-02, 1.84666678e-03,
  7.91041284e-03, 1.32965684e-02, 0.00000000e+00, 1.13931170e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16046254, -0.05385509, -0.15115507, -0.05385509,  0.15438593,
        0.00216504, -0.15115507,  0.00216504,  0.15969115,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.797699015597766e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65638293,  0.07793315, -0.75039182, -0.05131005,  0.99695859,
        0.05865881,  0.75268103,  0.        ,  0.65838535])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609641, -0.03426922,  0.22489186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16046254, -0.05385509, -0.15115507, -0.05385509,  0.15438593,
        0.00216504, -0.15115507,  0.00216504,  0.15969115,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.797699015597766e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65638293,  0.07793315, -0.75039182, -0.05131005,  0.99695859,
        0.05865881,  0.75268103,  0.        ,  0.65838535])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609641, -0.03426922,  0.22489186])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005944632995215603
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93250166e-01,  8.74338947e-02, -9.15264782e-01, -3.45155771e-02,
        9.96170324e-01,  8.03328132e-02,  9.18783425e-01,  6.93889390e-18,
        3.94761976e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08282515, -0.03418082,  0.22318176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.16456468,  -6.08719608,  16.16456468,
        29.23904353,  31.77658326,  -6.08719608,  31.77658326,
       101.65552495,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020562262493450667
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08600064, -0.08183766,  0.06186434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.10905770e-03, 2.70327530e-02, 3.49681261e-03, 3.24209346e-05,
 -1.41838425e-05, 1.26902414e-05, 4.83599995e-05, 1.14608944e-04,
 -2.82405329e-05,-4.79234025e-05, 5.45817709e-05, 4.49885673e-05,
  1.05741988e-02, 1.50347672e-02, 7.53523571e-03, 1.54602713e-03,
  1.65642005e-03, 5.83604095e-03,-9.80987957e+00, 9.79959690e-04,
 -6.03406644e-02, 6.22095123e-02]


--- Step 3657 ---
qpos:
[-0.01864237, 1.20178717,-0.03518341, 0.94260667,-0.00793268, 1.33292358,
 -0.03114025, 0.94133031, 0.01531396, 1.33850621,-0.02374061, 0.9547326 ,
  1.27597639,-0.00934782, 1.28556902, 0.04416446,-0.05537776,-0.08921682,
  0.09005725, 0.69082481,-0.09844134,-0.71194542,-0.07876613]

qacc:
[ 5.27220091e-01,-1.45594298e+00, 7.52220604e-01, 2.58361375e+00,
 -4.35476720e-02, 1.90148672e+00,-1.19006374e+01, 3.86643188e+01,
 -1.93996220e-01,-3.28768303e+00, 9.30278478e+00,-5.49649249e+00,
  2.35019703e-01,-5.40666113e-01, 7.23958762e+00,-1.27908938e+01,
 -3.36422600e+00, 1.11176382e+00,-3.15340649e+00, 8.15855995e+00,
 -1.18787397e+02,-6.03061447e+01]

qfrc_actuator:
[ 9.88942097e-03, 6.17195866e-02, 1.40982272e-02, 1.97316167e-03,
 -4.94296056e-05, 3.48535571e-02, 1.10040222e-02, 1.91227152e-03,
 -3.05086190e-03, 3.47160749e-02, 1.08881972e-02, 1.85482160e-03,
  7.90394655e-03, 1.32962918e-02, 0.00000000e+00,-9.25458258e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16045899, -0.06162673, -0.14815273, -0.06162673,  0.18337435,
       -0.00953205, -0.14815273, -0.00953205,  0.16442401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.723320822755926e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65652295,  0.07792669, -0.75026998, -0.05131671,  0.99695909,
        0.05864439,  0.75255844,  0.        ,  0.65852547])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609583, -0.03427015,  0.22489347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16045899, -0.06162673, -0.14815273, -0.06162673,  0.18337435,
       -0.00953205, -0.14815273, -0.00953205,  0.16442401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.723320822755926e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65652295,  0.07792669, -0.75026998, -0.05131671,  0.99695909,
        0.05864439,  0.75255844,  0.        ,  0.65852547])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609583, -0.03427015,  0.22489347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005942134411588244
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93227872e-01,  8.74352486e-02, -9.15274231e-01, -3.45141589e-02,
        9.96170205e-01,  8.03348961e-02,  9.18793020e-01,  6.93889390e-18,
        3.94739644e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08282232, -0.03418169,  0.22318208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.09800399, -2.45058503, 17.09800399, 18.18529809,
        6.36710794, -2.45058503,  6.36710794, 61.69674666,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002036413410472726
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.72592740e-14, -2.72592740e-14,  1.00000000e+00,  7.43068022e-28,
        1.00000000e+00,  2.72592740e-14, -1.00000000e+00,  0.00000000e+00,
        2.72592740e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0219451 , -0.09664453,  0.06186559])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.08448815e-03, 2.70643589e-02, 3.45358708e-03,-4.39265537e-06,
 -1.25770203e-05,-2.72881359e-05, 3.23544567e-05, 1.23756221e-04,
 -5.60257415e-05,-5.26918473e-05, 4.60918300e-05, 9.38207520e-06,
  1.05481583e-02, 1.50411090e-02, 7.48897671e-03, 1.32799818e-03,
  2.69566205e-03, 6.47498595e-03,-9.80986222e+00, 1.28471687e-03,
 -6.02210501e-02, 6.21747350e-02]


--- Step 3658 ---
qpos:
[-0.01864291, 1.20180641,-0.03518325, 0.9426089 ,-0.00793346, 1.33292402,
 -0.03113909, 0.94133266, 0.01531397, 1.33850648,-0.0237402 , 0.95473332,
  1.27599185,-0.0093459 , 1.28555498, 0.04416208,-0.05538198,-0.08916075,
  0.09005034, 0.69066799,-0.09924915,-0.71203766,-0.07829234]

qacc:
[ 2.79645202e-01,-9.75194796e-01,-2.84738282e+00, 1.86158475e+01,
  2.83991929e-02, 6.59813990e-01,-1.31888083e+00,-2.58431782e+00,
 -1.34454032e-01,-2.99472500e+00, 1.33243695e+01,-3.08664926e+01,
 -6.24211640e-01, 3.54426530e-01, 5.89616167e+00,-1.13749952e+01,
 -3.09657100e+00, 9.35461489e-01,-3.67784529e+00, 5.26250993e+00,
 -1.09157979e+02,-5.09559588e+01]

qfrc_actuator:
[ 9.91179376e-03, 6.17214833e-02, 1.40997760e-02, 2.04092685e-03,
 -3.38014356e-05, 3.48608702e-02, 1.09801373e-02, 1.89257501e-03,
 -3.05657181e-03, 3.47467618e-02, 1.08984688e-02, 1.76988119e-03,
  7.88882160e-03, 1.33665925e-02, 0.00000000e+00,-1.97948697e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16045684, -0.04889288, -0.15282632, -0.04889288,  0.1590812 ,
        0.0004401 , -0.15282632,  0.0004401 ,  0.16031604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.00297795450905e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65663965,  0.07792077, -0.75016846, -0.05132191,  0.99695955,
        0.05863197,  0.75245626,  0.        ,  0.65864222])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609539, -0.0342712 ,  0.22489481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16045684, -0.04889288, -0.15282632, -0.04889288,  0.1590812 ,
        0.0004401 , -0.15282632,  0.0004401 ,  0.16031604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.00297795450905e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65663965,  0.07792077, -0.75016846, -0.05132191,  0.99695955,
        0.05863197,  0.75245626,  0.        ,  0.65864222])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609539, -0.0342712 ,  0.22489481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005941769918403755
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39320818,  0.08743608, -0.91528261, -0.03451276,  0.99617013,
        0.0803364 ,  0.9188015 ,  0.        ,  0.3947199 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08282002, -0.03418268,  0.22318236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.02904071,   2.89117276, -17.02904071,
        17.25067726,  -0.12987484,   2.89117276,  -0.12987484,
        16.50776299,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020407310497175535
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.44032015e-14,  2.72016007e-14,  1.00000000e+00,  1.47985417e-27,
        1.00000000e+00, -2.72016007e-14, -1.00000000e+00,  0.00000000e+00,
       -5.44032015e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02192689, -0.09668586,  0.0618653 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04629793e-03, 2.71820619e-02, 3.47981345e-03, 5.58138427e-05,
  8.20209144e-06, 2.27769192e-06,-2.19088574e-05,-1.66966170e-05,
 -3.87992789e-05, 1.08286883e-05, 5.49698982e-06,-8.49306362e-05,
  1.05222402e-02, 1.51386416e-02, 7.19635795e-03, 1.19949746e-03,
  1.27742638e-03, 6.85751182e-03,-9.81020269e+00, 4.13190302e-04,
 -6.03575503e-02, 6.21477158e-02]


--- Step 3659 ---
qpos:
[-0.01864295, 1.20182358,-0.03518274, 0.94261295,-0.00793382, 1.33292455,
 -0.03113821, 0.94133405, 0.01531348, 1.33850703,-0.02374005, 0.95473303,
  1.27600704,-0.00934405, 1.28554423, 0.04415965,-0.05537632,-0.08910205,
  0.09005756, 0.6906323 ,-0.10017553,-0.71200605,-0.07771273]

qacc:
[  0.21704172, -0.58231931, -5.13404621, 26.80515272,  0.17343495,
  -0.73918238,  4.53243932,-15.01123236, -0.21376976, -0.67479826,
   4.69202782,-15.97146039, -0.34525554,  0.26997202,  5.08040376,
 -10.66560331,  2.46940112,  0.65348009,  3.53028974, -2.10490582,
  76.00074155, 89.64357411]

qfrc_actuator:
[ 9.88954271e-03, 6.17517140e-02, 1.41183204e-02, 2.13318741e-03,
  1.13495588e-05, 3.48650151e-02, 1.09655758e-02, 1.84450419e-03,
 -3.09531556e-03, 3.47649922e-02, 1.08866519e-02, 1.71962804e-03,
  7.88987989e-03, 1.33726504e-02, 0.00000000e+00,-2.95836831e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16045551, -0.04112994, -0.15509448, -0.04112994,  0.14902732,
        0.00303067, -0.15509448,  0.00303067,  0.1596518 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.522668563790524e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65673818,  0.07791547, -0.75008275, -0.0513261 ,  0.99695997,
        0.05862126,  0.75236998,  0.        ,  0.65874078])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609505, -0.03427228,  0.22489594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16045551, -0.04112994, -0.15509448, -0.04112994,  0.14902732,
        0.00303067, -0.15509448,  0.00303067,  0.1596518 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.522668563790524e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65673818,  0.07791547, -0.75008275, -0.0513261 ,  0.99695997,
        0.05862126,  0.75236998,  0.        ,  0.65874078])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609505, -0.03427228,  0.22489594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005942730725041617
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93190337e-01,  8.74366246e-02, -9.15290225e-01, -3.45114117e-02,
        9.96170084e-01,  8.03375739e-02,  9.18809187e-01, -6.93889390e-18,
        3.94702012e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08281811, -0.03418372,  0.22318259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.09874098,   2.44543746, -17.09874098,
        19.33561127,  14.42388922,   2.44543746,  14.42388922,
       118.12598942,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00204294975076217
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08600347, -0.08179477,  0.06186507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.99193396e-03, 2.73190130e-02, 3.49221439e-03, 8.44266789e-05,
  4.99931148e-05, 6.13452434e-07,-1.70984641e-05,-4.90264858e-05,
 -6.16567493e-05, 2.27726704e-05,-1.15622125e-05,-5.17458477e-05,
  1.05586651e-02, 1.51573641e-02, 6.98326641e-03, 1.09417476e-03,
 -3.41029101e-04, 7.25632964e-03,-9.81063447e+00,-2.14311358e-04,
 -6.04465872e-02, 6.21226939e-02]


--- Step 3660 ---
qpos:
[-0.01864333, 1.20184108,-0.0351833 , 0.94261585,-0.00793401, 1.33292516,
 -0.03113787, 0.94133625, 0.01531235, 1.33850777,-0.02374061, 0.95473182,
  1.27602282,-0.00934195, 1.28552944, 0.04415693,-0.05536148,-0.08904066,
  0.09007478, 0.69070793,-0.10120893,-0.71185979,-0.07703862]

qacc:
[-1.46131110e-01, 1.36788606e+00,-1.58830053e+00,-1.20774963e+01,
  7.27615309e-02, 2.95179784e+00,-1.11942632e+01, 1.90949053e+01,
 -2.66692164e-01, 5.86156388e-01, 2.53463390e-01,-1.09001318e+01,
  5.14571367e-01,-2.58062262e-01,-5.17593824e+00, 9.35029567e+00,
  2.29516619e+00, 6.76341672e-01, 2.50191903e+00,-2.19468227e+00,
  7.03306826e+01, 8.08041036e+01]

qfrc_actuator:
[ 9.84040450e-03, 6.17642269e-02, 1.41467870e-02, 2.07932385e-03,
  2.83443103e-06, 3.48672268e-02, 1.09389000e-02, 1.88668389e-03,
 -3.13581272e-03, 3.47577920e-02, 1.08441560e-02, 1.67245095e-03,
  7.90063399e-03, 1.32868302e-02, 0.00000000e+00,-1.05018232e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16045465, -0.04766088, -0.15321271, -0.04766088,  0.14539595,
        0.00468441, -0.15321271,  0.00468441,  0.15899744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.194926529350068e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.56822701e-01,  7.79106526e-02, -7.50009246e-01, -5.13295093e-02,
        9.96960345e-01,  5.86118696e-02,  7.52295966e-01,  6.93889390e-18,
        6.58825303e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609478, -0.03427341,  0.22489689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16045465, -0.04766088, -0.15321271, -0.04766088,  0.14539595,
        0.00468441, -0.15321271,  0.00468441,  0.15899744,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.194926529350068e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.56822701e-01,  7.79106526e-02, -7.50009246e-01, -5.13295093e-02,
        9.96960345e-01,  5.86118696e-02,  7.52295966e-01,  6.93889390e-18,
        6.58825303e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609478, -0.03427341,  0.22489689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005944396282293249
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93174085e-01,  8.74369448e-02, -9.15297175e-01, -3.45101126e-02,
        9.96170056e-01,  8.03384805e-02,  9.18816190e-01,  6.93889390e-18,
        3.94685709e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08281651, -0.03418481,  0.22318278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.63862011, -4.63717892, 16.63862011, 22.6144938 ,
       19.1667446 , -4.63717892, 19.1667446 , 86.04475179,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020429366403041174
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.43444668e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.43444668e-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([-0.08600056, -0.08177923,  0.06186504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.91788086e-03, 2.74348509e-02, 3.50322503e-03,-5.99997451e-05,
  2.09975272e-05,-2.27391873e-06,-2.99406974e-05, 4.05643950e-05,
 -7.69084886e-05, 1.59469642e-06,-4.08778619e-05,-4.80440119e-05,
  1.05827869e-02, 1.50754027e-02, 6.81923464e-03, 1.28833495e-03,
  1.15023412e-03, 8.41448411e-03,-9.81055683e+00, 5.97295631e-06,
 -6.03083226e-02, 6.20856681e-02]


--- Step 3661 ---
qpos:
[-0.01864423, 1.20186028,-0.03518475, 0.94261691,-0.00793443, 1.332926  ,
 -0.03113733, 0.94133751, 0.01531095, 1.33850821,-0.02374043, 0.95473176,
  1.2760393 ,-0.00933964, 1.28550972, 0.04415411,-0.05535919,-0.08897519,
  0.09007779, 0.69061662,-0.10217591,-0.71187835,-0.07640667]

qacc:
[-2.30756421e-01, 1.55007944e+00, 1.46488469e+00,-2.37263427e+01,
 -9.79905925e-02,-1.87476732e+00, 8.45068835e+00,-1.84966983e+01,
 -1.15609831e-01,-4.24116563e-01,-1.40868492e+00, 1.45690087e+01,
  6.75278339e-01,-4.45755259e-01,-7.00297894e+00, 1.38360696e+01,
 -3.13793589e+00, 1.01888047e+00,-3.55190758e+00, 5.83485549e+00,
 -1.11650539e+02,-5.29761195e+01]

qfrc_actuator:
[ 9.82902581e-03, 6.16935312e-02, 1.41469778e-02, 1.99327066e-03,
 -3.78066492e-05, 3.49037726e-02, 1.09585930e-02, 1.83961254e-03,
 -3.12377718e-03, 3.47530512e-02, 1.08903129e-02, 1.73394029e-03,
  7.90115994e-03, 1.32165894e-02, 0.00000000e+00, 6.39828626e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16045308, -0.06163469, -0.14814302, -0.06163469,  0.15064844,
        0.00407921, -0.14814302,  0.00407921,  0.15875593,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.554416656187612e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.56921603e-01,  7.79052225e-02, -7.49923185e-01, -5.13336384e-02,
        9.96960770e-01,  5.86010347e-02,  7.52209323e-01, -6.93889390e-18,
        6.58924226e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609441, -0.03427451,  0.22489799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16045308, -0.06163469, -0.14814302, -0.06163469,  0.15064844,
        0.00407921, -0.14814302,  0.00407921,  0.15875593,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.554416656187612e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.56921603e-01,  7.79052225e-02, -7.49923185e-01, -5.13336384e-02,
        9.96960770e-01,  5.86010347e-02,  7.52209323e-01, -6.93889390e-18,
        6.58924226e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609441, -0.03427451,  0.22489799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005943769054284898
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39315851,  0.08743738, -0.91530382, -0.03450892,  0.99617002,
        0.08033947,  0.9188229 ,  0.        ,  0.39467009])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08281457, -0.03418585,  0.22318298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.09584814, -2.46557981, 17.09584814, 18.10248234,
        5.75335932, -2.46557981,  5.75335932, 57.16539543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020288660072127415
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.47213577e-14,  5.47213577e-14,  1.00000000e+00,  2.99442699e-27,
        1.00000000e+00, -5.47213577e-14, -1.00000000e+00,  0.00000000e+00,
       -5.47213577e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0219372 , -0.09681501,  0.06186591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92324180e-03, 2.73476942e-02, 3.55672803e-03,-8.90350931e-05,
 -2.82457877e-05, 3.06507797e-05, 1.70318324e-05,-4.70745198e-05,
 -3.33835334e-05,-1.32754223e-05, 4.04148568e-05, 5.92212514e-05,
  1.05534218e-02, 1.49922386e-02, 7.02175231e-03, 1.47125311e-03,
  2.58190852e-03, 9.46141060e-03,-9.81060599e+00, 3.08458320e-04,
 -6.01825966e-02, 6.20460768e-02]


--- Step 3662 ---
qpos:
[-0.018645  , 1.20187959,-0.03518625, 0.94261738,-0.0079349 , 1.33292733,
 -0.03113665, 0.94133748, 0.01530974, 1.33850862,-0.02373891, 0.95473202,
  1.276056  ,-0.00933766, 1.28549343, 0.0441517 ,-0.0553474 ,-0.08890697,
  0.09009226, 0.69063974,-0.10325657,-0.71177832,-0.07567336]

qacc:
[ 6.25925571e-02,-7.59208739e-01, 3.87343385e+00,-1.03344113e+01,
 -1.82138339e-02,-1.90148006e+00, 9.62792411e+00,-2.35680492e+01,
  8.24545502e-02,-3.09165101e+00, 9.36355418e+00,-4.25516068e+00,
  2.34014759e-01,-4.11094378e-01, 3.81689156e+00,-6.04898383e+00,
  2.37350504e+00, 6.86357241e-01, 2.86485070e+00,-1.86169843e+00,
  7.21610150e+01, 8.58901491e+01]

qfrc_actuator:
[ 9.82287840e-03, 6.15891463e-02, 1.41482152e-02, 1.96006978e-03,
 -2.63780930e-05, 3.49429740e-02, 1.09700652e-02, 1.77593083e-03,
 -3.08032655e-03, 3.47857245e-02, 1.09707537e-02, 1.75242330e-03,
  7.90084524e-03, 1.32266523e-02, 0.00000000e+00,-8.19628116e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16045102, -0.08027645, -0.13892524, -0.08027645,  0.18569229,
       -0.0145854 , -0.13892524, -0.0145854 ,  0.16887904,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.606195498355365e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.57039740e-01,  7.78990321e-02, -7.49820326e-01, -5.13387653e-02,
        9.96961253e-01,  5.85883127e-02,  7.52105785e-01, -6.93889390e-18,
        6.59042402e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609392, -0.03427556,  0.22489929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16045102, -0.08027645, -0.13892524, -0.08027645,  0.18569229,
       -0.0145854 , -0.13892524, -0.0145854 ,  0.16887904,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.606195498355365e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.57039740e-01,  7.78990321e-02, -7.49820326e-01, -5.13387653e-02,
        9.96961253e-01,  5.85883127e-02,  7.52105785e-01, -6.93889390e-18,
        6.59042402e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609392, -0.03427556,  0.22489929])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005941193484175072
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93142190e-01,  8.74380433e-02, -9.15310771e-01, -3.45077500e-02,
        9.96169960e-01,  8.03406909e-02,  9.18829926e-01,  6.93889390e-18,
        3.94653730e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0828122 , -0.03418684,  0.22318321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.08870948,   2.51458061, -17.08870948,
        19.35758871,  14.16840298,   2.51458061,  14.16840298,
       113.55905099,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020324409307102
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.73125533e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.73125533e-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([-0.08600446, -0.08174954,  0.06186563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94354009e-03, 2.71575074e-02, 3.60290983e-03,-3.02400690e-05,
 -5.24453645e-06, 5.80663633e-05, 1.80277366e-05,-6.33447872e-05,
  2.37348461e-05, 3.49747549e-05, 8.41734733e-05, 2.06515387e-05,
  1.05187743e-02, 1.49917956e-02, 7.26809707e-03, 1.33063458e-03,
  7.54903224e-04, 9.95213315e-03,-9.81096668e+00,-5.48335206e-04,
 -6.02843204e-02, 6.20100581e-02]


--- Step 3663 ---
qpos:
[-0.0186458 , 1.20189889,-0.03518807, 0.94261678,-0.00793533, 1.33292924,
 -0.03113651, 0.94133741, 0.01530901, 1.33850944,-0.02373708, 0.95473149,
  1.27607238,-0.00933604, 1.28548078, 0.04414967,-0.05532675,-0.08883592,
  0.09011449, 0.69076846,-0.1044405 ,-0.71156783,-0.07484878]

qacc:
[-2.00750497e-02,-9.90051918e-01, 5.40288531e+00,-1.70380982e+01,
  1.36573683e-02, 2.10077344e+00,-5.85236456e+00, 4.18865747e+00,
  2.01782307e-01,-1.67043313e+00, 7.71167526e+00,-1.61805153e+01,
 -2.01211667e-01,-7.65748680e-02, 4.20798401e+00,-6.87205068e+00,
  2.21693044e+00, 7.08030157e-01, 1.93857351e+00,-1.90703937e+00,
  6.71061981e+01, 7.79733131e+01]

qfrc_actuator:
[ 9.81940839e-03, 6.15187289e-02, 1.41673357e-02, 1.90481407e-03,
 -1.93088749e-05, 3.49656711e-02, 1.09410959e-02, 1.77400768e-03,
 -3.03613784e-03, 3.48051823e-02, 1.09820983e-02, 1.70994846e-03,
  7.90536920e-03, 1.32676080e-02, 0.00000000e+00,-1.51053827e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044977, -0.09448149, -0.12968182, -0.09448149,  0.19191143,
       -0.02292183, -0.12968182, -0.02292183,  0.17714979,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.937844414210427e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65714665,  0.07789339, -0.74972722, -0.05134338,  0.99696169,
        0.05857677,  0.75201206,  0.        ,  0.65914935])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609352, -0.03427668,  0.22490049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044977, -0.09448149, -0.12968182, -0.09448149,  0.19191143,
       -0.02292183, -0.12968182, -0.02292183,  0.17714979,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.937844414210427e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65714665,  0.07789339, -0.74972722, -0.05134338,  0.99696169,
        0.05857677,  0.75201206,  0.        ,  0.65914935])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609352, -0.03427668,  0.22490049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005940737839970726
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39312581,  0.08743865, -0.91531775, -0.03450655,  0.99616991,
        0.08034186,  0.91883698,  0.        ,  0.39463731])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08281012, -0.03418792,  0.22318344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.63596732, -4.64668685, 16.63596732, 22.85368051,
       19.98080754, -4.64668685, 19.98080754, 88.80758031,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002020182378959151
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.74782870e-14,  2.74782870e-14,  1.00000000e+00,  7.55056257e-28,
        1.00000000e+00, -2.74782870e-14, -1.00000000e+00,  0.00000000e+00,
       -2.74782870e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08601294, -0.0817359 ,  0.06186637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93286121e-03, 2.70816752e-02, 3.62410051e-03,-5.57062838e-05,
  3.97549317e-06, 5.64290908e-05,-1.74154832e-05,-1.10847290e-06,
  5.82072213e-05, 5.58455910e-05, 2.83439461e-05,-3.84914574e-05,
  1.05123099e-02, 1.50496025e-02, 7.09735173e-03, 1.24142382e-03,
  2.39948911e-03, 1.12394307e-02,-9.81106068e+00,-2.48165543e-04,
 -6.01557226e-02, 6.19675446e-02]


--- Step 3664 ---
qpos:
[-0.01864756, 1.20192001,-0.03519053, 0.942614  ,-0.00793571, 1.33293111,
 -0.03113624, 0.94133837, 0.01530878, 1.33851085,-0.02373584, 0.9547322 ,
  1.27608799,-0.00933432, 1.28546567, 0.04414777,-0.05531896,-0.08876051,
  0.09012325, 0.69072536,-0.10555679,-0.71152683,-0.07406627]

qacc:
[-4.14506289e-01, 4.65527569e-01, 5.92030408e+00,-3.17087970e+01,
  2.34032224e-02, 1.40188689e+00,-6.75262805e+00, 1.78799655e+01,
  2.10915486e-01, 4.52234076e+00,-1.63197674e+01, 2.82165976e+01,
 -5.37203215e-01, 4.52911735e-01,-3.94851114e+00, 8.59986740e+00,
 -3.21415315e+00, 1.08976862e+00,-3.36698155e+00, 5.76269919e+00,
 -1.14942660e+02,-5.38734328e+01]

qfrc_actuator:
[ 9.81767714e-03, 6.15397842e-02, 1.41797204e-02, 1.80152817e-03,
 -1.49136010e-05, 3.49426792e-02, 1.09417261e-02, 1.82616786e-03,
 -3.00961890e-03, 3.48340352e-02, 1.09524845e-02, 1.77392162e-03,
  7.90218527e-03, 1.33094952e-02, 0.00000000e+00, 3.34269417e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044914, -0.10333589, -0.12274209, -0.10333589,  0.17026907,
       -0.00826735, -0.12274209, -0.00826735,  0.16740937,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.5681721475565595e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65724089,  0.0778885 , -0.74964512, -0.0513475 ,  0.99696208,
        0.05856666,  0.75192942,  0.        ,  0.65924362])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609322, -0.03427785,  0.22490157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044914, -0.10333589, -0.12274209, -0.10333589,  0.17026907,
       -0.00826735, -0.12274209, -0.00826735,  0.16740937,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.5681721475565595e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65724089,  0.0778885 , -0.74964512, -0.0513475 ,  0.99696208,
        0.05856666,  0.75192942,  0.        ,  0.65924362])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609322, -0.03427785,  0.22490157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005942494854760082
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39310974,  0.08743926, -0.91532459, -0.03450539,  0.99616985,
        0.08034303,  0.9188439 ,  0.        ,  0.3946212 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08280834, -0.03418904,  0.22318367])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.0932987 , -2.48319288, 17.0932987 , 18.16154063,
        6.11823281, -2.48319288,  6.11823281, 59.38817552,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020398886952334855
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.72128334e-14, -1.36064167e-14,  1.00000000e+00, -3.70269151e-28,
        1.00000000e+00,  1.36064167e-14, -1.00000000e+00,  0.00000000e+00,
       -2.72128334e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0218866 , -0.09694215,  0.06186518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93341345e-03, 2.71034759e-02, 3.65205873e-03,-1.05714122e-04,
  6.74418569e-06, 4.77158899e-06, 9.65500590e-06, 5.33272284e-05,
  6.08972470e-05, 6.41233005e-05,-1.66161602e-05, 6.55645971e-05,
  1.05250396e-02, 1.51090207e-02, 6.91531640e-03, 1.37618346e-03,
  3.97602594e-03, 1.24071086e-02,-9.81126276e+00, 1.16463559e-04,
 -6.00382320e-02, 6.19219960e-02]


--- Step 3665 ---
qpos:
[-0.0186496 , 1.20194267,-0.03519178, 0.94261165,-0.00793589, 1.33293248,
 -0.03113599, 0.94133966, 0.01530883, 1.33851293,-0.02373585, 0.95473371,
  1.27610321,-0.00933262, 1.28545176, 0.04414605,-0.05532303,-0.08868139,
  0.09011656, 0.69052429,-0.10661967,-0.71164085,-0.07331953]

qacc:
[-1.22461863e-01,-5.27720408e-01, 3.25899150e+00, 1.27302598e+00,
  8.50232824e-02,-7.26770653e-02,-1.23125970e+00, 5.13883442e+00,
  1.17309235e-01, 5.63139867e+00,-1.89158164e+01, 2.51154358e+01,
 -3.44327624e-01, 2.65739860e-01, 1.19390268e+00,-1.56402789e+00,
 -2.96860932e+00, 9.27535910e-01,-3.86119539e+00, 3.12574242e+00,
 -1.05869895e+02,-4.53937933e+01]

qfrc_actuator:
[ 9.81791312e-03, 6.15073606e-02, 1.42062852e-02, 1.83074678e-03,
  5.59419890e-06, 3.48748923e-02, 1.09241724e-02, 1.83870696e-03,
 -3.01166713e-03, 3.48504199e-02, 1.08813104e-02, 1.81126697e-03,
  7.89442868e-03, 1.32983753e-02, 0.00000000e+00,-4.53445755e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044844, -0.08108484, -0.13845198, -0.08108484,  0.15858562,
        0.00109096, -0.13845198,  0.00109096,  0.15980951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.112397974263479e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65734502,  0.07788367, -0.74955431, -0.05135243,  0.99696245,
        0.05855591,  0.75183805,  0.        ,  0.65934782])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609286, -0.0342789 ,  0.2249028 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044844, -0.08108484, -0.13845198, -0.08108484,  0.15858562,
        0.00109096, -0.13845198,  0.00109096,  0.15980951,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.112397974263479e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65734502,  0.07788367, -0.74955431, -0.05135243,  0.99696245,
        0.05855591,  0.75183805,  0.        ,  0.65934782])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609286, -0.0342789 ,  0.2249028 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005943968324080354
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39309257,  0.08744027, -0.91533187, -0.03450428,  0.99616976,
        0.08034461,  0.91885128,  0.        ,  0.394604  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08280636, -0.03419005,  0.22318396])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.98809297,   3.12278794, -16.98809297,
        17.25168408,  -0.11447582,   3.12278794,  -0.11447582,
        16.64997416,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020334631736951825
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.7298823e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.7298823e-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([ 0.02189627, -0.09698519,  0.06186553])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98120915e-03, 2.69790544e-02, 3.71139009e-03, 3.29252109e-05,
  2.44890576e-05,-6.16620161e-05,-1.39573886e-05, 1.42058326e-05,
  3.39188715e-05, 5.05345720e-05,-5.86227041e-05, 4.02897859e-05,
  1.05557726e-02, 1.50929882e-02, 7.03879047e-03, 1.32193478e-03,
  1.90571029e-03, 1.30385804e-02,-9.81156511e+00,-9.63426123e-04,
 -6.01446804e-02, 6.18747729e-02]


--- Step 3666 ---
qpos:
[-0.01865164, 1.20196614,-0.03519152, 0.9426111 ,-0.00793585, 1.33293337,
 -0.03113651, 0.94134181, 0.01530888, 1.33851501,-0.02373672, 0.95473431,
  1.27611844,-0.00933074, 1.28543712, 0.04414421,-0.05531696,-0.08859931,
  0.09012444, 0.6904441 ,-0.10780996,-0.7116276 ,-0.07245767]

qacc:
[ 1.60491470e-04, 2.41313987e-02,-2.52815030e+00, 2.25811615e+01,
  9.26125967e-02, 2.93736820e+00,-1.21508097e+01, 2.09624411e+01,
  2.90993726e-03, 7.26498531e-01,-5.33446543e-01,-1.00082868e+01,
 -8.45237865e-02, 2.10916221e-01,-6.74232321e-01, 8.33953730e-01,
  2.53806196e+00, 7.40729346e-01, 3.64186039e+00,-1.24820716e+00,
  7.61464690e+01, 9.63062005e+01]

qfrc_actuator:
[ 9.83679264e-03, 6.14424138e-02, 1.41864872e-02, 1.91996658e-03,
  1.78493444e-05, 3.48339749e-02, 1.08780427e-02, 1.88102837e-03,
 -3.03083418e-03, 3.48057686e-02, 1.08216157e-02, 1.76158519e-03,
  7.88924768e-03, 1.32732885e-02, 0.00000000e+00,-2.07317143e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044804, -0.05045   , -0.15231012, -0.05045   ,  0.12503343,
        0.01173046, -0.15231012,  0.01173046,  0.15656254,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.8322356096087e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.57447400e-01,  7.78791192e-02, -7.49464982e-01, -5.13574067e-02,
        9.96962809e-01,  5.85454865e-02,  7.51748185e-01,  6.93889390e-18,
        6.59450276e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609255, -0.03427995,  0.22490404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044804, -0.05045   , -0.15231012, -0.05045   ,  0.12503343,
        0.01173046, -0.15231012,  0.01173046,  0.15656254,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.8322356096087e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.57447400e-01,  7.78791192e-02, -7.49464982e-01, -5.13574067e-02,
        9.96962809e-01,  5.85454865e-02,  7.51748185e-01,  6.93889390e-18,
        6.59450276e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609255, -0.03427995,  0.22490404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005947127807501007
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93072873e-01,  8.74414416e-02, -9.15340216e-01, -3.45030169e-02,
        9.96169661e-01,  8.03464220e-02,  9.18859760e-01,  6.93889390e-18,
        3.94584264e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08280444, -0.03419105,  0.22318428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.08441267,   2.54360987, -17.08441267,
        19.6148649 ,  15.73120398,   2.54360987,  15.73120398,
       122.9329482 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020189752715355086
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.74947158e-14,  2.14802467e-14,  1.00000000e+00,  5.90593277e-28,
        1.00000000e+00, -2.14802467e-14, -1.00000000e+00,  0.00000000e+00,
       -2.74947158e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08600522, -0.08168765,  0.0618663 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01414336e-03, 2.68370019e-02, 3.63057349e-03, 1.00362994e-04,
  2.67095349e-05,-7.73409918e-05,-5.93683113e-05, 4.03860247e-05,
  8.67228229e-07,-2.69714659e-05,-5.53091244e-05,-4.89571555e-05,
  1.05700356e-02, 1.50691861e-02, 6.97940495e-03, 1.33680659e-03,
 -3.09524574e-04, 1.37151891e-02,-9.81197534e+00,-1.81100335e-03,
 -6.02059574e-02, 6.18300558e-02]


--- Step 3667 ---
qpos:
[-0.01865269, 1.20198796,-0.0351916 , 0.94261056,-0.00793562, 1.33293403,
 -0.03113737, 0.94134303, 0.01530885, 1.3385164 ,-0.02373776, 0.95473503,
  1.27613408,-0.00932923, 1.28542636, 0.04414256,-0.05530193,-0.08851636,
  0.09014445, 0.69047737,-0.10907774,-0.7114967 ,-0.0715227 ]

qacc:
[ 4.32153431e-01,-1.20060461e+00, 1.28178383e+00, 9.44249739e-02,
  7.96975870e-02,-9.95550911e-01, 4.81719219e+00,-1.49116334e+01,
 -3.81276291e-02,-2.05435504e-01,-6.62769170e-01, 2.37305583e+00,
  3.71507454e-01,-5.29885129e-01, 5.13926073e+00,-9.70935628e+00,
  2.24061538e+00, 2.17949429e-01, 3.03215188e+00, 1.11608405e+00,
  7.42357462e+01, 6.32580286e+01]

qfrc_actuator:
[ 9.84893682e-03, 6.14468370e-02, 1.41558416e-02, 1.90162874e-03,
  2.50544154e-05, 3.48448647e-02, 1.08687899e-02, 1.83402663e-03,
 -3.04236040e-03, 3.47426385e-02, 1.08044041e-02, 1.76758578e-03,
  7.88559084e-03, 1.32396204e-02, 0.00000000e+00,-1.82679660e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044764, -0.06439863, -0.14695666, -0.06439863,  0.16004124,
        0.00017809, -0.14695666,  0.00017809,  0.1603696 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.527817464493363e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65755381,  0.07787434, -0.74937212, -0.05136254,  0.99696318,
        0.05853461,  0.75165476,  0.        ,  0.65955676])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609223, -0.034281  ,  0.22490533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044764, -0.06439863, -0.14695666, -0.06439863,  0.16004124,
        0.00017809, -0.14695666,  0.00017809,  0.1603696 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.527817464493363e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65755381,  0.07787434, -0.74937212, -0.05136254,  0.99696318,
        0.05853461,  0.75165476,  0.        ,  0.65955676])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609223, -0.034281  ,  0.22490533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005950338708660338
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.93051044e-01,  8.74426485e-02, -9.15349474e-01, -3.45015806e-02,
        9.96169555e-01,  8.03483522e-02,  9.18869152e-01,  6.93889390e-18,
        3.94562393e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08280241, -0.03419206,  0.22318461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.10115783,  2.42847861, 17.10115783, 17.35676239,
       -0.5917688 ,  2.42847861, -0.5917688 , 21.43991723,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020285806369125456
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36822639e-14,  1.36822639e-14,  1.00000000e+00,  1.87204345e-28,
        1.00000000e+00, -1.36822639e-14, -1.00000000e+00,  0.00000000e+00,
       -1.36822639e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0851692 , -0.07923387,  0.06186565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.02626768e-03, 2.68010867e-02, 3.52416464e-03,-7.89614232e-06,
  2.29697093e-05,-4.22994803e-05,-2.99580862e-05,-5.01363012e-05,
 -1.10136654e-05,-9.03098070e-05,-3.01979769e-05, 2.44598240e-06,
  1.05662739e-02, 1.50262100e-02, 7.01562849e-03, 1.18121101e-03,
  1.80896058e-03, 1.55675693e-02,-9.81218643e+00,-1.51674174e-03,
 -6.00706034e-02, 6.17803733e-02]


--- Step 3668 ---
qpos:
[-0.01865241, 1.20200649,-0.03519269, 0.94260966,-0.00793524, 1.33293447,
 -0.03113775, 0.9413419 , 0.0153087 , 1.33851709,-0.02373843, 0.95473579,
  1.27614999,-0.00932839, 1.2854234 , 0.04414121,-0.05527849,-0.08843232,
  0.09017281, 0.69061524,-0.11041545,-0.71125637,-0.07052222]

qacc:
[ 5.80033781e-01,-2.22443557e+00, 2.79897328e+00,-4.62737095e+00,
  6.14636838e-02,-5.55834636e+00, 2.26423908e+01,-4.67412175e+01,
 -4.61600376e-02,-1.88115921e+00, 4.95414820e+00,-3.43412247e+00,
  2.36922200e-01,-6.07575779e-01, 1.05965330e+01,-2.03864482e+01,
  2.09917580e+00, 2.71866602e-01, 2.08783875e+00, 9.49605410e-01,
  6.89132424e+01, 5.72028064e+01]

qfrc_actuator:
[ 9.83829454e-03, 6.14417472e-02, 1.41199412e-02, 1.87307965e-03,
  2.91725548e-05, 3.48512740e-02, 1.08992879e-02, 1.71713708e-03,
 -3.04920772e-03, 3.47223723e-02, 1.08301111e-02, 1.77082673e-03,
  7.88281097e-03, 1.32367878e-02, 0.00000000e+00,-4.39075039e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044754, -0.07113964, -0.14381434, -0.07113964,  0.18571227,
       -0.01249753, -0.14381434, -0.01249753,  0.1666296 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.445381058977265e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6576451 ,  0.07786977, -0.74929248, -0.05136664,  0.99696354,
        0.05852494,  0.75157461,  0.        ,  0.65964809])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609199, -0.03428215,  0.22490644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044754, -0.07113964, -0.14381434, -0.07113964,  0.18571227,
       -0.01249753, -0.14381434, -0.01249753,  0.1666296 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.445381058977265e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6576451 ,  0.07786977, -0.74929248, -0.05136664,  0.99696354,
        0.05852494,  0.75157461,  0.        ,  0.65964809])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609199, -0.03428215,  0.22490644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005954848789629062
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39303105,  0.08744343, -0.91535799, -0.03450014,  0.99616949,
        0.08034983,  0.91887776,  0.        ,  0.39454235])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08280074, -0.03419317,  0.22318491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.20962626, -5.96616494, 16.20962626, 27.95379031,
       29.01965363, -5.96616494, 29.01965363, 96.11696716,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020180040640756514
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75079482e-14,  7.73661043e-15,  1.00000000e+00,  2.12818279e-28,
        1.00000000e+00, -7.73661043e-15, -1.00000000e+00,  0.00000000e+00,
       -2.75079482e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08517537, -0.07922067,  0.0618663 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96597425e-03, 2.68778485e-02, 3.50547767e-03,-3.71178423e-05,
  1.76765715e-05,-2.43668535e-05, 1.73409990e-05,-1.20203881e-04,
 -1.33541510e-05,-7.60396462e-05, 4.71014863e-06,-2.60524439e-07,
  1.05426036e-02, 1.50417444e-02, 6.82182461e-03, 9.15457297e-04,
  3.66497200e-03, 1.61963374e-02,-9.81235137e+00,-1.08679010e-03,
 -5.99995606e-02, 6.17290674e-02]


--- Step 3669 ---
qpos:
[-0.01865221, 1.20202439,-0.03519415, 0.94260883,-0.00793476, 1.33293489,
 -0.03113762, 0.94134006, 0.01530846, 1.3385177 ,-0.02373931, 0.95473621,
  1.2761656 ,-0.0093274 , 1.28541879, 0.04413946,-0.05526759,-0.08834383,
  0.09018738, 0.69058333,-0.11169122,-0.71118294,-0.06955981]

qacc:
[-3.58046193e-02, 3.06121667e-01,-2.18387461e+00, 3.26998810e+00,
  4.40432425e-02,-2.65191586e+00, 1.01055180e+01,-1.71320476e+01,
 -4.11713374e-02,-1.07352597e-01, 8.97763456e-01,-4.60577979e+00,
 -2.65290065e-01, 3.07095508e-01,-1.20820387e+00, 7.35075622e-01,
 -3.13308399e+00, 1.11004144e+00,-3.44838606e+00, 4.36511839e+00,
 -1.13718793e+02,-5.03738840e+01]

qfrc_actuator:
[ 9.84874900e-03, 6.13977494e-02, 1.41171957e-02, 1.89203949e-03,
  3.14066299e-05, 3.48728226e-02, 1.09352089e-02, 1.68436529e-03,
 -3.05319248e-03, 3.47458604e-02, 1.08278205e-02, 1.75469345e-03,
  7.88055618e-03, 1.32529085e-02, 0.00000000e+00,-3.08508597e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044801, -0.04906826, -0.15276083, -0.04906826,  0.13051892,
        0.00961352, -0.15276083,  0.00961352,  0.15736006,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.8141050706583246e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.57705671e-01,  7.78660978e-02, -7.49239696e-01, -5.13689391e-02,
        9.96963826e-01,  5.85180424e-02,  7.51521445e-01, -6.93889390e-18,
        6.59708661e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609195, -0.03428347,  0.22490719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044801, -0.04906826, -0.15276083, -0.04906826,  0.13051892,
        0.00961352, -0.15276083,  0.00961352,  0.15736006,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.8141050706583246e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.57705671e-01,  7.78660978e-02, -7.49239696e-01, -5.13689391e-02,
        9.96963826e-01,  5.85180424e-02,  7.51521445e-01, -6.93889390e-18,
        6.59708661e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609195, -0.03428347,  0.22490719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005961984726064774
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39301502,  0.08744362, -0.91536485, -0.0344988 ,  0.99616947,
        0.0803506 ,  0.91888467,  0.        ,  0.39452626])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08279976, -0.03419445,  0.22318513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.0176277 , -2.95760967, 17.0176277 , 18.59326499,
        7.59816939, -2.95760967,  7.59816939, 60.99141641,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020107561444595856
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.76071026e-14,  4.14106539e-14,  1.00000000e+00,  1.14322817e-27,
        1.00000000e+00, -4.14106539e-14, -1.00000000e+00,  0.00000000e+00,
       -2.76071026e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02192631, -0.09716135,  0.06186679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.90979943e-03, 2.69981547e-02, 3.55316609e-03, 3.33500420e-07,
  1.26686086e-05, 7.83438699e-06, 2.95980487e-05,-3.57836570e-05,
 -1.18737524e-05,-1.76524707e-05,-1.66122005e-05,-1.82537292e-05,
  1.05272051e-02, 1.50914896e-02, 6.43227348e-03, 1.03111603e-03,
  5.33208704e-03, 1.66919381e-02,-9.81260696e+00,-6.32566084e-04,
 -5.99394684e-02, 6.16753661e-02]


--- Step 3670 ---
qpos:
[-0.01865268, 1.20204386,-0.03519556, 0.94260767,-0.00793421, 1.33293542,
 -0.03113712, 0.94133782, 0.01530829, 1.33851881,-0.02374106, 0.95473607,
  1.27618081,-0.00932601, 1.2854084 , 0.04413724,-0.0552683 ,-0.08825155,
  0.09018623, 0.69039513,-0.1129187 ,-0.7112622 ,-0.06862957]

qacc:
[-2.95331205e-01, 1.35573338e+00,-1.21537123e+00,-3.89634880e+00,
  2.97662824e-02,-1.50898117e+00, 5.88848198e+00,-9.63645576e+00,
  2.93154958e-02, 2.05230440e+00,-4.76857299e+00,-2.63028097e+00,
 -3.03939348e-01, 4.85039160e-01,-7.08729016e+00, 1.24463499e+01,
 -2.90135014e+00, 9.51963227e-01,-3.92885857e+00, 1.81773132e+00,
 -1.04827401e+02,-4.22430245e+01]

qfrc_actuator:
[ 9.87274305e-03, 6.13645751e-02, 1.41696137e-02, 1.88594107e-03,
  3.24933792e-05, 3.48855986e-02, 1.09564001e-02, 1.66587375e-03,
 -3.03767542e-03, 3.47952646e-02, 1.07914218e-02, 1.72729435e-03,
  7.87865706e-03, 1.32621010e-02, 0.00000000e+00,-1.04961061e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1604483 , -0.05379053, -0.15116294, -0.05379053,  0.11619697,
        0.0157466 , -0.15116294,  0.0157466 ,  0.15484495,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.016109136964138e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.57770674e-01,  7.78622245e-02, -7.49183031e-01, -5.13714450e-02,
        9.96964129e-01,  5.85106883e-02,  7.51464380e-01, -6.93889390e-18,
        6.59773662e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609185, -0.03428472,  0.22490797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1604483 , -0.05379053, -0.15116294, -0.05379053,  0.11619697,
        0.0157466 , -0.15116294,  0.0157466 ,  0.15484495,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.016109136964138e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.57770674e-01,  7.78622245e-02, -7.49183031e-01, -5.13714450e-02,
        9.96964129e-01,  5.85106883e-02,  7.51464380e-01, -6.93889390e-18,
        6.59773662e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609185, -0.03428472,  0.22490797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005967718138492166
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39299991,  0.08744382, -0.91537132, -0.03449756,  0.99616945,
        0.08035136,  0.91889117,  0.        ,  0.3945111 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08279866, -0.03419568,  0.22318534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.93464414,   3.4007257 , -16.93464414,
        17.239039  ,  -0.16775801,   3.4007257 ,  -0.16775801,
        16.43734025,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020022500967666473
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.77243843e-14,  2.77243843e-14,  1.00000000e+00,  7.68641487e-28,
        1.00000000e+00, -2.77243843e-14, -1.00000000e+00,  0.00000000e+00,
       -2.77243843e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02194164, -0.09720486,  0.06186728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93788741e-03, 2.69966351e-02, 3.62409503e-03,-9.95136876e-06,
  8.56576597e-06, 2.18181938e-05, 2.50404600e-05,-1.82176532e-05,
  8.50445603e-06, 3.58540731e-05,-4.22674311e-05,-2.88328740e-05,
  1.05399938e-02, 1.50934712e-02, 6.51464309e-03, 1.25461845e-03,
  2.97773661e-03, 1.75463854e-02,-9.81285297e+00,-1.89335548e-03,
 -6.00235057e-02, 6.16130569e-02]


--- Step 3671 ---
qpos:
[-0.01865374, 1.20206415,-0.03519636, 0.94260717,-0.00793377, 1.33293599,
 -0.03113663, 0.94133576, 0.01530823, 1.33852012,-0.02374292, 0.95473594,
  1.27619592,-0.00932428, 1.28539554, 0.04413479,-0.05525937,-0.08815825,
  0.0902002 , 0.69032632,-0.11423587,-0.71121596,-0.06761351]

qacc:
[-2.53398160e-01, 5.43907613e-01,-1.85307128e+00, 8.79054823e+00,
 -4.27044795e-02, 3.66932689e-01,-1.47111482e+00, 3.18401012e+00,
  4.97456528e-02, 5.75960284e-01,-1.56973814e+00, 1.29078644e+00,
 -1.74713808e-01, 3.77416833e-01,-2.93738469e+00, 4.99742524e+00,
  2.40908544e+00, 2.52146228e-01, 3.77955349e+00, 1.98981038e+00,
  7.78625487e+01, 7.27038775e+01]

qfrc_actuator:
[ 9.83447909e-03, 6.13891922e-02, 1.41660923e-02, 1.91845569e-03,
  1.51312095e-05, 3.48752357e-02, 1.09509407e-02, 1.67365405e-03,
 -3.02833786e-03, 3.48064084e-02, 1.07885597e-02, 1.72899893e-03,
  7.87699160e-03, 1.32668107e-02, 0.00000000e+00,-8.81766269e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044805, -0.05248569, -0.15162067, -0.05248569,  0.12158049,
        0.01345457, -0.15162067,  0.01345457,  0.15579055,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.838507358602111e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.57856988e-01,  7.78575672e-02, -7.49107725e-01, -5.13750941e-02,
        9.96964492e-01,  5.85012861e-02,  7.51388570e-01, -6.93889390e-18,
        6.59859998e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609161, -0.03428583,  0.224909  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044805, -0.05248569, -0.15162067, -0.05248569,  0.12158049,
        0.01345457, -0.15162067,  0.01345457,  0.15579055,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.838507358602111e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.57856988e-01,  7.78575672e-02, -7.49107725e-01, -5.13750941e-02,
        9.96964492e-01,  5.85012861e-02,  7.51388570e-01, -6.93889390e-18,
        6.59859998e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609161, -0.03428583,  0.224909  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005970952429476088
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.92983300e-01,  8.74443210e-02, -9.15378401e-01, -3.44962991e-02,
        9.96169409e-01,  8.03524401e-02,  9.18898325e-01,  6.93889390e-18,
        3.94494447e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08279706, -0.03419674,  0.2231856 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.01694074,   2.96155963, -17.01694074,
        20.63095655,  19.29618028,   2.96155963,  19.29618028,
       128.14740045,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002019654630175824
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.20248919e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.20248919e-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([-0.08516406, -0.07917638,  0.06186609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93351007e-03, 2.69421190e-02, 3.61794213e-03, 3.95654357e-05,
 -1.23047394e-05, 6.05153875e-06, 1.12176639e-06, 8.74906705e-06,
  1.43620089e-05, 2.18561263e-05,-1.50692180e-06, 8.58104043e-07,
  1.05583983e-02, 1.50775375e-02, 6.80353705e-03, 1.29503733e-03,
  5.00800274e-04, 1.84578194e-02,-9.81322099e+00,-2.92124095e-03,
 -6.00627232e-02, 6.15535188e-02]


--- Step 3672 ---
qpos:
[-0.01865468, 1.20208336,-0.0351975 , 0.9426066 ,-0.00793361, 1.3329361 ,
 -0.0311363 , 0.9413349 , 0.01530829, 1.33852108,-0.02374462, 0.95473655,
  1.27621152,-0.0093226 , 1.28538473, 0.0441324 ,-0.05524148,-0.0880637 ,
  0.09022504, 0.69036698,-0.11563364,-0.71105362,-0.06652099]

qacc:
[ 5.15593223e-02,-6.10234258e-01, 4.42017913e-01,-5.64678403e-01,
 -1.23350657e-01, 1.88914055e+00,-9.36947897e+00, 2.23513818e+01,
  4.87044007e-02, 3.55412396e-01,-3.21667196e+00, 1.16037912e+01,
  3.21823446e-01,-2.64445412e-01, 2.79573291e+00,-5.42778049e+00,
  2.24014736e+00, 3.12801134e-01, 2.71618973e+00, 1.69871246e+00,
  7.19036711e+01, 6.53908876e+01]

qfrc_actuator:
[ 9.79454093e-03, 6.13953586e-02, 1.41284259e-02, 1.90226077e-03,
 -1.31573905e-05, 3.48155048e-02, 1.09297213e-02, 1.73230583e-03,
 -3.02278381e-03, 3.47591917e-02, 1.07876560e-02, 1.76557782e-03,
  7.88077940e-03, 1.32332362e-02, 0.00000000e+00,-2.01252466e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1604476 , -0.06062613, -0.1485527 , -0.06062613,  0.14632666,
        0.00576293, -0.1485527 ,  0.00576293,  0.15809569,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.499854285316656e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.57952982e-01,  7.78527320e-02, -7.49023916e-01, -5.13793802e-02,
        9.96964870e-01,  5.84910862e-02,  7.51304221e-01,  6.93889390e-18,
        6.59956034e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609131, -0.03428689,  0.22491013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1604476 , -0.06062613, -0.1485527 , -0.06062613,  0.14632666,
        0.00576293, -0.1485527 ,  0.00576293,  0.15809569,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.499854285316656e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.57952982e-01,  7.78527320e-02, -7.49023916e-01, -5.13793802e-02,
        9.96964870e-01,  5.84910862e-02,  7.51304221e-01,  6.93889390e-18,
        6.59956034e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609131, -0.03428689,  0.22491013])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005973185785424287
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39296537,  0.08744507, -0.91538602, -0.03449502,  0.99616934,
        0.0803538 ,  0.91890604,  0.        ,  0.39447648])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08279524, -0.03419776,  0.22318586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.49126072, -5.13667474, 16.49126072, 24.52874439,
       23.29539559, -5.13667474, 23.29539559, 92.06244276,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020236517303620916
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37155891e-14,  4.28612159e-15,  1.00000000e+00,  5.87866826e-29,
        1.00000000e+00, -4.28612159e-15, -1.00000000e+00,  0.00000000e+00,
       -1.37155891e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08515741, -0.07916135,  0.06186581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92266214e-03, 2.69073224e-02, 3.54960542e-03,-9.76131193e-06,
 -3.55522786e-05,-5.59076753e-05,-1.96548406e-05, 5.90684798e-05,
  1.40372335e-05,-3.54059207e-05, 3.21897277e-06, 3.72014433e-05,
  1.05671764e-02, 1.50270935e-02, 6.92751193e-03, 1.19368688e-03,
  2.76093907e-03, 1.94844081e-02,-9.81347875e+00,-2.49099669e-03,
 -5.99925254e-02, 6.14967219e-02]


--- Step 3673 ---
qpos:
[-0.01865592, 1.20210266,-0.03519952, 0.94260473,-0.00793376, 1.33293569,
 -0.03113615, 0.9413344 , 0.01530845, 1.33852171,-0.023746  , 0.95473793,
  1.27622719,-0.00932085, 1.28537236, 0.04412996,-0.05521518,-0.0879677 ,
  0.09025714, 0.69050872,-0.11710459,-0.71078293,-0.06535942]

qacc:
[-1.27446831e-01, 2.75279987e-01, 1.92293820e+00,-1.68001016e+01,
 -1.31304920e-01, 3.99857332e-01,-2.91030659e+00, 7.17502211e+00,
  4.00233437e-02, 6.74093952e-02,-2.28801103e+00, 1.10625465e+01,
  8.51818747e-02,-2.71742617e-02,-2.14543268e+00, 4.14965208e+00,
  2.10028385e+00, 3.62128263e-01, 1.81796049e+00, 1.53133536e+00,
  6.69175718e+01, 5.94719684e+01]

qfrc_actuator:
[ 9.80638850e-03, 6.13387581e-02, 1.41242404e-02, 1.83955953e-03,
 -3.00184595e-05, 3.47798956e-02, 1.09169574e-02, 1.74937070e-03,
 -3.01954429e-03, 3.47484407e-02, 1.08054389e-02, 1.80458566e-03,
  7.87713844e-03, 1.32302101e-02, 0.00000000e+00,-1.08412328e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044732, -0.06929649, -0.14471122, -0.06929649,  0.13975031,
        0.00991098, -0.14471122,  0.00991098,  0.15570134,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.2617265843196824e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.58041114e-01,  7.78482706e-02, -7.48946953e-01, -5.13832998e-02,
        9.96965218e-01,  5.84817042e-02,  7.51226762e-01, -6.93889390e-18,
        6.60044204e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609105, -0.03428804,  0.22491116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044732, -0.06929649, -0.14471122, -0.06929649,  0.13975031,
        0.00991098, -0.14471122,  0.00991098,  0.15570134,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.2617265843196824e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.58041114e-01,  7.78482706e-02, -7.48946953e-01, -5.13832998e-02,
        9.96965218e-01,  5.84817042e-02,  7.51226762e-01, -6.93889390e-18,
        6.60044204e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609105, -0.03428804,  0.22491116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005975939460152076
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39294875,  0.08744575, -0.9153931 , -0.03449383,  0.99616928,
        0.08035505,  0.91891319,  0.        ,  0.39445981])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0827936 , -0.03419887,  0.2231861 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.39081359, -5.44870051, 16.39081359, 26.35246198,
       27.31371248, -5.44870051, 27.31371248, 99.43800122,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020071921935129883
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38280608e-14, -1.98778373e-14,  1.00000000e+00, -2.74871943e-28,
        1.00000000e+00,  1.98778373e-14, -1.00000000e+00,  0.00000000e+00,
       -1.38280608e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08516939, -0.07914865,  0.06186683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92857422e-03, 2.69041343e-02, 3.56250569e-03,-6.87316941e-05,
 -3.78508386e-05,-6.86081680e-05,-2.42100593e-05, 1.61707181e-05,
  1.15284888e-05,-2.86023814e-05, 1.23243194e-05, 3.89183543e-05,
  1.05392463e-02, 1.50269914e-02, 6.82530576e-03, 1.28307995e-03,
  4.81308202e-03, 2.03347202e-02,-9.81384211e+00,-2.02055571e-03,
 -5.99342085e-02, 6.14372379e-02]


--- Step 3674 ---
qpos:
[-0.01865814, 1.20212431,-0.03520142, 0.94260186,-0.00793418, 1.33293489,
 -0.03113591, 0.94133409, 0.01530867, 1.33852229,-0.02374671, 0.95474042,
  1.27624251,-0.00931872, 1.285355  , 0.0441274 ,-0.05518095,-0.08787009,
  0.09029349, 0.69074451,-0.11864262,-0.71041023,-0.06413468]

qacc:
[-4.30883937e-01, 1.08259010e+00, 2.25557396e+00,-1.50098044e+01,
 -1.11733285e-01,-3.96227582e-01, 2.98996767e-01, 2.11341142e+00,
  2.99973097e-02, 1.64190734e-02,-2.36366839e+00, 1.48081753e+01,
 -2.58764646e-01, 4.20866833e-01,-6.99094855e+00, 1.37721216e+01,
  1.98494448e+00, 4.02633753e-01, 1.06039575e+00, 1.46155501e+00,
  6.27497388e+01, 5.46997765e+01]

qfrc_actuator:
[ 9.81416566e-03, 6.12970262e-02, 1.41763210e-02, 1.80346592e-03,
 -3.98876830e-05, 3.47767653e-02, 1.09270910e-02, 1.75958412e-03,
 -3.01771893e-03, 3.47774381e-02, 1.08519832e-02, 1.86248099e-03,
  7.87438592e-03, 1.32453964e-02, 0.00000000e+00, 9.03205358e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044693, -0.07576421, -0.14143196, -0.07576421,  0.12019321,
        0.02156366, -0.14143196,  0.02156366,  0.14889541,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.905488862683936e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65813441,  0.0778437 , -0.74886544, -0.05138755,  0.99696558,
        0.05847189,  0.75114474,  0.        ,  0.66013755])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609075, -0.03428916,  0.22491224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044693, -0.07576421, -0.14143196, -0.07576421,  0.12019321,
        0.02156366, -0.14143196,  0.02156366,  0.14889541,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.905488862683936e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65813441,  0.0778437 , -0.74886544, -0.05138755,  0.99696558,
        0.05847189,  0.75114474,  0.        ,  0.66013755])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609075, -0.03428916,  0.22491224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005977801332953912
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.92932852e-01,  8.74465279e-02, -9.15399846e-01, -3.44927479e-02,
        9.96169215e-01,  8.03563662e-02,  9.18920032e-01, -6.93889390e-18,
        3.94443881e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08279184, -0.03419995,  0.22318634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.25806305,  -5.83288037,  16.25806305,
        28.98430247,  32.64382534,  -5.83288037,  32.64382534,
       108.26128475,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019744452937705964
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.27152658e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.27152658e-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([-0.08519618, -0.0791379 ,  0.0618689 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.95095364e-03, 2.68579065e-02, 3.65842512e-03,-3.99063078e-05,
 -3.22162135e-05,-4.53358782e-05,-5.57386693e-06, 7.80852627e-06,
  8.63269017e-06, 1.67403137e-05, 4.35005129e-05, 5.83149254e-05,
  1.05329907e-02, 1.50380805e-02, 6.90339928e-03, 1.48456279e-03,
  6.68389942e-03, 2.10406200e-02,-9.81428945e+00,-1.52837232e-03,
 -5.98859485e-02, 6.13747598e-02]


--- Step 3675 ---
qpos:
[-0.01866084, 1.20214837,-0.03520206, 0.94259955,-0.0079348 , 1.33293383,
 -0.03113566, 0.94133459, 0.01530895, 1.33852259,-0.02374668, 0.95474256,
  1.27625785,-0.00931631, 1.28533417, 0.0441248 ,-0.05515977,-0.08776759,
  0.09031741, 0.69080189,-0.12012223,-0.7102122 ,-0.06294468]

qacc:
[-2.10098654e-01, 6.98210270e-01, 3.86327456e-01, 4.60015445e+00,
 -8.53949655e-02, 9.76707715e-01,-5.25594423e+00, 1.40809107e+01,
  2.11534226e-02,-2.97897647e+00, 9.95660542e+00,-1.24350826e+01,
  1.88748667e-02, 1.62679867e-01,-5.02266613e+00, 1.01297608e+01,
 -3.26276964e+00, 1.22424607e+00,-3.10795232e+00, 2.85658318e+00,
 -1.19761047e+02,-4.88308768e+01]

qfrc_actuator:
[ 9.83806720e-03, 6.13151760e-02, 1.42082613e-02, 1.83681163e-03,
 -4.54839183e-05, 3.47754409e-02, 1.09330343e-02, 1.80123167e-03,
 -3.01675609e-03, 3.47413800e-02, 1.08797917e-02, 1.84230388e-03,
  7.88285388e-03, 1.32356830e-02, 0.00000000e+00, 1.75154871e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044635, -0.06498037, -0.14669895, -0.06498037,  0.11145322,
        0.02170153, -0.14669895,  0.02170153,  0.15083364,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2767899887834314e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6582474 ,  0.07783864, -0.74876666, -0.05139301,  0.99696597,
        0.05846035,  0.75104535,  0.        ,  0.66025062])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609033, -0.03429016,  0.22491356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044635, -0.06498037, -0.14669895, -0.06498037,  0.11145322,
        0.02170153, -0.14669895,  0.02170153,  0.15083364,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.2767899887834314e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.6582474 ,  0.07783864, -0.74876666, -0.05139301,  0.99696597,
        0.05846035,  0.75104535,  0.        ,  0.66025062])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08609033, -0.03429016,  0.22491356])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000597813892300722
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39291468,  0.08744774, -0.91540753, -0.03449163,  0.99616911,
        0.08035816,  0.91892784,  0.        ,  0.39442568])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08278965, -0.0342009 ,  0.22318664])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.01367305, -2.98027462, 17.01367305, 18.78375413,
        8.62608994, -2.98027462,  8.62608994, 66.517006  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002005800372341146
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.53506241e-14,  4.15129681e-14,  1.00000000e+00,  2.29776869e-27,
        1.00000000e+00, -4.15129681e-14, -1.00000000e+00,  0.00000000e+00,
       -5.53506241e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02189477, -0.09741236,  0.06186702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.02430716e-03, 2.67583797e-02, 3.68454258e-03, 4.32419950e-05,
 -2.46161080e-05,-2.72572696e-05,-3.33335386e-06, 4.02971307e-05,
  6.06133297e-06,-1.65764050e-05, 3.77318304e-05,-1.70476844e-05,
  1.05592829e-02, 1.50097901e-02, 7.15353496e-03, 1.57570407e-03,
  8.39807137e-03, 2.16291131e-02,-9.81480752e+00,-1.02588505e-03,
 -5.98465885e-02, 6.13090882e-02]


--- Step 3676 ---
qpos:
[-0.01866325, 1.20217291,-0.03520206, 0.94259752,-0.00793542, 1.33293296,
 -0.03113605, 0.94133454, 0.01530911, 1.33852217,-0.02374546, 0.95474376,
  1.27627339,-0.00931402, 1.28531461, 0.04412249,-0.05515063,-0.08766086,
  0.09032677, 0.6906958 ,-0.12155731,-0.71017317,-0.06178358]

qacc:
[ 1.29209518e-01,-6.20411554e-01, 2.23534983e+00, 9.73148896e-01,
  7.00705090e-04, 1.04917129e+00,-1.99898704e+00,-4.72215897e+00,
 -4.73476182e-02,-5.74464331e+00, 1.94931333e+01,-2.72272275e+01,
  1.95832398e-01,-2.43867901e-01, 1.02355388e+00,-8.74162326e-01,
 -3.00979614e+00, 1.05622156e+00,-3.63977983e+00, 3.02762358e-01,
 -1.09832895e+02,-4.04936674e+01]

qfrc_actuator:
[ 9.85377975e-03, 6.12794979e-02, 1.42091726e-02, 1.83965720e-03,
 -3.07204182e-05, 3.47929745e-02, 1.09009786e-02, 1.77228077e-03,
 -3.03407063e-03, 3.46842939e-02, 1.09315236e-02, 1.79404348e-03,
  7.88738134e-03, 1.32287148e-02, 0.00000000e+00, 1.02845984e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044582, -0.07621283, -0.14118947, -0.07621283,  0.13385869,
        0.0143515 , -0.14118947,  0.0143515 ,  0.15269901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.492750475982213e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65837562,  0.07783302, -0.7486545 , -0.05139929,  0.99696641,
        0.05844735,  0.75093252,  0.        ,  0.66037894])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608984, -0.0342911 ,  0.22491508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044582, -0.07621283, -0.14118947, -0.07621283,  0.13385869,
        0.0143515 , -0.14118947,  0.0143515 ,  0.15269901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.492750475982213e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.65837562,  0.07783302, -0.7486545 , -0.05139929,  0.99696641,
        0.05844735,  0.75093252,  0.        ,  0.66037894])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608984, -0.0342911 ,  0.22491508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005977888881473561
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.92893137e-01,  8.74491972e-02, -9.15416638e-01, -3.44903225e-02,
        9.96168981e-01,  8.03603120e-02,  9.18937104e-01, -6.93889390e-18,
        3.94404107e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08278711, -0.03420178,  0.22318699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.88088809,   3.65824065, -16.88088809,
        17.24352663,  -0.13474584,   3.65824065,  -0.13474584,
        16.65094492,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002010364669092206
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.76124785e-14,  4.14187178e-14,  1.00000000e+00,  1.14367345e-27,
        1.00000000e+00, -4.14187178e-14, -1.00000000e+00,  0.00000000e+00,
       -2.76124785e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0218752 , -0.09745069,  0.06186673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06413078e-03, 2.66022755e-02, 3.62232344e-03, 1.83199492e-05,
  2.30730092e-07, 3.02345200e-06,-3.65848319e-05,-2.89372029e-05,
 -1.37355784e-05,-5.93877439e-05, 5.22865510e-05,-4.80408282e-05,
  1.05627475e-02, 1.49882663e-02, 7.32726651e-03, 1.50518312e-03,
  5.79377902e-03, 2.29182488e-02,-9.81492702e+00,-2.66021830e-03,
 -5.99050633e-02, 6.12248464e-02]


--- Step 3677 ---
qpos:
[-0.01866613, 1.20219803,-0.03520257, 0.94259421,-0.00793596, 1.33293214,
 -0.0311371 , 0.94133415, 0.01530926, 1.3385215 ,-0.02374373, 0.95474403,
  1.2762885 ,-0.00931164, 1.28529367, 0.04412039,-0.05515266,-0.08755045,
  0.09031974, 0.69043864,-0.12295884,-0.71027993,-0.06064671]

qacc:
[-2.02374935e-01,-3.57981081e-02, 3.65877611e+00,-1.83201364e+01,
  3.19718843e-02, 1.28242343e+00,-3.41524867e+00,-9.35033418e-01,
 -2.46925010e-03,-3.35721488e+00, 1.24242420e+01,-2.14165225e+01,
 -3.11800912e-01, 2.87274076e-01,-2.68979382e+00, 6.48498041e+00,
 -2.79431197e+00, 9.20905924e-01,-4.09453989e+00,-1.69450059e+00,
 -1.01479750e+02,-3.38082322e+01]

qfrc_actuator:
[ 9.84623999e-03, 6.12479757e-02, 1.41915777e-02, 1.77100113e-03,
 -2.16165938e-05, 3.47859773e-02, 1.08645339e-02, 1.75525778e-03,
 -3.02670411e-03, 3.46861367e-02, 1.09613633e-02, 1.74741244e-03,
  7.88420152e-03, 1.32769541e-02, 0.00000000e+00, 1.84487616e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044555, -0.08966945, -0.13304947, -0.08966945,  0.13198704,
        0.01917977, -0.13304947,  0.01917977,  0.14751923,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.370706039966674e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.58500395e-01,  7.78274014e-02, -7.48545340e-01, -5.14052946e-02,
        9.96966848e-01,  5.84345796e-02,  7.50822699e-01,  6.93889390e-18,
        6.60503803e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608939, -0.03429208,  0.22491657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044555, -0.08966945, -0.13304947, -0.08966945,  0.13198704,
        0.01917977, -0.13304947,  0.01917977,  0.14751923,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.370706039966674e-07
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.58500395e-01,  7.78274014e-02, -7.48545340e-01, -5.14052946e-02,
        9.96966848e-01,  5.84345796e-02,  7.50822699e-01,  6.93889390e-18,
        6.60503803e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608939, -0.03429208,  0.22491657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005978734841646585
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39287055,  0.08745056, -0.9154262 , -0.03448888,  0.99616886,
        0.08036241,  0.91894682,  0.        ,  0.39438148])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08278466, -0.03420271,  0.22318734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.87930807,   3.66552403, -16.87930807,
        17.30784416,   0.16170913,   3.66552403,   0.16170913,
        18.01737882,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019909128751883914
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.57645208e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.57645208e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02191886, -0.09749362,  0.06186786])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04173222e-03, 2.65457514e-02, 3.57237921e-03,-6.41683105e-05,
  9.24030816e-06,-1.33495143e-05,-4.08654672e-05,-1.86775054e-05,
 -7.47638623e-07,-2.22075790e-05, 2.27789439e-05,-4.79760980e-05,
  1.05493917e-02, 1.50428833e-02, 7.26387331e-03, 1.57291184e-03,
  3.06059785e-03, 2.42552875e-02,-9.81520425e+00,-4.02523900e-03,
 -5.99162121e-02, 6.11439090e-02]


--- Step 3678 ---
qpos:
[-0.0186701 , 1.2022241 ,-0.03520224, 0.94259208,-0.00793655, 1.33293159,
 -0.03113871, 0.94133355, 0.0153096 , 1.33852111,-0.02374215, 0.95474373,
  1.27630297,-0.00930862, 1.28526819, 0.04411815,-0.05514653,-0.08745021,
  0.0903326 , 0.69030908,-0.12426357,-0.71027009,-0.05956787]

qacc:
[-4.77987430e-01, 9.85987299e-01,-4.12486996e+00, 1.65649585e+01,
 -2.32284870e-02, 1.48319773e+00,-3.96287832e+00, 6.61857526e-01,
  7.50797748e-02,-1.79478647e-01, 2.18470410e+00,-8.67799542e+00,
 -6.80592091e-01, 9.95055196e-01,-6.23731942e+00, 1.21730874e+01,
  2.04155346e+00,-2.54363985e+00, 4.96926231e+00, 1.71147401e+01,
  9.20682016e+01,-4.33681111e+01]

qfrc_actuator:
[ 9.82539149e-03, 6.12364241e-02, 1.41460233e-02, 1.83840974e-03,
 -3.37357919e-05, 3.48175801e-02, 1.08434834e-02, 1.74539699e-03,
 -3.00459031e-03, 3.47231722e-02, 1.09605086e-02, 1.71988868e-03,
  7.87112139e-03, 1.33226462e-02, 0.00000000e+00, 3.22942490e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044542, -0.0488548 , -0.15282651, -0.0488548 ,  0.09393901,
        0.02126043, -0.15282651,  0.02126043,  0.153649  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1556163750404969e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.58629716e-01,  7.78218205e-02, -7.48432136e-01, -5.14116806e-02,
        9.96967283e-01,  5.84215273e-02,  7.50708823e-01, -6.93889390e-18,
        6.60633229e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0860889 , -0.03429301,  0.22491812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044542, -0.0488548 , -0.15282651, -0.0488548 ,  0.09393901,
        0.02126043, -0.15282651,  0.02126043,  0.153649  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1556163750404969e-07
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.58629716e-01,  7.78218205e-02, -7.48432136e-01, -5.14116806e-02,
        9.96967283e-01,  5.84215273e-02,  7.50708823e-01, -6.93889390e-18,
        6.60633229e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0860889 , -0.03429301,  0.22491812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005979190184329485
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3928479 ,  0.08745211, -0.91543578, -0.03448751,  0.99616873,
        0.08036469,  0.91895655,  0.        ,  0.39435879])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08278211, -0.03420358,  0.22318771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.72054533,   4.33249019, -16.72054533,
        26.28497041,  34.78129518,   4.33249019,  34.78129518,
       151.50551209,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019733031784892677
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.81310808e-14,  1.40655404e-14,  1.00000000e+00, -3.95678855e-28,
        1.00000000e+00, -1.40655404e-14, -1.00000000e+00,  0.00000000e+00,
        2.81310808e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0828452 , -0.06900466,  0.0618688 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04409104e-03, 2.65052949e-02, 3.55222465e-03, 6.69166335e-05,
 -6.66470083e-06, 1.56644042e-05,-2.88611212e-05,-1.18981259e-05,
  2.16713287e-05, 2.77848281e-05,-4.00750709e-06,-2.86299660e-05,
  1.05579213e-02, 1.50840589e-02, 7.33344880e-03, 1.70047281e-03,
  2.14652503e-04, 2.56361316e-02,-9.81562764e+00,-5.18352834e-03,
 -5.98921330e-02, 6.10660139e-02]


--- Step 3679 ---
qpos:
[-0.01867385, 1.20224567,-0.03520448, 0.94259317,-0.00793724, 1.33293116,
 -0.03114035, 0.94133419, 0.01531   , 1.33852128,-0.02374048, 0.95474306,
  1.27631763,-0.00930445, 1.28524092, 0.04411498,-0.05513283,-0.08735896,
  0.09036016, 0.6902956 ,-0.12547821,-0.71015475,-0.05854437]

qacc:
[ 9.49068322e-02, 6.50065386e+00,-3.50358099e+01, 7.06510464e+01,
 -3.79792708e-02, 2.37591029e+00,-1.01243614e+01, 2.32219494e+01,
  2.79502482e-02,-1.57735849e-01, 2.15075523e+00,-6.44846771e+00,
 -5.42057982e-01, 1.36948002e+00, 2.28534676e-01,-4.50158884e+00,
  1.89370088e+00,-2.24723499e+00, 3.67543813e+00, 1.55151896e+01,
  8.37617328e+01,-4.10899592e+01]

qfrc_actuator:
[ 9.81512997e-03, 6.11829867e-02, 1.41358099e-02, 1.96777009e-03,
 -4.07361224e-05, 3.48366087e-02, 1.08495913e-02, 1.81086929e-03,
 -3.00931451e-03, 3.47808866e-02, 1.09772166e-02, 1.70384027e-03,
  7.85746041e-03, 1.32774503e-02, 0.00000000e+00, 3.00481347e-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: -0.0005977591264934683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39282359,  0.08745411, -0.91544601, -0.03448617,  0.99616855,
        0.08036744,  0.91896699,  0.        ,  0.39433447])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08277918, -0.03420433,  0.2231881 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  14.95032518,  -8.65071584,  14.95032518,
        46.1750633 ,  49.94954526,  -8.65071584,  49.94954526,
       103.59644411,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020178590451210426
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.37549626e-14,  4.12648877e-14,  1.00000000e+00, -5.67596985e-28,
        1.00000000e+00, -4.12648877e-14, -1.00000000e+00,  0.00000000e+00,
        1.37549626e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08280411, -0.06900603,  0.06186599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.08872357e-03, 2.64038830e-02, 3.50016973e-03, 1.37773667e-04,
 -1.09340525e-05, 2.16930369e-05, 5.54042795e-06, 6.48182206e-05,
  8.07530025e-06, 7.14497117e-05, 2.08393539e-05,-1.60074769e-05,
  1.05758877e-02, 1.50062794e-02, 7.56132008e-03, 1.68528741e-03,
  2.10710782e-03, 2.08159532e-02,-9.81477084e+00,-4.31247394e-03,
 -6.00850965e-02, 6.10068939e-02]


--- Step 3680 ---
qpos:
[-0.01867647, 1.20226497,-0.03520818, 0.9425952 ,-0.00793801, 1.33293068,
 -0.03114154, 0.9413356 , 0.01531041, 1.33852247,-0.02373947, 0.95474358,
  1.27633297,-0.00930034, 1.28521958, 0.04411194,-0.05511204,-0.08727572,
  0.09039805, 0.6903886 ,-0.12660847,-0.70994305,-0.05757374]

qacc:
[ 4.92648309e-01, 2.53260171e+00,-1.38160862e+01, 2.43592034e+01,
 -3.57753169e-02, 1.63086134e-02,-1.73867878e+00, 1.04993279e+01,
  5.79138136e-03, 5.17436658e+00,-1.76759086e+01, 2.84611605e+01,
  2.71131668e-01,-1.49246232e-01, 8.37602784e+00,-1.65921821e+01,
  1.76940365e+00,-2.00374547e+00, 2.58405499e+00, 1.42093249e+01,
  7.68520232e+01,-3.90412315e+01]

qfrc_actuator:
[ 9.82809574e-03, 6.11450026e-02, 1.41676333e-02, 2.02526187e-03,
 -4.46083063e-05, 3.48303632e-02, 1.08716796e-02, 1.84914593e-03,
 -3.01234849e-03, 3.48506103e-02, 1.09510069e-02, 1.76571080e-03,
  7.86470378e-03, 1.32302289e-02, 0.00000000e+00, 9.35494020e-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: -0.000597194248728089
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.92805804e-01,  8.74559138e-02, -9.15453474e-01, -3.44853248e-02,
        9.96168391e-01,  8.03697657e-02,  9.18974626e-01, -6.93889390e-18,
        3.94316671e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08277617, -0.03420513,  0.22318839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  14.83455995,  -8.84776461,  14.83455995,
        50.30467825,  55.38285412,  -8.84776461,  55.38285412,
       110.13011051,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020343367279534452
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36435504e-14,  2.72871007e-14,  1.00000000e+00, -3.72292933e-28,
        1.00000000e+00, -2.72871007e-14, -1.00000000e+00,  0.00000000e+00,
        1.36435504e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08278707, -0.06899993,  0.06186499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.09074267e-03, 2.65910284e-02, 3.66085406e-03, 3.39790142e-05,
 -1.03263548e-05, 8.79924017e-06, 2.88692531e-05, 4.05928314e-05,
  1.73788959e-06, 1.12826958e-04,-1.03587323e-05, 6.42267376e-05,
  1.05741901e-02, 1.49019378e-02, 7.65099515e-03, 1.52488106e-03,
  3.35204206e-03, 1.67724961e-02,-9.81413477e+00,-3.62826652e-03,
 -6.02479764e-02, 6.09518463e-02]


--- Step 3681 ---
qpos:
[-0.01867831, 1.20228421,-0.03521286, 0.94259595,-0.00793899, 1.33293024,
 -0.03114182, 0.94133605, 0.01531096, 1.33852476,-0.02373968, 0.95474417,
  1.27634827,-0.00929674, 1.28520495, 0.04410944,-0.0550846 ,-0.0871997 ,
  0.09044261, 0.69058011,-0.12765929,-0.70964257,-0.05665369]

qacc:
[ 3.39652657e-01, 3.80004648e-01, 1.32711867e+00,-1.60157019e+01,
 -8.94319387e-02,-4.02875675e+00, 1.52152135e+01,-2.44615700e+01,
  5.79025739e-02, 4.87108501e+00,-1.42813092e+01, 1.24872109e+01,
 -2.63418698e-02,-2.97059957e-01, 8.26578408e+00,-1.45309428e+01,
  1.66522631e+00,-1.80383887e+00, 1.66513258e+00, 1.31451621e+01,
  7.11047155e+01,-3.72037355e+01]

qfrc_actuator:
[ 9.85399684e-03, 6.11336072e-02, 1.41890776e-02, 1.96961361e-03,
 -6.43253825e-05, 3.48445970e-02, 1.09206403e-02, 1.80007385e-03,
 -2.99659021e-03, 3.48913632e-02, 1.08820157e-02, 1.76640274e-03,
  7.87911245e-03, 1.32712958e-02, 0.00000000e+00,-4.72219553e-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: -0.0005968292362336959
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.92791444e-01,  8.74572066e-02, -9.15459512e-01, -3.44845778e-02,
        9.96168277e-01,  8.03714929e-02,  9.18980792e-01, -6.93889390e-18,
        3.94302301e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08277368, -0.03420613,  0.22318862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  14.64738284,  -9.1543041 ,  14.64738284,
        56.54432392,  62.83668367,  -9.1543041 ,  62.83668367,
       117.81482772,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002028167753091989
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.73700985e-14, -1.36850493e-14,  1.00000000e+00, -3.74561147e-28,
        1.00000000e+00,  1.36850493e-14, -1.00000000e+00,  0.00000000e+00,
       -2.73700985e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08278932, -0.06898792,  0.06186546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06001611e-03, 2.66928509e-02, 3.75481522e-03,-6.88528579e-05,
 -2.58129207e-05, 2.59812166e-05, 5.51640926e-05,-4.70196489e-05,
  1.67890598e-05, 1.03017738e-04,-4.62558780e-05, 5.23081610e-06,
  1.05546265e-02, 1.49457172e-02, 7.35476131e-03, 1.37788877e-03,
  4.09174539e-03, 1.33680697e-02,-9.81367653e+00,-3.09795937e-03,
 -6.03871534e-02, 6.09004390e-02]


--- Step 3682 ---
qpos:
[-0.01868017, 1.202306  ,-0.03521763, 0.94259506,-0.00794005, 1.33292997,
 -0.03114151, 0.94133556, 0.01531152, 1.33852765,-0.02374107, 0.95474308,
  1.27636286,-0.00929336, 1.28519095, 0.04410721,-0.05505084,-0.08713024,
  0.09049074, 0.69086348,-0.12863492,-0.70925952,-0.05578214]

qacc:
[-1.11417842e-02, 8.08696633e-01, 4.82033380e+00,-2.49479915e+01,
 -3.04402564e-02,-2.96352619e+00, 1.18561470e+01,-2.12079949e+01,
  4.38285218e-03, 1.06076512e+00, 8.87372818e-01,-2.05228369e+01,
 -4.50027554e-01, 1.78650713e-01, 1.53744812e-01, 8.79080218e-01,
  1.57821584e+00,-1.63982889e+00, 8.92988100e-01, 1.22806375e+01,
  6.63289457e+01,-3.55596593e+01]

qfrc_actuator:
[ 9.90531024e-03, 6.11546109e-02, 1.42043989e-02, 1.90118820e-03,
 -5.78833810e-05, 3.48532860e-02, 1.09495878e-02, 1.75327957e-03,
 -3.00519076e-03, 3.48787365e-02, 1.08059364e-02, 1.67777771e-03,
  7.88188300e-03, 1.33303127e-02, 0.00000000e+00, 2.87627568e-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: -0.0005968576870326384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.92778036e-01,  8.74581761e-02, -9.15465173e-01, -3.44837858e-02,
        9.96168192e-01,  8.03728877e-02,  9.18986552e-01, -6.93889390e-18,
        3.94288875e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08277174, -0.03420728,  0.22318885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  14.37963824,  -9.56938408,  14.37963824,
        65.75795251,  72.8573535 ,  -9.56938408,  72.8573535 ,
       126.75337695,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020039148826090786
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.38506759e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.38506759e-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([-0.08280691, -0.06897132,  0.06186709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.07227038e-03, 2.67163618e-02, 3.81884963e-03,-7.31351043e-05,
 -8.79514162e-06, 3.24430917e-05, 3.89331363e-05,-4.54819243e-05,
  1.31947940e-06, 3.54494090e-05,-6.10654894e-05,-8.68004272e-05,
  1.05592919e-02, 1.50304686e-02, 7.01994582e-03, 1.42682057e-03,
  4.43118990e-03, 1.04944509e-02,-9.81336397e+00,-2.69545467e-03,
 -6.05075881e-02, 6.08523663e-02]


--- Step 3683 ---
qpos:
[-0.0186822 , 1.20233079,-0.03522162, 0.94259429,-0.00794096, 1.33292979,
 -0.03114108, 0.9413342 , 0.01531234, 1.33853047,-0.02374233, 0.95474231,
  1.27637696,-0.00928978, 1.28517406, 0.04410484,-0.05501131,-0.08707107,
  0.09053785, 0.69123584,-0.1294671 ,-0.7088053 ,-0.05501212]

qacc:
[-6.78167285e-02, 2.04988421e+00,-2.21270555e+00, 1.55093378e+00,
  5.86337566e-02,-1.71805860e+00, 7.56196783e+00,-1.67518354e+01,
  1.07114174e-01, 1.43632841e-01,-1.22712334e+00, 4.81353304e+00,
 -3.72138221e-01, 4.05840648e-01,-3.82952100e+00, 7.24605679e+00,
  1.44424375e+00,-2.57257039e+00,-2.52207220e-01, 1.72888624e+01,
  6.66771321e+01,-7.88761056e+01]

qfrc_actuator:
[ 9.93685919e-03, 6.11569661e-02, 1.42155575e-02, 1.91473922e-03,
 -3.58007551e-05, 3.48407573e-02, 1.09487271e-02, 1.70820294e-03,
 -2.97507703e-03, 3.48696396e-02, 1.08148025e-02, 1.69705800e-03,
  7.87240693e-03, 1.33289941e-02, 0.00000000e+00, 1.46096129e-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: -0.0005970829875263303
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.92762371e-01,  8.74591973e-02, -9.15471796e-01, -3.44828163e-02,
        9.96168103e-01,  8.03744149e-02,  9.18993284e-01,  6.93889390e-18,
        3.94273185e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08276982, -0.03420837,  0.22318915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.12204151,   2.27657679, -17.12204151,
        18.05040481,   5.84888113,   2.27657679,   5.84888113,
        61.26192445,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019674651839357987
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41072766e-14,  4.23218299e-14,  1.00000000e+00, -5.97045762e-28,
        1.00000000e+00, -4.23218299e-14, -1.00000000e+00,  0.00000000e+00,
        1.41072766e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08374578, -0.06333508,  0.0618695 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.10504636e-03, 2.65909780e-02, 3.83477391e-03, 2.28870650e-05,
  1.68918555e-05, 1.16679343e-05, 8.58468599e-06,-4.40104136e-05,
  3.08962829e-05,-4.01093765e-06, 6.30599006e-06, 1.65242786e-05,
  1.05854244e-02, 1.50398084e-02, 6.98855464e-03, 1.53085697e-03,
  4.44792186e-03, 8.06619489e-03,-9.81317290e+00,-2.40002779e-03,
 -6.06131451e-02, 6.08074088e-02]


--- Step 3684 ---
qpos:
[-0.01868417, 1.20235616,-0.03522559, 0.94259464,-0.00794154, 1.33292934,
 -0.03114027, 0.94133407, 0.01531359, 1.33853288,-0.02374279, 0.95474246,
  1.276391  ,-0.00928587, 1.28515618, 0.04410222,-0.05498549,-0.08700852,
  0.09057409, 0.69142604,-0.13029454,-0.70852647,-0.05425501]

qacc:
[ 1.79492910e-02, 2.60640592e+00,-9.87177639e+00, 2.11244846e+01,
  1.43218924e-01, 7.15731948e-01,-5.29157857e+00, 1.89200981e+01,
  1.85901810e-01,-1.13706591e+00, 1.19905545e+00, 9.83307106e+00,
 -2.27631699e-01, 4.48655954e-01,-6.61136885e-01, 2.50028061e-01,
 -3.42830649e+00, 8.45116456e-01,-2.72089289e+00,-9.91159595e+00,
 -1.24211641e+02,-2.25078879e+01]

qfrc_actuator:
[ 9.90343198e-03, 6.11644233e-02, 1.41701237e-02, 1.95860200e-03,
 -4.51539733e-06, 3.48154996e-02, 1.09657083e-02, 1.77098601e-03,
 -2.93973391e-03, 3.48453423e-02, 1.08560631e-02, 1.74424620e-03,
  7.85558863e-03, 1.33089001e-02, 0.00000000e+00, 1.28763951e-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: -0.0005973169235733745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39274324,  0.08746034, -0.91547989, -0.03448159,  0.996168  ,
        0.08037619,  0.91900151,  0.        ,  0.39425402])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08276761, -0.03420937,  0.22318952])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019846480322179283
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.79702750e-14, -1.39851375e-14,  1.00000000e+00, -3.91168142e-28,
        1.00000000e+00,  1.39851375e-14, -1.00000000e+00,  0.00000000e+00,
       -2.79702750e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02191765, -0.09765445,  0.0618686 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.07936364e-03, 2.64485831e-02, 3.75031686e-03, 6.01706149e-05,
  4.12576979e-05,-1.84498926e-05, 1.89480819e-05, 6.23656092e-05,
  5.35910024e-05,-2.48112272e-05, 4.16748995e-05, 4.76393315e-05,
  1.05931803e-02, 1.50097413e-02, 7.13343650e-03, 1.52053589e-03,
  3.63976055e-03, 4.90309117e-03,-9.81278463e+00,-2.26974790e-03,
 -6.07460410e-02, 6.07687913e-02]


--- Step 3685 ---
qpos:
[-0.0186862 , 1.20238055,-0.0352301 , 0.94259638,-0.00794162, 1.33292897,
 -0.03113935, 0.94133432, 0.01531498, 1.338535  ,-0.02374327, 0.95474252,
  1.27640534,-0.00928159, 1.28513972, 0.04409937,-0.05497228,-0.08694292,
  0.0905971 , 0.69144963,-0.13112064,-0.70840779,-0.05350882]

qacc:
[-2.08857996e-02, 2.53621917e+00,-1.27223443e+01, 2.78022435e+01,
  2.11333084e-01, 5.07899700e-01,-2.31416745e+00, 6.46368733e+00,
  5.75223703e-02,-4.78477539e-01, 1.28804907e+00,-2.01500004e+00,
 -7.13583773e-02, 3.89363524e-01, 2.77666933e+00,-6.64717673e+00,
 -3.15378663e+00, 7.62390240e-01,-3.30532535e+00,-9.91199730e+00,
 -1.13645052e+02,-1.92063366e+01]

qfrc_actuator:
[ 9.83088433e-03, 6.11228872e-02, 1.41266844e-02, 2.01961564e-03,
  3.20365750e-05, 3.48361976e-02, 1.09753499e-02, 1.79022755e-03,
 -2.95479810e-03, 3.48122955e-02, 1.08450129e-02, 1.73644057e-03,
  7.85564732e-03, 1.32950750e-02, 0.00000000e+00, 4.85564628e-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: -0.0005975197865129012
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.92723540e-01,  8.74614844e-02, -9.15488236e-01, -3.44803158e-02,
        9.96167902e-01,  8.03779763e-02,  9.19009972e-01,  6.93889390e-18,
        3.94234285e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08276529, -0.03421037,  0.22318989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -15.88651748,   6.77979866, -15.88651748,
        21.99934593,  11.07547785,   6.77979866,  11.07547785,
        43.2249393 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002000833278202066
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.77440164e-14,  1.38720082e-14,  1.00000000e+00,  3.84865222e-28,
        1.00000000e+00, -1.38720082e-14, -1.00000000e+00,  0.00000000e+00,
       -2.77440164e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02187562, -0.09765815,  0.06186771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.00471591e-03, 2.63771869e-02, 3.70568705e-03, 6.54373351e-05,
  6.09067176e-05, 1.60822417e-05, 1.00175549e-05, 2.06862657e-05,
  1.65853950e-05,-3.72293801e-05,-9.76711760e-06,-6.21004940e-06,
  1.05964305e-02, 1.49789678e-02, 7.18289309e-03, 1.45314404e-03,
  3.02540678e-03, 6.40316498e-03,-9.81243907e+00,-3.34481017e-03,
 -6.06599730e-02, 6.07061574e-02]


--- Step 3686 ---
qpos:
[-0.01868843, 1.2024052 ,-0.03523511, 0.94259804,-0.00794122, 1.33292891,
 -0.031139  , 0.94133516, 0.01531652, 1.33853696,-0.02374391, 0.95474213,
  1.27642025,-0.00927717, 1.28512391, 0.04409652,-0.05497076,-0.08687455,
  0.0906049 , 0.69131955,-0.13194802,-0.70843639,-0.05277194]

qacc:
[-8.92016910e-02, 1.52937794e+00,-4.39014542e+00, 2.62533372e+00,
  1.99807261e-01, 2.90402283e+00,-1.02294214e+01, 1.55541316e+01,
  6.19556592e-02,-5.56737349e-01, 2.46419413e+00,-7.15587429e+00,
  3.26161561e-01,-1.20208575e-01, 9.52581699e-01,-1.98032268e+00,
 -2.92141749e+00, 6.94301949e-01,-3.80328298e+00,-9.87388530e+00,
 -1.04772979e+02,-1.65260197e+01]

qfrc_actuator:
[ 9.80594770e-03, 6.10177933e-02, 1.41027553e-02, 2.01918683e-03,
  5.36996966e-05, 3.48487056e-02, 1.09452030e-02, 1.81919191e-03,
 -2.94672130e-03, 3.48095475e-02, 1.08385903e-02, 1.71403738e-03,
  7.87112699e-03, 1.32671019e-02, 0.00000000e+00, 5.49615557e-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: -0.0005977327337013116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39270525,  0.08746262, -0.91549597, -0.03447916,  0.9961678 ,
        0.0803797 ,  0.91901783,  0.        ,  0.39421597])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08276309, -0.03421145,  0.22319024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -15.85552292,   6.85197056, -15.85552292,
        22.76508499,  12.7093663 ,   6.85197056,  12.7093663 ,
        46.68231783,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001991478899467894
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.78743356e-14,  2.78743356e-14,  1.00000000e+00, -7.76978586e-28,
        1.00000000e+00, -2.78743356e-14, -1.00000000e+00,  0.00000000e+00,
        2.78743356e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02189997, -0.09767404,  0.06186832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98214794e-03, 2.63212597e-02, 3.70906454e-03,-4.55129621e-06,
  5.76186893e-05, 2.39930559e-05,-2.52529579e-05, 3.02232140e-05,
  1.78715577e-05,-2.54392888e-05,-1.49867161e-05,-2.39346422e-05,
  1.05966126e-02, 1.49329511e-02, 7.11248580e-03, 1.47073605e-03,
  1.91613635e-03, 7.85506986e-03,-9.81236596e+00,-4.25239631e-03,
 -6.05719698e-02, 6.06479079e-02]


--- Step 3687 ---
qpos:
[-0.01868997, 1.20243002,-0.0352404 , 0.94259864,-0.00794045, 1.3329291 ,
 -0.03113931, 0.94133669, 0.01531803, 1.33853864,-0.02374458, 0.95474149,
  1.27643571,-0.00927332, 1.28511398, 0.04409417,-0.05496174,-0.08681925,
  0.09062224, 0.69130382,-0.13260012,-0.70837539,-0.05215876]

qacc:
[ 3.01049400e-01,-8.26404515e-01, 5.14964049e+00,-1.68464896e+01,
  1.61464730e-01, 3.32882956e+00,-1.18938206e+01, 1.82395903e+01,
 -1.05528602e-02,-7.25667229e-01, 2.43556384e+00,-4.92867330e+00,
  5.16106525e-01,-7.85150329e-01, 7.15480722e+00,-1.24975861e+01,
  1.87509813e+00,-3.27085251e+00, 2.38548853e+00, 2.19526776e+01,
  8.42680322e+01,-9.59229749e+01]

qfrc_actuator:
[ 9.82750621e-03, 6.09979752e-02, 1.41262025e-02, 1.96506134e-03,
  6.62568447e-05, 3.48560599e-02, 1.09095562e-02, 1.85363229e-03,
 -2.96033004e-03, 3.47894537e-02, 1.08350819e-02, 1.70101585e-03,
  7.87984747e-03, 1.32307084e-02, 0.00000000e+00,-1.17579190e-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: -0.0005979898114553128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39268718,  0.08746383, -0.91550361, -0.03447805,  0.9961677 ,
        0.0803815 ,  0.9190256 ,  0.        ,  0.39419786])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08276092, -0.03421261,  0.22319058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019784859278372535
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.2086085e-14,  2.8057390e-14,  1.0000000e+00, -1.1808257e-27,
        1.0000000e+00, -2.8057390e-14, -1.0000000e+00,  0.0000000e+00,
        4.2086085e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08372766, -0.06331057,  0.06186909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01391395e-03, 2.62879255e-02, 3.75711898e-03,-5.43329902e-05,
  4.65720019e-05, 1.66007201e-05,-3.29388724e-05, 3.51241488e-05,
 -3.05397617e-06,-3.78092188e-05,-1.08819789e-05,-1.47698964e-05,
  1.05770530e-02, 1.48891173e-02, 7.08037448e-03, 1.29847933e-03,
  4.21592045e-04, 9.27108570e-03,-9.81251299e+00,-5.02575745e-03,
 -6.04816837e-02, 6.05932708e-02]


--- Step 3688 ---
qpos:
[-0.01869017, 1.20245471,-0.03524503, 0.94259994,-0.00793939, 1.33292996,
 -0.03114019, 0.94133686, 0.01531916, 1.33853962,-0.02374449, 0.95473931,
  1.27645156,-0.00927014, 1.28511089, 0.04409204,-0.05494576,-0.08677586,
  0.09064521, 0.69139335,-0.13309013,-0.70823262,-0.05166056]

qacc:
[ 5.82763385e-01,-7.36338503e-01, 7.30366356e-01, 7.66126152e+00,
  1.19540449e-01, 4.89723862e-02, 3.72793794e+00,-1.95568500e+01,
 -1.59454506e-01,-5.61774920e+00, 2.03265975e+01,-3.49323564e+01,
  3.88200544e-01,-7.37498235e-01, 9.41097543e+00,-1.82884039e+01,
  1.74022752e+00,-2.97481536e+00, 1.40704993e+00, 2.01403757e+01,
  7.73920445e+01,-8.89834425e+01]

qfrc_actuator:
[ 9.87614722e-03, 6.09760557e-02, 1.41958092e-02, 2.00399176e-03,
  7.32520825e-05, 3.49135008e-02, 1.08886959e-02, 1.78450146e-03,
 -3.00458992e-03, 3.47413937e-02, 1.08687727e-02, 1.62260633e-03,
  7.87916821e-03, 1.31899244e-02, 0.00000000e+00,-2.91468367e-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: -0.000598603137459932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3926692 ,  0.08746476, -0.91551123, -0.03447685,  0.99616761,
        0.08038303,  0.91903332,  0.        ,  0.39417985])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08275922, -0.03421393,  0.22319093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019958256828170873
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39068135e-14,  2.78136271e-14,  1.00000000e+00, -3.86798925e-28,
        1.00000000e+00, -2.78136271e-14, -1.00000000e+00,  0.00000000e+00,
        1.39068135e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08371117, -0.06331236,  0.06186804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.02793918e-03, 2.62573466e-02, 3.84053016e-03, 3.74867812e-05,
  3.44886290e-05, 6.12409363e-05,-2.03285429e-05,-6.87814896e-05,
 -4.60637902e-05,-7.15418310e-05, 2.46359960e-05,-8.01918074e-05,
  1.05491805e-02, 1.48769362e-02, 6.78667935e-03, 1.09992741e-03,
  9.73261272e-04, 5.34394900e-03,-9.81166835e+00,-4.53477803e-03,
 -6.06138514e-02, 6.05624820e-02]


--- Step 3689 ---
qpos:
[-0.01869058, 1.20248198,-0.03524891, 0.9426011 ,-0.00793814, 1.33293093,
 -0.03114115, 0.94133622, 0.01532   , 1.33853957,-0.02374377, 0.95473555,
  1.27646739,-0.00926689, 1.2851036 , 0.04408955,-0.05492327,-0.08674339,
  0.09067051, 0.69158046,-0.13342921,-0.70801447,-0.05126999]

qacc:
[ -0.09275736,  1.1345771 ,  0.70214177, -3.8987804 ,  0.08314958,
  -1.00105169,  5.11213102,-13.85858667, -0.12536673, -5.76780894,
  20.33119122,-35.13123634,  0.14244991, -0.12753773, -5.15959811,
   8.97541632,  1.62688647, -2.73080094,  0.58125888, 18.61598085,
  71.67426348,-83.11816514]

qfrc_actuator:
[ 9.88685622e-03, 6.09708612e-02, 1.42035287e-02, 2.00865170e-03,
  7.68565878e-05, 3.48939633e-02, 1.08768656e-02, 1.74377712e-03,
 -3.01362044e-03, 3.46593176e-02, 1.08884926e-02, 1.54185195e-03,
  7.87284249e-03, 1.31823338e-02, 0.00000000e+00,-7.55377384e-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: -0.0005996090240031685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39265076,  0.08746518, -0.9155191 , -0.0344754 ,  0.99616758,
        0.08038411,  0.91904125,  0.        ,  0.39416135])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08275805, -0.03421541,  0.22319127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019904858524784075
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08371414, -0.0633033 ,  0.06186843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97168832e-03, 2.62585026e-02, 3.81551927e-03, 6.84709759e-06,
  2.39666295e-05, 8.28795539e-06,-4.17856214e-06,-4.10680257e-05,
 -3.62360450e-05,-1.19214135e-04, 6.19728478e-06,-8.40213472e-05,
  1.05228588e-02, 1.49026249e-02, 6.44431036e-03, 1.30459619e-03,
  1.03292569e-03, 2.66041226e-03,-9.81114502e+00,-4.26026433e-03,
 -6.06963623e-02, 6.05395633e-02]


--- Step 3690 ---
qpos:
[-0.01869231, 1.20251349,-0.0352521 , 0.94260044,-0.00793704, 1.33293114,
 -0.03114105, 0.94133616, 0.01532062, 1.33853906,-0.02374339, 0.95473258,
  1.27648282,-0.00926339, 1.28508845, 0.04408694,-0.05490022,-0.08672614,
  0.0906995 , 0.69180011,-0.13357369,-0.70778881,-0.05104582]

qacc:
[-5.73236899e-01, 5.78482512e-01, 8.60831865e+00,-3.13779735e+01,
 -6.85279697e-02,-2.86546604e+00, 6.96101307e+00, 1.08476663e+00,
 -9.35302954e-02, 1.66889188e+00,-7.75111032e+00, 1.60762470e+01,
 -7.64936200e-02, 1.24562595e-01,-1.12418044e+01, 2.24747753e+01,
  1.40077104e-01,-3.80513565e+00, 9.23667390e-01, 1.03607109e+01,
  3.02071126e+01,-1.25097577e+02]

qfrc_actuator:
[ 9.87582205e-03, 6.10085379e-02, 1.41915097e-02, 1.92230464e-03,
  4.28945488e-05, 3.48285245e-02, 1.09234578e-02, 1.77333819e-03,
 -3.01919563e-03, 3.46639747e-02, 1.08819105e-02, 1.58461026e-03,
  7.87380392e-03, 1.32119455e-02, 0.00000000e+00, 1.79499262e-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: -0.000600517140652481
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.92629246e-01,  8.74657461e-02, -9.15528273e-01, -3.44737296e-02,
        9.96167528e-01,  8.03854384e-02,  9.19050508e-01,  6.93889390e-18,
        3.94139776e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08275648, -0.03421679,  0.22319166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.88707598,  -3.62956914, -16.88707598,
        21.10377005, -17.82446012,  -3.62956914, -17.82446012,
       100.20351065,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001972191261073959
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40734705e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.40734705e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06651625, -0.06241546,  0.06186966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97126824e-03, 2.61663998e-02, 3.76589530e-03,-7.23760434e-05,
 -1.98133786e-05,-6.29149952e-05, 4.65323350e-05, 2.87359950e-05,
 -2.69786563e-05,-6.25534395e-05,-3.16243458e-05, 3.74471157e-05,
  1.05248581e-02, 1.49288428e-02, 6.65515083e-03, 1.57757654e-03,
  7.06948233e-04, 9.77821056e-04,-9.81088358e+00,-4.15868633e-03,
 -6.07402123e-02, 6.05240037e-02]


--- Step 3691 ---
qpos:
[-0.01869413, 1.2025456 ,-0.03525489, 0.94259909,-0.00793622, 1.33293072,
 -0.03113977, 0.94133608, 0.01532107, 1.33853886,-0.02374317, 0.95472972,
  1.27649779,-0.00926018, 1.28507571, 0.04408473,-0.05489082,-0.08670675,
  0.09071629, 0.69185126,-0.13374811,-0.70772205,-0.05082095]

qacc:
[-3.60086288e-02,-1.42575461e+00, 7.02125871e+00,-1.44137858e+01,
 -1.12242266e-01,-4.03750549e+00, 1.21921561e+01,-1.02905268e+01,
 -6.72853039e-02, 1.01452163e+00,-3.04257950e+00, 3.72615790e+00,
 -2.77166991e-01, 7.77895233e-03, 2.38166878e+00,-3.10624295e+00,
 -3.41320761e+00, 5.33926918e-01,-3.05013557e+00,-1.73064192e+01,
 -1.15405570e+02,-4.07325277e+00]

qfrc_actuator:
[ 9.88843603e-03, 6.09627462e-02, 1.41851568e-02, 1.87186020e-03,
  2.21779524e-05, 3.48073861e-02, 1.09862473e-02, 1.77300504e-03,
 -3.02265472e-03, 3.47382583e-02, 1.08957655e-02, 1.59322872e-03,
  7.87917364e-03, 1.32459130e-02, 0.00000000e+00, 3.18425054e-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: -0.000601222396152512
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39260319,  0.08746691, -0.91553933, -0.0344719 ,  0.99616743,
        0.08038748,  0.91906171,  0.        ,  0.39411366])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08275422, -0.03421794,  0.22319216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.07332463,   6.32418711, -16.07332463,
        28.14175126,  27.62431723,   6.32418711,  27.62431723,
        87.48169021,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019941829040803633
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.78365395e-14,  2.78365395e-14,  1.00000000e+00,  7.74872933e-28,
        1.00000000e+00, -2.78365395e-14, -1.00000000e+00,  0.00000000e+00,
       -2.78365395e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02190922, -0.09766668,  0.06186842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04967739e-03, 2.59088038e-02, 3.72476015e-03,-3.13499970e-05,
 -3.24154434e-05,-4.59753340e-05, 5.66178269e-05,-1.98240108e-07,
 -1.93941454e-05, 3.46238226e-05,-8.63683538e-07, 6.70646080e-06,
  1.05508637e-02, 1.49500944e-02, 7.04800011e-03, 1.43601825e-03,
  1.62436762e-05, 6.11001596e-05,-9.81052466e+00,-4.33843009e-03,
 -6.07080221e-02, 6.05132374e-02]


--- Step 3692 ---
qpos:
[-0.01869517, 1.20257418,-0.03525807, 0.94259963,-0.00793551, 1.33293041,
 -0.03113853, 0.94133531, 0.01532157, 1.33853836,-0.0237422 , 0.95472492,
  1.27651228,-0.00925716, 1.28507016, 0.04408253,-0.05489396,-0.08668532,
  0.09071872, 0.69174719,-0.13394856,-0.70780199,-0.05059604]

qacc:
[ 3.37233976e-01,-3.84479221e-01,-8.25706023e+00, 3.14305599e+01,
 -4.85357053e-02,-9.30455090e-01, 4.64586676e+00,-1.21853622e+01,
  1.45210126e-02,-5.73055208e+00, 2.21271376e+01,-4.13712882e+01,
 -6.55374731e-01, 4.99072410e-01, 1.06354645e+01,-2.16868767e+01,
 -3.13366156e+00, 5.10128301e-01,-3.58816184e+00,-1.56409551e+01,
 -1.06339478e+02,-4.52597595e+00]

qfrc_actuator:
[ 9.87902661e-03, 6.09220687e-02, 1.41644767e-02, 1.94906087e-03,
  2.73294368e-05, 3.48307560e-02, 1.09871936e-02, 1.73733532e-03,
 -3.00706522e-03, 3.46939603e-02, 1.09218343e-02, 1.49296138e-03,
  7.86590338e-03, 1.32829391e-02, 0.00000000e+00,-2.33634090e-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: -0.0006021178035149309
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39257623,  0.08746812, -0.91555078, -0.03447002,  0.99616732,
        0.08038961,  0.91907329,  0.        ,  0.39408664])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08275214, -0.03421911,  0.22319267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.2284945 , -1.23534803, 17.2284945 , 17.61834803,
        4.82011963, -1.23534803,  4.82011963, 84.49540667,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019908143638148745
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.78836401e-14,  4.18254602e-14,  1.00000000e+00,  1.16624608e-27,
        1.00000000e+00, -4.18254602e-14, -1.00000000e+00,  0.00000000e+00,
       -2.78836401e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0219238 , -0.09766152,  0.06186869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04437905e-03, 2.58377535e-02, 3.68447581e-03, 8.01337265e-05,
 -1.39860678e-05, 9.00830592e-06,-1.61207821e-06,-3.53977262e-05,
  4.13723889e-06,-2.51244885e-05, 3.29248562e-05,-9.91144549e-05,
  1.05601128e-02, 1.50017327e-02, 6.92730862e-03, 1.15061840e-03,
  1.62873729e-04, 4.17761081e-04,-9.81026267e+00,-4.58440862e-03,
 -6.06712728e-02, 6.04921594e-02]


--- Step 3693 ---
qpos:
[-0.01869582, 1.20260058,-0.03526157, 0.94260202,-0.00793484, 1.33293026,
 -0.03113827, 0.94133589, 0.01532201, 1.33853662,-0.0237408 , 0.95472009,
  1.2765268 ,-0.00925395, 1.28506619, 0.04407986,-0.05490869,-0.08666194,
  0.09070498, 0.69149893,-0.13417189,-0.70801824,-0.05037156]

qacc:
[ 1.67170554e-01, 1.13568514e+00,-1.09858748e+01, 3.22699592e+01,
 -1.88455671e-02, 5.14149702e+00,-1.93052005e+01, 3.23256504e+01,
 -2.11948802e-02,-2.86984211e+00, 7.43509631e+00,-5.97978705e+00,
 -2.08550158e-01, 3.61340552e-01, 3.78298706e+00,-9.79432112e+00,
 -2.89832027e+00, 4.88641187e-01,-4.04528270e+00,-1.42772361e+01,
 -9.87230939e+01,-4.83315200e+00]

qfrc_actuator:
[ 9.85557917e-03, 6.09060907e-02, 1.41713162e-02, 2.04728142e-03,
  3.02044058e-05, 3.48270853e-02, 1.09340346e-02, 1.80542250e-03,
 -3.01568101e-03, 3.45612406e-02, 1.09188937e-02, 1.48914337e-03,
  7.85211974e-03, 1.32507954e-02, 0.00000000e+00,-2.50024460e-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: -0.0006032240467064645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39255285,  0.08746896, -0.91556072, -0.0344683 ,  0.99616725,
        0.08039126,  0.91908334,  0.        ,  0.3940632 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08275071, -0.03422041,  0.22319311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.23091387, -1.20113055, 17.23091387, 17.65189568,
        5.43939052, -1.20113055,  5.43939052, 95.30393687,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001965992511763111
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.8235688e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.8235688e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02199216, -0.09767042,  0.06187021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98218988e-03, 2.59973775e-02, 3.71006164e-03, 8.34699822e-05,
 -5.38098754e-06,-7.03425964e-08,-5.26205728e-05, 6.74916641e-05,
 -6.17269274e-06,-1.43124375e-04,-7.01301296e-06,-5.91189032e-06,
  1.05704146e-02, 1.49786175e-02, 6.56843208e-03, 1.13380431e-03,
 -2.62281072e-04, 8.75510703e-04,-9.81027102e+00,-4.77710052e-03,
 -6.06321219e-02, 6.04748246e-02]


--- Step 3694 ---
qpos:
[-0.01869632, 1.20262725,-0.03526504, 0.9426036 ,-0.00793448, 1.33293022,
 -0.03113891, 0.94133659, 0.01532252, 1.33853384,-0.02373954, 0.95471734,
  1.2765415 ,-0.00925101, 1.285064  , 0.04407726,-0.05492268,-0.08665611,
  0.09070248, 0.691289  ,-0.13416312,-0.70822662,-0.05034721]

qacc:
[ 6.56851916e-02,-1.11996725e+00, 5.75836311e+00,-1.45832713e+01,
 -1.29207573e-01, 2.79261736e+00,-9.18886744e+00, 9.32219622e+00,
  3.05070315e-02, 2.58032992e+00,-1.42399391e+01, 3.69194714e+01,
  2.23454271e-01,-3.76496491e-01, 2.40360300e+00,-4.62499579e+00,
  1.86914725e-01,-4.38844689e+00, 2.81039263e+00, 1.17761016e+01,
  3.55609068e+01,-1.49862533e+02]

qfrc_actuator:
[ 9.84154227e-03, 6.08695053e-02, 1.42125241e-02, 2.01539186e-03,
 -3.81647409e-06, 3.48248433e-02, 1.08848637e-02, 1.80972827e-03,
 -3.00324394e-03, 3.45185610e-02, 1.09163057e-02, 1.59531508e-03,
  7.84865073e-03, 1.32123603e-02, 0.00000000e+00,-2.76260531e-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: -0.000604279420969904
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39253179,  0.0874696 , -0.91556969, -0.03446671,  0.99616719,
        0.08039265,  0.9190924 ,  0.        ,  0.39404208])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08274943, -0.03422176,  0.2231935 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019944654267092243
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.56651928e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.56651928e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06650676, -0.06241467,  0.06186836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94893478e-03, 2.60699536e-02, 3.76770151e-03,-4.03879073e-05,
 -3.71975823e-05,-1.05421475e-05,-5.31937290e-05, 4.32408021e-06,
  8.78637697e-06,-1.23367730e-04,-3.15160991e-05, 1.01580175e-04,
  1.05653316e-02, 1.49308334e-02, 6.48940576e-03, 1.13113340e-03,
 -1.13377866e-03, 1.40417158e-03,-9.81049216e+00,-4.92040840e-03,
 -6.05905702e-02, 6.04603633e-02]


--- Step 3695 ---
qpos:
[-0.01869758, 1.20265562,-0.03526802, 0.94260427,-0.0079346 , 1.33293058,
 -0.03114056, 0.94133663, 0.01532313, 1.33853099,-0.02373806, 0.9547137 ,
  1.27655592,-0.00924799, 1.285059  , 0.04407454,-0.05493378,-0.08666515,
  0.09070756, 0.6911376 ,-0.1339494 ,-0.70840461,-0.05049045]

qacc:
[-3.26772832e-01,-5.96590652e-01, 6.50358964e+00,-1.71206916e+01,
 -2.08662877e-01, 2.12199800e+00,-4.92699732e+00,-3.68340342e+00,
  4.30289962e-02,-2.17175296e+00, 8.75778324e+00,-1.77414437e+01,
 -1.35661522e-01, 1.31018029e-01,-3.78877952e+00, 7.23547239e+00,
  7.19930341e-01,-3.71629335e+00, 1.89737212e+00, 1.46501280e+01,
  4.76314596e+01,-1.26994841e+02]

qfrc_actuator:
[ 9.83323108e-03, 6.08367268e-02, 1.42208620e-02, 1.97836251e-03,
 -4.19439143e-05, 3.48589511e-02, 1.08384066e-02, 1.77645285e-03,
 -2.99603009e-03, 3.45834540e-02, 1.09498337e-02, 1.55235724e-03,
  7.85135665e-03, 1.32415512e-02, 0.00000000e+00,-1.48982615e-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: -0.0006054546461297522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39251046,  0.0874702 , -0.91557878, -0.03446507,  0.99616714,
        0.080394  ,  0.91910157,  0.        ,  0.39402068])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08274829, -0.03422315,  0.22319389])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  17.2328959 ,  -1.17235076,  17.2328959 ,
        17.89849934,   9.19849698,  -1.17235076,   9.19849698,
       152.48545178,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020064011042232924
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.43968057e-07, -8.87936121e-07,  1.00000000e+00,  3.94215274e-13,
        1.00000000e+00,  8.87936121e-07, -1.00000000e+00,  0.00000000e+00,
        4.43968057e-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([-0.07184385, -0.06269173,  0.0618676 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93305198e-03, 2.60234849e-02, 3.77421515e-03,-3.68005476e-05,
 -6.00866034e-05, 1.79972736e-05,-5.44467580e-05,-3.50537515e-05,
  1.23971056e-05,-6.45905731e-06, 8.82316688e-06,-4.51781528e-05,
  1.05593822e-02, 1.49739145e-02, 6.40038677e-03, 1.25493806e-03,
 -4.90634132e-04, 6.64862269e-05,-9.81012813e+00,-4.55943489e-03,
 -6.05917660e-02, 6.04640300e-02]


--- Step 3696 ---
qpos:
[-0.01869923, 1.20268379,-0.03527103, 0.9426047 ,-0.00793492, 1.3329311 ,
 -0.03114218, 0.94133623, 0.01532355, 1.33852815,-0.02373621, 0.95470784,
  1.27657007,-0.00924488, 1.28505364, 0.04407171,-0.05493814,-0.08668475,
  0.09071569, 0.69108559,-0.13357592,-0.70850717,-0.05075205]

qacc:
[-1.70946235e-01,-5.90752427e-01, 2.13279418e+00,-4.63282070e+00,
 -7.80567977e-02,-6.23375813e-01, 3.17730380e+00,-7.88804353e+00,
 -8.36563867e-02,-4.84685696e+00, 2.03103565e+01,-4.33148502e+01,
 -2.60147646e-01, 2.70633706e-01,-1.87415018e-01,-7.91507808e-02,
  1.68483613e+00,-2.64139021e+00, 7.60560296e-01, 1.80427807e+01,
  7.32331088e+01,-8.99265690e+01]

qfrc_actuator:
[ 9.82919661e-03, 6.08224427e-02, 1.41912596e-02, 1.95641121e-03,
 -2.89679259e-05, 3.48790352e-02, 1.08473080e-02, 1.75687093e-03,
 -3.02751373e-03, 3.45880637e-02, 1.09692363e-02, 1.43980369e-03,
  7.85780178e-03, 1.32755552e-02, 0.00000000e+00,-1.77972263e-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: -0.0006065681897339768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.92487102e-01,  8.74711226e-02, -9.15588706e-01, -3.44633836e-02,
        9.96167056e-01,  8.03957243e-02,  9.19111609e-01,  6.93889390e-18,
        3.93997271e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08274688, -0.03422445,  0.22319432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.25569191,   0.76694463, -17.25569191,
        17.31378377,   0.92374112,   0.76694463,   0.92374112,
        38.05622515,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002006170635456779
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.76702042e-14,  1.38351021e-14,  1.00000000e+00, -3.82820101e-28,
        1.00000000e+00, -1.38351021e-14, -1.00000000e+00,  0.00000000e+00,
        2.76702042e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08369586, -0.0632959 ,  0.06186764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96652756e-03, 2.59237378e-02, 3.72020389e-03,-1.39054881e-05,
 -2.24940957e-05, 1.83270330e-05, 5.19832753e-06,-2.14505776e-05,
 -2.41634223e-05, 1.43550361e-06, 1.78181976e-05,-1.13545332e-04,
  1.05796709e-02, 1.50033587e-02, 6.54105159e-03, 1.23192947e-03,
  1.50024879e-04, 1.06338931e-04,-9.81007754e+00,-4.35609183e-03,
 -6.05614887e-02, 6.04765030e-02]


--- Step 3697 ---
qpos:
[-0.01870056, 1.20271056,-0.03527431, 0.94260533,-0.00793528, 1.33293191,
 -0.03114289, 0.94133486, 0.01532369, 1.3385252 ,-0.02373394, 0.95470344,
  1.27658442,-0.00924186, 1.2850503 , 0.04406878,-0.0549362 ,-0.08671423,
  0.09072395, 0.69112598,-0.13305345,-0.70853934,-0.05112406]

qacc:
[ 1.35226617e-01,-7.88765810e-01,-8.22962956e-02, 3.33852084e+00,
 -1.81320230e-02,-3.75057872e+00, 1.47435120e+01,-2.43988890e+01,
 -1.15076209e-01, 1.24507214e+00,-7.18794595e+00, 2.32158090e+01,
  1.01659903e-01,-1.11218468e-01, 3.27293790e+00,-7.12571975e+00,
  1.57658623e+00,-2.46834031e+00, 3.30760634e-02, 1.67515511e+01,
  6.82087349e+01,-8.38853554e+01]

qfrc_actuator:
[ 9.82767059e-03, 6.07672166e-02, 1.41747249e-02, 1.96097226e-03,
 -2.09462248e-05, 3.49262912e-02, 1.09065353e-02, 1.71003480e-03,
 -3.04645181e-03, 3.45919589e-02, 1.09976643e-02, 1.51797594e-03,
  7.85584852e-03, 1.32414059e-02, 0.00000000e+00,-2.65180157e-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: -0.0006076486621436894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39246396,  0.0874722 , -0.91559852, -0.03446178,  0.99616696,
        0.08039758,  0.91912155,  0.        ,  0.39397407])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08274546, -0.03422572,  0.22319475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019867619817898544
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39702571e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.39702571e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0837117 , -0.06328546,  0.06186889])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98461842e-03, 2.58780650e-02, 3.70533352e-03, 3.21917336e-06,
 -5.25651994e-06, 5.77626106e-05, 6.27768007e-05,-4.66300201e-05,
 -3.32087786e-05, 4.81229972e-06, 2.74036577e-05, 7.60841438e-05,
  1.05914003e-02, 1.49649264e-02, 6.55921797e-03, 1.15017620e-03,
  4.70132298e-04, 1.12990760e-03,-9.81021236e+00,-4.38687536e-03,
 -6.04987802e-02, 6.04953482e-02]


--- Step 3698 ---
qpos:
[-0.01870241, 1.20273879,-0.03527698, 0.94260606,-0.00793576, 1.33293361,
 -0.03114317, 0.94133393, 0.01532388, 1.33852281,-0.02373172, 0.95470274,
  1.27659928,-0.00923849, 1.28504108, 0.04406542,-0.05492832,-0.08675301,
  0.09072989, 0.69125282,-0.13239099,-0.70850519,-0.05159995]

qacc:
[-2.21376540e-01, 4.47251158e-01, 6.86183968e-01,-4.80095897e-01,
 -5.51240124e-02, 7.94209587e-01,-2.13117270e+00, 6.59975555e+00,
  1.59089262e-02, 7.24515494e+00,-3.01875925e+01, 6.84506573e+01,
  4.77155850e-01,-1.80601989e-01,-7.40975981e+00, 1.32222036e+01,
  1.48557805e+00,-2.32487339e+00,-5.81863588e-01, 1.56335993e+01,
  6.40328271e+01,-7.88671366e+01]

qfrc_actuator:
[ 9.82710344e-03, 6.06887135e-02, 1.41840266e-02, 1.98108588e-03,
 -3.37172071e-05, 3.50073981e-02, 1.09418062e-02, 1.73633205e-03,
 -3.02220409e-03, 3.46665512e-02, 1.10135586e-02, 1.70777870e-03,
  7.85947480e-03, 1.31842548e-02, 0.00000000e+00,-3.22348471e-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: -0.000608759034565573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39244235,  0.08747312, -0.9156077 , -0.03446025,  0.99616688,
        0.08039924,  0.91913084,  0.        ,  0.39395242])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08274421, -0.03422706,  0.22319515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019519325957346179
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42195359e-14,  5.68781436e-14,  1.00000000e+00, -8.08780805e-28,
        1.00000000e+00, -5.68781436e-14, -1.00000000e+00,  0.00000000e+00,
        1.42195359e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08374032, -0.06326668,  0.06187111])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96850050e-03, 2.58696005e-02, 3.72776152e-03, 1.31388711e-05,
 -1.58719344e-05, 1.23934884e-04, 5.23501554e-05, 2.87986412e-05,
  4.63434681e-06, 8.48702144e-05, 2.21695718e-05, 1.92510931e-04,
  1.05849066e-02, 1.49120532e-02, 6.45826334e-03, 1.38797409e-03,
  4.26444790e-04, 2.87850553e-03,-9.81056093e+00,-4.54952548e-03,
 -6.04129450e-02, 6.05218322e-02]


--- Step 3699 ---
qpos:
[-0.01870442, 1.20276874,-0.03527882, 0.94260559,-0.00793653, 1.33293597,
 -0.03114322, 0.94133371, 0.01532435, 1.33852095,-0.02373041, 0.95470368,
  1.2766144 ,-0.00923535, 1.28503053, 0.04406231,-0.0549148 ,-0.08680061,
  0.09073142, 0.69146108,-0.13159602,-0.708408  ,-0.05217435]

qacc:
[-7.32183047e-02,-2.00487317e+00, 1.17175270e+01,-2.49916144e+01,
 -1.19792675e-01, 1.44734657e+00,-5.11594238e+00, 1.21249411e+01,
  1.20903125e-01, 5.97514154e+00,-2.19280715e+01, 3.75320851e+01,
  4.33266679e-01,-5.67606918e-01,-2.73780843e+00, 6.66738507e+00,
  1.40904351e+00,-2.20616312e+00,-1.10116071e+00, 1.46608087e+01,
  6.05702789e+01,-7.47166912e+01]

qfrc_actuator:
[ 9.84555913e-03, 6.06826946e-02, 1.42258183e-02, 1.92180061e-03,
 -5.88595363e-05, 3.50193463e-02, 1.09450729e-02, 1.76995728e-03,
 -2.98999859e-03, 3.46586700e-02, 1.09512267e-02, 1.78421653e-03,
  7.86108744e-03, 1.31661558e-02, 0.00000000e+00,-1.51297561e-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: -0.0006096027603693759
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39241883,  0.08747428, -0.91561767, -0.03445864,  0.99616678,
        0.08040119,  0.91914094,  0.        ,  0.39392885])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08274245, -0.0342283 ,  0.22319558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001905034735955935
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91391806e-14,  4.37087709e-14,  1.00000000e+00, -1.27363777e-27,
        1.00000000e+00, -4.37087709e-14, -1.00000000e+00,  0.00000000e+00,
        2.91391806e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08377891, -0.06324139,  0.06187409])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01235941e-03, 2.57898235e-02, 3.73918017e-03,-5.06142639e-05,
 -3.45077549e-05, 9.16118605e-05, 3.43205111e-05, 3.95652845e-05,
  3.49435830e-05, 4.90990543e-05,-3.76047189e-05, 8.40806713e-05,
  1.05606925e-02, 1.48762582e-02, 6.75262038e-03, 1.42694881e-03,
  8.45203523e-05, 5.22079327e-03,-9.81107985e+00,-4.81960837e-03,
 -6.03093745e-02, 6.05553882e-02]


--- Step 3700 ---
qpos:
[-0.01870618, 1.20279978,-0.03527963, 0.94260447,-0.00793759, 1.33293829,
 -0.03114292, 0.94133464, 0.01532456, 1.33851932,-0.0237299 , 0.95470348,
  1.27662959,-0.00923259, 1.28502034, 0.04405951,-0.05491618,-0.0868472 ,
  0.09072182, 0.69149627,-0.13086151,-0.70846794,-0.05273854]

qacc:
[ 1.12292561e-01,-2.45528238e+00, 1.11081031e+01,-1.79674931e+01,
 -1.21326023e-01, 9.47741552e-01,-5.52535073e+00, 1.81939483e+01,
 -1.08984864e-01, 5.05684411e-01, 9.97070625e-01,-1.41287655e+01,
  3.03388096e-01,-5.53603354e-01,-4.45350136e-01, 2.25269948e+00,
 -3.72488090e+00, 2.51931899e-01,-2.78222761e+00,-2.45732806e+01,
 -1.17873227e+02, 1.00894856e+01]

qfrc_actuator:
[ 9.87529170e-03, 6.06838249e-02, 1.42688799e-02, 1.88712533e-03,
 -7.34673227e-05, 3.49719175e-02, 1.09469189e-02, 1.82530864e-03,
 -3.04204493e-03, 3.46366086e-02, 1.08960939e-02, 1.72220790e-03,
  7.85084600e-03, 1.31364288e-02, 0.00000000e+00,-2.15231778e-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: -0.0006104795647053837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.92392960e-01,  8.74755452e-02, -9.15628633e-01, -3.44568728e-02,
        9.96166667e-01,  8.04033266e-02,  9.19152049e-01, -6.93889390e-18,
        3.93902921e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08274054, -0.03422951,  0.22319604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.45995751,   5.23611555, -16.45995751,
        23.29075438,  18.91793057,   5.23611555,  18.91793057,
        76.74206674,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018610162504385241
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.96568152e-14,  1.49142038e-14,  1.00000000e+00,  8.89733899e-28,
        1.00000000e+00, -1.49142038e-14, -1.00000000e+00,  0.00000000e+00,
       -5.96568152e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02233092, -0.0975985 ,  0.06187689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.05047924e-03, 2.57047512e-02, 3.74041167e-03,-2.60171709e-05,
 -3.49756637e-05, 1.11444600e-05, 2.48380126e-05, 6.00396308e-05,
 -3.14091647e-05, 2.51678334e-07,-4.73553489e-05,-5.96968777e-05,
  1.05381250e-02, 1.48581828e-02, 6.81880784e-03, 1.40819481e-03,
 -5.08296186e-04, 8.06371337e-03,-9.81173603e+00,-5.17962835e-03,
 -6.01919587e-02, 6.05954993e-02]


--- Step 3701 ---
qpos:
[-0.01870763, 1.20283072,-0.03527917, 0.94260511,-0.00793874, 1.33294079,
 -0.03114291, 0.94133693, 0.01532407, 1.3385177 ,-0.0237294 , 0.95470182,
  1.27664518,-0.00922974, 1.28500845, 0.04405647,-0.0549311 ,-0.08689269,
  0.09069875, 0.69137221,-0.13017635,-0.70867353,-0.05329547]

qacc:
[ 1.33430856e-01,-5.71975611e-01,-1.95143754e+00, 2.22336176e+01,
 -3.84750287e-02, 3.34844977e+00,-1.34804395e+01, 2.74415881e+01,
 -2.95348025e-01,-2.46375611e+00, 1.09756692e+01,-2.62780111e+01,
  3.40191574e-01,-2.25913366e-01,-1.82776085e+00, 2.69767965e+00,
 -3.38625953e+00, 2.75880192e-01,-3.36785829e+00,-2.10761058e+01,
 -1.08545027e+02, 6.26405186e+00]

qfrc_actuator:
[ 9.87592641e-03, 6.06181727e-02, 1.42944238e-02, 1.97368077e-03,
 -6.38848579e-05, 3.49780555e-02, 1.09299344e-02, 1.89296257e-03,
 -3.10870826e-03, 3.46416435e-02, 1.08987994e-02, 1.65026173e-03,
  7.84414977e-03, 1.30822071e-02, 0.00000000e+00, 2.88339106e-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: -0.0006114534436909742
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39236514,  0.08747675, -0.91564044, -0.03445491,  0.99616656,
        0.08040548,  0.919164  ,  0.        ,  0.39387504])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273865, -0.03423072,  0.22319652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.7559385 , -4.19352266, 16.7559385 , 17.63141843,
        1.43321199, -4.19352266,  1.43321199, 22.9993714 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00187103951102615
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.96686152e-14, -1.48343076e-14,  1.00000000e+00, -4.40113363e-28,
        1.00000000e+00,  1.48343076e-14, -1.00000000e+00,  0.00000000e+00,
       -2.96686152e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02231347, -0.09756507,  0.06187628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03819674e-03, 2.55841528e-02, 3.71446808e-03, 9.35623638e-05,
 -1.10645918e-05, 1.89573207e-05,-1.02163217e-05, 7.01145605e-05,
 -8.52133551e-05,-5.83423112e-06,-4.37325678e-06,-7.47155598e-05,
  1.05274295e-02, 1.48226842e-02, 6.80142229e-03, 1.44311022e-03,
  1.02638264e-03, 5.84010918e-03,-9.81128043e+00,-4.41687931e-03,
 -6.03630478e-02, 6.06334843e-02]


--- Step 3702 ---
qpos:
[-0.01870852, 1.2028589 ,-0.03527875, 0.9426071 ,-0.00794003, 1.33294306,
 -0.03114349, 0.94134007, 0.01532314, 1.33851646,-0.02372938, 0.9547    ,
  1.27666107,-0.00922704, 1.2849996 , 0.0440534 ,-0.05495844,-0.08693701,
  0.09066022, 0.69110043,-0.12953169,-0.70901494,-0.05384745]

qacc:
[ 2.41852442e-01,-1.24130740e+00,-3.10661142e+00, 2.00489632e+01,
 -6.26002342e-02, 2.74692114e+00,-1.10620867e+01, 1.95506368e+01,
 -1.87998107e-01, 1.50629198e+00,-3.97684541e+00, 1.28506979e+00,
  1.58256847e-01,-1.80797541e-01, 4.60787457e+00,-9.59173976e+00,
 -3.10289394e+00, 2.91850827e-01,-3.86420315e+00,-1.82359017e+01,
 -1.00699946e+02, 3.28361044e+00]

qfrc_actuator:
[ 9.84119836e-03, 6.05309669e-02, 1.42732997e-02, 2.02430067e-03,
 -7.53747838e-05, 3.49273832e-02, 1.08844121e-02, 1.93181941e-03,
 -3.11258780e-03, 3.46808131e-02, 1.08824778e-02, 1.64413394e-03,
  7.83422369e-03, 1.30662407e-02, 0.00000000e+00,-1.17123481e-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: -0.0006123189317364559
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39233626,  0.08747785, -0.91565271, -0.03445281,  0.99616646,
        0.08040758,  0.9191764 ,  0.        ,  0.39384608])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0827366 , -0.03423192,  0.223197  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.7523937 , -4.20766119, 16.7523937 , 17.76742305,
        1.96958311, -4.20766119,  1.96958311, 25.11443083,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001858081729402758
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.98755164e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.98755164e-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([ 0.02235331, -0.0975507 ,  0.06187703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98813515e-03, 2.55019991e-02, 3.62980936e-03, 5.61033782e-05,
 -1.80212506e-05,-4.00847491e-05,-4.09180536e-05, 4.07593889e-05,
 -5.42049274e-05, 3.28798085e-05,-2.01455579e-05,-8.17103605e-06,
  1.04977844e-02, 1.48026272e-02, 6.88657884e-03, 1.30888977e-03,
  1.82507299e-03, 4.11370285e-03,-9.81116501e+00,-3.70507499e-03,
 -6.04981856e-02, 6.06746647e-02]


--- Step 3703 ---
qpos:
[-0.01870895, 1.20288492,-0.03527917, 0.94260794,-0.00794132, 1.33294451,
 -0.03114371, 0.94134227, 0.01532223, 1.33851569,-0.0237288 , 0.9546977 ,
  1.27667693,-0.00922478, 1.28499359, 0.04405055,-0.05497822,-0.0869926 ,
  0.09062786, 0.69093407,-0.12870355,-0.70927493,-0.05453979]

qacc:
[ 2.03476629e-01,-2.48789074e+00, 7.05662502e+00,-1.79960473e+01,
  3.02113524e-03,-3.63566684e+00, 1.25051521e+01,-2.12050646e+01,
  6.29101128e-03,-1.71827140e+00, 7.31035212e+00,-1.20530325e+01,
  1.22159714e-01,-4.23070924e-01, 3.48147769e+00,-6.14050395e+00,
  1.88824095e+00,-2.81689958e+00, 1.54148124e+00, 1.82772170e+01,
  7.95423713e+01,-1.05435918e+02]

qfrc_actuator:
[ 9.85589170e-03, 6.04690268e-02, 1.42427253e-02, 1.96430975e-03,
 -6.39096549e-05, 3.48607001e-02, 1.08931921e-02, 1.88236161e-03,
 -3.07877184e-03, 3.47400915e-02, 1.09262244e-02, 1.62353448e-03,
  7.82768014e-03, 1.30734142e-02, 0.00000000e+00,-1.85695175e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044542, -0.14837847, -0.06104559, -0.14837847,  0.1402051 ,
        0.04919648, -0.06104559,  0.04919648,  0.0408676 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.783225331274731e-08
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.61263667e-01,  7.76969590e-02, -7.46118989e-01, -5.15339620e-02,
        9.96977022e-01,  5.81469534e-02,  7.48381329e-01, -6.93889390e-18,
        6.63268713e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608255, -0.03432376,  0.22495122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044542, -0.14837847, -0.06104559, -0.14837847,  0.1402051 ,
        0.04919648, -0.06104559,  0.04919648,  0.0408676 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.783225331274731e-08
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.61263667e-01,  7.76969590e-02, -7.46118989e-01, -5.15339620e-02,
        9.96977022e-01,  5.81469534e-02,  7.48381329e-01, -6.93889390e-18,
        6.63268713e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608255, -0.03432376,  0.22495122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006131973341076923
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39230995,  0.08747869, -0.9156639 , -0.03445083,  0.99616639,
        0.08040933,  0.91918771,  0.        ,  0.3938197 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273484, -0.0342332 ,  0.22319741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018560675478377503
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.49539685e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.49539685e-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([-0.08382027, -0.06322793,  0.06187703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97504420e-03, 2.55776078e-02, 3.60098917e-03,-7.10377651e-05,
  8.25103329e-07,-9.56490848e-05,-2.52366822e-06,-5.09159459e-05,
  1.80471694e-06, 7.32875518e-05, 4.76380928e-05,-2.04087360e-05,
  1.04764465e-02, 1.48166726e-02, 6.73421384e-03, 1.24214335e-03,
  2.05467650e-03, 2.75216440e-03,-9.81130615e+00,-3.02185360e-03,
 -6.06059610e-02, 6.07179424e-02]


--- Step 3704 ---
qpos:
[-0.01870966, 1.20291012,-0.03528015, 0.94260792,-0.00794225, 1.3329458 ,
 -0.03114375, 0.94134278, 0.01532163, 1.33851476,-0.02372681, 0.9546945 ,
  1.27669238,-0.00922251, 1.28498554, 0.04404758,-0.05499103,-0.08705871,
  0.09059824, 0.69086474,-0.12770586,-0.70945911,-0.05536155]

qacc:
[ -0.12246016, -1.04074625,  3.87014355,-12.82470845,  0.15059225,
  -3.6246662 , 15.05575337,-32.63573159,  0.13704119, -5.54755145,
  19.65317584,-27.3856144 , -0.23375613,  0.15897457, -2.61438314,
   4.79972932,  1.74289662, -2.62892833,  0.68742183, 16.85756586,
  73.55079753,-97.31289828]

qfrc_actuator:
[ 9.86459836e-03, 6.04404994e-02, 1.42250560e-02, 1.92866282e-03,
 -2.10142614e-05, 3.48916070e-02, 1.09160860e-02, 1.79910992e-03,
 -3.04037228e-03, 3.47046647e-02, 1.09874009e-02, 1.57686900e-03,
  7.82318479e-03, 1.30948371e-02, 0.00000000e+00,-8.38144727e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044546, -0.15881336, -0.02282675, -0.15881336,  0.15807813,
        0.0164703 , -0.02282675,  0.0164703 ,  0.04585603,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.4882698299261725e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.61350413e-01,  7.76921887e-02, -7.46042596e-01, -5.15375388e-02,
        9.96977394e-01,  5.81374086e-02,  7.48304425e-01,  6.93889390e-18,
        6.63355476e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608244, -0.03432512,  0.22495235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044546, -0.15881336, -0.02282675, -0.15881336,  0.15807813,
        0.0164703 , -0.02282675,  0.0164703 ,  0.04585603,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.4882698299261725e-07
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.61350413e-01,  7.76921887e-02, -7.46042596e-01, -5.15375388e-02,
        9.96977394e-01,  5.81374086e-02,  7.48304425e-01,  6.93889390e-18,
        6.63355476e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608244, -0.03432512,  0.22495235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006141202110677979
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39228641,  0.08747929, -0.91567393, -0.034449  ,  0.99616634,
        0.08041077,  0.91919783,  0.        ,  0.39379609])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273337, -0.03423452,  0.22319778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018637770331272965
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.48921116e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.48921116e-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([-0.0838142 , -0.06323694,  0.06187647])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96035865e-03, 2.56565422e-02, 3.62547857e-03,-4.95999362e-05,
  4.33792202e-05,-2.40448878e-05, 2.39696136e-06,-8.73839280e-05,
  3.94678586e-05, 1.38003039e-05, 8.03030594e-05,-4.35778654e-05,
  1.04734689e-02, 1.48604813e-02, 6.59297546e-03, 1.33275275e-03,
  2.77921584e-03, 6.04486088e-03,-9.81183888e+00,-3.18474002e-03,
 -6.04806538e-02, 6.07572268e-02]


--- Step 3705 ---
qpos:
[-0.01871056, 1.20293364,-0.03528137, 0.94260788,-0.00794276, 1.33294741,
 -0.03114434, 0.94134227, 0.01532128, 1.33851325,-0.02372469, 0.95469122,
  1.2767075 ,-0.00922026, 1.28497809, 0.04404458,-0.0549969 ,-0.08713088,
  0.09057498, 0.69089373,-0.12661594,-0.70955621,-0.05625159]

qacc:
[ -0.08354242, -1.57640363,  2.51627268, -1.36196713,  0.17861459,
   0.22105414,  1.87813997,-13.54063954,  0.09936176, -1.30195934,
   3.48217585, -3.6303635 , -0.27926799,  0.21511689,  1.00206535,
  -2.16910281,  1.73570912, -1.51774231,  1.58824825, 11.49960539,
  71.86975604,-48.02378086]

qfrc_actuator:
[ 9.83476957e-03, 6.04493017e-02, 1.41974263e-02, 1.92555076e-03,
  4.88268901e-06, 3.49274929e-02, 1.08942181e-02, 1.74997255e-03,
 -3.03504215e-03, 3.46128680e-02, 1.09692190e-02, 1.56844625e-03,
  7.81995334e-03, 1.31245270e-02, 0.00000000e+00,-1.45688678e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.1604455 , -0.09587052, -0.12865303, -0.09587052,  0.07536635,
        0.06339985, -0.12865303,  0.06339985,  0.11320078,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.673123086418237e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.66144169,  0.07768734, -0.74596217, -0.05154141,  0.99697777,
        0.05812749,  0.74822347,  0.        ,  0.66344678])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608228, -0.03432639,  0.22495352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.1604455 , -0.09587052, -0.12865303, -0.09587052,  0.07536635,
        0.06339985, -0.12865303,  0.06339985,  0.11320078,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.673123086418237e-07
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.66144169,  0.07768734, -0.74596217, -0.05154141,  0.99697777,
        0.05812749,  0.74822347,  0.        ,  0.66344678])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608228, -0.03432639,  0.22495352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006148783891720064
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.92264124e-01,  8.74799816e-02, -9.15683411e-01, -3.44473198e-02,
        9.96166278e-01,  8.04122462e-02,  9.19207397e-01, -6.93889390e-18,
        3.93773743e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273177, -0.03423575,  0.22319814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, -7.12682689, 15.73389481, -7.12682689, 91.51212788,
       33.62748786, 15.73389481, 33.62748786, 32.50463823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018532554627583298
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.99066371e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.99066371e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08289757, -0.06887282,  0.06187707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94457665e-03, 2.57061844e-02, 3.62558271e-03,-9.65964888e-06,
  5.15045063e-05, 2.04116948e-05,-2.88652163e-05,-5.18139596e-05,
  2.86393245e-05,-6.97730154e-05,-7.64116809e-06,-6.68106921e-06,
  1.04905867e-02, 1.48894461e-02, 6.69504996e-03, 1.27729671e-03,
  3.04586520e-03, 1.01131818e-02,-9.81258471e+00,-3.49635082e-03,
 -6.03326782e-02, 6.08046380e-02]


--- Step 3706 ---
qpos:
[-0.01871109, 1.20295511,-0.03528288, 0.94260784,-0.00794304, 1.33294925,
 -0.03114493, 0.94134082, 0.01532079, 1.33851146,-0.02372272, 0.95469095,
  1.27672281,-0.00921822, 1.28497294, 0.0440416 ,-0.05499626,-0.08720883,
  0.09055505, 0.69101411,-0.12543967,-0.70957162,-0.05720581]

qacc:
[ 1.62906933e-01,-1.91935754e+00, 3.01836778e+00,-1.32683752e+00,
  9.76391670e-02,-1.34516574e+00, 6.72710183e+00,-1.70501714e+01,
 -5.34216340e-02, 5.27444052e+00,-2.37013375e+01, 5.55301532e+01,
  1.55981565e-01,-2.58705018e-01, 3.31229458e+00,-6.67993455e+00,
  1.62748622e+00,-1.44227163e+00, 8.32180650e-01, 1.05493357e+01,
  6.71343640e+01,-4.50577677e+01]

qfrc_actuator:
[ 9.83510089e-03, 6.04639391e-02, 1.41992406e-02, 1.92371246e-03,
  2.61922546e-06, 3.49481843e-02, 1.08994249e-02, 1.70354232e-03,
 -3.06734698e-03, 3.46297617e-02, 1.09751287e-02, 1.72453100e-03,
  7.82813875e-03, 1.31059466e-02, 0.00000000e+00,-2.34851588e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044555, -0.09730878, -0.12756871, -0.09730878,  0.08379645,
        0.05846755, -0.12756871,  0.05846755,  0.11584679,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.559020234812087e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.61527881e-01,  7.76829092e-02, -7.45886203e-01, -5.15451738e-02,
        9.96978117e-01,  5.81182367e-02,  7.48147016e-01,  6.93889390e-18,
        6.63533000e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608212, -0.03432764,  0.22495462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044555, -0.09730878, -0.12756871, -0.09730878,  0.08379645,
        0.05846755, -0.12756871,  0.05846755,  0.11584679,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.559020234812087e-07
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.61527881e-01,  7.76829092e-02, -7.45886203e-01, -5.15451738e-02,
        9.96978117e-01,  5.81182367e-02,  7.48147016e-01,  6.93889390e-18,
        6.63533000e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608212, -0.03432764,  0.22495462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006155756330590914
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39224362,  0.08748071, -0.91569213, -0.03444581,  0.99616621,
        0.08041369,  0.9192162 ,  0.        ,  0.39375318])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08273026, -0.03423696,  0.22319847])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018371828024429035
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.51076831e-14,  6.04307325e-14,  1.00000000e+00, -9.12968357e-28,
        1.00000000e+00, -6.04307325e-14, -1.00000000e+00,  0.00000000e+00,
        1.51076831e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08290937, -0.06886964,  0.06187805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.95450206e-03, 2.58047232e-02, 3.63975975e-03,-1.03846043e-05,
  2.81422221e-05, 2.47638665e-05, 4.39278246e-06,-4.78617124e-05,
 -1.53938807e-05,-2.33764326e-05,-8.78600798e-06, 1.53634113e-04,
  1.05148440e-02, 1.48717950e-02, 6.66503327e-03, 1.18968606e-03,
  2.51083264e-03, 1.32934140e-02,-9.81313553e+00,-3.93480914e-03,
 -6.02304838e-02, 6.08558789e-02]


--- Step 3707 ---
qpos:
[-0.01871159, 1.20297588,-0.03528444, 0.94260799,-0.00794334, 1.33295116,
 -0.03114576, 0.94134058, 0.01532022, 1.3385097 ,-0.02372055, 0.95469286,
  1.27673841,-0.00921607, 1.28496517, 0.04403829,-0.05501032,-0.0872861 ,
  0.0905238 , 0.69096074,-0.12432127,-0.70974344,-0.05815263]

qacc:
[ 9.56955068e-03,-4.76579728e-01, 5.94128526e-02, 2.58787249e+00,
 -8.81566592e-03, 2.82200187e+00,-1.16048768e+01, 2.40830744e+01,
 -3.62631898e-02, 3.21471887e+00,-1.48179360e+01, 3.78678177e+01,
  2.77305295e-01,-1.61405592e-01,-2.90923985e+00, 4.51763785e+00,
 -3.67569084e+00, 1.67300975e-01,-2.82974834e+00,-2.37897942e+01,
 -1.17805371e+02, 8.30353352e+00]

qfrc_actuator:
[ 9.85303895e-03, 6.04298545e-02, 1.42011038e-02, 1.94037909e-03,
 -1.65178594e-05, 3.49419692e-02, 1.08850256e-02, 1.76560014e-03,
 -3.06870811e-03, 3.46585235e-02, 1.09957324e-02, 1.83422823e-03,
  7.83248932e-03, 1.30763597e-02, 0.00000000e+00,-1.27398477e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044565, -0.07221144, -0.14327705, -0.07221144,  0.0506407 ,
        0.05534155, -0.14327705,  0.05534155,  0.13255358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1242681373299646e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.66160338,  0.07767886, -0.74581965, -0.05154835,  0.99697843,
        0.05811   ,  0.74808003,  0.        ,  0.66360852])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608201, -0.03432894,  0.22495556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044565, -0.07221144, -0.14327705, -0.07221144,  0.0506407 ,
        0.05534155, -0.14327705,  0.05534155,  0.13255358,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.1242681373299646e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.66160338,  0.07767886, -0.74581965, -0.05154835,  0.99697843,
        0.05811   ,  0.74808003,  0.        ,  0.66360852])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608201, -0.03432894,  0.22495556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000616286334121096
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39222526,  0.08748126, -0.91569994, -0.03444441,  0.99616617,
        0.08041488,  0.91922409,  0.        ,  0.39373477])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08272898, -0.03423823,  0.22319875])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.71178984,   4.36614106, -16.71178984,
        21.47924763,  16.10082754,   4.36614106,  16.10082754,
        78.90006426,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018693420142607275
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.96955564e-14, -2.96955564e-14,  1.00000000e+00, -8.81826070e-28,
        1.00000000e+00,  2.96955564e-14, -1.00000000e+00,  0.00000000e+00,
       -2.96955564e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02235532, -0.09739909,  0.06187606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.95372232e-03, 2.58726460e-02, 3.65578388e-03, 6.36002752e-06,
 -2.52280157e-06, 6.88870368e-06,-1.04613078e-05, 6.18240965e-05,
 -1.04544954e-05, 1.86805764e-05, 1.95350512e-05, 1.12322778e-04,
  1.05103035e-02, 1.48529019e-02, 6.55022238e-03, 1.29595981e-03,
  1.70158287e-03, 1.66331754e-02,-9.81376396e+00,-4.41508103e-03,
 -6.01311510e-02, 6.09112750e-02]


--- Step 3708 ---
qpos:
[-0.01871232, 1.20299632,-0.03528575, 0.94260863,-0.0079436 , 1.33295304,
 -0.03114729, 0.94134111, 0.01531974, 1.33850808,-0.02371802, 0.95469294,
  1.27675406,-0.0092137 , 1.28495421, 0.04403468,-0.05503775,-0.08736259,
  0.09047888, 0.69074747,-0.12324919,-0.71006011,-0.05909491]

qacc:
[-9.72426343e-02,-2.57121631e-01,-7.22553740e-01, 6.58674333e+00,
  1.69458001e-02, 3.14749780e+00,-1.19186688e+01, 1.93855288e+01,
  3.83442150e-02,-3.91443995e+00, 1.66490902e+01,-3.55564811e+01,
  6.20511262e-02, 7.12703179e-02,-3.79136470e+00, 6.40237173e+00,
 -3.34130548e+00, 1.98115331e-01,-3.41812043e+00,-2.01219698e+01,
 -1.08414059e+02, 4.35399381e+00]

qfrc_actuator:
[ 9.86399094e-03, 6.03482528e-02, 1.42028686e-02, 1.96795884e-03,
 -1.01148469e-05, 3.49196848e-02, 1.08413640e-02, 1.80220627e-03,
 -3.05149304e-03, 3.46587172e-02, 1.10070996e-02, 1.73820705e-03,
  7.82919659e-03, 1.30754284e-02, 0.00000000e+00,-4.36586874e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044565, -0.06927061, -0.14472177, -0.06927061,  0.04441398,
        0.05553819, -0.14472177,  0.05553819,  0.13386248,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.143590115122023e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.61686530e-01,  7.76743410e-02, -7.45746359e-01, -5.15518143e-02,
        9.96978785e-01,  5.81008923e-02,  7.48006247e-01,  6.93889390e-18,
        6.63691686e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608182, -0.03433021,  0.22495657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044565, -0.06927061, -0.14472177, -0.06927061,  0.04441398,
        0.05553819, -0.14472177,  0.05553819,  0.13386248,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.143590115122023e-06
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.61686530e-01,  7.76743410e-02, -7.45746359e-01, -5.15518143e-02,
        9.96978785e-01,  5.81008923e-02,  7.48006247e-01,  6.93889390e-18,
        6.63691686e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608182, -0.03433021,  0.22495657])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006167965477601491
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.92207573e-01,  8.74817855e-02, -9.15707463e-01, -3.44430693e-02,
        9.96166119e-01,  8.04160293e-02,  9.19231687e-01,  6.93889390e-18,
        3.93717037e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0827275 , -0.03423945,  0.22319901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.82850211, -3.89212337, 16.82850211, 17.4827608 ,
        0.90812887, -3.89212337,  0.90812887, 21.19923401,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018767187409880967
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.95788335e-14,  1.47894168e-14,  1.00000000e+00,  4.37453697e-28,
        1.00000000e+00, -1.47894168e-14, -1.00000000e+00,  0.00000000e+00,
       -2.95788335e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02234166, -0.09736525,  0.06187555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96356248e-03, 2.58255909e-02, 3.65963966e-03, 2.45025650e-05,
  4.91376855e-06,-1.86695252e-05,-4.16919623e-05, 3.79401836e-05,
  1.10401078e-05, 1.76794374e-05, 2.05248056e-05,-9.22785252e-05,
  1.04924619e-02, 1.48460746e-02, 6.68122675e-03, 1.39592433e-03,
  3.56740791e-03, 1.34186223e-02,-9.81342893e+00,-3.19383508e-03,
 -6.03815646e-02, 6.09777730e-02]


--- Step 3709 ---
qpos:
[-0.01871321, 1.20301584,-0.03528712, 0.94260932,-0.00794352, 1.33295424,
 -0.03114873, 0.94134141, 0.01531926, 1.33850707,-0.02371591, 0.95469291,
  1.27676965,-0.00921132, 1.2849428 , 0.04403103,-0.05507742,-0.08743819,
  0.09041829, 0.69038585,-0.1222142 ,-0.71051171,-0.06003484]

qacc:
[-7.00965515e-02,-9.72434946e-01, 1.60763104e+00,-2.39763719e-01,
  1.46960704e-01,-1.52404986e+00, 4.36497770e+00,-6.09056877e+00,
 -2.77925838e-03, 1.72410344e+00,-4.40521781e+00, 2.08164029e+00,
 -4.25219028e-02, 4.94249964e-02,-5.40515320e-01, 9.33920742e-01,
 -3.06038686e+00, 2.19362551e-01,-3.91705589e+00,-1.71337811e+01,
 -1.00513877e+02, 1.28033574e+00]

qfrc_actuator:
[ 9.85323542e-03, 6.03268257e-02, 1.42043071e-02, 1.96620013e-03,
  2.93121781e-05, 3.48523192e-02, 1.08339418e-02, 1.78798506e-03,
 -3.05877926e-03, 3.47126627e-02, 1.09949480e-02, 1.73491452e-03,
  7.83198042e-03, 1.30915538e-02, 0.00000000e+00,-6.27961937e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044556, -0.08798492, -0.13416941, -0.08798492,  0.06136589,
        0.06497395, -0.13416941,  0.06497395,  0.11783728,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.893799950324133e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.66177953,  0.0776694 , -0.74566435, -0.05155576,  0.99697917,
        0.05809078,  0.7479237 ,  0.        ,  0.66378471])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608155, -0.03433141,  0.22495767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044556, -0.08798492, -0.13416941, -0.08798492,  0.06136589,
        0.06497395, -0.13416941,  0.06497395,  0.11783728,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.893799950324133e-07
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.66177953,  0.0776694 , -0.74566435, -0.05155576,  0.99697917,
        0.05809078,  0.7479237 ,  0.        ,  0.66378471])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608155, -0.03433141,  0.22495767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006170965831898273
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39218998,  0.0874824 , -0.91571494, -0.03444177,  0.99616607,
        0.08041725,  0.91923924,  0.        ,  0.3936994 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08272576, -0.03424061,  0.22319927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.81450465, -3.95215646, 16.81450465, 17.59039845,
        1.35153644, -3.95215646,  1.35153644, 23.02285785,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018611864275793893
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.49128401e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.49128401e-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([ 0.0223854 , -0.0973504 ,  0.06187639])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96397016e-03, 2.58208912e-02, 3.64894848e-03,-1.96285120e-06,
  4.23270451e-05,-8.47193642e-05,-1.47079719e-05,-1.51272425e-05,
 -7.66038098e-07, 6.50043073e-05,-9.06747172e-06,-4.31411009e-06,
  1.04926161e-02, 1.48518075e-02, 6.84105900e-03, 1.39224898e-03,
  4.69969336e-03, 1.08160025e-02,-9.81342221e+00,-2.04775904e-03,
 -6.05834691e-02, 6.10464410e-02]


--- Step 3710 ---
qpos:
[-0.01871414, 1.20303426,-0.03528904, 0.94260934,-0.00794303, 1.33295434,
 -0.03114975, 0.94134121, 0.01531888, 1.33850631,-0.02371386, 0.95469319,
  1.27678525,-0.00920899, 1.28493151, 0.04402743,-0.05510867,-0.087521  ,
  0.09037212, 0.69013806,-0.1210584 ,-0.71086217,-0.06106807]

qacc:
[-1.56022655e-02,-1.09695290e+00, 3.23583635e+00,-9.93218222e+00,
  1.68121438e-01,-3.43057896e+00, 1.04955880e+01,-1.42185109e+01,
  4.54625677e-02, 1.06200072e+00,-3.70823509e+00, 6.74695441e+00,
  4.01693924e-02,-8.71508242e-02, 2.44664637e-02, 1.68428915e-01,
  2.10326850e+00,-1.80077566e+00, 3.60411136e+00, 1.24828328e+01,
  8.46831195e+01,-6.55240215e+01]

qfrc_actuator:
[ 9.84723521e-03, 6.03244699e-02, 1.41879998e-02, 1.92933377e-03,
  5.27256523e-05, 3.47763320e-02, 1.08477707e-02, 1.76172209e-03,
 -3.04520044e-03, 3.47095564e-02, 1.09870591e-02, 1.75077635e-03,
  7.82776665e-03, 1.30825038e-02, 0.00000000e+00,-7.27946123e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044548, -0.1029758 , -0.12303957, -0.1029758 ,  0.07465482,
        0.07180098, -0.12303957,  0.07180098,  0.10035292,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.563680524761638e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.61872290e-01,  7.76645727e-02, -7.45582515e-01, -5.15597625e-02,
        9.96979546e-01,  5.80807778e-02,  7.47841336e-01, -6.93889390e-18,
        6.63877501e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608126, -0.03433259,  0.22495874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044548, -0.1029758 , -0.12303957, -0.1029758 ,  0.07465482,
        0.07180098, -0.12303957,  0.07180098,  0.10035292,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.563680524761638e-07
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.61872290e-01,  7.76645727e-02, -7.45582515e-01, -5.15597625e-02,
        9.96979546e-01,  5.80807778e-02,  7.47841336e-01, -6.93889390e-18,
        6.63877501e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608126, -0.03433259,  0.22495874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006173172693005879
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39217328,  0.08748305, -0.91572203, -0.03444056,  0.99616601,
        0.08041848,  0.91924641,  0.        ,  0.39368266])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08272401, -0.03424175,  0.22319951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018823096301556486
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.94909776e-14,  4.42364665e-14,  1.00000000e+00, -1.30457664e-27,
        1.00000000e+00, -4.42364665e-14, -1.00000000e+00,  0.00000000e+00,
        2.94909776e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08287243, -0.06890774,  0.06187488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96602029e-03, 2.58644413e-02, 3.63547909e-03,-4.12427784e-05,
  4.83975190e-05,-1.26195470e-04,-4.86697461e-06,-2.95989605e-05,
  1.31283525e-05, 3.09461529e-05, 3.64832030e-06, 1.74240557e-05,
  1.04913096e-02, 1.48413039e-02, 6.86372294e-03, 1.38430191e-03,
  5.26622503e-03, 8.67003188e-03,-9.81365949e+00,-9.50050005e-04,
 -6.07476418e-02, 6.11162424e-02]


--- Step 3711 ---
qpos:
[-0.01871458, 1.20305166,-0.03529064, 0.94260956,-0.00794235, 1.33295358,
 -0.03115036, 0.94134033, 0.01531892, 1.33850535,-0.02371229, 0.95469407,
  1.27680095,-0.00920699, 1.28492319, 0.044024  ,-0.05512947,-0.08759959,
  0.09034485, 0.69001776,-0.11997654,-0.71107811,-0.06204063]

qacc:
[ 2.14623250e-01,-1.85041609e+00, 4.01474113e+00,-5.38296940e-01,
  8.49349730e-02,-3.39605064e+00, 1.11168878e+01,-1.69810966e+01,
  1.78437942e-01, 2.03944434e+00,-8.18507168e+00, 1.41012677e+01,
  1.33904071e-01,-3.15594519e-01, 3.85883483e+00,-7.15321899e+00,
  2.61424776e+00, 1.05661394e+00, 4.72596374e+00,-3.43053747e-01,
  8.58013636e+01, 5.92435143e+01]

qfrc_actuator:
[ 9.86177995e-03, 6.02808394e-02, 1.42325708e-02, 1.94311617e-03,
  4.85898536e-05, 3.47491062e-02, 1.08739731e-02, 1.72859188e-03,
 -3.00146124e-03, 3.46545858e-02, 1.09460418e-02, 1.77774041e-03,
  7.82467693e-03, 1.30584334e-02, 0.00000000e+00,-1.66146938e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044543, -0.11105737, -0.11579722, -0.11105737,  0.08838654,
        0.06910935, -0.11579722,  0.06910935,  0.09416488,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8374377987705193e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.61962587e-01,  7.76599136e-02, -7.45502831e-01, -5.15636844e-02,
        9.96979908e-01,  5.80710654e-02,  7.47761138e-01,  6.93889390e-18,
        6.63967831e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608097, -0.03433377,  0.22495978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044543, -0.11105737, -0.11579722, -0.11105737,  0.08838654,
        0.06910935, -0.11579722,  0.06910935,  0.09416488,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8374377987705193e-07
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.61962587e-01,  7.76599136e-02, -7.45502831e-01, -5.15636844e-02,
        9.96979908e-01,  5.80710654e-02,  7.47761138e-01,  6.93889390e-18,
        6.63967831e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608097, -0.03433377,  0.22495978])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006174822167438476
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.92158100e-01,  8.74836967e-02, -9.15728468e-01, -3.44394829e-02,
        9.96165951e-01,  8.04196444e-02,  9.19252929e-01,  6.93889390e-18,
        3.93667440e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0827223 , -0.03424288,  0.22319973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  -1.72395407,  17.18647986,  -1.72395407,
       154.81148832,  13.79633924,  17.18647986,  13.79633924,
        18.65662062,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019331274785639452
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43578610e-14,  1.79473262e-14,  1.00000000e+00,  2.57685215e-28,
        1.00000000e+00, -1.79473262e-14, -1.00000000e+00,  0.00000000e+00,
       -1.43578610e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08515416, -0.07902959,  0.0618716 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98234494e-03, 2.58753091e-02, 3.70749340e-03, 6.23876768e-06,
  2.44304082e-05,-9.88837622e-05, 8.59626854e-08,-3.77646136e-05,
  5.14931934e-05,-3.66251217e-05,-3.40500777e-05, 2.83956177e-05,
  1.04882105e-02, 1.48205750e-02, 6.85782869e-03, 1.28849527e-03,
  5.61370735e-03, 1.26337945e-02,-9.81411863e+00,-1.37245967e-03,
 -6.06378222e-02, 6.11649722e-02]


--- Step 3712 ---
qpos:
[-0.01871407, 1.20306679,-0.03529174, 0.94261142,-0.00794143, 1.33295246,
 -0.03115058, 0.94133901, 0.01531943, 1.33850427,-0.02371184, 0.95469564,
  1.27681663,-0.00920534, 1.28492108, 0.04402061,-0.05514065,-0.08767445,
  0.09033172, 0.69001434,-0.11896252,-0.71117118,-0.06295778]

qacc:
[  0.41057079, -1.53137225, -2.01669203, 22.33206167,  0.10175332,
  -2.24860529,  7.66940044,-11.4816736 ,  0.19528175,  4.04603319,
 -14.74524458, 20.76640324, -0.1186374 , -0.09290482,  9.08619286,
 -18.43964831,  2.40404109,  0.92962297,  3.5351716 , -0.50274858,
  78.52011007, 54.23957156]

qfrc_actuator:
[ 9.87038475e-03, 6.02660628e-02, 1.43130232e-02, 2.02219191e-03,
  6.34674954e-05, 3.47690966e-02, 1.09074439e-02, 1.70947259e-03,
 -2.97548826e-03, 3.46398697e-02, 1.08855848e-02, 1.81096139e-03,
  7.82757807e-03, 1.30611294e-02, 0.00000000e+00,-3.62910258e-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: -0.0006177649747138442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39214357,  0.08748414, -0.91573465, -0.03443838,  0.99616591,
        0.08042059,  0.91925917,  0.        ,  0.39365286])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08272084, -0.03424408,  0.22319992])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019627676689258633
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82820795e-14,  1.14895948e-14,  1.00000000e+00,  3.24949633e-28,
        1.00000000e+00, -1.14895948e-14, -1.00000000e+00,  0.00000000e+00,
       -2.82820795e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08512734, -0.07903575,  0.06186972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96629714e-03, 2.59112030e-02, 3.77212745e-03, 7.54818904e-05,
  2.92962998e-05,-3.58310594e-05, 1.30227401e-05,-2.29756656e-05,
  5.63816277e-05,-4.07699980e-05,-7.06481990e-05, 3.18019129e-05,
  1.04859117e-02, 1.48389449e-02, 6.70958955e-03, 1.08323238e-03,
  4.01842859e-03, 1.25381519e-02,-9.81361458e+00,-2.01913767e-03,
 -6.06570357e-02, 6.12081351e-02]


--- Step 3713 ---
qpos:
[-0.01871358, 1.20308131,-0.03529275, 0.9426134 ,-0.00794029, 1.33295147,
 -0.03115038, 0.94133812, 0.01532004, 1.3385035 ,-0.02371176, 0.95469717,
  1.27683203,-0.00920372, 1.28491842, 0.04401696,-0.05514292,-0.08774601,
  0.09032871, 0.69011893,-0.11801122,-0.71115099,-0.06382388]

qacc:
[-1.15257327e-02,-8.69088244e-01, 1.62267854e+00, 3.23242480e-01,
  8.92323340e-02,-2.51030250e-01, 1.53313364e-01, 4.70940531e+00,
  4.46115165e-02, 1.36138961e+00,-3.88741319e+00, 2.78492832e+00,
 -1.98110087e-01, 1.35985155e-01,-4.31435893e-02,-9.88479189e-01,
  2.22816810e+00, 8.24869640e-01, 2.52989602e+00,-6.30974841e-01,
  7.24660996e+01, 5.00519100e+01]

qfrc_actuator:
[ 9.87477846e-03, 6.02347535e-02, 1.42904256e-02, 2.03239818e-03,
  7.18806513e-05, 3.48172574e-02, 1.09451377e-02, 1.73429308e-03,
 -2.99588898e-03, 3.47025448e-02, 1.08852998e-02, 1.81210233e-03,
  7.82875537e-03, 1.30978124e-02, 0.00000000e+00,-3.02103605e-04,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044543, -0.08607739, -0.13540095, -0.08607739,  0.06044634,
        0.06357164, -0.13540095,  0.06357164,  0.12003153,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.845786154561907e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.66209721,  0.07765201, -0.7453841 , -0.05156889,  0.99698052,
        0.05805587,  0.74764158,  0.        ,  0.66410245])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608068, -0.03433636,  0.22496131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044543, -0.08607739, -0.13540095, -0.08607739,  0.06044634,
        0.06357164, -0.13540095,  0.06357164,  0.12003153,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.845786154561907e-07
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.66209721,  0.07765201, -0.7453841 , -0.05156889,  0.99698052,
        0.05805587,  0.74764158,  0.        ,  0.66410245])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608068, -0.03433636,  0.22496131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006182763133585276
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39213067,  0.08748418, -0.91574017, -0.03443726,  0.99616591,
        0.08042112,  0.91926471,  0.        ,  0.39363992])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271992, -0.03424541,  0.22320006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001967795399231788
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41049093e-14,  2.20389208e-14,  1.00000000e+00,  3.10856978e-28,
        1.00000000e+00, -2.20389208e-14, -1.00000000e+00,  0.00000000e+00,
       -1.41049093e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08512263, -0.0790401 ,  0.06186943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92353816e-03, 2.59932432e-02, 3.72450117e-03, 3.31170752e-06,
  2.57064845e-05, 3.02009728e-05, 3.14901569e-05, 2.35864984e-05,
  1.28945579e-05, 2.72858763e-05,-1.53430436e-05,-1.39351780e-06,
  1.04881080e-02, 1.48937534e-02, 6.39918759e-03, 1.14238961e-03,
  2.44787965e-03, 1.23975883e-02,-9.81326410e+00,-2.52219806e-03,
 -6.06816525e-02, 6.12500255e-02]


--- Step 3714 ---
qpos:
[-0.01871449, 1.20309713,-0.03529433, 0.94261465,-0.00793929, 1.33295085,
 -0.03115017, 0.94133892, 0.01532047, 1.3385033 ,-0.02371244, 0.9546987 ,
  1.27684682,-0.00920127, 1.28490489, 0.04401254,-0.05513686,-0.08781463,
  0.09033243, 0.69032409,-0.11711834,-0.71102551,-0.0646426 ]

qacc:
[-6.05038496e-01, 2.02394102e+00,-3.04858764e+00,-6.58413489e+00,
 -5.51046523e-02, 3.34702704e+00,-1.38329904e+01, 3.13634646e+01,
 -7.88046577e-02, 2.79913279e+00,-8.21999112e+00, 6.74366687e+00,
 -4.82525422e-01, 8.80567119e-01,-1.36966318e+01, 2.46430116e+01,
  2.08134000e+00, 7.38404678e-01, 1.68274199e+00,-7.35748575e-01,
  6.74364819e+01, 4.65388662e+01]

qfrc_actuator:
[ 9.89499050e-03, 6.02460340e-02, 1.42239545e-02, 2.00215641e-03,
  4.08432840e-05, 3.48464683e-02, 1.09496645e-02, 1.82029766e-03,
 -3.02618984e-03, 3.47402751e-02, 1.08498183e-02, 1.81219432e-03,
  7.82892216e-03, 1.31546880e-02, 0.00000000e+00, 5.55333339e-05,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.16044544, -0.05613427, -0.15030529, -0.05613427,  0.01991481,
        0.05248374, -0.15030529,  0.05248374,  0.14084442,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.964707558773122e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.66215349,  0.0776484 , -0.74533447, -0.05157086,  0.99698081,
        0.05804929,  0.7475916 ,  0.        ,  0.66415872])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608059, -0.03433767,  0.22496194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 0.16044544, -0.05613427, -0.15030529, -0.05613427,  0.01991481,
        0.05248374, -0.15030529,  0.05248374,  0.14084442,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.964707558773122e-07
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.66215349,  0.0776484 , -0.74533447, -0.05157086,  0.99698081,
        0.05804929,  0.7475916 ,  0.        ,  0.66415872])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  6], dtype=int32)
  geom1: 42
  geom2: 6
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08608059, -0.03433767,  0.22496194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006187181934869425
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39211824,  0.08748422, -0.91574549, -0.03443619,  0.99616591,
        0.08042162,  0.91927005,  0.        ,  0.39362745])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271896, -0.03424669,  0.22320019])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019530613771110844
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.84226353e-14,  4.44103676e-15,  1.00000000e+00,  1.26225968e-28,
        1.00000000e+00, -4.44103676e-15, -1.00000000e+00,  0.00000000e+00,
       -2.84226353e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08513554, -0.07904289,  0.06187041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94507171e-03, 2.60350629e-02, 3.65319555e-03,-3.26676646e-05,
 -1.58610611e-05, 5.27985797e-05, 1.47132519e-05, 8.83830428e-05,
 -2.26853516e-05, 4.97894343e-05,-3.19342831e-05, 4.20250844e-07,
  1.05021067e-02, 1.49515132e-02, 6.42641355e-03, 1.51241094e-03,
  9.05219802e-04, 1.22243041e-02,-9.81303281e+00,-2.91522571e-03,
 -6.07107267e-02, 6.12904294e-02]


--- Step 3715 ---
qpos:
[-0.01871571, 1.20311203,-0.03529648, 0.94261573,-0.00793866, 1.3329507 ,
 -0.03115018, 0.9413397 , 0.01532078, 1.33850382,-0.02371389, 0.95469883,
  1.27686099,-0.00919861, 1.28489044, 0.04400805,-0.05512297,-0.08788057,
  0.09034003, 0.69062364,-0.11628022,-0.71080132,-0.06541705]

qacc:
[-1.36095898e-01, 2.39904370e-02,-1.17120667e+00,-4.21943687e-01,
 -1.59903819e-01, 1.17706490e+00,-3.07633539e+00, 2.25676334e+00,
 -4.82761407e-02, 5.98538474e-01, 2.01292155e+00,-1.83841032e+01,
 -5.75438999e-01, 6.07588125e-01,-1.10246929e+00, 1.97000252e+00,
  1.95905942e+00, 6.67006931e-01, 9.70231290e-01,-8.22810477e-01,
  6.32652249e+01, 4.35859476e+01]

qfrc_actuator:
[ 9.90831472e-03, 6.02812029e-02, 1.42028019e-02, 1.98394289e-03,
  4.14458345e-06, 3.48640279e-02, 1.09345447e-02, 1.81731249e-03,
 -3.02667637e-03, 3.47804042e-02, 1.08115057e-02, 1.74062839e-03,
  7.82319738e-03, 1.32050910e-02, 0.00000000e+00,-2.94457701e-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: -0.0006185923306549247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39210514,  0.08748481, -0.91575104, -0.03443528,  0.99616585,
        0.08042266,  0.91927568,  0.        ,  0.39361432])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271711, -0.0342477 ,  0.22320036])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019226361461195177
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44362082e-14, -1.44362082e-14,  1.00000000e+00, -2.08404106e-28,
        1.00000000e+00,  1.44362082e-14, -1.00000000e+00,  0.00000000e+00,
       -1.44362082e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08516236, -0.07904437,  0.0618724 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.02787262e-03, 2.60051937e-02, 3.66072817e-03,-1.47264675e-05,
 -4.60604366e-05, 5.23175116e-05,-5.18014315e-07, 1.08624292e-06,
 -1.38824771e-05, 6.14417529e-05,-3.22028259e-05,-7.10142236e-05,
  1.05272034e-02, 1.49606294e-02, 6.97055948e-03, 1.46632129e-03,
 -6.10452957e-04, 1.20271218e-02,-9.81289530e+00,-3.22334062e-03,
 -6.07435674e-02, 6.13292039e-02]


--- Step 3716 ---
qpos:
[-0.01871676, 1.20312591,-0.03529894, 0.94261624,-0.00793844, 1.33295074,
 -0.03115024, 0.94134012, 0.01532102, 1.3385045 ,-0.02371476, 0.95469773,
  1.27687477,-0.00919615, 1.28487948, 0.04400387,-0.05512353,-0.08794477,
  0.09033713, 0.69073923,-0.11545818,-0.71075023,-0.06620296]

qacc:
[ 7.63171041e-02,-1.43801500e+00, 4.26391158e+00,-9.69558896e+00,
 -1.70850832e-01,-2.36620273e-01, 1.85119995e+00,-6.03516322e+00,
 -2.95286001e-02,-3.45683832e+00, 1.40070020e+01,-2.63787330e+01,
 -3.57818153e-01, 1.76869232e-01, 4.26439362e+00,-7.37003745e+00,
 -3.61357715e+00, 4.36296561e-01,-2.62671111e+00,-1.46631074e+01,
 -1.25013853e+02,-1.43278486e+01]

qfrc_actuator:
[ 9.89923244e-03, 6.02968926e-02, 1.42268119e-02, 1.95493344e-03,
 -1.78988500e-05, 3.48565916e-02, 1.09256053e-02, 1.79746049e-03,
 -3.02702469e-03, 3.47860919e-02, 1.08428177e-02, 1.68072884e-03,
  7.81928534e-03, 1.32163947e-02, 0.00000000e+00,-1.49604046e-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: -0.0006183610577781828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3920934 ,  0.08748551, -0.915756  , -0.03443452,  0.99616579,
        0.08042374,  0.91928071,  0.        ,  0.39360256])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271523, -0.03424865,  0.22320052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019030550013673375
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.83389878e-14,  1.45847469e-14,  1.00000000e+00,  8.50859374e-28,
        1.00000000e+00, -1.45847469e-14, -1.00000000e+00,  0.00000000e+00,
       -5.83389878e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02229901, -0.09721325,  0.06187373])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03441315e-03, 2.60664551e-02, 3.71288845e-03,-3.50500630e-05,
 -4.92325219e-05, 2.14393243e-05, 1.27268743e-06,-1.82638837e-05,
 -8.54435431e-06, 3.12689210e-05, 3.75745840e-05,-6.06749132e-05,
  1.05539751e-02, 1.49616138e-02, 7.01690318e-03, 1.34984498e-03,
 -2.10261704e-03, 1.18124168e-02,-9.81283265e+00,-3.46542378e-03,
 -6.07796584e-02, 6.13662520e-02]


--- Step 3717 ---
qpos:
[-0.01871811, 1.20314059,-0.03530116, 0.94261655,-0.00793841, 1.33295069,
 -0.03115029, 0.94134066, 0.01532122, 1.33850495,-0.02371477, 0.95469594,
  1.27688834,-0.00919346, 1.28486605, 0.04399957,-0.05513732,-0.08800734,
  0.09032128, 0.69068646,-0.11464879,-0.71085784,-0.06700002]

qacc:
[-1.32169813e-01, 2.01145649e-02, 1.60592737e+00,-4.22207312e+00,
 -8.45955997e-02, 6.21187789e-02,-6.16076993e-01, 2.07773610e+00,
 -1.82380629e-02,-3.82150759e+00, 1.34621327e+01,-1.94505546e+01,
 -1.85967387e-01, 2.89756274e-01,-3.30976931e+00, 6.32128616e+00,
 -3.30525112e+00, 4.05937891e-01,-3.23605541e+00,-1.27953531e+01,
 -1.14419090e+02,-1.40887860e+01]

qfrc_actuator:
[ 9.91184868e-03, 6.03191141e-02, 1.42423973e-02, 1.95542010e-03,
 -1.32195511e-05, 3.48342416e-02, 1.09202962e-02, 1.80335815e-03,
 -3.02728833e-03, 3.47536238e-02, 1.08793582e-02, 1.64596464e-03,
  7.82178896e-03, 1.32223093e-02, 0.00000000e+00,-2.49282039e-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: -0.0006182816495663782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39208289,  0.08748611, -0.91576044, -0.03443384,  0.99616574,
        0.08042469,  0.91928522,  0.        ,  0.39359203])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271366, -0.03424964,  0.22320066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.27027924,  0.29079628, 17.27027924, 17.28761228,
       -0.88401489,  0.29079628, -0.88401489, 69.77403193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019252258381979998
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.88335790e-14,  4.32503684e-14,  1.00000000e+00,  1.24706291e-27,
        1.00000000e+00, -4.32503684e-14, -1.00000000e+00,  0.00000000e+00,
       -2.88335790e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02224332, -0.09719379,  0.06187241])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03825538e-03, 2.61393001e-02, 3.74450090e-03,-5.92808725e-06,
 -2.43834022e-05,-1.07920823e-05,-1.50414249e-06, 6.15891517e-06,
 -5.30803734e-06,-9.64191928e-06, 4.51407457e-05,-3.41518399e-05,
  1.05761369e-02, 1.49772130e-02, 6.84253532e-03, 1.45935290e-03,
  3.33116533e-04, 9.85086204e-03,-9.81249710e+00,-2.57490654e-03,
 -6.09013132e-02, 6.14182562e-02]


--- Step 3718 ---
qpos:
[-0.01871976, 1.20315654,-0.03530295, 0.94261681,-0.00793848, 1.33295072,
 -0.03115073, 0.94134093, 0.01532124, 1.33850521,-0.02371516, 0.95469381,
  1.27690207,-0.00919046, 1.28484839, 0.04399513,-0.05516328,-0.0880684 ,
  0.09029041, 0.6904783 ,-0.11384924,-0.71111192,-0.06780786]

qacc:
[-1.33639447e-01, 4.30956038e-01, 7.26910610e-01,-2.05147823e+00,
 -3.98804288e-02, 7.03535449e-01,-1.59774721e+00,-1.84151815e+00,
 -7.31587659e-02, 1.86757585e-01,-2.09272229e-01,-3.65738344e+00,
  1.37683943e-01, 8.43879466e-02,-5.80029322e+00, 1.11752516e+01,
 -3.04469305e+00, 3.78822420e-01,-3.75448153e+00,-1.12302746e+01,
 -1.05521552e+02,-1.38260721e+01]

qfrc_actuator:
[ 9.92014020e-03, 6.02905957e-02, 1.42347306e-02, 1.95570893e-03,
 -1.03015086e-05, 3.48386613e-02, 1.08993702e-02, 1.78885032e-03,
 -3.04525234e-03, 3.47163583e-02, 1.08475151e-02, 1.62623404e-03,
  7.81748825e-03, 1.31891434e-02, 0.00000000e+00, 1.04914903e-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: -0.000618105575733767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39207142,  0.08748685, -0.91576528, -0.03443312,  0.99616567,
        0.0804258 ,  0.91929014,  0.        ,  0.39358054])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08271188, -0.03425057,  0.22320081])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.27175   ,  0.18373748, 17.27175   , 17.27923287,
       -0.61154148,  0.18373748, -0.61154148, 74.75904696,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019214200337630688
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.88906904e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.88906904e-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([ 0.02225492, -0.09718993,  0.06187264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06171677e-03, 2.60710370e-02, 3.72420530e-03, 4.40501944e-06,
 -1.14766616e-05,-1.65912769e-06,-2.30274500e-05,-1.47339239e-05,
 -2.10986217e-05,-3.47992048e-05,-2.95981883e-05,-1.94920705e-05,
  1.05824467e-02, 1.49327466e-02, 6.96596352e-03, 1.59452582e-03,
  1.96818240e-03, 8.18167503e-03,-9.81246535e+00,-1.68311590e-03,
 -6.10067763e-02, 6.14727294e-02]


--- Step 3719 ---
qpos:
[-0.01872208, 1.20317503,-0.03530442, 0.94261558,-0.00793874, 1.33295059,
 -0.0311514 , 0.94134242, 0.01532108, 1.33850546,-0.02371604, 0.95469214,
  1.27691613,-0.00918717, 1.28482445, 0.04399076,-0.05517921,-0.08812651,
  0.09027529, 0.69039105,-0.11311727,-0.7112414 ,-0.06855917]

qacc:
[-2.87053668e-01,-4.41163136e-02, 7.24212023e+00,-2.51652171e+01,
 -7.87708302e-02, 2.48338113e+00,-1.08833722e+01, 2.37118954e+01,
 -8.03086283e-02, 2.09787567e+00,-7.78495692e+00, 1.20765743e+01,
  4.38574178e-01,-2.34931898e-01,-9.54889791e+00, 1.98684565e+01,
  2.50631879e+00, 7.36564456e-01, 3.93651579e+00,-5.75076695e-01,
  8.04995293e+01, 5.47330025e+01]

qfrc_actuator:
[ 9.90820905e-03, 6.02840915e-02, 1.42128360e-02, 1.88480103e-03,
 -2.62186831e-05, 3.48234970e-02, 1.08872269e-02, 1.85121234e-03,
 -3.05593725e-03, 3.47295108e-02, 1.08287918e-02, 1.65095897e-03,
  7.80375384e-03, 1.31323423e-02, 0.00000000e+00, 3.08962418e-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: -0.0006177549774017826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39205838,  0.08748774, -0.91577078, -0.03443233,  0.9961656 ,
        0.0804271 ,  0.91929573,  0.        ,  0.39356748])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08270972, -0.03425143,  0.22320099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019172731303576038
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.90005234e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.90005234e-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([-0.0851672 , -0.07905035,  0.06187282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06512020e-03, 2.60006100e-02, 3.68088355e-03,-6.38441184e-05,
 -2.26921811e-05,-2.10322505e-05,-1.55208033e-05, 6.12948292e-05,
 -2.31458928e-05,-1.24543223e-05,-2.94565803e-05, 2.23707741e-05,
  1.05610325e-02, 1.48597849e-02, 7.17823819e-03, 1.80649852e-03,
  2.97928054e-03, 6.74164270e-03,-9.81266233e+00,-7.86471086e-04,
 -6.10978090e-02, 6.15288450e-02]


--- Step 3720 ---
qpos:
[-0.01872457, 1.20319454,-0.0353054 , 0.94261397,-0.00793918, 1.33294984,
 -0.03115142, 0.94134429, 0.01532104, 1.33850554,-0.0237166 , 0.95469213,
  1.2769303 ,-0.00918381, 1.28479878, 0.04398669,-0.05518591,-0.08818198,
  0.09027166, 0.69041534,-0.11244718,-0.71125625,-0.06925916]

qacc:
[-7.60473281e-02,-6.16564446e-01, 4.39991656e+00,-8.73791382e+00,
 -7.87267693e-02,-1.90345591e+00, 4.43434246e+00, 1.01345294e+00,
  5.41136015e-02, 1.79063681e+00,-9.44700673e+00, 2.74477338e+01,
  1.48235968e-01,-8.89699135e-02,-3.48954711e+00, 8.45791496e+00,
  2.31062256e+00, 6.62164624e-01, 2.87432537e+00,-7.30829606e-01,
  7.42122152e+01, 5.00313990e+01]

qfrc_actuator:
[ 9.92012463e-03, 6.02890285e-02, 1.42178537e-02, 1.86139501e-03,
 -3.55548693e-05, 3.47790442e-02, 1.09158514e-02, 1.86954980e-03,
 -3.02666357e-03, 3.47373080e-02, 1.08537058e-02, 1.73719516e-03,
  7.80031457e-03, 1.31322876e-02, 0.00000000e+00, 3.26574217e-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: -0.0006171910031259782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39204272,  0.08748893, -0.91577737, -0.03443143,  0.99616549,
        0.08042879,  0.91930244,  0.        ,  0.3935518 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08270702, -0.03425218,  0.22320123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019319176269113753
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.52647808e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.52647808e-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([-0.0851545 , -0.07905177,  0.06187191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.10998197e-03, 2.58787349e-02, 3.67020759e-03,-1.28097480e-05,
 -2.27330481e-05,-5.72749822e-05, 2.45435685e-05, 1.86689863e-05,
  1.56041724e-05,-4.18374447e-06, 1.97869561e-05, 8.55226018e-05,
  1.05407868e-02, 1.48458445e-02, 7.49238840e-03, 1.82022582e-03,
  1.89766497e-03, 6.67763300e-03,-9.81222664e+00,-1.22010180e-03,
 -6.10866611e-02, 6.15547822e-02]


--- Step 3721 ---
qpos:
[-0.01872597, 1.203211  ,-0.03530625, 0.94261457,-0.00793963, 1.33294896,
 -0.03115116, 0.94134428, 0.01532137, 1.33850588,-0.02371706, 0.95469417,
  1.27694459,-0.00918062, 1.28477984, 0.0439829 ,-0.05518401,-0.08823504,
  0.09027596, 0.69054335,-0.11183423,-0.71116474,-0.06991212]

qacc:
[ 4.73074722e-01,-6.25311060e-01,-7.33377363e+00, 3.37770453e+01,
 -3.32400263e-03,-4.15385839e+00, 1.72617960e+01,-3.68711388e+01,
  1.54084940e-01, 3.59137374e+00,-1.54129461e+01, 3.67446984e+01,
 -1.29868202e-01, 7.13840758e-02, 9.13904118e+00,-1.75041819e+01,
  2.14779222e+00, 6.00279548e-01, 1.97858687e+00,-8.48174980e-01,
  6.89775049e+01, 4.61283235e+01]

qfrc_actuator:
[ 9.92837483e-03, 6.02835726e-02, 1.42387106e-02, 1.95472876e-03,
 -2.31151575e-05, 3.47885495e-02, 1.09326459e-02, 1.77305610e-03,
 -2.99140887e-03, 3.47775571e-02, 1.08686880e-02, 1.84120091e-03,
  7.80306104e-03, 1.31486124e-02, 0.00000000e+00, 5.45446691e-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: -0.0006165948777146907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.92025656e-01,  8.74902196e-02, -9.15784552e-01, -3.44304384e-02,
        9.96165379e-01,  8.04306126e-02,  9.19309757e-01,  6.93889390e-18,
        3.93534713e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08270417, -0.0342529 ,  0.22320148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019253258378521473
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.88320814e-14,  1.44160407e-14,  1.00000000e+00,  4.15644458e-28,
        1.00000000e+00, -1.44160407e-14, -1.00000000e+00,  0.00000000e+00,
       -2.88320814e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08516059, -0.07905203,  0.06187236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.12695229e-03, 2.58218365e-02, 3.66621496e-03, 9.89707203e-05,
 -9.82496705e-07,-1.68084287e-05, 8.93189046e-06,-9.70660324e-05,
  4.44696269e-05, 4.43347516e-05, 1.89170390e-05, 1.06450395e-04,
  1.05382797e-02, 1.48580222e-02, 7.57968104e-03, 1.53324301e-03,
  8.01601968e-04, 6.58555758e-03,-9.81192430e+00,-1.54798045e-03,
 -6.10824633e-02, 6.15797595e-02]


--- Step 3722 ---
qpos:
[-0.01872564, 1.20322205,-0.03530827, 0.94261726,-0.00793974, 1.33294819,
 -0.03115087, 0.94134413, 0.01532223, 1.33850681,-0.02371683, 0.95469599,
  1.27695907,-0.00917782, 1.28477093, 0.0439792 ,-0.05519502,-0.08828603,
  0.09026679, 0.69050456,-0.11121657,-0.71123297,-0.07058324]

qacc:
[ 7.57255144e-01,-3.86637175e-01,-1.16692278e+01, 3.78714859e+01,
  1.47718517e-01,-1.72254012e-01, 9.93006785e-01,-2.41349139e+00,
  2.24720972e-01,-1.45009315e+00, 6.08035432e+00,-8.06658847e+00,
 -1.39490909e-01,-1.98631371e-02, 1.45501149e+01,-2.93170497e+01,
 -3.22543336e+00, 5.17321375e-01,-3.36305807e+00,-8.58183061e+00,
 -1.13288687e+02,-2.27083409e+01]

qfrc_actuator:
[ 9.93323449e-03, 6.02222828e-02, 1.42159803e-02, 2.04467992e-03,
  2.00390390e-05, 3.48124321e-02, 1.09424502e-02, 1.76955975e-03,
 -2.95285300e-03, 3.48369186e-02, 1.09133067e-02, 1.83055479e-03,
  7.80418792e-03, 1.31572431e-02, 0.00000000e+00,-2.67090440e-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: -0.0006162138086848179
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39201128,  0.08749103, -0.91579063, -0.0344295 ,  0.99616531,
        0.0804319 ,  0.91931592,  0.        ,  0.39352031])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0827019 , -0.03425379,  0.22320166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019091478946972607
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.36146027e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.36146027e-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([ 0.02229082, -0.09719631,  0.06187344])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.07747169e-03, 2.59126194e-02, 3.63693190e-03, 7.92011496e-05,
  4.25739268e-05, 1.34112076e-05, 4.68448360e-06,-5.99045202e-06,
  6.48194690e-05, 9.07302230e-05, 5.85451009e-05,-6.29882352e-06,
  1.05333664e-02, 1.48756933e-02, 7.24375681e-03, 1.19819790e-03,
 -3.04178465e-04, 6.47193517e-03,-9.81172595e+00,-1.79564659e-03,
 -6.10840304e-02, 6.16035822e-02]


--- Step 3723 ---
qpos:
[-0.01872537, 1.20323219,-0.03531124, 0.94261955,-0.00793942, 1.33294741,
 -0.03115046, 0.94134464, 0.01532329, 1.33850729,-0.02371468, 0.95469632,
  1.27697338,-0.00917489, 1.28476125, 0.04397527,-0.05519713,-0.08833477,
  0.09026729, 0.6905736 ,-0.11065853,-0.71119105,-0.07120447]

qacc:
[-3.19856325e-02, 6.99979533e-01,-2.90549584e+00,-1.50514968e+00,
  1.76470958e-01, 7.94415017e-01,-3.96162617e+00, 1.10531816e+01,
  8.78774483e-02,-8.36321463e+00, 2.95635434e+01,-4.25860985e+01,
 -1.91418911e-01, 2.49455547e-01,-4.19899929e-01,-1.62940025e-01,
  2.22181661e+00, 5.65083679e-01, 2.41393321e+00,-7.27986394e-01,
  7.15034375e+01, 4.83551361e+01]

qfrc_actuator:
[ 9.91721946e-03, 6.01843395e-02, 1.42038575e-02, 2.04306021e-03,
  4.57630221e-05, 3.48092549e-02, 1.09481951e-02, 1.80310217e-03,
 -2.96588658e-03, 3.47652960e-02, 1.09928326e-02, 1.75255389e-03,
  7.80433248e-03, 1.31792816e-02, 0.00000000e+00,-1.39107156e-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: -0.0006160924409605723
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39200299,  0.08749106, -0.91579418, -0.03442878,  0.99616531,
        0.08043223,  0.91931949,  0.        ,  0.39351198])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08270054, -0.03425493,  0.22320172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019065152462751367
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.81978453e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.81978453e-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([-0.08517744, -0.07905055,  0.06187362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97446540e-03, 2.61453638e-02, 3.68359926e-03,-2.71563933e-05,
  5.08572163e-05, 4.98472108e-06, 8.72701566e-06, 3.39443874e-05,
  2.52504048e-05,-1.02035014e-05, 1.03716039e-04,-7.37416076e-05,
  1.05240100e-02, 1.49167287e-02, 6.74192521e-03, 1.32116175e-03,
  1.12216505e-03, 5.38149113e-03,-9.81178244e+00,-1.10920013e-03,
 -6.11504273e-02, 6.16491686e-02]


--- Step 3724 ---
qpos:
[-0.0187257 , 1.20324336,-0.03531452, 0.9426209 ,-0.00793888, 1.33294693,
 -0.03115012, 0.94134587, 0.01532412, 1.33850761,-0.02371214, 0.95469576,
  1.27698737,-0.00917174, 1.28474836, 0.04397119,-0.05521179,-0.08838141,
  0.0902536 , 0.6904803 ,-0.11009226,-0.71130511,-0.07184493]

qacc:
[-2.56009589e-01, 5.65489229e-01, 1.73657088e+00,-1.31155516e+01,
  9.47684842e-02, 1.81825928e+00,-6.94606029e+00, 1.42481589e+01,
 -1.00305009e-01,-2.78598330e+00, 1.06129528e+01,-1.92747287e+01,
 -2.30753149e-01, 3.01625067e-01,-4.26405474e+00, 8.07713253e+00,
 -3.13376967e+00, 5.22351126e-01,-3.54583756e+00,-7.42132292e+00,
 -1.10228677e+02,-2.39745352e+01]

qfrc_actuator:
[ 9.92530193e-03, 6.01935669e-02, 1.41983440e-02, 2.00590294e-03,
  4.30688425e-05, 3.48431728e-02, 1.09514094e-02, 1.84038347e-03,
 -3.00976215e-03, 3.47401557e-02, 1.10030305e-02, 1.70651916e-03,
  7.80923892e-03, 1.32090073e-02, 0.00000000e+00,-2.50989393e-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: -0.0006158658996556522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91996396e-01,  8.74910749e-02, -9.15796996e-01, -3.44282078e-02,
        9.96165303e-01,  8.04324978e-02,  9.19322318e-01,  6.93889390e-18,
        3.93505370e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269915, -0.03425604,  0.22320177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.98948254,  -3.11521916,  16.98948254,
        22.15087314,  26.6039626 ,  -3.11521916,  26.6039626 ,
       162.36285898,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019155019005563448
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.44899755e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.44899755e-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([ 0.02227515, -0.09720268,  0.06187311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98620274e-03, 2.61998406e-02, 3.72560160e-03,-4.45372394e-05,
  2.73284898e-05, 3.94140884e-05, 6.18030505e-06, 3.84739991e-05,
 -2.89633081e-05,-1.27161421e-05, 1.78324623e-05,-4.50142288e-05,
  1.05373915e-02, 1.49399403e-02, 6.78087235e-03, 1.44698460e-03,
  1.33697038e-04, 5.27710847e-03,-9.81152407e+00,-1.36713202e-03,
 -6.11413003e-02, 6.16695811e-02]


--- Step 3725 ---
qpos:
[-0.01872528, 1.20325308,-0.03531778, 0.94262304,-0.00793794, 1.33294719,
 -0.03115021, 0.94134718, 0.01532459, 1.33850828,-0.02371053, 0.95469469,
  1.27700134,-0.00916886, 1.2847406 , 0.04396722,-0.05521729,-0.08842593,
  0.09025119, 0.69049863,-0.10958774,-0.71130557,-0.07243304]

qacc:
[ 3.21373321e-01,-6.14354198e-01,-1.91667601e+00, 1.16948841e+01,
  1.72212501e-01, 2.24811687e+00,-6.31577675e+00, 5.84853986e+00,
 -1.51355560e-01, 2.08281792e+00,-5.18349331e+00,-1.74490187e+00,
 -1.09934896e-01,-4.10348489e-02, 7.23806167e+00,-1.43153009e+01,
  2.28818521e+00, 5.31918263e-01, 2.82008084e+00,-6.41577265e-01,
  7.38169488e+01, 5.02962210e+01]

qfrc_actuator:
[ 9.94838691e-03, 6.01230100e-02, 1.42142820e-02, 2.03689254e-03,
  7.66077884e-05, 3.48990369e-02, 1.09354893e-02, 1.84407158e-03,
 -3.03627645e-03, 3.47605424e-02, 1.09546398e-02, 1.67964928e-03,
  7.81702242e-03, 1.32077047e-02, 0.00000000e+00,-2.39014030e-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: -0.0006155122808483536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39198914,  0.08749134, -0.91580008, -0.03442767,  0.99616528,
        0.08043301,  0.91932543,  0.        ,  0.39349809])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269748, -0.03425706,  0.22320184])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001906589009437673
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45577130e-14,  7.27885650e-15,  1.00000000e+00, -1.05963504e-28,
        1.00000000e+00, -7.27885650e-15, -1.00000000e+00,  0.00000000e+00,
        1.45577130e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08517722, -0.0790474 ,  0.06187365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03867691e-03, 2.60778289e-02, 3.75670184e-03, 3.36341920e-05,
  4.96730810e-05, 8.00440168e-05,-6.37311638e-06, 5.95030089e-06,
 -4.36191163e-05, 1.54973256e-05,-5.01684002e-05,-2.77692381e-05,
  1.05613407e-02, 1.49279411e-02, 6.94124696e-03, 1.24065260e-03,
  1.27806210e-03, 4.34877608e-03,-9.81167635e+00,-7.16089763e-04,
 -6.11983903e-02, 6.17132863e-02]


--- Step 3726 ---
qpos:
[-0.01872499, 1.20326399,-0.03532051, 0.94262457,-0.00793645, 1.33294832,
 -0.03115105, 0.94134611, 0.01532487, 1.33850873,-0.02370875, 0.95469294,
  1.27701553,-0.00916612, 1.28473346, 0.04396335,-0.05523495,-0.08846834,
  0.09023386, 0.69035901,-0.1090718 ,-0.71145819,-0.07304127]

qacc:
[-5.29117926e-02,-8.79696470e-01, 6.01076347e+00,-1.29345578e+01,
  2.30859015e-01,-8.88431788e-01, 9.19063876e+00,-3.61467788e+01,
 -8.27431634e-02,-1.90493272e+00, 7.20200010e+00,-1.37835439e+01,
  2.29557960e-01,-2.84164311e-01, 6.28609937e-01,-8.86674427e-01,
 -3.04241655e+00, 5.26233142e-01,-3.73016937e+00,-6.35943391e+00,
 -1.07191381e+02,-2.50642541e+01]

qfrc_actuator:
[ 0.00990837, 0.06009541, 0.01426064, 0.00201866, 0.00011386, 0.03493201,
  0.01089073, 0.00172145,-0.00303441, 0.03473679, 0.01096103, 0.00164652,
  0.00782119, 0.01317043, 0.        ,-0.00018832, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006153718140679172
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91983201e-01,  8.74912847e-02, -9.15802624e-01, -3.44271320e-02,
        9.96165285e-01,  8.04331864e-02,  9.19327984e-01, -6.93889390e-18,
        3.93492131e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269625, -0.03425819,  0.22320188])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.99513327,  -3.08424261,  16.99513327,
        21.14766985,  21.35213537,  -3.08424261,  21.35213537,
       134.92961509,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019061401778794618
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.91222817e-14, -1.45611409e-14,  1.00000000e+00, -4.24053646e-28,
        1.00000000e+00,  1.45611409e-14, -1.00000000e+00,  0.00000000e+00,
       -2.91222817e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02229954, -0.09722083,  0.06187372])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96174135e-03, 2.61224976e-02, 3.80220067e-03,-2.38325364e-05,
  6.65800137e-05, 7.61898676e-05,-2.96501158e-05,-1.20255137e-04,
 -2.38888835e-05,-2.58122326e-05, 2.89661340e-06,-3.47839866e-05,
  1.05661654e-02, 1.49038923e-02, 6.68548298e-03, 1.28582927e-03,
  4.07579238e-04, 4.25787461e-03,-9.81136504e+00,-9.81672715e-04,
 -6.11797699e-02, 6.17304775e-02]


--- Step 3727 ---
qpos:
[-0.01872629, 1.20327816,-0.03532238, 0.94262532,-0.00793475, 1.33294994,
 -0.03115207, 0.94134392, 0.01532504, 1.33850864,-0.02370675, 0.9546905 ,
  1.27702976,-0.00916282, 1.28471888, 0.04395921,-0.05524324,-0.08850875,
  0.09022932, 0.69033445,-0.10861948,-0.71149414,-0.07359508]

qacc:
[-6.92547945e-01, 6.24844443e-01, 4.75134530e+00,-1.52838679e+01,
  8.74840849e-02,-7.77297369e-01, 5.61862787e+00,-1.81027882e+01,
 -4.48812148e-02,-2.53752028e+00, 8.82894765e+00,-1.54216765e+01,
  6.28360781e-02, 2.80497477e-01,-1.02106011e+01, 1.97319447e+01,
  2.34714574e+00, 5.00542374e-01, 3.19630083e+00,-5.82482670e-01,
  7.59135413e+01, 5.19812981e+01]

qfrc_actuator:
[ 9.84881393e-03, 6.00737642e-02, 1.42537296e-02, 1.98970837e-03,
  9.97845648e-05, 3.49508206e-02, 1.08824077e-02, 1.66748674e-03,
 -3.03327721e-03, 3.46869859e-02, 1.09640454e-02, 1.60998400e-03,
  7.81784248e-03, 1.31647954e-02, 0.00000000e+00, 9.21328960e-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: -0.0006153396223033056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39197567,  0.08749131, -0.91580584, -0.03442648,  0.99616528,
        0.08043349,  0.91933122,  0.        ,  0.39348458])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269504, -0.03425935,  0.22320194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019223990253363493
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44379888e-14,  1.71451117e-14,  1.00000000e+00,  2.47540931e-28,
        1.00000000e+00, -1.71451117e-14, -1.00000000e+00,  0.00000000e+00,
       -1.44379888e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08516277, -0.07904283,  0.06187267])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.90825367e-03, 2.60409243e-02, 3.76869513e-03,-2.27467745e-05,
  2.52306048e-05, 5.15282729e-05,-3.13956433e-07,-5.53244792e-05,
 -1.29790544e-05,-6.45511400e-05,-2.71698063e-06,-3.80235678e-05,
  1.05521377e-02, 1.49049966e-02, 6.65417164e-03, 1.56163156e-03,
  1.30832044e-03, 3.47072227e-03,-9.81159215e+00,-3.66944312e-04,
 -6.12289268e-02, 6.17720444e-02]


--- Step 3728 ---
qpos:
[-0.01872863, 1.2032945 ,-0.03532342, 0.94262651,-0.00793315, 1.33295181,
 -0.03115285, 0.9413418 , 0.01532529, 1.33850813,-0.02370535, 0.95468836,
  1.27704438,-0.00915891, 1.28469722, 0.04395476,-0.0552428 ,-0.0885473 ,
  0.09023378, 0.69041662,-0.10822521,-0.7114221 ,-0.07409982]

qacc:
[-4.51991787e-01, 1.32901683e+00,-1.80477913e+00, 5.25095828e+00,
 -4.20002637e-02,-2.13086558e-01, 9.55869473e-01,-2.73345307e-01,
  3.72520286e-02, 1.62395233e+00,-6.56491658e+00, 9.45932304e+00,
  2.81891606e-01, 1.68648431e-01,-9.52525488e+00, 1.80938262e+01,
  2.17779016e+00, 4.65309934e-01, 2.25168404e+00,-7.59535405e-01,
  7.04392136e+01, 4.73805305e+01]

qfrc_actuator:
[ 9.85005912e-03, 6.00709076e-02, 1.42320592e-02, 2.00801514e-03,
  7.27827314e-05, 3.49611607e-02, 1.08956813e-02, 1.67215430e-03,
 -3.01485093e-03, 3.46574673e-02, 1.09294125e-02, 1.62496830e-03,
  7.80999378e-03, 1.31242587e-02, 0.00000000e+00, 2.62216240e-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: -0.0006150622499962732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39196435,  0.08749203, -0.91581062, -0.03442577,  0.99616522,
        0.08043458,  0.91933607,  0.        ,  0.39347323])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269315, -0.03426035,  0.22320207])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019221243067196123
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.89525687e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.89525687e-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([-0.08516277, -0.07903995,  0.06187271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98904812e-03, 2.58751105e-02, 3.70395431e-03, 3.47718950e-05,
 -1.21054155e-05, 3.71057957e-05, 2.16940429e-05, 4.92778304e-06,
  1.07595068e-05,-6.68776373e-05,-4.86664124e-05, 1.21062039e-05,
  1.05423653e-02, 1.48365872e-02, 7.02673311e-03, 1.74499735e-03,
  5.54588075e-04, 3.39554233e-03,-9.81123532e+00,-6.37061666e-04,
 -6.12019910e-02, 6.17862122e-02]


--- Step 3729 ---
qpos:
[-0.0187309 , 1.20331163,-0.03532415, 0.94262737,-0.00793175, 1.33295387,
 -0.03115343, 0.94133976, 0.01532555, 1.33850743,-0.02370425, 0.95468707,
  1.27705939,-0.00915502, 1.28467439, 0.04395053,-0.05523423,-0.0885841 ,
  0.09024407, 0.69059852,-0.10788439,-0.71124924,-0.07455985]

qacc:
[ 3.21554052e-02,-3.15580591e-01, 2.97947284e+00,-6.88676877e+00,
 -8.30153660e-02,-1.41636419e-01, 6.12035201e-01, 2.53987680e-01,
 -1.77416921e-03, 2.01601639e+00,-8.58727965e+00, 1.73659297e+01,
  4.10348603e-01,-3.77091421e-01,-2.44819275e+00, 5.99148097e+00,
  2.03720022e+00, 4.35401708e-01, 1.45606230e+00,-8.87223110e-01,
  6.58809556e+01, 4.35948545e+01]

qfrc_actuator:
[ 9.88786999e-03, 6.01323729e-02, 1.42367231e-02, 1.98275819e-03,
  5.60017365e-05, 3.49664718e-02, 1.09038156e-02, 1.67576736e-03,
 -3.02170357e-03, 3.46757138e-02, 1.09261916e-02, 1.67013758e-03,
  7.80473721e-03, 1.30979995e-02, 0.00000000e+00, 2.41968817e-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: -0.0006144926149653542
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39195026,  0.0874932 , -0.91581654, -0.034425  ,  0.99616512,
        0.08043618,  0.91934211,  0.        ,  0.39345913])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269064, -0.03426125,  0.22320224])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001903710407060541
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.45797257e-14, -1.45797257e-14,  1.00000000e+00, -2.12568403e-28,
        1.00000000e+00,  1.45797257e-14, -1.00000000e+00,  0.00000000e+00,
       -1.45797257e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0851788 , -0.07903655,  0.06187391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.07877284e-03, 2.58282747e-02, 3.66686963e-03,-1.22467325e-05,
 -2.39259366e-05, 3.02174356e-05, 1.80053418e-05, 5.48097586e-06,
 -5.00563955e-07,-2.78825009e-05,-2.14625603e-05, 4.20431306e-05,
  1.05176405e-02, 1.47793526e-02, 7.38108924e-03, 1.74064172e-03,
 -2.32023735e-04, 3.30389646e-03,-9.81099464e+00,-8.28227923e-04,
 -6.11829485e-02, 6.17995203e-02]


--- Step 3730 ---
qpos:
[-0.0187324 , 1.20332709,-0.03532489, 0.94262816,-0.00793011, 1.33295592,
 -0.0311538 , 0.94133779, 0.01532533, 1.33850646,-0.02370345, 0.95468565,
  1.27707426,-0.00915173, 1.28465955, 0.043947  ,-0.05523883,-0.08861831,
  0.09024151, 0.6906083 ,-0.10752113,-0.71124361,-0.07504606]

qacc:
[ 3.29329276e-01,-2.30206853e+00, 4.98360988e+00,-4.00098076e+00,
  9.93440091e-02,-4.49799214e-01, 1.29148300e+00,-2.15632615e-01,
 -2.00242029e-01, 2.26738257e-01,-9.00770913e-01,-5.80500824e-01,
 -1.20134079e-01,-2.63388131e-01, 9.71412732e+00,-1.68325650e+01,
 -3.29527227e+00, 6.48876746e-01,-3.21141058e+00,-4.61033474e+00,
 -1.16705477e+02,-3.24501848e+01]

qfrc_actuator:
[ 9.87591266e-03, 6.01441636e-02, 1.42751385e-02, 1.96745677e-03,
  9.87476690e-05, 3.49509627e-02, 1.09088105e-02, 1.67870613e-03,
 -3.07917187e-03, 3.46515502e-02, 1.09062436e-02, 1.66173971e-03,
  7.80634777e-03, 1.31339673e-02, 0.00000000e+00,-3.49159199e-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: -0.0006139065170751891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91935153e-01,  8.74943632e-02, -9.15822893e-01, -3.44241327e-02,
        9.96165015e-01,  8.04378187e-02,  9.19348582e-01, -1.38777878e-17,
        3.93444005e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08268802, -0.03426216,  0.22320243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  17.00414646,  -3.0341573 ,  17.00414646,
        20.9761434 ,  20.75483372,  -3.0341573 ,  20.75483372,
       133.58780175,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019255620407621979
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.88285446e-14,  4.32428169e-14,  1.00000000e+00,  1.24662748e-27,
        1.00000000e+00, -4.32428169e-14, -1.00000000e+00,  0.00000000e+00,
       -2.88285446e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02224538, -0.09725586,  0.06187265])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06310195e-03, 2.57997641e-02, 3.69014084e-03,-1.11730377e-05,
  2.86227262e-05, 4.87938303e-06, 1.31139947e-05, 4.50430147e-06,
 -5.77651476e-05,-4.25261456e-05,-2.66044389e-05,-8.87507039e-06,
  1.04998583e-02, 1.48168422e-02, 7.43995655e-03, 1.45245288e-03,
 -1.04780148e-03, 3.19861452e-03,-9.81084473e+00,-9.60477623e-04,
 -6.11704259e-02, 6.18117921e-02]


--- Step 3731 ---
qpos:
[-0.01873315, 1.20334122,-0.03532571, 0.9426284 ,-0.00792813, 1.33295792,
 -0.03115351, 0.9413362 , 0.01532484, 1.33850542,-0.02370329, 0.95468448,
  1.277089  ,-0.00914906, 1.2846521 , 0.04394402,-0.0552556 ,-0.08865025,
  0.09022405, 0.69045959,-0.10713949,-0.71139163,-0.0755555 ]

qacc:
[ 3.31362806e-01,-2.45380972e+00, 7.04257769e+00,-1.17220753e+01,
  1.44952046e-01,-1.22654428e+00, 3.13499458e+00, 1.68501673e+00,
 -1.13506632e-01, 2.08741003e+00,-7.43237403e+00, 9.44104064e+00,
 -6.54387998e-02,-3.45624107e-01, 9.25373512e+00,-1.65000791e+01,
 -3.04396343e+00, 5.68134768e-01,-3.72566668e+00,-4.67005305e+00,
 -1.07479977e+02,-2.87751571e+01]

qfrc_actuator:
[ 0.00986889, 0.06014606, 0.01431624, 0.00194024, 0.0001236 , 0.0349586 ,
  0.01094733, 0.00169896,-0.00307778, 0.03465536, 0.01087638, 0.0016751 ,
  0.00781211, 0.01313683, 0.        ,-0.00020005, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006137020921650055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3919216 ,  0.0874952 , -0.91582861, -0.03442327,  0.99616494,
        0.0804391 ,  0.91935439,  0.        ,  0.39343043])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08268608, -0.03426322,  0.22320257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.14305288,   6.1440175 , -16.14305288,
        22.4607386 ,  13.63120159,   6.1440175 ,  13.63120159,
        53.08792606,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019284021058645281
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.87860872e-14,  4.31791308e-14,  1.00000000e+00,  1.24295823e-27,
        1.00000000e+00, -4.31791308e-14, -1.00000000e+00,  0.00000000e+00,
       -2.87860872e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02223676, -0.09726679,  0.0618725 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01824182e-03, 2.58853108e-02, 3.73134179e-03,-3.51242476e-05,
  4.17490806e-05, 1.30182017e-05, 4.10995510e-05, 2.08921868e-05,
 -3.27202584e-05,-2.51688452e-05,-4.14518735e-05, 1.11151990e-05,
  1.05125608e-02, 1.48490762e-02, 7.04106456e-03, 1.25278863e-03,
  1.80014107e-04, 2.62570379e-03,-9.81094053e+00,-5.48985522e-04,
 -6.12151463e-02, 6.18452161e-02]


--- Step 3732 ---
qpos:
[-0.01873357, 1.20335538,-0.03532668, 0.94262818,-0.00792613, 1.33295969,
 -0.03115296, 0.94133559, 0.01532449, 1.33850506,-0.02370394, 0.95468515,
  1.27710373,-0.00914649, 1.28464426, 0.04394094,-0.0552837 ,-0.08868018,
  0.09018993, 0.69016373,-0.10674257,-0.71168181,-0.07608577]

qacc:
[ 1.43457682e-01,-3.20184732e-01, 2.02369669e+00,-6.98544089e+00,
  1.06447192e-02, 6.92441913e-01,-4.63924662e+00, 1.55719036e+01,
  5.99941104e-02, 6.22763157e+00,-2.29426921e+01, 4.06609820e+01,
  6.74969276e-02,-1.48303895e-01,-2.69335708e-01, 1.03499786e-01,
 -2.82985556e+00, 5.01527958e-01,-4.16460353e+00,-4.64402246e+00,
 -9.97275740e+01,-2.57933923e+01]

qfrc_actuator:
[ 0.00990002, 0.0601601 , 0.01430577, 0.00192416, 0.00010201, 0.03492691,
  0.01095218, 0.00174703,-0.00304108, 0.03474686, 0.01085879, 0.0017722 ,
  0.00780972, 0.0131201 , 0.        ,-0.00012074, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006138620435942911
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39190936,  0.08749572, -0.9158338 , -0.0344224 ,  0.9961649 ,
        0.08044003,  0.91935964,  0.        ,  0.39341816])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08268477, -0.03426442,  0.2232027 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.14298896,   6.14418546, -16.14298896,
        23.55166612,  16.49703468,   6.14418546,  16.49703468,
        60.61638131,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019091309736894851
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.90766595e-14,  2.90766595e-14,  1.00000000e+00,  8.45452127e-28,
        1.00000000e+00, -2.90766595e-14, -1.00000000e+00,  0.00000000e+00,
       -2.90766595e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02228543, -0.0972865 ,  0.06187365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01130144e-03, 2.59658429e-02, 3.72530234e-03,-2.33288464e-05,
  3.05523337e-06,-1.58303391e-05, 1.26796322e-05, 5.01531023e-05,
  1.73737378e-05, 6.98233631e-05,-2.68961687e-05, 9.53905358e-05,
  1.05165231e-02, 1.48636156e-02, 6.67154119e-03, 1.30442354e-03,
  8.56775000e-04, 2.07656729e-03,-9.81121762e+00,-5.31935990e-05,
 -6.12545131e-02, 6.18803293e-02]


--- Step 3733 ---
qpos:
[-0.01873385, 1.20337006,-0.03532727, 0.9426284 ,-0.00792422, 1.33296123,
 -0.03115281, 0.94133456, 0.01532441, 1.33850551,-0.02370524, 0.9546873 ,
  1.27711853,-0.00914383, 1.28463426, 0.04393758,-0.05530074,-0.0887058 ,
  0.09017442, 0.68999851,-0.10646445,-0.7118376 ,-0.07651542]

qacc:
[ 6.03677036e-02, 3.74813853e-01,-1.27190765e+00, 5.70559275e+00,
 -4.15498343e-02, 8.36900646e-02, 2.21983399e-01,-4.90330323e+00,
  1.11865676e-01, 5.39354635e+00,-1.92694396e+01, 3.32703777e+01,
  9.37449629e-02,-2.53221016e-02,-2.37447998e+00, 3.63956262e+00,
  2.76388265e+00, 1.07956339e+00, 4.65372975e+00,-3.33231282e+00,
  8.29738652e+01, 8.91373122e+01]

qfrc_actuator:
[ 9.91866838e-03, 6.01450873e-02, 1.43177259e-02, 1.95036401e-03,
  8.82376035e-05, 3.48895617e-02, 1.09192078e-02, 1.72227106e-03,
 -3.01900504e-03, 3.48015046e-02, 1.08312208e-02, 1.84683328e-03,
  7.81308271e-03, 1.31091072e-02, 0.00000000e+00,-5.41144446e-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: -0.0006140001575832346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39189723,  0.08749611, -0.91583896, -0.03442149,  0.99616486,
        0.08044085,  0.91936485,  0.        ,  0.39340599])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08268344, -0.03426559,  0.22320282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001956710227867392
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41848165e-14, -3.54620414e-15,  1.00000000e+00, -5.03022551e-29,
        1.00000000e+00,  3.54620414e-15, -1.00000000e+00,  0.00000000e+00,
       -1.41848165e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08596493, -0.0814596 ,  0.06187058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01344789e-03, 2.59490739e-02, 3.74462378e-03, 2.53325183e-05,
 -1.19683536e-05,-4.21219942e-05,-3.31589948e-05,-2.37023826e-05,
  3.23343962e-05, 9.08358802e-05,-1.41940569e-05, 7.81391212e-05,
  1.05207751e-02, 1.48579729e-02, 6.69087359e-03, 1.37613491e-03,
  1.08983563e-03, 1.55602092e-03,-9.81163921e+00, 5.08321217e-04,
 -6.12884842e-02, 6.19167938e-02]


--- Step 3734 ---
qpos:
[-0.01873369, 1.20338516,-0.03532749, 0.94262824,-0.00792259, 1.33296267,
 -0.03115286, 0.94133357, 0.0153246 , 1.33850631,-0.02370689, 0.95468863,
  1.27713356,-0.00914145, 1.28462529, 0.04393433,-0.05530764,-0.08872738,
  0.09017278, 0.68995316,-0.10629387,-0.71187046,-0.07685498]

qacc:
[ 1.89532350e-01,-1.07776032e+00, 4.94622215e+00,-8.83664635e+00,
 -1.17243786e-01, 4.31045856e-01,-1.64164623e+00, 1.88874483e+00,
  1.11602082e-01,-1.78933618e-02, 2.24958636e+00,-1.16307401e+01,
  3.11641027e-01,-4.58309645e-01, 1.17705465e+00,-1.95416215e+00,
  2.53552507e+00, 1.00664782e+00, 3.46752107e+00,-3.36217910e+00,
  7.61680098e+01, 8.04854617e+01]

qfrc_actuator:
[ 9.92988554e-03, 6.01298937e-02, 1.43426563e-02, 1.93024288e-03,
  6.15186297e-05, 3.49021835e-02, 1.09173654e-02, 1.72582878e-03,
 -3.00588828e-03, 3.47803595e-02, 1.07978391e-02, 1.80110321e-03,
  7.81988884e-03, 1.30836335e-02, 0.00000000e+00,-1.01392075e-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: -0.0006140379076912429
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39188426,  0.08749646, -0.91584447, -0.03442049,  0.99616483,
        0.08044165,  0.91937041,  0.        ,  0.39339299])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08268191, -0.03426673,  0.22320296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019844509211815256
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39865266e-14, -1.74831583e-14,  1.00000000e+00, -2.44528658e-28,
        1.00000000e+00,  1.74831583e-14, -1.00000000e+00,  0.00000000e+00,
       -1.39865266e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08593931, -0.08145248,  0.06186881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01771430e-03, 2.59075680e-02, 3.75036628e-03,-1.60173410e-05,
 -3.37856372e-05,-1.78975387e-05,-1.45586371e-05, 7.66799211e-07,
  3.22154086e-05, 2.86325418e-05,-1.49643849e-05,-4.16333005e-05,
  1.05239207e-02, 1.48275041e-02, 6.79943468e-03, 1.34273592e-03,
  5.54417689e-04, 1.20806078e-03,-9.81098708e+00, 1.63660821e-04,
 -6.12202324e-02, 6.19208601e-02]


--- Step 3735 ---
qpos:
[-0.01873319, 1.20340076,-0.03532746, 0.94262784,-0.00792141, 1.33296421,
 -0.0311531 , 0.94133364, 0.015325  , 1.33850677,-0.02370744, 0.95468801,
  1.27714898,-0.00913919, 1.28461527, 0.043931  ,-0.05530516,-0.08874519,
  0.09018101, 0.69001867,-0.10622152,-0.71178986,-0.07711302]

qacc:
[  0.15064031, -0.41255427,  2.63349277, -5.37827101, -0.18817015,
   2.45858884,-10.07127821, 21.07564669,  0.09266562, -6.77147069,
  25.49994383,-44.44646066,  0.43739516, -0.46826157, -1.34481615,
   2.37010644,  2.34592514,  0.94531545,  2.46586324, -3.33854968,
  70.48980827, 73.37651713]

qfrc_actuator:
[ 9.93629173e-03, 6.01322378e-02, 1.43397258e-02, 1.91845455e-03,
  2.72489852e-05, 3.49269957e-02, 1.09163916e-02, 1.78159799e-03,
 -2.99824968e-03, 3.47493990e-02, 1.08496932e-02, 1.70261525e-03,
  7.81276719e-03, 1.30320554e-02, 0.00000000e+00,-5.75131754e-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: -0.0006141632215995348
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39187057,  0.08749665, -0.91585031, -0.03441937,  0.99616481,
        0.08044234,  0.91937629,  0.        ,  0.39337925])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08268045, -0.03426789,  0.2232031 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001987755620690826
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39632736e-14, -1.39632736e-14,  1.00000000e+00, -1.94973010e-28,
        1.00000000e+00,  1.39632736e-14, -1.00000000e+00,  0.00000000e+00,
       -1.39632736e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08593598, -0.08144717,  0.06186862])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.00233103e-03, 2.58887597e-02, 3.72879550e-03,-9.31815092e-06,
 -5.42150144e-05, 1.20723585e-05,-6.11381725e-06, 5.48209178e-05,
  2.66654707e-05,-1.92837149e-05, 5.45296051e-05,-9.90457287e-05,
  1.05051862e-02, 1.47896561e-02, 6.74793907e-03, 1.38128579e-03,
  1.03290180e-04, 9.13644378e-04,-9.81052101e+00,-2.94526041e-05,
 -6.11592807e-02, 6.19232314e-02]


--- Step 3736 ---
qpos:
[-0.01873313, 1.2034171 ,-0.03532741, 0.94262764,-0.00792051, 1.33296608,
 -0.03115344, 0.94133401, 0.01532571, 1.3385073 ,-0.02370692, 0.95468618,
  1.27716418,-0.00913656, 1.28459961, 0.04392725,-0.05529392,-0.08875942,
  0.09019573, 0.69018744,-0.10623968,-0.7116036 ,-0.07729649]

qacc:
[ -0.1935633 ,  1.23785602, -3.2844609 ,  4.67602106, -0.12157447,
   1.23799197, -4.13292495,  6.82905622,  0.13116959, -4.90766818,
  18.5343896 ,-30.04256032, -0.13449692,  0.32447132, -7.04062501,
  12.54494453,  2.18886457,  0.89387954,  1.62136886, -3.27766886,
  65.75648653, 67.53232805]

qfrc_actuator:
[ 9.95747904e-03, 6.01448573e-02, 1.43023040e-02, 1.92943648e-03,
  2.42323259e-05, 3.49589614e-02, 1.09160138e-02, 1.79663684e-03,
 -2.97620543e-03, 3.47840899e-02, 1.09158720e-02, 1.64494548e-03,
  7.80791857e-03, 1.30712926e-02, 0.00000000e+00, 1.12216150e-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: -0.0006142541370199109
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3918562 ,  0.08749672, -0.91585645, -0.03441813,  0.99616481,
        0.08044295,  0.91938246,  0.        ,  0.39336483])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08267889, -0.03426904,  0.22320325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001971444847637699
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.39962467e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.39962467e-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([-0.08595044, -0.08144327,  0.06186968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.00619218e-03, 2.58762505e-02, 3.67906097e-03, 1.36610991e-05,
 -3.50212936e-05, 3.90884192e-05, 2.89578673e-06, 1.64954260e-05,
  3.77919919e-05, 3.17391716e-05, 6.57108035e-05,-5.89516687e-05,
  1.04812287e-02, 1.48352254e-02, 6.80083066e-03, 1.55514222e-03,
 -2.87693598e-04, 6.57027589e-04,-9.81019598e+00,-1.11169831e-04,
 -6.11041102e-02, 6.19236418e-02]


--- Step 3737 ---
qpos:
[-0.01873288, 1.20343257,-0.03532791, 0.94262672,-0.0079195 , 1.33296816,
 -0.03115353, 0.94133593, 0.01532671, 1.33850756,-0.02370551, 0.95468543,
  1.27717882,-0.00913413, 1.28458561, 0.0439237 ,-0.05527444,-0.08877025,
  0.09021408, 0.69045312,-0.10634196,-0.71131808,-0.07741104]

qacc:
[ 8.02264718e-02,-8.83129711e-01, 3.02255751e+00,-1.05251695e+01,
  4.45199322e-02, 2.23521369e+00,-1.01551777e+01, 2.66747971e+01,
  1.21716836e-01,-8.61419881e-01, 1.91405570e-01, 1.25472130e+01,
 -3.95404059e-01, 1.65303538e-01, 1.84684904e+00,-2.84052361e+00,
  2.05911869e+00, 8.50954188e-01, 9.10597012e-01,-3.19083690e+00,
  6.18177534e+01, 6.27301456e+01]

qfrc_actuator:
[ 9.98818739e-03, 6.01277032e-02, 1.42798177e-02, 1.88272832e-03,
  5.77405335e-05, 3.49771978e-02, 1.09337447e-02, 1.87634402e-03,
 -2.96344884e-03, 3.47513979e-02, 1.09547248e-02, 1.70056547e-03,
  7.80979934e-03, 1.31290597e-02, 0.00000000e+00, 2.77975554e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006140541921975558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39184113,  0.08749697, -0.91586288, -0.03441691,  0.99616479,
        0.08044375,  0.91938893,  0.        ,  0.39334971])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08267686, -0.03427005,  0.22320342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019395623542773632
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([-0.08597896, -0.08144044,  0.06187174])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.05911684e-03, 2.58222575e-02, 3.65542606e-03,-4.29267984e-05,
  1.28353202e-05, 4.09119088e-05, 2.61924273e-05, 8.13553309e-05,
  3.50772313e-05,-4.05929233e-06, 5.07907064e-05, 5.71102576e-05,
  1.04937575e-02, 1.48740594e-02, 7.08313583e-03, 1.46706606e-03,
 -6.35573532e-04, 4.27150411e-04,-9.80997999e+00,-1.10104296e-04,
 -6.10536664e-02, 6.19219280e-02]


--- Step 3738 ---
qpos:
[-0.01873235, 1.20344765,-0.03532869, 0.94262484,-0.00791842, 1.33297038,
 -0.03115309, 0.94133948, 0.01532779, 1.33850724,-0.02370348, 0.95468678,
  1.27719338,-0.009132  , 1.28457389, 0.04392044,-0.05526869,-0.08877756,
  0.09022056, 0.69053876,-0.10639911,-0.71121006,-0.07756089]

qacc:
[ 1.28876764e-01,-1.37366562e+00, 5.82280764e+00,-1.58351779e+01,
  3.28737481e-02, 1.52847365e+00,-8.10946193e+00, 2.57889276e+01,
  3.49247236e-02, 1.14784844e+00,-8.88752093e+00, 3.22190482e+01,
  1.99802635e-02,-2.28920475e-01, 2.51313490e+00,-3.89714516e+00,
 -3.43066018e+00, 8.79524591e-01,-2.96952767e+00, 3.19031961e-01,
 -1.21685497e+02,-4.46394548e+01]

qfrc_actuator:
[ 9.97089932e-03, 6.00939842e-02, 1.42846076e-02, 1.83775788e-03,
  5.96284433e-05, 3.49871795e-02, 1.09620178e-02, 1.95797576e-03,
 -2.97411907e-03, 3.46963345e-02, 1.09769445e-02, 1.80459305e-03,
  7.80510525e-03, 1.30918604e-02, 0.00000000e+00,-4.38367786e-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: -0.0006139094173201465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91827358e-01,  8.74971308e-02, -9.15868754e-01, -3.44157619e-02,
        9.96164772e-01,  8.04444108e-02,  9.19394843e-01, -6.93889390e-18,
        3.93335891e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08267501, -0.03427105,  0.22320358])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.07632588, -2.59734519, 17.07632588, 18.95880491,
       11.0851693 , -2.59734519, 11.0851693 , 90.1525139 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019202646144606678
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.89080738e-14,  1.44540369e-14,  1.00000000e+00,  4.17838366e-28,
        1.00000000e+00, -1.44540369e-14, -1.00000000e+00,  0.00000000e+00,
       -2.89080738e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02223914, -0.09740676,  0.06187303])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03259463e-03, 2.58313339e-02, 3.68761898e-03,-5.14949972e-05,
  9.46616010e-06, 4.01821014e-05, 4.16480820e-05, 8.55235773e-05,
  1.00453440e-05,-4.56988610e-05, 2.88678992e-05, 1.06723756e-04,
  1.05171808e-02, 1.48470508e-02, 7.00032402e-03, 1.41004525e-03,
 -9.52515338e-04, 2.16116802e-04,-9.80985020e+00,-4.66081646e-05,
 -6.10071903e-02, 6.19179883e-02]


--- Step 3739 ---
qpos:
[-0.01873218, 1.2034626 ,-0.03532956, 0.94262275,-0.00791729, 1.33297269,
 -0.03115268, 0.94134159, 0.015329  , 1.33850708,-0.02370227, 0.95468938,
  1.27720777,-0.00912974, 1.2845616 , 0.04391715,-0.05527557,-0.08878185,
  0.09021298, 0.69045935,-0.10642002,-0.71126433,-0.07774135]

qacc:
[-1.62701834e-01,-2.90949155e-01, 1.18912966e+00,-3.43462764e+00,
  2.16726245e-02,-2.23812916e+00, 1.03877822e+01,-2.56812986e+01,
  5.80701867e-02, 4.60599564e+00,-1.72565013e+01, 2.92172907e+01,
 -1.82026640e-01, 2.34772427e-01,-7.53992599e-01, 1.43113731e+00,
 -3.15927761e+00, 7.54191192e-01,-3.51564227e+00,-8.58373265e-01,
 -1.11690495e+02,-3.84975608e+01]

qfrc_actuator:
[ 9.92462786e-03, 6.00502048e-02, 1.42702092e-02, 1.82984958e-03,
  6.02823533e-05, 3.49566869e-02, 1.09429815e-02, 1.88029599e-03,
 -2.96325007e-03, 3.47170349e-02, 1.09358284e-02, 1.86521266e-03,
  7.79111740e-03, 1.30866195e-02, 0.00000000e+00, 3.37995880e-07,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006138816325061448
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91814208e-01,  8.74971633e-02, -9.15874376e-01, -3.44146198e-02,
        9.96164769e-01,  8.04449348e-02,  9.19400490e-01, -6.93889390e-18,
        3.93322692e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08267337, -0.03427208,  0.22320374])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.77287677,   4.12525299, -16.77287677,
        17.90152002,   2.55661007,   4.12525299,   2.55661007,
        27.66765474,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019360337149769563
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  4.3008924e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -4.3008924e-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([ 0.02219426, -0.09742416,  0.06187209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97150028e-03, 2.58070963e-02, 3.68721128e-03,-1.18447841e-05,
  6.24316984e-06, 2.45474678e-06,-3.92106334e-06,-7.32567069e-05,
  1.67993094e-05, 4.23275849e-06,-4.36367600e-05, 6.25979518e-05,
  1.05072735e-02, 1.48566797e-02, 6.88631067e-03, 1.44007080e-03,
 -2.69194732e-04, 2.37287975e-04,-9.80995537e+00,-1.30541036e-04,
 -6.10545200e-02, 6.19306710e-02]


--- Step 3740 ---
qpos:
[-0.01873251, 1.20347746,-0.0353306 , 0.94262024,-0.00791613, 1.33297464,
 -0.03115259, 0.94134281, 0.01533035, 1.33850739,-0.02370229, 0.95469233,
  1.27722199,-0.00912735, 1.28454889, 0.04391388,-0.05529417,-0.08878353,
  0.09018946, 0.69022737,-0.10641163,-0.71146803,-0.07794861]

qacc:
[-2.16263693e-01,-3.94647958e-01, 2.00703176e+00,-6.58877931e+00,
  1.24865909e-02,-1.15398527e+00, 5.04929757e+00,-1.45167286e+01,
  5.47914988e-02, 4.51477710e+00,-1.47027343e+01, 1.65647123e+01,
 -2.09399849e-01, 2.72842455e-01,-6.72505795e-01, 1.49826211e+00,
 -2.92849019e+00, 6.52211560e-01,-3.98246316e+00,-1.72353620e+00,
 -1.03286016e+02,-3.35465388e+01]

qfrc_actuator:
[ 9.89702329e-03, 6.00535384e-02, 1.42619710e-02, 1.80831682e-03,
  6.01912407e-05, 3.49019151e-02, 1.09136665e-02, 1.83370143e-03,
 -2.95729835e-03, 3.47471663e-02, 1.08756668e-02, 1.88204599e-03,
  7.78754139e-03, 1.31002529e-02, 0.00000000e+00, 1.04227005e-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: -0.0006138130668236347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39180125,  0.08749734, -0.9158799 , -0.03441355,  0.99616475,
        0.08044558,  0.91940605,  0.        ,  0.39330969])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08267168, -0.03427309,  0.22320389])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.77094482,   4.13310019, -16.77094482,
        18.08755229,   3.30632814,   4.13310019,   3.30632814,
        30.68886632,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019270701431946258
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.02221423, -0.09744898,  0.06187261])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96257872e-03, 2.58166519e-02, 3.68338271e-03,-2.26618169e-05,
  3.59477599e-06,-5.64029743e-05,-3.14308708e-05,-4.83261205e-05,
  1.58726214e-05, 2.58098245e-05,-6.24598771e-05, 1.71435157e-05,
  1.05121155e-02, 1.48641655e-02, 6.91535904e-03, 1.45160970e-03,
 -7.98113888e-05, 2.09726641e-04,-9.81022501e+00,-5.92897449e-05,
 -6.10900568e-02, 6.19452600e-02]


--- Step 3741 ---
qpos:
[-0.01873301, 1.20349216,-0.03533197, 0.9426175 ,-0.00791525, 1.33297603,
 -0.03115247, 0.94134346, 0.01533166, 1.33850794,-0.02370235, 0.95469369,
  1.27723642,-0.00912476, 1.28453452, 0.0439105 ,-0.05530226,-0.08878163,
  0.09018203, 0.69012119,-0.10652095,-0.71154311,-0.07805402]

qacc:
[-7.23629595e-02, 3.32316701e-01,-8.53002782e-01,-1.77999688e+00,
 -1.17624161e-01,-1.76840110e+00, 6.04239039e+00,-1.14550597e+01,
 -1.87991801e-02,-2.27591415e+00, 1.09902536e+01,-2.79798712e+01,
  1.42339130e-01, 2.03798193e-02,-2.08977067e+00, 3.73385636e+00,
  2.62707212e+00, 8.95950440e-01, 4.01984383e+00,-2.71606818e+00,
  7.91421283e+01, 8.87644443e+01]

qfrc_actuator:
[ 9.89864412e-03, 6.01029138e-02, 1.42397905e-02, 1.79665657e-03,
  2.41490492e-05, 3.48684817e-02, 1.09139761e-02, 1.80579144e-03,
 -2.97209705e-03, 3.47648419e-02, 1.08758104e-02, 1.80198840e-03,
  7.78489401e-03, 1.30718863e-02, 0.00000000e+00, 5.32694985e-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: -0.0006137156504119889
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91788542e-01,  8.74977023e-02, -9.15885304e-01, -3.44125790e-02,
        9.96164721e-01,  8.04463940e-02,  9.19411503e-01,  6.93889390e-18,
        3.93296946e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08266997, -0.03427408,  0.22320404])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019362658606110264
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43345892e-14, -1.43345892e-14,  1.00000000e+00, -2.05480446e-28,
        1.00000000e+00,  1.43345892e-14, -1.00000000e+00,  0.00000000e+00,
       -1.43345892e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08597723, -0.08140837,  0.06187194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98903645e-03, 2.58707603e-02, 3.66953651e-03,-1.31601861e-05,
 -3.39218662e-05,-7.22566933e-05,-1.57245282e-05,-3.16476100e-05,
 -5.42403384e-06, 2.02615023e-05,-1.40883297e-06,-8.07172247e-05,
  1.05185930e-02, 1.48287640e-02, 6.93632954e-03, 1.49326977e-03,
 -2.92982335e-04, 1.55961968e-04,-9.81063095e+00, 1.29474272e-04,
 -6.11164752e-02, 6.19615851e-02]


--- Step 3742 ---
qpos:
[-0.0187337 , 1.20350667,-0.03533353, 0.94261533,-0.00791485, 1.33297682,
 -0.03115264, 0.94134414, 0.01533271, 1.33850836,-0.02370176, 0.95469477,
  1.27725089,-0.00912182, 1.28451713, 0.04390681,-0.05530065,-0.08877628,
  0.09018633, 0.69013082,-0.10673685,-0.71149985,-0.0780683 ]

qacc:
[-8.42934005e-02, 1.20318111e+00,-5.42673273e+00, 1.14422140e+01,
 -2.06743778e-01, 3.82880627e-02,-1.12376991e+00, 1.64382178e+00,
 -1.05018051e-01,-2.44527502e+00, 8.34451000e+00,-1.04388513e+01,
 -6.29890495e-02, 3.00866779e-01,-3.57859741e+00, 6.02946624e+00,
  2.42542373e+00, 8.62379526e-01, 2.93456546e+00,-2.80151731e+00,
  7.30175306e+01, 8.01904514e+01]

qfrc_actuator:
[ 9.91766818e-03, 6.00557343e-02, 1.42094806e-02, 1.82639602e-03,
 -1.54155806e-05, 3.48304526e-02, 1.08963475e-02, 1.80687532e-03,
 -2.99922360e-03, 3.47573357e-02, 1.09114632e-02, 1.78986631e-03,
  7.77212189e-03, 1.30714696e-02, 0.00000000e+00, 1.33663426e-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: -0.0006135075150474276
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39177627,  0.08749812, -0.91589051, -0.03441167,  0.99616468,
        0.08044724,  0.91941677,  0.        ,  0.39328464])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08266812, -0.03427507,  0.22320419])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.5281359 ,  -5.01675503,  16.5281359 ,
        27.22583458,  32.79137795,  -5.01675503,  32.79137795,
       125.30677484,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019524072784012983
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.21953445e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.21953445e-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([-0.08596117, -0.08139803,  0.0618709 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01635564e-03, 2.58307778e-02, 3.65601795e-03, 2.78269271e-05,
 -5.95922817e-05,-8.20450557e-05,-3.44876222e-05,-2.28579084e-06,
 -3.03287847e-05, 1.02990236e-06, 3.70891616e-05,-1.34389122e-05,
  1.04944554e-02, 1.48186973e-02, 7.01952880e-03, 1.57984944e-03,
 -1.86097692e-04, 2.24798647e-04,-9.81017212e+00,-5.03013315e-06,
 -6.10235900e-02, 6.19524298e-02]


--- Step 3743 ---
qpos:
[-0.01873516, 1.20352243,-0.0353347 , 0.94261337,-0.00791494, 1.33297712,
 -0.03115337, 0.94134518, 0.01533348, 1.33850905,-0.02370177, 0.95469642,
  1.27726502,-0.00911843, 1.28449492, 0.04390298,-0.05529   ,-0.0887676 ,
  0.09019871, 0.69024784,-0.10705015,-0.71134673,-0.07800006]

qacc:
[ -0.33284648,  0.95723818, -1.55808341,  2.98504284, -0.20400269,
   1.50034374, -6.41476979, 10.03941154, -0.11957851,  2.96845814,
 -10.37991944, 15.35899793, -0.29964782,  0.51883354, -6.60824267,
  12.84761048,  2.25812666,  0.83334752,  2.01815483, -2.81415953,
  67.90231669, 73.17680322]

qfrc_actuator:
[ 9.92947547e-03, 5.99684896e-02, 1.42097837e-02, 1.84476550e-03,
 -3.90195706e-05, 3.48076764e-02, 1.08682585e-02, 1.82499118e-03,
 -3.01577252e-03, 3.47704939e-02, 1.08789629e-02, 1.81783760e-03,
  7.76926217e-03, 1.31053302e-02, 0.00000000e+00, 2.90065926e-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: -0.0006131035651634059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91764362e-01,  8.74986128e-02, -9.15895560e-01, -3.44108161e-02,
        9.96164641e-01,  8.04481385e-02,  9.19421873e-01,  6.93889390e-18,
        3.93272704e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08266603, -0.034276  ,  0.22320433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.40897962,  -5.39374593,  16.40897962,
        30.12242752,  39.0916577 ,  -5.39374593,  39.0916577 ,
       136.1982798 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019467037488772043
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.7822162e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.7822162e-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([-0.08596515, -0.0813901 ,  0.06187127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03783061e-03, 2.57535415e-02, 3.66564716e-03, 1.77242104e-05,
 -5.87861823e-05,-7.49902577e-05,-4.81367134e-05, 1.45796604e-05,
 -3.44601680e-05, 2.05705608e-05,-2.84765522e-05, 2.87773306e-05,
  1.04902776e-02, 1.48344682e-02, 7.17142625e-03, 1.75112965e-03,
 -3.77931875e-05, 3.08222579e-04,-9.80987378e+00,-1.75140178e-05,
 -6.09401518e-02, 6.19413399e-02]


--- Step 3744 ---
qpos:
[-0.01873606, 1.20353692,-0.03533598, 0.9426119 ,-0.00791528, 1.33297753,
 -0.03115411, 0.94134496, 0.01533415, 1.33851012,-0.0237022 , 0.95469768,
  1.27727929,-0.0091152 , 1.28447623, 0.04389942,-0.05527088,-0.08875568,
  0.09021607, 0.69046516,-0.10745328,-0.71109075,-0.07785628]

qacc:
[ 2.43144926e-01,-5.61080300e-01,-1.20716012e+00, 7.54371930e+00,
 -1.06833091e-01,-2.01581932e+00, 9.33777274e+00,-2.27632109e+01,
 -4.39987229e-02, 9.59555816e-01,-1.77585746e+00,-3.12569307e+00,
  4.61806780e-02,-1.13120681e-01, 4.33612938e+00,-7.64602258e+00,
  2.11970523e+00, 8.08520715e-01, 1.24551308e+00,-2.77346108e+00,
  6.36353237e+01, 6.74423482e+01]

qfrc_actuator:
[ 9.93760134e-03, 5.99623403e-02, 1.42101996e-02, 1.85644518e-03,
 -3.51058646e-05, 3.48651949e-02, 1.08875461e-02, 1.76421980e-03,
 -3.00808907e-03, 3.47956962e-02, 1.08598275e-02, 1.79811686e-03,
  7.77238144e-03, 1.30885191e-02, 0.00000000e+00, 1.19248242e-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: -0.0006124947234180285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39175093,  0.08749943, -0.91590123, -0.03440996,  0.99616457,
        0.08044939,  0.91942763,  0.        ,  0.39325925])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08266353, -0.03427681,  0.22320451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.24967745,  -5.85620101,  16.24967745,
        34.28239424,  47.19810695,  -5.85620101,  47.19810695,
       148.237155  ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019235327456866291
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.31289712e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.31289712e-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([-0.08598509, -0.08138405,  0.06187275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.08418333e-03, 2.56842564e-02, 3.64652383e-03, 1.89352613e-05,
 -3.07924213e-05, 7.04947588e-06,-4.36752812e-07,-6.41056750e-05,
 -1.26669505e-05, 3.18659324e-05,-1.75105999e-05,-1.92714524e-05,
  1.05101627e-02, 1.47953913e-02, 7.41224430e-03, 1.58829612e-03,
  1.32991582e-04, 3.95658662e-04,-9.80969761e+00, 5.83708593e-05,
 -6.08642655e-02, 6.19280525e-02]


--- Step 3745 ---
qpos:
[-0.01873601, 1.20354956,-0.03533784, 0.94261101,-0.0079156 , 1.3329783 ,
 -0.03115454, 0.94134467, 0.0153348 , 1.33851093,-0.02370233, 0.95469836,
  1.27729395,-0.00911215, 1.2844605 , 0.04389591,-0.0552652 ,-0.08873995,
  0.09022103, 0.69050547,-0.10780515,-0.71101006,-0.07774921]

qacc:
[ 4.11560116e-01, 1.66297313e-01,-4.66088159e+00, 1.19196158e+01,
  7.67005058e-03,-4.69584239e-01, 2.27694411e+00,-3.10360572e+00,
 -1.05747034e-02,-2.12533833e+00, 7.69540909e+00,-1.31437599e+01,
  2.61136722e-01,-2.93598570e-01, 4.21606665e+00,-8.41119034e+00,
 -3.36076362e+00, 9.53804940e-01,-3.09803719e+00, 1.95205635e+00,
 -1.19488159e+02,-4.72121760e+01]

qfrc_actuator:
[ 9.96025352e-03, 5.99713739e-02, 1.41932693e-02, 1.88149964e-03,
 -1.47181998e-05, 3.49172347e-02, 1.09171638e-02, 1.76410325e-03,
 -3.00368438e-03, 3.47569164e-02, 1.08665260e-02, 1.76825860e-03,
  7.77373169e-03, 1.30594874e-02, 0.00000000e+00, 3.57664789e-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: -0.0006120188721127628
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91738769e-01,  8.75000038e-02, -9.15906374e-01, -3.44091193e-02,
        9.96164519e-01,  8.04503771e-02,  9.19432841e-01,  6.93889390e-18,
        3.93247060e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08266134, -0.03427772,  0.22320465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.0709409 , -2.63250532, 17.0709409 , 18.71269823,
        9.33774338, -2.63250532,  9.33774338, 77.82495636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019436955431038974
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.85595918e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.85595918e-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([ 0.02214764, -0.09757753,  0.06187157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.07889212e-03, 2.57568997e-02, 3.63479595e-03, 1.95156505e-05,
  2.21033448e-06, 5.39184702e-05, 2.90665580e-05,-1.40256733e-06,
 -3.07447633e-06,-2.51539381e-05, 1.03689528e-05,-2.98722294e-05,
  1.05045685e-02, 1.47744718e-02, 7.23726855e-03, 1.49092976e-03,
  3.14348112e-04, 4.80966047e-04,-9.80961695e+00, 1.99071464e-04,
 -6.07946121e-02, 6.19124028e-02]


--- Step 3746 ---
qpos:
[-0.01873615, 1.20356295,-0.03533987, 0.94260948,-0.00791566, 1.33297945,
 -0.03115491, 0.94134439, 0.01533559, 1.33851144,-0.02370286, 0.95469769,
  1.27730847,-0.00910903, 1.28444291, 0.04389242,-0.05527191,-0.08872095,
  0.0902115 , 0.6903833 ,-0.10811618,-0.71108971,-0.07767376]

qacc:
[-8.35443658e-02, 3.04128719e-01, 1.50954557e+00,-9.21228192e+00,
  1.08947448e-01, 3.69985601e-01,-6.34674678e-01, 4.55488444e-01,
  6.35731732e-02,-1.68204474e+00, 7.74784299e+00,-2.21879786e+01,
 -4.66481388e-02, 4.81462322e-02,-2.81846835e+00, 5.85354910e+00,
 -3.09903488e+00, 8.16483350e-01,-3.62510745e+00, 3.42081859e-01,
 -1.09829537e+02,-4.03961028e+01]

qfrc_actuator:
[ 9.95550559e-03, 5.99728402e-02, 1.42019682e-02, 1.86103653e-03,
  1.53843868e-05, 3.49301752e-02, 1.09171707e-02, 1.76419746e-03,
 -2.98353142e-03, 3.47157193e-02, 1.08349133e-02, 1.69715622e-03,
  7.76866756e-03, 1.30764553e-02, 0.00000000e+00, 1.46823091e-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: -0.0006116035012073001
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39172886,  0.08750017, -0.9159106 , -0.03440831,  0.9961645 ,
        0.0804509 ,  0.91943709,  0.        ,  0.39323712])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08265942, -0.03427872,  0.22320474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.85328066,   3.78338979, -16.85328066,
        17.56342023,   1.29490489,   3.78338979,   1.29490489,
        23.04093959,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001953041762187066
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.84229208e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.84229208e-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([ 0.02211811, -0.09760237,  0.06187099])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.02684234e-03, 2.58502637e-02, 3.67318837e-03,-2.98561626e-05,
  3.14093107e-05, 4.84102312e-05, 1.38248109e-05, 2.54006102e-06,
  1.83368169e-05,-5.39714500e-05,-3.62206421e-05,-7.22377301e-05,
  1.04802651e-02, 1.47999869e-02, 7.08907894e-03, 1.59946899e-03,
  1.88969737e-04, 7.80328099e-04,-9.80979154e+00,-1.67300115e-04,
 -6.08486374e-02, 6.19087474e-02]


--- Step 3747 ---
qpos:
[-0.01873647, 1.20357613,-0.03534145, 0.94260914,-0.00791513, 1.33298047,
 -0.0311548 , 0.94134482, 0.01533642, 1.33851222,-0.02370343, 0.95469576,
  1.27732276,-0.00910575, 1.28442582, 0.04388888,-0.05529013,-0.08869913,
  0.09018566, 0.69011076,-0.10839454,-0.71131709,-0.07762576]

qacc:
[-7.55988189e-02, 5.86515582e-01,-4.71959699e+00, 1.81448013e+01,
  2.49828177e-01,-2.56108637e-01,-8.44810814e-01, 9.13808104e+00,
  1.64895818e-02,-1.67572170e+00, 8.41049252e+00,-2.19633766e+01,
 -3.18749445e-01, 4.10561022e-01, 9.27318719e-01,-2.09419234e+00,
 -2.87610991e+00, 7.05139135e-01,-4.07593213e+00,-8.75604875e-01,
 -1.01703971e+02,-3.49111162e+01]

qfrc_actuator:
[ 9.93507684e-03, 5.99501669e-02, 1.42258421e-02, 1.92076565e-03,
  6.88220893e-05, 3.49017478e-02, 1.09350453e-02, 1.79986488e-03,
 -2.98960003e-03, 3.47797370e-02, 1.08518930e-02, 1.63782574e-03,
  7.77043987e-03, 1.31031099e-02, 0.00000000e+00, 1.08325150e-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: -0.0006111252174766796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3917184 ,  0.08750042, -0.91591505, -0.03440749,  0.99616448,
        0.08045152,  0.91944158,  0.        ,  0.39322663])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08265735, -0.03427966,  0.22320486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.85708786,   3.76639035, -16.85708786,
        17.67990112,   1.82237227,   3.76639035,   1.82237227,
        25.42904847,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019386141807921572
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.86344502e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.86344502e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0221508 , -0.09763334,  0.06187182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01598942e-03, 2.57903376e-02, 3.70474247e-03, 6.18812224e-05,
  7.19813838e-05, 1.12971260e-06, 2.89947029e-05, 3.75918250e-05,
  4.75935726e-06, 2.49546838e-05, 2.07937016e-07,-6.36721123e-05,
  1.04890982e-02, 1.48237198e-02, 7.18283824e-03, 1.56009796e-03,
 -3.28494913e-04, 1.03437762e-03,-9.81011054e+00,-3.55698991e-04,
 -6.08843773e-02, 6.19072037e-02]


--- Step 3748 ---
qpos:
[-0.01873725, 1.20358988,-0.03534255, 0.94261015,-0.00791415, 1.33298064,
 -0.03115379, 0.94134538, 0.01533696, 1.3385133 ,-0.02370314, 0.95469515,
  1.27733723,-0.00910199, 1.2844053 , 0.04388504,-0.05529757,-0.08867385,
  0.09017734, 0.68996738,-0.10879831,-0.71141179,-0.07746751]

qacc:
[-2.00254168e-01, 1.68674840e+00,-7.37634033e+00, 2.15583005e+01,
  1.95352498e-01,-3.32420338e+00, 9.23687027e+00,-6.04226997e+00,
 -1.27125969e-01, 3.05607484e-01,-3.18153497e+00, 1.78083773e+01,
  6.22994890e-03, 3.28427761e-01,-4.13784213e+00, 7.11936719e+00,
  2.69452588e+00, 8.64990066e-01, 4.37955222e+00,-2.21714576e+00,
  8.08784116e+01, 9.48486897e+01]

qfrc_actuator:
[ 9.92305111e-03, 5.98959075e-02, 1.42227862e-02, 1.99152183e-03,
  8.25675842e-05, 3.48133467e-02, 1.09631856e-02, 1.80290900e-03,
 -3.02910305e-03, 3.48354343e-02, 1.09156040e-02, 1.71027078e-03,
  7.77100042e-03, 1.30821748e-02, 0.00000000e+00, 2.28691924e-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: -0.0006106645119335341
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39170773,  0.08750074, -0.91591958, -0.03440668,  0.99616445,
        0.08045222,  0.91944616,  0.        ,  0.39321593])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08265531, -0.03428062,  0.22320497])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.05801231,   2.71501813, -17.05801231,
        21.17138656,  24.49463495,   2.71501813,  24.49463495,
       171.16848921,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019499040034217097
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42343293e-14,  1.06757469e-14,  1.00000000e+00,  1.51962097e-28,
        1.00000000e+00, -1.06757469e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42343293e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08595376, -0.08133993,  0.06187098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01264836e-03, 2.57461846e-02, 3.67980141e-03, 7.26971975e-05,
  5.62384081e-05,-8.09731434e-05, 3.27641395e-05, 4.80170191e-06,
 -3.66906023e-05, 6.76441164e-05, 6.67420935e-05, 7.17062864e-05,
  1.05006847e-02, 1.47938056e-02, 7.15769026e-03, 1.68300608e-03,
 -1.16997367e-03, 1.26343271e-03,-9.81055392e+00,-4.08845524e-04,
 -6.09065880e-02, 6.19076371e-02]


--- Step 3749 ---
qpos:
[-0.01873853, 1.20360551,-0.03534349, 0.94260982,-0.00791312, 1.33298006,
 -0.03115322, 0.94134534, 0.01533726, 1.33851419,-0.02370243, 0.95469617,
  1.27735192,-0.00909821, 1.2843821 , 0.04388146,-0.05529508,-0.08864518,
  0.09018195, 0.68994244,-0.10931529,-0.71138462,-0.07721089]

qacc:
[-2.19929214e-01,-2.08532126e-01, 6.43878424e+00,-2.22810288e+01,
  1.83138766e-02,-8.56593173e-01, 2.82653945e+00,-8.89814790e+00,
 -9.57980958e-02, 1.47676939e+00,-8.37809619e+00, 2.61568081e+01,
  3.25517058e-01,-2.92124513e-01,-4.81240132e+00, 1.10144767e+01,
  2.48366943e+00, 8.46253109e-01, 3.23347396e+00,-2.33519586e+00,
  7.44387118e+01, 8.54188861e+01]

qfrc_actuator:
[ 9.91642307e-03, 5.98930217e-02, 1.42210980e-02, 1.92625566e-03,
  5.46381457e-05, 3.47429983e-02, 1.09258724e-02, 1.76893313e-03,
 -3.03508498e-03, 3.47794780e-02, 1.09176798e-02, 1.78869378e-03,
  7.76548086e-03, 1.30500782e-02, 0.00000000e+00, 3.20387285e-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: -0.0006100290715127105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39169609,  0.08750126, -0.91592451, -0.03440587,  0.99616441,
        0.08045313,  0.91945115,  0.        ,  0.39320426])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08265297, -0.03428154,  0.22320509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.60127741,  -4.76913994,  16.60127741,
        24.86642569,  26.433507  ,  -4.76913994,  26.433507  ,
       109.28721797,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019720115096268642
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40747534e-14, -2.55104905e-14,  1.00000000e+00, -3.59053861e-28,
        1.00000000e+00,  2.55104905e-14, -1.00000000e+00,  0.00000000e+00,
       -1.40747534e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08593167, -0.08132686,  0.06186955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.02901972e-03, 2.57150306e-02, 3.65362075e-03,-5.94014276e-05,
  5.26705513e-06,-1.08588650e-04,-4.92885679e-05,-3.53420280e-05,
 -2.76477198e-05,-3.39950772e-06, 2.49679779e-05, 8.40506457e-05,
  1.04866404e-02, 1.47382750e-02, 7.32967772e-03, 1.79018868e-03,
 -4.38510420e-04, 1.82446510e-03,-9.81019697e+00,-4.55628197e-04,
 -6.07927689e-02, 6.18869064e-02]


--- Step 3750 ---
qpos:
[-0.01873989, 1.2036223 ,-0.03534415, 0.94260808,-0.00791205, 1.33297941,
 -0.03115364, 0.94134417, 0.01533741, 1.33851472,-0.02370231, 0.95469681,
  1.27736647,-0.00909476, 1.28436062, 0.04387851,-0.05528335,-0.0886132 ,
  0.09019563, 0.69002695,-0.10993538,-0.71124449,-0.07686546]

qacc:
[-3.20070618e-02,-1.64888134e+00, 1.01259419e+01,-2.58785472e+01,
  1.25972001e-02, 7.05426939e-01,-7.69277045e-02,-1.29938363e+01,
 -6.90238646e-02, 4.45356958e-01,-1.27509139e+00,-3.03061213e+00,
  4.76821602e-02,-3.00119576e-01, 6.45619745e-01, 1.42261409e+00,
  2.30869623e+00, 8.29407133e-01, 2.26471585e+00,-2.36359327e+00,
  6.90544884e+01, 7.77137819e+01]

qfrc_actuator:
[ 9.93101528e-03, 5.98839045e-02, 1.42381201e-02, 1.85252400e-03,
  5.51949175e-05, 3.47724880e-02, 1.08857570e-02, 1.71341540e-03,
 -3.03866078e-03, 3.47101459e-02, 1.08651412e-02, 1.76335143e-03,
  7.76695398e-03, 1.30647971e-02, 0.00000000e+00, 2.70156977e-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: -0.0006093548238560835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39168257,  0.08750201, -0.91593022, -0.03440498,  0.99616434,
        0.08045433,  0.91945694,  0.        ,  0.39319071])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08265039, -0.03428241,  0.22320524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.50300418,  -5.09881951,  16.50300418,
        26.93307674,  31.26699959,  -5.09881951,  31.26699959,
       118.47250961,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001970812812352521
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40833140e-14,  8.80207123e-15,  1.00000000e+00,  1.23962333e-28,
        1.00000000e+00, -8.80207123e-15, -1.00000000e+00,  0.00000000e+00,
       -1.40833140e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08593107, -0.08131679,  0.06186961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06885467e-03, 2.56113536e-02, 3.66277439e-03,-6.63568520e-05,
  3.66243448e-06,-4.12918956e-05,-6.80124589e-05,-6.10562570e-05,
 -1.99038067e-05,-6.38510393e-05,-4.79053461e-05,-2.27526315e-05,
  1.04770126e-02, 1.47516120e-02, 7.46444254e-03, 1.72658521e-03,
  3.03105744e-04, 2.35489949e-03,-9.81000612e+00,-3.77491241e-04,
 -6.06903682e-02, 6.18640179e-02]


--- Step 3751 ---
qpos:
[-0.01874098, 1.20363967,-0.03534425, 0.94260585,-0.00791083, 1.33297888,
 -0.03115388, 0.94134192, 0.01533729, 1.33851518,-0.02370237, 0.9546971 ,
  1.27738111,-0.00909164, 1.28434172, 0.04387606,-0.05526297,-0.08857796,
  0.09021509, 0.69021329,-0.11065028,-0.71099875,-0.07643891]

qacc:
[ 1.14556995e-01,-1.55255322e+00, 7.00449379e+00,-1.20862275e+01,
  6.87503761e-02,-2.20038316e+00, 9.61297837e+00,-2.09988018e+01,
 -1.09593643e-01,-2.23473079e-01, 1.32374013e+00,-5.18772103e+00,
  1.73556301e-01,-3.73509617e-01, 2.27511573e+00,-2.46182001e+00,
  2.16389796e+00, 8.14628117e-01, 1.44700395e+00,-2.32541790e+00,
  6.45565773e+01, 7.14228388e+01]

qfrc_actuator:
[ 9.94035744e-03, 5.98532763e-02, 1.42661766e-02, 1.82758034e-03,
  7.28393221e-05, 3.48259875e-02, 1.09157222e-02, 1.66349555e-03,
 -3.05851843e-03, 3.47395679e-02, 1.08694277e-02, 1.74811656e-03,
  7.78329915e-03, 1.30546968e-02, 0.00000000e+00, 2.23070348e-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: -0.0006088660691457339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39166772,  0.08750281, -0.91593649, -0.03440399,  0.99616427,
        0.08045562,  0.9194633 ,  0.        ,  0.39317583])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08264794, -0.03428329,  0.22320543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.36957233,  -5.51218732,  16.36957233,
        29.9258063 ,  37.57591686,  -5.51218732,  37.57591686,
       128.86212975,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019509209126572918
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.84538194e-14,  1.15593641e-14,  1.00000000e+00,  3.28908058e-28,
        1.00000000e+00, -1.15593641e-14, -1.00000000e+00,  0.00000000e+00,
       -2.84538194e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08594763, -0.08130911,  0.06187086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.08185642e-03, 2.55229333e-02, 3.67650710e-03,-2.07589249e-05,
  1.98053167e-05, 1.55095991e-05, 1.23508217e-05,-5.45777939e-05,
 -3.16141339e-05,-1.59206429e-05,-1.42934455e-05,-1.90566110e-05,
  1.05005202e-02, 1.47581404e-02, 7.37869706e-03, 1.64830786e-03,
  1.03844900e-03, 2.85048593e-03,-9.80994136e+00,-2.10740566e-04,
 -6.05971640e-02, 6.18386395e-02]


--- Step 3752 ---
qpos:
[-0.01874201, 1.20365792,-0.03534361, 0.942604  ,-0.00790972, 1.33297846,
 -0.03115386, 0.94134013, 0.01533693, 1.33851542,-0.02370215, 0.95469857,
  1.27739582,-0.00908849, 1.28432156, 0.0438737 ,-0.05525566,-0.08853858,
  0.0902215 , 0.69022625,-0.11131002,-0.710925  ,-0.07604904]

qacc:
[ 2.64212860e-02,-1.81190637e-01, 1.21519025e+00, 2.73183741e+00,
 -4.79124304e-02, 2.18829542e-01,-1.45897858e+00, 6.42431200e+00,
 -1.05285746e-01, 1.00753398e+00,-5.99381121e+00, 1.89614476e+01,
  1.19494307e-01,-1.00713742e-01,-2.12928788e+00, 4.73997954e+00,
 -3.26855097e+00, 1.03501124e+00,-3.26124238e+00, 2.97854713e+00,
 -1.16859649e+02,-4.84086837e+01]

qfrc_actuator:
[ 9.96399497e-03, 5.98275979e-02, 1.42827163e-02, 1.84930248e-03,
  4.73341723e-05, 3.48404724e-02, 1.09336828e-02, 1.68835102e-03,
 -3.07023146e-03, 3.47393322e-02, 1.08898848e-02, 1.81008401e-03,
  7.78724871e-03, 1.30475842e-02, 0.00000000e+00, 3.02011997e-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: -0.000608574597391276
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39165182,  0.08750353, -0.91594322, -0.03440288,  0.99616421,
        0.08045688,  0.91947012,  0.        ,  0.3931599 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08264569, -0.03428423,  0.22320563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.0647199 , -2.67253479, 17.0647199 , 18.54673687,
        8.13483026, -2.67253479,  8.13483026, 69.21539993,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019263292099695462
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.76341271e-14,  2.88170635e-14,  1.00000000e+00,  1.66084630e-27,
        1.00000000e+00, -2.88170635e-14, -1.00000000e+00,  0.00000000e+00,
       -5.76341271e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02215349, -0.09779602,  0.06187244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.09232039e-03, 2.54676766e-02, 3.66518243e-03, 2.53148325e-05,
 -1.38126819e-05, 2.38385056e-05, 2.07979225e-05, 2.44168839e-05,
 -3.03837363e-05,-1.23996875e-05, 1.51657416e-05, 6.06349500e-05,
  1.05000818e-02, 1.47673117e-02, 7.25023750e-03, 1.70224635e-03,
  1.75884624e-03, 3.31112913e-03,-9.80997552e+00, 1.95164468e-05,
 -6.05116409e-02, 6.18105604e-02]


--- Step 3753 ---
qpos:
[-0.01874291, 1.20367619,-0.03534254, 0.94260182,-0.0079091 , 1.33297826,
 -0.03115397, 0.94133934, 0.01533636, 1.33851544,-0.02370162, 0.95470008,
  1.27741008,-0.00908564, 1.28430439, 0.04387181,-0.05526043,-0.08849565,
  0.09021287, 0.69007975,-0.11192629,-0.71100872,-0.07569046]

qacc:
[ 5.91551660e-02,-1.72496469e+00, 6.31449703e+00,-9.21489809e+00,
 -2.05946544e-01, 2.33839524e+00,-9.40052236e+00, 1.98095116e+01,
 -8.54723145e-02,-1.06789249e+00, 3.03486647e+00,-2.01960635e+00,
 -3.09305073e-01, 4.26675637e-02, 3.01192888e+00,-4.10059267e+00,
 -3.02048045e+00, 8.86808070e-01,-3.76243229e+00, 9.92325404e-01,
 -1.07628505e+02,-4.10802847e+01]

qfrc_actuator:
[ 9.96080171e-03, 5.97866090e-02, 1.43097010e-02, 1.82734798e-03,
 -3.85016968e-06, 3.48492580e-02, 1.09265412e-02, 1.73921888e-03,
 -3.07696425e-03, 3.47214627e-02, 1.09019018e-02, 1.81046144e-03,
  7.77310733e-03, 1.30775503e-02, 0.00000000e+00, 2.08246226e-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: -0.0006082664774161653
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91634439e-01,  8.75042526e-02, -9.15950584e-01, -3.44016385e-02,
        9.96164146e-01,  8.04581972e-02,  9.19477566e-01, -6.93889390e-18,
        3.93142476e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08264332, -0.03428515,  0.22320584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.89458006,   3.59447799, -16.89458006,
        17.38134333,   0.5105116 ,   3.59447799,   0.5105116 ,
        19.67220758,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019303134450972953
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.75151682e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.75151682e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02213684, -0.09782747,  0.06187217])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.08607793e-03, 2.53824653e-02, 3.65555396e-03,-1.53005930e-05,
 -5.93377094e-05, 2.67796640e-05, 6.05263995e-07, 5.27594545e-05,
 -2.46772951e-05,-1.99687641e-05, 1.30949760e-05, 1.86776817e-06,
  1.04822066e-02, 1.47960540e-02, 7.31325689e-03, 1.60414454e-03,
  8.63505775e-04, 3.84222990e-03,-9.81017367e+00,-6.46719746e-04,
 -6.05732973e-02, 6.17878565e-02]


--- Step 3754 ---
qpos:
[-0.01874385, 1.20369424,-0.03534157, 0.94259841,-0.00790872, 1.33297801,
 -0.0311541 , 0.94134057, 0.0153355 , 1.33851515,-0.02370029, 0.95470087,
  1.27742398,-0.00908308, 1.28429018, 0.04387041,-0.05525581,-0.08845173,
  0.09021822, 0.69005222,-0.11262007,-0.71097159,-0.07525987]

qacc:
[-1.83642348e-02,-2.08000908e+00, 8.99680570e+00,-2.19454530e+01,
 -1.04791331e-01, 3.46727777e+00,-1.55336320e+01, 3.68960214e+01,
 -1.24692820e-01,-3.80736650e+00, 1.33754055e+01,-1.96697735e+01,
 -2.24959052e-01,-2.39314188e-02, 2.90677527e+00,-3.77155867e+00,
  2.34954399e+00, 2.49439827e-01, 3.49687670e+00, 9.42270910e-01,
  7.70243665e+01, 6.36669879e+01]

qfrc_actuator:
[ 9.92365803e-03, 5.97724546e-02, 1.43074424e-02, 1.76198134e-03,
  9.86776524e-07, 3.48367365e-02, 1.09223725e-02, 1.84045547e-03,
 -3.09840875e-03, 3.47108728e-02, 1.09442200e-02, 1.77455397e-03,
  7.76413400e-03, 1.30768125e-02, 0.00000000e+00, 1.52463768e-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: -0.0006081485086566404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39161664,  0.08750493, -0.91595813, -0.03440034,  0.99616409,
        0.08045949,  0.9194852 ,  0.        ,  0.39312463])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0826412 , -0.03428609,  0.22320606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.99330242,   3.09431418, -16.99330242,
        21.5134079 ,  23.28889831,   3.09431418,  23.28889831,
       145.17030611,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019430336799664133
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42846601e-14,  8.03512129e-15,  1.00000000e+00,  1.14778976e-28,
        1.00000000e+00, -8.03512129e-15, -1.00000000e+00,  0.00000000e+00,
       -1.42846601e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08509635, -0.0788414 ,  0.0618713 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04213098e-03, 2.53674637e-02, 3.63105433e-03,-6.45319478e-05,
 -3.01913572e-05, 4.00110246e-06, 2.68809897e-06, 1.03282570e-04,
 -3.60190894e-05,-1.90194610e-05, 3.99628451e-05,-3.60695211e-05,
  1.04961541e-02, 1.48099078e-02, 7.16460255e-03, 1.52512011e-03,
 -3.27285220e-04, 4.35254172e-03,-9.81050422e+00,-1.11672171e-03,
 -6.06090017e-02, 6.17675261e-02]


--- Step 3755 ---
qpos:
[-0.0187456 , 1.20371308,-0.03534043, 0.94259518,-0.00790847, 1.33297737,
 -0.03115411, 0.94134372, 0.01533407, 1.33851496,-0.02369921, 0.95470229,
  1.27743774,-0.00907999, 1.28427087, 0.04386875,-0.05524243,-0.08840666,
  0.09023357, 0.6901344 ,-0.11338365,-0.71082264,-0.07476513]

qacc:
[-3.52814755e-01, 8.81538957e-01,-1.99414624e+00, 3.26833071e+00,
 -5.17511816e-02, 2.43896388e+00,-1.25523084e+01, 3.34363373e+01,
 -2.39664298e-01, 1.87153576e+00,-7.19659957e+00, 1.33171351e+01,
 -1.89677489e-01, 5.01809931e-01,-6.71522839e+00, 1.25895875e+01,
  2.18880610e+00, 2.84349556e-01, 2.49816670e+00, 6.90481113e-01,
  7.13461783e+01, 5.73736213e+01]

qfrc_actuator:
[ 9.90177311e-03, 5.98101247e-02, 1.42880091e-02, 1.77812027e-03,
  3.88688203e-06, 3.47938382e-02, 1.09199412e-02, 1.93500276e-03,
 -3.14625920e-03, 3.47225696e-02, 1.09330900e-02, 1.80637983e-03,
  7.75826874e-03, 1.30755215e-02, 0.00000000e+00, 3.50042036e-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: -0.0006082050797046566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39159913,  0.08750562, -0.91596555, -0.03439908,  0.99616403,
        0.08046078,  0.9194927 ,  0.        ,  0.39310708])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263935, -0.03428706,  0.22320628])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.23331832,  -5.90139677,  16.23331832,
        29.3764161 ,  33.29432697,  -5.90139677,  33.29432697,
       108.85738584,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001946279270430895
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42608391e-14,  2.58477710e-14,  1.00000000e+00,  3.68610904e-28,
        1.00000000e+00, -2.58477710e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42608391e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0850908 , -0.07883015,  0.06187107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.02234419e-03, 2.54154674e-02, 3.61681515e-03, 1.31472338e-05,
 -1.49231033e-05,-3.70428003e-05, 1.69040823e-06, 9.71406942e-05,
 -6.91231038e-05, 7.91471900e-06,-1.13580921e-05, 3.15950693e-05,
  1.05080714e-02, 1.48231840e-02, 7.01650084e-03, 1.69809688e-03,
  7.32243343e-04, 4.66109261e-03,-9.81038233e+00,-9.28151009e-04,
 -6.05405854e-02, 6.17374737e-02]


--- Step 3756 ---
qpos:
[-0.01874736, 1.20373008,-0.03533949, 0.94259415,-0.00790842, 1.33297629,
 -0.03115376, 0.94134728, 0.01533223, 1.3385148 ,-0.0236985 , 0.95470339,
  1.27745163,-0.00907636, 1.2842502 , 0.04386669,-0.05522083,-0.08836035,
  0.09025554, 0.69031854,-0.11421074,-0.7105693 ,-0.0742125 ]

qacc:
[-1.44608268e-03, 1.84380930e+00,-1.34943587e+01, 3.84167262e+01,
 -8.61379979e-02,-8.68364701e-01, 1.29238637e+00, 3.90960825e+00,
 -1.76379305e-01, 5.33356399e-01,-1.06507659e+00,-2.64902403e+00,
 -1.94849895e-01, 5.91110873e-01,-8.05278696e-01,-7.81389978e-02,
  2.05546847e+00, 3.12284837e-01, 1.65552588e+00, 5.37979356e-01,
  6.66040657e+01, 5.22736905e+01]

qfrc_actuator:
[ 9.90758146e-03, 5.98247204e-02, 1.42580426e-02, 1.87775386e-03,
 -1.21539301e-05, 3.47685930e-02, 1.09361698e-02, 1.95381509e-03,
 -3.15630626e-03, 3.47118537e-02, 1.09083768e-02, 1.78903335e-03,
  7.75958751e-03, 1.30909461e-02, 0.00000000e+00, 3.09639827e-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: -0.0006080071297696124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91580740e-01,  8.75066416e-02, -9.15973314e-01, -3.43978679e-02,
        9.96163936e-01,  8.04624074e-02,  9.19500577e-01, -6.93889390e-18,
        3.93088654e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263707, -0.03428793,  0.22320652])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.10406473,  -6.2454949 ,  16.10406473,
        32.46884925,  39.18333714,  -6.2454949 ,  39.18333714,
       118.30731434,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019302999344487787
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43788927e-14,  7.18944634e-15,  1.00000000e+00, -1.03376277e-28,
        1.00000000e+00, -7.18944634e-15, -1.00000000e+00,  0.00000000e+00,
        1.43788927e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08510267, -0.07882007,  0.06187208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06867351e-03, 2.53906174e-02, 3.57851933e-03, 1.04015919e-04,
 -2.48520955e-05,-4.24710157e-05, 1.20277962e-05, 1.99990691e-05,
 -5.08692912e-05,-7.62201893e-06,-2.35326847e-05,-1.67053710e-05,
  1.05164034e-02, 1.48120510e-02, 7.27167690e-03, 1.67103486e-03,
  1.65390380e-03, 4.88511527e-03,-9.81037203e+00,-6.88160940e-04,
 -6.04835670e-02, 6.17059016e-02]


--- Step 3757 ---
qpos:
[-0.01874875, 1.20374508,-0.03533896, 0.94259504,-0.00790842, 1.33297476,
 -0.03115258, 0.94135066, 0.01533053, 1.338514  ,-0.02369721, 0.95470326,
  1.277466  ,-0.00907238, 1.2842293 , 0.04386433,-0.05521214,-0.08830993,
  0.09026446, 0.69032973,-0.11498806,-0.71048706,-0.07369359]

qacc:
[ 1.55344918e-01, 1.73906856e+00,-1.28116148e+01, 3.46700564e+01,
 -2.21863282e-02,-3.11509434e+00, 9.78869482e+00,-1.01734329e+01,
  6.31826420e-02,-4.57872467e+00, 1.64189637e+01,-2.81636596e+01,
  1.58294947e-01, 1.74039838e-01, 5.79425176e-01,-2.51039958e+00,
 -3.22957165e+00, 1.02605397e+00,-3.26241802e+00, 1.67060316e+00,
 -1.16737116e+02,-4.55032618e+01]

qfrc_actuator:
[ 9.91177022e-03, 5.97567749e-02, 1.42398049e-02, 1.97213067e-03,
 -3.92378203e-06, 3.47541406e-02, 1.09810501e-02, 1.94568130e-03,
 -3.10808910e-03, 3.46522092e-02, 1.09289987e-02, 1.72511038e-03,
  7.75987209e-03, 1.30629178e-02, 0.00000000e+00, 2.86460663e-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: -0.0006076081253750393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91564228e-01,  8.75076298e-02, -9.15980278e-01, -3.43968088e-02,
        9.96163849e-01,  8.04639349e-02,  9.19507648e-01, -6.93889390e-18,
        3.93072111e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0826347 , -0.03428881,  0.22320671])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.98611846, -3.13351034, 16.98611846, 19.17374361,
       10.30502064, -3.13351034, 10.30502064, 73.1341358 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019489519526873778
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.84825653e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.84825653e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02206204, -0.09795176,  0.06187098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.07302211e-03, 2.54146281e-02, 3.57008241e-03, 8.83570224e-05,
 -6.44250770e-06,-3.49810695e-05, 3.85311380e-05,-8.59391678e-06,
  1.81748480e-05,-6.89512804e-05, 1.59708999e-05,-6.52235665e-05,
  1.05104677e-02, 1.47568336e-02, 7.34065386e-03, 1.66778726e-03,
  2.45466852e-03, 5.03949399e-03,-9.81044918e+00,-4.14961967e-04,
 -6.04360156e-02, 6.16725604e-02]


--- Step 3758 ---
qpos:
[-0.01875039, 1.20376034,-0.03533829, 0.94259648,-0.00790841, 1.33297305,
 -0.0311512 , 0.94135324, 0.01532917, 1.33851265,-0.02369543, 0.95470339,
  1.27748089,-0.00906816, 1.28420667, 0.04386193,-0.05521541,-0.08825598,
  0.09025832, 0.69018189,-0.11572659,-0.71056146,-0.07320336]

qacc:
[-1.05598981e-01, 8.88919631e-01,-3.61964561e+00, 9.31427591e+00,
  4.10724666e-03,-2.14453669e+00, 8.39002073e+00,-1.65461956e+01,
  1.39643619e-01,-1.56767134e+00, 3.69232180e+00, 2.46735122e-01,
  3.54087962e-01,-1.13686320e-01,-2.47360785e+00, 4.89539467e+00,
 -2.98747259e+00, 8.84891945e-01,-3.76465469e+00,-1.67839750e-01,
 -1.07479374e+02,-3.85509134e+01]

qfrc_actuator:
[ 9.87912294e-03, 5.97112021e-02, 1.42643989e-02, 2.00949486e-03,
  1.04691677e-06, 3.47463589e-02, 1.09892592e-02, 1.90404218e-03,
 -3.07857010e-03, 3.46348785e-02, 1.09582519e-02, 1.74081506e-03,
  7.75949921e-03, 1.30265438e-02, 0.00000000e+00, 3.62441462e-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: -0.0006070652724017266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39154993,  0.08750844, -0.91598632, -0.03439587,  0.99616378,
        0.08046521,  0.91951377,  0.        ,  0.39305778])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08263233, -0.03428974,  0.22320685])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.82196642,   3.92027462, -16.82196642,
        17.43885666,   0.7128641 ,   3.92027462,   0.7128641 ,
        20.33163948,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019507092972236295
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.69138121e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.69138121e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02205114, -0.09798251,  0.06187085])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.02251492e-03, 2.54685282e-02, 3.61499708e-03, 2.96750598e-05,
  1.16617752e-06,-1.98396933e-05, 5.50301979e-06,-4.17579511e-05,
  4.02501051e-05,-5.42706707e-05, 1.56927454e-05, 1.26114542e-05,
  1.04858556e-02, 1.47027777e-02, 7.35213295e-03, 1.75891830e-03,
  1.30050845e-03, 5.74610296e-03,-9.81061128e+00,-1.21131805e-03,
 -6.04824449e-02, 6.16399438e-02]


--- Step 3759 ---
qpos:
[-0.01875207, 1.20377558,-0.03533778, 0.94259701,-0.00790823, 1.33297171,
 -0.03115049, 0.94135427, 0.015328  , 1.33851161,-0.02369399, 0.95470471,
  1.27749598,-0.00906421, 1.28418695, 0.04386004,-0.0552298 ,-0.08819894,
  0.0902354 , 0.6898866 ,-0.11643495,-0.71078028,-0.07273774]

qacc:
[-1.64010083e-02,-1.11649773e+00, 5.47940165e+00,-1.52461974e+01,
  7.41963635e-02,-3.76343485e-01, 5.03536500e+00,-2.27019863e+01,
  8.33430228e-02, 3.38854765e+00,-1.29465702e+01, 2.47319210e+01,
  2.13793958e-01,-3.51577675e-01, 2.74876154e+00,-3.42276913e+00,
 -2.78080353e+00, 7.70669174e-01,-4.19421378e+00,-1.58292188e+00,
 -9.96920120e+01,-3.29624908e+01]

qfrc_actuator:
[ 9.86033610e-03, 5.97308564e-02, 1.42788025e-02, 1.96000010e-03,
  2.17733556e-05, 3.47779836e-02, 1.09580083e-02, 1.82525266e-03,
 -3.07826293e-03, 3.46963638e-02, 1.09570502e-02, 1.80328143e-03,
  7.76936345e-03, 1.30383968e-02, 0.00000000e+00, 2.66987743e-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: -0.0006064320833514686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91535254e-01,  8.75093477e-02, -9.15992499e-01, -3.43949441e-02,
        9.96163698e-01,  8.04666003e-02,  9.19520055e-01,  6.93889390e-18,
        3.93043086e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262981, -0.03429069,  0.22320699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.82754171,   3.89627353, -16.82754171,
        17.54273295,   1.16612237,   3.89627353,   1.16612237,
        22.30907104,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001930065949486151
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.75225435e-14,  4.31419076e-14,  1.00000000e+00,  2.48163225e-27,
        1.00000000e+00, -4.31419076e-14, -1.00000000e+00,  0.00000000e+00,
       -5.75225435e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02209887, -0.09801883,  0.06187205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01584671e-03, 2.54750754e-02, 3.62236928e-03,-4.71143993e-05,
  2.14143003e-05, 2.04806677e-05,-3.57281944e-05,-8.01904181e-05,
  2.40752473e-05, 3.49204558e-05,-9.64853619e-06, 6.16116422e-05,
  1.04700935e-02, 1.47028080e-02, 7.43902249e-03, 1.66528970e-03,
 -1.36816885e-04, 6.43667680e-03,-9.81091750e+00,-1.81058208e-03,
 -6.05040353e-02, 6.16099714e-02]


--- Step 3760 ---
qpos:
[-0.01875374, 1.20379083,-0.03533736, 0.9425966 ,-0.0079077 , 1.33297109,
 -0.03115063, 0.94135328, 0.01532695, 1.33851157,-0.02369376, 0.9547064 ,
  1.27751091,-0.00906058, 1.28417035, 0.04385862,-0.05523378,-0.08814076,
  0.0902316 , 0.68972104,-0.11723534,-0.7108657 ,-0.0721853 ]

qacc:
[ 1.63711299e-03,-1.36140264e+00, 6.42215675e+00,-1.65828220e+01,
  1.47832497e-01,-1.95294606e-01, 5.93209643e+00,-2.89499491e+01,
  5.08494325e-02, 5.19721824e+00,-1.61348700e+01, 1.77185145e+01,
 -5.88538389e-02,-1.70424968e-01, 3.17662979e+00,-4.40801426e+00,
  2.60249284e+00, 2.85761571e-01, 4.77977981e+00, 1.81169189e+00,
  8.37172413e+01, 7.51415673e+01]

qfrc_actuator:
[ 9.86751027e-03, 5.97010621e-02, 1.42873422e-02, 1.91288110e-03,
  5.17835454e-05, 3.48327768e-02, 1.09216201e-02, 1.72524668e-03,
 -3.07772957e-03, 3.47689877e-02, 1.09027034e-02, 1.82176739e-03,
  7.77472767e-03, 1.30618446e-02, 0.00000000e+00, 2.10169766e-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: -0.0006059756533567939
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91520758e-01,  8.75102688e-02, -9.15998608e-01, -3.43940354e-02,
        9.96163618e-01,  8.04679904e-02,  9.19526262e-01, -6.93889390e-18,
        3.93028566e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262753, -0.03429172,  0.22320712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.98105363,   3.16084247, -16.98105363,
        22.33063505,  27.17269331,   3.16084247,  27.17269331,
       163.25309995,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019776154852902267
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40348697e-14, -8.77179355e-16,  1.00000000e+00, -1.23110979e-29,
        1.00000000e+00,  8.77179355e-16, -1.00000000e+00,  0.00000000e+00,
       -1.40348697e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08504966, -0.07877068,  0.06186893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.02489069e-03, 2.54462553e-02, 3.63919786e-03,-4.89415872e-05,
  4.26528503e-05, 5.67255620e-05,-3.87985146e-05,-1.02294177e-04,
  1.47520006e-05, 9.18836447e-05,-4.68192372e-05, 2.06747874e-05,
  1.04652571e-02, 1.47396972e-02, 7.29430250e-03, 1.58336541e-03,
 -1.81182419e-03, 7.12340080e-03,-9.81135202e+00,-2.25853390e-03,
 -6.05072185e-02, 6.15824442e-02]


--- Step 3761 ---
qpos:
[-0.01875544, 1.20380588,-0.03533713, 0.94259564,-0.00790696, 1.3329708 ,
 -0.03115142, 0.94135113, 0.01532598, 1.33851167,-0.02369359, 0.95470764,
  1.27752554,-0.00905709, 1.2841553 , 0.04385743,-0.05522816,-0.08808127,
  0.0902421 , 0.68967405,-0.11811808,-0.71082878,-0.07155605]

qacc:
[-8.71125925e-03,-6.47816815e-01, 2.90452314e+00,-8.61609233e+00,
  8.66809317e-02, 2.30324470e-01, 2.18806957e+00,-1.56567117e+01,
  3.25068664e-02,-4.52176319e-01, 2.64413623e+00,-7.76118789e+00,
 -2.30859285e-01, 9.20287878e-02, 1.64001504e+00,-2.37828377e+00,
  2.39932858e+00, 3.26688728e-01, 3.57340025e+00, 1.43765635e+00,
  7.68547347e+01, 6.72053186e+01]

qfrc_actuator:
[ 9.87248205e-03, 5.96770784e-02, 1.42745970e-02, 1.88534535e-03,
  5.16145619e-05, 3.48299629e-02, 1.08825993e-02, 1.66684382e-03,
 -3.07706296e-03, 3.47409749e-02, 1.08884749e-02, 1.79644876e-03,
  7.76676519e-03, 1.30746500e-02, 0.00000000e+00, 1.94112187e-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: -0.0006057135229938677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91506329e-01,  8.75111871e-02, -9.16004687e-01, -3.43931316e-02,
        9.96163537e-01,  8.04693753e-02,  9.19532439e-01, -6.93889390e-18,
        3.93014113e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262551, -0.03429279,  0.22320726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.46032122,  -5.23497209,  16.46032122,
        26.24631018,  28.21563413,  -5.23497209,  28.21563413,
       105.99113747,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020033175762419267
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.25140591e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.25140591e-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([-0.08502415, -0.07875776,  0.06186726])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.02966107e-03, 2.54215159e-02, 3.63070415e-03,-2.90382103e-05,
  2.50128691e-05, 1.78971825e-05,-3.53391940e-05,-6.02035990e-05,
  9.38182639e-06, 1.42696141e-05,-9.97850837e-07,-2.34819499e-05,
  1.04650261e-02, 1.47682107e-02, 7.13850513e-03, 1.54358159e-03,
 -1.94352890e-04, 7.77153600e-03,-9.81121943e+00,-2.07485077e-03,
 -6.04287189e-02, 6.15451518e-02]


--- Step 3762 ---
qpos:
[-0.01875667, 1.20381971,-0.03533769, 0.9425938 ,-0.00790611, 1.33297021,
 -0.03115222, 0.94134935, 0.01532521, 1.33851182,-0.02369321, 0.95470786,
  1.27753983,-0.00905391, 1.28414394, 0.04385651,-0.05521362,-0.08802034,
  0.09026281, 0.68973624,-0.11907521,-0.71067866,-0.07085801]

qacc:
[ 2.01153116e-01,-9.97776552e-01, 3.16489344e+00,-1.22994150e+01,
  4.94654645e-02, 2.33245994e-01,-2.02078188e+00, 6.30664921e+00,
  8.33614656e-02,-2.19766863e+00, 9.28641992e+00,-1.97131720e+01,
 -2.47987645e-01,-1.17273456e-02, 4.65527233e+00,-8.31513642e+00,
  2.23066672e+00, 3.59434168e-01, 2.55375719e+00, 1.19363451e+00,
  7.11163750e+01, 6.07524002e+01]

qfrc_actuator:
[ 9.89390730e-03, 5.96922940e-02, 1.42492240e-02, 1.83402147e-03,
  5.10954377e-05, 3.47926824e-02, 1.08776556e-02, 1.68662101e-03,
 -3.05856814e-03, 3.47417931e-02, 1.08976566e-02, 1.74554004e-03,
  7.76680367e-03, 1.30987685e-02, 0.00000000e+00, 7.83079513e-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: -0.0006055368017625767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39149226,  0.08751211, -0.91601061, -0.03439226,  0.99616346,
        0.08047075,  0.91953846,  0.        ,  0.39300003])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262364, -0.03429387,  0.2232074 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.36553127,  -5.52417359,  16.36553127,
        28.29593342,  32.65658146,  -5.52417359,  32.65658146,
       114.01883712,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020047064385196045
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38452070e-14,  1.64411833e-14,  1.00000000e+00,  2.27631586e-28,
        1.00000000e+00, -1.64411833e-14, -1.00000000e+00,  0.00000000e+00,
       -1.38452070e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08502067, -0.07874646,  0.06186715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.05207250e-03, 2.54465889e-02, 3.61502691e-03,-5.35338801e-05,
  1.42477090e-05,-3.61084303e-05,-7.23264378e-06, 1.78805628e-05,
  2.40360287e-05, 7.81910203e-06, 1.11692418e-05,-5.10593323e-05,
  1.04806022e-02, 1.47990255e-02, 7.06129048e-03, 1.41684120e-03,
  1.24825616e-03, 8.29291959e-03,-9.81123042e+00,-1.81499047e-03,
 -6.03640302e-02, 6.15062417e-02]


--- Step 3763 ---
qpos:
[-0.01875776, 1.203833  ,-0.03533841, 0.94259265,-0.00790519, 1.33296937,
 -0.03115278, 0.94134746, 0.01532464, 1.33851236,-0.02369231, 0.95470742,
  1.27755381,-0.00905058, 1.28413212, 0.04385532,-0.05519071,-0.08795787,
  0.09029029, 0.68989972,-0.12010021,-0.71042287,-0.07009758]

qacc:
[ 6.34731893e-02, 8.93127984e-01,-5.21043657e+00, 1.28646830e+01,
  2.67338339e-02,-1.16452381e+00, 3.63515570e+00,-4.30149676e+00,
  8.83827177e-02,-2.08131488e+00, 8.71020437e+00,-1.53732888e+01,
 -3.36895884e-01, 3.96522289e-01, 1.32091073e-01,-1.40048076e+00,
  2.09107613e+00, 3.85862254e-01, 1.69326540e+00, 1.05090751e+00,
  6.63208786e+01, 5.55139996e+01]

qfrc_actuator:
[ 9.90697762e-03, 5.97143721e-02, 1.42524445e-02, 1.87550803e-03,
  5.03724182e-05, 3.47884858e-02, 1.08927588e-02, 1.68122062e-03,
 -3.04727975e-03, 3.47954459e-02, 1.09384038e-02, 1.71551119e-03,
  7.76100492e-03, 1.31121638e-02, 0.00000000e+00, 1.15546200e-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: -0.0006055104490541655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91480040e-01,  8.75128115e-02, -9.16015767e-01, -3.43914655e-02,
        9.96163394e-01,  8.04718540e-02,  9.19543694e-01, -6.93889390e-18,
        3.92987779e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262211, -0.034295  ,  0.22320752])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.23458129,  -5.89792148,  16.23458129,
        31.26082286,  38.50354326,  -5.89792148,  38.50354326,
       123.25733641,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019865647263958425
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.79432885e-14, -2.00842386e-14,  1.00000000e+00, -5.61219673e-28,
        1.00000000e+00,  2.00842386e-14, -1.00000000e+00,  0.00000000e+00,
       -2.79432885e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0850348, -0.0787365,  0.0618683])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04201069e-03, 2.55293115e-02, 3.65729647e-03, 3.24294402e-05,
  7.68654307e-06,-2.50461130e-05, 7.73782243e-06,-6.29126046e-06,
  2.54839907e-05, 5.86441700e-05, 4.20491301e-05,-3.06575083e-05,
  1.04917909e-02, 1.48284989e-02, 6.87659740e-03, 1.44047246e-03,
  2.53732966e-03, 8.70949759e-03,-9.81135092e+00,-1.50615531e-03,
 -6.03105059e-02, 6.14653230e-02]


--- Step 3764 ---
qpos:
[-0.01875926, 1.2038471 ,-0.03533893, 0.94259186,-0.00790424, 1.33296839,
 -0.03115319, 0.94134551, 0.01532396, 1.33851276,-0.02369015, 0.95470698,
  1.2775673 ,-0.0090469 , 1.284117  , 0.04385385,-0.0551599 ,-0.08789377,
  0.09032165, 0.69015787,-0.12118773,-0.71006757,-0.06927983]

qacc:
[-1.81294184e-01, 1.13355722e+00,-3.14964870e+00, 6.39869724e+00,
  1.28705940e-02,-6.81340924e-01, 2.10207869e+00,-2.36500759e+00,
 -4.68809370e-02,-3.55469502e+00, 1.13931496e+01,-9.84739165e+00,
 -4.58165982e-01, 5.89714959e-01,-3.98900925e+00, 6.93376127e+00,
  1.97597671e+00, 4.07510802e-01, 9.68293109e-01, 9.87984127e-01,
  6.23188938e+01, 5.12754091e+01]

qfrc_actuator:
[ 9.91516651e-03, 5.96871287e-02, 1.42547643e-02, 1.90044740e-03,
  4.95341234e-05, 3.47864540e-02, 1.09019002e-02, 1.67880387e-03,
 -3.07591102e-03, 3.47739393e-02, 1.09976745e-02, 1.71581597e-03,
  7.74638700e-03, 1.31365240e-02, 0.00000000e+00, 2.27282744e-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: -0.0006054199855416997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39146847,  0.08751345, -0.91602065, -0.0343907 ,  0.99616334,
        0.08047287,  0.91954865,  0.        ,  0.39297619])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08262055, -0.0342961 ,  0.22320763])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.06244558,  -6.35176743,  16.06244558,
        35.51824129,  46.13953188,  -6.35176743,  46.13953188,
       133.95107352,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019529102417756572
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42124175e-14, -2.39834545e-14,  1.00000000e+00, -3.40862867e-28,
        1.00000000e+00,  2.39834545e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42124175e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08506291, -0.07872767,  0.06187044])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04289150e-03, 2.55293385e-02, 3.66782560e-03, 2.29135600e-05,
  3.69844399e-06,-1.45593124e-05, 4.93559797e-06,-3.09498062e-06,
 -1.35785674e-05, 1.82222291e-05, 7.46032525e-05, 2.56106985e-06,
  1.04923535e-02, 1.48447830e-02, 6.89997300e-03, 1.56534084e-03,
  3.69271859e-03, 9.03984503e-03,-9.81155806e+00,-1.16638842e-03,
 -6.02663608e-02, 6.14221454e-02]


--- Step 3765 ---
qpos:
[-0.01876126, 1.20386281,-0.03533894, 0.94259059,-0.00790314, 1.33296736,
 -0.03115331, 0.94134492, 0.01532308, 1.33851321,-0.02368841, 0.95470627,
  1.27758018,-0.00904307, 1.28409961, 0.04385245,-0.05514218,-0.0878251 ,
  0.09034056, 0.69023879,-0.12222565,-0.70988725,-0.06849372]

qacc:
[-2.18450927e-01,-4.30902653e-02, 3.68640674e+00,-9.74074360e+00,
  6.60699650e-02, 1.47057663e+00,-7.64380581e+00, 2.23302450e+01,
 -8.62282503e-02, 7.16370763e-01,-1.71486572e+00,-1.62544525e+00,
 -4.52246272e-01, 4.38621417e-01,-3.52924425e+00, 7.52972321e+00,
 -3.27294638e+00, 1.14398277e+00,-3.11118213e+00, 1.20846772e+00,
 -1.19676702e+02,-4.52688001e+01]

qfrc_actuator:
[ 9.93868326e-03, 5.96646528e-02, 1.42739937e-02, 1.88000605e-03,
  6.63867798e-05, 3.48034711e-02, 1.09252143e-02, 1.74917500e-03,
 -3.09275246e-03, 3.47431994e-02, 1.09606142e-02, 1.69842515e-03,
  7.75313524e-03, 1.31849704e-02, 0.00000000e+00, 2.95083519e-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: -0.0006051830184241394
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39145597,  0.08751426, -0.91602592, -0.03438993,  0.99616327,
        0.08047409,  0.919554  ,  0.        ,  0.39296366])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0826187 , -0.0342971 ,  0.22320776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.98040168, -3.16434295, 16.98040168, 19.2398934 ,
       10.55614752, -3.16434295, 10.55614752, 73.91880756,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019150020578052943
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.89875152e-14,  4.34812728e-14,  1.00000000e+00,  1.26041405e-27,
        1.00000000e+00, -4.34812728e-14, -1.00000000e+00,  0.00000000e+00,
       -2.89875152e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02209853, -0.09822555,  0.06187287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.08722259e-03, 2.54659124e-02, 3.67683692e-03,-1.55515558e-05,
  1.90354549e-05, 9.83986969e-06, 2.09350650e-05, 7.00007883e-05,
 -2.48595777e-05,-6.02397198e-06,-2.49511674e-05,-1.46049525e-05,
  1.05241737e-02, 1.48760798e-02, 7.06550879e-03, 1.64748042e-03,
  4.73234359e-03, 9.29947685e-03,-9.81183673e+00,-8.07366333e-04,
 -6.02303857e-02, 6.13765453e-02]


--- Step 3766 ---
qpos:
[-0.01876304, 1.20387864,-0.03533823, 0.94259059,-0.00790201, 1.33296611,
 -0.0311525 , 0.94134584, 0.01532215, 1.33851376,-0.02368704, 0.95470329,
  1.27759321,-0.00903912, 1.28408272, 0.04385102,-0.05513656,-0.08775246,
  0.09034494, 0.69015709,-0.12322574,-0.70986668,-0.06773411]

qacc:
[ 1.00601158e-01, 3.25781631e-01,-3.50491817e+00, 1.77049973e+01,
  1.07486222e-02,-1.87733648e-01,-2.88768240e+00, 2.03200428e+01,
 -2.27450199e-02,-2.79745635e+00, 1.38540919e+01,-3.83370454e+01,
  1.11613190e-02, 1.10063048e-01, 8.55014404e-01,-1.88130029e+00,
 -3.02408397e+00, 9.90178097e-01,-3.63385781e+00,-8.18583804e-01,
 -1.09931283e+02,-3.79079518e+01]

qfrc_actuator:
[ 9.93614352e-03, 5.96794183e-02, 1.43029884e-02, 1.93954432e-03,
  5.82109686e-05, 3.47963601e-02, 1.09745808e-02, 1.82633149e-03,
 -3.08463051e-03, 3.47422943e-02, 1.09379260e-02, 1.58191829e-03,
  7.76207878e-03, 1.31591566e-02, 0.00000000e+00, 2.47523432e-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: -0.0006049166232035413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91441507e-01,  8.75153106e-02, -9.16031996e-01, -3.43890699e-02,
        9.96163175e-01,  8.04755954e-02,  9.19560187e-01, -6.93889390e-18,
        3.92949185e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261666, -0.03429801,  0.22320793])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.79377657,   4.03932864, -16.79377657,
        17.36837467,   0.39766041,   4.03932864,   0.39766041,
        18.92602678,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019248071452613383
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.44199255e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.44199255e-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([ 0.02206596, -0.09825492,  0.06187227])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.10976678e-03, 2.53998077e-02, 3.68065413e-03, 6.77925059e-05,
  3.06153247e-06, 4.54667274e-06, 5.57298079e-05, 7.96866021e-05,
 -6.55902014e-06,-9.54916917e-06,-2.71311121e-05,-1.17753146e-04,
  1.05632837e-02, 1.48425000e-02, 7.17958260e-03, 1.59675118e-03,
  3.20107669e-03, 1.03424350e-02,-9.81189000e+00,-1.96948536e-03,
 -6.02668963e-02, 6.13219468e-02]


--- Step 3767 ---
qpos:
[-0.0187632 , 1.20389116,-0.03533814, 0.94259169,-0.00790121, 1.33296476,
 -0.03115075, 0.94134664, 0.01532137, 1.33851413,-0.0236859 , 0.95469929,
  1.2776069 ,-0.00903563, 1.28407421, 0.04384979,-0.05514219,-0.08767636,
  0.09033299, 0.68992494,-0.12419728,-0.70999298,-0.06699688]

qacc:
[ 6.99360265e-01,-7.90060871e-01,-4.96056976e+00, 1.91693787e+01,
 -1.35420716e-01,-2.92280244e+00, 9.63763704e+00,-9.81433707e+00,
  6.64216858e-02,-1.32930106e+00, 6.09672917e+00,-1.68327660e+01,
  3.90024120e-01,-5.47755741e-01, 1.17213918e+01,-2.30917879e+01,
 -2.81203267e+00, 8.65820674e-01,-4.08075194e+00,-2.38701342e+00,
 -1.01736370e+02,-3.20001446e+01]

qfrc_actuator:
[ 9.93519033e-03, 5.96463707e-02, 1.42841517e-02, 1.97450524e-03,
  1.73339342e-05, 3.47927285e-02, 1.10210780e-02, 1.81808428e-03,
 -3.06159897e-03, 3.47237260e-02, 1.09239896e-02, 1.53232866e-03,
  7.76164166e-03, 1.31065024e-02, 0.00000000e+00,-6.44627111e-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: -0.0006046853379088474
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39142627,  0.08751628, -0.91603841, -0.03438812,  0.99616309,
        0.08047706,  0.91956671,  0.        ,  0.39293392])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261463, -0.03429895,  0.2232081 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.79244434,   4.04486346, -16.79244434,
        17.46746994,   0.80848351,   4.04486346,   0.80848351,
        20.62918526,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019108689621930436
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.35753202e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.35753202e-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([ 0.02209604, -0.09829055,  0.06187308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.09724818e-03, 2.53607927e-02, 3.62506187e-03, 3.93162356e-05,
 -3.90699086e-05, 1.22006137e-05, 5.60709952e-05,-4.62821203e-06,
  1.91589467e-05,-3.26471560e-05,-2.23369306e-05,-5.34083497e-05,
  1.05552605e-02, 1.47833106e-02, 7.15418164e-03, 1.28636476e-03,
  1.41021034e-03, 1.13800072e-02,-9.81210740e+00,-2.90463020e-03,
 -6.02733812e-02, 6.12704378e-02]


--- Step 3768 ---
qpos:
[-0.01876232, 1.20390255,-0.03533887, 0.94259198,-0.00790079, 1.33296428,
 -0.03114962, 0.94134629, 0.0153208 , 1.33851461,-0.02368547, 0.9546968 ,
  1.27762117,-0.00903258, 1.28406892, 0.04384861,-0.05513774,-0.08759863,
  0.09033725, 0.68981501,-0.12526324,-0.70999006,-0.06617012]

qacc:
[  0.45425604, -0.63277022,  1.95678309,-10.37164894, -0.16574988,
   0.88946707,  0.86559632,-14.62634632,  0.08772973,  4.62474819,
 -17.95531729, 32.88815737,  0.56230967, -0.7454416 ,  4.58072042,
  -9.19658514,  2.51957648,  0.40715042,  4.04974092,  2.47407955,
  79.23930202, 76.52240573]

qfrc_actuator:
[ 9.95147326e-03, 5.96057733e-02, 1.42731922e-02, 1.94112387e-03,
 -7.32339740e-06, 3.48621674e-02, 1.09944482e-02, 1.75963836e-03,
 -3.04756342e-03, 3.47480447e-02, 1.08975641e-02, 1.61129618e-03,
  7.76085087e-03, 1.30560477e-02, 0.00000000e+00,-9.15144610e-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: -0.000604740942751144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91414671e-01,  8.75165602e-02, -9.16043343e-01, -3.43872071e-02,
        9.96163065e-01,  8.04777503e-02,  9.19571680e-01,  6.93889390e-18,
        3.92922289e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261333, -0.03430013,  0.22320818])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.96261258,   3.25835571, -16.96261258,
        22.53814971,  27.41116348,   3.25835571,  27.41116348,
       159.9719868 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019405718616911996
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43027817e-14,  1.16210101e-14,  1.00000000e+00,  1.66212770e-28,
        1.00000000e+00, -1.16210101e-14, -1.00000000e+00,  0.00000000e+00,
       -1.43027817e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0850638 , -0.07868074,  0.0618711 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03316531e-03, 2.54858575e-02, 3.64557583e-03,-4.90227063e-05,
 -4.77212445e-05, 8.70285371e-05,-1.79945497e-05,-5.65382994e-05,
  2.53502394e-05, 3.11018866e-07,-3.69102598e-05, 7.60999796e-05,
  1.05215618e-02, 1.47564726e-02, 6.73581723e-03, 1.24897641e-03,
 -5.98375143e-04, 1.24221793e-02,-9.81247114e+00,-3.66564597e-03,
 -6.02575685e-02, 6.12217656e-02]


--- Step 3769 ---
qpos:
[-0.01876081, 1.20391413,-0.03533995, 0.94259207,-0.00790058, 1.33296472,
 -0.0311495 , 0.9413456 , 0.01532043, 1.33851516,-0.02368546, 0.95469699,
  1.27763606,-0.00902961, 1.28406166, 0.04384706,-0.05512395,-0.08751913,
  0.09035332, 0.68981716,-0.1264144 ,-0.70986788,-0.06526322]

qacc:
[  0.27489705,  0.83481763, -2.01809955, -0.72022786, -0.08747236,
   3.3166328 , -8.68418102,  3.06772197,  0.08131648,  5.87129317,
 -24.42563327, 52.02165227,  0.62941298, -0.59016961, -1.84232225,
   2.09611052,  2.33548625,  0.44286452,  2.95645847,  2.14057103,
  73.08453212, 69.06496491]

qfrc_actuator:
[ 9.97801786e-03, 5.95775303e-02, 1.42496481e-02, 1.93921544e-03,
 -4.29728411e-06, 3.49034914e-02, 1.09428904e-02, 1.74315181e-03,
 -3.03903892e-03, 3.47623849e-02, 1.08819554e-02, 1.74753083e-03,
  7.75450611e-03, 1.29893108e-02, 0.00000000e+00,-7.86212423e-07,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006049129335643361
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39140487,  0.0875164 , -0.91604755, -0.03438628,  0.99616308,
        0.08047797,  0.91957589,  0.        ,  0.39291244])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261231, -0.0343014 ,  0.22320825])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.44166926,  -5.2932617 ,  16.44166926,
        26.51424098,  28.70553557,  -5.2932617 ,  28.70553557,
       106.43645069,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019542902631790593
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42023814e-14, -1.15394349e-14,  1.00000000e+00, -1.63887455e-28,
        1.00000000e+00,  1.15394349e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42023814e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08504888, -0.07866808,  0.06187018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.00748733e-03, 2.55135406e-02, 3.66300077e-03,-1.05123200e-05,
 -2.51419862e-05, 8.42450395e-05,-3.82361994e-05,-1.57002487e-05,
  2.34961459e-05, 9.55225385e-06,-1.75204147e-05, 1.36932543e-04,
  1.04865888e-02, 1.47114282e-02, 6.57471812e-03, 1.33736618e-03,
  1.36726002e-03, 1.33695464e-02,-9.81265502e+00,-3.35263579e-03,
 -6.01943293e-02, 6.11716779e-02]


--- Step 3770 ---
qpos:
[-0.01875847, 1.20392546,-0.03534108, 0.94259216,-0.00790047, 1.33296537,
 -0.03115007, 0.94134546, 0.01532035, 1.33851585,-0.02368506, 0.95469772,
  1.27765123,-0.009027  , 1.28405578, 0.04384538,-0.05510142,-0.08743775,
  0.09037753, 0.68992284,-0.12764317,-0.70963463,-0.06428367]

qacc:
[ 3.62970617e-01,-1.83054801e-01, 2.32436805e-01,-9.94550203e-02,
 -4.51807808e-02, 3.09496357e+00,-1.08932459e+01, 1.56623993e+01,
  1.27513653e-01, 7.12364379e-02,-1.09164666e+00, 7.13231114e+00,
  3.62422489e-01,-5.50058102e-01, 2.38162548e+00,-5.41643760e+00,
  2.18289962e+00, 4.71785771e-01, 2.03226685e+00, 1.93223156e+00,
  6.79330166e+01, 6.29995281e+01]

qfrc_actuator:
[ 1.00107139e-02, 5.95203411e-02, 1.42539160e-02, 1.93815562e-03,
 -2.44231411e-06, 3.48743059e-02, 1.08947508e-02, 1.76924071e-03,
 -3.01613626e-03, 3.47884789e-02, 1.09083501e-02, 1.77433000e-03,
  7.75012960e-03, 1.29658818e-02, 0.00000000e+00,-6.97724155e-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: -0.0006049676538494551
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39139522,  0.08751599, -0.91605171, -0.03438527,  0.99616312,
        0.08047795,  0.91958003,  0.        ,  0.39290275])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261112, -0.03430267,  0.22320831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.33330833,  -5.61873174,  16.33330833,
        28.800153  ,  33.50951913,  -5.61873174,  33.50951913,
       114.68284284,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019464221521707237
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.45618509e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.45618509e-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([-0.08505359, -0.07865731,  0.06187065])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.00856575e-03, 2.54471815e-02, 3.68470579e-03,-1.44305395e-06,
 -1.29840394e-05, 9.46092027e-06,-3.64690097e-05, 2.71427372e-05,
  3.67790729e-05, 3.20097746e-05, 3.02757881e-05, 2.97573028e-05,
  1.04510771e-02, 1.46919576e-02, 6.67381739e-03, 1.28708552e-03,
  3.16021138e-03, 1.41717737e-02,-9.81296029e+00,-2.98047693e-03,
 -6.01433999e-02, 6.11189802e-02]


--- Step 3771 ---
qpos:
[-0.01875639, 1.2039382 ,-0.03534191, 0.94259172,-0.00790042, 1.33296588,
 -0.03115079, 0.94134564, 0.01532027, 1.33851619,-0.02368352, 0.95469843,
  1.27766619,-0.0090244 , 1.28404709, 0.0438435 ,-0.05507244,-0.08736386,
  0.09041   , 0.6901312 ,-0.12878301,-0.70930879,-0.06336329]

qacc:
[-1.14234299e-01, 1.36979048e-01, 2.86212173e+00,-9.46747681e+00,
 -2.26665907e-02, 7.62960997e-01,-3.35183779e+00, 6.66227300e+00,
 -4.66629201e-04,-3.60182634e+00, 1.12197840e+01,-9.77324625e+00,
 -1.74677084e-02,-5.41853693e-02,-3.52013862e+00, 6.27929766e+00,
  1.61314440e+00,-1.87386972e+00, 2.06598603e+00, 1.32590278e+01,
  7.50019730e+01,-4.27513249e+01]

qfrc_actuator:
[ 1.00111405e-02, 5.94816330e-02, 1.42569579e-02, 1.91973502e-03,
 -1.30727710e-06, 3.48564089e-02, 1.08842678e-02, 1.78462259e-03,
 -3.03805031e-03, 3.47505081e-02, 1.09592957e-02, 1.77203624e-03,
  7.75226831e-03, 1.29864941e-02, 0.00000000e+00, 4.93495270e-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: -0.0006050855917449117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39138585,  0.08751525, -0.91605578, -0.03438415,  0.99616318,
        0.08047762,  0.91958406,  0.        ,  0.39289331])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08261004, -0.03430396,  0.22320836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  10.11204984,  14.00334087,  10.11204984,
        91.17368578, -53.36513496,  14.00334087, -53.36513496,
        55.80859591,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019467096267368617
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.42576865e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.42576865e-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([-0.08258979, -0.06859118,  0.06187066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96726589e-03, 2.54200981e-02, 3.69017896e-03,-1.96469845e-05,
 -6.52956082e-06,-1.89856798e-05,-1.19869576e-05, 1.52257221e-05,
 -1.91979587e-07,-1.34778338e-05, 6.15085746e-05, 2.35794659e-07,
  1.04392457e-02, 1.47301255e-02, 6.60453241e-03, 1.41217444e-03,
  4.80149007e-03, 1.48536400e-02,-9.81336097e+00,-2.57117750e-03,
 -6.01026719e-02, 6.10633532e-02]


--- Step 3772 ---
qpos:
[-0.01875452, 1.20395045,-0.03534298, 0.94259161,-0.0079004 , 1.33296636,
 -0.03115078, 0.94134525, 0.01531994, 1.33851605,-0.02368181, 0.95469952,
  1.27768111,-0.00902171, 1.28403785, 0.04384137,-0.05503732,-0.0872968 ,
  0.09044742, 0.69043487,-0.12983949,-0.70889725,-0.06249875]

qacc:
[-9.28582521e-02, 5.63659405e-01,-3.28888161e+00, 6.94354178e+00,
 -1.08604026e-02,-2.96901215e+00, 1.07844803e+01,-1.58618450e+01,
 -1.07328690e-01,-4.35867520e-01,-9.77967813e-02, 4.70685268e+00,
 -8.30954402e-02, 1.45316671e-01,-3.07449193e-02,-1.04945086e+00,
  1.53789795e+00,-1.70847854e+00, 1.23670778e+00, 1.23822146e+01,
  6.96133945e+01,-4.02968753e+01]

qfrc_actuator:
[ 9.97521573e-03, 5.95057304e-02, 1.42234290e-02, 1.92692607e-03,
 -6.14548487e-07, 3.48810487e-02, 1.09316115e-02, 1.75808664e-03,
 -3.06891950e-03, 3.46923021e-02, 1.09530551e-02, 1.78814215e-03,
  7.75835014e-03, 1.29978377e-02, 0.00000000e+00, 1.51855269e-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: -0.0006051222879818359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39137491,  0.08751464, -0.91606052, -0.03438295,  0.99616323,
        0.08047748,  0.91958876,  0.        ,  0.3928823 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0826087 , -0.03430516,  0.22320846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019359629588701563
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43368320e-14,  1.43368320e-14,  1.00000000e+00,  2.05544751e-28,
        1.00000000e+00, -1.43368320e-14, -1.00000000e+00,  0.00000000e+00,
       -1.43368320e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08259448, -0.06858119,  0.06187139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94444799e-03, 2.53740445e-02, 3.64158998e-03, 1.38223674e-05,
 -3.16259781e-06, 1.22468519e-05, 4.27111909e-05,-2.71073059e-05,
 -3.09829125e-05,-5.36426757e-05,-1.87631093e-06, 1.75156182e-05,
  1.04558458e-02, 1.47425657e-02, 6.74514161e-03, 1.38854898e-03,
  5.09233162e-03, 1.15170290e-02,-9.81296753e+00,-2.11722136e-03,
 -6.02495729e-02, 6.10122706e-02]


--- Step 3773 ---
qpos:
[-0.0187528 , 1.2039622 ,-0.03534412, 0.94259158,-0.00790053, 1.33296724,
 -0.03115099, 0.94134525, 0.01531946, 1.33851587,-0.02368086, 0.95469977,
  1.27769609,-0.0090191 , 1.2840305 , 0.0438392 ,-0.05501536,-0.08722539,
  0.09047302, 0.69055916,-0.13086517,-0.70866128,-0.06165667]

qacc:
[-6.67601315e-02,-3.25694319e-01, 9.83218226e-02, 1.18737690e+00,
 -6.66955846e-02, 1.76976037e+00,-5.92030371e+00, 9.34126417e+00,
 -6.51921793e-02, 5.36273911e-01,-1.03208484e-01,-9.60068710e+00,
  1.49259298e-03,-3.64572432e-02, 2.86124974e+00,-5.96487675e+00,
 -3.29299124e+00, 1.08703401e+00,-2.95600170e+00,-3.48383721e+00,
 -1.21770386e+02,-3.56747240e+01]

qfrc_actuator:
[ 9.93528882e-03, 5.94978290e-02, 1.42393905e-02, 1.93109021e-03,
 -1.79460061e-05, 3.49134201e-02, 1.09240749e-02, 1.77816212e-03,
 -3.06940379e-03, 3.46932315e-02, 1.09130225e-02, 1.74388825e-03,
  7.75613847e-03, 1.29857532e-02, 0.00000000e+00,-5.75636589e-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: -0.0006050919990716989
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39136463,  0.0875141 , -0.91606496, -0.03438184,  0.99616328,
        0.08047737,  0.91959318,  0.        ,  0.39287197])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08260733, -0.03430635,  0.22320854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.44850201,  -5.27199099,  16.44850201,
        30.06778666,  39.92031866,  -5.27199099,  39.92031866,
       141.82328963,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019341270412861697
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.87008816e-14,  1.43504408e-14,  1.00000000e+00,  4.11870303e-28,
        1.00000000e+00, -1.43504408e-14, -1.00000000e+00,  0.00000000e+00,
       -2.87008816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02199384, -0.09846945,  0.06187161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.91518043e-03, 2.53904299e-02, 3.66962170e-03, 1.69448223e-06,
 -1.91979833e-05, 4.66836048e-05,-1.07453269e-06, 2.10701052e-05,
 -1.87839693e-05,-2.85825120e-05,-5.02096382e-05,-4.54869673e-05,
  1.04556206e-02, 1.47254112e-02, 6.77262910e-03, 1.32856827e-03,
  5.03321456e-03, 8.73759746e-03,-9.81271750e+00,-1.78833579e-03,
 -6.03786022e-02, 6.09645647e-02]


--- Step 3774 ---
qpos:
[-0.01875193, 1.20397424,-0.03534434, 0.94259389,-0.00790084, 1.33296849,
 -0.03115167, 0.94134792, 0.01531888, 1.33851535,-0.02368062, 0.95470019,
  1.27771047,-0.00901591, 1.28401984, 0.04383642,-0.05500557,-0.08715017,
  0.0904846 , 0.69051909,-0.13186873,-0.70858545,-0.06083319]

qacc:
[-3.65637608e-01, 1.85960043e+00,-1.04702079e+01, 3.61122450e+01,
 -7.50420331e-02, 6.33955249e+00,-2.56300334e+01, 5.30842386e+01,
 -3.85365948e-02, 1.82636085e+00,-6.87237235e+00, 8.30751688e+00,
 -7.10474609e-01, 9.95741035e-01,-2.95841486e+00, 3.35955049e+00,
 -3.04128412e+00, 9.55645309e-01,-3.50233715e+00,-4.77181044e+00,
 -1.11631529e+02,-2.98046825e+01]

qfrc_actuator:
[ 9.94624400e-03, 5.94176778e-02, 1.42672194e-02, 2.05782007e-03,
 -2.81975689e-05, 3.49322444e-02, 1.09020117e-02, 1.91424627e-03,
 -3.06940817e-03, 3.46583746e-02, 1.08713186e-02, 1.75324889e-03,
  7.74361712e-03, 1.30485213e-02, 0.00000000e+00, 5.94401197e-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: -0.0006051395290273855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91354886e-01,  8.75136067e-02, -9.16069169e-01, -3.43807855e-02,
        9.96163324e-01,  8.04772822e-02,  9.19597365e-01,  6.93889390e-18,
        3.92862171e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08260611, -0.03430758,  0.22320861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.56339508,   4.89908675, -16.56339508,
        17.79121536,   1.75296405,   4.89908675,   1.75296405,
        23.19934944,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019467529274825313
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.85147388e-14,  4.27721082e-14,  1.00000000e+00,  1.21963549e-27,
        1.00000000e+00, -4.27721082e-14, -1.00000000e+00,  0.00000000e+00,
       -2.85147388e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0219555 , -0.09848938,  0.06187087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93380211e-03, 2.53351651e-02, 3.70097695e-03, 1.24326530e-04,
 -2.15831646e-05, 4.50694349e-05,-1.24326619e-05, 1.37949004e-04,
 -1.10984724e-05,-6.18170266e-05,-5.43239272e-05, 5.98725938e-06,
  1.04399745e-02, 1.47924322e-02, 6.67858613e-03, 1.44686812e-03,
  3.72595853e-03, 1.01441698e-02,-9.81262106e+00,-3.00651569e-03,
 -6.03505924e-02, 6.09003400e-02]


--- Step 3775 ---
qpos:
[-0.01875156, 1.20398605,-0.03534372, 0.94259913,-0.00790116, 1.33297006,
 -0.03115254, 0.94135116, 0.01531811, 1.33851502,-0.0236812 , 0.95470138,
  1.2777244 ,-0.00901209, 1.28400581, 0.04383296,-0.05500725,-0.08707395,
  0.09050062, 0.69033437,-0.13284912,-0.70864919,-0.06004918]

qacc:
[-2.21163857e-01, 2.42554382e+00,-1.43203194e+01, 4.65632224e+01,
 -3.22414283e-03, 1.87868124e+00,-6.78622269e+00, 1.22230485e+01,
 -8.34374825e-02, 3.73025947e+00,-1.33710712e+01, 2.01757059e+01,
 -6.26298378e-01, 9.72790769e-01,-2.86830854e+00, 2.91791730e+00,
 -2.86862864e+00, 2.46252283e-01, 1.10914313e+00,-1.12742729e+01,
 -9.61302718e+01,-3.54363264e+01]

qfrc_actuator:
[ 9.97072436e-03, 5.93823589e-02, 1.42834518e-02, 2.20253700e-03,
 -1.63660984e-05, 3.49428175e-02, 1.08893346e-02, 1.93996459e-03,
 -3.08687867e-03, 3.47088862e-02, 1.08466386e-02, 1.79408753e-03,
  7.73561893e-03, 1.30845594e-02, 0.00000000e+00, 1.13376847e-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: -0.0006050019667684196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39134403,  0.08751347, -0.91607382, -0.03437978,  0.99616334,
        0.08047756,  0.91960202,  0.        ,  0.39285126])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0826046 , -0.03430872,  0.22320868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.61973009,   4.70443188, -16.61973009,
        25.56753862,  29.30375638,   4.70443188,  29.30375638,
       120.79649672,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019348314355565348
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94117833e-07,  1.43452164e-14,  1.00000000e+00, -2.78466232e-21,
        1.00000000e+00, -1.43452164e-14, -1.00000000e+00,  0.00000000e+00,
        1.94117833e-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([-0.01984717, -0.08653315,  0.06187158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.00030550e-03, 2.52856727e-02, 3.67109828e-03, 1.51869725e-04,
 -9.08636477e-07, 3.72274688e-05,-1.22216091e-06, 2.99123608e-05,
 -2.40273609e-05, 5.89847502e-06,-4.27505366e-05, 3.75566524e-05,
  1.04619967e-02, 1.47994351e-02, 6.84443138e-03, 1.53199098e-03,
  2.07772233e-03, 1.15171690e-02,-9.81273520e+00,-4.01489531e-03,
 -6.03050830e-02, 6.08397828e-02]


--- Step 3776 ---
qpos:
[-0.01875153, 1.20399898,-0.03534286, 0.94260425,-0.00790156, 1.33297206,
 -0.03115408, 0.94135262, 0.01531714, 1.33851522,-0.02368201, 0.95470333,
  1.27773846,-0.00900813, 1.28398903, 0.0438294 ,-0.05500194,-0.08701149,
  0.09052645, 0.69026409,-0.13365318,-0.70862222,-0.0593874 ]

qacc:
[-1.46136400e-01, 5.92842675e-01, 9.59463368e-02,-2.21178591e+00,
 -3.84778609e-02,-6.68785913e-01, 6.52516734e+00,-2.65211458e+01,
 -8.41538529e-02, 2.67731732e+00,-9.44271788e+00, 1.66944257e+01,
  1.53099042e-01,-5.10014182e-02,-3.79946594e+00, 7.36561471e+00,
  1.74872477e+00,-3.43688501e+00, 2.45141144e+00, 2.24295642e+01,
  8.52715778e+01,-9.52096994e+01]

qfrc_actuator:
[ 9.96781879e-03, 5.94098315e-02, 1.42924425e-02, 2.19674939e-03,
 -2.68887189e-05, 3.49483413e-02, 1.08466821e-02, 1.84724797e-03,
 -3.09693397e-03, 3.47747097e-02, 1.08502934e-02, 1.83541638e-03,
  7.73566883e-03, 1.30510189e-02, 0.00000000e+00, 1.83038054e-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: -0.0006046439321019809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91332593e-01,  8.75135334e-02, -9.16078699e-01, -3.43787981e-02,
        9.96163331e-01,  8.04780515e-02,  9.19606927e-01,  6.93889390e-18,
        3.92839790e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0826028 , -0.03430977,  0.22320875])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.22848831,   5.91466605, -16.22848831,
        32.24228556,  41.07303774,   5.91466605,  41.07303774,
       129.96773109,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019696790509642764
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40914204e-14,  2.81828409e-14,  1.00000000e+00, -3.97136259e-28,
        1.00000000e+00, -2.81828409e-14, -1.00000000e+00,  0.00000000e+00,
        1.40914204e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0833958 , -0.06292995,  0.0618694 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.02282050e-03, 2.53239326e-02, 3.63821520e-03,-3.66784190e-07,
 -1.10577880e-05, 2.67762192e-05,-3.46254928e-05,-9.09319278e-05,
 -2.42454264e-05, 6.18524166e-05, 1.04973749e-06, 4.11272205e-05,
  1.04847424e-02, 1.47342963e-02, 7.01305614e-03, 1.63574664e-03,
  2.34165105e-04, 1.23953950e-02,-9.81283359e+00,-4.78757602e-03,
 -6.02083228e-02, 6.07854690e-02]


--- Step 3777 ---
qpos:
[-0.01875242, 1.20401525,-0.03534145, 0.94260767,-0.00790193, 1.3329742 ,
 -0.03115575, 0.94135296, 0.01531601, 1.33851576,-0.02368249, 0.95470644,
  1.27775266,-0.00900402, 1.28396614, 0.04382598,-0.05499009,-0.08696148,
  0.09055812, 0.69029891,-0.1342938 ,-0.70851284,-0.05884   ]

qacc:
[-3.99965191e-01, 2.84607445e-02, 8.73053513e+00,-2.94979795e+01,
  1.77842525e-02,-1.36019881e+00, 6.97011707e+00,-1.91711986e+01,
 -6.87990044e-02, 1.51840970e+00,-6.73915182e+00, 1.89515314e+01,
  3.60401682e-01,-2.76791579e-01,-9.46274506e+00, 1.99276340e+01,
  1.63461775e+00,-3.11437587e+00, 1.45885469e+00, 2.04621542e+01,
  7.81834784e+01,-8.87548471e+01]

qfrc_actuator:
[ 9.96626484e-03, 5.94382227e-02, 1.42973416e-02, 2.12029140e-03,
 -1.52323850e-05, 3.49505976e-02, 1.08398563e-02, 1.79209610e-03,
 -3.10245962e-03, 3.47960565e-02, 1.08707145e-02, 1.89447897e-03,
  7.74051169e-03, 1.30292245e-02, 0.00000000e+00, 4.03838109e-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: -0.0006041902352039129
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91319899e-01,  8.75137552e-02, -9.16084101e-01, -3.43777706e-02,
        9.96163311e-01,  8.04787316e-02,  9.19612367e-01, -6.93889390e-18,
        3.92827054e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08260075, -0.03431078,  0.22320884])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  13.36237384, -10.94504787,  13.36237384,
        74.23472662,  69.54264055, -10.94504787,  69.54264055,
       102.17457253,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00198967933136715
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.39497733e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.39497733e-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([-0.08337533, -0.06293024,  0.06186821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03804123e-03, 2.52961844e-02, 3.63065307e-03,-7.06998727e-05,
  5.12990202e-06, 7.54228256e-06,-8.19439425e-06,-5.74645642e-05,
 -1.98425018e-05, 5.69753582e-05, 3.38267927e-05, 6.18854601e-05,
  1.04832805e-02, 1.47052750e-02, 7.15086929e-03, 1.86120225e-03,
  1.00623097e-03, 7.74314461e-03,-9.81186395e+00,-4.18092478e-03,
 -6.04040139e-02, 6.07471304e-02]


--- Step 3778 ---
qpos:
[-0.01875403, 1.20403434,-0.03533958, 0.94260915,-0.00790206, 1.33297657,
 -0.03115699, 0.94135225, 0.0153149 , 1.33851688,-0.02368304, 0.95470954,
  1.27776708,-0.00899992, 1.28393926, 0.04382299,-0.05497208,-0.08692287,
  0.09059227, 0.69043103,-0.13478187,-0.70832779,-0.05840025]

qacc:
[-3.15511149e-01,-8.19661078e-01, 1.11626215e+01,-3.38949417e+01,
  9.68438847e-02,-2.65596211e+00, 1.12130811e+01,-2.20717559e+01,
  1.12638154e-02, 9.55107393e-01,-2.18093927e+00, 1.45395596e+00,
  4.25989280e-01,-4.35620917e-01,-7.24508379e+00, 1.67035915e+01,
  1.53788699e+00,-2.84920752e+00, 6.21969018e-01, 1.88222259e+01,
  7.22954615e+01,-8.32542598e+01]

qfrc_actuator:
[ 9.96623932e-03, 5.94467501e-02, 1.42816427e-02, 2.02081729e-03,
  9.63492401e-06, 3.49865223e-02, 1.08720213e-02, 1.74178946e-03,
 -3.08747148e-03, 3.48261966e-02, 1.08652009e-02, 1.89247562e-03,
  7.75354971e-03, 1.30144120e-02, 0.00000000e+00, 5.19854405e-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: -0.0006035839401003426
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91303633e-01,  8.75144007e-02, -9.16090987e-01, -3.43765972e-02,
        9.96163255e-01,  8.04799347e-02,  9.19619332e-01, -1.38777878e-17,
        3.92810748e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08259816, -0.03431165,  0.22320901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  13.02508511, -11.34434949,  13.02508511,
        86.40250399,  79.37178118, -11.34434949,  79.37178118,
       108.4039293 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019866069598861794
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39713472e-14,  1.39713472e-14,  1.00000000e+00, -1.95198543e-28,
        1.00000000e+00, -1.39713472e-14, -1.00000000e+00,  0.00000000e+00,
        1.39713472e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08337496, -0.06291969,  0.06186849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.08394422e-03, 2.51378061e-02, 3.58793508e-03,-8.48135919e-05,
  2.78961498e-05, 3.67492513e-05, 3.10218026e-05,-5.16498757e-05,
  3.27132793e-06, 7.00871865e-05, 1.12731890e-05, 2.11985106e-06,
  1.04890038e-02, 1.46827952e-02, 7.45674065e-03, 1.97066948e-03,
  1.26461778e-03, 4.39057005e-03,-9.81121286e+00,-3.80176452e-03,
 -6.05434438e-02, 6.07167644e-02]


--- Step 3779 ---
qpos:
[-0.01875441, 1.2040509 ,-0.03533821, 0.942611  ,-0.00790209, 1.33297908,
 -0.03115783, 0.9413513 , 0.01531418, 1.33851813,-0.02368367, 0.9547109 ,
  1.27778189,-0.00899637, 1.28391956, 0.04382055,-0.05494826,-0.08689478,
  0.09062609, 0.69065388,-0.1351266 ,-0.70807258,-0.05806242]

qacc:
[ 5.37251688e-01,-1.33676740e+00,-4.37676953e-01, 6.31924581e+00,
  4.70758809e-02,-1.32992010e+00, 5.06317450e+00,-7.29887182e+00,
  1.62447863e-01,-2.64126222e+00, 1.22928139e+01,-3.07115521e+01,
  3.09271380e-01,-5.71374949e-01, 8.93104583e+00,-1.58679362e+01,
  1.45600794e+00,-2.63136725e+00,-8.26533998e-02, 1.74525022e+01,
  6.74078585e+01,-7.85742128e+01]

qfrc_actuator:
[ 9.98505703e-03, 5.94602821e-02, 1.42534416e-02, 2.01495691e-03,
  6.72023378e-06, 3.49892325e-02, 1.08915545e-02, 1.73027120e-03,
 -3.04254668e-03, 3.47902253e-02, 1.08444061e-02, 1.80127474e-03,
  7.75019044e-03, 1.29861429e-02, 0.00000000e+00, 2.17594477e-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: -0.0006029247958601741
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91284328e-01,  8.75153845e-02, -9.16099139e-01, -3.43752906e-02,
        9.96163168e-01,  8.04815626e-02,  9.19627595e-01, -6.93889390e-18,
        3.92791402e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0825952 , -0.03431244,  0.22320924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001965069955121135
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.23734161e-14,  7.06223601e-14,  1.00000000e+00, -2.99251065e-27,
        1.00000000e+00, -7.06223601e-14, -1.00000000e+00,  0.00000000e+00,
        4.23734161e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08339057, -0.06290057,  0.06186995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.13898742e-03, 2.50096018e-02, 3.53631547e-03, 5.93230887e-06,
  1.35547762e-05, 2.75395128e-05, 2.87379741e-05,-1.06962230e-05,
  4.68594595e-05, 5.04768074e-06,-5.76003251e-06,-8.87394159e-05,
  1.04750327e-02, 1.46552327e-02, 7.65680638e-03, 1.64687694e-03,
  1.12203097e-03, 2.09182955e-03,-9.81082392e+00,-3.60525469e-03,
 -6.06388598e-02, 6.06938131e-02]


--- Step 3780 ---
qpos:
[-0.01875317, 1.20406426,-0.03533789, 0.94261287,-0.00790221, 1.33298117,
 -0.03115785, 0.9413499 , 0.0153139 , 1.33851902,-0.02368404, 0.95471119,
  1.27779699,-0.00899354, 1.2839084 , 0.04381854,-0.05491888,-0.08687651,
  0.09065721, 0.69096197,-0.13533575,-0.70775169,-0.05782165]

qacc:
[ 7.07988655e-01,-1.35826580e+00,-6.71917338e-01, 2.75351211e+00,
 -3.99268098e-02,-3.50428834e+00, 1.16880186e+01,-1.50631885e+01,
  1.89668772e-01,-2.98959151e+00, 1.13723947e+01,-2.20698040e+01,
  2.63076461e-01,-6.62138460e-01, 1.12867064e+01,-2.12316766e+01,
  1.38677869e+00,-2.45262174e+00,-6.75048196e-01, 1.63058962e+01,
  6.33575137e+01,-7.46023059e+01]

qfrc_actuator:
[ 9.99575855e-03, 5.94810525e-02, 1.42540299e-02, 2.01047513e-03,
 -1.28375751e-05, 3.49365116e-02, 1.09211153e-02, 1.70613350e-03,
 -3.01553281e-03, 3.47503209e-02, 1.08499728e-02, 1.74704757e-03,
  7.73696864e-03, 1.29503301e-02, 0.00000000e+00,-1.63756682e-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: -0.0006025420422335719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91267831e-01,  8.75158355e-02, -9.16106142e-01, -3.43740198e-02,
        9.96163128e-01,  8.04825958e-02,  9.19634662e-01, -6.93889390e-18,
        3.92774858e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08259288, -0.03431342,  0.22320941])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019289289998310408
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43891121e-14, -1.43891121e-14,  1.00000000e+00, -2.07046547e-28,
        1.00000000e+00,  1.43891121e-14, -1.00000000e+00,  0.00000000e+00,
       -1.43891121e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08341873, -0.06287474,  0.06187231])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.08794327e-03, 2.51570572e-02, 3.56212132e-03,-1.71647229e-05,
 -1.15550007e-05,-3.22014000e-05, 3.79040432e-05,-2.27111177e-05,
  5.46888670e-05,-4.08722531e-05, 3.30208457e-06,-5.63086290e-05,
  1.04420529e-02, 1.46463440e-02, 7.29788835e-03, 1.38541186e-03,
  6.59658980e-04, 6.60733575e-04,-9.81065321e+00,-3.55771519e-03,
 -6.06994099e-02, 6.06778170e-02]


--- Step 3781 ---
qpos:
[-0.01875152, 1.20407751,-0.03533818, 0.94261299,-0.00790248, 1.33298286,
 -0.0311574 , 0.94134721, 0.01531402, 1.33851987,-0.02368389, 0.95471079,
  1.27781208,-0.00899123, 1.28390026, 0.04381687,-0.0549034 ,-0.08685556,
  0.09067694, 0.6910942 ,-0.13556495,-0.70759806,-0.05758415]

qacc:
[ 1.74421936e-01,-1.47460367e+00, 8.24690613e+00,-2.74003235e+01,
 -6.38930466e-02,-4.00628516e+00, 1.51131884e+01,-2.79287671e+01,
  1.67679551e-01,-2.66807229e+00, 1.00229480e+01,-1.66517999e+01,
  1.71569496e-01,-5.21656438e-01, 3.45887691e+00,-5.62788437e+00,
 -3.47322483e+00, 6.66412250e-01,-2.84532629e+00,-1.51459560e+01,
 -1.20374348e+02,-1.04370708e+01]

qfrc_actuator:
[ 9.96519873e-03, 5.94900900e-02, 1.42726352e-02, 1.93602130e-03,
 -2.44673488e-05, 3.49042964e-02, 1.09383734e-02, 1.63921992e-03,
 -2.99948312e-03, 3.47794843e-02, 1.08888159e-02, 1.71504243e-03,
  7.72847591e-03, 1.29281457e-02, 0.00000000e+00,-1.41897933e-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: -0.0006024713094930668
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39125525,  0.08751558, -0.91611154, -0.03437281,  0.99616315,
        0.08048283,  0.91964006,  0.        ,  0.39276222])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08259132, -0.03431458,  0.22320951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.44953268,   5.26877424, -16.44953268,
        32.61202409,  47.89050598,   5.26877424,  47.89050598,
       166.7907    ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018959198707782857
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.46396354e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.46396354e-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([ 0.0220982 , -0.09859896,  0.06187449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97601338e-03, 2.53258948e-02, 3.63301377e-03,-9.22176801e-05,
 -1.84522145e-05,-4.33143705e-05, 1.46009227e-05,-6.72972518e-05,
  4.83467190e-05, 5.53410349e-06, 2.95880758e-05,-3.44291678e-05,
  1.04189342e-02, 1.46604032e-02, 6.87185287e-03, 1.36625809e-03,
 -6.42404764e-05,-4.37875397e-05,-9.81066640e+00,-3.63385695e-03,
 -6.07319324e-02, 6.06683883e-02]


--- Step 3782 ---
qpos:
[-0.01875022, 1.20409146,-0.03533839, 0.9426121 ,-0.00790275, 1.33298424,
 -0.03115707, 0.9413441 , 0.01531445, 1.33852119,-0.02368348, 0.95470962,
  1.27782677,-0.00898909, 1.28389287, 0.04381532,-0.05490068,-0.08683214,
  0.09068305, 0.69106496,-0.13581231,-0.70759821,-0.0573498 ]

qacc:
[-1.52391589e-01,-1.00333215e+00, 6.47789319e+00,-1.77687638e+01,
  3.03083246e-04,-7.98623973e-01, 2.97662157e+00,-7.19056542e+00,
  1.31364814e-01,-1.38376653e+00, 6.76401845e+00,-1.48798483e+01,
 -2.39288201e-01, 5.37170432e-02, 7.34219088e-01,-9.47556657e-01,
 -3.18915096e+00, 6.19834803e-01,-3.40844469e+00,-1.39075745e+01,
 -1.10581547e+02,-9.74023037e+00]

qfrc_actuator:
[ 9.94596254e-03, 5.94547800e-02, 1.42842816e-02, 1.89235277e-03,
 -1.34933021e-05, 3.48845346e-02, 1.09305164e-02, 1.61868065e-03,
 -2.99013912e-03, 3.48321745e-02, 1.09117472e-02, 1.67866442e-03,
  7.73881567e-03, 1.29674816e-02, 0.00000000e+00, 5.34491944e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006025778456166982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91243347e-01,  8.75151568e-02, -9.16116663e-01, -3.43716002e-02,
        9.96163188e-01,  8.04828912e-02,  9.19645169e-01,  6.93889390e-18,
        3.92750256e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08259003, -0.03431579,  0.22320961])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019087984561051707
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.90817247e-14,  5.81634494e-14,  1.00000000e+00,  1.69149342e-27,
        1.00000000e+00, -5.81634494e-14, -1.00000000e+00,  0.00000000e+00,
       -2.90817247e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02206778, -0.09858951,  0.06187377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93670929e-03, 2.52962782e-02, 3.67519531e-03,-4.83409220e-05,
  7.97457770e-08,-4.29127752e-05,-1.66518465e-05,-2.29762652e-05,
  3.78971126e-05, 6.05040154e-05, 2.63655753e-05,-3.61487475e-05,
  1.04303279e-02, 1.47257476e-02, 6.72031759e-03, 1.36917807e-03,
  3.09029471e-04, 3.63282109e-04,-9.81031574e+00,-3.97322880e-03,
 -6.06940907e-02, 6.06454634e-02]


--- Step 3783 ---
qpos:
[-0.01874986, 1.20410664,-0.03533779, 0.94261267,-0.00790297, 1.33298501,
 -0.03115672, 0.94134114, 0.01531496, 1.33852294,-0.02368308, 0.95470736,
  1.27784125,-0.00898629, 1.28387931, 0.04381313,-0.05490975,-0.0868064 ,
  0.0906736 , 0.69088622,-0.13607626,-0.70774074,-0.05711849]

qacc:
[-4.08649019e-01, 1.91663871e+00,-7.33137674e+00, 2.26020705e+01,
  2.34490216e-02,-5.96563262e-01, 6.71544491e-01, 1.48694526e+00,
  3.42204892e-02,-1.31973642e+00, 7.23477662e+00,-1.92744275e+01,
 -2.97039591e-01, 6.85045791e-01,-7.16557227e+00, 1.18854167e+01,
 -2.94959077e+00, 5.80064035e-01,-3.88745264e+00,-1.28771692e+01,
 -1.02357690e+02,-9.13232503e+00]

qfrc_actuator:
[ 9.95186405e-03, 5.93743342e-02, 1.42735524e-02, 1.97362941e-03,
 -6.80097180e-06, 3.48368020e-02, 1.09257371e-02, 1.62560088e-03,
 -3.00264390e-03, 3.48452362e-02, 1.09074404e-02, 1.62225161e-03,
  7.74983789e-03, 1.29903326e-02, 0.00000000e+00, 2.12891055e-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: -0.0006027756545219157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39123072,  0.08751488, -0.91612208, -0.03437038,  0.99616321,
        0.08048311,  0.91965059,  0.        ,  0.39273757])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258878, -0.03431696,  0.22320973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018979578326637353
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.92478317e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.92478317e-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([ 0.02209805, -0.09859498,  0.06187444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96010913e-03, 2.51804507e-02, 3.66038521e-03, 8.33778836e-05,
  6.73797878e-06,-7.54387482e-05,-1.57527131e-05, 4.60382532e-06,
  9.87935302e-06, 5.05884985e-05, 9.44458937e-06,-5.46889736e-05,
  1.04611824e-02, 1.47572273e-02, 6.68338088e-03, 1.57055765e-03,
  7.36187963e-05, 8.48922542e-04,-9.81024974e+00,-4.23487773e-03,
 -6.06557021e-02, 6.06265232e-02]


--- Step 3784 ---
qpos:
[-0.01875008, 1.20412251,-0.03533633, 0.94261495,-0.00790312, 1.33298536,
 -0.0311565 , 0.94133827, 0.01531517, 1.33852485,-0.02368206, 0.95470512,
  1.27785569,-0.00898299, 1.28386168, 0.04381053,-0.05491152,-0.08679319,
  0.09067219, 0.69081787,-0.13616457,-0.70779886,-0.05701455]

qacc:
[-2.53237098e-01, 1.48051421e+00,-7.25622042e+00, 2.56427408e+01,
  2.79378556e-02,-4.20042593e-02,-7.30376785e-01, 2.01615448e+00,
 -1.29656350e-01,-1.40058657e+00, 4.74339088e+00,-3.88654164e+00,
 -1.58414181e-01, 4.81522413e-01,-4.74829109e+00, 7.91768398e+00,
  1.82717451e+00,-3.13272888e+00, 2.00764955e+00, 2.07032082e+01,
  8.19050971e+01,-9.72622852e+01]

qfrc_actuator:
[ 9.95582475e-03, 5.93192552e-02, 1.42841396e-02, 2.05679079e-03,
 -2.73252226e-06, 3.48259773e-02, 1.09227230e-02, 1.63085155e-03,
 -3.04590528e-03, 3.48521011e-02, 1.09401981e-02, 1.62547782e-03,
  7.73996393e-03, 1.29847750e-02, 0.00000000e+00, 2.85418172e-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: -0.0006026760876491448
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3912162 ,  0.08751501, -0.91612827, -0.03436916,  0.9961632 ,
        0.08048377,  0.91965681,  0.        ,  0.392723  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.082587  , -0.03431801,  0.22320988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019106068683093225
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.90541985e-14,  4.35812978e-14,  1.00000000e+00, -1.26621968e-27,
        1.00000000e+00, -4.35812978e-14, -1.00000000e+00,  0.00000000e+00,
        2.90541985e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08342738, -0.06284557,  0.06187359])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01102172e-03, 2.50635841e-02, 3.63033580e-03, 9.32225566e-05,
  8.04341472e-06,-5.55131396e-05,-1.94399087e-05, 2.61841733e-06,
 -3.74236573e-05, 3.50490642e-05, 4.21050554e-05, 3.72872554e-06,
  1.04618307e-02, 1.47185578e-02, 6.99199572e-03, 1.67497952e-03,
 -6.37107245e-04, 1.39237727e-03,-9.81040778e+00,-4.42963476e-03,
 -6.06160800e-02, 6.06107060e-02]


--- Step 3785 ---
qpos:
[-0.01875055, 1.20413979,-0.03533443, 0.9426161 ,-0.00790321, 1.33298562,
 -0.03115677, 0.94133548, 0.01531498, 1.33852675,-0.02368056, 0.95470296,
  1.27787016,-0.00897986, 1.28384353, 0.04380828,-0.05490651,-0.08679149,
  0.09067514, 0.69085126,-0.13609015,-0.70777941,-0.05702903]

qacc:
[-1.09012301e-01,-1.24670952e+00, 8.63753179e+00,-2.15290894e+01,
  2.49503115e-02, 1.33664043e+00,-4.63999525e+00, 4.92718065e+00,
 -1.66158159e-01,-1.19469700e+00, 3.73647652e+00,-2.36823006e+00,
  1.85674580e-01,-3.09136404e-01,-1.87556131e+00, 5.39647876e+00,
  1.69398590e+00,-2.87596414e+00, 1.09128343e+00, 1.90147877e+01,
  7.55026607e+01,-9.03069027e+01]

qfrc_actuator:
[ 9.95863960e-03, 5.93149477e-02, 1.43071428e-02, 1.99823743e-03,
 -2.71186527e-07, 3.48373498e-02, 1.09031521e-02, 1.63509126e-03,
 -3.07176038e-03, 3.48376173e-02, 1.09590831e-02, 1.62829245e-03,
  7.73352159e-03, 1.29620622e-02, 0.00000000e+00, 2.94716674e-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: -0.0006023733940994438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39120024,  0.08751539, -0.91613505, -0.03436791,  0.99616317,
        0.08048472,  0.91966364,  0.        ,  0.392707  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258486, -0.03431898,  0.22321004])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019235791336112834
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.32873935e-14,  5.77165246e-14,  1.00000000e+00, -2.49839791e-27,
        1.00000000e+00, -5.77165246e-14, -1.00000000e+00,  0.00000000e+00,
        4.32873935e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08341517, -0.06284876,  0.06187277])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04293325e-03, 2.50244333e-02, 3.61024842e-03,-5.05365355e-05,
  7.20767493e-06,-2.30706133e-05,-3.25747014e-05, 2.05330209e-06,
 -4.79539327e-05, 1.32133941e-05, 3.06182499e-05, 5.17325337e-06,
  1.04572557e-02, 1.46704368e-02, 7.19563549e-03, 1.70497104e-03,
 -1.03841797e-04, 2.08156599e-04,-9.81006383e+00,-4.21444779e-03,
 -6.06444619e-02, 6.06065451e-02]


--- Step 3786 ---
qpos:
[-0.0187511 , 1.20415842,-0.03533205, 0.94261619,-0.00790296, 1.3329859 ,
 -0.03115768, 0.94133345, 0.01531458, 1.33852829,-0.02367919, 0.95470056,
  1.2778846 ,-0.00897692, 1.28382471, 0.0438064 ,-0.05489517,-0.08680044,
  0.09067936, 0.69097911,-0.13586387,-0.70768796,-0.05715442]

qacc:
[-3.17963318e-02,-1.32840206e+00, 8.67616493e+00,-2.06205961e+01,
  1.42981863e-01, 3.02892616e+00,-1.14383974e+01, 1.87725300e+01,
 -8.92942214e-02,-5.06382311e-01, 1.54685563e+00,-3.77091247e+00,
  1.59875616e-01,-3.15320168e-01,-2.08072860e+00, 5.81019499e+00,
  1.58186680e+00,-2.66353028e+00, 3.16175390e-01, 1.75755417e+01,
  7.01716799e+01,-8.44608672e+01]

qfrc_actuator:
[ 9.97842076e-03, 5.93223643e-02, 1.43199270e-02, 1.94557446e-03,
  3.67116392e-05, 3.48441149e-02, 1.08740582e-02, 1.67421413e-03,
 -3.06921027e-03, 3.47749116e-02, 1.09340154e-02, 1.61304866e-03,
  7.72913354e-03, 1.29472848e-02, 0.00000000e+00, 3.36483652e-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: -0.0006021336462771337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3911826 ,  0.0875159 , -0.91614253, -0.03436656,  0.99616312,
        0.08048585,  0.9196712 ,  0.        ,  0.3926893 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258266, -0.03431994,  0.22321024])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019153944977587795
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.44907880e-14,  2.89815760e-14,  1.00000000e+00, -4.19965874e-28,
        1.00000000e+00, -2.89815760e-14, -1.00000000e+00,  0.00000000e+00,
        1.44907880e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08342073, -0.06284099,  0.06187329])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.07522373e-03, 2.49615381e-02, 3.60135236e-03,-4.65102443e-05,
  4.12369878e-05,-1.23158590e-05,-3.72602739e-05, 3.75152819e-05,
 -2.57683372e-05,-4.92850169e-05,-1.88624590e-05,-1.38339077e-05,
  1.04514068e-02, 1.46641896e-02, 7.22225668e-03, 1.72894617e-03,
 -2.08323305e-05, 5.99100146e-05,-9.81001065e+00,-4.18192058e-03,
 -6.06347887e-02, 6.06106404e-02]


--- Step 3787 ---
qpos:
[-0.01875104, 1.20417608,-0.03532953, 0.94261622,-0.00790233, 1.33298632,
 -0.03115904, 0.94133222, 0.01531408, 1.33852976,-0.02367883, 0.95469872,
  1.27789917,-0.00897438, 1.28381019, 0.04380492,-0.05487788,-0.08681934,
  0.09068222, 0.69119522,-0.13549487,-0.70752903,-0.05738448]

qacc:
[ 2.61905922e-01,-1.72190796e+00, 4.18169143e+00,-3.63228637e+00,
  1.60319758e-01, 2.78568778e+00,-1.05383250e+01, 1.84482105e+01,
 -4.66002243e-02, 3.55954275e+00,-1.28213861e+01, 1.74740789e+01,
  1.44081197e-01,-3.65940845e-01, 5.11301384e+00,-8.67461937e+00,
  1.48747987e+00,-2.48792671e+00,-3.38753625e-01, 1.63440519e+01,
  6.57378389e+01,-7.95586992e+01]

qfrc_actuator:
[ 9.97279919e-03, 5.93007899e-02, 1.43263467e-02, 1.93232548e-03,
  5.85996601e-05, 3.48658072e-02, 1.08573443e-02, 1.71579594e-03,
 -3.06739431e-03, 3.47723918e-02, 1.08830027e-02, 1.64050287e-03,
  7.73663432e-03, 1.29373657e-02, 0.00000000e+00, 1.84558643e-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: -0.0006019473410397956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39116325,  0.08751647, -0.91615074, -0.03436508,  0.99616307,
        0.0804871 ,  0.91967948,  0.        ,  0.3926699 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08258039, -0.03432086,  0.22321046])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018903013495579976
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46831486e-14, -1.46831486e-14,  1.00000000e+00, -2.15594853e-28,
        1.00000000e+00,  1.46831486e-14, -1.00000000e+00,  0.00000000e+00,
       -1.46831486e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08344041, -0.06282452,  0.06187489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.07323664e-03, 2.48716739e-02, 3.58308235e-03,-7.01065008e-06,
  4.62311380e-05, 8.71618911e-06,-2.22668149e-05, 4.09825133e-05,
 -1.34024598e-05,-3.38839716e-05,-6.31927606e-05, 2.51206357e-05,
  1.04606431e-02, 1.46642201e-02, 7.25602264e-03, 1.55930882e-03,
 -2.95231259e-04, 7.44072536e-04,-9.81019026e+00,-4.29529132e-03,
 -6.05959413e-02, 6.06223784e-02]


--- Step 3788 ---
qpos:
[-0.01875077, 1.2041922 ,-0.03532763, 0.9426162 ,-0.00790167, 1.33298666,
 -0.03116024, 0.94133149, 0.01531366, 1.33853119,-0.02367887, 0.95469718,
  1.27791408,-0.0089719 , 1.28379752, 0.04380349,-0.05487532,-0.08683642,
  0.09067447, 0.69123369,-0.1351707 ,-0.70753518,-0.05760945]

qacc:
[ 9.64725577e-02,-4.62543620e-01,-8.17094918e-01, 9.51964969e-01,
  1.54342075e-02, 3.20562186e-01,-2.19527558e+00, 7.70665599e+00,
  3.87510821e-02, 1.56812938e+00,-5.79893467e+00, 8.61502308e+00,
  2.17472392e-01,-1.94253305e-01, 2.55777535e+00,-5.01382300e+00,
 -3.68202080e+00, 4.54448103e-01,-2.65146122e+00,-2.09916880e+01,
 -1.21527221e+02, 1.33780741e+00]

qfrc_actuator:
[ 9.93353781e-03, 5.93168715e-02, 1.42936085e-02, 1.92439416e-03,
  3.57494794e-05, 3.48608180e-02, 1.08658833e-02, 1.74074933e-03,
 -3.04828307e-03, 3.47880868e-02, 1.08706034e-02, 1.65738486e-03,
  7.75125501e-03, 1.29306293e-02, 0.00000000e+00, 1.47007215e-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: -0.0006019630101400733
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39114468,  0.08751679, -0.91615864, -0.03436358,  0.99616304,
        0.08048809,  0.91968744,  0.        ,  0.39265127])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08257849, -0.03432188,  0.22321066])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.39328869,   5.44124925, -16.39328869,
        25.68018896,  25.32983519,   5.44124925,  25.32983519,
        93.58595645,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019250167036349922
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.88367115e-14,  2.88367115e-14,  1.00000000e+00,  8.31555928e-28,
        1.00000000e+00, -2.88367115e-14, -1.00000000e+00,  0.00000000e+00,
       -2.88367115e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02204683, -0.09851915,  0.06187278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.00387150e-03, 2.49363369e-02, 3.54381190e-03,-1.21896269e-05,
  4.44187790e-06,-3.29023589e-06, 8.91179641e-06, 2.55090514e-05,
  1.11960855e-05,-1.46531021e-05,-2.54681451e-05, 1.46133203e-05,
  1.04688839e-02, 1.46768262e-02, 7.04109480e-03, 1.50137243e-03,
 -8.60141708e-04, 2.11149846e-03,-9.81055808e+00,-4.52765408e-03,
 -6.05344251e-02, 6.06412153e-02]


--- Step 3789 ---
qpos:
[-0.01875088, 1.2042076 ,-0.03532655, 0.94261567,-0.0079011 , 1.3329866 ,
 -0.03116121, 0.94133178, 0.01531339, 1.33853237,-0.02367876, 0.95469689,
  1.27792882,-0.00896924, 1.2837832 , 0.04380193,-0.05488618,-0.08685172,
  0.09065371, 0.69110917,-0.13488391,-0.70769345,-0.05783106]

qacc:
[-1.67641890e-01, 4.06650891e-01,-1.41201761e+00,-4.18563589e+00,
 -3.94085516e-02, 5.86281710e-01,-4.64715893e+00, 1.61274582e+01,
  6.30743979e-02, 1.43023415e+00,-7.55692256e+00, 2.10007899e+01,
 -1.67353164e-01, 2.65649624e-01,-2.02071158e+00, 3.54326268e+00,
 -3.35425432e+00, 4.45618681e-01,-3.25454331e+00,-1.83631804e+01,
 -1.11540826e+02,-5.88745789e-01]

qfrc_actuator:
[ 9.92748980e-03, 5.93387567e-02, 1.42558282e-02, 1.90193144e-03,
  2.17525121e-05, 3.48222313e-02, 1.08713939e-02, 1.79122090e-03,
 -3.03670481e-03, 3.47792030e-02, 1.08811731e-02, 1.72120100e-03,
  7.74349529e-03, 1.29611438e-02, 0.00000000e+00, 2.13778265e-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: -0.0006019915182701209
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39112812,  0.08751698, -0.91616569, -0.0343622 ,  0.99616303,
        0.08048889,  0.91969453,  0.        ,  0.39263464])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08257677, -0.03432297,  0.22321083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.90851937, -3.5283254 , 16.90851937, 18.16922126,
        4.2961984 , -3.5283254 ,  4.2961984 , 37.86106474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019385416046649728
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.86355222e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.86355222e-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([ 0.02201603, -0.09849333,  0.06187194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98672391e-03, 2.50354428e-02, 3.53710362e-03,-3.14624949e-05,
 -1.13749912e-05,-3.78958965e-05, 6.62978775e-06, 5.12226373e-05,
  1.81909110e-05,-2.15392566e-05, 5.23758651e-06, 6.29765248e-05,
  1.04443028e-02, 1.47107279e-02, 6.94900152e-03, 1.56558422e-03,
  1.18647785e-04, 1.14505438e-03,-9.81020989e+00,-4.20910418e-03,
 -6.05954295e-02, 6.06540231e-02]


--- Step 3790 ---
qpos:
[-0.01875144, 1.20422346,-0.03532589, 0.94261371,-0.00790066, 1.33298623,
 -0.03116238, 0.94133304, 0.01531298, 1.33853326,-0.02367936, 0.95469775,
  1.27794286,-0.00896658, 1.28376785, 0.04380054,-0.05490935,-0.08686528,
  0.09061788, 0.69083389,-0.13462852,-0.70799281,-0.05805063]

qacc:
[-1.98626737e-01,-6.83555314e-01, 5.92040429e+00,-2.20192282e+01,
 -5.30496184e-02, 1.79600361e+00,-8.36130291e+00, 1.86672498e+01,
 -6.17840044e-02, 3.51418117e+00,-1.42555572e+01, 2.59122310e+01,
 -4.93383767e-01, 3.49340627e-01,-2.01107318e+00, 4.90985971e+00,
 -3.07864849e+00, 4.35337359e-01,-3.76693215e+00,-1.62171557e+01,
 -1.03144978e+02,-2.05837671e+00]

qfrc_actuator:
[ 9.95964062e-03, 5.93284010e-02, 1.42509692e-02, 1.83571069e-03,
  1.31824795e-05, 3.47993388e-02, 1.08571926e-02, 1.83852815e-03,
 -3.06524556e-03, 3.47380455e-02, 1.08341321e-02, 1.77661791e-03,
  7.73299114e-03, 1.30137737e-02, 0.00000000e+00, 2.54547943e-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: -0.0006018781394842888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39111295,  0.0875173 , -0.91617214, -0.03436099,  0.996163  ,
        0.08048975,  0.91970103,  0.        ,  0.39261943])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08257494, -0.03432401,  0.22321098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.89545822, -3.59034801, 16.89545822, 18.3703899 ,
        5.16538035, -3.59034801,  5.16538035, 41.57997206,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001927600508721511
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.87980580e-14, -2.87980580e-14,  1.00000000e+00, -8.29328144e-28,
        1.00000000e+00,  2.87980580e-14, -1.00000000e+00,  0.00000000e+00,
       -2.87980580e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02204681, -0.09848603,  0.06187254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03811829e-03, 2.50604542e-02, 3.57293233e-03,-7.24594723e-05,
 -1.52866258e-05,-4.10146046e-05,-1.93576176e-05, 4.75450375e-05,
 -1.77978921e-05,-5.01873976e-05,-4.88111598e-05, 5.63988577e-05,
  1.04416260e-02, 1.47536078e-02, 7.03206443e-03, 1.61326590e-03,
  3.87438507e-04, 4.74804859e-04,-9.81018226e+00,-3.88872493e-03,
 -6.06411549e-02, 6.06705456e-02]


--- Step 3791 ---
qpos:
[-0.01875236, 1.2042406 ,-0.0353247 , 0.94261188,-0.00790048, 1.33298591,
 -0.03116329, 0.94133445, 0.01531263, 1.33853369,-0.02367961, 0.95469958,
  1.27795632,-0.00896366, 1.28374872, 0.04379904,-0.05492482,-0.0868913 ,
  0.0905912 , 0.69067075,-0.13418419,-0.70820659,-0.05841184]

qacc:
[-1.56045636e-01, 4.64308859e-01, 2.28099720e-01, 5.33130117e-01,
 -1.11084516e-01,-3.94038087e-01, 1.05548959e+00, 8.25815441e-01,
  2.82276568e-02, 1.09957264e-01,-3.02233076e+00, 1.40052112e+01,
 -4.32787755e-01, 4.96613402e-01,-5.20458458e+00, 1.01529409e+01,
  1.92668899e+00,-3.11532340e+00, 2.28740360e+00, 2.01874766e+01,
  8.42795400e+01,-1.06796451e+02]

qfrc_actuator:
[ 1.00149360e-02, 5.93155643e-02, 1.42657946e-02, 1.85087752e-03,
 -9.81470886e-06, 3.48392030e-02, 1.08847740e-02, 1.84807837e-03,
 -3.04661212e-03, 3.47309229e-02, 1.08598268e-02, 1.82657917e-03,
  7.73687351e-03, 1.30443008e-02, 0.00000000e+00, 3.85974789e-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: -0.000601742473203791
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39109774,  0.0875178 , -0.91617858, -0.03435986,  0.99616296,
        0.08049078,  0.91970754,  0.        ,  0.39260418])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08257304, -0.03432497,  0.22321115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019094514206784707
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.45358899e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.45358899e-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([-0.0834216 , -0.06283429,  0.06187352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.11621655e-03, 2.50243155e-02, 3.60873676e-03, 1.41765802e-05,
 -3.20230142e-05, 1.48240684e-05, 1.87504891e-05, 8.84686957e-06,
  8.12097849e-06,-4.27421926e-05, 1.19970953e-05, 4.83598751e-05,
  1.04812259e-02, 1.47849222e-02, 7.08345840e-03, 1.73598172e-03,
  1.09599190e-04, 2.04056320e-05,-9.81039859e+00,-3.55767374e-03,
 -6.06747819e-02, 6.06897155e-02]


--- Step 3792 ---
qpos:
[-0.0187527 , 1.20425628,-0.03532362, 0.94261156,-0.00790071, 1.33298577,
 -0.03116362, 0.94133524, 0.01531285, 1.33853367,-0.02367865, 0.95470125,
  1.27797006,-0.00896056, 1.28373003, 0.04379736,-0.0549332 ,-0.08692881,
  0.09056979, 0.69061046,-0.13356576,-0.70834154,-0.05890359]

qacc:
[ 2.55277150e-01, 9.56378359e-01,-8.55061113e+00, 2.58732270e+01,
 -1.74703993e-01,-2.37623698e+00, 9.32115231e+00,-1.53640619e+01,
  2.40545987e-01,-4.14341985e+00, 1.30925440e+01,-1.28201524e+01,
  7.37984281e-02, 1.00821639e-01, 1.17661046e+00,-3.17233533e+00,
  1.77225865e+00,-2.87235029e+00, 1.31810313e+00, 1.84948578e+01,
  7.74808812e+01,-9.84327943e+01]

qfrc_actuator:
[ 1.00131924e-02, 5.93179987e-02, 1.42383909e-02, 1.91388724e-03,
 -4.12809367e-05, 3.48632179e-02, 1.09192769e-02, 1.81764784e-03,
 -2.98207547e-03, 3.47267514e-02, 1.09283901e-02, 1.81974218e-03,
  7.73874917e-03, 1.30080282e-02, 0.00000000e+00, 3.05729969e-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: -0.0006014660280471221
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39108087,  0.08751847, -0.91618572, -0.03435864,  0.9961629 ,
        0.08049203,  0.91971476,  0.        ,  0.39258727])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08257083, -0.03432581,  0.22321136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001929905933906087
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.31454846e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.31454846e-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([-0.08340416, -0.06284667,  0.06187216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.13238739e-03, 2.49630288e-02, 3.55479685e-03, 7.05944621e-05,
 -5.03700705e-05, 3.61560048e-05, 3.98013247e-05,-2.92281461e-05,
  6.93310359e-05,-2.40315194e-05, 6.29969454e-05,-6.62423982e-06,
  1.05117488e-02, 1.47350849e-02, 7.27294492e-03, 1.66173327e-03,
  9.43095950e-04, 1.34927155e-03,-9.81050662e+00,-3.53313894e-03,
 -6.06078680e-02, 6.07107713e-02]


--- Step 3793 ---
qpos:
[-0.01875254, 1.20427045,-0.03532354, 0.94261068,-0.00790133, 1.33298578,
 -0.03116434, 0.94133572, 0.01531343, 1.33853302,-0.02367758, 0.9547029 ,
  1.27798442,-0.00895762, 1.28371383, 0.04379587,-0.054935  ,-0.08697699,
  0.09055036, 0.69064511,-0.13278569,-0.70840317,-0.05951666]

qacc:
[  0.21548471, -0.27593544, -0.32469251, -5.35066652, -0.16756482,
   0.74256673, -1.53751801, -2.42186739,  0.15167211, -1.11844461,
   2.70924435, -2.21632328,  0.47734522, -0.46068764,  3.0815314 ,
  -5.51620277,  1.64221413, -2.66990792,  0.49531365, 17.0265335 ,
  71.80901439,-91.45246273]

qfrc_actuator:
[ 9.95867099e-03, 5.93140574e-02, 1.42038314e-02, 1.87990267e-03,
 -5.98206627e-05, 3.48420652e-02, 1.08865027e-02, 1.79944204e-03,
 -2.97928787e-03, 3.46535224e-02, 1.09151552e-02, 1.81506133e-03,
  7.73403948e-03, 1.29494164e-02, 0.00000000e+00, 2.22853647e-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: -0.0006011221125406079
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39106545,  0.08751889, -0.91619226, -0.03435745,  0.99616286,
        0.08049299,  0.91972136,  0.        ,  0.3925718 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08256866, -0.03432669,  0.22321153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019274034492664238
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.44005012e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.44005012e-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([-0.08340566, -0.06284608,  0.06187226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04851846e-03, 2.50315045e-02, 3.52576222e-03,-3.89187491e-05,
 -4.82736116e-05, 5.75801580e-06,-2.20240973e-05,-1.66244316e-05,
  4.37317240e-05,-7.44073277e-05,-1.09611009e-05,-3.70022328e-06,
  1.04933894e-02, 1.46677057e-02, 7.25128210e-03, 1.58764339e-03,
  1.27930882e-03, 3.65714911e-03,-9.81089504e+00,-3.68765560e-03,
 -6.05092720e-02, 6.07404593e-02]


--- Step 3794 ---
qpos:
[-0.01875278, 1.20428557,-0.03532341, 0.94260912,-0.00790214, 1.33298585,
 -0.03116567, 0.94133496, 0.01531394, 1.33853212,-0.02367741, 0.95470554,
  1.27799915,-0.00895459, 1.2836959 , 0.04379445,-0.05493068,-0.08703519,
  0.09053012, 0.69076796,-0.13185439,-0.70839591,-0.06024347]

qacc:
[-1.72578429e-01, 3.80858412e-03, 2.88279808e+00,-1.09433899e+01,
 -7.42524729e-02,-4.37478985e-01, 4.08606658e+00,-1.79800792e+01,
 -2.94264444e-02, 3.76986301e+00,-1.46786457e+01, 2.42622021e+01,
  3.34371547e-01,-2.24687577e-01,-2.81133914e+00, 6.07535266e+00,
  1.53265071e+00,-2.50132918e+00,-2.02547020e-01, 1.57468497e+01,
  6.70805624e+01,-8.56411191e+01]

qfrc_actuator:
[ 9.92559732e-03, 5.92714251e-02, 1.42191602e-02, 1.86020573e-03,
 -5.27039636e-05, 3.48292805e-02, 1.08496192e-02, 1.73525880e-03,
 -3.01356721e-03, 3.46457209e-02, 1.08712241e-02, 1.86486260e-03,
  7.72533700e-03, 1.29131643e-02, 0.00000000e+00, 3.33387927e-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: -0.0006008298110331926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.91052325e-01,  8.75190657e-02, -9.16197846e-01, -3.43563648e-02,
        9.96162845e-01,  8.04936461e-02,  9.19726981e-01, -6.93889390e-18,
        3.92558633e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08256673, -0.03432768,  0.22321166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019064685311288437
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.4558633e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.4558633e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08342229, -0.06283511,  0.06187354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.99065905e-03, 2.50642569e-02, 3.59058388e-03,-3.02446010e-05,
 -2.13805929e-05,-1.44104170e-05,-3.87501140e-05,-6.50411877e-05,
 -8.45552158e-06,-5.11912127e-05,-5.98147306e-05, 4.71920951e-05,
  1.04534170e-02, 1.46390745e-02, 7.12734393e-03, 1.68900039e-03,
  1.22222632e-03, 6.73112112e-03,-9.81149681e+00,-3.98181450e-03,
 -6.03876328e-02, 6.07780333e-02]


--- Step 3795 ---
qpos:
[-0.01875395, 1.2043022 ,-0.03532221, 0.94260826,-0.007903  , 1.33298589,
 -0.03116682, 0.94133271, 0.01531439, 1.33853136,-0.02367736, 0.95470765,
  1.27801377,-0.00895123, 1.28367562, 0.04379304,-0.05494146,-0.08709229,
  0.09049935, 0.6907133 ,-0.13098114,-0.70854975,-0.06096171]

qacc:
[-4.05015416e-01, 2.61067096e-01, 1.00358590e-01, 7.09213560e+00,
 -2.74494366e-02,-3.03260340e+00, 1.28971010e+01,-2.84068307e+01,
 -2.76600820e-02,-4.00669044e-01, 2.59197697e+00,-8.48558885e+00,
 -1.64930167e-01, 3.58873031e-01,-3.47247818e+00, 7.15403025e+00,
 -3.77647625e+00, 2.73151404e-01,-2.63239692e+00,-2.38692187e+01,
 -1.20830210e+02, 7.55284858e+00]

qfrc_actuator:
[ 9.88833347e-03, 5.92214810e-02, 1.42637948e-02, 1.90267471e-03,
 -4.80081838e-05, 3.48392957e-02, 1.08638783e-02, 1.66229180e-03,
 -3.01654474e-03, 3.46948082e-02, 1.08808330e-02, 1.83983708e-03,
  7.71423997e-03, 1.29256539e-02, 0.00000000e+00, 4.17981276e-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: -0.0006004918734232104
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3910383 ,  0.08751942, -0.9162038 , -0.03435527,  0.99616281,
        0.08049449,  0.91973298,  0.        ,  0.39254457])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08256464, -0.03432866,  0.22321181])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.3906723 ,   5.44912552, -16.3906723 ,
        23.36239952,  18.31740191,   5.44912552,  18.31740191,
        72.37047298,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019436116105633547
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.85608251e-14,  1.42804125e-14,  1.00000000e+00,  4.07860365e-28,
        1.00000000e+00, -1.42804125e-14, -1.00000000e+00,  0.00000000e+00,
       -2.85608251e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02202817, -0.09835776,  0.06187122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97320720e-03, 2.49669712e-02, 3.63353634e-03, 4.60255965e-05,
 -7.92614307e-06,-7.50134564e-06, 5.12006246e-06,-7.60478661e-05,
 -7.97381983e-06, 1.05053634e-05,-5.80105865e-06,-2.71919933e-05,
  1.04241942e-02, 1.46471353e-02, 7.21408263e-03, 1.76981375e-03,
  8.47178519e-04, 1.04208679e-02,-9.81226135e+00,-4.38747065e-03,
 -6.02491728e-02, 6.08228067e-02]


--- Step 3796 ---
qpos:
[-0.01875475, 1.20431712,-0.0353208 , 0.9426086 ,-0.00790388, 1.3329859 ,
 -0.03116734, 0.94133096, 0.01531478, 1.33853123,-0.02367742, 0.95470836,
  1.27802819,-0.00894805, 1.2836606 , 0.0437919 ,-0.05496594,-0.08714823,
  0.09045558, 0.69049571,-0.13015488,-0.70885237,-0.06167419]

qacc:
[ 1.60188545e-01,-7.83869401e-01,-2.61776520e+00, 1.72500533e+01,
 -5.04039653e-03,-9.10101531e-01, 1.92367157e+00, 4.09669808e+00,
 -2.30528932e-02,-1.26671767e+00, 7.94839610e+00,-2.34007567e+01,
 -3.09232174e-01, 1.94572398e-01, 6.99179103e+00,-1.31429049e+01,
 -3.42269776e+00, 2.91417099e-01,-3.25151252e+00,-2.03207929e+01,
 -1.10915230e+02, 3.92565001e+00]

qfrc_actuator:
[ 9.90250664e-03, 5.91839557e-02, 1.42716938e-02, 1.94583215e-03,
 -4.48051185e-05, 3.48630694e-02, 1.09083030e-02, 1.69131097e-03,
 -3.01847001e-03, 3.47599923e-02, 1.08866558e-02, 1.77104183e-03,
  7.70706123e-03, 1.29493609e-02, 0.00000000e+00, 2.03005717e-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: -0.0006001099038201452
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39102189,  0.08752017, -0.91621073, -0.03435413,  0.99616275,
        0.0804958 ,  0.91974001,  0.        ,  0.39252812])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08256232, -0.03432959,  0.22321199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.71468417, -4.3550477 , 16.71468417, 17.69942528,
        1.63766804, -4.3550477 ,  1.63766804, 23.55810138,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001953682316407211
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.42068009e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.42068009e-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([ 0.02200709, -0.09832361,  0.06187053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03392275e-03, 2.48536154e-02, 3.58734127e-03, 5.41817913e-05,
 -1.47601341e-06, 1.83309312e-05, 4.13064697e-05, 2.71769884e-05,
 -6.63467520e-06, 6.90627969e-05, 6.42312892e-06,-6.92846044e-05,
  1.04224001e-02, 1.46543980e-02, 7.33152490e-03, 1.55450298e-03,
  2.34238484e-03, 7.84674528e-03,-9.81195440e+00,-3.41964278e-03,
 -6.04445664e-02, 6.08733238e-02]


--- Step 3797 ---
qpos:
[-0.01875409, 1.20432832,-0.0353206 , 0.94260972,-0.0079046 , 1.3329862 ,
 -0.03116745, 0.94133025, 0.01531527, 1.33853189,-0.02367848, 0.95470999,
  1.27804281,-0.00894526, 1.28365234, 0.0437908 ,-0.05500291,-0.08720295,
  0.0903967 , 0.69012733,-0.12936675,-0.70929321,-0.06238306]

qacc:
[ 6.35319134e-01,-2.70631854e-01,-6.65366023e+00, 1.71981633e+01,
  6.64930527e-02, 1.06993987e+00,-5.18324892e+00, 1.63613609e+01,
  4.32822582e-02, 5.32346352e+00,-1.79616829e+01, 2.57697514e+01,
  4.00405009e-02,-2.38658424e-01, 9.86548903e+00,-1.99849344e+01,
 -3.12567486e+00, 3.02428592e-01,-3.77692742e+00,-1.74327717e+01,
 -1.02571870e+02, 1.11372750e+00]

qfrc_actuator:
[ 9.94661559e-03, 5.91564898e-02, 1.42224785e-02, 1.97087339e-03,
 -2.47719116e-05, 3.48950877e-02, 1.09347762e-02, 1.74463041e-03,
 -3.00199612e-03, 3.47987754e-02, 1.08369875e-02, 1.81908352e-03,
  7.70224483e-03, 1.29269069e-02, 0.00000000e+00,-1.44407642e-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: -0.000599938930990529
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39100684,  0.08752076, -0.9162171 , -0.03435304,  0.9961627 ,
        0.08049691,  0.91974644,  0.        ,  0.39251303])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08256046, -0.03433064,  0.22321213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.69475351, -4.43083656, 16.69475351, 17.85742694,
        2.20306407, -4.43083656,  2.20306407, 25.57355516,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019394347851672267
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.86223345e-14, -1.43111673e-14,  1.00000000e+00, -4.09619017e-28,
        1.00000000e+00,  1.43111673e-14, -1.00000000e+00,  0.00000000e+00,
       -2.86223345e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02204668, -0.09830977,  0.06187127])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.05962884e-03, 2.49109985e-02, 3.52728087e-03, 1.93974724e-05,
  1.91623536e-05, 5.10599046e-05, 3.55581146e-05, 5.57106141e-05,
  1.25580553e-05, 7.61775647e-05,-3.74768271e-05, 4.86645087e-05,
  1.04271420e-02, 1.46403914e-02, 7.06942800e-03, 1.32407341e-03,
  3.09567564e-03, 5.81380331e-03,-9.81198159e+00,-2.50950809e-03,
 -6.06007192e-02, 6.09266048e-02]


--- Step 3798 ---
qpos:
[-0.01875276, 1.20433787,-0.03532149, 0.94261128,-0.00790528, 1.33298669,
 -0.03116719, 0.94133054, 0.01531605, 1.33853218,-0.02367913, 0.95471291,
  1.2780579 ,-0.00894243, 1.2836439 , 0.04378926,-0.05503136,-0.08726533,
  0.09035459, 0.68987821,-0.12845873,-0.70962974,-0.06318267]

qacc:
[ 2.91676529e-01, 1.48333157e+00,-8.38101275e+00, 1.34640126e+01,
  2.00528919e-02, 9.36657840e-01,-4.82758534e+00, 1.56830424e+01,
  1.20687949e-01, 6.03532196e-01,-5.15697647e+00, 1.95159615e+01,
  3.36757082e-01,-2.21524290e-01, 1.02931759e+00,-4.04106523e+00,
  2.13121598e+00,-1.91348801e+00, 4.19386965e+00, 1.36466860e+01,
  8.78976706e+01,-6.33617110e+01]

qfrc_actuator:
[ 9.93643592e-03, 5.91732745e-02, 1.41936073e-02, 2.00273445e-03,
 -3.03101167e-05, 3.48962554e-02, 1.09504674e-02, 1.79403802e-03,
 -2.97461812e-03, 3.47325363e-02, 1.08437090e-02, 1.88220317e-03,
  7.69881883e-03, 1.28770553e-02, 0.00000000e+00, 3.30298853e-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: -0.0005999369644998399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39099637,  0.0875207 , -0.91622157, -0.03435209,  0.9961627 ,
        0.08049724,  0.91975093,  0.        ,  0.39250251])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255921, -0.03433184,  0.22321218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001982116813107858
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.80059938e-14,  1.40029969e-14,  1.00000000e+00, -3.92167845e-28,
        1.00000000e+00, -1.40029969e-14, -1.00000000e+00,  0.00000000e+00,
        2.80059938e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08250737, -0.06851496,  0.0618684 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97642754e-03, 2.51141581e-02, 3.55962785e-03, 1.22119309e-05,
  5.77557030e-06, 3.80510805e-05, 3.13642292e-05, 5.32800377e-05,
  3.47971033e-05,-2.99907957e-05, 1.87662141e-05, 6.54145635e-05,
  1.04144566e-02, 1.46105408e-02, 6.73109381e-03, 1.36926070e-03,
  3.28083308e-03, 4.18049576e-03,-9.81225718e+00,-1.63382297e-03,
 -6.07265303e-02, 6.09815340e-02]


--- Step 3799 ---
qpos:
[-0.01875076, 1.20434606,-0.03532316, 0.94261282,-0.0079058 , 1.33298736,
 -0.03116666, 0.94133073, 0.01531684, 1.33853188,-0.0236789 , 0.95471553,
  1.27807332,-0.00893986, 1.28363836, 0.0437876 ,-0.05505202,-0.08733483,
  0.09032454, 0.68973777,-0.12744082,-0.7098706 ,-0.06406545]

qacc:
[ 2.91992693e-01, 3.11931792e-01,-3.12448026e+00, 3.32142068e+00,
  6.27576996e-02,-6.59861332e-01, 2.63054463e+00,-3.49018420e+00,
  3.61917796e-03,-3.67238239e+00, 1.16588788e+01,-1.32858230e+01,
  2.54075957e-01,-3.56926185e-01, 4.64437705e+00,-1.00630402e+01,
  1.94873682e+00,-1.77824743e+00, 3.01478302e+00, 1.23542851e+01,
  8.03754924e+01,-5.80995260e+01]

qfrc_actuator:
[ 9.92939377e-03, 5.91805181e-02, 1.41950356e-02, 2.00320616e-03,
 -1.56390211e-05, 3.48966504e-02, 1.09595524e-02, 1.78746312e-03,
 -2.99417886e-03, 3.46929064e-02, 1.08832585e-02, 1.86487826e-03,
  7.70151968e-03, 1.28637401e-02, 0.00000000e+00,-7.96318273e-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: -0.0005998100729886421
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3909884 ,  0.08752032, -0.91622501, -0.03435125,  0.99616273,
        0.0804972 ,  0.91975435,  0.        ,  0.39249451])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255797, -0.03433307,  0.2232122 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002012891822121665
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.13667172e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.13667172e-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([-0.08248259, -0.06853099,  0.06186637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93584124e-03, 2.52038844e-02, 3.61481130e-03,-9.54037873e-06,
  1.80817360e-05, 2.91866749e-05, 2.16643346e-05,-3.27182811e-06,
  9.87992749e-07,-5.06066535e-05, 3.77440235e-05,-1.61387300e-05,
  1.03931757e-02, 1.45950537e-02, 6.74040988e-03, 1.27848328e-03,
  3.81737860e-03, 7.11748380e-03,-9.81252850e+00,-1.94175870e-03,
 -6.06296077e-02, 6.10204567e-02]


--- Step 3800 ---
qpos:
[-0.01874746, 1.20435255,-0.03532562, 0.94261405,-0.00790617, 1.33298794,
 -0.03116649, 0.94133193, 0.01531724, 1.33853131,-0.0236786 , 0.95471896,
  1.27808897,-0.00893794, 1.28363885, 0.04378597,-0.0550655 ,-0.08741098,
  0.09030256, 0.6896971 ,-0.12632137,-0.71002292,-0.06502517]

qacc:
[ 5.64075798e-01,-6.57899834e-01, 1.07976353e-01,-2.73772028e+00,
  6.79481001e-02, 2.61154802e+00,-1.07438413e+01, 2.11482639e+01,
 -1.62828201e-01, 8.93190574e-01,-4.97828864e+00, 1.39494076e+01,
  2.77078459e-01,-6.45937705e-01, 8.77720535e+00,-1.78317231e+01,
  1.79533240e+00,-1.66567758e+00, 2.01538242e+00, 1.12303252e+01,
  7.41009267e+01,-5.37323468e+01]

qfrc_actuator:
[ 9.97722314e-03, 5.91646476e-02, 1.41970343e-02, 1.98513174e-03,
 -6.71472654e-06, 3.48610096e-02, 1.09291222e-02, 1.83675585e-03,
 -3.04173998e-03, 3.46873567e-02, 1.08886177e-02, 1.90688055e-03,
  7.71321950e-03, 1.28548773e-02, 0.00000000e+00,-2.70758147e-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: -0.0005997638661241061
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90982418e-01,  8.75196550e-02, -9.16227624e-01, -3.43504562e-02,
        9.96162793e-01,  8.04968085e-02,  9.19756922e-01, -6.93889390e-18,
        3.92488478e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255698, -0.03433438,  0.22321219])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00201806517052254
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.75071153e-14,  6.87677881e-14,  1.00000000e+00, -1.89160347e-27,
        1.00000000e+00, -6.87677881e-14, -1.00000000e+00,  0.00000000e+00,
        2.75071153e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08247832, -0.06853642,  0.06186598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.95009751e-03, 2.52556387e-02, 3.65622405e-03,-2.65729855e-05,
  1.95995959e-05,-1.53573895e-05,-2.23498407e-05, 5.07343158e-05,
 -4.69799270e-05,-2.66357981e-05,-7.02884770e-07, 4.12350289e-05,
  1.03888692e-02, 1.45990396e-02, 6.59552744e-03, 1.09359981e-03,
  3.86368417e-03, 1.03815553e-02,-9.81295794e+00,-2.33013543e-03,
 -6.05306908e-02, 6.10649801e-02]


--- Step 3801 ---
qpos:
[-0.01874349, 1.20435816,-0.03532831, 0.94261632,-0.00790669, 1.33298769,
 -0.03116631, 0.94133308, 0.01531718, 1.33853076,-0.02367833, 0.95472251,
  1.27810456,-0.00893613, 1.28364036, 0.04378378,-0.05506984,-0.08748369,
  0.09029305, 0.68977047,-0.12527133,-0.71005453,-0.06592694]

qacc:
[ 2.94668514e-01, 1.27350472e+00,-7.71659011e+00, 1.94450580e+01,
 -6.41994022e-02,-1.25099683e+00, 2.87766793e+00,-2.66810029e+00,
 -1.94861937e-01, 2.77469804e-01,-1.11269007e+00, 2.24842409e+00,
 -7.50666097e-02,-3.39560787e-03, 3.22173641e+00,-9.04946706e+00,
  2.28263841e+00, 8.61355718e-01, 3.11878783e+00,-8.47803977e-02,
  7.61922356e+01, 5.59517847e+01]

qfrc_actuator:
[ 1.00038236e-02, 5.91535507e-02, 1.41996887e-02, 2.04500088e-03,
 -3.68154981e-05, 3.47684293e-02, 1.09110168e-02, 1.82973589e-03,
 -3.07020652e-03, 3.47021608e-02, 1.08916737e-02, 1.91246251e-03,
  7.71433716e-03, 1.28669317e-02, 0.00000000e+00,-2.78286852e-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: -0.0005999641938312684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90978732e-01,  8.75184387e-02, -9.16229313e-01, -3.43496513e-02,
        9.96162900e-01,  8.04958295e-02,  9.19758518e-01,  6.93889390e-18,
        3.92484736e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255652, -0.03433582,  0.22321214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,   1.74602349,  17.18425179,   1.74602349,
       153.22742423, -13.81381612,  17.18425179, -13.81381612,
        18.6762942 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.002010171907444812
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.62972699e-16,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.62972699e-16, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08493241, -0.07857369,  0.06186646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.91185850e-03, 2.53295676e-02, 3.69819870e-03, 4.93260623e-05,
 -1.85311407e-05,-1.03922613e-04,-2.21653931e-05,-6.96082242e-06,
 -5.62135207e-05, 1.16629380e-06,-1.01390133e-06, 5.73628098e-06,
  1.03780611e-02, 1.46434602e-02, 6.29444293e-03, 1.08440791e-03,
  3.52954241e-03, 1.38849101e-02,-9.81350110e+00,-2.77880021e-03,
 -6.04323423e-02, 6.11144454e-02]


--- Step 3802 ---
qpos:
[-0.01874019, 1.20436516,-0.03533027, 0.94261973,-0.00790744, 1.33298657,
 -0.03116622, 0.94133276, 0.015317  , 1.33853102,-0.02367824, 0.95472292,
  1.27811978,-0.00893399, 1.28363837, 0.04378092,-0.05506566,-0.08755332,
  0.09029223, 0.6899494 ,-0.12428529,-0.70997466,-0.06677561]

qacc:
[-2.95687187e-01, 1.74435875e+00,-5.85030330e+00, 1.73456019e+01,
 -9.94915771e-02,-3.36993668e+00, 1.26507947e+01,-2.74419993e+01,
 -5.02161875e-02,-3.83183676e+00, 2.00772719e+01,-5.39997116e+01,
 -3.62593883e-01, 5.12466655e-01,-3.10380600e+00, 3.41835404e+00,
  2.13001457e+00, 7.69275120e-01, 2.17348186e+00,-2.83393924e-01,
  7.04923067e+01, 5.14940466e+01]

qfrc_actuator:
[ 9.96452954e-03, 5.91274178e-02, 1.42380065e-02, 2.11488723e-03,
 -5.45779281e-05, 3.47134851e-02, 1.09000690e-02, 1.75409152e-03,
 -3.05148155e-03, 3.47822682e-02, 1.08934140e-02, 1.75455228e-03,
  7.70912430e-03, 1.28912627e-02, 0.00000000e+00,-1.57324272e-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: -0.000600159388464333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39097607,  0.08751694, -0.91623059, -0.03434882,  0.99616303,
        0.08049455,  0.91975968,  0.        ,  0.39248201])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255614, -0.03433726,  0.22321208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020047330424510235
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.59594186e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.59594186e-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([-0.0849357 , -0.07857607,  0.06186684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.83868971e-03, 2.53470601e-02, 3.74834526e-03, 6.66499709e-05,
 -2.87056787e-05,-1.16982322e-04,-3.40098419e-05,-7.95873265e-05,
 -1.44740418e-05, 8.07307290e-05, 2.02609570e-06,-1.57767054e-04,
  1.03761284e-02, 1.46735097e-02, 6.24291385e-03, 1.23337444e-03,
  1.81968590e-03, 1.36181998e-02,-9.81322878e+00,-3.24176080e-03,
 -6.04726390e-02, 6.11602165e-02]


--- Step 3803 ---
qpos:
[-0.01873812, 1.20437523,-0.03533137, 0.9426224 ,-0.00790841, 1.33298496,
 -0.03116649, 0.94133255, 0.01531685, 1.33853167,-0.02367832, 0.95472113,
  1.27813467,-0.00893162, 1.28363158, 0.04377779,-0.05505348,-0.08762018,
  0.09029693, 0.69022682,-0.1233587 ,-0.70979092,-0.06757523]

qacc:
[-5.33624300e-01, 4.69541707e-01, 4.87985248e+00,-1.47235549e+01,
 -9.42516138e-02, 5.14634435e-01,-2.68884812e+00, 3.94767434e+00,
  9.80225107e-03,-2.84264065e+00, 1.43370923e+01,-3.80990171e+01,
 -1.75713298e-01, 2.46385592e-01,-6.28674232e+00, 1.16940938e+01,
  2.00215534e+00, 6.93152828e-01, 1.37749899e+00,-4.43958838e-01,
  6.57621506e+01, 4.77726987e+01]

qfrc_actuator:
[ 9.94004265e-03, 5.91436214e-02, 1.42613399e-02, 2.08376657e-03,
 -6.47932908e-05, 3.47169894e-02, 1.08935246e-02, 1.76296912e-03,
 -3.04010453e-03, 3.47764884e-02, 1.08767838e-02, 1.64376591e-03,
  7.71079431e-03, 1.29048068e-02, 0.00000000e+00,-1.21886777e-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: -0.000600220870885404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39097147,  0.08751574, -0.91623267, -0.03434795,  0.99616314,
        0.08049362,  0.91976167,  0.        ,  0.39247735])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255543, -0.0343386 ,  0.22321204])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001981191530632649
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.31339407e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.31339407e-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([-0.08495538, -0.07857711,  0.06186839])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.84817923e-03, 2.52944133e-02, 3.73490656e-03,-2.10801339e-05,
 -2.71651905e-05,-7.02621757e-05,-3.56421673e-05, 2.50765549e-06,
  2.83247731e-06, 3.45823377e-05,-5.25009797e-06,-1.12005282e-04,
  1.03962149e-02, 1.46704500e-02, 6.41762336e-03, 1.41213771e-03,
  1.63086384e-04, 1.33418302e-02,-9.81307235e+00,-3.60018092e-03,
 -6.05171622e-02, 6.12041563e-02]


--- Step 3804 ---
qpos:
[-0.01873659, 1.20438698,-0.03533187, 0.94262447,-0.00790928, 1.33298314,
 -0.03116673, 0.94133241, 0.01531647, 1.33853176,-0.02367833, 0.95472086,
  1.27814935,-0.00892928, 1.28362357, 0.04377465,-0.05505602,-0.08768554,
  0.09029155, 0.69031943,-0.12246477,-0.70977868,-0.06837894]

qacc:
[-2.34010971e-01,-3.96322137e-01, 5.20374089e+00,-1.25300544e+01,
  4.81204721e-02,-2.61257151e-01, 3.93009286e-01, 4.98195946e-01,
 -9.34028236e-02, 1.71137166e+00,-9.52395593e+00, 2.61405798e+01,
 -7.94900707e-02, 1.63062301e-02,-1.76564289e+00, 3.55282366e+00,
 -3.68190091e+00, 3.75219098e-01,-2.51871785e+00,-1.83260928e+01,
 -1.25625943e+02,-6.64041810e+00]

qfrc_actuator:
[ 9.94301134e-03, 5.91297138e-02, 1.42575077e-02, 2.04671476e-03,
 -3.48936965e-05, 3.47377816e-02, 1.09076742e-02, 1.76831110e-03,
 -3.06873586e-03, 3.47015120e-02, 1.08669344e-02, 1.72135437e-03,
  7.70062715e-03, 1.28940934e-02, 0.00000000e+00,-1.24581102e-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: -0.0006001835646079583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39096322,  0.08751509, -0.91623625, -0.03434696,  0.99616319,
        0.08049333,  0.91976521,  0.        ,  0.39246905])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255426, -0.0343398 ,  0.22321208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019759629240498344
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80932150e-14,  4.21398225e-14,  1.00000000e+00,  1.18384309e-27,
        1.00000000e+00, -4.21398225e-14, -1.00000000e+00,  0.00000000e+00,
       -2.80932150e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02198661, -0.09812608,  0.06186882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.91245860e-03, 2.51263625e-02, 3.68788636e-03,-2.13317704e-05,
  1.38605514e-05,-2.49678236e-05,-3.58147108e-06, 2.23335104e-06,
 -2.69563423e-05,-6.02038353e-05,-6.97313983e-06, 7.58512539e-05,
  1.04029240e-02, 1.46481172e-02, 6.65817654e-03, 1.42531800e-03,
 -1.44822792e-03, 1.30596984e-02,-9.81300640e+00,-3.87828716e-03,
 -6.05651114e-02, 6.12461496e-02]


--- Step 3805 ---
qpos:
[-0.01873543, 1.20439979,-0.03533186, 0.9426258 ,-0.00790978, 1.33298155,
 -0.03116727, 0.94133161, 0.01531583, 1.33853103,-0.02367738, 0.95472047,
  1.27816354,-0.00892711, 1.28361658, 0.04377168,-0.05507199,-0.08774945,
  0.09027356, 0.69024306,-0.12159693,-0.70992379,-0.06918761]

qacc:
[-1.59528562e-01,-1.27008941e+00, 7.35027276e+00,-1.56466328e+01,
  1.53135781e-01, 1.18306082e-03, 1.69182496e+00,-9.13739466e+00,
 -1.13530651e-01,-3.90491281e+00, 1.16759775e+01,-1.10739512e+01,
 -3.24061772e-01, 1.20273150e-01, 1.00321146e+00,-1.26084073e+00,
 -3.35559088e+00, 3.64527276e-01,-3.15130775e+00,-1.57355055e+01,
 -1.14869751e+02,-7.86599979e+00]

qfrc_actuator:
[ 9.94450277e-03, 5.90979048e-02, 1.42728095e-02, 2.00626197e-03,
  1.07514463e-06, 3.47688630e-02, 1.08984871e-02, 1.73603303e-03,
 -3.08563235e-03, 3.46568218e-02, 1.09142466e-02, 1.71384407e-03,
  7.69400922e-03, 1.29222497e-02, 0.00000000e+00,-4.68593250e-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: -0.0006001773713610568
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39095288,  0.08751468, -0.9162407 , -0.03434589,  0.99616323,
        0.08049335,  0.91976965,  0.        ,  0.39245866])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255297, -0.03434096,  0.22321215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.15124919, -2.04493488, 17.15124919, 17.58477704,
        2.61721945, -2.04493488,  2.61721945, 39.22383354,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001995381894820611
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.78198130e-14,  4.17297195e-14,  1.00000000e+00,  1.16091300e-27,
        1.00000000e+00, -4.17297195e-14, -1.00000000e+00,  0.00000000e+00,
       -2.78198130e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02194064, -0.09809905,  0.06186767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94083194e-03, 2.50102704e-02, 3.67366418e-03,-3.18123954e-05,
  4.41503107e-05, 1.66482057e-05,-1.44128812e-05,-3.30871679e-05,
 -3.28184682e-05,-7.70987959e-05, 3.69813304e-05,-7.73327091e-06,
  1.04064236e-02, 1.46775948e-02, 6.71961495e-03, 1.39167566e-03,
  9.40162334e-04, 1.06525398e-02,-9.81258620e+00,-2.89690961e-03,
 -6.07210614e-02, 6.12989888e-02]


--- Step 3806 ---
qpos:
[-0.01873489, 1.20441358,-0.03533121, 0.94262663,-0.00791018, 1.33298029,
 -0.03116773, 0.94133041, 0.01531509, 1.33853045,-0.02367643, 0.95471788,
  1.27817703,-0.00892497, 1.28361021, 0.04376884,-0.05510028,-0.08781194,
  0.09024082, 0.69001087,-0.12074989,-0.71021419,-0.07000184]

qacc:
[-2.74316436e-01,-1.26377970e+00, 6.69336120e+00,-1.21384472e+01,
  4.20439807e-02,-4.78160448e-01, 2.94621662e+00,-7.54906730e+00,
 -3.93140458e-02,-3.59300102e+00, 1.63840270e+01,-3.96156042e+01,
 -5.66739701e-01, 4.30673877e-01, 5.77838630e-01,-6.16927196e-01,
 -3.08053828e+00, 3.52774972e-01,-3.68889975e+00,-1.35997537e+01,
 -1.05833985e+02,-8.76133835e+00]

qfrc_actuator:
[ 9.92739929e-03, 5.90908167e-02, 1.42994281e-02, 1.98190369e-03,
 -1.28659351e-05, 3.48057666e-02, 1.09111242e-02, 1.71737264e-03,
 -3.07759904e-03, 3.47018093e-02, 1.09239242e-02, 1.60305651e-03,
  7.69487994e-03, 1.29738897e-02, 0.00000000e+00,-4.86673184e-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: -0.000600302582231732
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39094109,  0.08751444, -0.91624575, -0.03434476,  0.99616325,
        0.08049357,  0.9197747 ,  0.        ,  0.39244681])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255174, -0.03434209,  0.22321226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.14848245, -2.068008  , 17.14848245, 17.63973143,
        3.0432979 , -2.068008  ,  3.0432979 , 42.50857774,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001988490423993343
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.79162276e-14,  2.79162276e-14,  1.00000000e+00,  7.79315763e-28,
        1.00000000e+00, -2.79162276e-14, -1.00000000e+00,  0.00000000e+00,
       -2.79162276e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02196193, -0.09809056,  0.06186809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94205571e-03, 2.49503723e-02, 3.67436631e-03,-1.90571443e-05,
  1.21231347e-05, 4.23083815e-05, 1.32847063e-05,-1.93520685e-05,
 -1.13514591e-05, 9.34745087e-06,-1.40354035e-06,-1.12170090e-04,
  1.04318919e-02, 1.47381166e-02, 6.66835640e-03, 1.38105605e-03,
  2.50120333e-03, 8.66513422e-03,-9.81250136e+00,-1.94303007e-03,
 -6.08521203e-02, 6.13546298e-02]


--- Step 3807 ---
qpos:
[-0.0187351 , 1.2044292 ,-0.03532971, 0.94262777,-0.00791059, 1.33297921,
 -0.03116712, 0.9413286 , 0.01531449, 1.33853029,-0.02367557, 0.95471465,
  1.27819033,-0.00892239, 1.28359832, 0.04376563,-0.0551183 ,-0.0878712 ,
  0.09022514, 0.6899026 ,-0.11997185,-0.71037619,-0.07075889]

qacc:
[-3.23380547e-01, 6.13764705e-01, 2.86756337e-01, 2.10158449e+00,
 -3.69970776e-03,-3.69087790e+00, 1.35483703e+01,-1.88080669e+01,
  5.61777146e-02,-2.85728492e-01, 2.87347918e+00,-1.00722170e+01,
 -1.59257483e-01, 4.02953742e-01,-7.03510338e+00, 1.27998514e+01,
  2.56756912e+00, 8.08024177e-01, 4.26728686e+00,-5.11427246e-01,
  8.24351263e+01, 5.63186404e+01]

qfrc_actuator:
[ 9.95280742e-03, 5.90627113e-02, 1.42970073e-02, 2.00275531e-03,
 -2.11299676e-05, 3.48282083e-02, 1.09720991e-02, 1.68915282e-03,
 -3.05467609e-03, 3.47466925e-02, 1.09293463e-02, 1.57444336e-03,
  7.70028025e-03, 1.29685303e-02, 0.00000000e+00, 1.46590815e-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: -0.0006005306780084013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39092782,  0.08751448, -0.91625142, -0.03434361,  0.99616325,
        0.0804941 ,  0.91978039,  0.        ,  0.39243349])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08255055, -0.03434318,  0.22321239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001993780591032328
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.78421565e-14, -1.65312804e-14,  1.00000000e+00, -4.60266496e-28,
        1.00000000e+00,  1.65312804e-14, -1.00000000e+00,  0.00000000e+00,
       -2.78421565e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08494288, -0.0785871 ,  0.06186767])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.99898795e-03, 2.48732735e-02, 3.64017467e-03, 2.64670040e-05,
 -1.10576008e-06, 4.78723409e-05, 7.01988860e-05,-2.70069116e-05,
  1.62198842e-05, 4.64526854e-05, 3.80151171e-06,-3.09907066e-05,
  1.04722726e-02, 1.47341096e-02, 6.63770449e-03, 1.57023436e-03,
  3.42370814e-03, 6.99787484e-03,-9.81266628e+00,-1.00422155e-03,
 -6.09624461e-02, 6.14120613e-02]


--- Step 3808 ---
qpos:
[-0.01873535, 1.2044457 ,-0.03532793, 0.94262858,-0.00791104, 1.33297816,
 -0.03116594, 0.94132617, 0.01531408, 1.33853023,-0.02367457, 0.95471147,
  1.27820382,-0.00891968, 1.2835835 , 0.04376235,-0.05512687,-0.08792757,
  0.09022205, 0.68990832,-0.11925707,-0.71042043,-0.07146385]

qacc:
[-1.90067905e-02,-1.48897580e-01, 2.56636023e+00,-6.64271819e+00,
 -1.87939305e-02,-2.53428528e+00, 9.64070278e+00,-1.57262496e+01,
  8.14537833e-02,-1.64186801e-01, 6.12646391e-01,-1.06928378e-01,
  2.19133996e-01,-1.24096836e-01,-4.12670873e+00, 8.11303984e+00,
  2.36148684e+00, 7.19850284e-01, 3.14532273e+00,-6.46657856e-01,
  7.57504808e+01, 5.15331503e+01]

qfrc_actuator:
[ 9.98633480e-03, 5.90562502e-02, 1.42766866e-02, 1.97912404e-03,
 -2.59190998e-05, 3.48065008e-02, 1.09900423e-02, 1.65554819e-03,
 -3.04076055e-03, 3.47379299e-02, 1.09323135e-02, 1.57669982e-03,
  7.70305154e-03, 1.29462603e-02, 0.00000000e+00, 1.94238011e-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: -0.0006005421671556044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39091206,  0.08751485, -0.9162581 , -0.03434237,  0.99616321,
        0.08049503,  0.91978713,  0.        ,  0.39241768])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08254886, -0.03434415,  0.22321256])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020109587484333363
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.72527008e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.72527008e-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([-0.08492802, -0.0785902 ,  0.0618666 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06966725e-03, 2.47748084e-02, 3.57695223e-03,-1.22664214e-05,
 -5.44020724e-06, 1.77041480e-05, 3.45079464e-05,-3.07303572e-05,
  2.34967246e-05, 1.67452562e-05, 1.15590269e-05, 3.01949686e-06,
  1.04843863e-02, 1.46894417e-02, 6.91370331e-03, 1.63621919e-03,
  2.30496192e-03, 6.95288557e-03,-9.81223598e+00,-1.47477749e-03,
 -6.09602822e-02, 6.14407668e-02]


--- Step 3809 ---
qpos:
[-0.01873469, 1.2044598 ,-0.03532662, 0.94262978,-0.00791183, 1.33297677,
 -0.03116526, 0.94132517, 0.0153137 , 1.33853073,-0.02367458, 0.95470835,
  1.27821755,-0.0089173 , 1.2835742 , 0.04375929,-0.05512668,-0.08798137,
  0.09022776, 0.69001973,-0.11860073,-0.71035569,-0.07212094]

qacc:
[ 3.97815627e-01,-1.23762866e+00,-5.73226107e-01, 6.59197207e+00,
 -1.43635895e-01, 3.33430168e+00,-1.43969905e+01, 2.93809019e+01,
  1.54765343e-02, 3.56546385e+00,-1.08884269e+01, 9.91787002e+00,
  1.22538686e-01,-2.66708690e-01, 7.47711290e+00,-1.43361202e+01,
  2.18993304e+00, 6.46904749e-01, 2.19897620e+00,-7.48556039e-01,
  7.01870894e+01, 4.75476143e+01]

qfrc_actuator:
[ 9.97107343e-03, 5.90452478e-02, 1.42636198e-02, 1.98257518e-03,
 -6.40894246e-05, 3.47406112e-02, 1.09467444e-02, 1.72550117e-03,
 -3.05011481e-03, 3.47681387e-02, 1.08803546e-02, 1.57930203e-03,
  7.69889342e-03, 1.29317424e-02, 0.00000000e+00,-4.21068145e-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: -0.0006004341032653134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90895239e-01,  8.75152584e-02, -9.16265241e-01, -3.43410583e-02,
        9.96163179e-01,  8.04960382e-02,  9.19794327e-01, -6.93889390e-18,
        3.92400810e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08254692, -0.03434506,  0.22321275])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020055860568118367
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.64945919e-16,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.64945919e-16, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08493312, -0.07859163,  0.06186698])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.05657029e-03, 2.47197566e-02, 3.55018236e-03, 7.84486247e-06,
 -4.13811803e-05,-5.02664707e-05,-3.68103518e-05, 7.07842255e-05,
  4.52332596e-06, 4.18112086e-05,-4.72921046e-05, 3.50378312e-06,
  1.04712937e-02, 1.46687476e-02, 7.06047142e-03, 1.40359156e-03,
  1.17326383e-03, 6.87204019e-03,-9.81194286e+00,-1.83027370e-03,
 -6.09642985e-02, 6.14684093e-02]


--- Step 3810 ---
qpos:
[-0.01873401, 1.20447376,-0.03532578, 0.94263012,-0.00791286, 1.33297529,
 -0.03116487, 0.94132429, 0.01531331, 1.33853179,-0.02367472, 0.9547056 ,
  1.27823135,-0.00891491, 1.28356359, 0.04375617,-0.0551183 ,-0.08803281,
  0.09023907, 0.69022988,-0.1179988 ,-0.71018928,-0.07273366]

qacc:
[ 1.04138041e-02,-3.53448204e-01, 2.68836503e+00,-1.21741644e+01,
 -1.00861671e-01, 8.68411113e-01,-3.22537369e+00, 4.26674235e+00,
 -9.83518770e-03, 1.70951598e+00,-5.40795774e+00, 8.43830537e+00,
  1.12952517e-01,-1.08641440e-01,-1.75603659e+00, 3.32360617e+00,
  2.04744222e+00, 5.86548752e-01, 1.40223438e+00,-8.25543778e-01,
  6.55625117e+01, 4.42227553e+01]

qfrc_actuator:
[ 9.97885639e-03, 5.89811804e-02, 1.42377739e-02, 1.94842407e-03,
 -6.87183124e-05, 3.47551007e-02, 1.09385459e-02, 1.73150670e-03,
 -3.05559990e-03, 3.48212357e-02, 1.08852895e-02, 1.59981836e-03,
  7.69589059e-03, 1.29222721e-02, 0.00000000e+00, 6.57150336e-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: -0.000600506711197546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39088105,  0.08751526, -0.91627129, -0.03433981,  0.99616318,
        0.08049657,  0.9198004 ,  0.        ,  0.39238656])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08254548, -0.03434611,  0.22321288])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019821971307736608
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.01284924e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.01284924e-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([-0.08495409, -0.07859167,  0.06186851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01863061e-03, 2.47750921e-02, 3.54716602e-03,-4.59936111e-05,
 -2.90596224e-05,-1.83827908e-05,-2.01487942e-05, 5.04764521e-06,
 -2.81148960e-06, 6.70783413e-05, 7.82330602e-06, 2.04492918e-05,
  1.04558002e-02, 1.46753908e-02, 6.78490916e-03, 1.50042684e-03,
  3.52460839e-05, 6.76404903e-03,-9.81175650e+00,-2.09839532e-03,
 -6.09734713e-02, 6.14947950e-02]


--- Step 3811 ---
qpos:
[-0.01873306, 1.20448765,-0.03532516, 0.94262934,-0.00791391, 1.33297426,
 -0.03116451, 0.94132205, 0.01531287, 1.3385333 ,-0.02367454, 0.95470378,
  1.2782452 ,-0.00891279, 1.2835542 , 0.04375325,-0.0551235 ,-0.08808202,
  0.09023843, 0.69026448,-0.11739821,-0.71019054,-0.07336217]

qacc:
[ 1.14988481e-01,-1.40520395e+00, 6.80361309e+00,-1.89233629e+01,
 -5.66934376e-03,-1.67716019e+00, 9.00411164e+00,-2.39545872e+01,
 -1.65823510e-02, 1.35369154e+00,-5.58289822e+00, 1.54109893e+01,
  1.54291773e-01,-3.22756705e-01, 1.17141008e+00,-1.50963189e+00,
 -3.39383834e+00, 5.59828846e-01,-2.98778204e+00,-1.03284582e+01,
 -1.19326623e+02,-2.12464409e+01]

qfrc_actuator:
[ 9.98323772e-03, 5.89549978e-02, 1.42399709e-02, 1.89280379e-03,
 -5.31876617e-05, 3.48176975e-02, 1.09513967e-02, 1.66437786e-03,
 -3.05871820e-03, 3.48523371e-02, 1.09061412e-02, 1.64852345e-03,
  7.68826308e-03, 1.28978797e-02, 0.00000000e+00, 2.51766061e-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: -0.0006004928886255562
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90867434e-01,  8.75152450e-02, -9.16277104e-01, -3.43386103e-02,
        9.96163180e-01,  8.04970680e-02,  9.19806234e-01,  6.93889390e-18,
        3.92372898e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08254393, -0.03434714,  0.22321301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001992527023020732
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.7859673e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.7859673e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02196369, -0.09806889,  0.06186799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.02179363e-03, 2.47561498e-02, 3.57330027e-03,-5.88122412e-05,
 -1.62489128e-06, 4.86438930e-05, 7.10815732e-06,-6.81598895e-05,
 -4.77547983e-06, 7.03179383e-05, 3.54345130e-05, 5.13951976e-05,
  1.04450921e-02, 1.46507300e-02, 6.85032785e-03, 1.46294155e-03,
 -1.10633254e-03, 6.63517894e-03,-9.81165444e+00,-2.29964367e-03,
 -6.09870389e-02, 6.15197920e-02]


--- Step 3812 ---
qpos:
[-0.01873142, 1.20450016,-0.03532506, 0.94262838,-0.00791488, 1.33297388,
 -0.03116474, 0.94131972, 0.01531225, 1.33853505,-0.02367405, 0.95470431,
  1.27825954,-0.00891089, 1.28354732, 0.04375034,-0.05514118,-0.0881292 ,
  0.09022363, 0.6901378 ,-0.11679862,-0.71034578,-0.07400518]

qacc:
[ 3.01235474e-01,-7.09931439e-01, 5.00375302e-01,-1.65278608e+00,
  3.03348035e-02, 2.31515342e+00,-6.34833843e+00, 4.11157595e+00,
 -7.71378435e-02, 3.52778726e+00,-1.58672713e+01, 4.06591429e+01,
  4.06271039e-01,-4.62016933e-01, 3.64929515e+00,-7.45987413e+00,
 -3.12090470e+00, 5.06630918e-01,-3.54248912e+00,-9.31175308e+00,
 -1.09599762e+02,-1.96049318e+01]

qfrc_actuator:
[ 9.96757554e-03, 5.90047844e-02, 1.42234214e-02, 1.87817240e-03,
 -4.34434163e-05, 3.48553999e-02, 1.09234708e-02, 1.66132223e-03,
 -3.07814376e-03, 3.48523629e-02, 1.09183857e-02, 1.76667123e-03,
  7.68851112e-03, 1.28470460e-02, 0.00000000e+00,-6.91130331e-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: -0.0006005509618738324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39085409,  0.08751512, -0.91628281, -0.03433739,  0.99616319,
        0.08049745,  0.91981195,  0.        ,  0.3923595 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0825425 , -0.03434818,  0.22321315])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019970516114061754
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.77965531e-14,  2.77965531e-14,  1.00000000e+00,  7.72648366e-28,
        1.00000000e+00, -2.77965531e-14, -1.00000000e+00,  0.00000000e+00,
       -2.77965531e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02195381, -0.09806757,  0.06186776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.99289960e-03, 2.48092393e-02, 3.56774916e-03,-1.71321153e-05,
  8.78700739e-06, 6.39535957e-05,-1.96001038e-05,-2.96358179e-06,
 -2.22424837e-05, 4.73410968e-05, 3.15041836e-05, 1.22464510e-04,
  1.04428296e-02, 1.46129630e-02, 6.78949800e-03, 1.35848518e-03,
  5.81193213e-04, 5.41572504e-03,-9.81155836e+00,-1.64951997e-03,
 -6.10591534e-02, 6.15620557e-02]


--- Step 3813 ---
qpos:
[-0.01872974, 1.20451159,-0.03532572, 0.94262758,-0.00791547, 1.33297381,
 -0.03116525, 0.94131842, 0.01531143, 1.33853664,-0.02367321, 0.95470663,
  1.27827445,-0.00890879, 1.28353893, 0.04374705,-0.05517042,-0.08817453,
  0.09019276, 0.68986174,-0.11619967,-0.71064342,-0.07466157]

qacc:
[ 1.75663784e-02, 9.02392345e-01,-5.01134708e+00, 6.94745647e+00,
  1.62596875e-01, 2.92996812e+00,-1.11925432e+01, 2.14873144e+01,
 -8.46646450e-02, 1.90801694e+00,-1.00580668e+01, 2.94211284e+01,
  3.85049396e-01,-1.52601081e-01,-1.08272431e+00, 5.08081846e-01,
 -2.88936512e+00, 4.61447495e-01,-4.01496328e+00,-8.42775441e+00,
 -1.01429337e+02,-1.82368538e+01]

qfrc_actuator:
[ 9.93935346e-03, 5.90127267e-02, 1.41782606e-02, 1.88763904e-03,
 -1.74571001e-06, 3.48600318e-02, 1.09071653e-02, 1.71372902e-03,
 -3.08944238e-03, 3.48160391e-02, 1.09253580e-02, 1.85369323e-03,
  7.70409415e-03, 1.28336757e-02, 0.00000000e+00,-1.80109500e-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: -0.0006006681022490343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90842499e-01,  8.75146943e-02, -9.16287793e-01, -3.43362019e-02,
        9.96163229e-01,  8.04974966e-02,  9.19816920e-01,  6.93889390e-18,
        3.92347848e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08254129, -0.0343493 ,  0.22321325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019783331066869775
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.40297787e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.40297787e-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([ 0.02200353, -0.09807903,  0.0618689 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93004415e-03, 2.48859813e-02, 3.54863616e-03, 1.36074472e-06,
  4.68873249e-05, 3.60882854e-05,-6.11122154e-06, 5.36869290e-05,
 -2.44322777e-05,-3.75359581e-07, 2.33806084e-05, 9.22009147e-05,
  1.04336220e-02, 1.46109335e-02, 6.66457199e-03, 1.40930260e-03,
  1.61334426e-03, 4.35099857e-03,-9.81169873e+00,-9.60916958e-04,
 -6.11231749e-02, 6.16063791e-02]


--- Step 3814 ---
qpos:
[-0.01872794, 1.20452215,-0.03532661, 0.94262686,-0.00791548, 1.33297344,
 -0.0311657 , 0.94131814, 0.01531059, 1.33853784,-0.02367176, 0.95470894,
  1.27828942,-0.00890681, 1.28353274, 0.04374372,-0.05518934,-0.08821743,
  0.09017959, 0.68971149,-0.11567046,-0.71081262,-0.07525845]

qacc:
[ 4.74107338e-02,-4.14624697e-01,-1.67424670e-01, 1.51705108e+00,
  2.44493364e-01, 1.18626419e+00,-6.44797839e+00, 1.76345554e+01,
 -1.02979295e-02,-2.15049689e+00, 6.38072743e+00,-5.28837141e+00,
 -7.96195666e-03,-5.00153939e-02, 3.35059392e+00,-6.99266999e+00,
  2.58018585e+00, 6.09259822e-01, 4.42509167e+00,-3.97256763e-01,
  8.29388455e+01, 5.74666532e+01]

qfrc_actuator:
[ 9.93947564e-03, 5.90135745e-02, 1.42051434e-02, 1.89353816e-03,
  4.10304694e-05, 3.48093920e-02, 1.08977557e-02, 1.76282635e-03,
 -3.07802143e-03, 3.47759440e-02, 1.09467389e-02, 1.85064907e-03,
  7.70755031e-03, 1.28601978e-02, 0.00000000e+00,-1.10069354e-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: -0.0006006179811591898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39083261,  0.08751422, -0.91629206, -0.03433515,  0.99616327,
        0.08049743,  0.91982116,  0.        ,  0.3923379 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253997, -0.03435044,  0.22321332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020010329078667746
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38706243e-14,  4.33457008e-15,  1.00000000e+00,  6.01231930e-29,
        1.00000000e+00, -4.33457008e-15, -1.00000000e+00,  0.00000000e+00,
       -1.38706243e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08493759, -0.07859045,  0.0618674 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92812964e-03, 2.49410355e-02, 3.61350233e-03,-1.00737744e-06,
  7.04564783e-05,-3.02510025e-05,-1.46915128e-06, 5.12469034e-05,
 -3.00777769e-06,-3.30138829e-05, 2.66636672e-05,-2.18460313e-07,
  1.04084879e-02, 1.46273295e-02, 6.73993344e-03, 1.33653250e-03,
  2.12830043e-03, 3.41303467e-03,-9.81202116e+00,-2.40050358e-04,
 -6.11791779e-02, 6.16521781e-02]


--- Step 3815 ---
qpos:
[-0.01872647, 1.20453494,-0.03532679, 0.9426245 ,-0.00791509, 1.33297276,
 -0.03116649, 0.94131848, 0.01530979, 1.33853866,-0.02367057, 0.9547109 ,
  1.2783042 ,-0.00890513, 1.2835262 , 0.04374064,-0.05519877,-0.0882581 ,
  0.09017954, 0.68967686,-0.11520459,-0.71086413,-0.07580188]

qacc:
[-1.36583914e-01,-1.74701003e+00, 1.26239770e+01,-3.13424052e+01,
  1.70564399e-01, 1.53032540e+00,-6.76340488e+00, 1.32018643e+01,
  1.88297549e-02,-4.25390267e-01, 1.51093366e+00,-5.18151392e+00,
  8.48845637e-02,-3.32969553e-01,-1.28508447e+00, 3.71638224e+00,
  2.37045803e+00, 5.54522360e-01, 3.27895302e+00,-5.86534478e-01,
  7.62063039e+01, 5.21031492e+01]

qfrc_actuator:
[ 9.95651980e-03, 5.90458841e-02, 1.42750193e-02, 1.82631470e-03,
  4.86016557e-05, 3.47793311e-02, 1.08745000e-02, 1.79178348e-03,
 -3.07081681e-03, 3.47338956e-02, 1.09231224e-02, 1.83014337e-03,
  7.70908275e-03, 1.28576372e-02, 0.00000000e+00,-3.96868450e-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: -0.000600642401914351
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90823720e-01,  8.75136872e-02, -9.16295899e-01, -3.43341540e-02,
        9.96163317e-01,  8.04972752e-02,  9.19824976e-01,  6.93889390e-18,
        3.92328961e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253884, -0.03435164,  0.22321337])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002020393357055582
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37377088e-14,  1.11618884e-14,  1.00000000e+00,  1.53338773e-28,
        1.00000000e+00, -1.11618884e-14, -1.00000000e+00,  0.00000000e+00,
       -1.37377088e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08492058, -0.07858996,  0.06186618])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93971959e-03, 2.50164933e-02, 3.69450268e-03,-7.17639945e-05,
  4.91627877e-05,-4.55340926e-05,-2.78384177e-05, 2.91875004e-05,
  5.42767203e-06,-5.51108003e-05,-2.70395755e-05,-2.07017495e-05,
  1.04076600e-02, 1.46306634e-02, 6.62996003e-03, 1.40851555e-03,
  1.42713177e-03, 3.38551727e-03,-9.81153550e+00,-6.24280867e-04,
 -6.11493221e-02, 6.16682919e-02]


--- Step 3816 ---
qpos:
[-0.01872613, 1.20455071,-0.03532569, 0.94262159,-0.00791457, 1.33297214,
 -0.03116743, 0.94131946, 0.0153092 , 1.33853911,-0.02366996, 0.95471297,
  1.27831867,-0.00890318, 1.28351467, 0.04373747,-0.05519943,-0.08829675,
  0.09018874, 0.68974934,-0.11479675,-0.71080683,-0.0762968 ]

qacc:
[-4.97070489e-01,-4.53842009e-01, 7.35262522e+00,-1.45971152e+01,
  5.34376737e-02, 1.62935672e+00,-6.55911738e+00, 1.31734885e+01,
  8.85997674e-02, 1.27798843e+00,-4.95945109e+00, 5.71038100e+00,
 -1.64232221e-01, 2.58425595e-01,-7.06722465e+00, 1.40461998e+01,
  2.19611305e+00, 5.08710995e-01, 2.31215465e+00,-7.22864413e-01,
  7.05969882e+01, 4.76781789e+01]

qfrc_actuator:
[ 9.93083849e-03, 5.90410634e-02, 1.42988412e-02, 1.80565934e-03,
  3.49933847e-05, 3.48150137e-02, 1.08788117e-02, 1.82640728e-03,
 -3.04844859e-03, 3.47085633e-02, 1.08908731e-02, 1.83502174e-03,
  7.70947944e-03, 1.28733628e-02, 0.00000000e+00, 1.45644655e-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: -0.0006007887863747272
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90812127e-01,  8.75133252e-02, -9.16300878e-01, -3.43329925e-02,
        9.96163349e-01,  8.04973770e-02,  9.19829945e-01,  6.93889390e-18,
        3.92317312e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253765, -0.03435278,  0.22321347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020167223709928184
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -6.0211879e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  6.0211879e-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([-0.08492394, -0.07858834,  0.06186645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92972047e-03, 2.49000008e-02, 3.68301508e-03,-1.06101030e-05,
  1.54125246e-05, 5.93184073e-06,-6.90923270e-06, 3.31086898e-05,
  2.55722401e-05,-6.17066896e-05,-4.66905401e-05, 1.97783537e-06,
  1.04169170e-02, 1.46614551e-02, 6.64760526e-03, 1.58141398e-03,
  6.83134668e-04, 3.32943560e-03,-9.81119713e+00,-9.00177164e-04,
 -6.11281164e-02, 6.16837054e-02]


--- Step 3817 ---
qpos:
[-0.01872652, 1.20456653,-0.03532389, 0.94261979,-0.00791405, 1.33297165,
 -0.0311681 , 0.94132083, 0.01530914, 1.33853902,-0.02366878, 0.9547133 ,
  1.27833257,-0.00890088, 1.28350202, 0.04373415,-0.05519187,-0.08833351,
  0.09020393, 0.6899218 ,-0.11444251,-0.71064807,-0.07674727]

qacc:
[-3.15704857e-01, 3.63585313e-02,-2.34286782e+00, 1.48673953e+01,
  2.27662566e-03, 3.44784274e-02,-7.01066073e-01, 4.91454565e+00,
  2.22497464e-01,-5.24340960e+00, 1.97377477e+01,-3.67342000e+01,
 -6.23526954e-01, 7.71832231e-01,-1.17068624e+00, 1.76500261e+00,
  2.05151704e+00, 4.70391231e-01, 1.49811249e+00,-8.19405346e-01,
  6.59288513e+01, 4.40225313e+01]

qfrc_actuator:
[ 9.91598148e-03, 5.90478197e-02, 1.42941733e-02, 1.84801438e-03,
  2.65454976e-05, 3.48366350e-02, 1.08996294e-02, 1.84639955e-03,
 -2.99941234e-03, 3.46934062e-02, 1.09248913e-02, 1.74829867e-03,
  7.70388841e-03, 1.29351187e-02, 0.00000000e+00, 1.16149320e-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: -0.0006008264810449873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3907966 ,  0.08751348, -0.91630749, -0.03433169,  0.99616334,
        0.0804981 ,  0.91983659,  0.        ,  0.39230173])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253599, -0.0343538 ,  0.22321364])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019946324023914636
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39151332e-14,  1.47848291e-14,  1.00000000e+00,  2.05732866e-28,
        1.00000000e+00, -1.47848291e-14, -1.00000000e+00,  0.00000000e+00,
       -1.39151332e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08494351, -0.07858576,  0.0618679 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97198113e-03, 2.47571634e-02, 3.61426671e-03, 5.90527216e-05,
  6.50763682e-07, 2.45564111e-05, 2.21666654e-05, 2.07344940e-05,
  6.41366087e-05,-5.83405588e-05, 1.67202711e-05,-8.98675984e-05,
  1.04274973e-02, 1.47098801e-02, 6.89703502e-03, 1.55679218e-03,
 -9.47324291e-05, 3.25101976e-03,-9.81097253e+00,-1.09545585e-03,
 -6.11139952e-02, 6.16981759e-02]


--- Step 3818 ---
qpos:
[-0.01872714, 1.2045817 ,-0.0353219 , 0.94261895,-0.00791357, 1.33297108,
 -0.03116871, 0.94132279, 0.01530962, 1.33853849,-0.02366752, 0.95471261,
  1.27834616,-0.00889829, 1.28348856, 0.04373065,-0.05517659,-0.08836852,
  0.09022237, 0.69018827,-0.1141382 ,-0.71039389,-0.07715659]

qacc:
[-9.83194801e-02, 2.96371102e-01,-3.99139775e+00, 1.50472042e+01,
 -1.69856888e-02, 8.22094487e-01,-4.03054792e+00, 1.05469263e+01,
  2.32355681e-01,-2.55931823e+00, 9.69783789e+00,-1.99282343e+01,
 -4.04850230e-01, 5.50132248e-01,-6.26033151e-01, 5.32750700e-01,
  1.93192019e+00, 4.38391380e-01, 8.14060410e-01,-8.85768645e-01,
  6.20521163e+01, 4.10004709e+01]

qfrc_actuator:
[ 9.94316481e-03, 5.90455206e-02, 1.42902285e-02, 1.89123547e-03,
  2.12642908e-05, 3.48142302e-02, 1.08944618e-02, 1.87537666e-03,
 -2.97028008e-03, 3.46669130e-02, 1.09267299e-02, 1.69717015e-03,
  7.71071515e-03, 1.29710366e-02, 0.00000000e+00, 1.17625332e-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: -0.000600802162125158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39078038,  0.08751393, -0.91631436, -0.03433044,  0.9961633 ,
        0.08049912,  0.91984353,  0.        ,  0.39228546])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253423, -0.03435477,  0.22321381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019579916186711066
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41755334e-14, -2.03773293e-14,  1.00000000e+00, -2.88859512e-28,
        1.00000000e+00,  2.03773293e-14, -1.00000000e+00,  0.00000000e+00,
       -1.41755334e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08497581, -0.07858236,  0.06187028])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03545321e-03, 2.47525770e-02, 3.57507006e-03, 4.69207495e-05,
 -4.89627161e-06,-3.85048505e-06, 2.77284230e-06, 3.08484291e-05,
  6.70080369e-05,-5.81508639e-05,-1.02854609e-05,-5.44577086e-05,
  1.04623919e-02, 1.47278721e-02, 6.95398777e-03, 1.56591189e-03,
 -9.00917534e-04, 3.15470219e-03,-9.81083718e+00,-1.23027166e-03,
 -6.11058019e-02, 6.17115389e-02]


--- Step 3819 ---
qpos:
[-0.01872774, 1.20459608,-0.03532044, 0.942618  ,-0.00791313, 1.33297025,
 -0.03116925, 0.94132476, 0.01531043, 1.33853784,-0.02366647, 0.95471302,
  1.27835972,-0.00889553, 1.28347407, 0.04372706,-0.05517501,-0.08840064,
  0.09022921, 0.69027505,-0.11381406,-0.7103143 ,-0.0775907 ]

qacc:
[ 7.28060423e-03, 1.77221373e-01,-1.58611276e+00, 5.34691500e-01,
 -2.15696551e-02,-5.69719514e-01, 1.41848800e+00,-1.01027152e+00,
  1.34365133e-01, 2.31938252e+00,-9.97831274e+00, 2.14640457e+01,
 -7.35882825e-02, 1.78878576e-01,-1.23743770e+00, 2.14522463e+00,
 -3.42631183e+00, 7.22986812e-01,-2.90247062e+00,-5.48043508e+00,
 -1.21899203e+02,-3.24956057e+01]

qfrc_actuator:
[ 9.95985766e-03, 5.90207120e-02, 1.42514563e-02, 1.88142040e-03,
  1.79263938e-05, 3.47832983e-02, 1.08915804e-02, 1.87386239e-03,
 -2.97107645e-03, 3.46870032e-02, 1.09272829e-02, 1.75614641e-03,
  7.71433918e-03, 1.29736239e-02, 0.00000000e+00, 1.37768954e-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: -0.0006006906364302289
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90764588e-01,  8.75144605e-02, -9.16321044e-01, -3.43292649e-02,
        9.96163249e-01,  8.05002010e-02,  9.19850280e-01, -6.93889390e-18,
        3.92269629e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253242, -0.03435571,  0.22321397])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.96305304,  -3.25606189,  16.96305304,
        22.18536477,  25.59328822,  -3.25606189,  25.59328822,
       150.60566755,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019768009169398165
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80813059e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.80813059e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02200945, -0.09813292,  0.06186924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06344258e-03, 2.47601531e-02, 3.52732927e-03,-1.09927908e-05,
 -6.22858108e-06,-3.15823596e-05,-2.40996924e-06,-8.33265321e-07,
  3.87749912e-05,-1.56853271e-05,-1.35680929e-05, 5.56844385e-05,
  1.04818766e-02, 1.47159154e-02, 6.99448761e-03, 1.59491412e-03,
 -1.73237617e-03, 3.04360138e-03,-9.81077303e+00,-1.31930860e-03,
 -6.11026648e-02, 6.17236791e-02]


--- Step 3820 ---
qpos:
[-0.01872808, 1.20460875,-0.03531957, 0.94261772,-0.00791275, 1.33296958,
 -0.03116963, 0.94132492, 0.01531126, 1.33853757,-0.02366614, 0.95471205,
  1.27837341,-0.00889262, 1.28346049, 0.04372334,-0.05518605,-0.08843021,
  0.09022218, 0.69019709,-0.11347393,-0.71039451,-0.07804675]

qacc:
[ 1.16265671e-01, 4.68626561e-01,-5.64547256e+00, 1.37653150e+01,
 -2.01719424e-02,-3.28241137e+00, 1.47095652e+01,-3.38261514e+01,
  1.42988415e-02, 4.62230882e-02, 3.23687609e+00,-1.90265330e+01,
 -5.00434317e-02, 1.85418784e-01, 1.72906074e+00,-4.09008409e+00,
 -3.15286982e+00, 6.35311452e-01,-3.46476619e+00,-5.45031779e+00,
 -1.11791183e+02,-2.87292859e+01]

qfrc_actuator:
[ 9.95235106e-03, 5.90005445e-02, 1.42279205e-02, 1.91148646e-03,
  1.57814260e-05, 3.48184946e-02, 1.09077696e-02, 1.78340062e-03,
 -2.98981828e-03, 3.47171427e-02, 1.08918171e-02, 1.68418757e-03,
  7.71602657e-03, 1.29739742e-02, 0.00000000e+00, 8.03338069e-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: -0.0006004701134894631
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39075   ,  0.08751496, -0.91632722, -0.03432818,  0.99616321,
        0.08050121,  0.91985652,  0.        ,  0.392255  ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08253054, -0.03435663,  0.22321411])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -15.90816414,   6.72884991, -15.90816414,
        24.07521378,  16.08225379,   6.72884991,  16.08225379,
        55.29395477,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019889650632179817
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.79095658e-14,  1.39547829e-14,  1.00000000e+00,  3.89471931e-28,
        1.00000000e+00, -1.39547829e-14, -1.00000000e+00,  0.00000000e+00,
       -2.79095658e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02197744, -0.09813862,  0.06186856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.05508183e-03, 2.47790574e-02, 3.52977297e-03, 2.48338886e-05,
 -5.82303159e-06, 1.72361807e-05, 9.71448475e-06,-9.15030437e-05,
  4.15666530e-06, 2.04716477e-05,-3.84414607e-05,-7.15238693e-05,
  1.04847550e-02, 1.47079498e-02, 7.04599292e-03, 1.54202011e-03,
 -2.84697335e-04, 2.45647512e-03,-9.81073659e+00,-9.89843188e-04,
 -6.11475709e-02, 6.17533471e-02]


--- Step 3821 ---
qpos:
[-0.018728  , 1.20461985,-0.03531849, 0.94261947,-0.00791226, 1.33296972,
 -0.03117041, 0.94132398, 0.01531202, 1.33853701,-0.02366686, 0.95470996,
  1.27838751,-0.00888955, 1.28344875, 0.04371939,-0.05520876,-0.08845753,
  0.09019938, 0.68996686,-0.11312081,-0.71062202,-0.07852235]

qacc:
[ 1.79609492e-01, 8.27699225e-01,-9.38789009e+00, 3.27413927e+01,
  4.46462126e-02, 2.38720449e-01, 2.79049716e+00,-1.58543081e+01,
 -3.17842343e-02, 5.39972218e-01, 5.65881610e-02,-1.28240585e+01,
  1.06833330e-01, 1.01199416e-01, 3.44715637e+00,-8.10489992e+00,
 -2.92061208e+00, 5.62871339e-01,-3.94446809e+00,-5.35139276e+00,
 -1.03299031e+02,-2.56671699e+01]

qfrc_actuator:
[ 9.93006768e-03, 5.89666576e-02, 1.42670617e-02, 2.01799957e-03,
  3.21219698e-05, 3.48930333e-02, 1.08997863e-02, 1.73013977e-03,
 -3.00141826e-03, 3.46463483e-02, 1.08175797e-02, 1.62448066e-03,
  7.71121350e-03, 1.29374264e-02, 0.00000000e+00, 1.19300278e-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: -0.0006001940525092279
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39073754,  0.08751532, -0.9163325 , -0.03432723,  0.99616317,
        0.080502  ,  0.91986185,  0.        ,  0.39224251])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08252877, -0.0343576 ,  0.22321422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -15.866107  ,   6.82742675, -15.866107  ,
        25.6019795 ,  19.35616624,   6.82742675,  19.35616624,
        62.25409671,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00197656282551064
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80846885e-14,  2.80846885e-14,  1.00000000e+00,  7.88749727e-28,
        1.00000000e+00, -2.80846885e-14, -1.00000000e+00,  0.00000000e+00,
       -2.80846885e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02200912, -0.09815534,  0.06186932])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01942588e-03, 2.48310048e-02, 3.59835980e-03, 9.78331411e-05,
  1.29039254e-05, 8.32219671e-05,-6.18807068e-06,-5.45771084e-05,
 -9.14418596e-06,-6.90999833e-05,-7.67026386e-05,-6.18911636e-05,
  1.04736221e-02, 1.46638635e-02, 7.00102406e-03, 1.48003721e-03,
  5.45843540e-04, 1.90787227e-03,-9.81091165e+00,-5.67748117e-04,
 -6.11875213e-02, 6.17850691e-02]


--- Step 3822 ---
qpos:
[-0.01872783, 1.20463103,-0.03531713, 0.9426213 ,-0.00791177, 1.33296971,
 -0.03117072, 0.94132382, 0.01531268, 1.33853547,-0.02366686, 0.95470886,
  1.27840196,-0.00888657, 1.2834385 , 0.04371552,-0.05524237,-0.08848285,
  0.09015917, 0.68959477,-0.11275697,-0.71098626,-0.07901554]

qacc:
[ 3.64992068e-02,-4.97897160e-01, 1.59851657e+00,-5.77670781e-01,
 -1.96947165e-03,-1.06846885e-01,-1.51069160e+00, 1.05657741e+01,
 -4.35650943e-02,-1.52720059e+00, 1.42196890e+00, 1.08643373e+01,
  2.63084108e-01,-2.65903448e-01, 1.92293042e+00,-3.57272405e+00,
 -2.72234887e+00, 5.02792673e-01,-4.35374130e+00,-5.20443052e+00,
 -9.61642641e+01,-2.31801848e+01]

qfrc_actuator:
[ 9.89866598e-03, 5.89605754e-02, 1.43077386e-02, 2.02672855e-03,
  2.39142574e-05, 3.48484584e-02, 1.09133031e-02, 1.77024054e-03,
 -3.00863788e-03, 3.46042634e-02, 1.08627224e-02, 1.67893178e-03,
  7.69714405e-03, 1.28964111e-02, 0.00000000e+00,-9.63411886e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005999222863830589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90726328e-01,  8.75154958e-02, -9.16337260e-01, -3.43263129e-02,
        9.96163158e-01,  8.05025853e-02,  9.19866643e-01,  6.93889390e-18,
        3.92231257e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08252715, -0.03435866,  0.22321428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -15.90747563,   6.73047744, -15.90747563,
        27.10636004,  23.24177965,   6.73047744,  23.24177965,
        72.20464654,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019444522727359304
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.85484771e-14,  2.85484771e-14,  1.00000000e+00,  8.15015546e-28,
        1.00000000e+00, -2.85484771e-14, -1.00000000e+00,  0.00000000e+00,
       -2.85484771e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02209111, -0.09818076,  0.06187123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96738519e-03, 2.49029306e-02, 3.62843124e-03, 4.89454504e-06,
 -5.86922025e-07,-1.39093620e-06, 2.74957919e-05, 4.11614845e-05,
 -1.26221699e-05,-9.71087162e-05, 2.11176791e-05, 4.87136532e-05,
  1.04389325e-02, 1.46142261e-02, 6.90908826e-03, 1.47049385e-03,
  8.84718558e-04, 1.39983433e-03,-9.81125302e+00,-7.40827173e-05,
 -6.12223687e-02, 6.18184378e-02]


--- Step 3823 ---
qpos:
[-0.0187277 , 1.20464196,-0.03531592, 0.94262257,-0.00791148, 1.33296915,
 -0.03117006, 0.9413245 , 0.01531324, 1.33853372,-0.02366604, 0.95470834,
  1.27841636,-0.00888376, 1.28343016, 0.04371179,-0.05526437,-0.08850369,
  0.09014017, 0.68935957,-0.11251818,-0.71120904,-0.07940239]

qacc:
[-1.06501125e-02,-8.64415821e-01, 3.55967378e+00,-9.30373525e+00,
 -8.03703893e-02,-1.91001329e+00, 3.61946337e+00, 6.94225926e+00,
 -4.14437175e-02,-1.48282373e+00, 3.31749676e+00, 4.01376278e+00,
 -2.12711672e-02,-8.85526875e-02, 2.39278456e+00,-4.27666211e+00,
  2.90053484e+00, 1.11814118e+00, 5.30343756e+00,-3.18961873e+00,
  8.65048799e+01, 9.45084732e+01]

qfrc_actuator:
[ 9.87970966e-03, 5.89169008e-02, 1.42959358e-02, 1.99568626e-03,
  1.04579270e-06, 3.48040511e-02, 1.09567621e-02, 1.81164385e-03,
 -3.01317091e-03, 3.46512254e-02, 1.09248779e-02, 1.71144387e-03,
  7.67751241e-03, 1.28884253e-02, 0.00000000e+00,-5.65812474e-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: -0.0005997410023524524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39071479,  0.08751564, -0.91634216, -0.03432536,  0.99616315,
        0.08050315,  0.91987158,  0.        ,  0.39221968])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08252564, -0.03435978,  0.22321433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002003600597724503
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.73160607e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.73160607e-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([-0.08579711, -0.08098592,  0.06186741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94422786e-03, 2.48551414e-02, 3.60309592e-03,-2.98128212e-05,
 -2.32151826e-05,-3.85551931e-05, 4.75247590e-05, 4.31210747e-05,
 -1.19917328e-05,-1.16191108e-06, 4.70162709e-05, 3.13823479e-05,
  1.04022870e-02, 1.46112884e-02, 6.83490653e-03, 1.41933559e-03,
  8.26544990e-04, 9.31953582e-04,-9.81172803e+00, 4.76736551e-04,
 -6.12519857e-02, 6.18531015e-02]


--- Step 3824 ---
qpos:
[-0.01872767, 1.20465339,-0.03531451, 0.94262338,-0.00791141, 1.33296859,
 -0.03116963, 0.94132602, 0.01531401, 1.33853171,-0.0236653 , 0.95470828,
  1.27843047,-0.00888104, 1.28342191, 0.0437081 ,-0.05527578,-0.08852037,
  0.0901372 , 0.68924946,-0.11239225,-0.71130302,-0.07969433]

qacc:
[-4.86235131e-02,-6.94517306e-01, 4.02613609e+00,-9.23140535e+00,
 -9.52256162e-02, 2.04342734e+00,-8.41162994e+00, 1.71514748e+01,
  8.85289658e-02, 6.27685325e-01,-3.35502811e+00, 8.19122003e+00,
 -1.83808950e-01, 7.09404645e-02, 4.58203642e-02, 7.92300779e-02,
  2.64980966e+00, 1.03874649e+00, 4.01003282e+00,-3.22420417e+00,
  7.90549703e+01, 8.50542765e+01]

qfrc_actuator:
[ 9.90380065e-03, 5.88687212e-02, 1.43062120e-02, 1.97688000e-03,
 -1.26791966e-05, 3.48134719e-02, 1.09464891e-02, 1.85346421e-03,
 -2.98055049e-03, 3.46092195e-02, 1.09080934e-02, 1.73080440e-03,
  7.67054286e-03, 1.29003609e-02, 0.00000000e+00,-3.00847301e-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: -0.0005996587534180808
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39070362,  0.0875158 , -0.91634691, -0.03432444,  0.99616313,
        0.08050371,  0.91987636,  0.        ,  0.39220848])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08252429, -0.03436093,  0.22321438])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002041519070377293
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.35955505e-14,  1.35955505e-14,  1.00000000e+00,  1.84838993e-28,
        1.00000000e+00, -1.35955505e-14, -1.00000000e+00,  0.00000000e+00,
       -1.35955505e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08576216, -0.08097856,  0.061865  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96953431e-03, 2.48193403e-02, 3.62067639e-03,-2.11356142e-05,
 -2.74312997e-05,-1.30604726e-06,-1.11415214e-05, 4.30526430e-05,
  2.55372466e-05,-3.25263433e-05,-1.07492638e-05, 2.14302768e-05,
  1.03973675e-02, 1.46314228e-02, 6.73973196e-03, 1.43883394e-03,
  4.39097876e-04, 6.91425108e-04,-9.81100982e+00, 8.03362643e-05,
 -6.11753587e-02, 6.18546819e-02]


--- Step 3825 ---
qpos:
[-0.01872792, 1.20466642,-0.03531246, 0.94262383,-0.00791168, 1.33296831,
 -0.03116971, 0.94132769, 0.01531491, 1.33852925,-0.02366497, 0.95470951,
  1.27844454,-0.00887824, 1.2834109 , 0.04370432,-0.05527742,-0.08853317,
  0.09014591, 0.6892545 ,-0.11236905,-0.71127865,-0.07990066]

qacc:
[-1.20037627e-01,-2.29528534e-01, 4.02372246e+00,-8.62888174e+00,
 -1.46096341e-01, 2.00843812e+00,-6.37658656e+00, 6.91807528e+00,
  5.70390089e-02, 2.78691859e+00,-1.24260782e+01, 2.60869659e+01,
  6.50345875e-02,-4.05362774e-02,-3.85355235e+00, 7.50991280e+00,
  2.44156745e+00, 9.72155638e-01, 2.91719623e+00,-3.20015405e+00,
  7.28396865e+01, 7.72823508e+01]

qfrc_actuator:
[ 9.91831184e-03, 5.88881995e-02, 1.43294403e-02, 1.96555326e-03,
 -3.85600887e-05, 3.48370970e-02, 1.09225278e-02, 1.85968377e-03,
 -2.97916396e-03, 3.45672246e-02, 1.08800180e-02, 1.79543942e-03,
  7.67652081e-03, 1.28887340e-02, 0.00000000e+00, 7.60302402e-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: -0.0005996161235516662
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90691803e-01,  8.75160021e-02, -9.16351933e-01, -3.43234799e-02,
        9.96163114e-01,  8.05043437e-02,  9.19881413e-01, -6.93889390e-18,
        3.92196617e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08252294, -0.03436205,  0.22321445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002052395797077222
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.70470010e-14, -2.28209071e-14,  1.00000000e+00, -6.17237098e-28,
        1.00000000e+00,  2.28209071e-14, -1.00000000e+00,  0.00000000e+00,
       -2.70470010e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08575196, -0.08097294,  0.06186433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98962411e-03, 2.48136980e-02, 3.63351939e-03,-9.07222946e-06,
 -4.20746898e-05, 2.20246674e-05,-2.42195380e-05, 6.85263306e-06,
  1.64659040e-05,-6.14319976e-05,-3.50209826e-05, 6.38532573e-05,
  1.04181669e-02, 1.46241842e-02, 6.73486009e-03, 1.54311998e-03,
  1.37044870e-04, 4.97964176e-04,-9.81050033e+00,-1.43569037e-04,
 -6.11069440e-02, 6.18546380e-02]


--- Step 3826 ---
qpos:
[-0.0187282 , 1.20468007,-0.03531041, 0.94262323,-0.00791214, 1.33296829,
 -0.03117008, 0.94132906, 0.01531575, 1.33852704,-0.02366555, 0.95471113,
  1.27845898,-0.00887556, 1.2833994 , 0.04370069,-0.05526998,-0.0885423 ,
  0.0901626 , 0.68936638,-0.1124402 ,-0.71114454,-0.08002892]

qacc:
[-1.21302173e-02,-9.36596271e-01, 6.21832223e+00,-1.80091645e+01,
 -7.74283217e-02, 6.24340601e-01,-1.03495839e+00,-2.65474696e+00,
 -2.66539719e-02, 3.43278682e+00,-1.15650761e+01, 1.42839589e+01,
  4.06334252e-01,-4.31214163e-01,-1.16976044e+00, 2.99871219e+00,
  2.26898810e+00, 9.16433460e-01, 1.99524547e+00,-3.13533007e+00,
  6.76566977e+01, 7.08889449e+01]

qfrc_actuator:
[ 9.89177870e-03, 5.88937147e-02, 1.43066658e-02, 1.90553161e-03,
 -3.60193610e-05, 3.48512081e-02, 1.09084952e-02, 1.84491711e-03,
 -2.99652714e-03, 3.46142928e-02, 1.08455407e-02, 1.81519086e-03,
  7.67960329e-03, 1.28450899e-02, 0.00000000e+00, 7.02495778e-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: -0.0005995077706317797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90677918e-01,  8.75163540e-02, -9.16357819e-01, -3.43223992e-02,
        9.96163083e-01,  8.05051869e-02,  9.19887350e-01, -6.93889390e-18,
        3.92182691e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08252134, -0.03436311,  0.22321455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020414974243682937
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.35956947e-14,  1.78443492e-14,  1.00000000e+00,  2.42606323e-28,
        1.00000000e+00, -1.78443492e-14, -1.00000000e+00,  0.00000000e+00,
       -1.35956947e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08576154, -0.08096866,  0.06186505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97687276e-03, 2.47390789e-02, 3.57867944e-03,-5.12868590e-05,
 -2.22965695e-05, 2.17658124e-05,-1.22759226e-05,-1.46526908e-05,
 -7.64269264e-06, 8.16854655e-06,-4.85823863e-05, 1.83907421e-05,
  1.04232754e-02, 1.45767935e-02, 6.87383394e-03, 1.54162441e-03,
 -1.05308348e-04, 3.36445879e-04,-9.81014814e+00,-2.41532930e-04,
 -6.10450353e-02, 6.18526397e-02]


--- Step 3827 ---
qpos:
[-0.01872894, 1.20469459,-0.03530845, 0.94262121,-0.00791269, 1.3329683 ,
 -0.03117055, 0.94133025, 0.01531662, 1.33852535,-0.02366704, 0.9547133 ,
  1.27847354,-0.00887292, 1.28338674, 0.04369725,-0.05525404,-0.08854795,
  0.09018416, 0.68957811,-0.11259874,-0.7109078 ,-0.08008527]

qacc:
[-2.03390721e-01,-1.07186958e+00, 7.82061557e+00,-2.38424892e+01,
 -3.93762467e-02,-1.63970487e-02, 4.61442297e-01,-2.48128003e+00,
  8.54142295e-03, 4.08265129e+00,-1.35838956e+01, 1.77409903e+01,
  1.96592860e-01,-2.11597161e-01,-2.30757290e+00, 5.54422275e+00,
  2.12635034e+00, 8.70007263e-01, 1.21876691e+00,-3.04214851e+00,
  6.33402310e+01, 6.56311798e+01]

qfrc_actuator:
[ 9.85823386e-03, 5.88911920e-02, 1.42921924e-02, 1.83488537e-03,
 -3.42024418e-05, 3.48417794e-02, 1.09004022e-02, 1.83568442e-03,
 -2.98949139e-03, 3.46610190e-02, 1.08078751e-02, 1.84391714e-03,
  7.67558726e-03, 1.28356556e-02, 0.00000000e+00, 1.21406480e-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: -0.0005994096294906423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39066347,  0.08751673, -0.91636394, -0.03432128,  0.99616305,
        0.08050607,  0.91989353,  0.        ,  0.3921682 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08251968, -0.03436417,  0.22321466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002013244599482031
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.72331119e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.72331119e-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([-0.08578681, -0.08096541,  0.06186688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94470386e-03, 2.47053970e-02, 3.56482375e-03,-6.92570211e-05,
 -1.13446382e-05,-2.29478480e-07,-5.65873218e-06,-9.27478221e-06,
  2.52091032e-06, 4.23182832e-05,-4.10482985e-05, 2.79729094e-05,
  1.04007917e-02, 1.45732107e-02, 6.89797941e-03, 1.58570523e-03,
 -3.05725915e-04, 1.96556739e-04,-9.80991681e+00,-2.46667550e-04,
 -6.09884609e-02, 6.18484842e-02]


--- Step 3828 ---
qpos:
[-0.01873047, 1.20471041,-0.03530584, 0.94261932,-0.00791314, 1.3329679 ,
 -0.03117007, 0.94133131, 0.01531752, 1.33852434,-0.02366848, 0.95471434,
  1.27848779,-0.00886993, 1.28337001, 0.04369368,-0.05523006,-0.08855027,
  0.09020799, 0.68988382,-0.11283891,-0.71057423,-0.08007466]

qacc:
[-3.38765135e-01, 2.06036658e-01, 1.12953364e+00,-3.15346163e-01,
  4.32778413e-02,-3.31704956e+00, 1.04619870e+01,-1.04023746e+01,
  1.85117957e-02,-1.16428760e+00, 7.11883113e+00,-1.94825338e+01,
 -2.58428102e-01, 4.20836532e-01,-5.61528678e+00, 1.09519713e+01,
  2.00884135e+00, 8.31578230e-01, 5.66004708e-01,-2.92909845e+00,
  5.97535038e+01, 6.13136470e+01]

qfrc_actuator:
[ 9.87419068e-03, 5.88655955e-02, 1.43005176e-02, 1.84741789e-03,
 -1.50838448e-05, 3.48183519e-02, 1.09490484e-02, 1.82977454e-03,
 -2.98562706e-03, 3.47249217e-02, 1.08219215e-02, 1.78894948e-03,
  7.66732105e-03, 1.28644648e-02, 0.00000000e+00, 2.59879705e-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: -0.0005992995766180079
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39064829,  0.0875173 , -0.91637036, -0.03432017,  0.996163  ,
        0.08050716,  0.91990001,  0.        ,  0.39215299])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08251793, -0.03436521,  0.22321479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019713411774866588
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.49595105e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.49595105e-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([-0.0858244 , -0.08096295,  0.06186957])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98401887e-03, 2.46361128e-02, 3.57676938e-03, 1.44050148e-05,
  1.24215127e-05,-2.49396691e-05, 4.76871355e-05,-6.29666855e-06,
  5.35314788e-06, 8.01331886e-05, 1.84707965e-05,-5.42653823e-05,
  1.03864249e-02, 1.46037490e-02, 6.95632152e-03, 1.71475770e-03,
 -4.76576380e-04, 7.11783735e-05,-9.80978047e+00,-1.82492302e-04,
 -6.09363871e-02, 6.18420456e-02]


--- Step 3829 ---
qpos:
[-0.01873255, 1.20472793,-0.03530262, 0.94261755,-0.00791358, 1.33296749,
 -0.03116937, 0.94133125, 0.01531847, 1.33852391,-0.02366911, 0.95471331,
  1.27850178,-0.00886651, 1.28334686, 0.04368993,-0.05521992,-0.08854863,
  0.09022033, 0.69000665,-0.11303218,-0.71042152,-0.08009874]

qacc:
[-2.45553264e-01, 8.01986724e-01,-1.89860380e-01, 5.86815187e-01,
  4.10705382e-03,-2.54151584e+00, 1.05703817e+01,-2.20899867e+01,
  1.77494630e-02,-4.99562920e+00, 2.13958606e+01,-4.28857914e+01,
 -1.40214870e-01, 3.49547134e-01,-8.93396368e+00, 1.74807703e+01,
 -3.45929085e+00, 9.92298511e-01,-2.87039155e+00, 7.72162734e-01,
 -1.23527166e+02,-4.61543157e+01]

qfrc_actuator:
[ 9.93809946e-03, 5.88431276e-02, 1.42863345e-02, 1.85561841e-03,
 -2.12470682e-05, 3.48224515e-02, 1.09597247e-02, 1.77262976e-03,
 -2.98369701e-03, 3.47632617e-02, 1.08664033e-02, 1.68521104e-03,
  7.66719092e-03, 1.28803441e-02, 0.00000000e+00, 4.50982387e-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: -0.0005990317028742552
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39063132,  0.0875182 , -0.91637751, -0.03431903,  0.99616292,
        0.08050863,  0.91990726,  0.        ,  0.39213598])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08251582, -0.03436615,  0.22321496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.04113613, -2.81900461, 17.04113613, 19.21443372,
       11.73778993, -2.81900461, 11.73778993, 88.22872202,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001927058095955697
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.32092458e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.32092458e-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([ 0.0221172 , -0.09834793,  0.06187242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.08685308e-03, 2.45483578e-02, 3.53061732e-03, 1.62233189e-05,
  1.16865515e-06,-5.51847095e-07, 1.10410231e-05,-5.66416918e-05,
  5.09352559e-06, 8.46628223e-05, 6.06467887e-05,-1.02088282e-04,
  1.04018759e-02, 1.46021010e-02, 7.16008642e-03, 1.91223860e-03,
 -6.26530713e-04,-4.46675485e-05,-9.80972073e+00,-6.56327234e-05,
 -6.08881998e-02, 6.18332429e-02]


--- Step 3830 ---
qpos:
[-0.0187344 , 1.20474485,-0.0352995 , 0.94261683,-0.00791418, 1.33296763,
 -0.03116962, 0.94133017, 0.0153193 , 1.33852389,-0.02366949, 0.95471281,
  1.27851606,-0.00886276, 1.28332062, 0.04368602,-0.05522251,-0.08854357,
  0.09021896, 0.68996208,-0.11318824,-0.71043388,-0.08015266]

qacc:
[ 1.04893502e-01, 1.25336224e+00,-7.20188675e+00, 1.87859524e+01,
 -7.16241822e-02, 1.60330485e+00,-2.23983340e+00,-1.02338456e+01,
 -4.85078557e-02, 7.54317857e-01,-2.88602157e+00, 8.41212456e+00,
  1.76757716e-01, 7.76732104e-02,-4.11132308e+00, 7.73095609e+00,
 -3.18292572e+00, 8.52871799e-01,-3.43020857e+00,-6.10563541e-01,
 -1.13231926e+02,-3.95455673e+01]

qfrc_actuator:
[ 9.95986600e-03, 5.88393737e-02, 1.42406665e-02, 1.89667279e-03,
 -4.25278802e-05, 3.48605905e-02, 1.09124505e-02, 1.72128048e-03,
 -3.00069552e-03, 3.47683370e-02, 1.08751120e-02, 1.71339273e-03,
  7.66662284e-03, 1.28527424e-02, 0.00000000e+00, 4.78492221e-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: -0.000598491881769754
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39061222,  0.08751936, -0.91638554, -0.03431782,  0.99616282,
        0.08051041,  0.91991542,  0.        ,  0.39211685])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08251317, -0.03436694,  0.22321516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.75117403,   4.21251424, -16.75117403,
        17.78088902,   2.02071861,   4.21251424,   2.02071861,
        25.30816816,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019467822168165727
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.27714647e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.27714647e-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([ 0.02206164, -0.09836539,  0.06187126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.13682144e-03, 2.44595464e-02, 3.45438665e-03, 5.08489296e-05,
 -2.05907516e-05, 3.82887980e-05,-4.77877099e-05,-5.23537768e-05,
 -1.39874806e-05, 6.07148600e-05, 2.91478362e-05, 3.00863566e-05,
  1.04141168e-02, 1.45530507e-02, 7.48185452e-03, 1.94906325e-03,
 -1.20591695e-04, 1.21733171e-04,-9.80977767e+00,-3.31830268e-04,
 -6.09376809e-02, 6.18374733e-02]


--- Step 3831 ---
qpos:
[-0.01873551, 1.20475935,-0.03529715, 0.94261682,-0.00791485, 1.33296797,
 -0.03117009, 0.94132849, 0.01531998, 1.33852399,-0.02366961, 0.95471302,
  1.27853055,-0.00885911, 1.28329745, 0.04368233,-0.05523689,-0.08853556,
  0.09020195, 0.68976303,-0.11331469,-0.71059798,-0.08023246]

qacc:
[ 3.22131484e-01, 8.44249760e-02,-5.58012192e+00, 1.45413419e+01,
 -2.37221255e-02,-2.40303347e-01, 2.35272360e+00,-9.28994100e+00,
 -6.48919547e-02, 6.93868531e-01,-3.50845958e+00, 1.11852355e+01,
  8.76890260e-02,-9.41243414e-02, 3.87185685e+00,-6.95713815e+00,
 -2.94813467e+00, 7.39474051e-01,-3.90873227e+00,-1.63989264e+00,
 -1.04575851e+02,-3.42243468e+01]

qfrc_actuator:
[ 9.95576741e-03, 5.87952035e-02, 1.42120744e-02, 1.92096346e-03,
 -3.71994989e-05, 3.48653262e-02, 1.09025214e-02, 1.69151134e-03,
 -3.01115898e-03, 3.47533905e-02, 1.08803299e-02, 1.74793333e-03,
  7.66575286e-03, 1.28522419e-02, 0.00000000e+00, 3.36879166e-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: -0.000597732318711585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39059376,  0.08752042, -0.91639331, -0.03431661,  0.99616273,
        0.08051207,  0.9199233 ,  0.        ,  0.39209835])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08251027, -0.0343677 ,  0.22321535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.74481577,   4.23771781, -16.74481577,
        17.95377313,   2.69106815,   4.23771781,   2.69106815,
        27.90614892,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001940892455241379
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.86008383e-14,  4.29012574e-14,  1.00000000e+00,  1.22701193e-27,
        1.00000000e+00, -4.29012574e-14, -1.00000000e+00,  0.00000000e+00,
       -2.86008383e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02207337, -0.09839115,  0.06187161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.12064781e-03, 2.44449271e-02, 3.43051354e-03, 2.27522429e-05,
 -6.82537681e-06, 1.49857198e-05,-9.41401330e-06,-3.12314798e-05,
 -1.87221768e-05, 2.52122119e-05, 2.12683104e-05, 3.78916596e-05,
  1.03992198e-02, 1.45362382e-02, 7.63683830e-03, 1.81526933e-03,
 -9.94137137e-05, 2.39764819e-04,-9.81000402e+00,-4.23437824e-04,
 -6.09729096e-02, 6.18438235e-02]


--- Step 3832 ---
qpos:
[-0.0187365 , 1.20477244,-0.0352954 , 0.94261666,-0.00791537, 1.3329681 ,
 -0.03116997, 0.94132679, 0.01532066, 1.33852447,-0.02366969, 0.95471295,
  1.27854475,-0.00885557, 1.28327707, 0.04367898,-0.05524097,-0.08852407,
  0.09019952, 0.68968688,-0.1135579 ,-0.71063552,-0.08021071]

qacc:
[ 5.09052544e-02,-4.73778320e-01,-3.77789619e-01,-5.36993862e-01,
  5.98531691e-02,-1.85332709e+00, 5.72938875e+00,-4.89656913e+00,
  7.96594087e-04,-9.86234687e-02, 1.48962003e+00,-4.84711291e+00,
 -3.01654145e-01, 1.92929407e-01, 3.14655351e+00,-4.96761630e+00,
  2.57740978e+00, 8.68475866e-01, 3.64626128e+00,-2.30240937e+00,
  7.68817108e+01, 8.86086247e+01]

qfrc_actuator:
[ 9.93555402e-03, 5.87288515e-02, 1.42121930e-02, 1.91736844e-03,
 -1.59509095e-05, 3.48501667e-02, 1.09323795e-02, 1.69244587e-03,
 -2.99986421e-03, 3.47798157e-02, 1.08833543e-02, 1.73263940e-03,
  7.65937109e-03, 1.28860434e-02, 0.00000000e+00, 2.88758570e-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: -0.0005970094171057656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39057824,  0.08752113, -0.91639985, -0.03431553,  0.99616266,
        0.08051331,  0.91992993,  0.        ,  0.3920828 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250768, -0.03436854,  0.22321548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -17.01975765,   2.945328  , -17.01975765,
        22.15458495,  28.21011258,   2.945328  ,  28.21011258,
       180.28658466,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019337512261193013
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.48538429e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.48538429e-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([-0.08585322, -0.08093163,  0.06187197])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06339799e-03, 2.44996517e-02, 3.46907385e-03,-1.60100334e-05,
  1.72200112e-05,-9.65691002e-06, 3.08003371e-05, 3.84097781e-07,
  2.38641493e-07, 4.56433081e-05, 1.14746725e-05,-1.30423231e-05,
  1.03817437e-02, 1.45746609e-02, 7.48364097e-03, 1.75624106e-03,
 -4.73462026e-04, 3.32364332e-04,-9.81037185e+00,-3.83154811e-04,
 -6.09974332e-02, 6.18521333e-02]


--- Step 3833 ---
qpos:
[-0.01873706, 1.20478306,-0.03529448, 0.9426169 ,-0.0079157 , 1.33296811,
 -0.03116983, 0.94132618, 0.01532125, 1.33852556,-0.02366953, 0.95471162,
  1.2785589 ,-0.00885217, 1.28326171, 0.04367587,-0.05523549,-0.08850921,
  0.09020757, 0.68972409,-0.11390713,-0.71055626,-0.08009775]

qacc:
[ 1.84349682e-01,-3.29073215e-01,-3.70832914e+00, 9.55667996e+00,
  7.99369202e-02, 1.63024475e+00,-7.73277876e+00, 1.93394945e+01,
 -3.85054055e-02,-2.02712084e+00, 1.01103690e+01,-2.35819406e+01,
 -2.00475185e-01, 1.25822622e-01, 6.70491295e+00,-1.26428657e+01,
  2.38757373e+00, 8.42653422e-01, 2.61870744e+00,-2.39648551e+00,
  7.11225376e+01, 8.02982610e+01]

qfrc_actuator:
[ 9.90599904e-03, 5.86846497e-02, 1.41941765e-02, 1.93312074e-03,
 -3.07748587e-06, 3.48411437e-02, 1.09321442e-02, 1.74694441e-03,
 -3.01111366e-03, 3.48307648e-02, 1.09029362e-02, 1.67040833e-03,
  7.66037305e-03, 1.28872186e-02, 0.00000000e+00, 1.36760756e-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: -0.0005963737585177042
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90564581e-01,  8.75217686e-02, -9.16405613e-01, -3.43145814e-02,
        9.96162607e-01,  8.05144054e-02,  9.19935768e-01, -6.93889390e-18,
        3.92069104e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250536, -0.03436943,  0.22321558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.46714489,  -5.2134678 ,  16.46714489,
        27.52059743,  32.36869759,  -5.2134678 ,  32.36869759,
       119.51178456,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001942897431270331
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42856618e-14,  1.07142464e-14,  1.00000000e+00,  1.53060100e-28,
        1.00000000e+00, -1.07142464e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42856618e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08584325, -0.08092136,  0.06187137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.02798200e-03, 2.45257477e-02, 3.48130370e-03, 7.32041324e-06,
  2.30385657e-05,-8.32956863e-06, 1.38981631e-06, 5.51180624e-05,
 -1.11066703e-05, 7.80412343e-05, 2.94178659e-05,-6.08458821e-05,
  1.03978999e-02, 1.45811011e-02, 7.34444196e-03, 1.58778194e-03,
 -1.50891832e-04, 5.58355227e-04,-9.81001876e+00,-4.42105901e-04,
 -6.09033723e-02, 6.18386071e-02]


--- Step 3834 ---
qpos:
[-0.01873688, 1.20479086,-0.03529493, 0.94261705,-0.00791601, 1.33296793,
 -0.03116955, 0.9413245 , 0.01532173, 1.33852681,-0.02366873, 0.95471096,
  1.27857334,-0.00884904, 1.28325194, 0.0436729 ,-0.0552211 ,-0.08849107,
  0.09022262, 0.6898666 ,-0.11435349,-0.71036824,-0.07990192]

qacc:
[ 3.26057789e-01,-1.72662962e-01,-3.69944446e+00, 3.85235339e+00,
  1.25204970e-02,-2.43618781e+00, 9.84177576e+00,-2.08083550e+01,
 -4.66968860e-02,-3.44397338e-01, 4.76265218e-02, 7.52932366e+00,
  1.09633046e-01,-2.02790467e-01, 7.80026814e+00,-1.53181433e+01,
  2.23018461e+00, 8.20172706e-01, 1.75116416e+00,-2.41500939e+00,
  6.63116280e+01, 7.35041811e+01]

qfrc_actuator:
[ 9.88823829e-03, 5.87086274e-02, 1.41657412e-02, 1.92447419e-03,
 -1.30859077e-05, 3.48180386e-02, 1.09319307e-02, 1.69047643e-03,
 -3.01804487e-03, 3.48250215e-02, 1.09322200e-02, 1.70536235e-03,
  7.66579332e-03, 1.28688998e-02, 0.00000000e+00,-2.43491415e-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: -0.0005958856568593421
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39055396,  0.08752218, -0.9164101 , -0.03431381,  0.99616257,
        0.08051518,  0.91994031,  0.        ,  0.39205846])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0825035 , -0.03437043,  0.22321563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.3416884 ,  -5.59431208,  16.3416884 ,
        30.47925933,  38.57793932,  -5.59431208,  38.57793932,
       129.9637347 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019316559243253567
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43687989e-14, -6.28634954e-15,  1.00000000e+00, -9.03272927e-29,
        1.00000000e+00,  6.28634954e-15, -1.00000000e+00,  0.00000000e+00,
       -1.43687989e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08585206, -0.08091337,  0.06187209])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98902896e-03, 2.46734445e-02, 3.49411644e-03,-2.18749870e-05,
  3.59151126e-06,-2.57799462e-05,-6.89973179e-08,-5.54021505e-05,
 -1.34868821e-05, 4.13456319e-05, 4.60846516e-05, 3.67113506e-05,
  1.04057958e-02, 1.45700078e-02, 7.09373100e-03, 1.41463041e-03,
  2.03420368e-04, 7.85446247e-04,-9.80981502e+00,-3.90655550e-04,
 -6.08188058e-02, 6.18228413e-02]


--- Step 3835 ---
qpos:
[-0.01873623, 1.20479794,-0.03529628, 0.94261654,-0.0079162 , 1.33296751,
 -0.03116928, 0.94132286, 0.01532226, 1.33852769,-0.02366732, 0.95471181,
  1.27858815,-0.00884608, 1.28324382, 0.04366989,-0.05521948,-0.08846911,
  0.09022411, 0.68984002,-0.11475505,-0.71034768,-0.07973831]

qacc:
[ 2.04621309e-01, 3.55892187e-01,-9.34376057e-01,-6.44270874e+00,
  4.85018782e-02,-2.22368318e-01, 2.67679819e-01, 3.71047531e-01,
  1.91750637e-02, 4.66213656e-01,-5.17326155e+00, 2.21383832e+01,
  3.17229212e-01,-3.64225565e-01, 2.56129402e+00,-5.45393461e+00,
 -3.19659524e+00, 9.56394251e-01,-3.39342382e+00, 1.02996604e+00,
 -1.14193837e+02,-4.33592656e+01]

qfrc_actuator:
[ 9.89481128e-03, 5.87748392e-02, 1.41674319e-02, 1.90153241e-03,
 -1.23435065e-06, 3.48043659e-02, 1.09316131e-02, 1.69341236e-03,
 -3.00457664e-03, 3.47677135e-02, 1.09490897e-02, 1.77945788e-03,
  7.66850979e-03, 1.28390599e-02, 0.00000000e+00,-3.11545371e-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: -0.0005955515699388285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39054719,  0.08752224, -0.91641298, -0.03431324,  0.99616257,
        0.08051549,  0.9199432 ,  0.        ,  0.39205167])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250215, -0.03437158,  0.22321561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.03513675, -2.85503476, 17.03513675, 18.81530761,
        9.20411457, -2.85503476,  9.20411457, 72.1909203 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019316687616389439
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.87374069e-14,  4.31061104e-14,  1.00000000e+00,  1.23875783e-27,
        1.00000000e+00, -4.31061104e-14, -1.00000000e+00,  0.00000000e+00,
       -2.87374069e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02207875, -0.09850318,  0.06187213])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.95811424e-03, 2.48801999e-02, 3.56415719e-03,-3.99407718e-05,
  1.39710189e-05,-2.96199125e-05,-6.99835217e-06, 8.71130301e-07,
  5.50531793e-06,-2.43664891e-05, 3.12532525e-05, 7.75256809e-05,
  1.03938984e-02, 1.45532496e-02, 6.81483187e-03, 1.40050880e-03,
  5.72519320e-04, 1.00571070e-03,-9.80972594e+00,-2.59243177e-04,
 -6.07418773e-02, 6.18045967e-02]


--- Step 3836 ---
qpos:
[-0.0187353 , 1.2048055 ,-0.03529817, 0.94261528,-0.00791626, 1.3329665 ,
 -0.03116897, 0.94132372, 0.01532273, 1.33852793,-0.02366574, 0.9547122 ,
  1.27860313,-0.0088432 , 1.28323462, 0.04366671,-0.05522971,-0.08844384,
  0.09021008, 0.68965753,-0.11512127,-0.71048085,-0.07960237]

qacc:
[ 1.18034254e-01, 8.35958447e-01,-4.15729922e-01,-8.63311999e+00,
  5.33435049e-02, 3.35944567e+00,-1.70602883e+01, 4.41560168e+01,
 -2.29738030e-02,-2.08211370e+00, 6.71381929e+00,-1.06794337e+01,
  2.28072054e-01,-2.61902110e-01,-1.08825762e+00, 1.44203864e+00,
 -2.95983746e+00, 8.25547578e-01,-3.87551549e+00,-4.51760472e-01,
 -1.05396455e+02,-3.71346089e+01]

qfrc_actuator:
[ 9.93371622e-03, 5.88121680e-02, 1.41517739e-02, 1.87061852e-03,
  5.88373630e-06, 3.47609670e-02, 1.09313208e-02, 1.82007474e-03,
 -3.01448539e-03, 3.46977060e-02, 1.09405349e-02, 1.75165872e-03,
  7.67491202e-03, 1.28378312e-02, 0.00000000e+00, 1.92506160e-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: -0.0005952642155791707
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39054193,  0.08752208, -0.91641524, -0.03431271,  0.99616258,
        0.08051554,  0.91994546,  0.        ,  0.39204637])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08250094, -0.03437278,  0.22321558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.81444457,   3.9524121 , -16.81444457,
        17.58451611,   1.32641943,   3.9524121 ,   1.32641943,
        22.91561201,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019289459927131353
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.75559414e-14,  1.43889853e-14,  1.00000000e+00,  8.28171597e-28,
        1.00000000e+00, -1.43889853e-14, -1.00000000e+00,  0.00000000e+00,
       -5.75559414e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02208077, -0.09853236,  0.06187229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97347767e-03, 2.49535436e-02, 3.59355568e-03,-3.76775370e-05,
  1.53645927e-05,-6.11278625e-05,-6.86161481e-06, 1.25581786e-04,
 -6.65810567e-06,-7.50866162e-05,-7.49395593e-06,-2.57981009e-05,
  1.03816754e-02, 1.45607827e-02, 6.73216599e-03, 1.45319361e-03,
  1.34349012e-04, 1.35683111e-03,-9.80994619e+00,-6.17291517e-04,
 -6.07842939e-02, 6.17967626e-02]


--- Step 3837 ---
qpos:
[-0.01873474, 1.20481555,-0.03529974, 0.94261308,-0.00791636, 1.33296517,
 -0.03116868, 0.94132468, 0.01532326, 1.33852759,-0.02366397, 0.9547126 ,
  1.27861794,-0.00884025, 1.28322117, 0.04366338,-0.05523035,-0.08841758,
  0.09021097, 0.68959655,-0.11556369,-0.71049128,-0.07939627]

qacc:
[-1.57521394e-01, 8.00125406e-01, 3.27682511e+00,-1.52948947e+01,
 -1.54582738e-02,-1.83498181e-01,-1.20064469e-01, 1.54953785e+00,
  2.68431621e-02,-1.26763361e+00, 3.19092009e+00,-2.32833937e+00,
  3.75669762e-02,-4.58512463e-02,-5.84142343e+00, 1.13033990e+01,
  2.39717675e+00, 2.49068848e-01, 3.72769680e+00, 7.52723901e-01,
  7.84140263e+01, 6.31651600e+01]

qfrc_actuator:
[ 9.95652573e-03, 5.88134993e-02, 1.41612173e-02, 1.83527094e-03,
 -7.64813607e-06, 3.47534428e-02, 1.09309948e-02, 1.82322309e-03,
 -3.00283354e-03, 3.46737318e-02, 1.09524174e-02, 1.75284732e-03,
  7.66755359e-03, 1.28359898e-02, 0.00000000e+00, 1.75141485e-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: -0.0005949359944245683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39053672,  0.08752181, -0.91641748, -0.03431215,  0.9961626 ,
        0.08051549,  0.91994769,  0.        ,  0.39204113])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08249964, -0.03437396,  0.22321556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.95813605,   3.28157421, -16.95813605,
        22.7207838 ,  28.15383043,   3.28157421,  28.15383043,
       162.76280492,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019427943537180248
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.03611111e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.03611111e-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([-0.0849592 , -0.07845575,  0.06187134])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98269185e-03, 2.49306943e-02, 3.63029522e-03,-3.56387779e-05,
 -4.46425996e-06,-3.88905753e-05,-9.38212648e-06, 4.01359150e-06,
  7.71745283e-06,-6.77272708e-05,-4.38959684e-06,-1.85308933e-06,
  1.03660699e-02, 1.45628308e-02, 6.78651385e-03, 1.61791956e-03,
 -6.48561536e-04, 1.68091848e-03,-9.81030225e+00,-8.16038891e-04,
 -6.08101344e-02, 6.17911086e-02]


--- Step 3838 ---
qpos:
[-0.01873405, 1.20482725,-0.03530001, 0.94261222,-0.00791655, 1.33296422,
 -0.03116893, 0.9413246 , 0.01532403, 1.33852745,-0.02366241, 0.95471296,
  1.27863307,-0.00883722, 1.28320601, 0.04365986,-0.05522208,-0.08839021,
  0.09022264, 0.68964754,-0.11607464,-0.71038843,-0.07912788]

qacc:
[ 5.48763359e-02, 9.26005272e-01,-3.17167084e+00, 1.72705183e+01,
 -3.72043887e-02, 1.77300617e-01, 2.15599952e+00,-1.41745763e+01,
  1.00638797e-01, 7.46449131e-01,-2.04332226e+00, 1.20508308e+00,
  2.74524697e-01,-1.74498808e-01,-1.99327266e+00, 3.27212811e+00,
  2.22707748e+00, 2.75410328e-01, 2.69547984e+00, 4.75768786e-01,
  7.25175701e+01, 5.68181704e+01]

qfrc_actuator:
[ 9.95245010e-03, 5.87555274e-02, 1.42028209e-02, 1.90426692e-03,
 -1.57052391e-05, 3.48029048e-02, 1.09129385e-02, 1.77140490e-03,
 -2.97834124e-03, 3.47308467e-02, 1.09587271e-02, 1.75339639e-03,
  7.65196281e-03, 1.27626492e-02, 0.00000000e+00, 1.99086316e-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: -0.0005945079418888839
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90528916e-01,  8.75217367e-02, -9.16420816e-01, -3.43114354e-02,
        9.96162610e-01,  8.05157115e-02,  9.19951026e-01,  6.93889390e-18,
        3.92033301e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08249796, -0.03437503,  0.2232156 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.16047716,  -6.09803948,  16.16047716,
        31.45035018,  37.5722643 ,  -6.09803948,  37.5722643 ,
       116.84337136,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019506854453700193
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42286270e-14, -4.44644594e-15,  1.00000000e+00, -6.32668208e-29,
        1.00000000e+00,  4.44644594e-15, -1.00000000e+00,  0.00000000e+00,
       -1.42286270e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0849498 , -0.07844568,  0.06187082])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.99669201e-03, 2.47481838e-02, 3.65559154e-03, 8.01924242e-05,
 -1.06938966e-05, 2.62415986e-05,-2.66142674e-05,-5.31730004e-05,
  2.90475777e-05, 1.87516762e-05,-7.47113695e-06,-1.62703293e-06,
  1.03589092e-02, 1.44857428e-02, 6.99915769e-03, 1.64928093e-03,
  5.63247309e-05, 1.85689148e-03,-9.81005820e+00,-7.43242668e-04,
 -6.07425809e-02, 6.17702982e-02]


--- Step 3839 ---
qpos:
[-0.01873353, 1.20483961,-0.03529928, 0.94261368,-0.00791683, 1.33296366,
 -0.03116948, 0.94132389, 0.01532492, 1.33852832,-0.02366263, 0.95471368,
  1.27864829,-0.00883378, 1.28318778, 0.04365591,-0.05520547,-0.08836166,
  0.09024161, 0.68980253,-0.11664784,-0.7101801 ,-0.07880345]

qacc:
[-7.67391099e-02, 2.14451438e+00,-1.07486328e+01, 3.58506672e+01,
 -3.83068145e-02, 2.48801806e-01, 1.12464364e+00,-8.60526331e+00,
  4.69356387e-02, 6.77039396e+00,-2.11914985e+01, 2.18780801e+01,
 -3.42012437e-02, 3.18274835e-01,-3.20550225e+00, 4.62892301e+00,
  2.08585310e+00, 2.96123788e-01, 1.82462845e+00, 2.97041098e-01,
  6.75947671e+01, 5.16644954e+01]

qfrc_actuator:
[ 9.94965294e-03, 5.87328249e-02, 1.42093532e-02, 2.01621406e-03,
 -2.04117680e-05, 3.48327420e-02, 1.09025302e-02, 1.74096812e-03,
 -2.98184984e-03, 3.48005598e-02, 1.08732475e-02, 1.77135680e-03,
  7.64737309e-03, 1.27706387e-02, 0.00000000e+00, 2.68224315e-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: -0.0005940749745786469
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90518395e-01,  8.75216610e-02, -9.16425307e-01, -3.43104810e-02,
        9.96162617e-01,  8.05160359e-02,  9.19955529e-01,  6.93889390e-18,
        3.92022736e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08249608, -0.03437609,  0.22321567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.02353925,  -6.44928657,  16.02353925,
        35.02018908,  44.09435803,  -6.44928657,  44.09435803,
       126.82712054,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019384619826662564
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.86366984e-14,  1.52132460e-14,  1.00000000e+00,  4.35657139e-28,
        1.00000000e+00, -1.52132460e-14, -1.00000000e+00,  0.00000000e+00,
       -2.86366984e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08495856, -0.07843634,  0.0618716 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98758018e-03, 2.46427322e-02, 3.59684990e-03, 1.25131268e-04,
 -1.10183197e-05, 3.75503573e-05,-9.86180505e-06,-3.16601416e-05,
  1.36468184e-05, 7.85765967e-05,-8.27151877e-05, 1.82618959e-05,
  1.03388895e-02, 1.44895218e-02, 7.08470318e-03, 1.72752482e-03,
  6.43416363e-04, 1.96934670e-03,-9.80993733e+00,-6.06689895e-04,
 -6.06867239e-02, 6.17483203e-02]


--- Step 3840 ---
qpos:
[-0.01873371, 1.20485371,-0.03529798, 0.94261571,-0.00791733, 1.33296367,
 -0.03117053, 0.94132212, 0.0153257 , 1.33852939,-0.02366395, 0.95471499,
  1.27866335,-0.00882996, 1.28316451, 0.04365176,-0.05520149,-0.08832923,
  0.09024694, 0.68978866,-0.11717751,-0.71013886,-0.07851011]

qacc:
[-2.99213775e-01, 1.66589845e+00,-3.84673818e+00, 8.79264480e+00,
 -9.35035492e-02, 3.15047615e-01, 2.07867610e+00,-1.44485462e+01,
 -4.25304814e-02, 4.24637962e+00,-1.47158724e+01, 1.94492193e+01,
 -1.18677670e-01, 3.16142023e-01,-6.83467545e+00, 1.31107040e+01,
 -3.15781219e+00, 9.69455699e-01,-3.40947844e+00, 7.12918147e-01,
 -1.14060020e+02,-4.25757125e+01]

qfrc_actuator:
[ 9.96562771e-03, 5.87493666e-02, 1.42123909e-02, 2.04589900e-03,
 -4.08228633e-05, 3.48683861e-02, 1.08789352e-02, 1.68786690e-03,
 -3.00212796e-03, 3.47704198e-02, 1.08053658e-02, 1.79938233e-03,
  7.65471683e-03, 1.28093188e-02, 0.00000000e+00, 4.18068411e-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: -0.0005934929705005421
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39050635,  0.08752168, -0.91643044, -0.03430943,  0.99616261,
        0.08051651,  0.91996068,  0.        ,  0.39201065])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08249391, -0.0343771 ,  0.22321575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.95319313, -3.30701528, 16.95319313, 19.50771867,
       11.45753423, -3.30701528, 11.45753423, 76.00901186,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019242677552240711
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.88479351e-14,  2.88479351e-14,  1.00000000e+00,  8.32203357e-28,
        1.00000000e+00, -2.88479351e-14, -1.00000000e+00,  0.00000000e+00,
       -2.88479351e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0220712 , -0.09865009,  0.06187253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01237132e-03, 2.46260506e-02, 3.55048792e-03, 3.87645746e-05,
 -2.69141002e-05, 5.35371619e-05,-1.82981776e-05,-5.29944833e-05,
 -1.22154673e-05,-2.30410164e-06,-6.14018843e-05, 2.83602190e-05,
  1.03409041e-02, 1.45078928e-02, 7.23879222e-03, 1.89949626e-03,
  1.12661502e-03, 2.02911537e-03,-9.80991189e+00,-4.27116032e-04,
 -6.06404357e-02, 6.17249101e-02]


--- Step 3841 ---
qpos:
[-0.01873399, 1.20486845,-0.03529646, 0.94261716,-0.00791805, 1.33296405,
 -0.03117157, 0.94132041, 0.01532618, 1.33852979,-0.02366455, 0.95471593,
  1.27867812,-0.00882636, 1.28314261, 0.04364805,-0.05520922,-0.08829345,
  0.09023672, 0.68961912,-0.11767312,-0.710251  ,-0.07824338]

qacc:
[-4.93975110e-02,-7.02659674e-01, 4.50843917e+00,-1.10115071e+01,
 -9.65035422e-02, 5.29714088e-01,-1.28255350e+00, 1.58742174e+00,
 -1.29410666e-01,-3.47616856e+00, 1.10254753e+01,-1.35292721e+01,
 -1.33643797e-01,-5.91324353e-02, 6.61568312e-01, 6.26938467e-01,
 -2.92834134e+00, 8.39784011e-01,-3.88809545e+00,-7.96423363e-01,
 -1.05279308e+02,-3.63680171e+01]

qfrc_actuator:
[ 9.97569477e-03, 5.86815986e-02, 1.42133407e-02, 2.00930161e-03,
 -5.27376913e-05, 3.48894157e-02, 1.08832543e-02, 1.69285318e-03,
 -3.03230076e-03, 3.47162797e-02, 1.08368317e-02, 1.77981286e-03,
  7.65859059e-03, 1.28307754e-02, 0.00000000e+00, 3.49983040e-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: -0.0005927194954052015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39049217,  0.08752201, -0.91643645, -0.03430831,  0.99616259,
        0.08051734,  0.91996674,  0.        ,  0.39199642])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08249131, -0.034378  ,  0.22321586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.74779091,   4.22594453, -16.74779091,
        17.59807883,   1.28939692,   4.22594453,   1.28939692,
        22.38272101,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019213855286103754
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.88912092e-14,  4.33368138e-14,  1.00000000e+00,  1.25205295e-27,
        1.00000000e+00, -4.33368138e-14, -1.00000000e+00,  0.00000000e+00,
       -2.88912092e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02207339, -0.09867951,  0.0618727 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.05681053e-03, 2.44712571e-02, 3.52222059e-03,-2.60727489e-05,
 -2.78009692e-05, 4.54675836e-05, 1.11564366e-05, 4.83191170e-06,
 -3.73866828e-05,-6.65693639e-05, 2.48696915e-05,-2.07731340e-05,
  1.03535554e-02, 1.45104936e-02, 7.49125934e-03, 1.84156846e-03,
  4.47603582e-04, 2.52356786e-03,-9.81009704e+00,-9.30647756e-04,
 -6.06780862e-02, 6.17078857e-02]


--- Step 3842 ---
qpos:
[-0.01873366, 1.20488183,-0.03529535, 0.94261769,-0.00791897, 1.33296472,
 -0.03117254, 0.94131913, 0.01532662, 1.33852986,-0.02366455, 0.95471555,
  1.27869261,-0.00882342, 1.28312842, 0.0436451 ,-0.05520738,-0.08825661,
  0.09024084, 0.6895695 ,-0.11824683,-0.71024118,-0.07790423]

qacc:
[ 2.70405933e-01,-2.25585041e+00, 7.09717796e+00,-1.59855135e+01,
 -8.02938052e-02, 9.19117750e-01,-3.41140980e+00, 7.67326506e+00,
 -1.60979853e-02,-4.31584584e+00, 1.61877886e+01,-2.88668822e+01,
 -1.66719995e-01,-2.93701201e-01, 9.13318649e+00,-1.53729292e+01,
  2.39564296e+00, 2.62471551e-01, 3.58506115e+00, 1.06473173e+00,
  7.73278040e+01, 6.45712823e+01]

qfrc_actuator:
[ 9.96416551e-03, 5.86346534e-02, 1.42131762e-02, 1.95160347e-03,
 -5.94592798e-05, 3.49016662e-02, 1.08862506e-02, 1.71424478e-03,
 -3.01490638e-03, 3.47195514e-02, 1.08732777e-02, 1.71466946e-03,
  7.66039836e-03, 1.28423366e-02, 0.00000000e+00, 1.15064401e-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: -0.0005920773386025105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90477201e-01,  8.75223953e-02, -9.16442789e-01, -3.43071518e-02,
        9.96162552e-01,  8.05182526e-02,  9.19973138e-01,  6.93889390e-18,
        3.91981409e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08248881, -0.0343789 ,  0.223216  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.9413203 ,   3.36730961, -16.9413203 ,
        22.90679332,  28.34563156,   3.36730961,  28.34563156,
       159.88284596,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019399577388366646
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.83627522e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.83627522e-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([-0.08495029, -0.07840512,  0.06187146])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.05094450e-03, 2.43919272e-02, 3.51143471e-03,-5.49060825e-05,
 -2.31318205e-05, 3.97286015e-05, 1.33040109e-05, 2.31984348e-05,
 -4.68751196e-06,-2.93009783e-05, 2.56654629e-05,-6.68706563e-05,
  1.03695455e-02, 1.45326522e-02, 7.42348706e-03, 1.58426886e-03,
 -5.55700655e-04, 2.99603730e-03,-9.81042283e+00,-1.26771912e-03,
 -6.06979734e-02, 6.16932374e-02]


--- Step 3843 ---
qpos:
[-0.01873268, 1.20489433,-0.03529451, 0.94261748,-0.00791988, 1.33296571,
 -0.03117319, 0.94131809, 0.01532697, 1.33852987,-0.02366449, 0.95471406,
  1.27870706,-0.00882101, 1.28311979, 0.04364259,-0.05519662,-0.0882186 ,
  0.09025526, 0.68963048,-0.11889091,-0.71011859,-0.0775006 ]

qacc:
[ 2.82595230e-01,-1.69387779e+00, 5.66508799e+00,-1.29780248e+01,
  1.89686101e-03,-2.96747333e-02, 8.91930423e-02, 2.62054292e+00,
 -3.54460990e-02,-2.16561884e+00, 9.21626688e+00,-2.08376856e+01,
  2.77953229e-02,-3.72913323e-01, 6.90581718e+00,-1.22267453e+01,
  2.22710384e+00, 2.92658542e-01, 2.57419273e+00, 7.85659047e-01,
  7.16005710e+01, 5.82002745e+01]

qfrc_actuator:
[ 9.95674148e-03, 5.86197082e-02, 1.42306317e-02, 1.91732606e-03,
 -4.52594283e-05, 3.49263285e-02, 1.09061495e-02, 1.72734173e-03,
 -3.02237489e-03, 3.47216796e-02, 1.08770257e-02, 1.65876236e-03,
  7.65565023e-03, 1.28129880e-02, 0.00000000e+00, 1.03462449e-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: -0.0005918213079220899
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39046387,  0.08752251, -0.91644846, -0.03430603,  0.99616254,
        0.08051886,  0.91997884,  0.        ,  0.39196803])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08248699, -0.03437993,  0.22321611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.3099405 ,  -5.68620684,  16.3099405 ,
        29.10143864,  33.92869518,  -5.68620684,  33.92869518,
       114.59155773,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019451495265703361
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.24274081e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.24274081e-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([-0.08494341, -0.07839445,  0.06187112])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01243334e-03, 2.44451820e-02, 3.54929557e-03,-4.30638594e-05,
  5.45696546e-07, 4.99381603e-05, 2.98669733e-05, 1.52203200e-05,
 -1.02376146e-05,-1.10451777e-05,-1.01489556e-06,-5.75810296e-05,
  1.03785894e-02, 1.45362917e-02, 7.03799047e-03, 1.44194003e-03,
  3.60359239e-04, 3.26403168e-03,-9.81026497e+00,-1.13637787e-03,
 -6.06332713e-02, 6.16673047e-02]


--- Step 3844 ---
qpos:
[-0.01873166, 1.20490749,-0.03529372, 0.94261566,-0.00792043, 1.332967  ,
 -0.0311736 , 0.94131791, 0.01532695, 1.33852969,-0.02366434, 0.95471192,
  1.27872148,-0.00881897, 1.28311316, 0.04364039,-0.05517751,-0.08817933,
  0.09027656, 0.68979424,-0.11959903,-0.70989084,-0.0770388 ]

qacc:
[ 1.19668361e-02,-1.69277925e+00, 9.88867624e+00,-2.75444938e+01,
  1.55121160e-01, 1.22445422e+00,-5.29686181e+00, 1.44152656e+01,
 -1.59833170e-01,-1.59612709e+00, 6.20669405e+00,-1.27351045e+01,
  1.19776841e-01,-3.71600995e-01, 1.99111635e+00,-2.71321017e+00,
  2.08738402e+00, 3.16655757e-01, 1.72134101e+00, 6.08134314e-01,
  6.68168464e+01, 5.30296057e+01]

qfrc_actuator:
[ 9.93375127e-03, 5.85885187e-02, 1.42409296e-02, 1.84403327e-03,
 -8.72250383e-07, 3.49405387e-02, 1.09181521e-02, 1.77097031e-03,
 -3.06245295e-03, 3.47052362e-02, 1.08792139e-02, 1.62648499e-03,
  7.65760964e-03, 1.27947355e-02, 0.00000000e+00, 1.92713568e-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: -0.0005918464201513686
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3904516 ,  0.08752235, -0.9164537 , -0.03430489,  0.99616256,
        0.08051917,  0.91998409,  0.        ,  0.39195571])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08248564, -0.03438107,  0.2232162 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.18173021,  -6.04141664,  16.18173021,
        32.22510327,  40.04943357,  -6.04141664,  40.04943357,
       124.54378105,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001930782426500334
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.39073731e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.39073731e-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([-0.08495419, -0.07838471,  0.06187203])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.95695136e-03, 2.44579101e-02, 3.57297424e-03,-7.91761547e-05,
  4.47110108e-05, 4.81333813e-05, 2.56196346e-05, 4.63620645e-05,
 -4.61241530e-05,-2.44582550e-05,-1.77145196e-06,-3.39764399e-05,
  1.03829933e-02, 1.45446574e-02, 6.75993634e-03, 1.42918623e-03,
  1.15230382e-03, 3.45730995e-03,-9.81022411e+00,-9.46162410e-04,
 -6.05799274e-02, 6.16399178e-02]


--- Step 3845 ---
qpos:
[-0.01873124, 1.20492155,-0.03529255, 0.94261398,-0.00792068, 1.33296813,
 -0.03117394, 0.941319  , 0.0153268 , 1.3385297 ,-0.02366408, 0.95471007,
  1.27873602,-0.00881666, 1.28310373, 0.04363793,-0.05517099,-0.08813606,
  0.09028426, 0.68978899,-0.120265  ,-0.70983018,-0.07660673]

qacc:
[-2.53328744e-01, 3.56732715e-01,-2.50728952e-03, 8.96753174e-01,
  1.22399248e-01, 1.76897838e+00,-8.64534282e+00, 2.23110145e+01,
 -5.39019814e-02, 4.54472713e-01,-1.74357543e+00, 4.66769138e+00,
  6.47204732e-02, 1.26025952e-01,-3.36745066e+00, 5.76701842e+00,
 -3.14683346e+00, 9.98190156e-01,-3.40135816e+00, 3.12313678e-01,
 -1.14221045e+02,-4.17200134e+01]

qfrc_actuator:
[ 9.90178350e-03, 5.85463859e-02, 1.42290711e-02, 1.85499902e-03,
  8.00578852e-06, 3.48951099e-02, 1.09076211e-02, 1.83220600e-03,
 -3.05075885e-03, 3.47488154e-02, 1.08981700e-02, 1.64386830e-03,
  7.66359387e-03, 1.27831879e-02, 0.00000000e+00, 1.31836351e-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: -0.0005920350658291801
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39043876,  0.08752219, -0.91645918, -0.0343037 ,  0.99616257,
        0.08051951,  0.91998958,  0.        ,  0.39194282])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08248444, -0.03438223,  0.22321631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.95015598, -3.32254716, 16.95015598, 19.49356897,
       11.32974534, -3.32254716, 11.32974534, 75.07204261,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019175943672752535
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.89483283e-14,  2.89483283e-14,  1.00000000e+00,  8.38005710e-28,
        1.00000000e+00, -2.89483283e-14, -1.00000000e+00,  0.00000000e+00,
       -2.89483283e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02206032, -0.09879792,  0.0618729 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92359071e-03, 2.43822191e-02, 3.56367423e-03, 1.17015256e-05,
  3.52739449e-05,-1.23960261e-05, 3.16341772e-06, 6.45133137e-05,
 -1.55462202e-05, 2.86976789e-05, 1.29810453e-05, 1.58130715e-05,
  1.03906151e-02, 1.45514290e-02, 6.66034394e-03, 1.52618460e-03,
  1.83465326e-03, 3.58860225e-03,-9.81027442e+00,-7.16705001e-04,
 -6.05359258e-02, 6.16108228e-02]


--- Step 3846 ---
qpos:
[-0.01873163, 1.20493645,-0.03529102, 0.94261279,-0.00792087, 1.33296861,
 -0.03117327, 0.94132082, 0.01532663, 1.33853025,-0.02366353, 0.95470943,
  1.27875054,-0.00881389, 1.28309019, 0.04363513,-0.05517614,-0.08808933,
  0.09027643, 0.68962794,-0.12089835,-0.70992286,-0.07619999]

qacc:
[-3.58992759e-01, 9.93805881e-01,-2.94046495e+00, 7.77393414e+00,
  2.90883286e-02,-2.32763900e+00, 5.07694441e+00, 4.37536747e+00,
 -7.07489207e-03, 2.00930814e+00,-8.15373233e+00, 2.07723476e+01,
 -1.03471367e-01, 3.95746406e-01,-5.05738579e+00, 8.88295093e+00,
 -2.91891590e+00, 8.67331830e-01,-3.88067014e+00,-1.23193913e+00,
 -1.05404672e+02,-3.54991254e+01]

qfrc_actuator:
[ 9.88278079e-03, 5.85682028e-02, 1.42212572e-02, 1.87992997e-03,
 -4.49089949e-06, 3.48497461e-02, 1.09546566e-02, 1.86775171e-03,
 -3.04360599e-03, 3.48103443e-02, 1.09271286e-02, 1.70812744e-03,
  7.65600261e-03, 1.27929281e-02, 0.00000000e+00, 2.36017392e-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: -0.0005921076472088886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90424747e-01,  8.75222838e-02, -9.16465148e-01, -3.43024992e-02,
        9.96162562e-01,  8.05201137e-02,  9.19995574e-01,  6.93889390e-18,
        3.91928750e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.082483  , -0.03438334,  0.22321643])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.72762368,   4.30507994, -16.72762368,
        17.57534445,   1.17583558,   4.30507994,   1.17583558,
        21.84150077,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019151101544775534
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.8985879e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.8985879e-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([ 0.02206111, -0.09882752,  0.06187305])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93369423e-03, 2.43590836e-02, 3.53665989e-03, 3.03534673e-05,
  8.32601223e-06,-4.96624861e-05, 4.68634058e-05, 3.67617826e-05,
 -2.02715658e-06, 8.03985552e-05, 3.64983156e-05, 6.58552871e-05,
  1.03767839e-02, 1.45477488e-02, 6.80046676e-03, 1.64318618e-03,
  8.89321499e-04, 4.24775475e-03,-9.81042984e+00,-1.37398685e-03,
 -6.05667871e-02, 6.15836065e-02]


--- Step 3847 ---
qpos:
[-0.01873217, 1.2049508 ,-0.03528955, 0.94261205,-0.00792064, 1.33296831,
 -0.03117184, 0.94132168, 0.0153262 , 1.33853152,-0.0236635 , 0.95470821,
  1.27876513,-0.008811  , 1.28307689, 0.04363228,-0.05517171,-0.0880414 ,
  0.09028255, 0.68958563,-0.1216123 ,-0.70989356,-0.07571814]

qacc:
[-6.05764310e-02, 2.03893055e-01,-2.47216218e+00, 7.77506610e+00,
  1.76153180e-01,-4.70274892e+00, 1.60669350e+01,-2.44290860e+01,
 -1.12209705e-01, 1.35517815e+00,-2.11339492e+00,-5.30081057e+00,
 -4.69439230e-02, 1.47070856e-01, 5.46948324e-01,-1.36024965e+00,
  2.39719992e+00, 2.99374968e-01, 3.48590992e+00, 1.39751896e+00,
  7.65930906e+01, 6.64039742e+01]

qfrc_actuator:
[ 9.87203300e-03, 5.85925852e-02, 1.42157494e-02, 1.89506714e-03,
  4.13032609e-05, 3.47872208e-02, 1.09820108e-02, 1.81691187e-03,
 -3.07474288e-03, 3.48289656e-02, 1.08908489e-02, 1.67519679e-03,
  7.64027423e-03, 1.27796370e-02, 0.00000000e+00, 1.75576684e-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: -0.0005919830778233701
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90409631e-01,  8.75227148e-02, -9.16471546e-01, -3.43013414e-02,
        9.96162524e-01,  8.05210754e-02,  9.20002031e-01,  6.93889390e-18,
        3.91913590e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08248119, -0.03438438,  0.22321658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.93152811,   3.416206  , -16.93152811,
        23.04200563,  28.59391347,   3.416206  ,  28.59391347,
       158.99095205,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019271857469335407
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.79041228e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.79041228e-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([-0.08495052, -0.0783526 ,  0.06187221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96419784e-03, 2.43414755e-02, 3.51357978e-03, 2.07172108e-05,
  5.07072921e-05,-7.97227443e-05, 2.40505697e-05,-5.01062622e-05,
 -3.23311108e-05, 7.21553287e-05,-1.45049102e-05,-2.79467685e-05,
  1.03618666e-02, 1.45114386e-02, 7.00648552e-03, 1.59959384e-03,
 -3.59836647e-04, 4.89044835e-03,-9.81073191e+00,-1.85700083e-03,
 -6.05785240e-02, 6.15589806e-02]


--- Step 3848 ---
qpos:
[-0.01873297, 1.20496428,-0.03528804, 0.9426136 ,-0.0079198 , 1.33296758,
 -0.03117043, 0.94132125, 0.01532561, 1.33853349,-0.02366474, 0.95470596,
  1.27878003,-0.00880748, 1.28306011, 0.04362881,-0.05515835,-0.08799214,
  0.09029862, 0.68965287,-0.12239905,-0.70975137,-0.07516913]

qacc:
[-1.14346925e-01, 2.61789934e+00,-1.46480794e+01, 3.97814875e+01,
  2.59679265e-01,-2.72030457e+00, 1.08698462e+01,-2.42041395e+01,
 -6.84756702e-02, 2.55767352e+00,-5.16113853e+00,-7.86436471e+00,
  1.22658028e-03, 4.74603350e-01,-3.26777651e+00, 3.95787634e+00,
  2.23061347e+00, 3.30496282e-01, 2.49000243e+00, 1.12426316e+00,
  7.09723218e+01, 6.00096997e+01]

qfrc_actuator:
[ 9.86588233e-03, 5.85840485e-02, 1.41941374e-02, 2.01068593e-03,
  8.61921053e-05, 3.47680432e-02, 1.09796380e-02, 1.75112330e-03,
 -3.07534092e-03, 3.48391991e-02, 1.08161256e-02, 1.62076820e-03,
  7.64096043e-03, 1.27704314e-02, 0.00000000e+00, 2.64754300e-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: -0.000591838123115071
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39039507,  0.08752319, -0.9164777 , -0.03430025,  0.99616248,
        0.08052206,  0.92000825,  0.        ,  0.39189899])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08247941, -0.03438544,  0.22321671])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.33878927,  -5.60277364,  16.33878927,
        28.58818967,  32.99811263,  -5.60277364,  32.99811263,
       113.50171012,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019310874274494766
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.87460580e-14, -7.18651451e-15,  1.00000000e+00, -2.06583963e-28,
        1.00000000e+00,  7.18651451e-15, -1.00000000e+00,  0.00000000e+00,
       -2.87460580e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08494476, -0.07834172,  0.06187194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96500099e-03, 2.43600191e-02, 3.49465194e-03, 1.13584337e-04,
  7.48203402e-05,-6.00835580e-05,-1.67061157e-05,-6.86444099e-05,
 -1.96884257e-05, 4.64623241e-05,-6.31010390e-05,-5.33649678e-05,
  1.03595567e-02, 1.44959826e-02, 6.99416172e-03, 1.69163432e-03,
  7.94294355e-04, 5.27986558e-03,-9.81067390e+00,-1.66595022e-03,
 -6.05169883e-02, 6.15270048e-02]


--- Step 3849 ---
qpos:
[-0.01873373, 1.20497672,-0.03528684, 0.94261726,-0.00791868, 1.33296704,
 -0.03116911, 0.94132102, 0.01532507, 1.33853545,-0.02366668, 0.9547038 ,
  1.27879589,-0.00880342, 1.28303988, 0.04362475,-0.05513663,-0.08794146,
  0.0903213 , 0.68982192,-0.1232522 ,-0.70950372,-0.07455929]

qacc:
[ 1.59169203e-02, 3.01311001e+00,-1.58313204e+01, 3.87454626e+01,
  1.21028064e-01, 8.21203943e-01,-2.79705769e+00, 4.61971237e+00,
  2.10586657e-02, 2.02785174e+00,-6.79068249e+00, 6.90530704e+00,
  5.76170118e-01,-4.92859619e-02,-3.35557028e+00, 4.27550103e+00,
  2.09261102e+00, 3.55447681e-01, 1.64955040e+00, 9.54471793e-01,
  6.62753533e+01, 5.48199020e+01]

qfrc_actuator:
[ 9.86266929e-03, 5.85740545e-02, 1.41627864e-02, 2.11357053e-03,
  7.69161087e-05, 3.48280965e-02, 1.09954156e-02, 1.76585672e-03,
 -3.05761327e-03, 3.48086322e-02, 1.07725492e-02, 1.62513632e-03,
  7.66212185e-03, 1.27276179e-02, 0.00000000e+00, 3.20023616e-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: -0.0005914203328132236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39038126,  0.08752375, -0.91648353, -0.03429926,  0.99616243,
        0.08052309,  0.92001415,  0.        ,  0.39188514])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08247734, -0.03438648,  0.22321681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.21128373,  -5.96165978,  16.21128373,
        31.61060322,  38.98836629,  -5.96165978,  38.98836629,
       123.29210637,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019157751844309928
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.62197713e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.62197713e-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([-0.08495637, -0.07833193,  0.06187291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97492330e-03, 2.43932953e-02, 3.46107074e-03, 1.02193693e-04,
  3.48910808e-05, 2.14801136e-05, 1.02464819e-07, 1.08417979e-05,
  6.10342992e-06,-1.87944910e-05,-4.32395662e-05, 2.65442411e-06,
  1.03649819e-02, 1.44216803e-02, 7.16900919e-03, 1.77812437e-03,
  1.81628731e-03, 5.58189662e-03,-9.81072808e+00,-1.42006611e-03,
 -6.04665136e-02, 6.14932300e-02]


--- Step 3850 ---
qpos:
[-0.01873362, 1.20498697,-0.03528688, 0.94262088,-0.00791743, 1.33296654,
 -0.03116762, 0.94132131, 0.01532464, 1.33853692,-0.02366781, 0.95470202,
  1.27881272,-0.00879967, 1.28302361, 0.04362085,-0.05512748,-0.08788663,
  0.09033045, 0.68982156,-0.12406487,-0.70942332,-0.07397755]

qacc:
[ 3.77473388e-01, 4.69601390e-01,-4.96432123e+00, 5.43812433e+00,
  5.00107442e-02, 4.82118524e-01,-2.57726456e+00, 8.25896403e+00,
  5.01729842e-02,-2.16515131e+00, 5.50790709e+00,-8.80923874e-02,
  7.66909095e-01,-7.98587689e-01, 5.32233870e+00,-1.02485811e+01,
 -3.14525645e+00, 1.03815698e+00,-3.38096996e+00,-2.05170508e-01,
 -1.14543974e+02,-4.06749549e+01]

qfrc_actuator:
[ 9.86102437e-03, 5.85637102e-02, 1.41259248e-02, 2.10157135e-03,
  7.07284510e-05, 3.48287294e-02, 1.10044068e-02, 1.79242225e-03,
 -3.04678958e-03, 3.47895070e-02, 1.08186049e-02, 1.64632169e-03,
  7.66886953e-03, 1.26822267e-02, 0.00000000e+00, 1.42127266e-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: -0.0005907171806062844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39036869,  0.08752428, -0.91648883, -0.03429836,  0.99616239,
        0.08052405,  0.92001951,  0.        ,  0.39187255])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08247499, -0.03438754,  0.22321687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.94510114, -3.34823157, 16.94510114, 19.48316762,
       11.18684131, -3.34823157, 11.18684131, 73.88833274,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001913400814974181
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.90117736e-14,  4.35176604e-14,  1.00000000e+00,  1.26252451e-27,
        1.00000000e+00, -4.35176604e-14, -1.00000000e+00,  0.00000000e+00,
       -2.90117736e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02204081, -0.09894668,  0.06187311])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97143285e-03, 2.44350725e-02, 3.43950940e-03,-1.47354912e-05,
  1.44104444e-05, 1.28664945e-05, 1.35231283e-05, 2.74678602e-05,
  1.44288985e-05,-3.78985442e-05, 3.75455094e-05, 1.94218893e-05,
  1.03234688e-02, 1.43490664e-02, 7.34162637e-03, 1.62955894e-03,
  2.72191340e-03, 5.81152723e-03,-9.81087044e+00,-1.13808735e-03,
 -6.04252141e-02, 6.14574108e-02]


--- Step 3851 ---
qpos:
[-0.01873344, 1.20499783,-0.03528755, 0.94262268,-0.00791615, 1.33296609,
 -0.03116601, 0.94132192, 0.01532449, 1.33853816,-0.02366816, 0.95470014,
  1.27882967,-0.00879638, 1.28300888, 0.04361733,-0.05513   ,-0.08782818,
  0.09032415, 0.68966508,-0.12484666,-0.70949627,-0.07341955]

qacc:
[ 3.30537486e-02,-6.51009791e-01, 6.89814322e+00,-2.77110317e+01,
  1.46681222e-02, 2.99808714e-01,-1.55376941e+00, 5.01501996e+00,
  1.14062841e-01,-2.60477298e+00, 8.33665626e+00,-8.25692316e+00,
  3.26062284e-01,-6.11142456e-01, 1.10499863e+00,-6.01869311e-01,
 -2.91665594e+00, 9.04733408e-01,-3.86331642e+00,-1.78637893e+00,
 -1.05656438e+02,-3.44296407e+01]

qfrc_actuator:
[ 9.85947435e-03, 5.85724712e-02, 1.41400854e-02, 2.02192235e-03,
  6.64472495e-05, 3.48292810e-02, 1.10091000e-02, 1.80793275e-03,
 -3.02244383e-03, 3.47954962e-02, 1.08639629e-02, 1.64176525e-03,
  7.65628323e-03, 1.26714390e-02, 0.00000000e+00, 1.61125713e-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: -0.0005901069098128674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39035931,  0.08752441, -0.91649282, -0.03429759,  0.99616238,
        0.08052452,  0.92002352,  0.        ,  0.39186313])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08247299, -0.03438875,  0.22321688])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.72354613,   4.32089255, -16.72354613,
        17.53965265,   1.03310571,   4.32089255,   1.03310571,
        21.27125093,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019114204416547168
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.4520916e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.4520916e-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([ 0.02203976, -0.09897655,  0.06187321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92647348e-03, 2.45532161e-02, 3.51637078e-03,-9.33164526e-05,
  4.22610947e-06, 1.11466528e-05, 9.55556241e-06, 1.69332042e-05,
  3.28666299e-05,-7.07138933e-06, 4.27891029e-05,-4.13081777e-06,
  1.02629598e-02, 1.43541738e-02, 7.14427205e-03, 1.64088890e-03,
  1.48376661e-03, 6.66465682e-03,-9.81100290e+00,-1.96043273e-03,
 -6.04464228e-02, 6.14186703e-02]


--- Step 3852 ---
qpos:
[-0.01873402, 1.20501222,-0.03528699, 0.94262382,-0.00791488, 1.33296621,
 -0.03116489, 0.94132373, 0.01532446, 1.33853943,-0.02366922, 0.9546993 ,
  1.27884631,-0.00879307, 1.28298977, 0.04361389,-0.0551229 ,-0.08776832,
  0.09033151, 0.6896263 ,-0.12571228,-0.70944669,-0.07278307]

qacc:
[-3.32496182e-01, 2.45384549e-01, 6.14524496e+00,-1.50521418e+01,
 -2.25476046e-03, 4.12105987e+00,-1.50370346e+01, 2.66661408e+01,
  5.59106849e-02, 3.78864557e+00,-1.44116493e+01, 2.45904010e+01,
 -2.02319426e-02,-6.25405484e-02,-6.73790433e+00, 1.41588117e+01,
  2.40533007e+00, 3.55122535e-01, 3.41467631e+00, 1.78608571e+00,
  7.60323598e+01, 6.87724790e+01]

qfrc_actuator:
[ 9.87617834e-03, 5.85730164e-02, 1.42024761e-02, 2.01002456e-03,
  6.33461399e-05, 3.48830169e-02, 1.09934498e-02, 1.87006220e-03,
 -3.02568832e-03, 3.47809783e-02, 1.08198319e-02, 1.69310371e-03,
  7.64278853e-03, 1.26639160e-02, 0.00000000e+00, 3.68982035e-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: -0.0005896308839939621
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90349925e-01,  8.75245112e-02, -9.16496806e-01, -3.42968050e-02,
        9.96162366e-01,  8.05249603e-02,  9.20027535e-01, -6.93889390e-18,
        3.91853716e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08247113, -0.03438998,  0.22321691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.92385017,   3.45404154, -16.92385017,
        23.19047511,  28.99533104,   3.45404154,  28.99533104,
       159.34184629,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019100406795529642
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.63381724e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.63381724e-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([-0.08495443, -0.0782997 ,  0.06187321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93934949e-03, 2.45230184e-02, 3.60958281e-03,-1.33034290e-05,
 -6.05972009e-07, 6.22851065e-05,-1.18848769e-05, 6.31405456e-05,
  1.61663435e-05,-1.02036947e-05,-4.07734964e-05, 5.22834785e-05,
  1.02431795e-02, 1.43689329e-02, 7.06705108e-03, 1.82969387e-03,
 -3.67177874e-05, 7.50735449e-03,-9.81128930e+00,-2.60022342e-03,
 -6.04469683e-02, 6.13827478e-02]


--- Step 3853 ---
qpos:
[-0.01873567, 1.20503061,-0.03528476, 0.94262474,-0.00791392, 1.33296665,
 -0.03116416, 0.94132595, 0.0153245 , 1.33854082,-0.02367117, 0.95470013,
  1.27886245,-0.00878956, 1.28296465, 0.04361056,-0.05510684,-0.0877069 ,
  0.09034858, 0.6896961 ,-0.12665382,-0.70928354,-0.07207608]

qacc:
[-4.63323474e-01, 3.63339742e-01, 5.61668018e+00,-9.98297871e+00,
 -1.32740210e-01, 2.15332603e+00,-7.35601904e+00, 1.08532810e+01,
  2.59302375e-02, 5.42219293e+00,-2.08541818e+01, 3.71647523e+01,
 -1.86269363e-01, 1.99737027e-01,-9.19663951e+00, 1.92797465e+01,
  2.24009584e+00, 3.85363801e-01, 2.42894771e+00, 1.52074497e+00,
  7.04816762e+01, 6.23350824e+01]

qfrc_actuator:
[ 9.88689213e-03, 5.85832165e-02, 1.42389516e-02, 2.00281449e-03,
  2.54735990e-05, 3.48793664e-02, 1.09661545e-02, 1.88814061e-03,
 -3.02770524e-03, 3.47894877e-02, 1.07764521e-02, 1.77686696e-03,
  7.63411022e-03, 1.26758267e-02, 0.00000000e+00, 5.66029046e-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: -0.0005891190351701193
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90336155e-01,  8.75249895e-02, -9.16502625e-01, -3.42957840e-02,
        9.96162324e-01,  8.05259150e-02,  9.20033415e-01, -6.93889390e-18,
        3.91839910e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08246885, -0.03439108,  0.22321702])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.32805927,  -5.63396734,  16.32805927,
        28.72968895,  33.20394633,  -5.63396734,  33.20394633,
       113.50260768,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001913441087515108
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.90111630e-14,  9.06598843e-16,  1.00000000e+00,  2.63014868e-29,
        1.00000000e+00, -9.06598843e-16, -1.00000000e+00,  0.00000000e+00,
       -2.90111630e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08494902, -0.07828881,  0.06187296])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98826046e-03, 2.43562791e-02, 3.58475965e-03, 1.17547820e-05,
 -3.82282427e-05, 3.03856760e-05,-1.46061538e-05, 2.10741982e-05,
  7.53082947e-06,-3.55478978e-06,-4.84779386e-05, 8.34835282e-05,
  1.02505429e-02, 1.43802820e-02, 7.28645471e-03, 2.02258103e-03,
  1.38673948e-03, 8.05855400e-03,-9.81135378e+00,-2.34717686e-03,
 -6.03890888e-02, 6.13435085e-02]


--- Step 3854 ---
qpos:
[-0.01873822, 1.20505175,-0.03528144, 0.94262537,-0.00791377, 1.33296702,
 -0.03116329, 0.94132768, 0.01532457, 1.33854218,-0.02367277, 0.95470225,
  1.27887839,-0.00878583, 1.28293462, 0.04360747,-0.05508237,-0.08764385,
  0.09037204, 0.6898668 ,-0.12766481,-0.70901418,-0.07130495]

qacc:
[-3.90176541e-01, 1.71784527e-01, 4.40044126e+00,-8.96967032e+00,
 -3.42586366e-01,-1.30409086e+00, 5.16141400e+00,-1.00726682e+01,
  1.10608987e-02, 1.25686195e+00,-6.72160279e+00, 2.06921909e+01,
 -2.53442480e-02, 1.00409969e-01,-7.99359333e+00, 1.74106359e+01,
  2.10326879e+00, 4.09814114e-01, 1.59670823e+00, 1.36059716e+00,
  6.58406584e+01, 5.71079887e+01]

qfrc_actuator:
[ 9.87686575e-03, 5.85440782e-02, 1.42234370e-02, 1.98050043e-03,
 -5.07041983e-05, 3.48590597e-02, 1.09674727e-02, 1.86235558e-03,
 -3.02896785e-03, 3.48117276e-02, 1.08049997e-02, 1.84354925e-03,
  7.62834817e-03, 1.26636933e-02, 0.00000000e+00, 7.03280246e-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: -0.0005885065204829232
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39031716,  0.08752598, -0.91651062, -0.03429451,  0.99616224,
        0.08052753,  0.92004152,  0.        ,  0.39182088])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08246601, -0.03439201,  0.22321723])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.1977742 ,  -5.99826795,  16.1977742 ,
        31.78685088,  39.19406385,  -5.99826795,  39.19406385,
       123.11271338,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018978318400018068
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.92497734e-14,  2.37654409e-14,  1.00000000e+00,  6.95133760e-28,
        1.00000000e+00, -2.37654409e-14, -1.00000000e+00,  0.00000000e+00,
       -2.92497734e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08496085, -0.07827916,  0.06187394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03147202e-03, 2.41171796e-02, 3.48564724e-03, 6.15069100e-07,
 -9.87441703e-05,-5.72150484e-06, 6.22162636e-06,-2.48046566e-05,
  3.18513107e-06, 1.32747126e-05, 2.47886063e-05, 6.71015060e-05,
  1.02691137e-02, 1.43578216e-02, 7.58770293e-03, 2.15478698e-03,
  2.66927274e-03, 8.50815140e-03,-9.81152698e+00,-2.04270568e-03,
 -6.03420798e-02, 6.13020489e-02]


--- Step 3855 ---
qpos:
[-0.01874081, 1.20507264,-0.03527763, 0.94262672,-0.00791417, 1.33296724,
 -0.03116239, 0.94133014, 0.01532464, 1.3385435 ,-0.02367308, 0.95470372,
  1.27889399,-0.00878214, 1.28290581, 0.0436048 ,-0.05507047,-0.08757645,
  0.09038207, 0.68986761,-0.12863732,-0.70891214,-0.07055989]

qacc:
[-2.33518911e-02,-4.13855818e-01,-5.20974075e-01, 9.00318768e+00,
 -2.36176241e-01, 9.81331088e-01,-4.95119131e+00, 1.28610775e+01,
  3.95165546e-03,-4.68324412e+00, 1.64982583e+01,-2.17279684e+01,
 -2.81289585e-01, 2.08944012e-01, 5.55457492e-01, 7.32007736e-01,
 -3.14463031e+00, 1.08831509e+00,-3.35722838e+00,-8.50202078e-01,
 -1.14901692e+02,-3.93747794e+01]

qfrc_actuator:
[ 9.89015844e-03, 5.84572397e-02, 1.42121499e-02, 2.00254282e-03,
 -6.04808915e-05, 3.48467621e-02, 1.09678251e-02, 1.89974164e-03,
 -3.02976696e-03, 3.48245360e-02, 1.08758189e-02, 1.81092818e-03,
  7.62432889e-03, 1.26902980e-02, 0.00000000e+00, 6.26949771e-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: -0.000587782469266069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90294639e-01,  8.75273784e-02, -9.16520078e-01, -3.42930795e-02,
        9.96162114e-01,  8.05296633e-02,  9.20051129e-01, -6.93889390e-18,
        3.91798316e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08246273, -0.03439281,  0.22321749])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.93936397, -3.37713722, 16.93936397, 19.46246599,
       10.98349837, -3.37713722, 10.98349837, 72.36479625,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019115125779693015
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.90404321e-14,  2.90404321e-14,  1.00000000e+00,  8.43346697e-28,
        1.00000000e+00, -2.90404321e-14, -1.00000000e+00,  0.00000000e+00,
       -2.90404321e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02201233, -0.09909722,  0.06187313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.08959302e-03, 2.38930244e-02, 3.41998821e-03, 3.74228275e-05,
 -6.80688004e-05,-1.49981409e-05,-7.85816862e-07, 3.68259374e-05,
  1.08253708e-06, 2.69744379e-05, 7.81958474e-05,-2.99380368e-05,
  1.02758444e-02, 1.43735296e-02, 7.83407544e-03, 2.06660824e-03,
  3.82817168e-03, 8.87366943e-03,-9.81178663e+00,-1.70482752e-03,
 -6.03041845e-02, 6.12581287e-02]


--- Step 3856 ---
qpos:
[-0.01874304, 1.20509186,-0.03527427, 0.94262782,-0.00791466, 1.33296729,
 -0.03116206, 0.94133375, 0.01532471, 1.33854458,-0.02367261, 0.95470345,
  1.27890901,-0.00877879, 1.28288213, 0.04360279,-0.05507024,-0.08750524,
  0.09037673, 0.68971191,-0.12958106,-0.70896337,-0.06983666]

qacc:
[ 1.63298232e-01,-1.43694568e+00, 2.54099672e+00,-4.04926382e+00,
 -3.49409266e-02, 3.28138809e+00,-1.33721976e+01, 2.51135567e+01,
  6.13897061e-04,-5.42334477e+00, 2.07992670e+01,-3.79241853e+01,
 -4.79125568e-01, 1.66569624e-01, 5.63269147e+00,-8.63122182e+00,
 -2.91460006e+00, 9.51256431e-01,-3.84361889e+00,-2.47039227e+00,
 -1.05925602e+02,-3.31019173e+01]

qfrc_actuator:
[ 9.89920572e-03, 5.84324255e-02, 1.42035573e-02, 1.97928854e-03,
 -3.03446500e-05, 3.48216339e-02, 1.09321578e-02, 1.95625788e-03,
 -3.03028115e-03, 3.47784634e-02, 1.08999012e-02, 1.72014471e-03,
  7.62137340e-03, 1.27403053e-02, 0.00000000e+00, 4.75449989e-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: -0.0005871300680801821
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39027188,  0.0875288 , -0.91652963, -0.03429164,  0.99616199,
        0.08053183,  0.92006084,  0.        ,  0.39177552])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08245957, -0.03439362,  0.22321776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.72543111,   4.31359034, -16.72543111,
        17.49650432,   0.86766875,   4.31359034,   0.86766875,
        20.63700916,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019098530414996748
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.90656663e-14,  4.35984995e-14,  1.00000000e+00,  1.26721944e-27,
        1.00000000e+00, -4.35984995e-14, -1.00000000e+00,  0.00000000e+00,
       -2.90656663e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02200978, -0.0991276 ,  0.06187321])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.10131746e-03, 2.38797841e-02, 3.38664563e-03,-2.19603145e-05,
 -1.00477100e-05,-3.24708590e-05,-3.76088872e-05, 5.68992750e-05,
  1.26569321e-07,-1.67781941e-05, 3.73622537e-05,-8.83890535e-05,
  1.02894335e-02, 1.44249571e-02, 7.77331486e-03, 1.89414163e-03,
  2.26874211e-03, 9.95866123e-03,-9.81190581e+00,-2.70671679e-03,
 -6.03119102e-02, 6.12061110e-02]


--- Step 3857 ---
qpos:
[-0.01874466, 1.2051093 ,-0.03527186, 0.94262764,-0.00791505, 1.33296737,
 -0.03116193, 0.94133693, 0.01532464, 1.33854507,-0.0236725 , 0.95470254,
  1.27892346,-0.00877596, 1.28286448, 0.04360146,-0.05506032,-0.08743232,
  0.09038482, 0.68967283,-0.13061267,-0.70889101,-0.06903074]

qacc:
[ 2.58878268e-01,-1.92528058e+00, 6.11745593e+00,-1.90758733e+01,
  4.29800668e-02,-1.56721901e-01, 1.44467333e+00,-6.21704600e+00,
 -6.24211772e-02,-8.82187694e-01, 3.25765114e+00,-9.93823568e+00,
 -4.06638112e-01,-1.33795209e-02, 6.85327931e+00,-1.09745946e+01,
  2.41971900e+00, 4.28366263e-01, 3.35858411e+00, 2.25028581e+00,
  7.55356188e+01, 7.17402006e+01]

qfrc_actuator:
[ 9.90529817e-03, 5.84641165e-02, 1.41973205e-02, 1.91178854e-03,
 -1.20182313e-05, 3.48421509e-02, 1.09287235e-02, 1.93477317e-03,
 -3.04837278e-03, 3.46972777e-02, 1.08604354e-02, 1.68457758e-03,
  7.61909104e-03, 1.27691795e-02, 0.00000000e+00, 3.31706012e-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: -0.0005866954489244548
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39025107,  0.08753005, -0.91653837, -0.03429031,  0.99616188,
        0.08053375,  0.92006971,  0.        ,  0.39175468])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08245688, -0.0343945 ,  0.22321799])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.91670242,   3.48888043, -16.91670242,
        23.36810066,  29.55493028,   3.48888043,  29.55493028,
       160.57713993,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018914864214163926
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.93478984e-14,  1.00883401e-14,  1.00000000e+00,  2.96071579e-28,
        1.00000000e+00, -1.00883401e-14, -1.00000000e+00,  0.00000000e+00,
       -2.93478984e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08495918, -0.07824721,  0.06187425])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.08862918e-03, 2.39952433e-02, 3.40249401e-03,-7.68828653e-05,
  1.23936146e-05,-3.08734134e-06,-1.23955816e-05,-2.22435368e-05,
 -1.80165341e-05,-8.57945499e-05,-4.10848067e-05,-3.70262163e-05,
  1.03164619e-02, 1.44711934e-02, 7.51742802e-03, 1.71782206e-03,
  4.50754543e-04, 1.10398345e-02,-9.81218752e+00,-3.51734889e-03,
 -6.02971863e-02, 6.11571450e-02]


--- Step 3858 ---
qpos:
[-0.01874592, 1.20512538,-0.03527028, 0.94262661,-0.00791543, 1.33296736,
 -0.03116148, 0.94133844, 0.01532454, 1.33854524,-0.02367359, 0.95470226,
  1.27893766,-0.00877336, 1.28285027, 0.04360047,-0.05504139,-0.08735758,
  0.09040243, 0.68974127,-0.1317241 ,-0.70870395,-0.06815019]

qacc:
[ 1.64038738e-01,-9.76958572e-01, 2.80043412e+00,-1.14548527e+01,
  2.34999231e-03,-3.85802348e+00, 1.59143428e+01,-3.32614191e+01,
 -1.27156989e-02, 3.89060260e+00,-1.44759756e+01, 2.00939870e+01,
 -2.13434752e-01, 2.50444132e-02, 4.09882965e+00,-6.91518710e+00,
  2.25513869e+00, 4.56361944e-01, 2.37964848e+00, 1.99235550e+00,
  7.00332310e+01, 6.52314736e+01]

qfrc_actuator:
[ 9.89149506e-03, 5.84239626e-02, 1.41754368e-02, 1.87213163e-03,
 -1.86812623e-05, 3.48366562e-02, 1.09444797e-02, 1.84985265e-03,
 -3.04135749e-03, 3.46842258e-02, 1.08014328e-02, 1.71725079e-03,
  7.62255782e-03, 1.27679269e-02, 0.00000000e+00, 2.81080862e-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: -0.0005865249979513237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90232790e-01,  8.75310157e-02, -9.16546066e-01, -3.42890810e-02,
        9.96161795e-01,  8.05353191e-02,  9.20077512e-01, -6.93889390e-18,
        3.91736355e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08245475, -0.03439545,  0.22321819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.29934327,  -5.71651261,  16.29934327,
        29.21429432,  34.04867857,  -5.71651261,  34.04867857,
       114.35483616,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018947683247153776
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.15533289e-16,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.15533289e-16, -1.00000000e+00,  0.00000000e+00,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08495375, -0.07823642,  0.061874  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04505022e-03, 2.40436679e-02, 3.42845888e-03,-5.23555022e-05,
  6.53324421e-07,-1.02947689e-05, 1.30923930e-05,-8.58880116e-05,
 -3.62722485e-06,-6.96219378e-05,-8.15127785e-05, 2.80664030e-05,
  1.03483515e-02, 1.44956287e-02, 7.21618548e-03, 1.63277550e-03,
  2.18100211e-03, 1.18075557e-02,-9.81240943e+00,-3.19910666e-03,
 -6.02438307e-02, 6.11090312e-02]


--- Step 3859 ---
qpos:
[-0.01874756, 1.20514206,-0.03526893, 0.9426249 ,-0.00791569, 1.33296679,
 -0.03116064, 0.94133896, 0.0153246 , 1.33854549,-0.02367533, 0.95470196,
  1.27895194,-0.00877056, 1.28283369, 0.04359946,-0.05501592,-0.08729056,
  0.09042896, 0.68991375,-0.13274549,-0.70842386,-0.06732974]

qacc:
[-1.71226295e-01, 2.47436213e-01, 1.53074020e+00,-9.55959227e+00,
  4.97139951e-02,-3.43941989e+00, 1.24015272e+01,-2.19264513e+01,
  6.87983563e-02, 1.83478338e+00,-5.82351748e+00, 4.81482732e+00,
  6.36319297e-02, 7.93635961e-02,-3.45208294e+00, 6.97970581e+00,
  1.63197864e+00,-1.93403055e+00, 2.23144964e+00, 1.34361611e+01,
  7.59759723e+01,-4.29595916e+01]

qfrc_actuator:
[ 9.86573454e-03, 5.83942475e-02, 1.41621752e-02, 1.84926186e-03,
 -4.77712695e-06, 3.47801614e-02, 1.09535582e-02, 1.79930535e-03,
 -3.01933689e-03, 3.47297768e-02, 1.07849324e-02, 1.71883138e-03,
  7.62946615e-03, 1.27485286e-02, 0.00000000e+00, 4.10676634e-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: -0.0005864821082426572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39021652,  0.0875318 , -0.91655292, -0.03428796,  0.99616173,
        0.08053665,  0.92008445,  0.        ,  0.39172005])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08245294, -0.03439645,  0.22321836])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  10.80756747,  13.47381137,  10.80756747,
        82.63093136, -52.424899  ,  13.47381137, -52.424899  ,
        59.32360785,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019068522652878755
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.91114064e-14,  4.36671096e-14,  1.00000000e+00, -1.27121097e-27,
        1.00000000e+00, -4.36671096e-14, -1.00000000e+00,  0.00000000e+00,
        2.91114064e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08236142, -0.06818524,  0.06187325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.00041424e-03, 2.40814244e-02, 3.45676707e-03,-3.26456184e-05,
  1.42897297e-05,-6.22157461e-05, 6.03563798e-06,-5.24604842e-05,
  1.98761234e-05,-8.03747691e-06,-3.85394263e-05,-2.21643093e-06,
  1.03679075e-02, 1.44881458e-02, 7.04423007e-03, 1.74579418e-03,
  3.76107970e-03, 1.24575367e-02,-9.81273793e+00,-2.83241290e-03,
 -6.02012900e-02, 6.10581765e-02]


--- Step 3860 ---
qpos:
[-0.01874941, 1.20515988,-0.03526689, 0.94262317,-0.00791553, 1.33296599,
 -0.0311598 , 0.94133885, 0.01532486, 1.33854569,-0.02367701, 0.95470201,
  1.27896637,-0.00876769, 1.28281635, 0.0435986 ,-0.05500286,-0.08721935,
  0.09044193, 0.68991807,-0.13373839,-0.70830842,-0.06653024]

qacc:
[-8.83938633e-02,-4.05094952e-01, 3.16156790e+00,-3.65550405e+00,
  1.81566951e-01,-1.37690452e+00, 5.38744555e+00,-1.16945932e+01,
  8.60685648e-02, 3.86768158e-01,-2.01702171e+00, 5.69512044e+00,
  1.25175686e-01,-6.44542684e-02,-1.58707963e+00, 3.88638359e+00,
 -3.09941093e+00, 1.05015705e+00,-3.39224382e+00,-3.21436223e+00,
 -1.14013146e+02,-3.39098906e+01]

qfrc_actuator:
[ 9.86892461e-03, 5.83871451e-02, 1.42070750e-02, 1.85438276e-03,
  3.91060311e-05, 3.47823228e-02, 1.09584424e-02, 1.76936527e-03,
 -3.00624628e-03, 3.47392066e-02, 1.07938703e-02, 1.73766000e-03,
  7.63309233e-03, 1.27356438e-02, 0.00000000e+00, 4.35591723e-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: -0.0005863345188595534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90199916e-01,  8.75327414e-02, -9.16559897e-01, -3.42868736e-02,
        9.96161643e-01,  8.05381346e-02,  9.20091537e-01, -6.93889390e-18,
        3.91703413e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08245093, -0.03439742,  0.22321855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.35672617,  -5.55019066,  16.35672617,
        30.37154603,  38.60296062,  -5.55019066,  38.60296062,
       131.03783817,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019075227663786498
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.91011736e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.91011736e-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([ 0.0219877 , -0.0992469 ,  0.06187326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.02326166e-03, 2.40445635e-02, 3.51310175e-03, 6.31818483e-06,
  5.23168057e-05,-3.26546169e-05,-8.14243790e-06,-3.28527875e-05,
  2.48288025e-05,-2.60673775e-06, 2.92432873e-06, 1.74084571e-05,
  1.03673117e-02, 1.44647923e-02, 7.16309536e-03, 1.77171738e-03,
  4.06934417e-03, 9.39523626e-03,-9.81234833e+00,-2.40510786e-03,
 -6.03356698e-02, 6.10121864e-02]


--- Step 3861 ---
qpos:
[-0.01875117, 1.20517811,-0.03526426, 0.94262159,-0.00791504, 1.3329652 ,
 -0.03115961, 0.94133841, 0.01532516, 1.33854574,-0.02367857, 0.95470297,
  1.27898111,-0.0087649 , 1.28280014, 0.04359796,-0.05498291,-0.08715611,
  0.09046505, 0.69002898,-0.13464302,-0.70809826,-0.06578845]

qacc:
[ 3.82648822e-02,-7.89354309e-01, 2.93999430e+00,-1.13168784e+00,
  1.35716934e-01, 1.15308810e+00,-3.04140047e+00,-1.38355773e+00,
  1.57437465e-02, 1.01176329e+00,-5.41542445e+00, 1.54220273e+01,
  2.52006379e-01,-2.42556152e-01, 9.78253931e-01,-1.01213903e+00,
  1.71982456e+00,-1.99307900e+00, 2.54078099e+00, 1.39906345e+01,
  7.72185085e+01,-4.12896333e+01]

qfrc_actuator:
[ 9.85394700e-03, 5.83928281e-02, 1.42327825e-02, 1.85815675e-03,
  4.73603103e-05, 3.47840839e-02, 1.09255308e-02, 1.75181230e-03,
 -3.01637196e-03, 3.47270567e-02, 1.07998763e-02, 1.78424057e-03,
  7.63474113e-03, 1.27089767e-02, 0.00000000e+00, 3.97540402e-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: -0.0005862134033470766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39018162,  0.08753379, -0.91656758, -0.03428568,  0.99616155,
        0.08053979,  0.92009934,  0.        ,  0.39168509])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08244883, -0.03439838,  0.22321876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.5879658 ,   4.81523604, -16.5879658 ,
        29.69562072,  42.79552031,   4.81523604,  42.79552031,
       164.69865237,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019229773169589237
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.88672938e-14,  4.33009407e-14,  1.00000000e+00, -1.24998098e-27,
        1.00000000e+00, -4.33009407e-14, -1.00000000e+00,  0.00000000e+00,
        2.88672938e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08234026, -0.0681758 ,  0.06187228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01843148e-03, 2.39931944e-02, 3.50408526e-03, 1.09724893e-05,
  3.91375881e-05,-1.88818216e-05,-4.11928468e-05,-1.95376160e-05,
  4.53742317e-06,-1.25029532e-05, 6.34028355e-06, 4.69919074e-05,
  1.03619523e-02, 1.44349357e-02, 7.20179479e-03, 1.72640437e-03,
  2.52163450e-03, 1.06766308e-02,-9.81242561e+00,-3.43941237e-03,
 -6.03105745e-02, 6.09537952e-02]


--- Step 3862 ---
qpos:
[-0.01875241, 1.20519503,-0.03526213, 0.94261958,-0.00791448, 1.33296433,
 -0.03116041, 0.94133812, 0.01532529, 1.33854539,-0.02367928, 0.95470309,
  1.27899595,-0.00876239, 1.28278774, 0.04359761,-0.05495648,-0.08710011,
  0.09049475, 0.69023856,-0.13546475,-0.70780069,-0.0651015 ]

qacc:
[ 2.26344659e-01,-1.10255742e+00, 2.37656705e+00,-6.06866111e+00,
  3.42798273e-02, 2.87605722e+00,-9.83575858e+00, 1.04846214e+01,
 -7.36250380e-02,-4.23164449e+00, 1.48882024e+01,-2.24367255e+01,
  7.37762891e-02,-2.27541171e-01, 4.73740743e+00,-8.43080925e+00,
  1.62170957e+00,-1.80927946e+00, 1.64139519e+00, 1.29517766e+01,
  7.15150120e+01,-3.91377927e+01]

qfrc_actuator:
[ 9.86336426e-03, 5.84241994e-02, 1.42112980e-02, 1.82546273e-03,
  3.41737859e-05, 3.47677040e-02, 1.08705880e-02, 1.75941997e-03,
 -3.04034259e-03, 3.47020964e-02, 1.08395258e-02, 1.74023880e-03,
  7.64050859e-03, 1.27274080e-02, 0.00000000e+00, 2.68311254e-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: -0.0005861872781696038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90162408e-01,  8.75348282e-02, -9.16575665e-01, -3.42844014e-02,
        9.96161460e-01,  8.05414550e-02,  9.20107535e-01,  6.93889390e-18,
        3.91665833e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08244681, -0.0343994 ,  0.22321898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  13.18145557, -11.16227291,  13.18145557,
        89.07940369,  84.79603778, -11.16227291,  84.79603778,
       117.40781753,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019220494469000121
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.88812295e-14,  7.22030738e-14,  1.00000000e+00, -2.08531355e-27,
        1.00000000e+00, -7.22030738e-14, -1.00000000e+00,  0.00000000e+00,
        2.88812295e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0823377 , -0.06816786,  0.06187238])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.02344016e-03, 2.40034562e-02, 3.45317136e-03,-2.89133692e-05,
  9.91715597e-06,-3.54696565e-05,-6.39001570e-05, 5.37556446e-06,
 -2.12917851e-05,-2.92405643e-05, 3.93064401e-05,-4.30939373e-05,
  1.03520248e-02, 1.44569207e-02, 7.14508339e-03, 1.58583913e-03,
  2.97088667e-03, 7.90058690e-03,-9.81203126e+00,-3.02488776e-03,
 -6.04293765e-02, 6.09122856e-02]


--- Step 3863 ---
qpos:
[-0.01875309, 1.20521104,-0.03526016, 0.94261785,-0.00791407, 1.33296348,
 -0.03116174, 0.94133928, 0.0153252 , 1.33854445,-0.02367883, 0.95470303,
  1.27901079,-0.00876001, 1.28277706, 0.04359726,-0.0549427 ,-0.08704032,
  0.09051149, 0.69027791,-0.13627266,-0.70766869,-0.06442972]

qacc:
[ 2.43701209e-01,-2.84138000e-01,-1.06650692e+00, 4.57762663e+00,
 -6.97939329e-02, 3.88882222e+00,-1.56462576e+01, 3.03175172e+01,
 -9.30248470e-02,-4.26004057e+00, 1.33196075e+01,-1.32809477e+01,
 -5.45939257e-03,-7.51359594e-02, 2.56485002e+00,-5.27403912e+00,
 -3.16346261e+00, 9.47143802e-01,-3.23835953e+00,-6.73835441e+00,
 -1.15909479e+02,-2.68863615e+01]

qfrc_actuator:
[ 9.90470344e-03, 5.83837835e-02, 1.42156011e-02, 1.84240200e-03,
  8.23390817e-06, 3.47937699e-02, 1.08562945e-02, 1.83501032e-03,
 -3.05467093e-03, 3.46697405e-02, 1.08986055e-02, 1.73205128e-03,
  7.64875507e-03, 1.27376303e-02, 0.00000000e+00, 2.43997421e-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: -0.0005863088074111282
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39014486,  0.08753563, -0.91658306, -0.03428318,  0.99616139,
        0.08054285,  0.92011502,  0.        ,  0.39164824])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08244513, -0.0344005 ,  0.22321916])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019390803890980274
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.86275657e-14,  4.29413485e-14,  1.00000000e+00,  1.22930628e-27,
        1.00000000e+00, -4.29413485e-14, -1.00000000e+00,  0.00000000e+00,
       -2.86275657e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02189048, -0.09929868,  0.0618714 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03874575e-03, 2.40284627e-02, 3.48204861e-03, 8.89509379e-06,
 -2.00866264e-05,-5.89229211e-06,-2.83492563e-05, 7.27679004e-05,
 -2.69040053e-05,-4.21237216e-05, 5.65765560e-05,-8.90795341e-06,
  1.03552134e-02, 1.44811292e-02, 6.95535590e-03, 1.54715001e-03,
  3.04708794e-03, 5.64528985e-03,-9.81178938e+00,-2.73017438e-03,
 -6.05312879e-02, 6.08745611e-02]


--- Step 3864 ---
qpos:
[-0.01875425, 1.20522901,-0.03525715, 0.94261669,-0.00791375, 1.33296267,
 -0.03116243, 0.94134127, 0.0153249 , 1.33854332,-0.02367806, 0.95470322,
  1.2790256 ,-0.00875729, 1.28276119, 0.04359661,-0.05494064,-0.08697714,
  0.09051326, 0.6901605 ,-0.13707195,-0.70768854,-0.06377058]

qacc:
[-2.13307040e-01, 7.18795529e-01,-4.38640821e-01, 5.88534407e+00,
 -3.36992558e-02,-2.31538594e-01,-8.88992974e-01, 1.04012235e+01,
 -8.42371740e-02,-6.28537185e-01, 1.23882828e+00, 1.99985419e+00,
  1.36088667e-02, 1.85450531e-01,-6.77159098e+00, 1.25638040e+01,
 -2.93091804e+00, 8.46961374e-01,-3.74283885e+00,-7.28934277e+00,
 -1.06739337e+02,-2.28079994e+01]

qfrc_actuator:
[ 9.91168984e-03, 5.83004188e-02, 1.42530054e-02, 1.88860619e-03,
  1.03606172e-05, 3.48274942e-02, 1.09018197e-02, 1.87903626e-03,
 -3.06309822e-03, 3.46688113e-02, 1.09154144e-02, 1.74502597e-03,
  7.64784252e-03, 1.27251407e-02, 0.00000000e+00, 4.60338070e-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: -0.0005864762225232696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39012831,  0.0875362 , -0.91659005, -0.03428194,  0.99616134,
        0.08054399,  0.92012209,  0.        ,  0.39163165])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0824436 , -0.03440164,  0.22321933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.28790273,   5.74902878, -16.28790273,
        19.02073966,   4.95239401,   5.74902878,   4.95239401,
        31.30363841,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019378777453314608
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.29679979e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.29679979e-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([ 0.02189004, -0.09931717,  0.06187148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01770368e-03, 2.39904461e-02, 3.52797723e-03, 4.18744824e-05,
 -9.73150423e-06, 2.71190124e-05, 4.32844744e-05, 4.47008771e-05,
 -2.43182083e-05,-1.34333834e-05, 1.47520768e-05, 1.31740690e-05,
  1.03541297e-02, 1.44753174e-02, 6.86939777e-03, 1.76382783e-03,
  1.99131937e-03, 6.90272629e-03,-9.81175885e+00,-3.61720629e-03,
 -6.04792725e-02, 6.08234886e-02]


--- Step 3865 ---
qpos:
[-0.01875589, 1.20524802,-0.03525377, 0.94261484,-0.00791318, 1.33296166,
 -0.03116239, 0.94134275, 0.01532431, 1.338543  ,-0.02367831, 0.95470217,
  1.27904039,-0.00875452, 1.28274362, 0.04359614,-0.05493157,-0.08692758,
  0.09052471, 0.69015643,-0.13769181,-0.70761995,-0.06323821]

qacc:
[-2.02868646e-01,-7.98111741e-01, 5.71061676e+00,-1.37717958e+01,
  1.07544120e-01,-3.11265128e+00, 1.08756146e+01,-1.51926815e+01,
 -1.28230190e-01, 1.63550262e+00,-1.54300056e+00,-1.35348386e+01,
  5.48957046e-02,-3.82559144e-02,-3.06536507e+00, 7.05058038e+00,
  1.75418794e+00,-3.40309617e+00, 2.42012943e+00, 2.20145070e+01,
  8.50311199e+01,-9.75602803e+01]

qfrc_actuator:
[ 9.88113851e-03, 5.82597906e-02, 1.42381045e-02, 1.84543173e-03,
  4.70609175e-05, 3.47947658e-02, 1.09290304e-02, 1.85089921e-03,
 -3.08567056e-03, 3.47398260e-02, 1.08717529e-02, 1.68156886e-03,
  7.64143797e-03, 1.27163518e-02, 0.00000000e+00, 4.84062141e-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: -0.0005864554110989809
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90108979e-01,  8.75370036e-02, -9.16598199e-01, -3.42805650e-02,
        9.96161269e-01,  8.05454521e-02,  9.20130332e-01, -6.93889390e-18,
        3.91612273e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0824416 , -0.03440267,  0.22321954])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019515271774676601
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84449798e-14,  4.26674698e-14,  1.00000000e+00, -1.21367532e-27,
        1.00000000e+00, -4.26674698e-14, -1.00000000e+00,  0.00000000e+00,
        2.84449798e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08308437, -0.06251441,  0.06187058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01165651e-03, 2.38517034e-02, 3.46039201e-03,-3.03140448e-05,
  3.09562113e-05,-7.89885349e-06, 3.87609230e-05,-2.50131924e-05,
 -3.69352421e-05, 6.68636307e-05,-4.42221727e-05,-6.31170203e-05,
  1.03495327e-02, 1.44492662e-02, 7.12881070e-03, 1.80233470e-03,
  5.65740838e-04, 8.13650965e-03,-9.81193485e+00,-4.34969452e-03,
 -6.04197564e-02, 6.07758637e-02]


--- Step 3866 ---
qpos:
[-0.01875798, 1.20526713,-0.03525012, 0.94261291,-0.00791227, 1.33296053,
 -0.03116224, 0.94134322, 0.01532357, 1.33854373,-0.02367981, 0.95469932,
  1.27905497,-0.00875163, 1.28272547, 0.04359583,-0.05491597,-0.08689038,
  0.09054189, 0.69025649,-0.13814561,-0.70747079,-0.06282397]

qacc:
[-1.96908793e-01,-6.91372729e-01, 2.56602625e+00,-3.04950508e+00,
  1.38530922e-01,-2.15528935e+00, 8.93855145e+00,-1.94490373e+01,
 -5.98056480e-02, 1.66534610e+00,-1.65487338e-01,-2.12030846e+01,
 -1.98923765e-01, 2.41288122e-01,-1.31997408e+00, 3.40011280e+00,
  1.63373449e+00,-3.09331075e+00, 1.43320323e+00, 2.01238951e+01,
  7.80319478e+01,-9.06766832e+01]

qfrc_actuator:
[ 9.86374200e-03, 5.81916807e-02, 1.42275966e-02, 1.83844500e-03,
  6.86986197e-05, 3.47756583e-02, 1.09271478e-02, 1.79822258e-03,
 -3.08104164e-03, 3.47998300e-02, 1.08107538e-02, 1.59140601e-03,
  7.63173831e-03, 1.27276920e-02, 0.00000000e+00, 4.98377556e-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: -0.0005864032943761859
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39008836,  0.08753802, -0.91660688, -0.03427915,  0.99616118,
        0.08054715,  0.92013913,  0.        ,  0.39159161])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08243946, -0.03440366,  0.22321977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019717219560439064
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.81536406e-14,  5.63072811e-14,  1.00000000e+00, -1.58525495e-27,
        1.00000000e+00, -5.63072811e-14, -1.00000000e+00,  0.00000000e+00,
        2.81536406e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08306434, -0.06251737,  0.06186933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01756332e-03, 2.37313303e-02, 3.43179447e-03,-2.11192336e-06,
  3.99119118e-05,-1.66362423e-05, 2.53365120e-07,-5.23562503e-05,
 -1.71815668e-05, 8.64715697e-05,-5.48147443e-05,-9.09464884e-05,
  1.03409881e-02, 1.44580236e-02, 7.21443359e-03, 1.80783050e-03,
  9.84367844e-04, 4.41732884e-03,-9.81117302e+00,-3.89168354e-03,
 -6.05677378e-02, 6.07468412e-02]


--- Step 3867 ---
qpos:
[-0.01876054, 1.20528537,-0.03524639, 0.94261171,-0.00791122, 1.33295962,
 -0.03116257, 0.9413434 , 0.01532321, 1.33854379,-0.02368124, 0.95469791,
  1.27906883,-0.00874847, 1.28270733, 0.04359555,-0.05489423,-0.08686454,
  0.09056148, 0.69045295,-0.13844466,-0.70724747,-0.06252056]

qacc:
[-2.04518090e-01,-1.58218774e-01,-2.37606253e+00, 1.10157389e+01,
  6.31824365e-02, 1.05856333e+00,-2.49678684e+00,-1.34683505e+00,
  1.60440980e-01, 1.42614038e+00,-8.58415659e+00, 2.44457967e+01,
 -7.38070796e-01, 8.01501007e-01,-2.43688966e-02, 2.33232223e-01,
  1.53178045e+00,-2.83795918e+00, 5.99902240e-01, 1.85359630e+01,
  7.22123785e+01,-8.48406318e+01]

qfrc_actuator:
[ 9.87216405e-03, 5.81431011e-02, 1.42196716e-02, 1.87056694e-03,
  6.33712949e-05, 3.48002226e-02, 1.09081487e-02, 1.78478910e-03,
 -3.02462744e-03, 3.46928976e-02, 1.07932612e-02, 1.66379379e-03,
  7.62540486e-03, 1.28042786e-02, 0.00000000e+00, 4.89245249e-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: -0.0005863300688828087
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90067386e-01,  8.75392097e-02, -9.16615689e-01, -3.42777806e-02,
        9.96161075e-01,  8.05490347e-02,  9.20148069e-01,  6.93889390e-18,
        3.91570596e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08243727, -0.03440462,  0.22322   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001968879826036475
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.81942811e-14,  1.40971405e-14,  1.00000000e+00, -3.97458743e-28,
        1.00000000e+00, -1.40971405e-14, -1.00000000e+00,  0.00000000e+00,
        2.81942811e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08306403, -0.06250885,  0.06186955])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04861144e-03, 2.36770067e-02, 3.41034352e-03, 3.33031487e-05,
  1.82335706e-05, 1.38416118e-05,-2.37603303e-05,-1.51412943e-05,
  4.62713029e-05,-7.25227965e-05,-9.49936105e-06, 7.12246756e-05,
  1.03450831e-02, 1.45285877e-02, 7.24388764e-03, 1.79094510e-03,
  9.35189589e-04, 1.96300740e-03,-9.81072704e+00,-3.65136108e-03,
 -6.06639698e-02, 6.07258273e-02]


--- Step 3868 ---
qpos:
[-0.01876267, 1.20530142,-0.0352437 , 0.94260971,-0.00791026, 1.3329589 ,
 -0.03116318, 0.9413441 , 0.01532321, 1.3385426 ,-0.02368171, 0.95469842,
  1.27908214,-0.00874557, 1.28269377, 0.04359566,-0.05486672,-0.08684921,
  0.09058065, 0.69073932,-0.13859848,-0.7069552 ,-0.06232179]

qacc:
[ 1.86151043e-01,-1.45138159e+00, 2.91500021e+00,-1.04908058e+01,
 -3.71789648e-02, 1.90803653e+00,-7.01115629e+00, 1.20306753e+01,
  1.50442988e-01,-9.13718159e-01,-2.88559795e+00, 2.54402252e+01,
 -5.05887259e-01, 2.66287211e-01, 5.64125858e+00,-9.82758217e+00,
  1.44554171e+00,-2.62762975e+00,-1.02758028e-01, 1.71989517e+01,
  6.73776595e+01,-7.99001580e+01]

qfrc_actuator:
[ 9.89627602e-03, 5.81959487e-02, 1.41956199e-02, 1.81887590e-03,
  4.19117839e-05, 3.48151879e-02, 1.08971587e-02, 1.81233655e-03,
 -3.00861599e-03, 3.46113498e-02, 1.08365510e-02, 1.76018405e-03,
  7.62647018e-03, 1.28488099e-02, 0.00000000e+00, 3.24084688e-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: -0.0005862114324467135
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39004714,  0.08754057, -0.91662417, -0.03427654,  0.99616095,
        0.08055104,  0.9201567 ,  0.        ,  0.39155032])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0824351 , -0.03440555,  0.22322022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019475902858400729
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42512395e-14,  2.85024790e-14,  1.00000000e+00, -4.06195655e-28,
        1.00000000e+00, -2.85024790e-14, -1.00000000e+00,  0.00000000e+00,
        1.42512395e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08307941, -0.06249122,  0.06187094])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.09623093e-03, 2.37736265e-02, 3.38196169e-03,-5.45226815e-05,
 -1.06950549e-05, 1.75245360e-05,-1.14287341e-05, 2.69152571e-05,
  4.33355049e-05,-1.21396428e-04, 3.01303103e-05, 9.56167155e-05,
  1.03820034e-02, 1.45598500e-02, 7.24357727e-03, 1.62423681e-03,
  5.21153992e-04, 5.28133160e-04,-9.81053824e+00,-3.58494311e-03,
 -6.07199462e-02, 6.07122650e-02]


--- Step 3869 ---
qpos:
[-0.01876381, 1.20531487,-0.03524202, 0.94260713,-0.0079096 , 1.33295868,
 -0.03116405, 0.94134441, 0.0153232 , 1.33854112,-0.02368132, 0.95469793,
  1.27909516,-0.00874308, 1.28268678, 0.04359609,-0.05485363,-0.08683112,
  0.09058956, 0.69084362,-0.13877705,-0.70683559,-0.06212462]

qacc:
[ 4.29574726e-01,-1.60491157e+00, 2.30850703e+00,-6.93681486e+00,
 -1.29420555e-01, 6.60361213e-01,-5.47192277e-01,-4.44427806e+00,
 -1.63608448e-03,-4.46765684e+00, 1.61183891e+01,-2.53468863e+01,
 -2.93731807e-01,-5.51608965e-03, 8.73731250e+00,-1.64273901e+01,
 -3.60783061e+00, 6.89360808e-01,-2.56583573e+00,-1.63471866e+01,
 -1.24646308e+02,-9.44178357e+00]

qfrc_actuator:
[ 9.91133908e-03, 5.82225587e-02, 1.41984873e-02, 1.78914726e-03,
  1.09502300e-05, 3.48598494e-02, 1.08909814e-02, 1.79276593e-03,
 -3.03472642e-03, 3.46524163e-02, 1.08976491e-02, 1.71014392e-03,
  7.62666019e-03, 1.28567644e-02, 0.00000000e+00, 1.35952370e-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: -0.0005862393615310019
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90029877e-01,  8.75417161e-02, -9.16631411e-01, -3.42754733e-02,
        9.96160854e-01,  8.05527404e-02,  9.20164054e-01, -6.93889390e-18,
        3.91533029e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08243338, -0.03440654,  0.2232204 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.3726928 ,   5.50291177, -16.3726928 ,
        31.67486129,  42.8503537 ,   5.50291177,  42.8503537 ,
       144.76444551,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019933809045420622
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.17716086e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.17716086e-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([ 0.02174516, -0.09930181,  0.06186819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.08988121e-03, 2.39098943e-02, 3.43671021e-03,-4.39442496e-05,
 -3.72746402e-05, 5.29379755e-05,-3.25668543e-06,-1.87549862e-05,
 -5.22915598e-07,-1.73363505e-05, 4.36146182e-05,-5.05324127e-05,
  1.04099495e-02, 1.45802747e-02, 7.01482183e-03, 1.41691879e-03,
 -1.84110771e-04,-7.12808736e-05,-9.81056112e+00,-3.65984461e-03,
 -6.07442047e-02, 6.07056795e-02]


--- Step 3870 ---
qpos:
[-0.01876474, 1.20532731,-0.03524073, 0.94260509,-0.00790913, 1.3329591 ,
 -0.03116507, 0.94134411, 0.01532307, 1.33854005,-0.0236814 , 0.95469789,
  1.279108  ,-0.0087404 , 1.2826798 , 0.04359621,-0.05485373,-0.08681047,
  0.09058575, 0.69078137,-0.13897753,-0.70687418,-0.06192923]

qacc:
[ 9.33207843e-02, 5.90716780e-01,-4.63600806e+00, 1.07593127e+01,
 -7.95676474e-02, 2.36344157e-01, 1.48467618e+00,-8.66846138e+00,
 -5.54839867e-02, 2.60674168e+00,-8.74179205e+00, 1.24780790e+01,
 -2.97419280e-01, 4.09102911e-01, 1.00153894e+00,-3.40529735e+00,
 -3.29615270e+00, 6.41777055e-01,-3.17917665e+00,-1.48380324e+01,
 -1.14068641e+02,-9.02206459e+00]

qfrc_actuator:
[ 9.90248934e-03, 5.82346902e-02, 1.42001487e-02, 1.82593657e-03,
  1.00455740e-05, 3.49041901e-02, 1.08877734e-02, 1.76338671e-03,
 -3.05038745e-03, 3.46955804e-02, 1.08803700e-02, 1.73417490e-03,
  7.62099503e-03, 1.28607981e-02, 0.00000000e+00, 1.82477568e-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: -0.0005865025548211084
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.39001594,  0.08754241, -0.91663728, -0.03427452,  0.99616079,
        0.0805539 ,  0.92017   ,  0.        ,  0.39151906])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08243225, -0.03440764,  0.22322052])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  17.01758659,   2.95784617,  17.01758659,
        21.81729821, -26.14660294,   2.95784617, -26.14660294,
       167.70383609,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0020098570144416877
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.14291794e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.14291794e-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([ 0.02170435, -0.09928694,  0.06186721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03163831e-03, 2.40509766e-02, 3.48925181e-03, 2.11633510e-05,
 -2.29071290e-05, 7.24266315e-05, 6.23192577e-06,-2.83143494e-05,
 -1.59711495e-05, 4.06063277e-05,-1.71862779e-05, 2.36153302e-05,
  1.04186167e-02, 1.46054162e-02, 6.68661418e-03, 1.44710988e-03,
  2.00202077e-04, 2.47340706e-04,-9.81022314e+00,-3.94008279e-03,
 -6.07108042e-02, 6.06858647e-02]


--- Step 3871 ---
qpos:
[-0.01876606, 1.20534121,-0.03523936, 0.94260324,-0.00790863, 1.33295956,
 -0.03116555, 0.9413421 , 0.01532278, 1.3385392 ,-0.02368169, 0.95469918,
  1.27912136,-0.00873713, 1.28266563, 0.04359572,-0.05486596,-0.08678741,
  0.09056713, 0.69056549,-0.13919759,-0.70705872,-0.06173572]

qacc:
[-1.69533862e-01, 2.01573683e+00,-4.68258164e+00, 5.48679312e+00,
  1.26358410e-02,-4.30976381e+00, 1.76882403e+01,-3.53014812e+01,
 -6.48861648e-02, 3.14892820e+00,-1.25852246e+01, 2.60684233e+01,
  3.94479254e-01, 5.99066435e-02,-8.83683674e+00, 1.54033601e+01,
 -3.03323299e+00, 6.00736260e-01,-3.70119038e+00,-1.35872638e+01,
 -1.05180828e+02,-8.62818849e+00]

qfrc_actuator:
[ 9.89742253e-03, 5.82553601e-02, 1.41831098e-02, 1.84851405e-03,
  2.71795304e-05, 3.48769861e-02, 1.09041037e-02, 1.67522707e-03,
 -3.05965062e-03, 3.47039043e-02, 1.08703219e-02, 1.80159981e-03,
  7.61714386e-03, 1.27910162e-02, 0.00000000e+00, 4.23564222e-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: -0.0005866981862758004
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.90003293e-01,  8.75430062e-02, -9.16642599e-01, -3.42736461e-02,
        9.96160741e-01,  8.05549199e-02,  9.20175390e-01, -6.93889390e-18,
        3.91506387e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08243114, -0.03440874,  0.22322063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002000552472748496
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.77479106e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.77479106e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02172914, -0.0992894 ,  0.06186774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01583056e-03, 2.41226171e-02, 3.49151596e-03, 1.75007993e-05,
  3.61381032e-06, 1.32277239e-05, 3.03820741e-05,-8.64505096e-05,
 -1.86945973e-05, 2.81288943e-05,-3.37888824e-06, 6.86732946e-05,
  1.04240928e-02, 1.45256426e-02, 6.68568349e-03, 1.70386029e-03,
 -6.93259581e-05, 6.73331778e-04,-9.81019024e+00,-4.14657813e-03,
 -6.06764228e-02, 6.06702988e-02]


--- Step 3872 ---
qpos:
[-0.01876733, 1.20535645,-0.03523778, 0.94260134,-0.00790817, 1.33295995,
 -0.03116576, 0.94133942, 0.01532235, 1.33853779,-0.02368113, 0.95469989,
  1.27913538,-0.00873361, 1.28264679, 0.04359499,-0.05487075,-0.08677748,
  0.09055851, 0.69046345,-0.13923265,-0.70715656,-0.06167742]

qacc:
[ 2.34326655e-02, 1.13522161e+00,-1.44306700e+00,-2.97755905e-01,
 -1.92206455e-02,-1.99779662e+00, 7.76863551e+00,-1.44592028e+01,
 -5.66185569e-02,-4.04857456e+00, 1.34561552e+01,-1.78827844e+01,
  6.02572139e-01,-3.44985867e-01,-6.21897574e+00, 1.16410966e+01,
  1.86091318e+00,-3.28077942e+00, 2.49615564e+00, 2.13283776e+01,
  8.52997143e+01,-1.02539491e+02]

qfrc_actuator:
[ 9.93064894e-03, 5.82790818e-02, 1.41722814e-02, 1.84492364e-03,
  1.94891520e-05, 3.48604457e-02, 1.09137730e-02, 1.64191681e-03,
 -3.06500045e-03, 3.46380919e-02, 1.09000413e-02, 1.76973424e-03,
  7.61964968e-03, 1.27474864e-02, 0.00000000e+00, 5.15516640e-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: -0.0005865434116644752
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38998922,  0.08754377, -0.91664851, -0.03427271,  0.99616067,
        0.08055615,  0.92018139,  0.        ,  0.39149229])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0824294 , -0.03440973,  0.22322076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019735141516316612
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.81280736e-14,  4.21921103e-14,  1.00000000e+00, -1.18678278e-27,
        1.00000000e+00, -4.21921103e-14, -1.00000000e+00,  0.00000000e+00,
        2.81280736e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08305066, -0.06248824,  0.0618693 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06851551e-03, 2.40732792e-02, 3.47615876e-03, 3.76540518e-06,
 -5.55631319e-06,-5.88845982e-06, 1.31769706e-05,-3.40254969e-05,
 -1.63903241e-05,-4.88751088e-05, 3.68414787e-05,-2.95323696e-05,
  1.04004314e-02, 1.44526191e-02, 7.04603376e-03, 1.82617593e-03,
 -8.41862537e-04, 1.17632260e-03,-9.81039386e+00,-4.28883744e-03,
 -6.06405003e-02, 6.06579956e-02]


--- Step 3873 ---
qpos:
[-0.01876849, 1.20537203,-0.03523598, 0.94260053,-0.00790778, 1.33296063,
 -0.03116663, 0.94133776, 0.01532197, 1.33853652,-0.02368126, 0.9546999 ,
  1.2791495 ,-0.00872977, 1.2826246 , 0.04359399,-0.05486868,-0.08677954,
  0.09055586, 0.69046585,-0.13909709,-0.70717506,-0.06174417]

qacc:
[ 4.58736587e-02, 1.69875749e+00,-7.27271157e+00, 1.88329907e+01,
 -2.80714348e-02, 3.91983290e+00,-1.44179955e+01, 2.41450965e+01,
  1.76198944e-02, 8.56176351e-01,-1.14615024e+00,-7.29178396e+00,
  4.21932880e-02, 1.75954379e-01,-4.11994003e+00, 7.23326543e+00,
  1.71677371e+00,-3.00112770e+00, 1.49517507e+00, 1.95059113e+01,
  7.82891463e+01,-9.47569595e+01]

qfrc_actuator:
[ 9.96881080e-03, 5.83219153e-02, 1.41650361e-02, 1.89682450e-03,
  1.47200839e-05, 3.48859233e-02, 1.08839865e-02, 1.69441413e-03,
 -3.05020732e-03, 3.46527640e-02, 1.08638707e-02, 1.73291785e-03,
  7.61528710e-03, 1.27730650e-02, 0.00000000e+00, 5.71122822e-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: -0.0005861875031276664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38997373,  0.08754455, -0.91665503, -0.03427166,  0.99616061,
        0.08055744,  0.92018799,  0.        ,  0.39147676])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08242724, -0.03441068,  0.22322091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001994234370618818
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.78358211e-14,  1.39179106e-14,  1.00000000e+00, -3.87416469e-28,
        1.00000000e+00, -1.39179106e-14, -1.00000000e+00,  0.00000000e+00,
        2.78358211e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08303208, -0.06249633,  0.06186797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.10395358e-03, 2.40486006e-02, 3.45901622e-03, 5.86606149e-05,
 -8.04925393e-06, 2.37664041e-05,-3.04411039e-05, 5.19148381e-05,
  5.11087136e-06,-6.02662708e-06,-4.23909423e-05,-3.78739991e-05,
  1.03631603e-02, 1.44654282e-02, 7.27988862e-03, 1.89386846e-03,
 -1.62466258e-04, 1.00137696e-04,-9.81004204e+00,-4.05681745e-03,
 -6.06601479e-02, 6.06564576e-02]


--- Step 3874 ---
qpos:
[-0.01876921, 1.20538664,-0.03523424, 0.94260049,-0.00790746, 1.33296164,
 -0.03116817, 0.9413364 , 0.01532168, 1.33853605,-0.02368246, 0.95469907,
  1.27916364,-0.00872602, 1.28260508, 0.04359316,-0.05486022,-0.08679269,
  0.0905558 , 0.69056477,-0.13880301,-0.70712022,-0.06192752]

qacc:
[ 1.89692934e-01, 1.86385576e-01,-3.73239590e+00, 1.27255243e+01,
 -2.69508966e-02, 2.74258487e+00,-9.03797802e+00, 1.10544269e+01,
  4.14528226e-02, 2.48744225e+00,-5.16350938e+00,-5.56939234e+00,
 -6.18038483e-02, 2.01166178e-02, 3.42675248e+00,-6.25979539e+00,
  1.59541783e+00,-2.76948022e+00, 6.47733992e-01, 1.79496989e+01,
  7.24490732e+01,-8.82195042e+01]

qfrc_actuator:
[ 9.95660298e-03, 5.83234252e-02, 1.41775851e-02, 1.92762848e-03,
  1.17424532e-05, 3.49007559e-02, 1.08491079e-02, 1.70821372e-03,
 -3.04120341e-03, 3.47330072e-02, 1.08248941e-02, 1.69350074e-03,
  7.61748150e-03, 1.27866850e-02, 0.00000000e+00, 4.45276036e-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: -0.0005856510760755482
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38995772,  0.08754529, -0.91666177, -0.03427054,  0.99616054,
        0.08055872,  0.92019482,  0.        ,  0.39146072])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08242481, -0.03441158,  0.22322107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019914694943942574
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.78744673e-14,  2.78744673e-14,  1.00000000e+00, -7.76985925e-28,
        1.00000000e+00, -2.78744673e-14, -1.00000000e+00,  0.00000000e+00,
        2.78744673e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08303305, -0.06249184,  0.06186814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.08645138e-03, 2.40328888e-02, 3.46019299e-03, 3.45826722e-05,
 -7.72864238e-06, 2.35827746e-05,-3.21718301e-05, 1.48229767e-05,
  1.20215298e-05, 6.75180000e-05,-4.60783538e-05,-4.17195956e-05,
  1.03603249e-02, 1.44630684e-02, 7.44751899e-03, 1.78174771e-03,
  3.29745275e-05, 1.51051321e-04,-9.81000527e+00,-4.02322780e-03,
 -6.06393010e-02, 6.06634727e-02]


--- Step 3875 ---
qpos:
[-0.01876941, 1.20540021,-0.03523238, 0.94260047,-0.00790718, 1.33296272,
 -0.03116948, 0.94133518, 0.01532136, 1.3385353 ,-0.02368348, 0.95469816,
  1.2791777 ,-0.00872274, 1.28259227, 0.04359286,-0.05486553,-0.08680396,
  0.09054346, 0.69049629,-0.13855001,-0.70722105,-0.06210598]

qacc:
[ 2.27016914e-01,-1.65095170e+00, 3.68759937e+00,-2.25905399e+00,
 -2.23258421e-02,-2.87709326e-01, 7.31203681e-01, 1.08630983e+00,
 -1.79453058e-02,-9.76659104e-01, 2.90651803e+00,-3.35579597e+00,
 -9.24079986e-02,-2.04361811e-01, 8.34850565e+00,-1.47700185e+01,
 -3.44350270e+00, 4.70038787e-01,-3.07059678e+00,-1.92541996e+01,
 -1.14548919e+02, 2.18807948e-01]

qfrc_actuator:
[ 9.93155328e-03, 5.82303072e-02, 1.42199609e-02, 1.92791625e-03,
  9.86344652e-06, 3.49090540e-02, 1.08647054e-02, 1.71686371e-03,
 -3.05349894e-03, 3.46743389e-02, 1.08203717e-02, 1.68842961e-03,
  7.62361411e-03, 1.27934108e-02, 0.00000000e+00, 2.63481551e-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: -0.0005852146985696263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89942659e-01,  8.75458457e-02, -9.16668123e-01, -3.42694377e-02,
        9.96160492e-01,  8.05597961e-02,  9.20201243e-01,  6.93889390e-18,
        3.91445618e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0824226 , -0.03441253,  0.2232212 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.33558355,   5.61211347, -16.33558355,
        25.07711205,  22.7167858 ,   5.61211347,  22.7167858 ,
        83.39611457,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00197762702329074
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.21043634e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.21043634e-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([ 0.02180079, -0.0992589 ,  0.06186902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03958488e-03, 2.39882158e-02, 3.50561311e-03,-3.32472746e-06,
 -6.44062728e-06, 1.54887586e-05, 1.69837420e-05, 8.75772395e-06,
 -5.19357741e-06,-3.15630979e-05, 2.20639695e-06,-5.39314031e-06,
  1.03656866e-02, 1.44742203e-02, 7.31475659e-03, 1.59152618e-03,
 -1.51260782e-04, 1.09482768e-03,-9.81021696e+00,-4.14595150e-03,
 -6.05879319e-02, 6.06783685e-02]


--- Step 3876 ---
qpos:
[-0.01876905, 1.20541252,-0.03523076, 0.9426005 ,-0.00790724, 1.33296366,
 -0.0311702 , 0.94133408, 0.01532109, 1.33853372,-0.02368401, 0.95469757,
  1.27919177,-0.00871978, 1.28258404, 0.04359275,-0.05486421,-0.08682653,
  0.09053495, 0.69052694,-0.13813106,-0.7072465 ,-0.06240788]

qacc:
[ 2.45896154e-01,-9.36347834e-01, 9.53661864e-01, 4.90127295e-01,
 -1.40474934e-01,-1.55699382e+00, 4.62191242e+00,-2.60487804e+00,
  2.60231066e-02,-1.87392813e+00, 4.15365459e+00, 6.25987399e-01,
 -1.89238621e-02,-1.75350107e-01, 6.19525151e+00,-1.18508524e+01,
  1.65842408e+00,-2.82596320e+00, 9.56560236e-01, 1.81745312e+01,
  7.47853357e+01,-9.29951947e+01]

qfrc_actuator:
[ 9.93404367e-03, 5.81341266e-02, 1.42090640e-02, 1.92808213e-03,
 -2.68468735e-05, 3.48958088e-02, 1.08921980e-02, 1.72244871e-03,
 -3.04296733e-03, 3.46041068e-02, 1.08357225e-02, 1.70355718e-03,
  7.62146594e-03, 1.27786621e-02, 0.00000000e+00, 1.71963258e-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: -0.0005851193547882355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89928451e-01,  8.75461828e-02, -9.16674135e-01, -3.42683220e-02,
        9.96160462e-01,  8.05606370e-02,  9.20207306e-01, -6.93889390e-18,
        3.91431366e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08242096, -0.03441363,  0.22322131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001977144992781954
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.8076419e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.8076419e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08304273, -0.06248026,  0.06186901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01597757e-03, 2.39438607e-02, 3.48861747e-03,-4.30895007e-06,
 -4.05119366e-05,-1.09678128e-06, 3.27124768e-05, 6.75119977e-06,
  7.46291450e-06,-8.74106683e-05, 9.28021740e-06, 1.41275579e-05,
  1.03674667e-02, 1.44828515e-02, 6.97900391e-03, 1.47377338e-03,
  2.66416604e-04, 4.42181349e-04,-9.81009000e+00,-3.87859344e-03,
 -6.06298884e-02, 6.06903181e-02]


--- Step 3877 ---
qpos:
[-0.01876855, 1.20542511,-0.03522953, 0.94259901,-0.00790767, 1.33296458,
 -0.03117087, 0.94133272, 0.01532091, 1.33853214,-0.02368432, 0.95469607,
  1.2792059 ,-0.00871712, 1.28257701, 0.0435928 ,-0.05487642,-0.08684738,
  0.09051357, 0.69039398,-0.13775429,-0.70742354,-0.06270444]

qacc:
[ 5.96614154e-02,-1.15008015e+00, 7.33119673e+00,-2.40871986e+01,
 -1.58621688e-01,-6.18782094e-01, 2.50769448e+00,-5.10133570e+00,
  3.74601224e-02,-2.16464503e+00, 8.88525858e+00,-1.81784846e+01,
  1.80139663e-01,-3.71215291e-01, 1.25623985e+00,-1.85199460e+00,
 -3.38221879e+00, 4.30434673e-01,-3.21697778e+00,-1.92473669e+01,
 -1.11877767e+02, 1.18796409e+00]

qfrc_actuator:
[ 9.93505326e-03, 5.81255143e-02, 1.42020230e-02, 1.85713429e-03,
 -4.86504600e-05, 3.48875720e-02, 1.08908834e-02, 1.70841979e-03,
 -3.03657875e-03, 3.46518585e-02, 1.08625991e-02, 1.65941834e-03,
  7.63032145e-03, 1.27688263e-02, 0.00000000e+00, 1.87996020e-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: -0.0005852179929566985
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38991563,  0.08754628, -0.91667958, -0.03426723,  0.99616045,
        0.0805612 ,  0.92021278,  0.        ,  0.3914185 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08241971, -0.03441482,  0.2232214 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.3350563 ,   5.61364794, -16.3350563 ,
        24.09192547,  19.843066  ,   5.61364794,  19.843066  ,
        75.01371921,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019837661496751174
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.39913546e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.39913546e-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([ 0.02179505, -0.09921849,  0.0618686 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98871306e-03, 2.39984213e-02, 3.49361684e-03,-7.74439261e-05,
 -4.57192164e-05,-2.24732151e-06, 2.39105899e-06,-1.29467823e-05,
  1.07919963e-05, 1.65563231e-06, 1.12749992e-05,-4.61326187e-05,
  1.03757779e-02, 1.44892745e-02, 6.75039438e-03, 1.48043774e-03,
  3.03106427e-04, 1.87832144e-03,-9.81035898e+00,-4.00826754e-03,
 -6.05598983e-02, 6.07109565e-02]


--- Step 3878 ---
qpos:
[-0.01876725, 1.20543565,-0.03522899, 0.94259761,-0.00790814, 1.33296519,
 -0.03117117, 0.94133191, 0.01532082, 1.33853142,-0.02368565, 0.95469577,
  1.27922042,-0.00871479, 1.28257494, 0.04359284,-0.05488178,-0.08687976,
  0.09049714, 0.69036236,-0.13720448,-0.70752331,-0.06313088]

qacc:
[ 3.45937213e-01,-6.83600977e-01,-1.17645521e+00, 3.22509533e+00,
 -1.43877532e-02,-4.74073277e-01,-4.51546152e-02, 6.52061891e+00,
  3.51744619e-02, 5.94918922e+00,-2.04466904e+01, 3.09929037e+01,
  2.54907374e-01,-3.81916464e-01, 7.33023873e+00,-1.50409656e+01,
  1.71362097e+00,-2.88168241e+00, 1.23800577e+00, 1.83504682e+01,
  7.68865668e+01,-9.75445151e+01]

qfrc_actuator:
[ 9.91762353e-03, 5.81328930e-02, 1.41797841e-02, 1.85157217e-03,
 -2.58293058e-05, 3.48645241e-02, 1.09080791e-02, 1.73620142e-03,
 -3.03272764e-03, 3.47344013e-02, 1.08254587e-02, 1.72284287e-03,
  7.64044873e-03, 1.27442860e-02, 0.00000000e+00, 2.21639497e-06,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005854066085284743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38990291,  0.08754631, -0.91668499, -0.03426613,  0.99616045,
        0.08056171,  0.92021821,  0.        ,  0.39140573])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08241857, -0.03441602,  0.22322149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001979336447487906
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.80453337e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.80453337e-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([-0.08303946, -0.06248102,  0.0618688 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96440277e-03, 2.39914157e-02, 3.49063977e-03,-7.40692444e-06,
 -4.16842605e-06,-2.42226345e-05, 1.66461145e-05, 2.74827692e-05,
  1.02240327e-05, 8.43023845e-05,-3.68858071e-05, 6.27251518e-05,
  1.03830068e-02, 1.44794888e-02, 6.69044227e-03, 1.28636700e-03,
  6.71078881e-04, 9.63950742e-04,-9.81032076e+00,-3.59237092e-03,
 -6.06247922e-02, 6.07329720e-02]


--- Step 3879 ---
qpos:
[-0.01876444, 1.20544236,-0.03522896, 0.94259803,-0.00790837, 1.33296573,
 -0.03117129, 0.94133108, 0.0153208 , 1.33853193,-0.02368828, 0.95469725,
  1.27923523,-0.00871295, 1.28258207, 0.0435927 ,-0.05490041,-0.08691058,
  0.09046724, 0.69017085,-0.1366979 ,-0.7077705 ,-0.06355157]

qacc:
[ 6.57535198e-01,-5.55894930e-01,-8.05036578e+00, 3.06224663e+01,
  1.01318959e-01,-5.80384136e-01, 1.79732343e+00,-1.68277877e+00,
  2.85432874e-02, 8.20762086e+00,-2.83846250e+01, 4.43450554e+01,
  2.61856381e-02,-2.47579093e-01, 1.41715455e+01,-2.98313413e+01,
 -3.32024537e+00, 3.87701117e-01,-3.36826568e+00,-1.92031641e+01,
 -1.09210503e+02, 2.11531418e+00]

qfrc_actuator:
[ 9.92392256e-03, 5.80633182e-02, 1.42021452e-02, 1.93751392e-03,
  5.82343899e-06, 3.48683801e-02, 1.09182898e-02, 1.73511793e-03,
 -3.03042967e-03, 3.48192045e-02, 1.07688129e-02, 1.81355798e-03,
  7.63532948e-03, 1.27288283e-02, 0.00000000e+00,-3.04544356e-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: -0.0005857562742158581
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38989272,  0.08754599, -0.91668935, -0.03426511,  0.99616048,
        0.0805618 ,  0.92022257,  0.        ,  0.39139549])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08241786, -0.03441736,  0.22322153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.33539478,   5.6126629 , -16.33539478,
        23.2508336 ,  17.3990009 ,   5.6126629 ,  17.3990009 ,
        67.91171154,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019755058995336028
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80997142e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.80997142e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02182619, -0.09918416,  0.061869  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93092529e-03, 2.40239232e-02, 3.54760261e-03, 7.46252112e-05,
  2.91909897e-05,-5.46409953e-06, 8.17057643e-06,-6.89247476e-07,
  8.33834284e-06, 1.26083062e-04,-4.25366950e-05, 9.35903756e-05,
  1.03582478e-02, 1.44805142e-02, 6.44262352e-03, 9.79934463e-04,
  9.23720796e-04, 2.97381890e-03,-9.81066712e+00,-3.73795023e-03,
 -6.05357404e-02, 6.07594805e-02]


--- Step 3880 ---
qpos:
[-0.01876172, 1.20545074,-0.03522851, 0.94259754,-0.00790816, 1.33296663,
 -0.03117178, 0.94133058, 0.01532082, 1.33853324,-0.0236908 , 0.95469769,
  1.27925005,-0.00871128, 1.28258733, 0.0435922 ,-0.054912  ,-0.08695315,
  0.0904433 , 0.69008244,-0.13601144,-0.70793873,-0.06410832]

qacc:
[-3.51987503e-02,-4.72420361e-01, 6.05299068e+00,-1.67699998e+01,
  1.87010058e-01, 2.00542258e+00,-6.65000523e+00, 9.34281709e+00,
  2.17067893e-02,-1.04031419e+00, 6.71761429e+00,-1.81969488e+01,
  1.93743232e-01,-3.20039706e-01,-1.71006003e+00, 1.94653111e+00,
  1.76140717e+00,-2.93560507e+00, 1.49039349e+00, 1.84615360e+01,
  7.87509748e+01,-1.01932391e+02]

qfrc_actuator:
[ 9.92567201e-03, 5.80211889e-02, 1.42513619e-02, 1.91680446e-03,
  4.25154821e-05, 3.49060325e-02, 1.09066146e-02, 1.75256066e-03,
 -3.02908156e-03, 3.48513845e-02, 1.07721638e-02, 1.75981349e-03,
  7.61573205e-03, 1.26836046e-02, 0.00000000e+00,-1.33376493e-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: -0.0005864032287115316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89886529e-01,  8.75450172e-02, -9.16692077e-01, -3.42641780e-02,
        9.96160564e-01,  8.05611329e-02,  9.20225223e-01,  6.93889390e-18,
        3.91389243e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08241793, -0.03441891,  0.22322149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019950282075794773
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.39123725e-14,  2.78247450e-14,  1.00000000e+00, -3.87108218e-28,
        1.00000000e+00, -2.78247450e-14, -1.00000000e+00,  0.00000000e+00,
        1.39123725e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08302559, -0.06249215,  0.06186769])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.85709773e-03, 2.41733915e-02, 3.62235270e-03,-3.74214146e-05,
  5.39242343e-05, 3.62038700e-05,-1.18362600e-05, 1.75011149e-05,
  6.27657118e-06, 9.63708715e-05, 2.58831630e-05,-4.90757309e-05,
  1.03243781e-02, 1.44596635e-02, 5.98258534e-03, 1.16054395e-03,
  1.27170049e-03, 1.78540083e-03,-9.81070419e+00,-3.17564760e-03,
 -6.06244339e-02, 6.07916115e-02]


--- Step 3881 ---
qpos:
[-0.01875936, 1.20546081,-0.03522802, 0.94259683,-0.00790765, 1.33296761,
 -0.03117209, 0.94133132, 0.01532074, 1.33853462,-0.0236921 , 0.9546975 ,
  1.27926525,-0.00870925, 1.28258503, 0.04359088,-0.05491654,-0.08700247,
  0.09042796, 0.69009648,-0.13522984,-0.70801776,-0.06473474]

qacc:
[-1.60572217e-01, 1.72912479e+00,-2.47771324e+00,-1.64012733e+00,
  1.24026195e-01, 1.75474890e+00,-8.14669558e+00, 2.14571940e+01,
 -4.58377097e-02,-4.30223702e+00, 1.54351906e+01,-2.08205934e+01,
  4.27010035e-01,-1.62055082e-01,-8.72184457e+00, 1.41961715e+01,
  1.76227141e+00,-1.68729931e+00, 2.15096507e+00, 1.22763140e+01,
  7.48292884e+01,-4.83689466e+01]

qfrc_actuator:
[ 9.94343196e-03, 5.80625698e-02, 1.41916968e-02, 1.90511259e-03,
  4.64275517e-05, 3.49102973e-02, 1.09177747e-02, 1.81628837e-03,
 -3.04606643e-03, 3.48341912e-02, 1.08283733e-02, 1.72800702e-03,
  7.61409066e-03, 1.26381486e-02, 0.00000000e+00, 7.62483726e-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: -0.0005870349126830543
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89878421e-01,  8.75441061e-02, -9.16695613e-01, -3.42631061e-02,
        9.96160644e-01,  8.05605988e-02,  9.20228698e-01,  6.93889390e-18,
        3.91381072e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08241782, -0.0344204 ,  0.22322148])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, -4.97365446, 16.54115681, -4.97365446, 84.02552403,
       20.07147077, 16.54115681, 20.07147077, 23.30788922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020002633242626675
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.38759609e-14,  2.77519217e-14,  1.00000000e+00, -3.85084580e-28,
        1.00000000e+00, -2.77519217e-14, -1.00000000e+00,  0.00000000e+00,
        1.38759609e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08223714, -0.06812572,  0.0618673 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.87888757e-03, 2.41313001e-02, 3.54166067e-03,-4.02071043e-06,
  3.57465715e-05, 2.25009666e-05, 1.74096140e-05, 6.48769085e-05,
 -1.32741213e-05, 3.96943418e-05, 7.65378685e-05,-2.93363602e-05,
  1.03219474e-02, 1.44225569e-02, 6.07553714e-03, 1.38766289e-03,
  1.73335616e-03, 4.45138652e-03,-9.81114653e+00,-3.34613141e-03,
 -6.05160210e-02, 6.08240386e-02]


--- Step 3882 ---
qpos:
[-0.01875788, 1.20547231,-0.03522721, 0.94259737,-0.0079071 , 1.33296878,
 -0.03117253, 0.94133249, 0.01532036, 1.33853596,-0.02369286, 0.95469662,
  1.27928054,-0.00870645, 1.28257339, 0.04358858,-0.05491451,-0.08705811,
  0.09041781, 0.69020537,-0.13435945,-0.70801374,-0.06542648]

qacc:
[-3.84931844e-01, 3.11012479e+00,-1.04763936e+01, 2.27368636e+01,
  1.84102742e-02, 1.32768318e+00,-4.92627414e+00, 9.06673142e+00,
 -1.23591482e-01,-2.69737659e+00, 1.01060385e+01,-1.65762601e+01,
  2.06644977e-02, 4.73168417e-01,-1.08339222e+01, 1.78701559e+01,
  1.64316579e+00,-1.58193454e+00, 1.29727655e+00, 1.12353124e+01,
  6.95239550e+01,-4.52829402e+01]

qfrc_actuator:
[ 9.95336590e-03, 5.80823579e-02, 1.41556840e-02, 1.96953425e-03,
  3.06438411e-05, 3.49124041e-02, 1.09067314e-02, 1.83572905e-03,
 -3.07391156e-03, 3.48055268e-02, 1.08441354e-02, 1.69163356e-03,
  7.61786407e-03, 1.26631070e-02, 0.00000000e+00, 2.91810652e-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: -0.000587306442120461
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89868724e-01,  8.75433672e-02, -9.16699807e-01, -3.42619625e-02,
        9.96160709e-01,  8.05602822e-02,  9.20232849e-01,  6.93889390e-18,
        3.91371312e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08241704, -0.03442174,  0.22322151])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019875294455302464
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.39648626e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.39648626e-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([-0.08224608, -0.06812165,  0.06186809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.90725104e-03, 2.40665239e-02, 3.50392905e-03, 7.20834098e-05,
  5.31921761e-06, 1.99133600e-05,-2.75456024e-06, 2.21345973e-05,
 -3.56824422e-05, 7.35589151e-06, 3.13540056e-05,-3.36401904e-05,
  1.03069034e-02, 1.44296570e-02, 6.45404960e-03, 1.64454137e-03,
  1.44084253e-03, 6.71630710e-03,-9.81153180e+00,-3.66214000e-03,
 -6.04373630e-02, 6.08606845e-02]


--- Step 3883 ---
qpos:
[-0.01875791, 1.20548651,-0.03522521, 0.9425992 ,-0.0079066 , 1.33296951,
 -0.03117309, 0.94133324, 0.01531968, 1.33853724,-0.02369365, 0.9546957 ,
  1.27929562,-0.00870282, 1.28255196, 0.04358564,-0.05492685,-0.08711246,
  0.09039624, 0.69014142,-0.13354049,-0.70816737,-0.06611148]

qacc:
[-6.54026446e-01, 2.56434856e+00,-6.74747493e+00, 1.91833683e+01,
 -2.27736892e-02,-9.88799043e-01, 3.38517166e+00,-7.45003217e+00,
 -1.29824478e-01,-5.07550275e-02, 1.75567446e-01,-6.96132014e-01,
 -2.13471660e-01, 6.95257901e-01,-1.25025295e+01, 2.27752660e+01,
 -3.59180284e+00, 3.24275756e-01,-2.85641573e+00,-2.18168558e+01,
 -1.17726991e+02, 4.28718607e+00]

qfrc_actuator:
[ 9.94151517e-03, 5.80177655e-02, 1.41690575e-02, 2.04272388e-03,
  2.09274484e-05, 3.48420864e-02, 1.08826151e-02, 1.81116907e-03,
 -3.09029325e-03, 3.47878133e-02, 1.08358134e-02, 1.68832019e-03,
  7.60359567e-03, 1.26765016e-02, 0.00000000e+00, 5.46924167e-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: -0.0005870980671779415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89857401e-01,  8.75430015e-02, -9.16704658e-01, -3.42608232e-02,
        9.96160741e-01,  8.05603693e-02,  9.20237688e-01,  6.93889390e-18,
        3.91359933e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08241547, -0.03442291,  0.22322157])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.60240129,   4.76522599, -16.60240129,
        22.98434354,  19.8996953 ,   4.76522599,  19.8996953 ,
        86.60474377,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019950662949281966
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.78242138e-14,  6.95605346e-14,  1.00000000e+00,  1.93546719e-27,
        1.00000000e+00, -6.95605346e-14, -1.00000000e+00,  0.00000000e+00,
       -2.78242138e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02180052, -0.09907146,  0.06186765])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.93963087e-03, 2.39304130e-02, 3.50073293e-03, 8.25467080e-05,
 -6.57564344e-06,-5.91786132e-05,-1.98828320e-05,-2.35251834e-05,
 -3.74537071e-05,-8.53030352e-06,-4.30815092e-06,-2.96096961e-06,
  1.02882792e-02, 1.44045707e-02, 6.92097792e-03, 1.94867305e-03,
  8.49516977e-04, 9.21195701e-03,-9.81202248e+00,-4.03263353e-03,
 -6.03588967e-02, 6.09017835e-02]


--- Step 3884 ---
qpos:
[-0.01875824, 1.2055007 ,-0.03522298, 0.9426022 ,-0.00790604, 1.3329692 ,
 -0.03117305, 0.94133337, 0.0153186 , 1.3385385 ,-0.02369426, 0.95469472,
  1.27931077,-0.00869889, 1.28252807, 0.04358256,-0.05495227,-0.08716547,
  0.0903609 , 0.6899185 ,-0.1327633 ,-0.70846678,-0.06679211]

qacc:
[-1.30745894e-01, 1.30598844e+00,-6.68736990e+00, 1.92623235e+01,
  2.75265290e-02,-4.02247891e+00, 1.27825998e+01,-1.77255550e+01,
 -1.70662924e-01,-6.35757571e-01, 2.11582931e+00,-2.35279525e+00,
  3.63242241e-03, 1.99644874e-01,-3.23746848e+00, 6.03316181e+00,
 -3.27012455e+00, 3.34606896e-01,-3.44107822e+00,-1.86622628e+01,
 -1.08265482e+02, 1.30973782e+00]

qfrc_actuator:
[ 9.95307175e-03, 5.80072075e-02, 1.41400663e-02, 2.08512538e-03,
  3.26840564e-05, 3.47643612e-02, 1.09039362e-02, 1.77862680e-03,
 -3.11741815e-03, 3.47944584e-02, 1.08489158e-02, 1.68673260e-03,
  7.59450347e-03, 1.26648322e-02, 0.00000000e+00, 5.24028694e-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: -0.0005864717687041367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38984248,  0.08754329, -0.91671098, -0.03425962,  0.99616072,
        0.08056119,  0.92024405,  0.        ,  0.39134497])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08241304, -0.03442386,  0.22322169])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.80335654, -3.99928948, 16.80335654, 17.76104026,
        2.05168874, -3.99928948,  2.05168874, 25.89307287,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001995249710999507
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.78216561e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.78216561e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02180603, -0.09904747,  0.0618676 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.02636141e-03, 2.37842090e-02, 3.41249222e-03, 6.01404576e-05,
  7.87279090e-06,-1.15068273e-04, 6.78776799e-06,-3.54533785e-05,
 -4.92435874e-05, 9.88023079e-07, 1.08583536e-05,-2.03576627e-06,
  1.02898924e-02, 1.43511120e-02, 7.41063440e-03, 1.95801141e-03,
  2.20758033e-03, 6.93124463e-03,-9.81177505e+00,-3.13980472e-03,
 -6.05260482e-02, 6.09497762e-02]


--- Step 3885 ---
qpos:
[-0.01875838, 1.20551476,-0.03522132, 0.94260366,-0.00790553, 1.33296853,
 -0.03117273, 0.9413334 , 0.01531729, 1.33853998,-0.02369474, 0.95469199,
  1.27932586,-0.00869536, 1.28250615, 0.04358003,-0.05497009,-0.08722556,
  0.09033665, 0.68980222,-0.13187862,-0.70867295,-0.06755422]

qacc:
[ 8.55633425e-02,-1.19881102e+00, 6.87244122e+00,-2.36246413e+01,
 -2.18404050e-02,-1.40131082e+00, 4.17437189e+00,-4.42917124e+00,
 -9.33072668e-02,-3.06662402e+00, 1.39032594e+01,-3.24644575e+01,
  1.27576036e-01,-4.07048867e-01, 1.22932328e+00,-9.47450010e-02,
  1.89724300e+00,-1.77175890e+00, 2.77168489e+00, 1.21842987e+01,
  7.89391058e+01,-5.64360340e+01]

qfrc_actuator:
[ 9.97807115e-03, 5.79952090e-02, 1.41216365e-02, 2.00215720e-03,
  2.17223148e-05, 3.47894787e-02, 1.09341113e-02, 1.77718032e-03,
 -3.11526448e-03, 3.48157165e-02, 1.08569055e-02, 1.59743387e-03,
  7.59914973e-03, 1.26738362e-02, 0.00000000e+00, 4.58345834e-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: -0.0005856980382326175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38982736,  0.08754369, -0.91671737, -0.03425845,  0.99616068,
        0.08056212,  0.9202505 ,  0.        ,  0.3913298 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08241041, -0.03442477,  0.2232218 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019824622696422226
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.80011136e-14,  4.20016704e-14,  1.00000000e+00, -1.17609354e-27,
        1.00000000e+00, -4.20016704e-14, -1.00000000e+00,  0.00000000e+00,
        2.80011136e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08224864, -0.0681268 ,  0.06186828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06638132e-03, 2.37729671e-02, 3.38223493e-03,-8.07525644e-05,
 -6.31816716e-06,-3.82799056e-05, 7.39077764e-06,-5.53769279e-06,
 -2.69275211e-05, 2.38532607e-05, 9.35510739e-06,-8.89992342e-05,
  1.02905199e-02, 1.43453296e-02, 7.53450796e-03, 1.89920326e-03,
  2.87848387e-03, 5.11979559e-03,-9.81183315e+00,-2.28963306e-03,
 -6.06607962e-02, 6.10003042e-02]


--- Step 3886 ---
qpos:
[-0.01875791, 1.20552767,-0.03522001, 0.94260455,-0.00790511, 1.33296825,
 -0.03117294, 0.9413327 , 0.01531602, 1.33854127,-0.02369417, 0.95468958,
  1.27934076,-0.00869234, 1.28248951, 0.04357806,-0.05498091,-0.0872923 ,
  0.09031967, 0.68978414,-0.13089447,-0.70879267,-0.06839177]

qacc:
[ 2.62496091e-01,-1.54610985e+00, 4.41152015e+00,-9.79310133e+00,
 -3.64720314e-02, 7.07305530e-01,-1.59753941e-01,-8.65082282e+00,
  1.33273494e-02,-2.53235604e+00, 7.30721092e+00,-2.51217023e+00,
 -7.57354868e-02,-2.85532851e-01, 6.14188481e+00,-1.01527318e+01,
  1.75173212e+00,-1.66072779e+00, 1.81719287e+00, 1.11293812e+01,
  7.29446076e+01,-5.22461416e+01]

qfrc_actuator:
[ 9.99300630e-03, 5.79469564e-02, 1.41280162e-02, 1.97045948e-03,
  1.49726855e-05, 3.48405441e-02, 1.09164118e-02, 1.74084650e-03,
 -3.09556510e-03, 3.48099882e-02, 1.09150746e-02, 1.61701229e-03,
  7.61204943e-03, 1.26958146e-02, 0.00000000e+00, 3.13098076e-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: -0.0005850454968404917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38981289,  0.087544  , -0.91672349, -0.03425731,  0.99616065,
        0.08056295,  0.92025667,  0.        ,  0.39131529])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08240796, -0.03442571,  0.22322192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019844214978660124
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.79734680e-14,  4.19602020e-14,  1.00000000e+00, -1.17377237e-27,
        1.00000000e+00, -4.19602020e-14, -1.00000000e+00,  0.00000000e+00,
        2.79734680e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08224709, -0.06813063,  0.06186812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.07145697e-03, 2.37308692e-02, 3.41751153e-03,-3.60068951e-05,
 -1.04808136e-05, 3.11712092e-05,-2.45109896e-05,-3.73996256e-05,
  3.79900119e-06, 6.63703545e-06, 6.12814189e-05, 1.84856482e-05,
  1.03067924e-02, 1.43869389e-02, 7.43623347e-03, 1.72638822e-03,
  2.93821644e-03, 7.86863044e-03,-9.81220124e+00,-2.61750582e-03,
 -6.05759782e-02, 6.10394679e-02]


--- Step 3887 ---
qpos:
[-0.01875701, 1.20553881,-0.03521931, 0.94260582,-0.00790448, 1.3329684 ,
 -0.03117345, 0.94133156, 0.01531501, 1.33854235,-0.02369374, 0.95468853,
  1.27935583,-0.0086895 , 1.28247645, 0.04357619,-0.05500492,-0.08735787,
  0.09028912, 0.68960507,-0.12995296,-0.70905916,-0.06922562]

qacc:
[ 1.86590404e-01,-7.37782285e-02,-3.33823479e+00, 8.35557067e+00,
  8.71915778e-02, 5.78703670e-01,-3.05640618e-01,-5.16823874e+00,
  1.11963755e-01, 2.42120408e+00,-1.09450267e+01, 2.52033100e+01,
  6.02844453e-02,-1.24920978e-01, 4.97019897e+00,-9.72035113e+00,
 -3.29672922e+00, 2.92139074e-01,-3.39309661e+00,-1.89125218e+01,
 -1.09370183e+02, 1.27573427e+00]

qfrc_actuator:
[ 9.94815969e-03, 5.79667895e-02, 1.41137793e-02, 1.98693681e-03,
  4.63104421e-05, 3.48710554e-02, 1.09061978e-02, 1.71976697e-03,
 -3.06550170e-03, 3.47706442e-02, 1.08958609e-02, 1.68278815e-03,
  7.61393764e-03, 1.26725994e-02, 0.00000000e+00, 2.26409615e-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: -0.0005846458531001859
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38979981,  0.08754406, -0.91672905, -0.03425618,  0.99616065,
        0.0805635 ,  0.92026226,  0.        ,  0.39130215])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08240598, -0.03442673,  0.22322202])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.59713435,   4.7835383 , -16.59713435,
        22.25959191,  17.30260262,   4.7835383 ,  17.30260262,
        77.30645177,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001968188720381306
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.82041812e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.82041812e-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([ 0.02189303, -0.09899699,  0.06186913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.99642447e-03, 2.38080951e-02, 3.42073872e-03, 9.34865246e-06,
  2.51518668e-05, 4.18331435e-05,-8.00232856e-06,-2.17270465e-05,
  3.23081923e-05,-2.31711797e-05,-1.04173207e-05, 6.81954509e-05,
  1.03183878e-02, 1.43894679e-02, 7.17262266e-03, 1.61229806e-03,
  2.63414368e-03, 1.08815362e-02,-9.81268652e+00,-3.00925805e-03,
 -6.04904957e-02, 6.10834680e-02]


--- Step 3888 ---
qpos:
[-0.01875532, 1.20554702,-0.03521941, 0.94260842,-0.00790372, 1.33296873,
 -0.03117401, 0.94133018, 0.0153143 , 1.33854289,-0.02369455, 0.95469008,
  1.27937119,-0.00868681, 1.28246857, 0.0435742 ,-0.05501894,-0.08741986,
  0.09027453, 0.68954809,-0.12908281,-0.70919745,-0.07000023]

qacc:
[ 3.44413244e-01, 6.12770828e-01,-9.41911251e+00, 2.55868321e+01,
  5.38397407e-02, 1.27200240e-02, 7.51647155e-01,-3.51592346e+00,
  1.29341290e-01, 7.17881838e+00,-2.95294036e+01, 5.60583025e+01,
  5.30530971e-02,-7.40960281e-02, 8.03006044e+00,-1.69597982e+01,
  2.49703438e+00, 8.97499558e-01, 3.99187918e+00,-1.04091578e-01,
  8.11655354e+01, 5.82854064e+01]

qfrc_actuator:
[ 9.92063505e-03, 5.79752928e-02, 1.41053128e-02, 2.04935131e-03,
  4.69851497e-05, 3.48713016e-02, 1.09004470e-02, 1.70784395e-03,
 -3.04721844e-03, 3.46934704e-02, 1.08132286e-02, 1.81062852e-03,
  7.59854143e-03, 1.26398826e-02, 0.00000000e+00, 5.08151413e-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: -0.0005843480479970492
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3897889 ,  0.08754391, -0.9167337 , -0.03425516,  0.99616066,
        0.08056376,  0.92026692,  0.        ,  0.3912912 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08240433, -0.03442784,  0.22322208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019946737575299092
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.78296895e-14, -1.30451669e-14,  1.00000000e+00, -3.63042945e-28,
        1.00000000e+00,  1.30451669e-14, -1.00000000e+00,  0.00000000e+00,
       -2.78296895e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08480109, -0.07815553,  0.06186741])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94744130e-03, 2.39048333e-02, 3.44214237e-03, 5.30709259e-05,
  1.55242695e-05, 2.11676553e-05, 8.85758238e-07,-1.14021957e-05,
  3.73635034e-05,-9.00095292e-05,-8.63490357e-05, 1.28436597e-04,
  1.02944139e-02, 1.43652720e-02, 6.99413620e-03, 1.43161917e-03,
  3.73357522e-03, 8.61152503e-03,-9.81266099e+00,-1.99543142e-03,
 -6.06572876e-02, 6.11431031e-02]


--- Step 3889 ---
qpos:
[-0.01875263, 1.20555292,-0.03522065, 0.94261034,-0.00790289, 1.3329694 ,
 -0.03117499, 0.94132867, 0.01531387, 1.33854285,-0.02369581, 0.95469416,
  1.27938689,-0.00868479, 1.28246856, 0.04357244,-0.05502373,-0.08747865,
  0.09027159, 0.68960355,-0.12827835,-0.70921803,-0.07072053]

qacc:
[ 4.37076554e-01,-1.13407285e+00, 1.44316222e+00,-7.78369928e+00,
  3.17996973e-02, 1.33200897e+00,-3.56105969e+00, 1.41704425e+00,
  1.14788722e-01, 4.74421729e+00,-2.14717078e+01, 4.80068706e+01,
  2.76461174e-01,-6.28277699e-01, 1.08941646e+01,-2.12573001e+01,
  2.30790518e+00, 7.97629083e-01, 2.91294637e+00,-2.55125323e-01,
  7.46540271e+01, 5.35446828e+01]

qfrc_actuator:
[ 9.90296921e-03, 5.80143702e-02, 1.41185117e-02, 2.01394305e-03,
  4.70111077e-05, 3.48889524e-02, 1.08795064e-02, 1.70138389e-03,
 -3.03615054e-03, 3.46827813e-02, 1.08002348e-02, 1.93840070e-03,
  7.60471167e-03, 1.26192760e-02, 0.00000000e+00,-1.77940961e-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: -0.0005841691109448946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38978145,  0.08754339, -0.91673692, -0.0342543 ,  0.99616071,
        0.08056357,  0.92027011,  0.        ,  0.3912837 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08240313, -0.03442909,  0.22322206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0020068617982077347
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.91516866e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.91516866e-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([-0.08478971, -0.07815954,  0.06186666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.89017959e-03, 2.40901668e-02, 3.49577672e-03,-4.93817869e-05,
  9.19124012e-06, 2.91880317e-05,-1.70337473e-05,-6.06234612e-06,
  3.31305418e-05,-7.35209902e-05,-3.66251395e-05, 1.25568662e-04,
  1.02856445e-02, 1.43526969e-02, 6.73499549e-03, 1.20891323e-03,
  2.41996183e-03, 8.48459180e-03,-9.81230348e+00,-2.47157774e-03,
 -6.06765054e-02, 6.11789998e-02]


--- Step 3890 ---
qpos:
[-0.01875054, 1.20556115,-0.03522214, 0.94260892,-0.00790187, 1.33297045,
 -0.03117628, 0.94132744, 0.01531365, 1.33854286,-0.02369713, 0.95469758,
  1.27940237,-0.00868323, 1.28246882, 0.04357099,-0.05501992,-0.08753457,
  0.09027667, 0.68976339,-0.12753479,-0.70912955,-0.07139067]

qacc:
[ -0.2630057 , -1.9353465 , 16.89685207,-54.74709551,  0.07907977,
   1.81538353, -5.86899963,  7.97944446,  0.0908629 , -0.85949918,
   4.21328302,-11.18900235,  0.11814303, -0.48034649, -0.52893902,
   2.37938725,  2.14996915,  0.71532364,  2.00304604, -0.37276274,
  69.2406853 , 49.58339038]

qfrc_actuator:
[ 9.87293603e-03, 5.80190978e-02, 1.41453672e-02, 1.86807698e-03,
  6.44014704e-05, 3.49168304e-02, 1.08675809e-02, 1.71593864e-03,
 -3.02949958e-03, 3.47299982e-02, 1.08109546e-02, 1.90540804e-03,
  7.60783059e-03, 1.26242547e-02, 0.00000000e+00,-6.61002260e-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: -0.0005843094123149893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38977718,  0.08754242, -0.91673882, -0.03425355,  0.99616079,
        0.08056283,  0.92027194,  0.        ,  0.39127939])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08240262, -0.03443053,  0.223222  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019974998874104644
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.77903151e-14, -1.12898155e-14,  1.00000000e+00, -3.13747530e-28,
        1.00000000e+00,  1.12898155e-14, -1.00000000e+00,  0.00000000e+00,
       -2.77903151e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08479764, -0.07816172,  0.06186729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.80988982e-03, 2.42108248e-02, 3.57976727e-03,-1.60786823e-04,
  2.28173455e-05, 4.05044780e-05,-8.33251756e-06, 1.47918879e-05,
  2.62135137e-05, 3.13695762e-06,-4.11959478e-06,-3.33171023e-05,
  1.02721256e-02, 1.43908203e-02, 6.34130011e-03, 1.30878957e-03,
  1.12081712e-03, 8.32651171e-03,-9.81207780e+00,-2.83091135e-03,
 -6.07007734e-02, 6.12133988e-02]


--- Step 3891 ---
qpos:
[-0.01875001, 1.20557331,-0.035222  , 0.9426076 ,-0.00790081, 1.33297129,
 -0.03117718, 0.94132605, 0.01531359, 1.33854329,-0.0236985 , 0.9547002 ,
  1.27941725,-0.00868115, 1.2824614 , 0.04356904,-0.05502965,-0.08758862,
  0.09026955, 0.68975132,-0.12681402,-0.70920221,-0.07206631]

qacc:
[-6.78660746e-01, 9.26417889e-01, 3.04706716e+00,-4.15832026e+00,
  1.96271283e-02,-1.60030979e+00, 5.18710571e+00,-6.05609151e+00,
  6.73152531e-02,-7.11286160e-01, 4.57791384e+00,-1.34350154e+01,
 -4.30163286e-01, 6.41899171e-01,-9.82667560e+00, 1.79755400e+01,
 -3.38604678e+00, 4.70756461e-01,-3.04953333e+00,-1.50205065e+01,
 -1.16987714e+02,-1.02329466e+01]

qfrc_actuator:
[ 9.87219507e-03, 5.79817389e-02, 1.41799705e-02, 1.88963355e-03,
  5.65634616e-05, 3.48796472e-02, 1.08788843e-02, 1.70725195e-03,
 -3.02555063e-03, 3.47760363e-02, 1.08179542e-02, 1.86688068e-03,
  7.59317930e-03, 1.26446451e-02, 0.00000000e+00, 2.14438855e-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: -0.0005846125202578767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38977099,  0.08754172, -0.91674152, -0.03425273,  0.99616085,
        0.08056242,  0.92027459,  0.        ,  0.39127314])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08240211, -0.03443191,  0.223222  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019815667064668335
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80137686e-14,  4.20206529e-14,  1.00000000e+00,  1.17715685e-27,
        1.00000000e+00, -4.20206529e-14, -1.00000000e+00,  0.00000000e+00,
       -2.80137686e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02187899, -0.09892568,  0.06186837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.83935701e-03, 2.40567696e-02, 3.62633143e-03, 2.71033989e-05,
  5.63323245e-06,-1.59661493e-05, 1.87136342e-05,-7.36957463e-06,
  1.94297450e-05, 4.59878342e-05, 6.17516839e-06,-3.93274110e-05,
  1.02685700e-02, 1.44341166e-02, 6.32809247e-03, 1.57442389e-03,
 -1.62002962e-04, 8.14555040e-03,-9.81195492e+00,-3.10104099e-03,
 -6.07292325e-02, 6.12461405e-02]


--- Step 3892 ---
qpos:
[-0.01875111, 1.20558953,-0.03522005, 0.94260651,-0.0078999 , 1.33297177,
 -0.03117756, 0.94132528, 0.01531336, 1.33854426,-0.02369956, 0.95470162,
  1.27943168,-0.00867842, 1.28244523, 0.04356674,-0.05505182,-0.08764089,
  0.09024804, 0.68958101,-0.12611179,-0.70942344,-0.07274777]

qacc:
[-7.09787413e-01, 8.89097372e-01, 3.04998556e+00,-2.40324212e+00,
 -6.78528682e-02,-8.04847835e-01, 8.05119459e-01, 6.56047137e+00,
 -7.53188572e-02,-2.19906739e+00, 1.04541671e+01,-2.32778470e+01,
 -3.19738998e-01, 6.28020382e-01,-1.18408168e+01, 2.26696143e+01,
 -3.10871333e+00, 4.44682479e-01,-3.59776506e+00,-1.31366232e+01,
 -1.07648141e+02,-1.05524768e+01]

qfrc_actuator:
[ 9.87247465e-03, 5.79698523e-02, 1.41997014e-02, 1.90304838e-03,
  3.36544163e-05, 3.48571280e-02, 1.09035377e-02, 1.73818528e-03,
 -3.05875843e-03, 3.48209953e-02, 1.08404821e-02, 1.80768881e-03,
  7.58388523e-03, 1.26557314e-02, 0.00000000e+00, 4.54845282e-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: -0.0005847003070348425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38975967,  0.08754172, -0.91674634, -0.03425173,  0.99616085,
        0.08056285,  0.92027943,  0.        ,  0.39126178])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08240089, -0.03443309,  0.22322208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 17.21778202, -1.37662258, 17.21778202, 17.52747673,
        3.1862187 , -1.37662258,  3.1862187 , 57.12360573,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019808844931806097
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.40117083e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.40117083e-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([ 0.02188464, -0.09891713,  0.06186844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.91764686e-03, 2.38480921e-02, 3.56479444e-03, 3.63497143e-05,
 -1.95841361e-05,-2.79188051e-05, 2.34412733e-05, 3.08284239e-05,
 -2.17315174e-05, 7.04332990e-05, 3.10647130e-05,-5.85612743e-05,
  1.02892664e-02, 1.44189900e-02, 6.71178480e-03, 1.83939509e-03,
  1.40670377e-03, 6.45996499e-03,-9.81179011e+00,-2.32083342e-03,
 -6.08350220e-02, 6.12921257e-02]


--- Step 3893 ---
qpos:
[-0.01875264, 1.20560655,-0.0352174 , 0.94260595,-0.00789906, 1.33297187,
 -0.03117737, 0.94132626, 0.01531256, 1.3385452 ,-0.02369983, 0.95470269,
  1.27944587,-0.00867546, 1.28242683, 0.04356442,-0.05506411,-0.08769015,
  0.0902411 , 0.68952957,-0.12547694,-0.7095216 ,-0.07337315]

qacc:
[-1.87553732e-01, 1.43070296e-02, 1.20975398e-01, 5.49183132e+00,
 -2.70428088e-02, 9.33100649e-01,-7.28027430e+00, 2.69580124e+01,
 -2.35796843e-01,-2.74798425e+00, 9.61755629e+00,-1.23458373e+01,
 -2.20594236e-01, 3.31654094e-01,-3.24428912e+00, 6.60406906e+00,
  2.46707414e+00, 7.51662960e-01, 3.64249155e+00,-3.18634023e-01,
  7.86106158e+01, 5.53187081e+01]

qfrc_actuator:
[ 9.89181499e-03, 5.79360389e-02, 1.41741761e-02, 1.91138626e-03,
  3.73961491e-05, 3.48436402e-02, 1.09359336e-02, 1.82770334e-03,
 -3.11398683e-03, 3.47939992e-02, 1.08719888e-02, 1.79008057e-03,
  7.57248831e-03, 1.26609099e-02, 0.00000000e+00, 4.40452640e-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: -0.0005845201034184316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89742932e-01,  8.75424567e-02, -9.16753383e-01, -3.42505488e-02,
        9.96160789e-01,  8.05641460e-02,  9.20286557e-01,  6.93889390e-18,
        3.91245004e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08239887, -0.03443406,  0.22322226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002001655916425496
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.77326142e-14, -1.47329513e-14,  1.00000000e+00, -4.08583253e-28,
        1.00000000e+00,  1.47329513e-14, -1.00000000e+00,  0.00000000e+00,
       -2.77326142e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08479386, -0.07816836,  0.06186711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01857537e-03, 2.36108569e-02, 3.44909935e-03, 3.26030710e-05,
 -7.82057306e-06,-2.34215924e-05, 3.05044592e-05, 9.00775431e-05,
 -6.80596132e-05, 1.62801901e-05, 4.70810062e-05,-1.59728233e-05,
  1.03006662e-02, 1.43921376e-02, 7.15009399e-03, 1.84303593e-03,
  2.31829908e-03, 5.05296288e-03,-9.81188570e+00,-1.53956597e-03,
 -6.09252318e-02, 6.13403204e-02]


--- Step 3894 ---
qpos:
[-0.01875388, 1.20562263,-0.03521479, 0.94260639,-0.00789839, 1.33297166,
 -0.03117705, 0.94132832, 0.01531175, 1.33854551,-0.02369949, 0.95470568,
  1.27946019,-0.00867232, 1.28240761, 0.043562  ,-0.05506729,-0.08773671,
  0.09024463, 0.68958795,-0.12490415,-0.70950633,-0.07394713]

qacc:
[ 1.28270817e-01, 5.89775138e-01,-5.45755195e+00, 1.68916922e+01,
 -7.08286499e-02, 1.07588612e+00,-6.24004554e+00, 1.81804624e+01,
 -5.66964804e-03, 8.06139606e-01,-7.47733119e+00, 2.89420088e+01,
  3.49552161e-02, 1.05602435e-01,-8.94394698e-01, 1.36338851e+00,
  2.28000447e+00, 6.75600761e-01, 2.61961825e+00,-4.35269889e-01,
  7.25664556e+01, 5.08833434e+01]

qfrc_actuator:
[ 9.92204397e-03, 5.78907187e-02, 1.41396213e-02, 1.95180375e-03,
  2.15908757e-05, 3.48179856e-02, 1.09371942e-02, 1.87996888e-03,
 -3.07546129e-03, 3.47241849e-02, 1.08905356e-02, 1.88581254e-03,
  7.57047797e-03, 1.26449354e-02, 0.00000000e+00, 4.32749499e-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: -0.0005842608940296382
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38972481,  0.08754338, -0.916761  , -0.03424932,  0.99616071,
        0.08056567,  0.92029428,  0.        ,  0.39122685])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08239665, -0.03443497,  0.22322245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002006363459598634
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.76675450e-14, -1.21045509e-14,  1.00000000e+00, -3.34903207e-28,
        1.00000000e+00,  1.21045509e-14, -1.00000000e+00,  0.00000000e+00,
       -2.76675450e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08478996, -0.07817027,  0.06186684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.07035873e-03, 2.35258596e-02, 3.37900870e-03, 4.68046068e-05,
 -2.04232099e-05,-2.99272010e-05, 2.79397532e-06, 5.45430317e-05,
 -1.66787193e-06,-5.20974150e-05, 2.66106200e-05, 9.72232246e-05,
  1.03105224e-02, 1.43641324e-02, 7.26183601e-03, 1.83595851e-03,
  1.36447310e-03, 4.97749416e-03,-9.81155191e+00,-1.89767450e-03,
 -6.09233716e-02, 6.13646913e-02]


--- Step 3895 ---
qpos:
[-0.01875529, 1.20563891,-0.0352127 , 0.9426062 ,-0.0078979 , 1.33297152,
 -0.03117733, 0.94132927, 0.01531142, 1.33854546,-0.02369919, 0.95470911,
  1.27947472,-0.00866898, 1.28238486, 0.04355957,-0.05506197,-0.08778081,
  0.0902552 , 0.68974859,-0.12438897,-0.70938561,-0.07447359]

qacc:
[ -0.07432849,  0.57485748, -0.27744474, -7.17265325, -0.07540175,
  -0.14692244,  2.90690112,-15.4875389 ,  0.20094846,  0.39576386,
  -2.76737701,  7.75826444,  0.22896128, -0.07573103, -5.18739979,
  10.54426716,  2.12450353,  0.61277601,  1.75756384, -0.52074672,
  67.53801781, 47.18801502]

qfrc_actuator:
[ 9.92274719e-03, 5.78931530e-02, 1.41001177e-02, 1.92202380e-03,
  1.19389077e-05, 3.48206176e-02, 1.09022340e-02, 1.82109138e-03,
 -3.01650943e-03, 3.47003001e-02, 1.08834039e-02, 1.90540354e-03,
  7.57407467e-03, 1.26339911e-02, 0.00000000e+00, 5.53428349e-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: -0.0005838956790228875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89707588e-01,  8.75441761e-02, -9.16768244e-01, -3.42481206e-02,
        9.96160638e-01,  8.05670466e-02,  9.20301615e-01,  6.93889390e-18,
        3.91209583e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08239439, -0.03443588,  0.22322263])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019910641909167415
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.97003536e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.97003536e-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([-0.08480375, -0.07817061,  0.06186785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.05630359e-03, 2.35744527e-02, 3.34160470e-03,-3.27976765e-05,
 -2.17097330e-05,-1.17304013e-05,-3.88952712e-05,-5.84311352e-05,
  5.79645202e-05,-4.46148905e-05,-1.14332815e-05, 2.10936954e-05,
  1.03074259e-02, 1.43444060e-02, 7.30333964e-03, 1.96204685e-03,
  3.94665345e-04, 4.87217413e-03,-9.81133852e+00,-2.15909253e-03,
 -6.09273415e-02, 6.13877979e-02]


--- Step 3896 ---
qpos:
[-0.01875707, 1.20565623,-0.03521085, 0.94260521,-0.00789741, 1.33297157,
 -0.03117811, 0.94132914, 0.01531122, 1.33854548,-0.02369851, 0.95471096,
  1.27948957,-0.00866539, 1.28235741, 0.04355719,-0.0550698 ,-0.08782252,
  0.09025303, 0.68973903,-0.1238777 ,-0.70942755,-0.07501298]

qacc:
[-1.61851493e-01, 7.02728096e-01, 1.00892065e+00,-1.07501123e+01,
 -3.35183544e-03,-2.65753808e-01, 3.36410674e+00,-1.54854658e+01,
  5.62072456e-02,-3.65201989e+00, 1.52114996e+01,-3.14433287e+01,
  3.56520572e-01,-1.65505679e-01,-7.16581521e+00, 1.49197448e+01,
 -3.28605203e+00, 5.99319888e-01,-3.18431147e+00,-1.04605743e+01,
 -1.15809552e+02,-1.95276889e+01]

qfrc_actuator:
[ 9.92383513e-03, 5.79234951e-02, 1.40758883e-02, 1.88685642e-03,
  2.38090415e-05, 3.48399523e-02, 1.08817366e-02, 1.76829944e-03,
 -3.03454777e-03, 3.47394687e-02, 1.09145347e-02, 1.82675558e-03,
  7.57569810e-03, 1.26082116e-02, 0.00000000e+00, 6.97828141e-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: -0.0005833348884047435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89690664e-01,  8.75450311e-02, -9.16775356e-01, -3.42469703e-02,
        9.96160563e-01,  8.05684646e-02,  9.20308824e-01,  6.93889390e-18,
        3.91192623e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08239184, -0.03443673,  0.2232228 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001979232982484397
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.80467998e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.80467998e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02189934, -0.09890794,  0.06186869])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06590760e-03, 2.35951673e-02, 3.34315857e-03,-3.65624874e-05,
 -9.46004389e-07, 3.47405616e-06,-2.89333021e-05,-5.56396639e-05,
  1.61920992e-05, 1.28957873e-05, 2.17399046e-05,-7.98087592e-05,
  1.02985511e-02, 1.43082936e-02, 7.48006174e-03, 2.10722887e-03,
 -5.85692838e-04, 4.74393186e-03,-9.81121968e+00,-2.34701524e-03,
 -6.09362335e-02, 6.14094866e-02]


--- Step 3897 ---
qpos:
[-0.01875806, 1.20567166,-0.03520933, 0.94260408,-0.00789716, 1.33297197,
 -0.03117956, 0.94132873, 0.01531086, 1.33854512,-0.02369673, 0.9547122 ,
  1.27950456,-0.00866233, 1.28233736, 0.04355555,-0.05508974,-0.08786205,
  0.09023603, 0.68957264,-0.12336987,-0.70961926,-0.07556425]

qacc:
[ 3.45097003e-01,-1.86746091e+00, 3.37479715e+00,-3.38171416e+00,
 -1.01208749e-01, 1.80186181e+00,-4.71384377e+00, 4.66039275e-01,
 -6.56916046e-02,-4.52290377e+00, 1.53572044e+01,-2.00820254e+01,
  9.75987174e-02,-3.99053410e-01, 8.73353137e+00,-1.46861274e+01,
 -3.02977227e+00, 5.45035689e-01,-3.70727236e+00,-9.49711969e+00,
 -1.06675930e+02,-1.80359833e+01]

qfrc_actuator:
[ 9.90767072e-03, 5.78986379e-02, 1.40962689e-02, 1.86662559e-03,
 -4.76442401e-06, 3.48691803e-02, 1.08522924e-02, 1.75506923e-03,
 -3.06312274e-03, 3.47096559e-02, 1.09682167e-02, 1.79752654e-03,
  7.57612041e-03, 1.26089122e-02, 0.00000000e+00, 4.12574035e-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: -0.0005825628065384281
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89673003e-01,  8.75460437e-02, -9.16782766e-01, -3.42458175e-02,
        9.96160474e-01,  8.05700549e-02,  9.20316345e-01,  6.93889390e-18,
        3.91174930e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08238891, -0.03443751,  0.223223  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001976283896637579
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.80886523e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.80886523e-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([ 0.02190886, -0.09891109,  0.0618689 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06831806e-03, 2.35177776e-02, 3.37600131e-03,-1.71256167e-05,
 -2.91315590e-05, 2.38111952e-05,-3.36899129e-05,-1.52645633e-05,
 -1.90117692e-05,-2.07987964e-05, 5.63376415e-05,-3.00644898e-05,
  1.02831642e-02, 1.42965527e-02, 7.71569211e-03, 1.81897687e-03,
  7.06241928e-04, 3.70473186e-03,-9.81117241e+00,-1.78842999e-03,
 -6.09977908e-02, 6.14463645e-02]


--- Step 3898 ---
qpos:
[-0.01875817, 1.20568413,-0.03520846, 0.94260318,-0.00789719, 1.33297259,
 -0.03118107, 0.94132779, 0.01531028, 1.3385447 ,-0.02369522, 0.95471244,
  1.27951945,-0.00865981, 1.28232639, 0.04355444,-0.05509998,-0.08789911,
  0.09023283, 0.68952381,-0.1229288 ,-0.70969041,-0.07605888]

qacc:
[  0.38225965, -1.74042474,  0.52926269,  4.06385261, -0.11902513,
  -0.47064258,  2.96100469, -8.77531154, -0.09754206, -1.09157613,
   5.50275746,-16.36528603, -0.19071127, -0.14014911, 11.83157181,
 -21.86124638,  2.42761426,  0.61665059,  3.45072257, -0.2253824 ,
  77.26662155, 55.10198066]

qfrc_actuator:
[ 9.88013856e-03, 5.78609411e-02, 1.41080823e-02, 1.87277701e-03,
 -2.18647366e-05, 3.48863445e-02, 1.08533706e-02, 1.72972033e-03,
 -3.08003185e-03, 3.46921467e-02, 1.09457979e-02, 1.74435127e-03,
  7.57582676e-03, 1.26261815e-02, 0.00000000e+00, 1.70633379e-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: -0.0005821229674658479
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38965739,  0.08754671, -0.91678934, -0.03424471,  0.99616042,
        0.08057125,  0.92032299,  0.        ,  0.39115928])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08238662, -0.03443846,  0.22322316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019822963019327858
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.45030257e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.45030257e-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([-0.08481173, -0.07816994,  0.06186849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.00110751e-03, 2.35748623e-02, 3.40387914e-03,-3.78326674e-06,
 -3.42966858e-05, 2.32818551e-05, 1.45537078e-06,-2.59751684e-05,
 -2.81379297e-05,-1.88976196e-05,-2.09574254e-05,-5.28388296e-05,
  1.02760246e-02, 1.43403794e-02, 7.34607570e-03, 1.54080556e-03,
  1.40185514e-03, 2.80920387e-03,-9.81134681e+00,-1.18968249e-03,
 -6.10522211e-02, 6.14853226e-02]


--- Step 3899 ---
qpos:
[-0.01875831, 1.20569693,-0.03520734, 0.9426034 ,-0.00789704, 1.33297316,
 -0.03118165, 0.94132756, 0.01530947, 1.33854485,-0.0236951 , 0.95471135,
  1.27953447,-0.00865696, 1.28231178, 0.04355287,-0.05510122,-0.08793392,
  0.09023948, 0.68958377,-0.12254901,-0.70965021,-0.07650192]

qacc:
[-1.47608592e-02, 1.66145528e+00,-7.22596116e+00, 1.90568090e+01,
  7.96954188e-02,-1.35344860e+00, 2.86231853e+00, 5.81698521e+00,
 -9.17041203e-02, 2.22160367e+00,-3.66585061e+00,-1.24624311e+01,
  5.14823446e-02, 1.83186196e-01,-4.02003956e+00, 6.24154983e+00,
  2.24715010e+00, 5.64331142e-01, 2.46086030e+00,-3.68578399e-01,
  7.14907289e+01, 5.05017444e+01]

qfrc_actuator:
[ 9.91639360e-03, 5.78173472e-02, 1.41152075e-02, 1.94770125e-03,
  2.13145382e-05, 3.48962648e-02, 1.09079087e-02, 1.76845741e-03,
 -3.08980445e-03, 3.47351006e-02, 1.08786439e-02, 1.67745221e-03,
  7.57511968e-03, 1.26003535e-02, 0.00000000e+00, 3.80647219e-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: -0.0005820465820690242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3896451 ,  0.08754698, -0.91679454, -0.03424373,  0.99616039,
        0.08057196,  0.92032824,  0.        ,  0.39114695])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08238513, -0.03443959,  0.22322325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019840342142703124
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.79789284e-14,  2.62302454e-14,  1.00000000e+00,  7.33894157e-28,
        1.00000000e+00, -2.62302454e-14, -1.00000000e+00,  0.00000000e+00,
       -2.79789284e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08481026, -0.07816921,  0.06186841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.99341845e-03, 2.36784412e-02, 3.44323798e-03, 5.97379187e-05,
  2.29337164e-05, 2.22972168e-05, 5.84973443e-05, 3.88775410e-05,
 -2.63907281e-05, 2.68451382e-05,-7.47735718e-05,-6.93000315e-05,
  1.02801845e-02, 1.43414490e-02, 6.89206814e-03, 1.72423767e-03,
  7.21787663e-04, 2.74053486e-03,-9.81101439e+00,-1.46243451e-03,
 -6.10337658e-02, 6.15007222e-02]


--- Step 3900 ---
qpos:
[-0.01875791, 1.20570958,-0.03520586, 0.94260455,-0.00789656, 1.33297373,
 -0.03118182, 0.94132748, 0.01530865, 1.33854554,-0.0236954 , 0.95471114,
  1.27954982,-0.00865417, 1.28229758, 0.04355122,-0.05509408,-0.08796664,
  0.09025263, 0.68974518,-0.12222589,-0.7095063 ,-0.07689756]

qacc:
[ 2.35872185e-01, 4.21554413e-01,-3.53779170e+00, 1.39404762e+01,
  1.36318653e-01,-8.82318905e-01, 2.59645072e+00,-6.14797290e-01,
 -1.13849483e-02, 3.37357358e+00,-1.19345592e+01, 2.02246256e+01,
  2.85736056e-01,-2.76926880e-01, 8.50194907e-01,-2.15117308e+00,
  2.09735832e+00, 5.20823894e-01, 1.62683509e+00,-4.69763397e-01,
  6.66824488e+01, 4.66945325e+01]

qfrc_actuator:
[ 9.93822412e-03, 5.77858782e-02, 1.41366403e-02, 1.99189594e-03,
  4.70471643e-05, 3.48842700e-02, 1.09225554e-02, 1.77361038e-03,
 -3.07746461e-03, 3.47959731e-02, 1.08746416e-02, 1.72730796e-03,
  7.57414821e-03, 1.25657598e-02, 0.00000000e+00, 3.30026023e-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: -0.0005817668389121768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38963228,  0.08754727, -0.91679996, -0.03424272,  0.99616037,
        0.0805727 ,  0.9203337 ,  0.        ,  0.39113409])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08238333, -0.03444067,  0.22322334])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019666080751416515
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.05671251e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.05671251e-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([-0.08482572, -0.07816734,  0.06186956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01693009e-03, 2.36307331e-02, 3.45239315e-03, 4.79627717e-05,
  3.92717268e-05, 1.29570983e-05, 2.68095931e-05, 8.44184072e-06,
 -3.24429179e-06, 5.90569027e-05,-9.28741119e-06, 4.68493896e-05,
  1.02730720e-02, 1.42899590e-02, 7.07448634e-03, 1.69626742e-03,
  9.41711090e-06, 2.64781807e-03,-9.81080097e+00,-1.64938946e-03,
 -6.10223817e-02, 6.15149948e-02]


--- Step 3901 ---
qpos:
[-0.0187575 , 1.20572229,-0.03520467, 0.94260554,-0.00789577, 1.33297406,
 -0.0311819 , 0.94132681, 0.01530786, 1.3385467 ,-0.02369551, 0.95471185,
  1.27956524,-0.00865137, 1.28228209, 0.04354948,-0.05509991,-0.0879966 ,
  0.09025279, 0.68973694,-0.12189397,-0.70952646,-0.07731115]

qacc:
[ 5.44744960e-03, 5.69364736e-01,-1.43399466e+00,-6.02239480e-01,
  1.32730554e-01,-1.52621009e+00, 5.81470467e+00,-1.17162139e+01,
  2.01884571e-02, 1.67680700e+00,-6.56549065e+00, 1.59605512e+01,
  1.08204064e-01,-8.73597791e-02,-1.65446578e+00, 3.02744052e+00,
 -3.24355770e+00, 6.90889869e-01,-3.25034069e+00,-7.39594945e+00,
 -1.15330581e+02,-2.58677142e+01]

qfrc_actuator:
[ 9.93308467e-03, 5.78152878e-02, 1.41131934e-02, 1.98189144e-03,
  6.21027781e-05, 3.48413359e-02, 1.09134039e-02, 1.74114592e-03,
 -3.06971302e-03, 3.48318988e-02, 1.08903666e-02, 1.77452492e-03,
  7.57832052e-03, 1.25794407e-02, 0.00000000e+00, 3.71379967e-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: -0.0005814981826434418
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38961928,  0.08754735, -0.91680547, -0.03424161,  0.99616036,
        0.08057326,  0.92033925,  0.        ,  0.39112105])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08238155, -0.03444177,  0.22322343])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.91575315,  -3.49348004,  16.91575315,
        23.10226053,  28.22713864,  -3.49348004,  28.22713864,
       153.95114055,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001970331751151605
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.40867524e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.40867524e-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([ 0.02192763, -0.09893828,  0.06186942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98466271e-03, 2.36676383e-02, 3.41124751e-03,-8.42650738e-06,
  3.82394172e-05,-3.02675658e-05,-3.31702037e-06,-3.10913159e-05,
  5.83794986e-06, 6.81531240e-05, 2.75733003e-05, 4.97859483e-05,
  1.02605863e-02, 1.43072884e-02, 7.05456128e-03, 1.74220409e-03,
 -7.29348929e-04, 2.53595045e-03,-9.81068094e+00,-1.77189634e-03,
 -6.10169067e-02, 6.15279762e-02]


--- Step 3902 ---
qpos:
[-0.01875776, 1.20573675,-0.03520323, 0.94260658,-0.00789472, 1.33297389,
 -0.03118143, 0.94132679, 0.0153073 , 1.33854794,-0.02369603, 0.95471181,
  1.27958046,-0.00864815, 1.28226008, 0.04354744,-0.05511772,-0.08802409,
  0.0902379 , 0.68957235,-0.12155533,-0.70969758,-0.07774076]

qacc:
[-2.93599947e-01, 1.71410266e+00,-2.89628390e+00, 1.84144753e+00,
  1.08040302e-01,-1.05033878e+00, 1.28397602e+00, 6.77096136e+00,
  9.05544320e-02,-7.88431825e-02, 1.89256509e+00,-1.03742683e+01,
 -9.68338206e-02, 3.05453901e-01,-8.72787890e+00, 1.65272224e+01,
 -2.99687755e+00, 6.17015743e-01,-3.76009848e+00,-7.05657510e+00,
 -1.06293846e+02,-2.31485524e+01]

qfrc_actuator:
[ 9.96533382e-03, 5.78100577e-02, 1.40988134e-02, 1.99333719e-03,
  7.06319121e-05, 3.48155857e-02, 1.09434052e-02, 1.77554621e-03,
 -3.04702547e-03, 3.47816958e-02, 1.08464704e-02, 1.73101079e-03,
  7.58026456e-03, 1.26042649e-02, 0.00000000e+00, 5.92213359e-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: -0.0005811567306788119
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38960648,  0.08754742, -0.91681091, -0.03424051,  0.99616035,
        0.0805738 ,  0.92034471,  0.        ,  0.3911082 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08237967, -0.03444285,  0.22322352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -15.22840148,   8.15125118, -15.22840148,
        33.34324154,  30.02339615,   8.15125118,  30.02339615,
        73.36329798,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019670842307156072
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.82200174e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.82200174e-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([ 0.02193632, -0.09894845,  0.06186966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01626469e-03, 2.36590227e-02, 3.41070531e-03, 1.07883587e-05,
  3.11021771e-05,-4.40833387e-05, 2.27871108e-05, 3.26695409e-05,
  2.61380765e-05,-5.66141982e-06,-2.59957142e-05,-3.95263727e-05,
  1.02588030e-02, 1.43308364e-02, 7.11872752e-03, 1.96711763e-03,
  2.87260525e-04, 1.91351381e-03,-9.81070991e+00,-1.39841312e-03,
 -6.10579476e-02, 6.15566475e-02]


--- Step 3903 ---
qpos:
[-0.01875801, 1.20575132,-0.03520141, 0.94260857,-0.00789378, 1.33297389,
 -0.03118115, 0.9413275 , 0.01530697, 1.33854859,-0.02369699, 0.95470993,
  1.27959567,-0.00864483, 1.28223758, 0.04354544,-0.05512594,-0.08804955,
  0.09023644, 0.68952497,-0.12128414,-0.70974925,-0.07811196]

qacc:
[ 5.80515268e-03, 7.32872678e-01,-4.20413414e+00, 1.47069618e+01,
 -4.37773058e-02, 1.99869216e+00,-7.77340016e+00, 1.51881677e+01,
  1.01084384e-01,-2.74197438e+00, 1.17213942e+01,-3.10152354e+01,
 -3.30547113e-02, 9.54223491e-02,-8.14126136e-01, 1.82706346e+00,
  2.39942182e+00, 5.06928531e-01, 3.35641606e+00,-4.80143987e-02,
  7.66033333e+01, 5.58846688e+01]

qfrc_actuator:
[ 9.96744068e-03, 5.77823342e-02, 1.41072202e-02, 2.03527440e-03,
  3.96730262e-05, 3.48537633e-02, 1.09431297e-02, 1.81355630e-03,
 -3.03331435e-03, 3.46977771e-02, 1.08028383e-02, 1.63436119e-03,
  7.58089447e-03, 1.25998702e-02, 0.00000000e+00, 5.48185549e-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: -0.0005805358340612542
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89591843e-01,  8.75477888e-02, -9.16817092e-01, -3.42393726e-02,
        9.96160321e-01,  8.05746901e-02,  9.20350945e-01,  6.93889390e-18,
        3.91093517e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08237723, -0.03444377,  0.22322365])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001954050124172463
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.04184322e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.04184322e-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([-0.08483597, -0.07815951,  0.06187042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.05209889e-03, 2.35437103e-02, 3.40709897e-03, 5.08296148e-05,
 -1.25999419e-05, 1.92349694e-05,-5.34982498e-06, 3.81068645e-05,
  2.91483310e-05,-9.33048825e-05,-4.88497825e-05,-9.84970575e-05,
  1.02699037e-02, 1.43056513e-02, 7.44572070e-03, 1.93841943e-03,
  7.55497036e-04, 1.36094214e-03,-9.81093636e+00,-9.56156814e-04,
 -6.10944048e-02, 6.15873622e-02]


--- Step 3904 ---
qpos:
[-0.01875783, 1.20576434,-0.0352001 , 0.94261055,-0.00789291, 1.33297422,
 -0.0311818 , 0.94132835, 0.01530685, 1.33854865,-0.0236979 , 0.95470653,
  1.27961068,-0.00864183, 1.28221987, 0.04354383,-0.05512526,-0.08807312,
  0.09024451, 0.68958613,-0.12107454,-0.7096905 ,-0.07843036]

qacc:
[ 1.85622688e-01,-6.63199409e-01,-2.75772726e-01, 1.17013262e+00,
 -2.99218490e-02, 3.17869951e+00,-1.01168425e+01, 1.00739228e+01,
  8.82475130e-02,-3.54696516e+00, 1.36772927e+01,-2.89412707e+01,
 -1.98035396e-01,-2.20668249e-02, 5.87865166e+00,-1.02851352e+01,
  2.22470075e+00, 4.74916985e-01, 2.38454849e+00,-2.28066539e-01,
  7.09790184e+01, 5.10000804e+01]

qfrc_actuator:
[ 9.95104401e-03, 5.77598093e-02, 1.40935540e-02, 2.02356035e-03,
  3.85353894e-05, 3.48588154e-02, 1.08897097e-02, 1.81788186e-03,
 -3.02509940e-03, 3.46830218e-02, 1.08128171e-02, 1.56047626e-03,
  7.57007327e-03, 1.26136030e-02, 0.00000000e+00, 3.80527492e-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: -0.0005798953146991526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38957675,  0.08754816, -0.91682347, -0.03423819,  0.99616029,
        0.08057559,  0.92035738,  0.        ,  0.39107838])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08237475, -0.03444469,  0.22322378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001955205082722067
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.06468022e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.06468022e-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([-0.08483457, -0.07815642,  0.06187037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03502453e-03, 2.35156675e-02, 3.37421641e-03,-8.79334982e-06,
 -8.57524167e-06, 1.57956694e-05,-4.91461779e-05, 5.63262246e-06,
  2.54269582e-05,-7.88165387e-05,-1.66798995e-05,-8.03748732e-05,
  1.02592408e-02, 1.43145719e-02, 7.47011324e-03, 1.76906421e-03,
  3.16056363e-04, 1.30141774e-03,-9.81060778e+00,-1.15913660e-03,
 -6.10633616e-02, 6.15953399e-02]


--- Step 3905 ---
qpos:
[-0.01875796, 1.205778  ,-0.03519881, 0.94261182,-0.0078918 , 1.33297456,
 -0.03118243, 0.94132922, 0.01530703, 1.33854877,-0.02369882, 0.95470429,
  1.27962517,-0.00863889, 1.28220205, 0.04354245,-0.05513498,-0.0880934 ,
  0.09025674, 0.68950907,-0.12087293,-0.70976502,-0.07874387]

qacc:
[-1.30733932e-01,-3.40217756e-01, 3.60718434e+00,-1.18975928e+01,
  1.02202651e-01,-1.64244534e-02, 1.90019861e-02, 2.55675656e-01,
  1.30364871e-01, 2.10332035e+00,-9.08378879e+00, 2.11703443e+01,
 -3.52478433e-01, 2.15391124e-01,-8.20084105e-01, 2.69470243e+00,
 -2.59840881e+00, 8.20444234e-01, 1.03898780e+00,-4.15802595e+00,
 -9.56011812e+01,-8.96939850e+00]

qfrc_actuator:
[ 9.95863171e-03, 5.77065046e-02, 1.41028869e-02, 1.99798731e-03,
  7.30514582e-05, 3.48615168e-02, 1.08939868e-02, 1.82006158e-03,
 -3.00249455e-03, 3.47455105e-02, 1.08368843e-02, 1.62492805e-03,
  7.56305122e-03, 1.26385794e-02, 0.00000000e+00, 4.57865403e-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: -0.0005794500699321248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89563555e-01,  8.75483315e-02, -9.16829061e-01, -3.42371003e-02,
        9.96160273e-01,  8.05762453e-02,  9.20363003e-01, -1.38777878e-17,
        3.91065138e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0823727 , -0.0344457 ,  0.22322388])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.90196919,  -3.55957088,  16.90196919,
        21.36929897,  19.45181906,  -3.55957088,  19.45181906,
       109.63612098,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.001938070591168908
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.39338822e-07,  2.86424816e-14,  1.00000000e+00, -2.40407468e-20,
        1.00000000e+00, -2.86424816e-14, -1.00000000e+00,  0.00000000e+00,
        8.39338822e-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([-0.02062425, -0.09067996,  0.06187149])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.02126273e-03, 2.35393209e-02, 3.40889142e-03,-3.41485573e-05,
  2.94544419e-05, 1.99195893e-06, 1.94032215e-06, 1.34504077e-06,
  3.76193385e-05, 1.32610448e-05, 4.42292968e-06, 5.97514535e-05,
  1.02624660e-02, 1.43549878e-02, 7.23165841e-03, 1.82674064e-03,
 -1.68473368e-04, 1.21999148e-03,-9.81039865e+00,-1.28316581e-03,
 -6.10405217e-02, 6.16022592e-02]


--- Step 3906 ---
qpos:
[-0.0187587 , 1.20579188,-0.03519775, 0.94261281,-0.00789052, 1.33297467,
 -0.03118264, 0.94133045, 0.01530737, 1.33854943,-0.0237    , 0.9547035 ,
  1.27963922,-0.00863572, 1.28218288, 0.04354111,-0.05513616,-0.08811194,
  0.0902765 , 0.68953625,-0.12073042,-0.70973368,-0.0790065 ]

qacc:
[-2.72143413e-01, 4.74296246e-01,-6.29950378e-01,-2.74245432e+00,
  6.86226099e-02,-8.13665572e-01, 1.54311061e+00, 3.03966118e+00,
  6.14597042e-02, 3.91327187e+00,-1.48431514e+01, 2.92632091e+01,
 -4.19302852e-01, 4.94189357e-01,-2.09928416e+00, 4.51901749e+00,
  2.13181915e+00, 4.34597789e-01, 1.88068147e+00,-1.90030460e-01,
  6.80811942e+01, 4.90177726e+01]

qfrc_actuator:
[ 9.92790871e-03, 5.77041835e-02, 1.40724755e-02, 1.98256993e-03,
  7.54183630e-05, 3.48452438e-02, 1.09145420e-02, 1.83876011e-03,
 -3.00694409e-03, 3.48006669e-02, 1.08339431e-02, 1.69930641e-03,
  7.56367007e-03, 1.26701803e-02, 0.00000000e+00, 5.04683817e-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: -0.0005790462192966916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38954979,  0.08754863, -0.91683488, -0.03423601,  0.99616025,
        0.08057703,  0.92036887,  0.        ,  0.39105133])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08237065, -0.03444665,  0.223224  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019284611569226756
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.89491449e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.89491449e-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([-0.08485772, -0.07814833,  0.06187216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.00555293e-03, 2.35051464e-02, 3.37937561e-03,-1.35074074e-05,
  1.97549170e-05,-1.47501445e-05, 2.12068925e-05, 1.88473579e-05,
  1.77680473e-05, 6.51224692e-05, 1.89751334e-06, 7.62869291e-05,
  1.02890361e-02, 1.43897545e-02, 7.23718335e-03, 1.86225752e-03,
  2.52711905e-04, 7.59353971e-04,-9.81048267e+00,-1.02497544e-03,
 -6.10559791e-02, 6.16239052e-02]


--- Step 3907 ---
qpos:
[-0.01875952, 1.20580554,-0.03519733, 0.94261264,-0.00788929, 1.33297483,
 -0.03118298, 0.94133225, 0.01530762, 1.33855028,-0.02370129, 0.9547019 ,
  1.27965328,-0.00863267, 1.28216533, 0.04354012,-0.05512934,-0.08812883,
  0.09030084, 0.68966114,-0.12064258,-0.70960318,-0.07922249]

qacc:
[-2.95057471e-02,-5.57844324e-01, 3.87692879e+00,-1.67554969e+01,
 -1.83474854e-02, 1.38171503e+00,-5.60294757e+00, 1.13914692e+01,
 -3.51919778e-02,-8.29565370e-01, 4.64688757e+00,-1.34667345e+01,
  1.61599248e-02,-8.88368309e-02, 1.37356157e+00,-1.32284761e+00,
  2.00364983e+00, 4.14785795e-01, 1.14599060e+00,-3.14932958e-01,
  6.38902359e+01, 4.53234822e+01]

qfrc_actuator:
[ 9.91014995e-03, 5.77503602e-02, 1.40539483e-02, 1.91982617e-03,
  5.84786953e-05, 3.48533232e-02, 1.09089519e-02, 1.86701963e-03,
 -3.02758691e-03, 3.47799233e-02, 1.08150573e-02, 1.65461581e-03,
  7.56355922e-03, 1.26522314e-02, 0.00000000e+00, 4.44518359e-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: -0.0005785805167582078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38953602,  0.08754917, -0.91684068, -0.03423501,  0.9961602 ,
        0.08057804,  0.92037473,  0.        ,  0.39103753])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08236849, -0.03444756,  0.22322413])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0019029671565797962
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.73476629e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.73476629e-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([-0.08488012, -0.07814356,  0.06187384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01906594e-03, 2.35399015e-02, 3.37264652e-03,-6.27024852e-05,
 -5.27829697e-06, 4.63906009e-06,-5.50763625e-06, 2.88752194e-05,
 -1.01470628e-05, 1.78964339e-05,-3.72007976e-06,-4.09317615e-05,
  1.03109311e-02, 1.43603359e-02, 7.30492870e-03, 1.79990030e-03,
 -7.10290960e-05, 7.04760777e-04,-9.81027072e+00,-1.12734051e-03,
 -6.10297584e-02, 6.16280925e-02]


--- Step 3908 ---
qpos:
[-0.01875982, 1.20581943,-0.0351969 , 0.94261199,-0.00788802, 1.33297537,
 -0.03118353, 0.94133435, 0.01530772, 1.33855121,-0.02370302, 0.95469981,
  1.27966779,-0.00862987, 1.28214971, 0.04353939,-0.05513452,-0.08814275,
  0.09031021, 0.68962784,-0.12053481,-0.70962733,-0.07945974]

qacc:
[ 2.26055164e-01,-5.41480983e-01, 3.11300547e+00,-8.39638375e+00,
  1.38231276e-02, 1.57925165e+00,-5.16979607e+00, 7.71725014e+00,
 -6.39311272e-02, 4.28990681e-01,-2.85010352e-01,-5.49202264e+00,
  4.35875472e-01,-5.24241884e-01, 1.99848731e+00,-2.94531713e+00,
 -3.00339508e+00, 7.40377916e-01,-3.74245974e+00,-4.09197023e+00,
 -1.07384021e+02,-2.99951444e+01]

qfrc_actuator:
[ 9.93536724e-03, 5.77727360e-02, 1.40785503e-02, 1.90070035e-03,
  6.56007189e-05, 3.48935853e-02, 1.09058133e-02, 1.88291734e-03,
 -3.04002268e-03, 3.47670165e-02, 1.07865574e-02, 1.62892534e-03,
  7.57363778e-03, 1.26048072e-02, 0.00000000e+00, 4.08614118e-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: -0.0005782015674335485
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38952305,  0.08754972, -0.91684614, -0.03423409,  0.99616015,
        0.08057904,  0.92038026,  0.        ,  0.39102453])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08236649, -0.0344485 ,  0.22322426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.92401229,  -3.4532471 ,  16.92401229,
        21.14130406,  18.95950076,  -3.4532471 ,  18.95950076,
       110.19130924,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019007293457652258
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.38077768e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.38077768e-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([ 0.02211565, -0.09906578,  0.0618741 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04765367e-03, 2.35732792e-02, 3.42898273e-03,-2.35332311e-05,
  4.00614538e-06, 4.26229064e-05,-2.00774757e-06, 1.65470954e-05,
 -1.84270508e-05,-4.95653414e-06,-2.66271445e-05,-2.62244266e-05,
  1.03206963e-02, 1.43187401e-02, 7.22406077e-03, 1.74712694e-03,
 -4.40347764e-04, 6.30898828e-04,-9.81014589e+00,-1.17777907e-03,
 -6.10101065e-02, 6.16310505e-02]


--- Step 3909 ---
qpos:
[-0.01875949, 1.20583283,-0.03519682, 0.94261051,-0.00788686, 1.33297623,
 -0.03118437, 0.94133594, 0.01530767, 1.33855222,-0.02370459, 0.95469843,
  1.27968247,-0.00862749, 1.282138  , 0.04353901,-0.05515091,-0.08815405,
  0.0903029 , 0.68944768,-0.1204115 ,-0.70979461,-0.07971568]

qacc:
[ 2.71603065e-01,-1.11971053e+00, 4.60157806e+00,-1.33443849e+01,
 -4.04510968e-02, 3.40117953e-01, 4.49101744e-01,-6.48611108e+00,
 -6.34109491e-02, 8.98309185e-01,-4.22450235e+00, 1.18136296e+01,
  2.11816938e-01,-4.51224100e-01, 4.70971334e+00,-8.09519082e+00,
 -2.80011377e+00, 6.55579194e-01,-4.16963770e+00,-4.42834115e+00,
 -9.97178201e+01,-2.64190831e+01]

qfrc_actuator:
[ 9.93255176e-03, 5.77804727e-02, 1.40753816e-02, 1.85426666e-03,
  5.15957502e-05, 3.48995479e-02, 1.08865256e-02, 1.85593268e-03,
 -3.04743320e-03, 3.47943610e-02, 1.08059171e-02, 1.66790179e-03,
  7.56848651e-03, 1.25931370e-02, 0.00000000e+00, 2.98440981e-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: -0.0005779500570643158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38950987,  0.08755008, -0.9168517 , -0.03423307,  0.99616012,
        0.08057986,  0.92038587,  0.        ,  0.39101131])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08236463, -0.03444952,  0.22322439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.30153294,   5.71026543, -16.30153294,
        20.00279086,   7.79372203,   5.71026543,   7.79372203,
        39.52206364,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00188432172217564
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.94594870e-14,  2.94594870e-14,  1.00000000e+00,  8.67861373e-28,
        1.00000000e+00, -2.94594870e-14, -1.00000000e+00,  0.00000000e+00,
       -2.94594870e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02215948, -0.09909036,  0.06187517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01882884e-03, 2.35696265e-02, 3.42532109e-03,-4.60205201e-05,
 -1.16385433e-05, 2.96487529e-05,-1.06871619e-05,-2.53724914e-05,
 -1.82924895e-05, 1.86183755e-05, 1.45960062e-05, 3.74360376e-05,
  1.02929780e-02, 1.43196130e-02, 7.12847013e-03, 1.62373090e-03,
  4.42992192e-05, 4.30628192e-04,-9.81026315e+00,-1.02761832e-03,
 -6.10362179e-02, 6.16480077e-02]


--- Step 3910 ---
qpos:
[-0.0187594 , 1.20584733,-0.0351966 , 0.94260866,-0.00788596, 1.33297696,
 -0.03118471, 0.94133753, 0.01530764, 1.33855294,-0.02370522, 0.95469856,
  1.27969704,-0.008625  , 1.28212387, 0.04353853,-0.05515797,-0.08816376,
  0.09030767, 0.68938234,-0.12035551,-0.70984547,-0.07991212]

qacc:
[-1.04299049e-01, 4.55255234e-01, 1.03628886e+00,-5.88243696e+00,
 -1.15931638e-01,-1.50856083e+00, 4.71313920e+00,-3.92001268e+00,
  9.19093258e-03,-3.21901470e-01,-2.46938841e+00, 1.97063414e+01,
 -3.62864483e-02, 7.70869495e-02,-3.27282346e+00, 6.24988488e+00,
  2.33275134e+00, 3.97693146e-01, 3.02002129e+00, 1.74004393e-01,
  7.46185007e+01, 5.59900210e+01]

qfrc_actuator:
[ 9.93035657e-03, 5.77800482e-02, 1.40736543e-02, 1.84525146e-03,
  2.50296446e-05, 3.48848358e-02, 1.09109696e-02, 1.85716306e-03,
 -3.03401667e-03, 3.47748038e-02, 1.08535661e-02, 1.74467042e-03,
  7.55420659e-03, 1.25854339e-02, 0.00000000e+00, 4.27554047e-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: -0.0005779037496025131
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89497458e-01,  8.75501767e-02, -9.16856966e-01, -3.42320184e-02,
        9.96160111e-01,  8.05804092e-02,  9.20391166e-01,  6.93889390e-18,
        3.90998850e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08236311, -0.03445061,  0.22322451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001875776079149065
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.10976368e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.10976368e-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([-0.0849024 , -0.07812766,  0.06187568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98538919e-03, 2.35934129e-02, 3.44084757e-03,-1.33972806e-05,
 -3.34355730e-05,-1.16887170e-06, 2.82868797e-05, 1.22504135e-06,
  2.61453768e-06,-5.30924760e-06, 5.40380820e-05, 7.86160964e-05,
  1.02703022e-02, 1.43327933e-02, 6.93256022e-03, 1.73519029e-03,
  1.04710381e-04, 2.41635162e-04,-9.81053322e+00,-7.88388115e-04,
 -6.10575264e-02, 6.16668678e-02]


--- Step 3911 ---
qpos:
[-0.01875998, 1.20586345,-0.03519585, 0.94260837,-0.00788521, 1.33297762,
 -0.0311847 , 0.94133845, 0.01530783, 1.33855338,-0.02370548, 0.95469928,
  1.27971166,-0.00862169, 1.28210064, 0.04353731,-0.05515633,-0.08817192,
  0.09032088, 0.68942364,-0.12036091,-0.70978835,-0.08005497]

qacc:
[-2.89342114e-01, 3.34994626e+00,-1.16123341e+01, 2.72005162e+01,
 -6.28005772e-02,-2.21402987e+00, 8.50289326e+00,-1.52647860e+01,
  9.48549739e-02,-3.31701696e-01,-5.42637395e-01, 7.53983404e+00,
 -3.92354511e-02, 5.61254389e-01,-1.11987550e+01, 1.96544284e+01,
  2.17235655e+00, 3.87373396e-01, 2.11014049e+00,-3.54446851e-02,
  6.93868325e+01, 5.10168418e+01]

qfrc_actuator:
[ 9.96465326e-03, 5.77555735e-02, 1.40369404e-02, 1.92956702e-03,
  2.66488381e-05, 3.48757868e-02, 1.09254677e-02, 1.82175214e-03,
 -3.00821521e-03, 3.47452156e-02, 1.08640965e-02, 1.77202361e-03,
  7.55044610e-03, 1.25797495e-02, 0.00000000e+00, 7.00553384e-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: -0.0005777814769628853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89483896e-01,  8.75503890e-02, -9.16862707e-01, -3.42309102e-02,
        9.96160092e-01,  8.05811108e-02,  9.20396947e-01,  6.93889390e-18,
        3.90985243e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08236137, -0.03445165,  0.22322465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001874511395852388
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.96136643e-14, -8.32884309e-15,  1.00000000e+00, -2.46647563e-28,
        1.00000000e+00,  8.32884309e-15, -1.00000000e+00,  0.00000000e+00,
       -2.96136643e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08490275, -0.07812215,  0.06187578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03165433e-03, 2.35133575e-02, 3.39715428e-03, 8.93641903e-05,
 -1.81190418e-05,-4.12719980e-06, 1.75272148e-05,-3.45849160e-05,
  2.73453324e-05,-1.96448030e-05, 1.79357098e-05, 3.06070781e-05,
  1.02722141e-02, 1.43215283e-02, 7.05401569e-03, 2.01335687e-03,
  2.17862704e-05, 2.28675196e-04,-9.81022613e+00,-9.06932804e-04,
 -6.10156440e-02, 6.16660602e-02]


--- Step 3912 ---
qpos:
[-0.01876067, 1.20587909,-0.03519517, 0.94260932,-0.0078844 , 1.33297868,
 -0.03118525, 0.94133824, 0.01530814, 1.33855279,-0.02370521, 0.9547004 ,
  1.27972638,-0.00861806, 1.28207597, 0.04353597,-0.05514654,-0.08817856,
  0.09033947, 0.68956469,-0.12042279,-0.70963021,-0.080149  ]

qacc:
[-4.93840255e-02, 1.63466105e+00,-8.63299227e+00, 2.20786414e+01,
  2.70233611e-02, 1.34255157e-01, 2.51794153e+00,-1.54311217e+01,
  4.75475072e-02,-2.12376501e+00, 4.50353899e+00, 1.17283777e+00,
 -4.32315523e-02, 2.79208662e-01,-1.75696713e+00, 3.06097688e+00,
  2.03937795e+00, 3.78145603e-01, 1.34370935e+00,-1.78866465e-01,
  6.50272736e+01, 4.69489908e+01]

qfrc_actuator:
[ 9.95035585e-03, 5.77334782e-02, 1.40142985e-02, 1.97933245e-03,
  4.51632971e-05, 3.49056523e-02, 1.08984492e-02, 1.76504474e-03,
 -3.01069913e-03, 3.46386791e-02, 1.08702912e-02, 1.78778547e-03,
  7.55298696e-03, 1.25922762e-02, 0.00000000e+00, 6.52256492e-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: -0.0005772093046358603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38946837,  0.0875509 , -0.91686926, -0.03422974,  0.99616005,
        0.08058216,  0.92040356,  0.        ,  0.39096967])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235885, -0.03445251,  0.22322483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018558487122705136
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.99114636e-14,  8.41259914e-15,  1.00000000e+00,  2.51633153e-28,
        1.00000000e+00, -8.41259914e-15, -1.00000000e+00,  0.00000000e+00,
       -2.99114636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0849186 , -0.07811643,  0.06187701])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.05059694e-03, 2.34106662e-02, 3.34824324e-03, 6.09352114e-05,
  7.81812021e-06, 2.99654405e-05,-2.68452703e-05,-5.71164950e-05,
  1.36649072e-05,-1.12990787e-04, 5.29306836e-06, 1.64180344e-05,
  1.02724442e-02, 1.42930301e-02, 7.50959403e-03, 2.00235785e-03,
 -1.24425786e-04, 1.88991983e-04,-9.81003330e+00,-9.56411094e-04,
 -6.09825928e-02, 6.16641845e-02]


--- Step 3913 ---
qpos:
[-0.01876016, 1.20589179,-0.03519502, 0.94261041,-0.00788347, 1.33297995,
 -0.03118586, 0.94133839, 0.01530821, 1.33855085,-0.02370407, 0.9547017 ,
  1.27974076,-0.00861521, 1.28206284, 0.04353541,-0.05514905,-0.08818199,
  0.09034364, 0.68954326,-0.12045943,-0.70963152,-0.08026659]

qacc:
[ 5.20034001e-01,-2.14858873e+00, 2.03320095e+00, 1.86692380e+00,
  5.32658589e-02, 1.03775304e+00,-3.76442241e+00, 7.18182760e+00,
 -1.00671556e-01,-3.77276288e+00, 9.79696143e+00,-5.47123484e+00,
 -3.52988068e-01,-1.74643139e-01, 1.47221263e+01,-2.66592555e+01,
 -3.07552337e+00, 8.05029724e-01,-3.60389960e+00,-3.05319947e+00,
 -1.10191887e+02,-3.31960559e+01]

qfrc_actuator:
[ 9.95987439e-03, 5.76964967e-02, 1.40537349e-02, 1.97256948e-03,
  5.59091811e-05, 3.49229032e-02, 1.09005463e-02, 1.78503071e-03,
 -3.04788454e-03, 3.45578664e-02, 1.09090904e-02, 1.79656737e-03,
  7.54864945e-03, 1.26336521e-02, 0.00000000e+00, 2.51084777e-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: -0.0005765201515024014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38945333,  0.08755144, -0.91687559, -0.03422864,  0.99616   ,
        0.08058321,  0.92040997,  0.        ,  0.39095459])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235622, -0.03445337,  0.22322499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.92561933, -3.44536175, 16.92561933, 20.69129396,
       16.79398641, -3.44536175, 16.79398641, 99.774549  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001845743540114797
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.50376122e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.50376122e-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([ 0.02225732, -0.09918181,  0.06187772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06577810e-03, 2.33972056e-02, 3.39075925e-03,-7.38896040e-06,
  1.53624894e-05, 2.68469336e-05, 3.22812924e-06, 1.87788338e-05,
 -2.91196973e-05,-1.41769683e-04, 1.78162924e-05, 5.97146632e-06,
  1.02625354e-02, 1.43182461e-02, 7.58232176e-03, 1.60744564e-03,
 -3.26937504e-04, 1.26582889e-04,-9.80993039e+00,-9.55325240e-04,
 -6.09568298e-02, 6.16610642e-02]


--- Step 3914 ---
qpos:
[-0.01875825, 1.20590233,-0.03519539, 0.94261135,-0.00788255, 1.33298094,
 -0.03118569, 0.94133946, 0.0153081 , 1.33854878,-0.02370349, 0.95470306,
  1.27975479,-0.00861312, 1.28205858, 0.04353526,-0.05516301,-0.08818258,
  0.09033161, 0.68937135,-0.12047634,-0.70978002,-0.08040473]

qacc:
[ 6.13177274e-01,-1.71274624e+00, 2.48202328e+00,-2.59550561e+00,
 -9.19534657e-03,-8.79309959e-01, 4.96605988e-01, 1.05452227e+01,
 -7.50954758e-02, 1.42840445e+00,-5.01203227e+00, 5.16554038e+00,
 -2.53820213e-01,-2.77386853e-01, 1.18535773e+01,-2.24223634e+01,
 -2.86220329e+00, 7.08833733e-01,-4.04956857e+00,-3.64663310e+00,
 -1.02118910e+02,-2.89856657e+01]

qfrc_actuator:
[ 1.00001715e-02, 5.76354842e-02, 1.40776607e-02, 1.96798198e-03,
  4.41538543e-05, 3.48971086e-02, 1.09375887e-02, 1.83226036e-03,
 -3.05232740e-03, 3.45997199e-02, 1.08958908e-02, 1.80120181e-03,
  7.53489634e-03, 1.26223011e-02, 0.00000000e+00, 6.33922113e-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: -0.0005763463408682383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89441499e-01,  8.75514554e-02, -9.16880615e-01, -3.42276041e-02,
        9.96159999e-01,  8.05836737e-02,  9.20415010e-01,  6.93889390e-18,
        3.90942720e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235459, -0.03445445,  0.22322509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.45677966,   5.24609479, -16.45677966,
        18.9201597 ,   5.16792652,   5.24609479,   5.16792652,
        33.48429636,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018384101391207483
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.03903885e-14,  1.50975971e-14,  1.00000000e+00,  9.11749755e-28,
        1.00000000e+00, -1.50975971e-14, -1.00000000e+00,  0.00000000e+00,
       -6.03903885e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02227464, -0.09920366,  0.0618782 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04628871e-03, 2.34829313e-02, 3.44154580e-03,-1.95458549e-05,
 -2.68544698e-06,-9.75167982e-06, 4.32137534e-05, 4.85697833e-05,
 -2.16464699e-05,-3.28750511e-05,-3.86843922e-05, 1.09427605e-06,
  1.02661189e-02, 1.43459097e-02, 7.00504083e-03, 1.38054220e-03,
 -5.29333971e-05, 1.15338744e-04,-9.81005605e+00,-9.52678329e-04,
 -6.09807933e-02, 6.16703963e-02]


--- Step 3915 ---
qpos:
[-0.01875636, 1.20591442,-0.03519534, 0.94261219,-0.00788171, 1.33298174,
 -0.031185  , 0.94134006, 0.01530815, 1.33854685,-0.02370355, 0.9547041 ,
  1.27976918,-0.00861094, 1.28205106, 0.04353478,-0.05516752,-0.08818175,
  0.09033238, 0.68931615,-0.12056311,-0.70981031,-0.0804804 ]

qacc:
[-9.67995939e-03, 7.18500075e-01, 3.24878884e-01,-2.47180461e+00,
 -3.10990850e-02,-2.45981502e+00, 8.70780568e+00,-1.29402991e+01,
  6.99328574e-02, 1.36303985e+00,-3.54659971e+00,-7.50692515e-01,
  3.81088911e-01,-2.77252455e-01,-3.80367093e+00, 6.27179550e+00,
  2.36326005e+00, 3.56649538e-01, 3.20051490e+00, 3.68921471e-01,
  7.56001263e+01, 5.81345760e+01]

qfrc_actuator:
[ 9.96948005e-03, 5.75959565e-02, 1.40924728e-02, 1.98269997e-03,
  3.67479348e-05, 3.48814070e-02, 1.09592819e-02, 1.80635292e-03,
 -3.01933789e-03, 3.46257492e-02, 1.08703224e-02, 1.78564578e-03,
  7.53681021e-03, 1.25440998e-02, 0.00000000e+00, 2.70132662e-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: -0.0005765702523672853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38943215,  0.08755088, -0.91688464, -0.03422656,  0.99616005,
        0.0805835 ,  0.92041901,  0.        ,  0.39093331])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235373, -0.03445567,  0.22322515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001845825550010359
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.97359891e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.97359891e-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([-0.0849242 , -0.07809746,  0.06187768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94509265e-03, 2.35513182e-02, 3.48209523e-03, 3.01163208e-06,
 -8.99181336e-06,-1.11817618e-05, 2.61295630e-05,-2.38051868e-05,
  2.02032080e-05, 3.41502110e-07,-3.63498292e-05,-1.76369544e-05,
  1.02857592e-02, 1.43056699e-02, 6.56216717e-03, 1.56653894e-03,
 -1.96607855e-04, 1.00582199e-04,-9.81033609e+00,-8.42216599e-04,
 -6.09984513e-02, 6.16817873e-02]


--- Step 3916 ---
qpos:
[-0.01875542, 1.20592916,-0.0351943 , 0.9426134 ,-0.00788095, 1.33298275,
 -0.03118415, 0.9413393 , 0.01530832, 1.33854451,-0.02370258, 0.95470457,
  1.27978375,-0.00860826, 1.28203656, 0.04353384,-0.05516322,-0.08817949,
  0.09034221, 0.68936918,-0.12071334,-0.70973106,-0.08050001]

qacc:
[-4.16416710e-01, 1.46927909e+00,-1.35317084e+00, 3.87404052e+00,
 -3.48292501e-02,-2.51527757e+00, 1.13628820e+01,-2.58771208e+01,
  4.82107921e-02,-4.34096667e+00, 1.46467572e+01,-1.90820116e+01,
  1.85804863e-01, 1.48377172e-01,-8.96098800e+00, 1.63282088e+01,
  2.19940965e+00, 3.56609204e-01, 2.26427237e+00, 1.40869217e-01,
  7.02312558e+01, 5.28064605e+01]

qfrc_actuator:
[ 9.95032129e-03, 5.75842299e-02, 1.41010867e-02, 2.00901150e-03,
  3.20121309e-05, 3.49072830e-02, 1.09717103e-02, 1.73759456e-03,
 -3.01741861e-03, 3.46065371e-02, 1.09263964e-02, 1.75833702e-03,
  7.54807284e-03, 1.25495093e-02, 0.00000000e+00, 4.83337306e-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: -0.0005766879026195548
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38942098,  0.08755035, -0.91688944, -0.03422537,  0.9961601 ,
        0.08058343,  0.92042377,  0.        ,  0.39092208])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235256, -0.03445684,  0.22322524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  15.97064679,  -6.57917538,  15.97064679,
        41.10763132,  57.85813749,  -6.57917538,  57.85813749,
       157.72070503,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018492713977673603
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -1.9699214e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  1.9699214e-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([-0.08491994, -0.07809094,  0.06187747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.92702443e-03, 2.34621614e-02, 3.46964410e-03, 3.45471303e-05,
 -1.00443375e-05, 2.40794754e-05, 1.25152836e-05,-6.88773262e-05,
  1.38497060e-05,-2.66297771e-05, 5.14968193e-05,-2.87742111e-05,
  1.02790938e-02, 1.43064551e-02, 6.72474420e-03, 1.79674942e-03,
 -7.51331839e-05, 1.22069228e-04,-9.81005632e+00,-9.04184683e-04,
 -6.09508917e-02, 6.16752735e-02]


--- Step 3917 ---
qpos:
[-0.01875537, 1.20594528,-0.03519287, 0.94261507,-0.00788012, 1.33298357,
 -0.03118277, 0.94133911, 0.01530842, 1.33854184,-0.02370064, 0.9547047 ,
  1.27979828,-0.00860508, 1.28201656, 0.04353259,-0.05515068,-0.0881758 ,
  0.09035794, 0.6895233 ,-0.12092178,-0.70954939,-0.08046869]

qacc:
[-3.83163163e-01, 1.51778874e+00,-3.72532772e+00, 7.62859525e+00,
  3.03693300e-02,-6.65070192e-01, 6.65633790e-01, 6.28942353e+00,
 -2.94943524e-02,-3.60698743e+00, 1.19182024e+01,-1.40030700e+01,
 -7.61265563e-02, 3.77669278e-01,-7.17951018e+00, 1.33400184e+01,
  2.06349010e+00, 3.55792455e-01, 1.47502780e+00,-1.19067068e-02,
  6.57532737e+01, 4.84588325e+01]

qfrc_actuator:
[ 9.95677901e-03, 5.76052043e-02, 1.40697407e-02, 2.02408618e-03,
  4.66691469e-05, 3.48867746e-02, 1.09964769e-02, 1.76847735e-03,
 -3.03415565e-03, 3.45962008e-02, 1.09767829e-02, 1.74211164e-03,
  7.55429518e-03, 1.25868894e-02, 0.00000000e+00, 5.94156356e-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: -0.0005765478989670676
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38940645,  0.08755025, -0.91689562, -0.03422405,  0.9961601 ,
        0.08058388,  0.92042997,  0.        ,  0.39090749])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08235076, -0.03445788,  0.22322538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018346048682513633
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.0257824e-14, -1.0401127e-14,  1.0000000e+00, -3.1471547e-28,
        1.0000000e+00,  1.0401127e-14, -1.0000000e+00,  0.0000000e+00,
       -3.0257824e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08493187, -0.07808441,  0.06187842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98134015e-03, 2.33499658e-02, 3.38884770e-03, 3.07482307e-05,
  8.72857381e-06,-6.82372304e-06, 2.88789436e-05, 3.03818554e-05,
 -8.55999947e-06,-1.58418927e-05, 5.01985205e-05,-1.61785431e-05,
  1.02756953e-02, 1.43188710e-02, 7.07430338e-03, 1.93040330e-03,
 -2.93252720e-05, 1.09990484e-04,-9.80989259e+00,-8.98776982e-04,
 -6.09128087e-02, 6.16676404e-02]


--- Step 3918 ---
qpos:
[-0.01875582, 1.20596308,-0.03519138, 0.94261586,-0.00787903, 1.33298391,
 -0.03118093, 0.94133932, 0.0153084 , 1.33853979,-0.02369903, 0.95470427,
  1.27981281,-0.00860172, 1.28199196, 0.0435314 ,-0.05515065,-0.08816867,
  0.09035971, 0.6895116 ,-0.12110109,-0.70953088,-0.08046245]

qacc:
[-2.22648415e-01, 5.63414764e-01, 2.66022553e+00,-1.35718408e+01,
  1.08799512e-01,-1.20017670e+00, 2.32468461e+00, 2.93822246e+00,
 -5.24350099e-02, 7.39303108e-01,-2.89417676e-01,-6.57983044e+00,
  1.29281219e-01,-3.69245736e-02,-6.99930867e+00, 1.45750246e+01,
 -3.12889604e+00, 8.62213567e-01,-3.49049301e+00,-2.31818742e+00,
 -1.12384184e+02,-3.55153940e+01]

qfrc_actuator:
[ 9.99666579e-03, 5.76460313e-02, 1.40501305e-02, 1.97893391e-03,
  7.28409399e-05, 3.48387525e-02, 1.10104738e-02, 1.78673308e-03,
 -3.04419570e-03, 3.46622755e-02, 1.09701581e-02, 1.71477381e-03,
  7.55750811e-03, 1.25899973e-02, 0.00000000e+00, 7.14590353e-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: -0.0005761635943356685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3893903 ,  0.08755053, -0.91690245, -0.03422274,  0.99616008,
        0.08058473,  0.92043685,  0.        ,  0.39089129])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08234848, -0.03445882,  0.22322556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.92423489, -3.45215598, 16.92423489, 20.42852205,
       15.47132064, -3.45215598, 15.47132064, 93.12105698,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018290299005511157
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.07001025e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.07001025e-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([ 0.02228675, -0.09928774,  0.06187883])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06526182e-03, 2.33224130e-02, 3.34986709e-03,-3.70653172e-05,
  3.13241704e-05,-4.52374057e-05, 1.68376772e-05, 1.96039393e-05,
 -1.50973871e-05, 6.66542197e-05,-4.48601376e-06,-2.67156545e-05,
  1.02813680e-02, 1.42971224e-02, 7.34939995e-03, 2.06638056e-03,
 -5.08113560e-05, 6.95017160e-05,-9.80981984e+00,-8.44903102e-04,
 -6.08825240e-02, 6.16586931e-02]


--- Step 3919 ---
qpos:
[-0.01875594, 1.20598108,-0.03519022, 0.94261522,-0.00787767, 1.3329843 ,
 -0.0311796 , 0.94133803, 0.0153084 , 1.33853913,-0.02369814, 0.95470278,
  1.27982705,-0.00859874, 1.28196924, 0.04353079,-0.05516225,-0.08815851,
  0.09034567, 0.68934663,-0.12125773,-0.70966266,-0.08047793]

qacc:
[ 1.50550802e-01,-1.27975790e+00, 7.43688962e+00,-2.31277577e+01,
  1.16549369e-01,-1.12641756e+00, 6.87269563e+00,-2.34885591e+01,
  9.81309489e-03, 1.94698620e+00,-2.03041877e+00,-1.13218191e+01,
 -4.18939473e-02,-2.68579233e-01, 1.04289621e+00, 3.84120540e-01,
 -2.90728173e+00, 7.56607354e-01,-3.95249444e+00,-3.12250597e+00,
 -1.03967926e+02,-3.07965684e+01]

qfrc_actuator:
[ 1.00388405e-02, 5.76623927e-02, 1.40377320e-02, 1.89879541e-03,
  8.79551987e-05, 3.48455992e-02, 1.09823521e-02, 1.70859746e-03,
 -3.03238331e-03, 3.47733705e-02, 1.09479801e-02, 1.66337303e-03,
  7.55358779e-03, 1.26081593e-02, 0.00000000e+00, 6.27517019e-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: -0.0005756151014714994
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89372530e-01,  8.75510259e-02, -9.16909947e-01, -3.42213733e-02,
        9.96160036e-01,  8.05858532e-02,  9.20444420e-01, -6.93889390e-18,
        3.90873470e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08234581, -0.03445965,  0.22322577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.53641961,   4.98938213, -16.53641961,
        18.42218672,   3.80967889,   4.98938213,   3.80967889,
        29.89923034,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018273508425386761
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.07558767e-14, -1.51889692e-14,  1.00000000e+00, -9.22819138e-28,
        1.00000000e+00,  1.51889692e-14, -1.00000000e+00,  0.00000000e+00,
       -6.07558767e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02228738, -0.09930848,  0.06187893])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.13300371e-03, 2.32540602e-02, 3.33434036e-03,-7.32938475e-05,
  3.36042782e-05,-1.42972349e-05,-3.44843647e-05,-7.85479888e-05,
  2.89766549e-06, 1.46297454e-04,-1.04523923e-05,-5.01796944e-05,
  1.02779353e-02, 1.43059497e-02, 7.58015580e-03, 1.97645584e-03,
 -1.64097272e-05, 2.35782016e-04,-9.80994660e+00,-9.93857480e-04,
 -6.09052183e-02, 6.16599660e-02]


--- Step 3920 ---
qpos:
[-0.01875533, 1.20599787,-0.03518952, 0.94261446,-0.00787622, 1.33298517,
 -0.03117941, 0.94133547, 0.01530847, 1.33853909,-0.02369729, 0.95470037,
  1.27984141,-0.00859606, 1.28194973, 0.0435305 ,-0.05516432,-0.08814702,
  0.09034488, 0.68929953,-0.12148668,-0.7096749 ,-0.08042809]

qacc:
[ 3.11107465e-01,-5.63282986e-01, 1.85211907e-01,-8.74010929e-01,
  3.60471684e-02, 1.53014125e+00,-1.59371225e+00,-1.37433300e+01,
  3.04148829e-02,-6.78332527e-01, 5.05231763e+00,-1.53685132e+01,
  1.25554674e-01,-2.86303378e-01, 3.73423112e+00,-6.21053575e+00,
  2.38334624e+00, 3.33562348e-01, 3.31258400e+00, 5.92157482e-01,
  7.61609872e+01, 6.01565515e+01]

qfrc_actuator:
[ 1.00284766e-02, 5.76116346e-02, 1.40122718e-02, 1.88732779e-03,
  7.85609809e-05, 3.48850236e-02, 1.09297468e-02, 1.64538351e-03,
 -3.02530991e-03, 3.47684558e-02, 1.09347557e-02, 1.61601267e-03,
  7.54541216e-03, 1.25648395e-02, 0.00000000e+00, 5.39669535e-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: -0.0005752042720240137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38935489,  0.08755139, -0.9169174 , -0.03421997,  0.99616   ,
        0.08058685,  0.92045194,  0.        ,  0.39085577])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08234332, -0.03446048,  0.223226  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001834220264224369
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.8372658e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.8372658e-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([-0.08492784, -0.07806282,  0.06187844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.10530349e-03, 2.31932710e-02, 3.32518008e-03,-1.34358829e-05,
  1.04433445e-05, 2.23937971e-05,-6.16373254e-05,-6.64759863e-05,
  8.78986045e-06, 7.24599615e-05, 1.26882648e-05,-4.45003936e-05,
  1.02837675e-02, 1.42818226e-02, 7.48651003e-03, 1.86002369e-03,
 -3.87657150e-04, 3.89621488e-04,-9.81022968e+00,-1.01799874e-03,
 -6.09197178e-02, 6.16634638e-02]


--- Step 3921 ---
qpos:
[-0.01875474, 1.20601528,-0.03518869, 0.94261302,-0.00787521, 1.33298606,
 -0.03117925, 0.94133352, 0.01530862, 1.33853959,-0.02369687, 0.95469813,
  1.27985578,-0.0085935 , 1.28193039, 0.0435305 ,-0.05515751,-0.08813416,
  0.09035353, 0.68936159,-0.12178118,-0.70957641,-0.08031971]

qacc:
[-4.73392950e-03,-6.52549184e-01, 4.50754591e+00,-1.21017739e+01,
 -1.85159468e-01, 1.17783002e+00,-5.11848410e+00, 1.17161603e+01,
  3.23426930e-02, 2.16546832e+00,-6.55430319e+00, 7.31989156e+00,
  1.09070374e-01,-2.03003633e-01,-6.14890890e-01, 2.50835068e+00,
  2.21764406e+00, 3.41526015e-01, 2.35879855e+00, 3.53032278e-01,
  7.07058866e+01, 5.45568544e+01]

qfrc_actuator:
[ 1.00038346e-02, 5.75751876e-02, 1.40324955e-02, 1.86307643e-03,
  1.90360711e-05, 3.48902880e-02, 1.09342974e-02, 1.68025833e-03,
 -3.02113765e-03, 3.47829009e-02, 1.09087463e-02, 1.62461764e-03,
  7.53465765e-03, 1.25379446e-02, 0.00000000e+00, 5.93395414e-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: -0.0005749141357926889
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38933878,  0.08755145, -0.91692424, -0.03421857,  0.99616   ,
        0.0805875 ,  0.9204588 ,  0.        ,  0.3908396 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08234112, -0.03446139,  0.2232262 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.10260134,  -6.24926696,  16.10260134,
        36.36473363,  49.19472463,  -6.24926696,  49.19472463,
       144.03368086,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018401985897995785
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.01658482e-14,  1.88536551e-15,  1.00000000e+00,  5.68736497e-29,
        1.00000000e+00, -1.88536551e-15, -1.00000000e+00,  0.00000000e+00,
       -3.01658482e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08492099, -0.07805542,  0.06187805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.04487324e-03, 2.32169807e-02, 3.36830919e-03,-3.13027842e-05,
 -5.33587299e-05, 3.57835542e-06,-3.91700209e-08, 3.21992384e-05,
  9.36633345e-06, 5.56705212e-05,-1.17225886e-05, 1.00856598e-05,
  1.02671558e-02, 1.42692314e-02, 7.32672691e-03, 1.89746334e-03,
 -4.72214343e-05, 4.62484551e-04,-9.80998931e+00,-1.02149723e-03,
 -6.08681964e-02, 6.16513436e-02]


--- Step 3922 ---
qpos:
[-0.01875441, 1.20603361,-0.03518721, 0.9426116 ,-0.00787461, 1.33298639,
 -0.03117855, 0.94133273, 0.01530869, 1.33854078,-0.02369626, 0.95469562,
  1.27987007,-0.00859095, 1.28191077, 0.04353072,-0.05514239,-0.08811991,
  0.09036839, 0.6895255 ,-0.12213572,-0.70937445,-0.08015823]

qacc:
[-1.16589829e-01,-5.38769600e-01, 3.19653819e+00,-3.25002291e+00,
 -1.71996635e-01,-2.31009330e-01,-2.47259729e+00, 1.57632439e+01,
 -3.40879936e-02,-4.59852219e-02, 1.79732697e+00,-5.11557696e+00,
 -4.38583892e-02, 2.17963961e-02,-1.07780187e+00, 3.18145129e+00,
  2.08017171e+00, 3.47313816e-01, 1.55434350e+00, 1.96267096e-01,
  6.61530018e+01, 4.99947639e+01]

qfrc_actuator:
[ 9.98881855e-03, 5.75459801e-02, 1.40619787e-02, 1.86725569e-03,
  9.31784143e-07, 3.48398272e-02, 1.09547379e-02, 1.73708860e-03,
 -3.03649221e-03, 3.48443044e-02, 1.09287359e-02, 1.61282122e-03,
  7.53301226e-03, 1.25386198e-02, 0.00000000e+00, 6.25459711e-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: -0.0005746789628198606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89321988e-01,  8.75515227e-02, -9.16931361e-01, -3.42171269e-02,
        9.96159993e-01,  8.05881961e-02,  9.20465957e-01,  6.93889390e-18,
        3.90822751e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08233893, -0.03446229,  0.22322641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  15.93243668,  -6.67117448,  15.93243668,
        41.69217618,  58.31976435,  -6.67117448,  58.31976435,
       156.5549415 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018276187622678353
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.84751423e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.84751423e-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([-0.08493079, -0.07804822,  0.06187885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.03038140e-03, 2.31564254e-02, 3.39160966e-03, 6.49332297e-06,
 -4.96037479e-05,-4.75290783e-05, 2.20772701e-05, 5.76818812e-05,
 -9.82051013e-06, 9.01918783e-05, 2.98205808e-05,-1.02568890e-05,
  1.02647172e-02, 1.42765982e-02, 7.31825231e-03, 1.91529803e-03,
  2.05212703e-04, 4.92869089e-04,-9.80986506e+00,-9.60014034e-04,
 -6.08265851e-02, 6.16379908e-02]


--- Step 3923 ---
qpos:
[-0.01875446, 1.20605273,-0.03518543, 0.94260991,-0.00787419, 1.33298618,
 -0.03117723, 0.94133227, 0.01530834, 1.33854234,-0.02369531, 0.95469335,
  1.27988465,-0.00858829, 1.28188941, 0.04353108,-0.05513992,-0.088102  ,
  0.09036964, 0.68952115,-0.12245852,-0.70933834,-0.0800226 ]

qacc:
[-1.62272609e-01,-2.30122740e-01, 2.51882653e+00,-5.62972158e+00,
 -7.75551201e-02,-1.81638418e+00, 4.34683494e+00, 5.16563750e-01,
 -1.75021258e-01,-3.72725223e-02, 2.05831835e-01, 2.40847831e+00,
  2.72356095e-01,-1.59212256e-01,-3.03506504e+00, 6.82733635e+00,
 -3.16492182e+00, 9.14763242e-01,-3.40247984e+00,-1.85483402e+00,
 -1.14009212e+02,-3.70435043e+01]

qfrc_actuator:
[ 9.96208709e-03, 5.74850674e-02, 1.40431811e-02, 1.85257654e-03,
  7.82393974e-06, 3.48097427e-02, 1.09841487e-02, 1.75306779e-03,
 -3.08118903e-03, 3.48447463e-02, 1.09403785e-02, 1.62466303e-03,
  7.53684177e-03, 1.25025004e-02, 0.00000000e+00, 6.97734931e-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: -0.0005744900250241047
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89303749e-01,  8.75517279e-02, -9.16939085e-01, -3.42156047e-02,
        9.96159975e-01,  8.05890654e-02,  9.20473728e-01, -6.93889390e-18,
        3.90804448e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08233671, -0.03446319,  0.22322664])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.92121222, -3.46694165, 16.92121222, 20.25556418,
       14.55842682, -3.46694165, 14.55842682, 88.32850339,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018352519049883997
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.02471563e-14,  6.04943126e-14,  1.00000000e+00,  1.82978093e-27,
        1.00000000e+00, -6.04943126e-14, -1.00000000e+00,  0.00000000e+00,
       -3.02471563e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.02224797, -0.09939067,  0.06187843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01704372e-03, 2.30494284e-02, 3.34014902e-03,-8.58171283e-06,
 -2.23925686e-05,-5.03261001e-05, 2.43135375e-05, 1.65309358e-05,
 -5.04923918e-05, 5.58248413e-05, 3.23403937e-05, 1.51475793e-05,
  1.02733229e-02, 1.42405273e-02, 7.33245702e-03, 1.97656848e-03,
  3.79588716e-04, 4.87533722e-04,-9.80983178e+00,-8.52557695e-04,
 -6.07931333e-02, 6.16231983e-02]


--- Step 3924 ---
qpos:
[-0.01875473, 1.20607222,-0.03518394, 0.94260676,-0.00787384, 1.33298609,
 -0.03117612, 0.94133233, 0.01530797, 1.3385442 ,-0.02369537, 0.95469305,
  1.27989952,-0.00858577, 1.28186799, 0.04353187,-0.0551492 ,-0.08808088,
  0.09035538, 0.68936149,-0.12275677,-0.70945474,-0.07990921]

qacc:
[-9.68808802e-02,-1.21533512e+00, 7.61596877e+00,-2.39608144e+01,
 -3.17788698e-02, 1.60576159e+00,-6.11245599e+00, 1.12875495e+01,
 -1.05847700e-02, 6.52368425e+00,-2.47382205e+01, 4.38858198e+01,
  3.62232227e-01,-4.15988792e-01,-1.38936117e+00, 4.66956940e+00,
 -2.93696631e+00, 8.01291841e-01,-3.87797164e+00,-2.83218654e+00,
 -1.05318079e+02,-3.19258602e+01]

qfrc_actuator:
[ 9.94629128e-03, 5.74581573e-02, 1.40132524e-02, 1.77358374e-03,
  1.19009323e-05, 3.48453691e-02, 1.09831444e-02, 1.78038813e-03,
 -3.05436283e-03, 3.48264176e-02, 1.08757654e-02, 1.72129167e-03,
  7.53859863e-03, 1.24796979e-02, 0.00000000e+00, 7.05363094e-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: -0.0005742483249208119
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3892845 ,  0.0875521 , -0.91694722, -0.03421406,  0.99615994,
        0.08059012,  0.92048192,  0.        ,  0.39078514])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08233432, -0.03446407,  0.22322689])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.58272944,   4.83323822, -16.58272944,
        18.14128626,   2.98000595,   4.83323822,   2.98000595,
        27.49705933,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00183669565228943
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.02233803e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.02233803e-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([ 0.02223916, -0.09941145,  0.06187833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01988807e-03, 2.29831673e-02, 3.29483548e-03,-7.48387487e-05,
 -9.14400954e-06, 1.30390982e-05,-7.60154807e-06, 2.69005381e-05,
 -2.99024906e-06, 1.92903994e-05,-4.95975979e-05, 9.95824468e-05,
  1.02602974e-02, 1.42121500e-02, 7.42019215e-03, 1.97711234e-03,
  1.48232920e-04, 8.29236937e-04,-9.80995455e+00,-1.15741756e-03,
 -6.08141411e-02, 6.16157820e-02]


--- Step 3925 ---
qpos:
[-0.018754  , 1.20608926,-0.035183  , 0.94260364,-0.00787337, 1.33298659,
 -0.03117613, 0.94133342, 0.01530786, 1.33854535,-0.02369517, 0.95469324,
  1.27991453,-0.00858377, 1.2818535 , 0.04353313,-0.0551489 ,-0.08805846,
  0.09035462, 0.68932028,-0.12312989,-0.70945056,-0.07972758]

qacc:
[ 4.35700216e-01,-1.66022086e+00, 1.45093789e+00, 7.66999720e-01,
  5.07954282e-02, 5.54644757e+00,-1.93010929e+01, 2.82985457e+01,
  1.11882938e-01,-8.07311470e-01, 5.07355315e-01, 5.69934147e+00,
  8.69182895e-02,-3.80154442e-01, 8.80148735e+00,-1.59285415e+01,
  2.39742873e+00, 3.28129644e-01, 3.37370656e+00, 8.54374371e-01,
  7.64042614e+01, 6.22127998e+01]

qfrc_actuator:
[ 9.97256091e-03, 5.74517399e-02, 1.40126270e-02, 1.76384048e-03,
  3.20063275e-05, 3.48844539e-02, 1.09289581e-02, 1.83194707e-03,
 -3.02035169e-03, 3.47434799e-02, 1.08731353e-02, 1.74270741e-03,
  7.53910093e-03, 1.24828461e-02, 0.00000000e+00, 4.60837077e-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: -0.0005740335634633539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38926518,  0.08755255, -0.91695538, -0.03421254,  0.9961599 ,
        0.08059126,  0.92049015,  0.        ,  0.39076576])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08233194, -0.03446497,  0.22322715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018319288690193114
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.13632587e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.13632587e-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([-0.08492175, -0.07802441,  0.06187854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.05727249e-03, 2.29575940e-02, 3.30878638e-03,-1.08365602e-05,
  1.47077551e-05, 4.56209105e-05,-5.17118359e-05, 5.23536615e-05,
  3.22467370e-05,-7.90186331e-05,-1.58767381e-06, 2.28556829e-05,
  1.02458562e-02, 1.42223279e-02, 7.42361748e-03, 1.71165264e-03,
 -4.71876687e-04, 1.15396823e-03,-9.81023599e+00,-1.32223244e-03,
 -6.08248888e-02, 6.16107710e-02]


--- Step 3926 ---
qpos:
[-0.01875223, 1.20610314,-0.03518274, 0.94260051,-0.00787274, 1.33298736,
 -0.03117618, 0.94133578, 0.01530779, 1.33854556,-0.02369392, 0.95469228,
  1.27992946,-0.00858245, 1.28184921, 0.04353488,-0.05513966,-0.08803466,
  0.09036349, 0.68938867,-0.12357086,-0.70933467,-0.07948477]

qacc:
[ 4.52683424e-01,-2.35295120e+00, 2.67598719e+00,-4.85555128e-01,
  7.10297429e-02, 2.66638755e+00,-1.08776138e+01, 2.40109426e+01,
  1.35434801e-02,-6.03515915e+00, 2.04993903e+01,-3.04004604e+01,
 -1.48790240e-01,-2.72887849e-01, 1.35920138e+01,-2.56213813e+01,
  2.23095939e+00, 3.42063686e-01, 2.40922510e+00, 6.09019520e-01,
  7.09024144e+01, 5.63993099e+01]

qfrc_actuator:
[ 9.93417131e-03, 5.74602907e-02, 1.40477100e-02, 1.75921641e-03,
  4.38107016e-05, 3.49073607e-02, 1.09326306e-02, 1.89733679e-03,
 -3.03556628e-03, 3.46936854e-02, 1.09245729e-02, 1.68417365e-03,
  7.54418097e-03, 1.25019962e-02, 0.00000000e+00, 1.71311409e-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: -0.0005740854825106584
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38924862,  0.08755257, -0.91696241, -0.03421109,  0.9961599 ,
        0.0805919 ,  0.92049721,  0.        ,  0.39074913])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08233018, -0.03446602,  0.22322735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.16874727,  -6.07607761,  16.16874727,
        33.90980653,  44.27210231,  -6.07607761,  44.27210231,
       135.08301193,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018390433555708283
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.92415226e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.92415226e-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([-0.08491363, -0.07801628,  0.06187807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96877963e-03, 2.30882210e-02, 3.37129009e-03,-1.74714384e-05,
  2.04884091e-05, 3.96032885e-05, 8.25035089e-06, 6.64625539e-05,
  3.82739107e-06,-9.31306735e-05, 3.64926991e-05,-6.03879154e-05,
  1.02445879e-02, 1.42672732e-02, 7.07731768e-03, 1.39842189e-03,
  1.03413286e-04, 1.29894085e-03,-9.81004846e+00,-1.26586355e-03,
 -6.07708671e-02, 6.15928647e-02]


--- Step 3927 ---
qpos:
[-0.01875109, 1.20611768,-0.03518215, 0.94259695,-0.00787195, 1.33298793,
 -0.03117598, 0.94133893, 0.01530766, 1.33854557,-0.02369321, 0.95469134,
  1.27994429,-0.00858107, 1.28184457, 0.04353656,-0.05512206,-0.08800946,
  0.09037874, 0.68955922,-0.12407392,-0.70911442,-0.07918644]

qacc:
[-2.76497226e-01,-7.25072849e-01, 4.31030900e+00,-9.15855886e+00,
  6.53618309e-02, 3.80302223e-01,-3.20225663e+00, 1.21142542e+01,
 -2.38310441e-02, 1.21629509e+00,-4.31720255e+00, 4.03763394e+00,
 -9.76341149e-02, 1.22750813e-01,-2.65275964e-01, 1.77799242e-01,
  2.09287065e+00, 3.52834638e-01, 1.59542327e+00, 4.51675370e-01,
  6.63080971e+01, 5.16676127e+01]

qfrc_actuator:
[ 9.87429922e-03, 5.74262680e-02, 1.40868166e-02, 1.75770381e-03,
  5.05389034e-05, 3.48673683e-02, 1.09348856e-02, 1.93486537e-03,
 -3.04468399e-03, 3.46997930e-02, 1.09010496e-02, 1.68562834e-03,
  7.54669596e-03, 1.24956169e-02, 0.00000000e+00, 2.98389443e-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: -0.0005745518354428603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38923561,  0.08755212, -0.91696797, -0.03420977,  0.99615994,
        0.08059197,  0.92050276,  0.        ,  0.39073606])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0823293 , -0.03446727,  0.22322748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.0135259 ,  -6.47410966,  16.0135259 ,
        38.46429853,  52.41674811,  -6.47410966,  52.41674811,
       146.92406125,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018273468148760769
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.03780053e-14,  3.13273180e-14,  1.00000000e+00,  9.51661431e-28,
        1.00000000e+00, -3.13273180e-14, -1.00000000e+00,  0.00000000e+00,
       -3.03780053e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08492243, -0.07800853,  0.06187881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.85686168e-03, 2.32125770e-02, 3.44440240e-03,-1.81900133e-05,
  1.88243916e-05,-1.44658533e-05, 1.28964618e-05, 4.05083405e-05,
 -6.86010166e-06,-4.00595849e-05,-3.93340932e-05,-1.64195435e-06,
  1.02511242e-02, 1.42951131e-02, 6.56708552e-03, 1.50063442e-03,
  5.78692936e-04, 1.39081374e-03,-9.80997609e+00,-1.14727221e-03,
 -6.07270417e-02, 6.15735486e-02]


--- Step 3928 ---
qpos:
[-0.01875053, 1.20613268,-0.03518095, 0.94259443,-0.00787104, 1.33298835,
 -0.03117592, 0.9413408 , 0.01530745, 1.33854558,-0.0236935 , 0.95469078,
  1.27995915,-0.00857931, 1.28183715, 0.04353778,-0.0551172 ,-0.08798039,
  0.09038065, 0.6895598 ,-0.12454372,-0.70906185,-0.07891407]

qacc:
[-2.49863245e-01, 6.92975572e-01,-3.67657451e+00, 1.49843953e+01,
  5.11664037e-02,-1.98746814e+00, 8.90433045e+00,-2.25474030e+01,
 -3.28591486e-02, 3.36327911e+00,-1.17258851e+01, 1.45043072e+01,
 -1.02869690e-01, 3.56271723e-01,-2.73045705e+00, 3.62861715e+00,
 -3.18604027e+00, 9.65539771e-01,-3.33766224e+00,-1.63400251e+00,
 -1.15148009e+02,-3.78758229e+01]

qfrc_actuator:
[ 9.87380851e-03, 5.73996407e-02, 1.40921027e-02, 1.81173774e-03,
  5.41678607e-05, 3.48432675e-02, 1.09182472e-02, 1.86688340e-03,
 -3.05006857e-03, 3.47035767e-02, 1.08514698e-02, 1.70462128e-03,
  7.54235001e-03, 1.24912015e-02, 0.00000000e+00, 3.74017764e-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: -0.0005750356534494662
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38922169,  0.08755193, -0.9169739 , -0.03420847,  0.99615996,
        0.08059231,  0.92050869,  0.        ,  0.39072208])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08232838, -0.03446851,  0.22322762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([17.27272727, 16.91717032, -3.48661094, 16.91717032, 20.12807601,
       13.85426185, -3.48661094, 13.85426185, 84.49413843,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018532655960297323
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.99531548e-14,  4.49297322e-14,  1.00000000e+00,  1.34578722e-27,
        1.00000000e+00, -4.49297322e-14, -1.00000000e+00,  0.00000000e+00,
       -2.99531548e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0221728 , -0.09949565,  0.06187724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.88815499e-03, 2.31526086e-02, 3.43359635e-03, 5.74128004e-05,
  1.47409747e-05,-2.83582400e-05,-1.68090537e-05,-6.70959359e-05,
 -9.43712732e-06,-2.61019260e-05,-6.19238382e-05, 1.66162454e-05,
  1.02513506e-02, 1.42876585e-02, 6.58500005e-03, 1.58048812e-03,
  9.65563866e-04, 1.43828587e-03,-9.80999406e+00,-9.85353483e-04,
 -6.06916363e-02, 6.15526075e-02]


--- Step 3929 ---
qpos:
[-0.01874987, 1.20614639,-0.03517996, 0.94259312,-0.00787034, 1.33298881,
 -0.03117587, 0.94134181, 0.01530732, 1.33854573,-0.02369483, 0.95469112,
  1.27997441,-0.00857731, 1.28182917, 0.04353857,-0.05512416,-0.08794794,
  0.09036725, 0.68940371,-0.12498802,-0.70916325,-0.07866386]

qacc:
[ 4.29165160e-02, 9.63026267e-01,-7.71702265e+00, 2.16410721e+01,
 -8.69515080e-02,-1.40589131e+00, 6.39938104e+00,-1.54719797e+01,
  3.12839408e-02, 4.57014035e+00,-1.65017162e+01, 2.47165013e+01,
  1.74030879e-01, 6.56305639e-02, 4.85280006e-01,-2.92846212e+00,
 -2.95358422e+00, 8.45285710e-01,-3.82369813e+00,-2.75462539e+00,
 -1.06245998e+02,-3.24503352e+01]

qfrc_actuator:
[ 9.87363457e-03, 5.73951361e-02, 1.40589114e-02, 1.86229437e-03,
  2.04037640e-05, 3.48642314e-02, 1.09260825e-02, 1.82611766e-03,
 -3.03541709e-03, 3.47235978e-02, 1.08046903e-02, 1.75152232e-03,
  7.54453222e-03, 1.24698699e-02, 0.00000000e+00, 3.30410286e-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: -0.0005753760882715245
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38920677,  0.08755198, -0.91698023, -0.03420718,  0.99615995,
        0.08059292,  0.92051505,  0.        ,  0.3907071 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0823272 , -0.03446971,  0.22322777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.61247226,   4.72999711, -16.61247226,
        17.95648467,   2.40146042,   4.72999711,   2.40146042,
        25.70702303,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018560485502764346
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.99082431e-14,  2.99082431e-14,  1.00000000e+00,  8.94503005e-28,
        1.00000000e+00, -2.99082431e-14, -1.00000000e+00,  0.00000000e+00,
       -2.99082431e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0221596 , -0.09951728,  0.06187705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.91670612e-03, 2.31246715e-02, 3.36911525e-03, 5.59204974e-05,
 -2.50627418e-05,-3.66736641e-08,-1.59429593e-06,-4.36650317e-05,
  9.07735064e-06,-6.01518756e-06,-5.84291040e-05, 4.47009520e-05,
  1.02524676e-02, 1.42473859e-02, 6.72366973e-03, 1.55929344e-03,
  4.44419161e-04, 1.96211469e-03,-9.81010992e+00,-1.45165410e-03,
 -6.07095259e-02, 6.15356410e-02]


--- Step 3930 ---
qpos:
[-0.01874864, 1.20615883,-0.03517966, 0.94259143,-0.00786992, 1.33298926,
 -0.0311755 , 0.94134335, 0.01530744, 1.3385463 ,-0.02369691, 0.95469199,
  1.27998991,-0.00857556, 1.28182316, 0.0435393 ,-0.05514214,-0.0879125 ,
  0.09033691, 0.68910199,-0.12541295,-0.70940704,-0.07843276]

qacc:
[ 2.47521693e-01,-4.99436623e-01, 4.19246016e-01,-4.12736828e+00,
 -1.22143831e-01, 4.82764251e-02,-1.24717219e+00, 7.18527525e+00,
  1.10458898e-01, 3.44521457e+00,-1.16170490e+01, 1.57979542e+01,
  2.28376269e-01,-3.47490177e-01, 3.05693589e+00,-6.51723234e+00,
 -2.75495349e+00, 7.47207441e-01,-4.23914963e+00,-3.59524999e+00,
 -9.87626608e+01,-2.80811092e+01]

qfrc_actuator:
[ 9.90871252e-03, 5.73522224e-02, 1.40387366e-02, 1.83916160e-03,
 -1.30762280e-08, 3.48766084e-02, 1.09485160e-02, 1.85502135e-03,
 -3.00886465e-03, 3.47709652e-02, 1.07777787e-02, 1.77897776e-03,
  7.53994420e-03, 1.24561270e-02, 0.00000000e+00, 2.50937302e-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: -0.000575591774176043
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.89193240e-01,  8.75519748e-02, -9.16985972e-01, -3.42059894e-02,
        9.96159953e-01,  8.05934152e-02,  9.20520816e-01, -6.93889390e-18,
        3.90693522e-01])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08232599, -0.03447094,  0.22322789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727, -16.62679426,   4.6794038 , -16.62679426,
        18.15853908,   3.14745451,   4.6794038 ,   3.14745451,
        28.45622007,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018374241509170608
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.,  0.,  1.,  0.,  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([ 0.02220224, -0.09954697,  0.06187811])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94684154e-03, 2.31464027e-02, 3.36002906e-03,-2.80600687e-05,
 -3.52120970e-05, 1.07256499e-05, 2.09643950e-05, 2.78464319e-05,
  3.19129968e-05, 3.39558305e-05,-3.34170374e-05, 2.66064382e-05,
  1.02275137e-02, 1.42215536e-02, 6.75210494e-03, 1.50181725e-03,
 -4.44378128e-04, 2.46778971e-03,-9.81038738e+00,-1.76427881e-03,
 -6.07150114e-02, 6.15212744e-02]


--- Step 3931 ---
qpos:
[-0.01874729, 1.20617012,-0.03517953, 0.94259081,-0.00786963, 1.33298982,
 -0.03117485, 0.94134418, 0.01530785, 1.33854678,-0.02369824, 0.95469211,
  1.28000536,-0.00857369, 1.28181735, 0.04353963,-0.05514951,-0.08787565,
  0.09032573, 0.68893112,-0.12592558,-0.70951662,-0.07812055]

qacc:
[ 5.46594638e-02, 7.90549232e-01,-6.62261998e+00, 1.89898849e+01,
 -5.29714142e-02,-1.81288433e+00, 7.56035878e+00,-1.48857511e+01,
  1.19967341e-01,-3.42145003e+00, 1.25117764e+01,-1.93964157e+01,
 -1.48336863e-01, 2.29449875e-01, 1.52724791e+00,-4.86583032e+00,
  2.64928682e+00, 3.53480133e-01, 4.79328035e+00, 1.49456683e+00,
  8.41291040e+01, 7.26020894e+01]

qfrc_actuator:
[ 9.89342092e-03, 5.73577716e-02, 1.40446744e-02, 1.89720758e-03,
  5.49636777e-06, 3.48838556e-02, 1.09616411e-02, 1.81817438e-03,
 -2.99314096e-03, 3.47634004e-02, 1.08161634e-02, 1.74153535e-03,
  7.53129549e-03, 1.24650813e-02, 0.00000000e+00, 2.38501195e-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: -0.0005758418912150051
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38918152,  0.08755171, -0.91699097, -0.03420486,  0.99615998,
        0.08059361,  0.92052581,  0.        ,  0.39068175])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08232495, -0.03447221,  0.22322798])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018941439257827292
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.93067229e-14,  1.19058562e-14,  1.00000000e+00,  3.48921629e-28,
        1.00000000e+00, -1.19058562e-14, -1.00000000e+00,  0.00000000e+00,
       -2.93067229e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08485444, -0.07797327,  0.06187442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.90307308e-03, 2.32155785e-02, 3.40011808e-03, 4.96791055e-05,
 -1.52772268e-05, 1.81200924e-05, 1.84286730e-05,-3.52600521e-05,
  3.45719487e-05, 5.47547405e-06, 4.19995651e-05,-3.67958715e-05,
  1.02074524e-02, 1.42428126e-02, 6.65401014e-03, 1.49223252e-03,
 -1.63617288e-03, 2.96879056e-03,-9.81080320e+00,-1.95763305e-03,
 -6.07108632e-02, 6.15092186e-02]


--- Step 3932 ---
qpos:
[-0.01874602, 1.20618106,-0.03517908, 0.94259217,-0.00786954, 1.33299033,
 -0.03117399, 0.94134493, 0.01530836, 1.33854691,-0.02369839, 0.95469212,
  1.28002097,-0.00857143, 1.28180886, 0.04353928,-0.05514713,-0.08783731,
  0.09032895, 0.68888005,-0.12651701,-0.7095032 ,-0.07773627]

qacc:
[-3.90038801e-02, 2.04391886e+00,-1.13262039e+01, 3.30597354e+01,
 -8.15223306e-02,-8.10675350e-01, 2.73264211e+00,-3.31618831e+00,
  4.09861565e-02,-3.81644988e+00, 1.20901184e+01,-1.14560739e+01,
 -2.25434709e-02, 3.16827549e-01,-1.92009671e+00, 9.73318846e-01,
  2.44035059e+00, 3.71884025e-01, 3.59718978e+00, 1.16041583e+00,
  7.72577351e+01, 6.52061762e+01]

qfrc_actuator:
[ 9.90138149e-03, 5.73927745e-02, 1.40660397e-02, 2.00264563e-03,
 -8.99160060e-06, 3.48701594e-02, 1.09690926e-02, 1.81391330e-03,
 -3.00179347e-03, 3.47409732e-02, 1.08747841e-02, 1.73722288e-03,
  7.54152980e-03, 1.24696359e-02, 0.00000000e+00, 3.02156936e-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: -0.0005760264521601013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38917101,  0.08755138, -0.91699546, -0.0342038 ,  0.99616001,
        0.08059369,  0.92053029,  0.        ,  0.39067119])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08232395, -0.03447349,  0.22322804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.2477394 ,  -5.86157588,  16.2477394 ,
        31.71582534,  40.03491524,  -5.86157588,  40.03491524,
       128.24576305,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019248744537857798
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.71230627e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.71230627e-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([-0.08482496, -0.07796433,  0.06187242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.90474312e-03, 2.33075148e-02, 3.42996014e-03, 1.01178923e-04,
 -2.35059074e-05,-1.13242127e-06, 1.20602870e-05,-3.98808734e-06,
  1.17652324e-05,-1.22875898e-05, 6.33876114e-05,-3.77865739e-06,
  1.02198905e-02, 1.42414695e-02, 6.64366152e-03, 1.57583041e-03,
 -5.14773300e-04, 3.34692134e-03,-9.81055003e+00,-1.90141083e-03,
 -6.06403483e-02, 6.14832699e-02]


--- Step 3933 ---
qpos:
[-0.01874485, 1.20619299,-0.03517839, 0.94259364,-0.00786962, 1.3329909 ,
 -0.0311731 , 0.94134631, 0.01530888, 1.33854715,-0.02369831, 0.95469347,
  1.28003661,-0.00856908, 1.28179745, 0.04353866,-0.05513568,-0.08779743,
  0.0903425 , 0.68893951,-0.12717993,-0.709376  ,-0.07728718]

qacc:
[-3.88265623e-02, 7.91804020e-01,-1.21704578e+00, 1.56146648e+00,
 -7.80583525e-02, 1.08676423e+00,-4.76281289e+00, 1.14583264e+01,
  5.17175955e-03, 1.83844586e+00,-8.49232644e+00, 2.26907635e+01,
  1.12045376e-01,-7.08669622e-02,-3.47212169e+00, 5.87104069e+00,
  2.26674686e+00, 3.86257242e-01, 2.58613171e+00, 9.39641601e-01,
  7.15145179e+01, 5.91728925e+01]

qfrc_actuator:
[ 9.94121113e-03, 5.74096100e-02, 1.40784880e-02, 2.01091500e-03,
 -1.76079059e-05, 3.48795240e-02, 1.09730853e-02, 1.84661433e-03,
 -3.00724555e-03, 3.47631856e-02, 1.08915615e-02, 1.80570193e-03,
  7.54177372e-03, 1.24712235e-02, 0.00000000e+00, 3.76397452e-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: -0.0005760172013208886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38916053,  0.08755108, -0.91699994, -0.03420276,  0.99616003,
        0.08059381,  0.92053476,  0.        ,  0.39066066])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08232271, -0.03447473,  0.22322809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  16.12804472,  -6.18330663,  16.12804472,
        35.00648381,  46.25531866,  -6.18330663,  46.25531866,
       137.92141782,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019311789285629474
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.83876638e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.83876638e-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([-0.08481752, -0.07795595,  0.061872  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94905199e-03, 2.33417435e-02, 3.42643607e-03, 1.03176534e-05,
 -2.24927045e-05, 1.09734917e-05, 5.02640451e-06, 3.29313620e-05,
  1.49567835e-06, 2.76849717e-05, 2.14712536e-05, 6.98818155e-05,
  1.02119927e-02, 1.42231331e-02, 6.77794164e-03, 1.68380590e-03,
  4.63714723e-04, 3.63909038e-03,-9.81044734e+00,-1.75885214e-03,
 -6.05828425e-02, 6.14559544e-02]


--- Step 3934 ---
qpos:
[-0.0187444 , 1.20620675,-0.03517736, 0.94259441,-0.00786986, 1.33299157,
 -0.03117269, 0.94134671, 0.01530923, 1.33854759,-0.02369861, 0.95469566,
  1.2800518 ,-0.00856657, 1.28178178, 0.04353793,-0.05511574,-0.08775595,
  0.09036299, 0.68910168,-0.1279083 ,-0.70914266,-0.07677909]

qacc:
[-3.15752572e-01, 3.55084390e-01, 3.15967097e+00,-1.18431148e+01,
 -6.35668820e-02,-2.29709520e-01, 2.94152100e+00,-1.39786276e+01,
 -7.06478507e-02, 2.68677926e+00,-1.01463277e+01, 1.83139629e+01,
 -2.44846138e-01, 2.51603306e-01,-5.98098137e+00, 1.17879711e+01,
  2.12290445e+00, 3.97649227e-01, 1.73277345e+00, 8.07110072e-01,
  6.67170536e+01, 5.42565487e+01]

qfrc_actuator:
[ 9.94693958e-03, 5.73788414e-02, 1.40677758e-02, 1.97972785e-03,
 -2.26324726e-05, 3.48671283e-02, 1.09396030e-02, 1.79429245e-03,
 -3.02848445e-03, 3.47585886e-02, 1.08659530e-02, 1.84544706e-03,
  7.53602948e-03, 1.25066955e-02, 0.00000000e+00, 5.10121659e-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: -0.0005758922783632506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38914891,  0.08755083, -0.91700489, -0.03420164,  0.99616005,
        0.08059402,  0.92053972,  0.        ,  0.39064898])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08232121, -0.03447591,  0.22322816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  15.9608685 ,  -6.60286182,  15.9608685 ,
        39.74654513,  54.32517918,  -6.60286182,  54.32517918,
       148.59109568,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0019178247476894505
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.14073929e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.14073929e-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([-0.08482773, -0.07794803,  0.06187284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.95922568e-03, 2.32614315e-02, 3.40324767e-03,-2.57389550e-05,
 -1.83025225e-05,-4.35240692e-06,-2.97963115e-05,-5.10767498e-05,
 -2.03549275e-05, 1.69773192e-05,-1.57148472e-05, 4.28224933e-05,
  1.02047530e-02, 1.42545874e-02, 6.92384492e-03, 1.83154667e-03,
  1.31762349e-03, 3.86021994e-03,-9.81045982e+00,-1.55778067e-03,
 -6.05358529e-02, 6.14269179e-02]


--- Step 3935 ---
qpos:
[-0.01874401, 1.20622016,-0.03517608, 0.94259605,-0.00787006, 1.332992  ,
 -0.03117224, 0.94134579, 0.01530924, 1.33854798,-0.02369958, 0.95469627,
  1.28006681,-0.00856398, 1.28176644, 0.04353716,-0.05508778,-0.08771285,
  0.09038754, 0.68936002,-0.12869717,-0.70880944,-0.07621665]

qacc:
[-2.44606872e-02, 3.10629492e-01,-3.33779221e+00, 1.30656036e+01,
  1.43436626e-02,-2.66607826e+00, 1.10319998e+01,-2.46996513e+01,
 -1.47570142e-01,-9.40917667e-01, 6.17576666e+00,-2.34878791e+01,
 -2.12659070e-01, 2.38590114e-01, 6.64671298e-01,-1.56794679e+00,
  2.00412678e+00, 4.06932677e-01, 1.01370226e+00, 7.44050950e-01,
  6.27151975e+01, 5.02606697e+01]

qfrc_actuator:
[ 9.95063244e-03, 5.73360271e-02, 1.40607409e-02, 2.01437276e-03,
 -7.70998152e-06, 3.48416031e-02, 1.09373907e-02, 1.72782013e-03,
 -3.05902140e-03, 3.47200389e-02, 1.08154219e-02, 1.76140207e-03,
  7.54803807e-03, 1.25268749e-02, 0.00000000e+00, 4.48689332e-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: -0.0005756310948539026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.3891353 ,  0.08755091, -0.91701066, -0.03420048,  0.99616005,
        0.08059459,  0.92054552,  0.        ,  0.39063532])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08231934, -0.03447696,  0.22322828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([ 17.27272727,  15.74081541,  -7.1115285 ,  15.74081541,
        46.49076625,  64.67185756,  -7.1115285 ,  64.67185756,
       160.4188557 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0018888174030476657
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.93893688e-14,  4.13287999e-15,  1.00000000e+00,  1.21462734e-28,
        1.00000000e+00, -4.13287999e-15, -1.00000000e+00,  0.00000000e+00,
       -2.93893688e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08485198, -0.07794051,  0.06187469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.99920329e-03, 2.31270164e-02, 3.37975899e-03, 4.31339571e-05,
  4.11795274e-06,-3.53089418e-05,-7.95534428e-06,-6.86589742e-05,
 -4.25576705e-05,-3.09614947e-05,-4.77453710e-05,-8.30018738e-05,
  1.02395295e-02, 1.42664440e-02, 7.13766068e-03, 1.77543817e-03,
  2.06339159e-03, 4.02267718e-03,-9.81056315e+00,-1.31709948e-03,
 -6.04976611e-02, 6.13959327e-02]


--- Step 3936 ---
qpos:
[-0.01874381, 1.20623294,-0.03517505, 0.94259883,-0.00787017, 1.3329918 ,
 -0.03117118, 0.94134617, 0.01530932, 1.33854791,-0.02370121, 0.95469418,
  1.28008226,-0.00856101, 1.28174852, 0.043536  ,-0.0550522 ,-0.08766809,
  0.09041372, 0.68970904,-0.12954247,-0.70838146,-0.07560352]

qacc:
[-8.49199201e-02, 1.80135154e+00,-9.25577236e+00, 2.17561920e+01,
  3.98431777e-02,-2.81681831e-01,-2.75047584e+00, 1.77464329e+01,
  3.47177100e-02,-3.48147676e+00, 1.60629230e+01,-4.47746880e+01,
  2.22948450e-01, 1.08377341e-01,-2.70083402e+00, 3.88221687e+00,
  1.90644427e+00, 4.14817608e-01, 4.08865067e-01, 7.36426524e-01,
  5.93845475e+01, 4.70272130e+01]

qfrc_actuator:
[ 9.91721951e-03, 5.73229354e-02, 1.40203493e-02, 2.06949675e-03,
  1.30437674e-06, 3.48085081e-02, 1.09713669e-02, 1.79560735e-03,
 -3.02387820e-03, 3.46612712e-02, 1.07681447e-02, 1.62291214e-03,
  7.54938676e-03, 1.24846448e-02, 0.00000000e+00, 5.18686945e-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: -0.000575369427625122
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.38912177,  0.087551  , -0.9170164 , -0.03419932,  0.99616004,
        0.08059518,  0.92055128,  0.        ,  0.39062174])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([42,  8], dtype=int32)
  geom1: 42
  geom2: 8
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0823175, -0.034478 ,  0.2232284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018475155164035598
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.69010881e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.69010881e-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([-0.08488726, -0.07793335,  0.06187733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.96859811e-03, 2.31311451e-02, 3.32658256e-03, 5.54254905e-05,
  1.14443207e-05,-5.62601157e-05, 2.41442245e-05, 6.48987741e-05,
  1.00089990e-05,-8.76756848e-05,-6.11775954e-05,-1.42736135e-04,
  1.02498715e-02, 1.42203874e-02, 7.12114269e-03, 1.84800786e-03,
  2.71543054e-03, 4.13659443e-03,-9.81074066e+00,-1.04945201e-03,
 -6.04670732e-02, 6.13628494e-02]


